stmbl/shared/comps/map.c

#include "commands.h"
#include "hal.h"
#include "math.h"
#include "defines.h"
#include "angle.h"

#define POLES 50.0

HAL_COMP(map);

HAL_PIN(pos_in);
HAL_PIN(pos_out);
HAL_PIN(pos_out2);
HAL_PIN(start);
HAL_PIN(freq);
HAL_PIN(over);
HAL_PIN(print);
HAL_PIN(state);
HAL_PIN(counter);
HAL_PIN(index);
HAL_PINA(m, 50);

float interp(float value, float *array, uint32_t array_size) {
  value      = CLAMP(value, 0.0, 1.0);
  array_size = MAX(array_size, 1);

  uint32_t min_i = (uint32_t)(value * array_size) % array_size;
  uint32_t max_i = (uint32_t)(min_i + 1.0) % array_size;

  float dy = minus(array[max_i], array[min_i]);
  float dx = 1.0 / array_size;

  return (array[min_i] + (value - (float)min_i / array_size) * dy / dx);
}

float interpd(float value, float *array, uint32_t array_size) {
  value      = CLAMP(value, 0.0, 1.0);
  array_size = MAX(array_size, 1);

  uint32_t min_i = (uint32_t)(value * array_size) % array_size;
  uint32_t max_i = (uint32_t)(min_i + 1.0) % array_size;

  float dy = minus(array[max_i], array[min_i]);
  float dx = 1.0 / array_size;

  return (dy / dx);
}

struct map_ctx_t {
  float map[(int)POLES];
  float rmap[(int)POLES];
  int state;
  int index;
  int counter;
  float value;
  float pos;
};

static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
  struct map_ctx_t *ctx      = (struct map_ctx_t *)ctx_ptr;
  struct map_pin_ctx_t *pins = (struct map_pin_ctx_t *)pin_ptr;
  PIN(over)                  = 500.0;
  for(int i = 0; i < POLES; i++) {
    ctx->map[i]  = 0.0;
    ctx->rmap[i] = 0.0;
  }
}

static void rt_start(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
  struct map_ctx_t *ctx      = (struct map_ctx_t *)ctx_ptr;
  struct map_pin_ctx_t *pins = (struct map_pin_ctx_t *)pin_ptr;

  for(int i = 0; i < POLES; i++){
    ctx->rmap[i] = PINA(m, i);
  }
}


static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
  struct map_ctx_t *ctx      = (struct map_ctx_t *)ctx_ptr;
  struct map_pin_ctx_t *pins = (struct map_pin_ctx_t *)pin_ptr;

  PIN(state)   = ctx->state;
  PIN(counter) = ctx->counter;
  PIN(index)   = ctx->index;

  switch(ctx->state) {
    case 0:  // pipe through
      //PIN(pos_out) = PIN(pos_in);
      PIN(pos_out) = 0.0;
      PIN(pos_out2) = interp(PIN(pos_in) / 2.0 / M_PI + 0.5, ctx->rmap, POLES);

      if(PIN(start) > 0.0) {
        PIN(pos_out) = 0.0;
        ctx->counter++;
        if(ctx->counter > 1000) {
          ctx->state = 1;
          ctx->index = 0;
          ctx->pos   = 0.0;
        }
      }
      break;

    case 1:  // move motor +
      ctx->pos += 2.0 * M_PI * PIN(freq) * period;
      PIN(pos_out) = mod(ctx->pos);

      if(ctx->pos >= (float)ctx->index * 2.0 * M_PI / POLES) {
        ctx->value   = 0.0;
        ctx->counter = 0;
        ctx->state   = 2;
        //PIN(pos_out) = mod((float)ctx->index / POLES * 2.0 * M_PI);
      }

      if(ctx->index >= POLES) {
        ctx->state = 3;
      }
      break;

    case 2:  // measure
      ctx->value = PIN(pos_in);  // PIN(over);
      ctx->counter++;
      if(ctx->counter > PIN(over)) {
        ctx->map[ctx->index] = mod(ctx->value);
        ctx->state           = 1;
        ctx->index++;
      }
      break;


    case 3:  // move motor + 1
      ctx->pos += 2.0 * M_PI * PIN(freq) * period;
      PIN(pos_out) = mod(ctx->pos);

      if(ctx->pos >= (float)(ctx->index + 1) * 2.0 * M_PI / POLES) {
        ctx->state = 4;
      }
      break;

    case 4:  // move motor -
      ctx->pos -= 2.0 * M_PI * PIN(freq) * period;
      PIN(pos_out) = mod(ctx->pos);

      if(ctx->pos <= (float)ctx->index * 2.0 * M_PI / POLES) {
        ctx->value   = 0.0;
        ctx->counter = 0;
        ctx->state   = 5;
        //PIN(pos_out) = mod((float)ctx->index / POLES * 2.0 * M_PI);
      }

      if(ctx->index <= 0) {
        ctx->state = 6;
      }
      break;

    case 5:  // measure
      ctx->value += minus(PIN(pos_in), ctx->value) / 2.0;  // PIN(over);
      ctx->counter++;
      if(ctx->counter > PIN(over)) {
        ctx->map[ctx->index] = mod(ctx->value);
        ctx->state           = 4;
        ctx->index--;
      }
      break;


    case 6:  // remap
      break;

    case 7:  // map
      PIN(pos_out2) = interp(PIN(pos_in) / 2.0 / M_PI + 0.5, ctx->rmap, POLES);

      if(PIN(start) <= 0.0) {
        ctx->state = 0;
      }
      break;
  }
}


static void nrt_func(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
  struct map_ctx_t *ctx      = (struct map_ctx_t *)ctx_ptr;
  struct map_pin_ctx_t *pins = (struct map_pin_ctx_t *)pin_ptr;

  if(PIN(print) > 0.0) {
    PIN(print) = 0.0;
    printf("\nmap(mot_pos) -> fb_pos\n");
    printf("index, map[index], pos(index)\n");
    for(int i = 0; i < POLES; i++) {
      printf("%i, %f, %f\n", i, ctx->map[i], (float)i / POLES * 2.0 * M_PI);
    }
    printf("\nrmap(fb_pos) -> mot_pos\n");
    printf("index, map[index], pos(index)\n");
    for(int i = 0; i < POLES; i++) {
      printf("%i, %f, %f\n", i, ctx->rmap[i], (float)i / POLES * 2.0 * M_PI);
    }
  }

  if(ctx->state == 6) {  // remap
    float p     = 0.0;
    float pp    = 0.0;
    float error = 0.0;
    int j       = 0;

    for(int i = 0; i < POLES; i++) {
      p = (float)i * 2.0 * M_PI / POLES - M_PI;
      j = 0;
      do {
        pp += error * 0.6 / interpd(pp / 2.0 / M_PI + 0.5, ctx->map, POLES);
        pp    = mod(pp);
        error = minus(p, interp(pp / 2.0 / M_PI + 0.5, ctx->map, POLES));
        j++;
      } while(j < 200 && ABS(error) >= 2.0 * M_PI / 32768.0 * 20.0);
      //printf("index %u, error %f, it %u\n", i, error, j);
      error = 0.0;

      ctx->rmap[i] = pp;
      PINA(m, i) = pp;
      printf("map0.m%i=%f\n", i, pp);
    }

    ctx->state = 7;
  }
}

hal_comp_t map_comp_struct = {
    .name      = "map",
    .nrt       = nrt_func,
    .rt        = rt_func,
    .frt       = 0,
    .nrt_init  = nrt_init,
    .rt_start  = rt_start,
    .frt_start = 0,
    .rt_stop   = 0,
    .frt_stop  = 0,
    .ctx_size  = sizeof(struct map_ctx_t),
    .pin_count = sizeof(struct map_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
};