File content as of revision 24:698fefbbee00:

#include "stateMachines.h"
#if DEBUG >0
Serial pc(USBTX, USBRX);    // tx, rx
#endif
#if DEBUG >= -1
InterruptIn my_button(USER_BUTTON);
#ifdef DUMP_SAMPLIG_PERIOD
Timer timerLog;
#endif
#endif

uint16_t distMurG90[NB_ECHANTILLONS_IR];//buffer tournant ir coté gauche pour moyenne
uint16_t distMurD90[NB_ECHANTILLONS_IR];//buffer tournant ir coté droit pour moyenne
uint16_t distMurG45[NB_ECHANTILLONS_IR];//buffer tournant ir avant gauche 45deg pour moyenne
uint16_t distMurD45[NB_ECHANTILLONS_IR];//buffer tournant ir avant droit 45deg pour moyenne
#ifdef DLVV
uint16_t distMurG10[NB_ECHANTILLONS_IR];//buffer tournant ir avant gauche 10deg pour moyenne
uint16_t distMurD10[NB_ECHANTILLONS_IR];//buffer tournant ir coté droit 10deg pour moyenne
uint16_t distMurFront[NB_ECHANTILLONS_IR];//buffer tournant ir front
#endif
uint16_t distMurG90Moy;
uint16_t distMurD90Moy;
uint16_t distMurG45Moy;
uint16_t distMurD45Moy;

#ifdef DLVV
uint16_t distMurG10Moy;
uint16_t distMurD10Moy;
uint16_t distMurFrontMoy
#endif
int index_fifo_ir = 0;//pour géreer le buffer tournant
int index_fifo_lidar = 0;
//sections
s_Section p_section1;
s_Section p_section2;

//PWM Controls
PwmOut      PwmMotor(PB_6);     // PWM4 ch1 TIM4
PwmOut      PwmDirection(PB_5); // PWM3 ch2 TIM3

int pulseDirection_us = DIRECTION_PULSE_MIDDLE;
int pulseSpeed_us = INITAL_PULSE_SPEED_US;
//Capteurs direction



AnalogIn anaG90(CAPT_90_GAUCHE);//capteur ir coté gauche
AnalogIn anaD90(CAPT_90_DROITE);//capteur ir coté droit
AnalogIn anaG45(CAPT_45_GAUCHE);//capteur ir avant gauche 45 deg
AnalogIn anaD45(CAPT_45_DROITE);//capteur ir avant droit 45deg
#ifdef DLVV
AnalogIn anaDlvvG(CAPT_10_GAUCHE);//capteur ir avant droit 10 deg
AnalogIn anaDlvvD(CAPT_10_DROITE);//capteur ir coté droit 10 deg
AnalogIn anaDlvvFront(CAPT_DEVANT);//capteur ir avant
#endif

int differenceGD45,differenceGD90,prevDiffGD90,prevDiffGD45,derive45,derive90;
int lastDifferences90[NB_INTEGRAL_SAMPLES] = {0};//for integral correction
int lastDifferenceIndex = 0;
int integralSum;

//Capteur vitesse
InterruptIn it_tachymeter(PA_11);


//LIDAR
Serial serialLidar(PC_10,PC_11);  // tx, rx

int distLidar;// LiDAR actually measured distance value
int distLidarPrev;
int strengthLidar;// LiDAR signal strength
int strengthLidarPrev;
int check;// check numerical value storage
int i;
int uart[9];// store data measured by LiDAR
const int HEADER=0x59;// data package frame header

//SPEED
int maxSpeed_cmps = 0;
int tachySpeed_cmps = 0;
int tachyStepsRegister = 0;
int tachySectionDist_cm = 0;

Timer brakingTimer;
int brakingDurationNeeded_us = 0;

//Etats
MUR_ST st_murs;
MUR_ST st_tmpMurs;
SECTION_ST st_currentSection;
SECTION_ST st_tmpSection;
MAX_SPEED_ST st_maxSpeed;
MAX_SPEED_ST st_tmpMaxSpeed;
THROTTLE_ST st_thro;
THROTTLE_ST st_tmpThro;
#ifdef DLVV
OBSTACLE_ST st_obstacle;
#endif

s_Section* p_sectionCourante = NULL;

//time monitoring

Timer timeSinceStart;// temps.start()/stop()/sec: read()/ms: read_ms()/µs: read_us()
Timer timerSinceGetTachy;


// +++++++++++++++++++++++++++++++++++++++++++ SAMPLING +++++++++++++++++++++++++++++++++++++++++++
#ifdef SAMPLING
s_Sample history[TAILLE_SAMPLES];
int indexSample = 0;
void initSamples(void)
{
    for(int m=0; m<TAILLE_SAMPLES; m++) {
        history[m].states.murs_dlvv = '0';
        history[m].states.section = '0';
        history[m].states.maxSpeed = '0';
        history[m].states.throttle = '0';
        history[m].time = 0;
        history[m].diffgd45 = 0;
        history[m].diffgd90 = 0;
        history[m].pwm_thro_us = 0;
        history[m].pwm_dir_us = 0;
        history[m].distLidar = 0;
        history[m].strLidar = 0;
    }
#if DEBUG > 0
    pc.printf("[INIT SAMPLE DONE]\r\n");
#endif
    return;
}
void sampleLog(void)
{
#ifdef DUMP_SAMPLIG_PERIOD
    if(timerLog.read_us() > DUMP_SAMPLIG_PERIOD) {
        timerLog.reset();
        timerLog.start();
#endif
        if(indexSample < TAILLE_SAMPLES) {
#ifdef DLVV
            history[indexSample].states.murs_dlvv = (char)st_obstacle;
#else
            history[indexSample].states.murs_dlvv = (char)st_murs;
#endif
            history[indexSample].states.section = (char)st_currentSection;
            history[indexSample].states.maxSpeed = (char)st_maxSpeed;
            history[indexSample].states.throttle = (char)st_thro;
            history[indexSample].time = timeSinceStart.read_us() ;
            history[indexSample].diffgd45 = differenceGD45;
            history[indexSample].diffgd90 = differenceGD90;
            history[indexSample].pwm_thro_us = pulseSpeed_us;
            history[indexSample].pwm_dir_us = pulseDirection_us;
            history[indexSample].dist = tachySectionDist_cm,
                                 history[indexSample].distLidar = distLidar;
            history[indexSample].strLidar = strengthLidar;
            indexSample++;
#if DEBUG > 0
            pc.printf("\r\nodo:%d  dist = %d    \tstrength = %d    \tC45D: %d C45G: %d  C90D: %d  C90G: %d  looptime: %d micros",tachySectionDist_cm,distLidar,strengthLidar,distMurD45Moy,distMurG45Moy,distMurD90Moy,distMurG90Moy,timeSinceStart.read_us());// output signal strength value
            pc.printf("\r\nstate Murs: %d, state Section %d, state MaxSpeed %d, state Throttle %d\r\n",st_murs,st_currentSection,st_maxSpeed,st_thro);
            //wait(2);
            timeSinceStart.reset();
            timeSinceStart.start();
#endif
        }
        return;
#ifdef DUMP_SAMPLIG_PERIOD
    }
#endif
}
void transmitData(void)
{
#if DEBUG > 0
    pc.printf("[START TO TRANSMIT]\r\n");
#endif
    serialLidar.printf("time,diffgd 45,diffgd 90,pwm_thro_us,pwm_dir_us,dist,murs/dlvv,section,maxSpeed,throttle\r\n");
    for(int p=0; p<indexSample; p++) {
        serialLidar.printf("%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\r\n",
                           history[p].time,
                           history[p].diffgd45,
                           history[p].diffgd90,
                           history[p].pwm_thro_us,
                           history[p].pwm_dir_us,
                           history[p].dist,
                           history[p].states.murs_dlvv,
                           history[p].states.section,
                           history[p].states.maxSpeed,
                           history[p].states.throttle);
    }
    return;
}

#endif

// +++++++++++++++++++++++++++++++++++++++++++ FUNCTION UTILS +++++++++++++++++++++++++++++++++++++++++++

#if DEBUG >= -1
void pressed(void)
{
#if DEBUG > 0
    pc.printf("[BTN PRESSED]\r\n");
#endif
    //p_sectionCourante = &p_section1;
    transmitData();
}
#endif

void getTachySpeed()
{
    //tachySteps = VALEUR_DU_PIN;
    //poour gérer les vitesses lentes
    if(tachyStepsRegister == 0 && timerSinceGetTachy.read_us() < 500000) {
        return;//on attend encore un peu l'aquisition de la vitesse
    }
    tachySectionDist_cm += tachyStepsRegister;
    tachySpeed_cmps = (tachyStepsRegister * 1000000)/timerSinceGetTachy.read_us();
#if DEBUG > 2
    pc.printf("IT: distance parcourue %d       , vitesse:%d         \r\n",tachySectionDist_cm,tachySpeed_cmps);
#endif
    tachyStepsRegister=0;
    timerSinceGetTachy.reset();
    timerSinceGetTachy.start();
    return;
}


uint16_t getDistMoy(uint16_t* tab,int size)
{
    int sumMoy = 0;
    for(int k=0; k<size; k++) {
        sumMoy+=tab[k];
    }
    return sumMoy/size;
}

void it4cm()
{
    tachyStepsRegister+=TACHY_CM;
#if DEBUG > 0
    pc.printf("IT tachy\r\n");
#endif
}

void it_serial()
{
    if(serialLidar.getc()==HEADER) { // determine data package frame header 0x59
        uart[0]=HEADER;
        if(serialLidar.getc()==HEADER) { //determine data package frame header 0x59
            uart[1]=HEADER;
            for(i=2; i<9; i++) { // store data to array
                uart[i]=serialLidar.getc();
            }
            check=uart[0]+uart[1]+uart[2]+uart[3]+uart[4]+uart[5]+uart[6]+uart[7];
            if(uart[8]==(check&0xff)) { // check the received data as per protocols
                distLidarPrev = distLidar;
                distLidar=uart[2]+uart[3]*256;// calculate distance value
                strengthLidarPrev = strengthLidar;
                strengthLidar=uart[4]+uart[5]*256;// calculate signal strength value
            }
        }
    }
}
// +++++++++++++++++++++++++++++++++++++++++++ STATES MACHINES +++++++++++++++++++++++++++++++++++++++++++

//########## INIT STATES MACHINES ##########
void mursInit(void)
{
#if DEBUG >= -1
    my_button.fall(&pressed);
    initSamples();
#endif
#if DEBUG > 0
    pc.baud(115200);
    pc.printf("Init Murs\r\n");
#endif
    timeSinceStart.start();
    st_murs=EQUILIBRAGE_REPULSIF;
    PwmDirection.period_us(SPEED_PERIOD_US);
    PwmDirection.pulsewidth_us(DIRECTION_PULSE_MIDDLE);// milieu
    prevDiffGD45 = 0;
    prevDiffGD90 = 0;
    return;
}
#ifdef DLVV
void obstacleInit(void)
{
#if DEBUG > 0
    pc.printf("Init Obstacle\r\n");
#endif
    st_speedLimit=FRONT_CLEAR;
    return;
}
#endif
void sectionInit(void)
{
#if DEBUG > 0
    pc.printf("Init Section\r\n");
#endif
    st_currentSection=ARRET;
    p_sectionCourante=&p_section1;
    it_tachymeter.fall(&it4cm);
    timerSinceGetTachy.start();
    getTachySpeed();//to reset
    tachySectionDist_cm = 0;
    tachyStepsRegister = 0;

    //section de test 1
    p_section1.nextSection =NULL;// &p_section2;
    p_section1.targetSpeed_cmps = 400;
    p_section1.slowSpeed_cmps = 328;
    p_section1.brakingCoefficient = 61; // application de la formule
    p_section1.coef_p_speed = 1;
    p_section1.lidarWarningDist_cm = 120;
    p_section1.lng_section_cm = 30000;//30m
    p_section1.coef_p = 50;//35;
    p_section1.coef_i = 10000;//35*NB_INTEGRAL_SAMPLES;
    p_section1.coef_d = 10000;//35;

    //section de test
    p_section2.nextSection = NULL;
    p_section2.targetSpeed_cmps = 328;
    p_section2.slowSpeed_cmps = 328;
    p_section2.brakingCoefficient = 0; // application de la formule
    p_section2.coef_p_speed = 1;
    p_section2.lidarWarningDist_cm = 300;
    p_section2.lng_section_cm = 200;//2m
    p_section2.coef_p = 50;
    p_section2.coef_i = 10000;//35*NB_INTEGRAL_SAMPLES;
    p_section2.coef_d = 10000;//35;

    return;
}

void maxSpeedInit(void)
{
#if DEBUG > 0
    pc.printf("Init Max Speed\r\n");
#endif
    st_maxSpeed=SPEED_MAX;
    maxSpeed_cmps= p_sectionCourante->targetSpeed_cmps;
    serialLidar.baud(115200);
    serialLidar.attach(&it_serial);
    return;
}

void throttleInit(void)
{
#if DEBUG > 0
    pc.printf("Init Throttle\r\n");
#endif
    st_thro = REGULATION_SPEED;
    PwmMotor.period_us(DIERCTION_PERIOD_MS);          //20 ms is default
    PwmMotor.pulsewidth_us(1000);//MIN
    wait(3);
    PwmMotor.pulsewidth_us(2000);//MAX
    wait(1);
    PwmMotor.pulsewidth_us(1500);//ZEROING
    wait(1);
    pulseSpeed_us = INITAL_PULSE_SPEED_US;
#if DEBUG > 0
    pc.printf("temps init: %d micros\r\n",timeSinceStart.read_us());
    pc.printf("\r\nStates INIT: state Murs: %d, state Section %d, state MaxSpeed %d, state Throttle %d\r\n",st_murs,st_currentSection,st_maxSpeed,st_thro);
    timeSinceStart.reset();
    timeSinceStart.start();
#endif
#ifdef DUMP_SAMPLIG_PERIOD
    timerLog.start();
#endif

    return;
}


//########## UPDATE STATES ##########
void mursUpdate(void)
{
#if (DEBUG > 3)
    pc.printf("\r\nUpdate MURS\r\n");
#endif
    //lectures
    distMurG90[index_fifo_ir]=anaG90.read_u16();
    distMurD90[index_fifo_ir]=anaD90.read_u16();
    distMurG45[index_fifo_ir]=anaG45.read_u16();
    distMurD45[index_fifo_ir]=anaD45.read_u16();
    index_fifo_ir = (index_fifo_ir+1)%NB_ECHANTILLONS_IR;
    
    distMurG45Moy = getDistMoy(distMurG45,NB_ECHANTILLONS_IR);
    distMurD45Moy = getDistMoy(distMurD45,NB_ECHANTILLONS_IR);
    distMurG90Moy = getDistMoy(distMurG90,NB_ECHANTILLONS_IR);
    distMurD90Moy = getDistMoy(distMurD90,NB_ECHANTILLONS_IR);

    return;
}
#ifdef DLVV
void obstacleUpdate(void)
{
    return;
}
#endif

void sectionUpdate(void)
{
#if (DEBUG > 3)
    pc.printf("\r\nUpdate Section\r\n");
#endif
    switch (st_currentSection) {
        case RUNNING_SECTION:
            if(tachySectionDist_cm > p_sectionCourante->lng_section_cm) { //on pourrait rajouter un test lidar
                st_tmpSection = LOADING_SECTION;
            } else {
                return;
            }
            break;
        case LOADING_SECTION:
            if(p_sectionCourante != NULL) { //la section a ete chargee dans sectionOutput
                st_tmpSection = RUNNING_SECTION;
            } else {
                st_tmpSection=ARRET;
            }
            break;
        case ARRET:
            if(p_sectionCourante != NULL) {
                st_tmpSection = RUNNING_SECTION;
            } else {
                return;
            }
            break;
        default:
            break;
    }
    st_currentSection = st_tmpSection;
    return;
}

void maxSpeedUpdate(void)
{
#if (DEBUG > 3)
    pc.printf("\r\nUpdate MaxSpeed\r\n");
#endif
    i=0;

     if( strengthLidar > LIDAR_STRENGTH_THRESOLD ) {
        if( distLidar > p_sectionCourante->lidarWarningDist_cm ) {
            st_tmpMaxSpeed = SPEED_MAX;
        } else if(  strengthLidar > LIDAR_STRENGTH_THRESOLD && 
                    strengthLidarPrev > LIDAR_STRENGTH_THRESOLD &&
                    distLidar < p_sectionCourante->lidarWarningDist_cm &&
                    distLidarPrev-distLidar > 0)
        {
            st_tmpMaxSpeed = BLOCKED;
        }
        else{
            st_tmpMaxSpeed = SPEED_WARNING;
        }
    } else {
        st_tmpMaxSpeed = SPEED_MAX;
    }

    st_maxSpeed = st_tmpMaxSpeed;
    return;
}

void throttleUpdate(void)
{
#if (DEBUG > 3)
    pc.printf("\r\nUpdate Throttle\r\n");
#endif
    getTachySpeed();
    switch (st_thro) {
        case REGULATION_SPEED:
            if( st_currentSection == ARRET ||
                st_maxSpeed == BLOCKED ) 
            {
                st_tmpThro = BRAKING;
            } else if(tachySpeed_cmps > (maxSpeed_cmps + SPEED_DELTA_CMPS))
            {
                st_tmpThro = BRAKING;
                brakingDurationNeeded_us = (1000000)* MASSE_BINIOU_KG *((tachySpeed_cmps-maxSpeed_cmps)*(tachySpeed_cmps+maxSpeed_cmps)) / (PUISSANCE_FREINAGE_W *2) ;
                brakingTimer.reset();
                brakingTimer.start();
            } else
             {
                return;
            }
            break;
        case BRAKING:
            if(breakingTimer.read_us < brakingDurationNeeded_us || BLOCKED)//put a timer here
            {
                st_tmpThro = BRAKING;
            }else
            if(st_currentSection == ARRET) {
                st_tmpThro = STOPPED;
            } else{
                brakingDurationNeeded_us = 0;
                st_tmpThro = REGULATION_SPEED;
            }
            break;
        case STOPPED:
            if(st_currentSection == RUNNING_SECTION) {
                st_tmpThro = REGULATION_SPEED;
            } else {
                st_tmpThro = STOPPED;
            }
            break;
        default:
            break;
    }
    st_thro = st_tmpThro;
    return;
}

//########## OUTPUT STATES ##########
//updating output parameters
void mursOutput(void)
{
    prevDiffGD90 = differenceGD90;
    prevDiffGD45 = differenceGD45;
#if (DEBUG > 3)
    pc.printf("\r\n Output MURS\r\n");
#endif

    differenceGD90 = distMurD90Moy - distMurG90Moy;
    differenceGD45 = distMurD45Moy - distMurG45Moy;


    //deriv correction
    derive45 = differenceGD45 - prevDiffGD45;
    derive90 = differenceGD90 - prevDiffGD90;
    //integral correction
    lastDifferences90[lastDifferenceIndex] = differenceGD90;
    integralSum=0;
    for(int f=0; f<NB_INTEGRAL_SAMPLES; f++) {
        integralSum+=lastDifferences90[f];
    }
    lastDifferenceIndex = (lastDifferenceIndex + 1)%NB_INTEGRAL_SAMPLES;

    //application des coefficients
    pulseDirection_us = ( ((differenceGD90*2+differenceGD45*4)/8) / p_sectionCourante->coef_p)
                        + (  derive45 /  p_sectionCourante->coef_d)
                        + (integralSum / p_sectionCourante->coef_i)
                        + DIRECTION_PULSE_MIDDLE;

//gestioon du dépassement
    if(pulseDirection_us > DIRECTION_PULSE_MAX) { //POUR TOURNER A GAUCHE
#if DEBUG > 1
        pc.printf("!!! OVER PWM Direction pulse: %d\r\n",pulseDirection_us);
#endif
        pulseDirection_us = DIRECTION_PULSE_MAX;
    } else if(pulseDirection_us < DIRECTION_PULSE_MIN ) { //POUR TOURNER A DROITE
#if DEBUG > 1
        pc.printf("!!! UNDER PWM Direction pulse: %d\r\n",pulseDirection_us);
#endif
        pulseDirection_us = DIRECTION_PULSE_MIN ;
    }
#if DEBUG > 1
    pc.printf("PWM Direction pulse: %d\r\n",pulseDirection_us);
#endif
    PwmDirection.pulsewidth_us(pulseDirection_us);
    return;
}

#ifdef DLVV
void obstacleOutput(void)
{
    return;
}
#endif
void sectionOutput(void)
{
#if (DEBUG > 3)
    pc.printf("\r\n Output Section\r\n");
#endif
    switch (st_currentSection) {
        case RUNNING_SECTION:
            break;
        case LOADING_SECTION:
            p_sectionCourante=p_sectionCourante->nextSection;
            tachySectionDist_cm = 0;
            break;
        case ARRET:
            //on est à l'arret
            break;
        default:
            break;
    }
    return;
}


void maxSpeedOutput(void)
{
#if (DEBUG > 3)
    pc.printf("\r\n Output MAX SPEED\r\n");
#endif
    switch(st_maxSpeed) {
        case BLOCKED:
        maxSpeed_cmps = 0;
            break;
        case SPEED_WARNING:
            maxSpeed_cmps = p_sectionCourante->slowSpeed_cmps;
            break;
        default:
            maxSpeed_cmps = p_sectionCourante->targetSpeed_cmps;
            break;
    }
    return;
}

void throttleOutput(void)
{
#if (DEBUG > 3)
    pc.printf("\r\n Output TROTTLE\r\n");
#endif
    switch (st_thro) {
        case REGULATION_SPEED:
            pulseSpeed_us = maxSpeed_cmps * 279 / 2048 + 1558 ;
            break;
        case BRAKING:
#if DEBUG > 2
            pc.printf("BRAKINGGGGGGGGGGGGGGGGGG !!! \r\n");
#endif
            pulseSpeed_us = BRAKING_PULSE_US;
            break;
        case STOPPED:
#if DEBUG > 2
            pc.printf("STOPPED\r\n");
#endif
            pulseSpeed_us = ZERO_PULSE_SPEED_US;
            break;
        default:
            break;
    }

    PwmMotor.pulsewidth_us(pulseSpeed_us);
#if DEBUG > 1
    pc.printf("PWM Thro pulse: %d micros\r\n",pulseSpeed_us);
#endif
    return;
}