HydraulicControlBoard_Start - 20210203

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Yeseong Jeong / Mbed 2 deprecated HydraulicControlBoard_Start

20210203

main.cpp@19:23b7c1ad8683, 2019-09-09 (annotated)

Committer:: Lightvalve
Date:: Mon Sep 09 06:29:56 2019 +0000
Revision:: 19:23b7c1ad8683
Parent:: 18:b8adf1582ea3
Child:: 20:806196fda269

Who changed what in which revision?

User	Revision	Line number	New contents of line
GiJeongKim	0:51c43836c1d7	1	#include "mbed.h"
GiJeongKim	0:51c43836c1d7	2	#include "FastPWM.h"
GiJeongKim	0:51c43836c1d7	3	#include "INIT_HW.h"
jobuuu	2:a1c0a37df760	4	#include "function_CAN.h"
GiJeongKim	0:51c43836c1d7	5	#include "SPI_EEP_ENC.h"
GiJeongKim	0:51c43836c1d7	6	#include "I2C_AS5510.h"
GiJeongKim	0:51c43836c1d7	7	#include "setting.h"
Lightvalve	11:82d8768d7351	8	#include "function_utilities.h"
Lightvalve	16:903b5a4433b4	9	#include "stm32f4xx_flash.h"
Lightvalve	16:903b5a4433b4	10	#include "FlashWriter.h"
GiJeongKim	0:51c43836c1d7	11
jobuuu	7:e9086c72bb22	12	// dac & check ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	13	DigitalOut check(PC_2);
GiJeongKim	0:51c43836c1d7	14	DigitalOut check_2(PC_3);
GiJeongKim	0:51c43836c1d7	15	AnalogOut dac_1(PA_4);
GiJeongKim	0:51c43836c1d7	16	AnalogOut dac_2(PA_5);
Lightvalve	14:8e7590227d22	17	AnalogIn adc1(PC_4); //pressure_1
Lightvalve	14:8e7590227d22	18	AnalogIn adc2(PB_0); //pressure_2
Lightvalve	14:8e7590227d22	19	AnalogIn adc3(PC_1); //current
GiJeongKim	0:51c43836c1d7	20
jobuuu	7:e9086c72bb22	21	// PWM ///////////////////////////////////////////
jobuuu	2:a1c0a37df760	22	double dtc_v=0.0;
jobuuu	2:a1c0a37df760	23	double dtc_w=0.0;
GiJeongKim	0:51c43836c1d7	24
jobuuu	7:e9086c72bb22	25	// I2C ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	26	I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim	0:51c43836c1d7	27	const int i2c_slave_addr1 = 0x56;
GiJeongKim	0:51c43836c1d7	28	unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim	0:51c43836c1d7	29
jobuuu	7:e9086c72bb22	30	// SPI ///////////////////////////////////////////
Lightvalve	16:903b5a4433b4	31	//SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve	16:903b5a4433b4	32	//DigitalOut eeprom_cs(PB_12);
Lightvalve	16:903b5a4433b4	33	//FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim	0:51c43836c1d7	34	SPI enc(PC_12,PC_11,PC_10);
GiJeongKim	0:51c43836c1d7	35	DigitalOut enc_cs(PD_2);
Lightvalve	11:82d8768d7351	36	DigitalOut LED(PA_15);
GiJeongKim	0:51c43836c1d7	37
jobuuu	7:e9086c72bb22	38	// UART ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	39	Serial pc(PA_9,PA_10); // _ UART
GiJeongKim	0:51c43836c1d7	40
jobuuu	7:e9086c72bb22	41	// CAN ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	42	CAN can(PB_8, PB_9, 1000000);
GiJeongKim	0:51c43836c1d7	43	CANMessage msg;
Lightvalve	11:82d8768d7351	44	void onMsgReceived()
Lightvalve	11:82d8768d7351	45	{
Lightvalve	11:82d8768d7351	46	CAN_RX_HANDLER();
Lightvalve	11:82d8768d7351	47	}
jobuuu	2:a1c0a37df760	48
jobuuu	7:e9086c72bb22	49	// Variables ///////////////////////////////////////////
jobuuu	7:e9086c72bb22	50	State pos;
jobuuu	7:e9086c72bb22	51	State vel;
jobuuu	7:e9086c72bb22	52	State Vout;
jobuuu	7:e9086c72bb22	53	State torq;
jobuuu	7:e9086c72bb22	54	State pres_A;
jobuuu	7:e9086c72bb22	55	State pres_B;
jobuuu	7:e9086c72bb22	56	State cur;
Lightvalve	14:8e7590227d22	57	State valve_pos;
Lightvalve	14:8e7590227d22	58
Lightvalve	14:8e7590227d22	59	State INIT_Vout;
Lightvalve	14:8e7590227d22	60	State INIT_Valve_Pos;
Lightvalve	14:8e7590227d22	61	State INIT_Pos;
Lightvalve	14:8e7590227d22	62	State INIT_torq;
jobuuu	5:a4319f79457b	63
jobuuu	5:a4319f79457b	64	double V_out=0.0;
jobuuu	5:a4319f79457b	65	double V_rem=0.0; // for anti-windup
jobuuu	5:a4319f79457b	66	double V_MAX = 12000.0; // Maximum Voltage : 12V = 12000mV
jobuuu	5:a4319f79457b	67
jobuuu	5:a4319f79457b	68	double PWM_out=0.0;
Lightvalve	12:6f2531038ea4	69
Lightvalve	17:1865016ca2e7	70	int timer_while = 0;
Lightvalve	17:1865016ca2e7	71	int while_index = 0;
Lightvalve	17:1865016ca2e7	72
Lightvalve	19:23b7c1ad8683	73
Lightvalve	19:23b7c1ad8683	74	extern int CID_RX_CMD;
Lightvalve	19:23b7c1ad8683	75	extern int CID_RX_REF_POSITION;
Lightvalve	19:23b7c1ad8683	76	extern int CID_RX_REF_TORQUE;
Lightvalve	19:23b7c1ad8683	77	extern int CID_RX_REF_PRES_DIFF;
Lightvalve	19:23b7c1ad8683	78	extern int CID_RX_REF_VOUT;
Lightvalve	19:23b7c1ad8683	79	extern int CID_RX_REF_VALVE_POSITION;
Lightvalve	19:23b7c1ad8683	80	extern int CID_RX_REF_CURRENT;
Lightvalve	19:23b7c1ad8683	81
Lightvalve	19:23b7c1ad8683	82	extern int CID_TX_INFO;
Lightvalve	19:23b7c1ad8683	83	extern int CID_TX_POSITION;
Lightvalve	19:23b7c1ad8683	84	extern int CID_TX_TORQUE;
Lightvalve	19:23b7c1ad8683	85	extern int CID_TX_PRES;
Lightvalve	19:23b7c1ad8683	86	extern int CID_TX_VOUT;
Lightvalve	19:23b7c1ad8683	87	extern int CID_TX_VALVE_POSITION;
Lightvalve	19:23b7c1ad8683	88
jobuuu	7:e9086c72bb22	89	// =============================================================================
jobuuu	7:e9086c72bb22	90	// =============================================================================
jobuuu	7:e9086c72bb22	91	// =============================================================================
jobuuu	7:e9086c72bb22	92
Lightvalve	12:6f2531038ea4	93	/*******************************************************************************
Lightvalve	12:6f2531038ea4	94	* REFERENCE MODE
Lightvalve	12:6f2531038ea4	95	******************************************************************************/
Lightvalve	13:747daba9cf59	96	enum _REFERENCE_MODE {
Lightvalve	13:747daba9cf59	97	MODE_REF_NO_ACT = 0, //0
Lightvalve	12:6f2531038ea4	98	MODE_REF_DIRECT, //1
Lightvalve	12:6f2531038ea4	99	MODE_REF_COS_INC, //2
Lightvalve	12:6f2531038ea4	100	MODE_REF_LINE_INC, //3
Lightvalve	12:6f2531038ea4	101	MODE_REF_SIN_WAVE, //4
Lightvalve	12:6f2531038ea4	102	MODE_REF_SQUARE_WAVE, //5
Lightvalve	12:6f2531038ea4	103	};
Lightvalve	12:6f2531038ea4	104
Lightvalve	12:6f2531038ea4	105	/*******************************************************************************
Lightvalve	12:6f2531038ea4	106	* CONTROL MODE
Lightvalve	12:6f2531038ea4	107	******************************************************************************/
Lightvalve	13:747daba9cf59	108	enum _CONTROL_MODE {
Lightvalve	12:6f2531038ea4	109	//control mode
Lightvalve	12:6f2531038ea4	110	MODE_NO_ACT = 0, //0
Lightvalve	12:6f2531038ea4	111	MODE_VALVE_OPEN_LOOP, //1
Lightvalve	12:6f2531038ea4	112	MODE_VALVE_POSITION_CONTROL, //2
Lightvalve	13:747daba9cf59	113
Lightvalve	12:6f2531038ea4	114	MODE_JOINT_POSITION_TORQUE_CONTROL_PWM, //3
Lightvalve	12:6f2531038ea4	115	MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve	12:6f2531038ea4	116	MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve	13:747daba9cf59	117
Lightvalve	12:6f2531038ea4	118	MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve	12:6f2531038ea4	119	MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve	12:6f2531038ea4	120	MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve	13:747daba9cf59	121
Lightvalve	12:6f2531038ea4	122	MODE_TEST_CURRENT_CONTROL, //9
Lightvalve	12:6f2531038ea4	123	MODE_TEST_PWM_CONTROL, //10
Lightvalve	14:8e7590227d22	124
Lightvalve	14:8e7590227d22	125	MODE_CURRENT_CONTROL, //11
Lightvalve	14:8e7590227d22	126	MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve	14:8e7590227d22	127	MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve	13:747daba9cf59	128
Lightvalve	12:6f2531038ea4	129	//utility
Lightvalve	12:6f2531038ea4	130	MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve	12:6f2531038ea4	131	MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve	12:6f2531038ea4	132	MODE_FIND_HOME, //22
Lightvalve	12:6f2531038ea4	133	MODE_VALVE_GAIN_SETTING, //23
Lightvalve	12:6f2531038ea4	134	MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve	12:6f2531038ea4	135	MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve	12:6f2531038ea4	136	MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve	13:747daba9cf59	137
Lightvalve	12:6f2531038ea4	138	MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve	12:6f2531038ea4	139	MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve	12:6f2531038ea4	140	MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve	12:6f2531038ea4	141	};
Lightvalve	12:6f2531038ea4	142
GiJeongKim	0:51c43836c1d7	143	int main()
GiJeongKim	0:51c43836c1d7	144	{
jobuuu	6:df07d3491e3a	145	/*********************************
jobuuu	1:e04e563be5ce	146	*** Initialization
jobuuu	6:df07d3491e3a	147	*********************************/
Lightvalve	19:23b7c1ad8683	148	//LED = 1;
Lightvalve	19:23b7c1ad8683	149	//pc.baud(9600);
Lightvalve	14:8e7590227d22	150
GiJeongKim	0:51c43836c1d7	151	// i2c init
Lightvalve	8:5d2eebdad025	152	i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve	8:5d2eebdad025	153	wait_ms(2); // Power Up wait
Lightvalve	8:5d2eebdad025	154	look_for_hardware_i2c(); // Hardware present
Lightvalve	8:5d2eebdad025	155	init_as5510(i2c_slave_addr1);
Lightvalve	11:82d8768d7351	156	make_delay();
jobuuu	2:a1c0a37df760	157
GiJeongKim	0:51c43836c1d7	158	// // spi init
Lightvalve	16:903b5a4433b4	159	//eeprom.format(8,3);
Lightvalve	16:903b5a4433b4	160	//eeprom.frequency(5000000); //5M
GiJeongKim	0:51c43836c1d7	161	enc.format(8,0);
GiJeongKim	0:51c43836c1d7	162	enc.frequency(5000000); //5M
Lightvalve	11:82d8768d7351	163	make_delay();
Lightvalve	16:903b5a4433b4	164
Lightvalve	16:903b5a4433b4	165	//rom
Lightvalve	19:23b7c1ad8683	166	ROM_CALL_DATA();
Lightvalve	16:903b5a4433b4	167	make_delay();
Lightvalve	13:747daba9cf59	168
GiJeongKim	0:51c43836c1d7	169	// ADC init
jobuuu	5:a4319f79457b	170	Init_ADC();
Lightvalve	11:82d8768d7351	171	make_delay();
jobuuu	2:a1c0a37df760	172
GiJeongKim	0:51c43836c1d7	173	// Pwm init
GiJeongKim	0:51c43836c1d7	174	Init_PWM();
GiJeongKim	0:51c43836c1d7	175	TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	176	make_delay();
Lightvalve	13:747daba9cf59	177
Lightvalve	11:82d8768d7351	178	// TMR3 init
Lightvalve	11:82d8768d7351	179	Init_TMR3();
Lightvalve	11:82d8768d7351	180	TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	181	make_delay();
Lightvalve	14:8e7590227d22	182
GiJeongKim	0:51c43836c1d7	183	// CAN
jobuuu	2:a1c0a37df760	184	can.attach(&CAN_RX_HANDLER);
Lightvalve	11:82d8768d7351	185	CAN_ID_INIT();
Lightvalve	11:82d8768d7351	186	make_delay();
Lightvalve	19:23b7c1ad8683	187	can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve	19:23b7c1ad8683	188
GiJeongKim	0:51c43836c1d7	189	// spi _ enc
GiJeongKim	0:51c43836c1d7	190	spi_enc_set_init();
Lightvalve	11:82d8768d7351	191	make_delay();
Lightvalve	13:747daba9cf59	192
Lightvalve	11:82d8768d7351	193	//DAC init
Lightvalve	16:903b5a4433b4	194	dac_1 = PRES_A_VREF / 3.3;
Lightvalve	16:903b5a4433b4	195	dac_2 = PRES_B_VREF / 3.3;
Lightvalve	11:82d8768d7351	196	make_delay();
Lightvalve	13:747daba9cf59	197
Lightvalve	19:23b7c1ad8683	198	for (int i=0; i<50; i++) {
Lightvalve	11:82d8768d7351	199	if(i%2==0)
Lightvalve	11:82d8768d7351	200	ID_index_array[i] = - i * 0.5;
Lightvalve	11:82d8768d7351	201	else
Lightvalve	11:82d8768d7351	202	ID_index_array[i] = (i+1) * 0.5;
Lightvalve	11:82d8768d7351	203	}
Lightvalve	13:747daba9cf59	204
jobuuu	6:df07d3491e3a	205	/************************************
jobuuu	1:e04e563be5ce	206	*** Program is operating!
jobuuu	6:df07d3491e3a	207	*************************************/
GiJeongKim	0:51c43836c1d7	208	while(1) {
Lightvalve	19:23b7c1ad8683	209	if(timer_while==1000){
Lightvalve	17:1865016ca2e7	210	//i2c
Lightvalve	17:1865016ca2e7	211	read_field(i2c_slave_addr1);
Lightvalve	17:1865016ca2e7	212	if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve	17:1865016ca2e7	213
Lightvalve	19:23b7c1ad8683	214	// if(LED==1) {
Lightvalve	19:23b7c1ad8683	215	// LED=0;
Lightvalve	19:23b7c1ad8683	216	// } else
Lightvalve	19:23b7c1ad8683	217	// LED = 1;
Lightvalve	17:1865016ca2e7	218	timer_while = 0;
Lightvalve	17:1865016ca2e7	219
Lightvalve	17:1865016ca2e7	220	}
Lightvalve	17:1865016ca2e7	221	timer_while ++;
GiJeongKim	0:51c43836c1d7	222	}
jobuuu	1:e04e563be5ce	223	}
jobuuu	1:e04e563be5ce	224
Lightvalve	14:8e7590227d22	225	int DDV_JOINT_POS_FF(double REF_JOINT_VEL)
Lightvalve	14:8e7590227d22	226	{
Lightvalve	14:8e7590227d22	227
Lightvalve	13:747daba9cf59	228	int i = 0;
Lightvalve	13:747daba9cf59	229	int Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve	14:8e7590227d22	230	for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve	14:8e7590227d22	231	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	232	if(i==0) {
Lightvalve	19:23b7c1ad8683	233	Ref_Valve_Pos_FF = ((int) 10.0/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + DDV_CENTER;
Lightvalve	14:8e7590227d22	234	} else {
Lightvalve	19:23b7c1ad8683	235	Ref_Valve_Pos_FF = ((int) 10.0(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])) + DDV_CENTER + 10*ID_index_array[i-1];
Lightvalve	13:747daba9cf59	236	}
Lightvalve	13:747daba9cf59	237	break;
Lightvalve	13:747daba9cf59	238	}
Lightvalve	13:747daba9cf59	239	}
Lightvalve	14:8e7590227d22	240	if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	13:747daba9cf59	241	Ref_Valve_Pos_FF = VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	242	} else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	13:747daba9cf59	243	Ref_Valve_Pos_FF = VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	244	}
Lightvalve	19:23b7c1ad8683	245	Ref_Valve_Pos_FF_CAN = Ref_Valve_Pos_FF;
Lightvalve	13:747daba9cf59	246	return Ref_Valve_Pos_FF;
Lightvalve	13:747daba9cf59	247	}
jobuuu	6:df07d3491e3a	248
jobuuu	6:df07d3491e3a	249
Lightvalve	14:8e7590227d22	250	void VALVE_POS_CONTROL(double REF_VALVE_POS)
Lightvalve	14:8e7590227d22	251	{
Lightvalve	13:747daba9cf59	252	int i = 0;
Lightvalve	13:747daba9cf59	253
Lightvalve	13:747daba9cf59	254	valve_pos_err = REF_VALVE_POS - value;
Lightvalve	13:747daba9cf59	255	valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve	13:747daba9cf59	256	valve_pos_err_old = valve_pos_err;
Lightvalve	13:747daba9cf59	257	valve_pos_err_sum += valve_pos_err;
Lightvalve	13:747daba9cf59	258	if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve	13:747daba9cf59	259	if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve	13:747daba9cf59	260
Lightvalve	13:747daba9cf59	261	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	262
Lightvalve	14:8e7590227d22	263	if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve	13:747daba9cf59	264	REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	265	} else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve	13:747daba9cf59	266	REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	267	}
Lightvalve	14:8e7590227d22	268
Lightvalve	18:b8adf1582ea3	269	for(i=0; i<24; i++) {
Lightvalve	14:8e7590227d22	270	if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve	14:8e7590227d22	271	if(i==0) {
Lightvalve	18:b8adf1582ea3	272	VALVE_PWM_RAW_FF = (double) 1000.0 / (double) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
Lightvalve	14:8e7590227d22	273	} else {
Lightvalve	18:b8adf1582ea3	274	VALVE_PWM_RAW_FF = (double) 1000.0* (double) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0* (double) ID_index_array[i-1];
Lightvalve	13:747daba9cf59	275	}
Lightvalve	13:747daba9cf59	276	break;
Lightvalve	13:747daba9cf59	277	}
Lightvalve	13:747daba9cf59	278	}
Lightvalve	19:23b7c1ad8683	279
Lightvalve	19:23b7c1ad8683	280	//VALVE_PWM_RAW_FF = 0.0;
Lightvalve	19:23b7c1ad8683	281
Lightvalve	14:8e7590227d22	282	V_out = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve	13:747daba9cf59	283	}
Lightvalve	13:747daba9cf59	284
Lightvalve	14:8e7590227d22	285	#define LT_MAX_IDX 57
Lightvalve	14:8e7590227d22	286	double LT_PWM_duty[LT_MAX_IDX] = {-100.0, -80.0, -60.0, -50.0, -40.0, -35.0, -30.0, -25.0, -20.0,
Lightvalve	14:8e7590227d22	287	-19.0, -18.0, -17.0, -16.0, -15.0, -14.0, -13.0, -12.0, -11.0, -10.0,
Lightvalve	14:8e7590227d22	288	-9.0, -8.0, -7.0, -6.0, -5.0, -4.0, -3.0, -2.0, -1.0, 0.0,
Lightvalve	14:8e7590227d22	289	1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0, 10.0,
Lightvalve	14:8e7590227d22	290	11.0, 12.0, 13.0, 14.0, 15.0, 16.0, 17.0, 18.0, 19.0, 20.0,
Lightvalve	14:8e7590227d22	291	25.0, 30.0, 35.0, 40.0, 50.0, 60.0, 80.0, 100.0
Lightvalve	14:8e7590227d22	292	}; // duty
Lightvalve	14:8e7590227d22	293	double LT_Voltage_Output[LT_MAX_IDX] = {-321.4, -291.3, -261.5, -246.8, -231.7, -223.9, -216.1, -207.9, -198.8,
Lightvalve	14:8e7590227d22	294	-196.9, -195.0, -192.5, -188.8, -184.5, -180.2, -175.9, -171.5, -166.3, -161.0,
Lightvalve	14:8e7590227d22	295	-156.0, -149.5, -139.0, -126.0, -107.0, -87.5, -64.0, -38.5, -9.4, 0.0,
Lightvalve	14:8e7590227d22	296	12.0, 43.5, 69.0, 94.0, 114.0, 132.0, 146.0, 155.5, 162.3, 168.2,
Lightvalve	14:8e7590227d22	297	173.1, 178.2, 182.8, 187.4, 191.8, 196.0, 199.7, 201.9, 203.8, 205.6,
Lightvalve	14:8e7590227d22	298	214.6, 222.5, 230.4, 238.2, 253.3, 268.0, 297.6, 327.7
Lightvalve	14:8e7590227d22	299	}; // mV
Lightvalve	13:747daba9cf59	300
Lightvalve	14:8e7590227d22	301	double PWM_duty_byLT(double Ref_V)
Lightvalve	14:8e7590227d22	302	{
Lightvalve	13:747daba9cf59	303	double PWM_duty = 0.0;
Lightvalve	13:747daba9cf59	304	if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve	13:747daba9cf59	305	PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5+LT_PWM_duty[0];
Lightvalve	13:747daba9cf59	306	} else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve	13:747daba9cf59	307	PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve	13:747daba9cf59	308	} else {
Lightvalve	13:747daba9cf59	309	int idx = 0;
Lightvalve	13:747daba9cf59	310	for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve	13:747daba9cf59	311	double ini_x = LT_Voltage_Output[idx];
Lightvalve	13:747daba9cf59	312	double fin_x = LT_Voltage_Output[idx+1];
Lightvalve	13:747daba9cf59	313	double ini_y = LT_PWM_duty[idx];
Lightvalve	13:747daba9cf59	314	double fin_y = LT_PWM_duty[idx+1];
Lightvalve	13:747daba9cf59	315	if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve	13:747daba9cf59	316	PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve	13:747daba9cf59	317	break;
Lightvalve	13:747daba9cf59	318	}
Lightvalve	13:747daba9cf59	319	}
Lightvalve	13:747daba9cf59	320	}
Lightvalve	14:8e7590227d22	321
Lightvalve	13:747daba9cf59	322	return PWM_duty;
Lightvalve	13:747daba9cf59	323	}
jobuuu	6:df07d3491e3a	324
jobuuu	2:a1c0a37df760	325	/*******************************************************************************
jobuuu	2:a1c0a37df760	326	TIMER INTERRUPT
jobuuu	2:a1c0a37df760	327	*******************************************************************************/
jobuuu	2:a1c0a37df760	328
Lightvalve	19:23b7c1ad8683	329	//unsigned long CNT_TMR4 = 0;
Lightvalve	17:1865016ca2e7	330	double FREQ_TMR4 = (double)FREQ_10k;
Lightvalve	17:1865016ca2e7	331	double DT_TMR4 = (double)DT_10k;
jobuuu	1:e04e563be5ce	332	extern "C" void TIM4_IRQHandler(void)
jobuuu	1:e04e563be5ce	333	{
Lightvalve	19:23b7c1ad8683	334	if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve	19:23b7c1ad8683	335
Lightvalve	19:23b7c1ad8683	336	/*******************************************************
Lightvalve	19:23b7c1ad8683	337	*** Sensor Read & Data Handling
Lightvalve	19:23b7c1ad8683	338	********************************************************/
Lightvalve	13:747daba9cf59	339
Lightvalve	19:23b7c1ad8683	340
Lightvalve	19:23b7c1ad8683	341	//Using LoadCell
Lightvalve	15:bd0d12728506	342	// ADC1->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	15:bd0d12728506	343	// //while((ADC1->SR & 0b10));
Lightvalve	15:bd0d12728506	344	// double alpha_update_torque = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.03.141000.0));
Lightvalve	15:bd0d12728506	345	// double torque_new = ((double)ADC1->DR - PRES_A_NULL) / TORQUE_SENSOR_PULSE_PER_TORQUE + 1.0;
Lightvalve	15:bd0d12728506	346	// torq.sen = torq.sen(1.0-alpha_update_torque)+torque_new(alpha_update_torque);
Lightvalve	17:1865016ca2e7	347
Lightvalve	19:23b7c1ad8683	348
Lightvalve	17:1865016ca2e7	349
Lightvalve	19:23b7c1ad8683	350	//Pressure sensor A
Lightvalve	19:23b7c1ad8683	351	ADC1->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	19:23b7c1ad8683	352	//while((ADC1->SR & 0b10));
Lightvalve	19:23b7c1ad8683	353	double alpha_update_pres_A = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.03.141000.0));
Lightvalve	19:23b7c1ad8683	354	double pres_A_new = ((double)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve	19:23b7c1ad8683	355	pres_A.sen = pres_A.sen(1.0-alpha_update_pres_A)+pres_A_new(alpha_update_pres_A);
Lightvalve	19:23b7c1ad8683	356
Lightvalve	19:23b7c1ad8683	357	//Pressure sensor 1B
Lightvalve	19:23b7c1ad8683	358	//ADC2->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	19:23b7c1ad8683	359	//while((ADC2->SR & 0b10));
Lightvalve	19:23b7c1ad8683	360	double alpha_update_pres_B = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.03.141000.0));
Lightvalve	19:23b7c1ad8683	361	double pres_B_new = ((double)ADC2->DR - PRES_B_NULL) / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve	19:23b7c1ad8683	362	pres_B.sen = pres_B.sen(1.0-alpha_update_pres_B)+pres_B_new(alpha_update_pres_B);
Lightvalve	19:23b7c1ad8683	363	torq.sen = pres_A.sen * (double) PISTON_AREA_A - pres_B.sen * (double) PISTON_AREA_B;
Lightvalve	17:1865016ca2e7	364
Lightvalve	17:1865016ca2e7	365
Lightvalve	17:1865016ca2e7	366
Lightvalve	19:23b7c1ad8683	367	//Current
Lightvalve	19:23b7c1ad8683	368	//ADC3->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	11:82d8768d7351	369	// a1=ADC2->DR;
Lightvalve	19:23b7c1ad8683	370	int raw_cur = ADC3->DR;
Lightvalve	19:23b7c1ad8683	371	//while((ADC3->SR & 0b10));
Lightvalve	19:23b7c1ad8683	372	double alpha_update_cur = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.03.141000.0)); // f_cutoff : 500Hz
Lightvalve	19:23b7c1ad8683	373	double cur_new = ((double)ADC3->DR-2048.0)*20.0/4096.0; // unit : mA
Lightvalve	19:23b7c1ad8683	374	cur.sen=cur.sen(1.0-alpha_update_cur)+cur_new(alpha_update_cur);
Lightvalve	19:23b7c1ad8683	375	cur.sen = raw_cur;
Lightvalve	17:1865016ca2e7	376
Lightvalve	19:23b7c1ad8683	377	/*******************************************************
Lightvalve	19:23b7c1ad8683	378	*** Timer Counting & etc.
Lightvalve	19:23b7c1ad8683	379	********************************************************/
Lightvalve	19:23b7c1ad8683	380	//CNT_TMR4++;
Lightvalve	19:23b7c1ad8683	381	}
Lightvalve	11:82d8768d7351	382	TIM4->SR = 0x0; // reset the status register
Lightvalve	11:82d8768d7351	383	}
Lightvalve	19:23b7c1ad8683	384
Lightvalve	19:23b7c1ad8683	385
Lightvalve	18:b8adf1582ea3	386	int j =0;
Lightvalve	19:23b7c1ad8683	387	//unsigned long CNT_TMR3 = 0;
Lightvalve	11:82d8768d7351	388	double FREQ_TMR3 = (double)FREQ_5k;
Lightvalve	11:82d8768d7351	389	double DT_TMR3 = (double)DT_5k;
Lightvalve	11:82d8768d7351	390	extern "C" void TIM3_IRQHandler(void)
Lightvalve	19:23b7c1ad8683	391	{
Lightvalve	19:23b7c1ad8683	392	if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve	12:6f2531038ea4	393	ENC_UPDATE();
Lightvalve	13:747daba9cf59	394
Lightvalve	19:23b7c1ad8683	395	// CONTROL LOOP ------------------------------------------------------------
Lightvalve	13:747daba9cf59	396
Lightvalve	14:8e7590227d22	397	switch (CONTROL_MODE) {
Lightvalve	14:8e7590227d22	398	case MODE_NO_ACT: {
Lightvalve	14:8e7590227d22	399	V_out = 0;
Lightvalve	13:747daba9cf59	400	break;
Lightvalve	13:747daba9cf59	401	}
Lightvalve	14:8e7590227d22	402
Lightvalve	14:8e7590227d22	403	case MODE_VALVE_OPEN_LOOP: {
Lightvalve	18:b8adf1582ea3	404	V_out = (double) Vout.ref;
Lightvalve	14:8e7590227d22	405	break;
Lightvalve	14:8e7590227d22	406	}
Lightvalve	14:8e7590227d22	407
Lightvalve	14:8e7590227d22	408	case MODE_VALVE_POSITION_CONTROL: {
Lightvalve	14:8e7590227d22	409	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	410	break;
Lightvalve	14:8e7590227d22	411	}
Lightvalve	14:8e7590227d22	412
Lightvalve	14:8e7590227d22	413	case MODE_JOINT_POSITION_TORQUE_CONTROL_PWM: {
Lightvalve	13:747daba9cf59	414	double PWM_RAW_POS_FB = 0.0; // PWM by Position Feedback
Lightvalve	13:747daba9cf59	415	double PWM_RAW_POS_FF = 0.0; // PWM by Position Feedforward
Lightvalve	13:747daba9cf59	416	double PWM_RAW_FORCE_FB = 0.0; // PWM by Force Feedback
Lightvalve	14:8e7590227d22	417
Lightvalve	13:747daba9cf59	418	// feedback input for position control
Lightvalve	14:8e7590227d22	419	pos.err = pos.ref - (double) pos.sen;
Lightvalve	14:8e7590227d22	420	pos.err_diff = pos.err - pos.err_old;
Lightvalve	14:8e7590227d22	421	pos.err_old = pos.err;
Lightvalve	14:8e7590227d22	422	pos.err_sum += pos.err;
Lightvalve	14:8e7590227d22	423	if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve	14:8e7590227d22	424	if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve	14:8e7590227d22	425	// PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff;
Lightvalve	14:8e7590227d22	426	PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * pos.err;
Lightvalve	13:747daba9cf59	427	PWM_RAW_POS_FB = PWM_RAW_POS_FB * 0.01;
Lightvalve	14:8e7590227d22	428
Lightvalve	13:747daba9cf59	429	// feedforward input for position control
Lightvalve	14:8e7590227d22	430	double Ref_Vel_Act = vel.ref/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve	13:747daba9cf59	431	double K_ff = 0.9;
Lightvalve	14:8e7590227d22	432	if(Ref_Vel_Act > 0) K_ff = 0.90; // open
Lightvalve	14:8e7590227d22	433	if(Ref_Vel_Act > 0) K_ff = 0.75; // close
Lightvalve	14:8e7590227d22	434	PWM_RAW_POS_FF = K_ff*Ref_Vel_Act/0.50;
Lightvalve	14:8e7590227d22	435
Lightvalve	13:747daba9cf59	436	// torque feedback
Lightvalve	15:bd0d12728506	437	// torq.err = torq.ref - torq.sen;
Lightvalve	14:8e7590227d22	438	// torq.err_diff = torq.err - torq.err_old;
Lightvalve	14:8e7590227d22	439	// torq.err_old = torq.err;
Lightvalve	14:8e7590227d22	440	// torq.err_sum += torq.err;
Lightvalve	14:8e7590227d22	441	// if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve	14:8e7590227d22	442	// if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve	14:8e7590227d22	443	// VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve	13:747daba9cf59	444	// VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
Lightvalve	19:23b7c1ad8683	445
Lightvalve	13:747daba9cf59	446	PWM_RAW_FORCE_FB = 0.0;
Lightvalve	14:8e7590227d22	447
Lightvalve	14:8e7590227d22	448	V_out = PWM_RAW_POS_FF + PWM_RAW_POS_FB + PWM_RAW_FORCE_FB;
Lightvalve	14:8e7590227d22	449
Lightvalve	13:747daba9cf59	450	break;
Lightvalve	13:747daba9cf59	451	}
Lightvalve	14:8e7590227d22	452
Lightvalve	14:8e7590227d22	453	case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: {
Lightvalve	13:747daba9cf59	454	double VALVE_POS_RAW_POS_FB = 0.0; // Valve Position by Position Feedback
Lightvalve	19:23b7c1ad8683	455	//double VALVE_POS_RAW_POS_FF = 0.0; // Valve Position by Position Feedforward
Lightvalve	13:747daba9cf59	456	double VALVE_POS_RAW_FORCE_FB = 0.0; // Valve Position by Force Feedback
Lightvalve	19:23b7c1ad8683	457	//int DDV_JOINT_CAN = 0;
Lightvalve	13:747daba9cf59	458	// feedback input for position control
Lightvalve	14:8e7590227d22	459	pos.err = pos.ref - (double) pos.sen;
Lightvalve	14:8e7590227d22	460	pos.err_diff = pos.err - pos.err_old;
Lightvalve	14:8e7590227d22	461	pos.err_old = pos.err;
Lightvalve	14:8e7590227d22	462	pos.err_sum += pos.err;
Lightvalve	14:8e7590227d22	463	if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve	14:8e7590227d22	464	if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve	14:8e7590227d22	465	VALVE_POS_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * 0.01 * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff;
Lightvalve	13:747daba9cf59	466	VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01;
Lightvalve	14:8e7590227d22	467
Lightvalve	14:8e7590227d22	468
Lightvalve	13:747daba9cf59	469	//Ref_Joint_Vel = Ref_Vel_Test;
Lightvalve	13:747daba9cf59	470	// feedforward input for position control
Lightvalve	14:8e7590227d22	471	// double Ref_Joint_Vel_Act = Ref_Joint_Vel/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve	14:8e7590227d22	472	// double K_ff = 0.9;
Lightvalve	14:8e7590227d22	473	// if(Ref_Joint_Vel_Act > 0) K_ff = 0.90; // open
Lightvalve	14:8e7590227d22	474	// if(Ref_Joint_Vel_Act > 0) K_ff = 0.75; // close
Lightvalve	14:8e7590227d22	475	// VALVE_POS_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50;
Lightvalve	14:8e7590227d22	476
Lightvalve	13:747daba9cf59	477	// torque feedback
Lightvalve	15:bd0d12728506	478	// torq.err = torq.ref - torq.sen;
Lightvalve	14:8e7590227d22	479	// torq.err_diff = torq.err - torq.err_old;
Lightvalve	14:8e7590227d22	480	// torq.err_old = torq.err;
Lightvalve	14:8e7590227d22	481	// torq.err_sum += torq.err;
Lightvalve	14:8e7590227d22	482	// if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve	14:8e7590227d22	483	// if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve	14:8e7590227d22	484	// VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve	13:747daba9cf59	485	// VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
Lightvalve	13:747daba9cf59	486	VALVE_POS_RAW_FORCE_FB = 0.0;
Lightvalve	14:8e7590227d22	487
Lightvalve	19:23b7c1ad8683	488	//valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref) + VALVE_POS_RAW_FORCE_FB;
Lightvalve	19:23b7c1ad8683	489	valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
Lightvalve	14:8e7590227d22	490	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	491	break;
Lightvalve	13:747daba9cf59	492	}
Lightvalve	14:8e7590227d22	493
Lightvalve	14:8e7590227d22	494	case MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING: {
Lightvalve	14:8e7590227d22	495
Lightvalve	13:747daba9cf59	496	break;
Lightvalve	13:747daba9cf59	497	}
Lightvalve	14:8e7590227d22	498
Lightvalve	14:8e7590227d22	499	case MODE_JOINT_POSITION_PRES_CONTROL_PWM: {
Lightvalve	14:8e7590227d22	500	pos.err = pos.ref - (double) pos.sen;
Lightvalve	14:8e7590227d22	501	pos.err_diff = pos.err - pos.err_old;
Lightvalve	14:8e7590227d22	502	pos.err_old = pos.err;
Lightvalve	14:8e7590227d22	503	pos.err_sum += pos.err;
Lightvalve	14:8e7590227d22	504	if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve	14:8e7590227d22	505	if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve	14:8e7590227d22	506	VALVE_PWM_RAW_POS = ((double) P_GAIN_JOINT_POSITION * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01;
Lightvalve	14:8e7590227d22	507
Lightvalve	14:8e7590227d22	508	torq.err = torq.ref - torq.sen;
Lightvalve	14:8e7590227d22	509	torq.err_diff = torq.err - torq.err_old;
Lightvalve	14:8e7590227d22	510	torq.err_old = torq.err;
Lightvalve	14:8e7590227d22	511	torq.err_sum += torq.err;
Lightvalve	14:8e7590227d22	512	if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve	14:8e7590227d22	513	if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve	14:8e7590227d22	514	VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve	14:8e7590227d22	515
Lightvalve	13:747daba9cf59	516	VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
Lightvalve	14:8e7590227d22	517
Lightvalve	14:8e7590227d22	518	V_out = VALVE_PWM_RAW_POS + (double) COMPLIANCE_GAIN * 0.01 * VALVE_PWM_RAW_TORQ;
Lightvalve	14:8e7590227d22	519
Lightvalve	13:747daba9cf59	520	CUR_FLOWRATE = (double) CUR_VELOCITY * 0.00009587;
Lightvalve	13:747daba9cf59	521	CUR_FLOWRATE = CUR_FLOWRATE * 0.5757; // 0.4791=2pi/655365000(pulse/tic to rad/s) 0.5757=0.025250.020.00952601000 (radius area * 2 * 60(sec --> min) * 1000(m^3 --> L))
Lightvalve	13:747daba9cf59	522	if (DIR_VALVE > 0) {
Lightvalve	13:747daba9cf59	523	if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]1.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0) / (VALVE_GAIN_LPM_PER_V[0]1.0 - 0.0) + 0.0;
Lightvalve	13:747daba9cf59	524	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]1.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]2.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]1.0) / (VALVE_GAIN_LPM_PER_V[2]2.0 - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0;
Lightvalve	13:747daba9cf59	525	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]2.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]3.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]2.0) / (VALVE_GAIN_LPM_PER_V[4]3.0 - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0;
Lightvalve	13:747daba9cf59	526	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]3.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]4.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]3.0) / (VALVE_GAIN_LPM_PER_V[6]4.0 - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0;
Lightvalve	13:747daba9cf59	527	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]4.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]5.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]4.0) / (VALVE_GAIN_LPM_PER_V[8]5.0 - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0;
Lightvalve	13:747daba9cf59	528	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*5.0)) VALVE_FF_VOLTAGE = 5.0;
Lightvalve	13:747daba9cf59	529	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1](-1.0)) && CUR_FLOWRATE < 0.0) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1](-1.0)) / (0.0 - VALVE_GAIN_LPM_PER_V[1]*(-1.)) - 1.0;
Lightvalve	13:747daba9cf59	530	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3](-2.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1](-1.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3](-2.0)) / ((VALVE_GAIN_LPM_PER_V[1](-1.0)) - VALVE_GAIN_LPM_PER_V[3]*(-2.)) - 2.0;
Lightvalve	13:747daba9cf59	531	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5](-3.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3](-2.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5](-3.0)) / ((VALVE_GAIN_LPM_PER_V[3](-2.0)) - VALVE_GAIN_LPM_PER_V[5]*(-3.)) - 3.0;
Lightvalve	13:747daba9cf59	532	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7](-4.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5](-3.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7](-4.0)) / ((VALVE_GAIN_LPM_PER_V[5](-3.0)) - VALVE_GAIN_LPM_PER_V[7]*(-4.)) - 4.0;
Lightvalve	13:747daba9cf59	533	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9](-5.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7](-4.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9](-5.0)) / ((VALVE_GAIN_LPM_PER_V[7](-4.0)) - VALVE_GAIN_LPM_PER_V[9]*(-5.)) - 5.0;
Lightvalve	13:747daba9cf59	534	else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[9]*(-5.0))) VALVE_FF_VOLTAGE = -5;
Lightvalve	13:747daba9cf59	535	else VALVE_FF_VOLTAGE = 0;
Lightvalve	13:747daba9cf59	536	} else {
Lightvalve	13:747daba9cf59	537	if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]1.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0) / (VALVE_GAIN_LPM_PER_V[0]1.0 - 0.0) + 0.0;
Lightvalve	13:747daba9cf59	538	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]1.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]2.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]1.0) / (VALVE_GAIN_LPM_PER_V[2]2.0 - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0;
Lightvalve	13:747daba9cf59	539	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]2.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]3.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]2.0) / (VALVE_GAIN_LPM_PER_V[4]3.0 - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0;
Lightvalve	13:747daba9cf59	540	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]3.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]4.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]3.0) / (VALVE_GAIN_LPM_PER_V[6]4.0 - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0;
Lightvalve	13:747daba9cf59	541	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]4.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]5.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]4.0) / (VALVE_GAIN_LPM_PER_V[8]5.0 - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0;
Lightvalve	13:747daba9cf59	542	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*5.0)) VALVE_FF_VOLTAGE = 5.0;
Lightvalve	13:747daba9cf59	543	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0](-1.0)) && CUR_FLOWRATE < 0.0) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1](-1.0)) / (0.0 - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - 1.0;
Lightvalve	13:747daba9cf59	544	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2](-2.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1](-1.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3](-2.0)) / ((VALVE_GAIN_LPM_PER_V[1](-1.0)) - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - 2.0;
Lightvalve	13:747daba9cf59	545	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4](-3.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3](-2.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5](-3.0)) / ((VALVE_GAIN_LPM_PER_V[3](-2.0)) - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - 3.0;
Lightvalve	13:747daba9cf59	546	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6](-4.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5](-3.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7](-4.0)) / ((VALVE_GAIN_LPM_PER_V[5](-3.0)) - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - 4.0;
Lightvalve	13:747daba9cf59	547	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8](-5.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7](-4.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9](-5.0)) / ((VALVE_GAIN_LPM_PER_V[7](-4.0)) - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) - 5.0;
Lightvalve	13:747daba9cf59	548	else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*(-5.0))) VALVE_FF_VOLTAGE = -5;
Lightvalve	13:747daba9cf59	549	else VALVE_FF_VOLTAGE = 0;
Lightvalve	13:747daba9cf59	550	}
Lightvalve	13:747daba9cf59	551	// VALVE_FF_VOLTAGE = CUR_FLOWRATE * 0.5;
Lightvalve	14:8e7590227d22	552
Lightvalve	13:747daba9cf59	553	if (CUR_FLOWRATE >= 0) VALVE_FF_VOLTAGE = (double) VELOCITY_COMP_GAIN * 0.001 * VALVE_FF_VOLTAGE * sqrt((double) PRES_SUPPLY - CUR_PRES_A_BAR) * 0.0707; // 0.0707 = 1/sqrt(200.))
Lightvalve	13:747daba9cf59	554	else if (CUR_FLOWRATE < 0) VALVE_FF_VOLTAGE = (double) VELOCITY_COMP_GAIN * 0.001 * VALVE_FF_VOLTAGE * sqrt((double) PRES_SUPPLY - CUR_PRES_B_BAR) * 0.0707;
Lightvalve	14:8e7590227d22	555
Lightvalve	18:b8adf1582ea3	556	V_out = V_out + VALVE_FF_VOLTAGE;
Lightvalve	14:8e7590227d22	557	break;
Lightvalve	14:8e7590227d22	558	}
Lightvalve	14:8e7590227d22	559
Lightvalve	14:8e7590227d22	560	case MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION: {
Lightvalve	14:8e7590227d22	561	pos.err = pos.ref - (double) pos.sen;
Lightvalve	14:8e7590227d22	562	pos.err_diff = pos.err - pos.err_old;
Lightvalve	14:8e7590227d22	563	pos.err_old = pos.err;
Lightvalve	14:8e7590227d22	564	pos.err_sum += pos.err;
Lightvalve	14:8e7590227d22	565	if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve	14:8e7590227d22	566	if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve	14:8e7590227d22	567	VALVE_PWM_RAW_POS = ((double) P_GAIN_JOINT_POSITION * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01;
Lightvalve	14:8e7590227d22	568
Lightvalve	15:bd0d12728506	569	torq.err = torq.ref - torq.sen;
Lightvalve	14:8e7590227d22	570	torq.err_diff = torq.err - torq.err_old;
Lightvalve	14:8e7590227d22	571	torq.err_old = torq.err;
Lightvalve	14:8e7590227d22	572	torq.err_sum += torq.err;
Lightvalve	14:8e7590227d22	573	if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve	14:8e7590227d22	574	if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve	14:8e7590227d22	575	VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve	14:8e7590227d22	576
Lightvalve	14:8e7590227d22	577	valve_pos.ref = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ;
Lightvalve	14:8e7590227d22	578	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	19:23b7c1ad8683	579
Lightvalve	14:8e7590227d22	580	break;
Lightvalve	14:8e7590227d22	581	}
Lightvalve	14:8e7590227d22	582
Lightvalve	14:8e7590227d22	583	case MODE_VALVE_POSITION_PRES_CONTROL_LEARNING: {
Lightvalve	14:8e7590227d22	584
Lightvalve	14:8e7590227d22	585	break;
Lightvalve	14:8e7590227d22	586	}
Lightvalve	14:8e7590227d22	587
Lightvalve	19:23b7c1ad8683	588
Lightvalve	19:23b7c1ad8683	589	case MODE_TEST_CURRENT_CONTROL: {
Lightvalve	14:8e7590227d22	590	if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve	14:8e7590227d22	591	TMR3_COUNT_IREF = 0;
Lightvalve	19:23b7c1ad8683	592	}
Lightvalve	19:23b7c1ad8683	593	TMR3_COUNT_IREF++;
Lightvalve	19:23b7c1ad8683	594
Lightvalve	19:23b7c1ad8683	595	// Set Current Reference
Lightvalve	14:8e7590227d22	596	double TMR3_CNT_MAX = (double)TMR_FREQ_5k/2.0;
Lightvalve	14:8e7590227d22	597	double I_REF_MID = 0.0;
Lightvalve	14:8e7590227d22	598	if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve	14:8e7590227d22	599	I_REF = I_REF_MID + 1.0;
Lightvalve	14:8e7590227d22	600	} else {
Lightvalve	14:8e7590227d22	601	I_REF = I_REF_MID - 1.0;
Lightvalve	19:23b7c1ad8683	602	}
Lightvalve	14:8e7590227d22	603	// double T = 1.0; // wave period
Lightvalve	14:8e7590227d22	604	// I_REF = (5. * sin(2. * 3.1415 * (double) TMR3_COUNT_IREF / (double)TMR_FREQ_5k/ T));
Lightvalve	14:8e7590227d22	605	// I_REF = (2.0 * sin(2. * 2. * 3.14 * (double) TMR3_COUNT_IREF / 5000.)+(2.0 * sin(2. * 1. * 3.14 * (double)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 5. * 3.14 * (double)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 10. * 3.14 * (double)TMR3_COUNT_IREF/ 5000.)));
Lightvalve	19:23b7c1ad8683	606
Lightvalve	14:8e7590227d22	607	if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve	19:23b7c1ad8683	608	CAN_TX_PRES((int16_t)(I_REF1000.0), (int16_t) (CUR_CURRENT1000.0)); // to check the datas
Lightvalve	14:8e7590227d22	609	}
Lightvalve	14:8e7590227d22	610	break;
Lightvalve	14:8e7590227d22	611	}
Lightvalve	19:23b7c1ad8683	612
Lightvalve	19:23b7c1ad8683	613	case MODE_TEST_PWM_CONTROL: {
Lightvalve	14:8e7590227d22	614	if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve	14:8e7590227d22	615	TMR3_COUNT_IREF = 0;
Lightvalve	19:23b7c1ad8683	616	}
Lightvalve	19:23b7c1ad8683	617	TMR3_COUNT_IREF++;
Lightvalve	19:23b7c1ad8683	618
Lightvalve	14:8e7590227d22	619	// Set PWM reference
Lightvalve	14:8e7590227d22	620	double TMR3_CNT_MAX = (double)TMR_FREQ_5k/2.0;
Lightvalve	19:23b7c1ad8683	621	//double I_REF_MID = 0.0;
Lightvalve	14:8e7590227d22	622	if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve	14:8e7590227d22	623	CUR_PWM = 1000;
Lightvalve	14:8e7590227d22	624	} else {
Lightvalve	14:8e7590227d22	625	CUR_PWM = -1000;
Lightvalve	19:23b7c1ad8683	626	}
Lightvalve	19:23b7c1ad8683	627
Lightvalve	14:8e7590227d22	628	if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve	14:8e7590227d22	629	CAN_TX_PRES((int16_t)(u_CUR[0]1000.0), (int16_t) (CUR_CURRENT1000.0)); // to check the datas
Lightvalve	14:8e7590227d22	630	}
Lightvalve	13:747daba9cf59	631	break;
Lightvalve	13:747daba9cf59	632	}
Lightvalve	19:23b7c1ad8683	633
Lightvalve	19:23b7c1ad8683	634
Lightvalve	14:8e7590227d22	635	case MODE_CURRENT_CONTROL: {
Lightvalve	14:8e7590227d22	636
Lightvalve	14:8e7590227d22	637	cur.ref = cur.ref; // Unit : mA
Lightvalve	14:8e7590227d22	638	CurrentControl();
Lightvalve	14:8e7590227d22	639	break;
Lightvalve	14:8e7590227d22	640	}
Lightvalve	19:23b7c1ad8683	641
Lightvalve	14:8e7590227d22	642	case MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT: {
Lightvalve	14:8e7590227d22	643	double I_REF_POS_FB = 0.0; // I_REF by Position Feedback
Lightvalve	14:8e7590227d22	644	double I_REF_POS_FF = 0.0; // I_REF by Position Feedforward
Lightvalve	14:8e7590227d22	645	double I_REF_FORCE_FB = 0.0; // I_REF by Force Feedback
Lightvalve	14:8e7590227d22	646	double I_REF_FORCE_FF = 0.0; // I_REF by Force Feedforward
Lightvalve	19:23b7c1ad8683	647
Lightvalve	14:8e7590227d22	648	// feedback input for position control
Lightvalve	14:8e7590227d22	649	pos.err = pos.ref - pos.sen;
Lightvalve	14:8e7590227d22	650	double alpha_update_vel = 1.0/(1.0+(double)FREQ_TMR4/(2.03.141550.0)); // f_cutoff : 50Hz
Lightvalve	14:8e7590227d22	651	double err_diff = (pos.err - pos.err_old)*(double)FREQ_5k;
Lightvalve	14:8e7590227d22	652	pos.err_diff = (1.0-alpha_update_vel)pos.err_diff + alpha_update_velerr_diff;
Lightvalve	14:8e7590227d22	653	pos.err_old = pos.err;
Lightvalve	14:8e7590227d22	654	I_REF_POS_FB = 0.001((double)P_GAIN_JOINT_POSITION pos.err + (double)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1);
Lightvalve	19:23b7c1ad8683	655
Lightvalve	14:8e7590227d22	656	// feedforward input for position control
Lightvalve	14:8e7590227d22	657	double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve	14:8e7590227d22	658	double K_ff = 1.3;
Lightvalve	14:8e7590227d22	659	double K_v = 0.0;
Lightvalve	14:8e7590227d22	660	if(Vel_Act_Ref > 0) K_v = 1.0/100.0; // open, tuning. (deg/s >> mA)
Lightvalve	14:8e7590227d22	661	if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // close, tuning. (deg/s >> mA)
Lightvalve	14:8e7590227d22	662	I_REF_POS_FF = K_ffK_vVel_Act_Ref;
Lightvalve	19:23b7c1ad8683	663
Lightvalve	14:8e7590227d22	664	// feedback input for position control
Lightvalve	14:8e7590227d22	665	I_REF_FORCE_FB = 0.0;
Lightvalve	19:23b7c1ad8683	666
Lightvalve	14:8e7590227d22	667	// feedforward input for position control
Lightvalve	14:8e7590227d22	668	I_REF_FORCE_FF = 0.0;
Lightvalve	19:23b7c1ad8683	669
Lightvalve	14:8e7590227d22	670	cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve	19:23b7c1ad8683	671
Lightvalve	14:8e7590227d22	672	CurrentControl();
Lightvalve	19:23b7c1ad8683	673
Lightvalve	13:747daba9cf59	674	break;
Lightvalve	13:747daba9cf59	675	}
Lightvalve	19:23b7c1ad8683	676
Lightvalve	14:8e7590227d22	677	case MODE_JOINT_POSITION_PRES_CONTROL_CURRENT: {
Lightvalve	19:23b7c1ad8683	678	//double T_REF = 0.0; // Torque Reference
Lightvalve	14:8e7590227d22	679	double I_REF_FORCE_FB = 0.; // I_REF by Force Feedback
Lightvalve	14:8e7590227d22	680	double I_REF_VC = 0.; // I_REF for velocity compensation
Lightvalve	19:23b7c1ad8683	681
Lightvalve	14:8e7590227d22	682	// feedback input for position control
Lightvalve	19:23b7c1ad8683	683	//double Joint_Pos_Err = 34.0-(double) pos.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve	19:23b7c1ad8683	684	//double Joint_Vel_Err = 0.0-(double) vel.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve	19:23b7c1ad8683	685	//double K_spring = 0.7;
Lightvalve	19:23b7c1ad8683	686	//double D_damper = 0.02;
Lightvalve	14:8e7590227d22	687	// T_REF = K_spring * pos.err + D_damper * Joint_Vel_Err; // unit : Nm
Lightvalve	19:23b7c1ad8683	688
Lightvalve	14:8e7590227d22	689	// torque feedback
Lightvalve	15:bd0d12728506	690	torq.err = torq.ref - torq.sen;
Lightvalve	14:8e7590227d22	691	// torq.err_diff = torq.err - torq.err_old;
Lightvalve	14:8e7590227d22	692	// torq.err_old = torq.err;
Lightvalve	14:8e7590227d22	693	torq.err_sum = torq.err_sum + torq.err/(double)TMR_FREQ_5k;
Lightvalve	19:23b7c1ad8683	694	I_REF_FORCE_FB = 0.001((double)P_GAIN_JOINT_TORQUE torq.err + (double)I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve	19:23b7c1ad8683	695
Lightvalve	14:8e7590227d22	696	// velocity compensation for torque control
Lightvalve	19:23b7c1ad8683	697	double Joint_Vel_Act = vel.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve	14:8e7590227d22	698	double K_vc = 1.5; // Velocity comp. gain
Lightvalve	19:23b7c1ad8683	699	double K_v = 0.0; // Valve gain
Lightvalve	14:8e7590227d22	700	if(Joint_Vel_Act > 0) K_v = 1.0/100.0; // open, tuning
Lightvalve	14:8e7590227d22	701	if(Joint_Vel_Act < 0) K_v = 1.0/100.0; // close, tuning
Lightvalve	14:8e7590227d22	702	I_REF_VC = K_vcK_vJoint_Vel_Act;
Lightvalve	19:23b7c1ad8683	703
Lightvalve	14:8e7590227d22	704	cur.ref = I_REF_VC + I_REF_FORCE_FB;
Lightvalve	19:23b7c1ad8683	705	// cur.ref = I_REF_FORCE_FB;
Lightvalve	19:23b7c1ad8683	706
Lightvalve	19:23b7c1ad8683	707	double I_MAX = 10.00; // Maximum Current : 10mV
Lightvalve	14:8e7590227d22	708	double Ka = 1.0/I_GAIN_JOINT_TORQUE;
Lightvalve	14:8e7590227d22	709	if(cur.ref > I_MAX) {
Lightvalve	14:8e7590227d22	710	double I_rem = cur.ref-I_MAX;
Lightvalve	14:8e7590227d22	711	I_rem = Ka*I_rem;
Lightvalve	14:8e7590227d22	712	cur.ref = I_MAX;
Lightvalve	14:8e7590227d22	713	torq.err_sum = torq.err_sum - I_rem/(double)TMR_FREQ_5k;
Lightvalve	14:8e7590227d22	714	} else if(cur.ref < -I_MAX) {
Lightvalve	14:8e7590227d22	715	double I_rem = cur.ref-(-I_MAX);
Lightvalve	19:23b7c1ad8683	716	I_rem = Ka*I_rem;
Lightvalve	14:8e7590227d22	717	cur.ref = -I_MAX;
Lightvalve	14:8e7590227d22	718	torq.err_sum = torq.err_sum - I_rem/(double)TMR_FREQ_5k;
Lightvalve	14:8e7590227d22	719	}
Lightvalve	19:23b7c1ad8683	720
Lightvalve	14:8e7590227d22	721	CurrentControl();
Lightvalve	19:23b7c1ad8683	722
Lightvalve	19:23b7c1ad8683	723
Lightvalve	14:8e7590227d22	724	/*
Lightvalve	14:8e7590227d22	725	double I_REF_POS_FB = 0.0; // I_REF by Position Feedback
Lightvalve	14:8e7590227d22	726	double I_REF_POS_FF = 0.0; // I_REF by Position Feedforward
Lightvalve	14:8e7590227d22	727	double I_REF_FORCE_FB = 0.0; // I_REF by Force Feedback
Lightvalve	14:8e7590227d22	728	double I_REF_FORCE_FF = 0.0; // I_REF by Force Feedforward
Lightvalve	19:23b7c1ad8683	729
Lightvalve	14:8e7590227d22	730	// feedback input for position control
Lightvalve	14:8e7590227d22	731	pos.err = pos.ref - pos.sen;
Lightvalve	14:8e7590227d22	732	double alpha_update_vel = 1.0/(1.0+(double)FREQ_TMR4/(2.03.141550.0)); // f_cutoff : 50Hz
Lightvalve	14:8e7590227d22	733	double err_diff = (pos.err - pos.err_old)*(double)FREQ_5k;
Lightvalve	14:8e7590227d22	734	pos.err_diff = (1.0-alpha_update_vel)pos.err_diff + alpha_update_velerr_diff;
Lightvalve	14:8e7590227d22	735	pos.err_old = pos.err;
Lightvalve	14:8e7590227d22	736	I_REF_POS_FB = 0.001((double)P_GAIN_JOINT_POSITION pos.err + (double)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1);
Lightvalve	19:23b7c1ad8683	737
Lightvalve	14:8e7590227d22	738	// feedforward input for position control
Lightvalve	14:8e7590227d22	739	double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve	14:8e7590227d22	740	double K_ff = 1.3;
Lightvalve	14:8e7590227d22	741	double K_v = 0.0;
Lightvalve	14:8e7590227d22	742	if(Vel_Act_Ref > 0) K_v = 1.0/100.0; // open, tuning. (deg/s >> mA)
Lightvalve	14:8e7590227d22	743	if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // close, tuning. (deg/s >> mA)
Lightvalve	14:8e7590227d22	744	I_REF_POS_FF = K_ffK_vVel_Act_Ref;
Lightvalve	19:23b7c1ad8683	745
Lightvalve	14:8e7590227d22	746	// feedback input for position control
Lightvalve	14:8e7590227d22	747	I_REF_FORCE_FB = 0.0;
Lightvalve	19:23b7c1ad8683	748
Lightvalve	14:8e7590227d22	749	// feedforward input for position control
Lightvalve	14:8e7590227d22	750	I_REF_FORCE_FF = 0.0;
Lightvalve	19:23b7c1ad8683	751
Lightvalve	14:8e7590227d22	752	cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve	19:23b7c1ad8683	753
Lightvalve	14:8e7590227d22	754	CurrentControl();
Lightvalve	14:8e7590227d22	755	*/
Lightvalve	19:23b7c1ad8683	756
Lightvalve	13:747daba9cf59	757	break;
Lightvalve	13:747daba9cf59	758	}
Lightvalve	14:8e7590227d22	759
Lightvalve	14:8e7590227d22	760	case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	761	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	762	if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve	15:bd0d12728506	763	CUR_TORQUE_sum += torq.sen;
Lightvalve	19:23b7c1ad8683	764
Lightvalve	14:8e7590227d22	765	if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve	13:747daba9cf59	766	CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0;
Lightvalve	13:747daba9cf59	767	CUR_TORQUE_sum = 0;
Lightvalve	14:8e7590227d22	768
Lightvalve	13:747daba9cf59	769	TORQUE_VREF += 0.0001 * (TORQUE_NULL - CUR_TORQUE_mean);
Lightvalve	19:23b7c1ad8683	770
Lightvalve	13:747daba9cf59	771	if (TORQUE_VREF > 3.3) TORQUE_VREF = 3.3;
Lightvalve	13:747daba9cf59	772	if (TORQUE_VREF < 0) TORQUE_VREF = 0;
Lightvalve	19:23b7c1ad8683	773
Lightvalve	16:903b5a4433b4	774	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	775
Lightvalve	16:903b5a4433b4	776	//spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve	16:903b5a4433b4	777	dac_1 = TORQUE_VREF / 3.3;
Lightvalve	13:747daba9cf59	778	}
Lightvalve	13:747daba9cf59	779	} else {
Lightvalve	13:747daba9cf59	780	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	781	TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve	13:747daba9cf59	782	CUR_TORQUE_sum = 0;
Lightvalve	13:747daba9cf59	783	CUR_TORQUE_mean = 0;
Lightvalve	19:23b7c1ad8683	784
Lightvalve	16:903b5a4433b4	785	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	786
Lightvalve	16:903b5a4433b4	787	//spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve	19:23b7c1ad8683	788
Lightvalve	17:1865016ca2e7	789	//pc.printf("%f\n", TORQUE_VREF);
Lightvalve	16:903b5a4433b4	790	dac_1 = TORQUE_VREF / 3.3;
Lightvalve	14:8e7590227d22	791
Lightvalve	13:747daba9cf59	792	}
Lightvalve	14:8e7590227d22	793	TMR3_COUNT_TORQUE_NULL++;
Lightvalve	13:747daba9cf59	794	break;
Lightvalve	19:23b7c1ad8683	795	}
Lightvalve	14:8e7590227d22	796
Lightvalve	14:8e7590227d22	797	case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve	14:8e7590227d22	798	if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve	13:747daba9cf59	799	if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	13:747daba9cf59	800	else temp_time = 0;
Lightvalve	13:747daba9cf59	801	}
Lightvalve	13:747daba9cf59	802	if (need_enc_init) {
Lightvalve	14:8e7590227d22	803	if (TMR3_COUNT_DEADZONE < (int) (0.5 * (double) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	804	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	805	pos_plus_end = pos.sen;
Lightvalve	14:8e7590227d22	806	} else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve	18:b8adf1582ea3	807	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	808	pos_minus_end = pos.sen;
Lightvalve	14:8e7590227d22	809	} else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve	13:747daba9cf59	810	temp_time = TMR_FREQ_5k;
Lightvalve	13:747daba9cf59	811	}
Lightvalve	14:8e7590227d22	812
Lightvalve	14:8e7590227d22	813	if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	814	V_out = (double) P_GAIN_JOINT_POSITION * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve	13:747daba9cf59	815	VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve	14:8e7590227d22	816
Lightvalve	14:8e7590227d22	817	} else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9 * (double) TMR_FREQ_5k))) {
Lightvalve	18:b8adf1582ea3	818	V_out = 0;
Lightvalve	13:747daba9cf59	819	CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	14:8e7590227d22	820	} else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	13:747daba9cf59	821	if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve	13:747daba9cf59	822	else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve	13:747daba9cf59	823	else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve	13:747daba9cf59	824	else DZ_temp_cnt2 = DZ_end;
Lightvalve	13:747daba9cf59	825	CUR_VELOCITY_sum = 0;
Lightvalve	14:8e7590227d22	826	} else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	827	if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve	14:8e7590227d22	828
Lightvalve	13:747daba9cf59	829	// Position of Dead Zone
Lightvalve	13:747daba9cf59	830	// (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve	14:8e7590227d22	831	// \| / \| / \|/
Lightvalve	13:747daba9cf59	832	// \| ______/ ___\|___/ ______/\|
Lightvalve	13:747daba9cf59	833	// \|/ / \| / \|
Lightvalve	13:747daba9cf59	834	// /\| / \| / \|
Lightvalve	13:747daba9cf59	835	// 0V 0V 0V
Lightvalve	14:8e7590227d22	836
Lightvalve	13:747daba9cf59	837	if (DZ_temp_cnt2 < DZ_end) {
Lightvalve	14:8e7590227d22	838	if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve	13:747daba9cf59	839	CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	13:747daba9cf59	840	} else {
Lightvalve	18:b8adf1582ea3	841	V_out -= DZ_dir;
Lightvalve	13:747daba9cf59	842	if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve	13:747daba9cf59	843	CUR_VELOCITY_sum = 0;
Lightvalve	13:747daba9cf59	844	}
Lightvalve	13:747daba9cf59	845	if (DZ_temp_cnt == 5) {
Lightvalve	18:b8adf1582ea3	846	if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve	18:b8adf1582ea3	847	else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve	13:747daba9cf59	848	DZ_dir = -DZ_dir;
Lightvalve	13:747daba9cf59	849	DZ_temp_cnt = 0;
Lightvalve	13:747daba9cf59	850	DZ_temp_cnt2++;
Lightvalve	13:747daba9cf59	851	}
Lightvalve	13:747daba9cf59	852	} else {
Lightvalve	14:8e7590227d22	853	TMR3_COUNT_DEADZONE = -1;
Lightvalve	13:747daba9cf59	854	VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve	13:747daba9cf59	855	if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve	13:747daba9cf59	856	VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve	13:747daba9cf59	857	VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve	13:747daba9cf59	858	}
Lightvalve	18:b8adf1582ea3	859	V_out = 0;
Lightvalve	19:23b7c1ad8683	860
Lightvalve	16:903b5a4433b4	861	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	862
Lightvalve	16:903b5a4433b4	863	//spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve	16:903b5a4433b4	864	//spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve	14:8e7590227d22	865
Lightvalve	13:747daba9cf59	866	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	867	DZ_temp_cnt2 = 0;
Lightvalve	13:747daba9cf59	868	}
Lightvalve	13:747daba9cf59	869	}
Lightvalve	14:8e7590227d22	870	TMR3_COUNT_DEADZONE++;
Lightvalve	13:747daba9cf59	871	break;
Lightvalve	13:747daba9cf59	872	}
Lightvalve	14:8e7590227d22	873
Lightvalve	14:8e7590227d22	874	case MODE_FIND_HOME: {
Lightvalve	19:23b7c1ad8683	875
Lightvalve	19:23b7c1ad8683	876
Lightvalve	14:8e7590227d22	877	////////////////////////////////////////////FIND_HOME_PWM/////////////////////////////////////////////////////
Lightvalve	14:8e7590227d22	878	if (FLAG_FIND_HOME == true) {
Lightvalve	14:8e7590227d22	879	cnt_findhome = 0;
Lightvalve	14:8e7590227d22	880	cnt_vel_findhome = 0;
Lightvalve	14:8e7590227d22	881	//REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve	14:8e7590227d22	882	pos.ref = pos.sen;
Lightvalve	14:8e7590227d22	883	FLAG_FIND_HOME = false;
Lightvalve	14:8e7590227d22	884	}
Lightvalve	14:8e7590227d22	885
Lightvalve	14:8e7590227d22	886	int check_enc = (TMR_FREQ_5k/10);
Lightvalve	14:8e7590227d22	887	if(cnt_findhome%check_enc == 0) {
Lightvalve	14:8e7590227d22	888	FINDHOME_POSITION = pos.sen;
Lightvalve	14:8e7590227d22	889	FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve	14:8e7590227d22	890	FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve	14:8e7590227d22	891	}
Lightvalve	14:8e7590227d22	892	cnt_findhome++;
Lightvalve	14:8e7590227d22	893	if(cnt_findhome == 10000) cnt_findhome = 0;
Lightvalve	14:8e7590227d22	894
Lightvalve	14:8e7590227d22	895	if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve	14:8e7590227d22	896	cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve	14:8e7590227d22	897	} else {
Lightvalve	14:8e7590227d22	898	cnt_vel_findhome = 0;
Lightvalve	14:8e7590227d22	899	}
Lightvalve	14:8e7590227d22	900
Lightvalve	14:8e7590227d22	901	if (cnt_vel_findhome < 2*TMR_FREQ_5k) {
Lightvalve	14:8e7590227d22	902	//REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve	14:8e7590227d22	903	if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 1.0;
Lightvalve	14:8e7590227d22	904	else pos.ref = pos.ref - 1.0;
Lightvalve	14:8e7590227d22	905	pos.err = pos.ref - (double) pos.sen;
Lightvalve	14:8e7590227d22	906	V_out = ((double) P_GAIN_JOINT_POSITION * pos.err) * 0.01;
Lightvalve	18:b8adf1582ea3	907	// if (HOMEPOS_OFFSET > 0) V_out = 100;
Lightvalve	18:b8adf1582ea3	908	// else V_out = -100;
Lightvalve	14:8e7590227d22	909	} else {
Lightvalve	14:8e7590227d22	910	ENC_SET(HOMEPOS_OFFSET);
Lightvalve	14:8e7590227d22	911	FLAG_REFERENCE_JOINT_POSITION = 1;
Lightvalve	14:8e7590227d22	912	INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve	14:8e7590227d22	913	REF_MOVE_TIME_5k = 2 * TMR_FREQ_5k;
Lightvalve	14:8e7590227d22	914	TMR3_COUNT_REFERENCE = 0;
Lightvalve	14:8e7590227d22	915	vel.ref = 0.0;
Lightvalve	14:8e7590227d22	916	//REFERENCE_MODE = MODE_REF_COS_INC;
Lightvalve	14:8e7590227d22	917	CONTROL_MODE = MODE_JOINT_POSITION_TORQUE_CONTROL_PWM;
Lightvalve	14:8e7590227d22	918
Lightvalve	14:8e7590227d22	919	FINDHOME_POSITION = 0;
Lightvalve	14:8e7590227d22	920	FINDHOME_POSITION_OLD = 0;
Lightvalve	14:8e7590227d22	921	FINDHOME_VELOCITY = 0;
Lightvalve	14:8e7590227d22	922	cnt_findhome = 0;
Lightvalve	14:8e7590227d22	923	cnt_vel_findhome = 0;
Lightvalve	14:8e7590227d22	924	}
Lightvalve	19:23b7c1ad8683	925
Lightvalve	14:8e7590227d22	926	/*
Lightvalve	14:8e7590227d22	927	////////////////////////////////////////////FIND_HOME_CURRENT/////////////////////////////////////////////////////
Lightvalve	13:747daba9cf59	928	if (FLAG_FIND_HOME == true) {
Lightvalve	13:747daba9cf59	929	cnt_findhome = 0;
Lightvalve	13:747daba9cf59	930	cnt_vel_findhome = 0;
Lightvalve	13:747daba9cf59	931	REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve	14:8e7590227d22	932	Ref_Joint_Pos = pos.sen;
Lightvalve	13:747daba9cf59	933	FLAG_FIND_HOME = false;
Lightvalve	13:747daba9cf59	934	}
Lightvalve	19:23b7c1ad8683	935
Lightvalve	14:8e7590227d22	936	int cnt_check_enc = (TMR_FREQ_5k/500);
Lightvalve	14:8e7590227d22	937	if(cnt_findhome%cnt_check_enc == 0){
Lightvalve	14:8e7590227d22	938	FINDHOME_POSITION = pos.sen;
Lightvalve	13:747daba9cf59	939	FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve	13:747daba9cf59	940	FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve	13:747daba9cf59	941	} cnt_findhome++;
Lightvalve	13:747daba9cf59	942	if(cnt_findhome == 10000) cnt_findhome = 0;
Lightvalve	19:23b7c1ad8683	943
Lightvalve	13:747daba9cf59	944	if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve	13:747daba9cf59	945	cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve	13:747daba9cf59	946	} else {
Lightvalve	13:747daba9cf59	947	cnt_vel_findhome = 0;
Lightvalve	13:747daba9cf59	948	}
Lightvalve	19:23b7c1ad8683	949
Lightvalve	14:8e7590227d22	950	if (cnt_vel_findhome < 3*TMR_FREQ_5k) { // wait for 3sec
Lightvalve	13:747daba9cf59	951	REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve	13:747daba9cf59	952	if (HOMEPOS_OFFSET > 0) Ref_Joint_Pos = Ref_Joint_Pos + 1.0;
Lightvalve	13:747daba9cf59	953	else Ref_Joint_Pos = Ref_Joint_Pos - 1.0;
Lightvalve	14:8e7590227d22	954	pos.err = Ref_Joint_Pos - pos.sen;
Lightvalve	19:23b7c1ad8683	955	I_REF = 0.001*((double)pos.err);
Lightvalve	14:8e7590227d22	956	if(I_REF>5.0) I_REF = 5.0;
Lightvalve	14:8e7590227d22	957	if(I_REF<-5.0) I_REF = -5.0;
Lightvalve	14:8e7590227d22	958	cur.ref = I_REF;
Lightvalve	14:8e7590227d22	959	CurrentControl();
Lightvalve	13:747daba9cf59	960	} else {
Lightvalve	13:747daba9cf59	961	ENC_SET(HOMEPOS_OFFSET);
Lightvalve	13:747daba9cf59	962	FLAG_REFERENCE_JOINT_POSITION = 1;
Lightvalve	13:747daba9cf59	963	INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve	13:747daba9cf59	964	REF_MOVE_TIME_5k = 2 * TMR_FREQ_5k;
Lightvalve	14:8e7590227d22	965	TMR3_COUNT_REFERENCE = 0;
Lightvalve	13:747daba9cf59	966	Ref_Joint_Vel = 0.0;
Lightvalve	13:747daba9cf59	967	REFERENCE_MODE = MODE_REF_COS_INC;
Lightvalve	14:8e7590227d22	968	CONTROL_MODE = MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION;
Lightvalve	19:23b7c1ad8683	969
Lightvalve	13:747daba9cf59	970	FINDHOME_POSITION = 0;
Lightvalve	13:747daba9cf59	971	FINDHOME_POSITION_OLD = 0;
Lightvalve	13:747daba9cf59	972	FINDHOME_VELOCITY = 0;
Lightvalve	13:747daba9cf59	973	cnt_findhome = 0;
Lightvalve	13:747daba9cf59	974	cnt_vel_findhome = 0;
Lightvalve	13:747daba9cf59	975	}
Lightvalve	14:8e7590227d22	976	*/
Lightvalve	19:23b7c1ad8683	977
Lightvalve	13:747daba9cf59	978	break;
Lightvalve	13:747daba9cf59	979	}
Lightvalve	14:8e7590227d22	980
Lightvalve	14:8e7590227d22	981	case MODE_VALVE_GAIN_SETTING: {
Lightvalve	14:8e7590227d22	982	if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve	13:747daba9cf59	983	if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	13:747daba9cf59	984	else {
Lightvalve	18:b8adf1582ea3	985	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	13:747daba9cf59	986	temp_time = (int) (0.5 * (double) TMR_FREQ_5k);
Lightvalve	13:747daba9cf59	987	}
Lightvalve	13:747daba9cf59	988	}
Lightvalve	13:747daba9cf59	989	if (need_enc_init) {
Lightvalve	14:8e7590227d22	990	if (TMR3_COUNT_FLOWRATE < (int) (0.5 * (double) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	991	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	992	pos_plus_end = pos.sen;
Lightvalve	14:8e7590227d22	993	} else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve	18:b8adf1582ea3	994	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	995	pos_minus_end = pos.sen;
Lightvalve	14:8e7590227d22	996	} else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve	13:747daba9cf59	997	need_enc_init = false;
Lightvalve	13:747daba9cf59	998	check_vel_pos_init = (int) (0.9 * (double) (pos_plus_end - pos_minus_end));
Lightvalve	13:747daba9cf59	999	check_vel_pos_fin = (int) (0.95 * (double) (pos_plus_end - pos_minus_end));
Lightvalve	13:747daba9cf59	1000	check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve	13:747daba9cf59	1001	}
Lightvalve	13:747daba9cf59	1002	temp_time = TMR_FREQ_5k;
Lightvalve	13:747daba9cf59	1003	}
Lightvalve	14:8e7590227d22	1004	TMR3_COUNT_FLOWRATE++;
Lightvalve	14:8e7590227d22	1005	if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve	13:747daba9cf59	1006	if (flag_flowrate % 2 == 0) { // (+)
Lightvalve	18:b8adf1582ea3	1007	VALVE_VOLTAGE = 1000.0 * (double) (flag_flowrate / 2 + 1);
Lightvalve	18:b8adf1582ea3	1008	V_out = VALVE_VOLTAGE;
Lightvalve	14:8e7590227d22	1009	if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve	13:747daba9cf59	1010	fl_temp_cnt++;
Lightvalve	14:8e7590227d22	1011	} else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	13:747daba9cf59	1012	VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873 * 0.5757 * (double) TMR_FREQ_5k / 10000.0 * (double) check_vel_pos_interv / (double) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6pi/6553610000 0.5757=0.025250.020.0095260*1000
Lightvalve	13:747daba9cf59	1013	// VALVE_GAIN_LPM_PER_V[flag_flowrate] = (double) TMR_FREQ_10k * (double) check_vel_pos_interv / (double) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
Lightvalve	13:747daba9cf59	1014	fl_temp_cnt2++;
Lightvalve	13:747daba9cf59	1015	}
Lightvalve	13:747daba9cf59	1016	} else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve	13:747daba9cf59	1017	VALVE_VOLTAGE = -1. * (double) (flag_flowrate / 2 + 1);
Lightvalve	18:b8adf1582ea3	1018	V_out = VALVE_VOLTAGE;
Lightvalve	14:8e7590227d22	1019	if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve	13:747daba9cf59	1020	fl_temp_cnt++;
Lightvalve	14:8e7590227d22	1021	} else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	13:747daba9cf59	1022	VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873 * 0.5757 * (double) TMR_FREQ_5k / 10000.0 * (double) check_vel_pos_interv / (double) fl_temp_cnt / (-VALVE_VOLTAGE);
Lightvalve	13:747daba9cf59	1023	// VALVE_GAIN_LPM_PER_V[flag_flowrate] = (double) TMR_FREQ_10k * (double) check_vel_pos_interv / (double) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
Lightvalve	13:747daba9cf59	1024	fl_temp_cnt2++;
Lightvalve	13:747daba9cf59	1025	}
Lightvalve	13:747daba9cf59	1026	}
Lightvalve	13:747daba9cf59	1027	if (fl_temp_cnt2 == 100) {
Lightvalve	19:23b7c1ad8683	1028
Lightvalve	16:903b5a4433b4	1029	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	1030
Lightvalve	16:903b5a4433b4	1031	//spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0));
Lightvalve	13:747daba9cf59	1032	cur_vel_sum = 0;
Lightvalve	13:747daba9cf59	1033	fl_temp_cnt = 0;
Lightvalve	13:747daba9cf59	1034	fl_temp_cnt2 = 0;
Lightvalve	13:747daba9cf59	1035	flag_flowrate++;
Lightvalve	13:747daba9cf59	1036	}
Lightvalve	13:747daba9cf59	1037	if (flag_flowrate == 10) {
Lightvalve	18:b8adf1582ea3	1038	V_out = 0;
Lightvalve	13:747daba9cf59	1039	flag_flowrate = 0;
Lightvalve	14:8e7590227d22	1040	TMR3_COUNT_FLOWRATE = 0;
Lightvalve	13:747daba9cf59	1041	valve_gain_repeat_cnt++;
Lightvalve	13:747daba9cf59	1042	if (valve_gain_repeat_cnt >= 1) {
Lightvalve	13:747daba9cf59	1043	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1044	valve_gain_repeat_cnt = 0;
Lightvalve	13:747daba9cf59	1045	}
Lightvalve	14:8e7590227d22	1046
Lightvalve	13:747daba9cf59	1047	}
Lightvalve	13:747daba9cf59	1048	break;
Lightvalve	13:747daba9cf59	1049	}
Lightvalve	14:8e7590227d22	1050
Lightvalve	13:747daba9cf59	1051	}
Lightvalve	14:8e7590227d22	1052
Lightvalve	14:8e7590227d22	1053	case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	1054	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	1055	if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve	14:8e7590227d22	1056	CUR_PRES_A_sum += pres_A.sen;
Lightvalve	14:8e7590227d22	1057	CUR_PRES_B_sum += pres_B.sen;
Lightvalve	14:8e7590227d22	1058
Lightvalve	14:8e7590227d22	1059	if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve	13:747daba9cf59	1060	CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0;
Lightvalve	13:747daba9cf59	1061	CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0;
Lightvalve	13:747daba9cf59	1062	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	1063	CUR_PRES_B_sum = 0;
Lightvalve	14:8e7590227d22	1064
Lightvalve	16:903b5a4433b4	1065	double VREF_NullingGain = 0.003;
Lightvalve	13:747daba9cf59	1066	PRES_A_VREF -= VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
Lightvalve	13:747daba9cf59	1067	PRES_B_VREF -= VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
Lightvalve	14:8e7590227d22	1068
Lightvalve	13:747daba9cf59	1069	if (PRES_A_VREF > 3.3) PRES_A_VREF = 3.3;
Lightvalve	13:747daba9cf59	1070	if (PRES_A_VREF < 0) PRES_A_VREF = 0;
Lightvalve	13:747daba9cf59	1071	if (PRES_B_VREF > 3.3) PRES_B_VREF = 3.3;
Lightvalve	13:747daba9cf59	1072	if (PRES_B_VREF < 0) PRES_B_VREF = 0;
Lightvalve	19:23b7c1ad8683	1073
Lightvalve	16:903b5a4433b4	1074	dac_1 = PRES_A_VREF / 3.3;
Lightvalve	16:903b5a4433b4	1075	dac_2 = PRES_B_VREF / 3.3;
Lightvalve	13:747daba9cf59	1076	}
Lightvalve	13:747daba9cf59	1077	} else {
Lightvalve	13:747daba9cf59	1078	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	1079	TMR3_COUNT_PRES_NULL = 0;
Lightvalve	13:747daba9cf59	1080	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	1081	CUR_PRES_B_sum = 0;
Lightvalve	13:747daba9cf59	1082	CUR_PRES_A_mean = 0;
Lightvalve	13:747daba9cf59	1083	CUR_PRES_B_mean = 0;
Lightvalve	14:8e7590227d22	1084
Lightvalve	16:903b5a4433b4	1085	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	1086
Lightvalve	15:bd0d12728506	1087	dac_1 = PRES_A_VREF / 3.3;
Lightvalve	15:bd0d12728506	1088	dac_2 = PRES_B_VREF / 3.3;
Lightvalve	17:1865016ca2e7	1089	//pc.printf("nulling end");
Lightvalve	13:747daba9cf59	1090	}
Lightvalve	14:8e7590227d22	1091	TMR3_COUNT_PRES_NULL++;
Lightvalve	13:747daba9cf59	1092	break;
Lightvalve	13:747daba9cf59	1093	}
Lightvalve	14:8e7590227d22	1094
Lightvalve	14:8e7590227d22	1095	case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve	14:8e7590227d22	1096	if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve	18:b8adf1582ea3	1097	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1098	if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve	13:747daba9cf59	1099	CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve	13:747daba9cf59	1100	}
Lightvalve	14:8e7590227d22	1101	} else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve	18:b8adf1582ea3	1102	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1103	if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve	13:747daba9cf59	1104	CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve	13:747daba9cf59	1105	}
Lightvalve	13:747daba9cf59	1106	} else {
Lightvalve	13:747daba9cf59	1107	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	1108	TMR3_COUNT_PRES_CALIB = 0;
Lightvalve	18:b8adf1582ea3	1109	V_out = 0;
Lightvalve	18:b8adf1582ea3	1110	PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((double) TMR_FREQ_5k - 1.0) - PRES_A_NULL;
Lightvalve	18:b8adf1582ea3	1111	PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((double) PRES_SUPPLY - 1.0);
Lightvalve	18:b8adf1582ea3	1112	PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((double) TMR_FREQ_5k - 1.0) - PRES_B_NULL;
Lightvalve	18:b8adf1582ea3	1113	PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((double) PRES_SUPPLY - 1.0);
Lightvalve	13:747daba9cf59	1114	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	1115	CUR_PRES_B_sum = 0;
Lightvalve	13:747daba9cf59	1116	CUR_PRES_A_mean = 0;
Lightvalve	13:747daba9cf59	1117	CUR_PRES_B_mean = 0;
Lightvalve	19:23b7c1ad8683	1118
Lightvalve	16:903b5a4433b4	1119	ROM_RESET_DATA();
Lightvalve	14:8e7590227d22	1120
Lightvalve	16:903b5a4433b4	1121	//spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0));
Lightvalve	16:903b5a4433b4	1122	//spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0));
Lightvalve	13:747daba9cf59	1123	}
Lightvalve	14:8e7590227d22	1124	TMR3_COUNT_PRES_CALIB++;
Lightvalve	13:747daba9cf59	1125	break;
Lightvalve	13:747daba9cf59	1126	}
Lightvalve	14:8e7590227d22	1127
Lightvalve	14:8e7590227d22	1128	case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve	14:8e7590227d22	1129	if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4 + 3. * sin(2 * 3.14159 * 0.5 * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001 * 0.05);
Lightvalve	18:b8adf1582ea3	1130	V_out = PWM_out * sin(2 * 3.14159 * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001);
Lightvalve	18:b8adf1582ea3	1131	if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	18:b8adf1582ea3	1132	else V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1133	TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve	14:8e7590227d22	1134	if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve	14:8e7590227d22	1135	TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve	17:1865016ca2e7	1136	V_out = 0;
Lightvalve	13:747daba9cf59	1137	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1138	}
Lightvalve	13:747daba9cf59	1139	break;
Lightvalve	13:747daba9cf59	1140	}
Lightvalve	14:8e7590227d22	1141
Lightvalve	14:8e7590227d22	1142	case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve	13:747daba9cf59	1143	VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve	14:8e7590227d22	1144
Lightvalve	14:8e7590227d22	1145	if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve	18:b8adf1582ea3	1146	V_out = 3000.0 * sin(23.14VALVE_ID_timer/TMR_FREQ_5k * 100.0);
Lightvalve	14:8e7590227d22	1147	} else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve	18:b8adf1582ea3	1148	V_out = 1000.0*(ID_index_array[ID_index]);
Lightvalve	14:8e7590227d22	1149	} else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve	13:747daba9cf59	1150	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	1151	data_num = 0;
Lightvalve	14:8e7590227d22	1152	} else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve	13:747daba9cf59	1153	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	1154	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	14:8e7590227d22	1155	} else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve	13:747daba9cf59	1156	VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve	13:747daba9cf59	1157	VALVE_ID_timer = 0;
Lightvalve	13:747daba9cf59	1158	ID_index= ID_index +1;
Lightvalve	13:747daba9cf59	1159	}
Lightvalve	14:8e7590227d22	1160
Lightvalve	17:1865016ca2e7	1161	if(ID_index>=25) {
Lightvalve	13:747daba9cf59	1162	int i;
Lightvalve	13:747daba9cf59	1163	VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve	17:1865016ca2e7	1164	for(i=0; i<25; i++) {
Lightvalve	13:747daba9cf59	1165	VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve	19:23b7c1ad8683	1166
Lightvalve	17:1865016ca2e7	1167	//ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	1168
Lightvalve	16:903b5a4433b4	1169	//spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) (VALVE_POS_AVG[i]));
Lightvalve	14:8e7590227d22	1170	if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	1171	VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	1172	VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	1173	} else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	1174	VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	1175	VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	1176	}
Lightvalve	13:747daba9cf59	1177	}
Lightvalve	19:23b7c1ad8683	1178
Lightvalve	16:903b5a4433b4	1179	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	1180
Lightvalve	16:903b5a4433b4	1181	//spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) (VALVE_MAX_POS));
Lightvalve	16:903b5a4433b4	1182	//spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) (VALVE_MIN_POS));
Lightvalve	13:747daba9cf59	1183	CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS));
Lightvalve	13:747daba9cf59	1184	ID_index = 0;
Lightvalve	13:747daba9cf59	1185	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1186	}
Lightvalve	14:8e7590227d22	1187
Lightvalve	14:8e7590227d22	1188
Lightvalve	13:747daba9cf59	1189	break;
Lightvalve	13:747daba9cf59	1190	}
Lightvalve	14:8e7590227d22	1191
Lightvalve	14:8e7590227d22	1192	case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve	14:8e7590227d22	1193
Lightvalve	13:747daba9cf59	1194	VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve	14:8e7590227d22	1195	if(first_check == 0) {
Lightvalve	14:8e7590227d22	1196	if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1197	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1198	} else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1199	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1200	pos_plus_end = pos.sen;
Lightvalve	14:8e7590227d22	1201	} else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1202	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1203	} else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1204	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1205	pos_minus_end = pos.sen;
Lightvalve	14:8e7590227d22	1206	} else if(VALVE_DZ_timer < (int) (3.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1207	V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve	14:8e7590227d22	1208	} else if(VALVE_DZ_timer < (int) (4.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1209	V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve	13:747daba9cf59	1210	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	1211	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	14:8e7590227d22	1212	} else if(VALVE_DZ_timer == (int) (4.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1213	V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve	13:747daba9cf59	1214	DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve	14:8e7590227d22	1215	START_POS = pos.sen;
Lightvalve	13:747daba9cf59	1216	CAN_TX_PRES((int16_t) (DDV_POS_AVG), (int16_t) (data_num));
Lightvalve	13:747daba9cf59	1217	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	1218	data_num = 0;
Lightvalve	14:8e7590227d22	1219
Lightvalve	14:8e7590227d22	1220	} else if(VALVE_DZ_timer < (int) (5.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1221	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1222	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1223	//CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS));
Lightvalve	14:8e7590227d22	1224
Lightvalve	14:8e7590227d22	1225	} else if(VALVE_DZ_timer < (int) (6.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1226	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1227	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1228	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1229	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1230	else
Lightvalve	13:747daba9cf59	1231	VEL_POINT = VEL_POINT - 1;
Lightvalve	14:8e7590227d22	1232	} else if(VALVE_DZ_timer == (int) (6.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1233	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1234	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1235	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1236	// if(VEL_POINT >= 0)
Lightvalve	14:8e7590227d22	1237	// {
Lightvalve	14:8e7590227d22	1238	// DZ_case = 1;
Lightvalve	14:8e7590227d22	1239	// }
Lightvalve	14:8e7590227d22	1240	// else
Lightvalve	14:8e7590227d22	1241	// {
Lightvalve	14:8e7590227d22	1242	// DZ_case = -1;
Lightvalve	14:8e7590227d22	1243	// }
Lightvalve	14:8e7590227d22	1244	// if(abs(FINAL_POS - START_POS) < 100)
Lightvalve	14:8e7590227d22	1245	// {
Lightvalve	14:8e7590227d22	1246	// DZ_case = 0;
Lightvalve	14:8e7590227d22	1247	// }
Lightvalve	14:8e7590227d22	1248
Lightvalve	14:8e7590227d22	1249	if((FINAL_POS - START_POS)>100) {
Lightvalve	13:747daba9cf59	1250	DZ_case = 1;
Lightvalve	14:8e7590227d22	1251	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	13:747daba9cf59	1252	DZ_case = -1;
Lightvalve	14:8e7590227d22	1253	} else {
Lightvalve	13:747daba9cf59	1254	DZ_case = 0;
Lightvalve	13:747daba9cf59	1255	}
Lightvalve	14:8e7590227d22	1256
Lightvalve	14:8e7590227d22	1257	VEL_POINT = 0;
Lightvalve	13:747daba9cf59	1258	first_check = 1;
Lightvalve	13:747daba9cf59	1259	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1260	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1261	Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve	13:747daba9cf59	1262	DZ_NUM = 1;
Lightvalve	13:747daba9cf59	1263	DZ_index = 1;
Lightvalve	18:b8adf1582ea3	1264	//CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (DZ_NUM));
Lightvalve	14:8e7590227d22	1265
Lightvalve	13:747daba9cf59	1266	}
Lightvalve	19:23b7c1ad8683	1267	} else {
Lightvalve	14:8e7590227d22	1268	if((DZ_case == -1 && DZ_NUM == 1) \| (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve	14:8e7590227d22	1269	if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1270	V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve	14:8e7590227d22	1271	} else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1272	START_POS = pos.sen;
Lightvalve	14:8e7590227d22	1273	} else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1274	valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1275	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1276	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1277	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1278	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1279	}
Lightvalve	14:8e7590227d22	1280	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1281	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1282	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1283	else
Lightvalve	13:747daba9cf59	1284	VEL_POINT = VEL_POINT - 1;
Lightvalve	14:8e7590227d22	1285	} else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1286	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1287	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1288	// if(VEL_POINT >= 0)
Lightvalve	14:8e7590227d22	1289	// DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1290	// else
Lightvalve	14:8e7590227d22	1291	// DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1292	// if(abs(FINAL_POS - START_POS) < 100)
Lightvalve	14:8e7590227d22	1293	// DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1294
Lightvalve	14:8e7590227d22	1295	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1296	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1297	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1298	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1299	} else {
Lightvalve	13:747daba9cf59	1300	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	13:747daba9cf59	1301	}
Lightvalve	14:8e7590227d22	1302
Lightvalve	14:8e7590227d22	1303	VEL_POINT = 0;
Lightvalve	14:8e7590227d22	1304
Lightvalve	13:747daba9cf59	1305	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1306	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1307	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1308	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1309	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1310	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1311	DZ_index = 1;
Lightvalve	13:747daba9cf59	1312	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1313	}
Lightvalve	14:8e7590227d22	1314
Lightvalve	13:747daba9cf59	1315	//CAN_TX_PRES((int16_t) (1), (int16_t) (DZ_index));
Lightvalve	13:747daba9cf59	1316	}
Lightvalve	14:8e7590227d22	1317	} else if((DZ_case == -1 && DZ_NUM == 2) \| (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve	14:8e7590227d22	1318	if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1319	V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve	14:8e7590227d22	1320	} else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1321	START_POS = pos.sen;
Lightvalve	14:8e7590227d22	1322	} else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1323	valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1324	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1325	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1326	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1327	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1328	}
Lightvalve	14:8e7590227d22	1329	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1330	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1331	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1332	else
Lightvalve	13:747daba9cf59	1333	VEL_POINT = VEL_POINT - 1;
Lightvalve	14:8e7590227d22	1334	} else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1335	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1336	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1337	// if(VEL_POINT >= 0)
Lightvalve	14:8e7590227d22	1338	// DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1339	// else
Lightvalve	14:8e7590227d22	1340	// DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1341	// if(abs(FINAL_POS - START_POS) < 100)
Lightvalve	14:8e7590227d22	1342	// DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1343
Lightvalve	14:8e7590227d22	1344	if((FINAL_POS - START_POS)>100) {
Lightvalve	13:747daba9cf59	1345	DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	1346	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1347	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1348	} else {
Lightvalve	13:747daba9cf59	1349	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1350	}
Lightvalve	14:8e7590227d22	1351
Lightvalve	14:8e7590227d22	1352	VEL_POINT = 0;
Lightvalve	14:8e7590227d22	1353
Lightvalve	14:8e7590227d22	1354
Lightvalve	13:747daba9cf59	1355	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1356	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1357	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1358	SECOND_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1359	DDV_CENTER = (int) (0.5 * (double) (FIRST_DZ) + 0.5 * (double) (SECOND_DZ));
Lightvalve	13:747daba9cf59	1360	first_check = 0;
Lightvalve	19:23b7c1ad8683	1361	VALVE_DEADZONE_MINUS = FIRST_DZ;
Lightvalve	19:23b7c1ad8683	1362	VALVE_DEADZONE_PLUS = SECOND_DZ;
Lightvalve	19:23b7c1ad8683	1363
Lightvalve	16:903b5a4433b4	1364	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	1365
Lightvalve	16:903b5a4433b4	1366	//spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ);
Lightvalve	16:903b5a4433b4	1367	//spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ);
Lightvalve	18:b8adf1582ea3	1368	//spi_eeprom_write(RID_DDV_CENTER, DDV_CENTER);
Lightvalve	13:747daba9cf59	1369	//CAN_TX_PRES((int16_t) FIRST_DZ, (int16_t) SECOND_DZ);
Lightvalve	13:747daba9cf59	1370	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1371	DZ_index = 1;
Lightvalve	13:747daba9cf59	1372	}
Lightvalve	14:8e7590227d22	1373
Lightvalve	13:747daba9cf59	1374	CAN_TX_PRES((int16_t) (2), (int16_t) (DZ_index));
Lightvalve	13:747daba9cf59	1375	}
Lightvalve	14:8e7590227d22	1376	} else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve	14:8e7590227d22	1377	if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1378	V_out = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve	14:8e7590227d22	1379	} else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1380	START_POS = pos.sen;
Lightvalve	14:8e7590227d22	1381	} else if(VALVE_DZ_timer < (int) (2.0 * (double) 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;
Lightvalve	13:747daba9cf59	1387	}
Lightvalve	14:8e7590227d22	1388	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1389	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1390	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1391	else
Lightvalve	13:747daba9cf59	1392	VEL_POINT = VEL_POINT - 1;
Lightvalve	14:8e7590227d22	1393	} else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1394	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1395	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1396	// if(VEL_POINT >= 0)
Lightvalve	14:8e7590227d22	1397	// DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1398	// else
Lightvalve	14:8e7590227d22	1399	// DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	1400	// if(abs(FINAL_POS - START_POS) < 100)
Lightvalve	14:8e7590227d22	1401	// DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1402
Lightvalve	14:8e7590227d22	1403	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1404	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1405	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1406	DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	1407	} else {
Lightvalve	13:747daba9cf59	1408	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1409	}
Lightvalve	14:8e7590227d22	1410
Lightvalve	14:8e7590227d22	1411	VEL_POINT = 0;
Lightvalve	13:747daba9cf59	1412	//CAN_TX_PRES((int16_t) (7), (int16_t) (DZ_DIRECTION));
Lightvalve	13:747daba9cf59	1413	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1414	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1415	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1416	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1417	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1418	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1419	DZ_index = 1;
Lightvalve	13:747daba9cf59	1420	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1421	}
Lightvalve	13:747daba9cf59	1422	}
Lightvalve	14:8e7590227d22	1423	} else {
Lightvalve	14:8e7590227d22	1424	if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1425	V_out = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve	14:8e7590227d22	1426	} else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1427	START_POS = pos.sen;
Lightvalve	14:8e7590227d22	1428	} else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1429	valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1430	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1431	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1432	} else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1433	valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve	13:747daba9cf59	1434	}
Lightvalve	14:8e7590227d22	1435	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1436	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1437	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1438	else
Lightvalve	13:747daba9cf59	1439	VEL_POINT = VEL_POINT - 1;
Lightvalve	14:8e7590227d22	1440	} else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1441	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1442	FINAL_POS = pos.sen;
Lightvalve	13:747daba9cf59	1443	if(VEL_POINT >= 0)
Lightvalve	13:747daba9cf59	1444	DZ_DIRECTION = -1;
Lightvalve	13:747daba9cf59	1445	else
Lightvalve	13:747daba9cf59	1446	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1447	if(abs(FINAL_POS - START_POS) < 100)
Lightvalve	13:747daba9cf59	1448	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1449
Lightvalve	14:8e7590227d22	1450	VEL_POINT = 0;
Lightvalve	14:8e7590227d22	1451
Lightvalve	14:8e7590227d22	1452
Lightvalve	13:747daba9cf59	1453	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1454	//CAN_TX_PRES((int16_t) (3), (int16_t) (DZ_index));
Lightvalve	13:747daba9cf59	1455	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1456	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1457	SECOND_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1458	DDV_CENTER = (int) (0.5 * (double) (FIRST_DZ) + 0.5 * (double) (SECOND_DZ));
Lightvalve	13:747daba9cf59	1459	first_check = 0;
Lightvalve	13:747daba9cf59	1460	VALVE_DEADZONE_MINUS = FIRST_DZ;
Lightvalve	16:903b5a4433b4	1461	//spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ);
Lightvalve	13:747daba9cf59	1462	VALVE_DEADZONE_PLUS = SECOND_DZ;
Lightvalve	16:903b5a4433b4	1463	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	1464
Lightvalve	16:903b5a4433b4	1465	//spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ);
Lightvalve	18:b8adf1582ea3	1466	//spi_eeprom_write(RID_DDV_CENTER, DDV_CENTER);
Lightvalve	13:747daba9cf59	1467	CAN_TX_PRES((int16_t) FIRST_DZ, (int16_t) SECOND_DZ);
Lightvalve	13:747daba9cf59	1468	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1469	DZ_index = 1;
Lightvalve	13:747daba9cf59	1470	}
Lightvalve	14:8e7590227d22	1471
Lightvalve	13:747daba9cf59	1472	//CAN_TX_PRES((int16_t) (4), (int16_t) (DZ_index));
Lightvalve	13:747daba9cf59	1473	}
Lightvalve	13:747daba9cf59	1474	}
Lightvalve	14:8e7590227d22	1475	}
Lightvalve	13:747daba9cf59	1476	break;
Lightvalve	13:747daba9cf59	1477	}
Lightvalve	14:8e7590227d22	1478
Lightvalve	14:8e7590227d22	1479	case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve	13:747daba9cf59	1480	VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve	14:8e7590227d22	1481	if(first_check == 0) {
Lightvalve	14:8e7590227d22	1482	if(VALVE_FR_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1483	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	13:747daba9cf59	1484	CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve	14:8e7590227d22	1485	} else if(VALVE_FR_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1486	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1487	pos_plus_end = pos.sen;
Lightvalve	14:8e7590227d22	1488	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve	14:8e7590227d22	1489	} else if(VALVE_FR_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1490	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1491	} else if(VALVE_FR_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1492	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve	18:b8adf1582ea3	1493	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1494	pos_minus_end = pos.sen;
Lightvalve	13:747daba9cf59	1495	first_check = 1;
Lightvalve	13:747daba9cf59	1496	VALVE_FR_timer = 0;
Lightvalve	14:8e7590227d22	1497	valve_pos.ref = DDV_CENTER;
Lightvalve	13:747daba9cf59	1498	ID_index = 0;
Lightvalve	13:747daba9cf59	1499	max_check = 0;
Lightvalve	13:747daba9cf59	1500	min_check = 0;
Lightvalve	13:747daba9cf59	1501	}
Lightvalve	14:8e7590227d22	1502	} else {
Lightvalve	14:8e7590227d22	1503	if(VALVE_FR_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1504	V_out = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve	14:8e7590227d22	1505	} else if(VALVE_FR_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	13:747daba9cf59	1506	data_num = 0;
Lightvalve	19:23b7c1ad8683	1507	valve_pos.ref = 10*(ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve	14:8e7590227d22	1508
Lightvalve	14:8e7590227d22	1509	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1510	START_POS = pos.sen;
Lightvalve	14:8e7590227d22	1511	} else if(VALVE_FR_timer < (int) (5.0 * (double) TMR_FREQ_5k)) {
Lightvalve	19:23b7c1ad8683	1512	valve_pos.ref = 10*(ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve	14:8e7590227d22	1513	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1514	data_num = data_num + 1;
Lightvalve	19:23b7c1ad8683	1515	if(abs(0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen) > 20000.0) {
Lightvalve	14:8e7590227d22	1516	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1517	one_period_end = 1;
Lightvalve	13:747daba9cf59	1518	}
Lightvalve	14:8e7590227d22	1519	} else if(VALVE_FR_timer == (int) (5.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1520	FINAL_POS = pos.sen;
Lightvalve	13:747daba9cf59	1521	one_period_end = 1;
Lightvalve	13:747daba9cf59	1522	}
Lightvalve	14:8e7590227d22	1523
Lightvalve	14:8e7590227d22	1524	if(one_period_end == 1) {
Lightvalve	14:8e7590227d22	1525	if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	13:747daba9cf59	1526	max_check = 1;
Lightvalve	14:8e7590227d22	1527	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	13:747daba9cf59	1528	min_check = 1;
Lightvalve	13:747daba9cf59	1529	}
Lightvalve	13:747daba9cf59	1530	JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve	19:23b7c1ad8683	1531
Lightvalve	19:23b7c1ad8683	1532	//ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	1533
Lightvalve	16:903b5a4433b4	1534	//spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + ID_index, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
Lightvalve	16:903b5a4433b4	1535	//spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + ID_index, (int16_t) ((JOINT_VEL[ID_index] >> 16) & 0xFFFF));
Lightvalve	13:747daba9cf59	1536	VALVE_FR_timer = 0;
Lightvalve	13:747daba9cf59	1537	one_period_end = 0;
Lightvalve	13:747daba9cf59	1538	ID_index= ID_index +1;
Lightvalve	14:8e7590227d22	1539	// CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (ID_index));
Lightvalve	19:23b7c1ad8683	1540	V_out = 0.0;
Lightvalve	13:747daba9cf59	1541	}
Lightvalve	14:8e7590227d22	1542
Lightvalve	14:8e7590227d22	1543	if(max_check == 1 && min_check == 1) {
Lightvalve	19:23b7c1ad8683	1544
Lightvalve	16:903b5a4433b4	1545	//spi_eeprom_write(RID_VALVE_POS_NUM, (int16_t) (ID_index));
Lightvalve	13:747daba9cf59	1546	VALVE_POS_NUM = ID_index;
Lightvalve	19:23b7c1ad8683	1547	ROM_RESET_DATA();
Lightvalve	13:747daba9cf59	1548	ID_index = 0;
Lightvalve	13:747daba9cf59	1549	first_check = 0;
Lightvalve	13:747daba9cf59	1550	VALVE_FR_timer = 0;
Lightvalve	14:8e7590227d22	1551	// CAN_TX_PRES((int16_t) (123), (int16_t) (123));
Lightvalve	13:747daba9cf59	1552	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1553	}
Lightvalve	13:747daba9cf59	1554	}
Lightvalve	13:747daba9cf59	1555	break;
Lightvalve	13:747daba9cf59	1556	}
Lightvalve	14:8e7590227d22	1557
Lightvalve	12:6f2531038ea4	1558	default:
Lightvalve	12:6f2531038ea4	1559	break;
Lightvalve	12:6f2531038ea4	1560	}
Lightvalve	14:8e7590227d22	1561
Lightvalve	13:747daba9cf59	1562	if (FLAG_VALVE_OUTPUT_CALIB) {
Lightvalve	13:747daba9cf59	1563	// Valve Dead Zone (Mechanical dead-zone canceling)
Lightvalve	14:8e7590227d22	1564	// if (CONTROL_MODE != MODE_VALVE_NULLING_AND_DEADZONE_SETTING) {
Lightvalve	14:8e7590227d22	1565	// if (V_out > 0.) {
Lightvalve	14:8e7590227d22	1566	// VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_PLUS;
Lightvalve	14:8e7590227d22	1567	// } else if (V_out < 0.) {
Lightvalve	14:8e7590227d22	1568	// VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_MINUS;
Lightvalve	14:8e7590227d22	1569	// } else VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_CENTER;
Lightvalve	14:8e7590227d22	1570	// } else VALVE_PWM_VALVE_DZ = (int) V_out;
Lightvalve	14:8e7590227d22	1571
Lightvalve	14:8e7590227d22	1572	if(V_out>0) V_out = V_out + VALVE_DEADZONE_PLUS;
Lightvalve	14:8e7590227d22	1573	else if(V_out<0) V_out = V_out + VALVE_DEADZONE_MINUS;
Lightvalve	14:8e7590227d22	1574
Lightvalve	14:8e7590227d22	1575	VALVE_PWM_VALVE_DZ = V_out + VALVE_CENTER;
Lightvalve	14:8e7590227d22	1576
Lightvalve	13:747daba9cf59	1577	// Output Voltage Linearization and Dead Zone Cancellation (Electrical dead-zone)
Lightvalve	18:b8adf1582ea3	1578	double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/5.0*1000.0; // convert PWM duty to mV
Lightvalve	13:747daba9cf59	1579	double CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin);
Lightvalve	14:8e7590227d22	1580
Lightvalve	14:8e7590227d22	1581	if (CUR_PWM_DZ > 0) V_out = (int)CUR_PWM_DZ + 143;
Lightvalve	14:8e7590227d22	1582	else if (CUR_PWM_DZ < 0) V_out = (int)CUR_PWM_DZ - 138;
Lightvalve	14:8e7590227d22	1583	else V_out = CUR_PWM_DZ;
Lightvalve	13:747daba9cf59	1584	} else {
Lightvalve	17:1865016ca2e7	1585	V_out = V_out;
Lightvalve	13:747daba9cf59	1586	}
Lightvalve	14:8e7590227d22	1587
Lightvalve	14:8e7590227d22	1588	//VALVE_PWM(CUR_PWM, VALVE_VOLTAGE_LIMIT, SUPPLY_VOLTAGE);
Lightvalve	15:bd0d12728506	1589	//PWM_out = CUR_PWM;
Lightvalve	14:8e7590227d22	1590
Lightvalve	14:8e7590227d22	1591
Lightvalve	14:8e7590227d22	1592
Lightvalve	14:8e7590227d22	1593	//CAN ----------------------------------------------------------------------
Lightvalve	14:8e7590227d22	1594	//if (TMR3_COUNT_CAN_TX % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve	19:23b7c1ad8683	1595	if (TMR3_COUNT_CAN_TX % 1000 == 0) {
Lightvalve	14:8e7590227d22	1596
Lightvalve	13:747daba9cf59	1597	if (flag_data_request[0] == HIGH) {
Lightvalve	13:747daba9cf59	1598	//position+velocity
Lightvalve	17:1865016ca2e7	1599	CAN_TX_POSITION((int32_t) pos.sen, (int32_t) vel.sen);
Lightvalve	18:b8adf1582ea3	1600	//CAN_TX_POSITION((int32_t) valve_pos.ref, (int32_t) 0);
Lightvalve	18:b8adf1582ea3	1601	//CAN_TX_POSITION((int32_t) VALVE_PWM_RAW_FF, (int32_t) VALVE_POS_VS_PWM[10]);
Lightvalve	14:8e7590227d22	1602	//pc.printf("can good");
Lightvalve	13:747daba9cf59	1603	// CAN_TX_POSITION((long) CUR_PRES_A_BAR, (long) CUR_PRES_B_BAR);
Lightvalve	13:747daba9cf59	1604	}
Lightvalve	14:8e7590227d22	1605
Lightvalve	13:747daba9cf59	1606	if (flag_data_request[1] == HIGH) {
Lightvalve	13:747daba9cf59	1607	//torque
Lightvalve	13:747daba9cf59	1608	//CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM * 100.));
Lightvalve	17:1865016ca2e7	1609	//CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM));
Lightvalve	17:1865016ca2e7	1610	CAN_TX_TORQUE((int16_t) (cur.sen));
Lightvalve	19:23b7c1ad8683	1611	//CAN_TX_TORQUE((int16_t) (Ref_Valve_Pos_FF_CAN));
Lightvalve	13:747daba9cf59	1612	// CAN_TX_TORQUE((int16_t) DZ_temp_cnt);
Lightvalve	13:747daba9cf59	1613	}
Lightvalve	14:8e7590227d22	1614
Lightvalve	13:747daba9cf59	1615	if (flag_data_request[2] == HIGH) {
Lightvalve	14:8e7590227d22	1616	//pressure A and B
Lightvalve	14:8e7590227d22	1617	//CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (PRES_A_VREF)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve	15:bd0d12728506	1618	CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve	13:747daba9cf59	1619	// CAN_TX_PRES((int16_t) (CUR_PRES_A_BAR * 100.), (int16_t) (CUR_PRES_B_BAR * 100.));
Lightvalve	13:747daba9cf59	1620	// CAN_TX_PRES((int16_t) ((DEADZONE_MINUS + 1.)1000.), (int16_t) ((DEADZONE_PLUS + 1.))1000.);
Lightvalve	13:747daba9cf59	1621	// CAN_TX_PRES((int16_t) DZ_dir, (int16_t) ((VALVE_DEADZONE_PLUS + 1.))*1000.);
Lightvalve	14:8e7590227d22	1622
Lightvalve	13:747daba9cf59	1623	}
Lightvalve	14:8e7590227d22	1624
Lightvalve	13:747daba9cf59	1625	if (flag_data_request[3] == HIGH) {
Lightvalve	13:747daba9cf59	1626	//PWM
Lightvalve	13:747daba9cf59	1627	CAN_TX_PWM((int16_t) CUR_PWM);
Lightvalve	19:23b7c1ad8683	1628	//CAN_TX_PWM((int16_t) (Ref_Valve_Pos_FF_CAN));
Lightvalve	13:747daba9cf59	1629	// CAN_TX_PWM((int16_t) cnt_vel_findhome);
Lightvalve	13:747daba9cf59	1630	// CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.));
Lightvalve	13:747daba9cf59	1631	// CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.));
Lightvalve	14:8e7590227d22	1632
Lightvalve	13:747daba9cf59	1633	}
Lightvalve	14:8e7590227d22	1634
Lightvalve	13:747daba9cf59	1635	if (flag_data_request[4] == HIGH) {
Lightvalve	13:747daba9cf59	1636	//valve position
Lightvalve	14:8e7590227d22	1637	CAN_TX_VALVE_POSITION((int16_t) (value));
Lightvalve	13:747daba9cf59	1638	//SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
Lightvalve	13:747daba9cf59	1639	//SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0_1, (int16_t) ((0xFEF1>>16) & 0xFFFF));
Lightvalve	14:8e7590227d22	1640
Lightvalve	14:8e7590227d22	1641
Lightvalve	13:747daba9cf59	1642	//CAN_TX_VALVE_POSITION((int16_t) (VALVE_POS_NUM));
Lightvalve	18:b8adf1582ea3	1643	// CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE / SUPPLY_VOLTAGE));
Lightvalve	13:747daba9cf59	1644	// CAN_TX_VALVE_POSITION((int16_t) P_GAIN_JOINT_POSITION);
Lightvalve	13:747daba9cf59	1645	// CAN_TX_VALVE_POSITION((int16_t) Ref_Joint_Pos);
Lightvalve	13:747daba9cf59	1646	// CAN_TX_VALVE_POSITION((int16_t) flag_flowrate);
Lightvalve	13:747daba9cf59	1647	}
Lightvalve	14:8e7590227d22	1648
Lightvalve	13:747daba9cf59	1649	TMR3_COUNT_CAN_TX = 0;
Lightvalve	14:8e7590227d22	1650
Lightvalve	13:747daba9cf59	1651	}
Lightvalve	13:747daba9cf59	1652	TMR3_COUNT_CAN_TX++;
Lightvalve	19:23b7c1ad8683	1653
Lightvalve	19:23b7c1ad8683	1654
Lightvalve	19:23b7c1ad8683	1655
Lightvalve	13:747daba9cf59	1656
jobuuu	1:e04e563be5ce	1657	/*******************************************************
Lightvalve	13:747daba9cf59	1658	*** Valve Control
jobuuu	1:e04e563be5ce	1659	********************************************************/
Lightvalve	14:8e7590227d22	1660	//ValveControl(CONTROL_MODE);
Lightvalve	13:747daba9cf59	1661
Lightvalve	14:8e7590227d22	1662	// double t = (double)CNT_TMR4*DT_TMR4;
Lightvalve	14:8e7590227d22	1663	// double T = 1.0;
Lightvalve	14:8e7590227d22	1664	// V_out = 1000.0sin(2.0PI*t/T); // V_out : -5000.0mV~5000.0mV(full duty)
jobuuu	7:e9086c72bb22	1665	// if(V_out > 0.0) V_out = 1000.0;
Lightvalve	13:747daba9cf59	1666	// else if(V_out < 0.0) V_out = -1000.0;
jobuuu	5:a4319f79457b	1667
Lightvalve	17:1865016ca2e7	1668	//V_out = 2000.0 * sin(2 * 3.14159 * (double) CNT_TMR3 / (double) 5000.0);
Lightvalve	17:1865016ca2e7	1669
jobuuu	7:e9086c72bb22	1670	/*******************************************************
jobuuu	7:e9086c72bb22	1671	*** PWM
jobuuu	7:e9086c72bb22	1672	********************************************************/
Lightvalve	18:b8adf1582ea3	1673	PWM_out= V_out/SUPPLY_VOLTAGE; // Full duty : 12000.0mV
Lightvalve	13:747daba9cf59	1674
jobuuu	2:a1c0a37df760	1675	// Saturation of output voltage to 5.0V
Lightvalve	17:1865016ca2e7	1676	// if(PWM_out > 0.41667) PWM_out=0.41667; //5.0/12.0 = 0.41667
Lightvalve	17:1865016ca2e7	1677	// else if (PWM_out < -0.41667) PWM_out=-0.41667;
Lightvalve	19:23b7c1ad8683	1678
Lightvalve	19:23b7c1ad8683	1679	// Saturation of output voltage to 12.0V
Lightvalve	17:1865016ca2e7	1680	if(PWM_out > 1.0) PWM_out=1.0;
Lightvalve	17:1865016ca2e7	1681	else if (PWM_out < -1.0) PWM_out=-1.0;
Lightvalve	13:747daba9cf59	1682
jobuuu	2:a1c0a37df760	1683	if (PWM_out>0.0) {
jobuuu	2:a1c0a37df760	1684	dtc_v=0.0;
jobuuu	1:e04e563be5ce	1685	dtc_w=PWM_out;
jobuuu	1:e04e563be5ce	1686	} else {
jobuuu	2:a1c0a37df760	1687	dtc_v=-PWM_out;
jobuuu	2:a1c0a37df760	1688	dtc_w=0.0;
jobuuu	1:e04e563be5ce	1689	}
Lightvalve	13:747daba9cf59	1690
jobuuu	1:e04e563be5ce	1691	//pwm
jobuuu	2:a1c0a37df760	1692	TIM4->CCR2 = (PWM_ARR)*(1.0-dtc_v);
jobuuu	2:a1c0a37df760	1693	TIM4->CCR1 = (PWM_ARR)*(1.0-dtc_w);
Lightvalve	13:747daba9cf59	1694
jobuuu	1:e04e563be5ce	1695	/*******************************************************
jobuuu	2:a1c0a37df760	1696	*** Data Send (CAN) & Print out (UART)
jobuuu	1:e04e563be5ce	1697	********************************************************/
Lightvalve	14:8e7590227d22	1698	// if((CNT_TMR3%1000)==0){
Lightvalve	11:82d8768d7351	1699	// msg.id = 50;
Lightvalve	11:82d8768d7351	1700	// msg.len = 4;
Lightvalve	11:82d8768d7351	1701	// int temp_CUR = (int)(cur.sen*1000.0);
Lightvalve	11:82d8768d7351	1702	// msg.data[0]=0x00FF&temp_CUR;
Lightvalve	11:82d8768d7351	1703	// msg.data[1]=0x00FF&(temp_CUR>>8);
Lightvalve	11:82d8768d7351	1704	// int temp_PWM = (int)(V_out);
Lightvalve	11:82d8768d7351	1705	// msg.data[2]=0x00FF&temp_PWM;
Lightvalve	11:82d8768d7351	1706	// msg.data[3]=0x00FF&(temp_PWM>>8);
Lightvalve	11:82d8768d7351	1707	// can.write(msg);
Lightvalve	11:82d8768d7351	1708	// }
Lightvalve	11:82d8768d7351	1709
Lightvalve	19:23b7c1ad8683	1710	//if((CNT_TMR3%5000)==0) {
Lightvalve	17:1865016ca2e7	1711	// if(LED==1) {
Lightvalve	17:1865016ca2e7	1712	// LED=0;
Lightvalve	17:1865016ca2e7	1713	// } else
Lightvalve	17:1865016ca2e7	1714	// LED = 1;
Lightvalve	11:82d8768d7351	1715	// LED != LED;
Lightvalve	15:bd0d12728506	1716	// pc.printf("A %f\n", (double) pres_A.sen);
Lightvalve	18:b8adf1582ea3	1717	// CAN_TX_POSITION((int32_t) VALVE_PWM_RAW_FF, (int32_t) VALVE_POS_VS_PWM[j]);
Lightvalve	18:b8adf1582ea3	1718	// j++;
Lightvalve	19:23b7c1ad8683	1719	//}
jobuuu	1:e04e563be5ce	1720
jobuuu	1:e04e563be5ce	1721	/*******************************************************
jobuuu	1:e04e563be5ce	1722	*** Timer Counting & etc.
jobuuu	1:e04e563be5ce	1723	********************************************************/
Lightvalve	19:23b7c1ad8683	1724	//CNT_TMR3++;
Lightvalve	19:23b7c1ad8683	1725
jobuuu	1:e04e563be5ce	1726	}
Lightvalve	11:82d8768d7351	1727	TIM3->SR = 0x0; // reset the status register
Lightvalve	17:1865016ca2e7	1728
jobuuu	7:e9086c72bb22	1729	}
jobuuu	7:e9086c72bb22	1730
Lightvalve	13:747daba9cf59	1731	void CurrentControl()
Lightvalve	13:747daba9cf59	1732	{
jobuuu	7:e9086c72bb22	1733	cur.err = cur.ref - cur.sen;
jobuuu	7:e9086c72bb22	1734	cur.err_int = cur.err_int + cur.err*DT_TMR4;
jobuuu	7:e9086c72bb22	1735	cur.err_diff = (cur.err - cur.err_old)*FREQ_TMR4;
jobuuu	7:e9086c72bb22	1736	cur.err_old = cur.err;
jobuuu	7:e9086c72bb22	1737
jobuuu	7:e9086c72bb22	1738	double R_model = 150.0; // ohm
jobuuu	7:e9086c72bb22	1739	double L_model = 0.3;
jobuuu	7:e9086c72bb22	1740	double w0 = 2.03.1490.0;
jobuuu	7:e9086c72bb22	1741	double KP_I = L_model*w0;
jobuuu	7:e9086c72bb22	1742	double KI_I = R_model*w0;
jobuuu	7:e9086c72bb22	1743	double KD_I = 0.0;
jobuuu	7:e9086c72bb22	1744
jobuuu	7:e9086c72bb22	1745	double FF_gain = 0.0;
jobuuu	7:e9086c72bb22	1746	V_out = (int) (KP_I * cur.err + KI_I * cur.err_int + KD_I * cur.err_diff);
jobuuu	7:e9086c72bb22	1747	// V_out = V_out + FF_gain * (R_model*I_REF); // Unit : mV
jobuuu	7:e9086c72bb22	1748	V_out = V_out + FF_gain * (R_modelcur.ref + L_modelcur.ref_diff); // Unit : mV
Lightvalve	13:747daba9cf59	1749
Lightvalve	13:747daba9cf59	1750	double Ka = 5.0/KP_I;
jobuuu	7:e9086c72bb22	1751	if(V_out > V_MAX) {
jobuuu	7:e9086c72bb22	1752	V_rem = V_out-V_MAX;
jobuuu	7:e9086c72bb22	1753	V_rem = Ka*V_rem;
jobuuu	7:e9086c72bb22	1754	V_out = V_MAX;
jobuuu	7:e9086c72bb22	1755	cur.err_int = cur.err_int - V_rem*DT_5k;
jobuuu	7:e9086c72bb22	1756	} else if(V_out < -V_MAX) {
jobuuu	7:e9086c72bb22	1757	V_rem = V_out-(-V_MAX);
Lightvalve	13:747daba9cf59	1758	V_rem = Ka*V_rem;
jobuuu	7:e9086c72bb22	1759	V_out = -V_MAX;
jobuuu	7:e9086c72bb22	1760	cur.err_int = cur.err_int - V_rem*DT_5k;
Lightvalve	13:747daba9cf59	1761	}
GiJeongKim	0:51c43836c1d7	1762	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	04 Feb 2021
Imports:	1
Forks:	0
Commits:	226
Dependents:	0
Dependencies:	2
Followers:	1

main.cpp@19:23b7c1ad8683, 2019-09-09 (annotated)

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