projects/microb2010/mainboard/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 1.9 2009-11-08 17:24:33 zer0 Exp $
  20  *
  21  */
  22
  23 #include <stdio.h>
  24 #include <string.h>
  25 #include <stdint.h>
  26
  27 #include <aversive.h>
  28 #include <aversive/error.h>
  29
  30 #include <ax12.h>
  31 #include <spi.h>
  32 #include <encoders_spi.h>
  33 #include <pwm_ng.h>
  34 #include <timer.h>
  35 #include <scheduler.h>
  36 #include <clock_time.h>
  37 #include <adc.h>
  38
  39 #include <pid.h>
  40 #include <quadramp.h>
  41 #include <control_system_manager.h>
  42 #include <trajectory_manager.h>
  43 #include <vect_base.h>
  44 #include <lines.h>
  45 #include <polygon.h>
  46 #include <obstacle_avoidance.h>
  47 #include <blocking_detection_manager.h>
  48 #include <robot_system.h>
  49 #include <position_manager.h>
  50
  51 #include <parse.h>
  52 #include <rdline.h>
  53
  54 #include "main.h"
  55 #include "robotsim.h"
  56 #include "strat.h"
  57 #include "actuator.h"
  58
  59 void dump_cs(const char *name, struct cs *cs);
  60
  61 #ifndef HOST_VERSION
  62 int32_t encoders_left_cobroller_speed(void *number)
  63 {
  64         static volatile int32_t roller_pos;
  65         int32_t tmp, speed;
  66         tmp = encoders_spi_get_value(number);
  67         speed = tmp - roller_pos;
  68         roller_pos = tmp;
  69         return speed;
  70 }
  71
  72 int32_t encoders_right_cobroller_speed(void *number)
  73 {
  74         static volatile int32_t roller_pos;
  75         int32_t tmp, speed;
  76         tmp = encoders_spi_get_value(number);
  77         speed = tmp - roller_pos;
  78         roller_pos = tmp;
  79         return speed;
  80 }
  81 #endif
  82
  83 #ifndef HOST_VERSION
  84 #define DEBUG_CPLD
  85 #endif
  86
  87 #ifdef DEBUG_CPLD
  88 extern int16_t g_encoders_spi_previous[4];
  89 static int32_t ll_prev, rr_prev;
  90 #endif
  91
  92 /* called every 5 ms */
  93 static void do_cs(void *dummy)
  94 {
  95         static uint16_t cpt = 0;
  96         static int32_t old_a = 0, old_d = 0;
  97
  98 #ifdef HOST_VERSION
  99         robotsim_update();
 100 #else
 101 #ifdef DEBUG_CPLD
 102         int32_t ll, rr;
 103 #endif
 104         /* read encoders */
 105         if (mainboard.flags & DO_ENCODERS) {
 106                 encoders_spi_manage(NULL);
 107         }
 108 #ifdef DEBUG_CPLD
 109         ll = encoders_spi_get_value(LEFT_ENCODER);
 110         rr = encoders_spi_get_value(RIGHT_ENCODER);
 111         if ((ll - ll_prev > 3000) || (ll - ll_prev < -3000) ||
 112             (rr - rr_prev > 3000) || (rr - rr_prev < -3000)) {
 113                 printf_P(PSTR("/ %d %d %d %d\r\n"),
 114                          g_encoders_spi_previous[0],
 115                          g_encoders_spi_previous[1],
 116                          g_encoders_spi_previous[2],
 117                          g_encoders_spi_previous[3]);
 118                 BRAKE_ON();
 119                 while (1);
 120         }
 121         ll_prev = ll;
 122         rr_prev = rr;
 123 #endif
 124 #endif
 125
 126         /* robot system, conversion to angle,distance */
 127         if (mainboard.flags & DO_RS) {
 128                 int16_t a,d;
 129                 rs_update(&mainboard.rs); /* takes about 0.5 ms */
 130                 /* process and store current speed */
 131                 a = rs_get_angle(&mainboard.rs);
 132                 d = rs_get_distance(&mainboard.rs);
 133                 mainboard.speed_a = a - old_a;
 134                 mainboard.speed_d = d - old_d;
 135                 old_a = a;
 136                 old_d = d;
 137         }
 138
 139         /* control system */
 140         if (mainboard.flags & DO_CS) {
 141                 if (mainboard.angle.on)
 142                         cs_manage(&mainboard.angle.cs);
 143                 if (mainboard.distance.on)
 144                         cs_manage(&mainboard.distance.cs);
 145 #ifndef HOST_VERSION
 146                 if (mainboard.left_cobroller.on)
 147                         cs_manage(&mainboard.left_cobroller.cs);
 148                 if (mainboard.right_cobroller.on)
 149                         cs_manage(&mainboard.right_cobroller.cs);
 150 #endif
 151         }
 152         if ((cpt & 1) && (mainboard.flags & DO_POS)) {
 153                 /* about 1.5ms (worst case without centrifugal force
 154                  * compensation) */
 155                 position_manage(&mainboard.pos);
 156         }
 157         if ((mainboard.flags & DO_BD) && (mainboard.flags & DO_POWER)) {
 158                 bd_manage_from_cs(&mainboard.angle.bd, &mainboard.angle.cs);
 159                 bd_manage_from_cs(&mainboard.distance.bd, &mainboard.distance.cs);
 160 #ifndef HOST_VERSION
 161                 bd_manage_from_cs(&mainboard.left_cobroller.bd, &mainboard.left_cobroller.cs);
 162                 bd_manage_from_cs(&mainboard.right_cobroller.bd, &mainboard.right_cobroller.cs);
 163                 if (mainboard.flags & DO_ERRBLOCKING) {
 164                         if (bd_get(&mainboard.left_cobroller.bd) ||
 165                             bd_get(&mainboard.left_cobroller.bd)) {
 166                                 printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n"));
 167                                 mainboard.flags &= ~(DO_POWER | DO_ERRBLOCKING);
 168                         }
 169                 }
 170 #endif
 171         }
 172 #ifndef HOST_VERSION
 173         if (mainboard.flags & DO_TIMER) {
 174                 uint8_t second;
 175                 /* the robot should stop correctly in the strat, but
 176                  * in some cases, we must force the stop from an
 177                  * interrupt */
 178                 second = time_get_s();
 179                 if (second >= MATCH_TIME + 2) {
 180                         pwm_ng_set(LEFT_PWM, 0);
 181                         pwm_ng_set(RIGHT_PWM, 0);
 182                         printf_P(PSTR("END OF TIME\r\n"));
 183                         while(1);
 184                 }
 185         }
 186 #endif
 187         /* brakes */
 188         if (mainboard.flags & DO_POWER)
 189                 BRAKE_OFF();
 190         else
 191                 BRAKE_ON();
 192         cpt++;
 193
 194 #ifdef HOST_VERSION
 195         if ((cpt & 7) == 0) {
 196                 //              dump_cs("dist", &mainboard.distance.cs);
 197                 robotsim_dump();
 198         }
 199 #endif
 200 }
 201
 202 void dump_cs_debug(const char *name, struct cs *cs)
 203 {
 204         DEBUG(E_USER_CS, "%s cons=% .5"PRIi32" fcons=% .5"PRIi32" err=% .5"PRIi32" "
 205               "in=% .5"PRIi32" out=% .5"PRIi32"",
 206               name, cs_get_consign(cs), cs_get_filtered_consign(cs),
 207               cs_get_error(cs), cs_get_filtered_feedback(cs),
 208               cs_get_out(cs));
 209 }
 210
 211 void dump_cs(const char *name, struct cs *cs)
 212 {
 213         printf_P(PSTR("%s cons=% .5"PRIi32" fcons=% .5"PRIi32" err=% .5"PRIi32" "
 214                       "in=% .5"PRIi32" out=% .5"PRIi32"\r\n"),
 215                  name, cs_get_consign(cs), cs_get_filtered_consign(cs),
 216                  cs_get_error(cs), cs_get_filtered_feedback(cs),
 217                  cs_get_out(cs));
 218 }
 219
 220 void dump_pid(const char *name, struct pid_filter *pid)
 221 {
 222         printf_P(PSTR("%s P=% .8"PRIi32" I=% .8"PRIi32" D=% .8"PRIi32" out=% .8"PRIi32"\r\n"),
 223                  name,
 224                  pid_get_value_in(pid) * pid_get_gain_P(pid),
 225                  pid_get_value_I(pid) * pid_get_gain_I(pid),
 226                  pid_get_value_D(pid) * pid_get_gain_D(pid),
 227                  pid_get_value_out(pid));
 228 }
 229
 230 void microb_cs_init(void)
 231 {
 232         /* ROBOT_SYSTEM */
 233         rs_init(&mainboard.rs);
 234         rs_set_left_pwm(&mainboard.rs, pwm_set_and_save, LEFT_PWM);
 235         rs_set_right_pwm(&mainboard.rs,  pwm_set_and_save, RIGHT_PWM);
 236         /* increase gain to decrease dist, increase left and it will turn more left */
 237 #ifdef HOST_VERSION
 238         rs_set_left_ext_encoder(&mainboard.rs, robotsim_encoder_get,
 239                                 LEFT_ENCODER, IMP_COEF * 1.);
 240         rs_set_right_ext_encoder(&mainboard.rs, robotsim_encoder_get,
 241                                  RIGHT_ENCODER, IMP_COEF * 1.);
 242 #else
 243         rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
 244                                 LEFT_ENCODER, IMP_COEF * -1.011718);
 245         rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
 246                                  RIGHT_ENCODER, IMP_COEF * 1.012695);
 247 #endif
 248         /* rs will use external encoders */
 249         rs_set_flags(&mainboard.rs, RS_USE_EXT);
 250
 251         /* POSITION MANAGER */
 252         position_init(&mainboard.pos);
 253         position_set_physical_params(&mainboard.pos, VIRTUAL_TRACK_MM, DIST_IMP_MM);
 254         position_set_related_robot_system(&mainboard.pos, &mainboard.rs);
 255         //      position_set_centrifugal_coef(&mainboard.pos, 0.000016);
 256         position_use_ext(&mainboard.pos);
 257
 258         /* TRAJECTORY MANAGER */
 259         trajectory_init(&mainboard.traj, CS_HZ);
 260         trajectory_set_cs(&mainboard.traj, &mainboard.distance.cs,
 261                           &mainboard.angle.cs);
 262         trajectory_set_robot_params(&mainboard.traj, &mainboard.rs, &mainboard.pos);
 263         trajectory_set_speed(&mainboard.traj, SPEED_DIST_FAST, SPEED_ANGLE_FAST); /* d, a */
 264         trajectory_set_acc(&mainboard.traj, ACC_DIST, ACC_ANGLE); /* d, a */
 265         /* distance window, angle window, angle start */
 266         trajectory_set_windows(&mainboard.traj, 200., 5.0, 30.);
 267
 268         /* ---- CS angle */
 269         /* PID */
 270         pid_init(&mainboard.angle.pid);
 271         pid_set_gains(&mainboard.angle.pid, 850, 30, 15000);
 272         pid_set_maximums(&mainboard.angle.pid, 0, 10000, 4095);
 273         pid_set_out_shift(&mainboard.angle.pid, 10);
 274         pid_set_derivate_filter(&mainboard.angle.pid, 4);
 275
 276         /* QUADRAMP */
 277         quadramp_init(&mainboard.angle.qr);
 278         quadramp_set_1st_order_vars(&mainboard.angle.qr, 500, 500); /* set speed */
 279         quadramp_set_2nd_order_vars(&mainboard.angle.qr, 5, 5); /* set accel */
 280
 281         /* CS */
 282         cs_init(&mainboard.angle.cs);
 283         cs_set_consign_filter(&mainboard.angle.cs, quadramp_do_filter, &mainboard.angle.qr);
 284         cs_set_correct_filter(&mainboard.angle.cs, pid_do_filter, &mainboard.angle.pid);
 285         cs_set_process_in(&mainboard.angle.cs, rs_set_angle, &mainboard.rs);
 286         cs_set_process_out(&mainboard.angle.cs, rs_get_angle, &mainboard.rs);
 287         cs_set_consign(&mainboard.angle.cs, 0);
 288
 289         /* Blocking detection */
 290         bd_init(&mainboard.angle.bd);
 291         bd_set_speed_threshold(&mainboard.angle.bd, 80);
 292         bd_set_current_thresholds(&mainboard.angle.bd, 500, 8000, 1000000, 20);
 293
 294         /* ---- CS distance */
 295         /* PID */
 296         pid_init(&mainboard.distance.pid);
 297         pid_set_gains(&mainboard.distance.pid, 850, 30, 15000);
 298         pid_set_maximums(&mainboard.distance.pid, 0, 10000, 4095);
 299         pid_set_out_shift(&mainboard.distance.pid, 10);
 300         pid_set_derivate_filter(&mainboard.distance.pid, 6);
 301
 302         /* QUADRAMP */
 303         quadramp_init(&mainboard.distance.qr);
 304         quadramp_set_1st_order_vars(&mainboard.distance.qr, 500, 500); /* set speed */
 305         quadramp_set_2nd_order_vars(&mainboard.distance.qr, 5., 5.); /* set accel */
 306
 307         /* CS */
 308         cs_init(&mainboard.distance.cs);
 309         cs_set_consign_filter(&mainboard.distance.cs, quadramp_do_filter, &mainboard.distance.qr);
 310         cs_set_correct_filter(&mainboard.distance.cs, pid_do_filter, &mainboard.distance.pid);
 311         cs_set_process_in(&mainboard.distance.cs, rs_set_distance, &mainboard.rs);
 312         cs_set_process_out(&mainboard.distance.cs, rs_get_distance, &mainboard.rs);
 313         cs_set_consign(&mainboard.distance.cs, 0);
 314
 315         /* Blocking detection */
 316         bd_init(&mainboard.distance.bd);
 317         bd_set_speed_threshold(&mainboard.distance.bd, 60);
 318         bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 20);
 319
 320 #ifndef HOST_VERSION
 321         /* ---- CS left_cobroller */
 322         /* PID */
 323         pid_init(&mainboard.left_cobroller.pid);
 324         pid_set_gains(&mainboard.left_cobroller.pid, 80, 10, 10);
 325         pid_set_maximums(&mainboard.left_cobroller.pid, 0, 30000, 4095);
 326         pid_set_out_shift(&mainboard.left_cobroller.pid, 5);
 327         pid_set_derivate_filter(&mainboard.left_cobroller.pid, 6);
 328
 329         /* CS */
 330         cs_init(&mainboard.left_cobroller.cs);
 331         cs_set_correct_filter(&mainboard.left_cobroller.cs, pid_do_filter, &mainboard.left_cobroller.pid);
 332         cs_set_process_in(&mainboard.left_cobroller.cs, pwm_ng_set, LEFT_COBROLLER_PWM);
 333         cs_set_process_out(&mainboard.left_cobroller.cs, encoders_left_cobroller_speed, LEFT_COBROLLER_ENCODER);
 334         cs_set_consign(&mainboard.left_cobroller.cs, 0);
 335
 336         /* Blocking detection */
 337         bd_init(&mainboard.left_cobroller.bd);
 338         bd_set_speed_threshold(&mainboard.left_cobroller.bd, 60);
 339         bd_set_current_thresholds(&mainboard.left_cobroller.bd, 500, 8000, 1000000, 50);
 340
 341         /* ---- CS right_cobroller */
 342         /* PID */
 343         pid_init(&mainboard.right_cobroller.pid);
 344         pid_set_gains(&mainboard.right_cobroller.pid, 80, 10, 10);
 345         pid_set_maximums(&mainboard.right_cobroller.pid, 0, 30000, 4095);
 346         pid_set_out_shift(&mainboard.right_cobroller.pid, 5);
 347         pid_set_derivate_filter(&mainboard.right_cobroller.pid, 6);
 348
 349         /* CS */
 350         cs_init(&mainboard.right_cobroller.cs);
 351         cs_set_correct_filter(&mainboard.right_cobroller.cs, pid_do_filter, &mainboard.right_cobroller.pid);
 352         cs_set_process_in(&mainboard.right_cobroller.cs, pwm_ng_set, RIGHT_COBROLLER_PWM);
 353         cs_set_process_out(&mainboard.right_cobroller.cs, encoders_right_cobroller_speed, RIGHT_COBROLLER_ENCODER);
 354         cs_set_consign(&mainboard.right_cobroller.cs, 0);
 355
 356         /* Blocking detection */
 357         bd_init(&mainboard.right_cobroller.bd);
 358         bd_set_speed_threshold(&mainboard.right_cobroller.bd, 60);
 359         bd_set_current_thresholds(&mainboard.right_cobroller.bd, 500, 8000, 1000000, 50);
 360 #endif /* !HOST_VERSION */
 361
 362         /* set them on !! */
 363         mainboard.angle.on = 1;
 364         mainboard.distance.on = 1;
 365         mainboard.left_cobroller.on = 1;
 366         mainboard.right_cobroller.on = 1;
 367
 368 #ifdef DEBUG_CPLD
 369         ll_prev = encoders_spi_get_value(LEFT_ENCODER);
 370         rr_prev = encoders_spi_get_value(RIGHT_ENCODER);
 371 #endif
 372
 373         scheduler_add_periodical_event_priority(do_cs, NULL,
 374                                                 5000L / SCHEDULER_UNIT,
 375                                                 CS_PRIO);
 376
 377 }