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 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 0.039
 105 #define KI 0.08
 106 #define KD 0.0
 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=1;
 145 static volatile uint8_t motor2_switch=1;
 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 static volatile uint8_t error_state=0;
 166
 167 ISR(TWI_vect)
 168 {
 169         static uint8_t tmp=0;
 170         static int16_t tmp16=0;
 171         static ufloat_t tmp_speed;
 172         static ufloat_t tmp_angle;
 173
 174         switch (TWSR & 0xF8)
 175         {
 176                 case 0x60: // start write
 177                         TWI_ACK;
 178                         ireg = 0;
 179                         break;
 180                 case 0x80: // write
 181                         switch(ireg) {
 182                                 case 0x00: // register select
 183                                         ireg = TWDR;
 184                                         ireg--; // because we do ireg++ below
 185                                         TWI_ACK;
 186                                         break;
 187                                 case 0x01: // Motor 1 MSB
 188                                         tmp = TWDR;
 189                                         TWI_ACK;
 190                                         break;
 191                                 case 0x02: // Motor 1 LSB
 192                                         motor1 = tmp<<8 | TWDR;
 193                                         motor1_mode = MOTOR_MANUAL;
 194                                         TWI_ACK;
 195                                         break;
 196                                 case 0x03: // Motor 2 MSB
 197                                         tmp = TWDR;
 198                                         TWI_ACK;
 199                                         break;
 200                                 case 0x04: // Motor 2 LSB
 201                                         motor2 = tmp<<8 | TWDR;
 202                                         motor2_mode = MOTOR_MANUAL;
 203                                         TWI_ACK;
 204                                         break;
 205                                 case 0x05: // Motor 3 MSB
 206                                         tmp = TWDR;
 207                                         TWI_ACK;
 208                                         break;
 209                                 case 0x06: // Motor 3 LSB
 210                                         motor3 = tmp<<8 | TWDR;
 211                                         motor3_mode = MOTOR_MANUAL;
 212                                         TWI_ACK;
 213                                         break;
 214                                 case 0x07: // Motor 4 MSB
 215                                         tmp = TWDR;
 216                                         TWI_ACK;
 217                                         break;
 218                                 case 0x08: // Motor 4 LSB
 219                                         motor4 = tmp<<8 | TWDR;
 220                                         motor4_mode = MOTOR_MANUAL;
 221                                         TWI_ACK;
 222                                         break;
 223                                 case 0x20: // Motor 1 speed wish MSB
 224                                         tmp = TWDR;
 225                                         TWI_ACK;
 226                                         break;
 227                                 case 0x21: // Motor 1 speed wish LSB
 228                                         speed1_wish = tmp<<8 | TWDR;
 229                                         motor1_mode = MOTOR_PID;
 230                                         TWI_ACK;
 231                                         break;
 232                                 case 0x22: // Motor 2 speed wish MSB
 233                                         tmp = TWDR;
 234                                         TWI_ACK;
 235                                         break;
 236                                 case 0x23: // Motor 2 speed wish LSB
 237                                         speed2_wish = tmp<<8 | TWDR;
 238                                         motor2_mode = MOTOR_PID;
 239                                         TWI_ACK;
 240                                         break;
 241                                 case 0x24: // Motor 3 speed wish MSB
 242                                         tmp = TWDR;
 243                                         TWI_ACK;
 244                                         break;
 245                                 case 0x25: // Motor 3 speed wish LSB
 246                                         speed3_wish = tmp<<8 | TWDR;
 247                                         motor3_mode = MOTOR_PID;
 248                                         TWI_ACK;
 249                                         break;
 250                                 case 0x26: // Motor 4 speed wish MSB
 251                                         tmp = TWDR;
 252                                         TWI_ACK;
 253                                         break;
 254                                 case 0x27: // Motor 4 speed wish LSB
 255                                         speed4_wish = tmp<<8 | TWDR;
 256                                         motor4_mode = MOTOR_PID;
 257                                         TWI_ACK;
 258                                         break;
 259                                 case 0x28: // Left speed wish MSB
 260                                         tmp_speed.i = TWDR;
 261                                         TWI_ACK;
 262                                         break;
 263                                 case 0x29: // Left speed wish
 264                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 265                                         TWI_ACK;
 266                                         break;
 267                                 case 0x2A: // Left speed wish
 268                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 269                                         TWI_ACK;
 270                                         break;
 271                                 case 0x2B: // Left speed wish LSB
 272                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 273                                         speed1_wish = tmp_speed.f*STEP_PER_M_LEFT;
 274                                         speed2_wish = tmp_speed.f*STEP_PER_M_LEFT;
 275                                         motor1_mode = MOTOR_PID;
 276                                         motor2_mode = MOTOR_PID;
 277                                         TWI_ACK;
 278                                         break;
 279                                 case 0x2C: // Right speed wish MSB
 280                                         tmp_speed.i = TWDR;
 281                                         TWI_ACK;
 282                                         break;
 283                                 case 0x2D: // Right speed wish
 284                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 285                                         TWI_ACK;
 286                                         break;
 287                                 case 0x2E: // Right speed wish
 288                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 289                                         TWI_ACK;
 290                                         break;
 291                                 case 0x2F: // Right speed wish LSB
 292                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 293                                         speed1_wish = tmp_speed.f*STEP_PER_M_RIGHT;
 294                                         speed2_wish = tmp_speed.f*STEP_PER_M_RIGHT;
 295                                         motor1_mode = MOTOR_PID;
 296                                         motor2_mode = MOTOR_PID;
 297                                         TWI_ACK;
 298                                         break;
 299                                 case 0x50: // speed wish MSB
 300                                         tmp_speed.i = TWDR;
 301                                         TWI_ACK;
 302                                         break;
 303                                 case 0x51: // speed wish
 304                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 305                                         TWI_ACK;
 306                                         break;
 307                                 case 0x52: // speed wish
 308                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 309                                         TWI_ACK;
 310                                         break;
 311                                 case 0x53: // speed wish LSB
 312                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 313                                         cmd_vel.speed = tmp_speed.f;
 314                                         TWI_ACK;
 315                                         break;
 316                                 case 0x54: // angle wish MSB
 317                                         tmp_angle.i = TWDR;
 318                                         TWI_ACK;
 319                                         break;
 320                                 case 0x55: // angle wish
 321                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 322                                         TWI_ACK;
 323                                         break;
 324                                 case 0x56: // angle wish
 325                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 326                                         TWI_ACK;
 327                                         break;
 328                                 case 0x57: // angle wish LSB
 329                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 330                                         cmd_vel.angle = tmp_angle.f;
 331                                         cmd_vel.bUpdate = 1;
 332                                         TWI_ACK;
 333                                         break;
 334                                 case 0x90: // Motor 1 switch
 335                                         motor1_switch = TWDR;
 336                                         TWI_ACK;
 337                                         break;
 338                                 case 0x91: // Motor 2 switch
 339                                         motor2_switch = TWDR;
 340                                         TWI_ACK;
 341                                         break;
 342                                 case 0x92: // Motor 3 switch
 343                                         motor3_switch = TWDR;
 344                                         TWI_ACK;
 345                                         break;
 346                                 case 0x93: // Motor 4 switch
 347                                         motor4_switch = TWDR;
 348                                         TWI_ACK;
 349                                         break;
 350                                 case 0x94: // Front Handicap
 351                                         front_handicap = TWDR;
 352                                         cmd_vel.bUpdate = 1;
 353                                         TWI_ACK;
 354                                         break;
 355                                 case 0x95: // Aft Handicap
 356                                         aft_handicap = TWDR;
 357                                         cmd_vel.bUpdate = 1;
 358                                         TWI_ACK;
 359                                         break;
 360                                 case 0xff: // bootloader
 361                                         bootloader = TWDR;
 362                                 default:
 363                                         TWI_NAK;
 364                         }
 365                         ireg++;
 366                         break;
 367                 case 0xA8: // start read
 368                 case 0xB8: // read
 369                         switch(ireg) {
 370                                 case 0x02: // Motor 1 PWM
 371                                         TWDR = OCR1A;
 372                                         TWI_ACK;
 373                                         break;
 374                                 case 0x03: // Dummy to allow continous read
 375                                         TWDR = 0;
 376                                         TWI_ACK;
 377                                         break;
 378                                 case 0x04: // Motor 2 PWM
 379                                         TWDR = OCR1B;
 380                                         TWI_ACK;
 381                                         break;
 382                                 case 0x05: // Dummy to allow continous read
 383                                         TWDR = 0;
 384                                         TWI_ACK;
 385                                         break;
 386                                 case 0x06: // Motor 3 PWM
 387                                         TWDR = OCR2;
 388                                         TWI_ACK;
 389                                         break;
 390                                 case 0x07: // Dummy to allow continous read
 391                                         TWDR = 0;
 392                                         TWI_ACK;
 393                                         break;
 394                                 case 0x08: // Motor 4 PWM
 395                                         TWDR = OCR0;
 396                                         TWI_ACK;
 397                                         break;
 398                                 case 0x09: // Dummy to allow continous read
 399                                         TWDR = 0;
 400                                         TWI_ACK;
 401                                         break;
 402                                 case 0x10: // Hall 1 MSB
 403                                         tmp16 = pos1;
 404                                         TWDR = tmp16>>8;
 405                                         TWI_ACK;
 406                                         break;
 407                                 case 0x11: // Hall 1 LSB
 408                                         TWDR = tmp16;
 409                                         TWI_ACK;
 410                                         break;
 411                                 case 0x12: // Hall 2 MSB
 412                                         tmp16 = pos2;
 413                                         TWDR = tmp16>>8;
 414                                         TWI_ACK;
 415                                         break;
 416                                 case 0x13: // Hall 2 LSB
 417                                         TWDR = tmp16;
 418                                         TWI_ACK;
 419                                         break;
 420                                 case 0x14: // Hall 3 MSB
 421                                         tmp16 = pos3;
 422                                         TWDR = tmp16>>8;
 423                                         TWI_ACK;
 424                                         break;
 425                                 case 0x15: // Hall 3 LSB
 426                                         TWDR = tmp16;
 427                                         TWI_ACK;
 428                                         break;
 429                                 case 0x16: // Hall 4 MSB
 430                                         tmp16 = pos4;
 431                                         TWDR = tmp16>>8;
 432                                         TWI_ACK;
 433                                         break;
 434                                 case 0x17: // Hall 4 LSB
 435                                         TWDR = tmp16;
 436                                         TWI_ACK;
 437                                         break;
 438                                 case 0x20: // Motor 1 speed wish MSB
 439                                         TWDR = speed1_wish>>8;
 440                                         TWI_ACK;
 441                                         break;
 442                                 case 0x21: // Motor 1 speed wish LSB
 443                                         TWDR = speed1_wish;
 444                                         TWI_ACK;
 445                                         break;
 446                                 case 0x22: // Motor 2 speed wish MSB
 447                                         TWDR = speed2_wish>>8;
 448                                         TWI_ACK;
 449                                         break;
 450                                 case 0x23: // Motor 2 speed wish LSB
 451                                         TWDR = speed2_wish;
 452                                         TWI_ACK;
 453                                         break;
 454                                 case 0x24: // Motor 3 speed wish MSB
 455                                         TWDR = speed3_wish>>8;
 456                                         TWI_ACK;
 457                                         break;
 458                                 case 0x25: // Motor 3 speed wish LSB
 459                                         TWDR = speed3_wish;
 460                                         TWI_ACK;
 461                                         break;
 462                                 case 0x26: // Motor 4 speed wish MSB
 463                                         TWDR = speed4_wish>>8;
 464                                         TWI_ACK;
 465                                         break;
 466                                 case 0x27: // Motor 4 speed wish LSB
 467                                         TWDR = speed4_wish;
 468                                         TWI_ACK;
 469                                         break;
 470                                 case 0x30: // Motor 1 speed MSB
 471                                         TWDR = speed1>>8;
 472                                         TWI_ACK;
 473                                         break;
 474                                 case 0x31: // Motor 1 speed LSB
 475                                         TWDR = speed1;
 476                                         TWI_ACK;
 477                                         break;
 478                                 case 0x32: // Motor 2 speed MSB
 479                                         TWDR = speed2>>8;
 480                                         TWI_ACK;
 481                                         break;
 482                                 case 0x33: // Motor 2 speed LSB
 483                                         TWDR = speed2;
 484                                         TWI_ACK;
 485                                         break;
 486                                 case 0x34: // Motor 3 speed MSB
 487                                         TWDR = speed3>>8;
 488                                         TWI_ACK;
 489                                         break;
 490                                 case 0x35: // Motor 3 speed LSB
 491                                         TWDR = speed3;
 492                                         TWI_ACK;
 493                                         break;
 494                                 case 0x36: // Motor 4 speed MSB
 495                                         TWDR = speed4>>8;
 496                                         TWI_ACK;
 497                                         break;
 498                                 case 0x37: // Motor 4 speed LSB
 499                                         TWDR = speed4;
 500                                         TWI_ACK;
 501                                         break;
 502                                 case 0x38: // speed MSB
 503                                         tmp_speed.f = cur_speed_lin;
 504                                         TWDR = tmp_speed.i>>24;
 505                                         TWI_ACK;
 506                                         break;
 507                                 case 0x39: // speed
 508                                         TWDR = tmp_speed.i>>16;
 509                                         TWI_ACK;
 510                                         break;
 511                                 case 0x3A: // speed
 512                                         TWDR = tmp_speed.i>>8;
 513                                         TWI_ACK;
 514                                         break;
 515                                 case 0x3B: // speed LSB
 516                                         TWDR = tmp_speed.i;
 517                                         TWI_ACK;
 518                                         break;
 519                                 case 0x3C: // angle MSB
 520                                         tmp_angle.f = cur_speed_rot;
 521                                         TWDR = tmp_angle.i>>24;
 522                                         TWI_ACK;
 523                                         break;
 524                                 case 0x3D: // angle
 525                                         TWDR = tmp_angle.i>>16;
 526                                         TWI_ACK;
 527                                         break;
 528                                 case 0x3E: // angle
 529                                         TWDR = tmp_angle.i>>8;
 530                                         TWI_ACK;
 531                                         break;
 532                                 case 0x3F: // angle LSB
 533                                         TWDR = angle.i;
 534                                         TWI_ACK;
 535                                         break;
 536                                 case 0x40: // Position x MSB
 537                                         TWDR = pos_x.i>>24;
 538                                         TWI_ACK;
 539                                         break;
 540                                 case 0x41: // Position x
 541                                         TWDR = pos_x.i>>16;
 542                                         TWI_ACK;
 543                                         break;
 544                                 case 0x42: // Position x
 545                                         TWDR = pos_x.i>>8;
 546                                         TWI_ACK;
 547                                         break;
 548                                 case 0x43: // Position x LSB
 549                                         TWDR = pos_x.i;
 550                                         TWI_ACK;
 551                                         break;
 552                                 case 0x44: // Position y MSB
 553                                         TWDR = pos_y.i>>24;
 554                                         TWI_ACK;
 555                                         break;
 556                                 case 0x45: // Position y
 557                                         TWDR = pos_y.i>>16;
 558                                         TWI_ACK;
 559                                         break;
 560                                 case 0x46: // Position y
 561                                         TWDR = pos_y.i>>8;
 562                                         TWI_ACK;
 563                                         break;
 564                                 case 0x47: // Position y LSB
 565                                         TWDR = pos_y.i;
 566                                         TWI_ACK;
 567                                         break;
 568                                 case 0x48: // Position angle MSB
 569                                         TWDR = angle.i>>24;
 570                                         TWI_ACK;
 571                                         break;
 572                                 case 0x49: // Position angle
 573                                         TWDR = angle.i>>16;
 574                                         TWI_ACK;
 575                                         break;
 576                                 case 0x4A: // Position angle
 577                                         TWDR = angle.i>>8;
 578                                         TWI_ACK;
 579                                         break;
 580                                 case 0x4B: // Position angle LSB
 581                                         TWDR = angle.i;
 582                                         TWI_ACK;
 583                                         break;
 584                                 case 0xA0: // Reset reason
 585                                         TWDR = MCUCSR & 0x0f;
 586                                         MCUCSR = 0x0;
 587                                         TWI_ACK;
 588                                         break;
 589                                 case 0xA1: // Error status
 590                                         TWDR = error_state;
 591                                         TWI_ACK;
 592                                         break;
 593                                 case 0xA2: // count test
 594                                         TWDR = count_test;
 595                                         TWI_ACK;
 596                                 default:
 597                                         TWDR = 0;
 598                                         TWI_NAK;
 599                         }
 600                         ireg++;
 601                         break;
 602                 default:
 603                         TWI_RESET;
 604         }
 605 }
 606
 607
 608 static void update_hall1(void) {
 609         unsigned char status = (PINA >> 0) & 0x3;
 610         static unsigned char oldstatus=0;
 611         unsigned char diff, new;
 612
 613         new = 0;
 614         if (status & 0x1)
 615                 new = 0x3;
 616         if (status & 0x2)
 617                 new ^= 0x1;                                     // convert gray to binary
 618         diff = oldstatus - new;                         // difference last - new
 619         if (diff & 0x1) {                               // bit 0 = value (1)
 620                 oldstatus = new;                                        // store new as next last
 621                 if (motor1_switch) pos1 += (diff & 2) - 1;              // bit 1 = direction (+/-)
 622                 else pos1 -= (diff & 2) - 1;
 623         }
 624 }
 625
 626
 627 static void update_hall2(void) {
 628         unsigned char status = (PINA >> 4) & 0x3;
 629         static unsigned char oldstatus=0;
 630         unsigned char diff, new;
 631
 632         new = 0;
 633         if (status & 0x1)
 634                 new = 0x3;
 635         if (status & 0x2)
 636                 new ^= 0x1;                                     // convert gray to binary
 637         diff = oldstatus - new;                         // difference last - new
 638         if (diff & 0x1) {                               // bit 0 = value (1)
 639                 oldstatus = new;                                        // store new as next last
 640                 if (motor2_switch) pos2 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
 641                 else pos2 += (diff & 2) - 1;
 642         }
 643 }
 644
 645
 646 static void update_hall3(void) {
 647         unsigned char status = (PINA >> 2) & 0x3;
 648         static unsigned char oldstatus=0;
 649         unsigned char diff, new;
 650
 651         new = 0;
 652         if (status & 0x1)
 653                 new = 0x3;
 654         if (status & 0x2)
 655                 new ^= 0x1;                                     // convert gray to binary
 656         diff = oldstatus - new;                         // difference last - new
 657         if (diff & 0x1) {                               // bit 0 = value (1)
 658                 oldstatus = new;                                        // store new as next last
 659                 if (motor3_switch) pos3 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
 660                 else pos3 += (diff & 2) - 1;
 661         }
 662 }
 663
 664
 665 static void update_hall4(void) {
 666         unsigned char status = (PINA >> 6) & 0x3;
 667         static unsigned char oldstatus=0;
 668         unsigned char diff, new;
 669
 670         new = 0;
 671         if (status & 0x1)
 672                 new = 0x3;
 673         if (status & 0x2)
 674                 new ^= 0x1;                                     // convert gray to binary
 675         diff = oldstatus - new;                         // difference last - new
 676         if (diff & 0x1) {                               // bit 0 = value (1)
 677                 oldstatus = new;                                        // store new as next last
 678                 if (motor4_switch) pos4 += (diff & 2) - 1;              // bit 1 = direction (+/-)
 679                 else pos4 -= (diff & 2) - 1;
 680         }
 681 }
 682
 683
 684 static void update_motor(void) {
 685         static int16_t m1_old=SHRT_MIN;
 686         static int16_t m2_old=SHRT_MIN;
 687         static int16_t m3_old=SHRT_MIN;
 688         static int16_t m4_old=SHRT_MIN;
 689
 690         error_state = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
 691
 692         if (m1_old != motor1) { // update only when changed
 693                 if (motor1 == 0) {
 694                         // stop
 695                         PORTC &= ~(1 << 3) & ~(1 << 2);
 696                 } else if ((!motor1_switch && motor1 > 0) || (motor1_switch && motor1 < 0)) {
 697                         // forward
 698                         uint8_t tmp=PORTC;
 699                         tmp &= ~(1 << 3);
 700                         tmp |=  (1 << 2);
 701                         PORTC = tmp;
 702                 } else { // motor1 < 0
 703                         // backward
 704                         uint8_t tmp=PORTC;
 705                         tmp &= ~(1 << 2);
 706                         tmp |=  (1 << 3);
 707                         PORTC = tmp;
 708                 }
 709
 710                 m1_old = motor1;
 711                 OCR1A = abs(motor1);
 712         }
 713
 714         if (m2_old != motor2) { // update only when changed
 715                 if (motor2 == 0) {
 716                         // stop
 717                         PORTC &= ~(1 << 5) & ~(1 << 4);
 718                 } else if ((!motor2_switch && motor2 > 0) || (motor2_switch && motor2 < 0)) {
 719                         // forward
 720                         uint8_t tmp=PORTC;
 721                         tmp &= ~(1 << 5);
 722                         tmp |=  (1 << 4);
 723                         PORTC = tmp;
 724                 } else { // motor2 < 0
 725                         // backward
 726                         uint8_t tmp=PORTC;
 727                         tmp &= ~(1 << 4);
 728                         tmp |=  (1 << 5);
 729                         PORTC = tmp;
 730                 }
 731
 732                 m2_old = motor2;
 733                 OCR1B = abs(motor2);
 734         }
 735
 736         if (m3_old != motor3) { // update only when changed
 737                 if (motor3 == 0) {
 738                         // stop
 739                         PORTC &= ~(1 << 7) & ~(1 << 6);
 740                 } else if ((!motor3_switch && motor3 > 0) || (motor3_switch && motor3 < 0)) {
 741                         // forward
 742                         uint8_t tmp=PORTC;
 743                         tmp &= ~(1 << 7);
 744                         tmp |=  (1 << 6);
 745                         PORTC = tmp;
 746                 } else { // motor3 < 0
 747                         // backward
 748                         uint8_t tmp=PORTC;
 749                         tmp &= ~(1 << 6);
 750                         tmp |=  (1 << 7);
 751                         PORTC = tmp;
 752                 }
 753
 754                 m3_old = motor3;
 755                 OCR2 = abs(motor3);
 756         }
 757
 758         if (m4_old != motor4) { // update only when changed
 759                 if (motor4 == 0) {
 760                         // stop
 761                         PORTD &= ~(1 << 3) & ~(1 << 2);
 762                 } else if ((!motor4_switch && motor4 > 0) || (motor4_switch && motor4 < 0)) {
 763                         // forward
 764                         uint8_t tmp=PORTD;
 765                         tmp &= ~(1 << 3);
 766                         tmp |=  (1 << 2);
 767                         PORTD = tmp;
 768                 } else { // motor4 < 0
 769                         // backward
 770                         uint8_t tmp=PORTD;
 771                         tmp &= ~(1 << 2);
 772                         tmp |=  (1 << 3);
 773                         PORTD = tmp;
 774                 }
 775
 776                 m4_old = motor4;
 777                 OCR0 = abs(motor4);
 778         }
 779 }
 780
 781
 782 static void update_pos(void) {
 783         static int16_t pos1_last=0;
 784         static int16_t pos2_last=0;
 785         static int16_t pos3_last=0;
 786         static int16_t pos4_last=0;
 787         int16_t pos1_diff; // steps
 788         int16_t pos2_diff;
 789         int16_t pos3_diff;
 790         int16_t pos4_diff;
 791         float diff_left_m, diff_right_m, angle_diff, translation;
 792         float pos_x_new, pos_y_new, angle_new;
 793         int16_t speed_l, speed_r;
 794         float tmp_speed_lin, tmp_speed_rot;
 795         int16_t cur_pos1, cur_pos2, cur_pos3, cur_pos4;
 796         int16_t new_speed1, new_speed2, new_speed3, new_speed4;
 797
 798         // copy to tmp
 799         cli();
 800         cur_pos1 = pos1;
 801         cur_pos2 = pos2;
 802         cur_pos3 = pos3;
 803         cur_pos4 = pos4;
 804         sei();
 805
 806         pos1_diff = cur_pos1 - pos1_last;
 807         pos2_diff = cur_pos2 - pos2_last;
 808         pos3_diff = cur_pos3 - pos3_last;
 809         pos4_diff = cur_pos4 - pos4_last;
 810
 811         new_speed1 = pos1_diff/PID_T;
 812         new_speed2 = pos2_diff/PID_T;
 813         new_speed3 = pos3_diff/PID_T;
 814         new_speed4 = pos4_diff/PID_T;
 815
 816         diff_left_m = (pos1_diff + pos2_diff)/(2*STEP_PER_M_LEFT);
 817         diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M_RIGHT);
 818         angle_diff = (diff_right_m - diff_left_m) / WHEEL_DIST;
 819
 820         angle_new = angle.f + angle_diff;
 821         if (angle_new > 2*M_PI) angle_new-=2*M_PI;
 822         else if (angle_new < -2*M_PI) angle_new+=2*M_PI;
 823
 824         translation = (diff_left_m + diff_right_m)/2.0;
 825         pos_x_new = pos_x.f + cos(angle_new)*translation;
 826         pos_y_new = pos_y.f + sin(angle_new)*translation;
 827
 828         speed_l = (new_speed1+new_speed2)/2;
 829         speed_r = (new_speed3+new_speed4)/2;
 830         tmp_speed_lin = (speed_l + speed_r)/(2.0*STEP_PER_M_AVG);
 831         tmp_speed_rot = (speed_r - speed_l)/(M_PI*WHEEL_DIST*STEP_PER_M_AVG);
 832
 833         // copy from tmp
 834         cli();
 835         angle.f = angle_new;
 836         pos_x.f = pos_x_new;
 837         pos_y.f = pos_y_new;
 838         speed1 = new_speed1;
 839         speed2 = new_speed2;
 840         speed3 = new_speed3;
 841         speed4 = new_speed4;
 842         cur_speed_lin = tmp_speed_lin;
 843         cur_speed_rot = tmp_speed_rot;
 844         sei();
 845
 846         pos1_last = cur_pos1;
 847         pos2_last = cur_pos2;
 848         pos3_last = cur_pos3;
 849         pos4_last = cur_pos4;
 850 }
 851
 852
 853 static void update_pid(void) {
 854         static int16_t eold1=0;
 855         static int16_t eold2=0;
 856         static int16_t eold3=0;
 857         static int16_t eold4=0;
 858         static int32_t esum1=0;
 859         static int32_t esum2=0;
 860         static int32_t esum3=0;
 861         static int32_t esum4=0;
 862
 863         if (motor1_mode == MOTOR_PID) {
 864                 if (speed1_wish == 0) {
 865                         motor1 = 0;
 866                         eold1 = 0;
 867                         esum1 = 0;
 868                 } else {
 869                         int16_t e = speed1_wish - speed1;
 870                         esum1+=e;
 871                         motor1 = KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
 872                         eold1 = e;
 873
 874                         if (motor1 > 0 && speed1_wish < 0) motor1=0;
 875                         else if (motor1 < 0 && speed1_wish > 0) motor1=0;
 876                         else if (motor1 > 255) motor1 = 255;
 877                         else if (motor1 < -255) motor1 = -255;
 878                 }
 879         }
 880         if (motor2_mode == MOTOR_PID) {
 881                 if (speed2_wish == 0) {
 882                         motor2 = 0;
 883                         eold2 = 0;
 884                         esum2 = 0;
 885                 } else {
 886                         int16_t e = speed2_wish - speed2;
 887                         esum2+=e;
 888                         motor2 = KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
 889                         eold2 = e;
 890
 891                         if (motor2 > 0 && speed2_wish < 0) motor2=0;
 892                         else if (motor2 < 0 && speed2_wish > 0) motor2=0;
 893                         else if (motor2 > 255) motor2 = 255;
 894                         else if (motor2 < -255) motor2 = -255;
 895                 }
 896         }
 897         if (motor3_mode == MOTOR_PID) {
 898                 if (speed3_wish == 0) {
 899                         motor3 = 0;
 900                         eold3 = 0;
 901                         esum3 = 0;
 902                 } else {
 903                         int16_t e = speed3_wish - speed3;
 904                         esum3+=e;
 905                         motor3 = KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
 906                         eold3 = e;
 907
 908                         if (motor3 > 0 && speed3_wish < 0) motor3=0;
 909                         else if (motor3 < 0 && speed3_wish > 0) motor3=0;
 910                         else if (motor3 > 255) motor3 = 255;
 911                         else if (motor3 < -255) motor3 = -255;
 912                 }
 913         }
 914         if (motor4_mode == MOTOR_PID) {
 915                 if (speed4_wish == 0) {
 916                         motor4 = 0;
 917                         eold4 = 0;
 918                         esum4 = 0;
 919                 } else {
 920                         int16_t e = speed4_wish - speed4;
 921                         esum4+=e;
 922                         motor4 = KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
 923                         eold4 = e;
 924
 925                         if (motor4 > 0 && speed4_wish < 0) motor4=0;
 926                         else if (motor4 < 0 && speed4_wish > 0) motor4=0;
 927                         else if (motor4 > 255) motor4 = 255;
 928                         else if (motor4 < -255) motor4 = -255;
 929                 }
 930         }
 931 }
 932
 933
 934 ISR(TIMER1_OVF_vect) {
 935         update_hall1();
 936         update_hall2();
 937         update_hall3();
 938         update_hall4();
 939
 940         run_update++;
 941 }
 942
 943
 944 int main(void) {
 945         // Outputs
 946         DDRB = (1 << 3);
 947         DDRC = (1 << 7) | (1 << 6) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
 948         DDRD = (1 << 7) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
 949         // Pullup Diag/Enable
 950         PORTB = (1 << 0) | (1 << 1) | (1 << 2);
 951         PORTD = (1 << 6);
 952
 953         bootloader = 0x00;
 954         setup_uart(9600);
 955         uart_setup_stdout();
 956
 957         // I2C
 958         TWAR = 0x50;
 959         TWI_RESET;
 960
 961         // Motor 1 & 2
 962         // Timer 1: Fast PWM non-inverting mode, Top=255 => 15.625kHz
 963         // Prescaler=1
 964         TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM10);
 965         TCCR1B = (1 << WGM12) | (1 << CS10);
 966         OCR1A = 0;
 967         OCR1B = 0;
 968
 969         // Motor 3
 970         // Timer 2: Fast PWM non-inverting mode, Top=255
 971         // Prescaler=1
 972         TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << CS20);
 973         OCR2 = 0;
 974
 975         // Motor 4
 976         // Timer 0: Fast PWM non-inverting mode, Top=255
 977         // Prescaler=1
 978         TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << CS00);
 979         OCR0 = 0;
 980
 981         printf("\r\nStart\r\n");
 982
 983         set_sleep_mode(SLEEP_MODE_IDLE);
 984         // Enable Timer 1 Overflow Interrupt
 985         TIMSK = (1 << TOIE1);
 986         sei();
 987
 988         while(1) {
 989                 switch(ireg) {
 990                         case 0xff: // Magic reg that starts the bootloader
 991                                 if (bootloader == 0xa5) {
 992                                         cli();
 993                                         {
 994                                                 void (*start)(void) = (void*)0x1800;
 995                                                 start();
 996                                         }
 997                                 }
 998                                 break;
 999                 }
1000
1001                 if (cmd_vel.bUpdate) {
1002                         float speed_wish_right, speed_wish_left;
1003                         float speed, angle;
1004
1005                         cli();
1006                         speed = cmd_vel.speed;
1007                         angle = cmd_vel.angle;
1008                         cmd_vel.bUpdate = 0;
1009                         sei();
1010
1011                         speed_wish_right = angle*M_PI*WHEEL_DIST/2 + speed;
1012                         speed_wish_left = speed*2-speed_wish_right;
1013
1014                         speed_wish_left*=STEP_PER_M_LEFT;
1015                         speed_wish_right*=STEP_PER_M_RIGHT;
1016
1017                         if (aft_handicap > 0) {
1018                                 speed1_wish = speed_wish_left * (100-aft_handicap)/100.0;
1019                                 speed4_wish = speed_wish_right * (100-aft_handicap)/100.0;
1020                         } else {
1021                                 speed1_wish = speed_wish_left;
1022                                 speed4_wish = speed_wish_right;
1023                         }
1024                         if (front_handicap > 0) {
1025                                 speed2_wish = speed_wish_left * (100-front_handicap)/100.0;
1026                                 speed3_wish = speed_wish_right * (100-front_handicap)/100.0;
1027                         } else {
1028                                 speed2_wish = speed_wish_left;
1029                                 speed3_wish = speed_wish_right;
1030                         }
1031                         motor1_mode = MOTOR_PID;
1032                         motor2_mode = MOTOR_PID;
1033                         motor3_mode = MOTOR_PID;
1034                         motor4_mode = MOTOR_PID;
1035                 }
1036
1037                 if (run_update >= 156) { // ~100Hz
1038                         run_update=0;
1039
1040                         update_pos();
1041                         update_pid();
1042                         update_motor();
1043                         count_test++;
1044                 }
1045
1046                 sleep_mode();
1047         }
1048
1049         return 0;
1050 }