HydraulicControlBoard_Start - 20210305

Users » hyhoon » Code » HydraulicControlBoard_Start

Seunghoon Shin / Mbed 2 deprecated HydraulicControlBoard_Start

20210305

main.cpp@226:82a3ca333004, 2021-03-03 (annotated)

Committer:: hyhoon
Date:: Wed Mar 03 10:56:25 2021 +0000
Revision:: 226:82a3ca333004
Parent:: 225:9c0becc196ba
Child:: 227:699c3e572283

20210305;

Who changed what in which revision?

User	Revision	Line number	New 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;
Lightvalve	49:e7bcfc244d40	82	extern int CID_RX_REF_VALVE_POS;
Lightvalve	45:35fa6884d0c6	83	extern int CID_RX_REF_PWM;
Lightvalve	19:23b7c1ad8683	84
Lightvalve	19:23b7c1ad8683	85	extern int CID_TX_INFO;
Lightvalve	19:23b7c1ad8683	86	extern int CID_TX_POSITION;
Lightvalve	19:23b7c1ad8683	87	extern int CID_TX_TORQUE;
Lightvalve	19:23b7c1ad8683	88	extern int CID_TX_PRES;
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
Lightvalve	12:6f2531038ea4	96	/*******************************************************************************
Lightvalve	12:6f2531038ea4	97	* REFERENCE MODE
Lightvalve	12:6f2531038ea4	98	******************************************************************************/
Lightvalve	13:747daba9cf59	99	enum _REFERENCE_MODE {
Lightvalve	13:747daba9cf59	100	MODE_REF_NO_ACT = 0, //0
Lightvalve	224:985dba42f261	101	MODE_REF_DIRECT, //1
Lightvalve	224:985dba42f261	102	MODE_REF_COS_INC, //2
Lightvalve	224:985dba42f261	103	MODE_REF_LINE_INC, //3
Lightvalve	12:6f2531038ea4	104	MODE_REF_SIN_WAVE, //4
Lightvalve	224:985dba42f261	105	MODE_REF_SQUARE_WAVE, //5
Lightvalve	12:6f2531038ea4	106	};
Lightvalve	12:6f2531038ea4	107
Lightvalve	12:6f2531038ea4	108	/*******************************************************************************
Lightvalve	12:6f2531038ea4	109	* CONTROL MODE
Lightvalve	12:6f2531038ea4	110	******************************************************************************/
Lightvalve	13:747daba9cf59	111	enum _CONTROL_MODE {
Lightvalve	12:6f2531038ea4	112	//control mode
Lightvalve	12:6f2531038ea4	113	MODE_NO_ACT = 0, //0
Lightvalve	47:fdcb8bd86fd6	114	MODE_VALVE_POSITION_CONTROL, //1
Lightvalve	47:fdcb8bd86fd6	115	MODE_JOINT_CONTROL, //2
Lightvalve	50:3c630b5eba9f	116
Lightvalve	47:fdcb8bd86fd6	117	MODE_VALVE_OPEN_LOOP, //3
Lightvalve	138:a843f32ced33	118	MODE_JOINT_ADAPTIVE_BACKSTEPPING, //4
Lightvalve	171:bfc1fd2629d8	119	MODE_RL, //5
Lightvalve	13:747daba9cf59	120
Lightvalve	12:6f2531038ea4	121	MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve	12:6f2531038ea4	122	MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve	12:6f2531038ea4	123	MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve	13:747daba9cf59	124
Lightvalve	12:6f2531038ea4	125	MODE_TEST_CURRENT_CONTROL, //9
Lightvalve	12:6f2531038ea4	126	MODE_TEST_PWM_CONTROL, //10
Lightvalve	21:e5f1a43ea6f9	127
Lightvalve	14:8e7590227d22	128	MODE_CURRENT_CONTROL, //11
Lightvalve	14:8e7590227d22	129	MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve	14:8e7590227d22	130	MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve	224:985dba42f261	131	MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //14
Lightvalve	13:747daba9cf59	132
Lightvalve	12:6f2531038ea4	133	//utility
Lightvalve	12:6f2531038ea4	134	MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve	12:6f2531038ea4	135	MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve	12:6f2531038ea4	136	MODE_FIND_HOME, //22
Lightvalve	57:f4819de54e7a	137	MODE_VALVE_GAIN_SETTING, //23
Lightvalve	12:6f2531038ea4	138	MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve	12:6f2531038ea4	139	MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve	12:6f2531038ea4	140	MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve	13:747daba9cf59	141
Lightvalve	224:985dba42f261	142	MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve	12:6f2531038ea4	143	MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve	12:6f2531038ea4	144	MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve	57:f4819de54e7a	145	MODE_SYSTEM_ID, //33
Lightvalve	169:645207e160ca	146	MODE_FREQ_TEST, //34
Lightvalve	169:645207e160ca	147	MODE_SEND_BUFFER, //35
Lightvalve	169:645207e160ca	148	MODE_SEND_OVER, //36
Lightvalve	169:645207e160ca	149	MODE_STEP_TEST, //37
Lightvalve	12:6f2531038ea4	150	};
Lightvalve	12:6f2531038ea4	151
Lightvalve	65:a2d7c63419c2	152	void SystemClock_Config(void)
Lightvalve	65:a2d7c63419c2	153	{
Lightvalve	169:645207e160ca	154	RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve	169:645207e160ca	155	RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve	65:a2d7c63419c2	156
Lightvalve	224:985dba42f261	157	/* Configure the main internal regulator output voltage
Lightvalve	169:645207e160ca	158	*/
Lightvalve	169:645207e160ca	159	__HAL_RCC_PWR_CLK_ENABLE();
Lightvalve	169:645207e160ca	160	__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve	224:985dba42f261	161	/* Initializes the CPU, AHB and APB busses clocks
Lightvalve	169:645207e160ca	162	*/
Lightvalve	169:645207e160ca	163	RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve	169:645207e160ca	164	RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve	169:645207e160ca	165	RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve	169:645207e160ca	166	RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve	169:645207e160ca	167	RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve	169:645207e160ca	168	RCC_OscInitStruct.PLL.PLLM = 8;//8
Lightvalve	169:645207e160ca	169	RCC_OscInitStruct.PLL.PLLN = 180; //180
Lightvalve	169:645207e160ca	170	RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve	169:645207e160ca	171	RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve	169:645207e160ca	172	RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve	169:645207e160ca	173	if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Lightvalve	169:645207e160ca	174	//Error_Handler();
Lightvalve	169:645207e160ca	175	}
Lightvalve	169:645207e160ca	176	/** Activate the Over-Drive mode
Lightvalve	169:645207e160ca	177	*/
Lightvalve	169:645207e160ca	178	if (HAL_PWREx_EnableOverDrive() != HAL_OK) {
Lightvalve	169:645207e160ca	179	//Error_Handler();
Lightvalve	169:645207e160ca	180	}
Lightvalve	169:645207e160ca	181	/** Initializes the CPU, AHB and APB busses clocks
Lightvalve	169:645207e160ca	182	*/
Lightvalve	169:645207e160ca	183	RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK\|RCC_CLOCKTYPE_SYSCLK
Lightvalve	169:645207e160ca	184	\|RCC_CLOCKTYPE_PCLK1\|RCC_CLOCKTYPE_PCLK2;
Lightvalve	169:645207e160ca	185	RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve	169:645207e160ca	186	RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve	169:645207e160ca	187	RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve	169:645207e160ca	188	RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve	65:a2d7c63419c2	189
Lightvalve	169:645207e160ca	190	if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) {
Lightvalve	169:645207e160ca	191	//Error_Handler();
Lightvalve	169:645207e160ca	192	}
Lightvalve	65:a2d7c63419c2	193	}
Lightvalve	65:a2d7c63419c2	194
Lightvalve	170:42c938a40313	195
GiJeongKim	0:51c43836c1d7	196	int main()
GiJeongKim	0:51c43836c1d7	197	{
jobuuu	6:df07d3491e3a	198	/*********************************
jobuuu	1:e04e563be5ce	199	*** Initialization
jobuuu	6:df07d3491e3a	200	*********************************/
hyhoon	226:82a3ca333004	201
Lightvalve	224:985dba42f261	202	HAL_Init();
Lightvalve	224:985dba42f261	203	SystemClock_Config();
hyhoon	226:82a3ca333004	204
Lightvalve	69:3995ffeaa786	205	LED = 0;
Lightvalve	61:bc8c8270f0ab	206	pc.baud(9600);
Lightvalve	21:e5f1a43ea6f9	207
GiJeongKim	0:51c43836c1d7	208	// i2c init
hyhoon	226:82a3ca333004	209	// i2c.frequency(400 * 1000); // 0.4 mHz
hyhoon	226:82a3ca333004	210	// wait_ms(2); // Power Up wait
hyhoon	226:82a3ca333004	211	// look_for_hardware_i2c(); // Hardware present
hyhoon	226:82a3ca333004	212	// init_as5510(i2c_slave_addr1);
hyhoon	226:82a3ca333004	213	// make_delay();
jobuuu	2:a1c0a37df760	214
Lightvalve	224:985dba42f261	215	// spi init
hyhoon	226:82a3ca333004	216	enc_cs = 1;
Lightvalve	170:42c938a40313	217	eeprom.format(8,3);
Lightvalve	170:42c938a40313	218	eeprom.frequency(5000000); //5M
GiJeongKim	0:51c43836c1d7	219	enc.format(8,0);
GiJeongKim	0:51c43836c1d7	220	enc.frequency(5000000); //5M
hyhoon	226:82a3ca333004	221	enc_cs = 0;
Lightvalve	11:82d8768d7351	222	make_delay();
Lightvalve	21:e5f1a43ea6f9	223
hyhoon	226:82a3ca333004	224
hyhoon	226:82a3ca333004	225	// spi _ enc
hyhoon	226:82a3ca333004	226	spi_enc_set_init();
hyhoon	226:82a3ca333004	227	make_delay();
hyhoon	226:82a3ca333004	228
hyhoon	226:82a3ca333004	229	////// bno rom
hyhoon	226:82a3ca333004	230	// spi_eeprom_write(RID_BNO, (int16_t)1);
hyhoon	226:82a3ca333004	231	// make_delay();
hyhoon	226:82a3ca333004	232	////////
hyhoon	226:82a3ca333004	233
Lightvalve	224:985dba42f261	234	// rom
Lightvalve	19:23b7c1ad8683	235	ROM_CALL_DATA();
Lightvalve	16:903b5a4433b4	236	make_delay();
Lightvalve	13:747daba9cf59	237
GiJeongKim	0:51c43836c1d7	238	// ADC init
jobuuu	5:a4319f79457b	239	Init_ADC();
Lightvalve	11:82d8768d7351	240	make_delay();
jobuuu	2:a1c0a37df760	241
GiJeongKim	0:51c43836c1d7	242	// Pwm init
GiJeongKim	0:51c43836c1d7	243	Init_PWM();
GiJeongKim	0:51c43836c1d7	244	TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	245	make_delay();
Lightvalve	13:747daba9cf59	246
GiJeongKim	0:51c43836c1d7	247	// CAN
jobuuu	2:a1c0a37df760	248	can.attach(&CAN_RX_HANDLER);
Lightvalve	11:82d8768d7351	249	CAN_ID_INIT();
Lightvalve	11:82d8768d7351	250	make_delay();
Lightvalve	34:bb2ca2fc2a8e	251
hyhoon	226:82a3ca333004	252	//can.reset();
hyhoon	226:82a3ca333004	253	can.filter(msg.id, 0xFFFFF000, CANStandard);
hyhoon	226:82a3ca333004	254
hyhoon	226:82a3ca333004	255	// TMR3 init
hyhoon	226:82a3ca333004	256	Init_TMR3();
hyhoon	226:82a3ca333004	257	TIM3->CR1 ^= TIM_CR1_UDIS;
hyhoon	226:82a3ca333004	258	make_delay();
hyhoon	226:82a3ca333004	259
hyhoon	226:82a3ca333004	260
hyhoon	226:82a3ca333004	261
Lightvalve	23:59218d4a256d	262	//Timer priority
Lightvalve	23:59218d4a256d	263	NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve	54:647072f5307a	264	NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve	34:bb2ca2fc2a8e	265
hyhoon	226:82a3ca333004	266
Lightvalve	34:bb2ca2fc2a8e	267
hyhoon	226:82a3ca333004	268
Lightvalve	13:747daba9cf59	269
Lightvalve	11:82d8768d7351	270	//DAC init
Lightvalve	58:2eade98630e2	271	if (SENSING_MODE == 0) {
Lightvalve	58:2eade98630e2	272	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	58:2eade98630e2	273	dac_2 = 0.0f;
Lightvalve	58:2eade98630e2	274	} else if (SENSING_MODE == 1) {
hyhoon	226:82a3ca333004	275	if (DIR_VALVE_ENC > 0) {
hyhoon	226:82a3ca333004	276	dac_1 = PRES_A_VREF / 3.3f;
hyhoon	226:82a3ca333004	277	dac_2 = PRES_B_VREF / 3.3f;
hyhoon	226:82a3ca333004	278	} else {
hyhoon	226:82a3ca333004	279	dac_1 = PRES_B_VREF / 3.3f;
hyhoon	226:82a3ca333004	280	dac_2 = PRES_A_VREF / 3.3f;
hyhoon	226:82a3ca333004	281	}
Lightvalve	58:2eade98630e2	282	}
Lightvalve	11:82d8768d7351	283	make_delay();
Lightvalve	13:747daba9cf59	284
Lightvalve	19:23b7c1ad8683	285	for (int i=0; i<50; i++) {
Lightvalve	11:82d8768d7351	286	if(i%2==0)
Lightvalve	38:118df027d851	287	ID_index_array[i] = - i * 0.5f;
Lightvalve	11:82d8768d7351	288	else
Lightvalve	38:118df027d851	289	ID_index_array[i] = (i+1) * 0.5f;
Lightvalve	11:82d8768d7351	290	}
Lightvalve	169:645207e160ca	291
jobuuu	6:df07d3491e3a	292	/************************************
jobuuu	1:e04e563be5ce	293	*** Program is operating!
jobuuu	6:df07d3491e3a	294	*************************************/
GiJeongKim	0:51c43836c1d7	295	while(1) {
Lightvalve	169:645207e160ca	296
Lightvalve	224:985dba42f261	297	// UART example
Lightvalve	224:985dba42f261	298	// if(timer_while==100000) {
Lightvalve	171:bfc1fd2629d8	299	// timer_while = 0;
Lightvalve	224:985dba42f261	300	// pc.printf("%f\n", value);
Lightvalve	171:bfc1fd2629d8	301	// }
Lightvalve	224:985dba42f261	302	// timer_while ++;
Lightvalve	169:645207e160ca	303
Lightvalve	224:985dba42f261	304	//i2c for SW valve
hyhoon	226:82a3ca333004	305	if(OPERATING_MODE == 5) {
Lightvalve	224:985dba42f261	306	read_field(i2c_slave_addr1);
Lightvalve	224:985dba42f261	307	if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve	170:42c938a40313	308	}
GiJeongKim	0:51c43836c1d7	309	}
jobuuu	1:e04e563be5ce	310	}
jobuuu	1:e04e563be5ce	311
Lightvalve	224:985dba42f261	312
Lightvalve	224:985dba42f261	313	// Velocity feedforward for SW valve
Lightvalve	33:91b17819ec30	314	float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve	14:8e7590227d22	315	{
Lightvalve	13:747daba9cf59	316	int i = 0;
Lightvalve	48:889798ff9329	317	float Ref_Valve_Pos_FF = 0.0f;
Lightvalve	14:8e7590227d22	318	for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve	14:8e7590227d22	319	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	320	if(i==0) {
Lightvalve	50:3c630b5eba9f	321	if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve	57:f4819de54e7a	322	Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	323	} else {
Lightvalve	57:f4819de54e7a	324	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	325	}
Lightvalve	14:8e7590227d22	326	} else {
Lightvalve	50:3c630b5eba9f	327	if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve	57:f4819de54e7a	328	Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	329	} else {
Lightvalve	57:f4819de54e7a	330	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	331	}
Lightvalve	13:747daba9cf59	332	}
Lightvalve	13:747daba9cf59	333	break;
Lightvalve	13:747daba9cf59	334	}
Lightvalve	13:747daba9cf59	335	}
Lightvalve	14:8e7590227d22	336	if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	337	Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	338	} else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	339	Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	340	}
Lightvalve	36:a46e63505ed8	341
Lightvalve	224:985dba42f261	342	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	343	return Ref_Valve_Pos_FF;
Lightvalve	13:747daba9cf59	344	}
jobuuu	6:df07d3491e3a	345
Lightvalve	224:985dba42f261	346	// Valve feedforward for SW valve
Lightvalve	30:8d561f16383b	347	void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve	14:8e7590227d22	348	{
Lightvalve	13:747daba9cf59	349	int i = 0;
Lightvalve	13:747daba9cf59	350
Lightvalve	38:118df027d851	351	if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve	38:118df027d851	352	REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve	38:118df027d851	353	} else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve	38:118df027d851	354	REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve	38:118df027d851	355	}
Lightvalve	89:a7b45368ea0f	356	valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve	13:747daba9cf59	357	valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve	13:747daba9cf59	358	valve_pos_err_old = valve_pos_err;
Lightvalve	13:747daba9cf59	359	valve_pos_err_sum += valve_pos_err;
Lightvalve	89:a7b45368ea0f	360	if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve	89:a7b45368ea0f	361	if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve	13:747daba9cf59	362
Lightvalve	13:747daba9cf59	363	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	364
Lightvalve	18:b8adf1582ea3	365	for(i=0; i<24; i++) {
Lightvalve	89:a7b45368ea0f	366	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	367	if(i==0) {
Lightvalve	48:889798ff9329	368	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	369	} else {
Lightvalve	48:889798ff9329	370	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	371	}
Lightvalve	13:747daba9cf59	372	break;
Lightvalve	13:747daba9cf59	373	}
Lightvalve	13:747daba9cf59	374	}
Lightvalve	59:f308b1656d9c	375	Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve	13:747daba9cf59	376	}
Lightvalve	13:747daba9cf59	377
Lightvalve	224:985dba42f261	378	// PWM duty vs. voltage output of L6205 in STM board
Lightvalve	14:8e7590227d22	379	#define LT_MAX_IDX 57
Lightvalve	30:8d561f16383b	380	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	381	-19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve	34:bb2ca2fc2a8e	382	-9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve	34:bb2ca2fc2a8e	383	1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve	34:bb2ca2fc2a8e	384	11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve	34:bb2ca2fc2a8e	385	25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve	34:bb2ca2fc2a8e	386	}; // duty
Lightvalve	67:c2812cf26c38	387	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	388	-150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve	67:c2812cf26c38	389	-115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve	67:c2812cf26c38	390	7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve	67:c2812cf26c38	391	105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve	67:c2812cf26c38	392	155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve	34:bb2ca2fc2a8e	393	}; // mV
Lightvalve	13:747daba9cf59	394
Lightvalve	30:8d561f16383b	395	float PWM_duty_byLT(float Ref_V)
Lightvalve	14:8e7590227d22	396	{
Lightvalve	30:8d561f16383b	397	float PWM_duty = 0.0f;
Lightvalve	13:747daba9cf59	398	if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve	30:8d561f16383b	399	PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve	13:747daba9cf59	400	} else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve	30:8d561f16383b	401	PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve	13:747daba9cf59	402	} else {
Lightvalve	13:747daba9cf59	403	int idx = 0;
Lightvalve	13:747daba9cf59	404	for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve	30:8d561f16383b	405	float ini_x = LT_Voltage_Output[idx];
Lightvalve	30:8d561f16383b	406	float fin_x = LT_Voltage_Output[idx+1];
Lightvalve	30:8d561f16383b	407	float ini_y = LT_PWM_duty[idx];
Lightvalve	30:8d561f16383b	408	float fin_y = LT_PWM_duty[idx+1];
Lightvalve	13:747daba9cf59	409	if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve	13:747daba9cf59	410	PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve	13:747daba9cf59	411	break;
Lightvalve	13:747daba9cf59	412	}
Lightvalve	13:747daba9cf59	413	}
Lightvalve	13:747daba9cf59	414	}
Lightvalve	14:8e7590227d22	415
Lightvalve	13:747daba9cf59	416	return PWM_duty;
Lightvalve	13:747daba9cf59	417	}
jobuuu	6:df07d3491e3a	418
Lightvalve	57:f4819de54e7a	419
Lightvalve	57:f4819de54e7a	420
jobuuu	2:a1c0a37df760	421	/*******************************************************************************
jobuuu	2:a1c0a37df760	422	TIMER INTERRUPT
jobuuu	2:a1c0a37df760	423	*******************************************************************************/
jobuuu	2:a1c0a37df760	424
Lightvalve	51:b46bed7fec80	425	float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve	51:b46bed7fec80	426	float DT_TMR4 = (float)DT_20k;
Lightvalve	57:f4819de54e7a	427	long CNT_TMR4 = 0;
Lightvalve	57:f4819de54e7a	428	int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu	1:e04e563be5ce	429	extern "C" void TIM4_IRQHandler(void)
jobuuu	1:e04e563be5ce	430	{
Lightvalve	19:23b7c1ad8683	431	if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve	21:e5f1a43ea6f9	432	/*******************************************************
Lightvalve	21:e5f1a43ea6f9	433	*** Sensor Read & Data Handling
Lightvalve	21:e5f1a43ea6f9	434	********************************************************/
Lightvalve	13:747daba9cf59	435
Lightvalve	57:f4819de54e7a	436	//Encoder
Lightvalve	57:f4819de54e7a	437	if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve	57:f4819de54e7a	438	ENC_UPDATE();
Lightvalve	57:f4819de54e7a	439	}
Lightvalve	61:bc8c8270f0ab	440
Lightvalve	61:bc8c8270f0ab	441	ADC1->CR2 \|= 0x40000000;
Lightvalve	224:985dba42f261	442	// Torque Sensing =============================================
Lightvalve	58:2eade98630e2	443	if (SENSING_MODE == 0) {
Lightvalve	58:2eade98630e2	444	float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve	224:985dba42f261	445	double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 100Hz
Lightvalve	58:2eade98630e2	446	pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve	67:c2812cf26c38	447	torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve	67:c2812cf26c38	448
hyhoon	226:82a3ca333004	449	// Pressure Sensing (0~210)bar =============================================
Lightvalve	58:2eade98630e2	450	} else if (SENSING_MODE == 1) {
hyhoon	226:82a3ca333004	451
hyhoon	226:82a3ca333004	452	if (DIR_VALVE_ENC > 0) {
hyhoon	226:82a3ca333004	453	pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
hyhoon	226:82a3ca333004	454	pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
hyhoon	226:82a3ca333004	455	} else {
hyhoon	226:82a3ca333004	456	pres_A_new = (((float)ADC2->DR) - PRES_A_NULL);
hyhoon	226:82a3ca333004	457	pres_B_new = (((float)ADC1->DR) - PRES_B_NULL);
hyhoon	226:82a3ca333004	458	}
Lightvalve	224:985dba42f261	459	double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 200Hz
Lightvalve	58:2eade98630e2	460	pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve	58:2eade98630e2	461	pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve	58:2eade98630e2	462	CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve	58:2eade98630e2	463	CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve	50:3c630b5eba9f	464
Lightvalve	58:2eade98630e2	465	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve	58:2eade98630e2	466	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	467	} else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve	58:2eade98630e2	468	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	469	}
Lightvalve	58:2eade98630e2	470	}
Lightvalve	61:bc8c8270f0ab	471
Lightvalve	21:e5f1a43ea6f9	472	//Current
Lightvalve	21:e5f1a43ea6f9	473	//ADC3->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	51:b46bed7fec80	474	float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f500.0f)); // f_cutoff : 500Hz
Lightvalve	30:8d561f16383b	475	float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve	30:8d561f16383b	476	cur.sen=cur.sen(1.0f-alpha_update_cur)+cur_new(alpha_update_cur);
Lightvalve	58:2eade98630e2	477
Lightvalve	57:f4819de54e7a	478	CNT_TMR4++;
Lightvalve	21:e5f1a43ea6f9	479	}
Lightvalve	11:82d8768d7351	480	TIM4->SR = 0x0; // reset the status register
Lightvalve	11:82d8768d7351	481	}
Lightvalve	19:23b7c1ad8683	482
Lightvalve	19:23b7c1ad8683	483
Lightvalve	18:b8adf1582ea3	484	int j =0;
Lightvalve	54:647072f5307a	485	float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve	48:889798ff9329	486	float DT_TMR3 = (float)DT_5k;
Lightvalve	45:35fa6884d0c6	487	int cnt_trans = 0;
Lightvalve	48:889798ff9329	488	double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve	57:f4819de54e7a	489	int can_rest =0;
Lightvalve	48:889798ff9329	490
Lightvalve	11:82d8768d7351	491	extern "C" void TIM3_IRQHandler(void)
Lightvalve	21:e5f1a43ea6f9	492	{
Lightvalve	19:23b7c1ad8683	493	if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve	57:f4819de54e7a	494
hyhoon	226:82a3ca333004	495
Lightvalve	57:f4819de54e7a	496	if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve	57:f4819de54e7a	497	K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve	57:f4819de54e7a	498	mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve	57:f4819de54e7a	499	mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve	57:f4819de54e7a	500	mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve	57:f4819de54e7a	501	} else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	57:f4819de54e7a	502	K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve	57:f4819de54e7a	503	mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve	57:f4819de54e7a	504	mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve	57:f4819de54e7a	505	mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve	57:f4819de54e7a	506	}
Lightvalve	50:3c630b5eba9f	507
Lightvalve	50:3c630b5eba9f	508	if(MODE_POS_FT_TRANS == 1) {
Lightvalve	48:889798ff9329	509	alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve	45:35fa6884d0c6	510	cnt_trans++;
Lightvalve	46:2694daea349b	511	torq.err_sum = 0;
Lightvalve	48:889798ff9329	512	if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve	45:35fa6884d0c6	513	MODE_POS_FT_TRANS = 2;
Lightvalve	50:3c630b5eba9f	514	} else if(MODE_POS_FT_TRANS == 3) {
Lightvalve	48:889798ff9329	515	alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve	45:35fa6884d0c6	516	cnt_trans++;
Lightvalve	46:2694daea349b	517	torq.err_sum = 0;
Lightvalve	48:889798ff9329	518	if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve	45:35fa6884d0c6	519	MODE_POS_FT_TRANS = 0;
Lightvalve	50:3c630b5eba9f	520	} else if(MODE_POS_FT_TRANS == 2) {
Lightvalve	58:2eade98630e2	521	alpha_trans = 1.0f;
Lightvalve	45:35fa6884d0c6	522	cnt_trans = 0;
Lightvalve	50:3c630b5eba9f	523	} else {
Lightvalve	58:2eade98630e2	524	alpha_trans = 0.0f;
Lightvalve	45:35fa6884d0c6	525	cnt_trans = 0;
Lightvalve	45:35fa6884d0c6	526	}
Lightvalve	45:35fa6884d0c6	527
Lightvalve	50:3c630b5eba9f	528
Lightvalve	57:f4819de54e7a	529	int UTILITY_MODE = 0;
Lightvalve	57:f4819de54e7a	530	int CONTROL_MODE = 0;
Lightvalve	58:2eade98630e2	531
Lightvalve	57:f4819de54e7a	532	if (CONTROL_UTILITY_MODE >= 20 \|\| CONTROL_UTILITY_MODE == 0) {
Lightvalve	57:f4819de54e7a	533	UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve	57:f4819de54e7a	534	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	57:f4819de54e7a	535	} else {
Lightvalve	57:f4819de54e7a	536	CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve	57:f4819de54e7a	537	UTILITY_MODE = MODE_NO_ACT;
Lightvalve	57:f4819de54e7a	538	}
Lightvalve	56:6f50d9d3bfee	539
Lightvalve	56:6f50d9d3bfee	540
Lightvalve	56:6f50d9d3bfee	541
Lightvalve	57:f4819de54e7a	542	// UTILITY MODE ------------------------------------------------------------
Lightvalve	57:f4819de54e7a	543	switch (UTILITY_MODE) {
Lightvalve	57:f4819de54e7a	544	case MODE_NO_ACT: {
Lightvalve	13:747daba9cf59	545	break;
Lightvalve	13:747daba9cf59	546	}
Lightvalve	14:8e7590227d22	547
Lightvalve	14:8e7590227d22	548	case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	549	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	550	if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve	15:bd0d12728506	551	CUR_TORQUE_sum += torq.sen;
Lightvalve	19:23b7c1ad8683	552
Lightvalve	14:8e7590227d22	553	if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	554	CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve	13:747daba9cf59	555	CUR_TORQUE_sum = 0;
Lightvalve	14:8e7590227d22	556
Lightvalve	84:c355d3e52bf1	557	TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve	19:23b7c1ad8683	558
Lightvalve	30:8d561f16383b	559	if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve	59:f308b1656d9c	560	if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve	30:8d561f16383b	561	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	13:747daba9cf59	562	}
Lightvalve	13:747daba9cf59	563	} else {
Lightvalve	58:2eade98630e2	564	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	565	TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve	13:747daba9cf59	566	CUR_TORQUE_sum = 0;
Lightvalve	13:747daba9cf59	567	CUR_TORQUE_mean = 0;
Lightvalve	19:23b7c1ad8683	568
Lightvalve	170:42c938a40313	569	spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0f));
Lightvalve	19:23b7c1ad8683	570
Lightvalve	30:8d561f16383b	571	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	14:8e7590227d22	572
Lightvalve	13:747daba9cf59	573	}
Lightvalve	14:8e7590227d22	574	TMR3_COUNT_TORQUE_NULL++;
Lightvalve	13:747daba9cf59	575	break;
Lightvalve	19:23b7c1ad8683	576	}
Lightvalve	14:8e7590227d22	577
Lightvalve	14:8e7590227d22	578	case MODE_FIND_HOME: {
Lightvalve	29:69f3f5445d6d	579	if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve	14:8e7590227d22	580	cnt_findhome = 0;
Lightvalve	14:8e7590227d22	581	cnt_vel_findhome = 0;
Lightvalve	59:f308b1656d9c	582	pos.ref = pos.sen;
Lightvalve	59:f308b1656d9c	583	vel.ref = 0.0f;
Lightvalve	29:69f3f5445d6d	584	FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve	29:69f3f5445d6d	585	} else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve	67:c2812cf26c38	586	int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve	29:69f3f5445d6d	587	if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve	29:69f3f5445d6d	588	FINDHOME_POSITION = pos.sen;
Lightvalve	29:69f3f5445d6d	589	FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve	29:69f3f5445d6d	590	FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve	29:69f3f5445d6d	591	}
Lightvalve	29:69f3f5445d6d	592	cnt_findhome++;
Lightvalve	14:8e7590227d22	593
Lightvalve	29:69f3f5445d6d	594	if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve	29:69f3f5445d6d	595	cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve	29:69f3f5445d6d	596	} else {
Lightvalve	29:69f3f5445d6d	597	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	598	}
Lightvalve	19:23b7c1ad8683	599
Lightvalve	57:f4819de54e7a	600	if ((cnt_vel_findhome < 3TMR_FREQ_5k) && cnt_findhome < 10TMR_FREQ_5k) { // wait for 3sec
hyhoon	226:82a3ca333004	601	if (HOMEPOS_OFFSET > 0) {
hyhoon	226:82a3ca333004	602	pos.ref = pos.ref + 12.0f;
hyhoon	226:82a3ca333004	603	} else {
hyhoon	226:82a3ca333004	604	pos.ref = pos.ref - 12.0f;
hyhoon	226:82a3ca333004	605	}
hyhoon	226:82a3ca333004	606
Lightvalve	61:bc8c8270f0ab	607
Lightvalve	59:f308b1656d9c	608	CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	59:f308b1656d9c	609	alpha_trans = 0.0f;
Lightvalve	61:bc8c8270f0ab	610
Lightvalve	29:69f3f5445d6d	611	} else {
hyhoon	226:82a3ca333004	612	ENC_SET((int32_t)((int32_t)HOMEPOS_OFFSET*10));
hyhoon	226:82a3ca333004	613	INIT_REF_POS = (int32_t)((int32_t)HOMEPOS_OFFSET*10);
Lightvalve	29:69f3f5445d6d	614	REF_POSITION = 0;
Lightvalve	29:69f3f5445d6d	615	REF_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	616	FINDHOME_POSITION = 0;
Lightvalve	29:69f3f5445d6d	617	FINDHOME_POSITION_OLD = 0;
Lightvalve	29:69f3f5445d6d	618	FINDHOME_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	619	cnt_findhome = 0;
Lightvalve	29:69f3f5445d6d	620	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	621	FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve	67:c2812cf26c38	622
Lightvalve	67:c2812cf26c38	623
Lightvalve	67:c2812cf26c38	624	cnt_findhome = 0;
Lightvalve	67:c2812cf26c38	625	pos.ref = 0.0f;
Lightvalve	67:c2812cf26c38	626	vel.ref = 0.0f;
Lightvalve	67:c2812cf26c38	627	pos.ref_home_pos = 0.0f;
Lightvalve	67:c2812cf26c38	628	vel.ref_home_pos = 0.0f;
Lightvalve	29:69f3f5445d6d	629	}
Lightvalve	29:69f3f5445d6d	630	} else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve	29:69f3f5445d6d	631	int T_move = 2*TMR_FREQ_5k;
Lightvalve	59:f308b1656d9c	632	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	633	vel.ref = 0.0f;
Lightvalve	67:c2812cf26c38	634	alpha_trans = 0.0f;
Lightvalve	61:bc8c8270f0ab	635
Lightvalve	67:c2812cf26c38	636	double torq_ref = 0.0f;
Lightvalve	67:c2812cf26c38	637	pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve	67:c2812cf26c38	638	vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve	67:c2812cf26c38	639	pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
hyhoon	226:82a3ca333004	640	CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	67:c2812cf26c38	641
Lightvalve	67:c2812cf26c38	642	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	67:c2812cf26c38	643
Lightvalve	67:c2812cf26c38	644	double I_REF_POS = 0.0f;
Lightvalve	67:c2812cf26c38	645	double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve	67:c2812cf26c38	646	double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve	67:c2812cf26c38	647
Lightvalve	67:c2812cf26c38	648	double temp_vel_pos = 0.0f;
Lightvalve	67:c2812cf26c38	649	double temp_vel_torq = 0.0f;
Lightvalve	67:c2812cf26c38	650	double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve	67:c2812cf26c38	651
Lightvalve	69:3995ffeaa786	652	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve	67:c2812cf26c38	653	temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * 3.14159f / 180.0f; // rad/s
Lightvalve	67:c2812cf26c38	654	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	69:3995ffeaa786	655	} else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve	67:c2812cf26c38	656	temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	67:c2812cf26c38	657	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	67:c2812cf26c38	658	}
Lightvalve	67:c2812cf26c38	659	if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve	67:c2812cf26c38	660	else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	67:c2812cf26c38	661
Lightvalve	67:c2812cf26c38	662	I_REF = I_REF_POS;
Lightvalve	67:c2812cf26c38	663
Lightvalve	67:c2812cf26c38	664	} else {
Lightvalve	67:c2812cf26c38	665	float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve	67:c2812cf26c38	666	VALVE_POS_RAW_FORCE_FB = DDV_JOINT_POS_FF(vel.sen) + (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve	67:c2812cf26c38	667
Lightvalve	67:c2812cf26c38	668	if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve	67:c2812cf26c38	669	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve	67:c2812cf26c38	670	} else {
Lightvalve	67:c2812cf26c38	671	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve	67:c2812cf26c38	672	}
Lightvalve	67:c2812cf26c38	673
Lightvalve	67:c2812cf26c38	674	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	67:c2812cf26c38	675
Lightvalve	67:c2812cf26c38	676	V_out = (float) Vout.ref;
Lightvalve	67:c2812cf26c38	677
Lightvalve	67:c2812cf26c38	678	}
Lightvalve	67:c2812cf26c38	679
Lightvalve	29:69f3f5445d6d	680	cnt_findhome++;
Lightvalve	29:69f3f5445d6d	681	if (cnt_findhome >= T_move) {
Lightvalve	29:69f3f5445d6d	682	cnt_findhome = 0;
Lightvalve	30:8d561f16383b	683	pos.ref = 0.0f;
Lightvalve	30:8d561f16383b	684	vel.ref = 0.0f;
Lightvalve	30:8d561f16383b	685	pos.ref_home_pos = 0.0f;
Lightvalve	30:8d561f16383b	686	vel.ref_home_pos = 0.0f;
Lightvalve	29:69f3f5445d6d	687	FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve	57:f4819de54e7a	688	CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve	29:69f3f5445d6d	689	}
Lightvalve	13:747daba9cf59	690	}
Lightvalve	19:23b7c1ad8683	691
Lightvalve	13:747daba9cf59	692	break;
Lightvalve	13:747daba9cf59	693	}
Lightvalve	14:8e7590227d22	694
Lightvalve	50:3c630b5eba9f	695	// case MODE_VALVE_GAIN_SETTING: {
Lightvalve	50:3c630b5eba9f	696	// if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve	50:3c630b5eba9f	697	// if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	50:3c630b5eba9f	698	// else {
Lightvalve	50:3c630b5eba9f	699	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	700	// temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve	50:3c630b5eba9f	701	// }
Lightvalve	50:3c630b5eba9f	702	// }
Lightvalve	50:3c630b5eba9f	703	// if (need_enc_init) {
Lightvalve	50:3c630b5eba9f	704	// if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	705	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	706	// pos_plus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	707	// } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	708	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	709	// pos_minus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	710	// } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	711	// need_enc_init = false;
Lightvalve	50:3c630b5eba9f	712	// check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	50:3c630b5eba9f	713	// check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	50:3c630b5eba9f	714	// check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve	50:3c630b5eba9f	715	// }
Lightvalve	50:3c630b5eba9f	716	// temp_time = TMR_FREQ_5k;
Lightvalve	50:3c630b5eba9f	717	// }
Lightvalve	50:3c630b5eba9f	718	// TMR3_COUNT_FLOWRATE++;
Lightvalve	50:3c630b5eba9f	719	// if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve	50:3c630b5eba9f	720	// if (flag_flowrate % 2 == 0) { // (+)
Lightvalve	50:3c630b5eba9f	721	// VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve	50:3c630b5eba9f	722	// V_out = VALVE_VOLTAGE;
Lightvalve	50:3c630b5eba9f	723	// if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve	50:3c630b5eba9f	724	// fl_temp_cnt++;
Lightvalve	50:3c630b5eba9f	725	// } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	50:3c630b5eba9f	726	// VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6pi/6553610000 0.5757=0.025250.020.0095260*1000
Lightvalve	50:3c630b5eba9f	727	// // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
Lightvalve	50:3c630b5eba9f	728	// fl_temp_cnt2++;
Lightvalve	50:3c630b5eba9f	729	// }
Lightvalve	50:3c630b5eba9f	730	// } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve	50:3c630b5eba9f	731	// VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve	50:3c630b5eba9f	732	// V_out = VALVE_VOLTAGE;
Lightvalve	50:3c630b5eba9f	733	// if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve	50:3c630b5eba9f	734	// fl_temp_cnt++;
Lightvalve	50:3c630b5eba9f	735	// } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	50:3c630b5eba9f	736	// VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0f * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE);
Lightvalve	50:3c630b5eba9f	737	// // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
Lightvalve	50:3c630b5eba9f	738	// fl_temp_cnt2++;
Lightvalve	50:3c630b5eba9f	739	// }
Lightvalve	50:3c630b5eba9f	740	// }
Lightvalve	50:3c630b5eba9f	741	// if (fl_temp_cnt2 == 100) {
Lightvalve	50:3c630b5eba9f	742	//
hyhoon	226:82a3ca333004	743	//
Lightvalve	50:3c630b5eba9f	744	//
Lightvalve	50:3c630b5eba9f	745	// //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve	50:3c630b5eba9f	746	// cur_vel_sum = 0;
Lightvalve	50:3c630b5eba9f	747	// fl_temp_cnt = 0;
Lightvalve	50:3c630b5eba9f	748	// fl_temp_cnt2 = 0;
Lightvalve	50:3c630b5eba9f	749	// flag_flowrate++;
Lightvalve	50:3c630b5eba9f	750	// }
Lightvalve	50:3c630b5eba9f	751	// if (flag_flowrate == 10) {
Lightvalve	50:3c630b5eba9f	752	// V_out = 0;
Lightvalve	50:3c630b5eba9f	753	// flag_flowrate = 0;
Lightvalve	50:3c630b5eba9f	754	// TMR3_COUNT_FLOWRATE = 0;
Lightvalve	50:3c630b5eba9f	755	// valve_gain_repeat_cnt++;
Lightvalve	50:3c630b5eba9f	756	// if (valve_gain_repeat_cnt >= 1) {
Lightvalve	50:3c630b5eba9f	757	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	758	// valve_gain_repeat_cnt = 0;
Lightvalve	50:3c630b5eba9f	759	// }
Lightvalve	50:3c630b5eba9f	760	//
Lightvalve	50:3c630b5eba9f	761	// }
Lightvalve	50:3c630b5eba9f	762	// break;
Lightvalve	50:3c630b5eba9f	763	// }
Lightvalve	50:3c630b5eba9f	764	//
Lightvalve	50:3c630b5eba9f	765	// }
Lightvalve	14:8e7590227d22	766	case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	767	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	768	if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve	14:8e7590227d22	769	CUR_PRES_A_sum += pres_A.sen;
Lightvalve	14:8e7590227d22	770	CUR_PRES_B_sum += pres_B.sen;
Lightvalve	14:8e7590227d22	771
Lightvalve	14:8e7590227d22	772	if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	773	CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve	30:8d561f16383b	774	CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve	13:747daba9cf59	775	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	776	CUR_PRES_B_sum = 0;
Lightvalve	14:8e7590227d22	777
Lightvalve	38:118df027d851	778	float VREF_NullingGain = 0.0003f;
Lightvalve	58:2eade98630e2	779	PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve	58:2eade98630e2	780	PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve	14:8e7590227d22	781
Lightvalve	30:8d561f16383b	782	if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve	30:8d561f16383b	783	if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve	30:8d561f16383b	784	if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve	30:8d561f16383b	785	if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve	19:23b7c1ad8683	786
hyhoon	226:82a3ca333004	787	if (DIR_VALVE_ENC > 0) {
hyhoon	226:82a3ca333004	788	dac_1 = PRES_A_VREF / 3.3f;
hyhoon	226:82a3ca333004	789	dac_2 = PRES_B_VREF / 3.3f;
hyhoon	226:82a3ca333004	790	} else {
hyhoon	226:82a3ca333004	791	dac_1 = PRES_B_VREF / 3.3f;
hyhoon	226:82a3ca333004	792	dac_2 = PRES_A_VREF / 3.3f;
hyhoon	226:82a3ca333004	793	}
Lightvalve	13:747daba9cf59	794	}
Lightvalve	13:747daba9cf59	795	} else {
Lightvalve	57:f4819de54e7a	796	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	797	TMR3_COUNT_PRES_NULL = 0;
Lightvalve	13:747daba9cf59	798	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	799	CUR_PRES_B_sum = 0;
Lightvalve	13:747daba9cf59	800	CUR_PRES_A_mean = 0;
Lightvalve	13:747daba9cf59	801	CUR_PRES_B_mean = 0;
Lightvalve	14:8e7590227d22	802
Lightvalve	170:42c938a40313	803	spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0f));
Lightvalve	170:42c938a40313	804	spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0f));
Lightvalve	19:23b7c1ad8683	805
hyhoon	226:82a3ca333004	806	if (DIR_VALVE_ENC > 0) {
hyhoon	226:82a3ca333004	807	dac_1 = PRES_A_VREF / 3.3f;
hyhoon	226:82a3ca333004	808	dac_2 = PRES_B_VREF / 3.3f;
hyhoon	226:82a3ca333004	809	} else {
hyhoon	226:82a3ca333004	810	dac_1 = PRES_B_VREF / 3.3f;
hyhoon	226:82a3ca333004	811	dac_2 = PRES_A_VREF / 3.3f;
hyhoon	226:82a3ca333004	812	}
Lightvalve	13:747daba9cf59	813	}
Lightvalve	14:8e7590227d22	814	TMR3_COUNT_PRES_NULL++;
Lightvalve	13:747daba9cf59	815	break;
Lightvalve	13:747daba9cf59	816	}
Lightvalve	14:8e7590227d22	817
Lightvalve	50:3c630b5eba9f	818	// case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve	50:3c630b5eba9f	819	// if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	820	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	821	// if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	822	// CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve	50:3c630b5eba9f	823	// }
Lightvalve	50:3c630b5eba9f	824	// } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	825	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	826	// if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	827	// CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve	50:3c630b5eba9f	828	// }
Lightvalve	50:3c630b5eba9f	829	// } else {
Lightvalve	50:3c630b5eba9f	830	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	831	// TMR3_COUNT_PRES_CALIB = 0;
Lightvalve	50:3c630b5eba9f	832	// V_out = 0;
Lightvalve	50:3c630b5eba9f	833	// PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve	50:3c630b5eba9f	834	// PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	50:3c630b5eba9f	835	// PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve	50:3c630b5eba9f	836	// PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	50:3c630b5eba9f	837	// CUR_PRES_A_sum = 0;
Lightvalve	50:3c630b5eba9f	838	// CUR_PRES_B_sum = 0;
Lightvalve	50:3c630b5eba9f	839	// CUR_PRES_A_mean = 0;
Lightvalve	50:3c630b5eba9f	840	// CUR_PRES_B_mean = 0;
Lightvalve	50:3c630b5eba9f	841	//
hyhoon	226:82a3ca333004	842	//
Lightvalve	50:3c630b5eba9f	843	//
Lightvalve	50:3c630b5eba9f	844	// //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve	50:3c630b5eba9f	845	// //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve	50:3c630b5eba9f	846	// }
Lightvalve	50:3c630b5eba9f	847	// TMR3_COUNT_PRES_CALIB++;
Lightvalve	50:3c630b5eba9f	848	// break;
Lightvalve	50:3c630b5eba9f	849	// }
Lightvalve	19:23b7c1ad8683	850
Lightvalve	50:3c630b5eba9f	851	// case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve	50:3c630b5eba9f	852	// if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4.0f + 3.0f * sin(2 * 3.14159f * 0.5f * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f * 0.05f);
Lightvalve	50:3c630b5eba9f	853	// V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve	50:3c630b5eba9f	854	// if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	855	// else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	856	// TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve	50:3c630b5eba9f	857	// if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	858	// TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve	50:3c630b5eba9f	859	// V_out = 0.0f;
Lightvalve	50:3c630b5eba9f	860	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	861	// }
Lightvalve	50:3c630b5eba9f	862	// break;
Lightvalve	50:3c630b5eba9f	863	// }
Lightvalve	14:8e7590227d22	864
Lightvalve	14:8e7590227d22	865	case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve	59:f308b1656d9c	866	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	867	VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve	14:8e7590227d22	868
Lightvalve	14:8e7590227d22	869	if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve	60:64181f1d3e60	870	Vout.ref = 3000.0f * sin(2.0f3.14fVALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve	14:8e7590227d22	871	} else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve	59:f308b1656d9c	872	Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve	14:8e7590227d22	873	} else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve	13:747daba9cf59	874	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	875	data_num = 0;
Lightvalve	14:8e7590227d22	876	} else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve	13:747daba9cf59	877	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	878	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	14:8e7590227d22	879	} else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve	59:f308b1656d9c	880	Vout.ref = 0.0f;
Lightvalve	59:f308b1656d9c	881	} else {
Lightvalve	13:747daba9cf59	882	VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve	13:747daba9cf59	883	VALVE_ID_timer = 0;
Lightvalve	13:747daba9cf59	884	ID_index= ID_index +1;
Lightvalve	13:747daba9cf59	885	}
Lightvalve	14:8e7590227d22	886
Lightvalve	17:1865016ca2e7	887	if(ID_index>=25) {
Lightvalve	13:747daba9cf59	888	int i;
Lightvalve	13:747daba9cf59	889	VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve	17:1865016ca2e7	890	for(i=0; i<25; i++) {
Lightvalve	13:747daba9cf59	891	VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve	14:8e7590227d22	892	if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	893	VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	894	VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	895	} else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	896	VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	897	VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	898	}
Lightvalve	13:747daba9cf59	899	}
Lightvalve	170:42c938a40313	900	spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve	170:42c938a40313	901	spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve	170:42c938a40313	902	for(int i=0; i<25; i++) {
Lightvalve	170:42c938a40313	903	spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]);
Lightvalve	170:42c938a40313	904	}
Lightvalve	13:747daba9cf59	905	ID_index = 0;
Lightvalve	57:f4819de54e7a	906	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	907	}
Lightvalve	14:8e7590227d22	908
Lightvalve	14:8e7590227d22	909
Lightvalve	13:747daba9cf59	910	break;
Lightvalve	13:747daba9cf59	911	}
Lightvalve	14:8e7590227d22	912
Lightvalve	14:8e7590227d22	913	case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve	59:f308b1656d9c	914	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	915	VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve	14:8e7590227d22	916	if(first_check == 0) {
Lightvalve	30:8d561f16383b	917	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	918	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	919	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	920	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	921	pos_plus_end = pos.sen;
Lightvalve	30:8d561f16383b	922	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	923	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	924	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	925	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	926	pos_minus_end = pos.sen;
Lightvalve	30:8d561f16383b	927	} else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	928	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	30:8d561f16383b	929	} else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	930	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	13:747daba9cf59	931	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	932	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	30:8d561f16383b	933	} else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	934	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	13:747daba9cf59	935	DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve	14:8e7590227d22	936	START_POS = pos.sen;
Lightvalve	13:747daba9cf59	937	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	938	data_num = 0;
Lightvalve	14:8e7590227d22	939
Lightvalve	30:8d561f16383b	940	} else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	941	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	942	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	943
Lightvalve	30:8d561f16383b	944	} else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	945	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	946	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	60:64181f1d3e60	947
Lightvalve	30:8d561f16383b	948	} else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	949	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	950	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	951	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	952
Lightvalve	60:64181f1d3e60	953	if((FINAL_POS - START_POS)>200) {
Lightvalve	13:747daba9cf59	954	DZ_case = 1;
Lightvalve	60:64181f1d3e60	955	} else if((FINAL_POS - START_POS)<-200) {
Lightvalve	13:747daba9cf59	956	DZ_case = -1;
Lightvalve	14:8e7590227d22	957	} else {
Lightvalve	13:747daba9cf59	958	DZ_case = 0;
Lightvalve	13:747daba9cf59	959	}
Lightvalve	61:bc8c8270f0ab	960
Lightvalve	60:64181f1d3e60	961	CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve	50:3c630b5eba9f	962
Lightvalve	13:747daba9cf59	963	first_check = 1;
Lightvalve	13:747daba9cf59	964	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	965	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	966	Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve	13:747daba9cf59	967	DZ_NUM = 1;
Lightvalve	13:747daba9cf59	968	DZ_index = 1;
Lightvalve	14:8e7590227d22	969
Lightvalve	13:747daba9cf59	970	}
Lightvalve	19:23b7c1ad8683	971	} else {
Lightvalve	14:8e7590227d22	972	if((DZ_case == -1 && DZ_NUM == 1) \| (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve	30:8d561f16383b	973	if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	974	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	30:8d561f16383b	975	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	976	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	977	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	978	valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	979	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	980	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	981	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	982	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	983	}
Lightvalve	14:8e7590227d22	984	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	60:64181f1d3e60	985
Lightvalve	30:8d561f16383b	986	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	987	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	988	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	989
Lightvalve	14:8e7590227d22	990	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	991	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	992	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	993	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	994	} else {
Lightvalve	13:747daba9cf59	995	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	13:747daba9cf59	996	}
Lightvalve	14:8e7590227d22	997
Lightvalve	13:747daba9cf59	998	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	999	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1000	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1001	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1002	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1003	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1004	DZ_index = 1;
Lightvalve	13:747daba9cf59	1005	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1006	}
Lightvalve	13:747daba9cf59	1007	}
Lightvalve	14:8e7590227d22	1008	} else if((DZ_case == -1 && DZ_NUM == 2) \| (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve	30:8d561f16383b	1009	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1010	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	30:8d561f16383b	1011	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1012	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1013	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1014	valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1015	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1016	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1017	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1018	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1019	}
Lightvalve	14:8e7590227d22	1020	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	61:bc8c8270f0ab	1021
Lightvalve	30:8d561f16383b	1022	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1023	Vout.ref = 0.0f;
Lightvalve	59:f308b1656d9c	1024	} else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1025	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1026	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1027
Lightvalve	14:8e7590227d22	1028	if((FINAL_POS - START_POS)>100) {
Lightvalve	60:64181f1d3e60	1029	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1030	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	60:64181f1d3e60	1031	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1032	} else {
Lightvalve	60:64181f1d3e60	1033	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	13:747daba9cf59	1034	}
Lightvalve	14:8e7590227d22	1035
Lightvalve	13:747daba9cf59	1036	VALVE_DZ_timer = 0;
Lightvalve	60:64181f1d3e60	1037	DZ_index= DZ_index * 2;
Lightvalve	14:8e7590227d22	1038	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1039	SECOND_DZ = valve_pos.ref;
Lightvalve	57:f4819de54e7a	1040	VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve	13:747daba9cf59	1041	first_check = 0;
Lightvalve	33:91b17819ec30	1042	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	1043	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	19:23b7c1ad8683	1044
Lightvalve	170:42c938a40313	1045	spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve	170:42c938a40313	1046	spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve	170:42c938a40313	1047	spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve	34:bb2ca2fc2a8e	1048
Lightvalve	60:64181f1d3e60	1049	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1050	DZ_index = 1;
Lightvalve	13:747daba9cf59	1051	}
Lightvalve	13:747daba9cf59	1052	}
Lightvalve	14:8e7590227d22	1053	} else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve	30:8d561f16383b	1054	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1055	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	30:8d561f16383b	1056	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1057	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1058	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1059	valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1060	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1061	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1062	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1063	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1064	}
Lightvalve	14:8e7590227d22	1065	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	61:bc8c8270f0ab	1066
Lightvalve	30:8d561f16383b	1067	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1068	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1069	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1070
Lightvalve	14:8e7590227d22	1071	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1072	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1073	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1074	DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	1075	} else {
Lightvalve	13:747daba9cf59	1076	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1077	}
Lightvalve	13:747daba9cf59	1078	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1079	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1080	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1081	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1082	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1083	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1084	DZ_index = 1;
Lightvalve	13:747daba9cf59	1085	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1086	}
Lightvalve	13:747daba9cf59	1087	}
Lightvalve	14:8e7590227d22	1088	} else {
Lightvalve	30:8d561f16383b	1089	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1090	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	30:8d561f16383b	1091	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1092	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1093	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1094	valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1095	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1096	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1097	} else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1098	valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve	13:747daba9cf59	1099	}
Lightvalve	14:8e7590227d22	1100	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	60:64181f1d3e60	1101
Lightvalve	30:8d561f16383b	1102	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1103	Vout.ref = 0.0f;
Lightvalve	59:f308b1656d9c	1104	} else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1105	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1106	FINAL_POS = pos.sen;
Lightvalve	61:bc8c8270f0ab	1107
Lightvalve	60:64181f1d3e60	1108	if((FINAL_POS - START_POS)>100) {
Lightvalve	13:747daba9cf59	1109	DZ_DIRECTION = 1;
Lightvalve	60:64181f1d3e60	1110	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	60:64181f1d3e60	1111	DZ_DIRECTION = -1;
Lightvalve	60:64181f1d3e60	1112	} else {
Lightvalve	13:747daba9cf59	1113	DZ_DIRECTION = 1;
Lightvalve	60:64181f1d3e60	1114	}
Lightvalve	14:8e7590227d22	1115
Lightvalve	13:747daba9cf59	1116	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1117	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1118	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1119	SECOND_DZ = valve_pos.ref;
Lightvalve	57:f4819de54e7a	1120	VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve	13:747daba9cf59	1121	first_check = 0;
Lightvalve	33:91b17819ec30	1122	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	1123	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
hyhoon	226:82a3ca333004	1124
Lightvalve	170:42c938a40313	1125	spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve	170:42c938a40313	1126	spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve	170:42c938a40313	1127	spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve	34:bb2ca2fc2a8e	1128
Lightvalve	57:f4819de54e7a	1129	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1130	DZ_index = 1;
Lightvalve	13:747daba9cf59	1131	}
Lightvalve	13:747daba9cf59	1132	}
Lightvalve	13:747daba9cf59	1133	}
Lightvalve	14:8e7590227d22	1134	}
Lightvalve	13:747daba9cf59	1135	break;
Lightvalve	13:747daba9cf59	1136	}
Lightvalve	14:8e7590227d22	1137
Lightvalve	14:8e7590227d22	1138	case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve	59:f308b1656d9c	1139	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	1140	VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve	14:8e7590227d22	1141	if(first_check == 0) {
Lightvalve	30:8d561f16383b	1142	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1143	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	1144	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1145	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1146	pos_plus_end = pos.sen;
Lightvalve	30:8d561f16383b	1147	} else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1148	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	1149	} else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1150	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1151	pos_minus_end = pos.sen;
Lightvalve	13:747daba9cf59	1152	first_check = 1;
Lightvalve	13:747daba9cf59	1153	VALVE_FR_timer = 0;
Lightvalve	57:f4819de54e7a	1154	valve_pos.ref = (float) VALVE_CENTER;
Lightvalve	13:747daba9cf59	1155	ID_index = 0;
Lightvalve	13:747daba9cf59	1156	max_check = 0;
Lightvalve	13:747daba9cf59	1157	min_check = 0;
Lightvalve	13:747daba9cf59	1158	}
Lightvalve	14:8e7590227d22	1159	} else {
Lightvalve	30:8d561f16383b	1160	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1161	pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	59:f308b1656d9c	1162	CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1163	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	13:747daba9cf59	1164	data_num = 0;
Lightvalve	57:f4819de54e7a	1165	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve	14:8e7590227d22	1166
Lightvalve	14:8e7590227d22	1167	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1168	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1169	} else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f4819de54e7a	1170	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve	14:8e7590227d22	1171	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1172	data_num = data_num + 1;
Lightvalve	30:8d561f16383b	1173	if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve	14:8e7590227d22	1174	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1175	one_period_end = 1;
Lightvalve	13:747daba9cf59	1176	}
Lightvalve	30:8d561f16383b	1177	} else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1178	FINAL_POS = pos.sen;
Lightvalve	13:747daba9cf59	1179	one_period_end = 1;
Lightvalve	59:f308b1656d9c	1180	V_out = 0.0f;
Lightvalve	13:747daba9cf59	1181	}
Lightvalve	14:8e7590227d22	1182
Lightvalve	14:8e7590227d22	1183	if(one_period_end == 1) {
Lightvalve	14:8e7590227d22	1184	if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	13:747daba9cf59	1185	max_check = 1;
Lightvalve	14:8e7590227d22	1186	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	13:747daba9cf59	1187	min_check = 1;
Lightvalve	13:747daba9cf59	1188	}
Lightvalve	13:747daba9cf59	1189	JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve	19:23b7c1ad8683	1190
Lightvalve	13:747daba9cf59	1191	VALVE_FR_timer = 0;
Lightvalve	13:747daba9cf59	1192	one_period_end = 0;
Lightvalve	13:747daba9cf59	1193	ID_index= ID_index +1;
Lightvalve	30:8d561f16383b	1194	V_out = 0.0f;
Lightvalve	13:747daba9cf59	1195	}
Lightvalve	14:8e7590227d22	1196
Lightvalve	14:8e7590227d22	1197	if(max_check == 1 && min_check == 1) {
Lightvalve	19:23b7c1ad8683	1198
Lightvalve	13:747daba9cf59	1199	VALVE_POS_NUM = ID_index;
Lightvalve	170:42c938a40313	1200	for(int i=0; i<100; i++) {
Lightvalve	170:42c938a40313	1201	spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int16_t) (JOINT_VEL[i] & 0xFFFF));
Lightvalve	170:42c938a40313	1202	spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int16_t) ((JOINT_VEL[i] >> 16) & 0xFFFF));
Lightvalve	170:42c938a40313	1203	}
Lightvalve	13:747daba9cf59	1204	ID_index = 0;
Lightvalve	13:747daba9cf59	1205	first_check = 0;
Lightvalve	13:747daba9cf59	1206	VALVE_FR_timer = 0;
Lightvalve	57:f4819de54e7a	1207	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1208	}
Lightvalve	13:747daba9cf59	1209	}
Lightvalve	13:747daba9cf59	1210	break;
Lightvalve	13:747daba9cf59	1211	}
Lightvalve	58:2eade98630e2	1212
Lightvalve	57:f4819de54e7a	1213	case MODE_SYSTEM_ID: {
Lightvalve	169:645207e160ca	1214	freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.0f;
Lightvalve	57:f4819de54e7a	1215	valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve	57:f4819de54e7a	1216	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	57:f4819de54e7a	1217	cnt_sysid++;
Lightvalve	57:f4819de54e7a	1218	if (freq_sysid_Iref >= 300) {
Lightvalve	57:f4819de54e7a	1219	cnt_sysid = 0;
Lightvalve	57:f4819de54e7a	1220	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	57:f4819de54e7a	1221	}
Lightvalve	57:f4819de54e7a	1222	break;
Lightvalve	57:f4819de54e7a	1223	}
Lightvalve	58:2eade98630e2	1224
Lightvalve	169:645207e160ca	1225	case MODE_FREQ_TEST: {
Lightvalve	169:645207e160ca	1226	float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3);
Lightvalve	169:645207e160ca	1227	if(valve_pos_ref >= 0) {
Lightvalve	169:645207e160ca	1228	valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	169:645207e160ca	1229	} else {
Lightvalve	169:645207e160ca	1230	valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	169:645207e160ca	1231	}
Lightvalve	169:645207e160ca	1232	ref_array[cnt_freq_test] = valve_pos_ref;
Lightvalve	169:645207e160ca	1233	if(value>=(float) VALVE_CENTER) {
Lightvalve	169:645207e160ca	1234	pos_array[cnt_freq_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	169:645207e160ca	1235	} else {
Lightvalve	169:645207e160ca	1236	pos_array[cnt_freq_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	169:645207e160ca	1237	}
Lightvalve	58:2eade98630e2	1238
Lightvalve	169:645207e160ca	1239	CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve	169:645207e160ca	1240	cnt_freq_test++;
Lightvalve	169:645207e160ca	1241	if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3 > 2) {
Lightvalve	169:645207e160ca	1242	buffer_data_size = cnt_freq_test;
Lightvalve	169:645207e160ca	1243	cnt_freq_test = 0;
Lightvalve	169:645207e160ca	1244	cnt_send_buffer = 0;
Lightvalve	169:645207e160ca	1245	freq_test_valve_ref = freq_test_valve_ref * 1.05f;
Lightvalve	169:645207e160ca	1246	if (freq_test_valve_ref >= 400) {
Lightvalve	169:645207e160ca	1247	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	169:645207e160ca	1248	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	169:645207e160ca	1249	CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve	169:645207e160ca	1250	}
Lightvalve	169:645207e160ca	1251	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	169:645207e160ca	1252	CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve	170:42c938a40313	1253
Lightvalve	169:645207e160ca	1254	}
Lightvalve	169:645207e160ca	1255	break;
Lightvalve	169:645207e160ca	1256	}
Lightvalve	169:645207e160ca	1257	case MODE_SEND_BUFFER: {
Lightvalve	169:645207e160ca	1258	// if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve	169:645207e160ca	1259	// CAN_TX_PRES((int16_t) (pos_array[cnt_send_buffer]), (int16_t) (ref_array[cnt_send_buffer])); // 1400
Lightvalve	169:645207e160ca	1260	// if(cnt_send_buffer>=buffer_data_size) {
Lightvalve	169:645207e160ca	1261	// CONTROL_UTILITY_MODE = MODE_FREQ_TEST;
Lightvalve	169:645207e160ca	1262	// }
Lightvalve	169:645207e160ca	1263	// cnt_send_buffer++;
Lightvalve	169:645207e160ca	1264	// }
Lightvalve	169:645207e160ca	1265
Lightvalve	169:645207e160ca	1266	break;
Lightvalve	169:645207e160ca	1267	}
Lightvalve	169:645207e160ca	1268	case MODE_SEND_OVER: {
Lightvalve	169:645207e160ca	1269	CAN_TX_TORQUE((int16_t) (buffer_data_size)); //1300
Lightvalve	169:645207e160ca	1270	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	169:645207e160ca	1271	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	169:645207e160ca	1272	break;
Lightvalve	169:645207e160ca	1273	}
Lightvalve	170:42c938a40313	1274
Lightvalve	169:645207e160ca	1275	case MODE_STEP_TEST: {
Lightvalve	169:645207e160ca	1276	float valve_pos_ref = 0.0f;
Lightvalve	170:42c938a40313	1277	if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	169:645207e160ca	1278	valve_pos_ref = 0.0f;
Lightvalve	170:42c938a40313	1279	} else {
Lightvalve	169:645207e160ca	1280	valve_pos_ref = 10000.0f;
Lightvalve	169:645207e160ca	1281	}
Lightvalve	169:645207e160ca	1282	if(valve_pos_ref >= 0) {
Lightvalve	169:645207e160ca	1283	valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	169:645207e160ca	1284	} else {
Lightvalve	169:645207e160ca	1285	valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	169:645207e160ca	1286	}
Lightvalve	169:645207e160ca	1287	ref_array[cnt_step_test] = valve_pos_ref;
Lightvalve	169:645207e160ca	1288	if(value>=(float) VALVE_CENTER) {
Lightvalve	169:645207e160ca	1289	pos_array[cnt_step_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	169:645207e160ca	1290	} else {
Lightvalve	169:645207e160ca	1291	pos_array[cnt_step_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	169:645207e160ca	1292	}
Lightvalve	169:645207e160ca	1293
Lightvalve	169:645207e160ca	1294	CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve	169:645207e160ca	1295	cnt_step_test++;
Lightvalve	170:42c938a40313	1296	if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	169:645207e160ca	1297	buffer_data_size = cnt_step_test;
Lightvalve	169:645207e160ca	1298	cnt_step_test = 0;
Lightvalve	169:645207e160ca	1299	cnt_send_buffer = 0;
Lightvalve	169:645207e160ca	1300	CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve	169:645207e160ca	1301	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	169:645207e160ca	1302	}
Lightvalve	170:42c938a40313	1303
Lightvalve	169:645207e160ca	1304	break;
Lightvalve	169:645207e160ca	1305	}
Lightvalve	57:f4819de54e7a	1306
Lightvalve	57:f4819de54e7a	1307	default:
Lightvalve	57:f4819de54e7a	1308	break;
Lightvalve	57:f4819de54e7a	1309	}
Lightvalve	57:f4819de54e7a	1310
Lightvalve	224:985dba42f261	1311
Lightvalve	224:985dba42f261	1312
Lightvalve	57:f4819de54e7a	1313	// CONTROL MODE ------------------------------------------------------------
Lightvalve	57:f4819de54e7a	1314	switch (CONTROL_MODE) {
Lightvalve	57:f4819de54e7a	1315	case MODE_NO_ACT: {
Lightvalve	57:f4819de54e7a	1316	V_out = 0.0f;
Lightvalve	57:f4819de54e7a	1317	break;
Lightvalve	57:f4819de54e7a	1318	}
Lightvalve	57:f4819de54e7a	1319
Lightvalve	57:f4819de54e7a	1320	case MODE_VALVE_POSITION_CONTROL: {
Lightvalve	67:c2812cf26c38	1321	if (OPERATING_MODE == 5) { //SW Valve
Lightvalve	57:f4819de54e7a	1322	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	59:f308b1656d9c	1323	V_out = Vout.ref;
Lightvalve	67:c2812cf26c38	1324	} else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve	67:c2812cf26c38	1325	V_out = valve_pos.ref;
Lightvalve	169:645207e160ca	1326	} else {
hyhoon	226:82a3ca333004	1327	I_REF = (double)(valve_pos.ref * (float)mA_PER_pulse);
Lightvalve	57:f4819de54e7a	1328	}
Lightvalve	57:f4819de54e7a	1329	break;
Lightvalve	57:f4819de54e7a	1330	}
Lightvalve	57:f4819de54e7a	1331
Lightvalve	57:f4819de54e7a	1332	case MODE_JOINT_CONTROL: {
Lightvalve	169:645207e160ca	1333
Lightvalve	57:f4819de54e7a	1334	double torq_ref = 0.0f;
Lightvalve	57:f4819de54e7a	1335	pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve	67:c2812cf26c38	1336	vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve	57:f4819de54e7a	1337	pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve	169:645207e160ca	1338
Lightvalve	67:c2812cf26c38	1339	//K & D Low Pass Filter
Lightvalve	67:c2812cf26c38	1340	float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f3.14f30.0f)); // f_cutoff : 30Hz
Lightvalve	67:c2812cf26c38	1341	K_LPF = K_LPF(1.0f-alpha_K_D)+K_SPRING(alpha_K_D);
Lightvalve	67:c2812cf26c38	1342	D_LPF = D_LPF(1.0f-alpha_K_D)+D_DAMPER(alpha_K_D);
Lightvalve	169:645207e160ca	1343
Lightvalve	224:985dba42f261	1344	torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve	57:f4819de54e7a	1345
Lightvalve	57:f4819de54e7a	1346	// torque feedback
Lightvalve	67:c2812cf26c38	1347	torq.err = torq_ref - torq.sen; //[N]
Lightvalve	57:f4819de54e7a	1348	torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve	57:f4819de54e7a	1349
Lightvalve	57:f4819de54e7a	1350	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	58:2eade98630e2	1351
Lightvalve	57:f4819de54e7a	1352	double I_REF_POS = 0.0f;
Lightvalve	57:f4819de54e7a	1353	double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve	57:f4819de54e7a	1354	double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve	57:f4819de54e7a	1355
Lightvalve	57:f4819de54e7a	1356	double temp_vel_pos = 0.0f;
Lightvalve	57:f4819de54e7a	1357	double temp_vel_torq = 0.0f;
Lightvalve	57:f4819de54e7a	1358	double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve	58:2eade98630e2	1359
Lightvalve	69:3995ffeaa786	1360	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve	57:f4819de54e7a	1361	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	1362	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	69:3995ffeaa786	1363	} else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve	57:f4819de54e7a	1364	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	1365	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	57:f4819de54e7a	1366	}
Lightvalve	57:f4819de54e7a	1367	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	1368	else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	57:f4819de54e7a	1369
Lightvalve	57:f4819de54e7a	1370	// velocity compensation for torque control
Lightvalve	69:3995ffeaa786	1371	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve	57:f4819de54e7a	1372	I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve	57:f4819de54e7a	1373	// 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	1374	temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve	57:f4819de54e7a	1375	// L feedforward velocity
Lightvalve	69:3995ffeaa786	1376	} else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve	57:f4819de54e7a	1377	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	1378	// temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	57:f4819de54e7a	1379	temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	57:f4819de54e7a	1380	// L feedforward velocity
Lightvalve	57:f4819de54e7a	1381	}
Lightvalve	57:f4819de54e7a	1382	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	1383	else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	57:f4819de54e7a	1384	// L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve	57:f4819de54e7a	1385	// Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve	57:f4819de54e7a	1386	// Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve	57:f4819de54e7a	1387
Lightvalve	57:f4819de54e7a	1388	I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve	169:645207e160ca	1389
Lightvalve	67:c2812cf26c38	1390	// Anti-windup for FT
Lightvalve	67:c2812cf26c38	1391	if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve	67:c2812cf26c38	1392	double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve	67:c2812cf26c38	1393	double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve	67:c2812cf26c38	1394	if (I_REF > I_MAX) {
Lightvalve	67:c2812cf26c38	1395	double I_rem = I_REF - I_MAX;
Lightvalve	67:c2812cf26c38	1396	I_rem = Ka*I_rem;
Lightvalve	67:c2812cf26c38	1397	I_REF = I_MAX;
Lightvalve	67:c2812cf26c38	1398	torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve	67:c2812cf26c38	1399	} else if (I_REF < -I_MAX) {
Lightvalve	67:c2812cf26c38	1400	double I_rem = I_REF - (-I_MAX);
Lightvalve	67:c2812cf26c38	1401	I_rem = Ka*I_rem;
Lightvalve	67:c2812cf26c38	1402	I_REF = -I_MAX;
Lightvalve	67:c2812cf26c38	1403	torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve	67:c2812cf26c38	1404	}
Lightvalve	67:c2812cf26c38	1405	}
Lightvalve	57:f4819de54e7a	1406
Lightvalve	57:f4819de54e7a	1407	} else {
Lightvalve	57:f4819de54e7a	1408	float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve	72:3436ce769b1e	1409	float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve	72:3436ce769b1e	1410	float VALVE_POS_RAW = 0.0f;
Lightvalve	169:645207e160ca	1411
Lightvalve	209:ebc69d6ee6f1	1412	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	1413
Lightvalve	72:3436ce769b1e	1414	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	1415
Lightvalve	72:3436ce769b1e	1416	VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve	169:645207e160ca	1417
Lightvalve	169:645207e160ca	1418
Lightvalve	72:3436ce769b1e	1419	if (VALVE_POS_RAW >= 0) {
Lightvalve	72:3436ce769b1e	1420	valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve	57:f4819de54e7a	1421	} else {
Lightvalve	72:3436ce769b1e	1422	valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve	57:f4819de54e7a	1423	}
Lightvalve	57:f4819de54e7a	1424
Lightvalve	57:f4819de54e7a	1425	if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve	139:15621998925b	1426	double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve	57:f4819de54e7a	1427	if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve	57:f4819de54e7a	1428	double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1429	valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	57:f4819de54e7a	1430	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1431	torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve	57:f4819de54e7a	1432	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	57:f4819de54e7a	1433	double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1434	valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	57:f4819de54e7a	1435	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1436	torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve	57:f4819de54e7a	1437	}
Lightvalve	57:f4819de54e7a	1438	}
Lightvalve	61:bc8c8270f0ab	1439
Lightvalve	57:f4819de54e7a	1440	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	60:64181f1d3e60	1441	V_out = (float) Vout.ref;
Lightvalve	57:f4819de54e7a	1442	}
Lightvalve	72:3436ce769b1e	1443	torq_ref_past = torq_ref;
Lightvalve	57:f4819de54e7a	1444	break;
Lightvalve	57:f4819de54e7a	1445	}
Lightvalve	58:2eade98630e2	1446
Lightvalve	57:f4819de54e7a	1447	case MODE_VALVE_OPEN_LOOP: {
Lightvalve	57:f4819de54e7a	1448	V_out = (float) Vout.ref;
Lightvalve	57:f4819de54e7a	1449	break;
Lightvalve	57:f4819de54e7a	1450	}
Lightvalve	169:645207e160ca	1451
Lightvalve	138:a843f32ced33	1452	case MODE_JOINT_ADAPTIVE_BACKSTEPPING: {
Lightvalve	169:645207e160ca	1453
Lightvalve	169:645207e160ca	1454
Lightvalve	139:15621998925b	1455	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	1456	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	1457
Lightvalve	170:42c938a40313	1458	V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f
Lightvalve	169:645207e160ca	1459
Lightvalve	218:066030f7951f	1460	//float f3 = -AmmAmmbeta0.000001f0.000001f/V_adapt * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
Lightvalve	218:066030f7951f	1461	float f3_hat = -a_hat * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
Lightvalve	169:645207e160ca	1462
Lightvalve	138:a843f32ced33	1463	float g3_prime = 0.0f;
Lightvalve	169:645207e160ca	1464	if (torq.sen > Amm(Ps-Pt)0.000001f) {
Lightvalve	138:a843f32ced33	1465	g3_prime = 1.0f;
Lightvalve	138:a843f32ced33	1466	} else if (torq.sen < -Amm(Ps-Pt)0.000001f) {
Lightvalve	138:a843f32ced33	1467	g3_prime = -1.0f;
Lightvalve	138:a843f32ced33	1468	} else {
Lightvalve	138:a843f32ced33	1469	if ((value-VALVE_CENTER) > 0) {
Lightvalve	169:645207e160ca	1470	g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f);
Lightvalve	169:645207e160ca	1471	// g3_prime = sqrt(Ps-Pt);
Lightvalve	138:a843f32ced33	1472	} else {
Lightvalve	138:a843f32ced33	1473	g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f);
Lightvalve	139:15621998925b	1474	// g3_prime = sqrt(Ps-Pt);
Lightvalve	138:a843f32ced33	1475	}
Lightvalve	138:a843f32ced33	1476	}
Lightvalve	138:a843f32ced33	1477	float tau = 0.01f;
Lightvalve	142:43026242815a	1478	float K_valve = 0.0004f;
Lightvalve	169:645207e160ca	1479
Lightvalve	138:a843f32ced33	1480	float x_v = 0.0f; //x_v : -1~1
Lightvalve	138:a843f32ced33	1481	if(value>=VALVE_CENTER) {
Lightvalve	138:a843f32ced33	1482	x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	138:a843f32ced33	1483	} else {
Lightvalve	138:a843f32ced33	1484	x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	138:a843f32ced33	1485	}
Lightvalve	138:a843f32ced33	1486	float f4 = -x_v/tau;
Lightvalve	138:a843f32ced33	1487	float g4 = K_valve/tau;
Lightvalve	169:645207e160ca	1488
Lightvalve	139:15621998925b	1489	float torq_ref_dot = torq.ref_diff * 500.0f;
Lightvalve	169:645207e160ca	1490
Lightvalve	138:a843f32ced33	1491	pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve	138:a843f32ced33	1492	vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve	138:a843f32ced33	1493	pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve	169:645207e160ca	1494
Lightvalve	138:a843f32ced33	1495	torq.err = torq.ref - torq.sen; //[N]
Lightvalve	138:a843f32ced33	1496	torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve	169:645207e160ca	1497
Lightvalve	212:ec41f1449ef9	1498	float k3 = 2000.0f; //2000 //20000
Lightvalve	142:43026242815a	1499	float k4 = 10.0f;
Lightvalve	142:43026242815a	1500	float rho3 = 3.2f;
Lightvalve	212:ec41f1449ef9	1501	float rho4 = 10000000.0f; //25000000.0f;
Lightvalve	218:066030f7951f	1502	float x_4_des = (-f3_hat + torq_ref_dot - k3(-torq.err))/(gamma_hatg3_prime);
Lightvalve	138:a843f32ced33	1503	if (x_4_des > 1) x_4_des = 1;
Lightvalve	138:a843f32ced33	1504	else if (x_4_des < -1) x_4_des = -1;
Lightvalve	169:645207e160ca	1505
Lightvalve	139:15621998925b	1506	if (x_4_des > 0) {
Lightvalve	139:15621998925b	1507	valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER;
Lightvalve	139:15621998925b	1508	} else {
Lightvalve	139:15621998925b	1509	valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER;
Lightvalve	139:15621998925b	1510	}
Lightvalve	169:645207e160ca	1511
Lightvalve	138:a843f32ced33	1512	float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k;
Lightvalve	138:a843f32ced33	1513	x_4_des_old = x_4_des;
Lightvalve	212:ec41f1449ef9	1514	float V_input = 0.0f;
Lightvalve	139:15621998925b	1515	V_out = (-f4 + x_4_des_dot - k4(x_v-x_4_des)- rho3/rho4gamma_hatg3_prime(-torq.err))/g4;
Lightvalve	218:066030f7951f	1516
Lightvalve	218:066030f7951f	1517	float rho_a = 0.00001f;
Lightvalve	218:066030f7951f	1518	float a_hat_dot = -rho3/rho_avel.sen/(float)(ENC_PULSE_PER_POSITION)0.001f*(-torq.err);
Lightvalve	218:066030f7951f	1519	a_hat = a_hat + a_hat_dot / (float) TMR_FREQ_5k;
Lightvalve	218:066030f7951f	1520
Lightvalve	218:066030f7951f	1521	if(a_hat > -3000000.0f) a_hat = -3000000.0f;
Lightvalve	218:066030f7951f	1522	else if(a_hat < -30000000.0f) a_hat = -30000000.0f;
Lightvalve	218:066030f7951f	1523
Lightvalve	169:645207e160ca	1524	break;
Lightvalve	138:a843f32ced33	1525	}
Lightvalve	171:bfc1fd2629d8	1526
Lightvalve	12:6f2531038ea4	1527	default:
Lightvalve	12:6f2531038ea4	1528	break;
Lightvalve	12:6f2531038ea4	1529	}
Lightvalve	14:8e7590227d22	1530
Lightvalve	57:f4819de54e7a	1531
Lightvalve	57:f4819de54e7a	1532	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve	58:2eade98630e2	1533
Lightvalve	57:f4819de54e7a	1534	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1535	//////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve	57:f4819de54e7a	1536	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1537	if (CURRENT_CONTROL_MODE) {
Lightvalve	67:c2812cf26c38	1538	double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve	57:f4819de54e7a	1539	I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve	57:f4819de54e7a	1540
hyhoon	226:82a3ca333004	1541	if (FLAG_VALVE_DEADZONE) {
hyhoon	226:82a3ca333004	1542	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	1543	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	1544	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	1545	} else {
hyhoon	226:82a3ca333004	1546	I_REF_fil_DZ = I_REF_fil;
hyhoon	226:82a3ca333004	1547	}
hyhoon	226:82a3ca333004	1548	I_ERR = I_REF_fil_DZ - (double)cur.sen;
Lightvalve	67:c2812cf26c38	1549	I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve	57:f4819de54e7a	1550
Lightvalve	57:f4819de54e7a	1551
Lightvalve	57:f4819de54e7a	1552	// Moog Valve Current Control Gain
Lightvalve	67:c2812cf26c38	1553	double R_model = 500.0f; // ohm
Lightvalve	57:f4819de54e7a	1554	double L_model = 1.2f;
Lightvalve	57:f4819de54e7a	1555	double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve	57:f4819de54e7a	1556	double KP_I = 0.1f * L_model*w0;
Lightvalve	57:f4819de54e7a	1557	double KI_I = 0.1f * R_model*w0;
Lightvalve	57:f4819de54e7a	1558
Lightvalve	57:f4819de54e7a	1559	// KNR Valve Current Control Gain
Lightvalve	57:f4819de54e7a	1560	if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve	57:f4819de54e7a	1561	R_model = 163.0f; // ohm
Lightvalve	57:f4819de54e7a	1562	L_model = 1.0f;
Lightvalve	57:f4819de54e7a	1563	w0 = 2.0f * 3.14f * 80.0f;
Lightvalve	57:f4819de54e7a	1564	KP_I = 1.0f * L_model*w0;
Lightvalve	57:f4819de54e7a	1565	KI_I = 0.08f * R_model*w0;
Lightvalve	57:f4819de54e7a	1566	}
Lightvalve	57:f4819de54e7a	1567
Lightvalve	57:f4819de54e7a	1568	double FF_gain = 1.0f;
Lightvalve	57:f4819de54e7a	1569
Lightvalve	67:c2812cf26c38	1570	VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
hyhoon	226:82a3ca333004	1571	I_REF_fil_diff = I_REF_fil_DZ - I_REF_fil_old;
hyhoon	226:82a3ca333004	1572	I_REF_fil_old = I_REF_fil_DZ;
Lightvalve	67:c2812cf26c38	1573	// 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	1574	VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil_DZ); // Unit : mV
Lightvalve	67:c2812cf26c38	1575	double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve	57:f4819de54e7a	1576
Lightvalve	57:f4819de54e7a	1577	double Ka = 3.0f / KP_I;
Lightvalve	57:f4819de54e7a	1578	if (VALVE_PWM_RAW > V_MAX) {
Lightvalve	57:f4819de54e7a	1579	V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve	57:f4819de54e7a	1580	V_rem = Ka*V_rem;
Lightvalve	57:f4819de54e7a	1581	VALVE_PWM_RAW = V_MAX;
Lightvalve	67:c2812cf26c38	1582	I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve	57:f4819de54e7a	1583	} else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve	57:f4819de54e7a	1584	V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve	57:f4819de54e7a	1585	V_rem = Ka*V_rem;
Lightvalve	57:f4819de54e7a	1586	VALVE_PWM_RAW = -V_MAX;
Lightvalve	67:c2812cf26c38	1587	I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve	57:f4819de54e7a	1588	}
Lightvalve	57:f4819de54e7a	1589	Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve	57:f4819de54e7a	1590	} else {
Lightvalve	57:f4819de54e7a	1591	VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve	57:f4819de54e7a	1592	Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve	57:f4819de54e7a	1593	}
Lightvalve	57:f4819de54e7a	1594
Lightvalve	57:f4819de54e7a	1595	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1596	///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve	57:f4819de54e7a	1597	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1598
Lightvalve	57:f4819de54e7a	1599	// Output Voltage Linearization
hyhoon	226:82a3ca333004	1600	double CUR_PWM_nonlin = (double)VALVE_PWM_RAW; // Unit : mV
Lightvalve	67:c2812cf26c38	1601	double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve	57:f4819de54e7a	1602
Lightvalve	57:f4819de54e7a	1603	// Dead Zone Cancellation (Electrical dead-zone)
Lightvalve	67:c2812cf26c38	1604	if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve	67:c2812cf26c38	1605	else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve	67:c2812cf26c38	1606	else V_out = (float) (CUR_PWM_lin);
Lightvalve	169:645207e160ca	1607	} else { //////////////////////////sw valve
Lightvalve	89:a7b45368ea0f	1608	// Output Voltage Linearization
Lightvalve	135:79885a39c161	1609	// double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve	135:79885a39c161	1610	// double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve	89:a7b45368ea0f	1611
Lightvalve	89:a7b45368ea0f	1612	// Dead Zone Cancellation (Electrical dead-zone)
Lightvalve	135:79885a39c161	1613	// if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve	135:79885a39c161	1614	// else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve	135:79885a39c161	1615	// else V_out = (float) (CUR_PWM_lin);
Lightvalve	135:79885a39c161	1616
Lightvalve	224:985dba42f261	1617	// Output Voltage Linearization & Dead Zone Cancellation (Electrical dead-zone) by SW
Lightvalve	135:79885a39c161	1618	if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f;
Lightvalve	135:79885a39c161	1619	else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f;
Lightvalve	135:79885a39c161	1620	else V_out = 0.0f;
Lightvalve	89:a7b45368ea0f	1621	}
Lightvalve	169:645207e160ca	1622
jobuuu	7:e9086c72bb22	1623	/*******************************************************
jobuuu	7:e9086c72bb22	1624	*** PWM
jobuuu	7:e9086c72bb22	1625	********************************************************/
Lightvalve	169:645207e160ca	1626	if(DIR_VALVE<0) {
Lightvalve	67:c2812cf26c38	1627	V_out = -V_out;
Lightvalve	67:c2812cf26c38	1628	}
Lightvalve	169:645207e160ca	1629
Lightvalve	49:e7bcfc244d40	1630	if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve	49:e7bcfc244d40	1631	V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve	49:e7bcfc244d40	1632	} else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve	49:e7bcfc244d40	1633	V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve	27:a2254a485f23	1634	}
Lightvalve	224:985dba42f261	1635	PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f);
Lightvalve	13:747daba9cf59	1636
Lightvalve	224:985dba42f261	1637	// Saturation of output voltage
Lightvalve	30:8d561f16383b	1638	if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve	30:8d561f16383b	1639	else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve	13:747daba9cf59	1640
Lightvalve	30:8d561f16383b	1641	if (PWM_out>0.0f) {
Lightvalve	30:8d561f16383b	1642	dtc_v=0.0f;
jobuuu	1:e04e563be5ce	1643	dtc_w=PWM_out;
jobuuu	1:e04e563be5ce	1644	} else {
jobuuu	2:a1c0a37df760	1645	dtc_v=-PWM_out;
Lightvalve	30:8d561f16383b	1646	dtc_w=0.0f;
jobuuu	1:e04e563be5ce	1647	}
Lightvalve	13:747daba9cf59	1648
jobuuu	1:e04e563be5ce	1649	//pwm
Lightvalve	30:8d561f16383b	1650	TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve	30:8d561f16383b	1651	TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve	67:c2812cf26c38	1652
Lightvalve	20:806196fda269	1653
hyhoon	226:82a3ca333004	1654	if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
hyhoon	226:82a3ca333004	1655	// Position, Velocity, and Torque (ID:1200)
hyhoon	226:82a3ca333004	1656	if (flag_data_request[0] == HIGH) {
hyhoon	226:82a3ca333004	1657	if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
hyhoon	226:82a3ca333004	1658	if (SENSING_MODE == 0) {
hyhoon	226:82a3ca333004	1659	CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
hyhoon	226:82a3ca333004	1660	} else if (SENSING_MODE == 1) {
hyhoon	226:82a3ca333004	1661	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	1662	}
hyhoon	226:82a3ca333004	1663	} else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
hyhoon	226:82a3ca333004	1664	if (SENSING_MODE == 0) {
hyhoon	226:82a3ca333004	1665	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	1666	} else if (SENSING_MODE == 1) {
hyhoon	226:82a3ca333004	1667	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	1668	}
hyhoon	226:82a3ca333004	1669	}
jeongyeseong	225:9c0becc196ba	1670
hyhoon	226:82a3ca333004	1671	}
hyhoon	226:82a3ca333004	1672
hyhoon	226:82a3ca333004	1673
Lightvalve	224:985dba42f261	1674	// ID:1300
Lightvalve	56:6f50d9d3bfee	1675	if (flag_data_request[1] == HIGH) {
Lightvalve	224:985dba42f261	1676	CAN_TX_TORQUE((int16_t) 7); //1300
Lightvalve	54:647072f5307a	1677	}
Lightvalve	58:2eade98630e2	1678
hyhoon	226:82a3ca333004	1679	// Reference Current, Current Current (ID:1700)
Lightvalve	171:bfc1fd2629d8	1680	if (flag_data_request[2] == HIGH) {
hyhoon	226:82a3ca333004	1681
hyhoon	226:82a3ca333004	1682	CAN_TX_SOMETHING((int16_t) (I_REF_fil_DZ / mA_PER_pulse), (int16_t) (cur.sen / mA_PER_pulse), (int16_t) (HOMEPOS_OFFSET), (int16_t) (0));
jeongyeseong	225:9c0becc196ba	1683	//double t_value = 0.0f;
hyhoon	226:82a3ca333004	1684	// if(value>=(float) VALVE_CENTER) {
hyhoon	226:82a3ca333004	1685	// t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
hyhoon	226:82a3ca333004	1686	// } else {
hyhoon	226:82a3ca333004	1687	// t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
hyhoon	226:82a3ca333004	1688	// }
hyhoon	226:82a3ca333004	1689	// double t_value_ref = 0.0f;
hyhoon	226:82a3ca333004	1690	// if(valve_pos.ref>=(float) VALVE_CENTER) {
hyhoon	226:82a3ca333004	1691	// t_value_ref = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
hyhoon	226:82a3ca333004	1692	// } else {
hyhoon	226:82a3ca333004	1693	// t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
hyhoon	226:82a3ca333004	1694	// }
hyhoon	226:82a3ca333004	1695	//
hyhoon	226:82a3ca333004	1696	//
hyhoon	226:82a3ca333004	1697	// CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400
Lightvalve	55:b25725257569	1698	}
Lightvalve	58:2eade98630e2	1699
Lightvalve	57:f4819de54e7a	1700	//If it doesn't rest, below can can not work.
Lightvalve	57:f4819de54e7a	1701	for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve	57:f4819de54e7a	1702	;
Lightvalve	57:f4819de54e7a	1703	}
hyhoon	226:82a3ca333004	1704
Lightvalve	224:985dba42f261	1705	// ID:1500
Lightvalve	169:645207e160ca	1706	if (flag_data_request[3] == HIGH) {
Lightvalve	54:647072f5307a	1707	//PWM
Lightvalve	209:ebc69d6ee6f1	1708	CAN_TX_PWM((int16_t) (torq.ref)); //1500
Lightvalve	54:647072f5307a	1709	}
hyhoon	226:82a3ca333004	1710
Lightvalve	224:985dba42f261	1711	// ID:1600
Lightvalve	56:6f50d9d3bfee	1712	if (flag_data_request[4] == HIGH) {
Lightvalve	54:647072f5307a	1713	//valve position
Lightvalve	218:066030f7951f	1714	CAN_TX_VALVE_POSITION((int16_t) (a_hat*0.0001f), (int16_t) 0, (int16_t) 0, (int16_t) 0); //1600
Lightvalve	54:647072f5307a	1715	}
Lightvalve	20:806196fda269	1716
Lightvalve	54:647072f5307a	1717	TMR2_COUNT_CAN_TX = 0;
Lightvalve	54:647072f5307a	1718	}
Lightvalve	54:647072f5307a	1719	TMR2_COUNT_CAN_TX++;
Lightvalve	52:8ea76864368a	1720
Lightvalve	20:806196fda269	1721	}
Lightvalve	52:8ea76864368a	1722	TIM3->SR = 0x0; // reset the status register
Lightvalve	52:8ea76864368a	1723
Lightvalve	58:2eade98630e2	1724	}

Repository toolbox

Export to desktop IDE

Build repository

Repository details

Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	03 Mar 2021
Imports:	3
Forks:	0
Commits:	228
Dependents:	0
Dependencies:	2
Followers:	1

main.cpp@226:82a3ca333004, 2021-03-03 (annotated)

Who changed what in which revision?

Repository toolbox

Repository details

Important Information for this Arm website

Access Warning