Yeseong Jeong / Mbed 2 deprecated HydraulicControlBoard_Start

20210203

Dependencies:   mbed FastPWM

main.cpp@110:48dc9bede846, 2020-09-10 (annotated)

Committer:
Lightvalve
Date:
Thu Sep 10 07:41:24 2020 +0000
Revision:
110:48dc9bede846
Parent:
109:13eec853e479
Child:
111:93289db9e77a
200910-3

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 110:48dc9bede846 1 //200910-3
GiJeongKim 0:51c43836c1d7 2 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 3 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 4 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 5 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 6 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 7 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 8 #include "setting.h"
Lightvalve 11:82d8768d7351 9 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 10 #include "stm32f4xx_flash.h"
Lightvalve 65:a2d7c63419c2 11 #include "FlashWriter.h"
Lightvalve 61:bc8c8270f0ab 12
Lightvalve 61:bc8c8270f0ab 13 using namespace std;
Lightvalve 61:bc8c8270f0ab 14 Timer t;
GiJeongKim 0:51c43836c1d7 15
Lightvalve 31:66738bfecec5 16 ///191008////
Lightvalve 31:66738bfecec5 17
jobuuu 7:e9086c72bb22 18 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 19 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 20 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 21 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 22 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 23 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 24 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 25 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 26
Lightvalve 24:ef6e1092e9e6 27
jobuuu 7:e9086c72bb22 28 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 29 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 30 float dtc_w=0.0f;
GiJeongKim 0:51c43836c1d7 31
jobuuu 7:e9086c72bb22 32 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 33 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 34 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 35 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 36
jobuuu 7:e9086c72bb22 37 // SPI ///////////////////////////////////////////
Lightvalve 16:903b5a4433b4 38 //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 16:903b5a4433b4 39 //DigitalOut eeprom_cs(PB_12);
Lightvalve 16:903b5a4433b4 40 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim 0:51c43836c1d7 41 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 42 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 43 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 44
jobuuu 7:e9086c72bb22 45 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 46 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 47
jobuuu 7:e9086c72bb22 48 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 49 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 50 CANMessage msg;
Lightvalve 11:82d8768d7351 51 void onMsgReceived()
Lightvalve 11:82d8768d7351 52 {
Lightvalve 11:82d8768d7351 53 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 54 }
jobuuu 2:a1c0a37df760 55
jobuuu 7:e9086c72bb22 56 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 57 State pos;
jobuuu 7:e9086c72bb22 58 State vel;
jobuuu 7:e9086c72bb22 59 State Vout;
jobuuu 7:e9086c72bb22 60 State torq;
jobuuu 7:e9086c72bb22 61 State pres_A;
jobuuu 7:e9086c72bb22 62 State pres_B;
jobuuu 7:e9086c72bb22 63 State cur;
Lightvalve 14:8e7590227d22 64 State valve_pos;
Lightvalve 14:8e7590227d22 65
Lightvalve 14:8e7590227d22 66 State INIT_Vout;
Lightvalve 14:8e7590227d22 67 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 68 State INIT_Pos;
Lightvalve 14:8e7590227d22 69 State INIT_torq;
jobuuu 5:a4319f79457b 70
Lightvalve 19:23b7c1ad8683 71 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 72 extern int CID_RX_REF_POSITION;
Lightvalve 49:e7bcfc244d40 73 extern int CID_RX_REF_VALVE_POS;
Lightvalve 45:35fa6884d0c6 74 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 75
Lightvalve 19:23b7c1ad8683 76 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 77 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 78 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 79 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 80 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 81 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 82
Lightvalve 61:bc8c8270f0ab 83
Lightvalve 61:bc8c8270f0ab 84
Lightvalve 61:bc8c8270f0ab 85
jobuuu 7:e9086c72bb22 86 // =============================================================================
jobuuu 7:e9086c72bb22 87 // =============================================================================
jobuuu 7:e9086c72bb22 88 // =============================================================================
jobuuu 7:e9086c72bb22 89
Lightvalve 12:6f2531038ea4 90 /*******************************************************************************
Lightvalve 12:6f2531038ea4 91 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 92 ******************************************************************************/
Lightvalve 13:747daba9cf59 93 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 94 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 95 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 96 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 97 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 98 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 99 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 100 };
Lightvalve 12:6f2531038ea4 101
Lightvalve 12:6f2531038ea4 102 /*******************************************************************************
Lightvalve 12:6f2531038ea4 103 * CONTROL MODE
Lightvalve 12:6f2531038ea4 104 ******************************************************************************/
Lightvalve 13:747daba9cf59 105 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 106 //control mode
Lightvalve 12:6f2531038ea4 107 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 108 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 109 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 110
Lightvalve 47:fdcb8bd86fd6 111 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 12:6f2531038ea4 112 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 113 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 114
Lightvalve 12:6f2531038ea4 115 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 116 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 117 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 118
Lightvalve 12:6f2531038ea4 119 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 120 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 121
Lightvalve 14:8e7590227d22 122 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 123 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 124 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 125
Lightvalve 12:6f2531038ea4 126 //utility
Lightvalve 12:6f2531038ea4 127 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 128 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 129 MODE_FIND_HOME, //22
Lightvalve 57:f4819de54e7a 130 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 131 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 132 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 133 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 134
Lightvalve 12:6f2531038ea4 135 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 136 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 137 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 57:f4819de54e7a 138 MODE_SYSTEM_ID, //33
Lightvalve 12:6f2531038ea4 139 };
Lightvalve 12:6f2531038ea4 140
Lightvalve 65:a2d7c63419c2 141 void SystemClock_Config(void)
Lightvalve 65:a2d7c63419c2 142 {
Lightvalve 65:a2d7c63419c2 143 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve 65:a2d7c63419c2 144 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve 65:a2d7c63419c2 145
Lightvalve 65:a2d7c63419c2 146 /** Configure the main internal regulator output voltage
Lightvalve 65:a2d7c63419c2 147 */
Lightvalve 65:a2d7c63419c2 148 __HAL_RCC_PWR_CLK_ENABLE();
Lightvalve 65:a2d7c63419c2 149 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve 65:a2d7c63419c2 150 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 65:a2d7c63419c2 151 */
Lightvalve 65:a2d7c63419c2 152 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve 65:a2d7c63419c2 153 RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve 65:a2d7c63419c2 154 RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve 65:a2d7c63419c2 155 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve 65:a2d7c63419c2 156 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve 65:a2d7c63419c2 157 RCC_OscInitStruct.PLL.PLLM = 8;//8
Lightvalve 65:a2d7c63419c2 158 RCC_OscInitStruct.PLL.PLLN = 180; //180
Lightvalve 65:a2d7c63419c2 159 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve 65:a2d7c63419c2 160 RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve 65:a2d7c63419c2 161 RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve 65:a2d7c63419c2 162 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
Lightvalve 65:a2d7c63419c2 163 {
Lightvalve 65:a2d7c63419c2 164 //Error_Handler();
Lightvalve 65:a2d7c63419c2 165 }
Lightvalve 65:a2d7c63419c2 166 /** Activate the Over-Drive mode
Lightvalve 65:a2d7c63419c2 167 */
Lightvalve 65:a2d7c63419c2 168 if (HAL_PWREx_EnableOverDrive() != HAL_OK)
Lightvalve 65:a2d7c63419c2 169 {
Lightvalve 65:a2d7c63419c2 170 //Error_Handler();
Lightvalve 65:a2d7c63419c2 171 }
Lightvalve 65:a2d7c63419c2 172 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 65:a2d7c63419c2 173 */
Lightvalve 65:a2d7c63419c2 174 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
Lightvalve 65:a2d7c63419c2 175 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
Lightvalve 65:a2d7c63419c2 176 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve 65:a2d7c63419c2 177 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve 65:a2d7c63419c2 178 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve 65:a2d7c63419c2 179 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve 65:a2d7c63419c2 180
Lightvalve 65:a2d7c63419c2 181 if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
Lightvalve 65:a2d7c63419c2 182 {
Lightvalve 65:a2d7c63419c2 183 //Error_Handler();
Lightvalve 65:a2d7c63419c2 184 }
Lightvalve 65:a2d7c63419c2 185 }
Lightvalve 65:a2d7c63419c2 186
Lightvalve 99:7bbcb3c0fb06 187 float u_past[num_array_u_past] = {0.0f};
Lightvalve 68:328e1be06f5d 188 float x_past[num_array_x_past] = {0.0f};
Lightvalve 85:a3b46118b5cd 189 float x_future[num_array_x_future] = {0.0f};
Lightvalve 68:328e1be06f5d 190 float f_past[num_array_f_past] = {0.0f};
Lightvalve 68:328e1be06f5d 191 float f_future[num_array_f_future] = {0.0f};
Lightvalve 66:a8e6799dbce3 192
Lightvalve 73:f80dc3970c99 193 float input_NN[num_input] = { 0.0f };
Lightvalve 65:a2d7c63419c2 194
Lightvalve 90:a6cfef34bdce 195 const float h1[num_input][16] = {
Lightvalve 110:48dc9bede846 196 {-1.7059963941574097f,3.391550064086914f,0.12903714179992676f,0.5596905946731567f,-2.9890198707580566f,4.037313461303711f,-0.17472904920578003f,-0.06605610996484756f,-0.7236894369125366f,-3.83120059967041f,4.183103561401367f,-1.543687343597412f,-3.8873443603515625f,-2.3731749057769775f,-0.2571594715118408f,-3.0419085025787354f},
Lightvalve 110:48dc9bede846 197 {-0.5714318752288818f,-0.5618541836738586f,-0.3927857577800751f,1.2743504047393799f,0.044264521449804306f,-0.3922893702983856f,-0.4054011106491089f,-0.911931574344635f,-0.6041861176490784f,0.39530646800994873f,-2.4549949169158936f,-0.2726173996925354f,1.291846752166748f,-1.4420183897018433f,-0.20967772603034973f,-0.43016424775123596f},
Lightvalve 110:48dc9bede846 198 {-2.6697275638580322f,-0.15872260928153992f,0.36391180753707886f,-0.6465543508529663f,-0.42650213837623596f,-0.8003787994384766f,0.2872133255004883f,0.387363076210022f,-0.16764108836650848f,1.0269386768341064f,-5.08665657043457f,-0.24658264219760895f,2.132626533508301f,-1.2608779668807983f,0.05590221285820007f,-1.1849485635757446f},
Lightvalve 110:48dc9bede846 199 {-3.29752779006958f,-0.269235223531723f,0.39742106199264526f,-1.6217864751815796f,-0.4485657811164856f,-1.7430919408798218f,-0.11584559082984924f,2.002042293548584f,0.12238554656505585f,1.5711491107940674f,-4.32330846786499f,0.5483206510543823f,2.0703279972076416f,-0.46444079279899597f,-0.2961459457874298f,-0.5932005643844604f},
Lightvalve 110:48dc9bede846 200 {0.6238663196563721f,1.9690989255905151f,-0.0051451027393341064f,-1.711571216583252f,0.10717421770095825f,1.3126208782196045f,0.1294034719467163f,2.694124698638916f,0.39779576659202576f,-0.7275741696357727f,3.1090826988220215f,-0.48142141103744507f,-2.2955687046051025f,-0.15008975565433502f,-0.3865056037902832f,0.013732526451349258f},
Lightvalve 110:48dc9bede846 201 {7.595132827758789f,-4.282626152038574f,0.21773302555084229f,2.081249713897705f,4.099606513977051f,-3.6561038494110107f,0.16514194011688232f,-4.049187660217285f,0.8118338584899902f,2.899977207183838f,4.47369384765625f,1.8449066877365112f,0.6564988493919373f,5.652561187744141f,-0.4132833778858185f,4.776268482208252f},
Lightvalve 110:48dc9bede846 202 {-0.7146687507629395f,1.4424607753753662f,-0.2501986622810364f,-6.998086452484131f,-1.780468463897705f,0.14325404167175293f,0.06014183163642883f,-4.1475300788879395f,8.161470413208008f,-0.24769094586372375f,-0.22226491570472717f,-0.6724333167076111f,-0.8590006828308105f,0.6989374756813049f,-0.15618428587913513f,-4.106932640075684f},
Lightvalve 110:48dc9bede846 203 {-2.04821515083313f,-0.20740987360477448f,-0.26619744300842285f,0.9753285050392151f,-3.8349204063415527f,-0.3414019048213959f,-0.17925891280174255f,-0.7849624156951904f,-1.538938045501709f,0.33151429891586304f,2.0765867233276367f,4.355745315551758f,0.07688913494348526f,2.967102527618408f,0.04303058981895447f,-0.1633743941783905f},
Lightvalve 110:48dc9bede846 204 {-0.7967676520347595f,-2.9591145515441895f,0.10248100757598877f,-0.9823353886604309f,2.0959861278533936f,-1.6614165306091309f,-0.07246989011764526f,-2.655322551727295f,-0.7124369144439697f,1.3269766569137573f,0.3499464690685272f,1.7598580121994019f,3.9012362957000732f,1.7713541984558105f,-0.30555272102355957f,0.3023456335067749f},
Lightvalve 110:48dc9bede846 205 {0.34928908944129944f,-0.9389058351516724f,0.18462657928466797f,-0.698022723197937f,2.506056547164917f,0.585008442401886f,-0.2990540862083435f,-0.1336422562599182f,-0.6555582284927368f,-1.2256691455841064f,-1.8537181615829468f,-6.069973468780518f,1.4366484880447388f,-0.6224221587181091f,0.3484981060028076f,-0.032545674592256546f},
Lightvalve 110:48dc9bede846 206 {-0.09096506983041763f,-0.05903119221329689f,0.37182438373565674f,-0.05937761813402176f,-0.7089709043502808f,0.17513443529605865f,-0.20339298248291016f,-0.19798746705055237f,-0.9091745615005493f,-0.04279492795467377f,-0.12706182897090912f,-3.0843284130096436f,-0.08927726000547409f,0.7855629920959473f,0.26688337326049805f,0.2212119847536087f},
Lightvalve 110:48dc9bede846 207 {-0.39581426978111267f,-0.005800190847367048f,-0.40320003032684326f,-0.17690597474575043f,-1.8346811532974243f,-0.1384766548871994f,0.1533789038658142f,0.03968259319663048f,-1.0378129482269287f,0.18257279694080353f,-0.26876336336135864f,-0.012239335104823112f,-0.13407471776008606f,0.36056315898895264f,0.10493969917297363f,-0.3183291256427765f},
Lightvalve 110:48dc9bede846 208 {0.15159977972507477f,0.15934006869792938f,0.19847965240478516f,0.018042298033833504f,-0.9315264225006104f,-0.14078034460544586f,-0.2404318004846573f,0.15414747595787048f,-0.4374241232872009f,-0.10691981762647629f,-0.21591269969940186f,-0.1435442566871643f,0.13443762063980103f,0.233354851603508f,-0.22268100082874298f,-1.0899667739868164f},
Lightvalve 110:48dc9bede846 209 {0.4087640345096588f,0.04858008772134781f,0.4127817749977112f,-0.04922226071357727f,-0.1745477020740509f,-0.4330637753009796f,-0.32001304626464844f,0.06688840687274933f,-0.06501393020153046f,0.13249166309833527f,-0.0954446941614151f,0.028011184185743332f,0.021589679643511772f,-0.22227710485458374f,0.0479682981967926f,-0.1246754601597786f},
Lightvalve 110:48dc9bede846 210 {-0.005698441993445158f,0.21115022897720337f,0.20282304286956787f,-0.04866386577486992f,-0.19803500175476074f,-0.5616337060928345f,0.04202890396118164f,-0.008075452409684658f,-0.06714924424886703f,0.16919995844364166f,0.32621845602989197f,-0.01713975891470909f,0.12591616809368134f,0.05445311218500137f,0.0668090283870697f,0.19856806099414825f},
Lightvalve 110:48dc9bede846 211 {0.09221667051315308f,-0.13372328877449036f,-0.40439701080322266f,-0.013615692034363747f,-0.24591650068759918f,-0.03212593495845795f,-0.15568238496780396f,-0.14008758962154388f,-0.06246863305568695f,0.08547955751419067f,-0.30873027443885803f,-0.02919948101043701f,-0.14292819797992706f,-0.08344598859548569f,-0.08245879411697388f,0.3679078221321106f},
Lightvalve 110:48dc9bede846 212 {-0.05093160271644592f,0.15498779714107513f,0.16706281900405884f,0.042187076061964035f,-0.2068561166524887f,0.17695418000221252f,-0.041414469480514526f,0.06249653548002243f,-0.058082155883312225f,0.6480271220207214f,0.19082532823085785f,0.13447600603103638f,-0.05580873414874077f,0.032674338668584824f,0.29427415132522583f,-0.6395402550697327f},
Lightvalve 65:a2d7c63419c2 213 };
Lightvalve 65:a2d7c63419c2 214
Lightvalve 90:a6cfef34bdce 215 const float h2[16][16] = {
Lightvalve 110:48dc9bede846 216 {0.9557305574417114f,-0.6055670976638794f,-0.06966331601142883f,-0.9309574365615845f,-0.21907491981983185f,0.043668705970048904f,-0.09802006930112839f,-0.23109103739261627f,-0.43008196353912354f,-0.1415480375289917f,1.259411334991455f,1.1355159282684326f,-0.10396073013544083f,2.06364369392395f,1.1600197553634644f,-4.438270568847656f},
Lightvalve 110:48dc9bede846 217 {2.7567245960235596f,-1.4464119672775269f,0.057057321071624756f,0.5695078372955322f,-0.35503754019737244f,-1.7129650115966797f,-0.5821441411972046f,-0.4518454372882843f,-0.33757925033569336f,0.2895788848400116f,1.4062973260879517f,3.0362422466278076f, 0.000017023294276441447f,0.9440363645553589f,-0.5959824323654175f,0.8651696443557739f},
Lightvalve 90:a6cfef34bdce 218 {-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},
Lightvalve 110:48dc9bede846 219 {3.088405355811119e-05f,2.058682918548584f,-0.2894435524940491f,-6.58017635345459f,0.08946844935417175f,0.38183119893074036f,-0.581348717212677f,0.3909340798854828f,0.26211628317832947f,0.2953031361103058f,-4.76458740234375f,-2.0418548583984375f,-0.5511184930801392f,-0.859173059463501f,1.7253934144973755f,-0.699803352355957f},
Lightvalve 110:48dc9bede846 220 {0.3470141589641571f,0.2586097717285156f,-0.25313520431518555f,0.1184348613023758f,0.036378175020217896f,0.47944897413253784f,-0.5605611801147461f,-0.27950209379196167f,-0.024399548768997192f,-0.39465832710266113f,1.3572351932525635f,-0.9894441366195679f,-0.16429732739925385f,0.6822909712791443f,0.5269821882247925f,-0.26779189705848694f},
Lightvalve 110:48dc9bede846 221 {0.02632247656583786f,0.07229317724704742f,-0.3519742488861084f,0.13924385607242584f,-0.3015052080154419f,-0.42292022705078125f,-0.6522295475006104f,-0.22553186118602753f,-0.23047015070915222f,0.3579089343547821f,0.35513466596603394f,0.3212955892086029f,-0.37247803807258606f,0.22261181473731995f,0.2416628748178482f,-0.238374263048172f},
Lightvalve 90:a6cfef34bdce 222 {-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},
Lightvalve 110:48dc9bede846 223 {-0.00018933904357254505f,3.0272984504699707f,0.33083590865135193f,0.5844785571098328f,-0.14358049631118774f,0.888808012008667f,-0.30700236558914185f,-0.22914573550224304f,0.2600560486316681f,-0.37898191809654236f,5.2147955894470215f,3.2756965160369873f,-0.39970290660858154f,1.0103561878204346f,4.694471836090088f,2.50531005859375f},
Lightvalve 110:48dc9bede846 224 {-0.5110655426979065f,-0.9329660534858704f,-0.11379697918891907f,0.7706611156463623f,0.041274964809417725f,0.09009148180484772f,-0.3055715560913086f,-0.09007895737886429f,0.06103590130805969f,-0.38046833872795105f,0.5660994648933411f,-0.30778396129608154f,-0.5624087452888489f,-2.17203426361084f,-0.16831539571285248f,0.26508235931396484f},
Lightvalve 110:48dc9bede846 225 {-0.4193081259727478f,0.12369593977928162f,-0.13502129912376404f,0.12912443280220032f,0.12987366318702698f,0.08684216439723969f,-0.05080987513065338f,-0.22823655605316162f,-0.13619378209114075f,0.16938945651054382f,-0.2929772138595581f,-0.4952308237552643f,-0.07255440205335617f,-0.5744784474372864f,-0.05825066193938255f,0.023188767954707146f},
Lightvalve 110:48dc9bede846 226 {5.055617332458496f,-4.528228759765625f,0.0457797646522522f,-1.0237241983413696f,-0.03321319818496704f,1.100097417831421f,0.17873415350914001f,-0.19151411950588226f,-0.050184011459350586f,0.12480869889259338f,-6.684454441070557f,-0.19157439470291138f,-0.4416079521179199f,1.3415076732635498f,2.01991605758667f,-4.554441452026367f},
Lightvalve 110:48dc9bede846 227 {0.4037206768989563f,-0.33855536580085754f,0.3954955041408539f,0.43965569138526917f,0.0033026933670043945f,0.7469450831413269f,-0.28519943356513977f,-0.3459097146987915f,0.3487861454486847f,-0.32520344853401184f,-2.778808116912842f,-0.82837975025177f,-0.11059168726205826f,-1.0547912120819092f,0.5513345003128052f,-0.07667471468448639f},
Lightvalve 110:48dc9bede846 228 {-1.2526735067367554f,1.381131649017334f,-0.15798500180244446f,0.6317821145057678f,-0.37393757700920105f,2.1504018306732178f,-0.22833606600761414f,-0.35308021306991577f,-0.3764709532260895f,0.2424570620059967f,-0.10036090016365051f,-2.8816750049591064f,0.0743209645152092f,-0.049069181084632874f,-1.1489452123641968f,1.8637553453445435f},
Lightvalve 110:48dc9bede846 229 {-1.0542176961898804f,-0.9509989023208618f,-0.2018718123435974f,0.1274721473455429f,0.07545611262321472f,0.49066638946533203f,-0.42218002676963806f,-0.44764286279678345f,-0.24509364366531372f,0.19522181153297424f,-3.047369956970215f,4.072986602783203f,-0.40660360455513f,-1.588341236114502f,-0.4507136046886444f,-2.2309200763702393f},
Lightvalve 90:a6cfef34bdce 230 {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},
Lightvalve 110:48dc9bede846 231 {0.1441994309425354f,0.38722845911979675f,0.12081471085548401f,0.12929564714431763f,0.29976895451545715f,0.6814686059951782f,-0.42556172609329224f,0.20840862393379211f,-0.3893685042858124f,-0.02222958207130432f,0.5837306380271912f,-4.001397132873535f,-0.41145533323287964f,1.0706020593643188f,0.06449408829212189f,-0.14256514608860016f},
Lightvalve 65:a2d7c63419c2 232 };
Lightvalve 65:a2d7c63419c2 233
Lightvalve 90:a6cfef34bdce 234 const float h3[16][16] = {
Lightvalve 110:48dc9bede846 235 {-0.36079341173171997f,0.12724722921848297f,0.6226165294647217f,-0.6378161311149597f,-0.7682595252990723f,-1.1835967302322388f,0.00589539110660553f,-1.4744164943695068f,-0.2405819296836853f,-0.07828032225370407f,-0.44836512207984924f,-0.027285337448120117f,-1.0117864608764648f,0.45148152112960815f,-0.6506475806236267f,0.9372957348823547f},
Lightvalve 110:48dc9bede846 236 {0.047732532024383545f,0.2627722918987274f,-0.15394233167171478f,-0.34714314341545105f,-0.6076508164405823f,-0.3055933713912964f,-0.3198729455471039f,-0.9665371775627136f,0.20139223337173462f,-0.40001770853996277f,-0.8641206622123718f,-0.4552278518676758f,-0.20988847315311432f,1.0362576246261597f,-1.3855587244033813f,-4.8978190422058105f},
Lightvalve 97:d71c57e3515e 237 {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},
Lightvalve 110:48dc9bede846 238 {-0.30922991037368774f,0.6435955166816711f,0.39723387360572815f,-0.4366062581539154f,-0.20311516523361206f,-0.6186295747756958f,-0.1733155995607376f,1.6462346315383911f,-0.30490273237228394f,-0.5528550148010254f,-0.8088966608047485f,-0.17777828872203827f,1.9961189031600952f,0.542984664440155f,-2.589221477508545f,0.5364614725112915f},
Lightvalve 104:be89a3a18c7e 239 {-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},
Lightvalve 110:48dc9bede846 240 {-0.37449589371681213f,-0.019479790702462196f,-0.11364255100488663f,-0.09347756952047348f,-1.6341232061386108f,0.17563879489898682f,-0.3485080897808075f,-2.4880425930023193f,-0.4816971719264984f,-0.41464751958847046f,1.6434992551803589f,-0.21653898060321808f,-1.2488548755645752f,0.6639074087142944f,1.2926822900772095f,-0.4469091296195984f},
Lightvalve 110:48dc9bede846 241 {0.4110594093799591f,0.3548140823841095f,-0.36053261160850525f,0.37246426939964294f,0.06452324241399765f,0.0076838149689137936f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.13118185102939606f,0.18019196391105652f,0.40069109201431274f,-0.3391006588935852f},
Lightvalve 110:48dc9bede846 242 {-0.40892091393470764f,0.25590741634368896f,-0.06172608956694603f,0.24168787896633148f,0.20863528549671173f,0.29140329360961914f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.10320402681827545f,-0.0003446042537689209f,-0.293673038482666f,-0.18760119378566742f,0.5998855233192444f,-0.0014856173656880856f},
Lightvalve 90:a6cfef34bdce 243 {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},
Lightvalve 90:a6cfef34bdce 244 {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},
Lightvalve 110:48dc9bede846 245 {0.15459725260734558f,0.1107163205742836f,0.5163884162902832f,-0.19435922801494598f,-0.6607198715209961f,0.19769729673862457f,-0.17351137101650238f,0.4012199640274048f,-0.12220819294452667f,-0.3655705153942108f,1.298746109008789f,-0.5998809933662415f,2.4560651779174805f,0.47408193349838257f,-0.3778437376022339f,0.2936246991157532f},
Lightvalve 110:48dc9bede846 246 {-0.408692330121994f,-0.9799224138259888f,0.9109618663787842f,0.0922636091709137f,-1.6159197092056274f,0.6386076211929321f,-0.2503199577331543f,1.1131247282028198f,-0.20705322921276093f,-0.25883403420448303f,-2.974557876586914f,-0.09153594076633453f,-0.3809865713119507f,-0.4783855974674225f,-0.030521942302584648f,-0.6642081141471863f},
Lightvalve 110:48dc9bede846 247 {-0.2991822361946106f,0.16673563420772552f,0.13174858689308167f,-0.05932474136352539f,0.2149231731891632f,0.014473631046712399f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.12273333966732025f,-0.36229726672172546f,0.21449612081050873f,-0.35356462001800537f,0.1151161789894104f,0.06113015487790108f},
Lightvalve 110:48dc9bede846 248 {-0.2675279378890991f,0.27970176935195923f,-0.571586012840271f,-0.06729453802108765f,1.7373785972595215f,-0.7551252245903015f,-0.7117810249328613f,-11.34946060180664f,-0.5015202760696411f,-0.7722806930541992f,-0.4990668296813965f,-0.8083197474479675f,-2.149264335632324f,-0.40942901372909546f,1.2839659452438354f,0.523343026638031f},
Lightvalve 110:48dc9bede846 249 {-0.015470266342163086f,-2.2273623943328857f,0.10216427594423294f,0.11245452612638474f,1.0305873155593872f,0.7738443613052368f,-0.0038376750890165567f,-0.34254056215286255f,-0.3483721613883972f,-0.49205949902534485f,0.19345080852508545f,-0.11511552333831787f,-6.012890338897705f,-1.1396853923797607f,0.269120454788208f,-0.5919601917266846f},
Lightvalve 110:48dc9bede846 250 {0.1863725483417511f,-0.19646675884723663f,-0.10025109350681305f,-0.4706241190433502f,1.0543780326843262f,-1.2087143659591675f,-0.1783534437417984f,-0.06928318738937378f,-0.11231201142072678f,-0.038261935114860535f,1.5327043533325195f,-0.08449675887823105f,-2.2697501182556152f,0.390064001083374f,0.3254348039627075f,1.1378898620605469f},
Lightvalve 66:a8e6799dbce3 251 };
Lightvalve 65:a2d7c63419c2 252
Lightvalve 110:48dc9bede846 253 const float hout[16] = { 0.45773375034332275f,0.15617604553699493f,-0.16008013486862183f,-0.04756217449903488f,-0.06534530967473984f,0.12916304171085358f,0.10237222909927368f,0.2510097622871399f,-0.13968795537948608f,-0.09815386682748795f,0.11235985159873962f,0.07459140568971634f,-0.15952900052070618f,0.15878622233867645f,0.12854887545108795f,-0.15611299872398376f };
Lightvalve 66:a8e6799dbce3 254
Lightvalve 110:48dc9bede846 255 const float b1[16] = { 1.8935775756835938f,1.4391326904296875f,-1.7145336866378784f,4.132933616638184f,2.646709442138672f,1.9892117977142334f,-0.058932315558195114f,4.023406028747559f,-0.8449434041976929f,-1.1149749755859375f,-0.024972299113869667f,2.630570650100708f,-1.3103960752487183f,-2.774620294570923f,-1.087764859199524f,2.769867181777954f };
Lightvalve 87:471334725012 256
Lightvalve 110:48dc9bede846 257 const float b2[16] = { 0.7328608632087708f,-0.6136828660964966f,-1.4564176797866821f,-0.19120249152183533f,-0.6939148902893066f,-0.6919550895690918f,0.10809146612882614f,-0.36546844244003296f,-1.20063054561615f,-1.912178635597229f,0.3945716619491577f,-0.016793392598628998f,-0.5133991241455078f,1.8873744010925293f,-0.2178768515586853f,-0.12808649241924286f };
Lightvalve 65:a2d7c63419c2 258
Lightvalve 110:48dc9bede846 259 const float b3[16] = { -1.963319182395935f,0.9368833899497986f,0.37121856212615967f,-0.30372416973114014f,-1.4733699560165405f,2.1663784980773926f,-0.8231179118156433f,-3.3112809658050537f,0.41760367155075073f,0.158365398645401f,-3.2084801197052f,-0.48424777388572693f,-1.9069230556488037f,-1.3220714330673218f,-1.4824546575546265f,-1.4143221378326416f };
Lightvalve 87:471334725012 260
Lightvalve 110:48dc9bede846 261 const float bout[1] = { -0.25029855966567993f };
Lightvalve 65:a2d7c63419c2 262
Lightvalve 66:a8e6799dbce3 263
Lightvalve 87:471334725012 264 float VALVE_POS_RAW_NN = 0.0f;
Lightvalve 87:471334725012 265 float DDV_JOINT_POS_FF(float REF_JOINT_VEL);
Lightvalve 61:bc8c8270f0ab 266
GiJeongKim 0:51c43836c1d7 267 int main()
GiJeongKim 0:51c43836c1d7 268 {
Lightvalve 66:a8e6799dbce3 269
Lightvalve 65:a2d7c63419c2 270 HAL_Init();
Lightvalve 65:a2d7c63419c2 271 SystemClock_Config();
Lightvalve 65:a2d7c63419c2 272
jobuuu 6:df07d3491e3a 273 /*********************************
jobuuu 1:e04e563be5ce 274 *** Initialization
jobuuu 6:df07d3491e3a 275 *********************************/
Lightvalve 69:3995ffeaa786 276 LED = 0;
Lightvalve 61:bc8c8270f0ab 277 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 278
GiJeongKim 0:51c43836c1d7 279 // i2c init
Lightvalve 8:5d2eebdad025 280 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 281 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 282 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 283 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 284 make_delay();
jobuuu 2:a1c0a37df760 285
GiJeongKim 0:51c43836c1d7 286 // // spi init
Lightvalve 16:903b5a4433b4 287 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 288 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 289 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 290 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 291 make_delay();
Lightvalve 21:e5f1a43ea6f9 292
Lightvalve 16:903b5a4433b4 293 //rom
Lightvalve 19:23b7c1ad8683 294 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 295 make_delay();
Lightvalve 13:747daba9cf59 296
GiJeongKim 0:51c43836c1d7 297 // ADC init
jobuuu 5:a4319f79457b 298 Init_ADC();
Lightvalve 11:82d8768d7351 299 make_delay();
jobuuu 2:a1c0a37df760 300
GiJeongKim 0:51c43836c1d7 301 // Pwm init
GiJeongKim 0:51c43836c1d7 302 Init_PWM();
GiJeongKim 0:51c43836c1d7 303 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 304 make_delay();
Lightvalve 13:747daba9cf59 305
Lightvalve 11:82d8768d7351 306 // TMR3 init
Lightvalve 11:82d8768d7351 307 Init_TMR3();
Lightvalve 11:82d8768d7351 308 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 309 make_delay();
Lightvalve 21:e5f1a43ea6f9 310
Lightvalve 50:3c630b5eba9f 311 // TMR2 init
Lightvalve 56:6f50d9d3bfee 312 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 313 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 314 // make_delay();
Lightvalve 21:e5f1a43ea6f9 315
GiJeongKim 0:51c43836c1d7 316 // CAN
jobuuu 2:a1c0a37df760 317 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 318 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 319 make_delay();
Lightvalve 34:bb2ca2fc2a8e 320
Lightvalve 23:59218d4a256d 321 //Timer priority
Lightvalve 23:59218d4a256d 322 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 323 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 324 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 325
Lightvalve 23:59218d4a256d 326 //can.reset();
Lightvalve 19:23b7c1ad8683 327 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 328
GiJeongKim 0:51c43836c1d7 329 // spi _ enc
GiJeongKim 0:51c43836c1d7 330 spi_enc_set_init();
Lightvalve 11:82d8768d7351 331 make_delay();
Lightvalve 13:747daba9cf59 332
Lightvalve 11:82d8768d7351 333 //DAC init
Lightvalve 58:2eade98630e2 334 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 335 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 336 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 337 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 338 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 339 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 340 }
Lightvalve 11:82d8768d7351 341 make_delay();
Lightvalve 13:747daba9cf59 342
Lightvalve 19:23b7c1ad8683 343 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 344 if(i%2==0)
Lightvalve 38:118df027d851 345 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 346 else
Lightvalve 38:118df027d851 347 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 348 }
Lightvalve 61:bc8c8270f0ab 349
Lightvalve 61:bc8c8270f0ab 350
jobuuu 6:df07d3491e3a 351 /************************************
jobuuu 1:e04e563be5ce 352 *** Program is operating!
jobuuu 6:df07d3491e3a 353 *************************************/
GiJeongKim 0:51c43836c1d7 354 while(1) {
Lightvalve 66:a8e6799dbce3 355 // if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve 66:a8e6799dbce3 356 //if(timer_while==1000) {
Lightvalve 65:a2d7c63419c2 357 //i2c
Lightvalve 66:a8e6799dbce3 358
Lightvalve 65:a2d7c63419c2 359 read_field(i2c_slave_addr1);
Lightvalve 65:a2d7c63419c2 360 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 65:a2d7c63419c2 361 // if(LED==1) {
Lightvalve 65:a2d7c63419c2 362 // LED=0;
Lightvalve 65:a2d7c63419c2 363 // } else
Lightvalve 65:a2d7c63419c2 364 // LED = 1;
Lightvalve 65:a2d7c63419c2 365 timer_while = 0;
Lightvalve 66:a8e6799dbce3 366 //}
Lightvalve 66:a8e6799dbce3 367
Lightvalve 66:a8e6799dbce3 368 timer_while ++;
Lightvalve 66:a8e6799dbce3 369
Lightvalve 87:471334725012 370 //LED = 0;
Lightvalve 87:471334725012 371
Lightvalve 73:f80dc3970c99 372 if(NN_Control_Flag == 0) {
Lightvalve 73:f80dc3970c99 373 LED = 0;
Lightvalve 73:f80dc3970c99 374 }
Lightvalve 66:a8e6799dbce3 375
Lightvalve 73:f80dc3970c99 376 else if(NN_Control_Flag == 1) {
Lightvalve 88:d6e591bece22 377 float output1[16] = { 0.0f };
Lightvalve 88:d6e591bece22 378 float output2[16] = { 0.0f };
Lightvalve 88:d6e591bece22 379 float output3[16] = { 0.0f };
Lightvalve 66:a8e6799dbce3 380 float output = 0.0f;
Lightvalve 65:a2d7c63419c2 381
Lightvalve 88:d6e591bece22 382 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 68:328e1be06f5d 383 for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve 66:a8e6799dbce3 384 output1[index2] = output1[index2]
Lightvalve 73:f80dc3970c99 385 + h1[index1][index2] * input_NN[index1];
Lightvalve 66:a8e6799dbce3 386 }
Lightvalve 66:a8e6799dbce3 387 output1[index2] = output1[index2] + b1[index2];
Lightvalve 66:a8e6799dbce3 388 if (output1[index2] < 0) {
Lightvalve 66:a8e6799dbce3 389 output1[index2] = 0;
Lightvalve 66:a8e6799dbce3 390 }
Lightvalve 66:a8e6799dbce3 391 }
Lightvalve 65:a2d7c63419c2 392
Lightvalve 88:d6e591bece22 393 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 88:d6e591bece22 394 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 395 output2[index2] = output2[index2]
Lightvalve 66:a8e6799dbce3 396 + h2[index1][index2] * output1[index1];
Lightvalve 66:a8e6799dbce3 397 }
Lightvalve 66:a8e6799dbce3 398 output2[index2] = output2[index2] + b2[index2];
Lightvalve 66:a8e6799dbce3 399 if (output2[index2] < 0) {
Lightvalve 66:a8e6799dbce3 400 output2[index2] = 0;
Lightvalve 66:a8e6799dbce3 401 }
Lightvalve 66:a8e6799dbce3 402 }
Lightvalve 65:a2d7c63419c2 403
Lightvalve 88:d6e591bece22 404 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 88:d6e591bece22 405 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 406 output3[index2] = output3[index2]
Lightvalve 66:a8e6799dbce3 407 + h3[index1][index2] * output2[index1];
Lightvalve 66:a8e6799dbce3 408 }
Lightvalve 66:a8e6799dbce3 409 output3[index2] = output3[index2] + b3[index2];
Lightvalve 66:a8e6799dbce3 410 if (output3[index2] < 0) {
Lightvalve 66:a8e6799dbce3 411 output3[index2] = 0;
Lightvalve 66:a8e6799dbce3 412 }
Lightvalve 65:a2d7c63419c2 413 }
Lightvalve 66:a8e6799dbce3 414
Lightvalve 66:a8e6799dbce3 415 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 88:d6e591bece22 416 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 73:f80dc3970c99 417 output = output + hout[index1] * output3[index1];
Lightvalve 66:a8e6799dbce3 418 }
Lightvalve 66:a8e6799dbce3 419 output = output + bout[index2];
Lightvalve 73:f80dc3970c99 420
Lightvalve 66:a8e6799dbce3 421 }
Lightvalve 73:f80dc3970c99 422 output = 1.0f/(1.0f+exp(-output));
Lightvalve 101:50159049a518 423 output_normalized = output;
Lightvalve 68:328e1be06f5d 424 output = output * 20000.0f - 10000.0f;
Lightvalve 101:50159049a518 425
Lightvalve 66:a8e6799dbce3 426 if(output>=0) {
Lightvalve 66:a8e6799dbce3 427 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 428 } else {
Lightvalve 66:a8e6799dbce3 429 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 65:a2d7c63419c2 430 }
Lightvalve 87:471334725012 431
Lightvalve 88:d6e591bece22 432 // // torque feedback
Lightvalve 88:d6e591bece22 433 // torq.err = f_past[0] - torq.sen; //[N]
Lightvalve 88:d6e591bece22 434 //// torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 88:d6e591bece22 435 // torq.err_sum += torq.err/(float) 1500.0f; //[N]
Lightvalve 88:d6e591bece22 436 //
Lightvalve 88:d6e591bece22 437 //
Lightvalve 88:d6e591bece22 438 // 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;
Lightvalve 88:d6e591bece22 439 //
Lightvalve 88:d6e591bece22 440 // if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 88:d6e591bece22 441 // double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 88:d6e591bece22 442 // if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 88:d6e591bece22 443 // double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 88:d6e591bece22 444 // valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 88:d6e591bece22 445 // valve_pos.ref = VALVE_MAX_POS;
Lightvalve 88:d6e591bece22 446 // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve 88:d6e591bece22 447 // } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 88:d6e591bece22 448 // double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 88:d6e591bece22 449 // valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 88:d6e591bece22 450 // valve_pos.ref = VALVE_MIN_POS;
Lightvalve 88:d6e591bece22 451 // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve 88:d6e591bece22 452 // }
Lightvalve 88:d6e591bece22 453 // }
Lightvalve 87:471334725012 454
Lightvalve 69:3995ffeaa786 455
Lightvalve 69:3995ffeaa786 456 if(LED==1) {
Lightvalve 69:3995ffeaa786 457 LED=0;
Lightvalve 69:3995ffeaa786 458 } else
Lightvalve 69:3995ffeaa786 459 LED = 1;
Lightvalve 69:3995ffeaa786 460
Lightvalve 65:a2d7c63419c2 461 }
Lightvalve 62:b5452adfb2cd 462
Lightvalve 87:471334725012 463 //LED = 1;
Lightvalve 69:3995ffeaa786 464
Lightvalve 66:a8e6799dbce3 465
GiJeongKim 0:51c43836c1d7 466 }
jobuuu 1:e04e563be5ce 467 }
jobuuu 1:e04e563be5ce 468
Lightvalve 33:91b17819ec30 469 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 470 {
Lightvalve 14:8e7590227d22 471
Lightvalve 13:747daba9cf59 472 int i = 0;
Lightvalve 48:889798ff9329 473 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 474 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 475 if(REF_JOINT_VEL >= min(JOINT_VEL[i],JOINT_VEL[i+1]) && REF_JOINT_VEL <= max(JOINT_VEL[i],JOINT_VEL[i+1])) {
Lightvalve 14:8e7590227d22 476 if(i==0) {
Lightvalve 50:3c630b5eba9f 477 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 478 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 479 } else {
Lightvalve 57:f4819de54e7a 480 Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER;
Lightvalve 38:118df027d851 481 }
Lightvalve 14:8e7590227d22 482 } else {
Lightvalve 50:3c630b5eba9f 483 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 484 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 485 } else {
Lightvalve 57:f4819de54e7a 486 Ref_Valve_Pos_FF = ((float) 10*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + (float) VALVE_CENTER + (float) (10*ID_index_array[i-1]);
Lightvalve 38:118df027d851 487 }
Lightvalve 13:747daba9cf59 488 }
Lightvalve 13:747daba9cf59 489 break;
Lightvalve 13:747daba9cf59 490 }
Lightvalve 13:747daba9cf59 491 }
Lightvalve 14:8e7590227d22 492 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 493 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 494 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 495 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 496 }
Lightvalve 36:a46e63505ed8 497
Lightvalve 57:f4819de54e7a 498 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 499 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 500
Lightvalve 13:747daba9cf59 501 }
jobuuu 6:df07d3491e3a 502
jobuuu 6:df07d3491e3a 503
Lightvalve 30:8d561f16383b 504 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 505 {
Lightvalve 13:747daba9cf59 506 int i = 0;
Lightvalve 13:747daba9cf59 507
Lightvalve 38:118df027d851 508 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 509 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 510 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 511 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 512 }
Lightvalve 38:118df027d851 513
Lightvalve 89:a7b45368ea0f 514 valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve 13:747daba9cf59 515 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 516 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 517 valve_pos_err_sum += valve_pos_err;
Lightvalve 89:a7b45368ea0f 518 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 89:a7b45368ea0f 519 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 13:747daba9cf59 520
Lightvalve 13:747daba9cf59 521 VALVE_PWM_RAW_FB = P_GAIN_VALVE_POSITION * valve_pos_err + I_GAIN_VALVE_POSITION * valve_pos_err_sum + D_GAIN_VALVE_POSITION * valve_pos_err_diff;
Lightvalve 14:8e7590227d22 522
Lightvalve 18:b8adf1582ea3 523 for(i=0; i<24; i++) {
Lightvalve 89:a7b45368ea0f 524 if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && (float) REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve 14:8e7590227d22 525 if(i==0) {
Lightvalve 48:889798ff9329 526 VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
Lightvalve 14:8e7590227d22 527 } else {
Lightvalve 48:889798ff9329 528 VALVE_PWM_RAW_FF = (float) 1000.0f* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1];
Lightvalve 13:747daba9cf59 529 }
Lightvalve 13:747daba9cf59 530 break;
Lightvalve 13:747daba9cf59 531 }
Lightvalve 13:747daba9cf59 532 }
Lightvalve 59:f308b1656d9c 533 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 534 }
Lightvalve 13:747daba9cf59 535
Lightvalve 14:8e7590227d22 536 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 537 float LT_PWM_duty[LT_MAX_IDX] = {-100.0f, -80.0f, -60.0f, -50.0f, -40.0f, -35.0f, -30.0f, -25.0f, -20.0f,
Lightvalve 34:bb2ca2fc2a8e 538 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 539 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 540 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 541 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 542 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 543 }; // duty
Lightvalve 67:c2812cf26c38 544 float LT_Voltage_Output[LT_MAX_IDX] = {-230.0f, -215.0f, -192.5f, -185.0f, -177.5f, -170.0f, -164.0f, -160.0f, -150.0f,
Lightvalve 67:c2812cf26c38 545 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 546 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 547 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 548 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 549 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 550 }; // mV
Lightvalve 13:747daba9cf59 551
Lightvalve 30:8d561f16383b 552 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 553 {
Lightvalve 30:8d561f16383b 554 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 555 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 556 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 557 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 558 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 559 } else {
Lightvalve 13:747daba9cf59 560 int idx = 0;
Lightvalve 13:747daba9cf59 561 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 562 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 563 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 564 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 565 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 566 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 567 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 568 break;
Lightvalve 13:747daba9cf59 569 }
Lightvalve 13:747daba9cf59 570 }
Lightvalve 13:747daba9cf59 571 }
Lightvalve 14:8e7590227d22 572
Lightvalve 13:747daba9cf59 573 return PWM_duty;
Lightvalve 13:747daba9cf59 574 }
jobuuu 6:df07d3491e3a 575
Lightvalve 57:f4819de54e7a 576
Lightvalve 57:f4819de54e7a 577
Lightvalve 57:f4819de54e7a 578
Lightvalve 57:f4819de54e7a 579
jobuuu 2:a1c0a37df760 580 /*******************************************************************************
jobuuu 2:a1c0a37df760 581 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 582 *******************************************************************************/
jobuuu 2:a1c0a37df760 583
Lightvalve 51:b46bed7fec80 584 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 585 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 586 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 587 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 588 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 589 {
Lightvalve 19:23b7c1ad8683 590 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 591
Lightvalve 21:e5f1a43ea6f9 592 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 593 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 594 ********************************************************/
Lightvalve 13:747daba9cf59 595
Lightvalve 57:f4819de54e7a 596 //Encoder
Lightvalve 57:f4819de54e7a 597 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 598 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 599 }
Lightvalve 61:bc8c8270f0ab 600
Lightvalve 61:bc8c8270f0ab 601 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 602 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 603 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 604 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 605 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 606 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 67:c2812cf26c38 607 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 67:c2812cf26c38 608
Lightvalve 67:c2812cf26c38 609
Lightvalve 67:c2812cf26c38 610 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 67:c2812cf26c38 611 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 67:c2812cf26c38 612 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 67:c2812cf26c38 613 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 67:c2812cf26c38 614 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 67:c2812cf26c38 615
Lightvalve 17:1865016ca2e7 616
Lightvalve 58:2eade98630e2 617 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 618 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 619 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 620 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 621 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 622 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 623 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 624 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 625 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 626
Lightvalve 58:2eade98630e2 627 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 628 torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm
Lightvalve 58:2eade98630e2 629 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 630 torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N
Lightvalve 58:2eade98630e2 631 }
Lightvalve 58:2eade98630e2 632 }
Lightvalve 61:bc8c8270f0ab 633
Lightvalve 58:2eade98630e2 634 // //Pressure sensor A
Lightvalve 58:2eade98630e2 635 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 636 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 637 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 638 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 639 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 640 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later.
Lightvalve 58:2eade98630e2 641 //
Lightvalve 58:2eade98630e2 642 //
Lightvalve 58:2eade98630e2 643 // //Pressure sensor B
Lightvalve 58:2eade98630e2 644 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 645 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 646 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 647 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 648
Lightvalve 17:1865016ca2e7 649
Lightvalve 21:e5f1a43ea6f9 650 //Current
Lightvalve 21:e5f1a43ea6f9 651 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 652 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 653 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 654 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 655 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 656 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 657 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 658
Lightvalve 57:f4819de54e7a 659 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 660 }
Lightvalve 11:82d8768d7351 661 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 662 }
Lightvalve 19:23b7c1ad8683 663
Lightvalve 19:23b7c1ad8683 664
Lightvalve 18:b8adf1582ea3 665 int j =0;
Lightvalve 54:647072f5307a 666 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 667 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 668 int cnt_trans = 0;
Lightvalve 48:889798ff9329 669 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 57:f4819de54e7a 670 int can_rest =0;
Lightvalve 48:889798ff9329 671
Lightvalve 11:82d8768d7351 672 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 673 {
Lightvalve 19:23b7c1ad8683 674 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 675
Lightvalve 57:f4819de54e7a 676 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 677 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 678 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 679 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 680 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 681 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 682 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 683 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 684 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 685 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 686 }
Lightvalve 50:3c630b5eba9f 687
Lightvalve 50:3c630b5eba9f 688 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 689 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 690 cnt_trans++;
Lightvalve 46:2694daea349b 691 torq.err_sum = 0;
Lightvalve 48:889798ff9329 692 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 693 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 694 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 695 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 696 cnt_trans++;
Lightvalve 46:2694daea349b 697 torq.err_sum = 0;
Lightvalve 48:889798ff9329 698 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 699 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 700 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 701 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 702 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 703 } else {
Lightvalve 58:2eade98630e2 704 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 705 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 706 }
Lightvalve 45:35fa6884d0c6 707
Lightvalve 50:3c630b5eba9f 708
Lightvalve 57:f4819de54e7a 709 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 710 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 711
Lightvalve 57:f4819de54e7a 712 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 713 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 714 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 715 } else {
Lightvalve 57:f4819de54e7a 716 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 717 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 718 }
Lightvalve 56:6f50d9d3bfee 719
Lightvalve 56:6f50d9d3bfee 720
Lightvalve 56:6f50d9d3bfee 721
Lightvalve 57:f4819de54e7a 722 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 723
Lightvalve 57:f4819de54e7a 724 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 725 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 726 break;
Lightvalve 13:747daba9cf59 727 }
Lightvalve 14:8e7590227d22 728
Lightvalve 14:8e7590227d22 729 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 730 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 731 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 732 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 733
Lightvalve 14:8e7590227d22 734 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 735 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 736 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 737
Lightvalve 84:c355d3e52bf1 738 TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 739
Lightvalve 30:8d561f16383b 740 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 741 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 742
Lightvalve 16:903b5a4433b4 743 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 744 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 745 }
Lightvalve 13:747daba9cf59 746 } else {
Lightvalve 58:2eade98630e2 747 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 748 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 749 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 750 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 751
Lightvalve 16:903b5a4433b4 752 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 753
Lightvalve 30:8d561f16383b 754 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 755
Lightvalve 13:747daba9cf59 756 }
Lightvalve 14:8e7590227d22 757 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 758 break;
Lightvalve 19:23b7c1ad8683 759 }
Lightvalve 14:8e7590227d22 760
Lightvalve 50:3c630b5eba9f 761 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 762 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 763 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 764 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 765 // }
Lightvalve 50:3c630b5eba9f 766 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 767 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 768 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 769 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 770 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 771 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 772 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 773 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 774 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 775 // }
Lightvalve 50:3c630b5eba9f 776 //
Lightvalve 50:3c630b5eba9f 777 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 778 // V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 50:3c630b5eba9f 779 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 780 //
Lightvalve 50:3c630b5eba9f 781 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 782 // V_out = 0;
Lightvalve 50:3c630b5eba9f 783 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 784 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 785 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 786 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 787 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 788 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 789 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 790 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 791 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 792 //
Lightvalve 50:3c630b5eba9f 793 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 794 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 795 // // | / | / |/
Lightvalve 50:3c630b5eba9f 796 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 797 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 798 // // /| / | / |
Lightvalve 50:3c630b5eba9f 799 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 800 //
Lightvalve 50:3c630b5eba9f 801 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 802 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 803 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 804 // } else {
Lightvalve 50:3c630b5eba9f 805 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 806 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 807 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 808 // }
Lightvalve 50:3c630b5eba9f 809 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 810 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 811 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 812 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 813 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 814 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 815 // }
Lightvalve 50:3c630b5eba9f 816 // } else {
Lightvalve 50:3c630b5eba9f 817 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 818 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 819 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 820 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 821 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 822 // }
Lightvalve 50:3c630b5eba9f 823 // V_out = 0;
Lightvalve 50:3c630b5eba9f 824 //
Lightvalve 50:3c630b5eba9f 825 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 826 //
Lightvalve 50:3c630b5eba9f 827 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 828 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 829 //
Lightvalve 50:3c630b5eba9f 830 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 831 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 832 // }
Lightvalve 50:3c630b5eba9f 833 // }
Lightvalve 50:3c630b5eba9f 834 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 835 // break;
Lightvalve 50:3c630b5eba9f 836 // }
Lightvalve 14:8e7590227d22 837
Lightvalve 14:8e7590227d22 838 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 839 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 840 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 841 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 842 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 843 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 844 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 845 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 846 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 847 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 848 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 849 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 850 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 851 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 852 }
Lightvalve 29:69f3f5445d6d 853 cnt_findhome++;
Lightvalve 14:8e7590227d22 854
Lightvalve 29:69f3f5445d6d 855 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 856 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 857 } else {
Lightvalve 29:69f3f5445d6d 858 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 859 }
Lightvalve 19:23b7c1ad8683 860
Lightvalve 57:f4819de54e7a 861 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 862 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 67:c2812cf26c38 863 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 67:c2812cf26c38 864 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:bc8c8270f0ab 865
Lightvalve 59:f308b1656d9c 866 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 867 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 868 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 869 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 870 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 871
Lightvalve 59:f308b1656d9c 872 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 873 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 874
Lightvalve 34:bb2ca2fc2a8e 875
Lightvalve 29:69f3f5445d6d 876 } else {
Lightvalve 29:69f3f5445d6d 877 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 67:c2812cf26c38 878 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 879 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 880 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 881 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 882 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 883 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 884 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 885 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 886 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 887 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 888
Lightvalve 67:c2812cf26c38 889
Lightvalve 67:c2812cf26c38 890 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 891 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 892 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 893 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 894 vel.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 895 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 896 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 897
Lightvalve 67:c2812cf26c38 898
Lightvalve 29:69f3f5445d6d 899 }
Lightvalve 29:69f3f5445d6d 900 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 901 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 902 pos.ref = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
Lightvalve 67:c2812cf26c38 903 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 904 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 905
Lightvalve 29:69f3f5445d6d 906 // input for position control
Lightvalve 67:c2812cf26c38 907
Lightvalve 67:c2812cf26c38 908 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 909 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 910
Lightvalve 67:c2812cf26c38 911 double torq_ref = 0.0f;
Lightvalve 67:c2812cf26c38 912 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 913 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 914 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 915
Lightvalve 67:c2812cf26c38 916 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 67:c2812cf26c38 917
Lightvalve 67:c2812cf26c38 918 double I_REF_POS = 0.0f;
Lightvalve 67:c2812cf26c38 919 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 67:c2812cf26c38 920 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 67:c2812cf26c38 921
Lightvalve 67:c2812cf26c38 922 double temp_vel_pos = 0.0f;
Lightvalve 67:c2812cf26c38 923 double temp_vel_torq = 0.0f;
Lightvalve 67:c2812cf26c38 924 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 67:c2812cf26c38 925
Lightvalve 69:3995ffeaa786 926 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 67:c2812cf26c38 927 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * 3.14159f / 180.0f; // rad/s
Lightvalve 67:c2812cf26c38 928 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 929 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 67:c2812cf26c38 930 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 67:c2812cf26c38 931 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 932 }
Lightvalve 67:c2812cf26c38 933 if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 934 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 935
Lightvalve 67:c2812cf26c38 936 I_REF = I_REF_POS;
Lightvalve 67:c2812cf26c38 937
Lightvalve 67:c2812cf26c38 938
Lightvalve 67:c2812cf26c38 939
Lightvalve 67:c2812cf26c38 940 } else {
Lightvalve 67:c2812cf26c38 941 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 67:c2812cf26c38 942 VALVE_POS_RAW_FORCE_FB = DDV_JOINT_POS_FF(vel.sen) + (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 67:c2812cf26c38 943
Lightvalve 67:c2812cf26c38 944 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 67:c2812cf26c38 945 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 67:c2812cf26c38 946 } else {
Lightvalve 67:c2812cf26c38 947 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 67:c2812cf26c38 948 }
Lightvalve 67:c2812cf26c38 949
Lightvalve 67:c2812cf26c38 950 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 67:c2812cf26c38 951
Lightvalve 67:c2812cf26c38 952 V_out = (float) Vout.ref;
Lightvalve 67:c2812cf26c38 953
Lightvalve 67:c2812cf26c38 954 }
Lightvalve 67:c2812cf26c38 955
Lightvalve 67:c2812cf26c38 956
Lightvalve 67:c2812cf26c38 957
Lightvalve 67:c2812cf26c38 958
Lightvalve 59:f308b1656d9c 959 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 960 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 961 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 962 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 963 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 964
Lightvalve 29:69f3f5445d6d 965 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 966 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 967 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 968 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 969 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 970 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 971 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 972 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 973 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 974 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 975 }
Lightvalve 13:747daba9cf59 976 }
Lightvalve 19:23b7c1ad8683 977
Lightvalve 13:747daba9cf59 978 break;
Lightvalve 13:747daba9cf59 979 }
Lightvalve 14:8e7590227d22 980
Lightvalve 50:3c630b5eba9f 981 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 982 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 983 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 984 // else {
Lightvalve 50:3c630b5eba9f 985 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 986 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 987 // }
Lightvalve 50:3c630b5eba9f 988 // }
Lightvalve 50:3c630b5eba9f 989 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 990 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 991 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 992 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 993 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 994 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 995 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 996 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 997 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 998 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 999 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1000 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 1001 // }
Lightvalve 50:3c630b5eba9f 1002 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1003 // }
Lightvalve 50:3c630b5eba9f 1004 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1005 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1006 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1007 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1008 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1009 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1010 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1011 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1012 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000
Lightvalve 50:3c630b5eba9f 1013 // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
Lightvalve 50:3c630b5eba9f 1014 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1015 // }
Lightvalve 50:3c630b5eba9f 1016 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1017 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1018 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1019 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1020 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1021 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1022 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0f * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE);
Lightvalve 50:3c630b5eba9f 1023 // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
Lightvalve 50:3c630b5eba9f 1024 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1025 // }
Lightvalve 50:3c630b5eba9f 1026 // }
Lightvalve 50:3c630b5eba9f 1027 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1028 //
Lightvalve 50:3c630b5eba9f 1029 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1030 //
Lightvalve 50:3c630b5eba9f 1031 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1032 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1033 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1034 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1035 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1036 // }
Lightvalve 50:3c630b5eba9f 1037 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1038 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1039 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1040 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1041 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1042 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1043 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1044 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1045 // }
Lightvalve 50:3c630b5eba9f 1046 //
Lightvalve 50:3c630b5eba9f 1047 // }
Lightvalve 50:3c630b5eba9f 1048 // break;
Lightvalve 50:3c630b5eba9f 1049 // }
Lightvalve 50:3c630b5eba9f 1050 //
Lightvalve 50:3c630b5eba9f 1051 // }
Lightvalve 14:8e7590227d22 1052 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1053 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1054 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1055 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1056 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1057
Lightvalve 14:8e7590227d22 1058 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1059 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1060 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1061 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1062 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1063
Lightvalve 38:118df027d851 1064 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1065 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1066 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1067
Lightvalve 30:8d561f16383b 1068 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1069 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1070 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1071 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1072
Lightvalve 30:8d561f16383b 1073 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1074 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1075 }
Lightvalve 13:747daba9cf59 1076 } else {
Lightvalve 57:f4819de54e7a 1077 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1078 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1079 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1080 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1081 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1082 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1083
Lightvalve 16:903b5a4433b4 1084 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1085
Lightvalve 30:8d561f16383b 1086 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1087 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1088 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1089 }
Lightvalve 14:8e7590227d22 1090 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1091 break;
Lightvalve 13:747daba9cf59 1092 }
Lightvalve 14:8e7590227d22 1093
Lightvalve 50:3c630b5eba9f 1094 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1095 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1096 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1097 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1098 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1099 // }
Lightvalve 50:3c630b5eba9f 1100 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1101 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1102 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1103 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1104 // }
Lightvalve 50:3c630b5eba9f 1105 // } else {
Lightvalve 50:3c630b5eba9f 1106 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1107 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1108 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1109 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1110 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1111 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1112 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1113 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1114 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1115 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1116 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1117 //
Lightvalve 50:3c630b5eba9f 1118 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1119 //
Lightvalve 50:3c630b5eba9f 1120 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1121 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1122 // }
Lightvalve 50:3c630b5eba9f 1123 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1124 // break;
Lightvalve 50:3c630b5eba9f 1125 // }
Lightvalve 19:23b7c1ad8683 1126
Lightvalve 50:3c630b5eba9f 1127 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1128 // if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4.0f + 3.0f * sin(2 * 3.14159f * 0.5f * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f * 0.05f);
Lightvalve 50:3c630b5eba9f 1129 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1130 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1131 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1132 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1133 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1134 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1135 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1136 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1137 // }
Lightvalve 50:3c630b5eba9f 1138 // break;
Lightvalve 50:3c630b5eba9f 1139 // }
Lightvalve 14:8e7590227d22 1140
Lightvalve 14:8e7590227d22 1141 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1142 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1143 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1144
Lightvalve 14:8e7590227d22 1145 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1146 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1147 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1148 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1149 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1150 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1151 data_num = 0;
Lightvalve 14:8e7590227d22 1152 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1153 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1154 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1155 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1156 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1157 } else {
Lightvalve 13:747daba9cf59 1158 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1159 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1160 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1161 }
Lightvalve 14:8e7590227d22 1162
Lightvalve 17:1865016ca2e7 1163 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1164 int i;
Lightvalve 13:747daba9cf59 1165 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1166 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1167 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1168 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1169 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1170 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1171 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1172 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1173 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1174 }
Lightvalve 13:747daba9cf59 1175 }
Lightvalve 59:f308b1656d9c 1176 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1177 ID_index = 0;
Lightvalve 57:f4819de54e7a 1178 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1179 }
Lightvalve 14:8e7590227d22 1180
Lightvalve 14:8e7590227d22 1181
Lightvalve 13:747daba9cf59 1182 break;
Lightvalve 13:747daba9cf59 1183 }
Lightvalve 14:8e7590227d22 1184
Lightvalve 14:8e7590227d22 1185 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1186 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1187 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1188 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1189 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1190 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1191 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1192 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1193 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1194 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1195 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1196 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1197 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1198 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1199 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1200 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 30:8d561f16383b 1201 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1202 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 13:747daba9cf59 1203 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1204 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1205 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1206 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 13:747daba9cf59 1207 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1208 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1209 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1210 data_num = 0;
Lightvalve 14:8e7590227d22 1211
Lightvalve 30:8d561f16383b 1212 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1213 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1214 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1215
Lightvalve 30:8d561f16383b 1216 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1217 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1218 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1219
Lightvalve 30:8d561f16383b 1220 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1221 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1222 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1223 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1224
Lightvalve 60:64181f1d3e60 1225 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1226 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1227 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1228 DZ_case = -1;
Lightvalve 14:8e7590227d22 1229 } else {
Lightvalve 13:747daba9cf59 1230 DZ_case = 0;
Lightvalve 13:747daba9cf59 1231 }
Lightvalve 61:bc8c8270f0ab 1232
Lightvalve 60:64181f1d3e60 1233 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1234
Lightvalve 13:747daba9cf59 1235 first_check = 1;
Lightvalve 13:747daba9cf59 1236 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1237 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1238 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1239 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1240 DZ_index = 1;
Lightvalve 14:8e7590227d22 1241
Lightvalve 13:747daba9cf59 1242 }
Lightvalve 19:23b7c1ad8683 1243 } else {
Lightvalve 14:8e7590227d22 1244 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1245 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1246 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 1247 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1248 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1249 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1250 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1251 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1252 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1253 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1254 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1255 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1256 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1257 }
Lightvalve 14:8e7590227d22 1258 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1259
Lightvalve 30:8d561f16383b 1260 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1261 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1262 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1263
Lightvalve 14:8e7590227d22 1264 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1265 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1266 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1267 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1268 } else {
Lightvalve 13:747daba9cf59 1269 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1270 }
Lightvalve 14:8e7590227d22 1271
Lightvalve 13:747daba9cf59 1272 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1273 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1274 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1275 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1276 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1277 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1278 DZ_index = 1;
Lightvalve 13:747daba9cf59 1279 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1280 }
Lightvalve 13:747daba9cf59 1281 }
Lightvalve 14:8e7590227d22 1282 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1283 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1284 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 1285 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1286 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1287 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1288 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1289 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1290 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1291 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1292 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1293 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1294 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1295 }
Lightvalve 14:8e7590227d22 1296 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1297
Lightvalve 30:8d561f16383b 1298 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1299 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1300 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1301 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1302 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1303
Lightvalve 14:8e7590227d22 1304 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 1305 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1306 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1307 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1308 } else {
Lightvalve 60:64181f1d3e60 1309 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 1310 }
Lightvalve 14:8e7590227d22 1311
Lightvalve 13:747daba9cf59 1312 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 1313 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 1314 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1315 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1316 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1317 first_check = 0;
Lightvalve 33:91b17819ec30 1318 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1319 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1320
Lightvalve 16:903b5a4433b4 1321 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1322
Lightvalve 60:64181f1d3e60 1323 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1324 DZ_index = 1;
Lightvalve 13:747daba9cf59 1325 }
Lightvalve 13:747daba9cf59 1326 }
Lightvalve 14:8e7590227d22 1327 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1328 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1329 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 1330 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1331 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1332 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1333 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1334 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1335 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1336 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1337 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1338 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1339 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1340 }
Lightvalve 14:8e7590227d22 1341 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1342
Lightvalve 30:8d561f16383b 1343 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1344 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1345 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1346
Lightvalve 14:8e7590227d22 1347 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1348 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1349 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1350 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1351 } else {
Lightvalve 13:747daba9cf59 1352 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1353 }
Lightvalve 13:747daba9cf59 1354 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1355 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1356 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1357 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1358 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1359 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1360 DZ_index = 1;
Lightvalve 13:747daba9cf59 1361 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1362 }
Lightvalve 13:747daba9cf59 1363 }
Lightvalve 14:8e7590227d22 1364 } else {
Lightvalve 30:8d561f16383b 1365 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1366 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 1367 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1368 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1369 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1370 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1371 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1372 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1373 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1374 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1375 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1376 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1377 }
Lightvalve 14:8e7590227d22 1378 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1379
Lightvalve 30:8d561f16383b 1380 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1381 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1382 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1383 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1384 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 1385
Lightvalve 60:64181f1d3e60 1386 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1387 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1388 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1389 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 1390 } else {
Lightvalve 13:747daba9cf59 1391 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1392 }
Lightvalve 14:8e7590227d22 1393
Lightvalve 13:747daba9cf59 1394 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1395 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1396 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1397 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1398 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1399 first_check = 0;
Lightvalve 33:91b17819ec30 1400 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1401 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 1402
Lightvalve 59:f308b1656d9c 1403 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1404
Lightvalve 57:f4819de54e7a 1405 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1406 DZ_index = 1;
Lightvalve 13:747daba9cf59 1407 }
Lightvalve 13:747daba9cf59 1408 }
Lightvalve 13:747daba9cf59 1409 }
Lightvalve 14:8e7590227d22 1410 }
Lightvalve 13:747daba9cf59 1411 break;
Lightvalve 13:747daba9cf59 1412 }
Lightvalve 14:8e7590227d22 1413
Lightvalve 14:8e7590227d22 1414 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 1415 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1416 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1417 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1418 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1419 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1420 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1421 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1422 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1423 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1424 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1425 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1426 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1427 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1428 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 1429 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1430 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1431 first_check = 1;
Lightvalve 13:747daba9cf59 1432 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1433 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 1434 ID_index = 0;
Lightvalve 13:747daba9cf59 1435 max_check = 0;
Lightvalve 13:747daba9cf59 1436 min_check = 0;
Lightvalve 13:747daba9cf59 1437 }
Lightvalve 14:8e7590227d22 1438 } else {
Lightvalve 30:8d561f16383b 1439 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1440 //V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 1441 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 1442 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1443 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1444 data_num = 0;
Lightvalve 57:f4819de54e7a 1445 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1446
Lightvalve 14:8e7590227d22 1447 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1448 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1449 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 1450 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1451 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1452 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1453 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1454 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1455 one_period_end = 1;
Lightvalve 13:747daba9cf59 1456 }
Lightvalve 30:8d561f16383b 1457 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1458 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1459 one_period_end = 1;
Lightvalve 59:f308b1656d9c 1460 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1461 }
Lightvalve 14:8e7590227d22 1462
Lightvalve 14:8e7590227d22 1463 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1464 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1465 max_check = 1;
Lightvalve 14:8e7590227d22 1466 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1467 min_check = 1;
Lightvalve 13:747daba9cf59 1468 }
Lightvalve 13:747daba9cf59 1469 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1470
Lightvalve 13:747daba9cf59 1471 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1472 one_period_end = 0;
Lightvalve 13:747daba9cf59 1473 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1474 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1475 }
Lightvalve 14:8e7590227d22 1476
Lightvalve 14:8e7590227d22 1477 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1478
Lightvalve 13:747daba9cf59 1479 VALVE_POS_NUM = ID_index;
Lightvalve 59:f308b1656d9c 1480 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1481 ID_index = 0;
Lightvalve 13:747daba9cf59 1482 first_check = 0;
Lightvalve 13:747daba9cf59 1483 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1484 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 1485 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1486 }
Lightvalve 13:747daba9cf59 1487 }
Lightvalve 13:747daba9cf59 1488 break;
Lightvalve 13:747daba9cf59 1489 }
Lightvalve 58:2eade98630e2 1490
Lightvalve 57:f4819de54e7a 1491 case MODE_SYSTEM_ID: {
Lightvalve 57:f4819de54e7a 1492 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve 57:f4819de54e7a 1493 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 1494 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 1495 cnt_sysid++;
Lightvalve 57:f4819de54e7a 1496 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 1497 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 1498 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1499 }
Lightvalve 57:f4819de54e7a 1500 break;
Lightvalve 57:f4819de54e7a 1501 }
Lightvalve 58:2eade98630e2 1502
Lightvalve 58:2eade98630e2 1503
Lightvalve 57:f4819de54e7a 1504
Lightvalve 57:f4819de54e7a 1505 default:
Lightvalve 57:f4819de54e7a 1506 break;
Lightvalve 57:f4819de54e7a 1507 }
Lightvalve 57:f4819de54e7a 1508
Lightvalve 57:f4819de54e7a 1509 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 1510
Lightvalve 57:f4819de54e7a 1511 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 1512 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 1513 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 1514 break;
Lightvalve 57:f4819de54e7a 1515 }
Lightvalve 57:f4819de54e7a 1516
Lightvalve 57:f4819de54e7a 1517 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 1518 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 57:f4819de54e7a 1519 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:f308b1656d9c 1520 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 1521 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 1522 V_out = valve_pos.ref;
Lightvalve 67:c2812cf26c38 1523 } else {
Lightvalve 67:c2812cf26c38 1524 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 1525 }
Lightvalve 58:2eade98630e2 1526
Lightvalve 57:f4819de54e7a 1527 break;
Lightvalve 57:f4819de54e7a 1528 }
Lightvalve 57:f4819de54e7a 1529
Lightvalve 57:f4819de54e7a 1530 case MODE_JOINT_CONTROL: {
Lightvalve 57:f4819de54e7a 1531 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 1532 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 1533 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 1534 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 1535
Lightvalve 67:c2812cf26c38 1536 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 1537 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 1538 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1539 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1540
Lightvalve 67:c2812cf26c38 1541 torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 57:f4819de54e7a 1542
Lightvalve 57:f4819de54e7a 1543 // torque feedback
Lightvalve 67:c2812cf26c38 1544 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 1545 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 1546
Lightvalve 57:f4819de54e7a 1547 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 1548
Lightvalve 57:f4819de54e7a 1549 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 1550 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 1551 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 1552
Lightvalve 57:f4819de54e7a 1553 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 1554 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 1555 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 1556
Lightvalve 69:3995ffeaa786 1557 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1558 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 1559 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 1560 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1561 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1562 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 1563 }
Lightvalve 57:f4819de54e7a 1564 if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1565 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1566
Lightvalve 57:f4819de54e7a 1567 // velocity compensation for torque control
Lightvalve 69:3995ffeaa786 1568 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1569 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 1570 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s
Lightvalve 57:f4819de54e7a 1571 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 1572 // L feedforward velocity
Lightvalve 69:3995ffeaa786 1573 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1574 I_REF_FORCE_FB = 0.001f * 0.01f*((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); // Linear Actuators are more sensitive.
Lightvalve 57:f4819de54e7a 1575 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1576 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1577 // L feedforward velocity
Lightvalve 57:f4819de54e7a 1578 }
Lightvalve 57:f4819de54e7a 1579 if (temp_vel_torq > 0.0f) I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1580 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1581 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 1582 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 1583 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 1584
Lightvalve 57:f4819de54e7a 1585 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 67:c2812cf26c38 1586
Lightvalve 67:c2812cf26c38 1587 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 1588 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 1589 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 1590 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 1591 if (I_REF > I_MAX) {
Lightvalve 67:c2812cf26c38 1592 double I_rem = I_REF - I_MAX;
Lightvalve 67:c2812cf26c38 1593 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1594 I_REF = I_MAX;
Lightvalve 67:c2812cf26c38 1595 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1596 } else if (I_REF < -I_MAX) {
Lightvalve 67:c2812cf26c38 1597 double I_rem = I_REF - (-I_MAX);
Lightvalve 67:c2812cf26c38 1598 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1599 I_REF = -I_MAX;
Lightvalve 67:c2812cf26c38 1600 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1601 }
Lightvalve 67:c2812cf26c38 1602 }
Lightvalve 57:f4819de54e7a 1603
Lightvalve 57:f4819de54e7a 1604 } else {
Lightvalve 57:f4819de54e7a 1605 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 72:3436ce769b1e 1606 float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 1607 float VALVE_POS_RAW = 0.0f;
Lightvalve 72:3436ce769b1e 1608
Lightvalve 57:f4819de54e7a 1609 VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f
Lightvalve 57:f4819de54e7a 1610 + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 57:f4819de54e7a 1611
Lightvalve 72:3436ce769b1e 1612 VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f;
Lightvalve 72:3436ce769b1e 1613
Lightvalve 72:3436ce769b1e 1614 VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve 72:3436ce769b1e 1615
Lightvalve 72:3436ce769b1e 1616
Lightvalve 72:3436ce769b1e 1617 if (VALVE_POS_RAW >= 0) {
Lightvalve 72:3436ce769b1e 1618 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 1619 } else {
Lightvalve 72:3436ce769b1e 1620 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 1621 }
Lightvalve 57:f4819de54e7a 1622
Lightvalve 57:f4819de54e7a 1623 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 57:f4819de54e7a 1624 double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 1625 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 1626 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1627 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1628 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1629 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1630 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 1631 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1632 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1633 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1634 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1635 }
Lightvalve 57:f4819de54e7a 1636 }
Lightvalve 61:bc8c8270f0ab 1637
Lightvalve 57:f4819de54e7a 1638 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1639
Lightvalve 67:c2812cf26c38 1640 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 1641 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1642
Lightvalve 57:f4819de54e7a 1643 }
Lightvalve 72:3436ce769b1e 1644
Lightvalve 72:3436ce769b1e 1645 torq_ref_past = torq_ref;
Lightvalve 58:2eade98630e2 1646
Lightvalve 57:f4819de54e7a 1647 break;
Lightvalve 57:f4819de54e7a 1648 }
Lightvalve 58:2eade98630e2 1649
Lightvalve 57:f4819de54e7a 1650 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 1651 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1652 break;
Lightvalve 57:f4819de54e7a 1653 }
Lightvalve 14:8e7590227d22 1654
Lightvalve 12:6f2531038ea4 1655 default:
Lightvalve 12:6f2531038ea4 1656 break;
Lightvalve 12:6f2531038ea4 1657 }
Lightvalve 14:8e7590227d22 1658
Lightvalve 57:f4819de54e7a 1659
Lightvalve 57:f4819de54e7a 1660 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 1661
Lightvalve 57:f4819de54e7a 1662 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1663 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 1664 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1665 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 1666 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 1667 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 1668
Lightvalve 57:f4819de54e7a 1669 I_ERR = I_REF_fil - cur.sen;
Lightvalve 67:c2812cf26c38 1670 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 1671
Lightvalve 57:f4819de54e7a 1672
Lightvalve 57:f4819de54e7a 1673 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 1674 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 1675 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 1676 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 1677 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 1678 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 1679
Lightvalve 57:f4819de54e7a 1680 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 1681 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 1682 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 1683 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 1684 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 1685 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 1686 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 1687 }
Lightvalve 57:f4819de54e7a 1688
Lightvalve 57:f4819de54e7a 1689 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 1690
Lightvalve 67:c2812cf26c38 1691 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 1692 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 1693 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 1694 I_REF_fil_old = I_REF_fil;
Lightvalve 67:c2812cf26c38 1695 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV
Lightvalve 67:c2812cf26c38 1696 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 67:c2812cf26c38 1697 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 1698
Lightvalve 57:f4819de54e7a 1699 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 1700 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 1701 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 1702 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1703 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 1704 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1705 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 1706 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 1707 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1708 VALVE_PWM_RAW = -V_MAX;
Lightvalve 67:c2812cf26c38 1709 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1710 }
Lightvalve 57:f4819de54e7a 1711 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1712 } else {
Lightvalve 57:f4819de54e7a 1713 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 1714 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1715 }
Lightvalve 57:f4819de54e7a 1716
Lightvalve 57:f4819de54e7a 1717 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1718 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 1719 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1720 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 1721 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 1722 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1723 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1724
Lightvalve 57:f4819de54e7a 1725 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1726
Lightvalve 57:f4819de54e7a 1727 } else {
Lightvalve 57:f4819de54e7a 1728 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 1729 }
Lightvalve 57:f4819de54e7a 1730
Lightvalve 57:f4819de54e7a 1731 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 1732 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 67:c2812cf26c38 1733 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 1734
Lightvalve 57:f4819de54e7a 1735 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 1736 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 1737 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 1738 else V_out = (float) (CUR_PWM_lin);
Lightvalve 57:f4819de54e7a 1739 }
Lightvalve 89:a7b45368ea0f 1740 else { //////////////////////////sw valve
Lightvalve 89:a7b45368ea0f 1741 // Output Voltage Linearization
Lightvalve 89:a7b45368ea0f 1742 double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve 89:a7b45368ea0f 1743 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 89:a7b45368ea0f 1744
Lightvalve 89:a7b45368ea0f 1745 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 89:a7b45368ea0f 1746 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 89:a7b45368ea0f 1747 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 89:a7b45368ea0f 1748 else V_out = (float) (CUR_PWM_lin);
Lightvalve 89:a7b45368ea0f 1749 }
Lightvalve 67:c2812cf26c38 1750
Lightvalve 67:c2812cf26c38 1751 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 67:c2812cf26c38 1752 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 67:c2812cf26c38 1753 // else V_out = V_out;
Lightvalve 67:c2812cf26c38 1754
jobuuu 7:e9086c72bb22 1755 /*******************************************************
jobuuu 7:e9086c72bb22 1756 *** PWM
jobuuu 7:e9086c72bb22 1757 ********************************************************/
Lightvalve 67:c2812cf26c38 1758 if(DIR_VALVE<0){
Lightvalve 67:c2812cf26c38 1759 V_out = -V_out;
Lightvalve 67:c2812cf26c38 1760 }
Lightvalve 67:c2812cf26c38 1761
Lightvalve 49:e7bcfc244d40 1762 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1763 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1764 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1765 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1766 }
Lightvalve 49:e7bcfc244d40 1767 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1768
Lightvalve 19:23b7c1ad8683 1769 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1770 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1771 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1772
Lightvalve 30:8d561f16383b 1773 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1774 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1775 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1776 } else {
jobuuu 2:a1c0a37df760 1777 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1778 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1779 }
Lightvalve 13:747daba9cf59 1780
jobuuu 1:e04e563be5ce 1781 //pwm
Lightvalve 30:8d561f16383b 1782 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1783 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 1784
Lightvalve 61:bc8c8270f0ab 1785
Lightvalve 57:f4819de54e7a 1786 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 20:806196fda269 1787
Lightvalve 54:647072f5307a 1788 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 1789 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 1790 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 1791 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1792 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 1793 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1794 CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
Lightvalve 54:647072f5307a 1795 }
Lightvalve 57:f4819de54e7a 1796 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 1797 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1798 CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE)));
Lightvalve 54:647072f5307a 1799 } else if (SENSING_MODE == 1) {
Lightvalve 67:c2812cf26c38 1800 CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
Lightvalve 54:647072f5307a 1801 }
Lightvalve 52:8ea76864368a 1802 }
Lightvalve 52:8ea76864368a 1803 }
Lightvalve 56:6f50d9d3bfee 1804 if (flag_data_request[1] == HIGH) {
Lightvalve 54:647072f5307a 1805 //valve position
Lightvalve 54:647072f5307a 1806 double t_value = 0;
Lightvalve 97:d71c57e3515e 1807 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 97:d71c57e3515e 1808 t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1809 } else {
Lightvalve 97:d71c57e3515e 1810 t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1811 }
Lightvalve 97:d71c57e3515e 1812 // if(OPERATING_MODE==5) {
Lightvalve 97:d71c57e3515e 1813 // if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 97:d71c57e3515e 1814 // t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1815 // } else {
Lightvalve 97:d71c57e3515e 1816 // t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1817 // }
Lightvalve 97:d71c57e3515e 1818 //t_value = (double) value;
Lightvalve 97:d71c57e3515e 1819 // } else if(CURRENT_CONTROL_MODE==1) {
Lightvalve 97:d71c57e3515e 1820 // t_value = cur.sen * 1000.0f;
Lightvalve 89:a7b45368ea0f 1821 // } else {
Lightvalve 97:d71c57e3515e 1822 // t_value = V_out;
Lightvalve 89:a7b45368ea0f 1823 // }
Lightvalve 67:c2812cf26c38 1824 CAN_TX_TORQUE((int16_t) (t_value)); //1300
Lightvalve 67:c2812cf26c38 1825 //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
Lightvalve 67:c2812cf26c38 1826 //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
Lightvalve 54:647072f5307a 1827 }
Lightvalve 58:2eade98630e2 1828
Lightvalve 58:2eade98630e2 1829
Lightvalve 98:cd1b2da4704f 1830 if (flag_data_request[2] == HIGH) {
Lightvalve 89:a7b45368ea0f 1831 //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // 1400
Lightvalve 89:a7b45368ea0f 1832 double t_value = 0;
Lightvalve 89:a7b45368ea0f 1833 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 89:a7b45368ea0f 1834 t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1835 } else {
Lightvalve 89:a7b45368ea0f 1836 t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1837 }
Lightvalve 89:a7b45368ea0f 1838 CAN_TX_PRES((int16_t) (t_value), (int16_t) (V_out)); // 1400
Lightvalve 55:b25725257569 1839 }
Lightvalve 58:2eade98630e2 1840
Lightvalve 57:f4819de54e7a 1841 //If it doesn't rest, below can can not work.
Lightvalve 57:f4819de54e7a 1842 for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 1843 ;
Lightvalve 57:f4819de54e7a 1844 }
Lightvalve 58:2eade98630e2 1845
Lightvalve 56:6f50d9d3bfee 1846 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 1847 //PWM
Lightvalve 73:f80dc3970c99 1848 //CAN_TX_PWM((int16_t) value); //1500
Lightvalve 73:f80dc3970c99 1849 CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500
Lightvalve 54:647072f5307a 1850 }
Lightvalve 57:f4819de54e7a 1851 //for (i = 0; i < 10000; i++) {
Lightvalve 57:f4819de54e7a 1852 // ;
Lightvalve 57:f4819de54e7a 1853 // }
Lightvalve 56:6f50d9d3bfee 1854 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 1855 //valve position
Lightvalve 73:f80dc3970c99 1856 CAN_TX_VALVE_POSITION((int16_t) (input_NN[1] * 100.0f), (int16_t) (input_NN[2]* 100.0f), (int16_t) (input_NN[3]* 100.0f), (int16_t) (input_NN[4]* 100.0f)); //1600
Lightvalve 54:647072f5307a 1857 }
Lightvalve 20:806196fda269 1858
Lightvalve 54:647072f5307a 1859 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 1860 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 1861 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 1862 // }
Lightvalve 54:647072f5307a 1863 //if (flag_delay_test == 1){
Lightvalve 58:2eade98630e2 1864 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 54:647072f5307a 1865 //}
Lightvalve 52:8ea76864368a 1866
Lightvalve 54:647072f5307a 1867 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1868 }
Lightvalve 54:647072f5307a 1869 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 1870
Lightvalve 20:806196fda269 1871 }
Lightvalve 52:8ea76864368a 1872 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1873
Lightvalve 58:2eade98630e2 1874 }