dc_motor.c

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#include "dc_motor.h"
#include "hw/hw_dc_motor.h"
#include "cfg/cfg_pwm.h"

// Define logging setting (for cfg/log.h module).
#define LOG_LEVEL         DC_MOTOR_LOG_LEVEL
#define LOG_FORMAT        DC_MOTOR_LOG_FORMAT

#include <cfg/log.h>
#include <cfg/debug.h>

#include <algo/pid_control.h>

#include <drv/timer.h>

#include <kern/proc.h>

#include <cpu/power.h>

#include <string.h>

#if CFG_PWM_ENABLE_OLD_API
    #define PWM_ENABLE(dcm, en)    pwm_enable((dcm)->cfg->pwm_dev, (en))
    #define PWM_SETDUTY(dcm, duty) pwm_setDuty((dcm)->cfg->pwm_dev, (duty))
    #define PWM_SETFREQ(dcm, freq) pwm_setFrequency((dcm)->cfg->pwm_dev, (freq))
    #define PWM_SETPOL(dcm, pol)   pwm_setPolarity((dcm)->cfg->pwm_dev, (pol))
#else
    #define PWM_ENABLE(dcm, en)    pwm_enable(&(dcm)->pwm, (en))
    #define PWM_SETDUTY(dcm, duty) pwm_setDuty(&(dcm)->pwm, (duty))
    #define PWM_SETFREQ(dcm, freq) pwm_setFrequency(&(dcm)->pwm, (freq))
    #define PWM_SETPOL(dcm, pol)   pwm_setPolarity(&(dcm)->pwm, (pol))
#endif

#define DC_MOTOR_ACTIVE           BV(0)     ///< DC motor enable or disable flag.
#define DC_MOTOR_DIR              BV(1)     ///< Spin direction of DC motor.

/*
 * Some utility macro for motor directions
 */
#define POS_DIR                   1
#define NEG_DIR                   0
#define DC_MOTOR_POS_DIR(x)       ((x) |= DC_MOTOR_DIR)   // Set directions status positive
#define DC_MOTOR_NEG_DIR(x)       ((x) &= ~DC_MOTOR_DIR)  // Set directions status negative

// Update the status with current direction
#define DC_MOTOR_SET_STATUS_DIR(status, dir) \
        (dir == POS_DIR ? DC_MOTOR_POS_DIR(status) : DC_MOTOR_NEG_DIR(status))

#if (CONFIG_KERN && CONFIG_KERN_PREEMPT)
    #if CONFIG_DC_MOTOR_USE_SEM
        #include <kern/sem.h>

        Semaphore dc_motor_sem;
        #define DC_MOTOR_LOCK        sem_obtain(&dc_motor_sem)
        #define DC_MOTOR_UNLOCK      sem_release(&dc_motor_sem)
    #else
        #define DC_MOTOR_LOCK        proc_forbid()
        #define DC_MOTOR_UNLOCK      proc_permit()
    #endif
#else
    #define DC_MOTOR_LOCK        /* None */
    #define DC_MOTOR_UNLOCK      /* None */
#endif

static DCMotor dcm_all[CONFIG_NUM_DC_MOTOR];

/*
 * Process to poll dc motor status
 */
struct Process *dc_motor;


// Stack process for DC motor poll.
static PROC_DEFINE_STACK(dc_motor_poll_stack, 500);

// Only for Debug
LOG_INFOB(static int debug_msg_delay = 0;);


INLINE dc_speed_t dc_motor_readSpeed(int index)
{
    DCMotor *dcm = &dcm_all[index];
    return HW_DC_MOTOR_READ_VALUE(dcm->cfg->adc_ch, dcm->cfg->adc_min, dcm->cfg->adc_max);
}

dc_speed_t dc_motor_readTargetSpeed(int index)
{
    DCMotor *dcm = &dcm_all[index];
    return HW_DC_MOTOR_READ_VALUE(dcm->cfg->speed_dev_id, CONFIG_DC_MOTOR_MIN_SPEED, CONFIG_DC_MOTOR_MAX_SPEED);
}

static void dc_motor_start(int index)
{
    DCMotor *dcm = &dcm_all[index];

    DC_MOTOR_LOCK;
    /*
     * Clean all PID stutus variable, becouse
     * we start with new one.
     */
    pid_control_reset(&dcm->pid_ctx);
    dcm->status |= DC_MOTOR_ACTIVE;
    DC_MOTOR_UNLOCK;
}

/*
 * There are two \a mode to stop the dc motor:
 *  - DC_MOTOR_DISABLE_MODE
 *  - DC_MOTOR_IDLE
 *
 * The DC_MOTOR_DISABLE_MODE shut down the DC motor and
 * leave it floating to rotate.
 * The DC_MOTOR_IDLE does not shut down DC motor, but put
 * its supply pin in short circuite, in this way the motor result
 * braked from intentional rotation.
 */
static void dc_motor_stop(int index)
{
    DCMotor *dcm = &dcm_all[index];

    DC_MOTOR_LOCK;

    dcm->status &= ~DC_MOTOR_ACTIVE;
    dcm->expire_time = DC_MOTOR_NO_EXPIRE;
    PWM_ENABLE(dcm, false);

    if (dcm->cfg->braked)
    {
        DC_MOTOR_STOP_BRAKED(dcm->index);
    }
    else
    {
        DC_MOTOR_STOP_FLOAT(dcm->index);
    }

    DC_MOTOR_UNLOCK;
}

/*
 * Sampling a signal on DC motor and compute
 * a new value of speed according with PID control.
 */
static void dc_motor_do(int index)
{
    DCMotor *dcm = &dcm_all[index];

    dc_speed_t curr_pos = 0;
    pwm_duty_t new_pid = 0;

    DC_MOTOR_LOCK;

    //If select DC motor is not active we return
    if (!(dcm->status & DC_MOTOR_ACTIVE))
    {
        DC_MOTOR_UNLOCK;
        return;
    }

    /*
     * To set dc motor direction we must also set the
     * PWM polarity according with dc motor driver chip
     */
    PWM_SETPOL(dcm, dcm->status & DC_MOTOR_DIR);
    DC_MOTOR_SET_DIR(dcm->index, dcm->status & DC_MOTOR_DIR);

    //Compute next value for reaching target speed from current position
    if (dcm->cfg->pid_enable)
    {
        /*
         * Here we cannot disable the switch context because the
         * driver, that read the speed could be need to use signal or
         * other thing that needs the kernel switch context, for this
         * reason we unlock before to read the speed.
         */
        DC_MOTOR_UNLOCK;
        curr_pos = dc_motor_readSpeed(index);
        DC_MOTOR_LOCK;
        new_pid = pid_control_update(&dcm->pid_ctx, dcm->tgt_speed, curr_pos);
    }
    else
    {
        new_pid = dcm->tgt_speed;
    }

    LOG_INFOB(
        if (debug_msg_delay == 20)
        {
            LOG_INFO("DC Motor[%d]: curr_speed[%d],curr_pos[%d],tgt[%d]\n", dcm->index,
                                curr_pos, new_pid, dcm->tgt_speed);
            debug_msg_delay = 0;
        }
        debug_msg_delay++;
    );

    //Apply the compute duty value
    PWM_SETDUTY(dcm, new_pid);

    //Restart dc motor
    PWM_ENABLE(dcm, true);

    DC_MOTOR_ENABLE(dcm->index);
    DC_MOTOR_UNLOCK;
}


/*
 * Check if the DC motor run time is expired, if this happend
 * we turn off motor and reset status.
 */
INLINE bool check_timerIsExpired(int index)
{

    DC_MOTOR_LOCK;
    bool check = ((dcm_all[index].expire_time - timer_clock()) < 0) &&
            (dcm_all[index].expire_time != DC_MOTOR_NO_EXPIRE);
    DC_MOTOR_UNLOCK;

    return check;
}

static void NORETURN dc_motor_poll(void)
{
    for (;;)
    {
        /*
         * For all DC motor we read and process output singal,
         * and choose the max value to off time
         */
        for (int i = 0; i < CONFIG_NUM_DC_MOTOR; i++)
        {
            if (!dcm_all[i].cfg)
                continue;

            if (check_timerIsExpired(i))
                dc_motor_stop(i);
            else
                dc_motor_do(i);

            /*
             * If we read speed from trimmer we update the target
             * speed value when motor is running so we can make
             * dc motor speed regulation.
             */
            if (dcm_all[i].cfg->speed_dev_id != DC_MOTOR_NO_DEV_SPEED)
                dc_motor_setSpeed(i, dc_motor_readTargetSpeed(i));
        }

        //Wait for next sampling
        timer_delay(CONFIG_DC_MOTOR_SAMPLE_PERIOD - CONFIG_DC_MOTOR_SAMPLE_DELAY);

        for (int i = 0; i < CONFIG_NUM_DC_MOTOR; i++)
        {
            if (!dcm_all[i].cfg)
                continue;

            if (check_timerIsExpired(i))
                dc_motor_stop(i);

            DC_MOTOR_LOCK;
            if (dcm_all[i].status & DC_MOTOR_ACTIVE)
            {
                DC_MOTOR_DISABLE(dcm_all[i].index);
                PWM_ENABLE(&dcm_all[i], false);
            }
            DC_MOTOR_UNLOCK;
        }

        //Wait some time to allow signal to stabilize before sampling
        timer_delay(CONFIG_DC_MOTOR_SAMPLE_DELAY);
    }
}

void dc_motor_setDir(int index, bool dir)
{
    DCMotor *dcm = &dcm_all[index];
    DC_MOTOR_LOCK;
    DC_MOTOR_SET_STATUS_DIR(dcm->status, dir);
    DC_MOTOR_UNLOCK;
}

void dc_motor_setSpeed(int index, dc_speed_t speed)
{
    DCMotor *dcm = &dcm_all[index];

    DC_MOTOR_LOCK;
    dcm->tgt_speed = speed;
    DC_MOTOR_UNLOCK;

    LOG_INFO("DC Motor[%d]: tgt_speed[%d]\n", index, dcm->tgt_speed);
}

void dc_motor_startTimer(int index, mtime_t on_time)
{
    DC_MOTOR_LOCK;
    dcm_all[index].expire_time = DC_MOTOR_NO_EXPIRE;
    if (on_time != DC_MOTOR_NO_EXPIRE)
    {
        dcm_all[index].expire_time = timer_clock() + ms_to_ticks(on_time);
        dc_motor_start(index);
    }
    DC_MOTOR_UNLOCK;
}

void dc_motor_waitStop(int index)
{
    DCMotor *dcm = &dcm_all[index];
    bool loop = true;

    while (loop)
    {
        DC_MOTOR_LOCK;
        loop = dcm->status & DC_MOTOR_ACTIVE;
        DC_MOTOR_UNLOCK;

        cpu_relax();
    }
}

void dc_motor_enable(int index, bool state)
{
    if (state)
        dc_motor_start(index);
    else
        dc_motor_stop(index);
}

void dc_motor_setup(int index, DCMotorConfig *dcm_conf)
{
    DCMotor *dcm = &dcm_all[index];

    DC_MOTOR_LOCK;
    /*
     * We are using the same sample period for each
     * motor, and so we check if this value is the same
     * for all. The sample period time is defined in pid
     * configuration.
     *
     * TODO: Use a different sample period for each motor
     * and refactor a module to allow to use a timer interrupt,
     * in this way we can controll a DC motor also without a
     * kernel, increasing a portability on other target.
     */
    pid_control_setPeriod(&dcm_conf->pid_cfg, CONFIG_DC_MOTOR_SAMPLE_PERIOD);

    //Init pid control
    pid_control_init(&dcm->pid_ctx, &dcm_conf->pid_cfg);


    dcm->cfg = dcm_conf;

    /*
     * Apply config value.
     */
    dcm->index = index;

    /*
     * By default the motor run forever..
     */
    dcm->expire_time = DC_MOTOR_NO_EXPIRE;

    /*
     * By default set target speed.
     */
    dcm->tgt_speed = dcm_conf->speed;

    /*
     * Clear the status.
     */
    dcm->status = 0;
#if !CFG_PWM_ENABLE_OLD_API
    pwm_init(&dcm->pwm, dcm_conf->pwm_dev);
#endif
    PWM_SETFREQ(dcm, dcm->cfg->freq);
    PWM_ENABLE(dcm, false);

    //Set default direction for DC motor
    DC_MOTOR_SET_DIR(dcm->index, dcm->cfg->dir);
    DC_MOTOR_SET_STATUS_DIR(dcm->status, dcm->cfg->dir);

    DC_MOTOR_UNLOCK;

    LOG_INFO("DC motor[%d]:\n", dcm->index);
    LOG_INFO("> PID: kp[%f],ki[%f],kd[%f]\n", dcm->cfg->pid_cfg.kp, dcm->cfg->pid_cfg.ki, dcm->cfg->pid_cfg.kd);
    LOG_INFO("> PWM: pwm_dev[%d], freq[%ld], sample[%d]\n", dcm->cfg->pwm_dev, dcm->cfg->freq,CONFIG_DC_MOTOR_SAMPLE_DELAY);
    LOG_INFO("> ADC: adc_ch[%d], adc_max[%d], adc_min[%d]\n", dcm->cfg->adc_ch, dcm->cfg->adc_max, dcm->cfg->adc_min);
    LOG_INFO("> DC: dir[%d], speed[%d]\n", dcm->cfg->dir, dcm->cfg->speed);
}

void dc_motor_setPriority(int priority)
{
    ASSERT(CONFIG_KERN);
    ASSERT(dc_motor);
    proc_setPri(dc_motor, priority);
}

void dc_motor_init(void)
{
    ASSERT(CONFIG_KERN);

    MOTOR_DC_INIT();

    #if (CONFIG_KERN_PREEMPT && CONFIG_DC_MOTOR_USE_SEM)
        sem_init(&dc_motor_sem);
    #endif

    //Create a dc motor poll process
    dc_motor = proc_new_with_name("DC_Motor", dc_motor_poll, NULL, sizeof(dc_motor_poll_stack), dc_motor_poll_stack);
}