AMiRo-OS

#include <ch.hpp>

#include <hal.h>

#include <qei.h>

#include <chprintf.h>

#include <amiro/MotorControl.h>

#include <global.hpp>

using namespace chibios_rt;

using namespace amiro;

using namespace types;

using namespace constants;

using namespace constants::DiWheelDrive;

float MotorControl::wheelDiameterCorrectionFactor[2] = {1.0f, 1.0f};

float MotorControl::actualWheelBaseDistanceSI = wheelBaseDistanceSI;

extern Global global;

MotorControl::MotorControl(PWMDriver* pwm, MotorIncrements* mi, GPIO_TypeDef* port, int pad, fileSystemIo::FSIODiWheelDrive *memory)

    : BaseStaticThread<512>(),

      pwmDriver(pwm),

      motorIncrements(mi),

      powerEnablePort(port),

      powerEnablePad(pad),

      eventSource(),

      period(10),

      memory(memory) {

  this->pwmConfig.frequency = 7200000;

  this->pwmConfig.period = 360;

  this->pwmConfig.callback = NULL;

  this->pwmConfig.channels[0].mode = PWM_OUTPUT_ACTIVE_HIGH;

  this->pwmConfig.channels[0].callback = NULL;

  this->pwmConfig.channels[1].mode = PWM_OUTPUT_ACTIVE_HIGH;

  this->pwmConfig.channels[1].callback = NULL;

  this->pwmConfig.channels[2].mode = PWM_OUTPUT_ACTIVE_HIGH;

  this->pwmConfig.channels[2].callback = NULL;

  this->pwmConfig.channels[3].mode = PWM_OUTPUT_ACTIVE_HIGH;

  this->pwmConfig.channels[3].callback = NULL;

  this->pwmConfig.cr2 = 0;

  this->increment[0] = 0;

  this->increment[1] = 0;

  this->errorSum[0] = 0;

  this->errorSum[1] = 0;

  this->errorSumDiff = 0;

  // Init the velocities

  this->currentVelocity.x = 0;

  this->currentVelocity.y = 0;

  this->currentVelocity.z = 0;

  this->currentVelocity.w_x = 0;

  this->currentVelocity.w_y = 0;

  this->currentVelocity.w_z = 0;

  this->targetVelocity.x = 0;

  this->targetVelocity.w_z = 0;

  this->newTargetVelocities = false;

  this->lastVelocitiesV[0] = 0;

  this->lastVelocitiesV[1] = 0;

  this->lastVelocitiesV[2] = 0;

  this->lastVelocitiesV[3] = 0;

  this->lastVelocitiesV[4] = 0;

  this->lastVelocitiesV[5] = 0;

  this->newTargetVelocities = true;

  // calibration stuff;

  for (int i =0; i<3; i++){

    this->leftWValues[i] = i;

    this->rightWValues[i] = i;

  }

}

int MotorControl::getCurrentRPMLeft() {

  return this->actualSpeed[LEFT_WHEEL];

}

int MotorControl::getCurrentRPMRight() {

  return this->actualSpeed[RIGHT_WHEEL];

}

kinematic MotorControl::getCurrentVelocity() {

  return this->currentVelocity;

}

msg_t MotorControl::setWheelDiameterCorrectionFactor(float Ed /* = 1.0f */, bool_t storeEdToMemory /* = false */) {

  // cl (Eq. 17a)

  MotorControl::wheelDiameterCorrectionFactor[LEFT_WHEEL] = 2.0f / (Ed + 1.0f);

  // cl (Eq. 17a)

  MotorControl::wheelDiameterCorrectionFactor[RIGHT_WHEEL] = 2.0f / ((1.0f / Ed) + 1.0f);

  // Store Ed to memory

  if (storeEdToMemory)

    return memory->setEd(Ed);

  else

    return RDY_OK;

}

msg_t MotorControl::setActualWheelBaseDistance(float Eb /* = 1.0f */, bool_t storeEbToMemory /* = false */) {

  // bActual (Eq. 4)

  MotorControl::actualWheelBaseDistanceSI = wheelBaseDistanceSI * Eb;

  // Store Eb to memory

  if (storeEbToMemory)

    return memory->setEb(Eb);

  else

    return RDY_OK;

}

EvtSource* MotorControl::getEventSource() {

  return &this->eventSource;

}

void MotorControl::setTargetRPM(int32_t targetURpmLeft, int32_t targetURpmRight) {

  // Velocity in µm/s in x direction

  int32_t targetVelocityX = (wheelCircumferenceSI * (targetURpmLeft + targetURpmRight)) / secondsPerMinute / 2.0f;

  // Angular velocity around z in µrad/s

  int32_t targetVelocityWz = (wheelCircumferenceSI * (targetURpmRight - targetURpmLeft)) / secondsPerMinute / MotorControl::actualWheelBaseDistanceSI;

  chSysLock();

  this->targetVelocity.x = targetVelocityX;

  this->targetVelocity.w_z = targetVelocityWz;

  this->newTargetVelocities = true;

  chSysUnlock();

}

void MotorControl::setTargetSpeed(const kinematic &targetVelocity) {

  chSysLock();

  this->targetVelocity.x = targetVelocity.x;

  this->targetVelocity.w_z = targetVelocity.w_z;

  this->newTargetVelocities = true;

  chSysUnlock();

}

msg_t MotorControl::main(void) {

  systime_t time = System::getTime();

  this->setName("MotorControl");

  // load controller parameters from memory

  this->memory->getWheelFactor(&this->motorCalibrationFactor);

  this->memory->getpGain(&this->pGain);

  this->memory->getiGain(&this->iGain);

  this->memory->getdGain(&this->dGain);

  this->memory->getEb(&this->Eb);

  this->memory->getEd(&this->Ed);

  pwmStart(this->pwmDriver, &this->pwmConfig);

  palSetPad(this->powerEnablePort, this->powerEnablePad);

  while (!this->shouldTerminate()) {

    time += MS2ST(this->period);

    // Get the increments from the QEI

    MotorControl::updateIncrements(this->motorIncrements, this->increment, this->incrementDifference);

    // Get the actual speed from the gathered increments

    MotorControl::updateSpeed(this->incrementDifference, this->actualSpeed, this->period);

    // Calculate velocities

    this->calcVelocity();

    // updates past velocities for the derivate part of the controller

    updateDerivativeLastVelocities();

    controllerAndCalibrationLogic();

    // Write the calculated duty cycle to the pwm driver

    this->writePulseWidthModulation();

    chThdSleepUntil(time);

    delay ++;

    if (delay > 50){

      delay = 0;

    }

  }

  // Reset the PWM befor shutdown

  this->pwmPercentage[LEFT_WHEEL] = 0;

  this->pwmPercentage[RIGHT_WHEEL] = 0;

  this->writePulseWidthModulation();

  return true;

}

void MotorControl::controllerAndCalibrationLogic(){

  if (!isCalibrating){

    this->PIDController();

    startedZieglerCalibration = true;

    startedWheelCalibration = true;

  } else {

    if (motorCalibration){

      if (startedWheelCalibration){

        wheelCalibrationTime = System::getTime();

        startedWheelCalibration = false;

      }

      calibrate();

    } else {

      this->PIDController();

      this->calibrateZiegler();

      this->updatePastVelocities();

      if (startedZieglerCalibration){

        zieglerCalibrationTime = System::getTime();

        startedZieglerCalibration = false;

      }

    }

  }

}

void MotorControl::calibrate() {

  this->pwmPercentage[LEFT_WHEEL] = 3000;

  this->pwmPercentage[RIGHT_WHEEL] = 3000;

  this->rightWValues[0] = this->rightWValues[1];

  this->rightWValues[1] = this->rightWValues[2];

  this->rightWValues[2] = getRightWheelSpeed();

  this->leftWValues[0] = this->leftWValues[1];

  this->leftWValues[1] = this->leftWValues[2];

  this->leftWValues[2] = getLeftWheelSpeed();

  if (this->rightWValues[0] == this->rightWValues[1] &&

      this->rightWValues[1] == this->rightWValues[2] &&

      this->leftWValues[0] == this->leftWValues[1] &&

      this->leftWValues[1] == this->leftWValues[2] &&

      System::getTime() - this->wheelCalibrationTime > 1500) {

    this->motorCalibrationFactor = (float)this->rightWValues[0]/(float)this->leftWValues[0];

    chprintf((BaseSequentialStream*) &SD1, "motorCalibrationFactor =   %f  \n" ,this->motorCalibrationFactor);

    chprintf((BaseSequentialStream*) &SD1, "rw =   %i  \n" ,this->rightWValues[0]);

    chprintf((BaseSequentialStream*) &SD1, "lw =   %i  \n" ,this->leftWValues[0]);

    this->pwmPercentage[LEFT_WHEEL] = 0;

    this->pwmPercentage[RIGHT_WHEEL] = 0;

    this->motorCalibration = false;

    this->memory->setwheelfactor(motorCalibrationFactor);

  }

}

void MotorControl::calibrateZiegler() {

    this->iGain =0;

    this->dGain = 0;

    int nsc  = this->getNumberofSignChanges();

    if (System::getTime() - this->zieglerCalibrationTime > 1000){

        this->zieglerCalibrationTime = System::getTime() ;

        this->ziegler2 =true;

    }

    if (ziegler && ziegler2){

        this->targetVelocity.x = 200000 * ((zieglerHelp%2 == 0) ? 1 : -1);

        this->pGain = 1000 + 100 * zieglerHelp;

        chprintf((BaseSequentialStream*) &SD1, "pgain =  %i  \n" , this->pGain);

        zieglerHelp++;

        ziegler = false;

        ziegler2 = false;

    }

    if (!ziegler  && ziegler2){

        this->targetVelocity.x = 0;

        ziegler2= false;

        ziegler = true;

    }

    if (zieglerHelp > 20){

        this->isCalibrating = false;

        this->targetVelocity.x = 0;

        this->iGain = 0.08;

        this->pGain = 1000;

    }

    if ( nsc > 8){

        zieglerHelp2++;

        if (zieglerHelp2 > 20){

           this->zieglerPeriod  = numberOfLastVelocitiesV * this->period / nsc;

           chprintf((BaseSequentialStream*) &SD1, "zieglerPeriod =   %f  \n" ,this->zieglerPeriod);

           this->targetVelocity.x = 0;

           this->pGain = (int) (this->pGain* 0.6);

           this->iGain = (float) ((1/(0.5*(this->zieglerPeriod/1000))/this->pGain));

           this->dGain = (float) ((1/(0.125*(this->zieglerPeriod/1000))/this->pGain));

           this->memory->setpGain(this->pGain);

           this->memory->setiGain(this->iGain);

           this->memory->setdGain(this->dGain);

           chprintf((BaseSequentialStream*) &SD1, "pgain =   %i  \n" ,this->pGain);

           chprintf((BaseSequentialStream*) &SD1, "igain =   %f  \n" ,this->iGain);

           chprintf((BaseSequentialStream*) &SD1, "dgain =   %f  \n" ,this->dGain);

           this->motorCalibration = true;

           ziegler = true;

           ziegler2 = true;

           this->isCalibrating = false;

           zieglerHelp = 0;

           zieglerCalibrationTime = 0;

           zieglerHelp2 = 0;

           for (int i = 0; i< numberOfLastVelocitiesV ; i ++){

               lastVelocitiesVBig[i] = 0;

           }

        }

    }

}

void MotorControl::PIDController(){

    //pgain #####################################

    chSysLock();

    int diffv =this->targetVelocity.x - this->currentVelocity.x;

    int diffw = this->targetVelocity.w_z - this->currentVelocity.w_z;

    chSysUnlock();

    //igain ####################################

   this->accumulatedErrorV += diffv;

   this->accumulatedErrorW += diffw;

    if (this->accumulatedErrorV > this->antiWindupV)

      this->accumulatedErrorV = this->antiWindupV;

    else if (this->accumulatedErrorV < -this->antiWindupV)

      this->accumulatedErrorV = -this->antiWindupV;

    if (this->accumulatedErrorW > this->antiWindupW)

      this->accumulatedErrorW = this->antiWindupW;

    else if (this->accumulatedErrorW < -this->antiWindupW)

      this->accumulatedErrorW = -this->antiWindupW;

    diffv += (int) (this->accumulatedErrorV*this->iGain);

    diffw += (int) (this->accumulatedErrorW*this->iGain);

    //dgain ###################################

    int derivativeV;

    int derivativeW;

    int tmp1;

    int tmp2;

   tmp1 = static_cast<int32_t>((lastVelocitiesV[0]+lastVelocitiesV[1]+lastVelocitiesV[2])/3);

   tmp2 = static_cast<int32_t>((lastVelocitiesV[3]+lastVelocitiesV[4]+lastVelocitiesV[5])/3);

   derivativeV = static_cast<int32_t> ((tmp2-tmp1)/(int)(this->period));

   tmp1 = static_cast<int32_t>((lastVelocitiesW[0]+lastVelocitiesW[1]+lastVelocitiesW[2])/3);

   tmp2 = static_cast<int32_t>((lastVelocitiesW[3]+lastVelocitiesW[4]+lastVelocitiesW[5])/3);

   derivativeW = static_cast<int32_t> ((tmp2-tmp1)/(int)(this->period));

    diffv += (int) (dGain*derivativeV);

    diffw += (int) (dGain*derivativeW);

    setLeftWheelSpeed(diffv,diffw);

    setRightWheelSpeed(diffv, diffw);

}

void MotorControl::setLeftWheelSpeed(int diffv, int diffw){

    this->pwmPercentage[LEFT_WHEEL] = (int) (this->pGain*2*(diffv-0.5*diffw*wheelBaseDistanceSI*this->Eb)/(wheelDiameter*this->wheelDiameterCorrectionFactor[LEFT_WHEEL]));

}

void MotorControl::setRightWheelSpeed(int diffv, int diffw){

    this->pwmPercentage[RIGHT_WHEEL] = (int) (motorCalibrationFactor*this->pGain*2*(diffv+0.5*diffw*wheelBaseDistanceSI*this->Eb)/(wheelDiameter*this->wheelDiameterCorrectionFactor[RIGHT_WHEEL]));

}

// speed in um

int MotorControl::getRightWheelSpeed(){

    int omega = 2*M_PI*this->actualSpeed[RIGHT_WHEEL]/60; // syslock noetig ? todo

    return  omega * wheelDiameter*this->wheelDiameterCorrectionFactor[RIGHT_WHEEL];

}

// speed in um

int MotorControl::getLeftWheelSpeed(){

    int omega = 2*M_PI*this->actualSpeed[LEFT_WHEEL]/60;

    return  omega * wheelDiameter*this->wheelDiameterCorrectionFactor[LEFT_WHEEL];

}

void MotorControl::updatePastVelocities(){

    for (int i=0; i<numberOfLastVelocitiesV-1;i++){

        lastVelocitiesVBig[i] = lastVelocitiesVBig[i+1];

    }

    lastVelocitiesVBig[numberOfLastVelocitiesV-1] = this->currentVelocity.x;

}

void MotorControl::updateDerivativeLastVelocities(){

    for (int i=0; i<5;i++){

        lastVelocitiesV[i] = lastVelocitiesV[i+1];

        lastVelocitiesW[i] = lastVelocitiesW[i+1];

    }

    lastVelocitiesV[5] = this->currentVelocity.x;

    lastVelocitiesW[5] = this->currentVelocity.w_z;

}

int MotorControl::getNumberofSignChanges(){

    int nsc= 0;

    bool ispositive = true;

    bool tmpbool = true;

    if (lastVelocitiesVBig[0] < 0){

        ispositive =false;

        tmpbool =false;

    }

    for (int i=0; i<numberOfLastVelocitiesV-1; i++){

        if (lastVelocitiesVBig[i] < 0){

            ispositive= false;

        } else {

            ispositive = true;

        }

        if (ispositive != tmpbool){

            nsc++;

            tmpbool = ispositive;

        }

    }

    return nsc;

}

void MotorControl::printGains(){

    chprintf((BaseSequentialStream*)&SD1, "motorCalibrationFactor %f\n", this->motorCalibrationFactor );

    chprintf((BaseSequentialStream*)&SD1, "pGain %i\n", this->pGain );

    chprintf((BaseSequentialStream*)&SD1, "iGain %f\n", this->iGain );

    chprintf((BaseSequentialStream*)&SD1, "dGain %f\n", this->dGain );

}

void MotorControl::resetGains()

{

  // reset factors

  chSysLock();

  this->motorCalibrationFactor = 1.0f;

  this->pGain = 1000;

  this->iGain = 0.08f;

  this->dGain = 0.01f;

  chSysUnlock();

  // write reset factors to memory

  this->memory->setwheelfactor(this->motorCalibrationFactor);

  this->memory->setpGain(this->pGain);

  this->memory->setiGain(this->iGain);

  this->memory->setdGain(this->dGain);

  return;

}

void MotorControl::calcVelocity() {

  // Velocity in µm/s in x direction

  currentVelocity.x = (1.0f*wheelCircumference * (this->actualSpeed[LEFT_WHEEL] + this->actualSpeed[RIGHT_WHEEL])) / secondsPerMinute / 2.0f;

  // Angular velocity around z in µrad/s

  currentVelocity.w_z = (1.0f*wheelCircumference * (this->actualSpeed[RIGHT_WHEEL] - this->actualSpeed[LEFT_WHEEL])) / (1.0f*secondsPerMinute) / (wheelBaseDistanceSI*this->Eb);

}

void MotorControl::updateIncrements(MotorIncrements* motorIncrements, int32_t (&oldIncrement)[2], float (&incrementDifference)[2]) {

  int32_t currentIncrement[2];

  chSysLock();

  for (uint8_t idxWheel = 0; idxWheel < 2; idxWheel++) {

    currentIncrement[idxWheel] = motorIncrements->qeiGetPosition(idxWheel);

  }

  chSysUnlock();

  // Calculate the difference between the last and

  // actual increments and therefor the actual speed or distance

  for (uint8_t idxWheel = 0; idxWheel < 2; idxWheel++) {

    // Get the difference

    int32_t tmpIncrementDifference =  oldIncrement[idxWheel] - currentIncrement[idxWheel];

    // Handle overflow of increments

    int range = motorIncrements->getQeiConfigRange();

    if (tmpIncrementDifference > (range >> 1))

      tmpIncrementDifference -= motorIncrements->getQeiConfigRange();

    else if (tmpIncrementDifference < -(range >> 1))

      tmpIncrementDifference += motorIncrements->getQeiConfigRange();

    // Correct the difference

    incrementDifference[idxWheel] =  static_cast<float>(tmpIncrementDifference) * MotorControl::wheelDiameterCorrectionFactor[idxWheel];

    // Save the actual increments

    oldIncrement[idxWheel] = currentIncrement[idxWheel];

  }

}

void MotorControl::updateSpeed(const float (&incrementDifference)[2], int32_t (&actualSpeed)[2], const uint32_t period) {

  const int32_t updatesPerMinute = 60 * 1000 / period;

  for (uint8_t idxWheel = 0; idxWheel < 2; idxWheel++) {

    // Save the actual speed

    actualSpeed[idxWheel] = static_cast<int32_t>(static_cast<float>(updatesPerMinute * incrementDifference[idxWheel])) / incrementsPerRevolution;

  }

}

void MotorControl::updateDistance(const float (&incrementDifference)[2], float (&actualDistance)[2]) {

  for (uint8_t idxWheel = 0; idxWheel < 2; idxWheel++) {

    // Calc. the distance per wheel in meter

    actualDistance[idxWheel] = wheelCircumferenceSI * incrementDifference[idxWheel] / static_cast<float>(incrementsPerRevolution);

  }

}

void MotorControl::writePulseWidthModulation() {

  for (int idxWheel = 0; idxWheel < 2; idxWheel++) {

    int percentage = this->pwmPercentage[idxWheel];

    unsigned int widths[2];

    // 10000 is the max. duty cicle

    if (percentage > 10000) {

      percentage = 10000;

    } else if (percentage < -10000) {

      percentage = -10000;

    }

    if (percentage < 0) {

      widths[0] = 0;

      widths[1] = PWM_PERCENTAGE_TO_WIDTH(this->pwmDriver, -percentage);

    } else {

      widths[0] = PWM_PERCENTAGE_TO_WIDTH(this->pwmDriver, percentage);

      widths[1] = 0;

    }

    for (int idxPWM = 0; idxPWM < 2; idxPWM++)

      pwmEnableChannel(this->pwmDriver, (idxWheel * 2) + idxPWM, widths[idxPWM]);

  }

}