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oncilla-motordriver-fw/src/motorcontrol.h
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motorcontrol.h
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#ifndef __MOTORCONTROL_H__
#define __MOTORCONTROL_H__
#include "misc.h"
typedef struct motor_qei motor;
struct motor_qei {
// qei position parameters
volatile int previous_cnt; // previous (relative) position counter of quadrature input
volatile long pos_cnt; // absolute position counter
// move controlling parameters
long goal_pos; // goal position
int set_speed; // desired speed of the motor during the motion
// internally controlled variables
long moving_pos; // current "desired" position during move
int moving_speed; // current "desired" moving speed of the motor
volatile int current_speed; // real speed of the motor
volatile int current_accel; // current acceleration of the motor shaft
int resolution_error; // compensates for rounding errors
uint8 moving_en; // enable move
// pid control in the "stiff" region
int speed_pgain; // speed proportional error gain
int speed_igain; // speed integrated error gain
int speed_dgain; // speed derivative error gain
long i_error; // speed integral error
int prev_p_error; // previous proportional error, used to compute the derivative error
uint8 update_i_error; // in compliant mode, integral error may not wind-up
// compliant mode, "damped spring" dynamics
int compliance_preload; // spring pretension, in this "stiff" region, pid is applied
int compliance_gain; // spring stiffness
int compliance_damping; // spring damping factor
unsigned int max_trq; // maximum torque setting
// control output parameters
long output_trq; // current torque request
// motor limits
long pos_limit_CW; // maximum clock wise allowed position
long pos_limit_CCW; // maximum counter clock wise allowed position
int max_speed; // maximum speed the motor may reach
unsigned int max_accel; // maximum acceleration rate
};
//void update_position_and_speed(motor *M, int pos_cnt);
//inline the function since it is in an interruption. The faster the better
#define MOTORCONTROL_UPDATE_POSITION_AND_SPEED( M, pos_cnt_val) do{\
int _MC_tmp_speed = pos_cnt_val - M->previous_cnt;\
M->current_accel = _MC_tmp_speed - M->current_speed;\
M->current_speed = _MC_tmp_speed;\
M->previous_cnt = pos_cnt_val;\
M->pos_cnt += M->current_speed;\
}while(0)
void init_motor( motor *M);
void M1_load_control_table_settings(void);
void M2_load_control_table_settings(void);
uint8 set_motor_limits( motor *M, long pos_limit_CW, long pos_limit_CCW, unsigned int max_speed);
uint8 motor_position_control( motor *M, long new_pos, int new_speed);
uint8 motor_speed_control( motor *M, int speed);
uint8 motor_smooth_position_control( motor *M, long next_pos, long period);
void motorcontrol_main(void);
void motorcontrol_main_update_control_table(void);
// internal processes
void update_moving_position( motor *M);
void M1_compute_output(void);
void M2_compute_output(void);
unsigned int M1_trq_to_pwm(long desired_trq, uint8 force_fast_decay);
unsigned int M2_trq_to_pwm(long desired_trq, uint8 force_fast_decay);
#endif // __MOTORCONTROL_H__
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