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authorNicolas Schodet2013-03-29 23:29:57 +0100
committerNicolas Schodet2013-03-30 00:01:58 +0100
commitf7f01cbf53034fb656572758c22f2f392c01290f (patch)
tree9489c820f9129c14329117709a02f4db0a8028f7 /digital
parent49c97fc3dedbeb92a8169a38ea782113e3e5b575 (diff)
digital/io-hub/src/apbirthday: add mimot & pressure sensor
Diffstat (limited to 'digital')
-rw-r--r--digital/io-hub/src/apbirthday/Makefile3
-rw-r--r--digital/io-hub/src/apbirthday/hardware.hh2
-rw-r--r--digital/io-hub/src/apbirthday/hardware.host.cc3
-rw-r--r--digital/io-hub/src/apbirthday/hardware.stm32.cc4
-rw-r--r--digital/io-hub/src/apbirthday/robot.cc21
-rw-r--r--digital/io-hub/src/apbirthday/robot.hh7
-rw-r--r--digital/io-hub/src/common-cc/mimot.cc76
-rw-r--r--digital/io-hub/src/common-cc/mimot.hh91
-rw-r--r--digital/io-hub/src/common-cc/pressure.cc107
-rw-r--r--digital/io-hub/src/common-cc/pressure.hh69
10 files changed, 379 insertions, 4 deletions
diff --git a/digital/io-hub/src/apbirthday/Makefile b/digital/io-hub/src/apbirthday/Makefile
index f9aa26ed..a785d171 100644
--- a/digital/io-hub/src/apbirthday/Makefile
+++ b/digital/io-hub/src/apbirthday/Makefile
@@ -4,7 +4,8 @@ TARGETS = host stm32f4
PROGS = apbirthday
apbirthday_SOURCES = main.cc robot.cc hardware.host.cc hardware.stm32.cc \
zb_avrisp.stm32.cc \
- i2c_queue.cc asserv.cc chrono.host.cc chrono.stm32.cc \
+ i2c_queue.cc asserv.cc mimot.cc \
+ pressure.cc chrono.host.cc chrono.stm32.cc \
outputs.cc \
top.cc init.cc move.cc candles.cc \
angfsm.host.c angfsm_gen_arm_AI.arm.c fsm_queue.cc \
diff --git a/digital/io-hub/src/apbirthday/hardware.hh b/digital/io-hub/src/apbirthday/hardware.hh
index 5713f921..0cd4c7a5 100644
--- a/digital/io-hub/src/apbirthday/hardware.hh
+++ b/digital/io-hub/src/apbirthday/hardware.hh
@@ -88,8 +88,10 @@ struct Hardware
#ifdef TARGET_stm32
ucoo::AdcHard adc;
ucoo::AdcHardChannel adc_dist0, adc_dist1, adc_dist2, adc_dist3;
+ ucoo::AdcHardChannel adc_pressure;
#else
ucoo::AdcHost adc_dist0, adc_dist1, adc_dist2, adc_dist3;
+ ucoo::AdcHost adc_pressure;
#endif
Hardware ();
// Wait until next cycle.
diff --git a/digital/io-hub/src/apbirthday/hardware.host.cc b/digital/io-hub/src/apbirthday/hardware.host.cc
index 1cffaa7e..a53962b7 100644
--- a/digital/io-hub/src/apbirthday/hardware.host.cc
+++ b/digital/io-hub/src/apbirthday/hardware.host.cc
@@ -65,7 +65,8 @@ Hardware::Hardware ()
adc_dist0 (host, "dist0", 1 << 12),
adc_dist1 (host, "dist1", 1 << 12),
adc_dist2 (host, "dist2", 1 << 12),
- adc_dist3 (host, "dist3", 1 << 12)
+ adc_dist3 (host, "dist3", 1 << 12),
+ adc_pressure (host, "pressure", 1 << 12)
{
dev_uart.block (false);
zb_uart.block (false);
diff --git a/digital/io-hub/src/apbirthday/hardware.stm32.cc b/digital/io-hub/src/apbirthday/hardware.stm32.cc
index ed051a4a..a6938643 100644
--- a/digital/io-hub/src/apbirthday/hardware.stm32.cc
+++ b/digital/io-hub/src/apbirthday/hardware.stm32.cc
@@ -57,7 +57,8 @@ Hardware::Hardware ()
pneum_open (GPIOD, 5),
adc (0),
adc_dist0 (adc, 0), adc_dist1 (adc, 1),
- adc_dist2 (adc, 2), adc_dist3 (adc, 3)
+ adc_dist2 (adc, 2), adc_dist3 (adc, 3),
+ adc_pressure (adc, 8)
{
rcc_peripheral_enable_clock (&RCC_AHB1ENR, RCC_AHB1ENR_IOPAEN);
rcc_peripheral_enable_clock (&RCC_AHB1ENR, RCC_AHB1ENR_IOPBEN);
@@ -90,6 +91,7 @@ Hardware::Hardware ()
// ADC.
gpio_mode_setup (GPIOA, GPIO_MODE_ANALOG, GPIO_PUPD_NONE,
GPIO0 | GPIO1 | GPIO2 | GPIO3);
+ gpio_mode_setup (GPIOB, GPIO_MODE_ANALOG, GPIO_PUPD_NONE, GPIO5);
// Cycle timer, 4 ms period.
rcc_peripheral_enable_clock (&RCC_APB1ENR, RCC_APB1ENR_TIM3EN);
TIM3_PSC = 2 * rcc_ppre1_frequency / 1000000 - 1; // 1 ┬Ás prescaler
diff --git a/digital/io-hub/src/apbirthday/robot.cc b/digital/io-hub/src/apbirthday/robot.cc
index 6e63b96a..5eff14df 100644
--- a/digital/io-hub/src/apbirthday/robot.cc
+++ b/digital/io-hub/src/apbirthday/robot.cc
@@ -33,16 +33,18 @@ Robot *robot;
Robot::Robot ()
: main_i2c_queue_ (hardware.main_i2c),
asserv (main_i2c_queue_, BOT_SCALE),
+ mimot (main_i2c_queue_),
dev_proto (*this, hardware.dev_uart),
zb_proto (*this, hardware.zb_uart),
usb_proto (*this, hardware.usb),
chrono (90000 - 1000),
+ pressure (hardware.adc_pressure, hardware.pneum_open, mimot.motor0),
candles (1),
fsm_debug_state_ (FSM_DEBUG_RUN),
outputs_set_ (outputs_, lengthof (outputs_)),
stats_proto_ (0),
stats_chrono_ (false), stats_chrono_last_s_ (-1),
- stats_inputs_ (0), stats_usdist_ (0)
+ stats_inputs_ (0), stats_usdist_ (0), stats_pressure_ (0)
{
robot = this;
unsigned i = 0;
@@ -91,6 +93,7 @@ Robot::main_loop ()
// Wait until next cycle.
hardware.wait ();
// Update IO modules.
+ pressure.update ();
outputs_set_.update ();
// Handle communications.
bool sync = main_i2c_queue_.sync ();
@@ -172,6 +175,11 @@ Robot::proto_handle (ucoo::Proto &proto, char cmd, const uint8_t *args, int size
asserv.goto_xy (pos, Asserv::DirectionConsign (args[4]));
}
break;
+ case c ('f', 2):
+ // Set low pressure threshold.
+ // 1w: sensor value, 4096 is full scale.
+ pressure.set (ucoo::bytes_pack (args[0], args[1]));
+ break;
case c ('o', 5):
// Set/clear/toggle outputs.
// - 1d: mask.
@@ -220,6 +228,12 @@ Robot::proto_handle (ucoo::Proto &proto, char cmd, const uint8_t *args, int size
stats_usdist_cpt_ = stats_usdist_ = args[0];
stats_proto_ = &proto;
break;
+ case c ('F', 1):
+ // Pressure stats.
+ // 1B: stat interval.
+ stats_pressure_cpt_ = stats_pressure_ = args[0];
+ stats_proto_ = &proto;
+ break;
default:
proto.send ('?');
return;
@@ -263,5 +277,10 @@ Robot::proto_stats ()
hardware.adc_dist3.read ());
stats_usdist_cpt_ = stats_usdist_;
}
+ if (stats_pressure_ && !--stats_pressure_cpt_)
+ {
+ stats_proto_->send ('F', "H", pressure.get ());
+ stats_pressure_cpt_ = stats_pressure_;
+ }
}
diff --git a/digital/io-hub/src/apbirthday/robot.hh b/digital/io-hub/src/apbirthday/robot.hh
index c447953e..ceae26b0 100644
--- a/digital/io-hub/src/apbirthday/robot.hh
+++ b/digital/io-hub/src/apbirthday/robot.hh
@@ -27,6 +27,7 @@
#include "asserv.hh"
#include "fsm_queue.hh"
#include "chrono.hh"
+#include "pressure.hh"
#include "outputs.hh"
#include "candles.hh"
@@ -55,6 +56,8 @@ class Robot : public ucoo::Proto::Handler
public:
/// Public access to asserv class.
Asserv asserv;
+ /// Public access to mimot class.
+ Mimot mimot;
private:
/// Proto associated to each serial interface.
ucoo::Proto dev_proto, zb_proto, usb_proto;
@@ -63,6 +66,8 @@ class Robot : public ucoo::Proto::Handler
FsmQueue fsm_queue;
/// Public access to chrono.
Chrono chrono;
+ /// Public access to pressure handling.
+ Pressure pressure;
/// Candles.
Candles candles;
private:
@@ -93,6 +98,8 @@ class Robot : public ucoo::Proto::Handler
int stats_inputs_, stats_inputs_cpt_;
/// US distance sensors stats interval and counter.
int stats_usdist_, stats_usdist_cpt_;
+ /// Pressure stats interval and counter.
+ int stats_pressure_, stats_pressure_cpt_;
};
/// Global instance pointer.
diff --git a/digital/io-hub/src/common-cc/mimot.cc b/digital/io-hub/src/common-cc/mimot.cc
new file mode 100644
index 00000000..febe3362
--- /dev/null
+++ b/digital/io-hub/src/common-cc/mimot.cc
@@ -0,0 +1,76 @@
+// io-hub - Modular Input/Output. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// APBTeam:
+// Web: http://apbteam.org/
+// Email: team AT apbteam DOT 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.
+//
+// }}}
+#include "mimot.hh"
+
+#include "ucoolib/utils/bytes.hh"
+
+Mimot::Mimot (I2cQueue &queue)
+ : I2cQueue::Slave (queue, 0x06, 6),
+ motor0 (*this, 0), motor1 (*this, 1),
+ status_flag_ (0), input_port_ (0)
+{
+}
+
+void
+Mimot::recv_status (const uint8_t *status)
+{
+ status_flag_ = status[0];
+ input_port_ = status[1];
+ motor0.position_ = ucoo::bytes_pack (status[2], status[3]);
+ motor1.position_ = ucoo::bytes_pack (status[4], status[5]);
+}
+
+void
+Mimot::Motor::move (uint16_t position, uint16_t speed)
+{
+ uint8_t buf[] = { (char) ('b' + index_),
+ ucoo::bytes_unpack (position, 1),
+ ucoo::bytes_unpack (position, 0),
+ ucoo::bytes_unpack (speed, 1),
+ ucoo::bytes_unpack (speed, 0),
+ };
+ mimot_.send (buf, sizeof (buf));
+}
+
+void
+Mimot::Motor::free ()
+{
+ uint8_t buf[] = { 'w',
+ (uint8_t) index_,
+ 0, // brake
+ };
+ mimot_.send (buf, sizeof (buf));
+}
+
+void
+Mimot::Motor::output_set (int16_t pwm)
+{
+ uint8_t buf[] = { 'W',
+ (uint8_t) index_,
+ ucoo::bytes_unpack (pwm, 1),
+ ucoo::bytes_unpack (pwm, 0),
+ };
+ mimot_.send (buf, sizeof (buf));
+}
+
diff --git a/digital/io-hub/src/common-cc/mimot.hh b/digital/io-hub/src/common-cc/mimot.hh
new file mode 100644
index 00000000..f9703dda
--- /dev/null
+++ b/digital/io-hub/src/common-cc/mimot.hh
@@ -0,0 +1,91 @@
+#ifndef mimot_hh
+#define mimot_hh
+// io-hub - Modular Input/Output. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// APBTeam:
+// Web: http://apbteam.org/
+// Email: team AT apbteam DOT 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.
+//
+// }}}
+#include "i2c_queue.hh"
+#include "motor.hh"
+
+/// Interface to mimot board.
+class Mimot : public I2cQueue::Slave
+{
+ public:
+ static const int aux_nb = 2;
+ public:
+ /// Constructor.
+ Mimot (I2cQueue &queue);
+ /// See I2cQueue::Slave::recv_status.
+ void recv_status (const uint8_t *status);
+ public:
+ /// Mimot single output.
+ class Motor
+ {
+ public:
+ /// Maximum positive value for PWM.
+ static const int16_t pwm_max = 0x3ff;
+ public:
+ /// Contructor.
+ Motor (Mimot &mimot, int index) : mimot_ (mimot), index_ (index) { }
+ /// Get last command status.
+ ::Motor::Status get_status () const;
+ /// Get current shaft position.
+ uint16_t get_position () const;
+ /// Move to absolute position at given speed.
+ void move (uint16_t position, uint16_t speed);
+ /// Set motor to free running, no torque.
+ void free ();
+ /// Set raw output.
+ void output_set (int16_t pwm);
+ private:
+ Mimot &mimot_;
+ int index_;
+ uint16_t position_;
+ friend class Mimot;
+ };
+ friend class Motor;
+ /// Motors public access.
+ Motor motor0, motor1;
+ private:
+ uint8_t status_flag_;
+ uint8_t input_port_;
+};
+
+inline Motor::Status
+Mimot::Motor::get_status () const
+{
+ uint8_t status = mimot_.status_flag_ >> (index_ * 2);
+ if (status & 1)
+ return ::Motor::SUCCESS;
+ else if (status & 2)
+ return ::Motor::FAILURE;
+ else
+ return ::Motor::RUNNING;
+}
+
+inline uint16_t
+Mimot::Motor::get_position () const
+{
+ return position_;
+}
+
+#endif // mimot_hh
diff --git a/digital/io-hub/src/common-cc/pressure.cc b/digital/io-hub/src/common-cc/pressure.cc
new file mode 100644
index 00000000..c258b165
--- /dev/null
+++ b/digital/io-hub/src/common-cc/pressure.cc
@@ -0,0 +1,107 @@
+// io-hub - Modular Input/Output. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// APBTeam:
+// Web: http://apbteam.org/
+// Email: team AT apbteam DOT 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.
+//
+// }}}
+#include "pressure.hh"
+
+#include <algorithm>
+
+Pressure::Pressure (ucoo::Adc &sensor, ucoo::Io &pneum_open,
+ Mimot::Motor &pump)
+ : sensor_ (sensor), pneum_open_ (pneum_open), pump_ (pump),
+ state_ (STATE_INITIAL), wait_ (0), low_ (0)
+{
+}
+
+void
+Pressure::set (int low)
+{
+ low_ = std::min (low, max_ - margin_);
+}
+
+int
+Pressure::get () const
+{
+ return sensor_.read ();
+}
+
+void
+Pressure::update ()
+{
+ // Interval at which the sensor is read.
+ static const int interval = 25;
+ // Rest duration after a pumping session.
+ static const int rest = 250;
+ // Wait duration before the pump is started.
+ static const int open_wait = 125;
+ // Wait duration after the pump has been started before circuit is closed.
+ static const int start_wait = 50;
+ if (wait_)
+ {
+ wait_--;
+ }
+ else
+ {
+ switch (state_)
+ {
+ case STATE_INITIAL:
+ if (low_)
+ {
+ // Open circuit.
+ pneum_open_.set ();
+ state_ = STATE_IDLE;
+ wait_ = open_wait;
+ }
+ break;
+ case STATE_IDLE:
+ if (get () < low_)
+ {
+ // Start pump.
+ pump_.output_set (Mimot::Motor::pwm_max);
+ state_ = STATE_STARTING;
+ wait_ = start_wait;
+ }
+ else
+ wait_ = interval;
+ break;
+ case STATE_STARTING:
+ // Started, close circuit.
+ pneum_open_.reset ();
+ state_ = STATE_PUMPING;
+ break;
+ case STATE_PUMPING:
+ // Pump until high.
+ if (get () > low_ + margin_)
+ {
+ // Done. Stop. Open circuit.
+ pump_.free ();
+ pneum_open_.set ();
+ state_ = STATE_IDLE;
+ wait_ = rest;
+ }
+ else
+ wait_ = interval;
+ break;
+ }
+ }
+}
+
diff --git a/digital/io-hub/src/common-cc/pressure.hh b/digital/io-hub/src/common-cc/pressure.hh
new file mode 100644
index 00000000..32c10fc1
--- /dev/null
+++ b/digital/io-hub/src/common-cc/pressure.hh
@@ -0,0 +1,69 @@
+#ifndef pressure_hh
+#define pressure_hh
+// io-hub - Modular Input/Output. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// APBTeam:
+// Web: http://apbteam.org/
+// Email: team AT apbteam DOT 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.
+//
+// }}}
+#include "ucoolib/intf/adc.hh"
+#include "ucoolib/intf/io.hh"
+#include "mimot.hh"
+
+/// Handle pressure sensor and pump.
+class Pressure
+{
+ public:
+ /// Constructor.
+ Pressure (ucoo::Adc &sensor, ucoo::Io &pneum_open, Mimot::Motor &pump);
+ /// Set desired pressure (set low threshold).
+ void set (int low);
+ /// Get current pressure.
+ int get () const;
+ /// To be called at each cycle.
+ void update ();
+ private:
+ ucoo::Adc &sensor_;
+ ucoo::Io &pneum_open_;
+ Mimot::Motor &pump_;
+ /// Maximum pressure.
+ static const int max_ = 4000;
+ /// Hysteresis margin.
+ static const int margin_ = max_ / 16;
+ /// Pressure FSM state.
+ enum State
+ {
+ /// Start state, circuit is closed, no pressure.
+ STATE_INITIAL,
+ /// Idle, pressure is OK, circuit is open.
+ STATE_IDLE,
+ /// Starting the pump, with open circuit.
+ STATE_STARTING,
+ /// Pumping until the pressure is OK, circuit is closed.
+ STATE_PUMPING,
+ };
+ State state_;
+ /// Wait counter before next action.
+ int wait_;
+ /// Pressure sensor low threshold.
+ int low_;
+};
+
+#endif // pressure_hh