20210203

Dependencies:   mbed FastPWM

main.cpp

Committer:
Lightvalve
Date:
2020-09-27
Revision:
132:06e670a4f416
Parent:
131:d08121ac87ba
Child:
133:22ab22818e01

File content as of revision 132:06e670a4f416:

//200927-1
#include "mbed.h"
#include "FastPWM.h"
#include "INIT_HW.h"
#include "function_CAN.h"
#include "SPI_EEP_ENC.h"
#include "I2C_AS5510.h"
#include "setting.h"
#include "function_utilities.h"
#include "stm32f4xx_flash.h"
#include "FlashWriter.h"      

using namespace std;
Timer t;

///191008////

// dac & check ///////////////////////////////////////////
DigitalOut check(PC_2);
DigitalOut check_2(PC_3);
AnalogOut dac_1(PA_4);
AnalogOut dac_2(PA_5);
AnalogIn adc1(PC_4); //pressure_1
AnalogIn adc2(PB_0); //pressure_2
AnalogIn adc3(PC_1); //current


// PWM ///////////////////////////////////////////
float dtc_v=0.0f;
float dtc_w=0.0f;

// I2C ///////////////////////////////////////////
I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
const int i2c_slave_addr1 =  0x56;
unsigned int value; // 10bit output of reading sensor AS5510

// SPI ///////////////////////////////////////////
//SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
//DigitalOut eeprom_cs(PB_12);
//FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
SPI enc(PC_12,PC_11,PC_10);
DigitalOut enc_cs(PD_2);
DigitalOut LED(PA_15);

// UART ///////////////////////////////////////////
Serial pc(PA_9,PA_10); //  _ UART

// CAN ///////////////////////////////////////////
CAN can(PB_8, PB_9, 1000000);
CANMessage msg;
void onMsgReceived()
{
    CAN_RX_HANDLER();
}

// Variables ///////////////////////////////////////////
State pos;
State vel;
State Vout;
State torq;
State pres_A;
State pres_B;
State cur;
State valve_pos;

State INIT_Vout;
State INIT_Valve_Pos;
State INIT_Pos;
State INIT_torq;

extern int CID_RX_CMD;
extern int CID_RX_REF_POSITION;
extern int CID_RX_REF_VALVE_POS;
extern int CID_RX_REF_PWM;

extern int CID_TX_INFO;
extern int CID_TX_POSITION;
extern int CID_TX_TORQUE;
extern int CID_TX_PRES;
extern int CID_TX_VOUT;
extern int CID_TX_VALVE_POSITION;




// =============================================================================
// =============================================================================
// =============================================================================

/*******************************************************************************
 *  REFERENCE MODE
 ******************************************************************************/
enum _REFERENCE_MODE {
    MODE_REF_NO_ACT = 0,                                //0
    MODE_REF_DIRECT,                                //1
    MODE_REF_COS_INC,                                  //2
    MODE_REF_LINE_INC,                                 //3
    MODE_REF_SIN_WAVE,                                  //4
    MODE_REF_SQUARE_WAVE,                                  //5
};

/*******************************************************************************
 *  CONTROL MODE
 ******************************************************************************/
enum _CONTROL_MODE {
    //control mode
    MODE_NO_ACT = 0,                                    //0
    MODE_VALVE_POSITION_CONTROL,                        //1
    MODE_JOINT_CONTROL,                                 //2

    MODE_VALVE_OPEN_LOOP,                               //3
    MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION,  //4
    MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING,        //5

    MODE_JOINT_POSITION_PRES_CONTROL_PWM,               //6
    MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION,    //7
    MODE_VALVE_POSITION_PRES_CONTROL_LEARNING,          //8

    MODE_TEST_CURRENT_CONTROL,                          //9
    MODE_TEST_PWM_CONTROL,                              //10

    MODE_CURRENT_CONTROL,                               //11
    MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT,         //12
    MODE_JOINT_POSITION_PRES_CONTROL_CURRENT,           //13

    //utility
    MODE_TORQUE_SENSOR_NULLING = 20,                    //20
    MODE_VALVE_NULLING_AND_DEADZONE_SETTING,            //21
    MODE_FIND_HOME,                                     //22
    MODE_VALVE_GAIN_SETTING,                            //23
    MODE_PRESSURE_SENSOR_NULLING,                       //24
    MODE_PRESSURE_SENSOR_CALIB,                         //25
    MODE_ROTARY_FRICTION_TUNING,                        //26

    MODE_DDV_POS_VS_PWM_ID = 30,                           //30
    MODE_DDV_DEADZONE_AND_CENTER,                       //31
    MODE_DDV_POS_VS_FLOWRATE,                           //32
    MODE_SYSTEM_ID,                                     //33
};

void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage 
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
  /** Initializes the CPU, AHB and APB busses clocks 
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = 8;//8
  RCC_OscInitStruct.PLL.PLLN = 180; //180
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 2;
  RCC_OscInitStruct.PLL.PLLR = 2;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    //Error_Handler();
  }
  /** Activate the Over-Drive mode 
  */
  if (HAL_PWREx_EnableOverDrive() != HAL_OK)
  {
    //Error_Handler();
  }
  /** Initializes the CPU, AHB and APB busses clocks 
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    //Error_Handler();
  }
}

float u_past[num_array_u_past] = {0.0f};
float x_past[num_array_x_past] = {0.0f};
float x_future[num_array_x_future] = {0.0f};
float f_past[num_array_f_past] = {0.0f};
float f_future[num_array_f_future] = {0.0f};

float input_NN[num_input] = { 0.0f };

const float h1[num_input][16] = { 
   {-1.4429630041122437f,1.3034216165542603f,0.12903714179992676f,0.28798773884773254f,-1.8387701511383057f,1.5667202472686768f,-0.17472904920578003f,1.4733644723892212f,-2.656264543533325f,-1.4315849542617798f,-0.24013076722621918f,-1.9119035005569458f,-0.26184797286987305f,-1.0023362636566162f,-0.2571594715118408f,-0.6307882070541382f},
{-1.2392706871032715f,1.1644593477249146f,-0.3927857577800751f,-0.026178255677223206f,-1.4516810178756714f,1.1183052062988281f,-0.4054011106491089f,0.9708414077758789f,-1.4737458229064941f,-0.915573000907898f,-0.27695706486701965f,-1.472585678100586f,0.23791413009166718f,-1.340469479560852f,-0.20967772603034973f,-0.20311704277992249f},
{-0.9548591375350952f,0.9477953910827637f,0.36391180753707886f,-0.3804604113101959f,-0.6920546889305115f,0.9726953506469727f,0.2872133255004883f,0.7518875598907471f,-0.38709938526153564f,-0.6488274931907654f,-0.35085999965667725f,-1.115939736366272f,-0.00023274087288882583f,-0.6639243364334106f,0.05590221285820007f,-0.2936735153198242f},
{-0.30345863103866577f,0.23051410913467407f,0.39742106199264526f,0.27933886647224426f,0.06478133052587509f,0.03837540000677109f,-0.11584559082984924f,0.39006689190864563f,0.9784761071205139f,-0.018240071833133698f,0.09294888377189636f,-0.10717561095952988f,-0.16221439838409424f,-0.3247924745082855f,-0.2961459457874298f,0.19031429290771484f},
{1.2327263355255127f,-0.6889948844909668f,-0.0051451027393341064f,0.23299819231033325f,1.165861964225769f,-0.7453231811523438f,0.1294034719467163f,-1.0415599346160889f,1.7182602882385254f,0.9011121392250061f,0.34490203857421875f,0.5882606506347656f,-0.06566117703914642f,0.8417025804519653f,-0.3865056037902832f,0.060221511870622635f},
{2.9930601119995117f,-3.0403647422790527f,0.21773302555084229f,0.2697482407093048f,2.8469295501708984f,-2.648817300796509f,0.16514194011688232f,-2.84952712059021f,1.9152671098709106f,2.728834390640259f,-0.25064635276794434f,2.114823818206787f,-0.26216015219688416f,2.6941277980804443f,-0.4132833778858185f,0.2531541585922241f},
{0.039752885699272156f,0.2025553435087204f,-0.2501986622810364f,-0.5324517488479614f,-0.26539286971092224f,0.5754912495613098f,0.06014183163642883f,-0.9225946664810181f,0.6030853986740112f,-0.14999504387378693f,0.1454356163740158f,0.24259179830551147f,-0.17001862823963165f,0.8775872588157654f,-0.15618428587913513f,-0.07316489517688751f},
{-0.6914640069007874f,0.5008584260940552f,-0.26619744300842285f,-0.07395351678133011f,-0.8829846978187561f,0.7207549214363098f,-0.17925891280174255f,0.2265157401561737f,0.9791081547737122f,-0.40086835622787476f,0.09995602816343307f,-0.3314880132675171f,0.37505483627319336f,-0.7975394129753113f,0.04303058981895447f,-0.05612891912460327f},
{-0.1787874698638916f,0.41768041253089905f,0.10248100757598877f,-0.568470299243927f,-0.5134447813034058f,0.6237644553184509f,-0.07246989011764526f,0.03315238654613495f,-0.5502752661705017f,0.5439794063568115f,-0.3025839328765869f,0.32957786321640015f,0.23279200494289398f,-0.03704528138041496f,-0.30555272102355957f,-0.033715374767780304f},
{0.008862380869686604f,-0.7548620700836182f,0.18462657928466797f,-0.31722939014434814f,0.09545460343360901f,0.2514250576496124f,-0.2990540862083435f,0.07069345563650131f,-1.0933656692504883f,0.32643622159957886f,-0.013515989296138287f,-0.12003724277019501f,0.37595507502555847f,0.205060213804245f,0.3484981060028076f,-0.21964995563030243f},
{0.47586360573768616f,-0.42950138449668884f,0.37182438373565674f,0.08214466273784637f,-0.08976808190345764f,-0.1275489628314972f,-0.20339298248291016f,0.16672146320343018f,-1.5200116634368896f,0.6389781832695007f,0.34330102801322937f,0.08525244891643524f,-0.0628911480307579f,0.48969560861587524f,0.26688337326049805f,-0.5531854033470154f},
{-0.30400723218917847f,-0.757106363773346f,-0.40320003032684326f,-0.15707449615001678f,0.06026344746351242f,-0.32150769233703613f,0.1533789038658142f,0.4589489698410034f,-0.7721163034439087f,0.7068045735359192f,-0.4191364347934723f,0.554688036441803f,0.14830636978149414f,0.47497859597206116f,0.10493969917297363f,-0.3271389603614807f},
{-0.09128857403993607f,-0.3000168800354004f,0.19847965240478516f,0.00816351268440485f,0.17116425931453705f,-0.1838742196559906f,-0.2404318004846573f,0.1338871419429779f,-0.40081244707107544f,0.03618118166923523f,-0.11376945674419403f,0.011287818662822247f,0.09556490927934647f,0.3162931203842163f,-0.22268100082874298f,-0.6471481323242188f},
{-0.09373930841684341f,-0.21054914593696594f,0.4127817749977112f,-0.2197357416152954f,-0.27146321535110474f,-0.7469317317008972f,-0.32001304626464844f,-0.5695106387138367f,0.060322992503643036f,0.017871329560875893f,-0.19953805208206177f,0.0630439817905426f,-0.30925193428993225f,0.16953758895397186f,0.0479682981967926f,-0.18283478915691376f},
{0.029273824766278267f,0.11858899146318436f,0.20282304286956787f,-0.06400895863771439f,0.11605191975831985f,-0.510269045829773f,0.04202890396118164f,0.11667562276124954f,0.1705678254365921f,0.0002734139561653137f,-0.2839072048664093f,-0.5098284482955933f,0.10708072781562805f,-0.12249376624822617f,0.0668090283870697f,-0.13312344253063202f},
{-0.09105877578258514f,-0.2992095947265625f,-0.40439701080322266f,-0.2234037220478058f,-0.302815705537796f,-0.5421211123466492f,-0.15568238496780396f,-0.30297666788101196f,0.1690366268157959f,-0.15367193520069122f,-0.4783811569213867f,-0.24257123470306396f,-0.26754769682884216f,0.05846592038869858f,-0.08245879411697388f,-0.06628959625959396f},
{-0.01457048300653696f,-0.1908884048461914f,0.16706281900405884f,-0.04915865883231163f,-0.002553750993683934f,-1.0438597202301025f,-0.041414469480514526f,-0.4244418144226074f,0.47170740365982056f,-0.1287192404270172f,-0.3581017255783081f,0.15202079713344574f,0.11572433263063431f,0.6782141327857971f,0.29427415132522583f,-0.17552760243415833f},
};

const float h2[16][16] = { 
    {-1.5606181621551514f,2.0206825733184814f,-0.06966331601142883f,0.058612748980522156f,-0.21907491981983185f,1.9708458185195923f,0.1347704827785492f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,-1.8721647262573242f,-0.5402894020080566f,0.009749081917107105f,-2.581385612487793f,-0.6977754235267639f,-10.681946754455566f},
{0.33925768733024597f,-0.2831292450428009f,0.057057321071624756f,-0.12389009445905685f,-0.35503754019737244f,-1.6776597499847412f,-0.4788944721221924f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-3.8065388202667236f,-0.9003934860229492f,0.22992102801799774f,2.0528452396392822f,-0.19584237039089203f,-6.66231632232666f},
{-0.22745239734649658f,0.003037691116333008f,-0.061119019985198975f,0.35696902871131897f,0.05568113923072815f,0.011741191148757935f,-0.20225946605205536f,-0.08465918898582458f,0.3489862382411957f,0.0687277615070343f,0.31964078545570374f,0.3004753887653351f,0.36063823103904724f,-0.42892736196517944f,0.08652284741401672f,0.027493387460708618f},
{0.0045395782217383385f,-0.29159554839134216f,-0.2894435524940491f,0.3086508810520172f,0.08946844935417175f,0.30691441893577576f,-0.23805393278598785f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.1474088579416275f,0.2792828381061554f,-0.5154134631156921f,-0.23461827635765076f,0.21998439729213715f,0.13836133480072021f},
{-2.5360679626464844f,3.073317766189575f,-0.25313520431518555f,0.26806437969207764f,0.036378175020217896f,1.2692676782608032f,-0.5359461903572083f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-6.085422039031982f,-1.1896787881851196f,-0.016837138682603836f,-1.73238205909729f,-0.6428089141845703f,-6.5621442794799805f},
{2.7155723571777344f,-0.030397476628422737f,-0.3519742488861084f,0.2640625536441803f,-0.3015052080154419f,-0.9674866199493408f,-0.6676644086837769f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,0.4337482452392578f,-0.38917678594589233f,-0.3205645680427551f,-0.3579385578632355f,0.06793723255395889f,-9.487342834472656f},
{-0.1828227937221527f,-0.02554568648338318f,-0.3260969817638397f,0.08422836661338806f,-0.38453540205955505f,-0.25432005524635315f,0.285016268491745f,0.12387624382972717f,-0.0982072651386261f,0.13111665844917297f,-0.03692615032196045f,-0.32796353101730347f,-0.21546880900859833f,0.049302369356155396f,-0.27088475227355957f,-0.4124959409236908f},
{1.0086963176727295f,-0.4673076570034027f,0.33083590865135193f,-0.2271568477153778f,-0.14358049631118774f,-1.266616940498352f,-0.2336554229259491f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,2.959778070449829f,-0.4257872998714447f,-0.44864556193351746f,0.483595609664917f,-0.03410644084215164f,-0.5517474412918091f},
{-1.7406342029571533f,0.5150182247161865f,-0.11379697918891907f,-0.005009772721678019f,0.041274964809417725f,0.018047111108899117f,-0.1121363565325737f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,-5.289576530456543f,-0.7816638350486755f,-0.4869474470615387f,0.3638456463813782f,-0.5299866795539856f,1.5895273685455322f},
{0.557269811630249f,0.13699454069137573f,-0.13502129912376404f,-0.5347733497619629f,0.12987366318702698f,-0.009665212593972683f,-0.13866545259952545f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,1.3226096630096436f,-0.05109235644340515f,0.2679780125617981f,-0.6435878276824951f,-0.2521476447582245f,2.061748504638672f},
{-0.28484171628952026f,0.011191816069185734f,0.0457797646522522f,-0.3522537052631378f,-0.03321319818496704f,-0.41051045060157776f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.19660501182079315f,0.3545852601528168f,-0.3647043704986572f,0.40139737725257874f,-0.41343173384666443f,-0.26665782928466797f},
{-0.4220695495605469f,0.6355003118515015f,0.3954955041408539f,0.22366313636302948f,0.0033026933670043945f,0.5492510795593262f,-0.3526473045349121f,-0.11795541644096375f,0.3487861454486847f,-0.32520344853401184f,-0.42096808552742004f,-1.0570847988128662f,-0.030798403546214104f,-0.8309122323989868f,-0.02978677675127983f,-2.125837564468384f},
{-0.26131558418273926f,-0.21128816902637482f,-0.15798500180244446f,0.393930047750473f,-0.37393757700920105f,0.35845980048179626f,0.11292675137519836f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.11023599654436111f,-0.2837170362472534f,0.41839322447776794f,-0.019079415127635002f,-0.12873566150665283f,0.1117788702249527f},
{-1.920461654663086f,0.0413205511868f,-0.2018718123435974f,-0.3468192219734192f,0.07545611262321472f,0.6092995405197144f,-0.49067139625549316f,-0.21416273713111877f,-0.24509364366531372f,0.19522181153297424f,1.5469683408737183f,-0.7738609313964844f,-0.2806382179260254f,0.19333934783935547f,-0.4202534854412079f,1.8381965160369873f},
{0.4138670265674591f,0.1604653298854828f,0.056746453046798706f,0.036025404930114746f,0.3228367865085602f,-0.07083973288536072f,0.018455177545547485f,0.0059362053871154785f,0.40515169501304626f,0.014240056276321411f,-0.07738298177719116f,0.1407785713672638f,-0.13024571537971497f,-0.29546058177948f,-0.11976784467697144f,-0.35825538635253906f},
{-0.21392621099948883f,0.004768312443047762f,0.12081471085548401f,-0.18312887847423553f,0.29976895451545715f,-0.2646619975566864f,-0.112851083278656f,0.31089308857917786f,-0.3893685042858124f,-0.02222958207130432f,-0.1520708203315735f,-0.2533053457736969f,-0.3186803460121155f,0.20880915224552155f,0.24160519242286682f,-0.24266235530376434f},
};

const float h3[16][16] = { 
    {-0.36079341173171997f,-1.0313812494277954f,0.20955149829387665f,-0.4161129891872406f,0.4362175166606903f,-0.643340528011322f,0.3332441747188568f,0.3036012351512909f,-4.257448196411133f,-0.0924486294388771f,-0.11870327591896057f,0.4001283347606659f,0.6917147636413574f,0.17240026593208313f,-1.4586395025253296f,-1.2680331468582153f},
{0.047732532024383545f,0.19960306584835052f,-0.18191421031951904f,-0.34144383668899536f,-2.6512136459350586f,-1.0648829936981201f,-0.3198729455471039f,0.06247803568840027f,3.183682918548584f,-0.4094620645046234f,0.26499590277671814f,-1.0764307975769043f,-0.08882865309715271f,0.9791208505630493f,2.870696544647217f,3.561124086380005f},
{0.07903262972831726f,0.2790505588054657f,-0.07798504829406738f,0.04248586297035217f,-0.1963958442211151f,-0.19260792434215546f,-0.4038352966308594f,0.015906542539596558f,0.15353140234947205f,0.030178606510162354f,0.2488909661769867f,0.13805970549583435f,-0.0816211998462677f,-0.20733052492141724f,-0.3036302626132965f,0.054825395345687866f},
{-0.30922991037368774f,-0.1570989489555359f,0.2969348728656769f,-0.3716883063316345f,-0.22935159504413605f,0.11628328263759613f,0.20021501183509827f,0.07002416253089905f,-0.24917908012866974f,-0.365601509809494f,0.13192829489707947f,0.41021624207496643f,-0.058745983988046646f,0.09162923693656921f,0.15479059517383575f,-0.016502488404512405f},
{-0.39607733488082886f,-0.05481579899787903f,0.1976260244846344f,0.022423356771469116f,0.16892847418785095f,-0.27518749237060547f,0.16012099385261536f,0.3626593053340912f,-0.08640444278717041f,-0.11053556203842163f,-0.10529157519340515f,-0.31317979097366333f,-0.1530032455921173f,-0.1336749792098999f,0.22959044575691223f,0.19986507296562195f},
{-0.37449589371681213f,-0.11203884333372116f,-0.7883889079093933f,0.06450603157281876f,-0.48566579818725586f,0.4531732201576233f,-0.18732719123363495f,0.22384825348854065f,-3.830247402191162f,-0.4104718863964081f,-0.2318742722272873f,-0.39825406670570374f,-0.8247615098953247f,0.7528648376464844f,-0.4286518692970276f,0.17024847865104675f},
{0.4110594093799591f,0.2655036747455597f,-0.28617212176322937f,0.37246426939964294f,0.14704963564872742f,-0.09126336872577667f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.21155259013175964f,0.08926000446081161f,0.3126353323459625f,-0.3391006588935852f},
{-0.40892091393470764f,0.043769627809524536f,-0.3867315948009491f,0.25968697667121887f,0.3424709737300873f,-0.051169753074645996f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.2742875814437866f,-0.36560842394828796f,0.07994696497917175f,0.005298197269439697f},
{0.10697010159492493f,-0.12228584289550781f,-0.37870171666145325f,0.21184906363487244f,-0.37222859263420105f,-0.17138728499412537f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.42142823338508606f,-0.3482915461063385f,-0.3289247751235962f,-0.2186824083328247f,0.09620395302772522f,-0.06898030638694763f},
{0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.30447837710380554f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24394884705543518f,-0.14084559679031372f,-0.10168051719665527f,0.010465055704116821f},
{0.15459725260734558f,0.2693333625793457f,-0.8550384044647217f,-0.15938661992549896f,-0.13434191048145294f,0.692764937877655f,-0.08742031455039978f,0.05785742402076721f,-3.8706929683685303f,-0.6950677037239075f,0.1268840730190277f,-0.13950097560882568f,-0.07396436482667923f,-0.14734496176242828f,2.6098744869232178f,-8.016020774841309f},
{-0.408692330121994f,0.010131987743079662f,-0.30817681550979614f,0.0922636091709137f,-0.3567854166030884f,0.3175760507583618f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.5534982681274414f,-0.2532133460044861f,-0.34717613458633423f,0.024447867646813393f},
{-0.2991822361946106f,0.23328058421611786f,0.0505894236266613f,-0.05932474136352539f,0.21531148254871368f,0.11274899542331696f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.13514076173305511f,-0.26424771547317505f,0.36124154925346375f,-0.03929755091667175f},
{-0.2675279378890991f,-0.39735591411590576f,0.8731051087379456f,-0.04545804113149643f,0.5777480006217957f,0.43351325392723083f,-0.32875844836235046f,-0.31893211603164673f,-2.863476276397705f,-0.7445234656333923f,-0.5083037614822388f,-0.9965668320655823f,-0.24764390289783478f,-0.9042758345603943f,-0.6130790114402771f,2.0715322494506836f},
{-0.015470266342163086f,-0.7191545963287354f,0.6353367567062378f,0.3513936996459961f,0.3322150409221649f,-0.6503303647041321f,0.05196094512939453f,-0.008358269929885864f,-0.4187942147254944f,-0.38441595435142517f,0.13179203867912292f,-0.11511552333831787f,0.5954373478889465f,-0.3741728961467743f,0.11708094924688339f,0.03591549023985863f},
{0.1863725483417511f,0.11712347716093063f,-2.9256980419158936f,-0.4779709577560425f,-3.502915382385254f,1.519821286201477f,0.04860696196556091f,0.17769548296928406f,-0.026472734287381172f,0.10345425456762314f,-0.3929237127304077f,0.6862512826919556f,0.6256688237190247f,0.7444633841514587f,-0.6542094945907593f,-2.53106689453125f},
};

const float hout[16] = { 0.45773375034332275f,0.43237993121147156f,-0.2360328733921051f,-0.14975948631763458f,-0.27932503819465637f,0.13622738420963287f,0.0030125975608825684f,0.15066689252853394f,-0.4520528018474579f,-0.055413588881492615f,0.20479823648929596f,-0.114473357796669f,-0.07025996595621109f,0.2664765417575836f,0.21039363741874695f,-0.28571611642837524f };

const float b1[16] = { 0.5210217833518982f,1.0273849964141846f,-1.7145336866378784f,0.2351079285144806f,0.986548125743866f,0.7703483700752258f,-0.058932315558195114f,0.8596047759056091f,1.126753330230713f,-0.8542031049728394f,0.5668391585350037f,1.619093656539917f,-0.3679374158382416f,-1.1048500537872314f,-1.087764859199524f,1.0057594776153564f };

const float b2[16] = { -0.1832910180091858f,-1.0792909860610962f,-1.4564176797866821f,-0.5707628130912781f,-0.6939148902893066f,0.11580994725227356f,0.04361875727772713f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.9897506833076477f,0.3142850697040558f,-0.192947119474411f,1.8038045167922974f,-0.12125768512487411f,1.7012529373168945f };

const float b3[16] = { -1.963319182395935f,-0.740074634552002f,-0.2503773272037506f,-0.18092459440231323f,0.362236350774765f,0.05776499956846237f,-0.45353031158447266f,-0.6562485098838806f,1.2567371129989624f,0.17614425718784332f,-0.29542267322540283f,-0.5567859411239624f,-1.289778232574463f,0.4776657223701477f,-3.2735109329223633f,-2.6712799072265625f };

const float bout[1] = { -0.0330546572804451f };


float VALVE_POS_RAW_NN = 0.0f;
float DDV_JOINT_POS_FF(float REF_JOINT_VEL);

int main()
{

    HAL_Init();
    SystemClock_Config();
    
    /*********************************
    ***     Initialization
    *********************************/
    LED = 0;
    pc.baud(9600);

    // i2c init
    i2c.frequency(400 * 1000);          // 0.4 mHz
    wait_ms(2);                         // Power Up wait
    look_for_hardware_i2c();            // Hardware present
    init_as5510(i2c_slave_addr1);
    make_delay();

//    // spi init
    //eeprom.format(8,3);
    //eeprom.frequency(5000000); //5M
    enc.format(8,0);
    enc.frequency(5000000); //5M
    make_delay();

    //rom
    ROM_CALL_DATA();
    make_delay();

    // ADC init
    Init_ADC();
    make_delay();

    // Pwm init
    Init_PWM();
    TIM4->CR1 ^= TIM_CR1_UDIS;
    make_delay();

    // TMR3 init
    Init_TMR3();
    TIM3->CR1 ^= TIM_CR1_UDIS;
    make_delay();

    // TMR2 init
//    Init_TMR2();
//    TIM2->CR1 ^= TIM_CR1_UDIS;
//    make_delay();

    // CAN
    can.attach(&CAN_RX_HANDLER);
    CAN_ID_INIT();
    make_delay();

    //Timer priority
    NVIC_SetPriority(TIM3_IRQn, 2);
    //NVIC_SetPriority(TIM2_IRQn, 3);
    NVIC_SetPriority(TIM4_IRQn, 3);

    //can.reset();
    can.filter(msg.id, 0xFFFFF000, CANStandard);

    // spi _ enc
    spi_enc_set_init();
    make_delay();

    //DAC init
    if (SENSING_MODE == 0) {
        dac_1 = TORQUE_VREF / 3.3f;
        dac_2 = 0.0f;
    } else if (SENSING_MODE == 1) {
        dac_1 = PRES_A_VREF / 3.3f;
        dac_2 = PRES_B_VREF / 3.3f;
    }
    make_delay();

    for (int i=0; i<50; i++) {
        if(i%2==0)
            ID_index_array[i] = - i * 0.5f;
        else
            ID_index_array[i] =  (i+1) * 0.5f;
    }
    

    /************************************
    ***     Program is operating!
    *************************************/
    while(1) {
//        if(timer_while==1000 && OPERATING_MODE==5) {
        //if(timer_while==1000) {
            //i2c
            
            read_field(i2c_slave_addr1);
            if(DIR_VALVE_ENC < 0) value = 1023 - value;
            //            if(LED==1) {
            //                LED=0;
            //            } else
            //                LED = 1;
            timer_while = 0;
        //}
        
        timer_while ++;
        
        //LED = 0;
        
        if(NN_Control_Flag == 0) {
            LED = 0;
        }
        
        else if(NN_Control_Flag == 1) {
            
            int ind = 0;
            for(int i=0; i<numpast_u; i++) {
                input_NN[ind] = u_past[time_interval*i];
                ind = ind + 1;
            }

            for(int i=0; i<numpast_x; i++) {
                input_NN[ind] = x_past[time_interval*i] / 60.0f;
                ind = ind + 1;
            }
            input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f;
            ind = ind + 1;
            
//            for(int i=0; i<numfuture_x; i++) {
//                input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f;
//                ind = ind + 1;
//            }

            for(int i=0; i<numpast_f; i++) {
                input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f;
                ind = ind + 1;
            }
            input_NN[ind] = torq.sen / 10000.0f + 0.5f;
            ind = ind + 1;
            for(int i=0; i<numfuture_f; i++) {
                input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f+0.5f;
//            input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f+0.5f;
                ind = ind + 1;
            }
            
            float output1[16] = { 0.0f };
            float output2[16] = { 0.0f };
            float output3[16] = { 0.0f };
            float output = 0.0f;

            for (int index2 = 0; index2 < 16; index2++) {
                for (int index1 = 0; index1 < num_input; index1++) {
                    output1[index2] = output1[index2]
                                      + h1[index1][index2] * input_NN[index1];
                }
                output1[index2] = output1[index2] + b1[index2];
                if (output1[index2] < 0) {
                    output1[index2] = 0;
                }
            }

            for (int index2 = 0; index2 < 16; index2++) {
                for (int index1 = 0; index1 < 16; index1++) {
                    output2[index2] = output2[index2]
                                      + h2[index1][index2] * output1[index1];
                }
                output2[index2] = output2[index2] + b2[index2];
                if (output2[index2] < 0) {
                    output2[index2] = 0;
                }
            }

            for (int index2 = 0; index2 < 16; index2++) {
                for (int index1 = 0; index1 < 16; index1++) {
                    output3[index2] = output3[index2]
                                      + h3[index1][index2] * output2[index1];
                }
                output3[index2] = output3[index2] + b3[index2];
                if (output3[index2] < 0) {
                    output3[index2] = 0;
                }
            }

            for (int index2 = 0; index2 < 1; index2++) {
                for (int index1 = 0; index1 < 16; index1++) {
                    output = output + hout[index1] * output3[index1];
                }
                output = output + bout[index2];
                
            }
            output = 1.0f/(1.0f+exp(-output));
            output_normalized = output;
            output = output * 20000.0f - 10000.0f;
            
            if(output>=0) {
                valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
            } else {
                valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
            }

//            // torque feedback
//            torq.err = f_past[0] - torq.sen; //[N]
////            torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
//            torq.err_sum += torq.err/(float) 1500.0f; //[N]
//    
//
//            valve_pos.ref = ((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f + DDV_JOINT_POS_FF(vel.sen) + valve_pos.ref * 0.01f;
//
//            if(I_GAIN_JOINT_TORQUE != 0) {
//                double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
//                if(valve_pos.ref>VALVE_MAX_POS) {
//                    double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
//                    valve_pos_rem = valve_pos_rem * Ka;
//                    valve_pos.ref = VALVE_MAX_POS;
//                    torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
//                } else if(valve_pos.ref < VALVE_MIN_POS) {
//                    double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
//                    valve_pos_rem = valve_pos_rem * Ka;
//                    valve_pos.ref = VALVE_MIN_POS;
//                    torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
//                }
//            }
            
            
            if(LED==1) {
                LED=0;
            } else
                LED = 1;
            
        }
        
        //LED = 1;
        

    }
}

float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
{

    int i = 0;
    float Ref_Valve_Pos_FF = 0.0f;
    for(i=0; i<VALVE_POS_NUM; i++) {
        if(REF_JOINT_VEL >= min(JOINT_VEL[i],JOINT_VEL[i+1]) && REF_JOINT_VEL <=  max(JOINT_VEL[i],JOINT_VEL[i+1])) {
            if(i==0) {
                if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
                    Ref_Valve_Pos_FF = (float) VALVE_CENTER;
                } else {
                    Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER;
                }
            } else {
                if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
                    Ref_Valve_Pos_FF = (float) VALVE_CENTER;
                } else {
                    Ref_Valve_Pos_FF = ((float) 10*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + (float) VALVE_CENTER + (float) (10*ID_index_array[i-1]);
                }
            }
            break;
        }
    }
    if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
        Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
    } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
        Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
    }

    Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
    return Ref_Valve_Pos_FF;

}


void VALVE_POS_CONTROL(float REF_VALVE_POS)
{
    int i = 0;

    if(REF_VALVE_POS > VALVE_MAX_POS) {
        REF_VALVE_POS = VALVE_MAX_POS;
    } else if(REF_VALVE_POS < VALVE_MIN_POS) {
        REF_VALVE_POS = VALVE_MIN_POS;
    }

    valve_pos_err = (float) (REF_VALVE_POS - value);
    valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
    valve_pos_err_old = valve_pos_err;
    valve_pos_err_sum += valve_pos_err;
    if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
    if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;

    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;

    for(i=0; i<24; i++) {
        if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && (float) REF_VALVE_POS <=  max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
            if(i==0) {
                VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
            } else {
                VALVE_PWM_RAW_FF = (float) 1000.0f* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1];
            }
            break;
        }
    }
    Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
}

#define LT_MAX_IDX  57
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,
                                 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
                                 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
                                 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
                                 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
                                 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
                                };  // duty
float LT_Voltage_Output[LT_MAX_IDX] = {-230.0f, -215.0f, -192.5f, -185.0f, -177.5f, -170.0f, -164.0f, -160.0f, -150.0f,
                                       -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
                                       -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
                                       7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
                                       105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
                                       155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
                                      }; // mV

float PWM_duty_byLT(float Ref_V)
{
    float PWM_duty = 0.0f;
    if(Ref_V<LT_Voltage_Output[0]) {
        PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
    } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
        PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
    } else {
        int idx = 0;
        for(idx=0; idx<LT_MAX_IDX-1; idx++) {
            float ini_x = LT_Voltage_Output[idx];
            float fin_x = LT_Voltage_Output[idx+1];
            float ini_y = LT_PWM_duty[idx];
            float fin_y = LT_PWM_duty[idx+1];
            if(Ref_V>=ini_x && Ref_V<fin_x) {
                PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
                break;
            }
        }
    }

    return PWM_duty;
}





/*******************************************************************************
                            TIMER INTERRUPT
*******************************************************************************/

float FREQ_TMR4 = (float)FREQ_20k;
float DT_TMR4 = (float)DT_20k;
long  CNT_TMR4 = 0;
int   TMR4_FREQ_10k = (int)FREQ_10k;
extern "C" void TIM4_IRQHandler(void)
{
    if (TIM4->SR & TIM_SR_UIF ) {

        /*******************************************************
        ***     Sensor Read & Data Handling
        ********************************************************/

        //Encoder
        if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
            ENC_UPDATE();
        }

        ADC1->CR2  |= 0x40000000;
        if (SENSING_MODE == 0) {
            // Torque Sensing (0~210)bar =============================================
            float pres_A_new = (((float) ADC1->DR) - 2047.5f);
            double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
            pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
            torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;


//        float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
////        float pres_A_new = ((float)ADC1->DR - PRES_A_NULL)  / PRES_SENSOR_A_PULSE_PER_BAR;
//        float pres_A_new = ((float)ADC1->DR);
//        pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
//        torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047


        } else if (SENSING_MODE == 1) {
            // Pressure Sensing (0~210)bar =============================================
            float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
            float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
            double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
            pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
            pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
            CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
            CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;

            if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
                torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm
            } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
                torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N
            }
        }

//        //Pressure sensor A
//        ADC1->CR2  |= 0x40000000;                        // adc _ 12bit
//        //while((ADC1->SR & 0b10));
//        float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
//        float pres_A_new = ((float)ADC1->DR);
//        pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
//        torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047    //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later.
//
//
//        //Pressure sensor B
//        float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
//        float pres_B_new = ((float)ADC2->DR);
//        pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
//        //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;


        //Current
        //ADC3->CR2  |= 0x40000000;                        // adc _ 12bit
        //int raw_cur = ADC3->DR;
        //while((ADC3->SR & 0b10));
        float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
        float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
        cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
        //cur.sen = raw_cur;

        CNT_TMR4++;
    }
    TIM4->SR = 0x0;  // reset the status register
}


int j =0;
float FREQ_TMR3 = (float)FREQ_5k;
float DT_TMR3 = (float)DT_5k;
int cnt_trans = 0;
double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
int can_rest =0;

extern "C" void TIM3_IRQHandler(void)
{
    if (TIM3->SR & TIM_SR_UIF ) {

        if (((OPERATING_MODE&0b110)>>1) == 0) {
            K_v = 0.4f; // Moog (LPM >> mA) , 100bar
            mV_PER_mA = 500.0f; // 5000mV/10mA
            mV_PER_pulse = 0.5f; // 5000mV/10000pulse
            mA_PER_pulse = 0.001f; // 10mA/10000pulse
        } else if (((OPERATING_MODE&0b110)>>1) == 1) {
            K_v = 0.5f; // KNR (LPM >> mA) , 100bar
            mV_PER_mA = 166.6666f; // 5000mV/30mA
            mV_PER_pulse = 0.5f; // 5000mV/10000pulse
            mA_PER_pulse = 0.003f; // 30mA/10000pulse
        }

        if(MODE_POS_FT_TRANS == 1) {
            alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
            cnt_trans++;
            torq.err_sum = 0;
            if((float)cnt_trans * DT_TMR3 > 3.0f)
                MODE_POS_FT_TRANS = 2;
        } else if(MODE_POS_FT_TRANS == 3) {
            alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
            cnt_trans++;
            torq.err_sum = 0;
            if((float) cnt_trans * DT_TMR3 > 3.0f )
                MODE_POS_FT_TRANS = 0;
        } else if(MODE_POS_FT_TRANS == 2) {
            alpha_trans = 1.0f;
            cnt_trans = 0;
        } else {
            alpha_trans = 0.0f;
            cnt_trans = 0;
        }


        int UTILITY_MODE = 0;
        int CONTROL_MODE = 0;

        if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
            UTILITY_MODE = CONTROL_UTILITY_MODE;
            CONTROL_MODE = MODE_NO_ACT;
        } else {
            CONTROL_MODE = CONTROL_UTILITY_MODE;
            UTILITY_MODE = MODE_NO_ACT;
        }



        // UTILITY MODE ------------------------------------------------------------

        switch (UTILITY_MODE) {
            case MODE_NO_ACT: {
                break;
            }

            case MODE_TORQUE_SENSOR_NULLING: {
                // DAC Voltage reference set
                if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
                    CUR_TORQUE_sum += torq.sen;

                    if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
                        CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
                        CUR_TORQUE_sum = 0;

                        TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);

                        if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
                        if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;

                        //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
                        dac_1 = TORQUE_VREF / 3.3f;
                    }
                } else {
                    CONTROL_UTILITY_MODE = MODE_NO_ACT;
                    TMR3_COUNT_TORQUE_NULL = 0;
                    CUR_TORQUE_sum = 0;
                    CUR_TORQUE_mean = 0;

                    ROM_RESET_DATA();

                    dac_1 = TORQUE_VREF / 3.3f;

                }
                TMR3_COUNT_TORQUE_NULL++;
                break;
            }

//            case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
//                if (TMR3_COUNT_DEADZONE == 0) {
//                    if (pos_plus_end == pos_minus_end) need_enc_init = true;
//                    else temp_time = 0;
//                }
//                if (need_enc_init) {
//                    if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
//                        V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
//                        pos_plus_end = pos.sen;
//                    } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
//                        V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
//                        pos_minus_end = pos.sen;
//                    } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
//                    temp_time = TMR_FREQ_5k;
//                }
//
//                if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
//                    V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
//                    VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
//
//                } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
//                    V_out = 0;
//                    CUR_VELOCITY_sum += CUR_VELOCITY;
//                } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
//                    if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
//                    else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
//                    else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
//                    else DZ_temp_cnt2 = DZ_end;
//                    CUR_VELOCITY_sum = 0;
//                } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
//                    if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
//
//                    // Position of Dead Zone
//                    //  (CUR_VELOCITY < 0)  (CUR_VELOCITY == 0)  (CUR_VELOCITY > 0)
//                    //     |        /                 |    /                      |/
//                    //     | ______/               ___|___/                ______/|
//                    //     |/                     /   |                   /       |
//                    //    /|                     /    |                  /        |
//                    //     0V                         0V                          0V
//
//                    if (DZ_temp_cnt2 < DZ_end) {
//                        if (TMR3_COUNT_DEADZONE % 20 != 0) {
//                            CUR_VELOCITY_sum += CUR_VELOCITY;
//                        } else {
//                            V_out -= DZ_dir;
//                            if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
//                            CUR_VELOCITY_sum = 0;
//                        }
//                        if (DZ_temp_cnt == 5) {
//                            if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
//                            else VALVE_DEADZONE_PLUS = (int16_t) V_out;
//                            DZ_dir = -DZ_dir;
//                            DZ_temp_cnt = 0;
//                            DZ_temp_cnt2++;
//                        }
//                    } else {
//                        TMR3_COUNT_DEADZONE = -1;
//                        VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
//                        if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
//                            VALVE_DEADZONE_PLUS = VALVE_CENTER;
//                            VALVE_DEADZONE_MINUS = VALVE_CENTER;
//                        }
//                        V_out = 0;
//
//                        ROM_RESET_DATA();
//
//                        //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
//                        //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
//
//                        CONTROL_MODE = MODE_NO_ACT;
//                        DZ_temp_cnt2 = 0;
//                    }
//                }
//                TMR3_COUNT_DEADZONE++;
//                break;
//            }

            case MODE_FIND_HOME: {
                if (FINDHOME_STAGE == FINDHOME_INIT) {
                    cnt_findhome = 0;
                    cnt_vel_findhome = 0;
                    //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
                    pos.ref = pos.sen;
                    vel.ref = 0.0f;
                    FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
                } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
                    int cnt_check_enc = (TMR_FREQ_5k/20);
                    if(cnt_findhome%cnt_check_enc == 0) {
                        FINDHOME_POSITION = pos.sen;
                        FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
                        FINDHOME_POSITION_OLD = FINDHOME_POSITION;
                    }
                    cnt_findhome++;

                    if (abs(FINDHOME_VELOCITY) <= 1) {
                        cnt_vel_findhome = cnt_vel_findhome + 1;
                    } else {
                        cnt_vel_findhome = 0;
                    }

                    if ((cnt_vel_findhome < 3*TMR_FREQ_5k) &&  cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
                        //REFERENCE_MODE = MODE_REF_NO_ACT;
                        if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
                        else pos.ref = pos.ref - 12.0f;

//                        pos.err = pos.ref_home_pos - pos.sen;
//                        float VALVE_POS_RAW_POS_FB = 0.0f;
//                        VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
//                        valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
//                        VALVE_POS_CONTROL(valve_pos.ref);

                        CONTROL_MODE = MODE_JOINT_CONTROL;
                        alpha_trans = 0.0f;


                    } else {
                        ENC_SET(HOMEPOS_OFFSET);
//                        ENC_SET_ZERO();
                        INIT_REF_POS = HOMEPOS_OFFSET;
                        REF_POSITION = 0;
                        REF_VELOCITY = 0;
                        FINDHOME_POSITION = 0;
                        FINDHOME_POSITION_OLD = 0;
                        FINDHOME_VELOCITY = 0;
                        cnt_findhome = 0;
                        cnt_vel_findhome = 0;
                        FINDHOME_STAGE = FINDHOME_ZEROPOSE;


                        cnt_findhome = 0;
                        pos.ref = 0.0f;
                        vel.ref = 0.0f;
                        pos.ref_home_pos = 0.0f;
                        vel.ref_home_pos = 0.0f;
                        //FINDHOME_STAGE = FINDHOME_INIT;
                        //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
                        
                        
                    }
                } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
                    int T_move = 2*TMR_FREQ_5k;
                    pos.ref = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
                    //pos.ref = 0.0f;
                    vel.ref = 0.0f;
                    
                    // input for position control
                
//                    CONTROL_MODE = MODE_JOINT_CONTROL;
                    alpha_trans = 0.0f;

                    double torq_ref = 0.0f;
                    pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
                    vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
                    pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]

                    if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {

                        double I_REF_POS = 0.0f;
                        double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
                        double I_REF_VC = 0.0f; // I_REF for velocity compensation

                        double temp_vel_pos = 0.0f;
                        double temp_vel_torq = 0.0f;
                        double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control

                        if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
                            temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * 3.14159f / 180.0f; // rad/s
                            //                            L when P-gain = 100, f_cut = 10Hz                                 L feedforward velocity
                        } else if ((OPERATING_MODE & 0x01) == 1) {
                            temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
                            //                            L when P-gain = 100, f_cut = 10Hz                                 L feedforward velocity
                        }
                        if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
                        else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));

                        I_REF = I_REF_POS;



                    } else {
                        float VALVE_POS_RAW_FORCE_FB = 0.0f;
                        VALVE_POS_RAW_FORCE_FB = DDV_JOINT_POS_FF(vel.sen) + (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));

                        if (VALVE_POS_RAW_FORCE_FB >= 0) {
                            valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
                        } else {
                            valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
                        }

                        VALVE_POS_CONTROL(valve_pos.ref);

                        V_out = (float) Vout.ref;

                    }


                    
                    
//                    pos.err = pos.ref - (float)pos.sen;
//                    float VALVE_POS_RAW_POS_FB = 0.0f;
//                    VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
//                    valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
//                    VALVE_POS_CONTROL(valve_pos.ref);

                    cnt_findhome++;
                    if (cnt_findhome >= T_move) {
                        //REFERENCE_MODE = MODE_REF_DIRECT;
                        cnt_findhome = 0;
                        pos.ref = 0.0f;
                        vel.ref = 0.0f;
                        pos.ref_home_pos = 0.0f;
                        vel.ref_home_pos = 0.0f;
                        FINDHOME_STAGE = FINDHOME_INIT;
                        CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
                    }
                }

                break;
            }

//            case MODE_VALVE_GAIN_SETTING: {
//                if (TMR3_COUNT_FLOWRATE == 0) {
//                    if (pos_plus_end == pos_minus_end) need_enc_init = true;
//                    else {
//                        V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
//                        temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
//                    }
//                }
//                if (need_enc_init) {
//                    if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
//                        V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
//                        pos_plus_end = pos.sen;
//                    } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
//                        V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
//                        pos_minus_end = pos.sen;
//                    } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
//                        need_enc_init = false;
//                        check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
//                        check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
//                        check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
//                    }
//                    temp_time = TMR_FREQ_5k;
//                }
//                TMR3_COUNT_FLOWRATE++;
//                if (TMR3_COUNT_FLOWRATE > temp_time) {
//                    if (flag_flowrate % 2 == 0) { // (+)
//                        VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
//                        V_out = VALVE_VOLTAGE;
//                        if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
//                            fl_temp_cnt++;
//                        } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
//                            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
//                            //                        VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
//                            fl_temp_cnt2++;
//                        }
//                    } else if (flag_flowrate % 2 == 1) { // (-)
//                        VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
//                        V_out = VALVE_VOLTAGE;
//                        if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
//                            fl_temp_cnt++;
//                        } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
//                            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);
//                            //                        VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
//                            fl_temp_cnt2++;
//                        }
//                    }
//                    if (fl_temp_cnt2 == 100) {
//
//                        ROM_RESET_DATA();
//
//                        //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
//                        cur_vel_sum = 0;
//                        fl_temp_cnt = 0;
//                        fl_temp_cnt2 = 0;
//                        flag_flowrate++;
//                    }
//                    if (flag_flowrate == 10) {
//                        V_out = 0;
//                        flag_flowrate = 0;
//                        TMR3_COUNT_FLOWRATE = 0;
//                        valve_gain_repeat_cnt++;
//                        if (valve_gain_repeat_cnt >= 1) {
//                            CONTROL_MODE = MODE_NO_ACT;
//                            valve_gain_repeat_cnt = 0;
//                        }
//
//                    }
//                    break;
//                }
//
//            }
            case MODE_PRESSURE_SENSOR_NULLING: {
                // DAC Voltage reference set
                if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
                    CUR_PRES_A_sum += pres_A.sen;
                    CUR_PRES_B_sum += pres_B.sen;

                    if (TMR3_COUNT_PRES_NULL % 10 == 0) {
                        CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
                        CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
                        CUR_PRES_A_sum = 0;
                        CUR_PRES_B_sum = 0;

                        float VREF_NullingGain = 0.0003f;
                        PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
                        PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;

                        if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
                        if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
                        if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
                        if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;

                        dac_1 = PRES_A_VREF / 3.3f;
                        dac_2 = PRES_B_VREF / 3.3f;
                    }
                } else {
                    CONTROL_UTILITY_MODE = MODE_NO_ACT;
                    TMR3_COUNT_PRES_NULL = 0;
                    CUR_PRES_A_sum = 0;
                    CUR_PRES_B_sum = 0;
                    CUR_PRES_A_mean = 0;
                    CUR_PRES_B_mean = 0;

                    ROM_RESET_DATA();

                    dac_1 = PRES_A_VREF / 3.3f;
                    dac_2 = PRES_B_VREF / 3.3f;
                    //pc.printf("nulling end");
                }
                TMR3_COUNT_PRES_NULL++;
                break;
            }

//            case MODE_PRESSURE_SENSOR_CALIB: {
//                if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
//                    V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
//                    if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
//                        CUR_PRES_A_sum += CUR_PRES_A;
//                    }
//                } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
//                    V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
//                    if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
//                        CUR_PRES_B_sum += CUR_PRES_B;
//                    }
//                } else {
//                    CONTROL_MODE = MODE_NO_ACT;
//                    TMR3_COUNT_PRES_CALIB = 0;
//                    V_out = 0;
//                    PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
//                    PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
//                    PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
//                    PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
//                    CUR_PRES_A_sum = 0;
//                    CUR_PRES_B_sum = 0;
//                    CUR_PRES_A_mean = 0;
//                    CUR_PRES_B_mean = 0;
//
//                    ROM_RESET_DATA();
//
//                    //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
//                    //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
//                }
//                TMR3_COUNT_PRES_CALIB++;
//                break;
//            }

//            case MODE_ROTARY_FRICTION_TUNING: {
//                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);
//                V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
//                if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
//                else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
//                TMR3_COUNT_ROTARY_FRIC_TUNE++;
//                if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
//                    TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
//                    V_out = 0.0f;
//                    CONTROL_MODE = MODE_NO_ACT;
//                }
//                break;
//            }

            case MODE_DDV_POS_VS_PWM_ID: {
                CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
                VALVE_ID_timer = VALVE_ID_timer + 1;

                if(VALVE_ID_timer < TMR_FREQ_5k*1) {
                    Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
                } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
                    Vout.ref = 1000.0f*(ID_index_array[ID_index]);
                } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
                    VALVE_POS_TMP = 0;
                    data_num = 0;
                } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
                    data_num = data_num + 1;
                    VALVE_POS_TMP = VALVE_POS_TMP + value;
                } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
                    Vout.ref = 0.0f;
                } else {
                    VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
                    VALVE_ID_timer = 0;
                    ID_index= ID_index +1;
                }

                if(ID_index>=25) {
                    int i;
                    VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
                    for(i=0; i<25; i++) {
                        VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
                        if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
                            VALVE_MAX_POS = VALVE_POS_AVG[i];
                            VALVE_POS_AVG_OLD = VALVE_MAX_POS;
                        } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
                            VALVE_MIN_POS = VALVE_POS_AVG[i];
                            VALVE_POS_AVG_OLD = VALVE_MIN_POS;
                        }
                    }
                    ROM_RESET_DATA();
                    ID_index = 0;
                    CONTROL_UTILITY_MODE = MODE_NO_ACT;
                }


                break;
            }

            case MODE_DDV_DEADZONE_AND_CENTER: {
                CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
                VALVE_DZ_timer = VALVE_DZ_timer + 1;
                if(first_check == 0) {
                    if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
                        Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
                    } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
                        Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
                        pos_plus_end = pos.sen;
                    } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
                        Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
                    } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
                        Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
                        pos_minus_end = pos.sen;
                    } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
                        Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
                    } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
                        Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
                        data_num = data_num + 1;
                        VALVE_POS_TMP = VALVE_POS_TMP + value;
                    } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
                        Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
                        DDV_POS_AVG = VALVE_POS_TMP / data_num;
                        START_POS = pos.sen;
                        VALVE_POS_TMP = 0;
                        data_num = 0;

                    } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
                        valve_pos.ref = DDV_POS_AVG;
                        VALVE_POS_CONTROL(valve_pos.ref);

                    } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
                        valve_pos.ref = DDV_POS_AVG;
                        VALVE_POS_CONTROL(valve_pos.ref);

                    } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
                        valve_pos.ref = DDV_POS_AVG;
                        VALVE_POS_CONTROL(valve_pos.ref);
                        FINAL_POS = pos.sen;

                        if((FINAL_POS - START_POS)>200) {
                            DZ_case = 1;
                        } else if((FINAL_POS - START_POS)<-200) {
                            DZ_case = -1;
                        } else {
                            DZ_case = 0;
                        }

                        CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));

                        first_check = 1;
                        DZ_DIRECTION = 1;
                        VALVE_DZ_timer = 0;
                        Ref_Valve_Pos_Old = DDV_POS_AVG;
                        DZ_NUM = 1;
                        DZ_index = 1;

                    }
                } else {
                    if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
                        if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
                            Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
                            //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
                            //CONTROL_MODE = MODE_JOINT_CONTROL;
                        } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
                            START_POS = pos.sen;
                        } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
                            valve_pos.ref = Ref_Valve_Pos_Old  - DZ_case * DZ_DIRECTION * 64 / DZ_index;
                            if(valve_pos.ref <= VALVE_MIN_POS) {
                                valve_pos.ref = VALVE_MIN_POS;
                            } else if(valve_pos.ref >= VALVE_MAX_POS) {
                                valve_pos.ref = VALVE_MAX_POS;
                            }
                            VALVE_POS_CONTROL(valve_pos.ref);

                        } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
                            Ref_Valve_Pos_Old = valve_pos.ref;
                            FINAL_POS = pos.sen;

                            if((FINAL_POS - START_POS)>100) {
                                DZ_DIRECTION = 1 * DZ_case;
                            } else if((FINAL_POS - START_POS)<-100) {
                                DZ_DIRECTION = -1 * DZ_case;
                            } else {
                                DZ_DIRECTION = 1 * DZ_case;
                            }

                            VALVE_DZ_timer = 0;
                            DZ_index= DZ_index *2;
                            if(DZ_index >= 128) {
                                FIRST_DZ = valve_pos.ref;
                                DZ_NUM = 2;
                                Ref_Valve_Pos_Old = FIRST_DZ;
                                DZ_index = 1;
                                DZ_DIRECTION = 1;
                            }
                        }
                    } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
                        if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
                            Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
                            //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
                            //CONTROL_MODE = MODE_JOINT_CONTROL;
                        } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
                            START_POS = pos.sen;
                        } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
                            valve_pos.ref = Ref_Valve_Pos_Old  - DZ_case * DZ_DIRECTION * 64 / DZ_index;
                            if(valve_pos.ref <= VALVE_MIN_POS) {
                                valve_pos.ref = VALVE_MIN_POS;
                            } else if(valve_pos.ref >= VALVE_MAX_POS) {
                                valve_pos.ref = VALVE_MAX_POS;
                            }
                            VALVE_POS_CONTROL(valve_pos.ref);

                        } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
                            Vout.ref = 0.0f;
                        } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
                            Ref_Valve_Pos_Old = valve_pos.ref;
                            FINAL_POS = pos.sen;

                            if((FINAL_POS - START_POS)>100) {
                                DZ_DIRECTION = 1 * DZ_case;
                            } else if((FINAL_POS - START_POS)<-100) {
                                DZ_DIRECTION = -1 * DZ_case;
                            } else {
                                DZ_DIRECTION = -1 * DZ_case;
                            }

                            VALVE_DZ_timer = 0;
                            DZ_index= DZ_index * 2;
                            if(DZ_index >= 128) {
                                SECOND_DZ = valve_pos.ref;
                                VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
                                first_check = 0;
                                VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
                                VALVE_DEADZONE_PLUS = (float) SECOND_DZ;

                                ROM_RESET_DATA();

                                CONTROL_UTILITY_MODE = MODE_NO_ACT;
                                DZ_index = 1;
                            }
                        }
                    } else if(DZ_case == 0 && DZ_NUM ==1) {
                        if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
                            Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
                            //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
                            //CONTROL_MODE = MODE_JOINT_CONTROL;
                        } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
                            START_POS = pos.sen;
                        } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
                            valve_pos.ref = Ref_Valve_Pos_Old  - DZ_DIRECTION * 64 / DZ_index;
                            if(valve_pos.ref <= VALVE_MIN_POS) {
                                valve_pos.ref = VALVE_MIN_POS;
                            } else if(valve_pos.ref >= VALVE_MAX_POS) {
                                valve_pos.ref = VALVE_MAX_POS;
                            }
                            VALVE_POS_CONTROL(valve_pos.ref);

                        } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
                            Ref_Valve_Pos_Old = valve_pos.ref;
                            FINAL_POS = pos.sen;

                            if((FINAL_POS - START_POS)>100) {
                                DZ_DIRECTION = 1;
                            } else if((FINAL_POS - START_POS)<-100) {
                                DZ_DIRECTION = -1;
                            } else {
                                DZ_DIRECTION = 1;
                            }
                            VALVE_DZ_timer = 0;
                            DZ_index= DZ_index *2;
                            if(DZ_index >= 128) {
                                FIRST_DZ = valve_pos.ref;
                                DZ_NUM = 2;
                                Ref_Valve_Pos_Old = FIRST_DZ;
                                DZ_index = 1;
                                DZ_DIRECTION = 1;
                            }
                        }
                    } else {
                        if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
                            Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
                            //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
                            //CONTROL_MODE = MODE_JOINT_CONTROL;
                        } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
                            START_POS = pos.sen;
                        } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
                            valve_pos.ref = Ref_Valve_Pos_Old  + DZ_DIRECTION * 64 / DZ_index;
                            if(valve_pos.ref <= VALVE_MIN_POS) {
                                valve_pos.ref = VALVE_MIN_POS;
                            } else if(valve_pos.ref > VALVE_MAX_POS) {
                                valve_pos.ref = VALVE_MAX_POS - 1;
                            }
                            VALVE_POS_CONTROL(valve_pos.ref);

                        } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
                            Vout.ref = 0.0f;
                        } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
                            Ref_Valve_Pos_Old = valve_pos.ref;
                            FINAL_POS = pos.sen;

                            if((FINAL_POS - START_POS)>100) {
                                DZ_DIRECTION = 1;
                            } else if((FINAL_POS - START_POS)<-100) {
                                DZ_DIRECTION = -1;
                            } else {
                                DZ_DIRECTION = 1;
                            }

                            VALVE_DZ_timer = 0;
                            DZ_index= DZ_index *2;
                            if(DZ_index >= 128) {
                                SECOND_DZ = valve_pos.ref;
                                VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
                                first_check = 0;
                                VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
                                VALVE_DEADZONE_PLUS = (float) SECOND_DZ;

                                ROM_RESET_DATA();

                                CONTROL_UTILITY_MODE = MODE_NO_ACT;
                                DZ_index = 1;
                            }
                        }
                    }
                }
                break;
            }

            case MODE_DDV_POS_VS_FLOWRATE: {
                CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
                VALVE_FR_timer = VALVE_FR_timer + 1;
                if(first_check == 0) {
                    if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
                        Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
                        //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
                    } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
                        Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
                        pos_plus_end = pos.sen;
                        //                    CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
                    } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
                        Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
                    } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
                        //                    CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
                        Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
                        pos_minus_end = pos.sen;
                        first_check = 1;
                        VALVE_FR_timer = 0;
                        valve_pos.ref = (float) VALVE_CENTER;
                        ID_index = 0;
                        max_check = 0;
                        min_check = 0;
                    }
                } else {
                    if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
                        //V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
                        pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
                        CONTROL_MODE = MODE_JOINT_CONTROL;
                    } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
                        data_num = 0;
                        valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;

                        VALVE_POS_CONTROL(valve_pos.ref);
                        START_POS = pos.sen;
                    } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
                        valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
                        VALVE_POS_CONTROL(valve_pos.ref);
                        data_num = data_num + 1;
                        if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
                            FINAL_POS = pos.sen;
                            one_period_end = 1;
                        }
                    } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
                        FINAL_POS = pos.sen;
                        one_period_end = 1;
                        V_out = 0.0f;
                    }

                    if(one_period_end == 1) {
                        if(valve_pos.ref > VALVE_MAX_POS) {
                            max_check = 1;
                        } else if(valve_pos.ref < VALVE_MIN_POS) {
                            min_check = 1;
                        }
                        JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k;   //  pulse/sec

                        VALVE_FR_timer = 0;
                        one_period_end = 0;
                        ID_index= ID_index +1;
                        V_out = 0.0f;
                    }

                    if(max_check == 1 && min_check == 1) {

                        VALVE_POS_NUM = ID_index;
                        ROM_RESET_DATA();
                        ID_index = 0;
                        first_check = 0;
                        VALVE_FR_timer = 0;
                        CONTROL_UTILITY_MODE = MODE_NO_ACT;
//                        CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
                    }
                }
                break;
            }

            case MODE_SYSTEM_ID: {
                freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
                valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
                CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
                cnt_sysid++;
                if (freq_sysid_Iref >= 300) {
                    cnt_sysid = 0;
                    CONTROL_UTILITY_MODE = MODE_NO_ACT;
                }
                break;
            }



            default:
                break;
        }

        // CONTROL MODE ------------------------------------------------------------

        switch (CONTROL_MODE) {
            case MODE_NO_ACT: {
                V_out = 0.0f;
                break;
            }

            case MODE_VALVE_POSITION_CONTROL: {
                if (OPERATING_MODE == 5) { //SW Valve
                    VALVE_POS_CONTROL(valve_pos.ref);
                    V_out = Vout.ref;
                } else if (CURRENT_CONTROL_MODE == 0) { //PWM
                    V_out = valve_pos.ref;
                } else { 
                    I_REF = valve_pos.ref * 0.001f;
                }

                break;
            }

            case MODE_JOINT_CONTROL: {
                double torq_ref = 0.0f;
                pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
                vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
                pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
                
                //K & D Low Pass Filter
                float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
                K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
                D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
                
                torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]

                // torque feedback
                torq.err = torq_ref - torq.sen; //[N]
                torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]

                if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {

                    double I_REF_POS = 0.0f;
                    double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
                    double I_REF_VC = 0.0f; // I_REF for velocity compensation

                    double temp_vel_pos = 0.0f;
                    double temp_vel_torq = 0.0f;
                    double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control

                    if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
                        temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
                        //                            L when P-gain = 100, f_cut = 10Hz                                 L feedforward velocity
                    } else if ((OPERATING_MODE & 0x01) == 1) {
                        temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
                        //                            L when P-gain = 100, f_cut = 10Hz                                 L feedforward velocity
                    }
                    if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
                    else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));

                    // velocity compensation for torque control
                    if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
                        I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
                        //                temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s
                        temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
                        //                                                          L feedforward velocity
                    } else if ((OPERATING_MODE & 0x01) == 1) {
                        I_REF_FORCE_FB = 0.001f * 0.01f*((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); // Linear Actuators are more sensitive.
                        //                temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
                        temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
                        //                                                          L feedforward velocity
                    }
                    if (temp_vel_torq > 0.0f) I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
                    else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
                    //                                                  L   velocity(rad/s or mm/s) >> I_ref(mA)
                    //            Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
                    //            Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;

                    I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
                    
                    // Anti-windup for FT
                    if (I_GAIN_JOINT_TORQUE != 0) {
                        double I_MAX = 10.0f; // Maximum Current : 10mV
                        double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
                        if (I_REF > I_MAX) {
                            double I_rem = I_REF - I_MAX;
                            I_rem = Ka*I_rem;
                            I_REF = I_MAX;
                            torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
                        } else if (I_REF < -I_MAX) {
                            double I_rem = I_REF - (-I_MAX);
                            I_rem = Ka*I_rem;
                            I_REF = -I_MAX;
                            torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
                        }
                    }

                } else {
                    float VALVE_POS_RAW_FORCE_FB = 0.0f;
                    float VALVE_POS_RAW_FORCE_FF = 0.0f;
                    float VALVE_POS_RAW = 0.0f;
                    
                    VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f
                                                          + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));

                    VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f;
                    
                    VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
                    
                    
                    if (VALVE_POS_RAW >= 0) {
                        valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
                    } else {
                        valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
                    }

                    if(I_GAIN_JOINT_TORQUE != 0) {
                        double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
                        if(valve_pos.ref>VALVE_MAX_POS) {
                            double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
                            valve_pos_rem = valve_pos_rem * Ka;
                            valve_pos.ref = VALVE_MAX_POS;
                            torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
                        } else if(valve_pos.ref < VALVE_MIN_POS) {
                            double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
                            valve_pos_rem = valve_pos_rem * Ka;
                            valve_pos.ref = VALVE_MIN_POS;
                            torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
                        }
                    }

                    VALVE_POS_CONTROL(valve_pos.ref);

//                    Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
                    V_out = (float) Vout.ref;

                }
                
                torq_ref_past = torq_ref;

                break;
            }

            case MODE_VALVE_OPEN_LOOP: {
                V_out = (float) Vout.ref;
                break;
            }

            default:
                break;
        }


        if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve

            ////////////////////////////////////////////////////////////////////////////
            ////////////////////////////  CURRENT CONTROL //////////////////////////////
            ////////////////////////////////////////////////////////////////////////////
            if (CURRENT_CONTROL_MODE) {
                double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
                I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;

                I_ERR = I_REF_fil - cur.sen;
                I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;


                // Moog Valve Current Control Gain
                double R_model = 500.0f; // ohm
                double L_model = 1.2f;
                double w0 = 2.0f * 3.14f * 150.0f;
                double KP_I = 0.1f * L_model*w0;
                double KI_I = 0.1f * R_model*w0;

                // KNR Valve Current Control Gain
                if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
                    R_model = 163.0f; // ohm
                    L_model = 1.0f;
                    w0 = 2.0f * 3.14f * 80.0f;
                    KP_I = 1.0f * L_model*w0;
                    KI_I = 0.08f * R_model*w0;
                }

                double FF_gain = 1.0f;

                VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
                //        VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
                I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
                I_REF_fil_old = I_REF_fil;
//                VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV
                VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
                double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV

                double Ka = 3.0f / KP_I;
                if (VALVE_PWM_RAW > V_MAX) {
                    V_rem = VALVE_PWM_RAW - V_MAX;
                    V_rem = Ka*V_rem;
                    VALVE_PWM_RAW = V_MAX;
                    I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
                } else if (VALVE_PWM_RAW < -V_MAX) {
                    V_rem = VALVE_PWM_RAW - (-V_MAX);
                    V_rem = Ka*V_rem;
                    VALVE_PWM_RAW = -V_MAX;
                    I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
                }
                Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
            } else {
                VALVE_PWM_RAW = I_REF * mV_PER_mA;
                Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
            }

            ////////////////////////////////////////////////////////////////////////////
            /////////////////  Dead Zone Cancellation & Linearization //////////////////
            ////////////////////////////////////////////////////////////////////////////
            // Dead Zone Cancellation (Mechanical Valve dead-zone)
            if (FLAG_VALVE_DEADZONE) {
                if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
                else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV

                VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV

            } else {
                VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
            }

            // Output Voltage Linearization
            double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
            double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin);  // -8000~8000

            // Dead Zone Cancellation (Electrical dead-zone)
            if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
            else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
            else V_out = (float) (CUR_PWM_lin);
        }
        else {              //////////////////////////sw valve
            // Output Voltage Linearization
            double CUR_PWM_nonlin = V_out; // Unit : mV
            double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin);  // -8000~8000

            // Dead Zone Cancellation (Electrical dead-zone)
            if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
            else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
            else V_out = (float) (CUR_PWM_lin);
        }
        
//        if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
//        else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
//        else V_out = V_out;
    
        /*******************************************************
        ***     PWM
        ********************************************************/
        if(DIR_VALVE<0){
            V_out = -V_out;
        }
        
        if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
            V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
        } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
            V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
        }
        PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV

        // Saturation of output voltage to 12.0V
        if(PWM_out > 1.0f) PWM_out=1.0f;
        else if (PWM_out < -1.0f) PWM_out=-1.0f;

        if (PWM_out>0.0f) {
            dtc_v=0.0f;
            dtc_w=PWM_out;
        } else {
            dtc_v=-PWM_out;
            dtc_w=0.0f;
        }

        //pwm
        TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
        TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);


        if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {

            // Position, Velocity, and Torque (ID:1200)
            if (flag_data_request[0] == HIGH) {
                if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
                    if (SENSING_MODE == 0) {
                        CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
                    } else if (SENSING_MODE == 1) {
                        CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
                    }
                } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
                    if (SENSING_MODE == 0) {
                        CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE)));
                    } else if (SENSING_MODE == 1) {
                        CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
                    }
                }
            }
            if (flag_data_request[1] == HIGH) {
                //valve position
                double t_value = 0;
                if(valve_pos.ref>=(float) VALVE_CENTER) {
                    t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
                } else {
                    t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
                }
//                if(OPERATING_MODE==5) {
//                    if(valve_pos.ref>=(float) VALVE_CENTER) {
//                        t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
//                    } else {
//                        t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
//                    }
                    //t_value = (double) value;
//                } else if(CURRENT_CONTROL_MODE==1) {
//                    t_value = cur.sen * 1000.0f;
//                } else {
//                    t_value = V_out;
//                }
                CAN_TX_TORQUE((int16_t) (t_value)); //1300
                //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
                //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
            }


            if (flag_data_request[2] == LOW) {
                //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // 1400
                double t_value = 0;
                if(valve_pos.ref>=(float) VALVE_CENTER) {
                    t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
                } else {
                    t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
                }
                CAN_TX_PRES((int16_t) (t_value), (int16_t) (V_out)); // 1400
            }

            //If it doesn't rest, below can can not work.
            for (can_rest = 0; can_rest < 10000; can_rest++) {
                ;
            }

            if (flag_data_request[3] == HIGH) {
                //PWM
                //CAN_TX_PWM((int16_t) value); //1500
                CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500
            }
            //for (i = 0; i < 10000; i++) {
//                ;
//            }
            if (flag_data_request[4] == HIGH) {
                //valve position
                CAN_TX_VALVE_POSITION((int16_t) (input_NN[1] * 100.0f), (int16_t) (input_NN[2]* 100.0f), (int16_t) (input_NN[3]* 100.0f), (int16_t) (input_NN[4]* 100.0f)); //1600
            }

            // Others : Reference position, Reference FT, PWM, Current  (ID:1300)
//        if (flag_data_request[1] == HIGH) {
//            CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
//        }
            //if (flag_delay_test == 1){
            //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
            //}

            TMR2_COUNT_CAN_TX = 0;
        }
        TMR2_COUNT_CAN_TX++;

    }
    TIM3->SR = 0x0;  // reset the status register

}