From df7d0d94ecc69fa9aadd2ab90db89b5ef1a74030 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 29 Apr 2010 23:03:56 +0200 Subject: digital/mimot/src/dirty: add copy/pasted firmware for mimot, refs #123 This is a quick and dirty firmware copied from asserv. This will be improved once #124 is closed. --- digital/mimot/src/dirty/pos.c | 145 ++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 145 insertions(+) create mode 100644 digital/mimot/src/dirty/pos.c (limited to 'digital/mimot/src/dirty/pos.c') diff --git a/digital/mimot/src/dirty/pos.c b/digital/mimot/src/dirty/pos.c new file mode 100644 index 00000000..ef6475c2 --- /dev/null +++ b/digital/mimot/src/dirty/pos.c @@ -0,0 +1,145 @@ +/* pos.c - Position motor control. */ +/* asserv - Position & speed motor control on AVR. {{{ + * + * Copyright (C) 2005 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 "pos.h" + +#include "modules/utils/utils.h" +#include "modules/math/fixed/fixed.h" + +#include "counter.h" +#include "pwm.h" +#include "state.h" + +/** + * This file is responsible for position motor control. The consign is a + * position of the motor shafts, as theta/alpha. Theta is the sum of right + * and left position, alpha is the difference between the right and the left + * position. + * 16 bits are enough as long as there is no long blocking (see 2005 cup!). + */ + +/** Auxiliaries control states. */ +struct pos_t pos_aux[AC_ASSERV_AUX_NB]; + +/** Error saturation. */ +int32_t pos_e_sat = 1023; +/** Integral saturation. */ +int32_t pos_i_sat = 1023; +/** Differential saturation. */ +int32_t pos_d_sat = 1023; + +/** Compute a PID. + * How to compute maximum numbers size: + * Result is 24 bits (16 bits kept after shift). + * If e_sat == 1023, e max is 11 bits (do not forget the sign bit), and diff + * max is 12 bits (can be saturated with d_sat). + * If i_sat == 1023, i max is 11 bits. + * In the final addition, let's give 23 bits to the p part, and 22 bits to the + * i and d part (23b + 22b + 22b => 23b + 23b => 24b). + * Therefore, kp can be 23 - 11 = 12 bits (f4.8). + * ki can be 22 - 11 = 11 bits (f3.8). + * kd can be 22 - 12 = 10 bits (f2.8). + * How to increase this number: + * - lower the shift. + * - bound the value returned. + * - lower e, i & d saturation. */ +static inline int16_t +pos_compute_pid (int32_t e, struct pos_t *pos) +{ + int32_t diff, pid; + /* Saturate error. */ + UTILS_BOUND (e, -pos_e_sat, pos_e_sat); + /* Integral update. */ + pos->i += e; + UTILS_BOUND (pos->i, -pos_i_sat, pos_i_sat); + /* Differential value. */ + diff = e - pos->e_old; + UTILS_BOUND (diff, -pos_d_sat, pos_d_sat); + /* Compute PID. */ + pid = e * pos->kp + pos->i * pos->ki + diff * pos->kd; + /* Save result. */ + pos->e_old = e; + return pid >> 8; +} + +/** Update PWM for a single motor system. */ +static void +pos_update_single (struct state_t *state, struct pos_t *pos, + int16_t counter_diff, struct pwm_t *pwm) +{ + if (state->mode >= MODE_POS) + { + int16_t pid; + int32_t error; + /* Update current shaft position. */ + pos->cur += counter_diff; + /* Compute error. */ + error = pos->cons - pos->cur; + /* Test or blocking. */ + if (UTILS_ABS (error) > pos->blocked_error_limit + && UTILS_ABS (counter_diff) < pos->blocked_speed_limit) + pos->blocked_counter++; + else + pos->blocked_counter = 0; + if (!(state->variant & 4) + && pos->blocked_counter > pos->blocked_counter_limit) + { + /* Blocked. */ + pos_reset (pos); + state_blocked (state); + pwm_set (pwm, 0); + } + else + { + /* Compute PID. */ + pid = pos_compute_pid (error, pos); + /* Update PWM. */ + pwm_set (pwm, pid); + } + } +} + +/** Update PWM according to consign. */ +void +pos_update (void) +{ + uint8_t i; + for (i = 0; i < AC_ASSERV_AUX_NB; i++) + pos_update_single (&state_aux[i], &pos_aux[i], counter_aux_diff[i], + &pwm_aux[i]); +} + +/** Reset position control state. To be called when the position control is + * deactivated. */ +void +pos_reset (struct pos_t *pos) +{ + pos->i = 0; + pos->cur = 0; + pos->cons = 0; + pos->e_old = 0; + pos->blocked_counter = 0; +} + -- cgit v1.2.3