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@94:44ae3b5a3bff, 2020-08-06 (annotated)

Committer:
Lightvalve
Date:
Thu Aug 06 09:33:32 2020 +0000
Revision:
94:44ae3b5a3bff
Parent:
93:82ce526d307b
Child:
95:60f380adfdd0
200806-2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 94:44ae3b5a3bff 1 //200806-2
GiJeongKim 0:51c43836c1d7 2 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 3 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 4 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 5 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 6 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 7 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 8 #include "setting.h"
Lightvalve 11:82d8768d7351 9 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 10 #include "stm32f4xx_flash.h"
Lightvalve 65:a2d7c63419c2 11 #include "FlashWriter.h"
Lightvalve 61:bc8c8270f0ab 12
Lightvalve 61:bc8c8270f0ab 13 using namespace std;
Lightvalve 61:bc8c8270f0ab 14 Timer t;
GiJeongKim 0:51c43836c1d7 15
Lightvalve 31:66738bfecec5 16 ///191008////
Lightvalve 31:66738bfecec5 17
jobuuu 7:e9086c72bb22 18 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 19 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 20 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 21 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 22 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 23 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 24 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 25 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 26
Lightvalve 24:ef6e1092e9e6 27
jobuuu 7:e9086c72bb22 28 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 29 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 30 float dtc_w=0.0f;
GiJeongKim 0:51c43836c1d7 31
jobuuu 7:e9086c72bb22 32 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 33 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 34 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 35 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 36
jobuuu 7:e9086c72bb22 37 // SPI ///////////////////////////////////////////
Lightvalve 16:903b5a4433b4 38 //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 16:903b5a4433b4 39 //DigitalOut eeprom_cs(PB_12);
Lightvalve 16:903b5a4433b4 40 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim 0:51c43836c1d7 41 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 42 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 43 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 44
jobuuu 7:e9086c72bb22 45 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 46 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 47
jobuuu 7:e9086c72bb22 48 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 49 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 50 CANMessage msg;
Lightvalve 11:82d8768d7351 51 void onMsgReceived()
Lightvalve 11:82d8768d7351 52 {
Lightvalve 11:82d8768d7351 53 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 54 }
jobuuu 2:a1c0a37df760 55
jobuuu 7:e9086c72bb22 56 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 57 State pos;
jobuuu 7:e9086c72bb22 58 State vel;
jobuuu 7:e9086c72bb22 59 State Vout;
jobuuu 7:e9086c72bb22 60 State torq;
jobuuu 7:e9086c72bb22 61 State pres_A;
jobuuu 7:e9086c72bb22 62 State pres_B;
jobuuu 7:e9086c72bb22 63 State cur;
Lightvalve 14:8e7590227d22 64 State valve_pos;
Lightvalve 14:8e7590227d22 65
Lightvalve 14:8e7590227d22 66 State INIT_Vout;
Lightvalve 14:8e7590227d22 67 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 68 State INIT_Pos;
Lightvalve 14:8e7590227d22 69 State INIT_torq;
jobuuu 5:a4319f79457b 70
Lightvalve 19:23b7c1ad8683 71 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 72 extern int CID_RX_REF_POSITION;
Lightvalve 49:e7bcfc244d40 73 extern int CID_RX_REF_VALVE_POS;
Lightvalve 45:35fa6884d0c6 74 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 75
Lightvalve 19:23b7c1ad8683 76 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 77 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 78 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 79 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 80 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 81 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 82
Lightvalve 61:bc8c8270f0ab 83
Lightvalve 61:bc8c8270f0ab 84
Lightvalve 61:bc8c8270f0ab 85
jobuuu 7:e9086c72bb22 86 // =============================================================================
jobuuu 7:e9086c72bb22 87 // =============================================================================
jobuuu 7:e9086c72bb22 88 // =============================================================================
jobuuu 7:e9086c72bb22 89
Lightvalve 12:6f2531038ea4 90 /*******************************************************************************
Lightvalve 12:6f2531038ea4 91 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 92 ******************************************************************************/
Lightvalve 13:747daba9cf59 93 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 94 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 95 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 96 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 97 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 98 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 99 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 100 };
Lightvalve 12:6f2531038ea4 101
Lightvalve 12:6f2531038ea4 102 /*******************************************************************************
Lightvalve 12:6f2531038ea4 103 * CONTROL MODE
Lightvalve 12:6f2531038ea4 104 ******************************************************************************/
Lightvalve 13:747daba9cf59 105 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 106 //control mode
Lightvalve 12:6f2531038ea4 107 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 108 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 109 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 110
Lightvalve 47:fdcb8bd86fd6 111 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 12:6f2531038ea4 112 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 113 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 114
Lightvalve 12:6f2531038ea4 115 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 116 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 117 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 118
Lightvalve 12:6f2531038ea4 119 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 120 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 121
Lightvalve 14:8e7590227d22 122 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 123 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 124 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 125
Lightvalve 12:6f2531038ea4 126 //utility
Lightvalve 12:6f2531038ea4 127 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 128 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 129 MODE_FIND_HOME, //22
Lightvalve 57:f4819de54e7a 130 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 131 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 132 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 133 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 134
Lightvalve 12:6f2531038ea4 135 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 136 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 137 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 57:f4819de54e7a 138 MODE_SYSTEM_ID, //33
Lightvalve 12:6f2531038ea4 139 };
Lightvalve 12:6f2531038ea4 140
Lightvalve 65:a2d7c63419c2 141 void SystemClock_Config(void)
Lightvalve 65:a2d7c63419c2 142 {
Lightvalve 65:a2d7c63419c2 143 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve 65:a2d7c63419c2 144 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve 65:a2d7c63419c2 145
Lightvalve 65:a2d7c63419c2 146 /** Configure the main internal regulator output voltage
Lightvalve 65:a2d7c63419c2 147 */
Lightvalve 65:a2d7c63419c2 148 __HAL_RCC_PWR_CLK_ENABLE();
Lightvalve 65:a2d7c63419c2 149 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve 65:a2d7c63419c2 150 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 65:a2d7c63419c2 151 */
Lightvalve 65:a2d7c63419c2 152 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve 65:a2d7c63419c2 153 RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve 65:a2d7c63419c2 154 RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve 65:a2d7c63419c2 155 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve 65:a2d7c63419c2 156 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve 65:a2d7c63419c2 157 RCC_OscInitStruct.PLL.PLLM = 8;//8
Lightvalve 65:a2d7c63419c2 158 RCC_OscInitStruct.PLL.PLLN = 180; //180
Lightvalve 65:a2d7c63419c2 159 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve 65:a2d7c63419c2 160 RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve 65:a2d7c63419c2 161 RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve 65:a2d7c63419c2 162 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
Lightvalve 65:a2d7c63419c2 163 {
Lightvalve 65:a2d7c63419c2 164 //Error_Handler();
Lightvalve 65:a2d7c63419c2 165 }
Lightvalve 65:a2d7c63419c2 166 /** Activate the Over-Drive mode
Lightvalve 65:a2d7c63419c2 167 */
Lightvalve 65:a2d7c63419c2 168 if (HAL_PWREx_EnableOverDrive() != HAL_OK)
Lightvalve 65:a2d7c63419c2 169 {
Lightvalve 65:a2d7c63419c2 170 //Error_Handler();
Lightvalve 65:a2d7c63419c2 171 }
Lightvalve 65:a2d7c63419c2 172 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 65:a2d7c63419c2 173 */
Lightvalve 65:a2d7c63419c2 174 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
Lightvalve 65:a2d7c63419c2 175 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
Lightvalve 65:a2d7c63419c2 176 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve 65:a2d7c63419c2 177 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve 65:a2d7c63419c2 178 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve 65:a2d7c63419c2 179 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve 65:a2d7c63419c2 180
Lightvalve 65:a2d7c63419c2 181 if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
Lightvalve 65:a2d7c63419c2 182 {
Lightvalve 65:a2d7c63419c2 183 //Error_Handler();
Lightvalve 65:a2d7c63419c2 184 }
Lightvalve 65:a2d7c63419c2 185 }
Lightvalve 65:a2d7c63419c2 186
Lightvalve 65:a2d7c63419c2 187
Lightvalve 68:328e1be06f5d 188 float x_past[num_array_x_past] = {0.0f};
Lightvalve 85:a3b46118b5cd 189 float x_future[num_array_x_future] = {0.0f};
Lightvalve 68:328e1be06f5d 190 float f_past[num_array_f_past] = {0.0f};
Lightvalve 68:328e1be06f5d 191 float f_future[num_array_f_future] = {0.0f};
Lightvalve 66:a8e6799dbce3 192
Lightvalve 73:f80dc3970c99 193 float input_NN[num_input] = { 0.0f };
Lightvalve 65:a2d7c63419c2 194
Lightvalve 90:a6cfef34bdce 195 const float h1[num_input][16] = {
Lightvalve 94:44ae3b5a3bff 196 {-1.963043212890625f,0.015004287473857403f,0.13533532619476318f,1.4252461194992065f,-2.064927577972412f,-0.04286407679319382f,-0.18325737118721008f,0.281577467918396f,-1.9616422653198242f,-1.49474036693573f,0.7598258256912231f,-2.0010058879852295f,-0.2661750614643097f,-1.3525208234786987f,-0.26971113681793213f,0.9658187031745911f},
Lightvalve 94:44ae3b5a3bff 197 {-0.8787243962287903f,0.1859530359506607f,-0.41195717453956604f,-0.20809273421764374f,-0.674298882484436f,-0.06167679280042648f,-0.425188273191452f,-0.20522037148475647f,-0.47495657205581665f,0.11714152246713638f,-0.06905350834131241f,-0.6974107027053833f,0.2579839527606964f,-0.5297649502754211f,-0.2199118435382843f,0.1454169899225235f},
Lightvalve 94:44ae3b5a3bff 198 {0.932813823223114f,0.29505985975265503f,0.3816739320755005f,-2.4131741523742676f,1.5926390886306763f,0.24176615476608276f,0.30123186111450195f,-0.39279159903526306f,1.2621344327926636f,2.086148500442505f,-1.6665315628051758f,1.0276610851287842f,0.00829596072435379f,1.9490678310394287f,0.05863076448440552f,-1.8875789642333984f},
Lightvalve 94:44ae3b5a3bff 199 {-0.031219489872455597f,-0.2923046350479126f,0.41681867837905884f,0.34140005707740784f,0.14258523285388947f,-0.38576745986938477f,-0.12149989604949951f,0.30871331691741943f,0.1575150489807129f,0.2960202097892761f,0.8576183319091797f,0.07271303236484528f,-0.16665874421596527f,0.07571949064731598f,-0.31060048937797546f,0.2250320166349411f},
Lightvalve 94:44ae3b5a3bff 200 {0.26971566677093506f,-0.03084159642457962f,-0.005396246910095215f,0.7376466393470764f,-0.14348290860652924f,-0.15112927556037903f,0.13571947813034058f,-0.19012069702148438f,0.07547261565923691f,0.007039226591587067f,0.4160690903663635f,0.00960183423012495f,-0.0654422715306282f,0.397073358297348f,-0.40537047386169434f,-0.10345643758773804f},
Lightvalve 94:44ae3b5a3bff 201 {0.5341939330101013f,-0.6167353987693787f,0.22836029529571533f,0.537230372428894f,0.35416141152381897f,-0.4741230309009552f,0.17320233583450317f,-0.5147087574005127f,0.324430912733078f,0.2835429310798645f,-0.3897288143634796f,0.541561484336853f,-0.2716478705406189f,0.8329599499702454f,-0.4334552586078644f,-0.19467635452747345f},
Lightvalve 94:44ae3b5a3bff 202 {-0.08570978790521622f,-0.2931893765926361f,-0.26241058111190796f,-0.183466836810112f,-0.411259263753891f,0.03150376304984093f,0.06307727098464966f,-0.5256645083427429f,0.5538625717163086f,-0.04620828852057457f,0.7182741165161133f,0.37059661746025085f,-0.17420996725559235f,0.6881060600280762f,-0.1638074517250061f,0.3303564786911011f},
Lightvalve 94:44ae3b5a3bff 203 {0.08658113330602646f,-0.5449877381324768f,-0.2791902422904968f,0.1466515064239502f,-0.2339358627796173f,-0.3444323241710663f,-0.18800833821296692f,-0.5271945595741272f,0.3837786614894867f,0.14816084504127502f,0.697123646736145f,0.016901837661862373f,0.39644840359687805f,0.3650294542312622f,0.04513084888458252f,0.34459394216537476f},
Lightvalve 94:44ae3b5a3bff 204 {0.11592582613229752f,0.02167455293238163f,0.10748296976089478f,-0.09244681149721146f,-0.4129270613193512f,-0.20819306373596191f,-0.07600703835487366f,-0.5996463894844055f,-0.27206647396087646f,0.30653059482574463f,-0.08816258609294891f,0.2984832525253296f,0.24698613584041595f,0.00610219594091177f,-0.32046639919281006f,0.4325462281703949f},
Lightvalve 94:44ae3b5a3bff 205 {0.21472881734371185f,-0.528688371181488f,0.19363796710968018f,-0.110680490732193f,0.0816967636346817f,0.024434411898255348f,-0.31365057826042175f,-0.3086670935153961f,0.15675820410251617f,-0.035505954176187515f,-0.7795049548149109f,-0.1942906379699707f,0.39697206020355225f,-0.16612550616264343f,0.36550790071487427f,-0.22927340865135193f},
Lightvalve 94:44ae3b5a3bff 206 {0.5017411708831787f,-0.1687530279159546f,0.3899726867675781f,0.18212741613388062f,0.05187850072979927f,-0.19427010416984558f,-0.21332034468650818f,-0.1761755794286728f,-0.27655401825904846f,0.43001410365104675f,0.08275233954191208f,-0.16393283009529114f,-0.06339302659034729f,-0.28966739773750305f,0.279909610748291f,-0.34861424565315247f},
Lightvalve 94:44ae3b5a3bff 207 {-0.4059267044067383f,-0.7185561060905457f,-0.42287975549697876f,0.12207406759262085f,0.09988117218017578f,-0.37759798765182495f,0.1608651876449585f,0.29438477754592896f,-0.18027105927467346f,0.34256309270858765f,-0.30703526735305786f,-0.08198640495538712f,0.15805940330028534f,-0.33154505491256714f,0.11006170511245728f,-0.07437236607074738f},
Lightvalve 94:44ae3b5a3bff 208 {0.20905812084674835f,-0.517874002456665f,0.2081671953201294f,0.26199454069137573f,0.49750348925590515f,-0.1549171358346939f,-0.2521669864654541f,0.04194226488471031f,-0.15982773900032043f,0.061027977615594864f,-0.41953322291374207f,-0.37924763560295105f,0.10275253653526306f,-0.056523796170949936f,-0.2335498034954071f,-0.7443153858184814f},
Lightvalve 94:44ae3b5a3bff 209 {0.11417270451784134f,-0.3810805678367615f,0.4329291582107544f,-0.011520566418766975f,-0.017149589955806732f,-0.5052298903465271f,-0.3356325030326843f,-0.511318027973175f,-0.13828693330287933f,0.15965227782726288f,-0.8224735856056213f,-0.2821078598499298f,-0.32179391384124756f,-0.3591322600841522f,0.050309598445892334f,-0.3893372416496277f},
Lightvalve 65:a2d7c63419c2 210 };
Lightvalve 65:a2d7c63419c2 211
Lightvalve 90:a6cfef34bdce 212 const float h2[16][16] = {
Lightvalve 94:44ae3b5a3bff 213 {-1.9509391784667969f,0.14084668457508087f,-0.06966331601142883f,0.14623679220676422f,-0.21907491981983185f,-0.10117511451244354f,0.027126450091600418f,-0.02197800762951374f,-0.43008196353912354f,-0.1415480375289917f,-0.2979885935783386f,-0.39775967597961426f,-2.7734076976776123f,-0.7008452415466309f,-0.27143293619155884f,-0.608835756778717f},
Lightvalve 94:44ae3b5a3bff 214 {0.10992950946092606f,-0.20079074800014496f,0.057057321071624756f,0.09341119974851608f,-0.35503754019737244f,-0.25873130559921265f,-0.37153491377830505f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-0.32728350162506104f,-0.4258429706096649f,0.27868348360061646f,0.08470615744590759f,-0.3198310434818268f,-0.3511825203895569f},
Lightvalve 90:a6cfef34bdce 215 {-0.22745239734649658f,0.003037691116333008f,-0.061119019985198975f,0.35696902871131897f,0.05568113923072815f,0.011741191148757935f,-0.20225946605205536f,-0.08465918898582458f,0.3489862382411957f,0.0687277615070343f,0.31964078545570374f,0.3004753887653351f,0.36063823103904724f,-0.42892736196517944f,0.08652284741401672f,0.027493387460708618f},
Lightvalve 94:44ae3b5a3bff 216 {-1.4898258447647095f,-1.9549109935760498f,-0.2894435524940491f,-0.5024607181549072f,0.08946844935417175f,-1.782486081123352f,-0.4730691909790039f,0.2983686029911041f,0.26211628317832947f,0.2953031361103058f,-1.5245325565338135f,0.1871659755706787f,-1.371577262878418f,1.0606229305267334f,0.6527656316757202f,0.821809709072113f},
Lightvalve 94:44ae3b5a3bff 217 {-2.8143932819366455f,1.1819502115249634f,-0.25313520431518555f,0.23312035202980042f,0.036378175020217896f,-0.7305564284324646f,-0.5931391716003418f,-0.1986749768257141f,-0.024399548768997192f,-0.39465832710266113f,-5.651285648345947f,-0.8679283261299133f,-2.4645915031433105f,-0.7347169518470764f,-0.6904176473617554f,-1.1736375093460083f},
Lightvalve 94:44ae3b5a3bff 218 {0.24798628687858582f,0.228379026055336f,-0.3519742488861084f,0.42436113953590393f,-0.3015052080154419f,-0.16997049748897552f,-0.4715564250946045f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,0.3003051280975342f,-0.17390193045139313f,-0.0028409818187355995f,0.2943539619445801f,0.12353334575891495f,-0.4951039254665375f},
Lightvalve 90:a6cfef34bdce 219 {-0.1828227937221527f,-0.02554568648338318f,-0.3260969817638397f,0.08422836661338806f,-0.38453540205955505f,-0.25432005524635315f,0.285016268491745f,0.12387624382972717f,-0.0982072651386261f,0.13111665844917297f,-0.03692615032196045f,-0.32796353101730347f,-0.21546880900859833f,0.049302369356155396f,-0.27088475227355957f,-0.4124959409236908f},
Lightvalve 94:44ae3b5a3bff 220 {-0.010045207105576992f,0.05922095105051994f,0.33083590865135193f,-0.4843074083328247f,-0.14358049631118774f,-0.5586643815040588f,-0.09043094515800476f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,0.3221753239631653f,-0.39895379543304443f,-0.5413416624069214f,0.6744462251663208f,0.48414382338523865f,0.4610564708709717f},
Lightvalve 94:44ae3b5a3bff 221 {-3.01225209236145f,0.5945671200752258f,-0.11379697918891907f,-0.2679266035556793f,0.041274964809417725f,-1.3865963220596313f,-0.2045956254005432f,-0.1114678680896759f,0.06103590130805969f,-0.38046833872795105f,-1.1163324117660522f,-0.5454443693161011f,-2.214613676071167f,-0.7942855358123779f,-0.7253769040107727f,-0.8374356031417847f},
Lightvalve 94:44ae3b5a3bff 222 {2.390881061553955f,1.0905855894088745f,-0.13502129912376404f,0.7093252539634705f,0.12987366318702698f,1.5289452075958252f,-0.186527281999588f,-0.498121976852417f,-0.13619378209114075f,0.16938945651054382f,2.28953218460083f,-0.8651934862136841f,1.029745101928711f,-2.167752981185913f,-0.7005384564399719f,-1.387426495552063f},
Lightvalve 94:44ae3b5a3bff 223 {-0.8490642309188843f,0.09511224925518036f,0.0457797646522522f,-0.768560528755188f,-0.03321319818496704f,-1.1284128427505493f,0.07103440165519714f,-0.3173494040966034f,-0.050184011459350586f,0.12480869889259338f,0.1699770987033844f,0.09800448268651962f,-1.0492773056030273f,0.42493292689323425f,-0.3253907561302185f,-0.25380057096481323f},
Lightvalve 94:44ae3b5a3bff 224 {-2.698960304260254f,0.4154041111469269f,0.3954955041408539f,-0.20902565121650696f,0.0033026933670043945f,-2.0346245765686035f,-0.4440285563468933f,-0.2303110510110855f,0.3487861454486847f,-0.32520344853401184f,-0.9862750768661499f,-0.5310355424880981f,-1.7021924257278442f,-0.3649623692035675f,0.0728849396109581f,-0.24838462471961975f},
Lightvalve 94:44ae3b5a3bff 225 {-0.2736700177192688f,-0.20621289312839508f,-0.15798500180244446f,0.35879138112068176f,-0.37393757700920105f,0.3766416311264038f,0.11292675137519836f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.10378183424472809f,-0.31091004610061646f,0.41839322447776794f,-0.02322995476424694f,-0.13558119535446167f,0.11001573503017426f},
Lightvalve 94:44ae3b5a3bff 226 {-1.1669691801071167f,-0.053728580474853516f,-0.2018718123435974f,0.3725968301296234f,0.07545611262321472f,-0.7844578623771667f,-0.42536208033561707f,-0.34513670206069946f,-0.24509364366531372f,0.19522181153297424f,1.8698723316192627f,-0.7699924111366272f,-1.4706475734710693f,-2.079646110534668f,-0.36733993887901306f,-0.7221977710723877f},
Lightvalve 90:a6cfef34bdce 227 {0.4138670265674591f,0.1604653298854828f,0.056746453046798706f,0.036025404930114746f,0.3228367865085602f,-0.07083973288536072f,0.018455177545547485f,0.0059362053871154785f,0.40515169501304626f,0.014240056276321411f,-0.07738298177719116f,0.1407785713672638f,-0.13024571537971497f,-0.29546058177948f,-0.11976784467697144f,-0.35825538635253906f},
Lightvalve 94:44ae3b5a3bff 228 {-0.7698415517807007f,-0.02098836936056614f,0.12081471085548401f,-0.6264633536338806f,0.29976895451545715f,-1.0969022512435913f,-0.2784166932106018f,0.1978110671043396f,-0.3893685042858124f,-0.02222958207130432f,0.32217976450920105f,-0.40892165899276733f,-0.5300687551498413f,0.43839365243911743f,0.1571161150932312f,-0.07078711688518524f},
Lightvalve 65:a2d7c63419c2 229 };
Lightvalve 65:a2d7c63419c2 230
Lightvalve 90:a6cfef34bdce 231 const float h3[16][16] = {
Lightvalve 94:44ae3b5a3bff 232 {-0.36079341173171997f,-0.24909263849258423f,-0.1940135806798935f,0.4449140727519989f,-0.01639309711754322f,1.9790804386138916f,0.3332441747188568f,0.15218907594680786f,-1.748496174812317f,-0.3356230556964874f,-2.38187313079834f,0.19966159760951996f,-0.30251893401145935f,2.2593438625335693f,2.3982226848602295f,-0.18487964570522308f},
Lightvalve 94:44ae3b5a3bff 233 {0.047732532024383545f,0.1592385172843933f,-3.9375405311584473f,-3.9872219562530518f,-2.5347678661346436f,-0.5286028981208801f,-0.3198729455471039f,-0.039754871279001236f,-0.09522093832492828f,-0.8528985381126404f,0.9607700705528259f,-0.3338526487350464f,-0.7253354787826538f,0.4361743628978729f,0.09227468073368073f,-1.0430022478103638f},
Lightvalve 91:ec77a57f947f 234 {0.07903262972831726f,0.2790505588054657f,-0.07798504829406738f,0.04248586297035217f,-0.1963958442211151f,-0.19260792434215546f,-0.4038352966308594f,0.015906542539596558f,0.15353140234947205f,0.030178606510162354f,0.2488909661769867f,0.13805970549583435f,-0.0816211998462677f,-0.20733052492141724f,-0.3036302626132965f,0.054825395345687866f},
Lightvalve 94:44ae3b5a3bff 235 {-0.30922991037368774f,-0.20079076290130615f,0.008432130329310894f,-0.5367765426635742f,-0.6482726335525513f,0.5972654819488525f,0.20021501183509827f,0.07002416253089905f,-0.3065568208694458f,-0.4874568283557892f,0.13192829489707947f,0.20035439729690552f,-0.2863468825817108f,0.5617194771766663f,0.8809205293655396f,-0.15577596426010132f},
Lightvalve 90:a6cfef34bdce 236 {-0.39607733488082886f,-0.05481579899787903f,0.1976260244846344f,0.022423356771469116f,0.16892847418785095f,-0.27518749237060547f,0.16012099385261536f,0.3626593053340912f,-0.08640444278717041f,-0.11053556203842163f,-0.10529157519340515f,-0.31317979097366333f,-0.1530032455921173f,-0.1336749792098999f,0.22959044575691223f,0.19986507296562195f},
Lightvalve 94:44ae3b5a3bff 237 {-0.37449589371681213f,-0.2662350833415985f,-0.3026287853717804f,-0.3084447681903839f,-0.9393444061279297f,1.3841793537139893f,-0.18732719123363495f,0.07476861774921417f,0.8230398893356323f,-0.2232237160205841f,-0.8469315767288208f,-0.122191421687603f,-0.1071217730641365f,0.9546970725059509f,0.650375247001648f,-0.5517044067382812f},
Lightvalve 94:44ae3b5a3bff 238 {0.4110594093799591f,0.2715781033039093f,-0.3404478132724762f,0.3273719847202301f,0.08251048624515533f,-0.11616730690002441f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.1531733125448227f,0.05332856625318527f,0.25816357135772705f,-0.3391006588935852f},
Lightvalve 94:44ae3b5a3bff 239 {-0.40892091393470764f,0.043769627809524536f,-0.5341517329216003f,0.25968697667121887f,0.19527803361415863f,0.09695082157850266f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.2742875814437866f,-0.22794409096240997f,0.07994696497917175f,0.005298197269439697f},
Lightvalve 90:a6cfef34bdce 240 {0.10697010159492493f,-0.12228584289550781f,-0.37870171666145325f,0.21184906363487244f,-0.37222859263420105f,-0.17138728499412537f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.42142823338508606f,-0.3482915461063385f,-0.3289247751235962f,-0.2186824083328247f,0.09620395302772522f,-0.06898030638694763f},
Lightvalve 90:a6cfef34bdce 241 {0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.30447837710380554f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24394884705543518f,-0.14084559679031372f,-0.10168051719665527f,0.010465055704116821f},
Lightvalve 94:44ae3b5a3bff 242 {0.15459725260734558f,0.16031590104103088f,0.35725101828575134f,0.6940656304359436f,0.3682273328304291f,1.249224305152893f,-0.08742031455039978f,-0.07313022762537003f,-0.597678005695343f,-0.5184547901153564f,1.8176629543304443f,-0.3560808598995209f,-0.02198741026222706f,0.893663763999939f,0.6961356997489929f,0.31813937425613403f},
Lightvalve 94:44ae3b5a3bff 243 {-0.408692330121994f,-0.15439020097255707f,0.25644734501838684f,0.2069428712129593f,0.13154691457748413f,-0.28426820039749146f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.2025834321975708f,-0.3399309813976288f,-0.498945027589798f,0.6293662786483765f},
Lightvalve 94:44ae3b5a3bff 244 {-0.2991822361946106f,0.24260865151882172f,-0.025416545569896698f,-1.1436017751693726f,-0.5813285708427429f,1.9331982135772705f,-0.11253207921981812f,0.2016076296567917f,-0.013574974611401558f,-0.35770976543426514f,0.11234699934720993f,-0.36229726672172546f,-0.809085488319397f,1.6351298093795776f,3.1906721591949463f,-0.982225239276886f},
Lightvalve 94:44ae3b5a3bff 245 {-0.2675279378890991f,-0.14340676367282867f,0.002432936104014516f,-0.2672659456729889f,1.0675334930419922f,-0.6277273893356323f,-0.32875844836235046f,-0.43007850646972656f,-0.5028631687164307f,-1.1884541511535645f,-3.3684728145599365f,-0.6464745998382568f,0.24422532320022583f,-0.5666713118553162f,1.798904538154602f,0.0943964347243309f},
Lightvalve 94:44ae3b5a3bff 246 {-0.015470266342163086f,-0.3311099708080292f,1.6436316967010498f,1.471618890762329f,1.4138787984848022f,-1.6129851341247559f,0.05196094512939453f,-0.008358269929885864f,-0.4835967421531677f,-0.4867514371871948f,0.13179203867912292f,-0.1658361852169037f,1.2598445415496826f,-1.350324273109436f,-0.7164110541343689f,0.5260244607925415f},
Lightvalve 94:44ae3b5a3bff 247 {0.1863725483417511f,0.257663756608963f,-0.04963725432753563f,-0.41541630029678345f,0.6657882928848267f,-0.5156242251396179f,0.04860696196556091f,0.17769548296928406f,-0.08539912849664688f,0.31013980507850647f,-0.3929237127304077f,-0.010345634073019028f,0.5325774550437927f,-3.4217567443847656f,-1.4924649000167847f,0.030543498694896698f},
Lightvalve 66:a8e6799dbce3 248 };
Lightvalve 65:a2d7c63419c2 249
Lightvalve 94:44ae3b5a3bff 250 const float hout[16] = { 0.45773375034332275f,0.3763861060142517f,-0.43518444895744324f,0.06213904917240143f,-0.3407769501209259f,0.6558745503425598f,0.0030125975608825684f,0.019330613315105438f,0.3074515163898468f,-0.2398720532655716f,0.3773036599159241f,-0.024288075044751167f,-0.6909987330436707f,0.5094286799430847f,-0.8318933248519897f,-0.7963545918464661f };
Lightvalve 66:a8e6799dbce3 251
Lightvalve 94:44ae3b5a3bff 252 const float b1[16] = { 0.9946791529655457f,0.6563421487808228f,-1.7145336866378784f,0.40616947412490845f,1.44526207447052f,0.7905153036117554f,-0.058932315558195114f,0.9510065317153931f,1.0370445251464844f,-1.0210089683532715f,1.3244307041168213f,1.8496466875076294f,-0.36624062061309814f,-0.5674612522125244f,-1.087764859199524f,1.4247647523880005f };
Lightvalve 87:471334725012 253
Lightvalve 94:44ae3b5a3bff 254 const float b2[16] = { 0.10010083019733429f,-0.9012236595153809f,-1.4564176797866821f,-0.8459519147872925f,-0.6939148902893066f,-0.7567964792251587f,-0.04195461794734001f,-0.42399078607559204f,-1.20063054561615f,-1.912178635597229f,-0.14200280606746674f,0.2866535782814026f,-0.5551586151123047f,2.0636401176452637f,-0.03939135745167732f,0.8030776381492615f };
Lightvalve 65:a2d7c63419c2 255
Lightvalve 94:44ae3b5a3bff 256 const float b3[16] = { -1.963319182395935f,-0.5206040740013123f,0.26402902603149414f,-0.4714980721473694f,-0.28282466530799866f,0.7462481260299683f,-0.45353031158447266f,-0.8076930046081543f,0.5176821947097778f,-0.13528640568256378f,-0.27718237042427063f,-0.31984272599220276f,-0.6784724593162537f,0.5469289422035217f,-2.2020673751831055f,-0.5710176229476929f };
Lightvalve 87:471334725012 257
Lightvalve 94:44ae3b5a3bff 258 const float bout[1] = { -0.36879047751426697f };
Lightvalve 65:a2d7c63419c2 259
Lightvalve 66:a8e6799dbce3 260
Lightvalve 87:471334725012 261 float VALVE_POS_RAW_NN = 0.0f;
Lightvalve 87:471334725012 262 float DDV_JOINT_POS_FF(float REF_JOINT_VEL);
Lightvalve 61:bc8c8270f0ab 263
GiJeongKim 0:51c43836c1d7 264 int main()
GiJeongKim 0:51c43836c1d7 265 {
Lightvalve 66:a8e6799dbce3 266
Lightvalve 65:a2d7c63419c2 267 HAL_Init();
Lightvalve 65:a2d7c63419c2 268 SystemClock_Config();
Lightvalve 65:a2d7c63419c2 269
jobuuu 6:df07d3491e3a 270 /*********************************
jobuuu 1:e04e563be5ce 271 *** Initialization
jobuuu 6:df07d3491e3a 272 *********************************/
Lightvalve 69:3995ffeaa786 273 LED = 0;
Lightvalve 61:bc8c8270f0ab 274 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 275
GiJeongKim 0:51c43836c1d7 276 // i2c init
Lightvalve 8:5d2eebdad025 277 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 278 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 279 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 280 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 281 make_delay();
jobuuu 2:a1c0a37df760 282
GiJeongKim 0:51c43836c1d7 283 // // spi init
Lightvalve 16:903b5a4433b4 284 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 285 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 286 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 287 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 288 make_delay();
Lightvalve 21:e5f1a43ea6f9 289
Lightvalve 16:903b5a4433b4 290 //rom
Lightvalve 19:23b7c1ad8683 291 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 292 make_delay();
Lightvalve 13:747daba9cf59 293
GiJeongKim 0:51c43836c1d7 294 // ADC init
jobuuu 5:a4319f79457b 295 Init_ADC();
Lightvalve 11:82d8768d7351 296 make_delay();
jobuuu 2:a1c0a37df760 297
GiJeongKim 0:51c43836c1d7 298 // Pwm init
GiJeongKim 0:51c43836c1d7 299 Init_PWM();
GiJeongKim 0:51c43836c1d7 300 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 301 make_delay();
Lightvalve 13:747daba9cf59 302
Lightvalve 11:82d8768d7351 303 // TMR3 init
Lightvalve 11:82d8768d7351 304 Init_TMR3();
Lightvalve 11:82d8768d7351 305 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 306 make_delay();
Lightvalve 21:e5f1a43ea6f9 307
Lightvalve 50:3c630b5eba9f 308 // TMR2 init
Lightvalve 56:6f50d9d3bfee 309 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 310 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 311 // make_delay();
Lightvalve 21:e5f1a43ea6f9 312
GiJeongKim 0:51c43836c1d7 313 // CAN
jobuuu 2:a1c0a37df760 314 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 315 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 316 make_delay();
Lightvalve 34:bb2ca2fc2a8e 317
Lightvalve 23:59218d4a256d 318 //Timer priority
Lightvalve 23:59218d4a256d 319 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 320 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 321 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 322
Lightvalve 23:59218d4a256d 323 //can.reset();
Lightvalve 19:23b7c1ad8683 324 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 325
GiJeongKim 0:51c43836c1d7 326 // spi _ enc
GiJeongKim 0:51c43836c1d7 327 spi_enc_set_init();
Lightvalve 11:82d8768d7351 328 make_delay();
Lightvalve 13:747daba9cf59 329
Lightvalve 11:82d8768d7351 330 //DAC init
Lightvalve 58:2eade98630e2 331 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 332 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 333 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 334 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 335 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 336 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 337 }
Lightvalve 11:82d8768d7351 338 make_delay();
Lightvalve 13:747daba9cf59 339
Lightvalve 19:23b7c1ad8683 340 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 341 if(i%2==0)
Lightvalve 38:118df027d851 342 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 343 else
Lightvalve 38:118df027d851 344 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 345 }
Lightvalve 61:bc8c8270f0ab 346
Lightvalve 61:bc8c8270f0ab 347
jobuuu 6:df07d3491e3a 348 /************************************
jobuuu 1:e04e563be5ce 349 *** Program is operating!
jobuuu 6:df07d3491e3a 350 *************************************/
GiJeongKim 0:51c43836c1d7 351 while(1) {
Lightvalve 66:a8e6799dbce3 352 // if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve 66:a8e6799dbce3 353 //if(timer_while==1000) {
Lightvalve 65:a2d7c63419c2 354 //i2c
Lightvalve 66:a8e6799dbce3 355
Lightvalve 65:a2d7c63419c2 356 read_field(i2c_slave_addr1);
Lightvalve 65:a2d7c63419c2 357 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 65:a2d7c63419c2 358 // if(LED==1) {
Lightvalve 65:a2d7c63419c2 359 // LED=0;
Lightvalve 65:a2d7c63419c2 360 // } else
Lightvalve 65:a2d7c63419c2 361 // LED = 1;
Lightvalve 65:a2d7c63419c2 362 timer_while = 0;
Lightvalve 66:a8e6799dbce3 363 //}
Lightvalve 66:a8e6799dbce3 364
Lightvalve 66:a8e6799dbce3 365 timer_while ++;
Lightvalve 66:a8e6799dbce3 366
Lightvalve 87:471334725012 367 //LED = 0;
Lightvalve 87:471334725012 368
Lightvalve 73:f80dc3970c99 369 if(NN_Control_Flag == 0) {
Lightvalve 73:f80dc3970c99 370 LED = 0;
Lightvalve 73:f80dc3970c99 371 }
Lightvalve 66:a8e6799dbce3 372
Lightvalve 73:f80dc3970c99 373 else if(NN_Control_Flag == 1) {
Lightvalve 88:d6e591bece22 374 float output1[16] = { 0.0f };
Lightvalve 88:d6e591bece22 375 float output2[16] = { 0.0f };
Lightvalve 88:d6e591bece22 376 float output3[16] = { 0.0f };
Lightvalve 66:a8e6799dbce3 377 float output = 0.0f;
Lightvalve 65:a2d7c63419c2 378
Lightvalve 88:d6e591bece22 379 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 68:328e1be06f5d 380 for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve 66:a8e6799dbce3 381 output1[index2] = output1[index2]
Lightvalve 73:f80dc3970c99 382 + h1[index1][index2] * input_NN[index1];
Lightvalve 66:a8e6799dbce3 383 }
Lightvalve 66:a8e6799dbce3 384 output1[index2] = output1[index2] + b1[index2];
Lightvalve 66:a8e6799dbce3 385 if (output1[index2] < 0) {
Lightvalve 66:a8e6799dbce3 386 output1[index2] = 0;
Lightvalve 66:a8e6799dbce3 387 }
Lightvalve 66:a8e6799dbce3 388 }
Lightvalve 65:a2d7c63419c2 389
Lightvalve 88:d6e591bece22 390 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 88:d6e591bece22 391 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 392 output2[index2] = output2[index2]
Lightvalve 66:a8e6799dbce3 393 + h2[index1][index2] * output1[index1];
Lightvalve 66:a8e6799dbce3 394 }
Lightvalve 66:a8e6799dbce3 395 output2[index2] = output2[index2] + b2[index2];
Lightvalve 66:a8e6799dbce3 396 if (output2[index2] < 0) {
Lightvalve 66:a8e6799dbce3 397 output2[index2] = 0;
Lightvalve 66:a8e6799dbce3 398 }
Lightvalve 66:a8e6799dbce3 399 }
Lightvalve 65:a2d7c63419c2 400
Lightvalve 88:d6e591bece22 401 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 88:d6e591bece22 402 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 403 output3[index2] = output3[index2]
Lightvalve 66:a8e6799dbce3 404 + h3[index1][index2] * output2[index1];
Lightvalve 66:a8e6799dbce3 405 }
Lightvalve 66:a8e6799dbce3 406 output3[index2] = output3[index2] + b3[index2];
Lightvalve 66:a8e6799dbce3 407 if (output3[index2] < 0) {
Lightvalve 66:a8e6799dbce3 408 output3[index2] = 0;
Lightvalve 66:a8e6799dbce3 409 }
Lightvalve 65:a2d7c63419c2 410 }
Lightvalve 66:a8e6799dbce3 411
Lightvalve 66:a8e6799dbce3 412 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 88:d6e591bece22 413 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 73:f80dc3970c99 414 output = output + hout[index1] * output3[index1];
Lightvalve 66:a8e6799dbce3 415 }
Lightvalve 66:a8e6799dbce3 416 output = output + bout[index2];
Lightvalve 73:f80dc3970c99 417
Lightvalve 66:a8e6799dbce3 418 }
Lightvalve 73:f80dc3970c99 419 output = 1.0f/(1.0f+exp(-output));
Lightvalve 68:328e1be06f5d 420 output = output * 20000.0f - 10000.0f;
Lightvalve 66:a8e6799dbce3 421 if(output>=0) {
Lightvalve 66:a8e6799dbce3 422 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 423 } else {
Lightvalve 66:a8e6799dbce3 424 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 65:a2d7c63419c2 425 }
Lightvalve 87:471334725012 426
Lightvalve 88:d6e591bece22 427 // // torque feedback
Lightvalve 88:d6e591bece22 428 // torq.err = f_past[0] - torq.sen; //[N]
Lightvalve 88:d6e591bece22 429 //// torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 88:d6e591bece22 430 // torq.err_sum += torq.err/(float) 1500.0f; //[N]
Lightvalve 88:d6e591bece22 431 //
Lightvalve 88:d6e591bece22 432 //
Lightvalve 88:d6e591bece22 433 // valve_pos.ref = ((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f + DDV_JOINT_POS_FF(vel.sen) + valve_pos.ref * 0.01f;
Lightvalve 88:d6e591bece22 434 //
Lightvalve 88:d6e591bece22 435 // if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 88:d6e591bece22 436 // double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 88:d6e591bece22 437 // if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 88:d6e591bece22 438 // double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 88:d6e591bece22 439 // valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 88:d6e591bece22 440 // valve_pos.ref = VALVE_MAX_POS;
Lightvalve 88:d6e591bece22 441 // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve 88:d6e591bece22 442 // } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 88:d6e591bece22 443 // double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 88:d6e591bece22 444 // valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 88:d6e591bece22 445 // valve_pos.ref = VALVE_MIN_POS;
Lightvalve 88:d6e591bece22 446 // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve 88:d6e591bece22 447 // }
Lightvalve 88:d6e591bece22 448 // }
Lightvalve 87:471334725012 449
Lightvalve 69:3995ffeaa786 450
Lightvalve 69:3995ffeaa786 451 if(LED==1) {
Lightvalve 69:3995ffeaa786 452 LED=0;
Lightvalve 69:3995ffeaa786 453 } else
Lightvalve 69:3995ffeaa786 454 LED = 1;
Lightvalve 69:3995ffeaa786 455
Lightvalve 65:a2d7c63419c2 456 }
Lightvalve 62:b5452adfb2cd 457
Lightvalve 87:471334725012 458 //LED = 1;
Lightvalve 69:3995ffeaa786 459
Lightvalve 66:a8e6799dbce3 460
GiJeongKim 0:51c43836c1d7 461 }
jobuuu 1:e04e563be5ce 462 }
jobuuu 1:e04e563be5ce 463
Lightvalve 33:91b17819ec30 464 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 465 {
Lightvalve 14:8e7590227d22 466
Lightvalve 13:747daba9cf59 467 int i = 0;
Lightvalve 48:889798ff9329 468 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 469 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 470 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 471 if(i==0) {
Lightvalve 50:3c630b5eba9f 472 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 473 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 474 } else {
Lightvalve 57:f4819de54e7a 475 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 476 }
Lightvalve 14:8e7590227d22 477 } else {
Lightvalve 50:3c630b5eba9f 478 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 479 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 480 } else {
Lightvalve 57:f4819de54e7a 481 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 482 }
Lightvalve 13:747daba9cf59 483 }
Lightvalve 13:747daba9cf59 484 break;
Lightvalve 13:747daba9cf59 485 }
Lightvalve 13:747daba9cf59 486 }
Lightvalve 14:8e7590227d22 487 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 488 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 489 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 490 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 491 }
Lightvalve 36:a46e63505ed8 492
Lightvalve 57:f4819de54e7a 493 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 494 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 495
Lightvalve 13:747daba9cf59 496 }
jobuuu 6:df07d3491e3a 497
jobuuu 6:df07d3491e3a 498
Lightvalve 30:8d561f16383b 499 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 500 {
Lightvalve 13:747daba9cf59 501 int i = 0;
Lightvalve 13:747daba9cf59 502
Lightvalve 38:118df027d851 503 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 504 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 505 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 506 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 507 }
Lightvalve 38:118df027d851 508
Lightvalve 89:a7b45368ea0f 509 valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve 13:747daba9cf59 510 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 511 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 512 valve_pos_err_sum += valve_pos_err;
Lightvalve 89:a7b45368ea0f 513 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 89:a7b45368ea0f 514 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 13:747daba9cf59 515
Lightvalve 13:747daba9cf59 516 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 517
Lightvalve 18:b8adf1582ea3 518 for(i=0; i<24; i++) {
Lightvalve 89:a7b45368ea0f 519 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 520 if(i==0) {
Lightvalve 48:889798ff9329 521 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 522 } else {
Lightvalve 48:889798ff9329 523 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 524 }
Lightvalve 13:747daba9cf59 525 break;
Lightvalve 13:747daba9cf59 526 }
Lightvalve 13:747daba9cf59 527 }
Lightvalve 59:f308b1656d9c 528 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 529 }
Lightvalve 13:747daba9cf59 530
Lightvalve 14:8e7590227d22 531 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 532 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 533 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 534 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 535 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 536 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 537 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 538 }; // duty
Lightvalve 67:c2812cf26c38 539 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 540 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 541 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 542 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 543 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 544 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 545 }; // mV
Lightvalve 13:747daba9cf59 546
Lightvalve 30:8d561f16383b 547 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 548 {
Lightvalve 30:8d561f16383b 549 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 550 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 551 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 552 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 553 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 554 } else {
Lightvalve 13:747daba9cf59 555 int idx = 0;
Lightvalve 13:747daba9cf59 556 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 557 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 558 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 559 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 560 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 561 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 562 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 563 break;
Lightvalve 13:747daba9cf59 564 }
Lightvalve 13:747daba9cf59 565 }
Lightvalve 13:747daba9cf59 566 }
Lightvalve 14:8e7590227d22 567
Lightvalve 13:747daba9cf59 568 return PWM_duty;
Lightvalve 13:747daba9cf59 569 }
jobuuu 6:df07d3491e3a 570
Lightvalve 57:f4819de54e7a 571
Lightvalve 57:f4819de54e7a 572
Lightvalve 57:f4819de54e7a 573
Lightvalve 57:f4819de54e7a 574
jobuuu 2:a1c0a37df760 575 /*******************************************************************************
jobuuu 2:a1c0a37df760 576 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 577 *******************************************************************************/
jobuuu 2:a1c0a37df760 578
Lightvalve 51:b46bed7fec80 579 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 580 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 581 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 582 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 583 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 584 {
Lightvalve 19:23b7c1ad8683 585 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 586
Lightvalve 21:e5f1a43ea6f9 587 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 588 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 589 ********************************************************/
Lightvalve 13:747daba9cf59 590
Lightvalve 57:f4819de54e7a 591 //Encoder
Lightvalve 57:f4819de54e7a 592 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 593 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 594 }
Lightvalve 61:bc8c8270f0ab 595
Lightvalve 61:bc8c8270f0ab 596 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 597 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 598 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 599 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 600 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 601 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 67:c2812cf26c38 602 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 67:c2812cf26c38 603
Lightvalve 67:c2812cf26c38 604
Lightvalve 67:c2812cf26c38 605 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 67:c2812cf26c38 606 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 67:c2812cf26c38 607 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 67:c2812cf26c38 608 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 67:c2812cf26c38 609 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 67:c2812cf26c38 610
Lightvalve 17:1865016ca2e7 611
Lightvalve 58:2eade98630e2 612 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 613 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 614 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 615 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 616 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 617 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 618 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 619 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 620 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 621
Lightvalve 58:2eade98630e2 622 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 623 torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm
Lightvalve 58:2eade98630e2 624 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 625 torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N
Lightvalve 58:2eade98630e2 626 }
Lightvalve 58:2eade98630e2 627 }
Lightvalve 61:bc8c8270f0ab 628
Lightvalve 58:2eade98630e2 629 // //Pressure sensor A
Lightvalve 58:2eade98630e2 630 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 631 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 632 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 633 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 634 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 635 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later.
Lightvalve 58:2eade98630e2 636 //
Lightvalve 58:2eade98630e2 637 //
Lightvalve 58:2eade98630e2 638 // //Pressure sensor B
Lightvalve 58:2eade98630e2 639 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 640 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 641 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 642 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 643
Lightvalve 17:1865016ca2e7 644
Lightvalve 21:e5f1a43ea6f9 645 //Current
Lightvalve 21:e5f1a43ea6f9 646 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 647 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 648 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 649 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 650 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 651 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 652 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 653
Lightvalve 57:f4819de54e7a 654 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 655 }
Lightvalve 11:82d8768d7351 656 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 657 }
Lightvalve 19:23b7c1ad8683 658
Lightvalve 19:23b7c1ad8683 659
Lightvalve 18:b8adf1582ea3 660 int j =0;
Lightvalve 54:647072f5307a 661 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 662 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 663 int cnt_trans = 0;
Lightvalve 48:889798ff9329 664 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 57:f4819de54e7a 665 int can_rest =0;
Lightvalve 48:889798ff9329 666
Lightvalve 11:82d8768d7351 667 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 668 {
Lightvalve 19:23b7c1ad8683 669 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 670
Lightvalve 57:f4819de54e7a 671 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 672 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 673 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 674 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 675 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 676 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 677 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 678 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 679 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 680 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 681 }
Lightvalve 50:3c630b5eba9f 682
Lightvalve 50:3c630b5eba9f 683 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 684 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 685 cnt_trans++;
Lightvalve 46:2694daea349b 686 torq.err_sum = 0;
Lightvalve 48:889798ff9329 687 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 688 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 689 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 690 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 691 cnt_trans++;
Lightvalve 46:2694daea349b 692 torq.err_sum = 0;
Lightvalve 48:889798ff9329 693 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 694 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 695 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 696 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 697 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 698 } else {
Lightvalve 58:2eade98630e2 699 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 700 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 701 }
Lightvalve 45:35fa6884d0c6 702
Lightvalve 50:3c630b5eba9f 703
Lightvalve 57:f4819de54e7a 704 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 705 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 706
Lightvalve 57:f4819de54e7a 707 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 708 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 709 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 710 } else {
Lightvalve 57:f4819de54e7a 711 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 712 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 713 }
Lightvalve 56:6f50d9d3bfee 714
Lightvalve 56:6f50d9d3bfee 715
Lightvalve 56:6f50d9d3bfee 716
Lightvalve 57:f4819de54e7a 717 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 718
Lightvalve 57:f4819de54e7a 719 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 720 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 721 break;
Lightvalve 13:747daba9cf59 722 }
Lightvalve 14:8e7590227d22 723
Lightvalve 14:8e7590227d22 724 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 725 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 726 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 727 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 728
Lightvalve 14:8e7590227d22 729 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 730 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 731 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 732
Lightvalve 84:c355d3e52bf1 733 TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 734
Lightvalve 30:8d561f16383b 735 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 736 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 737
Lightvalve 16:903b5a4433b4 738 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 739 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 740 }
Lightvalve 13:747daba9cf59 741 } else {
Lightvalve 58:2eade98630e2 742 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 743 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 744 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 745 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 746
Lightvalve 16:903b5a4433b4 747 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 748
Lightvalve 30:8d561f16383b 749 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 750
Lightvalve 13:747daba9cf59 751 }
Lightvalve 14:8e7590227d22 752 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 753 break;
Lightvalve 19:23b7c1ad8683 754 }
Lightvalve 14:8e7590227d22 755
Lightvalve 50:3c630b5eba9f 756 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 757 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 758 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 759 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 760 // }
Lightvalve 50:3c630b5eba9f 761 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 762 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 763 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 764 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 765 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 766 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 767 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 768 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 769 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 770 // }
Lightvalve 50:3c630b5eba9f 771 //
Lightvalve 50:3c630b5eba9f 772 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 773 // V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 50:3c630b5eba9f 774 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 775 //
Lightvalve 50:3c630b5eba9f 776 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 777 // V_out = 0;
Lightvalve 50:3c630b5eba9f 778 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 779 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 780 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 781 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 782 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 783 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 784 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 785 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 786 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 787 //
Lightvalve 50:3c630b5eba9f 788 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 789 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 790 // // | / | / |/
Lightvalve 50:3c630b5eba9f 791 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 792 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 793 // // /| / | / |
Lightvalve 50:3c630b5eba9f 794 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 795 //
Lightvalve 50:3c630b5eba9f 796 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 797 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 798 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 799 // } else {
Lightvalve 50:3c630b5eba9f 800 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 801 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 802 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 803 // }
Lightvalve 50:3c630b5eba9f 804 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 805 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 806 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 807 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 808 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 809 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 810 // }
Lightvalve 50:3c630b5eba9f 811 // } else {
Lightvalve 50:3c630b5eba9f 812 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 813 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 814 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 815 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 816 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 817 // }
Lightvalve 50:3c630b5eba9f 818 // V_out = 0;
Lightvalve 50:3c630b5eba9f 819 //
Lightvalve 50:3c630b5eba9f 820 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 821 //
Lightvalve 50:3c630b5eba9f 822 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 823 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 824 //
Lightvalve 50:3c630b5eba9f 825 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 826 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 827 // }
Lightvalve 50:3c630b5eba9f 828 // }
Lightvalve 50:3c630b5eba9f 829 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 830 // break;
Lightvalve 50:3c630b5eba9f 831 // }
Lightvalve 14:8e7590227d22 832
Lightvalve 14:8e7590227d22 833 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 834 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 835 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 836 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 837 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 838 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 839 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 840 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 841 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 842 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 843 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 844 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 845 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 846 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 847 }
Lightvalve 29:69f3f5445d6d 848 cnt_findhome++;
Lightvalve 14:8e7590227d22 849
Lightvalve 29:69f3f5445d6d 850 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 851 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 852 } else {
Lightvalve 29:69f3f5445d6d 853 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 854 }
Lightvalve 19:23b7c1ad8683 855
Lightvalve 57:f4819de54e7a 856 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 857 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 67:c2812cf26c38 858 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 67:c2812cf26c38 859 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:bc8c8270f0ab 860
Lightvalve 59:f308b1656d9c 861 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 862 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 863 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 864 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 865 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 866
Lightvalve 59:f308b1656d9c 867 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 868 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 869
Lightvalve 34:bb2ca2fc2a8e 870
Lightvalve 29:69f3f5445d6d 871 } else {
Lightvalve 29:69f3f5445d6d 872 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 67:c2812cf26c38 873 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 874 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 875 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 876 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 877 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 878 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 879 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 880 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 881 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 882 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 883
Lightvalve 67:c2812cf26c38 884
Lightvalve 67:c2812cf26c38 885 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 886 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 887 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 888 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 889 vel.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 890 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 891 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 892
Lightvalve 67:c2812cf26c38 893
Lightvalve 29:69f3f5445d6d 894 }
Lightvalve 29:69f3f5445d6d 895 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 896 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 897 pos.ref = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
Lightvalve 67:c2812cf26c38 898 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 899 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 900
Lightvalve 29:69f3f5445d6d 901 // input for position control
Lightvalve 67:c2812cf26c38 902
Lightvalve 67:c2812cf26c38 903 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 904 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 905
Lightvalve 67:c2812cf26c38 906 double torq_ref = 0.0f;
Lightvalve 67:c2812cf26c38 907 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 908 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 909 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 910
Lightvalve 67:c2812cf26c38 911 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 67:c2812cf26c38 912
Lightvalve 67:c2812cf26c38 913 double I_REF_POS = 0.0f;
Lightvalve 67:c2812cf26c38 914 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 67:c2812cf26c38 915 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 67:c2812cf26c38 916
Lightvalve 67:c2812cf26c38 917 double temp_vel_pos = 0.0f;
Lightvalve 67:c2812cf26c38 918 double temp_vel_torq = 0.0f;
Lightvalve 67:c2812cf26c38 919 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 67:c2812cf26c38 920
Lightvalve 69:3995ffeaa786 921 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 67:c2812cf26c38 922 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * 3.14159f / 180.0f; // rad/s
Lightvalve 67:c2812cf26c38 923 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 924 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 67:c2812cf26c38 925 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 67:c2812cf26c38 926 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 927 }
Lightvalve 67:c2812cf26c38 928 if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 929 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 930
Lightvalve 67:c2812cf26c38 931 I_REF = I_REF_POS;
Lightvalve 67:c2812cf26c38 932
Lightvalve 67:c2812cf26c38 933
Lightvalve 67:c2812cf26c38 934
Lightvalve 67:c2812cf26c38 935 } else {
Lightvalve 67:c2812cf26c38 936 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 67:c2812cf26c38 937 VALVE_POS_RAW_FORCE_FB = DDV_JOINT_POS_FF(vel.sen) + (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 67:c2812cf26c38 938
Lightvalve 67:c2812cf26c38 939 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 67:c2812cf26c38 940 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 67:c2812cf26c38 941 } else {
Lightvalve 67:c2812cf26c38 942 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 67:c2812cf26c38 943 }
Lightvalve 67:c2812cf26c38 944
Lightvalve 67:c2812cf26c38 945 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 67:c2812cf26c38 946
Lightvalve 67:c2812cf26c38 947 V_out = (float) Vout.ref;
Lightvalve 67:c2812cf26c38 948
Lightvalve 67:c2812cf26c38 949 }
Lightvalve 67:c2812cf26c38 950
Lightvalve 67:c2812cf26c38 951
Lightvalve 67:c2812cf26c38 952
Lightvalve 67:c2812cf26c38 953
Lightvalve 59:f308b1656d9c 954 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 955 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 956 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 957 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 958 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 959
Lightvalve 29:69f3f5445d6d 960 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 961 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 962 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 963 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 964 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 965 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 966 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 967 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 968 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 969 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 970 }
Lightvalve 13:747daba9cf59 971 }
Lightvalve 19:23b7c1ad8683 972
Lightvalve 13:747daba9cf59 973 break;
Lightvalve 13:747daba9cf59 974 }
Lightvalve 14:8e7590227d22 975
Lightvalve 50:3c630b5eba9f 976 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 977 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 978 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 979 // else {
Lightvalve 50:3c630b5eba9f 980 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 981 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 982 // }
Lightvalve 50:3c630b5eba9f 983 // }
Lightvalve 50:3c630b5eba9f 984 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 985 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 986 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 987 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 988 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 989 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 990 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 991 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 992 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 993 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 994 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 995 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 996 // }
Lightvalve 50:3c630b5eba9f 997 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 998 // }
Lightvalve 50:3c630b5eba9f 999 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1000 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1001 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1002 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1003 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1004 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1005 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1006 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1007 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000
Lightvalve 50:3c630b5eba9f 1008 // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
Lightvalve 50:3c630b5eba9f 1009 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1010 // }
Lightvalve 50:3c630b5eba9f 1011 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1012 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1013 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1014 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1015 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1016 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1017 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0f * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE);
Lightvalve 50:3c630b5eba9f 1018 // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
Lightvalve 50:3c630b5eba9f 1019 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1020 // }
Lightvalve 50:3c630b5eba9f 1021 // }
Lightvalve 50:3c630b5eba9f 1022 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1023 //
Lightvalve 50:3c630b5eba9f 1024 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1025 //
Lightvalve 50:3c630b5eba9f 1026 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1027 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1028 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1029 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1030 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1031 // }
Lightvalve 50:3c630b5eba9f 1032 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1033 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1034 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1035 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1036 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1037 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1038 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1039 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1040 // }
Lightvalve 50:3c630b5eba9f 1041 //
Lightvalve 50:3c630b5eba9f 1042 // }
Lightvalve 50:3c630b5eba9f 1043 // break;
Lightvalve 50:3c630b5eba9f 1044 // }
Lightvalve 50:3c630b5eba9f 1045 //
Lightvalve 50:3c630b5eba9f 1046 // }
Lightvalve 14:8e7590227d22 1047 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1048 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1049 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1050 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1051 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1052
Lightvalve 14:8e7590227d22 1053 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1054 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1055 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1056 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1057 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1058
Lightvalve 38:118df027d851 1059 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1060 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1061 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1062
Lightvalve 30:8d561f16383b 1063 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1064 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1065 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1066 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1067
Lightvalve 30:8d561f16383b 1068 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1069 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1070 }
Lightvalve 13:747daba9cf59 1071 } else {
Lightvalve 57:f4819de54e7a 1072 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1073 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1074 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1075 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1076 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1077 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1078
Lightvalve 16:903b5a4433b4 1079 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1080
Lightvalve 30:8d561f16383b 1081 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1082 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1083 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1084 }
Lightvalve 14:8e7590227d22 1085 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1086 break;
Lightvalve 13:747daba9cf59 1087 }
Lightvalve 14:8e7590227d22 1088
Lightvalve 50:3c630b5eba9f 1089 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1090 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1091 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1092 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1093 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1094 // }
Lightvalve 50:3c630b5eba9f 1095 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1096 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1097 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1098 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1099 // }
Lightvalve 50:3c630b5eba9f 1100 // } else {
Lightvalve 50:3c630b5eba9f 1101 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1102 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1103 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1104 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1105 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1106 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1107 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1108 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1109 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1110 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1111 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1112 //
Lightvalve 50:3c630b5eba9f 1113 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1114 //
Lightvalve 50:3c630b5eba9f 1115 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1116 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1117 // }
Lightvalve 50:3c630b5eba9f 1118 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1119 // break;
Lightvalve 50:3c630b5eba9f 1120 // }
Lightvalve 19:23b7c1ad8683 1121
Lightvalve 50:3c630b5eba9f 1122 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1123 // if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4.0f + 3.0f * sin(2 * 3.14159f * 0.5f * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f * 0.05f);
Lightvalve 50:3c630b5eba9f 1124 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1125 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1126 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1127 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1128 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1129 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1130 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1131 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1132 // }
Lightvalve 50:3c630b5eba9f 1133 // break;
Lightvalve 50:3c630b5eba9f 1134 // }
Lightvalve 14:8e7590227d22 1135
Lightvalve 14:8e7590227d22 1136 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1137 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1138 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1139
Lightvalve 14:8e7590227d22 1140 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1141 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1142 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1143 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1144 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1145 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1146 data_num = 0;
Lightvalve 14:8e7590227d22 1147 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1148 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1149 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1150 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1151 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1152 } else {
Lightvalve 13:747daba9cf59 1153 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1154 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1155 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1156 }
Lightvalve 14:8e7590227d22 1157
Lightvalve 17:1865016ca2e7 1158 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1159 int i;
Lightvalve 13:747daba9cf59 1160 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1161 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1162 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1163 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1164 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1165 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1166 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1167 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1168 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1169 }
Lightvalve 13:747daba9cf59 1170 }
Lightvalve 59:f308b1656d9c 1171 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1172 ID_index = 0;
Lightvalve 57:f4819de54e7a 1173 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1174 }
Lightvalve 14:8e7590227d22 1175
Lightvalve 14:8e7590227d22 1176
Lightvalve 13:747daba9cf59 1177 break;
Lightvalve 13:747daba9cf59 1178 }
Lightvalve 14:8e7590227d22 1179
Lightvalve 14:8e7590227d22 1180 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1181 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1182 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1183 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1184 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1185 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1186 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1187 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1188 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1189 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1190 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1191 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1192 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1193 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1194 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1195 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 30:8d561f16383b 1196 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1197 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 13:747daba9cf59 1198 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1199 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1200 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1201 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 13:747daba9cf59 1202 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1203 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1204 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1205 data_num = 0;
Lightvalve 14:8e7590227d22 1206
Lightvalve 30:8d561f16383b 1207 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1208 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1209 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1210
Lightvalve 30:8d561f16383b 1211 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1212 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1213 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1214
Lightvalve 30:8d561f16383b 1215 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1216 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1217 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1218 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1219
Lightvalve 60:64181f1d3e60 1220 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1221 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1222 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1223 DZ_case = -1;
Lightvalve 14:8e7590227d22 1224 } else {
Lightvalve 13:747daba9cf59 1225 DZ_case = 0;
Lightvalve 13:747daba9cf59 1226 }
Lightvalve 61:bc8c8270f0ab 1227
Lightvalve 60:64181f1d3e60 1228 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1229
Lightvalve 13:747daba9cf59 1230 first_check = 1;
Lightvalve 13:747daba9cf59 1231 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1232 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1233 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1234 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1235 DZ_index = 1;
Lightvalve 14:8e7590227d22 1236
Lightvalve 13:747daba9cf59 1237 }
Lightvalve 19:23b7c1ad8683 1238 } else {
Lightvalve 14:8e7590227d22 1239 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1240 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1241 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 1242 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1243 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1244 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1245 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1246 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1247 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1248 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1249 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1250 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1251 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1252 }
Lightvalve 14:8e7590227d22 1253 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1254
Lightvalve 30:8d561f16383b 1255 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1256 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1257 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1258
Lightvalve 14:8e7590227d22 1259 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1260 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1261 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1262 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1263 } else {
Lightvalve 13:747daba9cf59 1264 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1265 }
Lightvalve 14:8e7590227d22 1266
Lightvalve 13:747daba9cf59 1267 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1268 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1269 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1270 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1271 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1272 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1273 DZ_index = 1;
Lightvalve 13:747daba9cf59 1274 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1275 }
Lightvalve 13:747daba9cf59 1276 }
Lightvalve 14:8e7590227d22 1277 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1278 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1279 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 1280 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1281 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1282 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1283 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1284 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1285 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1286 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1287 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1288 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1289 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1290 }
Lightvalve 14:8e7590227d22 1291 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1292
Lightvalve 30:8d561f16383b 1293 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1294 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1295 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1296 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1297 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1298
Lightvalve 14:8e7590227d22 1299 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 1300 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1301 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1302 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1303 } else {
Lightvalve 60:64181f1d3e60 1304 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 1305 }
Lightvalve 14:8e7590227d22 1306
Lightvalve 13:747daba9cf59 1307 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 1308 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 1309 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1310 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1311 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1312 first_check = 0;
Lightvalve 33:91b17819ec30 1313 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1314 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1315
Lightvalve 16:903b5a4433b4 1316 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1317
Lightvalve 60:64181f1d3e60 1318 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1319 DZ_index = 1;
Lightvalve 13:747daba9cf59 1320 }
Lightvalve 13:747daba9cf59 1321 }
Lightvalve 14:8e7590227d22 1322 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1323 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1324 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 1325 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1326 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1327 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1328 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1329 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1330 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1331 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1332 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1333 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1334 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1335 }
Lightvalve 14:8e7590227d22 1336 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1337
Lightvalve 30:8d561f16383b 1338 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1339 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1340 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1341
Lightvalve 14:8e7590227d22 1342 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1343 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1344 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1345 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1346 } else {
Lightvalve 13:747daba9cf59 1347 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1348 }
Lightvalve 13:747daba9cf59 1349 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1350 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1351 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1352 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1353 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1354 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1355 DZ_index = 1;
Lightvalve 13:747daba9cf59 1356 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1357 }
Lightvalve 13:747daba9cf59 1358 }
Lightvalve 14:8e7590227d22 1359 } else {
Lightvalve 30:8d561f16383b 1360 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1361 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 1362 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1363 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1364 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1365 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1366 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1367 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1368 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1369 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1370 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1371 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1372 }
Lightvalve 14:8e7590227d22 1373 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1374
Lightvalve 30:8d561f16383b 1375 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1376 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1377 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1378 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1379 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 1380
Lightvalve 60:64181f1d3e60 1381 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1382 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1383 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1384 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 1385 } else {
Lightvalve 13:747daba9cf59 1386 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1387 }
Lightvalve 14:8e7590227d22 1388
Lightvalve 13:747daba9cf59 1389 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1390 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1391 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1392 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1393 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1394 first_check = 0;
Lightvalve 33:91b17819ec30 1395 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1396 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 1397
Lightvalve 59:f308b1656d9c 1398 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1399
Lightvalve 57:f4819de54e7a 1400 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1401 DZ_index = 1;
Lightvalve 13:747daba9cf59 1402 }
Lightvalve 13:747daba9cf59 1403 }
Lightvalve 13:747daba9cf59 1404 }
Lightvalve 14:8e7590227d22 1405 }
Lightvalve 13:747daba9cf59 1406 break;
Lightvalve 13:747daba9cf59 1407 }
Lightvalve 14:8e7590227d22 1408
Lightvalve 14:8e7590227d22 1409 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 1410 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1411 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1412 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1413 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1414 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1415 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1416 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1417 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1418 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1419 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1420 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1421 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1422 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1423 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 1424 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1425 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1426 first_check = 1;
Lightvalve 13:747daba9cf59 1427 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1428 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 1429 ID_index = 0;
Lightvalve 13:747daba9cf59 1430 max_check = 0;
Lightvalve 13:747daba9cf59 1431 min_check = 0;
Lightvalve 13:747daba9cf59 1432 }
Lightvalve 14:8e7590227d22 1433 } else {
Lightvalve 30:8d561f16383b 1434 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1435 //V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 1436 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 1437 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1438 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1439 data_num = 0;
Lightvalve 57:f4819de54e7a 1440 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1441
Lightvalve 14:8e7590227d22 1442 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1443 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1444 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 1445 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1446 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1447 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1448 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1449 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1450 one_period_end = 1;
Lightvalve 13:747daba9cf59 1451 }
Lightvalve 30:8d561f16383b 1452 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1453 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1454 one_period_end = 1;
Lightvalve 59:f308b1656d9c 1455 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1456 }
Lightvalve 14:8e7590227d22 1457
Lightvalve 14:8e7590227d22 1458 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1459 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1460 max_check = 1;
Lightvalve 14:8e7590227d22 1461 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1462 min_check = 1;
Lightvalve 13:747daba9cf59 1463 }
Lightvalve 13:747daba9cf59 1464 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1465
Lightvalve 13:747daba9cf59 1466 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1467 one_period_end = 0;
Lightvalve 13:747daba9cf59 1468 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1469 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1470 }
Lightvalve 14:8e7590227d22 1471
Lightvalve 14:8e7590227d22 1472 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1473
Lightvalve 13:747daba9cf59 1474 VALVE_POS_NUM = ID_index;
Lightvalve 59:f308b1656d9c 1475 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1476 ID_index = 0;
Lightvalve 13:747daba9cf59 1477 first_check = 0;
Lightvalve 13:747daba9cf59 1478 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1479 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 1480 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1481 }
Lightvalve 13:747daba9cf59 1482 }
Lightvalve 13:747daba9cf59 1483 break;
Lightvalve 13:747daba9cf59 1484 }
Lightvalve 58:2eade98630e2 1485
Lightvalve 57:f4819de54e7a 1486 case MODE_SYSTEM_ID: {
Lightvalve 57:f4819de54e7a 1487 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve 57:f4819de54e7a 1488 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 1489 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 1490 cnt_sysid++;
Lightvalve 57:f4819de54e7a 1491 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 1492 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 1493 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1494 }
Lightvalve 57:f4819de54e7a 1495 break;
Lightvalve 57:f4819de54e7a 1496 }
Lightvalve 58:2eade98630e2 1497
Lightvalve 58:2eade98630e2 1498
Lightvalve 57:f4819de54e7a 1499
Lightvalve 57:f4819de54e7a 1500 default:
Lightvalve 57:f4819de54e7a 1501 break;
Lightvalve 57:f4819de54e7a 1502 }
Lightvalve 57:f4819de54e7a 1503
Lightvalve 57:f4819de54e7a 1504 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 1505
Lightvalve 57:f4819de54e7a 1506 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 1507 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 1508 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 1509 break;
Lightvalve 57:f4819de54e7a 1510 }
Lightvalve 57:f4819de54e7a 1511
Lightvalve 57:f4819de54e7a 1512 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 1513 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 57:f4819de54e7a 1514 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:f308b1656d9c 1515 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 1516 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 1517 V_out = valve_pos.ref;
Lightvalve 67:c2812cf26c38 1518 } else {
Lightvalve 67:c2812cf26c38 1519 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 1520 }
Lightvalve 58:2eade98630e2 1521
Lightvalve 57:f4819de54e7a 1522 break;
Lightvalve 57:f4819de54e7a 1523 }
Lightvalve 57:f4819de54e7a 1524
Lightvalve 57:f4819de54e7a 1525 case MODE_JOINT_CONTROL: {
Lightvalve 57:f4819de54e7a 1526 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 1527 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 1528 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 1529 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 1530
Lightvalve 67:c2812cf26c38 1531 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 1532 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 1533 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1534 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1535
Lightvalve 67:c2812cf26c38 1536 torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 57:f4819de54e7a 1537
Lightvalve 57:f4819de54e7a 1538 // torque feedback
Lightvalve 67:c2812cf26c38 1539 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 1540 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 1541
Lightvalve 57:f4819de54e7a 1542 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 1543
Lightvalve 57:f4819de54e7a 1544 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 1545 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 1546 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 1547
Lightvalve 57:f4819de54e7a 1548 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 1549 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 1550 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 1551
Lightvalve 69:3995ffeaa786 1552 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1553 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 1554 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 1555 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1556 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1557 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 1558 }
Lightvalve 57:f4819de54e7a 1559 if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1560 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1561
Lightvalve 57:f4819de54e7a 1562 // velocity compensation for torque control
Lightvalve 69:3995ffeaa786 1563 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1564 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 1565 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s
Lightvalve 57:f4819de54e7a 1566 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 1567 // L feedforward velocity
Lightvalve 69:3995ffeaa786 1568 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1569 I_REF_FORCE_FB = 0.001f * 0.01f*((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); // Linear Actuators are more sensitive.
Lightvalve 57:f4819de54e7a 1570 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1571 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1572 // L feedforward velocity
Lightvalve 57:f4819de54e7a 1573 }
Lightvalve 57:f4819de54e7a 1574 if (temp_vel_torq > 0.0f) I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1575 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1576 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 1577 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 1578 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 1579
Lightvalve 57:f4819de54e7a 1580 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 67:c2812cf26c38 1581
Lightvalve 67:c2812cf26c38 1582 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 1583 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 1584 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 1585 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 1586 if (I_REF > I_MAX) {
Lightvalve 67:c2812cf26c38 1587 double I_rem = I_REF - I_MAX;
Lightvalve 67:c2812cf26c38 1588 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1589 I_REF = I_MAX;
Lightvalve 67:c2812cf26c38 1590 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1591 } else if (I_REF < -I_MAX) {
Lightvalve 67:c2812cf26c38 1592 double I_rem = I_REF - (-I_MAX);
Lightvalve 67:c2812cf26c38 1593 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1594 I_REF = -I_MAX;
Lightvalve 67:c2812cf26c38 1595 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1596 }
Lightvalve 67:c2812cf26c38 1597 }
Lightvalve 57:f4819de54e7a 1598
Lightvalve 57:f4819de54e7a 1599 } else {
Lightvalve 57:f4819de54e7a 1600 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 72:3436ce769b1e 1601 float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 1602 float VALVE_POS_RAW = 0.0f;
Lightvalve 72:3436ce769b1e 1603
Lightvalve 57:f4819de54e7a 1604 VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f
Lightvalve 57:f4819de54e7a 1605 + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 57:f4819de54e7a 1606
Lightvalve 72:3436ce769b1e 1607 VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f;
Lightvalve 72:3436ce769b1e 1608
Lightvalve 72:3436ce769b1e 1609 VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve 72:3436ce769b1e 1610
Lightvalve 72:3436ce769b1e 1611
Lightvalve 72:3436ce769b1e 1612 if (VALVE_POS_RAW >= 0) {
Lightvalve 72:3436ce769b1e 1613 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 1614 } else {
Lightvalve 72:3436ce769b1e 1615 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 1616 }
Lightvalve 57:f4819de54e7a 1617
Lightvalve 57:f4819de54e7a 1618 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 57:f4819de54e7a 1619 double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 1620 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 1621 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1622 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1623 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1624 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1625 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 1626 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1627 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1628 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1629 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1630 }
Lightvalve 57:f4819de54e7a 1631 }
Lightvalve 61:bc8c8270f0ab 1632
Lightvalve 57:f4819de54e7a 1633 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1634
Lightvalve 67:c2812cf26c38 1635 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 1636 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1637
Lightvalve 57:f4819de54e7a 1638 }
Lightvalve 72:3436ce769b1e 1639
Lightvalve 72:3436ce769b1e 1640 torq_ref_past = torq_ref;
Lightvalve 58:2eade98630e2 1641
Lightvalve 57:f4819de54e7a 1642 break;
Lightvalve 57:f4819de54e7a 1643 }
Lightvalve 58:2eade98630e2 1644
Lightvalve 57:f4819de54e7a 1645 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 1646 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1647 break;
Lightvalve 57:f4819de54e7a 1648 }
Lightvalve 14:8e7590227d22 1649
Lightvalve 12:6f2531038ea4 1650 default:
Lightvalve 12:6f2531038ea4 1651 break;
Lightvalve 12:6f2531038ea4 1652 }
Lightvalve 14:8e7590227d22 1653
Lightvalve 57:f4819de54e7a 1654
Lightvalve 57:f4819de54e7a 1655 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 1656
Lightvalve 57:f4819de54e7a 1657 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1658 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 1659 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1660 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 1661 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 1662 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 1663
Lightvalve 57:f4819de54e7a 1664 I_ERR = I_REF_fil - cur.sen;
Lightvalve 67:c2812cf26c38 1665 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 1666
Lightvalve 57:f4819de54e7a 1667
Lightvalve 57:f4819de54e7a 1668 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 1669 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 1670 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 1671 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 1672 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 1673 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 1674
Lightvalve 57:f4819de54e7a 1675 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 1676 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 1677 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 1678 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 1679 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 1680 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 1681 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 1682 }
Lightvalve 57:f4819de54e7a 1683
Lightvalve 57:f4819de54e7a 1684 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 1685
Lightvalve 67:c2812cf26c38 1686 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 1687 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 1688 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 1689 I_REF_fil_old = I_REF_fil;
Lightvalve 67:c2812cf26c38 1690 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV
Lightvalve 67:c2812cf26c38 1691 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 67:c2812cf26c38 1692 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 1693
Lightvalve 57:f4819de54e7a 1694 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 1695 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 1696 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 1697 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1698 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 1699 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1700 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 1701 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 1702 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1703 VALVE_PWM_RAW = -V_MAX;
Lightvalve 67:c2812cf26c38 1704 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1705 }
Lightvalve 57:f4819de54e7a 1706 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1707 } else {
Lightvalve 57:f4819de54e7a 1708 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 1709 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1710 }
Lightvalve 57:f4819de54e7a 1711
Lightvalve 57:f4819de54e7a 1712 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1713 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 1714 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1715 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 1716 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 1717 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1718 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1719
Lightvalve 57:f4819de54e7a 1720 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1721
Lightvalve 57:f4819de54e7a 1722 } else {
Lightvalve 57:f4819de54e7a 1723 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 1724 }
Lightvalve 57:f4819de54e7a 1725
Lightvalve 57:f4819de54e7a 1726 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 1727 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 67:c2812cf26c38 1728 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 1729
Lightvalve 57:f4819de54e7a 1730 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 1731 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 1732 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 1733 else V_out = (float) (CUR_PWM_lin);
Lightvalve 57:f4819de54e7a 1734 }
Lightvalve 89:a7b45368ea0f 1735 else { //////////////////////////sw valve
Lightvalve 89:a7b45368ea0f 1736 // Output Voltage Linearization
Lightvalve 89:a7b45368ea0f 1737 double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve 89:a7b45368ea0f 1738 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 89:a7b45368ea0f 1739
Lightvalve 89:a7b45368ea0f 1740 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 89:a7b45368ea0f 1741 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 89:a7b45368ea0f 1742 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 89:a7b45368ea0f 1743 else V_out = (float) (CUR_PWM_lin);
Lightvalve 89:a7b45368ea0f 1744 }
Lightvalve 67:c2812cf26c38 1745
Lightvalve 67:c2812cf26c38 1746 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 67:c2812cf26c38 1747 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 67:c2812cf26c38 1748 // else V_out = V_out;
Lightvalve 67:c2812cf26c38 1749
jobuuu 7:e9086c72bb22 1750 /*******************************************************
jobuuu 7:e9086c72bb22 1751 *** PWM
jobuuu 7:e9086c72bb22 1752 ********************************************************/
Lightvalve 67:c2812cf26c38 1753 if(DIR_VALVE<0){
Lightvalve 67:c2812cf26c38 1754 V_out = -V_out;
Lightvalve 67:c2812cf26c38 1755 }
Lightvalve 67:c2812cf26c38 1756
Lightvalve 49:e7bcfc244d40 1757 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1758 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1759 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1760 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1761 }
Lightvalve 49:e7bcfc244d40 1762 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1763
Lightvalve 19:23b7c1ad8683 1764 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1765 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1766 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1767
Lightvalve 30:8d561f16383b 1768 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1769 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1770 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1771 } else {
jobuuu 2:a1c0a37df760 1772 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1773 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1774 }
Lightvalve 13:747daba9cf59 1775
jobuuu 1:e04e563be5ce 1776 //pwm
Lightvalve 30:8d561f16383b 1777 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1778 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 1779
Lightvalve 61:bc8c8270f0ab 1780
Lightvalve 57:f4819de54e7a 1781 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 20:806196fda269 1782
Lightvalve 54:647072f5307a 1783 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 1784 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 1785 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 1786 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1787 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 1788 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1789 CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
Lightvalve 54:647072f5307a 1790 }
Lightvalve 57:f4819de54e7a 1791 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 1792 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1793 CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE)));
Lightvalve 54:647072f5307a 1794 } else if (SENSING_MODE == 1) {
Lightvalve 67:c2812cf26c38 1795 CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
Lightvalve 54:647072f5307a 1796 }
Lightvalve 52:8ea76864368a 1797 }
Lightvalve 52:8ea76864368a 1798 }
Lightvalve 56:6f50d9d3bfee 1799 if (flag_data_request[1] == HIGH) {
Lightvalve 54:647072f5307a 1800 //valve position
Lightvalve 54:647072f5307a 1801 double t_value = 0;
Lightvalve 89:a7b45368ea0f 1802 // if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 89:a7b45368ea0f 1803 // t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1804 // } else {
Lightvalve 89:a7b45368ea0f 1805 // t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1806 // }
Lightvalve 89:a7b45368ea0f 1807 if(OPERATING_MODE==5) {
Lightvalve 89:a7b45368ea0f 1808 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 89:a7b45368ea0f 1809 t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1810 } else {
Lightvalve 89:a7b45368ea0f 1811 t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1812 }
Lightvalve 89:a7b45368ea0f 1813 //t_value = (double) value;
Lightvalve 89:a7b45368ea0f 1814 } else if(CURRENT_CONTROL_MODE==1) {
Lightvalve 89:a7b45368ea0f 1815 t_value = cur.sen * 1000.0f;
Lightvalve 67:c2812cf26c38 1816 } else {
Lightvalve 89:a7b45368ea0f 1817 t_value = V_out;
Lightvalve 67:c2812cf26c38 1818 }
Lightvalve 67:c2812cf26c38 1819 CAN_TX_TORQUE((int16_t) (t_value)); //1300
Lightvalve 67:c2812cf26c38 1820 //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
Lightvalve 67:c2812cf26c38 1821 //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
Lightvalve 54:647072f5307a 1822 }
Lightvalve 58:2eade98630e2 1823
Lightvalve 58:2eade98630e2 1824
Lightvalve 89:a7b45368ea0f 1825 if (flag_data_request[2] == LOW) {
Lightvalve 89:a7b45368ea0f 1826 //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // 1400
Lightvalve 89:a7b45368ea0f 1827 double t_value = 0;
Lightvalve 89:a7b45368ea0f 1828 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 89:a7b45368ea0f 1829 t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1830 } else {
Lightvalve 89:a7b45368ea0f 1831 t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1832 }
Lightvalve 89:a7b45368ea0f 1833 CAN_TX_PRES((int16_t) (t_value), (int16_t) (V_out)); // 1400
Lightvalve 55:b25725257569 1834 }
Lightvalve 58:2eade98630e2 1835
Lightvalve 57:f4819de54e7a 1836 //If it doesn't rest, below can can not work.
Lightvalve 57:f4819de54e7a 1837 for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 1838 ;
Lightvalve 57:f4819de54e7a 1839 }
Lightvalve 58:2eade98630e2 1840
Lightvalve 56:6f50d9d3bfee 1841 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 1842 //PWM
Lightvalve 73:f80dc3970c99 1843 //CAN_TX_PWM((int16_t) value); //1500
Lightvalve 73:f80dc3970c99 1844 CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500
Lightvalve 54:647072f5307a 1845 }
Lightvalve 57:f4819de54e7a 1846 //for (i = 0; i < 10000; i++) {
Lightvalve 57:f4819de54e7a 1847 // ;
Lightvalve 57:f4819de54e7a 1848 // }
Lightvalve 56:6f50d9d3bfee 1849 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 1850 //valve position
Lightvalve 73:f80dc3970c99 1851 CAN_TX_VALVE_POSITION((int16_t) (input_NN[1] * 100.0f), (int16_t) (input_NN[2]* 100.0f), (int16_t) (input_NN[3]* 100.0f), (int16_t) (input_NN[4]* 100.0f)); //1600
Lightvalve 54:647072f5307a 1852 }
Lightvalve 20:806196fda269 1853
Lightvalve 54:647072f5307a 1854 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 1855 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 1856 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 1857 // }
Lightvalve 54:647072f5307a 1858 //if (flag_delay_test == 1){
Lightvalve 58:2eade98630e2 1859 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 54:647072f5307a 1860 //}
Lightvalve 52:8ea76864368a 1861
Lightvalve 54:647072f5307a 1862 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1863 }
Lightvalve 54:647072f5307a 1864 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 1865
Lightvalve 20:806196fda269 1866 }
Lightvalve 52:8ea76864368a 1867 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1868
Lightvalve 58:2eade98630e2 1869 }