avr/motor_ctrl/main.c

   1 #include <stdio.h>
   2 #include <stdlib.h>
   3 #include <limits.h>
   4 #include <avr/io.h>
   5 #include <avr/interrupt.h>
   6 #include <avr/sleep.h>
   7 #include "uart.h"
   8
   9 /*
  10  * I2C Register Map (8 Bit)
  11  * 0x00 Register select
  12  * 0x01 Motor 1 PWM MSB
  13  * 0x02 Motor 1 PWM LSB
  14  * 0x03 Motor 2 PWM MSB
  15  * 0x04 Motor 2 PWM LSB
  16  * 0x05 Motor 3 PWM MSB
  17  * 0x06 Motor 3 PWM LSB
  18  * 0x07 Motor 4 PWM MSB
  19  * 0x08 Motor 4 PWM LSB
  20  * free
  21  * 0x10 Hall 1 MSB
  22  * 0x11 Hall 1 LSB
  23  * 0x12 Hall 2 MSB
  24  * 0x13 Hall 2 LSB
  25  * 0x14 Hall 3 MSB
  26  * 0x15 Hall 3 LSB
  27  * 0x16 Hall 4 MSB
  28  * 0x17 Hall 4 LSB
  29  * free
  30  * 0x20 Motor 1 speed wish MSB
  31  * 0x21 Motor 1 speed wish LSB
  32  * 0x22 Motor 2 speed wish MSB
  33  * 0x23 Motor 2 speed wish LSB
  34  * 0x24 Motor 3 speed wish MSB
  35  * 0x25 Motor 3 speed wish LSB
  36  * 0x26 Motor 4 speed wish MSB
  37  * 0x27 Motor 4 speed wish LSB
  38  * free
  39  * 0x90 Motor 1 switch
  40  * 0x91 Motor 2 switch
  41  * 0x92 Motor 3 switch
  42  * 0x93 Motor 4 switch
  43  * free
  44  * 0xff Bootloader
  45  */
  46
  47
  48 #define TWI_ACK         TWCR = (1<<TWEA) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
  49 #define TWI_RESET       TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
  50 #define TWI_NAK         TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
  51
  52 #define KP 10.0
  53 #define KI 0.0
  54 #define KD 0.0
  55 #define TIMER0_T 0.020
  56
  57 enum mode {
  58         MOTOR_MANUAL,
  59         MOTOR_PID
  60 };
  61
  62 static volatile uint8_t ireg=0;
  63 static volatile uint8_t bootloader=0;
  64 static volatile int16_t motor1=0;
  65 static volatile int16_t motor2=0;
  66 static volatile int16_t motor3=0;
  67 static volatile int16_t motor4=0;
  68 static volatile int16_t pos1=0;
  69 static volatile int16_t pos2=0;
  70 static volatile int16_t pos3=0;
  71 static volatile int16_t pos4=0;
  72 static volatile enum mode motor1_mode=MOTOR_MANUAL;
  73 static volatile enum mode motor2_mode=MOTOR_MANUAL;
  74 static volatile enum mode motor3_mode=MOTOR_MANUAL;
  75 static volatile enum mode motor4_mode=MOTOR_MANUAL;
  76 static volatile uint8_t motor1_switch=0;
  77 static volatile uint8_t motor2_switch=0;
  78 static volatile uint8_t motor3_switch=0;
  79 static volatile uint8_t motor4_switch=0;
  80 static volatile int16_t speed1_wish=0;
  81 static volatile int16_t speed2_wish=0;
  82 static volatile int16_t speed3_wish=0;
  83 static volatile int16_t speed4_wish=0;
  84 static volatile uint16_t run_pid=0;
  85 static int16_t speed1=0;
  86 static int16_t speed2=0;
  87 static int16_t speed3=0;
  88 static int16_t speed4=0;
  89
  90 ISR(TWI_vect)
  91 {
  92         static uint8_t tmp=0;
  93         static int16_t tmp16=0;
  94
  95         switch (TWSR & 0xF8)
  96         {
  97                 case 0x60: // start write
  98                         TWI_ACK;
  99                         ireg = 0;
 100                         break;
 101                 case 0x80: // write
 102                         switch(ireg) {
 103                                 case 0x00: // register select
 104                                         ireg = TWDR;
 105                                         ireg--; // because we do ireg++ below
 106                                         TWI_ACK;
 107                                         break;
 108                                 case 0x01: // Motor 1 MSB
 109                                         tmp = TWDR;
 110                                         TWI_ACK;
 111                                         break;
 112                                 case 0x02: // Motor 1 LSB
 113                                         motor1 = tmp<<8 | TWDR;
 114                                         motor1_mode = MOTOR_MANUAL;
 115                                         TWI_ACK;
 116                                         break;
 117                                 case 0x03: // Motor 2 MSB
 118                                         tmp = TWDR;
 119                                         TWI_ACK;
 120                                         break;
 121                                 case 0x04: // Motor 2 LSB
 122                                         motor2 = tmp<<8 | TWDR;
 123                                         motor2_mode = MOTOR_MANUAL;
 124                                         TWI_ACK;
 125                                         break;
 126                                 case 0x05: // Motor 3 MSB
 127                                         tmp = TWDR;
 128                                         TWI_ACK;
 129                                         break;
 130                                 case 0x06: // Motor 3 LSB
 131                                         motor3 = tmp<<8 | TWDR;
 132                                         motor3_mode = MOTOR_MANUAL;
 133                                         TWI_ACK;
 134                                         break;
 135                                 case 0x07: // Motor 4 MSB
 136                                         tmp = TWDR;
 137                                         TWI_ACK;
 138                                         break;
 139                                 case 0x08: // Motor 4 LSB
 140                                         motor4 = tmp<<8 | TWDR;
 141                                         motor4_mode = MOTOR_MANUAL;
 142                                         TWI_ACK;
 143                                         break;
 144                                 case 0x20: // Motor 1 speed wish MSB
 145                                         tmp = TWDR;
 146                                         TWI_ACK;
 147                                         break;
 148                                 case 0x21: // Motor 1 speed wish LSB
 149                                         speed1_wish = tmp<<8 | TWDR;
 150                                         motor1_mode = MOTOR_PID;
 151                                         TWI_ACK;
 152                                         break;
 153                                 case 0x22: // Motor 2 speed wish MSB
 154                                         tmp = TWDR;
 155                                         TWI_ACK;
 156                                         break;
 157                                 case 0x23: // Motor 2 speed wish LSB
 158                                         speed2_wish = tmp<<8 | TWDR;
 159                                         motor2_mode = MOTOR_PID;
 160                                         TWI_ACK;
 161                                         break;
 162                                 case 0x24: // Motor 3 speed wish MSB
 163                                         tmp = TWDR;
 164                                         TWI_ACK;
 165                                         break;
 166                                 case 0x25: // Motor 3 speed wish LSB
 167                                         speed3_wish = tmp<<8 | TWDR;
 168                                         motor3_mode = MOTOR_PID;
 169                                         TWI_ACK;
 170                                         break;
 171                                 case 0x26: // Motor 4 speed wish MSB
 172                                         tmp = TWDR;
 173                                         TWI_ACK;
 174                                         break;
 175                                 case 0x27: // Motor 4 speed wish LSB
 176                                         speed4_wish = tmp<<8 | TWDR;
 177                                         motor4_mode = MOTOR_PID;
 178                                         TWI_ACK;
 179                                         break;
 180                                 case 0x90: // Motor 1 switch
 181                                         motor1_switch = TWDR;
 182                                         TWI_ACK;
 183                                         break;
 184                                 case 0x91: // Motor 2 switch
 185                                         motor2_switch = TWDR;
 186                                         TWI_ACK;
 187                                         break;
 188                                 case 0x92: // Motor 3 switch
 189                                         motor3_switch = TWDR;
 190                                         TWI_ACK;
 191                                         break;
 192                                 case 0x93: // Motor 4 switch
 193                                         motor4_switch = TWDR;
 194                                         TWI_ACK;
 195                                         break;
 196                                 case 0xff: // bootloader
 197                                         bootloader = TWDR;
 198                                 default:
 199                                         TWI_NAK;
 200                         }
 201                         ireg++;
 202                         break;
 203                 case 0xA8: // start read
 204                 case 0xB8: // read
 205                         switch(ireg) {
 206                                 case 0x02: // Motor 1 PWM
 207                                         TWDR = OCR1A;
 208                                         TWI_ACK;
 209                                         break;
 210                                 case 0x04: // Motor 2 PWM
 211                                         TWDR = OCR1B;
 212                                         TWI_ACK;
 213                                         break;
 214                                 case 0x06: // Motor 3 PWM
 215                                         TWDR = OCR2;
 216                                         TWI_ACK;
 217                                         break;
 218                                 case 0x08: // Motor 4 PWM
 219                                         TWDR = OCR0;
 220                                         TWI_ACK;
 221                                         break;
 222                                 case 0x10: // Hall 1 MSB
 223                                         tmp16 = pos1;
 224                                         TWDR = tmp16>>8;
 225                                         TWI_ACK;
 226                                         break;
 227                                 case 0x11: // Hall 1 LSB
 228                                         TWDR = tmp16;
 229                                         TWI_ACK;
 230                                         break;
 231                                 case 0x12: // Hall 2 MSB
 232                                         tmp16 = pos2;
 233                                         TWDR = tmp16>>8;
 234                                         TWI_ACK;
 235                                         break;
 236                                 case 0x13: // Hall 2 LSB
 237                                         TWDR = tmp16;
 238                                         TWI_ACK;
 239                                         break;
 240                                 case 0x14: // Hall 3 MSB
 241                                         tmp16 = pos3;
 242                                         TWDR = tmp16>>8;
 243                                         TWI_ACK;
 244                                         break;
 245                                 case 0x15: // Hall 3 LSB
 246                                         TWDR = tmp16;
 247                                         TWI_ACK;
 248                                         break;
 249                                 case 0x16: // Hall 4 MSB
 250                                         tmp16 = pos4;
 251                                         TWDR = tmp16>>8;
 252                                         TWI_ACK;
 253                                         break;
 254                                 case 0x17: // Hall 4 LSB
 255                                         TWDR = tmp16;
 256                                         TWI_ACK;
 257                                         break;
 258                                 case 0x20: // Motor 1 speed wish MSB
 259                                         TWDR = speed1_wish>>8;
 260                                         TWI_ACK;
 261                                         break;
 262                                 case 0x21: // Motor 1 speed wish LSB
 263                                         TWDR = speed1_wish;
 264                                         TWI_ACK;
 265                                         break;
 266                                 case 0x22: // Motor 2 speed wish MSB
 267                                         TWDR = speed2_wish>>8;
 268                                         TWI_ACK;
 269                                         break;
 270                                 case 0x23: // Motor 2 speed wish LSB
 271                                         TWDR = speed2_wish;
 272                                         TWI_ACK;
 273                                         break;
 274                                 case 0x24: // Motor 3 speed wish MSB
 275                                         TWDR = speed3_wish>>8;
 276                                         TWI_ACK;
 277                                         break;
 278                                 case 0x25: // Motor 3 speed wish LSB
 279                                         TWDR = speed3_wish;
 280                                         TWI_ACK;
 281                                         break;
 282                                 case 0x26: // Motor 4 speed wish MSB
 283                                         TWDR = speed4_wish>>8;
 284                                         TWI_ACK;
 285                                         break;
 286                                 case 0x27: // Motor 4 speed wish LSB
 287                                         TWDR = speed4_wish;
 288                                         TWI_ACK;
 289                                         break;
 290                                 default:
 291                                         TWDR = 0;
 292                                         TWI_NAK;
 293                         }
 294                         ireg++;
 295                         break;
 296                 default:
 297                         TWI_RESET;
 298         }
 299 }
 300
 301
 302 static void update_hall1(void) {
 303         unsigned char status = (PINA >> 0) & 0x3;
 304         static unsigned char oldstatus=0;
 305         unsigned char diff, new;
 306
 307         new = 0;
 308         if (status & 0x1)
 309                 new = 0x3;
 310         if (status & 0x2)
 311                 new ^= 0x1;                                     // convert gray to binary
 312         diff = oldstatus - new;                         // difference last - new
 313         if (diff & 0x1) {                               // bit 0 = value (1)
 314                 oldstatus = new;                                        // store new as next last
 315                 if (motor1_switch) pos1 += (diff & 2) - 1;              // bit 1 = direction (+/-)
 316                 else pos1 -= (diff & 2) - 1;
 317         }
 318 }
 319
 320
 321 static void update_hall2(void) {
 322         unsigned char status = (PINA >> 2) & 0x3;
 323         static unsigned char oldstatus=0;
 324         unsigned char diff, new;
 325
 326         new = 0;
 327         if (status & 0x1)
 328                 new = 0x3;
 329         if (status & 0x2)
 330                 new ^= 0x1;                                     // convert gray to binary
 331         diff = oldstatus - new;                         // difference last - new
 332         if (diff & 0x1) {                               // bit 0 = value (1)
 333                 oldstatus = new;                                        // store new as next last
 334                 if (motor2_switch) pos2 += (diff & 2) - 1;              // bit 1 = direction (+/-)
 335                 else pos2 -= (diff & 2) - 1;
 336         }
 337 }
 338
 339
 340 static void update_hall3(void) {
 341         unsigned char status = (PINA >> 4) & 0x3;
 342         static unsigned char oldstatus=0;
 343         unsigned char diff, new;
 344
 345         new = 0;
 346         if (status & 0x1)
 347                 new = 0x3;
 348         if (status & 0x2)
 349                 new ^= 0x1;                                     // convert gray to binary
 350         diff = oldstatus - new;                         // difference last - new
 351         if (diff & 0x1) {                               // bit 0 = value (1)
 352                 oldstatus = new;                                        // store new as next last
 353                 if (motor3_switch) pos3 += (diff & 2) - 1;              // bit 1 = direction (+/-)
 354                 else pos3 -= (diff & 2) - 1;
 355         }
 356 }
 357
 358
 359 static void update_hall4(void) {
 360         unsigned char status = (PINA >> 6) & 0x3;
 361         static unsigned char oldstatus=0;
 362         unsigned char diff, new;
 363
 364         new = 0;
 365         if (status & 0x1)
 366                 new = 0x3;
 367         if (status & 0x2)
 368                 new ^= 0x1;                                     // convert gray to binary
 369         diff = oldstatus - new;                         // difference last - new
 370         if (diff & 0x1) {                               // bit 0 = value (1)
 371                 oldstatus = new;                                        // store new as next last
 372                 if (motor4_switch) pos4 += (diff & 2) - 1;              // bit 1 = direction (+/-)
 373                 else pos4 -= (diff & 2) - 1;
 374         }
 375 }
 376
 377
 378 static void update_motor(void) {
 379         static int16_t m1_old=SHRT_MIN;
 380         static int16_t m2_old=SHRT_MIN;
 381         static int16_t m3_old=SHRT_MIN;
 382         static int16_t m4_old=SHRT_MIN;
 383
 384         if (m1_old != motor1) { // update only when changed
 385                 if (motor1 == 0) {
 386                         // stop
 387                         PORTC |= (1 << 3) | (1 << 2);
 388                 } else if ((!motor1_switch && motor1 > 0) || (motor1_switch && motor1 < 0)) {
 389                         // forward
 390                         PORTC &= ~(1 << 3) & ~(1 << 2);
 391                 } else { // motor1 < 0
 392                         // backward
 393                         PORTC &= ~(1 << 2);
 394                         PORTC |=  (1 << 3);
 395                 }
 396
 397                 m1_old = motor1;
 398                 OCR1A = abs(motor1);
 399         }
 400
 401         if (m2_old != motor2) { // update only when changed
 402                 if (motor2 == 0) {
 403                         // stop
 404                         PORTC |= (1 << 5) | (1 << 4);
 405                 } else if ((!motor2_switch && motor2 > 0) || (motor2_switch && motor2 < 0)) {
 406                         // forward
 407                         PORTC &= ~(1 << 5) & ~(1 << 4);
 408                 } else { // motor2 < 0
 409                         // backward
 410                         PORTC &= ~(1 << 4);
 411                         PORTC |=  (1 << 5);
 412                 }
 413
 414                 m2_old = motor2;
 415                 OCR1B = abs(motor2);
 416         }
 417
 418         if (m3_old != motor3) { // update only when changed
 419                 if (motor3 == 0) {
 420                         // stop
 421                         PORTC |= (1 << 7) | (1 << 6);
 422                 } else if ((!motor3_switch && motor3 > 0) || (motor3_switch && motor3 < 0)) {
 423                         // forward
 424                         PORTC &= ~(1 << 7) & ~(1 << 6);
 425                 } else { // motor3 < 0
 426                         // backward
 427                         PORTC &= ~(1 << 6);
 428                         PORTC |=  (1 << 7);
 429                 }
 430
 431                 m3_old = motor3;
 432                 OCR2 = abs(motor3);
 433         }
 434
 435         if (m4_old != motor4) { // update only when changed
 436                 if (motor4 == 0) {
 437                         // stop
 438                         PORTD |= (1 << 3) | (1 << 2);
 439                 } else if ((!motor4_switch && motor4 > 0) || (motor4_switch && motor4 < 0)) {
 440                         // forward
 441                         PORTD &= ~(1 << 3) & ~(1 << 2);
 442                 } else { // motor4 < 0
 443                         // backward
 444                         PORTD &= ~(1 << 2);
 445                         PORTD |=  (1 << 3);
 446                 }
 447
 448                 m4_old = motor4;
 449                 OCR0 = abs(motor4);
 450         }
 451 }
 452
 453
 454 void update_pid(void) {
 455         static int16_t pos1_last=0;
 456         static int16_t pos2_last=0;
 457         static int16_t pos3_last=0;
 458         static int16_t pos4_last=0;
 459         static int16_t eold1=0;
 460         static int16_t eold2=0;
 461         static int16_t eold3=0;
 462         static int16_t eold4=0;
 463         static int32_t esum1=0;
 464         static int32_t esum2=0;
 465         static int32_t esum3=0;
 466         static int32_t esum4=0;
 467
 468         if (motor1_mode == MOTOR_PID) {
 469                 speed1 = (pos1 - pos1_last)/TIMER0_T;
 470
 471                 if (speed1_wish == 0) {
 472                         motor1 = 0;
 473                 } else {
 474                         int16_t e = speed1_wish - speed1;
 475                         esum1+=e;
 476                         motor1 += KP*e + KI*TIMER0_T*esum1 + KD/TIMER0_T*(e - eold1);
 477                         eold1 = e;
 478
 479                         if (motor1 > 255) motor1 = 255;
 480                         else if (motor1 < -255) motor1 = -255;
 481                 }
 482
 483                 pos1_last = pos1;
 484         }
 485         if (motor2_mode == MOTOR_PID) {
 486                 speed2 = (pos2 - pos2_last)/TIMER0_T;
 487
 488                 if (speed2_wish == 0) {
 489                         motor2 = 0;
 490                 } else {
 491                         int16_t e = speed2_wish - speed2;
 492                         esum2+=e;
 493                         motor2 += KP*e + KI*TIMER0_T*esum2 + KD/TIMER0_T*(e - eold2);
 494                         eold2 = e;
 495
 496                         if (motor2 > 255) motor2 = 255;
 497                         else if (motor2 < -255) motor2 = -255;
 498                 }
 499
 500                 pos2_last = pos2;
 501         }
 502         if (motor3_mode == MOTOR_PID) {
 503                 speed3 = (pos3 - pos3_last)/TIMER0_T;
 504
 505                 if (speed3_wish == 0) {
 506                         motor3 = 0;
 507                 } else {
 508                         int16_t e = speed3_wish - speed3;
 509                         esum3+=e;
 510                         motor3 += KP*e + KI*TIMER0_T*esum3 + KD/TIMER0_T*(e - eold3);
 511                         eold3 = e;
 512
 513                         if (motor3 > 255) motor3 = 255;
 514                         else if (motor3 < -255) motor3 = -255;
 515                 }
 516
 517                 pos3_last = pos3;
 518         }
 519         if (motor4_mode == MOTOR_PID) {
 520                 speed4 = (pos4 - pos4_last)/TIMER0_T;
 521
 522                 if (speed4_wish == 0) {
 523                         motor4 = 0;
 524                 } else {
 525                         int16_t e = speed4_wish - speed4;
 526                         esum4+=e;
 527                         motor4 += KP*e + KI*TIMER0_T*esum4 + KD/TIMER0_T*(e - eold4);
 528                         eold4 = e;
 529
 530                         if (motor4 > 255) motor4 = 255;
 531                         else if (motor4 < -255) motor4 = -255;
 532                 }
 533
 534                 pos4_last = pos4;
 535         }
 536 }
 537
 538
 539 ISR(TIMER1_OVF_vect) {
 540         update_hall1();
 541         update_hall2();
 542         update_hall3();
 543         update_hall4();
 544
 545         run_pid++;
 546 }
 547
 548
 549 int main(void) {
 550         // Outputs
 551         DDRB = (1 << 3);
 552         DDRC = (1 << 7) | (1 << 6) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
 553         DDRD = (1 << 7) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
 554
 555         bootloader = 0x00;
 556         setup_uart(9600);
 557         uart_setup_stdout();
 558
 559         // I2C
 560         TWAR = 0x50;
 561         TWI_RESET;
 562
 563         // Motor 1 & 2
 564         // Timer 1: Fast PWM inverting mode, Top=256 => 15.625kHz
 565         // Prescaler=1
 566         TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << COM1A0) | (1 << COM1B0) | (1 << WGM10);
 567         TCCR1B = (1 << WGM12) | (1 << CS10);
 568         OCR1A = 0;
 569         OCR1B = 0;
 570
 571         // Motor 3
 572         // Timer 2: Fast PWM inverting mode, Top=256 => 15.625kHz
 573         // Prescaler=1
 574         TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << COM20) | (1 << CS20);
 575         OCR2 = 0;
 576
 577         // Motor 4
 578         // Timer 0: Fast PWM inverting mode, Top=256 => 15.625kHz
 579         // Prescaler=1
 580         TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << COM00) | (1 << CS00);
 581         OCR0 = 0;
 582
 583         printf("\r\nStart\r\n");
 584
 585         set_sleep_mode(SLEEP_MODE_IDLE);
 586         // Enable Timer 1 Overflow Interrupt
 587         TIMSK = (1 << TOIE1);
 588         sei();
 589
 590         while(1) {
 591                 switch(ireg) {
 592                         case 0xff: // Magic reg that starts the bootloader
 593                                 if (bootloader == 0xa5) {
 594                                         cli();
 595                                         {
 596                                                 void (*start)(void) = (void*)0x1800;
 597                                                 start();
 598                                         }
 599                                 }
 600                                 break;
 601                 }
 602
 603
 604                 if (run_pid >= 781) { // ~20Hz
 605                         run_pid=0;
 606                         update_pid();
 607                 }
 608
 609                 update_motor();
 610
 611                 sleep_mode();
 612         }
 613
 614         return 0;
 615 }