projects/microb2010/cobboard/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 2009-04-24 19:30:42 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 "spickle.h"
  49 #include "shovel.h"
  50
  51 /* called every 5 ms */
  52 static void do_cs(__attribute__((unused)) void *dummy)
  53 {
  54         /* read encoders */
  55         if (cobboard.flags & DO_ENCODERS) {
  56                 encoders_spi_manage(NULL);
  57         }
  58
  59         /* control system */
  60         if (cobboard.flags & DO_CS) {
  61                 if (cobboard.left_spickle.on)
  62                         cs_manage(&cobboard.left_spickle.cs);
  63                 if (cobboard.right_spickle.on)
  64                         cs_manage(&cobboard.right_spickle.cs);
  65                 if (cobboard.shovel.on)
  66                         cs_manage(&cobboard.shovel.cs);
  67         }
  68
  69         if ((cobboard.flags & DO_BD) && (cobboard.flags & DO_POWER)) {
  70                 bd_manage_from_cs(&cobboard.left_spickle.bd, &cobboard.left_spickle.cs);
  71                 bd_manage_from_cs(&cobboard.right_spickle.bd, &cobboard.right_spickle.cs);
  72                 bd_manage_from_cs(&cobboard.shovel.bd, &cobboard.shovel.cs);
  73
  74                 /* urgent case: stop power on blocking */
  75                 if (cobboard.flags & DO_ERRBLOCKING) {
  76 /*                      if (bd_get(&cobboard.left_spickle.bd) || */
  77 /*                          bd_get(&cobboard.right_spickle.bd) || */
  78 /*                          bd_get(&cobboard.shovel.bd)) { */
  79 /*                              printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n")); */
  80 /*                              cobboard.flags &= ~(DO_POWER | DO_ERRBLOCKING); */
  81 /*                      } */
  82                 }
  83         }
  84         if (cobboard.flags & DO_POWER)
  85                 BRAKE_OFF();
  86         else
  87                 BRAKE_ON();
  88 }
  89
  90 void dump_cs_debug(const char *name, struct cs *cs)
  91 {
  92         DEBUG(E_USER_CS, "%s cons=% .5ld fcons=% .5ld err=% .5ld "
  93               "in=% .5ld out=% .5ld",
  94               name, cs_get_consign(cs), cs_get_filtered_consign(cs),
  95               cs_get_error(cs), cs_get_filtered_feedback(cs),
  96               cs_get_out(cs));
  97 }
  98
  99 void dump_cs(const char *name, struct cs *cs)
 100 {
 101         printf_P(PSTR("%s cons=% .5ld fcons=% .5ld err=% .5ld "
 102                       "in=% .5ld out=% .5ld\r\n"),
 103                  name, cs_get_consign(cs), cs_get_filtered_consign(cs),
 104                  cs_get_error(cs), cs_get_filtered_feedback(cs),
 105                  cs_get_out(cs));
 106 }
 107
 108 void dump_pid(const char *name, struct pid_filter *pid)
 109 {
 110         printf_P(PSTR("%s P=% .8ld I=% .8ld D=% .8ld out=% .8ld\r\n"),
 111                  name,
 112                  pid_get_value_in(pid) * pid_get_gain_P(pid),
 113                  pid_get_value_I(pid) * pid_get_gain_I(pid),
 114                  pid_get_value_D(pid) * pid_get_gain_D(pid),
 115                  pid_get_value_out(pid));
 116 }
 117
 118 void microb_cs_init(void)
 119 {
 120         /* ---- CS left_spickle */
 121         /* PID */
 122         pid_init(&cobboard.left_spickle.pid);
 123         pid_set_gains(&cobboard.left_spickle.pid, 400, 10, 1500);
 124         pid_set_maximums(&cobboard.left_spickle.pid, 0, 25000, 4095);
 125         pid_set_out_shift(&cobboard.left_spickle.pid, 10);
 126         pid_set_derivate_filter(&cobboard.left_spickle.pid, 4);
 127
 128         /* CS */
 129         cs_init(&cobboard.left_spickle.cs);
 130         cs_set_correct_filter(&cobboard.left_spickle.cs, pid_do_filter, &cobboard.left_spickle.pid);
 131         cs_set_process_in(&cobboard.left_spickle.cs, spickle_set, LEFT_SPICKLE_PWM);
 132         cs_set_process_out(&cobboard.left_spickle.cs, encoders_spi_get_value, LEFT_SPICKLE_ENCODER);
 133         cs_set_consign(&cobboard.left_spickle.cs, 0);
 134
 135         /* Blocking detection */
 136         bd_init(&cobboard.left_spickle.bd);
 137         bd_set_speed_threshold(&cobboard.left_spickle.bd, 150);
 138         bd_set_current_thresholds(&cobboard.left_spickle.bd, 500, 8000, 1000000, 200);
 139
 140         /* ---- CS right_spickle */
 141         /* PID */
 142         pid_init(&cobboard.right_spickle.pid);
 143         pid_set_gains(&cobboard.right_spickle.pid, 400, 10, 1500);
 144         pid_set_maximums(&cobboard.right_spickle.pid, 0, 25000, 4095);
 145         pid_set_out_shift(&cobboard.right_spickle.pid, 10);
 146         pid_set_derivate_filter(&cobboard.right_spickle.pid, 4);
 147
 148         /* CS */
 149         cs_init(&cobboard.right_spickle.cs);
 150         cs_set_correct_filter(&cobboard.right_spickle.cs, pid_do_filter, &cobboard.right_spickle.pid);
 151         cs_set_process_in(&cobboard.right_spickle.cs, spickle_set, RIGHT_SPICKLE_PWM);
 152         cs_set_process_out(&cobboard.right_spickle.cs, encoders_spi_get_value, RIGHT_SPICKLE_ENCODER);
 153         cs_set_consign(&cobboard.right_spickle.cs, 0);
 154
 155         /* Blocking detection */
 156         bd_init(&cobboard.right_spickle.bd);
 157         bd_set_speed_threshold(&cobboard.right_spickle.bd, 150);
 158         bd_set_current_thresholds(&cobboard.right_spickle.bd, 500, 8000, 1000000, 200);
 159
 160         /* ---- CS shovel */
 161         /* PID */
 162         pid_init(&cobboard.shovel.pid);
 163         pid_set_gains(&cobboard.shovel.pid, 1000, 10, 1400);
 164         pid_set_maximums(&cobboard.shovel.pid, 0, 10000, 3200); /* max is 18 V */
 165         pid_set_out_shift(&cobboard.shovel.pid, 10);
 166         pid_set_derivate_filter(&cobboard.shovel.pid, 4);
 167
 168         /* quadramp */
 169         quadramp_init(&cobboard.shovel.qr);
 170         quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2500, 2500); /* set speed */
 171         quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 50, 20); /* set accel */
 172
 173         /* CS */
 174         cs_init(&cobboard.shovel.cs);
 175         cs_set_consign_filter(&cobboard.shovel.cs, quadramp_do_filter, &cobboard.shovel.qr);
 176         cs_set_correct_filter(&cobboard.shovel.cs, pid_do_filter, &cobboard.shovel.pid);
 177         cs_set_process_in(&cobboard.shovel.cs, shovel_set, SHOVEL_PWM);
 178         cs_set_process_out(&cobboard.shovel.cs, encoders_spi_get_value, SHOVEL_ENCODER);
 179         cs_set_consign(&cobboard.shovel.cs, 0);
 180
 181         /* Blocking detection */
 182         bd_init(&cobboard.shovel.bd);
 183         bd_set_speed_threshold(&cobboard.shovel.bd, 150);
 184         bd_set_current_thresholds(&cobboard.shovel.bd, 500, 8000, 1000000, 200);
 185
 186         /* set them on (or not) !! */
 187         cobboard.left_spickle.on = 0;
 188         cobboard.right_spickle.on = 0;
 189         cobboard.shovel.on = 0;
 190
 191         scheduler_add_periodical_event_priority(do_cs, NULL,
 192                                                 CS_PERIOD / SCHEDULER_UNIT,
 193                                                 CS_PRIO);
 194 }