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@224:985dba42f261, 2020-12-28 (annotated)

Committer:: Lightvalve
Date:: Mon Dec 28 14:27:11 2020 +0000
Revision:: 224:985dba42f261
Parent:: 223:e26830fbaffd
Child:: 225:9c0becc196ba

distribution

Who changed what in which revision?

User	Revision	Line number	New contents of line
Lightvalve	224:985dba42f261	1	//Hydraulic Control Board
Lightvalve	224:985dba42f261	2	//distributed by Sungwoo Kim
Lightvalve	224:985dba42f261	3	// 2020/12/28
Lightvalve	224:985dba42f261	4
Lightvalve	224:985dba42f261	5
Lightvalve	224:985dba42f261	6	// 유의사항
Lightvalve	224:985dba42f261	7	// 소수 적을때 뒤에 f 꼭 붙이기
Lightvalve	224:985dba42f261	8	// CAN 선은 ground까지 있는 3상 선으로 써야함.
Lightvalve	224:985dba42f261	9	// 전원은 12~24V 인가.
Lightvalve	224:985dba42f261	10
GiJeongKim	0:51c43836c1d7	11	#include "mbed.h"
GiJeongKim	0:51c43836c1d7	12	#include "FastPWM.h"
GiJeongKim	0:51c43836c1d7	13	#include "INIT_HW.h"
jobuuu	2:a1c0a37df760	14	#include "function_CAN.h"
GiJeongKim	0:51c43836c1d7	15	#include "SPI_EEP_ENC.h"
GiJeongKim	0:51c43836c1d7	16	#include "I2C_AS5510.h"
GiJeongKim	0:51c43836c1d7	17	#include "setting.h"
Lightvalve	11:82d8768d7351	18	#include "function_utilities.h"
Lightvalve	16:903b5a4433b4	19	#include "stm32f4xx_flash.h"
Lightvalve	169:645207e160ca	20	#include "FlashWriter.h"
Lightvalve	170:42c938a40313	21	#include <string>
Lightvalve	170:42c938a40313	22	#include <iostream>
Lightvalve	179:d5377766d7ea	23	#include <cmath>
Lightvalve	61:bc8c8270f0ab	24
Lightvalve	61:bc8c8270f0ab	25	using namespace std;
Lightvalve	61:bc8c8270f0ab	26	Timer t;
GiJeongKim	0:51c43836c1d7	27
jobuuu	7:e9086c72bb22	28	// dac & check ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	29	DigitalOut check(PC_2);
GiJeongKim	0:51c43836c1d7	30	DigitalOut check_2(PC_3);
GiJeongKim	0:51c43836c1d7	31	AnalogOut dac_1(PA_4);
GiJeongKim	0:51c43836c1d7	32	AnalogOut dac_2(PA_5);
Lightvalve	14:8e7590227d22	33	AnalogIn adc1(PC_4); //pressure_1
Lightvalve	14:8e7590227d22	34	AnalogIn adc2(PB_0); //pressure_2
Lightvalve	14:8e7590227d22	35	AnalogIn adc3(PC_1); //current
GiJeongKim	0:51c43836c1d7	36
jobuuu	7:e9086c72bb22	37	// PWM ///////////////////////////////////////////
Lightvalve	30:8d561f16383b	38	float dtc_v=0.0f;
Lightvalve	30:8d561f16383b	39	float dtc_w=0.0f;
GiJeongKim	0:51c43836c1d7	40
jobuuu	7:e9086c72bb22	41	// I2C ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	42	I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
Lightvalve	224:985dba42f261	43	const int i2c_slave_addr1 = 0x56; // AS5510 address
GiJeongKim	0:51c43836c1d7	44	unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim	0:51c43836c1d7	45
jobuuu	7:e9086c72bb22	46	// SPI ///////////////////////////////////////////
Lightvalve	170:42c938a40313	47	SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve	170:42c938a40313	48	DigitalOut eeprom_cs(PB_12);
GiJeongKim	0:51c43836c1d7	49	SPI enc(PC_12,PC_11,PC_10);
GiJeongKim	0:51c43836c1d7	50	DigitalOut enc_cs(PD_2);
Lightvalve	11:82d8768d7351	51	DigitalOut LED(PA_15);
GiJeongKim	0:51c43836c1d7	52
jobuuu	7:e9086c72bb22	53	// UART ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	54	Serial pc(PA_9,PA_10); // _ UART
GiJeongKim	0:51c43836c1d7	55
jobuuu	7:e9086c72bb22	56	// CAN ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	57	CAN can(PB_8, PB_9, 1000000);
GiJeongKim	0:51c43836c1d7	58	CANMessage msg;
Lightvalve	11:82d8768d7351	59	void onMsgReceived()
Lightvalve	11:82d8768d7351	60	{
Lightvalve	11:82d8768d7351	61	CAN_RX_HANDLER();
Lightvalve	11:82d8768d7351	62	}
jobuuu	2:a1c0a37df760	63
jobuuu	7:e9086c72bb22	64	// Variables ///////////////////////////////////////////
jobuuu	7:e9086c72bb22	65	State pos;
jobuuu	7:e9086c72bb22	66	State vel;
jobuuu	7:e9086c72bb22	67	State Vout;
jobuuu	7:e9086c72bb22	68	State torq;
Lightvalve	207:c70c5a9f17dd	69	State torq_dot;
jobuuu	7:e9086c72bb22	70	State pres_A;
jobuuu	7:e9086c72bb22	71	State pres_B;
jobuuu	7:e9086c72bb22	72	State cur;
Lightvalve	14:8e7590227d22	73	State valve_pos;
Lightvalve	14:8e7590227d22	74
Lightvalve	14:8e7590227d22	75	State INIT_Vout;
Lightvalve	14:8e7590227d22	76	State INIT_Valve_Pos;
Lightvalve	14:8e7590227d22	77	State INIT_Pos;
Lightvalve	14:8e7590227d22	78	State INIT_torq;
jobuuu	5:a4319f79457b	79
Lightvalve	19:23b7c1ad8683	80	extern int CID_RX_CMD;
Lightvalve	19:23b7c1ad8683	81	extern int CID_RX_REF_POSITION;
Lightvalve	49:e7bcfc244d40	82	extern int CID_RX_REF_VALVE_POS;
Lightvalve	45:35fa6884d0c6	83	extern int CID_RX_REF_PWM;
Lightvalve	19:23b7c1ad8683	84
Lightvalve	19:23b7c1ad8683	85	extern int CID_TX_INFO;
Lightvalve	19:23b7c1ad8683	86	extern int CID_TX_POSITION;
Lightvalve	19:23b7c1ad8683	87	extern int CID_TX_TORQUE;
Lightvalve	19:23b7c1ad8683	88	extern int CID_TX_PRES;
Lightvalve	19:23b7c1ad8683	89	extern int CID_TX_VOUT;
Lightvalve	19:23b7c1ad8683	90	extern int CID_TX_VALVE_POSITION;
Lightvalve	19:23b7c1ad8683	91
Lightvalve	61:bc8c8270f0ab	92
Lightvalve	12:6f2531038ea4	93	/*******************************************************************************
Lightvalve	12:6f2531038ea4	94	* REFERENCE MODE
Lightvalve	12:6f2531038ea4	95	******************************************************************************/
Lightvalve	13:747daba9cf59	96	enum _REFERENCE_MODE {
Lightvalve	13:747daba9cf59	97	MODE_REF_NO_ACT = 0, //0
Lightvalve	224:985dba42f261	98	MODE_REF_DIRECT, //1
Lightvalve	224:985dba42f261	99	MODE_REF_COS_INC, //2
Lightvalve	224:985dba42f261	100	MODE_REF_LINE_INC, //3
Lightvalve	12:6f2531038ea4	101	MODE_REF_SIN_WAVE, //4
Lightvalve	224:985dba42f261	102	MODE_REF_SQUARE_WAVE, //5
Lightvalve	12:6f2531038ea4	103	};
Lightvalve	12:6f2531038ea4	104
Lightvalve	12:6f2531038ea4	105	/*******************************************************************************
Lightvalve	12:6f2531038ea4	106	* CONTROL MODE
Lightvalve	12:6f2531038ea4	107	******************************************************************************/
Lightvalve	13:747daba9cf59	108	enum _CONTROL_MODE {
Lightvalve	12:6f2531038ea4	109	//control mode
Lightvalve	12:6f2531038ea4	110	MODE_NO_ACT = 0, //0
Lightvalve	47:fdcb8bd86fd6	111	MODE_VALVE_POSITION_CONTROL, //1
Lightvalve	47:fdcb8bd86fd6	112	MODE_JOINT_CONTROL, //2
Lightvalve	50:3c630b5eba9f	113
Lightvalve	47:fdcb8bd86fd6	114	MODE_VALVE_OPEN_LOOP, //3
Lightvalve	138:a843f32ced33	115	MODE_JOINT_ADAPTIVE_BACKSTEPPING, //4
Lightvalve	171:bfc1fd2629d8	116	MODE_RL, //5
Lightvalve	13:747daba9cf59	117
Lightvalve	12:6f2531038ea4	118	MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve	12:6f2531038ea4	119	MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve	12:6f2531038ea4	120	MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve	13:747daba9cf59	121
Lightvalve	12:6f2531038ea4	122	MODE_TEST_CURRENT_CONTROL, //9
Lightvalve	12:6f2531038ea4	123	MODE_TEST_PWM_CONTROL, //10
Lightvalve	21:e5f1a43ea6f9	124
Lightvalve	14:8e7590227d22	125	MODE_CURRENT_CONTROL, //11
Lightvalve	14:8e7590227d22	126	MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve	14:8e7590227d22	127	MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve	224:985dba42f261	128	MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //14
Lightvalve	13:747daba9cf59	129
Lightvalve	12:6f2531038ea4	130	//utility
Lightvalve	12:6f2531038ea4	131	MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve	12:6f2531038ea4	132	MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve	12:6f2531038ea4	133	MODE_FIND_HOME, //22
Lightvalve	57:f4819de54e7a	134	MODE_VALVE_GAIN_SETTING, //23
Lightvalve	12:6f2531038ea4	135	MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve	12:6f2531038ea4	136	MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve	12:6f2531038ea4	137	MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve	13:747daba9cf59	138
Lightvalve	224:985dba42f261	139	MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve	12:6f2531038ea4	140	MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve	12:6f2531038ea4	141	MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve	57:f4819de54e7a	142	MODE_SYSTEM_ID, //33
Lightvalve	169:645207e160ca	143	MODE_FREQ_TEST, //34
Lightvalve	169:645207e160ca	144	MODE_SEND_BUFFER, //35
Lightvalve	169:645207e160ca	145	MODE_SEND_OVER, //36
Lightvalve	169:645207e160ca	146	MODE_STEP_TEST, //37
Lightvalve	12:6f2531038ea4	147	};
Lightvalve	12:6f2531038ea4	148
Lightvalve	65:a2d7c63419c2	149	void SystemClock_Config(void)
Lightvalve	65:a2d7c63419c2	150	{
Lightvalve	169:645207e160ca	151	RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve	169:645207e160ca	152	RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve	65:a2d7c63419c2	153
Lightvalve	224:985dba42f261	154	/* Configure the main internal regulator output voltage
Lightvalve	169:645207e160ca	155	*/
Lightvalve	169:645207e160ca	156	__HAL_RCC_PWR_CLK_ENABLE();
Lightvalve	169:645207e160ca	157	__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve	224:985dba42f261	158	/* Initializes the CPU, AHB and APB busses clocks
Lightvalve	169:645207e160ca	159	*/
Lightvalve	169:645207e160ca	160	RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve	169:645207e160ca	161	RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve	169:645207e160ca	162	RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve	169:645207e160ca	163	RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve	169:645207e160ca	164	RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve	169:645207e160ca	165	RCC_OscInitStruct.PLL.PLLM = 8;//8
Lightvalve	169:645207e160ca	166	RCC_OscInitStruct.PLL.PLLN = 180; //180
Lightvalve	169:645207e160ca	167	RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve	169:645207e160ca	168	RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve	169:645207e160ca	169	RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve	169:645207e160ca	170	if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Lightvalve	169:645207e160ca	171	//Error_Handler();
Lightvalve	169:645207e160ca	172	}
Lightvalve	169:645207e160ca	173	/** Activate the Over-Drive mode
Lightvalve	169:645207e160ca	174	*/
Lightvalve	169:645207e160ca	175	if (HAL_PWREx_EnableOverDrive() != HAL_OK) {
Lightvalve	169:645207e160ca	176	//Error_Handler();
Lightvalve	169:645207e160ca	177	}
Lightvalve	169:645207e160ca	178	/** Initializes the CPU, AHB and APB busses clocks
Lightvalve	169:645207e160ca	179	*/
Lightvalve	169:645207e160ca	180	RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK\|RCC_CLOCKTYPE_SYSCLK
Lightvalve	169:645207e160ca	181	\|RCC_CLOCKTYPE_PCLK1\|RCC_CLOCKTYPE_PCLK2;
Lightvalve	169:645207e160ca	182	RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve	169:645207e160ca	183	RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve	169:645207e160ca	184	RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve	169:645207e160ca	185	RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve	65:a2d7c63419c2	186
Lightvalve	169:645207e160ca	187	if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) {
Lightvalve	169:645207e160ca	188	//Error_Handler();
Lightvalve	169:645207e160ca	189	}
Lightvalve	65:a2d7c63419c2	190	}
Lightvalve	65:a2d7c63419c2	191
Lightvalve	170:42c938a40313	192
GiJeongKim	0:51c43836c1d7	193	int main()
GiJeongKim	0:51c43836c1d7	194	{
jobuuu	6:df07d3491e3a	195	/*********************************
jobuuu	1:e04e563be5ce	196	*** Initialization
jobuuu	6:df07d3491e3a	197	*********************************/
Lightvalve	224:985dba42f261	198
Lightvalve	224:985dba42f261	199	HAL_Init();
Lightvalve	224:985dba42f261	200	SystemClock_Config();
Lightvalve	224:985dba42f261	201
Lightvalve	69:3995ffeaa786	202	LED = 0;
Lightvalve	61:bc8c8270f0ab	203	pc.baud(9600);
Lightvalve	21:e5f1a43ea6f9	204
GiJeongKim	0:51c43836c1d7	205	// i2c init
Lightvalve	8:5d2eebdad025	206	i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve	8:5d2eebdad025	207	wait_ms(2); // Power Up wait
Lightvalve	8:5d2eebdad025	208	look_for_hardware_i2c(); // Hardware present
Lightvalve	8:5d2eebdad025	209	init_as5510(i2c_slave_addr1);
Lightvalve	11:82d8768d7351	210	make_delay();
jobuuu	2:a1c0a37df760	211
Lightvalve	224:985dba42f261	212	// spi init
Lightvalve	170:42c938a40313	213	eeprom.format(8,3);
Lightvalve	170:42c938a40313	214	eeprom.frequency(5000000); //5M
GiJeongKim	0:51c43836c1d7	215	enc.format(8,0);
GiJeongKim	0:51c43836c1d7	216	enc.frequency(5000000); //5M
Lightvalve	11:82d8768d7351	217	make_delay();
Lightvalve	21:e5f1a43ea6f9	218
Lightvalve	224:985dba42f261	219	// rom
Lightvalve	19:23b7c1ad8683	220	ROM_CALL_DATA();
Lightvalve	16:903b5a4433b4	221	make_delay();
Lightvalve	13:747daba9cf59	222
GiJeongKim	0:51c43836c1d7	223	// ADC init
jobuuu	5:a4319f79457b	224	Init_ADC();
Lightvalve	11:82d8768d7351	225	make_delay();
jobuuu	2:a1c0a37df760	226
GiJeongKim	0:51c43836c1d7	227	// Pwm init
GiJeongKim	0:51c43836c1d7	228	Init_PWM();
GiJeongKim	0:51c43836c1d7	229	TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	230	make_delay();
Lightvalve	13:747daba9cf59	231
Lightvalve	11:82d8768d7351	232	// TMR3 init
Lightvalve	11:82d8768d7351	233	Init_TMR3();
Lightvalve	11:82d8768d7351	234	TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	235	make_delay();
Lightvalve	21:e5f1a43ea6f9	236
GiJeongKim	0:51c43836c1d7	237	// CAN
jobuuu	2:a1c0a37df760	238	can.attach(&CAN_RX_HANDLER);
Lightvalve	11:82d8768d7351	239	CAN_ID_INIT();
Lightvalve	11:82d8768d7351	240	make_delay();
Lightvalve	34:bb2ca2fc2a8e	241
Lightvalve	23:59218d4a256d	242	//Timer priority
Lightvalve	23:59218d4a256d	243	NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve	54:647072f5307a	244	NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve	34:bb2ca2fc2a8e	245
Lightvalve	23:59218d4a256d	246	//can.reset();
Lightvalve	19:23b7c1ad8683	247	can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve	34:bb2ca2fc2a8e	248
GiJeongKim	0:51c43836c1d7	249	// spi _ enc
GiJeongKim	0:51c43836c1d7	250	spi_enc_set_init();
Lightvalve	11:82d8768d7351	251	make_delay();
Lightvalve	13:747daba9cf59	252
Lightvalve	11:82d8768d7351	253	//DAC init
Lightvalve	58:2eade98630e2	254	if (SENSING_MODE == 0) {
Lightvalve	58:2eade98630e2	255	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	58:2eade98630e2	256	dac_2 = 0.0f;
Lightvalve	58:2eade98630e2	257	} else if (SENSING_MODE == 1) {
Lightvalve	58:2eade98630e2	258	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	58:2eade98630e2	259	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	58:2eade98630e2	260	}
Lightvalve	11:82d8768d7351	261	make_delay();
Lightvalve	13:747daba9cf59	262
Lightvalve	19:23b7c1ad8683	263	for (int i=0; i<50; i++) {
Lightvalve	11:82d8768d7351	264	if(i%2==0)
Lightvalve	38:118df027d851	265	ID_index_array[i] = - i * 0.5f;
Lightvalve	11:82d8768d7351	266	else
Lightvalve	38:118df027d851	267	ID_index_array[i] = (i+1) * 0.5f;
Lightvalve	11:82d8768d7351	268	}
Lightvalve	169:645207e160ca	269
jobuuu	6:df07d3491e3a	270	/************************************
jobuuu	1:e04e563be5ce	271	*** Program is operating!
jobuuu	6:df07d3491e3a	272	*************************************/
GiJeongKim	0:51c43836c1d7	273	while(1) {
Lightvalve	169:645207e160ca	274
Lightvalve	224:985dba42f261	275	// UART example
Lightvalve	224:985dba42f261	276	// if(timer_while==100000) {
Lightvalve	171:bfc1fd2629d8	277	// timer_while = 0;
Lightvalve	224:985dba42f261	278	// pc.printf("%f\n", value);
Lightvalve	171:bfc1fd2629d8	279	// }
Lightvalve	224:985dba42f261	280	// timer_while ++;
Lightvalve	169:645207e160ca	281
Lightvalve	224:985dba42f261	282	//i2c for SW valve
Lightvalve	224:985dba42f261	283	if(OPERATING_MODE == 5){
Lightvalve	224:985dba42f261	284	read_field(i2c_slave_addr1);
Lightvalve	224:985dba42f261	285	if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve	170:42c938a40313	286	}
GiJeongKim	0:51c43836c1d7	287	}
jobuuu	1:e04e563be5ce	288	}
jobuuu	1:e04e563be5ce	289
Lightvalve	224:985dba42f261	290
Lightvalve	224:985dba42f261	291	// Velocity feedforward for SW valve
Lightvalve	33:91b17819ec30	292	float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve	14:8e7590227d22	293	{
Lightvalve	13:747daba9cf59	294	int i = 0;
Lightvalve	48:889798ff9329	295	float Ref_Valve_Pos_FF = 0.0f;
Lightvalve	14:8e7590227d22	296	for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve	14:8e7590227d22	297	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	298	if(i==0) {
Lightvalve	50:3c630b5eba9f	299	if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve	57:f4819de54e7a	300	Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	301	} else {
Lightvalve	57:f4819de54e7a	302	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	303	}
Lightvalve	14:8e7590227d22	304	} else {
Lightvalve	50:3c630b5eba9f	305	if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve	57:f4819de54e7a	306	Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	307	} else {
Lightvalve	57:f4819de54e7a	308	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	309	}
Lightvalve	13:747daba9cf59	310	}
Lightvalve	13:747daba9cf59	311	break;
Lightvalve	13:747daba9cf59	312	}
Lightvalve	13:747daba9cf59	313	}
Lightvalve	14:8e7590227d22	314	if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	315	Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	316	} else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	317	Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	318	}
Lightvalve	36:a46e63505ed8	319
Lightvalve	224:985dba42f261	320	Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); //VELOCITY_COMP_GAIN : 0~100
Lightvalve	13:747daba9cf59	321	return Ref_Valve_Pos_FF;
Lightvalve	13:747daba9cf59	322	}
jobuuu	6:df07d3491e3a	323
Lightvalve	224:985dba42f261	324	// Valve feedforward for SW valve
Lightvalve	30:8d561f16383b	325	void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve	14:8e7590227d22	326	{
Lightvalve	13:747daba9cf59	327	int i = 0;
Lightvalve	13:747daba9cf59	328
Lightvalve	38:118df027d851	329	if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve	38:118df027d851	330	REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve	38:118df027d851	331	} else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve	38:118df027d851	332	REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve	38:118df027d851	333	}
Lightvalve	89:a7b45368ea0f	334	valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve	13:747daba9cf59	335	valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve	13:747daba9cf59	336	valve_pos_err_old = valve_pos_err;
Lightvalve	13:747daba9cf59	337	valve_pos_err_sum += valve_pos_err;
Lightvalve	89:a7b45368ea0f	338	if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve	89:a7b45368ea0f	339	if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve	13:747daba9cf59	340
Lightvalve	13:747daba9cf59	341	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	342
Lightvalve	18:b8adf1582ea3	343	for(i=0; i<24; i++) {
Lightvalve	89:a7b45368ea0f	344	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	345	if(i==0) {
Lightvalve	48:889798ff9329	346	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	347	} else {
Lightvalve	48:889798ff9329	348	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	349	}
Lightvalve	13:747daba9cf59	350	break;
Lightvalve	13:747daba9cf59	351	}
Lightvalve	13:747daba9cf59	352	}
Lightvalve	59:f308b1656d9c	353	Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve	13:747daba9cf59	354	}
Lightvalve	13:747daba9cf59	355
Lightvalve	224:985dba42f261	356	// PWM duty vs. voltage output of L6205 in STM board
Lightvalve	14:8e7590227d22	357	#define LT_MAX_IDX 57
Lightvalve	30:8d561f16383b	358	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	359	-19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve	34:bb2ca2fc2a8e	360	-9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve	34:bb2ca2fc2a8e	361	1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve	34:bb2ca2fc2a8e	362	11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve	34:bb2ca2fc2a8e	363	25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve	34:bb2ca2fc2a8e	364	}; // duty
Lightvalve	67:c2812cf26c38	365	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	366	-150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve	67:c2812cf26c38	367	-115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve	67:c2812cf26c38	368	7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve	67:c2812cf26c38	369	105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve	67:c2812cf26c38	370	155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve	34:bb2ca2fc2a8e	371	}; // mV
Lightvalve	13:747daba9cf59	372
Lightvalve	30:8d561f16383b	373	float PWM_duty_byLT(float Ref_V)
Lightvalve	14:8e7590227d22	374	{
Lightvalve	30:8d561f16383b	375	float PWM_duty = 0.0f;
Lightvalve	13:747daba9cf59	376	if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve	30:8d561f16383b	377	PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve	13:747daba9cf59	378	} else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve	30:8d561f16383b	379	PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve	13:747daba9cf59	380	} else {
Lightvalve	13:747daba9cf59	381	int idx = 0;
Lightvalve	13:747daba9cf59	382	for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve	30:8d561f16383b	383	float ini_x = LT_Voltage_Output[idx];
Lightvalve	30:8d561f16383b	384	float fin_x = LT_Voltage_Output[idx+1];
Lightvalve	30:8d561f16383b	385	float ini_y = LT_PWM_duty[idx];
Lightvalve	30:8d561f16383b	386	float fin_y = LT_PWM_duty[idx+1];
Lightvalve	13:747daba9cf59	387	if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve	13:747daba9cf59	388	PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve	13:747daba9cf59	389	break;
Lightvalve	13:747daba9cf59	390	}
Lightvalve	13:747daba9cf59	391	}
Lightvalve	13:747daba9cf59	392	}
Lightvalve	14:8e7590227d22	393
Lightvalve	13:747daba9cf59	394	return PWM_duty;
Lightvalve	13:747daba9cf59	395	}
jobuuu	6:df07d3491e3a	396
Lightvalve	57:f4819de54e7a	397
Lightvalve	57:f4819de54e7a	398
jobuuu	2:a1c0a37df760	399	/*******************************************************************************
jobuuu	2:a1c0a37df760	400	TIMER INTERRUPT
jobuuu	2:a1c0a37df760	401	*******************************************************************************/
jobuuu	2:a1c0a37df760	402
Lightvalve	51:b46bed7fec80	403	float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve	51:b46bed7fec80	404	float DT_TMR4 = (float)DT_20k;
Lightvalve	57:f4819de54e7a	405	long CNT_TMR4 = 0;
Lightvalve	57:f4819de54e7a	406	int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu	1:e04e563be5ce	407	extern "C" void TIM4_IRQHandler(void)
jobuuu	1:e04e563be5ce	408	{
Lightvalve	19:23b7c1ad8683	409	if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve	21:e5f1a43ea6f9	410
Lightvalve	21:e5f1a43ea6f9	411	/*******************************************************
Lightvalve	21:e5f1a43ea6f9	412	*** Sensor Read & Data Handling
Lightvalve	21:e5f1a43ea6f9	413	********************************************************/
Lightvalve	13:747daba9cf59	414
Lightvalve	57:f4819de54e7a	415	//Encoder
Lightvalve	57:f4819de54e7a	416	if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve	57:f4819de54e7a	417	ENC_UPDATE();
Lightvalve	57:f4819de54e7a	418	}
Lightvalve	61:bc8c8270f0ab	419
Lightvalve	61:bc8c8270f0ab	420	ADC1->CR2 \|= 0x40000000;
Lightvalve	224:985dba42f261	421	// Torque Sensing =============================================
Lightvalve	58:2eade98630e2	422	if (SENSING_MODE == 0) {
Lightvalve	58:2eade98630e2	423	float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve	224:985dba42f261	424	double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 100Hz
Lightvalve	58:2eade98630e2	425	pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve	67:c2812cf26c38	426	torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve	67:c2812cf26c38	427
Lightvalve	224:985dba42f261	428	// Pressure Sensing (0~210)bar =============================================
Lightvalve	58:2eade98630e2	429	} else if (SENSING_MODE == 1) {
Lightvalve	58:2eade98630e2	430	float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve	58:2eade98630e2	431	float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve	224:985dba42f261	432	double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 200Hz
Lightvalve	58:2eade98630e2	433	pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve	58:2eade98630e2	434	pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve	58:2eade98630e2	435	CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve	58:2eade98630e2	436	CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve	50:3c630b5eba9f	437
Lightvalve	58:2eade98630e2	438	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve	58:2eade98630e2	439	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	440	} else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve	58:2eade98630e2	441	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	442	}
Lightvalve	58:2eade98630e2	443	}
Lightvalve	61:bc8c8270f0ab	444
Lightvalve	21:e5f1a43ea6f9	445	//Current
Lightvalve	21:e5f1a43ea6f9	446	//ADC3->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	51:b46bed7fec80	447	float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f500.0f)); // f_cutoff : 500Hz
Lightvalve	30:8d561f16383b	448	float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve	30:8d561f16383b	449	cur.sen=cur.sen(1.0f-alpha_update_cur)+cur_new(alpha_update_cur);
Lightvalve	58:2eade98630e2	450
Lightvalve	57:f4819de54e7a	451	CNT_TMR4++;
Lightvalve	21:e5f1a43ea6f9	452	}
Lightvalve	11:82d8768d7351	453	TIM4->SR = 0x0; // reset the status register
Lightvalve	11:82d8768d7351	454	}
Lightvalve	19:23b7c1ad8683	455
Lightvalve	19:23b7c1ad8683	456
Lightvalve	18:b8adf1582ea3	457	int j =0;
Lightvalve	54:647072f5307a	458	float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve	48:889798ff9329	459	float DT_TMR3 = (float)DT_5k;
Lightvalve	45:35fa6884d0c6	460	int cnt_trans = 0;
Lightvalve	48:889798ff9329	461	double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve	57:f4819de54e7a	462	int can_rest =0;
Lightvalve	48:889798ff9329	463
Lightvalve	11:82d8768d7351	464	extern "C" void TIM3_IRQHandler(void)
Lightvalve	21:e5f1a43ea6f9	465	{
Lightvalve	19:23b7c1ad8683	466	if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve	57:f4819de54e7a	467
Lightvalve	57:f4819de54e7a	468	if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve	57:f4819de54e7a	469	K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve	57:f4819de54e7a	470	mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve	57:f4819de54e7a	471	mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve	57:f4819de54e7a	472	mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve	57:f4819de54e7a	473	} else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	57:f4819de54e7a	474	K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve	57:f4819de54e7a	475	mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve	57:f4819de54e7a	476	mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve	57:f4819de54e7a	477	mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve	57:f4819de54e7a	478	}
Lightvalve	50:3c630b5eba9f	479
Lightvalve	50:3c630b5eba9f	480	if(MODE_POS_FT_TRANS == 1) {
Lightvalve	48:889798ff9329	481	alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve	45:35fa6884d0c6	482	cnt_trans++;
Lightvalve	46:2694daea349b	483	torq.err_sum = 0;
Lightvalve	48:889798ff9329	484	if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve	45:35fa6884d0c6	485	MODE_POS_FT_TRANS = 2;
Lightvalve	50:3c630b5eba9f	486	} else if(MODE_POS_FT_TRANS == 3) {
Lightvalve	48:889798ff9329	487	alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve	45:35fa6884d0c6	488	cnt_trans++;
Lightvalve	46:2694daea349b	489	torq.err_sum = 0;
Lightvalve	48:889798ff9329	490	if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve	45:35fa6884d0c6	491	MODE_POS_FT_TRANS = 0;
Lightvalve	50:3c630b5eba9f	492	} else if(MODE_POS_FT_TRANS == 2) {
Lightvalve	58:2eade98630e2	493	alpha_trans = 1.0f;
Lightvalve	45:35fa6884d0c6	494	cnt_trans = 0;
Lightvalve	50:3c630b5eba9f	495	} else {
Lightvalve	58:2eade98630e2	496	alpha_trans = 0.0f;
Lightvalve	45:35fa6884d0c6	497	cnt_trans = 0;
Lightvalve	45:35fa6884d0c6	498	}
Lightvalve	45:35fa6884d0c6	499
Lightvalve	50:3c630b5eba9f	500
Lightvalve	57:f4819de54e7a	501	int UTILITY_MODE = 0;
Lightvalve	57:f4819de54e7a	502	int CONTROL_MODE = 0;
Lightvalve	58:2eade98630e2	503
Lightvalve	57:f4819de54e7a	504	if (CONTROL_UTILITY_MODE >= 20 \|\| CONTROL_UTILITY_MODE == 0) {
Lightvalve	57:f4819de54e7a	505	UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve	57:f4819de54e7a	506	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	57:f4819de54e7a	507	} else {
Lightvalve	57:f4819de54e7a	508	CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve	57:f4819de54e7a	509	UTILITY_MODE = MODE_NO_ACT;
Lightvalve	57:f4819de54e7a	510	}
Lightvalve	56:6f50d9d3bfee	511
Lightvalve	56:6f50d9d3bfee	512
Lightvalve	56:6f50d9d3bfee	513
Lightvalve	57:f4819de54e7a	514	// UTILITY MODE ------------------------------------------------------------
Lightvalve	57:f4819de54e7a	515	switch (UTILITY_MODE) {
Lightvalve	57:f4819de54e7a	516	case MODE_NO_ACT: {
Lightvalve	13:747daba9cf59	517	break;
Lightvalve	13:747daba9cf59	518	}
Lightvalve	14:8e7590227d22	519
Lightvalve	14:8e7590227d22	520	case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	521	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	522	if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve	15:bd0d12728506	523	CUR_TORQUE_sum += torq.sen;
Lightvalve	19:23b7c1ad8683	524
Lightvalve	14:8e7590227d22	525	if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	526	CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve	13:747daba9cf59	527	CUR_TORQUE_sum = 0;
Lightvalve	14:8e7590227d22	528
Lightvalve	84:c355d3e52bf1	529	TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve	19:23b7c1ad8683	530
Lightvalve	30:8d561f16383b	531	if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve	59:f308b1656d9c	532	if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve	30:8d561f16383b	533	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	13:747daba9cf59	534	}
Lightvalve	13:747daba9cf59	535	} else {
Lightvalve	58:2eade98630e2	536	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	537	TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve	13:747daba9cf59	538	CUR_TORQUE_sum = 0;
Lightvalve	13:747daba9cf59	539	CUR_TORQUE_mean = 0;
Lightvalve	19:23b7c1ad8683	540
Lightvalve	170:42c938a40313	541	spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0f));
Lightvalve	19:23b7c1ad8683	542
Lightvalve	30:8d561f16383b	543	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	14:8e7590227d22	544
Lightvalve	13:747daba9cf59	545	}
Lightvalve	14:8e7590227d22	546	TMR3_COUNT_TORQUE_NULL++;
Lightvalve	13:747daba9cf59	547	break;
Lightvalve	19:23b7c1ad8683	548	}
Lightvalve	14:8e7590227d22	549
Lightvalve	50:3c630b5eba9f	550	// case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve	50:3c630b5eba9f	551	// if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve	50:3c630b5eba9f	552	// if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	50:3c630b5eba9f	553	// else temp_time = 0;
Lightvalve	50:3c630b5eba9f	554	// }
Lightvalve	50:3c630b5eba9f	555	// if (need_enc_init) {
Lightvalve	50:3c630b5eba9f	556	// if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	557	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	558	// pos_plus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	559	// } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	560	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	561	// pos_minus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	562	// } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve	50:3c630b5eba9f	563	// temp_time = TMR_FREQ_5k;
Lightvalve	50:3c630b5eba9f	564	// }
Lightvalve	50:3c630b5eba9f	565	//
Lightvalve	50:3c630b5eba9f	566	// if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	567	// 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	568	// VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve	50:3c630b5eba9f	569	//
Lightvalve	50:3c630b5eba9f	570	// } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve	50:3c630b5eba9f	571	// V_out = 0;
Lightvalve	50:3c630b5eba9f	572	// CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	50:3c630b5eba9f	573	// } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	574	// if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve	50:3c630b5eba9f	575	// else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve	50:3c630b5eba9f	576	// else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve	50:3c630b5eba9f	577	// else DZ_temp_cnt2 = DZ_end;
Lightvalve	50:3c630b5eba9f	578	// CUR_VELOCITY_sum = 0;
Lightvalve	50:3c630b5eba9f	579	// } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	580	// if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve	50:3c630b5eba9f	581	//
Lightvalve	50:3c630b5eba9f	582	// // Position of Dead Zone
Lightvalve	50:3c630b5eba9f	583	// // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve	50:3c630b5eba9f	584	// // \| / \| / \|/
Lightvalve	50:3c630b5eba9f	585	// // \| ______/ ___\|___/ ______/\|
Lightvalve	50:3c630b5eba9f	586	// // \|/ / \| / \|
Lightvalve	50:3c630b5eba9f	587	// // /\| / \| / \|
Lightvalve	50:3c630b5eba9f	588	// // 0V 0V 0V
Lightvalve	50:3c630b5eba9f	589	//
Lightvalve	50:3c630b5eba9f	590	// if (DZ_temp_cnt2 < DZ_end) {
Lightvalve	50:3c630b5eba9f	591	// if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve	50:3c630b5eba9f	592	// CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	50:3c630b5eba9f	593	// } else {
Lightvalve	50:3c630b5eba9f	594	// V_out -= DZ_dir;
Lightvalve	50:3c630b5eba9f	595	// if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve	50:3c630b5eba9f	596	// CUR_VELOCITY_sum = 0;
Lightvalve	50:3c630b5eba9f	597	// }
Lightvalve	50:3c630b5eba9f	598	// if (DZ_temp_cnt == 5) {
Lightvalve	50:3c630b5eba9f	599	// if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve	50:3c630b5eba9f	600	// else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve	50:3c630b5eba9f	601	// DZ_dir = -DZ_dir;
Lightvalve	50:3c630b5eba9f	602	// DZ_temp_cnt = 0;
Lightvalve	50:3c630b5eba9f	603	// DZ_temp_cnt2++;
Lightvalve	50:3c630b5eba9f	604	// }
Lightvalve	50:3c630b5eba9f	605	// } else {
Lightvalve	50:3c630b5eba9f	606	// TMR3_COUNT_DEADZONE = -1;
Lightvalve	50:3c630b5eba9f	607	// VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve	50:3c630b5eba9f	608	// if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve	50:3c630b5eba9f	609	// VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	610	// VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	611	// }
Lightvalve	50:3c630b5eba9f	612	// V_out = 0;
Lightvalve	50:3c630b5eba9f	613	//
Lightvalve	224:985dba42f261	614	//
Lightvalve	50:3c630b5eba9f	615	//
Lightvalve	50:3c630b5eba9f	616	// //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve	50:3c630b5eba9f	617	// //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve	50:3c630b5eba9f	618	//
Lightvalve	50:3c630b5eba9f	619	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	620	// DZ_temp_cnt2 = 0;
Lightvalve	50:3c630b5eba9f	621	// }
Lightvalve	50:3c630b5eba9f	622	// }
Lightvalve	50:3c630b5eba9f	623	// TMR3_COUNT_DEADZONE++;
Lightvalve	50:3c630b5eba9f	624	// break;
Lightvalve	50:3c630b5eba9f	625	// }
Lightvalve	14:8e7590227d22	626
Lightvalve	14:8e7590227d22	627	case MODE_FIND_HOME: {
Lightvalve	29:69f3f5445d6d	628	if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve	14:8e7590227d22	629	cnt_findhome = 0;
Lightvalve	14:8e7590227d22	630	cnt_vel_findhome = 0;
Lightvalve	59:f308b1656d9c	631	pos.ref = pos.sen;
Lightvalve	59:f308b1656d9c	632	vel.ref = 0.0f;
Lightvalve	29:69f3f5445d6d	633	FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve	29:69f3f5445d6d	634	} else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve	67:c2812cf26c38	635	int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve	29:69f3f5445d6d	636	if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve	29:69f3f5445d6d	637	FINDHOME_POSITION = pos.sen;
Lightvalve	29:69f3f5445d6d	638	FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve	29:69f3f5445d6d	639	FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve	29:69f3f5445d6d	640	}
Lightvalve	29:69f3f5445d6d	641	cnt_findhome++;
Lightvalve	14:8e7590227d22	642
Lightvalve	29:69f3f5445d6d	643	if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve	29:69f3f5445d6d	644	cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve	29:69f3f5445d6d	645	} else {
Lightvalve	29:69f3f5445d6d	646	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	647	}
Lightvalve	19:23b7c1ad8683	648
Lightvalve	57:f4819de54e7a	649	if ((cnt_vel_findhome < 3TMR_FREQ_5k) && cnt_findhome < 10TMR_FREQ_5k) { // wait for 3sec
Lightvalve	67:c2812cf26c38	650	if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve	67:c2812cf26c38	651	else pos.ref = pos.ref - 12.0f;
Lightvalve	61:bc8c8270f0ab	652
Lightvalve	59:f308b1656d9c	653	CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	59:f308b1656d9c	654	alpha_trans = 0.0f;
Lightvalve	61:bc8c8270f0ab	655
Lightvalve	29:69f3f5445d6d	656	} else {
Lightvalve	29:69f3f5445d6d	657	ENC_SET(HOMEPOS_OFFSET);
Lightvalve	29:69f3f5445d6d	658	INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve	29:69f3f5445d6d	659	REF_POSITION = 0;
Lightvalve	29:69f3f5445d6d	660	REF_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	661	FINDHOME_POSITION = 0;
Lightvalve	29:69f3f5445d6d	662	FINDHOME_POSITION_OLD = 0;
Lightvalve	29:69f3f5445d6d	663	FINDHOME_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	664	cnt_findhome = 0;
Lightvalve	29:69f3f5445d6d	665	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	666	FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve	67:c2812cf26c38	667
Lightvalve	67:c2812cf26c38	668
Lightvalve	67:c2812cf26c38	669	cnt_findhome = 0;
Lightvalve	67:c2812cf26c38	670	pos.ref = 0.0f;
Lightvalve	67:c2812cf26c38	671	vel.ref = 0.0f;
Lightvalve	67:c2812cf26c38	672	pos.ref_home_pos = 0.0f;
Lightvalve	67:c2812cf26c38	673	vel.ref_home_pos = 0.0f;
Lightvalve	29:69f3f5445d6d	674	}
Lightvalve	29:69f3f5445d6d	675	} else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve	29:69f3f5445d6d	676	int T_move = 2*TMR_FREQ_5k;
Lightvalve	59:f308b1656d9c	677	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	59:f308b1656d9c	678	vel.ref = 0.0f;
Lightvalve	67:c2812cf26c38	679	alpha_trans = 0.0f;
Lightvalve	61:bc8c8270f0ab	680
Lightvalve	67:c2812cf26c38	681	double torq_ref = 0.0f;
Lightvalve	67:c2812cf26c38	682	pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve	67:c2812cf26c38	683	vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve	67:c2812cf26c38	684	pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve	67:c2812cf26c38	685
Lightvalve	67:c2812cf26c38	686	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	67:c2812cf26c38	687
Lightvalve	67:c2812cf26c38	688	double I_REF_POS = 0.0f;
Lightvalve	67:c2812cf26c38	689	double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve	67:c2812cf26c38	690	double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve	67:c2812cf26c38	691
Lightvalve	67:c2812cf26c38	692	double temp_vel_pos = 0.0f;
Lightvalve	67:c2812cf26c38	693	double temp_vel_torq = 0.0f;
Lightvalve	67:c2812cf26c38	694	double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve	67:c2812cf26c38	695
Lightvalve	69:3995ffeaa786	696	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve	67:c2812cf26c38	697	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	698	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	69:3995ffeaa786	699	} else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve	67:c2812cf26c38	700	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	701	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	67:c2812cf26c38	702	}
Lightvalve	67:c2812cf26c38	703	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	704	else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	67:c2812cf26c38	705
Lightvalve	67:c2812cf26c38	706	I_REF = I_REF_POS;
Lightvalve	67:c2812cf26c38	707
Lightvalve	67:c2812cf26c38	708	} else {
Lightvalve	67:c2812cf26c38	709	float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve	67:c2812cf26c38	710	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	711
Lightvalve	67:c2812cf26c38	712	if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve	67:c2812cf26c38	713	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve	67:c2812cf26c38	714	} else {
Lightvalve	67:c2812cf26c38	715	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve	67:c2812cf26c38	716	}
Lightvalve	67:c2812cf26c38	717
Lightvalve	67:c2812cf26c38	718	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	67:c2812cf26c38	719
Lightvalve	67:c2812cf26c38	720	V_out = (float) Vout.ref;
Lightvalve	67:c2812cf26c38	721
Lightvalve	67:c2812cf26c38	722	}
Lightvalve	67:c2812cf26c38	723
Lightvalve	29:69f3f5445d6d	724	cnt_findhome++;
Lightvalve	29:69f3f5445d6d	725	if (cnt_findhome >= T_move) {
Lightvalve	29:69f3f5445d6d	726	cnt_findhome = 0;
Lightvalve	30:8d561f16383b	727	pos.ref = 0.0f;
Lightvalve	30:8d561f16383b	728	vel.ref = 0.0f;
Lightvalve	30:8d561f16383b	729	pos.ref_home_pos = 0.0f;
Lightvalve	30:8d561f16383b	730	vel.ref_home_pos = 0.0f;
Lightvalve	29:69f3f5445d6d	731	FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve	57:f4819de54e7a	732	CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve	29:69f3f5445d6d	733	}
Lightvalve	13:747daba9cf59	734	}
Lightvalve	19:23b7c1ad8683	735
Lightvalve	13:747daba9cf59	736	break;
Lightvalve	13:747daba9cf59	737	}
Lightvalve	14:8e7590227d22	738
Lightvalve	50:3c630b5eba9f	739	// case MODE_VALVE_GAIN_SETTING: {
Lightvalve	50:3c630b5eba9f	740	// if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve	50:3c630b5eba9f	741	// if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	50:3c630b5eba9f	742	// else {
Lightvalve	50:3c630b5eba9f	743	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	744	// temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve	50:3c630b5eba9f	745	// }
Lightvalve	50:3c630b5eba9f	746	// }
Lightvalve	50:3c630b5eba9f	747	// if (need_enc_init) {
Lightvalve	50:3c630b5eba9f	748	// if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	749	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	750	// pos_plus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	751	// } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	752	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	753	// pos_minus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	754	// } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	755	// need_enc_init = false;
Lightvalve	50:3c630b5eba9f	756	// check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	50:3c630b5eba9f	757	// check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	50:3c630b5eba9f	758	// check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve	50:3c630b5eba9f	759	// }
Lightvalve	50:3c630b5eba9f	760	// temp_time = TMR_FREQ_5k;
Lightvalve	50:3c630b5eba9f	761	// }
Lightvalve	50:3c630b5eba9f	762	// TMR3_COUNT_FLOWRATE++;
Lightvalve	50:3c630b5eba9f	763	// if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve	50:3c630b5eba9f	764	// if (flag_flowrate % 2 == 0) { // (+)
Lightvalve	50:3c630b5eba9f	765	// VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve	50:3c630b5eba9f	766	// V_out = VALVE_VOLTAGE;
Lightvalve	50:3c630b5eba9f	767	// if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve	50:3c630b5eba9f	768	// fl_temp_cnt++;
Lightvalve	50:3c630b5eba9f	769	// } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	50:3c630b5eba9f	770	// 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	771	// // 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	772	// fl_temp_cnt2++;
Lightvalve	50:3c630b5eba9f	773	// }
Lightvalve	50:3c630b5eba9f	774	// } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve	50:3c630b5eba9f	775	// VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve	50:3c630b5eba9f	776	// V_out = VALVE_VOLTAGE;
Lightvalve	50:3c630b5eba9f	777	// if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve	50:3c630b5eba9f	778	// fl_temp_cnt++;
Lightvalve	50:3c630b5eba9f	779	// } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	50:3c630b5eba9f	780	// 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	781	// // 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	782	// fl_temp_cnt2++;
Lightvalve	50:3c630b5eba9f	783	// }
Lightvalve	50:3c630b5eba9f	784	// }
Lightvalve	50:3c630b5eba9f	785	// if (fl_temp_cnt2 == 100) {
Lightvalve	50:3c630b5eba9f	786	//
Lightvalve	224:985dba42f261	787	//
Lightvalve	50:3c630b5eba9f	788	//
Lightvalve	50:3c630b5eba9f	789	// //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve	50:3c630b5eba9f	790	// cur_vel_sum = 0;
Lightvalve	50:3c630b5eba9f	791	// fl_temp_cnt = 0;
Lightvalve	50:3c630b5eba9f	792	// fl_temp_cnt2 = 0;
Lightvalve	50:3c630b5eba9f	793	// flag_flowrate++;
Lightvalve	50:3c630b5eba9f	794	// }
Lightvalve	50:3c630b5eba9f	795	// if (flag_flowrate == 10) {
Lightvalve	50:3c630b5eba9f	796	// V_out = 0;
Lightvalve	50:3c630b5eba9f	797	// flag_flowrate = 0;
Lightvalve	50:3c630b5eba9f	798	// TMR3_COUNT_FLOWRATE = 0;
Lightvalve	50:3c630b5eba9f	799	// valve_gain_repeat_cnt++;
Lightvalve	50:3c630b5eba9f	800	// if (valve_gain_repeat_cnt >= 1) {
Lightvalve	50:3c630b5eba9f	801	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	802	// valve_gain_repeat_cnt = 0;
Lightvalve	50:3c630b5eba9f	803	// }
Lightvalve	50:3c630b5eba9f	804	//
Lightvalve	50:3c630b5eba9f	805	// }
Lightvalve	50:3c630b5eba9f	806	// break;
Lightvalve	50:3c630b5eba9f	807	// }
Lightvalve	50:3c630b5eba9f	808	//
Lightvalve	50:3c630b5eba9f	809	// }
Lightvalve	14:8e7590227d22	810	case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	811	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	812	if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve	14:8e7590227d22	813	CUR_PRES_A_sum += pres_A.sen;
Lightvalve	14:8e7590227d22	814	CUR_PRES_B_sum += pres_B.sen;
Lightvalve	14:8e7590227d22	815
Lightvalve	14:8e7590227d22	816	if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	817	CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve	30:8d561f16383b	818	CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve	13:747daba9cf59	819	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	820	CUR_PRES_B_sum = 0;
Lightvalve	14:8e7590227d22	821
Lightvalve	38:118df027d851	822	float VREF_NullingGain = 0.0003f;
Lightvalve	58:2eade98630e2	823	PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve	58:2eade98630e2	824	PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve	14:8e7590227d22	825
Lightvalve	30:8d561f16383b	826	if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve	30:8d561f16383b	827	if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve	30:8d561f16383b	828	if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve	30:8d561f16383b	829	if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve	19:23b7c1ad8683	830
Lightvalve	30:8d561f16383b	831	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	832	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	13:747daba9cf59	833	}
Lightvalve	13:747daba9cf59	834	} else {
Lightvalve	57:f4819de54e7a	835	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	836	TMR3_COUNT_PRES_NULL = 0;
Lightvalve	13:747daba9cf59	837	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	838	CUR_PRES_B_sum = 0;
Lightvalve	13:747daba9cf59	839	CUR_PRES_A_mean = 0;
Lightvalve	13:747daba9cf59	840	CUR_PRES_B_mean = 0;
Lightvalve	14:8e7590227d22	841
Lightvalve	170:42c938a40313	842	spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0f));
Lightvalve	170:42c938a40313	843	spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0f));
Lightvalve	19:23b7c1ad8683	844
Lightvalve	30:8d561f16383b	845	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	846	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	13:747daba9cf59	847	}
Lightvalve	14:8e7590227d22	848	TMR3_COUNT_PRES_NULL++;
Lightvalve	13:747daba9cf59	849	break;
Lightvalve	13:747daba9cf59	850	}
Lightvalve	14:8e7590227d22	851
Lightvalve	50:3c630b5eba9f	852	// case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve	50:3c630b5eba9f	853	// if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	854	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	855	// if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	856	// CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve	50:3c630b5eba9f	857	// }
Lightvalve	50:3c630b5eba9f	858	// } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	859	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	860	// if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	861	// CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve	50:3c630b5eba9f	862	// }
Lightvalve	50:3c630b5eba9f	863	// } else {
Lightvalve	50:3c630b5eba9f	864	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	865	// TMR3_COUNT_PRES_CALIB = 0;
Lightvalve	50:3c630b5eba9f	866	// V_out = 0;
Lightvalve	50:3c630b5eba9f	867	// PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve	50:3c630b5eba9f	868	// PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	50:3c630b5eba9f	869	// PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve	50:3c630b5eba9f	870	// PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	50:3c630b5eba9f	871	// CUR_PRES_A_sum = 0;
Lightvalve	50:3c630b5eba9f	872	// CUR_PRES_B_sum = 0;
Lightvalve	50:3c630b5eba9f	873	// CUR_PRES_A_mean = 0;
Lightvalve	50:3c630b5eba9f	874	// CUR_PRES_B_mean = 0;
Lightvalve	50:3c630b5eba9f	875	//
Lightvalve	224:985dba42f261	876	//
Lightvalve	50:3c630b5eba9f	877	//
Lightvalve	50:3c630b5eba9f	878	// //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve	50:3c630b5eba9f	879	// //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve	50:3c630b5eba9f	880	// }
Lightvalve	50:3c630b5eba9f	881	// TMR3_COUNT_PRES_CALIB++;
Lightvalve	50:3c630b5eba9f	882	// break;
Lightvalve	50:3c630b5eba9f	883	// }
Lightvalve	19:23b7c1ad8683	884
Lightvalve	50:3c630b5eba9f	885	// case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve	50:3c630b5eba9f	886	// 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	887	// V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve	50:3c630b5eba9f	888	// if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	889	// else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	890	// TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve	50:3c630b5eba9f	891	// if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	892	// TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve	50:3c630b5eba9f	893	// V_out = 0.0f;
Lightvalve	50:3c630b5eba9f	894	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	895	// }
Lightvalve	50:3c630b5eba9f	896	// break;
Lightvalve	50:3c630b5eba9f	897	// }
Lightvalve	14:8e7590227d22	898
Lightvalve	14:8e7590227d22	899	case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve	59:f308b1656d9c	900	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	901	VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve	14:8e7590227d22	902
Lightvalve	14:8e7590227d22	903	if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve	60:64181f1d3e60	904	Vout.ref = 3000.0f * sin(2.0f3.14fVALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve	14:8e7590227d22	905	} else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve	59:f308b1656d9c	906	Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve	14:8e7590227d22	907	} else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve	13:747daba9cf59	908	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	909	data_num = 0;
Lightvalve	14:8e7590227d22	910	} else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve	13:747daba9cf59	911	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	912	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	14:8e7590227d22	913	} else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve	59:f308b1656d9c	914	Vout.ref = 0.0f;
Lightvalve	59:f308b1656d9c	915	} else {
Lightvalve	13:747daba9cf59	916	VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve	13:747daba9cf59	917	VALVE_ID_timer = 0;
Lightvalve	13:747daba9cf59	918	ID_index= ID_index +1;
Lightvalve	13:747daba9cf59	919	}
Lightvalve	14:8e7590227d22	920
Lightvalve	17:1865016ca2e7	921	if(ID_index>=25) {
Lightvalve	13:747daba9cf59	922	int i;
Lightvalve	13:747daba9cf59	923	VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve	17:1865016ca2e7	924	for(i=0; i<25; i++) {
Lightvalve	13:747daba9cf59	925	VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve	14:8e7590227d22	926	if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	927	VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	928	VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	929	} else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	930	VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	931	VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	932	}
Lightvalve	13:747daba9cf59	933	}
Lightvalve	170:42c938a40313	934	spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve	170:42c938a40313	935	spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve	170:42c938a40313	936	for(int i=0; i<25; i++) {
Lightvalve	170:42c938a40313	937	spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]);
Lightvalve	170:42c938a40313	938	}
Lightvalve	13:747daba9cf59	939	ID_index = 0;
Lightvalve	57:f4819de54e7a	940	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	941	}
Lightvalve	14:8e7590227d22	942
Lightvalve	14:8e7590227d22	943
Lightvalve	13:747daba9cf59	944	break;
Lightvalve	13:747daba9cf59	945	}
Lightvalve	14:8e7590227d22	946
Lightvalve	14:8e7590227d22	947	case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve	59:f308b1656d9c	948	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	949	VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve	14:8e7590227d22	950	if(first_check == 0) {
Lightvalve	30:8d561f16383b	951	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	952	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	953	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	954	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	955	pos_plus_end = pos.sen;
Lightvalve	30:8d561f16383b	956	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	957	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	958	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	959	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	960	pos_minus_end = pos.sen;
Lightvalve	30:8d561f16383b	961	} else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	962	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	963	} else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	964	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	965	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	966	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	30:8d561f16383b	967	} else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	968	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	969	DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve	14:8e7590227d22	970	START_POS = pos.sen;
Lightvalve	13:747daba9cf59	971	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	972	data_num = 0;
Lightvalve	14:8e7590227d22	973
Lightvalve	30:8d561f16383b	974	} else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	975	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	976	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	977
Lightvalve	30:8d561f16383b	978	} else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	979	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	980	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	60:64181f1d3e60	981
Lightvalve	30:8d561f16383b	982	} else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	983	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	984	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	985	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	986
Lightvalve	60:64181f1d3e60	987	if((FINAL_POS - START_POS)>200) {
Lightvalve	13:747daba9cf59	988	DZ_case = 1;
Lightvalve	60:64181f1d3e60	989	} else if((FINAL_POS - START_POS)<-200) {
Lightvalve	13:747daba9cf59	990	DZ_case = -1;
Lightvalve	14:8e7590227d22	991	} else {
Lightvalve	13:747daba9cf59	992	DZ_case = 0;
Lightvalve	13:747daba9cf59	993	}
Lightvalve	61:bc8c8270f0ab	994
Lightvalve	60:64181f1d3e60	995	CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve	50:3c630b5eba9f	996
Lightvalve	13:747daba9cf59	997	first_check = 1;
Lightvalve	13:747daba9cf59	998	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	999	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1000	Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve	13:747daba9cf59	1001	DZ_NUM = 1;
Lightvalve	13:747daba9cf59	1002	DZ_index = 1;
Lightvalve	14:8e7590227d22	1003
Lightvalve	13:747daba9cf59	1004	}
Lightvalve	19:23b7c1ad8683	1005	} else {
Lightvalve	14:8e7590227d22	1006	if((DZ_case == -1 && DZ_NUM == 1) \| (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve	30:8d561f16383b	1007	if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1008	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	1009	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1010	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1011	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1012	valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1013	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1014	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1015	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1016	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1017	}
Lightvalve	14:8e7590227d22	1018	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	60:64181f1d3e60	1019
Lightvalve	30:8d561f16383b	1020	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1021	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1022	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1023
Lightvalve	14:8e7590227d22	1024	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1025	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1026	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1027	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1028	} else {
Lightvalve	13:747daba9cf59	1029	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	13:747daba9cf59	1030	}
Lightvalve	14:8e7590227d22	1031
Lightvalve	13:747daba9cf59	1032	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1033	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1034	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1035	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1036	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1037	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1038	DZ_index = 1;
Lightvalve	13:747daba9cf59	1039	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1040	}
Lightvalve	13:747daba9cf59	1041	}
Lightvalve	14:8e7590227d22	1042	} else if((DZ_case == -1 && DZ_NUM == 2) \| (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve	30:8d561f16383b	1043	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1044	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	1045	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1046	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1047	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1048	valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1049	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1050	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1051	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1052	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1053	}
Lightvalve	14:8e7590227d22	1054	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	61:bc8c8270f0ab	1055
Lightvalve	30:8d561f16383b	1056	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1057	Vout.ref = 0.0f;
Lightvalve	59:f308b1656d9c	1058	} else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1059	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1060	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1061
Lightvalve	14:8e7590227d22	1062	if((FINAL_POS - START_POS)>100) {
Lightvalve	60:64181f1d3e60	1063	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1064	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	60:64181f1d3e60	1065	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1066	} else {
Lightvalve	60:64181f1d3e60	1067	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	13:747daba9cf59	1068	}
Lightvalve	14:8e7590227d22	1069
Lightvalve	13:747daba9cf59	1070	VALVE_DZ_timer = 0;
Lightvalve	60:64181f1d3e60	1071	DZ_index= DZ_index * 2;
Lightvalve	14:8e7590227d22	1072	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1073	SECOND_DZ = valve_pos.ref;
Lightvalve	57:f4819de54e7a	1074	VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve	13:747daba9cf59	1075	first_check = 0;
Lightvalve	33:91b17819ec30	1076	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	1077	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	19:23b7c1ad8683	1078
Lightvalve	170:42c938a40313	1079	spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve	170:42c938a40313	1080	spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve	170:42c938a40313	1081	spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve	34:bb2ca2fc2a8e	1082
Lightvalve	60:64181f1d3e60	1083	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1084	DZ_index = 1;
Lightvalve	13:747daba9cf59	1085	}
Lightvalve	13:747daba9cf59	1086	}
Lightvalve	14:8e7590227d22	1087	} else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve	30:8d561f16383b	1088	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1089	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	1090	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1091	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1092	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1093	valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1094	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1095	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1096	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1097	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1098	}
Lightvalve	14:8e7590227d22	1099	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	61:bc8c8270f0ab	1100
Lightvalve	30:8d561f16383b	1101	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1102	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1103	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1104
Lightvalve	14:8e7590227d22	1105	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1106	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1107	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1108	DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	1109	} else {
Lightvalve	13:747daba9cf59	1110	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1111	}
Lightvalve	13:747daba9cf59	1112	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1113	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1114	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1115	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1116	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1117	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1118	DZ_index = 1;
Lightvalve	13:747daba9cf59	1119	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1120	}
Lightvalve	13:747daba9cf59	1121	}
Lightvalve	14:8e7590227d22	1122	} else {
Lightvalve	30:8d561f16383b	1123	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1124	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	1125	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1126	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1127	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1128	valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1129	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1130	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1131	} else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1132	valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve	13:747daba9cf59	1133	}
Lightvalve	14:8e7590227d22	1134	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	60:64181f1d3e60	1135
Lightvalve	30:8d561f16383b	1136	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1137	Vout.ref = 0.0f;
Lightvalve	59:f308b1656d9c	1138	} else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1139	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1140	FINAL_POS = pos.sen;
Lightvalve	61:bc8c8270f0ab	1141
Lightvalve	60:64181f1d3e60	1142	if((FINAL_POS - START_POS)>100) {
Lightvalve	13:747daba9cf59	1143	DZ_DIRECTION = 1;
Lightvalve	60:64181f1d3e60	1144	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	60:64181f1d3e60	1145	DZ_DIRECTION = -1;
Lightvalve	60:64181f1d3e60	1146	} else {
Lightvalve	13:747daba9cf59	1147	DZ_DIRECTION = 1;
Lightvalve	60:64181f1d3e60	1148	}
Lightvalve	14:8e7590227d22	1149
Lightvalve	13:747daba9cf59	1150	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1151	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1152	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1153	SECOND_DZ = valve_pos.ref;
Lightvalve	57:f4819de54e7a	1154	VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve	13:747daba9cf59	1155	first_check = 0;
Lightvalve	33:91b17819ec30	1156	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	1157	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	224:985dba42f261	1158
Lightvalve	170:42c938a40313	1159	spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve	170:42c938a40313	1160	spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve	170:42c938a40313	1161	spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve	34:bb2ca2fc2a8e	1162
Lightvalve	57:f4819de54e7a	1163	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1164	DZ_index = 1;
Lightvalve	13:747daba9cf59	1165	}
Lightvalve	13:747daba9cf59	1166	}
Lightvalve	13:747daba9cf59	1167	}
Lightvalve	14:8e7590227d22	1168	}
Lightvalve	13:747daba9cf59	1169	break;
Lightvalve	13:747daba9cf59	1170	}
Lightvalve	14:8e7590227d22	1171
Lightvalve	14:8e7590227d22	1172	case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve	59:f308b1656d9c	1173	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	1174	VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve	14:8e7590227d22	1175	if(first_check == 0) {
Lightvalve	30:8d561f16383b	1176	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1177	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	1178	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1179	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1180	pos_plus_end = pos.sen;
Lightvalve	30:8d561f16383b	1181	} else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1182	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	1183	} else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1184	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1185	pos_minus_end = pos.sen;
Lightvalve	13:747daba9cf59	1186	first_check = 1;
Lightvalve	13:747daba9cf59	1187	VALVE_FR_timer = 0;
Lightvalve	57:f4819de54e7a	1188	valve_pos.ref = (float) VALVE_CENTER;
Lightvalve	13:747daba9cf59	1189	ID_index = 0;
Lightvalve	13:747daba9cf59	1190	max_check = 0;
Lightvalve	13:747daba9cf59	1191	min_check = 0;
Lightvalve	13:747daba9cf59	1192	}
Lightvalve	14:8e7590227d22	1193	} else {
Lightvalve	30:8d561f16383b	1194	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1195	pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	59:f308b1656d9c	1196	CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1197	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	13:747daba9cf59	1198	data_num = 0;
Lightvalve	57:f4819de54e7a	1199	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve	14:8e7590227d22	1200
Lightvalve	14:8e7590227d22	1201	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1202	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1203	} else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f4819de54e7a	1204	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve	14:8e7590227d22	1205	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1206	data_num = data_num + 1;
Lightvalve	30:8d561f16383b	1207	if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve	14:8e7590227d22	1208	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1209	one_period_end = 1;
Lightvalve	13:747daba9cf59	1210	}
Lightvalve	30:8d561f16383b	1211	} else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1212	FINAL_POS = pos.sen;
Lightvalve	13:747daba9cf59	1213	one_period_end = 1;
Lightvalve	59:f308b1656d9c	1214	V_out = 0.0f;
Lightvalve	13:747daba9cf59	1215	}
Lightvalve	14:8e7590227d22	1216
Lightvalve	14:8e7590227d22	1217	if(one_period_end == 1) {
Lightvalve	14:8e7590227d22	1218	if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	13:747daba9cf59	1219	max_check = 1;
Lightvalve	14:8e7590227d22	1220	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	13:747daba9cf59	1221	min_check = 1;
Lightvalve	13:747daba9cf59	1222	}
Lightvalve	13:747daba9cf59	1223	JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve	19:23b7c1ad8683	1224
Lightvalve	13:747daba9cf59	1225	VALVE_FR_timer = 0;
Lightvalve	13:747daba9cf59	1226	one_period_end = 0;
Lightvalve	13:747daba9cf59	1227	ID_index= ID_index +1;
Lightvalve	30:8d561f16383b	1228	V_out = 0.0f;
Lightvalve	13:747daba9cf59	1229	}
Lightvalve	14:8e7590227d22	1230
Lightvalve	14:8e7590227d22	1231	if(max_check == 1 && min_check == 1) {
Lightvalve	19:23b7c1ad8683	1232
Lightvalve	13:747daba9cf59	1233	VALVE_POS_NUM = ID_index;
Lightvalve	170:42c938a40313	1234	for(int i=0; i<100; i++) {
Lightvalve	170:42c938a40313	1235	spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int16_t) (JOINT_VEL[i] & 0xFFFF));
Lightvalve	170:42c938a40313	1236	spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int16_t) ((JOINT_VEL[i] >> 16) & 0xFFFF));
Lightvalve	170:42c938a40313	1237	}
Lightvalve	13:747daba9cf59	1238	ID_index = 0;
Lightvalve	13:747daba9cf59	1239	first_check = 0;
Lightvalve	13:747daba9cf59	1240	VALVE_FR_timer = 0;
Lightvalve	57:f4819de54e7a	1241	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1242	}
Lightvalve	13:747daba9cf59	1243	}
Lightvalve	13:747daba9cf59	1244	break;
Lightvalve	13:747daba9cf59	1245	}
Lightvalve	58:2eade98630e2	1246
Lightvalve	57:f4819de54e7a	1247	case MODE_SYSTEM_ID: {
Lightvalve	169:645207e160ca	1248	freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.0f;
Lightvalve	57:f4819de54e7a	1249	valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve	57:f4819de54e7a	1250	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	57:f4819de54e7a	1251	cnt_sysid++;
Lightvalve	57:f4819de54e7a	1252	if (freq_sysid_Iref >= 300) {
Lightvalve	57:f4819de54e7a	1253	cnt_sysid = 0;
Lightvalve	57:f4819de54e7a	1254	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	57:f4819de54e7a	1255	}
Lightvalve	57:f4819de54e7a	1256	break;
Lightvalve	57:f4819de54e7a	1257	}
Lightvalve	58:2eade98630e2	1258
Lightvalve	169:645207e160ca	1259	case MODE_FREQ_TEST: {
Lightvalve	169:645207e160ca	1260	float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3);
Lightvalve	169:645207e160ca	1261	if(valve_pos_ref >= 0) {
Lightvalve	169:645207e160ca	1262	valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	169:645207e160ca	1263	} else {
Lightvalve	169:645207e160ca	1264	valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	169:645207e160ca	1265	}
Lightvalve	169:645207e160ca	1266	ref_array[cnt_freq_test] = valve_pos_ref;
Lightvalve	169:645207e160ca	1267	if(value>=(float) VALVE_CENTER) {
Lightvalve	169:645207e160ca	1268	pos_array[cnt_freq_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	169:645207e160ca	1269	} else {
Lightvalve	169:645207e160ca	1270	pos_array[cnt_freq_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	169:645207e160ca	1271	}
Lightvalve	58:2eade98630e2	1272
Lightvalve	169:645207e160ca	1273	CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve	169:645207e160ca	1274	cnt_freq_test++;
Lightvalve	169:645207e160ca	1275	if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3 > 2) {
Lightvalve	169:645207e160ca	1276	buffer_data_size = cnt_freq_test;
Lightvalve	169:645207e160ca	1277	cnt_freq_test = 0;
Lightvalve	169:645207e160ca	1278	cnt_send_buffer = 0;
Lightvalve	169:645207e160ca	1279	freq_test_valve_ref = freq_test_valve_ref * 1.05f;
Lightvalve	169:645207e160ca	1280	if (freq_test_valve_ref >= 400) {
Lightvalve	169:645207e160ca	1281	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	169:645207e160ca	1282	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	169:645207e160ca	1283	CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve	169:645207e160ca	1284	}
Lightvalve	169:645207e160ca	1285	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	169:645207e160ca	1286	CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve	170:42c938a40313	1287
Lightvalve	169:645207e160ca	1288	}
Lightvalve	169:645207e160ca	1289	break;
Lightvalve	169:645207e160ca	1290	}
Lightvalve	169:645207e160ca	1291	case MODE_SEND_BUFFER: {
Lightvalve	169:645207e160ca	1292	// if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve	169:645207e160ca	1293	// CAN_TX_PRES((int16_t) (pos_array[cnt_send_buffer]), (int16_t) (ref_array[cnt_send_buffer])); // 1400
Lightvalve	169:645207e160ca	1294	// if(cnt_send_buffer>=buffer_data_size) {
Lightvalve	169:645207e160ca	1295	// CONTROL_UTILITY_MODE = MODE_FREQ_TEST;
Lightvalve	169:645207e160ca	1296	// }
Lightvalve	169:645207e160ca	1297	// cnt_send_buffer++;
Lightvalve	169:645207e160ca	1298	// }
Lightvalve	169:645207e160ca	1299
Lightvalve	169:645207e160ca	1300	break;
Lightvalve	169:645207e160ca	1301	}
Lightvalve	169:645207e160ca	1302	case MODE_SEND_OVER: {
Lightvalve	169:645207e160ca	1303	CAN_TX_TORQUE((int16_t) (buffer_data_size)); //1300
Lightvalve	169:645207e160ca	1304	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	169:645207e160ca	1305	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	169:645207e160ca	1306	break;
Lightvalve	169:645207e160ca	1307	}
Lightvalve	170:42c938a40313	1308
Lightvalve	169:645207e160ca	1309	case MODE_STEP_TEST: {
Lightvalve	169:645207e160ca	1310	float valve_pos_ref = 0.0f;
Lightvalve	170:42c938a40313	1311	if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	169:645207e160ca	1312	valve_pos_ref = 0.0f;
Lightvalve	170:42c938a40313	1313	} else {
Lightvalve	169:645207e160ca	1314	valve_pos_ref = 10000.0f;
Lightvalve	169:645207e160ca	1315	}
Lightvalve	169:645207e160ca	1316	if(valve_pos_ref >= 0) {
Lightvalve	169:645207e160ca	1317	valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	169:645207e160ca	1318	} else {
Lightvalve	169:645207e160ca	1319	valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	169:645207e160ca	1320	}
Lightvalve	169:645207e160ca	1321	ref_array[cnt_step_test] = valve_pos_ref;
Lightvalve	169:645207e160ca	1322	if(value>=(float) VALVE_CENTER) {
Lightvalve	169:645207e160ca	1323	pos_array[cnt_step_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	169:645207e160ca	1324	} else {
Lightvalve	169:645207e160ca	1325	pos_array[cnt_step_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	169:645207e160ca	1326	}
Lightvalve	169:645207e160ca	1327
Lightvalve	169:645207e160ca	1328	CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve	169:645207e160ca	1329	cnt_step_test++;
Lightvalve	170:42c938a40313	1330	if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	169:645207e160ca	1331	buffer_data_size = cnt_step_test;
Lightvalve	169:645207e160ca	1332	cnt_step_test = 0;
Lightvalve	169:645207e160ca	1333	cnt_send_buffer = 0;
Lightvalve	169:645207e160ca	1334	CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve	169:645207e160ca	1335	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	169:645207e160ca	1336	}
Lightvalve	170:42c938a40313	1337
Lightvalve	169:645207e160ca	1338	break;
Lightvalve	169:645207e160ca	1339	}
Lightvalve	57:f4819de54e7a	1340
Lightvalve	57:f4819de54e7a	1341	default:
Lightvalve	57:f4819de54e7a	1342	break;
Lightvalve	57:f4819de54e7a	1343	}
Lightvalve	57:f4819de54e7a	1344
Lightvalve	224:985dba42f261	1345
Lightvalve	224:985dba42f261	1346
Lightvalve	57:f4819de54e7a	1347	// CONTROL MODE ------------------------------------------------------------
Lightvalve	57:f4819de54e7a	1348	switch (CONTROL_MODE) {
Lightvalve	57:f4819de54e7a	1349	case MODE_NO_ACT: {
Lightvalve	57:f4819de54e7a	1350	V_out = 0.0f;
Lightvalve	57:f4819de54e7a	1351	break;
Lightvalve	57:f4819de54e7a	1352	}
Lightvalve	57:f4819de54e7a	1353
Lightvalve	57:f4819de54e7a	1354	case MODE_VALVE_POSITION_CONTROL: {
Lightvalve	67:c2812cf26c38	1355	if (OPERATING_MODE == 5) { //SW Valve
Lightvalve	57:f4819de54e7a	1356	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	59:f308b1656d9c	1357	V_out = Vout.ref;
Lightvalve	67:c2812cf26c38	1358	} else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve	67:c2812cf26c38	1359	V_out = valve_pos.ref;
Lightvalve	169:645207e160ca	1360	} else {
Lightvalve	67:c2812cf26c38	1361	I_REF = valve_pos.ref * 0.001f;
Lightvalve	57:f4819de54e7a	1362	}
Lightvalve	57:f4819de54e7a	1363	break;
Lightvalve	57:f4819de54e7a	1364	}
Lightvalve	57:f4819de54e7a	1365
Lightvalve	57:f4819de54e7a	1366	case MODE_JOINT_CONTROL: {
Lightvalve	169:645207e160ca	1367
Lightvalve	57:f4819de54e7a	1368	double torq_ref = 0.0f;
Lightvalve	57:f4819de54e7a	1369	pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve	67:c2812cf26c38	1370	vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve	57:f4819de54e7a	1371	pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve	169:645207e160ca	1372
Lightvalve	67:c2812cf26c38	1373	//K & D Low Pass Filter
Lightvalve	67:c2812cf26c38	1374	float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f3.14f30.0f)); // f_cutoff : 30Hz
Lightvalve	67:c2812cf26c38	1375	K_LPF = K_LPF(1.0f-alpha_K_D)+K_SPRING(alpha_K_D);
Lightvalve	67:c2812cf26c38	1376	D_LPF = D_LPF(1.0f-alpha_K_D)+D_DAMPER(alpha_K_D);
Lightvalve	169:645207e160ca	1377
Lightvalve	224:985dba42f261	1378	torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve	57:f4819de54e7a	1379
Lightvalve	57:f4819de54e7a	1380	// torque feedback
Lightvalve	67:c2812cf26c38	1381	torq.err = torq_ref - torq.sen; //[N]
Lightvalve	57:f4819de54e7a	1382	torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve	57:f4819de54e7a	1383
Lightvalve	57:f4819de54e7a	1384	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	58:2eade98630e2	1385
Lightvalve	57:f4819de54e7a	1386	double I_REF_POS = 0.0f;
Lightvalve	57:f4819de54e7a	1387	double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve	57:f4819de54e7a	1388	double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve	57:f4819de54e7a	1389
Lightvalve	57:f4819de54e7a	1390	double temp_vel_pos = 0.0f;
Lightvalve	57:f4819de54e7a	1391	double temp_vel_torq = 0.0f;
Lightvalve	57:f4819de54e7a	1392	double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve	58:2eade98630e2	1393
Lightvalve	69:3995ffeaa786	1394	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve	57:f4819de54e7a	1395	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	1396	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	69:3995ffeaa786	1397	} else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve	57:f4819de54e7a	1398	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	1399	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	57:f4819de54e7a	1400	}
Lightvalve	57:f4819de54e7a	1401	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	1402	else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	57:f4819de54e7a	1403
Lightvalve	57:f4819de54e7a	1404	// velocity compensation for torque control
Lightvalve	69:3995ffeaa786	1405	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve	57:f4819de54e7a	1406	I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve	57:f4819de54e7a	1407	// 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	1408	temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve	57:f4819de54e7a	1409	// L feedforward velocity
Lightvalve	69:3995ffeaa786	1410	} else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve	57:f4819de54e7a	1411	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	1412	// temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	57:f4819de54e7a	1413	temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	57:f4819de54e7a	1414	// L feedforward velocity
Lightvalve	57:f4819de54e7a	1415	}
Lightvalve	57:f4819de54e7a	1416	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	1417	else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	57:f4819de54e7a	1418	// L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve	57:f4819de54e7a	1419	// Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve	57:f4819de54e7a	1420	// Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve	57:f4819de54e7a	1421
Lightvalve	57:f4819de54e7a	1422	I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve	169:645207e160ca	1423
Lightvalve	67:c2812cf26c38	1424	// Anti-windup for FT
Lightvalve	67:c2812cf26c38	1425	if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve	67:c2812cf26c38	1426	double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve	67:c2812cf26c38	1427	double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve	67:c2812cf26c38	1428	if (I_REF > I_MAX) {
Lightvalve	67:c2812cf26c38	1429	double I_rem = I_REF - I_MAX;
Lightvalve	67:c2812cf26c38	1430	I_rem = Ka*I_rem;
Lightvalve	67:c2812cf26c38	1431	I_REF = I_MAX;
Lightvalve	67:c2812cf26c38	1432	torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve	67:c2812cf26c38	1433	} else if (I_REF < -I_MAX) {
Lightvalve	67:c2812cf26c38	1434	double I_rem = I_REF - (-I_MAX);
Lightvalve	67:c2812cf26c38	1435	I_rem = Ka*I_rem;
Lightvalve	67:c2812cf26c38	1436	I_REF = -I_MAX;
Lightvalve	67:c2812cf26c38	1437	torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve	67:c2812cf26c38	1438	}
Lightvalve	67:c2812cf26c38	1439	}
Lightvalve	57:f4819de54e7a	1440
Lightvalve	57:f4819de54e7a	1441	} else {
Lightvalve	57:f4819de54e7a	1442	float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve	72:3436ce769b1e	1443	float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve	72:3436ce769b1e	1444	float VALVE_POS_RAW = 0.0f;
Lightvalve	169:645207e160ca	1445
Lightvalve	209:ebc69d6ee6f1	1446	VALVE_POS_RAW_FORCE_FB = alpha_trans(((float) P_GAIN_JOINT_TORQUE torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * (torq.ref_diff - torq_dot.sen)) * 0.01f + 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	1447
Lightvalve	72:3436ce769b1e	1448	VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f;
Lightvalve	169:645207e160ca	1449
Lightvalve	72:3436ce769b1e	1450	VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve	169:645207e160ca	1451
Lightvalve	169:645207e160ca	1452
Lightvalve	72:3436ce769b1e	1453	if (VALVE_POS_RAW >= 0) {
Lightvalve	72:3436ce769b1e	1454	valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve	57:f4819de54e7a	1455	} else {
Lightvalve	72:3436ce769b1e	1456	valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve	57:f4819de54e7a	1457	}
Lightvalve	57:f4819de54e7a	1458
Lightvalve	57:f4819de54e7a	1459	if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve	139:15621998925b	1460	double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve	57:f4819de54e7a	1461	if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve	57:f4819de54e7a	1462	double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1463	valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	57:f4819de54e7a	1464	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1465	torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve	57:f4819de54e7a	1466	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	57:f4819de54e7a	1467	double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1468	valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	57:f4819de54e7a	1469	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1470	torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve	57:f4819de54e7a	1471	}
Lightvalve	57:f4819de54e7a	1472	}
Lightvalve	61:bc8c8270f0ab	1473
Lightvalve	57:f4819de54e7a	1474	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	60:64181f1d3e60	1475	V_out = (float) Vout.ref;
Lightvalve	57:f4819de54e7a	1476	}
Lightvalve	72:3436ce769b1e	1477	torq_ref_past = torq_ref;
Lightvalve	57:f4819de54e7a	1478	break;
Lightvalve	57:f4819de54e7a	1479	}
Lightvalve	58:2eade98630e2	1480
Lightvalve	57:f4819de54e7a	1481	case MODE_VALVE_OPEN_LOOP: {
Lightvalve	57:f4819de54e7a	1482	V_out = (float) Vout.ref;
Lightvalve	57:f4819de54e7a	1483	break;
Lightvalve	57:f4819de54e7a	1484	}
Lightvalve	169:645207e160ca	1485
Lightvalve	138:a843f32ced33	1486	case MODE_JOINT_ADAPTIVE_BACKSTEPPING: {
Lightvalve	169:645207e160ca	1487
Lightvalve	169:645207e160ca	1488
Lightvalve	139:15621998925b	1489	float Va = (1256.6f + Amm * pos.sen/(float)(ENC_PULSE_PER_POSITION)) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3
Lightvalve	139:15621998925b	1490	float Vb = (1256.6f + Amm * (79.0f - pos.sen/(float)(ENC_PULSE_PER_POSITION))) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3
Lightvalve	218:066030f7951f	1491
Lightvalve	170:42c938a40313	1492	V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f
Lightvalve	169:645207e160ca	1493
Lightvalve	218:066030f7951f	1494	//float f3 = -AmmAmmbeta0.000001f0.000001f/V_adapt * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
Lightvalve	218:066030f7951f	1495	float f3_hat = -a_hat * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
Lightvalve	169:645207e160ca	1496
Lightvalve	138:a843f32ced33	1497	float g3_prime = 0.0f;
Lightvalve	169:645207e160ca	1498	if (torq.sen > Amm(Ps-Pt)0.000001f) {
Lightvalve	138:a843f32ced33	1499	g3_prime = 1.0f;
Lightvalve	138:a843f32ced33	1500	} else if (torq.sen < -Amm(Ps-Pt)0.000001f) {
Lightvalve	138:a843f32ced33	1501	g3_prime = -1.0f;
Lightvalve	138:a843f32ced33	1502	} else {
Lightvalve	138:a843f32ced33	1503	if ((value-VALVE_CENTER) > 0) {
Lightvalve	169:645207e160ca	1504	g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f);
Lightvalve	169:645207e160ca	1505	// g3_prime = sqrt(Ps-Pt);
Lightvalve	138:a843f32ced33	1506	} else {
Lightvalve	138:a843f32ced33	1507	g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f);
Lightvalve	139:15621998925b	1508	// g3_prime = sqrt(Ps-Pt);
Lightvalve	138:a843f32ced33	1509	}
Lightvalve	138:a843f32ced33	1510	}
Lightvalve	138:a843f32ced33	1511	float tau = 0.01f;
Lightvalve	142:43026242815a	1512	float K_valve = 0.0004f;
Lightvalve	169:645207e160ca	1513
Lightvalve	138:a843f32ced33	1514	float x_v = 0.0f; //x_v : -1~1
Lightvalve	138:a843f32ced33	1515	if(value>=VALVE_CENTER) {
Lightvalve	138:a843f32ced33	1516	x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	138:a843f32ced33	1517	} else {
Lightvalve	138:a843f32ced33	1518	x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	138:a843f32ced33	1519	}
Lightvalve	138:a843f32ced33	1520	float f4 = -x_v/tau;
Lightvalve	138:a843f32ced33	1521	float g4 = K_valve/tau;
Lightvalve	169:645207e160ca	1522
Lightvalve	139:15621998925b	1523	float torq_ref_dot = torq.ref_diff * 500.0f;
Lightvalve	169:645207e160ca	1524
Lightvalve	138:a843f32ced33	1525	pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve	138:a843f32ced33	1526	vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve	138:a843f32ced33	1527	pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve	169:645207e160ca	1528
Lightvalve	138:a843f32ced33	1529	torq.err = torq.ref - torq.sen; //[N]
Lightvalve	138:a843f32ced33	1530	torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve	169:645207e160ca	1531
Lightvalve	212:ec41f1449ef9	1532	float k3 = 2000.0f; //2000 //20000
Lightvalve	142:43026242815a	1533	float k4 = 10.0f;
Lightvalve	142:43026242815a	1534	float rho3 = 3.2f;
Lightvalve	212:ec41f1449ef9	1535	float rho4 = 10000000.0f; //25000000.0f;
Lightvalve	218:066030f7951f	1536	float x_4_des = (-f3_hat + torq_ref_dot - k3(-torq.err))/(gamma_hatg3_prime);
Lightvalve	138:a843f32ced33	1537	if (x_4_des > 1) x_4_des = 1;
Lightvalve	138:a843f32ced33	1538	else if (x_4_des < -1) x_4_des = -1;
Lightvalve	169:645207e160ca	1539
Lightvalve	139:15621998925b	1540	if (x_4_des > 0) {
Lightvalve	139:15621998925b	1541	valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER;
Lightvalve	139:15621998925b	1542	} else {
Lightvalve	139:15621998925b	1543	valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER;
Lightvalve	139:15621998925b	1544	}
Lightvalve	169:645207e160ca	1545
Lightvalve	138:a843f32ced33	1546	float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k;
Lightvalve	138:a843f32ced33	1547	x_4_des_old = x_4_des;
Lightvalve	212:ec41f1449ef9	1548	float V_input = 0.0f;
Lightvalve	139:15621998925b	1549	V_out = (-f4 + x_4_des_dot - k4(x_v-x_4_des)- rho3/rho4gamma_hatg3_prime(-torq.err))/g4;
Lightvalve	218:066030f7951f	1550
Lightvalve	218:066030f7951f	1551	float rho_a = 0.00001f;
Lightvalve	218:066030f7951f	1552	float a_hat_dot = -rho3/rho_avel.sen/(float)(ENC_PULSE_PER_POSITION)0.001f*(-torq.err);
Lightvalve	218:066030f7951f	1553	a_hat = a_hat + a_hat_dot / (float) TMR_FREQ_5k;
Lightvalve	218:066030f7951f	1554
Lightvalve	218:066030f7951f	1555	if(a_hat > -3000000.0f) a_hat = -3000000.0f;
Lightvalve	218:066030f7951f	1556	else if(a_hat < -30000000.0f) a_hat = -30000000.0f;
Lightvalve	218:066030f7951f	1557
Lightvalve	169:645207e160ca	1558	break;
Lightvalve	138:a843f32ced33	1559	}
Lightvalve	171:bfc1fd2629d8	1560
Lightvalve	12:6f2531038ea4	1561	default:
Lightvalve	12:6f2531038ea4	1562	break;
Lightvalve	12:6f2531038ea4	1563	}
Lightvalve	14:8e7590227d22	1564
Lightvalve	57:f4819de54e7a	1565
Lightvalve	57:f4819de54e7a	1566	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve	58:2eade98630e2	1567
Lightvalve	57:f4819de54e7a	1568	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1569	//////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve	57:f4819de54e7a	1570	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1571	if (CURRENT_CONTROL_MODE) {
Lightvalve	67:c2812cf26c38	1572	double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve	57:f4819de54e7a	1573	I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve	57:f4819de54e7a	1574
Lightvalve	57:f4819de54e7a	1575	I_ERR = I_REF_fil - cur.sen;
Lightvalve	67:c2812cf26c38	1576	I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve	57:f4819de54e7a	1577
Lightvalve	57:f4819de54e7a	1578
Lightvalve	57:f4819de54e7a	1579	// Moog Valve Current Control Gain
Lightvalve	67:c2812cf26c38	1580	double R_model = 500.0f; // ohm
Lightvalve	57:f4819de54e7a	1581	double L_model = 1.2f;
Lightvalve	57:f4819de54e7a	1582	double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve	57:f4819de54e7a	1583	double KP_I = 0.1f * L_model*w0;
Lightvalve	57:f4819de54e7a	1584	double KI_I = 0.1f * R_model*w0;
Lightvalve	57:f4819de54e7a	1585
Lightvalve	57:f4819de54e7a	1586	// KNR Valve Current Control Gain
Lightvalve	57:f4819de54e7a	1587	if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve	57:f4819de54e7a	1588	R_model = 163.0f; // ohm
Lightvalve	57:f4819de54e7a	1589	L_model = 1.0f;
Lightvalve	57:f4819de54e7a	1590	w0 = 2.0f * 3.14f * 80.0f;
Lightvalve	57:f4819de54e7a	1591	KP_I = 1.0f * L_model*w0;
Lightvalve	57:f4819de54e7a	1592	KI_I = 0.08f * R_model*w0;
Lightvalve	57:f4819de54e7a	1593	}
Lightvalve	57:f4819de54e7a	1594
Lightvalve	57:f4819de54e7a	1595	double FF_gain = 1.0f;
Lightvalve	57:f4819de54e7a	1596
Lightvalve	67:c2812cf26c38	1597	VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve	57:f4819de54e7a	1598	I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve	57:f4819de54e7a	1599	I_REF_fil_old = I_REF_fil;
Lightvalve	67:c2812cf26c38	1600	// 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	1601	VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve	67:c2812cf26c38	1602	double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve	57:f4819de54e7a	1603
Lightvalve	57:f4819de54e7a	1604	double Ka = 3.0f / KP_I;
Lightvalve	57:f4819de54e7a	1605	if (VALVE_PWM_RAW > V_MAX) {
Lightvalve	57:f4819de54e7a	1606	V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve	57:f4819de54e7a	1607	V_rem = Ka*V_rem;
Lightvalve	57:f4819de54e7a	1608	VALVE_PWM_RAW = V_MAX;
Lightvalve	67:c2812cf26c38	1609	I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve	57:f4819de54e7a	1610	} else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve	57:f4819de54e7a	1611	V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve	57:f4819de54e7a	1612	V_rem = Ka*V_rem;
Lightvalve	57:f4819de54e7a	1613	VALVE_PWM_RAW = -V_MAX;
Lightvalve	67:c2812cf26c38	1614	I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve	57:f4819de54e7a	1615	}
Lightvalve	57:f4819de54e7a	1616	Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve	57:f4819de54e7a	1617	} else {
Lightvalve	57:f4819de54e7a	1618	VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve	57:f4819de54e7a	1619	Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve	57:f4819de54e7a	1620	}
Lightvalve	57:f4819de54e7a	1621
Lightvalve	57:f4819de54e7a	1622	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1623	///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve	57:f4819de54e7a	1624	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1625	// Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve	57:f4819de54e7a	1626	if (FLAG_VALVE_DEADZONE) {
Lightvalve	57:f4819de54e7a	1627	if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve	57:f4819de54e7a	1628	else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve	57:f4819de54e7a	1629
Lightvalve	57:f4819de54e7a	1630	VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve	57:f4819de54e7a	1631
Lightvalve	57:f4819de54e7a	1632	} else {
Lightvalve	57:f4819de54e7a	1633	VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve	57:f4819de54e7a	1634	}
Lightvalve	57:f4819de54e7a	1635
Lightvalve	57:f4819de54e7a	1636	// Output Voltage Linearization
Lightvalve	57:f4819de54e7a	1637	double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve	67:c2812cf26c38	1638	double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve	57:f4819de54e7a	1639
Lightvalve	57:f4819de54e7a	1640	// Dead Zone Cancellation (Electrical dead-zone)
Lightvalve	67:c2812cf26c38	1641	if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve	67:c2812cf26c38	1642	else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve	67:c2812cf26c38	1643	else V_out = (float) (CUR_PWM_lin);
Lightvalve	169:645207e160ca	1644	} else { //////////////////////////sw valve
Lightvalve	89:a7b45368ea0f	1645	// Output Voltage Linearization
Lightvalve	135:79885a39c161	1646	// double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve	135:79885a39c161	1647	// double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve	89:a7b45368ea0f	1648
Lightvalve	89:a7b45368ea0f	1649	// Dead Zone Cancellation (Electrical dead-zone)
Lightvalve	135:79885a39c161	1650	// if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve	135:79885a39c161	1651	// else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve	135:79885a39c161	1652	// else V_out = (float) (CUR_PWM_lin);
Lightvalve	135:79885a39c161	1653
Lightvalve	224:985dba42f261	1654	// Output Voltage Linearization & Dead Zone Cancellation (Electrical dead-zone) by SW
Lightvalve	135:79885a39c161	1655	if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f;
Lightvalve	135:79885a39c161	1656	else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f;
Lightvalve	135:79885a39c161	1657	else V_out = 0.0f;
Lightvalve	89:a7b45368ea0f	1658	}
Lightvalve	169:645207e160ca	1659
jobuuu	7:e9086c72bb22	1660	/*******************************************************
jobuuu	7:e9086c72bb22	1661	*** PWM
jobuuu	7:e9086c72bb22	1662	********************************************************/
Lightvalve	169:645207e160ca	1663	if(DIR_VALVE<0) {
Lightvalve	67:c2812cf26c38	1664	V_out = -V_out;
Lightvalve	67:c2812cf26c38	1665	}
Lightvalve	169:645207e160ca	1666
Lightvalve	49:e7bcfc244d40	1667	if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve	49:e7bcfc244d40	1668	V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve	49:e7bcfc244d40	1669	} else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve	49:e7bcfc244d40	1670	V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve	27:a2254a485f23	1671	}
Lightvalve	224:985dba42f261	1672	PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f);
Lightvalve	13:747daba9cf59	1673
Lightvalve	224:985dba42f261	1674	// Saturation of output voltage
Lightvalve	30:8d561f16383b	1675	if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve	30:8d561f16383b	1676	else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve	13:747daba9cf59	1677
Lightvalve	30:8d561f16383b	1678	if (PWM_out>0.0f) {
Lightvalve	30:8d561f16383b	1679	dtc_v=0.0f;
jobuuu	1:e04e563be5ce	1680	dtc_w=PWM_out;
jobuuu	1:e04e563be5ce	1681	} else {
jobuuu	2:a1c0a37df760	1682	dtc_v=-PWM_out;
Lightvalve	30:8d561f16383b	1683	dtc_w=0.0f;
jobuuu	1:e04e563be5ce	1684	}
Lightvalve	13:747daba9cf59	1685
jobuuu	1:e04e563be5ce	1686	//pwm
Lightvalve	30:8d561f16383b	1687	TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve	30:8d561f16383b	1688	TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve	67:c2812cf26c38	1689
Lightvalve	61:bc8c8270f0ab	1690
Lightvalve	57:f4819de54e7a	1691	if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve	20:806196fda269	1692
Lightvalve	54:647072f5307a	1693	// Position, Velocity, and Torque (ID:1200)
Lightvalve	56:6f50d9d3bfee	1694	if (flag_data_request[0] == HIGH) {
Lightvalve	57:f4819de54e7a	1695	if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve	54:647072f5307a	1696	if (SENSING_MODE == 0) {
Lightvalve	67:c2812cf26c38	1697	CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve	54:647072f5307a	1698	} else if (SENSING_MODE == 1) {
Lightvalve	58:2eade98630e2	1699	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	1700	}
Lightvalve	57:f4819de54e7a	1701	} else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve	54:647072f5307a	1702	if (SENSING_MODE == 0) {
Lightvalve	67:c2812cf26c38	1703	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	1704	} else if (SENSING_MODE == 1) {
Lightvalve	67:c2812cf26c38	1705	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	1706	}
Lightvalve	52:8ea76864368a	1707	}
Lightvalve	52:8ea76864368a	1708	}
Lightvalve	224:985dba42f261	1709
Lightvalve	224:985dba42f261	1710	// ID:1300
Lightvalve	56:6f50d9d3bfee	1711	if (flag_data_request[1] == HIGH) {
Lightvalve	224:985dba42f261	1712	CAN_TX_TORQUE((int16_t) 7); //1300
Lightvalve	54:647072f5307a	1713	}
Lightvalve	58:2eade98630e2	1714
Lightvalve	224:985dba42f261	1715	// ID:1400
Lightvalve	171:bfc1fd2629d8	1716	if (flag_data_request[2] == HIGH) {
Lightvalve	169:645207e160ca	1717	double t_value = 0.0f;
Lightvalve	171:bfc1fd2629d8	1718	if(value>=(float) VALVE_CENTER) {
Lightvalve	131:d08121ac87ba	1719	t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	89:a7b45368ea0f	1720	} else {
Lightvalve	131:d08121ac87ba	1721	t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	89:a7b45368ea0f	1722	}
Lightvalve	169:645207e160ca	1723	double t_value_ref = 0.0f;
Lightvalve	169:645207e160ca	1724	if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve	169:645207e160ca	1725	t_value_ref = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	169:645207e160ca	1726	} else {
Lightvalve	169:645207e160ca	1727	t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	169:645207e160ca	1728	}
Lightvalve	169:645207e160ca	1729
Lightvalve	169:645207e160ca	1730
Lightvalve	169:645207e160ca	1731	CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400
Lightvalve	55:b25725257569	1732	}
Lightvalve	58:2eade98630e2	1733
Lightvalve	57:f4819de54e7a	1734	//If it doesn't rest, below can can not work.
Lightvalve	57:f4819de54e7a	1735	for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve	57:f4819de54e7a	1736	;
Lightvalve	57:f4819de54e7a	1737	}
Lightvalve	224:985dba42f261	1738
Lightvalve	224:985dba42f261	1739	// ID:1500
Lightvalve	169:645207e160ca	1740	if (flag_data_request[3] == HIGH) {
Lightvalve	54:647072f5307a	1741	//PWM
Lightvalve	209:ebc69d6ee6f1	1742	CAN_TX_PWM((int16_t) (torq.ref)); //1500
Lightvalve	54:647072f5307a	1743	}
Lightvalve	224:985dba42f261	1744
Lightvalve	224:985dba42f261	1745	// ID:1600
Lightvalve	56:6f50d9d3bfee	1746	if (flag_data_request[4] == HIGH) {
Lightvalve	54:647072f5307a	1747	//valve position
Lightvalve	218:066030f7951f	1748	CAN_TX_VALVE_POSITION((int16_t) (a_hat*0.0001f), (int16_t) 0, (int16_t) 0, (int16_t) 0); //1600
Lightvalve	54:647072f5307a	1749	}
Lightvalve	20:806196fda269	1750
Lightvalve	54:647072f5307a	1751	TMR2_COUNT_CAN_TX = 0;
Lightvalve	54:647072f5307a	1752	}
Lightvalve	54:647072f5307a	1753	TMR2_COUNT_CAN_TX++;
Lightvalve	52:8ea76864368a	1754
Lightvalve	20:806196fda269	1755	}
Lightvalve	52:8ea76864368a	1756	TIM3->SR = 0x0; // reset the status register
Lightvalve	52:8ea76864368a	1757
Lightvalve	58:2eade98630e2	1758	}

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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@224:985dba42f261, 2020-12-28 (annotated)

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