6 #include <avr/interrupt.h>
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
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
58 * 0x3B Speed (m/s) LSB
59 * 0x3C Angle (rad/s) MSB
62 * 0x3F Angle (rad/s) LSB
63 * 0x40 Position x (m) MSB
66 * 0x43 Position x (m) LSB
67 * 0x44 Position y (m) MSB
70 * 0x47 Position y (m) LSB
71 * 0x48 Position angle MSB
74 * 0x4B Position angle LSB
76 * 0x50 speed wish (m/s) MSB
77 * 0x51 speed wish (m/s)
78 * 0x52 speed wish (m/s)
79 * 0x53 speed wish (m/s) LSB
80 * 0x54 angle wish (rad/s) MSB
81 * 0x55 angle wish (rad/s)
82 * 0x56 angle wish (rad/s)
83 * 0x57 angle wish (rad/s) LSB
93 * 0xA1 TLE Error status
100 #define TWI_ACK TWCR = (1<<TWEA) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
101 #define TWI_RESET TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
102 #define TWI_NAK TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
108 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:34, real wheel diameter: 0.12454m
109 #define STEP_PER_M_AVG 4171.4
110 #define STEP_PER_M_LEFT (STEP_PER_M_AVG)
111 #define STEP_PER_M_RIGHT (STEP_PER_M_AVG)
112 #define WHEEL_DIST 0.36923 // Real: 0.252
124 static volatile struct {
128 } cmd_vel = {0, 0, 0};
130 static volatile uint8_t ireg=0;
131 static volatile uint8_t bootloader=0;
132 static volatile int16_t motor1=0; // -255..+255
133 static volatile int16_t motor2=0;
134 static volatile int16_t motor3=0;
135 static volatile int16_t motor4=0;
136 static volatile int16_t pos1=0; // step
137 static volatile int16_t pos2=0;
138 static volatile int16_t pos3=0;
139 static volatile int16_t pos4=0;
140 static volatile enum mode motor1_mode=MOTOR_MANUAL;
141 static volatile enum mode motor2_mode=MOTOR_MANUAL;
142 static volatile enum mode motor3_mode=MOTOR_MANUAL;
143 static volatile enum mode motor4_mode=MOTOR_MANUAL;
144 static volatile uint8_t motor1_switch=0;
145 static volatile uint8_t motor2_switch=0;
146 static volatile uint8_t motor3_switch=0;
147 static volatile uint8_t motor4_switch=0;
148 static volatile int16_t speed1_wish=0; // step/s
149 static volatile int16_t speed2_wish=0;
150 static volatile int16_t speed3_wish=0;
151 static volatile int16_t speed4_wish=0;
152 static volatile uint8_t run_update=0;
153 static volatile int16_t speed1=0; // step/s
154 static volatile int16_t speed2=0;
155 static volatile int16_t speed3=0;
156 static volatile int16_t speed4=0;
157 static volatile ufloat_t pos_x={0.0};
158 static volatile ufloat_t pos_y={0.0};
159 static volatile ufloat_t angle={0.0};
160 static volatile float cur_speed_lin=0;
161 static volatile float cur_speed_rot=0;
162 static volatile uint8_t count_test=0;
163 static volatile uint8_t front_handicap=0;
164 static volatile uint8_t aft_handicap=0;
168 static uint8_t tmp=0;
169 static int16_t tmp16=0;
170 static ufloat_t tmp_speed;
171 static ufloat_t tmp_angle;
175 case 0x60: // start write
181 case 0x00: // register select
183 ireg--; // because we do ireg++ below
186 case 0x01: // Motor 1 MSB
190 case 0x02: // Motor 1 LSB
191 motor1 = tmp<<8 | TWDR;
192 motor1_mode = MOTOR_MANUAL;
195 case 0x03: // Motor 2 MSB
199 case 0x04: // Motor 2 LSB
200 motor2 = tmp<<8 | TWDR;
201 motor2_mode = MOTOR_MANUAL;
204 case 0x05: // Motor 3 MSB
208 case 0x06: // Motor 3 LSB
209 motor3 = tmp<<8 | TWDR;
210 motor3_mode = MOTOR_MANUAL;
213 case 0x07: // Motor 4 MSB
217 case 0x08: // Motor 4 LSB
218 motor4 = tmp<<8 | TWDR;
219 motor4_mode = MOTOR_MANUAL;
222 case 0x20: // Motor 1 speed wish MSB
226 case 0x21: // Motor 1 speed wish LSB
227 speed1_wish = tmp<<8 | TWDR;
228 motor1_mode = MOTOR_PID;
231 case 0x22: // Motor 2 speed wish MSB
235 case 0x23: // Motor 2 speed wish LSB
236 speed2_wish = tmp<<8 | TWDR;
237 motor2_mode = MOTOR_PID;
240 case 0x24: // Motor 3 speed wish MSB
244 case 0x25: // Motor 3 speed wish LSB
245 speed3_wish = tmp<<8 | TWDR;
246 motor3_mode = MOTOR_PID;
249 case 0x26: // Motor 4 speed wish MSB
253 case 0x27: // Motor 4 speed wish LSB
254 speed4_wish = tmp<<8 | TWDR;
255 motor4_mode = MOTOR_PID;
258 case 0x28: // Left speed wish MSB
262 case 0x29: // Left speed wish
263 tmp_speed.i = tmp_speed.i << 8 | TWDR;
266 case 0x2A: // Left speed wish
267 tmp_speed.i = tmp_speed.i << 8 | TWDR;
270 case 0x2B: // Left speed wish LSB
271 tmp_speed.i = tmp_speed.i << 8 | TWDR;
272 speed1_wish = tmp_speed.f*STEP_PER_M_LEFT;
273 speed2_wish = tmp_speed.f*STEP_PER_M_LEFT;
274 motor1_mode = MOTOR_PID;
275 motor2_mode = MOTOR_PID;
278 case 0x2C: // Right speed wish MSB
282 case 0x2D: // Right speed wish
283 tmp_speed.i = tmp_speed.i << 8 | TWDR;
286 case 0x2E: // Right speed wish
287 tmp_speed.i = tmp_speed.i << 8 | TWDR;
290 case 0x2F: // Right speed wish LSB
291 tmp_speed.i = tmp_speed.i << 8 | TWDR;
292 speed1_wish = tmp_speed.f*STEP_PER_M_RIGHT;
293 speed2_wish = tmp_speed.f*STEP_PER_M_RIGHT;
294 motor1_mode = MOTOR_PID;
295 motor2_mode = MOTOR_PID;
298 case 0x50: // speed wish MSB
302 case 0x51: // speed wish
303 tmp_speed.i = tmp_speed.i << 8 | TWDR;
306 case 0x52: // speed wish
307 tmp_speed.i = tmp_speed.i << 8 | TWDR;
310 case 0x53: // speed wish LSB
311 tmp_speed.i = tmp_speed.i << 8 | TWDR;
312 cmd_vel.speed = tmp_speed.f;
315 case 0x54: // angle wish MSB
319 case 0x55: // angle wish
320 tmp_angle.i = tmp_angle.i << 8 | TWDR;
323 case 0x56: // angle wish
324 tmp_angle.i = tmp_angle.i << 8 | TWDR;
327 case 0x57: // angle wish LSB
328 tmp_angle.i = tmp_angle.i << 8 | TWDR;
329 cmd_vel.angle = tmp_angle.f;
333 case 0x90: // Motor 1 switch
334 motor1_switch = TWDR;
337 case 0x91: // Motor 2 switch
338 motor2_switch = TWDR;
341 case 0x92: // Motor 3 switch
342 motor3_switch = TWDR;
345 case 0x93: // Motor 4 switch
346 motor4_switch = TWDR;
349 case 0x94: // Front Handicap
350 front_handicap = TWDR;
354 case 0x95: // Aft Handicap
359 case 0xff: // bootloader
366 case 0xA8: // start read
369 case 0x02: // Motor 1 PWM
373 case 0x04: // Motor 2 PWM
377 case 0x06: // Motor 3 PWM
381 case 0x08: // Motor 4 PWM
385 case 0x10: // Hall 1 MSB
390 case 0x11: // Hall 1 LSB
394 case 0x12: // Hall 2 MSB
399 case 0x13: // Hall 2 LSB
403 case 0x14: // Hall 3 MSB
408 case 0x15: // Hall 3 LSB
412 case 0x16: // Hall 4 MSB
417 case 0x17: // Hall 4 LSB
421 case 0x20: // Motor 1 speed wish MSB
422 TWDR = speed1_wish>>8;
425 case 0x21: // Motor 1 speed wish LSB
429 case 0x22: // Motor 2 speed wish MSB
430 TWDR = speed2_wish>>8;
433 case 0x23: // Motor 2 speed wish LSB
437 case 0x24: // Motor 3 speed wish MSB
438 TWDR = speed3_wish>>8;
441 case 0x25: // Motor 3 speed wish LSB
445 case 0x26: // Motor 4 speed wish MSB
446 TWDR = speed4_wish>>8;
449 case 0x27: // Motor 4 speed wish LSB
453 case 0x30: // Motor 1 speed MSB
457 case 0x31: // Motor 1 speed LSB
461 case 0x32: // Motor 2 speed MSB
465 case 0x33: // Motor 2 speed LSB
469 case 0x34: // Motor 3 speed MSB
473 case 0x35: // Motor 3 speed LSB
477 case 0x36: // Motor 4 speed MSB
481 case 0x37: // Motor 4 speed LSB
485 case 0x38: // speed MSB
486 tmp_speed.f = cur_speed_lin;
487 TWDR = tmp_speed.i>>24;
491 TWDR = tmp_speed.i>>16;
495 TWDR = tmp_speed.i>>8;
498 case 0x3B: // speed LSB
502 case 0x3C: // angle MSB
503 tmp_angle.f = cur_speed_rot;
504 TWDR = tmp_angle.i>>24;
508 TWDR = tmp_angle.i>>16;
512 TWDR = tmp_angle.i>>8;
515 case 0x3F: // angle LSB
519 case 0x40: // Position x MSB
523 case 0x41: // Position x
527 case 0x42: // Position x
531 case 0x43: // Position x LSB
535 case 0x44: // Position y MSB
539 case 0x45: // Position y
543 case 0x46: // Position y
547 case 0x47: // Position y LSB
551 case 0x48: // Position angle MSB
555 case 0x49: // Position angle
559 case 0x4A: // Position angle
563 case 0x4B: // Position angle LSB
567 case 0xA0: // Reset reason
568 TWDR = MCUCSR & 0x0f;
572 case 0xA1: // TLE Error status
573 TWDR = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
576 case 0xA2: // count test
591 static void update_hall1(void) {
592 unsigned char status = (PINA >> 0) & 0x3;
593 static unsigned char oldstatus=0;
594 unsigned char diff, new;
600 new ^= 0x1; // convert gray to binary
601 diff = oldstatus - new; // difference last - new
602 if (diff & 0x1) { // bit 0 = value (1)
603 oldstatus = new; // store new as next last
604 if (motor1_switch) pos1 += (diff & 2) - 1; // bit 1 = direction (+/-)
605 else pos1 -= (diff & 2) - 1;
610 static void update_hall2(void) {
611 unsigned char status = (PINA >> 4) & 0x3;
612 static unsigned char oldstatus=0;
613 unsigned char diff, new;
619 new ^= 0x1; // convert gray to binary
620 diff = oldstatus - new; // difference last - new
621 if (diff & 0x1) { // bit 0 = value (1)
622 oldstatus = new; // store new as next last
623 if (motor2_switch) pos2 -= (diff & 2) - 1; // bit 1 = direction (+/-)
624 else pos2 += (diff & 2) - 1;
629 static void update_hall3(void) {
630 unsigned char status = (PINA >> 2) & 0x3;
631 static unsigned char oldstatus=0;
632 unsigned char diff, new;
638 new ^= 0x1; // convert gray to binary
639 diff = oldstatus - new; // difference last - new
640 if (diff & 0x1) { // bit 0 = value (1)
641 oldstatus = new; // store new as next last
642 if (motor3_switch) pos3 -= (diff & 2) - 1; // bit 1 = direction (+/-)
643 else pos3 += (diff & 2) - 1;
648 static void update_hall4(void) {
649 unsigned char status = (PINA >> 6) & 0x3;
650 static unsigned char oldstatus=0;
651 unsigned char diff, new;
657 new ^= 0x1; // convert gray to binary
658 diff = oldstatus - new; // difference last - new
659 if (diff & 0x1) { // bit 0 = value (1)
660 oldstatus = new; // store new as next last
661 if (motor4_switch) pos4 += (diff & 2) - 1; // bit 1 = direction (+/-)
662 else pos4 -= (diff & 2) - 1;
667 static void update_motor(void) {
668 static int16_t m1_old=SHRT_MIN;
669 static int16_t m2_old=SHRT_MIN;
670 static int16_t m3_old=SHRT_MIN;
671 static int16_t m4_old=SHRT_MIN;
673 if (m1_old != motor1) { // update only when changed
676 PORTC |= (1 << 3) | (1 << 2);
677 } else if ((!motor1_switch && motor1 > 0) || (motor1_switch && motor1 < 0)) {
679 PORTC &= ~(1 << 3) & ~(1 << 2);
680 } else { // motor1 < 0
690 if (m2_old != motor2) { // update only when changed
693 PORTC |= (1 << 5) | (1 << 4);
694 } else if ((!motor2_switch && motor2 > 0) || (motor2_switch && motor2 < 0)) {
696 PORTC &= ~(1 << 5) & ~(1 << 4);
697 } else { // motor2 < 0
707 if (m3_old != motor3) { // update only when changed
710 PORTC |= (1 << 7) | (1 << 6);
711 } else if ((!motor3_switch && motor3 > 0) || (motor3_switch && motor3 < 0)) {
713 PORTC &= ~(1 << 7) & ~(1 << 6);
714 } else { // motor3 < 0
724 if (m4_old != motor4) { // update only when changed
727 PORTD |= (1 << 3) | (1 << 2);
728 } else if ((!motor4_switch && motor4 > 0) || (motor4_switch && motor4 < 0)) {
730 PORTD &= ~(1 << 3) & ~(1 << 2);
731 } else { // motor4 < 0
743 static void update_pos(void) {
744 static int16_t pos1_last=0;
745 static int16_t pos2_last=0;
746 static int16_t pos3_last=0;
747 static int16_t pos4_last=0;
748 int16_t pos1_diff; // steps
752 float diff_left_m, diff_right_m, angle_diff, translation;
753 float pos_x_new, pos_y_new, angle_new;
754 int16_t speed_l, speed_r;
755 float tmp_speed_lin, tmp_speed_rot;
756 int16_t cur_pos1, cur_pos2, cur_pos3, cur_pos4;
757 int16_t new_speed1, new_speed2, new_speed3, new_speed4;
767 pos1_diff = cur_pos1 - pos1_last;
768 pos2_diff = cur_pos2 - pos2_last;
769 pos3_diff = cur_pos3 - pos3_last;
770 pos4_diff = cur_pos4 - pos4_last;
772 new_speed1 = pos1_diff/PID_T;
773 new_speed2 = pos2_diff/PID_T;
774 new_speed3 = pos3_diff/PID_T;
775 new_speed4 = pos4_diff/PID_T;
777 diff_left_m = (pos1_diff + pos2_diff)/(2*STEP_PER_M_LEFT);
778 diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M_RIGHT);
779 angle_diff = (diff_right_m - diff_left_m) / WHEEL_DIST;
781 angle_new = angle.f + angle_diff;
782 if (angle_new > 2*M_PI) angle_new-=2*M_PI;
783 else if (angle_new < -2*M_PI) angle_new+=2*M_PI;
785 translation = (diff_left_m + diff_right_m)/2.0;
786 pos_x_new = pos_x.f + cos(angle_new)*translation;
787 pos_y_new = pos_y.f + sin(angle_new)*translation;
789 speed_l = (new_speed1+new_speed2)/2;
790 speed_r = (new_speed3+new_speed4)/2;
791 tmp_speed_lin = (speed_l + speed_r)/(2.0*STEP_PER_M_AVG);
792 tmp_speed_rot = (speed_r - speed_l)/(M_PI*WHEEL_DIST*STEP_PER_M_AVG);
803 cur_speed_lin = tmp_speed_lin;
804 cur_speed_rot = tmp_speed_rot;
807 pos1_last = cur_pos1;
808 pos2_last = cur_pos2;
809 pos3_last = cur_pos3;
810 pos4_last = cur_pos4;
814 static void update_pid(void) {
815 static int16_t eold1=0;
816 static int16_t eold2=0;
817 static int16_t eold3=0;
818 static int16_t eold4=0;
819 static int32_t esum1=0;
820 static int32_t esum2=0;
821 static int32_t esum3=0;
822 static int32_t esum4=0;
824 if (motor1_mode == MOTOR_PID) {
825 if (speed1_wish == 0) {
830 int16_t e = speed1_wish - speed1;
832 motor1 += KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
835 if (motor1 > 255) motor1 = 255;
836 else if (motor1 < -255) motor1 = -255;
839 if (motor2_mode == MOTOR_PID) {
840 if (speed2_wish == 0) {
845 int16_t e = speed2_wish - speed2;
847 motor2 += KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
850 if (motor2 > 255) motor2 = 255;
851 else if (motor2 < -255) motor2 = -255;
854 if (motor3_mode == MOTOR_PID) {
855 if (speed3_wish == 0) {
860 int16_t e = speed3_wish - speed3;
862 motor3 += KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
865 if (motor3 > 255) motor3 = 255;
866 else if (motor3 < -255) motor3 = -255;
869 if (motor4_mode == MOTOR_PID) {
870 if (speed4_wish == 0) {
875 int16_t e = speed4_wish - speed4;
877 motor4 += KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
880 if (motor4 > 255) motor4 = 255;
881 else if (motor4 < -255) motor4 = -255;
887 ISR(TIMER1_OVF_vect) {
900 DDRC = (1 << 7) | (1 << 6) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
901 DDRD = (1 << 7) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
903 PORTB = (1 << 0) | (1 << 1) | (1 << 2);
915 // Timer 1: Fast PWM inverting mode, Top=256 => 15.625kHz
917 TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << COM1A0) | (1 << COM1B0) | (1 << WGM10);
918 TCCR1B = (1 << WGM12) | (1 << CS10);
923 // Timer 2: Fast PWM inverting mode, Top=256
925 TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << COM20) | (1 << CS20);
929 // Timer 0: Fast PWM inverting mode, Top=256
931 TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << COM00) | (1 << CS00);
934 printf("\r\nStart\r\n");
936 set_sleep_mode(SLEEP_MODE_IDLE);
937 // Enable Timer 1 Overflow Interrupt
938 TIMSK = (1 << TOIE1);
943 case 0xff: // Magic reg that starts the bootloader
944 if (bootloader == 0xa5) {
947 void (*start)(void) = (void*)0x1800;
954 if (cmd_vel.bUpdate) {
955 float speed_wish_right, speed_wish_left;
959 speed = cmd_vel.speed;
960 angle = cmd_vel.angle;
964 speed_wish_right = angle*M_PI*WHEEL_DIST/2 + speed;
965 speed_wish_left = speed*2-speed_wish_right;
967 speed_wish_left*=STEP_PER_M_LEFT;
968 speed_wish_right*=STEP_PER_M_RIGHT;
970 if (aft_handicap > 0) {
971 speed1_wish = speed_wish_left * (100-aft_handicap)/100.0;
972 speed4_wish = speed_wish_right * (100-aft_handicap)/100.0;
974 speed1_wish = speed_wish_left;
975 speed4_wish = speed_wish_right;
977 if (front_handicap > 0) {
978 speed2_wish = speed_wish_left * (100-front_handicap)/100.0;
979 speed3_wish = speed_wish_right * (100-front_handicap)/100.0;
981 speed2_wish = speed_wish_left;
982 speed3_wish = speed_wish_right;
984 motor1_mode = MOTOR_PID;
985 motor2_mode = MOTOR_PID;
986 motor3_mode = MOTOR_PID;
987 motor4_mode = MOTOR_PID;
990 if (run_update >= 156) { // ~100Hz