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) && (ballboard.flags & DO_POWER)) {
  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                 /* urgent case: stop power on blocking */
  81                 if (ballboard.flags & DO_ERRBLOCKING) {
  82                         if (bd_get(&ballboard.roller.bd) ||
  83                             bd_get(&ballboard.forktrans.bd) ||
  84                             bd_get(&ballboard.forkrot.bd)) {
  85                                 printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n"));
  86                                 ballboard.flags &= ~(DO_POWER | DO_ERRBLOCKING);
  87                         }
  88                 }
  89         }
  90         if (ballboard.flags & DO_POWER)
  91                 BRAKE_OFF();
  92         else
  93                 BRAKE_ON();
  94 }
  95
  96 void dump_cs(const char *name, struct cs *cs)
  97 {
  98         printf_P(PSTR("%s cons=% .5ld fcons=% .5ld err=% .5ld "
  99                       "in=% .5ld out=% .5ld\r\n"),
 100                  name, cs_get_consign(cs), cs_get_filtered_consign(cs),
 101                  cs_get_error(cs), cs_get_filtered_feedback(cs),
 102                  cs_get_out(cs));
 103 }
 104
 105 void dump_pid(const char *name, struct pid_filter *pid)
 106 {
 107         printf_P(PSTR("%s P=% .8ld I=% .8ld D=% .8ld out=% .8ld\r\n"),
 108                  name,
 109                  pid_get_value_in(pid) * pid_get_gain_P(pid),
 110                  pid_get_value_I(pid) * pid_get_gain_I(pid),
 111                  pid_get_value_D(pid) * pid_get_gain_D(pid),
 112                  pid_get_value_out(pid));
 113 }
 114
 115 void microb_cs_init(void)
 116 {
 117         /* ---- CS roller */
 118         /* PID */
 119         pid_init(&ballboard.roller.pid);
 120         pid_set_gains(&ballboard.roller.pid, 80, 80, 250);
 121         pid_set_maximums(&ballboard.roller.pid, 0, 10000, 4095);
 122         pid_set_out_shift(&ballboard.roller.pid, 6);
 123         pid_set_derivate_filter(&ballboard.roller.pid, 6);
 124
 125         /* CS */
 126         cs_init(&ballboard.roller.cs);
 127         cs_set_correct_filter(&ballboard.roller.cs, pid_do_filter, &ballboard.roller.pid);
 128         cs_set_process_in(&ballboard.roller.cs, pwm_ng_set, ROLLER_PWM);
 129         cs_set_process_out(&ballboard.roller.cs, encoders_spi_update_roller_speed, ROLLER_ENCODER);
 130         cs_set_consign(&ballboard.roller.cs, 0);
 131
 132         /* Blocking detection */
 133         bd_init(&ballboard.roller.bd);
 134         bd_set_speed_threshold(&ballboard.roller.bd, 150);
 135         bd_set_current_thresholds(&ballboard.roller.bd, 500, 8000, 1000000, 200);
 136
 137         /* ---- CS forktrans */
 138         /* PID */
 139         pid_init(&ballboard.forktrans.pid);
 140         pid_set_gains(&ballboard.forktrans.pid, 30, 5, 0);
 141         pid_set_maximums(&ballboard.forktrans.pid, 0, 10000, 2047);
 142         pid_set_out_shift(&ballboard.forktrans.pid, 6);
 143         pid_set_derivate_filter(&ballboard.forktrans.pid, 6);
 144
 145         /* QUADRAMP */
 146         quadramp_init(&ballboard.forktrans.qr);
 147         quadramp_set_1st_order_vars(&ballboard.forktrans.qr, 200, 200); /* set speed */
 148         quadramp_set_2nd_order_vars(&ballboard.forktrans.qr, 20, 20); /* set accel */
 149
 150         /* CS */
 151         cs_init(&ballboard.forktrans.cs);
 152         cs_set_consign_filter(&ballboard.forktrans.cs, quadramp_do_filter, &ballboard.forktrans.qr);
 153         cs_set_correct_filter(&ballboard.forktrans.cs, pid_do_filter, &ballboard.forktrans.pid);
 154         cs_set_process_in(&ballboard.forktrans.cs, pwm_ng_set, FORKTRANS_PWM);
 155         cs_set_process_out(&ballboard.forktrans.cs, encoders_spi_get_value, FORKTRANS_ENCODER);
 156         cs_set_consign(&ballboard.forktrans.cs, 0);
 157
 158         /* Blocking detection */
 159         bd_init(&ballboard.forktrans.bd);
 160         bd_set_speed_threshold(&ballboard.forktrans.bd, 150);
 161         bd_set_current_thresholds(&ballboard.forktrans.bd, 500, 8000, 1000000, 200);
 162
 163         /* ---- CS forkrot */
 164         /* PID */
 165         pid_init(&ballboard.forkrot.pid);
 166         pid_set_gains(&ballboard.forkrot.pid, 30, 5, 0);
 167         pid_set_maximums(&ballboard.forkrot.pid, 0, 10000, 2047);
 168         pid_set_out_shift(&ballboard.forkrot.pid, 6);
 169         pid_set_derivate_filter(&ballboard.forkrot.pid, 6);
 170
 171         /* QUADRAMP */
 172         quadramp_init(&ballboard.forkrot.qr);
 173         quadramp_set_1st_order_vars(&ballboard.forkrot.qr, 800, 800); /* set speed */
 174         quadramp_set_2nd_order_vars(&ballboard.forkrot.qr, 20, 20); /* set accel */
 175
 176         /* CS */
 177         cs_init(&ballboard.forkrot.cs);
 178         cs_set_consign_filter(&ballboard.forkrot.cs, quadramp_do_filter, &ballboard.forkrot.qr);
 179         cs_set_correct_filter(&ballboard.forkrot.cs, pid_do_filter, &ballboard.forkrot.pid);
 180         cs_set_process_in(&ballboard.forkrot.cs, pwm_ng_set, FORKROT_PWM);
 181         cs_set_process_out(&ballboard.forkrot.cs, encoders_spi_get_value, FORKROT_ENCODER);
 182         cs_set_consign(&ballboard.forkrot.cs, 0);
 183
 184         /* Blocking detection */
 185         bd_init(&ballboard.forkrot.bd);
 186         bd_set_speed_threshold(&ballboard.forkrot.bd, 150);
 187         bd_set_current_thresholds(&ballboard.forkrot.bd, 500, 8000, 1000000, 200);
 188
 189         /* set them on !! */
 190         ballboard.roller.on = 1;
 191         ballboard.forktrans.on = 1;
 192         ballboard.forkrot.on = 1;
 193
 194
 195         scheduler_add_periodical_event_priority(do_cs, NULL,
 196                                                 5000L / SCHEDULER_UNIT,
 197                                                 CS_PRIO);
 198 }