bab700db0c1cc0a4bcefe78fab4d4d23cd2c75c2
[aversive.git] / projects / microb2010 / ballboard / 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 <clock_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 "actuator.h"
48
49 int32_t encoders_spi_update_roller_speed(void *number)
50 {
51         static volatile int32_t roller_pos;
52         int32_t tmp, speed;
53         tmp = encoders_spi_get_value(number);
54         speed = tmp - roller_pos;
55         roller_pos = tmp;
56         return speed;
57 }
58
59 /* called every 5 ms */
60 static void do_cs(void *dummy)
61 {
62         /* read encoders */
63         if (ballboard.flags & DO_ENCODERS) {
64                 encoders_spi_manage(NULL);
65         }
66         /* control system */
67         if (ballboard.flags & DO_CS) {
68                 if (ballboard.roller.on)
69                         cs_manage(&ballboard.roller.cs);
70                 if (ballboard.forktrans.on)
71                         cs_manage(&ballboard.forktrans.cs);
72                 if (ballboard.forkrot.on)
73                         cs_manage(&ballboard.forkrot.cs);
74         }
75         if (ballboard.flags & DO_BD) {
76                 bd_manage_from_cs(&ballboard.roller.bd, &ballboard.roller.cs);
77                 bd_manage_from_cs(&ballboard.forktrans.bd, &ballboard.forktrans.cs);
78                 bd_manage_from_cs(&ballboard.forkrot.bd, &ballboard.forkrot.cs);
79         }
80         if (ballboard.flags & DO_POWER)
81                 BRAKE_OFF();
82         else
83                 BRAKE_ON();
84 }
85
86 void dump_cs(const char *name, struct cs *cs)
87 {
88         printf_P(PSTR("%s cons=% .5ld fcons=% .5ld err=% .5ld "
89                       "in=% .5ld out=% .5ld\r\n"), 
90                  name, cs_get_consign(cs), cs_get_filtered_consign(cs),
91                  cs_get_error(cs), cs_get_filtered_feedback(cs),
92                  cs_get_out(cs));
93 }
94
95 void dump_pid(const char *name, struct pid_filter *pid)
96 {
97         printf_P(PSTR("%s P=% .8ld I=% .8ld D=% .8ld out=% .8ld\r\n"),
98                  name,
99                  pid_get_value_in(pid) * pid_get_gain_P(pid),
100                  pid_get_value_I(pid) * pid_get_gain_I(pid),
101                  pid_get_value_D(pid) * pid_get_gain_D(pid),
102                  pid_get_value_out(pid));
103 }
104
105 void microb_cs_init(void)
106 {
107         /* ---- CS roller */
108         /* PID */
109         pid_init(&ballboard.roller.pid);
110         pid_set_gains(&ballboard.roller.pid, 80, 80, 250);
111         pid_set_maximums(&ballboard.roller.pid, 0, 10000, 4095);
112         pid_set_out_shift(&ballboard.roller.pid, 6);
113         pid_set_derivate_filter(&ballboard.roller.pid, 6);
114
115         /* CS */
116         cs_init(&ballboard.roller.cs);
117         cs_set_correct_filter(&ballboard.roller.cs, pid_do_filter, &ballboard.roller.pid);
118         cs_set_process_in(&ballboard.roller.cs, pwm_ng_set, ROLLER_PWM);
119         cs_set_process_out(&ballboard.roller.cs, encoders_spi_update_roller_speed, ROLLER_ENCODER);
120         cs_set_consign(&ballboard.roller.cs, 0);
121
122         /* ---- CS forktrans */
123         /* PID */
124         pid_init(&ballboard.forktrans.pid);
125         pid_set_gains(&ballboard.forktrans.pid, 200, 5, 250);
126         pid_set_maximums(&ballboard.forktrans.pid, 0, 10000, 2047);
127         pid_set_out_shift(&ballboard.forktrans.pid, 6);
128         pid_set_derivate_filter(&ballboard.forktrans.pid, 6);
129
130         /* QUADRAMP */
131         quadramp_init(&ballboard.forktrans.qr);
132         quadramp_set_1st_order_vars(&ballboard.forktrans.qr, 200, 200); /* set speed */
133         quadramp_set_2nd_order_vars(&ballboard.forktrans.qr, 20, 20); /* set accel */
134
135         /* CS */
136         cs_init(&ballboard.forktrans.cs);
137         cs_set_consign_filter(&ballboard.forktrans.cs, quadramp_do_filter, &ballboard.forktrans.qr);
138         cs_set_correct_filter(&ballboard.forktrans.cs, pid_do_filter, &ballboard.forktrans.pid);
139         cs_set_process_in(&ballboard.forktrans.cs, pwm_ng_set, FORKTRANS_PWM);
140         cs_set_process_out(&ballboard.forktrans.cs, encoders_spi_get_value, FORKTRANS_ENCODER);
141         cs_set_consign(&ballboard.forktrans.cs, 0);
142
143         /* Blocking detection */
144         bd_init(&ballboard.forktrans.bd);
145         bd_set_speed_threshold(&ballboard.forktrans.bd, 150);
146         bd_set_current_thresholds(&ballboard.forktrans.bd, 500, 8000, 1000000, 40);
147
148         /* ---- CS forkrot */
149         /* PID */
150         pid_init(&ballboard.forkrot.pid);
151         pid_set_gains(&ballboard.forkrot.pid, 200, 5, 250);
152         pid_set_maximums(&ballboard.forkrot.pid, 0, 10000, 2047);
153         pid_set_out_shift(&ballboard.forkrot.pid, 6);
154         pid_set_derivate_filter(&ballboard.forkrot.pid, 6);
155
156         /* QUADRAMP */
157         quadramp_init(&ballboard.forkrot.qr);
158         quadramp_set_1st_order_vars(&ballboard.forkrot.qr, 200, 200); /* set speed */
159         quadramp_set_2nd_order_vars(&ballboard.forkrot.qr, 20, 20); /* set accel */
160
161         /* CS */
162         cs_init(&ballboard.forkrot.cs);
163         cs_set_consign_filter(&ballboard.forkrot.cs, quadramp_do_filter, &ballboard.forkrot.qr);
164         cs_set_correct_filter(&ballboard.forkrot.cs, pid_do_filter, &ballboard.forkrot.pid);
165         cs_set_process_in(&ballboard.forkrot.cs, pwm_ng_set, FORKROT_PWM);
166         cs_set_process_out(&ballboard.forkrot.cs, encoders_spi_get_value, FORKROT_ENCODER);
167         cs_set_consign(&ballboard.forkrot.cs, 0);
168
169         /* Blocking detection */
170         bd_init(&ballboard.forkrot.bd);
171         bd_set_speed_threshold(&ballboard.forkrot.bd, 150);
172         bd_set_current_thresholds(&ballboard.forkrot.bd, 500, 8000, 1000000, 40);
173
174         /* set them on !! */
175         ballboard.roller.on = 0;
176         ballboard.forktrans.on = 1;
177         ballboard.forkrot.on = 1;
178
179
180         scheduler_add_periodical_event_priority(do_cs, NULL,
181                                                 5000L / SCHEDULER_UNIT, 
182                                                 CS_PRIO);
183 }