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 --- .../modules/motor/speed_control/speed_control.c | 151 +++++++++++++++++++++ 1 file changed, 151 insertions(+) create mode 100644 digital/avr/modules/motor/speed_control/speed_control.c (limited to 'digital/avr/modules/motor/speed_control/speed_control.c') diff --git a/digital/avr/modules/motor/speed_control/speed_control.c b/digital/avr/modules/motor/speed_control/speed_control.c new file mode 100644 index 00000000..2caf0937 --- /dev/null +++ b/digital/avr/modules/motor/speed_control/speed_control.c @@ -0,0 +1,151 @@ +/* speed_control.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 "speed_control.h" + +#include "modules/utils/utils.h" +#include "modules/math/fixed/fixed.h" + +/** Update current speed according to a speed consign. */ +static void +speed_control_update_by_speed (speed_control_t *speed_control) +{ + /* Update current speed (be careful of overflow!). */ + if (speed_control->cons > speed_control->cur) + { + if ((uint16_t) (speed_control->cons - speed_control->cur) + < (uint16_t) speed_control->acc) + speed_control->cur = speed_control->cons; + else + speed_control->cur += speed_control->acc; + } + else + { + if ((uint16_t) (speed_control->cur - speed_control->cons) + < (uint16_t) speed_control->acc) + speed_control->cur = speed_control->cons; + else + speed_control->cur -= speed_control->acc; + } +} + +/** Compute maximum allowed speed according to: distance left, maximum speed, + * current speed and acceleration. */ +static int16_t +speed_control_compute_max_speed (int32_t d, int16_t cur, int16_t acc, + int8_t max) +{ + int16_t s; + /* Compute maximum speed in order to be able to brake in time. + * The "+ 0xff" is to ceil result. + * s = sqrt (2 * a * d) */ + s = fixed_sqrt_ui32 ((2 * UTILS_ABS (d) * acc + 0xff) >> 8); + /* Apply consign. */ + s = UTILS_MIN (max, s); + /* Apply sign. */ + if (d < 0) + s = -s; + /* Convert to f8.8 and check acceleration. */ + s = s << 8; + UTILS_BOUND (s, cur - acc, cur + acc); + return s; +} + +/** Update current speed according to a position consign. */ +static void +speed_control_update_by_position (speed_control_t *speed_control, + pos_control_t *pos_control) +{ + int32_t diff = speed_control->pos_cons - pos_control->cons; + speed_control->cur = speed_control_compute_max_speed + (diff, speed_control->cur, speed_control->acc, speed_control->max); +} + +void +speed_control_init (speed_control_t *speed_control, + pos_control_t *pos_control) +{ + speed_control->pos_control = pos_control; +} + +void +speed_control_update (speed_control_t *speed_control, + uint8_t enabled) +{ + if (enabled) + { + /* Compute speed. */ + if (speed_control->use_pos) + speed_control_update_by_position (speed_control, + speed_control->pos_control); + else + speed_control_update_by_speed (speed_control); + /* Update shaft position. */ + speed_control->pos_control->cons += speed_control->cur >> 8; + } + else + speed_control->cur = 0; +} + +void +speed_control_set_speed (speed_control_t *speed_control, int8_t speed) +{ + speed_control->use_pos = 0; + speed_control->cons = speed << 8; +} + +void +speed_control_pos_offset (speed_control_t *speed_control, int32_t offset) +{ + speed_control->use_pos = 1; + speed_control->pos_cons = speed_control->pos_control->cons + offset; +} + +void +speed_control_pos_offset_from_here (speed_control_t *speed_control, + int32_t offset) +{ + speed_control->use_pos = 1; + speed_control->pos_cons = speed_control->pos_control->cur + offset; +} + +void +speed_control_pos (speed_control_t *speed_control, int32_t pos_cons) +{ + speed_control->use_pos = 1; + speed_control->pos_cons = pos_cons; +} + +void +speed_control_hard_stop (speed_control_t *speed_control) +{ + /* No future movement. */ + speed_control->use_pos = 0; + speed_control->cur = 0; + speed_control->cons = 0; + /* Really stop right here, position control on the current point. */ + speed_control->pos_control->cons = speed_control->pos_control->cur; +} + -- cgit v1.2.3