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 0.06
 105 #define KI 0.10
 106 #define KD 0.0
 107 #define PID_T 0.01
 108 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:47, real wheel diameter: 0.12454m
 109 #define STEP_PER_M_AVG 5766.1
 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 int16_t speed1_wish_old=0;
 153 static volatile int16_t speed2_wish_old=0;
 154 static volatile int16_t speed3_wish_old=0;
 155 static volatile int16_t speed4_wish_old=0;
 156 static volatile uint8_t run_update=0;
 157 static volatile int16_t speed1=0; // step/s
 158 static volatile int16_t speed2=0;
 159 static volatile int16_t speed3=0;
 160 static volatile int16_t speed4=0;
 161 static volatile ufloat_t pos_x={0.0};
 162 static volatile ufloat_t pos_y={0.0};
 163 static volatile ufloat_t angle={0.0};
 164 static volatile float cur_speed_lin=0;
 165 static volatile float cur_speed_rot=0;
 166 static volatile uint8_t count_test=0;
 167 static volatile uint8_t front_handicap=0;
 168 static volatile uint8_t aft_handicap=0;
 169 static volatile uint8_t error_state=0;
 170
 171 ISR(TWI_vect)
 172 {
 173         static uint8_t tmp=0;
 174         static int16_t tmp16=0;
 175         static ufloat_t tmp_speed;
 176         static ufloat_t tmp_angle;
 177
 178         switch (TWSR & 0xF8)
 179         {
 180                 case 0x60: // start write
 181                         TWI_ACK;
 182                         ireg = 0;
 183                         break;
 184                 case 0x80: // write
 185                         switch(ireg) {
 186                                 case 0x00: // register select
 187                                         ireg = TWDR;
 188                                         ireg--; // because we do ireg++ below
 189                                         TWI_ACK;
 190                                         break;
 191                                 case 0x01: // Motor 1 MSB
 192                                         tmp = TWDR;
 193                                         TWI_ACK;
 194                                         break;
 195                                 case 0x02: // Motor 1 LSB
 196                                         motor1 = tmp<<8 | TWDR;
 197                                         motor1_mode = MOTOR_MANUAL;
 198                                         TWI_ACK;
 199                                         break;
 200                                 case 0x03: // Motor 2 MSB
 201                                         tmp = TWDR;
 202                                         TWI_ACK;
 203                                         break;
 204                                 case 0x04: // Motor 2 LSB
 205                                         motor2 = tmp<<8 | TWDR;
 206                                         motor2_mode = MOTOR_MANUAL;
 207                                         TWI_ACK;
 208                                         break;
 209                                 case 0x05: // Motor 3 MSB
 210                                         tmp = TWDR;
 211                                         TWI_ACK;
 212                                         break;
 213                                 case 0x06: // Motor 3 LSB
 214                                         motor3 = tmp<<8 | TWDR;
 215                                         motor3_mode = MOTOR_MANUAL;
 216                                         TWI_ACK;
 217                                         break;
 218                                 case 0x07: // Motor 4 MSB
 219                                         tmp = TWDR;
 220                                         TWI_ACK;
 221                                         break;
 222                                 case 0x08: // Motor 4 LSB
 223                                         motor4 = tmp<<8 | TWDR;
 224                                         motor4_mode = MOTOR_MANUAL;
 225                                         TWI_ACK;
 226                                         break;
 227                                 case 0x20: // Motor 1 speed wish MSB
 228                                         tmp = TWDR;
 229                                         TWI_ACK;
 230                                         break;
 231                                 case 0x21: // Motor 1 speed wish LSB
 232                                         speed1_wish = tmp<<8 | TWDR;
 233                                         motor1_mode = MOTOR_PID;
 234                                         TWI_ACK;
 235                                         break;
 236                                 case 0x22: // Motor 2 speed wish MSB
 237                                         tmp = TWDR;
 238                                         TWI_ACK;
 239                                         break;
 240                                 case 0x23: // Motor 2 speed wish LSB
 241                                         speed2_wish = tmp<<8 | TWDR;
 242                                         motor2_mode = MOTOR_PID;
 243                                         TWI_ACK;
 244                                         break;
 245                                 case 0x24: // Motor 3 speed wish MSB
 246                                         tmp = TWDR;
 247                                         TWI_ACK;
 248                                         break;
 249                                 case 0x25: // Motor 3 speed wish LSB
 250                                         speed3_wish = tmp<<8 | TWDR;
 251                                         motor3_mode = MOTOR_PID;
 252                                         TWI_ACK;
 253                                         break;
 254                                 case 0x26: // Motor 4 speed wish MSB
 255                                         tmp = TWDR;
 256                                         TWI_ACK;
 257                                         break;
 258                                 case 0x27: // Motor 4 speed wish LSB
 259                                         speed4_wish = tmp<<8 | TWDR;
 260                                         motor4_mode = MOTOR_PID;
 261                                         TWI_ACK;
 262                                         break;
 263                                 case 0x28: // Left speed wish MSB
 264                                         tmp_speed.i = TWDR;
 265                                         TWI_ACK;
 266                                         break;
 267                                 case 0x29: // Left speed wish
 268                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 269                                         TWI_ACK;
 270                                         break;
 271                                 case 0x2A: // Left speed wish
 272                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 273                                         TWI_ACK;
 274                                         break;
 275                                 case 0x2B: // Left speed wish LSB
 276                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 277                                         speed1_wish = tmp_speed.f*STEP_PER_M_LEFT;
 278                                         speed2_wish = tmp_speed.f*STEP_PER_M_LEFT;
 279                                         motor1_mode = MOTOR_PID;
 280                                         motor2_mode = MOTOR_PID;
 281                                         TWI_ACK;
 282                                         break;
 283                                 case 0x2C: // Right speed wish MSB
 284                                         tmp_speed.i = TWDR;
 285                                         TWI_ACK;
 286                                         break;
 287                                 case 0x2D: // Right speed wish
 288                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 289                                         TWI_ACK;
 290                                         break;
 291                                 case 0x2E: // Right speed wish
 292                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 293                                         TWI_ACK;
 294                                         break;
 295                                 case 0x2F: // Right speed wish LSB
 296                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 297                                         speed1_wish = tmp_speed.f*STEP_PER_M_RIGHT;
 298                                         speed2_wish = tmp_speed.f*STEP_PER_M_RIGHT;
 299                                         motor1_mode = MOTOR_PID;
 300                                         motor2_mode = MOTOR_PID;
 301                                         TWI_ACK;
 302                                         break;
 303                                 case 0x50: // speed wish MSB
 304                                         tmp_speed.i = TWDR;
 305                                         TWI_ACK;
 306                                         break;
 307                                 case 0x51: // speed wish
 308                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 309                                         TWI_ACK;
 310                                         break;
 311                                 case 0x52: // speed wish
 312                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 313                                         TWI_ACK;
 314                                         break;
 315                                 case 0x53: // speed wish LSB
 316                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 317                                         cmd_vel.speed = tmp_speed.f;
 318                                         TWI_ACK;
 319                                         break;
 320                                 case 0x54: // angle wish MSB
 321                                         tmp_angle.i = TWDR;
 322                                         TWI_ACK;
 323                                         break;
 324                                 case 0x55: // angle wish
 325                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 326                                         TWI_ACK;
 327                                         break;
 328                                 case 0x56: // angle wish
 329                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 330                                         TWI_ACK;
 331                                         break;
 332                                 case 0x57: // angle wish LSB
 333                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 334                                         cmd_vel.angle = tmp_angle.f;
 335                                         cmd_vel.bUpdate = 1;
 336                                         TWI_ACK;
 337                                         break;
 338                                 case 0x90: // Motor 1 switch
 339                                         motor1_switch = TWDR;
 340                                         TWI_ACK;
 341                                         break;
 342                                 case 0x91: // Motor 2 switch
 343                                         motor2_switch = TWDR;
 344                                         TWI_ACK;
 345                                         break;
 346                                 case 0x92: // Motor 3 switch
 347                                         motor3_switch = TWDR;
 348                                         TWI_ACK;
 349                                         break;
 350                                 case 0x93: // Motor 4 switch
 351                                         motor4_switch = TWDR;
 352                                         TWI_ACK;
 353                                         break;
 354                                 case 0x94: // Front Handicap
 355                                         front_handicap = TWDR;
 356                                         cmd_vel.bUpdate = 1;
 357                                         TWI_ACK;
 358                                         break;
 359                                 case 0x95: // Aft Handicap
 360                                         aft_handicap = TWDR;
 361                                         cmd_vel.bUpdate = 1;
 362                                         TWI_ACK;
 363                                         break;
 364                                 case 0xff: // bootloader
 365                                         bootloader = TWDR;
 366                                 default:
 367                                         TWI_NAK;
 368                         }
 369                         ireg++;
 370                         break;
 371                 case 0xA8: // start read
 372                 case 0xB8: // read
 373                         switch(ireg) {
 374                                 case 0x02: // Motor 1 PWM
 375                                         TWDR = OCR1A;
 376                                         TWI_ACK;
 377                                         break;
 378                                 case 0x03: // Dummy to allow continous read
 379                                         TWDR = 0;
 380                                         TWI_ACK;
 381                                         break;
 382                                 case 0x04: // Motor 2 PWM
 383                                         TWDR = OCR1B;
 384                                         TWI_ACK;
 385                                         break;
 386                                 case 0x05: // Dummy to allow continous read
 387                                         TWDR = 0;
 388                                         TWI_ACK;
 389                                         break;
 390                                 case 0x06: // Motor 3 PWM
 391                                         TWDR = OCR2;
 392                                         TWI_ACK;
 393                                         break;
 394                                 case 0x07: // Dummy to allow continous read
 395                                         TWDR = 0;
 396                                         TWI_ACK;
 397                                         break;
 398                                 case 0x08: // Motor 4 PWM
 399                                         TWDR = OCR0;
 400                                         TWI_ACK;
 401                                         break;
 402                                 case 0x09: // Dummy to allow continous read
 403                                         TWDR = 0;
 404                                         TWI_ACK;
 405                                         break;
 406                                 case 0x10: // Hall 1 MSB
 407                                         tmp16 = pos1;
 408                                         TWDR = tmp16>>8;
 409                                         TWI_ACK;
 410                                         break;
 411                                 case 0x11: // Hall 1 LSB
 412                                         TWDR = tmp16;
 413                                         TWI_ACK;
 414                                         break;
 415                                 case 0x12: // Hall 2 MSB
 416                                         tmp16 = pos2;
 417                                         TWDR = tmp16>>8;
 418                                         TWI_ACK;
 419                                         break;
 420                                 case 0x13: // Hall 2 LSB
 421                                         TWDR = tmp16;
 422                                         TWI_ACK;
 423                                         break;
 424                                 case 0x14: // Hall 3 MSB
 425                                         tmp16 = pos3;
 426                                         TWDR = tmp16>>8;
 427                                         TWI_ACK;
 428                                         break;
 429                                 case 0x15: // Hall 3 LSB
 430                                         TWDR = tmp16;
 431                                         TWI_ACK;
 432                                         break;
 433                                 case 0x16: // Hall 4 MSB
 434                                         tmp16 = pos4;
 435                                         TWDR = tmp16>>8;
 436                                         TWI_ACK;
 437                                         break;
 438                                 case 0x17: // Hall 4 LSB
 439                                         TWDR = tmp16;
 440                                         TWI_ACK;
 441                                         break;
 442                                 case 0x20: // Motor 1 speed wish MSB
 443                                         TWDR = speed1_wish>>8;
 444                                         TWI_ACK;
 445                                         break;
 446                                 case 0x21: // Motor 1 speed wish LSB
 447                                         TWDR = speed1_wish;
 448                                         TWI_ACK;
 449                                         break;
 450                                 case 0x22: // Motor 2 speed wish MSB
 451                                         TWDR = speed2_wish>>8;
 452                                         TWI_ACK;
 453                                         break;
 454                                 case 0x23: // Motor 2 speed wish LSB
 455                                         TWDR = speed2_wish;
 456                                         TWI_ACK;
 457                                         break;
 458                                 case 0x24: // Motor 3 speed wish MSB
 459                                         TWDR = speed3_wish>>8;
 460                                         TWI_ACK;
 461                                         break;
 462                                 case 0x25: // Motor 3 speed wish LSB
 463                                         TWDR = speed3_wish;
 464                                         TWI_ACK;
 465                                         break;
 466                                 case 0x26: // Motor 4 speed wish MSB
 467                                         TWDR = speed4_wish>>8;
 468                                         TWI_ACK;
 469                                         break;
 470                                 case 0x27: // Motor 4 speed wish LSB
 471                                         TWDR = speed4_wish;
 472                                         TWI_ACK;
 473                                         break;
 474                                 case 0x30: // Motor 1 speed MSB
 475                                         TWDR = speed1>>8;
 476                                         TWI_ACK;
 477                                         break;
 478                                 case 0x31: // Motor 1 speed LSB
 479                                         TWDR = speed1;
 480                                         TWI_ACK;
 481                                         break;
 482                                 case 0x32: // Motor 2 speed MSB
 483                                         TWDR = speed2>>8;
 484                                         TWI_ACK;
 485                                         break;
 486                                 case 0x33: // Motor 2 speed LSB
 487                                         TWDR = speed2;
 488                                         TWI_ACK;
 489                                         break;
 490                                 case 0x34: // Motor 3 speed MSB
 491                                         TWDR = speed3>>8;
 492                                         TWI_ACK;
 493                                         break;
 494                                 case 0x35: // Motor 3 speed LSB
 495                                         TWDR = speed3;
 496                                         TWI_ACK;
 497                                         break;
 498                                 case 0x36: // Motor 4 speed MSB
 499                                         TWDR = speed4>>8;
 500                                         TWI_ACK;
 501                                         break;
 502                                 case 0x37: // Motor 4 speed LSB
 503                                         TWDR = speed4;
 504                                         TWI_ACK;
 505                                         break;
 506                                 case 0x38: // speed MSB
 507                                         tmp_speed.f = cur_speed_lin;
 508                                         TWDR = tmp_speed.i>>24;
 509                                         TWI_ACK;
 510                                         break;
 511                                 case 0x39: // speed
 512                                         TWDR = tmp_speed.i>>16;
 513                                         TWI_ACK;
 514                                         break;
 515                                 case 0x3A: // speed
 516                                         TWDR = tmp_speed.i>>8;
 517                                         TWI_ACK;
 518                                         break;
 519                                 case 0x3B: // speed LSB
 520                                         TWDR = tmp_speed.i;
 521                                         TWI_ACK;
 522                                         break;
 523                                 case 0x3C: // angle MSB
 524                                         tmp_angle.f = cur_speed_rot;
 525                                         TWDR = tmp_angle.i>>24;
 526                                         TWI_ACK;
 527                                         break;
 528                                 case 0x3D: // angle
 529                                         TWDR = tmp_angle.i>>16;
 530                                         TWI_ACK;
 531                                         break;
 532                                 case 0x3E: // angle
 533                                         TWDR = tmp_angle.i>>8;
 534                                         TWI_ACK;
 535                                         break;
 536                                 case 0x3F: // angle LSB
 537                                         TWDR = angle.i;
 538                                         TWI_ACK;
 539                                         break;
 540                                 case 0x40: // Position x MSB
 541                                         TWDR = pos_x.i>>24;
 542                                         TWI_ACK;
 543                                         break;
 544                                 case 0x41: // Position x
 545                                         TWDR = pos_x.i>>16;
 546                                         TWI_ACK;
 547                                         break;
 548                                 case 0x42: // Position x
 549                                         TWDR = pos_x.i>>8;
 550                                         TWI_ACK;
 551                                         break;
 552                                 case 0x43: // Position x LSB
 553                                         TWDR = pos_x.i;
 554                                         TWI_ACK;
 555                                         break;
 556                                 case 0x44: // Position y MSB
 557                                         TWDR = pos_y.i>>24;
 558                                         TWI_ACK;
 559                                         break;
 560                                 case 0x45: // Position y
 561                                         TWDR = pos_y.i>>16;
 562                                         TWI_ACK;
 563                                         break;
 564                                 case 0x46: // Position y
 565                                         TWDR = pos_y.i>>8;
 566                                         TWI_ACK;
 567                                         break;
 568                                 case 0x47: // Position y LSB
 569                                         TWDR = pos_y.i;
 570                                         TWI_ACK;
 571                                         break;
 572                                 case 0x48: // Position angle MSB
 573                                         TWDR = angle.i>>24;
 574                                         TWI_ACK;
 575                                         break;
 576                                 case 0x49: // Position angle
 577                                         TWDR = angle.i>>16;
 578                                         TWI_ACK;
 579                                         break;
 580                                 case 0x4A: // Position angle
 581                                         TWDR = angle.i>>8;
 582                                         TWI_ACK;
 583                                         break;
 584                                 case 0x4B: // Position angle LSB
 585                                         TWDR = angle.i;
 586                                         TWI_ACK;
 587                                         break;
 588                                 case 0xA0: // Reset reason
 589                                         TWDR = MCUCSR & 0x0f;
 590                                         MCUCSR = 0x0;
 591                                         TWI_ACK;
 592                                         break;
 593                                 case 0xA1: // Error status
 594                                         TWDR = error_state;
 595                                         TWI_ACK;
 596                                         break;
 597                                 case 0xA2: // count test
 598                                         TWDR = count_test;
 599                                         TWI_ACK;
 600                                 default:
 601                                         TWDR = 0;
 602                                         TWI_NAK;
 603                         }
 604                         ireg++;
 605                         break;
 606                 default:
 607                         TWI_RESET;
 608         }
 609 }
 610
 611
 612 static void update_hall1(void) {
 613         unsigned char status = (PINA >> 0) & 0x3;
 614         static unsigned char oldstatus=0;
 615         unsigned char diff, new;
 616
 617         new = 0;
 618         if (status & 0x1)
 619                 new = 0x3;
 620         if (status & 0x2)
 621                 new ^= 0x1;                                     // convert gray to binary
 622         diff = oldstatus - new;                         // difference last - new
 623         if (diff & 0x1) {                               // bit 0 = value (1)
 624                 oldstatus = new;                                        // store new as next last
 625                 if (motor1_switch) pos1 += (diff & 2) - 1;              // bit 1 = direction (+/-)
 626                 else pos1 -= (diff & 2) - 1;
 627         }
 628 }
 629
 630
 631 static void update_hall2(void) {
 632         unsigned char status = (PINA >> 4) & 0x3;
 633         static unsigned char oldstatus=0;
 634         unsigned char diff, new;
 635
 636         new = 0;
 637         if (status & 0x1)
 638                 new = 0x3;
 639         if (status & 0x2)
 640                 new ^= 0x1;                                     // convert gray to binary
 641         diff = oldstatus - new;                         // difference last - new
 642         if (diff & 0x1) {                               // bit 0 = value (1)
 643                 oldstatus = new;                                        // store new as next last
 644                 if (motor2_switch) pos2 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
 645                 else pos2 += (diff & 2) - 1;
 646         }
 647 }
 648
 649
 650 static void update_hall3(void) {
 651         unsigned char status = (PINA >> 2) & 0x3;
 652         static unsigned char oldstatus=0;
 653         unsigned char diff, new;
 654
 655         new = 0;
 656         if (status & 0x1)
 657                 new = 0x3;
 658         if (status & 0x2)
 659                 new ^= 0x1;                                     // convert gray to binary
 660         diff = oldstatus - new;                         // difference last - new
 661         if (diff & 0x1) {                               // bit 0 = value (1)
 662                 oldstatus = new;                                        // store new as next last
 663                 if (motor3_switch) pos3 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
 664                 else pos3 += (diff & 2) - 1;
 665         }
 666 }
 667
 668
 669 static void update_hall4(void) {
 670         unsigned char status = (PINA >> 6) & 0x3;
 671         static unsigned char oldstatus=0;
 672         unsigned char diff, new;
 673
 674         new = 0;
 675         if (status & 0x1)
 676                 new = 0x3;
 677         if (status & 0x2)
 678                 new ^= 0x1;                                     // convert gray to binary
 679         diff = oldstatus - new;                         // difference last - new
 680         if (diff & 0x1) {                               // bit 0 = value (1)
 681                 oldstatus = new;                                        // store new as next last
 682                 if (motor4_switch) pos4 += (diff & 2) - 1;              // bit 1 = direction (+/-)
 683                 else pos4 -= (diff & 2) - 1;
 684         }
 685 }
 686
 687
 688 static void update_motor(void) {
 689         static int16_t m1_old=SHRT_MIN;
 690         static int16_t m2_old=SHRT_MIN;
 691         static int16_t m3_old=SHRT_MIN;
 692         static int16_t m4_old=SHRT_MIN;
 693
 694         error_state &= 0xf0; // clear lower bits
 695         error_state |= ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
 696
 697         if (m1_old != motor1) { // update only when changed
 698                 if (motor1 == 0) {
 699                         // stop
 700                         PORTC &= ~(1 << 3) & ~(1 << 2);
 701                 } else if ((!motor1_switch && motor1 > 0) || (motor1_switch && motor1 < 0)) {
 702                         // forward
 703                         uint8_t tmp=PORTC;
 704                         tmp &= ~(1 << 3);
 705                         tmp |=  (1 << 2);
 706                         PORTC = tmp;
 707                 } else { // motor1 < 0
 708                         // backward
 709                         uint8_t tmp=PORTC;
 710                         tmp &= ~(1 << 2);
 711                         tmp |=  (1 << 3);
 712                         PORTC = tmp;
 713                 }
 714
 715                 m1_old = motor1;
 716                 OCR1A = abs(motor1);
 717         }
 718
 719         if (m2_old != motor2) { // update only when changed
 720                 if (motor2 == 0) {
 721                         // stop
 722                         PORTC &= ~(1 << 5) & ~(1 << 4);
 723                 } else if ((!motor2_switch && motor2 > 0) || (motor2_switch && motor2 < 0)) {
 724                         // forward
 725                         uint8_t tmp=PORTC;
 726                         tmp &= ~(1 << 5);
 727                         tmp |=  (1 << 4);
 728                         PORTC = tmp;
 729                 } else { // motor2 < 0
 730                         // backward
 731                         uint8_t tmp=PORTC;
 732                         tmp &= ~(1 << 4);
 733                         tmp |=  (1 << 5);
 734                         PORTC = tmp;
 735                 }
 736
 737                 m2_old = motor2;
 738                 OCR1B = abs(motor2);
 739         }
 740
 741         if (m3_old != motor3) { // update only when changed
 742                 if (motor3 == 0) {
 743                         // stop
 744                         PORTC &= ~(1 << 7) & ~(1 << 6);
 745                 } else if ((!motor3_switch && motor3 > 0) || (motor3_switch && motor3 < 0)) {
 746                         // forward
 747                         uint8_t tmp=PORTC;
 748                         tmp &= ~(1 << 7);
 749                         tmp |=  (1 << 6);
 750                         PORTC = tmp;
 751                 } else { // motor3 < 0
 752                         // backward
 753                         uint8_t tmp=PORTC;
 754                         tmp &= ~(1 << 6);
 755                         tmp |=  (1 << 7);
 756                         PORTC = tmp;
 757                 }
 758
 759                 m3_old = motor3;
 760                 OCR2 = abs(motor3);
 761         }
 762
 763         if (m4_old != motor4) { // update only when changed
 764                 if (motor4 == 0) {
 765                         // stop
 766                         PORTD &= ~(1 << 3) & ~(1 << 2);
 767                 } else if ((!motor4_switch && motor4 > 0) || (motor4_switch && motor4 < 0)) {
 768                         // forward
 769                         uint8_t tmp=PORTD;
 770                         tmp &= ~(1 << 3);
 771                         tmp |=  (1 << 2);
 772                         PORTD = tmp;
 773                 } else { // motor4 < 0
 774                         // backward
 775                         uint8_t tmp=PORTD;
 776                         tmp &= ~(1 << 2);
 777                         tmp |=  (1 << 3);
 778                         PORTD = tmp;
 779                 }
 780
 781                 m4_old = motor4;
 782                 OCR0 = abs(motor4);
 783         }
 784 }
 785
 786
 787 static void update_pos(void) {
 788         static int16_t pos1_last=0;
 789         static int16_t pos2_last=0;
 790         static int16_t pos3_last=0;
 791         static int16_t pos4_last=0;
 792         int16_t pos1_diff; // steps
 793         int16_t pos2_diff;
 794         int16_t pos3_diff;
 795         int16_t pos4_diff;
 796         float diff_left_m, diff_right_m, angle_diff, translation;
 797         float pos_x_new, pos_y_new, angle_new;
 798         float tmp_speed_lin, tmp_speed_rot;
 799         int16_t cur_pos1, cur_pos2, cur_pos3, cur_pos4;
 800         int16_t new_speed1, new_speed2, new_speed3, new_speed4;
 801
 802         // copy to tmp
 803         cli();
 804         cur_pos1 = pos1;
 805         cur_pos2 = pos2;
 806         cur_pos3 = pos3;
 807         cur_pos4 = pos4;
 808         sei();
 809
 810         pos1_diff = cur_pos1 - pos1_last;
 811         pos2_diff = cur_pos2 - pos2_last;
 812         pos3_diff = cur_pos3 - pos3_last;
 813         pos4_diff = cur_pos4 - pos4_last;
 814
 815         new_speed1 = pos1_diff/PID_T;
 816         new_speed2 = pos2_diff/PID_T;
 817         new_speed3 = pos3_diff/PID_T;
 818         new_speed4 = pos4_diff/PID_T;
 819
 820         diff_left_m = (pos1_diff + pos2_diff)/(2*STEP_PER_M_LEFT);
 821         diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M_RIGHT);
 822         angle_diff = (diff_right_m - diff_left_m) / WHEEL_DIST;
 823
 824         angle_new = angle.f + angle_diff;
 825         if (angle_new > 2*M_PI) angle_new-=2*M_PI;
 826         else if (angle_new < -2*M_PI) angle_new+=2*M_PI;
 827
 828         translation = (diff_left_m + diff_right_m)/2.0;
 829         pos_x_new = pos_x.f + cos(angle_new)*translation;
 830         pos_y_new = pos_y.f + sin(angle_new)*translation;
 831
 832         tmp_speed_lin = translation/PID_T;
 833         tmp_speed_rot = angle_diff/PID_T;
 834
 835         // copy from tmp
 836         cli();
 837         angle.f = angle_new;
 838         pos_x.f = pos_x_new;
 839         pos_y.f = pos_y_new;
 840         speed1 = new_speed1;
 841         speed2 = new_speed2;
 842         speed3 = new_speed3;
 843         speed4 = new_speed4;
 844         cur_speed_lin = tmp_speed_lin;
 845         cur_speed_rot = tmp_speed_rot;
 846         sei();
 847
 848         pos1_last = cur_pos1;
 849         pos2_last = cur_pos2;
 850         pos3_last = cur_pos3;
 851         pos4_last = cur_pos4;
 852 }
 853
 854
 855 static void update_pid(void) {
 856         static int16_t eold1=0;
 857         static int16_t eold2=0;
 858         static int16_t eold3=0;
 859         static int16_t eold4=0;
 860         static int32_t esum1=0;
 861         static int32_t esum2=0;
 862         static int32_t esum3=0;
 863         static int32_t esum4=0;
 864
 865         // protect motors from damage if stalling
 866         if (labs(esum1) > 120000 && speed1 == 0) {
 867                 motor1 = 0;
 868                 motor1_mode = MOTOR_MANUAL;
 869                 error_state |= (1<<4);
 870                 esum1 = 0;
 871         }
 872         if (labs(esum2) > 120000 && speed2 == 0) {
 873                 motor2 = 0;
 874                 motor2_mode = MOTOR_MANUAL;
 875                 error_state |= (1<<5);
 876                 esum2 = 0;
 877         }
 878         if (labs(esum3) > 120000 && speed3 == 0) {
 879                 motor3 = 0;
 880                 motor3_mode = MOTOR_MANUAL;
 881                 error_state |= (1<<6);
 882                 esum3 = 0;
 883         }
 884         // protect motors from damage if stalling
 885         if (labs(esum4) > 120000 && speed4 == 0) {
 886                 motor4 = 0;
 887                 motor4_mode = MOTOR_MANUAL;
 888                 error_state |= (1<<7);
 889                 esum4 = 0;
 890         }
 891
 892         if (motor1_mode == MOTOR_PID) {
 893                 if (speed1_wish != speed1_wish_old) {
 894                         esum1 = 0;
 895                         speed1_wish_old = speed1_wish;
 896                 }
 897
 898                 if (speed1_wish == 0) {
 899                         motor1 = 0;
 900                         eold1 = 0;
 901                         error_state &= ~(1<<4);
 902                 } else {
 903                         int16_t e = speed1_wish - speed1;
 904                         esum1+=e;
 905                         motor1 = KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
 906                         eold1 = e;
 907
 908                         if (motor1 > 0 && speed1_wish < 0) motor1=0;
 909                         else if (motor1 < 0 && speed1_wish > 0) motor1=0;
 910                         else if (motor1 > 255) motor1 = 255;
 911                         else if (motor1 < -255) motor1 = -255;
 912                 }
 913         }
 914         if (motor2_mode == MOTOR_PID) {
 915                 if (speed2_wish != speed2_wish_old) {
 916                         esum2 = 0;
 917                         speed2_wish_old = speed2_wish;
 918                 }
 919
 920                 if (speed2_wish == 0) {
 921                         motor2 = 0;
 922                         eold2 = 0;
 923                         error_state &= ~(1<<5);
 924                 } else {
 925                         int16_t e = speed2_wish - speed2;
 926                         esum2+=e;
 927                         motor2 = KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
 928                         eold2 = e;
 929
 930                         if (motor2 > 0 && speed2_wish < 0) motor2=0;
 931                         else if (motor2 < 0 && speed2_wish > 0) motor2=0;
 932                         else if (motor2 > 255) motor2 = 255;
 933                         else if (motor2 < -255) motor2 = -255;
 934                 }
 935         }
 936         if (motor3_mode == MOTOR_PID) {
 937                 if (speed3_wish != speed3_wish_old) {
 938                         esum3 = 0;
 939                         speed3_wish_old = speed3_wish;
 940                 }
 941
 942                 if (speed3_wish == 0) {
 943                         motor3 = 0;
 944                         eold3 = 0;
 945                         error_state &= ~(1<<6);
 946                 } else {
 947                         int16_t e = speed3_wish - speed3;
 948                         esum3+=e;
 949                         motor3 = KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
 950                         eold3 = e;
 951
 952                         if (motor3 > 0 && speed3_wish < 0) motor3=0;
 953                         else if (motor3 < 0 && speed3_wish > 0) motor3=0;
 954                         else if (motor3 > 255) motor3 = 255;
 955                         else if (motor3 < -255) motor3 = -255;
 956                 }
 957         }
 958         if (motor4_mode == MOTOR_PID) {
 959                 if (speed4_wish != speed4_wish_old) {
 960                         esum4 = 0;
 961                         speed4_wish_old = speed4_wish;
 962                 }
 963
 964                 if (speed4_wish == 0) {
 965                         motor4 = 0;
 966                         eold4 = 0;
 967                         error_state &= ~(1<<7);
 968                 } else {
 969                         int16_t e = speed4_wish - speed4;
 970                         esum4+=e;
 971                         motor4 = KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
 972                         eold4 = e;
 973
 974                         if (motor4 > 0 && speed4_wish < 0) motor4=0;
 975                         else if (motor4 < 0 && speed4_wish > 0) motor4=0;
 976                         else if (motor4 > 255) motor4 = 255;
 977                         else if (motor4 < -255) motor4 = -255;
 978                 }
 979         }
 980 }
 981
 982
 983 ISR(TIMER1_OVF_vect) {
 984         update_hall1();
 985         update_hall2();
 986         update_hall3();
 987         update_hall4();
 988
 989         run_update++;
 990 }
 991
 992
 993 int main(void) {
 994         // Outputs
 995         DDRB = (1 << 3);
 996         DDRC = (1 << 7) | (1 << 6) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
 997         DDRD = (1 << 7) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
 998         // Pullup Diag/Enable
 999         PORTB = (1 << 0) | (1 << 1) | (1 << 2);
1000         PORTD = (1 << 6);
1001
1002         bootloader = 0x00;
1003         setup_uart(9600);
1004         uart_setup_stdout();
1005
1006         // I2C
1007         TWAR = 0x50;
1008         TWI_RESET;
1009
1010         // Motor 1 & 2
1011         // Timer 1: Fast PWM non-inverting mode, Top=255 => 15.625kHz
1012         // Prescaler=1
1013         TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM10);
1014         TCCR1B = (1 << WGM12) | (1 << CS10);
1015         OCR1A = 0;
1016         OCR1B = 0;
1017
1018         // Motor 3
1019         // Timer 2: Fast PWM non-inverting mode, Top=255
1020         // Prescaler=1
1021         TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << CS20);
1022         OCR2 = 0;
1023
1024         // Motor 4
1025         // Timer 0: Fast PWM non-inverting mode, Top=255
1026         // Prescaler=1
1027         TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << CS00);
1028         OCR0 = 0;
1029
1030         printf("\r\nStart\r\n");
1031
1032         set_sleep_mode(SLEEP_MODE_IDLE);
1033         // Enable Timer 1 Overflow Interrupt
1034         TIMSK = (1 << TOIE1);
1035         sei();
1036
1037         while(1) {
1038                 switch(ireg) {
1039                         case 0xff: // Magic reg that starts the bootloader
1040                                 if (bootloader == 0xa5) {
1041                                         cli();
1042                                         {
1043                                                 void (*start)(void) = (void*)0x1800;
1044                                                 start();
1045                                         }
1046                                 }
1047                                 break;
1048                 }
1049
1050                 if (cmd_vel.bUpdate) {
1051                         float speed_wish_right, speed_wish_left;
1052                         float speed, angle;
1053
1054                         cli();
1055                         speed = cmd_vel.speed;
1056                         angle = cmd_vel.angle;
1057                         cmd_vel.bUpdate = 0;
1058                         sei();
1059
1060                         speed_wish_right = (angle*WHEEL_DIST)/2 + speed;
1061                         speed_wish_left = speed*2-speed_wish_right;
1062
1063                         speed_wish_left*=STEP_PER_M_LEFT;
1064                         speed_wish_right*=STEP_PER_M_RIGHT;
1065
1066                         if (aft_handicap > 0) {
1067                                 speed1_wish = speed_wish_left * (100-aft_handicap)/100.0;
1068                                 speed3_wish = speed_wish_right * (100-aft_handicap)/100.0;
1069                         } else {
1070                                 speed1_wish = speed_wish_left;
1071                                 speed3_wish = speed_wish_right;
1072                         }
1073                         if (front_handicap > 0) {
1074                                 speed2_wish = speed_wish_left * (100-front_handicap)/100.0;
1075                                 speed4_wish = speed_wish_right * (100-front_handicap)/100.0;
1076                         } else {
1077                                 speed2_wish = speed_wish_left;
1078                                 speed4_wish = speed_wish_right;
1079                         }
1080                         motor1_mode = MOTOR_PID;
1081                         motor2_mode = MOTOR_PID;
1082                         motor3_mode = MOTOR_PID;
1083                         motor4_mode = MOTOR_PID;
1084                 }
1085
1086                 if (run_update >= 156) { // ~100Hz
1087                         run_update=0;
1088
1089                         update_pos();
1090                         update_pid();
1091                         update_motor();
1092                         count_test++;
1093                 }
1094
1095                 sleep_mode();
1096         }
1097
1098         return 0;
1099 }