Buyoun Cho / Mbed 2 deprecated HydraulicControlBoard_PostLIGHT_210420

[Ver 1.0] The code was given by Seunghoon shin, used for hydraulic quadrupedal robot. Buyoun Cho will revise the code for Post-LIGHT (the robot name is not determined yet).

Dependencies:   mbed FastPWM

main.cpp@63:3c6869477483, 2020-04-03 (annotated)

Committer:
Lightvalve
Date:
Fri Apr 03 12:48:42 2020 +0000
Revision:
63:3c6869477483
Parent:
62:b5452adfb2cd
Child:
64:6f1caa0993d0
200403_2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GiJeongKim 0:51c43836c1d7 1 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 2 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 3 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 4 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 5 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 6 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 7 #include "setting.h"
Lightvalve 11:82d8768d7351 8 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 9 #include "stm32f4xx_flash.h"
Lightvalve 16:903b5a4433b4 10 #include "FlashWriter.h"
Lightvalve 61:bc8c8270f0ab 11 #include "Eigen/Dense.h"
Lightvalve 61:bc8c8270f0ab 12
Lightvalve 61:bc8c8270f0ab 13 using namespace std;
Lightvalve 61:bc8c8270f0ab 14 using namespace Eigen;
Lightvalve 61:bc8c8270f0ab 15 Timer t;
GiJeongKim 0:51c43836c1d7 16
Lightvalve 31:66738bfecec5 17 ///191008////
Lightvalve 31:66738bfecec5 18
jobuuu 7:e9086c72bb22 19 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 20 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 21 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 22 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 23 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 24 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 25 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 26 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 27
Lightvalve 24:ef6e1092e9e6 28
jobuuu 7:e9086c72bb22 29 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 30 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 31 float dtc_w=0.0f;
GiJeongKim 0:51c43836c1d7 32
jobuuu 7:e9086c72bb22 33 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 34 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 35 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 36 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 37
jobuuu 7:e9086c72bb22 38 // SPI ///////////////////////////////////////////
Lightvalve 16:903b5a4433b4 39 //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 16:903b5a4433b4 40 //DigitalOut eeprom_cs(PB_12);
Lightvalve 16:903b5a4433b4 41 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim 0:51c43836c1d7 42 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 43 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 44 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 45
jobuuu 7:e9086c72bb22 46 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 47 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 48
jobuuu 7:e9086c72bb22 49 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 50 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 51 CANMessage msg;
Lightvalve 11:82d8768d7351 52 void onMsgReceived()
Lightvalve 11:82d8768d7351 53 {
Lightvalve 11:82d8768d7351 54 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 55 }
jobuuu 2:a1c0a37df760 56
jobuuu 7:e9086c72bb22 57 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 58 State pos;
jobuuu 7:e9086c72bb22 59 State vel;
jobuuu 7:e9086c72bb22 60 State Vout;
jobuuu 7:e9086c72bb22 61 State torq;
jobuuu 7:e9086c72bb22 62 State pres_A;
jobuuu 7:e9086c72bb22 63 State pres_B;
jobuuu 7:e9086c72bb22 64 State cur;
Lightvalve 14:8e7590227d22 65 State valve_pos;
Lightvalve 14:8e7590227d22 66
Lightvalve 14:8e7590227d22 67 State INIT_Vout;
Lightvalve 14:8e7590227d22 68 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 69 State INIT_Pos;
Lightvalve 14:8e7590227d22 70 State INIT_torq;
jobuuu 5:a4319f79457b 71
Lightvalve 19:23b7c1ad8683 72 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 73 extern int CID_RX_REF_POSITION;
Lightvalve 49:e7bcfc244d40 74 extern int CID_RX_REF_VALVE_POS;
Lightvalve 45:35fa6884d0c6 75 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 76
Lightvalve 19:23b7c1ad8683 77 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 78 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 79 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 80 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 81 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 82 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 83
Lightvalve 63:3c6869477483 84 MatrixXd Input = MatrixXd::Zero(1,22); //input
Lightvalve 61:bc8c8270f0ab 85 MatrixXd h1 = MatrixXd::Zero(22,32);
Lightvalve 61:bc8c8270f0ab 86 MatrixXd h2 = MatrixXd::Zero(32,32);
Lightvalve 61:bc8c8270f0ab 87 MatrixXd h3 = MatrixXd::Zero(32,32);
Lightvalve 61:bc8c8270f0ab 88 MatrixXd hout = MatrixXd::Zero(32,1);
Lightvalve 61:bc8c8270f0ab 89
Lightvalve 61:bc8c8270f0ab 90 MatrixXd b1 = MatrixXd::Zero(32,1);
Lightvalve 61:bc8c8270f0ab 91 MatrixXd b2 = MatrixXd::Zero(32,1);
Lightvalve 61:bc8c8270f0ab 92 MatrixXd b3 = MatrixXd::Zero(32,1);
Lightvalve 61:bc8c8270f0ab 93 MatrixXd bout = MatrixXd::Zero(1,1);
Lightvalve 61:bc8c8270f0ab 94
Lightvalve 61:bc8c8270f0ab 95 MatrixXd X;
Lightvalve 61:bc8c8270f0ab 96 ArrayXf Y;
Lightvalve 61:bc8c8270f0ab 97 float NNoutput;
Lightvalve 63:3c6869477483 98 float input_array[6] ={0.0f};
Lightvalve 62:b5452adfb2cd 99 float position_array[10] = {0.0f};
Lightvalve 61:bc8c8270f0ab 100
Lightvalve 61:bc8c8270f0ab 101
jobuuu 7:e9086c72bb22 102 // =============================================================================
jobuuu 7:e9086c72bb22 103 // =============================================================================
jobuuu 7:e9086c72bb22 104 // =============================================================================
jobuuu 7:e9086c72bb22 105
Lightvalve 12:6f2531038ea4 106 /*******************************************************************************
Lightvalve 12:6f2531038ea4 107 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 108 ******************************************************************************/
Lightvalve 13:747daba9cf59 109 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 110 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 111 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 112 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 113 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 114 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 115 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 116 };
Lightvalve 12:6f2531038ea4 117
Lightvalve 12:6f2531038ea4 118 /*******************************************************************************
Lightvalve 12:6f2531038ea4 119 * CONTROL MODE
Lightvalve 12:6f2531038ea4 120 ******************************************************************************/
Lightvalve 13:747daba9cf59 121 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 122 //control mode
Lightvalve 12:6f2531038ea4 123 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 124 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 125 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 126
Lightvalve 47:fdcb8bd86fd6 127 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 12:6f2531038ea4 128 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 129 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 130
Lightvalve 12:6f2531038ea4 131 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 132 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 133 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 134
Lightvalve 12:6f2531038ea4 135 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 136 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 137
Lightvalve 14:8e7590227d22 138 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 139 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 140 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 141
Lightvalve 12:6f2531038ea4 142 //utility
Lightvalve 12:6f2531038ea4 143 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 144 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 145 MODE_FIND_HOME, //22
Lightvalve 57:f4819de54e7a 146 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 147 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 148 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 149 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 150
Lightvalve 12:6f2531038ea4 151 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 152 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 153 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 57:f4819de54e7a 154 MODE_SYSTEM_ID, //33
Lightvalve 12:6f2531038ea4 155 };
Lightvalve 12:6f2531038ea4 156
Lightvalve 61:bc8c8270f0ab 157
Lightvalve 61:bc8c8270f0ab 158
GiJeongKim 0:51c43836c1d7 159 int main()
GiJeongKim 0:51c43836c1d7 160 {
jobuuu 6:df07d3491e3a 161 /*********************************
jobuuu 1:e04e563be5ce 162 *** Initialization
jobuuu 6:df07d3491e3a 163 *********************************/
Lightvalve 57:f4819de54e7a 164 LED = 1;
Lightvalve 61:bc8c8270f0ab 165 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 166
GiJeongKim 0:51c43836c1d7 167 // i2c init
Lightvalve 8:5d2eebdad025 168 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 169 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 170 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 171 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 172 make_delay();
jobuuu 2:a1c0a37df760 173
GiJeongKim 0:51c43836c1d7 174 // // spi init
Lightvalve 16:903b5a4433b4 175 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 176 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 177 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 178 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 179 make_delay();
Lightvalve 21:e5f1a43ea6f9 180
Lightvalve 16:903b5a4433b4 181 //rom
Lightvalve 19:23b7c1ad8683 182 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 183 make_delay();
Lightvalve 13:747daba9cf59 184
GiJeongKim 0:51c43836c1d7 185 // ADC init
jobuuu 5:a4319f79457b 186 Init_ADC();
Lightvalve 11:82d8768d7351 187 make_delay();
jobuuu 2:a1c0a37df760 188
GiJeongKim 0:51c43836c1d7 189 // Pwm init
GiJeongKim 0:51c43836c1d7 190 Init_PWM();
GiJeongKim 0:51c43836c1d7 191 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 192 make_delay();
Lightvalve 13:747daba9cf59 193
Lightvalve 11:82d8768d7351 194 // TMR3 init
Lightvalve 11:82d8768d7351 195 Init_TMR3();
Lightvalve 11:82d8768d7351 196 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 197 make_delay();
Lightvalve 21:e5f1a43ea6f9 198
Lightvalve 50:3c630b5eba9f 199 // TMR2 init
Lightvalve 56:6f50d9d3bfee 200 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 201 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 202 // make_delay();
Lightvalve 21:e5f1a43ea6f9 203
GiJeongKim 0:51c43836c1d7 204 // CAN
jobuuu 2:a1c0a37df760 205 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 206 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 207 make_delay();
Lightvalve 34:bb2ca2fc2a8e 208
Lightvalve 23:59218d4a256d 209 //Timer priority
Lightvalve 23:59218d4a256d 210 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 211 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 212 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 213
Lightvalve 23:59218d4a256d 214 //can.reset();
Lightvalve 19:23b7c1ad8683 215 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 216
GiJeongKim 0:51c43836c1d7 217 // spi _ enc
GiJeongKim 0:51c43836c1d7 218 spi_enc_set_init();
Lightvalve 11:82d8768d7351 219 make_delay();
Lightvalve 13:747daba9cf59 220
Lightvalve 11:82d8768d7351 221 //DAC init
Lightvalve 58:2eade98630e2 222 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 223 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 224 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 225 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 226 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 227 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 228 }
Lightvalve 11:82d8768d7351 229 make_delay();
Lightvalve 13:747daba9cf59 230
Lightvalve 19:23b7c1ad8683 231 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 232 if(i%2==0)
Lightvalve 38:118df027d851 233 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 234 else
Lightvalve 38:118df027d851 235 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 236 }
Lightvalve 61:bc8c8270f0ab 237
Lightvalve 61:bc8c8270f0ab 238 Input <<
Lightvalve 63:3c6869477483 239 0.052414,0.066907,0.085407,0.109023,0.139169,0.177651,0.052414,0.066907,0.085407,0.109023,0.139169,0.177651,0.052414,0.066907,0.085407,0.109023,0.139169,0.177651,0.052414,0.066907,0.085407,0.109023;
Lightvalve 61:bc8c8270f0ab 240
Lightvalve 61:bc8c8270f0ab 241
Lightvalve 61:bc8c8270f0ab 242 h1 <<
Lightvalve 61:bc8c8270f0ab 243 -0.02454003319144249,0.13071660697460175,0.08675816655158997,0.1402530074119568,-0.24982963502407074,0.12202739715576172,-0.13030944764614105,-0.11353740841150284,-0.2542628347873688,-0.04588286578655243,-0.14282149076461792,-0.2201535552740097,-0.18691661953926086,0.30389177799224854,-0.1729012429714203,-0.12240276485681534,-0.11355798691511154,0.2349482625722885,-0.24878336489200592,0.07184267044067383,-0.3221011161804199,0.08763179183006287,-0.27257153391838074,-0.06490874290466309,-0.06682667881250381,0.1505383551120758,-0.14478006958961487,-0.07367490231990814,0.23569869995117188,-0.1539779156446457,-0.1400003880262375,0.051764924079179764
Lightvalve 61:bc8c8270f0ab 244 ,-0.19842876493930817,0.18337926268577576,0.24467620253562927,-0.29177823662757874,-0.08481606096029282,0.09983056783676147,0.17972804605960846,-0.07474377751350403,-0.1711931675672531,0.12607872486114502,-0.21832025051116943,-0.1755477339029312,-0.010855759494006634,0.2378554791212082,0.03758585453033447,-0.13797838985919952,-0.15582887828350067,0.08006728440523148,0.280606746673584,0.28338202834129333,-0.06711727380752563,-0.09894979000091553,-0.07788881659507751,0.22705963253974915,-0.0012174372095614672,0.240607351064682,0.1039358377456665,0.18501906096935272,-0.03155122324824333,0.08036407828330994,-0.20284514129161835,0.06699042022228241
Lightvalve 61:bc8c8270f0ab 245 ,0.14068114757537842,0.13828633725643158,-0.0034593045711517334,0.1392701119184494,0.01057615876197815,-0.007689331658184528,0.07328304648399353,-0.14162643253803253,-0.04415355995297432,0.09164466708898544,0.24845272302627563,-0.05588914453983307,-0.054479751735925674,0.24456734955310822,-0.2598671317100525,-0.15801946818828583,0.2817283868789673,-0.19191598892211914,0.15788163244724274,0.28144943714141846,0.14735294878482819,-0.12544888257980347,0.11103320121765137,-0.20203278958797455,0.0017974432557821274,0.1191059947013855,-0.12710560858249664,0.1702873408794403,-0.09684925526380539,0.2480504810810089,-0.28676652908325195,-0.17398564517498016
Lightvalve 61:bc8c8270f0ab 246 ,0.04844924807548523,-0.06973694264888763,-0.1682211458683014,-0.3513043522834778,-0.22794683277606964,0.08840374648571014,0.026485737413167953,-0.3492684066295624,0.1813228577375412,0.06481858342885971,0.11471711844205856,0.1854662299156189,-0.12381665408611298,0.35136616230010986,-0.10501053929328918,-0.016016438603401184,0.03148011490702629,-0.17074286937713623,-0.1689852625131607,0.1171770691871643,-0.23076696693897247,-0.07204706966876984,-0.12052477896213531,-0.23881052434444427,-0.004284285008907318,0.11600598692893982,0.10962119698524475,-0.012203623540699482,0.33345603942871094,0.1084047257900238,0.015447823330760002,0.1315833479166031
Lightvalve 61:bc8c8270f0ab 247 ,0.12315890938043594,0.16742177307605743,0.0689031183719635,-0.29923000931739807,-0.10478553920984268,0.0034702986013144255,-0.06286507844924927,-0.3965417146682739,-0.24317654967308044,0.2535353899002075,-0.18702425062656403,0.2042631357908249,0.14613179862499237,0.2476590871810913,-0.20543844997882843,0.15613335371017456,-0.024847690016031265,-0.12820857763290405,0.13289833068847656,-0.033144671469926834,0.09313736855983734,0.19325080513954163,-0.20106908679008484,-0.061102136969566345,-0.028910696506500244,-0.2806609869003296,0.033241331577301025,-0.26521533727645874,0.33587634563446045,-0.13370811939239502,0.21700626611709595,0.008141759783029556
Lightvalve 61:bc8c8270f0ab 248 ,0.3156174421310425,0.033245913684368134,0.24999621510505676,0.14565978944301605,0.02309553697705269,-0.05169738829135895,-0.15119729936122894,-0.10350330173969269,-0.3457512855529785,0.03809545189142227,0.25342249870300293,-0.19578632712364197,-0.05333413928747177,0.09492939710617065,0.17943906784057617,-0.21144242584705353,-0.1867227405309677,-0.23938390612602234,-0.2632395327091217,0.06656297296285629,0.0961865782737732,-0.00792744755744934,0.10312435030937195,0.27112916111946106,-0.12544961273670197,0.17053177952766418,-0.23970040678977966,0.16830605268478394,0.18481910228729248,-0.0010759234428405762,0.049939122051000595,-0.059725455939769745
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Lightvalve 61:bc8c8270f0ab 265
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Lightvalve 61:bc8c8270f0ab 397 ,-1.0489267110824585
Lightvalve 61:bc8c8270f0ab 398 ,0.7445360422134399
Lightvalve 61:bc8c8270f0ab 399 ,0.4031659960746765
Lightvalve 61:bc8c8270f0ab 400 ,-1.0887231826782227
Lightvalve 61:bc8c8270f0ab 401 ,1.5438745021820068
Lightvalve 61:bc8c8270f0ab 402 ,-0.4563482999801636;
Lightvalve 61:bc8c8270f0ab 403
Lightvalve 61:bc8c8270f0ab 404 b2 <<
Lightvalve 61:bc8c8270f0ab 405 -0.10466054826974869
Lightvalve 61:bc8c8270f0ab 406 ,-0.7642630338668823
Lightvalve 61:bc8c8270f0ab 407 ,-1.4564176797866821
Lightvalve 61:bc8c8270f0ab 408 ,-0.528777003288269
Lightvalve 61:bc8c8270f0ab 409 ,-0.7297643423080444
Lightvalve 61:bc8c8270f0ab 410 ,0.2625555098056793
Lightvalve 61:bc8c8270f0ab 411 ,0.389851450920105
Lightvalve 61:bc8c8270f0ab 412 ,-0.33048292994499207
Lightvalve 61:bc8c8270f0ab 413 ,-1.20063054561615
Lightvalve 61:bc8c8270f0ab 414 ,-1.912178635597229
Lightvalve 61:bc8c8270f0ab 415 ,0.31253743171691895
Lightvalve 61:bc8c8270f0ab 416 ,0.6883504390716553
Lightvalve 61:bc8c8270f0ab 417 ,-0.04988760128617287
Lightvalve 61:bc8c8270f0ab 418 ,2.26581072807312
Lightvalve 61:bc8c8270f0ab 419 ,0.13501279056072235
Lightvalve 61:bc8c8270f0ab 420 ,1.132785677909851
Lightvalve 61:bc8c8270f0ab 421 ,-1.8237234354019165
Lightvalve 61:bc8c8270f0ab 422 ,-1.5844906568527222
Lightvalve 61:bc8c8270f0ab 423 ,0.26375624537467957
Lightvalve 61:bc8c8270f0ab 424 ,-0.23789723217487335
Lightvalve 61:bc8c8270f0ab 425 ,0.17283980548381805
Lightvalve 61:bc8c8270f0ab 426 ,0.3692796230316162
Lightvalve 61:bc8c8270f0ab 427 ,0.09335066378116608
Lightvalve 61:bc8c8270f0ab 428 ,-1.0231001377105713
Lightvalve 61:bc8c8270f0ab 429 ,1.2738454341888428
Lightvalve 61:bc8c8270f0ab 430 ,1.44853675365448
Lightvalve 61:bc8c8270f0ab 431 ,0.9071134924888611
Lightvalve 61:bc8c8270f0ab 432 ,8.9274239144288e-05
Lightvalve 61:bc8c8270f0ab 433 ,-0.6323830485343933
Lightvalve 61:bc8c8270f0ab 434 ,-0.4208582937717438
Lightvalve 61:bc8c8270f0ab 435 ,-1.1864360570907593
Lightvalve 61:bc8c8270f0ab 436 ,-1.3916414976119995;
Lightvalve 61:bc8c8270f0ab 437
Lightvalve 61:bc8c8270f0ab 438 b3 <<
Lightvalve 61:bc8c8270f0ab 439 -1.963319182395935
Lightvalve 61:bc8c8270f0ab 440 ,-0.4028509557247162
Lightvalve 61:bc8c8270f0ab 441 ,0.3184174597263336
Lightvalve 61:bc8c8270f0ab 442 ,0.1579766422510147
Lightvalve 61:bc8c8270f0ab 443 ,0.1897633820772171
Lightvalve 61:bc8c8270f0ab 444 ,0.866980791091919
Lightvalve 61:bc8c8270f0ab 445 ,-0.45353031158447266
Lightvalve 61:bc8c8270f0ab 446 ,-0.6562485098838806
Lightvalve 61:bc8c8270f0ab 447 ,0.5865635275840759
Lightvalve 61:bc8c8270f0ab 448 ,0.5033581852912903
Lightvalve 61:bc8c8270f0ab 449 ,-0.14371006190776825
Lightvalve 61:bc8c8270f0ab 450 ,0.050810977816581726
Lightvalve 61:bc8c8270f0ab 451 ,-0.5131177306175232
Lightvalve 61:bc8c8270f0ab 452 ,0.5688209533691406
Lightvalve 61:bc8c8270f0ab 453 ,-1.1428403854370117
Lightvalve 61:bc8c8270f0ab 454 ,-0.3598397970199585
Lightvalve 61:bc8c8270f0ab 455 ,-1.3594286441802979
Lightvalve 61:bc8c8270f0ab 456 ,-1.0192245244979858
Lightvalve 61:bc8c8270f0ab 457 ,-0.2365882694721222
Lightvalve 61:bc8c8270f0ab 458 ,0.5294732451438904
Lightvalve 61:bc8c8270f0ab 459 ,1.530857801437378
Lightvalve 61:bc8c8270f0ab 460 ,1.2039998769760132
Lightvalve 61:bc8c8270f0ab 461 ,-1.0573883056640625
Lightvalve 61:bc8c8270f0ab 462 ,-0.7962622046470642
Lightvalve 61:bc8c8270f0ab 463 ,0.7248114347457886
Lightvalve 61:bc8c8270f0ab 464 ,-0.36519983410835266
Lightvalve 61:bc8c8270f0ab 465 ,-0.07752024382352829
Lightvalve 61:bc8c8270f0ab 466 ,0.767806887626648
Lightvalve 61:bc8c8270f0ab 467 ,0.2635451555252075
Lightvalve 61:bc8c8270f0ab 468 ,-2.3236680030822754
Lightvalve 61:bc8c8270f0ab 469 ,0.06150589883327484
Lightvalve 61:bc8c8270f0ab 470 ,1.0375205278396606;
Lightvalve 61:bc8c8270f0ab 471
Lightvalve 61:bc8c8270f0ab 472 bout <<
Lightvalve 61:bc8c8270f0ab 473 -0.3124803602695465;
Lightvalve 61:bc8c8270f0ab 474
jobuuu 6:df07d3491e3a 475 /************************************
jobuuu 1:e04e563be5ce 476 *** Program is operating!
jobuuu 6:df07d3491e3a 477 *************************************/
GiJeongKim 0:51c43836c1d7 478 while(1) {
Lightvalve 57:f4819de54e7a 479 if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve 17:1865016ca2e7 480 //i2c
Lightvalve 17:1865016ca2e7 481 read_field(i2c_slave_addr1);
Lightvalve 17:1865016ca2e7 482 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 57:f4819de54e7a 483 // if(LED==1) {
Lightvalve 57:f4819de54e7a 484 // LED=0;
Lightvalve 57:f4819de54e7a 485 // } else
Lightvalve 57:f4819de54e7a 486 // LED = 1;
Lightvalve 17:1865016ca2e7 487 timer_while = 0;
Lightvalve 17:1865016ca2e7 488 }
Lightvalve 17:1865016ca2e7 489 timer_while ++;
Lightvalve 61:bc8c8270f0ab 490
Lightvalve 63:3c6869477483 491 //t.reset();
Lightvalve 63:3c6869477483 492 //t.start();
Lightvalve 61:bc8c8270f0ab 493
Lightvalve 62:b5452adfb2cd 494
Lightvalve 62:b5452adfb2cd 495
Lightvalve 63:3c6869477483 496 // Input <<
Lightvalve 63:3c6869477483 497 // input_array[0],input_array[1],input_array[2],input_array[3],input_array[4];
Lightvalve 62:b5452adfb2cd 498
Lightvalve 61:bc8c8270f0ab 499 X = Input*h1+b1.transpose();
Lightvalve 61:bc8c8270f0ab 500 for(int i=0; i<32; i++){
Lightvalve 61:bc8c8270f0ab 501 if(X(i)<0)
Lightvalve 61:bc8c8270f0ab 502 X(i) = 0;
Lightvalve 61:bc8c8270f0ab 503 }
Lightvalve 61:bc8c8270f0ab 504 X = X*h2+b2.transpose();
Lightvalve 61:bc8c8270f0ab 505 for(int i=0; i<32; i++){
Lightvalve 61:bc8c8270f0ab 506 if(X(i)<0)
Lightvalve 61:bc8c8270f0ab 507 X(i) = 0;
Lightvalve 61:bc8c8270f0ab 508 }
Lightvalve 61:bc8c8270f0ab 509 X = X*h3+b3.transpose();
Lightvalve 61:bc8c8270f0ab 510 for(int i=0; i<32; i++){
Lightvalve 61:bc8c8270f0ab 511 if(X(i)<0)
Lightvalve 61:bc8c8270f0ab 512 X(i) = 0;
Lightvalve 61:bc8c8270f0ab 513 }
Lightvalve 61:bc8c8270f0ab 514 X = X*hout+bout.transpose();
Lightvalve 61:bc8c8270f0ab 515 NNoutput=1.0f/(1.0f+exp(-X(0,0)));
Lightvalve 61:bc8c8270f0ab 516
Lightvalve 63:3c6869477483 517 //t.stop();
Lightvalve 63:3c6869477483 518
Lightvalve 62:b5452adfb2cd 519 printf("NNoutput : %f\n", NNoutput);
Lightvalve 62:b5452adfb2cd 520 printf("time : %f\n", t.read());
Lightvalve 61:bc8c8270f0ab 521
Lightvalve 63:3c6869477483 522 //wait(1);
Lightvalve 63:3c6869477483 523
Lightvalve 63:3c6869477483 524 CAN_TX_PWM((int16_t) 78); //1500
Lightvalve 61:bc8c8270f0ab 525
Lightvalve 63:3c6869477483 526 // PWM_out = NNoutput * 24000.0f - 12000.0f;
Lightvalve 63:3c6869477483 527 //
Lightvalve 63:3c6869477483 528 //
Lightvalve 63:3c6869477483 529 // if (PWM_out>0.0f) {
Lightvalve 63:3c6869477483 530 // dtc_v=0.0f;
Lightvalve 63:3c6869477483 531 // dtc_w=PWM_out;
Lightvalve 63:3c6869477483 532 // } else {
Lightvalve 63:3c6869477483 533 // dtc_v=-PWM_out;
Lightvalve 63:3c6869477483 534 // dtc_w=0.0f;
Lightvalve 63:3c6869477483 535 // }
Lightvalve 63:3c6869477483 536 //
Lightvalve 63:3c6869477483 537 // //pwm
Lightvalve 63:3c6869477483 538 // TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 63:3c6869477483 539 // TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 62:b5452adfb2cd 540
Lightvalve 62:b5452adfb2cd 541
Lightvalve 61:bc8c8270f0ab 542
GiJeongKim 0:51c43836c1d7 543 }
jobuuu 1:e04e563be5ce 544 }
jobuuu 1:e04e563be5ce 545
Lightvalve 33:91b17819ec30 546 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 547 {
Lightvalve 14:8e7590227d22 548
Lightvalve 13:747daba9cf59 549 int i = 0;
Lightvalve 48:889798ff9329 550 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 551 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 552 if(REF_JOINT_VEL >= min(JOINT_VEL[i],JOINT_VEL[i+1]) && REF_JOINT_VEL <= max(JOINT_VEL[i],JOINT_VEL[i+1])) {
Lightvalve 14:8e7590227d22 553 if(i==0) {
Lightvalve 50:3c630b5eba9f 554 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 555 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 556 } else {
Lightvalve 57:f4819de54e7a 557 Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER;
Lightvalve 38:118df027d851 558 }
Lightvalve 14:8e7590227d22 559 } else {
Lightvalve 50:3c630b5eba9f 560 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 561 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 562 } else {
Lightvalve 57:f4819de54e7a 563 Ref_Valve_Pos_FF = ((float) 10*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + (float) VALVE_CENTER + (float) (10*ID_index_array[i-1]);
Lightvalve 38:118df027d851 564 }
Lightvalve 13:747daba9cf59 565 }
Lightvalve 13:747daba9cf59 566 break;
Lightvalve 13:747daba9cf59 567 }
Lightvalve 13:747daba9cf59 568 }
Lightvalve 14:8e7590227d22 569 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 570 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 571 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 572 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 573 }
Lightvalve 36:a46e63505ed8 574
Lightvalve 57:f4819de54e7a 575 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 576 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 577
Lightvalve 13:747daba9cf59 578 }
jobuuu 6:df07d3491e3a 579
jobuuu 6:df07d3491e3a 580
Lightvalve 30:8d561f16383b 581 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 582 {
Lightvalve 13:747daba9cf59 583 int i = 0;
Lightvalve 13:747daba9cf59 584
Lightvalve 38:118df027d851 585 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 586 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 587 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 588 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 589 }
Lightvalve 38:118df027d851 590
Lightvalve 13:747daba9cf59 591 valve_pos_err = REF_VALVE_POS - value;
Lightvalve 13:747daba9cf59 592 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 593 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 594 valve_pos_err_sum += valve_pos_err;
Lightvalve 13:747daba9cf59 595 if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve 13:747daba9cf59 596 if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve 13:747daba9cf59 597
Lightvalve 13:747daba9cf59 598 VALVE_PWM_RAW_FB = P_GAIN_VALVE_POSITION * valve_pos_err + I_GAIN_VALVE_POSITION * valve_pos_err_sum + D_GAIN_VALVE_POSITION * valve_pos_err_diff;
Lightvalve 14:8e7590227d22 599
Lightvalve 18:b8adf1582ea3 600 for(i=0; i<24; i++) {
Lightvalve 14:8e7590227d22 601 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])) {
Lightvalve 14:8e7590227d22 602 if(i==0) {
Lightvalve 48:889798ff9329 603 VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
Lightvalve 14:8e7590227d22 604 } else {
Lightvalve 48:889798ff9329 605 VALVE_PWM_RAW_FF = (float) 1000.0f* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1];
Lightvalve 13:747daba9cf59 606 }
Lightvalve 13:747daba9cf59 607 break;
Lightvalve 13:747daba9cf59 608 }
Lightvalve 13:747daba9cf59 609 }
Lightvalve 59:f308b1656d9c 610 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 611 }
Lightvalve 13:747daba9cf59 612
Lightvalve 14:8e7590227d22 613 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 614 float LT_PWM_duty[LT_MAX_IDX] = {-100.0f, -80.0f, -60.0f, -50.0f, -40.0f, -35.0f, -30.0f, -25.0f, -20.0f,
Lightvalve 34:bb2ca2fc2a8e 615 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 616 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 617 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 618 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 619 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 620 }; // duty
Lightvalve 30:8d561f16383b 621 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,
Lightvalve 34:bb2ca2fc2a8e 622 -196.9f, -195.0f, -192.5f, -188.8f, -184.5f, -180.2f, -175.9f, -171.5f, -166.3f, -161.0f,
Lightvalve 34:bb2ca2fc2a8e 623 -156.0f, -149.5f, -139.0f, -126.0f, -107.0f, -87.5f, -64.0f, -38.5f, -9.4f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 624 12.0f, 43.5f, 69.0f, 94.0f, 114.0f, 132.0f, 146.0f, 155.5f, 162.3f, 168.2f,
Lightvalve 34:bb2ca2fc2a8e 625 173.1f, 178.2f, 182.8f, 187.4f, 191.8f, 196.0f, 199.7f, 201.9f, 203.8f, 205.6f,
Lightvalve 34:bb2ca2fc2a8e 626 214.6f, 222.5f, 230.4f, 238.2f, 253.3f, 268.0f, 297.6f, 327.7f
Lightvalve 34:bb2ca2fc2a8e 627 }; // mV
Lightvalve 13:747daba9cf59 628
Lightvalve 30:8d561f16383b 629 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 630 {
Lightvalve 30:8d561f16383b 631 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 632 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 633 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 634 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 635 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 636 } else {
Lightvalve 13:747daba9cf59 637 int idx = 0;
Lightvalve 13:747daba9cf59 638 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 639 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 640 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 641 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 642 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 643 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 644 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 645 break;
Lightvalve 13:747daba9cf59 646 }
Lightvalve 13:747daba9cf59 647 }
Lightvalve 13:747daba9cf59 648 }
Lightvalve 14:8e7590227d22 649
Lightvalve 13:747daba9cf59 650 return PWM_duty;
Lightvalve 13:747daba9cf59 651 }
jobuuu 6:df07d3491e3a 652
Lightvalve 57:f4819de54e7a 653
Lightvalve 57:f4819de54e7a 654
Lightvalve 57:f4819de54e7a 655
Lightvalve 57:f4819de54e7a 656
jobuuu 2:a1c0a37df760 657 /*******************************************************************************
jobuuu 2:a1c0a37df760 658 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 659 *******************************************************************************/
jobuuu 2:a1c0a37df760 660
Lightvalve 51:b46bed7fec80 661 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 662 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 663 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 664 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 665 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 666 {
Lightvalve 19:23b7c1ad8683 667 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 668
Lightvalve 21:e5f1a43ea6f9 669 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 670 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 671 ********************************************************/
Lightvalve 13:747daba9cf59 672
Lightvalve 57:f4819de54e7a 673 //Encoder
Lightvalve 57:f4819de54e7a 674 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 675 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 676 }
Lightvalve 62:b5452adfb2cd 677
Lightvalve 63:3c6869477483 678 // for(int i=0; i<10; i++){
Lightvalve 63:3c6869477483 679 // position_array[i] = position_array[i+1];
Lightvalve 63:3c6869477483 680 // }
Lightvalve 63:3c6869477483 681 // position_array[10] = (pos.ref/(float)(ENC_PULSE_PER_POSITION)+10.0f)/90.0f;
Lightvalve 63:3c6869477483 682 //
Lightvalve 63:3c6869477483 683 // for(int i=0; i<5; i++){
Lightvalve 63:3c6869477483 684 // input_array[i] = position_array[2*i+2] - (pos.ref/(float)(ENC_PULSE_PER_POSITION)+10.0f)/90.0f;
Lightvalve 63:3c6869477483 685 // }
Lightvalve 61:bc8c8270f0ab 686
Lightvalve 61:bc8c8270f0ab 687 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 688 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 689 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 690 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 691 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 692 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 58:2eade98630e2 693 torq.sen = pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 17:1865016ca2e7 694
Lightvalve 58:2eade98630e2 695 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 696 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 697 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 698 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 699 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 700 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 701 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 702 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 703 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 704
Lightvalve 58:2eade98630e2 705 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 706 torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm
Lightvalve 58:2eade98630e2 707 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 708 torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N
Lightvalve 58:2eade98630e2 709 }
Lightvalve 58:2eade98630e2 710 }
Lightvalve 61:bc8c8270f0ab 711
Lightvalve 58:2eade98630e2 712 // //Pressure sensor A
Lightvalve 58:2eade98630e2 713 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 714 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 715 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 716 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 717 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 718 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later.
Lightvalve 58:2eade98630e2 719 //
Lightvalve 58:2eade98630e2 720 //
Lightvalve 58:2eade98630e2 721 // //Pressure sensor B
Lightvalve 58:2eade98630e2 722 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 723 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 724 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 725 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 726
Lightvalve 17:1865016ca2e7 727
Lightvalve 21:e5f1a43ea6f9 728 //Current
Lightvalve 21:e5f1a43ea6f9 729 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 730 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 731 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 732 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 733 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 734 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 735 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 736
Lightvalve 57:f4819de54e7a 737 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 738 }
Lightvalve 11:82d8768d7351 739 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 740 }
Lightvalve 19:23b7c1ad8683 741
Lightvalve 19:23b7c1ad8683 742
Lightvalve 18:b8adf1582ea3 743 int j =0;
Lightvalve 54:647072f5307a 744 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 745 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 746 int cnt_trans = 0;
Lightvalve 48:889798ff9329 747 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 57:f4819de54e7a 748 int can_rest =0;
Lightvalve 48:889798ff9329 749
Lightvalve 11:82d8768d7351 750 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 751 {
Lightvalve 19:23b7c1ad8683 752 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 753
Lightvalve 57:f4819de54e7a 754 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 755 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 756 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 757 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 758 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 759 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 760 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 761 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 762 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 763 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 764 }
Lightvalve 50:3c630b5eba9f 765
Lightvalve 50:3c630b5eba9f 766 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 767 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 768 cnt_trans++;
Lightvalve 46:2694daea349b 769 torq.err_sum = 0;
Lightvalve 48:889798ff9329 770 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 771 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 772 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 773 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 774 cnt_trans++;
Lightvalve 46:2694daea349b 775 torq.err_sum = 0;
Lightvalve 48:889798ff9329 776 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 777 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 778 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 779 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 780 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 781 } else {
Lightvalve 58:2eade98630e2 782 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 783 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 784 }
Lightvalve 45:35fa6884d0c6 785
Lightvalve 50:3c630b5eba9f 786
Lightvalve 57:f4819de54e7a 787 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 788 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 789
Lightvalve 57:f4819de54e7a 790 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 791 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 792 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 793 } else {
Lightvalve 57:f4819de54e7a 794 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 795 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 796 }
Lightvalve 56:6f50d9d3bfee 797
Lightvalve 56:6f50d9d3bfee 798
Lightvalve 56:6f50d9d3bfee 799
Lightvalve 57:f4819de54e7a 800 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 801
Lightvalve 57:f4819de54e7a 802 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 803 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 804 break;
Lightvalve 13:747daba9cf59 805 }
Lightvalve 14:8e7590227d22 806
Lightvalve 14:8e7590227d22 807 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 808 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 809 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 810 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 811
Lightvalve 14:8e7590227d22 812 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 813 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 814 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 815
Lightvalve 59:f308b1656d9c 816 TORQUE_VREF += 0.0003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 817
Lightvalve 30:8d561f16383b 818 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 819 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 820
Lightvalve 16:903b5a4433b4 821 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 822 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 823 }
Lightvalve 13:747daba9cf59 824 } else {
Lightvalve 58:2eade98630e2 825 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 826 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 827 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 828 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 829
Lightvalve 16:903b5a4433b4 830 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 831
Lightvalve 30:8d561f16383b 832 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 833
Lightvalve 13:747daba9cf59 834 }
Lightvalve 14:8e7590227d22 835 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 836 break;
Lightvalve 19:23b7c1ad8683 837 }
Lightvalve 14:8e7590227d22 838
Lightvalve 50:3c630b5eba9f 839 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 840 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 841 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 842 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 843 // }
Lightvalve 50:3c630b5eba9f 844 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 845 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 846 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 847 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 848 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 849 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 850 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 851 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 852 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 853 // }
Lightvalve 50:3c630b5eba9f 854 //
Lightvalve 50:3c630b5eba9f 855 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 856 // V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 50:3c630b5eba9f 857 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 858 //
Lightvalve 50:3c630b5eba9f 859 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 860 // V_out = 0;
Lightvalve 50:3c630b5eba9f 861 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 862 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 863 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 864 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 865 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 866 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 867 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 868 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 869 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 870 //
Lightvalve 50:3c630b5eba9f 871 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 872 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 873 // // | / | / |/
Lightvalve 50:3c630b5eba9f 874 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 875 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 876 // // /| / | / |
Lightvalve 50:3c630b5eba9f 877 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 878 //
Lightvalve 50:3c630b5eba9f 879 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 880 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 881 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 882 // } else {
Lightvalve 50:3c630b5eba9f 883 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 884 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 885 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 886 // }
Lightvalve 50:3c630b5eba9f 887 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 888 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 889 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 890 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 891 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 892 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 893 // }
Lightvalve 50:3c630b5eba9f 894 // } else {
Lightvalve 50:3c630b5eba9f 895 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 896 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 897 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 898 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 899 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 900 // }
Lightvalve 50:3c630b5eba9f 901 // V_out = 0;
Lightvalve 50:3c630b5eba9f 902 //
Lightvalve 50:3c630b5eba9f 903 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 904 //
Lightvalve 50:3c630b5eba9f 905 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 906 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 907 //
Lightvalve 50:3c630b5eba9f 908 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 909 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 910 // }
Lightvalve 50:3c630b5eba9f 911 // }
Lightvalve 50:3c630b5eba9f 912 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 913 // break;
Lightvalve 50:3c630b5eba9f 914 // }
Lightvalve 14:8e7590227d22 915
Lightvalve 14:8e7590227d22 916 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 917 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 918 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 919 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 920 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 921 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 922 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 923 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 924 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 29:69f3f5445d6d 925 int cnt_check_enc = (TMR_FREQ_5k/500);
Lightvalve 29:69f3f5445d6d 926 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 927 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 928 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 929 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 930 }
Lightvalve 29:69f3f5445d6d 931 cnt_findhome++;
Lightvalve 14:8e7590227d22 932
Lightvalve 29:69f3f5445d6d 933 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 934 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 935 } else {
Lightvalve 29:69f3f5445d6d 936 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 937 }
Lightvalve 19:23b7c1ad8683 938
Lightvalve 57:f4819de54e7a 939 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 940 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 59:f308b1656d9c 941 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 2.0f;
Lightvalve 59:f308b1656d9c 942 else pos.ref = pos.ref - 2.0f;
Lightvalve 61:bc8c8270f0ab 943
Lightvalve 59:f308b1656d9c 944 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 945 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 946 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 947 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 948 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 949
Lightvalve 59:f308b1656d9c 950 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 951 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 952
Lightvalve 34:bb2ca2fc2a8e 953
Lightvalve 29:69f3f5445d6d 954 } else {
Lightvalve 29:69f3f5445d6d 955 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 29:69f3f5445d6d 956 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 957 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 958 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 959 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 960 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 961 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 962 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 963 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 964 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 29:69f3f5445d6d 965 }
Lightvalve 29:69f3f5445d6d 966 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 967 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 968 pos.ref = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
Lightvalve 59:f308b1656d9c 969 vel.ref = 0.0f;
Lightvalve 19:23b7c1ad8683 970
Lightvalve 29:69f3f5445d6d 971 // input for position control
Lightvalve 61:bc8c8270f0ab 972
Lightvalve 59:f308b1656d9c 973 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 974 alpha_trans = 0.0f;
Lightvalve 59:f308b1656d9c 975 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 976 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 977 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 978 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 979 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 980
Lightvalve 29:69f3f5445d6d 981 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 982 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 983 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 984 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 985 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 986 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 987 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 988 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 989 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 990 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 991 }
Lightvalve 13:747daba9cf59 992 }
Lightvalve 19:23b7c1ad8683 993
Lightvalve 13:747daba9cf59 994 break;
Lightvalve 13:747daba9cf59 995 }
Lightvalve 14:8e7590227d22 996
Lightvalve 50:3c630b5eba9f 997 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 998 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 999 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1000 // else {
Lightvalve 50:3c630b5eba9f 1001 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1002 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 1003 // }
Lightvalve 50:3c630b5eba9f 1004 // }
Lightvalve 50:3c630b5eba9f 1005 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1006 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1007 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1008 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1009 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1010 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1011 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1012 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1013 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1014 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1015 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1016 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 1017 // }
Lightvalve 50:3c630b5eba9f 1018 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1019 // }
Lightvalve 50:3c630b5eba9f 1020 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1021 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1022 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1023 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1024 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1025 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1026 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1027 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1028 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000
Lightvalve 50:3c630b5eba9f 1029 // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
Lightvalve 50:3c630b5eba9f 1030 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1031 // }
Lightvalve 50:3c630b5eba9f 1032 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1033 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1034 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1035 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1036 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1037 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1038 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0f * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE);
Lightvalve 50:3c630b5eba9f 1039 // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
Lightvalve 50:3c630b5eba9f 1040 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1041 // }
Lightvalve 50:3c630b5eba9f 1042 // }
Lightvalve 50:3c630b5eba9f 1043 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1044 //
Lightvalve 50:3c630b5eba9f 1045 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1046 //
Lightvalve 50:3c630b5eba9f 1047 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1048 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1049 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1050 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1051 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1052 // }
Lightvalve 50:3c630b5eba9f 1053 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1054 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1055 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1056 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1057 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1058 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1059 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1060 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1061 // }
Lightvalve 50:3c630b5eba9f 1062 //
Lightvalve 50:3c630b5eba9f 1063 // }
Lightvalve 50:3c630b5eba9f 1064 // break;
Lightvalve 50:3c630b5eba9f 1065 // }
Lightvalve 50:3c630b5eba9f 1066 //
Lightvalve 50:3c630b5eba9f 1067 // }
Lightvalve 14:8e7590227d22 1068 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1069 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1070 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1071 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1072 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1073
Lightvalve 14:8e7590227d22 1074 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1075 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1076 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1077 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1078 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1079
Lightvalve 38:118df027d851 1080 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1081 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1082 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1083
Lightvalve 30:8d561f16383b 1084 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1085 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1086 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1087 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1088
Lightvalve 30:8d561f16383b 1089 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1090 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1091 }
Lightvalve 13:747daba9cf59 1092 } else {
Lightvalve 57:f4819de54e7a 1093 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1094 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1095 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1096 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1097 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1098 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1099
Lightvalve 16:903b5a4433b4 1100 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1101
Lightvalve 30:8d561f16383b 1102 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1103 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1104 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1105 }
Lightvalve 14:8e7590227d22 1106 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1107 break;
Lightvalve 13:747daba9cf59 1108 }
Lightvalve 14:8e7590227d22 1109
Lightvalve 50:3c630b5eba9f 1110 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1111 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1112 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1113 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1114 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1115 // }
Lightvalve 50:3c630b5eba9f 1116 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1117 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1118 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1119 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1120 // }
Lightvalve 50:3c630b5eba9f 1121 // } else {
Lightvalve 50:3c630b5eba9f 1122 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1123 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1124 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1125 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1126 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1127 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1128 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1129 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1130 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1131 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1132 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1133 //
Lightvalve 50:3c630b5eba9f 1134 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1135 //
Lightvalve 50:3c630b5eba9f 1136 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1137 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1138 // }
Lightvalve 50:3c630b5eba9f 1139 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1140 // break;
Lightvalve 50:3c630b5eba9f 1141 // }
Lightvalve 19:23b7c1ad8683 1142
Lightvalve 50:3c630b5eba9f 1143 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1144 // if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4.0f + 3.0f * sin(2 * 3.14159f * 0.5f * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f * 0.05f);
Lightvalve 50:3c630b5eba9f 1145 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1146 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1147 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1148 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1149 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1150 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1151 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1152 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1153 // }
Lightvalve 50:3c630b5eba9f 1154 // break;
Lightvalve 50:3c630b5eba9f 1155 // }
Lightvalve 14:8e7590227d22 1156
Lightvalve 14:8e7590227d22 1157 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1158 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1159 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1160
Lightvalve 14:8e7590227d22 1161 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1162 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1163 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1164 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1165 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1166 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1167 data_num = 0;
Lightvalve 14:8e7590227d22 1168 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1169 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1170 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1171 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1172 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1173 } else {
Lightvalve 13:747daba9cf59 1174 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1175 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1176 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1177 }
Lightvalve 14:8e7590227d22 1178
Lightvalve 17:1865016ca2e7 1179 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1180 int i;
Lightvalve 13:747daba9cf59 1181 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1182 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1183 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1184 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1185 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1186 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1187 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1188 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1189 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1190 }
Lightvalve 13:747daba9cf59 1191 }
Lightvalve 59:f308b1656d9c 1192 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1193 ID_index = 0;
Lightvalve 57:f4819de54e7a 1194 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1195 }
Lightvalve 14:8e7590227d22 1196
Lightvalve 14:8e7590227d22 1197
Lightvalve 13:747daba9cf59 1198 break;
Lightvalve 13:747daba9cf59 1199 }
Lightvalve 14:8e7590227d22 1200
Lightvalve 14:8e7590227d22 1201 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1202 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1203 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1204 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1205 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1206 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1207 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1208 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1209 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1210 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1211 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1212 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1213 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1214 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1215 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1216 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 30:8d561f16383b 1217 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1218 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 13:747daba9cf59 1219 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1220 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1221 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1222 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 13:747daba9cf59 1223 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1224 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1225 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1226 data_num = 0;
Lightvalve 14:8e7590227d22 1227
Lightvalve 30:8d561f16383b 1228 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1229 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1230 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1231
Lightvalve 30:8d561f16383b 1232 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1233 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1234 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1235
Lightvalve 30:8d561f16383b 1236 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1237 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1238 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1239 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1240
Lightvalve 60:64181f1d3e60 1241 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1242 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1243 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1244 DZ_case = -1;
Lightvalve 14:8e7590227d22 1245 } else {
Lightvalve 13:747daba9cf59 1246 DZ_case = 0;
Lightvalve 13:747daba9cf59 1247 }
Lightvalve 61:bc8c8270f0ab 1248
Lightvalve 60:64181f1d3e60 1249 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1250
Lightvalve 13:747daba9cf59 1251 first_check = 1;
Lightvalve 13:747daba9cf59 1252 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1253 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1254 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1255 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1256 DZ_index = 1;
Lightvalve 14:8e7590227d22 1257
Lightvalve 13:747daba9cf59 1258 }
Lightvalve 19:23b7c1ad8683 1259 } else {
Lightvalve 14:8e7590227d22 1260 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1261 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1262 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 1263 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1264 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1265 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1266 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1267 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1268 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1269 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1270 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1271 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1272 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1273 }
Lightvalve 14:8e7590227d22 1274 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1275
Lightvalve 30:8d561f16383b 1276 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1277 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1278 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1279
Lightvalve 14:8e7590227d22 1280 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1281 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1282 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1283 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1284 } else {
Lightvalve 13:747daba9cf59 1285 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1286 }
Lightvalve 14:8e7590227d22 1287
Lightvalve 13:747daba9cf59 1288 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1289 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1290 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1291 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1292 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1293 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1294 DZ_index = 1;
Lightvalve 13:747daba9cf59 1295 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1296 }
Lightvalve 13:747daba9cf59 1297 }
Lightvalve 14:8e7590227d22 1298 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1299 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1300 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 1301 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1302 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1303 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1304 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1305 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1306 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1307 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1308 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1309 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1310 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1311 }
Lightvalve 14:8e7590227d22 1312 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1313
Lightvalve 30:8d561f16383b 1314 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1315 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1316 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1317 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1318 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1319
Lightvalve 14:8e7590227d22 1320 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 1321 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1322 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1323 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1324 } else {
Lightvalve 60:64181f1d3e60 1325 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 1326 }
Lightvalve 14:8e7590227d22 1327
Lightvalve 13:747daba9cf59 1328 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 1329 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 1330 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1331 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1332 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1333 first_check = 0;
Lightvalve 33:91b17819ec30 1334 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1335 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1336
Lightvalve 16:903b5a4433b4 1337 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1338
Lightvalve 60:64181f1d3e60 1339 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1340 DZ_index = 1;
Lightvalve 13:747daba9cf59 1341 }
Lightvalve 13:747daba9cf59 1342 }
Lightvalve 14:8e7590227d22 1343 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1344 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1345 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 1346 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1347 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1348 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1349 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1350 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1351 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1352 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1353 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1354 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1355 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1356 }
Lightvalve 14:8e7590227d22 1357 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1358
Lightvalve 30:8d561f16383b 1359 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1360 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1361 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1362
Lightvalve 14:8e7590227d22 1363 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1364 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1365 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1366 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1367 } else {
Lightvalve 13:747daba9cf59 1368 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1369 }
Lightvalve 13:747daba9cf59 1370 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1371 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1372 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1373 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1374 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1375 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1376 DZ_index = 1;
Lightvalve 13:747daba9cf59 1377 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1378 }
Lightvalve 13:747daba9cf59 1379 }
Lightvalve 14:8e7590227d22 1380 } else {
Lightvalve 30:8d561f16383b 1381 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1382 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 1383 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1384 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1385 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1386 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1387 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1388 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1389 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1390 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1391 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1392 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1393 }
Lightvalve 14:8e7590227d22 1394 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1395
Lightvalve 30:8d561f16383b 1396 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1397 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1398 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1399 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1400 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 1401
Lightvalve 60:64181f1d3e60 1402 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1403 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1404 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1405 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 1406 } else {
Lightvalve 13:747daba9cf59 1407 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1408 }
Lightvalve 14:8e7590227d22 1409
Lightvalve 13:747daba9cf59 1410 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1411 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1412 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1413 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1414 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1415 first_check = 0;
Lightvalve 33:91b17819ec30 1416 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1417 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 1418
Lightvalve 59:f308b1656d9c 1419 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1420
Lightvalve 57:f4819de54e7a 1421 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1422 DZ_index = 1;
Lightvalve 13:747daba9cf59 1423 }
Lightvalve 13:747daba9cf59 1424 }
Lightvalve 13:747daba9cf59 1425 }
Lightvalve 14:8e7590227d22 1426 }
Lightvalve 13:747daba9cf59 1427 break;
Lightvalve 13:747daba9cf59 1428 }
Lightvalve 14:8e7590227d22 1429
Lightvalve 14:8e7590227d22 1430 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 1431 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1432 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1433 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1434 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1435 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1436 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1437 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1438 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1439 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1440 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1441 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1442 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1443 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1444 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 1445 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1446 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1447 first_check = 1;
Lightvalve 13:747daba9cf59 1448 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1449 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 1450 ID_index = 0;
Lightvalve 13:747daba9cf59 1451 max_check = 0;
Lightvalve 13:747daba9cf59 1452 min_check = 0;
Lightvalve 13:747daba9cf59 1453 }
Lightvalve 14:8e7590227d22 1454 } else {
Lightvalve 30:8d561f16383b 1455 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1456 //V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 1457 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 1458 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1459 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1460 data_num = 0;
Lightvalve 57:f4819de54e7a 1461 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1462
Lightvalve 14:8e7590227d22 1463 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1464 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1465 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 1466 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1467 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1468 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1469 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1470 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1471 one_period_end = 1;
Lightvalve 13:747daba9cf59 1472 }
Lightvalve 30:8d561f16383b 1473 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1474 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1475 one_period_end = 1;
Lightvalve 59:f308b1656d9c 1476 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1477 }
Lightvalve 14:8e7590227d22 1478
Lightvalve 14:8e7590227d22 1479 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1480 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1481 max_check = 1;
Lightvalve 14:8e7590227d22 1482 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1483 min_check = 1;
Lightvalve 13:747daba9cf59 1484 }
Lightvalve 13:747daba9cf59 1485 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1486
Lightvalve 13:747daba9cf59 1487 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1488 one_period_end = 0;
Lightvalve 13:747daba9cf59 1489 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1490 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1491 }
Lightvalve 14:8e7590227d22 1492
Lightvalve 14:8e7590227d22 1493 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1494
Lightvalve 13:747daba9cf59 1495 VALVE_POS_NUM = ID_index;
Lightvalve 59:f308b1656d9c 1496 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1497 ID_index = 0;
Lightvalve 13:747daba9cf59 1498 first_check = 0;
Lightvalve 13:747daba9cf59 1499 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1500 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 1501 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1502 }
Lightvalve 13:747daba9cf59 1503 }
Lightvalve 13:747daba9cf59 1504 break;
Lightvalve 13:747daba9cf59 1505 }
Lightvalve 58:2eade98630e2 1506
Lightvalve 57:f4819de54e7a 1507 case MODE_SYSTEM_ID: {
Lightvalve 57:f4819de54e7a 1508 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve 57:f4819de54e7a 1509 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 1510 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 1511 cnt_sysid++;
Lightvalve 57:f4819de54e7a 1512 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 1513 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 1514 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1515 }
Lightvalve 57:f4819de54e7a 1516 break;
Lightvalve 57:f4819de54e7a 1517 }
Lightvalve 58:2eade98630e2 1518
Lightvalve 58:2eade98630e2 1519
Lightvalve 57:f4819de54e7a 1520
Lightvalve 57:f4819de54e7a 1521 default:
Lightvalve 57:f4819de54e7a 1522 break;
Lightvalve 57:f4819de54e7a 1523 }
Lightvalve 57:f4819de54e7a 1524
Lightvalve 57:f4819de54e7a 1525 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 1526
Lightvalve 57:f4819de54e7a 1527 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 1528 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 1529 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 1530 break;
Lightvalve 57:f4819de54e7a 1531 }
Lightvalve 57:f4819de54e7a 1532
Lightvalve 57:f4819de54e7a 1533 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 57:f4819de54e7a 1534 if (((OPERATING_MODE&0b110)>>1) == 0) { //Moog Valve
Lightvalve 57:f4819de54e7a 1535 I_REF = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1536 } else if (((OPERATING_MODE&0b110)>>1) == 1) { //KNR Valve
Lightvalve 57:f4819de54e7a 1537 V_out = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1538 } else { //SW Valve
Lightvalve 57:f4819de54e7a 1539 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:f308b1656d9c 1540 V_out = Vout.ref;
Lightvalve 57:f4819de54e7a 1541 }
Lightvalve 58:2eade98630e2 1542
Lightvalve 57:f4819de54e7a 1543 break;
Lightvalve 57:f4819de54e7a 1544 }
Lightvalve 57:f4819de54e7a 1545
Lightvalve 57:f4819de54e7a 1546 case MODE_JOINT_CONTROL: {
Lightvalve 57:f4819de54e7a 1547 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 1548 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 57:f4819de54e7a 1549 vel.err = (vel.ref - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 1550 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 57:f4819de54e7a 1551 torq_ref = torq.ref + (K_SPRING * pos.err * 0.01f + D_DAMPER * vel.err * 0.0001f) / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 57:f4819de54e7a 1552
Lightvalve 57:f4819de54e7a 1553 // torque feedback
Lightvalve 58:2eade98630e2 1554 torq.err = (torq_ref)/(float)(TORQUE_SENSOR_PULSE_PER_TORQUE) - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 1555 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 1556
Lightvalve 57:f4819de54e7a 1557 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 1558
Lightvalve 57:f4819de54e7a 1559 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 1560 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 1561 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 1562
Lightvalve 57:f4819de54e7a 1563 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 1564 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 1565 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 1566
Lightvalve 57:f4819de54e7a 1567 if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1568 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 1569 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 1570 } else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1571 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1572 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 1573 }
Lightvalve 57:f4819de54e7a 1574 if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1575 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1576
Lightvalve 57:f4819de54e7a 1577 // velocity compensation for torque control
Lightvalve 57:f4819de54e7a 1578 if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1579 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 1580 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s
Lightvalve 57:f4819de54e7a 1581 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 1582 // L feedforward velocity
Lightvalve 57:f4819de54e7a 1583 } else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1584 I_REF_FORCE_FB = 0.001f * 0.01f*((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); // Linear Actuators are more sensitive.
Lightvalve 57:f4819de54e7a 1585 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1586 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1587 // L feedforward velocity
Lightvalve 57:f4819de54e7a 1588 }
Lightvalve 57:f4819de54e7a 1589 if (temp_vel_torq > 0.0f) I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1590 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1591 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 1592 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 1593 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 1594
Lightvalve 57:f4819de54e7a 1595 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 57:f4819de54e7a 1596
Lightvalve 57:f4819de54e7a 1597 } else {
Lightvalve 57:f4819de54e7a 1598 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 57:f4819de54e7a 1599
Lightvalve 57:f4819de54e7a 1600 VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f
Lightvalve 57:f4819de54e7a 1601 + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 57:f4819de54e7a 1602
Lightvalve 57:f4819de54e7a 1603 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 57:f4819de54e7a 1604 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 1605 } else {
Lightvalve 57:f4819de54e7a 1606 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 1607 }
Lightvalve 57:f4819de54e7a 1608
Lightvalve 57:f4819de54e7a 1609 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 57:f4819de54e7a 1610 double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 1611 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 1612 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1613 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1614 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1615 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1616 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 1617 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1618 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1619 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1620 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1621 }
Lightvalve 57:f4819de54e7a 1622 }
Lightvalve 61:bc8c8270f0ab 1623
Lightvalve 57:f4819de54e7a 1624 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1625
Lightvalve 60:64181f1d3e60 1626 Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 1627 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1628
Lightvalve 57:f4819de54e7a 1629 }
Lightvalve 58:2eade98630e2 1630
Lightvalve 57:f4819de54e7a 1631 break;
Lightvalve 57:f4819de54e7a 1632 }
Lightvalve 58:2eade98630e2 1633
Lightvalve 57:f4819de54e7a 1634 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 1635 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1636 break;
Lightvalve 57:f4819de54e7a 1637 }
Lightvalve 14:8e7590227d22 1638
Lightvalve 12:6f2531038ea4 1639 default:
Lightvalve 12:6f2531038ea4 1640 break;
Lightvalve 12:6f2531038ea4 1641 }
Lightvalve 14:8e7590227d22 1642
Lightvalve 57:f4819de54e7a 1643
Lightvalve 57:f4819de54e7a 1644 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 1645
Lightvalve 57:f4819de54e7a 1646 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1647 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 1648 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1649 if (CURRENT_CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 1650 double alpha_update_Iref = 1.0f / (1.0f + TMR_FREQ_5k / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 1651 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 1652
Lightvalve 57:f4819de54e7a 1653 I_ERR = I_REF_fil - cur.sen;
Lightvalve 57:f4819de54e7a 1654 I_ERR_INT = I_ERR_INT + (I_ERR) * DT_TMR3;
Lightvalve 57:f4819de54e7a 1655
Lightvalve 57:f4819de54e7a 1656
Lightvalve 57:f4819de54e7a 1657 // Moog Valve Current Control Gain
Lightvalve 57:f4819de54e7a 1658 double R_model = 539.0f; // ohm
Lightvalve 57:f4819de54e7a 1659 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 1660 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 1661 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 1662 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 1663
Lightvalve 57:f4819de54e7a 1664 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 1665 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 1666 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 1667 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 1668 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 1669 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 1670 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 1671 }
Lightvalve 57:f4819de54e7a 1672
Lightvalve 57:f4819de54e7a 1673 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 1674
Lightvalve 57:f4819de54e7a 1675 VALVE_PWM_RAW = KP_I * I_ERR + KI_I * I_ERR_INT;
Lightvalve 57:f4819de54e7a 1676 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 1677 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 1678 I_REF_fil_old = I_REF_fil;
Lightvalve 57:f4819de54e7a 1679 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * TMR_FREQ_5k); // Unit : mV
Lightvalve 57:f4819de54e7a 1680 double V_MAX = 12000.; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 1681
Lightvalve 57:f4819de54e7a 1682 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 1683 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 1684 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 1685 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1686 VALVE_PWM_RAW = V_MAX;
Lightvalve 57:f4819de54e7a 1687 I_ERR_INT = I_ERR_INT - V_rem * DT_TMR3;
Lightvalve 57:f4819de54e7a 1688 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 1689 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 1690 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1691 VALVE_PWM_RAW = -V_MAX;
Lightvalve 57:f4819de54e7a 1692 I_ERR_INT = I_ERR_INT - V_rem * DT_TMR3;
Lightvalve 57:f4819de54e7a 1693 }
Lightvalve 57:f4819de54e7a 1694 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1695 } else {
Lightvalve 57:f4819de54e7a 1696 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 1697 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1698 }
Lightvalve 57:f4819de54e7a 1699
Lightvalve 57:f4819de54e7a 1700 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1701 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 1702 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1703 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 1704 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 1705 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1706 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1707
Lightvalve 57:f4819de54e7a 1708 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1709
Lightvalve 57:f4819de54e7a 1710 } else {
Lightvalve 57:f4819de54e7a 1711 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 1712 }
Lightvalve 57:f4819de54e7a 1713
Lightvalve 57:f4819de54e7a 1714 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 1715 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 57:f4819de54e7a 1716 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin);
Lightvalve 57:f4819de54e7a 1717
Lightvalve 57:f4819de54e7a 1718 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 57:f4819de54e7a 1719 if (CUR_PWM_lin > 0) V_out = (int) CUR_PWM_lin + 140;
Lightvalve 57:f4819de54e7a 1720 else if (CUR_PWM_lin < 0) V_out = (int) CUR_PWM_lin - 140;
Lightvalve 57:f4819de54e7a 1721 else V_out = CUR_PWM_lin;
Lightvalve 57:f4819de54e7a 1722 }
Lightvalve 58:2eade98630e2 1723
Lightvalve 58:2eade98630e2 1724
Lightvalve 14:8e7590227d22 1725
jobuuu 7:e9086c72bb22 1726 /*******************************************************
jobuuu 7:e9086c72bb22 1727 *** PWM
jobuuu 7:e9086c72bb22 1728 ********************************************************/
Lightvalve 49:e7bcfc244d40 1729 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1730 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1731 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1732 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1733 }
Lightvalve 49:e7bcfc244d40 1734 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1735
Lightvalve 19:23b7c1ad8683 1736 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1737 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1738 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1739
Lightvalve 30:8d561f16383b 1740 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1741 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1742 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1743 } else {
jobuuu 2:a1c0a37df760 1744 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1745 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1746 }
Lightvalve 13:747daba9cf59 1747
jobuuu 1:e04e563be5ce 1748 //pwm
Lightvalve 30:8d561f16383b 1749 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1750 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 61:bc8c8270f0ab 1751
Lightvalve 61:bc8c8270f0ab 1752
Lightvalve 57:f4819de54e7a 1753 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 20:806196fda269 1754
Lightvalve 54:647072f5307a 1755 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 1756 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 1757 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 1758 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 1759 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (pres_A.sen*10.0f));
Lightvalve 54:647072f5307a 1760 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1761 CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
Lightvalve 54:647072f5307a 1762 }
Lightvalve 57:f4819de54e7a 1763 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 1764 if (SENSING_MODE == 0) {
Lightvalve 60:64181f1d3e60 1765 CAN_TX_POSITION_FT((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (pres_A.sen));
Lightvalve 54:647072f5307a 1766 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1767 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));
Lightvalve 54:647072f5307a 1768 }
Lightvalve 52:8ea76864368a 1769 }
Lightvalve 52:8ea76864368a 1770 }
Lightvalve 56:6f50d9d3bfee 1771 if (flag_data_request[1] == HIGH) {
Lightvalve 54:647072f5307a 1772 //valve position
Lightvalve 54:647072f5307a 1773 double t_value = 0;
Lightvalve 57:f4819de54e7a 1774 // if(value>=(float) VALVE_CENTER) {
Lightvalve 57:f4819de54e7a 1775 // t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 57:f4819de54e7a 1776 // } else {
Lightvalve 57:f4819de54e7a 1777 // t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 57:f4819de54e7a 1778 // }
Lightvalve 58:2eade98630e2 1779 if(OPERATING_MODE==5) {
Lightvalve 57:f4819de54e7a 1780 t_value = (double) value;
Lightvalve 58:2eade98630e2 1781 } else if(CURRENT_CONTROL_MODE==1) {
Lightvalve 57:f4819de54e7a 1782 t_value = cur.sen;
Lightvalve 58:2eade98630e2 1783 } else {
Lightvalve 57:f4819de54e7a 1784 t_value = V_out;
Lightvalve 54:647072f5307a 1785 }
Lightvalve 60:64181f1d3e60 1786 CAN_TX_TORQUE((int16_t) (t_value), (int16_t) (V_out)); //1300
Lightvalve 54:647072f5307a 1787 }
Lightvalve 58:2eade98630e2 1788
Lightvalve 58:2eade98630e2 1789
Lightvalve 56:6f50d9d3bfee 1790 if (flag_data_request[2] == HIGH) {
Lightvalve 56:6f50d9d3bfee 1791 //pressure A and B
Lightvalve 57:f4819de54e7a 1792 CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) //1400
Lightvalve 55:b25725257569 1793 }
Lightvalve 58:2eade98630e2 1794
Lightvalve 57:f4819de54e7a 1795 //If it doesn't rest, below can can not work.
Lightvalve 57:f4819de54e7a 1796 for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 1797 ;
Lightvalve 57:f4819de54e7a 1798 }
Lightvalve 58:2eade98630e2 1799
Lightvalve 56:6f50d9d3bfee 1800 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 1801 //PWM
Lightvalve 57:f4819de54e7a 1802 CAN_TX_PWM((int16_t) cur.sen); //1500
Lightvalve 54:647072f5307a 1803 }
Lightvalve 57:f4819de54e7a 1804 //for (i = 0; i < 10000; i++) {
Lightvalve 57:f4819de54e7a 1805 // ;
Lightvalve 57:f4819de54e7a 1806 // }
Lightvalve 56:6f50d9d3bfee 1807 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 1808 //valve position
Lightvalve 57:f4819de54e7a 1809 CAN_TX_VALVE_POSITION((int16_t) (CAN_FREQ), (int16_t) (D_DAMPER), (int16_t) OPERATING_MODE); //1600
Lightvalve 54:647072f5307a 1810 }
Lightvalve 20:806196fda269 1811
Lightvalve 54:647072f5307a 1812 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 1813 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 1814 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 1815 // }
Lightvalve 54:647072f5307a 1816 //if (flag_delay_test == 1){
Lightvalve 58:2eade98630e2 1817 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 54:647072f5307a 1818 //}
Lightvalve 52:8ea76864368a 1819
Lightvalve 54:647072f5307a 1820 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1821 }
Lightvalve 54:647072f5307a 1822 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 1823
Lightvalve 20:806196fda269 1824 }
Lightvalve 52:8ea76864368a 1825 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1826
Lightvalve 58:2eade98630e2 1827 }