/* main.c */ /* 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 "modules/uart/uart.h" #include "modules/proto/proto.h" #include "modules/utils/utils.h" #include "modules/utils/byte.h" #include "modules/math/fixed/fixed.h" #include "io.h" #include "cs.h" #include "aux.h" #include "seq.h" #include "twi_proto.h" #include "eeprom.h" #ifndef HOST # include "timer.h" #else # include "simu.host.h" #endif /** Report command completion. */ uint8_t main_sequence_ack = 4, main_sequence_ack_cpt; /** Report of counters. */ uint8_t main_stat_counter, main_stat_counter_cpt; /** Report of auxiliary position. */ uint8_t main_stat_aux_pos, main_stat_aux_pos_cpt; /** Statistics about speed control. */ uint8_t main_stat_speed, main_stat_speed_cpt; /** Statistics about shaft position control. */ uint8_t main_stat_pos, main_stat_pos_cpt; /** Statistics about pwm values. */ uint8_t main_stat_pwm, main_stat_pwm_cpt; /** Report of timer. */ uint8_t main_stat_timer, main_stat_timer_cpt; /** Print input port. */ uint8_t main_print_pin, main_print_pin_cpt; /** Record timer value at different stage of computing. Used for performance * analisys. */ uint8_t main_timer[6]; static void main_loop (void); /** Entry point. */ int main (int argc, char **argv) { avr_init (argc, argv); /* Pull-ups. */ PORTB = 0xe0; PORTC = 0xfc; PORTD = 0x80; timer_init (); uart0_init (); twi_proto_init (); cs_init (); aux_init (); eeprom_read_params (); proto_send0 ('z'); sei (); while (1) main_loop (); return 0; } /** Main loop. */ static void main_loop (void) { main_timer[3] = timer_read (); /* Compute absolute position. */ aux_pos_update (); main_timer[4] = timer_read (); /* Compute trajectory. */ aux_traj_update (); /* Prepare control system. */ cs_update_prepare (); main_timer[5] = timer_read (); /* Wait for next cycle. */ timer_wait (); /* Encoder update. */ encoder_update (); main_timer[0] = timer_read (); /* Control system update. */ cs_update (); main_timer[1] = timer_read (); /* Pwm setup. */ output_update (); main_timer[2] = timer_read (); /* Sequences. */ seq_update (&seq_aux[0], &cs_aux[0].state); seq_update (&seq_aux[1], &cs_aux[1].state); /* Stats. */ if (main_sequence_ack && (seq_aux[0].ack != seq_aux[0].finish || seq_aux[1].ack != seq_aux[1].finish) && !--main_sequence_ack_cpt) { //XXX here proto_send2b ('A', seq_aux[0].finish, seq_aux[1].finish); main_sequence_ack_cpt = main_sequence_ack; } if (main_stat_counter && !--main_stat_counter_cpt) { proto_send2w ('C', encoder_aux[0].cur, encoder_aux[1].cur); main_stat_counter_cpt = main_stat_counter; } if (main_stat_aux_pos && !--main_stat_aux_pos_cpt) { proto_send2w ('Y', aux[0].pos, aux[1].pos); main_stat_aux_pos_cpt = main_stat_aux_pos; } if (main_stat_speed && !--main_stat_speed_cpt) { proto_send2w ('S', cs_aux[0].speed.cur_f >> 8, cs_aux[1].speed.cur_f >> 8); main_stat_speed_cpt = main_stat_speed; } if (main_stat_pos && !--main_stat_pos_cpt) { proto_send4w ('P', cs_aux[0].pos.last_error, cs_aux[0].pos.i, cs_aux[1].pos.last_error, cs_aux[1].pos.i); main_stat_pos_cpt = main_stat_pos; } if (main_stat_pwm && !--main_stat_pwm_cpt) { proto_send2w ('W', output_aux[0].cur, output_aux[1].cur); main_stat_pwm_cpt = main_stat_pwm; } if (main_stat_timer && !--main_stat_timer_cpt) { proto_send6b ('T', main_timer[0], main_timer[2], main_timer[3], main_timer[4], main_timer[4], main_timer[5]); main_stat_timer_cpt = main_stat_timer; } if (main_print_pin && !--main_print_pin_cpt) { proto_send1b ('I', PINC & 0xfc); main_print_pin_cpt = main_print_pin; } /* Misc. */ while (uart0_poll ()) proto_accept (uart0_getc ()); twi_proto_update (); } /** Handle incoming messages. */ void proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) { /* Many commands use the first argument as a selector. */ struct aux_t *auxp = 0; pos_control_t *pos = 0; speed_control_t *speed = 0; control_state_t *state = 0; blocking_detection_t *bd = 0; output_t *output = 0; seq_t *seq = 0; if (size && args[0] < AC_ASSERV_AUX_NB) { auxp = &aux[args[0]]; pos = &cs_aux[args[0]].pos; speed = &cs_aux[args[0]].speed; state = &cs_aux[args[0]].state; output = &output_aux[args[0]]; seq = &seq_aux[args[0]]; } /* Decode command. */ #define c(cmd, size) (cmd << 8 | size) switch (c (cmd, size)) { case c ('z', 0): /* Reset. */ utils_reset (); break; /* Commands. */ case c ('w', 0): /* Set zero auxiliary pwm. */ output_set (&output_aux[0], 0); output_set (&output_aux[1], 0); control_state_set_mode (&cs_aux[0].state, CS_MODE_NONE, 0); control_state_set_mode (&cs_aux[1].state, CS_MODE_NONE, 0); break; case c ('w', 3): /* Set auxiliary pwm. * - b: aux index. * - w: pwm. */ if (!auxp) { proto_send0 ('?'); return; } output_set (output, v8_to_v16 (args[1], args[2])); control_state_set_mode (state, CS_MODE_NONE, 0); break; case c ('b', 1): /* Simulate a blocked state on auxiliary motor. * - b: aux index. */ if (!auxp) { proto_send0 ('?'); return; } output_set (output, 0); control_state_blocked (state); break; case c ('b', 2): /* Set brake and set zero auxiliary pwm. * - b: aux index. * - b: brake (1) or not (0). */ if (!auxp) { proto_send0 ('?'); return; } output_brake (output, args[1]); output_set (output, 0); control_state_set_mode (state, CS_MODE_NONE, 0); break; case c ('c', 3): /* Add to auxiliary position consign. * - b: aux index. * - w: consign offset. */ if (!auxp) { proto_send0 ('?'); return; } pos->cons += v8_to_v16 (args[1], args[2]); control_state_set_mode (state, CS_MODE_POS_CONTROL, 0); break; case c ('s', 1): /* Set auxiliary zero speed. * - b: aux index. */ if (!auxp) { proto_send0 ('?'); return; } speed_control_set_speed (speed, 0); control_state_set_mode (state, CS_MODE_SPEED_CONTROL, 0); break; case c ('s', 3): /* Set auxiliary speed. * - b: aux index. * - w: speed. */ if (!auxp) { proto_send0 ('?'); return; } speed_control_set_speed (speed, v8_to_v16 (args[1], args[2])); control_state_set_mode (state, CS_MODE_SPEED_CONTROL, 0); break; case c ('s', 6): /* Set auxiliary speed controlled position consign. * - b: aux index. * - d: consign offset. * - b: sequence number. */ if (!auxp) { proto_send0 ('?'); return; } if (!seq_start (seq, args[5])) break; speed_control_pos_offset (speed, v8_to_v32 (args[1], args[2], args[3], args[4])); aux_traj_speed_start (auxp); break; break; case c ('y', 4): /* Auxiliary go to position. * - b: aux index. * - w: pos, i16. * - b: sequence number. */ if (!auxp) { proto_send0 ('?'); return; } if (!seq_start (seq, args[3])) break; aux_traj_goto_start (auxp, v8_to_v16 (args[1], args[2])); break; case c ('y', 6): /* Auxiliary clamp. * - b: aux index. * - w: speed. * - w: clamping PWM. * - b: sequence number. */ if (!auxp) { proto_send0 ('?'); return; } if (!seq_start (seq, args[5])) break; aux_traj_clamp_start (auxp, v8_to_v16 (args[1], args[2]), v8_to_v16 (args[3], args[4])); break; case c ('y', 7): /* Auxiliary find zero. * - b: aux index. * - w: speed. * - b: use switch. * - w: reset position. * - b: sequence number. */ if (!auxp) { proto_send0 ('?'); return; } if (!seq_start (seq, args[6])) break; if (args[3]) aux_traj_find_zero_start (auxp, v8_to_v16 (args[1], args[2]), v8_to_v16 (args[4], args[5])); else aux_traj_find_limit_start (auxp, v8_to_v16 (args[1], args[2]), v8_to_v16 (args[4], args[5])); break; case c ('a', 2): /* Set all acknoledge. * - b: first auxiliary ack sequence number. * - b: second auxiliary ack sequence number. */ seq_acknowledge (&seq_aux[0], args[0]); seq_acknowledge (&seq_aux[1], args[1]); break; /* Stats. * - b: interval between stats. */ case c ('A', 1): /* Command completion report. */ main_sequence_ack_cpt = main_sequence_ack = args[0]; break; case c ('C', 1): /* Counter stats. */ main_stat_counter_cpt = main_stat_counter = args[0]; break; case c ('Y', 1): /* Auxiliary position stats. */ main_stat_aux_pos_cpt = main_stat_aux_pos = args[0]; break; case c ('S', 1): /* Motor speed control stats. */ main_stat_speed_cpt = main_stat_speed = args[0]; break; case c ('P', 1): /* Auxiliary motor position control stats. */ main_stat_pos_cpt = main_stat_pos = args[0]; break; case c ('W', 1): /* Pwm stats. */ main_stat_pwm_cpt = main_stat_pwm = args[0]; break; case c ('T', 1): /* Timing stats. */ main_stat_timer_cpt = main_stat_timer = args[0]; break; case c ('I', 1): /* Input port stats. */ main_print_pin_cpt = main_print_pin = args[0]; break; default: /* Params. */ if (cmd == 'p') { /* Many commands use the first argument as a selector. */ switch (args[1]) { case 0: case 1: pos = &cs_aux[args[1]].pos; speed = &cs_aux[args[1]].speed; bd = &cs_aux[args[1]].blocking_detection; break; default: pos = 0; speed = 0; bd = 0; break; } switch (c (args[0], size)) { case c ('a', 4): /* Set acceleration. * - b: index. * - w: acceleration. */ if (!speed) { proto_send0 ('?'); return; } speed->acc_f = v8_to_v16 (args[2], args[3]); break; case c ('s', 6): /* Set maximum and slow speed. * - b: index. * - w: max speed. * - w: slow speed. */ if (!speed) { proto_send0 ('?'); return; } speed->max = v8_to_v16 (args[2], args[3]); speed->slow = v8_to_v16 (args[4], args[5]); break; case c ('p', 4): /* Set proportional coefficient. * - b: index. * - w: P coefficient. */ if (!pos) { proto_send0 ('?'); return; } pos->kp = v8_to_v16 (args[2], args[3]); break; case c ('i', 4): /* Set integral coefficient. * - b: index. * - w: I coefficient. */ if (!pos) { proto_send0 ('?'); return; } pos->ki = v8_to_v16 (args[2], args[3]); break; case c ('d', 4): /* Set differential coefficient. * - b: index. * - w: D coefficient. */ if (!pos) { proto_send0 ('?'); return; } pos->kd = v8_to_v16 (args[2], args[3]); break; case c ('b', 7): /* Set blocking detection parameters. * - b: index. * - w: error limit. * - w: speed limit. * - b: counter limit. */ if (!bd) { proto_send0 ('?'); return; } bd->error_limit = v8_to_v16 (args[2], args[3]); bd->speed_limit = v8_to_v16 (args[4], args[5]); bd->counter_limit = args[6]; break; case c ('E', 3): cs_aux[0].pos.e_sat = cs_aux[1].pos.e_sat = v8_to_v16 (args[1], args[2]); break; case c ('I', 3): cs_aux[0].pos.i_sat = cs_aux[1].pos.i_sat = v8_to_v16 (args[1], args[2]); break; case c ('D', 3): cs_aux[0].pos.d_sat = cs_aux[1].pos.d_sat = v8_to_v16 (args[1], args[2]); break; case c ('w', 2): /* Set PWM direction. * - b: bits: 000000[aux1][aux0]. */ output_set_reverse (&output_aux[0], (args[1] & 1) ? 1 : 0); output_set_reverse (&output_aux[1], (args[1] & 2) ? 1 : 0); break; case c ('E', 2): /* Write to eeprom. * - b: 00: clear config, 01: write config. */ if (args[1]) eeprom_write_params (); else eeprom_clear_params (); break; case c ('P', 1): /* Print current settings. */ proto_send2b ('E', EEPROM_KEY, eeprom_loaded); proto_send1b ('w', (output_aux[0].reverse ? 1 : 0) | (output_aux[1].reverse ? 2 : 0)); break; case c ('P', 2): /* Print current settings for selected control. * - b: index. */ if (!pos) { proto_send0 ('?'); return; } proto_send2b ('E', EEPROM_KEY, eeprom_loaded); proto_send1w ('a', speed->acc_f); proto_send2w ('s', speed->max, speed->slow); proto_send3w ('b', bd->error_limit, bd->speed_limit, bd->counter_limit); proto_send1w ('p', pos->kp); proto_send1w ('i', pos->ki); proto_send1w ('d', pos->kd); proto_send1w ('E', pos->e_sat); proto_send1w ('I', pos->i_sat); proto_send1w ('D', pos->d_sat); break; default: proto_send0 ('?'); return; } } else { proto_send0 ('?'); return; } break; } proto_send (cmd, size, args); #undef c }