Yeseong Jeong
/
HydraulicControlBoard_Start
20210203
main.cpp@86:b8ed7abddeb2, 2020-07-13 (annotated)
- Committer:
- Lightvalve
- Date:
- Mon Jul 13 00:43:25 2020 +0000
- Revision:
- 86:b8ed7abddeb2
- Parent:
- 85:a3b46118b5cd
- Child:
- 87:471334725012
200713-1
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Lightvalve | 86:b8ed7abddeb2 | 1 | //200713-1 |
GiJeongKim | 0:51c43836c1d7 | 2 | #include "mbed.h" |
GiJeongKim | 0:51c43836c1d7 | 3 | #include "FastPWM.h" |
GiJeongKim | 0:51c43836c1d7 | 4 | #include "INIT_HW.h" |
jobuuu | 2:a1c0a37df760 | 5 | #include "function_CAN.h" |
GiJeongKim | 0:51c43836c1d7 | 6 | #include "SPI_EEP_ENC.h" |
GiJeongKim | 0:51c43836c1d7 | 7 | #include "I2C_AS5510.h" |
GiJeongKim | 0:51c43836c1d7 | 8 | #include "setting.h" |
Lightvalve | 11:82d8768d7351 | 9 | #include "function_utilities.h" |
Lightvalve | 16:903b5a4433b4 | 10 | #include "stm32f4xx_flash.h" |
Lightvalve | 65:a2d7c63419c2 | 11 | #include "FlashWriter.h" |
Lightvalve | 61:bc8c8270f0ab | 12 | |
Lightvalve | 61:bc8c8270f0ab | 13 | using namespace std; |
Lightvalve | 61:bc8c8270f0ab | 14 | Timer t; |
GiJeongKim | 0:51c43836c1d7 | 15 | |
Lightvalve | 31:66738bfecec5 | 16 | ///191008//// |
Lightvalve | 31:66738bfecec5 | 17 | |
jobuuu | 7:e9086c72bb22 | 18 | // dac & check /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 19 | DigitalOut check(PC_2); |
GiJeongKim | 0:51c43836c1d7 | 20 | DigitalOut check_2(PC_3); |
GiJeongKim | 0:51c43836c1d7 | 21 | AnalogOut dac_1(PA_4); |
GiJeongKim | 0:51c43836c1d7 | 22 | AnalogOut dac_2(PA_5); |
Lightvalve | 14:8e7590227d22 | 23 | AnalogIn adc1(PC_4); //pressure_1 |
Lightvalve | 14:8e7590227d22 | 24 | AnalogIn adc2(PB_0); //pressure_2 |
Lightvalve | 14:8e7590227d22 | 25 | AnalogIn adc3(PC_1); //current |
GiJeongKim | 0:51c43836c1d7 | 26 | |
Lightvalve | 24:ef6e1092e9e6 | 27 | |
jobuuu | 7:e9086c72bb22 | 28 | // PWM /////////////////////////////////////////// |
Lightvalve | 30:8d561f16383b | 29 | float dtc_v=0.0f; |
Lightvalve | 30:8d561f16383b | 30 | float dtc_w=0.0f; |
GiJeongKim | 0:51c43836c1d7 | 31 | |
jobuuu | 7:e9086c72bb22 | 32 | // I2C /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 33 | I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F) |
GiJeongKim | 0:51c43836c1d7 | 34 | const int i2c_slave_addr1 = 0x56; |
GiJeongKim | 0:51c43836c1d7 | 35 | unsigned int value; // 10bit output of reading sensor AS5510 |
GiJeongKim | 0:51c43836c1d7 | 36 | |
jobuuu | 7:e9086c72bb22 | 37 | // SPI /////////////////////////////////////////// |
Lightvalve | 16:903b5a4433b4 | 38 | //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK); |
Lightvalve | 16:903b5a4433b4 | 39 | //DigitalOut eeprom_cs(PB_12); |
Lightvalve | 16:903b5a4433b4 | 40 | //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector |
GiJeongKim | 0:51c43836c1d7 | 41 | SPI enc(PC_12,PC_11,PC_10); |
GiJeongKim | 0:51c43836c1d7 | 42 | DigitalOut enc_cs(PD_2); |
Lightvalve | 11:82d8768d7351 | 43 | DigitalOut LED(PA_15); |
GiJeongKim | 0:51c43836c1d7 | 44 | |
jobuuu | 7:e9086c72bb22 | 45 | // UART /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 46 | Serial pc(PA_9,PA_10); // _ UART |
GiJeongKim | 0:51c43836c1d7 | 47 | |
jobuuu | 7:e9086c72bb22 | 48 | // CAN /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 49 | CAN can(PB_8, PB_9, 1000000); |
GiJeongKim | 0:51c43836c1d7 | 50 | CANMessage msg; |
Lightvalve | 11:82d8768d7351 | 51 | void onMsgReceived() |
Lightvalve | 11:82d8768d7351 | 52 | { |
Lightvalve | 11:82d8768d7351 | 53 | CAN_RX_HANDLER(); |
Lightvalve | 11:82d8768d7351 | 54 | } |
jobuuu | 2:a1c0a37df760 | 55 | |
jobuuu | 7:e9086c72bb22 | 56 | // Variables /////////////////////////////////////////// |
jobuuu | 7:e9086c72bb22 | 57 | State pos; |
jobuuu | 7:e9086c72bb22 | 58 | State vel; |
jobuuu | 7:e9086c72bb22 | 59 | State Vout; |
jobuuu | 7:e9086c72bb22 | 60 | State torq; |
jobuuu | 7:e9086c72bb22 | 61 | State pres_A; |
jobuuu | 7:e9086c72bb22 | 62 | State pres_B; |
jobuuu | 7:e9086c72bb22 | 63 | State cur; |
Lightvalve | 14:8e7590227d22 | 64 | State valve_pos; |
Lightvalve | 14:8e7590227d22 | 65 | |
Lightvalve | 14:8e7590227d22 | 66 | State INIT_Vout; |
Lightvalve | 14:8e7590227d22 | 67 | State INIT_Valve_Pos; |
Lightvalve | 14:8e7590227d22 | 68 | State INIT_Pos; |
Lightvalve | 14:8e7590227d22 | 69 | State INIT_torq; |
jobuuu | 5:a4319f79457b | 70 | |
Lightvalve | 19:23b7c1ad8683 | 71 | extern int CID_RX_CMD; |
Lightvalve | 19:23b7c1ad8683 | 72 | extern int CID_RX_REF_POSITION; |
Lightvalve | 49:e7bcfc244d40 | 73 | extern int CID_RX_REF_VALVE_POS; |
Lightvalve | 45:35fa6884d0c6 | 74 | extern int CID_RX_REF_PWM; |
Lightvalve | 19:23b7c1ad8683 | 75 | |
Lightvalve | 19:23b7c1ad8683 | 76 | extern int CID_TX_INFO; |
Lightvalve | 19:23b7c1ad8683 | 77 | extern int CID_TX_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 78 | extern int CID_TX_TORQUE; |
Lightvalve | 19:23b7c1ad8683 | 79 | extern int CID_TX_PRES; |
Lightvalve | 19:23b7c1ad8683 | 80 | extern int CID_TX_VOUT; |
Lightvalve | 19:23b7c1ad8683 | 81 | extern int CID_TX_VALVE_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 82 | |
Lightvalve | 61:bc8c8270f0ab | 83 | |
Lightvalve | 61:bc8c8270f0ab | 84 | |
Lightvalve | 61:bc8c8270f0ab | 85 | |
jobuuu | 7:e9086c72bb22 | 86 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 87 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 88 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 89 | |
Lightvalve | 12:6f2531038ea4 | 90 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 91 | * REFERENCE MODE |
Lightvalve | 12:6f2531038ea4 | 92 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 93 | enum _REFERENCE_MODE { |
Lightvalve | 13:747daba9cf59 | 94 | MODE_REF_NO_ACT = 0, //0 |
Lightvalve | 12:6f2531038ea4 | 95 | MODE_REF_DIRECT, //1 |
Lightvalve | 12:6f2531038ea4 | 96 | MODE_REF_COS_INC, //2 |
Lightvalve | 12:6f2531038ea4 | 97 | MODE_REF_LINE_INC, //3 |
Lightvalve | 12:6f2531038ea4 | 98 | MODE_REF_SIN_WAVE, //4 |
Lightvalve | 12:6f2531038ea4 | 99 | MODE_REF_SQUARE_WAVE, //5 |
Lightvalve | 12:6f2531038ea4 | 100 | }; |
Lightvalve | 12:6f2531038ea4 | 101 | |
Lightvalve | 12:6f2531038ea4 | 102 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 103 | * CONTROL MODE |
Lightvalve | 12:6f2531038ea4 | 104 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 105 | enum _CONTROL_MODE { |
Lightvalve | 12:6f2531038ea4 | 106 | //control mode |
Lightvalve | 12:6f2531038ea4 | 107 | MODE_NO_ACT = 0, //0 |
Lightvalve | 47:fdcb8bd86fd6 | 108 | MODE_VALVE_POSITION_CONTROL, //1 |
Lightvalve | 47:fdcb8bd86fd6 | 109 | MODE_JOINT_CONTROL, //2 |
Lightvalve | 50:3c630b5eba9f | 110 | |
Lightvalve | 47:fdcb8bd86fd6 | 111 | MODE_VALVE_OPEN_LOOP, //3 |
Lightvalve | 12:6f2531038ea4 | 112 | MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4 |
Lightvalve | 12:6f2531038ea4 | 113 | MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5 |
Lightvalve | 13:747daba9cf59 | 114 | |
Lightvalve | 12:6f2531038ea4 | 115 | MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6 |
Lightvalve | 12:6f2531038ea4 | 116 | MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7 |
Lightvalve | 12:6f2531038ea4 | 117 | MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8 |
Lightvalve | 13:747daba9cf59 | 118 | |
Lightvalve | 12:6f2531038ea4 | 119 | MODE_TEST_CURRENT_CONTROL, //9 |
Lightvalve | 12:6f2531038ea4 | 120 | MODE_TEST_PWM_CONTROL, //10 |
Lightvalve | 21:e5f1a43ea6f9 | 121 | |
Lightvalve | 14:8e7590227d22 | 122 | MODE_CURRENT_CONTROL, //11 |
Lightvalve | 14:8e7590227d22 | 123 | MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12 |
Lightvalve | 14:8e7590227d22 | 124 | MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13 |
Lightvalve | 13:747daba9cf59 | 125 | |
Lightvalve | 12:6f2531038ea4 | 126 | //utility |
Lightvalve | 12:6f2531038ea4 | 127 | MODE_TORQUE_SENSOR_NULLING = 20, //20 |
Lightvalve | 12:6f2531038ea4 | 128 | MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21 |
Lightvalve | 12:6f2531038ea4 | 129 | MODE_FIND_HOME, //22 |
Lightvalve | 57:f4819de54e7a | 130 | MODE_VALVE_GAIN_SETTING, //23 |
Lightvalve | 12:6f2531038ea4 | 131 | MODE_PRESSURE_SENSOR_NULLING, //24 |
Lightvalve | 12:6f2531038ea4 | 132 | MODE_PRESSURE_SENSOR_CALIB, //25 |
Lightvalve | 12:6f2531038ea4 | 133 | MODE_ROTARY_FRICTION_TUNING, //26 |
Lightvalve | 13:747daba9cf59 | 134 | |
Lightvalve | 12:6f2531038ea4 | 135 | MODE_DDV_POS_VS_PWM_ID = 30, //30 |
Lightvalve | 12:6f2531038ea4 | 136 | MODE_DDV_DEADZONE_AND_CENTER, //31 |
Lightvalve | 12:6f2531038ea4 | 137 | MODE_DDV_POS_VS_FLOWRATE, //32 |
Lightvalve | 57:f4819de54e7a | 138 | MODE_SYSTEM_ID, //33 |
Lightvalve | 12:6f2531038ea4 | 139 | }; |
Lightvalve | 12:6f2531038ea4 | 140 | |
Lightvalve | 65:a2d7c63419c2 | 141 | void SystemClock_Config(void) |
Lightvalve | 65:a2d7c63419c2 | 142 | { |
Lightvalve | 65:a2d7c63419c2 | 143 | RCC_OscInitTypeDef RCC_OscInitStruct = {0}; |
Lightvalve | 65:a2d7c63419c2 | 144 | RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; |
Lightvalve | 65:a2d7c63419c2 | 145 | |
Lightvalve | 65:a2d7c63419c2 | 146 | /** Configure the main internal regulator output voltage |
Lightvalve | 65:a2d7c63419c2 | 147 | */ |
Lightvalve | 65:a2d7c63419c2 | 148 | __HAL_RCC_PWR_CLK_ENABLE(); |
Lightvalve | 65:a2d7c63419c2 | 149 | __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); |
Lightvalve | 65:a2d7c63419c2 | 150 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 65:a2d7c63419c2 | 151 | */ |
Lightvalve | 65:a2d7c63419c2 | 152 | RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; |
Lightvalve | 65:a2d7c63419c2 | 153 | RCC_OscInitStruct.HSIState = RCC_HSI_ON; |
Lightvalve | 65:a2d7c63419c2 | 154 | RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; |
Lightvalve | 65:a2d7c63419c2 | 155 | RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; |
Lightvalve | 65:a2d7c63419c2 | 156 | RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI; |
Lightvalve | 65:a2d7c63419c2 | 157 | RCC_OscInitStruct.PLL.PLLM = 8;//8 |
Lightvalve | 65:a2d7c63419c2 | 158 | RCC_OscInitStruct.PLL.PLLN = 180; //180 |
Lightvalve | 65:a2d7c63419c2 | 159 | RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; |
Lightvalve | 65:a2d7c63419c2 | 160 | RCC_OscInitStruct.PLL.PLLQ = 2; |
Lightvalve | 65:a2d7c63419c2 | 161 | RCC_OscInitStruct.PLL.PLLR = 2; |
Lightvalve | 65:a2d7c63419c2 | 162 | if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) |
Lightvalve | 65:a2d7c63419c2 | 163 | { |
Lightvalve | 65:a2d7c63419c2 | 164 | //Error_Handler(); |
Lightvalve | 65:a2d7c63419c2 | 165 | } |
Lightvalve | 65:a2d7c63419c2 | 166 | /** Activate the Over-Drive mode |
Lightvalve | 65:a2d7c63419c2 | 167 | */ |
Lightvalve | 65:a2d7c63419c2 | 168 | if (HAL_PWREx_EnableOverDrive() != HAL_OK) |
Lightvalve | 65:a2d7c63419c2 | 169 | { |
Lightvalve | 65:a2d7c63419c2 | 170 | //Error_Handler(); |
Lightvalve | 65:a2d7c63419c2 | 171 | } |
Lightvalve | 65:a2d7c63419c2 | 172 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 65:a2d7c63419c2 | 173 | */ |
Lightvalve | 65:a2d7c63419c2 | 174 | RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |
Lightvalve | 65:a2d7c63419c2 | 175 | |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; |
Lightvalve | 65:a2d7c63419c2 | 176 | RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; |
Lightvalve | 65:a2d7c63419c2 | 177 | RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; |
Lightvalve | 65:a2d7c63419c2 | 178 | RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4; |
Lightvalve | 65:a2d7c63419c2 | 179 | RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; |
Lightvalve | 65:a2d7c63419c2 | 180 | |
Lightvalve | 65:a2d7c63419c2 | 181 | if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) |
Lightvalve | 65:a2d7c63419c2 | 182 | { |
Lightvalve | 65:a2d7c63419c2 | 183 | //Error_Handler(); |
Lightvalve | 65:a2d7c63419c2 | 184 | } |
Lightvalve | 65:a2d7c63419c2 | 185 | } |
Lightvalve | 65:a2d7c63419c2 | 186 | |
Lightvalve | 65:a2d7c63419c2 | 187 | |
Lightvalve | 68:328e1be06f5d | 188 | float x_past[num_array_x_past] = {0.0f}; |
Lightvalve | 85:a3b46118b5cd | 189 | float x_future[num_array_x_future] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 190 | float f_past[num_array_f_past] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 191 | float f_future[num_array_f_future] = {0.0f}; |
Lightvalve | 66:a8e6799dbce3 | 192 | |
Lightvalve | 73:f80dc3970c99 | 193 | float input_NN[num_input] = { 0.0f }; |
Lightvalve | 65:a2d7c63419c2 | 194 | |
Lightvalve | 66:a8e6799dbce3 | 195 | const float h1[num_input][32] = { |
Lightvalve | 86:b8ed7abddeb2 | 196 | {-1.7173271179199219f,1.9272761344909668f,0.10589459538459778f,-1.9551751613616943f,-3.8357114791870117f,-0.29917842149734497f,-0.48302900791168213f,-0.6505731344223022f,0.29983001947402954f,0.15260091423988342f,-0.22155041992664337f,1.0087947845458984f,-0.19318288564682007f,0.2118169665336609f,-0.21103838086128235f,-0.09650886058807373f,0.3179604113101959f,0.24935457110404968f,1.4815877676010132f,1.0487595796585083f,-0.33476194739341736f,0.10696089267730713f,-0.3326931595802307f,-0.0792258083820343f,-0.7916494011878967f,0.18374285101890564f,-0.1767144799232483f,-0.4138437807559967f,-0.15036900341510773f,-0.18794111907482147f,-2.7250051498413086f,0.5172664523124695f}, |
Lightvalve | 86:b8ed7abddeb2 | 197 | {-1.2524315118789673f,0.941848635673523f,0.29864487051963806f,-1.584148645401001f,-2.2177202701568604f,-0.17978821694850922f,-0.012527896091341972f,-0.144596666097641f,0.14071500301361084f,0.6399505138397217f,-0.31240519881248474f,0.5600001215934753f,0.021212786436080933f,0.13825878500938416f,0.045876264572143555f,-0.09028167277574539f,0.07870176434516907f,0.06295260787010193f,1.1944940090179443f,0.7594378590583801f,-0.03096979856491089f,-0.12077532708644867f,-0.09506890177726746f,0.27714261412620544f,-0.9661630988121033f,0.2936786115169525f,0.12686115503311157f,0.03534860163927078f,-0.3554855287075043f,0.09809011220932007f,-1.8105827569961548f,0.32793962955474854f}, |
Lightvalve | 86:b8ed7abddeb2 | 198 | {-0.48733365535736084f,0.6765395998954773f,-0.0042223334312438965f,-1.1163684129714966f,-1.3729448318481445f,-0.19619950652122498f,-0.05927915871143341f,-0.2911379635334015f,0.16023236513137817f,0.408161997795105f,0.2585596740245819f,0.5770053267478943f,-0.03282937407493591f,0.1537180244922638f,-0.31718650460243225f,-0.10159887373447418f,0.5034856796264648f,-0.2658354640007019f,0.9114205837249756f,0.5554563403129578f,0.22159990668296814f,-0.15311938524246216f,0.13552400469779968f,-0.24659553170204163f,-0.7723011374473572f,0.14537742733955383f,-0.15514154732227325f,0.12487674504518509f,-0.3350704610347748f,0.302763432264328f,-1.7596312761306763f,-0.12863287329673767f}, |
Lightvalve | 86:b8ed7abddeb2 | 199 | {-0.2709197998046875f,0.6088866591453552f,-0.20532599091529846f,-2.105774402618408f,-1.0578839778900146f,0.036226771771907806f,-0.03222697228193283f,-1.6291370391845703f,0.26261192560195923f,0.01654042862355709f,0.09624053537845612f,0.6282867789268494f,-0.11809042096138f,0.2912616729736328f,-0.12817290425300598f,0.07094799727201462f,0.020156018435955048f,-0.23756909370422363f,0.5113418102264404f,0.16509424149990082f,-0.24942269921302795f,-0.08793863654136658f,-0.14710915088653564f,-0.29148542881011963f,-0.4696958363056183f,0.14159366488456726f,0.13380053639411926f,0.02932538464665413f,0.295910120010376f,0.1323157548904419f,-1.4720128774642944f,0.07230854779481888f}, |
Lightvalve | 86:b8ed7abddeb2 | 200 | {0.6661653518676758f,-0.07301590591669083f,0.08410122990608215f,-1.2277125120162964f,0.694151759147644f,0.09587140381336212f,-0.04204050451517105f,-2.474729299545288f,-0.6504687666893005f,0.6039865612983704f,-0.2716653645038605f,-0.35135138034820557f,0.211430162191391f,0.17204579710960388f,-0.25075238943099976f,0.28811436891555786f,-0.3890503942966461f,-0.18436601758003235f,-0.33490189909935f,-0.7503584623336792f,0.1375632882118225f,0.23587647080421448f,-0.24541926383972168f,-0.07457953691482544f,-0.8893887400627136f,-0.34256690740585327f,0.04057341814041138f,-0.09120805561542511f,0.44388294219970703f,-0.16320037841796875f,-0.14700335264205933f,-0.3236575722694397f}, |
Lightvalve | 86:b8ed7abddeb2 | 201 | {2.7038960456848145f,-4.2455902099609375f,0.30513831973075867f,3.0863757133483887f,4.677725791931152f,0.2606070041656494f,-0.03161865100264549f,-0.08901429921388626f,-1.4746451377868652f,2.4349827766418457f,0.25819647312164307f,-3.1457977294921875f,-0.03144201636314392f,-0.005527359899133444f,0.21901831030845642f,-0.11974890530109406f,-1.0750433206558228f,-0.3195672333240509f,-4.672972202301025f,-2.3165717124938965f,0.13521116971969604f,-0.009676039218902588f,0.12587067484855652f,0.3309326469898224f,-2.980839729309082f,0.20814630389213562f,-0.2925715744495392f,0.6946446895599365f,0.4552701413631439f,-0.0013132691383361816f,3.4617044925689697f,-0.7443327307701111f}, |
Lightvalve | 86:b8ed7abddeb2 | 202 | {0.053353261202573776f,-0.3158263862133026f,0.16288265585899353f,2.1040215492248535f,1.4133939743041992f,-0.0392598994076252f,-0.240433007478714f,-0.22583630681037903f,-0.2659626007080078f,-0.04336997866630554f,-0.11595829576253891f,-2.774592876434326f,0.098605215549469f,-0.08670175075531006f,-0.18274356424808502f,-0.46412888169288635f,-0.509023904800415f,-0.08166468143463135f,1.4031105041503906f,0.0587632991373539f,-0.16223669052124023f,-0.1771286129951477f,-0.2626192569732666f,-0.24521145224571228f,0.28011003136634827f,-0.15535086393356323f,-0.1126367449760437f,-0.2817431688308716f,-0.3592621684074402f,-0.03486502170562744f,1.4289454221725464f,-0.017852041870355606f}, |
Lightvalve | 86:b8ed7abddeb2 | 203 | {0.6210769414901733f,-0.5490168929100037f,0.16644713282585144f,2.281311511993408f,1.210886836051941f,-0.20248198509216309f,0.03943008556962013f,-0.1206393837928772f,0.2586970925331116f,-0.4114479124546051f,-0.25573021173477173f,1.7027860879898071f,0.10806858539581299f,-0.12328503280878067f,0.054826945066452026f,0.09183579683303833f,0.05191424489021301f,-0.28619682788848877f,-0.21711719036102295f,0.02729770913720131f,-0.07430306077003479f,0.022674113512039185f,-0.12776102125644684f,-0.02844339609146118f,1.5868158340454102f,0.0177537202835083f,-0.341458797454834f,-0.21236279606819153f,-0.32845446467399597f,0.004316955804824829f,0.9823347926139832f,0.12272779643535614f}, |
Lightvalve | 86:b8ed7abddeb2 | 204 | {0.271375834941864f,-1.2845408916473389f,0.13710039854049683f,2.082298517227173f,0.7812165021896362f,-0.2580096125602722f,-0.01317352894693613f,0.24639229476451874f,-0.05428266525268555f,0.04761303961277008f,-0.31649941205978394f,2.5336315631866455f,0.11499327421188354f,0.22336190938949585f,0.24149659276008606f,0.07626258581876755f,0.07528708130121231f,0.06021764874458313f,-0.29721686244010925f,-0.2243511974811554f,-0.30298954248428345f,-0.022329479455947876f,-0.2963099479675293f,0.08446213603019714f,0.6825646162033081f,-0.08218517899513245f,-0.08906334638595581f,0.1621612310409546f,0.15761741995811462f,-0.11924156546592712f,0.8460053205490112f,-0.025991566479206085f}, |
Lightvalve | 86:b8ed7abddeb2 | 205 | {-0.5082711577415466f,-0.48148369789123535f,-0.24446426331996918f,1.0570698976516724f,0.35220712423324585f,-0.16325943171977997f,0.24722981452941895f,-0.2084919512271881f,-0.3960915207862854f,-0.18749573826789856f,-0.3748314678668976f,1.119239330291748f,0.08400186896324158f,0.10187669843435287f,-0.26784712076187134f,-0.5449401140213013f,0.1510961800813675f,0.3319900929927826f,-0.4567531943321228f,-0.5519561767578125f,-0.20100386440753937f,0.1638341248035431f,-0.11680193245410919f,-0.321638286113739f,0.8482062220573425f,0.05633258819580078f,0.13587942719459534f,0.18818747997283936f,0.07008782774209976f,0.30370619893074036f,0.7220067977905273f,0.13419514894485474f}, |
Lightvalve | 86:b8ed7abddeb2 | 206 | {-0.6506638526916504f,-0.27080345153808594f,-0.06658771634101868f,0.8409618735313416f,-0.534980833530426f,-0.25742053985595703f,0.1363644152879715f,-0.4305042624473572f,-0.4650959372520447f,-0.32956910133361816f,-0.3635176718235016f,-0.8108978867530823f,-0.1789563000202179f,0.2531742751598358f,0.017138004302978516f,-0.0690113976597786f,-0.5680991411209106f,-0.24391496181488037f,-0.3262009024620056f,-0.7468659281730652f,0.16973629593849182f,-0.25340327620506287f,0.23975160717964172f,0.011333763599395752f,0.6142261624336243f,0.10268864035606384f,0.08055207133293152f,-0.4691053628921509f,-0.006952068768441677f,0.029612571001052856f,0.6139494180679321f,0.1642189621925354f}, |
Lightvalve | 86:b8ed7abddeb2 | 207 | {-0.487315833568573f,0.4495343863964081f,-0.3080642819404602f,0.7150331139564514f,-0.7881894707679749f,-0.5316581130027771f,-0.14371272921562195f,-0.05865927040576935f,-0.2284361869096756f,0.547099769115448f,0.2747454345226288f,-0.9189876317977905f,-0.03757423162460327f,-0.18512161076068878f,-0.2992876172065735f,-0.02525782398879528f,-0.05888053774833679f,-0.1821068376302719f,-0.4728287160396576f,-0.38356640934944153f,0.29002442955970764f,0.2275833785533905f,-0.23374228179454803f,0.3280802071094513f,-0.01549439039081335f,0.2108195722103119f,0.33828380703926086f,-0.26290827989578247f,-0.025420013815164566f,0.1480078399181366f,0.8252019882202148f,0.022061198949813843f}, |
Lightvalve | 86:b8ed7abddeb2 | 208 | {-0.42145416140556335f,-0.32817694544792175f,0.19288143515586853f,0.6556568145751953f,-0.49610650539398193f,-0.2140781581401825f,-0.2724672555923462f,1.5364238023757935f,0.012314929626882076f,1.0431996583938599f,-0.16546383500099182f,-0.29907405376434326f,-0.2720222473144531f,-0.37664857506752014f,0.06489166617393494f,-0.31254562735557556f,-0.0591534785926342f,0.21822473406791687f,0.04160457104444504f,-0.26140296459198f,-0.25171342492103577f,0.027203470468521118f,0.012447118759155273f,-0.0029686689376831055f,0.1829933077096939f,0.03022313117980957f,0.3424017131328583f,-0.460762619972229f,-0.2912348806858063f,-0.34525999426841736f,0.36401689052581787f,0.18966224789619446f}, |
Lightvalve | 86:b8ed7abddeb2 | 209 | {-0.497624933719635f,-0.03684612363576889f,0.06283923983573914f,-0.1809375137090683f,-0.4831215441226959f,-0.08588290214538574f,0.263502299785614f,2.1750051975250244f,0.005951971281319857f,1.061228632926941f,0.27552711963653564f,-0.7091516256332397f,0.03354460000991821f,0.0158181544393301f,0.1072375476360321f,-0.34214287996292114f,-0.00028450076933950186f,0.08871319890022278f,-0.050333134829998016f,0.0513203926384449f,-0.2227887064218521f,-0.01532900333404541f,0.11891454458236694f,-0.33143535256385803f,0.023696811869740486f,-0.1485452950000763f,0.25882163643836975f,-0.5795165300369263f,-0.07981174439191818f,0.24182012677192688f,-0.08814141899347305f,0.2655392289161682f}, |
Lightvalve | 86:b8ed7abddeb2 | 210 | {0.002737239934504032f,0.02176501415669918f,0.25620588660240173f,-0.5514960289001465f,-0.24924862384796143f,0.06575264781713486f,0.18139351904392242f,2.0172770023345947f,-0.032992683351039886f,0.7385754585266113f,-0.062326326966285706f,-0.9854000806808472f,0.18931713700294495f,-0.34806856513023376f,0.03958520293235779f,-0.05553334206342697f,-0.11130614578723907f,-0.07219305634498596f,0.08754456788301468f,0.07523036003112793f,0.31619134545326233f,0.26330670714378357f,0.026431173086166382f,0.237522691488266f,-0.21262700855731964f,0.19442179799079895f,0.1992029845714569f,-0.7913076281547546f,-0.40429288148880005f,-0.10433453321456909f,-0.4499031603336334f,-0.2245202511548996f}, |
Lightvalve | 86:b8ed7abddeb2 | 211 | {-0.36545130610466003f,0.3189356327056885f,-0.13789941370487213f,-0.6045191287994385f,0.0023672033566981554f,0.10799064487218857f,-0.24793781340122223f,2.19549822807312f,-0.28907057642936707f,0.9180721044540405f,-0.3394242823123932f,-0.7255010008811951f,0.06288954615592957f,-0.24862933158874512f,0.28114965558052063f,-0.6722562909126282f,-0.05489439517259598f,-0.14027439057826996f,-0.43696144223213196f,-0.25249654054641724f,0.18525317311286926f,0.07025247812271118f,-0.12988737225532532f,0.04382038116455078f,0.07713350653648376f,-0.12333536148071289f,-0.12442702054977417f,-0.46850964426994324f,-0.3310098946094513f,0.27953919768333435f,-0.22783531248569489f,0.21733491122722626f}, |
Lightvalve | 86:b8ed7abddeb2 | 212 | {-0.1677897423505783f,-0.2695007920265198f,0.23826703429222107f,-1.8076503276824951f,0.22223037481307983f,-0.20322440564632416f,0.29371458292007446f,2.6853017807006836f,0.3178054988384247f,1.1515147686004639f,-0.3639605641365051f,-0.8484248518943787f,0.012096136808395386f,-0.09091068059206009f,-0.03951779007911682f,-0.31418755650520325f,0.0484282560646534f,0.2508954107761383f,0.008388232439756393f,-0.010029105469584465f,0.22447606921195984f,0.30379387736320496f,-0.006355375051498413f,-0.11041811108589172f,-0.3858407139778137f,-0.28886765241622925f,-0.05783697962760925f,-0.3707982003688812f,-0.11206886917352676f,-0.1556464582681656f,-0.7998605370521545f,-0.08164318650960922f}, |
Lightvalve | 65:a2d7c63419c2 | 213 | }; |
Lightvalve | 65:a2d7c63419c2 | 214 | |
Lightvalve | 66:a8e6799dbce3 | 215 | const float h2[32][32] = { |
Lightvalve | 86:b8ed7abddeb2 | 216 | {-0.13137859106063843f,-0.10295046865940094f,-0.04925942420959473f,0.03056607022881508f,-0.15490937232971191f,0.16330604255199432f,-1.2990971803665161f,0.06396704912185669f,-0.30411389470100403f,-0.10008957982063293f,-0.1590038388967514f,-5.922062397003174f,0.0007147788419388235f,-1.36534583568573f,1.183240294456482f,-1.1726893186569214f,0.07803884148597717f,-0.21483641862869263f,1.1221225261688232f,-0.0041795168071985245f,-0.5558278560638428f,-0.3899480700492859f,-0.23983746767044067f,-0.23265153169631958f,-0.836520791053772f,1.5812766551971436f,-0.7488188743591309f,-0.47962477803230286f,-0.9190705418586731f,0.011141382157802582f,-0.24613501131534576f,-0.19129112362861633f}, |
Lightvalve | 86:b8ed7abddeb2 | 217 | {-0.22986026108264923f,0.002147972583770752f,-0.04321768879890442f,0.22967493534088135f,-0.09845665842294693f,-0.13700100779533386f,-1.1055527925491333f,-0.05986310541629791f,3.813115119934082f,0.048597872257232666f,-0.1841898411512375f,3.226252555847168f,0.1293780505657196f,-1.3700990676879883f,1.5355180501937866f,-0.8177396655082703f,0.056778669357299805f,-0.29813459515571594f,-3.519124746322632f,0.20640216767787933f,-0.05744555965065956f,-0.15230192244052887f,-0.16832955181598663f,0.12905128300189972f,-0.5481383204460144f,-0.7468918561935425f,-0.112486332654953f,0.2076956331729889f,-0.541940450668335f,-0.15495578944683075f,0.18297800421714783f,0.035263847559690475f}, |
Lightvalve | 66:a8e6799dbce3 | 218 | {-0.1579037755727768f,0.28447648882865906f,-0.1789936125278473f,0.20799604058265686f,0.025723248720169067f,0.17740526795387268f,-0.1666354387998581f,-0.06060470640659332f,-0.017253071069717407f,-0.2790656089782715f,-0.16800916194915771f,-0.2990717589855194f,0.07126197218894958f,-0.08032660186290741f,-0.1799015998840332f,-0.1891922950744629f,0.2556300461292267f,0.2080206573009491f,-0.24888339638710022f,0.27691522240638733f,-0.21319638192653656f,-0.14012537896633148f,-0.30466505885124207f,-0.013728171586990356f,-0.1629670113325119f,0.2530798614025116f,0.0633285641670227f,0.0011726915836334229f,-0.14820529520511627f,0.2823629677295685f,0.10884168744087219f,-0.2637729346752167f}, |
Lightvalve | 86:b8ed7abddeb2 | 219 | {-0.6485359072685242f,-0.01806354522705078f,-0.23058539628982544f,0.038259103894233704f,-0.4108532965183258f,-0.3346051871776581f,-0.627473771572113f,0.08759373426437378f,-5.716217517852783f,0.09271347522735596f,-0.6312711834907532f,-1.4391802549362183f,-0.24267897009849548f,-1.4038288593292236f,-2.9891679286956787f,-3.6349809169769287f,0.10996055603027344f,0.110774464905262f,2.282869815826416f,-0.21493284404277802f,-0.4046284854412079f,-0.49804940819740295f,-0.06394433975219727f,-0.3556584119796753f,-0.39743170142173767f,-3.299213409423828f,-0.6942228674888611f,-0.41060662269592285f,-0.8261421918869019f,0.17458562552928925f,-0.0867234393954277f,0.024900102987885475f}, |
Lightvalve | 86:b8ed7abddeb2 | 220 | {-1.6365861892700195f,0.2506926953792572f,-0.0804666131734848f,0.06818875670433044f,-0.12568525969982147f,-0.385815292596817f,-3.3343920707702637f,0.0013494789600372314f,-0.13689401745796204f,-0.2690317630767822f,-1.1727187633514404f,-2.5000505447387695f,-0.3217202425003052f,-1.7180784940719604f,-5.643918514251709f,5.577916145324707f,-0.10307048261165619f,0.024827085435390472f,1.3011410236358643f,0.00593941006809473f,-0.19676615297794342f,-0.1379304975271225f,0.19172045588493347f,-0.4065704047679901f,-0.7127699851989746f,1.494978904724121f,-1.6767559051513672f,0.044073354452848434f,-1.1123781204223633f,-0.3055749535560608f,-0.12780427932739258f,-0.3228360712528229f}, |
Lightvalve | 86:b8ed7abddeb2 | 221 | {-0.34096378087997437f,-0.004258692264556885f,0.032371193170547485f,-0.2913452088832855f,-0.023485273122787476f,-0.29336631298065186f,-0.03892550244927406f,-0.14440131187438965f,-0.03548547625541687f,0.08825305104255676f,-0.28264519572257996f,0.35219189524650574f,-0.2578849494457245f,0.04145967587828636f,-0.12706536054611206f,-0.06649906933307648f,0.2371552288532257f,0.24713221192359924f,0.10025432705879211f,0.1586090624332428f,-0.05768062546849251f,0.054371774196624756f,-0.1307595670223236f,-0.07665363699197769f,-0.04606470838189125f,-0.15164676308631897f,0.09770971536636353f,-0.14926470816135406f,0.05800282955169678f,-0.3603157699108124f,0.17187702655792236f,0.14563854038715363f}, |
Lightvalve | 86:b8ed7abddeb2 | 222 | {-0.21433322131633759f,-0.1279313862323761f,-0.11171227693557739f,0.25899314880371094f,-0.26441383361816406f,0.2845393121242523f,0.01586281880736351f,-0.20844537019729614f,-0.26620519161224365f,0.17144301533699036f,-0.13500888645648956f,-0.2672002613544464f,0.29584869742393494f,-0.04337330535054207f,-0.1619131863117218f,0.04655686393380165f,-0.16153597831726074f,0.18742787837982178f,-0.08948136121034622f,0.05917368829250336f,-0.017830487340688705f,-0.00526548782363534f,-0.07988794147968292f,-0.17033252120018005f,-0.20761150121688843f,0.06610221415758133f,0.09947504103183746f,-0.19676190614700317f,-0.11822041869163513f,0.19546762108802795f,-0.16657039523124695f,-0.00021095582633279264f}, |
Lightvalve | 86:b8ed7abddeb2 | 223 | {-0.9104134440422058f,0.11346611380577087f,0.04012581706047058f,0.011996117420494556f,0.07278300821781158f,-0.19670961797237396f,-1.925018072128296f,0.004197537899017334f,-7.640780448913574f,0.01006925106048584f,-1.4993314743041992f,0.4773991107940674f,-0.165308877825737f,-1.3372852802276611f,3.7671117782592773f,-1.9458394050598145f,-0.2721019387245178f,0.12607337534427643f,0.7672913670539856f,-0.14725707471370697f,0.012217276729643345f,-0.09640329331159592f,-0.07979777455329895f,0.0896715298295021f,-0.977038562297821f,-0.06487955898046494f,-0.9505375027656555f,-0.30658459663391113f,-1.1566622257232666f,-0.06056435406208038f,0.03948964923620224f,-0.11370246112346649f}, |
Lightvalve | 86:b8ed7abddeb2 | 224 | {-0.534869909286499f,0.2890130579471588f,-0.021617114543914795f,0.10920049250125885f,0.29321715235710144f,-0.07389599084854126f,-1.2600456476211548f,-0.23997274041175842f,0.29470762610435486f,-0.06864601373672485f,-0.8814173340797424f,0.3975186347961426f,0.1440577507019043f,-1.0519700050354004f,1.473692536354065f,0.5586662292480469f,0.046292245388031006f,0.06025278568267822f,0.5181095004081726f,0.2231176197528839f,0.10361833870410919f,-0.10668601840734482f,0.28743305802345276f,-0.022132450714707375f,-0.7482275366783142f,-0.21913741528987885f,-1.0199875831604004f,-0.1265142410993576f,0.2501918375492096f,-0.213126540184021f,-0.3454297184944153f,-0.24383841454982758f}, |
Lightvalve | 86:b8ed7abddeb2 | 225 | {0.10220559686422348f,0.08643358945846558f,-0.29237738251686096f,-0.24161572754383087f,0.01118081621825695f,-0.22395426034927368f,0.13729232549667358f,-0.15540927648544312f,0.2260703295469284f,-0.07031691074371338f,-0.03131846338510513f,-0.4036670923233032f,0.03968853875994682f,-0.4556078314781189f,-0.9261653423309326f,-0.660520076751709f,-0.015168905258178711f,-0.3219098150730133f,1.0290690660476685f,-0.2342473417520523f,-0.12659317255020142f,-0.1729167252779007f,-0.2307620644569397f,-0.1900360882282257f,-0.3321600556373596f,-0.9627776741981506f,-0.17012643814086914f,-0.11581755429506302f,0.26994064450263977f,0.008148099295794964f,-0.007324356585741043f,-0.14567801356315613f}, |
Lightvalve | 86:b8ed7abddeb2 | 226 | {0.19981321692466736f,0.1956864297389984f,-0.033508092164993286f,-0.22838544845581055f,-0.12505969405174255f,0.026693344116210938f,0.07755803316831589f,0.14285165071487427f,-0.17670965194702148f,0.17403557896614075f,-0.1892869919538498f,0.10917198657989502f,-0.1060299277305603f,-0.004281271249055862f,-0.16194114089012146f,0.060334522277116776f,0.03990337252616882f,0.0716913640499115f,0.1535496562719345f,-0.09219866991043091f,0.25587984919548035f,0.09463605284690857f,0.07470300793647766f,0.30149874091148376f,0.057510726153850555f,0.061460915952920914f,-0.0002612679672893137f,-0.2523749768733978f,0.13817378878593445f,0.17853263020515442f,-0.009185433387756348f,-0.020889628678560257f}, |
Lightvalve | 86:b8ed7abddeb2 | 227 | {-1.2534677982330322f,-0.09556084871292114f,0.12328919768333435f,0.07324434816837311f,-0.412251740694046f,0.09688419848680496f,-1.211110234260559f,-0.10312946140766144f,0.6294963359832764f,0.009893029928207397f,-0.8751223683357239f,0.7490782737731934f,-0.17668363451957703f,-2.650881052017212f,-1.7021610736846924f,-0.8544144034385681f,0.009990394115447998f,-0.02465972863137722f,0.24774594604969025f,0.1711040884256363f,-0.3499271869659424f,-0.31871533393859863f,0.09996896982192993f,-0.07133360952138901f,-0.7218606472015381f,-0.1518828123807907f,-1.2406471967697144f,0.040592119097709656f,-1.4271221160888672f,-0.33270272612571716f,0.049988601356744766f,0.14892533421516418f}, |
Lightvalve | 66:a8e6799dbce3 | 228 | {-0.08816954493522644f,0.2728963792324066f,-0.07170480489730835f,0.1482785940170288f,0.07727676630020142f,0.20119628310203552f,0.03849402070045471f,0.02873826026916504f,-0.15294449031352997f,-0.038666754961013794f,-0.1574239432811737f,0.27019134163856506f,0.1312139928340912f,-0.26498496532440186f,0.1620480716228485f,0.12264445424079895f,0.023397088050842285f,0.21900424361228943f,0.25839516520500183f,0.2068612277507782f,-0.29656288027763367f,0.045920878648757935f,-0.19714993238449097f,0.22523340582847595f,0.07844719290733337f,0.22350957989692688f,-0.04062908887863159f,-0.26378923654556274f,0.18573936820030212f,0.15478622913360596f,0.013760745525360107f,0.010002970695495605f}, |
Lightvalve | 86:b8ed7abddeb2 | 229 | {0.14700931310653687f,0.1833711564540863f,-0.0858893096446991f,0.06477848440408707f,-0.25116482377052307f,0.2733006179332733f,0.169891357421875f,-0.16134384274482727f,0.000652611255645752f,-0.22920364141464233f,0.2181621491909027f,-0.36598706245422363f,0.26723334193229675f,0.4086347222328186f,-0.18677623569965363f,-0.4878250062465668f,-0.07963520288467407f,0.14483880996704102f,-0.2810210883617401f,-0.21282139420509338f,-0.09440580010414124f,0.20116007328033447f,-0.2228696048259735f,0.22910691797733307f,0.06766201555728912f,-0.0871562659740448f,0.05672140792012215f,0.10383789241313934f,-0.011228948831558228f,0.26896968483924866f,-0.28556761145591736f,0.020505515858530998f}, |
Lightvalve | 66:a8e6799dbce3 | 230 | {-0.23982827365398407f,0.03880670666694641f,-0.013682037591934204f,-0.11685100197792053f,-0.020662933588027954f,0.30190005898475647f,-0.14934301376342773f,-0.15993990004062653f,0.1152651309967041f,-0.11991468071937561f,-0.15497799217700958f,0.11116543412208557f,-0.2045515924692154f,0.2403949797153473f,-0.21275603771209717f,0.05732181668281555f,-0.2770107090473175f,0.088544100522995f,0.19012078642845154f,-0.07119561731815338f,-0.18914666771888733f,-0.10413256287574768f,-0.16050675511360168f,0.11598068475723267f,-0.03151249885559082f,-0.1937510371208191f,0.18474078178405762f,0.19502457976341248f,0.22045472264289856f,-0.29474368691444397f,0.09864541888237f,0.06054645776748657f}, |
Lightvalve | 86:b8ed7abddeb2 | 231 | {-0.18084125220775604f,0.1317739188671112f,0.03260180354118347f,-0.189693883061409f,-0.05160003900527954f,-0.3177117705345154f,-0.12786081433296204f,0.11372503638267517f,0.05445769429206848f,0.07657262682914734f,-0.12631160020828247f,-0.11137209087610245f,0.22289374470710754f,-0.224675253033638f,0.01952843926846981f,-0.22403544187545776f,-0.25386664271354675f,-0.18997573852539062f,-0.18263889849185944f,-0.2691788673400879f,-0.25918254256248474f,-0.19266310334205627f,-0.3044300675392151f,0.25040265917778015f,-0.27626940608024597f,0.16472280025482178f,0.0758262425661087f,-0.3469090163707733f,-0.0006675124168395996f,-0.3524838387966156f,-0.035532981157302856f,0.2737947404384613f}, |
Lightvalve | 86:b8ed7abddeb2 | 232 | {-0.11370162665843964f,-0.062024205923080444f,0.10704237222671509f,-0.1559026688337326f,-0.04875987768173218f,0.0018744691042229533f,-0.5390238165855408f,0.27597710490226746f,-0.23304778337478638f,-0.035415440797805786f,-0.6869471669197083f,0.09945104271173477f,0.0911187082529068f,-0.5795508027076721f,0.05797859653830528f,0.18359974026679993f,-0.027234435081481934f,0.19620582461357117f,0.22670695185661316f,-0.27145102620124817f,-0.18713872134685516f,-0.26365548372268677f,-0.19671492278575897f,-0.2899109423160553f,-0.8612310290336609f,-0.15312938392162323f,-0.7887294888496399f,0.022899312898516655f,-0.2531542181968689f,0.1648719757795334f,-0.21812304854393005f,-0.20413991808891296f}, |
Lightvalve | 67:c2812cf26c38 | 233 | {0.1379433274269104f,-0.16078773140907288f,0.11784148216247559f,0.2671110928058624f,0.2693568766117096f,0.19759181141853333f,0.08533552289009094f,0.17868870496749878f,0.040603965520858765f,-0.2119520902633667f,0.1136421263217926f,-0.24326792359352112f,-0.07898660004138947f,0.2795462906360626f,-0.22247430682182312f,-0.0708579272031784f,0.18204066157341003f,0.2297056019306183f,0.034212857484817505f,0.05284380912780762f,-0.15357805788516998f,-0.2940097451210022f,0.26029130816459656f,0.2647087275981903f,0.1594548225402832f,0.04613301157951355f,-0.22981436550617218f,0.10197556018829346f,-0.08671019971370697f,-0.019541800022125244f,0.30332449078559875f,0.15016543865203857f}, |
Lightvalve | 86:b8ed7abddeb2 | 234 | {-0.002804771764203906f,0.2841971218585968f,-0.0814327746629715f,-0.013670862652361393f,-0.15212534368038177f,-0.022382404655218124f,-2.626189947128296f,0.20642486214637756f,1.2582547664642334f,0.022429823875427246f,-0.7952395677566528f,7.365582466125488f,-0.3668726086616516f,-1.6797113418579102f,7.281360149383545f,-1.0288194417953491f,0.1296386420726776f,-0.03407808020710945f,-4.512337684631348f,-0.03871297836303711f,-0.00808145571500063f,-0.4713849127292633f,0.06231796741485596f,0.0019151520682498813f,-0.7019249200820923f,-0.35997381806373596f,-1.0139293670654297f,-0.2560400664806366f,-0.7318679690361023f,-0.22046388685703278f,-0.22197212278842926f,0.06654692441225052f}, |
Lightvalve | 86:b8ed7abddeb2 | 235 | {-0.5939236283302307f,0.29651907086372375f,0.02990397810935974f,-0.05245913565158844f,0.1826970875263214f,-0.3728591203689575f,-1.027631163597107f,0.26979032158851624f,-0.2325194776058197f,-0.2458522766828537f,-0.3106943666934967f,3.77958083152771f,-0.24261555075645447f,-1.8389643430709839f,3.545215606689453f,2.986215829849243f,0.2577105462551117f,0.11064860224723816f,-1.399102807044983f,-0.023296836763620377f,0.18481822311878204f,-0.6809296607971191f,-0.07374785840511322f,-0.0706876665353775f,-0.7183931469917297f,-0.4389989674091339f,-0.10935307294130325f,0.20853689312934875f,-0.20442616939544678f,0.18037636578083038f,-0.16988523304462433f,0.05407894775271416f}, |
Lightvalve | 74:2bd13b02ed17 | 236 | {0.2703488767147064f,-0.16041381657123566f,0.12738299369812012f,-0.03611093759536743f,0.1169431209564209f,0.1861400008201599f,-0.1765512377023697f,0.28177282214164734f,0.1474648416042328f,-0.23766008019447327f,-0.005803406238555908f,0.08728843927383423f,0.09594401717185974f,-0.17028304934501648f,-0.16805587708950043f,-0.058941617608070374f,-0.22846683859825134f,0.08700510859489441f,-0.2656046748161316f,0.07154610753059387f,-0.1559111475944519f,0.22832396626472473f,-0.18301571905612946f,-0.17816279828548431f,-0.04200500249862671f,0.2835671007633209f,0.1830621361732483f,-0.26011598110198975f,0.08541131019592285f,0.08213254809379578f,-0.29332536458969116f,0.08477649092674255f}, |
Lightvalve | 66:a8e6799dbce3 | 237 | {-0.06283275783061981f,-0.26753589510917664f,-0.10381917655467987f,-0.13344663381576538f,0.2644997537136078f,0.2204643189907074f,0.2924788296222687f,-0.17931663990020752f,-0.09078609943389893f,-0.17306232452392578f,0.02247890830039978f,-0.26996222138404846f,0.22075030207633972f,-0.3029964864253998f,0.21873190999031067f,-0.0030784308910369873f,0.18228653073310852f,0.09971508383750916f,-0.242676243185997f,-0.1424383968114853f,0.19031599164009094f,0.3004438579082489f,-0.23650792241096497f,-0.2683113217353821f,0.29957786202430725f,0.08561205863952637f,-0.1366746425628662f,-0.15950153768062592f,-0.07675467431545258f,-0.2218506634235382f,-0.2795913517475128f,0.1869203746318817f}, |
Lightvalve | 66:a8e6799dbce3 | 238 | {0.2003176510334015f,-0.27792131900787354f,0.055196613073349f,-0.27959588170051575f,0.18430876731872559f,-0.05316638946533203f,0.16156336665153503f,-0.18850930035114288f,0.09482413530349731f,0.021483391523361206f,0.009039878845214844f,0.1586727499961853f,0.11457142233848572f,0.2876913249492645f,-0.24802550673484802f,0.14089101552963257f,-0.06842575967311859f,-0.10107968747615814f,0.06239110231399536f,-0.2528536915779114f,-0.27538973093032837f,0.15457189083099365f,-0.15549622476100922f,0.20245882868766785f,0.08544808626174927f,0.22650876641273499f,-0.05268847942352295f,0.20387354493141174f,0.24724552035331726f,0.21444126963615417f,0.05186706781387329f,-0.11084021627902985f}, |
Lightvalve | 66:a8e6799dbce3 | 239 | {-0.19810965657234192f,0.2745245397090912f,0.1767616868019104f,0.19752147793769836f,0.0650932788848877f,0.29138168692588806f,-0.29061684012413025f,0.010446667671203613f,0.025284886360168457f,-0.10202452540397644f,-0.10358673334121704f,0.14746251702308655f,0.15136101841926575f,0.04500553011894226f,-0.2497977316379547f,-0.29277902841567993f,0.02556520700454712f,-0.09509801864624023f,0.16731274127960205f,-0.25266408920288086f,-0.3004688322544098f,-0.19769597053527832f,-0.14847496151924133f,0.3053832948207855f,0.07563886046409607f,-0.10258816182613373f,-0.060128673911094666f,0.0016401112079620361f,-0.29647189378738403f,-0.18869297206401825f,0.05497395992279053f,0.16092956066131592f}, |
Lightvalve | 86:b8ed7abddeb2 | 240 | {-1.8046960830688477f,-0.25281068682670593f,-0.10565309226512909f,-0.0771031454205513f,0.11466006189584732f,-0.13893330097198486f,-2.448183298110962f,-0.19997140765190125f,-1.3977367877960205f,-0.24531681835651398f,-1.1296708583831787f,1.0530779361724854f,-0.11003032326698303f,-2.6200270652770996f,1.3962185382843018f,0.777534008026123f,0.2015441358089447f,-0.09931416809558868f,-1.2635363340377808f,0.09070197492837906f,-0.03567874804139137f,-0.22757841646671295f,-0.2520882785320282f,0.13413365185260773f,-0.39297598600387573f,2.8102877140045166f,-1.6054766178131104f,-0.22134266793727875f,-2.507554531097412f,-0.3014184534549713f,0.07199835032224655f,0.13497939705848694f}, |
Lightvalve | 66:a8e6799dbce3 | 241 | {-0.10580866038799286f,-0.17215237021446228f,-0.01352420449256897f,-0.13443149626255035f,-0.10265451669692993f,-0.2169143706560135f,0.30098411440849304f,-0.2986297905445099f,0.07908004522323608f,-0.30061498284339905f,0.10424068570137024f,-0.018799901008605957f,-0.18665757775306702f,0.005998075008392334f,-0.2969498336315155f,0.18525955080986023f,0.2379322350025177f,0.15184926986694336f,0.215760737657547f,-0.19088758528232574f,0.08620095252990723f,0.019999295473098755f,-0.0752219706773758f,0.11181813478469849f,0.1881926953792572f,0.2210972011089325f,0.13236162066459656f,-0.06690356135368347f,-0.18345263600349426f,-0.14861416816711426f,0.08577704429626465f,-0.09683996438980103f}, |
Lightvalve | 66:a8e6799dbce3 | 242 | {0.03951254487037659f,0.23604217171669006f,0.012746036052703857f,-0.12561996281147003f,-0.1283164620399475f,0.25823846459388733f,0.10610169172286987f,0.22718152403831482f,0.1749366819858551f,0.007794857025146484f,0.11289489269256592f,0.2725127637386322f,-0.13616766035556793f,-0.03546282649040222f,-0.1685536652803421f,-0.24492129683494568f,0.15760570764541626f,0.017505377531051636f,-0.273531436920166f,-0.005667984485626221f,0.18370777368545532f,-0.023328542709350586f,0.2379932701587677f,-0.048420339822769165f,0.10376441478729248f,-0.295401930809021f,-0.20498433709144592f,0.22346952557563782f,-0.26649031043052673f,-0.08466874063014984f,0.23347875475883484f,-0.03380200266838074f}, |
Lightvalve | 86:b8ed7abddeb2 | 243 | {0.20124590396881104f,-0.11652402579784393f,0.24921879172325134f,0.1895708590745926f,-0.2817712128162384f,-0.2917989492416382f,-0.14177459478378296f,-0.11968852579593658f,0.23963233828544617f,0.21321198344230652f,-0.1365956962108612f,-0.07098843902349472f,-0.16443446278572083f,-0.10797544568777084f,-0.1404687613248825f,-0.23719100654125214f,-0.19791248440742493f,0.2487291395664215f,-0.054470546543598175f,-0.30096960067749023f,-0.2520124912261963f,-0.0033437502570450306f,-0.09928475320339203f,-0.23108112812042236f,-0.3733688294887543f,0.20262952148914337f,-0.0021994111593812704f,-0.15036596357822418f,-0.03476092219352722f,0.18156595528125763f,0.004408210515975952f,-0.04168035835027695f}, |
Lightvalve | 86:b8ed7abddeb2 | 244 | {-0.19114845991134644f,0.009595632553100586f,0.2466227114200592f,0.055947232991456985f,-0.29828932881355286f,-0.2819134294986725f,-0.06226036697626114f,-0.15331926941871643f,-0.2516406178474426f,0.012286126613616943f,0.19681154191493988f,-0.21513022482395172f,-0.09437626600265503f,-0.01502271182835102f,-0.023038199171423912f,-0.060623422265052795f,-0.24087269604206085f,-0.048499464988708496f,-0.3189714252948761f,0.00832032784819603f,-0.3219168186187744f,-0.25389641523361206f,-0.031352698802948f,0.2829354703426361f,-0.24429625272750854f,-0.26506564021110535f,-0.23125341534614563f,0.2653900682926178f,-0.07090267539024353f,-0.3292027413845062f,-0.2543276250362396f,0.01698158122599125f}, |
Lightvalve | 66:a8e6799dbce3 | 245 | {-0.01348048448562622f,0.08233943581581116f,0.18838337063789368f,0.21852442622184753f,-0.04740855097770691f,0.19177213311195374f,-0.0060100555419921875f,0.20933791995048523f,0.06356173753738403f,0.063028484582901f,0.09440034627914429f,0.29559019207954407f,-0.2545689642429352f,-0.09652335941791534f,-0.2841038703918457f,-0.03553757071495056f,0.02329021692276001f,-0.08720272779464722f,-0.0750999003648758f,-0.10468094050884247f,-0.03761094808578491f,-0.030853450298309326f,0.2112145721912384f,0.2599640190601349f,-0.2969062626361847f,-0.13667742908000946f,0.24173608422279358f,0.09566575288772583f,0.021116197109222412f,-0.005982398986816406f,-0.26417285203933716f,0.1879688799381256f}, |
Lightvalve | 86:b8ed7abddeb2 | 246 | {-2.6174967288970947f,-0.17203155159950256f,0.0620841383934021f,-0.023400938138365746f,-0.22964656352996826f,-0.3363294005393982f,-1.0403361320495605f,0.17422041296958923f,-2.0363495349884033f,0.2210421860218048f,-0.2922200858592987f,-0.9033129215240479f,-0.2320997267961502f,0.8316505551338196f,0.05220022425055504f,-0.22139473259449005f,0.10771593451499939f,-0.4340587258338928f,0.24175135791301727f,-0.18875643610954285f,-0.14234186708927155f,-0.3408077657222748f,-0.22302524745464325f,0.025637473911046982f,-0.30855870246887207f,0.4760025143623352f,-0.7012357115745544f,-0.09129323810338974f,-1.1739534139633179f,-0.22928372025489807f,0.15235042572021484f,-0.04002072289586067f}, |
Lightvalve | 86:b8ed7abddeb2 | 247 | {-0.027682196348905563f,-0.22750279307365417f,-0.22503364086151123f,-0.024396603927016258f,-0.012498408555984497f,-0.2887764871120453f,0.14812691509723663f,0.08175003528594971f,-0.016126900911331177f,0.06972584128379822f,-0.03908216580748558f,0.19079743325710297f,-0.031845152378082275f,-0.4225393533706665f,0.6486763954162598f,0.0036958197597414255f,-0.09216172993183136f,0.04617339372634888f,-0.056485723704099655f,-0.13333511352539062f,-0.1711816042661667f,-0.4495088756084442f,-0.06047184765338898f,-0.3041808307170868f,-0.13072262704372406f,-0.744982123374939f,-0.20787908136844635f,-0.3318275511264801f,-0.16326025128364563f,0.050311826169490814f,-0.02675291895866394f,0.17512398958206177f}, |
Lightvalve | 65:a2d7c63419c2 | 248 | }; |
Lightvalve | 65:a2d7c63419c2 | 249 | |
Lightvalve | 66:a8e6799dbce3 | 250 | const float h3[32][32] = { |
Lightvalve | 86:b8ed7abddeb2 | 251 | {-0.2551194727420807f,-0.09101890027523041f,-0.026477575302124023f,-0.09569111466407776f,0.4043631851673126f,0.14169669151306152f,0.2400905340909958f,0.21467849612236023f,-0.0501583032310009f,0.034586966037750244f,-0.024247562512755394f,0.28293344378471375f,0.9104848504066467f,0.5572169423103333f,-0.2476848065853119f,0.13452908396720886f,0.033751994371414185f,0.2061004936695099f,0.4215589761734009f,-0.2074853479862213f,-0.08924052864313126f,0.24943740665912628f,-0.22618433833122253f,0.044178664684295654f,0.39010173082351685f,-0.1258748173713684f,0.2930828630924225f,-0.21813111007213593f,0.1151900440454483f,0.2922307550907135f,-0.21407078206539154f,-0.29030242562294006f}, |
Lightvalve | 86:b8ed7abddeb2 | 252 | {0.05588451027870178f,0.19731858372688293f,-0.055143773555755615f,0.030042022466659546f,-0.13887283205986023f,-0.1361943781375885f,-0.2855546772480011f,0.011247634887695312f,0.1085631251335144f,0.021339505910873413f,0.17599248886108398f,0.09762296080589294f,-0.05771490931510925f,-0.14660483598709106f,-0.21469902992248535f,0.03876742720603943f,-0.21865856647491455f,-0.12651903927326202f,0.22753819823265076f,-0.23926785588264465f,-0.14443452656269073f,0.06739777326583862f,0.14157342910766602f,0.049514561891555786f,-0.1251431256532669f,-0.25851932168006897f,0.0932874083518982f,0.2900666892528534f,-0.023782014846801758f,0.050485759973526f,0.09447437524795532f,0.0058679282665252686f}, |
Lightvalve | 86:b8ed7abddeb2 | 253 | {-0.2800689935684204f,-0.038760632276535034f,0.13974270224571228f,0.01585569977760315f,0.11945047974586487f,-0.19458696246147156f,0.11322265863418579f,0.25643888115882874f,-0.061097174882888794f,-0.07816044986248016f,-0.07445238530635834f,-0.22145158052444458f,-0.1081896424293518f,-0.09452249109745026f,0.16234496235847473f,0.1413259506225586f,-0.2648085951805115f,-0.054869145154953f,-0.05491623282432556f,0.17325228452682495f,0.23639705777168274f,0.0748760998249054f,-0.1324603259563446f,0.15828460454940796f,-0.22871175408363342f,-0.027338534593582153f,-0.06307074427604675f,0.13438841700553894f,0.13834497332572937f,0.1633671224117279f,0.259930282831192f,-0.21565306186676025f}, |
Lightvalve | 86:b8ed7abddeb2 | 254 | {0.2906629145145416f,0.19203472137451172f,-0.2048129439353943f,0.2633720338344574f,0.10390545427799225f,-0.061942458152770996f,-0.061309605836868286f,-0.17915479838848114f,-0.019983433187007904f,-0.044261813163757324f,-0.09506386518478394f,0.24970653653144836f,0.1514393389225006f,0.0688309296965599f,0.22106656432151794f,-0.23978039622306824f,-0.28915077447891235f,0.030949801206588745f,-0.27304592728614807f,0.1836264431476593f,0.24304717779159546f,-0.03770962357521057f,-0.16248641908168793f,-0.27595841884613037f,0.1962321698665619f,-0.11024686694145203f,-0.09994620084762573f,0.002966243075206876f,-0.19608499109745026f,-0.25852420926094055f,0.05653107166290283f,0.0037463903427124023f}, |
Lightvalve | 86:b8ed7abddeb2 | 255 | {0.07563930749893188f,-0.0864691436290741f,-0.2677825689315796f,0.1497999131679535f,-0.2632053792476654f,-0.12118913233280182f,-0.09772239625453949f,0.2470131814479828f,-0.2551872134208679f,-0.2740214169025421f,0.2979947626590729f,-0.24627932906150818f,-0.15745189785957336f,-0.1546318233013153f,0.06802645325660706f,-0.048776447772979736f,0.20131775736808777f,0.013118326663970947f,0.0808630883693695f,0.2585393488407135f,-0.03326711058616638f,0.21529874205589294f,0.1718432903289795f,0.20571765303611755f,-0.19813477993011475f,0.12758469581604004f,0.2959180772304535f,-0.20305807888507843f,0.17249789834022522f,-0.09959287941455841f,-0.07189898192882538f,0.007399916648864746f}, |
Lightvalve | 86:b8ed7abddeb2 | 256 | {0.10931676626205444f,0.2396949827671051f,0.12925085425376892f,-0.01787710189819336f,-0.10998686403036118f,0.07948040962219238f,-0.061815500259399414f,0.04091137647628784f,0.024564281105995178f,-0.15699732303619385f,0.08972057700157166f,-0.21529507637023926f,-0.003787398338317871f,-0.1505761295557022f,0.2971965968608856f,0.25175121426582336f,-0.2889891266822815f,-0.13035915791988373f,0.16491714119911194f,0.06524023413658142f,0.09622954577207565f,-0.25372910499572754f,0.023232191801071167f,0.27409639954566956f,-0.14640875160694122f,-0.18302330374717712f,0.09057381749153137f,0.02451498992741108f,-0.2718355357646942f,-0.29547566175460815f,-0.25800079107284546f,0.24402263760566711f}, |
Lightvalve | 86:b8ed7abddeb2 | 257 | {-0.21155381202697754f,0.24310845136642456f,-0.2013673037290573f,-0.736132025718689f,-0.648792028427124f,0.5802898406982422f,-2.0749001502990723f,0.2444917857646942f,0.16276085376739502f,-0.32582178711891174f,1.58766508102417f,-0.4036972224712372f,0.716469407081604f,0.5731150507926941f,0.25543639063835144f,-0.1192857176065445f,-0.18917083740234375f,0.011466026306152344f,-0.2660670876502991f,0.04170297831296921f,-0.5862948298454285f,0.5315242409706116f,-0.26724812388420105f,-0.2255190908908844f,0.9894055128097534f,-0.2910519242286682f,-0.30971068143844604f,-1.6016900539398193f,0.22471675276756287f,-0.09532724320888519f,0.09492611140012741f,-0.3536216616630554f}, |
Lightvalve | 86:b8ed7abddeb2 | 258 | {-0.01093912124633789f,-0.23583689332008362f,0.28153905272483826f,0.2877257764339447f,0.08201509714126587f,-0.2699383497238159f,0.036741942167282104f,-0.0059101879596710205f,-0.24633634090423584f,-0.27182313799858093f,0.09319102764129639f,-0.08139897882938385f,0.19774547219276428f,-0.020215511322021484f,0.0685860812664032f,-0.29903873801231384f,0.1317853033542633f,0.20550194382667542f,-0.12251400947570801f,-0.28424710035324097f,0.24172750115394592f,0.11755815148353577f,0.0343703031539917f,0.12564969062805176f,0.03227102756500244f,0.23886635899543762f,-0.2778390347957611f,0.13853725790977478f,0.28547611832618713f,0.17161712050437927f,-0.017215043306350708f,-0.05991865694522858f}, |
Lightvalve | 86:b8ed7abddeb2 | 259 | {-0.20420776307582855f,0.1970202624797821f,0.1894116997718811f,-0.282694011926651f,-0.8300905823707581f,0.20012763142585754f,0.028453975915908813f,0.23323127627372742f,0.18225432932376862f,-0.1270071268081665f,0.16340045630931854f,0.13077861070632935f,1.738160490989685f,-0.20709244906902313f,-0.15613220632076263f,-0.16448761522769928f,0.28163614869117737f,0.1971360743045807f,0.30405697226524353f,-0.28959211707115173f,-0.2255709171295166f,0.15360668301582336f,0.24163606762886047f,0.19554737210273743f,-0.1804599016904831f,0.07604315876960754f,-0.1459394246339798f,-0.14081311225891113f,-0.29656586050987244f,0.19529584050178528f,-0.05168652534484863f,-0.03415781259536743f}, |
Lightvalve | 66:a8e6799dbce3 | 260 | {0.27550336718559265f,-0.14170598983764648f,-0.21542268991470337f,-0.2159879207611084f,0.06500789523124695f,-0.21155211329460144f,-0.01575431227684021f,0.0617731511592865f,0.13126209378242493f,-0.04922589659690857f,-0.23877641558647156f,-0.06292802095413208f,0.01433342695236206f,0.14592674374580383f,-0.23886999487876892f,0.08878573775291443f,0.1853090226650238f,-0.05102238059043884f,-0.13667166233062744f,-0.24401302635669708f,0.25155118107795715f,-0.20339438319206238f,0.03535670042037964f,0.048473477363586426f,-0.13871997594833374f,-0.15382859110832214f,-0.13837768137454987f,0.26085415482521057f,0.2491457164287567f,0.157204270362854f,0.14108964800834656f,0.12518465518951416f}, |
Lightvalve | 86:b8ed7abddeb2 | 261 | {-0.023678362369537354f,0.2562159299850464f,-0.1949400156736374f,-0.3781323730945587f,-0.3327532410621643f,0.6227866411209106f,0.9921557903289795f,0.196751207113266f,-0.3439832031726837f,0.11626701802015305f,0.8563590049743652f,-0.20737174153327942f,-0.2653930187225342f,0.38280171155929565f,0.080221027135849f,-0.2471318244934082f,0.026521950960159302f,0.28880444169044495f,0.16644376516342163f,-0.2890075445175171f,-0.4190390110015869f,0.5478110909461975f,0.04887961968779564f,0.2614522874355316f,0.7830110192298889f,-0.25962090492248535f,-0.037512265145778656f,-0.41226398944854736f,0.9945930242538452f,-0.2912617325782776f,-0.3285263776779175f,-0.2374248057603836f}, |
Lightvalve | 86:b8ed7abddeb2 | 262 | {0.19576364755630493f,-0.15865294635295868f,-0.4783979058265686f,-0.1767597645521164f,0.9804927110671997f,-0.4704623520374298f,-0.36415162682533264f,-0.17794576287269592f,-2.4858970642089844f,-0.44404473900794983f,-0.8308697938919067f,-0.03345588594675064f,0.401203453540802f,-0.3577149510383606f,0.07367046922445297f,-0.07731422781944275f,0.0890120416879654f,-0.15284278988838196f,-0.4977101683616638f,-0.08187898248434067f,-1.8383318185806274f,-0.9011064171791077f,-0.08135320991277695f,-0.01962297223508358f,-0.8390857577323914f,0.030914725735783577f,-0.28698185086250305f,-0.20015116035938263f,-0.9447900652885437f,-0.3318950831890106f,-0.3425302505493164f,-0.6909160614013672f}, |
Lightvalve | 86:b8ed7abddeb2 | 263 | {0.10771462321281433f,0.1270637810230255f,-0.1647956818342209f,0.2013734132051468f,-0.021822882816195488f,0.14908835291862488f,-0.09857086092233658f,-0.05063694715499878f,-0.28954532742500305f,-0.11501708626747131f,0.22037728130817413f,0.11519002914428711f,-0.11276716738939285f,0.04318426921963692f,-0.0055807530879974365f,0.05870962142944336f,-0.0561012327671051f,-0.1419317126274109f,-0.30922752618789673f,-0.05947013199329376f,-0.1821173131465912f,-0.2919299602508545f,0.2986377775669098f,-0.2888573110103607f,-0.1702377051115036f,-0.03866580128669739f,0.09892630577087402f,0.21032646298408508f,-0.12352125346660614f,0.024399906396865845f,-0.264041006565094f,-0.037910252809524536f}, |
Lightvalve | 86:b8ed7abddeb2 | 264 | {0.07240793108940125f,-0.12943290174007416f,-0.19816701114177704f,0.2295622080564499f,-0.4164218008518219f,0.038300011307001114f,0.8536421656608582f,-0.09019742906093597f,0.5829219818115234f,-0.35978132486343384f,0.47675615549087524f,-0.11049283295869827f,0.350241482257843f,-0.09537672251462936f,0.13272255659103394f,-0.2202855944633484f,-0.13351139426231384f,0.2471931278705597f,-0.5232447981834412f,-0.3329259753227234f,0.37882936000823975f,-0.03589284420013428f,-0.3160198926925659f,0.28785380721092224f,0.0599624328315258f,-0.1976800560951233f,-0.2801966667175293f,-0.26524531841278076f,0.3909579813480377f,-0.29330405592918396f,-0.3252187967300415f,-0.48170483112335205f}, |
Lightvalve | 86:b8ed7abddeb2 | 265 | {-0.3241661787033081f,0.06876713037490845f,-0.03038245253264904f,-0.4097246825695038f,-0.14177069067955017f,-0.6304097175598145f,-0.69410640001297f,-0.2674597501754761f,-0.05907707288861275f,0.033801235258579254f,0.3514251112937927f,-0.08215935528278351f,-0.6801342964172363f,-1.4014289379119873f,-0.02410009503364563f,0.08342397212982178f,0.1060803085565567f,-0.30486053228378296f,1.3053505420684814f,-0.020607002079486847f,-3.182220697402954f,-0.7363662719726562f,-0.13132931292057037f,-0.03139691427350044f,-0.32591256499290466f,-0.1615496128797531f,-0.19968537986278534f,-1.3784141540527344f,1.6213366985321045f,0.1643131673336029f,-0.04397870600223541f,-0.6780785918235779f}, |
Lightvalve | 86:b8ed7abddeb2 | 266 | {0.1663857400417328f,-0.1776995211839676f,-0.5155016183853149f,-1.3976482152938843f,1.8154975175857544f,-0.8149989247322083f,-0.9385441541671753f,-0.30172163248062134f,-1.4255707263946533f,-0.15031291544437408f,-0.9907659888267517f,-0.2441919893026352f,0.8764127492904663f,-1.1440434455871582f,-0.09533043205738068f,-0.3912292718887329f,-0.1045113131403923f,-0.0016761720180511475f,0.1586415320634842f,-0.8732228875160217f,-1.2427364587783813f,-0.9112241268157959f,0.12403466552495956f,-0.2647725045681f,-1.3626328706741333f,-0.1827477663755417f,-0.23351867496967316f,-0.0801374614238739f,-0.30898699164390564f,-0.07888046652078629f,-0.49175480008125305f,-0.5444669723510742f}, |
Lightvalve | 86:b8ed7abddeb2 | 267 | {-0.06136500835418701f,-0.11579577624797821f,-0.23311558365821838f,-0.020844489336013794f,0.161813884973526f,0.22929790616035461f,0.11958792805671692f,-0.0384809672832489f,-0.10647237300872803f,-0.09010881185531616f,0.22322741150856018f,-0.1071339100599289f,0.05349445343017578f,-0.23458370566368103f,0.040097206830978394f,0.08616101741790771f,-0.15468145906925201f,-0.21275553107261658f,-0.21210846304893494f,-0.23840199410915375f,0.12352427840232849f,0.282552570104599f,0.14114680886268616f,0.09007054567337036f,-0.05948364734649658f,0.12031787633895874f,-0.184563547372818f,0.07786750793457031f,-0.2169322669506073f,-0.24735762178897858f,-0.0892629474401474f,-0.11765947937965393f}, |
Lightvalve | 86:b8ed7abddeb2 | 268 | {0.1169951856136322f,0.06741076707839966f,0.014288008213043213f,-0.1894388198852539f,0.2306886613368988f,0.08970087766647339f,0.29362860321998596f,0.2666439712047577f,-0.1488228738307953f,0.22382596135139465f,-0.13030989468097687f,0.02602824568748474f,0.029441386461257935f,-0.1546926349401474f,0.10762849450111389f,0.06951633095741272f,0.0639207661151886f,0.27696695923805237f,-0.2749756872653961f,0.2684275209903717f,-0.240950807929039f,-0.08405844867229462f,0.26762983202934265f,0.09600964188575745f,-0.20394444465637207f,0.012219250202178955f,-0.09225042164325714f,-0.12637756764888763f,-0.21354423463344574f,-0.29393887519836426f,-0.056166648864746094f,0.002250969409942627f}, |
Lightvalve | 86:b8ed7abddeb2 | 269 | {-0.32502132654190063f,-0.2037474662065506f,-0.08174074441194534f,-1.208707332611084f,-15.729704856872559f,-1.024046778678894f,-1.787028193473816f,-0.310126930475235f,0.5253123641014099f,-0.502322793006897f,0.8708741068840027f,-0.3255992531776428f,-1.3715431690216064f,-0.7790833711624146f,-0.2592318058013916f,0.008184458129107952f,0.032381005585193634f,0.13403137028217316f,-0.23054872453212738f,-0.26550132036209106f,-1.0861793756484985f,-1.1776721477508545f,0.07837659865617752f,-0.12165451794862747f,-1.0148988962173462f,-0.2944401502609253f,-0.25550374388694763f,-0.42094337940216064f,-1.2241748571395874f,0.09213655441999435f,0.014374630525708199f,-0.4375530481338501f}, |
Lightvalve | 86:b8ed7abddeb2 | 270 | {0.261911004781723f,-0.28497835993766785f,-0.2993849217891693f,-0.020902831107378006f,0.08032050728797913f,0.04672039672732353f,-0.06670857965946198f,-0.030254334211349487f,-0.270412415266037f,0.1197996437549591f,0.01667046546936035f,-0.2924177646636963f,0.20024193823337555f,-0.13790419697761536f,-0.20773646235466003f,-0.10781967639923096f,-0.15712574124336243f,0.16112294793128967f,0.23740868270397186f,0.1899622231721878f,0.2066194862127304f,0.11905673146247864f,-0.2746024429798126f,0.14906415343284607f,0.14468273520469666f,0.0025720298290252686f,-0.08664168417453766f,-0.20825210213661194f,0.07920579612255096f,0.21125611662864685f,-0.05751854181289673f,-0.22727590799331665f}, |
Lightvalve | 86:b8ed7abddeb2 | 271 | {0.14277681708335876f,-0.21736162900924683f,0.14885470271110535f,-0.15626248717308044f,-0.027196528390049934f,-0.13987448811531067f,0.1624150574207306f,-0.27022814750671387f,0.020349089056253433f,-0.32561764121055603f,0.3906245827674866f,0.18551066517829895f,0.3153047561645508f,-0.03805544599890709f,-0.03100520372390747f,-0.2484396994113922f,0.06366744637489319f,-0.2764144539833069f,0.312002569437027f,0.19810143113136292f,-0.1693296581506729f,0.118461973965168f,0.2205439656972885f,-0.0716068297624588f,-0.2723652422428131f,-0.19159743189811707f,0.17270348966121674f,-0.15148542821407318f,-0.40611082315444946f,-0.10488687455654144f,-0.21563708782196045f,0.12977148592472076f}, |
Lightvalve | 86:b8ed7abddeb2 | 272 | {0.29069945216178894f,-0.23835359513759613f,0.019009560346603394f,-0.3508252501487732f,0.2295755296945572f,-0.15265671908855438f,0.045349299907684326f,-0.17138783633708954f,-0.21239377558231354f,0.028545528650283813f,-0.17950725555419922f,-0.15074089169502258f,-0.012408856302499771f,-0.21152688562870026f,0.09875330328941345f,0.08164769411087036f,0.2294725477695465f,0.10683679580688477f,-0.2652530074119568f,-0.11483882367610931f,0.16828653216362f,0.3031145930290222f,0.16651621460914612f,-0.15362010896205902f,0.21359355747699738f,0.023651927709579468f,-0.1729920208454132f,0.2764638662338257f,0.12841083109378815f,0.19045329093933105f,0.02994692325592041f,-0.18855193257331848f}, |
Lightvalve | 86:b8ed7abddeb2 | 273 | {0.1991647183895111f,0.12534403800964355f,-0.04112154245376587f,0.23123982548713684f,-0.17588619887828827f,-0.302817702293396f,-0.1610087752342224f,-0.031804412603378296f,0.10274738073348999f,-0.25018924474716187f,0.15975651144981384f,-0.057292819023132324f,0.1464652419090271f,0.08016204833984375f,0.2151305377483368f,0.2952744662761688f,-0.21319252252578735f,0.04970458149909973f,0.10210192203521729f,0.3050673305988312f,0.21167120337486267f,-0.15151944756507874f,0.13887640833854675f,0.25299301743507385f,-0.11117732524871826f,-0.07015113532543182f,-0.287551611661911f,-0.025779157876968384f,-0.07337476313114166f,-0.24420931935310364f,0.015819430351257324f,-0.10595546662807465f}, |
Lightvalve | 86:b8ed7abddeb2 | 274 | {0.12202468514442444f,0.15162138640880585f,-0.10034829378128052f,-0.32564082741737366f,0.19687119126319885f,0.05181124433875084f,-0.06113804876804352f,-0.11568751931190491f,0.32053595781326294f,-0.3154204487800598f,0.06257013976573944f,-0.11160935461521149f,-0.1251833736896515f,-0.21361380815505981f,-0.06735922396183014f,0.05864924192428589f,-0.25733181834220886f,-0.17565661668777466f,0.08770500123500824f,-0.11798032373189926f,-0.22401615977287292f,0.1542765498161316f,0.1449800729751587f,-0.05681343376636505f,0.2106601595878601f,0.1795230209827423f,0.19069638848304749f,0.0439084954559803f,-0.2000730186700821f,0.2425754964351654f,-0.22172409296035767f,-0.009572982788085938f}, |
Lightvalve | 86:b8ed7abddeb2 | 275 | {-0.3055141270160675f,-0.25100094079971313f,-0.042494036257267f,-0.09800136089324951f,-0.23906663060188293f,-0.2459760159254074f,-0.14330914616584778f,0.21086838841438293f,0.111941859126091f,-0.08717077225446701f,-0.3571506142616272f,-0.14543557167053223f,0.14192532002925873f,-0.014786701649427414f,-0.023131370544433594f,0.036719828844070435f,0.16260939836502075f,0.05286213755607605f,-0.17732658982276917f,-0.1845850944519043f,0.012657895684242249f,-0.25612255930900574f,0.1040070429444313f,0.19191309809684753f,-0.06192035228013992f,-0.02825927734375f,-0.20535966753959656f,-0.04384424537420273f,-0.46086585521698f,0.1865309774875641f,0.13453395664691925f,-0.43843552470207214f}, |
Lightvalve | 86:b8ed7abddeb2 | 276 | {0.026374761015176773f,-0.17528532445430756f,-0.5579909086227417f,-1.2730792760849f,-0.3358721435070038f,-0.6008124351501465f,-1.1845779418945312f,0.0006725912680849433f,-5.123662948608398f,-0.3245490491390228f,-0.17039598524570465f,-0.48568934202194214f,0.2491609752178192f,-0.5254827737808228f,-0.4019209146499634f,-0.45205947756767273f,-0.11511838436126709f,-0.25376296043395996f,-1.0519155263900757f,-0.30351927876472473f,-4.4755048751831055f,-0.9668168425559998f,-0.0748697966337204f,-0.23682299256324768f,-1.5599819421768188f,-0.04858483374118805f,-0.06531502306461334f,-0.1996605396270752f,-1.9289538860321045f,0.06930094957351685f,-0.4023730158805847f,-0.5252596735954285f}, |
Lightvalve | 86:b8ed7abddeb2 | 277 | {-0.17396044731140137f,-0.13319158554077148f,-0.29632729291915894f,-0.08253633230924606f,0.24469541013240814f,-0.4006723463535309f,1.681721568107605f,-0.1761629432439804f,-0.6584062576293945f,-0.46532317996025085f,0.5183865427970886f,-0.2549247741699219f,0.652218222618103f,0.4208870232105255f,-0.19851773977279663f,-0.10762731730937958f,0.14198419451713562f,0.10370296239852905f,0.05107264220714569f,-0.3374244272708893f,-0.4275210201740265f,-0.08409949392080307f,0.144077330827713f,-0.19857197999954224f,0.365215003490448f,-0.2665709853172302f,0.19561566412448883f,-0.0672026053071022f,0.05259058624505997f,-0.1200934648513794f,-0.18380235135555267f,-0.13450540602207184f}, |
Lightvalve | 86:b8ed7abddeb2 | 278 | {-0.12546227872371674f,-0.04642973095178604f,-0.08090300858020782f,0.12772545218467712f,-0.12954935431480408f,-0.02696622721850872f,-0.28310835361480713f,-0.020981580018997192f,0.17591875791549683f,-0.1450529396533966f,0.29896336793899536f,0.046816736459732056f,-0.04298720881342888f,0.14219975471496582f,-0.0649729073047638f,0.2468220293521881f,0.060016900300979614f,-0.16779978573322296f,0.04668818414211273f,0.08197735995054245f,-0.39826700091362f,0.34313735365867615f,-0.3017738461494446f,0.22389158606529236f,0.14340516924858093f,0.020356476306915283f,-0.2721497118473053f,0.0035998604726046324f,0.209790900349617f,-0.000007510185241699219f,0.094448983669281f,-0.08219978213310242f}, |
Lightvalve | 86:b8ed7abddeb2 | 279 | {0.07555973529815674f,-0.0029259920120239258f,-0.08789914846420288f,0.06678077578544617f,0.7068386077880859f,0.11010000109672546f,-0.14982634782791138f,0.12075316905975342f,0.40995338559150696f,0.013024389743804932f,0.9262421727180481f,-0.20200279355049133f,1.5229910612106323f,-0.1856893002986908f,0.2882818281650543f,0.05304515361785889f,-0.15297894179821014f,0.07341468334197998f,0.05268138647079468f,0.1067940890789032f,0.5197668671607971f,-0.2009473443031311f,0.1843600869178772f,0.2517976462841034f,0.6196404099464417f,-0.051110416650772095f,-0.23432010412216187f,0.16746872663497925f,-0.2205146849155426f,-0.017525076866149902f,0.20926335453987122f,-0.2141496241092682f}, |
Lightvalve | 86:b8ed7abddeb2 | 280 | {0.06582912802696228f,0.2796666920185089f,-0.2556927502155304f,0.1281055063009262f,0.3382647633552551f,0.021357093006372452f,0.06556430459022522f,0.29767414927482605f,0.36356815695762634f,-0.16670267283916473f,-0.24076372385025024f,-0.06570860743522644f,-0.015925198793411255f,0.07069825381040573f,-0.014884740114212036f,-0.05300724506378174f,0.26490333676338196f,0.15243005752563477f,0.05369039997458458f,0.2353842556476593f,0.3308057188987732f,0.05352851003408432f,-0.04174882173538208f,-0.11559568345546722f,-0.17723068594932556f,0.21069613099098206f,-0.19532959163188934f,-0.13108225166797638f,0.032513976097106934f,-0.2712400257587433f,-0.19435247778892517f,-0.23200613260269165f}, |
Lightvalve | 86:b8ed7abddeb2 | 281 | {-0.1299392580986023f,-0.06208275258541107f,-0.18067686259746552f,0.062329649925231934f,-0.22588664293289185f,-0.06877543032169342f,-0.19175797700881958f,0.02903696894645691f,-0.2614779472351074f,0.016345679759979248f,-0.17219038307666779f,0.2033931314945221f,-0.30105409026145935f,0.08271035552024841f,0.13206014037132263f,0.15829482674598694f,-0.21012049913406372f,0.2088232934474945f,0.07014858722686768f,-0.19175665080547333f,0.28649166226387024f,0.05041047930717468f,-0.27260470390319824f,-0.025072306394577026f,0.3421594202518463f,-0.007939159870147705f,-0.22979341447353363f,0.06509524583816528f,0.1298319399356842f,0.18135693669319153f,-0.008151531219482422f,0.15906798839569092f}, |
Lightvalve | 86:b8ed7abddeb2 | 282 | {0.07638216018676758f,0.05407004430890083f,-0.3668886423110962f,-0.2752448618412018f,0.1415041983127594f,0.0022521421778947115f,0.2795381247997284f,-0.25668495893478394f,-0.068914495408535f,0.10158132016658783f,0.06494732201099396f,0.02524423599243164f,0.12282950431108475f,0.24383525550365448f,-0.029521822929382324f,-0.19500072300434113f,0.06506577134132385f,-0.011876672506332397f,0.1364271640777588f,0.24141009151935577f,0.1474008858203888f,-0.013429519720375538f,-0.19389307498931885f,-0.17324526607990265f,0.20270048081874847f,0.1901901364326477f,-0.27945125102996826f,-0.050236884504556656f,-0.11887363344430923f,0.22636333107948303f,-0.3317737579345703f,0.18050488829612732f}, |
Lightvalve | 66:a8e6799dbce3 | 283 | }; |
Lightvalve | 65:a2d7c63419c2 | 284 | |
Lightvalve | 86:b8ed7abddeb2 | 285 | const float hout[32] = { 0.016861308366060257f,0.02745733968913555f,0.07825727015733719f,0.8766828179359436f,-0.05232406407594681f,0.35792431235313416f,1.570347547531128f,0.10329969972372055f,0.4806658923625946f,-0.062165163457393646f,0.15290232002735138f,0.09420708566904068f,-0.11127324402332306f,0.13416433334350586f,0.10202100872993469f,0.006314356345683336f,-0.003878760151565075f,-0.18621718883514404f,0.1323828548192978f,-0.10361719876527786f,-0.09726173430681229f,0.010512445122003555f,0.0036775292828679085f,-0.028018292039632797f,0.5220573544502258f,0.21163398027420044f,-0.3082039952278137f,0.26232731342315674f,0.8687447309494019f,-0.16385973989963531f,-0.09068699926137924f,0.10824593156576157f }; |
Lightvalve | 66:a8e6799dbce3 | 286 | |
Lightvalve | 86:b8ed7abddeb2 | 287 | const float b1[32] = { 0.6189494729042053f,1.717569351196289f,-1.7145336866378784f,1.2212576866149902f,2.3427574634552f,0.7081863880157471f,-0.09428720921278f,0.3455063998699188f,0.6096851825714111f,-3.0868020057678223f,0.5562145113945007f,2.118533134460449f,-0.3425353467464447f,-0.940459668636322f,-1.087764859199524f,0.8448495864868164f,0.49272775650024414f,-0.26377663016319275f,1.244008183479309f,0.8255248665809631f,-0.284685879945755f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,4.908173561096191f,-2.0880801677703857f,-1.0489267110824585f,0.42044439911842346f,0.12164653092622757f,-1.0887231826782227f,2.485891342163086f,-0.4767896831035614f }; |
Lightvalve | 65:a2d7c63419c2 | 288 | |
Lightvalve | 86:b8ed7abddeb2 | 289 | const float b2[32] = { -0.5226120352745056f,-0.7642630338668823f,-1.4564176797866821f,-0.4946267604827881f,-0.8452438116073608f,0.1087772473692894f,-0.6319846510887146f,-0.30969977378845215f,-0.8028555512428284f,-1.912178635597229f,-0.30677375197410583f,0.8741645812988281f,-0.17443345487117767f,0.93160480260849f,-4.624051570892334f,1.084857702255249f,-1.798204779624939f,-1.68979811668396f,-0.05761605501174927f,-0.3331492841243744f,-0.17662832140922546f,0.076245978474617f,0.09335066378116608f,-1.2434346675872803f,0.6772512793540955f,3.3463151454925537f,0.08881940692663193f,-0.19115522503852844f,-0.9640821814537048f,-0.5077025890350342f,-1.296404242515564f,-1.4682079553604126f }; |
Lightvalve | 65:a2d7c63419c2 | 290 | |
Lightvalve | 86:b8ed7abddeb2 | 291 | const float b3[32] = { -2.1200947761535645f,-0.6417744755744934f,-0.20833487808704376f,-0.4100790023803711f,-2.229132890701294f,0.2740940451622009f,-0.2966175079345703f,-0.737217366695404f,1.8642381429672241f,0.08214375376701355f,-0.47954219579696655f,-0.2409215271472931f,2.223055839538574f,0.04726779833436012f,-1.2977863550186157f,-0.5223850607872009f,-1.4806815385818481f,-1.1570241451263428f,-0.461347371339798f,-0.14962559938430786f,0.9796155095100403f,0.42978283762931824f,-1.2275103330612183f,-1.0708273649215698f,0.8111138343811035f,-0.5128193497657776f,-0.31590235233306885f,0.1044965386390686f,-0.028853775933384895f,-2.4177253246307373f,-0.28963881731033325f,0.25216880440711975f }; |
Lightvalve | 66:a8e6799dbce3 | 292 | |
Lightvalve | 86:b8ed7abddeb2 | 293 | const float bout[1] = { -0.1287642866373062f }; |
Lightvalve | 61:bc8c8270f0ab | 294 | |
Lightvalve | 61:bc8c8270f0ab | 295 | |
GiJeongKim | 0:51c43836c1d7 | 296 | int main() |
GiJeongKim | 0:51c43836c1d7 | 297 | { |
Lightvalve | 66:a8e6799dbce3 | 298 | |
Lightvalve | 65:a2d7c63419c2 | 299 | HAL_Init(); |
Lightvalve | 65:a2d7c63419c2 | 300 | SystemClock_Config(); |
Lightvalve | 65:a2d7c63419c2 | 301 | |
jobuuu | 6:df07d3491e3a | 302 | /********************************* |
jobuuu | 1:e04e563be5ce | 303 | *** Initialization |
jobuuu | 6:df07d3491e3a | 304 | *********************************/ |
Lightvalve | 69:3995ffeaa786 | 305 | LED = 0; |
Lightvalve | 61:bc8c8270f0ab | 306 | pc.baud(9600); |
Lightvalve | 21:e5f1a43ea6f9 | 307 | |
GiJeongKim | 0:51c43836c1d7 | 308 | // i2c init |
Lightvalve | 8:5d2eebdad025 | 309 | i2c.frequency(400 * 1000); // 0.4 mHz |
Lightvalve | 8:5d2eebdad025 | 310 | wait_ms(2); // Power Up wait |
Lightvalve | 8:5d2eebdad025 | 311 | look_for_hardware_i2c(); // Hardware present |
Lightvalve | 8:5d2eebdad025 | 312 | init_as5510(i2c_slave_addr1); |
Lightvalve | 11:82d8768d7351 | 313 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 314 | |
GiJeongKim | 0:51c43836c1d7 | 315 | // // spi init |
Lightvalve | 16:903b5a4433b4 | 316 | //eeprom.format(8,3); |
Lightvalve | 16:903b5a4433b4 | 317 | //eeprom.frequency(5000000); //5M |
GiJeongKim | 0:51c43836c1d7 | 318 | enc.format(8,0); |
GiJeongKim | 0:51c43836c1d7 | 319 | enc.frequency(5000000); //5M |
Lightvalve | 11:82d8768d7351 | 320 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 321 | |
Lightvalve | 16:903b5a4433b4 | 322 | //rom |
Lightvalve | 19:23b7c1ad8683 | 323 | ROM_CALL_DATA(); |
Lightvalve | 16:903b5a4433b4 | 324 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 325 | |
GiJeongKim | 0:51c43836c1d7 | 326 | // ADC init |
jobuuu | 5:a4319f79457b | 327 | Init_ADC(); |
Lightvalve | 11:82d8768d7351 | 328 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 329 | |
GiJeongKim | 0:51c43836c1d7 | 330 | // Pwm init |
GiJeongKim | 0:51c43836c1d7 | 331 | Init_PWM(); |
GiJeongKim | 0:51c43836c1d7 | 332 | TIM4->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 333 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 334 | |
Lightvalve | 11:82d8768d7351 | 335 | // TMR3 init |
Lightvalve | 11:82d8768d7351 | 336 | Init_TMR3(); |
Lightvalve | 11:82d8768d7351 | 337 | TIM3->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 338 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 339 | |
Lightvalve | 50:3c630b5eba9f | 340 | // TMR2 init |
Lightvalve | 56:6f50d9d3bfee | 341 | // Init_TMR2(); |
Lightvalve | 56:6f50d9d3bfee | 342 | // TIM2->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 56:6f50d9d3bfee | 343 | // make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 344 | |
GiJeongKim | 0:51c43836c1d7 | 345 | // CAN |
jobuuu | 2:a1c0a37df760 | 346 | can.attach(&CAN_RX_HANDLER); |
Lightvalve | 11:82d8768d7351 | 347 | CAN_ID_INIT(); |
Lightvalve | 11:82d8768d7351 | 348 | make_delay(); |
Lightvalve | 34:bb2ca2fc2a8e | 349 | |
Lightvalve | 23:59218d4a256d | 350 | //Timer priority |
Lightvalve | 23:59218d4a256d | 351 | NVIC_SetPriority(TIM3_IRQn, 2); |
Lightvalve | 57:f4819de54e7a | 352 | //NVIC_SetPriority(TIM2_IRQn, 3); |
Lightvalve | 54:647072f5307a | 353 | NVIC_SetPriority(TIM4_IRQn, 3); |
Lightvalve | 34:bb2ca2fc2a8e | 354 | |
Lightvalve | 23:59218d4a256d | 355 | //can.reset(); |
Lightvalve | 19:23b7c1ad8683 | 356 | can.filter(msg.id, 0xFFFFF000, CANStandard); |
Lightvalve | 34:bb2ca2fc2a8e | 357 | |
GiJeongKim | 0:51c43836c1d7 | 358 | // spi _ enc |
GiJeongKim | 0:51c43836c1d7 | 359 | spi_enc_set_init(); |
Lightvalve | 11:82d8768d7351 | 360 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 361 | |
Lightvalve | 11:82d8768d7351 | 362 | //DAC init |
Lightvalve | 58:2eade98630e2 | 363 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 364 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 365 | dac_2 = 0.0f; |
Lightvalve | 58:2eade98630e2 | 366 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 367 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 368 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 369 | } |
Lightvalve | 11:82d8768d7351 | 370 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 371 | |
Lightvalve | 19:23b7c1ad8683 | 372 | for (int i=0; i<50; i++) { |
Lightvalve | 11:82d8768d7351 | 373 | if(i%2==0) |
Lightvalve | 38:118df027d851 | 374 | ID_index_array[i] = - i * 0.5f; |
Lightvalve | 11:82d8768d7351 | 375 | else |
Lightvalve | 38:118df027d851 | 376 | ID_index_array[i] = (i+1) * 0.5f; |
Lightvalve | 11:82d8768d7351 | 377 | } |
Lightvalve | 61:bc8c8270f0ab | 378 | |
Lightvalve | 61:bc8c8270f0ab | 379 | |
jobuuu | 6:df07d3491e3a | 380 | /************************************ |
jobuuu | 1:e04e563be5ce | 381 | *** Program is operating! |
jobuuu | 6:df07d3491e3a | 382 | *************************************/ |
GiJeongKim | 0:51c43836c1d7 | 383 | while(1) { |
Lightvalve | 66:a8e6799dbce3 | 384 | // if(timer_while==1000 && OPERATING_MODE==5) { |
Lightvalve | 66:a8e6799dbce3 | 385 | //if(timer_while==1000) { |
Lightvalve | 65:a2d7c63419c2 | 386 | //i2c |
Lightvalve | 66:a8e6799dbce3 | 387 | |
Lightvalve | 65:a2d7c63419c2 | 388 | read_field(i2c_slave_addr1); |
Lightvalve | 65:a2d7c63419c2 | 389 | if(DIR_VALVE_ENC < 0) value = 1023 - value; |
Lightvalve | 65:a2d7c63419c2 | 390 | // if(LED==1) { |
Lightvalve | 65:a2d7c63419c2 | 391 | // LED=0; |
Lightvalve | 65:a2d7c63419c2 | 392 | // } else |
Lightvalve | 65:a2d7c63419c2 | 393 | // LED = 1; |
Lightvalve | 65:a2d7c63419c2 | 394 | timer_while = 0; |
Lightvalve | 66:a8e6799dbce3 | 395 | //} |
Lightvalve | 66:a8e6799dbce3 | 396 | |
Lightvalve | 66:a8e6799dbce3 | 397 | timer_while ++; |
Lightvalve | 66:a8e6799dbce3 | 398 | |
Lightvalve | 73:f80dc3970c99 | 399 | if(NN_Control_Flag == 0) { |
Lightvalve | 73:f80dc3970c99 | 400 | LED = 0; |
Lightvalve | 73:f80dc3970c99 | 401 | } |
Lightvalve | 66:a8e6799dbce3 | 402 | |
Lightvalve | 73:f80dc3970c99 | 403 | else if(NN_Control_Flag == 1) { |
Lightvalve | 66:a8e6799dbce3 | 404 | float output1[32] = { 0.0f }; |
Lightvalve | 66:a8e6799dbce3 | 405 | float output2[32] = { 0.0f }; |
Lightvalve | 66:a8e6799dbce3 | 406 | float output3[32] = { 0.0f }; |
Lightvalve | 66:a8e6799dbce3 | 407 | float output = 0.0f; |
Lightvalve | 65:a2d7c63419c2 | 408 | |
Lightvalve | 66:a8e6799dbce3 | 409 | for (int index2 = 0; index2 < 32; index2++) { |
Lightvalve | 68:328e1be06f5d | 410 | for (int index1 = 0; index1 < num_input; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 411 | output1[index2] = output1[index2] |
Lightvalve | 73:f80dc3970c99 | 412 | + h1[index1][index2] * input_NN[index1]; |
Lightvalve | 66:a8e6799dbce3 | 413 | } |
Lightvalve | 66:a8e6799dbce3 | 414 | output1[index2] = output1[index2] + b1[index2]; |
Lightvalve | 66:a8e6799dbce3 | 415 | if (output1[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 416 | output1[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 417 | } |
Lightvalve | 66:a8e6799dbce3 | 418 | } |
Lightvalve | 65:a2d7c63419c2 | 419 | |
Lightvalve | 66:a8e6799dbce3 | 420 | for (int index2 = 0; index2 < 32; index2++) { |
Lightvalve | 66:a8e6799dbce3 | 421 | for (int index1 = 0; index1 < 32; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 422 | output2[index2] = output2[index2] |
Lightvalve | 66:a8e6799dbce3 | 423 | + h2[index1][index2] * output1[index1]; |
Lightvalve | 66:a8e6799dbce3 | 424 | } |
Lightvalve | 66:a8e6799dbce3 | 425 | output2[index2] = output2[index2] + b2[index2]; |
Lightvalve | 66:a8e6799dbce3 | 426 | if (output2[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 427 | output2[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 428 | } |
Lightvalve | 66:a8e6799dbce3 | 429 | } |
Lightvalve | 65:a2d7c63419c2 | 430 | |
Lightvalve | 66:a8e6799dbce3 | 431 | for (int index2 = 0; index2 < 32; index2++) { |
Lightvalve | 66:a8e6799dbce3 | 432 | for (int index1 = 0; index1 < 32; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 433 | output3[index2] = output3[index2] |
Lightvalve | 66:a8e6799dbce3 | 434 | + h3[index1][index2] * output2[index1]; |
Lightvalve | 66:a8e6799dbce3 | 435 | } |
Lightvalve | 66:a8e6799dbce3 | 436 | output3[index2] = output3[index2] + b3[index2]; |
Lightvalve | 66:a8e6799dbce3 | 437 | if (output3[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 438 | output3[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 439 | } |
Lightvalve | 65:a2d7c63419c2 | 440 | } |
Lightvalve | 66:a8e6799dbce3 | 441 | |
Lightvalve | 66:a8e6799dbce3 | 442 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 66:a8e6799dbce3 | 443 | for (int index1 = 0; index1 < 32; index1++) { |
Lightvalve | 73:f80dc3970c99 | 444 | output = output + hout[index1] * output3[index1]; |
Lightvalve | 66:a8e6799dbce3 | 445 | } |
Lightvalve | 66:a8e6799dbce3 | 446 | output = output + bout[index2]; |
Lightvalve | 73:f80dc3970c99 | 447 | |
Lightvalve | 66:a8e6799dbce3 | 448 | } |
Lightvalve | 73:f80dc3970c99 | 449 | output = 1.0f/(1.0f+exp(-output)); |
Lightvalve | 68:328e1be06f5d | 450 | output = output * 20000.0f - 10000.0f; |
Lightvalve | 66:a8e6799dbce3 | 451 | if(output>=0) { |
Lightvalve | 66:a8e6799dbce3 | 452 | valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 66:a8e6799dbce3 | 453 | } else { |
Lightvalve | 66:a8e6799dbce3 | 454 | valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 65:a2d7c63419c2 | 455 | } |
Lightvalve | 69:3995ffeaa786 | 456 | |
Lightvalve | 69:3995ffeaa786 | 457 | if(LED==1) { |
Lightvalve | 69:3995ffeaa786 | 458 | LED=0; |
Lightvalve | 69:3995ffeaa786 | 459 | } else |
Lightvalve | 69:3995ffeaa786 | 460 | LED = 1; |
Lightvalve | 69:3995ffeaa786 | 461 | |
Lightvalve | 65:a2d7c63419c2 | 462 | } |
Lightvalve | 62:b5452adfb2cd | 463 | |
Lightvalve | 69:3995ffeaa786 | 464 | |
Lightvalve | 66:a8e6799dbce3 | 465 | |
GiJeongKim | 0:51c43836c1d7 | 466 | } |
jobuuu | 1:e04e563be5ce | 467 | } |
jobuuu | 1:e04e563be5ce | 468 | |
Lightvalve | 33:91b17819ec30 | 469 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL) |
Lightvalve | 14:8e7590227d22 | 470 | { |
Lightvalve | 14:8e7590227d22 | 471 | |
Lightvalve | 13:747daba9cf59 | 472 | int i = 0; |
Lightvalve | 48:889798ff9329 | 473 | float Ref_Valve_Pos_FF = 0.0f; |
Lightvalve | 14:8e7590227d22 | 474 | for(i=0; i<VALVE_POS_NUM; i++) { |
Lightvalve | 14:8e7590227d22 | 475 | 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 | 476 | if(i==0) { |
Lightvalve | 50:3c630b5eba9f | 477 | if(JOINT_VEL[i+1] == JOINT_VEL[i]) { |
Lightvalve | 57:f4819de54e7a | 478 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 479 | } else { |
Lightvalve | 57:f4819de54e7a | 480 | 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 | 481 | } |
Lightvalve | 14:8e7590227d22 | 482 | } else { |
Lightvalve | 50:3c630b5eba9f | 483 | if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) { |
Lightvalve | 57:f4819de54e7a | 484 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 485 | } else { |
Lightvalve | 57:f4819de54e7a | 486 | 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 | 487 | } |
Lightvalve | 13:747daba9cf59 | 488 | } |
Lightvalve | 13:747daba9cf59 | 489 | break; |
Lightvalve | 13:747daba9cf59 | 490 | } |
Lightvalve | 13:747daba9cf59 | 491 | } |
Lightvalve | 14:8e7590227d22 | 492 | if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 493 | Ref_Valve_Pos_FF = (float) VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 494 | } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 495 | Ref_Valve_Pos_FF = (float) VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 496 | } |
Lightvalve | 36:a46e63505ed8 | 497 | |
Lightvalve | 57:f4819de54e7a | 498 | Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); |
Lightvalve | 13:747daba9cf59 | 499 | return Ref_Valve_Pos_FF; |
Lightvalve | 50:3c630b5eba9f | 500 | |
Lightvalve | 13:747daba9cf59 | 501 | } |
jobuuu | 6:df07d3491e3a | 502 | |
jobuuu | 6:df07d3491e3a | 503 | |
Lightvalve | 30:8d561f16383b | 504 | void VALVE_POS_CONTROL(float REF_VALVE_POS) |
Lightvalve | 14:8e7590227d22 | 505 | { |
Lightvalve | 13:747daba9cf59 | 506 | int i = 0; |
Lightvalve | 13:747daba9cf59 | 507 | |
Lightvalve | 38:118df027d851 | 508 | if(REF_VALVE_POS > VALVE_MAX_POS) { |
Lightvalve | 38:118df027d851 | 509 | REF_VALVE_POS = VALVE_MAX_POS; |
Lightvalve | 38:118df027d851 | 510 | } else if(REF_VALVE_POS < VALVE_MIN_POS) { |
Lightvalve | 38:118df027d851 | 511 | REF_VALVE_POS = VALVE_MIN_POS; |
Lightvalve | 38:118df027d851 | 512 | } |
Lightvalve | 38:118df027d851 | 513 | |
Lightvalve | 13:747daba9cf59 | 514 | valve_pos_err = REF_VALVE_POS - value; |
Lightvalve | 13:747daba9cf59 | 515 | valve_pos_err_diff = valve_pos_err - valve_pos_err_old; |
Lightvalve | 13:747daba9cf59 | 516 | valve_pos_err_old = valve_pos_err; |
Lightvalve | 13:747daba9cf59 | 517 | valve_pos_err_sum += valve_pos_err; |
Lightvalve | 13:747daba9cf59 | 518 | if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000; |
Lightvalve | 13:747daba9cf59 | 519 | if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000; |
Lightvalve | 13:747daba9cf59 | 520 | |
Lightvalve | 13:747daba9cf59 | 521 | 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 | 522 | |
Lightvalve | 18:b8adf1582ea3 | 523 | for(i=0; i<24; i++) { |
Lightvalve | 14:8e7590227d22 | 524 | if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) { |
Lightvalve | 14:8e7590227d22 | 525 | if(i==0) { |
Lightvalve | 48:889798ff9329 | 526 | 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 | 527 | } else { |
Lightvalve | 48:889798ff9329 | 528 | 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 | 529 | } |
Lightvalve | 13:747daba9cf59 | 530 | break; |
Lightvalve | 13:747daba9cf59 | 531 | } |
Lightvalve | 13:747daba9cf59 | 532 | } |
Lightvalve | 59:f308b1656d9c | 533 | Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; |
Lightvalve | 13:747daba9cf59 | 534 | } |
Lightvalve | 13:747daba9cf59 | 535 | |
Lightvalve | 14:8e7590227d22 | 536 | #define LT_MAX_IDX 57 |
Lightvalve | 30:8d561f16383b | 537 | 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 | 538 | -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 539 | -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 540 | 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 541 | 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 542 | 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f |
Lightvalve | 34:bb2ca2fc2a8e | 543 | }; // duty |
Lightvalve | 67:c2812cf26c38 | 544 | 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 | 545 | -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f, |
Lightvalve | 67:c2812cf26c38 | 546 | -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f, |
Lightvalve | 67:c2812cf26c38 | 547 | 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f, |
Lightvalve | 67:c2812cf26c38 | 548 | 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f, |
Lightvalve | 67:c2812cf26c38 | 549 | 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f |
Lightvalve | 34:bb2ca2fc2a8e | 550 | }; // mV |
Lightvalve | 13:747daba9cf59 | 551 | |
Lightvalve | 30:8d561f16383b | 552 | float PWM_duty_byLT(float Ref_V) |
Lightvalve | 14:8e7590227d22 | 553 | { |
Lightvalve | 30:8d561f16383b | 554 | float PWM_duty = 0.0f; |
Lightvalve | 13:747daba9cf59 | 555 | if(Ref_V<LT_Voltage_Output[0]) { |
Lightvalve | 30:8d561f16383b | 556 | PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0]; |
Lightvalve | 13:747daba9cf59 | 557 | } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) { |
Lightvalve | 30:8d561f16383b | 558 | PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1]; |
Lightvalve | 13:747daba9cf59 | 559 | } else { |
Lightvalve | 13:747daba9cf59 | 560 | int idx = 0; |
Lightvalve | 13:747daba9cf59 | 561 | for(idx=0; idx<LT_MAX_IDX-1; idx++) { |
Lightvalve | 30:8d561f16383b | 562 | float ini_x = LT_Voltage_Output[idx]; |
Lightvalve | 30:8d561f16383b | 563 | float fin_x = LT_Voltage_Output[idx+1]; |
Lightvalve | 30:8d561f16383b | 564 | float ini_y = LT_PWM_duty[idx]; |
Lightvalve | 30:8d561f16383b | 565 | float fin_y = LT_PWM_duty[idx+1]; |
Lightvalve | 13:747daba9cf59 | 566 | if(Ref_V>=ini_x && Ref_V<fin_x) { |
Lightvalve | 13:747daba9cf59 | 567 | PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y; |
Lightvalve | 13:747daba9cf59 | 568 | break; |
Lightvalve | 13:747daba9cf59 | 569 | } |
Lightvalve | 13:747daba9cf59 | 570 | } |
Lightvalve | 13:747daba9cf59 | 571 | } |
Lightvalve | 14:8e7590227d22 | 572 | |
Lightvalve | 13:747daba9cf59 | 573 | return PWM_duty; |
Lightvalve | 13:747daba9cf59 | 574 | } |
jobuuu | 6:df07d3491e3a | 575 | |
Lightvalve | 57:f4819de54e7a | 576 | |
Lightvalve | 57:f4819de54e7a | 577 | |
Lightvalve | 57:f4819de54e7a | 578 | |
Lightvalve | 57:f4819de54e7a | 579 | |
jobuuu | 2:a1c0a37df760 | 580 | /******************************************************************************* |
jobuuu | 2:a1c0a37df760 | 581 | TIMER INTERRUPT |
jobuuu | 2:a1c0a37df760 | 582 | *******************************************************************************/ |
jobuuu | 2:a1c0a37df760 | 583 | |
Lightvalve | 51:b46bed7fec80 | 584 | float FREQ_TMR4 = (float)FREQ_20k; |
Lightvalve | 51:b46bed7fec80 | 585 | float DT_TMR4 = (float)DT_20k; |
Lightvalve | 57:f4819de54e7a | 586 | long CNT_TMR4 = 0; |
Lightvalve | 57:f4819de54e7a | 587 | int TMR4_FREQ_10k = (int)FREQ_10k; |
jobuuu | 1:e04e563be5ce | 588 | extern "C" void TIM4_IRQHandler(void) |
jobuuu | 1:e04e563be5ce | 589 | { |
Lightvalve | 19:23b7c1ad8683 | 590 | if (TIM4->SR & TIM_SR_UIF ) { |
Lightvalve | 21:e5f1a43ea6f9 | 591 | |
Lightvalve | 21:e5f1a43ea6f9 | 592 | /******************************************************* |
Lightvalve | 21:e5f1a43ea6f9 | 593 | *** Sensor Read & Data Handling |
Lightvalve | 21:e5f1a43ea6f9 | 594 | ********************************************************/ |
Lightvalve | 13:747daba9cf59 | 595 | |
Lightvalve | 57:f4819de54e7a | 596 | //Encoder |
Lightvalve | 57:f4819de54e7a | 597 | if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) { |
Lightvalve | 57:f4819de54e7a | 598 | ENC_UPDATE(); |
Lightvalve | 57:f4819de54e7a | 599 | } |
Lightvalve | 61:bc8c8270f0ab | 600 | |
Lightvalve | 61:bc8c8270f0ab | 601 | ADC1->CR2 |= 0x40000000; |
Lightvalve | 58:2eade98630e2 | 602 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 603 | // Torque Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 604 | float pres_A_new = (((float) ADC1->DR) - 2047.5f); |
Lightvalve | 58:2eade98630e2 | 605 | double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz |
Lightvalve | 58:2eade98630e2 | 606 | pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new; |
Lightvalve | 67:c2812cf26c38 | 607 | torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE; |
Lightvalve | 67:c2812cf26c38 | 608 | |
Lightvalve | 67:c2812cf26c38 | 609 | |
Lightvalve | 67:c2812cf26c38 | 610 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 67:c2812cf26c38 | 611 | //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 67:c2812cf26c38 | 612 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 67:c2812cf26c38 | 613 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 67:c2812cf26c38 | 614 | // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 |
Lightvalve | 67:c2812cf26c38 | 615 | |
Lightvalve | 17:1865016ca2e7 | 616 | |
Lightvalve | 58:2eade98630e2 | 617 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 618 | // Pressure Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 619 | float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL); |
Lightvalve | 58:2eade98630e2 | 620 | float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL); |
Lightvalve | 58:2eade98630e2 | 621 | double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz |
Lightvalve | 58:2eade98630e2 | 622 | pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new; |
Lightvalve | 58:2eade98630e2 | 623 | pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new; |
Lightvalve | 58:2eade98630e2 | 624 | CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 58:2eade98630e2 | 625 | CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR; |
Lightvalve | 50:3c630b5eba9f | 626 | |
Lightvalve | 58:2eade98630e2 | 627 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator |
Lightvalve | 58:2eade98630e2 | 628 | 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 | 629 | } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator |
Lightvalve | 58:2eade98630e2 | 630 | 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 | 631 | } |
Lightvalve | 58:2eade98630e2 | 632 | } |
Lightvalve | 61:bc8c8270f0ab | 633 | |
Lightvalve | 58:2eade98630e2 | 634 | // //Pressure sensor A |
Lightvalve | 58:2eade98630e2 | 635 | // ADC1->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 58:2eade98630e2 | 636 | // //while((ADC1->SR & 0b10)); |
Lightvalve | 58:2eade98630e2 | 637 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 638 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 58:2eade98630e2 | 639 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 58:2eade98630e2 | 640 | // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later. |
Lightvalve | 58:2eade98630e2 | 641 | // |
Lightvalve | 58:2eade98630e2 | 642 | // |
Lightvalve | 58:2eade98630e2 | 643 | // //Pressure sensor B |
Lightvalve | 58:2eade98630e2 | 644 | // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 645 | // float pres_B_new = ((float)ADC2->DR); |
Lightvalve | 58:2eade98630e2 | 646 | // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B); |
Lightvalve | 58:2eade98630e2 | 647 | // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B; |
Lightvalve | 17:1865016ca2e7 | 648 | |
Lightvalve | 17:1865016ca2e7 | 649 | |
Lightvalve | 21:e5f1a43ea6f9 | 650 | //Current |
Lightvalve | 21:e5f1a43ea6f9 | 651 | //ADC3->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 25:3e6b574cab5c | 652 | //int raw_cur = ADC3->DR; |
Lightvalve | 21:e5f1a43ea6f9 | 653 | //while((ADC3->SR & 0b10)); |
Lightvalve | 51:b46bed7fec80 | 654 | float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz |
Lightvalve | 30:8d561f16383b | 655 | float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA |
Lightvalve | 30:8d561f16383b | 656 | cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur); |
Lightvalve | 25:3e6b574cab5c | 657 | //cur.sen = raw_cur; |
Lightvalve | 58:2eade98630e2 | 658 | |
Lightvalve | 57:f4819de54e7a | 659 | CNT_TMR4++; |
Lightvalve | 21:e5f1a43ea6f9 | 660 | } |
Lightvalve | 11:82d8768d7351 | 661 | TIM4->SR = 0x0; // reset the status register |
Lightvalve | 11:82d8768d7351 | 662 | } |
Lightvalve | 19:23b7c1ad8683 | 663 | |
Lightvalve | 19:23b7c1ad8683 | 664 | |
Lightvalve | 18:b8adf1582ea3 | 665 | int j =0; |
Lightvalve | 54:647072f5307a | 666 | float FREQ_TMR3 = (float)FREQ_5k; |
Lightvalve | 48:889798ff9329 | 667 | float DT_TMR3 = (float)DT_5k; |
Lightvalve | 45:35fa6884d0c6 | 668 | int cnt_trans = 0; |
Lightvalve | 48:889798ff9329 | 669 | double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f; |
Lightvalve | 57:f4819de54e7a | 670 | int can_rest =0; |
Lightvalve | 48:889798ff9329 | 671 | |
Lightvalve | 11:82d8768d7351 | 672 | extern "C" void TIM3_IRQHandler(void) |
Lightvalve | 21:e5f1a43ea6f9 | 673 | { |
Lightvalve | 19:23b7c1ad8683 | 674 | if (TIM3->SR & TIM_SR_UIF ) { |
Lightvalve | 57:f4819de54e7a | 675 | |
Lightvalve | 57:f4819de54e7a | 676 | if (((OPERATING_MODE&0b110)>>1) == 0) { |
Lightvalve | 57:f4819de54e7a | 677 | K_v = 0.4f; // Moog (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 678 | mV_PER_mA = 500.0f; // 5000mV/10mA |
Lightvalve | 57:f4819de54e7a | 679 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 680 | mA_PER_pulse = 0.001f; // 10mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 681 | } else if (((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 57:f4819de54e7a | 682 | K_v = 0.5f; // KNR (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 683 | mV_PER_mA = 166.6666f; // 5000mV/30mA |
Lightvalve | 57:f4819de54e7a | 684 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 685 | mA_PER_pulse = 0.003f; // 30mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 686 | } |
Lightvalve | 50:3c630b5eba9f | 687 | |
Lightvalve | 50:3c630b5eba9f | 688 | if(MODE_POS_FT_TRANS == 1) { |
Lightvalve | 48:889798ff9329 | 689 | alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 690 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 691 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 692 | if((float)cnt_trans * DT_TMR3 > 3.0f) |
Lightvalve | 45:35fa6884d0c6 | 693 | MODE_POS_FT_TRANS = 2; |
Lightvalve | 50:3c630b5eba9f | 694 | } else if(MODE_POS_FT_TRANS == 3) { |
Lightvalve | 48:889798ff9329 | 695 | alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 696 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 697 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 698 | if((float) cnt_trans * DT_TMR3 > 3.0f ) |
Lightvalve | 45:35fa6884d0c6 | 699 | MODE_POS_FT_TRANS = 0; |
Lightvalve | 50:3c630b5eba9f | 700 | } else if(MODE_POS_FT_TRANS == 2) { |
Lightvalve | 58:2eade98630e2 | 701 | alpha_trans = 1.0f; |
Lightvalve | 45:35fa6884d0c6 | 702 | cnt_trans = 0; |
Lightvalve | 50:3c630b5eba9f | 703 | } else { |
Lightvalve | 58:2eade98630e2 | 704 | alpha_trans = 0.0f; |
Lightvalve | 45:35fa6884d0c6 | 705 | cnt_trans = 0; |
Lightvalve | 45:35fa6884d0c6 | 706 | } |
Lightvalve | 45:35fa6884d0c6 | 707 | |
Lightvalve | 50:3c630b5eba9f | 708 | |
Lightvalve | 57:f4819de54e7a | 709 | int UTILITY_MODE = 0; |
Lightvalve | 57:f4819de54e7a | 710 | int CONTROL_MODE = 0; |
Lightvalve | 58:2eade98630e2 | 711 | |
Lightvalve | 57:f4819de54e7a | 712 | if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) { |
Lightvalve | 57:f4819de54e7a | 713 | UTILITY_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 714 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 715 | } else { |
Lightvalve | 57:f4819de54e7a | 716 | CONTROL_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 717 | UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 718 | } |
Lightvalve | 56:6f50d9d3bfee | 719 | |
Lightvalve | 56:6f50d9d3bfee | 720 | |
Lightvalve | 56:6f50d9d3bfee | 721 | |
Lightvalve | 57:f4819de54e7a | 722 | // UTILITY MODE ------------------------------------------------------------ |
Lightvalve | 56:6f50d9d3bfee | 723 | |
Lightvalve | 57:f4819de54e7a | 724 | switch (UTILITY_MODE) { |
Lightvalve | 57:f4819de54e7a | 725 | case MODE_NO_ACT: { |
Lightvalve | 13:747daba9cf59 | 726 | break; |
Lightvalve | 13:747daba9cf59 | 727 | } |
Lightvalve | 14:8e7590227d22 | 728 | |
Lightvalve | 14:8e7590227d22 | 729 | case MODE_TORQUE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 730 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 731 | if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 15:bd0d12728506 | 732 | CUR_TORQUE_sum += torq.sen; |
Lightvalve | 19:23b7c1ad8683 | 733 | |
Lightvalve | 14:8e7590227d22 | 734 | if (TMR3_COUNT_TORQUE_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 735 | CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 736 | CUR_TORQUE_sum = 0; |
Lightvalve | 14:8e7590227d22 | 737 | |
Lightvalve | 84:c355d3e52bf1 | 738 | TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean); |
Lightvalve | 19:23b7c1ad8683 | 739 | |
Lightvalve | 30:8d561f16383b | 740 | if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f; |
Lightvalve | 59:f308b1656d9c | 741 | if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 742 | |
Lightvalve | 16:903b5a4433b4 | 743 | //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); |
Lightvalve | 30:8d561f16383b | 744 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 745 | } |
Lightvalve | 13:747daba9cf59 | 746 | } else { |
Lightvalve | 58:2eade98630e2 | 747 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 748 | TMR3_COUNT_TORQUE_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 749 | CUR_TORQUE_sum = 0; |
Lightvalve | 13:747daba9cf59 | 750 | CUR_TORQUE_mean = 0; |
Lightvalve | 19:23b7c1ad8683 | 751 | |
Lightvalve | 16:903b5a4433b4 | 752 | ROM_RESET_DATA(); |
Lightvalve | 19:23b7c1ad8683 | 753 | |
Lightvalve | 30:8d561f16383b | 754 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 14:8e7590227d22 | 755 | |
Lightvalve | 13:747daba9cf59 | 756 | } |
Lightvalve | 14:8e7590227d22 | 757 | TMR3_COUNT_TORQUE_NULL++; |
Lightvalve | 13:747daba9cf59 | 758 | break; |
Lightvalve | 19:23b7c1ad8683 | 759 | } |
Lightvalve | 14:8e7590227d22 | 760 | |
Lightvalve | 50:3c630b5eba9f | 761 | // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 762 | // if (TMR3_COUNT_DEADZONE == 0) { |
Lightvalve | 50:3c630b5eba9f | 763 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 764 | // else temp_time = 0; |
Lightvalve | 50:3c630b5eba9f | 765 | // } |
Lightvalve | 50:3c630b5eba9f | 766 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 767 | // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 768 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 769 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 770 | // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 771 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 772 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 773 | // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 774 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 775 | // } |
Lightvalve | 50:3c630b5eba9f | 776 | // |
Lightvalve | 50:3c630b5eba9f | 777 | // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 778 | // 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 | 779 | // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0; |
Lightvalve | 50:3c630b5eba9f | 780 | // |
Lightvalve | 50:3c630b5eba9f | 781 | // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) { |
Lightvalve | 50:3c630b5eba9f | 782 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 783 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 784 | // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 785 | // if (CUR_VELOCITY_sum == 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 786 | // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 787 | // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1; |
Lightvalve | 50:3c630b5eba9f | 788 | // else DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 789 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 790 | // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 791 | // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 792 | // |
Lightvalve | 50:3c630b5eba9f | 793 | // // Position of Dead Zone |
Lightvalve | 50:3c630b5eba9f | 794 | // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0) |
Lightvalve | 50:3c630b5eba9f | 795 | // // | / | / |/ |
Lightvalve | 50:3c630b5eba9f | 796 | // // | ______/ ___|___/ ______/| |
Lightvalve | 50:3c630b5eba9f | 797 | // // |/ / | / | |
Lightvalve | 50:3c630b5eba9f | 798 | // // /| / | / | |
Lightvalve | 50:3c630b5eba9f | 799 | // // 0V 0V 0V |
Lightvalve | 50:3c630b5eba9f | 800 | // |
Lightvalve | 50:3c630b5eba9f | 801 | // if (DZ_temp_cnt2 < DZ_end) { |
Lightvalve | 50:3c630b5eba9f | 802 | // if (TMR3_COUNT_DEADZONE % 20 != 0) { |
Lightvalve | 50:3c630b5eba9f | 803 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 804 | // } else { |
Lightvalve | 50:3c630b5eba9f | 805 | // V_out -= DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 806 | // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 807 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 808 | // } |
Lightvalve | 50:3c630b5eba9f | 809 | // if (DZ_temp_cnt == 5) { |
Lightvalve | 50:3c630b5eba9f | 810 | // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 811 | // else VALVE_DEADZONE_PLUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 812 | // DZ_dir = -DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 813 | // DZ_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 814 | // DZ_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 815 | // } |
Lightvalve | 50:3c630b5eba9f | 816 | // } else { |
Lightvalve | 50:3c630b5eba9f | 817 | // TMR3_COUNT_DEADZONE = -1; |
Lightvalve | 50:3c630b5eba9f | 818 | // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2; |
Lightvalve | 50:3c630b5eba9f | 819 | // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) { |
Lightvalve | 50:3c630b5eba9f | 820 | // VALVE_DEADZONE_PLUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 821 | // VALVE_DEADZONE_MINUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 822 | // } |
Lightvalve | 50:3c630b5eba9f | 823 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 824 | // |
Lightvalve | 50:3c630b5eba9f | 825 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 826 | // |
Lightvalve | 50:3c630b5eba9f | 827 | // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS); |
Lightvalve | 50:3c630b5eba9f | 828 | // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS); |
Lightvalve | 50:3c630b5eba9f | 829 | // |
Lightvalve | 50:3c630b5eba9f | 830 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 831 | // DZ_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 832 | // } |
Lightvalve | 50:3c630b5eba9f | 833 | // } |
Lightvalve | 50:3c630b5eba9f | 834 | // TMR3_COUNT_DEADZONE++; |
Lightvalve | 50:3c630b5eba9f | 835 | // break; |
Lightvalve | 50:3c630b5eba9f | 836 | // } |
Lightvalve | 14:8e7590227d22 | 837 | |
Lightvalve | 14:8e7590227d22 | 838 | case MODE_FIND_HOME: { |
Lightvalve | 29:69f3f5445d6d | 839 | if (FINDHOME_STAGE == FINDHOME_INIT) { |
Lightvalve | 14:8e7590227d22 | 840 | cnt_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 841 | cnt_vel_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 842 | //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO |
Lightvalve | 59:f308b1656d9c | 843 | pos.ref = pos.sen; |
Lightvalve | 59:f308b1656d9c | 844 | vel.ref = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 845 | FINDHOME_STAGE = FINDHOME_GOTOLIMIT; |
Lightvalve | 29:69f3f5445d6d | 846 | } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) { |
Lightvalve | 67:c2812cf26c38 | 847 | int cnt_check_enc = (TMR_FREQ_5k/20); |
Lightvalve | 29:69f3f5445d6d | 848 | if(cnt_findhome%cnt_check_enc == 0) { |
Lightvalve | 29:69f3f5445d6d | 849 | FINDHOME_POSITION = pos.sen; |
Lightvalve | 29:69f3f5445d6d | 850 | FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD; |
Lightvalve | 29:69f3f5445d6d | 851 | FINDHOME_POSITION_OLD = FINDHOME_POSITION; |
Lightvalve | 29:69f3f5445d6d | 852 | } |
Lightvalve | 29:69f3f5445d6d | 853 | cnt_findhome++; |
Lightvalve | 14:8e7590227d22 | 854 | |
Lightvalve | 29:69f3f5445d6d | 855 | if (abs(FINDHOME_VELOCITY) <= 1) { |
Lightvalve | 29:69f3f5445d6d | 856 | cnt_vel_findhome = cnt_vel_findhome + 1; |
Lightvalve | 29:69f3f5445d6d | 857 | } else { |
Lightvalve | 29:69f3f5445d6d | 858 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 859 | } |
Lightvalve | 19:23b7c1ad8683 | 860 | |
Lightvalve | 57:f4819de54e7a | 861 | if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec |
Lightvalve | 29:69f3f5445d6d | 862 | //REFERENCE_MODE = MODE_REF_NO_ACT; |
Lightvalve | 67:c2812cf26c38 | 863 | if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f; |
Lightvalve | 67:c2812cf26c38 | 864 | else pos.ref = pos.ref - 12.0f; |
Lightvalve | 61:bc8c8270f0ab | 865 | |
Lightvalve | 59:f308b1656d9c | 866 | // pos.err = pos.ref_home_pos - pos.sen; |
Lightvalve | 59:f308b1656d9c | 867 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 868 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f; |
Lightvalve | 59:f308b1656d9c | 869 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 870 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 871 | |
Lightvalve | 59:f308b1656d9c | 872 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 59:f308b1656d9c | 873 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 874 | |
Lightvalve | 34:bb2ca2fc2a8e | 875 | |
Lightvalve | 29:69f3f5445d6d | 876 | } else { |
Lightvalve | 29:69f3f5445d6d | 877 | ENC_SET(HOMEPOS_OFFSET); |
Lightvalve | 67:c2812cf26c38 | 878 | // ENC_SET_ZERO(); |
Lightvalve | 29:69f3f5445d6d | 879 | INIT_REF_POS = HOMEPOS_OFFSET; |
Lightvalve | 29:69f3f5445d6d | 880 | REF_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 881 | REF_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 882 | FINDHOME_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 883 | FINDHOME_POSITION_OLD = 0; |
Lightvalve | 29:69f3f5445d6d | 884 | FINDHOME_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 885 | cnt_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 886 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 887 | FINDHOME_STAGE = FINDHOME_ZEROPOSE; |
Lightvalve | 67:c2812cf26c38 | 888 | |
Lightvalve | 67:c2812cf26c38 | 889 | |
Lightvalve | 67:c2812cf26c38 | 890 | cnt_findhome = 0; |
Lightvalve | 67:c2812cf26c38 | 891 | pos.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 892 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 893 | pos.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 894 | vel.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 895 | //FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 67:c2812cf26c38 | 896 | //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 897 | |
Lightvalve | 67:c2812cf26c38 | 898 | |
Lightvalve | 29:69f3f5445d6d | 899 | } |
Lightvalve | 29:69f3f5445d6d | 900 | } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) { |
Lightvalve | 29:69f3f5445d6d | 901 | int T_move = 2*TMR_FREQ_5k; |
Lightvalve | 59:f308b1656d9c | 902 | pos.ref = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS; |
Lightvalve | 67:c2812cf26c38 | 903 | //pos.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 904 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 905 | |
Lightvalve | 29:69f3f5445d6d | 906 | // input for position control |
Lightvalve | 67:c2812cf26c38 | 907 | |
Lightvalve | 67:c2812cf26c38 | 908 | // CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 909 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 910 | |
Lightvalve | 67:c2812cf26c38 | 911 | double torq_ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 912 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 913 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 67:c2812cf26c38 | 914 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 915 | |
Lightvalve | 67:c2812cf26c38 | 916 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 67:c2812cf26c38 | 917 | |
Lightvalve | 67:c2812cf26c38 | 918 | double I_REF_POS = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 919 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 67:c2812cf26c38 | 920 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 67:c2812cf26c38 | 921 | |
Lightvalve | 67:c2812cf26c38 | 922 | double temp_vel_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 923 | double temp_vel_torq = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 924 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 67:c2812cf26c38 | 925 | |
Lightvalve | 69:3995ffeaa786 | 926 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 67:c2812cf26c38 | 927 | 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 | 928 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 929 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 67:c2812cf26c38 | 930 | 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 | 931 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 67:c2812cf26c38 | 932 | } |
Lightvalve | 67:c2812cf26c38 | 933 | 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 | 934 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 67:c2812cf26c38 | 935 | |
Lightvalve | 67:c2812cf26c38 | 936 | I_REF = I_REF_POS; |
Lightvalve | 67:c2812cf26c38 | 937 | |
Lightvalve | 67:c2812cf26c38 | 938 | |
Lightvalve | 67:c2812cf26c38 | 939 | |
Lightvalve | 67:c2812cf26c38 | 940 | } else { |
Lightvalve | 67:c2812cf26c38 | 941 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 942 | 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 | 943 | |
Lightvalve | 67:c2812cf26c38 | 944 | if (VALVE_POS_RAW_FORCE_FB >= 0) { |
Lightvalve | 67:c2812cf26c38 | 945 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS; |
Lightvalve | 67:c2812cf26c38 | 946 | } else { |
Lightvalve | 67:c2812cf26c38 | 947 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS; |
Lightvalve | 67:c2812cf26c38 | 948 | } |
Lightvalve | 67:c2812cf26c38 | 949 | |
Lightvalve | 67:c2812cf26c38 | 950 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 67:c2812cf26c38 | 951 | |
Lightvalve | 67:c2812cf26c38 | 952 | V_out = (float) Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 953 | |
Lightvalve | 67:c2812cf26c38 | 954 | } |
Lightvalve | 67:c2812cf26c38 | 955 | |
Lightvalve | 67:c2812cf26c38 | 956 | |
Lightvalve | 67:c2812cf26c38 | 957 | |
Lightvalve | 67:c2812cf26c38 | 958 | |
Lightvalve | 59:f308b1656d9c | 959 | // pos.err = pos.ref - (float)pos.sen; |
Lightvalve | 59:f308b1656d9c | 960 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 961 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 59:f308b1656d9c | 962 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 963 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 29:69f3f5445d6d | 964 | |
Lightvalve | 29:69f3f5445d6d | 965 | cnt_findhome++; |
Lightvalve | 29:69f3f5445d6d | 966 | if (cnt_findhome >= T_move) { |
Lightvalve | 29:69f3f5445d6d | 967 | //REFERENCE_MODE = MODE_REF_DIRECT; |
Lightvalve | 29:69f3f5445d6d | 968 | cnt_findhome = 0; |
Lightvalve | 30:8d561f16383b | 969 | pos.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 970 | vel.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 971 | pos.ref_home_pos = 0.0f; |
Lightvalve | 30:8d561f16383b | 972 | vel.ref_home_pos = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 973 | FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 57:f4819de54e7a | 974 | CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 29:69f3f5445d6d | 975 | } |
Lightvalve | 13:747daba9cf59 | 976 | } |
Lightvalve | 19:23b7c1ad8683 | 977 | |
Lightvalve | 13:747daba9cf59 | 978 | break; |
Lightvalve | 13:747daba9cf59 | 979 | } |
Lightvalve | 14:8e7590227d22 | 980 | |
Lightvalve | 50:3c630b5eba9f | 981 | // case MODE_VALVE_GAIN_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 982 | // if (TMR3_COUNT_FLOWRATE == 0) { |
Lightvalve | 50:3c630b5eba9f | 983 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 984 | // else { |
Lightvalve | 50:3c630b5eba9f | 985 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 986 | // temp_time = (int) (0.5f * (float) TMR_FREQ_5k); |
Lightvalve | 50:3c630b5eba9f | 987 | // } |
Lightvalve | 50:3c630b5eba9f | 988 | // } |
Lightvalve | 50:3c630b5eba9f | 989 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 990 | // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 991 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 992 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 993 | // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 994 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 995 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 996 | // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 997 | // need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 998 | // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 999 | // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1000 | // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init; |
Lightvalve | 50:3c630b5eba9f | 1001 | // } |
Lightvalve | 50:3c630b5eba9f | 1002 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 1003 | // } |
Lightvalve | 50:3c630b5eba9f | 1004 | // TMR3_COUNT_FLOWRATE++; |
Lightvalve | 50:3c630b5eba9f | 1005 | // if (TMR3_COUNT_FLOWRATE > temp_time) { |
Lightvalve | 50:3c630b5eba9f | 1006 | // if (flag_flowrate % 2 == 0) { // (+) |
Lightvalve | 50:3c630b5eba9f | 1007 | // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1008 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1009 | // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1010 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1011 | // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1012 | // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000 |
Lightvalve | 50:3c630b5eba9f | 1013 | // // 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 | 1014 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1015 | // } |
Lightvalve | 50:3c630b5eba9f | 1016 | // } else if (flag_flowrate % 2 == 1) { // (-) |
Lightvalve | 50:3c630b5eba9f | 1017 | // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1018 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1019 | // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1020 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1021 | // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1022 | // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0f * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); |
Lightvalve | 50:3c630b5eba9f | 1023 | // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec |
Lightvalve | 50:3c630b5eba9f | 1024 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1025 | // } |
Lightvalve | 50:3c630b5eba9f | 1026 | // } |
Lightvalve | 50:3c630b5eba9f | 1027 | // if (fl_temp_cnt2 == 100) { |
Lightvalve | 50:3c630b5eba9f | 1028 | // |
Lightvalve | 50:3c630b5eba9f | 1029 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1030 | // |
Lightvalve | 50:3c630b5eba9f | 1031 | // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1032 | // cur_vel_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1033 | // fl_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1034 | // fl_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1035 | // flag_flowrate++; |
Lightvalve | 50:3c630b5eba9f | 1036 | // } |
Lightvalve | 50:3c630b5eba9f | 1037 | // if (flag_flowrate == 10) { |
Lightvalve | 50:3c630b5eba9f | 1038 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1039 | // flag_flowrate = 0; |
Lightvalve | 50:3c630b5eba9f | 1040 | // TMR3_COUNT_FLOWRATE = 0; |
Lightvalve | 50:3c630b5eba9f | 1041 | // valve_gain_repeat_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1042 | // if (valve_gain_repeat_cnt >= 1) { |
Lightvalve | 50:3c630b5eba9f | 1043 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1044 | // valve_gain_repeat_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1045 | // } |
Lightvalve | 50:3c630b5eba9f | 1046 | // |
Lightvalve | 50:3c630b5eba9f | 1047 | // } |
Lightvalve | 50:3c630b5eba9f | 1048 | // break; |
Lightvalve | 50:3c630b5eba9f | 1049 | // } |
Lightvalve | 50:3c630b5eba9f | 1050 | // |
Lightvalve | 50:3c630b5eba9f | 1051 | // } |
Lightvalve | 14:8e7590227d22 | 1052 | case MODE_PRESSURE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1053 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1054 | if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 14:8e7590227d22 | 1055 | CUR_PRES_A_sum += pres_A.sen; |
Lightvalve | 14:8e7590227d22 | 1056 | CUR_PRES_B_sum += pres_B.sen; |
Lightvalve | 14:8e7590227d22 | 1057 | |
Lightvalve | 14:8e7590227d22 | 1058 | if (TMR3_COUNT_PRES_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1059 | CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f; |
Lightvalve | 30:8d561f16383b | 1060 | CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1061 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1062 | CUR_PRES_B_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1063 | |
Lightvalve | 38:118df027d851 | 1064 | float VREF_NullingGain = 0.0003f; |
Lightvalve | 58:2eade98630e2 | 1065 | PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean; |
Lightvalve | 58:2eade98630e2 | 1066 | PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean; |
Lightvalve | 14:8e7590227d22 | 1067 | |
Lightvalve | 30:8d561f16383b | 1068 | if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1069 | if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f; |
Lightvalve | 30:8d561f16383b | 1070 | if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1071 | if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f; |
Lightvalve | 19:23b7c1ad8683 | 1072 | |
Lightvalve | 30:8d561f16383b | 1073 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1074 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1075 | } |
Lightvalve | 13:747daba9cf59 | 1076 | } else { |
Lightvalve | 57:f4819de54e7a | 1077 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1078 | TMR3_COUNT_PRES_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1079 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1080 | CUR_PRES_B_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1081 | CUR_PRES_A_mean = 0; |
Lightvalve | 13:747daba9cf59 | 1082 | CUR_PRES_B_mean = 0; |
Lightvalve | 14:8e7590227d22 | 1083 | |
Lightvalve | 16:903b5a4433b4 | 1084 | ROM_RESET_DATA(); |
Lightvalve | 19:23b7c1ad8683 | 1085 | |
Lightvalve | 30:8d561f16383b | 1086 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1087 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 17:1865016ca2e7 | 1088 | //pc.printf("nulling end"); |
Lightvalve | 13:747daba9cf59 | 1089 | } |
Lightvalve | 14:8e7590227d22 | 1090 | TMR3_COUNT_PRES_NULL++; |
Lightvalve | 13:747daba9cf59 | 1091 | break; |
Lightvalve | 13:747daba9cf59 | 1092 | } |
Lightvalve | 14:8e7590227d22 | 1093 | |
Lightvalve | 50:3c630b5eba9f | 1094 | // case MODE_PRESSURE_SENSOR_CALIB: { |
Lightvalve | 50:3c630b5eba9f | 1095 | // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1096 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1097 | // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1098 | // CUR_PRES_A_sum += CUR_PRES_A; |
Lightvalve | 50:3c630b5eba9f | 1099 | // } |
Lightvalve | 50:3c630b5eba9f | 1100 | // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1101 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1102 | // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1103 | // CUR_PRES_B_sum += CUR_PRES_B; |
Lightvalve | 50:3c630b5eba9f | 1104 | // } |
Lightvalve | 50:3c630b5eba9f | 1105 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1106 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1107 | // TMR3_COUNT_PRES_CALIB = 0; |
Lightvalve | 50:3c630b5eba9f | 1108 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1109 | // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL; |
Lightvalve | 50:3c630b5eba9f | 1110 | // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1111 | // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL; |
Lightvalve | 50:3c630b5eba9f | 1112 | // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1113 | // CUR_PRES_A_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1114 | // CUR_PRES_B_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1115 | // CUR_PRES_A_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1116 | // CUR_PRES_B_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1117 | // |
Lightvalve | 50:3c630b5eba9f | 1118 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1119 | // |
Lightvalve | 50:3c630b5eba9f | 1120 | // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1121 | // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1122 | // } |
Lightvalve | 50:3c630b5eba9f | 1123 | // TMR3_COUNT_PRES_CALIB++; |
Lightvalve | 50:3c630b5eba9f | 1124 | // break; |
Lightvalve | 50:3c630b5eba9f | 1125 | // } |
Lightvalve | 19:23b7c1ad8683 | 1126 | |
Lightvalve | 50:3c630b5eba9f | 1127 | // case MODE_ROTARY_FRICTION_TUNING: { |
Lightvalve | 50:3c630b5eba9f | 1128 | // 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 | 1129 | // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f); |
Lightvalve | 50:3c630b5eba9f | 1130 | // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1131 | // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1132 | // TMR3_COUNT_ROTARY_FRIC_TUNE++; |
Lightvalve | 50:3c630b5eba9f | 1133 | // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1134 | // TMR3_COUNT_ROTARY_FRIC_TUNE = 0; |
Lightvalve | 50:3c630b5eba9f | 1135 | // V_out = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1136 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1137 | // } |
Lightvalve | 50:3c630b5eba9f | 1138 | // break; |
Lightvalve | 50:3c630b5eba9f | 1139 | // } |
Lightvalve | 14:8e7590227d22 | 1140 | |
Lightvalve | 14:8e7590227d22 | 1141 | case MODE_DDV_POS_VS_PWM_ID: { |
Lightvalve | 59:f308b1656d9c | 1142 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1143 | VALVE_ID_timer = VALVE_ID_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1144 | |
Lightvalve | 14:8e7590227d22 | 1145 | if(VALVE_ID_timer < TMR_FREQ_5k*1) { |
Lightvalve | 60:64181f1d3e60 | 1146 | Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f); |
Lightvalve | 14:8e7590227d22 | 1147 | } else if(VALVE_ID_timer < TMR_FREQ_5k*2) { |
Lightvalve | 59:f308b1656d9c | 1148 | Vout.ref = 1000.0f*(ID_index_array[ID_index]); |
Lightvalve | 14:8e7590227d22 | 1149 | } else if(VALVE_ID_timer == TMR_FREQ_5k*2) { |
Lightvalve | 13:747daba9cf59 | 1150 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1151 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1152 | } else if(VALVE_ID_timer < TMR_FREQ_5k*3) { |
Lightvalve | 13:747daba9cf59 | 1153 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1154 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 14:8e7590227d22 | 1155 | } else if(VALVE_ID_timer == TMR_FREQ_5k*3) { |
Lightvalve | 59:f308b1656d9c | 1156 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1157 | } else { |
Lightvalve | 13:747daba9cf59 | 1158 | VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num; |
Lightvalve | 13:747daba9cf59 | 1159 | VALVE_ID_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1160 | ID_index= ID_index +1; |
Lightvalve | 13:747daba9cf59 | 1161 | } |
Lightvalve | 14:8e7590227d22 | 1162 | |
Lightvalve | 17:1865016ca2e7 | 1163 | if(ID_index>=25) { |
Lightvalve | 13:747daba9cf59 | 1164 | int i; |
Lightvalve | 13:747daba9cf59 | 1165 | VALVE_POS_AVG_OLD = VALVE_POS_AVG[0]; |
Lightvalve | 17:1865016ca2e7 | 1166 | for(i=0; i<25; i++) { |
Lightvalve | 13:747daba9cf59 | 1167 | VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]); |
Lightvalve | 14:8e7590227d22 | 1168 | if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1169 | VALVE_MAX_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1170 | VALVE_POS_AVG_OLD = VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1171 | } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1172 | VALVE_MIN_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1173 | VALVE_POS_AVG_OLD = VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1174 | } |
Lightvalve | 13:747daba9cf59 | 1175 | } |
Lightvalve | 59:f308b1656d9c | 1176 | ROM_RESET_DATA(); |
Lightvalve | 13:747daba9cf59 | 1177 | ID_index = 0; |
Lightvalve | 57:f4819de54e7a | 1178 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1179 | } |
Lightvalve | 14:8e7590227d22 | 1180 | |
Lightvalve | 14:8e7590227d22 | 1181 | |
Lightvalve | 13:747daba9cf59 | 1182 | break; |
Lightvalve | 13:747daba9cf59 | 1183 | } |
Lightvalve | 14:8e7590227d22 | 1184 | |
Lightvalve | 14:8e7590227d22 | 1185 | case MODE_DDV_DEADZONE_AND_CENTER: { |
Lightvalve | 59:f308b1656d9c | 1186 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1187 | VALVE_DZ_timer = VALVE_DZ_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1188 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1189 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1190 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1191 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1192 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1193 | pos_plus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1194 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1195 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1196 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1197 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1198 | pos_minus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1199 | } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1200 | 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 | 1201 | } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1202 | 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 | 1203 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1204 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 30:8d561f16383b | 1205 | } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1206 | 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 | 1207 | DDV_POS_AVG = VALVE_POS_TMP / data_num; |
Lightvalve | 14:8e7590227d22 | 1208 | START_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1209 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1210 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1211 | |
Lightvalve | 30:8d561f16383b | 1212 | } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1213 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1214 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1215 | |
Lightvalve | 30:8d561f16383b | 1216 | } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1217 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1218 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1219 | |
Lightvalve | 30:8d561f16383b | 1220 | } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1221 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1222 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1223 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1224 | |
Lightvalve | 60:64181f1d3e60 | 1225 | if((FINAL_POS - START_POS)>200) { |
Lightvalve | 13:747daba9cf59 | 1226 | DZ_case = 1; |
Lightvalve | 60:64181f1d3e60 | 1227 | } else if((FINAL_POS - START_POS)<-200) { |
Lightvalve | 13:747daba9cf59 | 1228 | DZ_case = -1; |
Lightvalve | 14:8e7590227d22 | 1229 | } else { |
Lightvalve | 13:747daba9cf59 | 1230 | DZ_case = 0; |
Lightvalve | 13:747daba9cf59 | 1231 | } |
Lightvalve | 61:bc8c8270f0ab | 1232 | |
Lightvalve | 60:64181f1d3e60 | 1233 | CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6)); |
Lightvalve | 50:3c630b5eba9f | 1234 | |
Lightvalve | 13:747daba9cf59 | 1235 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1236 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1237 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1238 | Ref_Valve_Pos_Old = DDV_POS_AVG; |
Lightvalve | 13:747daba9cf59 | 1239 | DZ_NUM = 1; |
Lightvalve | 13:747daba9cf59 | 1240 | DZ_index = 1; |
Lightvalve | 14:8e7590227d22 | 1241 | |
Lightvalve | 13:747daba9cf59 | 1242 | } |
Lightvalve | 19:23b7c1ad8683 | 1243 | } else { |
Lightvalve | 14:8e7590227d22 | 1244 | if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) { |
Lightvalve | 30:8d561f16383b | 1245 | if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1246 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 60:64181f1d3e60 | 1247 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1248 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1249 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1250 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1251 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1252 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1253 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1254 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1255 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1256 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1257 | } |
Lightvalve | 14:8e7590227d22 | 1258 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1259 | |
Lightvalve | 30:8d561f16383b | 1260 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1261 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1262 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1263 | |
Lightvalve | 14:8e7590227d22 | 1264 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 1265 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1266 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 1267 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1268 | } else { |
Lightvalve | 13:747daba9cf59 | 1269 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 1270 | } |
Lightvalve | 14:8e7590227d22 | 1271 | |
Lightvalve | 13:747daba9cf59 | 1272 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1273 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1274 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1275 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 1276 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 1277 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 1278 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1279 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1280 | } |
Lightvalve | 13:747daba9cf59 | 1281 | } |
Lightvalve | 14:8e7590227d22 | 1282 | } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) { |
Lightvalve | 30:8d561f16383b | 1283 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1284 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 60:64181f1d3e60 | 1285 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1286 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1287 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1288 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1289 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1290 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1291 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1292 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1293 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1294 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1295 | } |
Lightvalve | 14:8e7590227d22 | 1296 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1297 | |
Lightvalve | 30:8d561f16383b | 1298 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1299 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1300 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1301 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1302 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1303 | |
Lightvalve | 14:8e7590227d22 | 1304 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 60:64181f1d3e60 | 1305 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1306 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 1307 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1308 | } else { |
Lightvalve | 60:64181f1d3e60 | 1309 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 1310 | } |
Lightvalve | 14:8e7590227d22 | 1311 | |
Lightvalve | 13:747daba9cf59 | 1312 | VALVE_DZ_timer = 0; |
Lightvalve | 60:64181f1d3e60 | 1313 | DZ_index= DZ_index * 2; |
Lightvalve | 14:8e7590227d22 | 1314 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1315 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 1316 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 1317 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 1318 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 1319 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 19:23b7c1ad8683 | 1320 | |
Lightvalve | 16:903b5a4433b4 | 1321 | ROM_RESET_DATA(); |
Lightvalve | 34:bb2ca2fc2a8e | 1322 | |
Lightvalve | 60:64181f1d3e60 | 1323 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1324 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1325 | } |
Lightvalve | 13:747daba9cf59 | 1326 | } |
Lightvalve | 14:8e7590227d22 | 1327 | } else if(DZ_case == 0 && DZ_NUM ==1) { |
Lightvalve | 30:8d561f16383b | 1328 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1329 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 60:64181f1d3e60 | 1330 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1331 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1332 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1333 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1334 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1335 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1336 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1337 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1338 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1339 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1340 | } |
Lightvalve | 14:8e7590227d22 | 1341 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1342 | |
Lightvalve | 30:8d561f16383b | 1343 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1344 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1345 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1346 | |
Lightvalve | 14:8e7590227d22 | 1347 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 1348 | DZ_DIRECTION = 1; |
Lightvalve | 14:8e7590227d22 | 1349 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 1350 | DZ_DIRECTION = -1; |
Lightvalve | 14:8e7590227d22 | 1351 | } else { |
Lightvalve | 13:747daba9cf59 | 1352 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1353 | } |
Lightvalve | 13:747daba9cf59 | 1354 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1355 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1356 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1357 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 1358 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 1359 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 1360 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1361 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1362 | } |
Lightvalve | 13:747daba9cf59 | 1363 | } |
Lightvalve | 14:8e7590227d22 | 1364 | } else { |
Lightvalve | 30:8d561f16383b | 1365 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1366 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 60:64181f1d3e60 | 1367 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1368 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1369 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1370 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1371 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1372 | valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1373 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1374 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1375 | } else if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1376 | valve_pos.ref = VALVE_MAX_POS - 1; |
Lightvalve | 13:747daba9cf59 | 1377 | } |
Lightvalve | 14:8e7590227d22 | 1378 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1379 | |
Lightvalve | 30:8d561f16383b | 1380 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1381 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1382 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1383 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1384 | FINAL_POS = pos.sen; |
Lightvalve | 61:bc8c8270f0ab | 1385 | |
Lightvalve | 60:64181f1d3e60 | 1386 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 13:747daba9cf59 | 1387 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 1388 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 1389 | DZ_DIRECTION = -1; |
Lightvalve | 60:64181f1d3e60 | 1390 | } else { |
Lightvalve | 13:747daba9cf59 | 1391 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 1392 | } |
Lightvalve | 14:8e7590227d22 | 1393 | |
Lightvalve | 13:747daba9cf59 | 1394 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1395 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1396 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1397 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 1398 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 1399 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 1400 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 1401 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 61:bc8c8270f0ab | 1402 | |
Lightvalve | 59:f308b1656d9c | 1403 | ROM_RESET_DATA(); |
Lightvalve | 34:bb2ca2fc2a8e | 1404 | |
Lightvalve | 57:f4819de54e7a | 1405 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1406 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1407 | } |
Lightvalve | 13:747daba9cf59 | 1408 | } |
Lightvalve | 13:747daba9cf59 | 1409 | } |
Lightvalve | 14:8e7590227d22 | 1410 | } |
Lightvalve | 13:747daba9cf59 | 1411 | break; |
Lightvalve | 13:747daba9cf59 | 1412 | } |
Lightvalve | 14:8e7590227d22 | 1413 | |
Lightvalve | 14:8e7590227d22 | 1414 | case MODE_DDV_POS_VS_FLOWRATE: { |
Lightvalve | 59:f308b1656d9c | 1415 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1416 | VALVE_FR_timer = VALVE_FR_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1417 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1418 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1419 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 23:59218d4a256d | 1420 | //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 30:8d561f16383b | 1421 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1422 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1423 | pos_plus_end = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1424 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7)); |
Lightvalve | 30:8d561f16383b | 1425 | } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1426 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1427 | } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1428 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8)); |
Lightvalve | 59:f308b1656d9c | 1429 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1430 | pos_minus_end = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1431 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1432 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 1433 | valve_pos.ref = (float) VALVE_CENTER; |
Lightvalve | 13:747daba9cf59 | 1434 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 1435 | max_check = 0; |
Lightvalve | 13:747daba9cf59 | 1436 | min_check = 0; |
Lightvalve | 13:747daba9cf59 | 1437 | } |
Lightvalve | 14:8e7590227d22 | 1438 | } else { |
Lightvalve | 30:8d561f16383b | 1439 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1440 | //V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 59:f308b1656d9c | 1441 | pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 59:f308b1656d9c | 1442 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1443 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 13:747daba9cf59 | 1444 | data_num = 0; |
Lightvalve | 57:f4819de54e7a | 1445 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 1446 | |
Lightvalve | 14:8e7590227d22 | 1447 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1448 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1449 | } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f4819de54e7a | 1450 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 1451 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 13:747daba9cf59 | 1452 | data_num = data_num + 1; |
Lightvalve | 30:8d561f16383b | 1453 | if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) { |
Lightvalve | 14:8e7590227d22 | 1454 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1455 | one_period_end = 1; |
Lightvalve | 13:747daba9cf59 | 1456 | } |
Lightvalve | 30:8d561f16383b | 1457 | } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1458 | FINAL_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1459 | one_period_end = 1; |
Lightvalve | 59:f308b1656d9c | 1460 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1461 | } |
Lightvalve | 14:8e7590227d22 | 1462 | |
Lightvalve | 14:8e7590227d22 | 1463 | if(one_period_end == 1) { |
Lightvalve | 14:8e7590227d22 | 1464 | if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 13:747daba9cf59 | 1465 | max_check = 1; |
Lightvalve | 14:8e7590227d22 | 1466 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 13:747daba9cf59 | 1467 | min_check = 1; |
Lightvalve | 13:747daba9cf59 | 1468 | } |
Lightvalve | 13:747daba9cf59 | 1469 | JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec |
Lightvalve | 19:23b7c1ad8683 | 1470 | |
Lightvalve | 13:747daba9cf59 | 1471 | VALVE_FR_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1472 | one_period_end = 0; |
Lightvalve | 13:747daba9cf59 | 1473 | ID_index= ID_index +1; |
Lightvalve | 30:8d561f16383b | 1474 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1475 | } |
Lightvalve | 14:8e7590227d22 | 1476 | |
Lightvalve | 14:8e7590227d22 | 1477 | if(max_check == 1 && min_check == 1) { |
Lightvalve | 19:23b7c1ad8683 | 1478 | |
Lightvalve | 13:747daba9cf59 | 1479 | VALVE_POS_NUM = ID_index; |
Lightvalve | 59:f308b1656d9c | 1480 | ROM_RESET_DATA(); |
Lightvalve | 13:747daba9cf59 | 1481 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 1482 | first_check = 0; |
Lightvalve | 13:747daba9cf59 | 1483 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 1484 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 49:e7bcfc244d40 | 1485 | // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 13:747daba9cf59 | 1486 | } |
Lightvalve | 13:747daba9cf59 | 1487 | } |
Lightvalve | 13:747daba9cf59 | 1488 | break; |
Lightvalve | 13:747daba9cf59 | 1489 | } |
Lightvalve | 58:2eade98630e2 | 1490 | |
Lightvalve | 57:f4819de54e7a | 1491 | case MODE_SYSTEM_ID: { |
Lightvalve | 57:f4819de54e7a | 1492 | freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.; |
Lightvalve | 57:f4819de54e7a | 1493 | valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3); |
Lightvalve | 57:f4819de54e7a | 1494 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 57:f4819de54e7a | 1495 | cnt_sysid++; |
Lightvalve | 57:f4819de54e7a | 1496 | if (freq_sysid_Iref >= 300) { |
Lightvalve | 57:f4819de54e7a | 1497 | cnt_sysid = 0; |
Lightvalve | 57:f4819de54e7a | 1498 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1499 | } |
Lightvalve | 57:f4819de54e7a | 1500 | break; |
Lightvalve | 57:f4819de54e7a | 1501 | } |
Lightvalve | 58:2eade98630e2 | 1502 | |
Lightvalve | 58:2eade98630e2 | 1503 | |
Lightvalve | 57:f4819de54e7a | 1504 | |
Lightvalve | 57:f4819de54e7a | 1505 | default: |
Lightvalve | 57:f4819de54e7a | 1506 | break; |
Lightvalve | 57:f4819de54e7a | 1507 | } |
Lightvalve | 57:f4819de54e7a | 1508 | |
Lightvalve | 57:f4819de54e7a | 1509 | // CONTROL MODE ------------------------------------------------------------ |
Lightvalve | 57:f4819de54e7a | 1510 | |
Lightvalve | 57:f4819de54e7a | 1511 | switch (CONTROL_MODE) { |
Lightvalve | 57:f4819de54e7a | 1512 | case MODE_NO_ACT: { |
Lightvalve | 57:f4819de54e7a | 1513 | V_out = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1514 | break; |
Lightvalve | 57:f4819de54e7a | 1515 | } |
Lightvalve | 57:f4819de54e7a | 1516 | |
Lightvalve | 57:f4819de54e7a | 1517 | case MODE_VALVE_POSITION_CONTROL: { |
Lightvalve | 67:c2812cf26c38 | 1518 | if (OPERATING_MODE == 5) { //SW Valve |
Lightvalve | 57:f4819de54e7a | 1519 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 59:f308b1656d9c | 1520 | V_out = Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 1521 | } else if (CURRENT_CONTROL_MODE == 0) { //PWM |
Lightvalve | 67:c2812cf26c38 | 1522 | V_out = valve_pos.ref; |
Lightvalve | 67:c2812cf26c38 | 1523 | } else { |
Lightvalve | 67:c2812cf26c38 | 1524 | I_REF = valve_pos.ref * 0.001f; |
Lightvalve | 57:f4819de54e7a | 1525 | } |
Lightvalve | 58:2eade98630e2 | 1526 | |
Lightvalve | 57:f4819de54e7a | 1527 | break; |
Lightvalve | 57:f4819de54e7a | 1528 | } |
Lightvalve | 57:f4819de54e7a | 1529 | |
Lightvalve | 57:f4819de54e7a | 1530 | case MODE_JOINT_CONTROL: { |
Lightvalve | 57:f4819de54e7a | 1531 | double torq_ref = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1532 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 1533 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 57:f4819de54e7a | 1534 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 1535 | |
Lightvalve | 67:c2812cf26c38 | 1536 | //K & D Low Pass Filter |
Lightvalve | 67:c2812cf26c38 | 1537 | float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz |
Lightvalve | 67:c2812cf26c38 | 1538 | K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 1539 | D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 1540 | |
Lightvalve | 67:c2812cf26c38 | 1541 | torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N] |
Lightvalve | 57:f4819de54e7a | 1542 | |
Lightvalve | 57:f4819de54e7a | 1543 | // torque feedback |
Lightvalve | 67:c2812cf26c38 | 1544 | torq.err = torq_ref - torq.sen; //[N] |
Lightvalve | 57:f4819de54e7a | 1545 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 57:f4819de54e7a | 1546 | |
Lightvalve | 57:f4819de54e7a | 1547 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 58:2eade98630e2 | 1548 | |
Lightvalve | 57:f4819de54e7a | 1549 | double I_REF_POS = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1550 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 57:f4819de54e7a | 1551 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 57:f4819de54e7a | 1552 | |
Lightvalve | 57:f4819de54e7a | 1553 | double temp_vel_pos = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1554 | double temp_vel_torq = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1555 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 58:2eade98630e2 | 1556 | |
Lightvalve | 69:3995ffeaa786 | 1557 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 1558 | 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 | 1559 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1560 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 1561 | 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 | 1562 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 1563 | } |
Lightvalve | 57:f4819de54e7a | 1564 | 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 | 1565 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 1566 | |
Lightvalve | 57:f4819de54e7a | 1567 | // velocity compensation for torque control |
Lightvalve | 69:3995ffeaa786 | 1568 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 1569 | I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); |
Lightvalve | 57:f4819de54e7a | 1570 | // 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 | 1571 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s |
Lightvalve | 57:f4819de54e7a | 1572 | // L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1573 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 1574 | 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 | 1575 | // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 1576 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 1577 | // L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 1578 | } |
Lightvalve | 57:f4819de54e7a | 1579 | 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 | 1580 | else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 1581 | // L velocity(rad/s or mm/s) >> I_ref(mA) |
Lightvalve | 57:f4819de54e7a | 1582 | // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k; |
Lightvalve | 57:f4819de54e7a | 1583 | // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm; |
Lightvalve | 57:f4819de54e7a | 1584 | |
Lightvalve | 57:f4819de54e7a | 1585 | I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB); |
Lightvalve | 67:c2812cf26c38 | 1586 | |
Lightvalve | 67:c2812cf26c38 | 1587 | // Anti-windup for FT |
Lightvalve | 67:c2812cf26c38 | 1588 | if (I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 67:c2812cf26c38 | 1589 | double I_MAX = 10.0f; // Maximum Current : 10mV |
Lightvalve | 67:c2812cf26c38 | 1590 | double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f); |
Lightvalve | 67:c2812cf26c38 | 1591 | if (I_REF > I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 1592 | double I_rem = I_REF - I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1593 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 1594 | I_REF = I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1595 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 1596 | } else if (I_REF < -I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 1597 | double I_rem = I_REF - (-I_MAX); |
Lightvalve | 67:c2812cf26c38 | 1598 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 1599 | I_REF = -I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1600 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 1601 | } |
Lightvalve | 67:c2812cf26c38 | 1602 | } |
Lightvalve | 57:f4819de54e7a | 1603 | |
Lightvalve | 57:f4819de54e7a | 1604 | } else { |
Lightvalve | 57:f4819de54e7a | 1605 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 72:3436ce769b1e | 1606 | float VALVE_POS_RAW_FORCE_FF = 0.0f; |
Lightvalve | 72:3436ce769b1e | 1607 | float VALVE_POS_RAW = 0.0f; |
Lightvalve | 72:3436ce769b1e | 1608 | |
Lightvalve | 57:f4819de54e7a | 1609 | VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f |
Lightvalve | 57:f4819de54e7a | 1610 | + 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 | 1611 | |
Lightvalve | 72:3436ce769b1e | 1612 | VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f; |
Lightvalve | 72:3436ce769b1e | 1613 | |
Lightvalve | 72:3436ce769b1e | 1614 | VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF; |
Lightvalve | 72:3436ce769b1e | 1615 | |
Lightvalve | 72:3436ce769b1e | 1616 | |
Lightvalve | 72:3436ce769b1e | 1617 | if (VALVE_POS_RAW >= 0) { |
Lightvalve | 72:3436ce769b1e | 1618 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS; |
Lightvalve | 57:f4819de54e7a | 1619 | } else { |
Lightvalve | 72:3436ce769b1e | 1620 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS; |
Lightvalve | 57:f4819de54e7a | 1621 | } |
Lightvalve | 57:f4819de54e7a | 1622 | |
Lightvalve | 57:f4819de54e7a | 1623 | if(I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 57:f4819de54e7a | 1624 | double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; |
Lightvalve | 57:f4819de54e7a | 1625 | if(valve_pos.ref>VALVE_MAX_POS) { |
Lightvalve | 57:f4819de54e7a | 1626 | double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 1627 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 1628 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 1629 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 1630 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 57:f4819de54e7a | 1631 | double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 1632 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 1633 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 1634 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 1635 | } |
Lightvalve | 57:f4819de54e7a | 1636 | } |
Lightvalve | 61:bc8c8270f0ab | 1637 | |
Lightvalve | 57:f4819de54e7a | 1638 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1639 | |
Lightvalve | 67:c2812cf26c38 | 1640 | // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err); |
Lightvalve | 60:64181f1d3e60 | 1641 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 1642 | |
Lightvalve | 57:f4819de54e7a | 1643 | } |
Lightvalve | 72:3436ce769b1e | 1644 | |
Lightvalve | 72:3436ce769b1e | 1645 | torq_ref_past = torq_ref; |
Lightvalve | 58:2eade98630e2 | 1646 | |
Lightvalve | 57:f4819de54e7a | 1647 | break; |
Lightvalve | 57:f4819de54e7a | 1648 | } |
Lightvalve | 58:2eade98630e2 | 1649 | |
Lightvalve | 57:f4819de54e7a | 1650 | case MODE_VALVE_OPEN_LOOP: { |
Lightvalve | 57:f4819de54e7a | 1651 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 1652 | break; |
Lightvalve | 57:f4819de54e7a | 1653 | } |
Lightvalve | 14:8e7590227d22 | 1654 | |
Lightvalve | 12:6f2531038ea4 | 1655 | default: |
Lightvalve | 12:6f2531038ea4 | 1656 | break; |
Lightvalve | 12:6f2531038ea4 | 1657 | } |
Lightvalve | 14:8e7590227d22 | 1658 | |
Lightvalve | 57:f4819de54e7a | 1659 | |
Lightvalve | 57:f4819de54e7a | 1660 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve |
Lightvalve | 58:2eade98630e2 | 1661 | |
Lightvalve | 57:f4819de54e7a | 1662 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1663 | //////////////////////////// CURRENT CONTROL ////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1664 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1665 | if (CURRENT_CONTROL_MODE) { |
Lightvalve | 67:c2812cf26c38 | 1666 | double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz |
Lightvalve | 57:f4819de54e7a | 1667 | I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF; |
Lightvalve | 57:f4819de54e7a | 1668 | |
Lightvalve | 57:f4819de54e7a | 1669 | I_ERR = I_REF_fil - cur.sen; |
Lightvalve | 67:c2812cf26c38 | 1670 | I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1671 | |
Lightvalve | 57:f4819de54e7a | 1672 | |
Lightvalve | 57:f4819de54e7a | 1673 | // Moog Valve Current Control Gain |
Lightvalve | 67:c2812cf26c38 | 1674 | double R_model = 500.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 1675 | double L_model = 1.2f; |
Lightvalve | 57:f4819de54e7a | 1676 | double w0 = 2.0f * 3.14f * 150.0f; |
Lightvalve | 57:f4819de54e7a | 1677 | double KP_I = 0.1f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 1678 | double KI_I = 0.1f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 1679 | |
Lightvalve | 57:f4819de54e7a | 1680 | // KNR Valve Current Control Gain |
Lightvalve | 57:f4819de54e7a | 1681 | if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve |
Lightvalve | 57:f4819de54e7a | 1682 | R_model = 163.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 1683 | L_model = 1.0f; |
Lightvalve | 57:f4819de54e7a | 1684 | w0 = 2.0f * 3.14f * 80.0f; |
Lightvalve | 57:f4819de54e7a | 1685 | KP_I = 1.0f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 1686 | KI_I = 0.08f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 1687 | } |
Lightvalve | 57:f4819de54e7a | 1688 | |
Lightvalve | 57:f4819de54e7a | 1689 | double FF_gain = 1.0f; |
Lightvalve | 57:f4819de54e7a | 1690 | |
Lightvalve | 67:c2812cf26c38 | 1691 | VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT; |
Lightvalve | 57:f4819de54e7a | 1692 | // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV |
Lightvalve | 57:f4819de54e7a | 1693 | I_REF_fil_diff = I_REF_fil - I_REF_fil_old; |
Lightvalve | 57:f4819de54e7a | 1694 | I_REF_fil_old = I_REF_fil; |
Lightvalve | 67:c2812cf26c38 | 1695 | // 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 | 1696 | VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 1697 | double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV |
Lightvalve | 57:f4819de54e7a | 1698 | |
Lightvalve | 57:f4819de54e7a | 1699 | double Ka = 3.0f / KP_I; |
Lightvalve | 57:f4819de54e7a | 1700 | if (VALVE_PWM_RAW > V_MAX) { |
Lightvalve | 57:f4819de54e7a | 1701 | V_rem = VALVE_PWM_RAW - V_MAX; |
Lightvalve | 57:f4819de54e7a | 1702 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 1703 | VALVE_PWM_RAW = V_MAX; |
Lightvalve | 67:c2812cf26c38 | 1704 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1705 | } else if (VALVE_PWM_RAW < -V_MAX) { |
Lightvalve | 57:f4819de54e7a | 1706 | V_rem = VALVE_PWM_RAW - (-V_MAX); |
Lightvalve | 57:f4819de54e7a | 1707 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 1708 | VALVE_PWM_RAW = -V_MAX; |
Lightvalve | 67:c2812cf26c38 | 1709 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1710 | } |
Lightvalve | 57:f4819de54e7a | 1711 | Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 1712 | } else { |
Lightvalve | 57:f4819de54e7a | 1713 | VALVE_PWM_RAW = I_REF * mV_PER_mA; |
Lightvalve | 57:f4819de54e7a | 1714 | Cur_Valve_Open_pulse = I_REF / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 1715 | } |
Lightvalve | 57:f4819de54e7a | 1716 | |
Lightvalve | 57:f4819de54e7a | 1717 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1718 | ///////////////// Dead Zone Cancellation & Linearization ////////////////// |
Lightvalve | 57:f4819de54e7a | 1719 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1720 | // Dead Zone Cancellation (Mechanical Valve dead-zone) |
Lightvalve | 57:f4819de54e7a | 1721 | if (FLAG_VALVE_DEADZONE) { |
Lightvalve | 57:f4819de54e7a | 1722 | if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1723 | else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1724 | |
Lightvalve | 57:f4819de54e7a | 1725 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1726 | |
Lightvalve | 57:f4819de54e7a | 1727 | } else { |
Lightvalve | 57:f4819de54e7a | 1728 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW; |
Lightvalve | 57:f4819de54e7a | 1729 | } |
Lightvalve | 57:f4819de54e7a | 1730 | |
Lightvalve | 57:f4819de54e7a | 1731 | // Output Voltage Linearization |
Lightvalve | 57:f4819de54e7a | 1732 | double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 1733 | double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 57:f4819de54e7a | 1734 | |
Lightvalve | 57:f4819de54e7a | 1735 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 67:c2812cf26c38 | 1736 | if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 1737 | else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 1738 | else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 57:f4819de54e7a | 1739 | } |
Lightvalve | 67:c2812cf26c38 | 1740 | |
Lightvalve | 67:c2812cf26c38 | 1741 | // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 1742 | // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 1743 | // else V_out = V_out; |
Lightvalve | 67:c2812cf26c38 | 1744 | |
jobuuu | 7:e9086c72bb22 | 1745 | /******************************************************* |
jobuuu | 7:e9086c72bb22 | 1746 | *** PWM |
jobuuu | 7:e9086c72bb22 | 1747 | ********************************************************/ |
Lightvalve | 67:c2812cf26c38 | 1748 | if(DIR_VALVE<0){ |
Lightvalve | 67:c2812cf26c38 | 1749 | V_out = -V_out; |
Lightvalve | 67:c2812cf26c38 | 1750 | } |
Lightvalve | 67:c2812cf26c38 | 1751 | |
Lightvalve | 49:e7bcfc244d40 | 1752 | if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 1753 | V_out = VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 49:e7bcfc244d40 | 1754 | } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 1755 | V_out = -VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 27:a2254a485f23 | 1756 | } |
Lightvalve | 49:e7bcfc244d40 | 1757 | PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV |
Lightvalve | 13:747daba9cf59 | 1758 | |
Lightvalve | 19:23b7c1ad8683 | 1759 | // Saturation of output voltage to 12.0V |
Lightvalve | 30:8d561f16383b | 1760 | if(PWM_out > 1.0f) PWM_out=1.0f; |
Lightvalve | 30:8d561f16383b | 1761 | else if (PWM_out < -1.0f) PWM_out=-1.0f; |
Lightvalve | 13:747daba9cf59 | 1762 | |
Lightvalve | 30:8d561f16383b | 1763 | if (PWM_out>0.0f) { |
Lightvalve | 30:8d561f16383b | 1764 | dtc_v=0.0f; |
jobuuu | 1:e04e563be5ce | 1765 | dtc_w=PWM_out; |
jobuuu | 1:e04e563be5ce | 1766 | } else { |
jobuuu | 2:a1c0a37df760 | 1767 | dtc_v=-PWM_out; |
Lightvalve | 30:8d561f16383b | 1768 | dtc_w=0.0f; |
jobuuu | 1:e04e563be5ce | 1769 | } |
Lightvalve | 13:747daba9cf59 | 1770 | |
jobuuu | 1:e04e563be5ce | 1771 | //pwm |
Lightvalve | 30:8d561f16383b | 1772 | TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v); |
Lightvalve | 30:8d561f16383b | 1773 | TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w); |
Lightvalve | 67:c2812cf26c38 | 1774 | |
Lightvalve | 61:bc8c8270f0ab | 1775 | |
Lightvalve | 57:f4819de54e7a | 1776 | if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 20:806196fda269 | 1777 | |
Lightvalve | 54:647072f5307a | 1778 | // Position, Velocity, and Torque (ID:1200) |
Lightvalve | 56:6f50d9d3bfee | 1779 | if (flag_data_request[0] == HIGH) { |
Lightvalve | 57:f4819de54e7a | 1780 | if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator |
Lightvalve | 54:647072f5307a | 1781 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 1782 | CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f)); |
Lightvalve | 54:647072f5307a | 1783 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 1784 | CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f)); |
Lightvalve | 54:647072f5307a | 1785 | } |
Lightvalve | 57:f4819de54e7a | 1786 | } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator |
Lightvalve | 54:647072f5307a | 1787 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 1788 | CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE))); |
Lightvalve | 54:647072f5307a | 1789 | } else if (SENSING_MODE == 1) { |
Lightvalve | 67:c2812cf26c38 | 1790 | CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f)); |
Lightvalve | 54:647072f5307a | 1791 | } |
Lightvalve | 52:8ea76864368a | 1792 | } |
Lightvalve | 52:8ea76864368a | 1793 | } |
Lightvalve | 56:6f50d9d3bfee | 1794 | if (flag_data_request[1] == HIGH) { |
Lightvalve | 54:647072f5307a | 1795 | //valve position |
Lightvalve | 54:647072f5307a | 1796 | double t_value = 0; |
Lightvalve | 67:c2812cf26c38 | 1797 | if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 67:c2812cf26c38 | 1798 | t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 67:c2812cf26c38 | 1799 | } else { |
Lightvalve | 67:c2812cf26c38 | 1800 | t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 67:c2812cf26c38 | 1801 | } |
Lightvalve | 67:c2812cf26c38 | 1802 | // if(OPERATING_MODE==5) { |
Lightvalve | 67:c2812cf26c38 | 1803 | // t_value = (double) value; |
Lightvalve | 67:c2812cf26c38 | 1804 | // } else if(CURRENT_CONTROL_MODE==1) { |
Lightvalve | 67:c2812cf26c38 | 1805 | // t_value = cur.sen; |
Lightvalve | 57:f4819de54e7a | 1806 | // } else { |
Lightvalve | 67:c2812cf26c38 | 1807 | // t_value = V_out; |
Lightvalve | 67:c2812cf26c38 | 1808 | // } |
Lightvalve | 67:c2812cf26c38 | 1809 | CAN_TX_TORQUE((int16_t) (t_value)); //1300 |
Lightvalve | 67:c2812cf26c38 | 1810 | //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300 |
Lightvalve | 67:c2812cf26c38 | 1811 | //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300 |
Lightvalve | 54:647072f5307a | 1812 | } |
Lightvalve | 58:2eade98630e2 | 1813 | |
Lightvalve | 58:2eade98630e2 | 1814 | |
Lightvalve | 56:6f50d9d3bfee | 1815 | if (flag_data_request[2] == HIGH) { |
Lightvalve | 56:6f50d9d3bfee | 1816 | //pressure A and B |
Lightvalve | 57:f4819de54e7a | 1817 | CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) //1400 |
Lightvalve | 55:b25725257569 | 1818 | } |
Lightvalve | 58:2eade98630e2 | 1819 | |
Lightvalve | 57:f4819de54e7a | 1820 | //If it doesn't rest, below can can not work. |
Lightvalve | 57:f4819de54e7a | 1821 | for (can_rest = 0; can_rest < 10000; can_rest++) { |
Lightvalve | 57:f4819de54e7a | 1822 | ; |
Lightvalve | 57:f4819de54e7a | 1823 | } |
Lightvalve | 58:2eade98630e2 | 1824 | |
Lightvalve | 56:6f50d9d3bfee | 1825 | if (flag_data_request[3] == HIGH) { |
Lightvalve | 54:647072f5307a | 1826 | //PWM |
Lightvalve | 73:f80dc3970c99 | 1827 | //CAN_TX_PWM((int16_t) value); //1500 |
Lightvalve | 73:f80dc3970c99 | 1828 | CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500 |
Lightvalve | 54:647072f5307a | 1829 | } |
Lightvalve | 57:f4819de54e7a | 1830 | //for (i = 0; i < 10000; i++) { |
Lightvalve | 57:f4819de54e7a | 1831 | // ; |
Lightvalve | 57:f4819de54e7a | 1832 | // } |
Lightvalve | 56:6f50d9d3bfee | 1833 | if (flag_data_request[4] == HIGH) { |
Lightvalve | 54:647072f5307a | 1834 | //valve position |
Lightvalve | 73:f80dc3970c99 | 1835 | CAN_TX_VALVE_POSITION((int16_t) (input_NN[1] * 100.0f), (int16_t) (input_NN[2]* 100.0f), (int16_t) (input_NN[3]* 100.0f), (int16_t) (input_NN[4]* 100.0f)); //1600 |
Lightvalve | 54:647072f5307a | 1836 | } |
Lightvalve | 20:806196fda269 | 1837 | |
Lightvalve | 54:647072f5307a | 1838 | // Others : Reference position, Reference FT, PWM, Current (ID:1300) |
Lightvalve | 52:8ea76864368a | 1839 | // if (flag_data_request[1] == HIGH) { |
Lightvalve | 52:8ea76864368a | 1840 | // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3)); |
Lightvalve | 52:8ea76864368a | 1841 | // } |
Lightvalve | 54:647072f5307a | 1842 | //if (flag_delay_test == 1){ |
Lightvalve | 58:2eade98630e2 | 1843 | //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref); |
Lightvalve | 54:647072f5307a | 1844 | //} |
Lightvalve | 52:8ea76864368a | 1845 | |
Lightvalve | 54:647072f5307a | 1846 | TMR2_COUNT_CAN_TX = 0; |
Lightvalve | 54:647072f5307a | 1847 | } |
Lightvalve | 54:647072f5307a | 1848 | TMR2_COUNT_CAN_TX++; |
Lightvalve | 52:8ea76864368a | 1849 | |
Lightvalve | 20:806196fda269 | 1850 | } |
Lightvalve | 52:8ea76864368a | 1851 | TIM3->SR = 0x0; // reset the status register |
Lightvalve | 52:8ea76864368a | 1852 | |
Lightvalve | 58:2eade98630e2 | 1853 | } |