2 * Copyright Droids Corporation
3 * Olivier Matz <zer0@droids-corp.org>
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.
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.
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
19 * Revision : $Id: cs.c,v 1.4 2009-04-24 19:30:42 zer0 Exp $
27 #include <aversive/error.h>
31 #include <encoders_spi.h>
34 #include <scheduler.h>
35 #include <clock_time.h>
40 #include <control_system_manager.h>
41 #include <blocking_detection_manager.h>
52 /* called every 5 ms */
53 static void do_cs(__attribute__((unused)) void *dummy)
56 if (cobboard.flags & DO_ENCODERS) {
57 encoders_spi_manage(NULL);
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;
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);
75 extern int16_t g_encoders_spi_previous[4];
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 < -2000 || ls > 2000 ||
82 rs < -2000 || rs > 2000 ||
83 sh < -2000 || sh > 2000) {
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]);
98 if (cobboard.flags & DO_BD) {
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);
103 if (cobboard.flags & DO_POWER)
109 void dump_cs_debug(const char *name, struct cs *cs)
111 DEBUG(E_USER_CS, "%s cons=% .5ld fcons=% .5ld err=% .5ld "
112 "in=% .5ld out=% .5ld",
113 name, cs_get_consign(cs), cs_get_filtered_consign(cs),
114 cs_get_error(cs), cs_get_filtered_feedback(cs),
118 void dump_cs(const char *name, struct cs *cs)
120 printf_P(PSTR("%s cons=% .5ld fcons=% .5ld err=% .5ld "
121 "in=% .5ld out=% .5ld\r\n"),
122 name, cs_get_consign(cs), cs_get_filtered_consign(cs),
123 cs_get_error(cs), cs_get_filtered_feedback(cs),
127 void dump_pid(const char *name, struct pid_filter *pid)
129 printf_P(PSTR("%s P=% .8ld I=% .8ld D=% .8ld out=% .8ld\r\n"),
131 pid_get_value_in(pid) * pid_get_gain_P(pid),
132 pid_get_value_I(pid) * pid_get_gain_I(pid),
133 pid_get_value_D(pid) * pid_get_gain_D(pid),
134 pid_get_value_out(pid));
137 void microb_cs_init(void)
139 /* ---- CS left_spickle */
141 pid_init(&cobboard.left_spickle.pid);
142 pid_set_gains(&cobboard.left_spickle.pid, 300, 10, 1500);
143 pid_set_maximums(&cobboard.left_spickle.pid, 0, 10000, 2400); /* max is 12 V */
144 pid_set_out_shift(&cobboard.left_spickle.pid, 10);
145 pid_set_derivate_filter(&cobboard.left_spickle.pid, 4);
148 cs_init(&cobboard.left_spickle.cs);
149 cs_set_correct_filter(&cobboard.left_spickle.cs, pid_do_filter, &cobboard.left_spickle.pid);
150 cs_set_process_in(&cobboard.left_spickle.cs, spickle_set, LEFT_SPICKLE_PWM);
151 cs_set_process_out(&cobboard.left_spickle.cs, encoders_spi_get_value, LEFT_SPICKLE_ENCODER);
152 cs_set_consign(&cobboard.left_spickle.cs, 0);
154 /* Blocking detection */
155 bd_init(&cobboard.left_spickle.bd);
156 bd_set_speed_threshold(&cobboard.left_spickle.bd, 150);
157 bd_set_current_thresholds(&cobboard.left_spickle.bd, 500, 8000, 1000000, 40);
159 /* ---- CS right_spickle */
161 pid_init(&cobboard.right_spickle.pid);
162 pid_set_gains(&cobboard.right_spickle.pid, 300, 10, 1500);
163 pid_set_maximums(&cobboard.right_spickle.pid, 0, 10000, 2400); /* max is 12 V */
164 pid_set_out_shift(&cobboard.right_spickle.pid, 10);
165 pid_set_derivate_filter(&cobboard.right_spickle.pid, 4);
168 cs_init(&cobboard.right_spickle.cs);
169 cs_set_correct_filter(&cobboard.right_spickle.cs, pid_do_filter, &cobboard.right_spickle.pid);
170 cs_set_process_in(&cobboard.right_spickle.cs, spickle_set, RIGHT_SPICKLE_PWM);
171 cs_set_process_out(&cobboard.right_spickle.cs, encoders_spi_get_value, RIGHT_SPICKLE_ENCODER);
172 cs_set_consign(&cobboard.right_spickle.cs, 0);
174 /* Blocking detection */
175 bd_init(&cobboard.right_spickle.bd);
176 bd_set_speed_threshold(&cobboard.right_spickle.bd, 150);
177 bd_set_current_thresholds(&cobboard.right_spickle.bd, 500, 8000, 1000000, 40);
181 pid_init(&cobboard.shovel.pid);
182 pid_set_gains(&cobboard.shovel.pid, 1000, 10, 1400);
183 pid_set_maximums(&cobboard.shovel.pid, 0, 10000, 3200); /* max is 18 V */
184 pid_set_out_shift(&cobboard.shovel.pid, 10);
185 pid_set_derivate_filter(&cobboard.shovel.pid, 4);
188 quadramp_init(&cobboard.shovel.qr);
189 quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2000, 2000); /* set speed */
190 quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 50, 20); /* set accel */
193 cs_init(&cobboard.shovel.cs);
194 cs_set_consign_filter(&cobboard.shovel.cs, quadramp_do_filter, &cobboard.shovel.qr);
195 cs_set_correct_filter(&cobboard.shovel.cs, pid_do_filter, &cobboard.shovel.pid);
196 cs_set_process_in(&cobboard.shovel.cs, pwm_ng_set, SHOVEL_PWM);
197 cs_set_process_out(&cobboard.shovel.cs, encoders_spi_get_value, SHOVEL_ENCODER);
198 cs_set_consign(&cobboard.shovel.cs, 0);
200 /* Blocking detection */
201 bd_init(&cobboard.shovel.bd);
202 bd_set_speed_threshold(&cobboard.shovel.bd, 150);
203 bd_set_current_thresholds(&cobboard.shovel.bd, 500, 8000, 1000000, 40);
205 /* set them on (or not) !! */
206 cobboard.left_spickle.on = 0;
207 cobboard.right_spickle.on = 0;
208 cobboard.shovel.on = 0;
210 scheduler_add_periodical_event_priority(do_cs, NULL,
211 CS_PERIOD / SCHEDULER_UNIT,