Yeseong Jeong / Mbed 2 deprecated HydraulicControlBoard_Start

20210203

Dependencies:   mbed FastPWM

main.cpp@47:fdcb8bd86fd6, 2020-01-21 (annotated)

Committer:
Lightvalve
Date:
Tue Jan 21 13:39:27 2020 +0000
Revision:
47:fdcb8bd86fd6
Parent:
46:2694daea349b
Child:
48:889798ff9329
20200121

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GiJeongKim 0:51c43836c1d7 1 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 2 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 3 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 4 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 5 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 6 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 7 #include "setting.h"
Lightvalve 11:82d8768d7351 8 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 9 #include "stm32f4xx_flash.h"
Lightvalve 16:903b5a4433b4 10 #include "FlashWriter.h"
GiJeongKim 0:51c43836c1d7 11
Lightvalve 31:66738bfecec5 12 ///191008////
Lightvalve 31:66738bfecec5 13
jobuuu 7:e9086c72bb22 14 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 15 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 16 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 17 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 18 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 19 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 20 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 21 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 22
Lightvalve 24:ef6e1092e9e6 23
jobuuu 7:e9086c72bb22 24 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 25 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 26 float dtc_w=0.0f;
GiJeongKim 0:51c43836c1d7 27
jobuuu 7:e9086c72bb22 28 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 29 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 30 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 31 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 32
jobuuu 7:e9086c72bb22 33 // SPI ///////////////////////////////////////////
Lightvalve 16:903b5a4433b4 34 //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 16:903b5a4433b4 35 //DigitalOut eeprom_cs(PB_12);
Lightvalve 16:903b5a4433b4 36 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim 0:51c43836c1d7 37 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 38 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 39 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 40
jobuuu 7:e9086c72bb22 41 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 42 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 43
jobuuu 7:e9086c72bb22 44 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 45 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 46 CANMessage msg;
Lightvalve 11:82d8768d7351 47 void onMsgReceived()
Lightvalve 11:82d8768d7351 48 {
Lightvalve 11:82d8768d7351 49 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 50 }
jobuuu 2:a1c0a37df760 51
jobuuu 7:e9086c72bb22 52 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 53 State pos;
jobuuu 7:e9086c72bb22 54 State vel;
jobuuu 7:e9086c72bb22 55 State Vout;
jobuuu 7:e9086c72bb22 56 State torq;
jobuuu 7:e9086c72bb22 57 State pres_A;
jobuuu 7:e9086c72bb22 58 State pres_B;
jobuuu 7:e9086c72bb22 59 State cur;
Lightvalve 14:8e7590227d22 60 State valve_pos;
Lightvalve 14:8e7590227d22 61
Lightvalve 14:8e7590227d22 62 State INIT_Vout;
Lightvalve 14:8e7590227d22 63 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 64 State INIT_Pos;
Lightvalve 14:8e7590227d22 65 State INIT_torq;
jobuuu 5:a4319f79457b 66
Lightvalve 30:8d561f16383b 67 float V_out=0.0f;
Lightvalve 30:8d561f16383b 68 float V_rem=0.0f; // for anti-windup
Lightvalve 30:8d561f16383b 69 float V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
jobuuu 5:a4319f79457b 70
Lightvalve 30:8d561f16383b 71 float PWM_out=0.0f;
Lightvalve 12:6f2531038ea4 72
Lightvalve 17:1865016ca2e7 73 int timer_while = 0;
Lightvalve 17:1865016ca2e7 74 int while_index = 0;
Lightvalve 17:1865016ca2e7 75
Lightvalve 19:23b7c1ad8683 76
Lightvalve 19:23b7c1ad8683 77 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 78 extern int CID_RX_REF_POSITION;
Lightvalve 45:35fa6884d0c6 79 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 80
Lightvalve 19:23b7c1ad8683 81 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 82 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 83 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 84 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 85 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 86 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 87
jobuuu 7:e9086c72bb22 88 // =============================================================================
jobuuu 7:e9086c72bb22 89 // =============================================================================
jobuuu 7:e9086c72bb22 90 // =============================================================================
jobuuu 7:e9086c72bb22 91
Lightvalve 12:6f2531038ea4 92 /*******************************************************************************
Lightvalve 12:6f2531038ea4 93 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 94 ******************************************************************************/
Lightvalve 13:747daba9cf59 95 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 96 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 97 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 98 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 99 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 100 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 101 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 102 };
Lightvalve 12:6f2531038ea4 103
Lightvalve 12:6f2531038ea4 104 /*******************************************************************************
Lightvalve 12:6f2531038ea4 105 * CONTROL MODE
Lightvalve 12:6f2531038ea4 106 ******************************************************************************/
Lightvalve 13:747daba9cf59 107 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 108 //control mode
Lightvalve 12:6f2531038ea4 109 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 110 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 111 MODE_JOINT_CONTROL, //2
Lightvalve 47:fdcb8bd86fd6 112
Lightvalve 47:fdcb8bd86fd6 113 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 12:6f2531038ea4 114 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 115 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 116
Lightvalve 12:6f2531038ea4 117 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 118 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 119 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 120
Lightvalve 12:6f2531038ea4 121 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 122 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 123
Lightvalve 14:8e7590227d22 124 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 125 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 126 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 127
Lightvalve 12:6f2531038ea4 128 //utility
Lightvalve 12:6f2531038ea4 129 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 130 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 131 MODE_FIND_HOME, //22
Lightvalve 12:6f2531038ea4 132 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 133 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 134 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 135 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 136
Lightvalve 12:6f2531038ea4 137 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 138 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 139 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 12:6f2531038ea4 140 };
Lightvalve 12:6f2531038ea4 141
GiJeongKim 0:51c43836c1d7 142 int main()
GiJeongKim 0:51c43836c1d7 143 {
jobuuu 6:df07d3491e3a 144 /*********************************
jobuuu 1:e04e563be5ce 145 *** Initialization
jobuuu 6:df07d3491e3a 146 *********************************/
Lightvalve 19:23b7c1ad8683 147 //LED = 1;
Lightvalve 19:23b7c1ad8683 148 //pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 149
GiJeongKim 0:51c43836c1d7 150 // i2c init
Lightvalve 8:5d2eebdad025 151 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 152 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 153 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 154 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 155 make_delay();
jobuuu 2:a1c0a37df760 156
GiJeongKim 0:51c43836c1d7 157 // // spi init
Lightvalve 16:903b5a4433b4 158 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 159 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 160 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 161 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 162 make_delay();
Lightvalve 21:e5f1a43ea6f9 163
Lightvalve 16:903b5a4433b4 164 //rom
Lightvalve 19:23b7c1ad8683 165 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 166 make_delay();
Lightvalve 13:747daba9cf59 167
GiJeongKim 0:51c43836c1d7 168 // ADC init
jobuuu 5:a4319f79457b 169 Init_ADC();
Lightvalve 11:82d8768d7351 170 make_delay();
jobuuu 2:a1c0a37df760 171
GiJeongKim 0:51c43836c1d7 172 // Pwm init
GiJeongKim 0:51c43836c1d7 173 Init_PWM();
GiJeongKim 0:51c43836c1d7 174 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 175 make_delay();
Lightvalve 13:747daba9cf59 176
Lightvalve 11:82d8768d7351 177 // TMR3 init
Lightvalve 11:82d8768d7351 178 Init_TMR3();
Lightvalve 11:82d8768d7351 179 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 180 make_delay();
Lightvalve 21:e5f1a43ea6f9 181
Lightvalve 20:806196fda269 182 // TMR5 init
Lightvalve 23:59218d4a256d 183 Init_TMR2();
Lightvalve 23:59218d4a256d 184 TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 20:806196fda269 185 make_delay();
Lightvalve 21:e5f1a43ea6f9 186
GiJeongKim 0:51c43836c1d7 187 // CAN
jobuuu 2:a1c0a37df760 188 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 189 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 190 make_delay();
Lightvalve 34:bb2ca2fc2a8e 191
Lightvalve 23:59218d4a256d 192 //Timer priority
Lightvalve 23:59218d4a256d 193 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 23:59218d4a256d 194 NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 23:59218d4a256d 195 NVIC_SetPriority(TIM4_IRQn, 4);
Lightvalve 34:bb2ca2fc2a8e 196
Lightvalve 23:59218d4a256d 197 //can.reset();
Lightvalve 19:23b7c1ad8683 198 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 199
GiJeongKim 0:51c43836c1d7 200 // spi _ enc
GiJeongKim 0:51c43836c1d7 201 spi_enc_set_init();
Lightvalve 11:82d8768d7351 202 make_delay();
Lightvalve 13:747daba9cf59 203
Lightvalve 11:82d8768d7351 204 //DAC init
Lightvalve 43:b084e5f5d0d5 205 // dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 206 // dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 207 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 208 dac_2 = 0.0f;
Lightvalve 11:82d8768d7351 209 make_delay();
Lightvalve 13:747daba9cf59 210
Lightvalve 19:23b7c1ad8683 211 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 212 if(i%2==0)
Lightvalve 38:118df027d851 213 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 214 else
Lightvalve 38:118df027d851 215 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 216 }
Lightvalve 13:747daba9cf59 217
jobuuu 6:df07d3491e3a 218 /************************************
jobuuu 1:e04e563be5ce 219 *** Program is operating!
jobuuu 6:df07d3491e3a 220 *************************************/
GiJeongKim 0:51c43836c1d7 221 while(1) {
Lightvalve 21:e5f1a43ea6f9 222 if(timer_while==1000) {
Lightvalve 28:2a62d73e3dd0 223 //pc.printf("cmd %d\n ");
Lightvalve 17:1865016ca2e7 224 //i2c
Lightvalve 17:1865016ca2e7 225 read_field(i2c_slave_addr1);
Lightvalve 17:1865016ca2e7 226 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 21:e5f1a43ea6f9 227
Lightvalve 19:23b7c1ad8683 228 // if(LED==1) {
Lightvalve 19:23b7c1ad8683 229 // LED=0;
Lightvalve 19:23b7c1ad8683 230 // } else
Lightvalve 19:23b7c1ad8683 231 // LED = 1;
Lightvalve 17:1865016ca2e7 232 timer_while = 0;
Lightvalve 21:e5f1a43ea6f9 233
Lightvalve 17:1865016ca2e7 234 }
Lightvalve 17:1865016ca2e7 235 timer_while ++;
GiJeongKim 0:51c43836c1d7 236 }
jobuuu 1:e04e563be5ce 237 }
jobuuu 1:e04e563be5ce 238
Lightvalve 33:91b17819ec30 239 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 240 {
Lightvalve 14:8e7590227d22 241
Lightvalve 13:747daba9cf59 242 int i = 0;
Lightvalve 33:91b17819ec30 243 float Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve 14:8e7590227d22 244 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 245 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 246 if(i==0) {
Lightvalve 38:118df027d851 247 if(JOINT_VEL[i+1] == JOINT_VEL[i]){
Lightvalve 38:118df027d851 248 Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve 38:118df027d851 249 }else{
Lightvalve 38:118df027d851 250 Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + DDV_CENTER;
Lightvalve 38:118df027d851 251 }
Lightvalve 14:8e7590227d22 252 } else {
Lightvalve 38:118df027d851 253 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]){
Lightvalve 38:118df027d851 254 Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve 38:118df027d851 255 }else{
Lightvalve 38:118df027d851 256 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])) + DDV_CENTER + (float) (10*ID_index_array[i-1]);
Lightvalve 38:118df027d851 257 }
Lightvalve 13:747daba9cf59 258 }
Lightvalve 13:747daba9cf59 259 break;
Lightvalve 13:747daba9cf59 260 }
Lightvalve 13:747daba9cf59 261 }
Lightvalve 14:8e7590227d22 262 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 263 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 264 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 265 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 266 }
Lightvalve 36:a46e63505ed8 267
Lightvalve 45:35fa6884d0c6 268 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - DDV_CENTER);
Lightvalve 34:bb2ca2fc2a8e 269
Lightvalve 13:747daba9cf59 270 return Ref_Valve_Pos_FF;
Lightvalve 13:747daba9cf59 271 }
jobuuu 6:df07d3491e3a 272
jobuuu 6:df07d3491e3a 273
Lightvalve 30:8d561f16383b 274 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 275 {
Lightvalve 13:747daba9cf59 276 int i = 0;
Lightvalve 13:747daba9cf59 277
Lightvalve 38:118df027d851 278 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 279 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 280 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 281 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 282 }
Lightvalve 38:118df027d851 283
Lightvalve 13:747daba9cf59 284 valve_pos_err = REF_VALVE_POS - value;
Lightvalve 13:747daba9cf59 285 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 286 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 287 valve_pos_err_sum += valve_pos_err;
Lightvalve 13:747daba9cf59 288 if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve 13:747daba9cf59 289 if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve 13:747daba9cf59 290
Lightvalve 13:747daba9cf59 291 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 292
Lightvalve 38:118df027d851 293
Lightvalve 34:bb2ca2fc2a8e 294
Lightvalve 34:bb2ca2fc2a8e 295
Lightvalve 23:59218d4a256d 296 // if(REF_VALVE_POS >= VALVE_POS_VS_PWM[0])
Lightvalve 23:59218d4a256d 297 // {
Lightvalve 23:59218d4a256d 298 // if(REF_VALVE_POS <= VALVE_POS_VS_PWM[1]) {
Lightvalve 30:8d561f16383b 299 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[1] - VALVE_POS_VS_PWM[0]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[0]);
Lightvalve 23:59218d4a256d 300 // }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[3]) {
Lightvalve 30:8d561f16383b 301 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[3] - VALVE_POS_VS_PWM[1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[1]) + 3000.0* (float) ID_index_array[1];
Lightvalve 23:59218d4a256d 302 // }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[5]) {
Lightvalve 30:8d561f16383b 303 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[5] - VALVE_POS_VS_PWM[3]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[3]) + 3000.0* (float) ID_index_array[3];
Lightvalve 23:59218d4a256d 304 // }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[7]) {
Lightvalve 30:8d561f16383b 305 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[7] - VALVE_POS_VS_PWM[5]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[5]) + 3000.0* (float) ID_index_array[5];
Lightvalve 23:59218d4a256d 306 // }else
Lightvalve 23:59218d4a256d 307 // VALVE_PWM_RAW_FF = 12000.0;
Lightvalve 23:59218d4a256d 308 // }
Lightvalve 23:59218d4a256d 309 // else
Lightvalve 23:59218d4a256d 310 // {
Lightvalve 23:59218d4a256d 311 // if(REF_VALVE_POS >= VALVE_POS_VS_PWM[2]) {
Lightvalve 30:8d561f16383b 312 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[0] - VALVE_POS_VS_PWM[2]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[2]) + 3000.0* (float) ID_index_array[2];
Lightvalve 23:59218d4a256d 313 // }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[4]) {
Lightvalve 30:8d561f16383b 314 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[2] - VALVE_POS_VS_PWM[4]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[4]) + 3000.0* (float) ID_index_array[4];
Lightvalve 23:59218d4a256d 315 // }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[6]) {
Lightvalve 30:8d561f16383b 316 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[4] - VALVE_POS_VS_PWM[6]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[6]) + 3000.0* (float) ID_index_array[6];
Lightvalve 23:59218d4a256d 317 // }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[8]) {
Lightvalve 30:8d561f16383b 318 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[6] - VALVE_POS_VS_PWM[8]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[8]) + 3000.0* (float) ID_index_array[8];
Lightvalve 23:59218d4a256d 319 // }else
Lightvalve 23:59218d4a256d 320 // VALVE_PWM_RAW_FF = -12000.0;
Lightvalve 23:59218d4a256d 321 // }
Lightvalve 14:8e7590227d22 322
Lightvalve 18:b8adf1582ea3 323 for(i=0; i<24; i++) {
Lightvalve 14:8e7590227d22 324 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 325 if(i==0) {
Lightvalve 30:8d561f16383b 326 VALVE_PWM_RAW_FF = (float) 1000.0 / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
Lightvalve 14:8e7590227d22 327 } else {
Lightvalve 30:8d561f16383b 328 VALVE_PWM_RAW_FF = (float) 1000.0* (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]) + 1000.0* (float) ID_index_array[i-1];
Lightvalve 13:747daba9cf59 329 }
Lightvalve 13:747daba9cf59 330 break;
Lightvalve 13:747daba9cf59 331 }
Lightvalve 13:747daba9cf59 332 }
Lightvalve 19:23b7c1ad8683 333
Lightvalve 14:8e7590227d22 334 V_out = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 27:a2254a485f23 335 //V_out = VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 336 }
Lightvalve 13:747daba9cf59 337
Lightvalve 14:8e7590227d22 338 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 339 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 340 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 341 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 342 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 343 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 344 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 345 }; // duty
Lightvalve 30:8d561f16383b 346 float LT_Voltage_Output[LT_MAX_IDX] = {-321.4f, -291.3f, -261.5f, -246.8f, -231.7f, -223.9f, -216.1f, -207.9f, -198.8f,
Lightvalve 34:bb2ca2fc2a8e 347 -196.9f, -195.0f, -192.5f, -188.8f, -184.5f, -180.2f, -175.9f, -171.5f, -166.3f, -161.0f,
Lightvalve 34:bb2ca2fc2a8e 348 -156.0f, -149.5f, -139.0f, -126.0f, -107.0f, -87.5f, -64.0f, -38.5f, -9.4f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 349 12.0f, 43.5f, 69.0f, 94.0f, 114.0f, 132.0f, 146.0f, 155.5f, 162.3f, 168.2f,
Lightvalve 34:bb2ca2fc2a8e 350 173.1f, 178.2f, 182.8f, 187.4f, 191.8f, 196.0f, 199.7f, 201.9f, 203.8f, 205.6f,
Lightvalve 34:bb2ca2fc2a8e 351 214.6f, 222.5f, 230.4f, 238.2f, 253.3f, 268.0f, 297.6f, 327.7f
Lightvalve 34:bb2ca2fc2a8e 352 }; // mV
Lightvalve 13:747daba9cf59 353
Lightvalve 30:8d561f16383b 354 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 355 {
Lightvalve 30:8d561f16383b 356 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 357 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 358 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 359 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 360 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 361 } else {
Lightvalve 13:747daba9cf59 362 int idx = 0;
Lightvalve 13:747daba9cf59 363 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 364 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 365 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 366 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 367 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 368 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 369 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 370 break;
Lightvalve 13:747daba9cf59 371 }
Lightvalve 13:747daba9cf59 372 }
Lightvalve 13:747daba9cf59 373 }
Lightvalve 14:8e7590227d22 374
Lightvalve 13:747daba9cf59 375 return PWM_duty;
Lightvalve 13:747daba9cf59 376 }
jobuuu 6:df07d3491e3a 377
jobuuu 2:a1c0a37df760 378 /*******************************************************************************
jobuuu 2:a1c0a37df760 379 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 380 *******************************************************************************/
jobuuu 2:a1c0a37df760 381
Lightvalve 19:23b7c1ad8683 382 //unsigned long CNT_TMR4 = 0;
Lightvalve 30:8d561f16383b 383 float FREQ_TMR4 = (float)FREQ_10k;
Lightvalve 30:8d561f16383b 384 float DT_TMR4 = (float)DT_10k;
jobuuu 1:e04e563be5ce 385 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 386 {
Lightvalve 23:59218d4a256d 387
Lightvalve 19:23b7c1ad8683 388 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 389
Lightvalve 21:e5f1a43ea6f9 390 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 391 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 392 ********************************************************/
Lightvalve 13:747daba9cf59 393
Lightvalve 19:23b7c1ad8683 394
Lightvalve 21:e5f1a43ea6f9 395 //Using LoadCell
Lightvalve 15:bd0d12728506 396 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 15:bd0d12728506 397 // //while((ADC1->SR & 0b10));
Lightvalve 30:8d561f16383b 398 // float alpha_update_torque = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f));
Lightvalve 30:8d561f16383b 399 // float torque_new = ((float)ADC1->DR - PRES_A_NULL) / TORQUE_SENSOR_PULSE_PER_TORQUE + 1.0f;
Lightvalve 30:8d561f16383b 400 // torq.sen = torq.sen*(1.0f-alpha_update_torque)+torque_new*(alpha_update_torque);
Lightvalve 17:1865016ca2e7 401
Lightvalve 19:23b7c1ad8683 402
Lightvalve 17:1865016ca2e7 403
Lightvalve 21:e5f1a43ea6f9 404 //Pressure sensor A
Lightvalve 21:e5f1a43ea6f9 405 ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 21:e5f1a43ea6f9 406 //while((ADC1->SR & 0b10));
Lightvalve 30:8d561f16383b 407 float alpha_update_pres_A = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f));
Lightvalve 38:118df027d851 408 // float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 38:118df027d851 409 float pres_A_new = ((float)ADC1->DR);
Lightvalve 30:8d561f16383b 410 pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 43:b084e5f5d0d5 411 torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 38:118df027d851 412
Lightvalve 19:23b7c1ad8683 413
Lightvalve 21:e5f1a43ea6f9 414 //Pressure sensor 1B
Lightvalve 38:118df027d851 415 //float alpha_update_pres_B = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f));
Lightvalve 38:118df027d851 416 //float pres_B_new = ((float)ADC2->DR);
Lightvalve 38:118df027d851 417 //pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 38:118df027d851 418 //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 419
Lightvalve 17:1865016ca2e7 420
Lightvalve 17:1865016ca2e7 421
Lightvalve 21:e5f1a43ea6f9 422 //Current
Lightvalve 21:e5f1a43ea6f9 423 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 11:82d8768d7351 424 // a1=ADC2->DR;
Lightvalve 25:3e6b574cab5c 425 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 426 //while((ADC3->SR & 0b10));
Lightvalve 30:8d561f16383b 427 float alpha_update_cur = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 428 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 429 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 430 //cur.sen = raw_cur;
Lightvalve 17:1865016ca2e7 431
Lightvalve 21:e5f1a43ea6f9 432 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 433 *** Timer Counting & etc.
Lightvalve 21:e5f1a43ea6f9 434 ********************************************************/
Lightvalve 21:e5f1a43ea6f9 435 //CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 436 }
Lightvalve 11:82d8768d7351 437 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 438 }
Lightvalve 19:23b7c1ad8683 439
Lightvalve 19:23b7c1ad8683 440
Lightvalve 18:b8adf1582ea3 441 int j =0;
Lightvalve 19:23b7c1ad8683 442 //unsigned long CNT_TMR3 = 0;
Lightvalve 30:8d561f16383b 443 //float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 30:8d561f16383b 444 float FREQ_TMR3 = (float)FREQ_1k;
Lightvalve 30:8d561f16383b 445 //float DT_TMR3 = (float)DT_5k;
Lightvalve 30:8d561f16383b 446 float DT_TMR3 = (float)DT_1k;
Lightvalve 45:35fa6884d0c6 447 int cnt_trans = 0;
Lightvalve 11:82d8768d7351 448 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 449 {
Lightvalve 19:23b7c1ad8683 450 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 12:6f2531038ea4 451 ENC_UPDATE();
Lightvalve 45:35fa6884d0c6 452
Lightvalve 45:35fa6884d0c6 453 if(MODE_POS_FT_TRANS == 1){
Lightvalve 45:35fa6884d0c6 454 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans/(float)(3*TMR_FREQ_5k)))/2.0f;
Lightvalve 45:35fa6884d0c6 455 cnt_trans++;
Lightvalve 46:2694daea349b 456 torq.err_sum = 0;
Lightvalve 45:35fa6884d0c6 457 if(cnt_trans>3*TMR_FREQ_5k)
Lightvalve 45:35fa6884d0c6 458 MODE_POS_FT_TRANS = 2;
Lightvalve 45:35fa6884d0c6 459 }
Lightvalve 45:35fa6884d0c6 460 if(MODE_POS_FT_TRANS == 3){
Lightvalve 45:35fa6884d0c6 461 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans/(float)(3*TMR_FREQ_5k)))/2.0f;
Lightvalve 45:35fa6884d0c6 462 cnt_trans++;
Lightvalve 46:2694daea349b 463 torq.err_sum = 0;
Lightvalve 45:35fa6884d0c6 464 if(cnt_trans>3*TMR_FREQ_5k)
Lightvalve 45:35fa6884d0c6 465 MODE_POS_FT_TRANS = 0;
Lightvalve 45:35fa6884d0c6 466 }
Lightvalve 45:35fa6884d0c6 467 else if(MODE_POS_FT_TRANS == 2){
Lightvalve 45:35fa6884d0c6 468 alpha_trans = 1.0;
Lightvalve 45:35fa6884d0c6 469 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 470 }
Lightvalve 45:35fa6884d0c6 471 else{
Lightvalve 45:35fa6884d0c6 472 alpha_trans = 0.0;
Lightvalve 45:35fa6884d0c6 473 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 474 }
Lightvalve 45:35fa6884d0c6 475
Lightvalve 45:35fa6884d0c6 476
Lightvalve 13:747daba9cf59 477
Lightvalve 19:23b7c1ad8683 478 // CONTROL LOOP ------------------------------------------------------------
Lightvalve 13:747daba9cf59 479
Lightvalve 14:8e7590227d22 480 switch (CONTROL_MODE) {
Lightvalve 14:8e7590227d22 481 case MODE_NO_ACT: {
Lightvalve 30:8d561f16383b 482 V_out = 0.0f;
Lightvalve 13:747daba9cf59 483 break;
Lightvalve 13:747daba9cf59 484 }
Lightvalve 14:8e7590227d22 485
Lightvalve 14:8e7590227d22 486 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 14:8e7590227d22 487 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 488 break;
Lightvalve 14:8e7590227d22 489 }
Lightvalve 14:8e7590227d22 490
Lightvalve 45:35fa6884d0c6 491 case MODE_JOINT_CONTROL: {
Lightvalve 45:35fa6884d0c6 492
Lightvalve 45:35fa6884d0c6 493 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 45:35fa6884d0c6 494
Lightvalve 45:35fa6884d0c6 495 pos.err = pos.ref - pos.sen; //[pulse]
Lightvalve 45:35fa6884d0c6 496 vel.err = vel.ref - vel.sen; //[pulse/s]
Lightvalve 46:2694daea349b 497 //double K_spring = 1.0f; //[N/mm]
Lightvalve 46:2694daea349b 498 //double D_damper = 0.0001f;
Lightvalve 46:2694daea349b 499 torq.ref = torq.ref + (K_SPRING * pos.err * 0.01f + D_DAMPER * vel.err * 0.0001f) / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 45:35fa6884d0c6 500
Lightvalve 45:35fa6884d0c6 501 // torque feedback
Lightvalve 45:35fa6884d0c6 502 torq.err = torq.ref - torq.sen; //[pulse]
Lightvalve 45:35fa6884d0c6 503 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[pulse]
Lightvalve 45:35fa6884d0c6 504 if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 45:35fa6884d0c6 505 if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 45:35fa6884d0c6 506
Lightvalve 14:8e7590227d22 507
Lightvalve 45:35fa6884d0c6 508 VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) / (float) TORQUE_SENSOR_PULSE_PER_TORQUE * 0.01f + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err /(float) ENC_PULSE_PER_POSITION * 0.01f + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 14:8e7590227d22 509
Lightvalve 45:35fa6884d0c6 510 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 45:35fa6884d0c6 511 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 45:35fa6884d0c6 512 } else{
Lightvalve 45:35fa6884d0c6 513 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 45:35fa6884d0c6 514 }
Lightvalve 45:35fa6884d0c6 515 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 516
Lightvalve 13:747daba9cf59 517 break;
Lightvalve 13:747daba9cf59 518 }
Lightvalve 47:fdcb8bd86fd6 519
Lightvalve 47:fdcb8bd86fd6 520 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 47:fdcb8bd86fd6 521 V_out = (float) Vout.ref;
Lightvalve 47:fdcb8bd86fd6 522 break;
Lightvalve 47:fdcb8bd86fd6 523 }
Lightvalve 14:8e7590227d22 524
Lightvalve 14:8e7590227d22 525 case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: {
Lightvalve 30:8d561f16383b 526 float VALVE_POS_RAW_POS_FB = 0.0f; // Valve Position by Position Feedback
Lightvalve 30:8d561f16383b 527 //float VALVE_POS_RAW_POS_FF = 0.0f; // Valve Position by Position Feedforward
Lightvalve 30:8d561f16383b 528 float VALVE_POS_RAW_FORCE_FB = 0.0f; // Valve Position by Force Feedback
Lightvalve 19:23b7c1ad8683 529 //int DDV_JOINT_CAN = 0;
Lightvalve 13:747daba9cf59 530 // feedback input for position control
Lightvalve 30:8d561f16383b 531 pos.err = pos.ref - (float) pos.sen;
Lightvalve 14:8e7590227d22 532 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 533 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 534 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 535 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 536 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 32:4b8c0fedaf2c 537 VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err + (float) I_GAIN_JOINT_POSITION * 0.01f * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff;
Lightvalve 30:8d561f16383b 538 VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f;
Lightvalve 14:8e7590227d22 539
Lightvalve 14:8e7590227d22 540
Lightvalve 13:747daba9cf59 541 //Ref_Joint_Vel = Ref_Vel_Test;
Lightvalve 13:747daba9cf59 542 // feedforward input for position control
Lightvalve 30:8d561f16383b 543 // float Ref_Joint_Vel_Act = Ref_Joint_Vel/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 544 // float K_ff = 0.9f;
Lightvalve 30:8d561f16383b 545 // if(Ref_Joint_Vel_Act > 0) K_ff = 0.90f; // open
Lightvalve 30:8d561f16383b 546 // if(Ref_Joint_Vel_Act > 0) K_ff = 0.75f; // close
Lightvalve 30:8d561f16383b 547 // VALVE_POS_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50f;
Lightvalve 14:8e7590227d22 548
Lightvalve 38:118df027d851 549 //torque feedback
Lightvalve 38:118df027d851 550 torq.err = - torq.ref + torq.sen;
Lightvalve 38:118df027d851 551 torq.err_diff = torq.err - torq.err_old;
Lightvalve 38:118df027d851 552 torq.err_old = torq.err;
Lightvalve 38:118df027d851 553 torq.err_sum += torq.err;
Lightvalve 38:118df027d851 554 if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 38:118df027d851 555 if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 38:118df027d851 556 VALVE_POS_RAW_FORCE_FB = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 38:118df027d851 557 VALVE_POS_RAW_FORCE_FB = VALVE_POS_RAW_FORCE_FB * 0.01f;
Lightvalve 14:8e7590227d22 558
Lightvalve 33:91b17819ec30 559 valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref) + VALVE_POS_RAW_FORCE_FB;
Lightvalve 34:bb2ca2fc2a8e 560
Lightvalve 45:35fa6884d0c6 561 if (valve_pos.ref >= 0) {
Lightvalve 45:35fa6884d0c6 562 valve_pos.ref = valve_pos.ref + VALVE_DEADZONE_PLUS;
Lightvalve 45:35fa6884d0c6 563 } else if(valve_pos.ref < 0) {
Lightvalve 45:35fa6884d0c6 564 valve_pos.ref = valve_pos.ref + VALVE_DEADZONE_MINUS;
Lightvalve 32:4b8c0fedaf2c 565 }
Lightvalve 14:8e7590227d22 566 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 34:bb2ca2fc2a8e 567
Lightvalve 34:bb2ca2fc2a8e 568
Lightvalve 13:747daba9cf59 569 break;
Lightvalve 13:747daba9cf59 570 }
Lightvalve 14:8e7590227d22 571
Lightvalve 14:8e7590227d22 572 case MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING: {
Lightvalve 14:8e7590227d22 573
Lightvalve 13:747daba9cf59 574 break;
Lightvalve 13:747daba9cf59 575 }
Lightvalve 14:8e7590227d22 576
Lightvalve 14:8e7590227d22 577 case MODE_JOINT_POSITION_PRES_CONTROL_PWM: {
Lightvalve 30:8d561f16383b 578 pos.err = pos.ref - (float) pos.sen;
Lightvalve 14:8e7590227d22 579 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 580 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 581 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 582 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 583 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 30:8d561f16383b 584 VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01f;
Lightvalve 14:8e7590227d22 585
Lightvalve 14:8e7590227d22 586 torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 587 torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 588 torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 589 torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 590 if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 591 if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 30:8d561f16383b 592 VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 14:8e7590227d22 593
Lightvalve 30:8d561f16383b 594 VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01f;
Lightvalve 14:8e7590227d22 595
Lightvalve 30:8d561f16383b 596 V_out = VALVE_PWM_RAW_POS + (float) COMPLIANCE_GAIN * 0.01f * VALVE_PWM_RAW_TORQ;
Lightvalve 14:8e7590227d22 597
Lightvalve 30:8d561f16383b 598 CUR_FLOWRATE = (float) CUR_VELOCITY * 0.00009587f;
Lightvalve 30:8d561f16383b 599 CUR_FLOWRATE = CUR_FLOWRATE * 0.5757f; // 0.4791=2*pi/65536*5000(pulse/tic to rad/s) 0.5757=0.02525*0.02*0.0095*2*60*1000 (radius * area * 2 * 60(sec --> min) * 1000(m^3 --> L))
Lightvalve 13:747daba9cf59 600 if (DIR_VALVE > 0) {
Lightvalve 30:8d561f16383b 601 if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0f) / (VALVE_GAIN_LPM_PER_V[0]*1.0f - 0.0f) + 0.0f;
Lightvalve 30:8d561f16383b 602 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0f) / (VALVE_GAIN_LPM_PER_V[2]*2.0f - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0f;
Lightvalve 30:8d561f16383b 603 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0f) / (VALVE_GAIN_LPM_PER_V[4]*3.0f - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0f;
Lightvalve 30:8d561f16383b 604 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0f) / (VALVE_GAIN_LPM_PER_V[6]*4.0f - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0f;
Lightvalve 30:8d561f16383b 605 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0f) / (VALVE_GAIN_LPM_PER_V[8]*5.0f - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0f;
Lightvalve 30:8d561f16383b 606 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = 5.0f;
Lightvalve 30:8d561f16383b 607 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.)) - 1.0f;
Lightvalve 30:8d561f16383b 608 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.)) - 2.0f;
Lightvalve 30:8d561f16383b 609 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.)) - 3.0f;
Lightvalve 30:8d561f16383b 610 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.)) - 4.0f;
Lightvalve 30:8d561f16383b 611 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.)) - 5.0f;
Lightvalve 30:8d561f16383b 612 else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[9]*(-5.0f))) VALVE_FF_VOLTAGE = -5;
Lightvalve 13:747daba9cf59 613 else VALVE_FF_VOLTAGE = 0;
Lightvalve 13:747daba9cf59 614 } else {
Lightvalve 30:8d561f16383b 615 if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0f) / (VALVE_GAIN_LPM_PER_V[0]*1.0f - 0.0f) + 0.0f;
Lightvalve 30:8d561f16383b 616 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0f) / (VALVE_GAIN_LPM_PER_V[2]*2.0f - VALVE_GAIN_LPM_PER_V[0]*1.0f) + 1.0f;
Lightvalve 30:8d561f16383b 617 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0f) / (VALVE_GAIN_LPM_PER_V[4]*3.0f - VALVE_GAIN_LPM_PER_V[2]*2.0f) + 2.0f;
Lightvalve 30:8d561f16383b 618 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0f) / (VALVE_GAIN_LPM_PER_V[6]*4.0f - VALVE_GAIN_LPM_PER_V[4]*3.0f) + 3.0f;
Lightvalve 30:8d561f16383b 619 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0f) / (VALVE_GAIN_LPM_PER_V[8]*5.0f - VALVE_GAIN_LPM_PER_V[6]*4.0f) + 4.0f;
Lightvalve 30:8d561f16383b 620 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*5.0f)) VALVE_FF_VOLTAGE = 5.0f;
Lightvalve 30:8d561f16383b 621 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*(-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - 1.0f;
Lightvalve 30:8d561f16383b 622 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*(-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - 2.0f;
Lightvalve 30:8d561f16383b 623 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*(-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - 3.0f;
Lightvalve 30:8d561f16383b 624 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*(-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - 4.0f;
Lightvalve 30:8d561f16383b 625 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*(-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) - 5.0f;
Lightvalve 30:8d561f16383b 626 else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*(-5.0f))) VALVE_FF_VOLTAGE = -5;
Lightvalve 13:747daba9cf59 627 else VALVE_FF_VOLTAGE = 0;
Lightvalve 13:747daba9cf59 628 }
Lightvalve 30:8d561f16383b 629 // VALVE_FF_VOLTAGE = CUR_FLOWRATE * 0.5f;
Lightvalve 14:8e7590227d22 630
Lightvalve 30:8d561f16383b 631 if (CUR_FLOWRATE >= 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_A_BAR) * 0.0707f; // 0.0707 = 1/sqrt(200.))
Lightvalve 30:8d561f16383b 632 else if (CUR_FLOWRATE < 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_B_BAR) * 0.0707f;
Lightvalve 14:8e7590227d22 633
Lightvalve 18:b8adf1582ea3 634 V_out = V_out + VALVE_FF_VOLTAGE;
Lightvalve 14:8e7590227d22 635 break;
Lightvalve 14:8e7590227d22 636 }
Lightvalve 14:8e7590227d22 637
Lightvalve 14:8e7590227d22 638 case MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION: {
Lightvalve 44:fe7d5cfd2eea 639
Lightvalve 30:8d561f16383b 640 pos.err = pos.ref - (float) pos.sen;
Lightvalve 14:8e7590227d22 641 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 642 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 643 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 644 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 645 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 30:8d561f16383b 646 VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01f;
Lightvalve 14:8e7590227d22 647
Lightvalve 15:bd0d12728506 648 torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 649 torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 650 torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 651 torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 652 if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 653 if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 30:8d561f16383b 654 VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 14:8e7590227d22 655
Lightvalve 14:8e7590227d22 656 valve_pos.ref = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ;
Lightvalve 14:8e7590227d22 657 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 19:23b7c1ad8683 658
Lightvalve 14:8e7590227d22 659 break;
Lightvalve 14:8e7590227d22 660 }
Lightvalve 14:8e7590227d22 661
Lightvalve 14:8e7590227d22 662 case MODE_VALVE_POSITION_PRES_CONTROL_LEARNING: {
Lightvalve 14:8e7590227d22 663
Lightvalve 14:8e7590227d22 664 break;
Lightvalve 14:8e7590227d22 665 }
Lightvalve 14:8e7590227d22 666
Lightvalve 19:23b7c1ad8683 667
Lightvalve 19:23b7c1ad8683 668 case MODE_TEST_CURRENT_CONTROL: {
Lightvalve 14:8e7590227d22 669 if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 670 TMR3_COUNT_IREF = 0;
Lightvalve 19:23b7c1ad8683 671 }
Lightvalve 19:23b7c1ad8683 672 TMR3_COUNT_IREF++;
Lightvalve 19:23b7c1ad8683 673
Lightvalve 19:23b7c1ad8683 674 // Set Current Reference
Lightvalve 30:8d561f16383b 675 float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f;
Lightvalve 30:8d561f16383b 676 float I_REF_MID = 0.0f;
Lightvalve 14:8e7590227d22 677 if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve 30:8d561f16383b 678 I_REF = I_REF_MID + 1.0f;
Lightvalve 14:8e7590227d22 679 } else {
Lightvalve 30:8d561f16383b 680 I_REF = I_REF_MID - 1.0f;
Lightvalve 19:23b7c1ad8683 681 }
Lightvalve 30:8d561f16383b 682 // float T = 1.0; // wave period
Lightvalve 30:8d561f16383b 683 // I_REF = (5. * sin(2. * 3.1415 * (float) TMR3_COUNT_IREF / (float)TMR_FREQ_5k/ T));
Lightvalve 30:8d561f16383b 684 // I_REF = (2.0 * sin(2. * 2. * 3.14 * (float) TMR3_COUNT_IREF / 5000.)+(2.0 * sin(2. * 1. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 5. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 10. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.)));
Lightvalve 19:23b7c1ad8683 685
Lightvalve 14:8e7590227d22 686 if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve 23:59218d4a256d 687 //CAN_TX_PRES((int16_t)(I_REF*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas
Lightvalve 14:8e7590227d22 688 }
Lightvalve 14:8e7590227d22 689 break;
Lightvalve 14:8e7590227d22 690 }
Lightvalve 19:23b7c1ad8683 691
Lightvalve 19:23b7c1ad8683 692 case MODE_TEST_PWM_CONTROL: {
Lightvalve 14:8e7590227d22 693 if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 694 TMR3_COUNT_IREF = 0;
Lightvalve 19:23b7c1ad8683 695 }
Lightvalve 19:23b7c1ad8683 696 TMR3_COUNT_IREF++;
Lightvalve 19:23b7c1ad8683 697
Lightvalve 14:8e7590227d22 698 // Set PWM reference
Lightvalve 30:8d561f16383b 699 float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f;
Lightvalve 30:8d561f16383b 700 //float I_REF_MID = 0.0f;
Lightvalve 14:8e7590227d22 701 if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve 14:8e7590227d22 702 CUR_PWM = 1000;
Lightvalve 14:8e7590227d22 703 } else {
Lightvalve 14:8e7590227d22 704 CUR_PWM = -1000;
Lightvalve 19:23b7c1ad8683 705 }
Lightvalve 19:23b7c1ad8683 706
Lightvalve 14:8e7590227d22 707 if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve 30:8d561f16383b 708 //CAN_TX_PRES((int16_t)(u_CUR[0]*1000.0f), (int16_t) (CUR_CURRENT*1000.0f)); // to check the datas
Lightvalve 14:8e7590227d22 709 }
Lightvalve 13:747daba9cf59 710 break;
Lightvalve 13:747daba9cf59 711 }
Lightvalve 19:23b7c1ad8683 712
Lightvalve 19:23b7c1ad8683 713
Lightvalve 14:8e7590227d22 714 case MODE_CURRENT_CONTROL: {
Lightvalve 14:8e7590227d22 715
Lightvalve 14:8e7590227d22 716 cur.ref = cur.ref; // Unit : mA
Lightvalve 14:8e7590227d22 717 CurrentControl();
Lightvalve 14:8e7590227d22 718 break;
Lightvalve 14:8e7590227d22 719 }
Lightvalve 19:23b7c1ad8683 720
Lightvalve 14:8e7590227d22 721 case MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT: {
Lightvalve 30:8d561f16383b 722 float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback
Lightvalve 30:8d561f16383b 723 float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward
Lightvalve 30:8d561f16383b 724 float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 30:8d561f16383b 725 float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward
Lightvalve 19:23b7c1ad8683 726
Lightvalve 14:8e7590227d22 727 // feedback input for position control
Lightvalve 14:8e7590227d22 728 pos.err = pos.ref - pos.sen;
Lightvalve 30:8d561f16383b 729 float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f*3.1415f*50.0f)); // f_cutoff : 50Hz
Lightvalve 30:8d561f16383b 730 float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k;
Lightvalve 30:8d561f16383b 731 pos.err_diff = (1.0f-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
Lightvalve 14:8e7590227d22 732 pos.err_old = pos.err;
Lightvalve 30:8d561f16383b 733 I_REF_POS_FB = 0.001f*((float)P_GAIN_JOINT_POSITION * pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f);
Lightvalve 19:23b7c1ad8683 734
Lightvalve 14:8e7590227d22 735 // feedforward input for position control
Lightvalve 30:8d561f16383b 736 float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 737 float K_ff = 1.3f;
Lightvalve 30:8d561f16383b 738 float K_v = 0.0f;
Lightvalve 30:8d561f16383b 739 if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA)
Lightvalve 30:8d561f16383b 740 if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA)
Lightvalve 14:8e7590227d22 741 I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
Lightvalve 19:23b7c1ad8683 742
Lightvalve 14:8e7590227d22 743 // feedback input for position control
Lightvalve 30:8d561f16383b 744 I_REF_FORCE_FB = 0.0f;
Lightvalve 19:23b7c1ad8683 745
Lightvalve 14:8e7590227d22 746 // feedforward input for position control
Lightvalve 30:8d561f16383b 747 I_REF_FORCE_FF = 0.0f;
Lightvalve 19:23b7c1ad8683 748
Lightvalve 14:8e7590227d22 749 cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve 19:23b7c1ad8683 750
Lightvalve 14:8e7590227d22 751 CurrentControl();
Lightvalve 19:23b7c1ad8683 752
Lightvalve 13:747daba9cf59 753 break;
Lightvalve 13:747daba9cf59 754 }
Lightvalve 19:23b7c1ad8683 755
Lightvalve 14:8e7590227d22 756 case MODE_JOINT_POSITION_PRES_CONTROL_CURRENT: {
Lightvalve 30:8d561f16383b 757 //float T_REF = 0.0; // Torque Reference
Lightvalve 30:8d561f16383b 758 float I_REF_FORCE_FB = 0.; // I_REF by Force Feedback
Lightvalve 30:8d561f16383b 759 float I_REF_VC = 0.; // I_REF for velocity compensation
Lightvalve 19:23b7c1ad8683 760
Lightvalve 14:8e7590227d22 761 // feedback input for position control
Lightvalve 30:8d561f16383b 762 //float Joint_Pos_Err = 34.0f-(float) pos.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 763 //float Joint_Vel_Err = 0.0f-(float) vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 764 //float K_spring = 0.7f;
Lightvalve 30:8d561f16383b 765 //float D_damper = 0.02f;
Lightvalve 14:8e7590227d22 766 // T_REF = K_spring * pos.err + D_damper * Joint_Vel_Err; // unit : Nm
Lightvalve 19:23b7c1ad8683 767
Lightvalve 14:8e7590227d22 768 // torque feedback
Lightvalve 15:bd0d12728506 769 torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 770 // torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 771 // torq.err_old = torq.err;
Lightvalve 30:8d561f16383b 772 torq.err_sum = torq.err_sum + torq.err/(float)TMR_FREQ_5k;
Lightvalve 30:8d561f16383b 773 I_REF_FORCE_FB = 0.001f*((float)P_GAIN_JOINT_TORQUE * torq.err + (float)I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 19:23b7c1ad8683 774
Lightvalve 14:8e7590227d22 775 // velocity compensation for torque control
Lightvalve 30:8d561f16383b 776 float Joint_Vel_Act = vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 777 float K_vc = 1.5f; // Velocity comp. gain
Lightvalve 30:8d561f16383b 778 float K_v = 0.0f; // Valve gain
Lightvalve 30:8d561f16383b 779 if(Joint_Vel_Act > 0) K_v = 1.0f/100.0f; // open, tuning
Lightvalve 30:8d561f16383b 780 if(Joint_Vel_Act < 0) K_v = 1.0f/100.0f; // close, tuning
Lightvalve 14:8e7590227d22 781 I_REF_VC = K_vc*K_v*Joint_Vel_Act;
Lightvalve 19:23b7c1ad8683 782
Lightvalve 14:8e7590227d22 783 cur.ref = I_REF_VC + I_REF_FORCE_FB;
Lightvalve 19:23b7c1ad8683 784 // cur.ref = I_REF_FORCE_FB;
Lightvalve 19:23b7c1ad8683 785
Lightvalve 30:8d561f16383b 786 float I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 30:8d561f16383b 787 float Ka = 1.0f/I_GAIN_JOINT_TORQUE;
Lightvalve 14:8e7590227d22 788 if(cur.ref > I_MAX) {
Lightvalve 30:8d561f16383b 789 float I_rem = cur.ref-I_MAX;
Lightvalve 14:8e7590227d22 790 I_rem = Ka*I_rem;
Lightvalve 14:8e7590227d22 791 cur.ref = I_MAX;
Lightvalve 30:8d561f16383b 792 torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k;
Lightvalve 14:8e7590227d22 793 } else if(cur.ref < -I_MAX) {
Lightvalve 30:8d561f16383b 794 float I_rem = cur.ref-(-I_MAX);
Lightvalve 19:23b7c1ad8683 795 I_rem = Ka*I_rem;
Lightvalve 14:8e7590227d22 796 cur.ref = -I_MAX;
Lightvalve 30:8d561f16383b 797 torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k;
Lightvalve 14:8e7590227d22 798 }
Lightvalve 19:23b7c1ad8683 799
Lightvalve 14:8e7590227d22 800 CurrentControl();
Lightvalve 19:23b7c1ad8683 801
Lightvalve 19:23b7c1ad8683 802
Lightvalve 14:8e7590227d22 803 /*
Lightvalve 30:8d561f16383b 804 float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback
Lightvalve 30:8d561f16383b 805 float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward
Lightvalve 30:8d561f16383b 806 float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 30:8d561f16383b 807 float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward
Lightvalve 19:23b7c1ad8683 808
Lightvalve 14:8e7590227d22 809 // feedback input for position control
Lightvalve 14:8e7590227d22 810 pos.err = pos.ref - pos.sen;
Lightvalve 30:8d561f16383b 811 float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f*3.1415f*50.0f)); // f_cutoff : 50Hz
Lightvalve 30:8d561f16383b 812 float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k;
Lightvalve 30:8d561f16383b 813 pos.err_diff = (1.0f-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
Lightvalve 14:8e7590227d22 814 pos.err_old = pos.err;
Lightvalve 30:8d561f16383b 815 I_REF_POS_FB = 0.001f*((float)P_GAIN_JOINT_POSITION * pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f);
Lightvalve 19:23b7c1ad8683 816
Lightvalve 14:8e7590227d22 817 // feedforward input for position control
Lightvalve 30:8d561f16383b 818 float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 819 float K_ff = 1.3f;
Lightvalve 30:8d561f16383b 820 float K_v = 0.0f;
Lightvalve 30:8d561f16383b 821 if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA)
Lightvalve 30:8d561f16383b 822 if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA)
Lightvalve 14:8e7590227d22 823 I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
Lightvalve 19:23b7c1ad8683 824
Lightvalve 14:8e7590227d22 825 // feedback input for position control
Lightvalve 30:8d561f16383b 826 I_REF_FORCE_FB = 0.0f;
Lightvalve 19:23b7c1ad8683 827
Lightvalve 14:8e7590227d22 828 // feedforward input for position control
Lightvalve 30:8d561f16383b 829 I_REF_FORCE_FF = 0.0f;
Lightvalve 19:23b7c1ad8683 830
Lightvalve 14:8e7590227d22 831 cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve 19:23b7c1ad8683 832
Lightvalve 14:8e7590227d22 833 CurrentControl();
Lightvalve 14:8e7590227d22 834 */
Lightvalve 19:23b7c1ad8683 835
Lightvalve 13:747daba9cf59 836 break;
Lightvalve 13:747daba9cf59 837 }
Lightvalve 14:8e7590227d22 838
Lightvalve 14:8e7590227d22 839 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 840 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 841 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 842 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 843
Lightvalve 14:8e7590227d22 844 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 845 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 846 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 847
Lightvalve 43:b084e5f5d0d5 848 TORQUE_VREF += 0.0003 * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 849
Lightvalve 30:8d561f16383b 850 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 13:747daba9cf59 851 if (TORQUE_VREF < 0) TORQUE_VREF = 0;
Lightvalve 43:b084e5f5d0d5 852
Lightvalve 16:903b5a4433b4 853 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 854 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 855 }
Lightvalve 13:747daba9cf59 856 } else {
Lightvalve 13:747daba9cf59 857 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 858 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 859 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 860 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 861
Lightvalve 16:903b5a4433b4 862 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 863
Lightvalve 16:903b5a4433b4 864 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 19:23b7c1ad8683 865
Lightvalve 17:1865016ca2e7 866 //pc.printf("%f\n", TORQUE_VREF);
Lightvalve 30:8d561f16383b 867 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 868
Lightvalve 13:747daba9cf59 869 }
Lightvalve 14:8e7590227d22 870 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 871 break;
Lightvalve 43:b084e5f5d0d5 872
Lightvalve 43:b084e5f5d0d5 873
Lightvalve 43:b084e5f5d0d5 874
Lightvalve 43:b084e5f5d0d5 875 // // DAC Voltage reference set
Lightvalve 43:b084e5f5d0d5 876 // if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 43:b084e5f5d0d5 877 // CUR_PRES_A_sum += pres_A.sen;
Lightvalve 43:b084e5f5d0d5 878 // CUR_PRES_B_sum += pres_B.sen;
Lightvalve 43:b084e5f5d0d5 879 //
Lightvalve 43:b084e5f5d0d5 880 // if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 43:b084e5f5d0d5 881 // CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 43:b084e5f5d0d5 882 // CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 43:b084e5f5d0d5 883 // CUR_PRES_A_sum = 0;
Lightvalve 43:b084e5f5d0d5 884 // CUR_PRES_B_sum = 0;
Lightvalve 43:b084e5f5d0d5 885 //
Lightvalve 43:b084e5f5d0d5 886 // float VREF_NullingGain = 0.0003f;
Lightvalve 43:b084e5f5d0d5 887 // PRES_A_VREF = PRES_A_VREF - VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
Lightvalve 43:b084e5f5d0d5 888 // PRES_B_VREF = PRES_B_VREF - VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
Lightvalve 43:b084e5f5d0d5 889 //
Lightvalve 43:b084e5f5d0d5 890 // if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 43:b084e5f5d0d5 891 // if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 43:b084e5f5d0d5 892 // if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 43:b084e5f5d0d5 893 // if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 43:b084e5f5d0d5 894 //
Lightvalve 43:b084e5f5d0d5 895 // dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 896 // dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 897 // }
Lightvalve 43:b084e5f5d0d5 898 // } else {
Lightvalve 43:b084e5f5d0d5 899 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 43:b084e5f5d0d5 900 // TMR3_COUNT_PRES_NULL = 0;
Lightvalve 43:b084e5f5d0d5 901 // CUR_PRES_A_sum = 0;
Lightvalve 43:b084e5f5d0d5 902 // CUR_PRES_B_sum = 0;
Lightvalve 43:b084e5f5d0d5 903 // CUR_PRES_A_mean = 0;
Lightvalve 43:b084e5f5d0d5 904 // CUR_PRES_B_mean = 0;
Lightvalve 43:b084e5f5d0d5 905 //
Lightvalve 43:b084e5f5d0d5 906 // ROM_RESET_DATA();
Lightvalve 43:b084e5f5d0d5 907 //
Lightvalve 43:b084e5f5d0d5 908 // dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 909 // dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 910 // //pc.printf("nulling end");
Lightvalve 43:b084e5f5d0d5 911 // }
Lightvalve 43:b084e5f5d0d5 912 // TMR3_COUNT_PRES_NULL++;
Lightvalve 43:b084e5f5d0d5 913 // break;
Lightvalve 43:b084e5f5d0d5 914
Lightvalve 43:b084e5f5d0d5 915
Lightvalve 43:b084e5f5d0d5 916
Lightvalve 43:b084e5f5d0d5 917
Lightvalve 43:b084e5f5d0d5 918
Lightvalve 19:23b7c1ad8683 919 }
Lightvalve 14:8e7590227d22 920
Lightvalve 14:8e7590227d22 921 case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 14:8e7590227d22 922 if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 13:747daba9cf59 923 if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 13:747daba9cf59 924 else temp_time = 0;
Lightvalve 13:747daba9cf59 925 }
Lightvalve 13:747daba9cf59 926 if (need_enc_init) {
Lightvalve 30:8d561f16383b 927 if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 928 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 929 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 930 } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 18:b8adf1582ea3 931 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 932 pos_minus_end = pos.sen;
Lightvalve 14:8e7590227d22 933 } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 13:747daba9cf59 934 temp_time = TMR_FREQ_5k;
Lightvalve 13:747daba9cf59 935 }
Lightvalve 14:8e7590227d22 936
Lightvalve 14:8e7590227d22 937 if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 938 V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 13:747daba9cf59 939 VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 14:8e7590227d22 940
Lightvalve 30:8d561f16383b 941 } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 18:b8adf1582ea3 942 V_out = 0;
Lightvalve 13:747daba9cf59 943 CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 14:8e7590227d22 944 } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 945 if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 13:747daba9cf59 946 else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 13:747daba9cf59 947 else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 13:747daba9cf59 948 else DZ_temp_cnt2 = DZ_end;
Lightvalve 13:747daba9cf59 949 CUR_VELOCITY_sum = 0;
Lightvalve 14:8e7590227d22 950 } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 951 if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 14:8e7590227d22 952
Lightvalve 13:747daba9cf59 953 // Position of Dead Zone
Lightvalve 13:747daba9cf59 954 // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 14:8e7590227d22 955 // | / | / |/
Lightvalve 13:747daba9cf59 956 // | ______/ ___|___/ ______/|
Lightvalve 13:747daba9cf59 957 // |/ / | / |
Lightvalve 13:747daba9cf59 958 // /| / | / |
Lightvalve 13:747daba9cf59 959 // 0V 0V 0V
Lightvalve 14:8e7590227d22 960
Lightvalve 13:747daba9cf59 961 if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 14:8e7590227d22 962 if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 13:747daba9cf59 963 CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 13:747daba9cf59 964 } else {
Lightvalve 18:b8adf1582ea3 965 V_out -= DZ_dir;
Lightvalve 13:747daba9cf59 966 if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 13:747daba9cf59 967 CUR_VELOCITY_sum = 0;
Lightvalve 13:747daba9cf59 968 }
Lightvalve 13:747daba9cf59 969 if (DZ_temp_cnt == 5) {
Lightvalve 18:b8adf1582ea3 970 if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 18:b8adf1582ea3 971 else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 13:747daba9cf59 972 DZ_dir = -DZ_dir;
Lightvalve 13:747daba9cf59 973 DZ_temp_cnt = 0;
Lightvalve 13:747daba9cf59 974 DZ_temp_cnt2++;
Lightvalve 13:747daba9cf59 975 }
Lightvalve 13:747daba9cf59 976 } else {
Lightvalve 14:8e7590227d22 977 TMR3_COUNT_DEADZONE = -1;
Lightvalve 13:747daba9cf59 978 VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 13:747daba9cf59 979 if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 13:747daba9cf59 980 VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 13:747daba9cf59 981 VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 13:747daba9cf59 982 }
Lightvalve 18:b8adf1582ea3 983 V_out = 0;
Lightvalve 19:23b7c1ad8683 984
Lightvalve 16:903b5a4433b4 985 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 986
Lightvalve 16:903b5a4433b4 987 //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 16:903b5a4433b4 988 //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 14:8e7590227d22 989
Lightvalve 13:747daba9cf59 990 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 991 DZ_temp_cnt2 = 0;
Lightvalve 13:747daba9cf59 992 }
Lightvalve 13:747daba9cf59 993 }
Lightvalve 14:8e7590227d22 994 TMR3_COUNT_DEADZONE++;
Lightvalve 13:747daba9cf59 995 break;
Lightvalve 13:747daba9cf59 996 }
Lightvalve 14:8e7590227d22 997
Lightvalve 14:8e7590227d22 998 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 999 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 1000 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 1001 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 1002 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 29:69f3f5445d6d 1003 pos.ref_home_pos = pos.sen;
Lightvalve 30:8d561f16383b 1004 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 1005 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 40:3f2c0619c8c4 1006 CAN_TX_PRES((int16_t)(CONTROL_MODE), (int16_t) (3));
Lightvalve 29:69f3f5445d6d 1007 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 29:69f3f5445d6d 1008 int cnt_check_enc = (TMR_FREQ_5k/500);
Lightvalve 29:69f3f5445d6d 1009 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 1010 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 1011 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 1012 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 1013 }
Lightvalve 29:69f3f5445d6d 1014 cnt_findhome++;
Lightvalve 30:8d561f16383b 1015 //if(cnt_findhome == TMR_FREQ_5k) cnt_findhome = 0;
Lightvalve 14:8e7590227d22 1016
Lightvalve 29:69f3f5445d6d 1017 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 1018 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 1019 } else {
Lightvalve 29:69f3f5445d6d 1020 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1021 }
Lightvalve 19:23b7c1ad8683 1022
Lightvalve 30:8d561f16383b 1023 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome <= 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 1024 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 30:8d561f16383b 1025 if (HOMEPOS_OFFSET > 0) pos.ref_home_pos = pos.ref_home_pos + 2.0f;
Lightvalve 30:8d561f16383b 1026 else pos.ref_home_pos = pos.ref_home_pos - 2.0f;
Lightvalve 29:69f3f5445d6d 1027 pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 30:8d561f16383b 1028 float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 30:8d561f16383b 1029 VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err;
Lightvalve 30:8d561f16383b 1030 VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f;
Lightvalve 29:69f3f5445d6d 1031 valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
Lightvalve 29:69f3f5445d6d 1032 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 34:bb2ca2fc2a8e 1033
Lightvalve 30:8d561f16383b 1034 //float wn_Pos = 2.0f*PI*5.0f; // f_cut : 10Hz Position Control
Lightvalve 30:8d561f16383b 1035 //I_REF = 0.04f*wn_Pos*((float)joint_pos_err/ENC_PULSE_PER_POSITION);
Lightvalve 29:69f3f5445d6d 1036 //// L velocity >> mA convert
Lightvalve 30:8d561f16383b 1037 //if(I_REF>5.0f) I_REF = 5.0f;
Lightvalve 30:8d561f16383b 1038 //if(I_REF<-5.0f) I_REF = -5.0f;
Lightvalve 29:69f3f5445d6d 1039 //FLAG_CURRNET_CONTROL = true;
Lightvalve 29:69f3f5445d6d 1040 } else {
Lightvalve 29:69f3f5445d6d 1041 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 29:69f3f5445d6d 1042 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 1043 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1044 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1045 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1046 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 1047 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1048 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 1049 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1050 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 29:69f3f5445d6d 1051 }
Lightvalve 29:69f3f5445d6d 1052 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 1053 int T_move = 2*TMR_FREQ_5k;
Lightvalve 30:8d561f16383b 1054 pos.ref_home_pos = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
Lightvalve 30:8d561f16383b 1055 vel.ref_home_pos = 0.0f;
Lightvalve 19:23b7c1ad8683 1056
Lightvalve 29:69f3f5445d6d 1057 // input for position control
Lightvalve 40:3f2c0619c8c4 1058 pos.err = pos.ref_home_pos - (float)pos.sen;
Lightvalve 30:8d561f16383b 1059 float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 30:8d561f16383b 1060 VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err;
Lightvalve 30:8d561f16383b 1061 VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f;
Lightvalve 29:69f3f5445d6d 1062 valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
Lightvalve 29:69f3f5445d6d 1063 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 1064
Lightvalve 19:23b7c1ad8683 1065
Lightvalve 29:69f3f5445d6d 1066 // if((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve 30:8d561f16383b 1067 // float wn_Pos = 2.0f*PI*5.0f; // f_cut : 10Hz Position Control
Lightvalve 30:8d561f16383b 1068 // float temp_vel = ( 0.01f * (float)P_GAIN_JOINT_POSITION * wn_Pos * pos.err)*PI/180.0f; // rad/s
Lightvalve 29:69f3f5445d6d 1069 // // L when P-gain = 100, f_cut = 10Hz
Lightvalve 30:8d561f16383b 1070 // if (temp_vel > 0.0f ) I_REF = temp_vel*((float)PISTON_AREA_A*0.00006f/(K_v*sqrt(2.0f*alpha3/(alpha3+1.0f))));
Lightvalve 30:8d561f16383b 1071 // else I_REF = temp_vel*((float)PISTON_AREA_B*0.00006f/(K_v*sqrt(2.0f/(alpha3+1.0f))));
Lightvalve 29:69f3f5445d6d 1072 // // ------------------------------------------------------------------------
Lightvalve 29:69f3f5445d6d 1073 // // L thetadot(rad/s) >> I_ref(mA)
Lightvalve 29:69f3f5445d6d 1074 // } else if ((OPERATING_MODE && 0x01) == 1) { // Linear Mode
Lightvalve 30:8d561f16383b 1075 // float wn_Pos = 2.0f*PI*5.0f; // f_cut : 10Hz Position Control
Lightvalve 30:8d561f16383b 1076 // float temp_vel = ( 0.01f * (float)P_GAIN_JOINT_POSITION * wn_Pos * pos.err); // mm/s
Lightvalve 29:69f3f5445d6d 1077 // // L when P-gain = 100, f_cut = 10Hz
Lightvalve 30:8d561f16383b 1078 // if (temp_vel > 0.0f ) I_REF = temp_vel*((float)PISTON_AREA_A*0.00006f/(K_v*sqrt(2.0f*alpha3/(alpha3+1.0f))));
Lightvalve 30:8d561f16383b 1079 // else I_REF = temp_vel*((float)PISTON_AREA_B*0.00006f/(K_v*sqrt(2.0f/(alpha3+1.0f))));
Lightvalve 29:69f3f5445d6d 1080 // // ------------------------------------------------------------------------
Lightvalve 29:69f3f5445d6d 1081 // // L xdot(mm/s) >> I_ref(mA)
Lightvalve 29:69f3f5445d6d 1082 // }
Lightvalve 29:69f3f5445d6d 1083
Lightvalve 29:69f3f5445d6d 1084 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 1085 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 1086 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 1087 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 1088 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 1089 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 1090 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 1091 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 1092 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 29:69f3f5445d6d 1093 CONTROL_MODE = MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION;
Lightvalve 29:69f3f5445d6d 1094 }
Lightvalve 13:747daba9cf59 1095 }
Lightvalve 19:23b7c1ad8683 1096
Lightvalve 13:747daba9cf59 1097 break;
Lightvalve 13:747daba9cf59 1098 }
Lightvalve 14:8e7590227d22 1099
Lightvalve 14:8e7590227d22 1100 case MODE_VALVE_GAIN_SETTING: {
Lightvalve 14:8e7590227d22 1101 if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 13:747daba9cf59 1102 if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 13:747daba9cf59 1103 else {
Lightvalve 18:b8adf1582ea3 1104 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 30:8d561f16383b 1105 temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 13:747daba9cf59 1106 }
Lightvalve 13:747daba9cf59 1107 }
Lightvalve 13:747daba9cf59 1108 if (need_enc_init) {
Lightvalve 30:8d561f16383b 1109 if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1110 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1111 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1112 } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 18:b8adf1582ea3 1113 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1114 pos_minus_end = pos.sen;
Lightvalve 14:8e7590227d22 1115 } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1116 need_enc_init = false;
Lightvalve 30:8d561f16383b 1117 check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 30:8d561f16383b 1118 check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 13:747daba9cf59 1119 check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 13:747daba9cf59 1120 }
Lightvalve 13:747daba9cf59 1121 temp_time = TMR_FREQ_5k;
Lightvalve 13:747daba9cf59 1122 }
Lightvalve 14:8e7590227d22 1123 TMR3_COUNT_FLOWRATE++;
Lightvalve 14:8e7590227d22 1124 if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 13:747daba9cf59 1125 if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 30:8d561f16383b 1126 VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 18:b8adf1582ea3 1127 V_out = VALVE_VOLTAGE;
Lightvalve 14:8e7590227d22 1128 if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 13:747daba9cf59 1129 fl_temp_cnt++;
Lightvalve 14:8e7590227d22 1130 } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 30:8d561f16383b 1131 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 30:8d561f16383b 1132 // 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 13:747daba9cf59 1133 fl_temp_cnt2++;
Lightvalve 13:747daba9cf59 1134 }
Lightvalve 13:747daba9cf59 1135 } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 30:8d561f16383b 1136 VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 18:b8adf1582ea3 1137 V_out = VALVE_VOLTAGE;
Lightvalve 14:8e7590227d22 1138 if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 13:747daba9cf59 1139 fl_temp_cnt++;
Lightvalve 14:8e7590227d22 1140 } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 30:8d561f16383b 1141 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 30:8d561f16383b 1142 // 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 13:747daba9cf59 1143 fl_temp_cnt2++;
Lightvalve 13:747daba9cf59 1144 }
Lightvalve 13:747daba9cf59 1145 }
Lightvalve 13:747daba9cf59 1146 if (fl_temp_cnt2 == 100) {
Lightvalve 19:23b7c1ad8683 1147
Lightvalve 16:903b5a4433b4 1148 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1149
Lightvalve 30:8d561f16383b 1150 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 13:747daba9cf59 1151 cur_vel_sum = 0;
Lightvalve 13:747daba9cf59 1152 fl_temp_cnt = 0;
Lightvalve 13:747daba9cf59 1153 fl_temp_cnt2 = 0;
Lightvalve 13:747daba9cf59 1154 flag_flowrate++;
Lightvalve 13:747daba9cf59 1155 }
Lightvalve 13:747daba9cf59 1156 if (flag_flowrate == 10) {
Lightvalve 18:b8adf1582ea3 1157 V_out = 0;
Lightvalve 13:747daba9cf59 1158 flag_flowrate = 0;
Lightvalve 14:8e7590227d22 1159 TMR3_COUNT_FLOWRATE = 0;
Lightvalve 13:747daba9cf59 1160 valve_gain_repeat_cnt++;
Lightvalve 13:747daba9cf59 1161 if (valve_gain_repeat_cnt >= 1) {
Lightvalve 13:747daba9cf59 1162 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1163 valve_gain_repeat_cnt = 0;
Lightvalve 13:747daba9cf59 1164 }
Lightvalve 14:8e7590227d22 1165
Lightvalve 13:747daba9cf59 1166 }
Lightvalve 13:747daba9cf59 1167 break;
Lightvalve 13:747daba9cf59 1168 }
Lightvalve 14:8e7590227d22 1169
Lightvalve 13:747daba9cf59 1170 }
Lightvalve 14:8e7590227d22 1171
Lightvalve 14:8e7590227d22 1172 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1173 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1174 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1175 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1176 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1177
Lightvalve 14:8e7590227d22 1178 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1179 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1180 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1181 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1182 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1183
Lightvalve 38:118df027d851 1184 float VREF_NullingGain = 0.0003f;
Lightvalve 38:118df027d851 1185 PRES_A_VREF = PRES_A_VREF - VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
Lightvalve 38:118df027d851 1186 PRES_B_VREF = PRES_B_VREF - VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
Lightvalve 14:8e7590227d22 1187
Lightvalve 30:8d561f16383b 1188 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1189 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1190 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1191 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1192
Lightvalve 30:8d561f16383b 1193 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1194 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1195 }
Lightvalve 13:747daba9cf59 1196 } else {
Lightvalve 13:747daba9cf59 1197 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1198 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1199 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1200 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1201 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1202 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1203
Lightvalve 16:903b5a4433b4 1204 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1205
Lightvalve 30:8d561f16383b 1206 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1207 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1208 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1209 }
Lightvalve 14:8e7590227d22 1210 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1211 break;
Lightvalve 13:747daba9cf59 1212 }
Lightvalve 14:8e7590227d22 1213
Lightvalve 14:8e7590227d22 1214 case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 14:8e7590227d22 1215 if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 18:b8adf1582ea3 1216 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1217 if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1218 CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 13:747daba9cf59 1219 }
Lightvalve 14:8e7590227d22 1220 } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 18:b8adf1582ea3 1221 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1222 if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1223 CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 13:747daba9cf59 1224 }
Lightvalve 13:747daba9cf59 1225 } else {
Lightvalve 13:747daba9cf59 1226 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1227 TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 18:b8adf1582ea3 1228 V_out = 0;
Lightvalve 30:8d561f16383b 1229 PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 30:8d561f16383b 1230 PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 30:8d561f16383b 1231 PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 30:8d561f16383b 1232 PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 13:747daba9cf59 1233 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1234 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1235 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1236 CUR_PRES_B_mean = 0;
Lightvalve 19:23b7c1ad8683 1237
Lightvalve 16:903b5a4433b4 1238 ROM_RESET_DATA();
Lightvalve 14:8e7590227d22 1239
Lightvalve 30:8d561f16383b 1240 //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 30:8d561f16383b 1241 //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 13:747daba9cf59 1242 }
Lightvalve 14:8e7590227d22 1243 TMR3_COUNT_PRES_CALIB++;
Lightvalve 13:747daba9cf59 1244 break;
Lightvalve 13:747daba9cf59 1245 }
Lightvalve 14:8e7590227d22 1246
Lightvalve 14:8e7590227d22 1247 case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 30:8d561f16383b 1248 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 30:8d561f16383b 1249 V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 18:b8adf1582ea3 1250 if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 18:b8adf1582ea3 1251 else V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1252 TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 14:8e7590227d22 1253 if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 1254 TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 30:8d561f16383b 1255 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1256 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1257 }
Lightvalve 13:747daba9cf59 1258 break;
Lightvalve 13:747daba9cf59 1259 }
Lightvalve 14:8e7590227d22 1260
Lightvalve 14:8e7590227d22 1261 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 13:747daba9cf59 1262 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1263
Lightvalve 14:8e7590227d22 1264 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 30:8d561f16383b 1265 V_out = 3000.0f * sin(2*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1266 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 30:8d561f16383b 1267 V_out = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1268 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1269 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1270 data_num = 0;
Lightvalve 14:8e7590227d22 1271 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1272 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1273 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1274 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1275 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1276 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1277 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1278 }
Lightvalve 14:8e7590227d22 1279
Lightvalve 17:1865016ca2e7 1280 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1281 int i;
Lightvalve 13:747daba9cf59 1282 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1283 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1284 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1285 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1286 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1287 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1288 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1289 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1290 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1291 }
Lightvalve 13:747daba9cf59 1292 }
Lightvalve 27:a2254a485f23 1293 //ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1294 ID_index = 0;
Lightvalve 13:747daba9cf59 1295 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1296 }
Lightvalve 14:8e7590227d22 1297
Lightvalve 14:8e7590227d22 1298
Lightvalve 13:747daba9cf59 1299 break;
Lightvalve 13:747daba9cf59 1300 }
Lightvalve 14:8e7590227d22 1301
Lightvalve 14:8e7590227d22 1302 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 14:8e7590227d22 1303
Lightvalve 13:747daba9cf59 1304 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1305 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1306 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1307 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 30:8d561f16383b 1308 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1309 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1310 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1311 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1312 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 30:8d561f16383b 1313 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1314 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1315 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1316 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1317 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 30:8d561f16383b 1318 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1319 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 13:747daba9cf59 1320 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1321 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1322 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1323 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 13:747daba9cf59 1324 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1325 START_POS = pos.sen;
Lightvalve 23:59218d4a256d 1326 //CAN_TX_PRES((int16_t) (DDV_POS_AVG), (int16_t) (data_num));
Lightvalve 13:747daba9cf59 1327 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1328 data_num = 0;
Lightvalve 14:8e7590227d22 1329
Lightvalve 30:8d561f16383b 1330 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1331 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1332 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1333 //CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS));
Lightvalve 14:8e7590227d22 1334
Lightvalve 30:8d561f16383b 1335 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1336 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1337 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1338 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1339 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1340 else
Lightvalve 13:747daba9cf59 1341 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1342 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1343 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1344 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1345 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1346 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1347 // {
Lightvalve 14:8e7590227d22 1348 // DZ_case = 1;
Lightvalve 14:8e7590227d22 1349 // }
Lightvalve 14:8e7590227d22 1350 // else
Lightvalve 14:8e7590227d22 1351 // {
Lightvalve 14:8e7590227d22 1352 // DZ_case = -1;
Lightvalve 14:8e7590227d22 1353 // }
Lightvalve 14:8e7590227d22 1354 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1355 // {
Lightvalve 14:8e7590227d22 1356 // DZ_case = 0;
Lightvalve 14:8e7590227d22 1357 // }
Lightvalve 14:8e7590227d22 1358
Lightvalve 14:8e7590227d22 1359 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1360 DZ_case = 1;
Lightvalve 14:8e7590227d22 1361 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 13:747daba9cf59 1362 DZ_case = -1;
Lightvalve 14:8e7590227d22 1363 } else {
Lightvalve 13:747daba9cf59 1364 DZ_case = 0;
Lightvalve 13:747daba9cf59 1365 }
Lightvalve 14:8e7590227d22 1366
Lightvalve 14:8e7590227d22 1367 VEL_POINT = 0;
Lightvalve 13:747daba9cf59 1368 first_check = 1;
Lightvalve 13:747daba9cf59 1369 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1370 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1371 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1372 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1373 DZ_index = 1;
Lightvalve 18:b8adf1582ea3 1374 //CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (DZ_NUM));
Lightvalve 14:8e7590227d22 1375
Lightvalve 13:747daba9cf59 1376 }
Lightvalve 19:23b7c1ad8683 1377 } else {
Lightvalve 14:8e7590227d22 1378 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1379 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1380 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 30:8d561f16383b 1381 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1382 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1383 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1384 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1385 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1386 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1387 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1388 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1389 }
Lightvalve 14:8e7590227d22 1390 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1391 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1392 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1393 else
Lightvalve 13:747daba9cf59 1394 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1395 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1396 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1397 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1398 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1399 // DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1400 // else
Lightvalve 14:8e7590227d22 1401 // DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1402 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1403 // DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1404
Lightvalve 14:8e7590227d22 1405 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1406 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1407 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1408 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1409 } else {
Lightvalve 13:747daba9cf59 1410 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1411 }
Lightvalve 14:8e7590227d22 1412
Lightvalve 14:8e7590227d22 1413 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1414
Lightvalve 13:747daba9cf59 1415 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1416 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1417 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1418 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1419 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1420 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1421 DZ_index = 1;
Lightvalve 13:747daba9cf59 1422 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1423 }
Lightvalve 14:8e7590227d22 1424
Lightvalve 13:747daba9cf59 1425 //CAN_TX_PRES((int16_t) (1), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1426 }
Lightvalve 14:8e7590227d22 1427 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1428 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1429 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 30:8d561f16383b 1430 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1431 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1432 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1433 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1434 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1435 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1436 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1437 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1438 }
Lightvalve 14:8e7590227d22 1439 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1440 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1441 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1442 else
Lightvalve 13:747daba9cf59 1443 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1444 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1445 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1446 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1447 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1448 // DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1449 // else
Lightvalve 14:8e7590227d22 1450 // DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1451 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1452 // DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1453
Lightvalve 14:8e7590227d22 1454 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1455 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1456 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1457 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1458 } else {
Lightvalve 13:747daba9cf59 1459 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1460 }
Lightvalve 14:8e7590227d22 1461
Lightvalve 14:8e7590227d22 1462 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1463
Lightvalve 14:8e7590227d22 1464
Lightvalve 13:747daba9cf59 1465 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1466 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1467 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1468 SECOND_DZ = valve_pos.ref;
Lightvalve 33:91b17819ec30 1469 DDV_CENTER = 0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ);
Lightvalve 13:747daba9cf59 1470 first_check = 0;
Lightvalve 33:91b17819ec30 1471 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1472 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1473
Lightvalve 16:903b5a4433b4 1474 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1475
Lightvalve 13:747daba9cf59 1476 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1477 DZ_index = 1;
Lightvalve 13:747daba9cf59 1478 }
Lightvalve 14:8e7590227d22 1479
Lightvalve 23:59218d4a256d 1480 //CAN_TX_PRES((int16_t) (2), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1481 }
Lightvalve 14:8e7590227d22 1482 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1483 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1484 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f* (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 30:8d561f16383b 1485 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1486 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1487 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1488 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1489 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1490 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1491 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1492 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1493 }
Lightvalve 14:8e7590227d22 1494 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1495 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1496 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1497 else
Lightvalve 13:747daba9cf59 1498 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1499 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1500 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1501 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1502 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1503 // DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1504 // else
Lightvalve 14:8e7590227d22 1505 // DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1506 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1507 // DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1508
Lightvalve 14:8e7590227d22 1509 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1510 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1511 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1512 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1513 } else {
Lightvalve 13:747daba9cf59 1514 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1515 }
Lightvalve 14:8e7590227d22 1516
Lightvalve 14:8e7590227d22 1517 VEL_POINT = 0;
Lightvalve 13:747daba9cf59 1518 //CAN_TX_PRES((int16_t) (7), (int16_t) (DZ_DIRECTION));
Lightvalve 13:747daba9cf59 1519 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1520 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1521 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1522 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1523 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1524 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1525 DZ_index = 1;
Lightvalve 13:747daba9cf59 1526 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1527 }
Lightvalve 13:747daba9cf59 1528 }
Lightvalve 14:8e7590227d22 1529 } else {
Lightvalve 30:8d561f16383b 1530 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1531 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f* (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 30:8d561f16383b 1532 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1533 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1534 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1535 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1536 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1537 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1538 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1539 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1540 }
Lightvalve 14:8e7590227d22 1541 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1542 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1543 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1544 else
Lightvalve 13:747daba9cf59 1545 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1546 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1547 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1548 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1549 if(VEL_POINT >= 0)
Lightvalve 13:747daba9cf59 1550 DZ_DIRECTION = -1;
Lightvalve 13:747daba9cf59 1551 else
Lightvalve 13:747daba9cf59 1552 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1553 if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 13:747daba9cf59 1554 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1555
Lightvalve 14:8e7590227d22 1556 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1557
Lightvalve 14:8e7590227d22 1558
Lightvalve 13:747daba9cf59 1559 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1560 //CAN_TX_PRES((int16_t) (3), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1561 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1562 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1563 SECOND_DZ = valve_pos.ref;
Lightvalve 33:91b17819ec30 1564 DDV_CENTER = 0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ);
Lightvalve 13:747daba9cf59 1565 first_check = 0;
Lightvalve 33:91b17819ec30 1566 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1567 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 34:bb2ca2fc2a8e 1568
Lightvalve 13:747daba9cf59 1569 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1570 DZ_index = 1;
Lightvalve 13:747daba9cf59 1571 }
Lightvalve 14:8e7590227d22 1572
Lightvalve 13:747daba9cf59 1573 //CAN_TX_PRES((int16_t) (4), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1574 }
Lightvalve 13:747daba9cf59 1575 }
Lightvalve 14:8e7590227d22 1576 }
Lightvalve 13:747daba9cf59 1577 break;
Lightvalve 13:747daba9cf59 1578 }
Lightvalve 14:8e7590227d22 1579
Lightvalve 14:8e7590227d22 1580 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 13:747daba9cf59 1581 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1582 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1583 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1584 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 23:59218d4a256d 1585 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1586 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1587 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1588 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1589 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1590 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1591 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 30:8d561f16383b 1592 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1593 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 18:b8adf1582ea3 1594 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1595 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1596 first_check = 1;
Lightvalve 13:747daba9cf59 1597 VALVE_FR_timer = 0;
Lightvalve 14:8e7590227d22 1598 valve_pos.ref = DDV_CENTER;
Lightvalve 13:747daba9cf59 1599 ID_index = 0;
Lightvalve 13:747daba9cf59 1600 max_check = 0;
Lightvalve 13:747daba9cf59 1601 min_check = 0;
Lightvalve 13:747daba9cf59 1602 }
Lightvalve 14:8e7590227d22 1603 } else {
Lightvalve 30:8d561f16383b 1604 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1605 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f* (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 30:8d561f16383b 1606 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1607 data_num = 0;
Lightvalve 33:91b17819ec30 1608 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve 14:8e7590227d22 1609
Lightvalve 14:8e7590227d22 1610 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1611 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1612 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 33:91b17819ec30 1613 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve 14:8e7590227d22 1614 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1615 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1616 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1617 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1618 one_period_end = 1;
Lightvalve 13:747daba9cf59 1619 }
Lightvalve 30:8d561f16383b 1620 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1621 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1622 one_period_end = 1;
Lightvalve 13:747daba9cf59 1623 }
Lightvalve 14:8e7590227d22 1624
Lightvalve 14:8e7590227d22 1625 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1626 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1627 max_check = 1;
Lightvalve 14:8e7590227d22 1628 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1629 min_check = 1;
Lightvalve 13:747daba9cf59 1630 }
Lightvalve 13:747daba9cf59 1631 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1632
Lightvalve 19:23b7c1ad8683 1633 //ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1634
Lightvalve 16:903b5a4433b4 1635 //spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + ID_index, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
Lightvalve 16:903b5a4433b4 1636 //spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + ID_index, (int16_t) ((JOINT_VEL[ID_index] >> 16) & 0xFFFF));
Lightvalve 13:747daba9cf59 1637 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1638 one_period_end = 0;
Lightvalve 13:747daba9cf59 1639 ID_index= ID_index +1;
Lightvalve 14:8e7590227d22 1640 // CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (ID_index));
Lightvalve 30:8d561f16383b 1641 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1642 }
Lightvalve 14:8e7590227d22 1643
Lightvalve 14:8e7590227d22 1644 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1645
Lightvalve 16:903b5a4433b4 1646 //spi_eeprom_write(RID_VALVE_POS_NUM, (int16_t) (ID_index));
Lightvalve 13:747daba9cf59 1647 VALVE_POS_NUM = ID_index;
Lightvalve 27:a2254a485f23 1648 //ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1649 ID_index = 0;
Lightvalve 13:747daba9cf59 1650 first_check = 0;
Lightvalve 13:747daba9cf59 1651 VALVE_FR_timer = 0;
Lightvalve 14:8e7590227d22 1652 // CAN_TX_PRES((int16_t) (123), (int16_t) (123));
Lightvalve 13:747daba9cf59 1653 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1654 }
Lightvalve 13:747daba9cf59 1655 }
Lightvalve 13:747daba9cf59 1656 break;
Lightvalve 13:747daba9cf59 1657 }
Lightvalve 14:8e7590227d22 1658
Lightvalve 12:6f2531038ea4 1659 default:
Lightvalve 12:6f2531038ea4 1660 break;
Lightvalve 12:6f2531038ea4 1661 }
Lightvalve 14:8e7590227d22 1662
Lightvalve 13:747daba9cf59 1663 if (FLAG_VALVE_OUTPUT_CALIB) {
Lightvalve 13:747daba9cf59 1664 // Valve Dead Zone (Mechanical dead-zone canceling)
Lightvalve 14:8e7590227d22 1665 // if (CONTROL_MODE != MODE_VALVE_NULLING_AND_DEADZONE_SETTING) {
Lightvalve 14:8e7590227d22 1666 // if (V_out > 0.) {
Lightvalve 14:8e7590227d22 1667 // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_PLUS;
Lightvalve 14:8e7590227d22 1668 // } else if (V_out < 0.) {
Lightvalve 14:8e7590227d22 1669 // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_MINUS;
Lightvalve 14:8e7590227d22 1670 // } else VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_CENTER;
Lightvalve 14:8e7590227d22 1671 // } else VALVE_PWM_VALVE_DZ = (int) V_out;
Lightvalve 14:8e7590227d22 1672
Lightvalve 14:8e7590227d22 1673 if(V_out>0) V_out = V_out + VALVE_DEADZONE_PLUS;
Lightvalve 14:8e7590227d22 1674 else if(V_out<0) V_out = V_out + VALVE_DEADZONE_MINUS;
Lightvalve 14:8e7590227d22 1675
Lightvalve 14:8e7590227d22 1676 VALVE_PWM_VALVE_DZ = V_out + VALVE_CENTER;
Lightvalve 14:8e7590227d22 1677
Lightvalve 13:747daba9cf59 1678 // Output Voltage Linearization and Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 30:8d561f16383b 1679 float CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/5.0f*1000.0f; // convert PWM duty to mV
Lightvalve 30:8d561f16383b 1680 float CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin);
Lightvalve 14:8e7590227d22 1681
Lightvalve 14:8e7590227d22 1682 if (CUR_PWM_DZ > 0) V_out = (int)CUR_PWM_DZ + 143;
Lightvalve 14:8e7590227d22 1683 else if (CUR_PWM_DZ < 0) V_out = (int)CUR_PWM_DZ - 138;
Lightvalve 14:8e7590227d22 1684 else V_out = CUR_PWM_DZ;
Lightvalve 13:747daba9cf59 1685 } else {
Lightvalve 17:1865016ca2e7 1686 V_out = V_out;
Lightvalve 13:747daba9cf59 1687 }
Lightvalve 14:8e7590227d22 1688
jobuuu 7:e9086c72bb22 1689 /*******************************************************
jobuuu 7:e9086c72bb22 1690 *** PWM
jobuuu 7:e9086c72bb22 1691 ********************************************************/
Lightvalve 34:bb2ca2fc2a8e 1692 if (V_out >= 12000.0f) {
Lightvalve 30:8d561f16383b 1693 V_out = 12000.0f;
Lightvalve 34:bb2ca2fc2a8e 1694 } else if(V_out<=-12000.0f) {
Lightvalve 30:8d561f16383b 1695 V_out = -12000.0f;
Lightvalve 27:a2254a485f23 1696 }
Lightvalve 18:b8adf1582ea3 1697 PWM_out= V_out/SUPPLY_VOLTAGE; // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1698
jobuuu 2:a1c0a37df760 1699 // Saturation of output voltage to 5.0V
Lightvalve 17:1865016ca2e7 1700 // if(PWM_out > 0.41667) PWM_out=0.41667; //5.0/12.0 = 0.41667
Lightvalve 17:1865016ca2e7 1701 // else if (PWM_out < -0.41667) PWM_out=-0.41667;
Lightvalve 19:23b7c1ad8683 1702
Lightvalve 19:23b7c1ad8683 1703 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1704 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1705 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1706
Lightvalve 30:8d561f16383b 1707 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1708 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1709 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1710 } else {
jobuuu 2:a1c0a37df760 1711 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1712 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1713 }
Lightvalve 13:747daba9cf59 1714
jobuuu 1:e04e563be5ce 1715 //pwm
Lightvalve 30:8d561f16383b 1716 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1717 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 13:747daba9cf59 1718
jobuuu 1:e04e563be5ce 1719 }
Lightvalve 11:82d8768d7351 1720 TIM3->SR = 0x0; // reset the status register
Lightvalve 21:e5f1a43ea6f9 1721
jobuuu 7:e9086c72bb22 1722 }
jobuuu 7:e9086c72bb22 1723
Lightvalve 20:806196fda269 1724
Lightvalve 20:806196fda269 1725
Lightvalve 20:806196fda269 1726 //unsigned long CNT_TMR5 = 0;
Lightvalve 30:8d561f16383b 1727 //float FREQ_TMR5 = (float)FREQ_500;
Lightvalve 30:8d561f16383b 1728 //float DT_TMR5 = (float)DT_500;
Lightvalve 23:59218d4a256d 1729 extern "C" void TIM2_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 1730 {
Lightvalve 23:59218d4a256d 1731 if (TIM2->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 1732
Lightvalve 20:806196fda269 1733 //CAN ----------------------------------------------------------------------
Lightvalve 20:806196fda269 1734 if (flag_data_request[0] == HIGH) {
Lightvalve 20:806196fda269 1735 //position+velocity
Lightvalve 41:abbd4e2af68b 1736 //CAN_TX_POSITION((int32_t) pos.sen, (int32_t) vel.sen);
Lightvalve 43:b084e5f5d0d5 1737 CAN_TX_POSITION((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 20:806196fda269 1738 }
Lightvalve 20:806196fda269 1739
Lightvalve 20:806196fda269 1740 if (flag_data_request[1] == HIGH) {
Lightvalve 20:806196fda269 1741 //torque
Lightvalve 20:806196fda269 1742 //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM * 100.));
Lightvalve 20:806196fda269 1743 //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM));
Lightvalve 20:806196fda269 1744 CAN_TX_TORQUE((int16_t) (cur.sen));
Lightvalve 20:806196fda269 1745 // CAN_TX_TORQUE((int16_t) DZ_temp_cnt);
Lightvalve 20:806196fda269 1746 }
Lightvalve 20:806196fda269 1747
Lightvalve 20:806196fda269 1748 if (flag_data_request[2] == HIGH) {
Lightvalve 20:806196fda269 1749 //pressure A and B
Lightvalve 38:118df027d851 1750 CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (PRES_A_VREF * 1000.0)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve 38:118df027d851 1751 //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve 20:806196fda269 1752 // CAN_TX_PRES((int16_t) (CUR_PRES_A_BAR * 100.), (int16_t) (CUR_PRES_B_BAR * 100.));
Lightvalve 20:806196fda269 1753 // CAN_TX_PRES((int16_t) ((DEADZONE_MINUS + 1.)*1000.), (int16_t) ((DEADZONE_PLUS + 1.))*1000.);
Lightvalve 20:806196fda269 1754 // CAN_TX_PRES((int16_t) DZ_dir, (int16_t) ((VALVE_DEADZONE_PLUS + 1.))*1000.);
Lightvalve 20:806196fda269 1755
Lightvalve 20:806196fda269 1756 }
Lightvalve 20:806196fda269 1757
Lightvalve 20:806196fda269 1758 if (flag_data_request[3] == HIGH) {
Lightvalve 20:806196fda269 1759 //PWM
Lightvalve 20:806196fda269 1760 CAN_TX_PWM((int16_t) CUR_PWM);
Lightvalve 20:806196fda269 1761 // CAN_TX_PWM((int16_t) cnt_vel_findhome);
Lightvalve 20:806196fda269 1762 // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.));
Lightvalve 20:806196fda269 1763 // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.));
Lightvalve 20:806196fda269 1764
Lightvalve 20:806196fda269 1765 }
Lightvalve 20:806196fda269 1766
Lightvalve 20:806196fda269 1767 if (flag_data_request[4] == HIGH) {
Lightvalve 20:806196fda269 1768 //valve position
Lightvalve 27:a2254a485f23 1769 CAN_TX_VALVE_POSITION((int16_t) (value), (int16_t) valve_pos.ref, (int16_t) V_out);
Lightvalve 33:91b17819ec30 1770 //CAN_TX_VALVE_POSITION((int16_t) (DDV_CENTER * 10.0f), (int16_t) valve_pos.ref, (int16_t) V_out);
Lightvalve 20:806196fda269 1771
Lightvalve 20:806196fda269 1772 //CAN_TX_VALVE_POSITION((int16_t) (VALVE_POS_NUM));
Lightvalve 20:806196fda269 1773 // CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE / SUPPLY_VOLTAGE));
Lightvalve 20:806196fda269 1774 // CAN_TX_VALVE_POSITION((int16_t) P_GAIN_JOINT_POSITION);
Lightvalve 20:806196fda269 1775 // CAN_TX_VALVE_POSITION((int16_t) Ref_Joint_Pos);
Lightvalve 20:806196fda269 1776 // CAN_TX_VALVE_POSITION((int16_t) flag_flowrate);
Lightvalve 20:806196fda269 1777 }
Lightvalve 20:806196fda269 1778
Lightvalve 20:806196fda269 1779 }
Lightvalve 23:59218d4a256d 1780 TIM2->SR = 0x0; // reset the status register
Lightvalve 20:806196fda269 1781 }
Lightvalve 20:806196fda269 1782
Lightvalve 20:806196fda269 1783
Lightvalve 20:806196fda269 1784
Lightvalve 13:747daba9cf59 1785 void CurrentControl()
Lightvalve 13:747daba9cf59 1786 {
jobuuu 7:e9086c72bb22 1787 cur.err = cur.ref - cur.sen;
jobuuu 7:e9086c72bb22 1788 cur.err_int = cur.err_int + cur.err*DT_TMR4;
jobuuu 7:e9086c72bb22 1789 cur.err_diff = (cur.err - cur.err_old)*FREQ_TMR4;
jobuuu 7:e9086c72bb22 1790 cur.err_old = cur.err;
jobuuu 7:e9086c72bb22 1791
Lightvalve 30:8d561f16383b 1792 float R_model = 150.0f; // ohm
Lightvalve 30:8d561f16383b 1793 float L_model = 0.3f;
Lightvalve 30:8d561f16383b 1794 float w0 = 2.0f*3.14f*90.0f;
Lightvalve 30:8d561f16383b 1795 float KP_I = L_model*w0;
Lightvalve 30:8d561f16383b 1796 float KI_I = R_model*w0;
Lightvalve 30:8d561f16383b 1797 float KD_I = 0.0f;
jobuuu 7:e9086c72bb22 1798
Lightvalve 30:8d561f16383b 1799 float FF_gain = 0.0f;
jobuuu 7:e9086c72bb22 1800 V_out = (int) (KP_I * cur.err + KI_I * cur.err_int + KD_I * cur.err_diff);
jobuuu 7:e9086c72bb22 1801 // V_out = V_out + FF_gain * (R_model*I_REF); // Unit : mV
jobuuu 7:e9086c72bb22 1802 V_out = V_out + FF_gain * (R_model*cur.ref + L_model*cur.ref_diff); // Unit : mV
Lightvalve 13:747daba9cf59 1803
Lightvalve 30:8d561f16383b 1804 float Ka = 5.0f/KP_I;
jobuuu 7:e9086c72bb22 1805 if(V_out > V_MAX) {
jobuuu 7:e9086c72bb22 1806 V_rem = V_out-V_MAX;
jobuuu 7:e9086c72bb22 1807 V_rem = Ka*V_rem;
jobuuu 7:e9086c72bb22 1808 V_out = V_MAX;
jobuuu 7:e9086c72bb22 1809 cur.err_int = cur.err_int - V_rem*DT_5k;
jobuuu 7:e9086c72bb22 1810 } else if(V_out < -V_MAX) {
jobuuu 7:e9086c72bb22 1811 V_rem = V_out-(-V_MAX);
Lightvalve 13:747daba9cf59 1812 V_rem = Ka*V_rem;
jobuuu 7:e9086c72bb22 1813 V_out = -V_MAX;
jobuuu 7:e9086c72bb22 1814 cur.err_int = cur.err_int - V_rem*DT_5k;
Lightvalve 13:747daba9cf59 1815 }
Lightvalve 21:e5f1a43ea6f9 1816 }
Lightvalve 23:59218d4a256d 1817
Lightvalve 28:2a62d73e3dd0 1818
Lightvalve 30:8d561f16383b 1819
Lightvalve 32:4b8c0fedaf2c 1820
Lightvalve 36:a46e63505ed8 1821
Lightvalve 42:1cf66990ccab 1822
Lightvalve 44:fe7d5cfd2eea 1823