Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2_copy1

2011

Dependencies:   mbed FastPWM

setting.h@16:903b5a4433b4, 2019-09-02 (annotated)

Committer:
Lightvalve
Date:
Mon Sep 02 13:32:33 2019 +0000
Revision:
16:903b5a4433b4
Parent:
14:8e7590227d22
Child:
17:1865016ca2e7
190902

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GiJeongKim 0:51c43836c1d7 1 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 2 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 3
GiJeongKim 0:51c43836c1d7 4 // pwm
jobuuu 2:a1c0a37df760 5 #define PIN_V PB_7
jobuuu 2:a1c0a37df760 6 #define PIN_W PB_6
jobuuu 2:a1c0a37df760 7 //#define PWM_ARR 0x465 // loop 80k, pwm 40k
jobuuu 2:a1c0a37df760 8 //#define PWM_ARR 0x8CA // loop 40k, pwm 20k
jobuuu 2:a1c0a37df760 9 #define PWM_ARR 0x1194 // loop 20k, pwm 10k
jobuuu 2:a1c0a37df760 10 //#define PWM_ARR 0x2328 // loop 10k, pwm 5k
Lightvalve 11:82d8768d7351 11 #define TMR3_COUNT 0x4650 // loop 5k
jobuuu 2:a1c0a37df760 12
jobuuu 2:a1c0a37df760 13 #define FREQ_5k 5000.0
jobuuu 2:a1c0a37df760 14 #define FREQ_10k 10000.0
jobuuu 2:a1c0a37df760 15 #define FREQ_20k 20000.0
jobuuu 2:a1c0a37df760 16 #define FREQ_40k 40000.0
jobuuu 5:a4319f79457b 17 #define DT_5k 0.0002
jobuuu 5:a4319f79457b 18 #define DT_10k 0.0001
jobuuu 5:a4319f79457b 19 #define DT_20k 0.00005
jobuuu 5:a4319f79457b 20 #define DT_40k 0.000025
jobuuu 5:a4319f79457b 21
jobuuu 7:e9086c72bb22 22 extern DigitalOut check;
jobuuu 7:e9086c72bb22 23 extern DigitalOut check_2;
jobuuu 7:e9086c72bb22 24 extern AnalogOut dac_1;
jobuuu 7:e9086c72bb22 25 extern AnalogOut dac_2;
jobuuu 7:e9086c72bb22 26
jobuuu 2:a1c0a37df760 27 extern double dtc_v;
jobuuu 2:a1c0a37df760 28 extern double dtc_w;
GiJeongKim 0:51c43836c1d7 29
GiJeongKim 0:51c43836c1d7 30 // I2C
GiJeongKim 0:51c43836c1d7 31 extern I2C i2c; // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 32 extern const int i2c_slave_addr1;
GiJeongKim 0:51c43836c1d7 33 extern unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 34
GiJeongKim 0:51c43836c1d7 35 // SPI
Lightvalve 16:903b5a4433b4 36 //extern SPI eeprom; //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 16:903b5a4433b4 37 //extern DigitalOut eeprom_cs;
GiJeongKim 0:51c43836c1d7 38 extern SPI enc;
GiJeongKim 0:51c43836c1d7 39 extern DigitalOut enc_cs;
GiJeongKim 0:51c43836c1d7 40
GiJeongKim 0:51c43836c1d7 41 // UART
jobuuu 7:e9086c72bb22 42 extern Serial pc; //Serial pc(PA_9,PA_10); _ UART
jobuuu 7:e9086c72bb22 43
jobuuu 7:e9086c72bb22 44 // CAN
jobuuu 7:e9086c72bb22 45 extern CAN can;
jobuuu 7:e9086c72bb22 46 extern CANMessage msg;
jobuuu 7:e9086c72bb22 47
jobuuu 7:e9086c72bb22 48 // Board Information
jobuuu 7:e9086c72bb22 49
jobuuu 7:e9086c72bb22 50
jobuuu 7:e9086c72bb22 51 // User Function
jobuuu 7:e9086c72bb22 52
jobuuu 7:e9086c72bb22 53 void CurrentControl();
jobuuu 7:e9086c72bb22 54 void ValveControl(unsigned int ControlMode);
Lightvalve 11:82d8768d7351 55
Lightvalve 11:82d8768d7351 56
Lightvalve 11:82d8768d7351 57 /*******************************************************************************
Lightvalve 11:82d8768d7351 58 * COMMON Settings
Lightvalve 11:82d8768d7351 59 ******************************************************************************/
Lightvalve 11:82d8768d7351 60 #define LATEST_VERSION 19032
Lightvalve 11:82d8768d7351 61
Lightvalve 11:82d8768d7351 62
Lightvalve 11:82d8768d7351 63
Lightvalve 11:82d8768d7351 64 /*******************************************************************************
Lightvalve 11:82d8768d7351 65 * COMMON CONSTANTS
Lightvalve 11:82d8768d7351 66 ******************************************************************************/
Lightvalve 11:82d8768d7351 67 #define RAD_30 0.523598775598299
Lightvalve 11:82d8768d7351 68 #define RAD_60 1.047197551196598
Lightvalve 11:82d8768d7351 69 #define RAD_120 2.094395102393195
Lightvalve 11:82d8768d7351 70 #define RAD_180 3.141592653589793
Lightvalve 11:82d8768d7351 71 #define RAD_240 4.188790204786391
Lightvalve 11:82d8768d7351 72 #define RAD_300 5.235987755982989
Lightvalve 11:82d8768d7351 73 #define RAD_360 6.283185307179586
Lightvalve 11:82d8768d7351 74
Lightvalve 11:82d8768d7351 75 #define SYSFREQ 200000000
Lightvalve 11:82d8768d7351 76 #define PBCLK 100000000
Lightvalve 11:82d8768d7351 77
Lightvalve 11:82d8768d7351 78 //#define TMR_FREQ_10k 10000
Lightvalve 11:82d8768d7351 79 #define TMR_FREQ_5k 5000
Lightvalve 11:82d8768d7351 80
Lightvalve 11:82d8768d7351 81 #define FALSE 0
Lightvalve 11:82d8768d7351 82 #define TRUE 1
Lightvalve 11:82d8768d7351 83 #define OUTPUT 0
Lightvalve 11:82d8768d7351 84 #define INPUT 1
Lightvalve 11:82d8768d7351 85 #define LOW 0
Lightvalve 11:82d8768d7351 86 #define HIGH 1
Lightvalve 11:82d8768d7351 87 #define DIGITAL 0
Lightvalve 11:82d8768d7351 88 #define ANALOG 1
Lightvalve 11:82d8768d7351 89
Lightvalve 11:82d8768d7351 90 #define PI 3.141592653589793
Lightvalve 11:82d8768d7351 91 #define D2R 0.017453292519943
Lightvalve 11:82d8768d7351 92 #define R2D 57.295779513082323
Lightvalve 11:82d8768d7351 93
Lightvalve 11:82d8768d7351 94
Lightvalve 11:82d8768d7351 95 /*******************************************************************************
Lightvalve 11:82d8768d7351 96 * HEADER INCLUDE
Lightvalve 11:82d8768d7351 97 ******************************************************************************/
Lightvalve 11:82d8768d7351 98
Lightvalve 11:82d8768d7351 99 /*******************************************************************************
Lightvalve 11:82d8768d7351 100 * VARIABLE
Lightvalve 11:82d8768d7351 101 ******************************************************************************/
Lightvalve 11:82d8768d7351 102
Lightvalve 11:82d8768d7351 103 // Board Information
Lightvalve 11:82d8768d7351 104 extern uint8_t BNO;
Lightvalve 11:82d8768d7351 105 extern uint8_t CONTROL_MODE;
Lightvalve 11:82d8768d7351 106 extern uint8_t OPERATING_MODE;
Lightvalve 11:82d8768d7351 107 extern uint8_t SETTING_SWITCH;
Lightvalve 11:82d8768d7351 108 extern uint8_t SETTING_SWITCH_OLD;
Lightvalve 11:82d8768d7351 109 extern uint8_t REFERENCE_MODE;
Lightvalve 11:82d8768d7351 110 extern uint16_t CAN_FREQ;
Lightvalve 11:82d8768d7351 111 extern uint8_t DIR_JOINT_ENC;
Lightvalve 11:82d8768d7351 112 extern uint8_t DIR_VALVE;
Lightvalve 11:82d8768d7351 113 extern uint8_t DIR_VALVE_ENC;
Lightvalve 11:82d8768d7351 114
Lightvalve 11:82d8768d7351 115 extern double SUPPLY_VOLTAGE;
Lightvalve 11:82d8768d7351 116 extern double VALVE_VOLTAGE_LIMIT;
Lightvalve 11:82d8768d7351 117
Lightvalve 11:82d8768d7351 118 extern double P_GAIN_VALVE_POSITION;
Lightvalve 11:82d8768d7351 119 extern double I_GAIN_VALVE_POSITION;
Lightvalve 11:82d8768d7351 120 extern double D_GAIN_VALVE_POSITION;
Lightvalve 11:82d8768d7351 121 extern double P_GAIN_JOINT_POSITION;
Lightvalve 11:82d8768d7351 122 extern double I_GAIN_JOINT_POSITION;
Lightvalve 11:82d8768d7351 123 extern double D_GAIN_JOINT_POSITION;
Lightvalve 11:82d8768d7351 124 extern double P_GAIN_JOINT_TORQUE;
Lightvalve 11:82d8768d7351 125 extern double I_GAIN_JOINT_TORQUE;
Lightvalve 11:82d8768d7351 126 extern double D_GAIN_JOINT_TORQUE;
Lightvalve 11:82d8768d7351 127
Lightvalve 11:82d8768d7351 128 extern int16_t VALVE_DEADZONE_PLUS;
Lightvalve 11:82d8768d7351 129 extern int16_t VALVE_DEADZONE_MINUS;
Lightvalve 11:82d8768d7351 130
Lightvalve 11:82d8768d7351 131 extern int16_t VELOCITY_COMP_GAIN;
Lightvalve 11:82d8768d7351 132 extern int16_t COMPLIANCE_GAIN;
Lightvalve 11:82d8768d7351 133
Lightvalve 11:82d8768d7351 134 extern int16_t VALVE_CENTER;
Lightvalve 11:82d8768d7351 135
Lightvalve 11:82d8768d7351 136 extern int16_t VALVE_FF;
Lightvalve 11:82d8768d7351 137
Lightvalve 11:82d8768d7351 138 extern int16_t BULK_MODULUS;
Lightvalve 11:82d8768d7351 139
Lightvalve 11:82d8768d7351 140 extern int16_t CHAMBER_VOLUME_A;
Lightvalve 11:82d8768d7351 141 extern int16_t CHAMBER_VOLUME_B;
Lightvalve 11:82d8768d7351 142
Lightvalve 11:82d8768d7351 143 extern int16_t PISTON_AREA_A;
Lightvalve 11:82d8768d7351 144 extern int16_t PISTON_AREA_B;
Lightvalve 11:82d8768d7351 145 extern double PISTON_AREA_alpha;
Lightvalve 11:82d8768d7351 146
Lightvalve 11:82d8768d7351 147
Lightvalve 11:82d8768d7351 148 extern int16_t PRES_SUPPLY;
Lightvalve 11:82d8768d7351 149 extern int16_t PRES_RETURN;
Lightvalve 11:82d8768d7351 150
Lightvalve 11:82d8768d7351 151 extern int16_t ENC_LIMIT_PLUS;
Lightvalve 11:82d8768d7351 152 extern int16_t ENC_LIMIT_MINUS;
Lightvalve 11:82d8768d7351 153
Lightvalve 11:82d8768d7351 154 extern int16_t STROKE;
Lightvalve 11:82d8768d7351 155
Lightvalve 11:82d8768d7351 156
Lightvalve 11:82d8768d7351 157 extern int16_t VALVE_LIMIT_PLUS;
Lightvalve 11:82d8768d7351 158 extern int16_t VALVE_LIMIT_MINUS;
Lightvalve 11:82d8768d7351 159
Lightvalve 11:82d8768d7351 160 extern int16_t ENC_PULSE_PER_POSITION;
Lightvalve 11:82d8768d7351 161 extern int16_t TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 11:82d8768d7351 162 extern double PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 11:82d8768d7351 163 extern double PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 11:82d8768d7351 164
Lightvalve 11:82d8768d7351 165 extern int HOMEPOS_OFFSET;
Lightvalve 11:82d8768d7351 166 extern int HOMEPOS_VALVE_OPENING;
Lightvalve 11:82d8768d7351 167
Lightvalve 11:82d8768d7351 168 extern double FRICTION;
Lightvalve 11:82d8768d7351 169 extern double REF_PERIOD;
Lightvalve 11:82d8768d7351 170 extern double REF_MAG;
Lightvalve 11:82d8768d7351 171 extern int REF_NUM;
Lightvalve 11:82d8768d7351 172
Lightvalve 11:82d8768d7351 173
Lightvalve 11:82d8768d7351 174 extern double DAC_REF;
Lightvalve 11:82d8768d7351 175 extern double DAC_RESOL;
Lightvalve 11:82d8768d7351 176 extern double PWM_RESOL;
Lightvalve 11:82d8768d7351 177
Lightvalve 11:82d8768d7351 178 extern int REF_POSITION;
Lightvalve 11:82d8768d7351 179 extern int REF_VELOCITY;
Lightvalve 11:82d8768d7351 180 extern int16_t REF_TORQUE;
Lightvalve 11:82d8768d7351 181 extern int16_t REF_PRES_DIFF;
Lightvalve 11:82d8768d7351 182 extern int16_t REF_PWM;
Lightvalve 11:82d8768d7351 183 extern int16_t REF_VALVE_POSITION;
Lightvalve 14:8e7590227d22 184 extern int16_t REF_CURRENT;
Lightvalve 11:82d8768d7351 185
Lightvalve 11:82d8768d7351 186 extern int REF_MOVE_TIME_5k;
Lightvalve 11:82d8768d7351 187 extern int INIT_REF_PWM;
Lightvalve 11:82d8768d7351 188 extern int INIT_REF_VALVE_POS;
Lightvalve 11:82d8768d7351 189 extern int INIT_REF_POS;
Lightvalve 11:82d8768d7351 190 extern int INIT_REF_VEL;
Lightvalve 11:82d8768d7351 191 extern int INIT_REF_TORQUE;
Lightvalve 11:82d8768d7351 192 extern int INIT_REF_PRES_DIFF;
Lightvalve 14:8e7590227d22 193 extern int INIT_REF_CURRENT;
Lightvalve 11:82d8768d7351 194
Lightvalve 11:82d8768d7351 195 extern int CUR_POSITION;
Lightvalve 11:82d8768d7351 196 extern int CUR_VELOCITY;
Lightvalve 11:82d8768d7351 197 extern double CUR_TORQUE;
Lightvalve 11:82d8768d7351 198 extern double CUR_PRES_A;
Lightvalve 11:82d8768d7351 199 extern double CUR_PRES_B;
Lightvalve 11:82d8768d7351 200 extern int CUR_PWM;
Lightvalve 11:82d8768d7351 201 extern int CUR_VALVE_POSITION;
Lightvalve 11:82d8768d7351 202
Lightvalve 11:82d8768d7351 203 extern unsigned int TMR2_COUNT_LED1;
Lightvalve 11:82d8768d7351 204 extern unsigned int TMR2_COUNT_LED2;
Lightvalve 11:82d8768d7351 205 extern unsigned int TMR2_COUNT_CAN_TX;
Lightvalve 11:82d8768d7351 206
Lightvalve 11:82d8768d7351 207 extern int num_err;
Lightvalve 11:82d8768d7351 208 extern int flag_err[8];
Lightvalve 11:82d8768d7351 209 extern int flag_err_old[8];
Lightvalve 11:82d8768d7351 210 extern int flag_err_rt;
Lightvalve 11:82d8768d7351 211
Lightvalve 11:82d8768d7351 212 extern int flag_ref_enable;
Lightvalve 11:82d8768d7351 213
Lightvalve 11:82d8768d7351 214 extern int flag_data_request[5];
Lightvalve 11:82d8768d7351 215
Lightvalve 11:82d8768d7351 216 ////////////////////////////////////////////////////////////////////////////////
Lightvalve 11:82d8768d7351 217 ////////////////////////////// SEUNGHOON ADD ///////////////////////////////////
Lightvalve 11:82d8768d7351 218 ////////////////////////////////////////////////////////////////////////////////
Lightvalve 11:82d8768d7351 219
Lightvalve 11:82d8768d7351 220 extern double CUR_PRES_A_BAR;
Lightvalve 11:82d8768d7351 221 extern double CUR_PRES_B_BAR;
Lightvalve 11:82d8768d7351 222 extern double CUR_TORQUE_NM;
Lightvalve 11:82d8768d7351 223 extern double CUR_TORQUE_NM_PRESS;
Lightvalve 11:82d8768d7351 224
Lightvalve 11:82d8768d7351 225 extern double PRES_A_VREF;
Lightvalve 16:903b5a4433b4 226 extern double PRES_A_VREF_TEST;
Lightvalve 11:82d8768d7351 227 extern double PRES_B_VREF;
Lightvalve 16:903b5a4433b4 228 extern double PRES_B_VREF_TEST;
Lightvalve 11:82d8768d7351 229 extern double TORQUE_VREF;
Lightvalve 11:82d8768d7351 230
Lightvalve 11:82d8768d7351 231 extern double VALVE_PWM_RAW;
Lightvalve 11:82d8768d7351 232 extern double VALVE_PWM_RAW_FB;
Lightvalve 11:82d8768d7351 233 extern double VALVE_PWM_RAW_FF;
Lightvalve 11:82d8768d7351 234 extern int VALVE_PWM_VALVE_DZ;
Lightvalve 11:82d8768d7351 235 extern int VALVE_INPUT_PWM;
Lightvalve 11:82d8768d7351 236
Lightvalve 11:82d8768d7351 237 extern double VALVE_GAIN_LPM_PER_V[10];
Lightvalve 11:82d8768d7351 238 extern double VALVE_POS_VS_PWM[18];
Lightvalve 11:82d8768d7351 239 extern long JOINT_VEL[100];
Lightvalve 11:82d8768d7351 240
Lightvalve 11:82d8768d7351 241 extern int VALVE_MAX_POS;
Lightvalve 11:82d8768d7351 242 extern int VALVE_MIN_POS;
Lightvalve 11:82d8768d7351 243 extern int DDV_CENTER;
Lightvalve 11:82d8768d7351 244 extern int VALVE_POS_NUM;
Lightvalve 11:82d8768d7351 245
Lightvalve 14:8e7590227d22 246 extern int TMR3_COUNT_FINDHOME;
Lightvalve 14:8e7590227d22 247 extern int TMR3_COUNT_FLOWRATE;
Lightvalve 14:8e7590227d22 248 extern int TMR3_COUNT_DEADZONE;
Lightvalve 14:8e7590227d22 249 extern int TMR3_COUNT_PRES_NULL;
Lightvalve 14:8e7590227d22 250 extern int TMR3_COUNT_TORQUE_NULL;
Lightvalve 14:8e7590227d22 251 extern int TMR3_COUNT_PRES_CALIB;
Lightvalve 14:8e7590227d22 252 extern int TMR3_COUNT_REFERENCE;
Lightvalve 14:8e7590227d22 253 extern int TMR3_COUNT_JOINT;
Lightvalve 14:8e7590227d22 254 extern int TMR3_COUNT_ROTARY_FRIC_TUNE;
Lightvalve 11:82d8768d7351 255
Lightvalve 11:82d8768d7351 256 extern bool FLAG_REFERENCE_VALVE_PWM;
Lightvalve 11:82d8768d7351 257 extern bool FLAG_REFERENCE_VALVE_POSITION;
Lightvalve 11:82d8768d7351 258 extern bool FLAG_REFERENCE_JOINT_POSITION;
Lightvalve 11:82d8768d7351 259 extern bool FLAG_REFERENCE_JOINT_TORQUE;
Lightvalve 11:82d8768d7351 260 extern bool FLAG_REFERENCE_PRES_DIFF;
Lightvalve 14:8e7590227d22 261 extern bool FLAG_REFERENCE_CURRENT;
Lightvalve 11:82d8768d7351 262
Lightvalve 11:82d8768d7351 263 extern double TUNING_TIME;
Lightvalve 11:82d8768d7351 264
Lightvalve 11:82d8768d7351 265 extern double REFERENCE_FREQ;
Lightvalve 11:82d8768d7351 266 extern double REFERENCE_MAG;
Lightvalve 11:82d8768d7351 267
Lightvalve 11:82d8768d7351 268 extern bool FLAG_FIND_HOME;
Lightvalve 11:82d8768d7351 269
Lightvalve 11:82d8768d7351 270 extern int MODE_JUMP_STATUS;
Lightvalve 11:82d8768d7351 271
Lightvalve 13:747daba9cf59 272 extern double CUR_PRES_DIFF_BAR;
Lightvalve 13:747daba9cf59 273 extern double CUR_PRES_A_sum;
Lightvalve 13:747daba9cf59 274 extern double CUR_PRES_B_sum;
Lightvalve 13:747daba9cf59 275 extern double CUR_PRES_A_mean;
Lightvalve 13:747daba9cf59 276 extern double CUR_PRES_B_mean;
Lightvalve 13:747daba9cf59 277 extern double CUR_TORQUE_sum;
Lightvalve 13:747daba9cf59 278 extern double CUR_TORQUE_mean;
Lightvalve 13:747daba9cf59 279 extern double PRES_A_NULL;
Lightvalve 13:747daba9cf59 280 extern double PRES_B_NULL;
Lightvalve 13:747daba9cf59 281 extern double TORQUE_NULL;
Lightvalve 13:747daba9cf59 282
Lightvalve 13:747daba9cf59 283 extern double Ref_Valve_Pos_Old;
Lightvalve 13:747daba9cf59 284
Lightvalve 13:747daba9cf59 285 extern int VALVE_ID_timer;
Lightvalve 13:747daba9cf59 286 extern int VALVE_DZ_timer;
Lightvalve 13:747daba9cf59 287 extern int VALVE_FR_timer;
Lightvalve 13:747daba9cf59 288 extern int VALVE_POS_TMP;
Lightvalve 13:747daba9cf59 289 extern int JOINT_VEL_TMP;
Lightvalve 13:747daba9cf59 290 extern int DDV_POS_AVG ;
Lightvalve 13:747daba9cf59 291 extern int VALVE_POS_AVG[100];
Lightvalve 13:747daba9cf59 292 extern int VALVE_POS_AVG_OLD;
Lightvalve 13:747daba9cf59 293 extern int data_num;
Lightvalve 13:747daba9cf59 294 extern int ID_index;
Lightvalve 13:747daba9cf59 295 extern int DZ_index;
Lightvalve 13:747daba9cf59 296 extern int ID_index_array[100];
Lightvalve 13:747daba9cf59 297 extern int FR_index_array[100];
Lightvalve 13:747daba9cf59 298 extern int first_check;
Lightvalve 13:747daba9cf59 299 extern double init_time;
Lightvalve 13:747daba9cf59 300 extern int VEL_POINT;
Lightvalve 13:747daba9cf59 301 extern int DZ_case;
Lightvalve 13:747daba9cf59 302 extern int START_POS;
Lightvalve 13:747daba9cf59 303 extern int FINAL_POS;
Lightvalve 13:747daba9cf59 304 extern int DZ_DIRECTION;
Lightvalve 13:747daba9cf59 305 extern int FIRST_DZ;
Lightvalve 13:747daba9cf59 306 extern int SECOND_DZ;
Lightvalve 13:747daba9cf59 307 extern int DZ_NUM;
Lightvalve 13:747daba9cf59 308 extern int one_period_end;
Lightvalve 13:747daba9cf59 309 extern double Ref_Vel_Test;
Lightvalve 13:747daba9cf59 310 extern long TMR2_FOR_SLOW_LOGGING;
Lightvalve 13:747daba9cf59 311 extern int velcount;
Lightvalve 13:747daba9cf59 312 extern char max_check;
Lightvalve 13:747daba9cf59 313 extern char min_check;
Lightvalve 13:747daba9cf59 314
Lightvalve 13:747daba9cf59 315 extern double valve_pos_err, valve_pos_err_old, valve_pos_err_diff, valve_pos_err_sum;
Lightvalve 14:8e7590227d22 316 extern double joint_pos_err, joint_pos_err_old, joint_pos_err_diff, joint_pos_err_diff_fil, joint_pos_err_sum;
Lightvalve 13:747daba9cf59 317 extern double joint_torq_err, joint_torq_err_old, joint_torq_err_diff, joint_torq_err_sum;
Lightvalve 13:747daba9cf59 318 extern double VALVE_PWM_RAW_POS, VALVE_PWM_RAW_TORQ;
Lightvalve 13:747daba9cf59 319
Lightvalve 13:747daba9cf59 320 extern double CUR_FLOWRATE;
Lightvalve 13:747daba9cf59 321 extern double VALVE_FF_VOLTAGE;
Lightvalve 13:747daba9cf59 322
Lightvalve 13:747daba9cf59 323 extern int pos_plus_end;
Lightvalve 13:747daba9cf59 324 extern int pos_minus_end;
Lightvalve 13:747daba9cf59 325
Lightvalve 13:747daba9cf59 326 extern bool need_enc_init;
Lightvalve 13:747daba9cf59 327
Lightvalve 13:747daba9cf59 328 extern int temp_time;
Lightvalve 13:747daba9cf59 329
Lightvalve 13:747daba9cf59 330 extern double CUR_VELOCITY_sum;
Lightvalve 13:747daba9cf59 331 extern double temp_vel_sum;
Lightvalve 13:747daba9cf59 332
Lightvalve 13:747daba9cf59 333 extern int DZ_dir;
Lightvalve 13:747daba9cf59 334 extern int DZ_temp_cnt;
Lightvalve 13:747daba9cf59 335 extern int DZ_temp_cnt2;
Lightvalve 13:747daba9cf59 336 extern int DZ_end;
Lightvalve 13:747daba9cf59 337 extern int flag_flowrate;
Lightvalve 13:747daba9cf59 338 extern int fl_temp_cnt;
Lightvalve 13:747daba9cf59 339 extern int fl_temp_cnt2;
Lightvalve 13:747daba9cf59 340 extern int cur_vel_sum;
Lightvalve 13:747daba9cf59 341
Lightvalve 13:747daba9cf59 342 // find home
Lightvalve 13:747daba9cf59 343 extern int CUR_VELOCITY_OLD;
Lightvalve 13:747daba9cf59 344 extern int cnt_findhome;
Lightvalve 13:747daba9cf59 345 extern int cnt_vel_findhome;
Lightvalve 13:747daba9cf59 346 extern int FINDHOME_VELOCITY;
Lightvalve 13:747daba9cf59 347 extern int FINDHOME_VELOCITY_OLD;
Lightvalve 13:747daba9cf59 348 extern int FINDHOME_POSITION;
Lightvalve 13:747daba9cf59 349 extern int FINDHOME_POSITION_OLD;
Lightvalve 13:747daba9cf59 350
Lightvalve 13:747daba9cf59 351 // valve gain
Lightvalve 13:747daba9cf59 352 extern int check_vel_pos_init;
Lightvalve 13:747daba9cf59 353 extern int check_vel_pos_fin;
Lightvalve 13:747daba9cf59 354 extern int check_vel_pos_interv;
Lightvalve 13:747daba9cf59 355 extern int valve_gain_repeat_cnt;
Lightvalve 13:747daba9cf59 356 extern double VALVE_VOLTAGE;
Lightvalve 13:747daba9cf59 357
Lightvalve 13:747daba9cf59 358 extern double freq_fric_tune;
Lightvalve 13:747daba9cf59 359
Lightvalve 14:8e7590227d22 360 extern bool FLAG_VALVE_OUTPUT_CALIB;
Lightvalve 14:8e7590227d22 361
Lightvalve 14:8e7590227d22 362 extern uint32_t TMR3_COUNT_CAN_TX;
Lightvalve 14:8e7590227d22 363
Lightvalve 14:8e7590227d22 364 extern double I_REF;
Lightvalve 14:8e7590227d22 365 extern int TMR3_COUNT_IREF;
Lightvalve 14:8e7590227d22 366 extern double CUR_CURRENT;
Lightvalve 14:8e7590227d22 367 extern double u_CUR[3];