Buyoun Cho / Mbed 2 deprecated HydraulicControlBoard_PostLIGHT_210420

[Ver 1.0] The code was given by Seunghoon shin, used for hydraulic quadrupedal robot. Buyoun Cho will revise the code for Post-LIGHT (the robot name is not determined yet).

Dependencies:   mbed FastPWM

function_utilities/function_utilities.cpp@230:2c3e5ecbe7e1, 2021-04-21 (annotated)

Committer:
jobuuu
Date:
Wed Apr 21 04:20:39 2021 +0000
Revision:
230:2c3e5ecbe7e1
Parent:
227:699c3e572283 
Synchronize to HCB_210420 (MZ-board)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 11:82d8768d7351 1 #include "setting.h"
Lightvalve 11:82d8768d7351 2 #include "SPI_EEP_ENC.h"
Lightvalve 11:82d8768d7351 3 #include "function_utilities.h"
Lightvalve 14:8e7590227d22 4 #include "function_CAN.h"
Lightvalve 16:903b5a4433b4 5 #include "stm32f4xx_flash.h"
Lightvalve 16:903b5a4433b4 6 #include "FlashWriter.h"
Lightvalve 16:903b5a4433b4 7
Lightvalve 11:82d8768d7351 8 /*******************************************************************************
Lightvalve 11:82d8768d7351 9 * VARIABLE
Lightvalve 11:82d8768d7351 10 ******************************************************************************/
Lightvalve 11:82d8768d7351 11
Lightvalve 34:bb2ca2fc2a8e 12 // Board Information
Lightvalve 11:82d8768d7351 13 uint8_t BNO = 0;
Lightvalve 11:82d8768d7351 14 uint8_t CONTROL_MODE = 0;
Lightvalve 57:f4819de54e7a 15 uint8_t OPERATING_MODE = 0; // (00 : Moog & Rot, 01 : Moog & Lin, 10 : KNR & Rot, 11 : KNR & Lin, 101 : SW & Lin)
Lightvalve 52:8ea76864368a 16 uint8_t SENSING_MODE = 0; // (0 : torque, 1: pressure)
jobuuu 230:2c3e5ecbe7e1 17 uint8_t SUPPLY_PRESSURE_UPDATE = 0; // (0 : Update Off (constant Ps) , 1 : Update On (variable Ps))
jobuuu 230:2c3e5ecbe7e1 18
Lightvalve 57:f4819de54e7a 19 uint8_t CONTROL_UTILITY_MODE = 0;
Lightvalve 52:8ea76864368a 20 uint8_t CURRENT_CONTROL_MODE = 0; // (0 : pwm, 1 : current control)
Lightvalve 52:8ea76864368a 21 uint8_t FLAG_VALVE_DEADZONE = 0;
hyhoon 227:699c3e572283 22 uint8_t REFERENCE_MODE = 1;
Lightvalve 54:647072f5307a 23 int16_t CAN_FREQ = 500;
Lightvalve 17:1865016ca2e7 24 int16_t DIR_JOINT_ENC = 0;
Lightvalve 17:1865016ca2e7 25 int16_t DIR_VALVE = 0;
Lightvalve 17:1865016ca2e7 26 int16_t DIR_VALVE_ENC = 0;
Lightvalve 11:82d8768d7351 27
Lightvalve 49:e7bcfc244d40 28 float SUPPLY_VOLTAGE = 12.0f;
Lightvalve 49:e7bcfc244d40 29 float VALVE_VOLTAGE_LIMIT = 12.0f; //v
Lightvalve 11:82d8768d7351 30
Lightvalve 30:8d561f16383b 31 float P_GAIN_VALVE_POSITION = 0.0f;
Lightvalve 30:8d561f16383b 32 float I_GAIN_VALVE_POSITION= 0.0f;
Lightvalve 30:8d561f16383b 33 float D_GAIN_VALVE_POSITION= 0.0f;
Lightvalve 30:8d561f16383b 34 float P_GAIN_JOINT_POSITION = 0.0f;
Lightvalve 30:8d561f16383b 35 float I_GAIN_JOINT_POSITION = 0.0f;
Lightvalve 30:8d561f16383b 36 float D_GAIN_JOINT_POSITION = 0.0f;
Lightvalve 30:8d561f16383b 37 float P_GAIN_JOINT_TORQUE = 0.0f;
Lightvalve 72:3436ce769b1e 38 float I_GAIN_JOINT_TORQUE = 0.0f;
Lightvalve 72:3436ce769b1e 39 float D_GAIN_JOINT_TORQUE = 0.0f;
Lightvalve 72:3436ce769b1e 40 float P_GAIN_JOINT_TORQUE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 41 float I_GAIN_JOINT_TORQUE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 42 float D_GAIN_JOINT_TORQUE_FF = 0.0f;
Lightvalve 11:82d8768d7351 43
Lightvalve 46:2694daea349b 44 int16_t K_SPRING = 0.0;
Lightvalve 46:2694daea349b 45 int16_t D_DAMPER = 0.0;
Lightvalve 72:3436ce769b1e 46
Lightvalve 54:647072f5307a 47 int16_t flag_delay_test = 0;
Lightvalve 46:2694daea349b 48
Lightvalve 36:a46e63505ed8 49 //float P_GAIN_VALVE_POSITION_OPP = 0.0f;
Lightvalve 36:a46e63505ed8 50 //float I_GAIN_VALVE_POSITION_OPP= 0.0f;
Lightvalve 36:a46e63505ed8 51 //float D_GAIN_VALVE_POSITION_OPP= 0.0f;
Lightvalve 36:a46e63505ed8 52 //float P_GAIN_JOINT_POSITION_OPP = 0.0f;
Lightvalve 36:a46e63505ed8 53 //float I_GAIN_JOINT_POSITION_OPP = 0.0f;
Lightvalve 36:a46e63505ed8 54 //float D_GAIN_JOINT_POSITION_OPP = 0.0f;
Lightvalve 36:a46e63505ed8 55 //float P_GAIN_JOINT_TORQUE_OPP = 0.0f;
Lightvalve 36:a46e63505ed8 56 //float I_GAIN_JOINT_TORQUE_OPP = 0.0;
Lightvalve 36:a46e63505ed8 57 //float D_GAIN_JOINT_TORQUE_OPP = 0.0;
Lightvalve 36:a46e63505ed8 58
hyhoon 226:82a3ca333004 59 int16_t VALVE_DEADZONE_PLUS;
hyhoon 226:82a3ca333004 60 int16_t VALVE_DEADZONE_MINUS;
Lightvalve 11:82d8768d7351 61
Lightvalve 11:82d8768d7351 62 int16_t VELOCITY_COMP_GAIN;
Lightvalve 11:82d8768d7351 63 int16_t COMPLIANCE_GAIN;
Lightvalve 11:82d8768d7351 64
Lightvalve 11:82d8768d7351 65 int16_t VALVE_CENTER;
Lightvalve 11:82d8768d7351 66
Lightvalve 11:82d8768d7351 67 int16_t VALVE_FF;
Lightvalve 11:82d8768d7351 68
Lightvalve 11:82d8768d7351 69 int16_t BULK_MODULUS;
Lightvalve 11:82d8768d7351 70
Lightvalve 11:82d8768d7351 71 int16_t CHAMBER_VOLUME_A;
Lightvalve 11:82d8768d7351 72 int16_t CHAMBER_VOLUME_B;
Lightvalve 11:82d8768d7351 73
Lightvalve 11:82d8768d7351 74 int16_t PISTON_AREA_A;
Lightvalve 11:82d8768d7351 75 int16_t PISTON_AREA_B;
Lightvalve 30:8d561f16383b 76 float PISTON_AREA_alpha;
Lightvalve 57:f4819de54e7a 77 float alpha3 = 1.0f;
Lightvalve 11:82d8768d7351 78
jobuuu 230:2c3e5ecbe7e1 79 float PRES_SUPPLY_NOM = 70.0f;
jobuuu 230:2c3e5ecbe7e1 80 float PRES_SUPPLY = 70.0f;
Lightvalve 11:82d8768d7351 81
Lightvalve 11:82d8768d7351 82 int16_t ENC_LIMIT_PLUS;
Lightvalve 11:82d8768d7351 83 int16_t ENC_LIMIT_MINUS;
Lightvalve 11:82d8768d7351 84
Lightvalve 11:82d8768d7351 85 int16_t STROKE;
Lightvalve 11:82d8768d7351 86
Lightvalve 133:22ab22818e01 87 float Amm = 236.4f;
Lightvalve 133:22ab22818e01 88 float beta = 1300000000.0f;
Lightvalve 133:22ab22818e01 89 float Ps = 10000000.0f; //100bar = 100*10^5 Pa
Lightvalve 133:22ab22818e01 90 float Pt = 0.0f; // 0bar = 0Pa
Lightvalve 133:22ab22818e01 91 //float Kv = 0.00000002635f; // Q = Kv*xv*sqrt(Ps-Pa) => 100bar full opening 5LPM (full opening : xv = 1) [unit] m^3.5/kg^0.5
Lightvalve 133:22ab22818e01 92 float gamma_hat = 1075.0f; // Kv*beta*A/(sqrt(2)*V) 0.00000002635f * 1300000000.0f * / (sqrt(2.0f)*(1256.6f + 236.4f * 39.75f) * 0.000000001f / 2) [unit] m^3.5/kg^0.5
Lightvalve 218:066030f7951f 93 float a_hat = -13707631.7f;
Lightvalve 170:42c938a40313 94 float V_adapt = 0.0000053f; // (1256.6f + 236.4f * 39.75f) * 0.000000001f / 2
Lightvalve 133:22ab22818e01 95 float x_4_des_old = 0.0f;
Lightvalve 11:82d8768d7351 96
Lightvalve 57:f4819de54e7a 97 //int16_t VALVE_LIMIT_PLUS;
Lightvalve 57:f4819de54e7a 98 //int16_t VALVE_LIMIT_MINUS;
Lightvalve 11:82d8768d7351 99
jobuuu 230:2c3e5ecbe7e1 100 float ENC_PULSE_PER_POSITION = 1.0f;
jobuuu 230:2c3e5ecbe7e1 101 float TORQUE_SENSOR_PULSE_PER_TORQUE = 1.0f;
Lightvalve 30:8d561f16383b 102 float PRES_SENSOR_A_PULSE_PER_BAR = 4096.0f / 200.0f;
Lightvalve 30:8d561f16383b 103 float PRES_SENSOR_B_PULSE_PER_BAR = 4096.0f / 200.0f;
Lightvalve 11:82d8768d7351 104
hyhoon 226:82a3ca333004 105 int16_t HOMEPOS_OFFSET;
Lightvalve 11:82d8768d7351 106 int HOMEPOS_VALVE_OPENING;
Lightvalve 11:82d8768d7351 107
Lightvalve 30:8d561f16383b 108 float FRICTION;
Lightvalve 30:8d561f16383b 109 float REF_PERIOD;
Lightvalve 30:8d561f16383b 110 float REF_MAG;
Lightvalve 11:82d8768d7351 111 int REF_NUM;
Lightvalve 11:82d8768d7351 112
Lightvalve 11:82d8768d7351 113
Lightvalve 30:8d561f16383b 114 float DAC_REF;
Lightvalve 30:8d561f16383b 115 float DAC_RESOL;
Lightvalve 11:82d8768d7351 116
jobuuu 230:2c3e5ecbe7e1 117 float REF_FORCE = 0.0;
jobuuu 230:2c3e5ecbe7e1 118 float REF_TORQUE = 0.0;
jobuuu 230:2c3e5ecbe7e1 119 float REF_POSITION = 0.0;
jobuuu 230:2c3e5ecbe7e1 120 float REF_VELOCITY = 0.0;
jobuuu 230:2c3e5ecbe7e1 121
jobuuu 230:2c3e5ecbe7e1 122 float REF_POSITION_FINDHOME = 0.0;
jobuuu 230:2c3e5ecbe7e1 123
Lightvalve 11:82d8768d7351 124 int16_t REF_PWM;
Lightvalve 11:82d8768d7351 125 int16_t REF_VALVE_POSITION;
Lightvalve 14:8e7590227d22 126 int16_t REF_CURRENT;
Lightvalve 11:82d8768d7351 127
Lightvalve 11:82d8768d7351 128 int REF_MOVE_TIME_5k;
Lightvalve 11:82d8768d7351 129 int INIT_REF_PWM;
Lightvalve 11:82d8768d7351 130 int INIT_REF_VALVE_POS;
Lightvalve 11:82d8768d7351 131 int INIT_REF_VEL;
Lightvalve 11:82d8768d7351 132 int INIT_REF_TORQUE;
Lightvalve 11:82d8768d7351 133 int INIT_REF_PRES_DIFF;
Lightvalve 14:8e7590227d22 134 int INIT_REF_CURRENT;
Lightvalve 11:82d8768d7351 135
Lightvalve 11:82d8768d7351 136 unsigned int TMR2_COUNT_LED1;
Lightvalve 11:82d8768d7351 137 unsigned int TMR2_COUNT_LED2;
Lightvalve 54:647072f5307a 138 unsigned int TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 139 unsigned int TMR3_COUNT_TEST = 0;
Lightvalve 11:82d8768d7351 140
Lightvalve 11:82d8768d7351 141 int num_err;
Lightvalve 11:82d8768d7351 142 int flag_err[8];
Lightvalve 11:82d8768d7351 143 int flag_err_old[8];
Lightvalve 11:82d8768d7351 144 int flag_err_rt;
Lightvalve 11:82d8768d7351 145
Lightvalve 11:82d8768d7351 146 int flag_ref_enable;
Lightvalve 11:82d8768d7351 147
Lightvalve 11:82d8768d7351 148 int flag_data_request[5];
Lightvalve 11:82d8768d7351 149
Lightvalve 45:35fa6884d0c6 150 int MODE_POS_FT_TRANS = 0;
Lightvalve 66:a8e6799dbce3 151 int NN_Control_Flag = 0;
Lightvalve 45:35fa6884d0c6 152
Lightvalve 169:645207e160ca 153 int cnt_buffer = 0;
Lightvalve 169:645207e160ca 154
Lightvalve 57:f4819de54e7a 155 float CUR_CURRENT_mA = 0.0f;
Lightvalve 57:f4819de54e7a 156 float CUR_TORQUE_NM = 0.0f;
Lightvalve 57:f4819de54e7a 157 float CUR_TORQUE_NM_PRESS = 0.0f;
Lightvalve 11:82d8768d7351 158
jobuuu 230:2c3e5ecbe7e1 159 float FORCE_VREF = 0.0f;
Lightvalve 57:f4819de54e7a 160 float PRES_A_VREF = 0.0f;
Lightvalve 57:f4819de54e7a 161 float PRES_B_VREF = 0.0f;
Lightvalve 11:82d8768d7351 162
Lightvalve 57:f4819de54e7a 163 float VALVE_PWM_RAW_FB = 0.0f;
Lightvalve 57:f4819de54e7a 164 float VALVE_PWM_RAW_FF = 0.0f;
Lightvalve 57:f4819de54e7a 165 float VALVE_PWM_RAW = 0.0f;
Lightvalve 57:f4819de54e7a 166 int VALVE_PWM_VALVE_DZ = 0;
Lightvalve 11:82d8768d7351 167
Lightvalve 30:8d561f16383b 168 float VALVE_GAIN_LPM_PER_V[10];
Lightvalve 30:8d561f16383b 169 float VALVE_POS_VS_PWM[25];
Lightvalve 11:82d8768d7351 170 long JOINT_VEL[100];
Lightvalve 11:82d8768d7351 171
Lightvalve 11:82d8768d7351 172 int VALVE_MAX_POS;
Lightvalve 11:82d8768d7351 173 int VALVE_MIN_POS;
Lightvalve 11:82d8768d7351 174 int VALVE_POS_NUM;
Lightvalve 32:4b8c0fedaf2c 175 float VALVE_CENTER_OFFSET;
Lightvalve 33:91b17819ec30 176 float VALVE_DZ_MINUS_OFFSET;
Lightvalve 33:91b17819ec30 177 float VALVE_DZ_PLUS_OFFSET;
Lightvalve 11:82d8768d7351 178
Lightvalve 57:f4819de54e7a 179 int TMR3_COUNT_FINDHOME = 0;
Lightvalve 57:f4819de54e7a 180 int TMR3_COUNT_FLOWRATE = 0;
Lightvalve 57:f4819de54e7a 181 int TMR3_COUNT_DEADZONE = 0;
Lightvalve 57:f4819de54e7a 182 int TMR3_COUNT_PRES_NULL = 0;
Lightvalve 57:f4819de54e7a 183 int TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 57:f4819de54e7a 184 int TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 57:f4819de54e7a 185 int TMR3_COUNT_REFERENCE = 0;
Lightvalve 57:f4819de54e7a 186 int TMR3_COUNT_JOINT = 0;
Lightvalve 57:f4819de54e7a 187 int TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 11:82d8768d7351 188
Lightvalve 57:f4819de54e7a 189 float TUNING_TIME = 600.0f; // sec
Lightvalve 56:6f50d9d3bfee 190
Lightvalve 57:f4819de54e7a 191 float REFERENCE_FREQ = 1.0f;
Lightvalve 57:f4819de54e7a 192 float REFERENCE_MAG = 0.0f;
Lightvalve 11:82d8768d7351 193
Lightvalve 11:82d8768d7351 194 bool FLAG_FIND_HOME;
Lightvalve 11:82d8768d7351 195
Lightvalve 11:82d8768d7351 196 int MODE_JUMP_STATUS;
Lightvalve 11:82d8768d7351 197 enum _JUMP_STATUS {
Lightvalve 11:82d8768d7351 198 JUMP_NO_ACT = 0, //0
Lightvalve 11:82d8768d7351 199 JUMP_START, //1
Lightvalve 11:82d8768d7351 200 JUMP_TAKEOFF, //2
Lightvalve 11:82d8768d7351 201 JUMP_FLYING, //3
Lightvalve 11:82d8768d7351 202 JUMP_LANDING, //4
Lightvalve 11:82d8768d7351 203 };
Lightvalve 11:82d8768d7351 204
jobuuu 230:2c3e5ecbe7e1 205
jobuuu 230:2c3e5ecbe7e1 206 float PRES_A_NULL_pulse = 300.0f;
jobuuu 230:2c3e5ecbe7e1 207 float PRES_B_NULL_pulse = 300.0f;
jobuuu 230:2c3e5ecbe7e1 208 float FORCE_NULL_pulse = 3900.0f;
Lightvalve 11:82d8768d7351 209
Lightvalve 30:8d561f16383b 210 float Ref_Valve_Pos_Old = 0.0f;
Lightvalve 11:82d8768d7351 211
Lightvalve 13:747daba9cf59 212 int VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 213 int VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 214 int VALVE_FR_timer = 0;
Lightvalve 35:34ce7b0347b8 215 //int VALVE_HPL_timer = 0;
Lightvalve 13:747daba9cf59 216 int VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 217 int JOINT_VEL_TMP = 0;
Lightvalve 13:747daba9cf59 218 int DDV_POS_AVG = 0;
Lightvalve 19:23b7c1ad8683 219 int VALVE_POS_AVG[50] = {0};
Lightvalve 13:747daba9cf59 220 int VALVE_POS_AVG_OLD = 0;
Lightvalve 13:747daba9cf59 221 int data_num = 0;
Lightvalve 13:747daba9cf59 222 int ID_index = 0;
Lightvalve 13:747daba9cf59 223 int DZ_index = 1;
Lightvalve 19:23b7c1ad8683 224 int ID_index_array[50] = {0};
Lightvalve 13:747daba9cf59 225 int first_check = 0;
Lightvalve 30:8d561f16383b 226 float init_time = 0.0f;
Lightvalve 13:747daba9cf59 227 int DZ_case = 0;
Lightvalve 13:747daba9cf59 228 int START_POS = 0;
Lightvalve 13:747daba9cf59 229 int FINAL_POS = 0;
Lightvalve 13:747daba9cf59 230 int DZ_DIRECTION = 0;
Lightvalve 13:747daba9cf59 231 int FIRST_DZ = 0;
Lightvalve 13:747daba9cf59 232 int SECOND_DZ = 0;
Lightvalve 13:747daba9cf59 233 int DZ_NUM = 0;
Lightvalve 13:747daba9cf59 234 int one_period_end = 0;
Lightvalve 30:8d561f16383b 235 float Ref_Vel_Test = 0.0f;
Lightvalve 13:747daba9cf59 236 long TMR2_FOR_SLOW_LOGGING = 0;
Lightvalve 13:747daba9cf59 237 char max_check = 0;
Lightvalve 34:bb2ca2fc2a8e 238 char min_check = 0;
Lightvalve 13:747daba9cf59 239
Lightvalve 30:8d561f16383b 240 float valve_pos_err = 0.0f, valve_pos_err_old = 0.0f, valve_pos_err_diff = 0.0f, valve_pos_err_sum = 0.0f;
Lightvalve 30:8d561f16383b 241 float joint_pos_err = 0.0f, joint_pos_err_old = 0.0f, joint_pos_err_diff = 0.0f, joint_pos_err_diff_fil = 0.0f, joint_pos_err_sum = 0.0f;
Lightvalve 30:8d561f16383b 242 float joint_torq_err = 0.0f, joint_torq_err_old = 0.0f, joint_torq_err_diff = 0.0f, joint_torq_err_sum = 0.0f;
Lightvalve 30:8d561f16383b 243 float VALVE_PWM_RAW_POS = 0.0f, VALVE_PWM_RAW_TORQ = 0.0f;
Lightvalve 13:747daba9cf59 244
Lightvalve 30:8d561f16383b 245 float CUR_FLOWRATE = 0.0f;
Lightvalve 30:8d561f16383b 246 float VALVE_FF_VOLTAGE = 0.0f;
Lightvalve 13:747daba9cf59 247
Lightvalve 13:747daba9cf59 248 int pos_plus_end = 0;
Lightvalve 13:747daba9cf59 249 int pos_minus_end = 0;
Lightvalve 13:747daba9cf59 250
Lightvalve 13:747daba9cf59 251 bool need_enc_init = false;
Lightvalve 13:747daba9cf59 252
Lightvalve 13:747daba9cf59 253 int temp_time = 0;
Lightvalve 13:747daba9cf59 254
Lightvalve 30:8d561f16383b 255 float CUR_VELOCITY_sum = 0.0f;
Lightvalve 30:8d561f16383b 256 float temp_vel_sum = 0.0f;
Lightvalve 13:747daba9cf59 257
Lightvalve 13:747daba9cf59 258 int DZ_dir = 0;
Lightvalve 13:747daba9cf59 259 int DZ_temp_cnt = 0;
Lightvalve 13:747daba9cf59 260 int DZ_temp_cnt2 = 0;
Lightvalve 13:747daba9cf59 261 int DZ_end = 2;
Lightvalve 13:747daba9cf59 262 int flag_flowrate = 0;
Lightvalve 13:747daba9cf59 263 int fl_temp_cnt = 0;
Lightvalve 13:747daba9cf59 264 int fl_temp_cnt2 = 0;
Lightvalve 13:747daba9cf59 265 int cur_vel_sum = 0;
Lightvalve 13:747daba9cf59 266
hyhoon 227:699c3e572283 267 int cnt_finddz = 0;
hyhoon 227:699c3e572283 268 int cnt_vel_finddz = 0;
hyhoon 227:699c3e572283 269 int flag_finddz = 0;
hyhoon 227:699c3e572283 270 int FINDDZ_VELOCITY = 0;
hyhoon 227:699c3e572283 271 int FINDDZ_VELOCITY_OLD = 0;
hyhoon 227:699c3e572283 272 int FINDDZ_POSITION = 0;
hyhoon 227:699c3e572283 273 int FINDDZ_POSITION_OLD = 0;
hyhoon 227:699c3e572283 274
hyhoon 227:699c3e572283 275 double temp_VALVE_DEADZONE_PLUS = 0.0f;
hyhoon 227:699c3e572283 276 double temp_VALVE_DEADZONE_MINUS = 0.0f;
hyhoon 227:699c3e572283 277 float temp_pos_ref = 0.0f;
hyhoon 227:699c3e572283 278 float temp_pos_ref_offset = 0.0f;
hyhoon 227:699c3e572283 279
hyhoon 227:699c3e572283 280
Lightvalve 13:747daba9cf59 281 // valve gain
Lightvalve 13:747daba9cf59 282 int check_vel_pos_init = 0;
Lightvalve 13:747daba9cf59 283 int check_vel_pos_fin = 0;
Lightvalve 13:747daba9cf59 284 int check_vel_pos_interv = 0;
Lightvalve 13:747daba9cf59 285 int valve_gain_repeat_cnt = 0;
Lightvalve 30:8d561f16383b 286 float VALVE_VOLTAGE = 0.0f;
Lightvalve 13:747daba9cf59 287
Lightvalve 30:8d561f16383b 288 float freq_fric_tune = 1.0f;
Lightvalve 13:747daba9cf59 289
Lightvalve 14:8e7590227d22 290 uint32_t TMR3_COUNT_CAN_TX = 0;
Lightvalve 14:8e7590227d22 291
Lightvalve 57:f4819de54e7a 292 // Current Control Variables
Lightvalve 57:f4819de54e7a 293 double I_REF = 0.0f;
Lightvalve 57:f4819de54e7a 294 double I_REF_fil = 0.0f;
hyhoon 226:82a3ca333004 295 double I_REF_fil_DZ = 0.0f;
Lightvalve 57:f4819de54e7a 296 double I_ERR = 0.0f;
Lightvalve 57:f4819de54e7a 297 double I_ERR_INT = 0.0f;
Lightvalve 57:f4819de54e7a 298 double I_REF_fil_old = 0.0f;
Lightvalve 57:f4819de54e7a 299 double I_REF_fil_diff = 0.0f;
Lightvalve 57:f4819de54e7a 300
Lightvalve 57:f4819de54e7a 301 // system id
Lightvalve 57:f4819de54e7a 302 int cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 303 double freq_sysid_Iref = 0.0f;
Lightvalve 57:f4819de54e7a 304
Lightvalve 169:645207e160ca 305 int cnt_freq_test = 0;
Lightvalve 169:645207e160ca 306 int cnt_step_test = 0;
Lightvalve 169:645207e160ca 307 int buffer_data_size = 0;
Lightvalve 169:645207e160ca 308 int cnt_send_buffer = 0;
Lightvalve 169:645207e160ca 309 float freq_test_valve_ref = 1.0f;
Lightvalve 169:645207e160ca 310 float ref_array[10000];
Lightvalve 169:645207e160ca 311 int pos_array[10000];
Lightvalve 192:637092202815 312 int flag_every_reference = 0;
Lightvalve 169:645207e160ca 313
Lightvalve 14:8e7590227d22 314 int TMR3_COUNT_IREF = 0;
Lightvalve 30:8d561f16383b 315 float CUR_CURRENT = 0.0f;
Lightvalve 30:8d561f16383b 316 float u_CUR[3] = {0.0f,0.0f,0.0f};
Lightvalve 29:69f3f5445d6d 317 int FINDHOME_STAGE = 0;
Lightvalve 29:69f3f5445d6d 318 int FINDHOME_INIT = 0;
Lightvalve 30:8d561f16383b 319 int FINDHOME_GOTOLIMIT = 1;
Lightvalve 30:8d561f16383b 320 int FINDHOME_ZEROPOSE = 2;
Lightvalve 14:8e7590227d22 321
hyhoon 227:699c3e572283 322 int FINDDZ_STAGE = 0;
hyhoon 227:699c3e572283 323 int FINDDZ_INIT = 0;
hyhoon 227:699c3e572283 324 int FINDDZ_START1 = 1;
hyhoon 227:699c3e572283 325 int FINDDZ_START2 = 2;
hyhoon 227:699c3e572283 326 int FINDDZ_STOP = 3;
hyhoon 227:699c3e572283 327
Lightvalve 45:35fa6884d0c6 328 float alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 329
Lightvalve 57:f4819de54e7a 330 float V_out=0.0f;
Lightvalve 57:f4819de54e7a 331 float V_rem=0.0f; // for anti-windup
Lightvalve 57:f4819de54e7a 332 float V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 333
Lightvalve 57:f4819de54e7a 334 float PWM_out=0.0f;
Lightvalve 57:f4819de54e7a 335
jobuuu 230:2c3e5ecbe7e1 336 double K_v = 1.0f; // valve flowrate gain 1
jobuuu 230:2c3e5ecbe7e1 337 double C_d = 0.16f; // valve flowrate gain 2
jobuuu 230:2c3e5ecbe7e1 338
Lightvalve 57:f4819de54e7a 339 double mV_PER_mA = 600.0f; // current >> voltage
Lightvalve 57:f4819de54e7a 340 double mV_PER_pulse = 0.6f; // pulse >> voltage
Lightvalve 57:f4819de54e7a 341 double mA_PER_pulse = 0.001f; // pulse >> current
Lightvalve 57:f4819de54e7a 342
Lightvalve 57:f4819de54e7a 343 int timer_while = 0;
Lightvalve 57:f4819de54e7a 344 int while_index = 0;
Lightvalve 170:42c938a40313 345 int RL_timer = 0;
Lightvalve 57:f4819de54e7a 346
Lightvalve 67:c2812cf26c38 347 float K_LPF = 0.0f;
Lightvalve 67:c2812cf26c38 348 float D_LPF = 0.0f;
Lightvalve 67:c2812cf26c38 349
Lightvalve 224:985dba42f261 350 float torq_sen_past = 0.0f;
Lightvalve 72:3436ce769b1e 351 float torq_ref_past = 0.0f;
Lightvalve 99:7bbcb3c0fb06 352 float output_normalized = 0.0f;
Lightvalve 99:7bbcb3c0fb06 353
Lightvalve 23:59218d4a256d 354
Lightvalve 11:82d8768d7351 355 /*******************************************************************************
Lightvalve 11:82d8768d7351 356 * General math functions
Lightvalve 11:82d8768d7351 357 ******************************************************************************/
Lightvalve 11:82d8768d7351 358
Lightvalve 11:82d8768d7351 359
Lightvalve 34:bb2ca2fc2a8e 360 float dabs(float tx)
Lightvalve 34:bb2ca2fc2a8e 361 {
Lightvalve 30:8d561f16383b 362 if (tx >= 0.0f)
Lightvalve 11:82d8768d7351 363 return tx;
Lightvalve 11:82d8768d7351 364 else
Lightvalve 11:82d8768d7351 365 return -tx;
Lightvalve 11:82d8768d7351 366 }
Lightvalve 11:82d8768d7351 367
Lightvalve 34:bb2ca2fc2a8e 368 float change_int_to_efloat(int input)
Lightvalve 34:bb2ca2fc2a8e 369 {
Lightvalve 11:82d8768d7351 370 int i = 0;
Lightvalve 11:82d8768d7351 371
Lightvalve 30:8d561f16383b 372 float output = 0;
Lightvalve 48:889798ff9329 373 int vn = (int) ((float) input / 10.0f);
Lightvalve 11:82d8768d7351 374 int en = input % 10;
Lightvalve 11:82d8768d7351 375
Lightvalve 30:8d561f16383b 376 float temp = 1.;
Lightvalve 11:82d8768d7351 377 for (i = 0; i < en; i++)
Lightvalve 30:8d561f16383b 378 temp *= 0.1f;
Lightvalve 11:82d8768d7351 379
Lightvalve 30:8d561f16383b 380 output = (float) vn*temp;
Lightvalve 11:82d8768d7351 381 return output;
Lightvalve 11:82d8768d7351 382 }
Lightvalve 11:82d8768d7351 383
Lightvalve 34:bb2ca2fc2a8e 384 void make_delay(void)
Lightvalve 34:bb2ca2fc2a8e 385 {
Lightvalve 11:82d8768d7351 386 int i = 0;
Lightvalve 11:82d8768d7351 387
Lightvalve 65:a2d7c63419c2 388 for (i = 0; i < 1000000; i++) {
Lightvalve 11:82d8768d7351 389 ;
Lightvalve 11:82d8768d7351 390 }
Lightvalve 11:82d8768d7351 391 }
Lightvalve 11:82d8768d7351 392
Lightvalve 11:82d8768d7351 393
Lightvalve 11:82d8768d7351 394 /*******************************************************************************
Lightvalve 11:82d8768d7351 395 * ROM functions
Lightvalve 11:82d8768d7351 396 ******************************************************************************/
Lightvalve 11:82d8768d7351 397
Lightvalve 34:bb2ca2fc2a8e 398 void ROM_CALL_DATA(void)
Lightvalve 34:bb2ca2fc2a8e 399 {
Lightvalve 170:42c938a40313 400 BNO = spi_eeprom_read(RID_BNO);
hyhoon 226:82a3ca333004 401 BNO = 11;
Lightvalve 170:42c938a40313 402 OPERATING_MODE = spi_eeprom_read(RID_OPERATING_MODE);
Lightvalve 170:42c938a40313 403 SENSING_MODE = spi_eeprom_read(RID_SENSING_MODE);
Lightvalve 170:42c938a40313 404 CURRENT_CONTROL_MODE = spi_eeprom_read(RID_CURRENT_CONTROL_MODE);
Lightvalve 170:42c938a40313 405 FLAG_VALVE_DEADZONE = spi_eeprom_read(RID_FLAG_VALVE_DEADZONE);
Lightvalve 170:42c938a40313 406 CAN_FREQ = spi_eeprom_read(RID_CAN_FREQ);
Lightvalve 170:42c938a40313 407 DIR_JOINT_ENC = spi_eeprom_read(RID_JOINT_ENC_DIR);
Lightvalve 170:42c938a40313 408 DIR_VALVE = spi_eeprom_read(RID_VALVE_DIR);
Lightvalve 170:42c938a40313 409 DIR_VALVE_ENC = spi_eeprom_read(RID_VALVE_ENC_DIR);
Lightvalve 170:42c938a40313 410 SUPPLY_VOLTAGE = (float) (spi_eeprom_read(RID_VOLATGE_SUPPLY)) *0.1f;
Lightvalve 170:42c938a40313 411 VALVE_VOLTAGE_LIMIT = (float) (spi_eeprom_read(RID_VOLTAGE_VALVE)) * 0.1f;
Lightvalve 170:42c938a40313 412 P_GAIN_VALVE_POSITION = spi_eeprom_read(RID_P_GAIN_VALVE_POSITION);
Lightvalve 170:42c938a40313 413 I_GAIN_VALVE_POSITION = spi_eeprom_read(RID_I_GAIN_VALVE_POSITION);
Lightvalve 170:42c938a40313 414 D_GAIN_VALVE_POSITION = spi_eeprom_read(RID_D_GAIN_VALVE_POSITION);
Lightvalve 170:42c938a40313 415 P_GAIN_JOINT_POSITION = spi_eeprom_read(RID_P_GAIN_JOINT_POSITION);
Lightvalve 170:42c938a40313 416 I_GAIN_JOINT_POSITION = spi_eeprom_read(RID_I_GAIN_JOINT_POSITION);
Lightvalve 170:42c938a40313 417 D_GAIN_JOINT_POSITION = spi_eeprom_read(RID_D_GAIN_JOINT_POSITION);
Lightvalve 170:42c938a40313 418 P_GAIN_JOINT_TORQUE = spi_eeprom_read(RID_P_GAIN_JOINT_TORQUE);
Lightvalve 170:42c938a40313 419 I_GAIN_JOINT_TORQUE = spi_eeprom_read( RID_I_GAIN_JOINT_TORQUE);
Lightvalve 170:42c938a40313 420 D_GAIN_JOINT_TORQUE = spi_eeprom_read(RID_D_GAIN_JOINT_TORQUE);
hyhoon 226:82a3ca333004 421 VALVE_DEADZONE_PLUS = (spi_eeprom_read(RID_VALVE_DEADZONE_PLUS));
hyhoon 226:82a3ca333004 422 VALVE_DEADZONE_MINUS = (spi_eeprom_read(RID_VALVE_DEADZONE_MINUS));
Lightvalve 170:42c938a40313 423 VELOCITY_COMP_GAIN = spi_eeprom_read(RID_VELOCITY_COMP_GAIN);
Lightvalve 170:42c938a40313 424 COMPLIANCE_GAIN = spi_eeprom_read(RID_COMPLIANCE_GAIN);
Lightvalve 170:42c938a40313 425 VALVE_CENTER = spi_eeprom_read(RID_VALVE_CNETER);
Lightvalve 170:42c938a40313 426 VALVE_FF = spi_eeprom_read(RID_VALVE_FF);
Lightvalve 170:42c938a40313 427 BULK_MODULUS = spi_eeprom_read(RID_BULK_MODULUS);
Lightvalve 170:42c938a40313 428 CHAMBER_VOLUME_A = spi_eeprom_read(RID_CHAMBER_VOLUME_A);
Lightvalve 170:42c938a40313 429 CHAMBER_VOLUME_B = spi_eeprom_read(RID_CHAMBER_VOLUME_B);
Lightvalve 170:42c938a40313 430 PISTON_AREA_A = spi_eeprom_read(RID_PISTON_AREA_A);
Lightvalve 170:42c938a40313 431 PISTON_AREA_B = spi_eeprom_read(RID_PISTON_AREA_B);
Lightvalve 170:42c938a40313 432 PISTON_AREA_alpha = (float)PISTON_AREA_A/(float)PISTON_AREA_B;
Lightvalve 170:42c938a40313 433 alpha3 = PISTON_AREA_alpha * PISTON_AREA_alpha*PISTON_AREA_alpha;
jobuuu 230:2c3e5ecbe7e1 434 PRES_SUPPLY_NOM = spi_eeprom_read(RID_PRES_SUPPLY);
jobuuu 230:2c3e5ecbe7e1 435 PRES_SUPPLY = PRES_SUPPLY_NOM;
Lightvalve 170:42c938a40313 436 ENC_LIMIT_MINUS = spi_eeprom_read(RID_ENC_LIMIT_MINUS);
Lightvalve 170:42c938a40313 437 ENC_LIMIT_PLUS = spi_eeprom_read(RID_ENC_LIMIT_PLUS);
Lightvalve 170:42c938a40313 438 STROKE = spi_eeprom_read(RID_STROKE);
Lightvalve 180:02be1711ee0b 439 ENC_PULSE_PER_POSITION = (float) (spi_eeprom_read(RID_ENC_PULSE_PER_POSITION));
Lightvalve 170:42c938a40313 440 TORQUE_SENSOR_PULSE_PER_TORQUE = (float) (spi_eeprom_read(RID_TORQUE_SENSOR_PULSE_PER_TORQUE)) * 0.0001f;
Lightvalve 170:42c938a40313 441 PRES_SENSOR_A_PULSE_PER_BAR = (float) (spi_eeprom_read(RID_PRES_SENSOR_A_PULSE_PER_BAR)) * 0.01f;
Lightvalve 170:42c938a40313 442 // PRES_SENSOR_A_PULSE_PER_BAR = 4096.0f * 946.0f / 3.3f / 300.0f / 210.0f;
Lightvalve 170:42c938a40313 443 PRES_SENSOR_B_PULSE_PER_BAR = (float) (spi_eeprom_read(RID_PRES_SENSOR_B_PULSE_PER_BAR)) * 0.01f;
Lightvalve 170:42c938a40313 444 // PRES_SENSOR_B_PULSE_PER_BAR = 4096.0f * 946.0f / 3.3f / 300.0f / 210.0f;
Lightvalve 170:42c938a40313 445 FRICTION = (float) (spi_eeprom_read(RID_FRICTION)) * 0.1f;
Lightvalve 170:42c938a40313 446 HOMEPOS_OFFSET = spi_eeprom_read(RID_HOMEPOS_OFFSET);
Lightvalve 170:42c938a40313 447 HOMEPOS_VALVE_OPENING = spi_eeprom_read(RID_HOMEPOS_VALVE_OPENING);
jobuuu 230:2c3e5ecbe7e1 448 FORCE_VREF = (float) (spi_eeprom_read(RID_FORCE_SENSOR_VREF)) *0.001f;
Lightvalve 170:42c938a40313 449 PRES_A_VREF = (float) spi_eeprom_read(RID_PRES_A_SENSOR_VREF) * 0.001f;
Lightvalve 170:42c938a40313 450 PRES_B_VREF = (float) spi_eeprom_read(RID_PRES_B_SENSOR_VREF) * 0.001f;
Lightvalve 170:42c938a40313 451 VALVE_GAIN_LPM_PER_V[0] = (float) (spi_eeprom_read(RID_VALVE_GAIN_PLUS_1)) * 0.01f;
Lightvalve 170:42c938a40313 452 VALVE_GAIN_LPM_PER_V[2] = (float) (spi_eeprom_read(RID_VALVE_GAIN_PLUS_2)) * 0.01f;
Lightvalve 170:42c938a40313 453 VALVE_GAIN_LPM_PER_V[4] = (float) (spi_eeprom_read(RID_VALVE_GAIN_PLUS_3)) * 0.01f;
Lightvalve 170:42c938a40313 454 VALVE_GAIN_LPM_PER_V[6] = (float) (spi_eeprom_read(RID_VALVE_GAIN_PLUS_4)) * 0.01f;
Lightvalve 170:42c938a40313 455 VALVE_GAIN_LPM_PER_V[8] = (float) (spi_eeprom_read(RID_VALVE_GAIN_PLUS_5)) * 0.01f;
Lightvalve 170:42c938a40313 456 VALVE_GAIN_LPM_PER_V[1] = (float) (spi_eeprom_read(RID_VALVE_GAIN_MINUS_1)) * 0.01f;
Lightvalve 170:42c938a40313 457 VALVE_GAIN_LPM_PER_V[3] = (float) (spi_eeprom_read(RID_VALVE_GAIN_MINUS_2)) * 0.01f;
Lightvalve 170:42c938a40313 458 VALVE_GAIN_LPM_PER_V[5] = (float) (spi_eeprom_read(RID_VALVE_GAIN_MINUS_3)) * 0.01f;
Lightvalve 170:42c938a40313 459 VALVE_GAIN_LPM_PER_V[7] = (float) (spi_eeprom_read(RID_VALVE_GAIN_MINUS_4)) * 0.01f;
Lightvalve 170:42c938a40313 460 VALVE_GAIN_LPM_PER_V[9] = (float) (spi_eeprom_read(RID_VALVE_GAIN_MINUS_5)) * 0.01f;
Lightvalve 170:42c938a40313 461 for(int i=0; i<25; i++) {
Lightvalve 170:42c938a40313 462 VALVE_POS_VS_PWM[i] = (float) (spi_eeprom_read(RID_VALVE_POS_VS_PWM_0 + i));
Lightvalve 170:42c938a40313 463 }
Lightvalve 170:42c938a40313 464 for(int i=0; i<100; i++) {
Lightvalve 170:42c938a40313 465 JOINT_VEL[i] = ( ((spi_eeprom_read( RID_VALVE_POS_VS_FLOWRATE_0 + i)) & 0xFFFF) | ((spi_eeprom_read(RID_VALVE_POS_VS_FLOWRATE_0_1 + i)) & 0xFFFF) << 16 ) ;
Lightvalve 170:42c938a40313 466 }
Lightvalve 170:42c938a40313 467 VALVE_MAX_POS = spi_eeprom_read(RID_VALVE_MAX_POS);
Lightvalve 170:42c938a40313 468 VALVE_MIN_POS = spi_eeprom_read(RID_VALVE_MIN_POS);
Lightvalve 170:42c938a40313 469 VALVE_POS_NUM = spi_eeprom_read(RID_VALVE_POS_NUM);
Lightvalve 177:8e9cf31d63f4 470
Lightvalve 224:985dba42f261 471 // K_SPRING = spi_eeprom_read(RID_K_SPRING);
Lightvalve 224:985dba42f261 472 // D_DAMPER = spi_eeprom_read(RID_D_DAMPER);
Lightvalve 177:8e9cf31d63f4 473
Lightvalve 11:82d8768d7351 474 }
Lightvalve 11:82d8768d7351 475
Lightvalve 11:82d8768d7351 476 /*******************************************************************************
Lightvalve 11:82d8768d7351 477 * ENCODER functions
jobuuu 230:2c3e5ecbe7e1 478
Lightvalve 11:82d8768d7351 479 ******************************************************************************/
jobuuu 230:2c3e5ecbe7e1 480 long ENC_pulse = 0, ENC_pulse_old = 0, ENC_pulse_diff = 0;
jobuuu 230:2c3e5ecbe7e1 481 long ENC_pulse_offset = 0;
Lightvalve 11:82d8768d7351 482
Lightvalve 34:bb2ca2fc2a8e 483 void ENC_UPDATE(void)
Lightvalve 34:bb2ca2fc2a8e 484 {
jobuuu 230:2c3e5ecbe7e1 485 ENC_pulse = spi_enc_read(); // Unit : pulse
jobuuu 230:2c3e5ecbe7e1 486 ENC_pulse_diff = ENC_pulse - ENC_pulse_old;
Lightvalve 177:8e9cf31d63f4 487
jobuuu 230:2c3e5ecbe7e1 488 pos.UpdateSen((float)((long)DIR_JOINT_ENC * ENC_pulse + ENC_pulse_offset)/ENC_PULSE_PER_POSITION, FREQ_10k, 100.0f); // Unit : deg or mm
jobuuu 230:2c3e5ecbe7e1 489 vel.UpdateSen((float)((long)DIR_JOINT_ENC * ENC_pulse_diff * (long)FREQ_10k)/ENC_PULSE_PER_POSITION, FREQ_10k, 100.0f); // Unit : deg/s or mm/s
Lightvalve 177:8e9cf31d63f4 490
jobuuu 230:2c3e5ecbe7e1 491 ENC_pulse_old = ENC_pulse;
Lightvalve 11:82d8768d7351 492 }
Lightvalve 11:82d8768d7351 493
Lightvalve 34:bb2ca2fc2a8e 494 void ENC_SET_ZERO(void)
Lightvalve 34:bb2ca2fc2a8e 495 {
Lightvalve 11:82d8768d7351 496 spi_enc_set_clear();
jobuuu 230:2c3e5ecbe7e1 497 pos.Reset();
jobuuu 230:2c3e5ecbe7e1 498 ENC_pulse_offset = 0;
jobuuu 230:2c3e5ecbe7e1 499 ENC_pulse = ENC_pulse_old = ENC_pulse_diff = 0;
Lightvalve 11:82d8768d7351 500 }
Lightvalve 11:82d8768d7351 501
jobuuu 230:2c3e5ecbe7e1 502 void ENC_SET(long value_e)
Lightvalve 34:bb2ca2fc2a8e 503 {
Lightvalve 11:82d8768d7351 504 spi_enc_set_clear();
jobuuu 230:2c3e5ecbe7e1 505 ENC_pulse_offset = value_e;
jobuuu 230:2c3e5ecbe7e1 506 pos.Reset();
jobuuu 230:2c3e5ecbe7e1 507 pos.sen = value_e/ENC_PULSE_PER_POSITION;
jobuuu 230:2c3e5ecbe7e1 508 ENC_pulse = ENC_pulse_old = value_e;
jobuuu 230:2c3e5ecbe7e1 509 ENC_pulse_diff = 0;
Lightvalve 11:82d8768d7351 510 }
Lightvalve 18:b8adf1582ea3 511
Lightvalve 19:23b7c1ad8683 512
Lightvalve 30:8d561f16383b 513
Lightvalve 57:f4819de54e7a 514