Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2_copy1

2011

Dependencies:   mbed FastPWM

main.cpp@81:49a733a3eb9e, 2020-06-12 (annotated)

Committer:
Lightvalve
Date:
Fri Jun 12 00:49:25 2020 +0000
Revision:
81:49a733a3eb9e
Parent:
80:cfc7eabde63a
Child:
82:d286749256a4
200612-1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 81:49a733a3eb9e 1 //200612-1
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 68:328e1be06f5d 189 float f_past[num_array_f_past] = {0.0f};
Lightvalve 68:328e1be06f5d 190 float f_future[num_array_f_future] = {0.0f};
Lightvalve 66:a8e6799dbce3 191
Lightvalve 73:f80dc3970c99 192 float input_NN[num_input] = { 0.0f };
Lightvalve 65:a2d7c63419c2 193
Lightvalve 66:a8e6799dbce3 194 const float h1[num_input][32] = {
Lightvalve 81:49a733a3eb9e 195 {-1.088716983795166f,1.356402039527893f,0.10589459538459778f,-0.43692758679389954f,-1.7950611114501953f,0.12725915014743805f,-0.40818843245506287f,0.714809775352478f,0.5034290552139282f,-1.0029406547546387f,-0.22158309817314148f,0.13176502287387848f,-0.19318288564682007f,0.22376887500286102f,-0.21103838086128235f,-0.6001524329185486f,0.36171770095825195f,0.24935457110404968f,0.9605618119239807f,1.6027634143829346f,-0.33476194739341736f,0.10696089267730713f,-0.3326931595802307f,-0.0792258083820343f,0.8332709670066833f,0.18374285101890564f,-0.1767144799232483f,-0.7951967716217041f,-0.5436206459999084f,-0.18794111907482147f,-1.6769053936004639f,1.8259540796279907f},
Lightvalve 81:49a733a3eb9e 196 {-0.9213252663612366f,1.330963134765625f,0.29864487051963806f,-0.3783237040042877f,-1.0148227214813232f,0.00454622833058238f,0.08461318165063858f,0.44819051027297974f,0.19977037608623505f,-0.34439802169799805f,-0.31243905425071716f,-0.28794223070144653f,0.021212786436080933f,0.14747163653373718f,0.045876264572143555f,-0.47863349318504333f,0.04655824974179268f,0.06295260787010193f,0.9794549942016602f,0.9034493565559387f,-0.03096979856491089f,-0.12077532708644867f,-0.09506890177726746f,0.27714261412620544f,0.286868155002594f,0.2936786115169525f,0.12686115503311157f,-0.250116229057312f,-0.6339253783226013f,0.09809011220932007f,-1.3773446083068848f,1.0479621887207031f},
Lightvalve 81:49a733a3eb9e 197 {-0.2200627475976944f,0.2154243290424347f,-0.0042223334312438965f,-0.26675742864608765f,-0.788112223148346f,-0.19681809842586517f,0.053243886679410934f,0.23489665985107422f,0.48784056305885315f,-0.26301485300064087f,0.2585364580154419f,0.3688863217830658f,-0.03282937407493591f,0.16022825241088867f,-0.31718650460243225f,-0.38114598393440247f,0.45172151923179626f,-0.2658354640007019f,0.893288791179657f,0.40446892380714417f,0.22159990668296814f,-0.15311938524246216f,0.13552400469779968f,-0.24659553170204163f,0.5464335083961487f,0.14537742733955383f,-0.15514154732227325f,-0.07743170112371445f,-0.5375910997390747f,0.302763432264328f,-0.6922473907470703f,0.42653176188468933f},
Lightvalve 81:49a733a3eb9e 198 {-0.024508042261004448f,-0.6258366703987122f,-0.20532599091529846f,-1.4891437292099f,-0.9899010062217712f,-0.1711190789937973f,0.09804031997919083f,-0.19763818383216858f,0.8621402978897095f,-0.3167000412940979f,0.09623097628355026f,1.2397507429122925f,-0.11809042096138f,0.29494261741638184f,-0.12817290425300598f,-0.06290968507528305f,0.009730181656777859f,-0.23756909370422363f,0.4586086571216583f,0.33456170558929443f,-0.24942269921302795f,-0.08793863654136658f,-0.14710915088653564f,-0.29148542881011963f,0.9802191853523254f,0.14159366488456726f,0.13380053639411926f,-0.11857002228498459f,0.23646412789821625f,0.1323157548904419f,0.5415506958961487f,0.468021959066391f},
Lightvalve 81:49a733a3eb9e 199 {0.5840082168579102f,-0.029223354533314705f,0.08410122990608215f,-1.0761308670043945f,-0.05445202812552452f,-0.397617369890213f,0.11680789291858673f,-0.7259165048599243f,-0.26360446214675903f,0.2981261610984802f,-0.2716690003871918f,0.8114379644393921f,0.211430162191391f,0.17305968701839447f,-0.25075238943099976f,0.3422377407550812f,-0.3941330313682556f,-0.18436601758003235f,-0.048812128603458405f,-0.2088773399591446f,0.1375632882118225f,0.23587647080421448f,-0.24541926383972168f,-0.07457953691482544f,0.5313988924026489f,-0.34256690740585327f,0.04057341814041138f,-0.16950565576553345f,0.6305892467498779f,-0.16320037841796875f,1.3491301536560059f,-0.7304763793945312f},
Lightvalve 81:49a733a3eb9e 200 {1.856147050857544f,-2.4551618099212646f,0.30513831973075867f,3.3675105571746826f,3.1976048946380615f,-0.5638076066970825f,0.1650332510471344f,-1.2564380168914795f,-2.2442626953125f,1.741302251815796f,0.25819119811058044f,-2.8534340858459473f,-0.03144201636314392f,-0.0075338068418204784f,0.21901831030845642f,0.16833961009979248f,-1.2895042896270752f,-0.3195672333240509f,-3.6593241691589355f,-3.128480911254883f,0.13521116971969604f,-0.009676039218902588f,0.12587067484855652f,0.3309326469898224f,-3.278230905532837f,0.20814630389213562f,-0.2925715744495392f,0.7865549325942993f,0.8920918703079224f,-0.0013132691383361816f,1.222727656364441f,-3.2728967666625977f},
Lightvalve 81:49a733a3eb9e 201 {-0.04335753247141838f,-0.2893924415111542f,0.16288265585899353f,-0.1845194548368454f,0.29563501477241516f,-0.2745168209075928f,-0.20015691220760345f,-0.01522457879036665f,-0.008454561233520508f,-0.0906229317188263f,-0.11678708344697952f,-0.3337182402610779f,0.098605215549469f,-0.040519122034311295f,-0.18274356424808502f,-0.37481918931007385f,-0.2170715183019638f,-0.08166468143463135f,0.1903073787689209f,0.14792855083942413f,-0.16223669052124023f,-0.1771286129951477f,-0.2626192569732666f,-0.24521145224571228f,-0.4254782795906067f,-0.15535086393356323f,-0.1126367449760437f,-0.047129563987255096f,-0.2529458701610565f,-0.03486502170562744f,-0.028447464108467102f,-0.10880075395107269f},
Lightvalve 81:49a733a3eb9e 202 {0.3039092719554901f,-3.173795223236084f,0.16644713282585144f,0.6087268590927124f,0.7433172464370728f,-0.304500937461853f,0.041098080575466156f,-0.07076975703239441f,0.4116152226924896f,0.6779890656471252f,-0.25636374950408936f,-1.2787790298461914f,0.10806858539581299f,-0.0843484178185463f,0.054826945066452026f,0.097584567964077f,-0.5524027943611145f,-0.28619682788848877f,-0.42500951886177063f,1.6943641901016235f,-0.07430306077003479f,0.022674113512039185f,-0.12776102125644684f,-0.02844339609146118f,-0.28170329332351685f,0.0177537202835083f,-0.341458797454834f,0.07061272859573364f,-0.38041573762893677f,0.004316955804824829f,-1.3212554454803467f,0.6348853707313538f},
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Lightvalve 65:a2d7c63419c2 212 };
Lightvalve 65:a2d7c63419c2 213
Lightvalve 66:a8e6799dbce3 214 const float h2[32][32] = {
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Lightvalve 65:a2d7c63419c2 248
Lightvalve 66:a8e6799dbce3 249 const float h3[32][32] = {
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Lightvalve 65:a2d7c63419c2 283
Lightvalve 81:49a733a3eb9e 284 const float hout[32] = { 0.3285340666770935f,0.29040876030921936f,0.16681119799613953f,0.2709396481513977f,-0.04097283259034157f,0.10721125453710556f,0.09628883004188538f,0.1081397533416748f,0.029272375628352165f,0.17653435468673706f,-0.016048980876803398f,-0.12047142535448074f,-0.2050153613090515f,0.4891054034233093f,0.2356991171836853f,-0.1462659239768982f,0.016922255977988243f,-0.005949020851403475f,-0.16162875294685364f,0.621294379234314f,0.16312295198440552f,0.19141800701618195f,-0.1687193512916565f,-0.10208095610141754f,0.22520127892494202f,0.2555851936340332f,-0.32976531982421875f,-0.38228437304496765f,0.09762667119503021f,-0.3257754445075989f,-0.9466415643692017f,-0.09844258427619934f };
Lightvalve 66:a8e6799dbce3 285
Lightvalve 81:49a733a3eb9e 286 const float b1[32] = { 0.45553168654441833f,1.9252203702926636f,-1.7145336866378784f,-0.26975348591804504f,1.033017635345459f,0.6290810108184814f,-0.08519767224788666f,0.8372296094894409f,0.6405189037322998f,-1.3224029541015625f,0.5555195808410645f,1.609899878501892f,-0.3425353467464447f,-0.8894599080085754f,-1.087764859199524f,0.9570019245147705f,0.5061111450195312f,-0.26377663016319275f,0.5214936137199402f,0.6287582516670227f,-0.284685879945755f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,2.430602550506592f,-2.0880801677703857f,-1.0489267110824585f,0.5970383882522583f,0.3170478045940399f,-1.0887231826782227f,1.3548469543457031f,-1.067333698272705f };
Lightvalve 65:a2d7c63419c2 287
Lightvalve 81:49a733a3eb9e 288 const float b2[32] = { -0.2517685294151306f,-0.7642630338668823f,-1.4564176797866821f,-0.49962595105171204f,-0.6939148902893066f,0.856615424156189f,-0.06682460755109787f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.6656689643859863f,0.2882159352302551f,-0.09193919599056244f,0.37836161255836487f,0.28955671191215515f,0.706230103969574f,-1.798204779624939f,-1.5844906568527222f,-0.3195912539958954f,-0.33119359612464905f,-0.12431706488132477f,-0.06883032619953156f,-0.04454311728477478f,-1.0290898084640503f,-0.5579666495323181f,0.08014846593141556f,-0.22099442780017853f,-0.2975464463233948f,-0.6323830485343933f,-0.5182071924209595f,-1.178520679473877f,-1.3605209589004517f };
Lightvalve 65:a2d7c63419c2 289
Lightvalve 81:49a733a3eb9e 290 const float b3[32] = { -1.963319182395935f,-0.5171142816543579f,-0.06204008683562279f,-0.5983346700668335f,-0.2850309908390045f,0.732128918170929f,-0.5840697288513184f,-0.6562485098838806f,-0.17490826547145844f,0.7943865656852722f,-0.2582458555698395f,-0.09240569919347763f,-0.8568398356437683f,-1.595017671585083f,-1.1428403854370117f,-0.3598397970199585f,-1.458486795425415f,-1.1925535202026367f,-0.6394663453102112f,0.5121098756790161f,1.111078143119812f,1.2398830652236938f,-1.1914246082305908f,-0.991461992263794f,0.8862969279289246f,-0.4503258466720581f,-0.18612255156040192f,-2.0679550170898438f,0.3507072925567627f,-2.3236680030822754f,-0.6270813941955566f,1.699910283088684f };
Lightvalve 66:a8e6799dbce3 291
Lightvalve 81:49a733a3eb9e 292 const float bout[1] = { -0.2834494709968567f };
Lightvalve 61:bc8c8270f0ab 293
Lightvalve 61:bc8c8270f0ab 294
GiJeongKim 0:51c43836c1d7 295 int main()
GiJeongKim 0:51c43836c1d7 296 {
Lightvalve 66:a8e6799dbce3 297
Lightvalve 65:a2d7c63419c2 298 HAL_Init();
Lightvalve 65:a2d7c63419c2 299 SystemClock_Config();
Lightvalve 65:a2d7c63419c2 300
jobuuu 6:df07d3491e3a 301 /*********************************
jobuuu 1:e04e563be5ce 302 *** Initialization
jobuuu 6:df07d3491e3a 303 *********************************/
Lightvalve 69:3995ffeaa786 304 LED = 0;
Lightvalve 61:bc8c8270f0ab 305 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 306
GiJeongKim 0:51c43836c1d7 307 // i2c init
Lightvalve 8:5d2eebdad025 308 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 309 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 310 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 311 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 312 make_delay();
jobuuu 2:a1c0a37df760 313
GiJeongKim 0:51c43836c1d7 314 // // spi init
Lightvalve 16:903b5a4433b4 315 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 316 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 317 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 318 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 319 make_delay();
Lightvalve 21:e5f1a43ea6f9 320
Lightvalve 16:903b5a4433b4 321 //rom
Lightvalve 19:23b7c1ad8683 322 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 323 make_delay();
Lightvalve 13:747daba9cf59 324
GiJeongKim 0:51c43836c1d7 325 // ADC init
jobuuu 5:a4319f79457b 326 Init_ADC();
Lightvalve 11:82d8768d7351 327 make_delay();
jobuuu 2:a1c0a37df760 328
GiJeongKim 0:51c43836c1d7 329 // Pwm init
GiJeongKim 0:51c43836c1d7 330 Init_PWM();
GiJeongKim 0:51c43836c1d7 331 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 332 make_delay();
Lightvalve 13:747daba9cf59 333
Lightvalve 11:82d8768d7351 334 // TMR3 init
Lightvalve 11:82d8768d7351 335 Init_TMR3();
Lightvalve 11:82d8768d7351 336 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 337 make_delay();
Lightvalve 21:e5f1a43ea6f9 338
Lightvalve 50:3c630b5eba9f 339 // TMR2 init
Lightvalve 56:6f50d9d3bfee 340 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 341 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 342 // make_delay();
Lightvalve 21:e5f1a43ea6f9 343
GiJeongKim 0:51c43836c1d7 344 // CAN
jobuuu 2:a1c0a37df760 345 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 346 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 347 make_delay();
Lightvalve 34:bb2ca2fc2a8e 348
Lightvalve 23:59218d4a256d 349 //Timer priority
Lightvalve 23:59218d4a256d 350 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 351 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 352 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 353
Lightvalve 23:59218d4a256d 354 //can.reset();
Lightvalve 19:23b7c1ad8683 355 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 356
GiJeongKim 0:51c43836c1d7 357 // spi _ enc
GiJeongKim 0:51c43836c1d7 358 spi_enc_set_init();
Lightvalve 11:82d8768d7351 359 make_delay();
Lightvalve 13:747daba9cf59 360
Lightvalve 11:82d8768d7351 361 //DAC init
Lightvalve 58:2eade98630e2 362 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 363 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 364 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 365 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 366 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 367 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 368 }
Lightvalve 11:82d8768d7351 369 make_delay();
Lightvalve 13:747daba9cf59 370
Lightvalve 19:23b7c1ad8683 371 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 372 if(i%2==0)
Lightvalve 38:118df027d851 373 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 374 else
Lightvalve 38:118df027d851 375 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 376 }
Lightvalve 61:bc8c8270f0ab 377
Lightvalve 61:bc8c8270f0ab 378
jobuuu 6:df07d3491e3a 379 /************************************
jobuuu 1:e04e563be5ce 380 *** Program is operating!
jobuuu 6:df07d3491e3a 381 *************************************/
GiJeongKim 0:51c43836c1d7 382 while(1) {
Lightvalve 66:a8e6799dbce3 383 // if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve 66:a8e6799dbce3 384 //if(timer_while==1000) {
Lightvalve 65:a2d7c63419c2 385 //i2c
Lightvalve 66:a8e6799dbce3 386
Lightvalve 65:a2d7c63419c2 387 read_field(i2c_slave_addr1);
Lightvalve 65:a2d7c63419c2 388 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 65:a2d7c63419c2 389 // if(LED==1) {
Lightvalve 65:a2d7c63419c2 390 // LED=0;
Lightvalve 65:a2d7c63419c2 391 // } else
Lightvalve 65:a2d7c63419c2 392 // LED = 1;
Lightvalve 65:a2d7c63419c2 393 timer_while = 0;
Lightvalve 66:a8e6799dbce3 394 //}
Lightvalve 66:a8e6799dbce3 395
Lightvalve 66:a8e6799dbce3 396 timer_while ++;
Lightvalve 66:a8e6799dbce3 397
Lightvalve 73:f80dc3970c99 398 if(NN_Control_Flag == 0) {
Lightvalve 73:f80dc3970c99 399 LED = 0;
Lightvalve 73:f80dc3970c99 400 }
Lightvalve 66:a8e6799dbce3 401
Lightvalve 73:f80dc3970c99 402 else if(NN_Control_Flag == 1) {
Lightvalve 66:a8e6799dbce3 403 float output1[32] = { 0.0f };
Lightvalve 66:a8e6799dbce3 404 float output2[32] = { 0.0f };
Lightvalve 66:a8e6799dbce3 405 float output3[32] = { 0.0f };
Lightvalve 66:a8e6799dbce3 406 float output = 0.0f;
Lightvalve 65:a2d7c63419c2 407
Lightvalve 66:a8e6799dbce3 408 for (int index2 = 0; index2 < 32; index2++) {
Lightvalve 68:328e1be06f5d 409 for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve 66:a8e6799dbce3 410 output1[index2] = output1[index2]
Lightvalve 73:f80dc3970c99 411 + h1[index1][index2] * input_NN[index1];
Lightvalve 66:a8e6799dbce3 412 }
Lightvalve 66:a8e6799dbce3 413 output1[index2] = output1[index2] + b1[index2];
Lightvalve 66:a8e6799dbce3 414 if (output1[index2] < 0) {
Lightvalve 66:a8e6799dbce3 415 output1[index2] = 0;
Lightvalve 66:a8e6799dbce3 416 }
Lightvalve 66:a8e6799dbce3 417 }
Lightvalve 65:a2d7c63419c2 418
Lightvalve 66:a8e6799dbce3 419 for (int index2 = 0; index2 < 32; index2++) {
Lightvalve 66:a8e6799dbce3 420 for (int index1 = 0; index1 < 32; index1++) {
Lightvalve 66:a8e6799dbce3 421 output2[index2] = output2[index2]
Lightvalve 66:a8e6799dbce3 422 + h2[index1][index2] * output1[index1];
Lightvalve 66:a8e6799dbce3 423 }
Lightvalve 66:a8e6799dbce3 424 output2[index2] = output2[index2] + b2[index2];
Lightvalve 66:a8e6799dbce3 425 if (output2[index2] < 0) {
Lightvalve 66:a8e6799dbce3 426 output2[index2] = 0;
Lightvalve 66:a8e6799dbce3 427 }
Lightvalve 66:a8e6799dbce3 428 }
Lightvalve 65:a2d7c63419c2 429
Lightvalve 66:a8e6799dbce3 430 for (int index2 = 0; index2 < 32; index2++) {
Lightvalve 66:a8e6799dbce3 431 for (int index1 = 0; index1 < 32; index1++) {
Lightvalve 66:a8e6799dbce3 432 output3[index2] = output3[index2]
Lightvalve 66:a8e6799dbce3 433 + h3[index1][index2] * output2[index1];
Lightvalve 66:a8e6799dbce3 434 }
Lightvalve 66:a8e6799dbce3 435 output3[index2] = output3[index2] + b3[index2];
Lightvalve 66:a8e6799dbce3 436 if (output3[index2] < 0) {
Lightvalve 66:a8e6799dbce3 437 output3[index2] = 0;
Lightvalve 66:a8e6799dbce3 438 }
Lightvalve 65:a2d7c63419c2 439 }
Lightvalve 66:a8e6799dbce3 440
Lightvalve 66:a8e6799dbce3 441 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 66:a8e6799dbce3 442 for (int index1 = 0; index1 < 32; index1++) {
Lightvalve 73:f80dc3970c99 443 output = output + hout[index1] * output3[index1];
Lightvalve 66:a8e6799dbce3 444 }
Lightvalve 66:a8e6799dbce3 445 output = output + bout[index2];
Lightvalve 73:f80dc3970c99 446
Lightvalve 66:a8e6799dbce3 447 }
Lightvalve 73:f80dc3970c99 448 output = 1.0f/(1.0f+exp(-output));
Lightvalve 68:328e1be06f5d 449 output = output * 20000.0f - 10000.0f;
Lightvalve 66:a8e6799dbce3 450 if(output>=0) {
Lightvalve 66:a8e6799dbce3 451 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 452 } else {
Lightvalve 66:a8e6799dbce3 453 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 65:a2d7c63419c2 454 }
Lightvalve 69:3995ffeaa786 455
Lightvalve 69:3995ffeaa786 456 if(LED==1) {
Lightvalve 69:3995ffeaa786 457 LED=0;
Lightvalve 69:3995ffeaa786 458 } else
Lightvalve 69:3995ffeaa786 459 LED = 1;
Lightvalve 69:3995ffeaa786 460
Lightvalve 65:a2d7c63419c2 461 }
Lightvalve 62:b5452adfb2cd 462
Lightvalve 69:3995ffeaa786 463
Lightvalve 66:a8e6799dbce3 464
GiJeongKim 0:51c43836c1d7 465 }
jobuuu 1:e04e563be5ce 466 }
jobuuu 1:e04e563be5ce 467
Lightvalve 33:91b17819ec30 468 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 469 {
Lightvalve 14:8e7590227d22 470
Lightvalve 13:747daba9cf59 471 int i = 0;
Lightvalve 48:889798ff9329 472 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 473 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 474 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 475 if(i==0) {
Lightvalve 50:3c630b5eba9f 476 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 477 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 478 } else {
Lightvalve 57:f4819de54e7a 479 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 480 }
Lightvalve 14:8e7590227d22 481 } else {
Lightvalve 50:3c630b5eba9f 482 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 483 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 484 } else {
Lightvalve 57:f4819de54e7a 485 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 486 }
Lightvalve 13:747daba9cf59 487 }
Lightvalve 13:747daba9cf59 488 break;
Lightvalve 13:747daba9cf59 489 }
Lightvalve 13:747daba9cf59 490 }
Lightvalve 14:8e7590227d22 491 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 492 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 493 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 494 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 495 }
Lightvalve 36:a46e63505ed8 496
Lightvalve 57:f4819de54e7a 497 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 498 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 499
Lightvalve 13:747daba9cf59 500 }
jobuuu 6:df07d3491e3a 501
jobuuu 6:df07d3491e3a 502
Lightvalve 30:8d561f16383b 503 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 504 {
Lightvalve 13:747daba9cf59 505 int i = 0;
Lightvalve 13:747daba9cf59 506
Lightvalve 38:118df027d851 507 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 508 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 509 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 510 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 511 }
Lightvalve 38:118df027d851 512
Lightvalve 13:747daba9cf59 513 valve_pos_err = REF_VALVE_POS - value;
Lightvalve 13:747daba9cf59 514 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 515 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 516 valve_pos_err_sum += valve_pos_err;
Lightvalve 13:747daba9cf59 517 if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve 13:747daba9cf59 518 if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve 13:747daba9cf59 519
Lightvalve 13:747daba9cf59 520 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 521
Lightvalve 18:b8adf1582ea3 522 for(i=0; i<24; i++) {
Lightvalve 14:8e7590227d22 523 if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve 14:8e7590227d22 524 if(i==0) {
Lightvalve 48:889798ff9329 525 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 526 } else {
Lightvalve 48:889798ff9329 527 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 528 }
Lightvalve 13:747daba9cf59 529 break;
Lightvalve 13:747daba9cf59 530 }
Lightvalve 13:747daba9cf59 531 }
Lightvalve 59:f308b1656d9c 532 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 533 }
Lightvalve 13:747daba9cf59 534
Lightvalve 14:8e7590227d22 535 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 536 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 537 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 538 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 539 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 540 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 541 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 542 }; // duty
Lightvalve 67:c2812cf26c38 543 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 544 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 545 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 546 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 547 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 548 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 549 }; // mV
Lightvalve 13:747daba9cf59 550
Lightvalve 30:8d561f16383b 551 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 552 {
Lightvalve 30:8d561f16383b 553 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 554 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 555 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 556 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 557 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 558 } else {
Lightvalve 13:747daba9cf59 559 int idx = 0;
Lightvalve 13:747daba9cf59 560 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 561 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 562 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 563 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 564 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 565 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 566 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 567 break;
Lightvalve 13:747daba9cf59 568 }
Lightvalve 13:747daba9cf59 569 }
Lightvalve 13:747daba9cf59 570 }
Lightvalve 14:8e7590227d22 571
Lightvalve 13:747daba9cf59 572 return PWM_duty;
Lightvalve 13:747daba9cf59 573 }
jobuuu 6:df07d3491e3a 574
Lightvalve 57:f4819de54e7a 575
Lightvalve 57:f4819de54e7a 576
Lightvalve 57:f4819de54e7a 577
Lightvalve 57:f4819de54e7a 578
jobuuu 2:a1c0a37df760 579 /*******************************************************************************
jobuuu 2:a1c0a37df760 580 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 581 *******************************************************************************/
jobuuu 2:a1c0a37df760 582
Lightvalve 51:b46bed7fec80 583 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 584 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 585 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 586 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 587 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 588 {
Lightvalve 19:23b7c1ad8683 589 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 590
Lightvalve 21:e5f1a43ea6f9 591 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 592 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 593 ********************************************************/
Lightvalve 13:747daba9cf59 594
Lightvalve 57:f4819de54e7a 595 //Encoder
Lightvalve 57:f4819de54e7a 596 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 597 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 598 }
Lightvalve 61:bc8c8270f0ab 599
Lightvalve 61:bc8c8270f0ab 600 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 601 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 602 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 603 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 604 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 605 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 67:c2812cf26c38 606 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 67:c2812cf26c38 607
Lightvalve 67:c2812cf26c38 608
Lightvalve 67:c2812cf26c38 609 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 67:c2812cf26c38 610 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 67:c2812cf26c38 611 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 67:c2812cf26c38 612 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 67:c2812cf26c38 613 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 67:c2812cf26c38 614
Lightvalve 17:1865016ca2e7 615
Lightvalve 58:2eade98630e2 616 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 617 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 618 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 619 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 620 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 621 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 622 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 623 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 624 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 625
Lightvalve 58:2eade98630e2 626 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 627 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 628 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 629 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 630 }
Lightvalve 58:2eade98630e2 631 }
Lightvalve 61:bc8c8270f0ab 632
Lightvalve 58:2eade98630e2 633 // //Pressure sensor A
Lightvalve 58:2eade98630e2 634 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 635 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 636 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 637 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 638 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 639 // 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 640 //
Lightvalve 58:2eade98630e2 641 //
Lightvalve 58:2eade98630e2 642 // //Pressure sensor B
Lightvalve 58:2eade98630e2 643 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 644 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 645 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 646 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 647
Lightvalve 17:1865016ca2e7 648
Lightvalve 21:e5f1a43ea6f9 649 //Current
Lightvalve 21:e5f1a43ea6f9 650 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 651 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 652 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 653 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 654 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 655 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 656 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 657
Lightvalve 57:f4819de54e7a 658 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 659 }
Lightvalve 11:82d8768d7351 660 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 661 }
Lightvalve 19:23b7c1ad8683 662
Lightvalve 19:23b7c1ad8683 663
Lightvalve 18:b8adf1582ea3 664 int j =0;
Lightvalve 54:647072f5307a 665 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 666 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 667 int cnt_trans = 0;
Lightvalve 48:889798ff9329 668 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 57:f4819de54e7a 669 int can_rest =0;
Lightvalve 48:889798ff9329 670
Lightvalve 11:82d8768d7351 671 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 672 {
Lightvalve 19:23b7c1ad8683 673 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 674
Lightvalve 57:f4819de54e7a 675 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 676 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 677 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 678 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 679 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 680 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 681 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 682 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 683 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 684 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 685 }
Lightvalve 50:3c630b5eba9f 686
Lightvalve 50:3c630b5eba9f 687 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 688 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 689 cnt_trans++;
Lightvalve 46:2694daea349b 690 torq.err_sum = 0;
Lightvalve 48:889798ff9329 691 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 692 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 693 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 694 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 695 cnt_trans++;
Lightvalve 46:2694daea349b 696 torq.err_sum = 0;
Lightvalve 48:889798ff9329 697 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 698 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 699 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 700 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 701 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 702 } else {
Lightvalve 58:2eade98630e2 703 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 704 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 705 }
Lightvalve 45:35fa6884d0c6 706
Lightvalve 50:3c630b5eba9f 707
Lightvalve 57:f4819de54e7a 708 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 709 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 710
Lightvalve 57:f4819de54e7a 711 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 712 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 713 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 714 } else {
Lightvalve 57:f4819de54e7a 715 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 716 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 717 }
Lightvalve 56:6f50d9d3bfee 718
Lightvalve 56:6f50d9d3bfee 719
Lightvalve 56:6f50d9d3bfee 720
Lightvalve 57:f4819de54e7a 721 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 722
Lightvalve 57:f4819de54e7a 723 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 724 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 725 break;
Lightvalve 13:747daba9cf59 726 }
Lightvalve 14:8e7590227d22 727
Lightvalve 14:8e7590227d22 728 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 729 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 730 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 731 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 732
Lightvalve 14:8e7590227d22 733 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 734 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 735 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 736
Lightvalve 59:f308b1656d9c 737 TORQUE_VREF += 0.0003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 738
Lightvalve 30:8d561f16383b 739 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 740 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 741
Lightvalve 16:903b5a4433b4 742 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 743 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 744 }
Lightvalve 13:747daba9cf59 745 } else {
Lightvalve 58:2eade98630e2 746 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 747 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 748 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 749 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 750
Lightvalve 16:903b5a4433b4 751 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 752
Lightvalve 30:8d561f16383b 753 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 754
Lightvalve 13:747daba9cf59 755 }
Lightvalve 14:8e7590227d22 756 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 757 break;
Lightvalve 19:23b7c1ad8683 758 }
Lightvalve 14:8e7590227d22 759
Lightvalve 50:3c630b5eba9f 760 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 761 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 762 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 763 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 764 // }
Lightvalve 50:3c630b5eba9f 765 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 766 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 767 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 768 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 769 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 770 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 771 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 772 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 773 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 774 // }
Lightvalve 50:3c630b5eba9f 775 //
Lightvalve 50:3c630b5eba9f 776 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 777 // 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 778 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 779 //
Lightvalve 50:3c630b5eba9f 780 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 781 // V_out = 0;
Lightvalve 50:3c630b5eba9f 782 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 783 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 784 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 785 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 786 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 787 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 788 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 789 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 790 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 791 //
Lightvalve 50:3c630b5eba9f 792 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 793 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 794 // // | / | / |/
Lightvalve 50:3c630b5eba9f 795 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 796 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 797 // // /| / | / |
Lightvalve 50:3c630b5eba9f 798 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 799 //
Lightvalve 50:3c630b5eba9f 800 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 801 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 802 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 803 // } else {
Lightvalve 50:3c630b5eba9f 804 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 805 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 806 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 807 // }
Lightvalve 50:3c630b5eba9f 808 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 809 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 810 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 811 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 812 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 813 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 814 // }
Lightvalve 50:3c630b5eba9f 815 // } else {
Lightvalve 50:3c630b5eba9f 816 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 817 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 818 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 819 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 820 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 821 // }
Lightvalve 50:3c630b5eba9f 822 // V_out = 0;
Lightvalve 50:3c630b5eba9f 823 //
Lightvalve 50:3c630b5eba9f 824 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 825 //
Lightvalve 50:3c630b5eba9f 826 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 827 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 828 //
Lightvalve 50:3c630b5eba9f 829 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 830 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 831 // }
Lightvalve 50:3c630b5eba9f 832 // }
Lightvalve 50:3c630b5eba9f 833 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 834 // break;
Lightvalve 50:3c630b5eba9f 835 // }
Lightvalve 14:8e7590227d22 836
Lightvalve 14:8e7590227d22 837 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 838 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 839 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 840 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 841 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 842 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 843 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 844 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 845 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 846 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 847 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 848 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 849 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 850 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 851 }
Lightvalve 29:69f3f5445d6d 852 cnt_findhome++;
Lightvalve 14:8e7590227d22 853
Lightvalve 29:69f3f5445d6d 854 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 855 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 856 } else {
Lightvalve 29:69f3f5445d6d 857 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 858 }
Lightvalve 19:23b7c1ad8683 859
Lightvalve 57:f4819de54e7a 860 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 861 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 67:c2812cf26c38 862 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 67:c2812cf26c38 863 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:bc8c8270f0ab 864
Lightvalve 59:f308b1656d9c 865 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 866 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 867 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 868 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 869 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 870
Lightvalve 59:f308b1656d9c 871 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 872 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 873
Lightvalve 34:bb2ca2fc2a8e 874
Lightvalve 29:69f3f5445d6d 875 } else {
Lightvalve 29:69f3f5445d6d 876 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 67:c2812cf26c38 877 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 878 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 879 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 880 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 881 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 882 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 883 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 884 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 885 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 886 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 887
Lightvalve 67:c2812cf26c38 888
Lightvalve 67:c2812cf26c38 889 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 890 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 891 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 892 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 893 vel.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 894 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 895 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 896
Lightvalve 67:c2812cf26c38 897
Lightvalve 29:69f3f5445d6d 898 }
Lightvalve 29:69f3f5445d6d 899 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 900 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 901 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 902 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 903 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 904
Lightvalve 29:69f3f5445d6d 905 // input for position control
Lightvalve 67:c2812cf26c38 906
Lightvalve 67:c2812cf26c38 907 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 908 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 909
Lightvalve 67:c2812cf26c38 910 double torq_ref = 0.0f;
Lightvalve 67:c2812cf26c38 911 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 912 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 913 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 914
Lightvalve 67:c2812cf26c38 915 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 67:c2812cf26c38 916
Lightvalve 67:c2812cf26c38 917 double I_REF_POS = 0.0f;
Lightvalve 67:c2812cf26c38 918 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 67:c2812cf26c38 919 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 67:c2812cf26c38 920
Lightvalve 67:c2812cf26c38 921 double temp_vel_pos = 0.0f;
Lightvalve 67:c2812cf26c38 922 double temp_vel_torq = 0.0f;
Lightvalve 67:c2812cf26c38 923 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 67:c2812cf26c38 924
Lightvalve 69:3995ffeaa786 925 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 67:c2812cf26c38 926 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 927 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 928 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 67:c2812cf26c38 929 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 930 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 931 }
Lightvalve 67:c2812cf26c38 932 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 933 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 934
Lightvalve 67:c2812cf26c38 935 I_REF = I_REF_POS;
Lightvalve 67:c2812cf26c38 936
Lightvalve 67:c2812cf26c38 937
Lightvalve 67:c2812cf26c38 938
Lightvalve 67:c2812cf26c38 939 } else {
Lightvalve 67:c2812cf26c38 940 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 67:c2812cf26c38 941 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 942
Lightvalve 67:c2812cf26c38 943 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 67:c2812cf26c38 944 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 67:c2812cf26c38 945 } else {
Lightvalve 67:c2812cf26c38 946 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 67:c2812cf26c38 947 }
Lightvalve 67:c2812cf26c38 948
Lightvalve 67:c2812cf26c38 949 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 67:c2812cf26c38 950
Lightvalve 67:c2812cf26c38 951 V_out = (float) Vout.ref;
Lightvalve 67:c2812cf26c38 952
Lightvalve 67:c2812cf26c38 953 }
Lightvalve 67:c2812cf26c38 954
Lightvalve 67:c2812cf26c38 955
Lightvalve 67:c2812cf26c38 956
Lightvalve 67:c2812cf26c38 957
Lightvalve 59:f308b1656d9c 958 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 959 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 960 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 961 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 962 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 963
Lightvalve 29:69f3f5445d6d 964 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 965 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 966 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 967 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 968 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 969 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 970 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 971 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 972 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 973 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 974 }
Lightvalve 13:747daba9cf59 975 }
Lightvalve 19:23b7c1ad8683 976
Lightvalve 13:747daba9cf59 977 break;
Lightvalve 13:747daba9cf59 978 }
Lightvalve 14:8e7590227d22 979
Lightvalve 50:3c630b5eba9f 980 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 981 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 982 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 983 // else {
Lightvalve 50:3c630b5eba9f 984 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 985 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 986 // }
Lightvalve 50:3c630b5eba9f 987 // }
Lightvalve 50:3c630b5eba9f 988 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 989 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 990 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 991 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 992 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 993 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 994 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 995 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 996 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 997 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 998 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 999 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 1000 // }
Lightvalve 50:3c630b5eba9f 1001 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1002 // }
Lightvalve 50:3c630b5eba9f 1003 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1004 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1005 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1006 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1007 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1008 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1009 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1010 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1011 // 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 1012 // // 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 1013 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1014 // }
Lightvalve 50:3c630b5eba9f 1015 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1016 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1017 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1018 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1019 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1020 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1021 // 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 1022 // // 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 1023 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1024 // }
Lightvalve 50:3c630b5eba9f 1025 // }
Lightvalve 50:3c630b5eba9f 1026 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1027 //
Lightvalve 50:3c630b5eba9f 1028 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1029 //
Lightvalve 50:3c630b5eba9f 1030 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1031 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1032 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1033 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1034 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1035 // }
Lightvalve 50:3c630b5eba9f 1036 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1037 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1038 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1039 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1040 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1041 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1042 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1043 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1044 // }
Lightvalve 50:3c630b5eba9f 1045 //
Lightvalve 50:3c630b5eba9f 1046 // }
Lightvalve 50:3c630b5eba9f 1047 // break;
Lightvalve 50:3c630b5eba9f 1048 // }
Lightvalve 50:3c630b5eba9f 1049 //
Lightvalve 50:3c630b5eba9f 1050 // }
Lightvalve 14:8e7590227d22 1051 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1052 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1053 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1054 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1055 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1056
Lightvalve 14:8e7590227d22 1057 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1058 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1059 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1060 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1061 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1062
Lightvalve 38:118df027d851 1063 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1064 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1065 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1066
Lightvalve 30:8d561f16383b 1067 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1068 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1069 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1070 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1071
Lightvalve 30:8d561f16383b 1072 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1073 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1074 }
Lightvalve 13:747daba9cf59 1075 } else {
Lightvalve 57:f4819de54e7a 1076 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1077 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1078 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1079 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1080 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1081 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1082
Lightvalve 16:903b5a4433b4 1083 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1084
Lightvalve 30:8d561f16383b 1085 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1086 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1087 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1088 }
Lightvalve 14:8e7590227d22 1089 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1090 break;
Lightvalve 13:747daba9cf59 1091 }
Lightvalve 14:8e7590227d22 1092
Lightvalve 50:3c630b5eba9f 1093 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1094 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1095 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1096 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1097 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1098 // }
Lightvalve 50:3c630b5eba9f 1099 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1100 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1101 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1102 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1103 // }
Lightvalve 50:3c630b5eba9f 1104 // } else {
Lightvalve 50:3c630b5eba9f 1105 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1106 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1107 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1108 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1109 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1110 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1111 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1112 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1113 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1114 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1115 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1116 //
Lightvalve 50:3c630b5eba9f 1117 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1118 //
Lightvalve 50:3c630b5eba9f 1119 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1120 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1121 // }
Lightvalve 50:3c630b5eba9f 1122 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1123 // break;
Lightvalve 50:3c630b5eba9f 1124 // }
Lightvalve 19:23b7c1ad8683 1125
Lightvalve 50:3c630b5eba9f 1126 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1127 // 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 1128 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1129 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1130 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1131 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1132 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1133 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1134 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1135 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1136 // }
Lightvalve 50:3c630b5eba9f 1137 // break;
Lightvalve 50:3c630b5eba9f 1138 // }
Lightvalve 14:8e7590227d22 1139
Lightvalve 14:8e7590227d22 1140 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1141 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1142 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1143
Lightvalve 14:8e7590227d22 1144 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1145 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1146 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1147 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1148 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1149 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1150 data_num = 0;
Lightvalve 14:8e7590227d22 1151 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1152 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1153 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1154 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1155 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1156 } else {
Lightvalve 13:747daba9cf59 1157 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1158 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1159 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1160 }
Lightvalve 14:8e7590227d22 1161
Lightvalve 17:1865016ca2e7 1162 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1163 int i;
Lightvalve 13:747daba9cf59 1164 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1165 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1166 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1167 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1168 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1169 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1170 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1171 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1172 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1173 }
Lightvalve 13:747daba9cf59 1174 }
Lightvalve 59:f308b1656d9c 1175 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1176 ID_index = 0;
Lightvalve 57:f4819de54e7a 1177 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1178 }
Lightvalve 14:8e7590227d22 1179
Lightvalve 14:8e7590227d22 1180
Lightvalve 13:747daba9cf59 1181 break;
Lightvalve 13:747daba9cf59 1182 }
Lightvalve 14:8e7590227d22 1183
Lightvalve 14:8e7590227d22 1184 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1185 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1186 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1187 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1188 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1189 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1190 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1191 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1192 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1193 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1194 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1195 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1196 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1197 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1198 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1199 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 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 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1203 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1204 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1205 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 1206 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1207 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1208 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1209 data_num = 0;
Lightvalve 14:8e7590227d22 1210
Lightvalve 30:8d561f16383b 1211 } else if(VALVE_DZ_timer < (int) (5.0f * (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 14:8e7590227d22 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 60:64181f1d3e60 1218
Lightvalve 30:8d561f16383b 1219 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1220 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1221 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1222 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1223
Lightvalve 60:64181f1d3e60 1224 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1225 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1226 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1227 DZ_case = -1;
Lightvalve 14:8e7590227d22 1228 } else {
Lightvalve 13:747daba9cf59 1229 DZ_case = 0;
Lightvalve 13:747daba9cf59 1230 }
Lightvalve 61:bc8c8270f0ab 1231
Lightvalve 60:64181f1d3e60 1232 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1233
Lightvalve 13:747daba9cf59 1234 first_check = 1;
Lightvalve 13:747daba9cf59 1235 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1236 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1237 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1238 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1239 DZ_index = 1;
Lightvalve 14:8e7590227d22 1240
Lightvalve 13:747daba9cf59 1241 }
Lightvalve 19:23b7c1ad8683 1242 } else {
Lightvalve 14:8e7590227d22 1243 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1244 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1245 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 1246 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1247 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1248 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1249 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1250 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1251 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1252 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1253 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1254 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1255 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1256 }
Lightvalve 14:8e7590227d22 1257 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1258
Lightvalve 30:8d561f16383b 1259 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1260 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1261 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1262
Lightvalve 14:8e7590227d22 1263 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1264 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1265 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1266 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1267 } else {
Lightvalve 13:747daba9cf59 1268 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1269 }
Lightvalve 14:8e7590227d22 1270
Lightvalve 13:747daba9cf59 1271 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1272 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1273 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1274 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1275 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1276 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1277 DZ_index = 1;
Lightvalve 13:747daba9cf59 1278 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1279 }
Lightvalve 13:747daba9cf59 1280 }
Lightvalve 14:8e7590227d22 1281 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1282 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1283 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 1284 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1285 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1286 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1287 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1288 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1289 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1290 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1291 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1292 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1293 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1294 }
Lightvalve 14:8e7590227d22 1295 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1296
Lightvalve 30:8d561f16383b 1297 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1298 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1299 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1300 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1301 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1302
Lightvalve 14:8e7590227d22 1303 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 1304 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1305 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1306 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1307 } else {
Lightvalve 60:64181f1d3e60 1308 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 1309 }
Lightvalve 14:8e7590227d22 1310
Lightvalve 13:747daba9cf59 1311 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 1312 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 1313 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1314 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1315 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1316 first_check = 0;
Lightvalve 33:91b17819ec30 1317 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1318 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1319
Lightvalve 16:903b5a4433b4 1320 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1321
Lightvalve 60:64181f1d3e60 1322 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1323 DZ_index = 1;
Lightvalve 13:747daba9cf59 1324 }
Lightvalve 13:747daba9cf59 1325 }
Lightvalve 14:8e7590227d22 1326 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1327 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1328 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 1329 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1330 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1331 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1332 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1333 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1334 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1335 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1336 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1337 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1338 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1339 }
Lightvalve 14:8e7590227d22 1340 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1341
Lightvalve 30:8d561f16383b 1342 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1343 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1344 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1345
Lightvalve 14:8e7590227d22 1346 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1347 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1348 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1349 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1350 } else {
Lightvalve 13:747daba9cf59 1351 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1352 }
Lightvalve 13:747daba9cf59 1353 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1354 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1355 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1356 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1357 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1358 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1359 DZ_index = 1;
Lightvalve 13:747daba9cf59 1360 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1361 }
Lightvalve 13:747daba9cf59 1362 }
Lightvalve 14:8e7590227d22 1363 } else {
Lightvalve 30:8d561f16383b 1364 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1365 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 1366 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1367 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1368 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1369 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1370 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1371 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1372 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1373 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1374 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1375 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1376 }
Lightvalve 14:8e7590227d22 1377 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1378
Lightvalve 30:8d561f16383b 1379 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1380 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1381 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1382 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1383 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 1384
Lightvalve 60:64181f1d3e60 1385 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1386 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1387 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1388 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 1389 } else {
Lightvalve 13:747daba9cf59 1390 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1391 }
Lightvalve 14:8e7590227d22 1392
Lightvalve 13:747daba9cf59 1393 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1394 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1395 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1396 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1397 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1398 first_check = 0;
Lightvalve 33:91b17819ec30 1399 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1400 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 1401
Lightvalve 59:f308b1656d9c 1402 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1403
Lightvalve 57:f4819de54e7a 1404 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1405 DZ_index = 1;
Lightvalve 13:747daba9cf59 1406 }
Lightvalve 13:747daba9cf59 1407 }
Lightvalve 13:747daba9cf59 1408 }
Lightvalve 14:8e7590227d22 1409 }
Lightvalve 13:747daba9cf59 1410 break;
Lightvalve 13:747daba9cf59 1411 }
Lightvalve 14:8e7590227d22 1412
Lightvalve 14:8e7590227d22 1413 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 1414 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1415 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1416 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1417 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1418 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1419 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1420 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1421 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1422 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1423 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1424 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1425 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1426 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1427 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 1428 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1429 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1430 first_check = 1;
Lightvalve 13:747daba9cf59 1431 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1432 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 1433 ID_index = 0;
Lightvalve 13:747daba9cf59 1434 max_check = 0;
Lightvalve 13:747daba9cf59 1435 min_check = 0;
Lightvalve 13:747daba9cf59 1436 }
Lightvalve 14:8e7590227d22 1437 } else {
Lightvalve 30:8d561f16383b 1438 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1439 //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 1440 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 1441 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1442 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1443 data_num = 0;
Lightvalve 57:f4819de54e7a 1444 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1445
Lightvalve 14:8e7590227d22 1446 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1447 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1448 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 1449 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1450 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1451 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1452 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1453 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1454 one_period_end = 1;
Lightvalve 13:747daba9cf59 1455 }
Lightvalve 30:8d561f16383b 1456 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1457 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1458 one_period_end = 1;
Lightvalve 59:f308b1656d9c 1459 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1460 }
Lightvalve 14:8e7590227d22 1461
Lightvalve 14:8e7590227d22 1462 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1463 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1464 max_check = 1;
Lightvalve 14:8e7590227d22 1465 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1466 min_check = 1;
Lightvalve 13:747daba9cf59 1467 }
Lightvalve 13:747daba9cf59 1468 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1469
Lightvalve 13:747daba9cf59 1470 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1471 one_period_end = 0;
Lightvalve 13:747daba9cf59 1472 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1473 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1474 }
Lightvalve 14:8e7590227d22 1475
Lightvalve 14:8e7590227d22 1476 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1477
Lightvalve 13:747daba9cf59 1478 VALVE_POS_NUM = ID_index;
Lightvalve 59:f308b1656d9c 1479 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1480 ID_index = 0;
Lightvalve 13:747daba9cf59 1481 first_check = 0;
Lightvalve 13:747daba9cf59 1482 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1483 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 1484 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1485 }
Lightvalve 13:747daba9cf59 1486 }
Lightvalve 13:747daba9cf59 1487 break;
Lightvalve 13:747daba9cf59 1488 }
Lightvalve 58:2eade98630e2 1489
Lightvalve 57:f4819de54e7a 1490 case MODE_SYSTEM_ID: {
Lightvalve 57:f4819de54e7a 1491 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve 57:f4819de54e7a 1492 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 1493 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 1494 cnt_sysid++;
Lightvalve 57:f4819de54e7a 1495 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 1496 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 1497 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1498 }
Lightvalve 57:f4819de54e7a 1499 break;
Lightvalve 57:f4819de54e7a 1500 }
Lightvalve 58:2eade98630e2 1501
Lightvalve 58:2eade98630e2 1502
Lightvalve 57:f4819de54e7a 1503
Lightvalve 57:f4819de54e7a 1504 default:
Lightvalve 57:f4819de54e7a 1505 break;
Lightvalve 57:f4819de54e7a 1506 }
Lightvalve 57:f4819de54e7a 1507
Lightvalve 57:f4819de54e7a 1508 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 1509
Lightvalve 57:f4819de54e7a 1510 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 1511 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 1512 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 1513 break;
Lightvalve 57:f4819de54e7a 1514 }
Lightvalve 57:f4819de54e7a 1515
Lightvalve 57:f4819de54e7a 1516 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 1517 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 57:f4819de54e7a 1518 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:f308b1656d9c 1519 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 1520 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 1521 V_out = valve_pos.ref;
Lightvalve 67:c2812cf26c38 1522 } else {
Lightvalve 67:c2812cf26c38 1523 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 1524 }
Lightvalve 58:2eade98630e2 1525
Lightvalve 57:f4819de54e7a 1526 break;
Lightvalve 57:f4819de54e7a 1527 }
Lightvalve 57:f4819de54e7a 1528
Lightvalve 57:f4819de54e7a 1529 case MODE_JOINT_CONTROL: {
Lightvalve 57:f4819de54e7a 1530 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 1531 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 1532 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 1533 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 1534
Lightvalve 67:c2812cf26c38 1535 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 1536 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 1537 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1538 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1539
Lightvalve 67:c2812cf26c38 1540 torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 57:f4819de54e7a 1541
Lightvalve 57:f4819de54e7a 1542 // torque feedback
Lightvalve 67:c2812cf26c38 1543 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 1544 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 1545
Lightvalve 57:f4819de54e7a 1546 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 1547
Lightvalve 57:f4819de54e7a 1548 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 1549 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 1550 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 1551
Lightvalve 57:f4819de54e7a 1552 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 1553 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 1554 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 1555
Lightvalve 69:3995ffeaa786 1556 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1557 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 1558 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 1559 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1560 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 1561 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 1562 }
Lightvalve 57:f4819de54e7a 1563 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 1564 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1565
Lightvalve 57:f4819de54e7a 1566 // velocity compensation for torque control
Lightvalve 69:3995ffeaa786 1567 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1568 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 1569 // 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 1570 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 1571 // L feedforward velocity
Lightvalve 69:3995ffeaa786 1572 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1573 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 1574 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1575 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1576 // L feedforward velocity
Lightvalve 57:f4819de54e7a 1577 }
Lightvalve 57:f4819de54e7a 1578 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 1579 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1580 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 1581 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 1582 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 1583
Lightvalve 57:f4819de54e7a 1584 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 67:c2812cf26c38 1585
Lightvalve 67:c2812cf26c38 1586 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 1587 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 1588 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 1589 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 1590 if (I_REF > I_MAX) {
Lightvalve 67:c2812cf26c38 1591 double I_rem = I_REF - I_MAX;
Lightvalve 67:c2812cf26c38 1592 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1593 I_REF = I_MAX;
Lightvalve 67:c2812cf26c38 1594 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1595 } else if (I_REF < -I_MAX) {
Lightvalve 67:c2812cf26c38 1596 double I_rem = I_REF - (-I_MAX);
Lightvalve 67:c2812cf26c38 1597 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1598 I_REF = -I_MAX;
Lightvalve 67:c2812cf26c38 1599 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1600 }
Lightvalve 67:c2812cf26c38 1601 }
Lightvalve 57:f4819de54e7a 1602
Lightvalve 57:f4819de54e7a 1603 } else {
Lightvalve 57:f4819de54e7a 1604 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 72:3436ce769b1e 1605 float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 1606 float VALVE_POS_RAW = 0.0f;
Lightvalve 72:3436ce769b1e 1607
Lightvalve 57:f4819de54e7a 1608 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 1609 + 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 1610
Lightvalve 72:3436ce769b1e 1611 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 1612
Lightvalve 72:3436ce769b1e 1613 VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve 72:3436ce769b1e 1614
Lightvalve 72:3436ce769b1e 1615
Lightvalve 72:3436ce769b1e 1616 if (VALVE_POS_RAW >= 0) {
Lightvalve 72:3436ce769b1e 1617 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 1618 } else {
Lightvalve 72:3436ce769b1e 1619 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 1620 }
Lightvalve 57:f4819de54e7a 1621
Lightvalve 57:f4819de54e7a 1622 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 57:f4819de54e7a 1623 double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 1624 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 1625 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1626 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1627 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1628 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1629 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 1630 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1631 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1632 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1633 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1634 }
Lightvalve 57:f4819de54e7a 1635 }
Lightvalve 61:bc8c8270f0ab 1636
Lightvalve 57:f4819de54e7a 1637 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1638
Lightvalve 67:c2812cf26c38 1639 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 1640 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1641
Lightvalve 57:f4819de54e7a 1642 }
Lightvalve 72:3436ce769b1e 1643
Lightvalve 72:3436ce769b1e 1644 torq_ref_past = torq_ref;
Lightvalve 58:2eade98630e2 1645
Lightvalve 57:f4819de54e7a 1646 break;
Lightvalve 57:f4819de54e7a 1647 }
Lightvalve 58:2eade98630e2 1648
Lightvalve 57:f4819de54e7a 1649 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 1650 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1651 break;
Lightvalve 57:f4819de54e7a 1652 }
Lightvalve 14:8e7590227d22 1653
Lightvalve 12:6f2531038ea4 1654 default:
Lightvalve 12:6f2531038ea4 1655 break;
Lightvalve 12:6f2531038ea4 1656 }
Lightvalve 14:8e7590227d22 1657
Lightvalve 57:f4819de54e7a 1658
Lightvalve 57:f4819de54e7a 1659 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 1660
Lightvalve 57:f4819de54e7a 1661 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1662 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 1663 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1664 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 1665 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 1666 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 1667
Lightvalve 57:f4819de54e7a 1668 I_ERR = I_REF_fil - cur.sen;
Lightvalve 67:c2812cf26c38 1669 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 1670
Lightvalve 57:f4819de54e7a 1671
Lightvalve 57:f4819de54e7a 1672 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 1673 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 1674 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 1675 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 1676 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 1677 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 1678
Lightvalve 57:f4819de54e7a 1679 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 1680 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 1681 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 1682 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 1683 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 1684 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 1685 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 1686 }
Lightvalve 57:f4819de54e7a 1687
Lightvalve 57:f4819de54e7a 1688 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 1689
Lightvalve 67:c2812cf26c38 1690 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 1691 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 1692 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 1693 I_REF_fil_old = I_REF_fil;
Lightvalve 67:c2812cf26c38 1694 // 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 1695 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 67:c2812cf26c38 1696 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 1697
Lightvalve 57:f4819de54e7a 1698 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 1699 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 1700 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 1701 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1702 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 1703 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1704 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 1705 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 1706 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1707 VALVE_PWM_RAW = -V_MAX;
Lightvalve 67:c2812cf26c38 1708 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1709 }
Lightvalve 57:f4819de54e7a 1710 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1711 } else {
Lightvalve 57:f4819de54e7a 1712 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 1713 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1714 }
Lightvalve 57:f4819de54e7a 1715
Lightvalve 57:f4819de54e7a 1716 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1717 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 1718 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1719 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 1720 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 1721 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1722 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1723
Lightvalve 57:f4819de54e7a 1724 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1725
Lightvalve 57:f4819de54e7a 1726 } else {
Lightvalve 57:f4819de54e7a 1727 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 1728 }
Lightvalve 57:f4819de54e7a 1729
Lightvalve 57:f4819de54e7a 1730 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 1731 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 67:c2812cf26c38 1732 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 1733
Lightvalve 57:f4819de54e7a 1734 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 1735 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 1736 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 1737 else V_out = (float) (CUR_PWM_lin);
Lightvalve 57:f4819de54e7a 1738 }
Lightvalve 67:c2812cf26c38 1739
Lightvalve 67:c2812cf26c38 1740 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 67:c2812cf26c38 1741 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 67:c2812cf26c38 1742 // else V_out = V_out;
Lightvalve 67:c2812cf26c38 1743
jobuuu 7:e9086c72bb22 1744 /*******************************************************
jobuuu 7:e9086c72bb22 1745 *** PWM
jobuuu 7:e9086c72bb22 1746 ********************************************************/
Lightvalve 67:c2812cf26c38 1747 if(DIR_VALVE<0){
Lightvalve 67:c2812cf26c38 1748 V_out = -V_out;
Lightvalve 67:c2812cf26c38 1749 }
Lightvalve 67:c2812cf26c38 1750
Lightvalve 49:e7bcfc244d40 1751 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1752 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1753 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1754 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1755 }
Lightvalve 49:e7bcfc244d40 1756 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1757
Lightvalve 19:23b7c1ad8683 1758 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1759 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1760 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1761
Lightvalve 30:8d561f16383b 1762 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1763 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1764 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1765 } else {
jobuuu 2:a1c0a37df760 1766 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1767 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1768 }
Lightvalve 13:747daba9cf59 1769
jobuuu 1:e04e563be5ce 1770 //pwm
Lightvalve 30:8d561f16383b 1771 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1772 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 1773
Lightvalve 61:bc8c8270f0ab 1774
Lightvalve 57:f4819de54e7a 1775 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 20:806196fda269 1776
Lightvalve 54:647072f5307a 1777 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 1778 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 1779 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 1780 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1781 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 1782 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1783 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 1784 }
Lightvalve 57:f4819de54e7a 1785 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 1786 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1787 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 1788 } else if (SENSING_MODE == 1) {
Lightvalve 67:c2812cf26c38 1789 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 1790 }
Lightvalve 52:8ea76864368a 1791 }
Lightvalve 52:8ea76864368a 1792 }
Lightvalve 56:6f50d9d3bfee 1793 if (flag_data_request[1] == HIGH) {
Lightvalve 54:647072f5307a 1794 //valve position
Lightvalve 54:647072f5307a 1795 double t_value = 0;
Lightvalve 67:c2812cf26c38 1796 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 67:c2812cf26c38 1797 t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 67:c2812cf26c38 1798 } else {
Lightvalve 67:c2812cf26c38 1799 t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 67:c2812cf26c38 1800 }
Lightvalve 67:c2812cf26c38 1801 // if(OPERATING_MODE==5) {
Lightvalve 67:c2812cf26c38 1802 // t_value = (double) value;
Lightvalve 67:c2812cf26c38 1803 // } else if(CURRENT_CONTROL_MODE==1) {
Lightvalve 67:c2812cf26c38 1804 // t_value = cur.sen;
Lightvalve 57:f4819de54e7a 1805 // } else {
Lightvalve 67:c2812cf26c38 1806 // t_value = V_out;
Lightvalve 67:c2812cf26c38 1807 // }
Lightvalve 67:c2812cf26c38 1808 CAN_TX_TORQUE((int16_t) (t_value)); //1300
Lightvalve 67:c2812cf26c38 1809 //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
Lightvalve 67:c2812cf26c38 1810 //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
Lightvalve 54:647072f5307a 1811 }
Lightvalve 58:2eade98630e2 1812
Lightvalve 58:2eade98630e2 1813
Lightvalve 56:6f50d9d3bfee 1814 if (flag_data_request[2] == HIGH) {
Lightvalve 56:6f50d9d3bfee 1815 //pressure A and B
Lightvalve 57:f4819de54e7a 1816 CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) //1400
Lightvalve 55:b25725257569 1817 }
Lightvalve 58:2eade98630e2 1818
Lightvalve 57:f4819de54e7a 1819 //If it doesn't rest, below can can not work.
Lightvalve 57:f4819de54e7a 1820 for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 1821 ;
Lightvalve 57:f4819de54e7a 1822 }
Lightvalve 58:2eade98630e2 1823
Lightvalve 56:6f50d9d3bfee 1824 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 1825 //PWM
Lightvalve 73:f80dc3970c99 1826 //CAN_TX_PWM((int16_t) value); //1500
Lightvalve 73:f80dc3970c99 1827 CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500
Lightvalve 54:647072f5307a 1828 }
Lightvalve 57:f4819de54e7a 1829 //for (i = 0; i < 10000; i++) {
Lightvalve 57:f4819de54e7a 1830 // ;
Lightvalve 57:f4819de54e7a 1831 // }
Lightvalve 56:6f50d9d3bfee 1832 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 1833 //valve position
Lightvalve 73:f80dc3970c99 1834 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 1835 }
Lightvalve 20:806196fda269 1836
Lightvalve 54:647072f5307a 1837 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 1838 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 1839 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 1840 // }
Lightvalve 54:647072f5307a 1841 //if (flag_delay_test == 1){
Lightvalve 58:2eade98630e2 1842 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 54:647072f5307a 1843 //}
Lightvalve 52:8ea76864368a 1844
Lightvalve 54:647072f5307a 1845 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1846 }
Lightvalve 54:647072f5307a 1847 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 1848
Lightvalve 20:806196fda269 1849 }
Lightvalve 52:8ea76864368a 1850 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1851
Lightvalve 58:2eade98630e2 1852 }