Velocity Closed Loop Dynamic error correction
Dependencies: mbed QEI PID DmTftLibraryEx
main.cpp@36:cab8aa44ef91, 2022-04-11 (annotated)
- Committer:
- lex9296
- Date:
- Mon Apr 11 13:48:34 2022 +0000
- Revision:
- 36:cab8aa44ef91
- Parent:
- 35:0f6adc0b95b9
- Child:
- 37:5fc7f2f435e8
Double PID
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
GregCr | 0:9c0917bfde97 | 1 | |
lex9296 | 23:b9d23a2f390e | 2 | //Warning: Incompatible redefinition of macro "MBED_RAM_SIZE" in "tmp/HU5Hqj", Line: 39, Col: 10 |
lex9296 | 23:b9d23a2f390e | 3 | #ifndef MBED_RAM_SIZE |
lex9296 | 23:b9d23a2f390e | 4 | #define MBED_RAM_SIZE 0x00018000 |
lex9296 | 23:b9d23a2f390e | 5 | #endif |
lex9296 | 23:b9d23a2f390e | 6 | |
lex9296 | 34:0522cebfe489 | 7 | // =========================================================== |
lex9296 | 34:0522cebfe489 | 8 | // =========================================================== |
lex9296 | 34:0522cebfe489 | 9 | // LA: Stage 01 cleared, Il posizionatore funziona CORRETTAMENTE |
lex9296 | 34:0522cebfe489 | 10 | // =========================================================== |
lex9296 | 34:0522cebfe489 | 11 | // =========================================================== |
lex9296 | 34:0522cebfe489 | 12 | // |
lex9296 | 34:0522cebfe489 | 13 | // Commit & Publish del 11 Aprile 2022, il Pozizionamento è corretto e testato. |
lex9296 | 34:0522cebfe489 | 14 | // La velocità imposta all'asse, tuttavia, NON E' retroazionata. |
lex9296 | 34:0522cebfe489 | 15 | // |
lex9296 | 34:0522cebfe489 | 16 | // Occorrerebbe un anello chiuso sulla velocità, che si muova "almeno" alla velocità di scansione del PWM. |
lex9296 | 34:0522cebfe489 | 17 | // Se la velocità non è ancora raggiunta, la tensione deve venire adeguata conseguentemente agendo sul PWM. |
lex9296 | 34:0522cebfe489 | 18 | // |
lex9296 | 35:0f6adc0b95b9 | 19 | // LA: 11 Aprile 2022, Aggiungo il PID |
lex9296 | 35:0f6adc0b95b9 | 20 | // =============================== |
lex9296 | 35:0f6adc0b95b9 | 21 | // |
lex9296 | 35:0f6adc0b95b9 | 22 | // La retroazione sulla Velocità (Calcolata ogni "cf_MOTPeriod_s") è eseguita, nello stesso intervallo, da "PID_VelocityClosedLoop" |
lex9296 | 35:0f6adc0b95b9 | 23 | // Il parametro di Riferimento è la Velocity Calcolata |
lex9296 | 35:0f6adc0b95b9 | 24 | // Il Fattore di correzione è il PWM in uscita |
lex9296 | 35:0f6adc0b95b9 | 25 | // |
lex9296 | 34:0522cebfe489 | 26 | |
lex9296 | 23:b9d23a2f390e | 27 | #include "QEI.h" |
lex9296 | 23:b9d23a2f390e | 28 | #include "SWPos.h" |
lex9296 | 23:b9d23a2f390e | 29 | |
GregCr | 0:9c0917bfde97 | 30 | #include "Timers.h" |
GregCr | 0:9c0917bfde97 | 31 | #include "Eeprom.h" |
GregCr | 0:9c0917bfde97 | 32 | |
lex9296 | 27:654100855f5c | 33 | #define MAX_CHAR_PER_LINE 28 |
lex9296 | 27:654100855f5c | 34 | #define TEXT_ROW_SPACING 16 |
lex9296 | 27:654100855f5c | 35 | #define FONT_CHAR_WIDTH 8 |
lex9296 | 27:654100855f5c | 36 | #define FONT_CHAR_HEIGHT 16 |
lex9296 | 27:654100855f5c | 37 | |
lex9296 | 27:654100855f5c | 38 | #include "DisplayDriver.h" |
lex9296 | 27:654100855f5c | 39 | |
lex9296 | 33:f77aa3ecf87d | 40 | const float cf_SCOPeriod_s = 0.00025000; // 250us |
lex9296 | 33:f77aa3ecf87d | 41 | const float cf_PWMPeriod_s = 0.01000000; // 10ms |
lex9296 | 33:f77aa3ecf87d | 42 | const float cf_MOTPeriod_s = 0.01000000; // 10ms |
lex9296 | 33:f77aa3ecf87d | 43 | |
lex9296 | 34:0522cebfe489 | 44 | #include "PID.h" |
lex9296 | 34:0522cebfe489 | 45 | // |
lex9296 | 34:0522cebfe489 | 46 | #define Lx 0.0001 |
lex9296 | 34:0522cebfe489 | 47 | #define Ku 0.32200//0.922000 |
lex9296 | 34:0522cebfe489 | 48 | #define Pu 0.0125 |
lex9296 | 34:0522cebfe489 | 49 | #define Kp Ku*0.6 |
lex9296 | 34:0522cebfe489 | 50 | #define Ti Pu*0.5 |
lex9296 | 34:0522cebfe489 | 51 | #define Td Pu*0.125 |
lex9296 | 34:0522cebfe489 | 52 | // |
lex9296 | 34:0522cebfe489 | 53 | #define P Kp |
lex9296 | 34:0522cebfe489 | 54 | #define I Kp/Ti |
lex9296 | 34:0522cebfe489 | 55 | #define D Kp*Td |
lex9296 | 34:0522cebfe489 | 56 | #define Mstate 6 |
lex9296 | 34:0522cebfe489 | 57 | #define SorT 5 |
lex9296 | 34:0522cebfe489 | 58 | #define Databit 0 |
lex9296 | 34:0522cebfe489 | 59 | #define TIME 0.0125 |
lex9296 | 34:0522cebfe489 | 60 | |
lex9296 | 34:0522cebfe489 | 61 | //#define RATE (cf_MOTPeriod_s * 10.0f) |
lex9296 | 34:0522cebfe489 | 62 | #define RATE (cf_MOTPeriod_s) |
lex9296 | 34:0522cebfe489 | 63 | |
lex9296 | 34:0522cebfe489 | 64 | //Timer Time; |
lex9296 | 34:0522cebfe489 | 65 | //PID SpeedClosedLoop(P,I,D,&Time); |
lex9296 | 34:0522cebfe489 | 66 | |
lex9296 | 36:cab8aa44ef91 | 67 | // Kc, Ti, Td, interval |
lex9296 | 36:cab8aa44ef91 | 68 | //PID PID_VelocityClosedLoop_FW (0.1, 0.001, 0.01, RATE); |
lex9296 | 36:cab8aa44ef91 | 69 | |
lex9296 | 36:cab8aa44ef91 | 70 | PID PID_VelocityClosedLoop_FW (0.4, 0.0, 0.0001, RATE); |
lex9296 | 36:cab8aa44ef91 | 71 | PID PID_VelocityClosedLoop_BW (0.41, 0.0, 0.01, RATE); |
lex9296 | 34:0522cebfe489 | 72 | //PID PID_VelocityClosedLoop (P, I, D, RATE); |
lex9296 | 34:0522cebfe489 | 73 | |
lex9296 | 33:f77aa3ecf87d | 74 | //const int64_t ci64_TargetPOS = 240; // |
lex9296 | 34:0522cebfe489 | 75 | //const int64_t ci64_TargetPOS = 3096; // |
lex9296 | 34:0522cebfe489 | 76 | |
lex9296 | 34:0522cebfe489 | 77 | int64_t ci64_TargetPOS = 3096; // Used as CONST ... |
lex9296 | 33:f77aa3ecf87d | 78 | |
lex9296 | 33:f77aa3ecf87d | 79 | // LA: LCM_ShowTactics |
lex9296 | 33:f77aa3ecf87d | 80 | // =============== |
lex9296 | 33:f77aa3ecf87d | 81 | // |
lex9296 | 32:1be3d79ff4db | 82 | void LCM_ShowTactics( |
lex9296 | 33:f77aa3ecf87d | 83 | int64_t i64_Pulses, |
lex9296 | 33:f77aa3ecf87d | 84 | int32_t i32_ATVSpeed, |
lex9296 | 33:f77aa3ecf87d | 85 | // |
lex9296 | 33:f77aa3ecf87d | 86 | float f_ai0000_Aux, |
lex9296 | 33:f77aa3ecf87d | 87 | float f_ai0001_Aux, |
lex9296 | 33:f77aa3ecf87d | 88 | float f_ai0002_Aux, |
lex9296 | 33:f77aa3ecf87d | 89 | float f_ai0003_Aux, |
lex9296 | 33:f77aa3ecf87d | 90 | float f_ai0004_Aux, |
lex9296 | 33:f77aa3ecf87d | 91 | float f_ai0005_Aux, |
lex9296 | 33:f77aa3ecf87d | 92 | // |
lex9296 | 33:f77aa3ecf87d | 93 | int32_t i32_Velocity, |
lex9296 | 33:f77aa3ecf87d | 94 | int32_t i32_Acceleration, |
lex9296 | 33:f77aa3ecf87d | 95 | int32_t i32_Jerk |
lex9296 | 33:f77aa3ecf87d | 96 | |
lex9296 | 32:1be3d79ff4db | 97 | ); |
lex9296 | 32:1be3d79ff4db | 98 | |
lex9296 | 33:f77aa3ecf87d | 99 | // LA: SampleAndStore |
lex9296 | 33:f77aa3ecf87d | 100 | // LA: SampleTimer == |
lex9296 | 33:f77aa3ecf87d | 101 | // ============== |
lex9296 | 33:f77aa3ecf87d | 102 | // |
lex9296 | 33:f77aa3ecf87d | 103 | static void SampleAndStore (void); |
lex9296 | 33:f77aa3ecf87d | 104 | Ticker SampleTimer; // LA: To Sample 1AI any 'x'ms |
lex9296 | 33:f77aa3ecf87d | 105 | |
lex9296 | 29:7ce8c5779f5e | 106 | float af_PlotSamples[240]; // LA: "Horiz" Plot Array |
lex9296 | 29:7ce8c5779f5e | 107 | |
lex9296 | 30:e45282a70a4d | 108 | uint16_t aui16_PlotSamples[240]; |
lex9296 | 30:e45282a70a4d | 109 | uint16_t aui16_PlotClears_Lo[240]; |
lex9296 | 30:e45282a70a4d | 110 | uint16_t aui16_PlotClears_Hi[240]; |
lex9296 | 30:e45282a70a4d | 111 | |
lex9296 | 33:f77aa3ecf87d | 112 | int32_t ai32_POS2VelGraph[4000]; |
lex9296 | 33:f77aa3ecf87d | 113 | uint16_t aui16_PlotPOS2VelSamples[240]; |
lex9296 | 33:f77aa3ecf87d | 114 | uint16_t aui16_PlotPOS2VelClears_Lo[240]; |
lex9296 | 33:f77aa3ecf87d | 115 | uint16_t aui16_PlotPOS2VelClears_Hi[240]; |
lex9296 | 33:f77aa3ecf87d | 116 | |
lex9296 | 33:f77aa3ecf87d | 117 | int32_t ai32_POS2AccGraph[4000]; |
lex9296 | 33:f77aa3ecf87d | 118 | int32_t ai32_POS2JrkGraph[4000]; |
lex9296 | 33:f77aa3ecf87d | 119 | |
lex9296 | 33:f77aa3ecf87d | 120 | // LA: MotionHandler |
lex9296 | 33:f77aa3ecf87d | 121 | // LA: MotionTimer = |
lex9296 | 33:f77aa3ecf87d | 122 | // ============= |
lex9296 | 33:f77aa3ecf87d | 123 | // |
lex9296 | 33:f77aa3ecf87d | 124 | static void MotionHandler (void); |
lex9296 | 33:f77aa3ecf87d | 125 | Ticker MotionTimer; // LA: Gestisce il rilevamento (RT) di Velocità, Accelerazione e Jerk |
lex9296 | 33:f77aa3ecf87d | 126 | // Esegue il Movimento Programmato |
lex9296 | 33:f77aa3ecf87d | 127 | |
lex9296 | 33:f77aa3ecf87d | 128 | float f_PWMPercent; // Deprecated |
lex9296 | 33:f77aa3ecf87d | 129 | |
lex9296 | 33:f77aa3ecf87d | 130 | float fVelocity; |
lex9296 | 33:f77aa3ecf87d | 131 | float fAcceleration; |
lex9296 | 33:f77aa3ecf87d | 132 | float fJerk; |
lex9296 | 33:f77aa3ecf87d | 133 | float fTorque; |
lex9296 | 33:f77aa3ecf87d | 134 | |
lex9296 | 33:f77aa3ecf87d | 135 | int64_t i64_Position_Prec; |
lex9296 | 33:f77aa3ecf87d | 136 | int32_t i32_Velocity; |
lex9296 | 33:f77aa3ecf87d | 137 | int32_t i32_Velocity_Prec; |
lex9296 | 33:f77aa3ecf87d | 138 | int32_t i32_Acceleration; |
lex9296 | 33:f77aa3ecf87d | 139 | int32_t i32_Acceleration_Prec; |
lex9296 | 33:f77aa3ecf87d | 140 | int32_t i32_Jerk; |
lex9296 | 33:f77aa3ecf87d | 141 | |
lex9296 | 33:f77aa3ecf87d | 142 | // LA: Motion |
lex9296 | 33:f77aa3ecf87d | 143 | // ====== |
lex9296 | 26:bfca0c471a87 | 144 | // LA: Theory of Operation |
lex9296 | 26:bfca0c471a87 | 145 | // =================== |
lex9296 | 26:bfca0c471a87 | 146 | // |
lex9296 | 26:bfca0c471a87 | 147 | // Il PWM funziona da sè in Interrupt |
lex9296 | 26:bfca0c471a87 | 148 | // Il QEI funziona da sè in Interrupt |
lex9296 | 26:bfca0c471a87 | 149 | // Se si creano dei Ticker (Che sono a loro volta interrupt(s)) è possibile che PWM e QEI perdano correlazione con l'HW. |
lex9296 | 26:bfca0c471a87 | 150 | // |
lex9296 | 26:bfca0c471a87 | 151 | // PQM |
lex9296 | 26:bfca0c471a87 | 152 | // |
lex9296 | 26:bfca0c471a87 | 153 | // Il rinfresco del Display e la gestione del motion vanno fatte il più frequentemente possibile ma fuori dal loop dei Ticker. |
lex9296 | 26:bfca0c471a87 | 154 | // Con qst versione (LA0005, che termina un FORK (il successivo è LA0010) quanto detto sopra è FUNZIONANTE. |
lex9296 | 26:bfca0c471a87 | 155 | // Questo messaggio è incluso nel "commitment" |
lex9296 | 26:bfca0c471a87 | 156 | |
GregCr | 0:9c0917bfde97 | 157 | /*! |
GregCr | 0:9c0917bfde97 | 158 | * \brief Define IO for Unused Pin |
GregCr | 0:9c0917bfde97 | 159 | */ |
lex9296 | 23:b9d23a2f390e | 160 | //DigitalOut F_CS (D6); // MBED description of pin |
lex9296 | 23:b9d23a2f390e | 161 | //DigitalOut SD_CS (D8); // MBED description of pin |
lex9296 | 23:b9d23a2f390e | 162 | |
lex9296 | 23:b9d23a2f390e | 163 | DigitalIn userButton (USER_BUTTON); |
lex9296 | 32:1be3d79ff4db | 164 | // |
lex9296 | 32:1be3d79ff4db | 165 | DigitalOut rENA_Off (PC_0); // CN7.38 - Power Enable Relay, Power Disabled when true |
lex9296 | 32:1be3d79ff4db | 166 | DigitalOut rDIR_FWD (PC_1); // CN7.36 - Move Direction Relay Bridge, Move FW(Extends) when true |
mverdy | 15:ed7ed20b7114 | 167 | |
lex9296 | 23:b9d23a2f390e | 168 | AnalogIn adc_temp (ADC_TEMP); |
lex9296 | 23:b9d23a2f390e | 169 | AnalogIn adc_vref (ADC_VREF); |
lex9296 | 23:b9d23a2f390e | 170 | AnalogIn adc_vbat (ADC_VBAT); |
GregCr | 0:9c0917bfde97 | 171 | |
lex9296 | 29:7ce8c5779f5e | 172 | AnalogIn ADC12_IN9 (PA_4); // STM32 PA4 |
lex9296 | 29:7ce8c5779f5e | 173 | AnalogIn ADC12_IN15 (PB_0); // STM32 PB0 |
lex9296 | 29:7ce8c5779f5e | 174 | |
lex9296 | 23:b9d23a2f390e | 175 | // PWM |
lex9296 | 23:b9d23a2f390e | 176 | // === |
lex9296 | 23:b9d23a2f390e | 177 | // |
lex9296 | 25:5fd2d69e2927 | 178 | PwmOut PWM_PB3(PWM_OUT); // LA: PWM_OUT = D3 = PB_3 |
mverdy | 14:ebd89dacc807 | 179 | |
lex9296 | 28:443c82750dd9 | 180 | // QEI |
lex9296 | 28:443c82750dd9 | 181 | // === |
lex9296 | 28:443c82750dd9 | 182 | // |
lex9296 | 28:443c82750dd9 | 183 | QEI Stabilus322699 (PA_1, PA_0, NC, 100, QEI::X4_ENCODING); |
lex9296 | 32:1be3d79ff4db | 184 | //DigitalIn Hall_A (PA_1); |
lex9296 | 32:1be3d79ff4db | 185 | //DigitalIn Hall_B (PA_0); |
lex9296 | 28:443c82750dd9 | 186 | |
lex9296 | 23:b9d23a2f390e | 187 | // Motion |
lex9296 | 23:b9d23a2f390e | 188 | // ====== |
lex9296 | 23:b9d23a2f390e | 189 | // |
lex9296 | 28:443c82750dd9 | 190 | //Ticker POS_MotionScan; // LA: Non uso un Ticker. Agisce sotto Interrupt e falsa la lettura QEI e la sincronicità del PWM |
lex9296 | 23:b9d23a2f390e | 191 | // |
lex9296 | 23:b9d23a2f390e | 192 | in_sPosizionatoreSW in_PosizionatoreSW; |
lex9296 | 23:b9d23a2f390e | 193 | out_sPosizionatoreSW out_PosizionatoreSW; |
GregCr | 0:9c0917bfde97 | 194 | |
lex9296 | 23:b9d23a2f390e | 195 | // LCD Display |
lex9296 | 23:b9d23a2f390e | 196 | // =========== |
lex9296 | 23:b9d23a2f390e | 197 | // |
lex9296 | 28:443c82750dd9 | 198 | //Ticker LCD_RefreshViews; // LA: Non uso un Ticker. Agisce sotto Interrupt e falsa la lettura QEI e la sincronicità del PWM |
mverdy | 15:ed7ed20b7114 | 199 | |
lex9296 | 22:12c555cade79 | 200 | void FactoryReset (void) { |
mverdy | 15:ed7ed20b7114 | 201 | EepromFactoryReset( ); |
mverdy | 15:ed7ed20b7114 | 202 | HAL_NVIC_SystemReset( ); |
mverdy | 15:ed7ed20b7114 | 203 | } |
lex9296 | 23:b9d23a2f390e | 204 | |
lex9296 | 23:b9d23a2f390e | 205 | // ======= |
lex9296 | 23:b9d23a2f390e | 206 | // ======= |
lex9296 | 23:b9d23a2f390e | 207 | // Main(s) |
lex9296 | 23:b9d23a2f390e | 208 | // ======= |
lex9296 | 23:b9d23a2f390e | 209 | // ======= |
lex9296 | 23:b9d23a2f390e | 210 | // |
lex9296 | 23:b9d23a2f390e | 211 | int main (void){ |
lex9296 | 28:443c82750dd9 | 212 | |
lex9296 | 32:1be3d79ff4db | 213 | rDIR_FWD = true; // LA: Actuator Extends |
lex9296 | 32:1be3d79ff4db | 214 | rENA_Off = true; // LA: Drive Power is Off |
lex9296 | 33:f77aa3ecf87d | 215 | // |
lex9296 | 33:f77aa3ecf87d | 216 | in_PosizionatoreSW.b_ServoLock = false; |
lex9296 | 33:f77aa3ecf87d | 217 | in_PosizionatoreSW.rtServoLock_Q = false; |
lex9296 | 28:443c82750dd9 | 218 | |
lex9296 | 23:b9d23a2f390e | 219 | EepromInit(); // LA: Inizializza la EEProm |
lex9296 | 23:b9d23a2f390e | 220 | TimersInit(); // LA: Parte il Timer a 1ms |
lex9296 | 23:b9d23a2f390e | 221 | |
lex9296 | 23:b9d23a2f390e | 222 | // LA: FactoryReset se "userButton" premuto all'avvio |
lex9296 | 23:b9d23a2f390e | 223 | // |
lex9296 | 23:b9d23a2f390e | 224 | if (userButton == 0) { |
lex9296 | 23:b9d23a2f390e | 225 | FactoryReset(); |
lex9296 | 23:b9d23a2f390e | 226 | } |
lex9296 | 28:443c82750dd9 | 227 | DisplayDriverInit(); |
lex9296 | 23:b9d23a2f390e | 228 | |
lex9296 | 33:f77aa3ecf87d | 229 | // SampleTimer.attach_us(&SampleAndStore, 250); // LA: Scope has its own times |
lex9296 | 33:f77aa3ecf87d | 230 | SampleTimer.attach(&SampleAndStore, cf_SCOPeriod_s); // LA: Avvia l'OscilloScopio con TimeBase x [s] |
lex9296 | 33:f77aa3ecf87d | 231 | MotionTimer.attach(&MotionHandler, cf_MOTPeriod_s); // LA: Avvia il Motion con TimeBase x [s] |
lex9296 | 33:f77aa3ecf87d | 232 | PWM_PB3.period(cf_PWMPeriod_s); // LA: Avvia il PWM con TimeBase x [s] |
lex9296 | 33:f77aa3ecf87d | 233 | PWM_PB3.write((float) 0.0); // Set to 0% |
lex9296 | 23:b9d23a2f390e | 234 | |
lex9296 | 23:b9d23a2f390e | 235 | // LA: Motion (1st) Setup |
lex9296 | 23:b9d23a2f390e | 236 | // |
lex9296 | 28:443c82750dd9 | 237 | in_PosizionatoreSW.b_AxisPowered = true; |
lex9296 | 28:443c82750dd9 | 238 | in_PosizionatoreSW.b_ACPos_Homed = true; |
lex9296 | 35:0f6adc0b95b9 | 239 | in_PosizionatoreSW.i32_Max_Speed = 20; // [ui/ms] |
lex9296 | 23:b9d23a2f390e | 240 | in_PosizionatoreSW.i32_ZeroSpeed = 0; // |
lex9296 | 23:b9d23a2f390e | 241 | |
lex9296 | 32:1be3d79ff4db | 242 | // POS Mode |
lex9296 | 32:1be3d79ff4db | 243 | // ======== |
lex9296 | 32:1be3d79ff4db | 244 | // |
lex9296 | 33:f77aa3ecf87d | 245 | // in_PosizionatoreSW.b_ServoLock = true; |
lex9296 | 33:f77aa3ecf87d | 246 | // in_PosizionatoreSW.rtServoLock_Q = false; |
lex9296 | 32:1be3d79ff4db | 247 | // |
lex9296 | 33:f77aa3ecf87d | 248 | in_PosizionatoreSW.i64_TargetPosition = ci64_TargetPOS; // [ui] |
lex9296 | 32:1be3d79ff4db | 249 | in_PosizionatoreSW.i64_ActualPosition = Stabilus322699.getPulses(); // |
lex9296 | 35:0f6adc0b95b9 | 250 | in_PosizionatoreSW.i64_AccelerationWindow = 512; // LA: Spazio concesso all'accelerazione. |
lex9296 | 35:0f6adc0b95b9 | 251 | in_PosizionatoreSW.i64_DecelerationWindow = 1024; // Spazio concesso alla decelerazione, è prioritario rispetto all'accelerazione. |
lex9296 | 35:0f6adc0b95b9 | 252 | in_PosizionatoreSW.i64_diToleranceWindow = 16; // Finestra di Tolleranza |
lex9296 | 32:1be3d79ff4db | 253 | // |
lex9296 | 35:0f6adc0b95b9 | 254 | in_PosizionatoreSW.f_MaximumSpeed_x100_FW = 100.0f; // % of "i32_Max_Speed" |
lex9296 | 35:0f6adc0b95b9 | 255 | in_PosizionatoreSW.f_MaximumSpeed_x100_BW = 100.0f; // |
lex9296 | 35:0f6adc0b95b9 | 256 | in_PosizionatoreSW.f_ServoLockSpeed_x100_FW = 25.0f; // Riferimento di velocità minima a cui (appena) si muove l'asse [verso FW] |
lex9296 | 36:cab8aa44ef91 | 257 | in_PosizionatoreSW.f_ServoLockSpeed_x100_BW = 50.0f; // Riferimento di velocità minima a cui (appena) si muove l'asse [verso BW] |
lex9296 | 32:1be3d79ff4db | 258 | |
lex9296 | 32:1be3d79ff4db | 259 | // JOG Mode |
lex9296 | 32:1be3d79ff4db | 260 | // ======== |
lex9296 | 32:1be3d79ff4db | 261 | // |
lex9296 | 23:b9d23a2f390e | 262 | in_PosizionatoreSW.b_JogMode = false; |
lex9296 | 23:b9d23a2f390e | 263 | in_PosizionatoreSW.b_JogFW = false; |
lex9296 | 23:b9d23a2f390e | 264 | in_PosizionatoreSW.b_JogBW = false; |
lex9296 | 23:b9d23a2f390e | 265 | in_PosizionatoreSW.i32_JogAccel_ms = 500; // [ms] |
lex9296 | 23:b9d23a2f390e | 266 | in_PosizionatoreSW.i32_JogDecel_ms = 250; // |
lex9296 | 23:b9d23a2f390e | 267 | // |
lex9296 | 32:1be3d79ff4db | 268 | in_PosizionatoreSW.f_JogSpeed_x100_FW = (in_PosizionatoreSW.f_MaximumSpeed_x100_FW/ 2); // LA: JOG's the Half of Max POS's Speed |
lex9296 | 32:1be3d79ff4db | 269 | in_PosizionatoreSW.f_JogSpeed_x100_BW = (in_PosizionatoreSW.f_MaximumSpeed_x100_BW/ 2); // |
lex9296 | 23:b9d23a2f390e | 270 | |
lex9296 | 34:0522cebfe489 | 271 | // Velocity Loop PID |
lex9296 | 34:0522cebfe489 | 272 | // ================= |
lex9296 | 34:0522cebfe489 | 273 | // |
lex9296 | 34:0522cebfe489 | 274 | // Input Speed (ref)= 0.. 512[ui/s] |
lex9296 | 36:cab8aa44ef91 | 275 | PID_VelocityClosedLoop_FW.setInputLimits(0.0f, (float)in_PosizionatoreSW.i32_Max_Speed); |
lex9296 | 36:cab8aa44ef91 | 276 | PID_VelocityClosedLoop_BW.setInputLimits(0.0f, (float)in_PosizionatoreSW.i32_Max_Speed); |
lex9296 | 34:0522cebfe489 | 277 | // Output PWM (ref)= 0.. 1 |
lex9296 | 36:cab8aa44ef91 | 278 | PID_VelocityClosedLoop_FW.setOutputLimits(0.0f, 1.0f); |
lex9296 | 36:cab8aa44ef91 | 279 | PID_VelocityClosedLoop_BW.setOutputLimits(0.0f, 1.0f); |
lex9296 | 34:0522cebfe489 | 280 | |
lex9296 | 34:0522cebfe489 | 281 | // If there's a bias. |
lex9296 | 34:0522cebfe489 | 282 | // PID_VelocityClosedLoop.setBias(0.3); |
lex9296 | 36:cab8aa44ef91 | 283 | // PID_VelocityClosedLoop.setMode(AUTO_MODE); |
lex9296 | 36:cab8aa44ef91 | 284 | PID_VelocityClosedLoop_FW.setMode(MANUAL_MODE); |
lex9296 | 36:cab8aa44ef91 | 285 | PID_VelocityClosedLoop_BW.setMode(MANUAL_MODE); |
lex9296 | 34:0522cebfe489 | 286 | |
lex9296 | 28:443c82750dd9 | 287 | // LA: Color RGB Component(s) |
lex9296 | 28:443c82750dd9 | 288 | // ====================== |
lex9296 | 28:443c82750dd9 | 289 | // |
lex9296 | 28:443c82750dd9 | 290 | // RED 0000 1000 0000 0000 min 0x0800 02048 |
lex9296 | 28:443c82750dd9 | 291 | // 1111 1000 0000 0000 max 0xf800 63488 |
lex9296 | 28:443c82750dd9 | 292 | // |
lex9296 | 28:443c82750dd9 | 293 | // GREEN 0000 0000 0010 0000 min 0x0020 00032 |
lex9296 | 28:443c82750dd9 | 294 | // 0000 0111 1110 0000 max 0x07e0 02016 |
lex9296 | 28:443c82750dd9 | 295 | // |
lex9296 | 28:443c82750dd9 | 296 | // BLUE 0000 0000 0000 0001 min 0x0001 00001 |
lex9296 | 28:443c82750dd9 | 297 | // 0000 0000 0001 1111 max 0x001f 00031 |
lex9296 | 28:443c82750dd9 | 298 | // |
lex9296 | 28:443c82750dd9 | 299 | // La componente ROSSA ha 5 bit di escursione (0.. 31), |
lex9296 | 28:443c82750dd9 | 300 | // La componente VERDE ha 6 bit di escursione (0.. 63), |
lex9296 | 28:443c82750dd9 | 301 | // La componente BLU ha 5 bit di escursione (0.. 31), |
lex9296 | 28:443c82750dd9 | 302 | // |
lex9296 | 28:443c82750dd9 | 303 | // Le componenti RGB di "Color" sono quindi scritte negli appropriati registri come segue: |
lex9296 | 28:443c82750dd9 | 304 | // |
lex9296 | 28:443c82750dd9 | 305 | // writeReg(RED, (Color & 0xf800) >> 11); |
lex9296 | 28:443c82750dd9 | 306 | // writeReg(GREEN, (Color & 0x07e0) >> 5); |
lex9296 | 28:443c82750dd9 | 307 | // writeReg(BLUE, (Color & 0x001f)); |
lex9296 | 28:443c82750dd9 | 308 | // |
lex9296 | 32:1be3d79ff4db | 309 | LCM_SetTextColor(Scale2RGBColor (0, 0, 0), Scale2RGBColor (31, 0, 0)); // LA: Red on Black |
lex9296 | 32:1be3d79ff4db | 310 | LCM_ClearScreen (Scale2RGBColor (0, 0, 0)); // Black Background |
lex9296 | 32:1be3d79ff4db | 311 | LCM_DrawString (0, 0+ (TEXT_ROW_SPACING* 0), "You Start Me Up ..."); // Intro Text |
lex9296 | 23:b9d23a2f390e | 312 | |
lex9296 | 32:1be3d79ff4db | 313 | // rDIR_FWD = false; // Collapse |
lex9296 | 32:1be3d79ff4db | 314 | // rENA_Off = false; // Power On |
lex9296 | 32:1be3d79ff4db | 315 | |
lex9296 | 32:1be3d79ff4db | 316 | in_PosizionatoreSW.b_ServoLock = true; |
lex9296 | 32:1be3d79ff4db | 317 | in_PosizionatoreSW.rtServoLock_Q = true; |
lex9296 | 28:443c82750dd9 | 318 | |
lex9296 | 28:443c82750dd9 | 319 | while (1) { |
lex9296 | 29:7ce8c5779f5e | 320 | |
lex9296 | 29:7ce8c5779f5e | 321 | // LA: Scope, Theory of operation. |
lex9296 | 29:7ce8c5779f5e | 322 | // =========================== |
lex9296 | 29:7ce8c5779f5e | 323 | // |
lex9296 | 29:7ce8c5779f5e | 324 | // 1) Sample a Value @ any Step |
lex9296 | 29:7ce8c5779f5e | 325 | // 2) Store @ the correct ms |
lex9296 | 29:7ce8c5779f5e | 326 | // 3) Plot the current Section of the Sampling Vector |
lex9296 | 29:7ce8c5779f5e | 327 | // |
lex9296 | 32:1be3d79ff4db | 328 | LCM_ShowTactics ( |
lex9296 | 32:1be3d79ff4db | 329 | Stabilus322699.getPulses(), // Row 1 |
lex9296 | 29:7ce8c5779f5e | 330 | |
lex9296 | 32:1be3d79ff4db | 331 | out_PosizionatoreSW.i32_ATVSpeed, // 3 |
lex9296 | 32:1be3d79ff4db | 332 | adc_temp.read(), // 4 |
lex9296 | 32:1be3d79ff4db | 333 | adc_vbat.read(), // 5 |
lex9296 | 32:1be3d79ff4db | 334 | adc_vref.read(), // 6 |
lex9296 | 32:1be3d79ff4db | 335 | |
lex9296 | 32:1be3d79ff4db | 336 | ADC12_IN9.read(), // 8 |
lex9296 | 32:1be3d79ff4db | 337 | ADC12_IN15.read(), // 9 |
lex9296 | 33:f77aa3ecf87d | 338 | (f_PWMPercent* 100), // 10 |
lex9296 | 33:f77aa3ecf87d | 339 | |
lex9296 | 33:f77aa3ecf87d | 340 | i32_Velocity, // 11 |
lex9296 | 33:f77aa3ecf87d | 341 | i32_Acceleration, // 12 |
lex9296 | 33:f77aa3ecf87d | 342 | i32_Jerk // 13 |
lex9296 | 33:f77aa3ecf87d | 343 | |
lex9296 | 32:1be3d79ff4db | 344 | ); |
lex9296 | 32:1be3d79ff4db | 345 | |
lex9296 | 33:f77aa3ecf87d | 346 | LCM_PlotScope ( |
lex9296 | 32:1be3d79ff4db | 347 | Scale2RGBColor (0, 0, 0), // Back: Black |
lex9296 | 32:1be3d79ff4db | 348 | Scale2RGBColor (31, 0, 0) // Fore: Red |
lex9296 | 32:1be3d79ff4db | 349 | ); |
lex9296 | 32:1be3d79ff4db | 350 | |
lex9296 | 33:f77aa3ecf87d | 351 | LCM_PlotSpeed ( |
lex9296 | 33:f77aa3ecf87d | 352 | Scale2RGBColor (0, 0, 0), // Back: Black |
lex9296 | 33:f77aa3ecf87d | 353 | Scale2RGBColor (31, 0, 0) // Fore: Red |
lex9296 | 33:f77aa3ecf87d | 354 | ); |
lex9296 | 32:1be3d79ff4db | 355 | |
lex9296 | 32:1be3d79ff4db | 356 | if (out_PosizionatoreSW.b_InPosition) |
lex9296 | 32:1be3d79ff4db | 357 | if (in_PosizionatoreSW.i64_TargetPosition > 0) |
lex9296 | 32:1be3d79ff4db | 358 | in_PosizionatoreSW.i64_TargetPosition = 0; |
lex9296 | 32:1be3d79ff4db | 359 | else |
lex9296 | 33:f77aa3ecf87d | 360 | in_PosizionatoreSW.i64_TargetPosition = ci64_TargetPOS; |
lex9296 | 28:443c82750dd9 | 361 | } |
lex9296 | 28:443c82750dd9 | 362 | } |
lex9296 | 28:443c82750dd9 | 363 | |
lex9296 | 32:1be3d79ff4db | 364 | void LCM_ShowTactics( |
lex9296 | 33:f77aa3ecf87d | 365 | int64_t i64_Pulses, |
lex9296 | 32:1be3d79ff4db | 366 | int32_t i32_ATVSpeed, |
lex9296 | 33:f77aa3ecf87d | 367 | // |
lex9296 | 33:f77aa3ecf87d | 368 | float f_ai0000_Aux, |
lex9296 | 33:f77aa3ecf87d | 369 | float f_ai0001_Aux, |
lex9296 | 33:f77aa3ecf87d | 370 | float f_ai0002_Aux, |
lex9296 | 33:f77aa3ecf87d | 371 | float f_ai0003_Aux, |
lex9296 | 33:f77aa3ecf87d | 372 | float f_ai0004_Aux, |
lex9296 | 33:f77aa3ecf87d | 373 | float f_ai0005_Aux, |
lex9296 | 33:f77aa3ecf87d | 374 | // |
lex9296 | 33:f77aa3ecf87d | 375 | int32_t i32_Velocity, |
lex9296 | 33:f77aa3ecf87d | 376 | int32_t i32_Acceleration, |
lex9296 | 33:f77aa3ecf87d | 377 | int32_t i32_Jerk |
lex9296 | 32:1be3d79ff4db | 378 | ) { |
lex9296 | 32:1be3d79ff4db | 379 | |
lex9296 | 32:1be3d79ff4db | 380 | char StringText[MAX_CHAR_PER_LINE+ 1]; // don't forget the /0 (end of string) |
lex9296 | 32:1be3d79ff4db | 381 | |
lex9296 | 33:f77aa3ecf87d | 382 | static int64_t i64_Pulses_Prec; |
lex9296 | 32:1be3d79ff4db | 383 | static uint32_t ms_0002_prec; |
lex9296 | 32:1be3d79ff4db | 384 | |
lex9296 | 32:1be3d79ff4db | 385 | static float f_ai0000_prec; |
lex9296 | 32:1be3d79ff4db | 386 | static float f_ai0001_prec; |
lex9296 | 32:1be3d79ff4db | 387 | static float f_ai0002_prec; |
lex9296 | 32:1be3d79ff4db | 388 | static float f_ai0003_prec; |
lex9296 | 32:1be3d79ff4db | 389 | static float f_ai0004_prec; |
lex9296 | 32:1be3d79ff4db | 390 | static float f_ai0005_prec; |
lex9296 | 32:1be3d79ff4db | 391 | |
lex9296 | 33:f77aa3ecf87d | 392 | static uint32_t i32_Velocity_prec; |
lex9296 | 33:f77aa3ecf87d | 393 | static uint32_t i32_Acceleration_prec; |
lex9296 | 33:f77aa3ecf87d | 394 | static uint32_t i32_Jerk_prec; |
lex9296 | 33:f77aa3ecf87d | 395 | |
lex9296 | 33:f77aa3ecf87d | 396 | if (i64_Pulses != i64_Pulses_Prec) { |
lex9296 | 32:1be3d79ff4db | 397 | sprintf (StringText, |
lex9296 | 33:f77aa3ecf87d | 398 | "Pulses: %d ", (int32_t)i64_Pulses); |
lex9296 | 32:1be3d79ff4db | 399 | LCM_DrawString (0, 0+ (TEXT_ROW_SPACING* 1), StringText); |
lex9296 | 33:f77aa3ecf87d | 400 | i64_Pulses_Prec = i64_Pulses; |
lex9296 | 32:1be3d79ff4db | 401 | } |
lex9296 | 32:1be3d79ff4db | 402 | |
lex9296 | 33:f77aa3ecf87d | 403 | if (i32_Velocity != i32_Velocity_prec) { |
lex9296 | 33:f77aa3ecf87d | 404 | sprintf (StringText, |
lex9296 | 35:0f6adc0b95b9 | 405 | "Velocity[ui/ms]: %d ", i32_Velocity); //, fVelocity); |
lex9296 | 34:0522cebfe489 | 406 | LCM_DrawString (0, 0+ (TEXT_ROW_SPACING* 3), StringText); |
lex9296 | 33:f77aa3ecf87d | 407 | i32_Velocity_prec = i32_Velocity; |
lex9296 | 33:f77aa3ecf87d | 408 | } |
lex9296 | 35:0f6adc0b95b9 | 409 | |
lex9296 | 35:0f6adc0b95b9 | 410 | if (out_PosizionatoreSW.i32_ATVSpeed != i32_Acceleration_prec) { |
lex9296 | 35:0f6adc0b95b9 | 411 | sprintf (StringText, |
lex9296 | 35:0f6adc0b95b9 | 412 | "ATVSpeed[ui/ms]: %d ", out_PosizionatoreSW.i32_ATVSpeed); //, fAcceleration); |
lex9296 | 35:0f6adc0b95b9 | 413 | LCM_DrawString (0, 0+ (TEXT_ROW_SPACING* 4), StringText); |
lex9296 | 35:0f6adc0b95b9 | 414 | i32_Acceleration_prec = out_PosizionatoreSW.i32_ATVSpeed; |
lex9296 | 35:0f6adc0b95b9 | 415 | } |
lex9296 | 35:0f6adc0b95b9 | 416 | if (f_PWMPercent != f_ai0005_prec) { |
lex9296 | 35:0f6adc0b95b9 | 417 | sprintf (StringText, |
lex9296 | 35:0f6adc0b95b9 | 418 | "PID_FB Compute: %f ", f_PWMPercent); //, fJerk); |
lex9296 | 35:0f6adc0b95b9 | 419 | LCM_DrawString (0, 0+ (TEXT_ROW_SPACING* 5), StringText); |
lex9296 | 35:0f6adc0b95b9 | 420 | f_ai0005_prec = f_PWMPercent; |
lex9296 | 35:0f6adc0b95b9 | 421 | } |
lex9296 | 35:0f6adc0b95b9 | 422 | |
lex9296 | 35:0f6adc0b95b9 | 423 | /* |
lex9296 | 33:f77aa3ecf87d | 424 | if (i32_Acceleration != i32_Acceleration_prec) { |
lex9296 | 33:f77aa3ecf87d | 425 | sprintf (StringText, |
lex9296 | 33:f77aa3ecf87d | 426 | "Acc[ui/10ms^2]: %d ", i32_Acceleration); //, fAcceleration); |
lex9296 | 34:0522cebfe489 | 427 | // LCM_DrawString (0, 0+ (TEXT_ROW_SPACING* 12), StringText); |
lex9296 | 34:0522cebfe489 | 428 | LCM_DrawString (0, 0+ (TEXT_ROW_SPACING* 4), StringText); |
lex9296 | 33:f77aa3ecf87d | 429 | i32_Acceleration_prec = i32_Acceleration; |
lex9296 | 33:f77aa3ecf87d | 430 | } |
lex9296 | 33:f77aa3ecf87d | 431 | if (i32_Jerk != i32_Jerk_prec) { |
lex9296 | 33:f77aa3ecf87d | 432 | sprintf (StringText, |
lex9296 | 33:f77aa3ecf87d | 433 | "Jerk: %d ", i32_Jerk); //, fJerk); |
lex9296 | 34:0522cebfe489 | 434 | // LCM_DrawString (0, 0+ (TEXT_ROW_SPACING* 13), StringText); |
lex9296 | 34:0522cebfe489 | 435 | LCM_DrawString (0, 0+ (TEXT_ROW_SPACING* 5), StringText); |
lex9296 | 33:f77aa3ecf87d | 436 | i32_Jerk_prec = i32_Jerk; |
lex9296 | 33:f77aa3ecf87d | 437 | } |
lex9296 | 35:0f6adc0b95b9 | 438 | */ |
lex9296 | 32:1be3d79ff4db | 439 | } |
lex9296 | 32:1be3d79ff4db | 440 | |
lex9296 | 33:f77aa3ecf87d | 441 | static void SampleAndStore (void) { |
lex9296 | 29:7ce8c5779f5e | 442 | int16_t i16_SampleIndex; |
lex9296 | 33:f77aa3ecf87d | 443 | int64_t i64_SampleIndex; |
lex9296 | 29:7ce8c5779f5e | 444 | |
lex9296 | 32:1be3d79ff4db | 445 | // af_PlotSamples[240- 1] = ADC12_IN9.read(); |
lex9296 | 32:1be3d79ff4db | 446 | af_PlotSamples[240- 1] = (float) Stabilus322699.getChannelA() * 0.33f; |
lex9296 | 32:1be3d79ff4db | 447 | |
lex9296 | 32:1be3d79ff4db | 448 | for (i16_SampleIndex = 0; i16_SampleIndex < (240- 1); i16_SampleIndex++) |
lex9296 | 29:7ce8c5779f5e | 449 | af_PlotSamples[i16_SampleIndex] = af_PlotSamples[i16_SampleIndex+ 1]; |
lex9296 | 29:7ce8c5779f5e | 450 | |
lex9296 | 33:f77aa3ecf87d | 451 | // LA: Position's Graph Section |
lex9296 | 33:f77aa3ecf87d | 452 | // ======================== |
lex9296 | 33:f77aa3ecf87d | 453 | // |
lex9296 | 33:f77aa3ecf87d | 454 | i64_SampleIndex = Stabilus322699.getPulses(); |
lex9296 | 33:f77aa3ecf87d | 455 | ai32_POS2VelGraph[i64_SampleIndex] = i32_Velocity; |
lex9296 | 33:f77aa3ecf87d | 456 | ai32_POS2AccGraph[i64_SampleIndex] = i32_Acceleration; |
lex9296 | 33:f77aa3ecf87d | 457 | ai32_POS2JrkGraph[i64_SampleIndex] = i32_Jerk; |
lex9296 | 29:7ce8c5779f5e | 458 | } |
lex9296 | 29:7ce8c5779f5e | 459 | |
lex9296 | 33:f77aa3ecf87d | 460 | static void MotionHandler (void) { |
lex9296 | 35:0f6adc0b95b9 | 461 | //static int16_t i16_Index = 0; |
lex9296 | 35:0f6adc0b95b9 | 462 | static uint32_t ui32_PreviousStep_ms; |
lex9296 | 35:0f6adc0b95b9 | 463 | uint32_t ui32_ActualStepSampled_ms; |
lex9296 | 35:0f6adc0b95b9 | 464 | uint32_t ui32_PassedActual_ms; |
lex9296 | 35:0f6adc0b95b9 | 465 | // |
lex9296 | 35:0f6adc0b95b9 | 466 | float fPassedActual_sxs; |
lex9296 | 33:f77aa3ecf87d | 467 | |
lex9296 | 33:f77aa3ecf87d | 468 | // LA: Retrieve Actual Position |
lex9296 | 33:f77aa3ecf87d | 469 | // |
lex9296 | 33:f77aa3ecf87d | 470 | in_PosizionatoreSW.i64_ActualPosition = Stabilus322699.getPulses(); |
lex9296 | 33:f77aa3ecf87d | 471 | |
lex9296 | 33:f77aa3ecf87d | 472 | // LA: Execute Motion |
lex9296 | 33:f77aa3ecf87d | 473 | // |
lex9296 | 33:f77aa3ecf87d | 474 | PosizionatoreSW (in_PosizionatoreSW, out_PosizionatoreSW); |
lex9296 | 33:f77aa3ecf87d | 475 | in_PosizionatoreSW.rtServoLock_Q = false; |
lex9296 | 33:f77aa3ecf87d | 476 | |
lex9296 | 33:f77aa3ecf87d | 477 | // LA: Handle PostServo |
lex9296 | 33:f77aa3ecf87d | 478 | // |
lex9296 | 33:f77aa3ecf87d | 479 | |
lex9296 | 33:f77aa3ecf87d | 480 | // int64_t i64_StartPosition; |
lex9296 | 33:f77aa3ecf87d | 481 | // int64_t i64_Distance; |
lex9296 | 33:f77aa3ecf87d | 482 | // bool b_Accelerating; // LA: bACPos_Accelerating |
lex9296 | 33:f77aa3ecf87d | 483 | // bool b_MaxSpeedReached; |
lex9296 | 33:f77aa3ecf87d | 484 | // bool b_Decelerating; // bACPos_Decelerating |
lex9296 | 33:f77aa3ecf87d | 485 | // bool b_InPosition; |
lex9296 | 33:f77aa3ecf87d | 486 | // bool b_InToleranceFW; |
lex9296 | 33:f77aa3ecf87d | 487 | // bool b_InToleranceBW; |
lex9296 | 33:f77aa3ecf87d | 488 | |
lex9296 | 33:f77aa3ecf87d | 489 | // int32_t i32_ATVSpeed; |
lex9296 | 34:0522cebfe489 | 490 | // f_PWMPercent = ((float)out_PosizionatoreSW.i32_ATVSpeed)/ (float)in_PosizionatoreSW.i32_Max_Speed; // LA: In Range (float) 0.. 1 |
lex9296 | 34:0522cebfe489 | 491 | // PWM_PB3.write((float) 1.0- f_PWMPercent); // Set to x% |
lex9296 | 33:f77aa3ecf87d | 492 | |
lex9296 | 33:f77aa3ecf87d | 493 | // bool b_ATVDirectionFW; |
lex9296 | 33:f77aa3ecf87d | 494 | rDIR_FWD = out_PosizionatoreSW.b_ATVDirectionFW; |
lex9296 | 33:f77aa3ecf87d | 495 | |
lex9296 | 33:f77aa3ecf87d | 496 | // bool b_ATVDirectionBW; |
lex9296 | 33:f77aa3ecf87d | 497 | |
lex9296 | 33:f77aa3ecf87d | 498 | // bool b_STW1_On; |
lex9296 | 33:f77aa3ecf87d | 499 | // bool b_STW1_NoCStop; |
lex9296 | 33:f77aa3ecf87d | 500 | // bool b_STW1_NoQStop; |
lex9296 | 33:f77aa3ecf87d | 501 | // bool b_STW1_Enable; |
lex9296 | 33:f77aa3ecf87d | 502 | rENA_Off = !out_PosizionatoreSW.b_STW1_Enable; |
lex9296 | 33:f77aa3ecf87d | 503 | |
lex9296 | 33:f77aa3ecf87d | 504 | // LA: Update Motion Dynamic References |
lex9296 | 33:f77aa3ecf87d | 505 | // ================================ |
lex9296 | 35:0f6adc0b95b9 | 506 | |
lex9296 | 35:0f6adc0b95b9 | 507 | // LA: Generazione del millisecondo Attuale |
lex9296 | 35:0f6adc0b95b9 | 508 | // ==================================== |
lex9296 | 33:f77aa3ecf87d | 509 | // |
lex9296 | 35:0f6adc0b95b9 | 510 | // Invoca il timer di sistema (TimersTimerValue) e lo confronta col suo precedente. |
lex9296 | 35:0f6adc0b95b9 | 511 | // Una volta elaborato e "scevrato" l'eventuale "Rollover" la sezione ritorna "ui32_PassedActual_ms_Local". |
lex9296 | 35:0f6adc0b95b9 | 512 | // "ui32_PassedActual_ms_Local" rappresenta i [ms] passati tra una istanza e l'altra |
lex9296 | 35:0f6adc0b95b9 | 513 | // |
lex9296 | 35:0f6adc0b95b9 | 514 | ui32_ActualStepSampled_ms = TimersTimerValue(); // Freezes the Actual Sample. |
lex9296 | 35:0f6adc0b95b9 | 515 | if (ui32_ActualStepSampled_ms >= ui32_PreviousStep_ms) |
lex9296 | 35:0f6adc0b95b9 | 516 | ui32_PassedActual_ms = (ui32_ActualStepSampled_ms- ui32_PreviousStep_ms); // Result => Actual- Previous |
lex9296 | 35:0f6adc0b95b9 | 517 | else |
lex9296 | 35:0f6adc0b95b9 | 518 | ui32_PassedActual_ms = ui32_ActualStepSampled_ms+ (0x7fffffff- ui32_PreviousStep_ms); // Result => Actual+ (Rollover- Previous) |
lex9296 | 35:0f6adc0b95b9 | 519 | ui32_PreviousStep_ms = ui32_ActualStepSampled_ms; // Store(s)&Hold(s) actual msSample |
lex9296 | 35:0f6adc0b95b9 | 520 | fPassedActual_sxs = ((float) 1000.0/ (float) ui32_PassedActual_ms); // Steps Any [s] |
lex9296 | 34:0522cebfe489 | 521 | |
lex9296 | 35:0f6adc0b95b9 | 522 | i32_Velocity = (int32_t) (in_PosizionatoreSW.i64_ActualPosition- i64_Position_Prec); // LA: Velocity in [ui/ms] |
lex9296 | 35:0f6adc0b95b9 | 523 | i64_Position_Prec = in_PosizionatoreSW.i64_ActualPosition; |
lex9296 | 35:0f6adc0b95b9 | 524 | i32_Acceleration = (i32_Velocity- i32_Velocity_Prec); // LA: Acceleration in [ui/ms^2] |
lex9296 | 35:0f6adc0b95b9 | 525 | i32_Velocity_Prec = i32_Velocity; |
lex9296 | 35:0f6adc0b95b9 | 526 | i32_Jerk = (i32_Acceleration- i32_Acceleration_Prec); // LA: Jerk |
lex9296 | 35:0f6adc0b95b9 | 527 | i32_Acceleration_Prec = i32_Acceleration; |
lex9296 | 33:f77aa3ecf87d | 528 | |
lex9296 | 35:0f6adc0b95b9 | 529 | fVelocity = (float) i32_Velocity * fPassedActual_sxs; // Velocity in [ui/s] |
lex9296 | 35:0f6adc0b95b9 | 530 | fAcceleration = (float) i32_Acceleration * fPassedActual_sxs; // Acceleration in [ui/s^2] |
lex9296 | 35:0f6adc0b95b9 | 531 | fJerk = (float) i32_Jerk * fPassedActual_sxs; // Jerk |
lex9296 | 34:0522cebfe489 | 532 | |
lex9296 | 35:0f6adc0b95b9 | 533 | // LA: PID Compute Section |
lex9296 | 35:0f6adc0b95b9 | 534 | // =================== |
lex9296 | 35:0f6adc0b95b9 | 535 | // |
lex9296 | 36:cab8aa44ef91 | 536 | if (out_PosizionatoreSW.b_ATVDirectionFW) { |
lex9296 | 36:cab8aa44ef91 | 537 | PID_VelocityClosedLoop_BW.reset(); |
lex9296 | 34:0522cebfe489 | 538 | |
lex9296 | 36:cab8aa44ef91 | 539 | // Update the process variable. |
lex9296 | 36:cab8aa44ef91 | 540 | PID_VelocityClosedLoop_FW.setProcessValue((float)i32_Velocity); |
lex9296 | 36:cab8aa44ef91 | 541 | // Set Desired Value |
lex9296 | 36:cab8aa44ef91 | 542 | PID_VelocityClosedLoop_FW.setSetPoint((float)out_PosizionatoreSW.i32_ATVSpeed); |
lex9296 | 36:cab8aa44ef91 | 543 | // Release a new output. |
lex9296 | 36:cab8aa44ef91 | 544 | f_PWMPercent = PID_VelocityClosedLoop_FW.compute(); |
lex9296 | 36:cab8aa44ef91 | 545 | } |
lex9296 | 36:cab8aa44ef91 | 546 | else { |
lex9296 | 36:cab8aa44ef91 | 547 | PID_VelocityClosedLoop_FW.reset(); |
lex9296 | 34:0522cebfe489 | 548 | |
lex9296 | 36:cab8aa44ef91 | 549 | // Update the process variable. |
lex9296 | 36:cab8aa44ef91 | 550 | PID_VelocityClosedLoop_BW.setProcessValue((float)i32_Velocity); |
lex9296 | 36:cab8aa44ef91 | 551 | // Set Desired Value |
lex9296 | 36:cab8aa44ef91 | 552 | PID_VelocityClosedLoop_BW.setSetPoint((float)out_PosizionatoreSW.i32_ATVSpeed); |
lex9296 | 36:cab8aa44ef91 | 553 | // Release a new output. |
lex9296 | 36:cab8aa44ef91 | 554 | f_PWMPercent = PID_VelocityClosedLoop_BW.compute(); |
lex9296 | 36:cab8aa44ef91 | 555 | } |
lex9296 | 35:0f6adc0b95b9 | 556 | PWM_PB3.write((float) 1.0- f_PWMPercent); // Set to x% |
lex9296 | 34:0522cebfe489 | 557 | } |