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) && (cobboard.flags & DO_POWER)) {
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 /* urgent case: stop power on blocking */
104 if (cobboard.flags & DO_ERRBLOCKING) {
105 if (bd_get(&cobboard.left_spickle.bd) ||
106 bd_get(&cobboard.right_spickle.bd) ||
107 bd_get(&cobboard.shovel.bd)) {
108 printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n"));
109 cobboard.flags &= ~(DO_POWER | DO_ERRBLOCKING);
113 if (cobboard.flags & DO_POWER)
119 void dump_cs_debug(const char *name, struct cs *cs)
121 DEBUG(E_USER_CS, "%s cons=% .5ld fcons=% .5ld err=% .5ld "
122 "in=% .5ld out=% .5ld",
123 name, cs_get_consign(cs), cs_get_filtered_consign(cs),
124 cs_get_error(cs), cs_get_filtered_feedback(cs),
128 void dump_cs(const char *name, struct cs *cs)
130 printf_P(PSTR("%s cons=% .5ld fcons=% .5ld err=% .5ld "
131 "in=% .5ld out=% .5ld\r\n"),
132 name, cs_get_consign(cs), cs_get_filtered_consign(cs),
133 cs_get_error(cs), cs_get_filtered_feedback(cs),
137 void dump_pid(const char *name, struct pid_filter *pid)
139 printf_P(PSTR("%s P=% .8ld I=% .8ld D=% .8ld out=% .8ld\r\n"),
141 pid_get_value_in(pid) * pid_get_gain_P(pid),
142 pid_get_value_I(pid) * pid_get_gain_I(pid),
143 pid_get_value_D(pid) * pid_get_gain_D(pid),
144 pid_get_value_out(pid));
147 void microb_cs_init(void)
149 /* ---- CS left_spickle */
151 pid_init(&cobboard.left_spickle.pid);
152 pid_set_gains(&cobboard.left_spickle.pid, 300, 10, 1500);
153 pid_set_maximums(&cobboard.left_spickle.pid, 0, 10000, 2400); /* max is 12 V */
154 pid_set_out_shift(&cobboard.left_spickle.pid, 10);
155 pid_set_derivate_filter(&cobboard.left_spickle.pid, 4);
158 cs_init(&cobboard.left_spickle.cs);
159 cs_set_correct_filter(&cobboard.left_spickle.cs, pid_do_filter, &cobboard.left_spickle.pid);
160 cs_set_process_in(&cobboard.left_spickle.cs, spickle_set, LEFT_SPICKLE_PWM);
161 cs_set_process_out(&cobboard.left_spickle.cs, encoders_spi_get_value, LEFT_SPICKLE_ENCODER);
162 cs_set_consign(&cobboard.left_spickle.cs, 0);
164 /* Blocking detection */
165 bd_init(&cobboard.left_spickle.bd);
166 bd_set_speed_threshold(&cobboard.left_spickle.bd, 150);
167 bd_set_current_thresholds(&cobboard.left_spickle.bd, 500, 8000, 1000000, 200);
169 /* ---- CS right_spickle */
171 pid_init(&cobboard.right_spickle.pid);
172 pid_set_gains(&cobboard.right_spickle.pid, 300, 10, 1500);
173 pid_set_maximums(&cobboard.right_spickle.pid, 0, 10000, 2400); /* max is 12 V */
174 pid_set_out_shift(&cobboard.right_spickle.pid, 10);
175 pid_set_derivate_filter(&cobboard.right_spickle.pid, 4);
178 cs_init(&cobboard.right_spickle.cs);
179 cs_set_correct_filter(&cobboard.right_spickle.cs, pid_do_filter, &cobboard.right_spickle.pid);
180 cs_set_process_in(&cobboard.right_spickle.cs, spickle_set, RIGHT_SPICKLE_PWM);
181 cs_set_process_out(&cobboard.right_spickle.cs, encoders_spi_get_value, RIGHT_SPICKLE_ENCODER);
182 cs_set_consign(&cobboard.right_spickle.cs, 0);
184 /* Blocking detection */
185 bd_init(&cobboard.right_spickle.bd);
186 bd_set_speed_threshold(&cobboard.right_spickle.bd, 150);
187 bd_set_current_thresholds(&cobboard.right_spickle.bd, 500, 8000, 1000000, 200);
191 pid_init(&cobboard.shovel.pid);
192 pid_set_gains(&cobboard.shovel.pid, 1000, 10, 1400);
193 pid_set_maximums(&cobboard.shovel.pid, 0, 10000, 3200); /* max is 18 V */
194 pid_set_out_shift(&cobboard.shovel.pid, 10);
195 pid_set_derivate_filter(&cobboard.shovel.pid, 4);
198 quadramp_init(&cobboard.shovel.qr);
199 quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2000, 2000); /* set speed */
200 quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 50, 20); /* set accel */
203 cs_init(&cobboard.shovel.cs);
204 cs_set_consign_filter(&cobboard.shovel.cs, quadramp_do_filter, &cobboard.shovel.qr);
205 cs_set_correct_filter(&cobboard.shovel.cs, pid_do_filter, &cobboard.shovel.pid);
206 cs_set_process_in(&cobboard.shovel.cs, pwm_ng_set, SHOVEL_PWM);
207 cs_set_process_out(&cobboard.shovel.cs, encoders_spi_get_value, SHOVEL_ENCODER);
208 cs_set_consign(&cobboard.shovel.cs, 0);
210 /* Blocking detection */
211 bd_init(&cobboard.shovel.bd);
212 bd_set_speed_threshold(&cobboard.shovel.bd, 150);
213 bd_set_current_thresholds(&cobboard.shovel.bd, 500, 8000, 1000000, 200);
215 /* set them on (or not) !! */
216 cobboard.left_spickle.on = 0;
217 cobboard.right_spickle.on = 0;
218 cobboard.shovel.on = 0;
220 scheduler_add_periodical_event_priority(do_cs, NULL,
221 CS_PERIOD / SCHEDULER_UNIT,