projects/microb2009/sensorboard/cs.c

   1 /*
   2  *  Copyright Droids Corporation
   3  *  Olivier Matz <zer0@droids-corp.org>
   4  *
   5  *  This program is free software; you can redistribute it and/or modify
   6  *  it under the terms of the GNU General Public License as published by
   7  *  the Free Software Foundation; either version 2 of the License, or
   8  *  (at your option) any later version.
   9  *
  10  *  This program is distributed in the hope that it will be useful,
  11  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
  12  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  13  *  GNU General Public License for more details.
  14  *
  15  *  You should have received a copy of the GNU General Public License
  16  *  along with this program; if not, write to the Free Software
  17  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  18  *
  19  *  Revision : $Id: cs.c,v 1.4 2009-05-27 20:04:07 zer0 Exp $
  20  *
  21  */
  22
  23 #include <stdio.h>
  24 #include <string.h>
  25
  26 #include <aversive.h>
  27 #include <aversive/error.h>
  28
  29 #include <ax12.h>
  30 #include <spi.h>
  31 #include <encoders_spi.h>
  32 #include <pwm_ng.h>
  33 #include <timer.h>
  34 #include <scheduler.h>
  35 #include <time.h>
  36 #include <adc.h>
  37
  38 #include <pid.h>
  39 #include <quadramp.h>
  40 #include <control_system_manager.h>
  41 #include <blocking_detection_manager.h>
  42
  43 #include <parse.h>
  44 #include <rdline.h>
  45
  46 #include "main.h"
  47 #include "beacon.h"
  48 #include "scanner.h"
  49 #include "actuator.h"
  50
  51 /* called every 5 ms */
  52 static void do_cs(void *dummy)
  53 {
  54         /* read encoders */
  55         if (sensorboard.flags & DO_ENCODERS) {
  56                 encoders_spi_manage(NULL);
  57         }
  58         /* control system */
  59         if (sensorboard.flags & DO_CS) {
  60                 if (sensorboard.beacon.on)
  61                         cs_manage(&sensorboard.beacon.cs);
  62                 if (sensorboard.scanner.on)
  63                         cs_manage(&sensorboard.scanner.cs);
  64         }
  65         if (sensorboard.flags & DO_BD) {
  66                 bd_manage_from_cs(&sensorboard.beacon.bd, &sensorboard.beacon.cs);
  67                 bd_manage_from_cs(&sensorboard.scanner.bd, &sensorboard.scanner.cs);
  68         }
  69         if (sensorboard.flags & DO_POWER)
  70                 BRAKE_OFF();
  71         else
  72                 BRAKE_ON();
  73 }
  74
  75 void dump_cs(const char *name, struct cs *cs)
  76 {
  77         printf_P(PSTR("%s cons=% .5ld fcons=% .5ld err=% .5ld "
  78                       "in=% .5ld out=% .5ld\r\n"),
  79                  name, cs_get_consign(cs), cs_get_filtered_consign(cs),
  80                  cs_get_error(cs), cs_get_filtered_feedback(cs),
  81                  cs_get_out(cs));
  82 }
  83
  84 void dump_pid(const char *name, struct pid_filter *pid)
  85 {
  86         printf_P(PSTR("%s P=% .8ld I=% .8ld D=% .8ld out=% .8ld\r\n"),
  87                  name,
  88                  pid_get_value_in(pid) * pid_get_gain_P(pid),
  89                  pid_get_value_I(pid) * pid_get_gain_I(pid),
  90                  pid_get_value_D(pid) * pid_get_gain_D(pid),
  91                  pid_get_value_out(pid));
  92 }
  93
  94 void microb_cs_init(void)
  95 {
  96         /* ---- CS beacon */
  97         /* PID */
  98         pid_init(&sensorboard.beacon.pid);
  99         pid_set_gains(&sensorboard.beacon.pid, 80, 80, 250);
 100         pid_set_maximums(&sensorboard.beacon.pid, 0, 10000, 2000);
 101         pid_set_out_shift(&sensorboard.beacon.pid, 6);
 102         pid_set_derivate_filter(&sensorboard.beacon.pid, 6);
 103
 104         /* CS */
 105         cs_init(&sensorboard.beacon.cs);
 106         cs_set_correct_filter(&sensorboard.beacon.cs, pid_do_filter, &sensorboard.beacon.pid);
 107         cs_set_process_in(&sensorboard.beacon.cs, pwm_ng_set, BEACON_PWM);
 108         cs_set_process_out(&sensorboard.beacon.cs, encoders_spi_update_beacon_speed, BEACON_ENCODER);
 109         cs_set_consign(&sensorboard.beacon.cs, 0);
 110
 111         /* ---- CS scanner */
 112         /* PID */
 113         pid_init(&sensorboard.scanner.pid);
 114         pid_set_gains(&sensorboard.scanner.pid, 200, 5, 250);
 115         pid_set_maximums(&sensorboard.scanner.pid, 0, 10000, 2047);
 116         pid_set_out_shift(&sensorboard.scanner.pid, 6);
 117         pid_set_derivate_filter(&sensorboard.scanner.pid, 6);
 118
 119         /* QUADRAMP */
 120         quadramp_init(&sensorboard.scanner.qr);
 121         quadramp_set_1st_order_vars(&sensorboard.scanner.qr, 200, 200); /* set speed */
 122         quadramp_set_2nd_order_vars(&sensorboard.scanner.qr, 20, 20); /* set accel */
 123
 124         /* CS */
 125         cs_init(&sensorboard.scanner.cs);
 126         cs_set_consign_filter(&sensorboard.scanner.cs, quadramp_do_filter, &sensorboard.scanner.qr);
 127         cs_set_correct_filter(&sensorboard.scanner.cs, pid_do_filter, &sensorboard.scanner.pid);
 128         cs_set_process_in(&sensorboard.scanner.cs, pwm_ng_set, SCANNER_PWM);
 129         cs_set_process_out(&sensorboard.scanner.cs, encoders_spi_update_scanner, SCANNER_ENCODER);
 130         cs_set_consign(&sensorboard.scanner.cs, 0);
 131
 132         /* Blocking detection */
 133         bd_init(&sensorboard.scanner.bd);
 134         bd_set_speed_threshold(&sensorboard.scanner.bd, 150);
 135         bd_set_current_thresholds(&sensorboard.scanner.bd, 500, 8000, 1000000, 40);
 136
 137         /* set them on !! */
 138         sensorboard.beacon.on = 0;
 139         sensorboard.scanner.on = 1;
 140
 141
 142         scheduler_add_periodical_event_priority(do_cs, NULL,
 143                                                 5000L / SCHEDULER_UNIT,
 144                                                 CS_PRIO);
 145 }