microb 2010

[aversive.git] / projects / microb2010 / sensorboard / cs.c

diff --git a/projects/microb2010/sensorboard/cs.c b/projects/microb2010/sensorboard/cs.c
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+++ b/projects/microb2010/sensorboard/cs.c
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+/*  
+ *  Copyright Droids Corporation
+ *  Olivier Matz <zer0@droids-corp.org>
+ * 
+ *  This program is free software; you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation; either version 2 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program; if not, write to the Free Software
+ *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ *
+ *  Revision : $Id: cs.c,v 1.4 2009-05-27 20:04:07 zer0 Exp $
+ *
+ */
+
+#include <stdio.h>
+#include <string.h>
+
+#include <aversive.h>
+#include <aversive/error.h>
+
+#include <ax12.h>
+#include <spi.h>
+#include <encoders_spi.h>
+#include <pwm_ng.h>
+#include <timer.h>
+#include <scheduler.h>
+#include <time.h>
+#include <adc.h>
+
+#include <pid.h>
+#include <quadramp.h>
+#include <control_system_manager.h>
+#include <blocking_detection_manager.h>
+
+#include <parse.h>
+#include <rdline.h>
+
+#include "main.h"
+#include "beacon.h"
+#include "scanner.h"
+#include "actuator.h"
+
+/* called every 5 ms */
+static void do_cs(void *dummy) 
+{
+       /* read encoders */
+       if (sensorboard.flags & DO_ENCODERS) {
+               encoders_spi_manage(NULL);
+       }
+       /* control system */
+       if (sensorboard.flags & DO_CS) {
+               if (sensorboard.beacon.on)
+                       cs_manage(&sensorboard.beacon.cs);
+               if (sensorboard.scanner.on)
+                       cs_manage(&sensorboard.scanner.cs);
+       }
+       if (sensorboard.flags & DO_BD) {
+               bd_manage_from_cs(&sensorboard.beacon.bd, &sensorboard.beacon.cs);
+               bd_manage_from_cs(&sensorboard.scanner.bd, &sensorboard.scanner.cs);
+       }
+       if (sensorboard.flags & DO_POWER)
+               BRAKE_OFF();
+       else
+               BRAKE_ON();
+}
+
+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"), 
+                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_pid(const char *name, struct pid_filter *pid)
+{
+       printf_P(PSTR("%s P=% .8ld I=% .8ld D=% .8ld out=% .8ld\r\n"),
+                name,
+                pid_get_value_in(pid) * pid_get_gain_P(pid),
+                pid_get_value_I(pid) * pid_get_gain_I(pid),
+                pid_get_value_D(pid) * pid_get_gain_D(pid),
+                pid_get_value_out(pid));
+}
+
+void microb_cs_init(void)
+{
+       /* ---- CS beacon */
+       /* PID */
+       pid_init(&sensorboard.beacon.pid);
+       pid_set_gains(&sensorboard.beacon.pid, 80, 80, 250);
+       pid_set_maximums(&sensorboard.beacon.pid, 0, 10000, 2000);
+       pid_set_out_shift(&sensorboard.beacon.pid, 6);
+       pid_set_derivate_filter(&sensorboard.beacon.pid, 6);
+
+       /* CS */
+       cs_init(&sensorboard.beacon.cs);
+       cs_set_correct_filter(&sensorboard.beacon.cs, pid_do_filter, &sensorboard.beacon.pid);
+       cs_set_process_in(&sensorboard.beacon.cs, pwm_ng_set, BEACON_PWM);
+       cs_set_process_out(&sensorboard.beacon.cs, encoders_spi_update_beacon_speed, BEACON_ENCODER);
+       cs_set_consign(&sensorboard.beacon.cs, 0);
+
+       /* ---- CS scanner */
+       /* PID */
+       pid_init(&sensorboard.scanner.pid);
+       pid_set_gains(&sensorboard.scanner.pid, 200, 5, 250);
+       pid_set_maximums(&sensorboard.scanner.pid, 0, 10000, 2047);
+       pid_set_out_shift(&sensorboard.scanner.pid, 6);
+       pid_set_derivate_filter(&sensorboard.scanner.pid, 6);
+
+       /* QUADRAMP */
+       quadramp_init(&sensorboard.scanner.qr);
+       quadramp_set_1st_order_vars(&sensorboard.scanner.qr, 200, 200); /* set speed */
+       quadramp_set_2nd_order_vars(&sensorboard.scanner.qr, 20, 20); /* set accel */
+
+       /* CS */
+       cs_init(&sensorboard.scanner.cs);
+       cs_set_consign_filter(&sensorboard.scanner.cs, quadramp_do_filter, &sensorboard.scanner.qr);
+       cs_set_correct_filter(&sensorboard.scanner.cs, pid_do_filter, &sensorboard.scanner.pid);
+       cs_set_process_in(&sensorboard.scanner.cs, pwm_ng_set, SCANNER_PWM);
+       cs_set_process_out(&sensorboard.scanner.cs, encoders_spi_update_scanner, SCANNER_ENCODER);
+       cs_set_consign(&sensorboard.scanner.cs, 0);
+
+       /* Blocking detection */
+       bd_init(&sensorboard.scanner.bd);
+       bd_set_speed_threshold(&sensorboard.scanner.bd, 150);
+       bd_set_current_thresholds(&sensorboard.scanner.bd, 500, 8000, 1000000, 40);
+
+       /* set them on !! */
+       sensorboard.beacon.on = 0;
+       sensorboard.scanner.on = 1;
+
+
+       scheduler_add_periodical_event_priority(do_cs, NULL, 
+                                               5000L / SCHEDULER_UNIT, 
+                                               CS_PRIO);
+}