Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2_copy1

2011

Dependencies:   mbed FastPWM

main.cpp@240:fb5b57e3f157, 2022-04-05 (annotated)

Committer:
Lightvalve
Date:
Tue Apr 05 05:12:12 2022 +0000
Revision:
240:fb5b57e3f157
Parent:
239:8ac5c6162bc1
Child:
241:27eca07c9591
220405

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 224:985dba42f261 1 //Hydraulic Control Board
Lightvalve 224:985dba42f261 2 //distributed by Sungwoo Kim
Lightvalve 224:985dba42f261 3 // 2020/12/28
jobuuu 228:763bbefcb79f 4 //revised by Buyoun Cho
Lightvalve 235:c831718303c9 5 // 2021/04/20
Lightvalve 224:985dba42f261 6
Lightvalve 224:985dba42f261 7 // 유의사항
Lightvalve 224:985dba42f261 8 // 소수 적을때 뒤에 f 꼭 붙이기
Lightvalve 224:985dba42f261 9 // CAN 선은 ground까지 있는 3상 선으로 써야함.
Lightvalve 224:985dba42f261 10 // 전원은 12~24V 인가.
Lightvalve 224:985dba42f261 11
GiJeongKim 0:51c43836c1d7 12 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 13 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 14 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 15 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 16 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 17 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 18 #include "setting.h"
Lightvalve 11:82d8768d7351 19 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 20 #include "stm32f4xx_flash.h"
Lightvalve 169:645207e160ca 21 #include "FlashWriter.h"
Lightvalve 170:42c938a40313 22 #include <string>
Lightvalve 170:42c938a40313 23 #include <iostream>
Lightvalve 179:d5377766d7ea 24 #include <cmath>
Lightvalve 61:bc8c8270f0ab 25
Lightvalve 61:bc8c8270f0ab 26 using namespace std;
Lightvalve 61:bc8c8270f0ab 27 Timer t;
GiJeongKim 0:51c43836c1d7 28
jobuuu 7:e9086c72bb22 29 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 30 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 31 DigitalOut check_2(PC_3);
jobuuu 230:2c3e5ecbe7e1 32 AnalogOut dac_1(PA_4); // 0.0f ~ 1.0f
jobuuu 230:2c3e5ecbe7e1 33 AnalogOut dac_2(PA_5); // 0.0f ~ 1.0f
Lightvalve 14:8e7590227d22 34 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 35 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 36 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 37
jobuuu 7:e9086c72bb22 38 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 39 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 40 float dtc_w=0.0f;
Lightvalve 240:fb5b57e3f157 41 DigitalOut LVDT_H(PB_4); //PWM_H
Lightvalve 240:fb5b57e3f157 42 DigitalOut LVDT_L(PB_5); //PWM_L
GiJeongKim 0:51c43836c1d7 43
jobuuu 7:e9086c72bb22 44 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 45 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
Lightvalve 224:985dba42f261 46 const int i2c_slave_addr1 = 0x56; // AS5510 address
GiJeongKim 0:51c43836c1d7 47 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 48
jobuuu 7:e9086c72bb22 49 // SPI ///////////////////////////////////////////
Lightvalve 170:42c938a40313 50 SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 170:42c938a40313 51 DigitalOut eeprom_cs(PB_12);
GiJeongKim 0:51c43836c1d7 52 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 53 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 54 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 55
jobuuu 7:e9086c72bb22 56 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 57 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 58
jobuuu 7:e9086c72bb22 59 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 60 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 61 CANMessage msg;
Lightvalve 11:82d8768d7351 62 void onMsgReceived()
Lightvalve 11:82d8768d7351 63 {
Lightvalve 11:82d8768d7351 64 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 65 }
jobuuu 2:a1c0a37df760 66
jobuuu 7:e9086c72bb22 67 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 68 State pos;
jobuuu 7:e9086c72bb22 69 State vel;
jobuuu 7:e9086c72bb22 70 State Vout;
jobuuu 230:2c3e5ecbe7e1 71 State force;
jobuuu 230:2c3e5ecbe7e1 72 State torq; // unit : N
Lightvalve 207:c70c5a9f17dd 73 State torq_dot;
jobuuu 230:2c3e5ecbe7e1 74 State pres_A; // unit : bar
jobuuu 7:e9086c72bb22 75 State pres_B;
jobuuu 230:2c3e5ecbe7e1 76 State cur; // unit : mA
Lightvalve 14:8e7590227d22 77 State valve_pos;
Lightvalve 238:4e660aa77eb7 78 State valve_pos_raw;
Lightvalve 14:8e7590227d22 79
Lightvalve 14:8e7590227d22 80 State INIT_Vout;
Lightvalve 14:8e7590227d22 81 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 82 State INIT_Pos;
Lightvalve 14:8e7590227d22 83 State INIT_torq;
jobuuu 5:a4319f79457b 84
Lightvalve 19:23b7c1ad8683 85 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 86 extern int CID_RX_REF_POSITION;
hyhoon 227:699c3e572283 87 extern int CID_RX_REF_OPENLOOP;
Lightvalve 45:35fa6884d0c6 88 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 89
Lightvalve 19:23b7c1ad8683 90 extern int CID_TX_INFO;
hyhoon 227:699c3e572283 91 extern int CID_TX_POS_VEL_TORQ;
hyhoon 227:699c3e572283 92 extern int CID_TX_PWM;
hyhoon 227:699c3e572283 93 extern int CID_TX_CURRENT;
Lightvalve 19:23b7c1ad8683 94 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 95 extern int CID_TX_VALVE_POSITION;
jeongyeseong 225:9c0becc196ba 96 extern int CID_TX_SOMETHING;
Lightvalve 19:23b7c1ad8683 97
hyhoon 227:699c3e572283 98 float temp_P_GAIN = 0.0f;
hyhoon 227:699c3e572283 99 float temp_I_GAIN = 0.0f;
hyhoon 227:699c3e572283 100 int temp_VELOCITY_COMP_GAIN = 0;
Lightvalve 235:c831718303c9 101 int logging = 0;
Lightvalve 240:fb5b57e3f157 102 float valve_pos_pulse_can = 0.0f;
hyhoon 227:699c3e572283 103
Lightvalve 235:c831718303c9 104 inline float tanh_inv(float y)
Lightvalve 235:c831718303c9 105 {
Lightvalve 235:c831718303c9 106 if(y >= 1.0f - 0.000001f) y = 1.0f - 0.000001f;
Lightvalve 235:c831718303c9 107 if(y <= -1.0f + 0.000001f) y = -1.0f + 0.000001f;
jobuuu 230:2c3e5ecbe7e1 108 return log(sqrt((1.0f+y)/(1.0f-y)));
jobuuu 230:2c3e5ecbe7e1 109 }
jobuuu 230:2c3e5ecbe7e1 110
hyhoon 227:699c3e572283 111
Lightvalve 12:6f2531038ea4 112 /*******************************************************************************
Lightvalve 12:6f2531038ea4 113 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 114 ******************************************************************************/
Lightvalve 13:747daba9cf59 115 enum _REFERENCE_MODE {
Lightvalve 235:c831718303c9 116 MODE_REF_NO_ACT = 0,
Lightvalve 235:c831718303c9 117 MODE_REF_DIRECT,
Lightvalve 235:c831718303c9 118 MODE_REF_FINDHOME
Lightvalve 12:6f2531038ea4 119 };
Lightvalve 12:6f2531038ea4 120
Lightvalve 12:6f2531038ea4 121 /*******************************************************************************
Lightvalve 12:6f2531038ea4 122 * CONTROL MODE
Lightvalve 12:6f2531038ea4 123 ******************************************************************************/
Lightvalve 13:747daba9cf59 124 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 125 //control mode
Lightvalve 12:6f2531038ea4 126 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 127 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 128 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 129
Lightvalve 47:fdcb8bd86fd6 130 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 138:a843f32ced33 131 MODE_JOINT_ADAPTIVE_BACKSTEPPING, //4
Lightvalve 171:bfc1fd2629d8 132 MODE_RL, //5
Lightvalve 13:747daba9cf59 133
Lightvalve 12:6f2531038ea4 134 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 135 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 136 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 137
Lightvalve 12:6f2531038ea4 138 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 139 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 140
Lightvalve 14:8e7590227d22 141 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 142 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 143 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 224:985dba42f261 144 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //14
Lightvalve 13:747daba9cf59 145
Lightvalve 12:6f2531038ea4 146 //utility
Lightvalve 12:6f2531038ea4 147 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 148 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 149 MODE_FIND_HOME, //22
Lightvalve 57:f4819de54e7a 150 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 151 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 152 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 153 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 154
Lightvalve 224:985dba42f261 155 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 156 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 157 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 57:f4819de54e7a 158 MODE_SYSTEM_ID, //33
Lightvalve 169:645207e160ca 159 MODE_FREQ_TEST, //34
Lightvalve 169:645207e160ca 160 MODE_SEND_BUFFER, //35
Lightvalve 169:645207e160ca 161 MODE_SEND_OVER, //36
Lightvalve 169:645207e160ca 162 MODE_STEP_TEST, //37
Lightvalve 12:6f2531038ea4 163 };
Lightvalve 12:6f2531038ea4 164
Lightvalve 65:a2d7c63419c2 165 void SystemClock_Config(void)
Lightvalve 65:a2d7c63419c2 166 {
Lightvalve 169:645207e160ca 167 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve 169:645207e160ca 168 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve 65:a2d7c63419c2 169
Lightvalve 224:985dba42f261 170 /* Configure the main internal regulator output voltage
Lightvalve 169:645207e160ca 171 */
Lightvalve 169:645207e160ca 172 __HAL_RCC_PWR_CLK_ENABLE();
Lightvalve 169:645207e160ca 173 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve 224:985dba42f261 174 /* Initializes the CPU, AHB and APB busses clocks
Lightvalve 169:645207e160ca 175 */
Lightvalve 240:fb5b57e3f157 176 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
Lightvalve 240:fb5b57e3f157 177 RCC_OscInitStruct.HSEState = RCC_HSE_ON;
Lightvalve 240:fb5b57e3f157 178 // RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve 169:645207e160ca 179 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve 240:fb5b57e3f157 180 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
Lightvalve 240:fb5b57e3f157 181 RCC_OscInitStruct.PLL.PLLM = 4;//4
Lightvalve 240:fb5b57e3f157 182 RCC_OscInitStruct.PLL.PLLN = 96; //96
Lightvalve 169:645207e160ca 183 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve 169:645207e160ca 184 RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve 169:645207e160ca 185 RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve 169:645207e160ca 186 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Lightvalve 169:645207e160ca 187 //Error_Handler();
Lightvalve 169:645207e160ca 188 }
Lightvalve 169:645207e160ca 189 /** Activate the Over-Drive mode
Lightvalve 169:645207e160ca 190 */
Lightvalve 169:645207e160ca 191 if (HAL_PWREx_EnableOverDrive() != HAL_OK) {
Lightvalve 169:645207e160ca 192 //Error_Handler();
Lightvalve 169:645207e160ca 193 }
Lightvalve 169:645207e160ca 194 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 169:645207e160ca 195 */
Lightvalve 169:645207e160ca 196 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
Lightvalve 169:645207e160ca 197 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
Lightvalve 169:645207e160ca 198 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve 169:645207e160ca 199 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve 169:645207e160ca 200 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve 169:645207e160ca 201 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve 65:a2d7c63419c2 202 }
Lightvalve 65:a2d7c63419c2 203
Lightvalve 170:42c938a40313 204
GiJeongKim 0:51c43836c1d7 205 int main()
GiJeongKim 0:51c43836c1d7 206 {
jobuuu 6:df07d3491e3a 207 /*********************************
jobuuu 1:e04e563be5ce 208 *** Initialization
jobuuu 6:df07d3491e3a 209 *********************************/
hyhoon 226:82a3ca333004 210
Lightvalve 224:985dba42f261 211 HAL_Init();
Lightvalve 224:985dba42f261 212 SystemClock_Config();
hyhoon 226:82a3ca333004 213
Lightvalve 69:3995ffeaa786 214 LED = 0;
Lightvalve 61:bc8c8270f0ab 215 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 216
GiJeongKim 0:51c43836c1d7 217 // i2c init
Lightvalve 236:fd7961dfa78a 218 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 236:fd7961dfa78a 219 wait_ms(2); // Power Up wait
Lightvalve 236:fd7961dfa78a 220 look_for_hardware_i2c(); // Hardware present
Lightvalve 236:fd7961dfa78a 221 init_as5510(i2c_slave_addr1);
Lightvalve 236:fd7961dfa78a 222 make_delay();
jobuuu 2:a1c0a37df760 223
Lightvalve 224:985dba42f261 224 // spi init
hyhoon 227:699c3e572283 225 eeprom_cs = 1;
Lightvalve 170:42c938a40313 226 eeprom.format(8,3);
Lightvalve 170:42c938a40313 227 eeprom.frequency(5000000); //5M
hyhoon 227:699c3e572283 228 eeprom_cs = 0;
hyhoon 227:699c3e572283 229 make_delay();
hyhoon 227:699c3e572283 230
hyhoon 227:699c3e572283 231 enc_cs = 1; //sw add
GiJeongKim 0:51c43836c1d7 232 enc.format(8,0);
hyhoon 227:699c3e572283 233 enc.frequency(5000000); //10M
hyhoon 227:699c3e572283 234 enc_cs = 0; //sw add
hyhoon 227:699c3e572283 235
Lightvalve 11:82d8768d7351 236 make_delay();
Lightvalve 21:e5f1a43ea6f9 237
hyhoon 226:82a3ca333004 238 // spi _ enc
hyhoon 226:82a3ca333004 239 spi_enc_set_init();
hyhoon 226:82a3ca333004 240 make_delay();
hyhoon 226:82a3ca333004 241
hyhoon 226:82a3ca333004 242 ////// bno rom
Lightvalve 240:fb5b57e3f157 243 spi_eeprom_write(RID_BNO, (int16_t) 0);
Lightvalve 238:4e660aa77eb7 244 make_delay();
hyhoon 226:82a3ca333004 245 ////////
hyhoon 226:82a3ca333004 246
Lightvalve 224:985dba42f261 247 // rom
Lightvalve 19:23b7c1ad8683 248 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 249 make_delay();
Lightvalve 13:747daba9cf59 250
GiJeongKim 0:51c43836c1d7 251 // ADC init
jobuuu 5:a4319f79457b 252 Init_ADC();
Lightvalve 11:82d8768d7351 253 make_delay();
jobuuu 2:a1c0a37df760 254
GiJeongKim 0:51c43836c1d7 255 // Pwm init
GiJeongKim 0:51c43836c1d7 256 Init_PWM();
GiJeongKim 0:51c43836c1d7 257 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 258 make_delay();
Lightvalve 13:747daba9cf59 259
GiJeongKim 0:51c43836c1d7 260 // CAN
jobuuu 2:a1c0a37df760 261 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 262 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 263 make_delay();
Lightvalve 34:bb2ca2fc2a8e 264
hyhoon 226:82a3ca333004 265 //can.reset();
hyhoon 226:82a3ca333004 266 can.filter(msg.id, 0xFFFFF000, CANStandard);
hyhoon 226:82a3ca333004 267
hyhoon 226:82a3ca333004 268 // TMR3 init
hyhoon 226:82a3ca333004 269 Init_TMR3();
hyhoon 226:82a3ca333004 270 TIM3->CR1 ^= TIM_CR1_UDIS;
hyhoon 226:82a3ca333004 271 make_delay();
hyhoon 226:82a3ca333004 272
Lightvalve 240:fb5b57e3f157 273 // TMR5 init
Lightvalve 240:fb5b57e3f157 274 Init_TMR2();
Lightvalve 240:fb5b57e3f157 275 TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 240:fb5b57e3f157 276 make_delay();
Lightvalve 240:fb5b57e3f157 277
Lightvalve 23:59218d4a256d 278 //Timer priority
Lightvalve 23:59218d4a256d 279 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 54:647072f5307a 280 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 240:fb5b57e3f157 281 NVIC_SetPriority(TIM2_IRQn, 4);
Lightvalve 34:bb2ca2fc2a8e 282
hyhoon 226:82a3ca333004 283
Lightvalve 11:82d8768d7351 284 //DAC init
Lightvalve 58:2eade98630e2 285 if (SENSING_MODE == 0) {
jobuuu 230:2c3e5ecbe7e1 286 dac_1 = FORCE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 287 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 288 } else if (SENSING_MODE == 1) {
Lightvalve 238:4e660aa77eb7 289 // if (DIR_VALVE_ENC > 0) {
Lightvalve 240:fb5b57e3f157 290 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 240:fb5b57e3f157 291 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 238:4e660aa77eb7 292 // } else {
Lightvalve 238:4e660aa77eb7 293 // dac_1 = PRES_B_VREF / 3.3f;
Lightvalve 238:4e660aa77eb7 294 // dac_2 = PRES_A_VREF / 3.3f;
Lightvalve 238:4e660aa77eb7 295 // }
Lightvalve 58:2eade98630e2 296 }
Lightvalve 11:82d8768d7351 297 make_delay();
Lightvalve 13:747daba9cf59 298
Lightvalve 19:23b7c1ad8683 299 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 300 if(i%2==0)
Lightvalve 38:118df027d851 301 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 302 else
Lightvalve 38:118df027d851 303 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 304 }
Lightvalve 169:645207e160ca 305
Lightvalve 240:fb5b57e3f157 306 //pwm
Lightvalve 240:fb5b57e3f157 307 TIM4->CCR2 = (PWM_ARR)*(1.0f-0.0f);
Lightvalve 240:fb5b57e3f157 308 TIM4->CCR1 = (PWM_ARR)*(1.0f-0.0f);
Lightvalve 240:fb5b57e3f157 309 LVDT_H = 0;
Lightvalve 240:fb5b57e3f157 310 LVDT_L = 0;
Lightvalve 240:fb5b57e3f157 311
jobuuu 6:df07d3491e3a 312 /************************************
jobuuu 1:e04e563be5ce 313 *** Program is operating!
jobuuu 6:df07d3491e3a 314 *************************************/
GiJeongKim 0:51c43836c1d7 315 while(1) {
Lightvalve 169:645207e160ca 316
Lightvalve 224:985dba42f261 317 // UART example
Lightvalve 224:985dba42f261 318 // if(timer_while==100000) {
Lightvalve 171:bfc1fd2629d8 319 // timer_while = 0;
Lightvalve 224:985dba42f261 320 // pc.printf("%f\n", value);
Lightvalve 171:bfc1fd2629d8 321 // }
Lightvalve 224:985dba42f261 322 // timer_while ++;
Lightvalve 169:645207e160ca 323
Lightvalve 224:985dba42f261 324 //i2c for SW valve
Lightvalve 236:fd7961dfa78a 325 if(OPERATING_MODE == 5) {
Lightvalve 236:fd7961dfa78a 326 read_field(i2c_slave_addr1);
Lightvalve 236:fd7961dfa78a 327 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 236:fd7961dfa78a 328 }
GiJeongKim 0:51c43836c1d7 329 }
jobuuu 1:e04e563be5ce 330 }
jobuuu 1:e04e563be5ce 331
Lightvalve 224:985dba42f261 332
Lightvalve 224:985dba42f261 333 // Velocity feedforward for SW valve
Lightvalve 33:91b17819ec30 334 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 335 {
Lightvalve 13:747daba9cf59 336 int i = 0;
Lightvalve 48:889798ff9329 337 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 338 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 339 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 340 if(i==0) {
Lightvalve 50:3c630b5eba9f 341 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 342 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 343 } else {
Lightvalve 57:f4819de54e7a 344 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 345 }
Lightvalve 14:8e7590227d22 346 } else {
Lightvalve 50:3c630b5eba9f 347 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 348 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 349 } else {
Lightvalve 57:f4819de54e7a 350 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 351 }
Lightvalve 13:747daba9cf59 352 }
Lightvalve 13:747daba9cf59 353 break;
Lightvalve 13:747daba9cf59 354 }
Lightvalve 13:747daba9cf59 355 }
Lightvalve 14:8e7590227d22 356 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 357 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 358 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 359 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 360 }
Lightvalve 36:a46e63505ed8 361
Lightvalve 224:985dba42f261 362 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); //VELOCITY_COMP_GAIN : 0~100
Lightvalve 13:747daba9cf59 363 return Ref_Valve_Pos_FF;
Lightvalve 13:747daba9cf59 364 }
jobuuu 6:df07d3491e3a 365
Lightvalve 224:985dba42f261 366 // Valve feedforward for SW valve
Lightvalve 30:8d561f16383b 367 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 368 {
Lightvalve 13:747daba9cf59 369 int i = 0;
Lightvalve 13:747daba9cf59 370
Lightvalve 38:118df027d851 371 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 372 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 373 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 374 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 375 }
Lightvalve 89:a7b45368ea0f 376 valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve 13:747daba9cf59 377 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 378 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 379 valve_pos_err_sum += valve_pos_err;
Lightvalve 89:a7b45368ea0f 380 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 89:a7b45368ea0f 381 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 13:747daba9cf59 382
Lightvalve 13:747daba9cf59 383 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 384
Lightvalve 18:b8adf1582ea3 385 for(i=0; i<24; i++) {
Lightvalve 89:a7b45368ea0f 386 if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && (float) REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve 14:8e7590227d22 387 if(i==0) {
Lightvalve 48:889798ff9329 388 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 389 } else {
Lightvalve 48:889798ff9329 390 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 391 }
Lightvalve 13:747daba9cf59 392 break;
Lightvalve 13:747daba9cf59 393 }
Lightvalve 13:747daba9cf59 394 }
Lightvalve 59:f308b1656d9c 395 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 396 }
Lightvalve 13:747daba9cf59 397
Lightvalve 238:4e660aa77eb7 398 // Valve feedforward for SW valve
Lightvalve 238:4e660aa77eb7 399 void VALVE_POS_CONTROL_DZ(float REF_VALVE_POS_10000)
Lightvalve 238:4e660aa77eb7 400 {
Lightvalve 238:4e660aa77eb7 401 int i = 0;
Lightvalve 238:4e660aa77eb7 402 float valve_pos_ref_dz = 0.0f;
Lightvalve 238:4e660aa77eb7 403 if(REF_VALVE_POS_10000 > 10000.0f) {
Lightvalve 238:4e660aa77eb7 404 REF_VALVE_POS_10000 = 10000.0f;
Lightvalve 238:4e660aa77eb7 405 } else if(REF_VALVE_POS_10000 < -10000.0f) {
Lightvalve 238:4e660aa77eb7 406 REF_VALVE_POS_10000 = -10000.0f;
Lightvalve 238:4e660aa77eb7 407 }
Lightvalve 238:4e660aa77eb7 408 if (REF_VALVE_POS_10000 >= 0) {
Lightvalve 238:4e660aa77eb7 409 valve_pos_ref_dz = REF_VALVE_POS_10000/10000.0f * (VALVE_MAX_POS-VALVE_DEADZONE_PLUS) + VALVE_DEADZONE_PLUS;
Lightvalve 238:4e660aa77eb7 410 } else {
Lightvalve 238:4e660aa77eb7 411 valve_pos_ref_dz = -REF_VALVE_POS_10000/10000.0f * (VALVE_MIN_POS-VALVE_DEADZONE_MINUS) + VALVE_DEADZONE_MINUS;
Lightvalve 238:4e660aa77eb7 412 }
Lightvalve 238:4e660aa77eb7 413 valve_pos_err = (float) (valve_pos_ref_dz - value);
Lightvalve 238:4e660aa77eb7 414 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 238:4e660aa77eb7 415 valve_pos_err_old = valve_pos_err;
Lightvalve 238:4e660aa77eb7 416 valve_pos_err_sum += valve_pos_err;
Lightvalve 238:4e660aa77eb7 417 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 238:4e660aa77eb7 418 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 238:4e660aa77eb7 419
Lightvalve 238:4e660aa77eb7 420 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 238:4e660aa77eb7 421
Lightvalve 238:4e660aa77eb7 422 for(i=0; i<24; i++) {
Lightvalve 238:4e660aa77eb7 423 if(valve_pos_ref_dz >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && (float) valve_pos_ref_dz <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve 238:4e660aa77eb7 424 if(i==0) {
Lightvalve 238:4e660aa77eb7 425 VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) valve_pos_ref_dz - VALVE_POS_VS_PWM[i]);
Lightvalve 238:4e660aa77eb7 426 } else {
Lightvalve 238:4e660aa77eb7 427 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) valve_pos_ref_dz - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1];
Lightvalve 238:4e660aa77eb7 428 }
Lightvalve 238:4e660aa77eb7 429 break;
Lightvalve 238:4e660aa77eb7 430 }
Lightvalve 238:4e660aa77eb7 431 }
Lightvalve 238:4e660aa77eb7 432 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 238:4e660aa77eb7 433 }
Lightvalve 238:4e660aa77eb7 434
Lightvalve 224:985dba42f261 435 // PWM duty vs. voltage output of L6205 in STM board
Lightvalve 14:8e7590227d22 436 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 437 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 438 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 439 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 440 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 441 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 442 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 443 }; // duty
Lightvalve 67:c2812cf26c38 444 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 445 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 446 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 447 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 448 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 449 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 450 }; // mV
Lightvalve 13:747daba9cf59 451
Lightvalve 30:8d561f16383b 452 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 453 {
Lightvalve 30:8d561f16383b 454 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 455 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 456 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 457 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 458 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 459 } else {
Lightvalve 13:747daba9cf59 460 int idx = 0;
Lightvalve 13:747daba9cf59 461 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 462 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 463 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 464 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 465 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 466 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 467 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 468 break;
Lightvalve 13:747daba9cf59 469 }
Lightvalve 13:747daba9cf59 470 }
Lightvalve 13:747daba9cf59 471 }
Lightvalve 14:8e7590227d22 472
Lightvalve 13:747daba9cf59 473 return PWM_duty;
Lightvalve 13:747daba9cf59 474 }
jobuuu 6:df07d3491e3a 475
Lightvalve 57:f4819de54e7a 476
Lightvalve 57:f4819de54e7a 477
jobuuu 2:a1c0a37df760 478 /*******************************************************************************
jobuuu 2:a1c0a37df760 479 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 480 *******************************************************************************/
jobuuu 2:a1c0a37df760 481
Lightvalve 240:fb5b57e3f157 482 float LVDT_new = 0.0f;
Lightvalve 240:fb5b57e3f157 483 float LVDT_old = 0.0f;
Lightvalve 240:fb5b57e3f157 484 float LVDT_f_cut = 1000.0f;
Lightvalve 240:fb5b57e3f157 485 float LVDT_LPF = 0.0f;
Lightvalve 240:fb5b57e3f157 486 float LVDT_sum = 0.0f;
Lightvalve 240:fb5b57e3f157 487 float LVDT_can[100] = {0.0f};
Lightvalve 240:fb5b57e3f157 488
Lightvalve 240:fb5b57e3f157 489 extern "C" void TIM3_IRQHandler(void)
Lightvalve 240:fb5b57e3f157 490 {
Lightvalve 240:fb5b57e3f157 491 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 240:fb5b57e3f157 492
Lightvalve 240:fb5b57e3f157 493 // if (LED > 0) LED = 0;
Lightvalve 240:fb5b57e3f157 494 // else LED = 1;
Lightvalve 240:fb5b57e3f157 495
Lightvalve 240:fb5b57e3f157 496 LVDT_sum = 0.0f;
Lightvalve 240:fb5b57e3f157 497
Lightvalve 240:fb5b57e3f157 498 LVDT_H = 1;
Lightvalve 240:fb5b57e3f157 499 LVDT_L = 0;
Lightvalve 240:fb5b57e3f157 500
Lightvalve 240:fb5b57e3f157 501 for (int ij = 0; ij<400; ij++) {
Lightvalve 240:fb5b57e3f157 502 // LED = 1;
Lightvalve 240:fb5b57e3f157 503 ADC1->CR2 |= 0x40000000;
Lightvalve 240:fb5b57e3f157 504 LVDT_new = ((float)ADC1->DR) - 2047.5f;
Lightvalve 240:fb5b57e3f157 505 LVDT_sum = LVDT_sum + LVDT_new;
Lightvalve 240:fb5b57e3f157 506 // LED = 0;
Lightvalve 240:fb5b57e3f157 507 }
Lightvalve 240:fb5b57e3f157 508
Lightvalve 240:fb5b57e3f157 509 LVDT_H = 0;
Lightvalve 240:fb5b57e3f157 510 LVDT_L = 0;
Lightvalve 240:fb5b57e3f157 511
Lightvalve 240:fb5b57e3f157 512 // LED = 0;
Lightvalve 240:fb5b57e3f157 513 LVDT_new = LVDT_sum * 0.0025f;
Lightvalve 240:fb5b57e3f157 514
Lightvalve 240:fb5b57e3f157 515 float alpha_LVDT = 1.0f;//1.0f/(1.0f+TMR_FREQ_1k/(2.0f*PI*300.0f));
Lightvalve 240:fb5b57e3f157 516 LVDT_LPF = (1.0f-alpha_LVDT) * LVDT_LPF + alpha_LVDT * LVDT_new;
Lightvalve 240:fb5b57e3f157 517 force.sen = LVDT_LPF;
Lightvalve 240:fb5b57e3f157 518
Lightvalve 240:fb5b57e3f157 519 }
Lightvalve 240:fb5b57e3f157 520 TIM3->SR = 0x0; // reset the status register
Lightvalve 240:fb5b57e3f157 521 }
Lightvalve 240:fb5b57e3f157 522
Lightvalve 240:fb5b57e3f157 523
Lightvalve 240:fb5b57e3f157 524
jobuuu 230:2c3e5ecbe7e1 525 //------------------------------------------------
jobuuu 230:2c3e5ecbe7e1 526 // TMR4 : Sensor Read & Data Handling
jobuuu 230:2c3e5ecbe7e1 527 //-----------------------------------------------
Lightvalve 51:b46bed7fec80 528 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 529 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 530 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 531 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 532 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 533 {
Lightvalve 19:23b7c1ad8683 534 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 13:747daba9cf59 535
Lightvalve 240:fb5b57e3f157 536 // if (LED > 0) LED = 0;
Lightvalve 240:fb5b57e3f157 537 // else LED = 1;
Lightvalve 240:fb5b57e3f157 538
jobuuu 230:2c3e5ecbe7e1 539 // Current ===================================================
jobuuu 230:2c3e5ecbe7e1 540 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 235:c831718303c9 541
jobuuu 230:2c3e5ecbe7e1 542 cur.UpdateSen(((float)ADC3->DR-2047.5f)/2047.5f*10.0f, FREQ_TMR4, 500.0f); // unit : mA
jobuuu 230:2c3e5ecbe7e1 543
jobuuu 230:2c3e5ecbe7e1 544 // Encoder ===================================================
Lightvalve 57:f4819de54e7a 545 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 546 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 547 }
Lightvalve 61:bc8c8270f0ab 548
Lightvalve 240:fb5b57e3f157 549 /*
jobuuu 230:2c3e5ecbe7e1 550 // Force or Pressure Transducer =============================================
Lightvalve 61:bc8c8270f0ab 551 ADC1->CR2 |= 0x40000000;
jobuuu 230:2c3e5ecbe7e1 552 if (SENSING_MODE == 0) { // Force sensing
jobuuu 230:2c3e5ecbe7e1 553 force.UpdateSen((((float)ADC1->DR) - 2047.5f)/TORQUE_SENSOR_PULSE_PER_TORQUE, FREQ_TMR4, 100.0f); // unit : N
jobuuu 230:2c3e5ecbe7e1 554 } else if (SENSING_MODE == 1) { // Pressure sensing
jobuuu 230:2c3e5ecbe7e1 555 float pres_A_new, pres_B_new;
Lightvalve 240:fb5b57e3f157 556 // if (DIR_VALVE_ENC > 0) {
Lightvalve 240:fb5b57e3f157 557 pres_A_new = (((float)ADC1->DR) - PRES_A_NULL_pulse)/ PRES_SENSOR_A_PULSE_PER_BAR; // unit : bar
Lightvalve 240:fb5b57e3f157 558 pres_B_new = (((float)ADC2->DR) - PRES_B_NULL_pulse)/ PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 240:fb5b57e3f157 559 // } else {
Lightvalve 240:fb5b57e3f157 560 // pres_A_new = (((float)ADC2->DR) - PRES_A_NULL_pulse)/ PRES_SENSOR_A_PULSE_PER_BAR; // unit : bar
Lightvalve 240:fb5b57e3f157 561 // pres_B_new = (((float)ADC1->DR) - PRES_B_NULL_pulse)/ PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 240:fb5b57e3f157 562 // }
jobuuu 230:2c3e5ecbe7e1 563 pres_A.UpdateSen(pres_A_new,FREQ_TMR4,200.0f);
jobuuu 230:2c3e5ecbe7e1 564 pres_B.UpdateSen(pres_B_new,FREQ_TMR4,200.0f);
Lightvalve 50:3c630b5eba9f 565
Lightvalve 238:4e660aa77eb7 566 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 235:c831718303c9 567 float torq_new = (PISTON_AREA_A * pres_A.sen - PISTON_AREA_B * pres_B.sen) * 0.0001f; // mm^3*bar >> Nm
Lightvalve 232:2976cf1b4252 568 torq.UpdateSen(torq_new,FREQ_TMR4,1000.0f); // unit : Nm
Lightvalve 238:4e660aa77eb7 569 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
jobuuu 230:2c3e5ecbe7e1 570 float force_new = (PISTON_AREA_A * pres_A.sen - PISTON_AREA_B * pres_B.sen) * 0.1f; // mm^2*bar >> N
Lightvalve 232:2976cf1b4252 571 force.UpdateSen(force_new,FREQ_TMR4,1000.0f); // unit : N
Lightvalve 58:2eade98630e2 572 }
Lightvalve 58:2eade98630e2 573 }
Lightvalve 240:fb5b57e3f157 574 */
Lightvalve 61:bc8c8270f0ab 575
Lightvalve 57:f4819de54e7a 576 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 577 }
Lightvalve 11:82d8768d7351 578 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 579 }
Lightvalve 19:23b7c1ad8683 580
Lightvalve 19:23b7c1ad8683 581
Lightvalve 18:b8adf1582ea3 582 int j =0;
Lightvalve 240:fb5b57e3f157 583 float FREQ_TMR5 = (float)FREQ_5k;
Lightvalve 240:fb5b57e3f157 584 float DT_TMR5 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 585 int cnt_trans = 0;
Lightvalve 48:889798ff9329 586 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 57:f4819de54e7a 587 int can_rest =0;
Lightvalve 239:8ac5c6162bc1 588 float force_ref_act_can = 0.0f;
Lightvalve 48:889798ff9329 589
Lightvalve 240:fb5b57e3f157 590 extern "C" void TIM2_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 591 {
Lightvalve 240:fb5b57e3f157 592 if (TIM2->SR & TIM_SR_UIF ) {
Lightvalve 240:fb5b57e3f157 593
Lightvalve 240:fb5b57e3f157 594 if (LED > 0) LED = 0;
Lightvalve 240:fb5b57e3f157 595 else LED = 1;
Lightvalve 57:f4819de54e7a 596
Lightvalve 50:3c630b5eba9f 597 if(MODE_POS_FT_TRANS == 1) {
jobuuu 230:2c3e5ecbe7e1 598 if (alpha_trans == 1.0f) MODE_POS_FT_TRANS = 2;
Lightvalve 240:fb5b57e3f157 599 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR5 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 600 cnt_trans++;
Lightvalve 233:2ec0de8590d3 601 torq.err_int = 0.0f;
Lightvalve 233:2ec0de8590d3 602 force.err_int = 0.0f;
Lightvalve 240:fb5b57e3f157 603 if((float)cnt_trans * DT_TMR5 > 3.0f)
Lightvalve 45:35fa6884d0c6 604 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 605 } else if(MODE_POS_FT_TRANS == 3) {
jobuuu 230:2c3e5ecbe7e1 606 if (alpha_trans == 0.0f) MODE_POS_FT_TRANS = 0;
Lightvalve 240:fb5b57e3f157 607 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR5 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 608 cnt_trans++;
Lightvalve 233:2ec0de8590d3 609 torq.err_int = 0.0f;
Lightvalve 233:2ec0de8590d3 610 force.err_int = 0.0f;
Lightvalve 240:fb5b57e3f157 611 if((float) cnt_trans * DT_TMR5 > 3.0f )
Lightvalve 45:35fa6884d0c6 612 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 613 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 614 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 615 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 616 } else {
Lightvalve 58:2eade98630e2 617 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 618 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 619 }
Lightvalve 45:35fa6884d0c6 620
Lightvalve 50:3c630b5eba9f 621
jobuuu 230:2c3e5ecbe7e1 622 // Reference Update ==========================================================
hyhoon 227:699c3e572283 623 switch (REFERENCE_MODE) {
hyhoon 227:699c3e572283 624 case MODE_REF_NO_ACT: {
hyhoon 227:699c3e572283 625 break;
hyhoon 227:699c3e572283 626 }
hyhoon 227:699c3e572283 627 case MODE_REF_DIRECT: {
hyhoon 227:699c3e572283 628 pos.ref = REF_POSITION;
hyhoon 227:699c3e572283 629 vel.ref = REF_VELOCITY;
hyhoon 227:699c3e572283 630 torq.ref = REF_TORQUE;
jobuuu 230:2c3e5ecbe7e1 631 force.ref = REF_FORCE;
jobuuu 230:2c3e5ecbe7e1 632 break;
jobuuu 230:2c3e5ecbe7e1 633 }
jobuuu 230:2c3e5ecbe7e1 634 case MODE_REF_FINDHOME: {
jobuuu 230:2c3e5ecbe7e1 635 pos.ref = REF_POSITION_FINDHOME;
jobuuu 230:2c3e5ecbe7e1 636 vel.ref = 0.0f;
jobuuu 230:2c3e5ecbe7e1 637 torq.ref = 0.0f;
jobuuu 230:2c3e5ecbe7e1 638 force.ref = 0.0f;
hyhoon 227:699c3e572283 639 break;
hyhoon 227:699c3e572283 640 }
hyhoon 227:699c3e572283 641 default:
hyhoon 227:699c3e572283 642 break;
hyhoon 227:699c3e572283 643 }
hyhoon 227:699c3e572283 644
Lightvalve 237:c2cfe349f5c1 645 if (((OPERATING_MODE&0b110)>>1) == 0) {
jobuuu 230:2c3e5ecbe7e1 646 K_v = 1.03f; // Q = K_v*sqrt(deltaP)*tanh(C_d*Xv);
Lightvalve 235:c831718303c9 647 C_d = 0.16f;
jobuuu 230:2c3e5ecbe7e1 648 mV_PER_mA = 500.0f; // 5000mV/10mA
jobuuu 230:2c3e5ecbe7e1 649 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
jobuuu 230:2c3e5ecbe7e1 650 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 237:c2cfe349f5c1 651 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
jobuuu 230:2c3e5ecbe7e1 652 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
jobuuu 230:2c3e5ecbe7e1 653 mV_PER_mA = 166.6666f; // 5000mV/30mA
jobuuu 230:2c3e5ecbe7e1 654 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
jobuuu 230:2c3e5ecbe7e1 655 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 237:c2cfe349f5c1 656 } else if (((OPERATING_MODE&0b110)>>1) == 2) {
Lightvalve 237:c2cfe349f5c1 657 C_d = 0.0000845f; // Q = C_d * Valve_pos * sqrt(deltaP*alpha/(1+alpha)) : Valve_pos = 10000, deltaP = 70, alpha = 1 -> Q = 5
jobuuu 230:2c3e5ecbe7e1 658 }
Lightvalve 235:c831718303c9 659
jobuuu 230:2c3e5ecbe7e1 660 // =====================================================================
jobuuu 230:2c3e5ecbe7e1 661 // CONTROL LOOP --------------------------------------------------------
jobuuu 230:2c3e5ecbe7e1 662 // =====================================================================
Lightvalve 57:f4819de54e7a 663 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 664 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 665
Lightvalve 57:f4819de54e7a 666 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 667 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 668 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 669 } else {
Lightvalve 57:f4819de54e7a 670 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 671 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 672 }
Lightvalve 57:f4819de54e7a 673 // UTILITY MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 674 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 675 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 676 break;
Lightvalve 13:747daba9cf59 677 }
Lightvalve 14:8e7590227d22 678
Lightvalve 235:c831718303c9 679 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 235:c831718303c9 680 static float FORCE_pulse_sum = 0.0;
Lightvalve 235:c831718303c9 681 static float PresA_pulse_sum = 0.0;
Lightvalve 235:c831718303c9 682 static float PresB_pulse_sum = 0.0;
Lightvalve 235:c831718303c9 683
Lightvalve 13:747daba9cf59 684 // DAC Voltage reference set
Lightvalve 232:2976cf1b4252 685 float VREF_TuningGain = -0.000003f;
jobuuu 230:2c3e5ecbe7e1 686 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 5) {
jobuuu 230:2c3e5ecbe7e1 687 LED = 1;
jobuuu 230:2c3e5ecbe7e1 688 if(SENSING_MODE == 0) { // Force Sensor (Loadcell)
jobuuu 230:2c3e5ecbe7e1 689 FORCE_pulse_sum = FORCE_pulse_sum + force.sen*TORQUE_SENSOR_PULSE_PER_TORQUE;
jobuuu 230:2c3e5ecbe7e1 690 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
jobuuu 230:2c3e5ecbe7e1 691 float FORCE_pluse_mean = FORCE_pulse_sum / 10.0f;
jobuuu 230:2c3e5ecbe7e1 692 FORCE_pulse_sum = 0.0f;
Lightvalve 19:23b7c1ad8683 693
jobuuu 230:2c3e5ecbe7e1 694 FORCE_VREF += VREF_TuningGain * (0.0f - FORCE_pluse_mean);
jobuuu 230:2c3e5ecbe7e1 695 if (FORCE_VREF > 3.3f) FORCE_VREF = 3.3f;
jobuuu 230:2c3e5ecbe7e1 696 if (FORCE_VREF < 0.0f) FORCE_VREF = 0.0f;
jobuuu 230:2c3e5ecbe7e1 697 dac_1 = FORCE_VREF / 3.3f;
jobuuu 230:2c3e5ecbe7e1 698 }
Lightvalve 235:c831718303c9 699 } else if (SENSING_MODE == 1) { // Pressure Sensor
jobuuu 230:2c3e5ecbe7e1 700 PresA_pulse_sum += pres_A.sen*PRES_SENSOR_A_PULSE_PER_BAR;
jobuuu 230:2c3e5ecbe7e1 701 PresB_pulse_sum += pres_B.sen*PRES_SENSOR_B_PULSE_PER_BAR;
jobuuu 230:2c3e5ecbe7e1 702 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
jobuuu 230:2c3e5ecbe7e1 703 float PresA_pluse_mean = PresA_pulse_sum / 10.0f;
jobuuu 230:2c3e5ecbe7e1 704 float PresB_pluse_mean = PresB_pulse_sum / 10.0f;
jobuuu 230:2c3e5ecbe7e1 705 PresA_pulse_sum = 0.0f;
jobuuu 230:2c3e5ecbe7e1 706 PresB_pulse_sum = 0.0f;
Lightvalve 19:23b7c1ad8683 707
jobuuu 230:2c3e5ecbe7e1 708 PRES_A_VREF += VREF_TuningGain * (0.0f - PresA_pluse_mean);
jobuuu 230:2c3e5ecbe7e1 709 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
jobuuu 230:2c3e5ecbe7e1 710 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
jobuuu 230:2c3e5ecbe7e1 711 dac_1 = PRES_A_VREF / 3.3f;
jobuuu 230:2c3e5ecbe7e1 712 PRES_B_VREF += VREF_TuningGain * (0.0f - PresB_pluse_mean);
jobuuu 230:2c3e5ecbe7e1 713 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 235:c831718303c9 714 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
jobuuu 230:2c3e5ecbe7e1 715 dac_2 = PRES_B_VREF / 3.3f;
jobuuu 230:2c3e5ecbe7e1 716 }
Lightvalve 13:747daba9cf59 717 }
jobuuu 230:2c3e5ecbe7e1 718 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 719 } else {
jobuuu 230:2c3e5ecbe7e1 720 if(SENSING_MODE == 0 ) { // Force Sensor (Loadcell)
jobuuu 230:2c3e5ecbe7e1 721 FORCE_pulse_sum = 0.0f;
jobuuu 230:2c3e5ecbe7e1 722 dac_1 = FORCE_VREF / 3.3f;
jobuuu 230:2c3e5ecbe7e1 723 spi_eeprom_write(RID_FORCE_SENSOR_VREF, (int16_t)(FORCE_VREF * 1000.0f));
jobuuu 230:2c3e5ecbe7e1 724 } else if (SENSING_MODE == 1) {
jobuuu 230:2c3e5ecbe7e1 725 PresA_pulse_sum = 0.0f;
jobuuu 230:2c3e5ecbe7e1 726 PresB_pulse_sum = 0.0f;
jobuuu 230:2c3e5ecbe7e1 727 dac_1 = PRES_A_VREF / 3.3f;
jobuuu 230:2c3e5ecbe7e1 728 dac_2 = PRES_B_VREF / 3.3f;
jobuuu 230:2c3e5ecbe7e1 729 spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t)(PRES_A_VREF * 1000.0f));
jobuuu 230:2c3e5ecbe7e1 730 spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t)(PRES_B_VREF * 1000.0f));
jobuuu 230:2c3e5ecbe7e1 731 }
Lightvalve 58:2eade98630e2 732 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 733 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 734 }
Lightvalve 13:747daba9cf59 735 break;
Lightvalve 19:23b7c1ad8683 736 }
Lightvalve 14:8e7590227d22 737
Lightvalve 235:c831718303c9 738 case MODE_FIND_HOME: {
jobuuu 230:2c3e5ecbe7e1 739 static int cnt_findhome = 0;
jobuuu 230:2c3e5ecbe7e1 740 static int cnt_terminate_findhome = 0;
jobuuu 230:2c3e5ecbe7e1 741 static float FINDHOME_POSITION_pulse = 0.0f;
jobuuu 230:2c3e5ecbe7e1 742 static float FINDHOME_POSITION_pulse_OLD = 0.0f;
jobuuu 230:2c3e5ecbe7e1 743 static float FINDHOME_VELOCITY_pulse = 0.0f;
Lightvalve 235:c831718303c9 744 static float REF_POSITION_FINDHOME_INIT = 0.0f;
jobuuu 230:2c3e5ecbe7e1 745
Lightvalve 29:69f3f5445d6d 746 if (FINDHOME_STAGE == FINDHOME_INIT) {
jobuuu 230:2c3e5ecbe7e1 747 REFERENCE_MODE = MODE_REF_FINDHOME;
Lightvalve 14:8e7590227d22 748 cnt_findhome = 0;
jobuuu 230:2c3e5ecbe7e1 749 cnt_terminate_findhome = 0;
Lightvalve 59:f308b1656d9c 750 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 751 vel.ref = 0.0f;
jobuuu 230:2c3e5ecbe7e1 752 REF_POSITION_FINDHOME = pos.ref;
Lightvalve 29:69f3f5445d6d 753 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 754 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
jobuuu 230:2c3e5ecbe7e1 755 int cnt_check_enc = (TMR_FREQ_5k/20); // 5000/20 = 250tic = 50msec
Lightvalve 29:69f3f5445d6d 756 if(cnt_findhome%cnt_check_enc == 0) {
jobuuu 230:2c3e5ecbe7e1 757 FINDHOME_POSITION_pulse = pos.sen*ENC_PULSE_PER_POSITION;
jobuuu 230:2c3e5ecbe7e1 758 FINDHOME_VELOCITY_pulse = FINDHOME_POSITION_pulse - FINDHOME_POSITION_pulse_OLD;
jobuuu 230:2c3e5ecbe7e1 759 FINDHOME_POSITION_pulse_OLD = FINDHOME_POSITION_pulse;
Lightvalve 29:69f3f5445d6d 760 }
Lightvalve 29:69f3f5445d6d 761 cnt_findhome++;
Lightvalve 14:8e7590227d22 762
jobuuu 230:2c3e5ecbe7e1 763 if (fabs(FINDHOME_VELOCITY_pulse) <= 1) {
jobuuu 230:2c3e5ecbe7e1 764 cnt_terminate_findhome = cnt_terminate_findhome + 1;
Lightvalve 29:69f3f5445d6d 765 } else {
jobuuu 230:2c3e5ecbe7e1 766 cnt_terminate_findhome = 0;
Lightvalve 29:69f3f5445d6d 767 }
Lightvalve 19:23b7c1ad8683 768
jobuuu 230:2c3e5ecbe7e1 769 if ((cnt_terminate_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
jobuuu 230:2c3e5ecbe7e1 770 double GOTOHOME_SPEED = 10.0f; // 20mm/s or 20deg/s
hyhoon 226:82a3ca333004 771 if (HOMEPOS_OFFSET > 0) {
Lightvalve 235:c831718303c9 772 REF_POSITION_FINDHOME = REF_POSITION_FINDHOME + GOTOHOME_SPEED*DT_5k;
hyhoon 226:82a3ca333004 773 } else {
jobuuu 230:2c3e5ecbe7e1 774 REF_POSITION_FINDHOME = REF_POSITION_FINDHOME - GOTOHOME_SPEED*DT_5k;
hyhoon 226:82a3ca333004 775 }
Lightvalve 59:f308b1656d9c 776 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 777 alpha_trans = 0.0f;
Lightvalve 29:69f3f5445d6d 778 } else {
jobuuu 230:2c3e5ecbe7e1 779 ENC_SET((long)((long)HOMEPOS_OFFSET*10));
jobuuu 230:2c3e5ecbe7e1 780 REF_POSITION_FINDHOME_INIT = (float)((long)HOMEPOS_OFFSET*10);
jobuuu 230:2c3e5ecbe7e1 781 FINDHOME_POSITION_pulse = 0;
jobuuu 230:2c3e5ecbe7e1 782 FINDHOME_POSITION_pulse_OLD = 0;
jobuuu 230:2c3e5ecbe7e1 783 FINDHOME_VELOCITY_pulse = 0;
Lightvalve 235:c831718303c9 784
Lightvalve 29:69f3f5445d6d 785 cnt_findhome = 0;
jobuuu 230:2c3e5ecbe7e1 786 cnt_terminate_findhome = 0;
jobuuu 230:2c3e5ecbe7e1 787 pos.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 788 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 29:69f3f5445d6d 789 }
Lightvalve 29:69f3f5445d6d 790 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 235:c831718303c9 791
Lightvalve 232:2976cf1b4252 792 // int T_move = 2*TMR_FREQ_5k;
Lightvalve 232:2976cf1b4252 793 int T_move = 10000;
Lightvalve 232:2976cf1b4252 794 REF_POSITION_FINDHOME = ((0.0f - REF_POSITION_FINDHOME_INIT)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)REF_POSITION_FINDHOME_INIT)/ENC_PULSE_PER_POSITION;
Lightvalve 235:c831718303c9 795
Lightvalve 29:69f3f5445d6d 796 cnt_findhome++;
Lightvalve 235:c831718303c9 797
Lightvalve 232:2976cf1b4252 798 REFERENCE_MODE = MODE_REF_FINDHOME;
Lightvalve 232:2976cf1b4252 799 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 232:2976cf1b4252 800 alpha_trans = 0.0f;
Lightvalve 235:c831718303c9 801
Lightvalve 29:69f3f5445d6d 802 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 803 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 804 pos.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 805 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 806 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
jobuuu 230:2c3e5ecbe7e1 807 REFERENCE_MODE = MODE_REF_DIRECT;
hyhoon 226:82a3ca333004 808 }
Lightvalve 13:747daba9cf59 809 }
Lightvalve 13:747daba9cf59 810 break;
Lightvalve 13:747daba9cf59 811 }
Lightvalve 237:c2cfe349f5c1 812
Lightvalve 237:c2cfe349f5c1 813 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 237:c2cfe349f5c1 814 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 237:c2cfe349f5c1 815 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 237:c2cfe349f5c1 816
Lightvalve 237:c2cfe349f5c1 817 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 237:c2cfe349f5c1 818 Vout.ref = 3000.0f * sin(2.0f*3.14159f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 237:c2cfe349f5c1 819 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 237:c2cfe349f5c1 820 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 237:c2cfe349f5c1 821 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 237:c2cfe349f5c1 822 VALVE_POS_TMP = 0;
Lightvalve 237:c2cfe349f5c1 823 data_num = 0;
Lightvalve 237:c2cfe349f5c1 824 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 237:c2cfe349f5c1 825 data_num = data_num + 1;
Lightvalve 237:c2cfe349f5c1 826 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 237:c2cfe349f5c1 827 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 237:c2cfe349f5c1 828 Vout.ref = 0.0f;
Lightvalve 237:c2cfe349f5c1 829 } else {
Lightvalve 237:c2cfe349f5c1 830 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 237:c2cfe349f5c1 831 VALVE_ID_timer = 0;
Lightvalve 237:c2cfe349f5c1 832 ID_index= ID_index +1;
Lightvalve 237:c2cfe349f5c1 833 }
Lightvalve 237:c2cfe349f5c1 834
Lightvalve 237:c2cfe349f5c1 835 if(ID_index>=25) {
Lightvalve 237:c2cfe349f5c1 836 int i;
Lightvalve 237:c2cfe349f5c1 837 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 237:c2cfe349f5c1 838 for(i=0; i<25; i++) {
Lightvalve 237:c2cfe349f5c1 839 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 237:c2cfe349f5c1 840 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 237:c2cfe349f5c1 841 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 237:c2cfe349f5c1 842 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 237:c2cfe349f5c1 843 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 237:c2cfe349f5c1 844 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 237:c2cfe349f5c1 845 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 237:c2cfe349f5c1 846 }
Lightvalve 237:c2cfe349f5c1 847 }
Lightvalve 237:c2cfe349f5c1 848 VALVE_ELECTRIC_CENTER = VALVE_POS_VS_PWM[0];
Lightvalve 237:c2cfe349f5c1 849 spi_eeprom_write(RID_VALVE_ELECTRIC_CENTER, (int16_t) VALVE_ELECTRIC_CENTER);
Lightvalve 237:c2cfe349f5c1 850 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 237:c2cfe349f5c1 851 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 237:c2cfe349f5c1 852 for(int i=0; i<25; i++) {
Lightvalve 237:c2cfe349f5c1 853 spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]);
Lightvalve 237:c2cfe349f5c1 854 }
Lightvalve 237:c2cfe349f5c1 855 ID_index = 0;
Lightvalve 237:c2cfe349f5c1 856 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 857 }
Lightvalve 237:c2cfe349f5c1 858
Lightvalve 237:c2cfe349f5c1 859
Lightvalve 237:c2cfe349f5c1 860 break;
Lightvalve 237:c2cfe349f5c1 861 }
Lightvalve 237:c2cfe349f5c1 862 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 237:c2cfe349f5c1 863 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 237:c2cfe349f5c1 864 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 237:c2cfe349f5c1 865 if(first_check == 0) {
Lightvalve 237:c2cfe349f5c1 866 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 867 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 237:c2cfe349f5c1 868 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 869 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 237:c2cfe349f5c1 870 pos_plus_end = pos.sen;
Lightvalve 237:c2cfe349f5c1 871 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 872 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 237:c2cfe349f5c1 873 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 874 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 237:c2cfe349f5c1 875 pos_minus_end = pos.sen;
Lightvalve 237:c2cfe349f5c1 876 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 877 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 237:c2cfe349f5c1 878 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 879 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 237:c2cfe349f5c1 880 data_num = data_num + 1;
Lightvalve 237:c2cfe349f5c1 881 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 237:c2cfe349f5c1 882 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 883 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 237:c2cfe349f5c1 884 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 237:c2cfe349f5c1 885 START_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 886 VALVE_POS_TMP = 0;
Lightvalve 237:c2cfe349f5c1 887 data_num = 0;
Lightvalve 237:c2cfe349f5c1 888
Lightvalve 237:c2cfe349f5c1 889 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 890 valve_pos_raw.ref = DDV_POS_AVG;
Lightvalve 238:4e660aa77eb7 891 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 237:c2cfe349f5c1 892
Lightvalve 237:c2cfe349f5c1 893 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 894 valve_pos_raw.ref = DDV_POS_AVG;
Lightvalve 238:4e660aa77eb7 895 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 237:c2cfe349f5c1 896
Lightvalve 237:c2cfe349f5c1 897 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 898 valve_pos_raw.ref = DDV_POS_AVG;
Lightvalve 238:4e660aa77eb7 899 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 237:c2cfe349f5c1 900 FINAL_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 901
Lightvalve 238:4e660aa77eb7 902 if((FINAL_POS - START_POS)>1) {
Lightvalve 237:c2cfe349f5c1 903 DZ_case = 1;
Lightvalve 238:4e660aa77eb7 904 } else if((FINAL_POS - START_POS)<-1) {
Lightvalve 237:c2cfe349f5c1 905 DZ_case = -1;
Lightvalve 237:c2cfe349f5c1 906 } else {
Lightvalve 237:c2cfe349f5c1 907 DZ_case = 0;
Lightvalve 237:c2cfe349f5c1 908 }
Lightvalve 237:c2cfe349f5c1 909
Lightvalve 237:c2cfe349f5c1 910 first_check = 1;
Lightvalve 237:c2cfe349f5c1 911 DZ_DIRECTION = 1;
Lightvalve 237:c2cfe349f5c1 912 VALVE_DZ_timer = 0;
Lightvalve 237:c2cfe349f5c1 913 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 237:c2cfe349f5c1 914 DZ_NUM = 1;
Lightvalve 237:c2cfe349f5c1 915 DZ_index = 1;
Lightvalve 237:c2cfe349f5c1 916
Lightvalve 237:c2cfe349f5c1 917 }
Lightvalve 237:c2cfe349f5c1 918 } else {
Lightvalve 237:c2cfe349f5c1 919 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 237:c2cfe349f5c1 920 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 921 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 237:c2cfe349f5c1 922 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 923 START_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 924 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 925 valve_pos_raw.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 238:4e660aa77eb7 926 if(valve_pos_raw.ref <= VALVE_MIN_POS) {
Lightvalve 238:4e660aa77eb7 927 valve_pos_raw.ref = VALVE_MIN_POS;
Lightvalve 238:4e660aa77eb7 928 } else if(valve_pos_raw.ref >= VALVE_MAX_POS) {
Lightvalve 238:4e660aa77eb7 929 valve_pos_raw.ref = VALVE_MAX_POS;
Lightvalve 237:c2cfe349f5c1 930 }
Lightvalve 238:4e660aa77eb7 931 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 237:c2cfe349f5c1 932
Lightvalve 237:c2cfe349f5c1 933 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 934 Ref_Valve_Pos_Old = valve_pos_raw.ref;
Lightvalve 237:c2cfe349f5c1 935 FINAL_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 936
Lightvalve 238:4e660aa77eb7 937 if((FINAL_POS - START_POS)>1) {
Lightvalve 237:c2cfe349f5c1 938 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 238:4e660aa77eb7 939 } else if((FINAL_POS - START_POS)<-1) {
Lightvalve 237:c2cfe349f5c1 940 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 237:c2cfe349f5c1 941 } else {
Lightvalve 237:c2cfe349f5c1 942 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 237:c2cfe349f5c1 943 }
Lightvalve 237:c2cfe349f5c1 944
Lightvalve 237:c2cfe349f5c1 945 VALVE_DZ_timer = 0;
Lightvalve 237:c2cfe349f5c1 946 DZ_index= DZ_index *2;
Lightvalve 237:c2cfe349f5c1 947 if(DZ_index >= 128) {
Lightvalve 238:4e660aa77eb7 948 FIRST_DZ = valve_pos_raw.ref;
Lightvalve 237:c2cfe349f5c1 949 DZ_NUM = 2;
Lightvalve 237:c2cfe349f5c1 950 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 237:c2cfe349f5c1 951 DZ_index = 1;
Lightvalve 237:c2cfe349f5c1 952 DZ_DIRECTION = 1;
Lightvalve 237:c2cfe349f5c1 953 }
Lightvalve 237:c2cfe349f5c1 954 }
Lightvalve 237:c2cfe349f5c1 955 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 237:c2cfe349f5c1 956 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 957 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 237:c2cfe349f5c1 958 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 959 START_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 960 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 961 valve_pos_raw.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 238:4e660aa77eb7 962 if(valve_pos_raw.ref <= VALVE_MIN_POS) {
Lightvalve 238:4e660aa77eb7 963 valve_pos_raw.ref = VALVE_MIN_POS;
Lightvalve 238:4e660aa77eb7 964 } else if(valve_pos_raw.ref >= VALVE_MAX_POS) {
Lightvalve 238:4e660aa77eb7 965 valve_pos_raw.ref = VALVE_MAX_POS;
Lightvalve 237:c2cfe349f5c1 966 }
Lightvalve 238:4e660aa77eb7 967 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 237:c2cfe349f5c1 968
Lightvalve 237:c2cfe349f5c1 969 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 970 Vout.ref = 0.0f;
Lightvalve 237:c2cfe349f5c1 971 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 972 Ref_Valve_Pos_Old = valve_pos_raw.ref;
Lightvalve 237:c2cfe349f5c1 973 FINAL_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 974
Lightvalve 238:4e660aa77eb7 975 if((FINAL_POS - START_POS)>1) {
Lightvalve 237:c2cfe349f5c1 976 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 238:4e660aa77eb7 977 } else if((FINAL_POS - START_POS)<-1) {
Lightvalve 237:c2cfe349f5c1 978 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 237:c2cfe349f5c1 979 } else {
Lightvalve 237:c2cfe349f5c1 980 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 237:c2cfe349f5c1 981 }
Lightvalve 237:c2cfe349f5c1 982
Lightvalve 237:c2cfe349f5c1 983 VALVE_DZ_timer = 0;
Lightvalve 237:c2cfe349f5c1 984 DZ_index= DZ_index * 2;
Lightvalve 237:c2cfe349f5c1 985 if(DZ_index >= 128) {
Lightvalve 238:4e660aa77eb7 986 SECOND_DZ = valve_pos_raw.ref;
Lightvalve 237:c2cfe349f5c1 987 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 237:c2cfe349f5c1 988 first_check = 0;
Lightvalve 237:c2cfe349f5c1 989 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 237:c2cfe349f5c1 990 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 237:c2cfe349f5c1 991
Lightvalve 237:c2cfe349f5c1 992 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 237:c2cfe349f5c1 993 spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) VALVE_DEADZONE_PLUS);
Lightvalve 237:c2cfe349f5c1 994 spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) VALVE_DEADZONE_MINUS);
Lightvalve 237:c2cfe349f5c1 995
Lightvalve 237:c2cfe349f5c1 996 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 997 DZ_index = 1;
Lightvalve 237:c2cfe349f5c1 998 }
Lightvalve 237:c2cfe349f5c1 999 }
Lightvalve 237:c2cfe349f5c1 1000 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 237:c2cfe349f5c1 1001 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 1002 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 237:c2cfe349f5c1 1003 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 1004 START_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 1005 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 1006 valve_pos_raw.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 238:4e660aa77eb7 1007 if(valve_pos_raw.ref <= VALVE_MIN_POS) {
Lightvalve 238:4e660aa77eb7 1008 valve_pos_raw.ref = VALVE_MIN_POS;
Lightvalve 238:4e660aa77eb7 1009 } else if(valve_pos_raw.ref >= VALVE_MAX_POS) {
Lightvalve 238:4e660aa77eb7 1010 valve_pos_raw.ref = VALVE_MAX_POS;
Lightvalve 237:c2cfe349f5c1 1011 }
Lightvalve 238:4e660aa77eb7 1012 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 237:c2cfe349f5c1 1013
Lightvalve 237:c2cfe349f5c1 1014 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 1015 Ref_Valve_Pos_Old = valve_pos_raw.ref;
Lightvalve 237:c2cfe349f5c1 1016 FINAL_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 1017
Lightvalve 238:4e660aa77eb7 1018 if((FINAL_POS - START_POS)>1) {
Lightvalve 237:c2cfe349f5c1 1019 DZ_DIRECTION = 1;
Lightvalve 238:4e660aa77eb7 1020 } else if((FINAL_POS - START_POS)<-1) {
Lightvalve 237:c2cfe349f5c1 1021 DZ_DIRECTION = -1;
Lightvalve 237:c2cfe349f5c1 1022 } else {
Lightvalve 237:c2cfe349f5c1 1023 DZ_DIRECTION = 1;
Lightvalve 237:c2cfe349f5c1 1024 }
Lightvalve 237:c2cfe349f5c1 1025 VALVE_DZ_timer = 0;
Lightvalve 237:c2cfe349f5c1 1026 DZ_index= DZ_index *2;
Lightvalve 237:c2cfe349f5c1 1027 if(DZ_index >= 128) {
Lightvalve 238:4e660aa77eb7 1028 FIRST_DZ = valve_pos_raw.ref;
Lightvalve 237:c2cfe349f5c1 1029 DZ_NUM = 2;
Lightvalve 237:c2cfe349f5c1 1030 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 237:c2cfe349f5c1 1031 DZ_index = 1;
Lightvalve 237:c2cfe349f5c1 1032 DZ_DIRECTION = 1;
Lightvalve 237:c2cfe349f5c1 1033 }
Lightvalve 237:c2cfe349f5c1 1034 }
Lightvalve 237:c2cfe349f5c1 1035 } else {
Lightvalve 237:c2cfe349f5c1 1036 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 1037 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 237:c2cfe349f5c1 1038 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 1039 START_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 1040 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 1041 valve_pos_raw.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 238:4e660aa77eb7 1042 if(valve_pos_raw.ref <= VALVE_MIN_POS) {
Lightvalve 238:4e660aa77eb7 1043 valve_pos_raw.ref = VALVE_MIN_POS;
Lightvalve 238:4e660aa77eb7 1044 } else if(valve_pos_raw.ref > VALVE_MAX_POS) {
Lightvalve 238:4e660aa77eb7 1045 valve_pos_raw.ref = VALVE_MAX_POS;
Lightvalve 237:c2cfe349f5c1 1046 }
Lightvalve 238:4e660aa77eb7 1047 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 237:c2cfe349f5c1 1048
Lightvalve 237:c2cfe349f5c1 1049 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 1050 Vout.ref = 0.0f;
Lightvalve 237:c2cfe349f5c1 1051 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 1052 Ref_Valve_Pos_Old = valve_pos_raw.ref;
Lightvalve 237:c2cfe349f5c1 1053 FINAL_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 1054
Lightvalve 238:4e660aa77eb7 1055 if((FINAL_POS - START_POS)>1) {
Lightvalve 237:c2cfe349f5c1 1056 DZ_DIRECTION = -1;
Lightvalve 238:4e660aa77eb7 1057 } else if((FINAL_POS - START_POS)<-1) {
Lightvalve 237:c2cfe349f5c1 1058 DZ_DIRECTION = 1;
Lightvalve 237:c2cfe349f5c1 1059 } else {
Lightvalve 237:c2cfe349f5c1 1060 DZ_DIRECTION = 1;
Lightvalve 237:c2cfe349f5c1 1061 }
Lightvalve 237:c2cfe349f5c1 1062
Lightvalve 237:c2cfe349f5c1 1063 VALVE_DZ_timer = 0;
Lightvalve 237:c2cfe349f5c1 1064 DZ_index= DZ_index *2;
Lightvalve 237:c2cfe349f5c1 1065 if(DZ_index >= 128) {
Lightvalve 238:4e660aa77eb7 1066 SECOND_DZ = valve_pos_raw.ref;
Lightvalve 237:c2cfe349f5c1 1067 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 237:c2cfe349f5c1 1068 first_check = 0;
Lightvalve 237:c2cfe349f5c1 1069 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 237:c2cfe349f5c1 1070 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 237:c2cfe349f5c1 1071
Lightvalve 237:c2cfe349f5c1 1072 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 237:c2cfe349f5c1 1073 spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) VALVE_DEADZONE_PLUS);
Lightvalve 237:c2cfe349f5c1 1074 spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) VALVE_DEADZONE_MINUS);
Lightvalve 237:c2cfe349f5c1 1075
Lightvalve 237:c2cfe349f5c1 1076 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1077 DZ_index = 1;
Lightvalve 237:c2cfe349f5c1 1078 }
Lightvalve 237:c2cfe349f5c1 1079 }
Lightvalve 237:c2cfe349f5c1 1080 }
Lightvalve 237:c2cfe349f5c1 1081 }
Lightvalve 237:c2cfe349f5c1 1082 break;
Lightvalve 237:c2cfe349f5c1 1083 }
Lightvalve 238:4e660aa77eb7 1084
Lightvalve 237:c2cfe349f5c1 1085 case MODE_STEP_TEST: {
Lightvalve 237:c2cfe349f5c1 1086 float valve_pos_ref = 0.0f;
Lightvalve 237:c2cfe349f5c1 1087 if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 1088 valve_pos_ref = 0.0f;
Lightvalve 237:c2cfe349f5c1 1089 } else {
Lightvalve 237:c2cfe349f5c1 1090 valve_pos_ref = 10000.0f;
Lightvalve 237:c2cfe349f5c1 1091 }
Lightvalve 237:c2cfe349f5c1 1092 if(valve_pos_ref >= 0) {
Lightvalve 238:4e660aa77eb7 1093 valve_pos_raw.ref = (double)VALVE_ELECTRIC_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_ELECTRIC_CENTER)/10000.0f;
Lightvalve 237:c2cfe349f5c1 1094 } else {
Lightvalve 238:4e660aa77eb7 1095 valve_pos_raw.ref = (double)VALVE_ELECTRIC_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_ELECTRIC_CENTER)/10000.0f;
Lightvalve 237:c2cfe349f5c1 1096 }
Lightvalve 240:fb5b57e3f157 1097
Lightvalve 238:4e660aa77eb7 1098 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 240:fb5b57e3f157 1099
Lightvalve 237:c2cfe349f5c1 1100 ref_array[cnt_step_test] = valve_pos_ref;
Lightvalve 237:c2cfe349f5c1 1101 if(value>=(float) VALVE_ELECTRIC_CENTER) {
Lightvalve 237:c2cfe349f5c1 1102 pos_array[cnt_step_test] = 10000.0f*((double)value - (double)VALVE_ELECTRIC_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_ELECTRIC_CENTER);
Lightvalve 237:c2cfe349f5c1 1103 } else {
Lightvalve 237:c2cfe349f5c1 1104 pos_array[cnt_step_test] = -10000.0f*((double)value - (double)VALVE_ELECTRIC_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_ELECTRIC_CENTER);
Lightvalve 237:c2cfe349f5c1 1105 }
Lightvalve 237:c2cfe349f5c1 1106
Lightvalve 238:4e660aa77eb7 1107 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 237:c2cfe349f5c1 1108 cnt_step_test++;
Lightvalve 237:c2cfe349f5c1 1109 if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 1110 buffer_data_size = cnt_step_test;
Lightvalve 237:c2cfe349f5c1 1111 cnt_step_test = 0;
Lightvalve 237:c2cfe349f5c1 1112 cnt_send_buffer = 0;
Lightvalve 237:c2cfe349f5c1 1113 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 237:c2cfe349f5c1 1114 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1115 }
Lightvalve 237:c2cfe349f5c1 1116 // if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k))
Lightvalve 237:c2cfe349f5c1 1117 // {
Lightvalve 237:c2cfe349f5c1 1118 // CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1119 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1120 // CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve 237:c2cfe349f5c1 1121 // }
Lightvalve 237:c2cfe349f5c1 1122
Lightvalve 237:c2cfe349f5c1 1123 break;
Lightvalve 237:c2cfe349f5c1 1124 }
Lightvalve 237:c2cfe349f5c1 1125 case MODE_SEND_OVER: {
Lightvalve 237:c2cfe349f5c1 1126 CAN_TX_TORQUE((int16_t) (buffer_data_size)); //1300
Lightvalve 237:c2cfe349f5c1 1127 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1128 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1129 break;
Lightvalve 237:c2cfe349f5c1 1130 }
Lightvalve 238:4e660aa77eb7 1131
Lightvalve 237:c2cfe349f5c1 1132 case MODE_FREQ_TEST: {
Lightvalve 240:fb5b57e3f157 1133 float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR5);
Lightvalve 237:c2cfe349f5c1 1134 if(valve_pos_ref >= 0) {
Lightvalve 238:4e660aa77eb7 1135 valve_pos_raw.ref = (double)VALVE_ELECTRIC_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_ELECTRIC_CENTER)/10000.0f;
Lightvalve 237:c2cfe349f5c1 1136 } else {
Lightvalve 238:4e660aa77eb7 1137 valve_pos_raw.ref = (double)VALVE_ELECTRIC_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_ELECTRIC_CENTER)/10000.0f;
Lightvalve 237:c2cfe349f5c1 1138 }
Lightvalve 240:fb5b57e3f157 1139
Lightvalve 238:4e660aa77eb7 1140 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 240:fb5b57e3f157 1141
Lightvalve 237:c2cfe349f5c1 1142 ref_array[cnt_freq_test] = valve_pos_ref;
Lightvalve 237:c2cfe349f5c1 1143 if(value>=(float) VALVE_ELECTRIC_CENTER) {
Lightvalve 237:c2cfe349f5c1 1144 pos_array[cnt_freq_test] = 10000.0f*((double)value - (double)VALVE_ELECTRIC_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_ELECTRIC_CENTER);
Lightvalve 237:c2cfe349f5c1 1145 } else {
Lightvalve 237:c2cfe349f5c1 1146 pos_array[cnt_freq_test] = -10000.0f*((double)value - (double)VALVE_ELECTRIC_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_ELECTRIC_CENTER);
Lightvalve 237:c2cfe349f5c1 1147 }
Lightvalve 237:c2cfe349f5c1 1148
Lightvalve 238:4e660aa77eb7 1149 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 237:c2cfe349f5c1 1150 cnt_freq_test++;
Lightvalve 240:fb5b57e3f157 1151 if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR5 > 2) {
Lightvalve 237:c2cfe349f5c1 1152 buffer_data_size = cnt_freq_test;
Lightvalve 237:c2cfe349f5c1 1153 cnt_freq_test = 0;
Lightvalve 237:c2cfe349f5c1 1154 cnt_send_buffer = 0;
Lightvalve 237:c2cfe349f5c1 1155 freq_test_valve_ref = freq_test_valve_ref * 1.05f;
Lightvalve 237:c2cfe349f5c1 1156 if (freq_test_valve_ref >= 400) {
Lightvalve 237:c2cfe349f5c1 1157 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1158 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1159 CAN_TX_VOUT((int16_t) (1)); //1300
Lightvalve 237:c2cfe349f5c1 1160 }
Lightvalve 237:c2cfe349f5c1 1161 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1162 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 237:c2cfe349f5c1 1163
Lightvalve 237:c2cfe349f5c1 1164 }
Lightvalve 237:c2cfe349f5c1 1165 break;
Lightvalve 237:c2cfe349f5c1 1166 }
Lightvalve 237:c2cfe349f5c1 1167
Lightvalve 57:f4819de54e7a 1168 default:
Lightvalve 57:f4819de54e7a 1169 break;
Lightvalve 57:f4819de54e7a 1170 }
Lightvalve 57:f4819de54e7a 1171
Lightvalve 57:f4819de54e7a 1172 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 1173 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 1174 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 1175 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 1176 break;
Lightvalve 57:f4819de54e7a 1177 }
Lightvalve 57:f4819de54e7a 1178
Lightvalve 57:f4819de54e7a 1179 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 1180 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 238:4e660aa77eb7 1181 VALVE_POS_CONTROL_DZ(valve_pos.ref);
Lightvalve 59:f308b1656d9c 1182 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 1183 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 239:8ac5c6162bc1 1184 I_REF = valve_pos.ref;
Lightvalve 169:645207e160ca 1185 } else {
jobuuu 230:2c3e5ecbe7e1 1186 I_REF = valve_pos.ref * 0.001f; // Unit : pulse >> mA
jobuuu 230:2c3e5ecbe7e1 1187 float I_MAX = 10.0f; // Max : 10mA
jobuuu 230:2c3e5ecbe7e1 1188 if (I_REF > I_MAX) {
jobuuu 230:2c3e5ecbe7e1 1189 I_REF = I_MAX;
jobuuu 230:2c3e5ecbe7e1 1190 } else if (I_REF < -I_MAX) {
jobuuu 230:2c3e5ecbe7e1 1191 I_REF = -I_MAX;
jobuuu 230:2c3e5ecbe7e1 1192 }
Lightvalve 57:f4819de54e7a 1193 }
Lightvalve 57:f4819de54e7a 1194 break;
Lightvalve 57:f4819de54e7a 1195 }
Lightvalve 57:f4819de54e7a 1196
Lightvalve 235:c831718303c9 1197 case MODE_JOINT_CONTROL: {
Lightvalve 57:f4819de54e7a 1198
jobuuu 230:2c3e5ecbe7e1 1199 float temp_vel_pos = 0.0f; // desired velocity for position control
Lightvalve 235:c831718303c9 1200 float temp_vel_FT = 0.0f; // desired velocity for force/torque control
Lightvalve 235:c831718303c9 1201 float temp_vel_ff = 0.0f; // desired velocity for feedforward control
jobuuu 230:2c3e5ecbe7e1 1202 float temp_vel = 0.0f;
Lightvalve 58:2eade98630e2 1203
jobuuu 230:2c3e5ecbe7e1 1204 float wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 235:c831718303c9 1205
jobuuu 230:2c3e5ecbe7e1 1206 pos.err = pos.ref - pos.sen; // Unit : mm or deg
jobuuu 230:2c3e5ecbe7e1 1207 vel.err = vel.ref - vel.sen; // Unit : mm/s or deg/s
Lightvalve 235:c831718303c9 1208
jobuuu 230:2c3e5ecbe7e1 1209 // position control command ===============================================================================================================================================
Lightvalve 238:4e660aa77eb7 1210 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Mode
Lightvalve 235:c831718303c9 1211 temp_vel_pos = 0.1f * (P_GAIN_JOINT_POSITION * wn_Pos * pos.err) * PI / 180.0f; // rad/s
Lightvalve 235:c831718303c9 1212 // L when P-gain = 100, f_cut = 10Hz
jobuuu 230:2c3e5ecbe7e1 1213 } else {
Lightvalve 235:c831718303c9 1214 temp_vel_pos = 0.1f * (P_GAIN_JOINT_POSITION * wn_Pos * pos.err); // mm/s
Lightvalve 235:c831718303c9 1215 // L when P-gain = 100, f_cut = 10Hz
jobuuu 230:2c3e5ecbe7e1 1216 }
Lightvalve 57:f4819de54e7a 1217
jobuuu 230:2c3e5ecbe7e1 1218 // torque control command ===============================================================================================================================================
jobuuu 230:2c3e5ecbe7e1 1219 float alpha_SpringDamper = 1.0f/(1.0f+TMR_FREQ_5k/(2.0f*PI*30.0f));
Lightvalve 238:4e660aa77eb7 1220 K_LPF = (1.0f-alpha_SpringDamper) * K_LPF + alpha_SpringDamper * K_SPRING;
Lightvalve 238:4e660aa77eb7 1221 D_LPF = (1.0f-alpha_SpringDamper) * D_LPF + alpha_SpringDamper * D_DAMPER;
Lightvalve 235:c831718303c9 1222
Lightvalve 238:4e660aa77eb7 1223 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Mode
Lightvalve 238:4e660aa77eb7 1224 float torq_ref_act = torq.ref + K_LPF * pos.err + D_LPF * vel.err; // unit : Nm
jobuuu 230:2c3e5ecbe7e1 1225 torq.err = torq_ref_act - torq.sen;
jobuuu 230:2c3e5ecbe7e1 1226 torq.err_int += torq.err/((float)TMR_FREQ_5k);
Lightvalve 235:c831718303c9 1227 temp_vel_FT = 0.001f * (P_GAIN_JOINT_TORQUE * torq.err + I_GAIN_JOINT_TORQUE * torq.err_int); // Nm >> rad/s
Lightvalve 57:f4819de54e7a 1228 } else {
Lightvalve 238:4e660aa77eb7 1229 float force_ref_act = force.ref + K_LPF * pos.err + D_LPF * vel.err; // unit : N
Lightvalve 239:8ac5c6162bc1 1230 //////////////////////////////////////////////////force_reference_filter////////////////////////////////////////////////////////////////////
Lightvalve 240:fb5b57e3f157 1231 // float alpha_torque_ref = 1.0f/(1.0f+TMR_FREQ_5k/(2.0f*PI*1.0f));
Lightvalve 240:fb5b57e3f157 1232 // force_ref_filter = (1.0f-alpha_torque_ref) * force_ref_filter + alpha_torque_ref * force_ref_act;
Lightvalve 239:8ac5c6162bc1 1233 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Lightvalve 240:fb5b57e3f157 1234 force_ref_act_can = force_ref_act;
Lightvalve 240:fb5b57e3f157 1235 force.err = force_ref_act - force.sen;
jobuuu 230:2c3e5ecbe7e1 1236 force.err_int += force.err/((float)TMR_FREQ_5k);
Lightvalve 235:c831718303c9 1237 temp_vel_FT = 0.001f * (P_GAIN_JOINT_TORQUE * force.err + I_GAIN_JOINT_TORQUE * force.err_int); // N >> mm/s
jobuuu 230:2c3e5ecbe7e1 1238 }
Lightvalve 235:c831718303c9 1239
Lightvalve 235:c831718303c9 1240
Lightvalve 235:c831718303c9 1241 // velocity feedforward command ========================================================================================================================================
Lightvalve 238:4e660aa77eb7 1242 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Mode
jobuuu 230:2c3e5ecbe7e1 1243 temp_vel_ff = 0.01f * (float)VELOCITY_COMP_GAIN * vel.ref * PI / 180.0f; // rad/s
jobuuu 230:2c3e5ecbe7e1 1244 } else {
jobuuu 230:2c3e5ecbe7e1 1245 temp_vel_ff = 0.01f * (float)VELOCITY_COMP_GAIN * vel.ref; // mm/s
jobuuu 230:2c3e5ecbe7e1 1246 }
Lightvalve 169:645207e160ca 1247
Lightvalve 235:c831718303c9 1248 // command integration =================================================================================================================================================
jobuuu 230:2c3e5ecbe7e1 1249 temp_vel = (1.0f - alpha_trans) * temp_vel_pos + alpha_trans * temp_vel_FT + temp_vel_ff; // Position Control + Torque Control + Velocity Feedforward
Lightvalve 237:c2cfe349f5c1 1250
Lightvalve 235:c831718303c9 1251 float Qact = 0.0f; // required flow rate
Lightvalve 237:c2cfe349f5c1 1252 float valve_pos_pulse = 0.0f;
jobuuu 230:2c3e5ecbe7e1 1253 if( temp_vel > 0.0f ) {
jobuuu 230:2c3e5ecbe7e1 1254 Qact = temp_vel * ((float)PISTON_AREA_A * 0.00006f); // mm^3/sec >> LPM
Lightvalve 237:c2cfe349f5c1 1255 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 237:c2cfe349f5c1 1256 I_REF = tanh_inv(Qact/(K_v * sqrt(PRES_SUPPLY * alpha3 / (alpha3 + 1.0f))))/C_d;
Lightvalve 238:4e660aa77eb7 1257 // I_REF = Qact*2.0f;
Lightvalve 237:c2cfe349f5c1 1258 } else { // SW valve
Lightvalve 237:c2cfe349f5c1 1259 valve_pos_pulse = Qact / (C_d * sqrt(PRES_SUPPLY * alpha3 / (alpha3 + 1.0f)));
Lightvalve 237:c2cfe349f5c1 1260 }
jobuuu 230:2c3e5ecbe7e1 1261 } else {
jobuuu 230:2c3e5ecbe7e1 1262 Qact = temp_vel * ((float)PISTON_AREA_B * 0.00006f); // mm^3/sec >> LPM
Lightvalve 237:c2cfe349f5c1 1263 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 237:c2cfe349f5c1 1264 I_REF = tanh_inv(Qact/(K_v * sqrt(PRES_SUPPLY / (alpha3 + 1.0f))))/C_d;
Lightvalve 238:4e660aa77eb7 1265 // I_REF = Qact*2.0f;
Lightvalve 237:c2cfe349f5c1 1266 } else { // SW valve
Lightvalve 237:c2cfe349f5c1 1267 valve_pos_pulse = Qact / (C_d * sqrt(PRES_SUPPLY / (alpha3 + 1.0f)));
Lightvalve 237:c2cfe349f5c1 1268 }
jobuuu 230:2c3e5ecbe7e1 1269 }
Lightvalve 237:c2cfe349f5c1 1270
Lightvalve 237:c2cfe349f5c1 1271
Lightvalve 237:c2cfe349f5c1 1272
Lightvalve 237:c2cfe349f5c1 1273
Lightvalve 237:c2cfe349f5c1 1274 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 237:c2cfe349f5c1 1275
Lightvalve 237:c2cfe349f5c1 1276 float I_MAX = 10.0f; // Maximum Current : 10mA
Lightvalve 237:c2cfe349f5c1 1277 // Anti-windup for FT
Lightvalve 237:c2cfe349f5c1 1278 // if (I_GAIN_JOINT_TORQUE != 0.0f) {
Lightvalve 237:c2cfe349f5c1 1279 if (I_GAIN_JOINT_TORQUE > 0.001f) {
Lightvalve 237:c2cfe349f5c1 1280 float Ka = 2.0f;
Lightvalve 237:c2cfe349f5c1 1281 if (I_REF > I_MAX) {
Lightvalve 237:c2cfe349f5c1 1282 float I_rem = I_REF - I_MAX;
Lightvalve 237:c2cfe349f5c1 1283 I_REF = I_MAX;
Lightvalve 237:c2cfe349f5c1 1284 float temp_vel_rem = K_v * sqrt(PRES_SUPPLY * alpha3 / (alpha3 + 1.0f)) * tanh(C_d*I_rem) / ((double) PISTON_AREA_A * 0.00006f); // Unit : mm/s [linear] / rad/s [rotary]
Lightvalve 237:c2cfe349f5c1 1285 torq.err_int = torq.err_int - Ka * temp_vel_rem * (10000.0f/I_GAIN_JOINT_TORQUE);
Lightvalve 237:c2cfe349f5c1 1286 } else if (I_REF < -I_MAX) {
Lightvalve 237:c2cfe349f5c1 1287 double I_rem = I_REF - (-I_MAX);
Lightvalve 237:c2cfe349f5c1 1288 I_REF = -I_MAX;
Lightvalve 237:c2cfe349f5c1 1289 float temp_vel_rem = K_v * sqrt(PRES_SUPPLY / (alpha3 + 1.0f)) * tanh(C_d*I_rem) / ((double) PISTON_AREA_B * 0.00006f); // Unit : mm/s [linear] / rad/s [rotary]
Lightvalve 237:c2cfe349f5c1 1290 torq.err_int = torq.err_int - Ka * temp_vel_rem * (10000.0f/I_GAIN_JOINT_TORQUE);
Lightvalve 237:c2cfe349f5c1 1291 }
Lightvalve 237:c2cfe349f5c1 1292 } else {
Lightvalve 237:c2cfe349f5c1 1293 if(I_REF > I_MAX) {
Lightvalve 237:c2cfe349f5c1 1294 I_REF = I_MAX;
Lightvalve 237:c2cfe349f5c1 1295 } else if (I_REF < -I_MAX) {
Lightvalve 237:c2cfe349f5c1 1296 I_REF = -I_MAX;
Lightvalve 237:c2cfe349f5c1 1297 }
Lightvalve 57:f4819de54e7a 1298 }
Lightvalve 237:c2cfe349f5c1 1299 } else { //SW valve
Lightvalve 237:c2cfe349f5c1 1300 float Valve_pos_MAX = 10000.0f; // Maximum Valve Pos : 10000
Lightvalve 237:c2cfe349f5c1 1301 // Anti-windup for FT
Lightvalve 237:c2cfe349f5c1 1302 // if (I_GAIN_JOINT_TORQUE != 0.0f) {
Lightvalve 237:c2cfe349f5c1 1303 if (I_GAIN_JOINT_TORQUE > 0.001f) {
Lightvalve 237:c2cfe349f5c1 1304 float Ka = 2.0f;
Lightvalve 237:c2cfe349f5c1 1305 if (valve_pos_pulse > Valve_pos_MAX) {
Lightvalve 237:c2cfe349f5c1 1306 float valve_pos_rem = valve_pos_pulse - Valve_pos_MAX;
Lightvalve 237:c2cfe349f5c1 1307 valve_pos_pulse = Valve_pos_MAX;
Lightvalve 237:c2cfe349f5c1 1308 float temp_vel_rem = C_d * valve_pos_rem * sqrt(PRES_SUPPLY * alpha3 / (alpha3 + 1.0f)) / ((double) PISTON_AREA_A * 0.00006f); // Unit : mm/s [linear] / rad/s [rotary]
Lightvalve 237:c2cfe349f5c1 1309 torq.err_int = torq.err_int - Ka * temp_vel_rem * (10000.0f/I_GAIN_JOINT_TORQUE);
Lightvalve 237:c2cfe349f5c1 1310 } else if (valve_pos_pulse < -Valve_pos_MAX) {
Lightvalve 237:c2cfe349f5c1 1311 double valve_pos_rem = valve_pos_pulse - (-Valve_pos_MAX);
Lightvalve 237:c2cfe349f5c1 1312 valve_pos_pulse = -Valve_pos_MAX;
Lightvalve 237:c2cfe349f5c1 1313 float temp_vel_rem = C_d * valve_pos_rem * sqrt(PRES_SUPPLY / (alpha3 + 1.0f)) / ((double) PISTON_AREA_B * 0.00006f); // Unit : mm/s [linear] / rad/s [rotary]
Lightvalve 237:c2cfe349f5c1 1314 torq.err_int = torq.err_int - Ka * temp_vel_rem * (10000.0f/I_GAIN_JOINT_TORQUE);
Lightvalve 237:c2cfe349f5c1 1315 }
Lightvalve 237:c2cfe349f5c1 1316 } else {
Lightvalve 237:c2cfe349f5c1 1317 if(valve_pos_pulse > 10000.0f) {
Lightvalve 237:c2cfe349f5c1 1318 valve_pos_pulse = 10000.0f;
Lightvalve 237:c2cfe349f5c1 1319 } else if(valve_pos_pulse < -10000.0f) {
Lightvalve 237:c2cfe349f5c1 1320 valve_pos_pulse = -10000.0f;
Lightvalve 237:c2cfe349f5c1 1321 }
Lightvalve 235:c831718303c9 1322 }
Lightvalve 238:4e660aa77eb7 1323 // if (valve_pos_pulse >= 0) {
Lightvalve 238:4e660aa77eb7 1324 // valve_pos.ref = valve_pos_pulse/10000.0f * (VALVE_MAX_POS-VALVE_DEADZONE_PLUS) + VALVE_DEADZONE_PLUS;
Lightvalve 238:4e660aa77eb7 1325 // } else {
Lightvalve 238:4e660aa77eb7 1326 // valve_pos.ref = -valve_pos_pulse/10000.0f * (VALVE_MIN_POS-VALVE_DEADZONE_MINUS) + VALVE_DEADZONE_MINUS;
Lightvalve 238:4e660aa77eb7 1327 // }
Lightvalve 238:4e660aa77eb7 1328 VALVE_POS_CONTROL_DZ(valve_pos_pulse);
Lightvalve 240:fb5b57e3f157 1329 valve_pos_pulse_can = valve_pos_pulse;
Lightvalve 237:c2cfe349f5c1 1330 V_out = Vout.ref;
Lightvalve 57:f4819de54e7a 1331 }
Lightvalve 57:f4819de54e7a 1332 break;
Lightvalve 57:f4819de54e7a 1333 }
Lightvalve 58:2eade98630e2 1334
Lightvalve 57:f4819de54e7a 1335 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 1336 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1337 break;
Lightvalve 57:f4819de54e7a 1338 }
Lightvalve 169:645207e160ca 1339
jobuuu 230:2c3e5ecbe7e1 1340 // case MODE_JOINT_ADAPTIVE_BACKSTEPPING: {
jobuuu 230:2c3e5ecbe7e1 1341 //
jobuuu 230:2c3e5ecbe7e1 1342 // float Va = (1256.6f + Amm * pos.sen/(float)(ENC_PULSE_PER_POSITION)) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3
jobuuu 230:2c3e5ecbe7e1 1343 // float Vb = (1256.6f + Amm * (79.0f - pos.sen/(float)(ENC_PULSE_PER_POSITION))) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3
jobuuu 230:2c3e5ecbe7e1 1344 //
jobuuu 230:2c3e5ecbe7e1 1345 // V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f
jobuuu 230:2c3e5ecbe7e1 1346 //
jobuuu 230:2c3e5ecbe7e1 1347 // //float f3 = -Amm*Amm*beta*0.000001f*0.000001f/V_adapt * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
jobuuu 230:2c3e5ecbe7e1 1348 // float f3_hat = -a_hat * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
jobuuu 230:2c3e5ecbe7e1 1349 //
jobuuu 230:2c3e5ecbe7e1 1350 // float g3_prime = 0.0f;
jobuuu 230:2c3e5ecbe7e1 1351 // if (torq.sen > Amm*(Ps-Pt)*0.000001f) {
jobuuu 230:2c3e5ecbe7e1 1352 // g3_prime = 1.0f;
jobuuu 230:2c3e5ecbe7e1 1353 // } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) {
jobuuu 230:2c3e5ecbe7e1 1354 // g3_prime = -1.0f;
jobuuu 230:2c3e5ecbe7e1 1355 // } else {
jobuuu 230:2c3e5ecbe7e1 1356 // if ((value-VALVE_CENTER) > 0) {
jobuuu 230:2c3e5ecbe7e1 1357 // g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f);
jobuuu 230:2c3e5ecbe7e1 1358 //// g3_prime = sqrt(Ps-Pt);
jobuuu 230:2c3e5ecbe7e1 1359 // } else {
jobuuu 230:2c3e5ecbe7e1 1360 // g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f);
jobuuu 230:2c3e5ecbe7e1 1361 //// g3_prime = sqrt(Ps-Pt);
jobuuu 230:2c3e5ecbe7e1 1362 // }
jobuuu 230:2c3e5ecbe7e1 1363 // }
jobuuu 230:2c3e5ecbe7e1 1364 // float tau = 0.01f;
jobuuu 230:2c3e5ecbe7e1 1365 // float K_valve = 0.0004f;
jobuuu 230:2c3e5ecbe7e1 1366 //
jobuuu 230:2c3e5ecbe7e1 1367 // float x_v = 0.0f; //x_v : -1~1
jobuuu 230:2c3e5ecbe7e1 1368 // if(value>=VALVE_CENTER) {
jobuuu 230:2c3e5ecbe7e1 1369 // x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
jobuuu 230:2c3e5ecbe7e1 1370 // } else {
jobuuu 230:2c3e5ecbe7e1 1371 // x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
jobuuu 230:2c3e5ecbe7e1 1372 // }
jobuuu 230:2c3e5ecbe7e1 1373 // float f4 = -x_v/tau;
jobuuu 230:2c3e5ecbe7e1 1374 // float g4 = K_valve/tau;
jobuuu 230:2c3e5ecbe7e1 1375 //
jobuuu 230:2c3e5ecbe7e1 1376 // float torq_ref_dot = torq.ref_diff * 500.0f;
jobuuu 230:2c3e5ecbe7e1 1377 //
jobuuu 230:2c3e5ecbe7e1 1378 // pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
jobuuu 230:2c3e5ecbe7e1 1379 // vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
jobuuu 230:2c3e5ecbe7e1 1380 // pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
jobuuu 230:2c3e5ecbe7e1 1381 //
jobuuu 230:2c3e5ecbe7e1 1382 // torq.err = torq.ref - torq.sen; //[N]
jobuuu 230:2c3e5ecbe7e1 1383 // torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
jobuuu 230:2c3e5ecbe7e1 1384 //
jobuuu 230:2c3e5ecbe7e1 1385 // float k3 = 2000.0f; //2000 //20000
jobuuu 230:2c3e5ecbe7e1 1386 // float k4 = 10.0f;
jobuuu 230:2c3e5ecbe7e1 1387 // float rho3 = 3.2f;
jobuuu 230:2c3e5ecbe7e1 1388 // float rho4 = 10000000.0f; //25000000.0f;
jobuuu 230:2c3e5ecbe7e1 1389 // float x_4_des = (-f3_hat + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime);
jobuuu 230:2c3e5ecbe7e1 1390 // if (x_4_des > 1) x_4_des = 1;
jobuuu 230:2c3e5ecbe7e1 1391 // else if (x_4_des < -1) x_4_des = -1;
jobuuu 230:2c3e5ecbe7e1 1392 //
jobuuu 230:2c3e5ecbe7e1 1393 // if (x_4_des > 0) {
jobuuu 230:2c3e5ecbe7e1 1394 // valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER;
jobuuu 230:2c3e5ecbe7e1 1395 // } else {
jobuuu 230:2c3e5ecbe7e1 1396 // valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER;
jobuuu 230:2c3e5ecbe7e1 1397 // }
jobuuu 230:2c3e5ecbe7e1 1398 //
jobuuu 230:2c3e5ecbe7e1 1399 // float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k;
jobuuu 230:2c3e5ecbe7e1 1400 // x_4_des_old = x_4_des;
jobuuu 230:2c3e5ecbe7e1 1401 // V_out = (-f4 + x_4_des_dot - k4*(x_v-x_4_des)- rho3/rho4*gamma_hat*g3_prime*(-torq.err))/g4;
jobuuu 230:2c3e5ecbe7e1 1402 //
jobuuu 230:2c3e5ecbe7e1 1403 // float rho_a = 0.00001f;
jobuuu 230:2c3e5ecbe7e1 1404 // float a_hat_dot = -rho3/rho_a*vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f*(-torq.err);
jobuuu 230:2c3e5ecbe7e1 1405 // a_hat = a_hat + a_hat_dot / (float) TMR_FREQ_5k;
jobuuu 230:2c3e5ecbe7e1 1406 //
jobuuu 230:2c3e5ecbe7e1 1407 // if(a_hat > -3000000.0f) a_hat = -3000000.0f;
jobuuu 230:2c3e5ecbe7e1 1408 // else if(a_hat < -30000000.0f) a_hat = -30000000.0f;
jobuuu 230:2c3e5ecbe7e1 1409 //
jobuuu 230:2c3e5ecbe7e1 1410 // break;
jobuuu 230:2c3e5ecbe7e1 1411 // }
Lightvalve 171:bfc1fd2629d8 1412
Lightvalve 12:6f2531038ea4 1413 default:
Lightvalve 12:6f2531038ea4 1414 break;
Lightvalve 12:6f2531038ea4 1415 }
Lightvalve 14:8e7590227d22 1416
Lightvalve 57:f4819de54e7a 1417
Lightvalve 57:f4819de54e7a 1418 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 1419
Lightvalve 57:f4819de54e7a 1420 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1421 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 1422 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1423 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 1424 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 1425 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 1426
jobuuu 230:2c3e5ecbe7e1 1427 if (I_REF_fil > 0.0f) I_REF_fil_DZ = I_REF_fil + (double)VALVE_DEADZONE_PLUS*mA_PER_pulse; // unit: mA
jobuuu 230:2c3e5ecbe7e1 1428 else if (I_REF_fil < 0.0f) I_REF_fil_DZ = I_REF_fil + (double)VALVE_DEADZONE_MINUS*mA_PER_pulse; // unit: mA
jobuuu 230:2c3e5ecbe7e1 1429 else I_REF_fil_DZ = I_REF_fil + (double)(VALVE_DEADZONE_PLUS+VALVE_DEADZONE_MINUS)/2.0f*mA_PER_pulse; // unit: mA
Lightvalve 235:c831718303c9 1430
hyhoon 226:82a3ca333004 1431 I_ERR = I_REF_fil_DZ - (double)cur.sen;
Lightvalve 67:c2812cf26c38 1432 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 1433
Lightvalve 57:f4819de54e7a 1434
Lightvalve 57:f4819de54e7a 1435 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 1436 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 1437 double L_model = 1.2f;
Lightvalve 239:8ac5c6162bc1 1438 double w0 = 2.0f * 3.14f * 100.0f;
Lightvalve 57:f4819de54e7a 1439 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 1440 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 1441
Lightvalve 57:f4819de54e7a 1442 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 1443 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 1444 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 1445 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 1446 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 1447 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 1448 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 1449 }
Lightvalve 57:f4819de54e7a 1450
Lightvalve 57:f4819de54e7a 1451 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 1452
Lightvalve 67:c2812cf26c38 1453 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
hyhoon 226:82a3ca333004 1454 I_REF_fil_diff = I_REF_fil_DZ - I_REF_fil_old;
hyhoon 226:82a3ca333004 1455 I_REF_fil_old = I_REF_fil_DZ;
Lightvalve 67:c2812cf26c38 1456 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV
hyhoon 226:82a3ca333004 1457 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil_DZ); // Unit : mV
Lightvalve 238:4e660aa77eb7 1458 double V_MAX = VALVE_VOLTAGE_LIMIT*1000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 1459
Lightvalve 57:f4819de54e7a 1460 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 1461 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 1462 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 1463 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1464 VALVE_PWM_RAW = V_MAX;
Lightvalve 234:bd00f763acb1 1465 // I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 234:bd00f763acb1 1466 I_ERR_INT = I_ERR_INT - V_rem;
Lightvalve 57:f4819de54e7a 1467 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 1468 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 1469 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1470 VALVE_PWM_RAW = -V_MAX;
Lightvalve 234:bd00f763acb1 1471 // I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 234:bd00f763acb1 1472 I_ERR_INT = I_ERR_INT - V_rem;
Lightvalve 57:f4819de54e7a 1473 }
Lightvalve 57:f4819de54e7a 1474 } else {
Lightvalve 57:f4819de54e7a 1475 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 1476 }
Lightvalve 57:f4819de54e7a 1477
Lightvalve 57:f4819de54e7a 1478 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1479 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 1480 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1481
Lightvalve 57:f4819de54e7a 1482 // Output Voltage Linearization
hyhoon 226:82a3ca333004 1483 double CUR_PWM_nonlin = (double)VALVE_PWM_RAW; // Unit : mV
Lightvalve 67:c2812cf26c38 1484 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 1485
Lightvalve 57:f4819de54e7a 1486 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 1487 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 1488 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 1489 else V_out = (float) (CUR_PWM_lin);
Lightvalve 235:c831718303c9 1490
Lightvalve 169:645207e160ca 1491 } else { //////////////////////////sw valve
Lightvalve 224:985dba42f261 1492 // Output Voltage Linearization & Dead Zone Cancellation (Electrical dead-zone) by SW
Lightvalve 135:79885a39c161 1493 if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f;
Lightvalve 135:79885a39c161 1494 else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f;
Lightvalve 135:79885a39c161 1495 else V_out = 0.0f;
Lightvalve 89:a7b45368ea0f 1496 }
Lightvalve 169:645207e160ca 1497
jobuuu 230:2c3e5ecbe7e1 1498 ////////////////////////////////////////////////////////////////////
jobuuu 230:2c3e5ecbe7e1 1499 /////////////////// PWM Command ///////////////////////////////////
jobuuu 230:2c3e5ecbe7e1 1500 ////////////////////////////////////////////////////////////////////
Lightvalve 169:645207e160ca 1501 if(DIR_VALVE<0) {
Lightvalve 67:c2812cf26c38 1502 V_out = -V_out;
Lightvalve 67:c2812cf26c38 1503 }
Lightvalve 169:645207e160ca 1504
Lightvalve 49:e7bcfc244d40 1505 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1506 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1507 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1508 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1509 }
Lightvalve 224:985dba42f261 1510 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f);
Lightvalve 13:747daba9cf59 1511
Lightvalve 224:985dba42f261 1512 // Saturation of output voltage
Lightvalve 30:8d561f16383b 1513 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1514 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1515
Lightvalve 30:8d561f16383b 1516 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1517 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1518 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1519 } else {
jobuuu 2:a1c0a37df760 1520 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1521 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1522 }
Lightvalve 13:747daba9cf59 1523
jobuuu 1:e04e563be5ce 1524 //pwm
Lightvalve 30:8d561f16383b 1525 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1526 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 1527
jobuuu 230:2c3e5ecbe7e1 1528 ////////////////////////////////////////////////////////////////////////////
jobuuu 230:2c3e5ecbe7e1 1529 ////////////////////// Data transmission through CAN //////////////////////
Lightvalve 235:c831718303c9 1530 ////////////////////////////////////////////////////////////////////////////
Lightvalve 235:c831718303c9 1531
hyhoon 226:82a3ca333004 1532 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 235:c831718303c9 1533
hyhoon 226:82a3ca333004 1534 // Position, Velocity, and Torque (ID:1200)
hyhoon 226:82a3ca333004 1535 if (flag_data_request[0] == HIGH) {
Lightvalve 237:c2cfe349f5c1 1536
hyhoon 226:82a3ca333004 1537 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 232:2976cf1b4252 1538 CAN_TX_POSITION_FT((int16_t) (pos.sen*200.0f), (int16_t) (vel.sen*20.0f), (int16_t) (torq.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
Lightvalve 235:c831718303c9 1539 // CAN_TX_POSITION_FT((int16_t) (PRES_B_VREF*10.0f*200.0f), (int16_t) (vel.sen*20.0f), (int16_t) (pres_B.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
Lightvalve 235:c831718303c9 1540
hyhoon 226:82a3ca333004 1541 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 232:2976cf1b4252 1542 CAN_TX_POSITION_FT((int16_t) (pos.sen*200.0f), (int16_t) (vel.sen*20.0f), (int16_t) (force.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
Lightvalve 240:fb5b57e3f157 1543 // CAN_TX_POSITION_FT((int16_t) (force.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f), (int16_t) (vel.sen*20.0f), (int16_t) (((float)ADC1->DR)));
hyhoon 226:82a3ca333004 1544 }
hyhoon 226:82a3ca333004 1545 }
hyhoon 226:82a3ca333004 1546
jobuuu 230:2c3e5ecbe7e1 1547 // Valve Position (ID:1300)
Lightvalve 56:6f50d9d3bfee 1548 if (flag_data_request[1] == HIGH) {
Lightvalve 239:8ac5c6162bc1 1549 CAN_TX_PWM((int16_t)(cur.sen/mA_PER_pulse));
Lightvalve 240:fb5b57e3f157 1550 // CAN_TX_PWM((int16_t)(TORQUE_SENSOR_PULSE_PER_TORQUE*10000.0f));
Lightvalve 54:647072f5307a 1551 }
Lightvalve 58:2eade98630e2 1552
jobuuu 230:2c3e5ecbe7e1 1553 // Others : Pressure A, B, Supply Pressure, etc. (for Debugging) (ID:1400)
Lightvalve 171:bfc1fd2629d8 1554 if (flag_data_request[2] == HIGH) {
Lightvalve 237:c2cfe349f5c1 1555 float valve_pos_can = 0.0f;
Lightvalve 237:c2cfe349f5c1 1556 if(value >= VALVE_ELECTRIC_CENTER) {
Lightvalve 237:c2cfe349f5c1 1557 valve_pos_can = 10000.0f*((float)value-(float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MAX_POS-(float)VALVE_ELECTRIC_CENTER);
Lightvalve 237:c2cfe349f5c1 1558 } else {
Lightvalve 237:c2cfe349f5c1 1559 valve_pos_can = -10000.0f*((float)value -(float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MIN_POS-(float)VALVE_ELECTRIC_CENTER);
Lightvalve 237:c2cfe349f5c1 1560 }
Lightvalve 237:c2cfe349f5c1 1561 float valve_pos_ref_can = 0.0f;
Lightvalve 237:c2cfe349f5c1 1562 if(valve_pos.ref >= VALVE_ELECTRIC_CENTER) {
Lightvalve 237:c2cfe349f5c1 1563 valve_pos_ref_can = 10000.0f*((float)valve_pos.ref-(float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MAX_POS-(float)VALVE_ELECTRIC_CENTER);
Lightvalve 237:c2cfe349f5c1 1564 } else {
Lightvalve 237:c2cfe349f5c1 1565 valve_pos_ref_can = -10000.0f*((float)valve_pos.ref -(float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MIN_POS-(float)VALVE_ELECTRIC_CENTER);
Lightvalve 237:c2cfe349f5c1 1566 }
Lightvalve 238:4e660aa77eb7 1567
Lightvalve 238:4e660aa77eb7 1568 valve_pos_ref_can = (float)valve_pos.ref;
Lightvalve 238:4e660aa77eb7 1569
Lightvalve 240:fb5b57e3f157 1570 CAN_TX_CURRENT((int16_t) valve_pos_can, (int16_t) valve_pos_pulse_can);
Lightvalve 54:647072f5307a 1571 }
Lightvalve 20:806196fda269 1572
Lightvalve 54:647072f5307a 1573 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1574 }
Lightvalve 54:647072f5307a 1575 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 1576
Lightvalve 20:806196fda269 1577 }
Lightvalve 240:fb5b57e3f157 1578 TIM2->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1579
Lightvalve 58:2eade98630e2 1580 }