aversive_10-03-12/modules/devices/control_system/control_system_manager/control_system_manager.c File Reference

#include <stdio.h>
#include <control_system_manager.h>

Go to the source code of this file.

Defines

#define DEBUG 0

#define debug_printf(args...) do { } while(0)

Functions

void cs_init (struct cs *cs)

void cs_set_consign_filter (struct cs *cs, int32_t(*consign_filter)(void *, int32_t), void *consign_filter_params)

void cs_set_correct_filter (struct cs *cs, int32_t(*correct_filter)(void *, int32_t), void *correct_filter_params)

void cs_set_feedback_filter (struct cs *cs, int32_t(*feedback_filter)(void *, int32_t), void *feedback_filter_params)

void cs_set_process_in (struct cs *cs, void(*process_in)(void *, int32_t), void *process_in_params)

void cs_set_process_out (struct cs *cs, int32_t(*process_out)(void *), void *process_out_params)

int32_t cs_do_process (struct cs *cs, int32_t consign)

This function do the main loop of the control system process.

void cs_manage (void *data)

int32_t cs_get_out (struct cs *cs)

int32_t cs_get_error (struct cs *cs)

int32_t cs_get_consign (struct cs *cs)

int32_t cs_get_filtered_consign (struct cs *cs)

int32_t cs_get_filtered_feedback (struct cs *cs)

void cs_set_consign (struct cs *cs, int32_t v)

Define Documentation

#define DEBUG 0

Definition at line 24 of file control_system_manager.c.

#define debug_printf ( args... ) do { } while(0)

Definition at line 29 of file control_system_manager.c.

Referenced by calc_rays(), complete(), cs_do_process(), intersect_line(), intersect_segment(), is_crossing_poly(), parse(), and parse_num().

Function Documentation

int32_t cs_do_process	(	struct cs *	cs,
		int32_t	consign
	)

This function do the main loop of the control system process.

Save the consign in the structure.
Apply the consign filter to the consign.
Read the process out
Apply the feedback filter to the process out
Substract filtered consign to filtered process out.
Save the result in error_value and apply the correct filter.
Save the filtered result and send it to process_in().
Return this result.

Definition at line 183 of file control_system_manager.c.

References cs::consign_filter, cs::consign_filter_params, cs::consign_value, cs::correct_filter, cs::correct_filter_params, debug_printf, cs::error_value, cs::feedback_filter, cs::feedback_filter_params, cs::filtered_consign_value, cs::filtered_feedback_value, i, cs::out_value, cs::process_in, cs::process_in_params, cs::process_out, and cs::process_out_params.

Referenced by cs_manage().

int32_t cs_get_consign ( struct cs * cs )

Return the current consign

Definition at line 264 of file control_system_manager.c.

References cs::consign_value, IRQ_LOCK, and IRQ_UNLOCK.

Referenced by trajectory_finished().

int32_t cs_get_error ( struct cs * cs )

Return the last calculated error

Definition at line 251 of file control_system_manager.c.

References cs::error_value, IRQ_LOCK, and IRQ_UNLOCK.

int32_t cs_get_filtered_consign ( struct cs * cs )

Return the current consign, after filter

Definition at line 275 of file control_system_manager.c.

References cs::filtered_consign_value, IRQ_LOCK, and IRQ_UNLOCK.

Referenced by trajectory_finished().

int32_t cs_get_filtered_feedback ( struct cs * cs )

Return the last feedback value, after filter

Definition at line 286 of file control_system_manager.c.

References cs::filtered_feedback_value, IRQ_LOCK, and IRQ_UNLOCK.

int32_t cs_get_out ( struct cs * cs )

Return the last output sent to process

Definition at line 238 of file control_system_manager.c.

References IRQ_LOCK, IRQ_UNLOCK, and cs::out_value.

void cs_init ( struct cs * cs )

Initiate the control_system structure by setting all fields to NULL

Definition at line 102 of file control_system_manager.c.

References cs::consign_filter, cs::consign_filter_params, cs::consign_value, cs::correct_filter, cs::correct_filter_params, cs::error_value, cs::feedback_filter, cs::feedback_filter_params, IRQ_LOCK, IRQ_UNLOCK, cs::out_value, cs::process_in, cs::process_in_params, cs::process_out, and cs::process_out_params.

void cs_manage ( void * cs )

Apply cs_do_process() to the structure cs

Parameters:

cs

should be a (struct cs*)

Definition at line 230 of file control_system_manager.c.

References cs::consign_value, and cs_do_process().

void cs_set_consign	(	struct cs *	cs,
		int32_t	v
	)

Change the consign without calculating control system

Definition at line 299 of file control_system_manager.c.

References cs::consign_value, IRQ_LOCK, and IRQ_UNLOCK.

Referenced by __trajectory_goto_d_a_rel().

void cs_set_consign_filter	(	struct cs *	cs,
		int32_t()(void , int32_t)	consign_filter,
		void *	consign_filter_params
	)

Set the cs consign_filter fields in the cs structure

Definition at line 130 of file control_system_manager.c.

References cs::consign_filter, cs::consign_filter_params, IRQ_LOCK, and IRQ_UNLOCK.

void cs_set_correct_filter	(	struct cs *	cs,
		int32_t()(void , int32_t)	correct_filter,
		void *	correct_filer_params
	)

Set the cs correct_filter fields in the cs structure

Definition at line 141 of file control_system_manager.c.

References cs::correct_filter, cs::correct_filter_params, IRQ_LOCK, and IRQ_UNLOCK.

void cs_set_feedback_filter	(	struct cs *	cs,
		int32_t()(void , int32_t)	feedback_filter,
		void *	feedback_filer_params
	)

Set the cs feedback_filter fields in the cs structure

Definition at line 151 of file control_system_manager.c.

References cs::feedback_filter, cs::feedback_filter_params, IRQ_LOCK, and IRQ_UNLOCK.

void cs_set_process_in	(	struct cs *	cs,
		void()(void , int32_t)	process_in,
		void *	process_in_params
	)

Set the cs process_in fields in the cs structure

Definition at line 161 of file control_system_manager.c.

References IRQ_LOCK, IRQ_UNLOCK, cs::process_in, and cs::process_in_params.

void cs_set_process_out	(	struct cs *	cs,
		int32_t()(void )	process_out,
		void *	process_out_params
	)

Set the cs process_out fields in the cs structure

Definition at line 172 of file control_system_manager.c.

References IRQ_LOCK, IRQ_UNLOCK, cs::process_out, and cs::process_out_params.


Defines
#define	DEBUG 0
#define	debug_printf(args...) do { } while(0)
Functions
void	cs_init (struct cs *cs)
void	cs_set_consign_filter (struct cs cs, int32_t(consign_filter)(void , int32_t), void consign_filter_params)
void	cs_set_correct_filter (struct cs cs, int32_t(correct_filter)(void , int32_t), void correct_filter_params)
void	cs_set_feedback_filter (struct cs cs, int32_t(feedback_filter)(void , int32_t), void feedback_filter_params)
void	cs_set_process_in (struct cs cs, void(process_in)(void , int32_t), void process_in_params)
void	cs_set_process_out (struct cs cs, int32_t(process_out)(void ), void process_out_params)
int32_t	cs_do_process (struct cs *cs, int32_t consign)
	This function do the main loop of the control system process.
void	cs_manage (void *data)
int32_t	cs_get_out (struct cs *cs)
int32_t	cs_get_error (struct cs *cs)
int32_t	cs_get_consign (struct cs *cs)
int32_t	cs_get_filtered_consign (struct cs *cs)
int32_t	cs_get_filtered_feedback (struct cs *cs)
void	cs_set_consign (struct cs *cs, int32_t v)