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

setting.h@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
GiJeongKim 0:51c43836c1d7 1 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 2 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 3
GiJeongKim 0:51c43836c1d7 4 // pwm
jobuuu 2:a1c0a37df760 5 #define PIN_V PB_7
jobuuu 2:a1c0a37df760 6 #define PIN_W PB_6
Lightvalve 224:985dba42f261 7 //#define PWM_ARR 0x465 // loop 80k, pwm 40k
jobuuu 2:a1c0a37df760 8 //#define PWM_ARR 0x8CA // loop 40k, pwm 20k
Lightvalve 51:b46bed7fec80 9 #define PWM_ARR 0x1194 // loop 20k, pwm 10k
Lightvalve 224:985dba42f261 10 //#define PWM_ARR 0x2328 // loop 10k, pwm 5k
Lightvalve 11:82d8768d7351 11 #define TMR3_COUNT 0x4650 // loop 5k
hyhoon 227:699c3e572283 12 //#define TMR3_COUNT 0x2328 // loop 10k
Lightvalve 23:59218d4a256d 13 #define TMR2_COUNT 0x2710 // loop 500hz with prescale 18
jobuuu 2:a1c0a37df760 14
Lightvalve 30:8d561f16383b 15 #define FREQ_500 500.0f
Lightvalve 30:8d561f16383b 16 #define FREQ_1k 1000.0f
Lightvalve 30:8d561f16383b 17 #define FREQ_5k 5000.0f
Lightvalve 30:8d561f16383b 18 #define FREQ_10k 10000.0f
Lightvalve 30:8d561f16383b 19 #define FREQ_20k 20000.0f
Lightvalve 30:8d561f16383b 20 #define FREQ_40k 40000.0f
Lightvalve 30:8d561f16383b 21 #define DT_500 0.002f
jobuuu 230:2c3e5ecbe7e1 22 #define DT_1k 0.001f
Lightvalve 30:8d561f16383b 23 #define DT_5k 0.0002f
Lightvalve 30:8d561f16383b 24 #define DT_10k 0.0001f
Lightvalve 30:8d561f16383b 25 #define DT_20k 0.00005f
Lightvalve 30:8d561f16383b 26 #define DT_40k 0.000025f
jobuuu 5:a4319f79457b 27
jobuuu 230:2c3e5ecbe7e1 28 //#define TMR_FREQ_10k 10000
jobuuu 230:2c3e5ecbe7e1 29 #define TMR_FREQ_5k 5000
jobuuu 230:2c3e5ecbe7e1 30
jobuuu 7:e9086c72bb22 31 extern DigitalOut check;
jobuuu 7:e9086c72bb22 32 extern DigitalOut check_2;
jobuuu 7:e9086c72bb22 33 extern AnalogOut dac_1;
jobuuu 7:e9086c72bb22 34 extern AnalogOut dac_2;
jobuuu 7:e9086c72bb22 35
Lightvalve 30:8d561f16383b 36 extern float dtc_v;
Lightvalve 30:8d561f16383b 37 extern float dtc_w;
GiJeongKim 0:51c43836c1d7 38
GiJeongKim 0:51c43836c1d7 39 // I2C
GiJeongKim 0:51c43836c1d7 40 extern I2C i2c; // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 41 extern const int i2c_slave_addr1;
GiJeongKim 0:51c43836c1d7 42 extern unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 43
GiJeongKim 0:51c43836c1d7 44 // SPI
Lightvalve 170:42c938a40313 45 extern SPI eeprom; //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 170:42c938a40313 46 extern DigitalOut eeprom_cs;
GiJeongKim 0:51c43836c1d7 47 extern SPI enc;
GiJeongKim 0:51c43836c1d7 48 extern DigitalOut enc_cs;
GiJeongKim 0:51c43836c1d7 49
GiJeongKim 0:51c43836c1d7 50 // UART
jobuuu 7:e9086c72bb22 51 extern Serial pc; //Serial pc(PA_9,PA_10); _ UART
jobuuu 7:e9086c72bb22 52
jobuuu 7:e9086c72bb22 53 // CAN
jobuuu 7:e9086c72bb22 54 extern CAN can;
jobuuu 7:e9086c72bb22 55 extern CANMessage msg;
jobuuu 7:e9086c72bb22 56
jobuuu 7:e9086c72bb22 57 // Board Information
jobuuu 7:e9086c72bb22 58
jobuuu 7:e9086c72bb22 59
jobuuu 7:e9086c72bb22 60 // User Function
jobuuu 7:e9086c72bb22 61 void CurrentControl();
jobuuu 7:e9086c72bb22 62 void ValveControl(unsigned int ControlMode);
Lightvalve 11:82d8768d7351 63
Lightvalve 11:82d8768d7351 64
Lightvalve 11:82d8768d7351 65 /*******************************************************************************
Lightvalve 11:82d8768d7351 66 * COMMON Settings
Lightvalve 11:82d8768d7351 67 ******************************************************************************/
Lightvalve 11:82d8768d7351 68 #define LATEST_VERSION 19032
Lightvalve 11:82d8768d7351 69
Lightvalve 11:82d8768d7351 70
Lightvalve 11:82d8768d7351 71 /*******************************************************************************
Lightvalve 11:82d8768d7351 72 * COMMON CONSTANTS
Lightvalve 11:82d8768d7351 73 ******************************************************************************/
Lightvalve 30:8d561f16383b 74 #define RAD_30 0.523598775598299f
Lightvalve 30:8d561f16383b 75 #define RAD_60 1.047197551196598f
Lightvalve 30:8d561f16383b 76 #define RAD_120 2.094395102393195f
Lightvalve 30:8d561f16383b 77 #define RAD_180 3.141592653589793f
Lightvalve 30:8d561f16383b 78 #define RAD_240 4.188790204786391f
Lightvalve 30:8d561f16383b 79 #define RAD_300 5.235987755982989f
Lightvalve 30:8d561f16383b 80 #define RAD_360 6.283185307179586f
Lightvalve 11:82d8768d7351 81
Lightvalve 11:82d8768d7351 82 #define SYSFREQ 200000000
Lightvalve 11:82d8768d7351 83 #define PBCLK 100000000
Lightvalve 11:82d8768d7351 84
Lightvalve 11:82d8768d7351 85 #define FALSE 0
Lightvalve 11:82d8768d7351 86 #define TRUE 1
Lightvalve 11:82d8768d7351 87 #define OUTPUT 0
Lightvalve 11:82d8768d7351 88 #define INPUT 1
Lightvalve 11:82d8768d7351 89 #define LOW 0
Lightvalve 11:82d8768d7351 90 #define HIGH 1
Lightvalve 11:82d8768d7351 91 #define DIGITAL 0
Lightvalve 11:82d8768d7351 92 #define ANALOG 1
Lightvalve 11:82d8768d7351 93
Lightvalve 30:8d561f16383b 94 #define PI 3.141592653589793f
Lightvalve 30:8d561f16383b 95 #define D2R 0.017453292519943f
Lightvalve 30:8d561f16383b 96 #define R2D 57.295779513082323f
Lightvalve 11:82d8768d7351 97
Lightvalve 11:82d8768d7351 98
Lightvalve 11:82d8768d7351 99 /*******************************************************************************
Lightvalve 11:82d8768d7351 100 * HEADER INCLUDE
Lightvalve 11:82d8768d7351 101 ******************************************************************************/
Lightvalve 11:82d8768d7351 102
Lightvalve 11:82d8768d7351 103 /*******************************************************************************
Lightvalve 11:82d8768d7351 104 * VARIABLE
Lightvalve 11:82d8768d7351 105 ******************************************************************************/
Lightvalve 11:82d8768d7351 106
Lightvalve 11:82d8768d7351 107 // Board Information
Lightvalve 11:82d8768d7351 108 extern uint8_t BNO;
Lightvalve 11:82d8768d7351 109 extern uint8_t CONTROL_MODE;
Lightvalve 11:82d8768d7351 110 extern uint8_t OPERATING_MODE;
Lightvalve 52:8ea76864368a 111 extern uint8_t SENSING_MODE;
jobuuu 230:2c3e5ecbe7e1 112 extern uint8_t SUPPLY_PRESSURE_UPDATE;
jobuuu 230:2c3e5ecbe7e1 113
Lightvalve 57:f4819de54e7a 114 extern uint8_t CONTROL_UTILITY_MODE;
Lightvalve 52:8ea76864368a 115 extern uint8_t CURRENT_CONTROL_MODE;
Lightvalve 52:8ea76864368a 116 extern uint8_t FLAG_VALVE_DEADZONE;
Lightvalve 11:82d8768d7351 117 extern uint8_t REFERENCE_MODE;
Lightvalve 54:647072f5307a 118 extern int16_t CAN_FREQ;
Lightvalve 17:1865016ca2e7 119 extern int16_t DIR_JOINT_ENC;
Lightvalve 17:1865016ca2e7 120 extern int16_t DIR_VALVE;
Lightvalve 17:1865016ca2e7 121 extern int16_t DIR_VALVE_ENC;
Lightvalve 11:82d8768d7351 122
Lightvalve 30:8d561f16383b 123 extern float SUPPLY_VOLTAGE;
Lightvalve 30:8d561f16383b 124 extern float VALVE_VOLTAGE_LIMIT;
Lightvalve 11:82d8768d7351 125
Lightvalve 30:8d561f16383b 126 extern float P_GAIN_VALVE_POSITION;
Lightvalve 30:8d561f16383b 127 extern float I_GAIN_VALVE_POSITION;
Lightvalve 30:8d561f16383b 128 extern float D_GAIN_VALVE_POSITION;
Lightvalve 30:8d561f16383b 129 extern float P_GAIN_JOINT_POSITION;
Lightvalve 30:8d561f16383b 130 extern float I_GAIN_JOINT_POSITION;
Lightvalve 30:8d561f16383b 131 extern float D_GAIN_JOINT_POSITION;
Lightvalve 30:8d561f16383b 132 extern float P_GAIN_JOINT_TORQUE;
Lightvalve 30:8d561f16383b 133 extern float I_GAIN_JOINT_TORQUE;
Lightvalve 30:8d561f16383b 134 extern float D_GAIN_JOINT_TORQUE;
Lightvalve 72:3436ce769b1e 135 extern float P_GAIN_JOINT_TORQUE_FF;
Lightvalve 72:3436ce769b1e 136 extern float I_GAIN_JOINT_TORQUE_FF;
Lightvalve 72:3436ce769b1e 137 extern float D_GAIN_JOINT_TORQUE_FF;
Lightvalve 11:82d8768d7351 138
Lightvalve 46:2694daea349b 139 extern int16_t K_SPRING;
Lightvalve 46:2694daea349b 140 extern int16_t D_DAMPER;
Lightvalve 46:2694daea349b 141
Lightvalve 54:647072f5307a 142 extern int16_t flag_delay_test;
Lightvalve 54:647072f5307a 143
Lightvalve 36:a46e63505ed8 144 //extern float P_GAIN_VALVE_POSITION_OPP;
Lightvalve 36:a46e63505ed8 145 //extern float I_GAIN_VALVE_POSITION_OPP;
Lightvalve 36:a46e63505ed8 146 //extern float D_GAIN_VALVE_POSITION_OPP;
Lightvalve 36:a46e63505ed8 147 //extern float P_GAIN_JOINT_POSITION_OPP;
Lightvalve 36:a46e63505ed8 148 //extern float I_GAIN_JOINT_POSITION_OPP;
Lightvalve 36:a46e63505ed8 149 //extern float D_GAIN_JOINT_POSITION_OPP;
Lightvalve 36:a46e63505ed8 150 //extern float P_GAIN_JOINT_TORQUE_OPP;
Lightvalve 36:a46e63505ed8 151 //extern float I_GAIN_JOINT_TORQUE_OPP;
Lightvalve 36:a46e63505ed8 152 //extern float D_GAIN_JOINT_TORQUE_OPP;
Lightvalve 36:a46e63505ed8 153
hyhoon 226:82a3ca333004 154 extern int16_t VALVE_DEADZONE_PLUS;
hyhoon 226:82a3ca333004 155 extern int16_t VALVE_DEADZONE_MINUS;
Lightvalve 11:82d8768d7351 156
Lightvalve 11:82d8768d7351 157 extern int16_t VELOCITY_COMP_GAIN;
Lightvalve 11:82d8768d7351 158 extern int16_t COMPLIANCE_GAIN;
Lightvalve 11:82d8768d7351 159
Lightvalve 11:82d8768d7351 160 extern int16_t VALVE_CENTER;
Lightvalve 11:82d8768d7351 161
Lightvalve 11:82d8768d7351 162 extern int16_t VALVE_FF;
Lightvalve 11:82d8768d7351 163
Lightvalve 11:82d8768d7351 164 extern int16_t BULK_MODULUS;
Lightvalve 11:82d8768d7351 165
Lightvalve 11:82d8768d7351 166 extern int16_t CHAMBER_VOLUME_A;
Lightvalve 11:82d8768d7351 167 extern int16_t CHAMBER_VOLUME_B;
Lightvalve 11:82d8768d7351 168
Lightvalve 11:82d8768d7351 169 extern int16_t PISTON_AREA_A;
Lightvalve 11:82d8768d7351 170 extern int16_t PISTON_AREA_B;
Lightvalve 30:8d561f16383b 171 extern float PISTON_AREA_alpha;
Lightvalve 57:f4819de54e7a 172 extern float alpha3;
Lightvalve 11:82d8768d7351 173
jobuuu 230:2c3e5ecbe7e1 174 extern float PRES_SUPPLY_NOM;
jobuuu 230:2c3e5ecbe7e1 175 extern float PRES_SUPPLY;
Lightvalve 11:82d8768d7351 176
Lightvalve 11:82d8768d7351 177 extern int16_t ENC_LIMIT_PLUS;
Lightvalve 11:82d8768d7351 178 extern int16_t ENC_LIMIT_MINUS;
Lightvalve 11:82d8768d7351 179
Lightvalve 11:82d8768d7351 180 extern int16_t STROKE;
Lightvalve 11:82d8768d7351 181
Lightvalve 133:22ab22818e01 182 extern float Amm;
Lightvalve 133:22ab22818e01 183 extern float beta;
Lightvalve 133:22ab22818e01 184 extern float Ps;
Lightvalve 133:22ab22818e01 185 extern float Pt;
Lightvalve 133:22ab22818e01 186 extern float gamma_hat;
Lightvalve 218:066030f7951f 187 extern float a_hat;
Lightvalve 170:42c938a40313 188 extern float V_adapt;
Lightvalve 133:22ab22818e01 189 extern float x_4_des_old;
Lightvalve 133:22ab22818e01 190
Lightvalve 57:f4819de54e7a 191 //extern int16_t VALVE_LIMIT_PLUS;
Lightvalve 57:f4819de54e7a 192 //extern int16_t VALVE_LIMIT_MINUS;
Lightvalve 11:82d8768d7351 193
Lightvalve 48:889798ff9329 194 extern float ENC_PULSE_PER_POSITION;
Lightvalve 48:889798ff9329 195 extern float TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 48:889798ff9329 196
Lightvalve 30:8d561f16383b 197 extern float PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 30:8d561f16383b 198 extern float PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 11:82d8768d7351 199
hyhoon 226:82a3ca333004 200 extern int16_t HOMEPOS_OFFSET;
Lightvalve 11:82d8768d7351 201 extern int HOMEPOS_VALVE_OPENING;
Lightvalve 11:82d8768d7351 202
Lightvalve 30:8d561f16383b 203 extern float FRICTION;
Lightvalve 30:8d561f16383b 204 extern float REF_PERIOD;
Lightvalve 30:8d561f16383b 205 extern float REF_MAG;
Lightvalve 11:82d8768d7351 206 extern int REF_NUM;
Lightvalve 11:82d8768d7351 207
Lightvalve 11:82d8768d7351 208
Lightvalve 30:8d561f16383b 209 extern float DAC_REF;
Lightvalve 30:8d561f16383b 210 extern float DAC_RESOL;
Lightvalve 11:82d8768d7351 211
jobuuu 230:2c3e5ecbe7e1 212 extern float REF_FORCE;
jobuuu 230:2c3e5ecbe7e1 213 extern float REF_TORQUE;
hyhoon 227:699c3e572283 214 extern float REF_POSITION;
hyhoon 227:699c3e572283 215 extern float REF_VELOCITY;
jobuuu 230:2c3e5ecbe7e1 216
jobuuu 230:2c3e5ecbe7e1 217 extern float REF_POSITION_FINDHOME;
jobuuu 230:2c3e5ecbe7e1 218
Lightvalve 11:82d8768d7351 219 extern int16_t REF_PWM;
Lightvalve 11:82d8768d7351 220 extern int16_t REF_VALVE_POSITION;
Lightvalve 14:8e7590227d22 221 extern int16_t REF_CURRENT;
Lightvalve 11:82d8768d7351 222
Lightvalve 11:82d8768d7351 223 extern int REF_MOVE_TIME_5k;
Lightvalve 11:82d8768d7351 224 extern int INIT_REF_PWM;
Lightvalve 11:82d8768d7351 225 extern int INIT_REF_VALVE_POS;
Lightvalve 11:82d8768d7351 226 extern int INIT_REF_VEL;
Lightvalve 11:82d8768d7351 227 extern int INIT_REF_TORQUE;
Lightvalve 11:82d8768d7351 228 extern int INIT_REF_PRES_DIFF;
Lightvalve 14:8e7590227d22 229 extern int INIT_REF_CURRENT;
Lightvalve 11:82d8768d7351 230
Lightvalve 11:82d8768d7351 231 extern unsigned int TMR2_COUNT_LED1;
Lightvalve 11:82d8768d7351 232 extern unsigned int TMR2_COUNT_LED2;
Lightvalve 11:82d8768d7351 233 extern unsigned int TMR2_COUNT_CAN_TX;
Lightvalve 54:647072f5307a 234 extern unsigned int TMR3_COUNT_TEST;
Lightvalve 11:82d8768d7351 235
Lightvalve 11:82d8768d7351 236 extern int num_err;
Lightvalve 11:82d8768d7351 237 extern int flag_err[8];
Lightvalve 11:82d8768d7351 238 extern int flag_err_old[8];
Lightvalve 11:82d8768d7351 239 extern int flag_err_rt;
Lightvalve 11:82d8768d7351 240
Lightvalve 11:82d8768d7351 241 extern int flag_ref_enable;
Lightvalve 11:82d8768d7351 242
Lightvalve 11:82d8768d7351 243 extern int flag_data_request[5];
Lightvalve 11:82d8768d7351 244
Lightvalve 45:35fa6884d0c6 245 extern int MODE_POS_FT_TRANS;
Lightvalve 66:a8e6799dbce3 246 extern int NN_Control_Flag;
Lightvalve 45:35fa6884d0c6 247
Lightvalve 169:645207e160ca 248 extern int cnt_buffer;
Lightvalve 169:645207e160ca 249
Lightvalve 57:f4819de54e7a 250 extern float CUR_CURRENT_mA;
Lightvalve 30:8d561f16383b 251 extern float CUR_TORQUE_NM;
Lightvalve 30:8d561f16383b 252 extern float CUR_TORQUE_NM_PRESS;
Lightvalve 11:82d8768d7351 253
jobuuu 230:2c3e5ecbe7e1 254 extern float FORCE_VREF;
Lightvalve 30:8d561f16383b 255 extern float PRES_A_VREF;
Lightvalve 30:8d561f16383b 256 extern float PRES_B_VREF;
Lightvalve 11:82d8768d7351 257
Lightvalve 30:8d561f16383b 258 extern float VALVE_PWM_RAW_FB;
Lightvalve 30:8d561f16383b 259 extern float VALVE_PWM_RAW_FF;
Lightvalve 57:f4819de54e7a 260 extern float VALVE_PWM_RAW;
Lightvalve 11:82d8768d7351 261 extern int VALVE_PWM_VALVE_DZ;
Lightvalve 11:82d8768d7351 262
Lightvalve 30:8d561f16383b 263 extern float VALVE_GAIN_LPM_PER_V[10];
Lightvalve 30:8d561f16383b 264 extern float VALVE_POS_VS_PWM[25];
Lightvalve 11:82d8768d7351 265 extern long JOINT_VEL[100];
Lightvalve 11:82d8768d7351 266
Lightvalve 11:82d8768d7351 267 extern int VALVE_MAX_POS;
Lightvalve 11:82d8768d7351 268 extern int VALVE_MIN_POS;
Lightvalve 11:82d8768d7351 269 extern int VALVE_POS_NUM;
Lightvalve 32:4b8c0fedaf2c 270 extern float VALVE_CENTER_OFFSET;
Lightvalve 33:91b17819ec30 271 extern float VALVE_DZ_MINUS_OFFSET;
Lightvalve 33:91b17819ec30 272 extern float VALVE_DZ_PLUS_OFFSET;
Lightvalve 11:82d8768d7351 273
Lightvalve 14:8e7590227d22 274 extern int TMR3_COUNT_FINDHOME;
Lightvalve 14:8e7590227d22 275 extern int TMR3_COUNT_FLOWRATE;
Lightvalve 14:8e7590227d22 276 extern int TMR3_COUNT_DEADZONE;
Lightvalve 14:8e7590227d22 277 extern int TMR3_COUNT_PRES_NULL;
Lightvalve 14:8e7590227d22 278 extern int TMR3_COUNT_TORQUE_NULL;
Lightvalve 14:8e7590227d22 279 extern int TMR3_COUNT_PRES_CALIB;
Lightvalve 14:8e7590227d22 280 extern int TMR3_COUNT_REFERENCE;
Lightvalve 14:8e7590227d22 281 extern int TMR3_COUNT_JOINT;
Lightvalve 14:8e7590227d22 282 extern int TMR3_COUNT_ROTARY_FRIC_TUNE;
Lightvalve 11:82d8768d7351 283
Lightvalve 30:8d561f16383b 284 extern float TUNING_TIME;
Lightvalve 11:82d8768d7351 285
Lightvalve 30:8d561f16383b 286 extern float REFERENCE_FREQ;
Lightvalve 30:8d561f16383b 287 extern float REFERENCE_MAG;
Lightvalve 11:82d8768d7351 288
Lightvalve 11:82d8768d7351 289 extern bool FLAG_FIND_HOME;
Lightvalve 11:82d8768d7351 290
Lightvalve 11:82d8768d7351 291 extern int MODE_JUMP_STATUS;
Lightvalve 11:82d8768d7351 292
Lightvalve 30:8d561f16383b 293 extern float CUR_PRES_DIFF_BAR;
Lightvalve 30:8d561f16383b 294 extern float CUR_PRES_A_sum;
Lightvalve 30:8d561f16383b 295 extern float CUR_PRES_B_sum;
Lightvalve 30:8d561f16383b 296 extern float CUR_PRES_A_mean;
Lightvalve 30:8d561f16383b 297 extern float CUR_PRES_B_mean;
jobuuu 230:2c3e5ecbe7e1 298 extern float PRES_A_NULL_pulse;
jobuuu 230:2c3e5ecbe7e1 299 extern float PRES_B_NULL_pulse;
jobuuu 230:2c3e5ecbe7e1 300 extern float FORCE_NULL_pulse;
Lightvalve 13:747daba9cf59 301
Lightvalve 30:8d561f16383b 302 extern float Ref_Valve_Pos_Old;
Lightvalve 13:747daba9cf59 303
Lightvalve 13:747daba9cf59 304 extern int VALVE_ID_timer;
Lightvalve 13:747daba9cf59 305 extern int VALVE_DZ_timer;
Lightvalve 13:747daba9cf59 306 extern int VALVE_FR_timer;
Lightvalve 35:34ce7b0347b8 307 extern int VALVE_HPL_timer;
Lightvalve 13:747daba9cf59 308 extern int VALVE_POS_TMP;
Lightvalve 13:747daba9cf59 309 extern int JOINT_VEL_TMP;
Lightvalve 13:747daba9cf59 310 extern int DDV_POS_AVG ;
Lightvalve 19:23b7c1ad8683 311 extern int VALVE_POS_AVG[50];
Lightvalve 13:747daba9cf59 312 extern int VALVE_POS_AVG_OLD;
Lightvalve 13:747daba9cf59 313 extern int data_num;
Lightvalve 13:747daba9cf59 314 extern int ID_index;
Lightvalve 13:747daba9cf59 315 extern int DZ_index;
Lightvalve 19:23b7c1ad8683 316 extern int ID_index_array[50];
Lightvalve 13:747daba9cf59 317 extern int first_check;
Lightvalve 30:8d561f16383b 318 extern float init_time;
Lightvalve 13:747daba9cf59 319 extern int DZ_case;
Lightvalve 13:747daba9cf59 320 extern int START_POS;
Lightvalve 13:747daba9cf59 321 extern int FINAL_POS;
Lightvalve 13:747daba9cf59 322 extern int DZ_DIRECTION;
Lightvalve 13:747daba9cf59 323 extern int FIRST_DZ;
Lightvalve 13:747daba9cf59 324 extern int SECOND_DZ;
Lightvalve 13:747daba9cf59 325 extern int DZ_NUM;
Lightvalve 13:747daba9cf59 326 extern int one_period_end;
Lightvalve 30:8d561f16383b 327 extern float Ref_Vel_Test;
Lightvalve 13:747daba9cf59 328 extern long TMR2_FOR_SLOW_LOGGING;
Lightvalve 19:23b7c1ad8683 329 //extern int velcount;
Lightvalve 13:747daba9cf59 330 extern char max_check;
Lightvalve 13:747daba9cf59 331 extern char min_check;
Lightvalve 13:747daba9cf59 332
Lightvalve 30:8d561f16383b 333 extern float valve_pos_err, valve_pos_err_old, valve_pos_err_diff, valve_pos_err_sum;
Lightvalve 30:8d561f16383b 334 extern float joint_pos_err, joint_pos_err_old, joint_pos_err_diff, joint_pos_err_diff_fil, joint_pos_err_sum;
Lightvalve 30:8d561f16383b 335 extern float joint_torq_err, joint_torq_err_old, joint_torq_err_diff, joint_torq_err_sum;
Lightvalve 30:8d561f16383b 336 extern float VALVE_PWM_RAW_POS, VALVE_PWM_RAW_TORQ;
Lightvalve 13:747daba9cf59 337
Lightvalve 30:8d561f16383b 338 extern float CUR_FLOWRATE;
Lightvalve 30:8d561f16383b 339 extern float VALVE_FF_VOLTAGE;
Lightvalve 13:747daba9cf59 340
Lightvalve 13:747daba9cf59 341 extern int pos_plus_end;
Lightvalve 13:747daba9cf59 342 extern int pos_minus_end;
Lightvalve 13:747daba9cf59 343
Lightvalve 13:747daba9cf59 344 extern bool need_enc_init;
Lightvalve 13:747daba9cf59 345
Lightvalve 13:747daba9cf59 346 extern int temp_time;
Lightvalve 13:747daba9cf59 347
Lightvalve 30:8d561f16383b 348 extern float CUR_VELOCITY_sum;
Lightvalve 30:8d561f16383b 349 extern float temp_vel_sum;
Lightvalve 13:747daba9cf59 350
Lightvalve 13:747daba9cf59 351 extern int DZ_dir;
Lightvalve 13:747daba9cf59 352 extern int DZ_temp_cnt;
Lightvalve 13:747daba9cf59 353 extern int DZ_temp_cnt2;
Lightvalve 13:747daba9cf59 354 extern int DZ_end;
Lightvalve 13:747daba9cf59 355 extern int flag_flowrate;
Lightvalve 13:747daba9cf59 356 extern int fl_temp_cnt;
Lightvalve 13:747daba9cf59 357 extern int fl_temp_cnt2;
Lightvalve 13:747daba9cf59 358 extern int cur_vel_sum;
Lightvalve 13:747daba9cf59 359
hyhoon 227:699c3e572283 360 extern int cnt_finddz;
hyhoon 227:699c3e572283 361 extern int cnt_vel_finddz;
hyhoon 227:699c3e572283 362 extern int flag_finddz;
hyhoon 227:699c3e572283 363 extern int FINDDZ_VELOCITY;
hyhoon 227:699c3e572283 364 extern int FINDDZ_VELOCITY_OLD;
hyhoon 227:699c3e572283 365 extern int FINDDZ_POSITION;
hyhoon 227:699c3e572283 366 extern int FINDDZ_POSITION_OLD;
hyhoon 227:699c3e572283 367
hyhoon 227:699c3e572283 368 extern double temp_VALVE_DEADZONE_PLUS;
hyhoon 227:699c3e572283 369 extern double temp_VALVE_DEADZONE_MINUS;
hyhoon 227:699c3e572283 370 extern float temp_pos_ref;
hyhoon 227:699c3e572283 371 extern float temp_pos_ref_offset;
hyhoon 227:699c3e572283 372
Lightvalve 13:747daba9cf59 373 // valve gain
Lightvalve 13:747daba9cf59 374 extern int check_vel_pos_init;
Lightvalve 13:747daba9cf59 375 extern int check_vel_pos_fin;
Lightvalve 13:747daba9cf59 376 extern int check_vel_pos_interv;
Lightvalve 13:747daba9cf59 377 extern int valve_gain_repeat_cnt;
Lightvalve 30:8d561f16383b 378 extern float VALVE_VOLTAGE;
Lightvalve 13:747daba9cf59 379
Lightvalve 30:8d561f16383b 380 extern float freq_fric_tune;
Lightvalve 13:747daba9cf59 381
Lightvalve 14:8e7590227d22 382 extern uint32_t TMR3_COUNT_CAN_TX;
Lightvalve 14:8e7590227d22 383
Lightvalve 57:f4819de54e7a 384 // Current Control Variables
Lightvalve 57:f4819de54e7a 385 extern double I_REF;
Lightvalve 57:f4819de54e7a 386 extern double I_REF_fil;
hyhoon 226:82a3ca333004 387 extern double I_REF_fil_DZ;
Lightvalve 57:f4819de54e7a 388 extern double I_ERR;
Lightvalve 57:f4819de54e7a 389 extern double I_ERR_INT;
Lightvalve 57:f4819de54e7a 390 extern double I_REF_fil_old;
Lightvalve 57:f4819de54e7a 391 extern double I_REF_fil_diff;
Lightvalve 57:f4819de54e7a 392
Lightvalve 57:f4819de54e7a 393 // system id
Lightvalve 57:f4819de54e7a 394 extern int cnt_sysid;
Lightvalve 57:f4819de54e7a 395 extern double freq_sysid_Iref;
Lightvalve 57:f4819de54e7a 396
Lightvalve 169:645207e160ca 397 extern int cnt_freq_test;
Lightvalve 169:645207e160ca 398 extern int cnt_step_test;
Lightvalve 169:645207e160ca 399 extern int buffer_data_size;
Lightvalve 169:645207e160ca 400 extern int cnt_send_buffer;
Lightvalve 169:645207e160ca 401 extern float freq_test_valve_ref;
Lightvalve 169:645207e160ca 402 extern float ref_array[10000];
Lightvalve 169:645207e160ca 403 extern int pos_array[10000];
Lightvalve 192:637092202815 404 extern int flag_every_reference;
Lightvalve 169:645207e160ca 405
Lightvalve 14:8e7590227d22 406 extern int TMR3_COUNT_IREF;
Lightvalve 30:8d561f16383b 407 extern float CUR_CURRENT;
Lightvalve 30:8d561f16383b 408 extern float u_CUR[3];
Lightvalve 19:23b7c1ad8683 409
Lightvalve 29:69f3f5445d6d 410 extern int FINDHOME_STAGE;
Lightvalve 29:69f3f5445d6d 411 extern int FINDHOME_INIT;
Lightvalve 29:69f3f5445d6d 412 extern int FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 413 extern int FINDHOME_ZEROPOSE;
Lightvalve 29:69f3f5445d6d 414
hyhoon 227:699c3e572283 415 extern int FINDDZ_STAGE;
hyhoon 227:699c3e572283 416 extern int FINDDZ_INIT;
hyhoon 227:699c3e572283 417 extern int FINDDZ_START1;
hyhoon 227:699c3e572283 418 extern int FINDDZ_START2;
hyhoon 227:699c3e572283 419 extern int FINDDZ_STOP;
hyhoon 227:699c3e572283 420
Lightvalve 45:35fa6884d0c6 421 extern float alpha_trans;
Lightvalve 45:35fa6884d0c6 422
Lightvalve 57:f4819de54e7a 423
Lightvalve 57:f4819de54e7a 424 extern float V_out;
Lightvalve 57:f4819de54e7a 425 extern float V_rem;
Lightvalve 57:f4819de54e7a 426 extern float V_MAX;
Lightvalve 57:f4819de54e7a 427
Lightvalve 57:f4819de54e7a 428 extern float PWM_out;
Lightvalve 57:f4819de54e7a 429
Lightvalve 57:f4819de54e7a 430 extern double K_v;
jobuuu 230:2c3e5ecbe7e1 431 extern double C_d;
Lightvalve 57:f4819de54e7a 432 extern double mV_PER_mA;
Lightvalve 57:f4819de54e7a 433 extern double mV_PER_pulse;
Lightvalve 57:f4819de54e7a 434 extern double mA_PER_pulse;
Lightvalve 57:f4819de54e7a 435
Lightvalve 57:f4819de54e7a 436 extern int timer_while;
Lightvalve 57:f4819de54e7a 437 extern int while_index;
Lightvalve 170:42c938a40313 438 extern int RL_timer;
Lightvalve 23:59218d4a256d 439
Lightvalve 67:c2812cf26c38 440 extern float K_LPF;
Lightvalve 67:c2812cf26c38 441 extern float D_LPF;
Lightvalve 67:c2812cf26c38 442
Lightvalve 224:985dba42f261 443 extern float torq_sen_past;
Lightvalve 207:c70c5a9f17dd 444 extern float torq_ref_past;
Lightvalve 99:7bbcb3c0fb06 445 extern float output_normalized;
Lightvalve 72:3436ce769b1e 446
Lightvalve 66:a8e6799dbce3 447
Lightvalve 32:4b8c0fedaf2c 448
Lightvalve 35:34ce7b0347b8 449
Lightvalve 36:a46e63505ed8 450
Lightvalve 45:35fa6884d0c6 451
Lightvalve 45:35fa6884d0c6 452
Lightvalve 48:889798ff9329 453
Lightvalve 49:e7bcfc244d40 454
Lightvalve 50:3c630b5eba9f 455
Lightvalve 52:8ea76864368a 456
Lightvalve 54:647072f5307a 457