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
  50 #define DEBUG_CPLD
  51
  52 /* called every 5 ms */
  53 static void do_cs(__attribute__((unused)) void *dummy)
  54 {
  55         /* read encoders */
  56         if (cobboard.flags & DO_ENCODERS) {
  57                 encoders_spi_manage(NULL);
  58         }
  59 #ifdef DEBUG_CPLD
  60         cobboard.left_spickle.prev = cobboard.left_spickle.cs.filtered_feedback_value;
  61         cobboard.right_spickle.prev = cobboard.right_spickle.cs.filtered_feedback_value;
  62         cobboard.shovel.prev = cobboard.shovel.cs.filtered_feedback_value;
  63 #endif
  64         /* control system */
  65         if (cobboard.flags & DO_CS) {
  66                 if (cobboard.left_spickle.on)
  67                         cs_manage(&cobboard.left_spickle.cs);
  68                 if (cobboard.right_spickle.on)
  69                         cs_manage(&cobboard.right_spickle.cs);
  70                 if (cobboard.shovel.on)
  71                         cs_manage(&cobboard.shovel.cs);
  72         }
  73 #ifdef DEBUG_CPLD
  74         {
  75                 extern int16_t g_encoders_spi_previous[4];
  76                 int32_t ls, rs, sh;
  77
  78                 ls = (cobboard.left_spickle.prev - cobboard.left_spickle.cs.filtered_feedback_value);
  79                 rs = (cobboard.right_spickle.prev - cobboard.right_spickle.cs.filtered_feedback_value);
  80                 sh = (cobboard.shovel.prev - cobboard.shovel.cs.filtered_feedback_value);
  81                 if (ls < -3000 || ls > 3000 ||
  82                     rs < -3000 || rs > 3000 ||
  83                     sh < -3000 || sh > 3000) {
  84                         printf_P(PSTR("left_spickle %ld "), ls);
  85                         printf_P(PSTR("right_spickle %ld "), rs);
  86                         printf_P(PSTR("shovel %ld "), sh);
  87                         printf_P(PSTR("/ %d %d %d %d\r\n"),
  88                                  g_encoders_spi_previous[0],
  89                                  g_encoders_spi_previous[1],
  90                                  g_encoders_spi_previous[2],
  91                                  g_encoders_spi_previous[3]);
  92                         BRAKE_ON();
  93                         while (1);
  94                 }
  95         }
  96 #endif
  97
  98         if ((cobboard.flags & DO_BD) && (cobboard.flags & DO_POWER)) {
  99                 bd_manage_from_cs(&cobboard.left_spickle.bd, &cobboard.left_spickle.cs);
 100                 bd_manage_from_cs(&cobboard.right_spickle.bd, &cobboard.right_spickle.cs);
 101                 bd_manage_from_cs(&cobboard.shovel.bd, &cobboard.shovel.cs);
 102
 103                 /* urgent case: stop power on blocking */
 104                 if (cobboard.flags & DO_ERRBLOCKING) {
 105                         if (/* bd_get(&cobboard.left_spickle.bd) || */
 106                             /* bd_get(&cobboard.right_spickle.bd) || */
 107                             bd_get(&cobboard.shovel.bd)) {
 108                                 printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n"));
 109                                 cobboard.flags &= ~(DO_POWER | DO_ERRBLOCKING);
 110                         }
 111                 }
 112         }
 113         if (cobboard.flags & DO_POWER)
 114                 BRAKE_OFF();
 115         else
 116                 BRAKE_ON();
 117 }
 118
 119 void dump_cs_debug(const char *name, struct cs *cs)
 120 {
 121         DEBUG(E_USER_CS, "%s cons=% .5ld fcons=% .5ld err=% .5ld "
 122               "in=% .5ld out=% .5ld",
 123               name, cs_get_consign(cs), cs_get_filtered_consign(cs),
 124               cs_get_error(cs), cs_get_filtered_feedback(cs),
 125               cs_get_out(cs));
 126 }
 127
 128 void dump_cs(const char *name, struct cs *cs)
 129 {
 130         printf_P(PSTR("%s cons=% .5ld fcons=% .5ld err=% .5ld "
 131                       "in=% .5ld out=% .5ld\r\n"),
 132                  name, cs_get_consign(cs), cs_get_filtered_consign(cs),
 133                  cs_get_error(cs), cs_get_filtered_feedback(cs),
 134                  cs_get_out(cs));
 135 }
 136
 137 void dump_pid(const char *name, struct pid_filter *pid)
 138 {
 139         printf_P(PSTR("%s P=% .8ld I=% .8ld D=% .8ld out=% .8ld\r\n"),
 140                  name,
 141                  pid_get_value_in(pid) * pid_get_gain_P(pid),
 142                  pid_get_value_I(pid) * pid_get_gain_I(pid),
 143                  pid_get_value_D(pid) * pid_get_gain_D(pid),
 144                  pid_get_value_out(pid));
 145 }
 146
 147 void microb_cs_init(void)
 148 {
 149         /* ---- CS left_spickle */
 150         /* PID */
 151         pid_init(&cobboard.left_spickle.pid);
 152         pid_set_gains(&cobboard.left_spickle.pid, 400, 10, 1500);
 153         pid_set_maximums(&cobboard.left_spickle.pid, 0, 25000, 4095);
 154         pid_set_out_shift(&cobboard.left_spickle.pid, 10);
 155         pid_set_derivate_filter(&cobboard.left_spickle.pid, 4);
 156
 157         /* CS */
 158         cs_init(&cobboard.left_spickle.cs);
 159         cs_set_correct_filter(&cobboard.left_spickle.cs, pid_do_filter, &cobboard.left_spickle.pid);
 160         cs_set_process_in(&cobboard.left_spickle.cs, spickle_set, LEFT_SPICKLE_PWM);
 161         cs_set_process_out(&cobboard.left_spickle.cs, encoders_spi_get_value, LEFT_SPICKLE_ENCODER);
 162         cs_set_consign(&cobboard.left_spickle.cs, 0);
 163
 164         /* Blocking detection */
 165         bd_init(&cobboard.left_spickle.bd);
 166         bd_set_speed_threshold(&cobboard.left_spickle.bd, 150);
 167         bd_set_current_thresholds(&cobboard.left_spickle.bd, 500, 8000, 1000000, 200);
 168
 169         /* ---- CS right_spickle */
 170         /* PID */
 171         pid_init(&cobboard.right_spickle.pid);
 172         pid_set_gains(&cobboard.right_spickle.pid, 400, 10, 1500);
 173         pid_set_maximums(&cobboard.right_spickle.pid, 0, 25000, 4095);
 174         pid_set_out_shift(&cobboard.right_spickle.pid, 10);
 175         pid_set_derivate_filter(&cobboard.right_spickle.pid, 4);
 176
 177         /* CS */
 178         cs_init(&cobboard.right_spickle.cs);
 179         cs_set_correct_filter(&cobboard.right_spickle.cs, pid_do_filter, &cobboard.right_spickle.pid);
 180         cs_set_process_in(&cobboard.right_spickle.cs, spickle_set, RIGHT_SPICKLE_PWM);
 181         cs_set_process_out(&cobboard.right_spickle.cs, encoders_spi_get_value, RIGHT_SPICKLE_ENCODER);
 182         cs_set_consign(&cobboard.right_spickle.cs, 0);
 183
 184         /* Blocking detection */
 185         bd_init(&cobboard.right_spickle.bd);
 186         bd_set_speed_threshold(&cobboard.right_spickle.bd, 150);
 187         bd_set_current_thresholds(&cobboard.right_spickle.bd, 500, 8000, 1000000, 200);
 188
 189         /* ---- CS shovel */
 190         /* PID */
 191         pid_init(&cobboard.shovel.pid);
 192         pid_set_gains(&cobboard.shovel.pid, 1000, 10, 1400);
 193         pid_set_maximums(&cobboard.shovel.pid, 0, 10000, 3200); /* max is 18 V */
 194         pid_set_out_shift(&cobboard.shovel.pid, 10);
 195         pid_set_derivate_filter(&cobboard.shovel.pid, 4);
 196
 197         /* quadramp */
 198         quadramp_init(&cobboard.shovel.qr);
 199         quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2500, 2500); /* set speed */
 200         quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 50, 20); /* set accel */
 201
 202         /* CS */
 203         cs_init(&cobboard.shovel.cs);
 204         cs_set_consign_filter(&cobboard.shovel.cs, quadramp_do_filter, &cobboard.shovel.qr);
 205         cs_set_correct_filter(&cobboard.shovel.cs, pid_do_filter, &cobboard.shovel.pid);
 206         cs_set_process_in(&cobboard.shovel.cs, pwm_ng_set, SHOVEL_PWM);
 207         cs_set_process_out(&cobboard.shovel.cs, encoders_spi_get_value, SHOVEL_ENCODER);
 208         cs_set_consign(&cobboard.shovel.cs, 0);
 209
 210         /* Blocking detection */
 211         bd_init(&cobboard.shovel.bd);
 212         bd_set_speed_threshold(&cobboard.shovel.bd, 150);
 213         bd_set_current_thresholds(&cobboard.shovel.bd, 500, 8000, 1000000, 200);
 214
 215         /* set them on (or not) !! */
 216         cobboard.left_spickle.on = 0;
 217         cobboard.right_spickle.on = 0;
 218         cobboard.shovel.on = 0;
 219
 220         scheduler_add_periodical_event_priority(do_cs, NULL,
 221                                                 CS_PERIOD / SCHEDULER_UNIT,
 222                                                 CS_PRIO);
 223 }