X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fcs.c;h=7eb186e59e82705714f633e75019116a78369ead;hp=17d8e5440150c0d3867d9eb221796daa2618bb3c;hb=d10eb76208e401ae2c4dc44de2f96cdcf2e7e4ac;hpb=1714f4ee916fca95ce24120ea6e698237913f947

diff --git a/projects/microb2010/cobboard/cs.c b/projects/microb2010/cobboard/cs.c
index 17d8e54..7eb186e 100644
--- 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 < -3000 || ls > 3000 ||
+		    rs < -3000 || rs > 3000 ||
+		    sh < -3000 || sh > 3000) {
+			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));
@@ -107,8 +149,8 @@ void microb_cs_init(void)
 	/* ---- CS left_spickle */
 	/* PID */
 	pid_init(&cobboard.left_spickle.pid);
-	pid_set_gains(&cobboard.left_spickle.pid, 300, 10, 1500);
-	pid_set_maximums(&cobboard.left_spickle.pid, 0, 10000, 2400); /* max is 12 V */
+	pid_set_gains(&cobboard.left_spickle.pid, 400, 10, 1500);
+	pid_set_maximums(&cobboard.left_spickle.pid, 0, 25000, 4095);
 	pid_set_out_shift(&cobboard.left_spickle.pid, 10);
 	pid_set_derivate_filter(&cobboard.left_spickle.pid, 4);
 
@@ -122,13 +164,13 @@ 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 */
 	pid_init(&cobboard.right_spickle.pid);
-	pid_set_gains(&cobboard.right_spickle.pid, 300, 10, 1500);
-	pid_set_maximums(&cobboard.right_spickle.pid, 0, 10000, 2400); /* max is 12 V */
+	pid_set_gains(&cobboard.right_spickle.pid, 400, 10, 1500);
+	pid_set_maximums(&cobboard.right_spickle.pid, 0, 25000, 4095);
 	pid_set_out_shift(&cobboard.right_spickle.pid, 10);
 	pid_set_derivate_filter(&cobboard.right_spickle.pid, 4);
 
@@ -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, 2500, 2500); /* 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);
 }