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 #include "beacon.h"
  49
  50 int32_t encoders_spi_update_roller_speed(void *number)
  51 {
  52         static volatile int32_t roller_pos;
  53         int32_t tmp, speed;
  54         tmp = encoders_spi_get_value(number);
  55         speed = tmp - roller_pos;
  56         roller_pos = tmp;
  57         return speed;
  58 }
  59
  60 /* called every 5 ms */
  61 static void do_cs(void *dummy)
  62 {
  63         /* read encoders */
  64         if (ballboard.flags & DO_ENCODERS) {
  65                 encoders_spi_manage(NULL);
  66         }
  67         /* control system */
  68         if (ballboard.flags & DO_CS) {
  69                 if (ballboard.roller.on)
  70                         cs_manage(&ballboard.roller.cs);
  71                 if (ballboard.forktrans.on)
  72                         cs_manage(&ballboard.forktrans.cs);
  73                 if (ballboard.forkrot.on)
  74                         cs_manage(&ballboard.forkrot.cs);
  75                 if (ballboard.beacon.on)
  76                         cs_manage(&ballboard.beacon.cs);
  77         }
  78         if ((ballboard.flags & DO_BD) && (ballboard.flags & DO_POWER)) {
  79                 bd_manage_from_cs(&ballboard.forktrans.bd, &ballboard.forktrans.cs);
  80                 bd_manage_from_cs(&ballboard.forkrot.bd, &ballboard.forkrot.cs);
  81                 bd_manage_from_speed_cmd(&ballboard.roller.bd,
  82                                          cs_get_filtered_feedback(&ballboard.roller.cs),
  83                                          cs_get_out(&ballboard.roller.cs));
  84
  85 #if 0
  86                 /* urgent case: stop power on blocking */
  87                 if (ballboard.flags & DO_ERRBLOCKING) {
  88                         if (bd_get(&ballboard.forktrans.bd) ||
  89                             bd_get(&ballboard.forkrot.bd)) {
  90                                 printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n"));
  91                                 ballboard.flags &= ~(DO_POWER | DO_ERRBLOCKING);
  92                         }
  93                 }
  94 #endif
  95         }
  96         if (ballboard.flags & DO_POWER)
  97                 BRAKE_OFF();
  98         else
  99                 BRAKE_ON();
 100 }
 101
 102 void dump_cs(const char *name, struct cs *cs)
 103 {
 104         printf_P(PSTR("%s cons=% .5ld fcons=% .5ld err=% .5ld "
 105                       "in=% .5ld out=% .5ld\r\n"),
 106                  name, cs_get_consign(cs), cs_get_filtered_consign(cs),
 107                  cs_get_error(cs), cs_get_filtered_feedback(cs),
 108                  cs_get_out(cs));
 109 }
 110
 111 void dump_pid(const char *name, struct pid_filter *pid)
 112 {
 113         printf_P(PSTR("%s P=% .8ld I=% .8ld D=% .8ld out=% .8ld\r\n"),
 114                  name,
 115                  pid_get_value_in(pid) * pid_get_gain_P(pid),
 116                  pid_get_value_I(pid) * pid_get_gain_I(pid),
 117                  pid_get_value_D(pid) * pid_get_gain_D(pid),
 118                  pid_get_value_out(pid));
 119 }
 120
 121 void microb_cs_init(void)
 122 {
 123         /* ---- CS roller */
 124         /* PID */
 125         pid_init(&ballboard.roller.pid);
 126         pid_set_gains(&ballboard.roller.pid, 80, 80, 250);
 127         pid_set_maximums(&ballboard.roller.pid, 0, 10000, 4095);
 128         pid_set_out_shift(&ballboard.roller.pid, 6);
 129         pid_set_derivate_filter(&ballboard.roller.pid, 6);
 130
 131         /* QUADRAMP (used as a ramp filter) */
 132         quadramp_init(&ballboard.roller.qr);
 133         quadramp_set_1st_order_vars(&ballboard.roller.qr, 20, 20);
 134         quadramp_set_2nd_order_vars(&ballboard.roller.qr, 0, 0);
 135
 136         /* CS */
 137         cs_init(&ballboard.roller.cs);
 138         cs_set_consign_filter(&ballboard.roller.cs, quadramp_do_filter, &ballboard.roller.qr);
 139         cs_set_correct_filter(&ballboard.roller.cs, pid_do_filter, &ballboard.roller.pid);
 140         cs_set_process_in(&ballboard.roller.cs, pwm_ng_set, ROLLER_PWM);
 141         cs_set_process_out(&ballboard.roller.cs, encoders_spi_update_roller_speed, ROLLER_ENCODER);
 142         cs_set_consign(&ballboard.roller.cs, 0);
 143
 144         /* Blocking detection */
 145         bd_init(&ballboard.roller.bd);
 146 #define ROLLER_SPEED_THRES (ROLLER_SPEED * 0.75)
 147         bd_set_speed_threshold(&ballboard.roller.bd, ROLLER_SPEED_THRES);
 148         bd_set_current_thresholds(&ballboard.roller.bd, 500, 1500, 1200000, 70);
 149
 150         /* ---- CS forktrans */
 151         /* PID */
 152         pid_init(&ballboard.forktrans.pid);
 153         pid_set_gains(&ballboard.forktrans.pid, 30, 5, 0);
 154         pid_set_maximums(&ballboard.forktrans.pid, 0, 10000, 2047);
 155         pid_set_out_shift(&ballboard.forktrans.pid, 6);
 156         pid_set_derivate_filter(&ballboard.forktrans.pid, 6);
 157
 158         /* QUADRAMP */
 159         quadramp_init(&ballboard.forktrans.qr);
 160         quadramp_set_1st_order_vars(&ballboard.forktrans.qr, 200, 200); /* set speed */
 161         quadramp_set_2nd_order_vars(&ballboard.forktrans.qr, 20, 20); /* set accel */
 162
 163         /* CS */
 164         cs_init(&ballboard.forktrans.cs);
 165         cs_set_consign_filter(&ballboard.forktrans.cs, quadramp_do_filter, &ballboard.forktrans.qr);
 166         cs_set_correct_filter(&ballboard.forktrans.cs, pid_do_filter, &ballboard.forktrans.pid);
 167         cs_set_process_in(&ballboard.forktrans.cs, pwm_ng_set, FORKTRANS_PWM);
 168         cs_set_process_out(&ballboard.forktrans.cs, encoders_spi_get_value, FORKTRANS_ENCODER);
 169         cs_set_consign(&ballboard.forktrans.cs, 0);
 170
 171         /* Blocking detection */
 172         bd_init(&ballboard.forktrans.bd);
 173         bd_set_speed_threshold(&ballboard.forktrans.bd, 150);
 174         bd_set_current_thresholds(&ballboard.forktrans.bd, 500, 8000, 1000000, 200);
 175
 176         /* ---- CS forkrot */
 177         /* PID */
 178         pid_init(&ballboard.forkrot.pid);
 179         pid_set_gains(&ballboard.forkrot.pid, 30, 5, 0);
 180         pid_set_maximums(&ballboard.forkrot.pid, 0, 10000, 2047);
 181         pid_set_out_shift(&ballboard.forkrot.pid, 6);
 182         pid_set_derivate_filter(&ballboard.forkrot.pid, 6);
 183
 184         /* QUADRAMP */
 185         quadramp_init(&ballboard.forkrot.qr);
 186         quadramp_set_1st_order_vars(&ballboard.forkrot.qr, 1000, 500); /* set speed */
 187         quadramp_set_2nd_order_vars(&ballboard.forkrot.qr, 100, 20); /* set accel */
 188
 189         /* CS */
 190         cs_init(&ballboard.forkrot.cs);
 191         cs_set_consign_filter(&ballboard.forkrot.cs, quadramp_do_filter, &ballboard.forkrot.qr);
 192         cs_set_correct_filter(&ballboard.forkrot.cs, pid_do_filter, &ballboard.forkrot.pid);
 193         cs_set_process_in(&ballboard.forkrot.cs, pwm_ng_set, FORKROT_PWM);
 194         cs_set_process_out(&ballboard.forkrot.cs, encoders_spi_get_value, FORKROT_ENCODER);
 195         cs_set_consign(&ballboard.forkrot.cs, 0);
 196
 197         /* Blocking detection */
 198         bd_init(&ballboard.forkrot.bd);
 199         bd_set_speed_threshold(&ballboard.forkrot.bd, 150);
 200         bd_set_current_thresholds(&ballboard.forkrot.bd, 500, 8000, 1000000, 200);
 201
 202         /* BEACON */
 203
 204         /* PID */
 205         pid_init(&ballboard.beacon.pid);
 206         pid_set_gains(&ballboard.beacon.pid, 80, 80, 250);
 207         pid_set_maximums(&ballboard.beacon.pid, 0, 10000, 1500);
 208         pid_set_out_shift(&ballboard.beacon.pid, 6);
 209         pid_set_derivate_filter(&ballboard.beacon.pid, 6);
 210
 211         /* CS */
 212         cs_init(&ballboard.beacon.cs);
 213         cs_set_correct_filter(&ballboard.beacon.cs, pid_do_filter, &ballboard.beacon.pid);
 214         cs_set_process_in(&ballboard.beacon.cs, pwm_ng_set, BEACON_PWM);
 215         cs_set_process_out(&ballboard.beacon.cs, encoders_spi_update_beacon_speed, BEACON_ENCODER);
 216         cs_set_consign(&ballboard.beacon.cs, 0);
 217
 218         /* set them on !! */
 219         ballboard.roller.on = 1;
 220         ballboard.forktrans.on = 1;
 221         ballboard.forkrot.on = 0;
 222         ballboard.beacon.on = 0;
 223
 224
 225         scheduler_add_periodical_event_priority(do_cs, NULL,
 226                                                 5000L / SCHEDULER_UNIT,
 227                                                 CS_PRIO);
 228 }