Buyoun Cho
[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).
main.cpp
- Committer:
- Lightvalve
- Date:
- 2020-05-12
- Revision:
- 66:a8e6799dbce3
- Parent:
- 65:a2d7c63419c2
- Child:
- 67:c2812cf26c38
File content as of revision 66:a8e6799dbce3:
#include "mbed.h"
#include "FastPWM.h"
#include "INIT_HW.h"
#include "function_CAN.h"
#include "SPI_EEP_ENC.h"
#include "I2C_AS5510.h"
#include "setting.h"
#include "function_utilities.h"
#include "stm32f4xx_flash.h"
#include "FlashWriter.h"
using namespace std;
Timer t;
///191008////
// dac & check ///////////////////////////////////////////
DigitalOut check(PC_2);
DigitalOut check_2(PC_3);
AnalogOut dac_1(PA_4);
AnalogOut dac_2(PA_5);
AnalogIn adc1(PC_4); //pressure_1
AnalogIn adc2(PB_0); //pressure_2
AnalogIn adc3(PC_1); //current
// PWM ///////////////////////////////////////////
float dtc_v=0.0f;
float dtc_w=0.0f;
// I2C ///////////////////////////////////////////
I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
const int i2c_slave_addr1 = 0x56;
unsigned int value; // 10bit output of reading sensor AS5510
// SPI ///////////////////////////////////////////
//SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
//DigitalOut eeprom_cs(PB_12);
//FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
SPI enc(PC_12,PC_11,PC_10);
DigitalOut enc_cs(PD_2);
DigitalOut LED(PA_15);
// UART ///////////////////////////////////////////
Serial pc(PA_9,PA_10); // _ UART
// CAN ///////////////////////////////////////////
CAN can(PB_8, PB_9, 1000000);
CANMessage msg;
void onMsgReceived()
{
CAN_RX_HANDLER();
}
// Variables ///////////////////////////////////////////
State pos;
State vel;
State Vout;
State torq;
State pres_A;
State pres_B;
State cur;
State valve_pos;
State INIT_Vout;
State INIT_Valve_Pos;
State INIT_Pos;
State INIT_torq;
extern int CID_RX_CMD;
extern int CID_RX_REF_POSITION;
extern int CID_RX_REF_VALVE_POS;
extern int CID_RX_REF_PWM;
extern int CID_TX_INFO;
extern int CID_TX_POSITION;
extern int CID_TX_TORQUE;
extern int CID_TX_PRES;
extern int CID_TX_VOUT;
extern int CID_TX_VALVE_POSITION;
// =============================================================================
// =============================================================================
// =============================================================================
/*******************************************************************************
* REFERENCE MODE
******************************************************************************/
enum _REFERENCE_MODE {
MODE_REF_NO_ACT = 0, //0
MODE_REF_DIRECT, //1
MODE_REF_COS_INC, //2
MODE_REF_LINE_INC, //3
MODE_REF_SIN_WAVE, //4
MODE_REF_SQUARE_WAVE, //5
};
/*******************************************************************************
* CONTROL MODE
******************************************************************************/
enum _CONTROL_MODE {
//control mode
MODE_NO_ACT = 0, //0
MODE_VALVE_POSITION_CONTROL, //1
MODE_JOINT_CONTROL, //2
MODE_VALVE_OPEN_LOOP, //3
MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
MODE_TEST_CURRENT_CONTROL, //9
MODE_TEST_PWM_CONTROL, //10
MODE_CURRENT_CONTROL, //11
MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
//utility
MODE_TORQUE_SENSOR_NULLING = 20, //20
MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
MODE_FIND_HOME, //22
MODE_VALVE_GAIN_SETTING, //23
MODE_PRESSURE_SENSOR_NULLING, //24
MODE_PRESSURE_SENSOR_CALIB, //25
MODE_ROTARY_FRICTION_TUNING, //26
MODE_DDV_POS_VS_PWM_ID = 30, //30
MODE_DDV_DEADZONE_AND_CENTER, //31
MODE_DDV_POS_VS_FLOWRATE, //32
MODE_SYSTEM_ID, //33
};
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Configure the main internal regulator output voltage
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
/** Initializes the CPU, AHB and APB busses clocks
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
RCC_OscInitStruct.PLL.PLLM = 8;//8
RCC_OscInitStruct.PLL.PLLN = 180; //180
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 2;
RCC_OscInitStruct.PLL.PLLR = 2;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
//Error_Handler();
}
/** Activate the Over-Drive mode
*/
if (HAL_PWREx_EnableOverDrive() != HAL_OK)
{
//Error_Handler();
}
/** Initializes the CPU, AHB and APB busses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
{
//Error_Handler();
}
}
float x_future[num_input_array] = {0.0f};
float input[num_input] = { 0.0f };
const float h1[num_input][32] = {
{-0.05584605038166046f,-0.11015535145998001f,0.12024858593940735f,0.8710275292396545f,-0.8633008599281311f,0.6032636165618896f,0.1195044070482254f,-0.24131548404693604f,-0.2979300916194916f,-0.06240735203027725f,-0.5634293556213379f,-0.7795512080192566f,-0.2193688154220581f,0.5603419542312622f,-0.2396446317434311f,-0.5459810495376587f,-0.3129505217075348f,0.9516814351081848f,-0.4300021231174469f,0.32531049847602844f,-0.38013890385627747f,0.12145945429801941f,-0.3777896761894226f,-0.0899648368358612f,0.00471434835344553f,0.2086491882801056f,-0.2006681114435196f,-0.8217374086380005f,0.4176312983036041f,-0.21341653168201447f,-0.738452672958374f,0.09072920680046082f},
{-0.8286606073379517f,0.34443455934524536f,0.33912619948387146f,-0.5367521047592163f,-0.2419569194316864f,0.11375948786735535f,0.7230488657951355f,-0.11622462421655655f,-0.06099450960755348f,0.14800310134887695f,-0.44429513812065125f,-0.15811024606227875f,0.024088174104690552f,0.37633487582206726f,0.05209478735923767f,-0.44525954127311707f,-0.35180044174194336f,0.31975269317626953f,0.4067309498786926f,0.42282143235206604f,-0.03516775369644165f,-0.13714641332626343f,-0.10795548558235168f,0.31470927596092224f,-0.34707048535346985f,0.3334867060184479f,0.14405718445777893f,-0.16725023090839386f,-0.10117192566394806f,0.11138620972633362f,-0.507462739944458f,0.11189708113670349f},
{-0.35791441798210144f,0.3758581578731537f,-0.004794687032699585f,-0.05841163173317909f,-0.08767881989479065f,-0.15663278102874756f,0.252312570810318f,-0.3261408507823944f,-0.08955887705087662f,0.09258187562227249f,0.14131738245487213f,-0.011780006811022758f,-0.037279367446899414f,0.30396905541419983f,-0.36018112301826477f,-0.4110696315765381f,0.16343103349208832f,0.05796433240175247f,0.10341846942901611f,0.42017245292663574f,0.2516377866268158f,-0.17387470602989197f,0.15389427542686462f,-0.2800215482711792f,-0.674734354019165f,0.16508331894874573f,-0.1761709749698639f,0.06000325456261635f,-0.14043109118938446f,0.3438030183315277f,-0.5538067817687988f,-0.22203606367111206f},
{-0.15260998904705048f,-0.008754822425544262f,-0.2331579178571701f,-0.49566444754600525f,-0.3155744969844818f,-0.002509156707674265f,0.168622225522995f,-0.5208267569541931f,0.29355648159980774f,0.050865866243839264f,0.01398477889597416f,0.27986469864845276f,-0.13409757614135742f,0.4001019597053528f,-0.14554673433303833f,-0.08893944323062897f,-0.13120734691619873f,-0.24075376987457275f,-0.3130897283554077f,0.08357034623622894f,-0.2832319438457489f,-0.09985870122909546f,-0.16704979538917542f,-0.33099624514579773f,-0.4437883496284485f,0.16078665852546692f,0.15193721652030945f,-0.10225960612297058f,0.34021857380867004f,0.1502511203289032f,-0.0664215236902237f,0.20154133439064026f},
{0.12635438144207f,0.24193024635314941f,0.09550115466117859f,-0.23847319185733795f,-0.10712115466594696f,-0.07988527417182922f,-0.18517336249351501f,-0.5395429730415344f,-0.3816317319869995f,0.30893078446388245f,-0.41678526997566223f,0.23135076463222504f,0.2400895059108734f,0.2607426047325134f,-0.2847418785095215f,0.23095203936100006f,-0.205430269241333f,-0.35568180680274963f,0.05281441658735275f,-0.16010922193527222f,0.15620997548103333f,0.26784953474998474f,-0.2786858379840851f,-0.08468881249427795f,-0.2860216498374939f,-0.3890018165111542f,0.04607313871383667f,-0.34892332553863525f,0.3036911189556122f,-0.18532218039035797f,0.23122631013393402f,0.030484020709991455f},
{0.552375316619873f,0.18492630124092102f,0.34649983048439026f,0.3252255320549011f,0.27798062562942505f,-0.2561512887477875f,-0.41888460516929626f,-0.06891436129808426f,-0.554313600063324f,0.008540602400898933f,0.2860400974750519f,-0.13133136928081512f,-0.03570398688316345f,0.08028116822242737f,0.24870619177818298f,-0.13462437689304352f,-0.46191880106925964f,-0.9220594763755798f,-0.50397789478302f,-0.18426336348056793f,0.1535390317440033f,-0.010987609624862671f,0.1429324448108673f,0.3757905066013336f,-0.5380614995956421f,0.23636052012443542f,-0.3322296440601349f,0.41926270723342896f,0.02858952432870865f,-0.0014912784099578857f,0.09470368921756744f,-0.06355711817741394f},
};
const float h2[32][32] = {
{-0.15789742767810822f,-0.10295046865940094f,-0.04925942420959473f,0.02427169866859913f,-0.3309780955314636f,0.2625422775745392f,-0.07511543482542038f,-0.12313280999660492f,-0.30411389470100403f,-0.10008957982063293f,0.09728801995515823f,-0.33915191888809204f,0.039246782660484314f,0.2781885862350464f,-0.048781245946884155f,-1.3332239389419556f,0.07803884148597717f,-1.1428231000900269f,-0.08379222452640533f,-0.005277924705296755f,-0.6905635595321655f,-0.2655806541442871f,-0.23983746767044067f,-0.28387096524238586f,-0.34077632427215576f,0.05632379651069641f,-0.3915008008480072f,-0.728499710559845f,0.23828622698783875f,0.11771553754806519f,-0.2606334388256073f,-0.1630079448223114f},
{-0.16369810700416565f,0.002147972583770752f,-0.04321768879890442f,0.20987394452095032f,0.019099578261375427f,-0.04193764552474022f,-0.18412554264068604f,-0.1351664513349533f,0.24677053093910217f,0.048597872257232666f,0.17539569735527039f,0.12578506767749786f,0.20868071913719177f,-0.4673871099948883f,0.1197722852230072f,-0.020373206585645676f,0.056778669357299805f,-0.7362931370735168f,-0.2244773954153061f,0.26173046231269836f,0.07969770580530167f,0.10356134176254272f,-0.16832955181598663f,0.24518683552742004f,0.01879107765853405f,0.11049672961235046f,-0.022610308602452278f,0.2533881664276123f,-0.28620439767837524f,-0.0511949360370636f,0.14506122469902039f,-0.07415058463811874f},
{-0.1579037755727768f,0.28447648882865906f,-0.1789936125278473f,0.20799604058265686f,0.025723248720169067f,0.17740526795387268f,-0.1666354387998581f,-0.06060470640659332f,-0.017253071069717407f,-0.2790656089782715f,-0.16800916194915771f,-0.2990717589855194f,0.07126197218894958f,-0.08032660186290741f,-0.1799015998840332f,-0.1891922950744629f,0.2556300461292267f,0.2080206573009491f,-0.24888339638710022f,0.27691522240638733f,-0.21319638192653656f,-0.14012537896633148f,-0.30466505885124207f,-0.013728171586990356f,-0.1629670113325119f,0.2530798614025116f,0.0633285641670227f,0.0011726915836334229f,-0.14820529520511627f,0.2823629677295685f,0.10884168744087219f,-0.2637729346752167f},
{-0.16211992502212524f,-0.01806354522705078f,-0.23058539628982544f,0.016176925972104073f,-0.36758074164390564f,-0.2103232741355896f,0.4789067804813385f,0.05088663846254349f,-0.06944303214550018f,0.09271347522735596f,0.28064244985580444f,-0.39364251494407654f,-0.22692131996154785f,0.22431465983390808f,-0.6308612823486328f,-0.4144154489040375f,0.10996055603027344f,0.009937502443790436f,0.14824721217155457f,-0.08365598320960999f,-0.2476825714111328f,-0.23250339925289154f,-0.06394433975219727f,-0.20854580402374268f,0.3123001158237457f,-0.6159867644309998f,0.20684100687503815f,-0.5377008318901062f,-0.22396358847618103f,0.2546447217464447f,0.0035619325935840607f,0.7030656337738037f},
{-0.21776385605335236f,0.2506926953792572f,-0.0804666131734848f,0.03153757378458977f,0.022613627836108208f,-0.2632860243320465f,-0.35431790351867676f,0.008866352029144764f,0.043158918619155884f,-0.2690317630767822f,-0.14150169491767883f,-0.374968022108078f,-0.3281933069229126f,-0.42655467987060547f,-0.18895938992500305f,-0.55921870470047f,-0.10307048261165619f,0.11283401399850845f,-0.05229299142956734f,-0.15150074660778046f,0.06649138033390045f,0.024612629786133766f,0.19172045588493347f,-0.31139934062957764f,-0.4171607196331024f,0.19551879167556763f,0.1652800589799881f,0.07979424297809601f,0.2695164978504181f,-0.16498444974422455f,-0.021313229575753212f,-0.07629286497831345f},
{-0.19425427913665771f,-0.004258692264556885f,0.032371193170547485f,-0.3124158978462219f,-0.21592268347740173f,-0.32674968242645264f,0.2015109658241272f,-0.2202046811580658f,-0.03548547625541687f,0.08825305104255676f,-0.12026015669107437f,0.19926147162914276f,-0.30970871448516846f,0.23186630010604858f,-0.36023351550102234f,-0.14563152194023132f,0.2371552288532257f,0.2082187384366989f,0.27887171506881714f,0.2256462275981903f,-0.004931911826133728f,0.1657554805278778f,-0.1307595670223236f,-0.11585996299982071f,0.18855340778827667f,-0.3826330006122589f,0.16525451838970184f,-0.11980683356523514f,0.05800282955169678f,-0.26823562383651733f,0.1340862363576889f,0.15243633091449738f},
{-0.23734791576862335f,-0.1279313862323761f,-0.11171227693557739f,0.2570078372955322f,-0.2643128037452698f,0.25971919298171997f,-0.19050557911396027f,-0.16186389327049255f,-0.26620519161224365f,0.17144301533699036f,-0.20425355434417725f,-1.4636048078536987f,0.2813534736633301f,0.0029944570269435644f,2.1065120697021484f,0.8487206101417542f,-0.16153597831726074f,0.26067855954170227f,0.005116086453199387f,1.9137510061264038f,1.2921271324157715f,-0.037859927862882614f,-0.07988794147968292f,0.026534322649240494f,-0.26978933811187744f,0.5350269079208374f,0.6667125821113586f,-3.922419309616089f,-0.11822041869163513f,0.19546762108802795f,-0.23295406997203827f,0.39758747816085815f},
{0.25867950916290283f,0.11346611380577087f,0.04012581706047058f,0.008744821883738041f,0.22156041860580444f,-0.07410173863172531f,0.010253120213747025f,0.015882238745689392f,0.2864855229854584f,0.01006925106048584f,-0.06536224484443665f,-0.23000890016555786f,-0.09209762513637543f,-0.12586218118667603f,-0.5601587295532227f,-0.8569194674491882f,-0.2721019387245178f,0.292599618434906f,0.2273714244365692f,-0.7375689148902893f,0.13290464878082275f,0.03271213173866272f,-0.07979777455329895f,0.23633572459220886f,-0.013516108505427837f,0.001281818258576095f,0.3719692826271057f,-0.1842835545539856f,-0.14135785400867462f,0.07403197884559631f,0.13239671289920807f,0.2253207117319107f},
{0.2539409101009369f,0.2890130579471588f,-0.021617114543914795f,0.10094909369945526f,0.2422485202550888f,0.048812851309776306f,-0.3630330562591553f,-0.2351820170879364f,0.29470762610435486f,-0.06864601373672485f,-0.33530402183532715f,-0.37237250804901123f,0.24146446585655212f,-0.19978517293930054f,0.16438758373260498f,0.547096848487854f,0.046292245388031006f,0.07754945755004883f,0.2583274841308594f,-0.9994243383407593f,0.1643972545862198f,0.03415673226118088f,0.28743305802345276f,-0.00602338882163167f,0.025531986728310585f,-0.07598508149385452f,-0.01092247199267149f,-0.16599947214126587f,0.2501918375492096f,-0.14010676741600037f,-0.27732717990875244f,-0.24542571604251862f},
{0.2615049183368683f,0.08643358945846558f,-0.29237738251686096f,-0.21275001764297485f,0.15896368026733398f,-0.0771239846944809f,0.17826680839061737f,-0.15540927648544312f,0.18755429983139038f,-0.07031691074371338f,-0.05704077333211899f,-0.07891639322042465f,0.12828806042671204f,0.023495450615882874f,-0.10919437557458878f,0.15277521312236786f,-0.015168905258178711f,-0.3087019622325897f,-0.2701331079006195f,-0.263889342546463f,0.14209482073783875f,0.1012502908706665f,-0.2307620644569397f,0.06770320236682892f,0.014959282241761684f,-0.2128390669822693f,0.18836741149425507f,0.06113395094871521f,0.2113950550556183f,0.0796298086643219f,-0.0010054409503936768f,-0.261382520198822f},
{0.16485314071178436f,0.1956864297389984f,-0.033508092164993286f,-0.26639455556869507f,-0.34537649154663086f,0.021641232073307037f,-0.4067543148994446f,0.04540411755442619f,-0.17670965194702148f,0.17403557896614075f,-0.3332591950893402f,0.0920296236872673f,-0.12011422216892242f,-0.13247939944267273f,0.15030546486377716f,-0.6020031571388245f,0.03990337252616882f,-0.15754885971546173f,0.09520146995782852f,-0.1138940081000328f,-0.1437448263168335f,0.08852394670248032f,0.07470300793647766f,0.21840333938598633f,-0.6091359853744507f,0.2033311128616333f,-0.18447329103946686f,-0.36350181698799133f,0.13817378878593445f,0.17853263020515442f,-0.04912722483277321f,-0.07184508442878723f},
{-0.276756227016449f,-0.09556084871292114f,0.12328919768333435f,0.0523153692483902f,-0.39632028341293335f,0.21103641390800476f,-0.34435954689979553f,-0.14541661739349365f,0.17735600471496582f,0.009893029928207397f,0.22716842591762543f,0.129820317029953f,-0.14130257070064545f,-0.3772110044956207f,0.22669744491577148f,-0.06111280620098114f,0.009990394115447998f,0.04171628877520561f,0.22105933725833893f,0.15490561723709106f,-0.08622822910547256f,-0.1046934574842453f,0.09996896982192993f,0.0052592139691114426f,-0.2729572355747223f,0.05442296713590622f,0.010474600829184055f,0.15220622718334198f,-0.288028746843338f,-0.2434448003768921f,0.14387860894203186f,0.22230251133441925f},
{-0.08816954493522644f,0.2728963792324066f,-0.07170480489730835f,0.1482785940170288f,0.07727676630020142f,0.20119628310203552f,0.03849402070045471f,0.02873826026916504f,-0.15294449031352997f,-0.038666754961013794f,-0.1574239432811737f,0.27019134163856506f,0.1312139928340912f,-0.26498496532440186f,0.1620480716228485f,0.12264445424079895f,0.023397088050842285f,0.21900424361228943f,0.25839516520500183f,0.2068612277507782f,-0.29656288027763367f,0.045920878648757935f,-0.19714993238449097f,0.22523340582847595f,0.07844719290733337f,0.22350957989692688f,-0.04062908887863159f,-0.26378923654556274f,0.18573936820030212f,0.15478622913360596f,0.013760745525360107f,0.010002970695495605f},
{0.14700931310653687f,0.1833711564540863f,-0.0858893096446991f,0.05376690253615379f,-0.25116482377052307f,0.2733006179332733f,0.616862416267395f,-0.16134384274482727f,0.000652611255645752f,-0.22920364141464233f,0.4397837519645691f,-0.10323379188776016f,0.22982220351696014f,0.7219095826148987f,0.10845161229372025f,-0.4085569679737091f,-0.07963520288467407f,-0.016639666631817818f,-2.855013132095337f,1.4770333766937256f,-0.4170447885990143f,0.18475067615509033f,-0.2228696048259735f,-0.025659818202257156f,0.07647764682769775f,-0.5626823902130127f,-0.9380472302436829f,0.1451820731163025f,-0.011228948831558228f,0.26896968483924866f,-0.28556761145591736f,-0.0975443497300148f},
{-0.23982827365398407f,0.03880670666694641f,-0.013682037591934204f,-0.11685100197792053f,-0.020662933588027954f,0.30190005898475647f,-0.14934301376342773f,-0.15993990004062653f,0.1152651309967041f,-0.11991468071937561f,-0.15497799217700958f,0.11116543412208557f,-0.2045515924692154f,0.2403949797153473f,-0.21275603771209717f,0.05732181668281555f,-0.2770107090473175f,0.088544100522995f,0.19012078642845154f,-0.07119561731815338f,-0.18914666771888733f,-0.10413256287574768f,-0.16050675511360168f,0.11598068475723267f,-0.03151249885559082f,-0.1937510371208191f,0.18474078178405762f,0.19502457976341248f,0.22045472264289856f,-0.29474368691444397f,0.09864541888237f,0.06054645776748657f},
{-0.1933428794145584f,0.1317739188671112f,0.03260180354118347f,-0.2179921269416809f,-0.08091507852077484f,-0.22807994484901428f,-0.22678741812705994f,0.1038196012377739f,0.05445769429206848f,0.07657262682914734f,-0.1997295320034027f,-0.3779059648513794f,0.13914218544960022f,-0.15764181315898895f,-0.03628018498420715f,-0.3727618157863617f,-0.25386664271354675f,-0.18937630951404572f,-0.132919579744339f,-0.35168135166168213f,-0.13643017411231995f,-0.15034843981266022f,-0.3044300675392151f,0.2099861353635788f,-0.19237396121025085f,0.12899406254291534f,0.26942041516304016f,-0.5215796232223511f,-0.0006675124168395996f,-0.2239055633544922f,-0.06182236224412918f,0.3648865520954132f},
{0.003377701621502638f,-0.062024205923080444f,0.10704237222671509f,-0.173600435256958f,-0.10311268270015717f,0.13106171786785126f,-0.04082702472805977f,0.27322712540626526f,-0.23304778337478638f,-0.035415440797805786f,-0.18674887716770172f,-0.2658703625202179f,0.17716765403747559f,-0.26335322856903076f,-0.24061410129070282f,-0.0670233964920044f,-0.027234435081481934f,0.15468381345272064f,0.39823445677757263f,-1.344635248184204f,-0.19344455003738403f,-0.09210354834794998f,-0.19671492278575897f,-0.31504860520362854f,-0.28104209899902344f,-0.024750638753175735f,0.22694247961044312f,-0.0659618005156517f,-0.2531542181968689f,0.24004116654396057f,-0.2505103647708893f,0.014428245835006237f},
{0.10417362302541733f,-0.16078773140907288f,0.11784148216247559f,0.25049132108688354f,0.23944823443889618f,0.17158514261245728f,0.637255072593689f,0.19546358287334442f,0.040603965520858765f,-0.2119520902633667f,0.839573860168457f,-0.43544328212738037f,-0.07898660004138947f,0.39737945795059204f,0.35793185234069824f,0.16372835636138916f,0.18204066157341003f,0.31318214535713196f,-0.48514193296432495f,1.6319140195846558f,-0.452179878950119f,-0.32452133297920227f,0.26029130816459656f,0.048208460211753845f,0.21805478632450104f,-0.3413979709148407f,-0.5302722454071045f,0.16525809466838837f,-0.08671019971370697f,-0.019541800022125244f,0.274711012840271f,0.1581207662820816f},
{0.0573292151093483f,0.2841971218585968f,-0.0814327746629715f,-0.02049749158322811f,0.04095759242773056f,0.0875282883644104f,-0.586379885673523f,0.2595977187156677f,-0.2925014793872833f,0.022429823875427246f,-0.7414460182189941f,-0.10722576826810837f,-0.2097223699092865f,-0.4475327432155609f,0.15800122916698456f,0.1385146677494049f,0.1296386420726776f,0.2004876732826233f,0.4598502218723297f,-0.9527428150177002f,0.6063380241394043f,0.08761540800333023f,0.06231796741485596f,0.13851206004619598f,-0.32260265946388245f,0.4560135006904602f,0.12333875149488449f,0.20624111592769623f,0.14345040917396545f,-0.11986468732357025f,-0.22796882688999176f,-0.09410763531923294f},
{-0.12615902721881866f,0.29651907086372375f,0.02990397810935974f,-0.07365071773529053f,-0.16989107429981232f,-0.2611929178237915f,0.22346898913383484f,0.16549158096313477f,-0.2325194776058197f,-0.2458522766828537f,-0.02328617125749588f,-0.05800141021609306f,-0.25158706307411194f,-0.3273783326148987f,0.2659609913825989f,0.22061185538768768f,0.2577105462551117f,0.036843568086624146f,-0.13256382942199707f,0.07302801311016083f,0.3026500940322876f,-0.31398072838783264f,-0.07374785840511322f,-0.024998260661959648f,-0.14720046520233154f,-0.3830925524234772f,-0.35042843222618103f,0.3767944872379303f,-0.2205982804298401f,0.28094157576560974f,-0.22566641867160797f,-0.10086707770824432f},
{0.2703488767147064f,-0.16041381657123566f,0.12738299369812012f,-0.03611093759536743f,0.1169431209564209f,0.1861400008201599f,-0.1765512377023697f,0.28177282214164734f,0.1474648416042328f,-0.23766008019447327f,-0.005803406238555908f,0.08728843927383423f,0.09594401717185974f,-0.17028304934501648f,-0.16805587708950043f,-0.058941617608070374f,-0.22846683859825134f,0.08700510859489441f,-0.2656046748161316f,0.07154610753059387f,-0.1559111475944519f,0.22832396626472473f,-0.18301571905612946f,-0.17816279828548431f,-0.04200500249862671f,0.2835671007633209f,0.1830621361732483f,-0.26011598110198975f,0.08541131019592285f,0.08213254809379578f,-0.29332536458969116f,0.08477649092674255f},
{-0.06283275783061981f,-0.26753589510917664f,-0.10381917655467987f,-0.13344663381576538f,0.2644997537136078f,0.2204643189907074f,0.2924788296222687f,-0.17931663990020752f,-0.09078609943389893f,-0.17306232452392578f,0.02247890830039978f,-0.26996222138404846f,0.22075030207633972f,-0.3029964864253998f,0.21873190999031067f,-0.0030784308910369873f,0.18228653073310852f,0.09971508383750916f,-0.242676243185997f,-0.1424383968114853f,0.19031599164009094f,0.3004438579082489f,-0.23650792241096497f,-0.2683113217353821f,0.29957786202430725f,0.08561205863952637f,-0.1366746425628662f,-0.15950153768062592f,-0.07675467431545258f,-0.2218506634235382f,-0.2795913517475128f,0.1869203746318817f},
{0.2003176510334015f,-0.27792131900787354f,0.055196613073349f,-0.27959588170051575f,0.18430876731872559f,-0.05316638946533203f,0.16156336665153503f,-0.18850930035114288f,0.09482413530349731f,0.021483391523361206f,0.009039878845214844f,0.1586727499961853f,0.11457142233848572f,0.2876913249492645f,-0.24802550673484802f,0.14089101552963257f,-0.06842575967311859f,-0.10107968747615814f,0.06239110231399536f,-0.2528536915779114f,-0.27538973093032837f,0.15457189083099365f,-0.15549622476100922f,0.20245882868766785f,0.08544808626174927f,0.22650876641273499f,-0.05268847942352295f,0.20387354493141174f,0.24724552035331726f,0.21444126963615417f,0.05186706781387329f,-0.11084021627902985f},
{-0.19810965657234192f,0.2745245397090912f,0.1767616868019104f,0.19752147793769836f,0.0650932788848877f,0.29138168692588806f,-0.29061684012413025f,0.010446667671203613f,0.025284886360168457f,-0.10202452540397644f,-0.10358673334121704f,0.14746251702308655f,0.15136101841926575f,0.04500553011894226f,-0.2497977316379547f,-0.29277902841567993f,0.02556520700454712f,-0.09509801864624023f,0.16731274127960205f,-0.25266408920288086f,-0.3004688322544098f,-0.19769597053527832f,-0.14847496151924133f,0.3053832948207855f,0.07563886046409607f,-0.10258816182613373f,-0.060128673911094666f,0.0016401112079620361f,-0.29647189378738403f,-0.18869297206401825f,0.05497395992279053f,0.16092956066131592f},
{-0.04054148495197296f,-0.25281068682670593f,-0.10565309226512909f,-0.10217760503292084f,0.22124066948890686f,-0.016669882461428642f,0.13439533114433289f,-0.21625643968582153f,-0.06814777851104736f,-0.24531681835651398f,-0.10867110639810562f,0.11354860663414001f,-0.012470155954360962f,-0.04834315553307533f,0.2917248010635376f,0.28058484196662903f,0.2015441358089447f,0.05478575825691223f,0.21876852214336395f,0.013968605548143387f,0.1980237513780594f,-0.043646570295095444f,-0.2520882785320282f,0.2706727981567383f,0.23897342383861542f,0.01417838130146265f,0.21818359196186066f,-0.017171617597341537f,-0.18211489915847778f,-0.15127526223659515f,0.16965459287166595f,0.3860800564289093f},
{-0.10580866038799286f,-0.17215237021446228f,-0.01352420449256897f,-0.13443149626255035f,-0.10265451669692993f,-0.2169143706560135f,0.30098411440849304f,-0.2986297905445099f,0.07908004522323608f,-0.30061498284339905f,0.10424068570137024f,-0.018799901008605957f,-0.18665757775306702f,0.005998075008392334f,-0.2969498336315155f,0.18525955080986023f,0.2379322350025177f,0.15184926986694336f,0.215760737657547f,-0.19088758528232574f,0.08620095252990723f,0.019999295473098755f,-0.0752219706773758f,0.11181813478469849f,0.1881926953792572f,0.2210972011089325f,0.13236162066459656f,-0.06690356135368347f,-0.18345263600349426f,-0.14861416816711426f,0.08577704429626465f,-0.09683996438980103f},
{0.03951254487037659f,0.23604217171669006f,0.012746036052703857f,-0.12561996281147003f,-0.1283164620399475f,0.25823846459388733f,0.10610169172286987f,0.22718152403831482f,0.1749366819858551f,0.007794857025146484f,0.11289489269256592f,0.2725127637386322f,-0.13616766035556793f,-0.03546282649040222f,-0.1685536652803421f,-0.24492129683494568f,0.15760570764541626f,0.017505377531051636f,-0.273531436920166f,-0.005667984485626221f,0.18370777368545532f,-0.023328542709350586f,0.2379932701587677f,-0.048420339822769165f,0.10376441478729248f,-0.295401930809021f,-0.20498433709144592f,0.22346952557563782f,-0.26649031043052673f,-0.08466874063014984f,0.23347875475883484f,-0.03380200266838074f},
{0.27614301443099976f,-0.11652402579784393f,0.24921879172325134f,0.16725529730319977f,-0.3529522716999054f,-0.22624388337135315f,-0.36159390211105347f,-0.13561266660690308f,0.23963233828544617f,0.21321198344230652f,-0.18729792535305023f,-0.0984758511185646f,-0.19942539930343628f,-0.2174971103668213f,0.14457453787326813f,-0.7122411727905273f,-0.19791248440742493f,0.17975574731826782f,-0.2993890345096588f,-0.2912631928920746f,-0.2584984302520752f,0.1050725057721138f,-0.09928475320339203f,-0.26327425241470337f,-0.5602705478668213f,0.3993833065032959f,0.024057770147919655f,-0.19004622101783752f,-0.03476092219352722f,0.2736774981021881f,-0.03050028160214424f,-0.3570877015590668f},
{-0.17075178027153015f,0.009595632553100586f,0.2466227114200592f,0.05140487849712372f,-0.31388768553733826f,-0.30789920687675476f,-0.0075945379212498665f,-0.3187141418457031f,-0.2516406178474426f,0.012286126613616943f,0.2726706266403198f,-0.3966335654258728f,-0.13968390226364136f,-0.14732563495635986f,-0.0496971495449543f,-0.03776009753346443f,-0.24087269604206085f,0.06394801288843155f,-0.2768625319004059f,0.1040387749671936f,-0.19509759545326233f,-0.2569916546344757f,-0.031352698802948f,0.21324186027050018f,-0.19018572568893433f,-0.30967268347740173f,-0.23032434284687042f,0.1440102756023407f,-0.07090267539024353f,-0.23986908793449402f,-0.27214351296424866f,-0.22093108296394348f},
{-0.01348048448562622f,0.08233943581581116f,0.18838337063789368f,0.21852442622184753f,-0.04740855097770691f,0.19177213311195374f,-0.0060100555419921875f,0.20933791995048523f,0.06356173753738403f,0.063028484582901f,0.09440034627914429f,0.29559019207954407f,-0.2545689642429352f,-0.09652335941791534f,-0.2841038703918457f,-0.03553757071495056f,0.02329021692276001f,-0.08720272779464722f,-0.0750999003648758f,-0.10468094050884247f,-0.03761094808578491f,-0.030853450298309326f,0.2112145721912384f,0.2599640190601349f,-0.2969062626361847f,-0.13667742908000946f,0.24173608422279358f,0.09566575288772583f,0.021116197109222412f,-0.005982398986816406f,-0.26417285203933716f,0.1879688799381256f},
{-0.20768442749977112f,-0.17203155159950256f,0.0620841383934021f,-0.04785560816526413f,-0.09897751361131668f,-0.22745193541049957f,0.009043784812092781f,0.15261369943618774f,-0.21029016375541687f,0.2210421860218048f,-0.3253668248653412f,0.04599811136722565f,-0.16073621809482574f,-0.30910927057266235f,-0.3284757733345032f,-0.4673096537590027f,0.10771593451499939f,-0.3263266384601593f,-0.031224608421325684f,-0.2612304091453552f,0.12845292687416077f,-0.24405217170715332f,-0.22302524745464325f,0.10563395917415619f,-0.3808150887489319f,0.24485471844673157f,0.05545651540160179f,-0.16324345767498016f,0.17976179718971252f,-0.22928372025489807f,0.26136064529418945f,0.24002698063850403f},
{-0.09888127446174622f,-0.22750279307365417f,-0.22503364086151123f,-0.008032619953155518f,-0.012498408555984497f,-0.24329537153244019f,-0.07913157343864441f,0.08175003528594971f,-0.016126900911331177f,0.06972584128379822f,0.06827792525291443f,0.2120952308177948f,-0.031845152378082275f,-0.30540701746940613f,0.18349257111549377f,0.20412376523017883f,-0.09216172993183136f,0.04617339372634888f,-0.09483018517494202f,-0.06833663582801819f,-0.026390254497528076f,-0.28567367792129517f,-0.06047184765338898f,-0.28923499584198f,0.01265987753868103f,-0.2029699683189392f,0.29187360405921936f,-0.2903735339641571f,-0.16326025128364563f,0.11664235591888428f,-0.02675291895866394f,0.1267804503440857f},
};
const float h3[32][32] = {
{-0.2551194727420807f,-0.09101890027523041f,-0.039938222616910934f,-0.2297012358903885f,-0.04914749786257744f,-0.05839472636580467f,0.23563924431800842f,0.21467849612236023f,-0.14446713030338287f,0.034586966037750244f,-0.08393588662147522f,0.28293344378471375f,0.10058467835187912f,0.13426963984966278f,-0.2476848065853119f,0.13452908396720886f,0.033751994371414185f,0.2061004936695099f,0.004610735457390547f,-0.047270745038986206f,-0.06896747648715973f,-0.030367758125066757f,-0.1638459414243698f,0.044178664684295654f,0.1966625303030014f,-0.1258748173713684f,0.3543202579021454f,-0.16248615086078644f,0.08456003665924072f,0.2922307550907135f,-0.21407078206539154f,-0.119477279484272f},
{0.05588451027870178f,0.19731858372688293f,-0.055143773555755615f,0.030042022466659546f,-0.13887283205986023f,-0.1361943781375885f,-0.2855546772480011f,0.011247634887695312f,0.1085631251335144f,0.021339505910873413f,0.17599248886108398f,0.09762296080589294f,-0.05771490931510925f,-0.14660483598709106f,-0.21469902992248535f,0.03876742720603943f,-0.21865856647491455f,-0.12651903927326202f,0.22753819823265076f,-0.23926785588264465f,-0.14443452656269073f,0.06739777326583862f,0.14157342910766602f,0.049514561891555786f,-0.1251431256532669f,-0.25851932168006897f,0.0932874083518982f,0.2900666892528534f,-0.023782014846801758f,0.050485759973526f,0.09447437524795532f,0.0058679282665252686f},
{-0.2800689935684204f,-0.038760632276535034f,0.13974270224571228f,0.01585569977760315f,0.11945047974586487f,-0.19458696246147156f,0.11322265863418579f,0.25643888115882874f,-0.061097174882888794f,-0.07816044986248016f,-0.07445238530635834f,-0.22145158052444458f,-0.1081896424293518f,-0.09452249109745026f,0.16234496235847473f,0.1413259506225586f,-0.2648085951805115f,-0.054869145154953f,-0.05491623282432556f,0.17325228452682495f,0.23639705777168274f,0.0748760998249054f,-0.1324603259563446f,0.15828460454940796f,-0.22871175408363342f,-0.027338534593582153f,-0.06307074427604675f,0.13438841700553894f,0.13834497332572937f,0.1633671224117279f,0.259930282831192f,-0.21565306186676025f},
{0.2906629145145416f,0.16674396395683289f,-0.2048129439353943f,0.24708573520183563f,0.09334155172109604f,-0.05046384781599045f,-0.061309605836868286f,-0.17915479838848114f,-0.030297284945845604f,-0.044261813163757324f,-0.09506386518478394f,0.24970653653144836f,0.140608549118042f,0.07934696972370148f,0.22106656432151794f,-0.23978039622306824f,-0.28915077447891235f,0.030949801206588745f,-0.28344714641571045f,0.17508044838905334f,0.23260188102722168f,-0.02717127837240696f,-0.18165703117847443f,-0.2539325952529907f,0.2068878710269928f,-0.11024686694145203f,-0.11684871464967728f,-0.008553821593523026f,-0.21804101765155792f,-0.25852420926094055f,0.05653107166290283f,-0.012144584208726883f},
{0.07563930749893188f,-0.0864691436290741f,-0.25957009196281433f,0.14710086584091187f,-0.2755613625049591f,-0.0486634224653244f,-0.17751117050647736f,0.2470131814479828f,-0.3877350091934204f,-0.2740214169025421f,0.48606789112091064f,-0.24627932906150818f,-0.2334918975830078f,-0.08405673503875732f,0.06802645325660706f,-0.048776447772979736f,0.20131775736808777f,-0.017045116052031517f,0.1065007895231247f,0.1723131686449051f,-0.12130393087863922f,0.28655827045440674f,0.09938116371631622f,0.11342830955982208f,-0.12671566009521484f,0.12758469581604004f,0.2596653401851654f,-0.276505708694458f,0.17249789834022522f,-0.09959287941455841f,-0.07189898192882538f,-0.06464556604623795f},
{0.10931676626205444f,0.2396949827671051f,0.12925085425376892f,-0.031216295436024666f,-0.11903928220272064f,0.11186975240707397f,-0.0620582215487957f,0.04091137647628784f,-0.0005325245438143611f,-0.15699732303619385f,0.08972057700157166f,-0.21529507637023926f,-0.028432423248887062f,-0.12350860238075256f,0.2971965968608856f,0.25175121426582336f,-0.2889891266822815f,-0.13035915791988373f,0.15943540632724762f,0.034403007477521896f,0.0786113515496254f,-0.2286425083875656f,-0.01647675596177578f,0.27409639954566956f,-0.11409469693899155f,-0.18302330374717712f,0.051028646528720856f,-0.008777839131653309f,-0.27729424834251404f,-0.29547566175460815f,-0.25800079107284546f,0.21303775906562805f},
{-0.21155381202697754f,0.4169614017009735f,-0.149305060505867f,-0.13649512827396393f,-0.0040439944714307785f,0.16310036182403564f,-0.11482425779104233f,0.2226138561964035f,0.06895330548286438f,-1.709801435470581f,0.05974118411540985f,-0.25618287920951843f,-0.054692342877388f,-0.1533658504486084f,0.25543639063835144f,-0.1192857176065445f,-0.18917083740234375f,-0.019574562087655067f,-0.444706529378891f,-0.020779341459274292f,0.009562673978507519f,-0.11819368600845337f,0.05895781144499779f,-0.11636392772197723f,-0.2627762258052826f,-0.2910519242286682f,-0.22418221831321716f,-0.32023555040359497f,0.23576414585113525f,-0.09532724320888519f,0.26950082182884216f,0.11913502961397171f},
{-0.01093912124633789f,-0.23583689332008362f,0.26154714822769165f,0.3012233376502991f,0.14452683925628662f,-0.3326735496520996f,0.036741942167282104f,-0.0059101879596710205f,-0.18442028760910034f,-0.27182313799858093f,0.09319102764129639f,-0.08139897882938385f,0.259794145822525f,-0.08187927305698395f,0.0685860812664032f,-0.29903873801231384f,0.1317853033542633f,0.20550194382667542f,-0.06596825271844864f,-0.2777772843837738f,0.30158787965774536f,0.055962659418582916f,0.09796766936779022f,0.131951704621315f,-0.030015112832188606f,0.23886635899543762f,-0.21418654918670654f,0.20126910507678986f,0.28547611832618713f,0.17161712050437927f,-0.017215043306350708f,0.0029450233560055494f},
{-0.20420776307582855f,0.1970202624797821f,0.23591408133506775f,-0.282694011926651f,0.09019026160240173f,0.20012763142585754f,0.028453975915908813f,0.23323127627372742f,0.15246456861495972f,-0.1270071268081665f,0.20025727152824402f,0.13077861070632935f,-0.2238168716430664f,-0.20709244906902313f,-0.0045506954193115234f,-0.16448761522769928f,0.28163614869117737f,0.1971360743045807f,0.30405697226524353f,-0.28959211707115173f,-0.2255709171295166f,0.15360668301582336f,0.24163606762886047f,0.19554737210273743f,-0.1804599016904831f,0.07604315876960754f,-0.1459394246339798f,-0.14081311225891113f,-0.29656586050987244f,0.19529584050178528f,-0.05168652534484863f,-0.03415781259536743f},
{0.27550336718559265f,-0.14170598983764648f,-0.21542268991470337f,-0.2159879207611084f,0.06500789523124695f,-0.21155211329460144f,-0.01575431227684021f,0.0617731511592865f,0.13126209378242493f,-0.04922589659690857f,-0.23877641558647156f,-0.06292802095413208f,0.01433342695236206f,0.14592674374580383f,-0.23886999487876892f,0.08878573775291443f,0.1853090226650238f,-0.05102238059043884f,-0.13667166233062744f,-0.24401302635669708f,0.25155118107795715f,-0.20339438319206238f,0.03535670042037964f,0.048473477363586426f,-0.13871997594833374f,-0.15382859110832214f,-0.13837768137454987f,0.26085415482521057f,0.2491457164287567f,0.157204270362854f,0.14108964800834656f,0.12518465518951416f},
{-0.023678362369537354f,0.3512638509273529f,-0.14722158014774323f,-0.0392800010740757f,0.0885668620467186f,0.0946878045797348f,0.022257043048739433f,0.1716238558292389f,-0.11324318498373032f,0.10974260419607162f,-0.08888526260852814f,-0.06168833374977112f,-0.21815425157546997f,-0.14588837325572968f,0.080221027135849f,-0.2471318244934082f,0.026521950960159302f,0.25768426060676575f,0.29860830307006836f,-0.22593867778778076f,-0.2529640793800354f,0.002077224664390087f,0.2273881733417511f,0.4108573794364929f,0.15727099776268005f,-0.25962090492248535f,-0.008949966169893742f,0.09106230735778809f,0.21897625923156738f,-0.2912617325782776f,-0.28352323174476624f,-0.4088878631591797f},
{0.2680447995662689f,0.001469396986067295f,-0.32541656494140625f,-0.18059521913528442f,0.04238729178905487f,0.11937148123979568f,0.16909809410572052f,-0.2018170952796936f,0.2060541808605194f,0.06578544527292252f,-0.27351343631744385f,0.2547462284564972f,0.28375518321990967f,0.032859668135643005f,0.23152390122413635f,-0.07731422781944275f,0.21101722121238708f,-0.1683351695537567f,-0.08190501481294632f,-0.27668556571006775f,-0.15859590470790863f,0.20617720484733582f,-0.21622483432292938f,0.1618170440196991f,-0.2548491060733795f,0.18312275409698486f,-0.25461483001708984f,0.20886272192001343f,0.12076901644468307f,-0.1739533692598343f,-0.2773703932762146f,-0.6688722372055054f},
{0.10771462321281433f,0.08408418297767639f,-0.1647956818342209f,-0.00161704421043396f,0.10816431045532227f,0.13259877264499664f,-0.2502448558807373f,-0.05063694715499878f,-0.28954532742500305f,-0.11501708626747131f,0.24353471398353577f,0.11519002914428711f,-0.1879904866218567f,-0.026675879955291748f,-0.0055807530879974365f,0.05870962142944336f,-0.0561012327671051f,-0.1419317126274109f,-0.20300637185573578f,-0.027777740731835365f,-0.17170509696006775f,-0.3093981444835663f,0.2986377775669098f,-0.24229218065738678f,-0.19906556606292725f,-0.03866580128669739f,0.09892630577087402f,0.22604267299175262f,0.08111580461263657f,0.024399906396865845f,-0.264041006565094f,-0.037910252809524536f},
{0.07240793108940125f,0.2968745231628418f,0.12581734359264374f,0.14544308185577393f,-0.001873494009487331f,0.18561306595802307f,0.2231290191411972f,-0.11358203738927841f,0.03846980631351471f,-0.5061792135238647f,-0.056825198233127594f,0.030263751745224f,-0.25552064180374146f,0.12521019577980042f,0.13272255659103394f,-0.0684008002281189f,-0.13351139426231384f,0.21587422490119934f,-0.11616086214780807f,0.09435359388589859f,-0.1967686414718628f,0.14476516842842102f,0.2166706919670105f,0.28145694732666016f,0.20255109667778015f,-0.1976800560951233f,-0.1519756019115448f,0.16283585131168365f,-0.08575978130102158f,-0.29330405592918396f,0.004574976861476898f,-0.07021577656269073f},
{-0.27890223264694214f,0.026230525225400925f,0.1517297923564911f,0.19112101197242737f,-0.789542555809021f,-0.16985057294368744f,-0.2505151033401489f,-0.2674597501754761f,-0.23863942921161652f,0.41558414697647095f,-0.4467531740665436f,0.04456409811973572f,0.05523297190666199f,0.0029259631410241127f,-0.02410009503364563f,0.10129088163375854f,0.22686699032783508f,-0.30486053228378296f,-0.2911565601825714f,-0.406606525182724f,-0.10204439610242844f,-0.16477997601032257f,-0.26734399795532227f,0.14678052067756653f,-0.0916958674788475f,-0.025903940200805664f,-0.111304871737957f,0.2614813446998596f,0.14481788873672485f,0.06508117914199829f,0.02118399739265442f,-0.250347763299942f},
{0.3047083914279938f,-0.3829544484615326f,-0.09393081814050674f,-0.32120004296302795f,-0.7049156427383423f,0.30046454071998596f,0.04369795322418213f,-0.2643950879573822f,-0.32492223381996155f,-0.06434918940067291f,-0.16104383766651154f,0.038040339946746826f,0.11545597016811371f,0.1038844883441925f,0.062144935131073f,-0.28920799493789673f,0.03473195433616638f,-0.03177381306886673f,0.8106175065040588f,0.6032338738441467f,-0.24128633737564087f,0.35133063793182373f,0.2712000906467438f,0.3239062428474426f,0.030129436403512955f,-0.031148135662078857f,-0.44779321551322937f,-0.034113068133592606f,0.2235644906759262f,0.017086774110794067f,-0.18175730109214783f,0.003414738457649946f},
{-0.06136500835418701f,-0.11579577624797821f,-0.23311558365821838f,-0.020844489336013794f,0.161813884973526f,0.22929790616035461f,0.11958792805671692f,-0.0384809672832489f,-0.10647237300872803f,-0.09010881185531616f,0.22322741150856018f,-0.1071339100599289f,0.05349445343017578f,-0.23458370566368103f,0.040097206830978394f,0.08616101741790771f,-0.15468145906925201f,-0.21275553107261658f,-0.21210846304893494f,-0.23840199410915375f,0.12352427840232849f,0.282552570104599f,0.14114680886268616f,0.09007054567337036f,-0.05948364734649658f,0.12031787633895874f,-0.184563547372818f,0.07786750793457031f,-0.2169322669506073f,-0.24735762178897858f,-0.0892629474401474f,-0.11765947937965393f},
{0.1169951856136322f,0.22583343088626862f,-0.0623902790248394f,-0.21188730001449585f,0.35504016280174255f,0.1675981730222702f,0.25662973523139954f,0.2666439712047577f,0.016538159921765327f,0.03567033261060715f,-0.6564634442329407f,0.02602824568748474f,0.02023410052061081f,-0.08262813836336136f,0.10762849450111389f,0.06951633095741272f,0.0639207661151886f,0.2458573281764984f,0.5492554306983948f,0.20780347287654877f,-0.47689104080200195f,-0.010499079711735249f,0.1945638209581375f,-0.21918198466300964f,-0.12797842919826508f,0.012219250202178955f,-0.0719306692481041f,-0.21069641411304474f,-0.24534004926681519f,-0.29393887519836426f,-0.08237382769584656f,-0.07659900933504105f},
{-0.16101892292499542f,-2.6252098083496094f,0.16429387032985687f,0.15439511835575104f,-0.22270971536636353f,-0.1778838187456131f,0.10244748741388321f,-0.17396175861358643f,0.09173326194286346f,-0.2543085217475891f,-0.02308499999344349f,-0.04377517104148865f,-0.18632613122463226f,-0.014269514009356499f,-0.2592318058013916f,0.1978430449962616f,0.18047624826431274f,0.25547152757644653f,-0.3583325445652008f,-0.31760597229003906f,-0.34371933341026306f,0.14292629063129425f,0.35391759872436523f,-0.09581347554922104f,-0.04283968731760979f,-0.28873488306999207f,-0.0847386047244072f,0.13971801102161407f,0.23944589495658875f,0.18439257144927979f,0.14335589110851288f,0.29589322209358215f},
{0.261911004781723f,-0.19572317600250244f,-0.3139093816280365f,-0.07572512328624725f,-1.4491221904754639f,0.13928867876529694f,-0.09386739134788513f,-0.05591337010264397f,-0.4786756634712219f,-0.3477703630924225f,0.005039088893681765f,-0.2924177646636963f,0.06799451261758804f,-0.08486802875995636f,-0.20773646235466003f,-0.10781967639923096f,-0.15712574124336243f,0.16112294793128967f,0.27851009368896484f,0.2133936733007431f,-0.11231138557195663f,0.17959244549274445f,-1.9806863069534302f,0.31922289729118347f,0.22832639515399933f,0.0025720298290252686f,-1.1841254234313965f,-0.3099982440471649f,0.12816743552684784f,0.21125611662864685f,-0.05751854181289673f,-2.9703240394592285f},
{0.14277681708335876f,-0.22795183956623077f,0.047815486788749695f,-0.22286657989025116f,-0.15775664150714874f,0.041207365691661835f,0.1075698733329773f,-0.27022814750671387f,-0.19193708896636963f,-0.08106427639722824f,-0.7710232734680176f,0.18551066517829895f,0.16216030716896057f,0.09001287072896957f,-0.03100520372390747f,-0.2484396994113922f,0.06366744637489319f,-0.3076874017715454f,0.3138425350189209f,-0.595535933971405f,-0.5645818114280701f,0.2592972218990326f,0.3755412995815277f,0.4382358491420746f,-0.10754720866680145f,-0.19159743189811707f,0.16949352622032166f,-0.36919495463371277f,-0.5071529150009155f,-0.10488687455654144f,-0.24558058381080627f,0.14848382771015167f},
{0.29069945216178894f,-0.1806652545928955f,0.019009560346603394f,-0.28619009256362915f,0.09075364470481873f,-0.19120927155017853f,0.045349299907684326f,-0.17138783633708954f,-0.17037051916122437f,0.028545528650283813f,-0.16238126158714294f,-0.15074089169502258f,-0.09016353636980057f,-0.23803044855594635f,0.09875330328941345f,0.08164769411087036f,0.2294725477695465f,0.10683679580688477f,-0.26258087158203125f,-0.10248091071844101f,0.16431908309459686f,0.27430880069732666f,0.13898101449012756f,-0.16844238340854645f,0.3061029314994812f,0.023651927709579468f,-0.2052852213382721f,0.21941810846328735f,0.11974992603063583f,0.19045329093933105f,0.02994692325592041f,-0.25522705912590027f},
{0.1991647183895111f,0.12534403800964355f,-0.04112154245376587f,0.23123982548713684f,-0.17588619887828827f,-0.302817702293396f,-0.1610087752342224f,-0.031804412603378296f,0.10274738073348999f,-0.25018924474716187f,0.15975651144981384f,-0.057292819023132324f,0.1464652419090271f,0.08016204833984375f,0.2151305377483368f,0.2952744662761688f,-0.21319252252578735f,0.04970458149909973f,0.10210192203521729f,0.3050673305988312f,0.21167120337486267f,-0.15151944756507874f,0.13887640833854675f,0.25299301743507385f,-0.11117732524871826f,-0.07015113532543182f,-0.287551611661911f,-0.025779157876968384f,-0.07337476313114166f,-0.24420931935310364f,0.015819430351257324f,-0.10595546662807465f},
{0.12202468514442444f,0.11307132244110107f,-0.1393485814332962f,-0.35166671872138977f,0.14782434701919556f,0.10332854837179184f,-0.08385257422924042f,-0.12613117694854736f,0.2619711458683014f,-0.3288128674030304f,-0.06917986273765564f,-0.11160935461521149f,-0.13613487780094147f,-0.16888540983200073f,-0.06735922396183014f,0.05864924192428589f,-0.25733181834220886f,-0.20564723014831543f,0.0336795374751091f,-0.080560602247715f,-0.2635331451892853f,0.20034900307655334f,0.1359344720840454f,0.07558305561542511f,0.25859907269477844f,0.1795230209827423f,0.14820072054862976f,-0.00910326186567545f,-0.17337296903133392f,0.2425754964351654f,-0.22172409296035767f,-0.04560137912631035f},
{-0.3055141270160675f,-0.13576149940490723f,-0.007098792120814323f,-0.22958824038505554f,-0.16869203746318817f,-0.07209712266921997f,0.06344843655824661f,0.1868957281112671f,0.10014556348323822f,-0.26565518975257874f,-0.4981679916381836f,-0.004238337278366089f,0.05754581838846207f,0.043803781270980835f,-0.023131370544433594f,0.036719828844070435f,0.16260939836502075f,0.021452900022268295f,-0.6414809226989746f,-0.33981701731681824f,-0.05313646048307419f,-0.10980580002069473f,0.3931199312210083f,0.14811202883720398f,0.10450282692909241f,-0.02825927734375f,-0.07055894285440445f,-0.243629589676857f,0.05514201894402504f,0.1865309774875641f,0.22191277146339417f,-0.23279036581516266f},
{0.1782623827457428f,0.17329983413219452f,-0.36183589696884155f,-0.13699603080749512f,0.21084707975387573f,0.22825263440608978f,-0.32466426491737366f,0.12530909478664398f,0.2008134126663208f,0.2332226037979126f,-0.33608919382095337f,-0.22968843579292297f,-0.024968745186924934f,0.019941013306379318f,-0.2527656555175781f,-0.3049176335334778f,0.032145023345947266f,-0.2847839891910553f,0.22066818177700043f,-0.2139289677143097f,-0.14646612107753754f,0.08866468816995621f,0.33709555864334106f,0.17495237290859222f,-0.23284006118774414f,0.10029953718185425f,0.2192709743976593f,0.25868454575538635f,-0.332850843667984f,0.1616479754447937f,-0.21182864904403687f,-0.0555347241461277f},
{-0.17396044731140137f,-0.0057539851404726505f,-0.17574112117290497f,-0.006718873977661133f,0.040587734431028366f,-0.13487496972084045f,-0.1976376324892044f,-0.18956288695335388f,-0.3795906603336334f,-0.2926933467388153f,0.12965916097164154f,-0.1146831065416336f,0.21467310190200806f,0.2603026330471039f,-0.19851773977279663f,-0.10762731730937958f,0.14198419451713562f,0.07217786461114883f,0.051015544682741165f,-0.062494050711393356f,-0.29993119835853577f,-0.07717446982860565f,0.36891332268714905f,-0.12070614844560623f,0.27586397528648376f,-0.2665709853172302f,0.27776476740837097f,0.1593986302614212f,-0.0717584639787674f,-0.1200934648513794f,-0.07223458588123322f,-0.16176432371139526f},
{-0.12546227872371674f,-0.0935664176940918f,-0.13015469908714294f,0.0722120925784111f,-0.008691729046404362f,-0.2522052824497223f,-0.28310835361480713f,-0.043121352791786194f,-0.11268676072359085f,-0.7503910660743713f,-0.19499319791793823f,0.046816736459732056f,-0.12017074227333069f,-0.12375825643539429f,-0.0649729073047638f,0.2468220293521881f,0.060016900300979614f,-0.16779978573322296f,-0.19017599523067474f,-0.13085618615150452f,-0.41277334094047546f,0.07795637100934982f,-0.4315490424633026f,0.20171600580215454f,-0.07085483521223068f,0.020356476306915283f,-0.10943791270256042f,0.1812962293624878f,0.16904227435588837f,-7.510185241699219e-06f,0.094448983669281f,-0.7701192498207092f},
{0.07555973529815674f,-0.0029259920120239258f,-0.08789914846420288f,0.06678077578544617f,-0.11083845794200897f,0.11010000109672546f,-0.14982634782791138f,0.12075316905975342f,-0.2766430675983429f,0.013024389743804932f,0.18159812688827515f,-0.20200279355049133f,0.2637675702571869f,-0.1856893002986908f,0.2882818281650543f,0.05304515361785889f,-0.15297894179821014f,0.07341468334197998f,0.05268138647079468f,0.1067940890789032f,-0.2661813795566559f,-0.2009473443031311f,0.1843600869178772f,0.2517976462841034f,-0.07343396544456482f,-0.051110416650772095f,-0.23432010412216187f,0.16746872663497925f,-0.2205146849155426f,-0.017525076866149902f,0.20926335453987122f,-0.2141496241092682f},
{0.06582912802696228f,0.2796666920185089f,-0.2556927502155304f,0.0023079216480255127f,0.2043982446193695f,0.13894453644752502f,0.06556430459022522f,0.29767414927482605f,0.24966773390769958f,-0.16670267283916473f,-0.1203770637512207f,-0.06570860743522644f,-0.015925198793411255f,0.17675906419754028f,-0.014884740114212036f,-0.05300724506378174f,0.26490333676338196f,0.15243005752563477f,-0.07319167256355286f,0.2353842556476593f,0.23596063256263733f,0.1602974534034729f,-0.04174882173538208f,-0.11559568345546722f,-0.06235519051551819f,0.21069613099098206f,-0.19532959163188934f,-0.2486409693956375f,0.032513976097106934f,-0.2712400257587433f,-0.19435247778892517f,-0.23200613260269165f},
{-0.1299392580986023f,-0.06208275258541107f,-0.18067686259746552f,0.03896602615714073f,-0.1559528261423111f,-0.14272382855415344f,-0.19175797700881958f,0.02903696894645691f,-0.21793057024478912f,0.016345679759979248f,-0.24767392873764038f,0.2033931314945221f,-0.2574335038661957f,0.011410274542868137f,0.13206014037132263f,0.15829482674598694f,-0.21012049913406372f,0.2088232934474945f,0.12396217882633209f,-0.17956478893756866f,0.32670894265174866f,-0.021142370998859406f,-0.1977243274450302f,-0.025072306394577026f,0.1991090476512909f,-0.007939159870147705f,-0.15539970993995667f,0.19354887306690216f,0.1298319399356842f,0.18135693669319153f,-0.008151531219482422f,0.23252393305301666f},
{0.07638216018676758f,0.10178792476654053f,-0.3632030189037323f,-0.235545814037323f,0.09491447359323502f,0.007485899608582258f,0.16700564324855804f,-0.25668495893478394f,0.026961220428347588f,0.30681201815605164f,0.036471329629421234f,0.02524423599243164f,-0.10277769714593887f,0.22266533970832825f,-0.029521822929382324f,-0.19500072300434113f,0.06506577134132385f,-0.042979199439287186f,0.38466188311576843f,0.28802499175071716f,0.25258976221084595f,-0.025679901242256165f,-0.13952423632144928f,-0.4421646296977997f,0.20129328966140747f,0.1901901364326477f,-0.14958564937114716f,-0.07797150313854218f,-1.3495779037475586f,0.22636333107948303f,-0.28991997241973877f,0.19003361463546753f},
};
const float hout[32] = { 0.3285340666770935f,0.2312968373298645f,-0.1630605310201645f,-0.052534740418195724f,-0.10057443380355835f,0.2961001396179199f,0.017061835154891014f,0.10350137203931808f,-0.07044677436351776f,-0.6716802716255188f,0.1657922863960266f,-0.19491273164749146f,-0.09723297506570816f,0.11400538682937622f,0.2356991171836853f,-0.1462659239768982f,0.09851181507110596f,-0.18661867082118988f,-0.20936886966228485f,-0.06724883615970612f,-0.012077437713742256f,0.13819065690040588f,-0.36261582374572754f,-0.1528124064207077f,0.21429504454135895f,0.2520971894264221f,-0.25227150321006775f,-0.31772324442863464f,0.180665984749794f,-0.3257754445075989f,-0.39810308814048767f,-0.2707440257072449f };
const float b1[32] = { 0.41725802421569824f,0.677618682384491f,-1.7145336866378784f,0.4289698898792267f,1.0923852920532227f,0.6965276002883911f,-0.33025991916656494f,0.911361813545227f,0.5523963570594788f,-0.9239171743392944f,0.5504469275474548f,1.4532619714736938f,-0.3425353467464447f,-0.9522353410720825f,-1.087764859199524f,1.1365444660186768f,0.6634984612464905f,0.07243652641773224f,0.34714072942733765f,0.4831358790397644f,-0.284685879945755f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,1.5655348300933838f,-2.0880801677703857f,-1.0489267110824585f,0.6718418598175049f,0.3125588893890381f,-1.0887231826782227f,1.4772096872329712f,-0.44261544942855835f };
const float b2[32] = { -0.1328246146440506f,-0.7642630338668823f,-1.4564176797866821f,-0.5193768739700317f,-0.770237147808075f,0.2291887253522873f,0.42305076122283936f,-0.330333411693573f,-1.200630784034729f,-1.912178635597229f,0.3195040225982666f,0.6411747336387634f,-0.12948329746723175f,2.127977132797241f,0.03474299982190132f,1.0651566982269287f,-1.798204779624939f,-1.6275829076766968f,0.24063049256801605f,-0.33282727003097534f,0.15034039318561554f,0.3341216742992401f,0.09335067123174667f,-1.0914796590805054f,1.1630909442901611f,1.3906062841415405f,0.9115413427352905f,-0.08930502086877823f,-0.6323830485343933f,-0.4208582937717438f,-1.2135889530181885f,-1.3041324615478516f };
const float b3[32] = { -1.963319182395935f,-0.24137775599956512f,0.16939261555671692f,-0.010520849376916885f,0.16716189682483673f,0.8664999008178711f,-0.5060869455337524f,-0.675765335559845f,0.4948726296424866f,0.49107488989830017f,-0.3517422378063202f,0.050810977816581726f,-0.5689442157745361f,0.5305911302566528f,-1.1428403854370117f,-0.3598397970199585f,-1.3594286441802979f,-1.0502030849456787f,-0.22544679045677185f,0.391804963350296f,1.3067524433135986f,1.170665979385376f,-0.7901832461357117f,-0.7575708627700806f,0.7138406038284302f,-0.36519986391067505f,-0.0393984317779541f,0.7097650170326233f,0.27854597568511963f,-2.3236680030822754f,0.025814389809966087f,0.9480384588241577f };
const float bout[1] = { -0.28343671560287476f };
int main()
{
HAL_Init();
SystemClock_Config();
/*********************************
*** Initialization
*********************************/
LED = 1;
pc.baud(9600);
// i2c init
i2c.frequency(400 * 1000); // 0.4 mHz
wait_ms(2); // Power Up wait
look_for_hardware_i2c(); // Hardware present
init_as5510(i2c_slave_addr1);
make_delay();
// // spi init
//eeprom.format(8,3);
//eeprom.frequency(5000000); //5M
enc.format(8,0);
enc.frequency(5000000); //5M
make_delay();
//rom
ROM_CALL_DATA();
make_delay();
// ADC init
Init_ADC();
make_delay();
// Pwm init
Init_PWM();
TIM4->CR1 ^= TIM_CR1_UDIS;
make_delay();
// TMR3 init
Init_TMR3();
TIM3->CR1 ^= TIM_CR1_UDIS;
make_delay();
// TMR2 init
// Init_TMR2();
// TIM2->CR1 ^= TIM_CR1_UDIS;
// make_delay();
// CAN
can.attach(&CAN_RX_HANDLER);
CAN_ID_INIT();
make_delay();
//Timer priority
NVIC_SetPriority(TIM3_IRQn, 2);
//NVIC_SetPriority(TIM2_IRQn, 3);
NVIC_SetPriority(TIM4_IRQn, 3);
//can.reset();
can.filter(msg.id, 0xFFFFF000, CANStandard);
// spi _ enc
spi_enc_set_init();
make_delay();
//DAC init
if (SENSING_MODE == 0) {
dac_1 = TORQUE_VREF / 3.3f;
dac_2 = 0.0f;
} else if (SENSING_MODE == 1) {
dac_1 = PRES_A_VREF / 3.3f;
dac_2 = PRES_B_VREF / 3.3f;
}
make_delay();
for (int i=0; i<50; i++) {
if(i%2==0)
ID_index_array[i] = - i * 0.5f;
else
ID_index_array[i] = (i+1) * 0.5f;
}
/************************************
*** Program is operating!
*************************************/
while(1) {
// if(timer_while==1000 && OPERATING_MODE==5) {
//if(timer_while==1000) {
//i2c
read_field(i2c_slave_addr1);
if(DIR_VALVE_ENC < 0) value = 1023 - value;
// if(LED==1) {
// LED=0;
// } else
// LED = 1;
timer_while = 0;
//}
timer_while ++;
if(NN_Control_Flag == 1) {
float output1[32] = { 0.0f };
float output2[32] = { 0.0f };
float output3[32] = { 0.0f };
float output = 0.0f;
for (int index2 = 0; index2 < 32; index2++) {
for (int index1 = 0; index1 < 22; index1++) {
output1[index2] = output1[index2]
+ h1[index1][index2] * input[index1];
}
output1[index2] = output1[index2] + b1[index2];
if (output1[index2] < 0) {
output1[index2] = 0;
}
}
for (int index2 = 0; index2 < 32; index2++) {
for (int index1 = 0; index1 < 32; index1++) {
output2[index2] = output2[index2]
+ h2[index1][index2] * output1[index1];
}
output2[index2] = output2[index2] + b2[index2];
if (output2[index2] < 0) {
output2[index2] = 0;
}
}
for (int index2 = 0; index2 < 32; index2++) {
for (int index1 = 0; index1 < 32; index1++) {
output3[index2] = output3[index2]
+ h3[index1][index2] * output2[index1];
}
output3[index2] = output3[index2] + b3[index2];
if (output3[index2] < 0) {
output3[index2] = 0;
}
}
for (int index2 = 0; index2 < 1; index2++) {
for (int index1 = 0; index1 < 32; index1++) {
output = output + hout[index2] * output3[index1];
}
output = output + bout[index2];
output = 1.0f/(1.0f+exp(-output));
}
output = output * 24000.0f - 12000.0f;
if(output>=0) {
valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
} else {
valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
}
}
if(LED==1) {
LED=0;
} else
LED = 1;
}
}
float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
{
int i = 0;
float Ref_Valve_Pos_FF = 0.0f;
for(i=0; i<VALVE_POS_NUM; i++) {
if(REF_JOINT_VEL >= min(JOINT_VEL[i],JOINT_VEL[i+1]) && REF_JOINT_VEL <= max(JOINT_VEL[i],JOINT_VEL[i+1])) {
if(i==0) {
if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Ref_Valve_Pos_FF = (float) VALVE_CENTER;
} else {
Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER;
}
} else {
if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Ref_Valve_Pos_FF = (float) VALVE_CENTER;
} else {
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]);
}
}
break;
}
}
if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
} else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
}
Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
return Ref_Valve_Pos_FF;
}
void VALVE_POS_CONTROL(float REF_VALVE_POS)
{
int i = 0;
if(REF_VALVE_POS > VALVE_MAX_POS) {
REF_VALVE_POS = VALVE_MAX_POS;
} else if(REF_VALVE_POS < VALVE_MIN_POS) {
REF_VALVE_POS = VALVE_MIN_POS;
}
valve_pos_err = REF_VALVE_POS - value;
valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
valve_pos_err_old = valve_pos_err;
valve_pos_err_sum += valve_pos_err;
if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
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;
for(i=0; i<24; i++) {
if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
if(i==0) {
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]);
} else {
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];
}
break;
}
}
Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
}
#define LT_MAX_IDX 57
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,
-19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
-9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
}; // duty
float LT_Voltage_Output[LT_MAX_IDX] = {-321.4f, -291.3f, -261.5f, -246.8f, -231.7f, -223.9f, -216.1f, -207.9f, -198.8f,
-196.9f, -195.0f, -192.5f, -188.8f, -184.5f, -180.2f, -175.9f, -171.5f, -166.3f, -161.0f,
-156.0f, -149.5f, -139.0f, -126.0f, -107.0f, -87.5f, -64.0f, -38.5f, -9.4f, 0.0f,
12.0f, 43.5f, 69.0f, 94.0f, 114.0f, 132.0f, 146.0f, 155.5f, 162.3f, 168.2f,
173.1f, 178.2f, 182.8f, 187.4f, 191.8f, 196.0f, 199.7f, 201.9f, 203.8f, 205.6f,
214.6f, 222.5f, 230.4f, 238.2f, 253.3f, 268.0f, 297.6f, 327.7f
}; // mV
float PWM_duty_byLT(float Ref_V)
{
float PWM_duty = 0.0f;
if(Ref_V<LT_Voltage_Output[0]) {
PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
} else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
} else {
int idx = 0;
for(idx=0; idx<LT_MAX_IDX-1; idx++) {
float ini_x = LT_Voltage_Output[idx];
float fin_x = LT_Voltage_Output[idx+1];
float ini_y = LT_PWM_duty[idx];
float fin_y = LT_PWM_duty[idx+1];
if(Ref_V>=ini_x && Ref_V<fin_x) {
PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
break;
}
}
}
return PWM_duty;
}
/*******************************************************************************
TIMER INTERRUPT
*******************************************************************************/
float FREQ_TMR4 = (float)FREQ_20k;
float DT_TMR4 = (float)DT_20k;
long CNT_TMR4 = 0;
int TMR4_FREQ_10k = (int)FREQ_10k;
extern "C" void TIM4_IRQHandler(void)
{
if (TIM4->SR & TIM_SR_UIF ) {
/*******************************************************
*** Sensor Read & Data Handling
********************************************************/
//Encoder
if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
ENC_UPDATE();
}
// for(int i=0; i<10; i++){
// position_array[i] = position_array[i+1];
// }
// position_array[10] = (pos.ref/(float)(ENC_PULSE_PER_POSITION)+10.0f)/90.0f;
//
// for(int i=0; i<5; i++){
// input_array[i] = position_array[2*i+2] - (pos.ref/(float)(ENC_PULSE_PER_POSITION)+10.0f)/90.0f;
// }
ADC1->CR2 |= 0x40000000;
if (SENSING_MODE == 0) {
// Torque Sensing (0~210)bar =============================================
float pres_A_new = (((float) ADC1->DR) - 2047.5f);
double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
torq.sen = pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
} else if (SENSING_MODE == 1) {
// Pressure Sensing (0~210)bar =============================================
float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm
} else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N
}
}
// //Pressure sensor A
// ADC1->CR2 |= 0x40000000; // adc _ 12bit
// //while((ADC1->SR & 0b10));
// float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
// float pres_A_new = ((float)ADC1->DR);
// pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
// 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.
//
//
// //Pressure sensor B
// float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
// float pres_B_new = ((float)ADC2->DR);
// pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
// //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
//Current
//ADC3->CR2 |= 0x40000000; // adc _ 12bit
//int raw_cur = ADC3->DR;
//while((ADC3->SR & 0b10));
float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
//cur.sen = raw_cur;
CNT_TMR4++;
}
TIM4->SR = 0x0; // reset the status register
}
int j =0;
float FREQ_TMR3 = (float)FREQ_5k;
float DT_TMR3 = (float)DT_5k;
int cnt_trans = 0;
double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
int can_rest =0;
extern "C" void TIM3_IRQHandler(void)
{
if (TIM3->SR & TIM_SR_UIF ) {
if (((OPERATING_MODE&0b110)>>1) == 0) {
K_v = 0.4f; // Moog (LPM >> mA) , 100bar
mV_PER_mA = 500.0f; // 5000mV/10mA
mV_PER_pulse = 0.5f; // 5000mV/10000pulse
mA_PER_pulse = 0.001f; // 10mA/10000pulse
} else if (((OPERATING_MODE&0b110)>>1) == 1) {
K_v = 0.5f; // KNR (LPM >> mA) , 100bar
mV_PER_mA = 166.6666f; // 5000mV/30mA
mV_PER_pulse = 0.5f; // 5000mV/10000pulse
mA_PER_pulse = 0.003f; // 30mA/10000pulse
}
if(MODE_POS_FT_TRANS == 1) {
alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
cnt_trans++;
torq.err_sum = 0;
if((float)cnt_trans * DT_TMR3 > 3.0f)
MODE_POS_FT_TRANS = 2;
} else if(MODE_POS_FT_TRANS == 3) {
alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
cnt_trans++;
torq.err_sum = 0;
if((float) cnt_trans * DT_TMR3 > 3.0f )
MODE_POS_FT_TRANS = 0;
} else if(MODE_POS_FT_TRANS == 2) {
alpha_trans = 1.0f;
cnt_trans = 0;
} else {
alpha_trans = 0.0f;
cnt_trans = 0;
}
int UTILITY_MODE = 0;
int CONTROL_MODE = 0;
if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
UTILITY_MODE = CONTROL_UTILITY_MODE;
CONTROL_MODE = MODE_NO_ACT;
} else {
CONTROL_MODE = CONTROL_UTILITY_MODE;
UTILITY_MODE = MODE_NO_ACT;
}
// UTILITY MODE ------------------------------------------------------------
switch (UTILITY_MODE) {
case MODE_NO_ACT: {
break;
}
case MODE_TORQUE_SENSOR_NULLING: {
// DAC Voltage reference set
if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
CUR_TORQUE_sum += torq.sen;
if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
CUR_TORQUE_sum = 0;
TORQUE_VREF += 0.0003f * (0.0f - CUR_TORQUE_mean);
if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
//spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
dac_1 = TORQUE_VREF / 3.3f;
}
} else {
CONTROL_UTILITY_MODE = MODE_NO_ACT;
TMR3_COUNT_TORQUE_NULL = 0;
CUR_TORQUE_sum = 0;
CUR_TORQUE_mean = 0;
ROM_RESET_DATA();
dac_1 = TORQUE_VREF / 3.3f;
}
TMR3_COUNT_TORQUE_NULL++;
break;
}
// case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
// if (TMR3_COUNT_DEADZONE == 0) {
// if (pos_plus_end == pos_minus_end) need_enc_init = true;
// else temp_time = 0;
// }
// if (need_enc_init) {
// if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
// pos_plus_end = pos.sen;
// } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
// pos_minus_end = pos.sen;
// } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
// temp_time = TMR_FREQ_5k;
// }
//
// if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
// V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
// VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
//
// } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
// V_out = 0;
// CUR_VELOCITY_sum += CUR_VELOCITY;
// } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
// if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
// else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
// else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
// else DZ_temp_cnt2 = DZ_end;
// CUR_VELOCITY_sum = 0;
// } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
// if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
//
// // Position of Dead Zone
// // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
// // | / | / |/
// // | ______/ ___|___/ ______/|
// // |/ / | / |
// // /| / | / |
// // 0V 0V 0V
//
// if (DZ_temp_cnt2 < DZ_end) {
// if (TMR3_COUNT_DEADZONE % 20 != 0) {
// CUR_VELOCITY_sum += CUR_VELOCITY;
// } else {
// V_out -= DZ_dir;
// if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
// CUR_VELOCITY_sum = 0;
// }
// if (DZ_temp_cnt == 5) {
// if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
// else VALVE_DEADZONE_PLUS = (int16_t) V_out;
// DZ_dir = -DZ_dir;
// DZ_temp_cnt = 0;
// DZ_temp_cnt2++;
// }
// } else {
// TMR3_COUNT_DEADZONE = -1;
// VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
// if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
// VALVE_DEADZONE_PLUS = VALVE_CENTER;
// VALVE_DEADZONE_MINUS = VALVE_CENTER;
// }
// V_out = 0;
//
// ROM_RESET_DATA();
//
// //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
// //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
//
// CONTROL_MODE = MODE_NO_ACT;
// DZ_temp_cnt2 = 0;
// }
// }
// TMR3_COUNT_DEADZONE++;
// break;
// }
case MODE_FIND_HOME: {
if (FINDHOME_STAGE == FINDHOME_INIT) {
cnt_findhome = 0;
cnt_vel_findhome = 0;
//REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
pos.ref = pos.sen;
vel.ref = 0.0f;
FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
} else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
int cnt_check_enc = (TMR_FREQ_5k/500);
if(cnt_findhome%cnt_check_enc == 0) {
FINDHOME_POSITION = pos.sen;
FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
FINDHOME_POSITION_OLD = FINDHOME_POSITION;
}
cnt_findhome++;
if (abs(FINDHOME_VELOCITY) <= 1) {
cnt_vel_findhome = cnt_vel_findhome + 1;
} else {
cnt_vel_findhome = 0;
}
if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
//REFERENCE_MODE = MODE_REF_NO_ACT;
if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 2.0f;
else pos.ref = pos.ref - 2.0f;
// pos.err = pos.ref_home_pos - pos.sen;
// float VALVE_POS_RAW_POS_FB = 0.0f;
// VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
// valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
// VALVE_POS_CONTROL(valve_pos.ref);
CONTROL_MODE = MODE_JOINT_CONTROL;
alpha_trans = 0.0f;
} else {
ENC_SET(HOMEPOS_OFFSET);
INIT_REF_POS = HOMEPOS_OFFSET;
REF_POSITION = 0;
REF_VELOCITY = 0;
FINDHOME_POSITION = 0;
FINDHOME_POSITION_OLD = 0;
FINDHOME_VELOCITY = 0;
cnt_findhome = 0;
cnt_vel_findhome = 0;
FINDHOME_STAGE = FINDHOME_ZEROPOSE;
}
} else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
int T_move = 2*TMR_FREQ_5k;
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;
vel.ref = 0.0f;
// input for position control
CONTROL_MODE = MODE_JOINT_CONTROL;
alpha_trans = 0.0f;
// pos.err = pos.ref - (float)pos.sen;
// float VALVE_POS_RAW_POS_FB = 0.0f;
// VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
// valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
// VALVE_POS_CONTROL(valve_pos.ref);
cnt_findhome++;
if (cnt_findhome >= T_move) {
//REFERENCE_MODE = MODE_REF_DIRECT;
cnt_findhome = 0;
pos.ref = 0.0f;
vel.ref = 0.0f;
pos.ref_home_pos = 0.0f;
vel.ref_home_pos = 0.0f;
FINDHOME_STAGE = FINDHOME_INIT;
CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
}
}
break;
}
// case MODE_VALVE_GAIN_SETTING: {
// if (TMR3_COUNT_FLOWRATE == 0) {
// if (pos_plus_end == pos_minus_end) need_enc_init = true;
// else {
// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
// temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
// }
// }
// if (need_enc_init) {
// if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
// pos_plus_end = pos.sen;
// } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
// pos_minus_end = pos.sen;
// } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
// need_enc_init = false;
// check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
// check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
// check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
// }
// temp_time = TMR_FREQ_5k;
// }
// TMR3_COUNT_FLOWRATE++;
// if (TMR3_COUNT_FLOWRATE > temp_time) {
// if (flag_flowrate % 2 == 0) { // (+)
// VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
// V_out = VALVE_VOLTAGE;
// if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
// fl_temp_cnt++;
// } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
// 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
// // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
// fl_temp_cnt2++;
// }
// } else if (flag_flowrate % 2 == 1) { // (-)
// VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
// V_out = VALVE_VOLTAGE;
// if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
// fl_temp_cnt++;
// } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
// 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);
// // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
// fl_temp_cnt2++;
// }
// }
// if (fl_temp_cnt2 == 100) {
//
// ROM_RESET_DATA();
//
// //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
// cur_vel_sum = 0;
// fl_temp_cnt = 0;
// fl_temp_cnt2 = 0;
// flag_flowrate++;
// }
// if (flag_flowrate == 10) {
// V_out = 0;
// flag_flowrate = 0;
// TMR3_COUNT_FLOWRATE = 0;
// valve_gain_repeat_cnt++;
// if (valve_gain_repeat_cnt >= 1) {
// CONTROL_MODE = MODE_NO_ACT;
// valve_gain_repeat_cnt = 0;
// }
//
// }
// break;
// }
//
// }
case MODE_PRESSURE_SENSOR_NULLING: {
// DAC Voltage reference set
if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
CUR_PRES_A_sum += pres_A.sen;
CUR_PRES_B_sum += pres_B.sen;
if (TMR3_COUNT_PRES_NULL % 10 == 0) {
CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
CUR_PRES_A_sum = 0;
CUR_PRES_B_sum = 0;
float VREF_NullingGain = 0.0003f;
PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
dac_1 = PRES_A_VREF / 3.3f;
dac_2 = PRES_B_VREF / 3.3f;
}
} else {
CONTROL_UTILITY_MODE = MODE_NO_ACT;
TMR3_COUNT_PRES_NULL = 0;
CUR_PRES_A_sum = 0;
CUR_PRES_B_sum = 0;
CUR_PRES_A_mean = 0;
CUR_PRES_B_mean = 0;
ROM_RESET_DATA();
dac_1 = PRES_A_VREF / 3.3f;
dac_2 = PRES_B_VREF / 3.3f;
//pc.printf("nulling end");
}
TMR3_COUNT_PRES_NULL++;
break;
}
// case MODE_PRESSURE_SENSOR_CALIB: {
// if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
// if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
// CUR_PRES_A_sum += CUR_PRES_A;
// }
// } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
// if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
// CUR_PRES_B_sum += CUR_PRES_B;
// }
// } else {
// CONTROL_MODE = MODE_NO_ACT;
// TMR3_COUNT_PRES_CALIB = 0;
// V_out = 0;
// PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
// PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
// PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
// PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
// CUR_PRES_A_sum = 0;
// CUR_PRES_B_sum = 0;
// CUR_PRES_A_mean = 0;
// CUR_PRES_B_mean = 0;
//
// ROM_RESET_DATA();
//
// //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
// //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
// }
// TMR3_COUNT_PRES_CALIB++;
// break;
// }
// case MODE_ROTARY_FRICTION_TUNING: {
// 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);
// V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
// if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
// else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
// TMR3_COUNT_ROTARY_FRIC_TUNE++;
// if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
// TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
// V_out = 0.0f;
// CONTROL_MODE = MODE_NO_ACT;
// }
// break;
// }
case MODE_DDV_POS_VS_PWM_ID: {
CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
VALVE_ID_timer = VALVE_ID_timer + 1;
if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
} else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Vout.ref = 1000.0f*(ID_index_array[ID_index]);
} else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
VALVE_POS_TMP = 0;
data_num = 0;
} else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
data_num = data_num + 1;
VALVE_POS_TMP = VALVE_POS_TMP + value;
} else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Vout.ref = 0.0f;
} else {
VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
VALVE_ID_timer = 0;
ID_index= ID_index +1;
}
if(ID_index>=25) {
int i;
VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
for(i=0; i<25; i++) {
VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
VALVE_MAX_POS = VALVE_POS_AVG[i];
VALVE_POS_AVG_OLD = VALVE_MAX_POS;
} else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
VALVE_MIN_POS = VALVE_POS_AVG[i];
VALVE_POS_AVG_OLD = VALVE_MIN_POS;
}
}
ROM_RESET_DATA();
ID_index = 0;
CONTROL_UTILITY_MODE = MODE_NO_ACT;
}
break;
}
case MODE_DDV_DEADZONE_AND_CENTER: {
CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
VALVE_DZ_timer = VALVE_DZ_timer + 1;
if(first_check == 0) {
if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
pos_plus_end = pos.sen;
} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
pos_minus_end = pos.sen;
} else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
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;
} else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
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;
data_num = data_num + 1;
VALVE_POS_TMP = VALVE_POS_TMP + value;
} else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
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;
DDV_POS_AVG = VALVE_POS_TMP / data_num;
START_POS = pos.sen;
VALVE_POS_TMP = 0;
data_num = 0;
} else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
valve_pos.ref = DDV_POS_AVG;
VALVE_POS_CONTROL(valve_pos.ref);
} else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
valve_pos.ref = DDV_POS_AVG;
VALVE_POS_CONTROL(valve_pos.ref);
} else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
valve_pos.ref = DDV_POS_AVG;
VALVE_POS_CONTROL(valve_pos.ref);
FINAL_POS = pos.sen;
if((FINAL_POS - START_POS)>200) {
DZ_case = 1;
} else if((FINAL_POS - START_POS)<-200) {
DZ_case = -1;
} else {
DZ_case = 0;
}
CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
first_check = 1;
DZ_DIRECTION = 1;
VALVE_DZ_timer = 0;
Ref_Valve_Pos_Old = DDV_POS_AVG;
DZ_NUM = 1;
DZ_index = 1;
}
} else {
if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
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;
//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
//CONTROL_MODE = MODE_JOINT_CONTROL;
} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
START_POS = pos.sen;
} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
if(valve_pos.ref <= VALVE_MIN_POS) {
valve_pos.ref = VALVE_MIN_POS;
} else if(valve_pos.ref >= VALVE_MAX_POS) {
valve_pos.ref = VALVE_MAX_POS;
}
VALVE_POS_CONTROL(valve_pos.ref);
} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Ref_Valve_Pos_Old = valve_pos.ref;
FINAL_POS = pos.sen;
if((FINAL_POS - START_POS)>100) {
DZ_DIRECTION = 1 * DZ_case;
} else if((FINAL_POS - START_POS)<-100) {
DZ_DIRECTION = -1 * DZ_case;
} else {
DZ_DIRECTION = 1 * DZ_case;
}
VALVE_DZ_timer = 0;
DZ_index= DZ_index *2;
if(DZ_index >= 128) {
FIRST_DZ = valve_pos.ref;
DZ_NUM = 2;
Ref_Valve_Pos_Old = FIRST_DZ;
DZ_index = 1;
DZ_DIRECTION = 1;
}
}
} else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
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;
//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
//CONTROL_MODE = MODE_JOINT_CONTROL;
} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
START_POS = pos.sen;
} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
if(valve_pos.ref <= VALVE_MIN_POS) {
valve_pos.ref = VALVE_MIN_POS;
} else if(valve_pos.ref >= VALVE_MAX_POS) {
valve_pos.ref = VALVE_MAX_POS;
}
VALVE_POS_CONTROL(valve_pos.ref);
} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Vout.ref = 0.0f;
} else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Ref_Valve_Pos_Old = valve_pos.ref;
FINAL_POS = pos.sen;
if((FINAL_POS - START_POS)>100) {
DZ_DIRECTION = 1 * DZ_case;
} else if((FINAL_POS - START_POS)<-100) {
DZ_DIRECTION = -1 * DZ_case;
} else {
DZ_DIRECTION = -1 * DZ_case;
}
VALVE_DZ_timer = 0;
DZ_index= DZ_index * 2;
if(DZ_index >= 128) {
SECOND_DZ = valve_pos.ref;
VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
first_check = 0;
VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
ROM_RESET_DATA();
CONTROL_UTILITY_MODE = MODE_NO_ACT;
DZ_index = 1;
}
}
} else if(DZ_case == 0 && DZ_NUM ==1) {
if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
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;
//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
//CONTROL_MODE = MODE_JOINT_CONTROL;
} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
START_POS = pos.sen;
} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
if(valve_pos.ref <= VALVE_MIN_POS) {
valve_pos.ref = VALVE_MIN_POS;
} else if(valve_pos.ref >= VALVE_MAX_POS) {
valve_pos.ref = VALVE_MAX_POS;
}
VALVE_POS_CONTROL(valve_pos.ref);
} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Ref_Valve_Pos_Old = valve_pos.ref;
FINAL_POS = pos.sen;
if((FINAL_POS - START_POS)>100) {
DZ_DIRECTION = 1;
} else if((FINAL_POS - START_POS)<-100) {
DZ_DIRECTION = -1;
} else {
DZ_DIRECTION = 1;
}
VALVE_DZ_timer = 0;
DZ_index= DZ_index *2;
if(DZ_index >= 128) {
FIRST_DZ = valve_pos.ref;
DZ_NUM = 2;
Ref_Valve_Pos_Old = FIRST_DZ;
DZ_index = 1;
DZ_DIRECTION = 1;
}
}
} else {
if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
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;
//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
//CONTROL_MODE = MODE_JOINT_CONTROL;
} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
START_POS = pos.sen;
} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
if(valve_pos.ref <= VALVE_MIN_POS) {
valve_pos.ref = VALVE_MIN_POS;
} else if(valve_pos.ref > VALVE_MAX_POS) {
valve_pos.ref = VALVE_MAX_POS - 1;
}
VALVE_POS_CONTROL(valve_pos.ref);
} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Vout.ref = 0.0f;
} else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Ref_Valve_Pos_Old = valve_pos.ref;
FINAL_POS = pos.sen;
if((FINAL_POS - START_POS)>100) {
DZ_DIRECTION = 1;
} else if((FINAL_POS - START_POS)<-100) {
DZ_DIRECTION = -1;
} else {
DZ_DIRECTION = 1;
}
VALVE_DZ_timer = 0;
DZ_index= DZ_index *2;
if(DZ_index >= 128) {
SECOND_DZ = valve_pos.ref;
VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
first_check = 0;
VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
ROM_RESET_DATA();
CONTROL_UTILITY_MODE = MODE_NO_ACT;
DZ_index = 1;
}
}
}
}
break;
}
case MODE_DDV_POS_VS_FLOWRATE: {
CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
VALVE_FR_timer = VALVE_FR_timer + 1;
if(first_check == 0) {
if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
//CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
pos_plus_end = pos.sen;
// CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
} else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
} else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
// CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
pos_minus_end = pos.sen;
first_check = 1;
VALVE_FR_timer = 0;
valve_pos.ref = (float) VALVE_CENTER;
ID_index = 0;
max_check = 0;
min_check = 0;
}
} else {
if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
//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;
pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
CONTROL_MODE = MODE_JOINT_CONTROL;
} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
data_num = 0;
valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
VALVE_POS_CONTROL(valve_pos.ref);
START_POS = pos.sen;
} else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
VALVE_POS_CONTROL(valve_pos.ref);
data_num = data_num + 1;
if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
FINAL_POS = pos.sen;
one_period_end = 1;
}
} else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
FINAL_POS = pos.sen;
one_period_end = 1;
V_out = 0.0f;
}
if(one_period_end == 1) {
if(valve_pos.ref > VALVE_MAX_POS) {
max_check = 1;
} else if(valve_pos.ref < VALVE_MIN_POS) {
min_check = 1;
}
JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
VALVE_FR_timer = 0;
one_period_end = 0;
ID_index= ID_index +1;
V_out = 0.0f;
}
if(max_check == 1 && min_check == 1) {
VALVE_POS_NUM = ID_index;
ROM_RESET_DATA();
ID_index = 0;
first_check = 0;
VALVE_FR_timer = 0;
CONTROL_UTILITY_MODE = MODE_NO_ACT;
// CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
}
}
break;
}
case MODE_SYSTEM_ID: {
freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
cnt_sysid++;
if (freq_sysid_Iref >= 300) {
cnt_sysid = 0;
CONTROL_UTILITY_MODE = MODE_NO_ACT;
}
break;
}
default:
break;
}
// CONTROL MODE ------------------------------------------------------------
switch (CONTROL_MODE) {
case MODE_NO_ACT: {
V_out = 0.0f;
break;
}
case MODE_VALVE_POSITION_CONTROL: {
if (((OPERATING_MODE&0b110)>>1) == 0) { //Moog Valve
I_REF = valve_pos.ref;
} else if (((OPERATING_MODE&0b110)>>1) == 1) { //KNR Valve
V_out = valve_pos.ref;
} else { //SW Valve
VALVE_POS_CONTROL(valve_pos.ref);
V_out = Vout.ref;
}
break;
}
case MODE_JOINT_CONTROL: {
double torq_ref = 0.0f;
pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
vel.err = (vel.ref - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
torq_ref = torq.ref + (K_SPRING * pos.err * 0.01f + D_DAMPER * vel.err * 0.0001f) / ENC_PULSE_PER_POSITION; //[N]
// torque feedback
torq.err = (torq_ref)/(float)(TORQUE_SENSOR_PULSE_PER_TORQUE) - torq.sen; //[N]
torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
double I_REF_POS = 0.0f;
double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
double I_REF_VC = 0.0f; // I_REF for velocity compensation
double temp_vel_pos = 0.0f;
double temp_vel_torq = 0.0f;
double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
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
// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
} else if ((OPERATING_MODE && 0x01) == 1) {
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
// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
}
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))));
else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
// velocity compensation for torque control
if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
// temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s
temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
// L feedforward velocity
} else if ((OPERATING_MODE && 0x01) == 1) {
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.
// temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
// L feedforward velocity
}
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))));
else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
// L velocity(rad/s or mm/s) >> I_ref(mA)
// Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
// Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
} else {
float VALVE_POS_RAW_FORCE_FB = 0.0f;
VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f
+ DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
if (VALVE_POS_RAW_FORCE_FB >= 0) {
valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
} else {
valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
}
if(I_GAIN_JOINT_TORQUE != 0) {
double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
if(valve_pos.ref>VALVE_MAX_POS) {
double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
valve_pos_rem = valve_pos_rem * Ka;
valve_pos.ref = VALVE_MAX_POS;
torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
} else if(valve_pos.ref < VALVE_MIN_POS) {
double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
valve_pos_rem = valve_pos_rem * Ka;
valve_pos.ref = VALVE_MIN_POS;
torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
}
}
VALVE_POS_CONTROL(valve_pos.ref);
//Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
V_out = (float) Vout.ref;
}
break;
}
case MODE_VALVE_OPEN_LOOP: {
V_out = (float) Vout.ref;
break;
}
default:
break;
}
if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
////////////////////////////////////////////////////////////////////////////
//////////////////////////// CURRENT CONTROL //////////////////////////////
////////////////////////////////////////////////////////////////////////////
if (CURRENT_CONTROL_MODE) {
double alpha_update_Iref = 1.0f / (1.0f + TMR_FREQ_5k / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
I_ERR = I_REF_fil - cur.sen;
I_ERR_INT = I_ERR_INT + (I_ERR) * DT_TMR3;
// Moog Valve Current Control Gain
double R_model = 539.0f; // ohm
double L_model = 1.2f;
double w0 = 2.0f * 3.14f * 150.0f;
double KP_I = 0.1f * L_model*w0;
double KI_I = 0.1f * R_model*w0;
// KNR Valve Current Control Gain
if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
R_model = 163.0f; // ohm
L_model = 1.0f;
w0 = 2.0f * 3.14f * 80.0f;
KP_I = 1.0f * L_model*w0;
KI_I = 0.08f * R_model*w0;
}
double FF_gain = 1.0f;
VALVE_PWM_RAW = KP_I * I_ERR + KI_I * I_ERR_INT;
// VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
I_REF_fil_old = I_REF_fil;
VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * TMR_FREQ_5k); // Unit : mV
double V_MAX = 12000.; // Maximum Voltage : 12V = 12000mV
double Ka = 3.0f / KP_I;
if (VALVE_PWM_RAW > V_MAX) {
V_rem = VALVE_PWM_RAW - V_MAX;
V_rem = Ka*V_rem;
VALVE_PWM_RAW = V_MAX;
I_ERR_INT = I_ERR_INT - V_rem * DT_TMR3;
} else if (VALVE_PWM_RAW < -V_MAX) {
V_rem = VALVE_PWM_RAW - (-V_MAX);
V_rem = Ka*V_rem;
VALVE_PWM_RAW = -V_MAX;
I_ERR_INT = I_ERR_INT - V_rem * DT_TMR3;
}
Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
} else {
VALVE_PWM_RAW = I_REF * mV_PER_mA;
Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
}
////////////////////////////////////////////////////////////////////////////
///////////////// Dead Zone Cancellation & Linearization //////////////////
////////////////////////////////////////////////////////////////////////////
// Dead Zone Cancellation (Mechanical Valve dead-zone)
if (FLAG_VALVE_DEADZONE) {
if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
} else {
VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
}
// Output Voltage Linearization
double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin);
// Dead Zone Cancellation (Electrical dead-zone)
if (CUR_PWM_lin > 0) V_out = (int) CUR_PWM_lin + 140;
else if (CUR_PWM_lin < 0) V_out = (int) CUR_PWM_lin - 140;
else V_out = CUR_PWM_lin;
}
/*******************************************************
*** PWM
********************************************************/
if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
} else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
}
PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
// Saturation of output voltage to 12.0V
if(PWM_out > 1.0f) PWM_out=1.0f;
else if (PWM_out < -1.0f) PWM_out=-1.0f;
if (PWM_out>0.0f) {
dtc_v=0.0f;
dtc_w=PWM_out;
} else {
dtc_v=-PWM_out;
dtc_w=0.0f;
}
//pwm
TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
// Position, Velocity, and Torque (ID:1200)
if (flag_data_request[0] == HIGH) {
if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
if (SENSING_MODE == 0) {
CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (pres_A.sen*10.0f));
} else if (SENSING_MODE == 1) {
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));
}
} else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
if (SENSING_MODE == 0) {
CAN_TX_POSITION_FT((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (pres_A.sen));
} else if (SENSING_MODE == 1) {
CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
}
}
}
if (flag_data_request[1] == HIGH) {
//valve position
double t_value = 0;
// if(value>=(float) VALVE_CENTER) {
// t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
// } else {
// t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
// }
if(OPERATING_MODE==5) {
t_value = (double) value;
} else if(CURRENT_CONTROL_MODE==1) {
t_value = cur.sen;
} else {
t_value = V_out;
}
CAN_TX_TORQUE((int16_t) (t_value), (int16_t) (V_out)); //1300
}
if (flag_data_request[2] == HIGH) {
//pressure A and B
CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) //1400
}
//If it doesn't rest, below can can not work.
for (can_rest = 0; can_rest < 10000; can_rest++) {
;
}
if (flag_data_request[3] == HIGH) {
//PWM
CAN_TX_PWM((int16_t) cur.sen); //1500
}
//for (i = 0; i < 10000; i++) {
// ;
// }
if (flag_data_request[4] == HIGH) {
//valve position
CAN_TX_VALVE_POSITION((int16_t) (CAN_FREQ), (int16_t) (D_DAMPER), (int16_t) OPERATING_MODE); //1600
}
// Others : Reference position, Reference FT, PWM, Current (ID:1300)
// if (flag_data_request[1] == HIGH) {
// CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
// }
//if (flag_delay_test == 1){
//CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
//}
TMR2_COUNT_CAN_TX = 0;
}
TMR2_COUNT_CAN_TX++;
}
TIM3->SR = 0x0; // reset the status register
}