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/* motor.c */
/* APBTasserv - asservissement Robot 2004 {{{
 *
 * Copyright (C) 2003 Nicolas Schodet
 *
 * Robot APB Team/Efrei 2004.
 *	Web: http://assos.efrei.fr/robot/
 *	Mail: robot AT efrei DOT fr
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
 *
 * }}} */
#include "motor.h"
#include "serial.h"

/* Variables globales. */
signed long motor_ttl;	/* Time to live : arr�te le robot au bout de
				   ce nombre de pas. */
short motor_asservi;		/* Asservissement activ� ? */
unsigned int motor_kp, motor_ki, motor_kd;	/* Coefficients du PID. */
unsigned int motor_a;		/* Acceleration. */
signed long motor_int_max;	/* Terme int�gral maximum. */
unsigned int motor_pid_int;	/* Compteur d'interruptions 2 entre deux
				   calculs de PID. */

/* Statistiques, etc... */
short motor_stat;			/* Report motor stats. */
unsigned int motor_stat_delay;		/* Delay between stats. */
unsigned int motor_stat_delay_cpt;	/* Delay counter. */

/* Moteurs. */
signed int motor_g_vdes, motor_g_vacc;		/* Vitesse d�sir�e, actuelle. */
signed int motor_d_vdes, motor_d_vacc;
unsigned int motor_g_cpt_av, motor_g_cpt_ar;	/* Compteur pour les interruptions. */
unsigned int motor_d_cpt_av, motor_d_cpt_ar;
signed long motor_g_cpt, motor_d_cpt;		/* Compteurs. */
signed long motor_g_e_old, motor_d_e_old;	/* Derni�re erreur, pour le
						   calcul de la d�riv�e. */
signed long motor_g_int, motor_d_int;		/* Valeur integrale. */

/* Initialise le modue moteur. */
void
motor_init (void)
{
    motor_ttl = 2000;
    motor_asservi = 0;
    motor_kp = 10; motor_ki = 5; motor_kd = 0;
    motor_a = 2;
    motor_int_max = 1000;
    motor_pid_int = 0;
    motor_stat = 0;
    motor_stat_delay = 101;
    motor_stat_delay_cpt = 0;
    motor_g_vdes = 0; motor_g_vacc = 0;
    motor_d_vdes = 0; motor_d_vacc = 0;
    motor_g_cpt_av = 0; motor_g_cpt_ar = 0;
    motor_d_cpt_av = 0; motor_d_cpt_ar = 0;
    motor_g_cpt = 0; motor_d_cpt = 0;
    motor_g_e_old = 0; motor_d_e_old = 0;
    motor_g_int = 0; motor_d_int = 0;
}

/* Addition limit�e � 32000. */
signed long
safe_add_long (signed long &a, signed long &b)
{
    signed long ret;
    /* Additionne. */
    ret = a + b;
    /* V�rifie les d�bordements par coh�rence des signes. */
    if (a > 0 && b > 0 && ret <= 0)
	return 32000;
    else if (a < 0 && b < 0 && ret >= 0)
	return -32000;
    else
	return ret;
}

/* Limite un entier entre -MAX et MAX. */
signed long
boundary (signed long &n, signed long &max)
{
    if (n > max)
	return max;
    if (n < -max)
	return -max;
    return n;
}

/* Multiplication par les coef. */
signed long
safe_mul_long (signed long &a, unsigned int &k)
{
    unsigned long ua;
    short sa;
    signed long temp;
    /* S�pare le signe de la valeur absolue. */
    if (a >= 0)
      {
	sa = 1;
	ua = a;
      }
    else
      {
	sa = 0;
	ua = -a;
      }
    /* Multiplie le poid fort. */
    temp = make8 (ua, 1) * k;
    /* Test un futur d�bordement. */
    if (temp > 255)
      {
	if (sa) return 32760;
	else return -32760;
      }
    else
      {
	temp = make8 (temp, 1);
	temp += ((long) make8 (ua, 0)) * k ;
	if (sa) return temp;
	else return -temp;
      }
}

/* Met � jour la vitesse du moteur gauche. */
void
motor_update_left_speed (void)
{
    if (motor_g_vacc != motor_g_vdes)
      {
	if (motor_g_vacc < motor_g_vdes)
	  {
	    /* Acc�l�re. */
	    motor_g_vacc += motor_a;
	    if (motor_g_vacc > motor_g_vdes)
		motor_g_vacc = motor_g_vdes;
	  }
	else
	  {
	    /* Freine. */
	    motor_g_vacc -= motor_a;
	    if (motor_g_vacc < motor_g_vdes)
		motor_g_vacc = motor_g_vdes;
	  }
      }
}

/* Met � jour la vitesse du moteur droit. */
void
motor_update_right_speed (void)
{
    if (motor_d_vacc != motor_d_vdes)
      {
	if (motor_d_vacc < motor_d_vdes)
	  {
	    /* Acc�l�re. */
	    motor_d_vacc += motor_a;
	    if (motor_d_vacc > motor_d_vdes)
		motor_d_vacc = motor_d_vdes;
	  }
	else
	  {
	    /* Freine. */
	    motor_d_vacc -= motor_a;
	    if (motor_d_vacc < motor_d_vdes)
		motor_d_vacc = motor_d_vdes;
	  }
      }
}

/* Calcule le PID associ� au moteur gauche. */
void
motor_compute_left_pid (void)
{
    signed long e;
    signed long diff;
    signed long pwm;
    signed long temp;
    unsigned char av, ar;
    /* R�cup�re les compteurs. */
    disable_interrupts (INT_EXT);
    av = motor_g_cpt_av;
    motor_g_cpt_av = 0;
    enable_interrupts (INT_EXT);
    disable_interrupts (INT_EXT1);
    ar = motor_g_cpt_ar;
    motor_g_cpt_ar = 0;
    enable_interrupts (INT_EXT1);
    /* Calcule l'erreur. */
    diff = av;
    diff -= ar;
    motor_g_cpt += diff;
    e = motor_g_vacc - diff;
    /* Calcul de l'integrale. */
    motor_g_int = safe_add_long (motor_g_int, e);
    motor_g_int = boundary (motor_g_int, motor_int_max);
    /* Calcul du PID. */
    pwm = safe_mul_long (e, motor_kp);
    temp = safe_mul_long (motor_g_int, motor_ki);
    pwm = safe_add_long (pwm, temp);
    temp = 1000;
    pwm = boundary (pwm, temp);
    /* Envois la sauce. */
    motor_g_pwm (pwm);
    /* Information de PWM. */
    if (motor_stat)
      {
	if (!motor_stat_delay_cpt--)
	  {
	    serial_send_motor_stat ('l', motor_g_vacc, e, pwm);
	    motor_stat_delay_cpt = motor_stat_delay;
	  }
      }
    /* Conserve l'ancienne erreur pour le terme d�riv�. */
    //motor_g_old_e = e;
}

/* Calcule le PID associ� au moteur droit. */
void
motor_compute_right_pid (void)
{
    signed long e;
    signed long diff;
    signed long pwm;
    signed long temp;
    unsigned char av, ar;
    /* R�cup�re les compteurs. */
    av = get_timer0 ();
    ar = get_timer3 ();
    /* Calcule l'erreur. */
    diff = av;
    diff -= motor_d_cpt_av;
    if (av < motor_d_cpt_av) diff += 256;
    diff -= ar;
    diff += motor_d_cpt_ar;
    if (ar < motor_d_cpt_ar) diff -= 256;
    motor_d_cpt += diff;
    e = motor_d_vacc - diff;
    /* Sauvegarde les compteurs. */
    motor_d_cpt_av = av;
    motor_d_cpt_ar = ar;
    /* Calcul de l'integrale. */
    motor_d_int = safe_add_long (motor_d_int, e);
    motor_d_int = boundary (motor_d_int, motor_int_max);
    /* Calcul du PID. */
    pwm = safe_mul_long (e, motor_kp);
    temp = safe_mul_long (motor_d_int, motor_ki);
    pwm = safe_add_long (pwm, temp);
    temp = 1000;
    pwm = boundary (pwm, temp);
    /* Envois la sauce. */
    motor_d_pwm (pwm);
    /* Information de PWM. */
    if (motor_stat)
      {
	if (!motor_stat_delay_cpt--)
	  {
	    serial_send_motor_stat ('r', motor_d_vacc, e, pwm);
	    motor_stat_delay_cpt = motor_stat_delay;
	  }
      }
    /* Conserve l'ancienne erreur pour le terme d�riv�. */
    //motor_d_old_e = e;
}

/* Param�tre la PWM pour le moteur gauche. */
void
motor_g_pwm (signed long &pwm)
{
    if (!motor_asservi) pwm = 0;
    if (pwm >= 0)
      {
	output_high (PIN_D1);
	set_pwm2_duty(pwm);
      }
    else
      {
	output_low (PIN_D1);
	set_pwm2_duty (-pwm);
      }
}

/* Param�tre la PWM pour le moteur droit. */
void
motor_d_pwm (signed long &pwm)
{
    if (!motor_asservi) pwm = 0;
    if (pwm >= 0)
      {
	output_high (PIN_D0);
	set_pwm1_duty(pwm);
      }
    else
      {
	output_low (PIN_D0);
	set_pwm1_duty (-pwm);
      }
}

/* Interruptions de comptage moteur. */
#int_EXT
EXT_isr()
{
    motor_g_cpt_av++;
}

#int_EXT1
EXT1_isr()
{
    motor_g_cpt_ar++;
}

/* Interruption de PID. */
#int_TIMER2
TIMER2_isr ()
{
    if ((motor_pid_int & 7) == 0)
      {
	motor_compute_left_pid ();
	motor_compute_right_pid ();
      }
    if ((motor_pid_int & 63) == 0)
      {
	motor_update_left_speed ();
	motor_update_right_speed ();
	serial_parse ();
      }
    motor_pid_int++;
}

/* Traite une entr�e s�rie. */
short
motor_parse (void)
{
    switch (serial_recv_com ())
      {
      case 'v':
	serial_recv_int (motor_g_vdes);
	serial_recv_int1 (motor_d_vdes);
	serial_send_ok ('v');
	return 1;
      case 's':
	motor_g_vdes = 0;
	motor_d_vdes = 0;
	serial_send_ok ('s');
	return 1;
      case 'a':
	serial_recv_int (motor_a);
	serial_send_ok ('a');
	return 1;
      case 'p':
	serial_recv_int (motor_kp);
	serial_send_ok ('p');
	return 1;
      case 'i':
	serial_recv_int (motor_ki);
	serial_send_ok ('i');
	return 1;
      case 'm':
	serial_recv_bool (motor_stat);
	serial_send_ok ('m');
	return 1;
      case 'g':
	serial_recv_bool (motor_asservi);
	motor_toggle_asservi ();
	serial_send_ok ('g');
	return 1;
      default:
	return 0;
      }
}

/* D�marre l'asservissement. */
void
motor_toggle_asservi (void)
{
    if (motor_asservi)
      {
	motor_g_cpt_av = 0;
	motor_g_cpt_ar = 0;
	motor_d_cpt_av = get_timer0 ();
	motor_d_cpt_ar = get_timer3 ();
	motor_g_vacc = 0;
	motor_d_vdes = 0;
	motor_g_vdes = 0;
	motor_d_vdes = 0;
	motor_g_int = 0;
	motor_d_int = 0;
      }
}