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

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

Committer:
jobuuu
Date:
Wed Apr 21 04:20:39 2021 +0000
Revision:
230:2c3e5ecbe7e1
Parent:
229:7a1c46b9b471 
Synchronize to HCB_210420 (MZ-board)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 224:985dba42f261 1 //Hydraulic Control Board
Lightvalve 224:985dba42f261 2 //distributed by Sungwoo Kim
Lightvalve 224:985dba42f261 3 // 2020/12/28
jobuuu 228:763bbefcb79f 4 //revised by Buyoun Cho
jobuuu 229:7a1c46b9b471 5 // 2021/04/20
Lightvalve 224:985dba42f261 6
Lightvalve 224:985dba42f261 7 // 유의사항
Lightvalve 224:985dba42f261 8 // 소수 적을때 뒤에 f 꼭 붙이기
Lightvalve 224:985dba42f261 9 // CAN 선은 ground까지 있는 3상 선으로 써야함.
Lightvalve 224:985dba42f261 10 // 전원은 12~24V 인가.
Lightvalve 224:985dba42f261 11
GiJeongKim 0:51c43836c1d7 12 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 13 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 14 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 15 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 16 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 17 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 18 #include "setting.h"
Lightvalve 11:82d8768d7351 19 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 20 #include "stm32f4xx_flash.h"
Lightvalve 169:645207e160ca 21 #include "FlashWriter.h"
Lightvalve 170:42c938a40313 22 #include <string>
Lightvalve 170:42c938a40313 23 #include <iostream>
Lightvalve 179:d5377766d7ea 24 #include <cmath>
Lightvalve 61:bc8c8270f0ab 25
Lightvalve 61:bc8c8270f0ab 26 using namespace std;
Lightvalve 61:bc8c8270f0ab 27 Timer t;
GiJeongKim 0:51c43836c1d7 28
jobuuu 7:e9086c72bb22 29 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 30 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 31 DigitalOut check_2(PC_3);
jobuuu 230:2c3e5ecbe7e1 32 AnalogOut dac_1(PA_4); // 0.0f ~ 1.0f
jobuuu 230:2c3e5ecbe7e1 33 AnalogOut dac_2(PA_5); // 0.0f ~ 1.0f
Lightvalve 14:8e7590227d22 34 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 35 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 36 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 37
jobuuu 7:e9086c72bb22 38 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 39 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 40 float dtc_w=0.0f;
GiJeongKim 0:51c43836c1d7 41
jobuuu 7:e9086c72bb22 42 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 43 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
Lightvalve 224:985dba42f261 44 const int i2c_slave_addr1 = 0x56; // AS5510 address
GiJeongKim 0:51c43836c1d7 45 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 46
jobuuu 7:e9086c72bb22 47 // SPI ///////////////////////////////////////////
Lightvalve 170:42c938a40313 48 SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 170:42c938a40313 49 DigitalOut eeprom_cs(PB_12);
GiJeongKim 0:51c43836c1d7 50 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 51 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 52 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 53
jobuuu 7:e9086c72bb22 54 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 55 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 56
jobuuu 7:e9086c72bb22 57 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 58 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 59 CANMessage msg;
Lightvalve 11:82d8768d7351 60 void onMsgReceived()
Lightvalve 11:82d8768d7351 61 {
Lightvalve 11:82d8768d7351 62 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 63 }
jobuuu 2:a1c0a37df760 64
jobuuu 7:e9086c72bb22 65 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 66 State pos;
jobuuu 7:e9086c72bb22 67 State vel;
jobuuu 7:e9086c72bb22 68 State Vout;
jobuuu 230:2c3e5ecbe7e1 69 State force;
jobuuu 230:2c3e5ecbe7e1 70 State torq; // unit : N
Lightvalve 207:c70c5a9f17dd 71 State torq_dot;
jobuuu 230:2c3e5ecbe7e1 72 State pres_A; // unit : bar
jobuuu 7:e9086c72bb22 73 State pres_B;
jobuuu 230:2c3e5ecbe7e1 74 State cur; // unit : mA
Lightvalve 14:8e7590227d22 75 State valve_pos;
Lightvalve 14:8e7590227d22 76
Lightvalve 14:8e7590227d22 77 State INIT_Vout;
Lightvalve 14:8e7590227d22 78 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 79 State INIT_Pos;
Lightvalve 14:8e7590227d22 80 State INIT_torq;
jobuuu 5:a4319f79457b 81
Lightvalve 19:23b7c1ad8683 82 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 83 extern int CID_RX_REF_POSITION;
hyhoon 227:699c3e572283 84 extern int CID_RX_REF_OPENLOOP;
Lightvalve 45:35fa6884d0c6 85 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 86
Lightvalve 19:23b7c1ad8683 87 extern int CID_TX_INFO;
hyhoon 227:699c3e572283 88 extern int CID_TX_POS_VEL_TORQ;
hyhoon 227:699c3e572283 89 extern int CID_TX_PWM;
hyhoon 227:699c3e572283 90 extern int CID_TX_CURRENT;
Lightvalve 19:23b7c1ad8683 91 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 92 extern int CID_TX_VALVE_POSITION;
jeongyeseong 225:9c0becc196ba 93 extern int CID_TX_SOMETHING;
Lightvalve 19:23b7c1ad8683 94
hyhoon 227:699c3e572283 95 float temp_P_GAIN = 0.0f;
hyhoon 227:699c3e572283 96 float temp_I_GAIN = 0.0f;
hyhoon 227:699c3e572283 97 int temp_VELOCITY_COMP_GAIN = 0;
hyhoon 227:699c3e572283 98
jobuuu 230:2c3e5ecbe7e1 99 inline float tanh_inv(float y) {
jobuuu 230:2c3e5ecbe7e1 100 if(y >= 1.0f - 0.000001f) y = 1.0f - 0.000001f;
jobuuu 230:2c3e5ecbe7e1 101 if(y <= -1.0f + 0.000001f) y = -1.0f + 0.000001f;
jobuuu 230:2c3e5ecbe7e1 102 return log(sqrt((1.0f+y)/(1.0f-y)));
jobuuu 230:2c3e5ecbe7e1 103 }
jobuuu 230:2c3e5ecbe7e1 104
hyhoon 227:699c3e572283 105
Lightvalve 12:6f2531038ea4 106 /*******************************************************************************
Lightvalve 12:6f2531038ea4 107 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 108 ******************************************************************************/
Lightvalve 13:747daba9cf59 109 enum _REFERENCE_MODE {
jobuuu 230:2c3e5ecbe7e1 110 MODE_REF_NO_ACT = 0,
jobuuu 230:2c3e5ecbe7e1 111 MODE_REF_DIRECT,
jobuuu 230:2c3e5ecbe7e1 112 MODE_REF_FINDHOME
Lightvalve 12:6f2531038ea4 113 };
Lightvalve 12:6f2531038ea4 114
Lightvalve 12:6f2531038ea4 115 /*******************************************************************************
Lightvalve 12:6f2531038ea4 116 * CONTROL MODE
Lightvalve 12:6f2531038ea4 117 ******************************************************************************/
Lightvalve 13:747daba9cf59 118 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 119 //control mode
Lightvalve 12:6f2531038ea4 120 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 121 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 122 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 123
Lightvalve 47:fdcb8bd86fd6 124 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 138:a843f32ced33 125 MODE_JOINT_ADAPTIVE_BACKSTEPPING, //4
Lightvalve 171:bfc1fd2629d8 126 MODE_RL, //5
Lightvalve 13:747daba9cf59 127
Lightvalve 12:6f2531038ea4 128 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 129 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 130 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 131
Lightvalve 12:6f2531038ea4 132 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 133 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 134
Lightvalve 14:8e7590227d22 135 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 136 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 137 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 224:985dba42f261 138 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //14
Lightvalve 13:747daba9cf59 139
Lightvalve 12:6f2531038ea4 140 //utility
Lightvalve 12:6f2531038ea4 141 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 142 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 143 MODE_FIND_HOME, //22
Lightvalve 57:f4819de54e7a 144 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 145 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 146 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 147 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 148
Lightvalve 224:985dba42f261 149 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 150 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 151 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 57:f4819de54e7a 152 MODE_SYSTEM_ID, //33
Lightvalve 169:645207e160ca 153 MODE_FREQ_TEST, //34
Lightvalve 169:645207e160ca 154 MODE_SEND_BUFFER, //35
Lightvalve 169:645207e160ca 155 MODE_SEND_OVER, //36
Lightvalve 169:645207e160ca 156 MODE_STEP_TEST, //37
Lightvalve 12:6f2531038ea4 157 };
Lightvalve 12:6f2531038ea4 158
Lightvalve 65:a2d7c63419c2 159 void SystemClock_Config(void)
Lightvalve 65:a2d7c63419c2 160 {
Lightvalve 169:645207e160ca 161 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve 169:645207e160ca 162 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve 65:a2d7c63419c2 163
Lightvalve 224:985dba42f261 164 /* Configure the main internal regulator output voltage
Lightvalve 169:645207e160ca 165 */
Lightvalve 169:645207e160ca 166 __HAL_RCC_PWR_CLK_ENABLE();
Lightvalve 169:645207e160ca 167 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve 224:985dba42f261 168 /* Initializes the CPU, AHB and APB busses clocks
Lightvalve 169:645207e160ca 169 */
Lightvalve 169:645207e160ca 170 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve 169:645207e160ca 171 RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve 169:645207e160ca 172 RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve 169:645207e160ca 173 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve 169:645207e160ca 174 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve 169:645207e160ca 175 RCC_OscInitStruct.PLL.PLLM = 8;//8
Lightvalve 169:645207e160ca 176 RCC_OscInitStruct.PLL.PLLN = 180; //180
Lightvalve 169:645207e160ca 177 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve 169:645207e160ca 178 RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve 169:645207e160ca 179 RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve 169:645207e160ca 180 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Lightvalve 169:645207e160ca 181 //Error_Handler();
Lightvalve 169:645207e160ca 182 }
Lightvalve 169:645207e160ca 183 /** Activate the Over-Drive mode
Lightvalve 169:645207e160ca 184 */
Lightvalve 169:645207e160ca 185 if (HAL_PWREx_EnableOverDrive() != HAL_OK) {
Lightvalve 169:645207e160ca 186 //Error_Handler();
Lightvalve 169:645207e160ca 187 }
Lightvalve 169:645207e160ca 188 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 169:645207e160ca 189 */
Lightvalve 169:645207e160ca 190 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
Lightvalve 169:645207e160ca 191 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
Lightvalve 169:645207e160ca 192 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve 169:645207e160ca 193 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve 169:645207e160ca 194 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve 169:645207e160ca 195 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve 65:a2d7c63419c2 196
Lightvalve 169:645207e160ca 197 if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) {
Lightvalve 169:645207e160ca 198 //Error_Handler();
Lightvalve 169:645207e160ca 199 }
Lightvalve 65:a2d7c63419c2 200 }
Lightvalve 65:a2d7c63419c2 201
Lightvalve 170:42c938a40313 202
GiJeongKim 0:51c43836c1d7 203 int main()
GiJeongKim 0:51c43836c1d7 204 {
jobuuu 6:df07d3491e3a 205 /*********************************
jobuuu 1:e04e563be5ce 206 *** Initialization
jobuuu 6:df07d3491e3a 207 *********************************/
hyhoon 226:82a3ca333004 208
Lightvalve 224:985dba42f261 209 HAL_Init();
Lightvalve 224:985dba42f261 210 SystemClock_Config();
hyhoon 226:82a3ca333004 211
Lightvalve 69:3995ffeaa786 212 LED = 0;
Lightvalve 61:bc8c8270f0ab 213 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 214
GiJeongKim 0:51c43836c1d7 215 // i2c init
hyhoon 226:82a3ca333004 216 // i2c.frequency(400 * 1000); // 0.4 mHz
hyhoon 226:82a3ca333004 217 // wait_ms(2); // Power Up wait
hyhoon 226:82a3ca333004 218 // look_for_hardware_i2c(); // Hardware present
hyhoon 226:82a3ca333004 219 // init_as5510(i2c_slave_addr1);
hyhoon 226:82a3ca333004 220 // make_delay();
jobuuu 2:a1c0a37df760 221
Lightvalve 224:985dba42f261 222 // spi init
hyhoon 227:699c3e572283 223 eeprom_cs = 1;
Lightvalve 170:42c938a40313 224 eeprom.format(8,3);
Lightvalve 170:42c938a40313 225 eeprom.frequency(5000000); //5M
hyhoon 227:699c3e572283 226 eeprom_cs = 0;
hyhoon 227:699c3e572283 227 make_delay();
hyhoon 227:699c3e572283 228
hyhoon 227:699c3e572283 229 enc_cs = 1; //sw add
GiJeongKim 0:51c43836c1d7 230 enc.format(8,0);
hyhoon 227:699c3e572283 231 enc.frequency(5000000); //10M
hyhoon 227:699c3e572283 232 enc_cs = 0; //sw add
hyhoon 227:699c3e572283 233
Lightvalve 11:82d8768d7351 234 make_delay();
Lightvalve 21:e5f1a43ea6f9 235
hyhoon 226:82a3ca333004 236 // spi _ enc
hyhoon 226:82a3ca333004 237 spi_enc_set_init();
hyhoon 226:82a3ca333004 238 make_delay();
hyhoon 226:82a3ca333004 239
hyhoon 226:82a3ca333004 240 ////// bno rom
hyhoon 226:82a3ca333004 241 // spi_eeprom_write(RID_BNO, (int16_t)1);
hyhoon 226:82a3ca333004 242 // make_delay();
hyhoon 226:82a3ca333004 243 ////////
hyhoon 226:82a3ca333004 244
Lightvalve 224:985dba42f261 245 // rom
Lightvalve 19:23b7c1ad8683 246 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 247 make_delay();
Lightvalve 13:747daba9cf59 248
GiJeongKim 0:51c43836c1d7 249 // ADC init
jobuuu 5:a4319f79457b 250 Init_ADC();
Lightvalve 11:82d8768d7351 251 make_delay();
jobuuu 2:a1c0a37df760 252
GiJeongKim 0:51c43836c1d7 253 // Pwm init
GiJeongKim 0:51c43836c1d7 254 Init_PWM();
GiJeongKim 0:51c43836c1d7 255 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 256 make_delay();
Lightvalve 13:747daba9cf59 257
GiJeongKim 0:51c43836c1d7 258 // CAN
jobuuu 2:a1c0a37df760 259 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 260 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 261 make_delay();
Lightvalve 34:bb2ca2fc2a8e 262
hyhoon 226:82a3ca333004 263 //can.reset();
hyhoon 226:82a3ca333004 264 can.filter(msg.id, 0xFFFFF000, CANStandard);
hyhoon 226:82a3ca333004 265
hyhoon 226:82a3ca333004 266 // TMR3 init
hyhoon 226:82a3ca333004 267 Init_TMR3();
hyhoon 226:82a3ca333004 268 TIM3->CR1 ^= TIM_CR1_UDIS;
hyhoon 226:82a3ca333004 269 make_delay();
hyhoon 226:82a3ca333004 270
Lightvalve 23:59218d4a256d 271 //Timer priority
Lightvalve 23:59218d4a256d 272 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 54:647072f5307a 273 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 274
hyhoon 226:82a3ca333004 275
Lightvalve 11:82d8768d7351 276 //DAC init
Lightvalve 58:2eade98630e2 277 if (SENSING_MODE == 0) {
jobuuu 230:2c3e5ecbe7e1 278 dac_1 = FORCE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 279 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 280 } else if (SENSING_MODE == 1) {
hyhoon 226:82a3ca333004 281 if (DIR_VALVE_ENC > 0) {
hyhoon 226:82a3ca333004 282 dac_1 = PRES_A_VREF / 3.3f;
hyhoon 226:82a3ca333004 283 dac_2 = PRES_B_VREF / 3.3f;
hyhoon 226:82a3ca333004 284 } else {
hyhoon 226:82a3ca333004 285 dac_1 = PRES_B_VREF / 3.3f;
hyhoon 226:82a3ca333004 286 dac_2 = PRES_A_VREF / 3.3f;
hyhoon 226:82a3ca333004 287 }
Lightvalve 58:2eade98630e2 288 }
Lightvalve 11:82d8768d7351 289 make_delay();
Lightvalve 13:747daba9cf59 290
Lightvalve 19:23b7c1ad8683 291 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 292 if(i%2==0)
Lightvalve 38:118df027d851 293 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 294 else
Lightvalve 38:118df027d851 295 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 296 }
Lightvalve 169:645207e160ca 297
jobuuu 6:df07d3491e3a 298 /************************************
jobuuu 1:e04e563be5ce 299 *** Program is operating!
jobuuu 6:df07d3491e3a 300 *************************************/
GiJeongKim 0:51c43836c1d7 301 while(1) {
Lightvalve 169:645207e160ca 302
Lightvalve 224:985dba42f261 303 // UART example
Lightvalve 224:985dba42f261 304 // if(timer_while==100000) {
Lightvalve 171:bfc1fd2629d8 305 // timer_while = 0;
Lightvalve 224:985dba42f261 306 // pc.printf("%f\n", value);
Lightvalve 171:bfc1fd2629d8 307 // }
Lightvalve 224:985dba42f261 308 // timer_while ++;
Lightvalve 169:645207e160ca 309
Lightvalve 224:985dba42f261 310 //i2c for SW valve
hyhoon 227:699c3e572283 311 //if(OPERATING_MODE == 5) {
hyhoon 227:699c3e572283 312 // read_field(i2c_slave_addr1);
hyhoon 227:699c3e572283 313 // if(DIR_VALVE_ENC < 0) value = 1023 - value;
hyhoon 227:699c3e572283 314 // }
GiJeongKim 0:51c43836c1d7 315 }
jobuuu 1:e04e563be5ce 316 }
jobuuu 1:e04e563be5ce 317
Lightvalve 224:985dba42f261 318
Lightvalve 224:985dba42f261 319 // Velocity feedforward for SW valve
Lightvalve 33:91b17819ec30 320 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 321 {
Lightvalve 13:747daba9cf59 322 int i = 0;
Lightvalve 48:889798ff9329 323 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 324 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 325 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 326 if(i==0) {
Lightvalve 50:3c630b5eba9f 327 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 328 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 329 } else {
Lightvalve 57:f4819de54e7a 330 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 331 }
Lightvalve 14:8e7590227d22 332 } else {
Lightvalve 50:3c630b5eba9f 333 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 334 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 335 } else {
Lightvalve 57:f4819de54e7a 336 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 337 }
Lightvalve 13:747daba9cf59 338 }
Lightvalve 13:747daba9cf59 339 break;
Lightvalve 13:747daba9cf59 340 }
Lightvalve 13:747daba9cf59 341 }
Lightvalve 14:8e7590227d22 342 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 343 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 344 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 345 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 346 }
Lightvalve 36:a46e63505ed8 347
Lightvalve 224:985dba42f261 348 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); //VELOCITY_COMP_GAIN : 0~100
Lightvalve 13:747daba9cf59 349 return Ref_Valve_Pos_FF;
Lightvalve 13:747daba9cf59 350 }
jobuuu 6:df07d3491e3a 351
Lightvalve 224:985dba42f261 352 // Valve feedforward for SW valve
Lightvalve 30:8d561f16383b 353 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 354 {
Lightvalve 13:747daba9cf59 355 int i = 0;
Lightvalve 13:747daba9cf59 356
Lightvalve 38:118df027d851 357 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 358 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 359 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 360 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 361 }
Lightvalve 89:a7b45368ea0f 362 valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve 13:747daba9cf59 363 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 364 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 365 valve_pos_err_sum += valve_pos_err;
Lightvalve 89:a7b45368ea0f 366 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 89:a7b45368ea0f 367 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 13:747daba9cf59 368
Lightvalve 13:747daba9cf59 369 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 370
Lightvalve 18:b8adf1582ea3 371 for(i=0; i<24; i++) {
Lightvalve 89:a7b45368ea0f 372 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 373 if(i==0) {
Lightvalve 48:889798ff9329 374 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 375 } else {
Lightvalve 48:889798ff9329 376 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 377 }
Lightvalve 13:747daba9cf59 378 break;
Lightvalve 13:747daba9cf59 379 }
Lightvalve 13:747daba9cf59 380 }
Lightvalve 59:f308b1656d9c 381 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 382 }
Lightvalve 13:747daba9cf59 383
Lightvalve 224:985dba42f261 384 // PWM duty vs. voltage output of L6205 in STM board
Lightvalve 14:8e7590227d22 385 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 386 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 387 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 388 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 389 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 390 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 391 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 392 }; // duty
Lightvalve 67:c2812cf26c38 393 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 394 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 395 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 396 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 397 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 398 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 399 }; // mV
Lightvalve 13:747daba9cf59 400
Lightvalve 30:8d561f16383b 401 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 402 {
Lightvalve 30:8d561f16383b 403 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 404 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 405 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 406 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 407 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 408 } else {
Lightvalve 13:747daba9cf59 409 int idx = 0;
Lightvalve 13:747daba9cf59 410 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 411 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 412 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 413 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 414 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 415 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 416 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 417 break;
Lightvalve 13:747daba9cf59 418 }
Lightvalve 13:747daba9cf59 419 }
Lightvalve 13:747daba9cf59 420 }
Lightvalve 14:8e7590227d22 421
Lightvalve 13:747daba9cf59 422 return PWM_duty;
Lightvalve 13:747daba9cf59 423 }
jobuuu 6:df07d3491e3a 424
Lightvalve 57:f4819de54e7a 425
Lightvalve 57:f4819de54e7a 426
jobuuu 2:a1c0a37df760 427 /*******************************************************************************
jobuuu 2:a1c0a37df760 428 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 429 *******************************************************************************/
jobuuu 2:a1c0a37df760 430
jobuuu 230:2c3e5ecbe7e1 431 //------------------------------------------------
jobuuu 230:2c3e5ecbe7e1 432 // TMR4 : Sensor Read & Data Handling
jobuuu 230:2c3e5ecbe7e1 433 //-----------------------------------------------
Lightvalve 51:b46bed7fec80 434 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 435 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 436 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 437 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 438 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 439 {
Lightvalve 19:23b7c1ad8683 440 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 13:747daba9cf59 441
jobuuu 230:2c3e5ecbe7e1 442 // Current ===================================================
jobuuu 230:2c3e5ecbe7e1 443 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
jobuuu 230:2c3e5ecbe7e1 444
jobuuu 230:2c3e5ecbe7e1 445 cur.UpdateSen(((float)ADC3->DR-2047.5f)/2047.5f*10.0f, FREQ_TMR4, 500.0f); // unit : mA
jobuuu 230:2c3e5ecbe7e1 446
jobuuu 230:2c3e5ecbe7e1 447 // Encoder ===================================================
Lightvalve 57:f4819de54e7a 448 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 449 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 450 }
Lightvalve 61:bc8c8270f0ab 451
jobuuu 230:2c3e5ecbe7e1 452 // Force or Pressure Transducer =============================================
Lightvalve 61:bc8c8270f0ab 453 ADC1->CR2 |= 0x40000000;
jobuuu 230:2c3e5ecbe7e1 454 if (SENSING_MODE == 0) { // Force sensing
jobuuu 230:2c3e5ecbe7e1 455 force.UpdateSen((((float)ADC1->DR) - 2047.5f)/TORQUE_SENSOR_PULSE_PER_TORQUE, FREQ_TMR4, 100.0f); // unit : N
jobuuu 230:2c3e5ecbe7e1 456 } else if (SENSING_MODE == 1) { // Pressure sensing
jobuuu 230:2c3e5ecbe7e1 457 float pres_A_new, pres_B_new;
hyhoon 226:82a3ca333004 458 if (DIR_VALVE_ENC > 0) {
jobuuu 230:2c3e5ecbe7e1 459 pres_A_new = (((float)ADC1->DR) - PRES_A_NULL_pulse)/ PRES_SENSOR_A_PULSE_PER_BAR; // unit : bar
jobuuu 230:2c3e5ecbe7e1 460 pres_B_new = (((float)ADC2->DR) - PRES_B_NULL_pulse)/ PRES_SENSOR_A_PULSE_PER_BAR;
hyhoon 226:82a3ca333004 461 } else {
jobuuu 230:2c3e5ecbe7e1 462 pres_A_new = (((float)ADC2->DR) - PRES_A_NULL_pulse)/ PRES_SENSOR_A_PULSE_PER_BAR; // unit : bar
jobuuu 230:2c3e5ecbe7e1 463 pres_B_new = (((float)ADC1->DR) - PRES_B_NULL_pulse)/ PRES_SENSOR_A_PULSE_PER_BAR;
hyhoon 226:82a3ca333004 464 }
jobuuu 230:2c3e5ecbe7e1 465 pres_A.UpdateSen(pres_A_new,FREQ_TMR4,200.0f);
jobuuu 230:2c3e5ecbe7e1 466 pres_B.UpdateSen(pres_B_new,FREQ_TMR4,200.0f);
Lightvalve 50:3c630b5eba9f 467
Lightvalve 58:2eade98630e2 468 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
jobuuu 230:2c3e5ecbe7e1 469 float torq_new = (PISTON_AREA_A * pres_A.sen - PISTON_AREA_B * pres_B.sen) * 0.0001f; // mm^3*bar >> Nm
jobuuu 230:2c3e5ecbe7e1 470 torq.UpdateSen(torq_new,FREQ_TMR4,1000.0); // unit : Nm
Lightvalve 58:2eade98630e2 471 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
jobuuu 230:2c3e5ecbe7e1 472 float force_new = (PISTON_AREA_A * pres_A.sen - PISTON_AREA_B * pres_B.sen) * 0.1f; // mm^2*bar >> N
jobuuu 230:2c3e5ecbe7e1 473 force.UpdateSen(force_new,FREQ_TMR4,1000.0); // unit : N
Lightvalve 58:2eade98630e2 474 }
Lightvalve 58:2eade98630e2 475 }
Lightvalve 61:bc8c8270f0ab 476
Lightvalve 57:f4819de54e7a 477 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 478 }
Lightvalve 11:82d8768d7351 479 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 480 }
Lightvalve 19:23b7c1ad8683 481
Lightvalve 19:23b7c1ad8683 482
Lightvalve 18:b8adf1582ea3 483 int j =0;
Lightvalve 54:647072f5307a 484 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 485 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 486 int cnt_trans = 0;
Lightvalve 48:889798ff9329 487 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 57:f4819de54e7a 488 int can_rest =0;
Lightvalve 48:889798ff9329 489
Lightvalve 11:82d8768d7351 490 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 491 {
Lightvalve 19:23b7c1ad8683 492 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 493
Lightvalve 50:3c630b5eba9f 494 if(MODE_POS_FT_TRANS == 1) {
jobuuu 230:2c3e5ecbe7e1 495 if (alpha_trans == 1.0f) MODE_POS_FT_TRANS = 2;
Lightvalve 48:889798ff9329 496 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 497 cnt_trans++;
Lightvalve 46:2694daea349b 498 torq.err_sum = 0;
Lightvalve 48:889798ff9329 499 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 500 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 501 } else if(MODE_POS_FT_TRANS == 3) {
jobuuu 230:2c3e5ecbe7e1 502 if (alpha_trans == 0.0f) MODE_POS_FT_TRANS = 0;
Lightvalve 48:889798ff9329 503 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 504 cnt_trans++;
Lightvalve 46:2694daea349b 505 torq.err_sum = 0;
Lightvalve 48:889798ff9329 506 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 507 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 508 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 509 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 510 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 511 } else {
Lightvalve 58:2eade98630e2 512 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 513 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 514 }
Lightvalve 45:35fa6884d0c6 515
Lightvalve 50:3c630b5eba9f 516
jobuuu 230:2c3e5ecbe7e1 517 // Reference Update ==========================================================
hyhoon 227:699c3e572283 518 switch (REFERENCE_MODE) {
hyhoon 227:699c3e572283 519 case MODE_REF_NO_ACT: {
hyhoon 227:699c3e572283 520 break;
hyhoon 227:699c3e572283 521 }
hyhoon 227:699c3e572283 522 case MODE_REF_DIRECT: {
hyhoon 227:699c3e572283 523 pos.ref = REF_POSITION;
hyhoon 227:699c3e572283 524 vel.ref = REF_VELOCITY;
hyhoon 227:699c3e572283 525 torq.ref = REF_TORQUE;
jobuuu 230:2c3e5ecbe7e1 526 force.ref = REF_FORCE;
jobuuu 230:2c3e5ecbe7e1 527 break;
jobuuu 230:2c3e5ecbe7e1 528 }
jobuuu 230:2c3e5ecbe7e1 529 case MODE_REF_FINDHOME: {
jobuuu 230:2c3e5ecbe7e1 530 pos.ref = REF_POSITION_FINDHOME;
jobuuu 230:2c3e5ecbe7e1 531 vel.ref = 0.0f;
jobuuu 230:2c3e5ecbe7e1 532 torq.ref = 0.0f;
jobuuu 230:2c3e5ecbe7e1 533 force.ref = 0.0f;
hyhoon 227:699c3e572283 534 break;
hyhoon 227:699c3e572283 535 }
hyhoon 227:699c3e572283 536 default:
hyhoon 227:699c3e572283 537 break;
hyhoon 227:699c3e572283 538 }
hyhoon 227:699c3e572283 539
jobuuu 230:2c3e5ecbe7e1 540 if (((OPERATING_MODE&0b010)>>1) == 0) {
jobuuu 230:2c3e5ecbe7e1 541 K_v = 1.03f; // Q = K_v*sqrt(deltaP)*tanh(C_d*Xv);
jobuuu 230:2c3e5ecbe7e1 542 K_v = 0.16f;
jobuuu 230:2c3e5ecbe7e1 543 mV_PER_mA = 500.0f; // 5000mV/10mA
jobuuu 230:2c3e5ecbe7e1 544 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
jobuuu 230:2c3e5ecbe7e1 545 mA_PER_pulse = 0.001f; // 10mA/10000pulse
jobuuu 230:2c3e5ecbe7e1 546 } else if (((OPERATING_MODE&0b010)>>1) == 1) {
jobuuu 230:2c3e5ecbe7e1 547 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
jobuuu 230:2c3e5ecbe7e1 548 mV_PER_mA = 166.6666f; // 5000mV/30mA
jobuuu 230:2c3e5ecbe7e1 549 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
jobuuu 230:2c3e5ecbe7e1 550 mA_PER_pulse = 0.003f; // 30mA/10000pulse
jobuuu 230:2c3e5ecbe7e1 551 }
jobuuu 230:2c3e5ecbe7e1 552
jobuuu 230:2c3e5ecbe7e1 553 // =====================================================================
jobuuu 230:2c3e5ecbe7e1 554 // CONTROL LOOP --------------------------------------------------------
jobuuu 230:2c3e5ecbe7e1 555 // =====================================================================
Lightvalve 57:f4819de54e7a 556 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 557 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 558
Lightvalve 57:f4819de54e7a 559 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 560 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 561 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 562 } else {
Lightvalve 57:f4819de54e7a 563 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 564 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 565 }
Lightvalve 57:f4819de54e7a 566 // UTILITY MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 567 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 568 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 569 break;
Lightvalve 13:747daba9cf59 570 }
Lightvalve 14:8e7590227d22 571
jobuuu 230:2c3e5ecbe7e1 572 case MODE_TORQUE_SENSOR_NULLING:
jobuuu 230:2c3e5ecbe7e1 573 {
jobuuu 230:2c3e5ecbe7e1 574 static float FORCE_pulse_sum = 0.0;
jobuuu 230:2c3e5ecbe7e1 575 static float PresA_pulse_sum = 0.0;
jobuuu 230:2c3e5ecbe7e1 576 static float PresB_pulse_sum = 0.0;
jobuuu 230:2c3e5ecbe7e1 577
Lightvalve 13:747daba9cf59 578 // DAC Voltage reference set
jobuuu 230:2c3e5ecbe7e1 579 float VREF_TuningGain = 0.000003f;
jobuuu 230:2c3e5ecbe7e1 580 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 5) {
jobuuu 230:2c3e5ecbe7e1 581 LED = 1;
jobuuu 230:2c3e5ecbe7e1 582 if(SENSING_MODE == 0) { // Force Sensor (Loadcell)
jobuuu 230:2c3e5ecbe7e1 583 FORCE_pulse_sum = FORCE_pulse_sum + force.sen*TORQUE_SENSOR_PULSE_PER_TORQUE;
jobuuu 230:2c3e5ecbe7e1 584 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
jobuuu 230:2c3e5ecbe7e1 585 float FORCE_pluse_mean = FORCE_pulse_sum / 10.0f;
jobuuu 230:2c3e5ecbe7e1 586 FORCE_pulse_sum = 0.0f;
Lightvalve 19:23b7c1ad8683 587
jobuuu 230:2c3e5ecbe7e1 588 FORCE_VREF += VREF_TuningGain * (0.0f - FORCE_pluse_mean);
jobuuu 230:2c3e5ecbe7e1 589 if (FORCE_VREF > 3.3f) FORCE_VREF = 3.3f;
jobuuu 230:2c3e5ecbe7e1 590 if (FORCE_VREF < 0.0f) FORCE_VREF = 0.0f;
jobuuu 230:2c3e5ecbe7e1 591 dac_1 = FORCE_VREF / 3.3f;
jobuuu 230:2c3e5ecbe7e1 592 }
jobuuu 230:2c3e5ecbe7e1 593 } else if (SENSING_MODE == 1) { // Pressure Sensor
jobuuu 230:2c3e5ecbe7e1 594 PresA_pulse_sum += pres_A.sen*PRES_SENSOR_A_PULSE_PER_BAR;
jobuuu 230:2c3e5ecbe7e1 595 PresB_pulse_sum += pres_B.sen*PRES_SENSOR_B_PULSE_PER_BAR;
jobuuu 230:2c3e5ecbe7e1 596 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
jobuuu 230:2c3e5ecbe7e1 597 float PresA_pluse_mean = PresA_pulse_sum / 10.0f;
jobuuu 230:2c3e5ecbe7e1 598 float PresB_pluse_mean = PresB_pulse_sum / 10.0f;
jobuuu 230:2c3e5ecbe7e1 599 PresA_pulse_sum = 0.0f;
jobuuu 230:2c3e5ecbe7e1 600 PresB_pulse_sum = 0.0f;
Lightvalve 19:23b7c1ad8683 601
jobuuu 230:2c3e5ecbe7e1 602 PRES_A_VREF += VREF_TuningGain * (0.0f - PresA_pluse_mean);
jobuuu 230:2c3e5ecbe7e1 603 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
jobuuu 230:2c3e5ecbe7e1 604 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
jobuuu 230:2c3e5ecbe7e1 605 dac_1 = PRES_A_VREF / 3.3f;
jobuuu 230:2c3e5ecbe7e1 606 PRES_B_VREF += VREF_TuningGain * (0.0f - PresB_pluse_mean);
jobuuu 230:2c3e5ecbe7e1 607 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
jobuuu 230:2c3e5ecbe7e1 608 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
jobuuu 230:2c3e5ecbe7e1 609 dac_2 = PRES_B_VREF / 3.3f;
jobuuu 230:2c3e5ecbe7e1 610 }
Lightvalve 13:747daba9cf59 611 }
jobuuu 230:2c3e5ecbe7e1 612 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 613 } else {
jobuuu 230:2c3e5ecbe7e1 614 if(SENSING_MODE == 0 ) { // Force Sensor (Loadcell)
jobuuu 230:2c3e5ecbe7e1 615 FORCE_pulse_sum = 0.0f;
jobuuu 230:2c3e5ecbe7e1 616 dac_1 = FORCE_VREF / 3.3f;
jobuuu 230:2c3e5ecbe7e1 617 spi_eeprom_write(RID_FORCE_SENSOR_VREF, (int16_t)(FORCE_VREF * 1000.0f));
jobuuu 230:2c3e5ecbe7e1 618 } else if (SENSING_MODE == 1) {
jobuuu 230:2c3e5ecbe7e1 619 PresA_pulse_sum = 0.0f;
jobuuu 230:2c3e5ecbe7e1 620 PresB_pulse_sum = 0.0f;
jobuuu 230:2c3e5ecbe7e1 621 dac_1 = PRES_A_VREF / 3.3f;
jobuuu 230:2c3e5ecbe7e1 622 dac_2 = PRES_B_VREF / 3.3f;
jobuuu 230:2c3e5ecbe7e1 623 spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t)(PRES_A_VREF * 1000.0f));
jobuuu 230:2c3e5ecbe7e1 624 spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t)(PRES_B_VREF * 1000.0f));
jobuuu 230:2c3e5ecbe7e1 625 }
Lightvalve 58:2eade98630e2 626 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 627 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 628 }
Lightvalve 13:747daba9cf59 629 break;
Lightvalve 19:23b7c1ad8683 630 }
Lightvalve 14:8e7590227d22 631
jobuuu 230:2c3e5ecbe7e1 632 case MODE_FIND_HOME:
jobuuu 230:2c3e5ecbe7e1 633 {
jobuuu 230:2c3e5ecbe7e1 634 static int cnt_findhome = 0;
jobuuu 230:2c3e5ecbe7e1 635 static int cnt_terminate_findhome = 0;
jobuuu 230:2c3e5ecbe7e1 636 static float FINDHOME_POSITION_pulse = 0.0f;
jobuuu 230:2c3e5ecbe7e1 637 static float FINDHOME_POSITION_pulse_OLD = 0.0f;
jobuuu 230:2c3e5ecbe7e1 638 static float FINDHOME_VELOCITY_pulse = 0.0f;
jobuuu 230:2c3e5ecbe7e1 639 static float REF_POSITION_FINDHOME_INIT = 0.0f;
jobuuu 230:2c3e5ecbe7e1 640
Lightvalve 29:69f3f5445d6d 641 if (FINDHOME_STAGE == FINDHOME_INIT) {
jobuuu 230:2c3e5ecbe7e1 642 REFERENCE_MODE = MODE_REF_FINDHOME;
Lightvalve 14:8e7590227d22 643 cnt_findhome = 0;
jobuuu 230:2c3e5ecbe7e1 644 cnt_terminate_findhome = 0;
Lightvalve 59:f308b1656d9c 645 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 646 vel.ref = 0.0f;
jobuuu 230:2c3e5ecbe7e1 647 REF_POSITION_FINDHOME = pos.ref;
Lightvalve 29:69f3f5445d6d 648 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 649 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
jobuuu 230:2c3e5ecbe7e1 650 int cnt_check_enc = (TMR_FREQ_5k/20); // 5000/20 = 250tic = 50msec
Lightvalve 29:69f3f5445d6d 651 if(cnt_findhome%cnt_check_enc == 0) {
jobuuu 230:2c3e5ecbe7e1 652 FINDHOME_POSITION_pulse = pos.sen*ENC_PULSE_PER_POSITION;
jobuuu 230:2c3e5ecbe7e1 653 FINDHOME_VELOCITY_pulse = FINDHOME_POSITION_pulse - FINDHOME_POSITION_pulse_OLD;
jobuuu 230:2c3e5ecbe7e1 654 FINDHOME_POSITION_pulse_OLD = FINDHOME_POSITION_pulse;
Lightvalve 29:69f3f5445d6d 655 }
Lightvalve 29:69f3f5445d6d 656 cnt_findhome++;
Lightvalve 14:8e7590227d22 657
jobuuu 230:2c3e5ecbe7e1 658 if (fabs(FINDHOME_VELOCITY_pulse) <= 1) {
jobuuu 230:2c3e5ecbe7e1 659 cnt_terminate_findhome = cnt_terminate_findhome + 1;
Lightvalve 29:69f3f5445d6d 660 } else {
jobuuu 230:2c3e5ecbe7e1 661 cnt_terminate_findhome = 0;
Lightvalve 29:69f3f5445d6d 662 }
Lightvalve 19:23b7c1ad8683 663
jobuuu 230:2c3e5ecbe7e1 664 if ((cnt_terminate_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
jobuuu 230:2c3e5ecbe7e1 665 double GOTOHOME_SPEED = 10.0f; // 20mm/s or 20deg/s
hyhoon 226:82a3ca333004 666 if (HOMEPOS_OFFSET > 0) {
jobuuu 230:2c3e5ecbe7e1 667 REF_POSITION_FINDHOME = REF_POSITION_FINDHOME + GOTOHOME_SPEED*DT_5k;
hyhoon 226:82a3ca333004 668 } else {
jobuuu 230:2c3e5ecbe7e1 669 REF_POSITION_FINDHOME = REF_POSITION_FINDHOME - GOTOHOME_SPEED*DT_5k;
hyhoon 226:82a3ca333004 670 }
Lightvalve 59:f308b1656d9c 671 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 672 alpha_trans = 0.0f;
Lightvalve 29:69f3f5445d6d 673 } else {
jobuuu 230:2c3e5ecbe7e1 674 ENC_SET((long)((long)HOMEPOS_OFFSET*10));
jobuuu 230:2c3e5ecbe7e1 675 REF_POSITION_FINDHOME_INIT = (float)((long)HOMEPOS_OFFSET*10);
jobuuu 230:2c3e5ecbe7e1 676 FINDHOME_POSITION_pulse = 0;
jobuuu 230:2c3e5ecbe7e1 677 FINDHOME_POSITION_pulse_OLD = 0;
jobuuu 230:2c3e5ecbe7e1 678 FINDHOME_VELOCITY_pulse = 0;
jobuuu 230:2c3e5ecbe7e1 679
Lightvalve 29:69f3f5445d6d 680 cnt_findhome = 0;
jobuuu 230:2c3e5ecbe7e1 681 cnt_terminate_findhome = 0;
jobuuu 230:2c3e5ecbe7e1 682 pos.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 683 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 29:69f3f5445d6d 684 }
Lightvalve 29:69f3f5445d6d 685 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
jobuuu 230:2c3e5ecbe7e1 686
Lightvalve 29:69f3f5445d6d 687 int T_move = 2*TMR_FREQ_5k;
jobuuu 230:2c3e5ecbe7e1 688 REF_POSITION_FINDHOME = (0.0f - REF_POSITION_FINDHOME_INIT)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)REF_POSITION_FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 689
Lightvalve 29:69f3f5445d6d 690 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 691 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 692 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 693 pos.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 694 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 695 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
jobuuu 230:2c3e5ecbe7e1 696 REFERENCE_MODE = MODE_REF_DIRECT;
hyhoon 226:82a3ca333004 697 }
Lightvalve 13:747daba9cf59 698 }
Lightvalve 13:747daba9cf59 699 break;
Lightvalve 13:747daba9cf59 700 }
Lightvalve 57:f4819de54e7a 701 default:
Lightvalve 57:f4819de54e7a 702 break;
Lightvalve 57:f4819de54e7a 703 }
Lightvalve 57:f4819de54e7a 704
Lightvalve 57:f4819de54e7a 705 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 706 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 707 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 708 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 709 break;
Lightvalve 57:f4819de54e7a 710 }
Lightvalve 57:f4819de54e7a 711
Lightvalve 57:f4819de54e7a 712 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 713 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 57:f4819de54e7a 714 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:f308b1656d9c 715 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 716 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
jobuuu 230:2c3e5ecbe7e1 717 V_out = valve_pos.ref;
Lightvalve 169:645207e160ca 718 } else {
jobuuu 230:2c3e5ecbe7e1 719 I_REF = valve_pos.ref * 0.001f; // Unit : pulse >> mA
jobuuu 230:2c3e5ecbe7e1 720 float I_MAX = 10.0f; // Max : 10mA
jobuuu 230:2c3e5ecbe7e1 721 if (I_REF > I_MAX) {
jobuuu 230:2c3e5ecbe7e1 722 I_REF = I_MAX;
jobuuu 230:2c3e5ecbe7e1 723 } else if (I_REF < -I_MAX) {
jobuuu 230:2c3e5ecbe7e1 724 I_REF = -I_MAX;
jobuuu 230:2c3e5ecbe7e1 725 }
Lightvalve 57:f4819de54e7a 726 }
Lightvalve 57:f4819de54e7a 727 break;
Lightvalve 57:f4819de54e7a 728 }
Lightvalve 57:f4819de54e7a 729
jobuuu 230:2c3e5ecbe7e1 730 case MODE_JOINT_CONTROL:
jobuuu 230:2c3e5ecbe7e1 731 {
Lightvalve 57:f4819de54e7a 732
jobuuu 230:2c3e5ecbe7e1 733 float temp_vel_pos = 0.0f; // desired velocity for position control
jobuuu 230:2c3e5ecbe7e1 734 float temp_vel_FT = 0.0f; // desired velocity for force/torque control
jobuuu 230:2c3e5ecbe7e1 735 float temp_vel_ff = 0.0f; // desired velocity for feedforward control
jobuuu 230:2c3e5ecbe7e1 736 float temp_vel = 0.0f;
Lightvalve 58:2eade98630e2 737
jobuuu 230:2c3e5ecbe7e1 738 float wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
jobuuu 230:2c3e5ecbe7e1 739
jobuuu 230:2c3e5ecbe7e1 740 pos.err = pos.ref - pos.sen; // Unit : mm or deg
jobuuu 230:2c3e5ecbe7e1 741 vel.err = vel.ref - vel.sen; // Unit : mm/s or deg/s
jobuuu 230:2c3e5ecbe7e1 742
jobuuu 230:2c3e5ecbe7e1 743 // position control command ===============================================================================================================================================
jobuuu 230:2c3e5ecbe7e1 744 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
jobuuu 230:2c3e5ecbe7e1 745 temp_vel_pos = 0.01f * (P_GAIN_JOINT_POSITION * wn_Pos * pos.err) * PI / 180.0f; // rad/s
jobuuu 230:2c3e5ecbe7e1 746 // L when P-gain = 100, f_cut = 10Hz
jobuuu 230:2c3e5ecbe7e1 747 } else {
jobuuu 230:2c3e5ecbe7e1 748 temp_vel_pos = 0.01f * (P_GAIN_JOINT_POSITION * wn_Pos * pos.err); // mm/s
jobuuu 230:2c3e5ecbe7e1 749 // L when P-gain = 100, f_cut = 10Hz
jobuuu 230:2c3e5ecbe7e1 750 }
Lightvalve 57:f4819de54e7a 751
jobuuu 230:2c3e5ecbe7e1 752 // torque control command ===============================================================================================================================================
jobuuu 230:2c3e5ecbe7e1 753 float alpha_SpringDamper = 1.0f/(1.0f+TMR_FREQ_5k/(2.0f*PI*30.0f));
jobuuu 230:2c3e5ecbe7e1 754 K_LPF = alpha_SpringDamper * K_LPF + (1.0f-alpha_SpringDamper) * K_SPRING;
jobuuu 230:2c3e5ecbe7e1 755 D_LPF = alpha_SpringDamper * D_LPF + (1.0f-alpha_SpringDamper) * D_DAMPER;
jobuuu 230:2c3e5ecbe7e1 756
jobuuu 230:2c3e5ecbe7e1 757 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
jobuuu 230:2c3e5ecbe7e1 758 float torq_ref_act = torq.ref + K_SPRING * pos.err + D_DAMPER * vel.err; // unit : Nm
jobuuu 230:2c3e5ecbe7e1 759 torq.err = torq_ref_act - torq.sen;
jobuuu 230:2c3e5ecbe7e1 760 torq.err_int += torq.err/((float)TMR_FREQ_5k);
jobuuu 230:2c3e5ecbe7e1 761 temp_vel_FT = 0.0001f * (P_GAIN_JOINT_TORQUE * torq.err + I_GAIN_JOINT_TORQUE * torq.err_int); // Nm >> rad/s
Lightvalve 57:f4819de54e7a 762 } else {
jobuuu 230:2c3e5ecbe7e1 763 float force_ref_act = force.ref + K_SPRING * pos.err + D_DAMPER * vel.err; // unit : N
jobuuu 230:2c3e5ecbe7e1 764 force.err = force_ref_act - force.sen;
jobuuu 230:2c3e5ecbe7e1 765 force.err_int += force.err/((float)TMR_FREQ_5k);
jobuuu 230:2c3e5ecbe7e1 766 temp_vel_FT = 0.0001f * (P_GAIN_JOINT_TORQUE * force.err + I_GAIN_JOINT_TORQUE * force.err_int); // N >> mm/s
jobuuu 230:2c3e5ecbe7e1 767 }
jobuuu 230:2c3e5ecbe7e1 768
jobuuu 230:2c3e5ecbe7e1 769 // velocity feedforward command ========================================================================================================================================
jobuuu 230:2c3e5ecbe7e1 770 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
jobuuu 230:2c3e5ecbe7e1 771 temp_vel_ff = 0.01f * (float)VELOCITY_COMP_GAIN * vel.ref * PI / 180.0f; // rad/s
jobuuu 230:2c3e5ecbe7e1 772 } else {
jobuuu 230:2c3e5ecbe7e1 773 temp_vel_ff = 0.01f * (float)VELOCITY_COMP_GAIN * vel.ref; // mm/s
jobuuu 230:2c3e5ecbe7e1 774 }
Lightvalve 169:645207e160ca 775
jobuuu 230:2c3e5ecbe7e1 776 // command integration =================================================================================================================================================
jobuuu 230:2c3e5ecbe7e1 777 temp_vel = (1.0f - alpha_trans) * temp_vel_pos + alpha_trans * temp_vel_FT + temp_vel_ff; // Position Control + Torque Control + Velocity Feedforward
jobuuu 230:2c3e5ecbe7e1 778
jobuuu 230:2c3e5ecbe7e1 779 float Qact = 0.0f; // required flow rate
jobuuu 230:2c3e5ecbe7e1 780 if( temp_vel > 0.0f ) {
jobuuu 230:2c3e5ecbe7e1 781 Qact = temp_vel * ((float)PISTON_AREA_A * 0.00006f); // mm^3/sec >> LPM
jobuuu 230:2c3e5ecbe7e1 782 I_REF = tanh_inv(Qact/(K_v * sqrt(PRES_SUPPLY * alpha3 / (alpha3 + 1.0f))))/C_d;
jobuuu 230:2c3e5ecbe7e1 783 } else {
jobuuu 230:2c3e5ecbe7e1 784 Qact = temp_vel * ((float)PISTON_AREA_B * 0.00006f); // mm^3/sec >> LPM
jobuuu 230:2c3e5ecbe7e1 785 I_REF = tanh_inv(Qact/(K_v * sqrt(PRES_SUPPLY / (alpha3 + 1.0f))))/C_d;
jobuuu 230:2c3e5ecbe7e1 786 }
jobuuu 230:2c3e5ecbe7e1 787
jobuuu 230:2c3e5ecbe7e1 788 // Anti-windup for FT
jobuuu 230:2c3e5ecbe7e1 789 if (I_GAIN_JOINT_TORQUE != 0.0f) {
jobuuu 230:2c3e5ecbe7e1 790 float I_MAX = 10.0f; // Maximum Current : 10mA
jobuuu 230:2c3e5ecbe7e1 791 float Ka = 2.0f;
jobuuu 230:2c3e5ecbe7e1 792 if (I_REF > I_MAX) {
jobuuu 230:2c3e5ecbe7e1 793 float I_rem = I_REF - I_MAX;
jobuuu 230:2c3e5ecbe7e1 794 I_REF = I_MAX;
jobuuu 230:2c3e5ecbe7e1 795 float temp_vel_rem = K_v * sqrt(PRES_SUPPLY * alpha3 / (alpha3 + 1.0f)) * tanh(C_d*I_rem) / ((double) PISTON_AREA_A * 0.00006f); // Unit : mm/s [linear] / rad/s [rotary]
jobuuu 230:2c3e5ecbe7e1 796 torq.err_int = torq.err_int - Ka * temp_vel_rem * (10000.0f/I_GAIN_JOINT_TORQUE)*(float)TMR_FREQ_5k; // Need to Check!
jobuuu 230:2c3e5ecbe7e1 797 } else if (I_REF < -I_MAX) {
jobuuu 230:2c3e5ecbe7e1 798 double I_rem = I_REF - (-I_MAX);
jobuuu 230:2c3e5ecbe7e1 799 I_REF = -I_MAX;
jobuuu 230:2c3e5ecbe7e1 800 float temp_vel_rem = K_v * sqrt(PRES_SUPPLY / (alpha3 + 1.0f)) * tanh(C_d*I_rem) / ((double) PISTON_AREA_B * 0.00006f); // Unit : mm/s [linear] / rad/s [rotary]
jobuuu 230:2c3e5ecbe7e1 801 torq.err_int = torq.err_int - Ka * temp_vel_rem * (10000.0f/I_GAIN_JOINT_TORQUE)*(float)TMR_FREQ_5k; // Need to Check!
Lightvalve 57:f4819de54e7a 802 }
Lightvalve 57:f4819de54e7a 803 }
Lightvalve 57:f4819de54e7a 804 break;
Lightvalve 57:f4819de54e7a 805 }
Lightvalve 58:2eade98630e2 806
Lightvalve 57:f4819de54e7a 807 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 808 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 809 break;
Lightvalve 57:f4819de54e7a 810 }
Lightvalve 169:645207e160ca 811
jobuuu 230:2c3e5ecbe7e1 812 // case MODE_JOINT_ADAPTIVE_BACKSTEPPING: {
jobuuu 230:2c3e5ecbe7e1 813 //
jobuuu 230:2c3e5ecbe7e1 814 // float Va = (1256.6f + Amm * pos.sen/(float)(ENC_PULSE_PER_POSITION)) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3
jobuuu 230:2c3e5ecbe7e1 815 // float Vb = (1256.6f + Amm * (79.0f - pos.sen/(float)(ENC_PULSE_PER_POSITION))) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3
jobuuu 230:2c3e5ecbe7e1 816 //
jobuuu 230:2c3e5ecbe7e1 817 // V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f
jobuuu 230:2c3e5ecbe7e1 818 //
jobuuu 230:2c3e5ecbe7e1 819 // //float f3 = -Amm*Amm*beta*0.000001f*0.000001f/V_adapt * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
jobuuu 230:2c3e5ecbe7e1 820 // float f3_hat = -a_hat * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
jobuuu 230:2c3e5ecbe7e1 821 //
jobuuu 230:2c3e5ecbe7e1 822 // float g3_prime = 0.0f;
jobuuu 230:2c3e5ecbe7e1 823 // if (torq.sen > Amm*(Ps-Pt)*0.000001f) {
jobuuu 230:2c3e5ecbe7e1 824 // g3_prime = 1.0f;
jobuuu 230:2c3e5ecbe7e1 825 // } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) {
jobuuu 230:2c3e5ecbe7e1 826 // g3_prime = -1.0f;
jobuuu 230:2c3e5ecbe7e1 827 // } else {
jobuuu 230:2c3e5ecbe7e1 828 // if ((value-VALVE_CENTER) > 0) {
jobuuu 230:2c3e5ecbe7e1 829 // g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f);
jobuuu 230:2c3e5ecbe7e1 830 //// g3_prime = sqrt(Ps-Pt);
jobuuu 230:2c3e5ecbe7e1 831 // } else {
jobuuu 230:2c3e5ecbe7e1 832 // g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f);
jobuuu 230:2c3e5ecbe7e1 833 //// g3_prime = sqrt(Ps-Pt);
jobuuu 230:2c3e5ecbe7e1 834 // }
jobuuu 230:2c3e5ecbe7e1 835 // }
jobuuu 230:2c3e5ecbe7e1 836 // float tau = 0.01f;
jobuuu 230:2c3e5ecbe7e1 837 // float K_valve = 0.0004f;
jobuuu 230:2c3e5ecbe7e1 838 //
jobuuu 230:2c3e5ecbe7e1 839 // float x_v = 0.0f; //x_v : -1~1
jobuuu 230:2c3e5ecbe7e1 840 // if(value>=VALVE_CENTER) {
jobuuu 230:2c3e5ecbe7e1 841 // x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
jobuuu 230:2c3e5ecbe7e1 842 // } else {
jobuuu 230:2c3e5ecbe7e1 843 // x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
jobuuu 230:2c3e5ecbe7e1 844 // }
jobuuu 230:2c3e5ecbe7e1 845 // float f4 = -x_v/tau;
jobuuu 230:2c3e5ecbe7e1 846 // float g4 = K_valve/tau;
jobuuu 230:2c3e5ecbe7e1 847 //
jobuuu 230:2c3e5ecbe7e1 848 // float torq_ref_dot = torq.ref_diff * 500.0f;
jobuuu 230:2c3e5ecbe7e1 849 //
jobuuu 230:2c3e5ecbe7e1 850 // pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
jobuuu 230:2c3e5ecbe7e1 851 // vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
jobuuu 230:2c3e5ecbe7e1 852 // pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
jobuuu 230:2c3e5ecbe7e1 853 //
jobuuu 230:2c3e5ecbe7e1 854 // torq.err = torq.ref - torq.sen; //[N]
jobuuu 230:2c3e5ecbe7e1 855 // torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
jobuuu 230:2c3e5ecbe7e1 856 //
jobuuu 230:2c3e5ecbe7e1 857 // float k3 = 2000.0f; //2000 //20000
jobuuu 230:2c3e5ecbe7e1 858 // float k4 = 10.0f;
jobuuu 230:2c3e5ecbe7e1 859 // float rho3 = 3.2f;
jobuuu 230:2c3e5ecbe7e1 860 // float rho4 = 10000000.0f; //25000000.0f;
jobuuu 230:2c3e5ecbe7e1 861 // float x_4_des = (-f3_hat + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime);
jobuuu 230:2c3e5ecbe7e1 862 // if (x_4_des > 1) x_4_des = 1;
jobuuu 230:2c3e5ecbe7e1 863 // else if (x_4_des < -1) x_4_des = -1;
jobuuu 230:2c3e5ecbe7e1 864 //
jobuuu 230:2c3e5ecbe7e1 865 // if (x_4_des > 0) {
jobuuu 230:2c3e5ecbe7e1 866 // valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER;
jobuuu 230:2c3e5ecbe7e1 867 // } else {
jobuuu 230:2c3e5ecbe7e1 868 // valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER;
jobuuu 230:2c3e5ecbe7e1 869 // }
jobuuu 230:2c3e5ecbe7e1 870 //
jobuuu 230:2c3e5ecbe7e1 871 // float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k;
jobuuu 230:2c3e5ecbe7e1 872 // x_4_des_old = x_4_des;
jobuuu 230:2c3e5ecbe7e1 873 // V_out = (-f4 + x_4_des_dot - k4*(x_v-x_4_des)- rho3/rho4*gamma_hat*g3_prime*(-torq.err))/g4;
jobuuu 230:2c3e5ecbe7e1 874 //
jobuuu 230:2c3e5ecbe7e1 875 // float rho_a = 0.00001f;
jobuuu 230:2c3e5ecbe7e1 876 // float a_hat_dot = -rho3/rho_a*vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f*(-torq.err);
jobuuu 230:2c3e5ecbe7e1 877 // a_hat = a_hat + a_hat_dot / (float) TMR_FREQ_5k;
jobuuu 230:2c3e5ecbe7e1 878 //
jobuuu 230:2c3e5ecbe7e1 879 // if(a_hat > -3000000.0f) a_hat = -3000000.0f;
jobuuu 230:2c3e5ecbe7e1 880 // else if(a_hat < -30000000.0f) a_hat = -30000000.0f;
jobuuu 230:2c3e5ecbe7e1 881 //
jobuuu 230:2c3e5ecbe7e1 882 // break;
jobuuu 230:2c3e5ecbe7e1 883 // }
Lightvalve 171:bfc1fd2629d8 884
Lightvalve 12:6f2531038ea4 885 default:
Lightvalve 12:6f2531038ea4 886 break;
Lightvalve 12:6f2531038ea4 887 }
Lightvalve 14:8e7590227d22 888
Lightvalve 57:f4819de54e7a 889
Lightvalve 57:f4819de54e7a 890 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 891
Lightvalve 57:f4819de54e7a 892 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 893 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 894 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 895 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 896 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 897 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 898
jobuuu 230:2c3e5ecbe7e1 899 if (I_REF_fil > 0.0f) I_REF_fil_DZ = I_REF_fil + (double)VALVE_DEADZONE_PLUS*mA_PER_pulse; // unit: mA
jobuuu 230:2c3e5ecbe7e1 900 else if (I_REF_fil < 0.0f) I_REF_fil_DZ = I_REF_fil + (double)VALVE_DEADZONE_MINUS*mA_PER_pulse; // unit: mA
jobuuu 230:2c3e5ecbe7e1 901 else I_REF_fil_DZ = I_REF_fil + (double)(VALVE_DEADZONE_PLUS+VALVE_DEADZONE_MINUS)/2.0f*mA_PER_pulse; // unit: mA
jobuuu 230:2c3e5ecbe7e1 902
hyhoon 226:82a3ca333004 903 I_ERR = I_REF_fil_DZ - (double)cur.sen;
Lightvalve 67:c2812cf26c38 904 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 905
Lightvalve 57:f4819de54e7a 906
Lightvalve 57:f4819de54e7a 907 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 908 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 909 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 910 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 911 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 912 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 913
Lightvalve 57:f4819de54e7a 914 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 915 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 916 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 917 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 918 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 919 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 920 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 921 }
Lightvalve 57:f4819de54e7a 922
Lightvalve 57:f4819de54e7a 923 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 924
Lightvalve 67:c2812cf26c38 925 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
hyhoon 226:82a3ca333004 926 I_REF_fil_diff = I_REF_fil_DZ - I_REF_fil_old;
hyhoon 226:82a3ca333004 927 I_REF_fil_old = I_REF_fil_DZ;
Lightvalve 67:c2812cf26c38 928 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV
hyhoon 226:82a3ca333004 929 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil_DZ); // Unit : mV
Lightvalve 67:c2812cf26c38 930 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 931
Lightvalve 57:f4819de54e7a 932 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 933 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 934 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 935 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 936 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 937 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 938 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 939 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 940 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 941 VALVE_PWM_RAW = -V_MAX;
Lightvalve 67:c2812cf26c38 942 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 943 }
Lightvalve 57:f4819de54e7a 944 } else {
Lightvalve 57:f4819de54e7a 945 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 946 }
Lightvalve 57:f4819de54e7a 947
Lightvalve 57:f4819de54e7a 948 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 949 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 950 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 951
Lightvalve 57:f4819de54e7a 952 // Output Voltage Linearization
hyhoon 226:82a3ca333004 953 double CUR_PWM_nonlin = (double)VALVE_PWM_RAW; // Unit : mV
Lightvalve 67:c2812cf26c38 954 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 955
Lightvalve 57:f4819de54e7a 956 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 957 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 958 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 959 else V_out = (float) (CUR_PWM_lin);
jobuuu 230:2c3e5ecbe7e1 960
Lightvalve 169:645207e160ca 961 } else { //////////////////////////sw valve
Lightvalve 224:985dba42f261 962 // Output Voltage Linearization & Dead Zone Cancellation (Electrical dead-zone) by SW
Lightvalve 135:79885a39c161 963 if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f;
Lightvalve 135:79885a39c161 964 else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f;
Lightvalve 135:79885a39c161 965 else V_out = 0.0f;
Lightvalve 89:a7b45368ea0f 966 }
Lightvalve 169:645207e160ca 967
jobuuu 230:2c3e5ecbe7e1 968 ////////////////////////////////////////////////////////////////////
jobuuu 230:2c3e5ecbe7e1 969 /////////////////// PWM Command ///////////////////////////////////
jobuuu 230:2c3e5ecbe7e1 970 ////////////////////////////////////////////////////////////////////
Lightvalve 169:645207e160ca 971 if(DIR_VALVE<0) {
Lightvalve 67:c2812cf26c38 972 V_out = -V_out;
Lightvalve 67:c2812cf26c38 973 }
Lightvalve 169:645207e160ca 974
Lightvalve 49:e7bcfc244d40 975 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 976 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 977 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 978 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 979 }
Lightvalve 224:985dba42f261 980 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f);
Lightvalve 13:747daba9cf59 981
Lightvalve 224:985dba42f261 982 // Saturation of output voltage
Lightvalve 30:8d561f16383b 983 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 984 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 985
Lightvalve 30:8d561f16383b 986 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 987 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 988 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 989 } else {
jobuuu 2:a1c0a37df760 990 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 991 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 992 }
Lightvalve 13:747daba9cf59 993
jobuuu 1:e04e563be5ce 994 //pwm
Lightvalve 30:8d561f16383b 995 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 996 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 997
jobuuu 230:2c3e5ecbe7e1 998 ////////////////////////////////////////////////////////////////////////////
jobuuu 230:2c3e5ecbe7e1 999 ////////////////////// Data transmission through CAN //////////////////////
jobuuu 230:2c3e5ecbe7e1 1000 ////////////////////////////////////////////////////////////////////////////
jobuuu 230:2c3e5ecbe7e1 1001
hyhoon 226:82a3ca333004 1002 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
jobuuu 230:2c3e5ecbe7e1 1003
hyhoon 226:82a3ca333004 1004 // Position, Velocity, and Torque (ID:1200)
hyhoon 226:82a3ca333004 1005 if (flag_data_request[0] == HIGH) {
hyhoon 226:82a3ca333004 1006 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
jobuuu 230:2c3e5ecbe7e1 1007 CAN_TX_POSITION_FT((int16_t) (pos.sen*ENC_PULSE_PER_POSITION), (int16_t) (vel.sen*ENC_PULSE_PER_POSITION*0.1f), (int16_t) (torq.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
hyhoon 226:82a3ca333004 1008 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
jobuuu 230:2c3e5ecbe7e1 1009 CAN_TX_POSITION_FT((int16_t) (pos.sen*ENC_PULSE_PER_POSITION*0.25f), (int16_t) (vel.sen*ENC_PULSE_PER_POSITION*0.01f), (int16_t) (force.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
hyhoon 226:82a3ca333004 1010 }
hyhoon 226:82a3ca333004 1011 }
hyhoon 226:82a3ca333004 1012
jobuuu 230:2c3e5ecbe7e1 1013 // Valve Position (ID:1300)
Lightvalve 56:6f50d9d3bfee 1014 if (flag_data_request[1] == HIGH) {
jobuuu 230:2c3e5ecbe7e1 1015 CAN_TX_PWM((int16_t)(cur.sen/mA_PER_pulse));
Lightvalve 54:647072f5307a 1016 }
Lightvalve 58:2eade98630e2 1017
jobuuu 230:2c3e5ecbe7e1 1018 // Others : Pressure A, B, Supply Pressure, etc. (for Debugging) (ID:1400)
Lightvalve 171:bfc1fd2629d8 1019 if (flag_data_request[2] == HIGH) {
jobuuu 230:2c3e5ecbe7e1 1020 CAN_TX_SOMETHING((int16_t)(pres_A.sen*100.0f), (int16_t)(pres_B.sen*100.0f), (int16_t) (PRES_SUPPLY), (int16_t) (PRES_SUPPLY_NOM));
Lightvalve 54:647072f5307a 1021 }
Lightvalve 20:806196fda269 1022
Lightvalve 54:647072f5307a 1023 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1024 }
Lightvalve 54:647072f5307a 1025 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 1026
Lightvalve 20:806196fda269 1027 }
Lightvalve 52:8ea76864368a 1028 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1029
Lightvalve 58:2eade98630e2 1030 }