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/* motor.c */
/* APBTasserv - asservissement Robot 2005 {{{
 *
 * Copyright (C) 2004 Nicolas Schodet
 *
 * 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.
 *
 * Contact :
 *        Web: http://perso.efrei.fr/~schodet/
 *      Email: <contact@ni.fr.eu.org>
 * }}} */
#include "motor.h"
#include "pwm.h"
#include "timer.h"
#include "counter.h"
#include <n/avr/rs232/rs232.h>
#include <n/avr/proto/proto.h>

/* +AutoDec */
/* -AutoDec */

/* Variables globales. */
uint8_t motor_asservi;		/* Asservissement activ� ? */
uint8_t motor_pos_asserv;	/* Si vrai, la carte d'asservissement est en
				   mode d'asservissement en position. C'est �
				   dire, l'ordinateur connect� � la carte
				   d'asservissement g�re lui m�me la vitesse
				   afin d'asservir la position. En pratique,
				    - pas d'acquitement lors d'un !v
				    - arr�t automatique si aucune commande !v
				    re�ue apr�s n cycles. Voir motor_ttl. */
uint8_t motor_ttl;		/* Time to live : arr�te le robot si arrive �
				   0 en mode asservissement position. */
uint8_t motor_kp, motor_ki, motor_kd;	/* Coefficients du PID. */
uint8_t motor_a;		/* Acceleration. */
uint8_t motor_a_cpt;		/* Compteur d'acceleration. */
int16_t motor_int_max;		/* Terme int�gral maximum. */
uint8_t motor_pid_int;		/* Compteur d'interruptions timer entre deux
				   calculs de PID. */

/* Statistiques, etc... */
uint8_t motor_stat_delay;	/* Delais entre les stats. */
uint8_t motor_stat_delay_cpt;	/* Compteur de stats. */
uint8_t motor_cpt_delay;	/* Delais entre rapport codeurs. */
uint8_t motor_cpt_delay_cpt;	/* Compteur entre les rapports. */

/* Entr�es. */
uint8_t motor_gpi_delay;	/* Delais entre deux envois. */
uint8_t motor_gpi_delay_cpt;	/* Compteur. */

/* Moteurs. */
int8_t motor_g_vdes, motor_g_vacc;		/* Vitesse d�sir�e, actuelle. */
int8_t motor_d_vdes, motor_d_vacc;
int16_t motor_g_cpt, motor_d_cpt;		/* Compteurs. */
int16_t motor_g_e_old, motor_d_e_old;		/* Derni�re erreur, pour le
						   calcul de la d�riv�e. */
int16_t motor_g_pwm_old, motor_d_pwm_old;	/* Derni�re pwm, pour les
						   stats. */
int16_t motor_g_int, motor_d_int;		/* Valeur integrale. */
int16_t motor_g_der, motor_d_der;		/* Valeur d�riv�e. */

/* On fait les cradingues... */
#include "pwm.c"
#include "timer.c"
#include "counter.c"

/* Initialise le module moteur. */
void
motor_init (void)
{
    motor_asservi = 0;
    motor_pos_asserv = 0;
    motor_ttl = 10;
    motor_kp = 10; motor_ki = 5; motor_kd = 0;
    motor_a = 8;
    motor_a_cpt = 8;
    motor_int_max = 1000;
    motor_pid_int = 0;
    motor_stat_delay = 0; motor_stat_delay_cpt = 0;
    motor_cpt_delay = 0; motor_cpt_delay_cpt = 0;
    motor_gpi_delay = 0; motor_gpi_delay_cpt = 0;
    motor_g_vdes = 0; motor_g_vacc = 0;
    motor_d_vdes = 0; motor_d_vacc = 0;
    motor_g_cpt = 0; motor_d_cpt = 0;
    motor_g_e_old = 0; motor_d_e_old = 0;
    motor_g_pwm_old = 0; motor_d_pwm_old = 0;
    motor_g_int = 0; motor_d_int = 0;
    motor_g_der = 0; motor_d_der = 0;
    pwm_init ();
    timer_init ();
    counter_init ();
    rs232_init ();
    proto_init (motor_serial_callback, rs232_putc);
    proto_send0 ('z');
}

/* Limite un entier entre -MAX et MAX. */
inline int16_t
boundary (int16_t n, int16_t max)
{
    if (n > max)
	return max;
    if (n < -max)
	return -max;
    return n;
}

/* 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++;
	  }
	else
	  {
	    /* Freine. */
	    motor_g_vacc--;
	  }
      }
}

/* 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++;
	  }
	else
	  {
	    /* Freine. */
	    motor_d_vacc--;
	  }
      }
}

/* Calcule le PID associ� au moteur gauche. */
void
motor_compute_left_pid (void)
{
    int16_t e;
    int16_t diff;
    int16_t pwm;
    int16_t temp;
    /* R�cup�re les compteurs et calcule l'erreur. */
    diff = counter_l_frw;
    counter_l_frw = 0;
    diff -= counter_l_rev;
    counter_l_rev = 0;
    motor_g_cpt += diff;
    e = motor_g_vacc - diff;			/* 10b = 8b + 9b */
    /* Calcul de l'integrale. */
    motor_g_int = motor_g_int + e;		/* 12b = 11b + 10b */
    motor_g_int = boundary (motor_g_int, motor_int_max); /* 11b */
    /* Calcul de la d�riv�e. */
    //motor_g_der = safe_sub_long (e, motor_g_e_old);
    /* Calcul du PID. P... */
    pwm = e * motor_kp;				/* 15b = 10b * 5b */
    /* I... */
    temp = motor_g_int * motor_ki;		/* 15b = 11b * 4b */
    pwm = pwm + temp;				/* 16b = 15b + 15b */
    /* D... */
    //temp = safe_mul_long (motor_g_der, motor_kd);
    //pwm = safe_add_long (pwm, temp);
    /* Conserve l'ancienne erreur pour le terme d�riv�. */
    motor_g_e_old = e;
    /* Conserve l'ancienne pwm. */
    motor_g_pwm_old = pwm;
}

/* Calcule le PID associ� au moteur droit. */
void
motor_compute_right_pid (void)
{
    int16_t e;
    int16_t diff;
    int16_t pwm;
    int16_t temp;
    /* R�cup�re les compteurs et calcule l'erreur. */
    diff = counter_r_frw;
    counter_r_frw = 0;
    diff -= counter_r_rev;
    counter_r_rev = 0;
    motor_d_cpt += diff;
    e = motor_d_vacc - diff;
    /* Calcul de l'integrale. */
    motor_d_int = motor_d_int + e;
    motor_d_int = boundary (motor_d_int, motor_int_max);
    /* Calcul de la d�riv�e. */
    //motor_d_der = safe_sub_long (e, motor_d_e_old);
    /* Calcul du PID. P... */
    pwm = e * motor_kp;
    /* I... */
    temp = motor_d_int * motor_ki;
    pwm = pwm + temp;
    /* D... */
    //temp = safe_mul_long (motor_d_der, motor_kd);
    //pwm = safe_add_long (pwm, temp);
    /* Conserve l'ancienne erreur pour le terme d�riv�. */
    motor_d_e_old = e;
    /* Conserve l'ancienne pwm. */
    motor_d_pwm_old = pwm;
}

/* Boucle principale. */
void
motor_main (void)
{
    while (1)
      {
	/* Ne fait le traitement que s'il y a eu une interruption. */
	while (!timer_pending ())
	    counter_update ();
	/* Calcul du PID. */
	if (1)
	  {
	    motor_compute_left_pid ();
	    motor_compute_right_pid ();
	    /* Applique les nouvelles valeurs au m�me moment. */
	    if (motor_asservi)
	      {
		pwm_set_left (motor_g_pwm_old);
		pwm_set_right (motor_d_pwm_old);
	      }
	    else
	      {
		pwm_set_left (0);
		pwm_set_right (0);
	      }
	    /* Information de PWM. */
	    if (motor_stat_delay)
	      {
		if (!--motor_stat_delay_cpt)
		  {
		    proto_send4 ('l', motor_g_vacc, motor_g_e_old,
				 motor_g_pwm_old >> 8, motor_g_pwm_old & 0xff);
		    proto_send4 ('r', motor_d_vacc, motor_d_e_old,
				 motor_d_pwm_old >> 8, motor_d_pwm_old & 0xff);
		    motor_stat_delay_cpt = motor_stat_delay;
		  }
	      }
	    /* Rapport des codeurs. */
	    if (motor_cpt_delay)
	      {
		if (!--motor_cpt_delay_cpt)
		  {
		    proto_send4 ('C', motor_g_cpt >> 8, motor_g_cpt & 0xff,
				 motor_d_cpt >> 8, motor_d_cpt & 0xff);
		    motor_cpt_delay_cpt = motor_cpt_delay;
		  }
	      }
	    /* Acc�l�re. */
	    if (motor_a)
	      {
		if (!--motor_a_cpt)
		  {
		    motor_update_left_speed ();
		    motor_update_right_speed ();
		    motor_a_cpt = motor_a;
		  }
	      }
	    else
	      {
		motor_g_vacc = motor_g_vdes;
		motor_d_vacc = motor_d_vdes;
	      }
	  }
	/* Le reste. */
	if ((motor_pid_int & 7) == 0)
	  {
	    /* Gestion du ttl. */
	    if (motor_pos_asserv && (motor_g_vdes || motor_d_vdes) &&
		--motor_ttl == 0)
	      {
		motor_g_vdes = 0;
		motor_d_vdes = 0;
		//serial_send_motor_ttl ();
	      }
	    if (rs232_poll ())
		proto_accept (rs232_getc ());
	    /* GPI. */
	    if (motor_gpi_delay)
	      {
		if (!--motor_gpi_delay_cpt)
		  {
		    //serial_send_gpi (input_d ());
		    motor_gpi_delay_cpt = motor_gpi_delay;
		  }
	      }
	  }
	motor_pid_int++;
      }
}

/* Traite une entr�e s�rie. */
void
motor_serial_callback (uint8_t cmd, uint8_t argc, proto_arg_t argv[])
{
#define c(cmd, argc) (cmd << 8 | argc)
    switch (c (cmd, argc))
      {
      case c ('z', 0):
	reset ();
	break;
      case c ('v', 2):
	motor_g_vdes = argv[0];
	motor_d_vdes = argv[1];
	if (motor_pos_asserv)
	  {
	    motor_ttl = 10;
	    return;
	  }
	break;
      case c ('V', 1):
	motor_pos_asserv = argv[0];
	break;
      case c ('s', 0):
	motor_g_vdes = 0;
	motor_d_vdes = 0;
	break;
      case c ('a', 1):
	motor_a = argv[0];
	motor_a_cpt = motor_a;
	break;
      case c ('p', 1):
	motor_kp = argv[0];
	break;
      case c ('i', 1):
	motor_ki = argv[0];
	break;
      case c ('d', 1):
	motor_kd = argv[0];
	break;
      case c ('m', 1):
	motor_stat_delay = argv[0];
	motor_stat_delay_cpt = motor_stat_delay;
	break;
      case c ('c', 1):
	motor_cpt_delay = argv[0];
	motor_cpt_delay_cpt = motor_cpt_delay;
	break;
      case c ('g', 1):
	motor_asservi = argv[0];
	motor_toggle_asservi ();
	break;
      case c ('h', 1):
	motor_gpi_delay = argv[0];
	motor_gpi_delay_cpt = motor_gpi_delay;
	break;
      case c ('k', 1):
	//temp = argv[0];
	//output_b (temp);
	break;
      case c ('D', 1):
	//temp = argv[0];
	//if (temp == 0x42)
	    //enable_interrupts (INT_EXT);
	break;
      default:
	proto_send0 ('e');
	return;
      }
    proto_send (cmd, argc, argv);
#undef c
}

/* D�marre l'asservissement. */
void
motor_toggle_asservi (void)
{
    if (motor_asservi)
      {
	counter_reset ();
	motor_g_vacc = 0;
	motor_d_vdes = 0;
	motor_g_vdes = 0;
	motor_d_vdes = 0;
	motor_g_int = 0;
	motor_d_int = 0;
      }
}