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@96:71a161975a4e, 2020-08-07 (annotated)

Committer:
Lightvalve
Date:
Fri Aug 07 10:58:57 2020 +0000
Revision:
96:71a161975a4e
Parent:
95:60f380adfdd0
Child:
97:d71c57e3515e
200807-2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 96:71a161975a4e 1 //200807-2
GiJeongKim 0:51c43836c1d7 2 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 3 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 4 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 5 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 6 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 7 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 8 #include "setting.h"
Lightvalve 11:82d8768d7351 9 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 10 #include "stm32f4xx_flash.h"
Lightvalve 65:a2d7c63419c2 11 #include "FlashWriter.h"
Lightvalve 61:bc8c8270f0ab 12
Lightvalve 61:bc8c8270f0ab 13 using namespace std;
Lightvalve 61:bc8c8270f0ab 14 Timer t;
GiJeongKim 0:51c43836c1d7 15
Lightvalve 31:66738bfecec5 16 ///191008////
Lightvalve 31:66738bfecec5 17
jobuuu 7:e9086c72bb22 18 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 19 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 20 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 21 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 22 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 23 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 24 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 25 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 26
Lightvalve 24:ef6e1092e9e6 27
jobuuu 7:e9086c72bb22 28 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 29 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 30 float dtc_w=0.0f;
GiJeongKim 0:51c43836c1d7 31
jobuuu 7:e9086c72bb22 32 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 33 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 34 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 35 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 36
jobuuu 7:e9086c72bb22 37 // SPI ///////////////////////////////////////////
Lightvalve 16:903b5a4433b4 38 //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 16:903b5a4433b4 39 //DigitalOut eeprom_cs(PB_12);
Lightvalve 16:903b5a4433b4 40 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim 0:51c43836c1d7 41 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 42 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 43 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 44
jobuuu 7:e9086c72bb22 45 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 46 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 47
jobuuu 7:e9086c72bb22 48 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 49 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 50 CANMessage msg;
Lightvalve 11:82d8768d7351 51 void onMsgReceived()
Lightvalve 11:82d8768d7351 52 {
Lightvalve 11:82d8768d7351 53 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 54 }
jobuuu 2:a1c0a37df760 55
jobuuu 7:e9086c72bb22 56 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 57 State pos;
jobuuu 7:e9086c72bb22 58 State vel;
jobuuu 7:e9086c72bb22 59 State Vout;
jobuuu 7:e9086c72bb22 60 State torq;
jobuuu 7:e9086c72bb22 61 State pres_A;
jobuuu 7:e9086c72bb22 62 State pres_B;
jobuuu 7:e9086c72bb22 63 State cur;
Lightvalve 14:8e7590227d22 64 State valve_pos;
Lightvalve 14:8e7590227d22 65
Lightvalve 14:8e7590227d22 66 State INIT_Vout;
Lightvalve 14:8e7590227d22 67 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 68 State INIT_Pos;
Lightvalve 14:8e7590227d22 69 State INIT_torq;
jobuuu 5:a4319f79457b 70
Lightvalve 19:23b7c1ad8683 71 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 72 extern int CID_RX_REF_POSITION;
Lightvalve 49:e7bcfc244d40 73 extern int CID_RX_REF_VALVE_POS;
Lightvalve 45:35fa6884d0c6 74 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 75
Lightvalve 19:23b7c1ad8683 76 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 77 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 78 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 79 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 80 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 81 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 82
Lightvalve 61:bc8c8270f0ab 83
Lightvalve 61:bc8c8270f0ab 84
Lightvalve 61:bc8c8270f0ab 85
jobuuu 7:e9086c72bb22 86 // =============================================================================
jobuuu 7:e9086c72bb22 87 // =============================================================================
jobuuu 7:e9086c72bb22 88 // =============================================================================
jobuuu 7:e9086c72bb22 89
Lightvalve 12:6f2531038ea4 90 /*******************************************************************************
Lightvalve 12:6f2531038ea4 91 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 92 ******************************************************************************/
Lightvalve 13:747daba9cf59 93 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 94 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 95 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 96 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 97 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 98 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 99 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 100 };
Lightvalve 12:6f2531038ea4 101
Lightvalve 12:6f2531038ea4 102 /*******************************************************************************
Lightvalve 12:6f2531038ea4 103 * CONTROL MODE
Lightvalve 12:6f2531038ea4 104 ******************************************************************************/
Lightvalve 13:747daba9cf59 105 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 106 //control mode
Lightvalve 12:6f2531038ea4 107 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 108 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 109 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 110
Lightvalve 47:fdcb8bd86fd6 111 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 12:6f2531038ea4 112 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 113 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 114
Lightvalve 12:6f2531038ea4 115 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 116 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 117 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 118
Lightvalve 12:6f2531038ea4 119 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 120 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 121
Lightvalve 14:8e7590227d22 122 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 123 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 124 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 125
Lightvalve 12:6f2531038ea4 126 //utility
Lightvalve 12:6f2531038ea4 127 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 128 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 129 MODE_FIND_HOME, //22
Lightvalve 57:f4819de54e7a 130 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 131 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 132 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 133 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 134
Lightvalve 12:6f2531038ea4 135 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 136 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 137 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 57:f4819de54e7a 138 MODE_SYSTEM_ID, //33
Lightvalve 12:6f2531038ea4 139 };
Lightvalve 12:6f2531038ea4 140
Lightvalve 65:a2d7c63419c2 141 void SystemClock_Config(void)
Lightvalve 65:a2d7c63419c2 142 {
Lightvalve 65:a2d7c63419c2 143 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve 65:a2d7c63419c2 144 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve 65:a2d7c63419c2 145
Lightvalve 65:a2d7c63419c2 146 /** Configure the main internal regulator output voltage
Lightvalve 65:a2d7c63419c2 147 */
Lightvalve 65:a2d7c63419c2 148 __HAL_RCC_PWR_CLK_ENABLE();
Lightvalve 65:a2d7c63419c2 149 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve 65:a2d7c63419c2 150 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 65:a2d7c63419c2 151 */
Lightvalve 65:a2d7c63419c2 152 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve 65:a2d7c63419c2 153 RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve 65:a2d7c63419c2 154 RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve 65:a2d7c63419c2 155 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve 65:a2d7c63419c2 156 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve 65:a2d7c63419c2 157 RCC_OscInitStruct.PLL.PLLM = 8;//8
Lightvalve 65:a2d7c63419c2 158 RCC_OscInitStruct.PLL.PLLN = 180; //180
Lightvalve 65:a2d7c63419c2 159 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve 65:a2d7c63419c2 160 RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve 65:a2d7c63419c2 161 RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve 65:a2d7c63419c2 162 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
Lightvalve 65:a2d7c63419c2 163 {
Lightvalve 65:a2d7c63419c2 164 //Error_Handler();
Lightvalve 65:a2d7c63419c2 165 }
Lightvalve 65:a2d7c63419c2 166 /** Activate the Over-Drive mode
Lightvalve 65:a2d7c63419c2 167 */
Lightvalve 65:a2d7c63419c2 168 if (HAL_PWREx_EnableOverDrive() != HAL_OK)
Lightvalve 65:a2d7c63419c2 169 {
Lightvalve 65:a2d7c63419c2 170 //Error_Handler();
Lightvalve 65:a2d7c63419c2 171 }
Lightvalve 65:a2d7c63419c2 172 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 65:a2d7c63419c2 173 */
Lightvalve 65:a2d7c63419c2 174 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
Lightvalve 65:a2d7c63419c2 175 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
Lightvalve 65:a2d7c63419c2 176 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve 65:a2d7c63419c2 177 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve 65:a2d7c63419c2 178 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve 65:a2d7c63419c2 179 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve 65:a2d7c63419c2 180
Lightvalve 65:a2d7c63419c2 181 if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
Lightvalve 65:a2d7c63419c2 182 {
Lightvalve 65:a2d7c63419c2 183 //Error_Handler();
Lightvalve 65:a2d7c63419c2 184 }
Lightvalve 65:a2d7c63419c2 185 }
Lightvalve 65:a2d7c63419c2 186
Lightvalve 65:a2d7c63419c2 187
Lightvalve 68:328e1be06f5d 188 float x_past[num_array_x_past] = {0.0f};
Lightvalve 85:a3b46118b5cd 189 float x_future[num_array_x_future] = {0.0f};
Lightvalve 68:328e1be06f5d 190 float f_past[num_array_f_past] = {0.0f};
Lightvalve 68:328e1be06f5d 191 float f_future[num_array_f_future] = {0.0f};
Lightvalve 66:a8e6799dbce3 192
Lightvalve 73:f80dc3970c99 193 float input_NN[num_input] = { 0.0f };
Lightvalve 65:a2d7c63419c2 194
Lightvalve 90:a6cfef34bdce 195 const float h1[num_input][16] = {
Lightvalve 96:71a161975a4e 196 {0.07895362377166748f,1.2571723461151123f,0.12024858593940735f,0.42333588004112244f,-0.591122031211853f,-0.2686001658439636f,-0.1628284603357315f,-0.2747933566570282f,-0.2676565945148468f,-0.06314806640148163f,-0.21420136094093323f,-1.264796257019043f,0.028087222948670387f,0.1368914246559143f,-0.2396446317434311f,-1.8550697565078735f},
Lightvalve 96:71a161975a4e 197 {-0.13911567628383636f,1.1758989095687866f,-0.36603355407714844f,0.12989778816699982f,-0.6587437987327576f,-0.2900908291339874f,-0.3777896761894226f,-0.2802232503890991f,-0.07578769326210022f,0.1696045696735382f,-0.2483919858932495f,-0.9388790726661682f,0.3681949973106384f,-0.38263583183288574f,-0.1953967958688736f,-1.4171580076217651f},
Lightvalve 96:71a161975a4e 198 {-0.22104200720787048f,0.9880240559577942f,0.33912619948387146f,-0.19806833565235138f,-0.2689543068408966f,-0.19075830280780792f,0.2676515281200409f,-0.12974651157855988f,-0.15164244174957275f,0.17187564074993134f,-0.31710654497146606f,-0.6481630802154541f,0.02745453082025051f,0.044705502688884735f,0.05209478735923767f,-1.5039880275726318f},
Lightvalve 96:71a161975a4e 199 {-0.40742605924606323f,0.7225562930107117f,0.3703531324863434f,0.42338240146636963f,-0.3839448392391205f,-0.32325175404548645f,-0.10795548558235168f,0.313069611787796f,0.01977788284420967f,0.2951240539550781f,0.0966201201081276f,0.02345994859933853f,-0.2756105363368988f,-0.06283733993768692f,-0.27597576379776f,-1.0504233837127686f},
Lightvalve 96:71a161975a4e 200 {-0.3754335939884186f,0.9327686429023743f,-0.004794687032699585f,0.3824700713157654f,-0.8204431533813477f,0.4471132457256317f,0.12058994174003601f,0.3895314335823059f,0.025840381160378456f,0.12077726423740387f,0.3315052390098572f,-0.07942713052034378f,-0.3569679856300354f,0.04906800016760826f,-0.36018112301826477f,-1.1626139879226685f},
Lightvalve 96:71a161975a4e 201 {-0.5914078950881958f,0.4770364761352539f,0.20290347933769226f,0.4014465808868408f,-1.0489305257797241f,0.630003809928894f,0.15389427542686462f,0.49035078287124634f,0.029029453173279762f,0.12740647792816162f,-0.22336235642433167f,0.31648266315460205f,-0.674343466758728f,0.1843278408050537f,-0.38513508439064026f,-1.03097665309906f},
Lightvalve 96:71a161975a4e 202 {-1.0379849672317505f,0.6660510897636414f,-0.2331579178571701f,-0.3693968951702118f,-1.6700252294540405f,1.1136983633041382f,0.05604562163352966f,0.48791247606277466f,0.33870938420295715f,0.08067858964204788f,0.14737729728221893f,0.7881587743759155f,-0.6168327927589417f,0.25015661120414734f,-0.14554673433303833f,-0.6819286942481995f},
Lightvalve 96:71a161975a4e 203 {-1.1772695779800415f,0.250567764043808f,-0.24806702136993408f,0.0845661461353302f,-1.7072104215621948f,0.8260706067085266f,-0.16704979538917542f,0.4817795157432556f,0.024997428059577942f,0.12397594749927521f,0.10480736196041107f,0.6280339956283569f,-0.034352805465459824f,0.08143091946840286f,0.04009982943534851f,-0.26129135489463806f},
Lightvalve 96:71a161975a4e 204 {-0.8673149347305298f,0.23955625295639038f,0.09550115466117859f,-0.43480008840560913f,-1.5310064554214478f,1.057142734527588f,-0.06753402948379517f,0.3709453344345093f,-0.25099891424179077f,0.33987900614738464f,-0.2704286277294159f,0.6828672289848328f,0.08345116674900055f,0.23340700566768646f,-0.2847418785095215f,0.17356525361537933f},
Lightvalve 96:71a161975a4e 205 {0.35617488622665405f,-1.9094693660736084f,0.17205187678337097f,-0.3130404055118561f,0.090705007314682f,0.030807994306087494f,-0.2786858379840851f,-0.25279197096824646f,-0.005850229412317276f,-0.4249269366264343f,-0.0010674830991774797f,-1.0976002216339111f,0.7836102843284607f,-0.06491421908140182f,0.3247623145580292f,0.6052957773208618f},
Lightvalve 96:71a161975a4e 206 {4.625219345092773f,-5.048667907714844f,0.34649983048439026f,-0.10459014028310776f,4.077295303344727f,-3.844470977783203f,-0.1895401030778885f,-2.924015998840332f,-0.39584577083587646f,0.03952033445239067f,0.33136940002441406f,-2.319406270980835f,1.3264329433441162f,0.2984660565853119f,0.24870619177818298f,1.0718899965286255f},
Lightvalve 96:71a161975a4e 207 {-0.10326675325632095f,-0.23447513580322266f,-0.3757385015487671f,-0.19414059817790985f,0.3747856318950653f,-0.04199318587779999f,0.1429324448108673f,0.21323536336421967f,-0.1358439326286316f,0.19925807416439056f,-0.3862822949886322f,0.6506202816963196f,-0.008901792578399181f,-0.07645197957754135f,0.09779238700866699f,0.4917536675930023f},
Lightvalve 96:71a161975a4e 208 {0.8808187246322632f,-0.5376348495483398f,0.18496140837669373f,-0.21074695885181427f,1.7403404712677002f,-0.1949584186077118f,-0.22405625879764557f,-0.3333626985549927f,-0.15510694682598114f,-0.17791599035263062f,-0.08919984847307205f,1.3710670471191406f,0.2588014602661133f,0.057229183614254f,-0.2075144499540329f,2.715280294418335f},
Lightvalve 96:71a161975a4e 209 {1.058735728263855f,-0.01810188591480255f,0.38466766476631165f,-0.4001809358596802f,1.2133023738861084f,-0.8784891366958618f,-0.2982172966003418f,-1.040549635887146f,-0.10522206872701645f,-0.21052785217761993f,-0.16740652918815613f,1.5507609844207764f,-0.10103185474872589f,0.01610000990331173f,0.04470124840736389f,1.9343880414962769f},
Lightvalve 96:71a161975a4e 210 {0.8488929271697998f,0.1011870726943016f,0.18900898098945618f,-0.12932294607162476f,1.1423720121383667f,-0.22526150941848755f,0.03916636109352112f,-0.15241949260234833f,0.3039378821849823f,0.07273339480161667f,-0.24044525623321533f,-0.17205055058002472f,0.038534365594387054f,-0.08114524930715561f,0.062258750200271606f,1.2987041473388672f},
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Lightvalve 96:71a161975a4e 217 {-1.0564547777175903f,0.05542854964733124f,0.2631795108318329f,-0.4106685519218445f,0.43132689595222473f,-0.553520679473877f,0.27224990725517273f,-0.6160730123519897f,-0.04732394590973854f,0.08227474242448807f,0.05995349958539009f,0.03140683099627495f,-0.009248102083802223f,-0.11794007569551468f,0.06011766195297241f,-0.6932176947593689f},
Lightvalve 65:a2d7c63419c2 218 };
Lightvalve 65:a2d7c63419c2 219
Lightvalve 90:a6cfef34bdce 220 const float h2[16][16] = {
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Lightvalve 96:71a161975a4e 222 {-0.25313666462898254f,-6.206562042236328f,0.027056142687797546f,-0.0741184800863266f,-0.35503754019737244f,-1.231136441230774f,-1.3051835298538208f,-0.18019266426563263f,-0.33757925033569336f,0.2895788848400116f,-2.0206592082977295f,-0.7872334718704224f,-0.24186758697032928f,0.854408323764801f,0.8058996200561523f,-3.2585866451263428f},
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Lightvalve 96:71a161975a4e 224 {0.05020434781908989f,-0.31984439492225647f,-0.2894435524940491f,0.22981524467468262f,0.08946844935417175f,0.22889411449432373f,-0.3768770396709442f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.24825850129127502f,0.2424536645412445f,-0.5421085953712463f,-0.22426272928714752f,0.22189605236053467f,0.15049420297145844f},
Lightvalve 96:71a161975a4e 225 {-0.9419153928756714f,0.9733988642692566f,-0.31467702984809875f,-0.5654755234718323f,-0.11561957746744156f,-0.49909862875938416f,-1.6100873947143555f,-0.21726219356060028f,-0.024399548768997192f,-0.39465832710266113f,-11.116015434265137f,-0.7035700678825378f,-0.6642444133758545f,-1.0834547281265259f,-1.2425756454467773f,0.5259889364242554f},
Lightvalve 96:71a161975a4e 226 {-2.507007122039795f,-1.8669182062149048f,-0.4729698598384857f,0.2293456345796585f,-0.4037783145904541f,-1.8636395931243896f,-1.6020370721817017f,-0.16199380159378052f,-0.23047015070915222f,0.3579089343547821f,3.186255693435669f,-0.5437663197517395f,-0.8449951410293579f,4.514785289764404f,2.122281789779663f,-0.926563024520874f},
Lightvalve 90:a6cfef34bdce 227 {-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 96:71a161975a4e 228 {-0.26283779740333557f,0.0977809727191925f,0.24813500046730042f,-1.8885226249694824f,-0.28821301460266113f,-1.1604070663452148f,-1.5112191438674927f,-0.43778669834136963f,0.2600560486316681f,-0.37898191809654236f,-0.5196307301521301f,-0.6156315803527832f,-1.6401389837265015f,0.3119639456272125f,0.06466132402420044f,-1.287230134010315f},
Lightvalve 96:71a161975a4e 229 {-0.20296473801136017f,0.3267236351966858f,-0.11379697918891907f,0.11326181888580322f,0.041274964809417725f,-0.38362905383110046f,-0.10284432768821716f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,0.041170381009578705f,-0.3197441101074219f,-0.37024784088134766f,-0.27560392022132874f,-0.37944233417510986f,-0.23297809064388275f},
Lightvalve 96:71a161975a4e 230 {-0.11297062039375305f,0.20683825016021729f,-0.13502129912376404f,0.11740913987159729f,0.12987366318702698f,0.08124405890703201f,0.2711336314678192f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,0.22425664961338043f,0.3686034381389618f,0.3811538517475128f,-0.22713807225227356f,0.024703770875930786f,-0.24529723823070526f},
Lightvalve 96:71a161975a4e 231 {-0.26891738176345825f,0.005198602564632893f,0.0457797646522522f,-0.3916873037815094f,-0.03321319818496704f,-0.4068695902824402f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.19460716843605042f,0.3545852601528168f,-0.3647043704986572f,0.40944570302963257f,-0.41040074825286865f,-0.2761998176574707f},
Lightvalve 96:71a161975a4e 232 {0.2977412939071655f,-0.7753188014030457f,0.33855369687080383f,-0.0015949616208672523f,-0.14933563768863678f,0.031147437170147896f,-0.8653625249862671f,-0.26265648007392883f,0.3487861454486847f,-0.32520344853401184f,0.5256090760231018f,-0.6031002998352051f,-0.003968607168644667f,-0.25813454389572144f,-0.346569687128067f,-0.19713085889816284f},
Lightvalve 96:71a161975a4e 233 {0.23999442160129547f,0.3869785666465759f,-0.15798500180244446f,0.7145512104034424f,-0.37393757700920105f,1.177410364151001f,-0.1291218101978302f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,0.31322625279426575f,-0.43923890590667725f,0.5738317370414734f,-1.378983497619629f,-0.932052731513977f,0.29673853516578674f},
Lightvalve 96:71a161975a4e 234 {-0.24162541329860687f,0.2533607482910156f,-0.2018718123435974f,0.6567671895027161f,0.07545611262321472f,0.1999741643667221f,-0.21434198319911957f,-0.21416273713111877f,-0.24509364366531372f,0.19522181153297424f,0.7084074020385742f,-0.2859615087509155f,-0.2933322787284851f,0.07604566216468811f,-0.26328518986701965f,0.07941658794879913f},
Lightvalve 90:a6cfef34bdce 235 {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 96:71a161975a4e 236 {-2.883580207824707f,0.2993867099285126f,0.042480651289224625f,-0.659870982170105f,0.1462535560131073f,-0.3962661325931549f,-1.9495710134506226f,0.18373456597328186f,-0.3893685042858124f,-0.02222958207130432f,-0.325151652097702f,-0.6856224536895752f,-0.7805953621864319f,0.17275558412075043f,1.4164332151412964f,-2.9557266235351562f},
Lightvalve 65:a2d7c63419c2 237 };
Lightvalve 65:a2d7c63419c2 238
Lightvalve 90:a6cfef34bdce 239 const float h3[16][16] = {
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Lightvalve 96:71a161975a4e 241 {0.047732532024383545f,-1.3873378038406372f,-0.6739127039909363f,-0.7797783613204956f,-0.6799267530441284f,-0.023504560813307762f,-0.40678858757019043f,0.06247803568840027f,-0.2557620406150818f,-0.442567378282547f,0.12032593786716461f,-0.4399758577346802f,-1.3721511363983154f,-1.0711206197738647f,-0.48999103903770447f,0.030988477170467377f},
Lightvalve 96:71a161975a4e 242 {0.07903262972831726f,0.2790505588054657f,-0.07798504829406738f,-0.09389442950487137f,-0.1963958442211151f,-0.19260792434215546f,-0.4038352966308594f,0.015906542539596558f,0.15353140234947205f,0.030178606510162354f,0.23821763694286346f,0.13805970549583435f,-0.0816211998462677f,-0.2801148295402527f,-0.3036302626132965f,0.06488575041294098f},
Lightvalve 96:71a161975a4e 243 {-0.30922991037368774f,0.17667047679424286f,-0.008818126283586025f,-0.36896517872810364f,-0.5562130808830261f,0.4666495621204376f,0.20021501183509827f,0.07002416253089905f,-0.17697909474372864f,-0.365601509809494f,0.13192829489707947f,0.41021624207496643f,-0.36113956570625305f,0.4479363262653351f,0.6108591556549072f,-0.3594931662082672f},
Lightvalve 96:71a161975a4e 244 {-0.39607733488082886f,-0.05481579899787903f,0.1976260244846344f,0.022423356771469116f,0.16892847418785095f,-0.27518749237060547f,0.16012099385261536f,0.3626593053340912f,-0.08640444278717041f,-0.11053556203842163f,-0.10281161218881607f,-0.31317979097366333f,-0.1530032455921173f,-0.13193069398403168f,0.22959044575691223f,0.1968502700328827f},
Lightvalve 96:71a161975a4e 245 {-0.37449589371681213f,0.5227359533309937f,-0.2375003695487976f,1.1114213466644287f,-0.2317514568567276f,0.7673159241676331f,-0.18732719123363495f,0.22384825348854065f,-0.7340282201766968f,0.33007681369781494f,0.12023735791444778f,0.05288517847657204f,0.06054890155792236f,0.801692545413971f,0.47660425305366516f,0.9289136528968811f},
Lightvalve 96:71a161975a4e 246 {0.4110594093799591f,0.5569605827331543f,-0.2750546932220459f,-0.05932041257619858f,0.1593351811170578f,0.16846279799938202f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,0.32724907994270325f,0.06612920761108398f,0.35313835740089417f,0.2260253131389618f,2.1908137798309326f,0.3126353323459625f,-0.544373095035553f},
Lightvalve 96:71a161975a4e 247 {-0.40892091393470764f,0.043769627809524536f,-0.3867315948009491f,0.3791530132293701f,0.3424709737300873f,-0.051169753074645996f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.009083894081413746f,-0.0003446042537689209f,-0.2742875814437866f,-0.2290261834859848f,0.07994696497917175f,-0.13424834609031677f},
Lightvalve 90:a6cfef34bdce 248 {0.10697010159492493f,-0.12228584289550781f,-0.37870171666145325f,0.21184906363487244f,-0.37222859263420105f,-0.17138728499412537f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.42142823338508606f,-0.3482915461063385f,-0.3289247751235962f,-0.2186824083328247f,0.09620395302772522f,-0.06898030638694763f},
Lightvalve 90:a6cfef34bdce 249 {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 96:71a161975a4e 250 {0.15459725260734558f,-0.23069538176059723f,0.08775654435157776f,-0.2917158007621765f,-0.3173016309738159f,0.02197491005063057f,-0.08742031455039978f,0.05785742402076721f,-0.11268945038318634f,-0.38534465432167053f,-0.4680977165699005f,-0.30447322130203247f,0.5930958986282349f,-0.6832190155982971f,0.24897915124893188f,0.6311358213424683f},
Lightvalve 96:71a161975a4e 251 {-0.408692330121994f,-0.03322610631585121f,0.13804031908512115f,-0.25812235474586487f,0.03562499210238457f,-0.12812207639217377f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,0.08593464642763138f,-0.0742669403553009f,0.03996849060058594f,-0.48888295888900757f,-0.25224313139915466f,-0.3349078893661499f,-0.061293311417102814f},
Lightvalve 96:71a161975a4e 252 {-0.2991822361946106f,1.914184331893921f,-0.7486281991004944f,-0.05932474136352539f,-1.4416754245758057f,1.7874364852905273f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,-0.9489266872406006f,1.4211689233779907f,0.26106709241867065f,-0.6619238257408142f},
Lightvalve 96:71a161975a4e 253 {-0.2675279378890991f,0.09690668433904648f,-0.14166909456253052f,0.8521427512168884f,0.023709528148174286f,0.49329280853271484f,-0.4077804982662201f,-0.31893211603164673f,-0.8029664754867554f,0.22857439517974854f,-0.14455583691596985f,-0.6750549077987671f,0.20448069274425507f,-0.9385330677032471f,0.14485150575637817f,0.7857609987258911f},
Lightvalve 96:71a161975a4e 254 {-0.015470266342163086f,-2.7017996311187744f,-0.07821664214134216f,-0.008211692795157433f,-0.4154634475708008f,-4.004563331604004f,0.031177446246147156f,-0.008358269929885864f,-0.5120755434036255f,-3.891390800476074f,0.3499956727027893f,-0.3125930726528168f,-2.171631336212158f,-2.0324933528900146f,-0.31805527210235596f,0.15008483827114105f},
Lightvalve 96:71a161975a4e 255 {0.1863725483417511f,0.33734530210494995f,-0.13039013743400574f,0.012665561400353909f,-0.6362693905830383f,-0.595176100730896f,0.04860696196556091f,0.17769548296928406f,-0.10992996394634247f,0.04870879650115967f,-0.018923843279480934f,0.0762123391032219f,-0.19637686014175415f,0.37821123003959656f,-0.023800775408744812f,0.6714404821395874f},
Lightvalve 66:a8e6799dbce3 256 };
Lightvalve 65:a2d7c63419c2 257
Lightvalve 96:71a161975a4e 258 const float hout[16] = { 0.45773375034332275f,1.626427412033081f,-0.0007661097915843129f,-0.1185910776257515f,0.1819382607936859f,1.224741816520691f,-0.031148770824074745f,0.15066689252853394f,-0.0013686571037396789f,-1.086798071861267f,0.11216173321008682f,-0.07703599333763123f,0.8368552923202515f,1.348039984703064f,0.607914388179779f,-0.23062551021575928f };
Lightvalve 66:a8e6799dbce3 259
Lightvalve 96:71a161975a4e 260 const float b1[16] = { -0.8491401076316833f,0.6166018843650818f,-1.7145336866378784f,0.17909984290599823f,0.6702242493629456f,2.827991247177124f,-0.058932315558195114f,2.4158542156219482f,0.5341209769248962f,-0.9037277698516846f,0.5854750275611877f,3.7358274459838867f,-0.9816521406173706f,-1.0510812997817993f,-1.087764859199524f,5.495018005371094f };
Lightvalve 87:471334725012 261
Lightvalve 96:71a161975a4e 262 const float b2[16] = { -0.038619738072156906f,1.1267496347427368f,-1.5400499105453491f,-0.8048892617225647f,-0.8344771862030029f,-0.10959481447935104f,-0.0300869382917881f,-0.4458284378051758f,-1.20063054561615f,-1.912178635597229f,-0.5470861792564392f,-0.008792918175458908f,-0.24588672816753387f,1.4592666625976562f,0.3058423697948456f,0.29415765404701233f };
Lightvalve 65:a2d7c63419c2 263
Lightvalve 96:71a161975a4e 264 const float b3[16] = { -1.963319182395935f,-0.12471651285886765f,-0.5443709492683411f,-1.0403056144714355f,-0.037965964525938034f,2.1356041431427f,-0.550602912902832f,-0.6562485098838806f,-0.038771145045757294f,1.5697951316833496f,-0.4680158197879791f,-0.2508927583694458f,-0.38630208373069763f,0.7918863892555237f,-1.413399577140808f,-0.18884111940860748f };
Lightvalve 87:471334725012 265
Lightvalve 96:71a161975a4e 266 const float bout[1] = { 0.5050068497657776f };
Lightvalve 65:a2d7c63419c2 267
Lightvalve 66:a8e6799dbce3 268
Lightvalve 87:471334725012 269 float VALVE_POS_RAW_NN = 0.0f;
Lightvalve 87:471334725012 270 float DDV_JOINT_POS_FF(float REF_JOINT_VEL);
Lightvalve 61:bc8c8270f0ab 271
GiJeongKim 0:51c43836c1d7 272 int main()
GiJeongKim 0:51c43836c1d7 273 {
Lightvalve 66:a8e6799dbce3 274
Lightvalve 65:a2d7c63419c2 275 HAL_Init();
Lightvalve 65:a2d7c63419c2 276 SystemClock_Config();
Lightvalve 65:a2d7c63419c2 277
jobuuu 6:df07d3491e3a 278 /*********************************
jobuuu 1:e04e563be5ce 279 *** Initialization
jobuuu 6:df07d3491e3a 280 *********************************/
Lightvalve 69:3995ffeaa786 281 LED = 0;
Lightvalve 61:bc8c8270f0ab 282 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 283
GiJeongKim 0:51c43836c1d7 284 // i2c init
Lightvalve 8:5d2eebdad025 285 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 286 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 287 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 288 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 289 make_delay();
jobuuu 2:a1c0a37df760 290
GiJeongKim 0:51c43836c1d7 291 // // spi init
Lightvalve 16:903b5a4433b4 292 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 293 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 294 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 295 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 296 make_delay();
Lightvalve 21:e5f1a43ea6f9 297
Lightvalve 16:903b5a4433b4 298 //rom
Lightvalve 19:23b7c1ad8683 299 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 300 make_delay();
Lightvalve 13:747daba9cf59 301
GiJeongKim 0:51c43836c1d7 302 // ADC init
jobuuu 5:a4319f79457b 303 Init_ADC();
Lightvalve 11:82d8768d7351 304 make_delay();
jobuuu 2:a1c0a37df760 305
GiJeongKim 0:51c43836c1d7 306 // Pwm init
GiJeongKim 0:51c43836c1d7 307 Init_PWM();
GiJeongKim 0:51c43836c1d7 308 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 309 make_delay();
Lightvalve 13:747daba9cf59 310
Lightvalve 11:82d8768d7351 311 // TMR3 init
Lightvalve 11:82d8768d7351 312 Init_TMR3();
Lightvalve 11:82d8768d7351 313 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 314 make_delay();
Lightvalve 21:e5f1a43ea6f9 315
Lightvalve 50:3c630b5eba9f 316 // TMR2 init
Lightvalve 56:6f50d9d3bfee 317 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 318 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 319 // make_delay();
Lightvalve 21:e5f1a43ea6f9 320
GiJeongKim 0:51c43836c1d7 321 // CAN
jobuuu 2:a1c0a37df760 322 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 323 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 324 make_delay();
Lightvalve 34:bb2ca2fc2a8e 325
Lightvalve 23:59218d4a256d 326 //Timer priority
Lightvalve 23:59218d4a256d 327 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 328 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 329 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 330
Lightvalve 23:59218d4a256d 331 //can.reset();
Lightvalve 19:23b7c1ad8683 332 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 333
GiJeongKim 0:51c43836c1d7 334 // spi _ enc
GiJeongKim 0:51c43836c1d7 335 spi_enc_set_init();
Lightvalve 11:82d8768d7351 336 make_delay();
Lightvalve 13:747daba9cf59 337
Lightvalve 11:82d8768d7351 338 //DAC init
Lightvalve 58:2eade98630e2 339 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 340 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 341 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 342 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 343 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 344 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 345 }
Lightvalve 11:82d8768d7351 346 make_delay();
Lightvalve 13:747daba9cf59 347
Lightvalve 19:23b7c1ad8683 348 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 349 if(i%2==0)
Lightvalve 38:118df027d851 350 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 351 else
Lightvalve 38:118df027d851 352 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 353 }
Lightvalve 61:bc8c8270f0ab 354
Lightvalve 61:bc8c8270f0ab 355
jobuuu 6:df07d3491e3a 356 /************************************
jobuuu 1:e04e563be5ce 357 *** Program is operating!
jobuuu 6:df07d3491e3a 358 *************************************/
GiJeongKim 0:51c43836c1d7 359 while(1) {
Lightvalve 66:a8e6799dbce3 360 // if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve 66:a8e6799dbce3 361 //if(timer_while==1000) {
Lightvalve 65:a2d7c63419c2 362 //i2c
Lightvalve 66:a8e6799dbce3 363
Lightvalve 65:a2d7c63419c2 364 read_field(i2c_slave_addr1);
Lightvalve 65:a2d7c63419c2 365 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 65:a2d7c63419c2 366 // if(LED==1) {
Lightvalve 65:a2d7c63419c2 367 // LED=0;
Lightvalve 65:a2d7c63419c2 368 // } else
Lightvalve 65:a2d7c63419c2 369 // LED = 1;
Lightvalve 65:a2d7c63419c2 370 timer_while = 0;
Lightvalve 66:a8e6799dbce3 371 //}
Lightvalve 66:a8e6799dbce3 372
Lightvalve 66:a8e6799dbce3 373 timer_while ++;
Lightvalve 66:a8e6799dbce3 374
Lightvalve 87:471334725012 375 //LED = 0;
Lightvalve 87:471334725012 376
Lightvalve 73:f80dc3970c99 377 if(NN_Control_Flag == 0) {
Lightvalve 73:f80dc3970c99 378 LED = 0;
Lightvalve 73:f80dc3970c99 379 }
Lightvalve 66:a8e6799dbce3 380
Lightvalve 73:f80dc3970c99 381 else if(NN_Control_Flag == 1) {
Lightvalve 88:d6e591bece22 382 float output1[16] = { 0.0f };
Lightvalve 88:d6e591bece22 383 float output2[16] = { 0.0f };
Lightvalve 88:d6e591bece22 384 float output3[16] = { 0.0f };
Lightvalve 66:a8e6799dbce3 385 float output = 0.0f;
Lightvalve 65:a2d7c63419c2 386
Lightvalve 88:d6e591bece22 387 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 68:328e1be06f5d 388 for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve 66:a8e6799dbce3 389 output1[index2] = output1[index2]
Lightvalve 73:f80dc3970c99 390 + h1[index1][index2] * input_NN[index1];
Lightvalve 66:a8e6799dbce3 391 }
Lightvalve 66:a8e6799dbce3 392 output1[index2] = output1[index2] + b1[index2];
Lightvalve 66:a8e6799dbce3 393 if (output1[index2] < 0) {
Lightvalve 66:a8e6799dbce3 394 output1[index2] = 0;
Lightvalve 66:a8e6799dbce3 395 }
Lightvalve 66:a8e6799dbce3 396 }
Lightvalve 65:a2d7c63419c2 397
Lightvalve 88:d6e591bece22 398 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 88:d6e591bece22 399 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 400 output2[index2] = output2[index2]
Lightvalve 66:a8e6799dbce3 401 + h2[index1][index2] * output1[index1];
Lightvalve 66:a8e6799dbce3 402 }
Lightvalve 66:a8e6799dbce3 403 output2[index2] = output2[index2] + b2[index2];
Lightvalve 66:a8e6799dbce3 404 if (output2[index2] < 0) {
Lightvalve 66:a8e6799dbce3 405 output2[index2] = 0;
Lightvalve 66:a8e6799dbce3 406 }
Lightvalve 66:a8e6799dbce3 407 }
Lightvalve 65:a2d7c63419c2 408
Lightvalve 88:d6e591bece22 409 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 88:d6e591bece22 410 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 411 output3[index2] = output3[index2]
Lightvalve 66:a8e6799dbce3 412 + h3[index1][index2] * output2[index1];
Lightvalve 66:a8e6799dbce3 413 }
Lightvalve 66:a8e6799dbce3 414 output3[index2] = output3[index2] + b3[index2];
Lightvalve 66:a8e6799dbce3 415 if (output3[index2] < 0) {
Lightvalve 66:a8e6799dbce3 416 output3[index2] = 0;
Lightvalve 66:a8e6799dbce3 417 }
Lightvalve 65:a2d7c63419c2 418 }
Lightvalve 66:a8e6799dbce3 419
Lightvalve 66:a8e6799dbce3 420 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 88:d6e591bece22 421 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 73:f80dc3970c99 422 output = output + hout[index1] * output3[index1];
Lightvalve 66:a8e6799dbce3 423 }
Lightvalve 66:a8e6799dbce3 424 output = output + bout[index2];
Lightvalve 73:f80dc3970c99 425
Lightvalve 66:a8e6799dbce3 426 }
Lightvalve 73:f80dc3970c99 427 output = 1.0f/(1.0f+exp(-output));
Lightvalve 68:328e1be06f5d 428 output = output * 20000.0f - 10000.0f;
Lightvalve 66:a8e6799dbce3 429 if(output>=0) {
Lightvalve 66:a8e6799dbce3 430 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 431 } else {
Lightvalve 66:a8e6799dbce3 432 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 65:a2d7c63419c2 433 }
Lightvalve 87:471334725012 434
Lightvalve 88:d6e591bece22 435 // // torque feedback
Lightvalve 88:d6e591bece22 436 // torq.err = f_past[0] - torq.sen; //[N]
Lightvalve 88:d6e591bece22 437 //// torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 88:d6e591bece22 438 // torq.err_sum += torq.err/(float) 1500.0f; //[N]
Lightvalve 88:d6e591bece22 439 //
Lightvalve 88:d6e591bece22 440 //
Lightvalve 88:d6e591bece22 441 // 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 442 //
Lightvalve 88:d6e591bece22 443 // if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 88:d6e591bece22 444 // double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 88:d6e591bece22 445 // if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 88:d6e591bece22 446 // double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 88:d6e591bece22 447 // valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 88:d6e591bece22 448 // valve_pos.ref = VALVE_MAX_POS;
Lightvalve 88:d6e591bece22 449 // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve 88:d6e591bece22 450 // } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 88:d6e591bece22 451 // double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 88:d6e591bece22 452 // valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 88:d6e591bece22 453 // valve_pos.ref = VALVE_MIN_POS;
Lightvalve 88:d6e591bece22 454 // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve 88:d6e591bece22 455 // }
Lightvalve 88:d6e591bece22 456 // }
Lightvalve 87:471334725012 457
Lightvalve 69:3995ffeaa786 458
Lightvalve 69:3995ffeaa786 459 if(LED==1) {
Lightvalve 69:3995ffeaa786 460 LED=0;
Lightvalve 69:3995ffeaa786 461 } else
Lightvalve 69:3995ffeaa786 462 LED = 1;
Lightvalve 69:3995ffeaa786 463
Lightvalve 65:a2d7c63419c2 464 }
Lightvalve 62:b5452adfb2cd 465
Lightvalve 87:471334725012 466 //LED = 1;
Lightvalve 69:3995ffeaa786 467
Lightvalve 66:a8e6799dbce3 468
GiJeongKim 0:51c43836c1d7 469 }
jobuuu 1:e04e563be5ce 470 }
jobuuu 1:e04e563be5ce 471
Lightvalve 33:91b17819ec30 472 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 473 {
Lightvalve 14:8e7590227d22 474
Lightvalve 13:747daba9cf59 475 int i = 0;
Lightvalve 48:889798ff9329 476 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 477 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 478 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 479 if(i==0) {
Lightvalve 50:3c630b5eba9f 480 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 481 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 482 } else {
Lightvalve 57:f4819de54e7a 483 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 484 }
Lightvalve 14:8e7590227d22 485 } else {
Lightvalve 50:3c630b5eba9f 486 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 487 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 488 } else {
Lightvalve 57:f4819de54e7a 489 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 490 }
Lightvalve 13:747daba9cf59 491 }
Lightvalve 13:747daba9cf59 492 break;
Lightvalve 13:747daba9cf59 493 }
Lightvalve 13:747daba9cf59 494 }
Lightvalve 14:8e7590227d22 495 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 496 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 497 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 498 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 499 }
Lightvalve 36:a46e63505ed8 500
Lightvalve 57:f4819de54e7a 501 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 502 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 503
Lightvalve 13:747daba9cf59 504 }
jobuuu 6:df07d3491e3a 505
jobuuu 6:df07d3491e3a 506
Lightvalve 30:8d561f16383b 507 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 508 {
Lightvalve 13:747daba9cf59 509 int i = 0;
Lightvalve 13:747daba9cf59 510
Lightvalve 38:118df027d851 511 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 512 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 513 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 514 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 515 }
Lightvalve 38:118df027d851 516
Lightvalve 89:a7b45368ea0f 517 valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve 13:747daba9cf59 518 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 519 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 520 valve_pos_err_sum += valve_pos_err;
Lightvalve 89:a7b45368ea0f 521 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 89:a7b45368ea0f 522 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 13:747daba9cf59 523
Lightvalve 13:747daba9cf59 524 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 525
Lightvalve 18:b8adf1582ea3 526 for(i=0; i<24; i++) {
Lightvalve 89:a7b45368ea0f 527 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 528 if(i==0) {
Lightvalve 48:889798ff9329 529 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 530 } else {
Lightvalve 48:889798ff9329 531 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 532 }
Lightvalve 13:747daba9cf59 533 break;
Lightvalve 13:747daba9cf59 534 }
Lightvalve 13:747daba9cf59 535 }
Lightvalve 59:f308b1656d9c 536 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 537 }
Lightvalve 13:747daba9cf59 538
Lightvalve 14:8e7590227d22 539 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 540 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 541 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 542 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 543 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 544 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 545 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 546 }; // duty
Lightvalve 67:c2812cf26c38 547 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 548 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 549 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 550 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 551 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 552 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 553 }; // mV
Lightvalve 13:747daba9cf59 554
Lightvalve 30:8d561f16383b 555 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 556 {
Lightvalve 30:8d561f16383b 557 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 558 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 559 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 560 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 561 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 562 } else {
Lightvalve 13:747daba9cf59 563 int idx = 0;
Lightvalve 13:747daba9cf59 564 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 565 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 566 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 567 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 568 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 569 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 570 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 571 break;
Lightvalve 13:747daba9cf59 572 }
Lightvalve 13:747daba9cf59 573 }
Lightvalve 13:747daba9cf59 574 }
Lightvalve 14:8e7590227d22 575
Lightvalve 13:747daba9cf59 576 return PWM_duty;
Lightvalve 13:747daba9cf59 577 }
jobuuu 6:df07d3491e3a 578
Lightvalve 57:f4819de54e7a 579
Lightvalve 57:f4819de54e7a 580
Lightvalve 57:f4819de54e7a 581
Lightvalve 57:f4819de54e7a 582
jobuuu 2:a1c0a37df760 583 /*******************************************************************************
jobuuu 2:a1c0a37df760 584 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 585 *******************************************************************************/
jobuuu 2:a1c0a37df760 586
Lightvalve 51:b46bed7fec80 587 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 588 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 589 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 590 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 591 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 592 {
Lightvalve 19:23b7c1ad8683 593 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 594
Lightvalve 21:e5f1a43ea6f9 595 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 596 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 597 ********************************************************/
Lightvalve 13:747daba9cf59 598
Lightvalve 57:f4819de54e7a 599 //Encoder
Lightvalve 57:f4819de54e7a 600 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 601 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 602 }
Lightvalve 61:bc8c8270f0ab 603
Lightvalve 61:bc8c8270f0ab 604 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 605 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 606 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 607 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 608 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 609 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 67:c2812cf26c38 610 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 67:c2812cf26c38 611
Lightvalve 67:c2812cf26c38 612
Lightvalve 67:c2812cf26c38 613 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 67:c2812cf26c38 614 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 67:c2812cf26c38 615 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 67:c2812cf26c38 616 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 67:c2812cf26c38 617 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 67:c2812cf26c38 618
Lightvalve 17:1865016ca2e7 619
Lightvalve 58:2eade98630e2 620 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 621 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 622 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 623 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 624 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 625 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 626 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 627 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 628 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 629
Lightvalve 58:2eade98630e2 630 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 631 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 632 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 633 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 634 }
Lightvalve 58:2eade98630e2 635 }
Lightvalve 61:bc8c8270f0ab 636
Lightvalve 58:2eade98630e2 637 // //Pressure sensor A
Lightvalve 58:2eade98630e2 638 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 639 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 640 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 641 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 642 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 643 // 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 644 //
Lightvalve 58:2eade98630e2 645 //
Lightvalve 58:2eade98630e2 646 // //Pressure sensor B
Lightvalve 58:2eade98630e2 647 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 648 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 649 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 650 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 651
Lightvalve 17:1865016ca2e7 652
Lightvalve 21:e5f1a43ea6f9 653 //Current
Lightvalve 21:e5f1a43ea6f9 654 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 655 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 656 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 657 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 658 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 659 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 660 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 661
Lightvalve 57:f4819de54e7a 662 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 663 }
Lightvalve 11:82d8768d7351 664 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 665 }
Lightvalve 19:23b7c1ad8683 666
Lightvalve 19:23b7c1ad8683 667
Lightvalve 18:b8adf1582ea3 668 int j =0;
Lightvalve 54:647072f5307a 669 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 670 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 671 int cnt_trans = 0;
Lightvalve 48:889798ff9329 672 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 57:f4819de54e7a 673 int can_rest =0;
Lightvalve 48:889798ff9329 674
Lightvalve 11:82d8768d7351 675 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 676 {
Lightvalve 19:23b7c1ad8683 677 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 678
Lightvalve 57:f4819de54e7a 679 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 680 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 681 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 682 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 683 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 684 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 685 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 686 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 687 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 688 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 689 }
Lightvalve 50:3c630b5eba9f 690
Lightvalve 50:3c630b5eba9f 691 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 692 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 693 cnt_trans++;
Lightvalve 46:2694daea349b 694 torq.err_sum = 0;
Lightvalve 48:889798ff9329 695 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 696 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 697 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 698 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 699 cnt_trans++;
Lightvalve 46:2694daea349b 700 torq.err_sum = 0;
Lightvalve 48:889798ff9329 701 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 702 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 703 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 704 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 705 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 706 } else {
Lightvalve 58:2eade98630e2 707 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 708 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 709 }
Lightvalve 45:35fa6884d0c6 710
Lightvalve 50:3c630b5eba9f 711
Lightvalve 57:f4819de54e7a 712 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 713 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 714
Lightvalve 57:f4819de54e7a 715 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 716 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 717 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 718 } else {
Lightvalve 57:f4819de54e7a 719 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 720 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 721 }
Lightvalve 56:6f50d9d3bfee 722
Lightvalve 56:6f50d9d3bfee 723
Lightvalve 56:6f50d9d3bfee 724
Lightvalve 57:f4819de54e7a 725 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 726
Lightvalve 57:f4819de54e7a 727 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 728 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 729 break;
Lightvalve 13:747daba9cf59 730 }
Lightvalve 14:8e7590227d22 731
Lightvalve 14:8e7590227d22 732 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 733 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 734 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 735 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 736
Lightvalve 14:8e7590227d22 737 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 738 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 739 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 740
Lightvalve 84:c355d3e52bf1 741 TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 742
Lightvalve 30:8d561f16383b 743 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 744 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 745
Lightvalve 16:903b5a4433b4 746 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 747 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 748 }
Lightvalve 13:747daba9cf59 749 } else {
Lightvalve 58:2eade98630e2 750 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 751 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 752 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 753 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 754
Lightvalve 16:903b5a4433b4 755 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 756
Lightvalve 30:8d561f16383b 757 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 758
Lightvalve 13:747daba9cf59 759 }
Lightvalve 14:8e7590227d22 760 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 761 break;
Lightvalve 19:23b7c1ad8683 762 }
Lightvalve 14:8e7590227d22 763
Lightvalve 50:3c630b5eba9f 764 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 765 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 766 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 767 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 768 // }
Lightvalve 50:3c630b5eba9f 769 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 770 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 771 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 772 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 773 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 774 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 775 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 776 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 777 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 778 // }
Lightvalve 50:3c630b5eba9f 779 //
Lightvalve 50:3c630b5eba9f 780 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 781 // 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 782 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 783 //
Lightvalve 50:3c630b5eba9f 784 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 785 // V_out = 0;
Lightvalve 50:3c630b5eba9f 786 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 787 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 788 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 789 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 790 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 791 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 792 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 793 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 794 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 795 //
Lightvalve 50:3c630b5eba9f 796 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 797 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 798 // // | / | / |/
Lightvalve 50:3c630b5eba9f 799 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 800 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 801 // // /| / | / |
Lightvalve 50:3c630b5eba9f 802 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 803 //
Lightvalve 50:3c630b5eba9f 804 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 805 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 806 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 807 // } else {
Lightvalve 50:3c630b5eba9f 808 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 809 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 810 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 811 // }
Lightvalve 50:3c630b5eba9f 812 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 813 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 814 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 815 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 816 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 817 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 818 // }
Lightvalve 50:3c630b5eba9f 819 // } else {
Lightvalve 50:3c630b5eba9f 820 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 821 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 822 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 823 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 824 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 825 // }
Lightvalve 50:3c630b5eba9f 826 // V_out = 0;
Lightvalve 50:3c630b5eba9f 827 //
Lightvalve 50:3c630b5eba9f 828 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 829 //
Lightvalve 50:3c630b5eba9f 830 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 831 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 832 //
Lightvalve 50:3c630b5eba9f 833 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 834 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 835 // }
Lightvalve 50:3c630b5eba9f 836 // }
Lightvalve 50:3c630b5eba9f 837 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 838 // break;
Lightvalve 50:3c630b5eba9f 839 // }
Lightvalve 14:8e7590227d22 840
Lightvalve 14:8e7590227d22 841 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 842 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 843 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 844 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 845 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 846 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 847 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 848 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 849 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 850 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 851 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 852 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 853 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 854 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 855 }
Lightvalve 29:69f3f5445d6d 856 cnt_findhome++;
Lightvalve 14:8e7590227d22 857
Lightvalve 29:69f3f5445d6d 858 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 859 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 860 } else {
Lightvalve 29:69f3f5445d6d 861 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 862 }
Lightvalve 19:23b7c1ad8683 863
Lightvalve 57:f4819de54e7a 864 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 865 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 67:c2812cf26c38 866 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 67:c2812cf26c38 867 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:bc8c8270f0ab 868
Lightvalve 59:f308b1656d9c 869 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 870 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 871 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 872 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 873 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 874
Lightvalve 59:f308b1656d9c 875 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 876 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 877
Lightvalve 34:bb2ca2fc2a8e 878
Lightvalve 29:69f3f5445d6d 879 } else {
Lightvalve 29:69f3f5445d6d 880 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 67:c2812cf26c38 881 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 882 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 883 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 884 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 885 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 886 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 887 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 888 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 889 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 890 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 891
Lightvalve 67:c2812cf26c38 892
Lightvalve 67:c2812cf26c38 893 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 894 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 895 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 896 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 897 vel.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 898 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 899 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 900
Lightvalve 67:c2812cf26c38 901
Lightvalve 29:69f3f5445d6d 902 }
Lightvalve 29:69f3f5445d6d 903 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 904 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 905 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 906 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 907 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 908
Lightvalve 29:69f3f5445d6d 909 // input for position control
Lightvalve 67:c2812cf26c38 910
Lightvalve 67:c2812cf26c38 911 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 912 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 913
Lightvalve 67:c2812cf26c38 914 double torq_ref = 0.0f;
Lightvalve 67:c2812cf26c38 915 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 916 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 917 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 918
Lightvalve 67:c2812cf26c38 919 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 67:c2812cf26c38 920
Lightvalve 67:c2812cf26c38 921 double I_REF_POS = 0.0f;
Lightvalve 67:c2812cf26c38 922 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 67:c2812cf26c38 923 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 67:c2812cf26c38 924
Lightvalve 67:c2812cf26c38 925 double temp_vel_pos = 0.0f;
Lightvalve 67:c2812cf26c38 926 double temp_vel_torq = 0.0f;
Lightvalve 67:c2812cf26c38 927 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 67:c2812cf26c38 928
Lightvalve 69:3995ffeaa786 929 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 67:c2812cf26c38 930 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 931 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 932 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 67:c2812cf26c38 933 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 934 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 935 }
Lightvalve 67:c2812cf26c38 936 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 937 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 938
Lightvalve 67:c2812cf26c38 939 I_REF = I_REF_POS;
Lightvalve 67:c2812cf26c38 940
Lightvalve 67:c2812cf26c38 941
Lightvalve 67:c2812cf26c38 942
Lightvalve 67:c2812cf26c38 943 } else {
Lightvalve 67:c2812cf26c38 944 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 67:c2812cf26c38 945 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 946
Lightvalve 67:c2812cf26c38 947 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 67:c2812cf26c38 948 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 67:c2812cf26c38 949 } else {
Lightvalve 67:c2812cf26c38 950 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 67:c2812cf26c38 951 }
Lightvalve 67:c2812cf26c38 952
Lightvalve 67:c2812cf26c38 953 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 67:c2812cf26c38 954
Lightvalve 67:c2812cf26c38 955 V_out = (float) Vout.ref;
Lightvalve 67:c2812cf26c38 956
Lightvalve 67:c2812cf26c38 957 }
Lightvalve 67:c2812cf26c38 958
Lightvalve 67:c2812cf26c38 959
Lightvalve 67:c2812cf26c38 960
Lightvalve 67:c2812cf26c38 961
Lightvalve 59:f308b1656d9c 962 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 963 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 964 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 965 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 966 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 967
Lightvalve 29:69f3f5445d6d 968 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 969 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 970 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 971 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 972 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 973 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 974 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 975 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 976 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 977 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 978 }
Lightvalve 13:747daba9cf59 979 }
Lightvalve 19:23b7c1ad8683 980
Lightvalve 13:747daba9cf59 981 break;
Lightvalve 13:747daba9cf59 982 }
Lightvalve 14:8e7590227d22 983
Lightvalve 50:3c630b5eba9f 984 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 985 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 986 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 987 // else {
Lightvalve 50:3c630b5eba9f 988 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 989 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 990 // }
Lightvalve 50:3c630b5eba9f 991 // }
Lightvalve 50:3c630b5eba9f 992 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 993 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 994 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 995 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 996 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 997 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 998 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 999 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1000 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1001 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1002 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1003 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 1004 // }
Lightvalve 50:3c630b5eba9f 1005 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1006 // }
Lightvalve 50:3c630b5eba9f 1007 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1008 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1009 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1010 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1011 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1012 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1013 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1014 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1015 // 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 1016 // // 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 1017 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1018 // }
Lightvalve 50:3c630b5eba9f 1019 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1020 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1021 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1022 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1023 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1024 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1025 // 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 1026 // // 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 1027 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1028 // }
Lightvalve 50:3c630b5eba9f 1029 // }
Lightvalve 50:3c630b5eba9f 1030 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1031 //
Lightvalve 50:3c630b5eba9f 1032 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1033 //
Lightvalve 50:3c630b5eba9f 1034 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1035 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1036 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1037 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1038 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1039 // }
Lightvalve 50:3c630b5eba9f 1040 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1041 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1042 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1043 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1044 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1045 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1046 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1047 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1048 // }
Lightvalve 50:3c630b5eba9f 1049 //
Lightvalve 50:3c630b5eba9f 1050 // }
Lightvalve 50:3c630b5eba9f 1051 // break;
Lightvalve 50:3c630b5eba9f 1052 // }
Lightvalve 50:3c630b5eba9f 1053 //
Lightvalve 50:3c630b5eba9f 1054 // }
Lightvalve 14:8e7590227d22 1055 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1056 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1057 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1058 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1059 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1060
Lightvalve 14:8e7590227d22 1061 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1062 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1063 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1064 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1065 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1066
Lightvalve 38:118df027d851 1067 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1068 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1069 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1070
Lightvalve 30:8d561f16383b 1071 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1072 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1073 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1074 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1075
Lightvalve 30:8d561f16383b 1076 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1077 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1078 }
Lightvalve 13:747daba9cf59 1079 } else {
Lightvalve 57:f4819de54e7a 1080 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1081 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1082 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1083 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1084 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1085 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1086
Lightvalve 16:903b5a4433b4 1087 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1088
Lightvalve 30:8d561f16383b 1089 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1090 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1091 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1092 }
Lightvalve 14:8e7590227d22 1093 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1094 break;
Lightvalve 13:747daba9cf59 1095 }
Lightvalve 14:8e7590227d22 1096
Lightvalve 50:3c630b5eba9f 1097 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1098 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1099 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1100 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1101 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1102 // }
Lightvalve 50:3c630b5eba9f 1103 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1104 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1105 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1106 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1107 // }
Lightvalve 50:3c630b5eba9f 1108 // } else {
Lightvalve 50:3c630b5eba9f 1109 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1110 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1111 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1112 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1113 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1114 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1115 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1116 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1117 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1118 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1119 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1120 //
Lightvalve 50:3c630b5eba9f 1121 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1122 //
Lightvalve 50:3c630b5eba9f 1123 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1124 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1125 // }
Lightvalve 50:3c630b5eba9f 1126 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1127 // break;
Lightvalve 50:3c630b5eba9f 1128 // }
Lightvalve 19:23b7c1ad8683 1129
Lightvalve 50:3c630b5eba9f 1130 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1131 // 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 1132 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1133 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1134 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1135 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1136 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1137 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1138 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1139 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1140 // }
Lightvalve 50:3c630b5eba9f 1141 // break;
Lightvalve 50:3c630b5eba9f 1142 // }
Lightvalve 14:8e7590227d22 1143
Lightvalve 14:8e7590227d22 1144 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1145 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1146 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1147
Lightvalve 14:8e7590227d22 1148 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1149 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1150 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1151 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1152 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1153 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1154 data_num = 0;
Lightvalve 14:8e7590227d22 1155 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1156 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1157 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1158 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1159 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1160 } else {
Lightvalve 13:747daba9cf59 1161 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1162 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1163 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1164 }
Lightvalve 14:8e7590227d22 1165
Lightvalve 17:1865016ca2e7 1166 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1167 int i;
Lightvalve 13:747daba9cf59 1168 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1169 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1170 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1171 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1172 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1173 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1174 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1175 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1176 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1177 }
Lightvalve 13:747daba9cf59 1178 }
Lightvalve 59:f308b1656d9c 1179 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1180 ID_index = 0;
Lightvalve 57:f4819de54e7a 1181 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1182 }
Lightvalve 14:8e7590227d22 1183
Lightvalve 14:8e7590227d22 1184
Lightvalve 13:747daba9cf59 1185 break;
Lightvalve 13:747daba9cf59 1186 }
Lightvalve 14:8e7590227d22 1187
Lightvalve 14:8e7590227d22 1188 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1189 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1190 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1191 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1192 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1193 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1194 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1195 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1196 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1197 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1198 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1199 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1200 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1201 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1202 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1203 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 1204 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1205 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 1206 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1207 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1208 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1209 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 1210 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1211 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1212 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1213 data_num = 0;
Lightvalve 14:8e7590227d22 1214
Lightvalve 30:8d561f16383b 1215 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1216 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1217 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1218
Lightvalve 30:8d561f16383b 1219 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1220 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1221 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1222
Lightvalve 30:8d561f16383b 1223 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1224 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1225 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1226 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1227
Lightvalve 60:64181f1d3e60 1228 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1229 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1230 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1231 DZ_case = -1;
Lightvalve 14:8e7590227d22 1232 } else {
Lightvalve 13:747daba9cf59 1233 DZ_case = 0;
Lightvalve 13:747daba9cf59 1234 }
Lightvalve 61:bc8c8270f0ab 1235
Lightvalve 60:64181f1d3e60 1236 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1237
Lightvalve 13:747daba9cf59 1238 first_check = 1;
Lightvalve 13:747daba9cf59 1239 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1240 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1241 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1242 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1243 DZ_index = 1;
Lightvalve 14:8e7590227d22 1244
Lightvalve 13:747daba9cf59 1245 }
Lightvalve 19:23b7c1ad8683 1246 } else {
Lightvalve 14:8e7590227d22 1247 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1248 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1249 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 1250 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1251 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1252 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1253 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1254 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1255 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1256 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1257 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1258 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1259 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1260 }
Lightvalve 14:8e7590227d22 1261 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1262
Lightvalve 30:8d561f16383b 1263 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1264 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1265 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1266
Lightvalve 14:8e7590227d22 1267 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1268 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1269 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1270 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1271 } else {
Lightvalve 13:747daba9cf59 1272 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1273 }
Lightvalve 14:8e7590227d22 1274
Lightvalve 13:747daba9cf59 1275 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1276 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1277 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1278 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1279 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1280 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1281 DZ_index = 1;
Lightvalve 13:747daba9cf59 1282 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1283 }
Lightvalve 13:747daba9cf59 1284 }
Lightvalve 14:8e7590227d22 1285 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1286 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1287 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 1288 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1289 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1290 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1291 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1292 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1293 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1294 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1295 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1296 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1297 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1298 }
Lightvalve 14:8e7590227d22 1299 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1300
Lightvalve 30:8d561f16383b 1301 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1302 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1303 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1304 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1305 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1306
Lightvalve 14:8e7590227d22 1307 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 1308 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1309 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1310 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1311 } else {
Lightvalve 60:64181f1d3e60 1312 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 1313 }
Lightvalve 14:8e7590227d22 1314
Lightvalve 13:747daba9cf59 1315 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 1316 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 1317 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1318 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1319 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1320 first_check = 0;
Lightvalve 33:91b17819ec30 1321 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1322 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1323
Lightvalve 16:903b5a4433b4 1324 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1325
Lightvalve 60:64181f1d3e60 1326 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1327 DZ_index = 1;
Lightvalve 13:747daba9cf59 1328 }
Lightvalve 13:747daba9cf59 1329 }
Lightvalve 14:8e7590227d22 1330 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1331 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1332 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 1333 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1334 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1335 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1336 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1337 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1338 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1339 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1340 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1341 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1342 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1343 }
Lightvalve 14:8e7590227d22 1344 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1345
Lightvalve 30:8d561f16383b 1346 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1347 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1348 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1349
Lightvalve 14:8e7590227d22 1350 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1351 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1352 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1353 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1354 } else {
Lightvalve 13:747daba9cf59 1355 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1356 }
Lightvalve 13:747daba9cf59 1357 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1358 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1359 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1360 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1361 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1362 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1363 DZ_index = 1;
Lightvalve 13:747daba9cf59 1364 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1365 }
Lightvalve 13:747daba9cf59 1366 }
Lightvalve 14:8e7590227d22 1367 } else {
Lightvalve 30:8d561f16383b 1368 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1369 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 1370 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1371 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1372 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1373 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1374 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1375 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1376 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1377 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1378 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1379 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1380 }
Lightvalve 14:8e7590227d22 1381 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1382
Lightvalve 30:8d561f16383b 1383 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1384 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1385 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1386 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1387 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 1388
Lightvalve 60:64181f1d3e60 1389 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1390 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1391 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1392 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 1393 } else {
Lightvalve 13:747daba9cf59 1394 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1395 }
Lightvalve 14:8e7590227d22 1396
Lightvalve 13:747daba9cf59 1397 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1398 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1399 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1400 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1401 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1402 first_check = 0;
Lightvalve 33:91b17819ec30 1403 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1404 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 1405
Lightvalve 59:f308b1656d9c 1406 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1407
Lightvalve 57:f4819de54e7a 1408 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1409 DZ_index = 1;
Lightvalve 13:747daba9cf59 1410 }
Lightvalve 13:747daba9cf59 1411 }
Lightvalve 13:747daba9cf59 1412 }
Lightvalve 14:8e7590227d22 1413 }
Lightvalve 13:747daba9cf59 1414 break;
Lightvalve 13:747daba9cf59 1415 }
Lightvalve 14:8e7590227d22 1416
Lightvalve 14:8e7590227d22 1417 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 1418 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1419 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1420 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1421 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1422 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1423 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1424 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1425 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1426 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1427 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1428 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1429 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1430 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1431 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 1432 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1433 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1434 first_check = 1;
Lightvalve 13:747daba9cf59 1435 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1436 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 1437 ID_index = 0;
Lightvalve 13:747daba9cf59 1438 max_check = 0;
Lightvalve 13:747daba9cf59 1439 min_check = 0;
Lightvalve 13:747daba9cf59 1440 }
Lightvalve 14:8e7590227d22 1441 } else {
Lightvalve 30:8d561f16383b 1442 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1443 //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 1444 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 1445 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1446 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1447 data_num = 0;
Lightvalve 57:f4819de54e7a 1448 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1449
Lightvalve 14:8e7590227d22 1450 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1451 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1452 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 1453 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1454 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1455 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1456 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1457 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1458 one_period_end = 1;
Lightvalve 13:747daba9cf59 1459 }
Lightvalve 30:8d561f16383b 1460 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1461 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1462 one_period_end = 1;
Lightvalve 59:f308b1656d9c 1463 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1464 }
Lightvalve 14:8e7590227d22 1465
Lightvalve 14:8e7590227d22 1466 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1467 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1468 max_check = 1;
Lightvalve 14:8e7590227d22 1469 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1470 min_check = 1;
Lightvalve 13:747daba9cf59 1471 }
Lightvalve 13:747daba9cf59 1472 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1473
Lightvalve 13:747daba9cf59 1474 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1475 one_period_end = 0;
Lightvalve 13:747daba9cf59 1476 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1477 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1478 }
Lightvalve 14:8e7590227d22 1479
Lightvalve 14:8e7590227d22 1480 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1481
Lightvalve 13:747daba9cf59 1482 VALVE_POS_NUM = ID_index;
Lightvalve 59:f308b1656d9c 1483 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1484 ID_index = 0;
Lightvalve 13:747daba9cf59 1485 first_check = 0;
Lightvalve 13:747daba9cf59 1486 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1487 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 1488 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1489 }
Lightvalve 13:747daba9cf59 1490 }
Lightvalve 13:747daba9cf59 1491 break;
Lightvalve 13:747daba9cf59 1492 }
Lightvalve 58:2eade98630e2 1493
Lightvalve 57:f4819de54e7a 1494 case MODE_SYSTEM_ID: {
Lightvalve 57:f4819de54e7a 1495 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve 57:f4819de54e7a 1496 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 1497 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 1498 cnt_sysid++;
Lightvalve 57:f4819de54e7a 1499 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 1500 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 1501 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1502 }
Lightvalve 57:f4819de54e7a 1503 break;
Lightvalve 57:f4819de54e7a 1504 }
Lightvalve 58:2eade98630e2 1505
Lightvalve 58:2eade98630e2 1506
Lightvalve 57:f4819de54e7a 1507
Lightvalve 57:f4819de54e7a 1508 default:
Lightvalve 57:f4819de54e7a 1509 break;
Lightvalve 57:f4819de54e7a 1510 }
Lightvalve 57:f4819de54e7a 1511
Lightvalve 57:f4819de54e7a 1512 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 1513
Lightvalve 57:f4819de54e7a 1514 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 1515 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 1516 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 1517 break;
Lightvalve 57:f4819de54e7a 1518 }
Lightvalve 57:f4819de54e7a 1519
Lightvalve 57:f4819de54e7a 1520 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 1521 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 57:f4819de54e7a 1522 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:f308b1656d9c 1523 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 1524 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 1525 V_out = valve_pos.ref;
Lightvalve 67:c2812cf26c38 1526 } else {
Lightvalve 67:c2812cf26c38 1527 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 1528 }
Lightvalve 58:2eade98630e2 1529
Lightvalve 57:f4819de54e7a 1530 break;
Lightvalve 57:f4819de54e7a 1531 }
Lightvalve 57:f4819de54e7a 1532
Lightvalve 57:f4819de54e7a 1533 case MODE_JOINT_CONTROL: {
Lightvalve 57:f4819de54e7a 1534 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 1535 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 1536 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 1537 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 1538
Lightvalve 67:c2812cf26c38 1539 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 1540 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 1541 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1542 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1543
Lightvalve 67:c2812cf26c38 1544 torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 57:f4819de54e7a 1545
Lightvalve 57:f4819de54e7a 1546 // torque feedback
Lightvalve 67:c2812cf26c38 1547 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 1548 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 1549
Lightvalve 57:f4819de54e7a 1550 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 1551
Lightvalve 57:f4819de54e7a 1552 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 1553 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 1554 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 1555
Lightvalve 57:f4819de54e7a 1556 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 1557 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 1558 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 1559
Lightvalve 69:3995ffeaa786 1560 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1561 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 1562 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 1563 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1564 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 1565 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 1566 }
Lightvalve 57:f4819de54e7a 1567 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 1568 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1569
Lightvalve 57:f4819de54e7a 1570 // velocity compensation for torque control
Lightvalve 69:3995ffeaa786 1571 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1572 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 1573 // 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 1574 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 1575 // L feedforward velocity
Lightvalve 69:3995ffeaa786 1576 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1577 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 1578 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1579 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1580 // L feedforward velocity
Lightvalve 57:f4819de54e7a 1581 }
Lightvalve 57:f4819de54e7a 1582 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 1583 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1584 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 1585 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 1586 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 1587
Lightvalve 57:f4819de54e7a 1588 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 67:c2812cf26c38 1589
Lightvalve 67:c2812cf26c38 1590 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 1591 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 1592 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 1593 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 1594 if (I_REF > I_MAX) {
Lightvalve 67:c2812cf26c38 1595 double I_rem = I_REF - I_MAX;
Lightvalve 67:c2812cf26c38 1596 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1597 I_REF = I_MAX;
Lightvalve 67:c2812cf26c38 1598 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1599 } else if (I_REF < -I_MAX) {
Lightvalve 67:c2812cf26c38 1600 double I_rem = I_REF - (-I_MAX);
Lightvalve 67:c2812cf26c38 1601 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1602 I_REF = -I_MAX;
Lightvalve 67:c2812cf26c38 1603 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1604 }
Lightvalve 67:c2812cf26c38 1605 }
Lightvalve 57:f4819de54e7a 1606
Lightvalve 57:f4819de54e7a 1607 } else {
Lightvalve 57:f4819de54e7a 1608 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 72:3436ce769b1e 1609 float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 1610 float VALVE_POS_RAW = 0.0f;
Lightvalve 72:3436ce769b1e 1611
Lightvalve 57:f4819de54e7a 1612 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 1613 + 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 1614
Lightvalve 72:3436ce769b1e 1615 VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f;
Lightvalve 72:3436ce769b1e 1616
Lightvalve 72:3436ce769b1e 1617 VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve 72:3436ce769b1e 1618
Lightvalve 72:3436ce769b1e 1619
Lightvalve 72:3436ce769b1e 1620 if (VALVE_POS_RAW >= 0) {
Lightvalve 72:3436ce769b1e 1621 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 1622 } else {
Lightvalve 72:3436ce769b1e 1623 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 1624 }
Lightvalve 57:f4819de54e7a 1625
Lightvalve 57:f4819de54e7a 1626 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 57:f4819de54e7a 1627 double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 1628 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 1629 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1630 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1631 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1632 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1633 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 1634 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1635 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1636 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1637 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1638 }
Lightvalve 57:f4819de54e7a 1639 }
Lightvalve 61:bc8c8270f0ab 1640
Lightvalve 57:f4819de54e7a 1641 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1642
Lightvalve 67:c2812cf26c38 1643 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 1644 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1645
Lightvalve 57:f4819de54e7a 1646 }
Lightvalve 72:3436ce769b1e 1647
Lightvalve 72:3436ce769b1e 1648 torq_ref_past = torq_ref;
Lightvalve 58:2eade98630e2 1649
Lightvalve 57:f4819de54e7a 1650 break;
Lightvalve 57:f4819de54e7a 1651 }
Lightvalve 58:2eade98630e2 1652
Lightvalve 57:f4819de54e7a 1653 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 1654 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1655 break;
Lightvalve 57:f4819de54e7a 1656 }
Lightvalve 14:8e7590227d22 1657
Lightvalve 12:6f2531038ea4 1658 default:
Lightvalve 12:6f2531038ea4 1659 break;
Lightvalve 12:6f2531038ea4 1660 }
Lightvalve 14:8e7590227d22 1661
Lightvalve 57:f4819de54e7a 1662
Lightvalve 57:f4819de54e7a 1663 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 1664
Lightvalve 57:f4819de54e7a 1665 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1666 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 1667 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1668 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 1669 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 1670 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 1671
Lightvalve 57:f4819de54e7a 1672 I_ERR = I_REF_fil - cur.sen;
Lightvalve 67:c2812cf26c38 1673 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 1674
Lightvalve 57:f4819de54e7a 1675
Lightvalve 57:f4819de54e7a 1676 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 1677 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 1678 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 1679 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 1680 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 1681 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 1682
Lightvalve 57:f4819de54e7a 1683 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 1684 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 1685 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 1686 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 1687 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 1688 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 1689 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 1690 }
Lightvalve 57:f4819de54e7a 1691
Lightvalve 57:f4819de54e7a 1692 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 1693
Lightvalve 67:c2812cf26c38 1694 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 1695 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 1696 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 1697 I_REF_fil_old = I_REF_fil;
Lightvalve 67:c2812cf26c38 1698 // 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 1699 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 67:c2812cf26c38 1700 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 1701
Lightvalve 57:f4819de54e7a 1702 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 1703 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 1704 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 1705 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1706 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 1707 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1708 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 1709 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 1710 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1711 VALVE_PWM_RAW = -V_MAX;
Lightvalve 67:c2812cf26c38 1712 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1713 }
Lightvalve 57:f4819de54e7a 1714 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1715 } else {
Lightvalve 57:f4819de54e7a 1716 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 1717 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1718 }
Lightvalve 57:f4819de54e7a 1719
Lightvalve 57:f4819de54e7a 1720 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1721 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 1722 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1723 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 1724 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 1725 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1726 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1727
Lightvalve 57:f4819de54e7a 1728 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1729
Lightvalve 57:f4819de54e7a 1730 } else {
Lightvalve 57:f4819de54e7a 1731 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 1732 }
Lightvalve 57:f4819de54e7a 1733
Lightvalve 57:f4819de54e7a 1734 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 1735 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 67:c2812cf26c38 1736 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 1737
Lightvalve 57:f4819de54e7a 1738 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 1739 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 1740 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 1741 else V_out = (float) (CUR_PWM_lin);
Lightvalve 57:f4819de54e7a 1742 }
Lightvalve 89:a7b45368ea0f 1743 else { //////////////////////////sw valve
Lightvalve 89:a7b45368ea0f 1744 // Output Voltage Linearization
Lightvalve 89:a7b45368ea0f 1745 double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve 89:a7b45368ea0f 1746 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 89:a7b45368ea0f 1747
Lightvalve 89:a7b45368ea0f 1748 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 89:a7b45368ea0f 1749 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 89:a7b45368ea0f 1750 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 89:a7b45368ea0f 1751 else V_out = (float) (CUR_PWM_lin);
Lightvalve 89:a7b45368ea0f 1752 }
Lightvalve 67:c2812cf26c38 1753
Lightvalve 67:c2812cf26c38 1754 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 67:c2812cf26c38 1755 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 67:c2812cf26c38 1756 // else V_out = V_out;
Lightvalve 67:c2812cf26c38 1757
jobuuu 7:e9086c72bb22 1758 /*******************************************************
jobuuu 7:e9086c72bb22 1759 *** PWM
jobuuu 7:e9086c72bb22 1760 ********************************************************/
Lightvalve 67:c2812cf26c38 1761 if(DIR_VALVE<0){
Lightvalve 67:c2812cf26c38 1762 V_out = -V_out;
Lightvalve 67:c2812cf26c38 1763 }
Lightvalve 67:c2812cf26c38 1764
Lightvalve 49:e7bcfc244d40 1765 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1766 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1767 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1768 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1769 }
Lightvalve 49:e7bcfc244d40 1770 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1771
Lightvalve 19:23b7c1ad8683 1772 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1773 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1774 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1775
Lightvalve 30:8d561f16383b 1776 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1777 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1778 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1779 } else {
jobuuu 2:a1c0a37df760 1780 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1781 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1782 }
Lightvalve 13:747daba9cf59 1783
jobuuu 1:e04e563be5ce 1784 //pwm
Lightvalve 30:8d561f16383b 1785 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1786 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 1787
Lightvalve 61:bc8c8270f0ab 1788
Lightvalve 57:f4819de54e7a 1789 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 20:806196fda269 1790
Lightvalve 54:647072f5307a 1791 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 1792 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 1793 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 1794 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1795 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 1796 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1797 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 1798 }
Lightvalve 57:f4819de54e7a 1799 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 1800 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1801 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 1802 } else if (SENSING_MODE == 1) {
Lightvalve 67:c2812cf26c38 1803 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 1804 }
Lightvalve 52:8ea76864368a 1805 }
Lightvalve 52:8ea76864368a 1806 }
Lightvalve 56:6f50d9d3bfee 1807 if (flag_data_request[1] == HIGH) {
Lightvalve 54:647072f5307a 1808 //valve position
Lightvalve 54:647072f5307a 1809 double t_value = 0;
Lightvalve 89:a7b45368ea0f 1810 // if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 89:a7b45368ea0f 1811 // t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1812 // } else {
Lightvalve 89:a7b45368ea0f 1813 // t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1814 // }
Lightvalve 89:a7b45368ea0f 1815 if(OPERATING_MODE==5) {
Lightvalve 89:a7b45368ea0f 1816 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 89:a7b45368ea0f 1817 t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1818 } else {
Lightvalve 89:a7b45368ea0f 1819 t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1820 }
Lightvalve 89:a7b45368ea0f 1821 //t_value = (double) value;
Lightvalve 89:a7b45368ea0f 1822 } else if(CURRENT_CONTROL_MODE==1) {
Lightvalve 89:a7b45368ea0f 1823 t_value = cur.sen * 1000.0f;
Lightvalve 67:c2812cf26c38 1824 } else {
Lightvalve 89:a7b45368ea0f 1825 t_value = V_out;
Lightvalve 67:c2812cf26c38 1826 }
Lightvalve 67:c2812cf26c38 1827 CAN_TX_TORQUE((int16_t) (t_value)); //1300
Lightvalve 67:c2812cf26c38 1828 //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
Lightvalve 67:c2812cf26c38 1829 //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
Lightvalve 54:647072f5307a 1830 }
Lightvalve 58:2eade98630e2 1831
Lightvalve 58:2eade98630e2 1832
Lightvalve 89:a7b45368ea0f 1833 if (flag_data_request[2] == LOW) {
Lightvalve 89:a7b45368ea0f 1834 //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // 1400
Lightvalve 89:a7b45368ea0f 1835 double t_value = 0;
Lightvalve 89:a7b45368ea0f 1836 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 89:a7b45368ea0f 1837 t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1838 } else {
Lightvalve 89:a7b45368ea0f 1839 t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1840 }
Lightvalve 89:a7b45368ea0f 1841 CAN_TX_PRES((int16_t) (t_value), (int16_t) (V_out)); // 1400
Lightvalve 55:b25725257569 1842 }
Lightvalve 58:2eade98630e2 1843
Lightvalve 57:f4819de54e7a 1844 //If it doesn't rest, below can can not work.
Lightvalve 57:f4819de54e7a 1845 for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 1846 ;
Lightvalve 57:f4819de54e7a 1847 }
Lightvalve 58:2eade98630e2 1848
Lightvalve 56:6f50d9d3bfee 1849 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 1850 //PWM
Lightvalve 73:f80dc3970c99 1851 //CAN_TX_PWM((int16_t) value); //1500
Lightvalve 73:f80dc3970c99 1852 CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500
Lightvalve 54:647072f5307a 1853 }
Lightvalve 57:f4819de54e7a 1854 //for (i = 0; i < 10000; i++) {
Lightvalve 57:f4819de54e7a 1855 // ;
Lightvalve 57:f4819de54e7a 1856 // }
Lightvalve 56:6f50d9d3bfee 1857 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 1858 //valve position
Lightvalve 73:f80dc3970c99 1859 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 1860 }
Lightvalve 20:806196fda269 1861
Lightvalve 54:647072f5307a 1862 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 1863 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 1864 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 1865 // }
Lightvalve 54:647072f5307a 1866 //if (flag_delay_test == 1){
Lightvalve 58:2eade98630e2 1867 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 54:647072f5307a 1868 //}
Lightvalve 52:8ea76864368a 1869
Lightvalve 54:647072f5307a 1870 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1871 }
Lightvalve 54:647072f5307a 1872 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 1873
Lightvalve 20:806196fda269 1874 }
Lightvalve 52:8ea76864368a 1875 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1876
Lightvalve 58:2eade98630e2 1877 }