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authorNicolas Schodet2011-10-08 11:56:10 +0200
committerNicolas Schodet2012-03-06 23:16:05 +0100
commit928dc853e088849580aac368401999ea596644bb (patch)
tree7970d54f08a9e802f54c7dbbde4f91987ea5982e /digital/avr/modules/motor/blocking_detection
parent7a1417eb3cecd3b5f5b8a5c1a73e5a89d19de2d4 (diff)
digital/avr/modules/motor: add motor control system
Diffstat (limited to 'digital/avr/modules/motor/blocking_detection')
-rw-r--r--digital/avr/modules/motor/blocking_detection/Makefile5
-rw-r--r--digital/avr/modules/motor/blocking_detection/Makefile.module1
-rw-r--r--digital/avr/modules/motor/blocking_detection/blocking_detection.c54
-rw-r--r--digital/avr/modules/motor/blocking_detection/blocking_detection.h53
-rw-r--r--digital/avr/modules/motor/blocking_detection/blocking_detection.txt21
5 files changed, 134 insertions, 0 deletions
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