20210203

Dependencies:   mbed FastPWM

Committer:
Lightvalve
Date:
Sat Jul 11 06:52:32 2020 +0000
Revision:
84:c355d3e52bf1
Parent:
83:b5bba84861d8
Child:
85:a3b46118b5cd
200711-1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 84:c355d3e52bf1 1 //200710-1
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 68:328e1be06f5d 189 float f_past[num_array_f_past] = {0.0f};
Lightvalve 68:328e1be06f5d 190 float f_future[num_array_f_future] = {0.0f};
Lightvalve 66:a8e6799dbce3 191
Lightvalve 73:f80dc3970c99 192 float input_NN[num_input] = { 0.0f };
Lightvalve 65:a2d7c63419c2 193
Lightvalve 66:a8e6799dbce3 194 const float h1[num_input][32] = {
Lightvalve 84:c355d3e52bf1 195 {-1.6120201349258423f,1.0650807619094849f,0.10589459538459778f,-0.33597394824028015f,-2.401294708251953f,-0.303094744682312f,-0.6049969792366028f,0.8231816291809082f,0.64059978723526f,-0.47648805379867554f,-0.22159487009048462f,-0.12132000178098679f,-0.19318288564682007f,0.21215307712554932f,-0.21103838086128235f,-1.2288156747817993f,0.6063412427902222f,0.24935457110404968f,0.734065592288971f,1.0331326723098755f,-0.33476194739341736f,0.10696089267730713f,-0.3326931595802307f,-0.0792258083820343f,-0.14849676191806793f,0.18374285101890564f,-0.1767144799232483f,-1.2645845413208008f,-0.21902410686016083f,-0.18794111907482147f,-1.9297771453857422f,0.44305622577667236f},
Lightvalve 84:c355d3e52bf1 196 {-1.1207491159439087f,0.5761895179748535f,0.29864487051963806f,-0.43265143036842346f,-1.4888489246368408f,-0.17376138269901276f,-0.11488400399684906f,0.40625444054603577f,0.24788768589496613f,-0.06643147021532059f,-0.3124499022960663f,-0.3919813334941864f,0.021212786436080933f,0.13858725130558014f,0.045876264572143555f,-0.8044695854187012f,0.2339925765991211f,0.06295260787010193f,0.7903832197189331f,0.7084060311317444f,-0.03096979856491089f,-0.12077532708644867f,-0.09506890177726746f,0.27714261412620544f,-0.3909570872783661f,0.2936786115169525f,0.12686115503311157f,-0.40915700793266296f,-0.4260590970516205f,0.09809011220932007f,-1.4230859279632568f,0.2934163510799408f},
Lightvalve 84:c355d3e52bf1 197 {-0.3573513329029083f,0.434440553188324f,-0.0042223334312438965f,0.10765819251537323f,-0.9994243383407593f,-0.18276168406009674f,-0.15929634869098663f,0.22509628534317017f,0.32423192262649536f,0.01762457564473152f,0.25851523876190186f,-0.2185339778661728f,-0.03282937407493591f,0.1540619432926178f,-0.31718650460243225f,-0.9658282995223999f,0.6396885514259338f,-0.2658354640007019f,0.556288480758667f,0.5571556091308594f,0.22159990668296814f,-0.15311938524246216f,0.13552400469779968f,-0.24659553170204163f,-0.33682775497436523f,0.14537742733955383f,-0.15514154732227325f,-0.42652565240859985f,-0.40720629692077637f,0.302763432264328f,-1.3403044939041138f,-0.14417313039302826f},
Lightvalve 84:c355d3e52bf1 198 {-0.1856374442577362f,0.2553187608718872f,-0.20532599091529846f,-0.6329777240753174f,-0.9888362884521484f,0.054618243128061295f,-0.13591986894607544f,-0.04281715676188469f,0.6310384273529053f,0.10263294726610184f,0.09619598090648651f,0.19032952189445496f,-0.11809042096138f,0.2916359603404999f,-0.12817290425300598f,-1.349012851715088f,0.2070746272802353f,-0.23756909370422363f,0.22165082395076752f,0.3439677059650421f,-0.24942269921302795f,-0.08793863654136658f,-0.14710915088653564f,-0.29148542881011963f,-0.17284530401229858f,0.14159366488456726f,0.13380053639411926f,-0.8715218901634216f,0.2121921181678772f,0.1323157548904419f,-0.8826896548271179f,0.08530819416046143f},
Lightvalve 84:c355d3e52bf1 199 {0.7076958417892456f,-0.011784130707383156f,0.08410122990608215f,-0.1790498048067093f,-0.047825515270233154f,0.12502601742744446f,-0.12781423330307007f,-0.6459188461303711f,-0.44403040409088135f,0.566622793674469f,-0.27170997858047485f,-0.17462749779224396f,0.211430162191391f,0.17245565354824066f,-0.25075238943099976f,-1.129048228263855f,-0.29245424270629883f,-0.18436601758003235f,-0.031988393515348434f,-0.4536682367324829f,0.1375632882118225f,0.23587647080421448f,-0.24541926383972168f,-0.07457953691482544f,-0.5412957072257996f,-0.34256690740585327f,0.04057341814041138f,-0.7414973378181458f,0.34006574749946594f,-0.16320037841796875f,-0.002243728144094348f,-0.24738875031471252f},
Lightvalve 84:c355d3e52bf1 200 {2.7830452919006348f,-2.1286120414733887f,0.30513831973075867f,1.9285629987716675f,1.905887246131897f,0.314697802066803f,-0.05796601623296738f,-1.917033314704895f,-2.3627591133117676f,0.7325804829597473f,0.2581515312194824f,-2.0754995346069336f,-0.03144201636314392f,-0.005068972706794739f,0.21901831030845642f,0.13221438229084015f,-1.4217417240142822f,-0.3195672333240509f,-2.6085214614868164f,-2.259031295776367f,0.13521116971969604f,-0.009676039218902588f,0.12587067484855652f,0.3309326469898224f,-2.081035614013672f,0.20814630389213562f,-0.2925715744495392f,1.7804770469665527f,0.3318169116973877f,-0.0013132691383361816f,1.5528967380523682f,-0.5669023394584656f},
Lightvalve 84:c355d3e52bf1 201 {-0.0035349533427506685f,-0.1737985759973526f,0.16288265585899353f,-0.4572395384311676f,0.6176647543907166f,-0.02229202166199684f,-0.24911771714687347f,-0.0452004075050354f,-0.09992233663797379f,-0.166379913687706f,-0.11600276082754135f,-0.020616959780454636f,0.098605215549469f,-0.08617053925991058f,-0.18274356424808502f,0.9346072673797607f,-0.39059263467788696f,-0.08166468143463135f,0.7394335269927979f,0.05463321879506111f,-0.16223669052124023f,-0.1771286129951477f,-0.2626192569732666f,-0.24521145224571228f,0.2686273455619812f,-0.15535086393356323f,-0.1126367449760437f,0.7214518785476685f,-0.29785194993019104f,-0.03486502170562744f,0.5153166055679321f,0.009956101886928082f},
Lightvalve 84:c355d3e52bf1 202 {0.75728839635849f,-0.14384029805660248f,0.16644713282585144f,0.04243979975581169f,0.7297391295433044f,-0.19591183960437775f,0.04227929562330246f,0.6254672408103943f,0.59623122215271f,0.037059180438518524f,-0.2557741701602936f,0.15746647119522095f,0.10806858539581299f,-0.12285306304693222f,0.054826945066452026f,1.7329609394073486f,0.07655717432498932f,-0.28619682788848877f,-0.5128512382507324f,0.03707432374358177f,-0.07430306077003479f,0.022674113512039185f,-0.12776102125644684f,-0.02844339609146118f,0.668587327003479f,0.0177537202835083f,-0.341458797454834f,0.9069352149963379f,-0.24441032111644745f,0.004316955804824829f,0.3377096354961395f,0.13890790939331055f},
Lightvalve 84:c355d3e52bf1 203 {0.7074934244155884f,-0.4367210268974304f,0.13710039854049683f,0.31351205706596375f,0.4301673471927643f,-0.2533905506134033f,0.002942651743069291f,0.3325767517089844f,0.15748921036720276f,0.0747724324464798f,-0.31654277443885803f,0.6694631576538086f,0.11499327421188354f,0.22416141629219055f,0.24149659276008606f,1.6183996200561523f,0.007222022395581007f,0.06021764874458313f,-0.4668867588043213f,-0.3139956295490265f,-0.30298954248428345f,-0.022329479455947876f,-0.2963099479675293f,0.08446213603019714f,-0.08272957801818848f,-0.08218517899513245f,-0.08906334638595581f,1.300410509109497f,0.22126758098602295f,-0.11924156546592712f,0.08612995594739914f,-0.028056150302290916f},
Lightvalve 84:c355d3e52bf1 204 {-0.08904407918453217f,-0.0344250425696373f,-0.24446426331996918f,0.36650365591049194f,0.6229566931724548f,-0.18743768334388733f,0.2456464171409607f,0.012134413234889507f,-0.15730206668376923f,-0.07979966700077057f,-0.37487393617630005f,0.5054458379745483f,0.08400186896324158f,0.10258787125349045f,-0.26784712076187134f,0.21161137521266937f,0.2236565798521042f,0.3319900929927826f,-0.5802162289619446f,-0.342804491519928f,-0.20100386440753937f,0.1638341248035431f,-0.11680193245410919f,-0.321638286113739f,0.12570004165172577f,0.05633258819580078f,0.13587942719459534f,1.2056348323822021f,0.11766253411769867f,0.30370619893074036f,0.3579072952270508f,0.1400863379240036f},
Lightvalve 84:c355d3e52bf1 205 {-0.4138205945491791f,-0.2879457473754883f,-0.06658771634101868f,0.1737249493598938f,-0.027317969128489494f,-0.29802611470222473f,0.13119368255138397f,0.10418662428855896f,-0.2507239282131195f,-0.3831457495689392f,-0.36356019973754883f,-0.2426604926586151f,-0.1789563000202179f,0.2538357675075531f,0.017138004302978516f,0.23985646665096283f,-0.3834385871887207f,-0.24391496181488037f,-0.2302887737751007f,-0.4092941880226135f,0.16973629593849182f,-0.25340327620506287f,0.23975160717964172f,0.011333763599395752f,0.1096729189157486f,0.10268864035606384f,0.08055207133293152f,0.526046872138977f,0.04578748717904091f,0.029612571001052856f,0.29169538617134094f,0.1906040608882904f},
Lightvalve 84:c355d3e52bf1 206 {-0.3148506283760071f,0.188726544380188f,-0.3080642819404602f,-0.2519609034061432f,-0.32783371210098267f,-0.5718503594398499f,-0.14704209566116333f,-0.05906349793076515f,-0.16883498430252075f,0.13223543763160706f,0.2747022211551666f,-0.19546236097812653f,-0.03757423162460327f,-0.18436194956302643f,-0.2992876172065735f,0.5082010626792908f,-0.08603760600090027f,-0.1821068376302719f,-0.26429253816604614f,-0.24194110929965973f,0.29002442955970764f,0.2275833785533905f,-0.23374228179454803f,0.3280802071094513f,-0.34091559052467346f,0.2108195722103119f,0.33828380703926086f,0.4916119873523712f,0.0688796192407608f,0.1480078399181366f,0.3437769412994385f,0.021540023386478424f},
Lightvalve 84:c355d3e52bf1 207 {-0.22568830847740173f,-0.6859229803085327f,0.19288143515586853f,0.13860811293125153f,0.18111830949783325f,-0.225493386387825f,-0.24846182763576508f,-0.17090129852294922f,-0.2145383656024933f,0.21681338548660278f,-0.16550719738006592f,-0.037777580320835114f,-0.2720222473144531f,-0.3758172392845154f,0.06489166617393494f,0.7701258063316345f,-0.4776385724544525f,0.21822473406791687f,0.033832818269729614f,-0.4730614721775055f,-0.25171342492103577f,0.027203470468521118f,0.012447118759155273f,-0.0029686689376831055f,-0.10113293677568436f,0.03022313117980957f,0.3424017131328583f,0.12006776034832001f,-0.14167943596839905f,-0.34525999426841736f,0.05221972241997719f,0.15499582886695862f},
Lightvalve 84:c355d3e52bf1 208 {-0.4222172200679779f,-0.32232731580734253f,0.06283923983573914f,0.013110841624438763f,0.2942807674407959f,-0.09681101888418198f,0.3005536198616028f,-0.4829605221748352f,-0.15350064635276794f,0.2139381766319275f,0.27548399567604065f,-0.37094953656196594f,0.03354460000991821f,0.016582421958446503f,0.1072375476360321f,0.43602806329727173f,-0.4137570858001709f,0.08871319890022278f,-0.09770973771810532f,-0.12307005375623703f,-0.2227887064218521f,-0.01532900333404541f,0.11891454458236694f,-0.33143535256385803f,-0.1446414440870285f,-0.1485452950000763f,0.25882163643836975f,-0.5185427665710449f,0.07972928136587143f,0.24182012677192688f,0.20943428575992584f,0.2407083958387375f},
Lightvalve 84:c355d3e52bf1 209 {-0.11078464984893799f,-0.41078031063079834f,0.25620588660240173f,-0.08749675750732422f,0.2765541076660156f,0.05456498637795448f,0.22176240384578705f,-0.26677849888801575f,-0.013202283531427383f,0.02105121687054634f,-0.06236919015645981f,-0.2578541338443756f,0.18931713700294495f,-0.3472287654876709f,0.03958520293235779f,0.510597288608551f,-0.30422690510749817f,-0.07219305634498596f,0.20912642776966095f,0.06666555255651474f,0.31619134545326233f,0.26330670714378357f,0.026431173086166382f,0.237522691488266f,-0.24718806147575378f,0.19442179799079895f,0.1992029845714569f,-0.9869797229766846f,-0.2638043463230133f,-0.10433453321456909f,0.26766809821128845f,-0.23253415524959564f},
Lightvalve 84:c355d3e52bf1 210 {-0.5205278396606445f,-0.26201313734054565f,-0.13789941370487213f,0.1127040833234787f,0.44230926036834717f,0.09053512662649155f,-0.22319665551185608f,-0.3336256146430969f,-0.4325152337551117f,0.05464315041899681f,-0.3394671678543091f,-0.09083918482065201f,0.06288954615592957f,-0.24741607904434204f,0.28114965558052063f,0.15618471801280975f,-0.3191489279270172f,-0.14027439057826996f,-0.28128987550735474f,-0.33636051416397095f,0.18525317311286926f,0.07025247812271118f,-0.12988737225532532f,0.04382038116455078f,0.1064760684967041f,-0.12333536148071289f,-0.12442702054977417f,-0.7191746234893799f,-0.19731022417545319f,0.27953919768333435f,0.7405022382736206f,0.19558896124362946f},
Lightvalve 84:c355d3e52bf1 211 {-0.30985045433044434f,-0.5093477964401245f,0.23826703429222107f,-0.31279444694519043f,0.6929596662521362f,-0.18644334375858307f,0.3340062201023102f,-0.7429453730583191f,0.11461938917636871f,0.2035832703113556f,-0.3640037178993225f,-0.3512752652168274f,0.012096136808395386f,-0.08958700299263f,-0.03951779007911682f,0.23769795894622803f,-0.40115103125572205f,0.2508954107761383f,0.2533111870288849f,-0.2269076704978943f,0.22447606921195984f,0.30379387736320496f,-0.006355375051498413f,-0.11041811108589172f,-0.286796510219574f,-0.28886765241622925f,-0.05783697962760925f,-1.098929762840271f,0.04438596963882446f,-0.1556464582681656f,0.1087159514427185f,-0.13151060044765472f},
Lightvalve 65:a2d7c63419c2 212 };
Lightvalve 65:a2d7c63419c2 213
Lightvalve 66:a8e6799dbce3 214 const float h2[32][32] = {
Lightvalve 84:c355d3e52bf1 215 {-0.24884511530399323f,-0.10295046865940094f,-0.04925942420959473f,0.02707986906170845f,-0.15490937232971191f,0.20292437076568604f,-0.8661956191062927f,0.06396704912185669f,-0.30411389470100403f,-0.10008957982063293f,-0.165212020277977f,-0.48054441809654236f,-0.0620017908513546f,-1.0283846855163574f,-5.381174087524414f,-0.9529179334640503f,0.07803884148597717f,-0.21483641862869263f,-0.16163024306297302f,-0.004240690264850855f,-0.4911329448223114f,-0.5535577535629272f,-0.3101543188095093f,-0.22541601955890656f,-1.0648218393325806f,1.5496712923049927f,-1.1512086391448975f,-0.295734167098999f,0.23828622698783875f,-0.024554777890443802f,-0.2571799159049988f,-0.1919100433588028f},
Lightvalve 84:c355d3e52bf1 216 {-0.2780533730983734f,0.002147972583770752f,-0.04321768879890442f,0.22762925922870636f,0.039372533559799194f,-0.06644093990325928f,-1.1625723838806152f,-0.05986310541629791f,0.24677053093910217f,0.048597872257232666f,0.10102655738592148f,-0.2066873461008072f,0.10818520188331604f,-0.7969831228256226f,1.0538548231124878f,0.8588414192199707f,0.056778669357299805f,-0.2737269401550293f,-0.35849297046661377f,0.20634029805660248f,-0.36483123898506165f,-0.07164712995290756f,-0.29076412320137024f,0.16093440353870392f,-0.15582610666751862f,0.7269571423530579f,-0.26210856437683105f,0.2585713565349579f,-0.28620439767837524f,-0.1940789669752121f,0.12557406723499298f,-0.024700647220015526f},
Lightvalve 66:a8e6799dbce3 217 {-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 84:c355d3e52bf1 218 {-0.2461596429347992f,-0.01806354522705078f,-0.23058539628982544f,0.03521127626299858f,-0.27190759778022766f,-0.5067502856254578f,0.0804506167769432f,-0.06019878387451172f,-0.06944303214550018f,0.09271347522735596f,-0.22685247659683228f,-0.7380675077438354f,-0.29127371311187744f,0.5357500314712524f,-0.11913066357374191f,-0.6795149445533752f,0.10996055603027344f,0.24023392796516418f,-0.10359782725572586f,-0.2149972915649414f,-0.3025924861431122f,-0.48566338419914246f,-0.11944298446178436f,-0.3593066334724426f,-0.27389389276504517f,-0.19860105216503143f,-0.27698126435279846f,-0.3569595217704773f,-0.22396358847618103f,0.1187380850315094f,-0.08347906917333603f,-0.0007677236571907997f},
Lightvalve 84:c355d3e52bf1 219 {-0.3100738525390625f,0.2506926953792572f,-0.0804666131734848f,0.061038803309202194f,0.02918580174446106f,-0.5375155806541443f,-1.5650798082351685f,-0.14490489661693573f,0.043158918619155884f,-0.2690317630767822f,-1.8862931728363037f,-0.5884978175163269f,-0.4069013297557831f,-0.4935837388038635f,-0.9080424904823303f,-0.34340202808380127f,-0.10307048261165619f,0.15626338124275208f,-0.3583506941795349f,0.0058685410767793655f,-0.015140853822231293f,-0.149311363697052f,0.02121141366660595f,-0.40197017788887024f,-1.6539796590805054f,-2.762812376022339f,-2.6964528560638428f,0.12341205030679703f,0.2695164978504181f,-0.321733683347702f,-0.12418606132268906f,-0.32664018869400024f},
Lightvalve 84:c355d3e52bf1 220 {-0.19158349931240082f,-0.004258692264556885f,0.032371193170547485f,-0.2938489317893982f,-0.023485273122787476f,0.2851887047290802f,-0.09775897115468979f,-0.14440131187438965f,-0.03548547625541687f,0.08825305104255676f,-0.21583324670791626f,0.1738855540752411f,-0.2578849494457245f,-0.07232409715652466f,-0.13833220303058624f,0.0032729320228099823f,0.2371552288532257f,0.24713221192359924f,0.19205603003501892f,0.15854741632938385f,-0.16550931334495544f,0.11437536776065826f,-0.1307595670223236f,-0.076647087931633f,0.08997642248868942f,-0.3786443769931793f,0.06452243030071259f,-0.1354997605085373f,0.05800282955169678f,-0.40722623467445374f,0.17187702655792236f,0.14475803077220917f},
Lightvalve 84:c355d3e52bf1 221 {-0.21433322131633759f,-0.1279313862323761f,-0.11171227693557739f,0.25136756896972656f,-0.26441383361816406f,0.2845393121242523f,0.041312653571367264f,-0.20844537019729614f,-0.26620519161224365f,0.17144301533699036f,-0.07957437634468079f,-0.2724485397338867f,0.29584869742393494f,-0.023175599053502083f,-0.12345022708177567f,0.08411633223295212f,-0.16153597831726074f,0.18742787837982178f,-0.20045162737369537f,0.059110552072525024f,-0.046937815845012665f,-0.005264040548354387f,-0.07988794147968292f,-0.17039190232753754f,-0.07056275755167007f,-0.4178033769130707f,0.19651268422603607f,-0.1967385858297348f,-0.11822041869163513f,0.19546762108802795f,-0.16657039523124695f,-0.000729912135284394f},
Lightvalve 84:c355d3e52bf1 222 {0.18205103278160095f,0.11346611380577087f,0.04012581706047058f,0.004675532691180706f,0.22828009724617004f,-0.9748165011405945f,-1.5658994913101196f,-0.13317009806632996f,0.2864855229854584f,0.01006925106048584f,-1.7065072059631348f,-0.2900503873825073f,-0.2382865995168686f,-0.7094941735267639f,0.7180572748184204f,0.07947060465812683f,-0.2721019387245178f,0.2706601917743683f,-0.10587131977081299f,-0.14732545614242554f,0.04871872812509537f,-0.1827782392501831f,-0.3025624752044678f,0.07826858758926392f,-1.6559882164001465f,0.2867830693721771f,-1.4658112525939941f,-0.229370579123497f,-0.14135785400867462f,-0.0749492198228836f,0.037974074482917786f,-0.11222749203443527f},
Lightvalve 84:c355d3e52bf1 223 {0.16382472217082977f,0.2890130579471588f,-0.021617114543914795f,0.10035208612680435f,0.29321715235710144f,-0.5941426753997803f,-0.9791392087936401f,-0.3692907691001892f,0.29470762610435486f,-0.06864601373672485f,-0.9347758889198303f,-0.3577685058116913f,0.10174375772476196f,-1.1892009973526f,1.5573197603225708f,0.5846696496009827f,0.046292245388031006f,0.06025278568267822f,-0.33354344964027405f,0.22304639220237732f,0.21487970650196075f,-0.3296683430671692f,0.16501928865909576f,-0.16466358304023743f,-1.7639918327331543f,-0.931217610836029f,-1.2150951623916626f,-0.02735067717730999f,0.2501918375492096f,-0.2835308313369751f,-0.35732853412628174f,-0.36441531777381897f},
Lightvalve 84:c355d3e52bf1 224 {0.2615049183368683f,0.08643358945846558f,-0.29237738251686096f,-0.2463665008544922f,0.15896368026733398f,0.0016535647446289659f,1.0283740758895874f,-0.25379088521003723f,0.18755429983139038f,-0.07031691074371338f,0.6797151565551758f,-0.6807708740234375f,-0.010029126890003681f,0.5625613927841187f,-0.22179760038852692f,-0.8032732605934143f,-0.015168905258178711f,-0.2859399914741516f,-0.4330553412437439f,-0.23430761694908142f,0.04670058190822601f,-0.013992827385663986f,-0.2307620644569397f,0.1691003143787384f,-0.002764361444860697f,-0.5617508888244629f,1.016584038734436f,-0.043152157217264175f,0.2113950550556183f,-0.054945893585681915f,-0.0010054409503936768f,-0.1481325328350067f},
Lightvalve 84:c355d3e52bf1 225 {0.19981321692466736f,0.1956864297389984f,-0.033508092164993286f,-0.22838544845581055f,-0.12505969405174255f,0.026693344116210938f,0.0776548832654953f,0.14285165071487427f,-0.17670965194702148f,0.17403557896614075f,-0.18919339776039124f,0.10912971198558807f,-0.1060299277305603f,-0.004234084393829107f,-0.16190937161445618f,0.06031673774123192f,0.03990337252616882f,0.0716913640499115f,0.15350449085235596f,-0.09222009032964706f,0.25596585869789124f,0.09463635087013245f,0.07470300793647766f,0.3015579879283905f,0.05757787823677063f,0.061355363577604294f,-0.000344813393894583f,-0.2524169087409973f,0.13817378878593445f,0.17853263020515442f,-0.009185433387756348f,-0.02081478014588356f},
Lightvalve 84:c355d3e52bf1 226 {-0.37253594398498535f,-0.09556084871292114f,0.12328919768333435f,0.07122714817523956f,-0.258735328912735f,-0.2757439911365509f,-1.4993038177490234f,-0.2444004863500595f,0.17735600471496582f,0.009893029928207397f,-0.05616951361298561f,-0.30972567200660706f,-0.2326023131608963f,-2.8106157779693604f,0.7795978784561157f,0.8158812522888184f,0.009990394115447998f,0.10842388868331909f,-0.0015612695133313537f,0.1710408478975296f,-0.1640889197587967f,-0.3869341015815735f,-0.1491391360759735f,-0.07571160793304443f,-2.2670748233795166f,-1.2573970556259155f,-0.7933836579322815f,0.11647215485572815f,-0.288028746843338f,-0.38098666071891785f,0.049322400242090225f,0.1433139145374298f},
Lightvalve 66:a8e6799dbce3 227 {-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 84:c355d3e52bf1 228 {0.14700931310653687f,0.1833711564540863f,-0.0858893096446991f,0.059287380427122116f,-0.25116482377052307f,0.2733006179332733f,0.1710028052330017f,-0.16134384274482727f,0.000652611255645752f,-0.22920364141464233f,0.21644526720046997f,-0.36634811758995056f,0.26723334193229675f,0.40844377875328064f,-0.18742600083351135f,-0.4884636700153351f,-0.07963520288467407f,0.14483880996704102f,-0.2811259925365448f,-0.21284618973731995f,-0.09455670416355133f,0.20116078853607178f,-0.2228696048259735f,0.22894902527332306f,0.06873877346515656f,-0.08788177371025085f,0.06689995527267456f,0.10385961830615997f,-0.011228948831558228f,0.26896968483924866f,-0.28556761145591736f,0.02100294455885887f},
Lightvalve 66:a8e6799dbce3 229 {-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 84:c355d3e52bf1 230 {-0.15892109274864197f,0.1317739188671112f,0.03260180354118347f,-0.1927446722984314f,-0.05160003900527954f,-0.534025251865387f,-0.21370860934257507f,-0.03364188224077225f,0.05445769429206848f,0.07657262682914734f,-0.4512843191623688f,-0.517540454864502f,0.08404679596424103f,-0.1785459816455841f,-0.12632714211940765f,-1.0249115228652954f,-0.25386664271354675f,-0.18997573852539062f,-0.36189472675323486f,-0.26924318075180054f,-0.1672324687242508f,-0.2426733523607254f,-0.730017364025116f,0.09599462151527405f,-0.3474728763103485f,-2.3507585525512695f,-0.47989511489868164f,-0.4416758120059967f,-0.0006675124168395996f,-0.35991936922073364f,-0.17363247275352478f,0.1250540018081665f},
Lightvalve 84:c355d3e52bf1 231 {0.036086976528167725f,-0.062024205923080444f,0.10704237222671509f,-0.16218894720077515f,-0.04875987768173218f,-0.5561403036117554f,-0.05187790095806122f,0.13977529108524323f,-0.23304778337478638f,-0.035415440797805786f,-0.9932711124420166f,-0.0830407589673996f,0.03618334233760834f,-0.09362911432981491f,0.3184598982334137f,-0.08273540437221527f,-0.027234435081481934f,0.19620582461357117f,0.01967497356235981f,-0.2715267837047577f,0.001052129315212369f,-0.1183658167719841f,-0.2635014057159424f,-0.42729949951171875f,-0.9877696633338928f,0.3225666880607605f,-0.5459384322166443f,0.1087341234087944f,-0.2531542181968689f,0.09848026931285858f,-0.29045569896698f,-0.3233194351196289f},
Lightvalve 67:c2812cf26c38 232 {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 84:c355d3e52bf1 233 {-0.017657099291682243f,0.2841971218585968f,-0.0814327746629715f,-0.021704204380512238f,-0.017610490322113037f,-0.034884437918663025f,-1.2548327445983887f,0.11265848577022552f,-0.2925014793872833f,0.022429823875427246f,-1.0905170440673828f,-0.24021278321743011f,-0.2615266442298889f,-1.57011079788208f,0.9651749730110168f,2.436189651489258f,0.1296386420726776f,0.027322769165039062f,0.04849059879779816f,-0.03877267986536026f,0.020655816420912743f,-0.2378704696893692f,-0.08734534680843353f,0.06631384789943695f,-1.9399195909500122f,-2.259996175765991f,-1.4060866832733154f,-0.16243590414524078f,0.14345040917396545f,-0.2618231177330017f,-0.23102368414402008f,0.05394546687602997f},
Lightvalve 84:c355d3e52bf1 234 {-0.26263561844825745f,0.29651907086372375f,0.02990397810935974f,-0.05575937032699585f,0.1826970875263214f,-0.3982952833175659f,-0.6370453238487244f,0.26979032158851624f,-0.2325194776058197f,-0.2458522766828537f,-0.007418768014758825f,-0.3996718227863312f,-0.3503566086292267f,-0.7228636145591736f,1.0390828847885132f,0.9585302472114563f,0.2577105462551117f,0.11064860224723816f,-0.31864234805107117f,-0.023358142003417015f,-0.0016425023786723614f,-0.6196765303611755f,-0.1119745597243309f,-0.09912597388029099f,-0.2200295776128769f,-0.08841383457183838f,-0.5124247670173645f,0.2643086314201355f,-0.2205982804298401f,0.14076603949069977f,-0.1757250279188156f,0.023216821253299713f},
Lightvalve 74:2bd13b02ed17 235 {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 236 {-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 237 {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 238 {-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 84:c355d3e52bf1 239 {-0.12992967665195465f,-0.25281068682670593f,-0.10565309226512909f,-0.07918522506952286f,0.2702934443950653f,-0.5060265064239502f,-2.2521328926086426f,-0.33907046914100647f,-0.06814777851104736f,-0.24531681835651398f,-1.3586469888687134f,-0.32010430097579956f,-0.1653079390525818f,-7.5781402587890625f,0.9042810201644897f,1.9208794832229614f,0.2015441358089447f,0.04417389631271362f,-0.03381158038973808f,0.09063783288002014f,0.003683165181428194f,-0.2655920088291168f,-0.5420690178871155f,0.13454720377922058f,-3.71278977394104f,-4.804920673370361f,-2.438314199447632f,-0.1479518711566925f,-0.18211489915847778f,-0.30876263976097107f,0.07066735625267029f,0.13299095630645752f},
Lightvalve 66:a8e6799dbce3 240 {-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 241 {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 84:c355d3e52bf1 242 {0.1872251182794571f,-0.11652402579784393f,0.24921879172325134f,0.1870449334383011f,-0.2817712128162384f,-0.471887469291687f,-0.570704460144043f,-0.22949419915676117f,0.23963233828544617f,0.21321198344230652f,-0.22998826205730438f,-0.19151856005191803f,-0.3084449768066406f,-0.06819570064544678f,-0.16640815138816833f,-1.2870584726333618f,-0.19791248440742493f,0.2487291395664215f,-0.4555669128894806f,-0.30103084444999695f,-0.2687109112739563f,-0.17608027160167694f,-0.5496065020561218f,-0.3722294867038727f,0.12690000236034393f,4.395594120025635f,-0.1391826868057251f,-0.20867836475372314f,-0.03476092219352722f,0.1356719732284546f,-0.09322817623615265f,-0.16395188868045807f},
Lightvalve 84:c355d3e52bf1 243 {-0.17075178027153015f,0.009595632553100586f,0.2466227114200592f,0.05338657647371292f,-0.29828932881355286f,-0.2819134294986725f,-0.08217992633581161f,-0.15331926941871643f,-0.2516406178474426f,0.012286126613616943f,0.1951085329055786f,-0.34216028451919556f,-0.09437626600265503f,-0.01486560981720686f,-0.033015795052051544f,-0.026025136932730675f,-0.24087269604206085f,-0.048499464988708496f,-0.3224903643131256f,0.008257976733148098f,-0.27921897172927856f,-0.26612040400505066f,-0.031352698802948f,0.2829146385192871f,-0.04500345513224602f,-0.27047377824783325f,-0.4029959440231323f,0.26659882068634033f,-0.07090267539024353f,-0.23986908793449402f,-0.2543276250362396f,0.01611592434346676f},
Lightvalve 66:a8e6799dbce3 244 {-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 84:c355d3e52bf1 245 {-0.30146604776382446f,-0.17203155159950256f,0.0620841383934021f,-0.026889100670814514f,-0.07396678626537323f,-1.0299530029296875f,-2.8012266159057617f,0.02751191519200802f,-0.21029016375541687f,0.2210421860218048f,-0.3981570303440094f,-0.11896248161792755f,-0.20211905241012573f,-0.17902104556560516f,-1.1087616682052612f,-0.42965641617774963f,0.10771593451499939f,-0.29308468103408813f,-0.29877009987831116f,-0.1888214647769928f,-0.1405947506427765f,-0.40318942070007324f,-0.370537668466568f,0.028905242681503296f,-1.7976940870285034f,-2.0812807083129883f,-4.568117618560791f,-0.032483071088790894f,0.17976179718971252f,-0.22928372025489807f,0.1545799821615219f,-0.0419585220515728f},
Lightvalve 84:c355d3e52bf1 246 {-0.09888127446174622f,-0.22750279307365417f,-0.22503364086151123f,-0.030222373083233833f,-0.012498408555984497f,-0.24329537153244019f,-0.09181441366672516f,0.08175003528594971f,-0.016126900911331177f,0.06972584128379822f,0.41604337096214294f,0.13558582961559296f,-0.031845152378082275f,-0.34389445185661316f,0.5235684514045715f,0.215203657746315f,-0.09216172993183136f,0.04617339372634888f,-0.1526023894548416f,-0.13339459896087646f,0.6752443909645081f,-0.31539809703826904f,-0.06047184765338898f,-0.30429452657699585f,-0.3479069471359253f,-0.9104090332984924f,0.8691915273666382f,-0.31245481967926025f,-0.16326025128364563f,0.01193301472812891f,-0.02675291895866394f,0.17420369386672974f},
Lightvalve 65:a2d7c63419c2 247 };
Lightvalve 65:a2d7c63419c2 248
Lightvalve 66:a8e6799dbce3 249 const float h3[32][32] = {
Lightvalve 84:c355d3e52bf1 250 {-0.2551194727420807f,-0.09101890027523041f,-0.026477575302124023f,-0.24469062685966492f,0.028834380209445953f,-0.11549980193376541f,0.23563924431800842f,0.21467849612236023f,-0.17011712491512299f,0.034586966037750244f,-0.08393588662147522f,0.28293344378471375f,0.045914679765701294f,0.1892293095588684f,-0.2476848065853119f,0.13452908396720886f,0.033751994371414185f,0.2061004936695099f,0.0946265459060669f,-0.10083381831645966f,-0.11890523135662079f,0.024368882179260254f,-0.22618433833122253f,0.044178664684295654f,0.25393906235694885f,-0.1258748173713684f,0.2930828630924225f,-0.09901801496744156f,-0.030303647741675377f,0.2922307550907135f,-0.21407078206539154f,-0.3020341694355011f},
Lightvalve 83:b5bba84861d8 251 {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 66:a8e6799dbce3 252 {-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 84:c355d3e52bf1 253 {0.2906629145145416f,0.19203472137451172f,-0.2048129439353943f,0.2633720338344574f,0.10351300984621048f,-0.06133239343762398f,-0.061309605836868286f,-0.17915479838848114f,-0.02033988945186138f,-0.044261813163757324f,-0.09506386518478394f,0.24970653653144836f,0.15105298161506653f,0.06916186213493347f,0.22106656432151794f,-0.23978039622306824f,-0.28915077447891235f,0.030949801206588745f,-0.27313676476478577f,0.1836264431476593f,0.24285662174224854f,-0.0373874306678772f,-0.16296987235546112f,-0.27595841884613037f,0.19668178260326385f,-0.11024686694145203f,-0.09994620084762573f,0.00232623890042305f,-0.19564327597618103f,-0.25852420926094055f,0.05653107166290283f,0.0037463903427124023f},
Lightvalve 83:b5bba84861d8 254 {0.07563930749893188f,-0.0864691436290741f,-0.2677825689315796f,0.1497999131679535f,-0.2632053792476654f,-0.12118913233280182f,-0.09772239625453949f,0.2470131814479828f,-0.2551872134208679f,-0.2740214169025421f,0.2979947626590729f,-0.24627932906150818f,-0.23258495330810547f,-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 84:c355d3e52bf1 255 {0.10931676626205444f,0.09901993721723557f,0.12925085425376892f,-0.06346556544303894f,-0.31038108468055725f,0.3142895996570587f,-0.061815500259399414f,0.04091137647628784f,-0.18566812574863434f,-0.15699732303619385f,0.04343574866652489f,-0.21529507637023926f,1.0960476398468018f,0.4208458960056305f,0.2971965968608856f,0.25175121426582336f,-0.2889891266822815f,-0.13035915791988373f,0.25247663259506226f,0.7784700989723206f,-0.3849126994609833f,0.2185358703136444f,0.023232191801071167f,0.27409639954566956f,0.35451456904411316f,-0.18302330374717712f,0.09057381749153137f,-0.3630118668079376f,-0.5228159427642822f,-0.29547566175460815f,-0.25800079107284546f,0.27328526973724365f},
Lightvalve 84:c355d3e52bf1 256 {-0.21155381202697754f,0.24320489168167114f,-0.24049416184425354f,0.38925015926361084f,-0.13059227168560028f,1.2946875095367432f,-0.10846608132123947f,0.2444917857646942f,-0.6105182766914368f,-0.32602089643478394f,0.5678800940513611f,-0.3907425105571747f,0.059721797704696655f,0.42207664251327515f,0.25543639063835144f,-0.1192857176065445f,-0.18917083740234375f,0.011466026306152344f,1.308021903038025f,-0.07634314894676208f,-0.9140365123748779f,0.8853653073310852f,-0.26710981130599976f,-0.2255190908908844f,0.7980838418006897f,-0.2910519242286682f,-0.30968034267425537f,-1.6649792194366455f,-2.0920190811157227f,-0.09532724320888519f,0.14420299232006073f,0.263065904378891f},
Lightvalve 84:c355d3e52bf1 257 {-0.01093912124633789f,-0.23583689332008362f,0.28153905272483826f,0.2877257764339447f,0.09408318996429443f,-0.2994205355644226f,0.036741942167282104f,-0.0059101879596710205f,-0.23830170929431915f,-0.27182313799858093f,0.09319102764129639f,-0.08139897882938385f,0.19774547219276428f,-0.038983892649412155f,0.0685860812664032f,-0.29903873801231384f,0.1317853033542633f,0.20550194382667542f,-0.12251400947570801f,-0.2671976387500763f,0.24989311397075653f,0.10190683603286743f,0.0343703031539917f,0.12564969062805176f,0.006905830465257168f,0.23886635899543762f,-0.2778390347957611f,0.1619493067264557f,0.249174565076828f,0.17161712050437927f,-0.017215043306350708f,-0.07319892197847366f},
Lightvalve 66:a8e6799dbce3 258 {-0.20420776307582855f,0.1970202624797821f,0.23591408133506775f,-0.282694011926651f,0.09019026160240173f,0.20012763142585754f,0.028453975915908813f,0.23323127627372742f,0.15246456861495972f,-0.1270071268081665f,0.20025727152824402f,0.13077861070632935f,-0.2238168716430664f,-0.20709244906902313f,-0.0045506954193115234f,-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 259 {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 84:c355d3e52bf1 260 {-0.023678362369537354f,0.25627627968788147f,-0.2606240510940552f,0.027978017926216125f,0.15899628400802612f,0.6595502495765686f,-0.0036431346088647842f,0.196751207113266f,-0.5179072618484497f,0.20499464869499207f,0.9699771404266357f,-0.06168833374977112f,-0.2220895141363144f,0.47917166352272034f,0.080221027135849f,-0.2471318244934082f,0.026521950960159302f,0.28880444169044495f,0.05281196907162666f,-0.39944612979888916f,-0.5933054089546204f,0.5928339958190918f,0.04898126795887947f,0.2614522874355316f,0.7622845768928528f,-0.25962090492248535f,-0.037509460002183914f,-0.4053201377391815f,0.1844288557767868f,-0.2912617325782776f,-0.3931782841682434f,-0.4292046129703522f},
Lightvalve 84:c355d3e52bf1 261 {0.2680447995662689f,0.08889183402061462f,-0.34841927886009216f,-0.12294139713048935f,-0.006906433962285519f,0.18842726945877075f,0.1912839114665985f,-0.17794576287269592f,0.29124289751052856f,-0.3118562698364258f,-0.3657170534133911f,0.2547462284564972f,0.2927215099334717f,0.014082422479987144f,0.23152390122413635f,-0.07731422781944275f,0.21101722121238708f,-0.15284278988838196f,0.18169839680194855f,0.09024403244256973f,0.14264146983623505f,0.17841528356075287f,-0.27908316254615784f,0.12623250484466553f,-0.43558114767074585f,0.18312275409698486f,-0.2869618535041809f,0.39280518889427185f,0.24194808304309845f,-0.1739533692598343f,-0.3423449695110321f,-0.2080104500055313f},
Lightvalve 84:c355d3e52bf1 262 {0.10771462321281433f,0.1270637810230255f,-0.1647956818342209f,-0.00161704421043396f,0.22193093597888947f,0.03871941566467285f,-0.2502448558807373f,-0.05063694715499878f,-0.1898418813943863f,-0.11501708626747131f,0.11628510057926178f,0.11519002914428711f,-0.1879904866218567f,-0.05469268187880516f,-0.0055807530879974365f,0.05870962142944336f,-0.0561012327671051f,-0.1419317126274109f,-0.12008143961429596f,0.001279879012145102f,-0.11299116909503937f,-0.3814079761505127f,0.2986377775669098f,-0.2888573110103607f,-0.2871626615524292f,-0.03866580128669739f,0.09892630577087402f,0.3167524039745331f,-0.015963073819875717f,0.024399906396865845f,-0.264041006565094f,-0.11027073860168457f},
Lightvalve 84:c355d3e52bf1 263 {0.07240793108940125f,-0.09338265657424927f,-0.06903354823589325f,0.015366114675998688f,-0.2661875784397125f,1.5422624349594116f,0.15137922763824463f,-0.09019742906093597f,-0.5131413340568542f,-0.6012843251228333f,-0.11048789322376251f,-0.12352582067251205f,-2.6593611240386963f,0.6466706991195679f,0.13272255659103394f,-0.0684008002281189f,-0.13351139426231384f,0.2471931278705597f,0.031969256699085236f,1.09149968624115f,-0.9428436160087585f,0.19677256047725677f,-0.08138792216777802f,0.28785380721092224f,1.0912519693374634f,-0.1976800560951233f,-0.28017786145210266f,0.11125613003969193f,0.3943520188331604f,-0.29330405592918396f,-0.12236892431974411f,2.205066204071045f},
Lightvalve 84:c355d3e52bf1 264 {-0.27890223264694214f,-0.07800088077783585f,-0.12371830642223358f,-1.2700937986373901f,-1.0912457704544067f,0.9797009229660034f,-0.2505151033401489f,-0.2674597501754761f,-0.16105304658412933f,-0.20609107613563538f,-1.0739810466766357f,-0.10769722610712051f,-0.8888100981712341f,-0.2861039340496063f,-0.02410009503364563f,0.10129088163375854f,0.22686699032783508f,-0.30486053228378296f,0.86100172996521f,-3.4880826473236084f,-0.36854830384254456f,0.26552632451057434f,-0.14972762763500214f,0.11354613304138184f,-0.013822424225509167f,-0.18427850306034088f,-0.19968591630458832f,-0.36554718017578125f,-0.7460378408432007f,0.06508117914199829f,-0.04379427433013916f,-0.5686119198799133f},
Lightvalve 84:c355d3e52bf1 265 {0.3047083914279938f,-0.05296872928738594f,-0.3443875312805176f,-1.3551783561706543f,1.0348049402236938f,-1.132575511932373f,-0.20920369029045105f,-0.25786101818084717f,-0.2481493502855301f,-0.3406773507595062f,-0.7330422401428223f,-0.11543221771717072f,1.4418936967849731f,-2.2486696243286133f,0.062144935131073f,-0.28920799493789673f,0.03473195433616638f,-0.0016761720180511475f,0.594510018825531f,-5.295821666717529f,-0.4134751260280609f,-1.7540544271469116f,0.08548198640346527f,-0.10900285840034485f,-2.413933515548706f,-0.18968722224235535f,-0.3918294906616211f,0.2870296239852905f,-1.4750810861587524f,0.017086774110794067f,-0.22334833443164825f,-0.29180970788002014f},
Lightvalve 66:a8e6799dbce3 266 {-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 67:c2812cf26c38 267 {0.1169951856136322f,0.06741076707839966f,0.014288008213043213f,-0.1894388198852539f,0.2306886613368988f,0.08970087766647339f,0.29362860321998596f,0.2666439712047577f,-0.1488228738307953f,0.22382596135139465f,-0.1313140094280243f,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 84:c355d3e52bf1 268 {-0.16101892292499542f,0.0549481138586998f,0.26537272334098816f,0.14797939360141754f,-0.08496929705142975f,-0.20862935483455658f,0.1589156985282898f,-0.17396175861358643f,0.24158169329166412f,-0.12575815618038177f,0.3032090365886688f,-0.04377517104148865f,-0.09723557531833649f,-0.004979115445166826f,-0.2592318058013916f,0.1978430449962616f,0.18047624826431274f,0.2863751947879791f,-0.21538209915161133f,-0.02161381021142006f,-0.1044420450925827f,0.13378354907035828f,0.25320637226104736f,0.13123968243598938f,-0.06181655451655388f,-0.28873488306999207f,-0.09778036177158356f,0.23691287636756897f,0.21785739064216614f,0.18439257144927979f,0.17250561714172363f,0.17694389820098877f},
Lightvalve 84:c355d3e52bf1 269 {0.261911004781723f,-0.28497835993766785f,-0.2993849217891693f,-0.02090282365679741f,0.0802551805973053f,0.04678889364004135f,-0.06670857965946198f,-0.030254334211349487f,-0.2704773545265198f,0.1197996437549591f,0.01667046546936035f,-0.2924177646636963f,0.20017656683921814f,-0.1378343403339386f,-0.20773646235466003f,-0.10781967639923096f,-0.15712574124336243f,0.16112294793128967f,0.23735012114048004f,0.18995007872581482f,0.20655642449855804f,0.11912650614976883f,-0.2746070921421051f,0.14906415343284607f,0.1447516828775406f,0.0025720298290252686f,-0.08664152026176453f,-0.20831836760044098f,0.07929258048534393f,0.21125611662864685f,-0.05751854181289673f,-0.22727590799331665f},
Lightvalve 84:c355d3e52bf1 270 {0.14277681708335876f,-0.21723729372024536f,0.0499022975564003f,-0.22327251732349396f,-0.0364639014005661f,-0.07534641027450562f,0.1624150574207306f,-0.27022814750671387f,-0.033554524183273315f,-0.43515852093696594f,-0.19478121399879456f,0.032551031559705734f,-0.012572181411087513f,0.006577334366738796f,-0.03100520372390747f,-0.2484396994113922f,0.06366744637489319f,-0.2764144539833069f,0.06228047236800194f,0.20165595412254333f,-0.27491843700408936f,0.1637345552444458f,0.22071760892868042f,-0.0716068297624588f,-0.24483560025691986f,-0.19159743189811707f,0.1727093905210495f,-0.25190210342407227f,0.13014718890190125f,-0.10488687455654144f,-0.21563708782196045f,-0.220583975315094f},
Lightvalve 84:c355d3e52bf1 271 {0.29069945216178894f,-0.23835359513759613f,0.019009560346603394f,-0.30957385897636414f,-0.06500361114740372f,-0.23950506746768951f,0.045349299907684326f,-0.17138783633708954f,-0.14764569699764252f,0.028545528650283813f,-0.16238126158714294f,-0.15074089169502258f,-0.29816436767578125f,-0.23938924074172974f,0.09875330328941345f,0.08164769411087036f,0.2294725477695465f,0.10683679580688477f,-0.27405375242233276f,-0.0006060161394998431f,0.17440509796142578f,0.2672456204891205f,0.16651621460914612f,-0.15362010896205902f,0.25261634588241577f,0.023651927709579468f,-0.1729920208454132f,0.31404948234558105f,0.10934463143348694f,0.19045329093933105f,0.02994692325592041f,0.02890726737678051f},
Lightvalve 84:c355d3e52bf1 272 {0.1991647183895111f,0.12534403800964355f,-0.04112154245376587f,0.23123982548713684f,-0.08205600827932358f,-0.28823745250701904f,-0.1610087752342224f,-0.031804412603378296f,0.10274738073348999f,-0.25018924474716187f,0.15975651144981384f,-0.057292819023132324f,0.11819945275783539f,-0.028415275737643242f,0.2151305377483368f,0.2952744662761688f,-0.21319252252578735f,0.04970458149909973f,0.31859418749809265f,0.3050673305988312f,0.21167120337486267f,-0.07602974027395248f,0.13887640833854675f,0.25299301743507385f,-0.44058921933174133f,-0.07015113532543182f,-0.287551611661911f,-0.10459110885858536f,-0.09004730731248856f,-0.24420931935310364f,0.015819430351257324f,-0.11104980111122131f},
Lightvalve 84:c355d3e52bf1 273 {0.12202468514442444f,0.15165209770202637f,-0.10034829378128052f,-0.32564064860343933f,0.19685158133506775f,0.14437249302864075f,-0.06113804876804352f,-0.11568751931190491f,0.32051777839660645f,-0.3136619031429291f,-0.06917986273765564f,-0.11160935461521149f,-0.09922535717487335f,-0.2136005163192749f,-0.06735922396183014f,0.05864924192428589f,-0.25733181834220886f,-0.17565661668777466f,0.0016648777527734637f,-0.11804971843957901f,-0.2269780933856964f,0.15428996086120605f,0.14481176435947418f,-0.05681343376636505f,0.20978398621082306f,0.1795230209827423f,0.19069638848304749f,-0.020621083676815033f,-0.14379416406154633f,0.2425754964351654f,-0.22172409296035767f,-0.009572982788085938f},
Lightvalve 84:c355d3e52bf1 274 {-0.3055141270160675f,-0.25092458724975586f,-0.19300995767116547f,0.7325661778450012f,-0.8033947348594666f,-1.040702223777771f,0.04595213010907173f,0.21086838841438293f,-0.0748712420463562f,-0.31109288334846497f,-0.5775437355041504f,-0.15827980637550354f,-0.26629605889320374f,0.04673107713460922f,-0.023131370544433594f,0.036719828844070435f,0.16260939836502075f,0.05286213755607605f,1.6439915895462036f,-1.9019787311553955f,-0.2704979181289673f,-0.6358916163444519f,0.10412012040615082f,0.19191309809684753f,-0.7669793963432312f,-0.02825927734375f,-0.20535290241241455f,-1.277054786682129f,0.2577309310436249f,0.1865309774875641f,0.10359535366296768f,0.3297824561595917f},
Lightvalve 84:c355d3e52bf1 275 {0.1782623827457428f,-0.03855970501899719f,-0.4635035991668701f,0.29705339670181274f,0.29944854974746704f,0.572848916053772f,-0.36316245794296265f,0.1475539207458496f,-0.17366336286067963f,-0.29410749673843384f,-0.11954933404922485f,-0.3833993077278137f,0.7884312868118286f,1.1966091394424438f,-0.2527656555175781f,-0.3049176335334778f,0.032145023345947266f,-0.25376296043395996f,0.5861251354217529f,-1.4569975137710571f,-0.2457541525363922f,0.18761852383613586f,-0.05961836501955986f,0.05391114950180054f,0.6069787740707397f,-0.058409590274095535f,-0.06608664989471436f,-1.4693738222122192f,0.8979771733283997f,0.1616479754447937f,-0.26603591442108154f,1.185694694519043f},
Lightvalve 84:c355d3e52bf1 276 {-0.17396044731140137f,-0.12593205273151398f,-0.19672991335391998f,0.05691675841808319f,0.1397278606891632f,0.21612973511219025f,-0.16139104962348938f,-0.1761629432439804f,-0.6402992010116577f,-0.32974573969841003f,1.1390248537063599f,-0.26317694783210754f,0.2519507110118866f,0.9231234788894653f,-0.19851773977279663f,-0.10762731730937958f,0.14198419451713562f,0.10370296239852905f,0.5022594928741455f,-0.6512249708175659f,-0.7421490550041199f,0.7806501984596252f,0.14419947564601898f,-0.19857197999954224f,1.0913468599319458f,-0.2665709853172302f,0.19562599062919617f,-0.340131014585495f,-0.5099549293518066f,-0.1200934648513794f,-0.1742367148399353f,0.5318814516067505f},
Lightvalve 84:c355d3e52bf1 277 {-0.12546227872371674f,-0.046350039541721344f,-0.08090300858020782f,0.13400159776210785f,-0.15044839680194855f,-0.3213222324848175f,-0.28310835361480713f,-0.020981580018997192f,0.04249835014343262f,-0.1450422704219818f,-0.19499319791793823f,0.046816736459732056f,-0.04238327220082283f,-0.1563507467508316f,-0.0649729073047638f,0.2468220293521881f,0.060016900300979614f,-0.16779978573322296f,0.19903524219989777f,0.08180815726518631f,-0.11929178237915039f,0.04381689429283142f,-0.3016570210456848f,0.22389158606529236f,-0.06335359811782837f,0.020356476306915283f,-0.2721233367919922f,0.2845783233642578f,0.03800060600042343f,-0.000007510185241699219f,0.094448983669281f,-0.08897853642702103f},
Lightvalve 84:c355d3e52bf1 278 {0.07555973529815674f,-0.0029259920120239258f,-0.08789914846420288f,0.06678077578544617f,-0.11083845794200897f,0.11010000109672546f,-0.14982634782791138f,0.12075316905975342f,-0.2766430675983429f,0.013024389743804932f,0.18159812688827515f,-0.20200279355049133f,0.2637675702571869f,-0.1856893002986908f,0.2882818281650543f,0.05304515361785889f,-0.15297894179821014f,0.07341468334197998f,0.05268138647079468f,0.1067940890789032f,-0.2661813795566559f,-0.2009473443031311f,0.1843600869178772f,0.2517976462841034f,-0.07343396544456482f,-0.051110416650772095f,-0.23432010412216187f,0.16746872663497925f,-0.2205146849155426f,-0.017525076866149902f,0.20926335453987122f,-0.2141496241092682f},
Lightvalve 84:c355d3e52bf1 279 {0.06582912802696228f,0.2796666920185089f,-0.2556927502155304f,0.0023079216480255127f,0.32987985014915466f,0.008925902657210827f,0.06556430459022522f,0.29767414927482605f,0.3899354934692383f,-0.16670267283916473f,-0.07468277961015701f,-0.06570860743522644f,-0.015925198793411255f,0.050778210163116455f,-0.014884740114212036f,-0.05300724506378174f,0.26490333676338196f,0.15243005752563477f,0.07542221993207932f,0.35540080070495605f,0.35460686683654785f,0.036047618836164474f,-0.04174882173538208f,-0.11559568345546722f,-0.19164401292800903f,0.21069613099098206f,-0.19532959163188934f,-0.11914381384849548f,0.032513976097106934f,-0.2712400257587433f,-0.19435247778892517f,-0.23200613260269165f},
Lightvalve 84:c355d3e52bf1 280 {-0.1299392580986023f,-0.06208275258541107f,-0.18067686259746552f,0.062329649925231934f,-0.18659290671348572f,-0.17816488444805145f,-0.19175797700881958f,0.02903696894645691f,-0.2614779472351074f,0.016345679759979248f,-0.24767392873764038f,0.2033931314945221f,-0.30105409026145935f,0.08271035552024841f,0.13206014037132263f,0.15829482674598694f,-0.21012049913406372f,0.2088232934474945f,0.06991848349571228f,-0.19175665080547333f,0.28649166226387024f,0.016488296911120415f,-0.27260470390319824f,-0.025072306394577026f,0.2722422182559967f,-0.007939159870147705f,-0.22979341447353363f,0.18354694545269012f,0.1298319399356842f,0.18135693669319153f,-0.008151531219482422f,0.06563670933246613f},
Lightvalve 84:c355d3e52bf1 281 {0.07638216018676758f,0.05416220799088478f,-0.3668074607849121f,-0.27526140213012695f,0.14193227887153625f,-0.03358025848865509f,0.2795381247997284f,-0.25668495893478394f,-0.06847190111875534f,0.10313618183135986f,0.06818969547748566f,0.02524423599243164f,0.12337286025285721f,0.24906043708324432f,-0.029521822929382324f,-0.19500072300434113f,0.06506577134132385f,-0.011876672506332397f,0.13714706897735596f,0.241392120718956f,0.15146386623382568f,-0.03257722035050392f,-0.19373025000095367f,-0.17324526607990265f,0.18035846948623657f,0.1901901364326477f,-0.2794223725795746f,-0.0292219091206789f,-0.143522247672081f,0.22636333107948303f,-0.3317090570926666f,0.16370397806167603f},
Lightvalve 66:a8e6799dbce3 282 };
Lightvalve 65:a2d7c63419c2 283
Lightvalve 84:c355d3e52bf1 284 const float hout[32] = { 0.3285340666770935f,0.20001740753650665f,-0.34911248087882996f,0.7785994410514832f,-0.3811017870903015f,0.192925363779068f,0.11950510740280151f,0.1081397533416748f,0.05394027382135391f,-0.08027924597263336f,0.3785701394081116f,-0.11859139055013657f,-0.06000533699989319f,0.5311194062232971f,0.2356991171836853f,-0.1462659239768982f,0.09851181507110596f,-0.21499931812286377f,-0.2335696816444397f,0.5094234943389893f,-0.02162783592939377f,-0.07713251560926437f,-0.16340212523937225f,-0.175692617893219f,-0.5511316657066345f,0.0982658639550209f,-0.19307535886764526f,0.005460194777697325f,0.03202202543616295f,-0.3257754445075989f,-0.31206440925598145f,0.38066837191581726f };
Lightvalve 66:a8e6799dbce3 285
Lightvalve 84:c355d3e52bf1 286 const float b1[32] = { 0.4585856795310974f,1.5599967241287231f,-1.7145336866378784f,-0.5815920829772949f,1.7490010261535645f,0.693375289440155f,-0.12202438712120056f,1.839867115020752f,1.4444961547851562f,-1.156732439994812f,0.5561704039573669f,2.925478458404541f,-0.3425353467464447f,-0.9403132796287537f,-1.087764859199524f,1.6783026456832886f,0.7627432346343994f,-0.26377663016319275f,0.9854183793067932f,1.2830049991607666f,-0.284685879945755f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,3.647984266281128f,-2.0880801677703857f,-1.0489267110824585f,0.8671233654022217f,0.2414611577987671f,-1.0887231826782227f,2.1772990226745605f,-0.44598740339279175f };
Lightvalve 65:a2d7c63419c2 287
Lightvalve 84:c355d3e52bf1 288 const float b2[32] = { -0.22200508415699005f,-0.7642630338668823f,-1.4564176797866821f,-0.4980332851409912f,-0.6939148902893066f,-0.028987569734454155f,0.14226511120796204f,-0.4531817138195038f,-1.20063054561615f,-1.912178635597229f,0.01248383428901434f,0.14814351499080658f,-0.21863840520381927f,2.2132997512817383f,0.4528786838054657f,1.145101547241211f,-1.798204779624939f,-1.5844906568527222f,-0.08603224903345108f,-0.3332130014896393f,-0.0870656743645668f,-0.025959404185414314f,0.03327740728855133f,-1.189407467842102f,1.1251391172409058f,1.414678692817688f,0.012956145219504833f,-0.15001332759857178f,-0.6323830485343933f,-0.5580381155014038f,-1.2962936162948608f,-1.488829255104065f };
Lightvalve 65:a2d7c63419c2 289
Lightvalve 84:c355d3e52bf1 290 const float b3[32] = { -1.963319182395935f,-0.5214390158653259f,-0.02191949263215065f,-0.8819749355316162f,-1.4401051998138428f,0.9515159726142883f,-0.5303202867507935f,-0.6562485098838806f,-0.0017350538400933146f,-0.04748106747865677f,-0.5597951412200928f,-0.10345426201820374f,-1.1365820169448853f,-0.029138414189219475f,-1.1428403854370117f,-0.3598397970199585f,-1.3594286441802979f,-1.0192245244979858f,-1.5457112789154053f,-0.15714126825332642f,-0.006691883783787489f,-0.8062649369239807f,-1.1899834871292114f,-0.8066051602363586f,-0.8363364338874817f,-0.5234388709068298f,-0.3238477408885956f,-1.4527530670166016f,-0.2316749542951584f,-2.3236680030822754f,-0.08294112235307693f,1.1520551443099976f };
Lightvalve 66:a8e6799dbce3 291
Lightvalve 84:c355d3e52bf1 292 const float bout[1] = { -0.029729647561907768f };
Lightvalve 61:bc8c8270f0ab 293
Lightvalve 61:bc8c8270f0ab 294
GiJeongKim 0:51c43836c1d7 295 int main()
GiJeongKim 0:51c43836c1d7 296 {
Lightvalve 66:a8e6799dbce3 297
Lightvalve 65:a2d7c63419c2 298 HAL_Init();
Lightvalve 65:a2d7c63419c2 299 SystemClock_Config();
Lightvalve 65:a2d7c63419c2 300
jobuuu 6:df07d3491e3a 301 /*********************************
jobuuu 1:e04e563be5ce 302 *** Initialization
jobuuu 6:df07d3491e3a 303 *********************************/
Lightvalve 69:3995ffeaa786 304 LED = 0;
Lightvalve 61:bc8c8270f0ab 305 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 306
GiJeongKim 0:51c43836c1d7 307 // i2c init
Lightvalve 8:5d2eebdad025 308 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 309 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 310 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 311 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 312 make_delay();
jobuuu 2:a1c0a37df760 313
GiJeongKim 0:51c43836c1d7 314 // // spi init
Lightvalve 16:903b5a4433b4 315 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 316 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 317 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 318 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 319 make_delay();
Lightvalve 21:e5f1a43ea6f9 320
Lightvalve 16:903b5a4433b4 321 //rom
Lightvalve 19:23b7c1ad8683 322 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 323 make_delay();
Lightvalve 13:747daba9cf59 324
GiJeongKim 0:51c43836c1d7 325 // ADC init
jobuuu 5:a4319f79457b 326 Init_ADC();
Lightvalve 11:82d8768d7351 327 make_delay();
jobuuu 2:a1c0a37df760 328
GiJeongKim 0:51c43836c1d7 329 // Pwm init
GiJeongKim 0:51c43836c1d7 330 Init_PWM();
GiJeongKim 0:51c43836c1d7 331 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 332 make_delay();
Lightvalve 13:747daba9cf59 333
Lightvalve 11:82d8768d7351 334 // TMR3 init
Lightvalve 11:82d8768d7351 335 Init_TMR3();
Lightvalve 11:82d8768d7351 336 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 337 make_delay();
Lightvalve 21:e5f1a43ea6f9 338
Lightvalve 50:3c630b5eba9f 339 // TMR2 init
Lightvalve 56:6f50d9d3bfee 340 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 341 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 342 // make_delay();
Lightvalve 21:e5f1a43ea6f9 343
GiJeongKim 0:51c43836c1d7 344 // CAN
jobuuu 2:a1c0a37df760 345 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 346 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 347 make_delay();
Lightvalve 34:bb2ca2fc2a8e 348
Lightvalve 23:59218d4a256d 349 //Timer priority
Lightvalve 23:59218d4a256d 350 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 351 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 352 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 353
Lightvalve 23:59218d4a256d 354 //can.reset();
Lightvalve 19:23b7c1ad8683 355 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 356
GiJeongKim 0:51c43836c1d7 357 // spi _ enc
GiJeongKim 0:51c43836c1d7 358 spi_enc_set_init();
Lightvalve 11:82d8768d7351 359 make_delay();
Lightvalve 13:747daba9cf59 360
Lightvalve 11:82d8768d7351 361 //DAC init
Lightvalve 58:2eade98630e2 362 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 363 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 364 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 365 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 366 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 367 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 368 }
Lightvalve 11:82d8768d7351 369 make_delay();
Lightvalve 13:747daba9cf59 370
Lightvalve 19:23b7c1ad8683 371 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 372 if(i%2==0)
Lightvalve 38:118df027d851 373 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 374 else
Lightvalve 38:118df027d851 375 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 376 }
Lightvalve 61:bc8c8270f0ab 377
Lightvalve 61:bc8c8270f0ab 378
jobuuu 6:df07d3491e3a 379 /************************************
jobuuu 1:e04e563be5ce 380 *** Program is operating!
jobuuu 6:df07d3491e3a 381 *************************************/
GiJeongKim 0:51c43836c1d7 382 while(1) {
Lightvalve 66:a8e6799dbce3 383 // if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve 66:a8e6799dbce3 384 //if(timer_while==1000) {
Lightvalve 65:a2d7c63419c2 385 //i2c
Lightvalve 66:a8e6799dbce3 386
Lightvalve 65:a2d7c63419c2 387 read_field(i2c_slave_addr1);
Lightvalve 65:a2d7c63419c2 388 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 65:a2d7c63419c2 389 // if(LED==1) {
Lightvalve 65:a2d7c63419c2 390 // LED=0;
Lightvalve 65:a2d7c63419c2 391 // } else
Lightvalve 65:a2d7c63419c2 392 // LED = 1;
Lightvalve 65:a2d7c63419c2 393 timer_while = 0;
Lightvalve 66:a8e6799dbce3 394 //}
Lightvalve 66:a8e6799dbce3 395
Lightvalve 66:a8e6799dbce3 396 timer_while ++;
Lightvalve 66:a8e6799dbce3 397
Lightvalve 73:f80dc3970c99 398 if(NN_Control_Flag == 0) {
Lightvalve 73:f80dc3970c99 399 LED = 0;
Lightvalve 73:f80dc3970c99 400 }
Lightvalve 66:a8e6799dbce3 401
Lightvalve 73:f80dc3970c99 402 else if(NN_Control_Flag == 1) {
Lightvalve 66:a8e6799dbce3 403 float output1[32] = { 0.0f };
Lightvalve 66:a8e6799dbce3 404 float output2[32] = { 0.0f };
Lightvalve 66:a8e6799dbce3 405 float output3[32] = { 0.0f };
Lightvalve 66:a8e6799dbce3 406 float output = 0.0f;
Lightvalve 65:a2d7c63419c2 407
Lightvalve 66:a8e6799dbce3 408 for (int index2 = 0; index2 < 32; index2++) {
Lightvalve 68:328e1be06f5d 409 for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve 66:a8e6799dbce3 410 output1[index2] = output1[index2]
Lightvalve 73:f80dc3970c99 411 + h1[index1][index2] * input_NN[index1];
Lightvalve 66:a8e6799dbce3 412 }
Lightvalve 66:a8e6799dbce3 413 output1[index2] = output1[index2] + b1[index2];
Lightvalve 66:a8e6799dbce3 414 if (output1[index2] < 0) {
Lightvalve 66:a8e6799dbce3 415 output1[index2] = 0;
Lightvalve 66:a8e6799dbce3 416 }
Lightvalve 66:a8e6799dbce3 417 }
Lightvalve 65:a2d7c63419c2 418
Lightvalve 66:a8e6799dbce3 419 for (int index2 = 0; index2 < 32; index2++) {
Lightvalve 66:a8e6799dbce3 420 for (int index1 = 0; index1 < 32; index1++) {
Lightvalve 66:a8e6799dbce3 421 output2[index2] = output2[index2]
Lightvalve 66:a8e6799dbce3 422 + h2[index1][index2] * output1[index1];
Lightvalve 66:a8e6799dbce3 423 }
Lightvalve 66:a8e6799dbce3 424 output2[index2] = output2[index2] + b2[index2];
Lightvalve 66:a8e6799dbce3 425 if (output2[index2] < 0) {
Lightvalve 66:a8e6799dbce3 426 output2[index2] = 0;
Lightvalve 66:a8e6799dbce3 427 }
Lightvalve 66:a8e6799dbce3 428 }
Lightvalve 65:a2d7c63419c2 429
Lightvalve 66:a8e6799dbce3 430 for (int index2 = 0; index2 < 32; index2++) {
Lightvalve 66:a8e6799dbce3 431 for (int index1 = 0; index1 < 32; index1++) {
Lightvalve 66:a8e6799dbce3 432 output3[index2] = output3[index2]
Lightvalve 66:a8e6799dbce3 433 + h3[index1][index2] * output2[index1];
Lightvalve 66:a8e6799dbce3 434 }
Lightvalve 66:a8e6799dbce3 435 output3[index2] = output3[index2] + b3[index2];
Lightvalve 66:a8e6799dbce3 436 if (output3[index2] < 0) {
Lightvalve 66:a8e6799dbce3 437 output3[index2] = 0;
Lightvalve 66:a8e6799dbce3 438 }
Lightvalve 65:a2d7c63419c2 439 }
Lightvalve 66:a8e6799dbce3 440
Lightvalve 66:a8e6799dbce3 441 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 66:a8e6799dbce3 442 for (int index1 = 0; index1 < 32; index1++) {
Lightvalve 73:f80dc3970c99 443 output = output + hout[index1] * output3[index1];
Lightvalve 66:a8e6799dbce3 444 }
Lightvalve 66:a8e6799dbce3 445 output = output + bout[index2];
Lightvalve 73:f80dc3970c99 446
Lightvalve 66:a8e6799dbce3 447 }
Lightvalve 73:f80dc3970c99 448 output = 1.0f/(1.0f+exp(-output));
Lightvalve 68:328e1be06f5d 449 output = output * 20000.0f - 10000.0f;
Lightvalve 66:a8e6799dbce3 450 if(output>=0) {
Lightvalve 66:a8e6799dbce3 451 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 452 } else {
Lightvalve 66:a8e6799dbce3 453 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 65:a2d7c63419c2 454 }
Lightvalve 69:3995ffeaa786 455
Lightvalve 69:3995ffeaa786 456 if(LED==1) {
Lightvalve 69:3995ffeaa786 457 LED=0;
Lightvalve 69:3995ffeaa786 458 } else
Lightvalve 69:3995ffeaa786 459 LED = 1;
Lightvalve 69:3995ffeaa786 460
Lightvalve 65:a2d7c63419c2 461 }
Lightvalve 62:b5452adfb2cd 462
Lightvalve 69:3995ffeaa786 463
Lightvalve 66:a8e6799dbce3 464
GiJeongKim 0:51c43836c1d7 465 }
jobuuu 1:e04e563be5ce 466 }
jobuuu 1:e04e563be5ce 467
Lightvalve 33:91b17819ec30 468 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 469 {
Lightvalve 14:8e7590227d22 470
Lightvalve 13:747daba9cf59 471 int i = 0;
Lightvalve 48:889798ff9329 472 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 473 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 474 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 475 if(i==0) {
Lightvalve 50:3c630b5eba9f 476 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 477 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 478 } else {
Lightvalve 57:f4819de54e7a 479 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 480 }
Lightvalve 14:8e7590227d22 481 } else {
Lightvalve 50:3c630b5eba9f 482 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 483 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 484 } else {
Lightvalve 57:f4819de54e7a 485 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 486 }
Lightvalve 13:747daba9cf59 487 }
Lightvalve 13:747daba9cf59 488 break;
Lightvalve 13:747daba9cf59 489 }
Lightvalve 13:747daba9cf59 490 }
Lightvalve 14:8e7590227d22 491 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 492 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 493 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 494 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 495 }
Lightvalve 36:a46e63505ed8 496
Lightvalve 57:f4819de54e7a 497 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 498 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 499
Lightvalve 13:747daba9cf59 500 }
jobuuu 6:df07d3491e3a 501
jobuuu 6:df07d3491e3a 502
Lightvalve 30:8d561f16383b 503 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 504 {
Lightvalve 13:747daba9cf59 505 int i = 0;
Lightvalve 13:747daba9cf59 506
Lightvalve 38:118df027d851 507 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 508 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 509 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 510 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 511 }
Lightvalve 38:118df027d851 512
Lightvalve 13:747daba9cf59 513 valve_pos_err = REF_VALVE_POS - value;
Lightvalve 13:747daba9cf59 514 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 515 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 516 valve_pos_err_sum += valve_pos_err;
Lightvalve 13:747daba9cf59 517 if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve 13:747daba9cf59 518 if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve 13:747daba9cf59 519
Lightvalve 13:747daba9cf59 520 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 521
Lightvalve 18:b8adf1582ea3 522 for(i=0; i<24; i++) {
Lightvalve 14:8e7590227d22 523 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 524 if(i==0) {
Lightvalve 48:889798ff9329 525 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 526 } else {
Lightvalve 48:889798ff9329 527 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 528 }
Lightvalve 13:747daba9cf59 529 break;
Lightvalve 13:747daba9cf59 530 }
Lightvalve 13:747daba9cf59 531 }
Lightvalve 59:f308b1656d9c 532 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 533 }
Lightvalve 13:747daba9cf59 534
Lightvalve 14:8e7590227d22 535 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 536 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 537 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 538 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 539 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 540 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 541 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 542 }; // duty
Lightvalve 67:c2812cf26c38 543 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 544 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 545 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 546 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 547 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 548 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 549 }; // mV
Lightvalve 13:747daba9cf59 550
Lightvalve 30:8d561f16383b 551 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 552 {
Lightvalve 30:8d561f16383b 553 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 554 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 555 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 556 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 557 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 558 } else {
Lightvalve 13:747daba9cf59 559 int idx = 0;
Lightvalve 13:747daba9cf59 560 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 561 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 562 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 563 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 564 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 565 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 566 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 567 break;
Lightvalve 13:747daba9cf59 568 }
Lightvalve 13:747daba9cf59 569 }
Lightvalve 13:747daba9cf59 570 }
Lightvalve 14:8e7590227d22 571
Lightvalve 13:747daba9cf59 572 return PWM_duty;
Lightvalve 13:747daba9cf59 573 }
jobuuu 6:df07d3491e3a 574
Lightvalve 57:f4819de54e7a 575
Lightvalve 57:f4819de54e7a 576
Lightvalve 57:f4819de54e7a 577
Lightvalve 57:f4819de54e7a 578
jobuuu 2:a1c0a37df760 579 /*******************************************************************************
jobuuu 2:a1c0a37df760 580 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 581 *******************************************************************************/
jobuuu 2:a1c0a37df760 582
Lightvalve 51:b46bed7fec80 583 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 584 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 585 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 586 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 587 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 588 {
Lightvalve 19:23b7c1ad8683 589 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 590
Lightvalve 21:e5f1a43ea6f9 591 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 592 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 593 ********************************************************/
Lightvalve 13:747daba9cf59 594
Lightvalve 57:f4819de54e7a 595 //Encoder
Lightvalve 57:f4819de54e7a 596 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 597 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 598 }
Lightvalve 61:bc8c8270f0ab 599
Lightvalve 61:bc8c8270f0ab 600 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 601 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 602 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 603 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 604 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 605 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 67:c2812cf26c38 606 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 67:c2812cf26c38 607
Lightvalve 67:c2812cf26c38 608
Lightvalve 67:c2812cf26c38 609 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 67:c2812cf26c38 610 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 67:c2812cf26c38 611 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 67:c2812cf26c38 612 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 67:c2812cf26c38 613 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 67:c2812cf26c38 614
Lightvalve 17:1865016ca2e7 615
Lightvalve 58:2eade98630e2 616 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 617 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 618 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 619 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 620 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 621 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 622 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 623 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 624 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 625
Lightvalve 58:2eade98630e2 626 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 627 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 628 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 629 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 630 }
Lightvalve 58:2eade98630e2 631 }
Lightvalve 61:bc8c8270f0ab 632
Lightvalve 58:2eade98630e2 633 // //Pressure sensor A
Lightvalve 58:2eade98630e2 634 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 635 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 636 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 637 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 638 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 639 // 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 640 //
Lightvalve 58:2eade98630e2 641 //
Lightvalve 58:2eade98630e2 642 // //Pressure sensor B
Lightvalve 58:2eade98630e2 643 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 644 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 645 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 646 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 647
Lightvalve 17:1865016ca2e7 648
Lightvalve 21:e5f1a43ea6f9 649 //Current
Lightvalve 21:e5f1a43ea6f9 650 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 651 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 652 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 653 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 654 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 655 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 656 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 657
Lightvalve 57:f4819de54e7a 658 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 659 }
Lightvalve 11:82d8768d7351 660 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 661 }
Lightvalve 19:23b7c1ad8683 662
Lightvalve 19:23b7c1ad8683 663
Lightvalve 18:b8adf1582ea3 664 int j =0;
Lightvalve 54:647072f5307a 665 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 666 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 667 int cnt_trans = 0;
Lightvalve 48:889798ff9329 668 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 57:f4819de54e7a 669 int can_rest =0;
Lightvalve 48:889798ff9329 670
Lightvalve 11:82d8768d7351 671 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 672 {
Lightvalve 19:23b7c1ad8683 673 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 674
Lightvalve 57:f4819de54e7a 675 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 676 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 677 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 678 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 679 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 680 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 681 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 682 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 683 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 684 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 685 }
Lightvalve 50:3c630b5eba9f 686
Lightvalve 50:3c630b5eba9f 687 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 688 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 689 cnt_trans++;
Lightvalve 46:2694daea349b 690 torq.err_sum = 0;
Lightvalve 48:889798ff9329 691 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 692 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 693 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 694 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 695 cnt_trans++;
Lightvalve 46:2694daea349b 696 torq.err_sum = 0;
Lightvalve 48:889798ff9329 697 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 698 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 699 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 700 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 701 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 702 } else {
Lightvalve 58:2eade98630e2 703 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 704 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 705 }
Lightvalve 45:35fa6884d0c6 706
Lightvalve 50:3c630b5eba9f 707
Lightvalve 57:f4819de54e7a 708 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 709 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 710
Lightvalve 57:f4819de54e7a 711 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 712 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 713 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 714 } else {
Lightvalve 57:f4819de54e7a 715 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 716 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 717 }
Lightvalve 56:6f50d9d3bfee 718
Lightvalve 56:6f50d9d3bfee 719
Lightvalve 56:6f50d9d3bfee 720
Lightvalve 57:f4819de54e7a 721 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 722
Lightvalve 57:f4819de54e7a 723 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 724 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 725 break;
Lightvalve 13:747daba9cf59 726 }
Lightvalve 14:8e7590227d22 727
Lightvalve 14:8e7590227d22 728 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 729 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 730 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 731 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 732
Lightvalve 14:8e7590227d22 733 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 734 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 735 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 736
Lightvalve 84:c355d3e52bf1 737 TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 738
Lightvalve 30:8d561f16383b 739 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 740 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 741
Lightvalve 16:903b5a4433b4 742 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 743 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 744 }
Lightvalve 13:747daba9cf59 745 } else {
Lightvalve 58:2eade98630e2 746 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 747 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 748 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 749 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 750
Lightvalve 16:903b5a4433b4 751 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 752
Lightvalve 30:8d561f16383b 753 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 754
Lightvalve 13:747daba9cf59 755 }
Lightvalve 14:8e7590227d22 756 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 757 break;
Lightvalve 19:23b7c1ad8683 758 }
Lightvalve 14:8e7590227d22 759
Lightvalve 50:3c630b5eba9f 760 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 761 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 762 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 763 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 764 // }
Lightvalve 50:3c630b5eba9f 765 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 766 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 767 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 768 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 769 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 770 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 771 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 772 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 773 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 774 // }
Lightvalve 50:3c630b5eba9f 775 //
Lightvalve 50:3c630b5eba9f 776 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 777 // 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 778 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 779 //
Lightvalve 50:3c630b5eba9f 780 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 781 // V_out = 0;
Lightvalve 50:3c630b5eba9f 782 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 783 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 784 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 785 // else 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 DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 788 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 789 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 790 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 791 //
Lightvalve 50:3c630b5eba9f 792 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 793 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 794 // // | / | / |/
Lightvalve 50:3c630b5eba9f 795 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 796 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 797 // // /| / | / |
Lightvalve 50:3c630b5eba9f 798 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 799 //
Lightvalve 50:3c630b5eba9f 800 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 801 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 802 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 803 // } else {
Lightvalve 50:3c630b5eba9f 804 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 805 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 806 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 807 // }
Lightvalve 50:3c630b5eba9f 808 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 809 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 810 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 811 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 812 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 813 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 814 // }
Lightvalve 50:3c630b5eba9f 815 // } else {
Lightvalve 50:3c630b5eba9f 816 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 817 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 818 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 819 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 820 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 821 // }
Lightvalve 50:3c630b5eba9f 822 // V_out = 0;
Lightvalve 50:3c630b5eba9f 823 //
Lightvalve 50:3c630b5eba9f 824 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 825 //
Lightvalve 50:3c630b5eba9f 826 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 827 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 828 //
Lightvalve 50:3c630b5eba9f 829 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 830 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 831 // }
Lightvalve 50:3c630b5eba9f 832 // }
Lightvalve 50:3c630b5eba9f 833 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 834 // break;
Lightvalve 50:3c630b5eba9f 835 // }
Lightvalve 14:8e7590227d22 836
Lightvalve 14:8e7590227d22 837 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 838 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 839 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 840 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 841 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 842 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 843 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 844 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 845 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 846 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 847 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 848 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 849 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 850 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 851 }
Lightvalve 29:69f3f5445d6d 852 cnt_findhome++;
Lightvalve 14:8e7590227d22 853
Lightvalve 29:69f3f5445d6d 854 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 855 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 856 } else {
Lightvalve 29:69f3f5445d6d 857 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 858 }
Lightvalve 19:23b7c1ad8683 859
Lightvalve 57:f4819de54e7a 860 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 861 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 67:c2812cf26c38 862 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 67:c2812cf26c38 863 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:bc8c8270f0ab 864
Lightvalve 59:f308b1656d9c 865 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 866 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 867 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 868 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 869 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 870
Lightvalve 59:f308b1656d9c 871 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 872 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 873
Lightvalve 34:bb2ca2fc2a8e 874
Lightvalve 29:69f3f5445d6d 875 } else {
Lightvalve 29:69f3f5445d6d 876 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 67:c2812cf26c38 877 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 878 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 879 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 880 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 881 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 882 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 883 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 884 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 885 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 886 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 887
Lightvalve 67:c2812cf26c38 888
Lightvalve 67:c2812cf26c38 889 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 890 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 891 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 892 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 893 vel.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 894 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 895 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 896
Lightvalve 67:c2812cf26c38 897
Lightvalve 29:69f3f5445d6d 898 }
Lightvalve 29:69f3f5445d6d 899 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 900 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 901 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 902 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 903 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 904
Lightvalve 29:69f3f5445d6d 905 // input for position control
Lightvalve 67:c2812cf26c38 906
Lightvalve 67:c2812cf26c38 907 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 908 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 909
Lightvalve 67:c2812cf26c38 910 double torq_ref = 0.0f;
Lightvalve 67:c2812cf26c38 911 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 912 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 913 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 914
Lightvalve 67:c2812cf26c38 915 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 67:c2812cf26c38 916
Lightvalve 67:c2812cf26c38 917 double I_REF_POS = 0.0f;
Lightvalve 67:c2812cf26c38 918 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 67:c2812cf26c38 919 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 67:c2812cf26c38 920
Lightvalve 67:c2812cf26c38 921 double temp_vel_pos = 0.0f;
Lightvalve 67:c2812cf26c38 922 double temp_vel_torq = 0.0f;
Lightvalve 67:c2812cf26c38 923 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 67:c2812cf26c38 924
Lightvalve 69:3995ffeaa786 925 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 67:c2812cf26c38 926 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 927 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 928 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 67:c2812cf26c38 929 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 930 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 931 }
Lightvalve 67:c2812cf26c38 932 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 933 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 934
Lightvalve 67:c2812cf26c38 935 I_REF = I_REF_POS;
Lightvalve 67:c2812cf26c38 936
Lightvalve 67:c2812cf26c38 937
Lightvalve 67:c2812cf26c38 938
Lightvalve 67:c2812cf26c38 939 } else {
Lightvalve 67:c2812cf26c38 940 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 67:c2812cf26c38 941 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 942
Lightvalve 67:c2812cf26c38 943 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 67:c2812cf26c38 944 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 67:c2812cf26c38 945 } else {
Lightvalve 67:c2812cf26c38 946 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 67:c2812cf26c38 947 }
Lightvalve 67:c2812cf26c38 948
Lightvalve 67:c2812cf26c38 949 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 67:c2812cf26c38 950
Lightvalve 67:c2812cf26c38 951 V_out = (float) Vout.ref;
Lightvalve 67:c2812cf26c38 952
Lightvalve 67:c2812cf26c38 953 }
Lightvalve 67:c2812cf26c38 954
Lightvalve 67:c2812cf26c38 955
Lightvalve 67:c2812cf26c38 956
Lightvalve 67:c2812cf26c38 957
Lightvalve 59:f308b1656d9c 958 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 959 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 960 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 961 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 962 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 963
Lightvalve 29:69f3f5445d6d 964 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 965 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 966 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 967 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 968 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 969 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 970 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 971 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 972 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 973 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 974 }
Lightvalve 13:747daba9cf59 975 }
Lightvalve 19:23b7c1ad8683 976
Lightvalve 13:747daba9cf59 977 break;
Lightvalve 13:747daba9cf59 978 }
Lightvalve 14:8e7590227d22 979
Lightvalve 50:3c630b5eba9f 980 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 981 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 982 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 983 // else {
Lightvalve 50:3c630b5eba9f 984 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 985 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 986 // }
Lightvalve 50:3c630b5eba9f 987 // }
Lightvalve 50:3c630b5eba9f 988 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 989 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 990 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 991 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 992 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 993 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 994 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 995 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 996 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 997 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 998 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 999 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 1000 // }
Lightvalve 50:3c630b5eba9f 1001 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1002 // }
Lightvalve 50:3c630b5eba9f 1003 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1004 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1005 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1006 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1007 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1008 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1009 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1010 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1011 // 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 1012 // // 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 1013 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1014 // }
Lightvalve 50:3c630b5eba9f 1015 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1016 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1017 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1018 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1019 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1020 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1021 // 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 1022 // // 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 1023 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1024 // }
Lightvalve 50:3c630b5eba9f 1025 // }
Lightvalve 50:3c630b5eba9f 1026 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1027 //
Lightvalve 50:3c630b5eba9f 1028 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1029 //
Lightvalve 50:3c630b5eba9f 1030 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1031 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1032 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1033 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1034 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1035 // }
Lightvalve 50:3c630b5eba9f 1036 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1037 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1038 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1039 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1040 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1041 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1042 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1043 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1044 // }
Lightvalve 50:3c630b5eba9f 1045 //
Lightvalve 50:3c630b5eba9f 1046 // }
Lightvalve 50:3c630b5eba9f 1047 // break;
Lightvalve 50:3c630b5eba9f 1048 // }
Lightvalve 50:3c630b5eba9f 1049 //
Lightvalve 50:3c630b5eba9f 1050 // }
Lightvalve 14:8e7590227d22 1051 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1052 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1053 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1054 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1055 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1056
Lightvalve 14:8e7590227d22 1057 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1058 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1059 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1060 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1061 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1062
Lightvalve 38:118df027d851 1063 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1064 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1065 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1066
Lightvalve 30:8d561f16383b 1067 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1068 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1069 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1070 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1071
Lightvalve 30:8d561f16383b 1072 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1073 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1074 }
Lightvalve 13:747daba9cf59 1075 } else {
Lightvalve 57:f4819de54e7a 1076 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1077 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1078 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1079 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1080 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1081 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1082
Lightvalve 16:903b5a4433b4 1083 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1084
Lightvalve 30:8d561f16383b 1085 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1086 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1087 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1088 }
Lightvalve 14:8e7590227d22 1089 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1090 break;
Lightvalve 13:747daba9cf59 1091 }
Lightvalve 14:8e7590227d22 1092
Lightvalve 50:3c630b5eba9f 1093 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1094 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1095 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1096 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1097 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1098 // }
Lightvalve 50:3c630b5eba9f 1099 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1100 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1101 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1102 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1103 // }
Lightvalve 50:3c630b5eba9f 1104 // } else {
Lightvalve 50:3c630b5eba9f 1105 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1106 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1107 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1108 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1109 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1110 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1111 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1112 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1113 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1114 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1115 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1116 //
Lightvalve 50:3c630b5eba9f 1117 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1118 //
Lightvalve 50:3c630b5eba9f 1119 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1120 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1121 // }
Lightvalve 50:3c630b5eba9f 1122 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1123 // break;
Lightvalve 50:3c630b5eba9f 1124 // }
Lightvalve 19:23b7c1ad8683 1125
Lightvalve 50:3c630b5eba9f 1126 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1127 // 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 1128 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1129 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1130 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1131 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1132 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1133 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1134 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1135 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1136 // }
Lightvalve 50:3c630b5eba9f 1137 // break;
Lightvalve 50:3c630b5eba9f 1138 // }
Lightvalve 14:8e7590227d22 1139
Lightvalve 14:8e7590227d22 1140 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1141 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1142 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1143
Lightvalve 14:8e7590227d22 1144 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1145 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1146 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1147 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1148 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1149 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1150 data_num = 0;
Lightvalve 14:8e7590227d22 1151 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1152 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1153 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1154 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1155 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1156 } else {
Lightvalve 13:747daba9cf59 1157 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1158 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1159 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1160 }
Lightvalve 14:8e7590227d22 1161
Lightvalve 17:1865016ca2e7 1162 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1163 int i;
Lightvalve 13:747daba9cf59 1164 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1165 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1166 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1167 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1168 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1169 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1170 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1171 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1172 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1173 }
Lightvalve 13:747daba9cf59 1174 }
Lightvalve 59:f308b1656d9c 1175 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1176 ID_index = 0;
Lightvalve 57:f4819de54e7a 1177 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1178 }
Lightvalve 14:8e7590227d22 1179
Lightvalve 14:8e7590227d22 1180
Lightvalve 13:747daba9cf59 1181 break;
Lightvalve 13:747daba9cf59 1182 }
Lightvalve 14:8e7590227d22 1183
Lightvalve 14:8e7590227d22 1184 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1185 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1186 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1187 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1188 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1189 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1190 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1191 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1192 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1193 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1194 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1195 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1196 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1197 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1198 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1199 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 1200 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1201 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 1202 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1203 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1204 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1205 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 1206 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1207 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1208 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1209 data_num = 0;
Lightvalve 14:8e7590227d22 1210
Lightvalve 30:8d561f16383b 1211 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1212 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1213 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1214
Lightvalve 30:8d561f16383b 1215 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1216 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1217 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1218
Lightvalve 30:8d561f16383b 1219 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1220 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1221 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1222 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1223
Lightvalve 60:64181f1d3e60 1224 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1225 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1226 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1227 DZ_case = -1;
Lightvalve 14:8e7590227d22 1228 } else {
Lightvalve 13:747daba9cf59 1229 DZ_case = 0;
Lightvalve 13:747daba9cf59 1230 }
Lightvalve 61:bc8c8270f0ab 1231
Lightvalve 60:64181f1d3e60 1232 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1233
Lightvalve 13:747daba9cf59 1234 first_check = 1;
Lightvalve 13:747daba9cf59 1235 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1236 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1237 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1238 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1239 DZ_index = 1;
Lightvalve 14:8e7590227d22 1240
Lightvalve 13:747daba9cf59 1241 }
Lightvalve 19:23b7c1ad8683 1242 } else {
Lightvalve 14:8e7590227d22 1243 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1244 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1245 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 1246 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1247 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1248 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1249 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1250 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1251 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1252 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1253 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1254 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1255 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1256 }
Lightvalve 14:8e7590227d22 1257 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1258
Lightvalve 30:8d561f16383b 1259 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1260 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1261 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1262
Lightvalve 14:8e7590227d22 1263 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1264 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1265 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1266 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1267 } else {
Lightvalve 13:747daba9cf59 1268 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1269 }
Lightvalve 14:8e7590227d22 1270
Lightvalve 13:747daba9cf59 1271 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1272 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1273 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1274 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1275 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1276 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1277 DZ_index = 1;
Lightvalve 13:747daba9cf59 1278 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1279 }
Lightvalve 13:747daba9cf59 1280 }
Lightvalve 14:8e7590227d22 1281 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1282 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1283 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 1284 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1285 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1286 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1287 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1288 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1289 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1290 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1291 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1292 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1293 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1294 }
Lightvalve 14:8e7590227d22 1295 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1296
Lightvalve 30:8d561f16383b 1297 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1298 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1299 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1300 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1301 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1302
Lightvalve 14:8e7590227d22 1303 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 1304 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1305 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1306 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1307 } else {
Lightvalve 60:64181f1d3e60 1308 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 1309 }
Lightvalve 14:8e7590227d22 1310
Lightvalve 13:747daba9cf59 1311 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 1312 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 1313 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1314 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1315 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1316 first_check = 0;
Lightvalve 33:91b17819ec30 1317 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1318 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1319
Lightvalve 16:903b5a4433b4 1320 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1321
Lightvalve 60:64181f1d3e60 1322 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1323 DZ_index = 1;
Lightvalve 13:747daba9cf59 1324 }
Lightvalve 13:747daba9cf59 1325 }
Lightvalve 14:8e7590227d22 1326 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1327 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1328 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 1329 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1330 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1331 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1332 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1333 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1334 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1335 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1336 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1337 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1338 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1339 }
Lightvalve 14:8e7590227d22 1340 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1341
Lightvalve 30:8d561f16383b 1342 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1343 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1344 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1345
Lightvalve 14:8e7590227d22 1346 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1347 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1348 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1349 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1350 } else {
Lightvalve 13:747daba9cf59 1351 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1352 }
Lightvalve 13:747daba9cf59 1353 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1354 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1355 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1356 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1357 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1358 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1359 DZ_index = 1;
Lightvalve 13:747daba9cf59 1360 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1361 }
Lightvalve 13:747daba9cf59 1362 }
Lightvalve 14:8e7590227d22 1363 } else {
Lightvalve 30:8d561f16383b 1364 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1365 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 1366 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1367 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1368 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1369 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1370 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1371 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1372 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1373 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1374 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1375 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1376 }
Lightvalve 14:8e7590227d22 1377 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1378
Lightvalve 30:8d561f16383b 1379 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1380 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1381 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1382 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1383 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 1384
Lightvalve 60:64181f1d3e60 1385 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1386 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1387 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1388 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 1389 } else {
Lightvalve 13:747daba9cf59 1390 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1391 }
Lightvalve 14:8e7590227d22 1392
Lightvalve 13:747daba9cf59 1393 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1394 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1395 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1396 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1397 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1398 first_check = 0;
Lightvalve 33:91b17819ec30 1399 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1400 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 1401
Lightvalve 59:f308b1656d9c 1402 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1403
Lightvalve 57:f4819de54e7a 1404 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1405 DZ_index = 1;
Lightvalve 13:747daba9cf59 1406 }
Lightvalve 13:747daba9cf59 1407 }
Lightvalve 13:747daba9cf59 1408 }
Lightvalve 14:8e7590227d22 1409 }
Lightvalve 13:747daba9cf59 1410 break;
Lightvalve 13:747daba9cf59 1411 }
Lightvalve 14:8e7590227d22 1412
Lightvalve 14:8e7590227d22 1413 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 1414 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1415 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1416 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1417 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1418 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1419 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1420 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1421 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1422 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1423 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1424 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1425 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1426 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1427 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 1428 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1429 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1430 first_check = 1;
Lightvalve 13:747daba9cf59 1431 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1432 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 1433 ID_index = 0;
Lightvalve 13:747daba9cf59 1434 max_check = 0;
Lightvalve 13:747daba9cf59 1435 min_check = 0;
Lightvalve 13:747daba9cf59 1436 }
Lightvalve 14:8e7590227d22 1437 } else {
Lightvalve 30:8d561f16383b 1438 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1439 //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 1440 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 1441 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1442 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1443 data_num = 0;
Lightvalve 57:f4819de54e7a 1444 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1445
Lightvalve 14:8e7590227d22 1446 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1447 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1448 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 1449 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1450 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1451 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1452 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1453 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1454 one_period_end = 1;
Lightvalve 13:747daba9cf59 1455 }
Lightvalve 30:8d561f16383b 1456 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1457 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1458 one_period_end = 1;
Lightvalve 59:f308b1656d9c 1459 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1460 }
Lightvalve 14:8e7590227d22 1461
Lightvalve 14:8e7590227d22 1462 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1463 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1464 max_check = 1;
Lightvalve 14:8e7590227d22 1465 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1466 min_check = 1;
Lightvalve 13:747daba9cf59 1467 }
Lightvalve 13:747daba9cf59 1468 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1469
Lightvalve 13:747daba9cf59 1470 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1471 one_period_end = 0;
Lightvalve 13:747daba9cf59 1472 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1473 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1474 }
Lightvalve 14:8e7590227d22 1475
Lightvalve 14:8e7590227d22 1476 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1477
Lightvalve 13:747daba9cf59 1478 VALVE_POS_NUM = ID_index;
Lightvalve 59:f308b1656d9c 1479 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1480 ID_index = 0;
Lightvalve 13:747daba9cf59 1481 first_check = 0;
Lightvalve 13:747daba9cf59 1482 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1483 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 1484 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1485 }
Lightvalve 13:747daba9cf59 1486 }
Lightvalve 13:747daba9cf59 1487 break;
Lightvalve 13:747daba9cf59 1488 }
Lightvalve 58:2eade98630e2 1489
Lightvalve 57:f4819de54e7a 1490 case MODE_SYSTEM_ID: {
Lightvalve 57:f4819de54e7a 1491 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve 57:f4819de54e7a 1492 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 1493 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 1494 cnt_sysid++;
Lightvalve 57:f4819de54e7a 1495 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 1496 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 1497 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1498 }
Lightvalve 57:f4819de54e7a 1499 break;
Lightvalve 57:f4819de54e7a 1500 }
Lightvalve 58:2eade98630e2 1501
Lightvalve 58:2eade98630e2 1502
Lightvalve 57:f4819de54e7a 1503
Lightvalve 57:f4819de54e7a 1504 default:
Lightvalve 57:f4819de54e7a 1505 break;
Lightvalve 57:f4819de54e7a 1506 }
Lightvalve 57:f4819de54e7a 1507
Lightvalve 57:f4819de54e7a 1508 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 1509
Lightvalve 57:f4819de54e7a 1510 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 1511 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 1512 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 1513 break;
Lightvalve 57:f4819de54e7a 1514 }
Lightvalve 57:f4819de54e7a 1515
Lightvalve 57:f4819de54e7a 1516 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 1517 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 57:f4819de54e7a 1518 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:f308b1656d9c 1519 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 1520 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 1521 V_out = valve_pos.ref;
Lightvalve 67:c2812cf26c38 1522 } else {
Lightvalve 67:c2812cf26c38 1523 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 1524 }
Lightvalve 58:2eade98630e2 1525
Lightvalve 57:f4819de54e7a 1526 break;
Lightvalve 57:f4819de54e7a 1527 }
Lightvalve 57:f4819de54e7a 1528
Lightvalve 57:f4819de54e7a 1529 case MODE_JOINT_CONTROL: {
Lightvalve 57:f4819de54e7a 1530 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 1531 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 1532 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 1533 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 1534
Lightvalve 67:c2812cf26c38 1535 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 1536 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 1537 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1538 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1539
Lightvalve 67:c2812cf26c38 1540 torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 57:f4819de54e7a 1541
Lightvalve 57:f4819de54e7a 1542 // torque feedback
Lightvalve 67:c2812cf26c38 1543 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 1544 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 1545
Lightvalve 57:f4819de54e7a 1546 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 1547
Lightvalve 57:f4819de54e7a 1548 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 1549 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 1550 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 1551
Lightvalve 57:f4819de54e7a 1552 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 1553 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 1554 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 1555
Lightvalve 69:3995ffeaa786 1556 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1557 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 1558 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 1559 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1560 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 1561 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 1562 }
Lightvalve 57:f4819de54e7a 1563 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 1564 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1565
Lightvalve 57:f4819de54e7a 1566 // velocity compensation for torque control
Lightvalve 69:3995ffeaa786 1567 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1568 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 1569 // 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 1570 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 1571 // L feedforward velocity
Lightvalve 69:3995ffeaa786 1572 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1573 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 1574 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1575 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1576 // L feedforward velocity
Lightvalve 57:f4819de54e7a 1577 }
Lightvalve 57:f4819de54e7a 1578 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 1579 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1580 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 1581 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 1582 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 1583
Lightvalve 57:f4819de54e7a 1584 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 67:c2812cf26c38 1585
Lightvalve 67:c2812cf26c38 1586 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 1587 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 1588 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 1589 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 1590 if (I_REF > I_MAX) {
Lightvalve 67:c2812cf26c38 1591 double I_rem = I_REF - I_MAX;
Lightvalve 67:c2812cf26c38 1592 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1593 I_REF = I_MAX;
Lightvalve 67:c2812cf26c38 1594 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1595 } else if (I_REF < -I_MAX) {
Lightvalve 67:c2812cf26c38 1596 double I_rem = I_REF - (-I_MAX);
Lightvalve 67:c2812cf26c38 1597 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1598 I_REF = -I_MAX;
Lightvalve 67:c2812cf26c38 1599 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1600 }
Lightvalve 67:c2812cf26c38 1601 }
Lightvalve 57:f4819de54e7a 1602
Lightvalve 57:f4819de54e7a 1603 } else {
Lightvalve 57:f4819de54e7a 1604 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 72:3436ce769b1e 1605 float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 1606 float VALVE_POS_RAW = 0.0f;
Lightvalve 72:3436ce769b1e 1607
Lightvalve 57:f4819de54e7a 1608 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 1609 + 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 1610
Lightvalve 72:3436ce769b1e 1611 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 1612
Lightvalve 72:3436ce769b1e 1613 VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve 72:3436ce769b1e 1614
Lightvalve 72:3436ce769b1e 1615
Lightvalve 72:3436ce769b1e 1616 if (VALVE_POS_RAW >= 0) {
Lightvalve 72:3436ce769b1e 1617 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 1618 } else {
Lightvalve 72:3436ce769b1e 1619 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 1620 }
Lightvalve 57:f4819de54e7a 1621
Lightvalve 57:f4819de54e7a 1622 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 57:f4819de54e7a 1623 double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 1624 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 1625 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1626 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1627 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1628 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1629 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 1630 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1631 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1632 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1633 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1634 }
Lightvalve 57:f4819de54e7a 1635 }
Lightvalve 61:bc8c8270f0ab 1636
Lightvalve 57:f4819de54e7a 1637 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1638
Lightvalve 67:c2812cf26c38 1639 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 1640 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1641
Lightvalve 57:f4819de54e7a 1642 }
Lightvalve 72:3436ce769b1e 1643
Lightvalve 72:3436ce769b1e 1644 torq_ref_past = torq_ref;
Lightvalve 58:2eade98630e2 1645
Lightvalve 57:f4819de54e7a 1646 break;
Lightvalve 57:f4819de54e7a 1647 }
Lightvalve 58:2eade98630e2 1648
Lightvalve 57:f4819de54e7a 1649 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 1650 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1651 break;
Lightvalve 57:f4819de54e7a 1652 }
Lightvalve 14:8e7590227d22 1653
Lightvalve 12:6f2531038ea4 1654 default:
Lightvalve 12:6f2531038ea4 1655 break;
Lightvalve 12:6f2531038ea4 1656 }
Lightvalve 14:8e7590227d22 1657
Lightvalve 57:f4819de54e7a 1658
Lightvalve 57:f4819de54e7a 1659 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 1660
Lightvalve 57:f4819de54e7a 1661 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1662 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 1663 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1664 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 1665 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 1666 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 1667
Lightvalve 57:f4819de54e7a 1668 I_ERR = I_REF_fil - cur.sen;
Lightvalve 67:c2812cf26c38 1669 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 1670
Lightvalve 57:f4819de54e7a 1671
Lightvalve 57:f4819de54e7a 1672 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 1673 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 1674 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 1675 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 1676 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 1677 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 1678
Lightvalve 57:f4819de54e7a 1679 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 1680 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 1681 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 1682 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 1683 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 1684 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 1685 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 1686 }
Lightvalve 57:f4819de54e7a 1687
Lightvalve 57:f4819de54e7a 1688 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 1689
Lightvalve 67:c2812cf26c38 1690 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 1691 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 1692 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 1693 I_REF_fil_old = I_REF_fil;
Lightvalve 67:c2812cf26c38 1694 // 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 1695 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 67:c2812cf26c38 1696 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 1697
Lightvalve 57:f4819de54e7a 1698 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 1699 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 1700 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 1701 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1702 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 1703 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1704 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 1705 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 1706 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1707 VALVE_PWM_RAW = -V_MAX;
Lightvalve 67:c2812cf26c38 1708 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1709 }
Lightvalve 57:f4819de54e7a 1710 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1711 } else {
Lightvalve 57:f4819de54e7a 1712 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 1713 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1714 }
Lightvalve 57:f4819de54e7a 1715
Lightvalve 57:f4819de54e7a 1716 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1717 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 1718 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1719 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 1720 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 1721 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1722 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1723
Lightvalve 57:f4819de54e7a 1724 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1725
Lightvalve 57:f4819de54e7a 1726 } else {
Lightvalve 57:f4819de54e7a 1727 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 1728 }
Lightvalve 57:f4819de54e7a 1729
Lightvalve 57:f4819de54e7a 1730 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 1731 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 67:c2812cf26c38 1732 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 1733
Lightvalve 57:f4819de54e7a 1734 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 1735 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 1736 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 1737 else V_out = (float) (CUR_PWM_lin);
Lightvalve 57:f4819de54e7a 1738 }
Lightvalve 67:c2812cf26c38 1739
Lightvalve 67:c2812cf26c38 1740 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 67:c2812cf26c38 1741 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 67:c2812cf26c38 1742 // else V_out = V_out;
Lightvalve 67:c2812cf26c38 1743
jobuuu 7:e9086c72bb22 1744 /*******************************************************
jobuuu 7:e9086c72bb22 1745 *** PWM
jobuuu 7:e9086c72bb22 1746 ********************************************************/
Lightvalve 67:c2812cf26c38 1747 if(DIR_VALVE<0){
Lightvalve 67:c2812cf26c38 1748 V_out = -V_out;
Lightvalve 67:c2812cf26c38 1749 }
Lightvalve 67:c2812cf26c38 1750
Lightvalve 49:e7bcfc244d40 1751 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1752 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1753 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1754 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1755 }
Lightvalve 49:e7bcfc244d40 1756 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1757
Lightvalve 19:23b7c1ad8683 1758 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1759 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1760 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1761
Lightvalve 30:8d561f16383b 1762 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1763 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1764 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1765 } else {
jobuuu 2:a1c0a37df760 1766 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1767 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1768 }
Lightvalve 13:747daba9cf59 1769
jobuuu 1:e04e563be5ce 1770 //pwm
Lightvalve 30:8d561f16383b 1771 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1772 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 1773
Lightvalve 61:bc8c8270f0ab 1774
Lightvalve 57:f4819de54e7a 1775 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 20:806196fda269 1776
Lightvalve 54:647072f5307a 1777 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 1778 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 1779 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 1780 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1781 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 1782 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1783 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 1784 }
Lightvalve 57:f4819de54e7a 1785 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 1786 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1787 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 1788 } else if (SENSING_MODE == 1) {
Lightvalve 67:c2812cf26c38 1789 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 1790 }
Lightvalve 52:8ea76864368a 1791 }
Lightvalve 52:8ea76864368a 1792 }
Lightvalve 56:6f50d9d3bfee 1793 if (flag_data_request[1] == HIGH) {
Lightvalve 54:647072f5307a 1794 //valve position
Lightvalve 54:647072f5307a 1795 double t_value = 0;
Lightvalve 67:c2812cf26c38 1796 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 67:c2812cf26c38 1797 t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 67:c2812cf26c38 1798 } else {
Lightvalve 67:c2812cf26c38 1799 t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 67:c2812cf26c38 1800 }
Lightvalve 67:c2812cf26c38 1801 // if(OPERATING_MODE==5) {
Lightvalve 67:c2812cf26c38 1802 // t_value = (double) value;
Lightvalve 67:c2812cf26c38 1803 // } else if(CURRENT_CONTROL_MODE==1) {
Lightvalve 67:c2812cf26c38 1804 // t_value = cur.sen;
Lightvalve 57:f4819de54e7a 1805 // } else {
Lightvalve 67:c2812cf26c38 1806 // t_value = V_out;
Lightvalve 67:c2812cf26c38 1807 // }
Lightvalve 67:c2812cf26c38 1808 CAN_TX_TORQUE((int16_t) (t_value)); //1300
Lightvalve 67:c2812cf26c38 1809 //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
Lightvalve 67:c2812cf26c38 1810 //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
Lightvalve 54:647072f5307a 1811 }
Lightvalve 58:2eade98630e2 1812
Lightvalve 58:2eade98630e2 1813
Lightvalve 56:6f50d9d3bfee 1814 if (flag_data_request[2] == HIGH) {
Lightvalve 56:6f50d9d3bfee 1815 //pressure A and B
Lightvalve 57:f4819de54e7a 1816 CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) //1400
Lightvalve 55:b25725257569 1817 }
Lightvalve 58:2eade98630e2 1818
Lightvalve 57:f4819de54e7a 1819 //If it doesn't rest, below can can not work.
Lightvalve 57:f4819de54e7a 1820 for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 1821 ;
Lightvalve 57:f4819de54e7a 1822 }
Lightvalve 58:2eade98630e2 1823
Lightvalve 56:6f50d9d3bfee 1824 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 1825 //PWM
Lightvalve 73:f80dc3970c99 1826 //CAN_TX_PWM((int16_t) value); //1500
Lightvalve 73:f80dc3970c99 1827 CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500
Lightvalve 54:647072f5307a 1828 }
Lightvalve 57:f4819de54e7a 1829 //for (i = 0; i < 10000; i++) {
Lightvalve 57:f4819de54e7a 1830 // ;
Lightvalve 57:f4819de54e7a 1831 // }
Lightvalve 56:6f50d9d3bfee 1832 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 1833 //valve position
Lightvalve 73:f80dc3970c99 1834 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 1835 }
Lightvalve 20:806196fda269 1836
Lightvalve 54:647072f5307a 1837 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 1838 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 1839 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 1840 // }
Lightvalve 54:647072f5307a 1841 //if (flag_delay_test == 1){
Lightvalve 58:2eade98630e2 1842 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 54:647072f5307a 1843 //}
Lightvalve 52:8ea76864368a 1844
Lightvalve 54:647072f5307a 1845 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1846 }
Lightvalve 54:647072f5307a 1847 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 1848
Lightvalve 20:806196fda269 1849 }
Lightvalve 52:8ea76864368a 1850 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1851
Lightvalve 58:2eade98630e2 1852 }