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This commit is contained in:
Antoine Drouin
2007-09-28 17:53:27 +00:00
parent 313ad727a8
commit 12d40e35a8
9 changed files with 60 additions and 24 deletions
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conf/airframes/motor_bench.xml
+3
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@@ -38,6 +38,9 @@ main.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1
main.srcs += $(SRC_ARCH)/adc_hw.c
main.srcs += $(SRC_ARCH)/mb_current.c
main.CFLAGS += -DMB_SCALE
main.srcs += $(SRC_ARCH)/mb_scale.c
main.srcs += $(SRC_ARCH)/mb_modes.c
conf/messages.xml
+2
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@@ -402,6 +402,8 @@
<field name="throttle" type="float" format="%.3f"/>
<field name="rpm" type="float"/>
<field name="current" type="float"/>
<field name="thrust" type="float"/>
<field name="torque" type="float"/>
<field name="time_s" type="uint16"/>
<field name="mode" type="uint8"/>
sw/airborne/arm7/mb_current.c
-4
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@@ -13,9 +13,5 @@ void mb_current_init(void) {
void mb_current_periodic(void) {
uint16_t cur_int = mb_current_buf.sum / mb_current_buf.av_nb_sample;
// mb_current_amp = (float)mb_current_buf.sum;
// mb_current_amp = (((float)cur_int / 1024 * 5) - 0.77)/ 0.185;
mb_current_amp = (float)mb_current_buf.sum * 0.00113607 - 2.8202;
}
sw/airborne/arm7/mb_modes.c
+1 -1
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@@ -28,7 +28,7 @@ void mb_mode_init(void) {
mb_modes_mode = MB_MODES_IDLE;
mb_modes_throttle = 0.;
mb_modes_ramp_duration = 20;
mb_modes_ramp_duration = 40;
mb_modes_step_low_throttle = 0.6;
mb_modes_step_high_throttle = 0.7;
sw/airborne/arm7/sys_time_hw.c
+9 -8
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@@ -10,13 +10,14 @@ uint32_t cpu_time_ticks;
#include "ppm.h"
#ifdef ICP_SCALE
#include "icp_scale.h"
#endif /* ICP_SCALE */
#ifdef MB_SCALE
#include "mb_scale.h"
#endif /* MB_SCALE */
#ifdef MB_TACHO
#include "mb_tacho.h"
#define TIMER0_IT_MASK (TIR_CR2I | TIR_MR1I | TIR_CR0I)
// FIXME : declared the scale interrupt here :(
#define TIMER0_IT_MASK (TIR_CR2I | TIR_MR1I | TIR_CR0I | TIR_CR3I)
#else
#define TIMER0_IT_MASK (TIR_CR2I | TIR_MR1I)
#endif /* MB_TACHO */
@@ -47,11 +48,11 @@ void TIMER0_ISR ( void ) {
T0IR = TIR_MR1I;
}
#endif
#ifdef ICP_SCALE
if (T0IR&TIR_CR2I) {
ICP_ISR();
#ifdef MB_SCALE
if (T0IR&TIR_CR3I) {
MB_SCALE_ICP_ISR();
/* clear interrupt */
T0IR = TIR_CR2I;
T0IR = TIR_CR3I;
}
#endif
#ifdef MB_TACHO
sw/airborne/main_motor_bench.c
+7 -2
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@@ -7,6 +7,7 @@
#include "mb_tacho.h"
#include "mb_servo.h"
#include "mb_current.h"
#include "mb_scale.h"
#include "uart.h"
@@ -42,11 +43,12 @@ static inline void main_init( void ) {
sys_time_init();
mb_tacho_init();
mb_servo_init();
mb_servo_set_range( 1275000, 1825000 );
adc_init();
mb_current_init();
mb_scale_init();
uart0_init_tx();
mb_servo_arm();
mb_mode_init();
int_enable();
@@ -59,12 +61,15 @@ static inline void main_periodic_task( void ) {
float rpm = mb_tacho_get_averaged();
mb_current_periodic();
float amps = mb_current_amp;
mb_scale_periodic();
float thrust = mb_scale_thrust;
float torque = 0.;
static uint8_t my_cnt = 0;
my_cnt++;
if (!(my_cnt%10)) {
LED_TOGGLE(1);
}
DOWNLINK_SEND_MOTOR_BENCH_STATUS(&cpu_time_ticks, &throttle, &rpm, &amps , &cpu_time_sec, &mb_modes_mode);
DOWNLINK_SEND_MOTOR_BENCH_STATUS(&cpu_time_ticks, &throttle, &rpm, &amps , &thrust, &torque, &cpu_time_sec, &mb_modes_mode);
}
static inline void main_event_task( void ) {
sw/in_progress/motor_bench/main.c
+9 -7
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@@ -70,15 +70,17 @@ static void on_MOTOR_BENCH_STATUS(IvyClientPtr app, void *user_data, int argc, c
double throttle = atof(argv[1]);
double rpm = atof(argv[2]);
double amp = atof(argv[3]);
guint time_sec = atoi(argv[4]);
guint mode = atoi(argv[5]);
double thrust = atof(argv[4]);
double torque = atof(argv[5]);
guint time_sec = atoi(argv[6]);
guint mode = atoi(argv[7]);
mb_state.mode = mode;
mb_state.time = (double)time_sec + (double)time_ticks/15000000.;
mb_state.throttle = throttle;
mb_state.rpms = rpm;
mb_state.amps = amp;
mb_state.thrust = 0.;
mb_state.torque = 0.;
mb_state.thrust = thrust;
mb_state.torque = torque;
if (mb_state.log_channel) {
GString* str = g_string_sized_new(256);
g_string_printf(str, "%.4f %.3f %.0f %.1f %.1f %.1f\n", mb_state.time, mb_state.throttle, mb_state.rpms, mb_state.amps, mb_state.thrust, mb_state.torque);
@@ -100,9 +102,9 @@ static gboolean timeout_callback(gpointer data) {
gtk_label_set_text(GTK_LABEL(mb_gui.lab_rpms), str->str);
g_string_printf(str, "%.1f a", mb_state.amps);
gtk_label_set_text(GTK_LABEL(mb_gui.lab_amps), str->str);
g_string_printf(str, "%.1f N", mb_state.thrust);
g_string_printf(str, "%.1f g", mb_state.thrust);
gtk_label_set_text(GTK_LABEL(mb_gui.lab_thrust), str->str);
g_string_printf(str, "%.1f N", mb_state.torque);
g_string_printf(str, "%.1f g", mb_state.torque);
gtk_label_set_text(GTK_LABEL(mb_gui.lab_torque), str->str);
g_string_free(str, TRUE);
return TRUE;
@@ -132,7 +134,7 @@ int main (int argc, char** argv) {
gtk_widget_show_all(window);
IvyInit ("MotorBench", "MotorBench READY", NULL, NULL, NULL, NULL);
IvyBindMsg(on_MOTOR_BENCH_STATUS, NULL, "^\\S* MOTOR_BENCH_STATUS (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)");
IvyBindMsg(on_MOTOR_BENCH_STATUS, NULL, "^\\S* MOTOR_BENCH_STATUS (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)");
IvyStart("127.255.255.255");
g_timeout_add(40, timeout_callback, NULL);
sw/in_progress/motor_bench/mb_utils.sci
+17
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@@ -30,3 +30,20 @@ end
mclose(u);
endfunction
function [filtered] = low_pass_filter(f_sample, f_cut, raw_data)
delta_t = 1/f_sample;
rc = 1 / ( 2 * %pi * f_cut);
alpha = delta_t / ( delta_t + rc );
filtered=[raw_data(1)];
for i=2:length(raw_data)
fv = alpha * raw_data(i) + (1 - alpha) * filtered(i-1);
filtered = [filtered fv];
end
endfunction
sw/in_progress/motor_bench/test.sce
+12 -2
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@@ -10,11 +10,21 @@ filename = args(nb_args);
[time, throttle, rpm, amp, thrust, torque] = read_mb_log(filename);
f_sample = 200.;
fc = 100.;
f_rpm = low_pass_filter(f_sample, fc, rpm);
xbasc();
subplot(2,1,1)
subplot(3,1,1)
xtitle('Throttle');
plot2d(time, throttle);
subplot(2,1,2)
subplot(3,1,2)
xtitle('Rpm');
plot2d(time, rpm);
subplot(3,1,3)
xtitle('Filtered Rpm');
//plot2d(time, f_rpm);
plot2d(rpm, throttle);