Axis.cpp

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/*
 * Axis.cpp
 *
 *  Created on: 31.01.2020
 *      Author: Yannick
 */
 
#include "Axis.h"
#include "voltagesense.h"
#include "TMC4671.h"
#include "MotorPWM.h"
#include "VescCAN.h"
#include "ODriveCAN.h"
#include "MotorSimplemotion.h"
#include "RmdMotorCAN.h"
 
/*
 * Sources for class choosers are defined in MotorDriver and Encoder
 */
 
 
 
ClassIdentifier Axis::info = {
    .name = "Axis",
    .id = CLSID_AXIS, // 1
    .visibility = ClassVisibility::visible};
 
const std::vector<class_entry<MotorDriver>> Axis::axis1_drivers =
{
    add_class<MotorDriver, MotorDriver>(0),
 
#ifdef TMC4671DRIVER
    add_class<TMC_1, MotorDriver>(1),
#endif
#ifdef PWMDRIVER
    add_class<MotorPWM, MotorDriver>(4),
#endif
#ifdef ODRIVE
    add_class<ODriveCAN1,MotorDriver>(5),
#endif
#ifdef VESC
    add_class<VESC_1,MotorDriver>(7),
#endif
#ifdef SIMPLEMOTION
    add_class<MotorSimplemotion1,MotorDriver>(9),
#endif
#ifdef RMDCAN
    add_class<RmdMotorCAN1,MotorDriver>(11),
#endif
};
 
const std::vector<class_entry<MotorDriver>> Axis::axis2_drivers =
{
    add_class<MotorDriver, MotorDriver>(0),
 
#ifdef TMC4671DRIVER
    add_class<TMC_2, MotorDriver>(2),
#endif
#ifdef PWMDRIVER
    add_class<MotorPWM, MotorDriver>(4),
#endif
#ifdef ODRIVE
    add_class<ODriveCAN2,MotorDriver>(6),
#endif
#ifdef VESC
    add_class<VESC_2,MotorDriver>(8),
#endif
#ifdef RMDCAN
    add_class<RmdMotorCAN2,MotorDriver>(12),
#endif
//#ifdef SIMPLEMOTION
//  add_class<MotorSimplemotion2,MotorDriver>(10), // TODO this likely does not work reliably with a single uart port and multiple devices
//#endif
};
 
 
Axis::Axis(char axis,volatile Control_t* control) :CommandHandler("axis", CLSID_AXIS), drv_chooser(MotorDriver::all_drivers),enc_chooser{Encoder::all_encoders}
{
    this->axis = axis;
    this->control = control;
    if (axis == 'X')
    {
        drv_chooser = ClassChooser<MotorDriver>(axis1_drivers);
        setInstance(0);
        this->flashAddrs = AxisFlashAddrs({ADR_AXIS1_CONFIG, ADR_AXIS1_MAX_SPEED, ADR_AXIS1_MAX_ACCEL,
                                           ADR_AXIS1_ENDSTOP, ADR_AXIS1_POWER, ADR_AXIS1_DEGREES,ADR_AXIS1_EFFECTS1,ADR_AXIS1_EFFECTS2,ADR_AXIS1_ENC_RATIO,
                                           ADR_AXIS1_SPEEDACCEL_FILTER});
    }
    else if (axis == 'Y')
    {
        drv_chooser = ClassChooser<MotorDriver>(axis2_drivers);
        setInstance(1);
        this->flashAddrs = AxisFlashAddrs({ADR_AXIS2_CONFIG, ADR_AXIS2_MAX_SPEED, ADR_AXIS2_MAX_ACCEL,
                                           ADR_AXIS2_ENDSTOP, ADR_AXIS2_POWER, ADR_AXIS2_DEGREES,ADR_AXIS2_EFFECTS1,ADR_AXIS2_EFFECTS2, ADR_AXIS2_ENC_RATIO,
                                           ADR_AXIS2_SPEEDACCEL_FILTER});
    }
    else if (axis == 'Z')
    {
        setInstance(2);
        this->flashAddrs = AxisFlashAddrs({ADR_AXIS3_CONFIG, ADR_AXIS3_MAX_SPEED, ADR_AXIS3_MAX_ACCEL,
                                           ADR_AXIS3_ENDSTOP, ADR_AXIS3_POWER, ADR_AXIS3_DEGREES,ADR_AXIS3_EFFECTS1,ADR_AXIS3_EFFECTS2,ADR_AXIS3_ENC_RATIO,
                                           ADR_AXIS3_SPEEDACCEL_FILTER});
    }
 
 
    restoreFlash(); // Load parameters
    CommandHandler::registerCommands(); // Internal commands
    registerCommands();
    updateTorqueScaler(); // In case no flash setting has been loaded yet
}
 
Axis::~Axis()
{
 
}
 
const ClassIdentifier Axis::getInfo() {
 
    return info;
}
 
void Axis::registerCommands(){
    registerCommand("power", Axis_commands::power, "Overall force strength",CMDFLAG_GET | CMDFLAG_SET);
    registerCommand("degrees", Axis_commands::degrees, "Rotation range in deg",CMDFLAG_GET | CMDFLAG_SET);
    registerCommand("esgain", Axis_commands::esgain, "Endstop stiffness",CMDFLAG_GET | CMDFLAG_SET);
    registerCommand("zeroenc", Axis_commands::zeroenc, "Zero axis",CMDFLAG_GET);
    registerCommand("invert", Axis_commands::invert, "Invert axis",CMDFLAG_GET | CMDFLAG_SET);
    registerCommand("idlespring", Axis_commands::idlespring, "Idle spring strength",CMDFLAG_GET | CMDFLAG_SET);
    registerCommand("axisdamper", Axis_commands::axisdamper, "Independent damper effect",CMDFLAG_GET | CMDFLAG_SET);
    registerCommand("axisfriction", Axis_commands::axisfriction, "Independent friction effect",CMDFLAG_GET | CMDFLAG_SET);
    registerCommand("axisinertia", Axis_commands::axisinertia, "Independent inertia effect",CMDFLAG_GET | CMDFLAG_SET);
    registerCommand("enctype", Axis_commands::enctype, "Encoder type get/set/list",CMDFLAG_GET | CMDFLAG_SET | CMDFLAG_INFOSTRING);
    registerCommand("drvtype", Axis_commands::drvtype, "Motor driver type get/set/list",CMDFLAG_GET | CMDFLAG_SET | CMDFLAG_INFOSTRING);
    registerCommand("pos", Axis_commands::pos, "Encoder position",CMDFLAG_GET);
    registerCommand("maxspeed", Axis_commands::maxspeed, "Speed limit in deg/s",CMDFLAG_GET | CMDFLAG_SET);
    registerCommand("maxtorquerate", Axis_commands::maxtorquerate, "Torque rate limit in counts/ms",CMDFLAG_GET | CMDFLAG_SET);
    registerCommand("fxratio", Axis_commands::fxratio, "Effect ratio. Reduces game effects excluding endstop. 255=100%",CMDFLAG_GET | CMDFLAG_SET);
    registerCommand("curtorque", Axis_commands::curtorque, "Axis torque",CMDFLAG_GET);
    registerCommand("curpos", Axis_commands::curpos, "Axis position",CMDFLAG_GET);
    registerCommand("curspd", Axis_commands::curspd, "Axis speed",CMDFLAG_GET);
    registerCommand("curaccel", Axis_commands::curaccel, "Axis accel",CMDFLAG_GET);
    registerCommand("reduction", Axis_commands::reductionScaler, "Encoder to axis gear reduction (val / adr) 1-256",CMDFLAG_GET | CMDFLAG_SETADR);
    registerCommand("filterProfile_id", Axis_commands::filterProfileId, "Biquad filter profile for speed and accel", CMDFLAG_GET | CMDFLAG_SET);
    //Can only read exact filter settings
    registerCommand("filterSpeed", Axis_commands::filterSpeed, "Biquad filter freq and q*100 for speed", CMDFLAG_GET);
    registerCommand("filterAccel", Axis_commands::filterAccel, "Biquad filter freq and q*100 for accel", CMDFLAG_GET);
 
    registerCommand("cpr", Axis_commands::cpr, "Reported encoder CPR",CMDFLAG_GET);
}
 
/*
 * Read parameters from flash and restore settings
 */
void Axis::restoreFlash(){
    //NormalizedAxis::restoreFlash();
    // read all constants
    uint16_t value;
    if (Flash_Read(flashAddrs.config, &value)){
        this->conf = Axis::decodeConfFromInt(value);
    }else{
        pulseErrLed();
    }
 
    setDrvType(this->conf.drvtype);
    setEncType(this->conf.enctype);
 
    if (Flash_Read(flashAddrs.maxSpeed, &value)){
        this->maxSpeedDegS = value;
    }else{
        pulseErrLed();
    }
//
//  if (Flash_Read(flashAddrs.maxAccel, &value)){
//      this->maxTorqueRateMS = value;
//  }else{
//      pulseErrLed();
//  }
 
 
    uint16_t esval, power;
    if(Flash_Read(flashAddrs.endstop, &esval)) {
        fx_ratio_i = esval & 0xff;
        endstopStrength = (esval >> 8) & 0xff;
    }
 
 
    if(Flash_Read(flashAddrs.power, &power)){
        setPower(power);
    }
    uint16_t deg_t;
    if(Flash_Read(flashAddrs.degrees, &deg_t)){
        this->degreesOfRotation = deg_t & 0x7fff;
        this->invertAxis = (deg_t >> 15) & 0x1;
        setDegrees(degreesOfRotation);
    }
 
 
    uint16_t effects;
    if(Flash_Read(flashAddrs.effects1, &effects)){
        setIdleSpringStrength(effects & 0xff);
        setFxStrengthAndFilter((effects >> 8) & 0xff,damperIntensity,damperFilter);
    }else{
        setIdleSpringStrength(idlespringstrength); // Use default
    }
 
    if(Flash_Read(flashAddrs.effects2, &effects)){
        setFxStrengthAndFilter(effects & 0xff,frictionIntensity,frictionFilter);
        setFxStrengthAndFilter((effects >> 8) & 0xff,inertiaIntensity,inertiaFilter);
    }
 
    uint16_t ratio;
    if(Flash_Read(flashAddrs.encoderRatio, &ratio)){
        setGearRatio(ratio & 0xff, (ratio >> 8) & 0xff);
    }
 
    uint16_t filterStorage;
    if (Flash_Read(flashAddrs.speedAccelFilter, &filterStorage))
    {
        uint8_t profile = filterStorage & 0xFF;
        this->filterProfileId = profile;
        speedFilter.setFc(filterSpeedCst[this->filterProfileId].freq / filter_f);
        speedFilter.setQ(filterSpeedCst[this->filterProfileId].q / 100.0);
        accelFilter.setFc(filterAccelCst[this->filterProfileId].freq / filter_f);
        accelFilter.setQ(filterAccelCst[this->filterProfileId].q / 100.0);
    }
 
}
// Saves parameters to flash.
void Axis::saveFlash(){
    //NormalizedAxis::saveFlash();
    Flash_Write(flashAddrs.config, Axis::encodeConfToInt(this->conf));
    Flash_Write(flashAddrs.maxSpeed, this->maxSpeedDegS);
//  Flash_Write(flashAddrs.maxAccel, (uint16_t)(this->maxTorqueRateMS));
 
    Flash_Write(flashAddrs.endstop, fx_ratio_i | (endstopStrength << 8));
    Flash_Write(flashAddrs.power, power);
    Flash_Write(flashAddrs.degrees, (degreesOfRotation & 0x7fff) | (invertAxis << 15));
    Flash_Write(flashAddrs.effects1, idlespringstrength | (damperIntensity << 8));
    Flash_Write(flashAddrs.effects2, frictionIntensity | (inertiaIntensity << 8));
    Flash_Write(flashAddrs.encoderRatio, gearRatio.numerator | (gearRatio.denominator << 8));
 
    // save CF biquad
    uint16_t filterStorage = (uint16_t)this->filterProfileId & 0xFF;
    Flash_Write(flashAddrs.speedAccelFilter, filterStorage);
}
 
 
uint8_t Axis::getDrvType(){
    return (uint8_t)this->conf.drvtype;
}
 
uint8_t Axis::getEncType(){
    if(drv->hasIntegratedEncoder()){
        return 255;
    }
    return (uint8_t)this->conf.enctype;
}
 
 
void Axis::setPos(uint16_t val)
{
    startForceFadeIn(0.25,0.5);
    if(this->drv != nullptr){
        drv->getEncoder()->setPos(val);
    }
}
 
MotorDriver* Axis::getDriver(){
    return drv.get();
}
 
Encoder* Axis::getEncoder(){
    return drv->getEncoder();
}
 
void Axis::prepareForUpdate(){
    if (drv == nullptr){
        pulseErrLed();
        return;
    }
 
    //if (!drv->motorReady()) return;
 
    float angle = getEncAngle(this->drv->getEncoder());
 
    // Scale encoder value to set rotation range
    // Update a change of range only when new range is within valid range
    // if degree change, compute the SpeedScaler, it depends on degreesOfRotation
    if (nextDegreesOfRotation != degreesOfRotation){
        int32_t scaledEnc;
        std::tie(scaledEnc,std::ignore) = scaleEncValue(angle, nextDegreesOfRotation);
        if(abs(scaledEnc) < 0x7fff){
            degreesOfRotation = nextDegreesOfRotation;
        }
 
    }
 
 
    // scaledEnc now gets inverted if necessary in updateMetrics
    int32_t scaledEnc;
    std::tie(scaledEnc,std::ignore) = scaleEncValue(angle, degreesOfRotation);
 
    if (abs(scaledEnc) > 0xffff && drv->motorReady()){
        // We are way off. Shut down
        drv->stopMotor();
        pulseErrLed();
        if(!outOfBounds){
            outOfBounds = true;
            ErrorHandler::addError(outOfBoundsError);
        }
 
    }else if(abs(scaledEnc) <= 0x7fff) {
        outOfBounds = false;
        //ErrorHandler::clearError(outOfBoundsError);
    }
 
    // On first change to ready start a fade
    if(motorWasNotReady && drv->motorReady()){
        motorWasNotReady = false;
        startForceFadeIn(0, 1.0);
    }
 
 
    this->updateMetrics(angle);
 
}
 
void Axis::errorCallback(const Error &error, bool cleared){
    if(cleared && error == this->outOfBoundsError){
        drv->startMotor();
        outOfBounds = false;
    }
}
 
 
void Axis::updateDriveTorque(){
    // totalTorque = effectTorque + endstopTorque
    int32_t totalTorque;
    bool torqueChanged = updateTorque(&totalTorque);
    if (torqueChanged && drv->motorReady()){
        // Send to motor driver
        drv->turn(totalTorque);
    }
}
 
void Axis::setPower(uint16_t power)
{
    this->power = power;
    updateTorqueScaler();
#ifdef TMC4671DRIVER
    // Update hardware limits for TMC for safety
    TMC4671 *drv = dynamic_cast<TMC4671 *>(this->drv.get());
    if (drv != nullptr)
    {
        //tmclimits.pid_uq_ud = power;
        //tmclimits.pid_torque_flux = power;
        drv->setTorqueLimit(power);
    }
#endif
}
 
 
void Axis::setDrvType(uint8_t drvtype)
{
    if (!drv_chooser.isValidClassId(drvtype))
    {
        return;
    }
    this->drv.reset(nullptr);
    MotorDriver* drv = drv_chooser.Create((uint16_t)drvtype);
    if (drv == nullptr)
    {
        return;
    }
    this->drv = std::unique_ptr<MotorDriver>(drv);
    this->conf.drvtype = drvtype;
 
    // Pass encoder to driver again
    if(!this->drv->hasIntegratedEncoder()){
        this->drv->setEncoder(this->enc);
    }
#ifdef TMC4671DRIVER
    if (dynamic_cast<TMC4671 *>(drv))
    {
        setupTMC4671();
    }
#endif
    if (!tud_connected())
    {
        control->usb_disabled = false;
        this->usbSuspend();
    }
    else
    {
        drv->startMotor();
    }
}
 
#ifdef TMC4671DRIVER
// Special tmc setup methods
void Axis::setupTMC4671()
{
    TMC4671 *drv = static_cast<TMC4671 *>(this->drv.get());
//  drv->setAxis(axis);
    drv->setExternalEncoderAllowed(true);
    drv->restoreFlash();
    tmclimits.pid_torque_flux = getPower();
    drv->setLimits(tmclimits);
    //drv->setBiquadTorque(TMC4671Biquad(tmcbq_500hz_07q_25k));
    
 
    // Enable driver
 
    drv->setMotionMode(MotionMode::torque);
    drv->Start(); // Start thread
}
#endif
 
 
void Axis::setEncType(uint8_t enctype)
{
    if (enc_chooser.isValidClassId(enctype) && !drv->hasIntegratedEncoder())
    {
 
        this->conf.enctype = (enctype);
        this->enc = std::shared_ptr<Encoder>(enc_chooser.Create(enctype)); // Make new encoder
        if(drv && !drv->hasIntegratedEncoder())
            this->drv->setEncoder(this->enc);
    }else{
        this->conf.enctype = 0; // None encoder
    }
 
    float angle = getEncAngle(this->drv->getEncoder());
    //int32_t scaledEnc = scaleEncValue(angle, degreesOfRotation);
    // reset metrics
    this->resetMetrics(angle);
 
}
 
void Axis::setGearRatio(uint8_t numerator,uint8_t denominator){
    this->gearRatio.denominator = denominator;
    this->gearRatio.numerator = numerator;
    this->gearRatio.gearRatio = ((float)numerator+1.0)/((float)denominator+1.0);
}
 
std::pair<int32_t,float> Axis::scaleEncValue(float angle, uint16_t degrees){
    if (degrees == 0){
        return std::make_pair<int32_t,float>(0x7fff,0.0);
    }
 
    int32_t val = (0xffff / (float)degrees) * angle;
    float val_f = (2.0 / (float)degrees) * angle;
 
    return std::make_pair(val,val_f);
}
 
float Axis::getEncAngle(Encoder *enc){
    if(enc != nullptr){
        float pos = 360.0 * enc->getPos_f() * gearRatio.gearRatio;
        if (isInverted()){
            pos= -pos;
        }
        return pos;
    }
    else{
        return 0;
    }
}
 
void Axis::emergencyStop(bool reset){
    drv->turn(0); // Send 0 torque first
    if(reset){
        startForceFadeIn();
    }
    drv->emergencyStop(reset);
    control->emergency = !reset;
}
 
void Axis::usbSuspend(){
    if (drv != nullptr){
        drv->turn(0);
        drv->stopMotor();
    }
}
 
void Axis::usbResume(){
    startForceFadeIn();
    if (drv != nullptr){
        drv->startMotor();
    }
}
 
 
 
metric_t* Axis::getMetrics() {
    return &metric.current;
}
 
int32_t Axis::getLastScaledEnc() {
    return  clip(metric.current.pos,-0x7fff,0x7fff);
}
 
int32_t Axis::updateIdleSpringForce() {
    return clip<int32_t,int32_t>((int32_t)(-metric.current.pos*idlespringscale),-idlespringclip,idlespringclip);
}
 
/*
 * Set the strength of the spring effect if FFB is disabled
 */
void Axis::setIdleSpringStrength(uint8_t spring){
    idlespringstrength = spring;
    idlespringclip = clip<int32_t,int32_t>((int32_t)spring*35,0,10000);
    idlespringscale = 0.5f + ((float)spring * 0.01f);
}
 
void Axis::setFxStrengthAndFilter(uint8_t val,uint8_t& valToSet, Biquad& filter){
    if(valToSet == 0 && val != 0)
        filter.calcBiquad();
 
    valToSet = val;
}
 
void Axis::calculateAxisEffects(bool ffb_on){
    axisEffectTorque = 0;
 
    if(!ffb_on){
        axisEffectTorque += updateIdleSpringForce();
    }
 
    // Always active damper
    if(damperIntensity != 0){
        float speedFiltered = (metric.current.speed) * (float)damperIntensity * AXIS_DAMPER_RATIO;
        axisEffectTorque -= damperFilter.process(clip<float, int32_t>(speedFiltered, -intFxClip, intFxClip));
    }
 
    // Always active inertia
    if(inertiaIntensity != 0){
        float accelFiltered = metric.current.accel * (float)inertiaIntensity * AXIS_INERTIA_RATIO;
        axisEffectTorque -= inertiaFilter.process(clip<float, int32_t>(accelFiltered, -intFxClip, intFxClip));
    }
 
    // Always active friction. Based on effectsCalculator implementation
    if(frictionIntensity != 0){
        float speed = metric.current.speed * INTERNAL_SCALER_FRICTION;
        float speedRampupCeil = 4096;
        float rampupFactor = 1.0;
        if (fabs (speed) < speedRampupCeil) {                               // if speed in the range to rampup we apply a sinus curbe to ramup
            float phaseRad = M_PI * ((fabs (speed) / speedRampupCeil) - 0.5);// we start to compute the normalized angle (speed / normalizedSpeed@5%) and translate it of -1/2PI to translate sin on 1/2 periode
            rampupFactor = ( 1 + sin(phaseRad ) ) / 2;                      // sin value is -1..1 range, we translate it to 0..2 and we scale it by 2
        }
        int8_t sign = speed >= 0 ? 1 : -1;
        float force = (float)frictionIntensity * rampupFactor * sign * INTERNAL_AXIS_FRICTION_SCALER * 32;
        axisEffectTorque -= frictionFilter.process(clip<float, int32_t>(force, -intFxClip, intFxClip));
    }
 
}
 
void Axis::setFxRatio(uint8_t val) {
    fx_ratio_i = val;
    updateTorqueScaler();
}
 
void Axis::resetMetrics(float new_pos= 0) { // pos is degrees
    metric.current = metric_t();
    metric.current.posDegrees = new_pos;
    std::tie(metric.current.pos,metric.current.pos_f) = scaleEncValue(new_pos, degreesOfRotation);
    metric.previous = metric_t();
    // Reset filters
    speedFilter.calcBiquad();
    accelFilter.calcBiquad();
}
 
void Axis::updateMetrics(float new_pos) { // pos is degrees
    // store old value for next metric's computing
    metric.previous = metric.current;
 
    metric.current.posDegrees = new_pos;
    std::tie(metric.current.pos,metric.current.pos_f) = scaleEncValue(new_pos, degreesOfRotation);
 
 
    // compute speed and accel from raw instant speed normalized
    float currentSpeed = (new_pos - metric.previous.posDegrees) * 1000.0; // deg/s
    metric.current.speed = speedFilter.process(currentSpeed);
    metric.current.accel = accelFilter.process((currentSpeed - _lastSpeed))* 1000.0; // deg/s/s
    _lastSpeed = currentSpeed;
 
}
 
 
 
uint16_t Axis::getPower(){
    return power;
}
 
void  Axis::updateTorqueScaler() {
    effect_margin_scaler = ((float)fx_ratio_i/255.0);
    torqueScaler = ((float)power / (float)0x7fff);
}
 
float Axis::getTorqueScaler(){
    return torqueScaler;
}
 
 
int32_t Axis::getTorque() { return metric.current.torque; }
 
bool Axis::isInverted() {
    return invertAxis;
}
 
int16_t Axis::updateEndstop(){
    int8_t clipdir = cliptest<int32_t,int32_t>(metric.current.pos, -0x7fff, 0x7fff);
    if(clipdir == 0){
        return 0;
    }
    float addtorque = clipdir*metric.current.posDegrees - (float)this->degreesOfRotation/2.0; // degress of rotation counts total range so multiply by 2
    addtorque *= (float)endstopStrength * endstopGain; // Apply endstop gain for stiffness.
    addtorque *= -clipdir;
 
    return clip<int32_t,int32_t>(addtorque,-0x7fff,0x7fff);
}
 
void Axis::setEffectTorque(int32_t torque) {
    effectTorque = torque;
}
 
bool Axis::updateTorque(int32_t* totalTorque) {
 
    if(abs(effectTorque) >= 0x7fff){
        pulseClipLed();
    }
 
    // Scale effect torque
    int32_t torque = effectTorque; // Game effects
    torque *= effect_margin_scaler;
    torque += axisEffectTorque; // Independent effects
    torque += updateEndstop();
    torque *= torqueScaler; // Scale to power
 
    // TODO speed and accel limiters
    if(maxSpeedDegS > 0){
 
        float torqueSign = torque > 0 ? 1 : -1; // Used to prevent metrics against the force to go into the limiter
        // Speed. Mostly tuned...
        //spdlimiterAvg.addValue(metric.current.speed);
        float speedreducer = (float)((metric.current.speed*torqueSign) - (float)maxSpeedDegS) *  ((float)0x7FFF / maxSpeedDegS);
        spdlimitreducerI = clip<float,int32_t>( spdlimitreducerI + ((speedreducer * speedLimiterI) * torqueScaler),0,power);
 
        // Accel limit. Not really useful. Maybe replace with torque slew rate limit?
//      float accreducer = (float)((metric.current.accel*torqueSign) - (float)maxAccelDegSS) * getAccelScalerNormalized();
//      acclimitreducerI = clip<float,int32_t>( acclimitreducerI + ((accreducer * 0.02) * torqueScaler),0,power);
 
 
        // Only reduce torque. Don't invert it to prevent oscillation
        float torqueReduction = speedreducer * speedLimiterP + spdlimitreducerI;// accreducer * 0.025 + acclimitreducerI
        if(torque > 0){
            torqueReduction = clip<float,int32_t>(torqueReduction,0,torque);
        }else{
            torqueReduction = clip<float,int32_t>(-torqueReduction,torque,0);
        }
 
        torque -= torqueReduction;
    }
    // Torque slew rate limiter
    if(maxTorqueRateMS > 0){
        torque = clip<int32_t,int32_t>(torque, metric.previous.torque - maxTorqueRateMS,metric.previous.torque + maxTorqueRateMS);
    }
//  if(torque - metric.previous.torque)
    if(outOfBounds){
        torque = 0;
    }
 
    // Fade in
    if(forceFadeCurMult < 1){
        torque = torque * forceFadeCurMult;
        forceFadeCurMult += forceFadeTime / this->filter_f; // Fade time
    }
 
    // Torque calculated. Now sending to driver
    torque = (invertAxis) ? -torque : torque;
    metric.current.torque = torque;
    torque = clip<int32_t, int32_t>(torque, -power, power);
 
    bool torqueChanged = metric.current.torque != metric.previous.torque;
 
    if (abs(torque) == power){
        pulseClipLed();
    }
 
    *totalTorque = torque;
    return (torqueChanged);
}
 
void Axis::startForceFadeIn(float start,float fadeTime){
    this->forceFadeTime = fadeTime;
    this->forceFadeCurMult = clip<float>(start, 0, 1);
}
 
 
void Axis::setDegrees(uint16_t degrees){
 
    degrees &= 0x7fff;
    if(degrees == 0){
        nextDegreesOfRotation = lastdegreesOfRotation;
    }else{
        lastdegreesOfRotation = degreesOfRotation;
        nextDegreesOfRotation = degrees;
    }
}
 
 
CommandStatus Axis::command(const ParsedCommand& cmd,std::vector<CommandReply>& replies){
 
    switch(static_cast<Axis_commands>(cmd.cmdId)){
 
    case Axis_commands::power:
        if (cmd.type == CMDtype::get)
        {
            replies.emplace_back(this->power);
        }
        else if (cmd.type == CMDtype::set)
        {
            setPower(cmd.val);
        }
        break;
 
    case Axis_commands::degrees:
        handleGetSetFunc(cmd, replies, degreesOfRotation, &Axis::setDegrees,this);
//      if (cmd.type == CMDtype::get)
//      {
//          replies.emplace_back(degreesOfRotation);
//      }
//      else if (cmd.type == CMDtype::set)
//      {
//          setDegrees(cmd.val);
//      }
        break;
 
    case Axis_commands::esgain:
        handleGetSet(cmd, replies, this->endstopStrength);
        break;
 
    case Axis_commands::zeroenc:
        this->setPos(0);
        break;
 
    case Axis_commands::invert:
        if (cmd.type == CMDtype::get)
        {
            replies.emplace_back(invertAxis ? 1 : 0);
        }
        else if (cmd.type == CMDtype::set)
        {
            invertAxis = cmd.val >= 1 ? true : false;
            resetMetrics(-metric.current.posDegrees);
        }
        break;
 
    case Axis_commands::idlespring:
        if (cmd.type == CMDtype::get)
        {
            replies.emplace_back(idlespringstrength);
        }
        else if (cmd.type == CMDtype::set)
        {
            setIdleSpringStrength(cmd.val);
        }
        break;
 
    case Axis_commands::axisdamper:
        if (cmd.type == CMDtype::get)
        {
            replies.emplace_back(damperIntensity);
        }
        else if (cmd.type == CMDtype::set)
        {
            setFxStrengthAndFilter(cmd.val,this->damperIntensity,this->damperFilter);
        }
        break;
 
    case Axis_commands::axisfriction:
        if (cmd.type == CMDtype::get)
        {
            replies.emplace_back(frictionIntensity);
        }
        else if (cmd.type == CMDtype::set)
        {
            setFxStrengthAndFilter(cmd.val,this->frictionIntensity,this->frictionFilter);
        }
        break;
 
    case Axis_commands::axisinertia:
        if (cmd.type == CMDtype::get)
        {
            replies.emplace_back(inertiaIntensity);
        }
        else if (cmd.type == CMDtype::set)
        {
            setFxStrengthAndFilter(cmd.val,this->inertiaIntensity,this->inertiaFilter);
        }
        break;
 
    case Axis_commands::enctype:
        if(cmd.type == CMDtype::info){
            enc_chooser.replyAvailableClasses(replies,this->getEncType());
        }else if(cmd.type == CMDtype::get){
            replies.emplace_back(this->getEncType());
        }else if(cmd.type == CMDtype::set){
            this->setEncType(cmd.val);
        }
        break;
 
    case Axis_commands::drvtype:
        if(cmd.type == CMDtype::info){
            drv_chooser.replyAvailableClasses(replies,this->getDrvType());
        }else if(cmd.type == CMDtype::get){
            replies.emplace_back(this->getDrvType());
        }else if(cmd.type == CMDtype::set){
            this->setDrvType(cmd.val);
        }
        break;
 
    case Axis_commands::pos:
        if (cmd.type == CMDtype::get && this->drv->getEncoder() != nullptr)
        {
            int32_t pos = this->drv->getEncoder()->getPos();
            replies.emplace_back(isInverted() ? -pos : pos);
        }
        else if (cmd.type == CMDtype::set && this->drv->getEncoder() != nullptr)
        {
            this->drv->getEncoder()->setPos(isInverted() ? -cmd.val : cmd.val);
        }
        else
        {
            return CommandStatus::ERR;
        }
        break;
 
    case Axis_commands::maxspeed:
        handleGetSet(cmd, replies, this->maxSpeedDegS);
        break;
 
    case Axis_commands::maxtorquerate:
        handleGetSet(cmd, replies, this->maxTorqueRateMS);
        break;
 
    case Axis_commands::fxratio:
        if(cmd.type == CMDtype::get){
            replies.emplace_back(this->fx_ratio_i);
        }else if(cmd.type == CMDtype::set){
            setFxRatio(cmd.val);
        }
        break;
 
    case Axis_commands::curpos:
        replies.emplace_back(this->metric.current.pos);
        break;
    case Axis_commands::curtorque:
        replies.emplace_back(this->metric.current.torque);
        break;
    case Axis_commands::curspd:
        replies.emplace_back(this->metric.current.speed);
        break;
    case Axis_commands::curaccel:
        replies.emplace_back(this->metric.current.accel);
        break;
 
    case Axis_commands::reductionScaler:
        if(cmd.type == CMDtype::get){
            replies.emplace_back(gearRatio.numerator+1,gearRatio.denominator+1);
        }else if(cmd.type == CMDtype::setat){
            setGearRatio(cmd.val-1,cmd.adr-1);
        }
        break;
 
    case Axis_commands::filterProfileId:
        if (cmd.type == CMDtype::get)
        {
            replies.emplace_back(this->filterProfileId);
        }
        else if (cmd.type == CMDtype::set)
        {
            uint32_t value = clip<uint32_t, uint32_t>(cmd.val, 0, filterSpeedCst.size()-1);
            this->filterProfileId = value;
            speedFilter.setFc(filterSpeedCst[this->filterProfileId].freq / filter_f);
            speedFilter.setQ(filterSpeedCst[this->filterProfileId].q / 100.0);
            accelFilter.setFc(filterAccelCst[this->filterProfileId].freq / filter_f);
            accelFilter.setQ(filterAccelCst[this->filterProfileId].q / 100.0);
        }
        break;
    case Axis_commands::filterSpeed:
        if (cmd.type == CMDtype::get)
        {
            replies.emplace_back(this->filterSpeedCst[this->filterProfileId].freq,this->filterSpeedCst[this->filterProfileId].q);
        }
        break;
 
    case Axis_commands::filterAccel:
        if (cmd.type == CMDtype::get)
        {
            replies.emplace_back(this->filterAccelCst[this->filterProfileId].freq,this->filterAccelCst[this->filterProfileId].q);
        }
        break;
 
    case Axis_commands::cpr:
        if (cmd.type == CMDtype::get)
        {
            uint32_t cpr = 0;
            if(this->drv->getEncoder() != nullptr){
                cpr = this->drv->getEncoder()->getCpr();
            }
//#ifdef TMC4671DRIVER // CPR should be consistent with position. Maybe change TMC to prescale to encoder count or correct readout in UI
//          TMC4671 *tmcdrv = dynamic_cast<TMC4671 *>(this->drv.get()); // Special case for TMC. Get the actual encoder resolution
//          if (tmcdrv && tmcdrv->hasIntegratedEncoder())
//          {
//              cpr = tmcdrv->getEncCpr();
//          }
//#endif
            replies.emplace_back(cpr);
        }else{
            return CommandStatus::ERR;
        }
        break;
 
    default:
        return CommandStatus::NOT_FOUND;
    }
    return CommandStatus::OK;
}
 
 
 
/*
 * Helper functions for encoding and decoding flash variables
 */
AxisConfig Axis::decodeConfFromInt(uint16_t val)
{
    // 0-6 enc, 7-12 Mot
    AxisConfig conf;
    conf.enctype = ((val)&0x3f);
    conf.drvtype = ((val >> 6) & 0x3f);
    return conf;
}
 
uint16_t Axis::encodeConfToInt(AxisConfig conf)
{
    uint16_t val = (uint8_t)conf.enctype & 0x3f;
    val |= ((uint8_t)conf.drvtype & 0x3f) << 6;
    return val;
}