From: Erik Andresen Date: Mon, 25 May 2015 14:16:43 +0000 (+0200) Subject: avr: increase clk to 8MHz X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=b831b0bddbe43dc6e33251381b2a23016cff58fb;p=ros_wild_thumper.git avr: increase clk to 8MHz --- diff --git a/avr/motor_ctrl/Makefile b/avr/motor_ctrl/Makefile index 50995aa..6160c44 100644 --- a/avr/motor_ctrl/Makefile +++ b/avr/motor_ctrl/Makefile @@ -90,7 +90,7 @@ EXTRAINCDIRS = CSTANDARD = -std=gnu99 # Place -D or -U options here -CDEFS = -DF_CPU=4000000 +CDEFS = -DF_CPU=8000000 # Place -I options here CINCS = -Ii2c/ diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c index 8fc3fdb..824bee5 100644 --- a/avr/motor_ctrl/main.c +++ b/avr/motor_ctrl/main.c @@ -114,6 +114,13 @@ typedef union { uint32_t i; } ufloat_t; +static volatile struct { + float speed; + float angle; + uint8_t bUpdate; +} cmd_vel = {0, 0, 0}; + +static volatile uint8_t test=0; static volatile uint8_t ireg=0; static volatile uint8_t bootloader=0; static volatile int16_t motor1=0; // -255..+255 @@ -136,7 +143,7 @@ static volatile int16_t speed1_wish=0; // step/s static volatile int16_t speed2_wish=0; static volatile int16_t speed3_wish=0; static volatile int16_t speed4_wish=0; -static volatile uint8_t run_update=0; +static volatile uint16_t run_update=0; static volatile int16_t speed1=0; // step/s static volatile int16_t speed2=0; static volatile int16_t speed3=0; @@ -144,6 +151,8 @@ static volatile int16_t speed4=0; static volatile ufloat_t pos_x={0.0}; static volatile ufloat_t pos_y={0.0}; static volatile ufloat_t angle={0.0}; +static volatile float cur_speed_lin=0; +static volatile float cur_speed_rot=0; ISR(TWI_vect) { @@ -291,6 +300,7 @@ ISR(TWI_vect) break; case 0x53: // speed wish LSB tmp_speed.i = tmp_speed.i << 8 | TWDR; + cmd_vel.speed = tmp_speed.f; TWI_ACK; break; case 0x54: // angle wish MSB @@ -307,18 +317,8 @@ ISR(TWI_vect) break; case 0x57: // angle wish LSB tmp_angle.i = tmp_angle.i << 8 | TWDR; - { - float speed_wish_right = tmp_angle.f*M_PI*WHEEL_DIST/2 + tmp_speed.f; - float speed_wish_left = tmp_speed.f*2-speed_wish_right; - speed1_wish = speed_wish_left*STEP_PER_M; - speed2_wish = speed_wish_left*STEP_PER_M; - speed3_wish = speed_wish_right*STEP_PER_M; - speed4_wish = speed_wish_right*STEP_PER_M; - } - motor1_mode = MOTOR_PID; - motor2_mode = MOTOR_PID; - motor3_mode = MOTOR_PID; - motor4_mode = MOTOR_PID; + cmd_vel.angle = tmp_angle.f; + cmd_vel.bUpdate = 1; TWI_ACK; break; case 0x90: // Motor 1 switch @@ -464,12 +464,7 @@ ISR(TWI_vect) TWI_ACK; break; case 0x38: // speed MSB - { - int16_t speed_l = (speed3+speed4)/2; - int16_t speed_r = (speed1+speed2)/2; - tmp_speed.f = (speed_l + speed_r)/(2.0*STEP_PER_M); - tmp_angle.f = (speed_r - speed_l)/(M_PI*WHEEL_DIST*STEP_PER_M); - } + tmp_speed.f = cur_speed_lin; TWDR = tmp_speed.i>>24; TWI_ACK; break; @@ -486,6 +481,7 @@ ISR(TWI_vect) TWI_ACK; break; case 0x3C: // angle MSB + tmp_angle.f = cur_speed_rot; TWDR = tmp_angle.i>>24; TWI_ACK; break; @@ -550,7 +546,8 @@ ISR(TWI_vect) TWI_ACK; break; case 0x94: // TLE Error status - TWDR = (PIND & 0x40)>>2 | (PINB & 0x07); + //TWDR = (PIND & 0x40)>>2 | (PINB & 0x07); + TWDR=test; TWI_ACK; break; default: @@ -727,8 +724,11 @@ static void update_pos(void) { int16_t pos3_diff; int16_t pos4_diff; float diff_left_m, diff_right_m, angle_diff, translation; + float pos_x_diff, pos_y_diff, angle_new; + int16_t speed_l, speed_r; + float tmp_speed_lin, tmp_speed_rot; - //cli(); + cli(); pos1_diff = pos1 - pos1_last; pos2_diff = pos2 - pos2_last; pos3_diff = pos3 - pos3_last; @@ -737,23 +737,35 @@ static void update_pos(void) { speed2 = pos2_diff/PID_T; speed3 = pos3_diff/PID_T; speed4 = pos4_diff/PID_T; - //sei(); + sei(); diff_left_m = (pos1_diff + pos2_diff)/(2*STEP_PER_M); diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M); angle_diff = (diff_right_m - diff_left_m) / WHEEL_DIST; - //cli(); - angle.f+=angle_diff; - if (angle.f > 2*M_PI) angle.f-=2*M_PI; - else if (angle.f < 2*M_PI) angle.f+=2*M_PI; - //sei(); - - //cli(); + angle_new = angle.f + angle_diff; + if (angle_new > 2*M_PI) angle_new-=2*M_PI; + else if (angle_new < 2*M_PI) angle_new+=2*M_PI; + translation = (diff_left_m + diff_right_m)/2.0; - pos_x.f += cos(angle.f)*translation; - pos_y.f += sin(angle.f)*translation; - //sei(); + pos_x_diff = cos(angle_new)*translation; + pos_y_diff = sin(angle_new)*translation; + + cli(); + angle.f = angle_new; + pos_x.f += pos_x_diff; + pos_y.f += pos_y_diff; + sei(); + + speed_l = (speed1+speed2)/2; + speed_r = (speed3+speed4)/2; + tmp_speed_lin = (speed_l + speed_r)/(2.0*STEP_PER_M); + tmp_speed_rot = (speed_r - speed_l)/(M_PI*WHEEL_DIST*STEP_PER_M); + + cli(); + cur_speed_lin = tmp_speed_lin; + cur_speed_rot = tmp_speed_rot; + sei(); pos1_last = pos1; pos2_last = pos2; @@ -775,6 +787,8 @@ static void update_pid(void) { if (motor1_mode == MOTOR_PID) { if (speed1_wish == 0) { motor1 = 0; + eold1 = 0; + esum1 = 0; } else { int16_t e = speed1_wish - speed1; esum1+=e; @@ -788,6 +802,8 @@ static void update_pid(void) { if (motor2_mode == MOTOR_PID) { if (speed2_wish == 0) { motor2 = 0; + eold2 = 0; + esum2 = 0; } else { int16_t e = speed2_wish - speed2; esum2+=e; @@ -801,6 +817,8 @@ static void update_pid(void) { if (motor3_mode == MOTOR_PID) { if (speed3_wish == 0) { motor3 = 0; + eold3 = 0; + esum3 = 0; } else { int16_t e = speed3_wish - speed3; esum3+=e; @@ -814,6 +832,8 @@ static void update_pid(void) { if (motor4_mode == MOTOR_PID) { if (speed4_wish == 0) { motor4 = 0; + eold4 = 0; + esum4 = 0; } else { int16_t e = speed4_wish - speed4; esum4+=e; @@ -852,7 +872,7 @@ int main(void) { TWI_RESET; // Motor 1 & 2 - // Timer 1: Fast PWM inverting mode, Top=256 => 15.625kHz + // Timer 1: Fast PWM inverting mode, Top=256 => 31.25kHz // Prescaler=1 TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << COM1A0) | (1 << COM1B0) | (1 << WGM10); TCCR1B = (1 << WGM12) | (1 << CS10); @@ -860,13 +880,13 @@ int main(void) { OCR1B = 0; // Motor 3 - // Timer 2: Fast PWM inverting mode, Top=256 => 15.625kHz + // Timer 2: Fast PWM inverting mode, Top=256 // Prescaler=1 TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << COM20) | (1 << CS20); OCR2 = 0; // Motor 4 - // Timer 0: Fast PWM inverting mode, Top=256 => 15.625kHz + // Timer 0: Fast PWM inverting mode, Top=256 // Prescaler=1 TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << COM00) | (1 << CS00); OCR0 = 0; @@ -890,14 +910,32 @@ int main(void) { } break; } - - if (run_update >= 156) { // ~100Hz + if (cmd_vel.bUpdate) { + float speed_wish_right = cmd_vel.angle*M_PI*WHEEL_DIST/2 + cmd_vel.speed; + float speed_wish_left = cmd_vel.speed*2-speed_wish_right; + + cmd_vel.bUpdate = 0; + speed_wish_left*=STEP_PER_M; + speed_wish_right*=STEP_PER_M; + + speed1_wish = speed_wish_left; + speed2_wish = speed_wish_left; + speed3_wish = speed_wish_right; + speed4_wish = speed_wish_right; + motor1_mode = MOTOR_PID; + motor2_mode = MOTOR_PID; + motor3_mode = MOTOR_PID; + motor4_mode = MOTOR_PID; + } + + if (run_update >= 312) { // ~100Hz run_update=0; update_pos(); update_pid(); update_motor(); + test++; } sleep_mode(); diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex index 4320c15..0f89656 100644 --- a/avr/motor_ctrl/main.hex +++ b/avr/motor_ctrl/main.hex @@ -1,585 +1,601 @@ :100000000C94D8000C94F5000C94F5000C94F500B9 :100010000C94F5000C94F5000C94F5000C94F5008C -:100020000C94F5000C948E040C94F5000C94F500DF -:100030000C94F5000C9469050C94F5000C94F500F3 +:100020000C94F5000C940B040C94F5000C94F50062 +:100030000C94F5000C94EA040C94F5000C94F50073 :100040000C94F5000C94F5000C94F5000C94F7005A -:100050000C94F500FF0267040203670406036704BB -:100060000803670467046704670467046704670498 -:100070000A0322030F03220314032203190322039A -:100080006704670467046704670467046704670418 -:1000900025032A032F03340339033E034303480394 -:1000A00067046704670467046704670467046704F8 -:1000B0004D03520357035C03610366036B03710333 -:1000C0007603CE03D703E003E303EC03F503FE035B 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