HCB with MPC
Dependencies: mbed Eigen FastPWM
main.cpp
- Committer:
- Lightvalve
- Date:
- 2019-08-27
- Revision:
- 13:747daba9cf59
- Parent:
- 12:6f2531038ea4
- Child:
- 14:8e7590227d22
File content as of revision 13:747daba9cf59:
#include "mbed.h" #include "FastPWM.h" #include "INIT_HW.h" #include "function_CAN.h" #include "SPI_EEP_ENC.h" #include "I2C_AS5510.h" #include "setting.h" #include "function_utilities.h" // dac & check /////////////////////////////////////////// DigitalOut check(PC_2); DigitalOut check_2(PC_3); AnalogOut dac_1(PA_4); AnalogOut dac_2(PA_5); //AnalogIn adc3(PC_1); // PWM /////////////////////////////////////////// double dtc_v=0.0; double dtc_w=0.0; // I2C /////////////////////////////////////////// I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F) const int i2c_slave_addr1 = 0x56; unsigned int value; // 10bit output of reading sensor AS5510 // SPI /////////////////////////////////////////// SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK); DigitalOut eeprom_cs(PB_12); SPI enc(PC_12,PC_11,PC_10); DigitalOut enc_cs(PD_2); DigitalOut LED(PA_15); // UART /////////////////////////////////////////// Serial pc(PA_9,PA_10); // _ UART // CAN /////////////////////////////////////////// CAN can(PB_8, PB_9, 1000000); CANMessage msg; void onMsgReceived() { CAN_RX_HANDLER(); } // Variables /////////////////////////////////////////// State pos; State vel; State Vout; State torq; State pres_A; State pres_B; State cur; double V_out=0.0; double V_rem=0.0; // for anti-windup double V_MAX = 12000.0; // Maximum Voltage : 12V = 12000mV double PWM_out=0.0; // ============================================================================= // ============================================================================= // ============================================================================= /******************************************************************************* * REFERENCE MODE ******************************************************************************/ enum _REFERENCE_MODE { MODE_REF_NO_ACT = 0, //0 MODE_REF_DIRECT, //1 MODE_REF_COS_INC, //2 MODE_REF_LINE_INC, //3 MODE_REF_SIN_WAVE, //4 MODE_REF_SQUARE_WAVE, //5 }; /******************************************************************************* * CONTROL MODE ******************************************************************************/ enum _CONTROL_MODE { //control mode MODE_NO_ACT = 0, //0 MODE_VALVE_OPEN_LOOP, //1 MODE_VALVE_POSITION_CONTROL, //2 MODE_JOINT_POSITION_TORQUE_CONTROL_PWM, //3 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8 MODE_TEST_CURRENT_CONTROL, //9 MODE_TEST_PWM_CONTROL, //10 //utility MODE_TORQUE_SENSOR_NULLING = 20, //20 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21 MODE_FIND_HOME, //22 MODE_VALVE_GAIN_SETTING, //23 MODE_PRESSURE_SENSOR_NULLING, //24 MODE_PRESSURE_SENSOR_CALIB, //25 MODE_ROTARY_FRICTION_TUNING, //26 MODE_DDV_POS_VS_PWM_ID = 30, //30 MODE_DDV_DEADZONE_AND_CENTER, //31 MODE_DDV_POS_VS_FLOWRATE, //32 }; int main() { /********************************* *** Initialization *********************************/ LED = 1; pc.baud(9600); // i2c init i2c.frequency(400 * 1000); // 0.4 mHz wait_ms(2); // Power Up wait look_for_hardware_i2c(); // Hardware present init_as5510(i2c_slave_addr1); make_delay(); // // spi init eeprom.format(8,3); eeprom.frequency(5000000); //5M enc.format(8,0); enc.frequency(5000000); //5M make_delay(); // ADC init Init_ADC(); make_delay(); // Pwm init Init_PWM(); TIM4->CR1 ^= TIM_CR1_UDIS; make_delay(); // TMR3 init Init_TMR3(); TIM3->CR1 ^= TIM_CR1_UDIS; make_delay(); // CAN can.attach(&CAN_RX_HANDLER); CAN_ID_INIT(); make_delay(); // spi _ enc spi_enc_set_init(); make_delay(); //eeprom ROM_INIT_DATA(); make_delay(); //DAC init dac_1 = PRES_A_VREF/3.3; dac_2 = PRES_B_VREF/3.3; make_delay(); for (int i=0; i<100; i++) { if(i%2==0) ID_index_array[i] = - i * 0.5; else ID_index_array[i] = (i+1) * 0.5; } /************************************ *** Program is operating! *************************************/ while(1) { //spi _ enc //int a = spi_enc_read(); //i2c read_field(i2c_slave_addr1); } } int DDV_JOINT_POS_FF(double REF_JOINT_VEL){ int i = 0; int Ref_Valve_Pos_FF = DDV_CENTER; for(i=0; i<VALVE_POS_NUM; i++) { if(REF_JOINT_VEL >= min(JOINT_VEL[i],JOINT_VEL[i+1]) && REF_JOINT_VEL <= max(JOINT_VEL[i],JOINT_VEL[i+1])) { if(i==0) { Ref_Valve_Pos_FF = ((int) 50.0/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + DDV_CENTER; } else { Ref_Valve_Pos_FF = ((int) 50.0*(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])) + DDV_CENTER + 50*ID_index_array[i-1]; } break; } } if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { Ref_Valve_Pos_FF = VALVE_MAX_POS; } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { Ref_Valve_Pos_FF = VALVE_MIN_POS; } return Ref_Valve_Pos_FF; } void VALVE_POS_CONTROL(double REF_VALVE_POS){ int i = 0; valve_pos_err = REF_VALVE_POS - value; valve_pos_err_diff = valve_pos_err - valve_pos_err_old; valve_pos_err_old = valve_pos_err; valve_pos_err_sum += valve_pos_err; if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000; if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000; VALVE_PWM_RAW_FB = P_GAIN_VALVE_POSITION * valve_pos_err + I_GAIN_VALVE_POSITION * valve_pos_err_sum + D_GAIN_VALVE_POSITION * valve_pos_err_diff; if(REF_VALVE_POS > VALVE_MAX_POS) { REF_VALVE_POS = VALVE_MAX_POS; } else if(REF_VALVE_POS < VALVE_MIN_POS) { REF_VALVE_POS = VALVE_MIN_POS; } for(i=0; i<16; i++) { if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) { if(i==0) { VALVE_PWM_RAW_FF = (double) 1000.0/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * (REF_VALVE_POS - VALVE_POS_VS_PWM[i]); } else { VALVE_PWM_RAW_FF = (double) 1000.0*(ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * (REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000*ID_index_array[i-1]; } break; } } VALVE_PWM_RAW = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; } double PWM_duty_byLT(double Ref_V) { double PWM_duty = 0.0; if(Ref_V<LT_Voltage_Output[0]) { PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5+LT_PWM_duty[0]; } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) { PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5+LT_PWM_duty[LT_MAX_IDX-1]; } else { int idx = 0; for(idx=0; idx<LT_MAX_IDX-1; idx++) { double ini_x = LT_Voltage_Output[idx]; double fin_x = LT_Voltage_Output[idx+1]; double ini_y = LT_PWM_duty[idx]; double fin_y = LT_PWM_duty[idx+1]; if(Ref_V>=ini_x && Ref_V<fin_x) { PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y; break; } } } return PWM_duty; } /******************************************************************************* TIMER INTERRUPT *******************************************************************************/ unsigned long CNT_TMR4 = 0; double FREQ_TMR4 = (double)FREQ_20k; double DT_TMR4 = (double)DT_20k; extern "C" void TIM4_IRQHandler(void) { if ( TIM4->SR & TIM_SR_UIF ) { /******************************************************* *** Sensor Read & Data Handling ********************************************************/ if((CNT_TMR4%2)==0) { //ADC ADC3->CR2 |= 0x40000000; // adc _ 12bit // a1=ADC1->DR; // a1=ADC2->DR; // int raw_cur = ADC3->DR; while((ADC3->SR & 0b10)); double alpha_update_cur = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0)); // f_cutoff : 500Hz double cur_new = ((double)ADC3->DR-2048.0)*20.0/4096.0; // unit : mA cur.sen=cur.sen*(1.0-alpha_update_cur)+cur_new*(alpha_update_cur); } //DAC // dac_1 = ADC1->DR; // dac_2 = ADC2->DR; /******************************************************* *** Timer Counting & etc. ********************************************************/ CNT_TMR4++; } TIM4->SR = 0x0; // reset the status register } unsigned long CNT_TMR3 = 0; double FREQ_TMR3 = (double)FREQ_5k; double DT_TMR3 = (double)DT_5k; extern "C" void TIM3_IRQHandler(void) { if ( TIM3->SR & TIM_SR_UIF ) { ENC_UPDATE(); CUR_PRES_A_BAR = (CUR_PRES_A - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR + 1.; CUR_PRES_B_BAR = (CUR_PRES_B - PRES_B_NULL) / PRES_SENSOR_B_PULSE_PER_BAR + 1.; //CUR_TORQUE_NM = (CUR_TORQUE - TORQUE_NULL) / (double) TORQUE_SENSOR_PULSE_PER_TORQUE; // CUR_TORQUE_NM = CUR_TORQUE; // CUR_TORQUE_NM_PRESS = 1. * (CUR_PRES_A_BAR - CUR_PRES_B_BAR); // Reference Loop switch (REFERENCE_MODE) { case MODE_REF_NO_ACT: { break; } case MODE_REF_DIRECT: { if (FLAG_REFERENCE_VALVE_PWM) { Ref_PWM = (double) REF_PWM; } if (FLAG_REFERENCE_VALVE_POSITION) { Ref_Valve_Pos = (double) REF_VALVE_POSITION; } if (FLAG_REFERENCE_JOINT_POSITION) { Ref_Joint_Pos = (double) REF_POSITION; Ref_Joint_Vel = (double) REF_VELOCITY; } if (FLAG_REFERENCE_JOINT_TORQUE) { Ref_Joint_Torq = (double) REF_TORQUE; } break; } case MODE_REF_COS_INC: { if (FLAG_REFERENCE_VALVE_PWM) { Ref_PWM = ((double) REF_PWM - (double) INIT_REF_PWM)*(0.5 - 0.5 * cos(3.14159 * (double) TMR2_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_REF_PWM; } if (FLAG_REFERENCE_VALVE_POSITION) { Ref_Valve_Pos = ((double) REF_VALVE_POSITION - (double) INIT_REF_VALVE_POS)*(0.5 - 0.5 * cos(3.14159 * (double) TMR2_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_REF_VALVE_POS; } if (FLAG_REFERENCE_JOINT_POSITION) { Ref_Joint_Pos = ((double) REF_POSITION - (double) INIT_REF_POS)*(0.5 - 0.5 * cos(3.14159 * (double) TMR2_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_REF_POS; Ref_Joint_Vel = 0.0; } if (FLAG_REFERENCE_JOINT_TORQUE) { Ref_Joint_Torq = ((double) REF_TORQUE - (double) INIT_REF_TORQUE)*(0.5 - 0.5 * cos(3.14159 * (double) TMR2_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_REF_TORQUE; } TMR2_COUNT_REFERENCE++; if (TMR2_COUNT_REFERENCE >= REF_MOVE_TIME_5k) { REFERENCE_MODE = MODE_REF_DIRECT; TMR2_COUNT_REFERENCE = 0; } break; } case MODE_REF_LINE_INC: { if (FLAG_REFERENCE_VALVE_PWM) { Ref_PWM = ((double) REF_PWM - (double) INIT_REF_PWM)*((double) TMR2_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_REF_PWM; } if (FLAG_REFERENCE_VALVE_POSITION) { Ref_Valve_Pos = ((double) REF_VALVE_POSITION - (double) INIT_REF_VALVE_POS)*((double) TMR2_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_REF_VALVE_POS; } if (FLAG_REFERENCE_JOINT_POSITION) { Ref_Joint_Pos = ((double) REF_POSITION - (double) INIT_REF_POS)*((double) TMR2_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_REF_POS; Ref_Vel_Test = ((double) REF_POSITION - (double) INIT_REF_POS) / (double) REF_MOVE_TIME_5k * (double) TMR_FREQ_5k; // pulse/sec //Ref_Vel_Test = 10; } if (FLAG_REFERENCE_JOINT_TORQUE) { Ref_Joint_Torq = ((double) REF_TORQUE - (double) INIT_REF_TORQUE)*((double) TMR2_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_REF_TORQUE; } TMR2_COUNT_REFERENCE++; if (TMR2_COUNT_REFERENCE >= REF_MOVE_TIME_5k) { //REFERENCE_MODE = MODE_REF_DIRECT; Ref_Vel_Test = 1; TMR2_COUNT_REFERENCE = REF_MOVE_TIME_5k; //TMR2_COUNT_REFERENCE = 0; } break; } case MODE_REF_SIN_WAVE: { if (FLAG_REFERENCE_VALVE_PWM) { Ref_PWM = REF_MAG * sin(2 * 3.14159 * (double) TMR2_COUNT_REFERENCE / (double) TMR2_COUNT_REFERENCE) + (double) REF_PWM; } if (FLAG_REFERENCE_VALVE_POSITION) { Ref_Valve_Pos = REF_MAG * sin(2 * 3.14159 * (double) TMR2_COUNT_REFERENCE / (double) TMR2_COUNT_REFERENCE) + (double) REF_VALVE_POSITION; } if (FLAG_REFERENCE_JOINT_POSITION) { Ref_Joint_Pos = REF_MAG * sin(2 * 3.14159 * (double) TMR2_COUNT_REFERENCE / (double) TMR2_COUNT_REFERENCE) + (double) REF_POSITION; } if (FLAG_REFERENCE_JOINT_TORQUE) { Ref_Joint_Torq = REF_MAG * sin(2 * 3.14159 * (double) TMR2_COUNT_REFERENCE / (double) TMR2_COUNT_REFERENCE) + (double) REF_TORQUE; } TMR2_COUNT_REFERENCE++; if (TMR2_COUNT_REFERENCE >= TMR2_COUNT_REFERENCE * REF_NUM) { REFERENCE_MODE = MODE_REF_DIRECT; TMR2_COUNT_REFERENCE = 0; } break; } case MODE_REF_SQUARE_WAVE: { if (FLAG_REFERENCE_VALVE_PWM) { Ref_PWM = REF_MAG * sin(2 * 3.14159 * (double) TMR2_COUNT_REFERENCE / (double) TMR2_COUNT_REFERENCE) + (double) REF_PWM; if (Ref_PWM >= REF_PWM) Ref_PWM = REF_MAG + REF_PWM; else Ref_PWM = -REF_MAG + REF_PWM; } if (FLAG_REFERENCE_VALVE_POSITION) { Ref_Valve_Pos = REF_MAG * sin(2 * 3.14159 * (double) TMR2_COUNT_REFERENCE / (double) TMR2_COUNT_REFERENCE) + (double) REF_VALVE_POSITION; if (Ref_Valve_Pos >= REF_VALVE_POSITION) Ref_Valve_Pos = REF_MAG + REF_VALVE_POSITION; else Ref_Valve_Pos = -REF_MAG + REF_VALVE_POSITION; } if (FLAG_REFERENCE_JOINT_POSITION) { Ref_Joint_Pos = REF_MAG * sin(2 * 3.14159 * (double) TMR2_COUNT_REFERENCE / (double) TMR2_COUNT_REFERENCE) + (double) REF_POSITION; if (Ref_Joint_Pos >= REF_POSITION) Ref_Valve_Pos = REF_MAG + REF_POSITION; else Ref_Joint_Pos = -REF_MAG + REF_POSITION; } if (FLAG_REFERENCE_JOINT_TORQUE) { Ref_Joint_Torq = REF_MAG * sin(2 * 3.14159 * (double) TMR2_COUNT_REFERENCE / (double) TMR2_COUNT_REFERENCE) + (double) REF_TORQUE; if (Ref_Joint_Torq >= REF_TORQUE) Ref_Valve_Pos = REF_MAG + REF_TORQUE; else Ref_Joint_Torq = -REF_MAG + REF_TORQUE; } TMR2_COUNT_REFERENCE++; if (TMR2_COUNT_REFERENCE >= TMR2_COUNT_REFERENCE * REF_NUM) { REFERENCE_MODE = MODE_REF_DIRECT; TMR2_COUNT_REFERENCE = 0; } break; } default: break; } // CONTROL LOOP ------------------------------------------------------------ switch (CONTROL_MODE) { case MODE_NO_ACT: { // SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); VALVE_PWM_RAW = 0; break; } case MODE_VALVE_OPEN_LOOP: { VALVE_PWM_RAW = Ref_PWM; break; } case MODE_VALVE_POSITION_CONTROL: { VALVE_POS_CONTROL(Ref_Valve_Pos); break; } case MODE_JOINT_POSITION_TORQUE_CONTROL_PWM: { double PWM_RAW_POS_FB = 0.0; // PWM by Position Feedback double PWM_RAW_POS_FF = 0.0; // PWM by Position Feedforward double PWM_RAW_FORCE_FB = 0.0; // PWM by Force Feedback // feedback input for position control joint_pos_err = Ref_Joint_Pos - (double) CUR_POSITION; joint_pos_err_diff = joint_pos_err - joint_pos_err_old; joint_pos_err_old = joint_pos_err; joint_pos_err_sum += joint_pos_err; if (joint_pos_err_sum > 1000) joint_pos_err_sum = 1000; if (joint_pos_err_sum<-1000) joint_pos_err_sum = -1000; // PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * joint_pos_err + (double) I_GAIN_JOINT_POSITION * joint_pos_err_sum + (double) D_GAIN_JOINT_POSITION * joint_pos_err_diff PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * joint_pos_err + (double) I_GAIN_JOINT_POSITION * joint_pos_err_sum + (double) D_GAIN_JOINT_POSITION * joint_pos_err_diff; PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * joint_pos_err; PWM_RAW_POS_FB = PWM_RAW_POS_FB * 0.01; // feedforward input for position control double Ref_Joint_Vel_Act = Ref_Joint_Vel/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s] double K_ff = 0.9; if(Ref_Joint_Vel_Act > 0) K_ff = 0.90; // open if(Ref_Joint_Vel_Act > 0) K_ff = 0.75; // close PWM_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50; // torque feedback // joint_torq_err = Ref_Joint_Torq - CUR_TORQUE_NM; // joint_torq_err_diff = joint_torq_err - joint_torq_err_old; // joint_torq_err_old = joint_torq_err; // joint_torq_err_sum += joint_torq_err; // if (joint_torq_err_sum > 1000) joint_torq_err_sum = 1000; // if (joint_torq_err_sum<-1000) joint_torq_err_sum = -1000; // VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * joint_torq_err + (double) I_GAIN_JOINT_TORQUE * joint_torq_err_sum + (double) D_GAIN_JOINT_TORQUE * joint_torq_err_diff; // VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01; PWM_RAW_FORCE_FB = 0.0; // VALVE_PWM_RAW = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_POS + (double) COMPLIANCE_GAIN * 0.01 * VALVE_PWM_RAW_TORQ; VALVE_PWM_RAW = PWM_RAW_POS_FF + PWM_RAW_POS_FB + PWM_RAW_FORCE_FB; break; } case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: { TMR2_COUNT_JOINT++; double VALVE_POS_RAW_POS_FB = 0.0; // Valve Position by Position Feedback double VALVE_POS_RAW_POS_FF = 0.0; // Valve Position by Position Feedforward double VALVE_POS_RAW_FORCE_FB = 0.0; // Valve Position by Force Feedback int DDV_JOINT_CAN = 0; // feedback input for position control joint_pos_err = Ref_Joint_Pos - (double) CUR_POSITION; joint_pos_err_diff = joint_pos_err - joint_pos_err_old; joint_pos_err_old = joint_pos_err; joint_pos_err_sum += joint_pos_err; if (joint_pos_err_sum > 1000) joint_pos_err_sum = 1000; if (joint_pos_err_sum<-1000) joint_pos_err_sum = -1000; VALVE_POS_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * 0.01 * joint_pos_err + (double) I_GAIN_JOINT_POSITION * joint_pos_err_sum + (double) D_GAIN_JOINT_POSITION * joint_pos_err_diff; VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01; //Ref_Joint_Vel = Ref_Vel_Test; // feedforward input for position control // double Ref_Joint_Vel_Act = Ref_Joint_Vel/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s] // double K_ff = 0.9; // if(Ref_Joint_Vel_Act > 0) K_ff = 0.90; // open // if(Ref_Joint_Vel_Act > 0) K_ff = 0.75; // close // VALVE_POS_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50; // torque feedback // joint_torq_err = Ref_Joint_Torq - CUR_TORQUE_NM; // joint_torq_err_diff = joint_torq_err - joint_torq_err_old; // joint_torq_err_old = joint_torq_err; // joint_torq_err_sum += joint_torq_err; // if (joint_torq_err_sum > 1000) joint_torq_err_sum = 1000; // if (joint_torq_err_sum<-1000) joint_torq_err_sum = -1000; // VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * joint_torq_err + (double) I_GAIN_JOINT_TORQUE * joint_torq_err_sum + (double) D_GAIN_JOINT_TORQUE * joint_torq_err_diff; // VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01; VALVE_POS_RAW_FORCE_FB = 0.0; Ref_Valve_Pos = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(Ref_Joint_Vel) + VALVE_POS_RAW_FORCE_FB; //Ref_Valve_Pos = DDV_JOINT_POS_FF(Ref_Joint_Vel); VALVE_POS_CONTROL(Ref_Valve_Pos); break; } case MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING: { break; } case MODE_JOINT_POSITION_PRES_CONTROL_PWM: { joint_pos_err = Ref_Joint_Pos - (double) CUR_POSITION; joint_pos_err_diff = joint_pos_err - joint_pos_err_old; joint_pos_err_old = joint_pos_err; joint_pos_err_sum += joint_pos_err; if (joint_pos_err_sum > 1000) joint_pos_err_sum = 1000; if (joint_pos_err_sum<-1000) joint_pos_err_sum = -1000; VALVE_PWM_RAW_POS = ((double) P_GAIN_JOINT_POSITION * joint_pos_err + (double) I_GAIN_JOINT_POSITION * joint_pos_err_sum + (double) D_GAIN_JOINT_POSITION * joint_pos_err_diff) * 0.01; joint_torq_err = Ref_Joint_Torq - CUR_TORQUE_NM; joint_torq_err_diff = joint_torq_err - joint_torq_err_old; joint_torq_err_old = joint_torq_err; joint_torq_err_sum += joint_torq_err; if (joint_torq_err_sum > 1000) joint_torq_err_sum = 1000; if (joint_torq_err_sum<-1000) joint_torq_err_sum = -1000; VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * joint_torq_err + (double) I_GAIN_JOINT_TORQUE * joint_torq_err_sum + (double) D_GAIN_JOINT_TORQUE * joint_torq_err_diff; VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01; VALVE_PWM_RAW = VALVE_PWM_RAW_POS + (double) COMPLIANCE_GAIN * 0.01 * VALVE_PWM_RAW_TORQ; CUR_FLOWRATE = (double) CUR_VELOCITY * 0.00009587; CUR_FLOWRATE = CUR_FLOWRATE * 0.5757; // 0.4791=2*pi/65536*5000(pulse/tic to rad/s) 0.5757=0.02525*0.02*0.0095*2*60*1000 (radius * area * 2 * 60(sec --> min) * 1000(m^3 --> L)) if (DIR_VALVE > 0) { if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0) / (VALVE_GAIN_LPM_PER_V[0]*1.0 - 0.0) + 0.0; else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*1.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0) / (VALVE_GAIN_LPM_PER_V[2]*2.0 - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0; else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*2.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0) / (VALVE_GAIN_LPM_PER_V[4]*3.0 - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0; else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*3.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0) / (VALVE_GAIN_LPM_PER_V[6]*4.0 - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0; else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*4.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0) / (VALVE_GAIN_LPM_PER_V[8]*5.0 - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0; else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*5.0)) VALVE_FF_VOLTAGE = 5.0; else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*(-1.0)) && CUR_FLOWRATE < 0.0) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) / (0.0 - VALVE_GAIN_LPM_PER_V[1]*(-1.)) - 1.0; else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*(-2.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - VALVE_GAIN_LPM_PER_V[3]*(-2.)) - 2.0; else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*(-3.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - VALVE_GAIN_LPM_PER_V[5]*(-3.)) - 3.0; else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*(-4.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - VALVE_GAIN_LPM_PER_V[7]*(-4.)) - 4.0; else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*(-5.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - VALVE_GAIN_LPM_PER_V[9]*(-5.)) - 5.0; else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[9]*(-5.0))) VALVE_FF_VOLTAGE = -5; else VALVE_FF_VOLTAGE = 0; } else { if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0) / (VALVE_GAIN_LPM_PER_V[0]*1.0 - 0.0) + 0.0; else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*1.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0) / (VALVE_GAIN_LPM_PER_V[2]*2.0 - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0; else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*2.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0) / (VALVE_GAIN_LPM_PER_V[4]*3.0 - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0; else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*3.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0) / (VALVE_GAIN_LPM_PER_V[6]*4.0 - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0; else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*4.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0) / (VALVE_GAIN_LPM_PER_V[8]*5.0 - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0; else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*5.0)) VALVE_FF_VOLTAGE = 5.0; else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*(-1.0)) && CUR_FLOWRATE < 0.0) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) / (0.0 - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - 1.0; else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*(-2.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - 2.0; else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*(-3.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - 3.0; else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*(-4.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - 4.0; else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*(-5.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) - 5.0; else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*(-5.0))) VALVE_FF_VOLTAGE = -5; else VALVE_FF_VOLTAGE = 0; } // VALVE_FF_VOLTAGE = CUR_FLOWRATE * 0.5; if (CUR_FLOWRATE >= 0) VALVE_FF_VOLTAGE = (double) VELOCITY_COMP_GAIN * 0.001 * VALVE_FF_VOLTAGE * sqrt((double) PRES_SUPPLY - CUR_PRES_A_BAR) * 0.0707; // 0.0707 = 1/sqrt(200.)) else if (CUR_FLOWRATE < 0) VALVE_FF_VOLTAGE = (double) VELOCITY_COMP_GAIN * 0.001 * VALVE_FF_VOLTAGE * sqrt((double) PRES_SUPPLY - CUR_PRES_B_BAR) * 0.0707; VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_FF_VOLTAGE * PWM_RESOL / SUPPLY_VOLTAGE; break; } case MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION: { joint_pos_err = Ref_Joint_Pos - (double) CUR_POSITION; joint_pos_err_diff = joint_pos_err - joint_pos_err_old; joint_pos_err_old = joint_pos_err; joint_pos_err_sum += joint_pos_err; if (joint_pos_err_sum > 1000) joint_pos_err_sum = 1000; if (joint_pos_err_sum<-1000) joint_pos_err_sum = -1000; VALVE_PWM_RAW_POS = ((double) P_GAIN_JOINT_POSITION * joint_pos_err + (double) I_GAIN_JOINT_POSITION * joint_pos_err_sum + (double) D_GAIN_JOINT_POSITION * joint_pos_err_diff) * 0.01; joint_torq_err = Ref_Joint_Torq - CUR_TORQUE_NM; joint_torq_err_diff = joint_torq_err - joint_torq_err_old; joint_torq_err_old = joint_torq_err; joint_torq_err_sum += joint_torq_err; if (joint_torq_err_sum > 1000) joint_torq_err_sum = 1000; if (joint_torq_err_sum<-1000) joint_torq_err_sum = -1000; VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * joint_torq_err + (double) I_GAIN_JOINT_TORQUE * joint_torq_err_sum + (double) D_GAIN_JOINT_TORQUE * joint_torq_err_diff; Ref_Valve_Pos = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ; valve_pos_err = Ref_Valve_Pos - value; valve_pos_err_diff = valve_pos_err - valve_pos_err_old; valve_pos_err_old = valve_pos_err; valve_pos_err_sum += valve_pos_err; if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000; if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000; VALVE_PWM_RAW = (double) P_GAIN_VALVE_POSITION * valve_pos_err + (double) I_GAIN_VALVE_POSITION * valve_pos_err_sum + (double) D_GAIN_VALVE_POSITION * valve_pos_err_diff; break; } case MODE_VALVE_POSITION_PRES_CONTROL_LEARNING: { break; } case MODE_TORQUE_SENSOR_NULLING: { // DAC Voltage reference set if (TMR2_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) { CUR_TORQUE_sum += CUR_TORQUE; if (TMR2_COUNT_TORQUE_NULL % 10 == 0) { CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0; CUR_TORQUE_sum = 0; TORQUE_VREF += 0.0001 * (TORQUE_NULL - CUR_TORQUE_mean); // TORQUE_VREF = 0; if (TORQUE_VREF > 3.3) TORQUE_VREF = 3.3; if (TORQUE_VREF < 0) TORQUE_VREF = 0; spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0)); spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0)); } } else { CONTROL_MODE = MODE_NO_ACT; TMR2_COUNT_TORQUE_NULL = 0; CUR_TORQUE_sum = 0; CUR_TORQUE_mean = 0; spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); } TMR2_COUNT_TORQUE_NULL++; break; } case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: { if (TMR2_COUNT_DEADZONE == 0) { if (pos_plus_end == pos_minus_end) need_enc_init = true; else temp_time = 0; } if (need_enc_init) { if (TMR2_COUNT_DEADZONE < (int) (0.5 * (double) TMR_FREQ_5k)) { VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL; pos_plus_end = CUR_POSITION; } else if (TMR2_COUNT_DEADZONE < TMR_FREQ_5k) { VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL; pos_minus_end = CUR_POSITION; } else if (TMR2_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false; temp_time = TMR_FREQ_5k; } if (temp_time <= TMR2_COUNT_DEADZONE && TMR2_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) { VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION); VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0; } else if (temp_time <= TMR2_COUNT_DEADZONE && TMR2_COUNT_DEADZONE < (temp_time + (int) (1.9 * (double) TMR_FREQ_5k))) { VALVE_PWM_RAW = 0; CUR_VELOCITY_sum += CUR_VELOCITY; } else if (TMR2_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) { if (CUR_VELOCITY_sum == 0) DZ_dir = 1; else if (CUR_VELOCITY_sum > 0) DZ_dir = 1; else if (CUR_VELOCITY_sum < 0) DZ_dir = -1; else DZ_temp_cnt2 = DZ_end; CUR_VELOCITY_sum = 0; } else if (TMR2_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) { if (TMR2_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end; // Position of Dead Zone // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0) // | / | / |/ // | ______/ ___|___/ ______/| // |/ / | / | // /| / | / | // 0V 0V 0V if (DZ_temp_cnt2 < DZ_end) { if (TMR2_COUNT_DEADZONE % 20 != 0) { CUR_VELOCITY_sum += CUR_VELOCITY; } else { VALVE_PWM_RAW -= DZ_dir; if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++; CUR_VELOCITY_sum = 0; } if (DZ_temp_cnt == 5) { if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) VALVE_PWM_RAW; else VALVE_DEADZONE_PLUS = (int16_t) VALVE_PWM_RAW; DZ_dir = -DZ_dir; DZ_temp_cnt = 0; DZ_temp_cnt2++; } } else { TMR2_COUNT_DEADZONE = -1; VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2; if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) { VALVE_DEADZONE_PLUS = VALVE_CENTER; VALVE_DEADZONE_MINUS = VALVE_CENTER; } VALVE_PWM_RAW = 0; spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS); spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS); CONTROL_MODE = MODE_NO_ACT; DZ_temp_cnt2 = 0; } } TMR2_COUNT_DEADZONE++; break; } case MODE_FIND_HOME: { if (FLAG_FIND_HOME == true) { cnt_findhome = 0; cnt_vel_findhome = 0; REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO Ref_Joint_Pos = CUR_POSITION; FLAG_FIND_HOME = false; } int check_enc = (TMR_FREQ_5k/10); if(cnt_findhome%check_enc == 0){ FINDHOME_POSITION = CUR_POSITION; FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD; FINDHOME_POSITION_OLD = FINDHOME_POSITION; } cnt_findhome++; if(cnt_findhome == 10000) cnt_findhome = 0; if (abs(FINDHOME_VELOCITY) <= 1) { cnt_vel_findhome = cnt_vel_findhome + 1; } else { cnt_vel_findhome = 0; } if (cnt_vel_findhome < 2*TMR_FREQ_5k) { REFERENCE_MODE = MODE_REF_NO_ACT; if (HOMEPOS_OFFSET > 0) Ref_Joint_Pos = Ref_Joint_Pos + 1.0; else Ref_Joint_Pos = Ref_Joint_Pos - 1.0; joint_pos_err = Ref_Joint_Pos - CUR_POSITION; VALVE_PWM_RAW = ((double) P_GAIN_JOINT_POSITION * joint_pos_err) * 0.01; // if (HOMEPOS_OFFSET > 0) VALVE_PWM_RAW = 100; // else VALVE_PWM_RAW = -100; } else { ENC_SET(HOMEPOS_OFFSET); FLAG_REFERENCE_JOINT_POSITION = 1; INIT_REF_POS = HOMEPOS_OFFSET; REF_MOVE_TIME_5k = 2 * TMR_FREQ_5k; TMR2_COUNT_REFERENCE = 0; Ref_Joint_Vel = 0.0; REFERENCE_MODE = MODE_REF_COS_INC; CONTROL_MODE = MODE_JOINT_POSITION_TORQUE_CONTROL_PWM; FINDHOME_POSITION = 0; FINDHOME_POSITION_OLD = 0; FINDHOME_VELOCITY = 0; cnt_findhome = 0; cnt_vel_findhome = 0; } break; } case MODE_VALVE_GAIN_SETTING: { if (TMR2_COUNT_FLOWRATE == 0) { if (pos_plus_end == pos_minus_end) need_enc_init = true; else { VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL; temp_time = (int) (0.5 * (double) TMR_FREQ_5k); } } if (need_enc_init) { if (TMR2_COUNT_FLOWRATE < (int) (0.5 * (double) TMR_FREQ_5k)) { VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL; pos_plus_end = CUR_POSITION; } else if (TMR2_COUNT_FLOWRATE < TMR_FREQ_5k) { VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL; pos_minus_end = CUR_POSITION; } else if (TMR2_COUNT_FLOWRATE == TMR_FREQ_5k) { need_enc_init = false; check_vel_pos_init = (int) (0.9 * (double) (pos_plus_end - pos_minus_end)); check_vel_pos_fin = (int) (0.95 * (double) (pos_plus_end - pos_minus_end)); check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init; } temp_time = TMR_FREQ_5k; } TMR2_COUNT_FLOWRATE++; if (TMR2_COUNT_FLOWRATE > temp_time) { if (flag_flowrate % 2 == 0) { // (+) VALVE_VOLTAGE = 1. * (double) (flag_flowrate / 2 + 1); VALVE_PWM_RAW = VALVE_VOLTAGE / SUPPLY_VOLTAGE*PWM_RESOL; if (CUR_POSITION > (pos_minus_end + check_vel_pos_init) && CUR_POSITION < (pos_minus_end + check_vel_pos_fin)) { fl_temp_cnt++; } else if (CUR_POSITION >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) { VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873 * 0.5757 * (double) TMR_FREQ_5k / 10000.0 * (double) check_vel_pos_interv / (double) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (double) TMR_FREQ_10k * (double) check_vel_pos_interv / (double) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec fl_temp_cnt2++; } } else if (flag_flowrate % 2 == 1) { // (-) VALVE_VOLTAGE = -1. * (double) (flag_flowrate / 2 + 1); VALVE_PWM_RAW = VALVE_VOLTAGE / SUPPLY_VOLTAGE*PWM_RESOL; if (CUR_POSITION < (pos_plus_end - check_vel_pos_init) && CUR_POSITION > (pos_plus_end - check_vel_pos_fin)) { fl_temp_cnt++; } else if (CUR_POSITION <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) { VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873 * 0.5757 * (double) TMR_FREQ_5k / 10000.0 * (double) check_vel_pos_interv / (double) fl_temp_cnt / (-VALVE_VOLTAGE); // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (double) TMR_FREQ_10k * (double) check_vel_pos_interv / (double) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec fl_temp_cnt2++; } } if (fl_temp_cnt2 == 100) { spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0)); cur_vel_sum = 0; fl_temp_cnt = 0; fl_temp_cnt2 = 0; flag_flowrate++; } if (flag_flowrate == 10) { VALVE_PWM_RAW = 0; flag_flowrate = 0; TMR2_COUNT_FLOWRATE = 0; valve_gain_repeat_cnt++; if (valve_gain_repeat_cnt >= 1) { CONTROL_MODE = MODE_NO_ACT; valve_gain_repeat_cnt = 0; } } break; } } case MODE_PRESSURE_SENSOR_NULLING: { // DAC Voltage reference set if (TMR2_COUNT_PRES_NULL < TMR_FREQ_5k * 2) { CUR_PRES_A_sum += CUR_PRES_A; CUR_PRES_B_sum += CUR_PRES_B; if (TMR2_COUNT_PRES_NULL % 10 == 0) { CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0; CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0; CUR_PRES_A_sum = 0; CUR_PRES_B_sum = 0; double VREF_NullingGain = 0.0003; PRES_A_VREF -= VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean); PRES_B_VREF -= VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean); if (PRES_A_VREF > 3.3) PRES_A_VREF = 3.3; if (PRES_A_VREF < 0) PRES_A_VREF = 0; if (PRES_B_VREF > 3.3) PRES_B_VREF = 3.3; if (PRES_B_VREF < 0) PRES_B_VREF = 0; spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0)); spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0)); } } else { CONTROL_MODE = MODE_NO_ACT; TMR2_COUNT_PRES_NULL = 0; CUR_PRES_A_sum = 0; CUR_PRES_B_sum = 0; CUR_PRES_A_mean = 0; CUR_PRES_B_mean = 0; spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0)); spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0)); } TMR2_COUNT_PRES_NULL++; break; } case MODE_PRESSURE_SENSOR_CALIB: { if (TMR2_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) { VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL / 5.; if (TMR2_COUNT_PRES_CALIB >= TMR_FREQ_5k) { CUR_PRES_A_sum += CUR_PRES_A; } } else if (TMR2_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) { VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL / 5.; if (TMR2_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) { CUR_PRES_B_sum += CUR_PRES_B; } } else { CONTROL_MODE = MODE_NO_ACT; TMR2_COUNT_PRES_CALIB = 0; VALVE_PWM_RAW = 0; PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((double) TMR_FREQ_5k - 1.) - PRES_A_NULL; PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((double) PRES_SUPPLY - 1.); PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((double) TMR_FREQ_5k - 1.) - PRES_B_NULL; PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((double) PRES_SUPPLY - 1.); CUR_PRES_A_sum = 0; CUR_PRES_B_sum = 0; CUR_PRES_A_mean = 0; CUR_PRES_B_mean = 0; spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0)); spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0)); } TMR2_COUNT_PRES_CALIB++; break; } case MODE_ROTARY_FRICTION_TUNING: { if (TMR2_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4 + 3. * sin(2 * 3.14159 * 0.5 * TMR2_COUNT_ROTARY_FRIC_TUNE * 0.0001 * 0.05); VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL * sin(2 * 3.14159 * freq_fric_tune * TMR2_COUNT_ROTARY_FRIC_TUNE * 0.0001); if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL; else VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL; TMR2_COUNT_ROTARY_FRIC_TUNE++; if (TMR2_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) { TMR2_COUNT_ROTARY_FRIC_TUNE = 0; VALVE_PWM_RAW = 0; CONTROL_MODE = MODE_NO_ACT; } break; } case MODE_DDV_POS_VS_PWM_ID: { VALVE_ID_timer = VALVE_ID_timer + 1; if(VALVE_ID_timer < TMR_FREQ_5k*1) { VALVE_PWM_RAW = 3000 * sin(2*3.14*VALVE_ID_timer/TMR_FREQ_5k * 100); } else if(VALVE_ID_timer < TMR_FREQ_5k*2) { VALVE_PWM_RAW = 1000*(ID_index_array[ID_index]); } else if(VALVE_ID_timer == TMR_FREQ_5k*2) { VALVE_POS_TMP = 0; data_num = 0; } else if(VALVE_ID_timer < TMR_FREQ_5k*3) { data_num = data_num + 1; VALVE_POS_TMP = VALVE_POS_TMP + value; } else if(VALVE_ID_timer == TMR_FREQ_5k*3) { VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num; VALVE_ID_timer = 0; ID_index= ID_index +1; } if(ID_index>=18) { int i; VALVE_POS_AVG_OLD = VALVE_POS_AVG[0]; for(i=0;i<18;i++) { VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]); spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) (VALVE_POS_AVG[i])); if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) { VALVE_MAX_POS = VALVE_POS_AVG[i]; VALVE_POS_AVG_OLD = VALVE_MAX_POS; } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) { VALVE_MIN_POS = VALVE_POS_AVG[i]; VALVE_POS_AVG_OLD = VALVE_MIN_POS; } } spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) (VALVE_MAX_POS)); spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) (VALVE_MIN_POS)); CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS)); ID_index = 0; CONTROL_MODE = MODE_NO_ACT; } break; } case MODE_DDV_DEADZONE_AND_CENTER: { VALVE_DZ_timer = VALVE_DZ_timer + 1; if(first_check == 0) { if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) { VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL; } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) { VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL; pos_plus_end = CUR_POSITION; } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) { VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL; } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) { VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL; pos_minus_end = CUR_POSITION; } else if(VALVE_DZ_timer < (int) (3.0 * (double) TMR_FREQ_5k)) { VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION); } else if(VALVE_DZ_timer < (int) (4.0 * (double) TMR_FREQ_5k)) { VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION); data_num = data_num + 1; VALVE_POS_TMP = VALVE_POS_TMP + value; } else if(VALVE_DZ_timer == (int) (4.0 * (double) TMR_FREQ_5k)) { VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION); DDV_POS_AVG = VALVE_POS_TMP / data_num; START_POS = CUR_POSITION; CAN_TX_PRES((int16_t) (DDV_POS_AVG), (int16_t) (data_num)); VALVE_POS_TMP = 0; data_num = 0; } else if(VALVE_DZ_timer < (int) (5.0 * (double) TMR_FREQ_5k)) { Ref_Valve_Pos = DDV_POS_AVG; VALVE_POS_CONTROL(Ref_Valve_Pos); //CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS)); } else if(VALVE_DZ_timer < (int) (6.0 * (double) TMR_FREQ_5k)) { Ref_Valve_Pos = DDV_POS_AVG; VALVE_POS_CONTROL(Ref_Valve_Pos); if(CUR_VELOCITY >= 0) VEL_POINT = VEL_POINT + 1; else VEL_POINT = VEL_POINT - 1; } else if(VALVE_DZ_timer == (int) (6.0 * (double) TMR_FREQ_5k)) { Ref_Valve_Pos = DDV_POS_AVG; VALVE_POS_CONTROL(Ref_Valve_Pos); FINAL_POS = CUR_POSITION; // if(VEL_POINT >= 0) // { // DZ_case = 1; // } // else // { // DZ_case = -1; // } // if(abs(FINAL_POS - START_POS) < 100) // { // DZ_case = 0; // } if((FINAL_POS - START_POS)>100) { DZ_case = 1; } else if((FINAL_POS - START_POS)<-100) { DZ_case = -1; } else { DZ_case = 0; } VEL_POINT = 0; first_check = 1; DZ_DIRECTION = 1; VALVE_DZ_timer = 0; Ref_Valve_Pos_Old = DDV_POS_AVG; DZ_NUM = 1; DZ_index = 1; CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (DZ_NUM)); } } else { if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) { if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) { VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION); } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) { START_POS = CUR_POSITION; } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) { Ref_Valve_Pos = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; if(Ref_Valve_Pos <= VALVE_MIN_POS) { Ref_Valve_Pos = VALVE_MIN_POS; } else if(Ref_Valve_Pos >= VALVE_MAX_POS) { Ref_Valve_Pos = VALVE_MAX_POS; } VALVE_POS_CONTROL(Ref_Valve_Pos); if(CUR_VELOCITY >= 0) VEL_POINT = VEL_POINT + 1; else VEL_POINT = VEL_POINT - 1; } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) { Ref_Valve_Pos_Old = Ref_Valve_Pos; FINAL_POS = CUR_POSITION; // if(VEL_POINT >= 0) // DZ_DIRECTION = 1 * DZ_case; // else // DZ_DIRECTION = -1 * DZ_case; // if(abs(FINAL_POS - START_POS) < 100) // DZ_DIRECTION = 1 * DZ_case; if((FINAL_POS - START_POS)>100) { DZ_DIRECTION = 1 * DZ_case; } else if((FINAL_POS - START_POS)<-100) { DZ_DIRECTION = -1 * DZ_case; } else { DZ_DIRECTION = 1 * DZ_case; } VEL_POINT = 0; VALVE_DZ_timer = 0; DZ_index= DZ_index *2; if(DZ_index >= 128) { FIRST_DZ = Ref_Valve_Pos; DZ_NUM = 2; Ref_Valve_Pos_Old = FIRST_DZ; DZ_index = 1; DZ_DIRECTION = 1; } //CAN_TX_PRES((int16_t) (1), (int16_t) (DZ_index)); } } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) { if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) { VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION); } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) { START_POS = CUR_POSITION; } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) { Ref_Valve_Pos = Ref_Valve_Pos_Old + DZ_DIRECTION + 64 / DZ_index; if(Ref_Valve_Pos <= VALVE_MIN_POS) { Ref_Valve_Pos = VALVE_MIN_POS; } else if(Ref_Valve_Pos >= VALVE_MAX_POS) { Ref_Valve_Pos = VALVE_MAX_POS; } VALVE_POS_CONTROL(Ref_Valve_Pos); if(CUR_VELOCITY >= 0) VEL_POINT = VEL_POINT + 1; else VEL_POINT = VEL_POINT - 1; } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) { Ref_Valve_Pos_Old = Ref_Valve_Pos; FINAL_POS = CUR_POSITION; // if(VEL_POINT >= 0) // DZ_DIRECTION = 1 * DZ_case; // else // DZ_DIRECTION = -1 * DZ_case; // if(abs(FINAL_POS - START_POS) < 100) // DZ_DIRECTION = -1 * DZ_case; if((FINAL_POS - START_POS)>100) { DZ_DIRECTION = -1; } else if((FINAL_POS - START_POS)<-100) { DZ_DIRECTION = 1; } else { DZ_DIRECTION = 1; } VEL_POINT = 0; VALVE_DZ_timer = 0; DZ_index= DZ_index *2; if(DZ_index >= 128) { SECOND_DZ = Ref_Valve_Pos; DDV_CENTER = (int) (0.5 * (double) (FIRST_DZ) + 0.5 * (double) (SECOND_DZ)); first_check = 0; spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ); spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ); spi_eeprom_write(RID_DDV_CNETER, DDV_CENTER); //CAN_TX_PRES((int16_t) FIRST_DZ, (int16_t) SECOND_DZ); CONTROL_MODE = MODE_NO_ACT; DZ_index = 1; } CAN_TX_PRES((int16_t) (2), (int16_t) (DZ_index)); } } else if(DZ_case == 0 && DZ_NUM ==1) { if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) { VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION); } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) { START_POS = CUR_POSITION; } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) { Ref_Valve_Pos = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index; if(Ref_Valve_Pos <= VALVE_MIN_POS) { Ref_Valve_Pos = VALVE_MIN_POS; } else if(Ref_Valve_Pos >= VALVE_MAX_POS) { Ref_Valve_Pos = VALVE_MAX_POS; } VALVE_POS_CONTROL(Ref_Valve_Pos); if(CUR_VELOCITY >= 0) VEL_POINT = VEL_POINT + 1; else VEL_POINT = VEL_POINT - 1; } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) { Ref_Valve_Pos_Old = Ref_Valve_Pos; FINAL_POS = CUR_POSITION; // if(VEL_POINT >= 0) // DZ_DIRECTION = 1; // else // DZ_DIRECTION = -1; // if(abs(FINAL_POS - START_POS) < 100) // DZ_DIRECTION = 1; if((FINAL_POS - START_POS)>100) { DZ_DIRECTION = 1; } else if((FINAL_POS - START_POS)<-100) { DZ_DIRECTION = -1; } else { DZ_DIRECTION = 1; } VEL_POINT = 0; //CAN_TX_PRES((int16_t) (7), (int16_t) (DZ_DIRECTION)); VALVE_DZ_timer = 0; DZ_index= DZ_index *2; if(DZ_index >= 128) { FIRST_DZ = Ref_Valve_Pos; DZ_NUM = 2; Ref_Valve_Pos_Old = FIRST_DZ; DZ_index = 1; DZ_DIRECTION = 1; } } } else { if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) { VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION); } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) { START_POS = CUR_POSITION; } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) { Ref_Valve_Pos = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index; if(Ref_Valve_Pos <= VALVE_MIN_POS) { Ref_Valve_Pos = VALVE_MIN_POS; } else if(Ref_Valve_Pos > VALVE_MAX_POS) { Ref_Valve_Pos = VALVE_MAX_POS - 1; } VALVE_POS_CONTROL(Ref_Valve_Pos); if(CUR_VELOCITY >= 0) VEL_POINT = VEL_POINT + 1; else VEL_POINT = VEL_POINT - 1; } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) { Ref_Valve_Pos_Old = Ref_Valve_Pos; FINAL_POS = CUR_POSITION; if(VEL_POINT >= 0) DZ_DIRECTION = -1; else DZ_DIRECTION = 1; if(abs(FINAL_POS - START_POS) < 100) DZ_DIRECTION = 1; VEL_POINT = 0; VALVE_DZ_timer = 0; //CAN_TX_PRES((int16_t) (3), (int16_t) (DZ_index)); DZ_index= DZ_index *2; if(DZ_index >= 128) { SECOND_DZ = Ref_Valve_Pos; DDV_CENTER = (int) (0.5 * (double) (FIRST_DZ) + 0.5 * (double) (SECOND_DZ)); first_check = 0; VALVE_DEADZONE_MINUS = FIRST_DZ; spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ); VALVE_DEADZONE_PLUS = SECOND_DZ; spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ); spi_eeprom_write(RID_DDV_CNETER, DDV_CENTER); CAN_TX_PRES((int16_t) FIRST_DZ, (int16_t) SECOND_DZ); CONTROL_MODE = MODE_NO_ACT; DZ_index = 1; } //CAN_TX_PRES((int16_t) (4), (int16_t) (DZ_index)); } } } break; } case MODE_DDV_POS_VS_FLOWRATE: { VALVE_FR_timer = VALVE_FR_timer + 1; if(first_check == 0) { if(VALVE_FR_timer < (int) (1.0 * (double) TMR_FREQ_5k)) { VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL; CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); } else if(VALVE_FR_timer == (int) (1.0 * (double) TMR_FREQ_5k)) { VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL; pos_plus_end = CUR_POSITION; // CAN_TX_PRES((int16_t) (VALVE_PWM_RAW), (int16_t) (7)); } else if(VALVE_FR_timer < (int) (2.0 * (double) TMR_FREQ_5k)) { VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL; } else if(VALVE_FR_timer == (int) (2.0 * (double) TMR_FREQ_5k)) { // CAN_TX_PRES((int16_t) (VALVE_PWM_RAW), (int16_t) (8)); VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL; pos_minus_end = CUR_POSITION; first_check = 1; VALVE_FR_timer = 0; Ref_Valve_Pos = DDV_CENTER; ID_index = 0; max_check = 0; min_check = 0; } } else { if(VALVE_FR_timer < (int) (1.0 * (double) TMR_FREQ_5k)) { VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION); } else if(VALVE_FR_timer == (int) (1.0 * (double) TMR_FREQ_5k)) { data_num = 0; Ref_Valve_Pos = 50*(ID_index_array[ID_index]) + DDV_CENTER; VALVE_POS_CONTROL(Ref_Valve_Pos); START_POS = CUR_POSITION; } else if(VALVE_FR_timer < (int) (5.0 * (double) TMR_FREQ_5k)) { Ref_Valve_Pos = 50*(ID_index_array[ID_index]) + DDV_CENTER; VALVE_POS_CONTROL(Ref_Valve_Pos); data_num = data_num + 1; if(abs(0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION) > 20000) { FINAL_POS = CUR_POSITION; one_period_end = 1; } } else if(VALVE_FR_timer == (int) (5.0 * (double) TMR_FREQ_5k)) { FINAL_POS = CUR_POSITION; one_period_end = 1; } if(one_period_end == 1){ if(Ref_Valve_Pos > VALVE_MAX_POS) { max_check = 1; } else if(Ref_Valve_Pos < VALVE_MIN_POS) { min_check = 1; } JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + ID_index, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF)); spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + ID_index, (int16_t) ((JOINT_VEL[ID_index] >> 16) & 0xFFFF)); VALVE_FR_timer = 0; one_period_end = 0; ID_index= ID_index +1; // CAN_TX_PRES((int16_t) (Ref_Valve_Pos), (int16_t) (ID_index)); } if(max_check == 1 && min_check == 1) { spi_eeprom_write(RID_VALVE_POS_NUM, (int16_t) (ID_index)); VALVE_POS_NUM = ID_index; ID_index = 0; first_check = 0; VALVE_FR_timer = 0; // CAN_TX_PRES((int16_t) (123), (int16_t) (123)); CONTROL_MODE = MODE_NO_ACT; } } break; } default: break; } if (FLAG_VALVE_OUTPUT_CALIB) { // Valve Dead Zone (Mechanical dead-zone canceling) // if (CONTROL_MODE != MODE_VALVE_NULLING_AND_DEADZONE_SETTING) { // if (VALVE_PWM_RAW > 0.) { // VALVE_PWM_VALVE_DZ = (int) VALVE_PWM_RAW + VALVE_DEADZONE_PLUS; // } else if (VALVE_PWM_RAW < 0.) { // VALVE_PWM_VALVE_DZ = (int) VALVE_PWM_RAW + VALVE_DEADZONE_MINUS; // } else VALVE_PWM_VALVE_DZ = (int) VALVE_PWM_RAW + VALVE_CENTER; // } else VALVE_PWM_VALVE_DZ = (int) VALVE_PWM_RAW; if(VALVE_PWM_RAW>0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS; else if(VALVE_PWM_RAW<0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS; VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + VALVE_CENTER; // Output Voltage Linearization and Dead Zone Cancellation (Electrical dead-zone) double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/PWM_RESOL*SUPPLY_VOLTAGE*1000.0; // convert PWM duty to mV double CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin); if (CUR_PWM_DZ > 0) CUR_PWM = (int)CUR_PWM_DZ + 143; else if (CUR_PWM_DZ < 0) CUR_PWM = (int)CUR_PWM_DZ - 138; else CUR_PWM = CUR_PWM_DZ; } else { CUR_PWM = VALVE_PWM_RAW; } VALVE_PWM(CUR_PWM, VALVE_VOLTAGE_LIMIT, SUPPLY_VOLTAGE); //CAN ---------------------------------------------------------------------- if (TMR3_COUNT_CAN_TX % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) { if (flag_data_request[0] == HIGH) { //position+velocity CAN_TX_POSITION((long) CUR_POSITION, (long) CUR_VELOCITY); // CAN_TX_POSITION((int) (PRES_A_VREF * 100.), (int) (PRES_B_VREF * 100.)); // CAN_TX_POSITION((long) CUR_PRES_A_BAR, (long) CUR_PRES_B_BAR); } if (flag_data_request[1] == HIGH) { //torque //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM * 100.)); CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM)); // CAN_TX_TORQUE((int16_t) DZ_temp_cnt); } if (flag_data_request[2] == HIGH) { //pressure A and B CAN_TX_PRES((int16_t) (CUR_PRES_A), (int16_t) (CUR_PRES_B)); // CUR_PRES_X : 0(0bar)~4096(210bar) // CAN_TX_PRES((int16_t) (CUR_PRES_A_BAR * 100.), (int16_t) (CUR_PRES_B_BAR * 100.)); // CAN_TX_PRES((int16_t) ((DEADZONE_MINUS + 1.)*1000.), (int16_t) ((DEADZONE_PLUS + 1.))*1000.); // CAN_TX_PRES((int16_t) DZ_dir, (int16_t) ((VALVE_DEADZONE_PLUS + 1.))*1000.); } if (flag_data_request[3] == HIGH) { //PWM CAN_TX_PWM((int16_t) CUR_PWM); // CAN_TX_PWM((int16_t) (CONTROL_MODE)); // CAN_TX_PWM((int16_t) cnt_vel_findhome); // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.)); // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.)); } if (flag_data_request[4] == HIGH) { //valve position CAN_TX_VALVE_POSITION((int16_t) (I2C_val)); //SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF)); //SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0_1, (int16_t) ((0xFEF1>>16) & 0xFFFF)); //CAN_TX_VALVE_POSITION((int16_t) (VALVE_POS_NUM)); // CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE * PWM_RESOL / SUPPLY_VOLTAGE)); // CAN_TX_VALVE_POSITION((int16_t) P_GAIN_JOINT_POSITION); // CAN_TX_VALVE_POSITION((int16_t) Ref_Joint_Pos); // CAN_TX_VALVE_POSITION((int16_t) flag_flowrate); } TMR3_COUNT_CAN_TX = 0; } TMR3_COUNT_CAN_TX++; /******************************************************* *** Valve Control ********************************************************/ ValveControl(CONTROL_MODE); double t = (double)CNT_TMR4*DT_TMR4; double T = 5.0; V_out = 1000.0*sin(2.0*PI*t/T); // V_out : -5000.0mV~5000.0mV(full duty) // if(V_out > 0.0) V_out = 1000.0; // else if(V_out < 0.0) V_out = -1000.0; /******************************************************* *** PWM ********************************************************/ PWM_out= V_out/12000.0; // Full duty : 12000.0mV // Saturation of output voltage to 5.0V if(PWM_out > 0.41667) PWM_out=0.41667; //5.0/12.0 = 0.41667 else if (PWM_out < -0.41667) PWM_out=-0.41667; if (PWM_out>0.0) { dtc_v=0.0; dtc_w=PWM_out; } else { dtc_v=-PWM_out; dtc_w=0.0; } //pwm TIM4->CCR2 = (PWM_ARR)*(1.0-dtc_v); TIM4->CCR1 = (PWM_ARR)*(1.0-dtc_w); /******************************************************* *** Data Send (CAN) & Print out (UART) ********************************************************/ //if((CNT_TMR3%40)==0){ // msg.id = 50; // msg.len = 4; // int temp_CUR = (int)(cur.sen*1000.0); // msg.data[0]=0x00FF&temp_CUR; // msg.data[1]=0x00FF&(temp_CUR>>8); // int temp_PWM = (int)(V_out); // msg.data[2]=0x00FF&temp_PWM; // msg.data[3]=0x00FF&(temp_PWM>>8); // can.write(msg); // } if((CNT_TMR3%5000)==0) { if(LED==1) { LED=0; } else LED = 1; // LED != LED; } /******************************************************* *** Timer Counting & etc. ********************************************************/ CNT_TMR3++; } TIM3->SR = 0x0; // reset the status register } void ValveControl(unsigned int ControlMode) { switch (ControlMode) { case MODE_NO_ACT: // 0 V_out = 0.0; break; case MODE_VALVE_OPEN_LOOP: // 1 V_out = Vout.ref; break; case MODE_VALVE_POSITION_CONTROL: // 2 CurrentControl(); break; case MODE_JOINT_POSITION_TORQUE_CONTROL_PWM: // 3 V_out = 0.0; break; case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: // 4 double I_REF_POS_FB = 0.0; // I_REF by Position Feedback double I_REF_POS_FF = 0.0; // I_REF by Position Feedforward // feedback input for position control pos.err = pos.ref - pos.sen; double alpha_update_vel = 1.0/(1.0+(double)FREQ_TMR4/(2.0*3.1415*50.0)); // f_cutoff : 50Hz double err_diff = (pos.err - pos.err_old)*(double)FREQ_5k; pos.err_diff = (1.0-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff; pos.err_old = pos.err; I_REF_POS_FB = 0.001*((double)P_GAIN_JOINT_POSITION * pos.err + (double)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1); // feedforward input for position control double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s] double K_ff = 1.3; double K_v = 0.0; if(Vel_Act_Ref > 0) K_v = 1.0/100.0; // open, tuning. (deg/s >> mA) if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // close, tuning. (deg/s >> mA) I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref; cur.ref = I_REF_POS_FF + I_REF_POS_FB; break; case MODE_TEST_CURRENT_CONTROL: // 9 V_out = 0.0; break; case MODE_TEST_PWM_CONTROL: // 10 V_out = 0.0; break; case MODE_FIND_HOME: // 22 V_out = 0.0; break; default: V_out = 0.0; break; } } void CurrentControl() { cur.err = cur.ref - cur.sen; cur.err_int = cur.err_int + cur.err*DT_TMR4; cur.err_diff = (cur.err - cur.err_old)*FREQ_TMR4; cur.err_old = cur.err; double R_model = 150.0; // ohm double L_model = 0.3; double w0 = 2.0*3.14*90.0; double KP_I = L_model*w0; double KI_I = R_model*w0; double KD_I = 0.0; double FF_gain = 0.0; V_out = (int) (KP_I * cur.err + KI_I * cur.err_int + KD_I * cur.err_diff); // V_out = V_out + FF_gain * (R_model*I_REF); // Unit : mV V_out = V_out + FF_gain * (R_model*cur.ref + L_model*cur.ref_diff); // Unit : mV double Ka = 5.0/KP_I; if(V_out > V_MAX) { V_rem = V_out-V_MAX; V_rem = Ka*V_rem; V_out = V_MAX; cur.err_int = cur.err_int - V_rem*DT_5k; } else if(V_out < -V_MAX) { V_rem = V_out-(-V_MAX); V_rem = Ka*V_rem; V_out = -V_MAX; cur.err_int = cur.err_int - V_rem*DT_5k; } }