50ee4244d3
display.cpp:
Optimize battery voltage measurement
While calibrating noticed it is very non-linear
- outsource function to scale using lookup table
- add lookup table to batvoltage measurement
inserted many values to lookup table while testing
currentsensors:
Fix current value jumping around between 0 and 0.2 on display
while standstill
- add parameter snapToZeroThreshold
554 lines
20 KiB
C++
554 lines
20 KiB
C++
#include "motorctl.hpp"
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#include "esp_log.h"
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#include "types.hpp"
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//tag for logging
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static const char * TAG = "motor-control";
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#define TIMEOUT_IDLE_WHEN_NO_COMMAND 15000 // turn motor off when still on and no new command received within that time
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#define TIMEOUT_QUEUE_WHEN_AT_TARGET 5000 // time waited for new command when motors at target duty (e.g. IDLE) (no need to handle fading in fast loop)
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//====================================
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//========== motorctl task ===========
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//====================================
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//task for handling the motors (ramp, current limit, driver)
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void task_motorctl( void * ptrControlledMotor ){
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//get pointer to controlledMotor instance from task parameter
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controlledMotor * motor = (controlledMotor *)ptrControlledMotor;
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ESP_LOGW(TAG, "Task-motorctl [%s]: starting handle loop...", motor->getName());
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while(1){
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motor->handle();
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vTaskDelay(20 / portTICK_PERIOD_MS);
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}
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}
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//=============================
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//======== constructor ========
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//=============================
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//constructor, simultaniously initialize instance of motor driver 'motor' and current sensor 'cSensor' with provided config (see below lines after ':')
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controlledMotor::controlledMotor(motorSetCommandFunc_t setCommandFunc, motorctl_config_t config_control, nvs_handle_t * nvsHandle_f):
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cSensor(config_control.currentSensor_adc, config_control.currentSensor_ratedCurrent, config_control.currentSnapToZeroThreshold, config_control.currentInverted) {
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//copy parameters for controlling the motor
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config = config_control;
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//pointer to update motot dury method
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motorSetCommand = setCommandFunc;
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//pointer to nvs handle
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nvsHandle = nvsHandle_f;
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//create queue, initialize config values
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init();
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}
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//============================
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//========== init ============
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//============================
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void controlledMotor::init(){
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commandQueue = xQueueCreate( 1, sizeof( struct motorCommand_t ) );
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if (commandQueue == NULL)
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ESP_LOGE(TAG, "Failed to create command-queue");
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else
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ESP_LOGI(TAG, "[%s] Initialized command-queue", config.name);
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// load config values from nvs, otherwise use default from config object
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loadAccelDuration();
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loadDecelDuration();
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// turn motor off initially
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motorSetCommand({motorstate_t::IDLE, 0.00});
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//cSensor.calibrateZeroAmpere(); //currently done in currentsensor constructor TODO do this regularly e.g. in idle?
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}
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//----------------
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//----- fade -----
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//----------------
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//local function that fades a variable
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//- increments a variable (pointer) by given value
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//- sets to target if already closer than increment
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//TODO this needs testing
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void fade(float * dutyNow, float dutyTarget, float dutyIncrement){
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float dutyDelta = dutyTarget - *dutyNow;
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if ( fabs(dutyDelta) > fabs(dutyIncrement) ) { //check if already close to target
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*dutyNow = *dutyNow + dutyIncrement;
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}
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//already closer to target than increment
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else {
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*dutyNow = dutyTarget;
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}
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}
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//----------------------------
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//----- getStateFromDuty -----
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//----------------------------
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//local function that determines motor the direction from duty range -100 to 100
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motorstate_t getStateFromDuty(float duty){
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if(duty > 0) return motorstate_t::FWD;
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if (duty < 0) return motorstate_t::REV;
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return motorstate_t::IDLE;
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}
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//==============================
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//=========== handle ===========
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//==============================
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//function that controls the motor driver and handles fading/ramp, current limit and deadtime
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void controlledMotor::handle(){
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//TODO: History: skip fading when motor was running fast recently / alternatively add rot-speed sensor
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//--- receive commands from queue ---
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if( xQueueReceive( commandQueue, &commandReceive, timeoutWaitForCommand / portTICK_PERIOD_MS ) ) //wait time is always 0 except when at target duty already
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{
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ESP_LOGV(TAG, "[%s] Read command from queue: state=%s, duty=%.2f", config.name, motorstateStr[(int)commandReceive.state], commandReceive.duty);
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state = commandReceive.state;
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dutyTarget = commandReceive.duty;
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receiveTimeout = false;
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timestamp_commandReceived = esp_log_timestamp();
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//--- convert duty ---
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//define target duty (-100 to 100) from provided duty and motorstate
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//this value is more suitable for the fading algorithm
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switch(commandReceive.state){
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case motorstate_t::BRAKE:
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//update state
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state = motorstate_t::BRAKE;
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//dutyTarget = 0;
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dutyTarget = fabs(commandReceive.duty);
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break;
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case motorstate_t::IDLE:
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dutyTarget = 0;
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break;
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case motorstate_t::FWD:
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dutyTarget = fabs(commandReceive.duty);
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break;
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case motorstate_t::REV:
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dutyTarget = - fabs(commandReceive.duty);
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break;
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}
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}
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//--- timeout, no data ---
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// turn motors off if no data received for a long time (e.g. no uart data or control task offline)
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if (dutyNow != 0 && esp_log_timestamp() - timestamp_commandReceived > TIMEOUT_IDLE_WHEN_NO_COMMAND && !receiveTimeout)
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{
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ESP_LOGE(TAG, "[%s] TIMEOUT, motor active, but no target data received for more than %ds -> switch from duty=%.2f to IDLE", config.name, TIMEOUT_IDLE_WHEN_NO_COMMAND / 1000, dutyTarget);
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receiveTimeout = true;
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state = motorstate_t::IDLE;
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dutyTarget = 0;
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}
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//--- calculate difference ---
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dutyDelta = dutyTarget - dutyNow;
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//positive: need to increase by that value
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//negative: need to decrease
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//--- already at target ---
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// when already at exact target duty there is no need to run very fast to handle fading
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//-> slow down loop by waiting significantly longer for new commands to arrive
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if ((dutyDelta == 0 && !config.currentLimitEnabled) || (dutyTarget == 0 && dutyNow == 0)) //when current limit enabled only slow down when duty is 0
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{
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//increase timeout once when duty is the same (once)
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if (timeoutWaitForCommand == 0)
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{ // TODO verify if state matches too?
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ESP_LOGI(TAG, "[%s] already at target duty %.2f, slowing down...", config.name, dutyTarget);
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timeoutWaitForCommand = TIMEOUT_QUEUE_WHEN_AT_TARGET; // wait in queue very long, for new command to arrive
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}
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vTaskDelay(20 / portTICK_PERIOD_MS); // add small additional delay overall, in case the same commands get spammed
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}
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//reset timeout when duty differs again (once)
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else if (timeoutWaitForCommand != 0)
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{
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timeoutWaitForCommand = 0; // dont wait additional time for new commands, handle fading fast
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ESP_LOGI(TAG, "[%s] duty changed to %.2f, resuming at full speed", config.name, dutyTarget);
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// adjust lastRun timestamp to not mess up fading, due to much time passed but with no actual duty change
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timestampLastRunUs = esp_timer_get_time() - 20*1000; //subtract approx 1 cycle delay
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}
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//TODO skip rest of the handle function below using return? Some regular driver updates sound useful though
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//--- calculate increment ---
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//calculate increment for fading UP with passed time since last run and configured fade time
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int64_t usPassed = esp_timer_get_time() - timestampLastRunUs;
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if (msFadeAccel > 0){
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dutyIncrementAccel = ( usPassed / ((float)msFadeAccel * 1000) ) * 100; //TODO define maximum increment - first run after startup (or long) pause can cause a very large increment
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} else {
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dutyIncrementAccel = 100;
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}
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//calculate increment for fading DOWN with passed time since last run and configured fade time
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if (msFadeDecel > 0){
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dutyIncrementDecel = ( usPassed / ((float)msFadeDecel * 1000) ) * 100;
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} else {
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dutyIncrementDecel = 100;
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}
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//--- BRAKE ---
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//brake immediately, update state, duty and exit this cycle of handle function
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if (state == motorstate_t::BRAKE){
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ESP_LOGD(TAG, "braking - skip fading");
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motorSetCommand({motorstate_t::BRAKE, dutyTarget});
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ESP_LOGD(TAG, "[%s] Set Motordriver: state=%s, duty=%.2f - Measurements: current=%.2f, speed=N/A", config.name, motorstateStr[(int)state], dutyNow, currentNow);
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//dutyNow = 0;
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return; //no need to run the fade algorithm
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}
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//----- FADING -----
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//fade duty to target (up and down)
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//TODO: this needs optimization (can be more clear and/or simpler)
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if (dutyDelta > 0) { //difference positive -> increasing duty (-100 -> 100)
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if (dutyNow < 0) { //reverse, decelerating
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fade(&dutyNow, dutyTarget, dutyIncrementDecel);
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}
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else if (dutyNow >= 0) { //forward, accelerating
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fade(&dutyNow, dutyTarget, dutyIncrementAccel);
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}
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}
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else if (dutyDelta < 0) { //difference negative -> decreasing duty (100 -> -100)
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if (dutyNow <= 0) { //reverse, accelerating
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fade(&dutyNow, dutyTarget, - dutyIncrementAccel);
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}
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else if (dutyNow > 0) { //forward, decelerating
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fade(&dutyNow, dutyTarget, - dutyIncrementDecel);
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}
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}
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//----- CURRENT LIMIT -----
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currentNow = cSensor.read();
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if ((config.currentLimitEnabled) && (dutyDelta != 0)){
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if (fabs(currentNow) > config.currentMax){
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float dutyOld = dutyNow;
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//adaptive decrement:
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//Note current exceeded twice -> twice as much decrement: TODO: decrement calc needs finetuning, currently random values
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dutyIncrementDecel = (currentNow/config.currentMax) * ( usPassed / ((float)msFadeDecel * 1500) ) * 100;
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float currentLimitDecrement = ( (float)usPassed / ((float)1000 * 1000) ) * 100; //1000ms from 100 to 0
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if (dutyNow < -currentLimitDecrement) {
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dutyNow += currentLimitDecrement;
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} else if (dutyNow > currentLimitDecrement) {
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dutyNow -= currentLimitDecrement;
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}
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ESP_LOGW(TAG, "[%s] current limit exceeded! now=%.3fA max=%.1fA => decreased duty from %.3f to %.3f", config.name, currentNow, config.currentMax, dutyOld, dutyNow);
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}
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}
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//--- define new motorstate --- (-100 to 100 => direction)
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state=getStateFromDuty(dutyNow);
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//--- DEAD TIME ----
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//ensure minimum idle time between direction change to prevent driver overload
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//FWD -> IDLE -> FWD continue without waiting
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//FWD -> IDLE -> REV wait for dead-time in IDLE
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//TODO check when changed only?
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if ( //not enough time between last direction state
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( state == motorstate_t::FWD && (esp_log_timestamp() - timestampsModeLastActive[(int)motorstate_t::REV] < config.deadTimeMs))
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|| (state == motorstate_t::REV && (esp_log_timestamp() - timestampsModeLastActive[(int)motorstate_t::FWD] < config.deadTimeMs))
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){
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ESP_LOGD(TAG, "waiting dead-time... dir change %s -> %s", motorstateStr[(int)statePrev], motorstateStr[(int)state]);
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if (!deadTimeWaiting){ //log start
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deadTimeWaiting = true;
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ESP_LOGI(TAG, "starting dead-time... %s -> %s", motorstateStr[(int)statePrev], motorstateStr[(int)state]);
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}
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//force IDLE state during wait
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state = motorstate_t::IDLE;
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dutyNow = 0;
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} else {
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if (deadTimeWaiting){ //log end
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deadTimeWaiting = false;
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ESP_LOGI(TAG, "dead-time ended - continue with %s", motorstateStr[(int)state]);
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}
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ESP_LOGV(TAG, "deadtime: no change below deadtime detected... dir=%s, duty=%.1f", motorstateStr[(int)state], dutyNow);
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}
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//--- save current actual motorstate and timestamp ---
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//needed for deadtime
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timestampsModeLastActive[(int)getStateFromDuty(dutyNow)] = esp_log_timestamp();
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//(-100 to 100 => direction)
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statePrev = getStateFromDuty(dutyNow);
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//--- apply new target to motor ---
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motorSetCommand({state, (float)fabs(dutyNow)});
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ESP_LOGI(TAG, "[%s] Set Motordriver: state=%s, duty=%.2f - Measurements: current=%.2f, speed=N/A", config.name, motorstateStr[(int)state], dutyNow, currentNow);
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//note: BRAKE state is handled earlier
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//--- update timestamp ---
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timestampLastRunUs = esp_timer_get_time(); //update timestamp last run with current timestamp in microseconds
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}
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//===============================
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//========== setTarget ==========
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//===============================
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//function to set the target mode and duty of a motor
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//puts the provided command in a queue for the handle function running in another task
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void controlledMotor::setTarget(motorCommand_t commandSend){
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ESP_LOGI(TAG, "[%s] setTarget: Inserting command to queue: state='%s'(%d), duty=%.2f", config.name, motorstateStr[(int)commandSend.state], (int)commandSend.state, commandSend.duty);
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//send command to queue (overwrite if an old command is still in the queue and not processed)
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xQueueOverwrite( commandQueue, ( void * )&commandSend);
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//xQueueSend( commandQueue, ( void * )&commandSend, ( TickType_t ) 0 );
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ESP_LOGD(TAG, "finished inserting new command");
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}
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// accept target state and duty as separate agrguments:
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void controlledMotor::setTarget(motorstate_t state_f, float duty_f){
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// create motorCommand struct from the separate parameters, and run the method to insert that new command
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setTarget({state_f, duty_f});
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}
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//===============================
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//========== getStatus ==========
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//===============================
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//function which returns the current status of the motor in a motorCommand_t struct
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motorCommand_t controlledMotor::getStatus(){
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motorCommand_t status = {
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.state = state,
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.duty = dutyNow
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};
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//TODO: mutex
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return status;
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};
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//===============================
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//=========== getFade ===========
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//===============================
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//return currently configured accel / decel time
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uint32_t controlledMotor::getFade(fadeType_t fadeType){
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switch(fadeType){
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case fadeType_t::ACCEL:
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return msFadeAccel;
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break;
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case fadeType_t::DECEL:
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return msFadeDecel;
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break;
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}
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return 0;
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}
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//==============================
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//======= getFadeDefault =======
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//==============================
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//return default accel / decel time (from config)
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uint32_t controlledMotor::getFadeDefault(fadeType_t fadeType){
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switch(fadeType){
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case fadeType_t::ACCEL:
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return config.msFadeAccel;
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break;
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case fadeType_t::DECEL:
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return config.msFadeDecel;
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break;
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}
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return 0;
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}
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//===============================
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//=========== setFade ===========
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//===============================
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//function for editing or enabling the fading/ramp of the motor control
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//set/update fading duration/amount
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void controlledMotor::setFade(fadeType_t fadeType, uint32_t msFadeNew){
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//TODO: mutex for msFade variable also used in handle function
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switch(fadeType){
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case fadeType_t::ACCEL:
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ESP_LOGW(TAG, "[%s] changed fade-up time from %d to %d", config.name, msFadeAccel, msFadeNew);
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writeAccelDuration(msFadeNew);
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break;
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case fadeType_t::DECEL:
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ESP_LOGW(TAG, "[%s] changed fade-down time from %d to %d",config.name, msFadeDecel, msFadeNew);
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// write new value to nvs and update the variable
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writeDecelDuration(msFadeNew);
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break;
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}
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}
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//enable (set to default value) or disable fading
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void controlledMotor::setFade(fadeType_t fadeType, bool enabled){
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uint32_t msFadeNew = 0; //define new fade time as default disabled
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if(enabled){ //enable
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//set to default/configured value
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switch(fadeType){
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case fadeType_t::ACCEL:
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msFadeNew = config.msFadeAccel;
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break;
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case fadeType_t::DECEL:
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msFadeNew = config.msFadeDecel;
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break;
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}
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}
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//apply new Fade value
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setFade(fadeType, msFadeNew);
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}
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//==================================
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//=========== toggleFade ===========
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//==================================
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//toggle fading between OFF and default value
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bool controlledMotor::toggleFade(fadeType_t fadeType){
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uint32_t msFadeNew = 0;
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bool enabled = false;
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switch(fadeType){
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case fadeType_t::ACCEL:
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if (msFadeAccel == 0){
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msFadeNew = config.msFadeAccel;
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enabled = true;
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} else {
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msFadeNew = 0;
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}
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break;
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case fadeType_t::DECEL:
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if (msFadeDecel == 0){
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msFadeNew = config.msFadeAccel;
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enabled = true;
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} else {
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msFadeNew = 0;
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}
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break;
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}
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//apply new Fade value
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setFade(fadeType, msFadeNew);
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//return new state (fading enabled/disabled)
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return enabled;
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}
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//-----------------------------
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//----- loadAccelDuration -----
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//-----------------------------
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// load stored value from nvs if not successfull uses config default value
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void controlledMotor::loadAccelDuration(void)
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{
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// load default value
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msFadeAccel = config.msFadeAccel;
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// read from nvs
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uint32_t valueNew;
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char key[15];
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snprintf(key, 15, "m-%s-accel", config.name);
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esp_err_t err = nvs_get_u32(*nvsHandle, key, &valueNew);
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switch (err)
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{
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case ESP_OK:
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ESP_LOGW(TAG, "Successfully read value '%s' from nvs. Overriding default value %d with %d", key, config.msFadeAccel, valueNew);
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msFadeAccel = valueNew;
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break;
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case ESP_ERR_NVS_NOT_FOUND:
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ESP_LOGW(TAG, "nvs: the value '%s' is not initialized yet, keeping default value %d", key, msFadeAccel);
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break;
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default:
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ESP_LOGE(TAG, "Error (%s) reading nvs!", esp_err_to_name(err));
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}
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}
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//-----------------------------
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//----- loadDecelDuration -----
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//-----------------------------
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void controlledMotor::loadDecelDuration(void)
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{
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// load default value
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msFadeDecel = config.msFadeDecel;
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// read from nvs
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uint32_t valueNew;
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char key[15];
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snprintf(key, 15, "m-%s-decel", config.name);
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esp_err_t err = nvs_get_u32(*nvsHandle, key, &valueNew);
|
|
switch (err)
|
|
{
|
|
case ESP_OK:
|
|
ESP_LOGW(TAG, "Successfully read value '%s' from nvs. Overriding default value %d with %d", key, config.msFadeDecel, valueNew);
|
|
msFadeDecel = valueNew;
|
|
break;
|
|
case ESP_ERR_NVS_NOT_FOUND:
|
|
ESP_LOGW(TAG, "nvs: the value '%s' is not initialized yet, keeping default value %d", key, msFadeDecel);
|
|
break;
|
|
default:
|
|
ESP_LOGE(TAG, "Error (%s) reading nvs!", esp_err_to_name(err));
|
|
}
|
|
}
|
|
|
|
|
|
|
|
|
|
//------------------------------
|
|
//----- writeAccelDuration -----
|
|
//------------------------------
|
|
// write provided value to nvs to be persistent and update the local variable msFadeAccel
|
|
void controlledMotor::writeAccelDuration(uint32_t newValue)
|
|
{
|
|
// check if unchanged
|
|
if(msFadeAccel == newValue){
|
|
ESP_LOGW(TAG, "value unchanged at %d, not writing to nvs", newValue);
|
|
return;
|
|
}
|
|
// generate nvs storage key
|
|
char key[15];
|
|
snprintf(key, 15, "m-%s-accel", config.name);
|
|
// update nvs value
|
|
ESP_LOGW(TAG, "[%s] updating nvs value '%s' from %d to %d", config.name, key, msFadeAccel, newValue);
|
|
esp_err_t err = nvs_set_u32(*nvsHandle, key, newValue);
|
|
if (err != ESP_OK)
|
|
ESP_LOGE(TAG, "nvs: failed writing");
|
|
err = nvs_commit(*nvsHandle);
|
|
if (err != ESP_OK)
|
|
ESP_LOGE(TAG, "nvs: failed committing updates");
|
|
else
|
|
ESP_LOGI(TAG, "nvs: successfully committed updates");
|
|
// update variable
|
|
msFadeAccel = newValue;
|
|
}
|
|
|
|
//------------------------------
|
|
//----- writeDecelDuration -----
|
|
//------------------------------
|
|
// write provided value to nvs to be persistent and update the local variable msFadeDecel
|
|
// TODO: reduce duplicate code
|
|
void controlledMotor::writeDecelDuration(uint32_t newValue)
|
|
{
|
|
// check if unchanged
|
|
if(msFadeDecel == newValue){
|
|
ESP_LOGW(TAG, "value unchanged at %d, not writing to nvs", newValue);
|
|
return;
|
|
}
|
|
// generate nvs storage key
|
|
char key[15];
|
|
snprintf(key, 15, "m-%s-decel", config.name);
|
|
// update nvs value
|
|
ESP_LOGW(TAG, "[%s] updating nvs value '%s' from %d to %d", config.name, key, msFadeDecel, newValue);
|
|
esp_err_t err = nvs_set_u32(*nvsHandle, key, newValue);
|
|
if (err != ESP_OK)
|
|
ESP_LOGE(TAG, "nvs: failed writing");
|
|
err = nvs_commit(*nvsHandle);
|
|
if (err != ESP_OK)
|
|
ESP_LOGE(TAG, "nvs: failed committing updates");
|
|
else
|
|
ESP_LOGI(TAG, "nvs: successfully committed updates");
|
|
// update variable
|
|
msFadeDecel = newValue;
|
|
} |