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@169:645207e160ca, 2020-11-16 (annotated)

Committer:
Lightvalve
Date:
Mon Nov 16 02:23:23 2020 +0000
Revision:
169:645207e160ca
Parent:
168:f05a45d5f318
Child:
170:42c938a40313
201116_1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 169:645207e160ca 1 //201116_1
GiJeongKim 0:51c43836c1d7 2 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 3 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 4 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 5 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 6 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 7 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 8 #include "setting.h"
Lightvalve 11:82d8768d7351 9 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 10 #include "stm32f4xx_flash.h"
Lightvalve 169:645207e160ca 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 138:a843f32ced33 112 MODE_JOINT_ADAPTIVE_BACKSTEPPING, //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 169:645207e160ca 139 MODE_FREQ_TEST, //34
Lightvalve 169:645207e160ca 140 MODE_SEND_BUFFER, //35
Lightvalve 169:645207e160ca 141 MODE_SEND_OVER, //36
Lightvalve 169:645207e160ca 142 MODE_STEP_TEST, //37
Lightvalve 12:6f2531038ea4 143 };
Lightvalve 12:6f2531038ea4 144
Lightvalve 65:a2d7c63419c2 145 void SystemClock_Config(void)
Lightvalve 65:a2d7c63419c2 146 {
Lightvalve 169:645207e160ca 147 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve 169:645207e160ca 148 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve 65:a2d7c63419c2 149
Lightvalve 169:645207e160ca 150 /** Configure the main internal regulator output voltage
Lightvalve 169:645207e160ca 151 */
Lightvalve 169:645207e160ca 152 __HAL_RCC_PWR_CLK_ENABLE();
Lightvalve 169:645207e160ca 153 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve 169:645207e160ca 154 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 169:645207e160ca 155 */
Lightvalve 169:645207e160ca 156 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve 169:645207e160ca 157 RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve 169:645207e160ca 158 RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve 169:645207e160ca 159 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve 169:645207e160ca 160 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve 169:645207e160ca 161 RCC_OscInitStruct.PLL.PLLM = 8;//8
Lightvalve 169:645207e160ca 162 RCC_OscInitStruct.PLL.PLLN = 180; //180
Lightvalve 169:645207e160ca 163 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve 169:645207e160ca 164 RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve 169:645207e160ca 165 RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve 169:645207e160ca 166 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Lightvalve 169:645207e160ca 167 //Error_Handler();
Lightvalve 169:645207e160ca 168 }
Lightvalve 169:645207e160ca 169 /** Activate the Over-Drive mode
Lightvalve 169:645207e160ca 170 */
Lightvalve 169:645207e160ca 171 if (HAL_PWREx_EnableOverDrive() != HAL_OK) {
Lightvalve 169:645207e160ca 172 //Error_Handler();
Lightvalve 169:645207e160ca 173 }
Lightvalve 169:645207e160ca 174 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 169:645207e160ca 175 */
Lightvalve 169:645207e160ca 176 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
Lightvalve 169:645207e160ca 177 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
Lightvalve 169:645207e160ca 178 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve 169:645207e160ca 179 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve 169:645207e160ca 180 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve 169:645207e160ca 181 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve 65:a2d7c63419c2 182
Lightvalve 169:645207e160ca 183 if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) {
Lightvalve 169:645207e160ca 184 //Error_Handler();
Lightvalve 169:645207e160ca 185 }
Lightvalve 65:a2d7c63419c2 186 }
Lightvalve 65:a2d7c63419c2 187
Lightvalve 99:7bbcb3c0fb06 188 float u_past[num_array_u_past] = {0.0f};
Lightvalve 68:328e1be06f5d 189 float x_past[num_array_x_past] = {0.0f};
Lightvalve 85:a3b46118b5cd 190 float x_future[num_array_x_future] = {0.0f};
Lightvalve 68:328e1be06f5d 191 float f_past[num_array_f_past] = {0.0f};
Lightvalve 68:328e1be06f5d 192 float f_future[num_array_f_future] = {0.0f};
Lightvalve 66:a8e6799dbce3 193
Lightvalve 73:f80dc3970c99 194 float input_NN[num_input] = { 0.0f };
Lightvalve 65:a2d7c63419c2 195
Lightvalve 169:645207e160ca 196 const float h1[num_input][16] = {
Lightvalve 169:645207e160ca 197 {-1.3752100467681885f,0.9850414395332336f,0.12903714179992676f,-0.23237967491149902f,-1.5664141178131104f,0.36565715074539185f,-0.17472904920578003f,-0.3780243396759033f,-0.5318458676338196f,-0.6931207776069641f,-0.24376395344734192f,-3.9280478954315186f,-0.259793758392334f,-0.5339483022689819f,-0.2571594715118408f,-0.4960939884185791f},
Lightvalve 169:645207e160ca 198 {-1.184814453125f,0.8704654574394226f,-0.3927857577800751f,-0.40050771832466125f,-1.4921096563339233f,0.5157514810562134f,-0.4054011106491089f,-0.3723553717136383f,-0.264297217130661f,-0.4598728120326996f,-0.2805407643318176f,-2.543855905532837f,0.24001067876815796f,-0.9143947958946228f,-0.20967772603034973f,-0.46271881461143494f},
Lightvalve 169:645207e160ca 199 {-0.9112814664840698f,0.6714562773704529f,0.36391180753707886f,-0.6117674708366394f,-1.1069424152374268f,0.9712548851966858f,0.2872133255004883f,-0.059537652879953384f,-0.28272250294685364f,-0.4464949667453766f,-0.3544096052646637f,-1.0609019994735718f,0.0019771659281104803f,-0.2590618431568146f,0.05590221285820007f,-1.0201798677444458f},
Lightvalve 169:645207e160ca 200 {-0.2895396053791046f,-0.01403216365724802f,0.39742106199264526f,0.20069332420825958f,-0.6715657114982605f,0.5361601710319519f,-0.11584559082984924f,0.3479021489620209f,-0.01779201813042164f,-0.017457854002714157f,0.08943979442119598f,0.845181941986084f,-0.15994226932525635f,-0.14522784948349f,-0.2961459457874298f,-0.7345172166824341f},
Lightvalve 169:645207e160ca 201 {1.1968307495117188f,-0.8280011415481567f,-0.0051451027393341064f,0.39627134799957275f,0.3181920051574707f,-0.05303953215479851f,0.1294034719467163f,0.16528914868831635f,0.07129872590303421f,0.7101694941520691f,0.34140077233314514f,1.623598575592041f,-0.06323867291212082f,0.27155500650405884f,-0.3865056037902832f,-0.30631402134895325f},
Lightvalve 169:645207e160ca 202 {3.009206533432007f,-3.122997522354126f,0.21773302555084229f,0.7692314386367798f,2.249300003051758f,-2.275317907333374f,0.16514194011688232f,0.11058115214109421f,0.17132356762886047f,2.417614459991455f,-0.25413116812705994f,2.2743594646453857f,-0.25959381461143494f,0.8003392219543457f,-0.4132833778858185f,1.4499995708465576f},
Lightvalve 169:645207e160ca 203 {-0.7179104089736938f,0.8526995182037354f,-0.2501986622810364f,-0.875395655632019f,-0.5985659956932068f,2.8744397163391113f,0.06014183163642883f,-0.8439451456069946f,-0.05617062747478485f,-0.640657901763916f,0.14294663071632385f,3.381211519241333f,-0.1638868898153305f,-0.2370987981557846f,-0.15618428587913513f,-0.7710326910018921f},
Lightvalve 169:645207e160ca 204 {-0.5504567623138428f,0.25199615955352783f,-0.26619744300842285f,-0.08971554040908813f,-0.3043712079524994f,0.903326153755188f,-0.17925891280174255f,-0.6943695545196533f,-0.25526830554008484f,0.20558907091617584f,0.09723648428916931f,2.3618743419647217f,0.38060376048088074f,-0.1769549399614334f,0.04303058981895447f,-0.12222103029489517f},
Lightvalve 169:645207e160ca 205 {0.06810358166694641f,0.17962348461151123f,0.10248100757598877f,-0.30372604727745056f,0.4354613721370697f,-0.7276828289031982f,-0.07246989011764526f,-0.6118704676628113f,-0.42743170261383057f,1.453460693359375f,-0.30540645122528076f,1.6834946870803833f,0.23858578503131866f,0.21455851197242737f,-0.30555272102355957f,0.8063939213752747f},
Lightvalve 169:645207e160ca 206 {-0.0713198110461235f,-0.4495846927165985f,0.18462657928466797f,0.05500239133834839f,0.7719969153404236f,-1.2848507165908813f,-0.2990540862083435f,-0.22474081814289093f,-0.1015893891453743f,0.7663454413414001f,-0.016399379819631577f,-0.03539150580763817f,0.38201630115509033f,-0.09081173688173294f,0.3484981060028076f,0.7820040583610535f},
Lightvalve 169:645207e160ca 207 {0.33533185720443726f,0.13371603190898895f,0.37182438373565674f,0.39484986662864685f,0.35771995782852173f,-1.3015228509902954f,-0.20339298248291016f,-0.14145439863204956f,-0.5059540271759033f,0.8015591502189636f,0.34025880694389343f,-0.6485148072242737f,-0.05657690018415451f,0.09265313297510147f,0.26688337326049805f,0.2284013032913208f},
Lightvalve 169:645207e160ca 208 {-0.4380135238170624f,-0.15535405278205872f,-0.40320003032684326f,0.0452105812728405f,0.23505118489265442f,-0.8950125575065613f,0.1533789038658142f,0.1997886300086975f,-0.24218705296516418f,0.45601460337638855f,-0.42232224345207214f,-0.5756524205207825f,0.15488487482070923f,-0.013335001654922962f,0.10493969917297363f,0.23898905515670776f},
Lightvalve 169:645207e160ca 209 {-0.02198643982410431f,0.009633726440370083f,0.19847965240478516f,0.0860355794429779f,0.336037278175354f,-0.277248352766037f,-0.2404318004846573f,-0.07731665670871735f,-0.2765587270259857f,-0.1708865910768509f,-0.11712735891342163f,-0.7335506677627563f,0.10241620987653732f,-0.06552530825138092f,-0.22268100082874298f,-0.13819573819637299f},
Lightvalve 169:645207e160ca 210 {0.020149538293480873f,-0.03840681165456772f,0.4127817749977112f,-0.2523573637008667f,-0.21765978634357452f,-0.4540342092514038f,-0.32001304626464844f,-0.5396589040756226f,-0.21919101476669312f,-0.2550864815711975f,-0.20302052795886993f,-0.2918916642665863f,-0.3021690249443054f,-0.19007131457328796f,0.0479682981967926f,0.28083792328834534f},
Lightvalve 169:645207e160ca 211 {0.19955825805664062f,0.13080951571464539f,0.20282304286956787f,-0.21126452088356018f,0.15339018404483795f,-0.06708966940641403f,0.04202890396118164f,0.06752092391252518f,0.25217023491859436f,-0.20238792896270752f,-0.2873592674732208f,-0.42253321409225464f,0.11435109376907349f,-0.2376958578824997f,0.0668090283870697f,0.04261681064963341f},
Lightvalve 169:645207e160ca 212 {-0.03747318685054779f,-0.29164087772369385f,-0.40439701080322266f,-0.3783135414123535f,-0.40124887228012085f,-0.026558339595794678f,-0.15568238496780396f,-0.08766567707061768f,0.21709603071212769f,-0.35802650451660156f,-0.4817592203617096f,-0.3809756338596344f,-0.2601439654827118f,-0.1273980438709259f,-0.08245879411697388f,0.014104350470006466f},
Lightvalve 169:645207e160ca 213 {0.16147102415561676f,-0.5628581643104553f,0.16706281900405884f,-0.1172998696565628f,-0.03297983109951019f,-0.9104568362236023f,-0.041414469480514526f,0.1465616226196289f,0.04248951002955437f,0.007101915311068296f,-0.3614332377910614f,-0.48312774300575256f,0.12316523492336273f,0.3939219117164612f,0.29427415132522583f,0.3038717210292816f},
Lightvalve 65:a2d7c63419c2 214 };
Lightvalve 65:a2d7c63419c2 215
Lightvalve 169:645207e160ca 216 const float h2[16][16] = {
Lightvalve 168:f05a45d5f318 217 {0.33418041467666626f,2.9079723358154297f,-0.06966331601142883f,-0.009902028366923332f,2.812035322189331f,4.195849418640137f,-0.038234543055295944f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,0.10707370936870575f,-0.20333009958267212f,-0.031739287078380585f,-3.289416551589966f,-1.172767996788025f,-0.6248859763145447f},
Lightvalve 169:645207e160ca 218 {0.11070519685745239f,-2.3348469734191895f,0.057057321071624756f,-0.10134492069482803f,-5.252432346343994f,-1.3715343475341797f,-0.8426902890205383f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-7.361403465270996f,-0.858361005783081f,0.0845860168337822f,2.2169580459594727f,-3.0816471576690674f,-1.0190033912658691f},
Lightvalve 169:645207e160ca 219 {-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 169:645207e160ca 220 {-0.1391567885875702f,0.03293241187930107f,-0.2894435524940491f,0.25554025173187256f,0.08946844935417175f,0.1340968757867813f,-0.39087218046188354f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.7025435566902161f,0.05798906087875366f,-0.5013425946235657f,-0.030901746824383736f,-0.06675297021865845f,-0.0446302704513073f},
Lightvalve 169:645207e160ca 221 {-2.245600938796997f,1.6008015871047974f,-0.25313520431518555f,0.1469619870185852f,1.6072996854782104f,-1.3637473583221436f,-0.5957030653953552f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-6.811410427093506f,-0.7977238893508911f,-0.022602174431085587f,-1.6454986333847046f,0.5441725850105286f,-0.7979243397712708f},
Lightvalve 169:645207e160ca 222 {0.5210384130477905f,-0.11346126347780228f,-0.3519742488861084f,0.29306867718696594f,-0.3572634160518646f,1.75344979763031f,-0.744201123714447f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-2.398893117904663f,-0.48980283737182617f,-0.45957082509994507f,0.5487804412841797f,-0.7850930690765381f,-0.7663227319717407f},
Lightvalve 169:645207e160ca 223 {-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 169:645207e160ca 224 {-0.007747650612145662f,0.3667842745780945f,0.33083590865135193f,-0.38213321566581726f,-0.14358049631118774f,-0.2546055316925049f,-0.09043094515800476f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,0.49078798294067383f,-0.3058888614177704f,-0.31673234701156616f,0.44664251804351807f,-0.9339061975479126f,-0.1061311885714531f},
Lightvalve 169:645207e160ca 225 {-0.17694538831710815f,0.1767565757036209f,-0.11379697918891907f,-0.07116051763296127f,0.041274964809417725f,-0.517110288143158f,-0.10284432768821716f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,-0.3456110656261444f,-0.24793067574501038f,-0.4166972041130066f,-0.30618393421173096f,-0.33565962314605713f,-0.48154377937316895f},
Lightvalve 169:645207e160ca 226 {0.5043365359306335f,0.1850307136774063f,-0.13502129912376404f,-0.25706031918525696f,-0.8451530337333679f,-0.9415315389633179f,-0.2777014970779419f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,1.5622152090072632f,-0.19312366843223572f,0.1250869333744049f,-0.1843482404947281f,1.0270578861236572f,-0.5840676426887512f},
Lightvalve 169:645207e160ca 227 {-0.25693249702453613f,-0.010147050023078918f,0.0457797646522522f,-0.3549601435661316f,-0.03321319818496704f,-0.4391511380672455f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.22192376852035522f,0.3545852601528168f,-0.3647043704986572f,0.4194667637348175f,-0.3910166025161743f,-0.2837793529033661f},
Lightvalve 169:645207e160ca 228 {2.3816981315612793f,0.4564768075942993f,0.3954955041408539f,0.11254638433456421f,1.1973353624343872f,1.804193377494812f,-0.8583166599273682f,-0.11795541644096375f,0.3487861454486847f,-0.32520344853401184f,-1.3897980451583862f,-0.5921090841293335f,-0.14213289320468903f,-0.26851770281791687f,1.597784161567688f,-0.5877130031585693f},
Lightvalve 169:645207e160ca 229 {-0.267646849155426f,-0.20429572463035583f,-0.15798500180244446f,0.3999568819999695f,-0.37393757700920105f,0.35770177841186523f,0.11292675137519836f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.10294663906097412f,-0.2837170362472534f,0.41839322447776794f,-0.02792874164879322f,-0.13706544041633606f,0.11999254673719406f},
Lightvalve 169:645207e160ca 230 {0.2282707840204239f,-0.13254989683628082f,-0.2018718123435974f,-0.07019486278295517f,0.07545611262321472f,-0.33204764127731323f,-0.4035329520702362f,-0.21416273713111877f,-0.24509364366531372f,0.19522181153297424f,0.47974857687950134f,-0.8069085478782654f,-0.40297332406044006f,0.23708327114582062f,0.5259239673614502f,-0.3548051416873932f},
Lightvalve 169:645207e160ca 231 {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 169:645207e160ca 232 {-0.5818981528282166f,0.014110059477388859f,0.12081471085548401f,-0.2973254919052124f,0.5392167568206787f,0.3773144781589508f,-0.39351940155029297f,0.31089308857917786f,-0.3893685042858124f,-0.02222958207130432f,-6.493835926055908f,-0.12242847681045532f,-0.2689415514469147f,-0.2518419325351715f,-0.1694900244474411f,-0.652117908000946f},
Lightvalve 65:a2d7c63419c2 233 };
Lightvalve 65:a2d7c63419c2 234
Lightvalve 169:645207e160ca 235 const float h3[16][16] = {
Lightvalve 168:f05a45d5f318 236 {-0.36079341173171997f,-1.5671656131744385f,-0.870830237865448f,-0.4786093831062317f,-0.5575059056282043f,-0.773746132850647f,0.29977259039878845f,0.1743643879890442f,-0.5892294645309448f,-0.19605471193790436f,-0.27379146218299866f,0.06893575936555862f,2.2012624740600586f,-2.7650468349456787f,-1.8527313470840454f,1.5724681615829468f},
Lightvalve 169:645207e160ca 237 {0.047732532024383545f,-0.23476845026016235f,-2.8836917877197266f,-0.42602431774139404f,-2.397148370742798f,1.254254937171936f,-0.3198729455471039f,-0.25123724341392517f,0.013695899397134781f,-0.5729482173919678f,0.09775999933481216f,-0.5587971806526184f,-0.9381403923034668f,-1.532671570777893f,-0.6944977045059204f,1.4258947372436523f},
Lightvalve 169:645207e160ca 238 {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 169:645207e160ca 239 {-0.30922991037368774f,-0.16969707608222961f,0.3056027889251709f,-0.380797415971756f,-0.17742466926574707f,0.10660405457019806f,0.20021501183509827f,0.07002416253089905f,-0.25412267446517944f,-0.365601509809494f,0.13192829489707947f,0.41021624207496643f,-0.13397035002708435f,0.0815882533788681f,0.15073642134666443f,0.10944337397813797f},
Lightvalve 169:645207e160ca 240 {-0.39607733488082886f,-0.05481579899787903f,0.1976260244846344f,0.022423356771469116f,0.16892847418785095f,-0.6999471187591553f,0.16012099385261536f,0.21129152178764343f,-0.08640444278717041f,-0.11053556203842163f,-0.2634495496749878f,-0.31317979097366333f,-0.1530032455921173f,-0.24679358303546906f,0.22959044575691223f,-3.0342295169830322f},
Lightvalve 169:645207e160ca 241 {-0.37449589371681213f,-0.10077743977308273f,-4.51036262512207f,-0.04963836818933487f,-0.8192825317382812f,-0.6951172947883606f,-0.19780586659908295f,-0.09049295634031296f,-0.9114404916763306f,-0.8623005151748657f,-0.4059421718120575f,-0.16295623779296875f,-5.017462730407715f,-1.1079373359680176f,0.34683844447135925f,0.6427209377288818f},
Lightvalve 169:645207e160ca 242 {0.4110594093799591f,0.2715781033039093f,-0.38537508249282837f,0.37246426939964294f,-0.05490662157535553f,-0.009114405140280724f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,-0.13377737998962402f,0.25604528188705444f,0.3126353323459625f,-0.1528691202402115f},
Lightvalve 169:645207e160ca 243 {-0.40892091393470764f,0.043769627809524536f,-0.3867315948009491f,0.25968697667121887f,0.3424709737300873f,-0.051169753074645996f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.2742875814437866f,-0.36560842394828796f,0.07994696497917175f,0.005298197269439697f},
Lightvalve 169:645207e160ca 244 {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 169:645207e160ca 245 {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 169:645207e160ca 246 {0.15459725260734558f,0.22762465476989746f,1.5232031345367432f,-0.2233445942401886f,1.524779200553894f,2.6997625827789307f,-0.08742031455039978f,0.05785742402076721f,-0.1277361363172531f,-0.37371426820755005f,-0.03133596479892731f,-0.30447322130203247f,-1.9101834297180176f,0.6954238414764404f,0.46117544174194336f,1.1762653589248657f},
Lightvalve 169:645207e160ca 247 {-0.408692330121994f,0.07260357588529587f,-0.02147701010107994f,0.0922636091709137f,-0.1529182642698288f,-0.05657944083213806f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.6609845757484436f,-0.1087266057729721f,-0.10636871308088303f,-0.0133456289768219f},
Lightvalve 169:645207e160ca 248 {-0.2991822361946106f,0.3794580399990082f,-0.08715943992137909f,-0.05932474136352539f,0.11478022485971451f,0.3007120192050934f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.05380958318710327f,-0.13672849535942078f,0.35829514265060425f,-0.10585878044366837f},
Lightvalve 169:645207e160ca 249 {-0.2675279378890991f,-0.1429223269224167f,-0.9267327189445496f,-0.1256239265203476f,0.49980443716049194f,-0.843601405620575f,-0.33532586693763733f,-0.31893211603164673f,-1.478386402130127f,-1.1926257610321045f,-0.5260127782821655f,-0.8384293913841248f,0.9772797226905823f,0.1813446283340454f,0.17612296342849731f,1.590701699256897f},
Lightvalve 169:645207e160ca 250 {-0.015470266342163086f,-0.4976375699043274f,2.497199058532715f,0.14489558339118958f,0.11334121972322464f,0.3805958926677704f,0.02394937537610531f,-0.16103173792362213f,-0.677362859249115f,-0.8498573303222656f,-0.026575788855552673f,-0.427055299282074f,0.17177484929561615f,1.67837655544281f,0.08538639545440674f,-1.3552721738815308f},
Lightvalve 169:645207e160ca 251 {0.1863725483417511f,0.13157431781291962f,-0.047772910445928574f,-0.49708226323127747f,0.7275430560112f,-0.145163431763649f,0.04860696196556091f,0.17769548296928406f,-0.050254471600055695f,0.19876523315906525f,-0.5504136085510254f,0.19592127203941345f,0.23928996920585632f,-0.12190091609954834f,-0.1250786930322647f,0.041962411254644394f},
Lightvalve 66:a8e6799dbce3 252 };
Lightvalve 65:a2d7c63419c2 253
Lightvalve 168:f05a45d5f318 254 const float hout[16] = { 0.45773375034332275f,0.5733839869499207f,-0.5152473449707031f,-0.035915032029151917f,-0.306951105594635f,0.30648893117904663f,-0.1005084440112114f,-0.08898112922906876f,-0.2034129500389099f,-0.05844772607088089f,-0.07081260532140732f,0.08596939593553543f,0.5426119565963745f,0.5678461194038391f,1.0715678930282593f,-0.25178417563438416f };
Lightvalve 66:a8e6799dbce3 255
Lightvalve 168:f05a45d5f318 256 const float b1[16] = { 0.5956194400787354f,1.4903173446655273f,-1.7145336866378784f,0.2382747083902359f,1.812330722808838f,1.1310549974441528f,-0.058932315558195114f,1.0475828647613525f,0.5750831365585327f,-1.1691874265670776f,0.564017653465271f,0.8430382013320923f,-0.3627738058567047f,-0.8757394552230835f,-1.087764859199524f,1.8534502983093262f };
Lightvalve 87:471334725012 257
Lightvalve 168:f05a45d5f318 258 const float b2[16] = { -0.19254711270332336f,-1.2538373470306396f,-1.4564176797866821f,-0.6360846757888794f,-2.2159981727600098f,-0.5284036993980408f,0.07729385793209076f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.16195619106292725f,0.17741809785366058f,-0.3301374316215515f,1.8553483486175537f,-0.1654871553182602f,0.5861462950706482f };
Lightvalve 65:a2d7c63419c2 259
Lightvalve 168:f05a45d5f318 260 const float b3[16] = { -1.963319182395935f,-0.5293647646903992f,-0.10495924949645996f,-0.23769626021385193f,1.5550658702850342f,1.2147407531738281f,-0.47398853302001953f,-0.9554895758628845f,-0.067354217171669f,-0.006115084979683161f,-0.45877549052238464f,-0.290895938873291f,-1.0047727823257446f,1.1215981245040894f,-1.407442569732666f,-1.6007274389266968f };
Lightvalve 87:471334725012 261
Lightvalve 168:f05a45d5f318 262 const float bout[1] = { -0.10839174687862396f };
Lightvalve 65:a2d7c63419c2 263
Lightvalve 66:a8e6799dbce3 264
Lightvalve 87:471334725012 265 float VALVE_POS_RAW_NN = 0.0f;
Lightvalve 87:471334725012 266 float DDV_JOINT_POS_FF(float REF_JOINT_VEL);
Lightvalve 61:bc8c8270f0ab 267
GiJeongKim 0:51c43836c1d7 268 int main()
GiJeongKim 0:51c43836c1d7 269 {
Lightvalve 66:a8e6799dbce3 270
Lightvalve 65:a2d7c63419c2 271 HAL_Init();
Lightvalve 65:a2d7c63419c2 272 SystemClock_Config();
Lightvalve 169:645207e160ca 273
jobuuu 6:df07d3491e3a 274 /*********************************
jobuuu 1:e04e563be5ce 275 *** Initialization
jobuuu 6:df07d3491e3a 276 *********************************/
Lightvalve 69:3995ffeaa786 277 LED = 0;
Lightvalve 61:bc8c8270f0ab 278 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 279
GiJeongKim 0:51c43836c1d7 280 // i2c init
Lightvalve 8:5d2eebdad025 281 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 282 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 283 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 284 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 285 make_delay();
jobuuu 2:a1c0a37df760 286
GiJeongKim 0:51c43836c1d7 287 // // spi init
Lightvalve 16:903b5a4433b4 288 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 289 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 290 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 291 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 292 make_delay();
Lightvalve 21:e5f1a43ea6f9 293
Lightvalve 16:903b5a4433b4 294 //rom
Lightvalve 19:23b7c1ad8683 295 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 296 make_delay();
Lightvalve 13:747daba9cf59 297
GiJeongKim 0:51c43836c1d7 298 // ADC init
jobuuu 5:a4319f79457b 299 Init_ADC();
Lightvalve 11:82d8768d7351 300 make_delay();
jobuuu 2:a1c0a37df760 301
GiJeongKim 0:51c43836c1d7 302 // Pwm init
GiJeongKim 0:51c43836c1d7 303 Init_PWM();
GiJeongKim 0:51c43836c1d7 304 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 305 make_delay();
Lightvalve 13:747daba9cf59 306
Lightvalve 11:82d8768d7351 307 // TMR3 init
Lightvalve 11:82d8768d7351 308 Init_TMR3();
Lightvalve 11:82d8768d7351 309 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 310 make_delay();
Lightvalve 21:e5f1a43ea6f9 311
Lightvalve 50:3c630b5eba9f 312 // TMR2 init
Lightvalve 56:6f50d9d3bfee 313 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 314 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 315 // make_delay();
Lightvalve 21:e5f1a43ea6f9 316
GiJeongKim 0:51c43836c1d7 317 // CAN
jobuuu 2:a1c0a37df760 318 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 319 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 320 make_delay();
Lightvalve 34:bb2ca2fc2a8e 321
Lightvalve 23:59218d4a256d 322 //Timer priority
Lightvalve 23:59218d4a256d 323 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 324 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 325 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 326
Lightvalve 23:59218d4a256d 327 //can.reset();
Lightvalve 19:23b7c1ad8683 328 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 329
GiJeongKim 0:51c43836c1d7 330 // spi _ enc
GiJeongKim 0:51c43836c1d7 331 spi_enc_set_init();
Lightvalve 11:82d8768d7351 332 make_delay();
Lightvalve 13:747daba9cf59 333
Lightvalve 11:82d8768d7351 334 //DAC init
Lightvalve 58:2eade98630e2 335 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 336 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 337 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 338 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 339 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 340 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 341 }
Lightvalve 11:82d8768d7351 342 make_delay();
Lightvalve 13:747daba9cf59 343
Lightvalve 19:23b7c1ad8683 344 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 345 if(i%2==0)
Lightvalve 38:118df027d851 346 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 347 else
Lightvalve 38:118df027d851 348 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 349 }
Lightvalve 169:645207e160ca 350
Lightvalve 61:bc8c8270f0ab 351
jobuuu 6:df07d3491e3a 352 /************************************
jobuuu 1:e04e563be5ce 353 *** Program is operating!
jobuuu 6:df07d3491e3a 354 *************************************/
GiJeongKim 0:51c43836c1d7 355 while(1) {
Lightvalve 66:a8e6799dbce3 356 // if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve 66:a8e6799dbce3 357 //if(timer_while==1000) {
Lightvalve 169:645207e160ca 358 //i2c
Lightvalve 169:645207e160ca 359
Lightvalve 169:645207e160ca 360 read_field(i2c_slave_addr1);
Lightvalve 169:645207e160ca 361 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 169:645207e160ca 362 // if(LED==1) {
Lightvalve 169:645207e160ca 363 // LED=0;
Lightvalve 169:645207e160ca 364 // } else
Lightvalve 169:645207e160ca 365 // LED = 1;
Lightvalve 169:645207e160ca 366 timer_while = 0;
Lightvalve 66:a8e6799dbce3 367 //}
Lightvalve 169:645207e160ca 368
Lightvalve 66:a8e6799dbce3 369 timer_while ++;
Lightvalve 169:645207e160ca 370
Lightvalve 87:471334725012 371 //LED = 0;
Lightvalve 169:645207e160ca 372
Lightvalve 73:f80dc3970c99 373 if(NN_Control_Flag == 0) {
Lightvalve 73:f80dc3970c99 374 LED = 0;
Lightvalve 73:f80dc3970c99 375 }
Lightvalve 169:645207e160ca 376
Lightvalve 73:f80dc3970c99 377 else if(NN_Control_Flag == 1) {
Lightvalve 169:645207e160ca 378
Lightvalve 162:9dd4f35e9de8 379 int ind = 0;
Lightvalve 162:9dd4f35e9de8 380 for(int i=0; i<numpast_u; i++) {
Lightvalve 162:9dd4f35e9de8 381 input_NN[ind] = u_past[time_interval*i];
Lightvalve 162:9dd4f35e9de8 382 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 383 }
Lightvalve 162:9dd4f35e9de8 384
Lightvalve 162:9dd4f35e9de8 385 for(int i=0; i<numpast_x; i++) {
Lightvalve 162:9dd4f35e9de8 386 input_NN[ind] = x_past[time_interval*i] / 60.0f;
Lightvalve 162:9dd4f35e9de8 387 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 388 }
Lightvalve 162:9dd4f35e9de8 389 input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f;
Lightvalve 162:9dd4f35e9de8 390 ind = ind + 1;
Lightvalve 169:645207e160ca 391
Lightvalve 162:9dd4f35e9de8 392 // for(int i=0; i<numfuture_x; i++) {
Lightvalve 162:9dd4f35e9de8 393 // input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f;
Lightvalve 122:dcb3ce3056a0 394 // ind = ind + 1;
Lightvalve 122:dcb3ce3056a0 395 // }
Lightvalve 162:9dd4f35e9de8 396
Lightvalve 162:9dd4f35e9de8 397 for(int i=0; i<numpast_f; i++) {
Lightvalve 162:9dd4f35e9de8 398 input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f;
Lightvalve 162:9dd4f35e9de8 399 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 400 }
Lightvalve 162:9dd4f35e9de8 401 input_NN[ind] = torq.sen / 10000.0f + 0.5f;
Lightvalve 162:9dd4f35e9de8 402 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 403 for(int i=0; i<numfuture_f; i++) {
Lightvalve 168:f05a45d5f318 404 // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f+0.5f;
Lightvalve 168:f05a45d5f318 405 input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f+0.5f;
Lightvalve 162:9dd4f35e9de8 406 ind = ind + 1;
Lightvalve 162:9dd4f35e9de8 407 }
Lightvalve 169:645207e160ca 408
Lightvalve 112:8dcb1600cb90 409 float output1[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 410 float output2[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 411 float output3[16] = { 0.0f };
Lightvalve 66:a8e6799dbce3 412 float output = 0.0f;
Lightvalve 65:a2d7c63419c2 413
Lightvalve 112:8dcb1600cb90 414 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 68:328e1be06f5d 415 for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve 66:a8e6799dbce3 416 output1[index2] = output1[index2]
Lightvalve 73:f80dc3970c99 417 + h1[index1][index2] * input_NN[index1];
Lightvalve 66:a8e6799dbce3 418 }
Lightvalve 66:a8e6799dbce3 419 output1[index2] = output1[index2] + b1[index2];
Lightvalve 66:a8e6799dbce3 420 if (output1[index2] < 0) {
Lightvalve 66:a8e6799dbce3 421 output1[index2] = 0;
Lightvalve 66:a8e6799dbce3 422 }
Lightvalve 66:a8e6799dbce3 423 }
Lightvalve 65:a2d7c63419c2 424
Lightvalve 112:8dcb1600cb90 425 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 426 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 427 output2[index2] = output2[index2]
Lightvalve 66:a8e6799dbce3 428 + h2[index1][index2] * output1[index1];
Lightvalve 66:a8e6799dbce3 429 }
Lightvalve 66:a8e6799dbce3 430 output2[index2] = output2[index2] + b2[index2];
Lightvalve 66:a8e6799dbce3 431 if (output2[index2] < 0) {
Lightvalve 66:a8e6799dbce3 432 output2[index2] = 0;
Lightvalve 66:a8e6799dbce3 433 }
Lightvalve 66:a8e6799dbce3 434 }
Lightvalve 65:a2d7c63419c2 435
Lightvalve 112:8dcb1600cb90 436 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 437 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 438 output3[index2] = output3[index2]
Lightvalve 66:a8e6799dbce3 439 + h3[index1][index2] * output2[index1];
Lightvalve 66:a8e6799dbce3 440 }
Lightvalve 66:a8e6799dbce3 441 output3[index2] = output3[index2] + b3[index2];
Lightvalve 66:a8e6799dbce3 442 if (output3[index2] < 0) {
Lightvalve 66:a8e6799dbce3 443 output3[index2] = 0;
Lightvalve 66:a8e6799dbce3 444 }
Lightvalve 65:a2d7c63419c2 445 }
Lightvalve 66:a8e6799dbce3 446
Lightvalve 66:a8e6799dbce3 447 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 112:8dcb1600cb90 448 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 73:f80dc3970c99 449 output = output + hout[index1] * output3[index1];
Lightvalve 66:a8e6799dbce3 450 }
Lightvalve 66:a8e6799dbce3 451 output = output + bout[index2];
Lightvalve 169:645207e160ca 452
Lightvalve 66:a8e6799dbce3 453 }
Lightvalve 73:f80dc3970c99 454 output = 1.0f/(1.0f+exp(-output));
Lightvalve 101:50159049a518 455 output_normalized = output;
Lightvalve 68:328e1be06f5d 456 output = output * 20000.0f - 10000.0f;
Lightvalve 169:645207e160ca 457
Lightvalve 66:a8e6799dbce3 458 if(output>=0) {
Lightvalve 66:a8e6799dbce3 459 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 460 } else {
Lightvalve 66:a8e6799dbce3 461 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 65:a2d7c63419c2 462 }
Lightvalve 87:471334725012 463
Lightvalve 88:d6e591bece22 464 // // torque feedback
Lightvalve 88:d6e591bece22 465 // torq.err = f_past[0] - torq.sen; //[N]
Lightvalve 88:d6e591bece22 466 //// torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 88:d6e591bece22 467 // torq.err_sum += torq.err/(float) 1500.0f; //[N]
Lightvalve 169:645207e160ca 468 //
Lightvalve 88:d6e591bece22 469 //
Lightvalve 88:d6e591bece22 470 // 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 471 //
Lightvalve 88:d6e591bece22 472 // if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 88:d6e591bece22 473 // double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 88:d6e591bece22 474 // if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 88:d6e591bece22 475 // double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 88:d6e591bece22 476 // valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 88:d6e591bece22 477 // valve_pos.ref = VALVE_MAX_POS;
Lightvalve 88:d6e591bece22 478 // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve 88:d6e591bece22 479 // } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 88:d6e591bece22 480 // double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 88:d6e591bece22 481 // valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 88:d6e591bece22 482 // valve_pos.ref = VALVE_MIN_POS;
Lightvalve 88:d6e591bece22 483 // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve 88:d6e591bece22 484 // }
Lightvalve 88:d6e591bece22 485 // }
Lightvalve 169:645207e160ca 486
Lightvalve 169:645207e160ca 487
Lightvalve 69:3995ffeaa786 488 if(LED==1) {
Lightvalve 69:3995ffeaa786 489 LED=0;
Lightvalve 69:3995ffeaa786 490 } else
Lightvalve 69:3995ffeaa786 491 LED = 1;
Lightvalve 169:645207e160ca 492
Lightvalve 65:a2d7c63419c2 493 }
Lightvalve 169:645207e160ca 494
Lightvalve 87:471334725012 495 //LED = 1;
Lightvalve 169:645207e160ca 496
Lightvalve 66:a8e6799dbce3 497
GiJeongKim 0:51c43836c1d7 498 }
jobuuu 1:e04e563be5ce 499 }
jobuuu 1:e04e563be5ce 500
Lightvalve 33:91b17819ec30 501 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 502 {
Lightvalve 14:8e7590227d22 503
Lightvalve 13:747daba9cf59 504 int i = 0;
Lightvalve 48:889798ff9329 505 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 506 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 507 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 508 if(i==0) {
Lightvalve 50:3c630b5eba9f 509 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 510 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 511 } else {
Lightvalve 57:f4819de54e7a 512 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 513 }
Lightvalve 14:8e7590227d22 514 } else {
Lightvalve 50:3c630b5eba9f 515 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 516 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 517 } else {
Lightvalve 57:f4819de54e7a 518 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 519 }
Lightvalve 13:747daba9cf59 520 }
Lightvalve 13:747daba9cf59 521 break;
Lightvalve 13:747daba9cf59 522 }
Lightvalve 13:747daba9cf59 523 }
Lightvalve 14:8e7590227d22 524 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 525 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 526 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 527 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 528 }
Lightvalve 36:a46e63505ed8 529
Lightvalve 57:f4819de54e7a 530 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 531 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 532
Lightvalve 13:747daba9cf59 533 }
jobuuu 6:df07d3491e3a 534
jobuuu 6:df07d3491e3a 535
Lightvalve 30:8d561f16383b 536 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 537 {
Lightvalve 13:747daba9cf59 538 int i = 0;
Lightvalve 13:747daba9cf59 539
Lightvalve 38:118df027d851 540 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 541 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 542 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 543 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 544 }
Lightvalve 38:118df027d851 545
Lightvalve 89:a7b45368ea0f 546 valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve 13:747daba9cf59 547 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 548 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 549 valve_pos_err_sum += valve_pos_err;
Lightvalve 89:a7b45368ea0f 550 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 89:a7b45368ea0f 551 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 13:747daba9cf59 552
Lightvalve 13:747daba9cf59 553 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 554
Lightvalve 18:b8adf1582ea3 555 for(i=0; i<24; i++) {
Lightvalve 89:a7b45368ea0f 556 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 557 if(i==0) {
Lightvalve 48:889798ff9329 558 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 559 } else {
Lightvalve 48:889798ff9329 560 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 561 }
Lightvalve 13:747daba9cf59 562 break;
Lightvalve 13:747daba9cf59 563 }
Lightvalve 13:747daba9cf59 564 }
Lightvalve 59:f308b1656d9c 565 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 566 }
Lightvalve 13:747daba9cf59 567
Lightvalve 14:8e7590227d22 568 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 569 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 570 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 571 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 572 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 573 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 574 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 575 }; // duty
Lightvalve 67:c2812cf26c38 576 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 577 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 578 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 579 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 580 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 581 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 582 }; // mV
Lightvalve 13:747daba9cf59 583
Lightvalve 30:8d561f16383b 584 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 585 {
Lightvalve 30:8d561f16383b 586 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 587 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 588 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 589 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 590 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 591 } else {
Lightvalve 13:747daba9cf59 592 int idx = 0;
Lightvalve 13:747daba9cf59 593 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 594 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 595 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 596 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 597 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 598 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 599 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 600 break;
Lightvalve 13:747daba9cf59 601 }
Lightvalve 13:747daba9cf59 602 }
Lightvalve 13:747daba9cf59 603 }
Lightvalve 14:8e7590227d22 604
Lightvalve 13:747daba9cf59 605 return PWM_duty;
Lightvalve 13:747daba9cf59 606 }
jobuuu 6:df07d3491e3a 607
Lightvalve 57:f4819de54e7a 608
Lightvalve 57:f4819de54e7a 609
Lightvalve 57:f4819de54e7a 610
Lightvalve 57:f4819de54e7a 611
jobuuu 2:a1c0a37df760 612 /*******************************************************************************
jobuuu 2:a1c0a37df760 613 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 614 *******************************************************************************/
jobuuu 2:a1c0a37df760 615
Lightvalve 51:b46bed7fec80 616 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 617 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 618 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 619 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 620 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 621 {
Lightvalve 19:23b7c1ad8683 622 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 623
Lightvalve 21:e5f1a43ea6f9 624 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 625 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 626 ********************************************************/
Lightvalve 13:747daba9cf59 627
Lightvalve 57:f4819de54e7a 628 //Encoder
Lightvalve 57:f4819de54e7a 629 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 630 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 631 }
Lightvalve 61:bc8c8270f0ab 632
Lightvalve 61:bc8c8270f0ab 633 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 634 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 635 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 636 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 637 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 638 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 67:c2812cf26c38 639 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 67:c2812cf26c38 640
Lightvalve 67:c2812cf26c38 641
Lightvalve 67:c2812cf26c38 642 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 67:c2812cf26c38 643 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 67:c2812cf26c38 644 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 67:c2812cf26c38 645 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 67:c2812cf26c38 646 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 67:c2812cf26c38 647
Lightvalve 17:1865016ca2e7 648
Lightvalve 58:2eade98630e2 649 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 650 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 651 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 652 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 653 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 654 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 655 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 656 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 657 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 658
Lightvalve 58:2eade98630e2 659 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 660 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 661 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 662 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 663 }
Lightvalve 58:2eade98630e2 664 }
Lightvalve 61:bc8c8270f0ab 665
Lightvalve 58:2eade98630e2 666 // //Pressure sensor A
Lightvalve 58:2eade98630e2 667 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 668 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 669 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 670 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 671 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 672 // 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 673 //
Lightvalve 58:2eade98630e2 674 //
Lightvalve 58:2eade98630e2 675 // //Pressure sensor B
Lightvalve 58:2eade98630e2 676 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 677 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 678 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 679 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 680
Lightvalve 17:1865016ca2e7 681
Lightvalve 21:e5f1a43ea6f9 682 //Current
Lightvalve 21:e5f1a43ea6f9 683 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 684 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 685 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 686 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 687 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 688 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 689 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 690
Lightvalve 57:f4819de54e7a 691 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 692 }
Lightvalve 11:82d8768d7351 693 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 694 }
Lightvalve 19:23b7c1ad8683 695
Lightvalve 19:23b7c1ad8683 696
Lightvalve 18:b8adf1582ea3 697 int j =0;
Lightvalve 54:647072f5307a 698 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 699 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 700 int cnt_trans = 0;
Lightvalve 48:889798ff9329 701 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 57:f4819de54e7a 702 int can_rest =0;
Lightvalve 48:889798ff9329 703
Lightvalve 11:82d8768d7351 704 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 705 {
Lightvalve 19:23b7c1ad8683 706 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 707
Lightvalve 57:f4819de54e7a 708 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 709 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 710 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 711 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 712 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 713 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 714 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 715 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 716 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 717 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 718 }
Lightvalve 50:3c630b5eba9f 719
Lightvalve 50:3c630b5eba9f 720 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 721 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 722 cnt_trans++;
Lightvalve 46:2694daea349b 723 torq.err_sum = 0;
Lightvalve 48:889798ff9329 724 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 725 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 726 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 727 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 728 cnt_trans++;
Lightvalve 46:2694daea349b 729 torq.err_sum = 0;
Lightvalve 48:889798ff9329 730 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 731 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 732 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 733 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 734 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 735 } else {
Lightvalve 58:2eade98630e2 736 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 737 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 738 }
Lightvalve 45:35fa6884d0c6 739
Lightvalve 50:3c630b5eba9f 740
Lightvalve 57:f4819de54e7a 741 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 742 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 743
Lightvalve 57:f4819de54e7a 744 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 745 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 746 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 747 } else {
Lightvalve 57:f4819de54e7a 748 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 749 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 750 }
Lightvalve 56:6f50d9d3bfee 751
Lightvalve 56:6f50d9d3bfee 752
Lightvalve 56:6f50d9d3bfee 753
Lightvalve 57:f4819de54e7a 754 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 755
Lightvalve 57:f4819de54e7a 756 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 757 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 758 break;
Lightvalve 13:747daba9cf59 759 }
Lightvalve 14:8e7590227d22 760
Lightvalve 14:8e7590227d22 761 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 762 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 763 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 764 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 765
Lightvalve 14:8e7590227d22 766 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 767 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 768 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 769
Lightvalve 84:c355d3e52bf1 770 TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 771
Lightvalve 30:8d561f16383b 772 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 773 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 774
Lightvalve 16:903b5a4433b4 775 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 776 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 777 }
Lightvalve 13:747daba9cf59 778 } else {
Lightvalve 58:2eade98630e2 779 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 780 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 781 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 782 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 783
Lightvalve 16:903b5a4433b4 784 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 785
Lightvalve 30:8d561f16383b 786 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 787
Lightvalve 13:747daba9cf59 788 }
Lightvalve 14:8e7590227d22 789 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 790 break;
Lightvalve 19:23b7c1ad8683 791 }
Lightvalve 14:8e7590227d22 792
Lightvalve 50:3c630b5eba9f 793 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 794 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 795 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 796 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 797 // }
Lightvalve 50:3c630b5eba9f 798 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 799 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 800 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 801 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 802 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 803 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 804 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 805 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 806 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 807 // }
Lightvalve 50:3c630b5eba9f 808 //
Lightvalve 50:3c630b5eba9f 809 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 810 // 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 811 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 812 //
Lightvalve 50:3c630b5eba9f 813 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 814 // V_out = 0;
Lightvalve 50:3c630b5eba9f 815 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 816 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 817 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 818 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 819 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 820 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 821 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 822 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 823 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 824 //
Lightvalve 50:3c630b5eba9f 825 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 826 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 827 // // | / | / |/
Lightvalve 50:3c630b5eba9f 828 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 829 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 830 // // /| / | / |
Lightvalve 50:3c630b5eba9f 831 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 832 //
Lightvalve 50:3c630b5eba9f 833 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 834 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 835 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 836 // } else {
Lightvalve 50:3c630b5eba9f 837 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 838 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 839 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 840 // }
Lightvalve 50:3c630b5eba9f 841 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 842 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 843 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 844 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 845 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 846 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 847 // }
Lightvalve 50:3c630b5eba9f 848 // } else {
Lightvalve 50:3c630b5eba9f 849 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 850 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 851 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 852 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 853 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 854 // }
Lightvalve 50:3c630b5eba9f 855 // V_out = 0;
Lightvalve 50:3c630b5eba9f 856 //
Lightvalve 50:3c630b5eba9f 857 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 858 //
Lightvalve 50:3c630b5eba9f 859 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 860 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 861 //
Lightvalve 50:3c630b5eba9f 862 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 863 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 864 // }
Lightvalve 50:3c630b5eba9f 865 // }
Lightvalve 50:3c630b5eba9f 866 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 867 // break;
Lightvalve 50:3c630b5eba9f 868 // }
Lightvalve 14:8e7590227d22 869
Lightvalve 14:8e7590227d22 870 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 871 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 872 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 873 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 874 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 875 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 876 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 877 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 878 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 879 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 880 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 881 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 882 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 883 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 884 }
Lightvalve 29:69f3f5445d6d 885 cnt_findhome++;
Lightvalve 14:8e7590227d22 886
Lightvalve 29:69f3f5445d6d 887 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 888 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 889 } else {
Lightvalve 29:69f3f5445d6d 890 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 891 }
Lightvalve 19:23b7c1ad8683 892
Lightvalve 57:f4819de54e7a 893 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 894 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 67:c2812cf26c38 895 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 67:c2812cf26c38 896 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:bc8c8270f0ab 897
Lightvalve 59:f308b1656d9c 898 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 899 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 900 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 901 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 902 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 903
Lightvalve 59:f308b1656d9c 904 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 905 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 906
Lightvalve 34:bb2ca2fc2a8e 907
Lightvalve 29:69f3f5445d6d 908 } else {
Lightvalve 29:69f3f5445d6d 909 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 67:c2812cf26c38 910 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 911 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 912 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 913 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 914 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 915 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 916 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 917 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 918 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 919 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 920
Lightvalve 67:c2812cf26c38 921
Lightvalve 67:c2812cf26c38 922 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 923 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 924 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 925 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 926 vel.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 927 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 928 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 169:645207e160ca 929
Lightvalve 169:645207e160ca 930
Lightvalve 29:69f3f5445d6d 931 }
Lightvalve 29:69f3f5445d6d 932 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 933 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 934 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 935 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 936 vel.ref = 0.0f;
Lightvalve 169:645207e160ca 937
Lightvalve 29:69f3f5445d6d 938 // input for position control
Lightvalve 169:645207e160ca 939
Lightvalve 67:c2812cf26c38 940 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 941 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 942
Lightvalve 67:c2812cf26c38 943 double torq_ref = 0.0f;
Lightvalve 67:c2812cf26c38 944 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 945 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 946 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 947
Lightvalve 67:c2812cf26c38 948 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 67:c2812cf26c38 949
Lightvalve 67:c2812cf26c38 950 double I_REF_POS = 0.0f;
Lightvalve 67:c2812cf26c38 951 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 67:c2812cf26c38 952 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 67:c2812cf26c38 953
Lightvalve 67:c2812cf26c38 954 double temp_vel_pos = 0.0f;
Lightvalve 67:c2812cf26c38 955 double temp_vel_torq = 0.0f;
Lightvalve 67:c2812cf26c38 956 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 67:c2812cf26c38 957
Lightvalve 69:3995ffeaa786 958 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 67:c2812cf26c38 959 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 960 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 961 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 67:c2812cf26c38 962 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 963 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 964 }
Lightvalve 67:c2812cf26c38 965 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 966 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 967
Lightvalve 67:c2812cf26c38 968 I_REF = I_REF_POS;
Lightvalve 67:c2812cf26c38 969
Lightvalve 67:c2812cf26c38 970
Lightvalve 67:c2812cf26c38 971
Lightvalve 67:c2812cf26c38 972 } else {
Lightvalve 67:c2812cf26c38 973 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 67:c2812cf26c38 974 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 975
Lightvalve 67:c2812cf26c38 976 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 67:c2812cf26c38 977 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 67:c2812cf26c38 978 } else {
Lightvalve 67:c2812cf26c38 979 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 67:c2812cf26c38 980 }
Lightvalve 67:c2812cf26c38 981
Lightvalve 67:c2812cf26c38 982 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 67:c2812cf26c38 983
Lightvalve 67:c2812cf26c38 984 V_out = (float) Vout.ref;
Lightvalve 67:c2812cf26c38 985
Lightvalve 67:c2812cf26c38 986 }
Lightvalve 67:c2812cf26c38 987
Lightvalve 67:c2812cf26c38 988
Lightvalve 169:645207e160ca 989
Lightvalve 169:645207e160ca 990
Lightvalve 59:f308b1656d9c 991 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 992 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 993 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 994 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 995 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 996
Lightvalve 29:69f3f5445d6d 997 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 998 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 999 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 1000 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 1001 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 1002 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 1003 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 1004 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 1005 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 1006 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 1007 }
Lightvalve 13:747daba9cf59 1008 }
Lightvalve 19:23b7c1ad8683 1009
Lightvalve 13:747daba9cf59 1010 break;
Lightvalve 13:747daba9cf59 1011 }
Lightvalve 14:8e7590227d22 1012
Lightvalve 50:3c630b5eba9f 1013 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 1014 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 1015 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1016 // else {
Lightvalve 50:3c630b5eba9f 1017 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1018 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 1019 // }
Lightvalve 50:3c630b5eba9f 1020 // }
Lightvalve 50:3c630b5eba9f 1021 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1022 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1023 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1024 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1025 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1026 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1027 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1028 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1029 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1030 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1031 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1032 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 1033 // }
Lightvalve 50:3c630b5eba9f 1034 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1035 // }
Lightvalve 50:3c630b5eba9f 1036 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1037 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1038 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1039 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1040 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1041 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1042 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1043 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1044 // 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 1045 // // 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 1046 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1047 // }
Lightvalve 50:3c630b5eba9f 1048 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1049 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1050 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1051 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1052 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1053 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1054 // 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 1055 // // 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 1056 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1057 // }
Lightvalve 50:3c630b5eba9f 1058 // }
Lightvalve 50:3c630b5eba9f 1059 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1060 //
Lightvalve 50:3c630b5eba9f 1061 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1062 //
Lightvalve 50:3c630b5eba9f 1063 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1064 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1065 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1066 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1067 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1068 // }
Lightvalve 50:3c630b5eba9f 1069 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1070 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1071 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1072 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1073 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1074 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1075 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1076 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1077 // }
Lightvalve 50:3c630b5eba9f 1078 //
Lightvalve 50:3c630b5eba9f 1079 // }
Lightvalve 50:3c630b5eba9f 1080 // break;
Lightvalve 50:3c630b5eba9f 1081 // }
Lightvalve 50:3c630b5eba9f 1082 //
Lightvalve 50:3c630b5eba9f 1083 // }
Lightvalve 14:8e7590227d22 1084 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1085 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1086 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1087 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1088 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1089
Lightvalve 14:8e7590227d22 1090 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1091 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1092 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1093 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1094 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1095
Lightvalve 38:118df027d851 1096 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1097 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1098 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1099
Lightvalve 30:8d561f16383b 1100 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1101 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1102 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1103 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1104
Lightvalve 30:8d561f16383b 1105 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1106 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1107 }
Lightvalve 13:747daba9cf59 1108 } else {
Lightvalve 57:f4819de54e7a 1109 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1110 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1111 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1112 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1113 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1114 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1115
Lightvalve 16:903b5a4433b4 1116 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1117
Lightvalve 30:8d561f16383b 1118 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1119 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1120 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1121 }
Lightvalve 14:8e7590227d22 1122 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1123 break;
Lightvalve 13:747daba9cf59 1124 }
Lightvalve 14:8e7590227d22 1125
Lightvalve 50:3c630b5eba9f 1126 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1127 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1128 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1129 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1130 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1131 // }
Lightvalve 50:3c630b5eba9f 1132 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1133 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1134 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1135 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1136 // }
Lightvalve 50:3c630b5eba9f 1137 // } else {
Lightvalve 50:3c630b5eba9f 1138 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1139 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1140 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1141 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1142 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1143 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1144 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1145 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1146 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1147 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1148 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1149 //
Lightvalve 50:3c630b5eba9f 1150 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1151 //
Lightvalve 50:3c630b5eba9f 1152 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1153 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1154 // }
Lightvalve 50:3c630b5eba9f 1155 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1156 // break;
Lightvalve 50:3c630b5eba9f 1157 // }
Lightvalve 19:23b7c1ad8683 1158
Lightvalve 50:3c630b5eba9f 1159 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1160 // 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 1161 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1162 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1163 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1164 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1165 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1166 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1167 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1168 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1169 // }
Lightvalve 50:3c630b5eba9f 1170 // break;
Lightvalve 50:3c630b5eba9f 1171 // }
Lightvalve 14:8e7590227d22 1172
Lightvalve 14:8e7590227d22 1173 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1174 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1175 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1176
Lightvalve 14:8e7590227d22 1177 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1178 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1179 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1180 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1181 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1182 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1183 data_num = 0;
Lightvalve 14:8e7590227d22 1184 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1185 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1186 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1187 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1188 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1189 } else {
Lightvalve 13:747daba9cf59 1190 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1191 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1192 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1193 }
Lightvalve 14:8e7590227d22 1194
Lightvalve 17:1865016ca2e7 1195 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1196 int i;
Lightvalve 13:747daba9cf59 1197 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1198 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1199 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1200 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1201 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1202 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1203 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1204 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1205 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1206 }
Lightvalve 13:747daba9cf59 1207 }
Lightvalve 59:f308b1656d9c 1208 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1209 ID_index = 0;
Lightvalve 57:f4819de54e7a 1210 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1211 }
Lightvalve 14:8e7590227d22 1212
Lightvalve 14:8e7590227d22 1213
Lightvalve 13:747daba9cf59 1214 break;
Lightvalve 13:747daba9cf59 1215 }
Lightvalve 14:8e7590227d22 1216
Lightvalve 14:8e7590227d22 1217 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1218 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1219 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1220 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1221 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1222 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1223 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1224 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1225 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1226 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1227 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1228 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1229 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1230 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1231 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1232 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 1233 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1234 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 1235 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1236 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1237 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1238 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 1239 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1240 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1241 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1242 data_num = 0;
Lightvalve 14:8e7590227d22 1243
Lightvalve 30:8d561f16383b 1244 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1245 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1246 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1247
Lightvalve 30:8d561f16383b 1248 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1249 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1250 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1251
Lightvalve 30:8d561f16383b 1252 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1253 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1254 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1255 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1256
Lightvalve 60:64181f1d3e60 1257 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1258 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1259 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1260 DZ_case = -1;
Lightvalve 14:8e7590227d22 1261 } else {
Lightvalve 13:747daba9cf59 1262 DZ_case = 0;
Lightvalve 13:747daba9cf59 1263 }
Lightvalve 61:bc8c8270f0ab 1264
Lightvalve 60:64181f1d3e60 1265 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1266
Lightvalve 13:747daba9cf59 1267 first_check = 1;
Lightvalve 13:747daba9cf59 1268 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1269 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1270 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1271 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1272 DZ_index = 1;
Lightvalve 14:8e7590227d22 1273
Lightvalve 13:747daba9cf59 1274 }
Lightvalve 19:23b7c1ad8683 1275 } else {
Lightvalve 14:8e7590227d22 1276 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1277 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1278 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 1279 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1280 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1281 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1282 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1283 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1284 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1285 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1286 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1287 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1288 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1289 }
Lightvalve 14:8e7590227d22 1290 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1291
Lightvalve 30:8d561f16383b 1292 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1293 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1294 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1295
Lightvalve 14:8e7590227d22 1296 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1297 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1298 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1299 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1300 } else {
Lightvalve 13:747daba9cf59 1301 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1302 }
Lightvalve 14:8e7590227d22 1303
Lightvalve 13:747daba9cf59 1304 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1305 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1306 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1307 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1308 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1309 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1310 DZ_index = 1;
Lightvalve 13:747daba9cf59 1311 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1312 }
Lightvalve 13:747daba9cf59 1313 }
Lightvalve 14:8e7590227d22 1314 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1315 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1316 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 1317 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1318 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1319 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1320 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1321 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1322 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1323 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1324 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1325 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1326 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1327 }
Lightvalve 14:8e7590227d22 1328 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1329
Lightvalve 30:8d561f16383b 1330 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1331 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1332 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1333 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1334 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1335
Lightvalve 14:8e7590227d22 1336 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 1337 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1338 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1339 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1340 } else {
Lightvalve 60:64181f1d3e60 1341 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 1342 }
Lightvalve 14:8e7590227d22 1343
Lightvalve 13:747daba9cf59 1344 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 1345 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 1346 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1347 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1348 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1349 first_check = 0;
Lightvalve 33:91b17819ec30 1350 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1351 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1352
Lightvalve 16:903b5a4433b4 1353 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1354
Lightvalve 60:64181f1d3e60 1355 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1356 DZ_index = 1;
Lightvalve 13:747daba9cf59 1357 }
Lightvalve 13:747daba9cf59 1358 }
Lightvalve 14:8e7590227d22 1359 } else if(DZ_case == 0 && DZ_NUM ==1) {
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;
Lightvalve 13:747daba9cf59 1372 }
Lightvalve 14:8e7590227d22 1373 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1374
Lightvalve 30:8d561f16383b 1375 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1376 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1377 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1378
Lightvalve 14:8e7590227d22 1379 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1380 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1381 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1382 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1383 } else {
Lightvalve 13:747daba9cf59 1384 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1385 }
Lightvalve 13:747daba9cf59 1386 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1387 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1388 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1389 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1390 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1391 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1392 DZ_index = 1;
Lightvalve 13:747daba9cf59 1393 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1394 }
Lightvalve 13:747daba9cf59 1395 }
Lightvalve 14:8e7590227d22 1396 } else {
Lightvalve 30:8d561f16383b 1397 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1398 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 1399 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1400 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1401 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1402 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1403 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1404 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1405 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1406 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1407 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1408 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1409 }
Lightvalve 14:8e7590227d22 1410 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1411
Lightvalve 30:8d561f16383b 1412 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1413 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1414 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1415 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1416 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 1417
Lightvalve 60:64181f1d3e60 1418 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1419 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1420 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1421 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 1422 } else {
Lightvalve 13:747daba9cf59 1423 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1424 }
Lightvalve 14:8e7590227d22 1425
Lightvalve 13:747daba9cf59 1426 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1427 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1428 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1429 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1430 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1431 first_check = 0;
Lightvalve 33:91b17819ec30 1432 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1433 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 1434
Lightvalve 59:f308b1656d9c 1435 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1436
Lightvalve 57:f4819de54e7a 1437 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1438 DZ_index = 1;
Lightvalve 13:747daba9cf59 1439 }
Lightvalve 13:747daba9cf59 1440 }
Lightvalve 13:747daba9cf59 1441 }
Lightvalve 14:8e7590227d22 1442 }
Lightvalve 13:747daba9cf59 1443 break;
Lightvalve 13:747daba9cf59 1444 }
Lightvalve 14:8e7590227d22 1445
Lightvalve 14:8e7590227d22 1446 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 1447 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1448 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1449 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1450 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1451 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1452 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1453 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1454 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1455 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1456 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1457 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1458 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1459 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1460 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 1461 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1462 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1463 first_check = 1;
Lightvalve 13:747daba9cf59 1464 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1465 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 1466 ID_index = 0;
Lightvalve 13:747daba9cf59 1467 max_check = 0;
Lightvalve 13:747daba9cf59 1468 min_check = 0;
Lightvalve 13:747daba9cf59 1469 }
Lightvalve 14:8e7590227d22 1470 } else {
Lightvalve 30:8d561f16383b 1471 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1472 //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 1473 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 1474 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1475 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1476 data_num = 0;
Lightvalve 57:f4819de54e7a 1477 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1478
Lightvalve 14:8e7590227d22 1479 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1480 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1481 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 1482 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1483 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1484 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1485 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1486 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1487 one_period_end = 1;
Lightvalve 13:747daba9cf59 1488 }
Lightvalve 30:8d561f16383b 1489 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1490 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1491 one_period_end = 1;
Lightvalve 59:f308b1656d9c 1492 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1493 }
Lightvalve 14:8e7590227d22 1494
Lightvalve 14:8e7590227d22 1495 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1496 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1497 max_check = 1;
Lightvalve 14:8e7590227d22 1498 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1499 min_check = 1;
Lightvalve 13:747daba9cf59 1500 }
Lightvalve 13:747daba9cf59 1501 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1502
Lightvalve 13:747daba9cf59 1503 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1504 one_period_end = 0;
Lightvalve 13:747daba9cf59 1505 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1506 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1507 }
Lightvalve 14:8e7590227d22 1508
Lightvalve 14:8e7590227d22 1509 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1510
Lightvalve 13:747daba9cf59 1511 VALVE_POS_NUM = ID_index;
Lightvalve 59:f308b1656d9c 1512 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1513 ID_index = 0;
Lightvalve 13:747daba9cf59 1514 first_check = 0;
Lightvalve 13:747daba9cf59 1515 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1516 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 1517 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1518 }
Lightvalve 13:747daba9cf59 1519 }
Lightvalve 13:747daba9cf59 1520 break;
Lightvalve 13:747daba9cf59 1521 }
Lightvalve 58:2eade98630e2 1522
Lightvalve 57:f4819de54e7a 1523 case MODE_SYSTEM_ID: {
Lightvalve 169:645207e160ca 1524 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.0f;
Lightvalve 57:f4819de54e7a 1525 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 1526 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 1527 cnt_sysid++;
Lightvalve 57:f4819de54e7a 1528 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 1529 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 1530 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1531 }
Lightvalve 57:f4819de54e7a 1532 break;
Lightvalve 57:f4819de54e7a 1533 }
Lightvalve 58:2eade98630e2 1534
Lightvalve 169:645207e160ca 1535 case MODE_FREQ_TEST: {
Lightvalve 169:645207e160ca 1536 float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3);
Lightvalve 169:645207e160ca 1537 if(valve_pos_ref >= 0) {
Lightvalve 169:645207e160ca 1538 valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 1539 } else {
Lightvalve 169:645207e160ca 1540 valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 1541 }
Lightvalve 169:645207e160ca 1542 ref_array[cnt_freq_test] = valve_pos_ref;
Lightvalve 169:645207e160ca 1543 if(value>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 1544 pos_array[cnt_freq_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 1545 } else {
Lightvalve 169:645207e160ca 1546 pos_array[cnt_freq_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 1547 }
Lightvalve 58:2eade98630e2 1548
Lightvalve 169:645207e160ca 1549 CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve 169:645207e160ca 1550 cnt_freq_test++;
Lightvalve 169:645207e160ca 1551 if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3 > 2) {
Lightvalve 169:645207e160ca 1552 buffer_data_size = cnt_freq_test;
Lightvalve 169:645207e160ca 1553 cnt_freq_test = 0;
Lightvalve 169:645207e160ca 1554 cnt_send_buffer = 0;
Lightvalve 169:645207e160ca 1555 freq_test_valve_ref = freq_test_valve_ref * 1.05f;
Lightvalve 169:645207e160ca 1556 if (freq_test_valve_ref >= 400) {
Lightvalve 169:645207e160ca 1557 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 1558 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 1559 CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve 169:645207e160ca 1560 }
Lightvalve 169:645207e160ca 1561 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 1562 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 169:645207e160ca 1563
Lightvalve 169:645207e160ca 1564 }
Lightvalve 169:645207e160ca 1565 break;
Lightvalve 169:645207e160ca 1566 }
Lightvalve 169:645207e160ca 1567 case MODE_SEND_BUFFER: {
Lightvalve 169:645207e160ca 1568 // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 169:645207e160ca 1569 // CAN_TX_PRES((int16_t) (pos_array[cnt_send_buffer]), (int16_t) (ref_array[cnt_send_buffer])); // 1400
Lightvalve 169:645207e160ca 1570 // if(cnt_send_buffer>=buffer_data_size) {
Lightvalve 169:645207e160ca 1571 // CONTROL_UTILITY_MODE = MODE_FREQ_TEST;
Lightvalve 169:645207e160ca 1572 // }
Lightvalve 169:645207e160ca 1573 // cnt_send_buffer++;
Lightvalve 169:645207e160ca 1574 // }
Lightvalve 169:645207e160ca 1575
Lightvalve 169:645207e160ca 1576 break;
Lightvalve 169:645207e160ca 1577 }
Lightvalve 169:645207e160ca 1578 case MODE_SEND_OVER: {
Lightvalve 169:645207e160ca 1579 CAN_TX_TORQUE((int16_t) (buffer_data_size)); //1300
Lightvalve 169:645207e160ca 1580 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 1581 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 1582 break;
Lightvalve 169:645207e160ca 1583 }
Lightvalve 169:645207e160ca 1584
Lightvalve 169:645207e160ca 1585 case MODE_STEP_TEST: {
Lightvalve 169:645207e160ca 1586 float valve_pos_ref = 0.0f;
Lightvalve 169:645207e160ca 1587 if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k))
Lightvalve 169:645207e160ca 1588 {
Lightvalve 169:645207e160ca 1589 valve_pos_ref = 0.0f;
Lightvalve 169:645207e160ca 1590 }else
Lightvalve 169:645207e160ca 1591 {
Lightvalve 169:645207e160ca 1592 valve_pos_ref = 10000.0f;
Lightvalve 169:645207e160ca 1593 }
Lightvalve 169:645207e160ca 1594 if(valve_pos_ref >= 0) {
Lightvalve 169:645207e160ca 1595 valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 1596 } else {
Lightvalve 169:645207e160ca 1597 valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 169:645207e160ca 1598 }
Lightvalve 169:645207e160ca 1599 ref_array[cnt_step_test] = valve_pos_ref;
Lightvalve 169:645207e160ca 1600 if(value>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 1601 pos_array[cnt_step_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 1602 } else {
Lightvalve 169:645207e160ca 1603 pos_array[cnt_step_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 1604 }
Lightvalve 169:645207e160ca 1605
Lightvalve 169:645207e160ca 1606 CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve 169:645207e160ca 1607 cnt_step_test++;
Lightvalve 169:645207e160ca 1608 if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k))
Lightvalve 169:645207e160ca 1609 {
Lightvalve 169:645207e160ca 1610 buffer_data_size = cnt_step_test;
Lightvalve 169:645207e160ca 1611 cnt_step_test = 0;
Lightvalve 169:645207e160ca 1612 cnt_send_buffer = 0;
Lightvalve 169:645207e160ca 1613 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 169:645207e160ca 1614 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 1615 }
Lightvalve 169:645207e160ca 1616 // if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k))
Lightvalve 169:645207e160ca 1617 // {
Lightvalve 169:645207e160ca 1618 // CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 1619 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 169:645207e160ca 1620 // CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve 169:645207e160ca 1621 // }
Lightvalve 169:645207e160ca 1622
Lightvalve 169:645207e160ca 1623 break;
Lightvalve 169:645207e160ca 1624 }
Lightvalve 57:f4819de54e7a 1625
Lightvalve 57:f4819de54e7a 1626 default:
Lightvalve 57:f4819de54e7a 1627 break;
Lightvalve 57:f4819de54e7a 1628 }
Lightvalve 57:f4819de54e7a 1629
Lightvalve 57:f4819de54e7a 1630 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 1631
Lightvalve 57:f4819de54e7a 1632 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 1633 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 1634 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 1635 break;
Lightvalve 57:f4819de54e7a 1636 }
Lightvalve 57:f4819de54e7a 1637
Lightvalve 57:f4819de54e7a 1638 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 1639 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 57:f4819de54e7a 1640 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:f308b1656d9c 1641 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 1642 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 1643 V_out = valve_pos.ref;
Lightvalve 169:645207e160ca 1644 } else {
Lightvalve 67:c2812cf26c38 1645 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 1646 }
Lightvalve 57:f4819de54e7a 1647 break;
Lightvalve 57:f4819de54e7a 1648 }
Lightvalve 57:f4819de54e7a 1649
Lightvalve 57:f4819de54e7a 1650 case MODE_JOINT_CONTROL: {
Lightvalve 169:645207e160ca 1651
Lightvalve 57:f4819de54e7a 1652 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 1653 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 1654 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 1655 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 169:645207e160ca 1656
Lightvalve 67:c2812cf26c38 1657 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 1658 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 1659 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1660 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 169:645207e160ca 1661
Lightvalve 139:15621998925b 1662 // torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 139:15621998925b 1663 torq_ref = torq.ref;
Lightvalve 57:f4819de54e7a 1664
Lightvalve 57:f4819de54e7a 1665 // torque feedback
Lightvalve 67:c2812cf26c38 1666 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 1667 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 1668
Lightvalve 57:f4819de54e7a 1669 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 1670
Lightvalve 57:f4819de54e7a 1671 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 1672 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 1673 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 1674
Lightvalve 57:f4819de54e7a 1675 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 1676 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 1677 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 1678
Lightvalve 69:3995ffeaa786 1679 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1680 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 1681 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 1682 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1683 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 1684 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 1685 }
Lightvalve 57:f4819de54e7a 1686 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 1687 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1688
Lightvalve 57:f4819de54e7a 1689 // velocity compensation for torque control
Lightvalve 69:3995ffeaa786 1690 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1691 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 1692 // 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 1693 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 1694 // L feedforward velocity
Lightvalve 69:3995ffeaa786 1695 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1696 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 1697 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1698 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1699 // L feedforward velocity
Lightvalve 57:f4819de54e7a 1700 }
Lightvalve 57:f4819de54e7a 1701 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 1702 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1703 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 1704 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 1705 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 1706
Lightvalve 57:f4819de54e7a 1707 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 169:645207e160ca 1708
Lightvalve 67:c2812cf26c38 1709 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 1710 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 1711 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 1712 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 1713 if (I_REF > I_MAX) {
Lightvalve 67:c2812cf26c38 1714 double I_rem = I_REF - I_MAX;
Lightvalve 67:c2812cf26c38 1715 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1716 I_REF = I_MAX;
Lightvalve 67:c2812cf26c38 1717 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1718 } else if (I_REF < -I_MAX) {
Lightvalve 67:c2812cf26c38 1719 double I_rem = I_REF - (-I_MAX);
Lightvalve 67:c2812cf26c38 1720 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1721 I_REF = -I_MAX;
Lightvalve 67:c2812cf26c38 1722 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1723 }
Lightvalve 67:c2812cf26c38 1724 }
Lightvalve 57:f4819de54e7a 1725
Lightvalve 57:f4819de54e7a 1726 } else {
Lightvalve 57:f4819de54e7a 1727 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 72:3436ce769b1e 1728 float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 1729 float VALVE_POS_RAW = 0.0f;
Lightvalve 169:645207e160ca 1730
Lightvalve 57:f4819de54e7a 1731 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 1732 + 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 1733
Lightvalve 72:3436ce769b1e 1734 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 169:645207e160ca 1735
Lightvalve 72:3436ce769b1e 1736 VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve 169:645207e160ca 1737
Lightvalve 169:645207e160ca 1738
Lightvalve 72:3436ce769b1e 1739 if (VALVE_POS_RAW >= 0) {
Lightvalve 72:3436ce769b1e 1740 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 1741 } else {
Lightvalve 72:3436ce769b1e 1742 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 1743 }
Lightvalve 57:f4819de54e7a 1744
Lightvalve 57:f4819de54e7a 1745 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 139:15621998925b 1746 double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 1747 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 1748 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1749 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1750 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1751 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1752 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 1753 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1754 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1755 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1756 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1757 }
Lightvalve 57:f4819de54e7a 1758 }
Lightvalve 61:bc8c8270f0ab 1759
Lightvalve 57:f4819de54e7a 1760 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1761
Lightvalve 67:c2812cf26c38 1762 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 1763 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1764
Lightvalve 57:f4819de54e7a 1765 }
Lightvalve 169:645207e160ca 1766
Lightvalve 72:3436ce769b1e 1767 torq_ref_past = torq_ref;
Lightvalve 58:2eade98630e2 1768
Lightvalve 133:22ab22818e01 1769
Lightvalve 57:f4819de54e7a 1770 break;
Lightvalve 57:f4819de54e7a 1771 }
Lightvalve 58:2eade98630e2 1772
Lightvalve 57:f4819de54e7a 1773 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 1774 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1775 break;
Lightvalve 57:f4819de54e7a 1776 }
Lightvalve 169:645207e160ca 1777
Lightvalve 138:a843f32ced33 1778 case MODE_JOINT_ADAPTIVE_BACKSTEPPING: {
Lightvalve 169:645207e160ca 1779
Lightvalve 169:645207e160ca 1780
Lightvalve 139:15621998925b 1781 float Va = (1256.6f + Amm * pos.sen/(float)(ENC_PULSE_PER_POSITION)) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3
Lightvalve 139:15621998925b 1782 float Vb = (1256.6f + Amm * (79.0f - pos.sen/(float)(ENC_PULSE_PER_POSITION))) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3
Lightvalve 169:645207e160ca 1783
Lightvalve 139:15621998925b 1784 // float Va = (1256.6f + Amm * 39.5f) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3
Lightvalve 139:15621998925b 1785 // float Vb = (1256.6f + Amm * 39.5f) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3
Lightvalve 138:a843f32ced33 1786 V = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f
Lightvalve 169:645207e160ca 1787
Lightvalve 169:645207e160ca 1788
Lightvalve 139:15621998925b 1789 float f3 = -Amm*Amm*beta*0.000001f*0.000001f/V * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
Lightvalve 169:645207e160ca 1790
Lightvalve 138:a843f32ced33 1791 float g3_prime = 0.0f;
Lightvalve 169:645207e160ca 1792 if (torq.sen > Amm*(Ps-Pt)*0.000001f) {
Lightvalve 138:a843f32ced33 1793 g3_prime = 1.0f;
Lightvalve 138:a843f32ced33 1794 } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) {
Lightvalve 138:a843f32ced33 1795 g3_prime = -1.0f;
Lightvalve 138:a843f32ced33 1796 } else {
Lightvalve 138:a843f32ced33 1797 if ((value-VALVE_CENTER) > 0) {
Lightvalve 169:645207e160ca 1798 g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f);
Lightvalve 169:645207e160ca 1799 // g3_prime = sqrt(Ps-Pt);
Lightvalve 138:a843f32ced33 1800 } else {
Lightvalve 138:a843f32ced33 1801 g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f);
Lightvalve 139:15621998925b 1802 // g3_prime = sqrt(Ps-Pt);
Lightvalve 138:a843f32ced33 1803 }
Lightvalve 138:a843f32ced33 1804 }
Lightvalve 138:a843f32ced33 1805 float tau = 0.01f;
Lightvalve 142:43026242815a 1806 float K_valve = 0.0004f;
Lightvalve 169:645207e160ca 1807
Lightvalve 138:a843f32ced33 1808 float x_v = 0.0f; //x_v : -1~1
Lightvalve 138:a843f32ced33 1809 if(value>=VALVE_CENTER) {
Lightvalve 138:a843f32ced33 1810 x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 138:a843f32ced33 1811 } else {
Lightvalve 138:a843f32ced33 1812 x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 138:a843f32ced33 1813 }
Lightvalve 138:a843f32ced33 1814 float f4 = -x_v/tau;
Lightvalve 138:a843f32ced33 1815 float g4 = K_valve/tau;
Lightvalve 169:645207e160ca 1816
Lightvalve 139:15621998925b 1817 float torq_ref_dot = torq.ref_diff * 500.0f;
Lightvalve 169:645207e160ca 1818
Lightvalve 138:a843f32ced33 1819 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 138:a843f32ced33 1820 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 138:a843f32ced33 1821 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 169:645207e160ca 1822
Lightvalve 138:a843f32ced33 1823 torq.err = torq.ref - torq.sen; //[N]
Lightvalve 138:a843f32ced33 1824 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 169:645207e160ca 1825
Lightvalve 142:43026242815a 1826 float k3 = 20000.0f; //2000
Lightvalve 142:43026242815a 1827 float k4 = 10.0f;
Lightvalve 142:43026242815a 1828 float rho3 = 3.2f;
Lightvalve 142:43026242815a 1829 float rho4 = 25000000.0f;
Lightvalve 139:15621998925b 1830 float x_4_des = (-f3 + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime);
Lightvalve 138:a843f32ced33 1831 if (x_4_des > 1) x_4_des = 1;
Lightvalve 138:a843f32ced33 1832 else if (x_4_des < -1) x_4_des = -1;
Lightvalve 169:645207e160ca 1833
Lightvalve 139:15621998925b 1834 if (x_4_des > 0) {
Lightvalve 139:15621998925b 1835 valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER;
Lightvalve 139:15621998925b 1836 } else {
Lightvalve 139:15621998925b 1837 valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER;
Lightvalve 139:15621998925b 1838 }
Lightvalve 169:645207e160ca 1839
Lightvalve 169:645207e160ca 1840
Lightvalve 138:a843f32ced33 1841 float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k;
Lightvalve 138:a843f32ced33 1842 x_4_des_old = x_4_des;
Lightvalve 169:645207e160ca 1843
Lightvalve 139:15621998925b 1844 V_out = (-f4 + x_4_des_dot - k4*(x_v-x_4_des)- rho3/rho4*gamma_hat*g3_prime*(-torq.err))/g4;
Lightvalve 169:645207e160ca 1845
Lightvalve 142:43026242815a 1846 float rho_gamma = 50000.0f;//5000
Lightvalve 139:15621998925b 1847 float gamma_hat_dot = rho3*(-torq.err)/rho_gamma*((-f3+torq_ref_dot-k3*(-torq.err))/gamma_hat + g3_prime*(x_v-x_4_des));
Lightvalve 138:a843f32ced33 1848 gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k;
Lightvalve 169:645207e160ca 1849 break;
Lightvalve 138:a843f32ced33 1850 }
Lightvalve 14:8e7590227d22 1851
Lightvalve 12:6f2531038ea4 1852 default:
Lightvalve 12:6f2531038ea4 1853 break;
Lightvalve 12:6f2531038ea4 1854 }
Lightvalve 14:8e7590227d22 1855
Lightvalve 57:f4819de54e7a 1856
Lightvalve 57:f4819de54e7a 1857 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 1858
Lightvalve 57:f4819de54e7a 1859 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1860 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 1861 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1862 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 1863 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 1864 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 1865
Lightvalve 57:f4819de54e7a 1866 I_ERR = I_REF_fil - cur.sen;
Lightvalve 67:c2812cf26c38 1867 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 1868
Lightvalve 57:f4819de54e7a 1869
Lightvalve 57:f4819de54e7a 1870 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 1871 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 1872 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 1873 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 1874 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 1875 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 1876
Lightvalve 57:f4819de54e7a 1877 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 1878 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 1879 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 1880 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 1881 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 1882 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 1883 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 1884 }
Lightvalve 57:f4819de54e7a 1885
Lightvalve 57:f4819de54e7a 1886 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 1887
Lightvalve 67:c2812cf26c38 1888 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 1889 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 1890 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 1891 I_REF_fil_old = I_REF_fil;
Lightvalve 67:c2812cf26c38 1892 // 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 1893 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 67:c2812cf26c38 1894 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 1895
Lightvalve 57:f4819de54e7a 1896 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 1897 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 1898 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 1899 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1900 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 1901 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1902 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 1903 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 1904 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1905 VALVE_PWM_RAW = -V_MAX;
Lightvalve 67:c2812cf26c38 1906 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1907 }
Lightvalve 57:f4819de54e7a 1908 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1909 } else {
Lightvalve 57:f4819de54e7a 1910 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 1911 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1912 }
Lightvalve 57:f4819de54e7a 1913
Lightvalve 57:f4819de54e7a 1914 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1915 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 1916 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1917 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 1918 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 1919 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1920 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1921
Lightvalve 57:f4819de54e7a 1922 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1923
Lightvalve 57:f4819de54e7a 1924 } else {
Lightvalve 57:f4819de54e7a 1925 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 1926 }
Lightvalve 57:f4819de54e7a 1927
Lightvalve 57:f4819de54e7a 1928 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 1929 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 67:c2812cf26c38 1930 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 1931
Lightvalve 57:f4819de54e7a 1932 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 1933 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 1934 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 1935 else V_out = (float) (CUR_PWM_lin);
Lightvalve 169:645207e160ca 1936 } else { //////////////////////////sw valve
Lightvalve 89:a7b45368ea0f 1937 // Output Voltage Linearization
Lightvalve 135:79885a39c161 1938 // double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve 135:79885a39c161 1939 // double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 89:a7b45368ea0f 1940
Lightvalve 89:a7b45368ea0f 1941 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 135:79885a39c161 1942 // if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 135:79885a39c161 1943 // else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 135:79885a39c161 1944 // else V_out = (float) (CUR_PWM_lin);
Lightvalve 135:79885a39c161 1945
Lightvalve 135:79885a39c161 1946 if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f;
Lightvalve 135:79885a39c161 1947 else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f;
Lightvalve 135:79885a39c161 1948 else V_out = 0.0f;
Lightvalve 89:a7b45368ea0f 1949 }
Lightvalve 169:645207e160ca 1950
Lightvalve 67:c2812cf26c38 1951 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 67:c2812cf26c38 1952 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 67:c2812cf26c38 1953 // else V_out = V_out;
Lightvalve 169:645207e160ca 1954
jobuuu 7:e9086c72bb22 1955 /*******************************************************
jobuuu 7:e9086c72bb22 1956 *** PWM
jobuuu 7:e9086c72bb22 1957 ********************************************************/
Lightvalve 169:645207e160ca 1958 if(DIR_VALVE<0) {
Lightvalve 67:c2812cf26c38 1959 V_out = -V_out;
Lightvalve 67:c2812cf26c38 1960 }
Lightvalve 169:645207e160ca 1961
Lightvalve 49:e7bcfc244d40 1962 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1963 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1964 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1965 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1966 }
Lightvalve 49:e7bcfc244d40 1967 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1968
Lightvalve 19:23b7c1ad8683 1969 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1970 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1971 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1972
Lightvalve 30:8d561f16383b 1973 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1974 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1975 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1976 } else {
jobuuu 2:a1c0a37df760 1977 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1978 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1979 }
Lightvalve 13:747daba9cf59 1980
jobuuu 1:e04e563be5ce 1981 //pwm
Lightvalve 30:8d561f16383b 1982 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1983 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 1984
Lightvalve 61:bc8c8270f0ab 1985
Lightvalve 57:f4819de54e7a 1986 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 20:806196fda269 1987
Lightvalve 54:647072f5307a 1988 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 1989 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 1990 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 1991 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1992 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 1993 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1994 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 1995 }
Lightvalve 57:f4819de54e7a 1996 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 1997 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1998 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 1999 } else if (SENSING_MODE == 1) {
Lightvalve 67:c2812cf26c38 2000 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 2001 }
Lightvalve 52:8ea76864368a 2002 }
Lightvalve 52:8ea76864368a 2003 }
Lightvalve 56:6f50d9d3bfee 2004 if (flag_data_request[1] == HIGH) {
Lightvalve 54:647072f5307a 2005 //valve position
Lightvalve 169:645207e160ca 2006 double t_value = 0.0f;
Lightvalve 97:d71c57e3515e 2007 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 97:d71c57e3515e 2008 t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 2009 } else {
Lightvalve 97:d71c57e3515e 2010 t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 2011 }
Lightvalve 67:c2812cf26c38 2012 CAN_TX_TORQUE((int16_t) (t_value)); //1300
Lightvalve 54:647072f5307a 2013 }
Lightvalve 58:2eade98630e2 2014
Lightvalve 58:2eade98630e2 2015
Lightvalve 131:d08121ac87ba 2016 if (flag_data_request[2] == LOW) {
Lightvalve 169:645207e160ca 2017 double t_value = 0.0f;
Lightvalve 89:a7b45368ea0f 2018 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 131:d08121ac87ba 2019 t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 2020 } else {
Lightvalve 131:d08121ac87ba 2021 t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 2022 }
Lightvalve 169:645207e160ca 2023 double t_value_ref = 0.0f;
Lightvalve 169:645207e160ca 2024 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 169:645207e160ca 2025 t_value_ref = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2026 } else {
Lightvalve 169:645207e160ca 2027 t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 169:645207e160ca 2028 }
Lightvalve 169:645207e160ca 2029
Lightvalve 169:645207e160ca 2030
Lightvalve 169:645207e160ca 2031 CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400
Lightvalve 55:b25725257569 2032 }
Lightvalve 58:2eade98630e2 2033
Lightvalve 57:f4819de54e7a 2034 //If it doesn't rest, below can can not work.
Lightvalve 57:f4819de54e7a 2035 for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 2036 ;
Lightvalve 57:f4819de54e7a 2037 }
Lightvalve 58:2eade98630e2 2038
Lightvalve 169:645207e160ca 2039 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 2040 //PWM
Lightvalve 73:f80dc3970c99 2041 //CAN_TX_PWM((int16_t) value); //1500
Lightvalve 139:15621998925b 2042 CAN_TX_PWM((int16_t) gamma_hat); //1500
Lightvalve 54:647072f5307a 2043 }
Lightvalve 57:f4819de54e7a 2044 //for (i = 0; i < 10000; i++) {
Lightvalve 57:f4819de54e7a 2045 // ;
Lightvalve 57:f4819de54e7a 2046 // }
Lightvalve 56:6f50d9d3bfee 2047 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 2048 //valve position
Lightvalve 73:f80dc3970c99 2049 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 2050 }
Lightvalve 20:806196fda269 2051
Lightvalve 54:647072f5307a 2052 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 2053 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 2054 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 2055 // }
Lightvalve 54:647072f5307a 2056 //if (flag_delay_test == 1){
Lightvalve 58:2eade98630e2 2057 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 54:647072f5307a 2058 //}
Lightvalve 52:8ea76864368a 2059
Lightvalve 54:647072f5307a 2060 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 2061 }
Lightvalve 54:647072f5307a 2062 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 2063
Lightvalve 20:806196fda269 2064 }
Lightvalve 52:8ea76864368a 2065 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 2066
Lightvalve 58:2eade98630e2 2067 }