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.forktrans.bd, &ballboard.forktrans.cs);
  77                 bd_manage_from_cs(&ballboard.forkrot.bd, &ballboard.forkrot.cs);
  78                 bd_manage_from_speed_cmd(&ballboard.roller.bd,
  79                                          cs_get_filtered_feedback(&ballboard.roller.cs),
  80                                          cs_get_out(&ballboard.roller.cs));
  81
  82                 /* urgent case: stop power on blocking */
  83                 if (ballboard.flags & DO_ERRBLOCKING) {
  84                         if (bd_get(&ballboard.forktrans.bd) ||
  85                             bd_get(&ballboard.forkrot.bd)) {
  86                                 printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n"));
  87                                 ballboard.flags &= ~(DO_POWER | DO_ERRBLOCKING);
  88                         }
  89                 }
  90         }
  91         if (ballboard.flags & DO_POWER)
  92                 BRAKE_OFF();
  93         else
  94                 BRAKE_ON();
  95 }
  96
  97 void dump_cs(const char *name, struct cs *cs)
  98 {
  99         printf_P(PSTR("%s cons=% .5ld fcons=% .5ld err=% .5ld "
 100                       "in=% .5ld out=% .5ld\r\n"),
 101                  name, cs_get_consign(cs), cs_get_filtered_consign(cs),
 102                  cs_get_error(cs), cs_get_filtered_feedback(cs),
 103                  cs_get_out(cs));
 104 }
 105
 106 void dump_pid(const char *name, struct pid_filter *pid)
 107 {
 108         printf_P(PSTR("%s P=% .8ld I=% .8ld D=% .8ld out=% .8ld\r\n"),
 109                  name,
 110                  pid_get_value_in(pid) * pid_get_gain_P(pid),
 111                  pid_get_value_I(pid) * pid_get_gain_I(pid),
 112                  pid_get_value_D(pid) * pid_get_gain_D(pid),
 113                  pid_get_value_out(pid));
 114 }
 115
 116 void microb_cs_init(void)
 117 {
 118         /* ---- CS roller */
 119         /* PID */
 120         pid_init(&ballboard.roller.pid);
 121         pid_set_gains(&ballboard.roller.pid, 80, 80, 250);
 122         pid_set_maximums(&ballboard.roller.pid, 0, 10000, 4095);
 123         pid_set_out_shift(&ballboard.roller.pid, 6);
 124         pid_set_derivate_filter(&ballboard.roller.pid, 6);
 125
 126         /* QUADRAMP (used as a ramp filter) */
 127         quadramp_init(&ballboard.roller.qr);
 128         quadramp_set_1st_order_vars(&ballboard.roller.qr, 20, 20);
 129         quadramp_set_2nd_order_vars(&ballboard.roller.qr, 0, 0);
 130
 131         /* CS */
 132         cs_init(&ballboard.roller.cs);
 133         cs_set_consign_filter(&ballboard.roller.cs, quadramp_do_filter, &ballboard.roller.qr);
 134         cs_set_correct_filter(&ballboard.roller.cs, pid_do_filter, &ballboard.roller.pid);
 135         cs_set_process_in(&ballboard.roller.cs, pwm_ng_set, ROLLER_PWM);
 136         cs_set_process_out(&ballboard.roller.cs, encoders_spi_update_roller_speed, ROLLER_ENCODER);
 137         cs_set_consign(&ballboard.roller.cs, 0);
 138
 139         /* Blocking detection */
 140         bd_init(&ballboard.roller.bd);
 141 #define ROLLER_SPEED_THRES (ROLLER_SPEED * 0.75)
 142         bd_set_speed_threshold(&ballboard.roller.bd, ROLLER_SPEED_THRES);
 143         bd_set_current_thresholds(&ballboard.roller.bd, 500, 1500, 1000000, 20);
 144
 145         /* ---- CS forktrans */
 146         /* PID */
 147         pid_init(&ballboard.forktrans.pid);
 148         pid_set_gains(&ballboard.forktrans.pid, 30, 5, 0);
 149         pid_set_maximums(&ballboard.forktrans.pid, 0, 10000, 2047);
 150         pid_set_out_shift(&ballboard.forktrans.pid, 6);
 151         pid_set_derivate_filter(&ballboard.forktrans.pid, 6);
 152
 153         /* QUADRAMP */
 154         quadramp_init(&ballboard.forktrans.qr);
 155         quadramp_set_1st_order_vars(&ballboard.forktrans.qr, 200, 200); /* set speed */
 156         quadramp_set_2nd_order_vars(&ballboard.forktrans.qr, 20, 20); /* set accel */
 157
 158         /* CS */
 159         cs_init(&ballboard.forktrans.cs);
 160         cs_set_consign_filter(&ballboard.forktrans.cs, quadramp_do_filter, &ballboard.forktrans.qr);
 161         cs_set_correct_filter(&ballboard.forktrans.cs, pid_do_filter, &ballboard.forktrans.pid);
 162         cs_set_process_in(&ballboard.forktrans.cs, pwm_ng_set, FORKTRANS_PWM);
 163         cs_set_process_out(&ballboard.forktrans.cs, encoders_spi_get_value, FORKTRANS_ENCODER);
 164         cs_set_consign(&ballboard.forktrans.cs, 0);
 165
 166         /* Blocking detection */
 167         bd_init(&ballboard.forktrans.bd);
 168         bd_set_speed_threshold(&ballboard.forktrans.bd, 150);
 169         bd_set_current_thresholds(&ballboard.forktrans.bd, 500, 8000, 1000000, 200);
 170
 171         /* ---- CS forkrot */
 172         /* PID */
 173         pid_init(&ballboard.forkrot.pid);
 174         pid_set_gains(&ballboard.forkrot.pid, 30, 5, 0);
 175         pid_set_maximums(&ballboard.forkrot.pid, 0, 10000, 2047);
 176         pid_set_out_shift(&ballboard.forkrot.pid, 6);
 177         pid_set_derivate_filter(&ballboard.forkrot.pid, 6);
 178
 179         /* QUADRAMP */
 180         quadramp_init(&ballboard.forkrot.qr);
 181         quadramp_set_1st_order_vars(&ballboard.forkrot.qr, 800, 800); /* set speed */
 182         quadramp_set_2nd_order_vars(&ballboard.forkrot.qr, 20, 20); /* set accel */
 183
 184         /* CS */
 185         cs_init(&ballboard.forkrot.cs);
 186         cs_set_consign_filter(&ballboard.forkrot.cs, quadramp_do_filter, &ballboard.forkrot.qr);
 187         cs_set_correct_filter(&ballboard.forkrot.cs, pid_do_filter, &ballboard.forkrot.pid);
 188         cs_set_process_in(&ballboard.forkrot.cs, pwm_ng_set, FORKROT_PWM);
 189         cs_set_process_out(&ballboard.forkrot.cs, encoders_spi_get_value, FORKROT_ENCODER);
 190         cs_set_consign(&ballboard.forkrot.cs, 0);
 191
 192         /* Blocking detection */
 193         bd_init(&ballboard.forkrot.bd);
 194         bd_set_speed_threshold(&ballboard.forkrot.bd, 150);
 195         bd_set_current_thresholds(&ballboard.forkrot.bd, 500, 8000, 1000000, 200);
 196
 197         /* set them on !! */
 198         ballboard.roller.on = 1;
 199         ballboard.forktrans.on = 1;
 200         ballboard.forkrot.on = 1;
 201
 202
 203         scheduler_add_periodical_event_priority(do_cs, NULL,
 204                                                 5000L / SCHEDULER_UNIT,
 205                                                 CS_PRIO);
 206 }