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Tammo Jan Dijkema
dt_ctrl
Commits
e6393f46
Commit
e6393f46
authored
Feb 24, 2015
by
Jeroen Vreeken
Browse files
Remove some code from elevation safety block to control file.
parent
b3cf78ba
Changes
2
Hide whitespace changes
Inline
Side-by-side
controller/dt_ctrl.ctrl
View file @
e6393f46
...
...
@@ -81,6 +81,9 @@ blocks ($(frequency), $(delay)) {
{ "add", "elevation_position_offset_r_sum" }
{ "add", "elevation_position_offset_l_sum" }
{ "log", "elevation_safety_hw_top" }
{ "log", "elevation_safety_hw_bottom" }
{ "command_bool", "focusbox_plus" }
{ "command_bool", "focusbox_min" }
...
...
@@ -202,6 +205,9 @@ links {
{ "elevation_servo_state", "enable", "elevation_torsion_pid", "enable" , true }
{ "elevation_torsion_pid", "out", "elevation_torsion_speed_limit", "in" , true }
{ "elevation_torsion_speed_limit", "out", "elevation_output_matrix", "in1" , true }
{ $<Elevation_Top_Safe>, "elevation_safety_hw_top", "condition", true }
{ $<Elevation_Bottom_Safe>, "elevation_safety_hw_bottom", "condition", true }
}
traces {
...
...
@@ -391,6 +397,11 @@ params {
{ "elevation_safety", "safe_zone_min", (float) deg2rad(-0.09) * $(elevation_gear) }
{ "elevation_safety", "safe_zone_max", (float) deg2rad(90.4) * $(elevation_gear) }
{ "elevation_safety", "torsion_recover_max", (float) deg2rad(1.0) }
{ "elevation_safety_hw_top", "msg_up", 2, "Elevation HW top safety switch is closed" }
{ "elevation_safety_hw_top", "msg_down", 0, "Elevation HW top safety switch is open" }
{ "elevation_safety_hw_bottom", "msg_up", 2, "Elevation HW bottom safety switch is closed" }
{ "elevation_safety_hw_bottom", "msg_down", 0, "Elevation HW bottom safety switch is open" }
}
# Load file with calibration parameters.
...
...
controller/dt_elevation/dt_el_safety.c
View file @
e6393f46
...
...
@@ -116,8 +116,6 @@ struct controller_block_private {
bool
warn_safe_min_l
;
bool
warn_safe_max_r
;
bool
warn_safe_min_r
;
bool
err_hwsafe_top
;
bool
err_hwsafe_bottom
;
struct
controller_command
*
command
;
};
...
...
@@ -130,7 +128,7 @@ static void dt_el_safety_calculate(struct controller_block *safety)
float
torsion_in
,
torque_in
,
torque_in_r
,
torque_in_l
;
bool
safe
;
bool
enabled
=
*
priv
->
enable_in
;
struct
command_entry
c_entry
;
struct
controller_
command_entry
c_entry
;
if
(
!
controller_command_queue_read
(
priv
->
command
,
&
c_entry
))
{
bool
recover
=
c_entry
.
value
.
b
;
...
...
@@ -341,33 +339,11 @@ static void dt_el_safety_calculate(struct controller_block *safety)
/* top safety switch */
if
(
!*
priv
->
safety_in_top
)
{
safe
=
false
;
if
(
!
priv
->
err_hwsafe_top
)
{
priv
->
err_hwsafe_top
=
true
;
log_send
(
LOG_T_ERROR
,
"Elevation HW top safety switch is open."
);
}
}
else
{
if
(
priv
->
err_hwsafe_top
)
{
priv
->
err_hwsafe_top
=
false
;
log_send
(
LOG_T_INFO
,
"Elevation HW top safety switch is closed."
);
}
}
/* bottom safety switch */
if
(
!*
priv
->
safety_in_bottom
)
{
safe
=
false
;
if
(
!
priv
->
err_hwsafe_bottom
)
{
priv
->
err_hwsafe_bottom
=
true
;
log_send
(
LOG_T_ERROR
,
"Elevation HW bottom safety switch is open."
);
}
}
else
{
if
(
priv
->
err_hwsafe_bottom
)
{
priv
->
err_hwsafe_bottom
=
false
;
log_send
(
LOG_T_INFO
,
"Elevation HW bottom safety switch is closed."
);
}
}
if
(
!
safe
)
...
...
@@ -557,8 +533,6 @@ static struct controller_block * block_dt_el_safety_create(char *name, int argc,
safety
->
private
->
warn_safe_min_r
=
false
;
safety
->
private
->
warn_safe_max_l
=
false
;
safety
->
private
->
warn_safe_min_l
=
false
;
safety
->
private
->
err_hwsafe_top
=
false
;
safety
->
private
->
err_hwsafe_bottom
=
false
;
safety
->
private
->
err_torsion_recover
=
false
;
if
(
controller_block_interm_list_init
(
safety
,
interms
))
...
...
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