summaryrefslogtreecommitdiff
path: root/digital/avr/modules/motor/blocking_detection/blocking_detection.c
diff options
context:
space:
mode:
Diffstat (limited to 'digital/avr/modules/motor/blocking_detection/blocking_detection.c')
-rw-r--r--digital/avr/modules/motor/blocking_detection/blocking_detection.c54
1 files changed, 54 insertions, 0 deletions
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;
+ }
+}
+