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 2009-05-27 20:04:07 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 int32_t encoders_spi_update_roller_speed(void *number)
51 static volatile int32_t roller_pos;
53 tmp = encoders_spi_get_value(number);
54 speed = tmp - roller_pos;
59 /* called every 5 ms */
60 static void do_cs(void *dummy)
63 if (ballboard.flags & DO_ENCODERS) {
64 encoders_spi_manage(NULL);
67 if (ballboard.flags & DO_CS) {
68 if (ballboard.roller.on)
69 cs_manage(&ballboard.roller.cs);
70 if (ballboard.forktrans.on)
71 cs_manage(&ballboard.forktrans.cs);
72 if (ballboard.forkrot.on)
73 cs_manage(&ballboard.forkrot.cs);
75 if ((ballboard.flags & DO_BD) && (ballboard.flags & DO_POWER)) {
76 bd_manage_from_cs(&ballboard.forktrans.bd, &ballboard.forktrans.cs);
77 bd_manage_from_cs(&ballboard.forkrot.bd, &ballboard.forkrot.cs);
78 bd_manage_from_speed_cmd(&ballboard.roller.bd,
79 cs_get_filtered_feedback(&ballboard.roller.cs),
80 cs_get_out(&ballboard.roller.cs));
82 /* urgent case: stop power on blocking */
83 if (ballboard.flags & DO_ERRBLOCKING) {
84 if (bd_get(&ballboard.forktrans.bd) ||
85 bd_get(&ballboard.forkrot.bd)) {
86 printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n"));
87 ballboard.flags &= ~(DO_POWER | DO_ERRBLOCKING);
91 if (ballboard.flags & DO_POWER)
97 void dump_cs(const char *name, struct cs *cs)
99 printf_P(PSTR("%s cons=% .5ld fcons=% .5ld err=% .5ld "
100 "in=% .5ld out=% .5ld\r\n"),
101 name, cs_get_consign(cs), cs_get_filtered_consign(cs),
102 cs_get_error(cs), cs_get_filtered_feedback(cs),
106 void dump_pid(const char *name, struct pid_filter *pid)
108 printf_P(PSTR("%s P=% .8ld I=% .8ld D=% .8ld out=% .8ld\r\n"),
110 pid_get_value_in(pid) * pid_get_gain_P(pid),
111 pid_get_value_I(pid) * pid_get_gain_I(pid),
112 pid_get_value_D(pid) * pid_get_gain_D(pid),
113 pid_get_value_out(pid));
116 void microb_cs_init(void)
120 pid_init(&ballboard.roller.pid);
121 pid_set_gains(&ballboard.roller.pid, 80, 80, 250);
122 pid_set_maximums(&ballboard.roller.pid, 0, 10000, 4095);
123 pid_set_out_shift(&ballboard.roller.pid, 6);
124 pid_set_derivate_filter(&ballboard.roller.pid, 6);
126 /* QUADRAMP (used as a ramp filter) */
127 quadramp_init(&ballboard.roller.qr);
128 quadramp_set_1st_order_vars(&ballboard.roller.qr, 20, 20);
129 quadramp_set_2nd_order_vars(&ballboard.roller.qr, 0, 0);
132 cs_init(&ballboard.roller.cs);
133 cs_set_consign_filter(&ballboard.roller.cs, quadramp_do_filter, &ballboard.roller.qr);
134 cs_set_correct_filter(&ballboard.roller.cs, pid_do_filter, &ballboard.roller.pid);
135 cs_set_process_in(&ballboard.roller.cs, pwm_ng_set, ROLLER_PWM);
136 cs_set_process_out(&ballboard.roller.cs, encoders_spi_update_roller_speed, ROLLER_ENCODER);
137 cs_set_consign(&ballboard.roller.cs, 0);
139 /* Blocking detection */
140 bd_init(&ballboard.roller.bd);
141 #define ROLLER_SPEED_THRES (ROLLER_SPEED * 0.75)
142 bd_set_speed_threshold(&ballboard.roller.bd, ROLLER_SPEED_THRES);
143 bd_set_current_thresholds(&ballboard.roller.bd, 500, 1500, 1000000, 20);
145 /* ---- CS forktrans */
147 pid_init(&ballboard.forktrans.pid);
148 pid_set_gains(&ballboard.forktrans.pid, 30, 5, 0);
149 pid_set_maximums(&ballboard.forktrans.pid, 0, 10000, 2047);
150 pid_set_out_shift(&ballboard.forktrans.pid, 6);
151 pid_set_derivate_filter(&ballboard.forktrans.pid, 6);
154 quadramp_init(&ballboard.forktrans.qr);
155 quadramp_set_1st_order_vars(&ballboard.forktrans.qr, 200, 200); /* set speed */
156 quadramp_set_2nd_order_vars(&ballboard.forktrans.qr, 20, 20); /* set accel */
159 cs_init(&ballboard.forktrans.cs);
160 cs_set_consign_filter(&ballboard.forktrans.cs, quadramp_do_filter, &ballboard.forktrans.qr);
161 cs_set_correct_filter(&ballboard.forktrans.cs, pid_do_filter, &ballboard.forktrans.pid);
162 cs_set_process_in(&ballboard.forktrans.cs, pwm_ng_set, FORKTRANS_PWM);
163 cs_set_process_out(&ballboard.forktrans.cs, encoders_spi_get_value, FORKTRANS_ENCODER);
164 cs_set_consign(&ballboard.forktrans.cs, 0);
166 /* Blocking detection */
167 bd_init(&ballboard.forktrans.bd);
168 bd_set_speed_threshold(&ballboard.forktrans.bd, 150);
169 bd_set_current_thresholds(&ballboard.forktrans.bd, 500, 8000, 1000000, 200);
171 /* ---- CS forkrot */
173 pid_init(&ballboard.forkrot.pid);
174 pid_set_gains(&ballboard.forkrot.pid, 30, 5, 0);
175 pid_set_maximums(&ballboard.forkrot.pid, 0, 10000, 2047);
176 pid_set_out_shift(&ballboard.forkrot.pid, 6);
177 pid_set_derivate_filter(&ballboard.forkrot.pid, 6);
180 quadramp_init(&ballboard.forkrot.qr);
181 quadramp_set_1st_order_vars(&ballboard.forkrot.qr, 200, 800); /* set speed */
182 quadramp_set_2nd_order_vars(&ballboard.forkrot.qr, 20, 20); /* set accel */
185 cs_init(&ballboard.forkrot.cs);
186 cs_set_consign_filter(&ballboard.forkrot.cs, quadramp_do_filter, &ballboard.forkrot.qr);
187 cs_set_correct_filter(&ballboard.forkrot.cs, pid_do_filter, &ballboard.forkrot.pid);
188 cs_set_process_in(&ballboard.forkrot.cs, pwm_ng_set, FORKROT_PWM);
189 cs_set_process_out(&ballboard.forkrot.cs, encoders_spi_get_value, FORKROT_ENCODER);
190 cs_set_consign(&ballboard.forkrot.cs, 0);
192 /* Blocking detection */
193 bd_init(&ballboard.forkrot.bd);
194 bd_set_speed_threshold(&ballboard.forkrot.bd, 150);
195 bd_set_current_thresholds(&ballboard.forkrot.bd, 500, 8000, 1000000, 200);
198 ballboard.roller.on = 1;
199 ballboard.forktrans.on = 1;
200 ballboard.forkrot.on = 0;
203 scheduler_add_periodical_event_priority(do_cs, NULL,
204 5000L / SCHEDULER_UNIT,