Yeseong Jeong
/
HydraulicControlBoard_Start
20210203
main.cpp@98:cd1b2da4704f, 2020-08-19 (annotated)
- Committer:
- Lightvalve
- Date:
- Wed Aug 19 02:27:45 2020 +0000
- Revision:
- 98:cd1b2da4704f
- Parent:
- 97:d71c57e3515e
- Child:
- 99:7bbcb3c0fb06
200819-1
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Lightvalve | 98:cd1b2da4704f | 1 | //200819-1 |
GiJeongKim | 0:51c43836c1d7 | 2 | #include "mbed.h" |
GiJeongKim | 0:51c43836c1d7 | 3 | #include "FastPWM.h" |
GiJeongKim | 0:51c43836c1d7 | 4 | #include "INIT_HW.h" |
jobuuu | 2:a1c0a37df760 | 5 | #include "function_CAN.h" |
GiJeongKim | 0:51c43836c1d7 | 6 | #include "SPI_EEP_ENC.h" |
GiJeongKim | 0:51c43836c1d7 | 7 | #include "I2C_AS5510.h" |
GiJeongKim | 0:51c43836c1d7 | 8 | #include "setting.h" |
Lightvalve | 11:82d8768d7351 | 9 | #include "function_utilities.h" |
Lightvalve | 16:903b5a4433b4 | 10 | #include "stm32f4xx_flash.h" |
Lightvalve | 65:a2d7c63419c2 | 11 | #include "FlashWriter.h" |
Lightvalve | 61:bc8c8270f0ab | 12 | |
Lightvalve | 61:bc8c8270f0ab | 13 | using namespace std; |
Lightvalve | 61:bc8c8270f0ab | 14 | Timer t; |
GiJeongKim | 0:51c43836c1d7 | 15 | |
Lightvalve | 31:66738bfecec5 | 16 | ///191008//// |
Lightvalve | 31:66738bfecec5 | 17 | |
jobuuu | 7:e9086c72bb22 | 18 | // dac & check /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 19 | DigitalOut check(PC_2); |
GiJeongKim | 0:51c43836c1d7 | 20 | DigitalOut check_2(PC_3); |
GiJeongKim | 0:51c43836c1d7 | 21 | AnalogOut dac_1(PA_4); |
GiJeongKim | 0:51c43836c1d7 | 22 | AnalogOut dac_2(PA_5); |
Lightvalve | 14:8e7590227d22 | 23 | AnalogIn adc1(PC_4); //pressure_1 |
Lightvalve | 14:8e7590227d22 | 24 | AnalogIn adc2(PB_0); //pressure_2 |
Lightvalve | 14:8e7590227d22 | 25 | AnalogIn adc3(PC_1); //current |
GiJeongKim | 0:51c43836c1d7 | 26 | |
Lightvalve | 24:ef6e1092e9e6 | 27 | |
jobuuu | 7:e9086c72bb22 | 28 | // PWM /////////////////////////////////////////// |
Lightvalve | 30:8d561f16383b | 29 | float dtc_v=0.0f; |
Lightvalve | 30:8d561f16383b | 30 | float dtc_w=0.0f; |
GiJeongKim | 0:51c43836c1d7 | 31 | |
jobuuu | 7:e9086c72bb22 | 32 | // I2C /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 33 | I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F) |
GiJeongKim | 0:51c43836c1d7 | 34 | const int i2c_slave_addr1 = 0x56; |
GiJeongKim | 0:51c43836c1d7 | 35 | unsigned int value; // 10bit output of reading sensor AS5510 |
GiJeongKim | 0:51c43836c1d7 | 36 | |
jobuuu | 7:e9086c72bb22 | 37 | // SPI /////////////////////////////////////////// |
Lightvalve | 16:903b5a4433b4 | 38 | //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK); |
Lightvalve | 16:903b5a4433b4 | 39 | //DigitalOut eeprom_cs(PB_12); |
Lightvalve | 16:903b5a4433b4 | 40 | //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector |
GiJeongKim | 0:51c43836c1d7 | 41 | SPI enc(PC_12,PC_11,PC_10); |
GiJeongKim | 0:51c43836c1d7 | 42 | DigitalOut enc_cs(PD_2); |
Lightvalve | 11:82d8768d7351 | 43 | DigitalOut LED(PA_15); |
GiJeongKim | 0:51c43836c1d7 | 44 | |
jobuuu | 7:e9086c72bb22 | 45 | // UART /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 46 | Serial pc(PA_9,PA_10); // _ UART |
GiJeongKim | 0:51c43836c1d7 | 47 | |
jobuuu | 7:e9086c72bb22 | 48 | // CAN /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 49 | CAN can(PB_8, PB_9, 1000000); |
GiJeongKim | 0:51c43836c1d7 | 50 | CANMessage msg; |
Lightvalve | 11:82d8768d7351 | 51 | void onMsgReceived() |
Lightvalve | 11:82d8768d7351 | 52 | { |
Lightvalve | 11:82d8768d7351 | 53 | CAN_RX_HANDLER(); |
Lightvalve | 11:82d8768d7351 | 54 | } |
jobuuu | 2:a1c0a37df760 | 55 | |
jobuuu | 7:e9086c72bb22 | 56 | // Variables /////////////////////////////////////////// |
jobuuu | 7:e9086c72bb22 | 57 | State pos; |
jobuuu | 7:e9086c72bb22 | 58 | State vel; |
jobuuu | 7:e9086c72bb22 | 59 | State Vout; |
jobuuu | 7:e9086c72bb22 | 60 | State torq; |
jobuuu | 7:e9086c72bb22 | 61 | State pres_A; |
jobuuu | 7:e9086c72bb22 | 62 | State pres_B; |
jobuuu | 7:e9086c72bb22 | 63 | State cur; |
Lightvalve | 14:8e7590227d22 | 64 | State valve_pos; |
Lightvalve | 14:8e7590227d22 | 65 | |
Lightvalve | 14:8e7590227d22 | 66 | State INIT_Vout; |
Lightvalve | 14:8e7590227d22 | 67 | State INIT_Valve_Pos; |
Lightvalve | 14:8e7590227d22 | 68 | State INIT_Pos; |
Lightvalve | 14:8e7590227d22 | 69 | State INIT_torq; |
jobuuu | 5:a4319f79457b | 70 | |
Lightvalve | 19:23b7c1ad8683 | 71 | extern int CID_RX_CMD; |
Lightvalve | 19:23b7c1ad8683 | 72 | extern int CID_RX_REF_POSITION; |
Lightvalve | 49:e7bcfc244d40 | 73 | extern int CID_RX_REF_VALVE_POS; |
Lightvalve | 45:35fa6884d0c6 | 74 | extern int CID_RX_REF_PWM; |
Lightvalve | 19:23b7c1ad8683 | 75 | |
Lightvalve | 19:23b7c1ad8683 | 76 | extern int CID_TX_INFO; |
Lightvalve | 19:23b7c1ad8683 | 77 | extern int CID_TX_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 78 | extern int CID_TX_TORQUE; |
Lightvalve | 19:23b7c1ad8683 | 79 | extern int CID_TX_PRES; |
Lightvalve | 19:23b7c1ad8683 | 80 | extern int CID_TX_VOUT; |
Lightvalve | 19:23b7c1ad8683 | 81 | extern int CID_TX_VALVE_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 82 | |
Lightvalve | 61:bc8c8270f0ab | 83 | |
Lightvalve | 61:bc8c8270f0ab | 84 | |
Lightvalve | 61:bc8c8270f0ab | 85 | |
jobuuu | 7:e9086c72bb22 | 86 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 87 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 88 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 89 | |
Lightvalve | 12:6f2531038ea4 | 90 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 91 | * REFERENCE MODE |
Lightvalve | 12:6f2531038ea4 | 92 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 93 | enum _REFERENCE_MODE { |
Lightvalve | 13:747daba9cf59 | 94 | MODE_REF_NO_ACT = 0, //0 |
Lightvalve | 12:6f2531038ea4 | 95 | MODE_REF_DIRECT, //1 |
Lightvalve | 12:6f2531038ea4 | 96 | MODE_REF_COS_INC, //2 |
Lightvalve | 12:6f2531038ea4 | 97 | MODE_REF_LINE_INC, //3 |
Lightvalve | 12:6f2531038ea4 | 98 | MODE_REF_SIN_WAVE, //4 |
Lightvalve | 12:6f2531038ea4 | 99 | MODE_REF_SQUARE_WAVE, //5 |
Lightvalve | 12:6f2531038ea4 | 100 | }; |
Lightvalve | 12:6f2531038ea4 | 101 | |
Lightvalve | 12:6f2531038ea4 | 102 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 103 | * CONTROL MODE |
Lightvalve | 12:6f2531038ea4 | 104 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 105 | enum _CONTROL_MODE { |
Lightvalve | 12:6f2531038ea4 | 106 | //control mode |
Lightvalve | 12:6f2531038ea4 | 107 | MODE_NO_ACT = 0, //0 |
Lightvalve | 47:fdcb8bd86fd6 | 108 | MODE_VALVE_POSITION_CONTROL, //1 |
Lightvalve | 47:fdcb8bd86fd6 | 109 | MODE_JOINT_CONTROL, //2 |
Lightvalve | 50:3c630b5eba9f | 110 | |
Lightvalve | 47:fdcb8bd86fd6 | 111 | MODE_VALVE_OPEN_LOOP, //3 |
Lightvalve | 12:6f2531038ea4 | 112 | MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4 |
Lightvalve | 12:6f2531038ea4 | 113 | MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5 |
Lightvalve | 13:747daba9cf59 | 114 | |
Lightvalve | 12:6f2531038ea4 | 115 | MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6 |
Lightvalve | 12:6f2531038ea4 | 116 | MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7 |
Lightvalve | 12:6f2531038ea4 | 117 | MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8 |
Lightvalve | 13:747daba9cf59 | 118 | |
Lightvalve | 12:6f2531038ea4 | 119 | MODE_TEST_CURRENT_CONTROL, //9 |
Lightvalve | 12:6f2531038ea4 | 120 | MODE_TEST_PWM_CONTROL, //10 |
Lightvalve | 21:e5f1a43ea6f9 | 121 | |
Lightvalve | 14:8e7590227d22 | 122 | MODE_CURRENT_CONTROL, //11 |
Lightvalve | 14:8e7590227d22 | 123 | MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12 |
Lightvalve | 14:8e7590227d22 | 124 | MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13 |
Lightvalve | 13:747daba9cf59 | 125 | |
Lightvalve | 12:6f2531038ea4 | 126 | //utility |
Lightvalve | 12:6f2531038ea4 | 127 | MODE_TORQUE_SENSOR_NULLING = 20, //20 |
Lightvalve | 12:6f2531038ea4 | 128 | MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21 |
Lightvalve | 12:6f2531038ea4 | 129 | MODE_FIND_HOME, //22 |
Lightvalve | 57:f4819de54e7a | 130 | MODE_VALVE_GAIN_SETTING, //23 |
Lightvalve | 12:6f2531038ea4 | 131 | MODE_PRESSURE_SENSOR_NULLING, //24 |
Lightvalve | 12:6f2531038ea4 | 132 | MODE_PRESSURE_SENSOR_CALIB, //25 |
Lightvalve | 12:6f2531038ea4 | 133 | MODE_ROTARY_FRICTION_TUNING, //26 |
Lightvalve | 13:747daba9cf59 | 134 | |
Lightvalve | 12:6f2531038ea4 | 135 | MODE_DDV_POS_VS_PWM_ID = 30, //30 |
Lightvalve | 12:6f2531038ea4 | 136 | MODE_DDV_DEADZONE_AND_CENTER, //31 |
Lightvalve | 12:6f2531038ea4 | 137 | MODE_DDV_POS_VS_FLOWRATE, //32 |
Lightvalve | 57:f4819de54e7a | 138 | MODE_SYSTEM_ID, //33 |
Lightvalve | 12:6f2531038ea4 | 139 | }; |
Lightvalve | 12:6f2531038ea4 | 140 | |
Lightvalve | 65:a2d7c63419c2 | 141 | void SystemClock_Config(void) |
Lightvalve | 65:a2d7c63419c2 | 142 | { |
Lightvalve | 65:a2d7c63419c2 | 143 | RCC_OscInitTypeDef RCC_OscInitStruct = {0}; |
Lightvalve | 65:a2d7c63419c2 | 144 | RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; |
Lightvalve | 65:a2d7c63419c2 | 145 | |
Lightvalve | 65:a2d7c63419c2 | 146 | /** Configure the main internal regulator output voltage |
Lightvalve | 65:a2d7c63419c2 | 147 | */ |
Lightvalve | 65:a2d7c63419c2 | 148 | __HAL_RCC_PWR_CLK_ENABLE(); |
Lightvalve | 65:a2d7c63419c2 | 149 | __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); |
Lightvalve | 65:a2d7c63419c2 | 150 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 65:a2d7c63419c2 | 151 | */ |
Lightvalve | 65:a2d7c63419c2 | 152 | RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; |
Lightvalve | 65:a2d7c63419c2 | 153 | RCC_OscInitStruct.HSIState = RCC_HSI_ON; |
Lightvalve | 65:a2d7c63419c2 | 154 | RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; |
Lightvalve | 65:a2d7c63419c2 | 155 | RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; |
Lightvalve | 65:a2d7c63419c2 | 156 | RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI; |
Lightvalve | 65:a2d7c63419c2 | 157 | RCC_OscInitStruct.PLL.PLLM = 8;//8 |
Lightvalve | 65:a2d7c63419c2 | 158 | RCC_OscInitStruct.PLL.PLLN = 180; //180 |
Lightvalve | 65:a2d7c63419c2 | 159 | RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; |
Lightvalve | 65:a2d7c63419c2 | 160 | RCC_OscInitStruct.PLL.PLLQ = 2; |
Lightvalve | 65:a2d7c63419c2 | 161 | RCC_OscInitStruct.PLL.PLLR = 2; |
Lightvalve | 65:a2d7c63419c2 | 162 | if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) |
Lightvalve | 65:a2d7c63419c2 | 163 | { |
Lightvalve | 65:a2d7c63419c2 | 164 | //Error_Handler(); |
Lightvalve | 65:a2d7c63419c2 | 165 | } |
Lightvalve | 65:a2d7c63419c2 | 166 | /** Activate the Over-Drive mode |
Lightvalve | 65:a2d7c63419c2 | 167 | */ |
Lightvalve | 65:a2d7c63419c2 | 168 | if (HAL_PWREx_EnableOverDrive() != HAL_OK) |
Lightvalve | 65:a2d7c63419c2 | 169 | { |
Lightvalve | 65:a2d7c63419c2 | 170 | //Error_Handler(); |
Lightvalve | 65:a2d7c63419c2 | 171 | } |
Lightvalve | 65:a2d7c63419c2 | 172 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 65:a2d7c63419c2 | 173 | */ |
Lightvalve | 65:a2d7c63419c2 | 174 | RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |
Lightvalve | 65:a2d7c63419c2 | 175 | |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; |
Lightvalve | 65:a2d7c63419c2 | 176 | RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; |
Lightvalve | 65:a2d7c63419c2 | 177 | RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; |
Lightvalve | 65:a2d7c63419c2 | 178 | RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4; |
Lightvalve | 65:a2d7c63419c2 | 179 | RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; |
Lightvalve | 65:a2d7c63419c2 | 180 | |
Lightvalve | 65:a2d7c63419c2 | 181 | if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) |
Lightvalve | 65:a2d7c63419c2 | 182 | { |
Lightvalve | 65:a2d7c63419c2 | 183 | //Error_Handler(); |
Lightvalve | 65:a2d7c63419c2 | 184 | } |
Lightvalve | 65:a2d7c63419c2 | 185 | } |
Lightvalve | 65:a2d7c63419c2 | 186 | |
Lightvalve | 65:a2d7c63419c2 | 187 | |
Lightvalve | 68:328e1be06f5d | 188 | float x_past[num_array_x_past] = {0.0f}; |
Lightvalve | 85:a3b46118b5cd | 189 | float x_future[num_array_x_future] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 190 | float f_past[num_array_f_past] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 191 | float f_future[num_array_f_future] = {0.0f}; |
Lightvalve | 66:a8e6799dbce3 | 192 | |
Lightvalve | 73:f80dc3970c99 | 193 | float input_NN[num_input] = { 0.0f }; |
Lightvalve | 65:a2d7c63419c2 | 194 | |
Lightvalve | 90:a6cfef34bdce | 195 | const float h1[num_input][16] = { |
Lightvalve | 98:cd1b2da4704f | 196 | {-0.5148975849151611f,0.6913270354270935f,0.12903714179992676f,0.06968002766370773f,-0.790452778339386f,1.4857755899429321f,-0.17472904920578003f,1.0495461225509644f,-0.6124919652938843f,-0.25905439257621765f,-0.23836180567741394f,1.9130226373672485f,-0.3294254243373871f,-1.4778105020523071f,-0.2571594715118408f,-2.4880127906799316f}, |
Lightvalve | 98:cd1b2da4704f | 197 | {-0.7906327247619629f,0.8467333912849426f,-0.3927857577800751f,-0.1892901360988617f,-0.9342114925384521f,1.347975492477417f,-0.4054011106491089f,0.6229709982872009f,-0.5047441124916077f,-0.13633562624454498f,-0.27498406171798706f,0.7508368492126465f,0.21865729987621307f,-1.491814136505127f,-0.20967772603034973f,-1.5309267044067383f}, |
Lightvalve | 98:cd1b2da4704f | 198 | {-1.1931301355361938f,1.1135512590408325f,0.36391180753707886f,-0.48407620191574097f,-0.9778469800949097f,1.5033245086669922f,0.2872133255004883f,0.6421817541122437f,-0.9563406109809875f,-0.26685020327568054f,-0.3487076163291931f,-1.0145602226257324f,0.03020939975976944f,-0.45736515522003174f,0.05590221285820007f,-0.8476586937904358f}, |
Lightvalve | 98:cd1b2da4704f | 199 | {-1.3051706552505493f,1.0874000787734985f,0.39742106199264526f,0.24348556995391846f,-1.1686537265777588f,0.2843722105026245f,-0.11584559082984924f,1.0672457218170166f,-1.069120168685913f,-0.12463018298149109f,0.0952904224395752f,-2.554316759109497f,-0.08049971610307693f,-0.008950088173151016f,-0.2961459457874298f,1.1411194801330566f}, |
Lightvalve | 98:cd1b2da4704f | 200 | {0.14222723245620728f,0.4066593050956726f,-0.0051451027393341064f,0.2917144000530243f,-0.26570791006088257f,-1.2131741046905518f,0.1294034719467163f,0.13665500283241272f,-0.12447118014097214f,0.10683567821979523f,0.3473935127258301f,-2.5899734497070312f,0.0719006285071373f,0.7997652292251587f,-0.3865056037902832f,2.311340093612671f}, |
Lightvalve | 98:cd1b2da4704f | 201 | {3.920180320739746f,-3.846663475036621f,0.21773302555084229f,0.4770970344543457f,3.5844225883483887f,-3.6941583156585693f,0.16514194011688232f,-3.6810801029205322f,3.154061794281006f,1.2145910263061523f,-0.24791206419467926f,3.4647464752197266f,-0.05989024043083191f,3.000591516494751f,-0.4132833778858185f,1.4438724517822266f}, |
Lightvalve | 98:cd1b2da4704f | 202 | {-0.12111768126487732f,0.08380457758903503f,-0.2501986622810364f,-0.582443118095398f,-0.49875351786613464f,0.5143295526504517f,0.06014183163642883f,-0.592200517654419f,2.287799835205078f,-0.1632602959871292f,0.1481132060289383f,-1.1173450946807861f,-0.3159672021865845f,1.0699635744094849f,-0.15618428587913513f,-0.9952345490455627f}, |
Lightvalve | 98:cd1b2da4704f | 203 | {-0.6355297565460205f,-0.03333640471100807f,-0.26619744300842285f,-0.053172167390584946f,-0.7811458706855774f,0.9147476553916931f,-0.17925891280174255f,-0.7938778400421143f,-1.6391313076019287f,-0.16126398742198944f,0.10272976756095886f,-1.6798183917999268f,0.3692992031574249f,0.6723886132240295f,0.04303058981895447f,2.1895909309387207f}, |
Lightvalve | 98:cd1b2da4704f | 204 | {-0.0021498650312423706f,0.08051954954862595f,0.10248100757598877f,-0.4481695890426636f,-0.301817387342453f,1.5014127492904663f,-0.07246989011764526f,-1.0245394706726074f,-1.6347746849060059f,0.7809115052223206f,-0.29991286993026733f,1.5558332204818726f,0.2544945776462555f,0.9728240370750427f,-0.30555272102355957f,0.02078300528228283f}, |
Lightvalve | 98:cd1b2da4704f | 205 | {-0.09895939379930496f,-0.5768936276435852f,0.18462657928466797f,-0.17065918445587158f,-0.04719269648194313f,0.4076792895793915f,-0.2990540862083435f,-0.12788896262645721f,-0.6685953736305237f,0.2066139578819275f,-0.011072719469666481f,0.32346463203430176f,0.39884257316589355f,0.9943166971206665f,0.3484981060028076f,-1.832129955291748f}, |
Lightvalve | 98:cd1b2da4704f | 206 | {0.32884395122528076f,-0.2635522484779358f,0.37182438373565674f,0.1577087640762329f,-0.38952457904815674f,-0.5387749671936035f,-0.20339298248291016f,0.15740512311458588f,-0.19073837995529175f,0.5409423112869263f,0.3455236852169037f,-0.4002244472503662f,-0.058453820645809174f,1.5326565504074097f,0.26688337326049805f,-2.694427490234375f}, |
Lightvalve | 98:cd1b2da4704f | 207 | {-0.23524357378482819f,-0.6518380045890808f,-0.40320003032684326f,-0.1305554062128067f,-0.06504672020673752f,-0.8075979948043823f,0.1533789038658142f,0.35412418842315674f,0.488972932100296f,0.6301876902580261f,-0.4167799949645996f,-0.36251047253608704f,0.1458144187927246f,0.6380942463874817f,0.10493969917297363f,-2.115976333618164f}, |
Lightvalve | 98:cd1b2da4704f | 208 | {0.03274271637201309f,-0.0911468043923378f,0.19847965240478516f,0.05293659120798111f,0.30053776502609253f,-0.4260278344154358f,-0.2404318004846573f,0.07340890169143677f,0.16252197325229645f,-0.04801492020487785f,-0.11149545013904572f,-0.43259477615356445f,0.10189790278673172f,-0.670600414276123f,-0.22268100082874298f,-1.3953211307525635f}, |
Lightvalve | 98:cd1b2da4704f | 209 | {-0.09184899926185608f,0.11332615464925766f,0.4127817749977112f,-0.13804464042186737f,-0.06335645169019699f,-0.5682795643806458f,-0.32001304626464844f,-0.3443944752216339f,-0.24648019671440125f,-0.23045474290847778f,-0.1973976045846939f,0.22043177485466003f,-0.2981586754322052f,-1.4600191116333008f,0.0479682981967926f,-0.3355119228363037f}, |
Lightvalve | 98:cd1b2da4704f | 210 | {0.17548403143882751f,0.0514235720038414f,0.20282304286956787f,0.0031971673015505075f,0.4625685513019562f,-0.16567985713481903f,0.04202890396118164f,0.14673961699008942f,0.03839880973100662f,-0.11902724951505661f,-0.2818385362625122f,-0.056304946541786194f,0.10816586762666702f,-0.8528621792793274f,0.0668090283870697f,-1.0549118518829346f}, |
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Lightvalve | 98:cd1b2da4704f | 212 | {-0.15191811323165894f,-0.1007840558886528f,0.16706281900405884f,0.006672909948974848f,-0.003110149409621954f,-0.762115478515625f,-0.041414469480514526f,0.03543923795223236f,0.5521782636642456f,-0.4062930643558502f,-0.3557530641555786f,0.3585992157459259f,0.13107405602931976f,0.24544933438301086f,0.29427415132522583f,1.0534487962722778f}, |
Lightvalve | 65:a2d7c63419c2 | 213 | }; |
Lightvalve | 65:a2d7c63419c2 | 214 | |
Lightvalve | 90:a6cfef34bdce | 215 | const float h2[16][16] = { |
Lightvalve | 98:cd1b2da4704f | 216 | {-3.4398791790008545f,1.8482379913330078f,-0.06966331601142883f,-0.00788033101707697f,-0.21907491981983185f,2.2592196464538574f,-0.004953187890350819f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,0.7502431273460388f,-0.47024568915367126f,0.00603795750066638f,2.3494179248809814f,2.4163272380828857f,-0.5829678773880005f}, |
Lightvalve | 98:cd1b2da4704f | 217 | {2.1497676372528076f,0.14490026235580444f,0.057057321071624756f,-1.802488088607788f,-0.35503754019737244f,-1.8396915197372437f,-0.5683606863021851f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,2.452321767807007f,-0.6453670263290405f,0.19870516657829285f,-0.7929888367652893f,0.2338344007730484f,-0.649878978729248f}, |
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 | 98:cd1b2da4704f | 219 | {0.032889463007450104f,-0.3373774290084839f,-0.2894435524940491f,0.19745232164859772f,0.08946844935417175f,0.21209675073623657f,-0.23805393278598785f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,-0.015198991633951664f,0.2877965271472931f,-0.5414372086524963f,-0.14195658266544342f,0.31992027163505554f,0.23537500202655792f}, |
Lightvalve | 98:cd1b2da4704f | 220 | {-0.5507016181945801f,0.18181274831295013f,-0.25313520431518555f,-0.7556056976318359f,0.036378175020217896f,0.3760649859905243f,-0.4087822735309601f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,2.0449025630950928f,-0.6807706952095032f,-0.03529064357280731f,-0.502030611038208f,0.676935613155365f,-0.8007894158363342f}, |
Lightvalve | 98:cd1b2da4704f | 221 | {0.30517372488975525f,0.041431691497564316f,-0.3519742488861084f,-0.3776823580265045f,-0.3015052080154419f,0.22321076691150665f,-0.7179126143455505f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,0.5109689831733704f,-0.2936096787452698f,-0.348145067691803f,-1.0741698741912842f,0.5876720547676086f,-1.0622529983520508f}, |
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 | 98:cd1b2da4704f | 223 | {0.6063749194145203f,0.5828306078910828f,0.33083590865135193f,-0.6215236783027649f,-0.14358049631118774f,-1.3952178955078125f,-0.15046429634094238f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,-3.355509042739868f,-0.7030810117721558f,-0.44010040163993835f,2.910482168197632f,1.412354588508606f,-0.53904128074646f}, |
Lightvalve | 98:cd1b2da4704f | 224 | {-0.8159868717193604f,2.5172226428985596f,-0.11379697918891907f,-0.5977725982666016f,0.041274964809417725f,0.3400547504425049f,-0.2325267791748047f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,0.8653631210327148f,-0.8738273978233337f,-0.49878576397895813f,0.6692306399345398f,-0.8648783564567566f,-0.6348849534988403f}, |
Lightvalve | 98:cd1b2da4704f | 225 | {0.004738830961287022f,0.6704568266868591f,-0.13502129912376404f,0.16209425032138824f,0.12987366318702698f,0.048303429037332535f,-0.0286114439368248f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,-0.35661208629608154f,0.09956754744052887f,0.24273109436035156f,0.20394794642925262f,0.08121732622385025f,-0.5678980946540833f}, |
Lightvalve | 98:cd1b2da4704f | 226 | {-0.2795029282569885f,0.005486087407916784f,0.0457797646522522f,-0.35345935821533203f,-0.03321319818496704f,-0.4265287518501282f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.20449678599834442f,0.3545852601528168f,-0.3647043704986572f,0.4054204225540161f,-0.40733587741851807f,-0.270757257938385f}, |
Lightvalve | 98:cd1b2da4704f | 227 | {-0.4767029583454132f,6.086306095123291f,0.3954955041408539f,-0.4272023141384125f,0.0033026933670043945f,2.254685401916504f,-0.3985411822795868f,-0.11795541644096375f,0.3487861454486847f,-0.32520344853401184f,3.9606168270111084f,-0.45552361011505127f,-0.0559220127761364f,-2.728947401046753f,1.051852822303772f,-0.3014424741268158f}, |
Lightvalve | 98:cd1b2da4704f | 228 | {-0.1879907101392746f,-0.2501440644264221f,-0.15798500180244446f,0.5000408291816711f,-0.37393757700920105f,0.34403666853904724f,0.11292675137519836f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.08110538870096207f,-0.2837170362472534f,0.41839322447776794f,0.011466778814792633f,-0.18873721361160278f,0.06270549446344376f}, |
Lightvalve | 98:cd1b2da4704f | 229 | {0.08501578122377396f,-0.3231253921985626f,-0.2018718123435974f,0.669339656829834f,0.07545611262321472f,-0.05011335760354996f,-0.41673141717910767f,-0.21416273713111877f,-0.24509364366531372f,0.19522181153297424f,-1.303952693939209f,-0.5437983274459839f,-0.30508455634117126f,0.31748679280281067f,-0.22021836042404175f,-0.5213689804077148f}, |
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 | 98:cd1b2da4704f | 231 | {-0.5098994374275208f,-0.7174665927886963f,0.12081471085548401f,-1.3910459280014038f,0.29976895451545715f,-0.1250896453857422f,-0.18117135763168335f,0.31089308857917786f,-0.3893685042858124f,-0.02222958207130432f,0.01646742783486843f,-0.6269581913948059f,-0.3353298604488373f,0.3096812665462494f,-0.18774321675300598f,-0.4136137068271637f}, |
Lightvalve | 65:a2d7c63419c2 | 232 | }; |
Lightvalve | 65:a2d7c63419c2 | 233 | |
Lightvalve | 90:a6cfef34bdce | 234 | const float h3[16][16] = { |
Lightvalve | 98:cd1b2da4704f | 235 | {-0.36079341173171997f,-1.4002022743225098f,-0.15496845543384552f,-0.5186285376548767f,1.12073814868927f,0.021711893379688263f,0.22705639898777008f,0.3036012351512909f,-0.49025630950927734f,-0.5200098752975464f,-0.11870327591896057f,0.10166759043931961f,-0.6542547345161438f,0.7162150144577026f,-1.2592511177062988f,1.8590933084487915f}, |
Lightvalve | 98:cd1b2da4704f | 236 | {0.047732532024383545f,-1.526611566543579f,-0.24044454097747803f,-0.3331625461578369f,-1.4728660583496094f,4.130182266235352f,-0.3198729455471039f,0.06247803568840027f,0.24862875044345856f,-0.15296953916549683f,0.2721240222454071f,-0.44297707080841064f,2.064105272293091f,1.9600025415420532f,-2.6107990741729736f,0.6521881222724915f}, |
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 | 98:cd1b2da4704f | 238 | {-0.30922991037368774f,-0.7222880721092224f,-0.37467989325523376f,-0.43315574526786804f,-1.4309061765670776f,-0.08427301049232483f,0.07763774693012238f,0.07002416253089905f,-0.5193164944648743f,-0.6246053576469421f,0.13192829489707947f,0.05707714706659317f,-0.005306444130837917f,0.9676557183265686f,-0.2170732319355011f,-0.42233189940452576f}, |
Lightvalve | 97:d71c57e3515e | 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 | 98:cd1b2da4704f | 240 | {-0.37449589371681213f,0.6806039214134216f,-0.9492158889770508f,-0.11001157015562057f,0.26889902353286743f,0.593567430973053f,-0.3240175247192383f,0.22384825348854065f,-0.6745800375938416f,0.5529975891113281f,-0.2385200560092926f,-0.13680315017700195f,-2.3767623901367188f,-0.8200106024742126f,1.6094990968704224f,0.5019183158874512f}, |
Lightvalve | 98:cd1b2da4704f | 241 | {0.4110594093799591f,0.17449118196964264f,-0.22636400163173676f,0.37246426939964294f,0.1987767368555069f,-0.18461379408836365f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.21155259013175964f,0.03979954123497009f,0.20585757493972778f,-0.3391006588935852f}, |
Lightvalve | 97:d71c57e3515e | 242 | {-0.40892091393470764f,0.043769627809524536f,-0.3867315948009491f,0.25968697667121887f,0.3424709737300873f,-0.051169753074645996f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.2742875814437866f,-0.36560842394828796f,0.07994696497917175f,0.005298197269439697f}, |
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 | 98:cd1b2da4704f | 245 | {0.15459725260734558f,-0.3258223533630371f,-0.1492905467748642f,-0.38421759009361267f,0.3944055438041687f,-0.11667867004871368f,-0.08742031455039978f,0.05785742402076721f,-0.34515058994293213f,-0.6268306374549866f,-0.010714782401919365f,-0.5127771496772766f,2.32047963142395f,-4.680253982543945f,0.6271816492080688f,0.3120194971561432f}, |
Lightvalve | 98:cd1b2da4704f | 246 | {-0.408692330121994f,0.14456172287464142f,-0.09676734358072281f,0.0922636091709137f,-0.12856626510620117f,-0.0092587536200881f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.476328581571579f,-0.10435925424098969f,-0.0763804242014885f,0.2252551019191742f}, |
Lightvalve | 98:cd1b2da4704f | 247 | {-0.2991822361946106f,0.3313310444355011f,-0.04416324570775032f,-0.05932474136352539f,0.11846208572387695f,0.19483672082424164f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.05057636648416519f,-0.16746534407138824f,0.31812024116516113f,-0.10828400403261185f}, |
Lightvalve | 98:cd1b2da4704f | 248 | {-0.2675279378890991f,0.17262902855873108f,-0.2144627720117569f,-0.20456747710704803f,0.0998799204826355f,-0.46256816387176514f,-0.46433788537979126f,-0.31893211603164673f,-0.6255066990852356f,-2.024089813232422f,-0.5077632069587708f,-0.7495431900024414f,2.3684983253479004f,-1.0168710947036743f,0.407028466463089f,0.9326169490814209f}, |
Lightvalve | 98:cd1b2da4704f | 249 | {-0.015470266342163086f,-0.8369113802909851f,0.2782694101333618f,0.1809295266866684f,-0.4426118731498718f,-1.1821869611740112f,-0.07059845328330994f,-0.008358269929885864f,-0.8782433867454529f,-1.07737398147583f,-0.013666536659002304f,-0.4159398078918457f,-0.11609124392271042f,-0.9788495898246765f,0.0649058148264885f,-0.08596501499414444f}, |
Lightvalve | 98:cd1b2da4704f | 250 | {0.1863725483417511f,0.07582804560661316f,0.03896167874336243f,-0.5841152667999268f,0.5126551985740662f,-0.024197066202759743f,0.04860696196556091f,0.17769548296928406f,-0.03374833986163139f,0.3378079831600189f,-0.3929237127304077f,0.19592127203941345f,0.43936654925346375f,0.09462994337081909f,-0.15384435653686523f,0.25945281982421875f}, |
Lightvalve | 66:a8e6799dbce3 | 251 | }; |
Lightvalve | 65:a2d7c63419c2 | 252 | |
Lightvalve | 98:cd1b2da4704f | 253 | const float hout[16] = { 0.45773375034332275f,0.1165318712592125f,0.07097302377223969f,0.05380448326468468f,-0.2004425972700119f,0.1399393528699875f,-0.09999578446149826f,0.15066689252853394f,0.06000344827771187f,0.18214748799800873f,0.24302048981189728f,0.013172424398362637f,-0.19916334748268127f,0.10718239098787308f,0.25865495204925537f,-0.19829462468624115f }; |
Lightvalve | 66:a8e6799dbce3 | 254 | |
Lightvalve | 98:cd1b2da4704f | 255 | const float b1[16] = { 0.4491645097732544f,0.9208755493164062f,-1.7145336866378784f,0.31634828448295593f,1.3090225458145142f,0.29584822058677673f,-0.058932315558195114f,1.2392112016677856f,0.586719274520874f,-1.0047807693481445f,0.5695509910583496f,1.2591114044189453f,-0.38834723830223083f,-1.4351211786270142f,-1.087764859199524f,3.8004064559936523f }; |
Lightvalve | 87:471334725012 | 256 | |
Lightvalve | 98:cd1b2da4704f | 257 | const float b2[16] = { 0.3279315233230591f,-2.2450084686279297f,-1.4564176797866821f,1.2814544439315796f,-0.6939148902893066f,0.06713049858808517f,0.1416337788105011f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-1.621219277381897f,0.43232816457748413f,-0.2173057645559311f,0.9712880849838257f,-0.5004745721817017f,0.3576800227165222f }; |
Lightvalve | 65:a2d7c63419c2 | 258 | |
Lightvalve | 98:cd1b2da4704f | 259 | const float b3[16] = { -1.963319182395935f,0.4309479296207428f,-0.12190741300582886f,-0.3140162527561188f,0.6727640628814697f,0.5497865676879883f,-0.5637004375457764f,-0.6562485098838806f,0.2397126406431198f,1.1901241540908813f,-0.29090970754623413f,-0.3208962678909302f,-2.2033352851867676f,-0.04992983490228653f,-0.40876078605651855f,-1.1118935346603394f }; |
Lightvalve | 87:471334725012 | 260 | |
Lightvalve | 98:cd1b2da4704f | 261 | const float bout[1] = { -0.07665504515171051f }; |
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 | 68:328e1be06f5d | 423 | output = output * 20000.0f - 10000.0f; |
Lightvalve | 66:a8e6799dbce3 | 424 | if(output>=0) { |
Lightvalve | 66:a8e6799dbce3 | 425 | valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 66:a8e6799dbce3 | 426 | } else { |
Lightvalve | 66:a8e6799dbce3 | 427 | valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 65:a2d7c63419c2 | 428 | } |
Lightvalve | 87:471334725012 | 429 | |
Lightvalve | 88:d6e591bece22 | 430 | // // torque feedback |
Lightvalve | 88:d6e591bece22 | 431 | // torq.err = f_past[0] - torq.sen; //[N] |
Lightvalve | 88:d6e591bece22 | 432 | //// torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 88:d6e591bece22 | 433 | // torq.err_sum += torq.err/(float) 1500.0f; //[N] |
Lightvalve | 88:d6e591bece22 | 434 | // |
Lightvalve | 88:d6e591bece22 | 435 | // |
Lightvalve | 88:d6e591bece22 | 436 | // 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 | 437 | // |
Lightvalve | 88:d6e591bece22 | 438 | // if(I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 88:d6e591bece22 | 439 | // double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; |
Lightvalve | 88:d6e591bece22 | 440 | // if(valve_pos.ref>VALVE_MAX_POS) { |
Lightvalve | 88:d6e591bece22 | 441 | // double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; |
Lightvalve | 88:d6e591bece22 | 442 | // valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 88:d6e591bece22 | 443 | // valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 88:d6e591bece22 | 444 | // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f; |
Lightvalve | 88:d6e591bece22 | 445 | // } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 88:d6e591bece22 | 446 | // double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; |
Lightvalve | 88:d6e591bece22 | 447 | // valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 88:d6e591bece22 | 448 | // valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 88:d6e591bece22 | 449 | // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f; |
Lightvalve | 88:d6e591bece22 | 450 | // } |
Lightvalve | 88:d6e591bece22 | 451 | // } |
Lightvalve | 87:471334725012 | 452 | |
Lightvalve | 69:3995ffeaa786 | 453 | |
Lightvalve | 69:3995ffeaa786 | 454 | if(LED==1) { |
Lightvalve | 69:3995ffeaa786 | 455 | LED=0; |
Lightvalve | 69:3995ffeaa786 | 456 | } else |
Lightvalve | 69:3995ffeaa786 | 457 | LED = 1; |
Lightvalve | 69:3995ffeaa786 | 458 | |
Lightvalve | 65:a2d7c63419c2 | 459 | } |
Lightvalve | 62:b5452adfb2cd | 460 | |
Lightvalve | 87:471334725012 | 461 | //LED = 1; |
Lightvalve | 69:3995ffeaa786 | 462 | |
Lightvalve | 66:a8e6799dbce3 | 463 | |
GiJeongKim | 0:51c43836c1d7 | 464 | } |
jobuuu | 1:e04e563be5ce | 465 | } |
jobuuu | 1:e04e563be5ce | 466 | |
Lightvalve | 33:91b17819ec30 | 467 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL) |
Lightvalve | 14:8e7590227d22 | 468 | { |
Lightvalve | 14:8e7590227d22 | 469 | |
Lightvalve | 13:747daba9cf59 | 470 | int i = 0; |
Lightvalve | 48:889798ff9329 | 471 | float Ref_Valve_Pos_FF = 0.0f; |
Lightvalve | 14:8e7590227d22 | 472 | for(i=0; i<VALVE_POS_NUM; i++) { |
Lightvalve | 14:8e7590227d22 | 473 | 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 | 474 | if(i==0) { |
Lightvalve | 50:3c630b5eba9f | 475 | if(JOINT_VEL[i+1] == JOINT_VEL[i]) { |
Lightvalve | 57:f4819de54e7a | 476 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 477 | } else { |
Lightvalve | 57:f4819de54e7a | 478 | 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 | 479 | } |
Lightvalve | 14:8e7590227d22 | 480 | } else { |
Lightvalve | 50:3c630b5eba9f | 481 | if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) { |
Lightvalve | 57:f4819de54e7a | 482 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 483 | } else { |
Lightvalve | 57:f4819de54e7a | 484 | 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 | 485 | } |
Lightvalve | 13:747daba9cf59 | 486 | } |
Lightvalve | 13:747daba9cf59 | 487 | break; |
Lightvalve | 13:747daba9cf59 | 488 | } |
Lightvalve | 13:747daba9cf59 | 489 | } |
Lightvalve | 14:8e7590227d22 | 490 | if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 491 | Ref_Valve_Pos_FF = (float) VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 492 | } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 493 | Ref_Valve_Pos_FF = (float) VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 494 | } |
Lightvalve | 36:a46e63505ed8 | 495 | |
Lightvalve | 57:f4819de54e7a | 496 | Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); |
Lightvalve | 13:747daba9cf59 | 497 | return Ref_Valve_Pos_FF; |
Lightvalve | 50:3c630b5eba9f | 498 | |
Lightvalve | 13:747daba9cf59 | 499 | } |
jobuuu | 6:df07d3491e3a | 500 | |
jobuuu | 6:df07d3491e3a | 501 | |
Lightvalve | 30:8d561f16383b | 502 | void VALVE_POS_CONTROL(float REF_VALVE_POS) |
Lightvalve | 14:8e7590227d22 | 503 | { |
Lightvalve | 13:747daba9cf59 | 504 | int i = 0; |
Lightvalve | 13:747daba9cf59 | 505 | |
Lightvalve | 38:118df027d851 | 506 | if(REF_VALVE_POS > VALVE_MAX_POS) { |
Lightvalve | 38:118df027d851 | 507 | REF_VALVE_POS = VALVE_MAX_POS; |
Lightvalve | 38:118df027d851 | 508 | } else if(REF_VALVE_POS < VALVE_MIN_POS) { |
Lightvalve | 38:118df027d851 | 509 | REF_VALVE_POS = VALVE_MIN_POS; |
Lightvalve | 38:118df027d851 | 510 | } |
Lightvalve | 38:118df027d851 | 511 | |
Lightvalve | 89:a7b45368ea0f | 512 | valve_pos_err = (float) (REF_VALVE_POS - value); |
Lightvalve | 13:747daba9cf59 | 513 | valve_pos_err_diff = valve_pos_err - valve_pos_err_old; |
Lightvalve | 13:747daba9cf59 | 514 | valve_pos_err_old = valve_pos_err; |
Lightvalve | 13:747daba9cf59 | 515 | valve_pos_err_sum += valve_pos_err; |
Lightvalve | 89:a7b45368ea0f | 516 | if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f; |
Lightvalve | 89:a7b45368ea0f | 517 | if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f; |
Lightvalve | 13:747daba9cf59 | 518 | |
Lightvalve | 13:747daba9cf59 | 519 | 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 | 520 | |
Lightvalve | 18:b8adf1582ea3 | 521 | for(i=0; i<24; i++) { |
Lightvalve | 89:a7b45368ea0f | 522 | 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 | 523 | if(i==0) { |
Lightvalve | 48:889798ff9329 | 524 | 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 | 525 | } else { |
Lightvalve | 48:889798ff9329 | 526 | 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 | 527 | } |
Lightvalve | 13:747daba9cf59 | 528 | break; |
Lightvalve | 13:747daba9cf59 | 529 | } |
Lightvalve | 13:747daba9cf59 | 530 | } |
Lightvalve | 59:f308b1656d9c | 531 | Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; |
Lightvalve | 13:747daba9cf59 | 532 | } |
Lightvalve | 13:747daba9cf59 | 533 | |
Lightvalve | 14:8e7590227d22 | 534 | #define LT_MAX_IDX 57 |
Lightvalve | 30:8d561f16383b | 535 | 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 | 536 | -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 537 | -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 538 | 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 539 | 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 540 | 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f |
Lightvalve | 34:bb2ca2fc2a8e | 541 | }; // duty |
Lightvalve | 67:c2812cf26c38 | 542 | 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 | 543 | -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f, |
Lightvalve | 67:c2812cf26c38 | 544 | -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f, |
Lightvalve | 67:c2812cf26c38 | 545 | 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f, |
Lightvalve | 67:c2812cf26c38 | 546 | 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f, |
Lightvalve | 67:c2812cf26c38 | 547 | 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f |
Lightvalve | 34:bb2ca2fc2a8e | 548 | }; // mV |
Lightvalve | 13:747daba9cf59 | 549 | |
Lightvalve | 30:8d561f16383b | 550 | float PWM_duty_byLT(float Ref_V) |
Lightvalve | 14:8e7590227d22 | 551 | { |
Lightvalve | 30:8d561f16383b | 552 | float PWM_duty = 0.0f; |
Lightvalve | 13:747daba9cf59 | 553 | if(Ref_V<LT_Voltage_Output[0]) { |
Lightvalve | 30:8d561f16383b | 554 | PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0]; |
Lightvalve | 13:747daba9cf59 | 555 | } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) { |
Lightvalve | 30:8d561f16383b | 556 | PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1]; |
Lightvalve | 13:747daba9cf59 | 557 | } else { |
Lightvalve | 13:747daba9cf59 | 558 | int idx = 0; |
Lightvalve | 13:747daba9cf59 | 559 | for(idx=0; idx<LT_MAX_IDX-1; idx++) { |
Lightvalve | 30:8d561f16383b | 560 | float ini_x = LT_Voltage_Output[idx]; |
Lightvalve | 30:8d561f16383b | 561 | float fin_x = LT_Voltage_Output[idx+1]; |
Lightvalve | 30:8d561f16383b | 562 | float ini_y = LT_PWM_duty[idx]; |
Lightvalve | 30:8d561f16383b | 563 | float fin_y = LT_PWM_duty[idx+1]; |
Lightvalve | 13:747daba9cf59 | 564 | if(Ref_V>=ini_x && Ref_V<fin_x) { |
Lightvalve | 13:747daba9cf59 | 565 | PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y; |
Lightvalve | 13:747daba9cf59 | 566 | break; |
Lightvalve | 13:747daba9cf59 | 567 | } |
Lightvalve | 13:747daba9cf59 | 568 | } |
Lightvalve | 13:747daba9cf59 | 569 | } |
Lightvalve | 14:8e7590227d22 | 570 | |
Lightvalve | 13:747daba9cf59 | 571 | return PWM_duty; |
Lightvalve | 13:747daba9cf59 | 572 | } |
jobuuu | 6:df07d3491e3a | 573 | |
Lightvalve | 57:f4819de54e7a | 574 | |
Lightvalve | 57:f4819de54e7a | 575 | |
Lightvalve | 57:f4819de54e7a | 576 | |
Lightvalve | 57:f4819de54e7a | 577 | |
jobuuu | 2:a1c0a37df760 | 578 | /******************************************************************************* |
jobuuu | 2:a1c0a37df760 | 579 | TIMER INTERRUPT |
jobuuu | 2:a1c0a37df760 | 580 | *******************************************************************************/ |
jobuuu | 2:a1c0a37df760 | 581 | |
Lightvalve | 51:b46bed7fec80 | 582 | float FREQ_TMR4 = (float)FREQ_20k; |
Lightvalve | 51:b46bed7fec80 | 583 | float DT_TMR4 = (float)DT_20k; |
Lightvalve | 57:f4819de54e7a | 584 | long CNT_TMR4 = 0; |
Lightvalve | 57:f4819de54e7a | 585 | int TMR4_FREQ_10k = (int)FREQ_10k; |
jobuuu | 1:e04e563be5ce | 586 | extern "C" void TIM4_IRQHandler(void) |
jobuuu | 1:e04e563be5ce | 587 | { |
Lightvalve | 19:23b7c1ad8683 | 588 | if (TIM4->SR & TIM_SR_UIF ) { |
Lightvalve | 21:e5f1a43ea6f9 | 589 | |
Lightvalve | 21:e5f1a43ea6f9 | 590 | /******************************************************* |
Lightvalve | 21:e5f1a43ea6f9 | 591 | *** Sensor Read & Data Handling |
Lightvalve | 21:e5f1a43ea6f9 | 592 | ********************************************************/ |
Lightvalve | 13:747daba9cf59 | 593 | |
Lightvalve | 57:f4819de54e7a | 594 | //Encoder |
Lightvalve | 57:f4819de54e7a | 595 | if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) { |
Lightvalve | 57:f4819de54e7a | 596 | ENC_UPDATE(); |
Lightvalve | 57:f4819de54e7a | 597 | } |
Lightvalve | 61:bc8c8270f0ab | 598 | |
Lightvalve | 61:bc8c8270f0ab | 599 | ADC1->CR2 |= 0x40000000; |
Lightvalve | 58:2eade98630e2 | 600 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 601 | // Torque Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 602 | float pres_A_new = (((float) ADC1->DR) - 2047.5f); |
Lightvalve | 58:2eade98630e2 | 603 | double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz |
Lightvalve | 58:2eade98630e2 | 604 | pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new; |
Lightvalve | 67:c2812cf26c38 | 605 | torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE; |
Lightvalve | 67:c2812cf26c38 | 606 | |
Lightvalve | 67:c2812cf26c38 | 607 | |
Lightvalve | 67:c2812cf26c38 | 608 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 67:c2812cf26c38 | 609 | //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 67:c2812cf26c38 | 610 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 67:c2812cf26c38 | 611 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 67:c2812cf26c38 | 612 | // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 |
Lightvalve | 67:c2812cf26c38 | 613 | |
Lightvalve | 17:1865016ca2e7 | 614 | |
Lightvalve | 58:2eade98630e2 | 615 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 616 | // Pressure Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 617 | float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL); |
Lightvalve | 58:2eade98630e2 | 618 | float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL); |
Lightvalve | 58:2eade98630e2 | 619 | double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz |
Lightvalve | 58:2eade98630e2 | 620 | pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new; |
Lightvalve | 58:2eade98630e2 | 621 | pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new; |
Lightvalve | 58:2eade98630e2 | 622 | CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 58:2eade98630e2 | 623 | CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR; |
Lightvalve | 50:3c630b5eba9f | 624 | |
Lightvalve | 58:2eade98630e2 | 625 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator |
Lightvalve | 58:2eade98630e2 | 626 | 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 | 627 | } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator |
Lightvalve | 58:2eade98630e2 | 628 | 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 | 629 | } |
Lightvalve | 58:2eade98630e2 | 630 | } |
Lightvalve | 61:bc8c8270f0ab | 631 | |
Lightvalve | 58:2eade98630e2 | 632 | // //Pressure sensor A |
Lightvalve | 58:2eade98630e2 | 633 | // ADC1->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 58:2eade98630e2 | 634 | // //while((ADC1->SR & 0b10)); |
Lightvalve | 58:2eade98630e2 | 635 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 636 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 58:2eade98630e2 | 637 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 58:2eade98630e2 | 638 | // 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 | 639 | // |
Lightvalve | 58:2eade98630e2 | 640 | // |
Lightvalve | 58:2eade98630e2 | 641 | // //Pressure sensor B |
Lightvalve | 58:2eade98630e2 | 642 | // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 643 | // float pres_B_new = ((float)ADC2->DR); |
Lightvalve | 58:2eade98630e2 | 644 | // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B); |
Lightvalve | 58:2eade98630e2 | 645 | // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B; |
Lightvalve | 17:1865016ca2e7 | 646 | |
Lightvalve | 17:1865016ca2e7 | 647 | |
Lightvalve | 21:e5f1a43ea6f9 | 648 | //Current |
Lightvalve | 21:e5f1a43ea6f9 | 649 | //ADC3->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 25:3e6b574cab5c | 650 | //int raw_cur = ADC3->DR; |
Lightvalve | 21:e5f1a43ea6f9 | 651 | //while((ADC3->SR & 0b10)); |
Lightvalve | 51:b46bed7fec80 | 652 | float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz |
Lightvalve | 30:8d561f16383b | 653 | float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA |
Lightvalve | 30:8d561f16383b | 654 | cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur); |
Lightvalve | 25:3e6b574cab5c | 655 | //cur.sen = raw_cur; |
Lightvalve | 58:2eade98630e2 | 656 | |
Lightvalve | 57:f4819de54e7a | 657 | CNT_TMR4++; |
Lightvalve | 21:e5f1a43ea6f9 | 658 | } |
Lightvalve | 11:82d8768d7351 | 659 | TIM4->SR = 0x0; // reset the status register |
Lightvalve | 11:82d8768d7351 | 660 | } |
Lightvalve | 19:23b7c1ad8683 | 661 | |
Lightvalve | 19:23b7c1ad8683 | 662 | |
Lightvalve | 18:b8adf1582ea3 | 663 | int j =0; |
Lightvalve | 54:647072f5307a | 664 | float FREQ_TMR3 = (float)FREQ_5k; |
Lightvalve | 48:889798ff9329 | 665 | float DT_TMR3 = (float)DT_5k; |
Lightvalve | 45:35fa6884d0c6 | 666 | int cnt_trans = 0; |
Lightvalve | 48:889798ff9329 | 667 | double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f; |
Lightvalve | 57:f4819de54e7a | 668 | int can_rest =0; |
Lightvalve | 48:889798ff9329 | 669 | |
Lightvalve | 11:82d8768d7351 | 670 | extern "C" void TIM3_IRQHandler(void) |
Lightvalve | 21:e5f1a43ea6f9 | 671 | { |
Lightvalve | 19:23b7c1ad8683 | 672 | if (TIM3->SR & TIM_SR_UIF ) { |
Lightvalve | 57:f4819de54e7a | 673 | |
Lightvalve | 57:f4819de54e7a | 674 | if (((OPERATING_MODE&0b110)>>1) == 0) { |
Lightvalve | 57:f4819de54e7a | 675 | K_v = 0.4f; // Moog (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 676 | mV_PER_mA = 500.0f; // 5000mV/10mA |
Lightvalve | 57:f4819de54e7a | 677 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 678 | mA_PER_pulse = 0.001f; // 10mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 679 | } else if (((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 57:f4819de54e7a | 680 | K_v = 0.5f; // KNR (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 681 | mV_PER_mA = 166.6666f; // 5000mV/30mA |
Lightvalve | 57:f4819de54e7a | 682 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 683 | mA_PER_pulse = 0.003f; // 30mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 684 | } |
Lightvalve | 50:3c630b5eba9f | 685 | |
Lightvalve | 50:3c630b5eba9f | 686 | if(MODE_POS_FT_TRANS == 1) { |
Lightvalve | 48:889798ff9329 | 687 | alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 688 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 689 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 690 | if((float)cnt_trans * DT_TMR3 > 3.0f) |
Lightvalve | 45:35fa6884d0c6 | 691 | MODE_POS_FT_TRANS = 2; |
Lightvalve | 50:3c630b5eba9f | 692 | } else if(MODE_POS_FT_TRANS == 3) { |
Lightvalve | 48:889798ff9329 | 693 | alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 694 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 695 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 696 | if((float) cnt_trans * DT_TMR3 > 3.0f ) |
Lightvalve | 45:35fa6884d0c6 | 697 | MODE_POS_FT_TRANS = 0; |
Lightvalve | 50:3c630b5eba9f | 698 | } else if(MODE_POS_FT_TRANS == 2) { |
Lightvalve | 58:2eade98630e2 | 699 | alpha_trans = 1.0f; |
Lightvalve | 45:35fa6884d0c6 | 700 | cnt_trans = 0; |
Lightvalve | 50:3c630b5eba9f | 701 | } else { |
Lightvalve | 58:2eade98630e2 | 702 | alpha_trans = 0.0f; |
Lightvalve | 45:35fa6884d0c6 | 703 | cnt_trans = 0; |
Lightvalve | 45:35fa6884d0c6 | 704 | } |
Lightvalve | 45:35fa6884d0c6 | 705 | |
Lightvalve | 50:3c630b5eba9f | 706 | |
Lightvalve | 57:f4819de54e7a | 707 | int UTILITY_MODE = 0; |
Lightvalve | 57:f4819de54e7a | 708 | int CONTROL_MODE = 0; |
Lightvalve | 58:2eade98630e2 | 709 | |
Lightvalve | 57:f4819de54e7a | 710 | if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) { |
Lightvalve | 57:f4819de54e7a | 711 | UTILITY_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 712 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 713 | } else { |
Lightvalve | 57:f4819de54e7a | 714 | CONTROL_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 715 | UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 716 | } |
Lightvalve | 56:6f50d9d3bfee | 717 | |
Lightvalve | 56:6f50d9d3bfee | 718 | |
Lightvalve | 56:6f50d9d3bfee | 719 | |
Lightvalve | 57:f4819de54e7a | 720 | // UTILITY MODE ------------------------------------------------------------ |
Lightvalve | 56:6f50d9d3bfee | 721 | |
Lightvalve | 57:f4819de54e7a | 722 | switch (UTILITY_MODE) { |
Lightvalve | 57:f4819de54e7a | 723 | case MODE_NO_ACT: { |
Lightvalve | 13:747daba9cf59 | 724 | break; |
Lightvalve | 13:747daba9cf59 | 725 | } |
Lightvalve | 14:8e7590227d22 | 726 | |
Lightvalve | 14:8e7590227d22 | 727 | case MODE_TORQUE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 728 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 729 | if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 15:bd0d12728506 | 730 | CUR_TORQUE_sum += torq.sen; |
Lightvalve | 19:23b7c1ad8683 | 731 | |
Lightvalve | 14:8e7590227d22 | 732 | if (TMR3_COUNT_TORQUE_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 733 | CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 734 | CUR_TORQUE_sum = 0; |
Lightvalve | 14:8e7590227d22 | 735 | |
Lightvalve | 84:c355d3e52bf1 | 736 | TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean); |
Lightvalve | 19:23b7c1ad8683 | 737 | |
Lightvalve | 30:8d561f16383b | 738 | if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f; |
Lightvalve | 59:f308b1656d9c | 739 | if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 740 | |
Lightvalve | 16:903b5a4433b4 | 741 | //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); |
Lightvalve | 30:8d561f16383b | 742 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 743 | } |
Lightvalve | 13:747daba9cf59 | 744 | } else { |
Lightvalve | 58:2eade98630e2 | 745 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 746 | TMR3_COUNT_TORQUE_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 747 | CUR_TORQUE_sum = 0; |
Lightvalve | 13:747daba9cf59 | 748 | CUR_TORQUE_mean = 0; |
Lightvalve | 19:23b7c1ad8683 | 749 | |
Lightvalve | 16:903b5a4433b4 | 750 | ROM_RESET_DATA(); |
Lightvalve | 19:23b7c1ad8683 | 751 | |
Lightvalve | 30:8d561f16383b | 752 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 14:8e7590227d22 | 753 | |
Lightvalve | 13:747daba9cf59 | 754 | } |
Lightvalve | 14:8e7590227d22 | 755 | TMR3_COUNT_TORQUE_NULL++; |
Lightvalve | 13:747daba9cf59 | 756 | break; |
Lightvalve | 19:23b7c1ad8683 | 757 | } |
Lightvalve | 14:8e7590227d22 | 758 | |
Lightvalve | 50:3c630b5eba9f | 759 | // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 760 | // if (TMR3_COUNT_DEADZONE == 0) { |
Lightvalve | 50:3c630b5eba9f | 761 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 762 | // else temp_time = 0; |
Lightvalve | 50:3c630b5eba9f | 763 | // } |
Lightvalve | 50:3c630b5eba9f | 764 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 765 | // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 766 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 767 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 768 | // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 769 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 770 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 771 | // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 772 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 773 | // } |
Lightvalve | 50:3c630b5eba9f | 774 | // |
Lightvalve | 50:3c630b5eba9f | 775 | // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 776 | // 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 | 777 | // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0; |
Lightvalve | 50:3c630b5eba9f | 778 | // |
Lightvalve | 50:3c630b5eba9f | 779 | // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) { |
Lightvalve | 50:3c630b5eba9f | 780 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 781 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 782 | // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 783 | // if (CUR_VELOCITY_sum == 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 784 | // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 785 | // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1; |
Lightvalve | 50:3c630b5eba9f | 786 | // else DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 787 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 788 | // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 789 | // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 790 | // |
Lightvalve | 50:3c630b5eba9f | 791 | // // Position of Dead Zone |
Lightvalve | 50:3c630b5eba9f | 792 | // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0) |
Lightvalve | 50:3c630b5eba9f | 793 | // // | / | / |/ |
Lightvalve | 50:3c630b5eba9f | 794 | // // | ______/ ___|___/ ______/| |
Lightvalve | 50:3c630b5eba9f | 795 | // // |/ / | / | |
Lightvalve | 50:3c630b5eba9f | 796 | // // /| / | / | |
Lightvalve | 50:3c630b5eba9f | 797 | // // 0V 0V 0V |
Lightvalve | 50:3c630b5eba9f | 798 | // |
Lightvalve | 50:3c630b5eba9f | 799 | // if (DZ_temp_cnt2 < DZ_end) { |
Lightvalve | 50:3c630b5eba9f | 800 | // if (TMR3_COUNT_DEADZONE % 20 != 0) { |
Lightvalve | 50:3c630b5eba9f | 801 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 802 | // } else { |
Lightvalve | 50:3c630b5eba9f | 803 | // V_out -= DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 804 | // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 805 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 806 | // } |
Lightvalve | 50:3c630b5eba9f | 807 | // if (DZ_temp_cnt == 5) { |
Lightvalve | 50:3c630b5eba9f | 808 | // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 809 | // else VALVE_DEADZONE_PLUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 810 | // DZ_dir = -DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 811 | // DZ_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 812 | // DZ_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 813 | // } |
Lightvalve | 50:3c630b5eba9f | 814 | // } else { |
Lightvalve | 50:3c630b5eba9f | 815 | // TMR3_COUNT_DEADZONE = -1; |
Lightvalve | 50:3c630b5eba9f | 816 | // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2; |
Lightvalve | 50:3c630b5eba9f | 817 | // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) { |
Lightvalve | 50:3c630b5eba9f | 818 | // VALVE_DEADZONE_PLUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 819 | // VALVE_DEADZONE_MINUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 820 | // } |
Lightvalve | 50:3c630b5eba9f | 821 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 822 | // |
Lightvalve | 50:3c630b5eba9f | 823 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 824 | // |
Lightvalve | 50:3c630b5eba9f | 825 | // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS); |
Lightvalve | 50:3c630b5eba9f | 826 | // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS); |
Lightvalve | 50:3c630b5eba9f | 827 | // |
Lightvalve | 50:3c630b5eba9f | 828 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 829 | // DZ_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 830 | // } |
Lightvalve | 50:3c630b5eba9f | 831 | // } |
Lightvalve | 50:3c630b5eba9f | 832 | // TMR3_COUNT_DEADZONE++; |
Lightvalve | 50:3c630b5eba9f | 833 | // break; |
Lightvalve | 50:3c630b5eba9f | 834 | // } |
Lightvalve | 14:8e7590227d22 | 835 | |
Lightvalve | 14:8e7590227d22 | 836 | case MODE_FIND_HOME: { |
Lightvalve | 29:69f3f5445d6d | 837 | if (FINDHOME_STAGE == FINDHOME_INIT) { |
Lightvalve | 14:8e7590227d22 | 838 | cnt_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 839 | cnt_vel_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 840 | //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO |
Lightvalve | 59:f308b1656d9c | 841 | pos.ref = pos.sen; |
Lightvalve | 59:f308b1656d9c | 842 | vel.ref = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 843 | FINDHOME_STAGE = FINDHOME_GOTOLIMIT; |
Lightvalve | 29:69f3f5445d6d | 844 | } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) { |
Lightvalve | 67:c2812cf26c38 | 845 | int cnt_check_enc = (TMR_FREQ_5k/20); |
Lightvalve | 29:69f3f5445d6d | 846 | if(cnt_findhome%cnt_check_enc == 0) { |
Lightvalve | 29:69f3f5445d6d | 847 | FINDHOME_POSITION = pos.sen; |
Lightvalve | 29:69f3f5445d6d | 848 | FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD; |
Lightvalve | 29:69f3f5445d6d | 849 | FINDHOME_POSITION_OLD = FINDHOME_POSITION; |
Lightvalve | 29:69f3f5445d6d | 850 | } |
Lightvalve | 29:69f3f5445d6d | 851 | cnt_findhome++; |
Lightvalve | 14:8e7590227d22 | 852 | |
Lightvalve | 29:69f3f5445d6d | 853 | if (abs(FINDHOME_VELOCITY) <= 1) { |
Lightvalve | 29:69f3f5445d6d | 854 | cnt_vel_findhome = cnt_vel_findhome + 1; |
Lightvalve | 29:69f3f5445d6d | 855 | } else { |
Lightvalve | 29:69f3f5445d6d | 856 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 857 | } |
Lightvalve | 19:23b7c1ad8683 | 858 | |
Lightvalve | 57:f4819de54e7a | 859 | if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec |
Lightvalve | 29:69f3f5445d6d | 860 | //REFERENCE_MODE = MODE_REF_NO_ACT; |
Lightvalve | 67:c2812cf26c38 | 861 | if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f; |
Lightvalve | 67:c2812cf26c38 | 862 | else pos.ref = pos.ref - 12.0f; |
Lightvalve | 61:bc8c8270f0ab | 863 | |
Lightvalve | 59:f308b1656d9c | 864 | // pos.err = pos.ref_home_pos - pos.sen; |
Lightvalve | 59:f308b1656d9c | 865 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 866 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f; |
Lightvalve | 59:f308b1656d9c | 867 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 868 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 869 | |
Lightvalve | 59:f308b1656d9c | 870 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 59:f308b1656d9c | 871 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 872 | |
Lightvalve | 34:bb2ca2fc2a8e | 873 | |
Lightvalve | 29:69f3f5445d6d | 874 | } else { |
Lightvalve | 29:69f3f5445d6d | 875 | ENC_SET(HOMEPOS_OFFSET); |
Lightvalve | 67:c2812cf26c38 | 876 | // ENC_SET_ZERO(); |
Lightvalve | 29:69f3f5445d6d | 877 | INIT_REF_POS = HOMEPOS_OFFSET; |
Lightvalve | 29:69f3f5445d6d | 878 | REF_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 879 | REF_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 880 | FINDHOME_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 881 | FINDHOME_POSITION_OLD = 0; |
Lightvalve | 29:69f3f5445d6d | 882 | FINDHOME_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 883 | cnt_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 884 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 885 | FINDHOME_STAGE = FINDHOME_ZEROPOSE; |
Lightvalve | 67:c2812cf26c38 | 886 | |
Lightvalve | 67:c2812cf26c38 | 887 | |
Lightvalve | 67:c2812cf26c38 | 888 | cnt_findhome = 0; |
Lightvalve | 67:c2812cf26c38 | 889 | pos.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 890 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 891 | pos.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 892 | vel.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 893 | //FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 67:c2812cf26c38 | 894 | //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 895 | |
Lightvalve | 67:c2812cf26c38 | 896 | |
Lightvalve | 29:69f3f5445d6d | 897 | } |
Lightvalve | 29:69f3f5445d6d | 898 | } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) { |
Lightvalve | 29:69f3f5445d6d | 899 | int T_move = 2*TMR_FREQ_5k; |
Lightvalve | 59:f308b1656d9c | 900 | 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 | 901 | //pos.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 902 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 903 | |
Lightvalve | 29:69f3f5445d6d | 904 | // input for position control |
Lightvalve | 67:c2812cf26c38 | 905 | |
Lightvalve | 67:c2812cf26c38 | 906 | // CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 907 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 908 | |
Lightvalve | 67:c2812cf26c38 | 909 | double torq_ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 910 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 911 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 67:c2812cf26c38 | 912 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 913 | |
Lightvalve | 67:c2812cf26c38 | 914 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 67:c2812cf26c38 | 915 | |
Lightvalve | 67:c2812cf26c38 | 916 | double I_REF_POS = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 917 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 67:c2812cf26c38 | 918 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 67:c2812cf26c38 | 919 | |
Lightvalve | 67:c2812cf26c38 | 920 | double temp_vel_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 921 | double temp_vel_torq = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 922 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 67:c2812cf26c38 | 923 | |
Lightvalve | 69:3995ffeaa786 | 924 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 67:c2812cf26c38 | 925 | 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 | 926 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 927 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 67:c2812cf26c38 | 928 | 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 | 929 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 67:c2812cf26c38 | 930 | } |
Lightvalve | 67:c2812cf26c38 | 931 | 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 | 932 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 67:c2812cf26c38 | 933 | |
Lightvalve | 67:c2812cf26c38 | 934 | I_REF = I_REF_POS; |
Lightvalve | 67:c2812cf26c38 | 935 | |
Lightvalve | 67:c2812cf26c38 | 936 | |
Lightvalve | 67:c2812cf26c38 | 937 | |
Lightvalve | 67:c2812cf26c38 | 938 | } else { |
Lightvalve | 67:c2812cf26c38 | 939 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 940 | 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 | 941 | |
Lightvalve | 67:c2812cf26c38 | 942 | if (VALVE_POS_RAW_FORCE_FB >= 0) { |
Lightvalve | 67:c2812cf26c38 | 943 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS; |
Lightvalve | 67:c2812cf26c38 | 944 | } else { |
Lightvalve | 67:c2812cf26c38 | 945 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS; |
Lightvalve | 67:c2812cf26c38 | 946 | } |
Lightvalve | 67:c2812cf26c38 | 947 | |
Lightvalve | 67:c2812cf26c38 | 948 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 67:c2812cf26c38 | 949 | |
Lightvalve | 67:c2812cf26c38 | 950 | V_out = (float) Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 951 | |
Lightvalve | 67:c2812cf26c38 | 952 | } |
Lightvalve | 67:c2812cf26c38 | 953 | |
Lightvalve | 67:c2812cf26c38 | 954 | |
Lightvalve | 67:c2812cf26c38 | 955 | |
Lightvalve | 67:c2812cf26c38 | 956 | |
Lightvalve | 59:f308b1656d9c | 957 | // pos.err = pos.ref - (float)pos.sen; |
Lightvalve | 59:f308b1656d9c | 958 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 959 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 59:f308b1656d9c | 960 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 961 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 29:69f3f5445d6d | 962 | |
Lightvalve | 29:69f3f5445d6d | 963 | cnt_findhome++; |
Lightvalve | 29:69f3f5445d6d | 964 | if (cnt_findhome >= T_move) { |
Lightvalve | 29:69f3f5445d6d | 965 | //REFERENCE_MODE = MODE_REF_DIRECT; |
Lightvalve | 29:69f3f5445d6d | 966 | cnt_findhome = 0; |
Lightvalve | 30:8d561f16383b | 967 | pos.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 968 | vel.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 969 | pos.ref_home_pos = 0.0f; |
Lightvalve | 30:8d561f16383b | 970 | vel.ref_home_pos = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 971 | FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 57:f4819de54e7a | 972 | CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 29:69f3f5445d6d | 973 | } |
Lightvalve | 13:747daba9cf59 | 974 | } |
Lightvalve | 19:23b7c1ad8683 | 975 | |
Lightvalve | 13:747daba9cf59 | 976 | break; |
Lightvalve | 13:747daba9cf59 | 977 | } |
Lightvalve | 14:8e7590227d22 | 978 | |
Lightvalve | 50:3c630b5eba9f | 979 | // case MODE_VALVE_GAIN_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 980 | // if (TMR3_COUNT_FLOWRATE == 0) { |
Lightvalve | 50:3c630b5eba9f | 981 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 982 | // else { |
Lightvalve | 50:3c630b5eba9f | 983 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 984 | // temp_time = (int) (0.5f * (float) TMR_FREQ_5k); |
Lightvalve | 50:3c630b5eba9f | 985 | // } |
Lightvalve | 50:3c630b5eba9f | 986 | // } |
Lightvalve | 50:3c630b5eba9f | 987 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 988 | // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 989 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 990 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 991 | // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 992 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 993 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 994 | // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 995 | // need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 996 | // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 997 | // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 998 | // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init; |
Lightvalve | 50:3c630b5eba9f | 999 | // } |
Lightvalve | 50:3c630b5eba9f | 1000 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 1001 | // } |
Lightvalve | 50:3c630b5eba9f | 1002 | // TMR3_COUNT_FLOWRATE++; |
Lightvalve | 50:3c630b5eba9f | 1003 | // if (TMR3_COUNT_FLOWRATE > temp_time) { |
Lightvalve | 50:3c630b5eba9f | 1004 | // if (flag_flowrate % 2 == 0) { // (+) |
Lightvalve | 50:3c630b5eba9f | 1005 | // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1006 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1007 | // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1008 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1009 | // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1010 | // 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 | 1011 | // // 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 | 1012 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1013 | // } |
Lightvalve | 50:3c630b5eba9f | 1014 | // } else if (flag_flowrate % 2 == 1) { // (-) |
Lightvalve | 50:3c630b5eba9f | 1015 | // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1016 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1017 | // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1018 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1019 | // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1020 | // 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 | 1021 | // // 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 | 1022 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1023 | // } |
Lightvalve | 50:3c630b5eba9f | 1024 | // } |
Lightvalve | 50:3c630b5eba9f | 1025 | // if (fl_temp_cnt2 == 100) { |
Lightvalve | 50:3c630b5eba9f | 1026 | // |
Lightvalve | 50:3c630b5eba9f | 1027 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1028 | // |
Lightvalve | 50:3c630b5eba9f | 1029 | // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1030 | // cur_vel_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1031 | // fl_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1032 | // fl_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1033 | // flag_flowrate++; |
Lightvalve | 50:3c630b5eba9f | 1034 | // } |
Lightvalve | 50:3c630b5eba9f | 1035 | // if (flag_flowrate == 10) { |
Lightvalve | 50:3c630b5eba9f | 1036 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1037 | // flag_flowrate = 0; |
Lightvalve | 50:3c630b5eba9f | 1038 | // TMR3_COUNT_FLOWRATE = 0; |
Lightvalve | 50:3c630b5eba9f | 1039 | // valve_gain_repeat_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1040 | // if (valve_gain_repeat_cnt >= 1) { |
Lightvalve | 50:3c630b5eba9f | 1041 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1042 | // valve_gain_repeat_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1043 | // } |
Lightvalve | 50:3c630b5eba9f | 1044 | // |
Lightvalve | 50:3c630b5eba9f | 1045 | // } |
Lightvalve | 50:3c630b5eba9f | 1046 | // break; |
Lightvalve | 50:3c630b5eba9f | 1047 | // } |
Lightvalve | 50:3c630b5eba9f | 1048 | // |
Lightvalve | 50:3c630b5eba9f | 1049 | // } |
Lightvalve | 14:8e7590227d22 | 1050 | case MODE_PRESSURE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1051 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1052 | if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 14:8e7590227d22 | 1053 | CUR_PRES_A_sum += pres_A.sen; |
Lightvalve | 14:8e7590227d22 | 1054 | CUR_PRES_B_sum += pres_B.sen; |
Lightvalve | 14:8e7590227d22 | 1055 | |
Lightvalve | 14:8e7590227d22 | 1056 | if (TMR3_COUNT_PRES_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1057 | CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f; |
Lightvalve | 30:8d561f16383b | 1058 | CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1059 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1060 | CUR_PRES_B_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1061 | |
Lightvalve | 38:118df027d851 | 1062 | float VREF_NullingGain = 0.0003f; |
Lightvalve | 58:2eade98630e2 | 1063 | PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean; |
Lightvalve | 58:2eade98630e2 | 1064 | PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean; |
Lightvalve | 14:8e7590227d22 | 1065 | |
Lightvalve | 30:8d561f16383b | 1066 | if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1067 | if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f; |
Lightvalve | 30:8d561f16383b | 1068 | if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1069 | if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f; |
Lightvalve | 19:23b7c1ad8683 | 1070 | |
Lightvalve | 30:8d561f16383b | 1071 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1072 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1073 | } |
Lightvalve | 13:747daba9cf59 | 1074 | } else { |
Lightvalve | 57:f4819de54e7a | 1075 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1076 | TMR3_COUNT_PRES_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1077 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1078 | CUR_PRES_B_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1079 | CUR_PRES_A_mean = 0; |
Lightvalve | 13:747daba9cf59 | 1080 | CUR_PRES_B_mean = 0; |
Lightvalve | 14:8e7590227d22 | 1081 | |
Lightvalve | 16:903b5a4433b4 | 1082 | ROM_RESET_DATA(); |
Lightvalve | 19:23b7c1ad8683 | 1083 | |
Lightvalve | 30:8d561f16383b | 1084 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1085 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 17:1865016ca2e7 | 1086 | //pc.printf("nulling end"); |
Lightvalve | 13:747daba9cf59 | 1087 | } |
Lightvalve | 14:8e7590227d22 | 1088 | TMR3_COUNT_PRES_NULL++; |
Lightvalve | 13:747daba9cf59 | 1089 | break; |
Lightvalve | 13:747daba9cf59 | 1090 | } |
Lightvalve | 14:8e7590227d22 | 1091 | |
Lightvalve | 50:3c630b5eba9f | 1092 | // case MODE_PRESSURE_SENSOR_CALIB: { |
Lightvalve | 50:3c630b5eba9f | 1093 | // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1094 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1095 | // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1096 | // CUR_PRES_A_sum += CUR_PRES_A; |
Lightvalve | 50:3c630b5eba9f | 1097 | // } |
Lightvalve | 50:3c630b5eba9f | 1098 | // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1099 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1100 | // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1101 | // CUR_PRES_B_sum += CUR_PRES_B; |
Lightvalve | 50:3c630b5eba9f | 1102 | // } |
Lightvalve | 50:3c630b5eba9f | 1103 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1104 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1105 | // TMR3_COUNT_PRES_CALIB = 0; |
Lightvalve | 50:3c630b5eba9f | 1106 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1107 | // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL; |
Lightvalve | 50:3c630b5eba9f | 1108 | // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1109 | // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL; |
Lightvalve | 50:3c630b5eba9f | 1110 | // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1111 | // CUR_PRES_A_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1112 | // CUR_PRES_B_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1113 | // CUR_PRES_A_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1114 | // CUR_PRES_B_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1115 | // |
Lightvalve | 50:3c630b5eba9f | 1116 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1117 | // |
Lightvalve | 50:3c630b5eba9f | 1118 | // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1119 | // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1120 | // } |
Lightvalve | 50:3c630b5eba9f | 1121 | // TMR3_COUNT_PRES_CALIB++; |
Lightvalve | 50:3c630b5eba9f | 1122 | // break; |
Lightvalve | 50:3c630b5eba9f | 1123 | // } |
Lightvalve | 19:23b7c1ad8683 | 1124 | |
Lightvalve | 50:3c630b5eba9f | 1125 | // case MODE_ROTARY_FRICTION_TUNING: { |
Lightvalve | 50:3c630b5eba9f | 1126 | // 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 | 1127 | // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f); |
Lightvalve | 50:3c630b5eba9f | 1128 | // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1129 | // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1130 | // TMR3_COUNT_ROTARY_FRIC_TUNE++; |
Lightvalve | 50:3c630b5eba9f | 1131 | // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1132 | // TMR3_COUNT_ROTARY_FRIC_TUNE = 0; |
Lightvalve | 50:3c630b5eba9f | 1133 | // V_out = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1134 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1135 | // } |
Lightvalve | 50:3c630b5eba9f | 1136 | // break; |
Lightvalve | 50:3c630b5eba9f | 1137 | // } |
Lightvalve | 14:8e7590227d22 | 1138 | |
Lightvalve | 14:8e7590227d22 | 1139 | case MODE_DDV_POS_VS_PWM_ID: { |
Lightvalve | 59:f308b1656d9c | 1140 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1141 | VALVE_ID_timer = VALVE_ID_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1142 | |
Lightvalve | 14:8e7590227d22 | 1143 | if(VALVE_ID_timer < TMR_FREQ_5k*1) { |
Lightvalve | 60:64181f1d3e60 | 1144 | Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f); |
Lightvalve | 14:8e7590227d22 | 1145 | } else if(VALVE_ID_timer < TMR_FREQ_5k*2) { |
Lightvalve | 59:f308b1656d9c | 1146 | Vout.ref = 1000.0f*(ID_index_array[ID_index]); |
Lightvalve | 14:8e7590227d22 | 1147 | } else if(VALVE_ID_timer == TMR_FREQ_5k*2) { |
Lightvalve | 13:747daba9cf59 | 1148 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1149 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1150 | } else if(VALVE_ID_timer < TMR_FREQ_5k*3) { |
Lightvalve | 13:747daba9cf59 | 1151 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1152 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 14:8e7590227d22 | 1153 | } else if(VALVE_ID_timer == TMR_FREQ_5k*3) { |
Lightvalve | 59:f308b1656d9c | 1154 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1155 | } else { |
Lightvalve | 13:747daba9cf59 | 1156 | VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num; |
Lightvalve | 13:747daba9cf59 | 1157 | VALVE_ID_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1158 | ID_index= ID_index +1; |
Lightvalve | 13:747daba9cf59 | 1159 | } |
Lightvalve | 14:8e7590227d22 | 1160 | |
Lightvalve | 17:1865016ca2e7 | 1161 | if(ID_index>=25) { |
Lightvalve | 13:747daba9cf59 | 1162 | int i; |
Lightvalve | 13:747daba9cf59 | 1163 | VALVE_POS_AVG_OLD = VALVE_POS_AVG[0]; |
Lightvalve | 17:1865016ca2e7 | 1164 | for(i=0; i<25; i++) { |
Lightvalve | 13:747daba9cf59 | 1165 | VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]); |
Lightvalve | 14:8e7590227d22 | 1166 | if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1167 | VALVE_MAX_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1168 | VALVE_POS_AVG_OLD = VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1169 | } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1170 | VALVE_MIN_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1171 | VALVE_POS_AVG_OLD = VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1172 | } |
Lightvalve | 13:747daba9cf59 | 1173 | } |
Lightvalve | 59:f308b1656d9c | 1174 | ROM_RESET_DATA(); |
Lightvalve | 13:747daba9cf59 | 1175 | ID_index = 0; |
Lightvalve | 57:f4819de54e7a | 1176 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1177 | } |
Lightvalve | 14:8e7590227d22 | 1178 | |
Lightvalve | 14:8e7590227d22 | 1179 | |
Lightvalve | 13:747daba9cf59 | 1180 | break; |
Lightvalve | 13:747daba9cf59 | 1181 | } |
Lightvalve | 14:8e7590227d22 | 1182 | |
Lightvalve | 14:8e7590227d22 | 1183 | case MODE_DDV_DEADZONE_AND_CENTER: { |
Lightvalve | 59:f308b1656d9c | 1184 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1185 | VALVE_DZ_timer = VALVE_DZ_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1186 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1187 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1188 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1189 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1190 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1191 | pos_plus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1192 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1193 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
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 | 14:8e7590227d22 | 1196 | pos_minus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1197 | } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1198 | 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 | 1199 | } else if(VALVE_DZ_timer < (int) (4.0f * (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 | 13:747daba9cf59 | 1201 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1202 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 30:8d561f16383b | 1203 | } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1204 | 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 | 1205 | DDV_POS_AVG = VALVE_POS_TMP / data_num; |
Lightvalve | 14:8e7590227d22 | 1206 | START_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1207 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1208 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1209 | |
Lightvalve | 30:8d561f16383b | 1210 | } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1211 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1212 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1213 | |
Lightvalve | 30:8d561f16383b | 1214 | } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1215 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1216 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1217 | |
Lightvalve | 30:8d561f16383b | 1218 | } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1219 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1220 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1221 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1222 | |
Lightvalve | 60:64181f1d3e60 | 1223 | if((FINAL_POS - START_POS)>200) { |
Lightvalve | 13:747daba9cf59 | 1224 | DZ_case = 1; |
Lightvalve | 60:64181f1d3e60 | 1225 | } else if((FINAL_POS - START_POS)<-200) { |
Lightvalve | 13:747daba9cf59 | 1226 | DZ_case = -1; |
Lightvalve | 14:8e7590227d22 | 1227 | } else { |
Lightvalve | 13:747daba9cf59 | 1228 | DZ_case = 0; |
Lightvalve | 13:747daba9cf59 | 1229 | } |
Lightvalve | 61:bc8c8270f0ab | 1230 | |
Lightvalve | 60:64181f1d3e60 | 1231 | CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6)); |
Lightvalve | 50:3c630b5eba9f | 1232 | |
Lightvalve | 13:747daba9cf59 | 1233 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1234 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1235 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1236 | Ref_Valve_Pos_Old = DDV_POS_AVG; |
Lightvalve | 13:747daba9cf59 | 1237 | DZ_NUM = 1; |
Lightvalve | 13:747daba9cf59 | 1238 | DZ_index = 1; |
Lightvalve | 14:8e7590227d22 | 1239 | |
Lightvalve | 13:747daba9cf59 | 1240 | } |
Lightvalve | 19:23b7c1ad8683 | 1241 | } else { |
Lightvalve | 14:8e7590227d22 | 1242 | if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) { |
Lightvalve | 30:8d561f16383b | 1243 | if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1244 | 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 | 1245 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1246 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1247 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1248 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1249 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1250 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1251 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1252 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1253 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1254 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1255 | } |
Lightvalve | 14:8e7590227d22 | 1256 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1257 | |
Lightvalve | 30:8d561f16383b | 1258 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1259 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1260 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1261 | |
Lightvalve | 14:8e7590227d22 | 1262 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 1263 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1264 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 1265 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1266 | } else { |
Lightvalve | 13:747daba9cf59 | 1267 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 1268 | } |
Lightvalve | 14:8e7590227d22 | 1269 | |
Lightvalve | 13:747daba9cf59 | 1270 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1271 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1272 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1273 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 1274 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 1275 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 1276 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1277 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1278 | } |
Lightvalve | 13:747daba9cf59 | 1279 | } |
Lightvalve | 14:8e7590227d22 | 1280 | } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) { |
Lightvalve | 30:8d561f16383b | 1281 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1282 | 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 | 1283 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1284 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1285 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1286 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1287 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1288 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1289 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1290 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1291 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1292 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1293 | } |
Lightvalve | 14:8e7590227d22 | 1294 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1295 | |
Lightvalve | 30:8d561f16383b | 1296 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1297 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1298 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1299 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1300 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1301 | |
Lightvalve | 14:8e7590227d22 | 1302 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 60:64181f1d3e60 | 1303 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1304 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 1305 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1306 | } else { |
Lightvalve | 60:64181f1d3e60 | 1307 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 1308 | } |
Lightvalve | 14:8e7590227d22 | 1309 | |
Lightvalve | 13:747daba9cf59 | 1310 | VALVE_DZ_timer = 0; |
Lightvalve | 60:64181f1d3e60 | 1311 | DZ_index= DZ_index * 2; |
Lightvalve | 14:8e7590227d22 | 1312 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1313 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 1314 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 1315 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 1316 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 1317 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 19:23b7c1ad8683 | 1318 | |
Lightvalve | 16:903b5a4433b4 | 1319 | ROM_RESET_DATA(); |
Lightvalve | 34:bb2ca2fc2a8e | 1320 | |
Lightvalve | 60:64181f1d3e60 | 1321 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1322 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1323 | } |
Lightvalve | 13:747daba9cf59 | 1324 | } |
Lightvalve | 14:8e7590227d22 | 1325 | } else if(DZ_case == 0 && DZ_NUM ==1) { |
Lightvalve | 30:8d561f16383b | 1326 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1327 | 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 | 1328 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1329 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1330 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1331 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1332 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1333 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1334 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1335 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1336 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1337 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1338 | } |
Lightvalve | 14:8e7590227d22 | 1339 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1340 | |
Lightvalve | 30:8d561f16383b | 1341 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1342 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1343 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1344 | |
Lightvalve | 14:8e7590227d22 | 1345 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 1346 | DZ_DIRECTION = 1; |
Lightvalve | 14:8e7590227d22 | 1347 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 1348 | DZ_DIRECTION = -1; |
Lightvalve | 14:8e7590227d22 | 1349 | } else { |
Lightvalve | 13:747daba9cf59 | 1350 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1351 | } |
Lightvalve | 13:747daba9cf59 | 1352 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1353 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1354 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1355 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 1356 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 1357 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 1358 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1359 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1360 | } |
Lightvalve | 13:747daba9cf59 | 1361 | } |
Lightvalve | 14:8e7590227d22 | 1362 | } else { |
Lightvalve | 30:8d561f16383b | 1363 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1364 | 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 | 1365 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1366 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1367 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1368 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1369 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1370 | valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1371 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1372 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1373 | } else if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1374 | valve_pos.ref = VALVE_MAX_POS - 1; |
Lightvalve | 13:747daba9cf59 | 1375 | } |
Lightvalve | 14:8e7590227d22 | 1376 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1377 | |
Lightvalve | 30:8d561f16383b | 1378 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1379 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1380 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1381 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1382 | FINAL_POS = pos.sen; |
Lightvalve | 61:bc8c8270f0ab | 1383 | |
Lightvalve | 60:64181f1d3e60 | 1384 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 13:747daba9cf59 | 1385 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 1386 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 1387 | DZ_DIRECTION = -1; |
Lightvalve | 60:64181f1d3e60 | 1388 | } else { |
Lightvalve | 13:747daba9cf59 | 1389 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 1390 | } |
Lightvalve | 14:8e7590227d22 | 1391 | |
Lightvalve | 13:747daba9cf59 | 1392 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1393 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1394 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1395 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 1396 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 1397 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 1398 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 1399 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 61:bc8c8270f0ab | 1400 | |
Lightvalve | 59:f308b1656d9c | 1401 | ROM_RESET_DATA(); |
Lightvalve | 34:bb2ca2fc2a8e | 1402 | |
Lightvalve | 57:f4819de54e7a | 1403 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1404 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1405 | } |
Lightvalve | 13:747daba9cf59 | 1406 | } |
Lightvalve | 13:747daba9cf59 | 1407 | } |
Lightvalve | 14:8e7590227d22 | 1408 | } |
Lightvalve | 13:747daba9cf59 | 1409 | break; |
Lightvalve | 13:747daba9cf59 | 1410 | } |
Lightvalve | 14:8e7590227d22 | 1411 | |
Lightvalve | 14:8e7590227d22 | 1412 | case MODE_DDV_POS_VS_FLOWRATE: { |
Lightvalve | 59:f308b1656d9c | 1413 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1414 | VALVE_FR_timer = VALVE_FR_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1415 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1416 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1417 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 23:59218d4a256d | 1418 | //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 30:8d561f16383b | 1419 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1420 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1421 | pos_plus_end = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1422 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7)); |
Lightvalve | 30:8d561f16383b | 1423 | } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1424 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1425 | } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1426 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8)); |
Lightvalve | 59:f308b1656d9c | 1427 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1428 | pos_minus_end = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1429 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1430 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 1431 | valve_pos.ref = (float) VALVE_CENTER; |
Lightvalve | 13:747daba9cf59 | 1432 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 1433 | max_check = 0; |
Lightvalve | 13:747daba9cf59 | 1434 | min_check = 0; |
Lightvalve | 13:747daba9cf59 | 1435 | } |
Lightvalve | 14:8e7590227d22 | 1436 | } else { |
Lightvalve | 30:8d561f16383b | 1437 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1438 | //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 | 1439 | pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 59:f308b1656d9c | 1440 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1441 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 13:747daba9cf59 | 1442 | data_num = 0; |
Lightvalve | 57:f4819de54e7a | 1443 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 1444 | |
Lightvalve | 14:8e7590227d22 | 1445 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1446 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1447 | } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f4819de54e7a | 1448 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 1449 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 13:747daba9cf59 | 1450 | data_num = data_num + 1; |
Lightvalve | 30:8d561f16383b | 1451 | if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) { |
Lightvalve | 14:8e7590227d22 | 1452 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1453 | one_period_end = 1; |
Lightvalve | 13:747daba9cf59 | 1454 | } |
Lightvalve | 30:8d561f16383b | 1455 | } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1456 | FINAL_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1457 | one_period_end = 1; |
Lightvalve | 59:f308b1656d9c | 1458 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1459 | } |
Lightvalve | 14:8e7590227d22 | 1460 | |
Lightvalve | 14:8e7590227d22 | 1461 | if(one_period_end == 1) { |
Lightvalve | 14:8e7590227d22 | 1462 | if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 13:747daba9cf59 | 1463 | max_check = 1; |
Lightvalve | 14:8e7590227d22 | 1464 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 13:747daba9cf59 | 1465 | min_check = 1; |
Lightvalve | 13:747daba9cf59 | 1466 | } |
Lightvalve | 13:747daba9cf59 | 1467 | JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec |
Lightvalve | 19:23b7c1ad8683 | 1468 | |
Lightvalve | 13:747daba9cf59 | 1469 | VALVE_FR_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1470 | one_period_end = 0; |
Lightvalve | 13:747daba9cf59 | 1471 | ID_index= ID_index +1; |
Lightvalve | 30:8d561f16383b | 1472 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1473 | } |
Lightvalve | 14:8e7590227d22 | 1474 | |
Lightvalve | 14:8e7590227d22 | 1475 | if(max_check == 1 && min_check == 1) { |
Lightvalve | 19:23b7c1ad8683 | 1476 | |
Lightvalve | 13:747daba9cf59 | 1477 | VALVE_POS_NUM = ID_index; |
Lightvalve | 59:f308b1656d9c | 1478 | ROM_RESET_DATA(); |
Lightvalve | 13:747daba9cf59 | 1479 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 1480 | first_check = 0; |
Lightvalve | 13:747daba9cf59 | 1481 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 1482 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 49:e7bcfc244d40 | 1483 | // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 13:747daba9cf59 | 1484 | } |
Lightvalve | 13:747daba9cf59 | 1485 | } |
Lightvalve | 13:747daba9cf59 | 1486 | break; |
Lightvalve | 13:747daba9cf59 | 1487 | } |
Lightvalve | 58:2eade98630e2 | 1488 | |
Lightvalve | 57:f4819de54e7a | 1489 | case MODE_SYSTEM_ID: { |
Lightvalve | 57:f4819de54e7a | 1490 | freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.; |
Lightvalve | 57:f4819de54e7a | 1491 | valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3); |
Lightvalve | 57:f4819de54e7a | 1492 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 57:f4819de54e7a | 1493 | cnt_sysid++; |
Lightvalve | 57:f4819de54e7a | 1494 | if (freq_sysid_Iref >= 300) { |
Lightvalve | 57:f4819de54e7a | 1495 | cnt_sysid = 0; |
Lightvalve | 57:f4819de54e7a | 1496 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1497 | } |
Lightvalve | 57:f4819de54e7a | 1498 | break; |
Lightvalve | 57:f4819de54e7a | 1499 | } |
Lightvalve | 58:2eade98630e2 | 1500 | |
Lightvalve | 58:2eade98630e2 | 1501 | |
Lightvalve | 57:f4819de54e7a | 1502 | |
Lightvalve | 57:f4819de54e7a | 1503 | default: |
Lightvalve | 57:f4819de54e7a | 1504 | break; |
Lightvalve | 57:f4819de54e7a | 1505 | } |
Lightvalve | 57:f4819de54e7a | 1506 | |
Lightvalve | 57:f4819de54e7a | 1507 | // CONTROL MODE ------------------------------------------------------------ |
Lightvalve | 57:f4819de54e7a | 1508 | |
Lightvalve | 57:f4819de54e7a | 1509 | switch (CONTROL_MODE) { |
Lightvalve | 57:f4819de54e7a | 1510 | case MODE_NO_ACT: { |
Lightvalve | 57:f4819de54e7a | 1511 | V_out = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1512 | break; |
Lightvalve | 57:f4819de54e7a | 1513 | } |
Lightvalve | 57:f4819de54e7a | 1514 | |
Lightvalve | 57:f4819de54e7a | 1515 | case MODE_VALVE_POSITION_CONTROL: { |
Lightvalve | 67:c2812cf26c38 | 1516 | if (OPERATING_MODE == 5) { //SW Valve |
Lightvalve | 57:f4819de54e7a | 1517 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 59:f308b1656d9c | 1518 | V_out = Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 1519 | } else if (CURRENT_CONTROL_MODE == 0) { //PWM |
Lightvalve | 67:c2812cf26c38 | 1520 | V_out = valve_pos.ref; |
Lightvalve | 67:c2812cf26c38 | 1521 | } else { |
Lightvalve | 67:c2812cf26c38 | 1522 | I_REF = valve_pos.ref * 0.001f; |
Lightvalve | 57:f4819de54e7a | 1523 | } |
Lightvalve | 58:2eade98630e2 | 1524 | |
Lightvalve | 57:f4819de54e7a | 1525 | break; |
Lightvalve | 57:f4819de54e7a | 1526 | } |
Lightvalve | 57:f4819de54e7a | 1527 | |
Lightvalve | 57:f4819de54e7a | 1528 | case MODE_JOINT_CONTROL: { |
Lightvalve | 57:f4819de54e7a | 1529 | double torq_ref = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1530 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 1531 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 57:f4819de54e7a | 1532 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 1533 | |
Lightvalve | 67:c2812cf26c38 | 1534 | //K & D Low Pass Filter |
Lightvalve | 67:c2812cf26c38 | 1535 | float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz |
Lightvalve | 67:c2812cf26c38 | 1536 | K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 1537 | D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 1538 | |
Lightvalve | 67:c2812cf26c38 | 1539 | torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N] |
Lightvalve | 57:f4819de54e7a | 1540 | |
Lightvalve | 57:f4819de54e7a | 1541 | // torque feedback |
Lightvalve | 67:c2812cf26c38 | 1542 | torq.err = torq_ref - torq.sen; //[N] |
Lightvalve | 57:f4819de54e7a | 1543 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 57:f4819de54e7a | 1544 | |
Lightvalve | 57:f4819de54e7a | 1545 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 58:2eade98630e2 | 1546 | |
Lightvalve | 57:f4819de54e7a | 1547 | double I_REF_POS = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1548 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 57:f4819de54e7a | 1549 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 57:f4819de54e7a | 1550 | |
Lightvalve | 57:f4819de54e7a | 1551 | double temp_vel_pos = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1552 | double temp_vel_torq = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1553 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 58:2eade98630e2 | 1554 | |
Lightvalve | 69:3995ffeaa786 | 1555 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 1556 | 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 | 1557 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1558 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 1559 | 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 | 1560 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 1561 | } |
Lightvalve | 57:f4819de54e7a | 1562 | 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 | 1563 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 1564 | |
Lightvalve | 57:f4819de54e7a | 1565 | // velocity compensation for torque control |
Lightvalve | 69:3995ffeaa786 | 1566 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 1567 | I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); |
Lightvalve | 57:f4819de54e7a | 1568 | // 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 | 1569 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s |
Lightvalve | 57:f4819de54e7a | 1570 | // L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1571 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 1572 | 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 | 1573 | // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 1574 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 1575 | // L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 1576 | } |
Lightvalve | 57:f4819de54e7a | 1577 | 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 | 1578 | else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 1579 | // L velocity(rad/s or mm/s) >> I_ref(mA) |
Lightvalve | 57:f4819de54e7a | 1580 | // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k; |
Lightvalve | 57:f4819de54e7a | 1581 | // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm; |
Lightvalve | 57:f4819de54e7a | 1582 | |
Lightvalve | 57:f4819de54e7a | 1583 | I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB); |
Lightvalve | 67:c2812cf26c38 | 1584 | |
Lightvalve | 67:c2812cf26c38 | 1585 | // Anti-windup for FT |
Lightvalve | 67:c2812cf26c38 | 1586 | if (I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 67:c2812cf26c38 | 1587 | double I_MAX = 10.0f; // Maximum Current : 10mV |
Lightvalve | 67:c2812cf26c38 | 1588 | double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f); |
Lightvalve | 67:c2812cf26c38 | 1589 | if (I_REF > I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 1590 | double I_rem = I_REF - I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1591 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 1592 | I_REF = I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1593 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 1594 | } else if (I_REF < -I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 1595 | double I_rem = I_REF - (-I_MAX); |
Lightvalve | 67:c2812cf26c38 | 1596 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 1597 | I_REF = -I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1598 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 1599 | } |
Lightvalve | 67:c2812cf26c38 | 1600 | } |
Lightvalve | 57:f4819de54e7a | 1601 | |
Lightvalve | 57:f4819de54e7a | 1602 | } else { |
Lightvalve | 57:f4819de54e7a | 1603 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 72:3436ce769b1e | 1604 | float VALVE_POS_RAW_FORCE_FF = 0.0f; |
Lightvalve | 72:3436ce769b1e | 1605 | float VALVE_POS_RAW = 0.0f; |
Lightvalve | 72:3436ce769b1e | 1606 | |
Lightvalve | 57:f4819de54e7a | 1607 | 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 | 1608 | + 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 | 1609 | |
Lightvalve | 72:3436ce769b1e | 1610 | 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 | 1611 | |
Lightvalve | 72:3436ce769b1e | 1612 | VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF; |
Lightvalve | 72:3436ce769b1e | 1613 | |
Lightvalve | 72:3436ce769b1e | 1614 | |
Lightvalve | 72:3436ce769b1e | 1615 | if (VALVE_POS_RAW >= 0) { |
Lightvalve | 72:3436ce769b1e | 1616 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS; |
Lightvalve | 57:f4819de54e7a | 1617 | } else { |
Lightvalve | 72:3436ce769b1e | 1618 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS; |
Lightvalve | 57:f4819de54e7a | 1619 | } |
Lightvalve | 57:f4819de54e7a | 1620 | |
Lightvalve | 57:f4819de54e7a | 1621 | if(I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 57:f4819de54e7a | 1622 | double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; |
Lightvalve | 57:f4819de54e7a | 1623 | if(valve_pos.ref>VALVE_MAX_POS) { |
Lightvalve | 57:f4819de54e7a | 1624 | double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 1625 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 1626 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 1627 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 1628 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 57:f4819de54e7a | 1629 | double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 1630 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 1631 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 1632 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 1633 | } |
Lightvalve | 57:f4819de54e7a | 1634 | } |
Lightvalve | 61:bc8c8270f0ab | 1635 | |
Lightvalve | 57:f4819de54e7a | 1636 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1637 | |
Lightvalve | 67:c2812cf26c38 | 1638 | // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err); |
Lightvalve | 60:64181f1d3e60 | 1639 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 1640 | |
Lightvalve | 57:f4819de54e7a | 1641 | } |
Lightvalve | 72:3436ce769b1e | 1642 | |
Lightvalve | 72:3436ce769b1e | 1643 | torq_ref_past = torq_ref; |
Lightvalve | 58:2eade98630e2 | 1644 | |
Lightvalve | 57:f4819de54e7a | 1645 | break; |
Lightvalve | 57:f4819de54e7a | 1646 | } |
Lightvalve | 58:2eade98630e2 | 1647 | |
Lightvalve | 57:f4819de54e7a | 1648 | case MODE_VALVE_OPEN_LOOP: { |
Lightvalve | 57:f4819de54e7a | 1649 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 1650 | break; |
Lightvalve | 57:f4819de54e7a | 1651 | } |
Lightvalve | 14:8e7590227d22 | 1652 | |
Lightvalve | 12:6f2531038ea4 | 1653 | default: |
Lightvalve | 12:6f2531038ea4 | 1654 | break; |
Lightvalve | 12:6f2531038ea4 | 1655 | } |
Lightvalve | 14:8e7590227d22 | 1656 | |
Lightvalve | 57:f4819de54e7a | 1657 | |
Lightvalve | 57:f4819de54e7a | 1658 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve |
Lightvalve | 58:2eade98630e2 | 1659 | |
Lightvalve | 57:f4819de54e7a | 1660 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1661 | //////////////////////////// CURRENT CONTROL ////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1662 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1663 | if (CURRENT_CONTROL_MODE) { |
Lightvalve | 67:c2812cf26c38 | 1664 | double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz |
Lightvalve | 57:f4819de54e7a | 1665 | I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF; |
Lightvalve | 57:f4819de54e7a | 1666 | |
Lightvalve | 57:f4819de54e7a | 1667 | I_ERR = I_REF_fil - cur.sen; |
Lightvalve | 67:c2812cf26c38 | 1668 | I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1669 | |
Lightvalve | 57:f4819de54e7a | 1670 | |
Lightvalve | 57:f4819de54e7a | 1671 | // Moog Valve Current Control Gain |
Lightvalve | 67:c2812cf26c38 | 1672 | double R_model = 500.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 1673 | double L_model = 1.2f; |
Lightvalve | 57:f4819de54e7a | 1674 | double w0 = 2.0f * 3.14f * 150.0f; |
Lightvalve | 57:f4819de54e7a | 1675 | double KP_I = 0.1f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 1676 | double KI_I = 0.1f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 1677 | |
Lightvalve | 57:f4819de54e7a | 1678 | // KNR Valve Current Control Gain |
Lightvalve | 57:f4819de54e7a | 1679 | if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve |
Lightvalve | 57:f4819de54e7a | 1680 | R_model = 163.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 1681 | L_model = 1.0f; |
Lightvalve | 57:f4819de54e7a | 1682 | w0 = 2.0f * 3.14f * 80.0f; |
Lightvalve | 57:f4819de54e7a | 1683 | KP_I = 1.0f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 1684 | KI_I = 0.08f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 1685 | } |
Lightvalve | 57:f4819de54e7a | 1686 | |
Lightvalve | 57:f4819de54e7a | 1687 | double FF_gain = 1.0f; |
Lightvalve | 57:f4819de54e7a | 1688 | |
Lightvalve | 67:c2812cf26c38 | 1689 | VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT; |
Lightvalve | 57:f4819de54e7a | 1690 | // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV |
Lightvalve | 57:f4819de54e7a | 1691 | I_REF_fil_diff = I_REF_fil - I_REF_fil_old; |
Lightvalve | 57:f4819de54e7a | 1692 | I_REF_fil_old = I_REF_fil; |
Lightvalve | 67:c2812cf26c38 | 1693 | // 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 | 1694 | VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 1695 | double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV |
Lightvalve | 57:f4819de54e7a | 1696 | |
Lightvalve | 57:f4819de54e7a | 1697 | double Ka = 3.0f / KP_I; |
Lightvalve | 57:f4819de54e7a | 1698 | if (VALVE_PWM_RAW > V_MAX) { |
Lightvalve | 57:f4819de54e7a | 1699 | V_rem = VALVE_PWM_RAW - V_MAX; |
Lightvalve | 57:f4819de54e7a | 1700 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 1701 | VALVE_PWM_RAW = V_MAX; |
Lightvalve | 67:c2812cf26c38 | 1702 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1703 | } else if (VALVE_PWM_RAW < -V_MAX) { |
Lightvalve | 57:f4819de54e7a | 1704 | V_rem = VALVE_PWM_RAW - (-V_MAX); |
Lightvalve | 57:f4819de54e7a | 1705 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 1706 | VALVE_PWM_RAW = -V_MAX; |
Lightvalve | 67:c2812cf26c38 | 1707 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1708 | } |
Lightvalve | 57:f4819de54e7a | 1709 | Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 1710 | } else { |
Lightvalve | 57:f4819de54e7a | 1711 | VALVE_PWM_RAW = I_REF * mV_PER_mA; |
Lightvalve | 57:f4819de54e7a | 1712 | Cur_Valve_Open_pulse = I_REF / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 1713 | } |
Lightvalve | 57:f4819de54e7a | 1714 | |
Lightvalve | 57:f4819de54e7a | 1715 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1716 | ///////////////// Dead Zone Cancellation & Linearization ////////////////// |
Lightvalve | 57:f4819de54e7a | 1717 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1718 | // Dead Zone Cancellation (Mechanical Valve dead-zone) |
Lightvalve | 57:f4819de54e7a | 1719 | if (FLAG_VALVE_DEADZONE) { |
Lightvalve | 57:f4819de54e7a | 1720 | if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1721 | else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1722 | |
Lightvalve | 57:f4819de54e7a | 1723 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1724 | |
Lightvalve | 57:f4819de54e7a | 1725 | } else { |
Lightvalve | 57:f4819de54e7a | 1726 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW; |
Lightvalve | 57:f4819de54e7a | 1727 | } |
Lightvalve | 57:f4819de54e7a | 1728 | |
Lightvalve | 57:f4819de54e7a | 1729 | // Output Voltage Linearization |
Lightvalve | 57:f4819de54e7a | 1730 | double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 1731 | double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 57:f4819de54e7a | 1732 | |
Lightvalve | 57:f4819de54e7a | 1733 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 67:c2812cf26c38 | 1734 | if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 1735 | else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 1736 | else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 57:f4819de54e7a | 1737 | } |
Lightvalve | 89:a7b45368ea0f | 1738 | else { //////////////////////////sw valve |
Lightvalve | 89:a7b45368ea0f | 1739 | // Output Voltage Linearization |
Lightvalve | 89:a7b45368ea0f | 1740 | double CUR_PWM_nonlin = V_out; // Unit : mV |
Lightvalve | 89:a7b45368ea0f | 1741 | double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 89:a7b45368ea0f | 1742 | |
Lightvalve | 89:a7b45368ea0f | 1743 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 89:a7b45368ea0f | 1744 | if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 89:a7b45368ea0f | 1745 | else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 89:a7b45368ea0f | 1746 | else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 89:a7b45368ea0f | 1747 | } |
Lightvalve | 67:c2812cf26c38 | 1748 | |
Lightvalve | 67:c2812cf26c38 | 1749 | // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 1750 | // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 1751 | // else V_out = V_out; |
Lightvalve | 67:c2812cf26c38 | 1752 | |
jobuuu | 7:e9086c72bb22 | 1753 | /******************************************************* |
jobuuu | 7:e9086c72bb22 | 1754 | *** PWM |
jobuuu | 7:e9086c72bb22 | 1755 | ********************************************************/ |
Lightvalve | 67:c2812cf26c38 | 1756 | if(DIR_VALVE<0){ |
Lightvalve | 67:c2812cf26c38 | 1757 | V_out = -V_out; |
Lightvalve | 67:c2812cf26c38 | 1758 | } |
Lightvalve | 67:c2812cf26c38 | 1759 | |
Lightvalve | 49:e7bcfc244d40 | 1760 | if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 1761 | V_out = VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 49:e7bcfc244d40 | 1762 | } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 1763 | V_out = -VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 27:a2254a485f23 | 1764 | } |
Lightvalve | 49:e7bcfc244d40 | 1765 | PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV |
Lightvalve | 13:747daba9cf59 | 1766 | |
Lightvalve | 19:23b7c1ad8683 | 1767 | // Saturation of output voltage to 12.0V |
Lightvalve | 30:8d561f16383b | 1768 | if(PWM_out > 1.0f) PWM_out=1.0f; |
Lightvalve | 30:8d561f16383b | 1769 | else if (PWM_out < -1.0f) PWM_out=-1.0f; |
Lightvalve | 13:747daba9cf59 | 1770 | |
Lightvalve | 30:8d561f16383b | 1771 | if (PWM_out>0.0f) { |
Lightvalve | 30:8d561f16383b | 1772 | dtc_v=0.0f; |
jobuuu | 1:e04e563be5ce | 1773 | dtc_w=PWM_out; |
jobuuu | 1:e04e563be5ce | 1774 | } else { |
jobuuu | 2:a1c0a37df760 | 1775 | dtc_v=-PWM_out; |
Lightvalve | 30:8d561f16383b | 1776 | dtc_w=0.0f; |
jobuuu | 1:e04e563be5ce | 1777 | } |
Lightvalve | 13:747daba9cf59 | 1778 | |
jobuuu | 1:e04e563be5ce | 1779 | //pwm |
Lightvalve | 30:8d561f16383b | 1780 | TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v); |
Lightvalve | 30:8d561f16383b | 1781 | TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w); |
Lightvalve | 67:c2812cf26c38 | 1782 | |
Lightvalve | 61:bc8c8270f0ab | 1783 | |
Lightvalve | 57:f4819de54e7a | 1784 | if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 20:806196fda269 | 1785 | |
Lightvalve | 54:647072f5307a | 1786 | // Position, Velocity, and Torque (ID:1200) |
Lightvalve | 56:6f50d9d3bfee | 1787 | if (flag_data_request[0] == HIGH) { |
Lightvalve | 57:f4819de54e7a | 1788 | if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator |
Lightvalve | 54:647072f5307a | 1789 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 1790 | CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f)); |
Lightvalve | 54:647072f5307a | 1791 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 1792 | 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 | 1793 | } |
Lightvalve | 57:f4819de54e7a | 1794 | } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator |
Lightvalve | 54:647072f5307a | 1795 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 1796 | 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 | 1797 | } else if (SENSING_MODE == 1) { |
Lightvalve | 67:c2812cf26c38 | 1798 | 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 | 1799 | } |
Lightvalve | 52:8ea76864368a | 1800 | } |
Lightvalve | 52:8ea76864368a | 1801 | } |
Lightvalve | 56:6f50d9d3bfee | 1802 | if (flag_data_request[1] == HIGH) { |
Lightvalve | 54:647072f5307a | 1803 | //valve position |
Lightvalve | 54:647072f5307a | 1804 | double t_value = 0; |
Lightvalve | 97:d71c57e3515e | 1805 | if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 97:d71c57e3515e | 1806 | t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 97:d71c57e3515e | 1807 | } else { |
Lightvalve | 97:d71c57e3515e | 1808 | t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 97:d71c57e3515e | 1809 | } |
Lightvalve | 97:d71c57e3515e | 1810 | // if(OPERATING_MODE==5) { |
Lightvalve | 97:d71c57e3515e | 1811 | // if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 97:d71c57e3515e | 1812 | // t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 97:d71c57e3515e | 1813 | // } else { |
Lightvalve | 97:d71c57e3515e | 1814 | // t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 97:d71c57e3515e | 1815 | // } |
Lightvalve | 97:d71c57e3515e | 1816 | //t_value = (double) value; |
Lightvalve | 97:d71c57e3515e | 1817 | // } else if(CURRENT_CONTROL_MODE==1) { |
Lightvalve | 97:d71c57e3515e | 1818 | // t_value = cur.sen * 1000.0f; |
Lightvalve | 89:a7b45368ea0f | 1819 | // } else { |
Lightvalve | 97:d71c57e3515e | 1820 | // t_value = V_out; |
Lightvalve | 89:a7b45368ea0f | 1821 | // } |
Lightvalve | 67:c2812cf26c38 | 1822 | CAN_TX_TORQUE((int16_t) (t_value)); //1300 |
Lightvalve | 67:c2812cf26c38 | 1823 | //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300 |
Lightvalve | 67:c2812cf26c38 | 1824 | //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300 |
Lightvalve | 54:647072f5307a | 1825 | } |
Lightvalve | 58:2eade98630e2 | 1826 | |
Lightvalve | 58:2eade98630e2 | 1827 | |
Lightvalve | 98:cd1b2da4704f | 1828 | if (flag_data_request[2] == HIGH) { |
Lightvalve | 89:a7b45368ea0f | 1829 | //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // 1400 |
Lightvalve | 89:a7b45368ea0f | 1830 | double t_value = 0; |
Lightvalve | 89:a7b45368ea0f | 1831 | if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 89:a7b45368ea0f | 1832 | t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 1833 | } else { |
Lightvalve | 89:a7b45368ea0f | 1834 | t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 1835 | } |
Lightvalve | 89:a7b45368ea0f | 1836 | CAN_TX_PRES((int16_t) (t_value), (int16_t) (V_out)); // 1400 |
Lightvalve | 55:b25725257569 | 1837 | } |
Lightvalve | 58:2eade98630e2 | 1838 | |
Lightvalve | 57:f4819de54e7a | 1839 | //If it doesn't rest, below can can not work. |
Lightvalve | 57:f4819de54e7a | 1840 | for (can_rest = 0; can_rest < 10000; can_rest++) { |
Lightvalve | 57:f4819de54e7a | 1841 | ; |
Lightvalve | 57:f4819de54e7a | 1842 | } |
Lightvalve | 58:2eade98630e2 | 1843 | |
Lightvalve | 56:6f50d9d3bfee | 1844 | if (flag_data_request[3] == HIGH) { |
Lightvalve | 54:647072f5307a | 1845 | //PWM |
Lightvalve | 73:f80dc3970c99 | 1846 | //CAN_TX_PWM((int16_t) value); //1500 |
Lightvalve | 73:f80dc3970c99 | 1847 | CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500 |
Lightvalve | 54:647072f5307a | 1848 | } |
Lightvalve | 57:f4819de54e7a | 1849 | //for (i = 0; i < 10000; i++) { |
Lightvalve | 57:f4819de54e7a | 1850 | // ; |
Lightvalve | 57:f4819de54e7a | 1851 | // } |
Lightvalve | 56:6f50d9d3bfee | 1852 | if (flag_data_request[4] == HIGH) { |
Lightvalve | 54:647072f5307a | 1853 | //valve position |
Lightvalve | 73:f80dc3970c99 | 1854 | 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 | 1855 | } |
Lightvalve | 20:806196fda269 | 1856 | |
Lightvalve | 54:647072f5307a | 1857 | // Others : Reference position, Reference FT, PWM, Current (ID:1300) |
Lightvalve | 52:8ea76864368a | 1858 | // if (flag_data_request[1] == HIGH) { |
Lightvalve | 52:8ea76864368a | 1859 | // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3)); |
Lightvalve | 52:8ea76864368a | 1860 | // } |
Lightvalve | 54:647072f5307a | 1861 | //if (flag_delay_test == 1){ |
Lightvalve | 58:2eade98630e2 | 1862 | //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref); |
Lightvalve | 54:647072f5307a | 1863 | //} |
Lightvalve | 52:8ea76864368a | 1864 | |
Lightvalve | 54:647072f5307a | 1865 | TMR2_COUNT_CAN_TX = 0; |
Lightvalve | 54:647072f5307a | 1866 | } |
Lightvalve | 54:647072f5307a | 1867 | TMR2_COUNT_CAN_TX++; |
Lightvalve | 52:8ea76864368a | 1868 | |
Lightvalve | 20:806196fda269 | 1869 | } |
Lightvalve | 52:8ea76864368a | 1870 | TIM3->SR = 0x0; // reset the status register |
Lightvalve | 52:8ea76864368a | 1871 | |
Lightvalve | 58:2eade98630e2 | 1872 | } |