f8c71233cda4c39f4fdc81afd75cf7fbb20fb06d
[aversive.git] / 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 /* called every 5 ms */
51 static void do_cs(__attribute__((unused)) void *dummy)
52 {
53         /* read encoders */
54         if (cobboard.flags & DO_ENCODERS) {
55                 encoders_spi_manage(NULL);
56         }
57
58         /* control system */
59         if (cobboard.flags & DO_CS) {
60                 if (cobboard.left_spickle.on)
61                         cs_manage(&cobboard.left_spickle.cs);
62                 if (cobboard.right_spickle.on)
63                         cs_manage(&cobboard.right_spickle.cs);
64                 if (cobboard.shovel.on)
65                         cs_manage(&cobboard.shovel.cs);
66         }
67
68         if ((cobboard.flags & DO_BD) && (cobboard.flags & DO_POWER)) {
69                 bd_manage_from_cs(&cobboard.left_spickle.bd, &cobboard.left_spickle.cs);
70                 bd_manage_from_cs(&cobboard.right_spickle.bd, &cobboard.right_spickle.cs);
71                 bd_manage_from_cs(&cobboard.shovel.bd, &cobboard.shovel.cs);
72
73                 /* urgent case: stop power on blocking */
74                 if (cobboard.flags & DO_ERRBLOCKING) {
75 /*                      if (bd_get(&cobboard.left_spickle.bd) || */
76 /*                          bd_get(&cobboard.right_spickle.bd) || */
77 /*                          bd_get(&cobboard.shovel.bd)) { */
78 /*                              printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n")); */
79 /*                              cobboard.flags &= ~(DO_POWER | DO_ERRBLOCKING); */
80 /*                      } */
81                 }
82         }
83         if (cobboard.flags & DO_POWER)
84                 BRAKE_OFF();
85         else
86                 BRAKE_ON();
87 }
88
89 void dump_cs_debug(const char *name, struct cs *cs)
90 {
91         DEBUG(E_USER_CS, "%s cons=% .5ld fcons=% .5ld err=% .5ld "
92               "in=% .5ld out=% .5ld",
93               name, cs_get_consign(cs), cs_get_filtered_consign(cs),
94               cs_get_error(cs), cs_get_filtered_feedback(cs),
95               cs_get_out(cs));
96 }
97
98 void dump_cs(const char *name, struct cs *cs)
99 {
100         printf_P(PSTR("%s cons=% .5ld fcons=% .5ld err=% .5ld "
101                       "in=% .5ld out=% .5ld\r\n"),
102                  name, cs_get_consign(cs), cs_get_filtered_consign(cs),
103                  cs_get_error(cs), cs_get_filtered_feedback(cs),
104                  cs_get_out(cs));
105 }
106
107 void dump_pid(const char *name, struct pid_filter *pid)
108 {
109         printf_P(PSTR("%s P=% .8ld I=% .8ld D=% .8ld out=% .8ld\r\n"),
110                  name,
111                  pid_get_value_in(pid) * pid_get_gain_P(pid),
112                  pid_get_value_I(pid) * pid_get_gain_I(pid),
113                  pid_get_value_D(pid) * pid_get_gain_D(pid),
114                  pid_get_value_out(pid));
115 }
116
117 void microb_cs_init(void)
118 {
119         /* ---- CS left_spickle */
120         /* PID */
121         pid_init(&cobboard.left_spickle.pid);
122         pid_set_gains(&cobboard.left_spickle.pid, 400, 10, 1500);
123         pid_set_maximums(&cobboard.left_spickle.pid, 0, 25000, 4095);
124         pid_set_out_shift(&cobboard.left_spickle.pid, 10);
125         pid_set_derivate_filter(&cobboard.left_spickle.pid, 4);
126
127         /* CS */
128         cs_init(&cobboard.left_spickle.cs);
129         cs_set_correct_filter(&cobboard.left_spickle.cs, pid_do_filter, &cobboard.left_spickle.pid);
130         cs_set_process_in(&cobboard.left_spickle.cs, spickle_set, LEFT_SPICKLE_PWM);
131         cs_set_process_out(&cobboard.left_spickle.cs, encoders_spi_get_value, LEFT_SPICKLE_ENCODER);
132         cs_set_consign(&cobboard.left_spickle.cs, 0);
133
134         /* Blocking detection */
135         bd_init(&cobboard.left_spickle.bd);
136         bd_set_speed_threshold(&cobboard.left_spickle.bd, 150);
137         bd_set_current_thresholds(&cobboard.left_spickle.bd, 500, 8000, 1000000, 200);
138
139         /* ---- CS right_spickle */
140         /* PID */
141         pid_init(&cobboard.right_spickle.pid);
142         pid_set_gains(&cobboard.right_spickle.pid, 400, 10, 1500);
143         pid_set_maximums(&cobboard.right_spickle.pid, 0, 25000, 4095);
144         pid_set_out_shift(&cobboard.right_spickle.pid, 10);
145         pid_set_derivate_filter(&cobboard.right_spickle.pid, 4);
146
147         /* CS */
148         cs_init(&cobboard.right_spickle.cs);
149         cs_set_correct_filter(&cobboard.right_spickle.cs, pid_do_filter, &cobboard.right_spickle.pid);
150         cs_set_process_in(&cobboard.right_spickle.cs, spickle_set, RIGHT_SPICKLE_PWM);
151         cs_set_process_out(&cobboard.right_spickle.cs, encoders_spi_get_value, RIGHT_SPICKLE_ENCODER);
152         cs_set_consign(&cobboard.right_spickle.cs, 0);
153
154         /* Blocking detection */
155         bd_init(&cobboard.right_spickle.bd);
156         bd_set_speed_threshold(&cobboard.right_spickle.bd, 150);
157         bd_set_current_thresholds(&cobboard.right_spickle.bd, 500, 8000, 1000000, 200);
158
159         /* ---- CS shovel */
160         /* PID */
161         pid_init(&cobboard.shovel.pid);
162         pid_set_gains(&cobboard.shovel.pid, 1000, 10, 1400);
163         pid_set_maximums(&cobboard.shovel.pid, 0, 10000, 3200); /* max is 18 V */
164         pid_set_out_shift(&cobboard.shovel.pid, 10);
165         pid_set_derivate_filter(&cobboard.shovel.pid, 4);
166
167         /* quadramp */
168         quadramp_init(&cobboard.shovel.qr);
169         quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2500, 2500); /* set speed */
170         quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 50, 20); /* set accel */
171
172         /* CS */
173         cs_init(&cobboard.shovel.cs);
174         cs_set_consign_filter(&cobboard.shovel.cs, quadramp_do_filter, &cobboard.shovel.qr);
175         cs_set_correct_filter(&cobboard.shovel.cs, pid_do_filter, &cobboard.shovel.pid);
176         cs_set_process_in(&cobboard.shovel.cs, pwm_ng_set, SHOVEL_PWM);
177         cs_set_process_out(&cobboard.shovel.cs, encoders_spi_get_value, SHOVEL_ENCODER);
178         cs_set_consign(&cobboard.shovel.cs, 0);
179
180         /* Blocking detection */
181         bd_init(&cobboard.shovel.bd);
182         bd_set_speed_threshold(&cobboard.shovel.bd, 150);
183         bd_set_current_thresholds(&cobboard.shovel.bd, 500, 8000, 1000000, 200);
184
185         /* set them on (or not) !! */
186         cobboard.left_spickle.on = 0;
187         cobboard.right_spickle.on = 0;
188         cobboard.shovel.on = 0;
189
190         scheduler_add_periodical_event_priority(do_cs, NULL,
191                                                 CS_PERIOD / SCHEDULER_UNIT,
192                                                 CS_PRIO);
193 }