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>
50 /* called every 5 ms */
51 static void do_cs(__attribute__((unused)) void *dummy)
54 if (cobboard.flags & DO_ENCODERS) {
55 encoders_spi_manage(NULL);
58 if (cobboard.flags & DO_CS) {
59 if (cobboard.left_spickle.on)
60 cs_manage(&cobboard.left_spickle.cs);
61 if (cobboard.right_spickle.on)
62 cs_manage(&cobboard.right_spickle.cs);
63 if (cobboard.shovel.on)
64 cs_manage(&cobboard.shovel.cs);
66 if (cobboard.flags & DO_BD) {
67 bd_manage_from_cs(&cobboard.left_spickle.bd, &cobboard.left_spickle.cs);
68 bd_manage_from_cs(&cobboard.right_spickle.bd, &cobboard.right_spickle.cs);
69 bd_manage_from_cs(&cobboard.shovel.bd, &cobboard.shovel.cs);
71 if (cobboard.flags & DO_POWER)
77 void dump_cs_debug(const char *name, struct cs *cs)
79 DEBUG(E_USER_CS, "%s cons=% .5ld fcons=% .5ld err=% .5ld "
80 "in=% .5ld out=% .5ld",
81 name, cs_get_consign(cs), cs_get_filtered_consign(cs),
82 cs_get_error(cs), cs_get_filtered_feedback(cs),
86 void dump_cs(const char *name, struct cs *cs)
88 printf_P(PSTR("%s cons=% .5ld fcons=% .5ld err=% .5ld "
89 "in=% .5ld out=% .5ld\r\n"),
90 name, cs_get_consign(cs), cs_get_filtered_consign(cs),
91 cs_get_error(cs), cs_get_filtered_feedback(cs),
95 void dump_pid(const char *name, struct pid_filter *pid)
97 printf_P(PSTR("%s P=% .8ld I=% .8ld D=% .8ld out=% .8ld\r\n"),
99 pid_get_value_in(pid) * pid_get_gain_P(pid),
100 pid_get_value_I(pid) * pid_get_gain_I(pid),
101 pid_get_value_D(pid) * pid_get_gain_D(pid),
102 pid_get_value_out(pid));
105 void microb_cs_init(void)
107 /* ---- CS left_spickle */
109 pid_init(&cobboard.left_spickle.pid);
110 pid_set_gains(&cobboard.left_spickle.pid, 300, 10, 1500);
111 pid_set_maximums(&cobboard.left_spickle.pid, 0, 10000, 2400); /* max is 12 V */
112 pid_set_out_shift(&cobboard.left_spickle.pid, 10);
113 pid_set_derivate_filter(&cobboard.left_spickle.pid, 4);
116 cs_init(&cobboard.left_spickle.cs);
117 cs_set_correct_filter(&cobboard.left_spickle.cs, pid_do_filter, &cobboard.left_spickle.pid);
118 cs_set_process_in(&cobboard.left_spickle.cs, spickle_set, LEFT_SPICKLE_PWM);
119 cs_set_process_out(&cobboard.left_spickle.cs, encoders_spi_get_value, LEFT_SPICKLE_ENCODER);
120 cs_set_consign(&cobboard.left_spickle.cs, 0);
122 /* Blocking detection */
123 bd_init(&cobboard.left_spickle.bd);
124 bd_set_speed_threshold(&cobboard.left_spickle.bd, 150);
125 bd_set_current_thresholds(&cobboard.left_spickle.bd, 500, 8000, 1000000, 40);
127 /* ---- CS right_spickle */
129 pid_init(&cobboard.right_spickle.pid);
130 pid_set_gains(&cobboard.right_spickle.pid, 300, 10, 1500);
131 pid_set_maximums(&cobboard.right_spickle.pid, 0, 10000, 2400); /* max is 12 V */
132 pid_set_out_shift(&cobboard.right_spickle.pid, 10);
133 pid_set_derivate_filter(&cobboard.right_spickle.pid, 4);
136 cs_init(&cobboard.right_spickle.cs);
137 cs_set_correct_filter(&cobboard.right_spickle.cs, pid_do_filter, &cobboard.right_spickle.pid);
138 cs_set_process_in(&cobboard.right_spickle.cs, spickle_set, RIGHT_SPICKLE_PWM);
139 cs_set_process_out(&cobboard.right_spickle.cs, encoders_spi_get_value, RIGHT_SPICKLE_ENCODER);
140 cs_set_consign(&cobboard.right_spickle.cs, 0);
142 /* Blocking detection */
143 bd_init(&cobboard.right_spickle.bd);
144 bd_set_speed_threshold(&cobboard.right_spickle.bd, 150);
145 bd_set_current_thresholds(&cobboard.right_spickle.bd, 500, 8000, 1000000, 40);
149 pid_init(&cobboard.shovel.pid);
150 pid_set_gains(&cobboard.shovel.pid, 1000, 10, 200);
151 pid_set_maximums(&cobboard.shovel.pid, 0, 10000, 3200); /* max is 18 V */
152 pid_set_out_shift(&cobboard.shovel.pid, 10);
153 pid_set_derivate_filter(&cobboard.shovel.pid, 4);
156 cs_init(&cobboard.shovel.cs);
157 //cs_set_consign_filter(&cobboard.shovel.cs, quadramp_do_filter, &cobboard.shovel.qr);
158 cs_set_correct_filter(&cobboard.shovel.cs, pid_do_filter, &cobboard.shovel.pid);
159 cs_set_process_in(&cobboard.shovel.cs, pwm_ng_set, SHOVEL_PWM);
160 cs_set_process_out(&cobboard.shovel.cs, encoders_spi_get_value, SHOVEL_ENCODER);
161 cs_set_consign(&cobboard.shovel.cs, 0);
163 /* Blocking detection */
164 bd_init(&cobboard.shovel.bd);
165 bd_set_speed_threshold(&cobboard.shovel.bd, 150);
166 bd_set_current_thresholds(&cobboard.shovel.bd, 500, 8000, 1000000, 40);
168 /* set them on (or not) !! */
169 cobboard.left_spickle.on = 0;
170 cobboard.right_spickle.on = 0;
171 cobboard.shovel.on = 0;
173 scheduler_add_periodical_event_priority(do_cs, NULL,
174 CS_PERIOD / SCHEDULER_UNIT,