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2011
function_utilities/function_utilities.cpp@236:fd7961dfa78a, 2021-06-25 (annotated)
- Committer:
- Lightvalve
- Date:
- Fri Jun 25 12:21:04 2021 +0000
- Revision:
- 236:fd7961dfa78a
- Parent:
- 232:2976cf1b4252
- Child:
- 237:c2cfe349f5c1
210625
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Lightvalve | 11:82d8768d7351 | 1 | #include "setting.h" |
Lightvalve | 11:82d8768d7351 | 2 | #include "SPI_EEP_ENC.h" |
Lightvalve | 11:82d8768d7351 | 3 | #include "function_utilities.h" |
Lightvalve | 14:8e7590227d22 | 4 | #include "function_CAN.h" |
Lightvalve | 16:903b5a4433b4 | 5 | #include "stm32f4xx_flash.h" |
Lightvalve | 16:903b5a4433b4 | 6 | #include "FlashWriter.h" |
Lightvalve | 16:903b5a4433b4 | 7 | |
Lightvalve | 11:82d8768d7351 | 8 | /******************************************************************************* |
Lightvalve | 11:82d8768d7351 | 9 | * VARIABLE |
Lightvalve | 11:82d8768d7351 | 10 | ******************************************************************************/ |
Lightvalve | 11:82d8768d7351 | 11 | |
Lightvalve | 34:bb2ca2fc2a8e | 12 | // Board Information |
Lightvalve | 11:82d8768d7351 | 13 | uint8_t BNO = 0; |
Lightvalve | 11:82d8768d7351 | 14 | uint8_t CONTROL_MODE = 0; |
Lightvalve | 57:f4819de54e7a | 15 | uint8_t OPERATING_MODE = 0; // (00 : Moog & Rot, 01 : Moog & Lin, 10 : KNR & Rot, 11 : KNR & Lin, 101 : SW & Lin) |
Lightvalve | 52:8ea76864368a | 16 | uint8_t SENSING_MODE = 0; // (0 : torque, 1: pressure) |
jobuuu | 230:2c3e5ecbe7e1 | 17 | uint8_t SUPPLY_PRESSURE_UPDATE = 0; // (0 : Update Off (constant Ps) , 1 : Update On (variable Ps)) |
jobuuu | 230:2c3e5ecbe7e1 | 18 | |
Lightvalve | 57:f4819de54e7a | 19 | uint8_t CONTROL_UTILITY_MODE = 0; |
Lightvalve | 52:8ea76864368a | 20 | uint8_t CURRENT_CONTROL_MODE = 0; // (0 : pwm, 1 : current control) |
Lightvalve | 52:8ea76864368a | 21 | uint8_t FLAG_VALVE_DEADZONE = 0; |
hyhoon | 227:699c3e572283 | 22 | uint8_t REFERENCE_MODE = 1; |
Lightvalve | 54:647072f5307a | 23 | int16_t CAN_FREQ = 500; |
Lightvalve | 17:1865016ca2e7 | 24 | int16_t DIR_JOINT_ENC = 0; |
Lightvalve | 17:1865016ca2e7 | 25 | int16_t DIR_VALVE = 0; |
Lightvalve | 17:1865016ca2e7 | 26 | int16_t DIR_VALVE_ENC = 0; |
Lightvalve | 11:82d8768d7351 | 27 | |
Lightvalve | 49:e7bcfc244d40 | 28 | float SUPPLY_VOLTAGE = 12.0f; |
Lightvalve | 49:e7bcfc244d40 | 29 | float VALVE_VOLTAGE_LIMIT = 12.0f; //v |
Lightvalve | 11:82d8768d7351 | 30 | |
Lightvalve | 30:8d561f16383b | 31 | float P_GAIN_VALVE_POSITION = 0.0f; |
Lightvalve | 30:8d561f16383b | 32 | float I_GAIN_VALVE_POSITION= 0.0f; |
Lightvalve | 30:8d561f16383b | 33 | float D_GAIN_VALVE_POSITION= 0.0f; |
Lightvalve | 30:8d561f16383b | 34 | float P_GAIN_JOINT_POSITION = 0.0f; |
Lightvalve | 30:8d561f16383b | 35 | float I_GAIN_JOINT_POSITION = 0.0f; |
Lightvalve | 30:8d561f16383b | 36 | float D_GAIN_JOINT_POSITION = 0.0f; |
Lightvalve | 30:8d561f16383b | 37 | float P_GAIN_JOINT_TORQUE = 0.0f; |
Lightvalve | 72:3436ce769b1e | 38 | float I_GAIN_JOINT_TORQUE = 0.0f; |
Lightvalve | 72:3436ce769b1e | 39 | float D_GAIN_JOINT_TORQUE = 0.0f; |
Lightvalve | 72:3436ce769b1e | 40 | float P_GAIN_JOINT_TORQUE_FF = 0.0f; |
Lightvalve | 72:3436ce769b1e | 41 | float I_GAIN_JOINT_TORQUE_FF = 0.0f; |
Lightvalve | 72:3436ce769b1e | 42 | float D_GAIN_JOINT_TORQUE_FF = 0.0f; |
Lightvalve | 11:82d8768d7351 | 43 | |
Lightvalve | 46:2694daea349b | 44 | int16_t K_SPRING = 0.0; |
Lightvalve | 46:2694daea349b | 45 | int16_t D_DAMPER = 0.0; |
Lightvalve | 72:3436ce769b1e | 46 | |
Lightvalve | 54:647072f5307a | 47 | int16_t flag_delay_test = 0; |
Lightvalve | 46:2694daea349b | 48 | |
Lightvalve | 36:a46e63505ed8 | 49 | //float P_GAIN_VALVE_POSITION_OPP = 0.0f; |
Lightvalve | 36:a46e63505ed8 | 50 | //float I_GAIN_VALVE_POSITION_OPP= 0.0f; |
Lightvalve | 36:a46e63505ed8 | 51 | //float D_GAIN_VALVE_POSITION_OPP= 0.0f; |
Lightvalve | 36:a46e63505ed8 | 52 | //float P_GAIN_JOINT_POSITION_OPP = 0.0f; |
Lightvalve | 36:a46e63505ed8 | 53 | //float I_GAIN_JOINT_POSITION_OPP = 0.0f; |
Lightvalve | 36:a46e63505ed8 | 54 | //float D_GAIN_JOINT_POSITION_OPP = 0.0f; |
Lightvalve | 36:a46e63505ed8 | 55 | //float P_GAIN_JOINT_TORQUE_OPP = 0.0f; |
Lightvalve | 36:a46e63505ed8 | 56 | //float I_GAIN_JOINT_TORQUE_OPP = 0.0; |
Lightvalve | 36:a46e63505ed8 | 57 | //float D_GAIN_JOINT_TORQUE_OPP = 0.0; |
Lightvalve | 36:a46e63505ed8 | 58 | |
hyhoon | 226:82a3ca333004 | 59 | int16_t VALVE_DEADZONE_PLUS; |
hyhoon | 226:82a3ca333004 | 60 | int16_t VALVE_DEADZONE_MINUS; |
Lightvalve | 11:82d8768d7351 | 61 | |
Lightvalve | 11:82d8768d7351 | 62 | int16_t VELOCITY_COMP_GAIN; |
Lightvalve | 11:82d8768d7351 | 63 | int16_t COMPLIANCE_GAIN; |
Lightvalve | 11:82d8768d7351 | 64 | |
Lightvalve | 11:82d8768d7351 | 65 | int16_t VALVE_CENTER; |
Lightvalve | 11:82d8768d7351 | 66 | |
Lightvalve | 11:82d8768d7351 | 67 | int16_t VALVE_FF; |
Lightvalve | 11:82d8768d7351 | 68 | |
Lightvalve | 11:82d8768d7351 | 69 | int16_t BULK_MODULUS; |
Lightvalve | 11:82d8768d7351 | 70 | |
Lightvalve | 11:82d8768d7351 | 71 | int16_t CHAMBER_VOLUME_A; |
Lightvalve | 11:82d8768d7351 | 72 | int16_t CHAMBER_VOLUME_B; |
Lightvalve | 11:82d8768d7351 | 73 | |
Lightvalve | 11:82d8768d7351 | 74 | int16_t PISTON_AREA_A; |
Lightvalve | 11:82d8768d7351 | 75 | int16_t PISTON_AREA_B; |
Lightvalve | 30:8d561f16383b | 76 | float PISTON_AREA_alpha; |
Lightvalve | 57:f4819de54e7a | 77 | float alpha3 = 1.0f; |
Lightvalve | 11:82d8768d7351 | 78 | |
jobuuu | 230:2c3e5ecbe7e1 | 79 | float PRES_SUPPLY_NOM = 70.0f; |
jobuuu | 230:2c3e5ecbe7e1 | 80 | float PRES_SUPPLY = 70.0f; |
Lightvalve | 11:82d8768d7351 | 81 | |
Lightvalve | 11:82d8768d7351 | 82 | int16_t ENC_LIMIT_PLUS; |
Lightvalve | 11:82d8768d7351 | 83 | int16_t ENC_LIMIT_MINUS; |
Lightvalve | 11:82d8768d7351 | 84 | |
Lightvalve | 11:82d8768d7351 | 85 | int16_t STROKE; |
Lightvalve | 11:82d8768d7351 | 86 | |
Lightvalve | 133:22ab22818e01 | 87 | float Amm = 236.4f; |
Lightvalve | 133:22ab22818e01 | 88 | float beta = 1300000000.0f; |
Lightvalve | 133:22ab22818e01 | 89 | float Ps = 10000000.0f; //100bar = 100*10^5 Pa |
Lightvalve | 133:22ab22818e01 | 90 | float Pt = 0.0f; // 0bar = 0Pa |
Lightvalve | 133:22ab22818e01 | 91 | //float Kv = 0.00000002635f; // Q = Kv*xv*sqrt(Ps-Pa) => 100bar full opening 5LPM (full opening : xv = 1) [unit] m^3.5/kg^0.5 |
Lightvalve | 133:22ab22818e01 | 92 | float gamma_hat = 1075.0f; // Kv*beta*A/(sqrt(2)*V) 0.00000002635f * 1300000000.0f * / (sqrt(2.0f)*(1256.6f + 236.4f * 39.75f) * 0.000000001f / 2) [unit] m^3.5/kg^0.5 |
Lightvalve | 218:066030f7951f | 93 | float a_hat = -13707631.7f; |
Lightvalve | 170:42c938a40313 | 94 | float V_adapt = 0.0000053f; // (1256.6f + 236.4f * 39.75f) * 0.000000001f / 2 |
Lightvalve | 133:22ab22818e01 | 95 | float x_4_des_old = 0.0f; |
Lightvalve | 11:82d8768d7351 | 96 | |
Lightvalve | 57:f4819de54e7a | 97 | //int16_t VALVE_LIMIT_PLUS; |
Lightvalve | 57:f4819de54e7a | 98 | //int16_t VALVE_LIMIT_MINUS; |
Lightvalve | 11:82d8768d7351 | 99 | |
jobuuu | 230:2c3e5ecbe7e1 | 100 | float ENC_PULSE_PER_POSITION = 1.0f; |
jobuuu | 230:2c3e5ecbe7e1 | 101 | float TORQUE_SENSOR_PULSE_PER_TORQUE = 1.0f; |
Lightvalve | 30:8d561f16383b | 102 | float PRES_SENSOR_A_PULSE_PER_BAR = 4096.0f / 200.0f; |
Lightvalve | 30:8d561f16383b | 103 | float PRES_SENSOR_B_PULSE_PER_BAR = 4096.0f / 200.0f; |
Lightvalve | 11:82d8768d7351 | 104 | |
hyhoon | 226:82a3ca333004 | 105 | int16_t HOMEPOS_OFFSET; |
Lightvalve | 11:82d8768d7351 | 106 | int HOMEPOS_VALVE_OPENING; |
Lightvalve | 11:82d8768d7351 | 107 | |
Lightvalve | 30:8d561f16383b | 108 | float FRICTION; |
Lightvalve | 30:8d561f16383b | 109 | float REF_PERIOD; |
Lightvalve | 30:8d561f16383b | 110 | float REF_MAG; |
Lightvalve | 11:82d8768d7351 | 111 | int REF_NUM; |
Lightvalve | 11:82d8768d7351 | 112 | |
Lightvalve | 11:82d8768d7351 | 113 | |
Lightvalve | 30:8d561f16383b | 114 | float DAC_REF; |
Lightvalve | 30:8d561f16383b | 115 | float DAC_RESOL; |
Lightvalve | 11:82d8768d7351 | 116 | |
jobuuu | 230:2c3e5ecbe7e1 | 117 | float REF_FORCE = 0.0; |
jobuuu | 230:2c3e5ecbe7e1 | 118 | float REF_TORQUE = 0.0; |
jobuuu | 230:2c3e5ecbe7e1 | 119 | float REF_POSITION = 0.0; |
jobuuu | 230:2c3e5ecbe7e1 | 120 | float REF_VELOCITY = 0.0; |
jobuuu | 230:2c3e5ecbe7e1 | 121 | |
jobuuu | 230:2c3e5ecbe7e1 | 122 | float REF_POSITION_FINDHOME = 0.0; |
jobuuu | 230:2c3e5ecbe7e1 | 123 | |
Lightvalve | 11:82d8768d7351 | 124 | int16_t REF_PWM; |
Lightvalve | 11:82d8768d7351 | 125 | int16_t REF_VALVE_POSITION; |
Lightvalve | 14:8e7590227d22 | 126 | int16_t REF_CURRENT; |
Lightvalve | 11:82d8768d7351 | 127 | |
Lightvalve | 11:82d8768d7351 | 128 | int REF_MOVE_TIME_5k; |
Lightvalve | 11:82d8768d7351 | 129 | int INIT_REF_PWM; |
Lightvalve | 11:82d8768d7351 | 130 | int INIT_REF_VALVE_POS; |
Lightvalve | 11:82d8768d7351 | 131 | int INIT_REF_VEL; |
Lightvalve | 11:82d8768d7351 | 132 | int INIT_REF_TORQUE; |
Lightvalve | 11:82d8768d7351 | 133 | int INIT_REF_PRES_DIFF; |
Lightvalve | 14:8e7590227d22 | 134 | int INIT_REF_CURRENT; |
Lightvalve | 11:82d8768d7351 | 135 | |
Lightvalve | 11:82d8768d7351 | 136 | unsigned int TMR2_COUNT_LED1; |
Lightvalve | 11:82d8768d7351 | 137 | unsigned int TMR2_COUNT_LED2; |
Lightvalve | 54:647072f5307a | 138 | unsigned int TMR2_COUNT_CAN_TX = 0; |
Lightvalve | 54:647072f5307a | 139 | unsigned int TMR3_COUNT_TEST = 0; |
Lightvalve | 11:82d8768d7351 | 140 | |
Lightvalve | 11:82d8768d7351 | 141 | int num_err; |
Lightvalve | 11:82d8768d7351 | 142 | int flag_err[8]; |
Lightvalve | 11:82d8768d7351 | 143 | int flag_err_old[8]; |
Lightvalve | 11:82d8768d7351 | 144 | int flag_err_rt; |
Lightvalve | 11:82d8768d7351 | 145 | |
Lightvalve | 11:82d8768d7351 | 146 | int flag_ref_enable; |
Lightvalve | 11:82d8768d7351 | 147 | |
Lightvalve | 11:82d8768d7351 | 148 | int flag_data_request[5]; |
Lightvalve | 11:82d8768d7351 | 149 | |
Lightvalve | 45:35fa6884d0c6 | 150 | int MODE_POS_FT_TRANS = 0; |
Lightvalve | 66:a8e6799dbce3 | 151 | int NN_Control_Flag = 0; |
Lightvalve | 45:35fa6884d0c6 | 152 | |
Lightvalve | 169:645207e160ca | 153 | int cnt_buffer = 0; |
Lightvalve | 169:645207e160ca | 154 | |
Lightvalve | 57:f4819de54e7a | 155 | float CUR_CURRENT_mA = 0.0f; |
Lightvalve | 57:f4819de54e7a | 156 | float CUR_TORQUE_NM = 0.0f; |
Lightvalve | 57:f4819de54e7a | 157 | float CUR_TORQUE_NM_PRESS = 0.0f; |
Lightvalve | 11:82d8768d7351 | 158 | |
jobuuu | 230:2c3e5ecbe7e1 | 159 | float FORCE_VREF = 0.0f; |
Lightvalve | 57:f4819de54e7a | 160 | float PRES_A_VREF = 0.0f; |
Lightvalve | 57:f4819de54e7a | 161 | float PRES_B_VREF = 0.0f; |
Lightvalve | 11:82d8768d7351 | 162 | |
Lightvalve | 57:f4819de54e7a | 163 | float VALVE_PWM_RAW_FB = 0.0f; |
Lightvalve | 57:f4819de54e7a | 164 | float VALVE_PWM_RAW_FF = 0.0f; |
Lightvalve | 57:f4819de54e7a | 165 | float VALVE_PWM_RAW = 0.0f; |
Lightvalve | 57:f4819de54e7a | 166 | int VALVE_PWM_VALVE_DZ = 0; |
Lightvalve | 11:82d8768d7351 | 167 | |
Lightvalve | 30:8d561f16383b | 168 | float VALVE_GAIN_LPM_PER_V[10]; |
Lightvalve | 30:8d561f16383b | 169 | float VALVE_POS_VS_PWM[25]; |
Lightvalve | 11:82d8768d7351 | 170 | long JOINT_VEL[100]; |
Lightvalve | 11:82d8768d7351 | 171 | |
Lightvalve | 11:82d8768d7351 | 172 | int VALVE_MAX_POS; |
Lightvalve | 11:82d8768d7351 | 173 | int VALVE_MIN_POS; |
Lightvalve | 11:82d8768d7351 | 174 | int VALVE_POS_NUM; |
Lightvalve | 32:4b8c0fedaf2c | 175 | float VALVE_CENTER_OFFSET; |
Lightvalve | 33:91b17819ec30 | 176 | float VALVE_DZ_MINUS_OFFSET; |
Lightvalve | 33:91b17819ec30 | 177 | float VALVE_DZ_PLUS_OFFSET; |
Lightvalve | 11:82d8768d7351 | 178 | |
Lightvalve | 57:f4819de54e7a | 179 | int TMR3_COUNT_FINDHOME = 0; |
Lightvalve | 57:f4819de54e7a | 180 | int TMR3_COUNT_FLOWRATE = 0; |
Lightvalve | 57:f4819de54e7a | 181 | int TMR3_COUNT_DEADZONE = 0; |
Lightvalve | 57:f4819de54e7a | 182 | int TMR3_COUNT_PRES_NULL = 0; |
Lightvalve | 57:f4819de54e7a | 183 | int TMR3_COUNT_TORQUE_NULL = 0; |
Lightvalve | 57:f4819de54e7a | 184 | int TMR3_COUNT_PRES_CALIB = 0; |
Lightvalve | 57:f4819de54e7a | 185 | int TMR3_COUNT_REFERENCE = 0; |
Lightvalve | 57:f4819de54e7a | 186 | int TMR3_COUNT_JOINT = 0; |
Lightvalve | 57:f4819de54e7a | 187 | int TMR3_COUNT_ROTARY_FRIC_TUNE = 0; |
Lightvalve | 11:82d8768d7351 | 188 | |
Lightvalve | 57:f4819de54e7a | 189 | float TUNING_TIME = 600.0f; // sec |
Lightvalve | 56:6f50d9d3bfee | 190 | |
Lightvalve | 57:f4819de54e7a | 191 | float REFERENCE_FREQ = 1.0f; |
Lightvalve | 57:f4819de54e7a | 192 | float REFERENCE_MAG = 0.0f; |
Lightvalve | 11:82d8768d7351 | 193 | |
Lightvalve | 11:82d8768d7351 | 194 | bool FLAG_FIND_HOME; |
Lightvalve | 11:82d8768d7351 | 195 | |
Lightvalve | 11:82d8768d7351 | 196 | int MODE_JUMP_STATUS; |
Lightvalve | 11:82d8768d7351 | 197 | enum _JUMP_STATUS { |
Lightvalve | 11:82d8768d7351 | 198 | JUMP_NO_ACT = 0, //0 |
Lightvalve | 11:82d8768d7351 | 199 | JUMP_START, //1 |
Lightvalve | 11:82d8768d7351 | 200 | JUMP_TAKEOFF, //2 |
Lightvalve | 11:82d8768d7351 | 201 | JUMP_FLYING, //3 |
Lightvalve | 11:82d8768d7351 | 202 | JUMP_LANDING, //4 |
Lightvalve | 11:82d8768d7351 | 203 | }; |
Lightvalve | 11:82d8768d7351 | 204 | |
jobuuu | 230:2c3e5ecbe7e1 | 205 | |
jobuuu | 230:2c3e5ecbe7e1 | 206 | float PRES_A_NULL_pulse = 300.0f; |
jobuuu | 230:2c3e5ecbe7e1 | 207 | float PRES_B_NULL_pulse = 300.0f; |
jobuuu | 230:2c3e5ecbe7e1 | 208 | float FORCE_NULL_pulse = 3900.0f; |
Lightvalve | 11:82d8768d7351 | 209 | |
Lightvalve | 30:8d561f16383b | 210 | float Ref_Valve_Pos_Old = 0.0f; |
Lightvalve | 11:82d8768d7351 | 211 | |
Lightvalve | 13:747daba9cf59 | 212 | int VALVE_ID_timer = 0; |
Lightvalve | 13:747daba9cf59 | 213 | int VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 214 | int VALVE_FR_timer = 0; |
Lightvalve | 35:34ce7b0347b8 | 215 | //int VALVE_HPL_timer = 0; |
Lightvalve | 13:747daba9cf59 | 216 | int VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 217 | int JOINT_VEL_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 218 | int DDV_POS_AVG = 0; |
Lightvalve | 19:23b7c1ad8683 | 219 | int VALVE_POS_AVG[50] = {0}; |
Lightvalve | 13:747daba9cf59 | 220 | int VALVE_POS_AVG_OLD = 0; |
Lightvalve | 13:747daba9cf59 | 221 | int data_num = 0; |
Lightvalve | 13:747daba9cf59 | 222 | int ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 223 | int DZ_index = 1; |
Lightvalve | 19:23b7c1ad8683 | 224 | int ID_index_array[50] = {0}; |
Lightvalve | 13:747daba9cf59 | 225 | int first_check = 0; |
Lightvalve | 30:8d561f16383b | 226 | float init_time = 0.0f; |
Lightvalve | 13:747daba9cf59 | 227 | int DZ_case = 0; |
Lightvalve | 13:747daba9cf59 | 228 | int START_POS = 0; |
Lightvalve | 13:747daba9cf59 | 229 | int FINAL_POS = 0; |
Lightvalve | 13:747daba9cf59 | 230 | int DZ_DIRECTION = 0; |
Lightvalve | 13:747daba9cf59 | 231 | int FIRST_DZ = 0; |
Lightvalve | 13:747daba9cf59 | 232 | int SECOND_DZ = 0; |
Lightvalve | 13:747daba9cf59 | 233 | int DZ_NUM = 0; |
Lightvalve | 13:747daba9cf59 | 234 | int one_period_end = 0; |
Lightvalve | 30:8d561f16383b | 235 | float Ref_Vel_Test = 0.0f; |
Lightvalve | 13:747daba9cf59 | 236 | long TMR2_FOR_SLOW_LOGGING = 0; |
Lightvalve | 13:747daba9cf59 | 237 | char max_check = 0; |
Lightvalve | 34:bb2ca2fc2a8e | 238 | char min_check = 0; |
Lightvalve | 13:747daba9cf59 | 239 | |
Lightvalve | 30:8d561f16383b | 240 | float valve_pos_err = 0.0f, valve_pos_err_old = 0.0f, valve_pos_err_diff = 0.0f, valve_pos_err_sum = 0.0f; |
Lightvalve | 30:8d561f16383b | 241 | float joint_pos_err = 0.0f, joint_pos_err_old = 0.0f, joint_pos_err_diff = 0.0f, joint_pos_err_diff_fil = 0.0f, joint_pos_err_sum = 0.0f; |
Lightvalve | 30:8d561f16383b | 242 | float joint_torq_err = 0.0f, joint_torq_err_old = 0.0f, joint_torq_err_diff = 0.0f, joint_torq_err_sum = 0.0f; |
Lightvalve | 30:8d561f16383b | 243 | float VALVE_PWM_RAW_POS = 0.0f, VALVE_PWM_RAW_TORQ = 0.0f; |
Lightvalve | 13:747daba9cf59 | 244 | |
Lightvalve | 30:8d561f16383b | 245 | float CUR_FLOWRATE = 0.0f; |
Lightvalve | 30:8d561f16383b | 246 | float VALVE_FF_VOLTAGE = 0.0f; |
Lightvalve | 13:747daba9cf59 | 247 | |
Lightvalve | 13:747daba9cf59 | 248 | int pos_plus_end = 0; |
Lightvalve | 13:747daba9cf59 | 249 | int pos_minus_end = 0; |
Lightvalve | 13:747daba9cf59 | 250 | |
Lightvalve | 13:747daba9cf59 | 251 | bool need_enc_init = false; |
Lightvalve | 13:747daba9cf59 | 252 | |
Lightvalve | 13:747daba9cf59 | 253 | int temp_time = 0; |
Lightvalve | 13:747daba9cf59 | 254 | |
Lightvalve | 30:8d561f16383b | 255 | float CUR_VELOCITY_sum = 0.0f; |
Lightvalve | 30:8d561f16383b | 256 | float temp_vel_sum = 0.0f; |
Lightvalve | 13:747daba9cf59 | 257 | |
Lightvalve | 13:747daba9cf59 | 258 | int DZ_dir = 0; |
Lightvalve | 13:747daba9cf59 | 259 | int DZ_temp_cnt = 0; |
Lightvalve | 13:747daba9cf59 | 260 | int DZ_temp_cnt2 = 0; |
Lightvalve | 13:747daba9cf59 | 261 | int DZ_end = 2; |
Lightvalve | 13:747daba9cf59 | 262 | int flag_flowrate = 0; |
Lightvalve | 13:747daba9cf59 | 263 | int fl_temp_cnt = 0; |
Lightvalve | 13:747daba9cf59 | 264 | int fl_temp_cnt2 = 0; |
Lightvalve | 13:747daba9cf59 | 265 | int cur_vel_sum = 0; |
Lightvalve | 13:747daba9cf59 | 266 | |
hyhoon | 227:699c3e572283 | 267 | int cnt_finddz = 0; |
hyhoon | 227:699c3e572283 | 268 | int cnt_vel_finddz = 0; |
hyhoon | 227:699c3e572283 | 269 | int flag_finddz = 0; |
hyhoon | 227:699c3e572283 | 270 | int FINDDZ_VELOCITY = 0; |
hyhoon | 227:699c3e572283 | 271 | int FINDDZ_VELOCITY_OLD = 0; |
hyhoon | 227:699c3e572283 | 272 | int FINDDZ_POSITION = 0; |
hyhoon | 227:699c3e572283 | 273 | int FINDDZ_POSITION_OLD = 0; |
hyhoon | 227:699c3e572283 | 274 | |
hyhoon | 227:699c3e572283 | 275 | double temp_VALVE_DEADZONE_PLUS = 0.0f; |
hyhoon | 227:699c3e572283 | 276 | double temp_VALVE_DEADZONE_MINUS = 0.0f; |
hyhoon | 227:699c3e572283 | 277 | float temp_pos_ref = 0.0f; |
hyhoon | 227:699c3e572283 | 278 | float temp_pos_ref_offset = 0.0f; |
hyhoon | 227:699c3e572283 | 279 | |
hyhoon | 227:699c3e572283 | 280 | |
Lightvalve | 13:747daba9cf59 | 281 | // valve gain |
Lightvalve | 13:747daba9cf59 | 282 | int check_vel_pos_init = 0; |
Lightvalve | 13:747daba9cf59 | 283 | int check_vel_pos_fin = 0; |
Lightvalve | 13:747daba9cf59 | 284 | int check_vel_pos_interv = 0; |
Lightvalve | 13:747daba9cf59 | 285 | int valve_gain_repeat_cnt = 0; |
Lightvalve | 30:8d561f16383b | 286 | float VALVE_VOLTAGE = 0.0f; |
Lightvalve | 13:747daba9cf59 | 287 | |
Lightvalve | 30:8d561f16383b | 288 | float freq_fric_tune = 1.0f; |
Lightvalve | 13:747daba9cf59 | 289 | |
Lightvalve | 14:8e7590227d22 | 290 | uint32_t TMR3_COUNT_CAN_TX = 0; |
Lightvalve | 14:8e7590227d22 | 291 | |
Lightvalve | 57:f4819de54e7a | 292 | // Current Control Variables |
Lightvalve | 57:f4819de54e7a | 293 | double I_REF = 0.0f; |
Lightvalve | 57:f4819de54e7a | 294 | double I_REF_fil = 0.0f; |
hyhoon | 226:82a3ca333004 | 295 | double I_REF_fil_DZ = 0.0f; |
Lightvalve | 57:f4819de54e7a | 296 | double I_ERR = 0.0f; |
Lightvalve | 57:f4819de54e7a | 297 | double I_ERR_INT = 0.0f; |
Lightvalve | 57:f4819de54e7a | 298 | double I_REF_fil_old = 0.0f; |
Lightvalve | 57:f4819de54e7a | 299 | double I_REF_fil_diff = 0.0f; |
Lightvalve | 57:f4819de54e7a | 300 | |
Lightvalve | 57:f4819de54e7a | 301 | // system id |
Lightvalve | 57:f4819de54e7a | 302 | int cnt_sysid = 0; |
Lightvalve | 57:f4819de54e7a | 303 | double freq_sysid_Iref = 0.0f; |
Lightvalve | 57:f4819de54e7a | 304 | |
Lightvalve | 169:645207e160ca | 305 | int cnt_freq_test = 0; |
Lightvalve | 169:645207e160ca | 306 | int cnt_step_test = 0; |
Lightvalve | 169:645207e160ca | 307 | int buffer_data_size = 0; |
Lightvalve | 169:645207e160ca | 308 | int cnt_send_buffer = 0; |
Lightvalve | 169:645207e160ca | 309 | float freq_test_valve_ref = 1.0f; |
Lightvalve | 169:645207e160ca | 310 | float ref_array[10000]; |
Lightvalve | 169:645207e160ca | 311 | int pos_array[10000]; |
Lightvalve | 192:637092202815 | 312 | int flag_every_reference = 0; |
Lightvalve | 169:645207e160ca | 313 | |
Lightvalve | 14:8e7590227d22 | 314 | int TMR3_COUNT_IREF = 0; |
Lightvalve | 30:8d561f16383b | 315 | float CUR_CURRENT = 0.0f; |
Lightvalve | 30:8d561f16383b | 316 | float u_CUR[3] = {0.0f,0.0f,0.0f}; |
Lightvalve | 29:69f3f5445d6d | 317 | int FINDHOME_STAGE = 0; |
Lightvalve | 29:69f3f5445d6d | 318 | int FINDHOME_INIT = 0; |
Lightvalve | 30:8d561f16383b | 319 | int FINDHOME_GOTOLIMIT = 1; |
Lightvalve | 30:8d561f16383b | 320 | int FINDHOME_ZEROPOSE = 2; |
Lightvalve | 14:8e7590227d22 | 321 | |
hyhoon | 227:699c3e572283 | 322 | int FINDDZ_STAGE = 0; |
hyhoon | 227:699c3e572283 | 323 | int FINDDZ_INIT = 0; |
hyhoon | 227:699c3e572283 | 324 | int FINDDZ_START1 = 1; |
hyhoon | 227:699c3e572283 | 325 | int FINDDZ_START2 = 2; |
hyhoon | 227:699c3e572283 | 326 | int FINDDZ_STOP = 3; |
hyhoon | 227:699c3e572283 | 327 | |
Lightvalve | 45:35fa6884d0c6 | 328 | float alpha_trans = 0.0f; |
Lightvalve | 45:35fa6884d0c6 | 329 | |
Lightvalve | 57:f4819de54e7a | 330 | float V_out=0.0f; |
Lightvalve | 57:f4819de54e7a | 331 | float V_rem=0.0f; // for anti-windup |
Lightvalve | 57:f4819de54e7a | 332 | float V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV |
Lightvalve | 57:f4819de54e7a | 333 | |
Lightvalve | 57:f4819de54e7a | 334 | float PWM_out=0.0f; |
Lightvalve | 57:f4819de54e7a | 335 | |
jobuuu | 230:2c3e5ecbe7e1 | 336 | double K_v = 1.0f; // valve flowrate gain 1 |
jobuuu | 230:2c3e5ecbe7e1 | 337 | double C_d = 0.16f; // valve flowrate gain 2 |
jobuuu | 230:2c3e5ecbe7e1 | 338 | |
Lightvalve | 57:f4819de54e7a | 339 | double mV_PER_mA = 600.0f; // current >> voltage |
Lightvalve | 57:f4819de54e7a | 340 | double mV_PER_pulse = 0.6f; // pulse >> voltage |
Lightvalve | 57:f4819de54e7a | 341 | double mA_PER_pulse = 0.001f; // pulse >> current |
Lightvalve | 57:f4819de54e7a | 342 | |
Lightvalve | 57:f4819de54e7a | 343 | int timer_while = 0; |
Lightvalve | 57:f4819de54e7a | 344 | int while_index = 0; |
Lightvalve | 170:42c938a40313 | 345 | int RL_timer = 0; |
Lightvalve | 57:f4819de54e7a | 346 | |
Lightvalve | 67:c2812cf26c38 | 347 | float K_LPF = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 348 | float D_LPF = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 349 | |
Lightvalve | 224:985dba42f261 | 350 | float torq_sen_past = 0.0f; |
Lightvalve | 72:3436ce769b1e | 351 | float torq_ref_past = 0.0f; |
Lightvalve | 99:7bbcb3c0fb06 | 352 | float output_normalized = 0.0f; |
Lightvalve | 99:7bbcb3c0fb06 | 353 | |
Lightvalve | 23:59218d4a256d | 354 | |
Lightvalve | 11:82d8768d7351 | 355 | /******************************************************************************* |
Lightvalve | 11:82d8768d7351 | 356 | * General math functions |
Lightvalve | 11:82d8768d7351 | 357 | ******************************************************************************/ |
Lightvalve | 11:82d8768d7351 | 358 | |
Lightvalve | 11:82d8768d7351 | 359 | |
Lightvalve | 34:bb2ca2fc2a8e | 360 | float dabs(float tx) |
Lightvalve | 34:bb2ca2fc2a8e | 361 | { |
Lightvalve | 30:8d561f16383b | 362 | if (tx >= 0.0f) |
Lightvalve | 11:82d8768d7351 | 363 | return tx; |
Lightvalve | 11:82d8768d7351 | 364 | else |
Lightvalve | 11:82d8768d7351 | 365 | return -tx; |
Lightvalve | 11:82d8768d7351 | 366 | } |
Lightvalve | 11:82d8768d7351 | 367 | |
Lightvalve | 34:bb2ca2fc2a8e | 368 | float change_int_to_efloat(int input) |
Lightvalve | 34:bb2ca2fc2a8e | 369 | { |
Lightvalve | 11:82d8768d7351 | 370 | int i = 0; |
Lightvalve | 11:82d8768d7351 | 371 | |
Lightvalve | 30:8d561f16383b | 372 | float output = 0; |
Lightvalve | 48:889798ff9329 | 373 | int vn = (int) ((float) input / 10.0f); |
Lightvalve | 11:82d8768d7351 | 374 | int en = input % 10; |
Lightvalve | 11:82d8768d7351 | 375 | |
Lightvalve | 30:8d561f16383b | 376 | float temp = 1.; |
Lightvalve | 11:82d8768d7351 | 377 | for (i = 0; i < en; i++) |
Lightvalve | 30:8d561f16383b | 378 | temp *= 0.1f; |
Lightvalve | 11:82d8768d7351 | 379 | |
Lightvalve | 30:8d561f16383b | 380 | output = (float) vn*temp; |
Lightvalve | 11:82d8768d7351 | 381 | return output; |
Lightvalve | 11:82d8768d7351 | 382 | } |
Lightvalve | 11:82d8768d7351 | 383 | |
Lightvalve | 34:bb2ca2fc2a8e | 384 | void make_delay(void) |
Lightvalve | 34:bb2ca2fc2a8e | 385 | { |
Lightvalve | 11:82d8768d7351 | 386 | int i = 0; |
Lightvalve | 11:82d8768d7351 | 387 | |
Lightvalve | 65:a2d7c63419c2 | 388 | for (i = 0; i < 1000000; i++) { |
Lightvalve | 11:82d8768d7351 | 389 | ; |
Lightvalve | 11:82d8768d7351 | 390 | } |
Lightvalve | 11:82d8768d7351 | 391 | } |
Lightvalve | 11:82d8768d7351 | 392 | |
Lightvalve | 11:82d8768d7351 | 393 | |
Lightvalve | 11:82d8768d7351 | 394 | /******************************************************************************* |
Lightvalve | 11:82d8768d7351 | 395 | * ROM functions |
Lightvalve | 11:82d8768d7351 | 396 | ******************************************************************************/ |
Lightvalve | 11:82d8768d7351 | 397 | |
Lightvalve | 34:bb2ca2fc2a8e | 398 | void ROM_CALL_DATA(void) |
Lightvalve | 34:bb2ca2fc2a8e | 399 | { |
Lightvalve | 170:42c938a40313 | 400 | BNO = spi_eeprom_read(RID_BNO); |
Lightvalve | 170:42c938a40313 | 401 | OPERATING_MODE = spi_eeprom_read(RID_OPERATING_MODE); |
Lightvalve | 170:42c938a40313 | 402 | SENSING_MODE = spi_eeprom_read(RID_SENSING_MODE); |
Lightvalve | 170:42c938a40313 | 403 | CURRENT_CONTROL_MODE = spi_eeprom_read(RID_CURRENT_CONTROL_MODE); |
Lightvalve | 170:42c938a40313 | 404 | FLAG_VALVE_DEADZONE = spi_eeprom_read(RID_FLAG_VALVE_DEADZONE); |
Lightvalve | 170:42c938a40313 | 405 | CAN_FREQ = spi_eeprom_read(RID_CAN_FREQ); |
Lightvalve | 170:42c938a40313 | 406 | DIR_JOINT_ENC = spi_eeprom_read(RID_JOINT_ENC_DIR); |
Lightvalve | 170:42c938a40313 | 407 | DIR_VALVE = spi_eeprom_read(RID_VALVE_DIR); |
Lightvalve | 170:42c938a40313 | 408 | DIR_VALVE_ENC = spi_eeprom_read(RID_VALVE_ENC_DIR); |
Lightvalve | 170:42c938a40313 | 409 | SUPPLY_VOLTAGE = (float) (spi_eeprom_read(RID_VOLATGE_SUPPLY)) *0.1f; |
Lightvalve | 170:42c938a40313 | 410 | VALVE_VOLTAGE_LIMIT = (float) (spi_eeprom_read(RID_VOLTAGE_VALVE)) * 0.1f; |
Lightvalve | 170:42c938a40313 | 411 | P_GAIN_VALVE_POSITION = spi_eeprom_read(RID_P_GAIN_VALVE_POSITION); |
Lightvalve | 170:42c938a40313 | 412 | I_GAIN_VALVE_POSITION = spi_eeprom_read(RID_I_GAIN_VALVE_POSITION); |
Lightvalve | 170:42c938a40313 | 413 | D_GAIN_VALVE_POSITION = spi_eeprom_read(RID_D_GAIN_VALVE_POSITION); |
Lightvalve | 170:42c938a40313 | 414 | P_GAIN_JOINT_POSITION = spi_eeprom_read(RID_P_GAIN_JOINT_POSITION); |
Lightvalve | 170:42c938a40313 | 415 | I_GAIN_JOINT_POSITION = spi_eeprom_read(RID_I_GAIN_JOINT_POSITION); |
Lightvalve | 170:42c938a40313 | 416 | D_GAIN_JOINT_POSITION = spi_eeprom_read(RID_D_GAIN_JOINT_POSITION); |
Lightvalve | 170:42c938a40313 | 417 | P_GAIN_JOINT_TORQUE = spi_eeprom_read(RID_P_GAIN_JOINT_TORQUE); |
Lightvalve | 170:42c938a40313 | 418 | I_GAIN_JOINT_TORQUE = spi_eeprom_read( RID_I_GAIN_JOINT_TORQUE); |
Lightvalve | 170:42c938a40313 | 419 | D_GAIN_JOINT_TORQUE = spi_eeprom_read(RID_D_GAIN_JOINT_TORQUE); |
hyhoon | 226:82a3ca333004 | 420 | VALVE_DEADZONE_PLUS = (spi_eeprom_read(RID_VALVE_DEADZONE_PLUS)); |
hyhoon | 226:82a3ca333004 | 421 | VALVE_DEADZONE_MINUS = (spi_eeprom_read(RID_VALVE_DEADZONE_MINUS)); |
Lightvalve | 170:42c938a40313 | 422 | VELOCITY_COMP_GAIN = spi_eeprom_read(RID_VELOCITY_COMP_GAIN); |
Lightvalve | 170:42c938a40313 | 423 | COMPLIANCE_GAIN = spi_eeprom_read(RID_COMPLIANCE_GAIN); |
Lightvalve | 170:42c938a40313 | 424 | VALVE_CENTER = spi_eeprom_read(RID_VALVE_CNETER); |
Lightvalve | 170:42c938a40313 | 425 | VALVE_FF = spi_eeprom_read(RID_VALVE_FF); |
Lightvalve | 170:42c938a40313 | 426 | BULK_MODULUS = spi_eeprom_read(RID_BULK_MODULUS); |
Lightvalve | 170:42c938a40313 | 427 | CHAMBER_VOLUME_A = spi_eeprom_read(RID_CHAMBER_VOLUME_A); |
Lightvalve | 170:42c938a40313 | 428 | CHAMBER_VOLUME_B = spi_eeprom_read(RID_CHAMBER_VOLUME_B); |
Lightvalve | 170:42c938a40313 | 429 | PISTON_AREA_A = spi_eeprom_read(RID_PISTON_AREA_A); |
Lightvalve | 170:42c938a40313 | 430 | PISTON_AREA_B = spi_eeprom_read(RID_PISTON_AREA_B); |
Lightvalve | 170:42c938a40313 | 431 | PISTON_AREA_alpha = (float)PISTON_AREA_A/(float)PISTON_AREA_B; |
Lightvalve | 170:42c938a40313 | 432 | alpha3 = PISTON_AREA_alpha * PISTON_AREA_alpha*PISTON_AREA_alpha; |
jobuuu | 230:2c3e5ecbe7e1 | 433 | PRES_SUPPLY_NOM = spi_eeprom_read(RID_PRES_SUPPLY); |
jobuuu | 230:2c3e5ecbe7e1 | 434 | PRES_SUPPLY = PRES_SUPPLY_NOM; |
Lightvalve | 170:42c938a40313 | 435 | ENC_LIMIT_MINUS = spi_eeprom_read(RID_ENC_LIMIT_MINUS); |
Lightvalve | 170:42c938a40313 | 436 | ENC_LIMIT_PLUS = spi_eeprom_read(RID_ENC_LIMIT_PLUS); |
Lightvalve | 170:42c938a40313 | 437 | STROKE = spi_eeprom_read(RID_STROKE); |
Lightvalve | 180:02be1711ee0b | 438 | ENC_PULSE_PER_POSITION = (float) (spi_eeprom_read(RID_ENC_PULSE_PER_POSITION)); |
Lightvalve | 232:2976cf1b4252 | 439 | TORQUE_SENSOR_PULSE_PER_TORQUE = (float) (spi_eeprom_read(RID_TORQUE_SENSOR_PULSE_PER_TORQUE)) * 0.01f; |
Lightvalve | 170:42c938a40313 | 440 | PRES_SENSOR_A_PULSE_PER_BAR = (float) (spi_eeprom_read(RID_PRES_SENSOR_A_PULSE_PER_BAR)) * 0.01f; |
Lightvalve | 170:42c938a40313 | 441 | PRES_SENSOR_B_PULSE_PER_BAR = (float) (spi_eeprom_read(RID_PRES_SENSOR_B_PULSE_PER_BAR)) * 0.01f; |
Lightvalve | 170:42c938a40313 | 442 | FRICTION = (float) (spi_eeprom_read(RID_FRICTION)) * 0.1f; |
Lightvalve | 170:42c938a40313 | 443 | HOMEPOS_OFFSET = spi_eeprom_read(RID_HOMEPOS_OFFSET); |
Lightvalve | 170:42c938a40313 | 444 | HOMEPOS_VALVE_OPENING = spi_eeprom_read(RID_HOMEPOS_VALVE_OPENING); |
jobuuu | 230:2c3e5ecbe7e1 | 445 | FORCE_VREF = (float) (spi_eeprom_read(RID_FORCE_SENSOR_VREF)) *0.001f; |
Lightvalve | 170:42c938a40313 | 446 | PRES_A_VREF = (float) spi_eeprom_read(RID_PRES_A_SENSOR_VREF) * 0.001f; |
Lightvalve | 170:42c938a40313 | 447 | PRES_B_VREF = (float) spi_eeprom_read(RID_PRES_B_SENSOR_VREF) * 0.001f; |
Lightvalve | 170:42c938a40313 | 448 | VALVE_GAIN_LPM_PER_V[0] = (float) (spi_eeprom_read(RID_VALVE_GAIN_PLUS_1)) * 0.01f; |
Lightvalve | 170:42c938a40313 | 449 | VALVE_GAIN_LPM_PER_V[2] = (float) (spi_eeprom_read(RID_VALVE_GAIN_PLUS_2)) * 0.01f; |
Lightvalve | 170:42c938a40313 | 450 | VALVE_GAIN_LPM_PER_V[4] = (float) (spi_eeprom_read(RID_VALVE_GAIN_PLUS_3)) * 0.01f; |
Lightvalve | 170:42c938a40313 | 451 | VALVE_GAIN_LPM_PER_V[6] = (float) (spi_eeprom_read(RID_VALVE_GAIN_PLUS_4)) * 0.01f; |
Lightvalve | 170:42c938a40313 | 452 | VALVE_GAIN_LPM_PER_V[8] = (float) (spi_eeprom_read(RID_VALVE_GAIN_PLUS_5)) * 0.01f; |
Lightvalve | 170:42c938a40313 | 453 | VALVE_GAIN_LPM_PER_V[1] = (float) (spi_eeprom_read(RID_VALVE_GAIN_MINUS_1)) * 0.01f; |
Lightvalve | 170:42c938a40313 | 454 | VALVE_GAIN_LPM_PER_V[3] = (float) (spi_eeprom_read(RID_VALVE_GAIN_MINUS_2)) * 0.01f; |
Lightvalve | 170:42c938a40313 | 455 | VALVE_GAIN_LPM_PER_V[5] = (float) (spi_eeprom_read(RID_VALVE_GAIN_MINUS_3)) * 0.01f; |
Lightvalve | 170:42c938a40313 | 456 | VALVE_GAIN_LPM_PER_V[7] = (float) (spi_eeprom_read(RID_VALVE_GAIN_MINUS_4)) * 0.01f; |
Lightvalve | 170:42c938a40313 | 457 | VALVE_GAIN_LPM_PER_V[9] = (float) (spi_eeprom_read(RID_VALVE_GAIN_MINUS_5)) * 0.01f; |
Lightvalve | 170:42c938a40313 | 458 | for(int i=0; i<25; i++) { |
Lightvalve | 170:42c938a40313 | 459 | VALVE_POS_VS_PWM[i] = (float) (spi_eeprom_read(RID_VALVE_POS_VS_PWM_0 + i)); |
Lightvalve | 170:42c938a40313 | 460 | } |
Lightvalve | 170:42c938a40313 | 461 | for(int i=0; i<100; i++) { |
Lightvalve | 170:42c938a40313 | 462 | JOINT_VEL[i] = ( ((spi_eeprom_read( RID_VALVE_POS_VS_FLOWRATE_0 + i)) & 0xFFFF) | ((spi_eeprom_read(RID_VALVE_POS_VS_FLOWRATE_0_1 + i)) & 0xFFFF) << 16 ) ; |
Lightvalve | 170:42c938a40313 | 463 | } |
Lightvalve | 170:42c938a40313 | 464 | VALVE_MAX_POS = spi_eeprom_read(RID_VALVE_MAX_POS); |
Lightvalve | 170:42c938a40313 | 465 | VALVE_MIN_POS = spi_eeprom_read(RID_VALVE_MIN_POS); |
Lightvalve | 170:42c938a40313 | 466 | VALVE_POS_NUM = spi_eeprom_read(RID_VALVE_POS_NUM); |
Lightvalve | 177:8e9cf31d63f4 | 467 | |
Lightvalve | 224:985dba42f261 | 468 | // K_SPRING = spi_eeprom_read(RID_K_SPRING); |
Lightvalve | 224:985dba42f261 | 469 | // D_DAMPER = spi_eeprom_read(RID_D_DAMPER); |
Lightvalve | 177:8e9cf31d63f4 | 470 | |
Lightvalve | 11:82d8768d7351 | 471 | } |
Lightvalve | 11:82d8768d7351 | 472 | |
Lightvalve | 11:82d8768d7351 | 473 | /******************************************************************************* |
Lightvalve | 11:82d8768d7351 | 474 | * ENCODER functions |
jobuuu | 230:2c3e5ecbe7e1 | 475 | |
Lightvalve | 11:82d8768d7351 | 476 | ******************************************************************************/ |
jobuuu | 230:2c3e5ecbe7e1 | 477 | long ENC_pulse = 0, ENC_pulse_old = 0, ENC_pulse_diff = 0; |
jobuuu | 230:2c3e5ecbe7e1 | 478 | long ENC_pulse_offset = 0; |
Lightvalve | 11:82d8768d7351 | 479 | |
Lightvalve | 34:bb2ca2fc2a8e | 480 | void ENC_UPDATE(void) |
Lightvalve | 34:bb2ca2fc2a8e | 481 | { |
jobuuu | 230:2c3e5ecbe7e1 | 482 | ENC_pulse = spi_enc_read(); // Unit : pulse |
jobuuu | 230:2c3e5ecbe7e1 | 483 | ENC_pulse_diff = ENC_pulse - ENC_pulse_old; |
Lightvalve | 177:8e9cf31d63f4 | 484 | |
jobuuu | 230:2c3e5ecbe7e1 | 485 | pos.UpdateSen((float)((long)DIR_JOINT_ENC * ENC_pulse + ENC_pulse_offset)/ENC_PULSE_PER_POSITION, FREQ_10k, 100.0f); // Unit : deg or mm |
jobuuu | 230:2c3e5ecbe7e1 | 486 | vel.UpdateSen((float)((long)DIR_JOINT_ENC * ENC_pulse_diff * (long)FREQ_10k)/ENC_PULSE_PER_POSITION, FREQ_10k, 100.0f); // Unit : deg/s or mm/s |
Lightvalve | 177:8e9cf31d63f4 | 487 | |
jobuuu | 230:2c3e5ecbe7e1 | 488 | ENC_pulse_old = ENC_pulse; |
Lightvalve | 11:82d8768d7351 | 489 | } |
Lightvalve | 11:82d8768d7351 | 490 | |
Lightvalve | 34:bb2ca2fc2a8e | 491 | void ENC_SET_ZERO(void) |
Lightvalve | 34:bb2ca2fc2a8e | 492 | { |
Lightvalve | 11:82d8768d7351 | 493 | spi_enc_set_clear(); |
jobuuu | 230:2c3e5ecbe7e1 | 494 | pos.Reset(); |
jobuuu | 230:2c3e5ecbe7e1 | 495 | ENC_pulse_offset = 0; |
jobuuu | 230:2c3e5ecbe7e1 | 496 | ENC_pulse = ENC_pulse_old = ENC_pulse_diff = 0; |
Lightvalve | 11:82d8768d7351 | 497 | } |
Lightvalve | 11:82d8768d7351 | 498 | |
jobuuu | 230:2c3e5ecbe7e1 | 499 | void ENC_SET(long value_e) |
Lightvalve | 34:bb2ca2fc2a8e | 500 | { |
Lightvalve | 11:82d8768d7351 | 501 | spi_enc_set_clear(); |
jobuuu | 230:2c3e5ecbe7e1 | 502 | ENC_pulse_offset = value_e; |
jobuuu | 230:2c3e5ecbe7e1 | 503 | pos.Reset(); |
jobuuu | 230:2c3e5ecbe7e1 | 504 | pos.sen = value_e/ENC_PULSE_PER_POSITION; |
jobuuu | 230:2c3e5ecbe7e1 | 505 | ENC_pulse = ENC_pulse_old = value_e; |
jobuuu | 230:2c3e5ecbe7e1 | 506 | ENC_pulse_diff = 0; |
Lightvalve | 11:82d8768d7351 | 507 | } |
Lightvalve | 18:b8adf1582ea3 | 508 | |
Lightvalve | 19:23b7c1ad8683 | 509 | |
Lightvalve | 30:8d561f16383b | 510 | |
Lightvalve | 57:f4819de54e7a | 511 |