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2011
main.cpp@94:44ae3b5a3bff, 2020-08-06 (annotated)
- Committer:
- Lightvalve
- Date:
- Thu Aug 06 09:33:32 2020 +0000
- Revision:
- 94:44ae3b5a3bff
- Parent:
- 93:82ce526d307b
- Child:
- 95:60f380adfdd0
200806-2
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Lightvalve | 94:44ae3b5a3bff | 1 | //200806-2 |
GiJeongKim | 0:51c43836c1d7 | 2 | #include "mbed.h" |
GiJeongKim | 0:51c43836c1d7 | 3 | #include "FastPWM.h" |
GiJeongKim | 0:51c43836c1d7 | 4 | #include "INIT_HW.h" |
jobuuu | 2:a1c0a37df760 | 5 | #include "function_CAN.h" |
GiJeongKim | 0:51c43836c1d7 | 6 | #include "SPI_EEP_ENC.h" |
GiJeongKim | 0:51c43836c1d7 | 7 | #include "I2C_AS5510.h" |
GiJeongKim | 0:51c43836c1d7 | 8 | #include "setting.h" |
Lightvalve | 11:82d8768d7351 | 9 | #include "function_utilities.h" |
Lightvalve | 16:903b5a4433b4 | 10 | #include "stm32f4xx_flash.h" |
Lightvalve | 65:a2d7c63419c2 | 11 | #include "FlashWriter.h" |
Lightvalve | 61:bc8c8270f0ab | 12 | |
Lightvalve | 61:bc8c8270f0ab | 13 | using namespace std; |
Lightvalve | 61:bc8c8270f0ab | 14 | Timer t; |
GiJeongKim | 0:51c43836c1d7 | 15 | |
Lightvalve | 31:66738bfecec5 | 16 | ///191008//// |
Lightvalve | 31:66738bfecec5 | 17 | |
jobuuu | 7:e9086c72bb22 | 18 | // dac & check /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 19 | DigitalOut check(PC_2); |
GiJeongKim | 0:51c43836c1d7 | 20 | DigitalOut check_2(PC_3); |
GiJeongKim | 0:51c43836c1d7 | 21 | AnalogOut dac_1(PA_4); |
GiJeongKim | 0:51c43836c1d7 | 22 | AnalogOut dac_2(PA_5); |
Lightvalve | 14:8e7590227d22 | 23 | AnalogIn adc1(PC_4); //pressure_1 |
Lightvalve | 14:8e7590227d22 | 24 | AnalogIn adc2(PB_0); //pressure_2 |
Lightvalve | 14:8e7590227d22 | 25 | AnalogIn adc3(PC_1); //current |
GiJeongKim | 0:51c43836c1d7 | 26 | |
Lightvalve | 24:ef6e1092e9e6 | 27 | |
jobuuu | 7:e9086c72bb22 | 28 | // PWM /////////////////////////////////////////// |
Lightvalve | 30:8d561f16383b | 29 | float dtc_v=0.0f; |
Lightvalve | 30:8d561f16383b | 30 | float dtc_w=0.0f; |
GiJeongKim | 0:51c43836c1d7 | 31 | |
jobuuu | 7:e9086c72bb22 | 32 | // I2C /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 33 | I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F) |
GiJeongKim | 0:51c43836c1d7 | 34 | const int i2c_slave_addr1 = 0x56; |
GiJeongKim | 0:51c43836c1d7 | 35 | unsigned int value; // 10bit output of reading sensor AS5510 |
GiJeongKim | 0:51c43836c1d7 | 36 | |
jobuuu | 7:e9086c72bb22 | 37 | // SPI /////////////////////////////////////////// |
Lightvalve | 16:903b5a4433b4 | 38 | //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK); |
Lightvalve | 16:903b5a4433b4 | 39 | //DigitalOut eeprom_cs(PB_12); |
Lightvalve | 16:903b5a4433b4 | 40 | //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector |
GiJeongKim | 0:51c43836c1d7 | 41 | SPI enc(PC_12,PC_11,PC_10); |
GiJeongKim | 0:51c43836c1d7 | 42 | DigitalOut enc_cs(PD_2); |
Lightvalve | 11:82d8768d7351 | 43 | DigitalOut LED(PA_15); |
GiJeongKim | 0:51c43836c1d7 | 44 | |
jobuuu | 7:e9086c72bb22 | 45 | // UART /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 46 | Serial pc(PA_9,PA_10); // _ UART |
GiJeongKim | 0:51c43836c1d7 | 47 | |
jobuuu | 7:e9086c72bb22 | 48 | // CAN /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 49 | CAN can(PB_8, PB_9, 1000000); |
GiJeongKim | 0:51c43836c1d7 | 50 | CANMessage msg; |
Lightvalve | 11:82d8768d7351 | 51 | void onMsgReceived() |
Lightvalve | 11:82d8768d7351 | 52 | { |
Lightvalve | 11:82d8768d7351 | 53 | CAN_RX_HANDLER(); |
Lightvalve | 11:82d8768d7351 | 54 | } |
jobuuu | 2:a1c0a37df760 | 55 | |
jobuuu | 7:e9086c72bb22 | 56 | // Variables /////////////////////////////////////////// |
jobuuu | 7:e9086c72bb22 | 57 | State pos; |
jobuuu | 7:e9086c72bb22 | 58 | State vel; |
jobuuu | 7:e9086c72bb22 | 59 | State Vout; |
jobuuu | 7:e9086c72bb22 | 60 | State torq; |
jobuuu | 7:e9086c72bb22 | 61 | State pres_A; |
jobuuu | 7:e9086c72bb22 | 62 | State pres_B; |
jobuuu | 7:e9086c72bb22 | 63 | State cur; |
Lightvalve | 14:8e7590227d22 | 64 | State valve_pos; |
Lightvalve | 14:8e7590227d22 | 65 | |
Lightvalve | 14:8e7590227d22 | 66 | State INIT_Vout; |
Lightvalve | 14:8e7590227d22 | 67 | State INIT_Valve_Pos; |
Lightvalve | 14:8e7590227d22 | 68 | State INIT_Pos; |
Lightvalve | 14:8e7590227d22 | 69 | State INIT_torq; |
jobuuu | 5:a4319f79457b | 70 | |
Lightvalve | 19:23b7c1ad8683 | 71 | extern int CID_RX_CMD; |
Lightvalve | 19:23b7c1ad8683 | 72 | extern int CID_RX_REF_POSITION; |
Lightvalve | 49:e7bcfc244d40 | 73 | extern int CID_RX_REF_VALVE_POS; |
Lightvalve | 45:35fa6884d0c6 | 74 | extern int CID_RX_REF_PWM; |
Lightvalve | 19:23b7c1ad8683 | 75 | |
Lightvalve | 19:23b7c1ad8683 | 76 | extern int CID_TX_INFO; |
Lightvalve | 19:23b7c1ad8683 | 77 | extern int CID_TX_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 78 | extern int CID_TX_TORQUE; |
Lightvalve | 19:23b7c1ad8683 | 79 | extern int CID_TX_PRES; |
Lightvalve | 19:23b7c1ad8683 | 80 | extern int CID_TX_VOUT; |
Lightvalve | 19:23b7c1ad8683 | 81 | extern int CID_TX_VALVE_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 82 | |
Lightvalve | 61:bc8c8270f0ab | 83 | |
Lightvalve | 61:bc8c8270f0ab | 84 | |
Lightvalve | 61:bc8c8270f0ab | 85 | |
jobuuu | 7:e9086c72bb22 | 86 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 87 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 88 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 89 | |
Lightvalve | 12:6f2531038ea4 | 90 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 91 | * REFERENCE MODE |
Lightvalve | 12:6f2531038ea4 | 92 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 93 | enum _REFERENCE_MODE { |
Lightvalve | 13:747daba9cf59 | 94 | MODE_REF_NO_ACT = 0, //0 |
Lightvalve | 12:6f2531038ea4 | 95 | MODE_REF_DIRECT, //1 |
Lightvalve | 12:6f2531038ea4 | 96 | MODE_REF_COS_INC, //2 |
Lightvalve | 12:6f2531038ea4 | 97 | MODE_REF_LINE_INC, //3 |
Lightvalve | 12:6f2531038ea4 | 98 | MODE_REF_SIN_WAVE, //4 |
Lightvalve | 12:6f2531038ea4 | 99 | MODE_REF_SQUARE_WAVE, //5 |
Lightvalve | 12:6f2531038ea4 | 100 | }; |
Lightvalve | 12:6f2531038ea4 | 101 | |
Lightvalve | 12:6f2531038ea4 | 102 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 103 | * CONTROL MODE |
Lightvalve | 12:6f2531038ea4 | 104 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 105 | enum _CONTROL_MODE { |
Lightvalve | 12:6f2531038ea4 | 106 | //control mode |
Lightvalve | 12:6f2531038ea4 | 107 | MODE_NO_ACT = 0, //0 |
Lightvalve | 47:fdcb8bd86fd6 | 108 | MODE_VALVE_POSITION_CONTROL, //1 |
Lightvalve | 47:fdcb8bd86fd6 | 109 | MODE_JOINT_CONTROL, //2 |
Lightvalve | 50:3c630b5eba9f | 110 | |
Lightvalve | 47:fdcb8bd86fd6 | 111 | MODE_VALVE_OPEN_LOOP, //3 |
Lightvalve | 12:6f2531038ea4 | 112 | MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4 |
Lightvalve | 12:6f2531038ea4 | 113 | MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5 |
Lightvalve | 13:747daba9cf59 | 114 | |
Lightvalve | 12:6f2531038ea4 | 115 | MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6 |
Lightvalve | 12:6f2531038ea4 | 116 | MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7 |
Lightvalve | 12:6f2531038ea4 | 117 | MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8 |
Lightvalve | 13:747daba9cf59 | 118 | |
Lightvalve | 12:6f2531038ea4 | 119 | MODE_TEST_CURRENT_CONTROL, //9 |
Lightvalve | 12:6f2531038ea4 | 120 | MODE_TEST_PWM_CONTROL, //10 |
Lightvalve | 21:e5f1a43ea6f9 | 121 | |
Lightvalve | 14:8e7590227d22 | 122 | MODE_CURRENT_CONTROL, //11 |
Lightvalve | 14:8e7590227d22 | 123 | MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12 |
Lightvalve | 14:8e7590227d22 | 124 | MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13 |
Lightvalve | 13:747daba9cf59 | 125 | |
Lightvalve | 12:6f2531038ea4 | 126 | //utility |
Lightvalve | 12:6f2531038ea4 | 127 | MODE_TORQUE_SENSOR_NULLING = 20, //20 |
Lightvalve | 12:6f2531038ea4 | 128 | MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21 |
Lightvalve | 12:6f2531038ea4 | 129 | MODE_FIND_HOME, //22 |
Lightvalve | 57:f4819de54e7a | 130 | MODE_VALVE_GAIN_SETTING, //23 |
Lightvalve | 12:6f2531038ea4 | 131 | MODE_PRESSURE_SENSOR_NULLING, //24 |
Lightvalve | 12:6f2531038ea4 | 132 | MODE_PRESSURE_SENSOR_CALIB, //25 |
Lightvalve | 12:6f2531038ea4 | 133 | MODE_ROTARY_FRICTION_TUNING, //26 |
Lightvalve | 13:747daba9cf59 | 134 | |
Lightvalve | 12:6f2531038ea4 | 135 | MODE_DDV_POS_VS_PWM_ID = 30, //30 |
Lightvalve | 12:6f2531038ea4 | 136 | MODE_DDV_DEADZONE_AND_CENTER, //31 |
Lightvalve | 12:6f2531038ea4 | 137 | MODE_DDV_POS_VS_FLOWRATE, //32 |
Lightvalve | 57:f4819de54e7a | 138 | MODE_SYSTEM_ID, //33 |
Lightvalve | 12:6f2531038ea4 | 139 | }; |
Lightvalve | 12:6f2531038ea4 | 140 | |
Lightvalve | 65:a2d7c63419c2 | 141 | void SystemClock_Config(void) |
Lightvalve | 65:a2d7c63419c2 | 142 | { |
Lightvalve | 65:a2d7c63419c2 | 143 | RCC_OscInitTypeDef RCC_OscInitStruct = {0}; |
Lightvalve | 65:a2d7c63419c2 | 144 | RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; |
Lightvalve | 65:a2d7c63419c2 | 145 | |
Lightvalve | 65:a2d7c63419c2 | 146 | /** Configure the main internal regulator output voltage |
Lightvalve | 65:a2d7c63419c2 | 147 | */ |
Lightvalve | 65:a2d7c63419c2 | 148 | __HAL_RCC_PWR_CLK_ENABLE(); |
Lightvalve | 65:a2d7c63419c2 | 149 | __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); |
Lightvalve | 65:a2d7c63419c2 | 150 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 65:a2d7c63419c2 | 151 | */ |
Lightvalve | 65:a2d7c63419c2 | 152 | RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; |
Lightvalve | 65:a2d7c63419c2 | 153 | RCC_OscInitStruct.HSIState = RCC_HSI_ON; |
Lightvalve | 65:a2d7c63419c2 | 154 | RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; |
Lightvalve | 65:a2d7c63419c2 | 155 | RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; |
Lightvalve | 65:a2d7c63419c2 | 156 | RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI; |
Lightvalve | 65:a2d7c63419c2 | 157 | RCC_OscInitStruct.PLL.PLLM = 8;//8 |
Lightvalve | 65:a2d7c63419c2 | 158 | RCC_OscInitStruct.PLL.PLLN = 180; //180 |
Lightvalve | 65:a2d7c63419c2 | 159 | RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; |
Lightvalve | 65:a2d7c63419c2 | 160 | RCC_OscInitStruct.PLL.PLLQ = 2; |
Lightvalve | 65:a2d7c63419c2 | 161 | RCC_OscInitStruct.PLL.PLLR = 2; |
Lightvalve | 65:a2d7c63419c2 | 162 | if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) |
Lightvalve | 65:a2d7c63419c2 | 163 | { |
Lightvalve | 65:a2d7c63419c2 | 164 | //Error_Handler(); |
Lightvalve | 65:a2d7c63419c2 | 165 | } |
Lightvalve | 65:a2d7c63419c2 | 166 | /** Activate the Over-Drive mode |
Lightvalve | 65:a2d7c63419c2 | 167 | */ |
Lightvalve | 65:a2d7c63419c2 | 168 | if (HAL_PWREx_EnableOverDrive() != HAL_OK) |
Lightvalve | 65:a2d7c63419c2 | 169 | { |
Lightvalve | 65:a2d7c63419c2 | 170 | //Error_Handler(); |
Lightvalve | 65:a2d7c63419c2 | 171 | } |
Lightvalve | 65:a2d7c63419c2 | 172 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 65:a2d7c63419c2 | 173 | */ |
Lightvalve | 65:a2d7c63419c2 | 174 | RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |
Lightvalve | 65:a2d7c63419c2 | 175 | |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; |
Lightvalve | 65:a2d7c63419c2 | 176 | RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; |
Lightvalve | 65:a2d7c63419c2 | 177 | RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; |
Lightvalve | 65:a2d7c63419c2 | 178 | RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4; |
Lightvalve | 65:a2d7c63419c2 | 179 | RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; |
Lightvalve | 65:a2d7c63419c2 | 180 | |
Lightvalve | 65:a2d7c63419c2 | 181 | if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) |
Lightvalve | 65:a2d7c63419c2 | 182 | { |
Lightvalve | 65:a2d7c63419c2 | 183 | //Error_Handler(); |
Lightvalve | 65:a2d7c63419c2 | 184 | } |
Lightvalve | 65:a2d7c63419c2 | 185 | } |
Lightvalve | 65:a2d7c63419c2 | 186 | |
Lightvalve | 65:a2d7c63419c2 | 187 | |
Lightvalve | 68:328e1be06f5d | 188 | float x_past[num_array_x_past] = {0.0f}; |
Lightvalve | 85:a3b46118b5cd | 189 | float x_future[num_array_x_future] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 190 | float f_past[num_array_f_past] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 191 | float f_future[num_array_f_future] = {0.0f}; |
Lightvalve | 66:a8e6799dbce3 | 192 | |
Lightvalve | 73:f80dc3970c99 | 193 | float input_NN[num_input] = { 0.0f }; |
Lightvalve | 65:a2d7c63419c2 | 194 | |
Lightvalve | 90:a6cfef34bdce | 195 | const float h1[num_input][16] = { |
Lightvalve | 94:44ae3b5a3bff | 196 | {-1.963043212890625f,0.015004287473857403f,0.13533532619476318f,1.4252461194992065f,-2.064927577972412f,-0.04286407679319382f,-0.18325737118721008f,0.281577467918396f,-1.9616422653198242f,-1.49474036693573f,0.7598258256912231f,-2.0010058879852295f,-0.2661750614643097f,-1.3525208234786987f,-0.26971113681793213f,0.9658187031745911f}, |
Lightvalve | 94:44ae3b5a3bff | 197 | {-0.8787243962287903f,0.1859530359506607f,-0.41195717453956604f,-0.20809273421764374f,-0.674298882484436f,-0.06167679280042648f,-0.425188273191452f,-0.20522037148475647f,-0.47495657205581665f,0.11714152246713638f,-0.06905350834131241f,-0.6974107027053833f,0.2579839527606964f,-0.5297649502754211f,-0.2199118435382843f,0.1454169899225235f}, |
Lightvalve | 94:44ae3b5a3bff | 198 | {0.932813823223114f,0.29505985975265503f,0.3816739320755005f,-2.4131741523742676f,1.5926390886306763f,0.24176615476608276f,0.30123186111450195f,-0.39279159903526306f,1.2621344327926636f,2.086148500442505f,-1.6665315628051758f,1.0276610851287842f,0.00829596072435379f,1.9490678310394287f,0.05863076448440552f,-1.8875789642333984f}, |
Lightvalve | 94:44ae3b5a3bff | 199 | {-0.031219489872455597f,-0.2923046350479126f,0.41681867837905884f,0.34140005707740784f,0.14258523285388947f,-0.38576745986938477f,-0.12149989604949951f,0.30871331691741943f,0.1575150489807129f,0.2960202097892761f,0.8576183319091797f,0.07271303236484528f,-0.16665874421596527f,0.07571949064731598f,-0.31060048937797546f,0.2250320166349411f}, |
Lightvalve | 94:44ae3b5a3bff | 200 | {0.26971566677093506f,-0.03084159642457962f,-0.005396246910095215f,0.7376466393470764f,-0.14348290860652924f,-0.15112927556037903f,0.13571947813034058f,-0.19012069702148438f,0.07547261565923691f,0.007039226591587067f,0.4160690903663635f,0.00960183423012495f,-0.0654422715306282f,0.397073358297348f,-0.40537047386169434f,-0.10345643758773804f}, |
Lightvalve | 94:44ae3b5a3bff | 201 | {0.5341939330101013f,-0.6167353987693787f,0.22836029529571533f,0.537230372428894f,0.35416141152381897f,-0.4741230309009552f,0.17320233583450317f,-0.5147087574005127f,0.324430912733078f,0.2835429310798645f,-0.3897288143634796f,0.541561484336853f,-0.2716478705406189f,0.8329599499702454f,-0.4334552586078644f,-0.19467635452747345f}, |
Lightvalve | 94:44ae3b5a3bff | 202 | {-0.08570978790521622f,-0.2931893765926361f,-0.26241058111190796f,-0.183466836810112f,-0.411259263753891f,0.03150376304984093f,0.06307727098464966f,-0.5256645083427429f,0.5538625717163086f,-0.04620828852057457f,0.7182741165161133f,0.37059661746025085f,-0.17420996725559235f,0.6881060600280762f,-0.1638074517250061f,0.3303564786911011f}, |
Lightvalve | 94:44ae3b5a3bff | 203 | {0.08658113330602646f,-0.5449877381324768f,-0.2791902422904968f,0.1466515064239502f,-0.2339358627796173f,-0.3444323241710663f,-0.18800833821296692f,-0.5271945595741272f,0.3837786614894867f,0.14816084504127502f,0.697123646736145f,0.016901837661862373f,0.39644840359687805f,0.3650294542312622f,0.04513084888458252f,0.34459394216537476f}, |
Lightvalve | 94:44ae3b5a3bff | 204 | {0.11592582613229752f,0.02167455293238163f,0.10748296976089478f,-0.09244681149721146f,-0.4129270613193512f,-0.20819306373596191f,-0.07600703835487366f,-0.5996463894844055f,-0.27206647396087646f,0.30653059482574463f,-0.08816258609294891f,0.2984832525253296f,0.24698613584041595f,0.00610219594091177f,-0.32046639919281006f,0.4325462281703949f}, |
Lightvalve | 94:44ae3b5a3bff | 205 | {0.21472881734371185f,-0.528688371181488f,0.19363796710968018f,-0.110680490732193f,0.0816967636346817f,0.024434411898255348f,-0.31365057826042175f,-0.3086670935153961f,0.15675820410251617f,-0.035505954176187515f,-0.7795049548149109f,-0.1942906379699707f,0.39697206020355225f,-0.16612550616264343f,0.36550790071487427f,-0.22927340865135193f}, |
Lightvalve | 94:44ae3b5a3bff | 206 | {0.5017411708831787f,-0.1687530279159546f,0.3899726867675781f,0.18212741613388062f,0.05187850072979927f,-0.19427010416984558f,-0.21332034468650818f,-0.1761755794286728f,-0.27655401825904846f,0.43001410365104675f,0.08275233954191208f,-0.16393283009529114f,-0.06339302659034729f,-0.28966739773750305f,0.279909610748291f,-0.34861424565315247f}, |
Lightvalve | 94:44ae3b5a3bff | 207 | {-0.4059267044067383f,-0.7185561060905457f,-0.42287975549697876f,0.12207406759262085f,0.09988117218017578f,-0.37759798765182495f,0.1608651876449585f,0.29438477754592896f,-0.18027105927467346f,0.34256309270858765f,-0.30703526735305786f,-0.08198640495538712f,0.15805940330028534f,-0.33154505491256714f,0.11006170511245728f,-0.07437236607074738f}, |
Lightvalve | 94:44ae3b5a3bff | 208 | {0.20905812084674835f,-0.517874002456665f,0.2081671953201294f,0.26199454069137573f,0.49750348925590515f,-0.1549171358346939f,-0.2521669864654541f,0.04194226488471031f,-0.15982773900032043f,0.061027977615594864f,-0.41953322291374207f,-0.37924763560295105f,0.10275253653526306f,-0.056523796170949936f,-0.2335498034954071f,-0.7443153858184814f}, |
Lightvalve | 94:44ae3b5a3bff | 209 | {0.11417270451784134f,-0.3810805678367615f,0.4329291582107544f,-0.011520566418766975f,-0.017149589955806732f,-0.5052298903465271f,-0.3356325030326843f,-0.511318027973175f,-0.13828693330287933f,0.15965227782726288f,-0.8224735856056213f,-0.2821078598499298f,-0.32179391384124756f,-0.3591322600841522f,0.050309598445892334f,-0.3893372416496277f}, |
Lightvalve | 65:a2d7c63419c2 | 210 | }; |
Lightvalve | 65:a2d7c63419c2 | 211 | |
Lightvalve | 90:a6cfef34bdce | 212 | const float h2[16][16] = { |
Lightvalve | 94:44ae3b5a3bff | 213 | {-1.9509391784667969f,0.14084668457508087f,-0.06966331601142883f,0.14623679220676422f,-0.21907491981983185f,-0.10117511451244354f,0.027126450091600418f,-0.02197800762951374f,-0.43008196353912354f,-0.1415480375289917f,-0.2979885935783386f,-0.39775967597961426f,-2.7734076976776123f,-0.7008452415466309f,-0.27143293619155884f,-0.608835756778717f}, |
Lightvalve | 94:44ae3b5a3bff | 214 | {0.10992950946092606f,-0.20079074800014496f,0.057057321071624756f,0.09341119974851608f,-0.35503754019737244f,-0.25873130559921265f,-0.37153491377830505f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-0.32728350162506104f,-0.4258429706096649f,0.27868348360061646f,0.08470615744590759f,-0.3198310434818268f,-0.3511825203895569f}, |
Lightvalve | 90:a6cfef34bdce | 215 | {-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}, |
Lightvalve | 94:44ae3b5a3bff | 216 | {-1.4898258447647095f,-1.9549109935760498f,-0.2894435524940491f,-0.5024607181549072f,0.08946844935417175f,-1.782486081123352f,-0.4730691909790039f,0.2983686029911041f,0.26211628317832947f,0.2953031361103058f,-1.5245325565338135f,0.1871659755706787f,-1.371577262878418f,1.0606229305267334f,0.6527656316757202f,0.821809709072113f}, |
Lightvalve | 94:44ae3b5a3bff | 217 | {-2.8143932819366455f,1.1819502115249634f,-0.25313520431518555f,0.23312035202980042f,0.036378175020217896f,-0.7305564284324646f,-0.5931391716003418f,-0.1986749768257141f,-0.024399548768997192f,-0.39465832710266113f,-5.651285648345947f,-0.8679283261299133f,-2.4645915031433105f,-0.7347169518470764f,-0.6904176473617554f,-1.1736375093460083f}, |
Lightvalve | 94:44ae3b5a3bff | 218 | {0.24798628687858582f,0.228379026055336f,-0.3519742488861084f,0.42436113953590393f,-0.3015052080154419f,-0.16997049748897552f,-0.4715564250946045f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,0.3003051280975342f,-0.17390193045139313f,-0.0028409818187355995f,0.2943539619445801f,0.12353334575891495f,-0.4951039254665375f}, |
Lightvalve | 90:a6cfef34bdce | 219 | {-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}, |
Lightvalve | 94:44ae3b5a3bff | 220 | {-0.010045207105576992f,0.05922095105051994f,0.33083590865135193f,-0.4843074083328247f,-0.14358049631118774f,-0.5586643815040588f,-0.09043094515800476f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,0.3221753239631653f,-0.39895379543304443f,-0.5413416624069214f,0.6744462251663208f,0.48414382338523865f,0.4610564708709717f}, |
Lightvalve | 94:44ae3b5a3bff | 221 | {-3.01225209236145f,0.5945671200752258f,-0.11379697918891907f,-0.2679266035556793f,0.041274964809417725f,-1.3865963220596313f,-0.2045956254005432f,-0.1114678680896759f,0.06103590130805969f,-0.38046833872795105f,-1.1163324117660522f,-0.5454443693161011f,-2.214613676071167f,-0.7942855358123779f,-0.7253769040107727f,-0.8374356031417847f}, |
Lightvalve | 94:44ae3b5a3bff | 222 | {2.390881061553955f,1.0905855894088745f,-0.13502129912376404f,0.7093252539634705f,0.12987366318702698f,1.5289452075958252f,-0.186527281999588f,-0.498121976852417f,-0.13619378209114075f,0.16938945651054382f,2.28953218460083f,-0.8651934862136841f,1.029745101928711f,-2.167752981185913f,-0.7005384564399719f,-1.387426495552063f}, |
Lightvalve | 94:44ae3b5a3bff | 223 | {-0.8490642309188843f,0.09511224925518036f,0.0457797646522522f,-0.768560528755188f,-0.03321319818496704f,-1.1284128427505493f,0.07103440165519714f,-0.3173494040966034f,-0.050184011459350586f,0.12480869889259338f,0.1699770987033844f,0.09800448268651962f,-1.0492773056030273f,0.42493292689323425f,-0.3253907561302185f,-0.25380057096481323f}, |
Lightvalve | 94:44ae3b5a3bff | 224 | {-2.698960304260254f,0.4154041111469269f,0.3954955041408539f,-0.20902565121650696f,0.0033026933670043945f,-2.0346245765686035f,-0.4440285563468933f,-0.2303110510110855f,0.3487861454486847f,-0.32520344853401184f,-0.9862750768661499f,-0.5310355424880981f,-1.7021924257278442f,-0.3649623692035675f,0.0728849396109581f,-0.24838462471961975f}, |
Lightvalve | 94:44ae3b5a3bff | 225 | {-0.2736700177192688f,-0.20621289312839508f,-0.15798500180244446f,0.35879138112068176f,-0.37393757700920105f,0.3766416311264038f,0.11292675137519836f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.10378183424472809f,-0.31091004610061646f,0.41839322447776794f,-0.02322995476424694f,-0.13558119535446167f,0.11001573503017426f}, |
Lightvalve | 94:44ae3b5a3bff | 226 | {-1.1669691801071167f,-0.053728580474853516f,-0.2018718123435974f,0.3725968301296234f,0.07545611262321472f,-0.7844578623771667f,-0.42536208033561707f,-0.34513670206069946f,-0.24509364366531372f,0.19522181153297424f,1.8698723316192627f,-0.7699924111366272f,-1.4706475734710693f,-2.079646110534668f,-0.36733993887901306f,-0.7221977710723877f}, |
Lightvalve | 90:a6cfef34bdce | 227 | {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}, |
Lightvalve | 94:44ae3b5a3bff | 228 | {-0.7698415517807007f,-0.02098836936056614f,0.12081471085548401f,-0.6264633536338806f,0.29976895451545715f,-1.0969022512435913f,-0.2784166932106018f,0.1978110671043396f,-0.3893685042858124f,-0.02222958207130432f,0.32217976450920105f,-0.40892165899276733f,-0.5300687551498413f,0.43839365243911743f,0.1571161150932312f,-0.07078711688518524f}, |
Lightvalve | 65:a2d7c63419c2 | 229 | }; |
Lightvalve | 65:a2d7c63419c2 | 230 | |
Lightvalve | 90:a6cfef34bdce | 231 | const float h3[16][16] = { |
Lightvalve | 94:44ae3b5a3bff | 232 | {-0.36079341173171997f,-0.24909263849258423f,-0.1940135806798935f,0.4449140727519989f,-0.01639309711754322f,1.9790804386138916f,0.3332441747188568f,0.15218907594680786f,-1.748496174812317f,-0.3356230556964874f,-2.38187313079834f,0.19966159760951996f,-0.30251893401145935f,2.2593438625335693f,2.3982226848602295f,-0.18487964570522308f}, |
Lightvalve | 94:44ae3b5a3bff | 233 | {0.047732532024383545f,0.1592385172843933f,-3.9375405311584473f,-3.9872219562530518f,-2.5347678661346436f,-0.5286028981208801f,-0.3198729455471039f,-0.039754871279001236f,-0.09522093832492828f,-0.8528985381126404f,0.9607700705528259f,-0.3338526487350464f,-0.7253354787826538f,0.4361743628978729f,0.09227468073368073f,-1.0430022478103638f}, |
Lightvalve | 91:ec77a57f947f | 234 | {0.07903262972831726f,0.2790505588054657f,-0.07798504829406738f,0.04248586297035217f,-0.1963958442211151f,-0.19260792434215546f,-0.4038352966308594f,0.015906542539596558f,0.15353140234947205f,0.030178606510162354f,0.2488909661769867f,0.13805970549583435f,-0.0816211998462677f,-0.20733052492141724f,-0.3036302626132965f,0.054825395345687866f}, |
Lightvalve | 94:44ae3b5a3bff | 235 | {-0.30922991037368774f,-0.20079076290130615f,0.008432130329310894f,-0.5367765426635742f,-0.6482726335525513f,0.5972654819488525f,0.20021501183509827f,0.07002416253089905f,-0.3065568208694458f,-0.4874568283557892f,0.13192829489707947f,0.20035439729690552f,-0.2863468825817108f,0.5617194771766663f,0.8809205293655396f,-0.15577596426010132f}, |
Lightvalve | 90:a6cfef34bdce | 236 | {-0.39607733488082886f,-0.05481579899787903f,0.1976260244846344f,0.022423356771469116f,0.16892847418785095f,-0.27518749237060547f,0.16012099385261536f,0.3626593053340912f,-0.08640444278717041f,-0.11053556203842163f,-0.10529157519340515f,-0.31317979097366333f,-0.1530032455921173f,-0.1336749792098999f,0.22959044575691223f,0.19986507296562195f}, |
Lightvalve | 94:44ae3b5a3bff | 237 | {-0.37449589371681213f,-0.2662350833415985f,-0.3026287853717804f,-0.3084447681903839f,-0.9393444061279297f,1.3841793537139893f,-0.18732719123363495f,0.07476861774921417f,0.8230398893356323f,-0.2232237160205841f,-0.8469315767288208f,-0.122191421687603f,-0.1071217730641365f,0.9546970725059509f,0.650375247001648f,-0.5517044067382812f}, |
Lightvalve | 94:44ae3b5a3bff | 238 | {0.4110594093799591f,0.2715781033039093f,-0.3404478132724762f,0.3273719847202301f,0.08251048624515533f,-0.11616730690002441f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.1531733125448227f,0.05332856625318527f,0.25816357135772705f,-0.3391006588935852f}, |
Lightvalve | 94:44ae3b5a3bff | 239 | {-0.40892091393470764f,0.043769627809524536f,-0.5341517329216003f,0.25968697667121887f,0.19527803361415863f,0.09695082157850266f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.2742875814437866f,-0.22794409096240997f,0.07994696497917175f,0.005298197269439697f}, |
Lightvalve | 90:a6cfef34bdce | 240 | {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}, |
Lightvalve | 90:a6cfef34bdce | 241 | {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}, |
Lightvalve | 94:44ae3b5a3bff | 242 | {0.15459725260734558f,0.16031590104103088f,0.35725101828575134f,0.6940656304359436f,0.3682273328304291f,1.249224305152893f,-0.08742031455039978f,-0.07313022762537003f,-0.597678005695343f,-0.5184547901153564f,1.8176629543304443f,-0.3560808598995209f,-0.02198741026222706f,0.893663763999939f,0.6961356997489929f,0.31813937425613403f}, |
Lightvalve | 94:44ae3b5a3bff | 243 | {-0.408692330121994f,-0.15439020097255707f,0.25644734501838684f,0.2069428712129593f,0.13154691457748413f,-0.28426820039749146f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.2025834321975708f,-0.3399309813976288f,-0.498945027589798f,0.6293662786483765f}, |
Lightvalve | 94:44ae3b5a3bff | 244 | {-0.2991822361946106f,0.24260865151882172f,-0.025416545569896698f,-1.1436017751693726f,-0.5813285708427429f,1.9331982135772705f,-0.11253207921981812f,0.2016076296567917f,-0.013574974611401558f,-0.35770976543426514f,0.11234699934720993f,-0.36229726672172546f,-0.809085488319397f,1.6351298093795776f,3.1906721591949463f,-0.982225239276886f}, |
Lightvalve | 94:44ae3b5a3bff | 245 | {-0.2675279378890991f,-0.14340676367282867f,0.002432936104014516f,-0.2672659456729889f,1.0675334930419922f,-0.6277273893356323f,-0.32875844836235046f,-0.43007850646972656f,-0.5028631687164307f,-1.1884541511535645f,-3.3684728145599365f,-0.6464745998382568f,0.24422532320022583f,-0.5666713118553162f,1.798904538154602f,0.0943964347243309f}, |
Lightvalve | 94:44ae3b5a3bff | 246 | {-0.015470266342163086f,-0.3311099708080292f,1.6436316967010498f,1.471618890762329f,1.4138787984848022f,-1.6129851341247559f,0.05196094512939453f,-0.008358269929885864f,-0.4835967421531677f,-0.4867514371871948f,0.13179203867912292f,-0.1658361852169037f,1.2598445415496826f,-1.350324273109436f,-0.7164110541343689f,0.5260244607925415f}, |
Lightvalve | 94:44ae3b5a3bff | 247 | {0.1863725483417511f,0.257663756608963f,-0.04963725432753563f,-0.41541630029678345f,0.6657882928848267f,-0.5156242251396179f,0.04860696196556091f,0.17769548296928406f,-0.08539912849664688f,0.31013980507850647f,-0.3929237127304077f,-0.010345634073019028f,0.5325774550437927f,-3.4217567443847656f,-1.4924649000167847f,0.030543498694896698f}, |
Lightvalve | 66:a8e6799dbce3 | 248 | }; |
Lightvalve | 65:a2d7c63419c2 | 249 | |
Lightvalve | 94:44ae3b5a3bff | 250 | const float hout[16] = { 0.45773375034332275f,0.3763861060142517f,-0.43518444895744324f,0.06213904917240143f,-0.3407769501209259f,0.6558745503425598f,0.0030125975608825684f,0.019330613315105438f,0.3074515163898468f,-0.2398720532655716f,0.3773036599159241f,-0.024288075044751167f,-0.6909987330436707f,0.5094286799430847f,-0.8318933248519897f,-0.7963545918464661f }; |
Lightvalve | 66:a8e6799dbce3 | 251 | |
Lightvalve | 94:44ae3b5a3bff | 252 | const float b1[16] = { 0.9946791529655457f,0.6563421487808228f,-1.7145336866378784f,0.40616947412490845f,1.44526207447052f,0.7905153036117554f,-0.058932315558195114f,0.9510065317153931f,1.0370445251464844f,-1.0210089683532715f,1.3244307041168213f,1.8496466875076294f,-0.36624062061309814f,-0.5674612522125244f,-1.087764859199524f,1.4247647523880005f }; |
Lightvalve | 87:471334725012 | 253 | |
Lightvalve | 94:44ae3b5a3bff | 254 | const float b2[16] = { 0.10010083019733429f,-0.9012236595153809f,-1.4564176797866821f,-0.8459519147872925f,-0.6939148902893066f,-0.7567964792251587f,-0.04195461794734001f,-0.42399078607559204f,-1.20063054561615f,-1.912178635597229f,-0.14200280606746674f,0.2866535782814026f,-0.5551586151123047f,2.0636401176452637f,-0.03939135745167732f,0.8030776381492615f }; |
Lightvalve | 65:a2d7c63419c2 | 255 | |
Lightvalve | 94:44ae3b5a3bff | 256 | const float b3[16] = { -1.963319182395935f,-0.5206040740013123f,0.26402902603149414f,-0.4714980721473694f,-0.28282466530799866f,0.7462481260299683f,-0.45353031158447266f,-0.8076930046081543f,0.5176821947097778f,-0.13528640568256378f,-0.27718237042427063f,-0.31984272599220276f,-0.6784724593162537f,0.5469289422035217f,-2.2020673751831055f,-0.5710176229476929f }; |
Lightvalve | 87:471334725012 | 257 | |
Lightvalve | 94:44ae3b5a3bff | 258 | const float bout[1] = { -0.36879047751426697f }; |
Lightvalve | 65:a2d7c63419c2 | 259 | |
Lightvalve | 66:a8e6799dbce3 | 260 | |
Lightvalve | 87:471334725012 | 261 | float VALVE_POS_RAW_NN = 0.0f; |
Lightvalve | 87:471334725012 | 262 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL); |
Lightvalve | 61:bc8c8270f0ab | 263 | |
GiJeongKim | 0:51c43836c1d7 | 264 | int main() |
GiJeongKim | 0:51c43836c1d7 | 265 | { |
Lightvalve | 66:a8e6799dbce3 | 266 | |
Lightvalve | 65:a2d7c63419c2 | 267 | HAL_Init(); |
Lightvalve | 65:a2d7c63419c2 | 268 | SystemClock_Config(); |
Lightvalve | 65:a2d7c63419c2 | 269 | |
jobuuu | 6:df07d3491e3a | 270 | /********************************* |
jobuuu | 1:e04e563be5ce | 271 | *** Initialization |
jobuuu | 6:df07d3491e3a | 272 | *********************************/ |
Lightvalve | 69:3995ffeaa786 | 273 | LED = 0; |
Lightvalve | 61:bc8c8270f0ab | 274 | pc.baud(9600); |
Lightvalve | 21:e5f1a43ea6f9 | 275 | |
GiJeongKim | 0:51c43836c1d7 | 276 | // i2c init |
Lightvalve | 8:5d2eebdad025 | 277 | i2c.frequency(400 * 1000); // 0.4 mHz |
Lightvalve | 8:5d2eebdad025 | 278 | wait_ms(2); // Power Up wait |
Lightvalve | 8:5d2eebdad025 | 279 | look_for_hardware_i2c(); // Hardware present |
Lightvalve | 8:5d2eebdad025 | 280 | init_as5510(i2c_slave_addr1); |
Lightvalve | 11:82d8768d7351 | 281 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 282 | |
GiJeongKim | 0:51c43836c1d7 | 283 | // // spi init |
Lightvalve | 16:903b5a4433b4 | 284 | //eeprom.format(8,3); |
Lightvalve | 16:903b5a4433b4 | 285 | //eeprom.frequency(5000000); //5M |
GiJeongKim | 0:51c43836c1d7 | 286 | enc.format(8,0); |
GiJeongKim | 0:51c43836c1d7 | 287 | enc.frequency(5000000); //5M |
Lightvalve | 11:82d8768d7351 | 288 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 289 | |
Lightvalve | 16:903b5a4433b4 | 290 | //rom |
Lightvalve | 19:23b7c1ad8683 | 291 | ROM_CALL_DATA(); |
Lightvalve | 16:903b5a4433b4 | 292 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 293 | |
GiJeongKim | 0:51c43836c1d7 | 294 | // ADC init |
jobuuu | 5:a4319f79457b | 295 | Init_ADC(); |
Lightvalve | 11:82d8768d7351 | 296 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 297 | |
GiJeongKim | 0:51c43836c1d7 | 298 | // Pwm init |
GiJeongKim | 0:51c43836c1d7 | 299 | Init_PWM(); |
GiJeongKim | 0:51c43836c1d7 | 300 | TIM4->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 301 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 302 | |
Lightvalve | 11:82d8768d7351 | 303 | // TMR3 init |
Lightvalve | 11:82d8768d7351 | 304 | Init_TMR3(); |
Lightvalve | 11:82d8768d7351 | 305 | TIM3->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 306 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 307 | |
Lightvalve | 50:3c630b5eba9f | 308 | // TMR2 init |
Lightvalve | 56:6f50d9d3bfee | 309 | // Init_TMR2(); |
Lightvalve | 56:6f50d9d3bfee | 310 | // TIM2->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 56:6f50d9d3bfee | 311 | // make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 312 | |
GiJeongKim | 0:51c43836c1d7 | 313 | // CAN |
jobuuu | 2:a1c0a37df760 | 314 | can.attach(&CAN_RX_HANDLER); |
Lightvalve | 11:82d8768d7351 | 315 | CAN_ID_INIT(); |
Lightvalve | 11:82d8768d7351 | 316 | make_delay(); |
Lightvalve | 34:bb2ca2fc2a8e | 317 | |
Lightvalve | 23:59218d4a256d | 318 | //Timer priority |
Lightvalve | 23:59218d4a256d | 319 | NVIC_SetPriority(TIM3_IRQn, 2); |
Lightvalve | 57:f4819de54e7a | 320 | //NVIC_SetPriority(TIM2_IRQn, 3); |
Lightvalve | 54:647072f5307a | 321 | NVIC_SetPriority(TIM4_IRQn, 3); |
Lightvalve | 34:bb2ca2fc2a8e | 322 | |
Lightvalve | 23:59218d4a256d | 323 | //can.reset(); |
Lightvalve | 19:23b7c1ad8683 | 324 | can.filter(msg.id, 0xFFFFF000, CANStandard); |
Lightvalve | 34:bb2ca2fc2a8e | 325 | |
GiJeongKim | 0:51c43836c1d7 | 326 | // spi _ enc |
GiJeongKim | 0:51c43836c1d7 | 327 | spi_enc_set_init(); |
Lightvalve | 11:82d8768d7351 | 328 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 329 | |
Lightvalve | 11:82d8768d7351 | 330 | //DAC init |
Lightvalve | 58:2eade98630e2 | 331 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 332 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 333 | dac_2 = 0.0f; |
Lightvalve | 58:2eade98630e2 | 334 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 335 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 336 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 337 | } |
Lightvalve | 11:82d8768d7351 | 338 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 339 | |
Lightvalve | 19:23b7c1ad8683 | 340 | for (int i=0; i<50; i++) { |
Lightvalve | 11:82d8768d7351 | 341 | if(i%2==0) |
Lightvalve | 38:118df027d851 | 342 | ID_index_array[i] = - i * 0.5f; |
Lightvalve | 11:82d8768d7351 | 343 | else |
Lightvalve | 38:118df027d851 | 344 | ID_index_array[i] = (i+1) * 0.5f; |
Lightvalve | 11:82d8768d7351 | 345 | } |
Lightvalve | 61:bc8c8270f0ab | 346 | |
Lightvalve | 61:bc8c8270f0ab | 347 | |
jobuuu | 6:df07d3491e3a | 348 | /************************************ |
jobuuu | 1:e04e563be5ce | 349 | *** Program is operating! |
jobuuu | 6:df07d3491e3a | 350 | *************************************/ |
GiJeongKim | 0:51c43836c1d7 | 351 | while(1) { |
Lightvalve | 66:a8e6799dbce3 | 352 | // if(timer_while==1000 && OPERATING_MODE==5) { |
Lightvalve | 66:a8e6799dbce3 | 353 | //if(timer_while==1000) { |
Lightvalve | 65:a2d7c63419c2 | 354 | //i2c |
Lightvalve | 66:a8e6799dbce3 | 355 | |
Lightvalve | 65:a2d7c63419c2 | 356 | read_field(i2c_slave_addr1); |
Lightvalve | 65:a2d7c63419c2 | 357 | if(DIR_VALVE_ENC < 0) value = 1023 - value; |
Lightvalve | 65:a2d7c63419c2 | 358 | // if(LED==1) { |
Lightvalve | 65:a2d7c63419c2 | 359 | // LED=0; |
Lightvalve | 65:a2d7c63419c2 | 360 | // } else |
Lightvalve | 65:a2d7c63419c2 | 361 | // LED = 1; |
Lightvalve | 65:a2d7c63419c2 | 362 | timer_while = 0; |
Lightvalve | 66:a8e6799dbce3 | 363 | //} |
Lightvalve | 66:a8e6799dbce3 | 364 | |
Lightvalve | 66:a8e6799dbce3 | 365 | timer_while ++; |
Lightvalve | 66:a8e6799dbce3 | 366 | |
Lightvalve | 87:471334725012 | 367 | //LED = 0; |
Lightvalve | 87:471334725012 | 368 | |
Lightvalve | 73:f80dc3970c99 | 369 | if(NN_Control_Flag == 0) { |
Lightvalve | 73:f80dc3970c99 | 370 | LED = 0; |
Lightvalve | 73:f80dc3970c99 | 371 | } |
Lightvalve | 66:a8e6799dbce3 | 372 | |
Lightvalve | 73:f80dc3970c99 | 373 | else if(NN_Control_Flag == 1) { |
Lightvalve | 88:d6e591bece22 | 374 | float output1[16] = { 0.0f }; |
Lightvalve | 88:d6e591bece22 | 375 | float output2[16] = { 0.0f }; |
Lightvalve | 88:d6e591bece22 | 376 | float output3[16] = { 0.0f }; |
Lightvalve | 66:a8e6799dbce3 | 377 | float output = 0.0f; |
Lightvalve | 65:a2d7c63419c2 | 378 | |
Lightvalve | 88:d6e591bece22 | 379 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 68:328e1be06f5d | 380 | for (int index1 = 0; index1 < num_input; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 381 | output1[index2] = output1[index2] |
Lightvalve | 73:f80dc3970c99 | 382 | + h1[index1][index2] * input_NN[index1]; |
Lightvalve | 66:a8e6799dbce3 | 383 | } |
Lightvalve | 66:a8e6799dbce3 | 384 | output1[index2] = output1[index2] + b1[index2]; |
Lightvalve | 66:a8e6799dbce3 | 385 | if (output1[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 386 | output1[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 387 | } |
Lightvalve | 66:a8e6799dbce3 | 388 | } |
Lightvalve | 65:a2d7c63419c2 | 389 | |
Lightvalve | 88:d6e591bece22 | 390 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 88:d6e591bece22 | 391 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 392 | output2[index2] = output2[index2] |
Lightvalve | 66:a8e6799dbce3 | 393 | + h2[index1][index2] * output1[index1]; |
Lightvalve | 66:a8e6799dbce3 | 394 | } |
Lightvalve | 66:a8e6799dbce3 | 395 | output2[index2] = output2[index2] + b2[index2]; |
Lightvalve | 66:a8e6799dbce3 | 396 | if (output2[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 397 | output2[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 398 | } |
Lightvalve | 66:a8e6799dbce3 | 399 | } |
Lightvalve | 65:a2d7c63419c2 | 400 | |
Lightvalve | 88:d6e591bece22 | 401 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 88:d6e591bece22 | 402 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 403 | output3[index2] = output3[index2] |
Lightvalve | 66:a8e6799dbce3 | 404 | + h3[index1][index2] * output2[index1]; |
Lightvalve | 66:a8e6799dbce3 | 405 | } |
Lightvalve | 66:a8e6799dbce3 | 406 | output3[index2] = output3[index2] + b3[index2]; |
Lightvalve | 66:a8e6799dbce3 | 407 | if (output3[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 408 | output3[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 409 | } |
Lightvalve | 65:a2d7c63419c2 | 410 | } |
Lightvalve | 66:a8e6799dbce3 | 411 | |
Lightvalve | 66:a8e6799dbce3 | 412 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 88:d6e591bece22 | 413 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 73:f80dc3970c99 | 414 | output = output + hout[index1] * output3[index1]; |
Lightvalve | 66:a8e6799dbce3 | 415 | } |
Lightvalve | 66:a8e6799dbce3 | 416 | output = output + bout[index2]; |
Lightvalve | 73:f80dc3970c99 | 417 | |
Lightvalve | 66:a8e6799dbce3 | 418 | } |
Lightvalve | 73:f80dc3970c99 | 419 | output = 1.0f/(1.0f+exp(-output)); |
Lightvalve | 68:328e1be06f5d | 420 | output = output * 20000.0f - 10000.0f; |
Lightvalve | 66:a8e6799dbce3 | 421 | if(output>=0) { |
Lightvalve | 66:a8e6799dbce3 | 422 | valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 66:a8e6799dbce3 | 423 | } else { |
Lightvalve | 66:a8e6799dbce3 | 424 | valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 65:a2d7c63419c2 | 425 | } |
Lightvalve | 87:471334725012 | 426 | |
Lightvalve | 88:d6e591bece22 | 427 | // // torque feedback |
Lightvalve | 88:d6e591bece22 | 428 | // torq.err = f_past[0] - torq.sen; //[N] |
Lightvalve | 88:d6e591bece22 | 429 | //// torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 88:d6e591bece22 | 430 | // torq.err_sum += torq.err/(float) 1500.0f; //[N] |
Lightvalve | 88:d6e591bece22 | 431 | // |
Lightvalve | 88:d6e591bece22 | 432 | // |
Lightvalve | 88:d6e591bece22 | 433 | // 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; |
Lightvalve | 88:d6e591bece22 | 434 | // |
Lightvalve | 88:d6e591bece22 | 435 | // if(I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 88:d6e591bece22 | 436 | // double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; |
Lightvalve | 88:d6e591bece22 | 437 | // if(valve_pos.ref>VALVE_MAX_POS) { |
Lightvalve | 88:d6e591bece22 | 438 | // double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; |
Lightvalve | 88:d6e591bece22 | 439 | // valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 88:d6e591bece22 | 440 | // valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 88:d6e591bece22 | 441 | // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f; |
Lightvalve | 88:d6e591bece22 | 442 | // } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 88:d6e591bece22 | 443 | // double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; |
Lightvalve | 88:d6e591bece22 | 444 | // valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 88:d6e591bece22 | 445 | // valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 88:d6e591bece22 | 446 | // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f; |
Lightvalve | 88:d6e591bece22 | 447 | // } |
Lightvalve | 88:d6e591bece22 | 448 | // } |
Lightvalve | 87:471334725012 | 449 | |
Lightvalve | 69:3995ffeaa786 | 450 | |
Lightvalve | 69:3995ffeaa786 | 451 | if(LED==1) { |
Lightvalve | 69:3995ffeaa786 | 452 | LED=0; |
Lightvalve | 69:3995ffeaa786 | 453 | } else |
Lightvalve | 69:3995ffeaa786 | 454 | LED = 1; |
Lightvalve | 69:3995ffeaa786 | 455 | |
Lightvalve | 65:a2d7c63419c2 | 456 | } |
Lightvalve | 62:b5452adfb2cd | 457 | |
Lightvalve | 87:471334725012 | 458 | //LED = 1; |
Lightvalve | 69:3995ffeaa786 | 459 | |
Lightvalve | 66:a8e6799dbce3 | 460 | |
GiJeongKim | 0:51c43836c1d7 | 461 | } |
jobuuu | 1:e04e563be5ce | 462 | } |
jobuuu | 1:e04e563be5ce | 463 | |
Lightvalve | 33:91b17819ec30 | 464 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL) |
Lightvalve | 14:8e7590227d22 | 465 | { |
Lightvalve | 14:8e7590227d22 | 466 | |
Lightvalve | 13:747daba9cf59 | 467 | int i = 0; |
Lightvalve | 48:889798ff9329 | 468 | float Ref_Valve_Pos_FF = 0.0f; |
Lightvalve | 14:8e7590227d22 | 469 | for(i=0; i<VALVE_POS_NUM; i++) { |
Lightvalve | 14:8e7590227d22 | 470 | if(REF_JOINT_VEL >= min(JOINT_VEL[i],JOINT_VEL[i+1]) && REF_JOINT_VEL <= max(JOINT_VEL[i],JOINT_VEL[i+1])) { |
Lightvalve | 14:8e7590227d22 | 471 | if(i==0) { |
Lightvalve | 50:3c630b5eba9f | 472 | if(JOINT_VEL[i+1] == JOINT_VEL[i]) { |
Lightvalve | 57:f4819de54e7a | 473 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 474 | } else { |
Lightvalve | 57:f4819de54e7a | 475 | Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER; |
Lightvalve | 38:118df027d851 | 476 | } |
Lightvalve | 14:8e7590227d22 | 477 | } else { |
Lightvalve | 50:3c630b5eba9f | 478 | if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) { |
Lightvalve | 57:f4819de54e7a | 479 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 480 | } else { |
Lightvalve | 57:f4819de54e7a | 481 | 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]); |
Lightvalve | 38:118df027d851 | 482 | } |
Lightvalve | 13:747daba9cf59 | 483 | } |
Lightvalve | 13:747daba9cf59 | 484 | break; |
Lightvalve | 13:747daba9cf59 | 485 | } |
Lightvalve | 13:747daba9cf59 | 486 | } |
Lightvalve | 14:8e7590227d22 | 487 | if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 488 | Ref_Valve_Pos_FF = (float) VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 489 | } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 490 | Ref_Valve_Pos_FF = (float) VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 491 | } |
Lightvalve | 36:a46e63505ed8 | 492 | |
Lightvalve | 57:f4819de54e7a | 493 | Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); |
Lightvalve | 13:747daba9cf59 | 494 | return Ref_Valve_Pos_FF; |
Lightvalve | 50:3c630b5eba9f | 495 | |
Lightvalve | 13:747daba9cf59 | 496 | } |
jobuuu | 6:df07d3491e3a | 497 | |
jobuuu | 6:df07d3491e3a | 498 | |
Lightvalve | 30:8d561f16383b | 499 | void VALVE_POS_CONTROL(float REF_VALVE_POS) |
Lightvalve | 14:8e7590227d22 | 500 | { |
Lightvalve | 13:747daba9cf59 | 501 | int i = 0; |
Lightvalve | 13:747daba9cf59 | 502 | |
Lightvalve | 38:118df027d851 | 503 | if(REF_VALVE_POS > VALVE_MAX_POS) { |
Lightvalve | 38:118df027d851 | 504 | REF_VALVE_POS = VALVE_MAX_POS; |
Lightvalve | 38:118df027d851 | 505 | } else if(REF_VALVE_POS < VALVE_MIN_POS) { |
Lightvalve | 38:118df027d851 | 506 | REF_VALVE_POS = VALVE_MIN_POS; |
Lightvalve | 38:118df027d851 | 507 | } |
Lightvalve | 38:118df027d851 | 508 | |
Lightvalve | 89:a7b45368ea0f | 509 | valve_pos_err = (float) (REF_VALVE_POS - value); |
Lightvalve | 13:747daba9cf59 | 510 | valve_pos_err_diff = valve_pos_err - valve_pos_err_old; |
Lightvalve | 13:747daba9cf59 | 511 | valve_pos_err_old = valve_pos_err; |
Lightvalve | 13:747daba9cf59 | 512 | valve_pos_err_sum += valve_pos_err; |
Lightvalve | 89:a7b45368ea0f | 513 | if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f; |
Lightvalve | 89:a7b45368ea0f | 514 | if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f; |
Lightvalve | 13:747daba9cf59 | 515 | |
Lightvalve | 13:747daba9cf59 | 516 | 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; |
Lightvalve | 14:8e7590227d22 | 517 | |
Lightvalve | 18:b8adf1582ea3 | 518 | for(i=0; i<24; i++) { |
Lightvalve | 89:a7b45368ea0f | 519 | 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])) { |
Lightvalve | 14:8e7590227d22 | 520 | if(i==0) { |
Lightvalve | 48:889798ff9329 | 521 | 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]); |
Lightvalve | 14:8e7590227d22 | 522 | } else { |
Lightvalve | 48:889798ff9329 | 523 | 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]; |
Lightvalve | 13:747daba9cf59 | 524 | } |
Lightvalve | 13:747daba9cf59 | 525 | break; |
Lightvalve | 13:747daba9cf59 | 526 | } |
Lightvalve | 13:747daba9cf59 | 527 | } |
Lightvalve | 59:f308b1656d9c | 528 | Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; |
Lightvalve | 13:747daba9cf59 | 529 | } |
Lightvalve | 13:747daba9cf59 | 530 | |
Lightvalve | 14:8e7590227d22 | 531 | #define LT_MAX_IDX 57 |
Lightvalve | 30:8d561f16383b | 532 | 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, |
Lightvalve | 34:bb2ca2fc2a8e | 533 | -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 534 | -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 535 | 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 536 | 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 537 | 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f |
Lightvalve | 34:bb2ca2fc2a8e | 538 | }; // duty |
Lightvalve | 67:c2812cf26c38 | 539 | 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, |
Lightvalve | 67:c2812cf26c38 | 540 | -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f, |
Lightvalve | 67:c2812cf26c38 | 541 | -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f, |
Lightvalve | 67:c2812cf26c38 | 542 | 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f, |
Lightvalve | 67:c2812cf26c38 | 543 | 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f, |
Lightvalve | 67:c2812cf26c38 | 544 | 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f |
Lightvalve | 34:bb2ca2fc2a8e | 545 | }; // mV |
Lightvalve | 13:747daba9cf59 | 546 | |
Lightvalve | 30:8d561f16383b | 547 | float PWM_duty_byLT(float Ref_V) |
Lightvalve | 14:8e7590227d22 | 548 | { |
Lightvalve | 30:8d561f16383b | 549 | float PWM_duty = 0.0f; |
Lightvalve | 13:747daba9cf59 | 550 | if(Ref_V<LT_Voltage_Output[0]) { |
Lightvalve | 30:8d561f16383b | 551 | PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0]; |
Lightvalve | 13:747daba9cf59 | 552 | } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) { |
Lightvalve | 30:8d561f16383b | 553 | PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1]; |
Lightvalve | 13:747daba9cf59 | 554 | } else { |
Lightvalve | 13:747daba9cf59 | 555 | int idx = 0; |
Lightvalve | 13:747daba9cf59 | 556 | for(idx=0; idx<LT_MAX_IDX-1; idx++) { |
Lightvalve | 30:8d561f16383b | 557 | float ini_x = LT_Voltage_Output[idx]; |
Lightvalve | 30:8d561f16383b | 558 | float fin_x = LT_Voltage_Output[idx+1]; |
Lightvalve | 30:8d561f16383b | 559 | float ini_y = LT_PWM_duty[idx]; |
Lightvalve | 30:8d561f16383b | 560 | float fin_y = LT_PWM_duty[idx+1]; |
Lightvalve | 13:747daba9cf59 | 561 | if(Ref_V>=ini_x && Ref_V<fin_x) { |
Lightvalve | 13:747daba9cf59 | 562 | PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y; |
Lightvalve | 13:747daba9cf59 | 563 | break; |
Lightvalve | 13:747daba9cf59 | 564 | } |
Lightvalve | 13:747daba9cf59 | 565 | } |
Lightvalve | 13:747daba9cf59 | 566 | } |
Lightvalve | 14:8e7590227d22 | 567 | |
Lightvalve | 13:747daba9cf59 | 568 | return PWM_duty; |
Lightvalve | 13:747daba9cf59 | 569 | } |
jobuuu | 6:df07d3491e3a | 570 | |
Lightvalve | 57:f4819de54e7a | 571 | |
Lightvalve | 57:f4819de54e7a | 572 | |
Lightvalve | 57:f4819de54e7a | 573 | |
Lightvalve | 57:f4819de54e7a | 574 | |
jobuuu | 2:a1c0a37df760 | 575 | /******************************************************************************* |
jobuuu | 2:a1c0a37df760 | 576 | TIMER INTERRUPT |
jobuuu | 2:a1c0a37df760 | 577 | *******************************************************************************/ |
jobuuu | 2:a1c0a37df760 | 578 | |
Lightvalve | 51:b46bed7fec80 | 579 | float FREQ_TMR4 = (float)FREQ_20k; |
Lightvalve | 51:b46bed7fec80 | 580 | float DT_TMR4 = (float)DT_20k; |
Lightvalve | 57:f4819de54e7a | 581 | long CNT_TMR4 = 0; |
Lightvalve | 57:f4819de54e7a | 582 | int TMR4_FREQ_10k = (int)FREQ_10k; |
jobuuu | 1:e04e563be5ce | 583 | extern "C" void TIM4_IRQHandler(void) |
jobuuu | 1:e04e563be5ce | 584 | { |
Lightvalve | 19:23b7c1ad8683 | 585 | if (TIM4->SR & TIM_SR_UIF ) { |
Lightvalve | 21:e5f1a43ea6f9 | 586 | |
Lightvalve | 21:e5f1a43ea6f9 | 587 | /******************************************************* |
Lightvalve | 21:e5f1a43ea6f9 | 588 | *** Sensor Read & Data Handling |
Lightvalve | 21:e5f1a43ea6f9 | 589 | ********************************************************/ |
Lightvalve | 13:747daba9cf59 | 590 | |
Lightvalve | 57:f4819de54e7a | 591 | //Encoder |
Lightvalve | 57:f4819de54e7a | 592 | if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) { |
Lightvalve | 57:f4819de54e7a | 593 | ENC_UPDATE(); |
Lightvalve | 57:f4819de54e7a | 594 | } |
Lightvalve | 61:bc8c8270f0ab | 595 | |
Lightvalve | 61:bc8c8270f0ab | 596 | ADC1->CR2 |= 0x40000000; |
Lightvalve | 58:2eade98630e2 | 597 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 598 | // Torque Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 599 | float pres_A_new = (((float) ADC1->DR) - 2047.5f); |
Lightvalve | 58:2eade98630e2 | 600 | double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz |
Lightvalve | 58:2eade98630e2 | 601 | pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new; |
Lightvalve | 67:c2812cf26c38 | 602 | torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE; |
Lightvalve | 67:c2812cf26c38 | 603 | |
Lightvalve | 67:c2812cf26c38 | 604 | |
Lightvalve | 67:c2812cf26c38 | 605 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 67:c2812cf26c38 | 606 | //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 67:c2812cf26c38 | 607 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 67:c2812cf26c38 | 608 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 67:c2812cf26c38 | 609 | // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 |
Lightvalve | 67:c2812cf26c38 | 610 | |
Lightvalve | 17:1865016ca2e7 | 611 | |
Lightvalve | 58:2eade98630e2 | 612 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 613 | // Pressure Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 614 | float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL); |
Lightvalve | 58:2eade98630e2 | 615 | float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL); |
Lightvalve | 58:2eade98630e2 | 616 | double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz |
Lightvalve | 58:2eade98630e2 | 617 | pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new; |
Lightvalve | 58:2eade98630e2 | 618 | pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new; |
Lightvalve | 58:2eade98630e2 | 619 | CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 58:2eade98630e2 | 620 | CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR; |
Lightvalve | 50:3c630b5eba9f | 621 | |
Lightvalve | 58:2eade98630e2 | 622 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator |
Lightvalve | 58:2eade98630e2 | 623 | torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm |
Lightvalve | 58:2eade98630e2 | 624 | } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator |
Lightvalve | 58:2eade98630e2 | 625 | torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N |
Lightvalve | 58:2eade98630e2 | 626 | } |
Lightvalve | 58:2eade98630e2 | 627 | } |
Lightvalve | 61:bc8c8270f0ab | 628 | |
Lightvalve | 58:2eade98630e2 | 629 | // //Pressure sensor A |
Lightvalve | 58:2eade98630e2 | 630 | // ADC1->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 58:2eade98630e2 | 631 | // //while((ADC1->SR & 0b10)); |
Lightvalve | 58:2eade98630e2 | 632 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 633 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 58:2eade98630e2 | 634 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 58:2eade98630e2 | 635 | // 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. |
Lightvalve | 58:2eade98630e2 | 636 | // |
Lightvalve | 58:2eade98630e2 | 637 | // |
Lightvalve | 58:2eade98630e2 | 638 | // //Pressure sensor B |
Lightvalve | 58:2eade98630e2 | 639 | // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 640 | // float pres_B_new = ((float)ADC2->DR); |
Lightvalve | 58:2eade98630e2 | 641 | // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B); |
Lightvalve | 58:2eade98630e2 | 642 | // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B; |
Lightvalve | 17:1865016ca2e7 | 643 | |
Lightvalve | 17:1865016ca2e7 | 644 | |
Lightvalve | 21:e5f1a43ea6f9 | 645 | //Current |
Lightvalve | 21:e5f1a43ea6f9 | 646 | //ADC3->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 25:3e6b574cab5c | 647 | //int raw_cur = ADC3->DR; |
Lightvalve | 21:e5f1a43ea6f9 | 648 | //while((ADC3->SR & 0b10)); |
Lightvalve | 51:b46bed7fec80 | 649 | float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz |
Lightvalve | 30:8d561f16383b | 650 | float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA |
Lightvalve | 30:8d561f16383b | 651 | cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur); |
Lightvalve | 25:3e6b574cab5c | 652 | //cur.sen = raw_cur; |
Lightvalve | 58:2eade98630e2 | 653 | |
Lightvalve | 57:f4819de54e7a | 654 | CNT_TMR4++; |
Lightvalve | 21:e5f1a43ea6f9 | 655 | } |
Lightvalve | 11:82d8768d7351 | 656 | TIM4->SR = 0x0; // reset the status register |
Lightvalve | 11:82d8768d7351 | 657 | } |
Lightvalve | 19:23b7c1ad8683 | 658 | |
Lightvalve | 19:23b7c1ad8683 | 659 | |
Lightvalve | 18:b8adf1582ea3 | 660 | int j =0; |
Lightvalve | 54:647072f5307a | 661 | float FREQ_TMR3 = (float)FREQ_5k; |
Lightvalve | 48:889798ff9329 | 662 | float DT_TMR3 = (float)DT_5k; |
Lightvalve | 45:35fa6884d0c6 | 663 | int cnt_trans = 0; |
Lightvalve | 48:889798ff9329 | 664 | double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f; |
Lightvalve | 57:f4819de54e7a | 665 | int can_rest =0; |
Lightvalve | 48:889798ff9329 | 666 | |
Lightvalve | 11:82d8768d7351 | 667 | extern "C" void TIM3_IRQHandler(void) |
Lightvalve | 21:e5f1a43ea6f9 | 668 | { |
Lightvalve | 19:23b7c1ad8683 | 669 | if (TIM3->SR & TIM_SR_UIF ) { |
Lightvalve | 57:f4819de54e7a | 670 | |
Lightvalve | 57:f4819de54e7a | 671 | if (((OPERATING_MODE&0b110)>>1) == 0) { |
Lightvalve | 57:f4819de54e7a | 672 | K_v = 0.4f; // Moog (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 673 | mV_PER_mA = 500.0f; // 5000mV/10mA |
Lightvalve | 57:f4819de54e7a | 674 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 675 | mA_PER_pulse = 0.001f; // 10mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 676 | } else if (((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 57:f4819de54e7a | 677 | K_v = 0.5f; // KNR (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 678 | mV_PER_mA = 166.6666f; // 5000mV/30mA |
Lightvalve | 57:f4819de54e7a | 679 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 680 | mA_PER_pulse = 0.003f; // 30mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 681 | } |
Lightvalve | 50:3c630b5eba9f | 682 | |
Lightvalve | 50:3c630b5eba9f | 683 | if(MODE_POS_FT_TRANS == 1) { |
Lightvalve | 48:889798ff9329 | 684 | alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 685 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 686 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 687 | if((float)cnt_trans * DT_TMR3 > 3.0f) |
Lightvalve | 45:35fa6884d0c6 | 688 | MODE_POS_FT_TRANS = 2; |
Lightvalve | 50:3c630b5eba9f | 689 | } else if(MODE_POS_FT_TRANS == 3) { |
Lightvalve | 48:889798ff9329 | 690 | alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 691 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 692 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 693 | if((float) cnt_trans * DT_TMR3 > 3.0f ) |
Lightvalve | 45:35fa6884d0c6 | 694 | MODE_POS_FT_TRANS = 0; |
Lightvalve | 50:3c630b5eba9f | 695 | } else if(MODE_POS_FT_TRANS == 2) { |
Lightvalve | 58:2eade98630e2 | 696 | alpha_trans = 1.0f; |
Lightvalve | 45:35fa6884d0c6 | 697 | cnt_trans = 0; |
Lightvalve | 50:3c630b5eba9f | 698 | } else { |
Lightvalve | 58:2eade98630e2 | 699 | alpha_trans = 0.0f; |
Lightvalve | 45:35fa6884d0c6 | 700 | cnt_trans = 0; |
Lightvalve | 45:35fa6884d0c6 | 701 | } |
Lightvalve | 45:35fa6884d0c6 | 702 | |
Lightvalve | 50:3c630b5eba9f | 703 | |
Lightvalve | 57:f4819de54e7a | 704 | int UTILITY_MODE = 0; |
Lightvalve | 57:f4819de54e7a | 705 | int CONTROL_MODE = 0; |
Lightvalve | 58:2eade98630e2 | 706 | |
Lightvalve | 57:f4819de54e7a | 707 | if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) { |
Lightvalve | 57:f4819de54e7a | 708 | UTILITY_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 709 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 710 | } else { |
Lightvalve | 57:f4819de54e7a | 711 | CONTROL_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 712 | UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 713 | } |
Lightvalve | 56:6f50d9d3bfee | 714 | |
Lightvalve | 56:6f50d9d3bfee | 715 | |
Lightvalve | 56:6f50d9d3bfee | 716 | |
Lightvalve | 57:f4819de54e7a | 717 | // UTILITY MODE ------------------------------------------------------------ |
Lightvalve | 56:6f50d9d3bfee | 718 | |
Lightvalve | 57:f4819de54e7a | 719 | switch (UTILITY_MODE) { |
Lightvalve | 57:f4819de54e7a | 720 | case MODE_NO_ACT: { |
Lightvalve | 13:747daba9cf59 | 721 | break; |
Lightvalve | 13:747daba9cf59 | 722 | } |
Lightvalve | 14:8e7590227d22 | 723 | |
Lightvalve | 14:8e7590227d22 | 724 | case MODE_TORQUE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 725 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 726 | if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 15:bd0d12728506 | 727 | CUR_TORQUE_sum += torq.sen; |
Lightvalve | 19:23b7c1ad8683 | 728 | |
Lightvalve | 14:8e7590227d22 | 729 | if (TMR3_COUNT_TORQUE_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 730 | CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 731 | CUR_TORQUE_sum = 0; |
Lightvalve | 14:8e7590227d22 | 732 | |
Lightvalve | 84:c355d3e52bf1 | 733 | TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean); |
Lightvalve | 19:23b7c1ad8683 | 734 | |
Lightvalve | 30:8d561f16383b | 735 | if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f; |
Lightvalve | 59:f308b1656d9c | 736 | if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 737 | |
Lightvalve | 16:903b5a4433b4 | 738 | //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); |
Lightvalve | 30:8d561f16383b | 739 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 740 | } |
Lightvalve | 13:747daba9cf59 | 741 | } else { |
Lightvalve | 58:2eade98630e2 | 742 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 743 | TMR3_COUNT_TORQUE_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 744 | CUR_TORQUE_sum = 0; |
Lightvalve | 13:747daba9cf59 | 745 | CUR_TORQUE_mean = 0; |
Lightvalve | 19:23b7c1ad8683 | 746 | |
Lightvalve | 16:903b5a4433b4 | 747 | ROM_RESET_DATA(); |
Lightvalve | 19:23b7c1ad8683 | 748 | |
Lightvalve | 30:8d561f16383b | 749 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 14:8e7590227d22 | 750 | |
Lightvalve | 13:747daba9cf59 | 751 | } |
Lightvalve | 14:8e7590227d22 | 752 | TMR3_COUNT_TORQUE_NULL++; |
Lightvalve | 13:747daba9cf59 | 753 | break; |
Lightvalve | 19:23b7c1ad8683 | 754 | } |
Lightvalve | 14:8e7590227d22 | 755 | |
Lightvalve | 50:3c630b5eba9f | 756 | // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 757 | // if (TMR3_COUNT_DEADZONE == 0) { |
Lightvalve | 50:3c630b5eba9f | 758 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 759 | // else temp_time = 0; |
Lightvalve | 50:3c630b5eba9f | 760 | // } |
Lightvalve | 50:3c630b5eba9f | 761 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 762 | // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 763 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 764 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 765 | // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 766 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 767 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 768 | // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 769 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 770 | // } |
Lightvalve | 50:3c630b5eba9f | 771 | // |
Lightvalve | 50:3c630b5eba9f | 772 | // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 773 | // V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen); |
Lightvalve | 50:3c630b5eba9f | 774 | // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0; |
Lightvalve | 50:3c630b5eba9f | 775 | // |
Lightvalve | 50:3c630b5eba9f | 776 | // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) { |
Lightvalve | 50:3c630b5eba9f | 777 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 778 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 779 | // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 780 | // if (CUR_VELOCITY_sum == 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 781 | // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 782 | // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1; |
Lightvalve | 50:3c630b5eba9f | 783 | // else DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 784 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 785 | // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 786 | // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 787 | // |
Lightvalve | 50:3c630b5eba9f | 788 | // // Position of Dead Zone |
Lightvalve | 50:3c630b5eba9f | 789 | // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0) |
Lightvalve | 50:3c630b5eba9f | 790 | // // | / | / |/ |
Lightvalve | 50:3c630b5eba9f | 791 | // // | ______/ ___|___/ ______/| |
Lightvalve | 50:3c630b5eba9f | 792 | // // |/ / | / | |
Lightvalve | 50:3c630b5eba9f | 793 | // // /| / | / | |
Lightvalve | 50:3c630b5eba9f | 794 | // // 0V 0V 0V |
Lightvalve | 50:3c630b5eba9f | 795 | // |
Lightvalve | 50:3c630b5eba9f | 796 | // if (DZ_temp_cnt2 < DZ_end) { |
Lightvalve | 50:3c630b5eba9f | 797 | // if (TMR3_COUNT_DEADZONE % 20 != 0) { |
Lightvalve | 50:3c630b5eba9f | 798 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 799 | // } else { |
Lightvalve | 50:3c630b5eba9f | 800 | // V_out -= DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 801 | // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 802 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 803 | // } |
Lightvalve | 50:3c630b5eba9f | 804 | // if (DZ_temp_cnt == 5) { |
Lightvalve | 50:3c630b5eba9f | 805 | // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 806 | // else VALVE_DEADZONE_PLUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 807 | // DZ_dir = -DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 808 | // DZ_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 809 | // DZ_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 810 | // } |
Lightvalve | 50:3c630b5eba9f | 811 | // } else { |
Lightvalve | 50:3c630b5eba9f | 812 | // TMR3_COUNT_DEADZONE = -1; |
Lightvalve | 50:3c630b5eba9f | 813 | // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2; |
Lightvalve | 50:3c630b5eba9f | 814 | // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) { |
Lightvalve | 50:3c630b5eba9f | 815 | // VALVE_DEADZONE_PLUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 816 | // VALVE_DEADZONE_MINUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 817 | // } |
Lightvalve | 50:3c630b5eba9f | 818 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 819 | // |
Lightvalve | 50:3c630b5eba9f | 820 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 821 | // |
Lightvalve | 50:3c630b5eba9f | 822 | // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS); |
Lightvalve | 50:3c630b5eba9f | 823 | // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS); |
Lightvalve | 50:3c630b5eba9f | 824 | // |
Lightvalve | 50:3c630b5eba9f | 825 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 826 | // DZ_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 827 | // } |
Lightvalve | 50:3c630b5eba9f | 828 | // } |
Lightvalve | 50:3c630b5eba9f | 829 | // TMR3_COUNT_DEADZONE++; |
Lightvalve | 50:3c630b5eba9f | 830 | // break; |
Lightvalve | 50:3c630b5eba9f | 831 | // } |
Lightvalve | 14:8e7590227d22 | 832 | |
Lightvalve | 14:8e7590227d22 | 833 | case MODE_FIND_HOME: { |
Lightvalve | 29:69f3f5445d6d | 834 | if (FINDHOME_STAGE == FINDHOME_INIT) { |
Lightvalve | 14:8e7590227d22 | 835 | cnt_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 836 | cnt_vel_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 837 | //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO |
Lightvalve | 59:f308b1656d9c | 838 | pos.ref = pos.sen; |
Lightvalve | 59:f308b1656d9c | 839 | vel.ref = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 840 | FINDHOME_STAGE = FINDHOME_GOTOLIMIT; |
Lightvalve | 29:69f3f5445d6d | 841 | } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) { |
Lightvalve | 67:c2812cf26c38 | 842 | int cnt_check_enc = (TMR_FREQ_5k/20); |
Lightvalve | 29:69f3f5445d6d | 843 | if(cnt_findhome%cnt_check_enc == 0) { |
Lightvalve | 29:69f3f5445d6d | 844 | FINDHOME_POSITION = pos.sen; |
Lightvalve | 29:69f3f5445d6d | 845 | FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD; |
Lightvalve | 29:69f3f5445d6d | 846 | FINDHOME_POSITION_OLD = FINDHOME_POSITION; |
Lightvalve | 29:69f3f5445d6d | 847 | } |
Lightvalve | 29:69f3f5445d6d | 848 | cnt_findhome++; |
Lightvalve | 14:8e7590227d22 | 849 | |
Lightvalve | 29:69f3f5445d6d | 850 | if (abs(FINDHOME_VELOCITY) <= 1) { |
Lightvalve | 29:69f3f5445d6d | 851 | cnt_vel_findhome = cnt_vel_findhome + 1; |
Lightvalve | 29:69f3f5445d6d | 852 | } else { |
Lightvalve | 29:69f3f5445d6d | 853 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 854 | } |
Lightvalve | 19:23b7c1ad8683 | 855 | |
Lightvalve | 57:f4819de54e7a | 856 | if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec |
Lightvalve | 29:69f3f5445d6d | 857 | //REFERENCE_MODE = MODE_REF_NO_ACT; |
Lightvalve | 67:c2812cf26c38 | 858 | if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f; |
Lightvalve | 67:c2812cf26c38 | 859 | else pos.ref = pos.ref - 12.0f; |
Lightvalve | 61:bc8c8270f0ab | 860 | |
Lightvalve | 59:f308b1656d9c | 861 | // pos.err = pos.ref_home_pos - pos.sen; |
Lightvalve | 59:f308b1656d9c | 862 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 863 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f; |
Lightvalve | 59:f308b1656d9c | 864 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 865 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 866 | |
Lightvalve | 59:f308b1656d9c | 867 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 59:f308b1656d9c | 868 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 869 | |
Lightvalve | 34:bb2ca2fc2a8e | 870 | |
Lightvalve | 29:69f3f5445d6d | 871 | } else { |
Lightvalve | 29:69f3f5445d6d | 872 | ENC_SET(HOMEPOS_OFFSET); |
Lightvalve | 67:c2812cf26c38 | 873 | // ENC_SET_ZERO(); |
Lightvalve | 29:69f3f5445d6d | 874 | INIT_REF_POS = HOMEPOS_OFFSET; |
Lightvalve | 29:69f3f5445d6d | 875 | REF_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 876 | REF_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 877 | FINDHOME_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 878 | FINDHOME_POSITION_OLD = 0; |
Lightvalve | 29:69f3f5445d6d | 879 | FINDHOME_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 880 | cnt_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 881 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 882 | FINDHOME_STAGE = FINDHOME_ZEROPOSE; |
Lightvalve | 67:c2812cf26c38 | 883 | |
Lightvalve | 67:c2812cf26c38 | 884 | |
Lightvalve | 67:c2812cf26c38 | 885 | cnt_findhome = 0; |
Lightvalve | 67:c2812cf26c38 | 886 | pos.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 887 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 888 | pos.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 889 | vel.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 890 | //FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 67:c2812cf26c38 | 891 | //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 892 | |
Lightvalve | 67:c2812cf26c38 | 893 | |
Lightvalve | 29:69f3f5445d6d | 894 | } |
Lightvalve | 29:69f3f5445d6d | 895 | } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) { |
Lightvalve | 29:69f3f5445d6d | 896 | int T_move = 2*TMR_FREQ_5k; |
Lightvalve | 59:f308b1656d9c | 897 | 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; |
Lightvalve | 67:c2812cf26c38 | 898 | //pos.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 899 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 900 | |
Lightvalve | 29:69f3f5445d6d | 901 | // input for position control |
Lightvalve | 67:c2812cf26c38 | 902 | |
Lightvalve | 67:c2812cf26c38 | 903 | // CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 904 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 905 | |
Lightvalve | 67:c2812cf26c38 | 906 | double torq_ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 907 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 908 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 67:c2812cf26c38 | 909 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 910 | |
Lightvalve | 67:c2812cf26c38 | 911 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 67:c2812cf26c38 | 912 | |
Lightvalve | 67:c2812cf26c38 | 913 | double I_REF_POS = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 914 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 67:c2812cf26c38 | 915 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 67:c2812cf26c38 | 916 | |
Lightvalve | 67:c2812cf26c38 | 917 | double temp_vel_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 918 | double temp_vel_torq = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 919 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 67:c2812cf26c38 | 920 | |
Lightvalve | 69:3995ffeaa786 | 921 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 67:c2812cf26c38 | 922 | 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 |
Lightvalve | 67:c2812cf26c38 | 923 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 924 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 67:c2812cf26c38 | 925 | 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 |
Lightvalve | 67:c2812cf26c38 | 926 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 67:c2812cf26c38 | 927 | } |
Lightvalve | 67:c2812cf26c38 | 928 | 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)))); |
Lightvalve | 67:c2812cf26c38 | 929 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 67:c2812cf26c38 | 930 | |
Lightvalve | 67:c2812cf26c38 | 931 | I_REF = I_REF_POS; |
Lightvalve | 67:c2812cf26c38 | 932 | |
Lightvalve | 67:c2812cf26c38 | 933 | |
Lightvalve | 67:c2812cf26c38 | 934 | |
Lightvalve | 67:c2812cf26c38 | 935 | } else { |
Lightvalve | 67:c2812cf26c38 | 936 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 937 | 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)); |
Lightvalve | 67:c2812cf26c38 | 938 | |
Lightvalve | 67:c2812cf26c38 | 939 | if (VALVE_POS_RAW_FORCE_FB >= 0) { |
Lightvalve | 67:c2812cf26c38 | 940 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS; |
Lightvalve | 67:c2812cf26c38 | 941 | } else { |
Lightvalve | 67:c2812cf26c38 | 942 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS; |
Lightvalve | 67:c2812cf26c38 | 943 | } |
Lightvalve | 67:c2812cf26c38 | 944 | |
Lightvalve | 67:c2812cf26c38 | 945 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 67:c2812cf26c38 | 946 | |
Lightvalve | 67:c2812cf26c38 | 947 | V_out = (float) Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 948 | |
Lightvalve | 67:c2812cf26c38 | 949 | } |
Lightvalve | 67:c2812cf26c38 | 950 | |
Lightvalve | 67:c2812cf26c38 | 951 | |
Lightvalve | 67:c2812cf26c38 | 952 | |
Lightvalve | 67:c2812cf26c38 | 953 | |
Lightvalve | 59:f308b1656d9c | 954 | // pos.err = pos.ref - (float)pos.sen; |
Lightvalve | 59:f308b1656d9c | 955 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 956 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 59:f308b1656d9c | 957 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 958 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 29:69f3f5445d6d | 959 | |
Lightvalve | 29:69f3f5445d6d | 960 | cnt_findhome++; |
Lightvalve | 29:69f3f5445d6d | 961 | if (cnt_findhome >= T_move) { |
Lightvalve | 29:69f3f5445d6d | 962 | //REFERENCE_MODE = MODE_REF_DIRECT; |
Lightvalve | 29:69f3f5445d6d | 963 | cnt_findhome = 0; |
Lightvalve | 30:8d561f16383b | 964 | pos.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 965 | vel.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 966 | pos.ref_home_pos = 0.0f; |
Lightvalve | 30:8d561f16383b | 967 | vel.ref_home_pos = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 968 | FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 57:f4819de54e7a | 969 | CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 29:69f3f5445d6d | 970 | } |
Lightvalve | 13:747daba9cf59 | 971 | } |
Lightvalve | 19:23b7c1ad8683 | 972 | |
Lightvalve | 13:747daba9cf59 | 973 | break; |
Lightvalve | 13:747daba9cf59 | 974 | } |
Lightvalve | 14:8e7590227d22 | 975 | |
Lightvalve | 50:3c630b5eba9f | 976 | // case MODE_VALVE_GAIN_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 977 | // if (TMR3_COUNT_FLOWRATE == 0) { |
Lightvalve | 50:3c630b5eba9f | 978 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 979 | // else { |
Lightvalve | 50:3c630b5eba9f | 980 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 981 | // temp_time = (int) (0.5f * (float) TMR_FREQ_5k); |
Lightvalve | 50:3c630b5eba9f | 982 | // } |
Lightvalve | 50:3c630b5eba9f | 983 | // } |
Lightvalve | 50:3c630b5eba9f | 984 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 985 | // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 986 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 987 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 988 | // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 989 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 990 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 991 | // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 992 | // need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 993 | // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 994 | // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 995 | // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init; |
Lightvalve | 50:3c630b5eba9f | 996 | // } |
Lightvalve | 50:3c630b5eba9f | 997 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 998 | // } |
Lightvalve | 50:3c630b5eba9f | 999 | // TMR3_COUNT_FLOWRATE++; |
Lightvalve | 50:3c630b5eba9f | 1000 | // if (TMR3_COUNT_FLOWRATE > temp_time) { |
Lightvalve | 50:3c630b5eba9f | 1001 | // if (flag_flowrate % 2 == 0) { // (+) |
Lightvalve | 50:3c630b5eba9f | 1002 | // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1003 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1004 | // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1005 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1006 | // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1007 | // 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 |
Lightvalve | 50:3c630b5eba9f | 1008 | // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec |
Lightvalve | 50:3c630b5eba9f | 1009 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1010 | // } |
Lightvalve | 50:3c630b5eba9f | 1011 | // } else if (flag_flowrate % 2 == 1) { // (-) |
Lightvalve | 50:3c630b5eba9f | 1012 | // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1013 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1014 | // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1015 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1016 | // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1017 | // 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); |
Lightvalve | 50:3c630b5eba9f | 1018 | // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec |
Lightvalve | 50:3c630b5eba9f | 1019 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1020 | // } |
Lightvalve | 50:3c630b5eba9f | 1021 | // } |
Lightvalve | 50:3c630b5eba9f | 1022 | // if (fl_temp_cnt2 == 100) { |
Lightvalve | 50:3c630b5eba9f | 1023 | // |
Lightvalve | 50:3c630b5eba9f | 1024 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1025 | // |
Lightvalve | 50:3c630b5eba9f | 1026 | // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1027 | // cur_vel_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1028 | // fl_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1029 | // fl_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1030 | // flag_flowrate++; |
Lightvalve | 50:3c630b5eba9f | 1031 | // } |
Lightvalve | 50:3c630b5eba9f | 1032 | // if (flag_flowrate == 10) { |
Lightvalve | 50:3c630b5eba9f | 1033 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1034 | // flag_flowrate = 0; |
Lightvalve | 50:3c630b5eba9f | 1035 | // TMR3_COUNT_FLOWRATE = 0; |
Lightvalve | 50:3c630b5eba9f | 1036 | // valve_gain_repeat_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1037 | // if (valve_gain_repeat_cnt >= 1) { |
Lightvalve | 50:3c630b5eba9f | 1038 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1039 | // valve_gain_repeat_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1040 | // } |
Lightvalve | 50:3c630b5eba9f | 1041 | // |
Lightvalve | 50:3c630b5eba9f | 1042 | // } |
Lightvalve | 50:3c630b5eba9f | 1043 | // break; |
Lightvalve | 50:3c630b5eba9f | 1044 | // } |
Lightvalve | 50:3c630b5eba9f | 1045 | // |
Lightvalve | 50:3c630b5eba9f | 1046 | // } |
Lightvalve | 14:8e7590227d22 | 1047 | case MODE_PRESSURE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1048 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1049 | if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 14:8e7590227d22 | 1050 | CUR_PRES_A_sum += pres_A.sen; |
Lightvalve | 14:8e7590227d22 | 1051 | CUR_PRES_B_sum += pres_B.sen; |
Lightvalve | 14:8e7590227d22 | 1052 | |
Lightvalve | 14:8e7590227d22 | 1053 | if (TMR3_COUNT_PRES_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1054 | CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f; |
Lightvalve | 30:8d561f16383b | 1055 | CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1056 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1057 | CUR_PRES_B_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1058 | |
Lightvalve | 38:118df027d851 | 1059 | float VREF_NullingGain = 0.0003f; |
Lightvalve | 58:2eade98630e2 | 1060 | PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean; |
Lightvalve | 58:2eade98630e2 | 1061 | PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean; |
Lightvalve | 14:8e7590227d22 | 1062 | |
Lightvalve | 30:8d561f16383b | 1063 | if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1064 | if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f; |
Lightvalve | 30:8d561f16383b | 1065 | if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1066 | if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f; |
Lightvalve | 19:23b7c1ad8683 | 1067 | |
Lightvalve | 30:8d561f16383b | 1068 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1069 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1070 | } |
Lightvalve | 13:747daba9cf59 | 1071 | } else { |
Lightvalve | 57:f4819de54e7a | 1072 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1073 | TMR3_COUNT_PRES_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1074 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1075 | CUR_PRES_B_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1076 | CUR_PRES_A_mean = 0; |
Lightvalve | 13:747daba9cf59 | 1077 | CUR_PRES_B_mean = 0; |
Lightvalve | 14:8e7590227d22 | 1078 | |
Lightvalve | 16:903b5a4433b4 | 1079 | ROM_RESET_DATA(); |
Lightvalve | 19:23b7c1ad8683 | 1080 | |
Lightvalve | 30:8d561f16383b | 1081 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1082 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 17:1865016ca2e7 | 1083 | //pc.printf("nulling end"); |
Lightvalve | 13:747daba9cf59 | 1084 | } |
Lightvalve | 14:8e7590227d22 | 1085 | TMR3_COUNT_PRES_NULL++; |
Lightvalve | 13:747daba9cf59 | 1086 | break; |
Lightvalve | 13:747daba9cf59 | 1087 | } |
Lightvalve | 14:8e7590227d22 | 1088 | |
Lightvalve | 50:3c630b5eba9f | 1089 | // case MODE_PRESSURE_SENSOR_CALIB: { |
Lightvalve | 50:3c630b5eba9f | 1090 | // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1091 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1092 | // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1093 | // CUR_PRES_A_sum += CUR_PRES_A; |
Lightvalve | 50:3c630b5eba9f | 1094 | // } |
Lightvalve | 50:3c630b5eba9f | 1095 | // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1096 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1097 | // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1098 | // CUR_PRES_B_sum += CUR_PRES_B; |
Lightvalve | 50:3c630b5eba9f | 1099 | // } |
Lightvalve | 50:3c630b5eba9f | 1100 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1101 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1102 | // TMR3_COUNT_PRES_CALIB = 0; |
Lightvalve | 50:3c630b5eba9f | 1103 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1104 | // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL; |
Lightvalve | 50:3c630b5eba9f | 1105 | // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1106 | // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL; |
Lightvalve | 50:3c630b5eba9f | 1107 | // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1108 | // CUR_PRES_A_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1109 | // CUR_PRES_B_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1110 | // CUR_PRES_A_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1111 | // CUR_PRES_B_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1112 | // |
Lightvalve | 50:3c630b5eba9f | 1113 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1114 | // |
Lightvalve | 50:3c630b5eba9f | 1115 | // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1116 | // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1117 | // } |
Lightvalve | 50:3c630b5eba9f | 1118 | // TMR3_COUNT_PRES_CALIB++; |
Lightvalve | 50:3c630b5eba9f | 1119 | // break; |
Lightvalve | 50:3c630b5eba9f | 1120 | // } |
Lightvalve | 19:23b7c1ad8683 | 1121 | |
Lightvalve | 50:3c630b5eba9f | 1122 | // case MODE_ROTARY_FRICTION_TUNING: { |
Lightvalve | 50:3c630b5eba9f | 1123 | // 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); |
Lightvalve | 50:3c630b5eba9f | 1124 | // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f); |
Lightvalve | 50:3c630b5eba9f | 1125 | // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1126 | // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1127 | // TMR3_COUNT_ROTARY_FRIC_TUNE++; |
Lightvalve | 50:3c630b5eba9f | 1128 | // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1129 | // TMR3_COUNT_ROTARY_FRIC_TUNE = 0; |
Lightvalve | 50:3c630b5eba9f | 1130 | // V_out = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1131 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1132 | // } |
Lightvalve | 50:3c630b5eba9f | 1133 | // break; |
Lightvalve | 50:3c630b5eba9f | 1134 | // } |
Lightvalve | 14:8e7590227d22 | 1135 | |
Lightvalve | 14:8e7590227d22 | 1136 | case MODE_DDV_POS_VS_PWM_ID: { |
Lightvalve | 59:f308b1656d9c | 1137 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1138 | VALVE_ID_timer = VALVE_ID_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1139 | |
Lightvalve | 14:8e7590227d22 | 1140 | if(VALVE_ID_timer < TMR_FREQ_5k*1) { |
Lightvalve | 60:64181f1d3e60 | 1141 | Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f); |
Lightvalve | 14:8e7590227d22 | 1142 | } else if(VALVE_ID_timer < TMR_FREQ_5k*2) { |
Lightvalve | 59:f308b1656d9c | 1143 | Vout.ref = 1000.0f*(ID_index_array[ID_index]); |
Lightvalve | 14:8e7590227d22 | 1144 | } else if(VALVE_ID_timer == TMR_FREQ_5k*2) { |
Lightvalve | 13:747daba9cf59 | 1145 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1146 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1147 | } else if(VALVE_ID_timer < TMR_FREQ_5k*3) { |
Lightvalve | 13:747daba9cf59 | 1148 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1149 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 14:8e7590227d22 | 1150 | } else if(VALVE_ID_timer == TMR_FREQ_5k*3) { |
Lightvalve | 59:f308b1656d9c | 1151 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1152 | } else { |
Lightvalve | 13:747daba9cf59 | 1153 | VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num; |
Lightvalve | 13:747daba9cf59 | 1154 | VALVE_ID_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1155 | ID_index= ID_index +1; |
Lightvalve | 13:747daba9cf59 | 1156 | } |
Lightvalve | 14:8e7590227d22 | 1157 | |
Lightvalve | 17:1865016ca2e7 | 1158 | if(ID_index>=25) { |
Lightvalve | 13:747daba9cf59 | 1159 | int i; |
Lightvalve | 13:747daba9cf59 | 1160 | VALVE_POS_AVG_OLD = VALVE_POS_AVG[0]; |
Lightvalve | 17:1865016ca2e7 | 1161 | for(i=0; i<25; i++) { |
Lightvalve | 13:747daba9cf59 | 1162 | VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]); |
Lightvalve | 14:8e7590227d22 | 1163 | if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1164 | VALVE_MAX_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1165 | VALVE_POS_AVG_OLD = VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1166 | } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1167 | VALVE_MIN_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1168 | VALVE_POS_AVG_OLD = VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1169 | } |
Lightvalve | 13:747daba9cf59 | 1170 | } |
Lightvalve | 59:f308b1656d9c | 1171 | ROM_RESET_DATA(); |
Lightvalve | 13:747daba9cf59 | 1172 | ID_index = 0; |
Lightvalve | 57:f4819de54e7a | 1173 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1174 | } |
Lightvalve | 14:8e7590227d22 | 1175 | |
Lightvalve | 14:8e7590227d22 | 1176 | |
Lightvalve | 13:747daba9cf59 | 1177 | break; |
Lightvalve | 13:747daba9cf59 | 1178 | } |
Lightvalve | 14:8e7590227d22 | 1179 | |
Lightvalve | 14:8e7590227d22 | 1180 | case MODE_DDV_DEADZONE_AND_CENTER: { |
Lightvalve | 59:f308b1656d9c | 1181 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1182 | VALVE_DZ_timer = VALVE_DZ_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1183 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1184 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1185 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1186 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1187 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1188 | pos_plus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1189 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1190 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1191 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1192 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1193 | pos_minus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1194 | } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1195 | 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; |
Lightvalve | 30:8d561f16383b | 1196 | } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1197 | 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; |
Lightvalve | 13:747daba9cf59 | 1198 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1199 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 30:8d561f16383b | 1200 | } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1201 | 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; |
Lightvalve | 13:747daba9cf59 | 1202 | DDV_POS_AVG = VALVE_POS_TMP / data_num; |
Lightvalve | 14:8e7590227d22 | 1203 | START_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1204 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1205 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1206 | |
Lightvalve | 30:8d561f16383b | 1207 | } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1208 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1209 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1210 | |
Lightvalve | 30:8d561f16383b | 1211 | } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1212 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1213 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1214 | |
Lightvalve | 30:8d561f16383b | 1215 | } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1216 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1217 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1218 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1219 | |
Lightvalve | 60:64181f1d3e60 | 1220 | if((FINAL_POS - START_POS)>200) { |
Lightvalve | 13:747daba9cf59 | 1221 | DZ_case = 1; |
Lightvalve | 60:64181f1d3e60 | 1222 | } else if((FINAL_POS - START_POS)<-200) { |
Lightvalve | 13:747daba9cf59 | 1223 | DZ_case = -1; |
Lightvalve | 14:8e7590227d22 | 1224 | } else { |
Lightvalve | 13:747daba9cf59 | 1225 | DZ_case = 0; |
Lightvalve | 13:747daba9cf59 | 1226 | } |
Lightvalve | 61:bc8c8270f0ab | 1227 | |
Lightvalve | 60:64181f1d3e60 | 1228 | CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6)); |
Lightvalve | 50:3c630b5eba9f | 1229 | |
Lightvalve | 13:747daba9cf59 | 1230 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1231 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1232 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1233 | Ref_Valve_Pos_Old = DDV_POS_AVG; |
Lightvalve | 13:747daba9cf59 | 1234 | DZ_NUM = 1; |
Lightvalve | 13:747daba9cf59 | 1235 | DZ_index = 1; |
Lightvalve | 14:8e7590227d22 | 1236 | |
Lightvalve | 13:747daba9cf59 | 1237 | } |
Lightvalve | 19:23b7c1ad8683 | 1238 | } else { |
Lightvalve | 14:8e7590227d22 | 1239 | if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) { |
Lightvalve | 30:8d561f16383b | 1240 | if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1241 | 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; |
Lightvalve | 60:64181f1d3e60 | 1242 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1243 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1244 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1245 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1246 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1247 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1248 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1249 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1250 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1251 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1252 | } |
Lightvalve | 14:8e7590227d22 | 1253 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1254 | |
Lightvalve | 30:8d561f16383b | 1255 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1256 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1257 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1258 | |
Lightvalve | 14:8e7590227d22 | 1259 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 1260 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1261 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 1262 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1263 | } else { |
Lightvalve | 13:747daba9cf59 | 1264 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 1265 | } |
Lightvalve | 14:8e7590227d22 | 1266 | |
Lightvalve | 13:747daba9cf59 | 1267 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1268 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1269 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1270 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 1271 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 1272 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 1273 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1274 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1275 | } |
Lightvalve | 13:747daba9cf59 | 1276 | } |
Lightvalve | 14:8e7590227d22 | 1277 | } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) { |
Lightvalve | 30:8d561f16383b | 1278 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1279 | 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; |
Lightvalve | 60:64181f1d3e60 | 1280 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1281 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1282 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1283 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1284 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1285 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1286 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1287 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1288 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1289 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1290 | } |
Lightvalve | 14:8e7590227d22 | 1291 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1292 | |
Lightvalve | 30:8d561f16383b | 1293 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1294 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1295 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1296 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1297 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1298 | |
Lightvalve | 14:8e7590227d22 | 1299 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 60:64181f1d3e60 | 1300 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1301 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 1302 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1303 | } else { |
Lightvalve | 60:64181f1d3e60 | 1304 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 1305 | } |
Lightvalve | 14:8e7590227d22 | 1306 | |
Lightvalve | 13:747daba9cf59 | 1307 | VALVE_DZ_timer = 0; |
Lightvalve | 60:64181f1d3e60 | 1308 | DZ_index= DZ_index * 2; |
Lightvalve | 14:8e7590227d22 | 1309 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1310 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 1311 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 1312 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 1313 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 1314 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 19:23b7c1ad8683 | 1315 | |
Lightvalve | 16:903b5a4433b4 | 1316 | ROM_RESET_DATA(); |
Lightvalve | 34:bb2ca2fc2a8e | 1317 | |
Lightvalve | 60:64181f1d3e60 | 1318 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1319 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1320 | } |
Lightvalve | 13:747daba9cf59 | 1321 | } |
Lightvalve | 14:8e7590227d22 | 1322 | } else if(DZ_case == 0 && DZ_NUM ==1) { |
Lightvalve | 30:8d561f16383b | 1323 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1324 | 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; |
Lightvalve | 60:64181f1d3e60 | 1325 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1326 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1327 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1328 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1329 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1330 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1331 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1332 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1333 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1334 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1335 | } |
Lightvalve | 14:8e7590227d22 | 1336 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1337 | |
Lightvalve | 30:8d561f16383b | 1338 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1339 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1340 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1341 | |
Lightvalve | 14:8e7590227d22 | 1342 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 1343 | DZ_DIRECTION = 1; |
Lightvalve | 14:8e7590227d22 | 1344 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 1345 | DZ_DIRECTION = -1; |
Lightvalve | 14:8e7590227d22 | 1346 | } else { |
Lightvalve | 13:747daba9cf59 | 1347 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1348 | } |
Lightvalve | 13:747daba9cf59 | 1349 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1350 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1351 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1352 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 1353 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 1354 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 1355 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1356 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1357 | } |
Lightvalve | 13:747daba9cf59 | 1358 | } |
Lightvalve | 14:8e7590227d22 | 1359 | } else { |
Lightvalve | 30:8d561f16383b | 1360 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1361 | 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; |
Lightvalve | 60:64181f1d3e60 | 1362 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1363 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1364 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1365 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1366 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1367 | valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1368 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1369 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1370 | } else if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1371 | valve_pos.ref = VALVE_MAX_POS - 1; |
Lightvalve | 13:747daba9cf59 | 1372 | } |
Lightvalve | 14:8e7590227d22 | 1373 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1374 | |
Lightvalve | 30:8d561f16383b | 1375 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1376 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1377 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1378 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1379 | FINAL_POS = pos.sen; |
Lightvalve | 61:bc8c8270f0ab | 1380 | |
Lightvalve | 60:64181f1d3e60 | 1381 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 13:747daba9cf59 | 1382 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 1383 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 1384 | DZ_DIRECTION = -1; |
Lightvalve | 60:64181f1d3e60 | 1385 | } else { |
Lightvalve | 13:747daba9cf59 | 1386 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 1387 | } |
Lightvalve | 14:8e7590227d22 | 1388 | |
Lightvalve | 13:747daba9cf59 | 1389 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1390 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1391 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1392 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 1393 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 1394 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 1395 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 1396 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 61:bc8c8270f0ab | 1397 | |
Lightvalve | 59:f308b1656d9c | 1398 | ROM_RESET_DATA(); |
Lightvalve | 34:bb2ca2fc2a8e | 1399 | |
Lightvalve | 57:f4819de54e7a | 1400 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1401 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1402 | } |
Lightvalve | 13:747daba9cf59 | 1403 | } |
Lightvalve | 13:747daba9cf59 | 1404 | } |
Lightvalve | 14:8e7590227d22 | 1405 | } |
Lightvalve | 13:747daba9cf59 | 1406 | break; |
Lightvalve | 13:747daba9cf59 | 1407 | } |
Lightvalve | 14:8e7590227d22 | 1408 | |
Lightvalve | 14:8e7590227d22 | 1409 | case MODE_DDV_POS_VS_FLOWRATE: { |
Lightvalve | 59:f308b1656d9c | 1410 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1411 | VALVE_FR_timer = VALVE_FR_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1412 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1413 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1414 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 23:59218d4a256d | 1415 | //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 30:8d561f16383b | 1416 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1417 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1418 | pos_plus_end = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1419 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7)); |
Lightvalve | 30:8d561f16383b | 1420 | } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1421 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1422 | } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1423 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8)); |
Lightvalve | 59:f308b1656d9c | 1424 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1425 | pos_minus_end = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1426 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1427 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 1428 | valve_pos.ref = (float) VALVE_CENTER; |
Lightvalve | 13:747daba9cf59 | 1429 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 1430 | max_check = 0; |
Lightvalve | 13:747daba9cf59 | 1431 | min_check = 0; |
Lightvalve | 13:747daba9cf59 | 1432 | } |
Lightvalve | 14:8e7590227d22 | 1433 | } else { |
Lightvalve | 30:8d561f16383b | 1434 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1435 | //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; |
Lightvalve | 59:f308b1656d9c | 1436 | pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 59:f308b1656d9c | 1437 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1438 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 13:747daba9cf59 | 1439 | data_num = 0; |
Lightvalve | 57:f4819de54e7a | 1440 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 1441 | |
Lightvalve | 14:8e7590227d22 | 1442 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1443 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1444 | } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f4819de54e7a | 1445 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 1446 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 13:747daba9cf59 | 1447 | data_num = data_num + 1; |
Lightvalve | 30:8d561f16383b | 1448 | if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) { |
Lightvalve | 14:8e7590227d22 | 1449 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1450 | one_period_end = 1; |
Lightvalve | 13:747daba9cf59 | 1451 | } |
Lightvalve | 30:8d561f16383b | 1452 | } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1453 | FINAL_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1454 | one_period_end = 1; |
Lightvalve | 59:f308b1656d9c | 1455 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1456 | } |
Lightvalve | 14:8e7590227d22 | 1457 | |
Lightvalve | 14:8e7590227d22 | 1458 | if(one_period_end == 1) { |
Lightvalve | 14:8e7590227d22 | 1459 | if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 13:747daba9cf59 | 1460 | max_check = 1; |
Lightvalve | 14:8e7590227d22 | 1461 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 13:747daba9cf59 | 1462 | min_check = 1; |
Lightvalve | 13:747daba9cf59 | 1463 | } |
Lightvalve | 13:747daba9cf59 | 1464 | JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec |
Lightvalve | 19:23b7c1ad8683 | 1465 | |
Lightvalve | 13:747daba9cf59 | 1466 | VALVE_FR_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1467 | one_period_end = 0; |
Lightvalve | 13:747daba9cf59 | 1468 | ID_index= ID_index +1; |
Lightvalve | 30:8d561f16383b | 1469 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1470 | } |
Lightvalve | 14:8e7590227d22 | 1471 | |
Lightvalve | 14:8e7590227d22 | 1472 | if(max_check == 1 && min_check == 1) { |
Lightvalve | 19:23b7c1ad8683 | 1473 | |
Lightvalve | 13:747daba9cf59 | 1474 | VALVE_POS_NUM = ID_index; |
Lightvalve | 59:f308b1656d9c | 1475 | ROM_RESET_DATA(); |
Lightvalve | 13:747daba9cf59 | 1476 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 1477 | first_check = 0; |
Lightvalve | 13:747daba9cf59 | 1478 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 1479 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 49:e7bcfc244d40 | 1480 | // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 13:747daba9cf59 | 1481 | } |
Lightvalve | 13:747daba9cf59 | 1482 | } |
Lightvalve | 13:747daba9cf59 | 1483 | break; |
Lightvalve | 13:747daba9cf59 | 1484 | } |
Lightvalve | 58:2eade98630e2 | 1485 | |
Lightvalve | 57:f4819de54e7a | 1486 | case MODE_SYSTEM_ID: { |
Lightvalve | 57:f4819de54e7a | 1487 | freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.; |
Lightvalve | 57:f4819de54e7a | 1488 | valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3); |
Lightvalve | 57:f4819de54e7a | 1489 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 57:f4819de54e7a | 1490 | cnt_sysid++; |
Lightvalve | 57:f4819de54e7a | 1491 | if (freq_sysid_Iref >= 300) { |
Lightvalve | 57:f4819de54e7a | 1492 | cnt_sysid = 0; |
Lightvalve | 57:f4819de54e7a | 1493 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1494 | } |
Lightvalve | 57:f4819de54e7a | 1495 | break; |
Lightvalve | 57:f4819de54e7a | 1496 | } |
Lightvalve | 58:2eade98630e2 | 1497 | |
Lightvalve | 58:2eade98630e2 | 1498 | |
Lightvalve | 57:f4819de54e7a | 1499 | |
Lightvalve | 57:f4819de54e7a | 1500 | default: |
Lightvalve | 57:f4819de54e7a | 1501 | break; |
Lightvalve | 57:f4819de54e7a | 1502 | } |
Lightvalve | 57:f4819de54e7a | 1503 | |
Lightvalve | 57:f4819de54e7a | 1504 | // CONTROL MODE ------------------------------------------------------------ |
Lightvalve | 57:f4819de54e7a | 1505 | |
Lightvalve | 57:f4819de54e7a | 1506 | switch (CONTROL_MODE) { |
Lightvalve | 57:f4819de54e7a | 1507 | case MODE_NO_ACT: { |
Lightvalve | 57:f4819de54e7a | 1508 | V_out = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1509 | break; |
Lightvalve | 57:f4819de54e7a | 1510 | } |
Lightvalve | 57:f4819de54e7a | 1511 | |
Lightvalve | 57:f4819de54e7a | 1512 | case MODE_VALVE_POSITION_CONTROL: { |
Lightvalve | 67:c2812cf26c38 | 1513 | if (OPERATING_MODE == 5) { //SW Valve |
Lightvalve | 57:f4819de54e7a | 1514 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 59:f308b1656d9c | 1515 | V_out = Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 1516 | } else if (CURRENT_CONTROL_MODE == 0) { //PWM |
Lightvalve | 67:c2812cf26c38 | 1517 | V_out = valve_pos.ref; |
Lightvalve | 67:c2812cf26c38 | 1518 | } else { |
Lightvalve | 67:c2812cf26c38 | 1519 | I_REF = valve_pos.ref * 0.001f; |
Lightvalve | 57:f4819de54e7a | 1520 | } |
Lightvalve | 58:2eade98630e2 | 1521 | |
Lightvalve | 57:f4819de54e7a | 1522 | break; |
Lightvalve | 57:f4819de54e7a | 1523 | } |
Lightvalve | 57:f4819de54e7a | 1524 | |
Lightvalve | 57:f4819de54e7a | 1525 | case MODE_JOINT_CONTROL: { |
Lightvalve | 57:f4819de54e7a | 1526 | double torq_ref = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1527 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 1528 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 57:f4819de54e7a | 1529 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 1530 | |
Lightvalve | 67:c2812cf26c38 | 1531 | //K & D Low Pass Filter |
Lightvalve | 67:c2812cf26c38 | 1532 | float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz |
Lightvalve | 67:c2812cf26c38 | 1533 | K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 1534 | D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 1535 | |
Lightvalve | 67:c2812cf26c38 | 1536 | torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N] |
Lightvalve | 57:f4819de54e7a | 1537 | |
Lightvalve | 57:f4819de54e7a | 1538 | // torque feedback |
Lightvalve | 67:c2812cf26c38 | 1539 | torq.err = torq_ref - torq.sen; //[N] |
Lightvalve | 57:f4819de54e7a | 1540 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 57:f4819de54e7a | 1541 | |
Lightvalve | 57:f4819de54e7a | 1542 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 58:2eade98630e2 | 1543 | |
Lightvalve | 57:f4819de54e7a | 1544 | double I_REF_POS = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1545 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 57:f4819de54e7a | 1546 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 57:f4819de54e7a | 1547 | |
Lightvalve | 57:f4819de54e7a | 1548 | double temp_vel_pos = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1549 | double temp_vel_torq = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1550 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 58:2eade98630e2 | 1551 | |
Lightvalve | 69:3995ffeaa786 | 1552 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 1553 | 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 |
Lightvalve | 57:f4819de54e7a | 1554 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1555 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 1556 | 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 |
Lightvalve | 57:f4819de54e7a | 1557 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 1558 | } |
Lightvalve | 57:f4819de54e7a | 1559 | 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)))); |
Lightvalve | 57:f4819de54e7a | 1560 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 1561 | |
Lightvalve | 57:f4819de54e7a | 1562 | // velocity compensation for torque control |
Lightvalve | 69:3995ffeaa786 | 1563 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 1564 | I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); |
Lightvalve | 57:f4819de54e7a | 1565 | // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s |
Lightvalve | 57:f4819de54e7a | 1566 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s |
Lightvalve | 57:f4819de54e7a | 1567 | // L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1568 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 1569 | 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. |
Lightvalve | 57:f4819de54e7a | 1570 | // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 1571 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 1572 | // L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 1573 | } |
Lightvalve | 57:f4819de54e7a | 1574 | 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)))); |
Lightvalve | 57:f4819de54e7a | 1575 | else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 1576 | // L velocity(rad/s or mm/s) >> I_ref(mA) |
Lightvalve | 57:f4819de54e7a | 1577 | // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k; |
Lightvalve | 57:f4819de54e7a | 1578 | // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm; |
Lightvalve | 57:f4819de54e7a | 1579 | |
Lightvalve | 57:f4819de54e7a | 1580 | I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB); |
Lightvalve | 67:c2812cf26c38 | 1581 | |
Lightvalve | 67:c2812cf26c38 | 1582 | // Anti-windup for FT |
Lightvalve | 67:c2812cf26c38 | 1583 | if (I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 67:c2812cf26c38 | 1584 | double I_MAX = 10.0f; // Maximum Current : 10mV |
Lightvalve | 67:c2812cf26c38 | 1585 | double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f); |
Lightvalve | 67:c2812cf26c38 | 1586 | if (I_REF > I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 1587 | double I_rem = I_REF - I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1588 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 1589 | I_REF = I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1590 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 1591 | } else if (I_REF < -I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 1592 | double I_rem = I_REF - (-I_MAX); |
Lightvalve | 67:c2812cf26c38 | 1593 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 1594 | I_REF = -I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1595 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 1596 | } |
Lightvalve | 67:c2812cf26c38 | 1597 | } |
Lightvalve | 57:f4819de54e7a | 1598 | |
Lightvalve | 57:f4819de54e7a | 1599 | } else { |
Lightvalve | 57:f4819de54e7a | 1600 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 72:3436ce769b1e | 1601 | float VALVE_POS_RAW_FORCE_FF = 0.0f; |
Lightvalve | 72:3436ce769b1e | 1602 | float VALVE_POS_RAW = 0.0f; |
Lightvalve | 72:3436ce769b1e | 1603 | |
Lightvalve | 57:f4819de54e7a | 1604 | VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f |
Lightvalve | 57:f4819de54e7a | 1605 | + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref)); |
Lightvalve | 57:f4819de54e7a | 1606 | |
Lightvalve | 72:3436ce769b1e | 1607 | 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; |
Lightvalve | 72:3436ce769b1e | 1608 | |
Lightvalve | 72:3436ce769b1e | 1609 | VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF; |
Lightvalve | 72:3436ce769b1e | 1610 | |
Lightvalve | 72:3436ce769b1e | 1611 | |
Lightvalve | 72:3436ce769b1e | 1612 | if (VALVE_POS_RAW >= 0) { |
Lightvalve | 72:3436ce769b1e | 1613 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS; |
Lightvalve | 57:f4819de54e7a | 1614 | } else { |
Lightvalve | 72:3436ce769b1e | 1615 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS; |
Lightvalve | 57:f4819de54e7a | 1616 | } |
Lightvalve | 57:f4819de54e7a | 1617 | |
Lightvalve | 57:f4819de54e7a | 1618 | if(I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 57:f4819de54e7a | 1619 | double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; |
Lightvalve | 57:f4819de54e7a | 1620 | if(valve_pos.ref>VALVE_MAX_POS) { |
Lightvalve | 57:f4819de54e7a | 1621 | double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 1622 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 1623 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 1624 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 1625 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 57:f4819de54e7a | 1626 | double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 1627 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 1628 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 1629 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 1630 | } |
Lightvalve | 57:f4819de54e7a | 1631 | } |
Lightvalve | 61:bc8c8270f0ab | 1632 | |
Lightvalve | 57:f4819de54e7a | 1633 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1634 | |
Lightvalve | 67:c2812cf26c38 | 1635 | // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err); |
Lightvalve | 60:64181f1d3e60 | 1636 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 1637 | |
Lightvalve | 57:f4819de54e7a | 1638 | } |
Lightvalve | 72:3436ce769b1e | 1639 | |
Lightvalve | 72:3436ce769b1e | 1640 | torq_ref_past = torq_ref; |
Lightvalve | 58:2eade98630e2 | 1641 | |
Lightvalve | 57:f4819de54e7a | 1642 | break; |
Lightvalve | 57:f4819de54e7a | 1643 | } |
Lightvalve | 58:2eade98630e2 | 1644 | |
Lightvalve | 57:f4819de54e7a | 1645 | case MODE_VALVE_OPEN_LOOP: { |
Lightvalve | 57:f4819de54e7a | 1646 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 1647 | break; |
Lightvalve | 57:f4819de54e7a | 1648 | } |
Lightvalve | 14:8e7590227d22 | 1649 | |
Lightvalve | 12:6f2531038ea4 | 1650 | default: |
Lightvalve | 12:6f2531038ea4 | 1651 | break; |
Lightvalve | 12:6f2531038ea4 | 1652 | } |
Lightvalve | 14:8e7590227d22 | 1653 | |
Lightvalve | 57:f4819de54e7a | 1654 | |
Lightvalve | 57:f4819de54e7a | 1655 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve |
Lightvalve | 58:2eade98630e2 | 1656 | |
Lightvalve | 57:f4819de54e7a | 1657 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1658 | //////////////////////////// CURRENT CONTROL ////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1659 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1660 | if (CURRENT_CONTROL_MODE) { |
Lightvalve | 67:c2812cf26c38 | 1661 | double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz |
Lightvalve | 57:f4819de54e7a | 1662 | I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF; |
Lightvalve | 57:f4819de54e7a | 1663 | |
Lightvalve | 57:f4819de54e7a | 1664 | I_ERR = I_REF_fil - cur.sen; |
Lightvalve | 67:c2812cf26c38 | 1665 | I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1666 | |
Lightvalve | 57:f4819de54e7a | 1667 | |
Lightvalve | 57:f4819de54e7a | 1668 | // Moog Valve Current Control Gain |
Lightvalve | 67:c2812cf26c38 | 1669 | double R_model = 500.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 1670 | double L_model = 1.2f; |
Lightvalve | 57:f4819de54e7a | 1671 | double w0 = 2.0f * 3.14f * 150.0f; |
Lightvalve | 57:f4819de54e7a | 1672 | double KP_I = 0.1f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 1673 | double KI_I = 0.1f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 1674 | |
Lightvalve | 57:f4819de54e7a | 1675 | // KNR Valve Current Control Gain |
Lightvalve | 57:f4819de54e7a | 1676 | if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve |
Lightvalve | 57:f4819de54e7a | 1677 | R_model = 163.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 1678 | L_model = 1.0f; |
Lightvalve | 57:f4819de54e7a | 1679 | w0 = 2.0f * 3.14f * 80.0f; |
Lightvalve | 57:f4819de54e7a | 1680 | KP_I = 1.0f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 1681 | KI_I = 0.08f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 1682 | } |
Lightvalve | 57:f4819de54e7a | 1683 | |
Lightvalve | 57:f4819de54e7a | 1684 | double FF_gain = 1.0f; |
Lightvalve | 57:f4819de54e7a | 1685 | |
Lightvalve | 67:c2812cf26c38 | 1686 | VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT; |
Lightvalve | 57:f4819de54e7a | 1687 | // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV |
Lightvalve | 57:f4819de54e7a | 1688 | I_REF_fil_diff = I_REF_fil - I_REF_fil_old; |
Lightvalve | 57:f4819de54e7a | 1689 | I_REF_fil_old = I_REF_fil; |
Lightvalve | 67:c2812cf26c38 | 1690 | // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 1691 | VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 1692 | double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV |
Lightvalve | 57:f4819de54e7a | 1693 | |
Lightvalve | 57:f4819de54e7a | 1694 | double Ka = 3.0f / KP_I; |
Lightvalve | 57:f4819de54e7a | 1695 | if (VALVE_PWM_RAW > V_MAX) { |
Lightvalve | 57:f4819de54e7a | 1696 | V_rem = VALVE_PWM_RAW - V_MAX; |
Lightvalve | 57:f4819de54e7a | 1697 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 1698 | VALVE_PWM_RAW = V_MAX; |
Lightvalve | 67:c2812cf26c38 | 1699 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1700 | } else if (VALVE_PWM_RAW < -V_MAX) { |
Lightvalve | 57:f4819de54e7a | 1701 | V_rem = VALVE_PWM_RAW - (-V_MAX); |
Lightvalve | 57:f4819de54e7a | 1702 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 1703 | VALVE_PWM_RAW = -V_MAX; |
Lightvalve | 67:c2812cf26c38 | 1704 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1705 | } |
Lightvalve | 57:f4819de54e7a | 1706 | Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 1707 | } else { |
Lightvalve | 57:f4819de54e7a | 1708 | VALVE_PWM_RAW = I_REF * mV_PER_mA; |
Lightvalve | 57:f4819de54e7a | 1709 | Cur_Valve_Open_pulse = I_REF / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 1710 | } |
Lightvalve | 57:f4819de54e7a | 1711 | |
Lightvalve | 57:f4819de54e7a | 1712 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1713 | ///////////////// Dead Zone Cancellation & Linearization ////////////////// |
Lightvalve | 57:f4819de54e7a | 1714 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1715 | // Dead Zone Cancellation (Mechanical Valve dead-zone) |
Lightvalve | 57:f4819de54e7a | 1716 | if (FLAG_VALVE_DEADZONE) { |
Lightvalve | 57:f4819de54e7a | 1717 | if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1718 | else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1719 | |
Lightvalve | 57:f4819de54e7a | 1720 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1721 | |
Lightvalve | 57:f4819de54e7a | 1722 | } else { |
Lightvalve | 57:f4819de54e7a | 1723 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW; |
Lightvalve | 57:f4819de54e7a | 1724 | } |
Lightvalve | 57:f4819de54e7a | 1725 | |
Lightvalve | 57:f4819de54e7a | 1726 | // Output Voltage Linearization |
Lightvalve | 57:f4819de54e7a | 1727 | double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 1728 | double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 57:f4819de54e7a | 1729 | |
Lightvalve | 57:f4819de54e7a | 1730 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 67:c2812cf26c38 | 1731 | if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 1732 | else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 1733 | else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 57:f4819de54e7a | 1734 | } |
Lightvalve | 89:a7b45368ea0f | 1735 | else { //////////////////////////sw valve |
Lightvalve | 89:a7b45368ea0f | 1736 | // Output Voltage Linearization |
Lightvalve | 89:a7b45368ea0f | 1737 | double CUR_PWM_nonlin = V_out; // Unit : mV |
Lightvalve | 89:a7b45368ea0f | 1738 | double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 89:a7b45368ea0f | 1739 | |
Lightvalve | 89:a7b45368ea0f | 1740 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 89:a7b45368ea0f | 1741 | if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 89:a7b45368ea0f | 1742 | else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 89:a7b45368ea0f | 1743 | else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 89:a7b45368ea0f | 1744 | } |
Lightvalve | 67:c2812cf26c38 | 1745 | |
Lightvalve | 67:c2812cf26c38 | 1746 | // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 1747 | // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 1748 | // else V_out = V_out; |
Lightvalve | 67:c2812cf26c38 | 1749 | |
jobuuu | 7:e9086c72bb22 | 1750 | /******************************************************* |
jobuuu | 7:e9086c72bb22 | 1751 | *** PWM |
jobuuu | 7:e9086c72bb22 | 1752 | ********************************************************/ |
Lightvalve | 67:c2812cf26c38 | 1753 | if(DIR_VALVE<0){ |
Lightvalve | 67:c2812cf26c38 | 1754 | V_out = -V_out; |
Lightvalve | 67:c2812cf26c38 | 1755 | } |
Lightvalve | 67:c2812cf26c38 | 1756 | |
Lightvalve | 49:e7bcfc244d40 | 1757 | if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 1758 | V_out = VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 49:e7bcfc244d40 | 1759 | } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 1760 | V_out = -VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 27:a2254a485f23 | 1761 | } |
Lightvalve | 49:e7bcfc244d40 | 1762 | PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV |
Lightvalve | 13:747daba9cf59 | 1763 | |
Lightvalve | 19:23b7c1ad8683 | 1764 | // Saturation of output voltage to 12.0V |
Lightvalve | 30:8d561f16383b | 1765 | if(PWM_out > 1.0f) PWM_out=1.0f; |
Lightvalve | 30:8d561f16383b | 1766 | else if (PWM_out < -1.0f) PWM_out=-1.0f; |
Lightvalve | 13:747daba9cf59 | 1767 | |
Lightvalve | 30:8d561f16383b | 1768 | if (PWM_out>0.0f) { |
Lightvalve | 30:8d561f16383b | 1769 | dtc_v=0.0f; |
jobuuu | 1:e04e563be5ce | 1770 | dtc_w=PWM_out; |
jobuuu | 1:e04e563be5ce | 1771 | } else { |
jobuuu | 2:a1c0a37df760 | 1772 | dtc_v=-PWM_out; |
Lightvalve | 30:8d561f16383b | 1773 | dtc_w=0.0f; |
jobuuu | 1:e04e563be5ce | 1774 | } |
Lightvalve | 13:747daba9cf59 | 1775 | |
jobuuu | 1:e04e563be5ce | 1776 | //pwm |
Lightvalve | 30:8d561f16383b | 1777 | TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v); |
Lightvalve | 30:8d561f16383b | 1778 | TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w); |
Lightvalve | 67:c2812cf26c38 | 1779 | |
Lightvalve | 61:bc8c8270f0ab | 1780 | |
Lightvalve | 57:f4819de54e7a | 1781 | if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 20:806196fda269 | 1782 | |
Lightvalve | 54:647072f5307a | 1783 | // Position, Velocity, and Torque (ID:1200) |
Lightvalve | 56:6f50d9d3bfee | 1784 | if (flag_data_request[0] == HIGH) { |
Lightvalve | 57:f4819de54e7a | 1785 | if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator |
Lightvalve | 54:647072f5307a | 1786 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 1787 | CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f)); |
Lightvalve | 54:647072f5307a | 1788 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 1789 | 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)); |
Lightvalve | 54:647072f5307a | 1790 | } |
Lightvalve | 57:f4819de54e7a | 1791 | } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator |
Lightvalve | 54:647072f5307a | 1792 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 1793 | 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))); |
Lightvalve | 54:647072f5307a | 1794 | } else if (SENSING_MODE == 1) { |
Lightvalve | 67:c2812cf26c38 | 1795 | 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)); |
Lightvalve | 54:647072f5307a | 1796 | } |
Lightvalve | 52:8ea76864368a | 1797 | } |
Lightvalve | 52:8ea76864368a | 1798 | } |
Lightvalve | 56:6f50d9d3bfee | 1799 | if (flag_data_request[1] == HIGH) { |
Lightvalve | 54:647072f5307a | 1800 | //valve position |
Lightvalve | 54:647072f5307a | 1801 | double t_value = 0; |
Lightvalve | 89:a7b45368ea0f | 1802 | // if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 89:a7b45368ea0f | 1803 | // t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 1804 | // } else { |
Lightvalve | 89:a7b45368ea0f | 1805 | // t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 1806 | // } |
Lightvalve | 89:a7b45368ea0f | 1807 | if(OPERATING_MODE==5) { |
Lightvalve | 89:a7b45368ea0f | 1808 | if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 89:a7b45368ea0f | 1809 | t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 1810 | } else { |
Lightvalve | 89:a7b45368ea0f | 1811 | t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 1812 | } |
Lightvalve | 89:a7b45368ea0f | 1813 | //t_value = (double) value; |
Lightvalve | 89:a7b45368ea0f | 1814 | } else if(CURRENT_CONTROL_MODE==1) { |
Lightvalve | 89:a7b45368ea0f | 1815 | t_value = cur.sen * 1000.0f; |
Lightvalve | 67:c2812cf26c38 | 1816 | } else { |
Lightvalve | 89:a7b45368ea0f | 1817 | t_value = V_out; |
Lightvalve | 67:c2812cf26c38 | 1818 | } |
Lightvalve | 67:c2812cf26c38 | 1819 | CAN_TX_TORQUE((int16_t) (t_value)); //1300 |
Lightvalve | 67:c2812cf26c38 | 1820 | //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300 |
Lightvalve | 67:c2812cf26c38 | 1821 | //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300 |
Lightvalve | 54:647072f5307a | 1822 | } |
Lightvalve | 58:2eade98630e2 | 1823 | |
Lightvalve | 58:2eade98630e2 | 1824 | |
Lightvalve | 89:a7b45368ea0f | 1825 | if (flag_data_request[2] == LOW) { |
Lightvalve | 89:a7b45368ea0f | 1826 | //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // 1400 |
Lightvalve | 89:a7b45368ea0f | 1827 | double t_value = 0; |
Lightvalve | 89:a7b45368ea0f | 1828 | if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 89:a7b45368ea0f | 1829 | t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 1830 | } else { |
Lightvalve | 89:a7b45368ea0f | 1831 | t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 1832 | } |
Lightvalve | 89:a7b45368ea0f | 1833 | CAN_TX_PRES((int16_t) (t_value), (int16_t) (V_out)); // 1400 |
Lightvalve | 55:b25725257569 | 1834 | } |
Lightvalve | 58:2eade98630e2 | 1835 | |
Lightvalve | 57:f4819de54e7a | 1836 | //If it doesn't rest, below can can not work. |
Lightvalve | 57:f4819de54e7a | 1837 | for (can_rest = 0; can_rest < 10000; can_rest++) { |
Lightvalve | 57:f4819de54e7a | 1838 | ; |
Lightvalve | 57:f4819de54e7a | 1839 | } |
Lightvalve | 58:2eade98630e2 | 1840 | |
Lightvalve | 56:6f50d9d3bfee | 1841 | if (flag_data_request[3] == HIGH) { |
Lightvalve | 54:647072f5307a | 1842 | //PWM |
Lightvalve | 73:f80dc3970c99 | 1843 | //CAN_TX_PWM((int16_t) value); //1500 |
Lightvalve | 73:f80dc3970c99 | 1844 | CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500 |
Lightvalve | 54:647072f5307a | 1845 | } |
Lightvalve | 57:f4819de54e7a | 1846 | //for (i = 0; i < 10000; i++) { |
Lightvalve | 57:f4819de54e7a | 1847 | // ; |
Lightvalve | 57:f4819de54e7a | 1848 | // } |
Lightvalve | 56:6f50d9d3bfee | 1849 | if (flag_data_request[4] == HIGH) { |
Lightvalve | 54:647072f5307a | 1850 | //valve position |
Lightvalve | 73:f80dc3970c99 | 1851 | 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 |
Lightvalve | 54:647072f5307a | 1852 | } |
Lightvalve | 20:806196fda269 | 1853 | |
Lightvalve | 54:647072f5307a | 1854 | // Others : Reference position, Reference FT, PWM, Current (ID:1300) |
Lightvalve | 52:8ea76864368a | 1855 | // if (flag_data_request[1] == HIGH) { |
Lightvalve | 52:8ea76864368a | 1856 | // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3)); |
Lightvalve | 52:8ea76864368a | 1857 | // } |
Lightvalve | 54:647072f5307a | 1858 | //if (flag_delay_test == 1){ |
Lightvalve | 58:2eade98630e2 | 1859 | //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref); |
Lightvalve | 54:647072f5307a | 1860 | //} |
Lightvalve | 52:8ea76864368a | 1861 | |
Lightvalve | 54:647072f5307a | 1862 | TMR2_COUNT_CAN_TX = 0; |
Lightvalve | 54:647072f5307a | 1863 | } |
Lightvalve | 54:647072f5307a | 1864 | TMR2_COUNT_CAN_TX++; |
Lightvalve | 52:8ea76864368a | 1865 | |
Lightvalve | 20:806196fda269 | 1866 | } |
Lightvalve | 52:8ea76864368a | 1867 | TIM3->SR = 0x0; // reset the status register |
Lightvalve | 52:8ea76864368a | 1868 | |
Lightvalve | 58:2eade98630e2 | 1869 | } |