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