Seunghoon Shin / Mbed 2 deprecated HydraulicControlBoard_Start

20210305

Dependencies:   mbed FastPWM

main.cpp@227:699c3e572283, 2021-03-11 (annotated)

Committer:
hyhoon
Date:
Thu Mar 11 07:27:23 2021 +0000
Revision:
227:699c3e572283
Parent:
226:82a3ca333004 
210311

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
Lightvalve 224:985dba42f261 4
Lightvalve 224:985dba42f261 5
Lightvalve 224:985dba42f261 6 // 유의사항
Lightvalve 224:985dba42f261 7 // 소수 적을때 뒤에 f 꼭 붙이기
Lightvalve 224:985dba42f261 8 // CAN 선은 ground까지 있는 3상 선으로 써야함.
Lightvalve 224:985dba42f261 9 // 전원은 12~24V 인가.
Lightvalve 224:985dba42f261 10
GiJeongKim 0:51c43836c1d7 11 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 12 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 13 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 14 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 15 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 16 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 17 #include "setting.h"
Lightvalve 11:82d8768d7351 18 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 19 #include "stm32f4xx_flash.h"
Lightvalve 169:645207e160ca 20 #include "FlashWriter.h"
Lightvalve 170:42c938a40313 21 #include <string>
Lightvalve 170:42c938a40313 22 #include <iostream>
Lightvalve 179:d5377766d7ea 23 #include <cmath>
Lightvalve 61:bc8c8270f0ab 24
Lightvalve 61:bc8c8270f0ab 25 using namespace std;
Lightvalve 61:bc8c8270f0ab 26 Timer t;
GiJeongKim 0:51c43836c1d7 27
jobuuu 7:e9086c72bb22 28 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 29 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 30 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 31 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 32 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 33 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 34 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 35 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 36
jobuuu 7:e9086c72bb22 37 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 38 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 39 float dtc_w=0.0f;
GiJeongKim 0:51c43836c1d7 40
jobuuu 7:e9086c72bb22 41 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 42 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
Lightvalve 224:985dba42f261 43 const int i2c_slave_addr1 = 0x56; // AS5510 address
GiJeongKim 0:51c43836c1d7 44 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 45
jobuuu 7:e9086c72bb22 46 // SPI ///////////////////////////////////////////
Lightvalve 170:42c938a40313 47 SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 170:42c938a40313 48 DigitalOut eeprom_cs(PB_12);
GiJeongKim 0:51c43836c1d7 49 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 50 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 51 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 52
jobuuu 7:e9086c72bb22 53 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 54 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 55
jobuuu 7:e9086c72bb22 56 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 57 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 58 CANMessage msg;
Lightvalve 11:82d8768d7351 59 void onMsgReceived()
Lightvalve 11:82d8768d7351 60 {
Lightvalve 11:82d8768d7351 61 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 62 }
jobuuu 2:a1c0a37df760 63
jobuuu 7:e9086c72bb22 64 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 65 State pos;
jobuuu 7:e9086c72bb22 66 State vel;
jobuuu 7:e9086c72bb22 67 State Vout;
jobuuu 7:e9086c72bb22 68 State torq;
Lightvalve 207:c70c5a9f17dd 69 State torq_dot;
jobuuu 7:e9086c72bb22 70 State pres_A;
jobuuu 7:e9086c72bb22 71 State pres_B;
jobuuu 7:e9086c72bb22 72 State cur;
Lightvalve 14:8e7590227d22 73 State valve_pos;
Lightvalve 14:8e7590227d22 74
Lightvalve 14:8e7590227d22 75 State INIT_Vout;
Lightvalve 14:8e7590227d22 76 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 77 State INIT_Pos;
Lightvalve 14:8e7590227d22 78 State INIT_torq;
jobuuu 5:a4319f79457b 79
Lightvalve 19:23b7c1ad8683 80 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 81 extern int CID_RX_REF_POSITION;
hyhoon 227:699c3e572283 82 extern int CID_RX_REF_OPENLOOP;
Lightvalve 45:35fa6884d0c6 83 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 84
Lightvalve 19:23b7c1ad8683 85 extern int CID_TX_INFO;
hyhoon 227:699c3e572283 86 extern int CID_TX_POS_VEL_TORQ;
hyhoon 227:699c3e572283 87 extern int CID_TX_PWM;
hyhoon 227:699c3e572283 88 extern int CID_TX_CURRENT;
Lightvalve 19:23b7c1ad8683 89 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 90 extern int CID_TX_VALVE_POSITION;
jeongyeseong 225:9c0becc196ba 91 extern int CID_TX_SOMETHING;
Lightvalve 19:23b7c1ad8683 92
hyhoon 226:82a3ca333004 93 float pres_A_new = 0.0f;
hyhoon 226:82a3ca333004 94 float pres_B_new = 0.0f;
Lightvalve 61:bc8c8270f0ab 95
hyhoon 227:699c3e572283 96
hyhoon 227:699c3e572283 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;
hyhoon 227:699c3e572283 101
hyhoon 227:699c3e572283 102
Lightvalve 12:6f2531038ea4 103 /*******************************************************************************
Lightvalve 12:6f2531038ea4 104 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 105 ******************************************************************************/
Lightvalve 13:747daba9cf59 106 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 107 MODE_REF_NO_ACT = 0, //0
Lightvalve 224:985dba42f261 108 MODE_REF_DIRECT, //1
Lightvalve 224:985dba42f261 109 MODE_REF_COS_INC, //2
Lightvalve 224:985dba42f261 110 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 111 MODE_REF_SIN_WAVE, //4
Lightvalve 224:985dba42f261 112 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 113 };
Lightvalve 12:6f2531038ea4 114
Lightvalve 12:6f2531038ea4 115 /*******************************************************************************
Lightvalve 12:6f2531038ea4 116 * CONTROL MODE
Lightvalve 12:6f2531038ea4 117 ******************************************************************************/
Lightvalve 13:747daba9cf59 118 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 119 //control mode
Lightvalve 12:6f2531038ea4 120 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 121 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 122 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 123
Lightvalve 47:fdcb8bd86fd6 124 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 138:a843f32ced33 125 MODE_JOINT_ADAPTIVE_BACKSTEPPING, //4
Lightvalve 171:bfc1fd2629d8 126 MODE_RL, //5
Lightvalve 13:747daba9cf59 127
Lightvalve 12:6f2531038ea4 128 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 129 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 130 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 131
Lightvalve 12:6f2531038ea4 132 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 133 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 134
Lightvalve 14:8e7590227d22 135 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 136 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 137 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 224:985dba42f261 138 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //14
Lightvalve 13:747daba9cf59 139
Lightvalve 12:6f2531038ea4 140 //utility
Lightvalve 12:6f2531038ea4 141 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 142 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 143 MODE_FIND_HOME, //22
Lightvalve 57:f4819de54e7a 144 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 145 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 146 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 147 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 148
Lightvalve 224:985dba42f261 149 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 150 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 151 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 57:f4819de54e7a 152 MODE_SYSTEM_ID, //33
Lightvalve 169:645207e160ca 153 MODE_FREQ_TEST, //34
Lightvalve 169:645207e160ca 154 MODE_SEND_BUFFER, //35
Lightvalve 169:645207e160ca 155 MODE_SEND_OVER, //36
Lightvalve 169:645207e160ca 156 MODE_STEP_TEST, //37
Lightvalve 12:6f2531038ea4 157 };
Lightvalve 12:6f2531038ea4 158
Lightvalve 65:a2d7c63419c2 159 void SystemClock_Config(void)
Lightvalve 65:a2d7c63419c2 160 {
Lightvalve 169:645207e160ca 161 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve 169:645207e160ca 162 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve 65:a2d7c63419c2 163
Lightvalve 224:985dba42f261 164 /* Configure the main internal regulator output voltage
Lightvalve 169:645207e160ca 165 */
Lightvalve 169:645207e160ca 166 __HAL_RCC_PWR_CLK_ENABLE();
Lightvalve 169:645207e160ca 167 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve 224:985dba42f261 168 /* Initializes the CPU, AHB and APB busses clocks
Lightvalve 169:645207e160ca 169 */
Lightvalve 169:645207e160ca 170 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve 169:645207e160ca 171 RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve 169:645207e160ca 172 RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve 169:645207e160ca 173 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve 169:645207e160ca 174 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve 169:645207e160ca 175 RCC_OscInitStruct.PLL.PLLM = 8;//8
Lightvalve 169:645207e160ca 176 RCC_OscInitStruct.PLL.PLLN = 180; //180
Lightvalve 169:645207e160ca 177 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve 169:645207e160ca 178 RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve 169:645207e160ca 179 RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve 169:645207e160ca 180 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Lightvalve 169:645207e160ca 181 //Error_Handler();
Lightvalve 169:645207e160ca 182 }
Lightvalve 169:645207e160ca 183 /** Activate the Over-Drive mode
Lightvalve 169:645207e160ca 184 */
Lightvalve 169:645207e160ca 185 if (HAL_PWREx_EnableOverDrive() != HAL_OK) {
Lightvalve 169:645207e160ca 186 //Error_Handler();
Lightvalve 169:645207e160ca 187 }
Lightvalve 169:645207e160ca 188 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 169:645207e160ca 189 */
Lightvalve 169:645207e160ca 190 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
Lightvalve 169:645207e160ca 191 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
Lightvalve 169:645207e160ca 192 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve 169:645207e160ca 193 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve 169:645207e160ca 194 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve 169:645207e160ca 195 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve 65:a2d7c63419c2 196
Lightvalve 169:645207e160ca 197 if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) {
Lightvalve 169:645207e160ca 198 //Error_Handler();
Lightvalve 169:645207e160ca 199 }
Lightvalve 65:a2d7c63419c2 200 }
Lightvalve 65:a2d7c63419c2 201
Lightvalve 170:42c938a40313 202
GiJeongKim 0:51c43836c1d7 203 int main()
GiJeongKim 0:51c43836c1d7 204 {
jobuuu 6:df07d3491e3a 205 /*********************************
jobuuu 1:e04e563be5ce 206 *** Initialization
jobuuu 6:df07d3491e3a 207 *********************************/
hyhoon 226:82a3ca333004 208
Lightvalve 224:985dba42f261 209 HAL_Init();
Lightvalve 224:985dba42f261 210 SystemClock_Config();
hyhoon 226:82a3ca333004 211
Lightvalve 69:3995ffeaa786 212 LED = 0;
Lightvalve 61:bc8c8270f0ab 213 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 214
GiJeongKim 0:51c43836c1d7 215 // i2c init
hyhoon 226:82a3ca333004 216 // i2c.frequency(400 * 1000); // 0.4 mHz
hyhoon 226:82a3ca333004 217 // wait_ms(2); // Power Up wait
hyhoon 226:82a3ca333004 218 // look_for_hardware_i2c(); // Hardware present
hyhoon 226:82a3ca333004 219 // init_as5510(i2c_slave_addr1);
hyhoon 226:82a3ca333004 220 // make_delay();
jobuuu 2:a1c0a37df760 221
Lightvalve 224:985dba42f261 222 // spi init
hyhoon 227:699c3e572283 223 eeprom_cs = 1;
Lightvalve 170:42c938a40313 224 eeprom.format(8,3);
Lightvalve 170:42c938a40313 225 eeprom.frequency(5000000); //5M
hyhoon 227:699c3e572283 226 eeprom_cs = 0;
hyhoon 227:699c3e572283 227 make_delay();
hyhoon 227:699c3e572283 228
hyhoon 227:699c3e572283 229 enc_cs = 1; //sw add
GiJeongKim 0:51c43836c1d7 230 enc.format(8,0);
hyhoon 227:699c3e572283 231 enc.frequency(5000000); //10M
hyhoon 227:699c3e572283 232 enc_cs = 0; //sw add
hyhoon 227:699c3e572283 233
Lightvalve 11:82d8768d7351 234 make_delay();
Lightvalve 21:e5f1a43ea6f9 235
hyhoon 226:82a3ca333004 236
hyhoon 226:82a3ca333004 237 // spi _ enc
hyhoon 226:82a3ca333004 238 spi_enc_set_init();
hyhoon 226:82a3ca333004 239 make_delay();
hyhoon 226:82a3ca333004 240
hyhoon 226:82a3ca333004 241 ////// bno rom
hyhoon 226:82a3ca333004 242 // spi_eeprom_write(RID_BNO, (int16_t)1);
hyhoon 226:82a3ca333004 243 // make_delay();
hyhoon 226:82a3ca333004 244 ////////
hyhoon 226:82a3ca333004 245
Lightvalve 224:985dba42f261 246 // rom
Lightvalve 19:23b7c1ad8683 247 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 248 make_delay();
Lightvalve 13:747daba9cf59 249
GiJeongKim 0:51c43836c1d7 250 // ADC init
jobuuu 5:a4319f79457b 251 Init_ADC();
Lightvalve 11:82d8768d7351 252 make_delay();
jobuuu 2:a1c0a37df760 253
GiJeongKim 0:51c43836c1d7 254 // Pwm init
GiJeongKim 0:51c43836c1d7 255 Init_PWM();
GiJeongKim 0:51c43836c1d7 256 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 257 make_delay();
Lightvalve 13:747daba9cf59 258
GiJeongKim 0:51c43836c1d7 259 // CAN
jobuuu 2:a1c0a37df760 260 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 261 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 262 make_delay();
Lightvalve 34:bb2ca2fc2a8e 263
hyhoon 226:82a3ca333004 264 //can.reset();
hyhoon 226:82a3ca333004 265 can.filter(msg.id, 0xFFFFF000, CANStandard);
hyhoon 226:82a3ca333004 266
hyhoon 226:82a3ca333004 267 // TMR3 init
hyhoon 226:82a3ca333004 268 Init_TMR3();
hyhoon 226:82a3ca333004 269 TIM3->CR1 ^= TIM_CR1_UDIS;
hyhoon 226:82a3ca333004 270 make_delay();
hyhoon 226:82a3ca333004 271
hyhoon 226:82a3ca333004 272
hyhoon 226:82a3ca333004 273
Lightvalve 23:59218d4a256d 274 //Timer priority
Lightvalve 23:59218d4a256d 275 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 54:647072f5307a 276 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 277
hyhoon 226:82a3ca333004 278
Lightvalve 34:bb2ca2fc2a8e 279
hyhoon 226:82a3ca333004 280
Lightvalve 13:747daba9cf59 281
Lightvalve 11:82d8768d7351 282 //DAC init
Lightvalve 58:2eade98630e2 283 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 284 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 285 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 286 } else if (SENSING_MODE == 1) {
hyhoon 226:82a3ca333004 287 if (DIR_VALVE_ENC > 0) {
hyhoon 226:82a3ca333004 288 dac_1 = PRES_A_VREF / 3.3f;
hyhoon 226:82a3ca333004 289 dac_2 = PRES_B_VREF / 3.3f;
hyhoon 226:82a3ca333004 290 } else {
hyhoon 226:82a3ca333004 291 dac_1 = PRES_B_VREF / 3.3f;
hyhoon 226:82a3ca333004 292 dac_2 = PRES_A_VREF / 3.3f;
hyhoon 226:82a3ca333004 293 }
Lightvalve 58:2eade98630e2 294 }
Lightvalve 11:82d8768d7351 295 make_delay();
Lightvalve 13:747daba9cf59 296
Lightvalve 19:23b7c1ad8683 297 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 298 if(i%2==0)
Lightvalve 38:118df027d851 299 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 300 else
Lightvalve 38:118df027d851 301 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 302 }
Lightvalve 169:645207e160ca 303
jobuuu 6:df07d3491e3a 304 /************************************
jobuuu 1:e04e563be5ce 305 *** Program is operating!
jobuuu 6:df07d3491e3a 306 *************************************/
GiJeongKim 0:51c43836c1d7 307 while(1) {
Lightvalve 169:645207e160ca 308
Lightvalve 224:985dba42f261 309 // UART example
Lightvalve 224:985dba42f261 310 // if(timer_while==100000) {
Lightvalve 171:bfc1fd2629d8 311 // timer_while = 0;
Lightvalve 224:985dba42f261 312 // pc.printf("%f\n", value);
Lightvalve 171:bfc1fd2629d8 313 // }
Lightvalve 224:985dba42f261 314 // timer_while ++;
Lightvalve 169:645207e160ca 315
Lightvalve 224:985dba42f261 316 //i2c for SW valve
hyhoon 227:699c3e572283 317 //if(OPERATING_MODE == 5) {
hyhoon 227:699c3e572283 318 // read_field(i2c_slave_addr1);
hyhoon 227:699c3e572283 319 // if(DIR_VALVE_ENC < 0) value = 1023 - value;
hyhoon 227:699c3e572283 320 // }
GiJeongKim 0:51c43836c1d7 321 }
jobuuu 1:e04e563be5ce 322 }
jobuuu 1:e04e563be5ce 323
Lightvalve 224:985dba42f261 324
Lightvalve 224:985dba42f261 325 // Velocity feedforward for SW valve
Lightvalve 33:91b17819ec30 326 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 327 {
Lightvalve 13:747daba9cf59 328 int i = 0;
Lightvalve 48:889798ff9329 329 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 330 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 331 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 332 if(i==0) {
Lightvalve 50:3c630b5eba9f 333 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 334 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 335 } else {
Lightvalve 57:f4819de54e7a 336 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 337 }
Lightvalve 14:8e7590227d22 338 } else {
Lightvalve 50:3c630b5eba9f 339 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 340 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 341 } else {
Lightvalve 57:f4819de54e7a 342 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 343 }
Lightvalve 13:747daba9cf59 344 }
Lightvalve 13:747daba9cf59 345 break;
Lightvalve 13:747daba9cf59 346 }
Lightvalve 13:747daba9cf59 347 }
Lightvalve 14:8e7590227d22 348 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 349 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 350 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 351 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 352 }
Lightvalve 36:a46e63505ed8 353
Lightvalve 224:985dba42f261 354 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 355 return Ref_Valve_Pos_FF;
Lightvalve 13:747daba9cf59 356 }
jobuuu 6:df07d3491e3a 357
Lightvalve 224:985dba42f261 358 // Valve feedforward for SW valve
Lightvalve 30:8d561f16383b 359 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 360 {
Lightvalve 13:747daba9cf59 361 int i = 0;
Lightvalve 13:747daba9cf59 362
Lightvalve 38:118df027d851 363 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 364 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 365 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 366 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 367 }
Lightvalve 89:a7b45368ea0f 368 valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve 13:747daba9cf59 369 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 370 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 371 valve_pos_err_sum += valve_pos_err;
Lightvalve 89:a7b45368ea0f 372 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 89:a7b45368ea0f 373 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 13:747daba9cf59 374
Lightvalve 13:747daba9cf59 375 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 376
Lightvalve 18:b8adf1582ea3 377 for(i=0; i<24; i++) {
Lightvalve 89:a7b45368ea0f 378 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 379 if(i==0) {
Lightvalve 48:889798ff9329 380 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 381 } else {
Lightvalve 48:889798ff9329 382 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 383 }
Lightvalve 13:747daba9cf59 384 break;
Lightvalve 13:747daba9cf59 385 }
Lightvalve 13:747daba9cf59 386 }
Lightvalve 59:f308b1656d9c 387 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 388 }
Lightvalve 13:747daba9cf59 389
Lightvalve 224:985dba42f261 390 // PWM duty vs. voltage output of L6205 in STM board
Lightvalve 14:8e7590227d22 391 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 392 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 393 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 394 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 395 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 396 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 397 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 398 }; // duty
Lightvalve 67:c2812cf26c38 399 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 400 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 401 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 402 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 403 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 404 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 405 }; // mV
Lightvalve 13:747daba9cf59 406
Lightvalve 30:8d561f16383b 407 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 408 {
Lightvalve 30:8d561f16383b 409 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 410 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 411 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 412 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 413 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 414 } else {
Lightvalve 13:747daba9cf59 415 int idx = 0;
Lightvalve 13:747daba9cf59 416 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 417 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 418 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 419 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 420 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 421 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 422 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 423 break;
Lightvalve 13:747daba9cf59 424 }
Lightvalve 13:747daba9cf59 425 }
Lightvalve 13:747daba9cf59 426 }
Lightvalve 14:8e7590227d22 427
Lightvalve 13:747daba9cf59 428 return PWM_duty;
Lightvalve 13:747daba9cf59 429 }
jobuuu 6:df07d3491e3a 430
Lightvalve 57:f4819de54e7a 431
Lightvalve 57:f4819de54e7a 432
jobuuu 2:a1c0a37df760 433 /*******************************************************************************
jobuuu 2:a1c0a37df760 434 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 435 *******************************************************************************/
jobuuu 2:a1c0a37df760 436
Lightvalve 51:b46bed7fec80 437 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 438 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 439 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 440 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 441 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 442 {
Lightvalve 19:23b7c1ad8683 443 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 444 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 445 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 446 ********************************************************/
Lightvalve 13:747daba9cf59 447
Lightvalve 57:f4819de54e7a 448 //Encoder
Lightvalve 57:f4819de54e7a 449 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 450 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 451 }
Lightvalve 61:bc8c8270f0ab 452
Lightvalve 61:bc8c8270f0ab 453 ADC1->CR2 |= 0x40000000;
Lightvalve 224:985dba42f261 454 // Torque Sensing =============================================
Lightvalve 58:2eade98630e2 455 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 456 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 224:985dba42f261 457 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 100Hz
Lightvalve 58:2eade98630e2 458 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 67:c2812cf26c38 459 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 67:c2812cf26c38 460
hyhoon 226:82a3ca333004 461 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 462 } else if (SENSING_MODE == 1) {
hyhoon 226:82a3ca333004 463
hyhoon 226:82a3ca333004 464 if (DIR_VALVE_ENC > 0) {
hyhoon 226:82a3ca333004 465 pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
hyhoon 226:82a3ca333004 466 pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
hyhoon 226:82a3ca333004 467 } else {
hyhoon 226:82a3ca333004 468 pres_A_new = (((float)ADC2->DR) - PRES_A_NULL);
hyhoon 226:82a3ca333004 469 pres_B_new = (((float)ADC1->DR) - PRES_B_NULL);
hyhoon 226:82a3ca333004 470 }
Lightvalve 224:985dba42f261 471 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 472 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 473 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 474 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 475 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 476
Lightvalve 58:2eade98630e2 477 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 478 torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm
Lightvalve 58:2eade98630e2 479 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 480 torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N
Lightvalve 58:2eade98630e2 481 }
Lightvalve 58:2eade98630e2 482 }
Lightvalve 61:bc8c8270f0ab 483
Lightvalve 21:e5f1a43ea6f9 484 //Current
Lightvalve 21:e5f1a43ea6f9 485 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 51:b46bed7fec80 486 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 487 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 488 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 58:2eade98630e2 489
Lightvalve 57:f4819de54e7a 490 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 491 }
Lightvalve 11:82d8768d7351 492 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 493 }
Lightvalve 19:23b7c1ad8683 494
Lightvalve 19:23b7c1ad8683 495
Lightvalve 18:b8adf1582ea3 496 int j =0;
Lightvalve 54:647072f5307a 497 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 498 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 499 int cnt_trans = 0;
Lightvalve 48:889798ff9329 500 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 57:f4819de54e7a 501 int can_rest =0;
Lightvalve 48:889798ff9329 502
Lightvalve 11:82d8768d7351 503 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 504 {
Lightvalve 19:23b7c1ad8683 505 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 506
hyhoon 226:82a3ca333004 507
Lightvalve 57:f4819de54e7a 508 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 509 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 510 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 511 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 512 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 513 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 514 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 515 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 516 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 517 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 518 }
Lightvalve 50:3c630b5eba9f 519
Lightvalve 50:3c630b5eba9f 520 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 521 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 522 cnt_trans++;
Lightvalve 46:2694daea349b 523 torq.err_sum = 0;
Lightvalve 48:889798ff9329 524 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 525 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 526 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 527 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 528 cnt_trans++;
Lightvalve 46:2694daea349b 529 torq.err_sum = 0;
Lightvalve 48:889798ff9329 530 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 531 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 532 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 533 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 534 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 535 } else {
Lightvalve 58:2eade98630e2 536 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 537 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 538 }
Lightvalve 45:35fa6884d0c6 539
Lightvalve 50:3c630b5eba9f 540
hyhoon 227:699c3e572283 541 // Reference Loop ==========================================================
hyhoon 227:699c3e572283 542 switch (REFERENCE_MODE) {
hyhoon 227:699c3e572283 543 case MODE_REF_NO_ACT: {
hyhoon 227:699c3e572283 544 break;
hyhoon 227:699c3e572283 545 }
hyhoon 227:699c3e572283 546
hyhoon 227:699c3e572283 547 case MODE_REF_DIRECT: {
hyhoon 227:699c3e572283 548 pos.ref = REF_POSITION;
hyhoon 227:699c3e572283 549 vel.ref = REF_VELOCITY;
hyhoon 227:699c3e572283 550 torq.ref = REF_TORQUE;
hyhoon 227:699c3e572283 551 break;
hyhoon 227:699c3e572283 552 }
hyhoon 227:699c3e572283 553 default:
hyhoon 227:699c3e572283 554 break;
hyhoon 227:699c3e572283 555 }
hyhoon 227:699c3e572283 556
Lightvalve 57:f4819de54e7a 557 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 558 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 559
Lightvalve 57:f4819de54e7a 560 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 561 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 562 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 563 } else {
Lightvalve 57:f4819de54e7a 564 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 565 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 566 }
Lightvalve 56:6f50d9d3bfee 567
Lightvalve 56:6f50d9d3bfee 568
Lightvalve 56:6f50d9d3bfee 569
Lightvalve 57:f4819de54e7a 570 // UTILITY MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 571 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 572 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 573 break;
Lightvalve 13:747daba9cf59 574 }
Lightvalve 14:8e7590227d22 575
Lightvalve 14:8e7590227d22 576 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 577 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 578 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 579 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 580
Lightvalve 14:8e7590227d22 581 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 582 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 583 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 584
Lightvalve 84:c355d3e52bf1 585 TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 586
Lightvalve 30:8d561f16383b 587 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 588 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 30:8d561f16383b 589 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 590 }
Lightvalve 13:747daba9cf59 591 } else {
Lightvalve 58:2eade98630e2 592 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 593 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 594 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 595 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 596
Lightvalve 170:42c938a40313 597 spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0f));
Lightvalve 19:23b7c1ad8683 598
Lightvalve 30:8d561f16383b 599 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 600
Lightvalve 13:747daba9cf59 601 }
Lightvalve 14:8e7590227d22 602 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 603 break;
Lightvalve 19:23b7c1ad8683 604 }
Lightvalve 14:8e7590227d22 605
Lightvalve 14:8e7590227d22 606 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 607 if (FINDHOME_STAGE == FINDHOME_INIT) {
hyhoon 227:699c3e572283 608 REFERENCE_MODE=MODE_REF_NO_ACT;
Lightvalve 14:8e7590227d22 609 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 610 cnt_vel_findhome = 0;
Lightvalve 59:f308b1656d9c 611 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 612 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 613 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 614 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 615 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 616 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 617 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 618 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 619 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 620 }
Lightvalve 29:69f3f5445d6d 621 cnt_findhome++;
Lightvalve 14:8e7590227d22 622
Lightvalve 29:69f3f5445d6d 623 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 624 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 625 } else {
Lightvalve 29:69f3f5445d6d 626 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 627 }
Lightvalve 19:23b7c1ad8683 628
Lightvalve 57:f4819de54e7a 629 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
hyhoon 226:82a3ca333004 630 if (HOMEPOS_OFFSET > 0) {
hyhoon 226:82a3ca333004 631 pos.ref = pos.ref + 12.0f;
hyhoon 226:82a3ca333004 632 } else {
hyhoon 226:82a3ca333004 633 pos.ref = pos.ref - 12.0f;
hyhoon 226:82a3ca333004 634 }
hyhoon 226:82a3ca333004 635
Lightvalve 61:bc8c8270f0ab 636
Lightvalve 59:f308b1656d9c 637 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 638 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 639
Lightvalve 29:69f3f5445d6d 640 } else {
hyhoon 226:82a3ca333004 641 ENC_SET((int32_t)((int32_t)HOMEPOS_OFFSET*10));
hyhoon 226:82a3ca333004 642 INIT_REF_POS = (int32_t)((int32_t)HOMEPOS_OFFSET*10);
Lightvalve 29:69f3f5445d6d 643 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 644 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 645 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 646 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 647 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 648 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 649 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 650 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 651
Lightvalve 67:c2812cf26c38 652
Lightvalve 67:c2812cf26c38 653 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 654 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 655 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 656 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 657 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 658 }
Lightvalve 29:69f3f5445d6d 659 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 660 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 661 pos.ref = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
Lightvalve 59:f308b1656d9c 662 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 663 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 664
Lightvalve 67:c2812cf26c38 665 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 666 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 667 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
hyhoon 226:82a3ca333004 668 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 669
Lightvalve 29:69f3f5445d6d 670 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 671 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 672 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 673 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 674 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 675 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 676 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 677 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 678 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
hyhoon 227:699c3e572283 679 REFERENCE_MODE=MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 680 }
Lightvalve 13:747daba9cf59 681 }
Lightvalve 19:23b7c1ad8683 682
Lightvalve 13:747daba9cf59 683 break;
Lightvalve 13:747daba9cf59 684 }
Lightvalve 14:8e7590227d22 685
Lightvalve 14:8e7590227d22 686 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 687 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 688 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 689 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 690 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 691
Lightvalve 14:8e7590227d22 692 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 693 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 694 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 695 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 696 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 697
Lightvalve 38:118df027d851 698 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 699 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 700 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 701
Lightvalve 30:8d561f16383b 702 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 703 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 704 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 705 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 706
hyhoon 226:82a3ca333004 707 if (DIR_VALVE_ENC > 0) {
hyhoon 226:82a3ca333004 708 dac_1 = PRES_A_VREF / 3.3f;
hyhoon 226:82a3ca333004 709 dac_2 = PRES_B_VREF / 3.3f;
hyhoon 226:82a3ca333004 710 } else {
hyhoon 226:82a3ca333004 711 dac_1 = PRES_B_VREF / 3.3f;
hyhoon 226:82a3ca333004 712 dac_2 = PRES_A_VREF / 3.3f;
hyhoon 226:82a3ca333004 713 }
Lightvalve 13:747daba9cf59 714 }
Lightvalve 13:747daba9cf59 715 } else {
Lightvalve 57:f4819de54e7a 716 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 717 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 718 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 719 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 720 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 721 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 722
Lightvalve 170:42c938a40313 723 spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0f));
Lightvalve 170:42c938a40313 724 spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0f));
Lightvalve 19:23b7c1ad8683 725
hyhoon 226:82a3ca333004 726 if (DIR_VALVE_ENC > 0) {
hyhoon 226:82a3ca333004 727 dac_1 = PRES_A_VREF / 3.3f;
hyhoon 226:82a3ca333004 728 dac_2 = PRES_B_VREF / 3.3f;
hyhoon 226:82a3ca333004 729 } else {
hyhoon 226:82a3ca333004 730 dac_1 = PRES_B_VREF / 3.3f;
hyhoon 226:82a3ca333004 731 dac_2 = PRES_A_VREF / 3.3f;
hyhoon 226:82a3ca333004 732 }
Lightvalve 13:747daba9cf59 733 }
Lightvalve 14:8e7590227d22 734 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 735 break;
Lightvalve 13:747daba9cf59 736 }
Lightvalve 14:8e7590227d22 737
hyhoon 227:699c3e572283 738 case MODE_DDV_DEADZONE_AND_CENTER: {
hyhoon 227:699c3e572283 739 if (FINDDZ_STAGE == FINDDZ_INIT) {
hyhoon 227:699c3e572283 740 cnt_finddz = 0;
hyhoon 227:699c3e572283 741 cnt_vel_finddz = 0;
hyhoon 227:699c3e572283 742 temp_pos_ref = pos.sen;
hyhoon 227:699c3e572283 743 temp_pos_ref_offset = 0.0f;
hyhoon 227:699c3e572283 744 vel.ref = 0.0f;
hyhoon 227:699c3e572283 745 FINDDZ_STAGE = FINDDZ_START1;
hyhoon 227:699c3e572283 746 flag_finddz = 1;
hyhoon 227:699c3e572283 747 FINDDZ_POSITION = pos.sen;
hyhoon 227:699c3e572283 748 FINDDZ_POSITION_OLD = FINDDZ_POSITION;
hyhoon 227:699c3e572283 749
hyhoon 227:699c3e572283 750 temp_P_GAIN = P_GAIN_JOINT_POSITION;
hyhoon 227:699c3e572283 751 temp_I_GAIN = I_GAIN_JOINT_POSITION;
hyhoon 227:699c3e572283 752 temp_VELOCITY_COMP_GAIN = VELOCITY_COMP_GAIN;
Lightvalve 19:23b7c1ad8683 753
hyhoon 227:699c3e572283 754 P_GAIN_JOINT_POSITION = 1.0f;
hyhoon 227:699c3e572283 755 I_GAIN_JOINT_POSITION = 0.0f;
hyhoon 227:699c3e572283 756 VELOCITY_COMP_GAIN = 0;
hyhoon 227:699c3e572283 757 FLAG_VALVE_DEADZONE = 0;
hyhoon 227:699c3e572283 758 alpha_trans = 0.0f;
hyhoon 227:699c3e572283 759 REFERENCE_MODE=MODE_REF_NO_ACT;
Lightvalve 14:8e7590227d22 760
hyhoon 227:699c3e572283 761 } else if (FINDDZ_STAGE == FINDDZ_START1) {
hyhoon 227:699c3e572283 762 cnt_finddz++;
hyhoon 227:699c3e572283 763 CONTROL_MODE = MODE_JOINT_CONTROL;
hyhoon 227:699c3e572283 764 FINDDZ_POSITION = pos.sen;
hyhoon 227:699c3e572283 765 FINDDZ_VELOCITY = FINDDZ_POSITION - FINDDZ_POSITION_OLD;
hyhoon 227:699c3e572283 766 FINDDZ_POSITION_OLD = FINDDZ_POSITION;
Lightvalve 14:8e7590227d22 767
hyhoon 227:699c3e572283 768 if (temp_P_GAIN > 0.0f) temp_pos_ref_offset = temp_pos_ref_offset - (float)FINDDZ_VELOCITY*temp_P_GAIN;
hyhoon 227:699c3e572283 769 else temp_pos_ref_offset = temp_pos_ref_offset - (float)FINDDZ_VELOCITY*20.0f;
hyhoon 227:699c3e572283 770
hyhoon 227:699c3e572283 771 pos.ref = temp_pos_ref + temp_pos_ref_offset;
hyhoon 227:699c3e572283 772
hyhoon 227:699c3e572283 773 if (cnt_finddz > 10000) FINDDZ_STAGE = FINDDZ_START2;
Lightvalve 14:8e7590227d22 774
Lightvalve 14:8e7590227d22 775
hyhoon 227:699c3e572283 776 } else if (FINDDZ_STAGE == FINDDZ_START2) {
hyhoon 227:699c3e572283 777 CONTROL_MODE = MODE_JOINT_CONTROL;
hyhoon 227:699c3e572283 778 FINDDZ_POSITION = pos.sen;
hyhoon 227:699c3e572283 779 FINDDZ_VELOCITY = FINDDZ_POSITION - FINDDZ_POSITION_OLD;
hyhoon 227:699c3e572283 780 FINDDZ_POSITION_OLD = FINDDZ_POSITION;
Lightvalve 14:8e7590227d22 781
hyhoon 227:699c3e572283 782 if (flag_finddz > 0) {
hyhoon 227:699c3e572283 783 temp_pos_ref = temp_pos_ref + 1.0f;
hyhoon 227:699c3e572283 784 if (FINDDZ_VELOCITY > 0) {
hyhoon 227:699c3e572283 785 cnt_vel_finddz = cnt_vel_finddz + 1;
hyhoon 227:699c3e572283 786 }
hyhoon 227:699c3e572283 787 if (cnt_vel_finddz > 5) {
hyhoon 227:699c3e572283 788 VALVE_DEADZONE_PLUS = (int)(I_REF_fil/mA_PER_pulse);
hyhoon 227:699c3e572283 789 // temp_VALVE_DEADZONE_PLUS = temp_VALVE_DEADZONE_PLUS + I_REF_fil/mA_PER_pulse;
hyhoon 227:699c3e572283 790 cnt_vel_finddz = 0;
hyhoon 227:699c3e572283 791 flag_finddz = - flag_finddz - 1;
Lightvalve 13:747daba9cf59 792 }
Lightvalve 61:bc8c8270f0ab 793
hyhoon 227:699c3e572283 794 } else if (flag_finddz < 0) {
hyhoon 227:699c3e572283 795 temp_pos_ref = temp_pos_ref - 1.0f;
hyhoon 227:699c3e572283 796 if (FINDDZ_VELOCITY < 0) {
hyhoon 227:699c3e572283 797 cnt_vel_finddz = cnt_vel_finddz + 1;
Lightvalve 13:747daba9cf59 798 }
hyhoon 227:699c3e572283 799 if (cnt_vel_finddz > 5) {
hyhoon 227:699c3e572283 800 VALVE_DEADZONE_MINUS = (int)(I_REF_fil/mA_PER_pulse);
hyhoon 227:699c3e572283 801 // temp_VALVE_DEADZONE_MINUS = temp_VALVE_DEADZONE_MINUS + I_REF_fil/mA_PER_pulse;
hyhoon 227:699c3e572283 802 cnt_vel_finddz = 0;
hyhoon 227:699c3e572283 803 flag_finddz = - flag_finddz + 1;
Lightvalve 13:747daba9cf59 804 }
Lightvalve 13:747daba9cf59 805 }
hyhoon 227:699c3e572283 806 if (abs(flag_finddz) >= 6) {
hyhoon 227:699c3e572283 807 FINDDZ_STAGE = FINDDZ_STOP;
hyhoon 227:699c3e572283 808 // VALVE_DEADZONE_PLUS = (int)(temp_VALVE_DEADZONE_PLUS / (double)flag_finddz * 2.0f);
hyhoon 227:699c3e572283 809 // VALVE_DEADZONE_MINUS = (int)(temp_VALVE_DEADZONE_MINUS / (double)flag_finddz * 2.0f);
hyhoon 227:699c3e572283 810 spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
hyhoon 227:699c3e572283 811 spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 13:747daba9cf59 812 }
hyhoon 227:699c3e572283 813 pos.ref = temp_pos_ref + temp_pos_ref_offset;
Lightvalve 14:8e7590227d22 814
hyhoon 227:699c3e572283 815 } else if (FINDDZ_STAGE == FINDDZ_STOP) {
hyhoon 227:699c3e572283 816 FINDDZ_STAGE = FINDDZ_INIT;
hyhoon 227:699c3e572283 817 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
hyhoon 227:699c3e572283 818 P_GAIN_JOINT_POSITION = temp_P_GAIN;
hyhoon 227:699c3e572283 819 I_GAIN_JOINT_POSITION = temp_I_GAIN;
hyhoon 227:699c3e572283 820 VELOCITY_COMP_GAIN = temp_VELOCITY_COMP_GAIN;
hyhoon 227:699c3e572283 821 flag_finddz = 0;
hyhoon 227:699c3e572283 822 FLAG_VALVE_DEADZONE = 1;
hyhoon 227:699c3e572283 823 REFERENCE_MODE=MODE_REF_DIRECT;
Lightvalve 13:747daba9cf59 824 }
Lightvalve 13:747daba9cf59 825 break;
Lightvalve 13:747daba9cf59 826 }
Lightvalve 58:2eade98630e2 827
Lightvalve 57:f4819de54e7a 828 case MODE_SYSTEM_ID: {
Lightvalve 169:645207e160ca 829 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.0f;
Lightvalve 57:f4819de54e7a 830 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 831 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 832 cnt_sysid++;
Lightvalve 57:f4819de54e7a 833 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 834 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 835 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 836 }
Lightvalve 57:f4819de54e7a 837 break;
Lightvalve 57:f4819de54e7a 838 }
Lightvalve 58:2eade98630e2 839
Lightvalve 169:645207e160ca 840 case MODE_FREQ_TEST: {
Lightvalve 169:645207e160ca 841 float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3);
Lightvalve 169:645207e160ca 842 if(valve_pos_ref >= 0) {
Lightvalve 169:645207e160ca 843 valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 844 } else {
Lightvalve 169:645207e160ca 845 valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 846 }
Lightvalve 169:645207e160ca 847 ref_array[cnt_freq_test] = valve_pos_ref;
Lightvalve 169:645207e160ca 848 if(value>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 849 pos_array[cnt_freq_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 850 } else {
Lightvalve 169:645207e160ca 851 pos_array[cnt_freq_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 852 }
Lightvalve 58:2eade98630e2 853
Lightvalve 169:645207e160ca 854 CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve 169:645207e160ca 855 cnt_freq_test++;
Lightvalve 169:645207e160ca 856 if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3 > 2) {
Lightvalve 169:645207e160ca 857 buffer_data_size = cnt_freq_test;
Lightvalve 169:645207e160ca 858 cnt_freq_test = 0;
Lightvalve 169:645207e160ca 859 cnt_send_buffer = 0;
Lightvalve 169:645207e160ca 860 freq_test_valve_ref = freq_test_valve_ref * 1.05f;
Lightvalve 169:645207e160ca 861 if (freq_test_valve_ref >= 400) {
Lightvalve 169:645207e160ca 862 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 863 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 864 CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve 169:645207e160ca 865 }
Lightvalve 169:645207e160ca 866 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 867 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 170:42c938a40313 868
Lightvalve 169:645207e160ca 869 }
Lightvalve 169:645207e160ca 870 break;
Lightvalve 169:645207e160ca 871 }
Lightvalve 170:42c938a40313 872
Lightvalve 169:645207e160ca 873 case MODE_STEP_TEST: {
Lightvalve 169:645207e160ca 874 float valve_pos_ref = 0.0f;
Lightvalve 170:42c938a40313 875 if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 169:645207e160ca 876 valve_pos_ref = 0.0f;
Lightvalve 170:42c938a40313 877 } else {
Lightvalve 169:645207e160ca 878 valve_pos_ref = 10000.0f;
Lightvalve 169:645207e160ca 879 }
Lightvalve 169:645207e160ca 880 if(valve_pos_ref >= 0) {
Lightvalve 169:645207e160ca 881 valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 882 } else {
Lightvalve 169:645207e160ca 883 valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 884 }
Lightvalve 169:645207e160ca 885 ref_array[cnt_step_test] = valve_pos_ref;
Lightvalve 169:645207e160ca 886 if(value>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 887 pos_array[cnt_step_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 888 } else {
Lightvalve 169:645207e160ca 889 pos_array[cnt_step_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 890 }
Lightvalve 169:645207e160ca 891
Lightvalve 169:645207e160ca 892 CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve 169:645207e160ca 893 cnt_step_test++;
Lightvalve 170:42c938a40313 894 if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 169:645207e160ca 895 buffer_data_size = cnt_step_test;
Lightvalve 169:645207e160ca 896 cnt_step_test = 0;
Lightvalve 169:645207e160ca 897 cnt_send_buffer = 0;
Lightvalve 169:645207e160ca 898 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 169:645207e160ca 899 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 900 }
Lightvalve 170:42c938a40313 901
Lightvalve 169:645207e160ca 902 break;
Lightvalve 169:645207e160ca 903 }
Lightvalve 57:f4819de54e7a 904
Lightvalve 57:f4819de54e7a 905 default:
Lightvalve 57:f4819de54e7a 906 break;
Lightvalve 57:f4819de54e7a 907 }
Lightvalve 57:f4819de54e7a 908
Lightvalve 224:985dba42f261 909
Lightvalve 224:985dba42f261 910
Lightvalve 57:f4819de54e7a 911 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 912 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 913 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 914 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 915 break;
Lightvalve 57:f4819de54e7a 916 }
Lightvalve 57:f4819de54e7a 917
Lightvalve 57:f4819de54e7a 918 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 919 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 57:f4819de54e7a 920 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:f308b1656d9c 921 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 922 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 923 V_out = valve_pos.ref;
Lightvalve 169:645207e160ca 924 } else {
hyhoon 227:699c3e572283 925 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 926 }
Lightvalve 57:f4819de54e7a 927 break;
Lightvalve 57:f4819de54e7a 928 }
Lightvalve 57:f4819de54e7a 929
Lightvalve 57:f4819de54e7a 930 case MODE_JOINT_CONTROL: {
Lightvalve 169:645207e160ca 931
Lightvalve 57:f4819de54e7a 932 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 933 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 934 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 935 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 169:645207e160ca 936
Lightvalve 67:c2812cf26c38 937 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 938 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 939 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 940 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 169:645207e160ca 941
Lightvalve 224:985dba42f261 942 torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 57:f4819de54e7a 943
Lightvalve 57:f4819de54e7a 944 // torque feedback
Lightvalve 67:c2812cf26c38 945 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 946 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 947
Lightvalve 57:f4819de54e7a 948 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 949
Lightvalve 57:f4819de54e7a 950 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 951 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 952 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 953
Lightvalve 57:f4819de54e7a 954 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 955 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 956 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 957
Lightvalve 69:3995ffeaa786 958 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 959 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 960 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 961 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 962 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 963 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 964 }
Lightvalve 57:f4819de54e7a 965 if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 966 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 967
Lightvalve 57:f4819de54e7a 968 // velocity compensation for torque control
Lightvalve 69:3995ffeaa786 969 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 970 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 971 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s
Lightvalve 57:f4819de54e7a 972 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 973 // L feedforward velocity
Lightvalve 69:3995ffeaa786 974 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 975 I_REF_FORCE_FB = 0.001f * 0.01f*((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); // Linear Actuators are more sensitive.
Lightvalve 57:f4819de54e7a 976 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 977 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 978 // L feedforward velocity
Lightvalve 57:f4819de54e7a 979 }
Lightvalve 57:f4819de54e7a 980 if (temp_vel_torq > 0.0f) I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 981 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 982 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 983 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 984 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 985
Lightvalve 57:f4819de54e7a 986 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 169:645207e160ca 987
Lightvalve 67:c2812cf26c38 988 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 989 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 990 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 991 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 992 if (I_REF > I_MAX) {
Lightvalve 67:c2812cf26c38 993 double I_rem = I_REF - I_MAX;
Lightvalve 67:c2812cf26c38 994 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 995 I_REF = I_MAX;
Lightvalve 67:c2812cf26c38 996 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 997 } else if (I_REF < -I_MAX) {
Lightvalve 67:c2812cf26c38 998 double I_rem = I_REF - (-I_MAX);
Lightvalve 67:c2812cf26c38 999 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1000 I_REF = -I_MAX;
Lightvalve 67:c2812cf26c38 1001 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1002 }
Lightvalve 67:c2812cf26c38 1003 }
Lightvalve 57:f4819de54e7a 1004
Lightvalve 57:f4819de54e7a 1005 } else {
Lightvalve 57:f4819de54e7a 1006 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 72:3436ce769b1e 1007 float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 1008 float VALVE_POS_RAW = 0.0f;
Lightvalve 169:645207e160ca 1009
Lightvalve 209:ebc69d6ee6f1 1010 VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * (torq.ref_diff - torq_dot.sen)) * 0.01f + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 57:f4819de54e7a 1011
Lightvalve 72:3436ce769b1e 1012 VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f;
Lightvalve 169:645207e160ca 1013
Lightvalve 72:3436ce769b1e 1014 VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve 169:645207e160ca 1015
Lightvalve 169:645207e160ca 1016
Lightvalve 72:3436ce769b1e 1017 if (VALVE_POS_RAW >= 0) {
Lightvalve 72:3436ce769b1e 1018 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 1019 } else {
Lightvalve 72:3436ce769b1e 1020 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 1021 }
Lightvalve 57:f4819de54e7a 1022
Lightvalve 57:f4819de54e7a 1023 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 139:15621998925b 1024 double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 1025 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 1026 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1027 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1028 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1029 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1030 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 1031 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1032 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1033 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1034 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1035 }
Lightvalve 57:f4819de54e7a 1036 }
Lightvalve 61:bc8c8270f0ab 1037
Lightvalve 57:f4819de54e7a 1038 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1039 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1040 }
Lightvalve 72:3436ce769b1e 1041 torq_ref_past = torq_ref;
Lightvalve 57:f4819de54e7a 1042 break;
Lightvalve 57:f4819de54e7a 1043 }
Lightvalve 58:2eade98630e2 1044
Lightvalve 57:f4819de54e7a 1045 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 1046 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1047 break;
Lightvalve 57:f4819de54e7a 1048 }
Lightvalve 169:645207e160ca 1049
Lightvalve 138:a843f32ced33 1050 case MODE_JOINT_ADAPTIVE_BACKSTEPPING: {
Lightvalve 169:645207e160ca 1051
Lightvalve 169:645207e160ca 1052
Lightvalve 139:15621998925b 1053 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
Lightvalve 139:15621998925b 1054 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
Lightvalve 218:066030f7951f 1055
Lightvalve 170:42c938a40313 1056 V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f
Lightvalve 169:645207e160ca 1057
Lightvalve 218:066030f7951f 1058 //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
Lightvalve 218:066030f7951f 1059 float f3_hat = -a_hat * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
Lightvalve 169:645207e160ca 1060
Lightvalve 138:a843f32ced33 1061 float g3_prime = 0.0f;
Lightvalve 169:645207e160ca 1062 if (torq.sen > Amm*(Ps-Pt)*0.000001f) {
Lightvalve 138:a843f32ced33 1063 g3_prime = 1.0f;
Lightvalve 138:a843f32ced33 1064 } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) {
Lightvalve 138:a843f32ced33 1065 g3_prime = -1.0f;
Lightvalve 138:a843f32ced33 1066 } else {
Lightvalve 138:a843f32ced33 1067 if ((value-VALVE_CENTER) > 0) {
Lightvalve 169:645207e160ca 1068 g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f);
Lightvalve 169:645207e160ca 1069 // g3_prime = sqrt(Ps-Pt);
Lightvalve 138:a843f32ced33 1070 } else {
Lightvalve 138:a843f32ced33 1071 g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f);
Lightvalve 139:15621998925b 1072 // g3_prime = sqrt(Ps-Pt);
Lightvalve 138:a843f32ced33 1073 }
Lightvalve 138:a843f32ced33 1074 }
Lightvalve 138:a843f32ced33 1075 float tau = 0.01f;
Lightvalve 142:43026242815a 1076 float K_valve = 0.0004f;
Lightvalve 169:645207e160ca 1077
Lightvalve 138:a843f32ced33 1078 float x_v = 0.0f; //x_v : -1~1
Lightvalve 138:a843f32ced33 1079 if(value>=VALVE_CENTER) {
Lightvalve 138:a843f32ced33 1080 x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 138:a843f32ced33 1081 } else {
Lightvalve 138:a843f32ced33 1082 x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 138:a843f32ced33 1083 }
Lightvalve 138:a843f32ced33 1084 float f4 = -x_v/tau;
Lightvalve 138:a843f32ced33 1085 float g4 = K_valve/tau;
Lightvalve 169:645207e160ca 1086
Lightvalve 139:15621998925b 1087 float torq_ref_dot = torq.ref_diff * 500.0f;
Lightvalve 169:645207e160ca 1088
Lightvalve 138:a843f32ced33 1089 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 138:a843f32ced33 1090 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 138:a843f32ced33 1091 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 169:645207e160ca 1092
Lightvalve 138:a843f32ced33 1093 torq.err = torq.ref - torq.sen; //[N]
Lightvalve 138:a843f32ced33 1094 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 169:645207e160ca 1095
Lightvalve 212:ec41f1449ef9 1096 float k3 = 2000.0f; //2000 //20000
Lightvalve 142:43026242815a 1097 float k4 = 10.0f;
Lightvalve 142:43026242815a 1098 float rho3 = 3.2f;
Lightvalve 212:ec41f1449ef9 1099 float rho4 = 10000000.0f; //25000000.0f;
Lightvalve 218:066030f7951f 1100 float x_4_des = (-f3_hat + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime);
Lightvalve 138:a843f32ced33 1101 if (x_4_des > 1) x_4_des = 1;
Lightvalve 138:a843f32ced33 1102 else if (x_4_des < -1) x_4_des = -1;
Lightvalve 169:645207e160ca 1103
Lightvalve 139:15621998925b 1104 if (x_4_des > 0) {
Lightvalve 139:15621998925b 1105 valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER;
Lightvalve 139:15621998925b 1106 } else {
Lightvalve 139:15621998925b 1107 valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER;
Lightvalve 139:15621998925b 1108 }
Lightvalve 169:645207e160ca 1109
Lightvalve 138:a843f32ced33 1110 float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k;
Lightvalve 138:a843f32ced33 1111 x_4_des_old = x_4_des;
Lightvalve 139:15621998925b 1112 V_out = (-f4 + x_4_des_dot - k4*(x_v-x_4_des)- rho3/rho4*gamma_hat*g3_prime*(-torq.err))/g4;
Lightvalve 218:066030f7951f 1113
Lightvalve 218:066030f7951f 1114 float rho_a = 0.00001f;
Lightvalve 218:066030f7951f 1115 float a_hat_dot = -rho3/rho_a*vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f*(-torq.err);
Lightvalve 218:066030f7951f 1116 a_hat = a_hat + a_hat_dot / (float) TMR_FREQ_5k;
Lightvalve 218:066030f7951f 1117
Lightvalve 218:066030f7951f 1118 if(a_hat > -3000000.0f) a_hat = -3000000.0f;
Lightvalve 218:066030f7951f 1119 else if(a_hat < -30000000.0f) a_hat = -30000000.0f;
Lightvalve 218:066030f7951f 1120
Lightvalve 169:645207e160ca 1121 break;
Lightvalve 138:a843f32ced33 1122 }
Lightvalve 171:bfc1fd2629d8 1123
Lightvalve 12:6f2531038ea4 1124 default:
Lightvalve 12:6f2531038ea4 1125 break;
Lightvalve 12:6f2531038ea4 1126 }
Lightvalve 14:8e7590227d22 1127
Lightvalve 57:f4819de54e7a 1128
Lightvalve 57:f4819de54e7a 1129 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 1130
Lightvalve 57:f4819de54e7a 1131 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1132 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 1133 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1134 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 1135 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 1136 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 1137
hyhoon 226:82a3ca333004 1138 if (FLAG_VALVE_DEADZONE) {
hyhoon 226:82a3ca333004 1139 if (I_REF_fil > 0.0f) I_REF_fil_DZ = I_REF_fil + (double)VALVE_DEADZONE_PLUS*mA_PER_pulse; // unit: mA
hyhoon 226:82a3ca333004 1140 else if (I_REF_fil < 0.0f) I_REF_fil_DZ = I_REF_fil + (double)VALVE_DEADZONE_MINUS*mA_PER_pulse; // unit: mA
hyhoon 226:82a3ca333004 1141 else I_REF_fil_DZ = I_REF_fil + (double)(VALVE_DEADZONE_PLUS+VALVE_DEADZONE_MINUS)/2.0f*mA_PER_pulse; // unit: mA
hyhoon 226:82a3ca333004 1142 } else {
hyhoon 226:82a3ca333004 1143 I_REF_fil_DZ = I_REF_fil;
hyhoon 226:82a3ca333004 1144 }
hyhoon 226:82a3ca333004 1145 I_ERR = I_REF_fil_DZ - (double)cur.sen;
Lightvalve 67:c2812cf26c38 1146 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 1147
Lightvalve 57:f4819de54e7a 1148
Lightvalve 57:f4819de54e7a 1149 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 1150 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 1151 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 1152 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 1153 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 1154 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 1155
Lightvalve 57:f4819de54e7a 1156 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 1157 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 1158 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 1159 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 1160 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 1161 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 1162 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 1163 }
Lightvalve 57:f4819de54e7a 1164
Lightvalve 57:f4819de54e7a 1165 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 1166
Lightvalve 67:c2812cf26c38 1167 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
hyhoon 226:82a3ca333004 1168 I_REF_fil_diff = I_REF_fil_DZ - I_REF_fil_old;
hyhoon 226:82a3ca333004 1169 I_REF_fil_old = I_REF_fil_DZ;
Lightvalve 67:c2812cf26c38 1170 // 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 1171 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil_DZ); // Unit : mV
Lightvalve 67:c2812cf26c38 1172 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 1173
Lightvalve 57:f4819de54e7a 1174 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 1175 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 1176 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 1177 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1178 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 1179 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1180 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 1181 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 1182 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1183 VALVE_PWM_RAW = -V_MAX;
Lightvalve 67:c2812cf26c38 1184 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1185 }
Lightvalve 57:f4819de54e7a 1186 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1187 } else {
Lightvalve 57:f4819de54e7a 1188 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 1189 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1190 }
Lightvalve 57:f4819de54e7a 1191
Lightvalve 57:f4819de54e7a 1192 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1193 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 1194 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1195
Lightvalve 57:f4819de54e7a 1196 // Output Voltage Linearization
hyhoon 226:82a3ca333004 1197 double CUR_PWM_nonlin = (double)VALVE_PWM_RAW; // Unit : mV
Lightvalve 67:c2812cf26c38 1198 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 1199
Lightvalve 57:f4819de54e7a 1200 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 1201 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 1202 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 1203 else V_out = (float) (CUR_PWM_lin);
Lightvalve 169:645207e160ca 1204 } else { //////////////////////////sw valve
Lightvalve 224:985dba42f261 1205 // Output Voltage Linearization & Dead Zone Cancellation (Electrical dead-zone) by SW
Lightvalve 135:79885a39c161 1206 if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f;
Lightvalve 135:79885a39c161 1207 else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f;
Lightvalve 135:79885a39c161 1208 else V_out = 0.0f;
Lightvalve 89:a7b45368ea0f 1209 }
Lightvalve 169:645207e160ca 1210
jobuuu 7:e9086c72bb22 1211 /*******************************************************
jobuuu 7:e9086c72bb22 1212 *** PWM
jobuuu 7:e9086c72bb22 1213 ********************************************************/
Lightvalve 169:645207e160ca 1214 if(DIR_VALVE<0) {
Lightvalve 67:c2812cf26c38 1215 V_out = -V_out;
Lightvalve 67:c2812cf26c38 1216 }
Lightvalve 169:645207e160ca 1217
Lightvalve 49:e7bcfc244d40 1218 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1219 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1220 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1221 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1222 }
Lightvalve 224:985dba42f261 1223 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f);
Lightvalve 13:747daba9cf59 1224
Lightvalve 224:985dba42f261 1225 // Saturation of output voltage
Lightvalve 30:8d561f16383b 1226 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1227 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1228
Lightvalve 30:8d561f16383b 1229 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1230 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1231 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1232 } else {
jobuuu 2:a1c0a37df760 1233 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1234 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1235 }
Lightvalve 13:747daba9cf59 1236
jobuuu 1:e04e563be5ce 1237 //pwm
Lightvalve 30:8d561f16383b 1238 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1239 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 1240
Lightvalve 20:806196fda269 1241
hyhoon 226:82a3ca333004 1242 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
hyhoon 226:82a3ca333004 1243 // Position, Velocity, and Torque (ID:1200)
hyhoon 226:82a3ca333004 1244 if (flag_data_request[0] == HIGH) {
hyhoon 226:82a3ca333004 1245 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
hyhoon 226:82a3ca333004 1246 if (SENSING_MODE == 0) {
hyhoon 226:82a3ca333004 1247 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
hyhoon 226:82a3ca333004 1248 } else if (SENSING_MODE == 1) {
hyhoon 226:82a3ca333004 1249 CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
hyhoon 226:82a3ca333004 1250 }
hyhoon 226:82a3ca333004 1251 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
hyhoon 226:82a3ca333004 1252 if (SENSING_MODE == 0) {
hyhoon 226:82a3ca333004 1253 CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE)));
hyhoon 226:82a3ca333004 1254 } else if (SENSING_MODE == 1) {
hyhoon 226:82a3ca333004 1255 CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
hyhoon 226:82a3ca333004 1256 }
hyhoon 226:82a3ca333004 1257 }
hyhoon 226:82a3ca333004 1258 }
hyhoon 226:82a3ca333004 1259
hyhoon 227:699c3e572283 1260 // PWM, ID:1300
Lightvalve 56:6f50d9d3bfee 1261 if (flag_data_request[1] == HIGH) {
hyhoon 227:699c3e572283 1262 CAN_TX_PWM((int16_t) (V_out)); //1300
Lightvalve 54:647072f5307a 1263 }
Lightvalve 58:2eade98630e2 1264
hyhoon 227:699c3e572283 1265 // Reference Current, Current Current (ID:1400)
Lightvalve 171:bfc1fd2629d8 1266 if (flag_data_request[2] == HIGH) {
hyhoon 227:699c3e572283 1267 CAN_TX_CURRENT((int16_t) (I_REF_fil_DZ / mA_PER_pulse), (int16_t) (cur.sen / mA_PER_pulse)); // 1400
Lightvalve 55:b25725257569 1268 }
hyhoon 227:699c3e572283 1269
hyhoon 227:699c3e572283 1270 // Reference Current, Current Current (ID:1700)
Lightvalve 169:645207e160ca 1271 if (flag_data_request[3] == HIGH) {
hyhoon 227:699c3e572283 1272 CAN_TX_SOMETHING((int16_t) (0), (int16_t) (0), (int16_t) (0), (int16_t) (0)); // 1700
Lightvalve 54:647072f5307a 1273 }
Lightvalve 20:806196fda269 1274
Lightvalve 54:647072f5307a 1275 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1276 }
Lightvalve 54:647072f5307a 1277 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 1278
Lightvalve 20:806196fda269 1279 }
Lightvalve 52:8ea76864368a 1280 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1281
Lightvalve 58:2eade98630e2 1282 }