[Ver 1.0] The code was given by Seunghoon shin, used for hydraulic quadrupedal robot. Buyoun Cho will revise the code for Post-LIGHT (the robot name is not determined yet).
main.cpp@75:fd59821a2b84, 2020-06-09 (annotated)
- Committer:
- Lightvalve
- Date:
- Tue Jun 09 00:35:54 2020 +0000
- Revision:
- 75:fd59821a2b84
- Parent:
- 74:2bd13b02ed17
- Child:
- 76:23fbf0a53e43
20200609_1
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Lightvalve | 75:fd59821a2b84 | 1 | //200609-1 |
GiJeongKim | 0:51c43836c1d7 | 2 | #include "mbed.h" |
GiJeongKim | 0:51c43836c1d7 | 3 | #include "FastPWM.h" |
GiJeongKim | 0:51c43836c1d7 | 4 | #include "INIT_HW.h" |
jobuuu | 2:a1c0a37df760 | 5 | #include "function_CAN.h" |
GiJeongKim | 0:51c43836c1d7 | 6 | #include "SPI_EEP_ENC.h" |
GiJeongKim | 0:51c43836c1d7 | 7 | #include "I2C_AS5510.h" |
GiJeongKim | 0:51c43836c1d7 | 8 | #include "setting.h" |
Lightvalve | 11:82d8768d7351 | 9 | #include "function_utilities.h" |
Lightvalve | 16:903b5a4433b4 | 10 | #include "stm32f4xx_flash.h" |
Lightvalve | 65:a2d7c63419c2 | 11 | #include "FlashWriter.h" |
Lightvalve | 61:bc8c8270f0ab | 12 | |
Lightvalve | 61:bc8c8270f0ab | 13 | using namespace std; |
Lightvalve | 61:bc8c8270f0ab | 14 | Timer t; |
GiJeongKim | 0:51c43836c1d7 | 15 | |
Lightvalve | 31:66738bfecec5 | 16 | ///191008//// |
Lightvalve | 31:66738bfecec5 | 17 | |
jobuuu | 7:e9086c72bb22 | 18 | // dac & check /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 19 | DigitalOut check(PC_2); |
GiJeongKim | 0:51c43836c1d7 | 20 | DigitalOut check_2(PC_3); |
GiJeongKim | 0:51c43836c1d7 | 21 | AnalogOut dac_1(PA_4); |
GiJeongKim | 0:51c43836c1d7 | 22 | AnalogOut dac_2(PA_5); |
Lightvalve | 14:8e7590227d22 | 23 | AnalogIn adc1(PC_4); //pressure_1 |
Lightvalve | 14:8e7590227d22 | 24 | AnalogIn adc2(PB_0); //pressure_2 |
Lightvalve | 14:8e7590227d22 | 25 | AnalogIn adc3(PC_1); //current |
GiJeongKim | 0:51c43836c1d7 | 26 | |
Lightvalve | 24:ef6e1092e9e6 | 27 | |
jobuuu | 7:e9086c72bb22 | 28 | // PWM /////////////////////////////////////////// |
Lightvalve | 30:8d561f16383b | 29 | float dtc_v=0.0f; |
Lightvalve | 30:8d561f16383b | 30 | float dtc_w=0.0f; |
GiJeongKim | 0:51c43836c1d7 | 31 | |
jobuuu | 7:e9086c72bb22 | 32 | // I2C /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 33 | I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F) |
GiJeongKim | 0:51c43836c1d7 | 34 | const int i2c_slave_addr1 = 0x56; |
GiJeongKim | 0:51c43836c1d7 | 35 | unsigned int value; // 10bit output of reading sensor AS5510 |
GiJeongKim | 0:51c43836c1d7 | 36 | |
jobuuu | 7:e9086c72bb22 | 37 | // SPI /////////////////////////////////////////// |
Lightvalve | 16:903b5a4433b4 | 38 | //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK); |
Lightvalve | 16:903b5a4433b4 | 39 | //DigitalOut eeprom_cs(PB_12); |
Lightvalve | 16:903b5a4433b4 | 40 | //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector |
GiJeongKim | 0:51c43836c1d7 | 41 | SPI enc(PC_12,PC_11,PC_10); |
GiJeongKim | 0:51c43836c1d7 | 42 | DigitalOut enc_cs(PD_2); |
Lightvalve | 11:82d8768d7351 | 43 | DigitalOut LED(PA_15); |
GiJeongKim | 0:51c43836c1d7 | 44 | |
jobuuu | 7:e9086c72bb22 | 45 | // UART /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 46 | Serial pc(PA_9,PA_10); // _ UART |
GiJeongKim | 0:51c43836c1d7 | 47 | |
jobuuu | 7:e9086c72bb22 | 48 | // CAN /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 49 | CAN can(PB_8, PB_9, 1000000); |
GiJeongKim | 0:51c43836c1d7 | 50 | CANMessage msg; |
Lightvalve | 11:82d8768d7351 | 51 | void onMsgReceived() |
Lightvalve | 11:82d8768d7351 | 52 | { |
Lightvalve | 11:82d8768d7351 | 53 | CAN_RX_HANDLER(); |
Lightvalve | 11:82d8768d7351 | 54 | } |
jobuuu | 2:a1c0a37df760 | 55 | |
jobuuu | 7:e9086c72bb22 | 56 | // Variables /////////////////////////////////////////// |
jobuuu | 7:e9086c72bb22 | 57 | State pos; |
jobuuu | 7:e9086c72bb22 | 58 | State vel; |
jobuuu | 7:e9086c72bb22 | 59 | State Vout; |
jobuuu | 7:e9086c72bb22 | 60 | State torq; |
jobuuu | 7:e9086c72bb22 | 61 | State pres_A; |
jobuuu | 7:e9086c72bb22 | 62 | State pres_B; |
jobuuu | 7:e9086c72bb22 | 63 | State cur; |
Lightvalve | 14:8e7590227d22 | 64 | State valve_pos; |
Lightvalve | 14:8e7590227d22 | 65 | |
Lightvalve | 14:8e7590227d22 | 66 | State INIT_Vout; |
Lightvalve | 14:8e7590227d22 | 67 | State INIT_Valve_Pos; |
Lightvalve | 14:8e7590227d22 | 68 | State INIT_Pos; |
Lightvalve | 14:8e7590227d22 | 69 | State INIT_torq; |
jobuuu | 5:a4319f79457b | 70 | |
Lightvalve | 19:23b7c1ad8683 | 71 | extern int CID_RX_CMD; |
Lightvalve | 19:23b7c1ad8683 | 72 | extern int CID_RX_REF_POSITION; |
Lightvalve | 49:e7bcfc244d40 | 73 | extern int CID_RX_REF_VALVE_POS; |
Lightvalve | 45:35fa6884d0c6 | 74 | extern int CID_RX_REF_PWM; |
Lightvalve | 19:23b7c1ad8683 | 75 | |
Lightvalve | 19:23b7c1ad8683 | 76 | extern int CID_TX_INFO; |
Lightvalve | 19:23b7c1ad8683 | 77 | extern int CID_TX_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 78 | extern int CID_TX_TORQUE; |
Lightvalve | 19:23b7c1ad8683 | 79 | extern int CID_TX_PRES; |
Lightvalve | 19:23b7c1ad8683 | 80 | extern int CID_TX_VOUT; |
Lightvalve | 19:23b7c1ad8683 | 81 | extern int CID_TX_VALVE_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 82 | |
Lightvalve | 61:bc8c8270f0ab | 83 | |
Lightvalve | 61:bc8c8270f0ab | 84 | |
Lightvalve | 61:bc8c8270f0ab | 85 | |
jobuuu | 7:e9086c72bb22 | 86 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 87 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 88 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 89 | |
Lightvalve | 12:6f2531038ea4 | 90 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 91 | * REFERENCE MODE |
Lightvalve | 12:6f2531038ea4 | 92 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 93 | enum _REFERENCE_MODE { |
Lightvalve | 13:747daba9cf59 | 94 | MODE_REF_NO_ACT = 0, //0 |
Lightvalve | 12:6f2531038ea4 | 95 | MODE_REF_DIRECT, //1 |
Lightvalve | 12:6f2531038ea4 | 96 | MODE_REF_COS_INC, //2 |
Lightvalve | 12:6f2531038ea4 | 97 | MODE_REF_LINE_INC, //3 |
Lightvalve | 12:6f2531038ea4 | 98 | MODE_REF_SIN_WAVE, //4 |
Lightvalve | 12:6f2531038ea4 | 99 | MODE_REF_SQUARE_WAVE, //5 |
Lightvalve | 12:6f2531038ea4 | 100 | }; |
Lightvalve | 12:6f2531038ea4 | 101 | |
Lightvalve | 12:6f2531038ea4 | 102 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 103 | * CONTROL MODE |
Lightvalve | 12:6f2531038ea4 | 104 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 105 | enum _CONTROL_MODE { |
Lightvalve | 12:6f2531038ea4 | 106 | //control mode |
Lightvalve | 12:6f2531038ea4 | 107 | MODE_NO_ACT = 0, //0 |
Lightvalve | 47:fdcb8bd86fd6 | 108 | MODE_VALVE_POSITION_CONTROL, //1 |
Lightvalve | 47:fdcb8bd86fd6 | 109 | MODE_JOINT_CONTROL, //2 |
Lightvalve | 50:3c630b5eba9f | 110 | |
Lightvalve | 47:fdcb8bd86fd6 | 111 | MODE_VALVE_OPEN_LOOP, //3 |
Lightvalve | 12:6f2531038ea4 | 112 | MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4 |
Lightvalve | 12:6f2531038ea4 | 113 | MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5 |
Lightvalve | 13:747daba9cf59 | 114 | |
Lightvalve | 12:6f2531038ea4 | 115 | MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6 |
Lightvalve | 12:6f2531038ea4 | 116 | MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7 |
Lightvalve | 12:6f2531038ea4 | 117 | MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8 |
Lightvalve | 13:747daba9cf59 | 118 | |
Lightvalve | 12:6f2531038ea4 | 119 | MODE_TEST_CURRENT_CONTROL, //9 |
Lightvalve | 12:6f2531038ea4 | 120 | MODE_TEST_PWM_CONTROL, //10 |
Lightvalve | 21:e5f1a43ea6f9 | 121 | |
Lightvalve | 14:8e7590227d22 | 122 | MODE_CURRENT_CONTROL, //11 |
Lightvalve | 14:8e7590227d22 | 123 | MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12 |
Lightvalve | 14:8e7590227d22 | 124 | MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13 |
Lightvalve | 13:747daba9cf59 | 125 | |
Lightvalve | 12:6f2531038ea4 | 126 | //utility |
Lightvalve | 12:6f2531038ea4 | 127 | MODE_TORQUE_SENSOR_NULLING = 20, //20 |
Lightvalve | 12:6f2531038ea4 | 128 | MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21 |
Lightvalve | 12:6f2531038ea4 | 129 | MODE_FIND_HOME, //22 |
Lightvalve | 57:f4819de54e7a | 130 | MODE_VALVE_GAIN_SETTING, //23 |
Lightvalve | 12:6f2531038ea4 | 131 | MODE_PRESSURE_SENSOR_NULLING, //24 |
Lightvalve | 12:6f2531038ea4 | 132 | MODE_PRESSURE_SENSOR_CALIB, //25 |
Lightvalve | 12:6f2531038ea4 | 133 | MODE_ROTARY_FRICTION_TUNING, //26 |
Lightvalve | 13:747daba9cf59 | 134 | |
Lightvalve | 12:6f2531038ea4 | 135 | MODE_DDV_POS_VS_PWM_ID = 30, //30 |
Lightvalve | 12:6f2531038ea4 | 136 | MODE_DDV_DEADZONE_AND_CENTER, //31 |
Lightvalve | 12:6f2531038ea4 | 137 | MODE_DDV_POS_VS_FLOWRATE, //32 |
Lightvalve | 57:f4819de54e7a | 138 | MODE_SYSTEM_ID, //33 |
Lightvalve | 12:6f2531038ea4 | 139 | }; |
Lightvalve | 12:6f2531038ea4 | 140 | |
Lightvalve | 65:a2d7c63419c2 | 141 | void SystemClock_Config(void) |
Lightvalve | 65:a2d7c63419c2 | 142 | { |
Lightvalve | 65:a2d7c63419c2 | 143 | RCC_OscInitTypeDef RCC_OscInitStruct = {0}; |
Lightvalve | 65:a2d7c63419c2 | 144 | RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; |
Lightvalve | 65:a2d7c63419c2 | 145 | |
Lightvalve | 65:a2d7c63419c2 | 146 | /** Configure the main internal regulator output voltage |
Lightvalve | 65:a2d7c63419c2 | 147 | */ |
Lightvalve | 65:a2d7c63419c2 | 148 | __HAL_RCC_PWR_CLK_ENABLE(); |
Lightvalve | 65:a2d7c63419c2 | 149 | __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); |
Lightvalve | 65:a2d7c63419c2 | 150 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 65:a2d7c63419c2 | 151 | */ |
Lightvalve | 65:a2d7c63419c2 | 152 | RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; |
Lightvalve | 65:a2d7c63419c2 | 153 | RCC_OscInitStruct.HSIState = RCC_HSI_ON; |
Lightvalve | 65:a2d7c63419c2 | 154 | RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; |
Lightvalve | 65:a2d7c63419c2 | 155 | RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; |
Lightvalve | 65:a2d7c63419c2 | 156 | RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI; |
Lightvalve | 65:a2d7c63419c2 | 157 | RCC_OscInitStruct.PLL.PLLM = 8;//8 |
Lightvalve | 65:a2d7c63419c2 | 158 | RCC_OscInitStruct.PLL.PLLN = 180; //180 |
Lightvalve | 65:a2d7c63419c2 | 159 | RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; |
Lightvalve | 65:a2d7c63419c2 | 160 | RCC_OscInitStruct.PLL.PLLQ = 2; |
Lightvalve | 65:a2d7c63419c2 | 161 | RCC_OscInitStruct.PLL.PLLR = 2; |
Lightvalve | 65:a2d7c63419c2 | 162 | if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) |
Lightvalve | 65:a2d7c63419c2 | 163 | { |
Lightvalve | 65:a2d7c63419c2 | 164 | //Error_Handler(); |
Lightvalve | 65:a2d7c63419c2 | 165 | } |
Lightvalve | 65:a2d7c63419c2 | 166 | /** Activate the Over-Drive mode |
Lightvalve | 65:a2d7c63419c2 | 167 | */ |
Lightvalve | 65:a2d7c63419c2 | 168 | if (HAL_PWREx_EnableOverDrive() != HAL_OK) |
Lightvalve | 65:a2d7c63419c2 | 169 | { |
Lightvalve | 65:a2d7c63419c2 | 170 | //Error_Handler(); |
Lightvalve | 65:a2d7c63419c2 | 171 | } |
Lightvalve | 65:a2d7c63419c2 | 172 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 65:a2d7c63419c2 | 173 | */ |
Lightvalve | 65:a2d7c63419c2 | 174 | RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |
Lightvalve | 65:a2d7c63419c2 | 175 | |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; |
Lightvalve | 65:a2d7c63419c2 | 176 | RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; |
Lightvalve | 65:a2d7c63419c2 | 177 | RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; |
Lightvalve | 65:a2d7c63419c2 | 178 | RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4; |
Lightvalve | 65:a2d7c63419c2 | 179 | RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; |
Lightvalve | 65:a2d7c63419c2 | 180 | |
Lightvalve | 65:a2d7c63419c2 | 181 | if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) |
Lightvalve | 65:a2d7c63419c2 | 182 | { |
Lightvalve | 65:a2d7c63419c2 | 183 | //Error_Handler(); |
Lightvalve | 65:a2d7c63419c2 | 184 | } |
Lightvalve | 65:a2d7c63419c2 | 185 | } |
Lightvalve | 65:a2d7c63419c2 | 186 | |
Lightvalve | 65:a2d7c63419c2 | 187 | |
Lightvalve | 68:328e1be06f5d | 188 | float x_past[num_array_x_past] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 189 | float f_past[num_array_f_past] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 190 | float f_future[num_array_f_future] = {0.0f}; |
Lightvalve | 66:a8e6799dbce3 | 191 | |
Lightvalve | 73:f80dc3970c99 | 192 | float input_NN[num_input] = { 0.0f }; |
Lightvalve | 65:a2d7c63419c2 | 193 | |
Lightvalve | 66:a8e6799dbce3 | 194 | const float h1[num_input][32] = { |
Lightvalve | 75:fd59821a2b84 | 195 | {-1.313185691833496f,1.3558399677276611f,0.11174947023391724f,-0.4366911053657532f,-1.7452845573425293f,-0.138204425573349f,-0.5774890184402466f,0.6507103443145752f,0.7431467771530151f,-0.053606923669576645f,-0.19580502808094025f,0.05607825890183449f,-0.20386390388011932f,0.13064734637737274f,-0.2227066308259964f,2.1693241596221924f,0.3243738114833832f,0.26314130425453186f,0.8003080487251282f,0.6794722676277161f,-0.35327082872390747f,0.11287471652030945f,-0.35108765959739685f,-0.08360615372657776f,0.9413185715675354f,0.19390198588371277f,-0.18648496270179749f,5.750491142272949f,0.0987941175699234f,-0.19833232462406158f,-2.916874408721924f,-0.011671649292111397f}, |
Lightvalve | 75:fd59821a2b84 | 196 | {-1.0280014276504517f,1.5302698612213135f,0.31515684723854065f,-0.6195348501205444f,-0.9894841909408569f,-0.23615193367004395f,-0.043309468775987625f,0.41509127616882324f,0.14958712458610535f,0.1642826944589615f,-0.3218314051628113f,-0.012262067757546902f,0.022385627031326294f,0.07637009769678116f,0.0484127402305603f,1.1011298894882202f,0.035907596349716187f,0.06643325090408325f,1.046273112297058f,0.6359272003173828f,-0.03268212080001831f,-0.12745296955108643f,-0.10032522678375244f,0.29246577620506287f,0.5771124958992004f,0.3099159896373749f,0.1338752806186676f,2.5955922603607178f,-0.22105993330478668f,0.10351350903511047f,-2.803912878036499f,0.04747290164232254f}, |
Lightvalve | 75:fd59821a2b84 | 197 | {-0.6415348052978516f,0.41371452808380127f,-0.0044558048248291016f,-0.4995523989200592f,-0.7235413193702698f,-0.12890669703483582f,-0.0654362142086029f,0.18923364579677582f,0.6460340619087219f,0.116197869181633f,0.2494136095046997f,0.12075557559728622f,-0.034644484519958496f,0.11565309017896652f,-0.33472365140914917f,-0.1300591230392456f,0.683254599571228f,-0.28053343296051025f,0.9361172914505005f,0.5589144825935364f,0.23385211825370789f,-0.16158531606197357f,0.14301708340644836f,-0.2602297365665436f,0.6274119019508362f,0.15341529250144958f,-0.1637192666530609f,0.6106250286102295f,-0.5559744834899902f,0.31950315833091736f,0.04965273663401604f,-0.22580347955226898f}, |
Lightvalve | 75:fd59821a2b84 | 198 | {-0.45159584283828735f,-1.16899573802948f,-0.2166784107685089f,-1.2771203517913818f,-0.21736255288124084f,0.23653309047222137f,0.0009526232606731355f,-0.3641812205314636f,1.2766860723495483f,0.07826011627912521f,0.048994891345500946f,0.33018746972084045f,-0.12461960315704346f,0.28528091311454773f,-0.13525955379009247f,-0.11344131827354431f,0.1405259668827057f,-0.25070422887802124f,0.179708331823349f,0.18176427483558655f,-0.26321321725845337f,-0.09280073642730713f,-0.15524277091026306f,-0.30760157108306885f,0.24493354558944702f,0.1494223177433014f,0.1411983072757721f,-2.1537203788757324f,-0.1353481411933899f,0.13963142037391663f,2.9061431884765625f,0.20509560406208038f}, |
Lightvalve | 75:fd59821a2b84 | 199 | {0.3991907238960266f,-0.8430772423744202f,0.0887511670589447f,-0.9184415936470032f,0.767889678478241f,0.053920164704322815f,0.043993569910526276f,-0.9090496301651001f,0.09724675863981247f,0.3183283507823944f,-0.3703279495239258f,0.16092625260353088f,0.2231200635433197f,0.18782642483711243f,-0.2646164298057556f,-1.1871178150177002f,-0.3531639277935028f,-0.19455955922603607f,-0.04284193366765976f,-0.4049484431743622f,0.14516910910606384f,0.24891802668571472f,-0.2589884400367737f,-0.07870301604270935f,-0.13590440154075623f,-0.3615073263645172f,0.04281669855117798f,-6.318483829498291f,-0.05344811826944351f,-0.17222367227077484f,3.211731195449829f,0.08748987317085266f}, |
Lightvalve | 75:fd59821a2b84 | 200 | {3.0852460861206055f,-1.7211849689483643f,0.3220093548297882f,2.7558774948120117f,2.3903656005859375f,-0.6154880523681641f,0.12499935925006866f,-1.302553415298462f,-2.9696953296661377f,0.03835542872548103f,0.14598320424556732f,-0.9738982319831848f,-0.033180445432662964f,0.036770038306713104f,0.2311277687549591f,-1.7552099227905273f,-1.594754934310913f,-0.3372360169887543f,-2.9891862869262695f,-1.6050679683685303f,0.14268693327903748f,-0.010211020708084106f,0.13283005356788635f,0.3492297828197479f,-2.6234822273254395f,0.2196546494960785f,-0.3087477684020996f,-3.679436445236206f,0.39592868089675903f,-0.0013858675956726074f,-0.8279285430908203f,0.0427020899951458f}, |
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Lightvalve | 65:a2d7c63419c2 | 207 | }; |
Lightvalve | 65:a2d7c63419c2 | 208 | |
Lightvalve | 66:a8e6799dbce3 | 209 | const float h2[32][32] = { |
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Lightvalve | 75:fd59821a2b84 | 216 | {-0.21433322131633759f,-0.1279313862323761f,-0.11171227693557739f,0.19313624501228333f,-0.26441383361816406f,0.2845393121242523f,-0.07698006182909012f,-0.20844537019729614f,-0.26620519161224365f,0.17144301533699036f,-0.36887234449386597f,0.08302517980337143f,0.29584869742393494f,0.11009510606527328f,-0.20718690752983093f,-0.024496594443917274f,-0.16153597831726074f,0.18742787837982178f,-0.139192596077919f,0.07302840799093246f,0.16935086250305176f,0.020542774349451065f,-0.07988794147968292f,-0.32990220189094543f,-0.9956828355789185f,-0.7803241610527039f,0.16467735171318054f,0.1288815587759018f,-0.11822041869163513f,0.19546762108802795f,-0.16657039523124695f,-0.0494866780936718f}, |
Lightvalve | 75:fd59821a2b84 | 217 | {0.29264822602272034f,0.11346611380577087f,0.04012581706047058f,-0.06849342584609985f,0.22828009724617004f,-0.18136094510555267f,-0.30926772952079773f,0.004197537899017334f,0.2864855229854584f,0.01006925106048584f,0.07567531615495682f,-0.19712111353874207f,-0.26371070742607117f,-1.8047027587890625f,0.23755255341529846f,-0.3447447419166565f,-0.2721019387245178f,0.2706601917743683f,-0.10313893854618073f,-0.14302746951580048f,0.10852442681789398f,-0.13124442100524902f,-0.07979777455329895f,0.08328970521688461f,-0.5694247484207153f,-0.8781575560569763f,0.44012337923049927f,-0.8073893189430237f,-0.14135785400867462f,0.07403197884559631f,0.16089555621147156f,0.05005462095141411f}, |
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Lightvalve | 74:2bd13b02ed17 | 230 | {0.2703488767147064f,-0.16041381657123566f,0.12738299369812012f,-0.03611093759536743f,0.1169431209564209f,0.1861400008201599f,-0.1765512377023697f,0.28177282214164734f,0.1474648416042328f,-0.23766008019447327f,-0.005803406238555908f,0.08728843927383423f,0.09594401717185974f,-0.17028304934501648f,-0.16805587708950043f,-0.058941617608070374f,-0.22846683859825134f,0.08700510859489441f,-0.2656046748161316f,0.07154610753059387f,-0.1559111475944519f,0.22832396626472473f,-0.18301571905612946f,-0.17816279828548431f,-0.04200500249862671f,0.2835671007633209f,0.1830621361732483f,-0.26011598110198975f,0.08541131019592285f,0.08213254809379578f,-0.29332536458969116f,0.08477649092674255f}, |
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Lightvalve | 65:a2d7c63419c2 | 242 | }; |
Lightvalve | 65:a2d7c63419c2 | 243 | |
Lightvalve | 66:a8e6799dbce3 | 244 | const float h3[32][32] = { |
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Lightvalve | 75:fd59821a2b84 | 248 | {0.2906629145145416f,0.0011796666076406837f,-0.3284459412097931f,-0.42126768827438354f,-2.041640520095825f,-0.3198484182357788f,-0.061309605836868286f,-0.17915479838848114f,1.8421404361724854f,0.2811860740184784f,1.579482078552246f,0.1205105111002922f,-5.343050003051758f,-3.531210422515869f,0.22106656432151794f,-0.23978039622306824f,-0.28915077447891235f,0.030949801206588745f,-1.440433382987976f,-0.4398042559623718f,0.5012592077255249f,0.6894128918647766f,-0.3840677738189697f,-0.27595841884613037f,0.4273875951766968f,-0.11024686694145203f,-0.30630218982696533f,0.24057814478874207f,-0.29079723358154297f,-0.25852420926094055f,-0.09564408659934998f,-1.388859748840332f}, |
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Lightvalve | 66:a8e6799dbce3 | 253 | {-0.20420776307582855f,0.1970202624797821f,0.23591408133506775f,-0.282694011926651f,0.09019026160240173f,0.20012763142585754f,0.028453975915908813f,0.23323127627372742f,0.15246456861495972f,-0.1270071268081665f,0.20025727152824402f,0.13077861070632935f,-0.2238168716430664f,-0.20709244906902313f,-0.0045506954193115234f,-0.16448761522769928f,0.28163614869117737f,0.1971360743045807f,0.30405697226524353f,-0.28959211707115173f,-0.2255709171295166f,0.15360668301582336f,0.24163606762886047f,0.19554737210273743f,-0.1804599016904831f,0.07604315876960754f,-0.1459394246339798f,-0.14081311225891113f,-0.29656586050987244f,0.19529584050178528f,-0.05168652534484863f,-0.03415781259536743f}, |
Lightvalve | 66:a8e6799dbce3 | 254 | {0.27550336718559265f,-0.14170598983764648f,-0.21542268991470337f,-0.2159879207611084f,0.06500789523124695f,-0.21155211329460144f,-0.01575431227684021f,0.0617731511592865f,0.13126209378242493f,-0.04922589659690857f,-0.23877641558647156f,-0.06292802095413208f,0.01433342695236206f,0.14592674374580383f,-0.23886999487876892f,0.08878573775291443f,0.1853090226650238f,-0.05102238059043884f,-0.13667166233062744f,-0.24401302635669708f,0.25155118107795715f,-0.20339438319206238f,0.03535670042037964f,0.048473477363586426f,-0.13871997594833374f,-0.15382859110832214f,-0.13837768137454987f,0.26085415482521057f,0.2491457164287567f,0.157204270362854f,0.14108964800834656f,0.12518465518951416f}, |
Lightvalve | 75:fd59821a2b84 | 255 | {-0.023678362369537354f,0.08797620981931686f,-0.2871009409427643f,-0.1269129514694214f,2.328566312789917f,0.40447285771369934f,0.0393199622631073f,0.196751207113266f,-1.8087782859802246f,0.7520325183868408f,0.8472196459770203f,-0.15846265852451324f,-2.0430166721343994f,1.1243969202041626f,0.080221027135849f,-0.2471318244934082f,0.026521950960159302f,0.28880444169044495f,0.0771021842956543f,-0.47420787811279297f,-1.8180674314498901f,2.3254144191741943f,-1.1086549758911133f,0.2614522874355316f,-0.5653209090232849f,-0.25962090492248535f,-0.08758813142776489f,2.310356855392456f,0.01161124836653471f,-0.2912617325782776f,-0.4035002887248993f,-0.06948458403348923f}, |
Lightvalve | 75:fd59821a2b84 | 256 | {0.2680447995662689f,0.07797502726316452f,-0.4340595304965973f,-0.12291660159826279f,0.0004409539978951216f,-0.38190945982933044f,0.12004496902227402f,-0.17794576287269592f,0.793194591999054f,0.2098115235567093f,1.5856468677520752f,0.007934660650789738f,0.12772130966186523f,-0.2567565441131592f,0.23152390122413635f,-0.07731422781944275f,0.21101722121238708f,-0.15284278988838196f,-0.030561676248908043f,0.08157320320606232f,1.3478504419326782f,1.0397841930389404f,1.02566397190094f,0.12623250484466553f,0.04778704792261124f,0.18312275409698486f,-0.29112857580184937f,-0.05745025351643562f,0.08209920674562454f,-0.1739533692598343f,-0.2773703932762146f,-0.685867965221405f}, |
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Lightvalve | 75:fd59821a2b84 | 264 | {0.261911004781723f,-0.31769564747810364f,-0.2993849217891693f,-0.020901747047901154f,0.0732688456773758f,0.05426959693431854f,-0.06670857965946198f,-0.030254334211349487f,-0.2773962616920471f,0.1197996437549591f,0.01667046546936035f,-0.2924177646636963f,0.19318778812885284f,-0.1301400512456894f,-0.20773646235466003f,-0.10781967639923096f,-0.15712574124336243f,0.16112294793128967f,0.23137132823467255f,0.18930953741073608f,0.19991524517536163f,0.1268383264541626f,-0.3001303970813751f,0.14906415343284607f,0.15230990946292877f,0.0025720298290252686f,-0.08662130683660507f,-0.21543759107589722f,0.07853570580482483f,0.21125611662864685f,-0.05751854181289673f,-0.22727590799331665f}, |
Lightvalve | 75:fd59821a2b84 | 265 | {0.14277681708335876f,-0.3716357946395874f,-0.11831590533256531f,-0.37174999713897705f,1.4216737747192383f,-0.5673569440841675f,0.10191433876752853f,-0.27022814750671387f,-1.9562586545944214f,-0.452837735414505f,1.9954625368118286f,-0.10322097688913345f,0.48624393343925476f,1.3605715036392212f,-0.03100520372390747f,-0.2484396994113922f,0.06366744637489319f,-0.2764144539833069f,-0.14515277743339539f,0.10553821176290512f,-0.20059677958488464f,1.1433237791061401f,0.6231899261474609f,-0.0716068297624588f,-0.39068469405174255f,-0.19159743189811707f,0.019965022802352905f,-0.9234741926193237f,-0.637962818145752f,-0.10488687455654144f,-0.21563708782196045f,-0.16996216773986816f}, |
Lightvalve | 75:fd59821a2b84 | 266 | {0.29069945216178894f,-0.23835359513759613f,0.019009560346603394f,-0.31017908453941345f,-0.2621127665042877f,0.2044413983821869f,0.045349299907684326f,-0.17138783633708954f,0.16033761203289032f,0.3885918855667114f,0.09080597758293152f,-0.15074089169502258f,-0.17332935333251953f,0.41083773970603943f,0.09875330328941345f,0.08164769411087036f,0.2294725477695465f,0.10683679580688477f,-0.4230635464191437f,-0.11497358977794647f,0.1957227736711502f,0.8371639251708984f,-0.04183199629187584f,-0.15362010896205902f,0.6437113881111145f,0.023651927709579468f,-0.1729920208454132f,0.05462941899895668f,0.12851183116436005f,0.19045329093933105f,0.02994692325592041f,-0.29800930619239807f}, |
Lightvalve | 75:fd59821a2b84 | 267 | {0.1991647183895111f,0.12534403800964355f,-0.04112154245376587f,0.23123982548713684f,-0.17588619887828827f,-0.23859387636184692f,-0.1610087752342224f,-0.031804412603378296f,0.10274738073348999f,-0.17494402825832367f,0.22262001037597656f,-0.057292819023132324f,0.1464652419090271f,0.11948269605636597f,0.2151305377483368f,0.2952744662761688f,-0.21319252252578735f,0.04970458149909973f,0.10210192203521729f,0.3050673305988312f,0.21167120337486267f,-0.10099594295024872f,0.13887640833854675f,0.25299301743507385f,-0.06018960475921631f,-0.07015113532543182f,-0.287551611661911f,-0.025779157876968384f,-0.07337476313114166f,-0.24420931935310364f,0.015819430351257324f,-0.07748918980360031f}, |
Lightvalve | 75:fd59821a2b84 | 268 | {0.12202468514442444f,-0.07779057323932648f,-0.24629002809524536f,-0.32566729187965393f,-1.740978717803955f,0.8758586645126343f,-0.06113804876804352f,-0.11568751931190491f,-0.8516654968261719f,-1.5848010778427124f,-7.323417663574219f,-0.23689016699790955f,-0.9717143774032593f,0.09606634825468063f,-0.06735922396183014f,0.05864924192428589f,-0.25733181834220886f,-0.17565661668777466f,-0.3076743483543396f,-0.19169509410858154f,-13.162639617919922f,0.834630012512207f,0.9407454133033752f,-0.05681343376636505f,0.1684274822473526f,0.1795230209827423f,-0.08288317918777466f,-0.05590128153562546f,-0.16114233434200287f,0.2425754964351654f,-0.22172409296035767f,-1.7836977243423462f}, |
Lightvalve | 75:fd59821a2b84 | 269 | {-0.3055141270160675f,-0.2612495720386505f,-0.062216371297836304f,-0.15180936455726624f,-0.25488585233688354f,-0.08808144181966782f,0.09419310092926025f,0.21086838841438293f,0.13909883797168732f,-0.09611540287733078f,0.08947992324829102f,-0.036056820303201675f,0.06368797272443771f,0.37871652841567993f,-0.023131370544433594f,0.036719828844070435f,0.16260939836502075f,0.05286213755607605f,-0.43367430567741394f,-0.11085523664951324f,0.10838434845209122f,-0.15486791729927063f,-0.20283125340938568f,0.19191309809684753f,0.08327501267194748f,-0.02825927734375f,-0.23410660028457642f,0.01904413104057312f,-0.07540153712034225f,0.1865309774875641f,0.2522423565387726f,-0.37721818685531616f}, |
Lightvalve | 75:fd59821a2b84 | 270 | {0.1782623827457428f,0.10682078450918198f,-0.41197142004966736f,-0.07911429554224014f,0.1805134266614914f,-0.014717919752001762f,-0.2435605823993683f,0.1475539207458496f,0.1903688907623291f,0.13256268203258514f,-0.027318783104419708f,-0.24679936468601227f,-0.2854386568069458f,0.18686966598033905f,-0.2527656555175781f,-0.3049176335334778f,0.032145023345947266f,-0.25376296043395996f,-0.38044285774230957f,-0.19812412559986115f,-0.20415671169757843f,0.3631074130535126f,0.27019017934799194f,0.05391114950180054f,-0.3148764371871948f,0.10029953718185425f,0.06320364773273468f,0.4630293846130371f,-0.4155415892601013f,0.1616479754447937f,-0.1823643445968628f,-0.20084841549396515f}, |
Lightvalve | 75:fd59821a2b84 | 271 | {-0.17396044731140137f,-0.28921031951904297f,-0.28752484917640686f,-0.10045907646417618f,0.10372793674468994f,0.3817340135574341f,-0.14075329899787903f,-0.1761629432439804f,-1.031593680381775f,-1.1875016689300537f,-0.44267579913139343f,-0.14911454916000366f,-2.290588855743408f,-1.8594526052474976f,-0.19851773977279663f,-0.10762731730937958f,0.14198419451713562f,0.10370296239852905f,-0.5650427937507629f,-0.30807116627693176f,-3.4756698608398438f,0.6098830103874207f,0.5892422199249268f,-0.19857197999954224f,0.6980613470077515f,-0.2665709853172302f,0.014847352169454098f,-1.5965887308120728f,-0.3655775487422943f,-0.1200934648513794f,-0.04139012098312378f,-0.5369430184364319f}, |
Lightvalve | 75:fd59821a2b84 | 272 | {-0.12546227872371674f,-0.11750900745391846f,-0.23636242747306824f,0.004841658286750317f,-0.6315189003944397f,-0.062289346009492874f,-0.28310835361480713f,-0.020981580018997192f,-0.17436684668064117f,0.06093672290444374f,0.6257375478744507f,-0.22123131155967712f,0.4095354378223419f,0.06482041627168655f,-0.0649729073047638f,0.2468220293521881f,0.060016900300979614f,-0.16779978573322296f,-0.19680415093898773f,0.040797170251607895f,1.0008506774902344f,0.277142196893692f,-0.2521553337574005f,0.22389158606529236f,0.2958110272884369f,0.020356476306915283f,-0.27942416071891785f,0.2945798635482788f,0.08210375159978867f,-0.000007510185241699219f,0.094448983669281f,-0.4532257318496704f}, |
Lightvalve | 66:a8e6799dbce3 | 273 | {0.07555973529815674f,-0.0029259920120239258f,-0.08789914846420288f,0.06678077578544617f,-0.11083845794200897f,0.11010000109672546f,-0.14982634782791138f,0.12075316905975342f,-0.2766430675983429f,0.013024389743804932f,0.18159812688827515f,-0.20200279355049133f,0.2637675702571869f,-0.1856893002986908f,0.2882818281650543f,0.05304515361785889f,-0.15297894179821014f,0.07341468334197998f,0.05268138647079468f,0.1067940890789032f,-0.2661813795566559f,-0.2009473443031311f,0.1843600869178772f,0.2517976462841034f,-0.07343396544456482f,-0.051110416650772095f,-0.23432010412216187f,0.16746872663497925f,-0.2205146849155426f,-0.017525076866149902f,0.20926335453987122f,-0.2141496241092682f}, |
Lightvalve | 72:3436ce769b1e | 274 | {0.06582912802696228f,0.2796666920185089f,-0.2556927502155304f,0.0023079216480255127f,0.2043982446193695f,0.13894453644752502f,0.06556430459022522f,0.29767414927482605f,0.24966773390769958f,-0.16670267283916473f,-0.1203770637512207f,-0.06570860743522644f,-0.015925198793411255f,0.17675906419754028f,-0.014884740114212036f,-0.05300724506378174f,0.26490333676338196f,0.15243005752563477f,-0.07319167256355286f,0.2353842556476593f,0.23596063256263733f,0.1602974534034729f,-0.04174882173538208f,-0.11559568345546722f,-0.06235519051551819f,0.21069613099098206f,-0.19532959163188934f,-0.2486409693956375f,0.032513976097106934f,-0.2712400257587433f,-0.19435247778892517f,-0.23200613260269165f}, |
Lightvalve | 67:c2812cf26c38 | 275 | {-0.1299392580986023f,-0.06208275258541107f,-0.18067686259746552f,0.062329649925231934f,-0.22588664293289185f,-0.06877543032169342f,-0.19175797700881958f,0.02903696894645691f,-0.2614779472351074f,0.016345679759979248f,-0.24767392873764038f,0.2033931314945221f,-0.30105409026145935f,0.08271035552024841f,0.13206014037132263f,0.15829482674598694f,-0.21012049913406372f,0.2088232934474945f,0.07014858722686768f,-0.19175665080547333f,0.28649166226387024f,0.05041047930717468f,-0.27260470390319824f,-0.025072306394577026f,0.2722422182559967f,-0.007939159870147705f,-0.22979341447353363f,0.11936154961585999f,0.1298319399356842f,0.18135693669319153f,-0.008151531219482422f,0.15906798839569092f}, |
Lightvalve | 75:fd59821a2b84 | 276 | {0.07638216018676758f,0.04612322896718979f,-0.30373215675354004f,-0.2751947343349457f,0.134153813123703f,0.010966933332383633f,0.2795381247997284f,-0.25668495893478394f,-0.07679220288991928f,0.1293344497680664f,-0.026776641607284546f,0.02524423599243164f,0.11449384689331055f,0.2529979646205902f,-0.029521822929382324f,-0.19500072300434113f,0.06506577134132385f,-0.011876672506332397f,0.12633515894412994f,0.24063809216022491f,0.13952356576919556f,-0.0043319715186953545f,-0.06994132697582245f,-0.17324526607990265f,0.21346911787986755f,0.1901901364326477f,-0.26770874857902527f,-0.05840890482068062f,-0.11826688796281815f,0.22636333107948303f,-0.2677184045314789f,0.21909776329994202f}, |
Lightvalve | 66:a8e6799dbce3 | 277 | }; |
Lightvalve | 65:a2d7c63419c2 | 278 | |
Lightvalve | 75:fd59821a2b84 | 279 | const float hout[32] = { 0.3285340666770935f,0.24471119046211243f,-0.15469689667224884f,-0.02115148864686489f,-0.18921276926994324f,0.15414418280124664f,-0.029149213805794716f,0.1081397533416748f,-0.11788058280944824f,0.18063466250896454f,-0.404053658246994f,0.022158514708280563f,0.04093974828720093f,0.14568769931793213f,0.2356991171836853f,-0.1462659239768982f,0.09851181507110596f,-0.21499931812286377f,0.04926346614956856f,-0.18677940964698792f,0.07142583280801773f,0.11499594151973724f,-0.22212912142276764f,-0.175692617893219f,0.20258161425590515f,0.2520971894264221f,-0.3175334930419922f,0.19466282427310944f,0.08209554105997086f,-0.3257754445075989f,-0.31893864274024963f,-0.037450455129146576f }; |
Lightvalve | 66:a8e6799dbce3 | 280 | |
Lightvalve | 75:fd59821a2b84 | 281 | const float b1[32] = { 0.4202998876571655f,1.094918131828308f,-1.7145336866378784f,-0.17063993215560913f,1.0830309391021729f,1.1982712745666504f,-0.1522631198167801f,0.6816328167915344f,0.6362338066101074f,-0.8989253044128418f,0.5141571164131165f,1.3029500246047974f,-0.3425353467464447f,-0.9415229558944702f,-1.087764859199524f,-1.8590199947357178f,0.5888760089874268f,-0.26377663016319275f,0.5120896697044373f,0.6348367929458618f,-0.284685879945755f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,2.461388349533081f,-2.0880801677703857f,-1.0489267110824585f,0.6330750584602356f,-0.46192118525505066f,-1.0887231826782227f,2.1536664962768555f,-0.47325626015663147f }; |
Lightvalve | 65:a2d7c63419c2 | 282 | |
Lightvalve | 75:fd59821a2b84 | 283 | const float b2[32] = { -0.22824740409851074f,-0.7642630338668823f,-1.4564176797866821f,0.09827680140733719f,-0.6939148902893066f,0.049203772097826004f,-0.02126282826066017f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.957858145236969f,-0.6606660485267639f,-0.2031645029783249f,2.0826189517974854f,-0.2622629404067993f,0.8372436761856079f,-1.798204779624939f,-1.5844906568527222f,-0.03141642361879349f,-0.3296515941619873f,0.13303455710411072f,0.11028163135051727f,-0.06032365933060646f,-0.10295621305704117f,0.21086792647838593f,0.39109453558921814f,-0.047606464475393295f,-0.31456735730171204f,-0.6323830485343933f,-0.4208582937717438f,-1.178520679473877f,-1.358128309249878f }; |
Lightvalve | 65:a2d7c63419c2 | 284 | |
Lightvalve | 75:fd59821a2b84 | 285 | const float b3[32] = { -1.963319182395935f,-0.5308853983879089f,-0.03035331703722477f,-0.10847673565149307f,-1.9975547790527344f,1.324741244316101f,-0.5021422505378723f,-0.6562485098838806f,-0.2854798436164856f,1.1526424884796143f,-4.029669761657715f,-0.1188148632645607f,-0.8120167851448059f,1.0550483465194702f,-1.1428403854370117f,-0.3598397970199585f,-1.3594286441802979f,-1.0192245244979858f,-0.9435397982597351f,0.08169078826904297f,-0.33376625180244446f,-2.0993151664733887f,-0.960339367389679f,-0.8066051602363586f,1.3543744087219238f,-0.36519983410835266f,-0.3522884249687195f,-1.2309868335723877f,-0.0852605551481247f,-2.3236680030822754f,-0.10093268752098083f,0.3999447524547577f }; |
Lightvalve | 66:a8e6799dbce3 | 286 | |
Lightvalve | 75:fd59821a2b84 | 287 | const float bout[1] = { -0.16701290011405945f }; |
Lightvalve | 61:bc8c8270f0ab | 288 | |
Lightvalve | 61:bc8c8270f0ab | 289 | |
GiJeongKim | 0:51c43836c1d7 | 290 | int main() |
GiJeongKim | 0:51c43836c1d7 | 291 | { |
Lightvalve | 66:a8e6799dbce3 | 292 | |
Lightvalve | 65:a2d7c63419c2 | 293 | HAL_Init(); |
Lightvalve | 65:a2d7c63419c2 | 294 | SystemClock_Config(); |
Lightvalve | 65:a2d7c63419c2 | 295 | |
jobuuu | 6:df07d3491e3a | 296 | /********************************* |
jobuuu | 1:e04e563be5ce | 297 | *** Initialization |
jobuuu | 6:df07d3491e3a | 298 | *********************************/ |
Lightvalve | 69:3995ffeaa786 | 299 | LED = 0; |
Lightvalve | 61:bc8c8270f0ab | 300 | pc.baud(9600); |
Lightvalve | 21:e5f1a43ea6f9 | 301 | |
GiJeongKim | 0:51c43836c1d7 | 302 | // i2c init |
Lightvalve | 8:5d2eebdad025 | 303 | i2c.frequency(400 * 1000); // 0.4 mHz |
Lightvalve | 8:5d2eebdad025 | 304 | wait_ms(2); // Power Up wait |
Lightvalve | 8:5d2eebdad025 | 305 | look_for_hardware_i2c(); // Hardware present |
Lightvalve | 8:5d2eebdad025 | 306 | init_as5510(i2c_slave_addr1); |
Lightvalve | 11:82d8768d7351 | 307 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 308 | |
GiJeongKim | 0:51c43836c1d7 | 309 | // // spi init |
Lightvalve | 16:903b5a4433b4 | 310 | //eeprom.format(8,3); |
Lightvalve | 16:903b5a4433b4 | 311 | //eeprom.frequency(5000000); //5M |
GiJeongKim | 0:51c43836c1d7 | 312 | enc.format(8,0); |
GiJeongKim | 0:51c43836c1d7 | 313 | enc.frequency(5000000); //5M |
Lightvalve | 11:82d8768d7351 | 314 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 315 | |
Lightvalve | 16:903b5a4433b4 | 316 | //rom |
Lightvalve | 19:23b7c1ad8683 | 317 | ROM_CALL_DATA(); |
Lightvalve | 16:903b5a4433b4 | 318 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 319 | |
GiJeongKim | 0:51c43836c1d7 | 320 | // ADC init |
jobuuu | 5:a4319f79457b | 321 | Init_ADC(); |
Lightvalve | 11:82d8768d7351 | 322 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 323 | |
GiJeongKim | 0:51c43836c1d7 | 324 | // Pwm init |
GiJeongKim | 0:51c43836c1d7 | 325 | Init_PWM(); |
GiJeongKim | 0:51c43836c1d7 | 326 | TIM4->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 327 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 328 | |
Lightvalve | 11:82d8768d7351 | 329 | // TMR3 init |
Lightvalve | 11:82d8768d7351 | 330 | Init_TMR3(); |
Lightvalve | 11:82d8768d7351 | 331 | TIM3->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 332 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 333 | |
Lightvalve | 50:3c630b5eba9f | 334 | // TMR2 init |
Lightvalve | 56:6f50d9d3bfee | 335 | // Init_TMR2(); |
Lightvalve | 56:6f50d9d3bfee | 336 | // TIM2->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 56:6f50d9d3bfee | 337 | // make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 338 | |
GiJeongKim | 0:51c43836c1d7 | 339 | // CAN |
jobuuu | 2:a1c0a37df760 | 340 | can.attach(&CAN_RX_HANDLER); |
Lightvalve | 11:82d8768d7351 | 341 | CAN_ID_INIT(); |
Lightvalve | 11:82d8768d7351 | 342 | make_delay(); |
Lightvalve | 34:bb2ca2fc2a8e | 343 | |
Lightvalve | 23:59218d4a256d | 344 | //Timer priority |
Lightvalve | 23:59218d4a256d | 345 | NVIC_SetPriority(TIM3_IRQn, 2); |
Lightvalve | 57:f4819de54e7a | 346 | //NVIC_SetPriority(TIM2_IRQn, 3); |
Lightvalve | 54:647072f5307a | 347 | NVIC_SetPriority(TIM4_IRQn, 3); |
Lightvalve | 34:bb2ca2fc2a8e | 348 | |
Lightvalve | 23:59218d4a256d | 349 | //can.reset(); |
Lightvalve | 19:23b7c1ad8683 | 350 | can.filter(msg.id, 0xFFFFF000, CANStandard); |
Lightvalve | 34:bb2ca2fc2a8e | 351 | |
GiJeongKim | 0:51c43836c1d7 | 352 | // spi _ enc |
GiJeongKim | 0:51c43836c1d7 | 353 | spi_enc_set_init(); |
Lightvalve | 11:82d8768d7351 | 354 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 355 | |
Lightvalve | 11:82d8768d7351 | 356 | //DAC init |
Lightvalve | 58:2eade98630e2 | 357 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 358 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 359 | dac_2 = 0.0f; |
Lightvalve | 58:2eade98630e2 | 360 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 361 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 362 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 363 | } |
Lightvalve | 11:82d8768d7351 | 364 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 365 | |
Lightvalve | 19:23b7c1ad8683 | 366 | for (int i=0; i<50; i++) { |
Lightvalve | 11:82d8768d7351 | 367 | if(i%2==0) |
Lightvalve | 38:118df027d851 | 368 | ID_index_array[i] = - i * 0.5f; |
Lightvalve | 11:82d8768d7351 | 369 | else |
Lightvalve | 38:118df027d851 | 370 | ID_index_array[i] = (i+1) * 0.5f; |
Lightvalve | 11:82d8768d7351 | 371 | } |
Lightvalve | 61:bc8c8270f0ab | 372 | |
Lightvalve | 61:bc8c8270f0ab | 373 | |
jobuuu | 6:df07d3491e3a | 374 | /************************************ |
jobuuu | 1:e04e563be5ce | 375 | *** Program is operating! |
jobuuu | 6:df07d3491e3a | 376 | *************************************/ |
GiJeongKim | 0:51c43836c1d7 | 377 | while(1) { |
Lightvalve | 66:a8e6799dbce3 | 378 | // if(timer_while==1000 && OPERATING_MODE==5) { |
Lightvalve | 66:a8e6799dbce3 | 379 | //if(timer_while==1000) { |
Lightvalve | 65:a2d7c63419c2 | 380 | //i2c |
Lightvalve | 66:a8e6799dbce3 | 381 | |
Lightvalve | 65:a2d7c63419c2 | 382 | read_field(i2c_slave_addr1); |
Lightvalve | 65:a2d7c63419c2 | 383 | if(DIR_VALVE_ENC < 0) value = 1023 - value; |
Lightvalve | 65:a2d7c63419c2 | 384 | // if(LED==1) { |
Lightvalve | 65:a2d7c63419c2 | 385 | // LED=0; |
Lightvalve | 65:a2d7c63419c2 | 386 | // } else |
Lightvalve | 65:a2d7c63419c2 | 387 | // LED = 1; |
Lightvalve | 65:a2d7c63419c2 | 388 | timer_while = 0; |
Lightvalve | 66:a8e6799dbce3 | 389 | //} |
Lightvalve | 66:a8e6799dbce3 | 390 | |
Lightvalve | 66:a8e6799dbce3 | 391 | timer_while ++; |
Lightvalve | 66:a8e6799dbce3 | 392 | |
Lightvalve | 73:f80dc3970c99 | 393 | if(NN_Control_Flag == 0) { |
Lightvalve | 73:f80dc3970c99 | 394 | LED = 0; |
Lightvalve | 73:f80dc3970c99 | 395 | } |
Lightvalve | 66:a8e6799dbce3 | 396 | |
Lightvalve | 73:f80dc3970c99 | 397 | else if(NN_Control_Flag == 1) { |
Lightvalve | 66:a8e6799dbce3 | 398 | float output1[32] = { 0.0f }; |
Lightvalve | 66:a8e6799dbce3 | 399 | float output2[32] = { 0.0f }; |
Lightvalve | 66:a8e6799dbce3 | 400 | float output3[32] = { 0.0f }; |
Lightvalve | 66:a8e6799dbce3 | 401 | float output = 0.0f; |
Lightvalve | 65:a2d7c63419c2 | 402 | |
Lightvalve | 66:a8e6799dbce3 | 403 | for (int index2 = 0; index2 < 32; index2++) { |
Lightvalve | 68:328e1be06f5d | 404 | for (int index1 = 0; index1 < num_input; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 405 | output1[index2] = output1[index2] |
Lightvalve | 73:f80dc3970c99 | 406 | + h1[index1][index2] * input_NN[index1]; |
Lightvalve | 66:a8e6799dbce3 | 407 | } |
Lightvalve | 66:a8e6799dbce3 | 408 | output1[index2] = output1[index2] + b1[index2]; |
Lightvalve | 66:a8e6799dbce3 | 409 | if (output1[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 410 | output1[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 411 | } |
Lightvalve | 66:a8e6799dbce3 | 412 | } |
Lightvalve | 65:a2d7c63419c2 | 413 | |
Lightvalve | 66:a8e6799dbce3 | 414 | for (int index2 = 0; index2 < 32; index2++) { |
Lightvalve | 66:a8e6799dbce3 | 415 | for (int index1 = 0; index1 < 32; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 416 | output2[index2] = output2[index2] |
Lightvalve | 66:a8e6799dbce3 | 417 | + h2[index1][index2] * output1[index1]; |
Lightvalve | 66:a8e6799dbce3 | 418 | } |
Lightvalve | 66:a8e6799dbce3 | 419 | output2[index2] = output2[index2] + b2[index2]; |
Lightvalve | 66:a8e6799dbce3 | 420 | if (output2[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 421 | output2[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 422 | } |
Lightvalve | 66:a8e6799dbce3 | 423 | } |
Lightvalve | 65:a2d7c63419c2 | 424 | |
Lightvalve | 66:a8e6799dbce3 | 425 | for (int index2 = 0; index2 < 32; index2++) { |
Lightvalve | 66:a8e6799dbce3 | 426 | for (int index1 = 0; index1 < 32; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 427 | output3[index2] = output3[index2] |
Lightvalve | 66:a8e6799dbce3 | 428 | + h3[index1][index2] * output2[index1]; |
Lightvalve | 66:a8e6799dbce3 | 429 | } |
Lightvalve | 66:a8e6799dbce3 | 430 | output3[index2] = output3[index2] + b3[index2]; |
Lightvalve | 66:a8e6799dbce3 | 431 | if (output3[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 432 | output3[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 433 | } |
Lightvalve | 65:a2d7c63419c2 | 434 | } |
Lightvalve | 66:a8e6799dbce3 | 435 | |
Lightvalve | 66:a8e6799dbce3 | 436 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 66:a8e6799dbce3 | 437 | for (int index1 = 0; index1 < 32; index1++) { |
Lightvalve | 73:f80dc3970c99 | 438 | output = output + hout[index1] * output3[index1]; |
Lightvalve | 66:a8e6799dbce3 | 439 | } |
Lightvalve | 66:a8e6799dbce3 | 440 | output = output + bout[index2]; |
Lightvalve | 73:f80dc3970c99 | 441 | |
Lightvalve | 66:a8e6799dbce3 | 442 | } |
Lightvalve | 73:f80dc3970c99 | 443 | output = 1.0f/(1.0f+exp(-output)); |
Lightvalve | 68:328e1be06f5d | 444 | output = output * 20000.0f - 10000.0f; |
Lightvalve | 66:a8e6799dbce3 | 445 | if(output>=0) { |
Lightvalve | 66:a8e6799dbce3 | 446 | valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 66:a8e6799dbce3 | 447 | } else { |
Lightvalve | 66:a8e6799dbce3 | 448 | valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 65:a2d7c63419c2 | 449 | } |
Lightvalve | 69:3995ffeaa786 | 450 | |
Lightvalve | 69:3995ffeaa786 | 451 | if(LED==1) { |
Lightvalve | 69:3995ffeaa786 | 452 | LED=0; |
Lightvalve | 69:3995ffeaa786 | 453 | } else |
Lightvalve | 69:3995ffeaa786 | 454 | LED = 1; |
Lightvalve | 69:3995ffeaa786 | 455 | |
Lightvalve | 65:a2d7c63419c2 | 456 | } |
Lightvalve | 62:b5452adfb2cd | 457 | |
Lightvalve | 69:3995ffeaa786 | 458 | |
Lightvalve | 66:a8e6799dbce3 | 459 | |
GiJeongKim | 0:51c43836c1d7 | 460 | } |
jobuuu | 1:e04e563be5ce | 461 | } |
jobuuu | 1:e04e563be5ce | 462 | |
Lightvalve | 33:91b17819ec30 | 463 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL) |
Lightvalve | 14:8e7590227d22 | 464 | { |
Lightvalve | 14:8e7590227d22 | 465 | |
Lightvalve | 13:747daba9cf59 | 466 | int i = 0; |
Lightvalve | 48:889798ff9329 | 467 | float Ref_Valve_Pos_FF = 0.0f; |
Lightvalve | 14:8e7590227d22 | 468 | for(i=0; i<VALVE_POS_NUM; i++) { |
Lightvalve | 14:8e7590227d22 | 469 | 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 | 470 | if(i==0) { |
Lightvalve | 50:3c630b5eba9f | 471 | if(JOINT_VEL[i+1] == JOINT_VEL[i]) { |
Lightvalve | 57:f4819de54e7a | 472 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 473 | } else { |
Lightvalve | 57:f4819de54e7a | 474 | 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 | 475 | } |
Lightvalve | 14:8e7590227d22 | 476 | } else { |
Lightvalve | 50:3c630b5eba9f | 477 | if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) { |
Lightvalve | 57:f4819de54e7a | 478 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 479 | } else { |
Lightvalve | 57:f4819de54e7a | 480 | 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 | 481 | } |
Lightvalve | 13:747daba9cf59 | 482 | } |
Lightvalve | 13:747daba9cf59 | 483 | break; |
Lightvalve | 13:747daba9cf59 | 484 | } |
Lightvalve | 13:747daba9cf59 | 485 | } |
Lightvalve | 14:8e7590227d22 | 486 | if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 487 | Ref_Valve_Pos_FF = (float) VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 488 | } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 489 | Ref_Valve_Pos_FF = (float) VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 490 | } |
Lightvalve | 36:a46e63505ed8 | 491 | |
Lightvalve | 57:f4819de54e7a | 492 | Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); |
Lightvalve | 13:747daba9cf59 | 493 | return Ref_Valve_Pos_FF; |
Lightvalve | 50:3c630b5eba9f | 494 | |
Lightvalve | 13:747daba9cf59 | 495 | } |
jobuuu | 6:df07d3491e3a | 496 | |
jobuuu | 6:df07d3491e3a | 497 | |
Lightvalve | 30:8d561f16383b | 498 | void VALVE_POS_CONTROL(float REF_VALVE_POS) |
Lightvalve | 14:8e7590227d22 | 499 | { |
Lightvalve | 13:747daba9cf59 | 500 | int i = 0; |
Lightvalve | 13:747daba9cf59 | 501 | |
Lightvalve | 38:118df027d851 | 502 | if(REF_VALVE_POS > VALVE_MAX_POS) { |
Lightvalve | 38:118df027d851 | 503 | REF_VALVE_POS = VALVE_MAX_POS; |
Lightvalve | 38:118df027d851 | 504 | } else if(REF_VALVE_POS < VALVE_MIN_POS) { |
Lightvalve | 38:118df027d851 | 505 | REF_VALVE_POS = VALVE_MIN_POS; |
Lightvalve | 38:118df027d851 | 506 | } |
Lightvalve | 38:118df027d851 | 507 | |
Lightvalve | 13:747daba9cf59 | 508 | valve_pos_err = REF_VALVE_POS - value; |
Lightvalve | 13:747daba9cf59 | 509 | valve_pos_err_diff = valve_pos_err - valve_pos_err_old; |
Lightvalve | 13:747daba9cf59 | 510 | valve_pos_err_old = valve_pos_err; |
Lightvalve | 13:747daba9cf59 | 511 | valve_pos_err_sum += valve_pos_err; |
Lightvalve | 13:747daba9cf59 | 512 | if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000; |
Lightvalve | 13:747daba9cf59 | 513 | if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000; |
Lightvalve | 13:747daba9cf59 | 514 | |
Lightvalve | 13:747daba9cf59 | 515 | 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 | 516 | |
Lightvalve | 18:b8adf1582ea3 | 517 | for(i=0; i<24; i++) { |
Lightvalve | 14:8e7590227d22 | 518 | 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 | 519 | if(i==0) { |
Lightvalve | 48:889798ff9329 | 520 | 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 | 521 | } else { |
Lightvalve | 48:889798ff9329 | 522 | 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 | 523 | } |
Lightvalve | 13:747daba9cf59 | 524 | break; |
Lightvalve | 13:747daba9cf59 | 525 | } |
Lightvalve | 13:747daba9cf59 | 526 | } |
Lightvalve | 59:f308b1656d9c | 527 | Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; |
Lightvalve | 13:747daba9cf59 | 528 | } |
Lightvalve | 13:747daba9cf59 | 529 | |
Lightvalve | 14:8e7590227d22 | 530 | #define LT_MAX_IDX 57 |
Lightvalve | 30:8d561f16383b | 531 | 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 | 532 | -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 533 | -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 534 | 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 535 | 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 536 | 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f |
Lightvalve | 34:bb2ca2fc2a8e | 537 | }; // duty |
Lightvalve | 67:c2812cf26c38 | 538 | float LT_Voltage_Output[LT_MAX_IDX] = {-230.0f, -215.0f, -192.5f, -185.0f, -177.5f, -170.0f, -164.0f, -160.0f, -150.0f, |
Lightvalve | 67:c2812cf26c38 | 539 | -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f, |
Lightvalve | 67:c2812cf26c38 | 540 | -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f, |
Lightvalve | 67:c2812cf26c38 | 541 | 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f, |
Lightvalve | 67:c2812cf26c38 | 542 | 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f, |
Lightvalve | 67:c2812cf26c38 | 543 | 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f |
Lightvalve | 34:bb2ca2fc2a8e | 544 | }; // mV |
Lightvalve | 13:747daba9cf59 | 545 | |
Lightvalve | 30:8d561f16383b | 546 | float PWM_duty_byLT(float Ref_V) |
Lightvalve | 14:8e7590227d22 | 547 | { |
Lightvalve | 30:8d561f16383b | 548 | float PWM_duty = 0.0f; |
Lightvalve | 13:747daba9cf59 | 549 | if(Ref_V<LT_Voltage_Output[0]) { |
Lightvalve | 30:8d561f16383b | 550 | PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0]; |
Lightvalve | 13:747daba9cf59 | 551 | } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) { |
Lightvalve | 30:8d561f16383b | 552 | PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1]; |
Lightvalve | 13:747daba9cf59 | 553 | } else { |
Lightvalve | 13:747daba9cf59 | 554 | int idx = 0; |
Lightvalve | 13:747daba9cf59 | 555 | for(idx=0; idx<LT_MAX_IDX-1; idx++) { |
Lightvalve | 30:8d561f16383b | 556 | float ini_x = LT_Voltage_Output[idx]; |
Lightvalve | 30:8d561f16383b | 557 | float fin_x = LT_Voltage_Output[idx+1]; |
Lightvalve | 30:8d561f16383b | 558 | float ini_y = LT_PWM_duty[idx]; |
Lightvalve | 30:8d561f16383b | 559 | float fin_y = LT_PWM_duty[idx+1]; |
Lightvalve | 13:747daba9cf59 | 560 | if(Ref_V>=ini_x && Ref_V<fin_x) { |
Lightvalve | 13:747daba9cf59 | 561 | PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y; |
Lightvalve | 13:747daba9cf59 | 562 | break; |
Lightvalve | 13:747daba9cf59 | 563 | } |
Lightvalve | 13:747daba9cf59 | 564 | } |
Lightvalve | 13:747daba9cf59 | 565 | } |
Lightvalve | 14:8e7590227d22 | 566 | |
Lightvalve | 13:747daba9cf59 | 567 | return PWM_duty; |
Lightvalve | 13:747daba9cf59 | 568 | } |
jobuuu | 6:df07d3491e3a | 569 | |
Lightvalve | 57:f4819de54e7a | 570 | |
Lightvalve | 57:f4819de54e7a | 571 | |
Lightvalve | 57:f4819de54e7a | 572 | |
Lightvalve | 57:f4819de54e7a | 573 | |
jobuuu | 2:a1c0a37df760 | 574 | /******************************************************************************* |
jobuuu | 2:a1c0a37df760 | 575 | TIMER INTERRUPT |
jobuuu | 2:a1c0a37df760 | 576 | *******************************************************************************/ |
jobuuu | 2:a1c0a37df760 | 577 | |
Lightvalve | 51:b46bed7fec80 | 578 | float FREQ_TMR4 = (float)FREQ_20k; |
Lightvalve | 51:b46bed7fec80 | 579 | float DT_TMR4 = (float)DT_20k; |
Lightvalve | 57:f4819de54e7a | 580 | long CNT_TMR4 = 0; |
Lightvalve | 57:f4819de54e7a | 581 | int TMR4_FREQ_10k = (int)FREQ_10k; |
jobuuu | 1:e04e563be5ce | 582 | extern "C" void TIM4_IRQHandler(void) |
jobuuu | 1:e04e563be5ce | 583 | { |
Lightvalve | 19:23b7c1ad8683 | 584 | if (TIM4->SR & TIM_SR_UIF ) { |
Lightvalve | 21:e5f1a43ea6f9 | 585 | |
Lightvalve | 21:e5f1a43ea6f9 | 586 | /******************************************************* |
Lightvalve | 21:e5f1a43ea6f9 | 587 | *** Sensor Read & Data Handling |
Lightvalve | 21:e5f1a43ea6f9 | 588 | ********************************************************/ |
Lightvalve | 13:747daba9cf59 | 589 | |
Lightvalve | 57:f4819de54e7a | 590 | //Encoder |
Lightvalve | 57:f4819de54e7a | 591 | if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) { |
Lightvalve | 57:f4819de54e7a | 592 | ENC_UPDATE(); |
Lightvalve | 57:f4819de54e7a | 593 | } |
Lightvalve | 61:bc8c8270f0ab | 594 | |
Lightvalve | 61:bc8c8270f0ab | 595 | ADC1->CR2 |= 0x40000000; |
Lightvalve | 58:2eade98630e2 | 596 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 597 | // Torque Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 598 | float pres_A_new = (((float) ADC1->DR) - 2047.5f); |
Lightvalve | 58:2eade98630e2 | 599 | double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz |
Lightvalve | 58:2eade98630e2 | 600 | pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new; |
Lightvalve | 67:c2812cf26c38 | 601 | torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE; |
Lightvalve | 67:c2812cf26c38 | 602 | |
Lightvalve | 67:c2812cf26c38 | 603 | |
Lightvalve | 67:c2812cf26c38 | 604 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 67:c2812cf26c38 | 605 | //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 67:c2812cf26c38 | 606 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 67:c2812cf26c38 | 607 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 67:c2812cf26c38 | 608 | // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 |
Lightvalve | 67:c2812cf26c38 | 609 | |
Lightvalve | 17:1865016ca2e7 | 610 | |
Lightvalve | 58:2eade98630e2 | 611 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 612 | // Pressure Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 613 | float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL); |
Lightvalve | 58:2eade98630e2 | 614 | float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL); |
Lightvalve | 58:2eade98630e2 | 615 | double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz |
Lightvalve | 58:2eade98630e2 | 616 | pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new; |
Lightvalve | 58:2eade98630e2 | 617 | pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new; |
Lightvalve | 58:2eade98630e2 | 618 | CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 58:2eade98630e2 | 619 | CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR; |
Lightvalve | 50:3c630b5eba9f | 620 | |
Lightvalve | 58:2eade98630e2 | 621 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator |
Lightvalve | 58:2eade98630e2 | 622 | 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 | 623 | } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator |
Lightvalve | 58:2eade98630e2 | 624 | 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 | 625 | } |
Lightvalve | 58:2eade98630e2 | 626 | } |
Lightvalve | 61:bc8c8270f0ab | 627 | |
Lightvalve | 58:2eade98630e2 | 628 | // //Pressure sensor A |
Lightvalve | 58:2eade98630e2 | 629 | // ADC1->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 58:2eade98630e2 | 630 | // //while((ADC1->SR & 0b10)); |
Lightvalve | 58:2eade98630e2 | 631 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 632 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 58:2eade98630e2 | 633 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 58:2eade98630e2 | 634 | // 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 | 635 | // |
Lightvalve | 58:2eade98630e2 | 636 | // |
Lightvalve | 58:2eade98630e2 | 637 | // //Pressure sensor B |
Lightvalve | 58:2eade98630e2 | 638 | // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 639 | // float pres_B_new = ((float)ADC2->DR); |
Lightvalve | 58:2eade98630e2 | 640 | // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B); |
Lightvalve | 58:2eade98630e2 | 641 | // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B; |
Lightvalve | 17:1865016ca2e7 | 642 | |
Lightvalve | 17:1865016ca2e7 | 643 | |
Lightvalve | 21:e5f1a43ea6f9 | 644 | //Current |
Lightvalve | 21:e5f1a43ea6f9 | 645 | //ADC3->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 25:3e6b574cab5c | 646 | //int raw_cur = ADC3->DR; |
Lightvalve | 21:e5f1a43ea6f9 | 647 | //while((ADC3->SR & 0b10)); |
Lightvalve | 51:b46bed7fec80 | 648 | float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz |
Lightvalve | 30:8d561f16383b | 649 | float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA |
Lightvalve | 30:8d561f16383b | 650 | cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur); |
Lightvalve | 25:3e6b574cab5c | 651 | //cur.sen = raw_cur; |
Lightvalve | 58:2eade98630e2 | 652 | |
Lightvalve | 57:f4819de54e7a | 653 | CNT_TMR4++; |
Lightvalve | 21:e5f1a43ea6f9 | 654 | } |
Lightvalve | 11:82d8768d7351 | 655 | TIM4->SR = 0x0; // reset the status register |
Lightvalve | 11:82d8768d7351 | 656 | } |
Lightvalve | 19:23b7c1ad8683 | 657 | |
Lightvalve | 19:23b7c1ad8683 | 658 | |
Lightvalve | 18:b8adf1582ea3 | 659 | int j =0; |
Lightvalve | 54:647072f5307a | 660 | float FREQ_TMR3 = (float)FREQ_5k; |
Lightvalve | 48:889798ff9329 | 661 | float DT_TMR3 = (float)DT_5k; |
Lightvalve | 45:35fa6884d0c6 | 662 | int cnt_trans = 0; |
Lightvalve | 48:889798ff9329 | 663 | double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f; |
Lightvalve | 57:f4819de54e7a | 664 | int can_rest =0; |
Lightvalve | 48:889798ff9329 | 665 | |
Lightvalve | 11:82d8768d7351 | 666 | extern "C" void TIM3_IRQHandler(void) |
Lightvalve | 21:e5f1a43ea6f9 | 667 | { |
Lightvalve | 19:23b7c1ad8683 | 668 | if (TIM3->SR & TIM_SR_UIF ) { |
Lightvalve | 57:f4819de54e7a | 669 | |
Lightvalve | 57:f4819de54e7a | 670 | if (((OPERATING_MODE&0b110)>>1) == 0) { |
Lightvalve | 57:f4819de54e7a | 671 | K_v = 0.4f; // Moog (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 672 | mV_PER_mA = 500.0f; // 5000mV/10mA |
Lightvalve | 57:f4819de54e7a | 673 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 674 | mA_PER_pulse = 0.001f; // 10mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 675 | } else if (((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 57:f4819de54e7a | 676 | K_v = 0.5f; // KNR (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 677 | mV_PER_mA = 166.6666f; // 5000mV/30mA |
Lightvalve | 57:f4819de54e7a | 678 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 679 | mA_PER_pulse = 0.003f; // 30mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 680 | } |
Lightvalve | 50:3c630b5eba9f | 681 | |
Lightvalve | 50:3c630b5eba9f | 682 | if(MODE_POS_FT_TRANS == 1) { |
Lightvalve | 48:889798ff9329 | 683 | alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 684 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 685 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 686 | if((float)cnt_trans * DT_TMR3 > 3.0f) |
Lightvalve | 45:35fa6884d0c6 | 687 | MODE_POS_FT_TRANS = 2; |
Lightvalve | 50:3c630b5eba9f | 688 | } else if(MODE_POS_FT_TRANS == 3) { |
Lightvalve | 48:889798ff9329 | 689 | alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 690 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 691 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 692 | if((float) cnt_trans * DT_TMR3 > 3.0f ) |
Lightvalve | 45:35fa6884d0c6 | 693 | MODE_POS_FT_TRANS = 0; |
Lightvalve | 50:3c630b5eba9f | 694 | } else if(MODE_POS_FT_TRANS == 2) { |
Lightvalve | 58:2eade98630e2 | 695 | alpha_trans = 1.0f; |
Lightvalve | 45:35fa6884d0c6 | 696 | cnt_trans = 0; |
Lightvalve | 50:3c630b5eba9f | 697 | } else { |
Lightvalve | 58:2eade98630e2 | 698 | alpha_trans = 0.0f; |
Lightvalve | 45:35fa6884d0c6 | 699 | cnt_trans = 0; |
Lightvalve | 45:35fa6884d0c6 | 700 | } |
Lightvalve | 45:35fa6884d0c6 | 701 | |
Lightvalve | 50:3c630b5eba9f | 702 | |
Lightvalve | 57:f4819de54e7a | 703 | int UTILITY_MODE = 0; |
Lightvalve | 57:f4819de54e7a | 704 | int CONTROL_MODE = 0; |
Lightvalve | 58:2eade98630e2 | 705 | |
Lightvalve | 57:f4819de54e7a | 706 | if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) { |
Lightvalve | 57:f4819de54e7a | 707 | UTILITY_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 708 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 709 | } else { |
Lightvalve | 57:f4819de54e7a | 710 | CONTROL_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 711 | UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 712 | } |
Lightvalve | 56:6f50d9d3bfee | 713 | |
Lightvalve | 56:6f50d9d3bfee | 714 | |
Lightvalve | 56:6f50d9d3bfee | 715 | |
Lightvalve | 57:f4819de54e7a | 716 | // UTILITY MODE ------------------------------------------------------------ |
Lightvalve | 56:6f50d9d3bfee | 717 | |
Lightvalve | 57:f4819de54e7a | 718 | switch (UTILITY_MODE) { |
Lightvalve | 57:f4819de54e7a | 719 | case MODE_NO_ACT: { |
Lightvalve | 13:747daba9cf59 | 720 | break; |
Lightvalve | 13:747daba9cf59 | 721 | } |
Lightvalve | 14:8e7590227d22 | 722 | |
Lightvalve | 14:8e7590227d22 | 723 | case MODE_TORQUE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 724 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 725 | if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 15:bd0d12728506 | 726 | CUR_TORQUE_sum += torq.sen; |
Lightvalve | 19:23b7c1ad8683 | 727 | |
Lightvalve | 14:8e7590227d22 | 728 | if (TMR3_COUNT_TORQUE_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 729 | CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 730 | CUR_TORQUE_sum = 0; |
Lightvalve | 14:8e7590227d22 | 731 | |
Lightvalve | 59:f308b1656d9c | 732 | TORQUE_VREF += 0.0003f * (0.0f - CUR_TORQUE_mean); |
Lightvalve | 19:23b7c1ad8683 | 733 | |
Lightvalve | 30:8d561f16383b | 734 | if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f; |
Lightvalve | 59:f308b1656d9c | 735 | if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 736 | |
Lightvalve | 16:903b5a4433b4 | 737 | //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); |
Lightvalve | 30:8d561f16383b | 738 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 739 | } |
Lightvalve | 13:747daba9cf59 | 740 | } else { |
Lightvalve | 58:2eade98630e2 | 741 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 742 | TMR3_COUNT_TORQUE_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 743 | CUR_TORQUE_sum = 0; |
Lightvalve | 13:747daba9cf59 | 744 | CUR_TORQUE_mean = 0; |
Lightvalve | 19:23b7c1ad8683 | 745 | |
Lightvalve | 16:903b5a4433b4 | 746 | ROM_RESET_DATA(); |
Lightvalve | 19:23b7c1ad8683 | 747 | |
Lightvalve | 30:8d561f16383b | 748 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 14:8e7590227d22 | 749 | |
Lightvalve | 13:747daba9cf59 | 750 | } |
Lightvalve | 14:8e7590227d22 | 751 | TMR3_COUNT_TORQUE_NULL++; |
Lightvalve | 13:747daba9cf59 | 752 | break; |
Lightvalve | 19:23b7c1ad8683 | 753 | } |
Lightvalve | 14:8e7590227d22 | 754 | |
Lightvalve | 50:3c630b5eba9f | 755 | // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 756 | // if (TMR3_COUNT_DEADZONE == 0) { |
Lightvalve | 50:3c630b5eba9f | 757 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 758 | // else temp_time = 0; |
Lightvalve | 50:3c630b5eba9f | 759 | // } |
Lightvalve | 50:3c630b5eba9f | 760 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 761 | // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 762 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 763 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 764 | // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 765 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 766 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 767 | // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 768 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 769 | // } |
Lightvalve | 50:3c630b5eba9f | 770 | // |
Lightvalve | 50:3c630b5eba9f | 771 | // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 772 | // 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 | 773 | // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0; |
Lightvalve | 50:3c630b5eba9f | 774 | // |
Lightvalve | 50:3c630b5eba9f | 775 | // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) { |
Lightvalve | 50:3c630b5eba9f | 776 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 777 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 778 | // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 779 | // if (CUR_VELOCITY_sum == 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 780 | // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 781 | // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1; |
Lightvalve | 50:3c630b5eba9f | 782 | // else DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 783 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 784 | // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 785 | // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 786 | // |
Lightvalve | 50:3c630b5eba9f | 787 | // // Position of Dead Zone |
Lightvalve | 50:3c630b5eba9f | 788 | // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0) |
Lightvalve | 50:3c630b5eba9f | 789 | // // | / | / |/ |
Lightvalve | 50:3c630b5eba9f | 790 | // // | ______/ ___|___/ ______/| |
Lightvalve | 50:3c630b5eba9f | 791 | // // |/ / | / | |
Lightvalve | 50:3c630b5eba9f | 792 | // // /| / | / | |
Lightvalve | 50:3c630b5eba9f | 793 | // // 0V 0V 0V |
Lightvalve | 50:3c630b5eba9f | 794 | // |
Lightvalve | 50:3c630b5eba9f | 795 | // if (DZ_temp_cnt2 < DZ_end) { |
Lightvalve | 50:3c630b5eba9f | 796 | // if (TMR3_COUNT_DEADZONE % 20 != 0) { |
Lightvalve | 50:3c630b5eba9f | 797 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 798 | // } else { |
Lightvalve | 50:3c630b5eba9f | 799 | // V_out -= DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 800 | // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 801 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 802 | // } |
Lightvalve | 50:3c630b5eba9f | 803 | // if (DZ_temp_cnt == 5) { |
Lightvalve | 50:3c630b5eba9f | 804 | // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 805 | // else VALVE_DEADZONE_PLUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 806 | // DZ_dir = -DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 807 | // DZ_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 808 | // DZ_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 809 | // } |
Lightvalve | 50:3c630b5eba9f | 810 | // } else { |
Lightvalve | 50:3c630b5eba9f | 811 | // TMR3_COUNT_DEADZONE = -1; |
Lightvalve | 50:3c630b5eba9f | 812 | // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2; |
Lightvalve | 50:3c630b5eba9f | 813 | // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) { |
Lightvalve | 50:3c630b5eba9f | 814 | // VALVE_DEADZONE_PLUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 815 | // VALVE_DEADZONE_MINUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 816 | // } |
Lightvalve | 50:3c630b5eba9f | 817 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 818 | // |
Lightvalve | 50:3c630b5eba9f | 819 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 820 | // |
Lightvalve | 50:3c630b5eba9f | 821 | // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS); |
Lightvalve | 50:3c630b5eba9f | 822 | // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS); |
Lightvalve | 50:3c630b5eba9f | 823 | // |
Lightvalve | 50:3c630b5eba9f | 824 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 825 | // DZ_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 826 | // } |
Lightvalve | 50:3c630b5eba9f | 827 | // } |
Lightvalve | 50:3c630b5eba9f | 828 | // TMR3_COUNT_DEADZONE++; |
Lightvalve | 50:3c630b5eba9f | 829 | // break; |
Lightvalve | 50:3c630b5eba9f | 830 | // } |
Lightvalve | 14:8e7590227d22 | 831 | |
Lightvalve | 14:8e7590227d22 | 832 | case MODE_FIND_HOME: { |
Lightvalve | 29:69f3f5445d6d | 833 | if (FINDHOME_STAGE == FINDHOME_INIT) { |
Lightvalve | 14:8e7590227d22 | 834 | cnt_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 835 | cnt_vel_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 836 | //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO |
Lightvalve | 59:f308b1656d9c | 837 | pos.ref = pos.sen; |
Lightvalve | 59:f308b1656d9c | 838 | vel.ref = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 839 | FINDHOME_STAGE = FINDHOME_GOTOLIMIT; |
Lightvalve | 29:69f3f5445d6d | 840 | } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) { |
Lightvalve | 67:c2812cf26c38 | 841 | int cnt_check_enc = (TMR_FREQ_5k/20); |
Lightvalve | 29:69f3f5445d6d | 842 | if(cnt_findhome%cnt_check_enc == 0) { |
Lightvalve | 29:69f3f5445d6d | 843 | FINDHOME_POSITION = pos.sen; |
Lightvalve | 29:69f3f5445d6d | 844 | FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD; |
Lightvalve | 29:69f3f5445d6d | 845 | FINDHOME_POSITION_OLD = FINDHOME_POSITION; |
Lightvalve | 29:69f3f5445d6d | 846 | } |
Lightvalve | 29:69f3f5445d6d | 847 | cnt_findhome++; |
Lightvalve | 14:8e7590227d22 | 848 | |
Lightvalve | 29:69f3f5445d6d | 849 | if (abs(FINDHOME_VELOCITY) <= 1) { |
Lightvalve | 29:69f3f5445d6d | 850 | cnt_vel_findhome = cnt_vel_findhome + 1; |
Lightvalve | 29:69f3f5445d6d | 851 | } else { |
Lightvalve | 29:69f3f5445d6d | 852 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 853 | } |
Lightvalve | 19:23b7c1ad8683 | 854 | |
Lightvalve | 57:f4819de54e7a | 855 | if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec |
Lightvalve | 29:69f3f5445d6d | 856 | //REFERENCE_MODE = MODE_REF_NO_ACT; |
Lightvalve | 67:c2812cf26c38 | 857 | if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f; |
Lightvalve | 67:c2812cf26c38 | 858 | else pos.ref = pos.ref - 12.0f; |
Lightvalve | 61:bc8c8270f0ab | 859 | |
Lightvalve | 59:f308b1656d9c | 860 | // pos.err = pos.ref_home_pos - pos.sen; |
Lightvalve | 59:f308b1656d9c | 861 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 862 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f; |
Lightvalve | 59:f308b1656d9c | 863 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 864 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 865 | |
Lightvalve | 59:f308b1656d9c | 866 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 59:f308b1656d9c | 867 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 868 | |
Lightvalve | 34:bb2ca2fc2a8e | 869 | |
Lightvalve | 29:69f3f5445d6d | 870 | } else { |
Lightvalve | 29:69f3f5445d6d | 871 | ENC_SET(HOMEPOS_OFFSET); |
Lightvalve | 67:c2812cf26c38 | 872 | // ENC_SET_ZERO(); |
Lightvalve | 29:69f3f5445d6d | 873 | INIT_REF_POS = HOMEPOS_OFFSET; |
Lightvalve | 29:69f3f5445d6d | 874 | REF_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 875 | REF_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 876 | FINDHOME_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 877 | FINDHOME_POSITION_OLD = 0; |
Lightvalve | 29:69f3f5445d6d | 878 | FINDHOME_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 879 | cnt_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 880 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 881 | FINDHOME_STAGE = FINDHOME_ZEROPOSE; |
Lightvalve | 67:c2812cf26c38 | 882 | |
Lightvalve | 67:c2812cf26c38 | 883 | |
Lightvalve | 67:c2812cf26c38 | 884 | cnt_findhome = 0; |
Lightvalve | 67:c2812cf26c38 | 885 | pos.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 886 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 887 | pos.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 888 | vel.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 889 | //FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 67:c2812cf26c38 | 890 | //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 891 | |
Lightvalve | 67:c2812cf26c38 | 892 | |
Lightvalve | 29:69f3f5445d6d | 893 | } |
Lightvalve | 29:69f3f5445d6d | 894 | } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) { |
Lightvalve | 29:69f3f5445d6d | 895 | int T_move = 2*TMR_FREQ_5k; |
Lightvalve | 59:f308b1656d9c | 896 | pos.ref = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS; |
Lightvalve | 67:c2812cf26c38 | 897 | //pos.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 898 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 899 | |
Lightvalve | 29:69f3f5445d6d | 900 | // input for position control |
Lightvalve | 67:c2812cf26c38 | 901 | |
Lightvalve | 67:c2812cf26c38 | 902 | // CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 903 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 904 | |
Lightvalve | 67:c2812cf26c38 | 905 | double torq_ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 906 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 907 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 67:c2812cf26c38 | 908 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 909 | |
Lightvalve | 67:c2812cf26c38 | 910 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 67:c2812cf26c38 | 911 | |
Lightvalve | 67:c2812cf26c38 | 912 | double I_REF_POS = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 913 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 67:c2812cf26c38 | 914 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 67:c2812cf26c38 | 915 | |
Lightvalve | 67:c2812cf26c38 | 916 | double temp_vel_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 917 | double temp_vel_torq = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 918 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 67:c2812cf26c38 | 919 | |
Lightvalve | 69:3995ffeaa786 | 920 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 67:c2812cf26c38 | 921 | temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * 3.14159f / 180.0f; // rad/s |
Lightvalve | 67:c2812cf26c38 | 922 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 923 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 67:c2812cf26c38 | 924 | temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 67:c2812cf26c38 | 925 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 67:c2812cf26c38 | 926 | } |
Lightvalve | 67:c2812cf26c38 | 927 | if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f)))); |
Lightvalve | 67:c2812cf26c38 | 928 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 67:c2812cf26c38 | 929 | |
Lightvalve | 67:c2812cf26c38 | 930 | I_REF = I_REF_POS; |
Lightvalve | 67:c2812cf26c38 | 931 | |
Lightvalve | 67:c2812cf26c38 | 932 | |
Lightvalve | 67:c2812cf26c38 | 933 | |
Lightvalve | 67:c2812cf26c38 | 934 | } else { |
Lightvalve | 67:c2812cf26c38 | 935 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 936 | VALVE_POS_RAW_FORCE_FB = DDV_JOINT_POS_FF(vel.sen) + (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref)); |
Lightvalve | 67:c2812cf26c38 | 937 | |
Lightvalve | 67:c2812cf26c38 | 938 | if (VALVE_POS_RAW_FORCE_FB >= 0) { |
Lightvalve | 67:c2812cf26c38 | 939 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS; |
Lightvalve | 67:c2812cf26c38 | 940 | } else { |
Lightvalve | 67:c2812cf26c38 | 941 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS; |
Lightvalve | 67:c2812cf26c38 | 942 | } |
Lightvalve | 67:c2812cf26c38 | 943 | |
Lightvalve | 67:c2812cf26c38 | 944 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 67:c2812cf26c38 | 945 | |
Lightvalve | 67:c2812cf26c38 | 946 | V_out = (float) Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 947 | |
Lightvalve | 67:c2812cf26c38 | 948 | } |
Lightvalve | 67:c2812cf26c38 | 949 | |
Lightvalve | 67:c2812cf26c38 | 950 | |
Lightvalve | 67:c2812cf26c38 | 951 | |
Lightvalve | 67:c2812cf26c38 | 952 | |
Lightvalve | 59:f308b1656d9c | 953 | // pos.err = pos.ref - (float)pos.sen; |
Lightvalve | 59:f308b1656d9c | 954 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 955 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 59:f308b1656d9c | 956 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 957 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 29:69f3f5445d6d | 958 | |
Lightvalve | 29:69f3f5445d6d | 959 | cnt_findhome++; |
Lightvalve | 29:69f3f5445d6d | 960 | if (cnt_findhome >= T_move) { |
Lightvalve | 29:69f3f5445d6d | 961 | //REFERENCE_MODE = MODE_REF_DIRECT; |
Lightvalve | 29:69f3f5445d6d | 962 | cnt_findhome = 0; |
Lightvalve | 30:8d561f16383b | 963 | pos.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 964 | vel.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 965 | pos.ref_home_pos = 0.0f; |
Lightvalve | 30:8d561f16383b | 966 | vel.ref_home_pos = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 967 | FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 57:f4819de54e7a | 968 | CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 29:69f3f5445d6d | 969 | } |
Lightvalve | 13:747daba9cf59 | 970 | } |
Lightvalve | 19:23b7c1ad8683 | 971 | |
Lightvalve | 13:747daba9cf59 | 972 | break; |
Lightvalve | 13:747daba9cf59 | 973 | } |
Lightvalve | 14:8e7590227d22 | 974 | |
Lightvalve | 50:3c630b5eba9f | 975 | // case MODE_VALVE_GAIN_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 976 | // if (TMR3_COUNT_FLOWRATE == 0) { |
Lightvalve | 50:3c630b5eba9f | 977 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 978 | // else { |
Lightvalve | 50:3c630b5eba9f | 979 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 980 | // temp_time = (int) (0.5f * (float) TMR_FREQ_5k); |
Lightvalve | 50:3c630b5eba9f | 981 | // } |
Lightvalve | 50:3c630b5eba9f | 982 | // } |
Lightvalve | 50:3c630b5eba9f | 983 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 984 | // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 985 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 986 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 987 | // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 988 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 989 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 990 | // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 991 | // need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 992 | // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 993 | // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 994 | // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init; |
Lightvalve | 50:3c630b5eba9f | 995 | // } |
Lightvalve | 50:3c630b5eba9f | 996 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 997 | // } |
Lightvalve | 50:3c630b5eba9f | 998 | // TMR3_COUNT_FLOWRATE++; |
Lightvalve | 50:3c630b5eba9f | 999 | // if (TMR3_COUNT_FLOWRATE > temp_time) { |
Lightvalve | 50:3c630b5eba9f | 1000 | // if (flag_flowrate % 2 == 0) { // (+) |
Lightvalve | 50:3c630b5eba9f | 1001 | // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1002 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1003 | // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1004 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1005 | // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1006 | // 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 | 1007 | // // 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 | 1008 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1009 | // } |
Lightvalve | 50:3c630b5eba9f | 1010 | // } else if (flag_flowrate % 2 == 1) { // (-) |
Lightvalve | 50:3c630b5eba9f | 1011 | // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1012 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1013 | // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1014 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1015 | // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1016 | // 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 | 1017 | // // 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 | 1018 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1019 | // } |
Lightvalve | 50:3c630b5eba9f | 1020 | // } |
Lightvalve | 50:3c630b5eba9f | 1021 | // if (fl_temp_cnt2 == 100) { |
Lightvalve | 50:3c630b5eba9f | 1022 | // |
Lightvalve | 50:3c630b5eba9f | 1023 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1024 | // |
Lightvalve | 50:3c630b5eba9f | 1025 | // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1026 | // cur_vel_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1027 | // fl_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1028 | // fl_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1029 | // flag_flowrate++; |
Lightvalve | 50:3c630b5eba9f | 1030 | // } |
Lightvalve | 50:3c630b5eba9f | 1031 | // if (flag_flowrate == 10) { |
Lightvalve | 50:3c630b5eba9f | 1032 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1033 | // flag_flowrate = 0; |
Lightvalve | 50:3c630b5eba9f | 1034 | // TMR3_COUNT_FLOWRATE = 0; |
Lightvalve | 50:3c630b5eba9f | 1035 | // valve_gain_repeat_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1036 | // if (valve_gain_repeat_cnt >= 1) { |
Lightvalve | 50:3c630b5eba9f | 1037 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1038 | // valve_gain_repeat_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1039 | // } |
Lightvalve | 50:3c630b5eba9f | 1040 | // |
Lightvalve | 50:3c630b5eba9f | 1041 | // } |
Lightvalve | 50:3c630b5eba9f | 1042 | // break; |
Lightvalve | 50:3c630b5eba9f | 1043 | // } |
Lightvalve | 50:3c630b5eba9f | 1044 | // |
Lightvalve | 50:3c630b5eba9f | 1045 | // } |
Lightvalve | 14:8e7590227d22 | 1046 | case MODE_PRESSURE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1047 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1048 | if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 14:8e7590227d22 | 1049 | CUR_PRES_A_sum += pres_A.sen; |
Lightvalve | 14:8e7590227d22 | 1050 | CUR_PRES_B_sum += pres_B.sen; |
Lightvalve | 14:8e7590227d22 | 1051 | |
Lightvalve | 14:8e7590227d22 | 1052 | if (TMR3_COUNT_PRES_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1053 | CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f; |
Lightvalve | 30:8d561f16383b | 1054 | CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1055 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1056 | CUR_PRES_B_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1057 | |
Lightvalve | 38:118df027d851 | 1058 | float VREF_NullingGain = 0.0003f; |
Lightvalve | 58:2eade98630e2 | 1059 | PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean; |
Lightvalve | 58:2eade98630e2 | 1060 | PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean; |
Lightvalve | 14:8e7590227d22 | 1061 | |
Lightvalve | 30:8d561f16383b | 1062 | if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1063 | if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f; |
Lightvalve | 30:8d561f16383b | 1064 | if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1065 | if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f; |
Lightvalve | 19:23b7c1ad8683 | 1066 | |
Lightvalve | 30:8d561f16383b | 1067 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1068 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1069 | } |
Lightvalve | 13:747daba9cf59 | 1070 | } else { |
Lightvalve | 57:f4819de54e7a | 1071 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1072 | TMR3_COUNT_PRES_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1073 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1074 | CUR_PRES_B_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1075 | CUR_PRES_A_mean = 0; |
Lightvalve | 13:747daba9cf59 | 1076 | CUR_PRES_B_mean = 0; |
Lightvalve | 14:8e7590227d22 | 1077 | |
Lightvalve | 16:903b5a4433b4 | 1078 | ROM_RESET_DATA(); |
Lightvalve | 19:23b7c1ad8683 | 1079 | |
Lightvalve | 30:8d561f16383b | 1080 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1081 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 17:1865016ca2e7 | 1082 | //pc.printf("nulling end"); |
Lightvalve | 13:747daba9cf59 | 1083 | } |
Lightvalve | 14:8e7590227d22 | 1084 | TMR3_COUNT_PRES_NULL++; |
Lightvalve | 13:747daba9cf59 | 1085 | break; |
Lightvalve | 13:747daba9cf59 | 1086 | } |
Lightvalve | 14:8e7590227d22 | 1087 | |
Lightvalve | 50:3c630b5eba9f | 1088 | // case MODE_PRESSURE_SENSOR_CALIB: { |
Lightvalve | 50:3c630b5eba9f | 1089 | // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1090 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1091 | // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1092 | // CUR_PRES_A_sum += CUR_PRES_A; |
Lightvalve | 50:3c630b5eba9f | 1093 | // } |
Lightvalve | 50:3c630b5eba9f | 1094 | // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1095 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1096 | // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1097 | // CUR_PRES_B_sum += CUR_PRES_B; |
Lightvalve | 50:3c630b5eba9f | 1098 | // } |
Lightvalve | 50:3c630b5eba9f | 1099 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1100 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1101 | // TMR3_COUNT_PRES_CALIB = 0; |
Lightvalve | 50:3c630b5eba9f | 1102 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1103 | // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL; |
Lightvalve | 50:3c630b5eba9f | 1104 | // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1105 | // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL; |
Lightvalve | 50:3c630b5eba9f | 1106 | // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1107 | // CUR_PRES_A_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1108 | // CUR_PRES_B_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1109 | // CUR_PRES_A_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1110 | // CUR_PRES_B_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1111 | // |
Lightvalve | 50:3c630b5eba9f | 1112 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1113 | // |
Lightvalve | 50:3c630b5eba9f | 1114 | // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1115 | // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1116 | // } |
Lightvalve | 50:3c630b5eba9f | 1117 | // TMR3_COUNT_PRES_CALIB++; |
Lightvalve | 50:3c630b5eba9f | 1118 | // break; |
Lightvalve | 50:3c630b5eba9f | 1119 | // } |
Lightvalve | 19:23b7c1ad8683 | 1120 | |
Lightvalve | 50:3c630b5eba9f | 1121 | // case MODE_ROTARY_FRICTION_TUNING: { |
Lightvalve | 50:3c630b5eba9f | 1122 | // 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 | 1123 | // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f); |
Lightvalve | 50:3c630b5eba9f | 1124 | // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1125 | // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1126 | // TMR3_COUNT_ROTARY_FRIC_TUNE++; |
Lightvalve | 50:3c630b5eba9f | 1127 | // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1128 | // TMR3_COUNT_ROTARY_FRIC_TUNE = 0; |
Lightvalve | 50:3c630b5eba9f | 1129 | // V_out = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1130 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1131 | // } |
Lightvalve | 50:3c630b5eba9f | 1132 | // break; |
Lightvalve | 50:3c630b5eba9f | 1133 | // } |
Lightvalve | 14:8e7590227d22 | 1134 | |
Lightvalve | 14:8e7590227d22 | 1135 | case MODE_DDV_POS_VS_PWM_ID: { |
Lightvalve | 59:f308b1656d9c | 1136 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1137 | VALVE_ID_timer = VALVE_ID_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1138 | |
Lightvalve | 14:8e7590227d22 | 1139 | if(VALVE_ID_timer < TMR_FREQ_5k*1) { |
Lightvalve | 60:64181f1d3e60 | 1140 | Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f); |
Lightvalve | 14:8e7590227d22 | 1141 | } else if(VALVE_ID_timer < TMR_FREQ_5k*2) { |
Lightvalve | 59:f308b1656d9c | 1142 | Vout.ref = 1000.0f*(ID_index_array[ID_index]); |
Lightvalve | 14:8e7590227d22 | 1143 | } else if(VALVE_ID_timer == TMR_FREQ_5k*2) { |
Lightvalve | 13:747daba9cf59 | 1144 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1145 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1146 | } else if(VALVE_ID_timer < TMR_FREQ_5k*3) { |
Lightvalve | 13:747daba9cf59 | 1147 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1148 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 14:8e7590227d22 | 1149 | } else if(VALVE_ID_timer == TMR_FREQ_5k*3) { |
Lightvalve | 59:f308b1656d9c | 1150 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1151 | } else { |
Lightvalve | 13:747daba9cf59 | 1152 | VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num; |
Lightvalve | 13:747daba9cf59 | 1153 | VALVE_ID_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1154 | ID_index= ID_index +1; |
Lightvalve | 13:747daba9cf59 | 1155 | } |
Lightvalve | 14:8e7590227d22 | 1156 | |
Lightvalve | 17:1865016ca2e7 | 1157 | if(ID_index>=25) { |
Lightvalve | 13:747daba9cf59 | 1158 | int i; |
Lightvalve | 13:747daba9cf59 | 1159 | VALVE_POS_AVG_OLD = VALVE_POS_AVG[0]; |
Lightvalve | 17:1865016ca2e7 | 1160 | for(i=0; i<25; i++) { |
Lightvalve | 13:747daba9cf59 | 1161 | VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]); |
Lightvalve | 14:8e7590227d22 | 1162 | if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1163 | VALVE_MAX_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1164 | VALVE_POS_AVG_OLD = VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1165 | } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1166 | VALVE_MIN_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1167 | VALVE_POS_AVG_OLD = VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1168 | } |
Lightvalve | 13:747daba9cf59 | 1169 | } |
Lightvalve | 59:f308b1656d9c | 1170 | ROM_RESET_DATA(); |
Lightvalve | 13:747daba9cf59 | 1171 | ID_index = 0; |
Lightvalve | 57:f4819de54e7a | 1172 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1173 | } |
Lightvalve | 14:8e7590227d22 | 1174 | |
Lightvalve | 14:8e7590227d22 | 1175 | |
Lightvalve | 13:747daba9cf59 | 1176 | break; |
Lightvalve | 13:747daba9cf59 | 1177 | } |
Lightvalve | 14:8e7590227d22 | 1178 | |
Lightvalve | 14:8e7590227d22 | 1179 | case MODE_DDV_DEADZONE_AND_CENTER: { |
Lightvalve | 59:f308b1656d9c | 1180 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1181 | VALVE_DZ_timer = VALVE_DZ_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1182 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1183 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1184 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1185 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1186 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1187 | pos_plus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1188 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1189 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1190 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1191 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1192 | pos_minus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1193 | } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1194 | 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 | 1195 | } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1196 | 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 | 1197 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1198 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 30:8d561f16383b | 1199 | } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1200 | 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 | 1201 | DDV_POS_AVG = VALVE_POS_TMP / data_num; |
Lightvalve | 14:8e7590227d22 | 1202 | START_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1203 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1204 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1205 | |
Lightvalve | 30:8d561f16383b | 1206 | } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1207 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1208 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1209 | |
Lightvalve | 30:8d561f16383b | 1210 | } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1211 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1212 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1213 | |
Lightvalve | 30:8d561f16383b | 1214 | } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1215 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1216 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1217 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1218 | |
Lightvalve | 60:64181f1d3e60 | 1219 | if((FINAL_POS - START_POS)>200) { |
Lightvalve | 13:747daba9cf59 | 1220 | DZ_case = 1; |
Lightvalve | 60:64181f1d3e60 | 1221 | } else if((FINAL_POS - START_POS)<-200) { |
Lightvalve | 13:747daba9cf59 | 1222 | DZ_case = -1; |
Lightvalve | 14:8e7590227d22 | 1223 | } else { |
Lightvalve | 13:747daba9cf59 | 1224 | DZ_case = 0; |
Lightvalve | 13:747daba9cf59 | 1225 | } |
Lightvalve | 61:bc8c8270f0ab | 1226 | |
Lightvalve | 60:64181f1d3e60 | 1227 | CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6)); |
Lightvalve | 50:3c630b5eba9f | 1228 | |
Lightvalve | 13:747daba9cf59 | 1229 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1230 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1231 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1232 | Ref_Valve_Pos_Old = DDV_POS_AVG; |
Lightvalve | 13:747daba9cf59 | 1233 | DZ_NUM = 1; |
Lightvalve | 13:747daba9cf59 | 1234 | DZ_index = 1; |
Lightvalve | 14:8e7590227d22 | 1235 | |
Lightvalve | 13:747daba9cf59 | 1236 | } |
Lightvalve | 19:23b7c1ad8683 | 1237 | } else { |
Lightvalve | 14:8e7590227d22 | 1238 | if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) { |
Lightvalve | 30:8d561f16383b | 1239 | if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1240 | 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 | 1241 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1242 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1243 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1244 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1245 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1246 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1247 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1248 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1249 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1250 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1251 | } |
Lightvalve | 14:8e7590227d22 | 1252 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1253 | |
Lightvalve | 30:8d561f16383b | 1254 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1255 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1256 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1257 | |
Lightvalve | 14:8e7590227d22 | 1258 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 1259 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1260 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 1261 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1262 | } else { |
Lightvalve | 13:747daba9cf59 | 1263 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 1264 | } |
Lightvalve | 14:8e7590227d22 | 1265 | |
Lightvalve | 13:747daba9cf59 | 1266 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1267 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1268 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1269 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 1270 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 1271 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 1272 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1273 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1274 | } |
Lightvalve | 13:747daba9cf59 | 1275 | } |
Lightvalve | 14:8e7590227d22 | 1276 | } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) { |
Lightvalve | 30:8d561f16383b | 1277 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1278 | 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 | 1279 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1280 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1281 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1282 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1283 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1284 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1285 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1286 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1287 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1288 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1289 | } |
Lightvalve | 14:8e7590227d22 | 1290 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1291 | |
Lightvalve | 30:8d561f16383b | 1292 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1293 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1294 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1295 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1296 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1297 | |
Lightvalve | 14:8e7590227d22 | 1298 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 60:64181f1d3e60 | 1299 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1300 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 1301 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1302 | } else { |
Lightvalve | 60:64181f1d3e60 | 1303 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 1304 | } |
Lightvalve | 14:8e7590227d22 | 1305 | |
Lightvalve | 13:747daba9cf59 | 1306 | VALVE_DZ_timer = 0; |
Lightvalve | 60:64181f1d3e60 | 1307 | DZ_index= DZ_index * 2; |
Lightvalve | 14:8e7590227d22 | 1308 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1309 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 1310 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 1311 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 1312 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 1313 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 19:23b7c1ad8683 | 1314 | |
Lightvalve | 16:903b5a4433b4 | 1315 | ROM_RESET_DATA(); |
Lightvalve | 34:bb2ca2fc2a8e | 1316 | |
Lightvalve | 60:64181f1d3e60 | 1317 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1318 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1319 | } |
Lightvalve | 13:747daba9cf59 | 1320 | } |
Lightvalve | 14:8e7590227d22 | 1321 | } else if(DZ_case == 0 && DZ_NUM ==1) { |
Lightvalve | 30:8d561f16383b | 1322 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1323 | 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 | 1324 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1325 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1326 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1327 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1328 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1329 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1330 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1331 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1332 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1333 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1334 | } |
Lightvalve | 14:8e7590227d22 | 1335 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1336 | |
Lightvalve | 30:8d561f16383b | 1337 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1338 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1339 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1340 | |
Lightvalve | 14:8e7590227d22 | 1341 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 1342 | DZ_DIRECTION = 1; |
Lightvalve | 14:8e7590227d22 | 1343 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 1344 | DZ_DIRECTION = -1; |
Lightvalve | 14:8e7590227d22 | 1345 | } else { |
Lightvalve | 13:747daba9cf59 | 1346 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1347 | } |
Lightvalve | 13:747daba9cf59 | 1348 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1349 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1350 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1351 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 1352 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 1353 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 1354 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1355 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1356 | } |
Lightvalve | 13:747daba9cf59 | 1357 | } |
Lightvalve | 14:8e7590227d22 | 1358 | } else { |
Lightvalve | 30:8d561f16383b | 1359 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1360 | 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 | 1361 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1362 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1363 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1364 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1365 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1366 | valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1367 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1368 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1369 | } else if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1370 | valve_pos.ref = VALVE_MAX_POS - 1; |
Lightvalve | 13:747daba9cf59 | 1371 | } |
Lightvalve | 14:8e7590227d22 | 1372 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1373 | |
Lightvalve | 30:8d561f16383b | 1374 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1375 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1376 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1377 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1378 | FINAL_POS = pos.sen; |
Lightvalve | 61:bc8c8270f0ab | 1379 | |
Lightvalve | 60:64181f1d3e60 | 1380 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 13:747daba9cf59 | 1381 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 1382 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 1383 | DZ_DIRECTION = -1; |
Lightvalve | 60:64181f1d3e60 | 1384 | } else { |
Lightvalve | 13:747daba9cf59 | 1385 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 1386 | } |
Lightvalve | 14:8e7590227d22 | 1387 | |
Lightvalve | 13:747daba9cf59 | 1388 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1389 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1390 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1391 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 1392 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 1393 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 1394 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 1395 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 61:bc8c8270f0ab | 1396 | |
Lightvalve | 59:f308b1656d9c | 1397 | ROM_RESET_DATA(); |
Lightvalve | 34:bb2ca2fc2a8e | 1398 | |
Lightvalve | 57:f4819de54e7a | 1399 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1400 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1401 | } |
Lightvalve | 13:747daba9cf59 | 1402 | } |
Lightvalve | 13:747daba9cf59 | 1403 | } |
Lightvalve | 14:8e7590227d22 | 1404 | } |
Lightvalve | 13:747daba9cf59 | 1405 | break; |
Lightvalve | 13:747daba9cf59 | 1406 | } |
Lightvalve | 14:8e7590227d22 | 1407 | |
Lightvalve | 14:8e7590227d22 | 1408 | case MODE_DDV_POS_VS_FLOWRATE: { |
Lightvalve | 59:f308b1656d9c | 1409 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1410 | VALVE_FR_timer = VALVE_FR_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1411 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1412 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1413 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 23:59218d4a256d | 1414 | //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 30:8d561f16383b | 1415 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1416 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1417 | pos_plus_end = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1418 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7)); |
Lightvalve | 30:8d561f16383b | 1419 | } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1420 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1421 | } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1422 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8)); |
Lightvalve | 59:f308b1656d9c | 1423 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1424 | pos_minus_end = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1425 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1426 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 1427 | valve_pos.ref = (float) VALVE_CENTER; |
Lightvalve | 13:747daba9cf59 | 1428 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 1429 | max_check = 0; |
Lightvalve | 13:747daba9cf59 | 1430 | min_check = 0; |
Lightvalve | 13:747daba9cf59 | 1431 | } |
Lightvalve | 14:8e7590227d22 | 1432 | } else { |
Lightvalve | 30:8d561f16383b | 1433 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1434 | //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 | 1435 | pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 59:f308b1656d9c | 1436 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1437 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 13:747daba9cf59 | 1438 | data_num = 0; |
Lightvalve | 57:f4819de54e7a | 1439 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 1440 | |
Lightvalve | 14:8e7590227d22 | 1441 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1442 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1443 | } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f4819de54e7a | 1444 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 1445 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 13:747daba9cf59 | 1446 | data_num = data_num + 1; |
Lightvalve | 30:8d561f16383b | 1447 | if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) { |
Lightvalve | 14:8e7590227d22 | 1448 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1449 | one_period_end = 1; |
Lightvalve | 13:747daba9cf59 | 1450 | } |
Lightvalve | 30:8d561f16383b | 1451 | } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1452 | FINAL_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1453 | one_period_end = 1; |
Lightvalve | 59:f308b1656d9c | 1454 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1455 | } |
Lightvalve | 14:8e7590227d22 | 1456 | |
Lightvalve | 14:8e7590227d22 | 1457 | if(one_period_end == 1) { |
Lightvalve | 14:8e7590227d22 | 1458 | if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 13:747daba9cf59 | 1459 | max_check = 1; |
Lightvalve | 14:8e7590227d22 | 1460 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 13:747daba9cf59 | 1461 | min_check = 1; |
Lightvalve | 13:747daba9cf59 | 1462 | } |
Lightvalve | 13:747daba9cf59 | 1463 | JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec |
Lightvalve | 19:23b7c1ad8683 | 1464 | |
Lightvalve | 13:747daba9cf59 | 1465 | VALVE_FR_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1466 | one_period_end = 0; |
Lightvalve | 13:747daba9cf59 | 1467 | ID_index= ID_index +1; |
Lightvalve | 30:8d561f16383b | 1468 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1469 | } |
Lightvalve | 14:8e7590227d22 | 1470 | |
Lightvalve | 14:8e7590227d22 | 1471 | if(max_check == 1 && min_check == 1) { |
Lightvalve | 19:23b7c1ad8683 | 1472 | |
Lightvalve | 13:747daba9cf59 | 1473 | VALVE_POS_NUM = ID_index; |
Lightvalve | 59:f308b1656d9c | 1474 | ROM_RESET_DATA(); |
Lightvalve | 13:747daba9cf59 | 1475 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 1476 | first_check = 0; |
Lightvalve | 13:747daba9cf59 | 1477 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 1478 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 49:e7bcfc244d40 | 1479 | // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 13:747daba9cf59 | 1480 | } |
Lightvalve | 13:747daba9cf59 | 1481 | } |
Lightvalve | 13:747daba9cf59 | 1482 | break; |
Lightvalve | 13:747daba9cf59 | 1483 | } |
Lightvalve | 58:2eade98630e2 | 1484 | |
Lightvalve | 57:f4819de54e7a | 1485 | case MODE_SYSTEM_ID: { |
Lightvalve | 57:f4819de54e7a | 1486 | freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.; |
Lightvalve | 57:f4819de54e7a | 1487 | valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3); |
Lightvalve | 57:f4819de54e7a | 1488 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 57:f4819de54e7a | 1489 | cnt_sysid++; |
Lightvalve | 57:f4819de54e7a | 1490 | if (freq_sysid_Iref >= 300) { |
Lightvalve | 57:f4819de54e7a | 1491 | cnt_sysid = 0; |
Lightvalve | 57:f4819de54e7a | 1492 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1493 | } |
Lightvalve | 57:f4819de54e7a | 1494 | break; |
Lightvalve | 57:f4819de54e7a | 1495 | } |
Lightvalve | 58:2eade98630e2 | 1496 | |
Lightvalve | 58:2eade98630e2 | 1497 | |
Lightvalve | 57:f4819de54e7a | 1498 | |
Lightvalve | 57:f4819de54e7a | 1499 | default: |
Lightvalve | 57:f4819de54e7a | 1500 | break; |
Lightvalve | 57:f4819de54e7a | 1501 | } |
Lightvalve | 57:f4819de54e7a | 1502 | |
Lightvalve | 57:f4819de54e7a | 1503 | // CONTROL MODE ------------------------------------------------------------ |
Lightvalve | 57:f4819de54e7a | 1504 | |
Lightvalve | 57:f4819de54e7a | 1505 | switch (CONTROL_MODE) { |
Lightvalve | 57:f4819de54e7a | 1506 | case MODE_NO_ACT: { |
Lightvalve | 57:f4819de54e7a | 1507 | V_out = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1508 | break; |
Lightvalve | 57:f4819de54e7a | 1509 | } |
Lightvalve | 57:f4819de54e7a | 1510 | |
Lightvalve | 57:f4819de54e7a | 1511 | case MODE_VALVE_POSITION_CONTROL: { |
Lightvalve | 67:c2812cf26c38 | 1512 | if (OPERATING_MODE == 5) { //SW Valve |
Lightvalve | 57:f4819de54e7a | 1513 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 59:f308b1656d9c | 1514 | V_out = Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 1515 | } else if (CURRENT_CONTROL_MODE == 0) { //PWM |
Lightvalve | 67:c2812cf26c38 | 1516 | V_out = valve_pos.ref; |
Lightvalve | 67:c2812cf26c38 | 1517 | } else { |
Lightvalve | 67:c2812cf26c38 | 1518 | I_REF = valve_pos.ref * 0.001f; |
Lightvalve | 57:f4819de54e7a | 1519 | } |
Lightvalve | 58:2eade98630e2 | 1520 | |
Lightvalve | 57:f4819de54e7a | 1521 | break; |
Lightvalve | 57:f4819de54e7a | 1522 | } |
Lightvalve | 57:f4819de54e7a | 1523 | |
Lightvalve | 57:f4819de54e7a | 1524 | case MODE_JOINT_CONTROL: { |
Lightvalve | 57:f4819de54e7a | 1525 | double torq_ref = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1526 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 1527 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 57:f4819de54e7a | 1528 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 1529 | |
Lightvalve | 67:c2812cf26c38 | 1530 | //K & D Low Pass Filter |
Lightvalve | 67:c2812cf26c38 | 1531 | float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz |
Lightvalve | 67:c2812cf26c38 | 1532 | K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 1533 | D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 1534 | |
Lightvalve | 67:c2812cf26c38 | 1535 | torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N] |
Lightvalve | 57:f4819de54e7a | 1536 | |
Lightvalve | 57:f4819de54e7a | 1537 | // torque feedback |
Lightvalve | 67:c2812cf26c38 | 1538 | torq.err = torq_ref - torq.sen; //[N] |
Lightvalve | 57:f4819de54e7a | 1539 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 57:f4819de54e7a | 1540 | |
Lightvalve | 57:f4819de54e7a | 1541 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 58:2eade98630e2 | 1542 | |
Lightvalve | 57:f4819de54e7a | 1543 | double I_REF_POS = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1544 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 57:f4819de54e7a | 1545 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 57:f4819de54e7a | 1546 | |
Lightvalve | 57:f4819de54e7a | 1547 | double temp_vel_pos = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1548 | double temp_vel_torq = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1549 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 58:2eade98630e2 | 1550 | |
Lightvalve | 69:3995ffeaa786 | 1551 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 1552 | 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 | 1553 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1554 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 1555 | 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 | 1556 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 1557 | } |
Lightvalve | 57:f4819de54e7a | 1558 | 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 | 1559 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 1560 | |
Lightvalve | 57:f4819de54e7a | 1561 | // velocity compensation for torque control |
Lightvalve | 69:3995ffeaa786 | 1562 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 1563 | I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); |
Lightvalve | 57:f4819de54e7a | 1564 | // 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 | 1565 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s |
Lightvalve | 57:f4819de54e7a | 1566 | // L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1567 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 1568 | 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 | 1569 | // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 1570 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 1571 | // L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 1572 | } |
Lightvalve | 57:f4819de54e7a | 1573 | 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 | 1574 | else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 1575 | // L velocity(rad/s or mm/s) >> I_ref(mA) |
Lightvalve | 57:f4819de54e7a | 1576 | // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k; |
Lightvalve | 57:f4819de54e7a | 1577 | // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm; |
Lightvalve | 57:f4819de54e7a | 1578 | |
Lightvalve | 57:f4819de54e7a | 1579 | I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB); |
Lightvalve | 67:c2812cf26c38 | 1580 | |
Lightvalve | 67:c2812cf26c38 | 1581 | // Anti-windup for FT |
Lightvalve | 67:c2812cf26c38 | 1582 | if (I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 67:c2812cf26c38 | 1583 | double I_MAX = 10.0f; // Maximum Current : 10mV |
Lightvalve | 67:c2812cf26c38 | 1584 | double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f); |
Lightvalve | 67:c2812cf26c38 | 1585 | if (I_REF > I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 1586 | double I_rem = I_REF - I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1587 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 1588 | I_REF = I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1589 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 1590 | } else if (I_REF < -I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 1591 | double I_rem = I_REF - (-I_MAX); |
Lightvalve | 67:c2812cf26c38 | 1592 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 1593 | I_REF = -I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1594 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 1595 | } |
Lightvalve | 67:c2812cf26c38 | 1596 | } |
Lightvalve | 57:f4819de54e7a | 1597 | |
Lightvalve | 57:f4819de54e7a | 1598 | } else { |
Lightvalve | 57:f4819de54e7a | 1599 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 72:3436ce769b1e | 1600 | float VALVE_POS_RAW_FORCE_FF = 0.0f; |
Lightvalve | 72:3436ce769b1e | 1601 | float VALVE_POS_RAW = 0.0f; |
Lightvalve | 72:3436ce769b1e | 1602 | |
Lightvalve | 57:f4819de54e7a | 1603 | 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 | 1604 | + 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 | 1605 | |
Lightvalve | 72:3436ce769b1e | 1606 | VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f; |
Lightvalve | 72:3436ce769b1e | 1607 | |
Lightvalve | 72:3436ce769b1e | 1608 | VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF; |
Lightvalve | 72:3436ce769b1e | 1609 | |
Lightvalve | 72:3436ce769b1e | 1610 | |
Lightvalve | 72:3436ce769b1e | 1611 | if (VALVE_POS_RAW >= 0) { |
Lightvalve | 72:3436ce769b1e | 1612 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS; |
Lightvalve | 57:f4819de54e7a | 1613 | } else { |
Lightvalve | 72:3436ce769b1e | 1614 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS; |
Lightvalve | 57:f4819de54e7a | 1615 | } |
Lightvalve | 57:f4819de54e7a | 1616 | |
Lightvalve | 57:f4819de54e7a | 1617 | if(I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 57:f4819de54e7a | 1618 | double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; |
Lightvalve | 57:f4819de54e7a | 1619 | if(valve_pos.ref>VALVE_MAX_POS) { |
Lightvalve | 57:f4819de54e7a | 1620 | double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 1621 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 1622 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 1623 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 1624 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 57:f4819de54e7a | 1625 | double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 1626 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 1627 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 1628 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 1629 | } |
Lightvalve | 57:f4819de54e7a | 1630 | } |
Lightvalve | 61:bc8c8270f0ab | 1631 | |
Lightvalve | 57:f4819de54e7a | 1632 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1633 | |
Lightvalve | 67:c2812cf26c38 | 1634 | // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err); |
Lightvalve | 60:64181f1d3e60 | 1635 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 1636 | |
Lightvalve | 57:f4819de54e7a | 1637 | } |
Lightvalve | 72:3436ce769b1e | 1638 | |
Lightvalve | 72:3436ce769b1e | 1639 | torq_ref_past = torq_ref; |
Lightvalve | 58:2eade98630e2 | 1640 | |
Lightvalve | 57:f4819de54e7a | 1641 | break; |
Lightvalve | 57:f4819de54e7a | 1642 | } |
Lightvalve | 58:2eade98630e2 | 1643 | |
Lightvalve | 57:f4819de54e7a | 1644 | case MODE_VALVE_OPEN_LOOP: { |
Lightvalve | 57:f4819de54e7a | 1645 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 1646 | break; |
Lightvalve | 57:f4819de54e7a | 1647 | } |
Lightvalve | 14:8e7590227d22 | 1648 | |
Lightvalve | 12:6f2531038ea4 | 1649 | default: |
Lightvalve | 12:6f2531038ea4 | 1650 | break; |
Lightvalve | 12:6f2531038ea4 | 1651 | } |
Lightvalve | 14:8e7590227d22 | 1652 | |
Lightvalve | 57:f4819de54e7a | 1653 | |
Lightvalve | 57:f4819de54e7a | 1654 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve |
Lightvalve | 58:2eade98630e2 | 1655 | |
Lightvalve | 57:f4819de54e7a | 1656 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1657 | //////////////////////////// CURRENT CONTROL ////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1658 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1659 | if (CURRENT_CONTROL_MODE) { |
Lightvalve | 67:c2812cf26c38 | 1660 | double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz |
Lightvalve | 57:f4819de54e7a | 1661 | I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF; |
Lightvalve | 57:f4819de54e7a | 1662 | |
Lightvalve | 57:f4819de54e7a | 1663 | I_ERR = I_REF_fil - cur.sen; |
Lightvalve | 67:c2812cf26c38 | 1664 | I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1665 | |
Lightvalve | 57:f4819de54e7a | 1666 | |
Lightvalve | 57:f4819de54e7a | 1667 | // Moog Valve Current Control Gain |
Lightvalve | 67:c2812cf26c38 | 1668 | double R_model = 500.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 1669 | double L_model = 1.2f; |
Lightvalve | 57:f4819de54e7a | 1670 | double w0 = 2.0f * 3.14f * 150.0f; |
Lightvalve | 57:f4819de54e7a | 1671 | double KP_I = 0.1f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 1672 | double KI_I = 0.1f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 1673 | |
Lightvalve | 57:f4819de54e7a | 1674 | // KNR Valve Current Control Gain |
Lightvalve | 57:f4819de54e7a | 1675 | if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve |
Lightvalve | 57:f4819de54e7a | 1676 | R_model = 163.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 1677 | L_model = 1.0f; |
Lightvalve | 57:f4819de54e7a | 1678 | w0 = 2.0f * 3.14f * 80.0f; |
Lightvalve | 57:f4819de54e7a | 1679 | KP_I = 1.0f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 1680 | KI_I = 0.08f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 1681 | } |
Lightvalve | 57:f4819de54e7a | 1682 | |
Lightvalve | 57:f4819de54e7a | 1683 | double FF_gain = 1.0f; |
Lightvalve | 57:f4819de54e7a | 1684 | |
Lightvalve | 67:c2812cf26c38 | 1685 | VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT; |
Lightvalve | 57:f4819de54e7a | 1686 | // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV |
Lightvalve | 57:f4819de54e7a | 1687 | I_REF_fil_diff = I_REF_fil - I_REF_fil_old; |
Lightvalve | 57:f4819de54e7a | 1688 | I_REF_fil_old = I_REF_fil; |
Lightvalve | 67:c2812cf26c38 | 1689 | // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 1690 | VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 1691 | double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV |
Lightvalve | 57:f4819de54e7a | 1692 | |
Lightvalve | 57:f4819de54e7a | 1693 | double Ka = 3.0f / KP_I; |
Lightvalve | 57:f4819de54e7a | 1694 | if (VALVE_PWM_RAW > V_MAX) { |
Lightvalve | 57:f4819de54e7a | 1695 | V_rem = VALVE_PWM_RAW - V_MAX; |
Lightvalve | 57:f4819de54e7a | 1696 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 1697 | VALVE_PWM_RAW = V_MAX; |
Lightvalve | 67:c2812cf26c38 | 1698 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1699 | } else if (VALVE_PWM_RAW < -V_MAX) { |
Lightvalve | 57:f4819de54e7a | 1700 | V_rem = VALVE_PWM_RAW - (-V_MAX); |
Lightvalve | 57:f4819de54e7a | 1701 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 1702 | VALVE_PWM_RAW = -V_MAX; |
Lightvalve | 67:c2812cf26c38 | 1703 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1704 | } |
Lightvalve | 57:f4819de54e7a | 1705 | Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 1706 | } else { |
Lightvalve | 57:f4819de54e7a | 1707 | VALVE_PWM_RAW = I_REF * mV_PER_mA; |
Lightvalve | 57:f4819de54e7a | 1708 | Cur_Valve_Open_pulse = I_REF / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 1709 | } |
Lightvalve | 57:f4819de54e7a | 1710 | |
Lightvalve | 57:f4819de54e7a | 1711 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1712 | ///////////////// Dead Zone Cancellation & Linearization ////////////////// |
Lightvalve | 57:f4819de54e7a | 1713 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1714 | // Dead Zone Cancellation (Mechanical Valve dead-zone) |
Lightvalve | 57:f4819de54e7a | 1715 | if (FLAG_VALVE_DEADZONE) { |
Lightvalve | 57:f4819de54e7a | 1716 | if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1717 | else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1718 | |
Lightvalve | 57:f4819de54e7a | 1719 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1720 | |
Lightvalve | 57:f4819de54e7a | 1721 | } else { |
Lightvalve | 57:f4819de54e7a | 1722 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW; |
Lightvalve | 57:f4819de54e7a | 1723 | } |
Lightvalve | 57:f4819de54e7a | 1724 | |
Lightvalve | 57:f4819de54e7a | 1725 | // Output Voltage Linearization |
Lightvalve | 57:f4819de54e7a | 1726 | double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 1727 | double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 57:f4819de54e7a | 1728 | |
Lightvalve | 57:f4819de54e7a | 1729 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 67:c2812cf26c38 | 1730 | if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 1731 | else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 1732 | else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 57:f4819de54e7a | 1733 | } |
Lightvalve | 67:c2812cf26c38 | 1734 | |
Lightvalve | 67:c2812cf26c38 | 1735 | // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 1736 | // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 1737 | // else V_out = V_out; |
Lightvalve | 67:c2812cf26c38 | 1738 | |
jobuuu | 7:e9086c72bb22 | 1739 | /******************************************************* |
jobuuu | 7:e9086c72bb22 | 1740 | *** PWM |
jobuuu | 7:e9086c72bb22 | 1741 | ********************************************************/ |
Lightvalve | 67:c2812cf26c38 | 1742 | if(DIR_VALVE<0){ |
Lightvalve | 67:c2812cf26c38 | 1743 | V_out = -V_out; |
Lightvalve | 67:c2812cf26c38 | 1744 | } |
Lightvalve | 67:c2812cf26c38 | 1745 | |
Lightvalve | 49:e7bcfc244d40 | 1746 | if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 1747 | V_out = VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 49:e7bcfc244d40 | 1748 | } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 1749 | V_out = -VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 27:a2254a485f23 | 1750 | } |
Lightvalve | 49:e7bcfc244d40 | 1751 | PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV |
Lightvalve | 13:747daba9cf59 | 1752 | |
Lightvalve | 19:23b7c1ad8683 | 1753 | // Saturation of output voltage to 12.0V |
Lightvalve | 30:8d561f16383b | 1754 | if(PWM_out > 1.0f) PWM_out=1.0f; |
Lightvalve | 30:8d561f16383b | 1755 | else if (PWM_out < -1.0f) PWM_out=-1.0f; |
Lightvalve | 13:747daba9cf59 | 1756 | |
Lightvalve | 30:8d561f16383b | 1757 | if (PWM_out>0.0f) { |
Lightvalve | 30:8d561f16383b | 1758 | dtc_v=0.0f; |
jobuuu | 1:e04e563be5ce | 1759 | dtc_w=PWM_out; |
jobuuu | 1:e04e563be5ce | 1760 | } else { |
jobuuu | 2:a1c0a37df760 | 1761 | dtc_v=-PWM_out; |
Lightvalve | 30:8d561f16383b | 1762 | dtc_w=0.0f; |
jobuuu | 1:e04e563be5ce | 1763 | } |
Lightvalve | 13:747daba9cf59 | 1764 | |
jobuuu | 1:e04e563be5ce | 1765 | //pwm |
Lightvalve | 30:8d561f16383b | 1766 | TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v); |
Lightvalve | 30:8d561f16383b | 1767 | TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w); |
Lightvalve | 67:c2812cf26c38 | 1768 | |
Lightvalve | 61:bc8c8270f0ab | 1769 | |
Lightvalve | 57:f4819de54e7a | 1770 | if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 20:806196fda269 | 1771 | |
Lightvalve | 54:647072f5307a | 1772 | // Position, Velocity, and Torque (ID:1200) |
Lightvalve | 56:6f50d9d3bfee | 1773 | if (flag_data_request[0] == HIGH) { |
Lightvalve | 57:f4819de54e7a | 1774 | if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator |
Lightvalve | 54:647072f5307a | 1775 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 1776 | CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f)); |
Lightvalve | 54:647072f5307a | 1777 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 1778 | 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 | 1779 | } |
Lightvalve | 57:f4819de54e7a | 1780 | } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator |
Lightvalve | 54:647072f5307a | 1781 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 1782 | CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE))); |
Lightvalve | 54:647072f5307a | 1783 | } else if (SENSING_MODE == 1) { |
Lightvalve | 67:c2812cf26c38 | 1784 | CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f)); |
Lightvalve | 54:647072f5307a | 1785 | } |
Lightvalve | 52:8ea76864368a | 1786 | } |
Lightvalve | 52:8ea76864368a | 1787 | } |
Lightvalve | 56:6f50d9d3bfee | 1788 | if (flag_data_request[1] == HIGH) { |
Lightvalve | 54:647072f5307a | 1789 | //valve position |
Lightvalve | 54:647072f5307a | 1790 | double t_value = 0; |
Lightvalve | 67:c2812cf26c38 | 1791 | if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 67:c2812cf26c38 | 1792 | t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 67:c2812cf26c38 | 1793 | } else { |
Lightvalve | 67:c2812cf26c38 | 1794 | t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 67:c2812cf26c38 | 1795 | } |
Lightvalve | 67:c2812cf26c38 | 1796 | // if(OPERATING_MODE==5) { |
Lightvalve | 67:c2812cf26c38 | 1797 | // t_value = (double) value; |
Lightvalve | 67:c2812cf26c38 | 1798 | // } else if(CURRENT_CONTROL_MODE==1) { |
Lightvalve | 67:c2812cf26c38 | 1799 | // t_value = cur.sen; |
Lightvalve | 57:f4819de54e7a | 1800 | // } else { |
Lightvalve | 67:c2812cf26c38 | 1801 | // t_value = V_out; |
Lightvalve | 67:c2812cf26c38 | 1802 | // } |
Lightvalve | 67:c2812cf26c38 | 1803 | CAN_TX_TORQUE((int16_t) (t_value)); //1300 |
Lightvalve | 67:c2812cf26c38 | 1804 | //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300 |
Lightvalve | 67:c2812cf26c38 | 1805 | //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300 |
Lightvalve | 54:647072f5307a | 1806 | } |
Lightvalve | 58:2eade98630e2 | 1807 | |
Lightvalve | 58:2eade98630e2 | 1808 | |
Lightvalve | 56:6f50d9d3bfee | 1809 | if (flag_data_request[2] == HIGH) { |
Lightvalve | 56:6f50d9d3bfee | 1810 | //pressure A and B |
Lightvalve | 57:f4819de54e7a | 1811 | CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) //1400 |
Lightvalve | 55:b25725257569 | 1812 | } |
Lightvalve | 58:2eade98630e2 | 1813 | |
Lightvalve | 57:f4819de54e7a | 1814 | //If it doesn't rest, below can can not work. |
Lightvalve | 57:f4819de54e7a | 1815 | for (can_rest = 0; can_rest < 10000; can_rest++) { |
Lightvalve | 57:f4819de54e7a | 1816 | ; |
Lightvalve | 57:f4819de54e7a | 1817 | } |
Lightvalve | 58:2eade98630e2 | 1818 | |
Lightvalve | 56:6f50d9d3bfee | 1819 | if (flag_data_request[3] == HIGH) { |
Lightvalve | 54:647072f5307a | 1820 | //PWM |
Lightvalve | 73:f80dc3970c99 | 1821 | //CAN_TX_PWM((int16_t) value); //1500 |
Lightvalve | 73:f80dc3970c99 | 1822 | CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500 |
Lightvalve | 54:647072f5307a | 1823 | } |
Lightvalve | 57:f4819de54e7a | 1824 | //for (i = 0; i < 10000; i++) { |
Lightvalve | 57:f4819de54e7a | 1825 | // ; |
Lightvalve | 57:f4819de54e7a | 1826 | // } |
Lightvalve | 56:6f50d9d3bfee | 1827 | if (flag_data_request[4] == HIGH) { |
Lightvalve | 54:647072f5307a | 1828 | //valve position |
Lightvalve | 73:f80dc3970c99 | 1829 | CAN_TX_VALVE_POSITION((int16_t) (input_NN[1] * 100.0f), (int16_t) (input_NN[2]* 100.0f), (int16_t) (input_NN[3]* 100.0f), (int16_t) (input_NN[4]* 100.0f)); //1600 |
Lightvalve | 54:647072f5307a | 1830 | } |
Lightvalve | 20:806196fda269 | 1831 | |
Lightvalve | 54:647072f5307a | 1832 | // Others : Reference position, Reference FT, PWM, Current (ID:1300) |
Lightvalve | 52:8ea76864368a | 1833 | // if (flag_data_request[1] == HIGH) { |
Lightvalve | 52:8ea76864368a | 1834 | // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3)); |
Lightvalve | 52:8ea76864368a | 1835 | // } |
Lightvalve | 54:647072f5307a | 1836 | //if (flag_delay_test == 1){ |
Lightvalve | 58:2eade98630e2 | 1837 | //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref); |
Lightvalve | 54:647072f5307a | 1838 | //} |
Lightvalve | 52:8ea76864368a | 1839 | |
Lightvalve | 54:647072f5307a | 1840 | TMR2_COUNT_CAN_TX = 0; |
Lightvalve | 54:647072f5307a | 1841 | } |
Lightvalve | 54:647072f5307a | 1842 | TMR2_COUNT_CAN_TX++; |
Lightvalve | 52:8ea76864368a | 1843 | |
Lightvalve | 20:806196fda269 | 1844 | } |
Lightvalve | 52:8ea76864368a | 1845 | TIM3->SR = 0x0; // reset the status register |
Lightvalve | 52:8ea76864368a | 1846 | |
Lightvalve | 58:2eade98630e2 | 1847 | } |