Yeseong Jeong
/
HydraulicControlBoard_Start
20210203
main.cpp@114:09a6bccaf17d, 2020-09-13 (annotated)
- Committer:
- Lightvalve
- Date:
- Sun Sep 13 07:19:50 2020 +0000
- Revision:
- 114:09a6bccaf17d
- Parent:
- 113:4535bc97a1db
- Child:
- 115:f41863b95e6f
200913-1
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Lightvalve | 114:09a6bccaf17d | 1 | //200913-1 |
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 | 112:8dcb1600cb90 | 195 | const float h1[num_input][16] = { |
Lightvalve | 114:09a6bccaf17d | 196 | {0.24140959978103638f,-0.12781289219856262f,0.11304140090942383f,0.2760394215583801f,-0.7498500943183899f,0.2673680782318115f,-0.15306922793388367f,-0.09221038222312927f,-0.2735815942287445f,-0.07937835901975632f,-0.4525371491909027f,-0.2569335997104645f,-0.308616578578949f,0.10540933161973953f,-0.22528137266635895f,-0.6054583787918091f}, |
Lightvalve | 114:09a6bccaf17d | 197 | {-0.11866164207458496f,-0.04569840058684349f,-0.3440950810909271f,-0.11241301149129868f,-0.21983236074447632f,-0.01579384319484234f,-0.3551466166973114f,-0.11156616359949112f,-0.09336893260478973f,0.1392476111650467f,-0.6042727828025818f,0.05370194837450981f,0.2608185112476349f,-0.15298397839069366f,-0.1836855560541153f,-0.46543365716934204f}, |
Lightvalve | 114:09a6bccaf17d | 198 | {0.3046817481517792f,-0.505603015422821f,0.3188004493713379f,-0.3602854311466217f,-0.3418009281158447f,0.3141078054904938f,0.2516096830368042f,0.025377541780471802f,-0.16486278176307678f,0.14110800623893738f,-0.9271578788757324f,-0.4068244695663452f,-0.20862722396850586f,0.1714099645614624f,0.04897245764732361f,-0.9888147115707397f}, |
Lightvalve | 114:09a6bccaf17d | 199 | {-0.08564338833093643f,-1.0530415773391724f,0.34815579652786255f,0.20181334018707275f,-0.5048770904541016f,-0.1651545614004135f,-0.10148510336875916f,0.3254654109477997f,-0.003915203269571066f,0.25671783089637756f,-0.984145998954773f,-0.633323073387146f,-0.5098223090171814f,-0.1377284675836563f,-0.2594349980354309f,-1.2771731615066528f}, |
Lightvalve | 114:09a6bccaf17d | 200 | {-1.5764565467834473f,3.850165367126465f,-0.004507303237915039f,-0.41337528824806213f,-0.5850437879562378f,-1.176296353340149f,0.11336228251457214f,0.8583602905273438f,0.0017320261104032397f,0.0926690325140953f,-0.5004006624221802f,-3.548492908477783f,-0.08651071786880493f,2.037367343902588f,-0.33859342336654663f,-0.8644697070121765f}, |
Lightvalve | 114:09a6bccaf17d | 201 | {0.4103824198246002f,0.8844403028488159f,0.19074231386184692f,0.22623515129089355f,0.060158733278512955f,-0.017877694219350815f,0.1446705460548401f,-0.46448758244514465f,0.004422776401042938f,0.09692279994487762f,-0.11860773712396622f,-0.42750757932662964f,-0.19687047600746155f,0.13662151992321014f,-0.36205175518989563f,-0.5423892140388489f}, |
Lightvalve | 114:09a6bccaf17d | 202 | {0.10990449786186218f,1.1804871559143066f,-0.21918344497680664f,-0.44296982884407043f,-0.46212509274482727f,0.3554675579071045f,0.05268651247024536f,-0.5160120129585266f,0.295302152633667f,0.052635882049798965f,0.18726375699043274f,-0.40083470940589905f,-0.11949975788593292f,0.20473229885101318f,-0.13682329654693604f,-0.34507280588150024f}, |
Lightvalve | 114:09a6bccaf17d | 203 | {0.13128799200057983f,1.009097933769226f,-0.23319895565509796f,0.0566110834479332f,-0.4158187210559845f,0.08665011078119278f,-0.15703755617141724f,-0.5499584078788757f,0.00013322447193786502f,0.0929379090666771f,0.08850504457950592f,-0.8667253255844116f,0.35569849610328674f,-0.042056605219841f,0.03769642114639282f,-0.16214480996131897f}, |
Lightvalve | 114:09a6bccaf17d | 204 | {0.36711591482162476f,1.4763704538345337f,0.08977723121643066f,-0.3202260732650757f,-0.2757028639316559f,0.39301833510398865f,-0.06348633766174316f,-0.6417542099952698f,-0.2595629096031189f,0.2955130636692047f,-0.33913350105285645f,-0.5284005999565125f,0.2107759565114975f,-0.03728350251913071f,-0.2676756680011749f,-0.17070630192756653f}, |
Lightvalve | 114:09a6bccaf17d | 205 | {0.4275228977203369f,0.8832201957702637f,0.16173982620239258f,-0.03383071348071098f,-0.07667389512062073f,0.7464066743850708f,-0.26198261976242065f,-0.40114665031433105f,-0.029340164735913277f,-0.4238303601741791f,-0.20219571888446808f,-1.6007699966430664f,0.2923631966114044f,-0.7205807566642761f,0.3052974343299866f,-0.4081484377384186f}, |
Lightvalve | 114:09a6bccaf17d | 206 | {0.7298016548156738f,1.599060297012329f,0.32573211193084717f,0.3406955301761627f,-0.1765735000371933f,0.3811549246311188f,-0.17817988991737366f,-0.31869208812713623f,-0.3962319493293762f,0.012360160239040852f,-0.011035910807549953f,-1.8433364629745483f,-0.10371317714452744f,-0.35059353709220886f,0.23379981517791748f,-0.7066872119903564f}, |
Lightvalve | 114:09a6bccaf17d | 207 | {0.06150670349597931f,-0.7811826467514038f,-0.3532183766365051f,0.023810051381587982f,0.1919257938861847f,0.6206902265548706f,0.13436567783355713f,0.20962554216384888f,-0.15341709554195404f,0.16348986327648163f,-0.43814653158187866f,0.47506821155548096f,0.019524723291397095f,0.03399953618645668f,0.09193113446235657f,-0.10852809995412827f}, |
Lightvalve | 114:09a6bccaf17d | 208 | {0.19459404051303864f,-1.2013424634933472f,0.173875629901886f,0.09513795375823975f,0.17256668210029602f,0.37738245725631714f,-0.21062730252742767f,0.10210034996271133f,-0.17251047492027283f,-0.1929878145456314f,-0.14158886671066284f,-0.25558537244796753f,-0.01567455567419529f,0.18937021493911743f,-0.19507692754268646f,-0.29847875237464905f}, |
Lightvalve | 114:09a6bccaf17d | 209 | {0.27673307061195374f,-1.9556561708450317f,0.36161231994628906f,-0.24248476326465607f,-0.3098406493663788f,-0.21402490139007568f,-0.2803434431552887f,-0.15470920503139496f,-0.12586930394172668f,-0.22432377934455872f,-0.14531145989894867f,-0.38750362396240234f,-0.2555939555168152f,-0.23961378633975983f,0.04202204942703247f,0.22219786047935486f}, |
Lightvalve | 114:09a6bccaf17d | 210 | {0.2092871069908142f,-0.8721790909767151f,0.1776806116104126f,-0.31751537322998047f,0.7402405738830566f,-0.9053415656089783f,0.036818891763687134f,0.4778040051460266f,0.25883719325065613f,0.0417952723801136f,-0.13543257117271423f,-0.38883253931999207f,0.29373836517333984f,0.12233439087867737f,0.058527231216430664f,0.4053569734096527f}, |
Lightvalve | 114:09a6bccaf17d | 211 | {-2.8582146167755127f,2.5816285610198975f,-0.3542669713497162f,-0.44570106267929077f,1.0011931657791138f,-3.681593894958496f,-0.13638360798358917f,0.12881898880004883f,0.16959118843078613f,-0.03936115652322769f,-0.4757843613624573f,-1.616078495979309f,-0.08204221725463867f,3.1595635414123535f,-0.07223698496818542f,0.32134485244750977f}, |
Lightvalve | 114:09a6bccaf17d | 212 | {3.143556833267212f,-2.0573842525482178f,0.14635330438613892f,0.7568324208259583f,0.37735533714294434f,3.021977424621582f,-0.03628063201904297f,-0.7949840426445007f,-0.062402594834566116f,0.03867268189787865f,-1.5538501739501953f,2.917372941970825f,-0.2553684413433075f,-2.1859912872314453f,0.25779521465301514f,-0.28556445240974426f}, |
Lightvalve | 114:09a6bccaf17d | 213 | {-0.19127482175827026f,-0.35279586911201477f,0.18322283029556274f,-0.19842621684074402f,0.8198286890983582f,0.6652193665504456f,-0.3163079023361206f,-0.05294492468237877f,-0.36373722553253174f,-0.14535510540008545f,-0.32957836985588074f,5.422246932983398f,0.5904089212417603f,1.067130446434021f,-0.2407861351966858f,0.25907382369041443f}, |
Lightvalve | 114:09a6bccaf17d | 214 | {-0.9389283061027527f,-0.6280621886253357f,-0.2609631419181824f,-0.13221608102321625f,2.194356679916382f,-0.22640551626682281f,0.2401489019393921f,-0.20553678274154663f,-0.35975316166877747f,-0.01309242844581604f,-0.4241333603858948f,6.391479969024658f,0.7621604800224304f,1.472519040107727f,-0.28592410683631897f,0.3371560573577881f}, |
Lightvalve | 114:09a6bccaf17d | 215 | {-0.06838676333427429f,1.2536933422088623f,0.1335710883140564f,-0.4388673007488251f,0.43298983573913574f,-0.26037779450416565f,-0.1246849000453949f,-0.29775792360305786f,-0.15970076620578766f,0.002899272134527564f,0.37377816438674927f,1.8582884073257446f,0.6399732232093811f,0.37173664569854736f,0.1255095899105072f,0.6594066619873047f}, |
Lightvalve | 114:09a6bccaf17d | 216 | {-0.5663629770278931f,0.0245197881013155f,-0.07108169794082642f,0.23301273584365845f,-1.1603906154632568f,-0.7366921305656433f,0.13563674688339233f,-0.1116926446557045f,-0.34506022930145264f,-0.30885881185531616f,0.029483351856470108f,0.3512197434902191f,-0.24269425868988037f,-0.25191760063171387f,0.01829466223716736f,0.37815138697624207f}, |
Lightvalve | 114:09a6bccaf17d | 217 | {-0.37660184502601624f,-2.192830801010132f,0.24740570783615112f,-0.273596853017807f,-1.1528133153915405f,-0.8542936444282532f,0.25593245029449463f,-0.1785348802804947f,-0.07106246054172516f,0.052634645253419876f,0.27635839581489563f,-0.7275089621543884f,-0.10320106148719788f,-0.3287467956542969f,0.056514471769332886f,0.07012096047401428f}, |
Lightvalve | 114:09a6bccaf17d | 218 | {0.07227171957492828f,-1.3563566207885742f,-0.3288555443286896f,-0.10809275507926941f,-1.2299606800079346f,-0.4035462439060211f,-0.11800059676170349f,-0.12314795702695847f,-0.27156248688697815f,0.28150904178619385f,0.4421814978122711f,0.07666400074958801f,-0.2596205472946167f,0.08573608100414276f,-0.3194865584373474f,0.20242354273796082f}, |
Lightvalve | 114:09a6bccaf17d | 219 | {-0.06953556090593338f,-0.7711717486381531f,-0.29844698309898376f,-0.4437902271747589f,-0.6436755061149597f,0.26278629899024963f,-0.249517560005188f,0.2938408851623535f,-0.41435784101486206f,0.16828367114067078f,0.4007464051246643f,-0.4505769908428192f,0.04081519693136215f,0.23161381483078003f,0.23831695318222046f,-0.11805100739002228f}, |
Lightvalve | 114:09a6bccaf17d | 220 | {-0.16058272123336792f,-0.6249219179153442f,0.20589900016784668f,0.05139650031924248f,-1.028411626815796f,-0.1920361965894699f,-0.2483310103416443f,0.22440573573112488f,-0.14384999871253967f,0.28843462467193604f,-0.04356471449136734f,-0.3480871617794037f,-0.4966038465499878f,-0.14237308502197266f,0.06927120685577393f,-0.03157913684844971f}, |
Lightvalve | 114:09a6bccaf17d | 221 | {-0.45396503806114197f,-0.4249477982521057f,0.008588135242462158f,-0.45205068588256836f,-1.3535797595977783f,0.09258996695280075f,0.013287186622619629f,-0.06247078999876976f,0.18176743388175964f,-0.02428596466779709f,0.3507067561149597f,-0.040274858474731445f,-0.2504180073738098f,-0.11954399943351746f,-0.1702093929052353f,0.08025657385587692f}, |
Lightvalve | 114:09a6bccaf17d | 222 | {-0.16633667051792145f,-1.0380611419677734f,0.06708025932312012f,0.15620632469654083f,-0.9475982189178467f,0.2799629867076874f,0.27470332384109497f,-0.1436568647623062f,-0.09286155551671982f,0.23921003937721252f,0.3713104724884033f,-0.2101101279258728f,-0.2589351236820221f,0.2427140176296234f,0.11447501182556152f,-0.07560984045267105f}, |
Lightvalve | 65:a2d7c63419c2 | 223 | }; |
Lightvalve | 65:a2d7c63419c2 | 224 | |
Lightvalve | 112:8dcb1600cb90 | 225 | const float h2[16][16] = { |
Lightvalve | 114:09a6bccaf17d | 226 | {-0.4416000545024872f,-0.31373846530914307f,-0.19080299139022827f,1.179991602897644f,-0.21907491981983185f,0.34282949566841125f,-0.025855468586087227f,0.0904630720615387f,-0.13410094380378723f,-0.1415480375289917f,-1.7848422527313232f,1.838787317276001f,-0.19009138643741608f,2.342186689376831f,-0.19569334387779236f,-1.6201746463775635f}, |
Lightvalve | 114:09a6bccaf17d | 227 | {-0.2245597094297409f,-0.13072779774665833f,-0.06943641602993011f,-0.4076336622238159f,-0.35503754019737244f,-3.6417953968048096f,-0.7878494262695312f,-0.2990124225616455f,-0.7456150650978088f,0.2895788848400116f,-0.47643035650253296f,-8.671875953674316f,0.1891358494758606f,0.7506363987922668f,-0.9546725153923035f,0.7220286130905151f}, |
Lightvalve | 112:8dcb1600cb90 | 228 | {-0.22745239734649658f,0.003037691116333008f,-0.061119019985198975f,0.35696902871131897f,0.05568113923072815f,0.011741191148757935f,-0.20225946605205536f,-0.08465918898582458f,0.3489862382411957f,0.0687277615070343f,0.31964078545570374f,0.3004753887653351f,0.36063823103904724f,-0.42892736196517944f,0.08652284741401672f,0.027493387460708618f}, |
Lightvalve | 113:4535bc97a1db | 229 | {-0.01778075285255909f,-0.23104725778102875f,-0.2894435524940491f,0.10867004096508026f,0.08946844935417175f,0.07808632403612137f,-0.4573591351509094f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.20370014011859894f,0.010252464562654495f,-0.43868115544319153f,-0.03280303627252579f,0.28507310152053833f,0.07095210254192352f}, |
Lightvalve | 113:4535bc97a1db | 230 | {-0.13348069787025452f,0.3367266058921814f,-0.25313520431518555f,-0.03403173387050629f,0.036378175020217896f,0.1093469187617302f,-0.5513286590576172f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,0.03879040107131004f,-0.8223557472229004f,0.09156011044979095f,0.2768576741218567f,-0.17694859206676483f,0.11134585738182068f}, |
Lightvalve | 114:09a6bccaf17d | 231 | {0.16555435955524445f,0.43131524324417114f,-0.4289751946926117f,1.6997345685958862f,-0.3015052080154419f,-1.670569658279419f,-0.6656103134155273f,-0.019414573907852173f,-0.35384804010391235f,0.3579089343547821f,-3.0863680839538574f,-1.0907237529754639f,-0.5776411294937134f,2.829767942428589f,1.2874901294708252f,-1.5014472007751465f}, |
Lightvalve | 112:8dcb1600cb90 | 232 | {-0.1828227937221527f,-0.02554568648338318f,-0.3260969817638397f,0.08422836661338806f,-0.38453540205955505f,-0.25432005524635315f,0.285016268491745f,0.12387624382972717f,-0.0982072651386261f,0.13111665844917297f,-0.03692615032196045f,-0.32796353101730347f,-0.21546880900859833f,0.049302369356155396f,-0.27088475227355957f,-0.4124959409236908f}, |
Lightvalve | 113:4535bc97a1db | 233 | {0.01398484781384468f,0.15759709477424622f,0.33083590865135193f,-0.26944801211357117f,-0.14358049631118774f,-0.33699458837509155f,-0.38920095562934875f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,0.2948208749294281f,-0.9432287812232971f,-0.42878255248069763f,0.5726852416992188f,0.02221696637570858f,0.05635474622249603f}, |
Lightvalve | 113:4535bc97a1db | 234 | {-0.25820738077163696f,0.3117407262325287f,-0.11379697918891907f,0.12228615581989288f,0.041274964809417725f,-0.34911200404167175f,-0.10284432768821716f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,0.0233750119805336f,-0.3197441101074219f,-0.37024784088134766f,-0.25981605052948f,-0.35837259888648987f,-0.24591223895549774f}, |
Lightvalve | 113:4535bc97a1db | 235 | {-0.17263101041316986f,0.23423008620738983f,-0.13502129912376404f,0.1286323517560959f,0.12987366318702698f,0.1080603152513504f,0.2711336314678192f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,0.24636374413967133f,0.36848944425582886f,0.3811538517475128f,-0.2520766258239746f,0.0013287918409332633f,-0.2210550457239151f}, |
Lightvalve | 113:4535bc97a1db | 236 | {-0.3058125972747803f,0.08181517571210861f,0.0457797646522522f,-2.636444330215454f,-0.03321319818496704f,-0.541618824005127f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.15830643475055695f,-0.5519965291023254f,-0.4537477195262909f,0.050337303429841995f,-0.08985583484172821f,-0.2977418303489685f}, |
Lightvalve | 114:09a6bccaf17d | 237 | {0.04818347468972206f,0.6381116509437561f,0.35214442014694214f,1.031759262084961f,0.0033026933670043945f,-0.11087352782487869f,-0.36933785676956177f,-0.11795541644096375f,0.48494449257850647f,-0.32520344853401184f,0.11625059694051743f,-0.7726806998252869f,-0.3193991780281067f,-2.084322214126587f,-0.2186143696308136f,-0.8306460380554199f}, |
Lightvalve | 113:4535bc97a1db | 238 | {-0.3529583215713501f,0.08254975080490112f,-0.15798500180244446f,0.05475207790732384f,-0.37393757700920105f,0.24033845961093903f,0.18650469183921814f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.09720540791749954f,-0.09403084218502045f,0.3314500153064728f,-0.39308783411979675f,-0.010754602961242199f,0.12959282100200653f}, |
Lightvalve | 114:09a6bccaf17d | 239 | {-0.6177845597267151f,1.949365258216858f,-0.2689056992530823f,-1.0946818590164185f,0.07545611262321472f,-1.1367113590240479f,-0.4665638506412506f,-0.21416273713111877f,-0.2063993364572525f,0.19522181153297424f,2.027029037475586f,-1.119747281074524f,-0.32851600646972656f,-1.0397303104400635f,-1.5998331308364868f,0.6112943887710571f}, |
Lightvalve | 112:8dcb1600cb90 | 240 | {0.4138670265674591f,0.1604653298854828f,0.056746453046798706f,0.036025404930114746f,0.3228367865085602f,-0.07083973288536072f,0.018455177545547485f,0.0059362053871154785f,0.40515169501304626f,0.014240056276321411f,-0.07738298177719116f,0.1407785713672638f,-0.13024571537971497f,-0.29546058177948f,-0.11976784467697144f,-0.35825538635253906f}, |
Lightvalve | 113:4535bc97a1db | 241 | {-0.46657031774520874f,0.3603224754333496f,0.12081471085548401f,-0.6525219678878784f,0.29976895451545715f,-0.3780849874019623f,0.04173128679394722f,0.31089308857917786f,-0.3893685042858124f,-0.02222958207130432f,0.6254821419715881f,-0.06403668224811554f,-0.2615106403827667f,-0.2841106355190277f,-0.020944762974977493f,0.24394959211349487f}, |
Lightvalve | 65:a2d7c63419c2 | 242 | }; |
Lightvalve | 65:a2d7c63419c2 | 243 | |
Lightvalve | 112:8dcb1600cb90 | 244 | const float h3[16][16] = { |
Lightvalve | 113:4535bc97a1db | 245 | {-0.36079341173171997f,-0.030723435804247856f,-0.10280819237232208f,-0.3743261694908142f,-0.1324009746313095f,0.10063944011926651f,0.3332441747188568f,0.3036012351512909f,-0.2405819296836853f,0.04891335964202881f,0.06792311370372772f,0.33556240797042847f,0.03479746729135513f,0.19397124648094177f,-0.3191870450973511f,0.1584681123495102f}, |
Lightvalve | 114:09a6bccaf17d | 246 | {0.047732532024383545f,0.5006909370422363f,-0.6345558166503906f,-1.725974202156067f,-3.2036168575286865f,0.961625337600708f,-0.3459742069244385f,0.3216327726840973f,0.003414712380617857f,-0.464531809091568f,0.7604407668113708f,-0.39640337228775024f,-0.19692669808864594f,-0.7184784412384033f,-0.6826145052909851f,-0.3840222656726837f}, |
Lightvalve | 114:09a6bccaf17d | 247 | {0.07903262972831726f,0.3081454932689667f,-0.11946268379688263f,0.04248586297035217f,-0.1963958442211151f,-0.22234474122524261f,-0.4038352966308594f,0.015906542539596558f,0.15353140234947205f,0.030178606510162354f,0.16924922168254852f,0.13805970549583435f,-0.0816211998462677f,-0.29722118377685547f,-0.3036302626132965f,0.054825395345687866f}, |
Lightvalve | 114:09a6bccaf17d | 248 | {-0.30922991037368774f,-0.3244438171386719f,1.187119483947754f,-1.89874267578125f,-0.4626938998699188f,-0.5747583508491516f,0.13438235223293304f,0.09185263514518738f,-0.2636560797691345f,-0.5356540679931641f,2.0849862098693848f,-2.418192148208618f,-0.24698223173618317f,0.9093489646911621f,-0.3955540359020233f,-0.21804869174957275f}, |
Lightvalve | 112:8dcb1600cb90 | 249 | {-0.39607733488082886f,-0.05481579899787903f,0.1976260244846344f,0.022423356771469116f,0.16892847418785095f,-0.27518749237060547f,0.16012099385261536f,0.3626593053340912f,-0.08640444278717041f,-0.11053556203842163f,-0.10529157519340515f,-0.31317979097366333f,-0.1530032455921173f,-0.1336749792098999f,0.22959044575691223f,0.19986507296562195f}, |
Lightvalve | 114:09a6bccaf17d | 250 | {-0.37449589371681213f,0.41615030169487f,-0.5608540773391724f,-0.6361187696456909f,1.9270976781845093f,-0.7580529451370239f,-0.20031505823135376f,0.43172505497932434f,-0.46900054812431335f,-0.16388018429279327f,-0.3535109758377075f,1.7969706058502197f,-0.16324763000011444f,-0.9558305740356445f,0.0823487937450409f,-0.4255358576774597f}, |
Lightvalve | 114:09a6bccaf17d | 251 | {0.4110594093799591f,0.2756858766078949f,-0.23905593156814575f,0.382222980260849f,0.20388288795948029f,-0.22044363617897034f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.2795402705669403f,0.335384726524353f,0.03966398909687996f,0.07285787910223007f,-0.3391006588935852f}, |
Lightvalve | 113:4535bc97a1db | 252 | {-0.40892091393470764f,0.043769627809524536f,-0.3867315948009491f,0.25968697667121887f,0.3424709737300873f,-0.051169753074645996f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.2742875814437866f,-0.36560842394828796f,0.07994696497917175f,0.005298197269439697f}, |
Lightvalve | 114:09a6bccaf17d | 253 | {0.10697010159492493f,-0.3403710424900055f,-0.24158746004104614f,0.21184906363487244f,-0.37222859263420105f,-0.5165332555770874f,-0.1382003128528595f,0.5236299633979797f,-0.360889196395874f,-0.3875247836112976f,0.2645629346370697f,-0.20597228407859802f,-0.3289247751235962f,-0.5121046304702759f,0.09620395302772522f,-0.06898030638694763f}, |
Lightvalve | 112:8dcb1600cb90 | 254 | {0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.30447837710380554f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24394884705543518f,-0.14084559679031372f,-0.10168051719665527f,0.010465055704116821f}, |
Lightvalve | 114:09a6bccaf17d | 255 | {0.15459725260734558f,1.0160398483276367f,0.6945615410804749f,-0.5207881927490234f,-5.408054828643799f,-0.2257770299911499f,-0.08742031455039978f,0.5413029193878174f,-0.3207188844680786f,-0.5697242617607117f,0.050796788185834885f,-1.3108309507369995f,-0.23409070074558258f,-1.9511581659317017f,0.4019995927810669f,0.16767722368240356f}, |
Lightvalve | 114:09a6bccaf17d | 256 | {-0.408692330121994f,1.9138723611831665f,0.39115116000175476f,0.5739253759384155f,3.193286418914795f,-3.1259846687316895f,0.015898048877716064f,2.4435510635375977f,-0.20705322921276093f,-0.25883403420448303f,-1.2534292936325073f,3.9350192546844482f,0.5162205696105957f,-4.484452247619629f,-0.8899465799331665f,0.3150562644004822f}, |
Lightvalve | 114:09a6bccaf17d | 257 | {-0.2991822361946106f,0.14823931455612183f,0.07672751694917679f,-0.05932474136352539f,0.09542100876569748f,-0.013279345817863941f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,0.10030028223991394f,-0.2621331512928009f,0.023185068741440773f,-0.14980164170265198f,0.36124154925346375f,-0.16869547963142395f}, |
Lightvalve | 114:09a6bccaf17d | 258 | {-0.2675279378890991f,0.05099257454276085f,0.08411905914545059f,-0.10413927584886551f,-0.7241613864898682f,0.30467256903648376f,-0.32875844836235046f,-9.193814277648926f,-0.6806216239929199f,-0.6331622004508972f,-1.9146071672439575f,0.6346508264541626f,-0.2797616720199585f,-2.2959039211273193f,0.17193923890590668f,-0.006947796791791916f}, |
Lightvalve | 114:09a6bccaf17d | 259 | {-0.015470266342163086f,-0.2424277514219284f,0.8375282883644104f,0.014725916087627411f,0.23800323903560638f,0.42196986079216003f,-0.004887910094112158f,0.6202435493469238f,-0.38354402780532837f,-0.5163152813911438f,0.5975462794303894f,1.8399231433868408f,0.08155638724565506f,-0.15693733096122742f,-0.019000373780727386f,-0.7551562190055847f}, |
Lightvalve | 114:09a6bccaf17d | 260 | {0.1863725483417511f,0.2799197733402252f,0.2087642103433609f,-0.8532849550247192f,-2.3844048976898193f,-0.23211170732975006f,0.04860696196556091f,-6.5380048751831055f,-0.30845537781715393f,-0.012700200080871582f,0.31490662693977356f,0.8377508521080017f,0.04945338889956474f,-0.45305052399635315f,-0.1647207885980606f,-0.25199466943740845f}, |
Lightvalve | 66:a8e6799dbce3 | 261 | }; |
Lightvalve | 65:a2d7c63419c2 | 262 | |
Lightvalve | 114:09a6bccaf17d | 263 | const float hout[16] = { 0.45773375034332275f,0.14631381630897522f,-0.22999529540538788f,-0.030070684850215912f,-0.2831701338291168f,0.055488184094429016f,-0.11228165030479431f,0.17394007742404938f,-0.1411089152097702f,-0.06577444821596146f,0.23537015914916992f,-0.20813216269016266f,0.025011662393808365f,-0.10921727865934372f,0.03399183228611946f,-0.12528467178344727f }; |
Lightvalve | 66:a8e6799dbce3 | 264 | |
Lightvalve | 114:09a6bccaf17d | 265 | const float b1[16] = { 1.01943838596344f,2.6422019004821777f,-1.7145336866378784f,0.4208109676837921f,0.8277526497840881f,0.8997405767440796f,-0.058932315558195114f,0.6894977688789368f,0.5092201232910156f,-0.9256697297096252f,0.9643260836601257f,0.593098521232605f,-0.3523768186569214f,-1.628794550895691f,-1.087764859199524f,0.7544463276863098f }; |
Lightvalve | 87:471334725012 | 266 | |
Lightvalve | 114:09a6bccaf17d | 267 | const float b2[16] = { -0.3902733623981476f,-1.1347911357879639f,-1.549425482749939f,-0.2813558578491211f,-0.6939148902893066f,0.15833285450935364f,0.13303270936012268f,-0.30969977378845215f,-1.0462977886199951f,-1.912178635597229f,1.3354045152664185f,2.6406900882720947f,-0.2966046929359436f,1.7676101922988892f,2.591891288757324f,1.4619697332382202f }; |
Lightvalve | 65:a2d7c63419c2 | 268 | |
Lightvalve | 114:09a6bccaf17d | 269 | const float b3[16] = { -1.963319182395935f,-0.07368154078722f,-0.34889450669288635f,-0.6999592185020447f,-0.2067682445049286f,-0.6203318238258362f,-0.47910937666893005f,-2.2642292976379395f,0.22698374092578888f,0.18241459131240845f,-4.054250240325928f,1.3901464939117432f,-0.9813683032989502f,-0.602583110332489f,-1.4065110683441162f,-0.6076282262802124f }; |
Lightvalve | 87:471334725012 | 270 | |
Lightvalve | 114:09a6bccaf17d | 271 | const float bout[1] = { 0.02764555998146534f }; |
Lightvalve | 65:a2d7c63419c2 | 272 | |
Lightvalve | 66:a8e6799dbce3 | 273 | |
Lightvalve | 87:471334725012 | 274 | float VALVE_POS_RAW_NN = 0.0f; |
Lightvalve | 87:471334725012 | 275 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL); |
Lightvalve | 61:bc8c8270f0ab | 276 | |
GiJeongKim | 0:51c43836c1d7 | 277 | int main() |
GiJeongKim | 0:51c43836c1d7 | 278 | { |
Lightvalve | 66:a8e6799dbce3 | 279 | |
Lightvalve | 65:a2d7c63419c2 | 280 | HAL_Init(); |
Lightvalve | 65:a2d7c63419c2 | 281 | SystemClock_Config(); |
Lightvalve | 65:a2d7c63419c2 | 282 | |
jobuuu | 6:df07d3491e3a | 283 | /********************************* |
jobuuu | 1:e04e563be5ce | 284 | *** Initialization |
jobuuu | 6:df07d3491e3a | 285 | *********************************/ |
Lightvalve | 69:3995ffeaa786 | 286 | LED = 0; |
Lightvalve | 61:bc8c8270f0ab | 287 | pc.baud(9600); |
Lightvalve | 21:e5f1a43ea6f9 | 288 | |
GiJeongKim | 0:51c43836c1d7 | 289 | // i2c init |
Lightvalve | 8:5d2eebdad025 | 290 | i2c.frequency(400 * 1000); // 0.4 mHz |
Lightvalve | 8:5d2eebdad025 | 291 | wait_ms(2); // Power Up wait |
Lightvalve | 8:5d2eebdad025 | 292 | look_for_hardware_i2c(); // Hardware present |
Lightvalve | 8:5d2eebdad025 | 293 | init_as5510(i2c_slave_addr1); |
Lightvalve | 11:82d8768d7351 | 294 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 295 | |
GiJeongKim | 0:51c43836c1d7 | 296 | // // spi init |
Lightvalve | 16:903b5a4433b4 | 297 | //eeprom.format(8,3); |
Lightvalve | 16:903b5a4433b4 | 298 | //eeprom.frequency(5000000); //5M |
GiJeongKim | 0:51c43836c1d7 | 299 | enc.format(8,0); |
GiJeongKim | 0:51c43836c1d7 | 300 | enc.frequency(5000000); //5M |
Lightvalve | 11:82d8768d7351 | 301 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 302 | |
Lightvalve | 16:903b5a4433b4 | 303 | //rom |
Lightvalve | 19:23b7c1ad8683 | 304 | ROM_CALL_DATA(); |
Lightvalve | 16:903b5a4433b4 | 305 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 306 | |
GiJeongKim | 0:51c43836c1d7 | 307 | // ADC init |
jobuuu | 5:a4319f79457b | 308 | Init_ADC(); |
Lightvalve | 11:82d8768d7351 | 309 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 310 | |
GiJeongKim | 0:51c43836c1d7 | 311 | // Pwm init |
GiJeongKim | 0:51c43836c1d7 | 312 | Init_PWM(); |
GiJeongKim | 0:51c43836c1d7 | 313 | TIM4->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 314 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 315 | |
Lightvalve | 11:82d8768d7351 | 316 | // TMR3 init |
Lightvalve | 11:82d8768d7351 | 317 | Init_TMR3(); |
Lightvalve | 11:82d8768d7351 | 318 | TIM3->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 319 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 320 | |
Lightvalve | 50:3c630b5eba9f | 321 | // TMR2 init |
Lightvalve | 56:6f50d9d3bfee | 322 | // Init_TMR2(); |
Lightvalve | 56:6f50d9d3bfee | 323 | // TIM2->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 56:6f50d9d3bfee | 324 | // make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 325 | |
GiJeongKim | 0:51c43836c1d7 | 326 | // CAN |
jobuuu | 2:a1c0a37df760 | 327 | can.attach(&CAN_RX_HANDLER); |
Lightvalve | 11:82d8768d7351 | 328 | CAN_ID_INIT(); |
Lightvalve | 11:82d8768d7351 | 329 | make_delay(); |
Lightvalve | 34:bb2ca2fc2a8e | 330 | |
Lightvalve | 23:59218d4a256d | 331 | //Timer priority |
Lightvalve | 23:59218d4a256d | 332 | NVIC_SetPriority(TIM3_IRQn, 2); |
Lightvalve | 57:f4819de54e7a | 333 | //NVIC_SetPriority(TIM2_IRQn, 3); |
Lightvalve | 54:647072f5307a | 334 | NVIC_SetPriority(TIM4_IRQn, 3); |
Lightvalve | 34:bb2ca2fc2a8e | 335 | |
Lightvalve | 23:59218d4a256d | 336 | //can.reset(); |
Lightvalve | 19:23b7c1ad8683 | 337 | can.filter(msg.id, 0xFFFFF000, CANStandard); |
Lightvalve | 34:bb2ca2fc2a8e | 338 | |
GiJeongKim | 0:51c43836c1d7 | 339 | // spi _ enc |
GiJeongKim | 0:51c43836c1d7 | 340 | spi_enc_set_init(); |
Lightvalve | 11:82d8768d7351 | 341 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 342 | |
Lightvalve | 11:82d8768d7351 | 343 | //DAC init |
Lightvalve | 58:2eade98630e2 | 344 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 345 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 346 | dac_2 = 0.0f; |
Lightvalve | 58:2eade98630e2 | 347 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 348 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 349 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 350 | } |
Lightvalve | 11:82d8768d7351 | 351 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 352 | |
Lightvalve | 19:23b7c1ad8683 | 353 | for (int i=0; i<50; i++) { |
Lightvalve | 11:82d8768d7351 | 354 | if(i%2==0) |
Lightvalve | 38:118df027d851 | 355 | ID_index_array[i] = - i * 0.5f; |
Lightvalve | 11:82d8768d7351 | 356 | else |
Lightvalve | 38:118df027d851 | 357 | ID_index_array[i] = (i+1) * 0.5f; |
Lightvalve | 11:82d8768d7351 | 358 | } |
Lightvalve | 61:bc8c8270f0ab | 359 | |
Lightvalve | 61:bc8c8270f0ab | 360 | |
jobuuu | 6:df07d3491e3a | 361 | /************************************ |
jobuuu | 1:e04e563be5ce | 362 | *** Program is operating! |
jobuuu | 6:df07d3491e3a | 363 | *************************************/ |
GiJeongKim | 0:51c43836c1d7 | 364 | while(1) { |
Lightvalve | 66:a8e6799dbce3 | 365 | // if(timer_while==1000 && OPERATING_MODE==5) { |
Lightvalve | 66:a8e6799dbce3 | 366 | //if(timer_while==1000) { |
Lightvalve | 65:a2d7c63419c2 | 367 | //i2c |
Lightvalve | 66:a8e6799dbce3 | 368 | |
Lightvalve | 65:a2d7c63419c2 | 369 | read_field(i2c_slave_addr1); |
Lightvalve | 65:a2d7c63419c2 | 370 | if(DIR_VALVE_ENC < 0) value = 1023 - value; |
Lightvalve | 65:a2d7c63419c2 | 371 | // if(LED==1) { |
Lightvalve | 65:a2d7c63419c2 | 372 | // LED=0; |
Lightvalve | 65:a2d7c63419c2 | 373 | // } else |
Lightvalve | 65:a2d7c63419c2 | 374 | // LED = 1; |
Lightvalve | 65:a2d7c63419c2 | 375 | timer_while = 0; |
Lightvalve | 66:a8e6799dbce3 | 376 | //} |
Lightvalve | 66:a8e6799dbce3 | 377 | |
Lightvalve | 66:a8e6799dbce3 | 378 | timer_while ++; |
Lightvalve | 66:a8e6799dbce3 | 379 | |
Lightvalve | 87:471334725012 | 380 | //LED = 0; |
Lightvalve | 87:471334725012 | 381 | |
Lightvalve | 73:f80dc3970c99 | 382 | if(NN_Control_Flag == 0) { |
Lightvalve | 73:f80dc3970c99 | 383 | LED = 0; |
Lightvalve | 73:f80dc3970c99 | 384 | } |
Lightvalve | 66:a8e6799dbce3 | 385 | |
Lightvalve | 73:f80dc3970c99 | 386 | else if(NN_Control_Flag == 1) { |
Lightvalve | 112:8dcb1600cb90 | 387 | float output1[16] = { 0.0f }; |
Lightvalve | 112:8dcb1600cb90 | 388 | float output2[16] = { 0.0f }; |
Lightvalve | 112:8dcb1600cb90 | 389 | float output3[16] = { 0.0f }; |
Lightvalve | 66:a8e6799dbce3 | 390 | float output = 0.0f; |
Lightvalve | 65:a2d7c63419c2 | 391 | |
Lightvalve | 112:8dcb1600cb90 | 392 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 68:328e1be06f5d | 393 | for (int index1 = 0; index1 < num_input; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 394 | output1[index2] = output1[index2] |
Lightvalve | 73:f80dc3970c99 | 395 | + h1[index1][index2] * input_NN[index1]; |
Lightvalve | 66:a8e6799dbce3 | 396 | } |
Lightvalve | 66:a8e6799dbce3 | 397 | output1[index2] = output1[index2] + b1[index2]; |
Lightvalve | 66:a8e6799dbce3 | 398 | if (output1[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 399 | output1[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 400 | } |
Lightvalve | 66:a8e6799dbce3 | 401 | } |
Lightvalve | 65:a2d7c63419c2 | 402 | |
Lightvalve | 112:8dcb1600cb90 | 403 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 404 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 405 | output2[index2] = output2[index2] |
Lightvalve | 66:a8e6799dbce3 | 406 | + h2[index1][index2] * output1[index1]; |
Lightvalve | 66:a8e6799dbce3 | 407 | } |
Lightvalve | 66:a8e6799dbce3 | 408 | output2[index2] = output2[index2] + b2[index2]; |
Lightvalve | 66:a8e6799dbce3 | 409 | if (output2[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 410 | output2[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 411 | } |
Lightvalve | 66:a8e6799dbce3 | 412 | } |
Lightvalve | 65:a2d7c63419c2 | 413 | |
Lightvalve | 112:8dcb1600cb90 | 414 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 415 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 416 | output3[index2] = output3[index2] |
Lightvalve | 66:a8e6799dbce3 | 417 | + h3[index1][index2] * output2[index1]; |
Lightvalve | 66:a8e6799dbce3 | 418 | } |
Lightvalve | 66:a8e6799dbce3 | 419 | output3[index2] = output3[index2] + b3[index2]; |
Lightvalve | 66:a8e6799dbce3 | 420 | if (output3[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 421 | output3[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 422 | } |
Lightvalve | 65:a2d7c63419c2 | 423 | } |
Lightvalve | 66:a8e6799dbce3 | 424 | |
Lightvalve | 66:a8e6799dbce3 | 425 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 112:8dcb1600cb90 | 426 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 73:f80dc3970c99 | 427 | output = output + hout[index1] * output3[index1]; |
Lightvalve | 66:a8e6799dbce3 | 428 | } |
Lightvalve | 66:a8e6799dbce3 | 429 | output = output + bout[index2]; |
Lightvalve | 73:f80dc3970c99 | 430 | |
Lightvalve | 66:a8e6799dbce3 | 431 | } |
Lightvalve | 73:f80dc3970c99 | 432 | output = 1.0f/(1.0f+exp(-output)); |
Lightvalve | 101:50159049a518 | 433 | output_normalized = output; |
Lightvalve | 68:328e1be06f5d | 434 | output = output * 20000.0f - 10000.0f; |
Lightvalve | 101:50159049a518 | 435 | |
Lightvalve | 66:a8e6799dbce3 | 436 | if(output>=0) { |
Lightvalve | 66:a8e6799dbce3 | 437 | valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 66:a8e6799dbce3 | 438 | } else { |
Lightvalve | 66:a8e6799dbce3 | 439 | valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 65:a2d7c63419c2 | 440 | } |
Lightvalve | 87:471334725012 | 441 | |
Lightvalve | 88:d6e591bece22 | 442 | // // torque feedback |
Lightvalve | 88:d6e591bece22 | 443 | // torq.err = f_past[0] - torq.sen; //[N] |
Lightvalve | 88:d6e591bece22 | 444 | //// torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 88:d6e591bece22 | 445 | // torq.err_sum += torq.err/(float) 1500.0f; //[N] |
Lightvalve | 88:d6e591bece22 | 446 | // |
Lightvalve | 88:d6e591bece22 | 447 | // |
Lightvalve | 88:d6e591bece22 | 448 | // 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 | 449 | // |
Lightvalve | 88:d6e591bece22 | 450 | // if(I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 88:d6e591bece22 | 451 | // double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; |
Lightvalve | 88:d6e591bece22 | 452 | // if(valve_pos.ref>VALVE_MAX_POS) { |
Lightvalve | 88:d6e591bece22 | 453 | // double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; |
Lightvalve | 88:d6e591bece22 | 454 | // valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 88:d6e591bece22 | 455 | // valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 88:d6e591bece22 | 456 | // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f; |
Lightvalve | 88:d6e591bece22 | 457 | // } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 88:d6e591bece22 | 458 | // double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; |
Lightvalve | 88:d6e591bece22 | 459 | // valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 88:d6e591bece22 | 460 | // valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 88:d6e591bece22 | 461 | // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f; |
Lightvalve | 88:d6e591bece22 | 462 | // } |
Lightvalve | 88:d6e591bece22 | 463 | // } |
Lightvalve | 87:471334725012 | 464 | |
Lightvalve | 69:3995ffeaa786 | 465 | |
Lightvalve | 69:3995ffeaa786 | 466 | if(LED==1) { |
Lightvalve | 69:3995ffeaa786 | 467 | LED=0; |
Lightvalve | 69:3995ffeaa786 | 468 | } else |
Lightvalve | 69:3995ffeaa786 | 469 | LED = 1; |
Lightvalve | 69:3995ffeaa786 | 470 | |
Lightvalve | 65:a2d7c63419c2 | 471 | } |
Lightvalve | 62:b5452adfb2cd | 472 | |
Lightvalve | 87:471334725012 | 473 | //LED = 1; |
Lightvalve | 69:3995ffeaa786 | 474 | |
Lightvalve | 66:a8e6799dbce3 | 475 | |
GiJeongKim | 0:51c43836c1d7 | 476 | } |
jobuuu | 1:e04e563be5ce | 477 | } |
jobuuu | 1:e04e563be5ce | 478 | |
Lightvalve | 33:91b17819ec30 | 479 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL) |
Lightvalve | 14:8e7590227d22 | 480 | { |
Lightvalve | 14:8e7590227d22 | 481 | |
Lightvalve | 13:747daba9cf59 | 482 | int i = 0; |
Lightvalve | 48:889798ff9329 | 483 | float Ref_Valve_Pos_FF = 0.0f; |
Lightvalve | 14:8e7590227d22 | 484 | for(i=0; i<VALVE_POS_NUM; i++) { |
Lightvalve | 14:8e7590227d22 | 485 | 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 | 486 | if(i==0) { |
Lightvalve | 50:3c630b5eba9f | 487 | if(JOINT_VEL[i+1] == JOINT_VEL[i]) { |
Lightvalve | 57:f4819de54e7a | 488 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 489 | } else { |
Lightvalve | 57:f4819de54e7a | 490 | 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 | 491 | } |
Lightvalve | 14:8e7590227d22 | 492 | } else { |
Lightvalve | 50:3c630b5eba9f | 493 | if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) { |
Lightvalve | 57:f4819de54e7a | 494 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 495 | } else { |
Lightvalve | 57:f4819de54e7a | 496 | 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 | 497 | } |
Lightvalve | 13:747daba9cf59 | 498 | } |
Lightvalve | 13:747daba9cf59 | 499 | break; |
Lightvalve | 13:747daba9cf59 | 500 | } |
Lightvalve | 13:747daba9cf59 | 501 | } |
Lightvalve | 14:8e7590227d22 | 502 | if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 503 | Ref_Valve_Pos_FF = (float) VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 504 | } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 505 | Ref_Valve_Pos_FF = (float) VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 506 | } |
Lightvalve | 36:a46e63505ed8 | 507 | |
Lightvalve | 57:f4819de54e7a | 508 | Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); |
Lightvalve | 13:747daba9cf59 | 509 | return Ref_Valve_Pos_FF; |
Lightvalve | 50:3c630b5eba9f | 510 | |
Lightvalve | 13:747daba9cf59 | 511 | } |
jobuuu | 6:df07d3491e3a | 512 | |
jobuuu | 6:df07d3491e3a | 513 | |
Lightvalve | 30:8d561f16383b | 514 | void VALVE_POS_CONTROL(float REF_VALVE_POS) |
Lightvalve | 14:8e7590227d22 | 515 | { |
Lightvalve | 13:747daba9cf59 | 516 | int i = 0; |
Lightvalve | 13:747daba9cf59 | 517 | |
Lightvalve | 38:118df027d851 | 518 | if(REF_VALVE_POS > VALVE_MAX_POS) { |
Lightvalve | 38:118df027d851 | 519 | REF_VALVE_POS = VALVE_MAX_POS; |
Lightvalve | 38:118df027d851 | 520 | } else if(REF_VALVE_POS < VALVE_MIN_POS) { |
Lightvalve | 38:118df027d851 | 521 | REF_VALVE_POS = VALVE_MIN_POS; |
Lightvalve | 38:118df027d851 | 522 | } |
Lightvalve | 38:118df027d851 | 523 | |
Lightvalve | 89:a7b45368ea0f | 524 | valve_pos_err = (float) (REF_VALVE_POS - value); |
Lightvalve | 13:747daba9cf59 | 525 | valve_pos_err_diff = valve_pos_err - valve_pos_err_old; |
Lightvalve | 13:747daba9cf59 | 526 | valve_pos_err_old = valve_pos_err; |
Lightvalve | 13:747daba9cf59 | 527 | valve_pos_err_sum += valve_pos_err; |
Lightvalve | 89:a7b45368ea0f | 528 | if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f; |
Lightvalve | 89:a7b45368ea0f | 529 | if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f; |
Lightvalve | 13:747daba9cf59 | 530 | |
Lightvalve | 13:747daba9cf59 | 531 | 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 | 532 | |
Lightvalve | 18:b8adf1582ea3 | 533 | for(i=0; i<24; i++) { |
Lightvalve | 89:a7b45368ea0f | 534 | 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 | 535 | if(i==0) { |
Lightvalve | 48:889798ff9329 | 536 | 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 | 537 | } else { |
Lightvalve | 48:889798ff9329 | 538 | 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 | 539 | } |
Lightvalve | 13:747daba9cf59 | 540 | break; |
Lightvalve | 13:747daba9cf59 | 541 | } |
Lightvalve | 13:747daba9cf59 | 542 | } |
Lightvalve | 59:f308b1656d9c | 543 | Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; |
Lightvalve | 13:747daba9cf59 | 544 | } |
Lightvalve | 13:747daba9cf59 | 545 | |
Lightvalve | 14:8e7590227d22 | 546 | #define LT_MAX_IDX 57 |
Lightvalve | 30:8d561f16383b | 547 | 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 | 548 | -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 549 | -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 550 | 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 551 | 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 552 | 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f |
Lightvalve | 34:bb2ca2fc2a8e | 553 | }; // duty |
Lightvalve | 67:c2812cf26c38 | 554 | 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 | 555 | -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f, |
Lightvalve | 67:c2812cf26c38 | 556 | -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f, |
Lightvalve | 67:c2812cf26c38 | 557 | 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f, |
Lightvalve | 67:c2812cf26c38 | 558 | 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f, |
Lightvalve | 67:c2812cf26c38 | 559 | 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f |
Lightvalve | 34:bb2ca2fc2a8e | 560 | }; // mV |
Lightvalve | 13:747daba9cf59 | 561 | |
Lightvalve | 30:8d561f16383b | 562 | float PWM_duty_byLT(float Ref_V) |
Lightvalve | 14:8e7590227d22 | 563 | { |
Lightvalve | 30:8d561f16383b | 564 | float PWM_duty = 0.0f; |
Lightvalve | 13:747daba9cf59 | 565 | if(Ref_V<LT_Voltage_Output[0]) { |
Lightvalve | 30:8d561f16383b | 566 | PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0]; |
Lightvalve | 13:747daba9cf59 | 567 | } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) { |
Lightvalve | 30:8d561f16383b | 568 | PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1]; |
Lightvalve | 13:747daba9cf59 | 569 | } else { |
Lightvalve | 13:747daba9cf59 | 570 | int idx = 0; |
Lightvalve | 13:747daba9cf59 | 571 | for(idx=0; idx<LT_MAX_IDX-1; idx++) { |
Lightvalve | 30:8d561f16383b | 572 | float ini_x = LT_Voltage_Output[idx]; |
Lightvalve | 30:8d561f16383b | 573 | float fin_x = LT_Voltage_Output[idx+1]; |
Lightvalve | 30:8d561f16383b | 574 | float ini_y = LT_PWM_duty[idx]; |
Lightvalve | 30:8d561f16383b | 575 | float fin_y = LT_PWM_duty[idx+1]; |
Lightvalve | 13:747daba9cf59 | 576 | if(Ref_V>=ini_x && Ref_V<fin_x) { |
Lightvalve | 13:747daba9cf59 | 577 | PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y; |
Lightvalve | 13:747daba9cf59 | 578 | break; |
Lightvalve | 13:747daba9cf59 | 579 | } |
Lightvalve | 13:747daba9cf59 | 580 | } |
Lightvalve | 13:747daba9cf59 | 581 | } |
Lightvalve | 14:8e7590227d22 | 582 | |
Lightvalve | 13:747daba9cf59 | 583 | return PWM_duty; |
Lightvalve | 13:747daba9cf59 | 584 | } |
jobuuu | 6:df07d3491e3a | 585 | |
Lightvalve | 57:f4819de54e7a | 586 | |
Lightvalve | 57:f4819de54e7a | 587 | |
Lightvalve | 57:f4819de54e7a | 588 | |
Lightvalve | 57:f4819de54e7a | 589 | |
jobuuu | 2:a1c0a37df760 | 590 | /******************************************************************************* |
jobuuu | 2:a1c0a37df760 | 591 | TIMER INTERRUPT |
jobuuu | 2:a1c0a37df760 | 592 | *******************************************************************************/ |
jobuuu | 2:a1c0a37df760 | 593 | |
Lightvalve | 51:b46bed7fec80 | 594 | float FREQ_TMR4 = (float)FREQ_20k; |
Lightvalve | 51:b46bed7fec80 | 595 | float DT_TMR4 = (float)DT_20k; |
Lightvalve | 57:f4819de54e7a | 596 | long CNT_TMR4 = 0; |
Lightvalve | 57:f4819de54e7a | 597 | int TMR4_FREQ_10k = (int)FREQ_10k; |
jobuuu | 1:e04e563be5ce | 598 | extern "C" void TIM4_IRQHandler(void) |
jobuuu | 1:e04e563be5ce | 599 | { |
Lightvalve | 19:23b7c1ad8683 | 600 | if (TIM4->SR & TIM_SR_UIF ) { |
Lightvalve | 21:e5f1a43ea6f9 | 601 | |
Lightvalve | 21:e5f1a43ea6f9 | 602 | /******************************************************* |
Lightvalve | 21:e5f1a43ea6f9 | 603 | *** Sensor Read & Data Handling |
Lightvalve | 21:e5f1a43ea6f9 | 604 | ********************************************************/ |
Lightvalve | 13:747daba9cf59 | 605 | |
Lightvalve | 57:f4819de54e7a | 606 | //Encoder |
Lightvalve | 57:f4819de54e7a | 607 | if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) { |
Lightvalve | 57:f4819de54e7a | 608 | ENC_UPDATE(); |
Lightvalve | 57:f4819de54e7a | 609 | } |
Lightvalve | 61:bc8c8270f0ab | 610 | |
Lightvalve | 61:bc8c8270f0ab | 611 | ADC1->CR2 |= 0x40000000; |
Lightvalve | 58:2eade98630e2 | 612 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 613 | // Torque Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 614 | float pres_A_new = (((float) ADC1->DR) - 2047.5f); |
Lightvalve | 58:2eade98630e2 | 615 | double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz |
Lightvalve | 58:2eade98630e2 | 616 | pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new; |
Lightvalve | 67:c2812cf26c38 | 617 | torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE; |
Lightvalve | 67:c2812cf26c38 | 618 | |
Lightvalve | 67:c2812cf26c38 | 619 | |
Lightvalve | 67:c2812cf26c38 | 620 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 67:c2812cf26c38 | 621 | //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 67:c2812cf26c38 | 622 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 67:c2812cf26c38 | 623 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 67:c2812cf26c38 | 624 | // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 |
Lightvalve | 67:c2812cf26c38 | 625 | |
Lightvalve | 17:1865016ca2e7 | 626 | |
Lightvalve | 58:2eade98630e2 | 627 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 628 | // Pressure Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 629 | float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL); |
Lightvalve | 58:2eade98630e2 | 630 | float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL); |
Lightvalve | 58:2eade98630e2 | 631 | double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz |
Lightvalve | 58:2eade98630e2 | 632 | pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new; |
Lightvalve | 58:2eade98630e2 | 633 | pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new; |
Lightvalve | 58:2eade98630e2 | 634 | CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 58:2eade98630e2 | 635 | CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR; |
Lightvalve | 50:3c630b5eba9f | 636 | |
Lightvalve | 58:2eade98630e2 | 637 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator |
Lightvalve | 58:2eade98630e2 | 638 | 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 | 639 | } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator |
Lightvalve | 58:2eade98630e2 | 640 | 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 | 641 | } |
Lightvalve | 58:2eade98630e2 | 642 | } |
Lightvalve | 61:bc8c8270f0ab | 643 | |
Lightvalve | 58:2eade98630e2 | 644 | // //Pressure sensor A |
Lightvalve | 58:2eade98630e2 | 645 | // ADC1->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 58:2eade98630e2 | 646 | // //while((ADC1->SR & 0b10)); |
Lightvalve | 58:2eade98630e2 | 647 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 648 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 58:2eade98630e2 | 649 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 58:2eade98630e2 | 650 | // 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 | 651 | // |
Lightvalve | 58:2eade98630e2 | 652 | // |
Lightvalve | 58:2eade98630e2 | 653 | // //Pressure sensor B |
Lightvalve | 58:2eade98630e2 | 654 | // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 655 | // float pres_B_new = ((float)ADC2->DR); |
Lightvalve | 58:2eade98630e2 | 656 | // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B); |
Lightvalve | 58:2eade98630e2 | 657 | // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B; |
Lightvalve | 17:1865016ca2e7 | 658 | |
Lightvalve | 17:1865016ca2e7 | 659 | |
Lightvalve | 21:e5f1a43ea6f9 | 660 | //Current |
Lightvalve | 21:e5f1a43ea6f9 | 661 | //ADC3->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 25:3e6b574cab5c | 662 | //int raw_cur = ADC3->DR; |
Lightvalve | 21:e5f1a43ea6f9 | 663 | //while((ADC3->SR & 0b10)); |
Lightvalve | 51:b46bed7fec80 | 664 | float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz |
Lightvalve | 30:8d561f16383b | 665 | float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA |
Lightvalve | 30:8d561f16383b | 666 | cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur); |
Lightvalve | 25:3e6b574cab5c | 667 | //cur.sen = raw_cur; |
Lightvalve | 58:2eade98630e2 | 668 | |
Lightvalve | 57:f4819de54e7a | 669 | CNT_TMR4++; |
Lightvalve | 21:e5f1a43ea6f9 | 670 | } |
Lightvalve | 11:82d8768d7351 | 671 | TIM4->SR = 0x0; // reset the status register |
Lightvalve | 11:82d8768d7351 | 672 | } |
Lightvalve | 19:23b7c1ad8683 | 673 | |
Lightvalve | 19:23b7c1ad8683 | 674 | |
Lightvalve | 18:b8adf1582ea3 | 675 | int j =0; |
Lightvalve | 54:647072f5307a | 676 | float FREQ_TMR3 = (float)FREQ_5k; |
Lightvalve | 48:889798ff9329 | 677 | float DT_TMR3 = (float)DT_5k; |
Lightvalve | 45:35fa6884d0c6 | 678 | int cnt_trans = 0; |
Lightvalve | 48:889798ff9329 | 679 | double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f; |
Lightvalve | 57:f4819de54e7a | 680 | int can_rest =0; |
Lightvalve | 48:889798ff9329 | 681 | |
Lightvalve | 11:82d8768d7351 | 682 | extern "C" void TIM3_IRQHandler(void) |
Lightvalve | 21:e5f1a43ea6f9 | 683 | { |
Lightvalve | 19:23b7c1ad8683 | 684 | if (TIM3->SR & TIM_SR_UIF ) { |
Lightvalve | 57:f4819de54e7a | 685 | |
Lightvalve | 57:f4819de54e7a | 686 | if (((OPERATING_MODE&0b110)>>1) == 0) { |
Lightvalve | 57:f4819de54e7a | 687 | K_v = 0.4f; // Moog (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 688 | mV_PER_mA = 500.0f; // 5000mV/10mA |
Lightvalve | 57:f4819de54e7a | 689 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 690 | mA_PER_pulse = 0.001f; // 10mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 691 | } else if (((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 57:f4819de54e7a | 692 | K_v = 0.5f; // KNR (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 693 | mV_PER_mA = 166.6666f; // 5000mV/30mA |
Lightvalve | 57:f4819de54e7a | 694 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 695 | mA_PER_pulse = 0.003f; // 30mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 696 | } |
Lightvalve | 50:3c630b5eba9f | 697 | |
Lightvalve | 50:3c630b5eba9f | 698 | if(MODE_POS_FT_TRANS == 1) { |
Lightvalve | 48:889798ff9329 | 699 | alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 700 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 701 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 702 | if((float)cnt_trans * DT_TMR3 > 3.0f) |
Lightvalve | 45:35fa6884d0c6 | 703 | MODE_POS_FT_TRANS = 2; |
Lightvalve | 50:3c630b5eba9f | 704 | } else if(MODE_POS_FT_TRANS == 3) { |
Lightvalve | 48:889798ff9329 | 705 | alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 706 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 707 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 708 | if((float) cnt_trans * DT_TMR3 > 3.0f ) |
Lightvalve | 45:35fa6884d0c6 | 709 | MODE_POS_FT_TRANS = 0; |
Lightvalve | 50:3c630b5eba9f | 710 | } else if(MODE_POS_FT_TRANS == 2) { |
Lightvalve | 58:2eade98630e2 | 711 | alpha_trans = 1.0f; |
Lightvalve | 45:35fa6884d0c6 | 712 | cnt_trans = 0; |
Lightvalve | 50:3c630b5eba9f | 713 | } else { |
Lightvalve | 58:2eade98630e2 | 714 | alpha_trans = 0.0f; |
Lightvalve | 45:35fa6884d0c6 | 715 | cnt_trans = 0; |
Lightvalve | 45:35fa6884d0c6 | 716 | } |
Lightvalve | 45:35fa6884d0c6 | 717 | |
Lightvalve | 50:3c630b5eba9f | 718 | |
Lightvalve | 57:f4819de54e7a | 719 | int UTILITY_MODE = 0; |
Lightvalve | 57:f4819de54e7a | 720 | int CONTROL_MODE = 0; |
Lightvalve | 58:2eade98630e2 | 721 | |
Lightvalve | 57:f4819de54e7a | 722 | if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) { |
Lightvalve | 57:f4819de54e7a | 723 | UTILITY_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 724 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 725 | } else { |
Lightvalve | 57:f4819de54e7a | 726 | CONTROL_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 727 | UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 728 | } |
Lightvalve | 56:6f50d9d3bfee | 729 | |
Lightvalve | 56:6f50d9d3bfee | 730 | |
Lightvalve | 56:6f50d9d3bfee | 731 | |
Lightvalve | 57:f4819de54e7a | 732 | // UTILITY MODE ------------------------------------------------------------ |
Lightvalve | 56:6f50d9d3bfee | 733 | |
Lightvalve | 57:f4819de54e7a | 734 | switch (UTILITY_MODE) { |
Lightvalve | 57:f4819de54e7a | 735 | case MODE_NO_ACT: { |
Lightvalve | 13:747daba9cf59 | 736 | break; |
Lightvalve | 13:747daba9cf59 | 737 | } |
Lightvalve | 14:8e7590227d22 | 738 | |
Lightvalve | 14:8e7590227d22 | 739 | case MODE_TORQUE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 740 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 741 | if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 15:bd0d12728506 | 742 | CUR_TORQUE_sum += torq.sen; |
Lightvalve | 19:23b7c1ad8683 | 743 | |
Lightvalve | 14:8e7590227d22 | 744 | if (TMR3_COUNT_TORQUE_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 745 | CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 746 | CUR_TORQUE_sum = 0; |
Lightvalve | 14:8e7590227d22 | 747 | |
Lightvalve | 84:c355d3e52bf1 | 748 | TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean); |
Lightvalve | 19:23b7c1ad8683 | 749 | |
Lightvalve | 30:8d561f16383b | 750 | if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f; |
Lightvalve | 59:f308b1656d9c | 751 | if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 752 | |
Lightvalve | 16:903b5a4433b4 | 753 | //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); |
Lightvalve | 30:8d561f16383b | 754 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 755 | } |
Lightvalve | 13:747daba9cf59 | 756 | } else { |
Lightvalve | 58:2eade98630e2 | 757 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 758 | TMR3_COUNT_TORQUE_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 759 | CUR_TORQUE_sum = 0; |
Lightvalve | 13:747daba9cf59 | 760 | CUR_TORQUE_mean = 0; |
Lightvalve | 19:23b7c1ad8683 | 761 | |
Lightvalve | 16:903b5a4433b4 | 762 | ROM_RESET_DATA(); |
Lightvalve | 19:23b7c1ad8683 | 763 | |
Lightvalve | 30:8d561f16383b | 764 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 14:8e7590227d22 | 765 | |
Lightvalve | 13:747daba9cf59 | 766 | } |
Lightvalve | 14:8e7590227d22 | 767 | TMR3_COUNT_TORQUE_NULL++; |
Lightvalve | 13:747daba9cf59 | 768 | break; |
Lightvalve | 19:23b7c1ad8683 | 769 | } |
Lightvalve | 14:8e7590227d22 | 770 | |
Lightvalve | 50:3c630b5eba9f | 771 | // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 772 | // if (TMR3_COUNT_DEADZONE == 0) { |
Lightvalve | 50:3c630b5eba9f | 773 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 774 | // else temp_time = 0; |
Lightvalve | 50:3c630b5eba9f | 775 | // } |
Lightvalve | 50:3c630b5eba9f | 776 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 777 | // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 778 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 779 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 780 | // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 781 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 782 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 783 | // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 784 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 785 | // } |
Lightvalve | 50:3c630b5eba9f | 786 | // |
Lightvalve | 50:3c630b5eba9f | 787 | // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 788 | // 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 | 789 | // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0; |
Lightvalve | 50:3c630b5eba9f | 790 | // |
Lightvalve | 50:3c630b5eba9f | 791 | // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) { |
Lightvalve | 50:3c630b5eba9f | 792 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 793 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 794 | // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 795 | // if (CUR_VELOCITY_sum == 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 796 | // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 797 | // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1; |
Lightvalve | 50:3c630b5eba9f | 798 | // else DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 799 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 800 | // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 801 | // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 802 | // |
Lightvalve | 50:3c630b5eba9f | 803 | // // Position of Dead Zone |
Lightvalve | 50:3c630b5eba9f | 804 | // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0) |
Lightvalve | 50:3c630b5eba9f | 805 | // // | / | / |/ |
Lightvalve | 50:3c630b5eba9f | 806 | // // | ______/ ___|___/ ______/| |
Lightvalve | 50:3c630b5eba9f | 807 | // // |/ / | / | |
Lightvalve | 50:3c630b5eba9f | 808 | // // /| / | / | |
Lightvalve | 50:3c630b5eba9f | 809 | // // 0V 0V 0V |
Lightvalve | 50:3c630b5eba9f | 810 | // |
Lightvalve | 50:3c630b5eba9f | 811 | // if (DZ_temp_cnt2 < DZ_end) { |
Lightvalve | 50:3c630b5eba9f | 812 | // if (TMR3_COUNT_DEADZONE % 20 != 0) { |
Lightvalve | 50:3c630b5eba9f | 813 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 814 | // } else { |
Lightvalve | 50:3c630b5eba9f | 815 | // V_out -= DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 816 | // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 817 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 818 | // } |
Lightvalve | 50:3c630b5eba9f | 819 | // if (DZ_temp_cnt == 5) { |
Lightvalve | 50:3c630b5eba9f | 820 | // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 821 | // else VALVE_DEADZONE_PLUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 822 | // DZ_dir = -DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 823 | // DZ_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 824 | // DZ_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 825 | // } |
Lightvalve | 50:3c630b5eba9f | 826 | // } else { |
Lightvalve | 50:3c630b5eba9f | 827 | // TMR3_COUNT_DEADZONE = -1; |
Lightvalve | 50:3c630b5eba9f | 828 | // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2; |
Lightvalve | 50:3c630b5eba9f | 829 | // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) { |
Lightvalve | 50:3c630b5eba9f | 830 | // VALVE_DEADZONE_PLUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 831 | // VALVE_DEADZONE_MINUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 832 | // } |
Lightvalve | 50:3c630b5eba9f | 833 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 834 | // |
Lightvalve | 50:3c630b5eba9f | 835 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 836 | // |
Lightvalve | 50:3c630b5eba9f | 837 | // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS); |
Lightvalve | 50:3c630b5eba9f | 838 | // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS); |
Lightvalve | 50:3c630b5eba9f | 839 | // |
Lightvalve | 50:3c630b5eba9f | 840 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 841 | // DZ_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 842 | // } |
Lightvalve | 50:3c630b5eba9f | 843 | // } |
Lightvalve | 50:3c630b5eba9f | 844 | // TMR3_COUNT_DEADZONE++; |
Lightvalve | 50:3c630b5eba9f | 845 | // break; |
Lightvalve | 50:3c630b5eba9f | 846 | // } |
Lightvalve | 14:8e7590227d22 | 847 | |
Lightvalve | 14:8e7590227d22 | 848 | case MODE_FIND_HOME: { |
Lightvalve | 29:69f3f5445d6d | 849 | if (FINDHOME_STAGE == FINDHOME_INIT) { |
Lightvalve | 14:8e7590227d22 | 850 | cnt_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 851 | cnt_vel_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 852 | //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO |
Lightvalve | 59:f308b1656d9c | 853 | pos.ref = pos.sen; |
Lightvalve | 59:f308b1656d9c | 854 | vel.ref = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 855 | FINDHOME_STAGE = FINDHOME_GOTOLIMIT; |
Lightvalve | 29:69f3f5445d6d | 856 | } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) { |
Lightvalve | 67:c2812cf26c38 | 857 | int cnt_check_enc = (TMR_FREQ_5k/20); |
Lightvalve | 29:69f3f5445d6d | 858 | if(cnt_findhome%cnt_check_enc == 0) { |
Lightvalve | 29:69f3f5445d6d | 859 | FINDHOME_POSITION = pos.sen; |
Lightvalve | 29:69f3f5445d6d | 860 | FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD; |
Lightvalve | 29:69f3f5445d6d | 861 | FINDHOME_POSITION_OLD = FINDHOME_POSITION; |
Lightvalve | 29:69f3f5445d6d | 862 | } |
Lightvalve | 29:69f3f5445d6d | 863 | cnt_findhome++; |
Lightvalve | 14:8e7590227d22 | 864 | |
Lightvalve | 29:69f3f5445d6d | 865 | if (abs(FINDHOME_VELOCITY) <= 1) { |
Lightvalve | 29:69f3f5445d6d | 866 | cnt_vel_findhome = cnt_vel_findhome + 1; |
Lightvalve | 29:69f3f5445d6d | 867 | } else { |
Lightvalve | 29:69f3f5445d6d | 868 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 869 | } |
Lightvalve | 19:23b7c1ad8683 | 870 | |
Lightvalve | 57:f4819de54e7a | 871 | if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec |
Lightvalve | 29:69f3f5445d6d | 872 | //REFERENCE_MODE = MODE_REF_NO_ACT; |
Lightvalve | 67:c2812cf26c38 | 873 | if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f; |
Lightvalve | 67:c2812cf26c38 | 874 | else pos.ref = pos.ref - 12.0f; |
Lightvalve | 61:bc8c8270f0ab | 875 | |
Lightvalve | 59:f308b1656d9c | 876 | // pos.err = pos.ref_home_pos - pos.sen; |
Lightvalve | 59:f308b1656d9c | 877 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 878 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f; |
Lightvalve | 59:f308b1656d9c | 879 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 880 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 881 | |
Lightvalve | 59:f308b1656d9c | 882 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 59:f308b1656d9c | 883 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 884 | |
Lightvalve | 34:bb2ca2fc2a8e | 885 | |
Lightvalve | 29:69f3f5445d6d | 886 | } else { |
Lightvalve | 29:69f3f5445d6d | 887 | ENC_SET(HOMEPOS_OFFSET); |
Lightvalve | 67:c2812cf26c38 | 888 | // ENC_SET_ZERO(); |
Lightvalve | 29:69f3f5445d6d | 889 | INIT_REF_POS = HOMEPOS_OFFSET; |
Lightvalve | 29:69f3f5445d6d | 890 | REF_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 891 | REF_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 892 | FINDHOME_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 893 | FINDHOME_POSITION_OLD = 0; |
Lightvalve | 29:69f3f5445d6d | 894 | FINDHOME_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 895 | cnt_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 896 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 897 | FINDHOME_STAGE = FINDHOME_ZEROPOSE; |
Lightvalve | 67:c2812cf26c38 | 898 | |
Lightvalve | 67:c2812cf26c38 | 899 | |
Lightvalve | 67:c2812cf26c38 | 900 | cnt_findhome = 0; |
Lightvalve | 67:c2812cf26c38 | 901 | pos.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 902 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 903 | pos.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 904 | vel.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 905 | //FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 67:c2812cf26c38 | 906 | //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 907 | |
Lightvalve | 67:c2812cf26c38 | 908 | |
Lightvalve | 29:69f3f5445d6d | 909 | } |
Lightvalve | 29:69f3f5445d6d | 910 | } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) { |
Lightvalve | 29:69f3f5445d6d | 911 | int T_move = 2*TMR_FREQ_5k; |
Lightvalve | 59:f308b1656d9c | 912 | 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 | 913 | //pos.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 914 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 915 | |
Lightvalve | 29:69f3f5445d6d | 916 | // input for position control |
Lightvalve | 67:c2812cf26c38 | 917 | |
Lightvalve | 67:c2812cf26c38 | 918 | // CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 919 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 920 | |
Lightvalve | 67:c2812cf26c38 | 921 | double torq_ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 922 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 923 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 67:c2812cf26c38 | 924 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 925 | |
Lightvalve | 67:c2812cf26c38 | 926 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 67:c2812cf26c38 | 927 | |
Lightvalve | 67:c2812cf26c38 | 928 | double I_REF_POS = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 929 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 67:c2812cf26c38 | 930 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 67:c2812cf26c38 | 931 | |
Lightvalve | 67:c2812cf26c38 | 932 | double temp_vel_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 933 | double temp_vel_torq = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 934 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 67:c2812cf26c38 | 935 | |
Lightvalve | 69:3995ffeaa786 | 936 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 67:c2812cf26c38 | 937 | 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 | 938 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 939 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 67:c2812cf26c38 | 940 | 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 | 941 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 67:c2812cf26c38 | 942 | } |
Lightvalve | 67:c2812cf26c38 | 943 | 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 | 944 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 67:c2812cf26c38 | 945 | |
Lightvalve | 67:c2812cf26c38 | 946 | I_REF = I_REF_POS; |
Lightvalve | 67:c2812cf26c38 | 947 | |
Lightvalve | 67:c2812cf26c38 | 948 | |
Lightvalve | 67:c2812cf26c38 | 949 | |
Lightvalve | 67:c2812cf26c38 | 950 | } else { |
Lightvalve | 67:c2812cf26c38 | 951 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 952 | 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 | 953 | |
Lightvalve | 67:c2812cf26c38 | 954 | if (VALVE_POS_RAW_FORCE_FB >= 0) { |
Lightvalve | 67:c2812cf26c38 | 955 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS; |
Lightvalve | 67:c2812cf26c38 | 956 | } else { |
Lightvalve | 67:c2812cf26c38 | 957 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS; |
Lightvalve | 67:c2812cf26c38 | 958 | } |
Lightvalve | 67:c2812cf26c38 | 959 | |
Lightvalve | 67:c2812cf26c38 | 960 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 67:c2812cf26c38 | 961 | |
Lightvalve | 67:c2812cf26c38 | 962 | V_out = (float) Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 963 | |
Lightvalve | 67:c2812cf26c38 | 964 | } |
Lightvalve | 67:c2812cf26c38 | 965 | |
Lightvalve | 67:c2812cf26c38 | 966 | |
Lightvalve | 67:c2812cf26c38 | 967 | |
Lightvalve | 67:c2812cf26c38 | 968 | |
Lightvalve | 59:f308b1656d9c | 969 | // pos.err = pos.ref - (float)pos.sen; |
Lightvalve | 59:f308b1656d9c | 970 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 971 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 59:f308b1656d9c | 972 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 973 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 29:69f3f5445d6d | 974 | |
Lightvalve | 29:69f3f5445d6d | 975 | cnt_findhome++; |
Lightvalve | 29:69f3f5445d6d | 976 | if (cnt_findhome >= T_move) { |
Lightvalve | 29:69f3f5445d6d | 977 | //REFERENCE_MODE = MODE_REF_DIRECT; |
Lightvalve | 29:69f3f5445d6d | 978 | cnt_findhome = 0; |
Lightvalve | 30:8d561f16383b | 979 | pos.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 980 | vel.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 981 | pos.ref_home_pos = 0.0f; |
Lightvalve | 30:8d561f16383b | 982 | vel.ref_home_pos = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 983 | FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 57:f4819de54e7a | 984 | CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 29:69f3f5445d6d | 985 | } |
Lightvalve | 13:747daba9cf59 | 986 | } |
Lightvalve | 19:23b7c1ad8683 | 987 | |
Lightvalve | 13:747daba9cf59 | 988 | break; |
Lightvalve | 13:747daba9cf59 | 989 | } |
Lightvalve | 14:8e7590227d22 | 990 | |
Lightvalve | 50:3c630b5eba9f | 991 | // case MODE_VALVE_GAIN_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 992 | // if (TMR3_COUNT_FLOWRATE == 0) { |
Lightvalve | 50:3c630b5eba9f | 993 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 994 | // else { |
Lightvalve | 50:3c630b5eba9f | 995 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 996 | // temp_time = (int) (0.5f * (float) TMR_FREQ_5k); |
Lightvalve | 50:3c630b5eba9f | 997 | // } |
Lightvalve | 50:3c630b5eba9f | 998 | // } |
Lightvalve | 50:3c630b5eba9f | 999 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 1000 | // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 1001 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1002 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1003 | // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1004 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1005 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1006 | // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1007 | // need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 1008 | // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1009 | // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1010 | // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init; |
Lightvalve | 50:3c630b5eba9f | 1011 | // } |
Lightvalve | 50:3c630b5eba9f | 1012 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 1013 | // } |
Lightvalve | 50:3c630b5eba9f | 1014 | // TMR3_COUNT_FLOWRATE++; |
Lightvalve | 50:3c630b5eba9f | 1015 | // if (TMR3_COUNT_FLOWRATE > temp_time) { |
Lightvalve | 50:3c630b5eba9f | 1016 | // if (flag_flowrate % 2 == 0) { // (+) |
Lightvalve | 50:3c630b5eba9f | 1017 | // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1018 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1019 | // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1020 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1021 | // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1022 | // 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 | 1023 | // // 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 | 1024 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1025 | // } |
Lightvalve | 50:3c630b5eba9f | 1026 | // } else if (flag_flowrate % 2 == 1) { // (-) |
Lightvalve | 50:3c630b5eba9f | 1027 | // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1028 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1029 | // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1030 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1031 | // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1032 | // 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 | 1033 | // // 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 | 1034 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1035 | // } |
Lightvalve | 50:3c630b5eba9f | 1036 | // } |
Lightvalve | 50:3c630b5eba9f | 1037 | // if (fl_temp_cnt2 == 100) { |
Lightvalve | 50:3c630b5eba9f | 1038 | // |
Lightvalve | 50:3c630b5eba9f | 1039 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1040 | // |
Lightvalve | 50:3c630b5eba9f | 1041 | // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1042 | // cur_vel_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1043 | // fl_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1044 | // fl_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1045 | // flag_flowrate++; |
Lightvalve | 50:3c630b5eba9f | 1046 | // } |
Lightvalve | 50:3c630b5eba9f | 1047 | // if (flag_flowrate == 10) { |
Lightvalve | 50:3c630b5eba9f | 1048 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1049 | // flag_flowrate = 0; |
Lightvalve | 50:3c630b5eba9f | 1050 | // TMR3_COUNT_FLOWRATE = 0; |
Lightvalve | 50:3c630b5eba9f | 1051 | // valve_gain_repeat_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1052 | // if (valve_gain_repeat_cnt >= 1) { |
Lightvalve | 50:3c630b5eba9f | 1053 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1054 | // valve_gain_repeat_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1055 | // } |
Lightvalve | 50:3c630b5eba9f | 1056 | // |
Lightvalve | 50:3c630b5eba9f | 1057 | // } |
Lightvalve | 50:3c630b5eba9f | 1058 | // break; |
Lightvalve | 50:3c630b5eba9f | 1059 | // } |
Lightvalve | 50:3c630b5eba9f | 1060 | // |
Lightvalve | 50:3c630b5eba9f | 1061 | // } |
Lightvalve | 14:8e7590227d22 | 1062 | case MODE_PRESSURE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1063 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1064 | if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 14:8e7590227d22 | 1065 | CUR_PRES_A_sum += pres_A.sen; |
Lightvalve | 14:8e7590227d22 | 1066 | CUR_PRES_B_sum += pres_B.sen; |
Lightvalve | 14:8e7590227d22 | 1067 | |
Lightvalve | 14:8e7590227d22 | 1068 | if (TMR3_COUNT_PRES_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1069 | CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f; |
Lightvalve | 30:8d561f16383b | 1070 | CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1071 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1072 | CUR_PRES_B_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1073 | |
Lightvalve | 38:118df027d851 | 1074 | float VREF_NullingGain = 0.0003f; |
Lightvalve | 58:2eade98630e2 | 1075 | PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean; |
Lightvalve | 58:2eade98630e2 | 1076 | PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean; |
Lightvalve | 14:8e7590227d22 | 1077 | |
Lightvalve | 30:8d561f16383b | 1078 | if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1079 | if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f; |
Lightvalve | 30:8d561f16383b | 1080 | if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1081 | if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f; |
Lightvalve | 19:23b7c1ad8683 | 1082 | |
Lightvalve | 30:8d561f16383b | 1083 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1084 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1085 | } |
Lightvalve | 13:747daba9cf59 | 1086 | } else { |
Lightvalve | 57:f4819de54e7a | 1087 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1088 | TMR3_COUNT_PRES_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1089 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1090 | CUR_PRES_B_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1091 | CUR_PRES_A_mean = 0; |
Lightvalve | 13:747daba9cf59 | 1092 | CUR_PRES_B_mean = 0; |
Lightvalve | 14:8e7590227d22 | 1093 | |
Lightvalve | 16:903b5a4433b4 | 1094 | ROM_RESET_DATA(); |
Lightvalve | 19:23b7c1ad8683 | 1095 | |
Lightvalve | 30:8d561f16383b | 1096 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1097 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 17:1865016ca2e7 | 1098 | //pc.printf("nulling end"); |
Lightvalve | 13:747daba9cf59 | 1099 | } |
Lightvalve | 14:8e7590227d22 | 1100 | TMR3_COUNT_PRES_NULL++; |
Lightvalve | 13:747daba9cf59 | 1101 | break; |
Lightvalve | 13:747daba9cf59 | 1102 | } |
Lightvalve | 14:8e7590227d22 | 1103 | |
Lightvalve | 50:3c630b5eba9f | 1104 | // case MODE_PRESSURE_SENSOR_CALIB: { |
Lightvalve | 50:3c630b5eba9f | 1105 | // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1106 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1107 | // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1108 | // CUR_PRES_A_sum += CUR_PRES_A; |
Lightvalve | 50:3c630b5eba9f | 1109 | // } |
Lightvalve | 50:3c630b5eba9f | 1110 | // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1111 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1112 | // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1113 | // CUR_PRES_B_sum += CUR_PRES_B; |
Lightvalve | 50:3c630b5eba9f | 1114 | // } |
Lightvalve | 50:3c630b5eba9f | 1115 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1116 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1117 | // TMR3_COUNT_PRES_CALIB = 0; |
Lightvalve | 50:3c630b5eba9f | 1118 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1119 | // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL; |
Lightvalve | 50:3c630b5eba9f | 1120 | // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1121 | // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL; |
Lightvalve | 50:3c630b5eba9f | 1122 | // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1123 | // CUR_PRES_A_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1124 | // CUR_PRES_B_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1125 | // CUR_PRES_A_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1126 | // CUR_PRES_B_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1127 | // |
Lightvalve | 50:3c630b5eba9f | 1128 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1129 | // |
Lightvalve | 50:3c630b5eba9f | 1130 | // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1131 | // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1132 | // } |
Lightvalve | 50:3c630b5eba9f | 1133 | // TMR3_COUNT_PRES_CALIB++; |
Lightvalve | 50:3c630b5eba9f | 1134 | // break; |
Lightvalve | 50:3c630b5eba9f | 1135 | // } |
Lightvalve | 19:23b7c1ad8683 | 1136 | |
Lightvalve | 50:3c630b5eba9f | 1137 | // case MODE_ROTARY_FRICTION_TUNING: { |
Lightvalve | 50:3c630b5eba9f | 1138 | // 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 | 1139 | // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f); |
Lightvalve | 50:3c630b5eba9f | 1140 | // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1141 | // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1142 | // TMR3_COUNT_ROTARY_FRIC_TUNE++; |
Lightvalve | 50:3c630b5eba9f | 1143 | // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1144 | // TMR3_COUNT_ROTARY_FRIC_TUNE = 0; |
Lightvalve | 50:3c630b5eba9f | 1145 | // V_out = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1146 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1147 | // } |
Lightvalve | 50:3c630b5eba9f | 1148 | // break; |
Lightvalve | 50:3c630b5eba9f | 1149 | // } |
Lightvalve | 14:8e7590227d22 | 1150 | |
Lightvalve | 14:8e7590227d22 | 1151 | case MODE_DDV_POS_VS_PWM_ID: { |
Lightvalve | 59:f308b1656d9c | 1152 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1153 | VALVE_ID_timer = VALVE_ID_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1154 | |
Lightvalve | 14:8e7590227d22 | 1155 | if(VALVE_ID_timer < TMR_FREQ_5k*1) { |
Lightvalve | 60:64181f1d3e60 | 1156 | Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f); |
Lightvalve | 14:8e7590227d22 | 1157 | } else if(VALVE_ID_timer < TMR_FREQ_5k*2) { |
Lightvalve | 59:f308b1656d9c | 1158 | Vout.ref = 1000.0f*(ID_index_array[ID_index]); |
Lightvalve | 14:8e7590227d22 | 1159 | } else if(VALVE_ID_timer == TMR_FREQ_5k*2) { |
Lightvalve | 13:747daba9cf59 | 1160 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1161 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1162 | } else if(VALVE_ID_timer < TMR_FREQ_5k*3) { |
Lightvalve | 13:747daba9cf59 | 1163 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1164 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 14:8e7590227d22 | 1165 | } else if(VALVE_ID_timer == TMR_FREQ_5k*3) { |
Lightvalve | 59:f308b1656d9c | 1166 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1167 | } else { |
Lightvalve | 13:747daba9cf59 | 1168 | VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num; |
Lightvalve | 13:747daba9cf59 | 1169 | VALVE_ID_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1170 | ID_index= ID_index +1; |
Lightvalve | 13:747daba9cf59 | 1171 | } |
Lightvalve | 14:8e7590227d22 | 1172 | |
Lightvalve | 17:1865016ca2e7 | 1173 | if(ID_index>=25) { |
Lightvalve | 13:747daba9cf59 | 1174 | int i; |
Lightvalve | 13:747daba9cf59 | 1175 | VALVE_POS_AVG_OLD = VALVE_POS_AVG[0]; |
Lightvalve | 17:1865016ca2e7 | 1176 | for(i=0; i<25; i++) { |
Lightvalve | 13:747daba9cf59 | 1177 | VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]); |
Lightvalve | 14:8e7590227d22 | 1178 | if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1179 | VALVE_MAX_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1180 | VALVE_POS_AVG_OLD = VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1181 | } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1182 | VALVE_MIN_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1183 | VALVE_POS_AVG_OLD = VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1184 | } |
Lightvalve | 13:747daba9cf59 | 1185 | } |
Lightvalve | 59:f308b1656d9c | 1186 | ROM_RESET_DATA(); |
Lightvalve | 13:747daba9cf59 | 1187 | ID_index = 0; |
Lightvalve | 57:f4819de54e7a | 1188 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1189 | } |
Lightvalve | 14:8e7590227d22 | 1190 | |
Lightvalve | 14:8e7590227d22 | 1191 | |
Lightvalve | 13:747daba9cf59 | 1192 | break; |
Lightvalve | 13:747daba9cf59 | 1193 | } |
Lightvalve | 14:8e7590227d22 | 1194 | |
Lightvalve | 14:8e7590227d22 | 1195 | case MODE_DDV_DEADZONE_AND_CENTER: { |
Lightvalve | 59:f308b1656d9c | 1196 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1197 | VALVE_DZ_timer = VALVE_DZ_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1198 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1199 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1200 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1201 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1202 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1203 | pos_plus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1204 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1205 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1206 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1207 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1208 | pos_minus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1209 | } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1210 | 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 | 1211 | } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1212 | 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 | 1213 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1214 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 30:8d561f16383b | 1215 | } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1216 | 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 | 1217 | DDV_POS_AVG = VALVE_POS_TMP / data_num; |
Lightvalve | 14:8e7590227d22 | 1218 | START_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1219 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1220 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1221 | |
Lightvalve | 30:8d561f16383b | 1222 | } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1223 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1224 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1225 | |
Lightvalve | 30:8d561f16383b | 1226 | } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1227 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1228 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1229 | |
Lightvalve | 30:8d561f16383b | 1230 | } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1231 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1232 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1233 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1234 | |
Lightvalve | 60:64181f1d3e60 | 1235 | if((FINAL_POS - START_POS)>200) { |
Lightvalve | 13:747daba9cf59 | 1236 | DZ_case = 1; |
Lightvalve | 60:64181f1d3e60 | 1237 | } else if((FINAL_POS - START_POS)<-200) { |
Lightvalve | 13:747daba9cf59 | 1238 | DZ_case = -1; |
Lightvalve | 14:8e7590227d22 | 1239 | } else { |
Lightvalve | 13:747daba9cf59 | 1240 | DZ_case = 0; |
Lightvalve | 13:747daba9cf59 | 1241 | } |
Lightvalve | 61:bc8c8270f0ab | 1242 | |
Lightvalve | 60:64181f1d3e60 | 1243 | CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6)); |
Lightvalve | 50:3c630b5eba9f | 1244 | |
Lightvalve | 13:747daba9cf59 | 1245 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1246 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1247 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1248 | Ref_Valve_Pos_Old = DDV_POS_AVG; |
Lightvalve | 13:747daba9cf59 | 1249 | DZ_NUM = 1; |
Lightvalve | 13:747daba9cf59 | 1250 | DZ_index = 1; |
Lightvalve | 14:8e7590227d22 | 1251 | |
Lightvalve | 13:747daba9cf59 | 1252 | } |
Lightvalve | 19:23b7c1ad8683 | 1253 | } else { |
Lightvalve | 14:8e7590227d22 | 1254 | if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) { |
Lightvalve | 30:8d561f16383b | 1255 | if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1256 | 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 | 1257 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1258 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1259 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1260 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1261 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1262 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1263 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1264 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1265 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1266 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1267 | } |
Lightvalve | 14:8e7590227d22 | 1268 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1269 | |
Lightvalve | 30:8d561f16383b | 1270 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1271 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1272 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1273 | |
Lightvalve | 14:8e7590227d22 | 1274 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 1275 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1276 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 1277 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1278 | } else { |
Lightvalve | 13:747daba9cf59 | 1279 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 1280 | } |
Lightvalve | 14:8e7590227d22 | 1281 | |
Lightvalve | 13:747daba9cf59 | 1282 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1283 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1284 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1285 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 1286 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 1287 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 1288 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1289 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1290 | } |
Lightvalve | 13:747daba9cf59 | 1291 | } |
Lightvalve | 14:8e7590227d22 | 1292 | } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) { |
Lightvalve | 30:8d561f16383b | 1293 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1294 | 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 | 1295 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1296 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1297 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1298 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1299 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1300 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1301 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1302 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1303 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1304 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1305 | } |
Lightvalve | 14:8e7590227d22 | 1306 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1307 | |
Lightvalve | 30:8d561f16383b | 1308 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1309 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1310 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1311 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1312 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1313 | |
Lightvalve | 14:8e7590227d22 | 1314 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 60:64181f1d3e60 | 1315 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1316 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 1317 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1318 | } else { |
Lightvalve | 60:64181f1d3e60 | 1319 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 1320 | } |
Lightvalve | 14:8e7590227d22 | 1321 | |
Lightvalve | 13:747daba9cf59 | 1322 | VALVE_DZ_timer = 0; |
Lightvalve | 60:64181f1d3e60 | 1323 | DZ_index= DZ_index * 2; |
Lightvalve | 14:8e7590227d22 | 1324 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1325 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 1326 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 1327 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 1328 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 1329 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 19:23b7c1ad8683 | 1330 | |
Lightvalve | 16:903b5a4433b4 | 1331 | ROM_RESET_DATA(); |
Lightvalve | 34:bb2ca2fc2a8e | 1332 | |
Lightvalve | 60:64181f1d3e60 | 1333 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1334 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1335 | } |
Lightvalve | 13:747daba9cf59 | 1336 | } |
Lightvalve | 14:8e7590227d22 | 1337 | } else if(DZ_case == 0 && DZ_NUM ==1) { |
Lightvalve | 30:8d561f16383b | 1338 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1339 | 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 | 1340 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1341 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1342 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1343 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1344 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1345 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1346 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1347 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1348 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1349 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1350 | } |
Lightvalve | 14:8e7590227d22 | 1351 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1352 | |
Lightvalve | 30:8d561f16383b | 1353 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1354 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1355 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1356 | |
Lightvalve | 14:8e7590227d22 | 1357 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 1358 | DZ_DIRECTION = 1; |
Lightvalve | 14:8e7590227d22 | 1359 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 1360 | DZ_DIRECTION = -1; |
Lightvalve | 14:8e7590227d22 | 1361 | } else { |
Lightvalve | 13:747daba9cf59 | 1362 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1363 | } |
Lightvalve | 13:747daba9cf59 | 1364 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1365 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1366 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1367 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 1368 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 1369 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 1370 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1371 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1372 | } |
Lightvalve | 13:747daba9cf59 | 1373 | } |
Lightvalve | 14:8e7590227d22 | 1374 | } else { |
Lightvalve | 30:8d561f16383b | 1375 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1376 | 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 | 1377 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1378 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1379 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1380 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1381 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1382 | valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1383 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1384 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1385 | } else if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1386 | valve_pos.ref = VALVE_MAX_POS - 1; |
Lightvalve | 13:747daba9cf59 | 1387 | } |
Lightvalve | 14:8e7590227d22 | 1388 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1389 | |
Lightvalve | 30:8d561f16383b | 1390 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1391 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1392 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1393 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1394 | FINAL_POS = pos.sen; |
Lightvalve | 61:bc8c8270f0ab | 1395 | |
Lightvalve | 60:64181f1d3e60 | 1396 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 13:747daba9cf59 | 1397 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 1398 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 1399 | DZ_DIRECTION = -1; |
Lightvalve | 60:64181f1d3e60 | 1400 | } else { |
Lightvalve | 13:747daba9cf59 | 1401 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 1402 | } |
Lightvalve | 14:8e7590227d22 | 1403 | |
Lightvalve | 13:747daba9cf59 | 1404 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1405 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1406 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1407 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 1408 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 1409 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 1410 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 1411 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 61:bc8c8270f0ab | 1412 | |
Lightvalve | 59:f308b1656d9c | 1413 | ROM_RESET_DATA(); |
Lightvalve | 34:bb2ca2fc2a8e | 1414 | |
Lightvalve | 57:f4819de54e7a | 1415 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1416 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1417 | } |
Lightvalve | 13:747daba9cf59 | 1418 | } |
Lightvalve | 13:747daba9cf59 | 1419 | } |
Lightvalve | 14:8e7590227d22 | 1420 | } |
Lightvalve | 13:747daba9cf59 | 1421 | break; |
Lightvalve | 13:747daba9cf59 | 1422 | } |
Lightvalve | 14:8e7590227d22 | 1423 | |
Lightvalve | 14:8e7590227d22 | 1424 | case MODE_DDV_POS_VS_FLOWRATE: { |
Lightvalve | 59:f308b1656d9c | 1425 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1426 | VALVE_FR_timer = VALVE_FR_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1427 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1428 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1429 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 23:59218d4a256d | 1430 | //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 30:8d561f16383b | 1431 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1432 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1433 | pos_plus_end = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1434 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7)); |
Lightvalve | 30:8d561f16383b | 1435 | } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1436 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1437 | } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1438 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8)); |
Lightvalve | 59:f308b1656d9c | 1439 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1440 | pos_minus_end = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1441 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1442 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 1443 | valve_pos.ref = (float) VALVE_CENTER; |
Lightvalve | 13:747daba9cf59 | 1444 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 1445 | max_check = 0; |
Lightvalve | 13:747daba9cf59 | 1446 | min_check = 0; |
Lightvalve | 13:747daba9cf59 | 1447 | } |
Lightvalve | 14:8e7590227d22 | 1448 | } else { |
Lightvalve | 30:8d561f16383b | 1449 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1450 | //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 | 1451 | pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 59:f308b1656d9c | 1452 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1453 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 13:747daba9cf59 | 1454 | data_num = 0; |
Lightvalve | 57:f4819de54e7a | 1455 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 1456 | |
Lightvalve | 14:8e7590227d22 | 1457 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1458 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1459 | } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f4819de54e7a | 1460 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 1461 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 13:747daba9cf59 | 1462 | data_num = data_num + 1; |
Lightvalve | 30:8d561f16383b | 1463 | if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) { |
Lightvalve | 14:8e7590227d22 | 1464 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1465 | one_period_end = 1; |
Lightvalve | 13:747daba9cf59 | 1466 | } |
Lightvalve | 30:8d561f16383b | 1467 | } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1468 | FINAL_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1469 | one_period_end = 1; |
Lightvalve | 59:f308b1656d9c | 1470 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1471 | } |
Lightvalve | 14:8e7590227d22 | 1472 | |
Lightvalve | 14:8e7590227d22 | 1473 | if(one_period_end == 1) { |
Lightvalve | 14:8e7590227d22 | 1474 | if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 13:747daba9cf59 | 1475 | max_check = 1; |
Lightvalve | 14:8e7590227d22 | 1476 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 13:747daba9cf59 | 1477 | min_check = 1; |
Lightvalve | 13:747daba9cf59 | 1478 | } |
Lightvalve | 13:747daba9cf59 | 1479 | JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec |
Lightvalve | 19:23b7c1ad8683 | 1480 | |
Lightvalve | 13:747daba9cf59 | 1481 | VALVE_FR_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1482 | one_period_end = 0; |
Lightvalve | 13:747daba9cf59 | 1483 | ID_index= ID_index +1; |
Lightvalve | 30:8d561f16383b | 1484 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1485 | } |
Lightvalve | 14:8e7590227d22 | 1486 | |
Lightvalve | 14:8e7590227d22 | 1487 | if(max_check == 1 && min_check == 1) { |
Lightvalve | 19:23b7c1ad8683 | 1488 | |
Lightvalve | 13:747daba9cf59 | 1489 | VALVE_POS_NUM = ID_index; |
Lightvalve | 59:f308b1656d9c | 1490 | ROM_RESET_DATA(); |
Lightvalve | 13:747daba9cf59 | 1491 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 1492 | first_check = 0; |
Lightvalve | 13:747daba9cf59 | 1493 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 1494 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 49:e7bcfc244d40 | 1495 | // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 13:747daba9cf59 | 1496 | } |
Lightvalve | 13:747daba9cf59 | 1497 | } |
Lightvalve | 13:747daba9cf59 | 1498 | break; |
Lightvalve | 13:747daba9cf59 | 1499 | } |
Lightvalve | 58:2eade98630e2 | 1500 | |
Lightvalve | 57:f4819de54e7a | 1501 | case MODE_SYSTEM_ID: { |
Lightvalve | 57:f4819de54e7a | 1502 | freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.; |
Lightvalve | 57:f4819de54e7a | 1503 | valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3); |
Lightvalve | 57:f4819de54e7a | 1504 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 57:f4819de54e7a | 1505 | cnt_sysid++; |
Lightvalve | 57:f4819de54e7a | 1506 | if (freq_sysid_Iref >= 300) { |
Lightvalve | 57:f4819de54e7a | 1507 | cnt_sysid = 0; |
Lightvalve | 57:f4819de54e7a | 1508 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1509 | } |
Lightvalve | 57:f4819de54e7a | 1510 | break; |
Lightvalve | 57:f4819de54e7a | 1511 | } |
Lightvalve | 58:2eade98630e2 | 1512 | |
Lightvalve | 58:2eade98630e2 | 1513 | |
Lightvalve | 57:f4819de54e7a | 1514 | |
Lightvalve | 57:f4819de54e7a | 1515 | default: |
Lightvalve | 57:f4819de54e7a | 1516 | break; |
Lightvalve | 57:f4819de54e7a | 1517 | } |
Lightvalve | 57:f4819de54e7a | 1518 | |
Lightvalve | 57:f4819de54e7a | 1519 | // CONTROL MODE ------------------------------------------------------------ |
Lightvalve | 57:f4819de54e7a | 1520 | |
Lightvalve | 57:f4819de54e7a | 1521 | switch (CONTROL_MODE) { |
Lightvalve | 57:f4819de54e7a | 1522 | case MODE_NO_ACT: { |
Lightvalve | 57:f4819de54e7a | 1523 | V_out = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1524 | break; |
Lightvalve | 57:f4819de54e7a | 1525 | } |
Lightvalve | 57:f4819de54e7a | 1526 | |
Lightvalve | 57:f4819de54e7a | 1527 | case MODE_VALVE_POSITION_CONTROL: { |
Lightvalve | 67:c2812cf26c38 | 1528 | if (OPERATING_MODE == 5) { //SW Valve |
Lightvalve | 57:f4819de54e7a | 1529 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 59:f308b1656d9c | 1530 | V_out = Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 1531 | } else if (CURRENT_CONTROL_MODE == 0) { //PWM |
Lightvalve | 67:c2812cf26c38 | 1532 | V_out = valve_pos.ref; |
Lightvalve | 67:c2812cf26c38 | 1533 | } else { |
Lightvalve | 67:c2812cf26c38 | 1534 | I_REF = valve_pos.ref * 0.001f; |
Lightvalve | 57:f4819de54e7a | 1535 | } |
Lightvalve | 58:2eade98630e2 | 1536 | |
Lightvalve | 57:f4819de54e7a | 1537 | break; |
Lightvalve | 57:f4819de54e7a | 1538 | } |
Lightvalve | 57:f4819de54e7a | 1539 | |
Lightvalve | 57:f4819de54e7a | 1540 | case MODE_JOINT_CONTROL: { |
Lightvalve | 57:f4819de54e7a | 1541 | double torq_ref = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1542 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 1543 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 57:f4819de54e7a | 1544 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 1545 | |
Lightvalve | 67:c2812cf26c38 | 1546 | //K & D Low Pass Filter |
Lightvalve | 67:c2812cf26c38 | 1547 | float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz |
Lightvalve | 67:c2812cf26c38 | 1548 | K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 1549 | D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 1550 | |
Lightvalve | 67:c2812cf26c38 | 1551 | torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N] |
Lightvalve | 57:f4819de54e7a | 1552 | |
Lightvalve | 57:f4819de54e7a | 1553 | // torque feedback |
Lightvalve | 67:c2812cf26c38 | 1554 | torq.err = torq_ref - torq.sen; //[N] |
Lightvalve | 57:f4819de54e7a | 1555 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 57:f4819de54e7a | 1556 | |
Lightvalve | 57:f4819de54e7a | 1557 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 58:2eade98630e2 | 1558 | |
Lightvalve | 57:f4819de54e7a | 1559 | double I_REF_POS = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1560 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 57:f4819de54e7a | 1561 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 57:f4819de54e7a | 1562 | |
Lightvalve | 57:f4819de54e7a | 1563 | double temp_vel_pos = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1564 | double temp_vel_torq = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1565 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 58:2eade98630e2 | 1566 | |
Lightvalve | 69:3995ffeaa786 | 1567 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 1568 | 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 | 1569 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1570 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 1571 | 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 | 1572 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 1573 | } |
Lightvalve | 57:f4819de54e7a | 1574 | 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 | 1575 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 1576 | |
Lightvalve | 57:f4819de54e7a | 1577 | // velocity compensation for torque control |
Lightvalve | 69:3995ffeaa786 | 1578 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 1579 | I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); |
Lightvalve | 57:f4819de54e7a | 1580 | // 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 | 1581 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s |
Lightvalve | 57:f4819de54e7a | 1582 | // L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1583 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 1584 | 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 | 1585 | // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 1586 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 1587 | // L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 1588 | } |
Lightvalve | 57:f4819de54e7a | 1589 | 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 | 1590 | else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 1591 | // L velocity(rad/s or mm/s) >> I_ref(mA) |
Lightvalve | 57:f4819de54e7a | 1592 | // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k; |
Lightvalve | 57:f4819de54e7a | 1593 | // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm; |
Lightvalve | 57:f4819de54e7a | 1594 | |
Lightvalve | 57:f4819de54e7a | 1595 | I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB); |
Lightvalve | 67:c2812cf26c38 | 1596 | |
Lightvalve | 67:c2812cf26c38 | 1597 | // Anti-windup for FT |
Lightvalve | 67:c2812cf26c38 | 1598 | if (I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 67:c2812cf26c38 | 1599 | double I_MAX = 10.0f; // Maximum Current : 10mV |
Lightvalve | 67:c2812cf26c38 | 1600 | double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f); |
Lightvalve | 67:c2812cf26c38 | 1601 | if (I_REF > I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 1602 | double I_rem = I_REF - I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1603 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 1604 | I_REF = I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1605 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 1606 | } else if (I_REF < -I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 1607 | double I_rem = I_REF - (-I_MAX); |
Lightvalve | 67:c2812cf26c38 | 1608 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 1609 | I_REF = -I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1610 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 1611 | } |
Lightvalve | 67:c2812cf26c38 | 1612 | } |
Lightvalve | 57:f4819de54e7a | 1613 | |
Lightvalve | 57:f4819de54e7a | 1614 | } else { |
Lightvalve | 57:f4819de54e7a | 1615 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 72:3436ce769b1e | 1616 | float VALVE_POS_RAW_FORCE_FF = 0.0f; |
Lightvalve | 72:3436ce769b1e | 1617 | float VALVE_POS_RAW = 0.0f; |
Lightvalve | 72:3436ce769b1e | 1618 | |
Lightvalve | 57:f4819de54e7a | 1619 | 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 | 1620 | + 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 | 1621 | |
Lightvalve | 72:3436ce769b1e | 1622 | 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 | 1623 | |
Lightvalve | 72:3436ce769b1e | 1624 | VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF; |
Lightvalve | 72:3436ce769b1e | 1625 | |
Lightvalve | 72:3436ce769b1e | 1626 | |
Lightvalve | 72:3436ce769b1e | 1627 | if (VALVE_POS_RAW >= 0) { |
Lightvalve | 72:3436ce769b1e | 1628 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS; |
Lightvalve | 57:f4819de54e7a | 1629 | } else { |
Lightvalve | 72:3436ce769b1e | 1630 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS; |
Lightvalve | 57:f4819de54e7a | 1631 | } |
Lightvalve | 57:f4819de54e7a | 1632 | |
Lightvalve | 57:f4819de54e7a | 1633 | if(I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 57:f4819de54e7a | 1634 | double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; |
Lightvalve | 57:f4819de54e7a | 1635 | if(valve_pos.ref>VALVE_MAX_POS) { |
Lightvalve | 57:f4819de54e7a | 1636 | double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 1637 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 1638 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 1639 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 1640 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 57:f4819de54e7a | 1641 | double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 1642 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 1643 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 1644 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 1645 | } |
Lightvalve | 57:f4819de54e7a | 1646 | } |
Lightvalve | 61:bc8c8270f0ab | 1647 | |
Lightvalve | 57:f4819de54e7a | 1648 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1649 | |
Lightvalve | 67:c2812cf26c38 | 1650 | // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err); |
Lightvalve | 60:64181f1d3e60 | 1651 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 1652 | |
Lightvalve | 57:f4819de54e7a | 1653 | } |
Lightvalve | 72:3436ce769b1e | 1654 | |
Lightvalve | 72:3436ce769b1e | 1655 | torq_ref_past = torq_ref; |
Lightvalve | 58:2eade98630e2 | 1656 | |
Lightvalve | 57:f4819de54e7a | 1657 | break; |
Lightvalve | 57:f4819de54e7a | 1658 | } |
Lightvalve | 58:2eade98630e2 | 1659 | |
Lightvalve | 57:f4819de54e7a | 1660 | case MODE_VALVE_OPEN_LOOP: { |
Lightvalve | 57:f4819de54e7a | 1661 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 1662 | break; |
Lightvalve | 57:f4819de54e7a | 1663 | } |
Lightvalve | 14:8e7590227d22 | 1664 | |
Lightvalve | 12:6f2531038ea4 | 1665 | default: |
Lightvalve | 12:6f2531038ea4 | 1666 | break; |
Lightvalve | 12:6f2531038ea4 | 1667 | } |
Lightvalve | 14:8e7590227d22 | 1668 | |
Lightvalve | 57:f4819de54e7a | 1669 | |
Lightvalve | 57:f4819de54e7a | 1670 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve |
Lightvalve | 58:2eade98630e2 | 1671 | |
Lightvalve | 57:f4819de54e7a | 1672 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1673 | //////////////////////////// CURRENT CONTROL ////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1674 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1675 | if (CURRENT_CONTROL_MODE) { |
Lightvalve | 67:c2812cf26c38 | 1676 | double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz |
Lightvalve | 57:f4819de54e7a | 1677 | I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF; |
Lightvalve | 57:f4819de54e7a | 1678 | |
Lightvalve | 57:f4819de54e7a | 1679 | I_ERR = I_REF_fil - cur.sen; |
Lightvalve | 67:c2812cf26c38 | 1680 | I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1681 | |
Lightvalve | 57:f4819de54e7a | 1682 | |
Lightvalve | 57:f4819de54e7a | 1683 | // Moog Valve Current Control Gain |
Lightvalve | 67:c2812cf26c38 | 1684 | double R_model = 500.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 1685 | double L_model = 1.2f; |
Lightvalve | 57:f4819de54e7a | 1686 | double w0 = 2.0f * 3.14f * 150.0f; |
Lightvalve | 57:f4819de54e7a | 1687 | double KP_I = 0.1f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 1688 | double KI_I = 0.1f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 1689 | |
Lightvalve | 57:f4819de54e7a | 1690 | // KNR Valve Current Control Gain |
Lightvalve | 57:f4819de54e7a | 1691 | if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve |
Lightvalve | 57:f4819de54e7a | 1692 | R_model = 163.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 1693 | L_model = 1.0f; |
Lightvalve | 57:f4819de54e7a | 1694 | w0 = 2.0f * 3.14f * 80.0f; |
Lightvalve | 57:f4819de54e7a | 1695 | KP_I = 1.0f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 1696 | KI_I = 0.08f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 1697 | } |
Lightvalve | 57:f4819de54e7a | 1698 | |
Lightvalve | 57:f4819de54e7a | 1699 | double FF_gain = 1.0f; |
Lightvalve | 57:f4819de54e7a | 1700 | |
Lightvalve | 67:c2812cf26c38 | 1701 | VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT; |
Lightvalve | 57:f4819de54e7a | 1702 | // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV |
Lightvalve | 57:f4819de54e7a | 1703 | I_REF_fil_diff = I_REF_fil - I_REF_fil_old; |
Lightvalve | 57:f4819de54e7a | 1704 | I_REF_fil_old = I_REF_fil; |
Lightvalve | 67:c2812cf26c38 | 1705 | // 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 | 1706 | VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 1707 | double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV |
Lightvalve | 57:f4819de54e7a | 1708 | |
Lightvalve | 57:f4819de54e7a | 1709 | double Ka = 3.0f / KP_I; |
Lightvalve | 57:f4819de54e7a | 1710 | if (VALVE_PWM_RAW > V_MAX) { |
Lightvalve | 57:f4819de54e7a | 1711 | V_rem = VALVE_PWM_RAW - V_MAX; |
Lightvalve | 57:f4819de54e7a | 1712 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 1713 | VALVE_PWM_RAW = V_MAX; |
Lightvalve | 67:c2812cf26c38 | 1714 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1715 | } else if (VALVE_PWM_RAW < -V_MAX) { |
Lightvalve | 57:f4819de54e7a | 1716 | V_rem = VALVE_PWM_RAW - (-V_MAX); |
Lightvalve | 57:f4819de54e7a | 1717 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 1718 | VALVE_PWM_RAW = -V_MAX; |
Lightvalve | 67:c2812cf26c38 | 1719 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1720 | } |
Lightvalve | 57:f4819de54e7a | 1721 | Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 1722 | } else { |
Lightvalve | 57:f4819de54e7a | 1723 | VALVE_PWM_RAW = I_REF * mV_PER_mA; |
Lightvalve | 57:f4819de54e7a | 1724 | Cur_Valve_Open_pulse = I_REF / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 1725 | } |
Lightvalve | 57:f4819de54e7a | 1726 | |
Lightvalve | 57:f4819de54e7a | 1727 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1728 | ///////////////// Dead Zone Cancellation & Linearization ////////////////// |
Lightvalve | 57:f4819de54e7a | 1729 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1730 | // Dead Zone Cancellation (Mechanical Valve dead-zone) |
Lightvalve | 57:f4819de54e7a | 1731 | if (FLAG_VALVE_DEADZONE) { |
Lightvalve | 57:f4819de54e7a | 1732 | if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1733 | else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1734 | |
Lightvalve | 57:f4819de54e7a | 1735 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1736 | |
Lightvalve | 57:f4819de54e7a | 1737 | } else { |
Lightvalve | 57:f4819de54e7a | 1738 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW; |
Lightvalve | 57:f4819de54e7a | 1739 | } |
Lightvalve | 57:f4819de54e7a | 1740 | |
Lightvalve | 57:f4819de54e7a | 1741 | // Output Voltage Linearization |
Lightvalve | 57:f4819de54e7a | 1742 | double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 1743 | double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 57:f4819de54e7a | 1744 | |
Lightvalve | 57:f4819de54e7a | 1745 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 67:c2812cf26c38 | 1746 | if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 1747 | else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 1748 | else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 57:f4819de54e7a | 1749 | } |
Lightvalve | 89:a7b45368ea0f | 1750 | else { //////////////////////////sw valve |
Lightvalve | 89:a7b45368ea0f | 1751 | // Output Voltage Linearization |
Lightvalve | 89:a7b45368ea0f | 1752 | double CUR_PWM_nonlin = V_out; // Unit : mV |
Lightvalve | 89:a7b45368ea0f | 1753 | double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 89:a7b45368ea0f | 1754 | |
Lightvalve | 89:a7b45368ea0f | 1755 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 89:a7b45368ea0f | 1756 | if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 89:a7b45368ea0f | 1757 | else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 89:a7b45368ea0f | 1758 | else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 89:a7b45368ea0f | 1759 | } |
Lightvalve | 67:c2812cf26c38 | 1760 | |
Lightvalve | 67:c2812cf26c38 | 1761 | // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 1762 | // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 1763 | // else V_out = V_out; |
Lightvalve | 67:c2812cf26c38 | 1764 | |
jobuuu | 7:e9086c72bb22 | 1765 | /******************************************************* |
jobuuu | 7:e9086c72bb22 | 1766 | *** PWM |
jobuuu | 7:e9086c72bb22 | 1767 | ********************************************************/ |
Lightvalve | 67:c2812cf26c38 | 1768 | if(DIR_VALVE<0){ |
Lightvalve | 67:c2812cf26c38 | 1769 | V_out = -V_out; |
Lightvalve | 67:c2812cf26c38 | 1770 | } |
Lightvalve | 67:c2812cf26c38 | 1771 | |
Lightvalve | 49:e7bcfc244d40 | 1772 | if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 1773 | V_out = VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 49:e7bcfc244d40 | 1774 | } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 1775 | V_out = -VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 27:a2254a485f23 | 1776 | } |
Lightvalve | 49:e7bcfc244d40 | 1777 | PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV |
Lightvalve | 13:747daba9cf59 | 1778 | |
Lightvalve | 19:23b7c1ad8683 | 1779 | // Saturation of output voltage to 12.0V |
Lightvalve | 30:8d561f16383b | 1780 | if(PWM_out > 1.0f) PWM_out=1.0f; |
Lightvalve | 30:8d561f16383b | 1781 | else if (PWM_out < -1.0f) PWM_out=-1.0f; |
Lightvalve | 13:747daba9cf59 | 1782 | |
Lightvalve | 30:8d561f16383b | 1783 | if (PWM_out>0.0f) { |
Lightvalve | 30:8d561f16383b | 1784 | dtc_v=0.0f; |
jobuuu | 1:e04e563be5ce | 1785 | dtc_w=PWM_out; |
jobuuu | 1:e04e563be5ce | 1786 | } else { |
jobuuu | 2:a1c0a37df760 | 1787 | dtc_v=-PWM_out; |
Lightvalve | 30:8d561f16383b | 1788 | dtc_w=0.0f; |
jobuuu | 1:e04e563be5ce | 1789 | } |
Lightvalve | 13:747daba9cf59 | 1790 | |
jobuuu | 1:e04e563be5ce | 1791 | //pwm |
Lightvalve | 30:8d561f16383b | 1792 | TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v); |
Lightvalve | 30:8d561f16383b | 1793 | TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w); |
Lightvalve | 67:c2812cf26c38 | 1794 | |
Lightvalve | 61:bc8c8270f0ab | 1795 | |
Lightvalve | 57:f4819de54e7a | 1796 | if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 20:806196fda269 | 1797 | |
Lightvalve | 54:647072f5307a | 1798 | // Position, Velocity, and Torque (ID:1200) |
Lightvalve | 56:6f50d9d3bfee | 1799 | if (flag_data_request[0] == HIGH) { |
Lightvalve | 57:f4819de54e7a | 1800 | if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator |
Lightvalve | 54:647072f5307a | 1801 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 1802 | CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f)); |
Lightvalve | 54:647072f5307a | 1803 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 1804 | 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 | 1805 | } |
Lightvalve | 57:f4819de54e7a | 1806 | } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator |
Lightvalve | 54:647072f5307a | 1807 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 1808 | 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 | 1809 | } else if (SENSING_MODE == 1) { |
Lightvalve | 67:c2812cf26c38 | 1810 | 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 | 1811 | } |
Lightvalve | 52:8ea76864368a | 1812 | } |
Lightvalve | 52:8ea76864368a | 1813 | } |
Lightvalve | 56:6f50d9d3bfee | 1814 | if (flag_data_request[1] == HIGH) { |
Lightvalve | 54:647072f5307a | 1815 | //valve position |
Lightvalve | 54:647072f5307a | 1816 | double t_value = 0; |
Lightvalve | 97:d71c57e3515e | 1817 | if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 97:d71c57e3515e | 1818 | t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 97:d71c57e3515e | 1819 | } else { |
Lightvalve | 97:d71c57e3515e | 1820 | t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 97:d71c57e3515e | 1821 | } |
Lightvalve | 97:d71c57e3515e | 1822 | // if(OPERATING_MODE==5) { |
Lightvalve | 97:d71c57e3515e | 1823 | // if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 97:d71c57e3515e | 1824 | // t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 97:d71c57e3515e | 1825 | // } else { |
Lightvalve | 97:d71c57e3515e | 1826 | // t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 97:d71c57e3515e | 1827 | // } |
Lightvalve | 97:d71c57e3515e | 1828 | //t_value = (double) value; |
Lightvalve | 97:d71c57e3515e | 1829 | // } else if(CURRENT_CONTROL_MODE==1) { |
Lightvalve | 97:d71c57e3515e | 1830 | // t_value = cur.sen * 1000.0f; |
Lightvalve | 89:a7b45368ea0f | 1831 | // } else { |
Lightvalve | 97:d71c57e3515e | 1832 | // t_value = V_out; |
Lightvalve | 89:a7b45368ea0f | 1833 | // } |
Lightvalve | 67:c2812cf26c38 | 1834 | CAN_TX_TORQUE((int16_t) (t_value)); //1300 |
Lightvalve | 67:c2812cf26c38 | 1835 | //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300 |
Lightvalve | 67:c2812cf26c38 | 1836 | //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300 |
Lightvalve | 54:647072f5307a | 1837 | } |
Lightvalve | 58:2eade98630e2 | 1838 | |
Lightvalve | 58:2eade98630e2 | 1839 | |
Lightvalve | 98:cd1b2da4704f | 1840 | if (flag_data_request[2] == HIGH) { |
Lightvalve | 89:a7b45368ea0f | 1841 | //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // 1400 |
Lightvalve | 89:a7b45368ea0f | 1842 | double t_value = 0; |
Lightvalve | 89:a7b45368ea0f | 1843 | if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 89:a7b45368ea0f | 1844 | t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 1845 | } else { |
Lightvalve | 89:a7b45368ea0f | 1846 | t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 1847 | } |
Lightvalve | 89:a7b45368ea0f | 1848 | CAN_TX_PRES((int16_t) (t_value), (int16_t) (V_out)); // 1400 |
Lightvalve | 55:b25725257569 | 1849 | } |
Lightvalve | 58:2eade98630e2 | 1850 | |
Lightvalve | 57:f4819de54e7a | 1851 | //If it doesn't rest, below can can not work. |
Lightvalve | 57:f4819de54e7a | 1852 | for (can_rest = 0; can_rest < 10000; can_rest++) { |
Lightvalve | 57:f4819de54e7a | 1853 | ; |
Lightvalve | 57:f4819de54e7a | 1854 | } |
Lightvalve | 58:2eade98630e2 | 1855 | |
Lightvalve | 56:6f50d9d3bfee | 1856 | if (flag_data_request[3] == HIGH) { |
Lightvalve | 54:647072f5307a | 1857 | //PWM |
Lightvalve | 73:f80dc3970c99 | 1858 | //CAN_TX_PWM((int16_t) value); //1500 |
Lightvalve | 73:f80dc3970c99 | 1859 | CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500 |
Lightvalve | 54:647072f5307a | 1860 | } |
Lightvalve | 57:f4819de54e7a | 1861 | //for (i = 0; i < 10000; i++) { |
Lightvalve | 57:f4819de54e7a | 1862 | // ; |
Lightvalve | 57:f4819de54e7a | 1863 | // } |
Lightvalve | 56:6f50d9d3bfee | 1864 | if (flag_data_request[4] == HIGH) { |
Lightvalve | 54:647072f5307a | 1865 | //valve position |
Lightvalve | 73:f80dc3970c99 | 1866 | 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 | 1867 | } |
Lightvalve | 20:806196fda269 | 1868 | |
Lightvalve | 54:647072f5307a | 1869 | // Others : Reference position, Reference FT, PWM, Current (ID:1300) |
Lightvalve | 52:8ea76864368a | 1870 | // if (flag_data_request[1] == HIGH) { |
Lightvalve | 52:8ea76864368a | 1871 | // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3)); |
Lightvalve | 52:8ea76864368a | 1872 | // } |
Lightvalve | 54:647072f5307a | 1873 | //if (flag_delay_test == 1){ |
Lightvalve | 58:2eade98630e2 | 1874 | //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref); |
Lightvalve | 54:647072f5307a | 1875 | //} |
Lightvalve | 52:8ea76864368a | 1876 | |
Lightvalve | 54:647072f5307a | 1877 | TMR2_COUNT_CAN_TX = 0; |
Lightvalve | 54:647072f5307a | 1878 | } |
Lightvalve | 54:647072f5307a | 1879 | TMR2_COUNT_CAN_TX++; |
Lightvalve | 52:8ea76864368a | 1880 | |
Lightvalve | 20:806196fda269 | 1881 | } |
Lightvalve | 52:8ea76864368a | 1882 | TIM3->SR = 0x0; // reset the status register |
Lightvalve | 52:8ea76864368a | 1883 | |
Lightvalve | 58:2eade98630e2 | 1884 | } |