Seunghoon Shin / Mbed 2 deprecated HydraulicControlBoard_Start

20210305

Dependencies:   mbed FastPWM

main.cpp@111:93289db9e77a, 2020-09-11 (annotated)

Committer:
Lightvalve
Date:
Fri Sep 11 13:29:26 2020 +0000
Revision:
111:93289db9e77a
Parent:
110:48dc9bede846
Child:
112:8dcb1600cb90
200911-2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 111:93289db9e77a 1 //200911-2
GiJeongKim 0:51c43836c1d7 2 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 3 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 4 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 5 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 6 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 7 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 8 #include "setting.h"
Lightvalve 11:82d8768d7351 9 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 10 #include "stm32f4xx_flash.h"
Lightvalve 65:a2d7c63419c2 11 #include "FlashWriter.h"
Lightvalve 61:bc8c8270f0ab 12
Lightvalve 61:bc8c8270f0ab 13 using namespace std;
Lightvalve 61:bc8c8270f0ab 14 Timer t;
GiJeongKim 0:51c43836c1d7 15
Lightvalve 31:66738bfecec5 16 ///191008////
Lightvalve 31:66738bfecec5 17
jobuuu 7:e9086c72bb22 18 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 19 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 20 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 21 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 22 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 23 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 24 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 25 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 26
Lightvalve 24:ef6e1092e9e6 27
jobuuu 7:e9086c72bb22 28 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 29 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 30 float dtc_w=0.0f;
GiJeongKim 0:51c43836c1d7 31
jobuuu 7:e9086c72bb22 32 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 33 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 34 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 35 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 36
jobuuu 7:e9086c72bb22 37 // SPI ///////////////////////////////////////////
Lightvalve 16:903b5a4433b4 38 //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 16:903b5a4433b4 39 //DigitalOut eeprom_cs(PB_12);
Lightvalve 16:903b5a4433b4 40 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim 0:51c43836c1d7 41 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 42 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 43 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 44
jobuuu 7:e9086c72bb22 45 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 46 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 47
jobuuu 7:e9086c72bb22 48 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 49 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 50 CANMessage msg;
Lightvalve 11:82d8768d7351 51 void onMsgReceived()
Lightvalve 11:82d8768d7351 52 {
Lightvalve 11:82d8768d7351 53 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 54 }
jobuuu 2:a1c0a37df760 55
jobuuu 7:e9086c72bb22 56 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 57 State pos;
jobuuu 7:e9086c72bb22 58 State vel;
jobuuu 7:e9086c72bb22 59 State Vout;
jobuuu 7:e9086c72bb22 60 State torq;
jobuuu 7:e9086c72bb22 61 State pres_A;
jobuuu 7:e9086c72bb22 62 State pres_B;
jobuuu 7:e9086c72bb22 63 State cur;
Lightvalve 14:8e7590227d22 64 State valve_pos;
Lightvalve 14:8e7590227d22 65
Lightvalve 14:8e7590227d22 66 State INIT_Vout;
Lightvalve 14:8e7590227d22 67 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 68 State INIT_Pos;
Lightvalve 14:8e7590227d22 69 State INIT_torq;
jobuuu 5:a4319f79457b 70
Lightvalve 19:23b7c1ad8683 71 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 72 extern int CID_RX_REF_POSITION;
Lightvalve 49:e7bcfc244d40 73 extern int CID_RX_REF_VALVE_POS;
Lightvalve 45:35fa6884d0c6 74 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 75
Lightvalve 19:23b7c1ad8683 76 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 77 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 78 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 79 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 80 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 81 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 82
Lightvalve 61:bc8c8270f0ab 83
Lightvalve 61:bc8c8270f0ab 84
Lightvalve 61:bc8c8270f0ab 85
jobuuu 7:e9086c72bb22 86 // =============================================================================
jobuuu 7:e9086c72bb22 87 // =============================================================================
jobuuu 7:e9086c72bb22 88 // =============================================================================
jobuuu 7:e9086c72bb22 89
Lightvalve 12:6f2531038ea4 90 /*******************************************************************************
Lightvalve 12:6f2531038ea4 91 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 92 ******************************************************************************/
Lightvalve 13:747daba9cf59 93 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 94 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 95 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 96 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 97 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 98 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 99 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 100 };
Lightvalve 12:6f2531038ea4 101
Lightvalve 12:6f2531038ea4 102 /*******************************************************************************
Lightvalve 12:6f2531038ea4 103 * CONTROL MODE
Lightvalve 12:6f2531038ea4 104 ******************************************************************************/
Lightvalve 13:747daba9cf59 105 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 106 //control mode
Lightvalve 12:6f2531038ea4 107 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 108 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 109 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 110
Lightvalve 47:fdcb8bd86fd6 111 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 12:6f2531038ea4 112 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 113 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 114
Lightvalve 12:6f2531038ea4 115 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 116 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 117 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 118
Lightvalve 12:6f2531038ea4 119 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 120 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 121
Lightvalve 14:8e7590227d22 122 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 123 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 124 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 125
Lightvalve 12:6f2531038ea4 126 //utility
Lightvalve 12:6f2531038ea4 127 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 128 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 129 MODE_FIND_HOME, //22
Lightvalve 57:f4819de54e7a 130 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 131 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 132 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 133 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 134
Lightvalve 12:6f2531038ea4 135 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 136 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 137 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 57:f4819de54e7a 138 MODE_SYSTEM_ID, //33
Lightvalve 12:6f2531038ea4 139 };
Lightvalve 12:6f2531038ea4 140
Lightvalve 65:a2d7c63419c2 141 void SystemClock_Config(void)
Lightvalve 65:a2d7c63419c2 142 {
Lightvalve 65:a2d7c63419c2 143 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve 65:a2d7c63419c2 144 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve 65:a2d7c63419c2 145
Lightvalve 65:a2d7c63419c2 146 /** Configure the main internal regulator output voltage
Lightvalve 65:a2d7c63419c2 147 */
Lightvalve 65:a2d7c63419c2 148 __HAL_RCC_PWR_CLK_ENABLE();
Lightvalve 65:a2d7c63419c2 149 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve 65:a2d7c63419c2 150 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 65:a2d7c63419c2 151 */
Lightvalve 65:a2d7c63419c2 152 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve 65:a2d7c63419c2 153 RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve 65:a2d7c63419c2 154 RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve 65:a2d7c63419c2 155 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve 65:a2d7c63419c2 156 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve 65:a2d7c63419c2 157 RCC_OscInitStruct.PLL.PLLM = 8;//8
Lightvalve 65:a2d7c63419c2 158 RCC_OscInitStruct.PLL.PLLN = 180; //180
Lightvalve 65:a2d7c63419c2 159 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve 65:a2d7c63419c2 160 RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve 65:a2d7c63419c2 161 RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve 65:a2d7c63419c2 162 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
Lightvalve 65:a2d7c63419c2 163 {
Lightvalve 65:a2d7c63419c2 164 //Error_Handler();
Lightvalve 65:a2d7c63419c2 165 }
Lightvalve 65:a2d7c63419c2 166 /** Activate the Over-Drive mode
Lightvalve 65:a2d7c63419c2 167 */
Lightvalve 65:a2d7c63419c2 168 if (HAL_PWREx_EnableOverDrive() != HAL_OK)
Lightvalve 65:a2d7c63419c2 169 {
Lightvalve 65:a2d7c63419c2 170 //Error_Handler();
Lightvalve 65:a2d7c63419c2 171 }
Lightvalve 65:a2d7c63419c2 172 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 65:a2d7c63419c2 173 */
Lightvalve 65:a2d7c63419c2 174 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
Lightvalve 65:a2d7c63419c2 175 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
Lightvalve 65:a2d7c63419c2 176 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve 65:a2d7c63419c2 177 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve 65:a2d7c63419c2 178 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve 65:a2d7c63419c2 179 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve 65:a2d7c63419c2 180
Lightvalve 65:a2d7c63419c2 181 if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
Lightvalve 65:a2d7c63419c2 182 {
Lightvalve 65:a2d7c63419c2 183 //Error_Handler();
Lightvalve 65:a2d7c63419c2 184 }
Lightvalve 65:a2d7c63419c2 185 }
Lightvalve 65:a2d7c63419c2 186
Lightvalve 99:7bbcb3c0fb06 187 float u_past[num_array_u_past] = {0.0f};
Lightvalve 68:328e1be06f5d 188 float x_past[num_array_x_past] = {0.0f};
Lightvalve 85:a3b46118b5cd 189 float x_future[num_array_x_future] = {0.0f};
Lightvalve 68:328e1be06f5d 190 float f_past[num_array_f_past] = {0.0f};
Lightvalve 68:328e1be06f5d 191 float f_future[num_array_f_future] = {0.0f};
Lightvalve 66:a8e6799dbce3 192
Lightvalve 73:f80dc3970c99 193 float input_NN[num_input] = { 0.0f };
Lightvalve 65:a2d7c63419c2 194
Lightvalve 111:93289db9e77a 195 const float h1[num_input][32] = {
Lightvalve 111:93289db9e77a 196 {-0.5549973249435425f,0.8768957853317261f,0.09650412201881409f,0.24851557612419128f,-0.030186515301465988f,-0.10503339767456055f,-0.16243299841880798f,-0.1012694388628006f,-0.17202284932136536f,0.0038828651886433363f,0.2429600954055786f,-0.22321639955043793f,-0.2678239345550537f,0.09377405047416687f,-0.19232401251792908f,0.1060103252530098f,-0.4086070656776428f,0.18299975991249084f,-0.32800766825675964f,-0.10222791880369186f,-0.35377758741378784f,0.09747585654258728f,-0.3031907379627228f,-0.0722002387046814f,-0.015438207425177097f,0.1674489974975586f,-0.16104386746883392f,-0.020340800285339355f,0.3390881419181824f,-0.17127496004104614f,0.06583423912525177f,0.02365354634821415f},
Lightvalve 111:93289db9e77a 197 {-0.5140904784202576f,1.802839756011963f,0.2721617817878723f,0.2552260458469391f,0.005723567213863134f,-0.14306120574474335f,0.18916600942611694f,-0.01718241721391678f,-0.09363629668951035f,0.08362014591693878f,0.27739882469177246f,-0.1465436816215515f,-0.05722622573375702f,0.17776066064834595f,0.04180806875228882f,-0.08746688067913055f,-0.4267401397228241f,0.01310769934207201f,0.2637748420238495f,0.11253026872873306f,-0.0928034633398056f,-0.1100652664899826f,-0.0866384208202362f,0.25256627798080444f,0.11583297699689865f,0.26763588190078735f,0.11561140418052673f,-0.07117867469787598f,0.06925801932811737f,0.08939173817634583f,0.025751285254955292f,0.04056354612112045f},
Lightvalve 111:93289db9e77a 198 {0.2908337116241455f,1.9345721006393433f,-0.0038479268550872803f,0.2460736334323883f,0.027719123288989067f,-0.14455747604370117f,0.09766381233930588f,-0.07469607889652252f,0.023745449259877205f,-0.014074495993554592f,0.1612796038389206f,0.02426053024828434f,-0.11591038107872009f,0.31654080748558044f,-0.28905919194221497f,-0.27905717492103577f,-0.4644099473953247f,-0.28356316685676575f,0.1289939284324646f,0.34010887145996094f,0.1374463587999344f,-0.1395411342382431f,0.12350606918334961f,-0.2247280478477478f,0.16758419573307037f,0.13248568773269653f,-0.14138396084308624f,-0.14598605036735535f,-0.6143582463264465f,0.27591514587402344f,-0.06936990469694138f,-0.2276267111301422f},
Lightvalve 111:93289db9e77a 199 {0.014919288456439972f,0.8462927341461182f,-0.18711818754673004f,1.7169139385223389f,-0.11782031506299973f,-0.4051613211631775f,0.06353594362735748f,-0.5361209511756897f,0.3316388726234436f,-0.5792112350463867f,-0.35297247767448425f,0.510019063949585f,-0.20880702137947083f,0.21087929606437683f,-0.11680684983730316f,-1.108352541923523f,1.2171339988708496f,-0.25848352909088135f,-0.23431266844272614f,0.03679851070046425f,-0.29174768924713135f,-0.08014044165611267f,-0.13406386971473694f,-0.26563718914985657f,0.01664377935230732f,0.12903746962547302f,0.12193542718887329f,-0.03078395314514637f,0.055805303156375885f,0.12058231234550476f,-0.015879614278674126f,0.11237641423940659f},
Lightvalve 111:93289db9e77a 200 {0.06727614998817444f,-0.19447815418243408f,0.07664334774017334f,-3.289839267730713f,-0.2341507524251938f,3.0233073234558105f,-0.030563730746507645f,-1.0927037000656128f,-0.18823972344398499f,-0.5661014914512634f,-0.8137605786323547f,1.575478434562683f,0.11876024305820465f,0.013919633813202381f,-0.22851628065109253f,2.7398576736450195f,1.0657321214675903f,-0.2109011709690094f,0.10224029421806335f,-0.212050199508667f,0.061001237481832504f,0.2149595022201538f,-0.2236560881137848f,-0.06796601414680481f,0.052188288420438766f,-0.31218889355659485f,0.036975473165512085f,-0.5947616100311279f,2.1079158782958984f,-0.1487281620502472f,-0.10598565638065338f,-0.021861236542463303f},
Lightvalve 111:93289db9e77a 201 {0.10944844782352448f,0.08481812477111816f,0.27807939052581787f,-0.24680021405220032f,0.9184458255767822f,1.51350736618042f,-0.19825877249240875f,0.22346614301204681f,-0.3255809545516968f,-0.7702114582061768f,1.2050813436508179f,0.6697520613670349f,-0.10150232166051865f,-1.1368283033370972f,0.19959628582000732f,0.7601221203804016f,0.18227435648441315f,-0.33317211270332336f,-0.3353314995765686f,-0.26803967356681824f,0.05996573343873024f,-0.008817970752716064f,0.1147087812423706f,0.3015863299369812f,0.969081699848175f,0.18968838453292847f,-0.2666270434856415f,1.0817092657089233f,-0.49324920773506165f,-0.0011968016624450684f,-0.6789158582687378f,-0.10069727152585983f},
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Lightvalve 111:93289db9e77a 203 {0.06547479331493378f,0.008711201138794422f,0.15168696641921997f,-0.03261690214276314f,0.32004988193511963f,-0.005622576922178268f,-0.016663318499922752f,0.15775597095489502f,0.23933224380016327f,0.07812093943357468f,0.06328822672367096f,-0.289379358291626f,0.02518923580646515f,-0.26473143696784973f,0.0499650239944458f,0.4153742492198944f,-0.18384186923503876f,-0.30320557951927185f,-0.33621424436569214f,-0.060710761696100235f,-0.1309119462966919f,0.020663440227508545f,-0.11643148958683014f,-0.025921106338500977f,0.35802432894706726f,0.01617935299873352f,-0.3111790418624878f,0.06786756217479706f,-0.23781399428844452f,0.003934144973754883f,0.07942681759595871f,0.18824386596679688f},
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Lightvalve 65:a2d7c63419c2 223 };
Lightvalve 65:a2d7c63419c2 224
Lightvalve 111:93289db9e77a 225 const float h2[32][32] = {
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Lightvalve 65:a2d7c63419c2 258 };
Lightvalve 65:a2d7c63419c2 259
Lightvalve 111:93289db9e77a 260 const float h3[32][32] = {
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Lightvalve 111:93289db9e77a 288 {-0.12546227872371674f,-0.20327019691467285f,-0.7674700021743774f,0.0025170135777443647f,-0.37905335426330566f,0.7628586888313293f,-0.550694465637207f,-0.16460397839546204f,-1.1577268838882446f,-0.1461954414844513f,-0.19499319791793823f,-0.17696864902973175f,-0.7150746583938599f,-0.6856591701507568f,-0.0649729073047638f,0.09420866519212723f,0.060016900300979614f,-0.3138718008995056f,0.03891023248434067f,-0.25645461678504944f,0.5847378969192505f,0.3709615170955658f,-0.08535157144069672f,0.12858858704566956f,-0.40651488304138184f,0.020356476306915283f,-0.19646024703979492f,0.6749417781829834f,-0.019949205219745636f,-0.000007510185241699219f,-0.01171192992478609f,-0.2876005470752716f},
Lightvalve 111:93289db9e77a 289 {0.07555973529815674f,-0.0029259920120239258f,-0.08789914846420288f,0.06678077578544617f,-0.11083845794200897f,0.11010000109672546f,-0.14982634782791138f,0.12075316905975342f,-0.2766430675983429f,0.013024389743804932f,0.18159812688827515f,-0.20200279355049133f,0.2637675702571869f,-0.1856893002986908f,0.2882818281650543f,0.05304515361785889f,-0.15297894179821014f,0.07341468334197998f,0.05268138647079468f,0.1067940890789032f,-0.2661813795566559f,-0.2009473443031311f,0.1843600869178772f,0.2517976462841034f,-0.07343396544456482f,-0.051110416650772095f,-0.23432010412216187f,0.16746872663497925f,-0.2205146849155426f,-0.017525076866149902f,0.20926335453987122f,-0.2141496241092682f},
Lightvalve 111:93289db9e77a 290 {0.06582912802696228f,0.2796666920185089f,-0.29963746666908264f,0.0023079216480255127f,0.20337024331092834f,-0.040642574429512024f,0.06556430459022522f,0.29767414927482605f,0.2994321286678314f,-0.16670267283916473f,-0.1203770637512207f,-0.06570860743522644f,-0.0017087480518966913f,0.010199399664998055f,-0.014884740114212036f,-0.05300724506378174f,0.26490333676338196f,0.15243005752563477f,-0.07319167256355286f,0.2962717115879059f,0.33884453773498535f,0.0014916976215317845f,-0.0016991444863379002f,-0.11559568345546722f,-0.21842041611671448f,0.21069613099098206f,-0.12274213880300522f,-0.08704576641321182f,-0.043134164065122604f,-0.2712400257587433f,-0.2183205485343933f,-0.23200613260269165f},
Lightvalve 111:93289db9e77a 291 {-0.1299392580986023f,-0.06208275258541107f,-0.18067686259746552f,0.062329649925231934f,-0.22588664293289185f,-0.06877543032169342f,-0.19175797700881958f,0.02903696894645691f,-0.2614779472351074f,0.016345679759979248f,-0.24767392873764038f,0.2033931314945221f,-0.30105409026145935f,0.08271035552024841f,0.13206014037132263f,0.15829482674598694f,-0.21012049913406372f,0.2088232934474945f,0.07014858722686768f,-0.19175665080547333f,0.28649166226387024f,0.05041047930717468f,-0.27260470390319824f,-0.025072306394577026f,0.2722422182559967f,-0.007939159870147705f,-0.22979341447353363f,0.11936154961585999f,0.1298319399356842f,0.18135693669319153f,-0.008151531219482422f,0.15906798839569092f},
Lightvalve 111:93289db9e77a 292 {0.07638216018676758f,0.05467941612005234f,-0.30802446603775024f,-0.27756384015083313f,0.5089954137802124f,-0.06644360721111298f,0.2795381247997284f,-0.25668495893478394f,-0.2516498565673828f,0.1293344497680664f,-0.026776641607284546f,0.02524423599243164f,0.13684697449207306f,-0.3884730935096741f,-0.029521822929382324f,-0.19500072300434113f,0.06506577134132385f,-0.011876672506332397f,0.13049617409706116f,0.2874086797237396f,-0.12349185347557068f,0.06480025500059128f,-0.26355814933776855f,-0.17324526607990265f,0.19932076334953308f,0.1901901364326477f,-0.11465026438236237f,0.02828008309006691f,0.4518930912017822f,0.22636333107948303f,-0.21769236028194427f,0.23630231618881226f},
Lightvalve 66:a8e6799dbce3 293 };
Lightvalve 65:a2d7c63419c2 294
Lightvalve 111:93289db9e77a 295 const float hout[32] = { 0.3285340666770935f,0.22330839931964874f,-0.10449632257223129f,-0.1374182254076004f,0.3813384771347046f,0.2709670960903168f,-0.05697903409600258f,-0.004911948926746845f,0.20332930982112885f,0.0904858261346817f,0.10222318768501282f,-0.10788039118051529f,-0.1989477574825287f,0.16702288389205933f,0.2356991171836853f,-0.09116881340742111f,0.028592372313141823f,-0.18687331676483154f,0.04106204956769943f,-0.021804936230182648f,0.12847422063350677f,0.007278922479599714f,-0.32173553109169006f,-0.059601761400699615f,0.20722047984600067f,0.2520971894264221f,-0.18482191860675812f,-0.12838873267173767f,-0.15306447446346283f,-0.3257754445075989f,-0.028646055608987808f,-0.07700809091329575f };
Lightvalve 66:a8e6799dbce3 296
Lightvalve 111:93289db9e77a 297 const float b1[32] = { 0.5617112517356873f,0.6938236951828003f,-1.7145336866378784f,0.20102094113826752f,1.4396305084228516f,0.8273231983184814f,-0.08430472016334534f,0.9584340453147888f,0.4917953610420227f,-1.3999191522598267f,0.7650651335716248f,1.7081613540649414f,-0.41735661029815674f,-1.2265903949737549f,-1.087764859199524f,1.7399324178695679f,0.5774160623550415f,-0.3081972897052765f,0.22525261342525482f,0.5787962675094604f,-0.34984177350997925f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,2.4478845596313477f,-2.0880801677703857f,-1.0489267110824585f,1.045495629310608f,-0.21264487504959106f,-1.0887231826782227f,2.5014867782592773f,-0.4925138056278229f };
Lightvalve 87:471334725012 298
Lightvalve 111:93289db9e77a 299 const float b2[32] = { -0.22199000418186188f,-0.7642630338668823f,-1.4564176797866821f,-0.5784978270530701f,-0.6939148902893066f,0.021013928577303886f,0.2593429982662201f,-0.48615601658821106f,-1.20063054561615f,-1.912178635597229f,-0.37001925706863403f,0.7015834450721741f,-0.21979756653308868f,2.167783498764038f,-0.1734119951725006f,0.34847232699394226f,-1.798204779624939f,-1.5844906568527222f,0.7723733186721802f,-0.49491411447525024f,-0.9785985946655273f,0.25206300616264343f,-0.06040634959936142f,-1.3003190755844116f,0.913925290107727f,1.1008470058441162f,0.4028688073158264f,0.26332706212997437f,-0.6323830485343933f,-0.6440863013267517f,-1.178520679473877f,-1.4038468599319458f };
Lightvalve 65:a2d7c63419c2 300
Lightvalve 111:93289db9e77a 301 const float b3[32] = { -1.963319182395935f,-0.5200377702713013f,-0.3375231921672821f,-0.13412702083587646f,-0.7709776163101196f,1.1072574853897095f,-0.6176732778549194f,-0.789782702922821f,-0.26726576685905457f,0.1519104242324829f,-0.34401074051856995f,-0.2394605576992035f,-0.4662231504917145f,0.7806915640830994f,-1.1428403854370117f,-0.5101396441459656f,-1.4363644123077393f,-1.1631749868392944f,-0.3078002333641052f,0.14698919653892517f,1.1502156257629395f,0.757956326007843f,-1.0361347198486328f,-0.9573707580566406f,1.1927686929702759f,-0.36519983410835266f,-0.1531694531440735f,0.20401786267757416f,0.691188395023346f,-2.3236680030822754f,-0.22575858235359192f,0.4017392098903656f };
Lightvalve 87:471334725012 302
Lightvalve 111:93289db9e77a 303 const float bout[1] = { -0.14703667163848877f };
Lightvalve 65:a2d7c63419c2 304
Lightvalve 66:a8e6799dbce3 305
Lightvalve 87:471334725012 306 float VALVE_POS_RAW_NN = 0.0f;
Lightvalve 87:471334725012 307 float DDV_JOINT_POS_FF(float REF_JOINT_VEL);
Lightvalve 61:bc8c8270f0ab 308
GiJeongKim 0:51c43836c1d7 309 int main()
GiJeongKim 0:51c43836c1d7 310 {
Lightvalve 66:a8e6799dbce3 311
Lightvalve 65:a2d7c63419c2 312 HAL_Init();
Lightvalve 65:a2d7c63419c2 313 SystemClock_Config();
Lightvalve 65:a2d7c63419c2 314
jobuuu 6:df07d3491e3a 315 /*********************************
jobuuu 1:e04e563be5ce 316 *** Initialization
jobuuu 6:df07d3491e3a 317 *********************************/
Lightvalve 69:3995ffeaa786 318 LED = 0;
Lightvalve 61:bc8c8270f0ab 319 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 320
GiJeongKim 0:51c43836c1d7 321 // i2c init
Lightvalve 8:5d2eebdad025 322 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 323 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 324 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 325 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 326 make_delay();
jobuuu 2:a1c0a37df760 327
GiJeongKim 0:51c43836c1d7 328 // // spi init
Lightvalve 16:903b5a4433b4 329 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 330 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 331 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 332 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 333 make_delay();
Lightvalve 21:e5f1a43ea6f9 334
Lightvalve 16:903b5a4433b4 335 //rom
Lightvalve 19:23b7c1ad8683 336 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 337 make_delay();
Lightvalve 13:747daba9cf59 338
GiJeongKim 0:51c43836c1d7 339 // ADC init
jobuuu 5:a4319f79457b 340 Init_ADC();
Lightvalve 11:82d8768d7351 341 make_delay();
jobuuu 2:a1c0a37df760 342
GiJeongKim 0:51c43836c1d7 343 // Pwm init
GiJeongKim 0:51c43836c1d7 344 Init_PWM();
GiJeongKim 0:51c43836c1d7 345 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 346 make_delay();
Lightvalve 13:747daba9cf59 347
Lightvalve 11:82d8768d7351 348 // TMR3 init
Lightvalve 11:82d8768d7351 349 Init_TMR3();
Lightvalve 11:82d8768d7351 350 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 351 make_delay();
Lightvalve 21:e5f1a43ea6f9 352
Lightvalve 50:3c630b5eba9f 353 // TMR2 init
Lightvalve 56:6f50d9d3bfee 354 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 355 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 356 // make_delay();
Lightvalve 21:e5f1a43ea6f9 357
GiJeongKim 0:51c43836c1d7 358 // CAN
jobuuu 2:a1c0a37df760 359 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 360 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 361 make_delay();
Lightvalve 34:bb2ca2fc2a8e 362
Lightvalve 23:59218d4a256d 363 //Timer priority
Lightvalve 23:59218d4a256d 364 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 365 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 366 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 367
Lightvalve 23:59218d4a256d 368 //can.reset();
Lightvalve 19:23b7c1ad8683 369 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 370
GiJeongKim 0:51c43836c1d7 371 // spi _ enc
GiJeongKim 0:51c43836c1d7 372 spi_enc_set_init();
Lightvalve 11:82d8768d7351 373 make_delay();
Lightvalve 13:747daba9cf59 374
Lightvalve 11:82d8768d7351 375 //DAC init
Lightvalve 58:2eade98630e2 376 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 377 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 378 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 379 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 380 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 381 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 382 }
Lightvalve 11:82d8768d7351 383 make_delay();
Lightvalve 13:747daba9cf59 384
Lightvalve 19:23b7c1ad8683 385 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 386 if(i%2==0)
Lightvalve 38:118df027d851 387 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 388 else
Lightvalve 38:118df027d851 389 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 390 }
Lightvalve 61:bc8c8270f0ab 391
Lightvalve 61:bc8c8270f0ab 392
jobuuu 6:df07d3491e3a 393 /************************************
jobuuu 1:e04e563be5ce 394 *** Program is operating!
jobuuu 6:df07d3491e3a 395 *************************************/
GiJeongKim 0:51c43836c1d7 396 while(1) {
Lightvalve 66:a8e6799dbce3 397 // if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve 66:a8e6799dbce3 398 //if(timer_while==1000) {
Lightvalve 65:a2d7c63419c2 399 //i2c
Lightvalve 66:a8e6799dbce3 400
Lightvalve 65:a2d7c63419c2 401 read_field(i2c_slave_addr1);
Lightvalve 65:a2d7c63419c2 402 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 65:a2d7c63419c2 403 // if(LED==1) {
Lightvalve 65:a2d7c63419c2 404 // LED=0;
Lightvalve 65:a2d7c63419c2 405 // } else
Lightvalve 65:a2d7c63419c2 406 // LED = 1;
Lightvalve 65:a2d7c63419c2 407 timer_while = 0;
Lightvalve 66:a8e6799dbce3 408 //}
Lightvalve 66:a8e6799dbce3 409
Lightvalve 66:a8e6799dbce3 410 timer_while ++;
Lightvalve 66:a8e6799dbce3 411
Lightvalve 87:471334725012 412 //LED = 0;
Lightvalve 87:471334725012 413
Lightvalve 73:f80dc3970c99 414 if(NN_Control_Flag == 0) {
Lightvalve 73:f80dc3970c99 415 LED = 0;
Lightvalve 73:f80dc3970c99 416 }
Lightvalve 66:a8e6799dbce3 417
Lightvalve 73:f80dc3970c99 418 else if(NN_Control_Flag == 1) {
Lightvalve 111:93289db9e77a 419 float output1[32] = { 0.0f };
Lightvalve 111:93289db9e77a 420 float output2[32] = { 0.0f };
Lightvalve 111:93289db9e77a 421 float output3[32] = { 0.0f };
Lightvalve 66:a8e6799dbce3 422 float output = 0.0f;
Lightvalve 65:a2d7c63419c2 423
Lightvalve 111:93289db9e77a 424 for (int index2 = 0; index2 < 32; index2++) {
Lightvalve 68:328e1be06f5d 425 for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve 66:a8e6799dbce3 426 output1[index2] = output1[index2]
Lightvalve 73:f80dc3970c99 427 + h1[index1][index2] * input_NN[index1];
Lightvalve 66:a8e6799dbce3 428 }
Lightvalve 66:a8e6799dbce3 429 output1[index2] = output1[index2] + b1[index2];
Lightvalve 66:a8e6799dbce3 430 if (output1[index2] < 0) {
Lightvalve 66:a8e6799dbce3 431 output1[index2] = 0;
Lightvalve 66:a8e6799dbce3 432 }
Lightvalve 66:a8e6799dbce3 433 }
Lightvalve 65:a2d7c63419c2 434
Lightvalve 111:93289db9e77a 435 for (int index2 = 0; index2 < 32; index2++) {
Lightvalve 111:93289db9e77a 436 for (int index1 = 0; index1 < 32; index1++) {
Lightvalve 66:a8e6799dbce3 437 output2[index2] = output2[index2]
Lightvalve 66:a8e6799dbce3 438 + h2[index1][index2] * output1[index1];
Lightvalve 66:a8e6799dbce3 439 }
Lightvalve 66:a8e6799dbce3 440 output2[index2] = output2[index2] + b2[index2];
Lightvalve 66:a8e6799dbce3 441 if (output2[index2] < 0) {
Lightvalve 66:a8e6799dbce3 442 output2[index2] = 0;
Lightvalve 66:a8e6799dbce3 443 }
Lightvalve 66:a8e6799dbce3 444 }
Lightvalve 65:a2d7c63419c2 445
Lightvalve 111:93289db9e77a 446 for (int index2 = 0; index2 < 32; index2++) {
Lightvalve 111:93289db9e77a 447 for (int index1 = 0; index1 < 32; index1++) {
Lightvalve 66:a8e6799dbce3 448 output3[index2] = output3[index2]
Lightvalve 66:a8e6799dbce3 449 + h3[index1][index2] * output2[index1];
Lightvalve 66:a8e6799dbce3 450 }
Lightvalve 66:a8e6799dbce3 451 output3[index2] = output3[index2] + b3[index2];
Lightvalve 66:a8e6799dbce3 452 if (output3[index2] < 0) {
Lightvalve 66:a8e6799dbce3 453 output3[index2] = 0;
Lightvalve 66:a8e6799dbce3 454 }
Lightvalve 65:a2d7c63419c2 455 }
Lightvalve 66:a8e6799dbce3 456
Lightvalve 66:a8e6799dbce3 457 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 111:93289db9e77a 458 for (int index1 = 0; index1 < 32; index1++) {
Lightvalve 73:f80dc3970c99 459 output = output + hout[index1] * output3[index1];
Lightvalve 66:a8e6799dbce3 460 }
Lightvalve 66:a8e6799dbce3 461 output = output + bout[index2];
Lightvalve 73:f80dc3970c99 462
Lightvalve 66:a8e6799dbce3 463 }
Lightvalve 73:f80dc3970c99 464 output = 1.0f/(1.0f+exp(-output));
Lightvalve 101:50159049a518 465 output_normalized = output;
Lightvalve 68:328e1be06f5d 466 output = output * 20000.0f - 10000.0f;
Lightvalve 101:50159049a518 467
Lightvalve 66:a8e6799dbce3 468 if(output>=0) {
Lightvalve 66:a8e6799dbce3 469 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 470 } else {
Lightvalve 66:a8e6799dbce3 471 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 65:a2d7c63419c2 472 }
Lightvalve 87:471334725012 473
Lightvalve 88:d6e591bece22 474 // // torque feedback
Lightvalve 88:d6e591bece22 475 // torq.err = f_past[0] - torq.sen; //[N]
Lightvalve 88:d6e591bece22 476 //// torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 88:d6e591bece22 477 // torq.err_sum += torq.err/(float) 1500.0f; //[N]
Lightvalve 88:d6e591bece22 478 //
Lightvalve 88:d6e591bece22 479 //
Lightvalve 88:d6e591bece22 480 // valve_pos.ref = ((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f + DDV_JOINT_POS_FF(vel.sen) + valve_pos.ref * 0.01f;
Lightvalve 88:d6e591bece22 481 //
Lightvalve 88:d6e591bece22 482 // if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 88:d6e591bece22 483 // double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 88:d6e591bece22 484 // if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 88:d6e591bece22 485 // double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 88:d6e591bece22 486 // valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 88:d6e591bece22 487 // valve_pos.ref = VALVE_MAX_POS;
Lightvalve 88:d6e591bece22 488 // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve 88:d6e591bece22 489 // } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 88:d6e591bece22 490 // double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 88:d6e591bece22 491 // valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 88:d6e591bece22 492 // valve_pos.ref = VALVE_MIN_POS;
Lightvalve 88:d6e591bece22 493 // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve 88:d6e591bece22 494 // }
Lightvalve 88:d6e591bece22 495 // }
Lightvalve 87:471334725012 496
Lightvalve 69:3995ffeaa786 497
Lightvalve 69:3995ffeaa786 498 if(LED==1) {
Lightvalve 69:3995ffeaa786 499 LED=0;
Lightvalve 69:3995ffeaa786 500 } else
Lightvalve 69:3995ffeaa786 501 LED = 1;
Lightvalve 69:3995ffeaa786 502
Lightvalve 65:a2d7c63419c2 503 }
Lightvalve 62:b5452adfb2cd 504
Lightvalve 87:471334725012 505 //LED = 1;
Lightvalve 69:3995ffeaa786 506
Lightvalve 66:a8e6799dbce3 507
GiJeongKim 0:51c43836c1d7 508 }
jobuuu 1:e04e563be5ce 509 }
jobuuu 1:e04e563be5ce 510
Lightvalve 33:91b17819ec30 511 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 512 {
Lightvalve 14:8e7590227d22 513
Lightvalve 13:747daba9cf59 514 int i = 0;
Lightvalve 48:889798ff9329 515 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 516 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 517 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 518 if(i==0) {
Lightvalve 50:3c630b5eba9f 519 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 520 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 521 } else {
Lightvalve 57:f4819de54e7a 522 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 523 }
Lightvalve 14:8e7590227d22 524 } else {
Lightvalve 50:3c630b5eba9f 525 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 526 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 527 } else {
Lightvalve 57:f4819de54e7a 528 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 529 }
Lightvalve 13:747daba9cf59 530 }
Lightvalve 13:747daba9cf59 531 break;
Lightvalve 13:747daba9cf59 532 }
Lightvalve 13:747daba9cf59 533 }
Lightvalve 14:8e7590227d22 534 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 535 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 536 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 537 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 538 }
Lightvalve 36:a46e63505ed8 539
Lightvalve 57:f4819de54e7a 540 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 541 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 542
Lightvalve 13:747daba9cf59 543 }
jobuuu 6:df07d3491e3a 544
jobuuu 6:df07d3491e3a 545
Lightvalve 30:8d561f16383b 546 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 547 {
Lightvalve 13:747daba9cf59 548 int i = 0;
Lightvalve 13:747daba9cf59 549
Lightvalve 38:118df027d851 550 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 551 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 552 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 553 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 554 }
Lightvalve 38:118df027d851 555
Lightvalve 89:a7b45368ea0f 556 valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve 13:747daba9cf59 557 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 558 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 559 valve_pos_err_sum += valve_pos_err;
Lightvalve 89:a7b45368ea0f 560 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 89:a7b45368ea0f 561 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 13:747daba9cf59 562
Lightvalve 13:747daba9cf59 563 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 564
Lightvalve 18:b8adf1582ea3 565 for(i=0; i<24; i++) {
Lightvalve 89:a7b45368ea0f 566 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 567 if(i==0) {
Lightvalve 48:889798ff9329 568 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 569 } else {
Lightvalve 48:889798ff9329 570 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 571 }
Lightvalve 13:747daba9cf59 572 break;
Lightvalve 13:747daba9cf59 573 }
Lightvalve 13:747daba9cf59 574 }
Lightvalve 59:f308b1656d9c 575 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 576 }
Lightvalve 13:747daba9cf59 577
Lightvalve 14:8e7590227d22 578 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 579 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 580 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 581 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 582 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 583 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 584 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 585 }; // duty
Lightvalve 67:c2812cf26c38 586 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 587 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 588 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 589 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 590 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 591 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 592 }; // mV
Lightvalve 13:747daba9cf59 593
Lightvalve 30:8d561f16383b 594 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 595 {
Lightvalve 30:8d561f16383b 596 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 597 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 598 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 599 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 600 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 601 } else {
Lightvalve 13:747daba9cf59 602 int idx = 0;
Lightvalve 13:747daba9cf59 603 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 604 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 605 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 606 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 607 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 608 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 609 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 610 break;
Lightvalve 13:747daba9cf59 611 }
Lightvalve 13:747daba9cf59 612 }
Lightvalve 13:747daba9cf59 613 }
Lightvalve 14:8e7590227d22 614
Lightvalve 13:747daba9cf59 615 return PWM_duty;
Lightvalve 13:747daba9cf59 616 }
jobuuu 6:df07d3491e3a 617
Lightvalve 57:f4819de54e7a 618
Lightvalve 57:f4819de54e7a 619
Lightvalve 57:f4819de54e7a 620
Lightvalve 57:f4819de54e7a 621
jobuuu 2:a1c0a37df760 622 /*******************************************************************************
jobuuu 2:a1c0a37df760 623 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 624 *******************************************************************************/
jobuuu 2:a1c0a37df760 625
Lightvalve 51:b46bed7fec80 626 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 627 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 628 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 629 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 630 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 631 {
Lightvalve 19:23b7c1ad8683 632 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 633
Lightvalve 21:e5f1a43ea6f9 634 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 635 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 636 ********************************************************/
Lightvalve 13:747daba9cf59 637
Lightvalve 57:f4819de54e7a 638 //Encoder
Lightvalve 57:f4819de54e7a 639 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 640 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 641 }
Lightvalve 61:bc8c8270f0ab 642
Lightvalve 61:bc8c8270f0ab 643 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 644 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 645 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 646 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 647 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 648 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 67:c2812cf26c38 649 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 67:c2812cf26c38 650
Lightvalve 67:c2812cf26c38 651
Lightvalve 67:c2812cf26c38 652 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 67:c2812cf26c38 653 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 67:c2812cf26c38 654 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 67:c2812cf26c38 655 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 67:c2812cf26c38 656 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 67:c2812cf26c38 657
Lightvalve 17:1865016ca2e7 658
Lightvalve 58:2eade98630e2 659 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 660 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 661 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 662 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 663 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 664 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 665 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 666 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 667 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 668
Lightvalve 58:2eade98630e2 669 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 670 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 671 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 672 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 673 }
Lightvalve 58:2eade98630e2 674 }
Lightvalve 61:bc8c8270f0ab 675
Lightvalve 58:2eade98630e2 676 // //Pressure sensor A
Lightvalve 58:2eade98630e2 677 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 678 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 679 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 680 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 681 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 682 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later.
Lightvalve 58:2eade98630e2 683 //
Lightvalve 58:2eade98630e2 684 //
Lightvalve 58:2eade98630e2 685 // //Pressure sensor B
Lightvalve 58:2eade98630e2 686 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 687 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 688 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 689 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 690
Lightvalve 17:1865016ca2e7 691
Lightvalve 21:e5f1a43ea6f9 692 //Current
Lightvalve 21:e5f1a43ea6f9 693 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 694 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 695 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 696 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 697 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 698 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 699 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 700
Lightvalve 57:f4819de54e7a 701 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 702 }
Lightvalve 11:82d8768d7351 703 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 704 }
Lightvalve 19:23b7c1ad8683 705
Lightvalve 19:23b7c1ad8683 706
Lightvalve 18:b8adf1582ea3 707 int j =0;
Lightvalve 54:647072f5307a 708 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 709 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 710 int cnt_trans = 0;
Lightvalve 48:889798ff9329 711 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 57:f4819de54e7a 712 int can_rest =0;
Lightvalve 48:889798ff9329 713
Lightvalve 11:82d8768d7351 714 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 715 {
Lightvalve 19:23b7c1ad8683 716 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 717
Lightvalve 57:f4819de54e7a 718 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 719 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 720 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 721 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 722 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 723 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 724 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 725 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 726 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 727 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 728 }
Lightvalve 50:3c630b5eba9f 729
Lightvalve 50:3c630b5eba9f 730 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 731 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 732 cnt_trans++;
Lightvalve 46:2694daea349b 733 torq.err_sum = 0;
Lightvalve 48:889798ff9329 734 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 735 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 736 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 737 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 738 cnt_trans++;
Lightvalve 46:2694daea349b 739 torq.err_sum = 0;
Lightvalve 48:889798ff9329 740 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 741 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 742 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 743 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 744 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 745 } else {
Lightvalve 58:2eade98630e2 746 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 747 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 748 }
Lightvalve 45:35fa6884d0c6 749
Lightvalve 50:3c630b5eba9f 750
Lightvalve 57:f4819de54e7a 751 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 752 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 753
Lightvalve 57:f4819de54e7a 754 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 755 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 756 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 757 } else {
Lightvalve 57:f4819de54e7a 758 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 759 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 760 }
Lightvalve 56:6f50d9d3bfee 761
Lightvalve 56:6f50d9d3bfee 762
Lightvalve 56:6f50d9d3bfee 763
Lightvalve 57:f4819de54e7a 764 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 765
Lightvalve 57:f4819de54e7a 766 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 767 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 768 break;
Lightvalve 13:747daba9cf59 769 }
Lightvalve 14:8e7590227d22 770
Lightvalve 14:8e7590227d22 771 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 772 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 773 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 774 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 775
Lightvalve 14:8e7590227d22 776 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 777 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 778 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 779
Lightvalve 84:c355d3e52bf1 780 TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 781
Lightvalve 30:8d561f16383b 782 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 783 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 784
Lightvalve 16:903b5a4433b4 785 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 786 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 787 }
Lightvalve 13:747daba9cf59 788 } else {
Lightvalve 58:2eade98630e2 789 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 790 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 791 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 792 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 793
Lightvalve 16:903b5a4433b4 794 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 795
Lightvalve 30:8d561f16383b 796 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 797
Lightvalve 13:747daba9cf59 798 }
Lightvalve 14:8e7590227d22 799 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 800 break;
Lightvalve 19:23b7c1ad8683 801 }
Lightvalve 14:8e7590227d22 802
Lightvalve 50:3c630b5eba9f 803 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 804 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 805 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 806 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 807 // }
Lightvalve 50:3c630b5eba9f 808 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 809 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 810 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 811 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 812 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 813 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 814 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 815 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 816 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 817 // }
Lightvalve 50:3c630b5eba9f 818 //
Lightvalve 50:3c630b5eba9f 819 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 820 // V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 50:3c630b5eba9f 821 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 822 //
Lightvalve 50:3c630b5eba9f 823 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 824 // V_out = 0;
Lightvalve 50:3c630b5eba9f 825 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 826 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 827 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 828 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 829 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 830 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 831 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 832 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 833 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 834 //
Lightvalve 50:3c630b5eba9f 835 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 836 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 837 // // | / | / |/
Lightvalve 50:3c630b5eba9f 838 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 839 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 840 // // /| / | / |
Lightvalve 50:3c630b5eba9f 841 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 842 //
Lightvalve 50:3c630b5eba9f 843 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 844 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 845 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 846 // } else {
Lightvalve 50:3c630b5eba9f 847 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 848 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 849 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 850 // }
Lightvalve 50:3c630b5eba9f 851 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 852 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 853 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 854 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 855 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 856 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 857 // }
Lightvalve 50:3c630b5eba9f 858 // } else {
Lightvalve 50:3c630b5eba9f 859 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 860 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 861 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 862 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 863 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 864 // }
Lightvalve 50:3c630b5eba9f 865 // V_out = 0;
Lightvalve 50:3c630b5eba9f 866 //
Lightvalve 50:3c630b5eba9f 867 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 868 //
Lightvalve 50:3c630b5eba9f 869 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 870 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 871 //
Lightvalve 50:3c630b5eba9f 872 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 873 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 874 // }
Lightvalve 50:3c630b5eba9f 875 // }
Lightvalve 50:3c630b5eba9f 876 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 877 // break;
Lightvalve 50:3c630b5eba9f 878 // }
Lightvalve 14:8e7590227d22 879
Lightvalve 14:8e7590227d22 880 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 881 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 882 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 883 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 884 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 885 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 886 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 887 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 888 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 889 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 890 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 891 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 892 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 893 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 894 }
Lightvalve 29:69f3f5445d6d 895 cnt_findhome++;
Lightvalve 14:8e7590227d22 896
Lightvalve 29:69f3f5445d6d 897 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 898 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 899 } else {
Lightvalve 29:69f3f5445d6d 900 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 901 }
Lightvalve 19:23b7c1ad8683 902
Lightvalve 57:f4819de54e7a 903 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 904 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 67:c2812cf26c38 905 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 67:c2812cf26c38 906 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:bc8c8270f0ab 907
Lightvalve 59:f308b1656d9c 908 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 909 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 910 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 911 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 912 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 913
Lightvalve 59:f308b1656d9c 914 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 915 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 916
Lightvalve 34:bb2ca2fc2a8e 917
Lightvalve 29:69f3f5445d6d 918 } else {
Lightvalve 29:69f3f5445d6d 919 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 67:c2812cf26c38 920 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 921 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 922 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 923 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 924 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 925 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 926 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 927 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 928 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 929 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 930
Lightvalve 67:c2812cf26c38 931
Lightvalve 67:c2812cf26c38 932 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 933 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 934 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 935 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 936 vel.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 937 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 938 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 939
Lightvalve 67:c2812cf26c38 940
Lightvalve 29:69f3f5445d6d 941 }
Lightvalve 29:69f3f5445d6d 942 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 943 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 944 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 67:c2812cf26c38 945 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 946 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 947
Lightvalve 29:69f3f5445d6d 948 // input for position control
Lightvalve 67:c2812cf26c38 949
Lightvalve 67:c2812cf26c38 950 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 951 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 952
Lightvalve 67:c2812cf26c38 953 double torq_ref = 0.0f;
Lightvalve 67:c2812cf26c38 954 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 955 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 956 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 957
Lightvalve 67:c2812cf26c38 958 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 67:c2812cf26c38 959
Lightvalve 67:c2812cf26c38 960 double I_REF_POS = 0.0f;
Lightvalve 67:c2812cf26c38 961 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 67:c2812cf26c38 962 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 67:c2812cf26c38 963
Lightvalve 67:c2812cf26c38 964 double temp_vel_pos = 0.0f;
Lightvalve 67:c2812cf26c38 965 double temp_vel_torq = 0.0f;
Lightvalve 67:c2812cf26c38 966 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 67:c2812cf26c38 967
Lightvalve 69:3995ffeaa786 968 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 67:c2812cf26c38 969 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 970 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 971 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 67:c2812cf26c38 972 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 973 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 974 }
Lightvalve 67:c2812cf26c38 975 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 976 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 977
Lightvalve 67:c2812cf26c38 978 I_REF = I_REF_POS;
Lightvalve 67:c2812cf26c38 979
Lightvalve 67:c2812cf26c38 980
Lightvalve 67:c2812cf26c38 981
Lightvalve 67:c2812cf26c38 982 } else {
Lightvalve 67:c2812cf26c38 983 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 67:c2812cf26c38 984 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 985
Lightvalve 67:c2812cf26c38 986 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 67:c2812cf26c38 987 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 67:c2812cf26c38 988 } else {
Lightvalve 67:c2812cf26c38 989 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 67:c2812cf26c38 990 }
Lightvalve 67:c2812cf26c38 991
Lightvalve 67:c2812cf26c38 992 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 67:c2812cf26c38 993
Lightvalve 67:c2812cf26c38 994 V_out = (float) Vout.ref;
Lightvalve 67:c2812cf26c38 995
Lightvalve 67:c2812cf26c38 996 }
Lightvalve 67:c2812cf26c38 997
Lightvalve 67:c2812cf26c38 998
Lightvalve 67:c2812cf26c38 999
Lightvalve 67:c2812cf26c38 1000
Lightvalve 59:f308b1656d9c 1001 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 1002 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 1003 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 1004 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 1005 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 1006
Lightvalve 29:69f3f5445d6d 1007 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 1008 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 1009 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 1010 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 1011 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 1012 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 1013 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 1014 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 1015 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 1016 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 1017 }
Lightvalve 13:747daba9cf59 1018 }
Lightvalve 19:23b7c1ad8683 1019
Lightvalve 13:747daba9cf59 1020 break;
Lightvalve 13:747daba9cf59 1021 }
Lightvalve 14:8e7590227d22 1022
Lightvalve 50:3c630b5eba9f 1023 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 1024 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 1025 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1026 // else {
Lightvalve 50:3c630b5eba9f 1027 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1028 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 1029 // }
Lightvalve 50:3c630b5eba9f 1030 // }
Lightvalve 50:3c630b5eba9f 1031 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1032 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1033 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1034 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1035 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1036 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1037 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1038 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1039 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1040 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1041 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1042 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 1043 // }
Lightvalve 50:3c630b5eba9f 1044 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1045 // }
Lightvalve 50:3c630b5eba9f 1046 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1047 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1048 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1049 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1050 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1051 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1052 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1053 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1054 // 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=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000
Lightvalve 50:3c630b5eba9f 1055 // // 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 1056 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1057 // }
Lightvalve 50:3c630b5eba9f 1058 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1059 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1060 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1061 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1062 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1063 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1064 // 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 1065 // // 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 1066 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1067 // }
Lightvalve 50:3c630b5eba9f 1068 // }
Lightvalve 50:3c630b5eba9f 1069 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1070 //
Lightvalve 50:3c630b5eba9f 1071 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1072 //
Lightvalve 50:3c630b5eba9f 1073 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1074 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1075 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1076 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1077 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1078 // }
Lightvalve 50:3c630b5eba9f 1079 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1080 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1081 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1082 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1083 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1084 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1085 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1086 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1087 // }
Lightvalve 50:3c630b5eba9f 1088 //
Lightvalve 50:3c630b5eba9f 1089 // }
Lightvalve 50:3c630b5eba9f 1090 // break;
Lightvalve 50:3c630b5eba9f 1091 // }
Lightvalve 50:3c630b5eba9f 1092 //
Lightvalve 50:3c630b5eba9f 1093 // }
Lightvalve 14:8e7590227d22 1094 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1095 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1096 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1097 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1098 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1099
Lightvalve 14:8e7590227d22 1100 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1101 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1102 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1103 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1104 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1105
Lightvalve 38:118df027d851 1106 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1107 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1108 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1109
Lightvalve 30:8d561f16383b 1110 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1111 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1112 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1113 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1114
Lightvalve 30:8d561f16383b 1115 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1116 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1117 }
Lightvalve 13:747daba9cf59 1118 } else {
Lightvalve 57:f4819de54e7a 1119 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1120 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1121 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1122 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1123 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1124 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1125
Lightvalve 16:903b5a4433b4 1126 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1127
Lightvalve 30:8d561f16383b 1128 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1129 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1130 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1131 }
Lightvalve 14:8e7590227d22 1132 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1133 break;
Lightvalve 13:747daba9cf59 1134 }
Lightvalve 14:8e7590227d22 1135
Lightvalve 50:3c630b5eba9f 1136 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1137 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1138 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1139 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1140 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1141 // }
Lightvalve 50:3c630b5eba9f 1142 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1143 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1144 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1145 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1146 // }
Lightvalve 50:3c630b5eba9f 1147 // } else {
Lightvalve 50:3c630b5eba9f 1148 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1149 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1150 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1151 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1152 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1153 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1154 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1155 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1156 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1157 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1158 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1159 //
Lightvalve 50:3c630b5eba9f 1160 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1161 //
Lightvalve 50:3c630b5eba9f 1162 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1163 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1164 // }
Lightvalve 50:3c630b5eba9f 1165 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1166 // break;
Lightvalve 50:3c630b5eba9f 1167 // }
Lightvalve 19:23b7c1ad8683 1168
Lightvalve 50:3c630b5eba9f 1169 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1170 // 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 1171 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1172 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1173 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1174 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1175 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1176 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1177 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1178 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1179 // }
Lightvalve 50:3c630b5eba9f 1180 // break;
Lightvalve 50:3c630b5eba9f 1181 // }
Lightvalve 14:8e7590227d22 1182
Lightvalve 14:8e7590227d22 1183 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1184 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1185 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1186
Lightvalve 14:8e7590227d22 1187 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1188 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1189 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1190 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1191 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1192 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1193 data_num = 0;
Lightvalve 14:8e7590227d22 1194 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1195 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1196 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1197 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1198 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1199 } else {
Lightvalve 13:747daba9cf59 1200 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1201 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1202 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1203 }
Lightvalve 14:8e7590227d22 1204
Lightvalve 17:1865016ca2e7 1205 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1206 int i;
Lightvalve 13:747daba9cf59 1207 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1208 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1209 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1210 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1211 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1212 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1213 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1214 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1215 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1216 }
Lightvalve 13:747daba9cf59 1217 }
Lightvalve 59:f308b1656d9c 1218 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1219 ID_index = 0;
Lightvalve 57:f4819de54e7a 1220 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1221 }
Lightvalve 14:8e7590227d22 1222
Lightvalve 14:8e7590227d22 1223
Lightvalve 13:747daba9cf59 1224 break;
Lightvalve 13:747daba9cf59 1225 }
Lightvalve 14:8e7590227d22 1226
Lightvalve 14:8e7590227d22 1227 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1228 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1229 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1230 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1231 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1232 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1233 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1234 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1235 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1236 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1237 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1238 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1239 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1240 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1241 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1242 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 1243 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1244 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 1245 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1246 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1247 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1248 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 1249 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1250 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1251 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1252 data_num = 0;
Lightvalve 14:8e7590227d22 1253
Lightvalve 30:8d561f16383b 1254 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1255 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1256 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1257
Lightvalve 30:8d561f16383b 1258 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1259 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1260 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1261
Lightvalve 30:8d561f16383b 1262 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1263 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1264 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1265 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1266
Lightvalve 60:64181f1d3e60 1267 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1268 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1269 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1270 DZ_case = -1;
Lightvalve 14:8e7590227d22 1271 } else {
Lightvalve 13:747daba9cf59 1272 DZ_case = 0;
Lightvalve 13:747daba9cf59 1273 }
Lightvalve 61:bc8c8270f0ab 1274
Lightvalve 60:64181f1d3e60 1275 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1276
Lightvalve 13:747daba9cf59 1277 first_check = 1;
Lightvalve 13:747daba9cf59 1278 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1279 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1280 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1281 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1282 DZ_index = 1;
Lightvalve 14:8e7590227d22 1283
Lightvalve 13:747daba9cf59 1284 }
Lightvalve 19:23b7c1ad8683 1285 } else {
Lightvalve 14:8e7590227d22 1286 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1287 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1288 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 60:64181f1d3e60 1289 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1290 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1291 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1292 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1293 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1294 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1295 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1296 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1297 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1298 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1299 }
Lightvalve 14:8e7590227d22 1300 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1301
Lightvalve 30:8d561f16383b 1302 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1303 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1304 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1305
Lightvalve 14:8e7590227d22 1306 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1307 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1308 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1309 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1310 } else {
Lightvalve 13:747daba9cf59 1311 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1312 }
Lightvalve 14:8e7590227d22 1313
Lightvalve 13:747daba9cf59 1314 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1315 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1316 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1317 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1318 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1319 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1320 DZ_index = 1;
Lightvalve 13:747daba9cf59 1321 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1322 }
Lightvalve 13:747daba9cf59 1323 }
Lightvalve 14:8e7590227d22 1324 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1325 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1326 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 60:64181f1d3e60 1327 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1328 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1329 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1330 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1331 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1332 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1333 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1334 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1335 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1336 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1337 }
Lightvalve 14:8e7590227d22 1338 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1339
Lightvalve 30:8d561f16383b 1340 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1341 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1342 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1343 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1344 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1345
Lightvalve 14:8e7590227d22 1346 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 1347 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1348 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1349 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1350 } else {
Lightvalve 60:64181f1d3e60 1351 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 1352 }
Lightvalve 14:8e7590227d22 1353
Lightvalve 13:747daba9cf59 1354 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 1355 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 1356 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1357 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1358 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1359 first_check = 0;
Lightvalve 33:91b17819ec30 1360 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1361 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1362
Lightvalve 16:903b5a4433b4 1363 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1364
Lightvalve 60:64181f1d3e60 1365 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1366 DZ_index = 1;
Lightvalve 13:747daba9cf59 1367 }
Lightvalve 13:747daba9cf59 1368 }
Lightvalve 14:8e7590227d22 1369 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1370 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1371 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 60:64181f1d3e60 1372 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1373 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1374 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1375 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1376 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1377 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1378 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1379 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1380 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1381 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1382 }
Lightvalve 14:8e7590227d22 1383 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1384
Lightvalve 30:8d561f16383b 1385 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1386 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1387 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1388
Lightvalve 14:8e7590227d22 1389 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1390 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1391 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1392 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1393 } else {
Lightvalve 13:747daba9cf59 1394 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1395 }
Lightvalve 13:747daba9cf59 1396 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1397 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1398 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1399 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1400 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1401 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1402 DZ_index = 1;
Lightvalve 13:747daba9cf59 1403 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1404 }
Lightvalve 13:747daba9cf59 1405 }
Lightvalve 14:8e7590227d22 1406 } else {
Lightvalve 30:8d561f16383b 1407 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1408 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 60:64181f1d3e60 1409 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1410 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1411 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1412 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1413 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1414 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1415 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1416 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1417 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1418 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1419 }
Lightvalve 14:8e7590227d22 1420 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1421
Lightvalve 30:8d561f16383b 1422 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1423 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1424 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1425 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1426 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 1427
Lightvalve 60:64181f1d3e60 1428 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1429 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1430 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1431 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 1432 } else {
Lightvalve 13:747daba9cf59 1433 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1434 }
Lightvalve 14:8e7590227d22 1435
Lightvalve 13:747daba9cf59 1436 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1437 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1438 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1439 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1440 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1441 first_check = 0;
Lightvalve 33:91b17819ec30 1442 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1443 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 1444
Lightvalve 59:f308b1656d9c 1445 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1446
Lightvalve 57:f4819de54e7a 1447 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1448 DZ_index = 1;
Lightvalve 13:747daba9cf59 1449 }
Lightvalve 13:747daba9cf59 1450 }
Lightvalve 13:747daba9cf59 1451 }
Lightvalve 14:8e7590227d22 1452 }
Lightvalve 13:747daba9cf59 1453 break;
Lightvalve 13:747daba9cf59 1454 }
Lightvalve 14:8e7590227d22 1455
Lightvalve 14:8e7590227d22 1456 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 1457 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1458 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1459 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1460 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1461 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1462 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1463 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1464 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1465 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1466 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1467 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1468 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1469 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1470 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 1471 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1472 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1473 first_check = 1;
Lightvalve 13:747daba9cf59 1474 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1475 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 1476 ID_index = 0;
Lightvalve 13:747daba9cf59 1477 max_check = 0;
Lightvalve 13:747daba9cf59 1478 min_check = 0;
Lightvalve 13:747daba9cf59 1479 }
Lightvalve 14:8e7590227d22 1480 } else {
Lightvalve 30:8d561f16383b 1481 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1482 //V_out = (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 59:f308b1656d9c 1483 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 1484 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1485 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1486 data_num = 0;
Lightvalve 57:f4819de54e7a 1487 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1488
Lightvalve 14:8e7590227d22 1489 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1490 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1491 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 1492 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1493 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1494 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1495 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1496 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1497 one_period_end = 1;
Lightvalve 13:747daba9cf59 1498 }
Lightvalve 30:8d561f16383b 1499 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1500 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1501 one_period_end = 1;
Lightvalve 59:f308b1656d9c 1502 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1503 }
Lightvalve 14:8e7590227d22 1504
Lightvalve 14:8e7590227d22 1505 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1506 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1507 max_check = 1;
Lightvalve 14:8e7590227d22 1508 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1509 min_check = 1;
Lightvalve 13:747daba9cf59 1510 }
Lightvalve 13:747daba9cf59 1511 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1512
Lightvalve 13:747daba9cf59 1513 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1514 one_period_end = 0;
Lightvalve 13:747daba9cf59 1515 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1516 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1517 }
Lightvalve 14:8e7590227d22 1518
Lightvalve 14:8e7590227d22 1519 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1520
Lightvalve 13:747daba9cf59 1521 VALVE_POS_NUM = ID_index;
Lightvalve 59:f308b1656d9c 1522 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1523 ID_index = 0;
Lightvalve 13:747daba9cf59 1524 first_check = 0;
Lightvalve 13:747daba9cf59 1525 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1526 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 1527 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1528 }
Lightvalve 13:747daba9cf59 1529 }
Lightvalve 13:747daba9cf59 1530 break;
Lightvalve 13:747daba9cf59 1531 }
Lightvalve 58:2eade98630e2 1532
Lightvalve 57:f4819de54e7a 1533 case MODE_SYSTEM_ID: {
Lightvalve 57:f4819de54e7a 1534 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve 57:f4819de54e7a 1535 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 1536 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 1537 cnt_sysid++;
Lightvalve 57:f4819de54e7a 1538 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 1539 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 1540 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1541 }
Lightvalve 57:f4819de54e7a 1542 break;
Lightvalve 57:f4819de54e7a 1543 }
Lightvalve 58:2eade98630e2 1544
Lightvalve 58:2eade98630e2 1545
Lightvalve 57:f4819de54e7a 1546
Lightvalve 57:f4819de54e7a 1547 default:
Lightvalve 57:f4819de54e7a 1548 break;
Lightvalve 57:f4819de54e7a 1549 }
Lightvalve 57:f4819de54e7a 1550
Lightvalve 57:f4819de54e7a 1551 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 1552
Lightvalve 57:f4819de54e7a 1553 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 1554 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 1555 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 1556 break;
Lightvalve 57:f4819de54e7a 1557 }
Lightvalve 57:f4819de54e7a 1558
Lightvalve 57:f4819de54e7a 1559 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 1560 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 57:f4819de54e7a 1561 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:f308b1656d9c 1562 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 1563 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 1564 V_out = valve_pos.ref;
Lightvalve 67:c2812cf26c38 1565 } else {
Lightvalve 67:c2812cf26c38 1566 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 1567 }
Lightvalve 58:2eade98630e2 1568
Lightvalve 57:f4819de54e7a 1569 break;
Lightvalve 57:f4819de54e7a 1570 }
Lightvalve 57:f4819de54e7a 1571
Lightvalve 57:f4819de54e7a 1572 case MODE_JOINT_CONTROL: {
Lightvalve 57:f4819de54e7a 1573 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 1574 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 1575 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 1576 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 1577
Lightvalve 67:c2812cf26c38 1578 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 1579 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 1580 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1581 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1582
Lightvalve 67:c2812cf26c38 1583 torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 57:f4819de54e7a 1584
Lightvalve 57:f4819de54e7a 1585 // torque feedback
Lightvalve 67:c2812cf26c38 1586 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 1587 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 1588
Lightvalve 57:f4819de54e7a 1589 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 1590
Lightvalve 57:f4819de54e7a 1591 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 1592 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 1593 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 1594
Lightvalve 57:f4819de54e7a 1595 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 1596 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 1597 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 1598
Lightvalve 69:3995ffeaa786 1599 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1600 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 1601 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 1602 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1603 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 1604 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 1605 }
Lightvalve 57:f4819de54e7a 1606 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 1607 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1608
Lightvalve 57:f4819de54e7a 1609 // velocity compensation for torque control
Lightvalve 69:3995ffeaa786 1610 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1611 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 1612 // 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 1613 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 1614 // L feedforward velocity
Lightvalve 69:3995ffeaa786 1615 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1616 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 1617 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1618 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1619 // L feedforward velocity
Lightvalve 57:f4819de54e7a 1620 }
Lightvalve 57:f4819de54e7a 1621 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 1622 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1623 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 1624 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 1625 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 1626
Lightvalve 57:f4819de54e7a 1627 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 67:c2812cf26c38 1628
Lightvalve 67:c2812cf26c38 1629 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 1630 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 1631 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 1632 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 1633 if (I_REF > I_MAX) {
Lightvalve 67:c2812cf26c38 1634 double I_rem = I_REF - I_MAX;
Lightvalve 67:c2812cf26c38 1635 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1636 I_REF = I_MAX;
Lightvalve 67:c2812cf26c38 1637 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1638 } else if (I_REF < -I_MAX) {
Lightvalve 67:c2812cf26c38 1639 double I_rem = I_REF - (-I_MAX);
Lightvalve 67:c2812cf26c38 1640 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1641 I_REF = -I_MAX;
Lightvalve 67:c2812cf26c38 1642 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1643 }
Lightvalve 67:c2812cf26c38 1644 }
Lightvalve 57:f4819de54e7a 1645
Lightvalve 57:f4819de54e7a 1646 } else {
Lightvalve 57:f4819de54e7a 1647 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 72:3436ce769b1e 1648 float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 1649 float VALVE_POS_RAW = 0.0f;
Lightvalve 72:3436ce769b1e 1650
Lightvalve 57:f4819de54e7a 1651 VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f
Lightvalve 57:f4819de54e7a 1652 + 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 1653
Lightvalve 72:3436ce769b1e 1654 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 72:3436ce769b1e 1655
Lightvalve 72:3436ce769b1e 1656 VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve 72:3436ce769b1e 1657
Lightvalve 72:3436ce769b1e 1658
Lightvalve 72:3436ce769b1e 1659 if (VALVE_POS_RAW >= 0) {
Lightvalve 72:3436ce769b1e 1660 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 1661 } else {
Lightvalve 72:3436ce769b1e 1662 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 1663 }
Lightvalve 57:f4819de54e7a 1664
Lightvalve 57:f4819de54e7a 1665 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 57:f4819de54e7a 1666 double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 1667 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 1668 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1669 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1670 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1671 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1672 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 1673 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1674 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1675 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1676 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1677 }
Lightvalve 57:f4819de54e7a 1678 }
Lightvalve 61:bc8c8270f0ab 1679
Lightvalve 57:f4819de54e7a 1680 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1681
Lightvalve 67:c2812cf26c38 1682 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 1683 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1684
Lightvalve 57:f4819de54e7a 1685 }
Lightvalve 72:3436ce769b1e 1686
Lightvalve 72:3436ce769b1e 1687 torq_ref_past = torq_ref;
Lightvalve 58:2eade98630e2 1688
Lightvalve 57:f4819de54e7a 1689 break;
Lightvalve 57:f4819de54e7a 1690 }
Lightvalve 58:2eade98630e2 1691
Lightvalve 57:f4819de54e7a 1692 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 1693 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1694 break;
Lightvalve 57:f4819de54e7a 1695 }
Lightvalve 14:8e7590227d22 1696
Lightvalve 12:6f2531038ea4 1697 default:
Lightvalve 12:6f2531038ea4 1698 break;
Lightvalve 12:6f2531038ea4 1699 }
Lightvalve 14:8e7590227d22 1700
Lightvalve 57:f4819de54e7a 1701
Lightvalve 57:f4819de54e7a 1702 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 1703
Lightvalve 57:f4819de54e7a 1704 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1705 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 1706 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1707 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 1708 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 1709 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 1710
Lightvalve 57:f4819de54e7a 1711 I_ERR = I_REF_fil - cur.sen;
Lightvalve 67:c2812cf26c38 1712 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 1713
Lightvalve 57:f4819de54e7a 1714
Lightvalve 57:f4819de54e7a 1715 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 1716 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 1717 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 1718 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 1719 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 1720 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 1721
Lightvalve 57:f4819de54e7a 1722 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 1723 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 1724 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 1725 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 1726 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 1727 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 1728 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 1729 }
Lightvalve 57:f4819de54e7a 1730
Lightvalve 57:f4819de54e7a 1731 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 1732
Lightvalve 67:c2812cf26c38 1733 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 1734 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 1735 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 1736 I_REF_fil_old = I_REF_fil;
Lightvalve 67:c2812cf26c38 1737 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV
Lightvalve 67:c2812cf26c38 1738 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 67:c2812cf26c38 1739 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 1740
Lightvalve 57:f4819de54e7a 1741 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 1742 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 1743 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 1744 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1745 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 1746 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1747 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 1748 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 1749 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1750 VALVE_PWM_RAW = -V_MAX;
Lightvalve 67:c2812cf26c38 1751 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1752 }
Lightvalve 57:f4819de54e7a 1753 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1754 } else {
Lightvalve 57:f4819de54e7a 1755 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 1756 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1757 }
Lightvalve 57:f4819de54e7a 1758
Lightvalve 57:f4819de54e7a 1759 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1760 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 1761 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1762 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 1763 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 1764 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1765 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1766
Lightvalve 57:f4819de54e7a 1767 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1768
Lightvalve 57:f4819de54e7a 1769 } else {
Lightvalve 57:f4819de54e7a 1770 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 1771 }
Lightvalve 57:f4819de54e7a 1772
Lightvalve 57:f4819de54e7a 1773 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 1774 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 67:c2812cf26c38 1775 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 1776
Lightvalve 57:f4819de54e7a 1777 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 1778 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 1779 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 1780 else V_out = (float) (CUR_PWM_lin);
Lightvalve 57:f4819de54e7a 1781 }
Lightvalve 89:a7b45368ea0f 1782 else { //////////////////////////sw valve
Lightvalve 89:a7b45368ea0f 1783 // Output Voltage Linearization
Lightvalve 89:a7b45368ea0f 1784 double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve 89:a7b45368ea0f 1785 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 89:a7b45368ea0f 1786
Lightvalve 89:a7b45368ea0f 1787 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 89:a7b45368ea0f 1788 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 89:a7b45368ea0f 1789 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 89:a7b45368ea0f 1790 else V_out = (float) (CUR_PWM_lin);
Lightvalve 89:a7b45368ea0f 1791 }
Lightvalve 67:c2812cf26c38 1792
Lightvalve 67:c2812cf26c38 1793 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 67:c2812cf26c38 1794 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 67:c2812cf26c38 1795 // else V_out = V_out;
Lightvalve 67:c2812cf26c38 1796
jobuuu 7:e9086c72bb22 1797 /*******************************************************
jobuuu 7:e9086c72bb22 1798 *** PWM
jobuuu 7:e9086c72bb22 1799 ********************************************************/
Lightvalve 67:c2812cf26c38 1800 if(DIR_VALVE<0){
Lightvalve 67:c2812cf26c38 1801 V_out = -V_out;
Lightvalve 67:c2812cf26c38 1802 }
Lightvalve 67:c2812cf26c38 1803
Lightvalve 49:e7bcfc244d40 1804 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1805 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1806 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1807 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1808 }
Lightvalve 49:e7bcfc244d40 1809 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1810
Lightvalve 19:23b7c1ad8683 1811 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1812 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1813 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1814
Lightvalve 30:8d561f16383b 1815 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1816 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1817 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1818 } else {
jobuuu 2:a1c0a37df760 1819 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1820 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1821 }
Lightvalve 13:747daba9cf59 1822
jobuuu 1:e04e563be5ce 1823 //pwm
Lightvalve 30:8d561f16383b 1824 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1825 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 1826
Lightvalve 61:bc8c8270f0ab 1827
Lightvalve 57:f4819de54e7a 1828 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 20:806196fda269 1829
Lightvalve 54:647072f5307a 1830 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 1831 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 1832 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 1833 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1834 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 1835 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1836 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));
Lightvalve 54:647072f5307a 1837 }
Lightvalve 57:f4819de54e7a 1838 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 1839 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1840 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)));
Lightvalve 54:647072f5307a 1841 } else if (SENSING_MODE == 1) {
Lightvalve 67:c2812cf26c38 1842 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));
Lightvalve 54:647072f5307a 1843 }
Lightvalve 52:8ea76864368a 1844 }
Lightvalve 52:8ea76864368a 1845 }
Lightvalve 56:6f50d9d3bfee 1846 if (flag_data_request[1] == HIGH) {
Lightvalve 54:647072f5307a 1847 //valve position
Lightvalve 54:647072f5307a 1848 double t_value = 0;
Lightvalve 97:d71c57e3515e 1849 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 97:d71c57e3515e 1850 t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1851 } else {
Lightvalve 97:d71c57e3515e 1852 t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1853 }
Lightvalve 97:d71c57e3515e 1854 // if(OPERATING_MODE==5) {
Lightvalve 97:d71c57e3515e 1855 // if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 97:d71c57e3515e 1856 // t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1857 // } else {
Lightvalve 97:d71c57e3515e 1858 // t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1859 // }
Lightvalve 97:d71c57e3515e 1860 //t_value = (double) value;
Lightvalve 97:d71c57e3515e 1861 // } else if(CURRENT_CONTROL_MODE==1) {
Lightvalve 97:d71c57e3515e 1862 // t_value = cur.sen * 1000.0f;
Lightvalve 89:a7b45368ea0f 1863 // } else {
Lightvalve 97:d71c57e3515e 1864 // t_value = V_out;
Lightvalve 89:a7b45368ea0f 1865 // }
Lightvalve 67:c2812cf26c38 1866 CAN_TX_TORQUE((int16_t) (t_value)); //1300
Lightvalve 67:c2812cf26c38 1867 //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
Lightvalve 67:c2812cf26c38 1868 //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
Lightvalve 54:647072f5307a 1869 }
Lightvalve 58:2eade98630e2 1870
Lightvalve 58:2eade98630e2 1871
Lightvalve 98:cd1b2da4704f 1872 if (flag_data_request[2] == HIGH) {
Lightvalve 89:a7b45368ea0f 1873 //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // 1400
Lightvalve 89:a7b45368ea0f 1874 double t_value = 0;
Lightvalve 89:a7b45368ea0f 1875 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 89:a7b45368ea0f 1876 t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1877 } else {
Lightvalve 89:a7b45368ea0f 1878 t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1879 }
Lightvalve 89:a7b45368ea0f 1880 CAN_TX_PRES((int16_t) (t_value), (int16_t) (V_out)); // 1400
Lightvalve 55:b25725257569 1881 }
Lightvalve 58:2eade98630e2 1882
Lightvalve 57:f4819de54e7a 1883 //If it doesn't rest, below can can not work.
Lightvalve 57:f4819de54e7a 1884 for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 1885 ;
Lightvalve 57:f4819de54e7a 1886 }
Lightvalve 58:2eade98630e2 1887
Lightvalve 56:6f50d9d3bfee 1888 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 1889 //PWM
Lightvalve 73:f80dc3970c99 1890 //CAN_TX_PWM((int16_t) value); //1500
Lightvalve 73:f80dc3970c99 1891 CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500
Lightvalve 54:647072f5307a 1892 }
Lightvalve 57:f4819de54e7a 1893 //for (i = 0; i < 10000; i++) {
Lightvalve 57:f4819de54e7a 1894 // ;
Lightvalve 57:f4819de54e7a 1895 // }
Lightvalve 56:6f50d9d3bfee 1896 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 1897 //valve position
Lightvalve 73:f80dc3970c99 1898 CAN_TX_VALVE_POSITION((int16_t) (input_NN[1] * 100.0f), (int16_t) (input_NN[2]* 100.0f), (int16_t) (input_NN[3]* 100.0f), (int16_t) (input_NN[4]* 100.0f)); //1600
Lightvalve 54:647072f5307a 1899 }
Lightvalve 20:806196fda269 1900
Lightvalve 54:647072f5307a 1901 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 1902 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 1903 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 1904 // }
Lightvalve 54:647072f5307a 1905 //if (flag_delay_test == 1){
Lightvalve 58:2eade98630e2 1906 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 54:647072f5307a 1907 //}
Lightvalve 52:8ea76864368a 1908
Lightvalve 54:647072f5307a 1909 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1910 }
Lightvalve 54:647072f5307a 1911 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 1912
Lightvalve 20:806196fda269 1913 }
Lightvalve 52:8ea76864368a 1914 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1915
Lightvalve 58:2eade98630e2 1916 }