From 0622f0aa00918665a37b8fdfdf812a8127b55269 Mon Sep 17 00:00:00 2001 From: Erik Andresen Date: Sun, 1 May 2016 12:33:57 +0200 Subject: [PATCH] Revert "Transision from 4x TLE5205 to 2x VNH2SP30" This reverts commit 54239069f1fbc3ab2d38593454986c1a706c8b80. --- avr/motor_ctrl/main.c | 262 ++++++++- avr/motor_ctrl/main.hex | 1185 +++++++++++++++++++++------------------ 2 files changed, 880 insertions(+), 567 deletions(-) diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c index 9c6413c..e8c3d3f 100644 --- a/avr/motor_ctrl/main.c +++ b/avr/motor_ctrl/main.c @@ -14,6 +14,10 @@ * 0x02 Motor 1 PWM LSB * 0x03 Motor 2 PWM MSB * 0x04 Motor 2 PWM LSB + * 0x05 Motor 3 PWM MSB + * 0x06 Motor 3 PWM LSB + * 0x07 Motor 4 PWM MSB + * 0x08 Motor 4 PWM LSB * free * 0x10 Hall 1 MSB * 0x11 Hall 1 LSB @@ -28,6 +32,10 @@ * 0x21 Motor 1 speed wish LSB * 0x22 Motor 2 speed wish MSB * 0x23 Motor 2 speed wish LSB + * 0x24 Motor 3 speed wish MSB + * 0x25 Motor 3 speed wish LSB + * 0x26 Motor 4 speed wish MSB + * 0x27 Motor 4 speed wish LSB * 0x28 Left speed wish (m/s) MSB * 0x29 Left speed wish (m/s) * 0x2A Left speed wish (m/s) @@ -40,6 +48,10 @@ * 0x31 Motor 1 speed LSB * 0x32 Motor 2 speed MSB * 0x33 Motor 2 speed LSB + * 0x34 Motor 3 speed MSB + * 0x35 Motor 3 speed LSB + * 0x36 Motor 4 speed MSB + * 0x37 Motor 4 speed LSB * 0x38 Speed (m/s) MSB * 0x39 Speed (m/s) * 0x3A Speed (m/s) @@ -72,9 +84,13 @@ * free * 0x90 Motor 1 switch * 0x91 Motor 2 switch + * 0x92 Motor 3 switch + * 0x93 Motor 4 switch + * 0x94 Front Handicap + * 0x95 Aft Handicap * free * 0xA0 Reset reason - * 0xA1 Error status + * 0xA1 TLE Error status * 0xA2 count test * free * 0xff Bootloader @@ -115,29 +131,37 @@ static volatile uint8_t ireg=0; static volatile uint8_t bootloader=0; static volatile int16_t motor1=0; // -255..+255 static volatile int16_t motor2=0; +static volatile int16_t motor3=0; +static volatile int16_t motor4=0; static volatile int16_t pos1=0; // step static volatile int16_t pos2=0; static volatile int16_t pos3=0; static volatile int16_t pos4=0; static volatile enum mode motor1_mode=MOTOR_MANUAL; static volatile enum mode motor2_mode=MOTOR_MANUAL; +static volatile enum mode motor3_mode=MOTOR_MANUAL; +static volatile enum mode motor4_mode=MOTOR_MANUAL; static volatile uint8_t motor1_switch=0; -static volatile uint8_t motor2_switch=1; +static volatile uint8_t motor2_switch=0; +static volatile uint8_t motor3_switch=0; +static volatile uint8_t motor4_switch=0; 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 int16_t speed1=0; // step/s static volatile int16_t speed2=0; static volatile int16_t speed3=0; static volatile int16_t speed4=0; -static volatile int16_t speed_l=0; -static volatile int16_t speed_r=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; static volatile uint8_t count_test=0; +static volatile uint8_t front_handicap=0; +static volatile uint8_t aft_handicap=0; static volatile uint8_t error_state=0; ISR(TWI_vect) @@ -178,6 +202,24 @@ ISR(TWI_vect) motor2_mode = MOTOR_MANUAL; TWI_ACK; break; + case 0x05: // Motor 3 MSB + tmp = TWDR; + TWI_ACK; + break; + case 0x06: // Motor 3 LSB + motor3 = tmp<<8 | TWDR; + motor3_mode = MOTOR_MANUAL; + TWI_ACK; + break; + case 0x07: // Motor 4 MSB + tmp = TWDR; + TWI_ACK; + break; + case 0x08: // Motor 4 LSB + motor4 = tmp<<8 | TWDR; + motor4_mode = MOTOR_MANUAL; + TWI_ACK; + break; case 0x20: // Motor 1 speed wish MSB tmp = TWDR; TWI_ACK; @@ -196,6 +238,24 @@ ISR(TWI_vect) motor2_mode = MOTOR_PID; TWI_ACK; break; + case 0x24: // Motor 3 speed wish MSB + tmp = TWDR; + TWI_ACK; + break; + case 0x25: // Motor 3 speed wish LSB + speed3_wish = tmp<<8 | TWDR; + motor3_mode = MOTOR_PID; + TWI_ACK; + break; + case 0x26: // Motor 4 speed wish MSB + tmp = TWDR; + TWI_ACK; + break; + case 0x27: // Motor 4 speed wish LSB + speed4_wish = tmp<<8 | TWDR; + motor4_mode = MOTOR_PID; + TWI_ACK; + break; case 0x28: // Left speed wish MSB tmp_speed.i = TWDR; TWI_ACK; @@ -279,6 +339,24 @@ ISR(TWI_vect) motor2_switch = TWDR; TWI_ACK; break; + case 0x92: // Motor 3 switch + motor3_switch = TWDR; + TWI_ACK; + break; + case 0x93: // Motor 4 switch + motor4_switch = TWDR; + TWI_ACK; + break; + case 0x94: // Front Handicap + front_handicap = TWDR; + cmd_vel.bUpdate = 1; + TWI_ACK; + break; + case 0x95: // Aft Handicap + aft_handicap = TWDR; + cmd_vel.bUpdate = 1; + TWI_ACK; + break; case 0xff: // bootloader bootloader = TWDR; default: @@ -297,6 +375,14 @@ ISR(TWI_vect) TWDR = OCR1B; TWI_ACK; break; + case 0x06: // Motor 3 PWM + TWDR = OCR2; + TWI_ACK; + break; + case 0x08: // Motor 4 PWM + TWDR = OCR0; + TWI_ACK; + break; case 0x10: // Hall 1 MSB tmp16 = pos1; TWDR = tmp16>>8; @@ -349,6 +435,22 @@ ISR(TWI_vect) TWDR = speed2_wish; TWI_ACK; break; + case 0x24: // Motor 3 speed wish MSB + TWDR = speed3_wish>>8; + TWI_ACK; + break; + case 0x25: // Motor 3 speed wish LSB + TWDR = speed3_wish; + TWI_ACK; + break; + case 0x26: // Motor 4 speed wish MSB + TWDR = speed4_wish>>8; + TWI_ACK; + break; + case 0x27: // Motor 4 speed wish LSB + TWDR = speed4_wish; + TWI_ACK; + break; case 0x30: // Motor 1 speed MSB TWDR = speed1>>8; TWI_ACK; @@ -500,8 +602,8 @@ static void update_hall1(void) { diff = oldstatus - new; // difference last - new if (diff & 0x1) { // bit 0 = value (1) oldstatus = new; // store new as next last - if (motor1_switch) pos1 -= (diff & 2) - 1; // bit 1 = direction (+/-) - else pos1 += (diff & 2) - 1; + if (motor1_switch) pos1 += (diff & 2) - 1; // bit 1 = direction (+/-) + else pos1 -= (diff & 2) - 1; } } @@ -519,7 +621,7 @@ static void update_hall2(void) { diff = oldstatus - new; // difference last - new if (diff & 0x1) { // bit 0 = value (1) oldstatus = new; // store new as next last - if (motor1_switch) pos2 -= (diff & 2) - 1; // bit 1 = direction (+/-) + if (motor2_switch) pos2 -= (diff & 2) - 1; // bit 1 = direction (+/-) else pos2 += (diff & 2) - 1; } } @@ -538,8 +640,8 @@ static void update_hall3(void) { diff = oldstatus - new; // difference last - new if (diff & 0x1) { // bit 0 = value (1) oldstatus = new; // store new as next last - if (motor2_switch) pos3 += (diff & 2) - 1; // bit 1 = direction (+/-) - else pos3 -= (diff & 2) - 1; + if (motor3_switch) pos3 -= (diff & 2) - 1; // bit 1 = direction (+/-) + else pos3 += (diff & 2) - 1; } } @@ -557,8 +659,8 @@ static void update_hall4(void) { diff = oldstatus - new; // difference last - new if (diff & 0x1) { // bit 0 = value (1) oldstatus = new; // store new as next last - if (motor2_switch) pos4 -= (diff & 2) - 1; // bit 1 = direction (+/-) - else pos4 += (diff & 2) - 1; + if (motor4_switch) pos4 += (diff & 2) - 1; // bit 1 = direction (+/-) + else pos4 -= (diff & 2) - 1; } } @@ -566,8 +668,10 @@ static void update_hall4(void) { static void update_motor(void) { static int16_t m1_old=SHRT_MIN; static int16_t m2_old=SHRT_MIN; + static int16_t m3_old=SHRT_MIN; + static int16_t m4_old=SHRT_MIN; - error_state = ~(PINB & 0x03); + error_state = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf; if (motor1_mode == MOTOR_PID && bit_is_set(error_state, 0)) { // if error and running: stop @@ -583,15 +687,28 @@ static void update_motor(void) { else if (motor2 > 0) motor2 = 255; else if (motor2 < 0) motor2 = -255; } + if (motor3_mode == MOTOR_PID && bit_is_set(error_state, 2)) { + // if error and running: stop + if (m3_old != 0) motor3 = 0; + // if we start motor in error state: start with full power + else if (motor3 > 0) motor3 = 255; + else if (motor3 < 0) motor3 = -255; + } + if (motor4_mode == MOTOR_PID && bit_is_set(error_state, 3)) { + // if error and running: stop + if (m4_old != 0) motor4 = 0; + // if we start motor in error state: start with full power + else if (motor4 > 0) motor4 = 255; + else if (motor4 < 0) motor4 = -255; + } if (m1_old != motor1) { // update only when changed if (motor1 == 0) { // stop - PORTC &= ~(1 << 3) & ~(1 << 2); + PORTC |= (1 << 3) | (1 << 2); } else if ((!motor1_switch && motor1 > 0) || (motor1_switch && motor1 < 0)) { // forward - PORTC |= (1 << 2); - PORTC &= ~(1 << 3); + PORTC &= ~(1 << 3) & ~(1 << 2); } else { // motor1 < 0 // backward PORTC &= ~(1 << 2); @@ -605,11 +722,10 @@ static void update_motor(void) { if (m2_old != motor2) { // update only when changed if (motor2 == 0) { // stop - PORTC &= ~(1 << 5) & ~(1 << 4); + PORTC |= (1 << 5) | (1 << 4); } else if ((!motor2_switch && motor2 > 0) || (motor2_switch && motor2 < 0)) { // forward - PORTC |= (1 << 4); - PORTC &= ~(1 << 5); + PORTC &= ~(1 << 5) & ~(1 << 4); } else { // motor2 < 0 // backward PORTC &= ~(1 << 4); @@ -619,6 +735,40 @@ static void update_motor(void) { m2_old = motor2; OCR1B = abs(motor2); } + + if (m3_old != motor3) { // update only when changed + if (motor3 == 0) { + // stop + PORTC |= (1 << 7) | (1 << 6); + } else if ((!motor3_switch && motor3 > 0) || (motor3_switch && motor3 < 0)) { + // forward + PORTC &= ~(1 << 7) & ~(1 << 6); + } else { // motor3 < 0 + // backward + PORTC &= ~(1 << 6); + PORTC |= (1 << 7); + } + + m3_old = motor3; + OCR2 = abs(motor3); + } + + if (m4_old != motor4) { // update only when changed + if (motor4 == 0) { + // stop + PORTD |= (1 << 3) | (1 << 2); + } else if ((!motor4_switch && motor4 > 0) || (motor4_switch && motor4 < 0)) { + // forward + PORTD &= ~(1 << 3) & ~(1 << 2); + } else { // motor4 < 0 + // backward + PORTD &= ~(1 << 2); + PORTD |= (1 << 3); + } + + m4_old = motor4; + OCR0 = abs(motor4); + } } @@ -633,6 +783,7 @@ static void update_pos(void) { int16_t pos4_diff; float diff_left_m, diff_right_m, angle_diff, translation; float pos_x_new, pos_y_new, angle_new; + int16_t speed_l, speed_r; float tmp_speed_lin, tmp_speed_rot; int16_t cur_pos1, cur_pos2, cur_pos3, cur_pos4; int16_t new_speed1, new_speed2, new_speed3, new_speed4; @@ -695,8 +846,12 @@ static void update_pos(void) { static void update_pid(void) { static int16_t eold1=0; static int16_t eold2=0; + static int16_t eold3=0; + static int16_t eold4=0; static int32_t esum1=0; static int32_t esum2=0; + static int32_t esum3=0; + static int32_t esum4=0; if (motor1_mode == MOTOR_PID) { if (speed1_wish == 0) { @@ -704,7 +859,7 @@ static void update_pid(void) { eold1 = 0; esum1 = 0; } else { - int16_t e = speed1_wish - speed_l; + int16_t e = speed1_wish - speed1; esum1+=e; motor1 = KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1); eold1 = e; @@ -719,7 +874,7 @@ static void update_pid(void) { eold2 = 0; esum2 = 0; } else { - int16_t e = speed2_wish - speed_r; + int16_t e = speed2_wish - speed2; esum2+=e; motor2 = KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2); eold2 = e; @@ -728,6 +883,36 @@ static void update_pid(void) { else if (motor2 < -255) motor2 = -255; } } + if (motor3_mode == MOTOR_PID) { + if (speed3_wish == 0) { + motor3 = 0; + eold3 = 0; + esum3 = 0; + } else { + int16_t e = speed3_wish - speed3; + esum3+=e; + motor3 = KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3); + eold3 = e; + + if (motor3 > 255) motor3 = 255; + else if (motor3 < -255) motor3 = -255; + } + } + if (motor4_mode == MOTOR_PID) { + if (speed4_wish == 0) { + motor4 = 0; + eold4 = 0; + esum4 = 0; + } else { + int16_t e = speed4_wish - speed4; + esum4+=e; + motor4 = KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4); + eold4 = e; + + if (motor4 > 255) motor4 = 255; + else if (motor4 < -255) motor4 = -255; + } + } } @@ -746,6 +931,9 @@ int main(void) { DDRB = (1 << 3); DDRC = (1 << 7) | (1 << 6) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2); DDRD = (1 << 7) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2); + // Pullup TLEs EF + PORTB = (1 << 0) | (1 << 1) | (1 << 2); + PORTD = (1 << 6); bootloader = 0x00; setup_uart(9600); @@ -756,13 +944,25 @@ int main(void) { TWI_RESET; // Motor 1 & 2 - // Timer 1: Fast PWM non-inverting mode, Top=256 => 15.625kHz + // Timer 1: Fast PWM inverting mode, Top=256 => 15.625kHz // Prescaler=1 - TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM10); + TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << COM1A0) | (1 << COM1B0) | (1 << WGM10); TCCR1B = (1 << WGM12) | (1 << CS10); OCR1A = 0; OCR1B = 0; + // Motor 3 + // 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 + // Prescaler=1 + TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << COM00) | (1 << CS00); + OCR0 = 0; + printf("\r\nStart\r\n"); set_sleep_mode(SLEEP_MODE_IDLE); @@ -799,10 +999,24 @@ int main(void) { speed_wish_left*=STEP_PER_M_LEFT; speed_wish_right*=STEP_PER_M_RIGHT; - speed1_wish = speed_wish_left; - speed2_wish = speed_wish_right; + if (aft_handicap > 0) { + speed1_wish = speed_wish_left * (100-aft_handicap)/100.0; + speed4_wish = speed_wish_right * (100-aft_handicap)/100.0; + } else { + speed1_wish = speed_wish_left; + speed4_wish = speed_wish_right; + } + if (front_handicap > 0) { + speed2_wish = speed_wish_left * (100-front_handicap)/100.0; + speed3_wish = speed_wish_right * (100-front_handicap)/100.0; + } else { + speed2_wish = speed_wish_left; + speed3_wish = speed_wish_right; + } motor1_mode = MOTOR_PID; motor2_mode = MOTOR_PID; + motor3_mode = MOTOR_PID; + motor4_mode = MOTOR_PID; } if (run_update >= 156) { // ~100Hz diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex index 7cc68a7..0cebf42 100644 --- a/avr/motor_ctrl/main.hex +++ b/avr/motor_ctrl/main.hex @@ -1,551 +1,650 @@ :100000000C9445000C9462000C9462000C94620005 :100010000C9462000C9462000C9462000C946200D8 -:100020000C9462000C94DF030C9462000C94620048 -:100030000C9462000C94CA040C9462000C9462004C +:100020000C9462000C9448040C9462000C946200DE +:100030000C9462000C9433050C9462000C946200E2 :100040000C9462000C9462000C9462000C946400A6 :100050000C94620005A84CCDB2D44EB93836A90232 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