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 "uart.h"
   9
  10 /*
  11  * I2C Register Map (8 Bit)
  12  * 0x00 Register select
  13  * 0x01 Motor 1 PWM MSB
  14  * 0x02 Motor 1 PWM LSB
  15  * 0x03 Motor 2 PWM MSB
  16  * 0x04 Motor 2 PWM LSB
  17  * 0x05 Motor 3 PWM MSB
  18  * 0x06 Motor 3 PWM LSB
  19  * 0x07 Motor 4 PWM MSB
  20  * 0x08 Motor 4 PWM LSB
  21  * free
  22  * 0x10 Hall 1 MSB
  23  * 0x11 Hall 1 LSB
  24  * 0x12 Hall 2 MSB
  25  * 0x13 Hall 2 LSB
  26  * 0x14 Hall 3 MSB
  27  * 0x15 Hall 3 LSB
  28  * 0x16 Hall 4 MSB
  29  * 0x17 Hall 4 LSB
  30  * free
  31  * 0x20 Motor 1 speed wish MSB
  32  * 0x21 Motor 1 speed wish LSB
  33  * 0x22 Motor 2 speed wish MSB
  34  * 0x23 Motor 2 speed wish LSB
  35  * 0x24 Motor 3 speed wish MSB
  36  * 0x25 Motor 3 speed wish LSB
  37  * 0x26 Motor 4 speed wish MSB
  38  * 0x27 Motor 4 speed wish LSB
  39  * 0x28 Left speed wish (m/s) MSB
  40  * 0x29 Left speed wish (m/s)
  41  * 0x2A Left speed wish (m/s)
  42  * 0x2B Left speed wish (m/s) LSB
  43  * 0x2C Right speed wish (m/s) MSB
  44  * 0x2D Right speed wish (m/s)
  45  * 0x2E Right speed wish (m/s)
  46  * 0x2F Right speed wish (m/s) LSB
  47  * 0x30 Motor 1 speed MSB
  48  * 0x31 Motor 1 speed LSB
  49  * 0x32 Motor 2 speed MSB
  50  * 0x33 Motor 2 speed LSB
  51  * 0x34 Motor 3 speed MSB
  52  * 0x35 Motor 3 speed LSB
  53  * 0x36 Motor 4 speed MSB
  54  * 0x37 Motor 4 speed LSB
  55  * 0x38 Speed (m/s) MSB
  56  * 0x39 Speed (m/s)
  57  * 0x3A Speed (m/s)
  58  * 0x3B Speed (m/s) LSB
  59  * 0x3C Angle (rad/s) MSB
  60  * 0x3D Angle (rad/s)
  61  * 0x3E Angle (rad/s)
  62  * 0x3F Angle (rad/s) LSB
  63  * free
  64  * 0x40 Position x (m) MSB
  65  * 0x41 Position x (m)
  66  * 0x42 Position x (m)
  67  * 0x43 Position x (m) LSB
  68  * 0x44 Position y (m) MSB
  69  * 0x45 Position y (m)
  70  * 0x46 Position y (m)
  71  * 0x47 Position y (m) LSB
  72  * 0x48 Position angle MSB
  73  * 0x49 Position angle
  74  * 0x4A Position angle
  75  * 0x4B Position angle LSB
  76  * free
  77  * 0x50 speed wish (m/s) MSB
  78  * 0x51 speed wish (m/s)
  79  * 0x52 speed wish (m/s)
  80  * 0x53 speed wish (m/s) LSB
  81  * 0x54 angle wish (rad/s) MSB
  82  * 0x55 angle wish (rad/s)
  83  * 0x56 angle wish (rad/s)
  84  * 0x57 angle wish (rad/s) LSB
  85  * free
  86  * 0x90 Motor 1 switch
  87  * 0x91 Motor 2 switch
  88  * 0x92 Motor 3 switch
  89  * 0x93 Motor 4 switch
  90  * 0x94 Front Handicap backward
  91  * 0x95 Aft Handicap forward
  92  * free
  93  * 0xA0 Reset reason
  94  * 0xA1 TLE Error status
  95  * 0xA2 count test
  96  * free
  97  * 0xff Bootloader
  98  */
  99
 100
 101 #define TWI_ACK         TWCR = (1<<TWEA) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
 102 #define TWI_RESET       TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
 103 #define TWI_NAK         TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
 104
 105 #define KP 0.009
 106 #define KI 0.051429
 107 #define KD 0.000378
 108 #define PID_T 0.01
 109 #define STEP_PER_M 3376.1 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:34
 110 #define WHEEL_DIST 0.252
 111
 112 enum mode {
 113         MOTOR_MANUAL,
 114         MOTOR_PID
 115 };
 116
 117 typedef union {
 118         float f;
 119         uint32_t i;
 120 } ufloat_t;
 121
 122 static volatile struct {
 123         float speed;
 124         float angle;
 125         uint8_t bUpdate;
 126 } cmd_vel = {0, 0, 0};
 127
 128 static volatile uint8_t ireg=0;
 129 static volatile uint8_t bootloader=0;
 130 static volatile int16_t motor1=0; // -255..+255
 131 static volatile int16_t motor2=0;
 132 static volatile int16_t motor3=0;
 133 static volatile int16_t motor4=0;
 134 static volatile int16_t pos1=0; // step
 135 static volatile int16_t pos2=0;
 136 static volatile int16_t pos3=0;
 137 static volatile int16_t pos4=0;
 138 static volatile enum mode motor1_mode=MOTOR_MANUAL;
 139 static volatile enum mode motor2_mode=MOTOR_MANUAL;
 140 static volatile enum mode motor3_mode=MOTOR_MANUAL;
 141 static volatile enum mode motor4_mode=MOTOR_MANUAL;
 142 static volatile uint8_t motor1_switch=0;
 143 static volatile uint8_t motor2_switch=0;
 144 static volatile uint8_t motor3_switch=0;
 145 static volatile uint8_t motor4_switch=0;
 146 static volatile int16_t speed1_wish=0; // step/s
 147 static volatile int16_t speed2_wish=0;
 148 static volatile int16_t speed3_wish=0;
 149 static volatile int16_t speed4_wish=0;
 150 static volatile uint8_t run_update=0;
 151 static volatile int16_t speed1=0; // step/s
 152 static volatile int16_t speed2=0;
 153 static volatile int16_t speed3=0;
 154 static volatile int16_t speed4=0;
 155 static volatile ufloat_t pos_x={0.0};
 156 static volatile ufloat_t pos_y={0.0};
 157 static volatile ufloat_t angle={0.0};
 158 static volatile float cur_speed_lin=0;
 159 static volatile float cur_speed_rot=0;
 160 static volatile uint8_t count_test=0;
 161 static volatile uint8_t front_handicap_bwd=0;
 162 static volatile uint8_t aft_handicap_fwd=0;
 163
 164 ISR(TWI_vect)
 165 {
 166         static uint8_t tmp=0;
 167         static int16_t tmp16=0;
 168         static ufloat_t tmp_speed;
 169         static ufloat_t tmp_angle;
 170
 171         switch (TWSR & 0xF8)
 172         {
 173                 case 0x60: // start write
 174                         TWI_ACK;
 175                         ireg = 0;
 176                         break;
 177                 case 0x80: // write
 178                         switch(ireg) {
 179                                 case 0x00: // register select
 180                                         ireg = TWDR;
 181                                         ireg--; // because we do ireg++ below
 182                                         TWI_ACK;
 183                                         break;
 184                                 case 0x01: // Motor 1 MSB
 185                                         tmp = TWDR;
 186                                         TWI_ACK;
 187                                         break;
 188                                 case 0x02: // Motor 1 LSB
 189                                         motor1 = tmp<<8 | TWDR;
 190                                         motor1_mode = MOTOR_MANUAL;
 191                                         TWI_ACK;
 192                                         break;
 193                                 case 0x03: // Motor 2 MSB
 194                                         tmp = TWDR;
 195                                         TWI_ACK;
 196                                         break;
 197                                 case 0x04: // Motor 2 LSB
 198                                         motor2 = tmp<<8 | TWDR;
 199                                         motor2_mode = MOTOR_MANUAL;
 200                                         TWI_ACK;
 201                                         break;
 202                                 case 0x05: // Motor 3 MSB
 203                                         tmp = TWDR;
 204                                         TWI_ACK;
 205                                         break;
 206                                 case 0x06: // Motor 3 LSB
 207                                         motor3 = tmp<<8 | TWDR;
 208                                         motor3_mode = MOTOR_MANUAL;
 209                                         TWI_ACK;
 210                                         break;
 211                                 case 0x07: // Motor 4 MSB
 212                                         tmp = TWDR;
 213                                         TWI_ACK;
 214                                         break;
 215                                 case 0x08: // Motor 4 LSB
 216                                         motor4 = tmp<<8 | TWDR;
 217                                         motor4_mode = MOTOR_MANUAL;
 218                                         TWI_ACK;
 219                                         break;
 220                                 case 0x20: // Motor 1 speed wish MSB
 221                                         tmp = TWDR;
 222                                         TWI_ACK;
 223                                         break;
 224                                 case 0x21: // Motor 1 speed wish LSB
 225                                         speed1_wish = tmp<<8 | TWDR;
 226                                         motor1_mode = MOTOR_PID;
 227                                         TWI_ACK;
 228                                         break;
 229                                 case 0x22: // Motor 2 speed wish MSB
 230                                         tmp = TWDR;
 231                                         TWI_ACK;
 232                                         break;
 233                                 case 0x23: // Motor 2 speed wish LSB
 234                                         speed2_wish = tmp<<8 | TWDR;
 235                                         motor2_mode = MOTOR_PID;
 236                                         TWI_ACK;
 237                                         break;
 238                                 case 0x24: // Motor 3 speed wish MSB
 239                                         tmp = TWDR;
 240                                         TWI_ACK;
 241                                         break;
 242                                 case 0x25: // Motor 3 speed wish LSB
 243                                         speed3_wish = tmp<<8 | TWDR;
 244                                         motor3_mode = MOTOR_PID;
 245                                         TWI_ACK;
 246                                         break;
 247                                 case 0x26: // Motor 4 speed wish MSB
 248                                         tmp = TWDR;
 249                                         TWI_ACK;
 250                                         break;
 251                                 case 0x27: // Motor 4 speed wish LSB
 252                                         speed4_wish = tmp<<8 | TWDR;
 253                                         motor4_mode = MOTOR_PID;
 254                                         TWI_ACK;
 255                                         break;
 256                                 case 0x28: // Left speed wish MSB
 257                                         tmp_speed.i = TWDR;
 258                                         TWI_ACK;
 259                                         break;
 260                                 case 0x29: // Left speed wish
 261                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 262                                         TWI_ACK;
 263                                         break;
 264                                 case 0x2A: // Left speed wish
 265                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 266                                         TWI_ACK;
 267                                         break;
 268                                 case 0x2B: // Left speed wish LSB
 269                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 270                                         speed1_wish = tmp_speed.f*STEP_PER_M;
 271                                         speed2_wish = tmp_speed.f*STEP_PER_M;
 272                                         motor1_mode = MOTOR_PID;
 273                                         motor2_mode = MOTOR_PID;
 274                                         TWI_ACK;
 275                                         break;
 276                                 case 0x2C: // Right speed wish MSB
 277                                         tmp_speed.i = TWDR;
 278                                         TWI_ACK;
 279                                         break;
 280                                 case 0x2D: // Right speed wish
 281                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 282                                         TWI_ACK;
 283                                         break;
 284                                 case 0x2E: // Right speed wish
 285                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 286                                         TWI_ACK;
 287                                         break;
 288                                 case 0x2F: // Right speed wish LSB
 289                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 290                                         speed1_wish = tmp_speed.f*STEP_PER_M;
 291                                         speed2_wish = tmp_speed.f*STEP_PER_M;
 292                                         motor1_mode = MOTOR_PID;
 293                                         motor2_mode = MOTOR_PID;
 294                                         TWI_ACK;
 295                                         break;
 296                                 case 0x50: // speed wish MSB
 297                                         tmp_speed.i = TWDR;
 298                                         TWI_ACK;
 299                                         break;
 300                                 case 0x51: // speed wish
 301                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 302                                         TWI_ACK;
 303                                         break;
 304                                 case 0x52: // speed wish
 305                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 306                                         TWI_ACK;
 307                                         break;
 308                                 case 0x53: // speed wish LSB
 309                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 310                                         cmd_vel.speed = tmp_speed.f;
 311                                         TWI_ACK;
 312                                         break;
 313                                 case 0x54: // angle wish MSB
 314                                         tmp_angle.i = TWDR;
 315                                         TWI_ACK;
 316                                         break;
 317                                 case 0x55: // angle wish
 318                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 319                                         TWI_ACK;
 320                                         break;
 321                                 case 0x56: // angle wish
 322                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 323                                         TWI_ACK;
 324                                         break;
 325                                 case 0x57: // angle wish LSB
 326                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 327                                         cmd_vel.angle = tmp_angle.f;
 328                                         cmd_vel.bUpdate = 1;
 329                                         TWI_ACK;
 330                                         break;
 331                                 case 0x90: // Motor 1 switch
 332                                         motor1_switch = TWDR;
 333                                         TWI_ACK;
 334                                         break;
 335                                 case 0x91: // Motor 2 switch
 336                                         motor2_switch = TWDR;
 337                                         TWI_ACK;
 338                                         break;
 339                                 case 0x92: // Motor 3 switch
 340                                         motor3_switch = TWDR;
 341                                         TWI_ACK;
 342                                         break;
 343                                 case 0x93: // Motor 4 switch
 344                                         motor4_switch = TWDR;
 345                                         TWI_ACK;
 346                                         break;
 347                                 case 0x94: // Front Handicap backward
 348                                         front_handicap_bwd = TWDR;
 349                                         TWI_ACK;
 350                                         break;
 351                                 case 0x95: // Aft Handicap forward
 352                                         aft_handicap_fwd = TWDR;
 353                                         TWI_ACK;
 354                                         break;
 355                                 case 0xff: // bootloader
 356                                         bootloader = TWDR;
 357                                 default:
 358                                         TWI_NAK;
 359                         }
 360                         ireg++;
 361                         break;
 362                 case 0xA8: // start read
 363                 case 0xB8: // read
 364                         switch(ireg) {
 365                                 case 0x02: // Motor 1 PWM
 366                                         TWDR = OCR1A;
 367                                         TWI_ACK;
 368                                         break;
 369                                 case 0x04: // Motor 2 PWM
 370                                         TWDR = OCR1B;
 371                                         TWI_ACK;
 372                                         break;
 373                                 case 0x06: // Motor 3 PWM
 374                                         TWDR = OCR2;
 375                                         TWI_ACK;
 376                                         break;
 377                                 case 0x08: // Motor 4 PWM
 378                                         TWDR = OCR0;
 379                                         TWI_ACK;
 380                                         break;
 381                                 case 0x10: // Hall 1 MSB
 382                                         tmp16 = pos1;
 383                                         TWDR = tmp16>>8;
 384                                         TWI_ACK;
 385                                         break;
 386                                 case 0x11: // Hall 1 LSB
 387                                         TWDR = tmp16;
 388                                         TWI_ACK;
 389                                         break;
 390                                 case 0x12: // Hall 2 MSB
 391                                         tmp16 = pos2;
 392                                         TWDR = tmp16>>8;
 393                                         TWI_ACK;
 394                                         break;
 395                                 case 0x13: // Hall 2 LSB
 396                                         TWDR = tmp16;
 397                                         TWI_ACK;
 398                                         break;
 399                                 case 0x14: // Hall 3 MSB
 400                                         tmp16 = pos3;
 401                                         TWDR = tmp16>>8;
 402                                         TWI_ACK;
 403                                         break;
 404                                 case 0x15: // Hall 3 LSB
 405                                         TWDR = tmp16;
 406                                         TWI_ACK;
 407                                         break;
 408                                 case 0x16: // Hall 4 MSB
 409                                         tmp16 = pos4;
 410                                         TWDR = tmp16>>8;
 411                                         TWI_ACK;
 412                                         break;
 413                                 case 0x17: // Hall 4 LSB
 414                                         TWDR = tmp16;
 415                                         TWI_ACK;
 416                                         break;
 417                                 case 0x20: // Motor 1 speed wish MSB
 418                                         TWDR = speed1_wish>>8;
 419                                         TWI_ACK;
 420                                         break;
 421                                 case 0x21: // Motor 1 speed wish LSB
 422                                         TWDR = speed1_wish;
 423                                         TWI_ACK;
 424                                         break;
 425                                 case 0x22: // Motor 2 speed wish MSB
 426                                         TWDR = speed2_wish>>8;
 427                                         TWI_ACK;
 428                                         break;
 429                                 case 0x23: // Motor 2 speed wish LSB
 430                                         TWDR = speed2_wish;
 431                                         TWI_ACK;
 432                                         break;
 433                                 case 0x24: // Motor 3 speed wish MSB
 434                                         TWDR = speed3_wish>>8;
 435                                         TWI_ACK;
 436                                         break;
 437                                 case 0x25: // Motor 3 speed wish LSB
 438                                         TWDR = speed3_wish;
 439                                         TWI_ACK;
 440                                         break;
 441                                 case 0x26: // Motor 4 speed wish MSB
 442                                         TWDR = speed4_wish>>8;
 443                                         TWI_ACK;
 444                                         break;
 445                                 case 0x27: // Motor 4 speed wish LSB
 446                                         TWDR = speed4_wish;
 447                                         TWI_ACK;
 448                                         break;
 449                                 case 0x30: // Motor 1 speed MSB
 450                                         TWDR = speed1>>8;
 451                                         TWI_ACK;
 452                                         break;
 453                                 case 0x31: // Motor 1 speed LSB
 454                                         TWDR = speed1;
 455                                         TWI_ACK;
 456                                         break;
 457                                 case 0x32: // Motor 2 speed MSB
 458                                         TWDR = speed2>>8;
 459                                         TWI_ACK;
 460                                         break;
 461                                 case 0x33: // Motor 2 speed LSB
 462                                         TWDR = speed2;
 463                                         TWI_ACK;
 464                                         break;
 465                                 case 0x34: // Motor 3 speed MSB
 466                                         TWDR = speed3>>8;
 467                                         TWI_ACK;
 468                                         break;
 469                                 case 0x35: // Motor 3 speed LSB
 470                                         TWDR = speed3;
 471                                         TWI_ACK;
 472                                         break;
 473                                 case 0x36: // Motor 4 speed MSB
 474                                         TWDR = speed4>>8;
 475                                         TWI_ACK;
 476                                         break;
 477                                 case 0x37: // Motor 4 speed LSB
 478                                         TWDR = speed4;
 479                                         TWI_ACK;
 480                                         break;
 481                                 case 0x38: // speed MSB
 482                                         tmp_speed.f = cur_speed_lin;
 483                                         TWDR = tmp_speed.i>>24;
 484                                         TWI_ACK;
 485                                         break;
 486                                 case 0x39: // speed
 487                                         TWDR = tmp_speed.i>>16;
 488                                         TWI_ACK;
 489                                         break;
 490                                 case 0x3A: // speed
 491                                         TWDR = tmp_speed.i>>8;
 492                                         TWI_ACK;
 493                                         break;
 494                                 case 0x3B: // speed LSB
 495                                         TWDR = tmp_speed.i;
 496                                         TWI_ACK;
 497                                         break;
 498                                 case 0x3C: // angle MSB
 499                                         tmp_angle.f = cur_speed_rot;
 500                                         TWDR = tmp_angle.i>>24;
 501                                         TWI_ACK;
 502                                         break;
 503                                 case 0x3D: // angle
 504                                         TWDR = tmp_angle.i>>16;
 505                                         TWI_ACK;
 506                                         break;
 507                                 case 0x3E: // angle
 508                                         TWDR = tmp_angle.i>>8;
 509                                         TWI_ACK;
 510                                         break;
 511                                 case 0x3F: // angle LSB
 512                                         TWDR = angle.i;
 513                                         TWI_ACK;
 514                                         break;
 515                                 case 0x40: // Position x MSB
 516                                         TWDR = pos_x.i>>24;
 517                                         TWI_ACK;
 518                                         break;
 519                                 case 0x41: // Position x
 520                                         TWDR = pos_x.i>>16;
 521                                         TWI_ACK;
 522                                         break;
 523                                 case 0x42: // Position x
 524                                         TWDR = pos_x.i>>8;
 525                                         TWI_ACK;
 526                                         break;
 527                                 case 0x43: // Position x LSB
 528                                         TWDR = pos_x.i;
 529                                         TWI_ACK;
 530                                         break;
 531                                 case 0x44: // Position y MSB
 532                                         TWDR = pos_y.i>>24;
 533                                         TWI_ACK;
 534                                         break;
 535                                 case 0x45: // Position y
 536                                         TWDR = pos_y.i>>16;
 537                                         TWI_ACK;
 538                                         break;
 539                                 case 0x46: // Position y
 540                                         TWDR = pos_y.i>>8;
 541                                         TWI_ACK;
 542                                         break;
 543                                 case 0x47: // Position y LSB
 544                                         TWDR = pos_y.i;
 545                                         TWI_ACK;
 546                                         break;
 547                                 case 0x48: // Position angle MSB
 548                                         TWDR = angle.i>>24;
 549                                         TWI_ACK;
 550                                         break;
 551                                 case 0x49: // Position angle
 552                                         TWDR = angle.i>>16;
 553                                         TWI_ACK;
 554                                         break;
 555                                 case 0x4A: // Position angle
 556                                         TWDR = angle.i>>8;
 557                                         TWI_ACK;
 558                                         break;
 559                                 case 0x4B: // Position angle LSB
 560                                         TWDR = angle.i;
 561                                         TWI_ACK;
 562                                         break;
 563                                 case 0xA0: // Reset reason
 564                                         TWDR = MCUCSR & 0x0f;
 565                                         MCUCSR = 0x0;
 566                                         TWI_ACK;
 567                                         break;
 568                                 case 0xA1: // TLE Error status
 569                                         TWDR = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
 570                                         TWI_ACK;
 571                                         break;
 572                                 case 0xA2: // count test
 573                                         TWDR = count_test;
 574                                         TWI_ACK;
 575                                 default:
 576                                         TWDR = 0;
 577                                         TWI_NAK;
 578                         }
 579                         ireg++;
 580                         break;
 581                 default:
 582                         TWI_RESET;
 583         }
 584 }
 585
 586
 587 static void update_hall1(void) {
 588         unsigned char status = (PINA >> 0) & 0x3;
 589         static unsigned char oldstatus=0;
 590         unsigned char diff, new;
 591
 592         new = 0;
 593         if (status & 0x1)
 594                 new = 0x3;
 595         if (status & 0x2)
 596                 new ^= 0x1;                                     // convert gray to binary
 597         diff = oldstatus - new;                         // difference last - new
 598         if (diff & 0x1) {                               // bit 0 = value (1)
 599                 oldstatus = new;                                        // store new as next last
 600                 if (motor1_switch) pos1 += (diff & 2) - 1;              // bit 1 = direction (+/-)
 601                 else pos1 -= (diff & 2) - 1;
 602         }
 603 }
 604
 605
 606 static void update_hall2(void) {
 607         unsigned char status = (PINA >> 4) & 0x3;
 608         static unsigned char oldstatus=0;
 609         unsigned char diff, new;
 610
 611         new = 0;
 612         if (status & 0x1)
 613                 new = 0x3;
 614         if (status & 0x2)
 615                 new ^= 0x1;                                     // convert gray to binary
 616         diff = oldstatus - new;                         // difference last - new
 617         if (diff & 0x1) {                               // bit 0 = value (1)
 618                 oldstatus = new;                                        // store new as next last
 619                 if (motor2_switch) pos2 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
 620                 else pos2 += (diff & 2) - 1;
 621         }
 622 }
 623
 624
 625 static void update_hall3(void) {
 626         unsigned char status = (PINA >> 2) & 0x3;
 627         static unsigned char oldstatus=0;
 628         unsigned char diff, new;
 629
 630         new = 0;
 631         if (status & 0x1)
 632                 new = 0x3;
 633         if (status & 0x2)
 634                 new ^= 0x1;                                     // convert gray to binary
 635         diff = oldstatus - new;                         // difference last - new
 636         if (diff & 0x1) {                               // bit 0 = value (1)
 637                 oldstatus = new;                                        // store new as next last
 638                 if (motor3_switch) pos3 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
 639                 else pos3 += (diff & 2) - 1;
 640         }
 641 }
 642
 643
 644 static void update_hall4(void) {
 645         unsigned char status = (PINA >> 6) & 0x3;
 646         static unsigned char oldstatus=0;
 647         unsigned char diff, new;
 648
 649         new = 0;
 650         if (status & 0x1)
 651                 new = 0x3;
 652         if (status & 0x2)
 653                 new ^= 0x1;                                     // convert gray to binary
 654         diff = oldstatus - new;                         // difference last - new
 655         if (diff & 0x1) {                               // bit 0 = value (1)
 656                 oldstatus = new;                                        // store new as next last
 657                 if (motor4_switch) pos4 += (diff & 2) - 1;              // bit 1 = direction (+/-)
 658                 else pos4 -= (diff & 2) - 1;
 659         }
 660 }
 661
 662
 663 static void update_motor(void) {
 664         static int16_t m1_old=SHRT_MIN;
 665         static int16_t m2_old=SHRT_MIN;
 666         static int16_t m3_old=SHRT_MIN;
 667         static int16_t m4_old=SHRT_MIN;
 668
 669         if (m1_old != motor1) { // update only when changed
 670                 if (motor1 == 0) {
 671                         // stop
 672                         PORTC |= (1 << 3) | (1 << 2);
 673                 } else if ((!motor1_switch && motor1 > 0) || (motor1_switch && motor1 < 0)) {
 674                         // forward
 675                         PORTC &= ~(1 << 3) & ~(1 << 2);
 676                 } else { // motor1 < 0
 677                         // backward
 678                         PORTC &= ~(1 << 2);
 679                         PORTC |=  (1 << 3);
 680                 }
 681
 682                 m1_old = motor1;
 683                 OCR1A = abs(motor1);
 684         }
 685
 686         if (m2_old != motor2) { // update only when changed
 687                 if (motor2 == 0) {
 688                         // stop
 689                         PORTC |= (1 << 5) | (1 << 4);
 690                 } else if ((!motor2_switch && motor2 > 0) || (motor2_switch && motor2 < 0)) {
 691                         // forward
 692                         PORTC &= ~(1 << 5) & ~(1 << 4);
 693                 } else { // motor2 < 0
 694                         // backward
 695                         PORTC &= ~(1 << 4);
 696                         PORTC |=  (1 << 5);
 697                 }
 698
 699                 m2_old = motor2;
 700                 OCR1B = abs(motor2);
 701         }
 702
 703         if (m3_old != motor3) { // update only when changed
 704                 if (motor3 == 0) {
 705                         // stop
 706                         PORTC |= (1 << 7) | (1 << 6);
 707                 } else if ((!motor3_switch && motor3 > 0) || (motor3_switch && motor3 < 0)) {
 708                         // forward
 709                         PORTC &= ~(1 << 7) & ~(1 << 6);
 710                 } else { // motor3 < 0
 711                         // backward
 712                         PORTC &= ~(1 << 6);
 713                         PORTC |=  (1 << 7);
 714                 }
 715
 716                 m3_old = motor3;
 717                 OCR2 = abs(motor3);
 718         }
 719
 720         if (m4_old != motor4) { // update only when changed
 721                 if (motor4 == 0) {
 722                         // stop
 723                         PORTD |= (1 << 3) | (1 << 2);
 724                 } else if ((!motor4_switch && motor4 > 0) || (motor4_switch && motor4 < 0)) {
 725                         // forward
 726                         PORTD &= ~(1 << 3) & ~(1 << 2);
 727                 } else { // motor4 < 0
 728                         // backward
 729                         PORTD &= ~(1 << 2);
 730                         PORTD |=  (1 << 3);
 731                 }
 732
 733                 m4_old = motor4;
 734                 OCR0 = abs(motor4);
 735         }
 736 }
 737
 738
 739 static void update_pos(void) {
 740         static int16_t pos1_last=0;
 741         static int16_t pos2_last=0;
 742         static int16_t pos3_last=0;
 743         static int16_t pos4_last=0;
 744         int16_t pos1_diff; // steps
 745         int16_t pos2_diff;
 746         int16_t pos3_diff;
 747         int16_t pos4_diff;
 748         float diff_left_m, diff_right_m, angle_diff, translation;
 749         float pos_x_new, pos_y_new, angle_new;
 750         int16_t speed_l, speed_r;
 751         float tmp_speed_lin, tmp_speed_rot;
 752         int16_t cur_pos1, cur_pos2, cur_pos3, cur_pos4;
 753         int16_t new_speed1, new_speed2, new_speed3, new_speed4;
 754
 755         // copy to tmp
 756         cli();
 757         cur_pos1 = pos1;
 758         cur_pos2 = pos2;
 759         cur_pos3 = pos3;
 760         cur_pos4 = pos4;
 761         sei();
 762
 763         pos1_diff = cur_pos1 - pos1_last;
 764         pos2_diff = cur_pos2 - pos2_last;
 765         pos3_diff = cur_pos3 - pos3_last;
 766         pos4_diff = cur_pos4 - pos4_last;
 767
 768         new_speed1 = pos1_diff/PID_T;
 769         new_speed2 = pos2_diff/PID_T;
 770         new_speed3 = pos3_diff/PID_T;
 771         new_speed4 = pos4_diff/PID_T;
 772
 773         diff_left_m = (pos1_diff + pos2_diff)/(2*STEP_PER_M);
 774         diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M);
 775         angle_diff = (diff_right_m - diff_left_m) / WHEEL_DIST;
 776
 777         angle_new = angle.f + angle_diff;
 778         if (angle_new > 2*M_PI) angle_new-=2*M_PI;
 779         else if (angle_new < 2*M_PI) angle_new+=2*M_PI;
 780
 781         translation = (diff_left_m + diff_right_m)/2.0;
 782         pos_x_new = pos_x.f + cos(angle_new)*translation;
 783         pos_y_new = pos_y.f + sin(angle_new)*translation;
 784
 785         speed_l = (new_speed1+new_speed2)/2;
 786         speed_r = (new_speed3+new_speed4)/2;
 787         tmp_speed_lin = (speed_l + speed_r)/(2.0*STEP_PER_M);
 788         tmp_speed_rot = (speed_r - speed_l)/(M_PI*WHEEL_DIST*STEP_PER_M);
 789
 790         // copy from tmp
 791         cli();
 792         angle.f = angle_new;
 793         pos_x.f = pos_x_new;
 794         pos_y.f = pos_y_new;
 795         speed1 = new_speed1;
 796         speed2 = new_speed2;
 797         speed3 = new_speed3;
 798         speed4 = new_speed4;
 799         cur_speed_lin = tmp_speed_lin;
 800         cur_speed_rot = tmp_speed_rot;
 801         sei();
 802
 803         pos1_last = cur_pos1;
 804         pos2_last = cur_pos2;
 805         pos3_last = cur_pos3;
 806         pos4_last = cur_pos4;
 807 }
 808
 809
 810 static void update_pid(void) {
 811         static int16_t eold1=0;
 812         static int16_t eold2=0;
 813         static int16_t eold3=0;
 814         static int16_t eold4=0;
 815         static int32_t esum1=0;
 816         static int32_t esum2=0;
 817         static int32_t esum3=0;
 818         static int32_t esum4=0;
 819
 820         if (motor1_mode == MOTOR_PID) {
 821                 if (speed1_wish == 0) {
 822                         motor1 = 0;
 823                         eold1 = 0;
 824                         esum1 = 0;
 825                 } else {
 826                         int16_t e = speed1_wish - speed1;
 827                         esum1+=e;
 828                         motor1 += KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
 829                         eold1 = e;
 830
 831                         if (motor1 > 255) motor1 = 255;
 832                         else if (motor1 < -255) motor1 = -255;
 833                 }
 834         }
 835         if (motor2_mode == MOTOR_PID) {
 836                 if (speed2_wish == 0) {
 837                         motor2 = 0;
 838                         eold2 = 0;
 839                         esum2 = 0;
 840                 } else {
 841                         int16_t e = speed2_wish - speed2;
 842                         esum2+=e;
 843                         motor2 += KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
 844                         eold2 = e;
 845
 846                         if (motor2 > 255) motor2 = 255;
 847                         else if (motor2 < -255) motor2 = -255;
 848                 }
 849         }
 850         if (motor3_mode == MOTOR_PID) {
 851                 if (speed3_wish == 0) {
 852                         motor3 = 0;
 853                         eold3 = 0;
 854                         esum3 = 0;
 855                 } else {
 856                         int16_t e = speed3_wish - speed3;
 857                         esum3+=e;
 858                         motor3 += KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
 859                         eold3 = e;
 860
 861                         if (motor3 > 255) motor3 = 255;
 862                         else if (motor3 < -255) motor3 = -255;
 863                 }
 864         }
 865         if (motor4_mode == MOTOR_PID) {
 866                 if (speed4_wish == 0) {
 867                         motor4 = 0;
 868                         eold4 = 0;
 869                         esum4 = 0;
 870                 } else {
 871                         int16_t e = speed4_wish - speed4;
 872                         esum4+=e;
 873                         motor4 += KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
 874                         eold4 = e;
 875
 876                         if (motor4 > 255) motor4 = 255;
 877                         else if (motor4 < -255) motor4 = -255;
 878                 }
 879         }
 880 }
 881
 882
 883 ISR(TIMER1_OVF_vect) {
 884         update_hall1();
 885         update_hall2();
 886         update_hall3();
 887         update_hall4();
 888
 889         run_update++;
 890 }
 891
 892
 893 int main(void) {
 894         // Outputs
 895         DDRB = (1 << 3);
 896         DDRC = (1 << 7) | (1 << 6) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
 897         DDRD = (1 << 7) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
 898         // Pullup TLEs EF
 899         PORTB = (1 << 0) | (1 << 1) | (1 << 2);
 900         PORTD = (1 << 6);
 901
 902         bootloader = 0x00;
 903         setup_uart(9600);
 904         uart_setup_stdout();
 905
 906         // I2C
 907         TWAR = 0x50;
 908         TWI_RESET;
 909
 910         // Motor 1 & 2
 911         // Timer 1: Fast PWM inverting mode, Top=256 => 15.625kHz
 912         // Prescaler=1
 913         TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << COM1A0) | (1 << COM1B0) | (1 << WGM10);
 914         TCCR1B = (1 << WGM12) | (1 << CS10);
 915         OCR1A = 0;
 916         OCR1B = 0;
 917
 918         // Motor 3
 919         // Timer 2: Fast PWM inverting mode, Top=256
 920         // Prescaler=1
 921         TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << COM20) | (1 << CS20);
 922         OCR2 = 0;
 923
 924         // Motor 4
 925         // Timer 0: Fast PWM inverting mode, Top=256
 926         // Prescaler=1
 927         TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << COM00) | (1 << CS00);
 928         OCR0 = 0;
 929
 930         printf("\r\nStart\r\n");
 931
 932         set_sleep_mode(SLEEP_MODE_IDLE);
 933         // Enable Timer 1 Overflow Interrupt
 934         TIMSK = (1 << TOIE1);
 935         sei();
 936
 937         while(1) {
 938                 switch(ireg) {
 939                         case 0xff: // Magic reg that starts the bootloader
 940                                 if (bootloader == 0xa5) {
 941                                         cli();
 942                                         {
 943                                                 void (*start)(void) = (void*)0x1800;
 944                                                 start();
 945                                         }
 946                                 }
 947                                 break;
 948                 }
 949
 950                 if (cmd_vel.bUpdate) {
 951                         float speed_wish_right, speed_wish_left;
 952                         float speed, angle;
 953
 954                         cli();
 955                         speed = cmd_vel.speed;
 956                         angle = cmd_vel.angle;
 957                         cmd_vel.bUpdate = 0;
 958                         sei();
 959
 960                         speed_wish_right = angle*M_PI*WHEEL_DIST/2 + speed;
 961                         speed_wish_left = speed*2-speed_wish_right;
 962
 963                         speed_wish_left*=STEP_PER_M;
 964                         speed_wish_right*=STEP_PER_M;
 965
 966                         if (speed1_wish > 0 && aft_handicap_fwd > 0) {
 967                                 speed1_wish = speed_wish_left * (100-aft_handicap_fwd)/100.0;
 968                         } else {
 969                                 speed1_wish = speed_wish_left;
 970                         }
 971                         if (speed2_wish > 0 && front_handicap_bwd > 0) {
 972                                 speed2_wish = speed_wish_left * (100-front_handicap_bwd)/100.0;
 973                         } else {
 974                                 speed2_wish = speed_wish_left;
 975                         }
 976                         if (speed3_wish > 0 && front_handicap_bwd > 0) {
 977                                 speed3_wish = speed_wish_right * (100-front_handicap_bwd)/100.0;
 978                         } else {
 979                                 speed3_wish = speed_wish_right;
 980                         }
 981                         if (speed4_wish > 0 && aft_handicap_fwd > 0) {
 982                                 speed4_wish = speed_wish_right * (100-aft_handicap_fwd)/100.0;
 983                         } else {
 984                                 speed4_wish = speed_wish_right;
 985                         }
 986                         motor1_mode = MOTOR_PID;
 987                         motor2_mode = MOTOR_PID;
 988                         motor3_mode = MOTOR_PID;
 989                         motor4_mode = MOTOR_PID;
 990                 }
 991
 992                 if (run_update >= 156) { // ~100Hz
 993                         run_update=0;
 994
 995                         update_pos();
 996                         update_pid();
 997                         update_motor();
 998                         count_test++;
 999                 }
1000
1001                 sleep_mode();
1002         }
1003
1004         return 0;
1005 }