HydraulicControlBoard_Start - 20210203

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Yeseong Jeong / Mbed 2 deprecated HydraulicControlBoard_Start

20210203

main.cpp@225:9c0becc196ba, 2021-02-04 (annotated)

Committer:: jeongyeseong
Date:: Thu Feb 04 05:43:47 2021 +0000
Revision:: 225:9c0becc196ba
Parent:: 224:985dba42f261

20210204

Who changed what in which revision?

User	Revision	Line number	New contents of line
Lightvalve	224:985dba42f261	1	//Hydraulic Control Board
Lightvalve	224:985dba42f261	2	//distributed by Sungwoo Kim
Lightvalve	224:985dba42f261	3	// 2020/12/28
Lightvalve	224:985dba42f261	4
Lightvalve	224:985dba42f261	5
Lightvalve	224:985dba42f261	6	// 유의사항
Lightvalve	224:985dba42f261	7	// 소수 적을때 뒤에 f 꼭 붙이기
Lightvalve	224:985dba42f261	8	// CAN 선은 ground까지 있는 3상 선으로 써야함.
Lightvalve	224:985dba42f261	9	// 전원은 12~24V 인가.
Lightvalve	224:985dba42f261	10
GiJeongKim	0:51c43836c1d7	11	#include "mbed.h"
GiJeongKim	0:51c43836c1d7	12	#include "FastPWM.h"
GiJeongKim	0:51c43836c1d7	13	#include "INIT_HW.h"
jobuuu	2:a1c0a37df760	14	#include "function_CAN.h"
GiJeongKim	0:51c43836c1d7	15	#include "SPI_EEP_ENC.h"
GiJeongKim	0:51c43836c1d7	16	#include "I2C_AS5510.h"
GiJeongKim	0:51c43836c1d7	17	#include "setting.h"
Lightvalve	11:82d8768d7351	18	#include "function_utilities.h"
Lightvalve	16:903b5a4433b4	19	#include "stm32f4xx_flash.h"
Lightvalve	169:645207e160ca	20	#include "FlashWriter.h"
Lightvalve	170:42c938a40313	21	#include <string>
Lightvalve	170:42c938a40313	22	#include <iostream>
Lightvalve	179:d5377766d7ea	23	#include <cmath>
Lightvalve	61:bc8c8270f0ab	24
Lightvalve	61:bc8c8270f0ab	25	using namespace std;
Lightvalve	61:bc8c8270f0ab	26	Timer t;
GiJeongKim	0:51c43836c1d7	27
jobuuu	7:e9086c72bb22	28	// dac & check ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	29	DigitalOut check(PC_2);
GiJeongKim	0:51c43836c1d7	30	DigitalOut check_2(PC_3);
GiJeongKim	0:51c43836c1d7	31	AnalogOut dac_1(PA_4);
GiJeongKim	0:51c43836c1d7	32	AnalogOut dac_2(PA_5);
Lightvalve	14:8e7590227d22	33	AnalogIn adc1(PC_4); //pressure_1
Lightvalve	14:8e7590227d22	34	AnalogIn adc2(PB_0); //pressure_2
Lightvalve	14:8e7590227d22	35	AnalogIn adc3(PC_1); //current
GiJeongKim	0:51c43836c1d7	36
jobuuu	7:e9086c72bb22	37	// PWM ///////////////////////////////////////////
Lightvalve	30:8d561f16383b	38	float dtc_v=0.0f;
Lightvalve	30:8d561f16383b	39	float dtc_w=0.0f;
GiJeongKim	0:51c43836c1d7	40
jobuuu	7:e9086c72bb22	41	// I2C ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	42	I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
Lightvalve	224:985dba42f261	43	const int i2c_slave_addr1 = 0x56; // AS5510 address
GiJeongKim	0:51c43836c1d7	44	unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim	0:51c43836c1d7	45
jobuuu	7:e9086c72bb22	46	// SPI ///////////////////////////////////////////
Lightvalve	170:42c938a40313	47	SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve	170:42c938a40313	48	DigitalOut eeprom_cs(PB_12);
GiJeongKim	0:51c43836c1d7	49	SPI enc(PC_12,PC_11,PC_10);
GiJeongKim	0:51c43836c1d7	50	DigitalOut enc_cs(PD_2);
Lightvalve	11:82d8768d7351	51	DigitalOut LED(PA_15);
GiJeongKim	0:51c43836c1d7	52
jobuuu	7:e9086c72bb22	53	// UART ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	54	Serial pc(PA_9,PA_10); // _ UART
GiJeongKim	0:51c43836c1d7	55
jobuuu	7:e9086c72bb22	56	// CAN ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	57	CAN can(PB_8, PB_9, 1000000);
GiJeongKim	0:51c43836c1d7	58	CANMessage msg;
Lightvalve	11:82d8768d7351	59	void onMsgReceived()
Lightvalve	11:82d8768d7351	60	{
Lightvalve	11:82d8768d7351	61	CAN_RX_HANDLER();
Lightvalve	11:82d8768d7351	62	}
jobuuu	2:a1c0a37df760	63
jobuuu	7:e9086c72bb22	64	// Variables ///////////////////////////////////////////
jobuuu	7:e9086c72bb22	65	State pos;
jobuuu	7:e9086c72bb22	66	State vel;
jobuuu	7:e9086c72bb22	67	State Vout;
jobuuu	7:e9086c72bb22	68	State torq;
Lightvalve	207:c70c5a9f17dd	69	State torq_dot;
jobuuu	7:e9086c72bb22	70	State pres_A;
jobuuu	7:e9086c72bb22	71	State pres_B;
jobuuu	7:e9086c72bb22	72	State cur;
Lightvalve	14:8e7590227d22	73	State valve_pos;
Lightvalve	14:8e7590227d22	74
Lightvalve	14:8e7590227d22	75	State INIT_Vout;
Lightvalve	14:8e7590227d22	76	State INIT_Valve_Pos;
Lightvalve	14:8e7590227d22	77	State INIT_Pos;
Lightvalve	14:8e7590227d22	78	State INIT_torq;
jobuuu	5:a4319f79457b	79
Lightvalve	19:23b7c1ad8683	80	extern int CID_RX_CMD;
Lightvalve	19:23b7c1ad8683	81	extern int CID_RX_REF_POSITION;
Lightvalve	49:e7bcfc244d40	82	extern int CID_RX_REF_VALVE_POS;
Lightvalve	45:35fa6884d0c6	83	extern int CID_RX_REF_PWM;
Lightvalve	19:23b7c1ad8683	84
Lightvalve	19:23b7c1ad8683	85	extern int CID_TX_INFO;
Lightvalve	19:23b7c1ad8683	86	extern int CID_TX_POSITION;
Lightvalve	19:23b7c1ad8683	87	extern int CID_TX_TORQUE;
Lightvalve	19:23b7c1ad8683	88	extern int CID_TX_PRES;
Lightvalve	19:23b7c1ad8683	89	extern int CID_TX_VOUT;
Lightvalve	19:23b7c1ad8683	90	extern int CID_TX_VALVE_POSITION;
jeongyeseong	225:9c0becc196ba	91	extern int CID_TX_SOMETHING;
Lightvalve	19:23b7c1ad8683	92
Lightvalve	61:bc8c8270f0ab	93
Lightvalve	12:6f2531038ea4	94	/*******************************************************************************
Lightvalve	12:6f2531038ea4	95	* REFERENCE MODE
Lightvalve	12:6f2531038ea4	96	******************************************************************************/
Lightvalve	13:747daba9cf59	97	enum _REFERENCE_MODE {
Lightvalve	13:747daba9cf59	98	MODE_REF_NO_ACT = 0, //0
Lightvalve	224:985dba42f261	99	MODE_REF_DIRECT, //1
Lightvalve	224:985dba42f261	100	MODE_REF_COS_INC, //2
Lightvalve	224:985dba42f261	101	MODE_REF_LINE_INC, //3
Lightvalve	12:6f2531038ea4	102	MODE_REF_SIN_WAVE, //4
Lightvalve	224:985dba42f261	103	MODE_REF_SQUARE_WAVE, //5
Lightvalve	12:6f2531038ea4	104	};
Lightvalve	12:6f2531038ea4	105
Lightvalve	12:6f2531038ea4	106	/*******************************************************************************
Lightvalve	12:6f2531038ea4	107	* CONTROL MODE
Lightvalve	12:6f2531038ea4	108	******************************************************************************/
Lightvalve	13:747daba9cf59	109	enum _CONTROL_MODE {
Lightvalve	12:6f2531038ea4	110	//control mode
Lightvalve	12:6f2531038ea4	111	MODE_NO_ACT = 0, //0
Lightvalve	47:fdcb8bd86fd6	112	MODE_VALVE_POSITION_CONTROL, //1
Lightvalve	47:fdcb8bd86fd6	113	MODE_JOINT_CONTROL, //2
Lightvalve	50:3c630b5eba9f	114
Lightvalve	47:fdcb8bd86fd6	115	MODE_VALVE_OPEN_LOOP, //3
Lightvalve	138:a843f32ced33	116	MODE_JOINT_ADAPTIVE_BACKSTEPPING, //4
Lightvalve	171:bfc1fd2629d8	117	MODE_RL, //5
Lightvalve	13:747daba9cf59	118
Lightvalve	12:6f2531038ea4	119	MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve	12:6f2531038ea4	120	MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve	12:6f2531038ea4	121	MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve	13:747daba9cf59	122
Lightvalve	12:6f2531038ea4	123	MODE_TEST_CURRENT_CONTROL, //9
Lightvalve	12:6f2531038ea4	124	MODE_TEST_PWM_CONTROL, //10
Lightvalve	21:e5f1a43ea6f9	125
Lightvalve	14:8e7590227d22	126	MODE_CURRENT_CONTROL, //11
Lightvalve	14:8e7590227d22	127	MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve	14:8e7590227d22	128	MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve	224:985dba42f261	129	MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //14
Lightvalve	13:747daba9cf59	130
Lightvalve	12:6f2531038ea4	131	//utility
Lightvalve	12:6f2531038ea4	132	MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve	12:6f2531038ea4	133	MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve	12:6f2531038ea4	134	MODE_FIND_HOME, //22
Lightvalve	57:f4819de54e7a	135	MODE_VALVE_GAIN_SETTING, //23
Lightvalve	12:6f2531038ea4	136	MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve	12:6f2531038ea4	137	MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve	12:6f2531038ea4	138	MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve	13:747daba9cf59	139
Lightvalve	224:985dba42f261	140	MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve	12:6f2531038ea4	141	MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve	12:6f2531038ea4	142	MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve	57:f4819de54e7a	143	MODE_SYSTEM_ID, //33
Lightvalve	169:645207e160ca	144	MODE_FREQ_TEST, //34
Lightvalve	169:645207e160ca	145	MODE_SEND_BUFFER, //35
Lightvalve	169:645207e160ca	146	MODE_SEND_OVER, //36
Lightvalve	169:645207e160ca	147	MODE_STEP_TEST, //37
Lightvalve	12:6f2531038ea4	148	};
Lightvalve	12:6f2531038ea4	149
Lightvalve	65:a2d7c63419c2	150	void SystemClock_Config(void)
Lightvalve	65:a2d7c63419c2	151	{
Lightvalve	169:645207e160ca	152	RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve	169:645207e160ca	153	RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve	65:a2d7c63419c2	154
Lightvalve	224:985dba42f261	155	/* Configure the main internal regulator output voltage
Lightvalve	169:645207e160ca	156	*/
Lightvalve	169:645207e160ca	157	__HAL_RCC_PWR_CLK_ENABLE();
Lightvalve	169:645207e160ca	158	__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve	224:985dba42f261	159	/* Initializes the CPU, AHB and APB busses clocks
Lightvalve	169:645207e160ca	160	*/
Lightvalve	169:645207e160ca	161	RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve	169:645207e160ca	162	RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve	169:645207e160ca	163	RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve	169:645207e160ca	164	RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve	169:645207e160ca	165	RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve	169:645207e160ca	166	RCC_OscInitStruct.PLL.PLLM = 8;//8
Lightvalve	169:645207e160ca	167	RCC_OscInitStruct.PLL.PLLN = 180; //180
Lightvalve	169:645207e160ca	168	RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve	169:645207e160ca	169	RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve	169:645207e160ca	170	RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve	169:645207e160ca	171	if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Lightvalve	169:645207e160ca	172	//Error_Handler();
Lightvalve	169:645207e160ca	173	}
Lightvalve	169:645207e160ca	174	/** Activate the Over-Drive mode
Lightvalve	169:645207e160ca	175	*/
Lightvalve	169:645207e160ca	176	if (HAL_PWREx_EnableOverDrive() != HAL_OK) {
Lightvalve	169:645207e160ca	177	//Error_Handler();
Lightvalve	169:645207e160ca	178	}
Lightvalve	169:645207e160ca	179	/** Initializes the CPU, AHB and APB busses clocks
Lightvalve	169:645207e160ca	180	*/
Lightvalve	169:645207e160ca	181	RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK\|RCC_CLOCKTYPE_SYSCLK
Lightvalve	169:645207e160ca	182	\|RCC_CLOCKTYPE_PCLK1\|RCC_CLOCKTYPE_PCLK2;
Lightvalve	169:645207e160ca	183	RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve	169:645207e160ca	184	RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve	169:645207e160ca	185	RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve	169:645207e160ca	186	RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve	65:a2d7c63419c2	187
Lightvalve	169:645207e160ca	188	if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) {
Lightvalve	169:645207e160ca	189	//Error_Handler();
Lightvalve	169:645207e160ca	190	}
Lightvalve	65:a2d7c63419c2	191	}
Lightvalve	65:a2d7c63419c2	192
Lightvalve	170:42c938a40313	193
GiJeongKim	0:51c43836c1d7	194	int main()
GiJeongKim	0:51c43836c1d7	195	{
jobuuu	6:df07d3491e3a	196	/*********************************
jobuuu	1:e04e563be5ce	197	*** Initialization
jobuuu	6:df07d3491e3a	198	*********************************/
Lightvalve	224:985dba42f261	199
Lightvalve	224:985dba42f261	200	HAL_Init();
Lightvalve	224:985dba42f261	201	SystemClock_Config();
Lightvalve	224:985dba42f261	202
Lightvalve	69:3995ffeaa786	203	LED = 0;
Lightvalve	61:bc8c8270f0ab	204	pc.baud(9600);
Lightvalve	21:e5f1a43ea6f9	205
GiJeongKim	0:51c43836c1d7	206	// i2c init
Lightvalve	8:5d2eebdad025	207	i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve	8:5d2eebdad025	208	wait_ms(2); // Power Up wait
Lightvalve	8:5d2eebdad025	209	look_for_hardware_i2c(); // Hardware present
Lightvalve	8:5d2eebdad025	210	init_as5510(i2c_slave_addr1);
Lightvalve	11:82d8768d7351	211	make_delay();
jobuuu	2:a1c0a37df760	212
Lightvalve	224:985dba42f261	213	// spi init
Lightvalve	170:42c938a40313	214	eeprom.format(8,3);
Lightvalve	170:42c938a40313	215	eeprom.frequency(5000000); //5M
GiJeongKim	0:51c43836c1d7	216	enc.format(8,0);
GiJeongKim	0:51c43836c1d7	217	enc.frequency(5000000); //5M
Lightvalve	11:82d8768d7351	218	make_delay();
Lightvalve	21:e5f1a43ea6f9	219
Lightvalve	224:985dba42f261	220	// rom
Lightvalve	19:23b7c1ad8683	221	ROM_CALL_DATA();
Lightvalve	16:903b5a4433b4	222	make_delay();
Lightvalve	13:747daba9cf59	223
GiJeongKim	0:51c43836c1d7	224	// ADC init
jobuuu	5:a4319f79457b	225	Init_ADC();
Lightvalve	11:82d8768d7351	226	make_delay();
jobuuu	2:a1c0a37df760	227
GiJeongKim	0:51c43836c1d7	228	// Pwm init
GiJeongKim	0:51c43836c1d7	229	Init_PWM();
GiJeongKim	0:51c43836c1d7	230	TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	231	make_delay();
Lightvalve	13:747daba9cf59	232
Lightvalve	11:82d8768d7351	233	// TMR3 init
Lightvalve	11:82d8768d7351	234	Init_TMR3();
Lightvalve	11:82d8768d7351	235	TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	236	make_delay();
Lightvalve	21:e5f1a43ea6f9	237
GiJeongKim	0:51c43836c1d7	238	// CAN
jobuuu	2:a1c0a37df760	239	can.attach(&CAN_RX_HANDLER);
Lightvalve	11:82d8768d7351	240	CAN_ID_INIT();
Lightvalve	11:82d8768d7351	241	make_delay();
Lightvalve	34:bb2ca2fc2a8e	242
Lightvalve	23:59218d4a256d	243	//Timer priority
Lightvalve	23:59218d4a256d	244	NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve	54:647072f5307a	245	NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve	34:bb2ca2fc2a8e	246
Lightvalve	23:59218d4a256d	247	//can.reset();
Lightvalve	19:23b7c1ad8683	248	can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve	34:bb2ca2fc2a8e	249
GiJeongKim	0:51c43836c1d7	250	// spi _ enc
GiJeongKim	0:51c43836c1d7	251	spi_enc_set_init();
Lightvalve	11:82d8768d7351	252	make_delay();
Lightvalve	13:747daba9cf59	253
Lightvalve	11:82d8768d7351	254	//DAC init
Lightvalve	58:2eade98630e2	255	if (SENSING_MODE == 0) {
Lightvalve	58:2eade98630e2	256	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	58:2eade98630e2	257	dac_2 = 0.0f;
Lightvalve	58:2eade98630e2	258	} else if (SENSING_MODE == 1) {
Lightvalve	58:2eade98630e2	259	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	58:2eade98630e2	260	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	58:2eade98630e2	261	}
Lightvalve	11:82d8768d7351	262	make_delay();
Lightvalve	13:747daba9cf59	263
Lightvalve	19:23b7c1ad8683	264	for (int i=0; i<50; i++) {
Lightvalve	11:82d8768d7351	265	if(i%2==0)
Lightvalve	38:118df027d851	266	ID_index_array[i] = - i * 0.5f;
Lightvalve	11:82d8768d7351	267	else
Lightvalve	38:118df027d851	268	ID_index_array[i] = (i+1) * 0.5f;
Lightvalve	11:82d8768d7351	269	}
Lightvalve	169:645207e160ca	270
jobuuu	6:df07d3491e3a	271	/************************************
jobuuu	1:e04e563be5ce	272	*** Program is operating!
jobuuu	6:df07d3491e3a	273	*************************************/
GiJeongKim	0:51c43836c1d7	274	while(1) {
Lightvalve	169:645207e160ca	275
Lightvalve	224:985dba42f261	276	// UART example
Lightvalve	224:985dba42f261	277	// if(timer_while==100000) {
Lightvalve	171:bfc1fd2629d8	278	// timer_while = 0;
Lightvalve	224:985dba42f261	279	// pc.printf("%f\n", value);
Lightvalve	171:bfc1fd2629d8	280	// }
Lightvalve	224:985dba42f261	281	// timer_while ++;
Lightvalve	169:645207e160ca	282
Lightvalve	224:985dba42f261	283	//i2c for SW valve
Lightvalve	224:985dba42f261	284	if(OPERATING_MODE == 5){
Lightvalve	224:985dba42f261	285	read_field(i2c_slave_addr1);
Lightvalve	224:985dba42f261	286	if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve	170:42c938a40313	287	}
GiJeongKim	0:51c43836c1d7	288	}
jobuuu	1:e04e563be5ce	289	}
jobuuu	1:e04e563be5ce	290
Lightvalve	224:985dba42f261	291
Lightvalve	224:985dba42f261	292	// Velocity feedforward for SW valve
Lightvalve	33:91b17819ec30	293	float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve	14:8e7590227d22	294	{
Lightvalve	13:747daba9cf59	295	int i = 0;
Lightvalve	48:889798ff9329	296	float Ref_Valve_Pos_FF = 0.0f;
Lightvalve	14:8e7590227d22	297	for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve	14:8e7590227d22	298	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	299	if(i==0) {
Lightvalve	50:3c630b5eba9f	300	if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve	57:f4819de54e7a	301	Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	302	} else {
Lightvalve	57:f4819de54e7a	303	Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER;
Lightvalve	38:118df027d851	304	}
Lightvalve	14:8e7590227d22	305	} else {
Lightvalve	50:3c630b5eba9f	306	if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve	57:f4819de54e7a	307	Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	308	} else {
Lightvalve	57:f4819de54e7a	309	Ref_Valve_Pos_FF = ((float) 10(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) (REF_JOINT_VEL - JOINT_VEL[i-1])) + (float) VALVE_CENTER + (float) (10*ID_index_array[i-1]);
Lightvalve	38:118df027d851	310	}
Lightvalve	13:747daba9cf59	311	}
Lightvalve	13:747daba9cf59	312	break;
Lightvalve	13:747daba9cf59	313	}
Lightvalve	13:747daba9cf59	314	}
Lightvalve	14:8e7590227d22	315	if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	316	Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	317	} else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	318	Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	319	}
Lightvalve	36:a46e63505ed8	320
Lightvalve	224:985dba42f261	321	Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); //VELOCITY_COMP_GAIN : 0~100
Lightvalve	13:747daba9cf59	322	return Ref_Valve_Pos_FF;
Lightvalve	13:747daba9cf59	323	}
jobuuu	6:df07d3491e3a	324
Lightvalve	224:985dba42f261	325	// Valve feedforward for SW valve
Lightvalve	30:8d561f16383b	326	void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve	14:8e7590227d22	327	{
Lightvalve	13:747daba9cf59	328	int i = 0;
Lightvalve	13:747daba9cf59	329
Lightvalve	38:118df027d851	330	if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve	38:118df027d851	331	REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve	38:118df027d851	332	} else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve	38:118df027d851	333	REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve	38:118df027d851	334	}
Lightvalve	89:a7b45368ea0f	335	valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve	13:747daba9cf59	336	valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve	13:747daba9cf59	337	valve_pos_err_old = valve_pos_err;
Lightvalve	13:747daba9cf59	338	valve_pos_err_sum += valve_pos_err;
Lightvalve	89:a7b45368ea0f	339	if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve	89:a7b45368ea0f	340	if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve	13:747daba9cf59	341
Lightvalve	13:747daba9cf59	342	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	343
Lightvalve	18:b8adf1582ea3	344	for(i=0; i<24; i++) {
Lightvalve	89:a7b45368ea0f	345	if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && (float) REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve	14:8e7590227d22	346	if(i==0) {
Lightvalve	48:889798ff9329	347	VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
Lightvalve	14:8e7590227d22	348	} else {
Lightvalve	48:889798ff9329	349	VALVE_PWM_RAW_FF = (float) 1000.0f* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1];
Lightvalve	13:747daba9cf59	350	}
Lightvalve	13:747daba9cf59	351	break;
Lightvalve	13:747daba9cf59	352	}
Lightvalve	13:747daba9cf59	353	}
Lightvalve	59:f308b1656d9c	354	Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve	13:747daba9cf59	355	}
Lightvalve	13:747daba9cf59	356
Lightvalve	224:985dba42f261	357	// PWM duty vs. voltage output of L6205 in STM board
Lightvalve	14:8e7590227d22	358	#define LT_MAX_IDX 57
Lightvalve	30:8d561f16383b	359	float LT_PWM_duty[LT_MAX_IDX] = {-100.0f, -80.0f, -60.0f, -50.0f, -40.0f, -35.0f, -30.0f, -25.0f, -20.0f,
Lightvalve	34:bb2ca2fc2a8e	360	-19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve	34:bb2ca2fc2a8e	361	-9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve	34:bb2ca2fc2a8e	362	1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve	34:bb2ca2fc2a8e	363	11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve	34:bb2ca2fc2a8e	364	25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve	34:bb2ca2fc2a8e	365	}; // duty
Lightvalve	67:c2812cf26c38	366	float LT_Voltage_Output[LT_MAX_IDX] = {-230.0f, -215.0f, -192.5f, -185.0f, -177.5f, -170.0f, -164.0f, -160.0f, -150.0f,
Lightvalve	67:c2812cf26c38	367	-150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve	67:c2812cf26c38	368	-115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve	67:c2812cf26c38	369	7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve	67:c2812cf26c38	370	105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve	67:c2812cf26c38	371	155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve	34:bb2ca2fc2a8e	372	}; // mV
Lightvalve	13:747daba9cf59	373
Lightvalve	30:8d561f16383b	374	float PWM_duty_byLT(float Ref_V)
Lightvalve	14:8e7590227d22	375	{
Lightvalve	30:8d561f16383b	376	float PWM_duty = 0.0f;
Lightvalve	13:747daba9cf59	377	if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve	30:8d561f16383b	378	PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve	13:747daba9cf59	379	} else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve	30:8d561f16383b	380	PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve	13:747daba9cf59	381	} else {
Lightvalve	13:747daba9cf59	382	int idx = 0;
Lightvalve	13:747daba9cf59	383	for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve	30:8d561f16383b	384	float ini_x = LT_Voltage_Output[idx];
Lightvalve	30:8d561f16383b	385	float fin_x = LT_Voltage_Output[idx+1];
Lightvalve	30:8d561f16383b	386	float ini_y = LT_PWM_duty[idx];
Lightvalve	30:8d561f16383b	387	float fin_y = LT_PWM_duty[idx+1];
Lightvalve	13:747daba9cf59	388	if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve	13:747daba9cf59	389	PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve	13:747daba9cf59	390	break;
Lightvalve	13:747daba9cf59	391	}
Lightvalve	13:747daba9cf59	392	}
Lightvalve	13:747daba9cf59	393	}
Lightvalve	14:8e7590227d22	394
Lightvalve	13:747daba9cf59	395	return PWM_duty;
Lightvalve	13:747daba9cf59	396	}
jobuuu	6:df07d3491e3a	397
Lightvalve	57:f4819de54e7a	398
Lightvalve	57:f4819de54e7a	399
jobuuu	2:a1c0a37df760	400	/*******************************************************************************
jobuuu	2:a1c0a37df760	401	TIMER INTERRUPT
jobuuu	2:a1c0a37df760	402	*******************************************************************************/
jobuuu	2:a1c0a37df760	403
Lightvalve	51:b46bed7fec80	404	float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve	51:b46bed7fec80	405	float DT_TMR4 = (float)DT_20k;
Lightvalve	57:f4819de54e7a	406	long CNT_TMR4 = 0;
Lightvalve	57:f4819de54e7a	407	int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu	1:e04e563be5ce	408	extern "C" void TIM4_IRQHandler(void)
jobuuu	1:e04e563be5ce	409	{
Lightvalve	19:23b7c1ad8683	410	if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve	21:e5f1a43ea6f9	411
Lightvalve	21:e5f1a43ea6f9	412	/*******************************************************
Lightvalve	21:e5f1a43ea6f9	413	*** Sensor Read & Data Handling
Lightvalve	21:e5f1a43ea6f9	414	********************************************************/
Lightvalve	13:747daba9cf59	415
Lightvalve	57:f4819de54e7a	416	//Encoder
Lightvalve	57:f4819de54e7a	417	if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve	57:f4819de54e7a	418	ENC_UPDATE();
Lightvalve	57:f4819de54e7a	419	}
Lightvalve	61:bc8c8270f0ab	420
Lightvalve	61:bc8c8270f0ab	421	ADC1->CR2 \|= 0x40000000;
Lightvalve	224:985dba42f261	422	// Torque Sensing =============================================
Lightvalve	58:2eade98630e2	423	if (SENSING_MODE == 0) {
Lightvalve	58:2eade98630e2	424	float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve	224:985dba42f261	425	double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 100Hz
Lightvalve	58:2eade98630e2	426	pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve	67:c2812cf26c38	427	torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve	67:c2812cf26c38	428
Lightvalve	224:985dba42f261	429	// Pressure Sensing (0~210)bar =============================================
Lightvalve	58:2eade98630e2	430	} else if (SENSING_MODE == 1) {
Lightvalve	58:2eade98630e2	431	float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve	58:2eade98630e2	432	float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve	224:985dba42f261	433	double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 200Hz
Lightvalve	58:2eade98630e2	434	pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve	58:2eade98630e2	435	pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve	58:2eade98630e2	436	CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve	58:2eade98630e2	437	CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve	50:3c630b5eba9f	438
Lightvalve	58:2eade98630e2	439	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve	58:2eade98630e2	440	torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm
Lightvalve	58:2eade98630e2	441	} else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve	58:2eade98630e2	442	torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N
Lightvalve	58:2eade98630e2	443	}
Lightvalve	58:2eade98630e2	444	}
Lightvalve	61:bc8c8270f0ab	445
Lightvalve	21:e5f1a43ea6f9	446	//Current
Lightvalve	21:e5f1a43ea6f9	447	//ADC3->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	51:b46bed7fec80	448	float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f500.0f)); // f_cutoff : 500Hz
Lightvalve	30:8d561f16383b	449	float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve	30:8d561f16383b	450	cur.sen=cur.sen(1.0f-alpha_update_cur)+cur_new(alpha_update_cur);
Lightvalve	58:2eade98630e2	451
Lightvalve	57:f4819de54e7a	452	CNT_TMR4++;
Lightvalve	21:e5f1a43ea6f9	453	}
Lightvalve	11:82d8768d7351	454	TIM4->SR = 0x0; // reset the status register
Lightvalve	11:82d8768d7351	455	}
Lightvalve	19:23b7c1ad8683	456
Lightvalve	19:23b7c1ad8683	457
Lightvalve	18:b8adf1582ea3	458	int j =0;
Lightvalve	54:647072f5307a	459	float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve	48:889798ff9329	460	float DT_TMR3 = (float)DT_5k;
Lightvalve	45:35fa6884d0c6	461	int cnt_trans = 0;
Lightvalve	48:889798ff9329	462	double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve	57:f4819de54e7a	463	int can_rest =0;
Lightvalve	48:889798ff9329	464
Lightvalve	11:82d8768d7351	465	extern "C" void TIM3_IRQHandler(void)
Lightvalve	21:e5f1a43ea6f9	466	{
Lightvalve	19:23b7c1ad8683	467	if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve	57:f4819de54e7a	468
Lightvalve	57:f4819de54e7a	469	if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve	57:f4819de54e7a	470	K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve	57:f4819de54e7a	471	mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve	57:f4819de54e7a	472	mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve	57:f4819de54e7a	473	mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve	57:f4819de54e7a	474	} else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	57:f4819de54e7a	475	K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve	57:f4819de54e7a	476	mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve	57:f4819de54e7a	477	mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve	57:f4819de54e7a	478	mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve	57:f4819de54e7a	479	}
Lightvalve	50:3c630b5eba9f	480
Lightvalve	50:3c630b5eba9f	481	if(MODE_POS_FT_TRANS == 1) {
Lightvalve	48:889798ff9329	482	alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve	45:35fa6884d0c6	483	cnt_trans++;
Lightvalve	46:2694daea349b	484	torq.err_sum = 0;
Lightvalve	48:889798ff9329	485	if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve	45:35fa6884d0c6	486	MODE_POS_FT_TRANS = 2;
Lightvalve	50:3c630b5eba9f	487	} else if(MODE_POS_FT_TRANS == 3) {
Lightvalve	48:889798ff9329	488	alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve	45:35fa6884d0c6	489	cnt_trans++;
Lightvalve	46:2694daea349b	490	torq.err_sum = 0;
Lightvalve	48:889798ff9329	491	if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve	45:35fa6884d0c6	492	MODE_POS_FT_TRANS = 0;
Lightvalve	50:3c630b5eba9f	493	} else if(MODE_POS_FT_TRANS == 2) {
Lightvalve	58:2eade98630e2	494	alpha_trans = 1.0f;
Lightvalve	45:35fa6884d0c6	495	cnt_trans = 0;
Lightvalve	50:3c630b5eba9f	496	} else {
Lightvalve	58:2eade98630e2	497	alpha_trans = 0.0f;
Lightvalve	45:35fa6884d0c6	498	cnt_trans = 0;
Lightvalve	45:35fa6884d0c6	499	}
Lightvalve	45:35fa6884d0c6	500
Lightvalve	50:3c630b5eba9f	501
Lightvalve	57:f4819de54e7a	502	int UTILITY_MODE = 0;
Lightvalve	57:f4819de54e7a	503	int CONTROL_MODE = 0;
Lightvalve	58:2eade98630e2	504
Lightvalve	57:f4819de54e7a	505	if (CONTROL_UTILITY_MODE >= 20 \|\| CONTROL_UTILITY_MODE == 0) {
Lightvalve	57:f4819de54e7a	506	UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve	57:f4819de54e7a	507	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	57:f4819de54e7a	508	} else {
Lightvalve	57:f4819de54e7a	509	CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve	57:f4819de54e7a	510	UTILITY_MODE = MODE_NO_ACT;
Lightvalve	57:f4819de54e7a	511	}
Lightvalve	56:6f50d9d3bfee	512
Lightvalve	56:6f50d9d3bfee	513
Lightvalve	56:6f50d9d3bfee	514
Lightvalve	57:f4819de54e7a	515	// UTILITY MODE ------------------------------------------------------------
Lightvalve	57:f4819de54e7a	516	switch (UTILITY_MODE) {
Lightvalve	57:f4819de54e7a	517	case MODE_NO_ACT: {
Lightvalve	13:747daba9cf59	518	break;
Lightvalve	13:747daba9cf59	519	}
Lightvalve	14:8e7590227d22	520
Lightvalve	14:8e7590227d22	521	case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	522	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	523	if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve	15:bd0d12728506	524	CUR_TORQUE_sum += torq.sen;
Lightvalve	19:23b7c1ad8683	525
Lightvalve	14:8e7590227d22	526	if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	527	CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve	13:747daba9cf59	528	CUR_TORQUE_sum = 0;
Lightvalve	14:8e7590227d22	529
Lightvalve	84:c355d3e52bf1	530	TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve	19:23b7c1ad8683	531
Lightvalve	30:8d561f16383b	532	if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve	59:f308b1656d9c	533	if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve	30:8d561f16383b	534	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	13:747daba9cf59	535	}
Lightvalve	13:747daba9cf59	536	} else {
Lightvalve	58:2eade98630e2	537	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	538	TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve	13:747daba9cf59	539	CUR_TORQUE_sum = 0;
Lightvalve	13:747daba9cf59	540	CUR_TORQUE_mean = 0;
Lightvalve	19:23b7c1ad8683	541
Lightvalve	170:42c938a40313	542	spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0f));
Lightvalve	19:23b7c1ad8683	543
Lightvalve	30:8d561f16383b	544	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	14:8e7590227d22	545
Lightvalve	13:747daba9cf59	546	}
Lightvalve	14:8e7590227d22	547	TMR3_COUNT_TORQUE_NULL++;
Lightvalve	13:747daba9cf59	548	break;
Lightvalve	19:23b7c1ad8683	549	}
Lightvalve	14:8e7590227d22	550
Lightvalve	50:3c630b5eba9f	551	// case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve	50:3c630b5eba9f	552	// if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve	50:3c630b5eba9f	553	// if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	50:3c630b5eba9f	554	// else temp_time = 0;
Lightvalve	50:3c630b5eba9f	555	// }
Lightvalve	50:3c630b5eba9f	556	// if (need_enc_init) {
Lightvalve	50:3c630b5eba9f	557	// if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	558	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	559	// pos_plus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	560	// } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	561	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	562	// pos_minus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	563	// } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve	50:3c630b5eba9f	564	// temp_time = TMR_FREQ_5k;
Lightvalve	50:3c630b5eba9f	565	// }
Lightvalve	50:3c630b5eba9f	566	//
Lightvalve	50:3c630b5eba9f	567	// if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	568	// V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	50:3c630b5eba9f	569	// VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve	50:3c630b5eba9f	570	//
Lightvalve	50:3c630b5eba9f	571	// } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve	50:3c630b5eba9f	572	// V_out = 0;
Lightvalve	50:3c630b5eba9f	573	// CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	50:3c630b5eba9f	574	// } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	575	// if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve	50:3c630b5eba9f	576	// else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve	50:3c630b5eba9f	577	// else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve	50:3c630b5eba9f	578	// else DZ_temp_cnt2 = DZ_end;
Lightvalve	50:3c630b5eba9f	579	// CUR_VELOCITY_sum = 0;
Lightvalve	50:3c630b5eba9f	580	// } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	581	// if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve	50:3c630b5eba9f	582	//
Lightvalve	50:3c630b5eba9f	583	// // Position of Dead Zone
Lightvalve	50:3c630b5eba9f	584	// // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve	50:3c630b5eba9f	585	// // \| / \| / \|/
Lightvalve	50:3c630b5eba9f	586	// // \| ______/ ___\|___/ ______/\|
Lightvalve	50:3c630b5eba9f	587	// // \|/ / \| / \|
Lightvalve	50:3c630b5eba9f	588	// // /\| / \| / \|
Lightvalve	50:3c630b5eba9f	589	// // 0V 0V 0V
Lightvalve	50:3c630b5eba9f	590	//
Lightvalve	50:3c630b5eba9f	591	// if (DZ_temp_cnt2 < DZ_end) {
Lightvalve	50:3c630b5eba9f	592	// if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve	50:3c630b5eba9f	593	// CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	50:3c630b5eba9f	594	// } else {
Lightvalve	50:3c630b5eba9f	595	// V_out -= DZ_dir;
Lightvalve	50:3c630b5eba9f	596	// if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve	50:3c630b5eba9f	597	// CUR_VELOCITY_sum = 0;
Lightvalve	50:3c630b5eba9f	598	// }
Lightvalve	50:3c630b5eba9f	599	// if (DZ_temp_cnt == 5) {
Lightvalve	50:3c630b5eba9f	600	// if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve	50:3c630b5eba9f	601	// else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve	50:3c630b5eba9f	602	// DZ_dir = -DZ_dir;
Lightvalve	50:3c630b5eba9f	603	// DZ_temp_cnt = 0;
Lightvalve	50:3c630b5eba9f	604	// DZ_temp_cnt2++;
Lightvalve	50:3c630b5eba9f	605	// }
Lightvalve	50:3c630b5eba9f	606	// } else {
Lightvalve	50:3c630b5eba9f	607	// TMR3_COUNT_DEADZONE = -1;
Lightvalve	50:3c630b5eba9f	608	// VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve	50:3c630b5eba9f	609	// if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve	50:3c630b5eba9f	610	// VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	611	// VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	612	// }
Lightvalve	50:3c630b5eba9f	613	// V_out = 0;
Lightvalve	50:3c630b5eba9f	614	//
Lightvalve	224:985dba42f261	615	//
Lightvalve	50:3c630b5eba9f	616	//
Lightvalve	50:3c630b5eba9f	617	// //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve	50:3c630b5eba9f	618	// //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve	50:3c630b5eba9f	619	//
Lightvalve	50:3c630b5eba9f	620	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	621	// DZ_temp_cnt2 = 0;
Lightvalve	50:3c630b5eba9f	622	// }
Lightvalve	50:3c630b5eba9f	623	// }
Lightvalve	50:3c630b5eba9f	624	// TMR3_COUNT_DEADZONE++;
Lightvalve	50:3c630b5eba9f	625	// break;
Lightvalve	50:3c630b5eba9f	626	// }
Lightvalve	14:8e7590227d22	627
Lightvalve	14:8e7590227d22	628	case MODE_FIND_HOME: {
Lightvalve	29:69f3f5445d6d	629	if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve	14:8e7590227d22	630	cnt_findhome = 0;
Lightvalve	14:8e7590227d22	631	cnt_vel_findhome = 0;
Lightvalve	59:f308b1656d9c	632	pos.ref = pos.sen;
Lightvalve	59:f308b1656d9c	633	vel.ref = 0.0f;
Lightvalve	29:69f3f5445d6d	634	FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve	29:69f3f5445d6d	635	} else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve	67:c2812cf26c38	636	int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve	29:69f3f5445d6d	637	if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve	29:69f3f5445d6d	638	FINDHOME_POSITION = pos.sen;
Lightvalve	29:69f3f5445d6d	639	FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve	29:69f3f5445d6d	640	FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve	29:69f3f5445d6d	641	}
Lightvalve	29:69f3f5445d6d	642	cnt_findhome++;
Lightvalve	14:8e7590227d22	643
Lightvalve	29:69f3f5445d6d	644	if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve	29:69f3f5445d6d	645	cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve	29:69f3f5445d6d	646	} else {
Lightvalve	29:69f3f5445d6d	647	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	648	}
Lightvalve	19:23b7c1ad8683	649
Lightvalve	57:f4819de54e7a	650	if ((cnt_vel_findhome < 3TMR_FREQ_5k) && cnt_findhome < 10TMR_FREQ_5k) { // wait for 3sec
Lightvalve	67:c2812cf26c38	651	if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve	67:c2812cf26c38	652	else pos.ref = pos.ref - 12.0f;
Lightvalve	61:bc8c8270f0ab	653
Lightvalve	59:f308b1656d9c	654	CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	59:f308b1656d9c	655	alpha_trans = 0.0f;
Lightvalve	61:bc8c8270f0ab	656
Lightvalve	29:69f3f5445d6d	657	} else {
Lightvalve	29:69f3f5445d6d	658	ENC_SET(HOMEPOS_OFFSET);
Lightvalve	29:69f3f5445d6d	659	INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve	29:69f3f5445d6d	660	REF_POSITION = 0;
Lightvalve	29:69f3f5445d6d	661	REF_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	662	FINDHOME_POSITION = 0;
Lightvalve	29:69f3f5445d6d	663	FINDHOME_POSITION_OLD = 0;
Lightvalve	29:69f3f5445d6d	664	FINDHOME_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	665	cnt_findhome = 0;
Lightvalve	29:69f3f5445d6d	666	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	667	FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve	67:c2812cf26c38	668
Lightvalve	67:c2812cf26c38	669
Lightvalve	67:c2812cf26c38	670	cnt_findhome = 0;
Lightvalve	67:c2812cf26c38	671	pos.ref = 0.0f;
Lightvalve	67:c2812cf26c38	672	vel.ref = 0.0f;
Lightvalve	67:c2812cf26c38	673	pos.ref_home_pos = 0.0f;
Lightvalve	67:c2812cf26c38	674	vel.ref_home_pos = 0.0f;
Lightvalve	29:69f3f5445d6d	675	}
Lightvalve	29:69f3f5445d6d	676	} else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve	29:69f3f5445d6d	677	int T_move = 2*TMR_FREQ_5k;
Lightvalve	59:f308b1656d9c	678	pos.ref = (0.0f - (float)INIT_REF_POS)0.5f(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
Lightvalve	59:f308b1656d9c	679	vel.ref = 0.0f;
Lightvalve	67:c2812cf26c38	680	alpha_trans = 0.0f;
Lightvalve	61:bc8c8270f0ab	681
Lightvalve	67:c2812cf26c38	682	double torq_ref = 0.0f;
Lightvalve	67:c2812cf26c38	683	pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve	67:c2812cf26c38	684	vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve	67:c2812cf26c38	685	pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve	67:c2812cf26c38	686
Lightvalve	67:c2812cf26c38	687	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	67:c2812cf26c38	688
Lightvalve	67:c2812cf26c38	689	double I_REF_POS = 0.0f;
Lightvalve	67:c2812cf26c38	690	double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve	67:c2812cf26c38	691	double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve	67:c2812cf26c38	692
Lightvalve	67:c2812cf26c38	693	double temp_vel_pos = 0.0f;
Lightvalve	67:c2812cf26c38	694	double temp_vel_torq = 0.0f;
Lightvalve	67:c2812cf26c38	695	double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve	67:c2812cf26c38	696
Lightvalve	69:3995ffeaa786	697	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve	67:c2812cf26c38	698	temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * 3.14159f / 180.0f; // rad/s
Lightvalve	67:c2812cf26c38	699	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	69:3995ffeaa786	700	} else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve	67:c2812cf26c38	701	temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	67:c2812cf26c38	702	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	67:c2812cf26c38	703	}
Lightvalve	67:c2812cf26c38	704	if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve	67:c2812cf26c38	705	else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	67:c2812cf26c38	706
Lightvalve	67:c2812cf26c38	707	I_REF = I_REF_POS;
Lightvalve	67:c2812cf26c38	708
Lightvalve	67:c2812cf26c38	709	} else {
Lightvalve	67:c2812cf26c38	710	float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve	67:c2812cf26c38	711	VALVE_POS_RAW_FORCE_FB = DDV_JOINT_POS_FF(vel.sen) + (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve	67:c2812cf26c38	712
Lightvalve	67:c2812cf26c38	713	if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve	67:c2812cf26c38	714	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve	67:c2812cf26c38	715	} else {
Lightvalve	67:c2812cf26c38	716	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve	67:c2812cf26c38	717	}
Lightvalve	67:c2812cf26c38	718
Lightvalve	67:c2812cf26c38	719	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	67:c2812cf26c38	720
Lightvalve	67:c2812cf26c38	721	V_out = (float) Vout.ref;
Lightvalve	67:c2812cf26c38	722
Lightvalve	67:c2812cf26c38	723	}
Lightvalve	67:c2812cf26c38	724
Lightvalve	29:69f3f5445d6d	725	cnt_findhome++;
Lightvalve	29:69f3f5445d6d	726	if (cnt_findhome >= T_move) {
Lightvalve	29:69f3f5445d6d	727	cnt_findhome = 0;
Lightvalve	30:8d561f16383b	728	pos.ref = 0.0f;
Lightvalve	30:8d561f16383b	729	vel.ref = 0.0f;
Lightvalve	30:8d561f16383b	730	pos.ref_home_pos = 0.0f;
Lightvalve	30:8d561f16383b	731	vel.ref_home_pos = 0.0f;
Lightvalve	29:69f3f5445d6d	732	FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve	57:f4819de54e7a	733	CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve	29:69f3f5445d6d	734	}
Lightvalve	13:747daba9cf59	735	}
Lightvalve	19:23b7c1ad8683	736
Lightvalve	13:747daba9cf59	737	break;
Lightvalve	13:747daba9cf59	738	}
Lightvalve	14:8e7590227d22	739
Lightvalve	50:3c630b5eba9f	740	// case MODE_VALVE_GAIN_SETTING: {
Lightvalve	50:3c630b5eba9f	741	// if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve	50:3c630b5eba9f	742	// if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	50:3c630b5eba9f	743	// else {
Lightvalve	50:3c630b5eba9f	744	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	745	// temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve	50:3c630b5eba9f	746	// }
Lightvalve	50:3c630b5eba9f	747	// }
Lightvalve	50:3c630b5eba9f	748	// if (need_enc_init) {
Lightvalve	50:3c630b5eba9f	749	// if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	750	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	751	// pos_plus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	752	// } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	753	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	754	// pos_minus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	755	// } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	756	// need_enc_init = false;
Lightvalve	50:3c630b5eba9f	757	// check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	50:3c630b5eba9f	758	// check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	50:3c630b5eba9f	759	// check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve	50:3c630b5eba9f	760	// }
Lightvalve	50:3c630b5eba9f	761	// temp_time = TMR_FREQ_5k;
Lightvalve	50:3c630b5eba9f	762	// }
Lightvalve	50:3c630b5eba9f	763	// TMR3_COUNT_FLOWRATE++;
Lightvalve	50:3c630b5eba9f	764	// if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve	50:3c630b5eba9f	765	// if (flag_flowrate % 2 == 0) { // (+)
Lightvalve	50:3c630b5eba9f	766	// VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve	50:3c630b5eba9f	767	// V_out = VALVE_VOLTAGE;
Lightvalve	50:3c630b5eba9f	768	// if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve	50:3c630b5eba9f	769	// fl_temp_cnt++;
Lightvalve	50:3c630b5eba9f	770	// } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	50:3c630b5eba9f	771	// VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6pi/6553610000 0.5757=0.025250.020.0095260*1000
Lightvalve	50:3c630b5eba9f	772	// // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
Lightvalve	50:3c630b5eba9f	773	// fl_temp_cnt2++;
Lightvalve	50:3c630b5eba9f	774	// }
Lightvalve	50:3c630b5eba9f	775	// } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve	50:3c630b5eba9f	776	// VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve	50:3c630b5eba9f	777	// V_out = VALVE_VOLTAGE;
Lightvalve	50:3c630b5eba9f	778	// if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve	50:3c630b5eba9f	779	// fl_temp_cnt++;
Lightvalve	50:3c630b5eba9f	780	// } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	50:3c630b5eba9f	781	// VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0f * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE);
Lightvalve	50:3c630b5eba9f	782	// // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
Lightvalve	50:3c630b5eba9f	783	// fl_temp_cnt2++;
Lightvalve	50:3c630b5eba9f	784	// }
Lightvalve	50:3c630b5eba9f	785	// }
Lightvalve	50:3c630b5eba9f	786	// if (fl_temp_cnt2 == 100) {
Lightvalve	50:3c630b5eba9f	787	//
Lightvalve	224:985dba42f261	788	//
Lightvalve	50:3c630b5eba9f	789	//
Lightvalve	50:3c630b5eba9f	790	// //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve	50:3c630b5eba9f	791	// cur_vel_sum = 0;
Lightvalve	50:3c630b5eba9f	792	// fl_temp_cnt = 0;
Lightvalve	50:3c630b5eba9f	793	// fl_temp_cnt2 = 0;
Lightvalve	50:3c630b5eba9f	794	// flag_flowrate++;
Lightvalve	50:3c630b5eba9f	795	// }
Lightvalve	50:3c630b5eba9f	796	// if (flag_flowrate == 10) {
Lightvalve	50:3c630b5eba9f	797	// V_out = 0;
Lightvalve	50:3c630b5eba9f	798	// flag_flowrate = 0;
Lightvalve	50:3c630b5eba9f	799	// TMR3_COUNT_FLOWRATE = 0;
Lightvalve	50:3c630b5eba9f	800	// valve_gain_repeat_cnt++;
Lightvalve	50:3c630b5eba9f	801	// if (valve_gain_repeat_cnt >= 1) {
Lightvalve	50:3c630b5eba9f	802	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	803	// valve_gain_repeat_cnt = 0;
Lightvalve	50:3c630b5eba9f	804	// }
Lightvalve	50:3c630b5eba9f	805	//
Lightvalve	50:3c630b5eba9f	806	// }
Lightvalve	50:3c630b5eba9f	807	// break;
Lightvalve	50:3c630b5eba9f	808	// }
Lightvalve	50:3c630b5eba9f	809	//
Lightvalve	50:3c630b5eba9f	810	// }
Lightvalve	14:8e7590227d22	811	case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	812	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	813	if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve	14:8e7590227d22	814	CUR_PRES_A_sum += pres_A.sen;
Lightvalve	14:8e7590227d22	815	CUR_PRES_B_sum += pres_B.sen;
Lightvalve	14:8e7590227d22	816
Lightvalve	14:8e7590227d22	817	if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	818	CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve	30:8d561f16383b	819	CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve	13:747daba9cf59	820	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	821	CUR_PRES_B_sum = 0;
Lightvalve	14:8e7590227d22	822
Lightvalve	38:118df027d851	823	float VREF_NullingGain = 0.0003f;
Lightvalve	58:2eade98630e2	824	PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve	58:2eade98630e2	825	PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve	14:8e7590227d22	826
Lightvalve	30:8d561f16383b	827	if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve	30:8d561f16383b	828	if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve	30:8d561f16383b	829	if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve	30:8d561f16383b	830	if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve	19:23b7c1ad8683	831
Lightvalve	30:8d561f16383b	832	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	833	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	13:747daba9cf59	834	}
Lightvalve	13:747daba9cf59	835	} else {
Lightvalve	57:f4819de54e7a	836	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	837	TMR3_COUNT_PRES_NULL = 0;
Lightvalve	13:747daba9cf59	838	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	839	CUR_PRES_B_sum = 0;
Lightvalve	13:747daba9cf59	840	CUR_PRES_A_mean = 0;
Lightvalve	13:747daba9cf59	841	CUR_PRES_B_mean = 0;
Lightvalve	14:8e7590227d22	842
Lightvalve	170:42c938a40313	843	spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0f));
Lightvalve	170:42c938a40313	844	spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0f));
Lightvalve	19:23b7c1ad8683	845
Lightvalve	30:8d561f16383b	846	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	847	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	13:747daba9cf59	848	}
Lightvalve	14:8e7590227d22	849	TMR3_COUNT_PRES_NULL++;
Lightvalve	13:747daba9cf59	850	break;
Lightvalve	13:747daba9cf59	851	}
Lightvalve	14:8e7590227d22	852
Lightvalve	50:3c630b5eba9f	853	// case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve	50:3c630b5eba9f	854	// if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	855	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	856	// if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	857	// CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve	50:3c630b5eba9f	858	// }
Lightvalve	50:3c630b5eba9f	859	// } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	860	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	861	// if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	862	// CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve	50:3c630b5eba9f	863	// }
Lightvalve	50:3c630b5eba9f	864	// } else {
Lightvalve	50:3c630b5eba9f	865	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	866	// TMR3_COUNT_PRES_CALIB = 0;
Lightvalve	50:3c630b5eba9f	867	// V_out = 0;
Lightvalve	50:3c630b5eba9f	868	// PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve	50:3c630b5eba9f	869	// PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	50:3c630b5eba9f	870	// PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve	50:3c630b5eba9f	871	// PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	50:3c630b5eba9f	872	// CUR_PRES_A_sum = 0;
Lightvalve	50:3c630b5eba9f	873	// CUR_PRES_B_sum = 0;
Lightvalve	50:3c630b5eba9f	874	// CUR_PRES_A_mean = 0;
Lightvalve	50:3c630b5eba9f	875	// CUR_PRES_B_mean = 0;
Lightvalve	50:3c630b5eba9f	876	//
Lightvalve	224:985dba42f261	877	//
Lightvalve	50:3c630b5eba9f	878	//
Lightvalve	50:3c630b5eba9f	879	// //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve	50:3c630b5eba9f	880	// //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve	50:3c630b5eba9f	881	// }
Lightvalve	50:3c630b5eba9f	882	// TMR3_COUNT_PRES_CALIB++;
Lightvalve	50:3c630b5eba9f	883	// break;
Lightvalve	50:3c630b5eba9f	884	// }
Lightvalve	19:23b7c1ad8683	885
Lightvalve	50:3c630b5eba9f	886	// case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve	50:3c630b5eba9f	887	// if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4.0f + 3.0f * sin(2 * 3.14159f * 0.5f * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f * 0.05f);
Lightvalve	50:3c630b5eba9f	888	// V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve	50:3c630b5eba9f	889	// if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	890	// else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	891	// TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve	50:3c630b5eba9f	892	// if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	893	// TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve	50:3c630b5eba9f	894	// V_out = 0.0f;
Lightvalve	50:3c630b5eba9f	895	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	896	// }
Lightvalve	50:3c630b5eba9f	897	// break;
Lightvalve	50:3c630b5eba9f	898	// }
Lightvalve	14:8e7590227d22	899
Lightvalve	14:8e7590227d22	900	case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve	59:f308b1656d9c	901	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	902	VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve	14:8e7590227d22	903
Lightvalve	14:8e7590227d22	904	if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve	60:64181f1d3e60	905	Vout.ref = 3000.0f * sin(2.0f3.14fVALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve	14:8e7590227d22	906	} else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve	59:f308b1656d9c	907	Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve	14:8e7590227d22	908	} else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve	13:747daba9cf59	909	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	910	data_num = 0;
Lightvalve	14:8e7590227d22	911	} else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve	13:747daba9cf59	912	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	913	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	14:8e7590227d22	914	} else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve	59:f308b1656d9c	915	Vout.ref = 0.0f;
Lightvalve	59:f308b1656d9c	916	} else {
Lightvalve	13:747daba9cf59	917	VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve	13:747daba9cf59	918	VALVE_ID_timer = 0;
Lightvalve	13:747daba9cf59	919	ID_index= ID_index +1;
Lightvalve	13:747daba9cf59	920	}
Lightvalve	14:8e7590227d22	921
Lightvalve	17:1865016ca2e7	922	if(ID_index>=25) {
Lightvalve	13:747daba9cf59	923	int i;
Lightvalve	13:747daba9cf59	924	VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve	17:1865016ca2e7	925	for(i=0; i<25; i++) {
Lightvalve	13:747daba9cf59	926	VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve	14:8e7590227d22	927	if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	928	VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	929	VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	930	} else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	931	VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	932	VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	933	}
Lightvalve	13:747daba9cf59	934	}
Lightvalve	170:42c938a40313	935	spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve	170:42c938a40313	936	spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve	170:42c938a40313	937	for(int i=0; i<25; i++) {
Lightvalve	170:42c938a40313	938	spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]);
Lightvalve	170:42c938a40313	939	}
Lightvalve	13:747daba9cf59	940	ID_index = 0;
Lightvalve	57:f4819de54e7a	941	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	942	}
Lightvalve	14:8e7590227d22	943
Lightvalve	14:8e7590227d22	944
Lightvalve	13:747daba9cf59	945	break;
Lightvalve	13:747daba9cf59	946	}
Lightvalve	14:8e7590227d22	947
Lightvalve	14:8e7590227d22	948	case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve	59:f308b1656d9c	949	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	950	VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve	14:8e7590227d22	951	if(first_check == 0) {
Lightvalve	30:8d561f16383b	952	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	953	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	954	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	955	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	956	pos_plus_end = pos.sen;
Lightvalve	30:8d561f16383b	957	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	958	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	959	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	960	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	961	pos_minus_end = pos.sen;
Lightvalve	30:8d561f16383b	962	} else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	963	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	30:8d561f16383b	964	} else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	965	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	13:747daba9cf59	966	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	967	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	30:8d561f16383b	968	} else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	969	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	13:747daba9cf59	970	DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve	14:8e7590227d22	971	START_POS = pos.sen;
Lightvalve	13:747daba9cf59	972	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	973	data_num = 0;
Lightvalve	14:8e7590227d22	974
Lightvalve	30:8d561f16383b	975	} else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	976	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	977	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	978
Lightvalve	30:8d561f16383b	979	} else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	980	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	981	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	60:64181f1d3e60	982
Lightvalve	30:8d561f16383b	983	} else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	984	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	985	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	986	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	987
Lightvalve	60:64181f1d3e60	988	if((FINAL_POS - START_POS)>200) {
Lightvalve	13:747daba9cf59	989	DZ_case = 1;
Lightvalve	60:64181f1d3e60	990	} else if((FINAL_POS - START_POS)<-200) {
Lightvalve	13:747daba9cf59	991	DZ_case = -1;
Lightvalve	14:8e7590227d22	992	} else {
Lightvalve	13:747daba9cf59	993	DZ_case = 0;
Lightvalve	13:747daba9cf59	994	}
Lightvalve	61:bc8c8270f0ab	995
Lightvalve	60:64181f1d3e60	996	CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve	50:3c630b5eba9f	997
Lightvalve	13:747daba9cf59	998	first_check = 1;
Lightvalve	13:747daba9cf59	999	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1000	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1001	Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve	13:747daba9cf59	1002	DZ_NUM = 1;
Lightvalve	13:747daba9cf59	1003	DZ_index = 1;
Lightvalve	14:8e7590227d22	1004
Lightvalve	13:747daba9cf59	1005	}
Lightvalve	19:23b7c1ad8683	1006	} else {
Lightvalve	14:8e7590227d22	1007	if((DZ_case == -1 && DZ_NUM == 1) \| (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve	30:8d561f16383b	1008	if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1009	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	30:8d561f16383b	1010	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1011	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1012	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1013	valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1014	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1015	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1016	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1017	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1018	}
Lightvalve	14:8e7590227d22	1019	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	60:64181f1d3e60	1020
Lightvalve	30:8d561f16383b	1021	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1022	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1023	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1024
Lightvalve	14:8e7590227d22	1025	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1026	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1027	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1028	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1029	} else {
Lightvalve	13:747daba9cf59	1030	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	13:747daba9cf59	1031	}
Lightvalve	14:8e7590227d22	1032
Lightvalve	13:747daba9cf59	1033	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1034	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1035	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1036	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1037	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1038	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1039	DZ_index = 1;
Lightvalve	13:747daba9cf59	1040	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1041	}
Lightvalve	13:747daba9cf59	1042	}
Lightvalve	14:8e7590227d22	1043	} else if((DZ_case == -1 && DZ_NUM == 2) \| (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve	30:8d561f16383b	1044	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1045	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	30:8d561f16383b	1046	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1047	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1048	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1049	valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1050	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1051	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1052	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1053	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1054	}
Lightvalve	14:8e7590227d22	1055	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	61:bc8c8270f0ab	1056
Lightvalve	30:8d561f16383b	1057	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1058	Vout.ref = 0.0f;
Lightvalve	59:f308b1656d9c	1059	} else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1060	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1061	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1062
Lightvalve	14:8e7590227d22	1063	if((FINAL_POS - START_POS)>100) {
Lightvalve	60:64181f1d3e60	1064	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1065	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	60:64181f1d3e60	1066	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1067	} else {
Lightvalve	60:64181f1d3e60	1068	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	13:747daba9cf59	1069	}
Lightvalve	14:8e7590227d22	1070
Lightvalve	13:747daba9cf59	1071	VALVE_DZ_timer = 0;
Lightvalve	60:64181f1d3e60	1072	DZ_index= DZ_index * 2;
Lightvalve	14:8e7590227d22	1073	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1074	SECOND_DZ = valve_pos.ref;
Lightvalve	57:f4819de54e7a	1075	VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve	13:747daba9cf59	1076	first_check = 0;
Lightvalve	33:91b17819ec30	1077	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	1078	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	19:23b7c1ad8683	1079
Lightvalve	170:42c938a40313	1080	spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve	170:42c938a40313	1081	spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve	170:42c938a40313	1082	spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve	34:bb2ca2fc2a8e	1083
Lightvalve	60:64181f1d3e60	1084	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1085	DZ_index = 1;
Lightvalve	13:747daba9cf59	1086	}
Lightvalve	13:747daba9cf59	1087	}
Lightvalve	14:8e7590227d22	1088	} else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve	30:8d561f16383b	1089	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1090	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	30:8d561f16383b	1091	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1092	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1093	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1094	valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1095	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1096	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1097	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1098	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1099	}
Lightvalve	14:8e7590227d22	1100	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	61:bc8c8270f0ab	1101
Lightvalve	30:8d561f16383b	1102	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1103	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1104	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1105
Lightvalve	14:8e7590227d22	1106	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1107	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1108	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1109	DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	1110	} else {
Lightvalve	13:747daba9cf59	1111	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1112	}
Lightvalve	13:747daba9cf59	1113	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1114	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1115	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1116	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1117	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1118	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1119	DZ_index = 1;
Lightvalve	13:747daba9cf59	1120	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1121	}
Lightvalve	13:747daba9cf59	1122	}
Lightvalve	14:8e7590227d22	1123	} else {
Lightvalve	30:8d561f16383b	1124	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1125	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	30:8d561f16383b	1126	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1127	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1128	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1129	valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1130	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1131	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1132	} else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1133	valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve	13:747daba9cf59	1134	}
Lightvalve	14:8e7590227d22	1135	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	60:64181f1d3e60	1136
Lightvalve	30:8d561f16383b	1137	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1138	Vout.ref = 0.0f;
Lightvalve	59:f308b1656d9c	1139	} else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1140	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1141	FINAL_POS = pos.sen;
Lightvalve	61:bc8c8270f0ab	1142
Lightvalve	60:64181f1d3e60	1143	if((FINAL_POS - START_POS)>100) {
Lightvalve	13:747daba9cf59	1144	DZ_DIRECTION = 1;
Lightvalve	60:64181f1d3e60	1145	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	60:64181f1d3e60	1146	DZ_DIRECTION = -1;
Lightvalve	60:64181f1d3e60	1147	} else {
Lightvalve	13:747daba9cf59	1148	DZ_DIRECTION = 1;
Lightvalve	60:64181f1d3e60	1149	}
Lightvalve	14:8e7590227d22	1150
Lightvalve	13:747daba9cf59	1151	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1152	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1153	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1154	SECOND_DZ = valve_pos.ref;
Lightvalve	57:f4819de54e7a	1155	VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve	13:747daba9cf59	1156	first_check = 0;
Lightvalve	33:91b17819ec30	1157	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	1158	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	224:985dba42f261	1159
Lightvalve	170:42c938a40313	1160	spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve	170:42c938a40313	1161	spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve	170:42c938a40313	1162	spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve	34:bb2ca2fc2a8e	1163
Lightvalve	57:f4819de54e7a	1164	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1165	DZ_index = 1;
Lightvalve	13:747daba9cf59	1166	}
Lightvalve	13:747daba9cf59	1167	}
Lightvalve	13:747daba9cf59	1168	}
Lightvalve	14:8e7590227d22	1169	}
Lightvalve	13:747daba9cf59	1170	break;
Lightvalve	13:747daba9cf59	1171	}
Lightvalve	14:8e7590227d22	1172
Lightvalve	14:8e7590227d22	1173	case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve	59:f308b1656d9c	1174	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	1175	VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve	14:8e7590227d22	1176	if(first_check == 0) {
Lightvalve	30:8d561f16383b	1177	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1178	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	1179	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1180	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1181	pos_plus_end = pos.sen;
Lightvalve	30:8d561f16383b	1182	} else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1183	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	1184	} else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1185	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1186	pos_minus_end = pos.sen;
Lightvalve	13:747daba9cf59	1187	first_check = 1;
Lightvalve	13:747daba9cf59	1188	VALVE_FR_timer = 0;
Lightvalve	57:f4819de54e7a	1189	valve_pos.ref = (float) VALVE_CENTER;
Lightvalve	13:747daba9cf59	1190	ID_index = 0;
Lightvalve	13:747daba9cf59	1191	max_check = 0;
Lightvalve	13:747daba9cf59	1192	min_check = 0;
Lightvalve	13:747daba9cf59	1193	}
Lightvalve	14:8e7590227d22	1194	} else {
Lightvalve	30:8d561f16383b	1195	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1196	pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	59:f308b1656d9c	1197	CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1198	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	13:747daba9cf59	1199	data_num = 0;
Lightvalve	57:f4819de54e7a	1200	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve	14:8e7590227d22	1201
Lightvalve	14:8e7590227d22	1202	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1203	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1204	} else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f4819de54e7a	1205	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve	14:8e7590227d22	1206	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1207	data_num = data_num + 1;
Lightvalve	30:8d561f16383b	1208	if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve	14:8e7590227d22	1209	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1210	one_period_end = 1;
Lightvalve	13:747daba9cf59	1211	}
Lightvalve	30:8d561f16383b	1212	} else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1213	FINAL_POS = pos.sen;
Lightvalve	13:747daba9cf59	1214	one_period_end = 1;
Lightvalve	59:f308b1656d9c	1215	V_out = 0.0f;
Lightvalve	13:747daba9cf59	1216	}
Lightvalve	14:8e7590227d22	1217
Lightvalve	14:8e7590227d22	1218	if(one_period_end == 1) {
Lightvalve	14:8e7590227d22	1219	if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	13:747daba9cf59	1220	max_check = 1;
Lightvalve	14:8e7590227d22	1221	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	13:747daba9cf59	1222	min_check = 1;
Lightvalve	13:747daba9cf59	1223	}
Lightvalve	13:747daba9cf59	1224	JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve	19:23b7c1ad8683	1225
Lightvalve	13:747daba9cf59	1226	VALVE_FR_timer = 0;
Lightvalve	13:747daba9cf59	1227	one_period_end = 0;
Lightvalve	13:747daba9cf59	1228	ID_index= ID_index +1;
Lightvalve	30:8d561f16383b	1229	V_out = 0.0f;
Lightvalve	13:747daba9cf59	1230	}
Lightvalve	14:8e7590227d22	1231
Lightvalve	14:8e7590227d22	1232	if(max_check == 1 && min_check == 1) {
Lightvalve	19:23b7c1ad8683	1233
Lightvalve	13:747daba9cf59	1234	VALVE_POS_NUM = ID_index;
Lightvalve	170:42c938a40313	1235	for(int i=0; i<100; i++) {
Lightvalve	170:42c938a40313	1236	spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int16_t) (JOINT_VEL[i] & 0xFFFF));
Lightvalve	170:42c938a40313	1237	spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int16_t) ((JOINT_VEL[i] >> 16) & 0xFFFF));
Lightvalve	170:42c938a40313	1238	}
Lightvalve	13:747daba9cf59	1239	ID_index = 0;
Lightvalve	13:747daba9cf59	1240	first_check = 0;
Lightvalve	13:747daba9cf59	1241	VALVE_FR_timer = 0;
Lightvalve	57:f4819de54e7a	1242	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1243	}
Lightvalve	13:747daba9cf59	1244	}
Lightvalve	13:747daba9cf59	1245	break;
Lightvalve	13:747daba9cf59	1246	}
Lightvalve	58:2eade98630e2	1247
Lightvalve	57:f4819de54e7a	1248	case MODE_SYSTEM_ID: {
Lightvalve	169:645207e160ca	1249	freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.0f;
Lightvalve	57:f4819de54e7a	1250	valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve	57:f4819de54e7a	1251	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	57:f4819de54e7a	1252	cnt_sysid++;
Lightvalve	57:f4819de54e7a	1253	if (freq_sysid_Iref >= 300) {
Lightvalve	57:f4819de54e7a	1254	cnt_sysid = 0;
Lightvalve	57:f4819de54e7a	1255	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	57:f4819de54e7a	1256	}
Lightvalve	57:f4819de54e7a	1257	break;
Lightvalve	57:f4819de54e7a	1258	}
Lightvalve	58:2eade98630e2	1259
Lightvalve	169:645207e160ca	1260	case MODE_FREQ_TEST: {
Lightvalve	169:645207e160ca	1261	float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3);
Lightvalve	169:645207e160ca	1262	if(valve_pos_ref >= 0) {
Lightvalve	169:645207e160ca	1263	valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	169:645207e160ca	1264	} else {
Lightvalve	169:645207e160ca	1265	valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	169:645207e160ca	1266	}
Lightvalve	169:645207e160ca	1267	ref_array[cnt_freq_test] = valve_pos_ref;
Lightvalve	169:645207e160ca	1268	if(value>=(float) VALVE_CENTER) {
Lightvalve	169:645207e160ca	1269	pos_array[cnt_freq_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	169:645207e160ca	1270	} else {
Lightvalve	169:645207e160ca	1271	pos_array[cnt_freq_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	169:645207e160ca	1272	}
Lightvalve	58:2eade98630e2	1273
Lightvalve	169:645207e160ca	1274	CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve	169:645207e160ca	1275	cnt_freq_test++;
Lightvalve	169:645207e160ca	1276	if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3 > 2) {
Lightvalve	169:645207e160ca	1277	buffer_data_size = cnt_freq_test;
Lightvalve	169:645207e160ca	1278	cnt_freq_test = 0;
Lightvalve	169:645207e160ca	1279	cnt_send_buffer = 0;
Lightvalve	169:645207e160ca	1280	freq_test_valve_ref = freq_test_valve_ref * 1.05f;
Lightvalve	169:645207e160ca	1281	if (freq_test_valve_ref >= 400) {
Lightvalve	169:645207e160ca	1282	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	169:645207e160ca	1283	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	169:645207e160ca	1284	CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve	169:645207e160ca	1285	}
Lightvalve	169:645207e160ca	1286	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	169:645207e160ca	1287	CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve	170:42c938a40313	1288
Lightvalve	169:645207e160ca	1289	}
Lightvalve	169:645207e160ca	1290	break;
Lightvalve	169:645207e160ca	1291	}
Lightvalve	169:645207e160ca	1292	case MODE_SEND_BUFFER: {
Lightvalve	169:645207e160ca	1293	// if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve	169:645207e160ca	1294	// CAN_TX_PRES((int16_t) (pos_array[cnt_send_buffer]), (int16_t) (ref_array[cnt_send_buffer])); // 1400
Lightvalve	169:645207e160ca	1295	// if(cnt_send_buffer>=buffer_data_size) {
Lightvalve	169:645207e160ca	1296	// CONTROL_UTILITY_MODE = MODE_FREQ_TEST;
Lightvalve	169:645207e160ca	1297	// }
Lightvalve	169:645207e160ca	1298	// cnt_send_buffer++;
Lightvalve	169:645207e160ca	1299	// }
Lightvalve	169:645207e160ca	1300
Lightvalve	169:645207e160ca	1301	break;
Lightvalve	169:645207e160ca	1302	}
Lightvalve	169:645207e160ca	1303	case MODE_SEND_OVER: {
Lightvalve	169:645207e160ca	1304	CAN_TX_TORQUE((int16_t) (buffer_data_size)); //1300
Lightvalve	169:645207e160ca	1305	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	169:645207e160ca	1306	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	169:645207e160ca	1307	break;
Lightvalve	169:645207e160ca	1308	}
Lightvalve	170:42c938a40313	1309
Lightvalve	169:645207e160ca	1310	case MODE_STEP_TEST: {
Lightvalve	169:645207e160ca	1311	float valve_pos_ref = 0.0f;
Lightvalve	170:42c938a40313	1312	if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	169:645207e160ca	1313	valve_pos_ref = 0.0f;
Lightvalve	170:42c938a40313	1314	} else {
Lightvalve	169:645207e160ca	1315	valve_pos_ref = 10000.0f;
Lightvalve	169:645207e160ca	1316	}
Lightvalve	169:645207e160ca	1317	if(valve_pos_ref >= 0) {
Lightvalve	169:645207e160ca	1318	valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	169:645207e160ca	1319	} else {
Lightvalve	169:645207e160ca	1320	valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	169:645207e160ca	1321	}
Lightvalve	169:645207e160ca	1322	ref_array[cnt_step_test] = valve_pos_ref;
Lightvalve	169:645207e160ca	1323	if(value>=(float) VALVE_CENTER) {
Lightvalve	169:645207e160ca	1324	pos_array[cnt_step_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	169:645207e160ca	1325	} else {
Lightvalve	169:645207e160ca	1326	pos_array[cnt_step_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	169:645207e160ca	1327	}
Lightvalve	169:645207e160ca	1328
Lightvalve	169:645207e160ca	1329	CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve	169:645207e160ca	1330	cnt_step_test++;
Lightvalve	170:42c938a40313	1331	if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	169:645207e160ca	1332	buffer_data_size = cnt_step_test;
Lightvalve	169:645207e160ca	1333	cnt_step_test = 0;
Lightvalve	169:645207e160ca	1334	cnt_send_buffer = 0;
Lightvalve	169:645207e160ca	1335	CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve	169:645207e160ca	1336	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	169:645207e160ca	1337	}
Lightvalve	170:42c938a40313	1338
Lightvalve	169:645207e160ca	1339	break;
Lightvalve	169:645207e160ca	1340	}
Lightvalve	57:f4819de54e7a	1341
Lightvalve	57:f4819de54e7a	1342	default:
Lightvalve	57:f4819de54e7a	1343	break;
Lightvalve	57:f4819de54e7a	1344	}
Lightvalve	57:f4819de54e7a	1345
Lightvalve	224:985dba42f261	1346
Lightvalve	224:985dba42f261	1347
Lightvalve	57:f4819de54e7a	1348	// CONTROL MODE ------------------------------------------------------------
Lightvalve	57:f4819de54e7a	1349	switch (CONTROL_MODE) {
Lightvalve	57:f4819de54e7a	1350	case MODE_NO_ACT: {
Lightvalve	57:f4819de54e7a	1351	V_out = 0.0f;
Lightvalve	57:f4819de54e7a	1352	break;
Lightvalve	57:f4819de54e7a	1353	}
Lightvalve	57:f4819de54e7a	1354
Lightvalve	57:f4819de54e7a	1355	case MODE_VALVE_POSITION_CONTROL: {
Lightvalve	67:c2812cf26c38	1356	if (OPERATING_MODE == 5) { //SW Valve
Lightvalve	57:f4819de54e7a	1357	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	59:f308b1656d9c	1358	V_out = Vout.ref;
Lightvalve	67:c2812cf26c38	1359	} else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve	67:c2812cf26c38	1360	V_out = valve_pos.ref;
Lightvalve	169:645207e160ca	1361	} else {
Lightvalve	67:c2812cf26c38	1362	I_REF = valve_pos.ref * 0.001f;
Lightvalve	57:f4819de54e7a	1363	}
Lightvalve	57:f4819de54e7a	1364	break;
Lightvalve	57:f4819de54e7a	1365	}
Lightvalve	57:f4819de54e7a	1366
Lightvalve	57:f4819de54e7a	1367	case MODE_JOINT_CONTROL: {
Lightvalve	169:645207e160ca	1368
Lightvalve	57:f4819de54e7a	1369	double torq_ref = 0.0f;
Lightvalve	57:f4819de54e7a	1370	pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve	67:c2812cf26c38	1371	vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve	57:f4819de54e7a	1372	pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve	169:645207e160ca	1373
Lightvalve	67:c2812cf26c38	1374	//K & D Low Pass Filter
Lightvalve	67:c2812cf26c38	1375	float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f3.14f30.0f)); // f_cutoff : 30Hz
Lightvalve	67:c2812cf26c38	1376	K_LPF = K_LPF(1.0f-alpha_K_D)+K_SPRING(alpha_K_D);
Lightvalve	67:c2812cf26c38	1377	D_LPF = D_LPF(1.0f-alpha_K_D)+D_DAMPER(alpha_K_D);
Lightvalve	169:645207e160ca	1378
Lightvalve	224:985dba42f261	1379	torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve	57:f4819de54e7a	1380
Lightvalve	57:f4819de54e7a	1381	// torque feedback
Lightvalve	67:c2812cf26c38	1382	torq.err = torq_ref - torq.sen; //[N]
Lightvalve	57:f4819de54e7a	1383	torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve	57:f4819de54e7a	1384
Lightvalve	57:f4819de54e7a	1385	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	58:2eade98630e2	1386
Lightvalve	57:f4819de54e7a	1387	double I_REF_POS = 0.0f;
Lightvalve	57:f4819de54e7a	1388	double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve	57:f4819de54e7a	1389	double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve	57:f4819de54e7a	1390
Lightvalve	57:f4819de54e7a	1391	double temp_vel_pos = 0.0f;
Lightvalve	57:f4819de54e7a	1392	double temp_vel_torq = 0.0f;
Lightvalve	57:f4819de54e7a	1393	double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve	58:2eade98630e2	1394
Lightvalve	69:3995ffeaa786	1395	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve	57:f4819de54e7a	1396	temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve	57:f4819de54e7a	1397	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	69:3995ffeaa786	1398	} else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve	57:f4819de54e7a	1399	temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	57:f4819de54e7a	1400	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	57:f4819de54e7a	1401	}
Lightvalve	57:f4819de54e7a	1402	if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve	57:f4819de54e7a	1403	else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	57:f4819de54e7a	1404
Lightvalve	57:f4819de54e7a	1405	// velocity compensation for torque control
Lightvalve	69:3995ffeaa786	1406	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve	57:f4819de54e7a	1407	I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve	57:f4819de54e7a	1408	// temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s
Lightvalve	57:f4819de54e7a	1409	temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve	57:f4819de54e7a	1410	// L feedforward velocity
Lightvalve	69:3995ffeaa786	1411	} else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve	57:f4819de54e7a	1412	I_REF_FORCE_FB = 0.001f * 0.01f((double) P_GAIN_JOINT_TORQUE torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); // Linear Actuators are more sensitive.
Lightvalve	57:f4819de54e7a	1413	// temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	57:f4819de54e7a	1414	temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	57:f4819de54e7a	1415	// L feedforward velocity
Lightvalve	57:f4819de54e7a	1416	}
Lightvalve	57:f4819de54e7a	1417	if (temp_vel_torq > 0.0f) I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve	57:f4819de54e7a	1418	else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	57:f4819de54e7a	1419	// L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve	57:f4819de54e7a	1420	// Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve	57:f4819de54e7a	1421	// Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve	57:f4819de54e7a	1422
Lightvalve	57:f4819de54e7a	1423	I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve	169:645207e160ca	1424
Lightvalve	67:c2812cf26c38	1425	// Anti-windup for FT
Lightvalve	67:c2812cf26c38	1426	if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve	67:c2812cf26c38	1427	double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve	67:c2812cf26c38	1428	double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve	67:c2812cf26c38	1429	if (I_REF > I_MAX) {
Lightvalve	67:c2812cf26c38	1430	double I_rem = I_REF - I_MAX;
Lightvalve	67:c2812cf26c38	1431	I_rem = Ka*I_rem;
Lightvalve	67:c2812cf26c38	1432	I_REF = I_MAX;
Lightvalve	67:c2812cf26c38	1433	torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve	67:c2812cf26c38	1434	} else if (I_REF < -I_MAX) {
Lightvalve	67:c2812cf26c38	1435	double I_rem = I_REF - (-I_MAX);
Lightvalve	67:c2812cf26c38	1436	I_rem = Ka*I_rem;
Lightvalve	67:c2812cf26c38	1437	I_REF = -I_MAX;
Lightvalve	67:c2812cf26c38	1438	torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve	67:c2812cf26c38	1439	}
Lightvalve	67:c2812cf26c38	1440	}
Lightvalve	57:f4819de54e7a	1441
Lightvalve	57:f4819de54e7a	1442	} else {
Lightvalve	57:f4819de54e7a	1443	float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve	72:3436ce769b1e	1444	float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve	72:3436ce769b1e	1445	float VALVE_POS_RAW = 0.0f;
Lightvalve	169:645207e160ca	1446
Lightvalve	209:ebc69d6ee6f1	1447	VALVE_POS_RAW_FORCE_FB = alpha_trans(((float) P_GAIN_JOINT_TORQUE torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * (torq.ref_diff - torq_dot.sen)) * 0.01f + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve	57:f4819de54e7a	1448
Lightvalve	72:3436ce769b1e	1449	VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f;
Lightvalve	169:645207e160ca	1450
Lightvalve	72:3436ce769b1e	1451	VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve	169:645207e160ca	1452
Lightvalve	169:645207e160ca	1453
Lightvalve	72:3436ce769b1e	1454	if (VALVE_POS_RAW >= 0) {
Lightvalve	72:3436ce769b1e	1455	valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve	57:f4819de54e7a	1456	} else {
Lightvalve	72:3436ce769b1e	1457	valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve	57:f4819de54e7a	1458	}
Lightvalve	57:f4819de54e7a	1459
Lightvalve	57:f4819de54e7a	1460	if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve	139:15621998925b	1461	double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve	57:f4819de54e7a	1462	if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve	57:f4819de54e7a	1463	double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1464	valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	57:f4819de54e7a	1465	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1466	torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve	57:f4819de54e7a	1467	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	57:f4819de54e7a	1468	double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1469	valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	57:f4819de54e7a	1470	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1471	torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve	57:f4819de54e7a	1472	}
Lightvalve	57:f4819de54e7a	1473	}
Lightvalve	61:bc8c8270f0ab	1474
Lightvalve	57:f4819de54e7a	1475	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	60:64181f1d3e60	1476	V_out = (float) Vout.ref;
Lightvalve	57:f4819de54e7a	1477	}
Lightvalve	72:3436ce769b1e	1478	torq_ref_past = torq_ref;
Lightvalve	57:f4819de54e7a	1479	break;
Lightvalve	57:f4819de54e7a	1480	}
Lightvalve	58:2eade98630e2	1481
Lightvalve	57:f4819de54e7a	1482	case MODE_VALVE_OPEN_LOOP: {
Lightvalve	57:f4819de54e7a	1483	V_out = (float) Vout.ref;
Lightvalve	57:f4819de54e7a	1484	break;
Lightvalve	57:f4819de54e7a	1485	}
Lightvalve	169:645207e160ca	1486
Lightvalve	138:a843f32ced33	1487	case MODE_JOINT_ADAPTIVE_BACKSTEPPING: {
Lightvalve	169:645207e160ca	1488
Lightvalve	169:645207e160ca	1489
Lightvalve	139:15621998925b	1490	float Va = (1256.6f + Amm * pos.sen/(float)(ENC_PULSE_PER_POSITION)) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3
Lightvalve	139:15621998925b	1491	float Vb = (1256.6f + Amm * (79.0f - pos.sen/(float)(ENC_PULSE_PER_POSITION))) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3
Lightvalve	218:066030f7951f	1492
Lightvalve	170:42c938a40313	1493	V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f
Lightvalve	169:645207e160ca	1494
Lightvalve	218:066030f7951f	1495	//float f3 = -AmmAmmbeta0.000001f0.000001f/V_adapt * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
Lightvalve	218:066030f7951f	1496	float f3_hat = -a_hat * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
Lightvalve	169:645207e160ca	1497
Lightvalve	138:a843f32ced33	1498	float g3_prime = 0.0f;
Lightvalve	169:645207e160ca	1499	if (torq.sen > Amm(Ps-Pt)0.000001f) {
Lightvalve	138:a843f32ced33	1500	g3_prime = 1.0f;
Lightvalve	138:a843f32ced33	1501	} else if (torq.sen < -Amm(Ps-Pt)0.000001f) {
Lightvalve	138:a843f32ced33	1502	g3_prime = -1.0f;
Lightvalve	138:a843f32ced33	1503	} else {
Lightvalve	138:a843f32ced33	1504	if ((value-VALVE_CENTER) > 0) {
Lightvalve	169:645207e160ca	1505	g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f);
Lightvalve	169:645207e160ca	1506	// g3_prime = sqrt(Ps-Pt);
Lightvalve	138:a843f32ced33	1507	} else {
Lightvalve	138:a843f32ced33	1508	g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f);
Lightvalve	139:15621998925b	1509	// g3_prime = sqrt(Ps-Pt);
Lightvalve	138:a843f32ced33	1510	}
Lightvalve	138:a843f32ced33	1511	}
Lightvalve	138:a843f32ced33	1512	float tau = 0.01f;
Lightvalve	142:43026242815a	1513	float K_valve = 0.0004f;
Lightvalve	169:645207e160ca	1514
Lightvalve	138:a843f32ced33	1515	float x_v = 0.0f; //x_v : -1~1
Lightvalve	138:a843f32ced33	1516	if(value>=VALVE_CENTER) {
Lightvalve	138:a843f32ced33	1517	x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	138:a843f32ced33	1518	} else {
Lightvalve	138:a843f32ced33	1519	x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	138:a843f32ced33	1520	}
Lightvalve	138:a843f32ced33	1521	float f4 = -x_v/tau;
Lightvalve	138:a843f32ced33	1522	float g4 = K_valve/tau;
Lightvalve	169:645207e160ca	1523
Lightvalve	139:15621998925b	1524	float torq_ref_dot = torq.ref_diff * 500.0f;
Lightvalve	169:645207e160ca	1525
Lightvalve	138:a843f32ced33	1526	pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve	138:a843f32ced33	1527	vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve	138:a843f32ced33	1528	pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve	169:645207e160ca	1529
Lightvalve	138:a843f32ced33	1530	torq.err = torq.ref - torq.sen; //[N]
Lightvalve	138:a843f32ced33	1531	torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve	169:645207e160ca	1532
Lightvalve	212:ec41f1449ef9	1533	float k3 = 2000.0f; //2000 //20000
Lightvalve	142:43026242815a	1534	float k4 = 10.0f;
Lightvalve	142:43026242815a	1535	float rho3 = 3.2f;
Lightvalve	212:ec41f1449ef9	1536	float rho4 = 10000000.0f; //25000000.0f;
Lightvalve	218:066030f7951f	1537	float x_4_des = (-f3_hat + torq_ref_dot - k3(-torq.err))/(gamma_hatg3_prime);
Lightvalve	138:a843f32ced33	1538	if (x_4_des > 1) x_4_des = 1;
Lightvalve	138:a843f32ced33	1539	else if (x_4_des < -1) x_4_des = -1;
Lightvalve	169:645207e160ca	1540
Lightvalve	139:15621998925b	1541	if (x_4_des > 0) {
Lightvalve	139:15621998925b	1542	valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER;
Lightvalve	139:15621998925b	1543	} else {
Lightvalve	139:15621998925b	1544	valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER;
Lightvalve	139:15621998925b	1545	}
Lightvalve	169:645207e160ca	1546
Lightvalve	138:a843f32ced33	1547	float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k;
Lightvalve	138:a843f32ced33	1548	x_4_des_old = x_4_des;
Lightvalve	212:ec41f1449ef9	1549	float V_input = 0.0f;
Lightvalve	139:15621998925b	1550	V_out = (-f4 + x_4_des_dot - k4(x_v-x_4_des)- rho3/rho4gamma_hatg3_prime(-torq.err))/g4;
Lightvalve	218:066030f7951f	1551
Lightvalve	218:066030f7951f	1552	float rho_a = 0.00001f;
Lightvalve	218:066030f7951f	1553	float a_hat_dot = -rho3/rho_avel.sen/(float)(ENC_PULSE_PER_POSITION)0.001f*(-torq.err);
Lightvalve	218:066030f7951f	1554	a_hat = a_hat + a_hat_dot / (float) TMR_FREQ_5k;
Lightvalve	218:066030f7951f	1555
Lightvalve	218:066030f7951f	1556	if(a_hat > -3000000.0f) a_hat = -3000000.0f;
Lightvalve	218:066030f7951f	1557	else if(a_hat < -30000000.0f) a_hat = -30000000.0f;
Lightvalve	218:066030f7951f	1558
Lightvalve	169:645207e160ca	1559	break;
Lightvalve	138:a843f32ced33	1560	}
Lightvalve	171:bfc1fd2629d8	1561
Lightvalve	12:6f2531038ea4	1562	default:
Lightvalve	12:6f2531038ea4	1563	break;
Lightvalve	12:6f2531038ea4	1564	}
Lightvalve	14:8e7590227d22	1565
Lightvalve	57:f4819de54e7a	1566
Lightvalve	57:f4819de54e7a	1567	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve	58:2eade98630e2	1568
Lightvalve	57:f4819de54e7a	1569	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1570	//////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve	57:f4819de54e7a	1571	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1572	if (CURRENT_CONTROL_MODE) {
Lightvalve	67:c2812cf26c38	1573	double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve	57:f4819de54e7a	1574	I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve	57:f4819de54e7a	1575
Lightvalve	57:f4819de54e7a	1576	I_ERR = I_REF_fil - cur.sen;
Lightvalve	67:c2812cf26c38	1577	I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve	57:f4819de54e7a	1578
Lightvalve	57:f4819de54e7a	1579
Lightvalve	57:f4819de54e7a	1580	// Moog Valve Current Control Gain
Lightvalve	67:c2812cf26c38	1581	double R_model = 500.0f; // ohm
Lightvalve	57:f4819de54e7a	1582	double L_model = 1.2f;
Lightvalve	57:f4819de54e7a	1583	double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve	57:f4819de54e7a	1584	double KP_I = 0.1f * L_model*w0;
Lightvalve	57:f4819de54e7a	1585	double KI_I = 0.1f * R_model*w0;
Lightvalve	57:f4819de54e7a	1586
Lightvalve	57:f4819de54e7a	1587	// KNR Valve Current Control Gain
Lightvalve	57:f4819de54e7a	1588	if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve	57:f4819de54e7a	1589	R_model = 163.0f; // ohm
Lightvalve	57:f4819de54e7a	1590	L_model = 1.0f;
Lightvalve	57:f4819de54e7a	1591	w0 = 2.0f * 3.14f * 80.0f;
Lightvalve	57:f4819de54e7a	1592	KP_I = 1.0f * L_model*w0;
Lightvalve	57:f4819de54e7a	1593	KI_I = 0.08f * R_model*w0;
Lightvalve	57:f4819de54e7a	1594	}
Lightvalve	57:f4819de54e7a	1595
Lightvalve	57:f4819de54e7a	1596	double FF_gain = 1.0f;
Lightvalve	57:f4819de54e7a	1597
Lightvalve	67:c2812cf26c38	1598	VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve	57:f4819de54e7a	1599	I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve	57:f4819de54e7a	1600	I_REF_fil_old = I_REF_fil;
Lightvalve	67:c2812cf26c38	1601	// VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV
Lightvalve	67:c2812cf26c38	1602	VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve	67:c2812cf26c38	1603	double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve	57:f4819de54e7a	1604
Lightvalve	57:f4819de54e7a	1605	double Ka = 3.0f / KP_I;
Lightvalve	57:f4819de54e7a	1606	if (VALVE_PWM_RAW > V_MAX) {
Lightvalve	57:f4819de54e7a	1607	V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve	57:f4819de54e7a	1608	V_rem = Ka*V_rem;
Lightvalve	57:f4819de54e7a	1609	VALVE_PWM_RAW = V_MAX;
Lightvalve	67:c2812cf26c38	1610	I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve	57:f4819de54e7a	1611	} else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve	57:f4819de54e7a	1612	V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve	57:f4819de54e7a	1613	V_rem = Ka*V_rem;
Lightvalve	57:f4819de54e7a	1614	VALVE_PWM_RAW = -V_MAX;
Lightvalve	67:c2812cf26c38	1615	I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve	57:f4819de54e7a	1616	}
Lightvalve	57:f4819de54e7a	1617	Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve	57:f4819de54e7a	1618	} else {
Lightvalve	57:f4819de54e7a	1619	VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve	57:f4819de54e7a	1620	Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve	57:f4819de54e7a	1621	}
Lightvalve	57:f4819de54e7a	1622
Lightvalve	57:f4819de54e7a	1623	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1624	///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve	57:f4819de54e7a	1625	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1626	// Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve	57:f4819de54e7a	1627	if (FLAG_VALVE_DEADZONE) {
Lightvalve	57:f4819de54e7a	1628	if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve	57:f4819de54e7a	1629	else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve	57:f4819de54e7a	1630
Lightvalve	57:f4819de54e7a	1631	VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve	57:f4819de54e7a	1632
Lightvalve	57:f4819de54e7a	1633	} else {
Lightvalve	57:f4819de54e7a	1634	VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve	57:f4819de54e7a	1635	}
Lightvalve	57:f4819de54e7a	1636
Lightvalve	57:f4819de54e7a	1637	// Output Voltage Linearization
Lightvalve	57:f4819de54e7a	1638	double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve	67:c2812cf26c38	1639	double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve	57:f4819de54e7a	1640
Lightvalve	57:f4819de54e7a	1641	// Dead Zone Cancellation (Electrical dead-zone)
Lightvalve	67:c2812cf26c38	1642	if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve	67:c2812cf26c38	1643	else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve	67:c2812cf26c38	1644	else V_out = (float) (CUR_PWM_lin);
Lightvalve	169:645207e160ca	1645	} else { //////////////////////////sw valve
Lightvalve	89:a7b45368ea0f	1646	// Output Voltage Linearization
Lightvalve	135:79885a39c161	1647	// double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve	135:79885a39c161	1648	// double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve	89:a7b45368ea0f	1649
Lightvalve	89:a7b45368ea0f	1650	// Dead Zone Cancellation (Electrical dead-zone)
Lightvalve	135:79885a39c161	1651	// if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve	135:79885a39c161	1652	// else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve	135:79885a39c161	1653	// else V_out = (float) (CUR_PWM_lin);
Lightvalve	135:79885a39c161	1654
Lightvalve	224:985dba42f261	1655	// Output Voltage Linearization & Dead Zone Cancellation (Electrical dead-zone) by SW
Lightvalve	135:79885a39c161	1656	if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f;
Lightvalve	135:79885a39c161	1657	else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f;
Lightvalve	135:79885a39c161	1658	else V_out = 0.0f;
Lightvalve	89:a7b45368ea0f	1659	}
Lightvalve	169:645207e160ca	1660
jobuuu	7:e9086c72bb22	1661	/*******************************************************
jobuuu	7:e9086c72bb22	1662	*** PWM
jobuuu	7:e9086c72bb22	1663	********************************************************/
Lightvalve	169:645207e160ca	1664	if(DIR_VALVE<0) {
Lightvalve	67:c2812cf26c38	1665	V_out = -V_out;
Lightvalve	67:c2812cf26c38	1666	}
Lightvalve	169:645207e160ca	1667
Lightvalve	49:e7bcfc244d40	1668	if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve	49:e7bcfc244d40	1669	V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve	49:e7bcfc244d40	1670	} else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve	49:e7bcfc244d40	1671	V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve	27:a2254a485f23	1672	}
Lightvalve	224:985dba42f261	1673	PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f);
Lightvalve	13:747daba9cf59	1674
Lightvalve	224:985dba42f261	1675	// Saturation of output voltage
Lightvalve	30:8d561f16383b	1676	if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve	30:8d561f16383b	1677	else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve	13:747daba9cf59	1678
Lightvalve	30:8d561f16383b	1679	if (PWM_out>0.0f) {
Lightvalve	30:8d561f16383b	1680	dtc_v=0.0f;
jobuuu	1:e04e563be5ce	1681	dtc_w=PWM_out;
jobuuu	1:e04e563be5ce	1682	} else {
jobuuu	2:a1c0a37df760	1683	dtc_v=-PWM_out;
Lightvalve	30:8d561f16383b	1684	dtc_w=0.0f;
jobuuu	1:e04e563be5ce	1685	}
Lightvalve	13:747daba9cf59	1686
jobuuu	1:e04e563be5ce	1687	//pwm
Lightvalve	30:8d561f16383b	1688	TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve	30:8d561f16383b	1689	TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve	67:c2812cf26c38	1690
jeongyeseong	225:9c0becc196ba	1691
Lightvalve	57:f4819de54e7a	1692	if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve	20:806196fda269	1693
jeongyeseong	225:9c0becc196ba	1694	// Position, Velocity, and Torque (ID:1200)
jeongyeseong	225:9c0becc196ba	1695	if (flag_data_request[0] == HIGH) {
jeongyeseong	225:9c0becc196ba	1696	if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
jeongyeseong	225:9c0becc196ba	1697	if (SENSING_MODE == 0) {
jeongyeseong	225:9c0becc196ba	1698	CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
jeongyeseong	225:9c0becc196ba	1699	} else if (SENSING_MODE == 1) {
jeongyeseong	225:9c0becc196ba	1700	CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) ((pres_A.sen)5.0f), (int16_t) ((pres_B.sen)5.0f));
jeongyeseong	225:9c0becc196ba	1701	}
jeongyeseong	225:9c0becc196ba	1702	} else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
jeongyeseong	225:9c0becc196ba	1703	if (SENSING_MODE == 0) {
jeongyeseong	225:9c0becc196ba	1704	CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE)));
jeongyeseong	225:9c0becc196ba	1705	} else if (SENSING_MODE == 1) {
jeongyeseong	225:9c0becc196ba	1706	CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)5.0f), (int16_t) ((pres_B.sen)5.0f));
jeongyeseong	225:9c0becc196ba	1707	}
jeongyeseong	225:9c0becc196ba	1708	}
jeongyeseong	225:9c0becc196ba	1709
jeongyeseong	225:9c0becc196ba	1710	}
jeongyeseong	225:9c0becc196ba	1711
Lightvalve	224:985dba42f261	1712
Lightvalve	224:985dba42f261	1713	// ID:1300
Lightvalve	56:6f50d9d3bfee	1714	if (flag_data_request[1] == HIGH) {
Lightvalve	224:985dba42f261	1715	CAN_TX_TORQUE((int16_t) 7); //1300
Lightvalve	54:647072f5307a	1716	}
Lightvalve	58:2eade98630e2	1717
jeongyeseong	225:9c0becc196ba	1718	// Reference Current, Current Current (ID:1700)
Lightvalve	171:bfc1fd2629d8	1719	if (flag_data_request[2] == HIGH) {
jeongyeseong	225:9c0becc196ba	1720
jeongyeseong	225:9c0becc196ba	1721	CAN_TX_SOMETHING((int16_t) (I_REF_fil / mA_PER_pulse), (int16_t) (cur.sen / mA_PER_pulse), (int16_t) (0), (int16_t) (0));
jeongyeseong	225:9c0becc196ba	1722	//double t_value = 0.0f;
jeongyeseong	225:9c0becc196ba	1723	// if(value>=(float) VALVE_CENTER) {
jeongyeseong	225:9c0becc196ba	1724	// t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
jeongyeseong	225:9c0becc196ba	1725	// } else {
jeongyeseong	225:9c0becc196ba	1726	// t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
jeongyeseong	225:9c0becc196ba	1727	// }
jeongyeseong	225:9c0becc196ba	1728	// double t_value_ref = 0.0f;
jeongyeseong	225:9c0becc196ba	1729	// if(valve_pos.ref>=(float) VALVE_CENTER) {
jeongyeseong	225:9c0becc196ba	1730	// t_value_ref = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
jeongyeseong	225:9c0becc196ba	1731	// } else {
jeongyeseong	225:9c0becc196ba	1732	// t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
jeongyeseong	225:9c0becc196ba	1733	// }
jeongyeseong	225:9c0becc196ba	1734	//
jeongyeseong	225:9c0becc196ba	1735	//
jeongyeseong	225:9c0becc196ba	1736	// CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400
Lightvalve	55:b25725257569	1737	}
Lightvalve	58:2eade98630e2	1738
Lightvalve	57:f4819de54e7a	1739	//If it doesn't rest, below can can not work.
Lightvalve	57:f4819de54e7a	1740	for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve	57:f4819de54e7a	1741	;
Lightvalve	57:f4819de54e7a	1742	}
Lightvalve	224:985dba42f261	1743
Lightvalve	224:985dba42f261	1744	// ID:1500
Lightvalve	169:645207e160ca	1745	if (flag_data_request[3] == HIGH) {
Lightvalve	54:647072f5307a	1746	//PWM
Lightvalve	209:ebc69d6ee6f1	1747	CAN_TX_PWM((int16_t) (torq.ref)); //1500
Lightvalve	54:647072f5307a	1748	}
Lightvalve	224:985dba42f261	1749
Lightvalve	224:985dba42f261	1750	// ID:1600
Lightvalve	56:6f50d9d3bfee	1751	if (flag_data_request[4] == HIGH) {
Lightvalve	54:647072f5307a	1752	//valve position
Lightvalve	218:066030f7951f	1753	CAN_TX_VALVE_POSITION((int16_t) (a_hat*0.0001f), (int16_t) 0, (int16_t) 0, (int16_t) 0); //1600
Lightvalve	54:647072f5307a	1754	}
Lightvalve	20:806196fda269	1755
Lightvalve	54:647072f5307a	1756	TMR2_COUNT_CAN_TX = 0;
Lightvalve	54:647072f5307a	1757	}
Lightvalve	54:647072f5307a	1758	TMR2_COUNT_CAN_TX++;
Lightvalve	52:8ea76864368a	1759
Lightvalve	20:806196fda269	1760	}
Lightvalve	52:8ea76864368a	1761	TIM3->SR = 0x0; // reset the status register
Lightvalve	52:8ea76864368a	1762
Lightvalve	58:2eade98630e2	1763	}

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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@225:9c0becc196ba, 2021-02-04 (annotated)

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