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2011
main.cpp
- Committer:
- Lightvalve
- Date:
- 2020-08-07
- Revision:
- 96:71a161975a4e
- Parent:
- 95:60f380adfdd0
- Child:
- 97:d71c57e3515e
File content as of revision 96:71a161975a4e:
//200807-2 #include "mbed.h" #include "FastPWM.h" #include "INIT_HW.h" #include "function_CAN.h" #include "SPI_EEP_ENC.h" #include "I2C_AS5510.h" #include "setting.h" #include "function_utilities.h" #include "stm32f4xx_flash.h" #include "FlashWriter.h" using namespace std; Timer t; ///191008//// // dac & check /////////////////////////////////////////// DigitalOut check(PC_2); DigitalOut check_2(PC_3); AnalogOut dac_1(PA_4); AnalogOut dac_2(PA_5); AnalogIn adc1(PC_4); //pressure_1 AnalogIn adc2(PB_0); //pressure_2 AnalogIn adc3(PC_1); //current // PWM /////////////////////////////////////////// float dtc_v=0.0f; float dtc_w=0.0f; // I2C /////////////////////////////////////////// I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F) const int i2c_slave_addr1 = 0x56; unsigned int value; // 10bit output of reading sensor AS5510 // SPI /////////////////////////////////////////// //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK); //DigitalOut eeprom_cs(PB_12); //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector SPI enc(PC_12,PC_11,PC_10); DigitalOut enc_cs(PD_2); DigitalOut LED(PA_15); // UART /////////////////////////////////////////// Serial pc(PA_9,PA_10); // _ UART // CAN /////////////////////////////////////////// CAN can(PB_8, PB_9, 1000000); CANMessage msg; void onMsgReceived() { CAN_RX_HANDLER(); } // Variables /////////////////////////////////////////// State pos; State vel; State Vout; State torq; State pres_A; State pres_B; State cur; State valve_pos; State INIT_Vout; State INIT_Valve_Pos; State INIT_Pos; State INIT_torq; extern int CID_RX_CMD; extern int CID_RX_REF_POSITION; extern int CID_RX_REF_VALVE_POS; extern int CID_RX_REF_PWM; extern int CID_TX_INFO; extern int CID_TX_POSITION; extern int CID_TX_TORQUE; extern int CID_TX_PRES; extern int CID_TX_VOUT; extern int CID_TX_VALVE_POSITION; // ============================================================================= // ============================================================================= // ============================================================================= /******************************************************************************* * REFERENCE MODE ******************************************************************************/ enum _REFERENCE_MODE { MODE_REF_NO_ACT = 0, //0 MODE_REF_DIRECT, //1 MODE_REF_COS_INC, //2 MODE_REF_LINE_INC, //3 MODE_REF_SIN_WAVE, //4 MODE_REF_SQUARE_WAVE, //5 }; /******************************************************************************* * CONTROL MODE ******************************************************************************/ enum _CONTROL_MODE { //control mode MODE_NO_ACT = 0, //0 MODE_VALVE_POSITION_CONTROL, //1 MODE_JOINT_CONTROL, //2 MODE_VALVE_OPEN_LOOP, //3 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8 MODE_TEST_CURRENT_CONTROL, //9 MODE_TEST_PWM_CONTROL, //10 MODE_CURRENT_CONTROL, //11 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13 //utility MODE_TORQUE_SENSOR_NULLING = 20, //20 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21 MODE_FIND_HOME, //22 MODE_VALVE_GAIN_SETTING, //23 MODE_PRESSURE_SENSOR_NULLING, //24 MODE_PRESSURE_SENSOR_CALIB, //25 MODE_ROTARY_FRICTION_TUNING, //26 MODE_DDV_POS_VS_PWM_ID = 30, //30 MODE_DDV_DEADZONE_AND_CENTER, //31 MODE_DDV_POS_VS_FLOWRATE, //32 MODE_SYSTEM_ID, //33 }; void SystemClock_Config(void) { RCC_OscInitTypeDef RCC_OscInitStruct = {0}; RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; /** Configure the main internal regulator output voltage */ __HAL_RCC_PWR_CLK_ENABLE(); __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); /** Initializes the CPU, AHB and APB busses clocks */ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; RCC_OscInitStruct.HSIState = RCC_HSI_ON; RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI; RCC_OscInitStruct.PLL.PLLM = 8;//8 RCC_OscInitStruct.PLL.PLLN = 180; //180 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; RCC_OscInitStruct.PLL.PLLQ = 2; RCC_OscInitStruct.PLL.PLLR = 2; if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { //Error_Handler(); } /** Activate the Over-Drive mode */ if (HAL_PWREx_EnableOverDrive() != HAL_OK) { //Error_Handler(); } /** Initializes the CPU, AHB and APB busses clocks */ RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4; RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) { //Error_Handler(); } } float x_past[num_array_x_past] = {0.0f}; float x_future[num_array_x_future] = {0.0f}; float f_past[num_array_f_past] = {0.0f}; float f_future[num_array_f_future] = {0.0f}; float input_NN[num_input] = { 0.0f }; const float h1[num_input][16] = { {0.07895362377166748f,1.2571723461151123f,0.12024858593940735f,0.42333588004112244f,-0.591122031211853f,-0.2686001658439636f,-0.1628284603357315f,-0.2747933566570282f,-0.2676565945148468f,-0.06314806640148163f,-0.21420136094093323f,-1.264796257019043f,0.028087222948670387f,0.1368914246559143f,-0.2396446317434311f,-1.8550697565078735f}, {-0.13911567628383636f,1.1758989095687866f,-0.36603355407714844f,0.12989778816699982f,-0.6587437987327576f,-0.2900908291339874f,-0.3777896761894226f,-0.2802232503890991f,-0.07578769326210022f,0.1696045696735382f,-0.2483919858932495f,-0.9388790726661682f,0.3681949973106384f,-0.38263583183288574f,-0.1953967958688736f,-1.4171580076217651f}, {-0.22104200720787048f,0.9880240559577942f,0.33912619948387146f,-0.19806833565235138f,-0.2689543068408966f,-0.19075830280780792f,0.2676515281200409f,-0.12974651157855988f,-0.15164244174957275f,0.17187564074993134f,-0.31710654497146606f,-0.6481630802154541f,0.02745453082025051f,0.044705502688884735f,0.05209478735923767f,-1.5039880275726318f}, {-0.40742605924606323f,0.7225562930107117f,0.3703531324863434f,0.42338240146636963f,-0.3839448392391205f,-0.32325175404548645f,-0.10795548558235168f,0.313069611787796f,0.01977788284420967f,0.2951240539550781f,0.0966201201081276f,0.02345994859933853f,-0.2756105363368988f,-0.06283733993768692f,-0.27597576379776f,-1.0504233837127686f}, {-0.3754335939884186f,0.9327686429023743f,-0.004794687032699585f,0.3824700713157654f,-0.8204431533813477f,0.4471132457256317f,0.12058994174003601f,0.3895314335823059f,0.025840381160378456f,0.12077726423740387f,0.3315052390098572f,-0.07942713052034378f,-0.3569679856300354f,0.04906800016760826f,-0.36018112301826477f,-1.1626139879226685f}, {-0.5914078950881958f,0.4770364761352539f,0.20290347933769226f,0.4014465808868408f,-1.0489305257797241f,0.630003809928894f,0.15389427542686462f,0.49035078287124634f,0.029029453173279762f,0.12740647792816162f,-0.22336235642433167f,0.31648266315460205f,-0.674343466758728f,0.1843278408050537f,-0.38513508439064026f,-1.03097665309906f}, {-1.0379849672317505f,0.6660510897636414f,-0.2331579178571701f,-0.3693968951702118f,-1.6700252294540405f,1.1136983633041382f,0.05604562163352966f,0.48791247606277466f,0.33870938420295715f,0.08067858964204788f,0.14737729728221893f,0.7881587743759155f,-0.6168327927589417f,0.25015661120414734f,-0.14554673433303833f,-0.6819286942481995f}, {-1.1772695779800415f,0.250567764043808f,-0.24806702136993408f,0.0845661461353302f,-1.7072104215621948f,0.8260706067085266f,-0.16704979538917542f,0.4817795157432556f,0.024997428059577942f,0.12397594749927521f,0.10480736196041107f,0.6280339956283569f,-0.034352805465459824f,0.08143091946840286f,0.04009982943534851f,-0.26129135489463806f}, {-0.8673149347305298f,0.23955625295639038f,0.09550115466117859f,-0.43480008840560913f,-1.5310064554214478f,1.057142734527588f,-0.06753402948379517f,0.3709453344345093f,-0.25099891424179077f,0.33987900614738464f,-0.2704286277294159f,0.6828672289848328f,0.08345116674900055f,0.23340700566768646f,-0.2847418785095215f,0.17356525361537933f}, {0.35617488622665405f,-1.9094693660736084f,0.17205187678337097f,-0.3130404055118561f,0.090705007314682f,0.030807994306087494f,-0.2786858379840851f,-0.25279197096824646f,-0.005850229412317276f,-0.4249269366264343f,-0.0010674830991774797f,-1.0976002216339111f,0.7836102843284607f,-0.06491421908140182f,0.3247623145580292f,0.6052957773208618f}, {4.625219345092773f,-5.048667907714844f,0.34649983048439026f,-0.10459014028310776f,4.077295303344727f,-3.844470977783203f,-0.1895401030778885f,-2.924015998840332f,-0.39584577083587646f,0.03952033445239067f,0.33136940002441406f,-2.319406270980835f,1.3264329433441162f,0.2984660565853119f,0.24870619177818298f,1.0718899965286255f}, {-0.10326675325632095f,-0.23447513580322266f,-0.3757385015487671f,-0.19414059817790985f,0.3747856318950653f,-0.04199318587779999f,0.1429324448108673f,0.21323536336421967f,-0.1358439326286316f,0.19925807416439056f,-0.3862822949886322f,0.6506202816963196f,-0.008901792578399181f,-0.07645197957754135f,0.09779238700866699f,0.4917536675930023f}, {0.8808187246322632f,-0.5376348495483398f,0.18496140837669373f,-0.21074695885181427f,1.7403404712677002f,-0.1949584186077118f,-0.22405625879764557f,-0.3333626985549927f,-0.15510694682598114f,-0.17791599035263062f,-0.08919984847307205f,1.3710670471191406f,0.2588014602661133f,0.057229183614254f,-0.2075144499540329f,2.715280294418335f}, {1.058735728263855f,-0.01810188591480255f,0.38466766476631165f,-0.4001809358596802f,1.2133023738861084f,-0.8784891366958618f,-0.2982172966003418f,-1.040549635887146f,-0.10522206872701645f,-0.21052785217761993f,-0.16740652918815613f,1.5507609844207764f,-0.10103185474872589f,0.01610000990331173f,0.04470124840736389f,1.9343880414962769f}, {0.8488929271697998f,0.1011870726943016f,0.18900898098945618f,-0.12932294607162476f,1.1423720121383667f,-0.22526150941848755f,0.03916636109352112f,-0.15241949260234833f,0.3039378821849823f,0.07273339480161667f,-0.24044525623321533f,-0.17205055058002472f,0.038534365594387054f,-0.08114524930715561f,0.062258750200271606f,1.2987041473388672f}, {0.7183128595352173f,-0.20562709867954254f,-0.37685394287109375f,-0.2245279848575592f,0.6779199242591858f,0.017318520694971085f,-0.14507901668548584f,-0.4317210018634796f,0.20885272324085236f,-0.014226306229829788f,-0.4203896224498749f,-1.7637933492660522f,-0.2738562822341919f,-0.06148799881339073f,-0.07684260606765747f,0.9578304886817932f}, {0.5478618144989014f,0.28276193141937256f,0.15568438172340393f,-0.04252927005290985f,0.80033940076828f,-0.1760183572769165f,-0.03859376907348633f,-0.4843308925628662f,-0.0378759540617466f,0.06837508827447891f,-0.30781814455986023f,-1.2781144380569458f,0.11884292215108871f,0.2787895202636719f,0.2742314636707306f,0.1477077305316925f}, {0.20798827707767487f,0.18542402982711792f,0.19490453600883484f,-0.24922969937324524f,0.5577678084373474f,-0.3426334857940674f,-0.336474746465683f,-0.6756728887557983f,-0.3583759665489197f,-0.12768687307834625f,-0.13331158459186554f,0.10043817013502121f,0.34091103076934814f,-0.18570837378501892f,-0.2561379373073578f,-0.6417683959007263f}, {-0.6675909161567688f,-0.14185404777526855f,-0.2776013910770416f,0.19791850447654724f,0.9802903532981873f,-0.19628511369228363f,0.25546005368232727f,-0.8709930777549744f,-0.35415831208229065f,0.013175017200410366f,-0.37139979004859924f,0.6119925379753113f,0.07870321720838547f,0.0666419044137001f,-0.30415377020835876f,-1.2829549312591553f}, {-0.11985787749290466f,-0.03708590939640999f,0.1420871913433075f,-0.239470437169075f,0.4696210026741028f,-0.06513650715351105f,-0.13263443112373352f,-0.9008736610412598f,-0.14152871072292328f,0.0298761036247015f,0.12406090646982193f,0.2007264792919159f,0.24001146852970123f,0.21043716371059418f,0.13351169228553772f,-0.38647904992103577f}, {-0.6493774652481079f,-0.15536324679851532f,-0.07561364769935608f,0.1692466139793396f,0.3786194324493408f,-0.4081724286079407f,0.14428457617759705f,-0.5168352127075195f,-0.3387826681137085f,-0.3022443950176239f,-0.3599952757358551f,-0.27454251050949097f,-0.2086472362279892f,0.2353324294090271f,0.019461065530776978f,-0.058617979288101196f}, {-1.0564547777175903f,0.05542854964733124f,0.2631795108318329f,-0.4106685519218445f,0.43132689595222473f,-0.553520679473877f,0.27224990725517273f,-0.6160730123519897f,-0.04732394590973854f,0.08227474242448807f,0.05995349958539009f,0.03140683099627495f,-0.009248102083802223f,-0.11794007569551468f,0.06011766195297241f,-0.6932176947593689f}, }; const float h2[16][16] = { {0.3461630344390869f,0.2955578863620758f,-0.1592242419719696f,-0.5184082984924316f,-0.363492488861084f,-1.3597091436386108f,-0.09148727357387543f,-0.03959078714251518f,-0.43008196353912354f,-0.1415480375289917f,-1.9697908163070679f,-0.731515109539032f,-0.702545166015625f,-3.3870911598205566f,-1.0854758024215698f,-2.500134229660034f}, {-0.25313666462898254f,-6.206562042236328f,0.027056142687797546f,-0.0741184800863266f,-0.35503754019737244f,-1.231136441230774f,-1.3051835298538208f,-0.18019266426563263f,-0.33757925033569336f,0.2895788848400116f,-2.0206592082977295f,-0.7872334718704224f,-0.24186758697032928f,0.854408323764801f,0.8058996200561523f,-3.2585866451263428f}, {-0.22745239734649658f,0.003037691116333008f,-0.061119019985198975f,0.35696902871131897f,0.05568113923072815f,0.011741191148757935f,-0.20225946605205536f,-0.08465918898582458f,0.3489862382411957f,0.0687277615070343f,0.31964078545570374f,0.3004753887653351f,0.36063823103904724f,-0.42892736196517944f,0.08652284741401672f,0.027493387460708618f}, {0.05020434781908989f,-0.31984439492225647f,-0.2894435524940491f,0.22981524467468262f,0.08946844935417175f,0.22889411449432373f,-0.3768770396709442f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.24825850129127502f,0.2424536645412445f,-0.5421085953712463f,-0.22426272928714752f,0.22189605236053467f,0.15049420297145844f}, {-0.9419153928756714f,0.9733988642692566f,-0.31467702984809875f,-0.5654755234718323f,-0.11561957746744156f,-0.49909862875938416f,-1.6100873947143555f,-0.21726219356060028f,-0.024399548768997192f,-0.39465832710266113f,-11.116015434265137f,-0.7035700678825378f,-0.6642444133758545f,-1.0834547281265259f,-1.2425756454467773f,0.5259889364242554f}, {-2.507007122039795f,-1.8669182062149048f,-0.4729698598384857f,0.2293456345796585f,-0.4037783145904541f,-1.8636395931243896f,-1.6020370721817017f,-0.16199380159378052f,-0.23047015070915222f,0.3579089343547821f,3.186255693435669f,-0.5437663197517395f,-0.8449951410293579f,4.514785289764404f,2.122281789779663f,-0.926563024520874f}, {-0.1828227937221527f,-0.02554568648338318f,-0.3260969817638397f,0.08422836661338806f,-0.38453540205955505f,-0.25432005524635315f,0.285016268491745f,0.12387624382972717f,-0.0982072651386261f,0.13111665844917297f,-0.03692615032196045f,-0.32796353101730347f,-0.21546880900859833f,0.049302369356155396f,-0.27088475227355957f,-0.4124959409236908f}, {-0.26283779740333557f,0.0977809727191925f,0.24813500046730042f,-1.8885226249694824f,-0.28821301460266113f,-1.1604070663452148f,-1.5112191438674927f,-0.43778669834136963f,0.2600560486316681f,-0.37898191809654236f,-0.5196307301521301f,-0.6156315803527832f,-1.6401389837265015f,0.3119639456272125f,0.06466132402420044f,-1.287230134010315f}, {-0.20296473801136017f,0.3267236351966858f,-0.11379697918891907f,0.11326181888580322f,0.041274964809417725f,-0.38362905383110046f,-0.10284432768821716f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,0.041170381009578705f,-0.3197441101074219f,-0.37024784088134766f,-0.27560392022132874f,-0.37944233417510986f,-0.23297809064388275f}, {-0.11297062039375305f,0.20683825016021729f,-0.13502129912376404f,0.11740913987159729f,0.12987366318702698f,0.08124405890703201f,0.2711336314678192f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,0.22425664961338043f,0.3686034381389618f,0.3811538517475128f,-0.22713807225227356f,0.024703770875930786f,-0.24529723823070526f}, {-0.26891738176345825f,0.005198602564632893f,0.0457797646522522f,-0.3916873037815094f,-0.03321319818496704f,-0.4068695902824402f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.19460716843605042f,0.3545852601528168f,-0.3647043704986572f,0.40944570302963257f,-0.41040074825286865f,-0.2761998176574707f}, {0.2977412939071655f,-0.7753188014030457f,0.33855369687080383f,-0.0015949616208672523f,-0.14933563768863678f,0.031147437170147896f,-0.8653625249862671f,-0.26265648007392883f,0.3487861454486847f,-0.32520344853401184f,0.5256090760231018f,-0.6031002998352051f,-0.003968607168644667f,-0.25813454389572144f,-0.346569687128067f,-0.19713085889816284f}, {0.23999442160129547f,0.3869785666465759f,-0.15798500180244446f,0.7145512104034424f,-0.37393757700920105f,1.177410364151001f,-0.1291218101978302f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,0.31322625279426575f,-0.43923890590667725f,0.5738317370414734f,-1.378983497619629f,-0.932052731513977f,0.29673853516578674f}, {-0.24162541329860687f,0.2533607482910156f,-0.2018718123435974f,0.6567671895027161f,0.07545611262321472f,0.1999741643667221f,-0.21434198319911957f,-0.21416273713111877f,-0.24509364366531372f,0.19522181153297424f,0.7084074020385742f,-0.2859615087509155f,-0.2933322787284851f,0.07604566216468811f,-0.26328518986701965f,0.07941658794879913f}, {0.4138670265674591f,0.1604653298854828f,0.056746453046798706f,0.036025404930114746f,0.3228367865085602f,-0.07083973288536072f,0.018455177545547485f,0.0059362053871154785f,0.40515169501304626f,0.014240056276321411f,-0.07738298177719116f,0.1407785713672638f,-0.13024571537971497f,-0.29546058177948f,-0.11976784467697144f,-0.35825538635253906f}, {-2.883580207824707f,0.2993867099285126f,0.042480651289224625f,-0.659870982170105f,0.1462535560131073f,-0.3962661325931549f,-1.9495710134506226f,0.18373456597328186f,-0.3893685042858124f,-0.02222958207130432f,-0.325151652097702f,-0.6856224536895752f,-0.7805953621864319f,0.17275558412075043f,1.4164332151412964f,-2.9557266235351562f}, }; const float h3[16][16] = { {-0.36079341173171997f,-1.904197335243225f,-0.35186031460762024f,-0.227595254778862f,-0.24713319540023804f,0.25240421295166016f,0.3332441747188568f,0.3036012351512909f,-0.2405819296836853f,-0.4009052515029907f,3.6106483936309814f,0.24186645448207855f,-2.1515071392059326f,0.7305692434310913f,-1.034009575843811f,-0.7897380590438843f}, {0.047732532024383545f,-1.3873378038406372f,-0.6739127039909363f,-0.7797783613204956f,-0.6799267530441284f,-0.023504560813307762f,-0.40678858757019043f,0.06247803568840027f,-0.2557620406150818f,-0.442567378282547f,0.12032593786716461f,-0.4399758577346802f,-1.3721511363983154f,-1.0711206197738647f,-0.48999103903770447f,0.030988477170467377f}, {0.07903262972831726f,0.2790505588054657f,-0.07798504829406738f,-0.09389442950487137f,-0.1963958442211151f,-0.19260792434215546f,-0.4038352966308594f,0.015906542539596558f,0.15353140234947205f,0.030178606510162354f,0.23821763694286346f,0.13805970549583435f,-0.0816211998462677f,-0.2801148295402527f,-0.3036302626132965f,0.06488575041294098f}, {-0.30922991037368774f,0.17667047679424286f,-0.008818126283586025f,-0.36896517872810364f,-0.5562130808830261f,0.4666495621204376f,0.20021501183509827f,0.07002416253089905f,-0.17697909474372864f,-0.365601509809494f,0.13192829489707947f,0.41021624207496643f,-0.36113956570625305f,0.4479363262653351f,0.6108591556549072f,-0.3594931662082672f}, {-0.39607733488082886f,-0.05481579899787903f,0.1976260244846344f,0.022423356771469116f,0.16892847418785095f,-0.27518749237060547f,0.16012099385261536f,0.3626593053340912f,-0.08640444278717041f,-0.11053556203842163f,-0.10281161218881607f,-0.31317979097366333f,-0.1530032455921173f,-0.13193069398403168f,0.22959044575691223f,0.1968502700328827f}, {-0.37449589371681213f,0.5227359533309937f,-0.2375003695487976f,1.1114213466644287f,-0.2317514568567276f,0.7673159241676331f,-0.18732719123363495f,0.22384825348854065f,-0.7340282201766968f,0.33007681369781494f,0.12023735791444778f,0.05288517847657204f,0.06054890155792236f,0.801692545413971f,0.47660425305366516f,0.9289136528968811f}, {0.4110594093799591f,0.5569605827331543f,-0.2750546932220459f,-0.05932041257619858f,0.1593351811170578f,0.16846279799938202f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,0.32724907994270325f,0.06612920761108398f,0.35313835740089417f,0.2260253131389618f,2.1908137798309326f,0.3126353323459625f,-0.544373095035553f}, {-0.40892091393470764f,0.043769627809524536f,-0.3867315948009491f,0.3791530132293701f,0.3424709737300873f,-0.051169753074645996f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.009083894081413746f,-0.0003446042537689209f,-0.2742875814437866f,-0.2290261834859848f,0.07994696497917175f,-0.13424834609031677f}, {0.10697010159492493f,-0.12228584289550781f,-0.37870171666145325f,0.21184906363487244f,-0.37222859263420105f,-0.17138728499412537f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.42142823338508606f,-0.3482915461063385f,-0.3289247751235962f,-0.2186824083328247f,0.09620395302772522f,-0.06898030638694763f}, {0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.30447837710380554f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24394884705543518f,-0.14084559679031372f,-0.10168051719665527f,0.010465055704116821f}, {0.15459725260734558f,-0.23069538176059723f,0.08775654435157776f,-0.2917158007621765f,-0.3173016309738159f,0.02197491005063057f,-0.08742031455039978f,0.05785742402076721f,-0.11268945038318634f,-0.38534465432167053f,-0.4680977165699005f,-0.30447322130203247f,0.5930958986282349f,-0.6832190155982971f,0.24897915124893188f,0.6311358213424683f}, {-0.408692330121994f,-0.03322610631585121f,0.13804031908512115f,-0.25812235474586487f,0.03562499210238457f,-0.12812207639217377f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,0.08593464642763138f,-0.0742669403553009f,0.03996849060058594f,-0.48888295888900757f,-0.25224313139915466f,-0.3349078893661499f,-0.061293311417102814f}, {-0.2991822361946106f,1.914184331893921f,-0.7486281991004944f,-0.05932474136352539f,-1.4416754245758057f,1.7874364852905273f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,-0.9489266872406006f,1.4211689233779907f,0.26106709241867065f,-0.6619238257408142f}, {-0.2675279378890991f,0.09690668433904648f,-0.14166909456253052f,0.8521427512168884f,0.023709528148174286f,0.49329280853271484f,-0.4077804982662201f,-0.31893211603164673f,-0.8029664754867554f,0.22857439517974854f,-0.14455583691596985f,-0.6750549077987671f,0.20448069274425507f,-0.9385330677032471f,0.14485150575637817f,0.7857609987258911f}, {-0.015470266342163086f,-2.7017996311187744f,-0.07821664214134216f,-0.008211692795157433f,-0.4154634475708008f,-4.004563331604004f,0.031177446246147156f,-0.008358269929885864f,-0.5120755434036255f,-3.891390800476074f,0.3499956727027893f,-0.3125930726528168f,-2.171631336212158f,-2.0324933528900146f,-0.31805527210235596f,0.15008483827114105f}, {0.1863725483417511f,0.33734530210494995f,-0.13039013743400574f,0.012665561400353909f,-0.6362693905830383f,-0.595176100730896f,0.04860696196556091f,0.17769548296928406f,-0.10992996394634247f,0.04870879650115967f,-0.018923843279480934f,0.0762123391032219f,-0.19637686014175415f,0.37821123003959656f,-0.023800775408744812f,0.6714404821395874f}, }; const float hout[16] = { 0.45773375034332275f,1.626427412033081f,-0.0007661097915843129f,-0.1185910776257515f,0.1819382607936859f,1.224741816520691f,-0.031148770824074745f,0.15066689252853394f,-0.0013686571037396789f,-1.086798071861267f,0.11216173321008682f,-0.07703599333763123f,0.8368552923202515f,1.348039984703064f,0.607914388179779f,-0.23062551021575928f }; const float b1[16] = { -0.8491401076316833f,0.6166018843650818f,-1.7145336866378784f,0.17909984290599823f,0.6702242493629456f,2.827991247177124f,-0.058932315558195114f,2.4158542156219482f,0.5341209769248962f,-0.9037277698516846f,0.5854750275611877f,3.7358274459838867f,-0.9816521406173706f,-1.0510812997817993f,-1.087764859199524f,5.495018005371094f }; const float b2[16] = { -0.038619738072156906f,1.1267496347427368f,-1.5400499105453491f,-0.8048892617225647f,-0.8344771862030029f,-0.10959481447935104f,-0.0300869382917881f,-0.4458284378051758f,-1.20063054561615f,-1.912178635597229f,-0.5470861792564392f,-0.008792918175458908f,-0.24588672816753387f,1.4592666625976562f,0.3058423697948456f,0.29415765404701233f }; const float b3[16] = { -1.963319182395935f,-0.12471651285886765f,-0.5443709492683411f,-1.0403056144714355f,-0.037965964525938034f,2.1356041431427f,-0.550602912902832f,-0.6562485098838806f,-0.038771145045757294f,1.5697951316833496f,-0.4680158197879791f,-0.2508927583694458f,-0.38630208373069763f,0.7918863892555237f,-1.413399577140808f,-0.18884111940860748f }; const float bout[1] = { 0.5050068497657776f }; float VALVE_POS_RAW_NN = 0.0f; float DDV_JOINT_POS_FF(float REF_JOINT_VEL); int main() { HAL_Init(); SystemClock_Config(); /********************************* *** Initialization *********************************/ LED = 0; pc.baud(9600); // i2c init i2c.frequency(400 * 1000); // 0.4 mHz wait_ms(2); // Power Up wait look_for_hardware_i2c(); // Hardware present init_as5510(i2c_slave_addr1); make_delay(); // // spi init //eeprom.format(8,3); //eeprom.frequency(5000000); //5M enc.format(8,0); enc.frequency(5000000); //5M make_delay(); //rom ROM_CALL_DATA(); make_delay(); // ADC init Init_ADC(); make_delay(); // Pwm init Init_PWM(); TIM4->CR1 ^= TIM_CR1_UDIS; make_delay(); // TMR3 init Init_TMR3(); TIM3->CR1 ^= TIM_CR1_UDIS; make_delay(); // TMR2 init // Init_TMR2(); // TIM2->CR1 ^= TIM_CR1_UDIS; // make_delay(); // CAN can.attach(&CAN_RX_HANDLER); CAN_ID_INIT(); make_delay(); //Timer priority NVIC_SetPriority(TIM3_IRQn, 2); //NVIC_SetPriority(TIM2_IRQn, 3); NVIC_SetPriority(TIM4_IRQn, 3); //can.reset(); can.filter(msg.id, 0xFFFFF000, CANStandard); // spi _ enc spi_enc_set_init(); make_delay(); //DAC init if (SENSING_MODE == 0) { dac_1 = TORQUE_VREF / 3.3f; dac_2 = 0.0f; } else if (SENSING_MODE == 1) { dac_1 = PRES_A_VREF / 3.3f; dac_2 = PRES_B_VREF / 3.3f; } make_delay(); for (int i=0; i<50; i++) { if(i%2==0) ID_index_array[i] = - i * 0.5f; else ID_index_array[i] = (i+1) * 0.5f; } /************************************ *** Program is operating! *************************************/ while(1) { // if(timer_while==1000 && OPERATING_MODE==5) { //if(timer_while==1000) { //i2c read_field(i2c_slave_addr1); if(DIR_VALVE_ENC < 0) value = 1023 - value; // if(LED==1) { // LED=0; // } else // LED = 1; timer_while = 0; //} timer_while ++; //LED = 0; if(NN_Control_Flag == 0) { LED = 0; } else if(NN_Control_Flag == 1) { float output1[16] = { 0.0f }; float output2[16] = { 0.0f }; float output3[16] = { 0.0f }; float output = 0.0f; for (int index2 = 0; index2 < 16; index2++) { for (int index1 = 0; index1 < num_input; index1++) { output1[index2] = output1[index2] + h1[index1][index2] * input_NN[index1]; } output1[index2] = output1[index2] + b1[index2]; if (output1[index2] < 0) { output1[index2] = 0; } } for (int index2 = 0; index2 < 16; index2++) { for (int index1 = 0; index1 < 16; index1++) { output2[index2] = output2[index2] + h2[index1][index2] * output1[index1]; } output2[index2] = output2[index2] + b2[index2]; if (output2[index2] < 0) { output2[index2] = 0; } } for (int index2 = 0; index2 < 16; index2++) { for (int index1 = 0; index1 < 16; index1++) { output3[index2] = output3[index2] + h3[index1][index2] * output2[index1]; } output3[index2] = output3[index2] + b3[index2]; if (output3[index2] < 0) { output3[index2] = 0; } } for (int index2 = 0; index2 < 1; index2++) { for (int index1 = 0; index1 < 16; index1++) { output = output + hout[index1] * output3[index1]; } output = output + bout[index2]; } output = 1.0f/(1.0f+exp(-output)); output = output * 20000.0f - 10000.0f; if(output>=0) { valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; } else { valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; } // // torque feedback // torq.err = f_past[0] - torq.sen; //[N] //// torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] // torq.err_sum += torq.err/(float) 1500.0f; //[N] // // // valve_pos.ref = ((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f + DDV_JOINT_POS_FF(vel.sen) + valve_pos.ref * 0.01f; // // if(I_GAIN_JOINT_TORQUE != 0) { // double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; // if(valve_pos.ref>VALVE_MAX_POS) { // double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; // valve_pos_rem = valve_pos_rem * Ka; // valve_pos.ref = VALVE_MAX_POS; // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f; // } else if(valve_pos.ref < VALVE_MIN_POS) { // double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; // valve_pos_rem = valve_pos_rem * Ka; // valve_pos.ref = VALVE_MIN_POS; // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f; // } // } if(LED==1) { LED=0; } else LED = 1; } //LED = 1; } } float DDV_JOINT_POS_FF(float REF_JOINT_VEL) { int i = 0; float Ref_Valve_Pos_FF = 0.0f; for(i=0; i<VALVE_POS_NUM; i++) { if(REF_JOINT_VEL >= min(JOINT_VEL[i],JOINT_VEL[i+1]) && REF_JOINT_VEL <= max(JOINT_VEL[i],JOINT_VEL[i+1])) { if(i==0) { if(JOINT_VEL[i+1] == JOINT_VEL[i]) { Ref_Valve_Pos_FF = (float) VALVE_CENTER; } else { Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER; } } else { if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) { Ref_Valve_Pos_FF = (float) VALVE_CENTER; } else { Ref_Valve_Pos_FF = ((float) 10*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + (float) VALVE_CENTER + (float) (10*ID_index_array[i-1]); } } break; } } if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { Ref_Valve_Pos_FF = (float) VALVE_MAX_POS; } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { Ref_Valve_Pos_FF = (float) VALVE_MIN_POS; } Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); return Ref_Valve_Pos_FF; } void VALVE_POS_CONTROL(float REF_VALVE_POS) { int i = 0; if(REF_VALVE_POS > VALVE_MAX_POS) { REF_VALVE_POS = VALVE_MAX_POS; } else if(REF_VALVE_POS < VALVE_MIN_POS) { REF_VALVE_POS = VALVE_MIN_POS; } valve_pos_err = (float) (REF_VALVE_POS - value); valve_pos_err_diff = valve_pos_err - valve_pos_err_old; valve_pos_err_old = valve_pos_err; valve_pos_err_sum += valve_pos_err; if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f; if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f; VALVE_PWM_RAW_FB = P_GAIN_VALVE_POSITION * valve_pos_err + I_GAIN_VALVE_POSITION * valve_pos_err_sum + D_GAIN_VALVE_POSITION * valve_pos_err_diff; for(i=0; i<24; i++) { if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && (float) REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) { if(i==0) { VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]); } else { VALVE_PWM_RAW_FF = (float) 1000.0f* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1]; } break; } } Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; } #define LT_MAX_IDX 57 float LT_PWM_duty[LT_MAX_IDX] = {-100.0f, -80.0f, -60.0f, -50.0f, -40.0f, -35.0f, -30.0f, -25.0f, -20.0f, -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f, -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f, 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f, 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f, 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f }; // duty float LT_Voltage_Output[LT_MAX_IDX] = {-230.0f, -215.0f, -192.5f, -185.0f, -177.5f, -170.0f, -164.0f, -160.0f, -150.0f, -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f, -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f, 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f, 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f, 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f }; // mV float PWM_duty_byLT(float Ref_V) { float PWM_duty = 0.0f; if(Ref_V<LT_Voltage_Output[0]) { PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0]; } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) { PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1]; } else { int idx = 0; for(idx=0; idx<LT_MAX_IDX-1; idx++) { float ini_x = LT_Voltage_Output[idx]; float fin_x = LT_Voltage_Output[idx+1]; float ini_y = LT_PWM_duty[idx]; float fin_y = LT_PWM_duty[idx+1]; if(Ref_V>=ini_x && Ref_V<fin_x) { PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y; break; } } } return PWM_duty; } /******************************************************************************* TIMER INTERRUPT *******************************************************************************/ float FREQ_TMR4 = (float)FREQ_20k; float DT_TMR4 = (float)DT_20k; long CNT_TMR4 = 0; int TMR4_FREQ_10k = (int)FREQ_10k; extern "C" void TIM4_IRQHandler(void) { if (TIM4->SR & TIM_SR_UIF ) { /******************************************************* *** Sensor Read & Data Handling ********************************************************/ //Encoder if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) { ENC_UPDATE(); } ADC1->CR2 |= 0x40000000; if (SENSING_MODE == 0) { // Torque Sensing (0~210)bar ============================================= float pres_A_new = (((float) ADC1->DR) - 2047.5f); double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new; torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE; // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR; // float pres_A_new = ((float)ADC1->DR); // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 } else if (SENSING_MODE == 1) { // Pressure Sensing (0~210)bar ============================================= float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL); float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL); double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new; pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new; CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR; CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR; if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N } } // //Pressure sensor A // ADC1->CR2 |= 0x40000000; // adc _ 12bit // //while((ADC1->SR & 0b10)); // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); // float pres_A_new = ((float)ADC1->DR); // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later. // // // //Pressure sensor B // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); // float pres_B_new = ((float)ADC2->DR); // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B); // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B; //Current //ADC3->CR2 |= 0x40000000; // adc _ 12bit //int raw_cur = ADC3->DR; //while((ADC3->SR & 0b10)); float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur); //cur.sen = raw_cur; CNT_TMR4++; } TIM4->SR = 0x0; // reset the status register } int j =0; float FREQ_TMR3 = (float)FREQ_5k; float DT_TMR3 = (float)DT_5k; int cnt_trans = 0; double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f; int can_rest =0; extern "C" void TIM3_IRQHandler(void) { if (TIM3->SR & TIM_SR_UIF ) { if (((OPERATING_MODE&0b110)>>1) == 0) { K_v = 0.4f; // Moog (LPM >> mA) , 100bar mV_PER_mA = 500.0f; // 5000mV/10mA mV_PER_pulse = 0.5f; // 5000mV/10000pulse mA_PER_pulse = 0.001f; // 10mA/10000pulse } else if (((OPERATING_MODE&0b110)>>1) == 1) { K_v = 0.5f; // KNR (LPM >> mA) , 100bar mV_PER_mA = 166.6666f; // 5000mV/30mA mV_PER_pulse = 0.5f; // 5000mV/10000pulse mA_PER_pulse = 0.003f; // 30mA/10000pulse } if(MODE_POS_FT_TRANS == 1) { alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; cnt_trans++; torq.err_sum = 0; if((float)cnt_trans * DT_TMR3 > 3.0f) MODE_POS_FT_TRANS = 2; } else if(MODE_POS_FT_TRANS == 3) { alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; cnt_trans++; torq.err_sum = 0; if((float) cnt_trans * DT_TMR3 > 3.0f ) MODE_POS_FT_TRANS = 0; } else if(MODE_POS_FT_TRANS == 2) { alpha_trans = 1.0f; cnt_trans = 0; } else { alpha_trans = 0.0f; cnt_trans = 0; } int UTILITY_MODE = 0; int CONTROL_MODE = 0; if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) { UTILITY_MODE = CONTROL_UTILITY_MODE; CONTROL_MODE = MODE_NO_ACT; } else { CONTROL_MODE = CONTROL_UTILITY_MODE; UTILITY_MODE = MODE_NO_ACT; } // UTILITY MODE ------------------------------------------------------------ switch (UTILITY_MODE) { case MODE_NO_ACT: { break; } case MODE_TORQUE_SENSOR_NULLING: { // DAC Voltage reference set if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) { CUR_TORQUE_sum += torq.sen; if (TMR3_COUNT_TORQUE_NULL % 10 == 0) { CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f; CUR_TORQUE_sum = 0; TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean); if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f; if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f; //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); dac_1 = TORQUE_VREF / 3.3f; } } else { CONTROL_UTILITY_MODE = MODE_NO_ACT; TMR3_COUNT_TORQUE_NULL = 0; CUR_TORQUE_sum = 0; CUR_TORQUE_mean = 0; ROM_RESET_DATA(); dac_1 = TORQUE_VREF / 3.3f; } TMR3_COUNT_TORQUE_NULL++; break; } // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: { // if (TMR3_COUNT_DEADZONE == 0) { // if (pos_plus_end == pos_minus_end) need_enc_init = true; // else temp_time = 0; // } // if (need_enc_init) { // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) { // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; // pos_plus_end = pos.sen; // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) { // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; // pos_minus_end = pos.sen; // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false; // temp_time = TMR_FREQ_5k; // } // // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) { // V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen); // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0; // // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) { // V_out = 0; // CUR_VELOCITY_sum += CUR_VELOCITY; // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) { // if (CUR_VELOCITY_sum == 0) DZ_dir = 1; // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1; // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1; // else DZ_temp_cnt2 = DZ_end; // CUR_VELOCITY_sum = 0; // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) { // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end; // // // Position of Dead Zone // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0) // // | / | / |/ // // | ______/ ___|___/ ______/| // // |/ / | / | // // /| / | / | // // 0V 0V 0V // // if (DZ_temp_cnt2 < DZ_end) { // if (TMR3_COUNT_DEADZONE % 20 != 0) { // CUR_VELOCITY_sum += CUR_VELOCITY; // } else { // V_out -= DZ_dir; // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++; // CUR_VELOCITY_sum = 0; // } // if (DZ_temp_cnt == 5) { // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out; // else VALVE_DEADZONE_PLUS = (int16_t) V_out; // DZ_dir = -DZ_dir; // DZ_temp_cnt = 0; // DZ_temp_cnt2++; // } // } else { // TMR3_COUNT_DEADZONE = -1; // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2; // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) { // VALVE_DEADZONE_PLUS = VALVE_CENTER; // VALVE_DEADZONE_MINUS = VALVE_CENTER; // } // V_out = 0; // // ROM_RESET_DATA(); // // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS); // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS); // // CONTROL_MODE = MODE_NO_ACT; // DZ_temp_cnt2 = 0; // } // } // TMR3_COUNT_DEADZONE++; // break; // } case MODE_FIND_HOME: { if (FINDHOME_STAGE == FINDHOME_INIT) { cnt_findhome = 0; cnt_vel_findhome = 0; //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO pos.ref = pos.sen; vel.ref = 0.0f; FINDHOME_STAGE = FINDHOME_GOTOLIMIT; } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) { int cnt_check_enc = (TMR_FREQ_5k/20); if(cnt_findhome%cnt_check_enc == 0) { FINDHOME_POSITION = pos.sen; FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD; FINDHOME_POSITION_OLD = FINDHOME_POSITION; } cnt_findhome++; if (abs(FINDHOME_VELOCITY) <= 1) { cnt_vel_findhome = cnt_vel_findhome + 1; } else { cnt_vel_findhome = 0; } if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec //REFERENCE_MODE = MODE_REF_NO_ACT; if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f; else pos.ref = pos.ref - 12.0f; // pos.err = pos.ref_home_pos - pos.sen; // float VALVE_POS_RAW_POS_FB = 0.0f; // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f; // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; // VALVE_POS_CONTROL(valve_pos.ref); CONTROL_MODE = MODE_JOINT_CONTROL; alpha_trans = 0.0f; } else { ENC_SET(HOMEPOS_OFFSET); // ENC_SET_ZERO(); INIT_REF_POS = HOMEPOS_OFFSET; REF_POSITION = 0; REF_VELOCITY = 0; FINDHOME_POSITION = 0; FINDHOME_POSITION_OLD = 0; FINDHOME_VELOCITY = 0; cnt_findhome = 0; cnt_vel_findhome = 0; FINDHOME_STAGE = FINDHOME_ZEROPOSE; cnt_findhome = 0; pos.ref = 0.0f; vel.ref = 0.0f; pos.ref_home_pos = 0.0f; vel.ref_home_pos = 0.0f; //FINDHOME_STAGE = FINDHOME_INIT; //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; } } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) { int T_move = 2*TMR_FREQ_5k; pos.ref = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS; //pos.ref = 0.0f; vel.ref = 0.0f; // input for position control // CONTROL_MODE = MODE_JOINT_CONTROL; alpha_trans = 0.0f; double torq_ref = 0.0f; pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { double I_REF_POS = 0.0f; double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback double I_REF_VC = 0.0f; // I_REF for velocity compensation double temp_vel_pos = 0.0f; double temp_vel_torq = 0.0f; double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * 3.14159f / 180.0f; // rad/s // L when P-gain = 100, f_cut = 10Hz L feedforward velocity } else if ((OPERATING_MODE & 0x01) == 1) { temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s // L when P-gain = 100, f_cut = 10Hz L feedforward velocity } if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f)))); else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); I_REF = I_REF_POS; } else { float VALVE_POS_RAW_FORCE_FB = 0.0f; VALVE_POS_RAW_FORCE_FB = DDV_JOINT_POS_FF(vel.sen) + (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref)); if (VALVE_POS_RAW_FORCE_FB >= 0) { valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS; } else { valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS; } VALVE_POS_CONTROL(valve_pos.ref); V_out = (float) Vout.ref; } // pos.err = pos.ref - (float)pos.sen; // float VALVE_POS_RAW_POS_FB = 0.0f; // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION; // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; // VALVE_POS_CONTROL(valve_pos.ref); cnt_findhome++; if (cnt_findhome >= T_move) { //REFERENCE_MODE = MODE_REF_DIRECT; cnt_findhome = 0; pos.ref = 0.0f; vel.ref = 0.0f; pos.ref_home_pos = 0.0f; vel.ref_home_pos = 0.0f; FINDHOME_STAGE = FINDHOME_INIT; CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; } } break; } // case MODE_VALVE_GAIN_SETTING: { // if (TMR3_COUNT_FLOWRATE == 0) { // if (pos_plus_end == pos_minus_end) need_enc_init = true; // else { // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; // temp_time = (int) (0.5f * (float) TMR_FREQ_5k); // } // } // if (need_enc_init) { // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) { // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; // pos_plus_end = pos.sen; // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) { // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; // pos_minus_end = pos.sen; // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) { // need_enc_init = false; // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end)); // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end)); // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init; // } // temp_time = TMR_FREQ_5k; // } // TMR3_COUNT_FLOWRATE++; // if (TMR3_COUNT_FLOWRATE > temp_time) { // if (flag_flowrate % 2 == 0) { // (+) // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1); // V_out = VALVE_VOLTAGE; // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) { // fl_temp_cnt++; // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) { // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000 // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec // fl_temp_cnt2++; // } // } else if (flag_flowrate % 2 == 1) { // (-) // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1); // V_out = VALVE_VOLTAGE; // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) { // fl_temp_cnt++; // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) { // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0f * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec // fl_temp_cnt2++; // } // } // if (fl_temp_cnt2 == 100) { // // ROM_RESET_DATA(); // // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f)); // cur_vel_sum = 0; // fl_temp_cnt = 0; // fl_temp_cnt2 = 0; // flag_flowrate++; // } // if (flag_flowrate == 10) { // V_out = 0; // flag_flowrate = 0; // TMR3_COUNT_FLOWRATE = 0; // valve_gain_repeat_cnt++; // if (valve_gain_repeat_cnt >= 1) { // CONTROL_MODE = MODE_NO_ACT; // valve_gain_repeat_cnt = 0; // } // // } // break; // } // // } case MODE_PRESSURE_SENSOR_NULLING: { // DAC Voltage reference set if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) { CUR_PRES_A_sum += pres_A.sen; CUR_PRES_B_sum += pres_B.sen; if (TMR3_COUNT_PRES_NULL % 10 == 0) { CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f; CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f; CUR_PRES_A_sum = 0; CUR_PRES_B_sum = 0; float VREF_NullingGain = 0.0003f; PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean; PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean; if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f; if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f; if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f; if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f; dac_1 = PRES_A_VREF / 3.3f; dac_2 = PRES_B_VREF / 3.3f; } } else { CONTROL_UTILITY_MODE = MODE_NO_ACT; TMR3_COUNT_PRES_NULL = 0; CUR_PRES_A_sum = 0; CUR_PRES_B_sum = 0; CUR_PRES_A_mean = 0; CUR_PRES_B_mean = 0; ROM_RESET_DATA(); dac_1 = PRES_A_VREF / 3.3f; dac_2 = PRES_B_VREF / 3.3f; //pc.printf("nulling end"); } TMR3_COUNT_PRES_NULL++; break; } // case MODE_PRESSURE_SENSOR_CALIB: { // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) { // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) { // CUR_PRES_A_sum += CUR_PRES_A; // } // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) { // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) { // CUR_PRES_B_sum += CUR_PRES_B; // } // } else { // CONTROL_MODE = MODE_NO_ACT; // TMR3_COUNT_PRES_CALIB = 0; // V_out = 0; // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL; // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL; // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); // CUR_PRES_A_sum = 0; // CUR_PRES_B_sum = 0; // CUR_PRES_A_mean = 0; // CUR_PRES_B_mean = 0; // // ROM_RESET_DATA(); // // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); // } // TMR3_COUNT_PRES_CALIB++; // break; // } // case MODE_ROTARY_FRICTION_TUNING: { // if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4.0f + 3.0f * sin(2 * 3.14159f * 0.5f * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f * 0.05f); // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f); // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; // TMR3_COUNT_ROTARY_FRIC_TUNE++; // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) { // TMR3_COUNT_ROTARY_FRIC_TUNE = 0; // V_out = 0.0f; // CONTROL_MODE = MODE_NO_ACT; // } // break; // } case MODE_DDV_POS_VS_PWM_ID: { CONTROL_MODE = MODE_VALVE_OPEN_LOOP; VALVE_ID_timer = VALVE_ID_timer + 1; if(VALVE_ID_timer < TMR_FREQ_5k*1) { Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f); } else if(VALVE_ID_timer < TMR_FREQ_5k*2) { Vout.ref = 1000.0f*(ID_index_array[ID_index]); } else if(VALVE_ID_timer == TMR_FREQ_5k*2) { VALVE_POS_TMP = 0; data_num = 0; } else if(VALVE_ID_timer < TMR_FREQ_5k*3) { data_num = data_num + 1; VALVE_POS_TMP = VALVE_POS_TMP + value; } else if(VALVE_ID_timer == TMR_FREQ_5k*3) { Vout.ref = 0.0f; } else { VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num; VALVE_ID_timer = 0; ID_index= ID_index +1; } if(ID_index>=25) { int i; VALVE_POS_AVG_OLD = VALVE_POS_AVG[0]; for(i=0; i<25; i++) { VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]); if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) { VALVE_MAX_POS = VALVE_POS_AVG[i]; VALVE_POS_AVG_OLD = VALVE_MAX_POS; } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) { VALVE_MIN_POS = VALVE_POS_AVG[i]; VALVE_POS_AVG_OLD = VALVE_MIN_POS; } } ROM_RESET_DATA(); ID_index = 0; CONTROL_UTILITY_MODE = MODE_NO_ACT; } break; } case MODE_DDV_DEADZONE_AND_CENTER: { CONTROL_MODE = MODE_VALVE_OPEN_LOOP; VALVE_DZ_timer = VALVE_DZ_timer + 1; if(first_check == 0) { if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; pos_plus_end = pos.sen; } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; pos_minus_end = pos.sen; } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) { Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) { Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; data_num = data_num + 1; VALVE_POS_TMP = VALVE_POS_TMP + value; } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) { Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; DDV_POS_AVG = VALVE_POS_TMP / data_num; START_POS = pos.sen; VALVE_POS_TMP = 0; data_num = 0; } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { valve_pos.ref = DDV_POS_AVG; VALVE_POS_CONTROL(valve_pos.ref); } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) { valve_pos.ref = DDV_POS_AVG; VALVE_POS_CONTROL(valve_pos.ref); } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) { valve_pos.ref = DDV_POS_AVG; VALVE_POS_CONTROL(valve_pos.ref); FINAL_POS = pos.sen; if((FINAL_POS - START_POS)>200) { DZ_case = 1; } else if((FINAL_POS - START_POS)<-200) { DZ_case = -1; } else { DZ_case = 0; } CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6)); first_check = 1; DZ_DIRECTION = 1; VALVE_DZ_timer = 0; Ref_Valve_Pos_Old = DDV_POS_AVG; DZ_NUM = 1; DZ_index = 1; } } else { if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) { if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) { Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; //CONTROL_MODE = MODE_JOINT_CONTROL; } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { START_POS = pos.sen; } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; if(valve_pos.ref <= VALVE_MIN_POS) { valve_pos.ref = VALVE_MIN_POS; } else if(valve_pos.ref >= VALVE_MAX_POS) { valve_pos.ref = VALVE_MAX_POS; } VALVE_POS_CONTROL(valve_pos.ref); } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { Ref_Valve_Pos_Old = valve_pos.ref; FINAL_POS = pos.sen; if((FINAL_POS - START_POS)>100) { DZ_DIRECTION = 1 * DZ_case; } else if((FINAL_POS - START_POS)<-100) { DZ_DIRECTION = -1 * DZ_case; } else { DZ_DIRECTION = 1 * DZ_case; } VALVE_DZ_timer = 0; DZ_index= DZ_index *2; if(DZ_index >= 128) { FIRST_DZ = valve_pos.ref; DZ_NUM = 2; Ref_Valve_Pos_Old = FIRST_DZ; DZ_index = 1; DZ_DIRECTION = 1; } } } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) { if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; //CONTROL_MODE = MODE_JOINT_CONTROL; } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { START_POS = pos.sen; } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; if(valve_pos.ref <= VALVE_MIN_POS) { valve_pos.ref = VALVE_MIN_POS; } else if(valve_pos.ref >= VALVE_MAX_POS) { valve_pos.ref = VALVE_MAX_POS; } VALVE_POS_CONTROL(valve_pos.ref); } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { Vout.ref = 0.0f; } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { Ref_Valve_Pos_Old = valve_pos.ref; FINAL_POS = pos.sen; if((FINAL_POS - START_POS)>100) { DZ_DIRECTION = 1 * DZ_case; } else if((FINAL_POS - START_POS)<-100) { DZ_DIRECTION = -1 * DZ_case; } else { DZ_DIRECTION = -1 * DZ_case; } VALVE_DZ_timer = 0; DZ_index= DZ_index * 2; if(DZ_index >= 128) { SECOND_DZ = valve_pos.ref; VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); first_check = 0; VALVE_DEADZONE_MINUS = (float) FIRST_DZ; VALVE_DEADZONE_PLUS = (float) SECOND_DZ; ROM_RESET_DATA(); CONTROL_UTILITY_MODE = MODE_NO_ACT; DZ_index = 1; } } } else if(DZ_case == 0 && DZ_NUM ==1) { if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; //CONTROL_MODE = MODE_JOINT_CONTROL; } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { START_POS = pos.sen; } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index; if(valve_pos.ref <= VALVE_MIN_POS) { valve_pos.ref = VALVE_MIN_POS; } else if(valve_pos.ref >= VALVE_MAX_POS) { valve_pos.ref = VALVE_MAX_POS; } VALVE_POS_CONTROL(valve_pos.ref); } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { Ref_Valve_Pos_Old = valve_pos.ref; FINAL_POS = pos.sen; if((FINAL_POS - START_POS)>100) { DZ_DIRECTION = 1; } else if((FINAL_POS - START_POS)<-100) { DZ_DIRECTION = -1; } else { DZ_DIRECTION = 1; } VALVE_DZ_timer = 0; DZ_index= DZ_index *2; if(DZ_index >= 128) { FIRST_DZ = valve_pos.ref; DZ_NUM = 2; Ref_Valve_Pos_Old = FIRST_DZ; DZ_index = 1; DZ_DIRECTION = 1; } } } else { if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; //CONTROL_MODE = MODE_JOINT_CONTROL; } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { START_POS = pos.sen; } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index; if(valve_pos.ref <= VALVE_MIN_POS) { valve_pos.ref = VALVE_MIN_POS; } else if(valve_pos.ref > VALVE_MAX_POS) { valve_pos.ref = VALVE_MAX_POS - 1; } VALVE_POS_CONTROL(valve_pos.ref); } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { Vout.ref = 0.0f; } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { Ref_Valve_Pos_Old = valve_pos.ref; FINAL_POS = pos.sen; if((FINAL_POS - START_POS)>100) { DZ_DIRECTION = 1; } else if((FINAL_POS - START_POS)<-100) { DZ_DIRECTION = -1; } else { DZ_DIRECTION = 1; } VALVE_DZ_timer = 0; DZ_index= DZ_index *2; if(DZ_index >= 128) { SECOND_DZ = valve_pos.ref; VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); first_check = 0; VALVE_DEADZONE_MINUS = (float) FIRST_DZ; VALVE_DEADZONE_PLUS = (float) SECOND_DZ; ROM_RESET_DATA(); CONTROL_UTILITY_MODE = MODE_NO_ACT; DZ_index = 1; } } } } break; } case MODE_DDV_POS_VS_FLOWRATE: { CONTROL_MODE = MODE_VALVE_OPEN_LOOP; VALVE_FR_timer = VALVE_FR_timer + 1; if(first_check == 0) { if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; pos_plus_end = pos.sen; // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7)); } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8)); Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; pos_minus_end = pos.sen; first_check = 1; VALVE_FR_timer = 0; valve_pos.ref = (float) VALVE_CENTER; ID_index = 0; max_check = 0; min_check = 0; } } else { if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { //V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; CONTROL_MODE = MODE_JOINT_CONTROL; } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { data_num = 0; valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; VALVE_POS_CONTROL(valve_pos.ref); START_POS = pos.sen; } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; VALVE_POS_CONTROL(valve_pos.ref); data_num = data_num + 1; if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) { FINAL_POS = pos.sen; one_period_end = 1; } } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) { FINAL_POS = pos.sen; one_period_end = 1; V_out = 0.0f; } if(one_period_end == 1) { if(valve_pos.ref > VALVE_MAX_POS) { max_check = 1; } else if(valve_pos.ref < VALVE_MIN_POS) { min_check = 1; } JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec VALVE_FR_timer = 0; one_period_end = 0; ID_index= ID_index +1; V_out = 0.0f; } if(max_check == 1 && min_check == 1) { VALVE_POS_NUM = ID_index; ROM_RESET_DATA(); ID_index = 0; first_check = 0; VALVE_FR_timer = 0; CONTROL_UTILITY_MODE = MODE_NO_ACT; // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); } } break; } case MODE_SYSTEM_ID: { freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.; valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3); CONTROL_MODE = MODE_VALVE_OPEN_LOOP; cnt_sysid++; if (freq_sysid_Iref >= 300) { cnt_sysid = 0; CONTROL_UTILITY_MODE = MODE_NO_ACT; } break; } default: break; } // CONTROL MODE ------------------------------------------------------------ switch (CONTROL_MODE) { case MODE_NO_ACT: { V_out = 0.0f; break; } case MODE_VALVE_POSITION_CONTROL: { if (OPERATING_MODE == 5) { //SW Valve VALVE_POS_CONTROL(valve_pos.ref); V_out = Vout.ref; } else if (CURRENT_CONTROL_MODE == 0) { //PWM V_out = valve_pos.ref; } else { I_REF = valve_pos.ref * 0.001f; } break; } case MODE_JOINT_CONTROL: { double torq_ref = 0.0f; pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] //K & D Low Pass Filter float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D); D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D); torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N] // torque feedback torq.err = torq_ref - torq.sen; //[N] torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { double I_REF_POS = 0.0f; double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback double I_REF_VC = 0.0f; // I_REF for velocity compensation double temp_vel_pos = 0.0f; double temp_vel_torq = 0.0f; double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s // L when P-gain = 100, f_cut = 10Hz L feedforward velocity } else if ((OPERATING_MODE & 0x01) == 1) { temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s // L when P-gain = 100, f_cut = 10Hz L feedforward velocity } if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f)))); else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); // velocity compensation for torque control if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s // L feedforward velocity } else if ((OPERATING_MODE & 0x01) == 1) { I_REF_FORCE_FB = 0.001f * 0.01f*((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); // Linear Actuators are more sensitive. // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s // L feedforward velocity } if (temp_vel_torq > 0.0f) I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f)))); else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); // L velocity(rad/s or mm/s) >> I_ref(mA) // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k; // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm; I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB); // Anti-windup for FT if (I_GAIN_JOINT_TORQUE != 0) { double I_MAX = 10.0f; // Maximum Current : 10mV double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f); if (I_REF > I_MAX) { double I_rem = I_REF - I_MAX; I_rem = Ka*I_rem; I_REF = I_MAX; torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; } else if (I_REF < -I_MAX) { double I_rem = I_REF - (-I_MAX); I_rem = Ka*I_rem; I_REF = -I_MAX; torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; } } } else { float VALVE_POS_RAW_FORCE_FB = 0.0f; float VALVE_POS_RAW_FORCE_FF = 0.0f; float VALVE_POS_RAW = 0.0f; VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref)); VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f; VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF; if (VALVE_POS_RAW >= 0) { valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS; } else { valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS; } if(I_GAIN_JOINT_TORQUE != 0) { double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; if(valve_pos.ref>VALVE_MAX_POS) { double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; valve_pos_rem = valve_pos_rem * Ka; valve_pos.ref = VALVE_MAX_POS; torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; } else if(valve_pos.ref < VALVE_MIN_POS) { double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; valve_pos_rem = valve_pos_rem * Ka; valve_pos.ref = VALVE_MIN_POS; torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; } } VALVE_POS_CONTROL(valve_pos.ref); // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err); V_out = (float) Vout.ref; } torq_ref_past = torq_ref; break; } case MODE_VALVE_OPEN_LOOP: { V_out = (float) Vout.ref; break; } default: break; } if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve //////////////////////////////////////////////////////////////////////////// //////////////////////////// CURRENT CONTROL ////////////////////////////// //////////////////////////////////////////////////////////////////////////// if (CURRENT_CONTROL_MODE) { double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF; I_ERR = I_REF_fil - cur.sen; I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f; // Moog Valve Current Control Gain double R_model = 500.0f; // ohm double L_model = 1.2f; double w0 = 2.0f * 3.14f * 150.0f; double KP_I = 0.1f * L_model*w0; double KI_I = 0.1f * R_model*w0; // KNR Valve Current Control Gain if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve R_model = 163.0f; // ohm L_model = 1.0f; w0 = 2.0f * 3.14f * 80.0f; KP_I = 1.0f * L_model*w0; KI_I = 0.08f * R_model*w0; } double FF_gain = 1.0f; VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT; // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV I_REF_fil_diff = I_REF_fil - I_REF_fil_old; I_REF_fil_old = I_REF_fil; // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV double Ka = 3.0f / KP_I; if (VALVE_PWM_RAW > V_MAX) { V_rem = VALVE_PWM_RAW - V_MAX; V_rem = Ka*V_rem; VALVE_PWM_RAW = V_MAX; I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; } else if (VALVE_PWM_RAW < -V_MAX) { V_rem = VALVE_PWM_RAW - (-V_MAX); V_rem = Ka*V_rem; VALVE_PWM_RAW = -V_MAX; I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; } Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse; } else { VALVE_PWM_RAW = I_REF * mV_PER_mA; Cur_Valve_Open_pulse = I_REF / mA_PER_pulse; } //////////////////////////////////////////////////////////////////////////// ///////////////// Dead Zone Cancellation & Linearization ////////////////// //////////////////////////////////////////////////////////////////////////// // Dead Zone Cancellation (Mechanical Valve dead-zone) if (FLAG_VALVE_DEADZONE) { if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV } else { VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW; } // Output Voltage Linearization double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 // Dead Zone Cancellation (Electrical dead-zone) if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); else V_out = (float) (CUR_PWM_lin); } else { //////////////////////////sw valve // Output Voltage Linearization double CUR_PWM_nonlin = V_out; // Unit : mV double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 // Dead Zone Cancellation (Electrical dead-zone) if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); else V_out = (float) (CUR_PWM_lin); } // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f); // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f); // else V_out = V_out; /******************************************************* *** PWM ********************************************************/ if(DIR_VALVE<0){ V_out = -V_out; } if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) { V_out = VALVE_VOLTAGE_LIMIT*1000.0f; } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) { V_out = -VALVE_VOLTAGE_LIMIT*1000.0f; } PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV // Saturation of output voltage to 12.0V if(PWM_out > 1.0f) PWM_out=1.0f; else if (PWM_out < -1.0f) PWM_out=-1.0f; if (PWM_out>0.0f) { dtc_v=0.0f; dtc_w=PWM_out; } else { dtc_v=-PWM_out; dtc_w=0.0f; } //pwm TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v); TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w); if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { // Position, Velocity, and Torque (ID:1200) if (flag_data_request[0] == HIGH) { if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator if (SENSING_MODE == 0) { CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f)); } else if (SENSING_MODE == 1) { CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f)); } } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator if (SENSING_MODE == 0) { CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE))); } else if (SENSING_MODE == 1) { CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f)); } } } if (flag_data_request[1] == HIGH) { //valve position double t_value = 0; // if(valve_pos.ref>=(float) VALVE_CENTER) { // t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); // } else { // t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); // } if(OPERATING_MODE==5) { if(valve_pos.ref>=(float) VALVE_CENTER) { t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); } else { t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); } //t_value = (double) value; } else if(CURRENT_CONTROL_MODE==1) { t_value = cur.sen * 1000.0f; } else { t_value = V_out; } CAN_TX_TORQUE((int16_t) (t_value)); //1300 //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300 //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300 } if (flag_data_request[2] == LOW) { //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // 1400 double t_value = 0; if(valve_pos.ref>=(float) VALVE_CENTER) { t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); } else { t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); } CAN_TX_PRES((int16_t) (t_value), (int16_t) (V_out)); // 1400 } //If it doesn't rest, below can can not work. for (can_rest = 0; can_rest < 10000; can_rest++) { ; } if (flag_data_request[3] == HIGH) { //PWM //CAN_TX_PWM((int16_t) value); //1500 CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500 } //for (i = 0; i < 10000; i++) { // ; // } if (flag_data_request[4] == HIGH) { //valve position CAN_TX_VALVE_POSITION((int16_t) (input_NN[1] * 100.0f), (int16_t) (input_NN[2]* 100.0f), (int16_t) (input_NN[3]* 100.0f), (int16_t) (input_NN[4]* 100.0f)); //1600 } // Others : Reference position, Reference FT, PWM, Current (ID:1300) // if (flag_data_request[1] == HIGH) { // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3)); // } //if (flag_delay_test == 1){ //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref); //} TMR2_COUNT_CAN_TX = 0; } TMR2_COUNT_CAN_TX++; } TIM3->SR = 0x0; // reset the status register }