avr/motor_ctrl/main.c

   1 #include <stdio.h>
   2 #include <stdlib.h>
   3 #include <limits.h>
   4 #include <math.h>
   5 #include <avr/io.h>
   6 #include <avr/interrupt.h>
   7 #include <avr/sleep.h>
   8 #include <util/twi.h>
   9 #include <avr/eeprom.h>
  10 #include <avr/wdt.h>
  11 #include <avr/pgmspace.h>
  12 #include "uart.h"
  13
  14 /*
  15  * I2C Register Map (8 Bit)
  16  * 0x00 Register select
  17  * 0x01 Motor 1 PWM MSB
  18  * 0x02 Motor 1 PWM LSB
  19  * 0x03 Motor 2 PWM MSB
  20  * 0x04 Motor 2 PWM LSB
  21  * 0x05 Motor 3 PWM MSB
  22  * 0x06 Motor 3 PWM LSB
  23  * 0x07 Motor 4 PWM MSB
  24  * 0x08 Motor 4 PWM LSB
  25  * free
  26  * 0x10 Hall 1 MSB
  27  * 0x11 Hall 1 LSB
  28  * 0x12 Hall 2 MSB
  29  * 0x13 Hall 2 LSB
  30  * 0x14 Hall 3 MSB
  31  * 0x15 Hall 3 LSB
  32  * 0x16 Hall 4 MSB
  33  * 0x17 Hall 4 LSB
  34  * free
  35  * 0x20 Motor 1 speed wish MSB
  36  * 0x21 Motor 1 speed wish LSB
  37  * 0x22 Motor 2 speed wish MSB
  38  * 0x23 Motor 2 speed wish LSB
  39  * 0x24 Motor 3 speed wish MSB
  40  * 0x25 Motor 3 speed wish LSB
  41  * 0x26 Motor 4 speed wish MSB
  42  * 0x27 Motor 4 speed wish LSB
  43  * 0x28 Left speed wish (m/s) MSB
  44  * 0x29 Left speed wish (m/s)
  45  * 0x2A Left speed wish (m/s)
  46  * 0x2B Left speed wish (m/s) LSB
  47  * 0x2C Right speed wish (m/s) MSB
  48  * 0x2D Right speed wish (m/s)
  49  * 0x2E Right speed wish (m/s)
  50  * 0x2F Right speed wish (m/s) LSB
  51  * 0x30 Motor 1 speed MSB
  52  * 0x31 Motor 1 speed LSB
  53  * 0x32 Motor 2 speed MSB
  54  * 0x33 Motor 2 speed LSB
  55  * 0x34 Motor 3 speed MSB
  56  * 0x35 Motor 3 speed LSB
  57  * 0x36 Motor 4 speed MSB
  58  * 0x37 Motor 4 speed LSB
  59  * 0x38 Speed (m/s) MSB
  60  * 0x39 Speed (m/s)
  61  * 0x3A Speed (m/s)
  62  * 0x3B Speed (m/s) LSB
  63  * 0x3C Angle (rad/s) MSB
  64  * 0x3D Angle (rad/s)
  65  * 0x3E Angle (rad/s)
  66  * 0x3F Angle (rad/s) LSB
  67  * 0x40 Position x (m) MSB
  68  * 0x41 Position x (m)
  69  * 0x42 Position x (m)
  70  * 0x43 Position x (m) LSB
  71  * 0x44 Position y (m) MSB
  72  * 0x45 Position y (m)
  73  * 0x46 Position y (m)
  74  * 0x47 Position y (m) LSB
  75  * 0x48 Position angle MSB
  76  * 0x49 Position angle
  77  * 0x4A Position angle
  78  * 0x4B Position angle LSB
  79  * free
  80  * 0x50 speed wish (m/s) MSB
  81  * 0x51 speed wish (m/s)
  82  * 0x52 speed wish (m/s)
  83  * 0x53 speed wish (m/s) LSB
  84  * 0x54 angle wish (rad/s) MSB
  85  * 0x55 angle wish (rad/s)
  86  * 0x56 angle wish (rad/s)
  87  * 0x57 angle wish (rad/s) LSB
  88  * free
  89  * 0x90 Motor 1 switch
  90  * 0x91 Motor 2 switch
  91  * 0x92 Motor 3 switch
  92  * 0x93 Motor 4 switch
  93  * 0x94 Front Handicap
  94  * 0x95 Aft Handicap
  95  * free
  96  * 0xA0 Reset reason
  97  * 0xA1 Error status
  98  * 0xA2 count test
  99  * 0xA3 last i2c status before boot
 100  * 0xA4 Watchdog enable
 101  * free
 102  * 0xB0 Sound HZ MSB
 103  * 0xB1 Sound HZ LSB
 104  * free
 105  * 0xff Bootloader
 106  */
 107
 108
 109 #define KP 0.062
 110 #define KI 0.12
 111 #define KD 0.0
 112 #define PID_T 0.01
 113 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:47
 114 // STEP_PER_M = 48*47/(d*pi)
 115 // Left real diameter: 0.12808, Right real diameter: 0.121
 116 #define STEP_PER_M 5573.0
 117 #define STEP_PER_M_LEFT (STEP_PER_M)
 118 #define STEP_PER_M_RIGHT (STEP_PER_M)
 119 #define WHEEL_DIST 0.39912 // Measured: 0.252
 120 #define PWM_BREAK INT16_MIN
 121 #define STALL_LIMIT 140000
 122 #define I2C_TIMEOUT_DISABLE 255
 123
 124 #define TWI_ACK   TWCR = (1<<TWINT) | (1<<TWEA) | (1<<TWEN) | (1<<TWIE)
 125 #define TWI_NAK   TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
 126 #define TWI_RESET TWCR = (1<<TWINT) | (1<<TWEA) | (1<<TWSTO) | (1<<TWEN) | (1<<TWIE);
 127 #define ENABLE_PWM_MOTOR1  TCCR1A |=  (1 << COM1A1)
 128 #define ENABLE_PWM_MOTOR2  TCCR1A |=  (1 << COM1B1)
 129 #define ENABLE_PWM_MOTOR3  TCCR2  |=  (1 << COM21);
 130 #define ENABLE_PWM_MOTOR4  TCCR0  |=  (1 << COM01);
 131 #define DISABLE_PWM_MOTOR1 TCCR1A &= ~(1 << COM1A1)
 132 #define DISABLE_PWM_MOTOR2 TCCR1A &= ~(1 << COM1B1)
 133 #define DISABLE_PWM_MOTOR3 TCCR2  &= ~(1 << COM21);
 134 #define DISABLE_PWM_MOTOR4 TCCR0  &= ~(1 << COM01);
 135
 136
 137 enum mode {
 138         MOTOR_MANUAL,
 139         MOTOR_PID
 140 };
 141
 142 typedef union {
 143         float f;
 144         uint32_t i;
 145 } ufloat_t;
 146
 147 static volatile struct {
 148         float speed;
 149         float angle;
 150         uint8_t bUpdate;
 151 } cmd_vel = {0, 0, 0};
 152
 153 static volatile uint8_t ireg=0;
 154 static volatile uint8_t bootloader=0;
 155 static volatile int16_t motor1=0; // -255..+255
 156 static volatile int16_t motor2=0;
 157 static volatile int16_t motor3=0;
 158 static volatile int16_t motor4=0;
 159 static volatile int16_t pos1=0; // step
 160 static volatile int16_t pos2=0;
 161 static volatile int16_t pos3=0;
 162 static volatile int16_t pos4=0;
 163 static volatile enum mode motor1_mode=MOTOR_MANUAL;
 164 static volatile enum mode motor2_mode=MOTOR_MANUAL;
 165 static volatile enum mode motor3_mode=MOTOR_MANUAL;
 166 static volatile enum mode motor4_mode=MOTOR_MANUAL;
 167 static volatile uint8_t motor1_switch=1;
 168 static volatile uint8_t motor2_switch=1;
 169 static volatile uint8_t motor3_switch=0;
 170 static volatile uint8_t motor4_switch=0;
 171 static volatile int16_t speed1_wish=0; // step/s
 172 static volatile int16_t speed2_wish=0;
 173 static volatile int16_t speed3_wish=0;
 174 static volatile int16_t speed4_wish=0;
 175 static volatile int16_t speed1_wish_old=0;
 176 static volatile int16_t speed2_wish_old=0;
 177 static volatile int16_t speed3_wish_old=0;
 178 static volatile int16_t speed4_wish_old=0;
 179 static volatile uint8_t run_update=0;
 180 static volatile uint8_t sound_update=0;
 181 static volatile uint8_t sound_max=0;
 182 static volatile int16_t speed1=0; // step/s
 183 static volatile int16_t speed2=0;
 184 static volatile int16_t speed3=0;
 185 static volatile int16_t speed4=0;
 186 static volatile ufloat_t pos_x={0.0};
 187 static volatile ufloat_t pos_y={0.0};
 188 static volatile ufloat_t angle={0.0};
 189 static volatile float cur_speed_lin=0;
 190 static volatile float cur_speed_rot=0;
 191 static volatile uint8_t count_test=0;
 192 static volatile uint8_t front_handicap=0;
 193 static volatile uint8_t aft_handicap=0;
 194 static volatile uint8_t error_state=0;
 195 static volatile uint8_t last_man_update_count=0;
 196 static volatile uint8_t last_i2c_status = 0;
 197 static uint8_t last_i2c_status_boot = 0;
 198 static volatile uint8_t watchdog_enable = 0;
 199
 200 static void set_motor4_sound(uint16_t);
 201
 202 ISR(TWI_vect)
 203 {
 204         static uint8_t tmp=0;
 205         static int16_t tmp16=0;
 206         static ufloat_t tmp_speed;
 207         static ufloat_t tmp_angle;
 208
 209         last_i2c_status = TW_STATUS;
 210         switch(TW_STATUS)
 211         {
 212                 case TW_SR_SLA_ACK: // start write
 213                         TWI_ACK;
 214                         ireg = 0;
 215                         break;
 216                 case TW_SR_DATA_ACK: // write
 217                         switch(ireg) {
 218                                 case 0x00: // register select
 219                                         ireg = TWDR;
 220                                         ireg--; // because we do ireg++ below
 221                                         TWI_ACK;
 222                                         break;
 223                                 case 0x01: // Motor 1 MSB
 224                                         tmp = TWDR;
 225                                         TWI_ACK;
 226                                         break;
 227                                 case 0x02: // Motor 1 LSB
 228                                         motor1 = tmp<<8 | TWDR;
 229                                         motor1_mode = MOTOR_MANUAL;
 230                                         TWI_ACK;
 231                                         break;
 232                                 case 0x03: // Motor 2 MSB
 233                                         tmp = TWDR;
 234                                         TWI_ACK;
 235                                         break;
 236                                 case 0x04: // Motor 2 LSB
 237                                         motor2 = tmp<<8 | TWDR;
 238                                         motor2_mode = MOTOR_MANUAL;
 239                                         TWI_ACK;
 240                                         break;
 241                                 case 0x05: // Motor 3 MSB
 242                                         tmp = TWDR;
 243                                         TWI_ACK;
 244                                         break;
 245                                 case 0x06: // Motor 3 LSB
 246                                         motor3 = tmp<<8 | TWDR;
 247                                         motor3_mode = MOTOR_MANUAL;
 248                                         TWI_ACK;
 249                                         break;
 250                                 case 0x07: // Motor 4 MSB
 251                                         tmp = TWDR;
 252                                         TWI_ACK;
 253                                         break;
 254                                 case 0x08: // Motor 4 LSB
 255                                         motor4 = tmp<<8 | TWDR;
 256                                         motor4_mode = MOTOR_MANUAL;
 257                                         TWI_ACK;
 258                                         break;
 259                                 case 0x20: // Motor 1 speed wish MSB
 260                                         tmp = TWDR;
 261                                         TWI_ACK;
 262                                         break;
 263                                 case 0x21: // Motor 1 speed wish LSB
 264                                         speed1_wish = tmp<<8 | TWDR;
 265                                         motor1_mode = MOTOR_PID;
 266                                         TWI_ACK;
 267                                         break;
 268                                 case 0x22: // Motor 2 speed wish MSB
 269                                         tmp = TWDR;
 270                                         TWI_ACK;
 271                                         break;
 272                                 case 0x23: // Motor 2 speed wish LSB
 273                                         speed2_wish = tmp<<8 | TWDR;
 274                                         motor2_mode = MOTOR_PID;
 275                                         TWI_ACK;
 276                                         break;
 277                                 case 0x24: // Motor 3 speed wish MSB
 278                                         tmp = TWDR;
 279                                         TWI_ACK;
 280                                         break;
 281                                 case 0x25: // Motor 3 speed wish LSB
 282                                         speed3_wish = tmp<<8 | TWDR;
 283                                         motor3_mode = MOTOR_PID;
 284                                         TWI_ACK;
 285                                         break;
 286                                 case 0x26: // Motor 4 speed wish MSB
 287                                         tmp = TWDR;
 288                                         TWI_ACK;
 289                                         break;
 290                                 case 0x27: // Motor 4 speed wish LSB
 291                                         speed4_wish = tmp<<8 | TWDR;
 292                                         motor4_mode = MOTOR_PID;
 293                                         TWI_ACK;
 294                                         break;
 295                                 case 0x28: // Left speed wish MSB
 296                                         tmp_speed.i = TWDR;
 297                                         TWI_ACK;
 298                                         break;
 299                                 case 0x29: // Left speed wish
 300                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 301                                         TWI_ACK;
 302                                         break;
 303                                 case 0x2A: // Left speed wish
 304                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 305                                         TWI_ACK;
 306                                         break;
 307                                 case 0x2B: // Left speed wish LSB
 308                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 309                                         speed1_wish = tmp_speed.f*STEP_PER_M_LEFT;
 310                                         speed2_wish = tmp_speed.f*STEP_PER_M_LEFT;
 311                                         motor1_mode = MOTOR_PID;
 312                                         motor2_mode = MOTOR_PID;
 313                                         TWI_ACK;
 314                                         break;
 315                                 case 0x2C: // Right speed wish MSB
 316                                         tmp_speed.i = TWDR;
 317                                         TWI_ACK;
 318                                         break;
 319                                 case 0x2D: // Right speed wish
 320                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 321                                         TWI_ACK;
 322                                         break;
 323                                 case 0x2E: // Right speed wish
 324                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 325                                         TWI_ACK;
 326                                         break;
 327                                 case 0x2F: // Right speed wish LSB
 328                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 329                                         speed1_wish = tmp_speed.f*STEP_PER_M_RIGHT;
 330                                         speed2_wish = tmp_speed.f*STEP_PER_M_RIGHT;
 331                                         motor1_mode = MOTOR_PID;
 332                                         motor2_mode = MOTOR_PID;
 333                                         TWI_ACK;
 334                                         break;
 335                                 case 0x50: // speed wish MSB
 336                                         tmp_speed.i = TWDR;
 337                                         TWI_ACK;
 338                                         break;
 339                                 case 0x51: // speed wish
 340                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 341                                         TWI_ACK;
 342                                         break;
 343                                 case 0x52: // speed wish
 344                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 345                                         TWI_ACK;
 346                                         break;
 347                                 case 0x53: // speed wish LSB
 348                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 349                                         cmd_vel.speed = tmp_speed.f;
 350                                         TWI_ACK;
 351                                         break;
 352                                 case 0x54: // angle wish MSB
 353                                         tmp_angle.i = TWDR;
 354                                         TWI_ACK;
 355                                         break;
 356                                 case 0x55: // angle wish
 357                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 358                                         TWI_ACK;
 359                                         break;
 360                                 case 0x56: // angle wish
 361                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 362                                         TWI_ACK;
 363                                         break;
 364                                 case 0x57: // angle wish LSB
 365                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 366                                         cmd_vel.angle = tmp_angle.f;
 367                                         cmd_vel.bUpdate = 1;
 368                                         last_man_update_count = 0;
 369                                         TWI_ACK;
 370                                         break;
 371                                 case 0x90: // Motor 1 switch
 372                                         motor1_switch = TWDR;
 373                                         TWI_ACK;
 374                                         break;
 375                                 case 0x91: // Motor 2 switch
 376                                         motor2_switch = TWDR;
 377                                         TWI_ACK;
 378                                         break;
 379                                 case 0x92: // Motor 3 switch
 380                                         motor3_switch = TWDR;
 381                                         TWI_ACK;
 382                                         break;
 383                                 case 0x93: // Motor 4 switch
 384                                         motor4_switch = TWDR;
 385                                         TWI_ACK;
 386                                         break;
 387                                 case 0x94: // Front Handicap
 388                                         front_handicap = TWDR;
 389                                         cmd_vel.bUpdate = 1;
 390                                         TWI_ACK;
 391                                         break;
 392                                 case 0x95: // Aft Handicap
 393                                         aft_handicap = TWDR;
 394                                         cmd_vel.bUpdate = 1;
 395                                         TWI_ACK;
 396                                         break;
 397                                 case 0xA4: // Watchdog enable
 398                                         watchdog_enable = TWDR;
 399                                         TWI_ACK;
 400                                         break;
 401                                 case 0xB0: // Sound freq MSB
 402                                         tmp16 = TWDR;
 403                                         TWI_ACK;
 404                                         break;
 405                                 case 0xB1: // Sound freq LSB
 406                                         tmp16 = tmp16<<8 | TWDR;
 407                                         set_motor4_sound(tmp16);
 408                                         TWI_ACK;
 409                                         break;
 410                                 case 0xff: // bootloader
 411                                         bootloader = TWDR;
 412                                 default:
 413                                         TWI_NAK;
 414                         }
 415                         if (ireg < 0xff) ireg++;
 416                         break;
 417                 case TW_ST_SLA_ACK: // start read
 418                 case TW_ST_DATA_ACK: // read
 419                         switch(ireg) {
 420                                 case 0x02: // Motor 1 PWM
 421                                         TWDR = OCR1A;
 422                                         TWI_ACK;
 423                                         break;
 424                                 case 0x03: // Dummy to allow continous read
 425                                         TWDR = 0;
 426                                         TWI_ACK;
 427                                         break;
 428                                 case 0x04: // Motor 2 PWM
 429                                         TWDR = OCR1B;
 430                                         TWI_ACK;
 431                                         break;
 432                                 case 0x05: // Dummy to allow continous read
 433                                         TWDR = 0;
 434                                         TWI_ACK;
 435                                         break;
 436                                 case 0x06: // Motor 3 PWM
 437                                         TWDR = OCR2;
 438                                         TWI_ACK;
 439                                         break;
 440                                 case 0x07: // Dummy to allow continous read
 441                                         TWDR = 0;
 442                                         TWI_ACK;
 443                                         break;
 444                                 case 0x08: // Motor 4 PWM
 445                                         TWDR = OCR0;
 446                                         TWI_ACK;
 447                                         break;
 448                                 case 0x09: // Dummy to allow continous read
 449                                         TWDR = 0;
 450                                         TWI_ACK;
 451                                         break;
 452                                 case 0x10: // Hall 1 MSB
 453                                         tmp16 = pos1;
 454                                         TWDR = tmp16>>8;
 455                                         TWI_ACK;
 456                                         break;
 457                                 case 0x11: // Hall 1 LSB
 458                                         TWDR = tmp16;
 459                                         TWI_ACK;
 460                                         break;
 461                                 case 0x12: // Hall 2 MSB
 462                                         tmp16 = pos2;
 463                                         TWDR = tmp16>>8;
 464                                         TWI_ACK;
 465                                         break;
 466                                 case 0x13: // Hall 2 LSB
 467                                         TWDR = tmp16;
 468                                         TWI_ACK;
 469                                         break;
 470                                 case 0x14: // Hall 3 MSB
 471                                         tmp16 = pos3;
 472                                         TWDR = tmp16>>8;
 473                                         TWI_ACK;
 474                                         break;
 475                                 case 0x15: // Hall 3 LSB
 476                                         TWDR = tmp16;
 477                                         TWI_ACK;
 478                                         break;
 479                                 case 0x16: // Hall 4 MSB
 480                                         tmp16 = pos4;
 481                                         TWDR = tmp16>>8;
 482                                         TWI_ACK;
 483                                         break;
 484                                 case 0x17: // Hall 4 LSB
 485                                         TWDR = tmp16;
 486                                         TWI_ACK;
 487                                         break;
 488                                 case 0x20: // Motor 1 speed wish MSB
 489                                         TWDR = speed1_wish>>8;
 490                                         TWI_ACK;
 491                                         break;
 492                                 case 0x21: // Motor 1 speed wish LSB
 493                                         TWDR = speed1_wish;
 494                                         TWI_ACK;
 495                                         break;
 496                                 case 0x22: // Motor 2 speed wish MSB
 497                                         TWDR = speed2_wish>>8;
 498                                         TWI_ACK;
 499                                         break;
 500                                 case 0x23: // Motor 2 speed wish LSB
 501                                         TWDR = speed2_wish;
 502                                         TWI_ACK;
 503                                         break;
 504                                 case 0x24: // Motor 3 speed wish MSB
 505                                         TWDR = speed3_wish>>8;
 506                                         TWI_ACK;
 507                                         break;
 508                                 case 0x25: // Motor 3 speed wish LSB
 509                                         TWDR = speed3_wish;
 510                                         TWI_ACK;
 511                                         break;
 512                                 case 0x26: // Motor 4 speed wish MSB
 513                                         TWDR = speed4_wish>>8;
 514                                         TWI_ACK;
 515                                         break;
 516                                 case 0x27: // Motor 4 speed wish LSB
 517                                         TWDR = speed4_wish;
 518                                         TWI_ACK;
 519                                         break;
 520                                 case 0x30: // Motor 1 speed MSB
 521                                         TWDR = speed1>>8;
 522                                         TWI_ACK;
 523                                         break;
 524                                 case 0x31: // Motor 1 speed LSB
 525                                         TWDR = speed1;
 526                                         TWI_ACK;
 527                                         break;
 528                                 case 0x32: // Motor 2 speed MSB
 529                                         TWDR = speed2>>8;
 530                                         TWI_ACK;
 531                                         break;
 532                                 case 0x33: // Motor 2 speed LSB
 533                                         TWDR = speed2;
 534                                         TWI_ACK;
 535                                         break;
 536                                 case 0x34: // Motor 3 speed MSB
 537                                         TWDR = speed3>>8;
 538                                         TWI_ACK;
 539                                         break;
 540                                 case 0x35: // Motor 3 speed LSB
 541                                         TWDR = speed3;
 542                                         TWI_ACK;
 543                                         break;
 544                                 case 0x36: // Motor 4 speed MSB
 545                                         TWDR = speed4>>8;
 546                                         TWI_ACK;
 547                                         break;
 548                                 case 0x37: // Motor 4 speed LSB
 549                                         TWDR = speed4;
 550                                         TWI_ACK;
 551                                         break;
 552                                 case 0x38: // speed MSB
 553                                         tmp_speed.f = cur_speed_lin;
 554                                         TWDR = tmp_speed.i>>24;
 555                                         TWI_ACK;
 556                                         break;
 557                                 case 0x39: // speed
 558                                         TWDR = tmp_speed.i>>16;
 559                                         TWI_ACK;
 560                                         break;
 561                                 case 0x3A: // speed
 562                                         TWDR = tmp_speed.i>>8;
 563                                         TWI_ACK;
 564                                         break;
 565                                 case 0x3B: // speed LSB
 566                                         TWDR = tmp_speed.i;
 567                                         TWI_ACK;
 568                                         break;
 569                                 case 0x3C: // angle MSB
 570                                         tmp_angle.f = cur_speed_rot;
 571                                         TWDR = tmp_angle.i>>24;
 572                                         TWI_ACK;
 573                                         break;
 574                                 case 0x3D: // angle
 575                                         TWDR = tmp_angle.i>>16;
 576                                         TWI_ACK;
 577                                         break;
 578                                 case 0x3E: // angle
 579                                         TWDR = tmp_angle.i>>8;
 580                                         TWI_ACK;
 581                                         break;
 582                                 case 0x3F: // angle LSB
 583                                         TWDR = tmp_angle.i;
 584                                         TWI_ACK;
 585                                         break;
 586                                 case 0x40: // Position x MSB
 587                                         TWDR = pos_x.i>>24;
 588                                         TWI_ACK;
 589                                         break;
 590                                 case 0x41: // Position x
 591                                         TWDR = pos_x.i>>16;
 592                                         TWI_ACK;
 593                                         break;
 594                                 case 0x42: // Position x
 595                                         TWDR = pos_x.i>>8;
 596                                         TWI_ACK;
 597                                         break;
 598                                 case 0x43: // Position x LSB
 599                                         TWDR = pos_x.i;
 600                                         TWI_ACK;
 601                                         break;
 602                                 case 0x44: // Position y MSB
 603                                         TWDR = pos_y.i>>24;
 604                                         TWI_ACK;
 605                                         break;
 606                                 case 0x45: // Position y
 607                                         TWDR = pos_y.i>>16;
 608                                         TWI_ACK;
 609                                         break;
 610                                 case 0x46: // Position y
 611                                         TWDR = pos_y.i>>8;
 612                                         TWI_ACK;
 613                                         break;
 614                                 case 0x47: // Position y LSB
 615                                         TWDR = pos_y.i;
 616                                         TWI_ACK;
 617                                         break;
 618                                 case 0x48: // Position angle MSB
 619                                         TWDR = angle.i>>24;
 620                                         TWI_ACK;
 621                                         break;
 622                                 case 0x49: // Position angle
 623                                         TWDR = angle.i>>16;
 624                                         TWI_ACK;
 625                                         break;
 626                                 case 0x4A: // Position angle
 627                                         TWDR = angle.i>>8;
 628                                         TWI_ACK;
 629                                         break;
 630                                 case 0x4B: // Position angle LSB
 631                                         TWDR = angle.i;
 632                                         TWI_ACK;
 633                                         break;
 634                                 case 0xA0: // Reset reason
 635                                         TWDR = MCUCSR & 0x0f;
 636                                         MCUCSR = 0x0;
 637                                         TWI_ACK;
 638                                         break;
 639                                 case 0xA1: // Error status
 640                                         TWDR = error_state;
 641                                         TWI_ACK;
 642                                         break;
 643                                 case 0xA2: // count test
 644                                         TWDR = count_test;
 645                                         TWI_ACK;
 646                                 case 0xA3: // last i2c status before boot
 647                                         TWDR = last_i2c_status_boot;
 648                                         TWI_ACK;
 649                                 case 0xA4: // Watchdog enable
 650                                         TWDR = watchdog_enable;
 651                                         TWI_ACK;
 652                                 default:
 653                                         TWDR = 0;
 654                                         TWI_NAK;
 655                         }
 656                         ireg++;
 657                         break;
 658                 case TW_SR_STOP:
 659                         TWI_ACK;
 660                         break;
 661                 case TW_NO_INFO:
 662                         break;
 663                 default:
 664                         TWI_RESET;
 665         }
 666
 667         if (watchdog_enable == 2) {
 668                 wdt_reset();
 669         }
 670 }
 671
 672
 673 static void update_hall1(void) {
 674         unsigned char status = (PINA >> 0) & 0x3;
 675         static unsigned char oldstatus=0;
 676         unsigned char diff, new;
 677
 678         new = 0;
 679         if (status & 0x1)
 680                 new = 0x3;
 681         if (status & 0x2)
 682                 new ^= 0x1;                                     // convert gray to binary
 683         diff = oldstatus - new;                         // difference last - new
 684         if (diff & 0x1) {                               // bit 0 = value (1)
 685                 oldstatus = new;                                        // store new as next last
 686                 if (motor1_switch) pos1 += (diff & 2) - 1;              // bit 1 = direction (+/-)
 687                 else pos1 -= (diff & 2) - 1;
 688         }
 689 }
 690
 691
 692 static void update_hall2(void) {
 693         unsigned char status = (PINA >> 4) & 0x3;
 694         static unsigned char oldstatus=0;
 695         unsigned char diff, new;
 696
 697         new = 0;
 698         if (status & 0x1)
 699                 new = 0x3;
 700         if (status & 0x2)
 701                 new ^= 0x1;                                     // convert gray to binary
 702         diff = oldstatus - new;                         // difference last - new
 703         if (diff & 0x1) {                               // bit 0 = value (1)
 704                 oldstatus = new;                                        // store new as next last
 705                 if (motor2_switch) pos2 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
 706                 else pos2 += (diff & 2) - 1;
 707         }
 708 }
 709
 710
 711 static void update_hall3(void) {
 712         unsigned char status = (PINA >> 2) & 0x3;
 713         static unsigned char oldstatus=0;
 714         unsigned char diff, new;
 715
 716         new = 0;
 717         if (status & 0x1)
 718                 new = 0x3;
 719         if (status & 0x2)
 720                 new ^= 0x1;                                     // convert gray to binary
 721         diff = oldstatus - new;                         // difference last - new
 722         if (diff & 0x1) {                               // bit 0 = value (1)
 723                 oldstatus = new;                                        // store new as next last
 724                 if (motor3_switch) pos3 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
 725                 else pos3 += (diff & 2) - 1;
 726         }
 727 }
 728
 729
 730 static void update_hall4(void) {
 731         unsigned char status = (PINA >> 6) & 0x3;
 732         static unsigned char oldstatus=0;
 733         unsigned char diff, new;
 734
 735         new = 0;
 736         if (status & 0x1)
 737                 new = 0x3;
 738         if (status & 0x2)
 739                 new ^= 0x1;                                     // convert gray to binary
 740         diff = oldstatus - new;                         // difference last - new
 741         if (diff & 0x1) {                               // bit 0 = value (1)
 742                 oldstatus = new;                                        // store new as next last
 743                 if (motor4_switch) pos4 += (diff & 2) - 1;              // bit 1 = direction (+/-)
 744                 else pos4 -= (diff & 2) - 1;
 745         }
 746 }
 747
 748
 749 static void update_motor(void) {
 750         static int16_t m1_old=SHRT_MIN;
 751         static int16_t m2_old=SHRT_MIN;
 752         static int16_t m3_old=SHRT_MIN;
 753         static int16_t m4_old=SHRT_MIN;
 754
 755         error_state &= 0xf0; // clear lower bits
 756         error_state |= ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
 757
 758         if (m1_old != motor1) { // update only when changed
 759                 if (motor1 == 0) {
 760                         // stop
 761                         PORTC &= ~(1 << 3) & ~(1 << 2);
 762                         DISABLE_PWM_MOTOR1;
 763                 } else if (motor1 == PWM_BREAK) {
 764                         PORTC |= (1 << 3) | (1 << 2);
 765                         ENABLE_PWM_MOTOR1;
 766                 } else if ((!motor1_switch && motor1 > 0) || (motor1_switch && motor1 < 0)) {
 767                         // forward
 768                         uint8_t tmp=PORTC;
 769                         tmp &= ~(1 << 3);
 770                         tmp |=  (1 << 2);
 771                         PORTC = tmp;
 772                         ENABLE_PWM_MOTOR1;
 773                 } else { // motor1 < 0
 774                         // backward
 775                         uint8_t tmp=PORTC;
 776                         tmp &= ~(1 << 2);
 777                         tmp |=  (1 << 3);
 778                         PORTC = tmp;
 779                         ENABLE_PWM_MOTOR1;
 780                 }
 781
 782                 m1_old = motor1;
 783                 OCR1A = abs(motor1);
 784         }
 785
 786         if (m2_old != motor2) { // update only when changed
 787                 if (motor2 == 0) {
 788                         // stop
 789                         PORTC &= ~(1 << 5) & ~(1 << 4);
 790                         DISABLE_PWM_MOTOR2;
 791                 } else if (motor2 == PWM_BREAK) {
 792                         PORTC |= (1 << 5) | (1 << 4);
 793                         ENABLE_PWM_MOTOR2;
 794                 } else if ((!motor2_switch && motor2 > 0) || (motor2_switch && motor2 < 0)) {
 795                         // forward
 796                         uint8_t tmp=PORTC;
 797                         tmp &= ~(1 << 5);
 798                         tmp |=  (1 << 4);
 799                         PORTC = tmp;
 800                         ENABLE_PWM_MOTOR2;
 801                 } else { // motor2 < 0
 802                         // backward
 803                         uint8_t tmp=PORTC;
 804                         tmp &= ~(1 << 4);
 805                         tmp |=  (1 << 5);
 806                         PORTC = tmp;
 807                         ENABLE_PWM_MOTOR2;
 808                 }
 809
 810                 m2_old = motor2;
 811                 OCR1B = abs(motor2);
 812         }
 813
 814         if (m3_old != motor3) { // update only when changed
 815                 if (motor3 == 0) {
 816                         // stop
 817                         PORTC &= ~(1 << 7) & ~(1 << 6);
 818                         DISABLE_PWM_MOTOR3;
 819                 } else if (motor3 == PWM_BREAK) {
 820                         PORTC |= (1 << 7) | (1 << 6);
 821                         ENABLE_PWM_MOTOR3;
 822                 } else if ((!motor3_switch && motor3 > 0) || (motor3_switch && motor3 < 0)) {
 823                         // forward
 824                         uint8_t tmp=PORTC;
 825                         tmp &= ~(1 << 7);
 826                         tmp |=  (1 << 6);
 827                         PORTC = tmp;
 828                         ENABLE_PWM_MOTOR3;
 829                 } else { // motor3 < 0
 830                         // backward
 831                         uint8_t tmp=PORTC;
 832                         tmp &= ~(1 << 6);
 833                         tmp |=  (1 << 7);
 834                         PORTC = tmp;
 835                         ENABLE_PWM_MOTOR3;
 836                 }
 837
 838                 m3_old = motor3;
 839                 OCR2 = abs(motor3);
 840         }
 841
 842         if (m4_old != motor4) { // update only when changed
 843                 if (motor4 == 0) {
 844                         // stop
 845                         PORTD &= ~(1 << 3) & ~(1 << 2);
 846                         DISABLE_PWM_MOTOR4;
 847                 } else if (motor4 == PWM_BREAK) {
 848                         PORTD |= (1 << 3) | (1 << 2);
 849                         ENABLE_PWM_MOTOR4;
 850                 } else if ((!motor4_switch && motor4 > 0) || (motor4_switch && motor4 < 0)) {
 851                         // forward
 852                         uint8_t tmp=PORTD;
 853                         tmp &= ~(1 << 3);
 854                         tmp |=  (1 << 2);
 855                         PORTD = tmp;
 856                         ENABLE_PWM_MOTOR4;
 857                 } else { // motor4 < 0
 858                         // backward
 859                         uint8_t tmp=PORTD;
 860                         tmp &= ~(1 << 2);
 861                         tmp |=  (1 << 3);
 862                         PORTD = tmp;
 863                         ENABLE_PWM_MOTOR4;
 864                 }
 865
 866                 m4_old = motor4;
 867                 OCR0 = abs(motor4);
 868         }
 869 }
 870
 871
 872 static void update_pos(void) {
 873         static int16_t pos1_last=0;
 874         static int16_t pos2_last=0;
 875         static int16_t pos3_last=0;
 876         static int16_t pos4_last=0;
 877         int16_t pos1_diff; // steps
 878         int16_t pos2_diff;
 879         int16_t pos3_diff;
 880         int16_t pos4_diff;
 881         float diff_left_m, diff_right_m, angle_diff, translation;
 882         float pos_x_new, pos_y_new, angle_new;
 883         float tmp_speed_lin, tmp_speed_rot;
 884         int16_t cur_pos1, cur_pos2, cur_pos3, cur_pos4;
 885         int16_t new_speed1, new_speed2, new_speed3, new_speed4;
 886
 887         // copy to tmp
 888         cli();
 889         cur_pos1 = pos1;
 890         cur_pos2 = pos2;
 891         cur_pos3 = pos3;
 892         cur_pos4 = pos4;
 893         sei();
 894
 895         pos1_diff = cur_pos1 - pos1_last;
 896         pos2_diff = cur_pos2 - pos2_last;
 897         pos3_diff = cur_pos3 - pos3_last;
 898         pos4_diff = cur_pos4 - pos4_last;
 899
 900         new_speed1 = pos1_diff/PID_T;
 901         new_speed2 = pos2_diff/PID_T;
 902         new_speed3 = pos3_diff/PID_T;
 903         new_speed4 = pos4_diff/PID_T;
 904
 905         diff_left_m = (pos1_diff + pos2_diff)/(2*STEP_PER_M_LEFT);
 906         diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M_RIGHT);
 907         angle_diff = (diff_right_m - diff_left_m) / WHEEL_DIST;
 908
 909         angle_new = angle.f + angle_diff;
 910         if (angle_new > 2*M_PI) angle_new-=2*M_PI;
 911         else if (angle_new < -2*M_PI) angle_new+=2*M_PI;
 912
 913         translation = (diff_left_m + diff_right_m)/2.0;
 914         pos_x_new = pos_x.f + cos(angle_new)*translation;
 915         pos_y_new = pos_y.f + sin(angle_new)*translation;
 916
 917         tmp_speed_lin = translation/PID_T;
 918         tmp_speed_rot = angle_diff/PID_T;
 919
 920         // copy from tmp
 921         cli();
 922         angle.f = angle_new;
 923         pos_x.f = pos_x_new;
 924         pos_y.f = pos_y_new;
 925         speed1 = new_speed1;
 926         speed2 = new_speed2;
 927         speed3 = new_speed3;
 928         speed4 = new_speed4;
 929         cur_speed_lin = tmp_speed_lin;
 930         cur_speed_rot = tmp_speed_rot;
 931         sei();
 932
 933         pos1_last = cur_pos1;
 934         pos2_last = cur_pos2;
 935         pos3_last = cur_pos3;
 936         pos4_last = cur_pos4;
 937 }
 938
 939
 940 static void update_pid(void) {
 941         static int16_t eold1=0;
 942         static int16_t eold2=0;
 943         static int16_t eold3=0;
 944         static int16_t eold4=0;
 945         static int32_t esum1=0;
 946         static int32_t esum2=0;
 947         static int32_t esum3=0;
 948         static int32_t esum4=0;
 949
 950         // protect motors from damage if stalling
 951         if (labs(esum1) > STALL_LIMIT && speed1 == 0) {
 952                 motor1 = 0;
 953                 motor1_mode = MOTOR_MANUAL;
 954                 error_state |= (1<<4);
 955                 esum1 = 0;
 956         }
 957         if (labs(esum2) > STALL_LIMIT && speed2 == 0) {
 958                 motor2 = 0;
 959                 motor2_mode = MOTOR_MANUAL;
 960                 error_state |= (1<<5);
 961                 esum2 = 0;
 962         }
 963         if (labs(esum3) > STALL_LIMIT && speed3 == 0) {
 964                 motor3 = 0;
 965                 motor3_mode = MOTOR_MANUAL;
 966                 error_state |= (1<<6);
 967                 esum3 = 0;
 968         }
 969         if (labs(esum4) > STALL_LIMIT && speed4 == 0) {
 970                 motor4 = 0;
 971                 motor4_mode = MOTOR_MANUAL;
 972                 error_state |= (1<<7);
 973                 esum4 = 0;
 974         }
 975
 976         if (motor1_mode == MOTOR_PID) {
 977                 if (speed1_wish != speed1_wish_old) {
 978                         if (abs(speed1_wish - speed1_wish_old) > 500) esum1 = 0;
 979                         speed1_wish_old = speed1_wish;
 980                 }
 981
 982                 uint8_t dir_change = (speed1_wish > 0 && speed1 < 0) || (speed1_wish < 0 && speed1 > 0); // Prevent dangerous immediate engine reverse
 983                 if (speed1_wish == 0 || dir_change) {
 984                         motor1 = 0;
 985                         eold1 = 0;
 986                         error_state &= ~(1<<4);
 987                 } else {
 988                         int16_t e = speed1_wish - speed1;
 989                         esum1+=e;
 990                         motor1 = KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
 991                         eold1 = e;
 992
 993                         if (motor1 > 0 && speed1_wish < 0) motor1=PWM_BREAK;
 994                         else if (motor1 < 0 && speed1_wish > 0) motor1=PWM_BREAK;
 995                         else if (motor1 > 255) motor1 = 255;
 996                         else if (motor1 < -255) motor1 = -255;
 997                 }
 998         }
 999         if (motor2_mode == MOTOR_PID) {
1000                 if (speed2_wish != speed2_wish_old) {
1001                         if (abs(speed2_wish - speed2_wish_old) > 500) esum2 = 0;
1002                         speed2_wish_old = speed2_wish;
1003                 }
1004
1005                 uint8_t dir_change = (speed2_wish > 0 && speed2 < 0) || (speed2_wish < 0 && speed2 > 0); // Prevent dangerous immediate engine reverse
1006                 if (speed2_wish == 0 || dir_change) {
1007                         motor2 = 0;
1008                         eold2 = 0;
1009                         error_state &= ~(1<<5);
1010                 } else {
1011                         int16_t e = speed2_wish - speed2;
1012                         esum2+=e;
1013                         motor2 = KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
1014                         eold2 = e;
1015
1016                         if (motor2 > 0 && speed2_wish < 0) motor2=PWM_BREAK;
1017                         else if (motor2 < 0 && speed2_wish > 0) motor2=PWM_BREAK;
1018                         else if (motor2 > 255) motor2 = 255;
1019                         else if (motor2 < -255) motor2 = -255;
1020                 }
1021         }
1022         if (motor3_mode == MOTOR_PID) {
1023                 if (speed3_wish != speed3_wish_old) {
1024                         if (abs(speed3_wish - speed3_wish_old) > 500) esum3 = 0;
1025                         speed3_wish_old = speed3_wish;
1026                 }
1027
1028                 uint8_t dir_change = (speed3_wish > 0 && speed3 < 0) || (speed3_wish < 0 && speed3 > 0); // Prevent dangerous immediate engine reverse
1029                 if (speed3_wish == 0 || dir_change) {
1030                         motor3 = 0;
1031                         eold3 = 0;
1032                         error_state &= ~(1<<6);
1033                 } else {
1034                         int16_t e = speed3_wish - speed3;
1035                         esum3+=e;
1036                         motor3 = KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
1037                         eold3 = e;
1038
1039                         if (motor3 > 0 && speed3_wish < 0) motor3=PWM_BREAK;
1040                         else if (motor3 < 0 && speed3_wish > 0) motor3=PWM_BREAK;
1041                         else if (motor3 > 255) motor3 = 255;
1042                         else if (motor3 < -255) motor3 = -255;
1043                 }
1044         }
1045         if (motor4_mode == MOTOR_PID) {
1046                 if (speed4_wish != speed4_wish_old) {
1047                         if (abs(speed4_wish - speed4_wish_old) > 500) esum4 = 0;
1048                         speed4_wish_old = speed4_wish;
1049                 }
1050
1051                 uint8_t dir_change = (speed4_wish > 0 && speed4 < 0) || (speed4_wish < 0 && speed4 > 0); // Prevent dangerous immediate engine reverse
1052                 if (speed4_wish == 0 || dir_change) {
1053                         motor4 = 0;
1054                         eold4 = 0;
1055                         error_state &= ~(1<<7);
1056                 } else {
1057                         int16_t e = speed4_wish - speed4;
1058                         esum4+=e;
1059                         motor4 = KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
1060                         eold4 = e;
1061
1062                         if (motor4 > 0 && speed4_wish < 0) motor4=PWM_BREAK;
1063                         else if (motor4 < 0 && speed4_wish > 0) motor4=PWM_BREAK;
1064                         else if (motor4 > 255) motor4 = 255;
1065                         else if (motor4 < -255) motor4 = -255;
1066                 }
1067         }
1068 }
1069
1070
1071 ISR(TIMER1_OVF_vect) {
1072         update_hall1();
1073         update_hall2();
1074         update_hall3();
1075         update_hall4();
1076
1077         run_update++;
1078 }
1079
1080 ISR(TIMER0_OVF_vect) {
1081         sound_update++;
1082         if (sound_update >= sound_max) {
1083                 sound_update=0;
1084                 motor4 = -motor4;
1085                 update_motor();
1086         }
1087 }
1088
1089 static void set_motor4_sound(uint16_t hz) {
1090         if (hz) {
1091                 // 5e6/255/hz/2
1092                 sound_max = 19608/hz/2;
1093                 sound_update=0;
1094                 // Enable Timer 0 Overflow Interrupt
1095                 TIMSK |= (1 << TOIE0);
1096                 last_man_update_count = I2C_TIMEOUT_DISABLE;
1097         } else {
1098                 // Disable Timer 0 Overflow Interrupt
1099                 TIMSK &= ~(1 << TOIE0);
1100                 motor4 = 0;
1101         }
1102
1103 }
1104
1105 int main(void) {
1106         // Outputs
1107         DDRB = (1 << 3);
1108         DDRC = (1 << 7) | (1 << 6) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
1109         DDRD = (1 << 7) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
1110         // Pullup Diag/Enable
1111         PORTB = (1 << 0) | (1 << 1) | (1 << 2);
1112         PORTD = (1 << 6);
1113
1114         bootloader = 0x00;
1115         setup_uart(9600);
1116         uart_setup_stdout();
1117
1118         // I2C
1119         TWAR = 0x50;
1120         TWI_ACK;
1121
1122         // Motor 1 & 2
1123         // Also used for PWM frequency TIMER1_FREQ (F_CPU/256)
1124         // Timer 1: Fast PWM non-inverting mode, Top=255 => 19.531kHz
1125         // Prescaler=1
1126         //TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM10);
1127         // Avoid narrow spike on extreme pwm value 0 by not setting COM1*1
1128         TCCR1A = (1 << WGM10);
1129         TCCR1B = (1 << WGM12) | (1 << CS10);
1130         OCR1A = 0;
1131         OCR1B = 0;
1132
1133         // Motor 3
1134         // Timer 2: Fast PWM non-inverting mode, Top=255
1135         // Prescaler=1
1136         //TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << CS20);
1137         // Avoid narrow spike on extreme pwm value 0 by not setting COM21
1138         TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << CS20);
1139         OCR2 = 0;
1140
1141         // Motor 4
1142         // Timer 0: Fast PWM non-inverting mode, Top=255
1143         // Prescaler=1
1144         //TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << CS00);
1145         // Avoid narrow spike on extreme pwm value 0 by not setting COM01
1146         TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << CS00);
1147         OCR0 = 0;
1148
1149         printf_P(PSTR("\r\nStart\r\n"));
1150
1151         last_i2c_status_boot = eeprom_read_byte((uint8_t*)1);
1152
1153         set_sleep_mode(SLEEP_MODE_IDLE);
1154         // Enable Timer 1 Overflow Interrupt
1155         TIMSK = (1 << TOIE1);
1156         sei();
1157
1158         while(1) {
1159                 switch(ireg) {
1160                         case 0xA4: // Watchdog enable
1161                                 if (watchdog_enable == 1) {
1162                                         wdt_enable(WDTO_2S);
1163                                         watchdog_enable = 2;
1164                                 } else if (watchdog_enable == 0) {
1165                                         wdt_disable();
1166                                         watchdog_enable = 3;
1167                                 }
1168                                 break;
1169                         case 0xff: // Magic reg that starts the bootloader
1170                                 if (bootloader == 0xa5) {
1171                                         cli();
1172                                         // write mark to first area in eeprom
1173                                         eeprom_write_byte((uint8_t*)0, 123);
1174                                         eeprom_busy_wait();
1175                                         // Use watchdog to restart
1176                                         wdt_enable(WDTO_15MS);
1177                                 }
1178                                 break;
1179                 }
1180
1181                 if (cmd_vel.bUpdate) {
1182                         float speed_wish_right, speed_wish_left;
1183                         float speed, angle;
1184
1185                         cli();
1186                         speed = cmd_vel.speed;
1187                         angle = cmd_vel.angle;
1188                         cmd_vel.bUpdate = 0;
1189                         sei();
1190
1191                         speed_wish_right = (angle*WHEEL_DIST)/2 + speed;
1192                         speed_wish_left = speed*2-speed_wish_right;
1193
1194                         speed_wish_left*=STEP_PER_M_LEFT;
1195                         speed_wish_right*=STEP_PER_M_RIGHT;
1196
1197                         if (aft_handicap > 0) {
1198                                 speed1_wish = speed_wish_left * (100-aft_handicap)/100.0;
1199                                 speed3_wish = speed_wish_right * (100-aft_handicap)/100.0;
1200                         } else {
1201                                 speed1_wish = speed_wish_left;
1202                                 speed3_wish = speed_wish_right;
1203                         }
1204                         if (front_handicap > 0) {
1205                                 speed2_wish = speed_wish_left * (100-front_handicap)/100.0;
1206                                 speed4_wish = speed_wish_right * (100-front_handicap)/100.0;
1207                         } else {
1208                                 speed2_wish = speed_wish_left;
1209                                 speed4_wish = speed_wish_right;
1210                         }
1211                         motor1_mode = MOTOR_PID;
1212                         motor2_mode = MOTOR_PID;
1213                         motor3_mode = MOTOR_PID;
1214                         motor4_mode = MOTOR_PID;
1215                 }
1216
1217                 if (run_update >= 195) { // TIMER1_FREQ/195 = ~100Hz
1218                         run_update=0;
1219
1220                         update_pos();
1221                         update_pid();
1222                         update_motor();
1223                         count_test++;
1224                         if (last_man_update_count != I2C_TIMEOUT_DISABLE) {
1225                                 last_man_update_count++;
1226
1227                                 if (last_man_update_count >= 100) {
1228                                         // ~1s without a new i2c command
1229                                         cmd_vel.speed = 0;
1230                                         cmd_vel.angle = 0;
1231                                         cmd_vel.bUpdate = 1;
1232                                         if (last_man_update_count == 100) {
1233                                                 printf_P(PSTR("I2C State: 0x%x\r\n"), last_i2c_status);
1234                                                 eeprom_write_byte((uint8_t*)1, last_i2c_status);
1235                                                 eeprom_busy_wait();
1236                                         }
1237                                         last_man_update_count = I2C_TIMEOUT_DISABLE;
1238                                 }
1239                         }
1240                 }
1241
1242                 sleep_mode();
1243         }
1244
1245         return 0;
1246 }