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 KP 0.062
 101 #define KI 0.12
 102 #define KD 0.0
 103 #define PID_T 0.01
 104 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:47
 105 // STEP_PER_M = 48*47/(d*pi)
 106 // Left real diameter: 0.12808, Right real diameter: 0.121
 107 #define STEP_PER_M 5573.0
 108 #define STEP_PER_M_LEFT (STEP_PER_M)
 109 #define STEP_PER_M_RIGHT (STEP_PER_M)
 110 #define WHEEL_DIST 0.39912 // Measured: 0.252
 111 #define PWM_BREAK INT16_MIN
 112 #define STALL_LIMIT 140000
 113
 114 #define TWI_ACK   TWCR = (1<<TWEA) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
 115 #define TWI_RESET TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
 116 #define TWI_NAK   TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
 117 #define ENABLE_PWM_MOTOR1  TCCR1A |=  (1 << COM1A1)
 118 #define ENABLE_PWM_MOTOR2  TCCR1A |=  (1 << COM1B1)
 119 #define ENABLE_PWM_MOTOR3  TCCR2  |=  (1 << COM21);
 120 #define ENABLE_PWM_MOTOR4  TCCR0  |=  (1 << COM01);
 121 #define DISABLE_PWM_MOTOR1 TCCR1A &= ~(1 << COM1A1)
 122 #define DISABLE_PWM_MOTOR2 TCCR1A &= ~(1 << COM1B1)
 123 #define DISABLE_PWM_MOTOR3 TCCR2  &= ~(1 << COM21);
 124 #define DISABLE_PWM_MOTOR4 TCCR0  &= ~(1 << COM01);
 125
 126
 127 enum mode {
 128         MOTOR_MANUAL,
 129         MOTOR_PID
 130 };
 131
 132 typedef union {
 133         float f;
 134         uint32_t i;
 135 } ufloat_t;
 136
 137 static volatile struct {
 138         float speed;
 139         float angle;
 140         uint8_t bUpdate;
 141 } cmd_vel = {0, 0, 0};
 142
 143 static volatile uint8_t ireg=0;
 144 static volatile uint8_t bootloader=0;
 145 static volatile int16_t motor1=0; // -255..+255
 146 static volatile int16_t motor2=0;
 147 static volatile int16_t motor3=0;
 148 static volatile int16_t motor4=0;
 149 static volatile int16_t pos1=0; // step
 150 static volatile int16_t pos2=0;
 151 static volatile int16_t pos3=0;
 152 static volatile int16_t pos4=0;
 153 static volatile enum mode motor1_mode=MOTOR_MANUAL;
 154 static volatile enum mode motor2_mode=MOTOR_MANUAL;
 155 static volatile enum mode motor3_mode=MOTOR_MANUAL;
 156 static volatile enum mode motor4_mode=MOTOR_MANUAL;
 157 static volatile uint8_t motor1_switch=1;
 158 static volatile uint8_t motor2_switch=1;
 159 static volatile uint8_t motor3_switch=0;
 160 static volatile uint8_t motor4_switch=0;
 161 static volatile int16_t speed1_wish=0; // step/s
 162 static volatile int16_t speed2_wish=0;
 163 static volatile int16_t speed3_wish=0;
 164 static volatile int16_t speed4_wish=0;
 165 static volatile int16_t speed1_wish_old=0;
 166 static volatile int16_t speed2_wish_old=0;
 167 static volatile int16_t speed3_wish_old=0;
 168 static volatile int16_t speed4_wish_old=0;
 169 static volatile uint8_t run_update=0;
 170 static volatile int16_t speed1=0; // step/s
 171 static volatile int16_t speed2=0;
 172 static volatile int16_t speed3=0;
 173 static volatile int16_t speed4=0;
 174 static volatile ufloat_t pos_x={0.0};
 175 static volatile ufloat_t pos_y={0.0};
 176 static volatile ufloat_t angle={0.0};
 177 static volatile float cur_speed_lin=0;
 178 static volatile float cur_speed_rot=0;
 179 static volatile uint8_t count_test=0;
 180 static volatile uint8_t front_handicap=0;
 181 static volatile uint8_t aft_handicap=0;
 182 static volatile uint8_t error_state=0;
 183
 184 ISR(TWI_vect)
 185 {
 186         static uint8_t tmp=0;
 187         static int16_t tmp16=0;
 188         static ufloat_t tmp_speed;
 189         static ufloat_t tmp_angle;
 190
 191         switch (TWSR & 0xF8)
 192         {
 193                 case 0x60: // start write
 194                         TWI_ACK;
 195                         ireg = 0;
 196                         break;
 197                 case 0x80: // write
 198                         switch(ireg) {
 199                                 case 0x00: // register select
 200                                         ireg = TWDR;
 201                                         ireg--; // because we do ireg++ below
 202                                         TWI_ACK;
 203                                         break;
 204                                 case 0x01: // Motor 1 MSB
 205                                         tmp = TWDR;
 206                                         TWI_ACK;
 207                                         break;
 208                                 case 0x02: // Motor 1 LSB
 209                                         motor1 = tmp<<8 | TWDR;
 210                                         motor1_mode = MOTOR_MANUAL;
 211                                         TWI_ACK;
 212                                         break;
 213                                 case 0x03: // Motor 2 MSB
 214                                         tmp = TWDR;
 215                                         TWI_ACK;
 216                                         break;
 217                                 case 0x04: // Motor 2 LSB
 218                                         motor2 = tmp<<8 | TWDR;
 219                                         motor2_mode = MOTOR_MANUAL;
 220                                         TWI_ACK;
 221                                         break;
 222                                 case 0x05: // Motor 3 MSB
 223                                         tmp = TWDR;
 224                                         TWI_ACK;
 225                                         break;
 226                                 case 0x06: // Motor 3 LSB
 227                                         motor3 = tmp<<8 | TWDR;
 228                                         motor3_mode = MOTOR_MANUAL;
 229                                         TWI_ACK;
 230                                         break;
 231                                 case 0x07: // Motor 4 MSB
 232                                         tmp = TWDR;
 233                                         TWI_ACK;
 234                                         break;
 235                                 case 0x08: // Motor 4 LSB
 236                                         motor4 = tmp<<8 | TWDR;
 237                                         motor4_mode = MOTOR_MANUAL;
 238                                         TWI_ACK;
 239                                         break;
 240                                 case 0x20: // Motor 1 speed wish MSB
 241                                         tmp = TWDR;
 242                                         TWI_ACK;
 243                                         break;
 244                                 case 0x21: // Motor 1 speed wish LSB
 245                                         speed1_wish = tmp<<8 | TWDR;
 246                                         motor1_mode = MOTOR_PID;
 247                                         TWI_ACK;
 248                                         break;
 249                                 case 0x22: // Motor 2 speed wish MSB
 250                                         tmp = TWDR;
 251                                         TWI_ACK;
 252                                         break;
 253                                 case 0x23: // Motor 2 speed wish LSB
 254                                         speed2_wish = tmp<<8 | TWDR;
 255                                         motor2_mode = MOTOR_PID;
 256                                         TWI_ACK;
 257                                         break;
 258                                 case 0x24: // Motor 3 speed wish MSB
 259                                         tmp = TWDR;
 260                                         TWI_ACK;
 261                                         break;
 262                                 case 0x25: // Motor 3 speed wish LSB
 263                                         speed3_wish = tmp<<8 | TWDR;
 264                                         motor3_mode = MOTOR_PID;
 265                                         TWI_ACK;
 266                                         break;
 267                                 case 0x26: // Motor 4 speed wish MSB
 268                                         tmp = TWDR;
 269                                         TWI_ACK;
 270                                         break;
 271                                 case 0x27: // Motor 4 speed wish LSB
 272                                         speed4_wish = tmp<<8 | TWDR;
 273                                         motor4_mode = MOTOR_PID;
 274                                         TWI_ACK;
 275                                         break;
 276                                 case 0x28: // Left speed wish MSB
 277                                         tmp_speed.i = TWDR;
 278                                         TWI_ACK;
 279                                         break;
 280                                 case 0x29: // Left speed wish
 281                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 282                                         TWI_ACK;
 283                                         break;
 284                                 case 0x2A: // Left speed wish
 285                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 286                                         TWI_ACK;
 287                                         break;
 288                                 case 0x2B: // Left speed wish LSB
 289                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 290                                         speed1_wish = tmp_speed.f*STEP_PER_M_LEFT;
 291                                         speed2_wish = tmp_speed.f*STEP_PER_M_LEFT;
 292                                         motor1_mode = MOTOR_PID;
 293                                         motor2_mode = MOTOR_PID;
 294                                         TWI_ACK;
 295                                         break;
 296                                 case 0x2C: // Right speed wish MSB
 297                                         tmp_speed.i = TWDR;
 298                                         TWI_ACK;
 299                                         break;
 300                                 case 0x2D: // Right speed wish
 301                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 302                                         TWI_ACK;
 303                                         break;
 304                                 case 0x2E: // Right speed wish
 305                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 306                                         TWI_ACK;
 307                                         break;
 308                                 case 0x2F: // Right speed wish LSB
 309                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 310                                         speed1_wish = tmp_speed.f*STEP_PER_M_RIGHT;
 311                                         speed2_wish = tmp_speed.f*STEP_PER_M_RIGHT;
 312                                         motor1_mode = MOTOR_PID;
 313                                         motor2_mode = MOTOR_PID;
 314                                         TWI_ACK;
 315                                         break;
 316                                 case 0x50: // speed wish MSB
 317                                         tmp_speed.i = TWDR;
 318                                         TWI_ACK;
 319                                         break;
 320                                 case 0x51: // speed wish
 321                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 322                                         TWI_ACK;
 323                                         break;
 324                                 case 0x52: // speed wish
 325                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 326                                         TWI_ACK;
 327                                         break;
 328                                 case 0x53: // speed wish LSB
 329                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 330                                         cmd_vel.speed = tmp_speed.f;
 331                                         TWI_ACK;
 332                                         break;
 333                                 case 0x54: // angle wish MSB
 334                                         tmp_angle.i = TWDR;
 335                                         TWI_ACK;
 336                                         break;
 337                                 case 0x55: // angle wish
 338                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 339                                         TWI_ACK;
 340                                         break;
 341                                 case 0x56: // angle wish
 342                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 343                                         TWI_ACK;
 344                                         break;
 345                                 case 0x57: // angle wish LSB
 346                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 347                                         cmd_vel.angle = tmp_angle.f;
 348                                         cmd_vel.bUpdate = 1;
 349                                         TWI_ACK;
 350                                         break;
 351                                 case 0x90: // Motor 1 switch
 352                                         motor1_switch = TWDR;
 353                                         TWI_ACK;
 354                                         break;
 355                                 case 0x91: // Motor 2 switch
 356                                         motor2_switch = TWDR;
 357                                         TWI_ACK;
 358                                         break;
 359                                 case 0x92: // Motor 3 switch
 360                                         motor3_switch = TWDR;
 361                                         TWI_ACK;
 362                                         break;
 363                                 case 0x93: // Motor 4 switch
 364                                         motor4_switch = TWDR;
 365                                         TWI_ACK;
 366                                         break;
 367                                 case 0x94: // Front Handicap
 368                                         front_handicap = TWDR;
 369                                         cmd_vel.bUpdate = 1;
 370                                         TWI_ACK;
 371                                         break;
 372                                 case 0x95: // Aft Handicap
 373                                         aft_handicap = TWDR;
 374                                         cmd_vel.bUpdate = 1;
 375                                         TWI_ACK;
 376                                         break;
 377                                 case 0xff: // bootloader
 378                                         bootloader = TWDR;
 379                                 default:
 380                                         TWI_NAK;
 381                         }
 382                         ireg++;
 383                         break;
 384                 case 0xA8: // start read
 385                 case 0xB8: // read
 386                         switch(ireg) {
 387                                 case 0x02: // Motor 1 PWM
 388                                         TWDR = OCR1A;
 389                                         TWI_ACK;
 390                                         break;
 391                                 case 0x03: // Dummy to allow continous read
 392                                         TWDR = 0;
 393                                         TWI_ACK;
 394                                         break;
 395                                 case 0x04: // Motor 2 PWM
 396                                         TWDR = OCR1B;
 397                                         TWI_ACK;
 398                                         break;
 399                                 case 0x05: // Dummy to allow continous read
 400                                         TWDR = 0;
 401                                         TWI_ACK;
 402                                         break;
 403                                 case 0x06: // Motor 3 PWM
 404                                         TWDR = OCR2;
 405                                         TWI_ACK;
 406                                         break;
 407                                 case 0x07: // Dummy to allow continous read
 408                                         TWDR = 0;
 409                                         TWI_ACK;
 410                                         break;
 411                                 case 0x08: // Motor 4 PWM
 412                                         TWDR = OCR0;
 413                                         TWI_ACK;
 414                                         break;
 415                                 case 0x09: // Dummy to allow continous read
 416                                         TWDR = 0;
 417                                         TWI_ACK;
 418                                         break;
 419                                 case 0x10: // Hall 1 MSB
 420                                         tmp16 = pos1;
 421                                         TWDR = tmp16>>8;
 422                                         TWI_ACK;
 423                                         break;
 424                                 case 0x11: // Hall 1 LSB
 425                                         TWDR = tmp16;
 426                                         TWI_ACK;
 427                                         break;
 428                                 case 0x12: // Hall 2 MSB
 429                                         tmp16 = pos2;
 430                                         TWDR = tmp16>>8;
 431                                         TWI_ACK;
 432                                         break;
 433                                 case 0x13: // Hall 2 LSB
 434                                         TWDR = tmp16;
 435                                         TWI_ACK;
 436                                         break;
 437                                 case 0x14: // Hall 3 MSB
 438                                         tmp16 = pos3;
 439                                         TWDR = tmp16>>8;
 440                                         TWI_ACK;
 441                                         break;
 442                                 case 0x15: // Hall 3 LSB
 443                                         TWDR = tmp16;
 444                                         TWI_ACK;
 445                                         break;
 446                                 case 0x16: // Hall 4 MSB
 447                                         tmp16 = pos4;
 448                                         TWDR = tmp16>>8;
 449                                         TWI_ACK;
 450                                         break;
 451                                 case 0x17: // Hall 4 LSB
 452                                         TWDR = tmp16;
 453                                         TWI_ACK;
 454                                         break;
 455                                 case 0x20: // Motor 1 speed wish MSB
 456                                         TWDR = speed1_wish>>8;
 457                                         TWI_ACK;
 458                                         break;
 459                                 case 0x21: // Motor 1 speed wish LSB
 460                                         TWDR = speed1_wish;
 461                                         TWI_ACK;
 462                                         break;
 463                                 case 0x22: // Motor 2 speed wish MSB
 464                                         TWDR = speed2_wish>>8;
 465                                         TWI_ACK;
 466                                         break;
 467                                 case 0x23: // Motor 2 speed wish LSB
 468                                         TWDR = speed2_wish;
 469                                         TWI_ACK;
 470                                         break;
 471                                 case 0x24: // Motor 3 speed wish MSB
 472                                         TWDR = speed3_wish>>8;
 473                                         TWI_ACK;
 474                                         break;
 475                                 case 0x25: // Motor 3 speed wish LSB
 476                                         TWDR = speed3_wish;
 477                                         TWI_ACK;
 478                                         break;
 479                                 case 0x26: // Motor 4 speed wish MSB
 480                                         TWDR = speed4_wish>>8;
 481                                         TWI_ACK;
 482                                         break;
 483                                 case 0x27: // Motor 4 speed wish LSB
 484                                         TWDR = speed4_wish;
 485                                         TWI_ACK;
 486                                         break;
 487                                 case 0x30: // Motor 1 speed MSB
 488                                         TWDR = speed1>>8;
 489                                         TWI_ACK;
 490                                         break;
 491                                 case 0x31: // Motor 1 speed LSB
 492                                         TWDR = speed1;
 493                                         TWI_ACK;
 494                                         break;
 495                                 case 0x32: // Motor 2 speed MSB
 496                                         TWDR = speed2>>8;
 497                                         TWI_ACK;
 498                                         break;
 499                                 case 0x33: // Motor 2 speed LSB
 500                                         TWDR = speed2;
 501                                         TWI_ACK;
 502                                         break;
 503                                 case 0x34: // Motor 3 speed MSB
 504                                         TWDR = speed3>>8;
 505                                         TWI_ACK;
 506                                         break;
 507                                 case 0x35: // Motor 3 speed LSB
 508                                         TWDR = speed3;
 509                                         TWI_ACK;
 510                                         break;
 511                                 case 0x36: // Motor 4 speed MSB
 512                                         TWDR = speed4>>8;
 513                                         TWI_ACK;
 514                                         break;
 515                                 case 0x37: // Motor 4 speed LSB
 516                                         TWDR = speed4;
 517                                         TWI_ACK;
 518                                         break;
 519                                 case 0x38: // speed MSB
 520                                         tmp_speed.f = cur_speed_lin;
 521                                         TWDR = tmp_speed.i>>24;
 522                                         TWI_ACK;
 523                                         break;
 524                                 case 0x39: // speed
 525                                         TWDR = tmp_speed.i>>16;
 526                                         TWI_ACK;
 527                                         break;
 528                                 case 0x3A: // speed
 529                                         TWDR = tmp_speed.i>>8;
 530                                         TWI_ACK;
 531                                         break;
 532                                 case 0x3B: // speed LSB
 533                                         TWDR = tmp_speed.i;
 534                                         TWI_ACK;
 535                                         break;
 536                                 case 0x3C: // angle MSB
 537                                         tmp_angle.f = cur_speed_rot;
 538                                         TWDR = tmp_angle.i>>24;
 539                                         TWI_ACK;
 540                                         break;
 541                                 case 0x3D: // angle
 542                                         TWDR = tmp_angle.i>>16;
 543                                         TWI_ACK;
 544                                         break;
 545                                 case 0x3E: // angle
 546                                         TWDR = tmp_angle.i>>8;
 547                                         TWI_ACK;
 548                                         break;
 549                                 case 0x3F: // angle LSB
 550                                         TWDR = angle.i;
 551                                         TWI_ACK;
 552                                         break;
 553                                 case 0x40: // Position x MSB
 554                                         TWDR = pos_x.i>>24;
 555                                         TWI_ACK;
 556                                         break;
 557                                 case 0x41: // Position x
 558                                         TWDR = pos_x.i>>16;
 559                                         TWI_ACK;
 560                                         break;
 561                                 case 0x42: // Position x
 562                                         TWDR = pos_x.i>>8;
 563                                         TWI_ACK;
 564                                         break;
 565                                 case 0x43: // Position x LSB
 566                                         TWDR = pos_x.i;
 567                                         TWI_ACK;
 568                                         break;
 569                                 case 0x44: // Position y MSB
 570                                         TWDR = pos_y.i>>24;
 571                                         TWI_ACK;
 572                                         break;
 573                                 case 0x45: // Position y
 574                                         TWDR = pos_y.i>>16;
 575                                         TWI_ACK;
 576                                         break;
 577                                 case 0x46: // Position y
 578                                         TWDR = pos_y.i>>8;
 579                                         TWI_ACK;
 580                                         break;
 581                                 case 0x47: // Position y LSB
 582                                         TWDR = pos_y.i;
 583                                         TWI_ACK;
 584                                         break;
 585                                 case 0x48: // Position angle MSB
 586                                         TWDR = angle.i>>24;
 587                                         TWI_ACK;
 588                                         break;
 589                                 case 0x49: // Position angle
 590                                         TWDR = angle.i>>16;
 591                                         TWI_ACK;
 592                                         break;
 593                                 case 0x4A: // Position angle
 594                                         TWDR = angle.i>>8;
 595                                         TWI_ACK;
 596                                         break;
 597                                 case 0x4B: // Position angle LSB
 598                                         TWDR = angle.i;
 599                                         TWI_ACK;
 600                                         break;
 601                                 case 0xA0: // Reset reason
 602                                         TWDR = MCUCSR & 0x0f;
 603                                         MCUCSR = 0x0;
 604                                         TWI_ACK;
 605                                         break;
 606                                 case 0xA1: // Error status
 607                                         TWDR = error_state;
 608                                         TWI_ACK;
 609                                         break;
 610                                 case 0xA2: // count test
 611                                         TWDR = count_test;
 612                                         TWI_ACK;
 613                                 default:
 614                                         TWDR = 0;
 615                                         TWI_NAK;
 616                         }
 617                         ireg++;
 618                         break;
 619                 default:
 620                         TWI_RESET;
 621         }
 622 }
 623
 624
 625 static void update_hall1(void) {
 626         unsigned char status = (PINA >> 0) & 0x3;
 627         static unsigned char oldstatus=0;
 628         unsigned char diff, new;
 629
 630         new = 0;
 631         if (status & 0x1)
 632                 new = 0x3;
 633         if (status & 0x2)
 634                 new ^= 0x1;                                     // convert gray to binary
 635         diff = oldstatus - new;                         // difference last - new
 636         if (diff & 0x1) {                               // bit 0 = value (1)
 637                 oldstatus = new;                                        // store new as next last
 638                 if (motor1_switch) pos1 += (diff & 2) - 1;              // bit 1 = direction (+/-)
 639                 else pos1 -= (diff & 2) - 1;
 640         }
 641 }
 642
 643
 644 static void update_hall2(void) {
 645         unsigned char status = (PINA >> 4) & 0x3;
 646         static unsigned char oldstatus=0;
 647         unsigned char diff, new;
 648
 649         new = 0;
 650         if (status & 0x1)
 651                 new = 0x3;
 652         if (status & 0x2)
 653                 new ^= 0x1;                                     // convert gray to binary
 654         diff = oldstatus - new;                         // difference last - new
 655         if (diff & 0x1) {                               // bit 0 = value (1)
 656                 oldstatus = new;                                        // store new as next last
 657                 if (motor2_switch) pos2 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
 658                 else pos2 += (diff & 2) - 1;
 659         }
 660 }
 661
 662
 663 static void update_hall3(void) {
 664         unsigned char status = (PINA >> 2) & 0x3;
 665         static unsigned char oldstatus=0;
 666         unsigned char diff, new;
 667
 668         new = 0;
 669         if (status & 0x1)
 670                 new = 0x3;
 671         if (status & 0x2)
 672                 new ^= 0x1;                                     // convert gray to binary
 673         diff = oldstatus - new;                         // difference last - new
 674         if (diff & 0x1) {                               // bit 0 = value (1)
 675                 oldstatus = new;                                        // store new as next last
 676                 if (motor3_switch) pos3 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
 677                 else pos3 += (diff & 2) - 1;
 678         }
 679 }
 680
 681
 682 static void update_hall4(void) {
 683         unsigned char status = (PINA >> 6) & 0x3;
 684         static unsigned char oldstatus=0;
 685         unsigned char diff, new;
 686
 687         new = 0;
 688         if (status & 0x1)
 689                 new = 0x3;
 690         if (status & 0x2)
 691                 new ^= 0x1;                                     // convert gray to binary
 692         diff = oldstatus - new;                         // difference last - new
 693         if (diff & 0x1) {                               // bit 0 = value (1)
 694                 oldstatus = new;                                        // store new as next last
 695                 if (motor4_switch) pos4 += (diff & 2) - 1;              // bit 1 = direction (+/-)
 696                 else pos4 -= (diff & 2) - 1;
 697         }
 698 }
 699
 700
 701 static void update_motor(void) {
 702         static int16_t m1_old=SHRT_MIN;
 703         static int16_t m2_old=SHRT_MIN;
 704         static int16_t m3_old=SHRT_MIN;
 705         static int16_t m4_old=SHRT_MIN;
 706
 707         error_state &= 0xf0; // clear lower bits
 708         error_state |= ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
 709
 710         if (m1_old != motor1) { // update only when changed
 711                 if (motor1 == 0) {
 712                         // stop
 713                         PORTC &= ~(1 << 3) & ~(1 << 2);
 714                         DISABLE_PWM_MOTOR1;
 715                 } else if (motor1 == PWM_BREAK) {
 716                         PORTC |= (1 << 3) | (1 << 2);
 717                         ENABLE_PWM_MOTOR1;
 718                 } else if ((!motor1_switch && motor1 > 0) || (motor1_switch && motor1 < 0)) {
 719                         // forward
 720                         uint8_t tmp=PORTC;
 721                         tmp &= ~(1 << 3);
 722                         tmp |=  (1 << 2);
 723                         PORTC = tmp;
 724                         ENABLE_PWM_MOTOR1;
 725                 } else { // motor1 < 0
 726                         // backward
 727                         uint8_t tmp=PORTC;
 728                         tmp &= ~(1 << 2);
 729                         tmp |=  (1 << 3);
 730                         PORTC = tmp;
 731                         ENABLE_PWM_MOTOR1;
 732                 }
 733
 734                 m1_old = motor1;
 735                 OCR1A = abs(motor1);
 736         }
 737
 738         if (m2_old != motor2) { // update only when changed
 739                 if (motor2 == 0) {
 740                         // stop
 741                         PORTC &= ~(1 << 5) & ~(1 << 4);
 742                         DISABLE_PWM_MOTOR2;
 743                 } else if (motor2 == PWM_BREAK) {
 744                         PORTC |= (1 << 5) | (1 << 4);
 745                         ENABLE_PWM_MOTOR2;
 746                 } else if ((!motor2_switch && motor2 > 0) || (motor2_switch && motor2 < 0)) {
 747                         // forward
 748                         uint8_t tmp=PORTC;
 749                         tmp &= ~(1 << 5);
 750                         tmp |=  (1 << 4);
 751                         PORTC = tmp;
 752                         ENABLE_PWM_MOTOR2;
 753                 } else { // motor2 < 0
 754                         // backward
 755                         uint8_t tmp=PORTC;
 756                         tmp &= ~(1 << 4);
 757                         tmp |=  (1 << 5);
 758                         PORTC = tmp;
 759                         ENABLE_PWM_MOTOR2;
 760                 }
 761
 762                 m2_old = motor2;
 763                 OCR1B = abs(motor2);
 764         }
 765
 766         if (m3_old != motor3) { // update only when changed
 767                 if (motor3 == 0) {
 768                         // stop
 769                         PORTC &= ~(1 << 7) & ~(1 << 6);
 770                         DISABLE_PWM_MOTOR3;
 771                 } else if (motor3 == PWM_BREAK) {
 772                         PORTC |= (1 << 7) | (1 << 6);
 773                         ENABLE_PWM_MOTOR3;
 774                 } else if ((!motor3_switch && motor3 > 0) || (motor3_switch && motor3 < 0)) {
 775                         // forward
 776                         uint8_t tmp=PORTC;
 777                         tmp &= ~(1 << 7);
 778                         tmp |=  (1 << 6);
 779                         PORTC = tmp;
 780                         ENABLE_PWM_MOTOR3;
 781                 } else { // motor3 < 0
 782                         // backward
 783                         uint8_t tmp=PORTC;
 784                         tmp &= ~(1 << 6);
 785                         tmp |=  (1 << 7);
 786                         PORTC = tmp;
 787                         ENABLE_PWM_MOTOR3;
 788                 }
 789
 790                 m3_old = motor3;
 791                 OCR2 = abs(motor3);
 792         }
 793
 794         if (m4_old != motor4) { // update only when changed
 795                 if (motor4 == 0) {
 796                         // stop
 797                         PORTD &= ~(1 << 3) & ~(1 << 2);
 798                         DISABLE_PWM_MOTOR4;
 799                 } else if (motor4 == PWM_BREAK) {
 800                         PORTD |= (1 << 3) | (1 << 2);
 801                         ENABLE_PWM_MOTOR4;
 802                 } else if ((!motor4_switch && motor4 > 0) || (motor4_switch && motor4 < 0)) {
 803                         // forward
 804                         uint8_t tmp=PORTD;
 805                         tmp &= ~(1 << 3);
 806                         tmp |=  (1 << 2);
 807                         PORTD = tmp;
 808                         ENABLE_PWM_MOTOR4;
 809                 } else { // motor4 < 0
 810                         // backward
 811                         uint8_t tmp=PORTD;
 812                         tmp &= ~(1 << 2);
 813                         tmp |=  (1 << 3);
 814                         PORTD = tmp;
 815                         ENABLE_PWM_MOTOR4;
 816                 }
 817
 818                 m4_old = motor4;
 819                 OCR0 = abs(motor4);
 820         }
 821 }
 822
 823
 824 static void update_pos(void) {
 825         static int16_t pos1_last=0;
 826         static int16_t pos2_last=0;
 827         static int16_t pos3_last=0;
 828         static int16_t pos4_last=0;
 829         int16_t pos1_diff; // steps
 830         int16_t pos2_diff;
 831         int16_t pos3_diff;
 832         int16_t pos4_diff;
 833         float diff_left_m, diff_right_m, angle_diff, translation;
 834         float pos_x_new, pos_y_new, angle_new;
 835         float tmp_speed_lin, tmp_speed_rot;
 836         int16_t cur_pos1, cur_pos2, cur_pos3, cur_pos4;
 837         int16_t new_speed1, new_speed2, new_speed3, new_speed4;
 838
 839         // copy to tmp
 840         cli();
 841         cur_pos1 = pos1;
 842         cur_pos2 = pos2;
 843         cur_pos3 = pos3;
 844         cur_pos4 = pos4;
 845         sei();
 846
 847         pos1_diff = cur_pos1 - pos1_last;
 848         pos2_diff = cur_pos2 - pos2_last;
 849         pos3_diff = cur_pos3 - pos3_last;
 850         pos4_diff = cur_pos4 - pos4_last;
 851
 852         new_speed1 = pos1_diff/PID_T;
 853         new_speed2 = pos2_diff/PID_T;
 854         new_speed3 = pos3_diff/PID_T;
 855         new_speed4 = pos4_diff/PID_T;
 856
 857         diff_left_m = (pos1_diff + pos2_diff)/(2*STEP_PER_M_LEFT);
 858         diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M_RIGHT);
 859         angle_diff = (diff_right_m - diff_left_m) / WHEEL_DIST;
 860
 861         angle_new = angle.f + angle_diff;
 862         if (angle_new > 2*M_PI) angle_new-=2*M_PI;
 863         else if (angle_new < -2*M_PI) angle_new+=2*M_PI;
 864
 865         translation = (diff_left_m + diff_right_m)/2.0;
 866         pos_x_new = pos_x.f + cos(angle_new)*translation;
 867         pos_y_new = pos_y.f + sin(angle_new)*translation;
 868
 869         tmp_speed_lin = translation/PID_T;
 870         tmp_speed_rot = angle_diff/PID_T;
 871
 872         // copy from tmp
 873         cli();
 874         angle.f = angle_new;
 875         pos_x.f = pos_x_new;
 876         pos_y.f = pos_y_new;
 877         speed1 = new_speed1;
 878         speed2 = new_speed2;
 879         speed3 = new_speed3;
 880         speed4 = new_speed4;
 881         cur_speed_lin = tmp_speed_lin;
 882         cur_speed_rot = tmp_speed_rot;
 883         sei();
 884
 885         pos1_last = cur_pos1;
 886         pos2_last = cur_pos2;
 887         pos3_last = cur_pos3;
 888         pos4_last = cur_pos4;
 889 }
 890
 891
 892 static void update_pid(void) {
 893         static int16_t eold1=0;
 894         static int16_t eold2=0;
 895         static int16_t eold3=0;
 896         static int16_t eold4=0;
 897         static int32_t esum1=0;
 898         static int32_t esum2=0;
 899         static int32_t esum3=0;
 900         static int32_t esum4=0;
 901
 902         // protect motors from damage if stalling
 903         if (labs(esum1) > STALL_LIMIT && speed1 == 0) {
 904                 motor1 = 0;
 905                 motor1_mode = MOTOR_MANUAL;
 906                 error_state |= (1<<4);
 907                 esum1 = 0;
 908         }
 909         if (labs(esum2) > STALL_LIMIT && speed2 == 0) {
 910                 motor2 = 0;
 911                 motor2_mode = MOTOR_MANUAL;
 912                 error_state |= (1<<5);
 913                 esum2 = 0;
 914         }
 915         if (labs(esum3) > STALL_LIMIT && speed3 == 0) {
 916                 motor3 = 0;
 917                 motor3_mode = MOTOR_MANUAL;
 918                 error_state |= (1<<6);
 919                 esum3 = 0;
 920         }
 921         if (labs(esum4) > STALL_LIMIT && speed4 == 0) {
 922                 motor4 = 0;
 923                 motor4_mode = MOTOR_MANUAL;
 924                 error_state |= (1<<7);
 925                 esum4 = 0;
 926         }
 927
 928         if (motor1_mode == MOTOR_PID) {
 929                 if (speed1_wish != speed1_wish_old) {
 930                         if (abs(speed1_wish - speed1_wish_old) > 500) esum1 = 0;
 931                         speed1_wish_old = speed1_wish;
 932                 }
 933
 934                 if (speed1_wish == 0) {
 935                         motor1 = 0;
 936                         eold1 = 0;
 937                         error_state &= ~(1<<4);
 938                 } else {
 939                         int16_t e = speed1_wish - speed1;
 940                         esum1+=e;
 941                         motor1 = KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
 942                         eold1 = e;
 943
 944                         if (motor1 > 0 && speed1_wish < 0) motor1=PWM_BREAK;
 945                         else if (motor1 < 0 && speed1_wish > 0) motor1=PWM_BREAK;
 946                         else if (motor1 > 255) motor1 = 255;
 947                         else if (motor1 < -255) motor1 = -255;
 948                 }
 949         }
 950         if (motor2_mode == MOTOR_PID) {
 951                 if (speed2_wish != speed2_wish_old) {
 952                         if (abs(speed2_wish - speed2_wish_old) > 500) esum2 = 0;
 953                         speed2_wish_old = speed2_wish;
 954                 }
 955
 956                 if (speed2_wish == 0) {
 957                         motor2 = 0;
 958                         eold2 = 0;
 959                         error_state &= ~(1<<5);
 960                 } else {
 961                         int16_t e = speed2_wish - speed2;
 962                         esum2+=e;
 963                         motor2 = KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
 964                         eold2 = e;
 965
 966                         if (motor2 > 0 && speed2_wish < 0) motor2=PWM_BREAK;
 967                         else if (motor2 < 0 && speed2_wish > 0) motor2=PWM_BREAK;
 968                         else if (motor2 > 255) motor2 = 255;
 969                         else if (motor2 < -255) motor2 = -255;
 970                 }
 971         }
 972         if (motor3_mode == MOTOR_PID) {
 973                 if (speed3_wish != speed3_wish_old) {
 974                         if (abs(speed3_wish - speed3_wish_old) > 500) esum3 = 0;
 975                         speed3_wish_old = speed3_wish;
 976                 }
 977
 978                 if (speed3_wish == 0) {
 979                         motor3 = 0;
 980                         eold3 = 0;
 981                         error_state &= ~(1<<6);
 982                 } else {
 983                         int16_t e = speed3_wish - speed3;
 984                         esum3+=e;
 985                         motor3 = KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
 986                         eold3 = e;
 987
 988                         if (motor3 > 0 && speed3_wish < 0) motor3=PWM_BREAK;
 989                         else if (motor3 < 0 && speed3_wish > 0) motor3=PWM_BREAK;
 990                         else if (motor3 > 255) motor3 = 255;
 991                         else if (motor3 < -255) motor3 = -255;
 992                 }
 993         }
 994         if (motor4_mode == MOTOR_PID) {
 995                 if (speed4_wish != speed4_wish_old) {
 996                         if (abs(speed4_wish - speed4_wish_old) > 500) esum4 = 0;
 997                         speed4_wish_old = speed4_wish;
 998                 }
 999
1000                 if (speed4_wish == 0) {
1001                         motor4 = 0;
1002                         eold4 = 0;
1003                         error_state &= ~(1<<7);
1004                 } else {
1005                         int16_t e = speed4_wish - speed4;
1006                         esum4+=e;
1007                         motor4 = KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
1008                         eold4 = e;
1009
1010                         if (motor4 > 0 && speed4_wish < 0) motor4=PWM_BREAK;
1011                         else if (motor4 < 0 && speed4_wish > 0) motor4=PWM_BREAK;
1012                         else if (motor4 > 255) motor4 = 255;
1013                         else if (motor4 < -255) motor4 = -255;
1014                 }
1015         }
1016 }
1017
1018
1019 ISR(TIMER1_OVF_vect) {
1020         update_hall1();
1021         update_hall2();
1022         update_hall3();
1023         update_hall4();
1024
1025         run_update++;
1026 }
1027
1028
1029 int main(void) {
1030         // Outputs
1031         DDRB = (1 << 3);
1032         DDRC = (1 << 7) | (1 << 6) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
1033         DDRD = (1 << 7) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
1034         // Pullup Diag/Enable
1035         PORTB = (1 << 0) | (1 << 1) | (1 << 2);
1036         PORTD = (1 << 6);
1037
1038         bootloader = 0x00;
1039         setup_uart(9600);
1040         uart_setup_stdout();
1041
1042         // I2C
1043         TWAR = 0x50;
1044         TWI_RESET;
1045
1046         // Motor 1 & 2
1047         // Also used for PWM frequency TIMER1_FREQ (F_CPU/256)
1048         // Timer 1: Fast PWM non-inverting mode, Top=255 => 19.531kHz
1049         // Prescaler=1
1050         //TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM10);
1051         // Avoid narrow spike on extreme pwm value 0 by not setting COM1*1
1052         TCCR1A = (1 << WGM10);
1053         TCCR1B = (1 << WGM12) | (1 << CS10);
1054         OCR1A = 0;
1055         OCR1B = 0;
1056
1057         // Motor 3
1058         // Timer 2: Fast PWM non-inverting mode, Top=255
1059         // Prescaler=1
1060         //TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << CS20);
1061         // Avoid narrow spike on extreme pwm value 0 by not setting COM21
1062         TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << CS20);
1063         OCR2 = 0;
1064
1065         // Motor 4
1066         // Timer 0: Fast PWM non-inverting mode, Top=255
1067         // Prescaler=1
1068         //TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << CS00);
1069         // Avoid narrow spike on extreme pwm value 0 by not setting COM01
1070         TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << CS00);
1071         OCR0 = 0;
1072
1073         printf("\r\nStart\r\n");
1074
1075         set_sleep_mode(SLEEP_MODE_IDLE);
1076         // Enable Timer 1 Overflow Interrupt
1077         TIMSK = (1 << TOIE1);
1078         sei();
1079
1080         while(1) {
1081                 switch(ireg) {
1082                         case 0xff: // Magic reg that starts the bootloader
1083                                 if (bootloader == 0xa5) {
1084                                         cli();
1085                                         {
1086                                                 void (*start)(void) = (void*)0x1800;
1087                                                 start();
1088                                         }
1089                                 }
1090                                 break;
1091                 }
1092
1093                 if (cmd_vel.bUpdate) {
1094                         float speed_wish_right, speed_wish_left;
1095                         float speed, angle;
1096
1097                         cli();
1098                         speed = cmd_vel.speed;
1099                         angle = cmd_vel.angle;
1100                         cmd_vel.bUpdate = 0;
1101                         sei();
1102
1103                         speed_wish_right = (angle*WHEEL_DIST)/2 + speed;
1104                         speed_wish_left = speed*2-speed_wish_right;
1105
1106                         speed_wish_left*=STEP_PER_M_LEFT;
1107                         speed_wish_right*=STEP_PER_M_RIGHT;
1108
1109                         if (aft_handicap > 0) {
1110                                 speed1_wish = speed_wish_left * (100-aft_handicap)/100.0;
1111                                 speed3_wish = speed_wish_right * (100-aft_handicap)/100.0;
1112                         } else {
1113                                 speed1_wish = speed_wish_left;
1114                                 speed3_wish = speed_wish_right;
1115                         }
1116                         if (front_handicap > 0) {
1117                                 speed2_wish = speed_wish_left * (100-front_handicap)/100.0;
1118                                 speed4_wish = speed_wish_right * (100-front_handicap)/100.0;
1119                         } else {
1120                                 speed2_wish = speed_wish_left;
1121                                 speed4_wish = speed_wish_right;
1122                         }
1123                         motor1_mode = MOTOR_PID;
1124                         motor2_mode = MOTOR_PID;
1125                         motor3_mode = MOTOR_PID;
1126                         motor4_mode = MOTOR_PID;
1127                 }
1128
1129                 if (run_update >= 195) { // TIMER1_FREQ/195 = ~100Hz
1130                         run_update=0;
1131
1132                         update_pos();
1133                         update_pid();
1134                         update_motor();
1135                         count_test++;
1136                 }
1137
1138                 sleep_mode();
1139         }
1140
1141         return 0;
1142 }