From 928dc853e088849580aac368401999ea596644bb Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 8 Oct 2011 11:56:10 +0200 Subject: digital/avr/modules/motor: add motor control system --- .../avr/modules/motor/blocking_detection/Makefile | 5 ++ .../motor/blocking_detection/Makefile.module | 1 + .../motor/blocking_detection/blocking_detection.c | 54 ++++++++++++++++++++++ .../motor/blocking_detection/blocking_detection.h | 53 +++++++++++++++++++++ .../blocking_detection/blocking_detection.txt | 21 +++++++++ 5 files changed, 134 insertions(+) create mode 100644 digital/avr/modules/motor/blocking_detection/Makefile create mode 100644 digital/avr/modules/motor/blocking_detection/Makefile.module create mode 100644 digital/avr/modules/motor/blocking_detection/blocking_detection.c create mode 100644 digital/avr/modules/motor/blocking_detection/blocking_detection.h create mode 100644 digital/avr/modules/motor/blocking_detection/blocking_detection.txt (limited to 'digital/avr/modules/motor/blocking_detection') diff --git a/digital/avr/modules/motor/blocking_detection/Makefile b/digital/avr/modules/motor/blocking_detection/Makefile new file mode 100644 index 00000000..22849574 --- /dev/null +++ b/digital/avr/modules/motor/blocking_detection/Makefile @@ -0,0 +1,5 @@ +BASE = ../../.. +DOC = blocking_detection.html +EXTRACTDOC = blocking_detection.h + +include $(BASE)/make/Makefile.gen diff --git a/digital/avr/modules/motor/blocking_detection/Makefile.module b/digital/avr/modules/motor/blocking_detection/Makefile.module new file mode 100644 index 00000000..155485c4 --- /dev/null +++ b/digital/avr/modules/motor/blocking_detection/Makefile.module @@ -0,0 +1 @@ +motor_blocking_detection_SOURCES = blocking_detection.c diff --git a/digital/avr/modules/motor/blocking_detection/blocking_detection.c b/digital/avr/modules/motor/blocking_detection/blocking_detection.c new file mode 100644 index 00000000..5cac8ab4 --- /dev/null +++ b/digital/avr/modules/motor/blocking_detection/blocking_detection.c @@ -0,0 +1,54 @@ +/* blocking_detection.c */ +/* motor - Motor control module. {{{ + * + * Copyright (C) 2011 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 "common.h" +#include "blocking_detection.h" + +#include "modules/utils/utils.h" + +void +blocking_detection_update (blocking_detection_t *bd, + int16_t current_speed, int16_t output, + pos_control_t *pos_control, + uint8_t control_enabled) +{ + if (control_enabled) + { + /* Test for blocking condition. */ + int32_t error = pos_control->cons - pos_control->cur; + if (UTILS_ABS (error) > bd->error_limit + && UTILS_ABS (current_speed) < bd->speed_limit) + bd->counter++; + else + bd->counter = 0; + /* Set blocked state for detector clients. */ + bd->blocked = bd->counter > bd->counter_limit; + } + else + { + bd->blocked = 0; + bd->counter = 0; + } +} + diff --git a/digital/avr/modules/motor/blocking_detection/blocking_detection.h b/digital/avr/modules/motor/blocking_detection/blocking_detection.h new file mode 100644 index 00000000..61fa6e04 --- /dev/null +++ b/digital/avr/modules/motor/blocking_detection/blocking_detection.h @@ -0,0 +1,53 @@ +#ifndef blocking_detection_h +#define blocking_detection_h +/* blocking_detection.h */ +/* motor - Motor control module. {{{ + * + * Copyright (C) 2011 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 "modules/motor/pos_control/pos_control.h" + +/** Blocking detection state. */ +struct blocking_detection_t +{ + /** True if blocking is detected. */ + uint8_t blocked; + /** Count the number of blocked detection. */ + uint8_t counter; + /** Error limit. */ + int32_t error_limit; + /** Speed limit. */ + int16_t speed_limit; + /** Counter limit. */ + uint8_t counter_limit; +}; +typedef struct blocking_detection_t blocking_detection_t; + +/** Detect blocking, update blocking state. */ +void +blocking_detection_update (blocking_detection_t *blocking_detection, + int16_t current_speed, int16_t output, + pos_control_t *pos_control, + uint8_t control_enabled); + +#endif /* blocking_detection_h */ diff --git a/digital/avr/modules/motor/blocking_detection/blocking_detection.txt b/digital/avr/modules/motor/blocking_detection/blocking_detection.txt new file mode 100644 index 00000000..21319126 --- /dev/null +++ b/digital/avr/modules/motor/blocking_detection/blocking_detection.txt @@ -0,0 +1,21 @@ +================================= + motor/blocking_detection module +================================= +:Author: Nicolas Schodet + +Introduction +============ + +This module try to detect when there is something which blocks a motor. This +is not meant to protect the motor, its role is to inform upper layer that an +action must be taken. + +Usage +===== + +TODO: about to change. + +API +=== + +.. include:: blocking_detection.exd -- cgit v1.2.3