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>
49 /* called every 5 ms */
50 static void do_cs(__attribute__((unused)) void *dummy)
53 if (cobboard.flags & DO_ENCODERS) {
54 encoders_spi_manage(NULL);
57 if (cobboard.flags & DO_CS) {
58 if (cobboard.left_spickle.on)
59 cs_manage(&cobboard.left_spickle.cs);
60 if (cobboard.right_spickle.on)
61 cs_manage(&cobboard.right_spickle.cs);
62 if (cobboard.shovel.on)
63 cs_manage(&cobboard.shovel.cs);
65 if (cobboard.flags & DO_BD) {
66 bd_manage_from_cs(&cobboard.left_spickle.bd, &cobboard.left_spickle.cs);
67 bd_manage_from_cs(&cobboard.right_spickle.bd, &cobboard.right_spickle.cs);
68 bd_manage_from_cs(&cobboard.shovel.bd, &cobboard.shovel.cs);
70 if (cobboard.flags & DO_POWER)
76 void dump_cs_debug(const char *name, struct cs *cs)
78 DEBUG(E_USER_CS, "%s cons=% .5ld fcons=% .5ld err=% .5ld "
79 "in=% .5ld out=% .5ld",
80 name, cs_get_consign(cs), cs_get_filtered_consign(cs),
81 cs_get_error(cs), cs_get_filtered_feedback(cs),
85 void dump_cs(const char *name, struct cs *cs)
87 printf_P(PSTR("%s cons=% .5ld fcons=% .5ld err=% .5ld "
88 "in=% .5ld out=% .5ld\r\n"),
89 name, cs_get_consign(cs), cs_get_filtered_consign(cs),
90 cs_get_error(cs), cs_get_filtered_feedback(cs),
94 void dump_pid(const char *name, struct pid_filter *pid)
96 printf_P(PSTR("%s P=% .8ld I=% .8ld D=% .8ld out=% .8ld\r\n"),
98 pid_get_value_in(pid) * pid_get_gain_P(pid),
99 pid_get_value_I(pid) * pid_get_gain_I(pid),
100 pid_get_value_D(pid) * pid_get_gain_D(pid),
101 pid_get_value_out(pid));
104 void microb_cs_init(void)
106 /* ---- CS left_spickle */
108 pid_init(&cobboard.left_spickle.pid);
109 pid_set_gains(&cobboard.left_spickle.pid, 500, 40, 5000);
110 pid_set_maximums(&cobboard.left_spickle.pid, 0, 5000, 2400); /* max is 12 V */
111 pid_set_out_shift(&cobboard.left_spickle.pid, 10);
112 pid_set_derivate_filter(&cobboard.left_spickle.pid, 4);
115 quadramp_init(&cobboard.left_spickle.qr);
116 quadramp_set_1st_order_vars(&cobboard.left_spickle.qr, 2000, 2000); /* set speed */
117 quadramp_set_2nd_order_vars(&cobboard.left_spickle.qr, 20, 20); /* set accel */
120 cs_init(&cobboard.left_spickle.cs);
121 cs_set_consign_filter(&cobboard.left_spickle.cs, quadramp_do_filter, &cobboard.left_spickle.qr);
122 cs_set_correct_filter(&cobboard.left_spickle.cs, pid_do_filter, &cobboard.left_spickle.pid);
123 cs_set_process_in(&cobboard.left_spickle.cs, pwm_ng_set, LEFT_SPICKLE_PWM);
124 cs_set_process_out(&cobboard.left_spickle.cs, encoders_spi_get_value, LEFT_SPICKLE_ENCODER);
125 cs_set_consign(&cobboard.left_spickle.cs, 0);
127 /* Blocking detection */
128 bd_init(&cobboard.left_spickle.bd);
129 bd_set_speed_threshold(&cobboard.left_spickle.bd, 150);
130 bd_set_current_thresholds(&cobboard.left_spickle.bd, 500, 8000, 1000000, 40);
132 /* ---- CS right_spickle */
134 pid_init(&cobboard.right_spickle.pid);
135 pid_set_gains(&cobboard.right_spickle.pid, 500, 40, 5000);
136 pid_set_maximums(&cobboard.right_spickle.pid, 0, 5000, 2400); /* max is 12 V */
137 pid_set_out_shift(&cobboard.right_spickle.pid, 10);
138 pid_set_derivate_filter(&cobboard.right_spickle.pid, 6);
141 quadramp_init(&cobboard.right_spickle.qr);
142 quadramp_set_1st_order_vars(&cobboard.right_spickle.qr, 1000, 1000); /* set speed */
143 quadramp_set_2nd_order_vars(&cobboard.right_spickle.qr, 20, 20); /* set accel */
146 cs_init(&cobboard.right_spickle.cs);
147 cs_set_consign_filter(&cobboard.right_spickle.cs, quadramp_do_filter, &cobboard.right_spickle.qr);
148 cs_set_correct_filter(&cobboard.right_spickle.cs, pid_do_filter, &cobboard.right_spickle.pid);
149 cs_set_process_in(&cobboard.right_spickle.cs, pwm_ng_set, RIGHT_SPICKLE_PWM);
150 cs_set_process_out(&cobboard.right_spickle.cs, encoders_spi_get_value, RIGHT_SPICKLE_ENCODER);
151 cs_set_consign(&cobboard.right_spickle.cs, 0);
153 /* Blocking detection */
154 bd_init(&cobboard.right_spickle.bd);
155 bd_set_speed_threshold(&cobboard.right_spickle.bd, 150);
156 bd_set_current_thresholds(&cobboard.right_spickle.bd, 500, 8000, 1000000, 40);
160 pid_init(&cobboard.shovel.pid);
161 pid_set_gains(&cobboard.shovel.pid, 500, 40, 5000);
162 pid_set_maximums(&cobboard.shovel.pid, 0, 5000, 2400); /* max is 12 V */
163 pid_set_out_shift(&cobboard.shovel.pid, 10);
164 pid_set_derivate_filter(&cobboard.shovel.pid, 6);
167 quadramp_init(&cobboard.shovel.qr);
168 quadramp_set_1st_order_vars(&cobboard.shovel.qr, 1000, 1000); /* set speed */
169 quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 20, 20); /* set accel */
172 cs_init(&cobboard.shovel.cs);
173 cs_set_consign_filter(&cobboard.shovel.cs, quadramp_do_filter, &cobboard.shovel.qr);
174 cs_set_correct_filter(&cobboard.shovel.cs, pid_do_filter, &cobboard.shovel.pid);
175 cs_set_process_in(&cobboard.shovel.cs, pwm_ng_set, SHOVEL_PWM);
176 cs_set_process_out(&cobboard.shovel.cs, encoders_spi_get_value, SHOVEL_ENCODER);
177 cs_set_consign(&cobboard.shovel.cs, 0);
179 /* Blocking detection */
180 bd_init(&cobboard.shovel.bd);
181 bd_set_speed_threshold(&cobboard.shovel.bd, 150);
182 bd_set_current_thresholds(&cobboard.shovel.bd, 500, 8000, 1000000, 40);
185 cobboard.left_spickle.on = 1;
186 cobboard.right_spickle.on = 1;
187 cobboard.shovel.on = 1;
189 scheduler_add_periodical_event_priority(do_cs, NULL,
190 CS_PERIOD / SCHEDULER_UNIT,