File content as of revision 5:aef1fc6c0df1:

/*
author: Sebastian Pelchat
date: october 2018
*/
#include "speedlimiter.hpp"

#define debug SpeedLimiter::pc->printf

Serial* SpeedLimiter::pc = new Serial(USBTX, USBRX);

SpeedLimiter::SpeedLimiter(const PinName& pedalInHi, const PinName& pedalInLo, const PinName& pedalOutHi, const PinName& pedalOutLo)
    : _pedalInHi(pedalInHi)
    , _pedalInLo(pedalInLo)
    , _pedalOutHi(pedalOutHi)
    , _pedalOutLo(pedalOutLo)
    , _referenceSpeed(DISABLE_ECO_ALGO_TRIGGER)
    , _measuredSpeed(0.0)
{
}

SpeedLimiter::~SpeedLimiter()
{
}

void SpeedLimiter::ipControllerTransferFunction()
{
    // write voltages at beginning of function to prevent jitter
    // voltage will be delayed by 1 call which is okay.
//    pc->printf("H\n\r");
    const float voutHi = getOutputPedalVoltageHi();
    const float voutLo = getOutputPedalVoltageLo();

//    pc->printf("Hi: %f\t Lo: %f\n\r", voutHi, voutLo);

    writeAdcPedalHi(voutHi);
    writeAdcPedalLo(voutLo);

    // calculate voltage for next call
    const float referenceSpeed = getReferenceSpeed();
    float outputAdcVoltageHi = 0;
    float outputAdcVoltageLo = 0;

    if(referenceSpeed == DISABLE_ECO_ALGO_TRIGGER) {
        outputAdcVoltageHi = ecoDisabledAlgorithm();
    } else {
        outputAdcVoltageHi = ecoEnabledAlgorithm();
    }

//    outputAdcVoltageHi = ADC_OUTPUT_MAX_VALUE / 2;
    outputAdcVoltageLo = outputAdcVoltageHi / 2;

//    pc->printf("tmpHi: %f\t tmpLo: %f\n\r", outputAdcVoltageHi, outputAdcVoltageLo);

    setOutputPedalVoltageHi(outputAdcVoltageHi);
    setOutputPedalVoltageLo(outputAdcVoltageLo);
}

// Returns voltage read on analog input port chosen for pedal input 1
float SpeedLimiter::readAdcPedalHi()
{
    const float decPcValue = _pedalInHi.read();
    const float voltage = decPcValue * ADC_INPUT_MAX_VALUE;
    return voltage;
}

// Returns voltage read on analog input port chosen for pedal input 2
float SpeedLimiter::readAdcPedalLo()
{
    const float decPcValue = _pedalInLo.read();
    const float voltage = decPcValue * ADC_INPUT_MAX_VALUE;
    return voltage;
}

// Accepts a value in volts, converts to % and sets ADC for pedal output 1
void SpeedLimiter::writeAdcPedalHi(const float voltage)
{
    const float boundedValue = boundValue(voltage, PEDAL_HI_MIN_VALUE, PEDAL_HI_MAX_VALUE);
    const float decValue = voltageToDecimal(boundedValue, ADC_OUTPUT_MAX_VALUE);
    _pedalOutHi.write(decValue);
}

// Accepts a value in volts, converts to % and sets ADC for pedal output 2
void SpeedLimiter::writeAdcPedalLo(const float voltage)
{
    const float boundedValue = boundValue(voltage, PEDAL_LO_MIN_VALUE, PEDAL_LO_MAX_VALUE);
    const float decValue = voltageToDecimal(boundedValue, ADC_OUTPUT_MAX_VALUE);
    _pedalOutLo.write(decValue);
}

float SpeedLimiter::ecoDisabledAlgorithm()
{
    const float value = readAdcPedalHi();
    return value;
}

float SpeedLimiter::ecoEnabledAlgorithm()
{
    static bool first_acquisition = true;

    // constantes calcules dans MATLAB
    const double b0 = 3312.0;
    const double b1 = -3061.0;
    const double a1 = -1.0;

    // valeurs anterieures
    static double lastE = 0.0;
    static double lastOut = 0.0;

    // calculs
    double Vm = getMeasuredSpeed();
    double Vd = getReferenceSpeed();
    double out = 0.0;
    if (readAdcPedalHi() > 1) {

        const double e = Vd - Vm;

        // y(n) = b0 * x(n) + b1 * x(n-1) - a1 * y(n-1)
        out = (b0 * e) + (b1 * lastE) - (a1 * lastOut);

        lastE = e;
        lastOut = out;

        // out est maintenant en 'force'
        out = (out / 133240.0 * (PEDAL_HI_MAX_VALUE-PEDAL_HI_MIN_VALUE)) + PEDAL_HI_MIN_VALUE;

        if(first_acquisition) {
            pc->printf("Acquisition start:\n\r");
            first_acquisition = false;
        }
//        pc->printf("%f;", Vm);
//        wait(5);

    } else {
        lastE = 0.00000000001;
        lastOut = 0.00000000001;
        first_acquisition = true;
    }

    pc->printf("Vm: %.2f\t Vd: %.2f\t Eh: %.2f\t El: %.2f\n\r", Vm, Vd, out, out/2);

    return (float)out;
}



//float SpeedLimiter::ecoEnabledAlgorithm()
//{
//    // valeurs anterieures
//    static double x1 = 0.0;
//    static double y1 = 0.0;
//
//    // constantes calcules avec matlab
//    const double b0 = 10793.0;
//    const double b1 =  -8513.5;
//    const double a1 = -1.0;
//
//    const double TRANS_k_gear = 20.5; //Gearbox ratio
//    const double TRANS_eff = 0.91;  // Efficiency of the transmission
//    const double TRANS_R_wheel = 0.3175; // Radius of the wheel [m]
//    const double TRANS_k = TRANS_k_gear/TRANS_R_wheel; // Global ratio of the transmission [m]
//
//    const double G_forceToTorque = (1/TRANS_k) * TRANS_eff;
//
//    // calculs
//    const float Vm = getMeasuredSpeed();
//    const float Vd = getReferenceSpeed();
//    double y0 = 0.0;
//    if (readAdcPedalHi() > 1) {
//        const double x0 = Vd - Vm;
//        y0 = ( (-a1*y1) + (b0*x0) + (b1*x1) ) * G_forceToTorque;
//
//        const double deltaT = 20.0;
//        const double deltaE = PEDAL_HI_MAX_VALUE - PEDAL_HI_MIN_VALUE;
//        const double ratioTtoE = deltaE / deltaT / 159.63 * deltaE;
//        y0 = y0 * ratioTtoE + PEDAL_HI_MIN_VALUE;
//
//        // update des valeurs anterieurs
//        x1 = x0;
//        y1 = y0;
//    }
//
//    pc->printf("Vm: %f\t Vd: %f\t Eh: %f\t El\n\r", Vm, Vd, y0, y0/2);
//
//    return (float)y0;
//}

// Returns 'value' bounded between 'lowerBound' and 'upperBound'
float SpeedLimiter::boundValue(float value, const float lowerBound, const float upperBound)
{
    if(value < lowerBound) {
        value = lowerBound;
    } else if(value > upperBound) {
        value = upperBound;
    }
    return value;
}

// Returns "value/reference" as a percentage in decimal form (0.5 for 50%)
float SpeedLimiter::voltageToDecimal(const float voltage, const float reference)
{
    return voltage/reference;
}