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@89:a7b45368ea0f, 2020-07-28 (annotated)

Committer:
Lightvalve
Date:
Tue Jul 28 00:43:11 2020 +0000
Revision:
89:a7b45368ea0f
Parent:
88:d6e591bece22
Child:
90:a6cfef34bdce
200728-1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 89:a7b45368ea0f 1 //200728-1
GiJeongKim 0:51c43836c1d7 2 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 3 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 4 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 5 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 6 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 7 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 8 #include "setting.h"
Lightvalve 11:82d8768d7351 9 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 10 #include "stm32f4xx_flash.h"
Lightvalve 65:a2d7c63419c2 11 #include "FlashWriter.h"
Lightvalve 61:bc8c8270f0ab 12
Lightvalve 61:bc8c8270f0ab 13 using namespace std;
Lightvalve 61:bc8c8270f0ab 14 Timer t;
GiJeongKim 0:51c43836c1d7 15
Lightvalve 31:66738bfecec5 16 ///191008////
Lightvalve 31:66738bfecec5 17
jobuuu 7:e9086c72bb22 18 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 19 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 20 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 21 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 22 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 23 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 24 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 25 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 26
Lightvalve 24:ef6e1092e9e6 27
jobuuu 7:e9086c72bb22 28 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 29 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 30 float dtc_w=0.0f;
GiJeongKim 0:51c43836c1d7 31
jobuuu 7:e9086c72bb22 32 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 33 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 34 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 35 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 36
jobuuu 7:e9086c72bb22 37 // SPI ///////////////////////////////////////////
Lightvalve 16:903b5a4433b4 38 //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 16:903b5a4433b4 39 //DigitalOut eeprom_cs(PB_12);
Lightvalve 16:903b5a4433b4 40 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim 0:51c43836c1d7 41 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 42 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 43 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 44
jobuuu 7:e9086c72bb22 45 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 46 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 47
jobuuu 7:e9086c72bb22 48 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 49 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 50 CANMessage msg;
Lightvalve 11:82d8768d7351 51 void onMsgReceived()
Lightvalve 11:82d8768d7351 52 {
Lightvalve 11:82d8768d7351 53 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 54 }
jobuuu 2:a1c0a37df760 55
jobuuu 7:e9086c72bb22 56 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 57 State pos;
jobuuu 7:e9086c72bb22 58 State vel;
jobuuu 7:e9086c72bb22 59 State Vout;
jobuuu 7:e9086c72bb22 60 State torq;
jobuuu 7:e9086c72bb22 61 State pres_A;
jobuuu 7:e9086c72bb22 62 State pres_B;
jobuuu 7:e9086c72bb22 63 State cur;
Lightvalve 14:8e7590227d22 64 State valve_pos;
Lightvalve 14:8e7590227d22 65
Lightvalve 14:8e7590227d22 66 State INIT_Vout;
Lightvalve 14:8e7590227d22 67 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 68 State INIT_Pos;
Lightvalve 14:8e7590227d22 69 State INIT_torq;
jobuuu 5:a4319f79457b 70
Lightvalve 19:23b7c1ad8683 71 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 72 extern int CID_RX_REF_POSITION;
Lightvalve 49:e7bcfc244d40 73 extern int CID_RX_REF_VALVE_POS;
Lightvalve 45:35fa6884d0c6 74 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 75
Lightvalve 19:23b7c1ad8683 76 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 77 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 78 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 79 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 80 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 81 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 82
Lightvalve 61:bc8c8270f0ab 83
Lightvalve 61:bc8c8270f0ab 84
Lightvalve 61:bc8c8270f0ab 85
jobuuu 7:e9086c72bb22 86 // =============================================================================
jobuuu 7:e9086c72bb22 87 // =============================================================================
jobuuu 7:e9086c72bb22 88 // =============================================================================
jobuuu 7:e9086c72bb22 89
Lightvalve 12:6f2531038ea4 90 /*******************************************************************************
Lightvalve 12:6f2531038ea4 91 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 92 ******************************************************************************/
Lightvalve 13:747daba9cf59 93 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 94 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 95 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 96 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 97 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 98 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 99 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 100 };
Lightvalve 12:6f2531038ea4 101
Lightvalve 12:6f2531038ea4 102 /*******************************************************************************
Lightvalve 12:6f2531038ea4 103 * CONTROL MODE
Lightvalve 12:6f2531038ea4 104 ******************************************************************************/
Lightvalve 13:747daba9cf59 105 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 106 //control mode
Lightvalve 12:6f2531038ea4 107 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 108 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 109 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 110
Lightvalve 47:fdcb8bd86fd6 111 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 12:6f2531038ea4 112 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 113 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 114
Lightvalve 12:6f2531038ea4 115 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 116 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 117 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 118
Lightvalve 12:6f2531038ea4 119 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 120 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 121
Lightvalve 14:8e7590227d22 122 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 123 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 124 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 125
Lightvalve 12:6f2531038ea4 126 //utility
Lightvalve 12:6f2531038ea4 127 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 128 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 129 MODE_FIND_HOME, //22
Lightvalve 57:f4819de54e7a 130 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 131 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 132 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 133 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 134
Lightvalve 12:6f2531038ea4 135 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 136 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 137 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 57:f4819de54e7a 138 MODE_SYSTEM_ID, //33
Lightvalve 12:6f2531038ea4 139 };
Lightvalve 12:6f2531038ea4 140
Lightvalve 65:a2d7c63419c2 141 void SystemClock_Config(void)
Lightvalve 65:a2d7c63419c2 142 {
Lightvalve 65:a2d7c63419c2 143 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve 65:a2d7c63419c2 144 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve 65:a2d7c63419c2 145
Lightvalve 65:a2d7c63419c2 146 /** Configure the main internal regulator output voltage
Lightvalve 65:a2d7c63419c2 147 */
Lightvalve 65:a2d7c63419c2 148 __HAL_RCC_PWR_CLK_ENABLE();
Lightvalve 65:a2d7c63419c2 149 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve 65:a2d7c63419c2 150 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 65:a2d7c63419c2 151 */
Lightvalve 65:a2d7c63419c2 152 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve 65:a2d7c63419c2 153 RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve 65:a2d7c63419c2 154 RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve 65:a2d7c63419c2 155 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve 65:a2d7c63419c2 156 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve 65:a2d7c63419c2 157 RCC_OscInitStruct.PLL.PLLM = 8;//8
Lightvalve 65:a2d7c63419c2 158 RCC_OscInitStruct.PLL.PLLN = 180; //180
Lightvalve 65:a2d7c63419c2 159 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve 65:a2d7c63419c2 160 RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve 65:a2d7c63419c2 161 RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve 65:a2d7c63419c2 162 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
Lightvalve 65:a2d7c63419c2 163 {
Lightvalve 65:a2d7c63419c2 164 //Error_Handler();
Lightvalve 65:a2d7c63419c2 165 }
Lightvalve 65:a2d7c63419c2 166 /** Activate the Over-Drive mode
Lightvalve 65:a2d7c63419c2 167 */
Lightvalve 65:a2d7c63419c2 168 if (HAL_PWREx_EnableOverDrive() != HAL_OK)
Lightvalve 65:a2d7c63419c2 169 {
Lightvalve 65:a2d7c63419c2 170 //Error_Handler();
Lightvalve 65:a2d7c63419c2 171 }
Lightvalve 65:a2d7c63419c2 172 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 65:a2d7c63419c2 173 */
Lightvalve 65:a2d7c63419c2 174 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
Lightvalve 65:a2d7c63419c2 175 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
Lightvalve 65:a2d7c63419c2 176 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve 65:a2d7c63419c2 177 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve 65:a2d7c63419c2 178 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve 65:a2d7c63419c2 179 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve 65:a2d7c63419c2 180
Lightvalve 65:a2d7c63419c2 181 if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
Lightvalve 65:a2d7c63419c2 182 {
Lightvalve 65:a2d7c63419c2 183 //Error_Handler();
Lightvalve 65:a2d7c63419c2 184 }
Lightvalve 65:a2d7c63419c2 185 }
Lightvalve 65:a2d7c63419c2 186
Lightvalve 65:a2d7c63419c2 187
Lightvalve 68:328e1be06f5d 188 float x_past[num_array_x_past] = {0.0f};
Lightvalve 85:a3b46118b5cd 189 float x_future[num_array_x_future] = {0.0f};
Lightvalve 68:328e1be06f5d 190 float f_past[num_array_f_past] = {0.0f};
Lightvalve 68:328e1be06f5d 191 float f_future[num_array_f_future] = {0.0f};
Lightvalve 66:a8e6799dbce3 192
Lightvalve 73:f80dc3970c99 193 float input_NN[num_input] = { 0.0f };
Lightvalve 65:a2d7c63419c2 194
Lightvalve 89:a7b45368ea0f 195 const float h1[num_input][32] = {
Lightvalve 89:a7b45368ea0f 196 {-1.6120201349258423f,1.0650807619094849f,0.10589459538459778f,-0.33597394824028015f,-2.401294708251953f,-0.303094744682312f,-0.6049969792366028f,0.8231816291809082f,0.64059978723526f,-0.47648805379867554f,-0.22159487009048462f,-0.12132000178098679f,-0.19318288564682007f,0.21215307712554932f,-0.21103838086128235f,-1.2288156747817993f,0.6063412427902222f,0.24935457110404968f,0.734065592288971f,1.0331326723098755f,-0.33476194739341736f,0.10696089267730713f,-0.3326931595802307f,-0.0792258083820343f,-0.14849676191806793f,0.18374285101890564f,-0.1767144799232483f,-1.2645845413208008f,-0.21902410686016083f,-0.18794111907482147f,-1.9297771453857422f,0.44305622577667236f},
Lightvalve 89:a7b45368ea0f 197 {-1.1207491159439087f,0.5761895179748535f,0.29864487051963806f,-0.43265143036842346f,-1.4888489246368408f,-0.17376138269901276f,-0.11488400399684906f,0.40625444054603577f,0.24788768589496613f,-0.06643147021532059f,-0.3124499022960663f,-0.3919813334941864f,0.021212786436080933f,0.13858725130558014f,0.045876264572143555f,-0.8044695854187012f,0.2339925765991211f,0.06295260787010193f,0.7903832197189331f,0.7084060311317444f,-0.03096979856491089f,-0.12077532708644867f,-0.09506890177726746f,0.27714261412620544f,-0.3909570872783661f,0.2936786115169525f,0.12686115503311157f,-0.40915700793266296f,-0.4260590970516205f,0.09809011220932007f,-1.4230859279632568f,0.2934163510799408f},
Lightvalve 89:a7b45368ea0f 198 {-0.3573513329029083f,0.434440553188324f,-0.0042223334312438965f,0.10765819251537323f,-0.9994243383407593f,-0.18276168406009674f,-0.15929634869098663f,0.22509628534317017f,0.32423192262649536f,0.01762457564473152f,0.25851523876190186f,-0.2185339778661728f,-0.03282937407493591f,0.1540619432926178f,-0.31718650460243225f,-0.9658282995223999f,0.6396885514259338f,-0.2658354640007019f,0.556288480758667f,0.5571556091308594f,0.22159990668296814f,-0.15311938524246216f,0.13552400469779968f,-0.24659553170204163f,-0.33682775497436523f,0.14537742733955383f,-0.15514154732227325f,-0.42652565240859985f,-0.40720629692077637f,0.302763432264328f,-1.3403044939041138f,-0.14417313039302826f},
Lightvalve 89:a7b45368ea0f 199 {-0.1856374442577362f,0.2553187608718872f,-0.20532599091529846f,-0.6329777240753174f,-0.9888362884521484f,0.054618243128061295f,-0.13591986894607544f,-0.04281715676188469f,0.6310384273529053f,0.10263294726610184f,0.09619598090648651f,0.19032952189445496f,-0.11809042096138f,0.2916359603404999f,-0.12817290425300598f,-1.349012851715088f,0.2070746272802353f,-0.23756909370422363f,0.22165082395076752f,0.3439677059650421f,-0.24942269921302795f,-0.08793863654136658f,-0.14710915088653564f,-0.29148542881011963f,-0.17284530401229858f,0.14159366488456726f,0.13380053639411926f,-0.8715218901634216f,0.2121921181678772f,0.1323157548904419f,-0.8826896548271179f,0.08530819416046143f},
Lightvalve 89:a7b45368ea0f 200 {0.7076958417892456f,-0.011784130707383156f,0.08410122990608215f,-0.1790498048067093f,-0.047825515270233154f,0.12502601742744446f,-0.12781423330307007f,-0.6459188461303711f,-0.44403040409088135f,0.566622793674469f,-0.27170997858047485f,-0.17462749779224396f,0.211430162191391f,0.17245565354824066f,-0.25075238943099976f,-1.129048228263855f,-0.29245424270629883f,-0.18436601758003235f,-0.031988393515348434f,-0.4536682367324829f,0.1375632882118225f,0.23587647080421448f,-0.24541926383972168f,-0.07457953691482544f,-0.5412957072257996f,-0.34256690740585327f,0.04057341814041138f,-0.7414973378181458f,0.34006574749946594f,-0.16320037841796875f,-0.002243728144094348f,-0.24738875031471252f},
Lightvalve 89:a7b45368ea0f 201 {2.7830452919006348f,-2.1286120414733887f,0.30513831973075867f,1.9285629987716675f,1.905887246131897f,0.314697802066803f,-0.05796601623296738f,-1.917033314704895f,-2.3627591133117676f,0.7325804829597473f,0.2581515312194824f,-2.0754995346069336f,-0.03144201636314392f,-0.005068972706794739f,0.21901831030845642f,0.13221438229084015f,-1.4217417240142822f,-0.3195672333240509f,-2.6085214614868164f,-2.259031295776367f,0.13521116971969604f,-0.009676039218902588f,0.12587067484855652f,0.3309326469898224f,-2.081035614013672f,0.20814630389213562f,-0.2925715744495392f,1.7804770469665527f,0.3318169116973877f,-0.0013132691383361816f,1.5528967380523682f,-0.5669023394584656f},
Lightvalve 89:a7b45368ea0f 202 {-0.0035349533427506685f,-0.1737985759973526f,0.16288265585899353f,-0.4572395384311676f,0.6176647543907166f,-0.02229202166199684f,-0.24911771714687347f,-0.0452004075050354f,-0.09992233663797379f,-0.166379913687706f,-0.11600276082754135f,-0.020616959780454636f,0.098605215549469f,-0.08617053925991058f,-0.18274356424808502f,0.9346072673797607f,-0.39059263467788696f,-0.08166468143463135f,0.7394335269927979f,0.05463321879506111f,-0.16223669052124023f,-0.1771286129951477f,-0.2626192569732666f,-0.24521145224571228f,0.2686273455619812f,-0.15535086393356323f,-0.1126367449760437f,0.7214518785476685f,-0.29785194993019104f,-0.03486502170562744f,0.5153166055679321f,0.009956101886928082f},
Lightvalve 89:a7b45368ea0f 203 {0.75728839635849f,-0.14384029805660248f,0.16644713282585144f,0.04243979975581169f,0.7297391295433044f,-0.19591183960437775f,0.04227929562330246f,0.6254672408103943f,0.59623122215271f,0.037059180438518524f,-0.2557741701602936f,0.15746647119522095f,0.10806858539581299f,-0.12285306304693222f,0.054826945066452026f,1.7329609394073486f,0.07655717432498932f,-0.28619682788848877f,-0.5128512382507324f,0.03707432374358177f,-0.07430306077003479f,0.022674113512039185f,-0.12776102125644684f,-0.02844339609146118f,0.668587327003479f,0.0177537202835083f,-0.341458797454834f,0.9069352149963379f,-0.24441032111644745f,0.004316955804824829f,0.3377096354961395f,0.13890790939331055f},
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Lightvalve 65:a2d7c63419c2 213 };
Lightvalve 65:a2d7c63419c2 214
Lightvalve 89:a7b45368ea0f 215 const float h2[32][32] = {
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Lightvalve 89:a7b45368ea0f 223 {0.18205103278160095f,0.11346611380577087f,0.04012581706047058f,0.004675532691180706f,0.22828009724617004f,-0.9748165011405945f,-1.5658994913101196f,-0.13317009806632996f,0.2864855229854584f,0.01006925106048584f,-1.7065072059631348f,-0.2900503873825073f,-0.2382865995168686f,-0.7094941735267639f,0.7180572748184204f,0.07947060465812683f,-0.2721019387245178f,0.2706601917743683f,-0.10587131977081299f,-0.14732545614242554f,0.04871872812509537f,-0.1827782392501831f,-0.3025624752044678f,0.07826858758926392f,-1.6559882164001465f,0.2867830693721771f,-1.4658112525939941f,-0.229370579123497f,-0.14135785400867462f,-0.0749492198228836f,0.037974074482917786f,-0.11222749203443527f},
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Lightvalve 65:a2d7c63419c2 248 };
Lightvalve 65:a2d7c63419c2 249
Lightvalve 89:a7b45368ea0f 250 const float h3[32][32] = {
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Lightvalve 65:a2d7c63419c2 284
Lightvalve 89:a7b45368ea0f 285 const float hout[32] = { 0.3285340666770935f,0.20001740753650665f,-0.34911248087882996f,0.7785994410514832f,-0.3811017870903015f,0.192925363779068f,0.11950510740280151f,0.1081397533416748f,0.05394027382135391f,-0.08027924597263336f,0.3785701394081116f,-0.11859139055013657f,-0.06000533699989319f,0.5311194062232971f,0.2356991171836853f,-0.1462659239768982f,0.09851181507110596f,-0.21499931812286377f,-0.2335696816444397f,0.5094234943389893f,-0.02162783592939377f,-0.07713251560926437f,-0.16340212523937225f,-0.175692617893219f,-0.5511316657066345f,0.0982658639550209f,-0.19307535886764526f,0.005460194777697325f,0.03202202543616295f,-0.3257754445075989f,-0.31206440925598145f,0.38066837191581726f };
Lightvalve 66:a8e6799dbce3 286
Lightvalve 89:a7b45368ea0f 287 const float b1[32] = { 0.4585856795310974f,1.5599967241287231f,-1.7145336866378784f,-0.5815920829772949f,1.7490010261535645f,0.693375289440155f,-0.12202438712120056f,1.839867115020752f,1.4444961547851562f,-1.156732439994812f,0.5561704039573669f,2.925478458404541f,-0.3425353467464447f,-0.9403132796287537f,-1.087764859199524f,1.6783026456832886f,0.7627432346343994f,-0.26377663016319275f,0.9854183793067932f,1.2830049991607666f,-0.284685879945755f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,3.647984266281128f,-2.0880801677703857f,-1.0489267110824585f,0.8671233654022217f,0.2414611577987671f,-1.0887231826782227f,2.1772990226745605f,-0.44598740339279175f };
Lightvalve 87:471334725012 288
Lightvalve 89:a7b45368ea0f 289 const float b2[32] = { -0.22200508415699005f,-0.7642630338668823f,-1.4564176797866821f,-0.4980332851409912f,-0.6939148902893066f,-0.028987569734454155f,0.14226511120796204f,-0.4531817138195038f,-1.20063054561615f,-1.912178635597229f,0.01248383428901434f,0.14814351499080658f,-0.21863840520381927f,2.2132997512817383f,0.4528786838054657f,1.145101547241211f,-1.798204779624939f,-1.5844906568527222f,-0.08603224903345108f,-0.3332130014896393f,-0.0870656743645668f,-0.025959404185414314f,0.03327740728855133f,-1.189407467842102f,1.1251391172409058f,1.414678692817688f,0.012956145219504833f,-0.15001332759857178f,-0.6323830485343933f,-0.5580381155014038f,-1.2962936162948608f,-1.488829255104065f };
Lightvalve 65:a2d7c63419c2 290
Lightvalve 89:a7b45368ea0f 291 const float b3[32] = { -1.963319182395935f,-0.5214390158653259f,-0.02191949263215065f,-0.8819749355316162f,-1.4401051998138428f,0.9515159726142883f,-0.5303202867507935f,-0.6562485098838806f,-0.0017350538400933146f,-0.04748106747865677f,-0.5597951412200928f,-0.10345426201820374f,-1.1365820169448853f,-0.029138414189219475f,-1.1428403854370117f,-0.3598397970199585f,-1.3594286441802979f,-1.0192245244979858f,-1.5457112789154053f,-0.15714126825332642f,-0.006691883783787489f,-0.8062649369239807f,-1.1899834871292114f,-0.8066051602363586f,-0.8363364338874817f,-0.5234388709068298f,-0.3238477408885956f,-1.4527530670166016f,-0.2316749542951584f,-2.3236680030822754f,-0.08294112235307693f,1.1520551443099976f };
Lightvalve 87:471334725012 292
Lightvalve 89:a7b45368ea0f 293 const float bout[1] = { -0.029729647561907768f };
Lightvalve 65:a2d7c63419c2 294
Lightvalve 66:a8e6799dbce3 295
Lightvalve 87:471334725012 296 float VALVE_POS_RAW_NN = 0.0f;
Lightvalve 87:471334725012 297 float DDV_JOINT_POS_FF(float REF_JOINT_VEL);
Lightvalve 61:bc8c8270f0ab 298
GiJeongKim 0:51c43836c1d7 299 int main()
GiJeongKim 0:51c43836c1d7 300 {
Lightvalve 66:a8e6799dbce3 301
Lightvalve 65:a2d7c63419c2 302 HAL_Init();
Lightvalve 65:a2d7c63419c2 303 SystemClock_Config();
Lightvalve 65:a2d7c63419c2 304
jobuuu 6:df07d3491e3a 305 /*********************************
jobuuu 1:e04e563be5ce 306 *** Initialization
jobuuu 6:df07d3491e3a 307 *********************************/
Lightvalve 69:3995ffeaa786 308 LED = 0;
Lightvalve 61:bc8c8270f0ab 309 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 310
GiJeongKim 0:51c43836c1d7 311 // i2c init
Lightvalve 8:5d2eebdad025 312 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 313 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 314 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 315 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 316 make_delay();
jobuuu 2:a1c0a37df760 317
GiJeongKim 0:51c43836c1d7 318 // // spi init
Lightvalve 16:903b5a4433b4 319 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 320 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 321 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 322 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 323 make_delay();
Lightvalve 21:e5f1a43ea6f9 324
Lightvalve 16:903b5a4433b4 325 //rom
Lightvalve 19:23b7c1ad8683 326 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 327 make_delay();
Lightvalve 13:747daba9cf59 328
GiJeongKim 0:51c43836c1d7 329 // ADC init
jobuuu 5:a4319f79457b 330 Init_ADC();
Lightvalve 11:82d8768d7351 331 make_delay();
jobuuu 2:a1c0a37df760 332
GiJeongKim 0:51c43836c1d7 333 // Pwm init
GiJeongKim 0:51c43836c1d7 334 Init_PWM();
GiJeongKim 0:51c43836c1d7 335 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 336 make_delay();
Lightvalve 13:747daba9cf59 337
Lightvalve 11:82d8768d7351 338 // TMR3 init
Lightvalve 11:82d8768d7351 339 Init_TMR3();
Lightvalve 11:82d8768d7351 340 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 341 make_delay();
Lightvalve 21:e5f1a43ea6f9 342
Lightvalve 50:3c630b5eba9f 343 // TMR2 init
Lightvalve 56:6f50d9d3bfee 344 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 345 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 346 // make_delay();
Lightvalve 21:e5f1a43ea6f9 347
GiJeongKim 0:51c43836c1d7 348 // CAN
jobuuu 2:a1c0a37df760 349 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 350 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 351 make_delay();
Lightvalve 34:bb2ca2fc2a8e 352
Lightvalve 23:59218d4a256d 353 //Timer priority
Lightvalve 23:59218d4a256d 354 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 355 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 356 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 357
Lightvalve 23:59218d4a256d 358 //can.reset();
Lightvalve 19:23b7c1ad8683 359 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 360
GiJeongKim 0:51c43836c1d7 361 // spi _ enc
GiJeongKim 0:51c43836c1d7 362 spi_enc_set_init();
Lightvalve 11:82d8768d7351 363 make_delay();
Lightvalve 13:747daba9cf59 364
Lightvalve 11:82d8768d7351 365 //DAC init
Lightvalve 58:2eade98630e2 366 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 367 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 368 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 369 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 370 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 371 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 372 }
Lightvalve 11:82d8768d7351 373 make_delay();
Lightvalve 13:747daba9cf59 374
Lightvalve 19:23b7c1ad8683 375 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 376 if(i%2==0)
Lightvalve 38:118df027d851 377 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 378 else
Lightvalve 38:118df027d851 379 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 380 }
Lightvalve 61:bc8c8270f0ab 381
Lightvalve 61:bc8c8270f0ab 382
jobuuu 6:df07d3491e3a 383 /************************************
jobuuu 1:e04e563be5ce 384 *** Program is operating!
jobuuu 6:df07d3491e3a 385 *************************************/
GiJeongKim 0:51c43836c1d7 386 while(1) {
Lightvalve 66:a8e6799dbce3 387 // if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve 66:a8e6799dbce3 388 //if(timer_while==1000) {
Lightvalve 65:a2d7c63419c2 389 //i2c
Lightvalve 66:a8e6799dbce3 390
Lightvalve 65:a2d7c63419c2 391 read_field(i2c_slave_addr1);
Lightvalve 65:a2d7c63419c2 392 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 65:a2d7c63419c2 393 // if(LED==1) {
Lightvalve 65:a2d7c63419c2 394 // LED=0;
Lightvalve 65:a2d7c63419c2 395 // } else
Lightvalve 65:a2d7c63419c2 396 // LED = 1;
Lightvalve 65:a2d7c63419c2 397 timer_while = 0;
Lightvalve 66:a8e6799dbce3 398 //}
Lightvalve 66:a8e6799dbce3 399
Lightvalve 66:a8e6799dbce3 400 timer_while ++;
Lightvalve 66:a8e6799dbce3 401
Lightvalve 87:471334725012 402 //LED = 0;
Lightvalve 87:471334725012 403
Lightvalve 73:f80dc3970c99 404 if(NN_Control_Flag == 0) {
Lightvalve 73:f80dc3970c99 405 LED = 0;
Lightvalve 73:f80dc3970c99 406 }
Lightvalve 66:a8e6799dbce3 407
Lightvalve 73:f80dc3970c99 408 else if(NN_Control_Flag == 1) {
Lightvalve 88:d6e591bece22 409 float output1[16] = { 0.0f };
Lightvalve 88:d6e591bece22 410 float output2[16] = { 0.0f };
Lightvalve 88:d6e591bece22 411 float output3[16] = { 0.0f };
Lightvalve 66:a8e6799dbce3 412 float output = 0.0f;
Lightvalve 65:a2d7c63419c2 413
Lightvalve 88:d6e591bece22 414 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 68:328e1be06f5d 415 for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve 66:a8e6799dbce3 416 output1[index2] = output1[index2]
Lightvalve 73:f80dc3970c99 417 + h1[index1][index2] * input_NN[index1];
Lightvalve 66:a8e6799dbce3 418 }
Lightvalve 66:a8e6799dbce3 419 output1[index2] = output1[index2] + b1[index2];
Lightvalve 66:a8e6799dbce3 420 if (output1[index2] < 0) {
Lightvalve 66:a8e6799dbce3 421 output1[index2] = 0;
Lightvalve 66:a8e6799dbce3 422 }
Lightvalve 66:a8e6799dbce3 423 }
Lightvalve 65:a2d7c63419c2 424
Lightvalve 88:d6e591bece22 425 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 88:d6e591bece22 426 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 427 output2[index2] = output2[index2]
Lightvalve 66:a8e6799dbce3 428 + h2[index1][index2] * output1[index1];
Lightvalve 66:a8e6799dbce3 429 }
Lightvalve 66:a8e6799dbce3 430 output2[index2] = output2[index2] + b2[index2];
Lightvalve 66:a8e6799dbce3 431 if (output2[index2] < 0) {
Lightvalve 66:a8e6799dbce3 432 output2[index2] = 0;
Lightvalve 66:a8e6799dbce3 433 }
Lightvalve 66:a8e6799dbce3 434 }
Lightvalve 65:a2d7c63419c2 435
Lightvalve 88:d6e591bece22 436 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 88:d6e591bece22 437 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 438 output3[index2] = output3[index2]
Lightvalve 66:a8e6799dbce3 439 + h3[index1][index2] * output2[index1];
Lightvalve 66:a8e6799dbce3 440 }
Lightvalve 66:a8e6799dbce3 441 output3[index2] = output3[index2] + b3[index2];
Lightvalve 66:a8e6799dbce3 442 if (output3[index2] < 0) {
Lightvalve 66:a8e6799dbce3 443 output3[index2] = 0;
Lightvalve 66:a8e6799dbce3 444 }
Lightvalve 65:a2d7c63419c2 445 }
Lightvalve 66:a8e6799dbce3 446
Lightvalve 66:a8e6799dbce3 447 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 88:d6e591bece22 448 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 73:f80dc3970c99 449 output = output + hout[index1] * output3[index1];
Lightvalve 66:a8e6799dbce3 450 }
Lightvalve 66:a8e6799dbce3 451 output = output + bout[index2];
Lightvalve 73:f80dc3970c99 452
Lightvalve 66:a8e6799dbce3 453 }
Lightvalve 73:f80dc3970c99 454 output = 1.0f/(1.0f+exp(-output));
Lightvalve 68:328e1be06f5d 455 output = output * 20000.0f - 10000.0f;
Lightvalve 66:a8e6799dbce3 456 if(output>=0) {
Lightvalve 66:a8e6799dbce3 457 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 458 } else {
Lightvalve 66:a8e6799dbce3 459 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 65:a2d7c63419c2 460 }
Lightvalve 87:471334725012 461
Lightvalve 88:d6e591bece22 462 // // torque feedback
Lightvalve 88:d6e591bece22 463 // torq.err = f_past[0] - torq.sen; //[N]
Lightvalve 88:d6e591bece22 464 //// torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 88:d6e591bece22 465 // torq.err_sum += torq.err/(float) 1500.0f; //[N]
Lightvalve 88:d6e591bece22 466 //
Lightvalve 88:d6e591bece22 467 //
Lightvalve 88:d6e591bece22 468 // valve_pos.ref = ((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f + DDV_JOINT_POS_FF(vel.sen) + valve_pos.ref * 0.01f;
Lightvalve 88:d6e591bece22 469 //
Lightvalve 88:d6e591bece22 470 // if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 88:d6e591bece22 471 // double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 88:d6e591bece22 472 // if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 88:d6e591bece22 473 // double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 88:d6e591bece22 474 // valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 88:d6e591bece22 475 // valve_pos.ref = VALVE_MAX_POS;
Lightvalve 88:d6e591bece22 476 // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve 88:d6e591bece22 477 // } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 88:d6e591bece22 478 // double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 88:d6e591bece22 479 // valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 88:d6e591bece22 480 // valve_pos.ref = VALVE_MIN_POS;
Lightvalve 88:d6e591bece22 481 // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve 88:d6e591bece22 482 // }
Lightvalve 88:d6e591bece22 483 // }
Lightvalve 87:471334725012 484
Lightvalve 69:3995ffeaa786 485
Lightvalve 69:3995ffeaa786 486 if(LED==1) {
Lightvalve 69:3995ffeaa786 487 LED=0;
Lightvalve 69:3995ffeaa786 488 } else
Lightvalve 69:3995ffeaa786 489 LED = 1;
Lightvalve 69:3995ffeaa786 490
Lightvalve 65:a2d7c63419c2 491 }
Lightvalve 62:b5452adfb2cd 492
Lightvalve 87:471334725012 493 //LED = 1;
Lightvalve 69:3995ffeaa786 494
Lightvalve 66:a8e6799dbce3 495
GiJeongKim 0:51c43836c1d7 496 }
jobuuu 1:e04e563be5ce 497 }
jobuuu 1:e04e563be5ce 498
Lightvalve 33:91b17819ec30 499 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 500 {
Lightvalve 14:8e7590227d22 501
Lightvalve 13:747daba9cf59 502 int i = 0;
Lightvalve 48:889798ff9329 503 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 504 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 505 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 506 if(i==0) {
Lightvalve 50:3c630b5eba9f 507 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 508 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 509 } else {
Lightvalve 57:f4819de54e7a 510 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 511 }
Lightvalve 14:8e7590227d22 512 } else {
Lightvalve 50:3c630b5eba9f 513 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 514 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 515 } else {
Lightvalve 57:f4819de54e7a 516 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 517 }
Lightvalve 13:747daba9cf59 518 }
Lightvalve 13:747daba9cf59 519 break;
Lightvalve 13:747daba9cf59 520 }
Lightvalve 13:747daba9cf59 521 }
Lightvalve 14:8e7590227d22 522 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 523 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 524 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 525 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 526 }
Lightvalve 36:a46e63505ed8 527
Lightvalve 57:f4819de54e7a 528 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 529 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 530
Lightvalve 13:747daba9cf59 531 }
jobuuu 6:df07d3491e3a 532
jobuuu 6:df07d3491e3a 533
Lightvalve 30:8d561f16383b 534 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 535 {
Lightvalve 13:747daba9cf59 536 int i = 0;
Lightvalve 13:747daba9cf59 537
Lightvalve 38:118df027d851 538 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 539 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 540 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 541 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 542 }
Lightvalve 38:118df027d851 543
Lightvalve 89:a7b45368ea0f 544 valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve 13:747daba9cf59 545 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 546 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 547 valve_pos_err_sum += valve_pos_err;
Lightvalve 89:a7b45368ea0f 548 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 89:a7b45368ea0f 549 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 13:747daba9cf59 550
Lightvalve 13:747daba9cf59 551 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 552
Lightvalve 18:b8adf1582ea3 553 for(i=0; i<24; i++) {
Lightvalve 89:a7b45368ea0f 554 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 555 if(i==0) {
Lightvalve 48:889798ff9329 556 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 557 } else {
Lightvalve 48:889798ff9329 558 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 559 }
Lightvalve 13:747daba9cf59 560 break;
Lightvalve 13:747daba9cf59 561 }
Lightvalve 13:747daba9cf59 562 }
Lightvalve 59:f308b1656d9c 563 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 564 }
Lightvalve 13:747daba9cf59 565
Lightvalve 14:8e7590227d22 566 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 567 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 568 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 569 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 570 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 571 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 572 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 573 }; // duty
Lightvalve 67:c2812cf26c38 574 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 575 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 576 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 577 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 578 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 579 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 580 }; // mV
Lightvalve 13:747daba9cf59 581
Lightvalve 30:8d561f16383b 582 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 583 {
Lightvalve 30:8d561f16383b 584 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 585 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 586 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 587 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 588 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 589 } else {
Lightvalve 13:747daba9cf59 590 int idx = 0;
Lightvalve 13:747daba9cf59 591 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 592 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 593 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 594 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 595 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 596 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 597 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 598 break;
Lightvalve 13:747daba9cf59 599 }
Lightvalve 13:747daba9cf59 600 }
Lightvalve 13:747daba9cf59 601 }
Lightvalve 14:8e7590227d22 602
Lightvalve 13:747daba9cf59 603 return PWM_duty;
Lightvalve 13:747daba9cf59 604 }
jobuuu 6:df07d3491e3a 605
Lightvalve 57:f4819de54e7a 606
Lightvalve 57:f4819de54e7a 607
Lightvalve 57:f4819de54e7a 608
Lightvalve 57:f4819de54e7a 609
jobuuu 2:a1c0a37df760 610 /*******************************************************************************
jobuuu 2:a1c0a37df760 611 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 612 *******************************************************************************/
jobuuu 2:a1c0a37df760 613
Lightvalve 51:b46bed7fec80 614 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 615 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 616 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 617 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 618 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 619 {
Lightvalve 19:23b7c1ad8683 620 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 621
Lightvalve 21:e5f1a43ea6f9 622 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 623 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 624 ********************************************************/
Lightvalve 13:747daba9cf59 625
Lightvalve 57:f4819de54e7a 626 //Encoder
Lightvalve 57:f4819de54e7a 627 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 628 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 629 }
Lightvalve 61:bc8c8270f0ab 630
Lightvalve 61:bc8c8270f0ab 631 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 632 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 633 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 634 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 635 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 636 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 67:c2812cf26c38 637 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 67:c2812cf26c38 638
Lightvalve 67:c2812cf26c38 639
Lightvalve 67:c2812cf26c38 640 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 67:c2812cf26c38 641 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 67:c2812cf26c38 642 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 67:c2812cf26c38 643 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 67:c2812cf26c38 644 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 67:c2812cf26c38 645
Lightvalve 17:1865016ca2e7 646
Lightvalve 58:2eade98630e2 647 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 648 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 649 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 650 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 651 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 652 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 653 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 654 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 655 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 656
Lightvalve 58:2eade98630e2 657 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 658 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 659 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 660 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 661 }
Lightvalve 58:2eade98630e2 662 }
Lightvalve 61:bc8c8270f0ab 663
Lightvalve 58:2eade98630e2 664 // //Pressure sensor A
Lightvalve 58:2eade98630e2 665 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 666 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 667 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 668 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 669 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 670 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later.
Lightvalve 58:2eade98630e2 671 //
Lightvalve 58:2eade98630e2 672 //
Lightvalve 58:2eade98630e2 673 // //Pressure sensor B
Lightvalve 58:2eade98630e2 674 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 675 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 676 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 677 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 678
Lightvalve 17:1865016ca2e7 679
Lightvalve 21:e5f1a43ea6f9 680 //Current
Lightvalve 21:e5f1a43ea6f9 681 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 682 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 683 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 684 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 685 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 686 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 687 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 688
Lightvalve 57:f4819de54e7a 689 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 690 }
Lightvalve 11:82d8768d7351 691 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 692 }
Lightvalve 19:23b7c1ad8683 693
Lightvalve 19:23b7c1ad8683 694
Lightvalve 18:b8adf1582ea3 695 int j =0;
Lightvalve 54:647072f5307a 696 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 697 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 698 int cnt_trans = 0;
Lightvalve 48:889798ff9329 699 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 57:f4819de54e7a 700 int can_rest =0;
Lightvalve 48:889798ff9329 701
Lightvalve 11:82d8768d7351 702 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 703 {
Lightvalve 19:23b7c1ad8683 704 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 705
Lightvalve 57:f4819de54e7a 706 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 707 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 708 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 709 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 710 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 711 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 712 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 713 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 714 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 715 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 716 }
Lightvalve 50:3c630b5eba9f 717
Lightvalve 50:3c630b5eba9f 718 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 719 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 720 cnt_trans++;
Lightvalve 46:2694daea349b 721 torq.err_sum = 0;
Lightvalve 48:889798ff9329 722 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 723 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 724 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 725 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 726 cnt_trans++;
Lightvalve 46:2694daea349b 727 torq.err_sum = 0;
Lightvalve 48:889798ff9329 728 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 729 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 730 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 731 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 732 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 733 } else {
Lightvalve 58:2eade98630e2 734 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 735 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 736 }
Lightvalve 45:35fa6884d0c6 737
Lightvalve 50:3c630b5eba9f 738
Lightvalve 57:f4819de54e7a 739 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 740 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 741
Lightvalve 57:f4819de54e7a 742 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 743 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 744 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 745 } else {
Lightvalve 57:f4819de54e7a 746 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 747 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 748 }
Lightvalve 56:6f50d9d3bfee 749
Lightvalve 56:6f50d9d3bfee 750
Lightvalve 56:6f50d9d3bfee 751
Lightvalve 57:f4819de54e7a 752 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 753
Lightvalve 57:f4819de54e7a 754 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 755 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 756 break;
Lightvalve 13:747daba9cf59 757 }
Lightvalve 14:8e7590227d22 758
Lightvalve 14:8e7590227d22 759 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 760 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 761 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 762 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 763
Lightvalve 14:8e7590227d22 764 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 765 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 766 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 767
Lightvalve 84:c355d3e52bf1 768 TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 769
Lightvalve 30:8d561f16383b 770 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 771 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 772
Lightvalve 16:903b5a4433b4 773 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 774 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 775 }
Lightvalve 13:747daba9cf59 776 } else {
Lightvalve 58:2eade98630e2 777 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 778 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 779 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 780 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 781
Lightvalve 16:903b5a4433b4 782 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 783
Lightvalve 30:8d561f16383b 784 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 785
Lightvalve 13:747daba9cf59 786 }
Lightvalve 14:8e7590227d22 787 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 788 break;
Lightvalve 19:23b7c1ad8683 789 }
Lightvalve 14:8e7590227d22 790
Lightvalve 50:3c630b5eba9f 791 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 792 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 793 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 794 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 795 // }
Lightvalve 50:3c630b5eba9f 796 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 797 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 798 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 799 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 800 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 801 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 802 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 803 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 804 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 805 // }
Lightvalve 50:3c630b5eba9f 806 //
Lightvalve 50:3c630b5eba9f 807 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 808 // 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 809 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 810 //
Lightvalve 50:3c630b5eba9f 811 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 812 // V_out = 0;
Lightvalve 50:3c630b5eba9f 813 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 814 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 815 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 816 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 817 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 818 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 819 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 820 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 821 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 822 //
Lightvalve 50:3c630b5eba9f 823 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 824 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 825 // // | / | / |/
Lightvalve 50:3c630b5eba9f 826 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 827 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 828 // // /| / | / |
Lightvalve 50:3c630b5eba9f 829 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 830 //
Lightvalve 50:3c630b5eba9f 831 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 832 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 833 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 834 // } else {
Lightvalve 50:3c630b5eba9f 835 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 836 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 837 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 838 // }
Lightvalve 50:3c630b5eba9f 839 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 840 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 841 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 842 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 843 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 844 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 845 // }
Lightvalve 50:3c630b5eba9f 846 // } else {
Lightvalve 50:3c630b5eba9f 847 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 848 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 849 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 850 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 851 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 852 // }
Lightvalve 50:3c630b5eba9f 853 // V_out = 0;
Lightvalve 50:3c630b5eba9f 854 //
Lightvalve 50:3c630b5eba9f 855 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 856 //
Lightvalve 50:3c630b5eba9f 857 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 858 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 859 //
Lightvalve 50:3c630b5eba9f 860 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 861 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 862 // }
Lightvalve 50:3c630b5eba9f 863 // }
Lightvalve 50:3c630b5eba9f 864 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 865 // break;
Lightvalve 50:3c630b5eba9f 866 // }
Lightvalve 14:8e7590227d22 867
Lightvalve 14:8e7590227d22 868 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 869 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 870 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 871 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 872 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 873 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 874 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 875 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 876 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 877 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 878 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 879 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 880 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 881 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 882 }
Lightvalve 29:69f3f5445d6d 883 cnt_findhome++;
Lightvalve 14:8e7590227d22 884
Lightvalve 29:69f3f5445d6d 885 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 886 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 887 } else {
Lightvalve 29:69f3f5445d6d 888 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 889 }
Lightvalve 19:23b7c1ad8683 890
Lightvalve 57:f4819de54e7a 891 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 892 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 67:c2812cf26c38 893 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 67:c2812cf26c38 894 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:bc8c8270f0ab 895
Lightvalve 59:f308b1656d9c 896 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 897 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 898 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 899 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 900 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 901
Lightvalve 59:f308b1656d9c 902 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 903 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 904
Lightvalve 34:bb2ca2fc2a8e 905
Lightvalve 29:69f3f5445d6d 906 } else {
Lightvalve 29:69f3f5445d6d 907 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 67:c2812cf26c38 908 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 909 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 910 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 911 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 912 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 913 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 914 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 915 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 916 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 917 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 918
Lightvalve 67:c2812cf26c38 919
Lightvalve 67:c2812cf26c38 920 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 921 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 922 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 923 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 924 vel.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 925 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 926 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 927
Lightvalve 67:c2812cf26c38 928
Lightvalve 29:69f3f5445d6d 929 }
Lightvalve 29:69f3f5445d6d 930 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 931 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 932 pos.ref = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
Lightvalve 67:c2812cf26c38 933 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 934 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 935
Lightvalve 29:69f3f5445d6d 936 // input for position control
Lightvalve 67:c2812cf26c38 937
Lightvalve 67:c2812cf26c38 938 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 939 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 940
Lightvalve 67:c2812cf26c38 941 double torq_ref = 0.0f;
Lightvalve 67:c2812cf26c38 942 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 943 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 944 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 945
Lightvalve 67:c2812cf26c38 946 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 67:c2812cf26c38 947
Lightvalve 67:c2812cf26c38 948 double I_REF_POS = 0.0f;
Lightvalve 67:c2812cf26c38 949 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 67:c2812cf26c38 950 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 67:c2812cf26c38 951
Lightvalve 67:c2812cf26c38 952 double temp_vel_pos = 0.0f;
Lightvalve 67:c2812cf26c38 953 double temp_vel_torq = 0.0f;
Lightvalve 67:c2812cf26c38 954 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 67:c2812cf26c38 955
Lightvalve 69:3995ffeaa786 956 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 67:c2812cf26c38 957 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 958 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 959 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 67:c2812cf26c38 960 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 961 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 962 }
Lightvalve 67:c2812cf26c38 963 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 964 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 965
Lightvalve 67:c2812cf26c38 966 I_REF = I_REF_POS;
Lightvalve 67:c2812cf26c38 967
Lightvalve 67:c2812cf26c38 968
Lightvalve 67:c2812cf26c38 969
Lightvalve 67:c2812cf26c38 970 } else {
Lightvalve 67:c2812cf26c38 971 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 67:c2812cf26c38 972 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 973
Lightvalve 67:c2812cf26c38 974 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 67:c2812cf26c38 975 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 67:c2812cf26c38 976 } else {
Lightvalve 67:c2812cf26c38 977 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 67:c2812cf26c38 978 }
Lightvalve 67:c2812cf26c38 979
Lightvalve 67:c2812cf26c38 980 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 67:c2812cf26c38 981
Lightvalve 67:c2812cf26c38 982 V_out = (float) Vout.ref;
Lightvalve 67:c2812cf26c38 983
Lightvalve 67:c2812cf26c38 984 }
Lightvalve 67:c2812cf26c38 985
Lightvalve 67:c2812cf26c38 986
Lightvalve 67:c2812cf26c38 987
Lightvalve 67:c2812cf26c38 988
Lightvalve 59:f308b1656d9c 989 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 990 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 991 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 992 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 993 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 994
Lightvalve 29:69f3f5445d6d 995 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 996 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 997 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 998 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 999 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 1000 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 1001 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 1002 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 1003 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 1004 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 1005 }
Lightvalve 13:747daba9cf59 1006 }
Lightvalve 19:23b7c1ad8683 1007
Lightvalve 13:747daba9cf59 1008 break;
Lightvalve 13:747daba9cf59 1009 }
Lightvalve 14:8e7590227d22 1010
Lightvalve 50:3c630b5eba9f 1011 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 1012 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 1013 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1014 // else {
Lightvalve 50:3c630b5eba9f 1015 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1016 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 1017 // }
Lightvalve 50:3c630b5eba9f 1018 // }
Lightvalve 50:3c630b5eba9f 1019 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1020 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1021 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1022 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1023 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1024 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1025 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1026 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1027 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1028 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1029 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1030 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 1031 // }
Lightvalve 50:3c630b5eba9f 1032 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1033 // }
Lightvalve 50:3c630b5eba9f 1034 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1035 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1036 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1037 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1038 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1039 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1040 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1041 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1042 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000
Lightvalve 50:3c630b5eba9f 1043 // // 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 1044 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1045 // }
Lightvalve 50:3c630b5eba9f 1046 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1047 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1048 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1049 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1050 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1051 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1052 // 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 1053 // // 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 1054 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1055 // }
Lightvalve 50:3c630b5eba9f 1056 // }
Lightvalve 50:3c630b5eba9f 1057 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1058 //
Lightvalve 50:3c630b5eba9f 1059 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1060 //
Lightvalve 50:3c630b5eba9f 1061 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1062 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1063 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1064 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1065 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1066 // }
Lightvalve 50:3c630b5eba9f 1067 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1068 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1069 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1070 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1071 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1072 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1073 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1074 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1075 // }
Lightvalve 50:3c630b5eba9f 1076 //
Lightvalve 50:3c630b5eba9f 1077 // }
Lightvalve 50:3c630b5eba9f 1078 // break;
Lightvalve 50:3c630b5eba9f 1079 // }
Lightvalve 50:3c630b5eba9f 1080 //
Lightvalve 50:3c630b5eba9f 1081 // }
Lightvalve 14:8e7590227d22 1082 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1083 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1084 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1085 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1086 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1087
Lightvalve 14:8e7590227d22 1088 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1089 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1090 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1091 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1092 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1093
Lightvalve 38:118df027d851 1094 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1095 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1096 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1097
Lightvalve 30:8d561f16383b 1098 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1099 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1100 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1101 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1102
Lightvalve 30:8d561f16383b 1103 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1104 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1105 }
Lightvalve 13:747daba9cf59 1106 } else {
Lightvalve 57:f4819de54e7a 1107 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1108 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1109 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1110 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1111 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1112 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1113
Lightvalve 16:903b5a4433b4 1114 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1115
Lightvalve 30:8d561f16383b 1116 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1117 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1118 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1119 }
Lightvalve 14:8e7590227d22 1120 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1121 break;
Lightvalve 13:747daba9cf59 1122 }
Lightvalve 14:8e7590227d22 1123
Lightvalve 50:3c630b5eba9f 1124 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1125 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1126 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1127 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1128 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1129 // }
Lightvalve 50:3c630b5eba9f 1130 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1131 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1132 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1133 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1134 // }
Lightvalve 50:3c630b5eba9f 1135 // } else {
Lightvalve 50:3c630b5eba9f 1136 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1137 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1138 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1139 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1140 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1141 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1142 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1143 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1144 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1145 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1146 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1147 //
Lightvalve 50:3c630b5eba9f 1148 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1149 //
Lightvalve 50:3c630b5eba9f 1150 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1151 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1152 // }
Lightvalve 50:3c630b5eba9f 1153 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1154 // break;
Lightvalve 50:3c630b5eba9f 1155 // }
Lightvalve 19:23b7c1ad8683 1156
Lightvalve 50:3c630b5eba9f 1157 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1158 // 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 1159 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1160 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1161 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1162 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1163 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1164 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1165 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1166 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1167 // }
Lightvalve 50:3c630b5eba9f 1168 // break;
Lightvalve 50:3c630b5eba9f 1169 // }
Lightvalve 14:8e7590227d22 1170
Lightvalve 14:8e7590227d22 1171 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1172 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1173 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1174
Lightvalve 14:8e7590227d22 1175 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1176 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1177 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1178 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1179 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1180 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1181 data_num = 0;
Lightvalve 14:8e7590227d22 1182 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1183 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1184 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1185 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1186 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1187 } else {
Lightvalve 13:747daba9cf59 1188 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1189 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1190 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1191 }
Lightvalve 14:8e7590227d22 1192
Lightvalve 17:1865016ca2e7 1193 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1194 int i;
Lightvalve 13:747daba9cf59 1195 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1196 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1197 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1198 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1199 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1200 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1201 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1202 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1203 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1204 }
Lightvalve 13:747daba9cf59 1205 }
Lightvalve 59:f308b1656d9c 1206 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1207 ID_index = 0;
Lightvalve 57:f4819de54e7a 1208 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1209 }
Lightvalve 14:8e7590227d22 1210
Lightvalve 14:8e7590227d22 1211
Lightvalve 13:747daba9cf59 1212 break;
Lightvalve 13:747daba9cf59 1213 }
Lightvalve 14:8e7590227d22 1214
Lightvalve 14:8e7590227d22 1215 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1216 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1217 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1218 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1219 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1220 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1221 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1222 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1223 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1224 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1225 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1226 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1227 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1228 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1229 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1230 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 1231 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1232 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 13:747daba9cf59 1233 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1234 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1235 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1236 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 1237 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1238 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1239 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1240 data_num = 0;
Lightvalve 14:8e7590227d22 1241
Lightvalve 30:8d561f16383b 1242 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1243 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1244 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1245
Lightvalve 30:8d561f16383b 1246 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1247 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1248 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1249
Lightvalve 30:8d561f16383b 1250 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1251 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1252 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1253 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1254
Lightvalve 60:64181f1d3e60 1255 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1256 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1257 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1258 DZ_case = -1;
Lightvalve 14:8e7590227d22 1259 } else {
Lightvalve 13:747daba9cf59 1260 DZ_case = 0;
Lightvalve 13:747daba9cf59 1261 }
Lightvalve 61:bc8c8270f0ab 1262
Lightvalve 60:64181f1d3e60 1263 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1264
Lightvalve 13:747daba9cf59 1265 first_check = 1;
Lightvalve 13:747daba9cf59 1266 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1267 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1268 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1269 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1270 DZ_index = 1;
Lightvalve 14:8e7590227d22 1271
Lightvalve 13:747daba9cf59 1272 }
Lightvalve 19:23b7c1ad8683 1273 } else {
Lightvalve 14:8e7590227d22 1274 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1275 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1276 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 1277 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1278 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1279 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1280 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1281 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1282 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1283 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1284 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1285 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1286 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1287 }
Lightvalve 14:8e7590227d22 1288 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1289
Lightvalve 30:8d561f16383b 1290 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1291 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1292 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1293
Lightvalve 14:8e7590227d22 1294 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1295 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1296 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1297 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1298 } else {
Lightvalve 13:747daba9cf59 1299 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1300 }
Lightvalve 14:8e7590227d22 1301
Lightvalve 13:747daba9cf59 1302 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1303 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1304 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1305 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1306 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1307 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1308 DZ_index = 1;
Lightvalve 13:747daba9cf59 1309 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1310 }
Lightvalve 13:747daba9cf59 1311 }
Lightvalve 14:8e7590227d22 1312 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1313 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1314 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 1315 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1316 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1317 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1318 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1319 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1320 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1321 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1322 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1323 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1324 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1325 }
Lightvalve 14:8e7590227d22 1326 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1327
Lightvalve 30:8d561f16383b 1328 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1329 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1330 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1331 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1332 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1333
Lightvalve 14:8e7590227d22 1334 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 1335 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1336 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1337 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1338 } else {
Lightvalve 60:64181f1d3e60 1339 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 1340 }
Lightvalve 14:8e7590227d22 1341
Lightvalve 13:747daba9cf59 1342 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 1343 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 1344 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1345 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1346 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1347 first_check = 0;
Lightvalve 33:91b17819ec30 1348 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1349 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1350
Lightvalve 16:903b5a4433b4 1351 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1352
Lightvalve 60:64181f1d3e60 1353 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1354 DZ_index = 1;
Lightvalve 13:747daba9cf59 1355 }
Lightvalve 13:747daba9cf59 1356 }
Lightvalve 14:8e7590227d22 1357 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1358 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1359 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 1360 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1361 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1362 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1363 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1364 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1365 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1366 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1367 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1368 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1369 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1370 }
Lightvalve 14:8e7590227d22 1371 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1372
Lightvalve 30:8d561f16383b 1373 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1374 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1375 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1376
Lightvalve 14:8e7590227d22 1377 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1378 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1379 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1380 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1381 } else {
Lightvalve 13:747daba9cf59 1382 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1383 }
Lightvalve 13:747daba9cf59 1384 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1385 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1386 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1387 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1388 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1389 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1390 DZ_index = 1;
Lightvalve 13:747daba9cf59 1391 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1392 }
Lightvalve 13:747daba9cf59 1393 }
Lightvalve 14:8e7590227d22 1394 } else {
Lightvalve 30:8d561f16383b 1395 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1396 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 1397 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1398 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1399 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1400 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1401 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1402 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1403 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1404 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1405 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1406 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1407 }
Lightvalve 14:8e7590227d22 1408 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1409
Lightvalve 30:8d561f16383b 1410 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1411 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1412 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1413 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1414 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 1415
Lightvalve 60:64181f1d3e60 1416 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1417 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1418 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1419 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 1420 } else {
Lightvalve 13:747daba9cf59 1421 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1422 }
Lightvalve 14:8e7590227d22 1423
Lightvalve 13:747daba9cf59 1424 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1425 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1426 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1427 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1428 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1429 first_check = 0;
Lightvalve 33:91b17819ec30 1430 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1431 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 1432
Lightvalve 59:f308b1656d9c 1433 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1434
Lightvalve 57:f4819de54e7a 1435 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1436 DZ_index = 1;
Lightvalve 13:747daba9cf59 1437 }
Lightvalve 13:747daba9cf59 1438 }
Lightvalve 13:747daba9cf59 1439 }
Lightvalve 14:8e7590227d22 1440 }
Lightvalve 13:747daba9cf59 1441 break;
Lightvalve 13:747daba9cf59 1442 }
Lightvalve 14:8e7590227d22 1443
Lightvalve 14:8e7590227d22 1444 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 1445 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1446 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1447 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1448 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1449 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1450 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1451 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1452 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1453 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1454 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1455 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1456 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1457 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1458 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 1459 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1460 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1461 first_check = 1;
Lightvalve 13:747daba9cf59 1462 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1463 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 1464 ID_index = 0;
Lightvalve 13:747daba9cf59 1465 max_check = 0;
Lightvalve 13:747daba9cf59 1466 min_check = 0;
Lightvalve 13:747daba9cf59 1467 }
Lightvalve 14:8e7590227d22 1468 } else {
Lightvalve 30:8d561f16383b 1469 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1470 //V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 1471 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 1472 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1473 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1474 data_num = 0;
Lightvalve 57:f4819de54e7a 1475 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1476
Lightvalve 14:8e7590227d22 1477 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1478 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1479 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 1480 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1481 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1482 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1483 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1484 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1485 one_period_end = 1;
Lightvalve 13:747daba9cf59 1486 }
Lightvalve 30:8d561f16383b 1487 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1488 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1489 one_period_end = 1;
Lightvalve 59:f308b1656d9c 1490 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1491 }
Lightvalve 14:8e7590227d22 1492
Lightvalve 14:8e7590227d22 1493 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1494 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1495 max_check = 1;
Lightvalve 14:8e7590227d22 1496 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1497 min_check = 1;
Lightvalve 13:747daba9cf59 1498 }
Lightvalve 13:747daba9cf59 1499 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1500
Lightvalve 13:747daba9cf59 1501 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1502 one_period_end = 0;
Lightvalve 13:747daba9cf59 1503 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1504 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1505 }
Lightvalve 14:8e7590227d22 1506
Lightvalve 14:8e7590227d22 1507 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1508
Lightvalve 13:747daba9cf59 1509 VALVE_POS_NUM = ID_index;
Lightvalve 59:f308b1656d9c 1510 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1511 ID_index = 0;
Lightvalve 13:747daba9cf59 1512 first_check = 0;
Lightvalve 13:747daba9cf59 1513 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1514 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 1515 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1516 }
Lightvalve 13:747daba9cf59 1517 }
Lightvalve 13:747daba9cf59 1518 break;
Lightvalve 13:747daba9cf59 1519 }
Lightvalve 58:2eade98630e2 1520
Lightvalve 57:f4819de54e7a 1521 case MODE_SYSTEM_ID: {
Lightvalve 57:f4819de54e7a 1522 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve 57:f4819de54e7a 1523 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 1524 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 1525 cnt_sysid++;
Lightvalve 57:f4819de54e7a 1526 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 1527 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 1528 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1529 }
Lightvalve 57:f4819de54e7a 1530 break;
Lightvalve 57:f4819de54e7a 1531 }
Lightvalve 58:2eade98630e2 1532
Lightvalve 58:2eade98630e2 1533
Lightvalve 57:f4819de54e7a 1534
Lightvalve 57:f4819de54e7a 1535 default:
Lightvalve 57:f4819de54e7a 1536 break;
Lightvalve 57:f4819de54e7a 1537 }
Lightvalve 57:f4819de54e7a 1538
Lightvalve 57:f4819de54e7a 1539 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 1540
Lightvalve 57:f4819de54e7a 1541 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 1542 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 1543 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 1544 break;
Lightvalve 57:f4819de54e7a 1545 }
Lightvalve 57:f4819de54e7a 1546
Lightvalve 57:f4819de54e7a 1547 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 1548 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 57:f4819de54e7a 1549 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:f308b1656d9c 1550 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 1551 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 1552 V_out = valve_pos.ref;
Lightvalve 67:c2812cf26c38 1553 } else {
Lightvalve 67:c2812cf26c38 1554 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 1555 }
Lightvalve 58:2eade98630e2 1556
Lightvalve 57:f4819de54e7a 1557 break;
Lightvalve 57:f4819de54e7a 1558 }
Lightvalve 57:f4819de54e7a 1559
Lightvalve 57:f4819de54e7a 1560 case MODE_JOINT_CONTROL: {
Lightvalve 57:f4819de54e7a 1561 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 1562 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 1563 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 1564 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 1565
Lightvalve 67:c2812cf26c38 1566 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 1567 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 1568 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1569 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1570
Lightvalve 67:c2812cf26c38 1571 torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 57:f4819de54e7a 1572
Lightvalve 57:f4819de54e7a 1573 // torque feedback
Lightvalve 67:c2812cf26c38 1574 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 1575 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 1576
Lightvalve 57:f4819de54e7a 1577 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 1578
Lightvalve 57:f4819de54e7a 1579 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 1580 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 1581 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 1582
Lightvalve 57:f4819de54e7a 1583 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 1584 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 1585 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 1586
Lightvalve 69:3995ffeaa786 1587 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1588 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 1589 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 1590 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1591 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 1592 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 1593 }
Lightvalve 57:f4819de54e7a 1594 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 1595 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1596
Lightvalve 57:f4819de54e7a 1597 // velocity compensation for torque control
Lightvalve 69:3995ffeaa786 1598 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1599 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 1600 // 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 1601 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 1602 // L feedforward velocity
Lightvalve 69:3995ffeaa786 1603 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1604 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 1605 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1606 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1607 // L feedforward velocity
Lightvalve 57:f4819de54e7a 1608 }
Lightvalve 57:f4819de54e7a 1609 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 1610 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1611 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 1612 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 1613 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 1614
Lightvalve 57:f4819de54e7a 1615 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 67:c2812cf26c38 1616
Lightvalve 67:c2812cf26c38 1617 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 1618 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 1619 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 1620 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 1621 if (I_REF > I_MAX) {
Lightvalve 67:c2812cf26c38 1622 double I_rem = I_REF - I_MAX;
Lightvalve 67:c2812cf26c38 1623 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1624 I_REF = I_MAX;
Lightvalve 67:c2812cf26c38 1625 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1626 } else if (I_REF < -I_MAX) {
Lightvalve 67:c2812cf26c38 1627 double I_rem = I_REF - (-I_MAX);
Lightvalve 67:c2812cf26c38 1628 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1629 I_REF = -I_MAX;
Lightvalve 67:c2812cf26c38 1630 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1631 }
Lightvalve 67:c2812cf26c38 1632 }
Lightvalve 57:f4819de54e7a 1633
Lightvalve 57:f4819de54e7a 1634 } else {
Lightvalve 57:f4819de54e7a 1635 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 72:3436ce769b1e 1636 float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 1637 float VALVE_POS_RAW = 0.0f;
Lightvalve 72:3436ce769b1e 1638
Lightvalve 57:f4819de54e7a 1639 VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f
Lightvalve 57:f4819de54e7a 1640 + 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 1641
Lightvalve 72:3436ce769b1e 1642 VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f;
Lightvalve 72:3436ce769b1e 1643
Lightvalve 72:3436ce769b1e 1644 VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve 72:3436ce769b1e 1645
Lightvalve 72:3436ce769b1e 1646
Lightvalve 72:3436ce769b1e 1647 if (VALVE_POS_RAW >= 0) {
Lightvalve 72:3436ce769b1e 1648 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 1649 } else {
Lightvalve 72:3436ce769b1e 1650 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 1651 }
Lightvalve 57:f4819de54e7a 1652
Lightvalve 57:f4819de54e7a 1653 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 57:f4819de54e7a 1654 double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 1655 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 1656 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1657 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1658 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1659 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1660 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 1661 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1662 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1663 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1664 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1665 }
Lightvalve 57:f4819de54e7a 1666 }
Lightvalve 61:bc8c8270f0ab 1667
Lightvalve 57:f4819de54e7a 1668 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1669
Lightvalve 67:c2812cf26c38 1670 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 1671 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1672
Lightvalve 57:f4819de54e7a 1673 }
Lightvalve 72:3436ce769b1e 1674
Lightvalve 72:3436ce769b1e 1675 torq_ref_past = torq_ref;
Lightvalve 58:2eade98630e2 1676
Lightvalve 57:f4819de54e7a 1677 break;
Lightvalve 57:f4819de54e7a 1678 }
Lightvalve 58:2eade98630e2 1679
Lightvalve 57:f4819de54e7a 1680 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 1681 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1682 break;
Lightvalve 57:f4819de54e7a 1683 }
Lightvalve 14:8e7590227d22 1684
Lightvalve 12:6f2531038ea4 1685 default:
Lightvalve 12:6f2531038ea4 1686 break;
Lightvalve 12:6f2531038ea4 1687 }
Lightvalve 14:8e7590227d22 1688
Lightvalve 57:f4819de54e7a 1689
Lightvalve 57:f4819de54e7a 1690 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 1691
Lightvalve 57:f4819de54e7a 1692 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1693 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 1694 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1695 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 1696 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 1697 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 1698
Lightvalve 57:f4819de54e7a 1699 I_ERR = I_REF_fil - cur.sen;
Lightvalve 67:c2812cf26c38 1700 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 1701
Lightvalve 57:f4819de54e7a 1702
Lightvalve 57:f4819de54e7a 1703 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 1704 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 1705 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 1706 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 1707 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 1708 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 1709
Lightvalve 57:f4819de54e7a 1710 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 1711 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 1712 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 1713 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 1714 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 1715 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 1716 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 1717 }
Lightvalve 57:f4819de54e7a 1718
Lightvalve 57:f4819de54e7a 1719 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 1720
Lightvalve 67:c2812cf26c38 1721 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 1722 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 1723 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 1724 I_REF_fil_old = I_REF_fil;
Lightvalve 67:c2812cf26c38 1725 // 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 1726 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 67:c2812cf26c38 1727 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 1728
Lightvalve 57:f4819de54e7a 1729 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 1730 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 1731 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 1732 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1733 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 1734 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1735 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 1736 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 1737 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1738 VALVE_PWM_RAW = -V_MAX;
Lightvalve 67:c2812cf26c38 1739 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1740 }
Lightvalve 57:f4819de54e7a 1741 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1742 } else {
Lightvalve 57:f4819de54e7a 1743 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 1744 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1745 }
Lightvalve 57:f4819de54e7a 1746
Lightvalve 57:f4819de54e7a 1747 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1748 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 1749 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1750 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 1751 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 1752 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1753 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1754
Lightvalve 57:f4819de54e7a 1755 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1756
Lightvalve 57:f4819de54e7a 1757 } else {
Lightvalve 57:f4819de54e7a 1758 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 1759 }
Lightvalve 57:f4819de54e7a 1760
Lightvalve 57:f4819de54e7a 1761 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 1762 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 67:c2812cf26c38 1763 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 1764
Lightvalve 57:f4819de54e7a 1765 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 1766 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 1767 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 1768 else V_out = (float) (CUR_PWM_lin);
Lightvalve 57:f4819de54e7a 1769 }
Lightvalve 89:a7b45368ea0f 1770 else { //////////////////////////sw valve
Lightvalve 89:a7b45368ea0f 1771 // Output Voltage Linearization
Lightvalve 89:a7b45368ea0f 1772 double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve 89:a7b45368ea0f 1773 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 89:a7b45368ea0f 1774
Lightvalve 89:a7b45368ea0f 1775 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 89:a7b45368ea0f 1776 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 89:a7b45368ea0f 1777 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 89:a7b45368ea0f 1778 else V_out = (float) (CUR_PWM_lin);
Lightvalve 89:a7b45368ea0f 1779 }
Lightvalve 67:c2812cf26c38 1780
Lightvalve 67:c2812cf26c38 1781 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 67:c2812cf26c38 1782 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 67:c2812cf26c38 1783 // else V_out = V_out;
Lightvalve 67:c2812cf26c38 1784
jobuuu 7:e9086c72bb22 1785 /*******************************************************
jobuuu 7:e9086c72bb22 1786 *** PWM
jobuuu 7:e9086c72bb22 1787 ********************************************************/
Lightvalve 67:c2812cf26c38 1788 if(DIR_VALVE<0){
Lightvalve 67:c2812cf26c38 1789 V_out = -V_out;
Lightvalve 67:c2812cf26c38 1790 }
Lightvalve 67:c2812cf26c38 1791
Lightvalve 49:e7bcfc244d40 1792 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1793 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1794 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1795 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1796 }
Lightvalve 49:e7bcfc244d40 1797 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1798
Lightvalve 19:23b7c1ad8683 1799 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1800 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1801 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1802
Lightvalve 30:8d561f16383b 1803 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1804 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1805 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1806 } else {
jobuuu 2:a1c0a37df760 1807 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1808 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1809 }
Lightvalve 13:747daba9cf59 1810
jobuuu 1:e04e563be5ce 1811 //pwm
Lightvalve 30:8d561f16383b 1812 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1813 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 1814
Lightvalve 61:bc8c8270f0ab 1815
Lightvalve 57:f4819de54e7a 1816 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 20:806196fda269 1817
Lightvalve 54:647072f5307a 1818 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 1819 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 1820 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 1821 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1822 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 1823 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1824 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 1825 }
Lightvalve 57:f4819de54e7a 1826 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 1827 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1828 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 1829 } else if (SENSING_MODE == 1) {
Lightvalve 67:c2812cf26c38 1830 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 1831 }
Lightvalve 52:8ea76864368a 1832 }
Lightvalve 52:8ea76864368a 1833 }
Lightvalve 56:6f50d9d3bfee 1834 if (flag_data_request[1] == HIGH) {
Lightvalve 54:647072f5307a 1835 //valve position
Lightvalve 54:647072f5307a 1836 double t_value = 0;
Lightvalve 89:a7b45368ea0f 1837 // if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 89:a7b45368ea0f 1838 // t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1839 // } else {
Lightvalve 89:a7b45368ea0f 1840 // t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1841 // }
Lightvalve 89:a7b45368ea0f 1842 if(OPERATING_MODE==5) {
Lightvalve 89:a7b45368ea0f 1843 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 89:a7b45368ea0f 1844 t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1845 } else {
Lightvalve 89:a7b45368ea0f 1846 t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1847 }
Lightvalve 89:a7b45368ea0f 1848 //t_value = (double) value;
Lightvalve 89:a7b45368ea0f 1849 } else if(CURRENT_CONTROL_MODE==1) {
Lightvalve 89:a7b45368ea0f 1850 t_value = cur.sen * 1000.0f;
Lightvalve 67:c2812cf26c38 1851 } else {
Lightvalve 89:a7b45368ea0f 1852 t_value = V_out;
Lightvalve 67:c2812cf26c38 1853 }
Lightvalve 67:c2812cf26c38 1854 CAN_TX_TORQUE((int16_t) (t_value)); //1300
Lightvalve 67:c2812cf26c38 1855 //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
Lightvalve 67:c2812cf26c38 1856 //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
Lightvalve 54:647072f5307a 1857 }
Lightvalve 58:2eade98630e2 1858
Lightvalve 58:2eade98630e2 1859
Lightvalve 89:a7b45368ea0f 1860 if (flag_data_request[2] == LOW) {
Lightvalve 89:a7b45368ea0f 1861 //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // 1400
Lightvalve 89:a7b45368ea0f 1862 double t_value = 0;
Lightvalve 89:a7b45368ea0f 1863 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 89:a7b45368ea0f 1864 t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1865 } else {
Lightvalve 89:a7b45368ea0f 1866 t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1867 }
Lightvalve 89:a7b45368ea0f 1868 CAN_TX_PRES((int16_t) (t_value), (int16_t) (V_out)); // 1400
Lightvalve 55:b25725257569 1869 }
Lightvalve 58:2eade98630e2 1870
Lightvalve 57:f4819de54e7a 1871 //If it doesn't rest, below can can not work.
Lightvalve 57:f4819de54e7a 1872 for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 1873 ;
Lightvalve 57:f4819de54e7a 1874 }
Lightvalve 58:2eade98630e2 1875
Lightvalve 56:6f50d9d3bfee 1876 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 1877 //PWM
Lightvalve 73:f80dc3970c99 1878 //CAN_TX_PWM((int16_t) value); //1500
Lightvalve 73:f80dc3970c99 1879 CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500
Lightvalve 54:647072f5307a 1880 }
Lightvalve 57:f4819de54e7a 1881 //for (i = 0; i < 10000; i++) {
Lightvalve 57:f4819de54e7a 1882 // ;
Lightvalve 57:f4819de54e7a 1883 // }
Lightvalve 56:6f50d9d3bfee 1884 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 1885 //valve position
Lightvalve 73:f80dc3970c99 1886 CAN_TX_VALVE_POSITION((int16_t) (input_NN[1] * 100.0f), (int16_t) (input_NN[2]* 100.0f), (int16_t) (input_NN[3]* 100.0f), (int16_t) (input_NN[4]* 100.0f)); //1600
Lightvalve 54:647072f5307a 1887 }
Lightvalve 20:806196fda269 1888
Lightvalve 54:647072f5307a 1889 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 1890 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 1891 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 1892 // }
Lightvalve 54:647072f5307a 1893 //if (flag_delay_test == 1){
Lightvalve 58:2eade98630e2 1894 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 54:647072f5307a 1895 //}
Lightvalve 52:8ea76864368a 1896
Lightvalve 54:647072f5307a 1897 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1898 }
Lightvalve 54:647072f5307a 1899 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 1900
Lightvalve 20:806196fda269 1901 }
Lightvalve 52:8ea76864368a 1902 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1903
Lightvalve 58:2eade98630e2 1904 }