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