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[aversive.git] / projects / microb2010 / cobboard / cs.c

diff --git a/projects/microb2010/cobboard/cs.c b/projects/microb2010/cobboard/cs.c
index 17d8e54..a718970 100644 (file)
--- a/projects/microb2010/cobboard/cs.c
+++ b/projects/microb2010/cobboard/cs.c
@@ -47,13 +47,20 @@
 #include "actuator.h"
 #include "spickle.h"
 
+#define DEBUG_CPLD
+
 /* called every 5 ms */
-static void do_cs(__attribute__((unused)) void *dummy) 
+static void do_cs(__attribute__((unused)) void *dummy)
 {
        /* read encoders */
        if (cobboard.flags & DO_ENCODERS) {
                encoders_spi_manage(NULL);
        }
+#ifdef DEBUG_CPLD
+       cobboard.left_spickle.prev = cobboard.left_spickle.cs.filtered_feedback_value;
+       cobboard.right_spickle.prev = cobboard.right_spickle.cs.filtered_feedback_value;
+       cobboard.shovel.prev = cobboard.shovel.cs.filtered_feedback_value;
+#endif
        /* control system */
        if (cobboard.flags & DO_CS) {
                if (cobboard.left_spickle.on)
@@ -63,10 +70,45 @@ static void do_cs(__attribute__((unused)) void *dummy)
                if (cobboard.shovel.on)
                        cs_manage(&cobboard.shovel.cs);
        }
-       if (cobboard.flags & DO_BD) {
+#ifdef DEBUG_CPLD
+       {
+               extern int16_t g_encoders_spi_previous[4];
+               int32_t ls, rs, sh;
+
+               ls = (cobboard.left_spickle.prev - cobboard.left_spickle.cs.filtered_feedback_value);
+               rs = (cobboard.right_spickle.prev - cobboard.right_spickle.cs.filtered_feedback_value);
+               sh = (cobboard.shovel.prev - cobboard.shovel.cs.filtered_feedback_value);
+               if (ls < -2000 || ls > 2000 ||
+                   rs < -2000 || rs > 2000 ||
+                   sh < -2000 || sh > 2000) {
+                       printf_P(PSTR("left_spickle %ld "), ls);
+                       printf_P(PSTR("right_spickle %ld "), rs);
+                       printf_P(PSTR("shovel %ld "), sh);
+                       printf_P(PSTR("/ %d %d %d %d\r\n"),
+                                g_encoders_spi_previous[0],
+                                g_encoders_spi_previous[1],
+                                g_encoders_spi_previous[2],
+                                g_encoders_spi_previous[3]);
+                       BRAKE_ON();
+                       while (1);
+               }
+       }
+#endif
+
+       if ((cobboard.flags & DO_BD) && (cobboard.flags & DO_POWER)) {
                bd_manage_from_cs(&cobboard.left_spickle.bd, &cobboard.left_spickle.cs);
                bd_manage_from_cs(&cobboard.right_spickle.bd, &cobboard.right_spickle.cs);
                bd_manage_from_cs(&cobboard.shovel.bd, &cobboard.shovel.cs);
+
+               /* urgent case: stop power on blocking */
+               if (cobboard.flags & DO_ERRBLOCKING) {
+                       if (bd_get(&cobboard.left_spickle.bd) ||
+                           bd_get(&cobboard.right_spickle.bd) ||
+                           bd_get(&cobboard.shovel.bd)) {
+                               printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n"));
+                               cobboard.flags &= ~(DO_POWER | DO_ERRBLOCKING);
+                       }
+               }
        }
        if (cobboard.flags & DO_POWER)
                BRAKE_OFF();
@@ -77,7 +119,7 @@ static void do_cs(__attribute__((unused)) void *dummy)
 void dump_cs_debug(const char *name, struct cs *cs)
 {
        DEBUG(E_USER_CS, "%s cons=% .5ld fcons=% .5ld err=% .5ld "
-             "in=% .5ld out=% .5ld", 
+             "in=% .5ld out=% .5ld",
              name, cs_get_consign(cs), cs_get_filtered_consign(cs),
              cs_get_error(cs), cs_get_filtered_feedback(cs),
              cs_get_out(cs));
@@ -86,7 +128,7 @@ void dump_cs_debug(const char *name, struct cs *cs)
 void dump_cs(const char *name, struct cs *cs)
 {
        printf_P(PSTR("%s cons=% .5ld fcons=% .5ld err=% .5ld "
-                     "in=% .5ld out=% .5ld\r\n"), 
+                     "in=% .5ld out=% .5ld\r\n"),
                 name, cs_get_consign(cs), cs_get_filtered_consign(cs),
                 cs_get_error(cs), cs_get_filtered_feedback(cs),
                 cs_get_out(cs));
@@ -122,7 +164,7 @@ void microb_cs_init(void)
        /* Blocking detection */
        bd_init(&cobboard.left_spickle.bd);
        bd_set_speed_threshold(&cobboard.left_spickle.bd, 150);
-       bd_set_current_thresholds(&cobboard.left_spickle.bd, 500, 8000, 1000000, 40);
+       bd_set_current_thresholds(&cobboard.left_spickle.bd, 500, 8000, 1000000, 200);
 
        /* ---- CS right_spickle */
        /* PID */
@@ -142,19 +184,24 @@ void microb_cs_init(void)
        /* Blocking detection */
        bd_init(&cobboard.right_spickle.bd);
        bd_set_speed_threshold(&cobboard.right_spickle.bd, 150);
-       bd_set_current_thresholds(&cobboard.right_spickle.bd, 500, 8000, 1000000, 40);
+       bd_set_current_thresholds(&cobboard.right_spickle.bd, 500, 8000, 1000000, 200);
 
        /* ---- CS shovel */
        /* PID */
        pid_init(&cobboard.shovel.pid);
-       pid_set_gains(&cobboard.shovel.pid, 1000, 10, 200);
+       pid_set_gains(&cobboard.shovel.pid, 1000, 10, 1400);
        pid_set_maximums(&cobboard.shovel.pid, 0, 10000, 3200); /* max is 18 V */
        pid_set_out_shift(&cobboard.shovel.pid, 10);
        pid_set_derivate_filter(&cobboard.shovel.pid, 4);
 
+       /* quadramp */
+       quadramp_init(&cobboard.shovel.qr);
+       quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2000, 2000); /* set speed */
+       quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 50, 20); /* set accel */
+
        /* CS */
        cs_init(&cobboard.shovel.cs);
-       //cs_set_consign_filter(&cobboard.shovel.cs, quadramp_do_filter, &cobboard.shovel.qr);
+       cs_set_consign_filter(&cobboard.shovel.cs, quadramp_do_filter, &cobboard.shovel.qr);
        cs_set_correct_filter(&cobboard.shovel.cs, pid_do_filter, &cobboard.shovel.pid);
        cs_set_process_in(&cobboard.shovel.cs, pwm_ng_set, SHOVEL_PWM);
        cs_set_process_out(&cobboard.shovel.cs, encoders_spi_get_value, SHOVEL_ENCODER);
@@ -163,14 +210,14 @@ void microb_cs_init(void)
        /* Blocking detection */
        bd_init(&cobboard.shovel.bd);
        bd_set_speed_threshold(&cobboard.shovel.bd, 150);
-       bd_set_current_thresholds(&cobboard.shovel.bd, 500, 8000, 1000000, 40);
+       bd_set_current_thresholds(&cobboard.shovel.bd, 500, 8000, 1000000, 200);
 
        /* set them on (or not) !! */
        cobboard.left_spickle.on = 0;
        cobboard.right_spickle.on = 0;
        cobboard.shovel.on = 0;
 
-       scheduler_add_periodical_event_priority(do_cs, NULL, 
-                                               CS_PERIOD / SCHEDULER_UNIT, 
+       scheduler_add_periodical_event_priority(do_cs, NULL,
+                                               CS_PERIOD / SCHEDULER_UNIT,
                                                CS_PRIO);
 }