#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)
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();
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));
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));
/* ---- 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);
/* 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);
/* 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);
/* 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);
}