HydraulicControlBoard_PostLIGHT_210420 - [Ver 1.0] The code was given by Seunghoon shin, u…

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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@93:82ce526d307b, 2020-08-06 (annotated)

Committer:: Lightvalve
Date:: Thu Aug 06 00:45:47 2020 +0000
Revision:: 93:82ce526d307b
Parent:: 92:c7eda9710d76
Child:: 94:44ae3b5a3bff

200806-1

Who changed what in which revision?

User	Revision	Line number	New contents of line
Lightvalve	93:82ce526d307b	1	//200806-1
GiJeongKim	0:51c43836c1d7	2	#include "mbed.h"
GiJeongKim	0:51c43836c1d7	3	#include "FastPWM.h"
GiJeongKim	0:51c43836c1d7	4	#include "INIT_HW.h"
jobuuu	2:a1c0a37df760	5	#include "function_CAN.h"
GiJeongKim	0:51c43836c1d7	6	#include "SPI_EEP_ENC.h"
GiJeongKim	0:51c43836c1d7	7	#include "I2C_AS5510.h"
GiJeongKim	0:51c43836c1d7	8	#include "setting.h"
Lightvalve	11:82d8768d7351	9	#include "function_utilities.h"
Lightvalve	16:903b5a4433b4	10	#include "stm32f4xx_flash.h"
Lightvalve	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	93:82ce526d307b	196	{-2.3771536350250244f,-2.4147400856018066f,0.13533532619476318f,2.3264987468719482f,-3.2017970085144043f,1.233437180519104f,-0.18325737118721008f,0.4152172803878784f,-1.2008867263793945f,-1.970816731452942f,2.0565152168273926f,-3.4325225353240967f,-0.2659868001937866f,0.001829221728257835f,-0.26971113681793213f,1.0835556983947754f},
Lightvalve	93:82ce526d307b	197	{-0.19062118232250214f,0.03223118185997009f,-0.41195717453956604f,-0.41070258617401123f,-0.8986526727676392f,-0.24191197752952576f,-0.425188273191452f,-0.22388987243175507f,-0.02280586026608944f,0.6113893985748291f,-0.4194832146167755f,-1.1754637956619263f,0.2582226097583771f,-0.27610325813293457f,-0.2199118435382843f,-0.594532310962677f},
Lightvalve	93:82ce526d307b	198	{1.531005620956421f,2.0075883865356445f,0.3816739320755005f,-2.771068811416626f,1.3764415979385376f,-1.2889831066131592f,0.30123186111450195f,-0.526862382888794f,0.7485085725784302f,2.4642910957336426f,-2.476294755935669f,0.5455962419509888f,0.008535606786608696f,0.5003420114517212f,0.05863076448440552f,-2.38211989402771f},
Lightvalve	93:82ce526d307b	199	{-0.19304201006889343f,-0.01879366859793663f,0.41681867837905884f,0.45895177125930786f,0.2884766161441803f,0.000879417231772095f,-0.12149989604949951f,0.24193798005580902f,-0.23067514598369598f,0.6870368123054504f,-0.2977733910083771f,0.5257893800735474f,-0.16677504777908325f,0.11791778355836868f,-0.31060048937797546f,2.3510255813598633f},
Lightvalve	93:82ce526d307b	200	{1.3198224306106567f,0.42684921622276306f,-0.005396246910095215f,0.24970243871212006f,0.6908012628555298f,-0.2897149920463562f,0.13571947813034058f,-0.19875138998031616f,0.19320441782474518f,0.7825799584388733f,0.013372531160712242f,1.4610979557037354f,-0.06542050838470459f,0.2539774775505066f,-0.40537047386169434f,-0.8646978139877319f},
Lightvalve	93:82ce526d307b	201	{0.7837745547294617f,-0.6991989612579346f,0.22836029529571533f,0.5572574138641357f,0.34632208943367004f,-0.5579445362091064f,0.17320233583450317f,-0.4717766046524048f,0.05431273952126503f,0.5040238499641418f,-0.16327421367168427f,1.1275310516357422f,-0.2714647650718689f,0.32991886138916016f,-0.4334552586078644f,-0.534294605255127f},
Lightvalve	93:82ce526d307b	202	{-0.17103277146816254f,-0.43306225538253784f,-0.26241058111190796f,-0.22277630865573883f,-0.3548741042613983f,-0.04676518961787224f,0.06307727098464966f,-0.5058503150939941f,0.3379543423652649f,-0.008536985144019127f,0.5631231069564819f,0.8718691468238831f,-0.17404720187187195f,0.3169563412666321f,-0.1638074517250061f,0.4568324387073517f},
Lightvalve	93:82ce526d307b	203	{-0.23186154663562775f,-0.1762784719467163f,-0.2791902422904968f,-0.0916130468249321f,-0.006486302707344294f,-0.5802677273750305f,-0.18800833821296692f,-0.5160291194915771f,0.14934036135673523f,0.09984509646892548f,0.31494438648223877f,0.49281051754951477f,0.39641278982162476f,0.08825735747814178f,0.04513084888458252f,0.9518773555755615f},
Lightvalve	93:82ce526d307b	204	{-0.4094240069389343f,-0.03636583313345909f,0.10748296976089478f,-0.16870535910129547f,-0.46709224581718445f,0.014723450876772404f,-0.07600703835487366f,-0.47481316328048706f,-0.5690944194793701f,0.07107128947973251f,0.1548866182565689f,0.5292242765426636f,0.2469109147787094f,0.2020832598209381f,-0.32046639919281006f,1.1700475215911865f},
Lightvalve	93:82ce526d307b	205	{-0.23583416640758514f,-0.46312394738197327f,0.19363796710968018f,-0.2667985260486603f,-0.11733981221914291f,-0.12140815705060959f,-0.31365057826042175f,-0.2825150191783905f,-0.059644803404808044f,-0.12207283079624176f,0.10737849026918411f,-0.03949689492583275f,0.39711716771125793f,-0.2237219512462616f,0.36550790071487427f,0.05939055606722832f},
Lightvalve	93:82ce526d307b	206	{0.10341692715883255f,0.03226297348737717f,0.3899726867675781f,0.005266346037387848f,-0.12320651113986969f,-0.3797290623188019f,-0.21332034468650818f,-0.1804075390100479f,-0.46288827061653137f,0.3530488908290863f,0.45269685983657837f,-0.2376856505870819f,-0.06315956264734268f,-0.01081634871661663f,0.279909610748291f,-0.43030232191085815f},
Lightvalve	93:82ce526d307b	207	{-0.7746388912200928f,-0.39577290415763855f,-0.42287975549697876f,-0.06327618658542633f,-0.04851914569735527f,-0.2735695540904999f,0.1608651876449585f,0.31454774737358093f,-0.3293530344963074f,0.20835524797439575f,-0.21056784689426422f,-0.3795880675315857f,0.15818475186824799f,-0.04685147479176521f,0.11006170511245728f,-0.35550644993782043f},
Lightvalve	93:82ce526d307b	208	{-0.0033563452307134867f,0.07157719135284424f,0.2081671953201294f,0.03393646702170372f,0.4167768359184265f,-0.14130116999149323f,-0.2521669864654541f,0.03561900556087494f,-0.28581687808036804f,0.011126055382192135f,-0.21424362063407898f,-0.8866655230522156f,0.10286256670951843f,-0.001289761858060956f,-0.2335498034954071f,-1.5079231262207031f},
Lightvalve	93:82ce526d307b	209	{-0.11904775351285934f,0.19667743146419525f,0.4329291582107544f,-0.047108568251132965f,-0.03608822450041771f,-0.5758692026138306f,-0.3356325030326843f,-0.5421925783157349f,-0.24888846278190613f,-0.05594641715288162f,-0.36030814051628113f,-1.1245392560958862f,-0.3216351866722107f,-0.06003706157207489f,0.050309598445892334f,-1.3332582712173462f},
Lightvalve	65:a2d7c63419c2	210	};
Lightvalve	65:a2d7c63419c2	211
Lightvalve	90:a6cfef34bdce	212	const float h2[16][16] = {
Lightvalve	93:82ce526d307b	213	{-0.455888032913208f,-0.14679668843746185f,-0.06966331601142883f,-0.1318572759628296f,-0.21907491981983185f,0.044860512018203735f,-1.6504579782485962f,-0.06585501879453659f,-0.43008196353912354f,-0.1415480375289917f,-1.0603834390640259f,-0.18687354028224945f,0.6923779249191284f,-0.3948051929473877f,0.15369567275047302f,-0.8702224493026733f},
Lightvalve	93:82ce526d307b	214	{0.05762401968240738f,0.35007184743881226f,0.057057321071624756f,0.09068140387535095f,-0.35503754019737244f,-0.46334362030029297f,-5.357752323150635f,-0.44913724064826965f,-0.33757925033569336f,0.2895788848400116f,-1.2973570823669434f,-0.7569544911384583f,0.4692482352256775f,-0.3284960091114044f,-0.8536267280578613f,-0.738696277141571f},
Lightvalve	90:a6cfef34bdce	215	{-0.22745239734649658f,0.003037691116333008f,-0.061119019985198975f,0.35696902871131897f,0.05568113923072815f,0.011741191148757935f,-0.20225946605205536f,-0.08465918898582458f,0.3489862382411957f,0.0687277615070343f,0.31964078545570374f,0.3004753887653351f,0.36063823103904724f,-0.42892736196517944f,0.08652284741401672f,0.027493387460708618f},
Lightvalve	93:82ce526d307b	216	{-0.03518028184771538f,-2.511378526687622f,-0.2894435524940491f,-0.38630667328834534f,0.08946844935417175f,-1.4038612842559814f,3.2143571376800537f,0.258908212184906f,0.26211628317832947f,0.2953031361103058f,-4.30019474029541f,0.27690333127975464f,-2.748992919921875f,2.8212249279022217f,4.004690170288086f,0.26833152770996094f},
Lightvalve	93:82ce526d307b	217	{-0.6857200860977173f,1.3774811029434204f,-0.25313520431518555f,0.3402732014656067f,0.036378175020217896f,0.03573961183428764f,-7.62277364730835f,-0.24234433472156525f,-0.024399548768997192f,-0.39465832710266113f,-5.363894939422607f,-0.613667905330658f,0.45700809359550476f,-0.7768030762672424f,-0.9898209571838379f,-1.1461988687515259f},
Lightvalve	93:82ce526d307b	218	{0.30268362164497375f,0.36889347434043884f,-0.3519742488861084f,0.1227024495601654f,-0.3015052080154419f,-0.4720744490623474f,0.48714736104011536f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-0.36364707350730896f,-0.057686254382133484f,0.10060111433267593f,0.3636399507522583f,0.5054047703742981f,-0.3584473729133606f},
Lightvalve	90:a6cfef34bdce	219	{-0.1828227937221527f,-0.02554568648338318f,-0.3260969817638397f,0.08422836661338806f,-0.38453540205955505f,-0.25432005524635315f,0.285016268491745f,0.12387624382972717f,-0.0982072651386261f,0.13111665844917297f,-0.03692615032196045f,-0.32796353101730347f,-0.21546880900859833f,0.049302369356155396f,-0.27088475227355957f,-0.4124959409236908f},
Lightvalve	93:82ce526d307b	220	{0.027001433074474335f,0.37226438522338867f,0.33083590865135193f,-0.18981531262397766f,-0.14358049631118774f,-0.7751192450523376f,-0.09043094515800476f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,0.1767406463623047f,-0.3191187083721161f,-0.4377056956291199f,0.6396176815032959f,0.16373829543590546f,0.33720695972442627f},
Lightvalve	93:82ce526d307b	221	{-0.868039071559906f,0.25605595111846924f,-0.11379697918891907f,0.03735556825995445f,0.041274964809417725f,-0.13364459574222565f,0.09785273671150208f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,-0.4959956109523773f,-0.4904630482196808f,-0.28236252069473267f,-0.09943880885839462f,-0.1725272834300995f,-0.5971648693084717f},
Lightvalve	93:82ce526d307b	222	{-0.16267727315425873f,0.3860466778278351f,-0.13502129912376404f,0.28242161870002747f,0.12987366318702698f,0.19111685454845428f,2.2657041549682617f,-0.4845559597015381f,-0.13619378209114075f,0.16938945651054382f,1.7462471723556519f,-0.6284533739089966f,1.9582972526550293f,-1.9820284843444824f,-0.24291980266571045f,-1.1421457529067993f},
Lightvalve	93:82ce526d307b	223	{-0.8982952237129211f,-0.36657992005348206f,0.0457797646522522f,-0.766161322593689f,-0.03321319818496704f,-1.250120759010315f,4.292076110839844f,-0.35532045364379883f,-0.050184011459350586f,0.12480869889259338f,-0.6814214587211609f,0.16811157763004303f,-1.2245614528656006f,1.100197434425354f,0.6891171932220459f,-0.5230352282524109f},
Lightvalve	93:82ce526d307b	224	{0.1335102766752243f,0.6641429662704468f,0.3954955041408539f,0.13349944353103638f,0.0033026933670043945f,0.12677188217639923f,1.101999044418335f,-0.2748756408691406f,0.3487861454486847f,-0.32520344853401184f,-6.784162521362305f,-0.5490314364433289f,0.5526014566421509f,-0.8405023217201233f,0.10975980758666992f,-0.19546259939670563f},
Lightvalve	93:82ce526d307b	225	{-0.27716153860092163f,-0.20787979662418365f,-0.15798500180244446f,0.35524895787239075f,-0.37393757700920105f,0.3750748634338379f,0.11292675137519836f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.1050739586353302f,-0.29949548840522766f,0.41839322447776794f,-0.021745949983596802f,-0.13433784246444702f,0.10838012397289276f},
Lightvalve	93:82ce526d307b	226	{0.02301833964884281f,-0.12943722307682037f,-0.2018718123435974f,0.2382231503725052f,0.07545611262321472f,0.1641325056552887f,-0.11297860741615295f,-0.21416273713111877f,-0.24509364366531372f,0.19522181153297424f,0.5263475179672241f,-0.3246208429336548f,0.1946767270565033f,0.16036517918109894f,-0.22076638042926788f,-0.07864241302013397f},
Lightvalve	90:a6cfef34bdce	227	{0.4138670265674591f,0.1604653298854828f,0.056746453046798706f,0.036025404930114746f,0.3228367865085602f,-0.07083973288536072f,0.018455177545547485f,0.0059362053871154785f,0.40515169501304626f,0.014240056276321411f,-0.07738298177719116f,0.1407785713672638f,-0.13024571537971497f,-0.29546058177948f,-0.11976784467697144f,-0.35825538635253906f},
Lightvalve	93:82ce526d307b	228	{-0.6646260023117065f,0.27210062742233276f,0.12081471085548401f,-0.4461557865142822f,0.29976895451545715f,-0.5673666000366211f,1.956113576889038f,0.15405401587486267f,-0.3893685042858124f,-0.02222958207130432f,-2.2878081798553467f,-0.29919901490211487f,-0.2615523636341095f,0.24609413743019104f,-0.3079315423965454f,-0.2195511758327484f},
Lightvalve	65:a2d7c63419c2	229	};
Lightvalve	65:a2d7c63419c2	230
Lightvalve	90:a6cfef34bdce	231	const float h3[16][16] = {
Lightvalve	93:82ce526d307b	232	{-0.36079341173171997f,0.043911028653383255f,-0.17602047324180603f,-0.7953132390975952f,-0.29398977756500244f,0.13052836060523987f,0.3332441747188568f,0.3036012351512909f,-0.2405819296836853f,0.04891335964202881f,-0.11870327591896057f,0.4001283347606659f,-0.036465782672166824f,0.417081356048584f,-0.22709129750728607f,0.029585037380456924f},
Lightvalve	93:82ce526d307b	233	{0.047732532024383545f,1.06156587600708f,-0.621208667755127f,-0.8809181451797485f,-1.095009207725525f,-0.02062593586742878f,-0.3198729455471039f,0.04783778637647629f,1.3204116821289062f,-0.3144911229610443f,0.11619548499584198f,-0.4403943121433258f,-1.423488974571228f,0.3422822654247284f,-11.483438491821289f,-0.41278138756752014f},
Lightvalve	91:ec77a57f947f	234	{0.07903262972831726f,0.2790505588054657f,-0.07798504829406738f,0.04248586297035217f,-0.1963958442211151f,-0.19260792434215546f,-0.4038352966308594f,0.015906542539596558f,0.15353140234947205f,0.030178606510162354f,0.2488909661769867f,0.13805970549583435f,-0.0816211998462677f,-0.20733052492141724f,-0.3036302626132965f,0.054825395345687866f},
Lightvalve	93:82ce526d307b	235	{-0.30922991037368774f,-0.5622895956039429f,0.7025161385536194f,0.1345662623643875f,0.16579259932041168f,-0.24293585121631622f,0.20021501183509827f,0.07002416253089905f,-0.31247252225875854f,-0.365601509809494f,0.13192829489707947f,0.41021624207496643f,0.43047502636909485f,-0.3078814148902893f,-0.23569661378860474f,0.010304663330316544f},
Lightvalve	90:a6cfef34bdce	236	{-0.39607733488082886f,-0.05481579899787903f,0.1976260244846344f,0.022423356771469116f,0.16892847418785095f,-0.27518749237060547f,0.16012099385261536f,0.3626593053340912f,-0.08640444278717041f,-0.11053556203842163f,-0.10529157519340515f,-0.31317979097366333f,-0.1530032455921173f,-0.1336749792098999f,0.22959044575691223f,0.19986507296562195f},
Lightvalve	93:82ce526d307b	237	{-0.37449589371681213f,-0.06593914330005646f,0.5626155138015747f,0.6115102171897888f,0.03919163718819618f,0.24516423046588898f,-0.18732719123363495f,0.22384825348854065f,-0.5714508891105652f,-0.03866252303123474f,-0.08919548988342285f,0.19005391001701355f,0.7858181595802307f,0.13183321058750153f,0.267178475856781f,-0.2441519945859909f},
Lightvalve	93:82ce526d307b	238	{0.4110594093799591f,2.1604490280151367f,0.887465238571167f,0.2215389758348465f,-0.004858840256929398f,0.08295076340436935f,-0.08670487999916077f,-0.3391905725002289f,-0.032037895172834396f,-0.06259563565254211f,-0.1344406008720398f,0.19541384279727936f,-1.5713883638381958f,1.520051121711731f,1.2242316007614136f,-0.3391006588935852f},
Lightvalve	93:82ce526d307b	239	{-0.40892091393470764f,0.043769627809524536f,-0.318378746509552f,0.25968697667121887f,0.3424709737300873f,-0.051169753074645996f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.2742875814437866f,-0.36560842394828796f,0.07994696497917175f,0.005298197269439697f},
Lightvalve	90:a6cfef34bdce	240	{0.10697010159492493f,-0.12228584289550781f,-0.37870171666145325f,0.21184906363487244f,-0.37222859263420105f,-0.17138728499412537f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.42142823338508606f,-0.3482915461063385f,-0.3289247751235962f,-0.2186824083328247f,0.09620395302772522f,-0.06898030638694763f},
Lightvalve	90:a6cfef34bdce	241	{0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.30447837710380554f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24394884705543518f,-0.14084559679031372f,-0.10168051719665527f,0.010465055704116821f},
Lightvalve	93:82ce526d307b	242	{0.15459725260734558f,2.9517264366149902f,0.3150991201400757f,0.10877389460802078f,-0.0789046511054039f,1.335513710975647f,-0.08742031455039978f,0.0513591468334198f,-0.5830637216567993f,-0.2220277339220047f,0.1268840730190277f,-0.4542903006076813f,0.059402719140052795f,0.4713019132614136f,2.2667880058288574f,0.44493553042411804f},
Lightvalve	93:82ce526d307b	243	{-0.408692330121994f,0.28232115507125854f,0.17720867693424225f,-0.21809998154640198f,-0.04669073224067688f,-0.09927017241716385f,0.03285527229309082f,0.38763079047203064f,-0.2254122942686081f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.6329837441444397f,-0.10496671497821808f,-0.04413697496056557f,0.2693082094192505f},
Lightvalve	93:82ce526d307b	244	{-0.2991822361946106f,1.4243006706237793f,-1.2515084743499756f,-2.327302932739258f,-1.6191864013671875f,0.2762710452079773f,-0.11253207921981812f,0.25741666555404663f,0.4647150933742523f,-0.5416330695152283f,-0.2551000118255615f,-0.5192304849624634f,-2.536428451538086f,-0.41531726717948914f,-0.6764986515045166f,-1.3921657800674438f},
Lightvalve	93:82ce526d307b	245	{-0.2675279378890991f,-0.4364573657512665f,2.791754722595215f,-0.6488674879074097f,-0.16739602386951447f,-1.8211992979049683f,-0.32875844836235046f,-0.39228859543800354f,-1.292136549949646f,-0.6240899562835693f,-0.5850429534912109f,-0.5664792656898499f,1.1796913146972656f,-7.471243381500244f,4.2870659828186035f,0.1532791256904602f},
Lightvalve	93:82ce526d307b	246	{-0.015470266342163086f,-1.5808439254760742f,0.5446071028709412f,1.106460690498352f,0.4707678258419037f,0.4496452808380127f,0.05196094512939453f,-0.004308530129492283f,-3.631392002105713f,-0.5062118768692017f,-0.13473840057849884f,-0.2597508728504181f,1.4135329723358154f,-2.592418670654297f,-2.9711945056915283f,0.07714594900608063f},
Lightvalve	93:82ce526d307b	247	{0.1863725483417511f,-0.09078482538461685f,0.14419209957122803f,-0.17897306382656097f,0.4203357398509979f,-0.27117830514907837f,0.04860696196556091f,0.17769548296928406f,-0.43494877219200134f,0.3378079831600189f,-0.4750397503376007f,0.19592127203941345f,0.7907230257987976f,-0.24805015325546265f,-0.5189049243927002f,0.022494489327073097f},
Lightvalve	66:a8e6799dbce3	248	};
Lightvalve	65:a2d7c63419c2	249
Lightvalve	93:82ce526d307b	250	const float hout[16] = { 0.45773375034332275f,0.45925623178482056f,-0.23723474144935608f,-0.04702683165669441f,-0.21483998000621796f,0.11275843530893326f,0.0030125975608825684f,0.003908584360033274f,-0.19858784973621368f,0.039409391582012177f,0.15869393944740295f,-0.12650080025196075f,-0.3171844780445099f,0.1449117511510849f,-0.17291294038295746f,-1.0232646465301514f };
Lightvalve	66:a8e6799dbce3	251
Lightvalve	93:82ce526d307b	252	const float b1[16] = { 1.1379070281982422f,1.3437957763671875f,-1.7145336866378784f,0.6343681216239929f,2.4484660625457764f,0.7255935072898865f,-0.058932315558195114f,0.9302754402160645f,0.6616426110267639f,-1.3207507133483887f,0.6631161570549011f,2.8859643936157227f,-0.366211861371994f,-0.9030886888504028f,-1.087764859199524f,2.0780487060546875f };
Lightvalve	87:471334725012	253
Lightvalve	93:82ce526d307b	254	const float b2[16] = { -0.23562829196453094f,-0.8706854581832886f,-1.4564176797866821f,-0.7593558430671692f,-0.6939148902893066f,-0.3619247376918793f,-1.844103455543518f,-0.4653538763523102f,-1.20063054561615f,-1.912178635597229f,0.2897690236568451f,0.333708256483078f,-0.5797496438026428f,2.358231544494629f,0.7398930191993713f,0.749589741230011f };
Lightvalve	65:a2d7c63419c2	255
Lightvalve	93:82ce526d307b	256	const float b3[16] = { -1.963319182395935f,-1.1561301946640015f,0.9829857349395752f,-0.5904962420463562f,-0.43984466791152954f,-0.27057555317878723f,-0.45353031158447266f,-0.7253994345664978f,0.6011198163032532f,0.33039936423301697f,-0.43451592326164246f,-0.10657311975955963f,-2.8332860469818115f,-0.8148485422134399f,-1.852052927017212f,-0.5168557167053223f };
Lightvalve	87:471334725012	257
Lightvalve	93:82ce526d307b	258	const float bout[1] = { -0.11101680994033813f };
Lightvalve	65:a2d7c63419c2	259
Lightvalve	66:a8e6799dbce3	260
Lightvalve	87:471334725012	261	float VALVE_POS_RAW_NN = 0.0f;
Lightvalve	87:471334725012	262	float DDV_JOINT_POS_FF(float REF_JOINT_VEL);
Lightvalve	61:bc8c8270f0ab	263
GiJeongKim	0:51c43836c1d7	264	int main()
GiJeongKim	0:51c43836c1d7	265	{
Lightvalve	66:a8e6799dbce3	266
Lightvalve	65:a2d7c63419c2	267	HAL_Init();
Lightvalve	65:a2d7c63419c2	268	SystemClock_Config();
Lightvalve	65:a2d7c63419c2	269
jobuuu	6:df07d3491e3a	270	/*********************************
jobuuu	1:e04e563be5ce	271	*** Initialization
jobuuu	6:df07d3491e3a	272	*********************************/
Lightvalve	69:3995ffeaa786	273	LED = 0;
Lightvalve	61:bc8c8270f0ab	274	pc.baud(9600);
Lightvalve	21:e5f1a43ea6f9	275
GiJeongKim	0:51c43836c1d7	276	// i2c init
Lightvalve	8:5d2eebdad025	277	i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve	8:5d2eebdad025	278	wait_ms(2); // Power Up wait
Lightvalve	8:5d2eebdad025	279	look_for_hardware_i2c(); // Hardware present
Lightvalve	8:5d2eebdad025	280	init_as5510(i2c_slave_addr1);
Lightvalve	11:82d8768d7351	281	make_delay();
jobuuu	2:a1c0a37df760	282
GiJeongKim	0:51c43836c1d7	283	// // spi init
Lightvalve	16:903b5a4433b4	284	//eeprom.format(8,3);
Lightvalve	16:903b5a4433b4	285	//eeprom.frequency(5000000); //5M
GiJeongKim	0:51c43836c1d7	286	enc.format(8,0);
GiJeongKim	0:51c43836c1d7	287	enc.frequency(5000000); //5M
Lightvalve	11:82d8768d7351	288	make_delay();
Lightvalve	21:e5f1a43ea6f9	289
Lightvalve	16:903b5a4433b4	290	//rom
Lightvalve	19:23b7c1ad8683	291	ROM_CALL_DATA();
Lightvalve	16:903b5a4433b4	292	make_delay();
Lightvalve	13:747daba9cf59	293
GiJeongKim	0:51c43836c1d7	294	// ADC init
jobuuu	5:a4319f79457b	295	Init_ADC();
Lightvalve	11:82d8768d7351	296	make_delay();
jobuuu	2:a1c0a37df760	297
GiJeongKim	0:51c43836c1d7	298	// Pwm init
GiJeongKim	0:51c43836c1d7	299	Init_PWM();
GiJeongKim	0:51c43836c1d7	300	TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	301	make_delay();
Lightvalve	13:747daba9cf59	302
Lightvalve	11:82d8768d7351	303	// TMR3 init
Lightvalve	11:82d8768d7351	304	Init_TMR3();
Lightvalve	11:82d8768d7351	305	TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	306	make_delay();
Lightvalve	21:e5f1a43ea6f9	307
Lightvalve	50:3c630b5eba9f	308	// TMR2 init
Lightvalve	56:6f50d9d3bfee	309	// Init_TMR2();
Lightvalve	56:6f50d9d3bfee	310	// TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve	56:6f50d9d3bfee	311	// make_delay();
Lightvalve	21:e5f1a43ea6f9	312
GiJeongKim	0:51c43836c1d7	313	// CAN
jobuuu	2:a1c0a37df760	314	can.attach(&CAN_RX_HANDLER);
Lightvalve	11:82d8768d7351	315	CAN_ID_INIT();
Lightvalve	11:82d8768d7351	316	make_delay();
Lightvalve	34:bb2ca2fc2a8e	317
Lightvalve	23:59218d4a256d	318	//Timer priority
Lightvalve	23:59218d4a256d	319	NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve	57:f4819de54e7a	320	//NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve	54:647072f5307a	321	NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve	34:bb2ca2fc2a8e	322
Lightvalve	23:59218d4a256d	323	//can.reset();
Lightvalve	19:23b7c1ad8683	324	can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve	34:bb2ca2fc2a8e	325
GiJeongKim	0:51c43836c1d7	326	// spi _ enc
GiJeongKim	0:51c43836c1d7	327	spi_enc_set_init();
Lightvalve	11:82d8768d7351	328	make_delay();
Lightvalve	13:747daba9cf59	329
Lightvalve	11:82d8768d7351	330	//DAC init
Lightvalve	58:2eade98630e2	331	if (SENSING_MODE == 0) {
Lightvalve	58:2eade98630e2	332	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	58:2eade98630e2	333	dac_2 = 0.0f;
Lightvalve	58:2eade98630e2	334	} else if (SENSING_MODE == 1) {
Lightvalve	58:2eade98630e2	335	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	58:2eade98630e2	336	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	58:2eade98630e2	337	}
Lightvalve	11:82d8768d7351	338	make_delay();
Lightvalve	13:747daba9cf59	339
Lightvalve	19:23b7c1ad8683	340	for (int i=0; i<50; i++) {
Lightvalve	11:82d8768d7351	341	if(i%2==0)
Lightvalve	38:118df027d851	342	ID_index_array[i] = - i * 0.5f;
Lightvalve	11:82d8768d7351	343	else
Lightvalve	38:118df027d851	344	ID_index_array[i] = (i+1) * 0.5f;
Lightvalve	11:82d8768d7351	345	}
Lightvalve	61:bc8c8270f0ab	346
Lightvalve	61:bc8c8270f0ab	347
jobuuu	6:df07d3491e3a	348	/************************************
jobuuu	1:e04e563be5ce	349	*** Program is operating!
jobuuu	6:df07d3491e3a	350	*************************************/
GiJeongKim	0:51c43836c1d7	351	while(1) {
Lightvalve	66:a8e6799dbce3	352	// if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve	66:a8e6799dbce3	353	//if(timer_while==1000) {
Lightvalve	65:a2d7c63419c2	354	//i2c
Lightvalve	66:a8e6799dbce3	355
Lightvalve	65:a2d7c63419c2	356	read_field(i2c_slave_addr1);
Lightvalve	65:a2d7c63419c2	357	if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve	65:a2d7c63419c2	358	// if(LED==1) {
Lightvalve	65:a2d7c63419c2	359	// LED=0;
Lightvalve	65:a2d7c63419c2	360	// } else
Lightvalve	65:a2d7c63419c2	361	// LED = 1;
Lightvalve	65:a2d7c63419c2	362	timer_while = 0;
Lightvalve	66:a8e6799dbce3	363	//}
Lightvalve	66:a8e6799dbce3	364
Lightvalve	66:a8e6799dbce3	365	timer_while ++;
Lightvalve	66:a8e6799dbce3	366
Lightvalve	87:471334725012	367	//LED = 0;
Lightvalve	87:471334725012	368
Lightvalve	73:f80dc3970c99	369	if(NN_Control_Flag == 0) {
Lightvalve	73:f80dc3970c99	370	LED = 0;
Lightvalve	73:f80dc3970c99	371	}
Lightvalve	66:a8e6799dbce3	372
Lightvalve	73:f80dc3970c99	373	else if(NN_Control_Flag == 1) {
Lightvalve	88:d6e591bece22	374	float output1[16] = { 0.0f };
Lightvalve	88:d6e591bece22	375	float output2[16] = { 0.0f };
Lightvalve	88:d6e591bece22	376	float output3[16] = { 0.0f };
Lightvalve	66:a8e6799dbce3	377	float output = 0.0f;
Lightvalve	65:a2d7c63419c2	378
Lightvalve	88:d6e591bece22	379	for (int index2 = 0; index2 < 16; index2++) {
Lightvalve	68:328e1be06f5d	380	for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve	66:a8e6799dbce3	381	output1[index2] = output1[index2]
Lightvalve	73:f80dc3970c99	382	+ h1[index1][index2] * input_NN[index1];
Lightvalve	66:a8e6799dbce3	383	}
Lightvalve	66:a8e6799dbce3	384	output1[index2] = output1[index2] + b1[index2];
Lightvalve	66:a8e6799dbce3	385	if (output1[index2] < 0) {
Lightvalve	66:a8e6799dbce3	386	output1[index2] = 0;
Lightvalve	66:a8e6799dbce3	387	}
Lightvalve	66:a8e6799dbce3	388	}
Lightvalve	65:a2d7c63419c2	389
Lightvalve	88:d6e591bece22	390	for (int index2 = 0; index2 < 16; index2++) {
Lightvalve	88:d6e591bece22	391	for (int index1 = 0; index1 < 16; index1++) {
Lightvalve	66:a8e6799dbce3	392	output2[index2] = output2[index2]
Lightvalve	66:a8e6799dbce3	393	+ h2[index1][index2] * output1[index1];
Lightvalve	66:a8e6799dbce3	394	}
Lightvalve	66:a8e6799dbce3	395	output2[index2] = output2[index2] + b2[index2];
Lightvalve	66:a8e6799dbce3	396	if (output2[index2] < 0) {
Lightvalve	66:a8e6799dbce3	397	output2[index2] = 0;
Lightvalve	66:a8e6799dbce3	398	}
Lightvalve	66:a8e6799dbce3	399	}
Lightvalve	65:a2d7c63419c2	400
Lightvalve	88:d6e591bece22	401	for (int index2 = 0; index2 < 16; index2++) {
Lightvalve	88:d6e591bece22	402	for (int index1 = 0; index1 < 16; index1++) {
Lightvalve	66:a8e6799dbce3	403	output3[index2] = output3[index2]
Lightvalve	66:a8e6799dbce3	404	+ h3[index1][index2] * output2[index1];
Lightvalve	66:a8e6799dbce3	405	}
Lightvalve	66:a8e6799dbce3	406	output3[index2] = output3[index2] + b3[index2];
Lightvalve	66:a8e6799dbce3	407	if (output3[index2] < 0) {
Lightvalve	66:a8e6799dbce3	408	output3[index2] = 0;
Lightvalve	66:a8e6799dbce3	409	}
Lightvalve	65:a2d7c63419c2	410	}
Lightvalve	66:a8e6799dbce3	411
Lightvalve	66:a8e6799dbce3	412	for (int index2 = 0; index2 < 1; index2++) {
Lightvalve	88:d6e591bece22	413	for (int index1 = 0; index1 < 16; index1++) {
Lightvalve	73:f80dc3970c99	414	output = output + hout[index1] * output3[index1];
Lightvalve	66:a8e6799dbce3	415	}
Lightvalve	66:a8e6799dbce3	416	output = output + bout[index2];
Lightvalve	73:f80dc3970c99	417
Lightvalve	66:a8e6799dbce3	418	}
Lightvalve	73:f80dc3970c99	419	output = 1.0f/(1.0f+exp(-output));
Lightvalve	68:328e1be06f5d	420	output = output * 20000.0f - 10000.0f;
Lightvalve	66:a8e6799dbce3	421	if(output>=0) {
Lightvalve	66:a8e6799dbce3	422	valve_pos.ref = output0.0001f((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve	66:a8e6799dbce3	423	} else {
Lightvalve	66:a8e6799dbce3	424	valve_pos.ref = -output0.0001f((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve	65:a2d7c63419c2	425	}
Lightvalve	87:471334725012	426
Lightvalve	88:d6e591bece22	427	// // torque feedback
Lightvalve	88:d6e591bece22	428	// torq.err = f_past[0] - torq.sen; //[N]
Lightvalve	88:d6e591bece22	429	//// torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve	88:d6e591bece22	430	// torq.err_sum += torq.err/(float) 1500.0f; //[N]
Lightvalve	88:d6e591bece22	431	//
Lightvalve	88:d6e591bece22	432	//
Lightvalve	88:d6e591bece22	433	// valve_pos.ref = ((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f + DDV_JOINT_POS_FF(vel.sen) + valve_pos.ref * 0.01f;
Lightvalve	88:d6e591bece22	434	//
Lightvalve	88:d6e591bece22	435	// if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve	88:d6e591bece22	436	// double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve	88:d6e591bece22	437	// if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve	88:d6e591bece22	438	// double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve	88:d6e591bece22	439	// valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	88:d6e591bece22	440	// valve_pos.ref = VALVE_MAX_POS;
Lightvalve	88:d6e591bece22	441	// torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve	88:d6e591bece22	442	// } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	88:d6e591bece22	443	// double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve	88:d6e591bece22	444	// valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	88:d6e591bece22	445	// valve_pos.ref = VALVE_MIN_POS;
Lightvalve	88:d6e591bece22	446	// torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve	88:d6e591bece22	447	// }
Lightvalve	88:d6e591bece22	448	// }
Lightvalve	87:471334725012	449
Lightvalve	69:3995ffeaa786	450
Lightvalve	69:3995ffeaa786	451	if(LED==1) {
Lightvalve	69:3995ffeaa786	452	LED=0;
Lightvalve	69:3995ffeaa786	453	} else
Lightvalve	69:3995ffeaa786	454	LED = 1;
Lightvalve	69:3995ffeaa786	455
Lightvalve	65:a2d7c63419c2	456	}
Lightvalve	62:b5452adfb2cd	457
Lightvalve	87:471334725012	458	//LED = 1;
Lightvalve	69:3995ffeaa786	459
Lightvalve	66:a8e6799dbce3	460
GiJeongKim	0:51c43836c1d7	461	}
jobuuu	1:e04e563be5ce	462	}
jobuuu	1:e04e563be5ce	463
Lightvalve	33:91b17819ec30	464	float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve	14:8e7590227d22	465	{
Lightvalve	14:8e7590227d22	466
Lightvalve	13:747daba9cf59	467	int i = 0;
Lightvalve	48:889798ff9329	468	float Ref_Valve_Pos_FF = 0.0f;
Lightvalve	14:8e7590227d22	469	for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve	14:8e7590227d22	470	if(REF_JOINT_VEL >= min(JOINT_VEL[i],JOINT_VEL[i+1]) && REF_JOINT_VEL <= max(JOINT_VEL[i],JOINT_VEL[i+1])) {
Lightvalve	14:8e7590227d22	471	if(i==0) {
Lightvalve	50:3c630b5eba9f	472	if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve	57:f4819de54e7a	473	Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	474	} else {
Lightvalve	57:f4819de54e7a	475	Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER;
Lightvalve	38:118df027d851	476	}
Lightvalve	14:8e7590227d22	477	} else {
Lightvalve	50:3c630b5eba9f	478	if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve	57:f4819de54e7a	479	Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	480	} else {
Lightvalve	57:f4819de54e7a	481	Ref_Valve_Pos_FF = ((float) 10(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) (REF_JOINT_VEL - JOINT_VEL[i-1])) + (float) VALVE_CENTER + (float) (10*ID_index_array[i-1]);
Lightvalve	38:118df027d851	482	}
Lightvalve	13:747daba9cf59	483	}
Lightvalve	13:747daba9cf59	484	break;
Lightvalve	13:747daba9cf59	485	}
Lightvalve	13:747daba9cf59	486	}
Lightvalve	14:8e7590227d22	487	if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	488	Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	489	} else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	490	Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	491	}
Lightvalve	36:a46e63505ed8	492
Lightvalve	57:f4819de54e7a	493	Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve	13:747daba9cf59	494	return Ref_Valve_Pos_FF;
Lightvalve	50:3c630b5eba9f	495
Lightvalve	13:747daba9cf59	496	}
jobuuu	6:df07d3491e3a	497
jobuuu	6:df07d3491e3a	498
Lightvalve	30:8d561f16383b	499	void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve	14:8e7590227d22	500	{
Lightvalve	13:747daba9cf59	501	int i = 0;
Lightvalve	13:747daba9cf59	502
Lightvalve	38:118df027d851	503	if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve	38:118df027d851	504	REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve	38:118df027d851	505	} else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve	38:118df027d851	506	REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve	38:118df027d851	507	}
Lightvalve	38:118df027d851	508
Lightvalve	89:a7b45368ea0f	509	valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve	13:747daba9cf59	510	valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve	13:747daba9cf59	511	valve_pos_err_old = valve_pos_err;
Lightvalve	13:747daba9cf59	512	valve_pos_err_sum += valve_pos_err;
Lightvalve	89:a7b45368ea0f	513	if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve	89:a7b45368ea0f	514	if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve	13:747daba9cf59	515
Lightvalve	13:747daba9cf59	516	VALVE_PWM_RAW_FB = P_GAIN_VALVE_POSITION * valve_pos_err + I_GAIN_VALVE_POSITION * valve_pos_err_sum + D_GAIN_VALVE_POSITION * valve_pos_err_diff;
Lightvalve	14:8e7590227d22	517
Lightvalve	18:b8adf1582ea3	518	for(i=0; i<24; i++) {
Lightvalve	89:a7b45368ea0f	519	if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && (float) REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve	14:8e7590227d22	520	if(i==0) {
Lightvalve	48:889798ff9329	521	VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
Lightvalve	14:8e7590227d22	522	} else {
Lightvalve	48:889798ff9329	523	VALVE_PWM_RAW_FF = (float) 1000.0f* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1];
Lightvalve	13:747daba9cf59	524	}
Lightvalve	13:747daba9cf59	525	break;
Lightvalve	13:747daba9cf59	526	}
Lightvalve	13:747daba9cf59	527	}
Lightvalve	59:f308b1656d9c	528	Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve	13:747daba9cf59	529	}
Lightvalve	13:747daba9cf59	530
Lightvalve	14:8e7590227d22	531	#define LT_MAX_IDX 57
Lightvalve	30:8d561f16383b	532	float LT_PWM_duty[LT_MAX_IDX] = {-100.0f, -80.0f, -60.0f, -50.0f, -40.0f, -35.0f, -30.0f, -25.0f, -20.0f,
Lightvalve	34:bb2ca2fc2a8e	533	-19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve	34:bb2ca2fc2a8e	534	-9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve	34:bb2ca2fc2a8e	535	1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve	34:bb2ca2fc2a8e	536	11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve	34:bb2ca2fc2a8e	537	25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve	34:bb2ca2fc2a8e	538	}; // duty
Lightvalve	67:c2812cf26c38	539	float LT_Voltage_Output[LT_MAX_IDX] = {-230.0f, -215.0f, -192.5f, -185.0f, -177.5f, -170.0f, -164.0f, -160.0f, -150.0f,
Lightvalve	67:c2812cf26c38	540	-150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve	67:c2812cf26c38	541	-115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve	67:c2812cf26c38	542	7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve	67:c2812cf26c38	543	105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve	67:c2812cf26c38	544	155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve	34:bb2ca2fc2a8e	545	}; // mV
Lightvalve	13:747daba9cf59	546
Lightvalve	30:8d561f16383b	547	float PWM_duty_byLT(float Ref_V)
Lightvalve	14:8e7590227d22	548	{
Lightvalve	30:8d561f16383b	549	float PWM_duty = 0.0f;
Lightvalve	13:747daba9cf59	550	if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve	30:8d561f16383b	551	PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve	13:747daba9cf59	552	} else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve	30:8d561f16383b	553	PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve	13:747daba9cf59	554	} else {
Lightvalve	13:747daba9cf59	555	int idx = 0;
Lightvalve	13:747daba9cf59	556	for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve	30:8d561f16383b	557	float ini_x = LT_Voltage_Output[idx];
Lightvalve	30:8d561f16383b	558	float fin_x = LT_Voltage_Output[idx+1];
Lightvalve	30:8d561f16383b	559	float ini_y = LT_PWM_duty[idx];
Lightvalve	30:8d561f16383b	560	float fin_y = LT_PWM_duty[idx+1];
Lightvalve	13:747daba9cf59	561	if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve	13:747daba9cf59	562	PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve	13:747daba9cf59	563	break;
Lightvalve	13:747daba9cf59	564	}
Lightvalve	13:747daba9cf59	565	}
Lightvalve	13:747daba9cf59	566	}
Lightvalve	14:8e7590227d22	567
Lightvalve	13:747daba9cf59	568	return PWM_duty;
Lightvalve	13:747daba9cf59	569	}
jobuuu	6:df07d3491e3a	570
Lightvalve	57:f4819de54e7a	571
Lightvalve	57:f4819de54e7a	572
Lightvalve	57:f4819de54e7a	573
Lightvalve	57:f4819de54e7a	574
jobuuu	2:a1c0a37df760	575	/*******************************************************************************
jobuuu	2:a1c0a37df760	576	TIMER INTERRUPT
jobuuu	2:a1c0a37df760	577	*******************************************************************************/
jobuuu	2:a1c0a37df760	578
Lightvalve	51:b46bed7fec80	579	float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve	51:b46bed7fec80	580	float DT_TMR4 = (float)DT_20k;
Lightvalve	57:f4819de54e7a	581	long CNT_TMR4 = 0;
Lightvalve	57:f4819de54e7a	582	int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu	1:e04e563be5ce	583	extern "C" void TIM4_IRQHandler(void)
jobuuu	1:e04e563be5ce	584	{
Lightvalve	19:23b7c1ad8683	585	if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve	21:e5f1a43ea6f9	586
Lightvalve	21:e5f1a43ea6f9	587	/*******************************************************
Lightvalve	21:e5f1a43ea6f9	588	*** Sensor Read & Data Handling
Lightvalve	21:e5f1a43ea6f9	589	********************************************************/
Lightvalve	13:747daba9cf59	590
Lightvalve	57:f4819de54e7a	591	//Encoder
Lightvalve	57:f4819de54e7a	592	if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve	57:f4819de54e7a	593	ENC_UPDATE();
Lightvalve	57:f4819de54e7a	594	}
Lightvalve	61:bc8c8270f0ab	595
Lightvalve	61:bc8c8270f0ab	596	ADC1->CR2 \|= 0x40000000;
Lightvalve	58:2eade98630e2	597	if (SENSING_MODE == 0) {
Lightvalve	58:2eade98630e2	598	// Torque Sensing (0~210)bar =============================================
Lightvalve	58:2eade98630e2	599	float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve	58:2eade98630e2	600	double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve	58:2eade98630e2	601	pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve	67:c2812cf26c38	602	torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve	67:c2812cf26c38	603
Lightvalve	67:c2812cf26c38	604
Lightvalve	67:c2812cf26c38	605	// float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f100.0f));
Lightvalve	67:c2812cf26c38	606	//// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve	67:c2812cf26c38	607	// float pres_A_new = ((float)ADC1->DR);
Lightvalve	67:c2812cf26c38	608	// pres_A.sen = pres_A.sen(1.0f-alpha_update_pres_A)+pres_A_new(alpha_update_pres_A);
Lightvalve	67:c2812cf26c38	609	// torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve	67:c2812cf26c38	610
Lightvalve	17:1865016ca2e7	611
Lightvalve	58:2eade98630e2	612	} else if (SENSING_MODE == 1) {
Lightvalve	58:2eade98630e2	613	// Pressure Sensing (0~210)bar =============================================
Lightvalve	58:2eade98630e2	614	float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve	58:2eade98630e2	615	float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve	58:2eade98630e2	616	double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve	58:2eade98630e2	617	pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve	58:2eade98630e2	618	pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve	58:2eade98630e2	619	CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve	58:2eade98630e2	620	CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve	50:3c630b5eba9f	621
Lightvalve	58:2eade98630e2	622	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve	58:2eade98630e2	623	torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm
Lightvalve	58:2eade98630e2	624	} else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve	58:2eade98630e2	625	torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N
Lightvalve	58:2eade98630e2	626	}
Lightvalve	58:2eade98630e2	627	}
Lightvalve	61:bc8c8270f0ab	628
Lightvalve	58:2eade98630e2	629	// //Pressure sensor A
Lightvalve	58:2eade98630e2	630	// ADC1->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	58:2eade98630e2	631	// //while((ADC1->SR & 0b10));
Lightvalve	58:2eade98630e2	632	// float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f100.0f));
Lightvalve	58:2eade98630e2	633	// float pres_A_new = ((float)ADC1->DR);
Lightvalve	58:2eade98630e2	634	// pres_A.sen = pres_A.sen(1.0f-alpha_update_pres_A)+pres_A_new(alpha_update_pres_A);
Lightvalve	58:2eade98630e2	635	// torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later.
Lightvalve	58:2eade98630e2	636	//
Lightvalve	58:2eade98630e2	637	//
Lightvalve	58:2eade98630e2	638	// //Pressure sensor B
Lightvalve	58:2eade98630e2	639	// float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f100.0f));
Lightvalve	58:2eade98630e2	640	// float pres_B_new = ((float)ADC2->DR);
Lightvalve	58:2eade98630e2	641	// pres_B.sen = pres_B.sen(1.0f-alpha_update_pres_B)+pres_B_new(alpha_update_pres_B);
Lightvalve	58:2eade98630e2	642	// //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve	17:1865016ca2e7	643
Lightvalve	17:1865016ca2e7	644
Lightvalve	21:e5f1a43ea6f9	645	//Current
Lightvalve	21:e5f1a43ea6f9	646	//ADC3->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	25:3e6b574cab5c	647	//int raw_cur = ADC3->DR;
Lightvalve	21:e5f1a43ea6f9	648	//while((ADC3->SR & 0b10));
Lightvalve	51:b46bed7fec80	649	float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f500.0f)); // f_cutoff : 500Hz
Lightvalve	30:8d561f16383b	650	float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve	30:8d561f16383b	651	cur.sen=cur.sen(1.0f-alpha_update_cur)+cur_new(alpha_update_cur);
Lightvalve	25:3e6b574cab5c	652	//cur.sen = raw_cur;
Lightvalve	58:2eade98630e2	653
Lightvalve	57:f4819de54e7a	654	CNT_TMR4++;
Lightvalve	21:e5f1a43ea6f9	655	}
Lightvalve	11:82d8768d7351	656	TIM4->SR = 0x0; // reset the status register
Lightvalve	11:82d8768d7351	657	}
Lightvalve	19:23b7c1ad8683	658
Lightvalve	19:23b7c1ad8683	659
Lightvalve	18:b8adf1582ea3	660	int j =0;
Lightvalve	54:647072f5307a	661	float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve	48:889798ff9329	662	float DT_TMR3 = (float)DT_5k;
Lightvalve	45:35fa6884d0c6	663	int cnt_trans = 0;
Lightvalve	48:889798ff9329	664	double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve	57:f4819de54e7a	665	int can_rest =0;
Lightvalve	48:889798ff9329	666
Lightvalve	11:82d8768d7351	667	extern "C" void TIM3_IRQHandler(void)
Lightvalve	21:e5f1a43ea6f9	668	{
Lightvalve	19:23b7c1ad8683	669	if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve	57:f4819de54e7a	670
Lightvalve	57:f4819de54e7a	671	if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve	57:f4819de54e7a	672	K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve	57:f4819de54e7a	673	mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve	57:f4819de54e7a	674	mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve	57:f4819de54e7a	675	mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve	57:f4819de54e7a	676	} else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	57:f4819de54e7a	677	K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve	57:f4819de54e7a	678	mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve	57:f4819de54e7a	679	mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve	57:f4819de54e7a	680	mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve	57:f4819de54e7a	681	}
Lightvalve	50:3c630b5eba9f	682
Lightvalve	50:3c630b5eba9f	683	if(MODE_POS_FT_TRANS == 1) {
Lightvalve	48:889798ff9329	684	alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve	45:35fa6884d0c6	685	cnt_trans++;
Lightvalve	46:2694daea349b	686	torq.err_sum = 0;
Lightvalve	48:889798ff9329	687	if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve	45:35fa6884d0c6	688	MODE_POS_FT_TRANS = 2;
Lightvalve	50:3c630b5eba9f	689	} else if(MODE_POS_FT_TRANS == 3) {
Lightvalve	48:889798ff9329	690	alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve	45:35fa6884d0c6	691	cnt_trans++;
Lightvalve	46:2694daea349b	692	torq.err_sum = 0;
Lightvalve	48:889798ff9329	693	if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve	45:35fa6884d0c6	694	MODE_POS_FT_TRANS = 0;
Lightvalve	50:3c630b5eba9f	695	} else if(MODE_POS_FT_TRANS == 2) {
Lightvalve	58:2eade98630e2	696	alpha_trans = 1.0f;
Lightvalve	45:35fa6884d0c6	697	cnt_trans = 0;
Lightvalve	50:3c630b5eba9f	698	} else {
Lightvalve	58:2eade98630e2	699	alpha_trans = 0.0f;
Lightvalve	45:35fa6884d0c6	700	cnt_trans = 0;
Lightvalve	45:35fa6884d0c6	701	}
Lightvalve	45:35fa6884d0c6	702
Lightvalve	50:3c630b5eba9f	703
Lightvalve	57:f4819de54e7a	704	int UTILITY_MODE = 0;
Lightvalve	57:f4819de54e7a	705	int CONTROL_MODE = 0;
Lightvalve	58:2eade98630e2	706
Lightvalve	57:f4819de54e7a	707	if (CONTROL_UTILITY_MODE >= 20 \|\| CONTROL_UTILITY_MODE == 0) {
Lightvalve	57:f4819de54e7a	708	UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve	57:f4819de54e7a	709	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	57:f4819de54e7a	710	} else {
Lightvalve	57:f4819de54e7a	711	CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve	57:f4819de54e7a	712	UTILITY_MODE = MODE_NO_ACT;
Lightvalve	57:f4819de54e7a	713	}
Lightvalve	56:6f50d9d3bfee	714
Lightvalve	56:6f50d9d3bfee	715
Lightvalve	56:6f50d9d3bfee	716
Lightvalve	57:f4819de54e7a	717	// UTILITY MODE ------------------------------------------------------------
Lightvalve	56:6f50d9d3bfee	718
Lightvalve	57:f4819de54e7a	719	switch (UTILITY_MODE) {
Lightvalve	57:f4819de54e7a	720	case MODE_NO_ACT: {
Lightvalve	13:747daba9cf59	721	break;
Lightvalve	13:747daba9cf59	722	}
Lightvalve	14:8e7590227d22	723
Lightvalve	14:8e7590227d22	724	case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	725	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	726	if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve	15:bd0d12728506	727	CUR_TORQUE_sum += torq.sen;
Lightvalve	19:23b7c1ad8683	728
Lightvalve	14:8e7590227d22	729	if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	730	CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve	13:747daba9cf59	731	CUR_TORQUE_sum = 0;
Lightvalve	14:8e7590227d22	732
Lightvalve	84:c355d3e52bf1	733	TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve	19:23b7c1ad8683	734
Lightvalve	30:8d561f16383b	735	if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve	59:f308b1656d9c	736	if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve	50:3c630b5eba9f	737
Lightvalve	16:903b5a4433b4	738	//spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve	30:8d561f16383b	739	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	13:747daba9cf59	740	}
Lightvalve	13:747daba9cf59	741	} else {
Lightvalve	58:2eade98630e2	742	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	743	TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve	13:747daba9cf59	744	CUR_TORQUE_sum = 0;
Lightvalve	13:747daba9cf59	745	CUR_TORQUE_mean = 0;
Lightvalve	19:23b7c1ad8683	746
Lightvalve	16:903b5a4433b4	747	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	748
Lightvalve	30:8d561f16383b	749	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	14:8e7590227d22	750
Lightvalve	13:747daba9cf59	751	}
Lightvalve	14:8e7590227d22	752	TMR3_COUNT_TORQUE_NULL++;
Lightvalve	13:747daba9cf59	753	break;
Lightvalve	19:23b7c1ad8683	754	}
Lightvalve	14:8e7590227d22	755
Lightvalve	50:3c630b5eba9f	756	// case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve	50:3c630b5eba9f	757	// if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve	50:3c630b5eba9f	758	// if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	50:3c630b5eba9f	759	// else temp_time = 0;
Lightvalve	50:3c630b5eba9f	760	// }
Lightvalve	50:3c630b5eba9f	761	// if (need_enc_init) {
Lightvalve	50:3c630b5eba9f	762	// if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	763	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	764	// pos_plus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	765	// } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	766	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	767	// pos_minus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	768	// } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve	50:3c630b5eba9f	769	// temp_time = TMR_FREQ_5k;
Lightvalve	50:3c630b5eba9f	770	// }
Lightvalve	50:3c630b5eba9f	771	//
Lightvalve	50:3c630b5eba9f	772	// if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	773	// V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	50:3c630b5eba9f	774	// VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve	50:3c630b5eba9f	775	//
Lightvalve	50:3c630b5eba9f	776	// } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve	50:3c630b5eba9f	777	// V_out = 0;
Lightvalve	50:3c630b5eba9f	778	// CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	50:3c630b5eba9f	779	// } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	780	// if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve	50:3c630b5eba9f	781	// else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve	50:3c630b5eba9f	782	// else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve	50:3c630b5eba9f	783	// else DZ_temp_cnt2 = DZ_end;
Lightvalve	50:3c630b5eba9f	784	// CUR_VELOCITY_sum = 0;
Lightvalve	50:3c630b5eba9f	785	// } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	786	// if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve	50:3c630b5eba9f	787	//
Lightvalve	50:3c630b5eba9f	788	// // Position of Dead Zone
Lightvalve	50:3c630b5eba9f	789	// // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve	50:3c630b5eba9f	790	// // \| / \| / \|/
Lightvalve	50:3c630b5eba9f	791	// // \| ______/ ___\|___/ ______/\|
Lightvalve	50:3c630b5eba9f	792	// // \|/ / \| / \|
Lightvalve	50:3c630b5eba9f	793	// // /\| / \| / \|
Lightvalve	50:3c630b5eba9f	794	// // 0V 0V 0V
Lightvalve	50:3c630b5eba9f	795	//
Lightvalve	50:3c630b5eba9f	796	// if (DZ_temp_cnt2 < DZ_end) {
Lightvalve	50:3c630b5eba9f	797	// if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve	50:3c630b5eba9f	798	// CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	50:3c630b5eba9f	799	// } else {
Lightvalve	50:3c630b5eba9f	800	// V_out -= DZ_dir;
Lightvalve	50:3c630b5eba9f	801	// if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve	50:3c630b5eba9f	802	// CUR_VELOCITY_sum = 0;
Lightvalve	50:3c630b5eba9f	803	// }
Lightvalve	50:3c630b5eba9f	804	// if (DZ_temp_cnt == 5) {
Lightvalve	50:3c630b5eba9f	805	// if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve	50:3c630b5eba9f	806	// else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve	50:3c630b5eba9f	807	// DZ_dir = -DZ_dir;
Lightvalve	50:3c630b5eba9f	808	// DZ_temp_cnt = 0;
Lightvalve	50:3c630b5eba9f	809	// DZ_temp_cnt2++;
Lightvalve	50:3c630b5eba9f	810	// }
Lightvalve	50:3c630b5eba9f	811	// } else {
Lightvalve	50:3c630b5eba9f	812	// TMR3_COUNT_DEADZONE = -1;
Lightvalve	50:3c630b5eba9f	813	// VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve	50:3c630b5eba9f	814	// if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve	50:3c630b5eba9f	815	// VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	816	// VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	817	// }
Lightvalve	50:3c630b5eba9f	818	// V_out = 0;
Lightvalve	50:3c630b5eba9f	819	//
Lightvalve	50:3c630b5eba9f	820	// ROM_RESET_DATA();
Lightvalve	50:3c630b5eba9f	821	//
Lightvalve	50:3c630b5eba9f	822	// //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve	50:3c630b5eba9f	823	// //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve	50:3c630b5eba9f	824	//
Lightvalve	50:3c630b5eba9f	825	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	826	// DZ_temp_cnt2 = 0;
Lightvalve	50:3c630b5eba9f	827	// }
Lightvalve	50:3c630b5eba9f	828	// }
Lightvalve	50:3c630b5eba9f	829	// TMR3_COUNT_DEADZONE++;
Lightvalve	50:3c630b5eba9f	830	// break;
Lightvalve	50:3c630b5eba9f	831	// }
Lightvalve	14:8e7590227d22	832
Lightvalve	14:8e7590227d22	833	case MODE_FIND_HOME: {
Lightvalve	29:69f3f5445d6d	834	if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve	14:8e7590227d22	835	cnt_findhome = 0;
Lightvalve	14:8e7590227d22	836	cnt_vel_findhome = 0;
Lightvalve	14:8e7590227d22	837	//REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve	59:f308b1656d9c	838	pos.ref = pos.sen;
Lightvalve	59:f308b1656d9c	839	vel.ref = 0.0f;
Lightvalve	29:69f3f5445d6d	840	FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve	29:69f3f5445d6d	841	} else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve	67:c2812cf26c38	842	int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve	29:69f3f5445d6d	843	if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve	29:69f3f5445d6d	844	FINDHOME_POSITION = pos.sen;
Lightvalve	29:69f3f5445d6d	845	FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve	29:69f3f5445d6d	846	FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve	29:69f3f5445d6d	847	}
Lightvalve	29:69f3f5445d6d	848	cnt_findhome++;
Lightvalve	14:8e7590227d22	849
Lightvalve	29:69f3f5445d6d	850	if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve	29:69f3f5445d6d	851	cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve	29:69f3f5445d6d	852	} else {
Lightvalve	29:69f3f5445d6d	853	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	854	}
Lightvalve	19:23b7c1ad8683	855
Lightvalve	57:f4819de54e7a	856	if ((cnt_vel_findhome < 3TMR_FREQ_5k) && cnt_findhome < 10TMR_FREQ_5k) { // wait for 3sec
Lightvalve	29:69f3f5445d6d	857	//REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve	67:c2812cf26c38	858	if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve	67:c2812cf26c38	859	else pos.ref = pos.ref - 12.0f;
Lightvalve	61:bc8c8270f0ab	860
Lightvalve	59:f308b1656d9c	861	// pos.err = pos.ref_home_pos - pos.sen;
Lightvalve	59:f308b1656d9c	862	// float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve	59:f308b1656d9c	863	// VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve	59:f308b1656d9c	864	// valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve	59:f308b1656d9c	865	// VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	61:bc8c8270f0ab	866
Lightvalve	59:f308b1656d9c	867	CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	59:f308b1656d9c	868	alpha_trans = 0.0f;
Lightvalve	61:bc8c8270f0ab	869
Lightvalve	34:bb2ca2fc2a8e	870
Lightvalve	29:69f3f5445d6d	871	} else {
Lightvalve	29:69f3f5445d6d	872	ENC_SET(HOMEPOS_OFFSET);
Lightvalve	67:c2812cf26c38	873	// ENC_SET_ZERO();
Lightvalve	29:69f3f5445d6d	874	INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve	29:69f3f5445d6d	875	REF_POSITION = 0;
Lightvalve	29:69f3f5445d6d	876	REF_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	877	FINDHOME_POSITION = 0;
Lightvalve	29:69f3f5445d6d	878	FINDHOME_POSITION_OLD = 0;
Lightvalve	29:69f3f5445d6d	879	FINDHOME_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	880	cnt_findhome = 0;
Lightvalve	29:69f3f5445d6d	881	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	882	FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve	67:c2812cf26c38	883
Lightvalve	67:c2812cf26c38	884
Lightvalve	67:c2812cf26c38	885	cnt_findhome = 0;
Lightvalve	67:c2812cf26c38	886	pos.ref = 0.0f;
Lightvalve	67:c2812cf26c38	887	vel.ref = 0.0f;
Lightvalve	67:c2812cf26c38	888	pos.ref_home_pos = 0.0f;
Lightvalve	67:c2812cf26c38	889	vel.ref_home_pos = 0.0f;
Lightvalve	67:c2812cf26c38	890	//FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve	67:c2812cf26c38	891	//CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve	67:c2812cf26c38	892
Lightvalve	67:c2812cf26c38	893
Lightvalve	29:69f3f5445d6d	894	}
Lightvalve	29:69f3f5445d6d	895	} else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve	29:69f3f5445d6d	896	int T_move = 2*TMR_FREQ_5k;
Lightvalve	59:f308b1656d9c	897	pos.ref = (0.0f - (float)INIT_REF_POS)0.5f(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
Lightvalve	67:c2812cf26c38	898	//pos.ref = 0.0f;
Lightvalve	59:f308b1656d9c	899	vel.ref = 0.0f;
Lightvalve	67:c2812cf26c38	900
Lightvalve	29:69f3f5445d6d	901	// input for position control
Lightvalve	67:c2812cf26c38	902
Lightvalve	67:c2812cf26c38	903	// CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	67:c2812cf26c38	904	alpha_trans = 0.0f;
Lightvalve	61:bc8c8270f0ab	905
Lightvalve	67:c2812cf26c38	906	double torq_ref = 0.0f;
Lightvalve	67:c2812cf26c38	907	pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve	67:c2812cf26c38	908	vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve	67:c2812cf26c38	909	pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve	67:c2812cf26c38	910
Lightvalve	67:c2812cf26c38	911	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	67:c2812cf26c38	912
Lightvalve	67:c2812cf26c38	913	double I_REF_POS = 0.0f;
Lightvalve	67:c2812cf26c38	914	double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve	67:c2812cf26c38	915	double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve	67:c2812cf26c38	916
Lightvalve	67:c2812cf26c38	917	double temp_vel_pos = 0.0f;
Lightvalve	67:c2812cf26c38	918	double temp_vel_torq = 0.0f;
Lightvalve	67:c2812cf26c38	919	double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve	67:c2812cf26c38	920
Lightvalve	69:3995ffeaa786	921	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve	67:c2812cf26c38	922	temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * 3.14159f / 180.0f; // rad/s
Lightvalve	67:c2812cf26c38	923	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	69:3995ffeaa786	924	} else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve	67:c2812cf26c38	925	temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	67:c2812cf26c38	926	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	67:c2812cf26c38	927	}
Lightvalve	67:c2812cf26c38	928	if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve	67:c2812cf26c38	929	else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	67:c2812cf26c38	930
Lightvalve	67:c2812cf26c38	931	I_REF = I_REF_POS;
Lightvalve	67:c2812cf26c38	932
Lightvalve	67:c2812cf26c38	933
Lightvalve	67:c2812cf26c38	934
Lightvalve	67:c2812cf26c38	935	} else {
Lightvalve	67:c2812cf26c38	936	float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve	67:c2812cf26c38	937	VALVE_POS_RAW_FORCE_FB = DDV_JOINT_POS_FF(vel.sen) + (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve	67:c2812cf26c38	938
Lightvalve	67:c2812cf26c38	939	if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve	67:c2812cf26c38	940	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve	67:c2812cf26c38	941	} else {
Lightvalve	67:c2812cf26c38	942	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve	67:c2812cf26c38	943	}
Lightvalve	67:c2812cf26c38	944
Lightvalve	67:c2812cf26c38	945	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	67:c2812cf26c38	946
Lightvalve	67:c2812cf26c38	947	V_out = (float) Vout.ref;
Lightvalve	67:c2812cf26c38	948
Lightvalve	67:c2812cf26c38	949	}
Lightvalve	67:c2812cf26c38	950
Lightvalve	67:c2812cf26c38	951
Lightvalve	67:c2812cf26c38	952
Lightvalve	67:c2812cf26c38	953
Lightvalve	59:f308b1656d9c	954	// pos.err = pos.ref - (float)pos.sen;
Lightvalve	59:f308b1656d9c	955	// float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve	59:f308b1656d9c	956	// VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve	59:f308b1656d9c	957	// valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve	59:f308b1656d9c	958	// VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	29:69f3f5445d6d	959
Lightvalve	29:69f3f5445d6d	960	cnt_findhome++;
Lightvalve	29:69f3f5445d6d	961	if (cnt_findhome >= T_move) {
Lightvalve	29:69f3f5445d6d	962	//REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve	29:69f3f5445d6d	963	cnt_findhome = 0;
Lightvalve	30:8d561f16383b	964	pos.ref = 0.0f;
Lightvalve	30:8d561f16383b	965	vel.ref = 0.0f;
Lightvalve	30:8d561f16383b	966	pos.ref_home_pos = 0.0f;
Lightvalve	30:8d561f16383b	967	vel.ref_home_pos = 0.0f;
Lightvalve	29:69f3f5445d6d	968	FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve	57:f4819de54e7a	969	CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve	29:69f3f5445d6d	970	}
Lightvalve	13:747daba9cf59	971	}
Lightvalve	19:23b7c1ad8683	972
Lightvalve	13:747daba9cf59	973	break;
Lightvalve	13:747daba9cf59	974	}
Lightvalve	14:8e7590227d22	975
Lightvalve	50:3c630b5eba9f	976	// case MODE_VALVE_GAIN_SETTING: {
Lightvalve	50:3c630b5eba9f	977	// if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve	50:3c630b5eba9f	978	// if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	50:3c630b5eba9f	979	// else {
Lightvalve	50:3c630b5eba9f	980	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	981	// temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve	50:3c630b5eba9f	982	// }
Lightvalve	50:3c630b5eba9f	983	// }
Lightvalve	50:3c630b5eba9f	984	// if (need_enc_init) {
Lightvalve	50:3c630b5eba9f	985	// if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	986	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	987	// pos_plus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	988	// } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	989	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	990	// pos_minus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	991	// } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	992	// need_enc_init = false;
Lightvalve	50:3c630b5eba9f	993	// check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	50:3c630b5eba9f	994	// check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	50:3c630b5eba9f	995	// check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve	50:3c630b5eba9f	996	// }
Lightvalve	50:3c630b5eba9f	997	// temp_time = TMR_FREQ_5k;
Lightvalve	50:3c630b5eba9f	998	// }
Lightvalve	50:3c630b5eba9f	999	// TMR3_COUNT_FLOWRATE++;
Lightvalve	50:3c630b5eba9f	1000	// if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve	50:3c630b5eba9f	1001	// if (flag_flowrate % 2 == 0) { // (+)
Lightvalve	50:3c630b5eba9f	1002	// VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve	50:3c630b5eba9f	1003	// V_out = VALVE_VOLTAGE;
Lightvalve	50:3c630b5eba9f	1004	// if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve	50:3c630b5eba9f	1005	// fl_temp_cnt++;
Lightvalve	50:3c630b5eba9f	1006	// } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	50:3c630b5eba9f	1007	// VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6pi/6553610000 0.5757=0.025250.020.0095260*1000
Lightvalve	50:3c630b5eba9f	1008	// // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
Lightvalve	50:3c630b5eba9f	1009	// fl_temp_cnt2++;
Lightvalve	50:3c630b5eba9f	1010	// }
Lightvalve	50:3c630b5eba9f	1011	// } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve	50:3c630b5eba9f	1012	// VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve	50:3c630b5eba9f	1013	// V_out = VALVE_VOLTAGE;
Lightvalve	50:3c630b5eba9f	1014	// if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve	50:3c630b5eba9f	1015	// fl_temp_cnt++;
Lightvalve	50:3c630b5eba9f	1016	// } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	50:3c630b5eba9f	1017	// VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0f * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE);
Lightvalve	50:3c630b5eba9f	1018	// // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
Lightvalve	50:3c630b5eba9f	1019	// fl_temp_cnt2++;
Lightvalve	50:3c630b5eba9f	1020	// }
Lightvalve	50:3c630b5eba9f	1021	// }
Lightvalve	50:3c630b5eba9f	1022	// if (fl_temp_cnt2 == 100) {
Lightvalve	50:3c630b5eba9f	1023	//
Lightvalve	50:3c630b5eba9f	1024	// ROM_RESET_DATA();
Lightvalve	50:3c630b5eba9f	1025	//
Lightvalve	50:3c630b5eba9f	1026	// //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve	50:3c630b5eba9f	1027	// cur_vel_sum = 0;
Lightvalve	50:3c630b5eba9f	1028	// fl_temp_cnt = 0;
Lightvalve	50:3c630b5eba9f	1029	// fl_temp_cnt2 = 0;
Lightvalve	50:3c630b5eba9f	1030	// flag_flowrate++;
Lightvalve	50:3c630b5eba9f	1031	// }
Lightvalve	50:3c630b5eba9f	1032	// if (flag_flowrate == 10) {
Lightvalve	50:3c630b5eba9f	1033	// V_out = 0;
Lightvalve	50:3c630b5eba9f	1034	// flag_flowrate = 0;
Lightvalve	50:3c630b5eba9f	1035	// TMR3_COUNT_FLOWRATE = 0;
Lightvalve	50:3c630b5eba9f	1036	// valve_gain_repeat_cnt++;
Lightvalve	50:3c630b5eba9f	1037	// if (valve_gain_repeat_cnt >= 1) {
Lightvalve	50:3c630b5eba9f	1038	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	1039	// valve_gain_repeat_cnt = 0;
Lightvalve	50:3c630b5eba9f	1040	// }
Lightvalve	50:3c630b5eba9f	1041	//
Lightvalve	50:3c630b5eba9f	1042	// }
Lightvalve	50:3c630b5eba9f	1043	// break;
Lightvalve	50:3c630b5eba9f	1044	// }
Lightvalve	50:3c630b5eba9f	1045	//
Lightvalve	50:3c630b5eba9f	1046	// }
Lightvalve	14:8e7590227d22	1047	case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	1048	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	1049	if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve	14:8e7590227d22	1050	CUR_PRES_A_sum += pres_A.sen;
Lightvalve	14:8e7590227d22	1051	CUR_PRES_B_sum += pres_B.sen;
Lightvalve	14:8e7590227d22	1052
Lightvalve	14:8e7590227d22	1053	if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	1054	CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve	30:8d561f16383b	1055	CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve	13:747daba9cf59	1056	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	1057	CUR_PRES_B_sum = 0;
Lightvalve	14:8e7590227d22	1058
Lightvalve	38:118df027d851	1059	float VREF_NullingGain = 0.0003f;
Lightvalve	58:2eade98630e2	1060	PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve	58:2eade98630e2	1061	PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve	14:8e7590227d22	1062
Lightvalve	30:8d561f16383b	1063	if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve	30:8d561f16383b	1064	if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve	30:8d561f16383b	1065	if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve	30:8d561f16383b	1066	if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve	19:23b7c1ad8683	1067
Lightvalve	30:8d561f16383b	1068	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	1069	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	13:747daba9cf59	1070	}
Lightvalve	13:747daba9cf59	1071	} else {
Lightvalve	57:f4819de54e7a	1072	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	1073	TMR3_COUNT_PRES_NULL = 0;
Lightvalve	13:747daba9cf59	1074	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	1075	CUR_PRES_B_sum = 0;
Lightvalve	13:747daba9cf59	1076	CUR_PRES_A_mean = 0;
Lightvalve	13:747daba9cf59	1077	CUR_PRES_B_mean = 0;
Lightvalve	14:8e7590227d22	1078
Lightvalve	16:903b5a4433b4	1079	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	1080
Lightvalve	30:8d561f16383b	1081	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	1082	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	17:1865016ca2e7	1083	//pc.printf("nulling end");
Lightvalve	13:747daba9cf59	1084	}
Lightvalve	14:8e7590227d22	1085	TMR3_COUNT_PRES_NULL++;
Lightvalve	13:747daba9cf59	1086	break;
Lightvalve	13:747daba9cf59	1087	}
Lightvalve	14:8e7590227d22	1088
Lightvalve	50:3c630b5eba9f	1089	// case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve	50:3c630b5eba9f	1090	// if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	1091	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	1092	// if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	1093	// CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve	50:3c630b5eba9f	1094	// }
Lightvalve	50:3c630b5eba9f	1095	// } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	1096	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	1097	// if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	1098	// CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve	50:3c630b5eba9f	1099	// }
Lightvalve	50:3c630b5eba9f	1100	// } else {
Lightvalve	50:3c630b5eba9f	1101	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	1102	// TMR3_COUNT_PRES_CALIB = 0;
Lightvalve	50:3c630b5eba9f	1103	// V_out = 0;
Lightvalve	50:3c630b5eba9f	1104	// PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve	50:3c630b5eba9f	1105	// PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	50:3c630b5eba9f	1106	// PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve	50:3c630b5eba9f	1107	// PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	50:3c630b5eba9f	1108	// CUR_PRES_A_sum = 0;
Lightvalve	50:3c630b5eba9f	1109	// CUR_PRES_B_sum = 0;
Lightvalve	50:3c630b5eba9f	1110	// CUR_PRES_A_mean = 0;
Lightvalve	50:3c630b5eba9f	1111	// CUR_PRES_B_mean = 0;
Lightvalve	50:3c630b5eba9f	1112	//
Lightvalve	50:3c630b5eba9f	1113	// ROM_RESET_DATA();
Lightvalve	50:3c630b5eba9f	1114	//
Lightvalve	50:3c630b5eba9f	1115	// //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve	50:3c630b5eba9f	1116	// //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve	50:3c630b5eba9f	1117	// }
Lightvalve	50:3c630b5eba9f	1118	// TMR3_COUNT_PRES_CALIB++;
Lightvalve	50:3c630b5eba9f	1119	// break;
Lightvalve	50:3c630b5eba9f	1120	// }
Lightvalve	19:23b7c1ad8683	1121
Lightvalve	50:3c630b5eba9f	1122	// case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve	50:3c630b5eba9f	1123	// if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4.0f + 3.0f * sin(2 * 3.14159f * 0.5f * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f * 0.05f);
Lightvalve	50:3c630b5eba9f	1124	// V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve	50:3c630b5eba9f	1125	// if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	1126	// else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	1127	// TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve	50:3c630b5eba9f	1128	// if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	1129	// TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve	50:3c630b5eba9f	1130	// V_out = 0.0f;
Lightvalve	50:3c630b5eba9f	1131	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	1132	// }
Lightvalve	50:3c630b5eba9f	1133	// break;
Lightvalve	50:3c630b5eba9f	1134	// }
Lightvalve	14:8e7590227d22	1135
Lightvalve	14:8e7590227d22	1136	case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve	59:f308b1656d9c	1137	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	1138	VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve	14:8e7590227d22	1139
Lightvalve	14:8e7590227d22	1140	if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve	60:64181f1d3e60	1141	Vout.ref = 3000.0f * sin(2.0f3.14fVALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve	14:8e7590227d22	1142	} else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve	59:f308b1656d9c	1143	Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve	14:8e7590227d22	1144	} else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve	13:747daba9cf59	1145	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	1146	data_num = 0;
Lightvalve	14:8e7590227d22	1147	} else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve	13:747daba9cf59	1148	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	1149	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	14:8e7590227d22	1150	} else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve	59:f308b1656d9c	1151	Vout.ref = 0.0f;
Lightvalve	59:f308b1656d9c	1152	} else {
Lightvalve	13:747daba9cf59	1153	VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve	13:747daba9cf59	1154	VALVE_ID_timer = 0;
Lightvalve	13:747daba9cf59	1155	ID_index= ID_index +1;
Lightvalve	13:747daba9cf59	1156	}
Lightvalve	14:8e7590227d22	1157
Lightvalve	17:1865016ca2e7	1158	if(ID_index>=25) {
Lightvalve	13:747daba9cf59	1159	int i;
Lightvalve	13:747daba9cf59	1160	VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve	17:1865016ca2e7	1161	for(i=0; i<25; i++) {
Lightvalve	13:747daba9cf59	1162	VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve	14:8e7590227d22	1163	if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	1164	VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	1165	VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	1166	} else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	1167	VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	1168	VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	1169	}
Lightvalve	13:747daba9cf59	1170	}
Lightvalve	59:f308b1656d9c	1171	ROM_RESET_DATA();
Lightvalve	13:747daba9cf59	1172	ID_index = 0;
Lightvalve	57:f4819de54e7a	1173	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1174	}
Lightvalve	14:8e7590227d22	1175
Lightvalve	14:8e7590227d22	1176
Lightvalve	13:747daba9cf59	1177	break;
Lightvalve	13:747daba9cf59	1178	}
Lightvalve	14:8e7590227d22	1179
Lightvalve	14:8e7590227d22	1180	case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve	59:f308b1656d9c	1181	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	1182	VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve	14:8e7590227d22	1183	if(first_check == 0) {
Lightvalve	30:8d561f16383b	1184	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1185	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	1186	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1187	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1188	pos_plus_end = pos.sen;
Lightvalve	30:8d561f16383b	1189	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1190	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	1191	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1192	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1193	pos_minus_end = pos.sen;
Lightvalve	30:8d561f16383b	1194	} else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1195	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	30:8d561f16383b	1196	} else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1197	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	13:747daba9cf59	1198	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	1199	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	30:8d561f16383b	1200	} else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1201	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	13:747daba9cf59	1202	DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve	14:8e7590227d22	1203	START_POS = pos.sen;
Lightvalve	13:747daba9cf59	1204	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	1205	data_num = 0;
Lightvalve	14:8e7590227d22	1206
Lightvalve	30:8d561f16383b	1207	} else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1208	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1209	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1210
Lightvalve	30:8d561f16383b	1211	} else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1212	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1213	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	60:64181f1d3e60	1214
Lightvalve	30:8d561f16383b	1215	} else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1216	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1217	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1218	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1219
Lightvalve	60:64181f1d3e60	1220	if((FINAL_POS - START_POS)>200) {
Lightvalve	13:747daba9cf59	1221	DZ_case = 1;
Lightvalve	60:64181f1d3e60	1222	} else if((FINAL_POS - START_POS)<-200) {
Lightvalve	13:747daba9cf59	1223	DZ_case = -1;
Lightvalve	14:8e7590227d22	1224	} else {
Lightvalve	13:747daba9cf59	1225	DZ_case = 0;
Lightvalve	13:747daba9cf59	1226	}
Lightvalve	61:bc8c8270f0ab	1227
Lightvalve	60:64181f1d3e60	1228	CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve	50:3c630b5eba9f	1229
Lightvalve	13:747daba9cf59	1230	first_check = 1;
Lightvalve	13:747daba9cf59	1231	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1232	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1233	Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve	13:747daba9cf59	1234	DZ_NUM = 1;
Lightvalve	13:747daba9cf59	1235	DZ_index = 1;
Lightvalve	14:8e7590227d22	1236
Lightvalve	13:747daba9cf59	1237	}
Lightvalve	19:23b7c1ad8683	1238	} else {
Lightvalve	14:8e7590227d22	1239	if((DZ_case == -1 && DZ_NUM == 1) \| (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve	30:8d561f16383b	1240	if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1241	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	60:64181f1d3e60	1242	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	60:64181f1d3e60	1243	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1244	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1245	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1246	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1247	valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1248	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1249	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1250	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1251	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1252	}
Lightvalve	14:8e7590227d22	1253	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	60:64181f1d3e60	1254
Lightvalve	30:8d561f16383b	1255	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1256	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1257	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1258
Lightvalve	14:8e7590227d22	1259	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1260	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1261	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1262	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1263	} else {
Lightvalve	13:747daba9cf59	1264	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	13:747daba9cf59	1265	}
Lightvalve	14:8e7590227d22	1266
Lightvalve	13:747daba9cf59	1267	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1268	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1269	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1270	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1271	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1272	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1273	DZ_index = 1;
Lightvalve	13:747daba9cf59	1274	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1275	}
Lightvalve	13:747daba9cf59	1276	}
Lightvalve	14:8e7590227d22	1277	} else if((DZ_case == -1 && DZ_NUM == 2) \| (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve	30:8d561f16383b	1278	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1279	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	60:64181f1d3e60	1280	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	60:64181f1d3e60	1281	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1282	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1283	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1284	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1285	valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1286	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1287	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1288	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1289	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1290	}
Lightvalve	14:8e7590227d22	1291	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	61:bc8c8270f0ab	1292
Lightvalve	30:8d561f16383b	1293	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1294	Vout.ref = 0.0f;
Lightvalve	59:f308b1656d9c	1295	} else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1296	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1297	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1298
Lightvalve	14:8e7590227d22	1299	if((FINAL_POS - START_POS)>100) {
Lightvalve	60:64181f1d3e60	1300	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1301	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	60:64181f1d3e60	1302	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1303	} else {
Lightvalve	60:64181f1d3e60	1304	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	13:747daba9cf59	1305	}
Lightvalve	14:8e7590227d22	1306
Lightvalve	13:747daba9cf59	1307	VALVE_DZ_timer = 0;
Lightvalve	60:64181f1d3e60	1308	DZ_index= DZ_index * 2;
Lightvalve	14:8e7590227d22	1309	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1310	SECOND_DZ = valve_pos.ref;
Lightvalve	57:f4819de54e7a	1311	VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve	13:747daba9cf59	1312	first_check = 0;
Lightvalve	33:91b17819ec30	1313	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	1314	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	19:23b7c1ad8683	1315
Lightvalve	16:903b5a4433b4	1316	ROM_RESET_DATA();
Lightvalve	34:bb2ca2fc2a8e	1317
Lightvalve	60:64181f1d3e60	1318	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1319	DZ_index = 1;
Lightvalve	13:747daba9cf59	1320	}
Lightvalve	13:747daba9cf59	1321	}
Lightvalve	14:8e7590227d22	1322	} else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve	30:8d561f16383b	1323	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1324	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	60:64181f1d3e60	1325	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	60:64181f1d3e60	1326	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1327	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1328	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1329	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1330	valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1331	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1332	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1333	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1334	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1335	}
Lightvalve	14:8e7590227d22	1336	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	61:bc8c8270f0ab	1337
Lightvalve	30:8d561f16383b	1338	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1339	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1340	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1341
Lightvalve	14:8e7590227d22	1342	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1343	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1344	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1345	DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	1346	} else {
Lightvalve	13:747daba9cf59	1347	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1348	}
Lightvalve	13:747daba9cf59	1349	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1350	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1351	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1352	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1353	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1354	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1355	DZ_index = 1;
Lightvalve	13:747daba9cf59	1356	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1357	}
Lightvalve	13:747daba9cf59	1358	}
Lightvalve	14:8e7590227d22	1359	} else {
Lightvalve	30:8d561f16383b	1360	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1361	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	60:64181f1d3e60	1362	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	60:64181f1d3e60	1363	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1364	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1365	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1366	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1367	valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1368	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1369	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1370	} else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1371	valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve	13:747daba9cf59	1372	}
Lightvalve	14:8e7590227d22	1373	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	60:64181f1d3e60	1374
Lightvalve	30:8d561f16383b	1375	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1376	Vout.ref = 0.0f;
Lightvalve	59:f308b1656d9c	1377	} else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1378	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1379	FINAL_POS = pos.sen;
Lightvalve	61:bc8c8270f0ab	1380
Lightvalve	60:64181f1d3e60	1381	if((FINAL_POS - START_POS)>100) {
Lightvalve	13:747daba9cf59	1382	DZ_DIRECTION = 1;
Lightvalve	60:64181f1d3e60	1383	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	60:64181f1d3e60	1384	DZ_DIRECTION = -1;
Lightvalve	60:64181f1d3e60	1385	} else {
Lightvalve	13:747daba9cf59	1386	DZ_DIRECTION = 1;
Lightvalve	60:64181f1d3e60	1387	}
Lightvalve	14:8e7590227d22	1388
Lightvalve	13:747daba9cf59	1389	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1390	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1391	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1392	SECOND_DZ = valve_pos.ref;
Lightvalve	57:f4819de54e7a	1393	VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve	13:747daba9cf59	1394	first_check = 0;
Lightvalve	33:91b17819ec30	1395	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	1396	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	61:bc8c8270f0ab	1397
Lightvalve	59:f308b1656d9c	1398	ROM_RESET_DATA();
Lightvalve	34:bb2ca2fc2a8e	1399
Lightvalve	57:f4819de54e7a	1400	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1401	DZ_index = 1;
Lightvalve	13:747daba9cf59	1402	}
Lightvalve	13:747daba9cf59	1403	}
Lightvalve	13:747daba9cf59	1404	}
Lightvalve	14:8e7590227d22	1405	}
Lightvalve	13:747daba9cf59	1406	break;
Lightvalve	13:747daba9cf59	1407	}
Lightvalve	14:8e7590227d22	1408
Lightvalve	14:8e7590227d22	1409	case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve	59:f308b1656d9c	1410	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	1411	VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve	14:8e7590227d22	1412	if(first_check == 0) {
Lightvalve	30:8d561f16383b	1413	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1414	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	23:59218d4a256d	1415	//CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve	30:8d561f16383b	1416	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1417	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1418	pos_plus_end = pos.sen;
Lightvalve	14:8e7590227d22	1419	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve	30:8d561f16383b	1420	} else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1421	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	1422	} else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1423	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve	59:f308b1656d9c	1424	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1425	pos_minus_end = pos.sen;
Lightvalve	13:747daba9cf59	1426	first_check = 1;
Lightvalve	13:747daba9cf59	1427	VALVE_FR_timer = 0;
Lightvalve	57:f4819de54e7a	1428	valve_pos.ref = (float) VALVE_CENTER;
Lightvalve	13:747daba9cf59	1429	ID_index = 0;
Lightvalve	13:747daba9cf59	1430	max_check = 0;
Lightvalve	13:747daba9cf59	1431	min_check = 0;
Lightvalve	13:747daba9cf59	1432	}
Lightvalve	14:8e7590227d22	1433	} else {
Lightvalve	30:8d561f16383b	1434	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1435	//V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	59:f308b1656d9c	1436	pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	59:f308b1656d9c	1437	CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1438	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	13:747daba9cf59	1439	data_num = 0;
Lightvalve	57:f4819de54e7a	1440	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve	14:8e7590227d22	1441
Lightvalve	14:8e7590227d22	1442	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1443	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1444	} else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f4819de54e7a	1445	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve	14:8e7590227d22	1446	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1447	data_num = data_num + 1;
Lightvalve	30:8d561f16383b	1448	if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve	14:8e7590227d22	1449	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1450	one_period_end = 1;
Lightvalve	13:747daba9cf59	1451	}
Lightvalve	30:8d561f16383b	1452	} else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1453	FINAL_POS = pos.sen;
Lightvalve	13:747daba9cf59	1454	one_period_end = 1;
Lightvalve	59:f308b1656d9c	1455	V_out = 0.0f;
Lightvalve	13:747daba9cf59	1456	}
Lightvalve	14:8e7590227d22	1457
Lightvalve	14:8e7590227d22	1458	if(one_period_end == 1) {
Lightvalve	14:8e7590227d22	1459	if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	13:747daba9cf59	1460	max_check = 1;
Lightvalve	14:8e7590227d22	1461	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	13:747daba9cf59	1462	min_check = 1;
Lightvalve	13:747daba9cf59	1463	}
Lightvalve	13:747daba9cf59	1464	JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve	19:23b7c1ad8683	1465
Lightvalve	13:747daba9cf59	1466	VALVE_FR_timer = 0;
Lightvalve	13:747daba9cf59	1467	one_period_end = 0;
Lightvalve	13:747daba9cf59	1468	ID_index= ID_index +1;
Lightvalve	30:8d561f16383b	1469	V_out = 0.0f;
Lightvalve	13:747daba9cf59	1470	}
Lightvalve	14:8e7590227d22	1471
Lightvalve	14:8e7590227d22	1472	if(max_check == 1 && min_check == 1) {
Lightvalve	19:23b7c1ad8683	1473
Lightvalve	13:747daba9cf59	1474	VALVE_POS_NUM = ID_index;
Lightvalve	59:f308b1656d9c	1475	ROM_RESET_DATA();
Lightvalve	13:747daba9cf59	1476	ID_index = 0;
Lightvalve	13:747daba9cf59	1477	first_check = 0;
Lightvalve	13:747daba9cf59	1478	VALVE_FR_timer = 0;
Lightvalve	57:f4819de54e7a	1479	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	49:e7bcfc244d40	1480	// CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve	13:747daba9cf59	1481	}
Lightvalve	13:747daba9cf59	1482	}
Lightvalve	13:747daba9cf59	1483	break;
Lightvalve	13:747daba9cf59	1484	}
Lightvalve	58:2eade98630e2	1485
Lightvalve	57:f4819de54e7a	1486	case MODE_SYSTEM_ID: {
Lightvalve	57:f4819de54e7a	1487	freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve	57:f4819de54e7a	1488	valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve	57:f4819de54e7a	1489	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	57:f4819de54e7a	1490	cnt_sysid++;
Lightvalve	57:f4819de54e7a	1491	if (freq_sysid_Iref >= 300) {
Lightvalve	57:f4819de54e7a	1492	cnt_sysid = 0;
Lightvalve	57:f4819de54e7a	1493	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	57:f4819de54e7a	1494	}
Lightvalve	57:f4819de54e7a	1495	break;
Lightvalve	57:f4819de54e7a	1496	}
Lightvalve	58:2eade98630e2	1497
Lightvalve	58:2eade98630e2	1498
Lightvalve	57:f4819de54e7a	1499
Lightvalve	57:f4819de54e7a	1500	default:
Lightvalve	57:f4819de54e7a	1501	break;
Lightvalve	57:f4819de54e7a	1502	}
Lightvalve	57:f4819de54e7a	1503
Lightvalve	57:f4819de54e7a	1504	// CONTROL MODE ------------------------------------------------------------
Lightvalve	57:f4819de54e7a	1505
Lightvalve	57:f4819de54e7a	1506	switch (CONTROL_MODE) {
Lightvalve	57:f4819de54e7a	1507	case MODE_NO_ACT: {
Lightvalve	57:f4819de54e7a	1508	V_out = 0.0f;
Lightvalve	57:f4819de54e7a	1509	break;
Lightvalve	57:f4819de54e7a	1510	}
Lightvalve	57:f4819de54e7a	1511
Lightvalve	57:f4819de54e7a	1512	case MODE_VALVE_POSITION_CONTROL: {
Lightvalve	67:c2812cf26c38	1513	if (OPERATING_MODE == 5) { //SW Valve
Lightvalve	57:f4819de54e7a	1514	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	59:f308b1656d9c	1515	V_out = Vout.ref;
Lightvalve	67:c2812cf26c38	1516	} else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve	67:c2812cf26c38	1517	V_out = valve_pos.ref;
Lightvalve	67:c2812cf26c38	1518	} else {
Lightvalve	67:c2812cf26c38	1519	I_REF = valve_pos.ref * 0.001f;
Lightvalve	57:f4819de54e7a	1520	}
Lightvalve	58:2eade98630e2	1521
Lightvalve	57:f4819de54e7a	1522	break;
Lightvalve	57:f4819de54e7a	1523	}
Lightvalve	57:f4819de54e7a	1524
Lightvalve	57:f4819de54e7a	1525	case MODE_JOINT_CONTROL: {
Lightvalve	57:f4819de54e7a	1526	double torq_ref = 0.0f;
Lightvalve	57:f4819de54e7a	1527	pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve	67:c2812cf26c38	1528	vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve	57:f4819de54e7a	1529	pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve	67:c2812cf26c38	1530
Lightvalve	67:c2812cf26c38	1531	//K & D Low Pass Filter
Lightvalve	67:c2812cf26c38	1532	float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f3.14f30.0f)); // f_cutoff : 30Hz
Lightvalve	67:c2812cf26c38	1533	K_LPF = K_LPF(1.0f-alpha_K_D)+K_SPRING(alpha_K_D);
Lightvalve	67:c2812cf26c38	1534	D_LPF = D_LPF(1.0f-alpha_K_D)+D_DAMPER(alpha_K_D);
Lightvalve	67:c2812cf26c38	1535
Lightvalve	67:c2812cf26c38	1536	torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve	57:f4819de54e7a	1537
Lightvalve	57:f4819de54e7a	1538	// torque feedback
Lightvalve	67:c2812cf26c38	1539	torq.err = torq_ref - torq.sen; //[N]
Lightvalve	57:f4819de54e7a	1540	torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve	57:f4819de54e7a	1541
Lightvalve	57:f4819de54e7a	1542	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	58:2eade98630e2	1543
Lightvalve	57:f4819de54e7a	1544	double I_REF_POS = 0.0f;
Lightvalve	57:f4819de54e7a	1545	double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve	57:f4819de54e7a	1546	double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve	57:f4819de54e7a	1547
Lightvalve	57:f4819de54e7a	1548	double temp_vel_pos = 0.0f;
Lightvalve	57:f4819de54e7a	1549	double temp_vel_torq = 0.0f;
Lightvalve	57:f4819de54e7a	1550	double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve	58:2eade98630e2	1551
Lightvalve	69:3995ffeaa786	1552	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve	57:f4819de54e7a	1553	temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve	57:f4819de54e7a	1554	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	69:3995ffeaa786	1555	} else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve	57:f4819de54e7a	1556	temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	57:f4819de54e7a	1557	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	57:f4819de54e7a	1558	}
Lightvalve	57:f4819de54e7a	1559	if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve	57:f4819de54e7a	1560	else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	57:f4819de54e7a	1561
Lightvalve	57:f4819de54e7a	1562	// velocity compensation for torque control
Lightvalve	69:3995ffeaa786	1563	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve	57:f4819de54e7a	1564	I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve	57:f4819de54e7a	1565	// temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s
Lightvalve	57:f4819de54e7a	1566	temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve	57:f4819de54e7a	1567	// L feedforward velocity
Lightvalve	69:3995ffeaa786	1568	} else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve	57:f4819de54e7a	1569	I_REF_FORCE_FB = 0.001f * 0.01f((double) P_GAIN_JOINT_TORQUE torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); // Linear Actuators are more sensitive.
Lightvalve	57:f4819de54e7a	1570	// temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	57:f4819de54e7a	1571	temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	57:f4819de54e7a	1572	// L feedforward velocity
Lightvalve	57:f4819de54e7a	1573	}
Lightvalve	57:f4819de54e7a	1574	if (temp_vel_torq > 0.0f) I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve	57:f4819de54e7a	1575	else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	57:f4819de54e7a	1576	// L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve	57:f4819de54e7a	1577	// Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve	57:f4819de54e7a	1578	// Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve	57:f4819de54e7a	1579
Lightvalve	57:f4819de54e7a	1580	I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve	67:c2812cf26c38	1581
Lightvalve	67:c2812cf26c38	1582	// Anti-windup for FT
Lightvalve	67:c2812cf26c38	1583	if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve	67:c2812cf26c38	1584	double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve	67:c2812cf26c38	1585	double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve	67:c2812cf26c38	1586	if (I_REF > I_MAX) {
Lightvalve	67:c2812cf26c38	1587	double I_rem = I_REF - I_MAX;
Lightvalve	67:c2812cf26c38	1588	I_rem = Ka*I_rem;
Lightvalve	67:c2812cf26c38	1589	I_REF = I_MAX;
Lightvalve	67:c2812cf26c38	1590	torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve	67:c2812cf26c38	1591	} else if (I_REF < -I_MAX) {
Lightvalve	67:c2812cf26c38	1592	double I_rem = I_REF - (-I_MAX);
Lightvalve	67:c2812cf26c38	1593	I_rem = Ka*I_rem;
Lightvalve	67:c2812cf26c38	1594	I_REF = -I_MAX;
Lightvalve	67:c2812cf26c38	1595	torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve	67:c2812cf26c38	1596	}
Lightvalve	67:c2812cf26c38	1597	}
Lightvalve	57:f4819de54e7a	1598
Lightvalve	57:f4819de54e7a	1599	} else {
Lightvalve	57:f4819de54e7a	1600	float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve	72:3436ce769b1e	1601	float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve	72:3436ce769b1e	1602	float VALVE_POS_RAW = 0.0f;
Lightvalve	72:3436ce769b1e	1603
Lightvalve	57:f4819de54e7a	1604	VALVE_POS_RAW_FORCE_FB = alpha_trans(((float) P_GAIN_JOINT_TORQUE torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f
Lightvalve	57:f4819de54e7a	1605	+ DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve	57:f4819de54e7a	1606
Lightvalve	72:3436ce769b1e	1607	VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f;
Lightvalve	72:3436ce769b1e	1608
Lightvalve	72:3436ce769b1e	1609	VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve	72:3436ce769b1e	1610
Lightvalve	72:3436ce769b1e	1611
Lightvalve	72:3436ce769b1e	1612	if (VALVE_POS_RAW >= 0) {
Lightvalve	72:3436ce769b1e	1613	valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve	57:f4819de54e7a	1614	} else {
Lightvalve	72:3436ce769b1e	1615	valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve	57:f4819de54e7a	1616	}
Lightvalve	57:f4819de54e7a	1617
Lightvalve	57:f4819de54e7a	1618	if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve	57:f4819de54e7a	1619	double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve	57:f4819de54e7a	1620	if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve	57:f4819de54e7a	1621	double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1622	valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	57:f4819de54e7a	1623	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1624	torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve	57:f4819de54e7a	1625	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	57:f4819de54e7a	1626	double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1627	valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	57:f4819de54e7a	1628	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1629	torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve	57:f4819de54e7a	1630	}
Lightvalve	57:f4819de54e7a	1631	}
Lightvalve	61:bc8c8270f0ab	1632
Lightvalve	57:f4819de54e7a	1633	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	61:bc8c8270f0ab	1634
Lightvalve	67:c2812cf26c38	1635	// Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve	60:64181f1d3e60	1636	V_out = (float) Vout.ref;
Lightvalve	57:f4819de54e7a	1637
Lightvalve	57:f4819de54e7a	1638	}
Lightvalve	72:3436ce769b1e	1639
Lightvalve	72:3436ce769b1e	1640	torq_ref_past = torq_ref;
Lightvalve	58:2eade98630e2	1641
Lightvalve	57:f4819de54e7a	1642	break;
Lightvalve	57:f4819de54e7a	1643	}
Lightvalve	58:2eade98630e2	1644
Lightvalve	57:f4819de54e7a	1645	case MODE_VALVE_OPEN_LOOP: {
Lightvalve	57:f4819de54e7a	1646	V_out = (float) Vout.ref;
Lightvalve	57:f4819de54e7a	1647	break;
Lightvalve	57:f4819de54e7a	1648	}
Lightvalve	14:8e7590227d22	1649
Lightvalve	12:6f2531038ea4	1650	default:
Lightvalve	12:6f2531038ea4	1651	break;
Lightvalve	12:6f2531038ea4	1652	}
Lightvalve	14:8e7590227d22	1653
Lightvalve	57:f4819de54e7a	1654
Lightvalve	57:f4819de54e7a	1655	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve	58:2eade98630e2	1656
Lightvalve	57:f4819de54e7a	1657	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1658	//////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve	57:f4819de54e7a	1659	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1660	if (CURRENT_CONTROL_MODE) {
Lightvalve	67:c2812cf26c38	1661	double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve	57:f4819de54e7a	1662	I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve	57:f4819de54e7a	1663
Lightvalve	57:f4819de54e7a	1664	I_ERR = I_REF_fil - cur.sen;
Lightvalve	67:c2812cf26c38	1665	I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve	57:f4819de54e7a	1666
Lightvalve	57:f4819de54e7a	1667
Lightvalve	57:f4819de54e7a	1668	// Moog Valve Current Control Gain
Lightvalve	67:c2812cf26c38	1669	double R_model = 500.0f; // ohm
Lightvalve	57:f4819de54e7a	1670	double L_model = 1.2f;
Lightvalve	57:f4819de54e7a	1671	double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve	57:f4819de54e7a	1672	double KP_I = 0.1f * L_model*w0;
Lightvalve	57:f4819de54e7a	1673	double KI_I = 0.1f * R_model*w0;
Lightvalve	57:f4819de54e7a	1674
Lightvalve	57:f4819de54e7a	1675	// KNR Valve Current Control Gain
Lightvalve	57:f4819de54e7a	1676	if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve	57:f4819de54e7a	1677	R_model = 163.0f; // ohm
Lightvalve	57:f4819de54e7a	1678	L_model = 1.0f;
Lightvalve	57:f4819de54e7a	1679	w0 = 2.0f * 3.14f * 80.0f;
Lightvalve	57:f4819de54e7a	1680	KP_I = 1.0f * L_model*w0;
Lightvalve	57:f4819de54e7a	1681	KI_I = 0.08f * R_model*w0;
Lightvalve	57:f4819de54e7a	1682	}
Lightvalve	57:f4819de54e7a	1683
Lightvalve	57:f4819de54e7a	1684	double FF_gain = 1.0f;
Lightvalve	57:f4819de54e7a	1685
Lightvalve	67:c2812cf26c38	1686	VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve	57:f4819de54e7a	1687	// VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve	57:f4819de54e7a	1688	I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve	57:f4819de54e7a	1689	I_REF_fil_old = I_REF_fil;
Lightvalve	67:c2812cf26c38	1690	// VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV
Lightvalve	67:c2812cf26c38	1691	VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve	67:c2812cf26c38	1692	double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve	57:f4819de54e7a	1693
Lightvalve	57:f4819de54e7a	1694	double Ka = 3.0f / KP_I;
Lightvalve	57:f4819de54e7a	1695	if (VALVE_PWM_RAW > V_MAX) {
Lightvalve	57:f4819de54e7a	1696	V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve	57:f4819de54e7a	1697	V_rem = Ka*V_rem;
Lightvalve	57:f4819de54e7a	1698	VALVE_PWM_RAW = V_MAX;
Lightvalve	67:c2812cf26c38	1699	I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve	57:f4819de54e7a	1700	} else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve	57:f4819de54e7a	1701	V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve	57:f4819de54e7a	1702	V_rem = Ka*V_rem;
Lightvalve	57:f4819de54e7a	1703	VALVE_PWM_RAW = -V_MAX;
Lightvalve	67:c2812cf26c38	1704	I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve	57:f4819de54e7a	1705	}
Lightvalve	57:f4819de54e7a	1706	Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve	57:f4819de54e7a	1707	} else {
Lightvalve	57:f4819de54e7a	1708	VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve	57:f4819de54e7a	1709	Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve	57:f4819de54e7a	1710	}
Lightvalve	57:f4819de54e7a	1711
Lightvalve	57:f4819de54e7a	1712	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1713	///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve	57:f4819de54e7a	1714	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1715	// Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve	57:f4819de54e7a	1716	if (FLAG_VALVE_DEADZONE) {
Lightvalve	57:f4819de54e7a	1717	if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve	57:f4819de54e7a	1718	else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve	57:f4819de54e7a	1719
Lightvalve	57:f4819de54e7a	1720	VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve	57:f4819de54e7a	1721
Lightvalve	57:f4819de54e7a	1722	} else {
Lightvalve	57:f4819de54e7a	1723	VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve	57:f4819de54e7a	1724	}
Lightvalve	57:f4819de54e7a	1725
Lightvalve	57:f4819de54e7a	1726	// Output Voltage Linearization
Lightvalve	57:f4819de54e7a	1727	double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve	67:c2812cf26c38	1728	double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve	57:f4819de54e7a	1729
Lightvalve	57:f4819de54e7a	1730	// Dead Zone Cancellation (Electrical dead-zone)
Lightvalve	67:c2812cf26c38	1731	if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve	67:c2812cf26c38	1732	else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve	67:c2812cf26c38	1733	else V_out = (float) (CUR_PWM_lin);
Lightvalve	57:f4819de54e7a	1734	}
Lightvalve	89:a7b45368ea0f	1735	else { //////////////////////////sw valve
Lightvalve	89:a7b45368ea0f	1736	// Output Voltage Linearization
Lightvalve	89:a7b45368ea0f	1737	double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve	89:a7b45368ea0f	1738	double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve	89:a7b45368ea0f	1739
Lightvalve	89:a7b45368ea0f	1740	// Dead Zone Cancellation (Electrical dead-zone)
Lightvalve	89:a7b45368ea0f	1741	if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve	89:a7b45368ea0f	1742	else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve	89:a7b45368ea0f	1743	else V_out = (float) (CUR_PWM_lin);
Lightvalve	89:a7b45368ea0f	1744	}
Lightvalve	67:c2812cf26c38	1745
Lightvalve	67:c2812cf26c38	1746	// if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve	67:c2812cf26c38	1747	// else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve	67:c2812cf26c38	1748	// else V_out = V_out;
Lightvalve	67:c2812cf26c38	1749
jobuuu	7:e9086c72bb22	1750	/*******************************************************
jobuuu	7:e9086c72bb22	1751	*** PWM
jobuuu	7:e9086c72bb22	1752	********************************************************/
Lightvalve	67:c2812cf26c38	1753	if(DIR_VALVE<0){
Lightvalve	67:c2812cf26c38	1754	V_out = -V_out;
Lightvalve	67:c2812cf26c38	1755	}
Lightvalve	67:c2812cf26c38	1756
Lightvalve	49:e7bcfc244d40	1757	if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve	49:e7bcfc244d40	1758	V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve	49:e7bcfc244d40	1759	} else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve	49:e7bcfc244d40	1760	V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve	27:a2254a485f23	1761	}
Lightvalve	49:e7bcfc244d40	1762	PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve	13:747daba9cf59	1763
Lightvalve	19:23b7c1ad8683	1764	// Saturation of output voltage to 12.0V
Lightvalve	30:8d561f16383b	1765	if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve	30:8d561f16383b	1766	else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve	13:747daba9cf59	1767
Lightvalve	30:8d561f16383b	1768	if (PWM_out>0.0f) {
Lightvalve	30:8d561f16383b	1769	dtc_v=0.0f;
jobuuu	1:e04e563be5ce	1770	dtc_w=PWM_out;
jobuuu	1:e04e563be5ce	1771	} else {
jobuuu	2:a1c0a37df760	1772	dtc_v=-PWM_out;
Lightvalve	30:8d561f16383b	1773	dtc_w=0.0f;
jobuuu	1:e04e563be5ce	1774	}
Lightvalve	13:747daba9cf59	1775
jobuuu	1:e04e563be5ce	1776	//pwm
Lightvalve	30:8d561f16383b	1777	TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve	30:8d561f16383b	1778	TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve	67:c2812cf26c38	1779
Lightvalve	61:bc8c8270f0ab	1780
Lightvalve	57:f4819de54e7a	1781	if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve	20:806196fda269	1782
Lightvalve	54:647072f5307a	1783	// Position, Velocity, and Torque (ID:1200)
Lightvalve	56:6f50d9d3bfee	1784	if (flag_data_request[0] == HIGH) {
Lightvalve	57:f4819de54e7a	1785	if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve	54:647072f5307a	1786	if (SENSING_MODE == 0) {
Lightvalve	67:c2812cf26c38	1787	CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve	54:647072f5307a	1788	} else if (SENSING_MODE == 1) {
Lightvalve	58:2eade98630e2	1789	CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) ((pres_A.sen)5.0f), (int16_t) ((pres_B.sen)5.0f));
Lightvalve	54:647072f5307a	1790	}
Lightvalve	57:f4819de54e7a	1791	} else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve	54:647072f5307a	1792	if (SENSING_MODE == 0) {
Lightvalve	67:c2812cf26c38	1793	CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE)));
Lightvalve	54:647072f5307a	1794	} else if (SENSING_MODE == 1) {
Lightvalve	67:c2812cf26c38	1795	CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)5.0f), (int16_t) ((pres_B.sen)5.0f));
Lightvalve	54:647072f5307a	1796	}
Lightvalve	52:8ea76864368a	1797	}
Lightvalve	52:8ea76864368a	1798	}
Lightvalve	56:6f50d9d3bfee	1799	if (flag_data_request[1] == HIGH) {
Lightvalve	54:647072f5307a	1800	//valve position
Lightvalve	54:647072f5307a	1801	double t_value = 0;
Lightvalve	89:a7b45368ea0f	1802	// if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve	89:a7b45368ea0f	1803	// t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	89:a7b45368ea0f	1804	// } else {
Lightvalve	89:a7b45368ea0f	1805	// t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	89:a7b45368ea0f	1806	// }
Lightvalve	89:a7b45368ea0f	1807	if(OPERATING_MODE==5) {
Lightvalve	89:a7b45368ea0f	1808	if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve	89:a7b45368ea0f	1809	t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	89:a7b45368ea0f	1810	} else {
Lightvalve	89:a7b45368ea0f	1811	t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	89:a7b45368ea0f	1812	}
Lightvalve	89:a7b45368ea0f	1813	//t_value = (double) value;
Lightvalve	89:a7b45368ea0f	1814	} else if(CURRENT_CONTROL_MODE==1) {
Lightvalve	89:a7b45368ea0f	1815	t_value = cur.sen * 1000.0f;
Lightvalve	67:c2812cf26c38	1816	} else {
Lightvalve	89:a7b45368ea0f	1817	t_value = V_out;
Lightvalve	67:c2812cf26c38	1818	}
Lightvalve	67:c2812cf26c38	1819	CAN_TX_TORQUE((int16_t) (t_value)); //1300
Lightvalve	67:c2812cf26c38	1820	//CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
Lightvalve	67:c2812cf26c38	1821	//CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
Lightvalve	54:647072f5307a	1822	}
Lightvalve	58:2eade98630e2	1823
Lightvalve	58:2eade98630e2	1824
Lightvalve	89:a7b45368ea0f	1825	if (flag_data_request[2] == LOW) {
Lightvalve	89:a7b45368ea0f	1826	//CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // 1400
Lightvalve	89:a7b45368ea0f	1827	double t_value = 0;
Lightvalve	89:a7b45368ea0f	1828	if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve	89:a7b45368ea0f	1829	t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	89:a7b45368ea0f	1830	} else {
Lightvalve	89:a7b45368ea0f	1831	t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	89:a7b45368ea0f	1832	}
Lightvalve	89:a7b45368ea0f	1833	CAN_TX_PRES((int16_t) (t_value), (int16_t) (V_out)); // 1400
Lightvalve	55:b25725257569	1834	}
Lightvalve	58:2eade98630e2	1835
Lightvalve	57:f4819de54e7a	1836	//If it doesn't rest, below can can not work.
Lightvalve	57:f4819de54e7a	1837	for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve	57:f4819de54e7a	1838	;
Lightvalve	57:f4819de54e7a	1839	}
Lightvalve	58:2eade98630e2	1840
Lightvalve	56:6f50d9d3bfee	1841	if (flag_data_request[3] == HIGH) {
Lightvalve	54:647072f5307a	1842	//PWM
Lightvalve	73:f80dc3970c99	1843	//CAN_TX_PWM((int16_t) value); //1500
Lightvalve	73:f80dc3970c99	1844	CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500
Lightvalve	54:647072f5307a	1845	}
Lightvalve	57:f4819de54e7a	1846	//for (i = 0; i < 10000; i++) {
Lightvalve	57:f4819de54e7a	1847	// ;
Lightvalve	57:f4819de54e7a	1848	// }
Lightvalve	56:6f50d9d3bfee	1849	if (flag_data_request[4] == HIGH) {
Lightvalve	54:647072f5307a	1850	//valve position
Lightvalve	73:f80dc3970c99	1851	CAN_TX_VALVE_POSITION((int16_t) (input_NN[1] * 100.0f), (int16_t) (input_NN[2]* 100.0f), (int16_t) (input_NN[3]* 100.0f), (int16_t) (input_NN[4]* 100.0f)); //1600
Lightvalve	54:647072f5307a	1852	}
Lightvalve	20:806196fda269	1853
Lightvalve	54:647072f5307a	1854	// Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve	52:8ea76864368a	1855	// if (flag_data_request[1] == HIGH) {
Lightvalve	52:8ea76864368a	1856	// CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve	52:8ea76864368a	1857	// }
Lightvalve	54:647072f5307a	1858	//if (flag_delay_test == 1){
Lightvalve	58:2eade98630e2	1859	//CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve	54:647072f5307a	1860	//}
Lightvalve	52:8ea76864368a	1861
Lightvalve	54:647072f5307a	1862	TMR2_COUNT_CAN_TX = 0;
Lightvalve	54:647072f5307a	1863	}
Lightvalve	54:647072f5307a	1864	TMR2_COUNT_CAN_TX++;
Lightvalve	52:8ea76864368a	1865
Lightvalve	20:806196fda269	1866	}
Lightvalve	52:8ea76864368a	1867	TIM3->SR = 0x0; // reset the status register
Lightvalve	52:8ea76864368a	1868
Lightvalve	58:2eade98630e2	1869	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	20 Apr 2021
Imports:	2
Forks:	0
Commits:	231
Dependents:	0
Dependencies:	2
Followers:	1

main.cpp@93:82ce526d307b, 2020-08-06 (annotated)

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