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[Krobot-commits] [SCM] krobot branch, master, updated. af2f09b9bb1cb78cd68a0085bf7dbc87a4635d7d
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From: Xavier L. <Ba...@us...> - 2011-03-25 21:15:11
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This is an automated email from the git hooks/post-receive script. It was
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the project "krobot".
The branch, master has been updated
via af2f09b9bb1cb78cd68a0085bf7dbc87a4635d7d (commit)
from 941e8e22c085789a822b680edd67dfdf93f6d8eb (commit)
Those revisions listed above that are new to this repository have
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- Log -----------------------------------------------------------------
commit af2f09b9bb1cb78cd68a0085bf7dbc87a4635d7d
Author: Xavier Lagorce <Xav...@cr...>
Date: Fri Mar 25 22:12:02 2011 +0100
[Controller_Motor_STM32] Command generator operational
* Move some stacks for dynamic to static
* Fixed some bugs
-----------------------------------------------------------------------
Changes:
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_monitor.c b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_monitor.c
index dca6596..03cfe90 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_monitor.c
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_monitor.c
@@ -10,6 +10,8 @@
#include "can_monitor.h"
#include "hw/hw_led.h"
+PROC_DEFINE_STACK(stack_can_send, KERN_MINSTACKSIZE * 8);
+
typedef struct {
uint16_t encoder1_pos __attribute__((__packed__));
uint16_t encoder2_pos __attribute__((__packed__));
@@ -50,7 +52,7 @@ void canMonitorInit(void) {
can_start(CAND1, &cfg);
// Start communication process
- proc_new(canMonitor_process, NULL, KERN_MINSTACKSIZE * 8, NULL);
+ proc_new(canMonitor_process, NULL, sizeof(stack_can_send), stack_can_send);
}
static void NORETURN canMonitor_process(void) {
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/command_generator.c b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/command_generator.c
index da0fd67..6542070 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/command_generator.c
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/command_generator.c
@@ -103,6 +103,9 @@ float get_output_value(command_generator_t *generator) {
int32_t cur_time;
float speed, dt;
+ if (generator->type.state != GEN_STATE_RUNNING)
+ return generator->type.last_output;
+
switch (generator->type.t) {
case GEN_CONSTANT:
// Constant generator, no update needed
@@ -112,12 +115,14 @@ float get_output_value(command_generator_t *generator) {
dt = (cur_time - generator->ramp.last_time)*1e-6;
generator->type.last_output += dt*generator->ramp.speed;
generator->ramp.last_time = cur_time;
+ break;
case GEN_RAMP2:
cur_time = ticks_to_us(timer_clock());
speed = get_output_value(generator->ramp2.speed);
dt = (cur_time - generator->ramp.last_time)*1e-6;
generator->type.last_output += dt*speed;
generator->ramp.last_time = cur_time;
+ break;
}
switch (generator->type.callback.type) {
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/controller_motor_stm32.mk b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/controller_motor_stm32.mk
index 7d1317b..cbfc980 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/controller_motor_stm32.mk
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/controller_motor_stm32.mk
@@ -22,14 +22,14 @@ controller_motor_stm32_WIZARD_CSRC = \
bertos/cpu/cortex-m3/drv/can_stm32.c \
bertos/cpu/cortex-m3/hw/switch_ctx_cm3.c \
bertos/mware/event.c \
+ bertos/kern/monitor.c \
bertos/cpu/cortex-m3/drv/timer_cm3.c \
bertos/struct/heap.c \
bertos/drv/can.c \
- bertos/kern/monitor.c \
+ bertos/mware/formatwr.c \
bertos/drv/timer.c \
bertos/kern/signal.c \
bertos/kern/proc.c \
- bertos/mware/formatwr.c \
bertos/mware/hex.c \
#
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/main.c b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/main.c
index ecbc3a7..9dd248c 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/main.c
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/main.c
@@ -17,7 +17,9 @@
#include "can_monitor.h"
#include "command_generator.h"
-command_generator_t generator;
+command_generator_t genR, genL;
+
+PROC_DEFINE_STACK(stack_op, KERN_MINSTACKSIZE * 8);
static void init(void)
{
@@ -41,11 +43,12 @@ static void init(void)
canMonitorInit();
// Start control of drive motors
- new_ramp_generator(&generator, 0., 180.);
+ new_ramp_generator(&genR, 0., 180.);
+ new_ramp_generator(&genL, 0., 180.);
float k[] = {-68.0325, -1.0205};
float l0[] = {0.0236, 3.9715};
- mc_new_controller(MOTOR3, ENCODER3, -360.0/2000.0/15.0, 0.833, 0.015, 0.005, k, -k[0], l0, &generator);
- mc_new_controller(MOTOR4, ENCODER4, -360.0/2000.0/15.0, 0.833, 0.015, 0.005, k, -k[0], l0, &generator);
+ mc_new_controller(MOTOR3, ENCODER3, -360.0/2000.0/15.0, 0.833, 0.015, 0.005, k, -k[0], l0, &genL);
+ mc_new_controller(MOTOR4, ENCODER4, -360.0/2000.0/15.0, 0.833, 0.015, 0.005, k, -k[0], l0, &genR);
// Blink to say we are ready
for (uint8_t i=0; i < 2; i++) {
@@ -87,13 +90,21 @@ static void NORETURN square_process(void)
static void NORETURN goto_process(void)
{
LED1_ON();
- start_generator(&generator);
+ start_generator(&genL);
+ start_generator(&genR);
timer_delay(2000);
- pause_generator(&generator);
- adjust_speed(&generator, 360.);
+ pause_generator(&genL);
+ pause_generator(&genR);
+ adjust_speed(&genL, 360.);
+ adjust_speed(&genR, 360.);
timer_delay(1000);
- start_generator(&generator);
+ start_generator(&genL);
+ start_generator(&genR);
timer_delay(2000);
+ adjust_speed(&genL, 0.);
+ adjust_speed(&genR, 0.);
+ timer_delay(200);
+ mc_delete_controller(MOTOR3);
mc_delete_controller(MOTOR4);
LED1_OFF();
}
@@ -104,7 +115,7 @@ int main(void)
init();
/* Create a new child process */
- proc_new(goto_process, NULL, KERN_MINSTACKSIZE * 8, NULL);
+ proc_new(goto_process, NULL, sizeof(stack_op), stack_op);
/*
* The main process is kept to periodically report the stack
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/motor_controller.c b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/motor_controller.c
index 99fc75b..8246a8c 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/motor_controller.c
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/motor_controller.c
@@ -210,7 +210,7 @@ uint8_t mc_new_controller(uint8_t motor, uint8_t encoder, float encoder_gain, fl
motorSetSpeed(motor, 0);
// start the controller
- proc_new(motorController_process, params, KERN_MINSTACKSIZE * 8, NULL);
+ proc_new(motorController_process, params, KERN_MINSTACKSIZE * 16, NULL);
return CONTROLLER_OK;
} else {
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/project.bertos b/elec/boards/Controller_Motor_STM32/Firmware/project.bertos
index e2a1b7f..33b0c75 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/project.bertos
+++ b/elec/boards/Controller_Motor_STM32/Firmware/project.bertos
@@ -29,11 +29,11 @@ p13
(lp14
S'signal'
p15
-aS'kernel'
+aS'debug'
p16
-aS'monitor'
+aS'kernel'
p17
-aS'debug'
+aS'monitor'
p18
aS'timer'
p19
hooks/post-receive
--
krobot
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