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  * free
  64  * 0x40 Position x (m) MSB
  65  * 0x41 Position x (m)
  66  * 0x42 Position x (m)
  67  * 0x43 Position x (m) LSB
  68  * 0x44 Position y (m) MSB
  69  * 0x45 Position y (m)
  70  * 0x46 Position y (m)
  71  * 0x47 Position y (m) LSB
  72  * 0x48 Position angle MSB
  73  * 0x49 Position angle
  74  * 0x4A Position angle
  75  * 0x4B Position angle LSB
  76  * free
  77  * 0x50 speed wish (m/s) MSB
  78  * 0x51 speed wish (m/s)
  79  * 0x52 speed wish (m/s)
  80  * 0x53 speed wish (m/s) LSB
  81  * 0x54 angle wish (rad/s) MSB
  82  * 0x55 angle wish (rad/s)
  83  * 0x56 angle wish (rad/s)
  84  * 0x57 angle wish (rad/s) LSB
  85  * free
  86  * 0x90 Motor 1 switch
  87  * 0x91 Motor 2 switch
  88  * 0x92 Motor 3 switch
  89  * 0x93 Motor 4 switch
  90  * 0x94 TLE Error status
  91  * free
  92  * 0xff Bootloader
  93  */
  94
  95
  96 #define TWI_ACK         TWCR = (1<<TWEA) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
  97 #define TWI_RESET       TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
  98 #define TWI_NAK         TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
  99
 100 #define KP 0.009
 101 #define KI 0.051429
 102 #define KD 0.000378
 103 #define PID_T 0.01
 104 #define STEP_PER_M 3376.1 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:34
 105 #define WHEEL_DIST 0.252
 106
 107 enum mode {
 108         MOTOR_MANUAL,
 109         MOTOR_PID
 110 };
 111
 112 typedef union {
 113         float f;
 114         uint32_t i;
 115 } ufloat_t;
 116
 117 static volatile struct {
 118         float speed;
 119         float angle;
 120         uint8_t bUpdate;
 121 } cmd_vel = {0, 0, 0};
 122
 123 static volatile uint8_t test=0;
 124 static volatile uint8_t ireg=0;
 125 static volatile uint8_t bootloader=0;
 126 static volatile int16_t motor1=0; // -255..+255
 127 static volatile int16_t motor2=0;
 128 static volatile int16_t motor3=0;
 129 static volatile int16_t motor4=0;
 130 static volatile int16_t pos1=0; // step
 131 static volatile int16_t pos2=0;
 132 static volatile int16_t pos3=0;
 133 static volatile int16_t pos4=0;
 134 static volatile enum mode motor1_mode=MOTOR_MANUAL;
 135 static volatile enum mode motor2_mode=MOTOR_MANUAL;
 136 static volatile enum mode motor3_mode=MOTOR_MANUAL;
 137 static volatile enum mode motor4_mode=MOTOR_MANUAL;
 138 static volatile uint8_t motor1_switch=0;
 139 static volatile uint8_t motor2_switch=0;
 140 static volatile uint8_t motor3_switch=0;
 141 static volatile uint8_t motor4_switch=0;
 142 static volatile int16_t speed1_wish=0; // step/s
 143 static volatile int16_t speed2_wish=0;
 144 static volatile int16_t speed3_wish=0;
 145 static volatile int16_t speed4_wish=0;
 146 static volatile uint16_t run_update=0;
 147 static volatile int16_t speed1=0; // step/s
 148 static volatile int16_t speed2=0;
 149 static volatile int16_t speed3=0;
 150 static volatile int16_t speed4=0;
 151 static volatile ufloat_t pos_x={0.0};
 152 static volatile ufloat_t pos_y={0.0};
 153 static volatile ufloat_t angle={0.0};
 154 static volatile float cur_speed_lin=0;
 155 static volatile float cur_speed_rot=0;
 156
 157 ISR(TWI_vect)
 158 {
 159         static uint8_t tmp=0;
 160         static int16_t tmp16=0;
 161         static ufloat_t tmp_speed;
 162         static ufloat_t tmp_angle;
 163
 164         switch (TWSR & 0xF8)
 165         {
 166                 case 0x60: // start write
 167                         TWI_ACK;
 168                         ireg = 0;
 169                         break;
 170                 case 0x80: // write
 171                         switch(ireg) {
 172                                 case 0x00: // register select
 173                                         ireg = TWDR;
 174                                         ireg--; // because we do ireg++ below
 175                                         TWI_ACK;
 176                                         break;
 177                                 case 0x01: // Motor 1 MSB
 178                                         tmp = TWDR;
 179                                         TWI_ACK;
 180                                         break;
 181                                 case 0x02: // Motor 1 LSB
 182                                         motor1 = tmp<<8 | TWDR;
 183                                         motor1_mode = MOTOR_MANUAL;
 184                                         TWI_ACK;
 185                                         break;
 186                                 case 0x03: // Motor 2 MSB
 187                                         tmp = TWDR;
 188                                         TWI_ACK;
 189                                         break;
 190                                 case 0x04: // Motor 2 LSB
 191                                         motor2 = tmp<<8 | TWDR;
 192                                         motor2_mode = MOTOR_MANUAL;
 193                                         TWI_ACK;
 194                                         break;
 195                                 case 0x05: // Motor 3 MSB
 196                                         tmp = TWDR;
 197                                         TWI_ACK;
 198                                         break;
 199                                 case 0x06: // Motor 3 LSB
 200                                         motor3 = tmp<<8 | TWDR;
 201                                         motor3_mode = MOTOR_MANUAL;
 202                                         TWI_ACK;
 203                                         break;
 204                                 case 0x07: // Motor 4 MSB
 205                                         tmp = TWDR;
 206                                         TWI_ACK;
 207                                         break;
 208                                 case 0x08: // Motor 4 LSB
 209                                         motor4 = tmp<<8 | TWDR;
 210                                         motor4_mode = MOTOR_MANUAL;
 211                                         TWI_ACK;
 212                                         break;
 213                                 case 0x20: // Motor 1 speed wish MSB
 214                                         tmp = TWDR;
 215                                         TWI_ACK;
 216                                         break;
 217                                 case 0x21: // Motor 1 speed wish LSB
 218                                         speed1_wish = tmp<<8 | TWDR;
 219                                         motor1_mode = MOTOR_PID;
 220                                         TWI_ACK;
 221                                         break;
 222                                 case 0x22: // Motor 2 speed wish MSB
 223                                         tmp = TWDR;
 224                                         TWI_ACK;
 225                                         break;
 226                                 case 0x23: // Motor 2 speed wish LSB
 227                                         speed2_wish = tmp<<8 | TWDR;
 228                                         motor2_mode = MOTOR_PID;
 229                                         TWI_ACK;
 230                                         break;
 231                                 case 0x24: // Motor 3 speed wish MSB
 232                                         tmp = TWDR;
 233                                         TWI_ACK;
 234                                         break;
 235                                 case 0x25: // Motor 3 speed wish LSB
 236                                         speed3_wish = tmp<<8 | TWDR;
 237                                         motor3_mode = MOTOR_PID;
 238                                         TWI_ACK;
 239                                         break;
 240                                 case 0x26: // Motor 4 speed wish MSB
 241                                         tmp = TWDR;
 242                                         TWI_ACK;
 243                                         break;
 244                                 case 0x27: // Motor 4 speed wish LSB
 245                                         speed4_wish = tmp<<8 | TWDR;
 246                                         motor4_mode = MOTOR_PID;
 247                                         TWI_ACK;
 248                                         break;
 249                                 case 0x28: // Left speed wish MSB
 250                                         tmp_speed.i = TWDR;
 251                                         TWI_ACK;
 252                                         break;
 253                                 case 0x29: // Left speed wish
 254                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 255                                         TWI_ACK;
 256                                         break;
 257                                 case 0x2A: // Left speed wish
 258                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 259                                         TWI_ACK;
 260                                         break;
 261                                 case 0x2B: // Left speed wish LSB
 262                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 263                                         speed1_wish = tmp_speed.f*STEP_PER_M;
 264                                         speed2_wish = tmp_speed.f*STEP_PER_M;
 265                                         motor1_mode = MOTOR_PID;
 266                                         motor2_mode = MOTOR_PID;
 267                                         TWI_ACK;
 268                                         break;
 269                                 case 0x2C: // Right speed wish MSB
 270                                         tmp_speed.i = TWDR;
 271                                         TWI_ACK;
 272                                         break;
 273                                 case 0x2D: // Right speed wish
 274                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 275                                         TWI_ACK;
 276                                         break;
 277                                 case 0x2E: // Right speed wish
 278                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 279                                         TWI_ACK;
 280                                         break;
 281                                 case 0x2F: // Right speed wish LSB
 282                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 283                                         speed1_wish = tmp_speed.f*STEP_PER_M;
 284                                         speed2_wish = tmp_speed.f*STEP_PER_M;
 285                                         motor1_mode = MOTOR_PID;
 286                                         motor2_mode = MOTOR_PID;
 287                                         TWI_ACK;
 288                                         break;
 289                                 case 0x50: // speed wish MSB
 290                                         tmp_speed.i = TWDR;
 291                                         TWI_ACK;
 292                                         break;
 293                                 case 0x51: // speed wish
 294                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 295                                         TWI_ACK;
 296                                         break;
 297                                 case 0x52: // speed wish
 298                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 299                                         TWI_ACK;
 300                                         break;
 301                                 case 0x53: // speed wish LSB
 302                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 303                                         cmd_vel.speed = tmp_speed.f;
 304                                         TWI_ACK;
 305                                         break;
 306                                 case 0x54: // angle wish MSB
 307                                         tmp_angle.i = TWDR;
 308                                         TWI_ACK;
 309                                         break;
 310                                 case 0x55: // angle wish
 311                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 312                                         TWI_ACK;
 313                                         break;
 314                                 case 0x56: // angle wish
 315                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 316                                         TWI_ACK;
 317                                         break;
 318                                 case 0x57: // angle wish LSB
 319                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 320                                         cmd_vel.angle = tmp_angle.f;
 321                                         cmd_vel.bUpdate = 1;
 322                                         TWI_ACK;
 323                                         break;
 324                                 case 0x90: // Motor 1 switch
 325                                         motor1_switch = TWDR;
 326                                         TWI_ACK;
 327                                         break;
 328                                 case 0x91: // Motor 2 switch
 329                                         motor2_switch = TWDR;
 330                                         TWI_ACK;
 331                                         break;
 332                                 case 0x92: // Motor 3 switch
 333                                         motor3_switch = TWDR;
 334                                         TWI_ACK;
 335                                         break;
 336                                 case 0x93: // Motor 4 switch
 337                                         motor4_switch = TWDR;
 338                                         TWI_ACK;
 339                                         break;
 340                                 case 0xff: // bootloader
 341                                         bootloader = TWDR;
 342                                 default:
 343                                         TWI_NAK;
 344                         }
 345                         ireg++;
 346                         break;
 347                 case 0xA8: // start read
 348                 case 0xB8: // read
 349                         switch(ireg) {
 350                                 case 0x02: // Motor 1 PWM
 351                                         TWDR = OCR1A;
 352                                         TWI_ACK;
 353                                         break;
 354                                 case 0x04: // Motor 2 PWM
 355                                         TWDR = OCR1B;
 356                                         TWI_ACK;
 357                                         break;
 358                                 case 0x06: // Motor 3 PWM
 359                                         TWDR = OCR2;
 360                                         TWI_ACK;
 361                                         break;
 362                                 case 0x08: // Motor 4 PWM
 363                                         TWDR = OCR0;
 364                                         TWI_ACK;
 365                                         break;
 366                                 case 0x10: // Hall 1 MSB
 367                                         tmp16 = pos1;
 368                                         TWDR = tmp16>>8;
 369                                         TWI_ACK;
 370                                         break;
 371                                 case 0x11: // Hall 1 LSB
 372                                         TWDR = tmp16;
 373                                         TWI_ACK;
 374                                         break;
 375                                 case 0x12: // Hall 2 MSB
 376                                         tmp16 = pos2;
 377                                         TWDR = tmp16>>8;
 378                                         TWI_ACK;
 379                                         break;
 380                                 case 0x13: // Hall 2 LSB
 381                                         TWDR = tmp16;
 382                                         TWI_ACK;
 383                                         break;
 384                                 case 0x14: // Hall 3 MSB
 385                                         tmp16 = pos3;
 386                                         TWDR = tmp16>>8;
 387                                         TWI_ACK;
 388                                         break;
 389                                 case 0x15: // Hall 3 LSB
 390                                         TWDR = tmp16;
 391                                         TWI_ACK;
 392                                         break;
 393                                 case 0x16: // Hall 4 MSB
 394                                         tmp16 = pos4;
 395                                         TWDR = tmp16>>8;
 396                                         TWI_ACK;
 397                                         break;
 398                                 case 0x17: // Hall 4 LSB
 399                                         TWDR = tmp16;
 400                                         TWI_ACK;
 401                                         break;
 402                                 case 0x20: // Motor 1 speed wish MSB
 403                                         TWDR = speed1_wish>>8;
 404                                         TWI_ACK;
 405                                         break;
 406                                 case 0x21: // Motor 1 speed wish LSB
 407                                         TWDR = speed1_wish;
 408                                         TWI_ACK;
 409                                         break;
 410                                 case 0x22: // Motor 2 speed wish MSB
 411                                         TWDR = speed2_wish>>8;
 412                                         TWI_ACK;
 413                                         break;
 414                                 case 0x23: // Motor 2 speed wish LSB
 415                                         TWDR = speed2_wish;
 416                                         TWI_ACK;
 417                                         break;
 418                                 case 0x24: // Motor 3 speed wish MSB
 419                                         TWDR = speed3_wish>>8;
 420                                         TWI_ACK;
 421                                         break;
 422                                 case 0x25: // Motor 3 speed wish LSB
 423                                         TWDR = speed3_wish;
 424                                         TWI_ACK;
 425                                         break;
 426                                 case 0x26: // Motor 4 speed wish MSB
 427                                         TWDR = speed4_wish>>8;
 428                                         TWI_ACK;
 429                                         break;
 430                                 case 0x27: // Motor 4 speed wish LSB
 431                                         TWDR = speed4_wish;
 432                                         TWI_ACK;
 433                                         break;
 434                                 case 0x30: // Motor 1 speed MSB
 435                                         TWDR = speed1>>8;
 436                                         TWI_ACK;
 437                                         break;
 438                                 case 0x31: // Motor 1 speed LSB
 439                                         TWDR = speed1;
 440                                         TWI_ACK;
 441                                         break;
 442                                 case 0x32: // Motor 2 speed MSB
 443                                         TWDR = speed2>>8;
 444                                         TWI_ACK;
 445                                         break;
 446                                 case 0x33: // Motor 2 speed LSB
 447                                         TWDR = speed2;
 448                                         TWI_ACK;
 449                                         break;
 450                                 case 0x34: // Motor 3 speed MSB
 451                                         TWDR = speed3>>8;
 452                                         TWI_ACK;
 453                                         break;
 454                                 case 0x35: // Motor 3 speed LSB
 455                                         TWDR = speed3;
 456                                         TWI_ACK;
 457                                         break;
 458                                 case 0x36: // Motor 4 speed MSB
 459                                         TWDR = speed4>>8;
 460                                         TWI_ACK;
 461                                         break;
 462                                 case 0x37: // Motor 4 speed LSB
 463                                         TWDR = speed4;
 464                                         TWI_ACK;
 465                                         break;
 466                                 case 0x38: // speed MSB
 467                                         tmp_speed.f = cur_speed_lin;
 468                                         TWDR = tmp_speed.i>>24;
 469                                         TWI_ACK;
 470                                         break;
 471                                 case 0x39: // speed
 472                                         TWDR = tmp_speed.i>>16;
 473                                         TWI_ACK;
 474                                         break;
 475                                 case 0x3A: // speed
 476                                         TWDR = tmp_speed.i>>8;
 477                                         TWI_ACK;
 478                                         break;
 479                                 case 0x3B: // speed LSB
 480                                         TWDR = tmp_speed.i;
 481                                         TWI_ACK;
 482                                         break;
 483                                 case 0x3C: // angle MSB
 484                                         tmp_angle.f = cur_speed_rot;
 485                                         TWDR = tmp_angle.i>>24;
 486                                         TWI_ACK;
 487                                         break;
 488                                 case 0x3D: // angle
 489                                         TWDR = tmp_angle.i>>16;
 490                                         TWI_ACK;
 491                                         break;
 492                                 case 0x3E: // angle
 493                                         TWDR = tmp_angle.i>>8;
 494                                         TWI_ACK;
 495                                         break;
 496                                 case 0x3F: // angle LSB
 497                                         TWDR = angle.i;
 498                                         TWI_ACK;
 499                                         break;
 500                                 case 0x40: // Position x MSB
 501                                         TWDR = pos_x.i>>24;
 502                                         TWI_ACK;
 503                                         break;
 504                                 case 0x41: // Position x
 505                                         TWDR = pos_x.i>>16;
 506                                         TWI_ACK;
 507                                         break;
 508                                 case 0x42: // Position x
 509                                         TWDR = pos_x.i>>8;
 510                                         TWI_ACK;
 511                                         break;
 512                                 case 0x43: // Position x LSB
 513                                         TWDR = pos_x.i;
 514                                         TWI_ACK;
 515                                         break;
 516                                 case 0x44: // Position y MSB
 517                                         TWDR = pos_y.i>>24;
 518                                         TWI_ACK;
 519                                         break;
 520                                 case 0x45: // Position y
 521                                         TWDR = pos_y.i>>16;
 522                                         TWI_ACK;
 523                                         break;
 524                                 case 0x46: // Position y
 525                                         TWDR = pos_y.i>>8;
 526                                         TWI_ACK;
 527                                         break;
 528                                 case 0x47: // Position y LSB
 529                                         TWDR = pos_y.i;
 530                                         TWI_ACK;
 531                                         break;
 532                                 case 0x48: // Position angle MSB
 533                                         TWDR = pos_y.i>>24;
 534                                         TWI_ACK;
 535                                         break;
 536                                 case 0x49: // Position angle
 537                                         TWDR = pos_y.i>>16;
 538                                         TWI_ACK;
 539                                         break;
 540                                 case 0x4A: // Position angle
 541                                         TWDR = pos_y.i>>8;
 542                                         TWI_ACK;
 543                                         break;
 544                                 case 0x4B: // Position angle LSB
 545                                         TWDR = pos_y.i;
 546                                         TWI_ACK;
 547                                         break;
 548                                 case 0x94: // TLE Error status
 549                                         //TWDR = (PIND & 0x40)>>2 | (PINB & 0x07);
 550                                         TWDR=test;
 551                                         TWI_ACK;
 552                                         break;
 553                                 default:
 554                                         TWDR = 0;
 555                                         TWI_NAK;
 556                         }
 557                         ireg++;
 558                         break;
 559                 default:
 560                         TWI_RESET;
 561         }
 562 }
 563
 564
 565 static void update_hall1(void) {
 566         unsigned char status = (PINA >> 0) & 0x3;
 567         static unsigned char oldstatus=0;
 568         unsigned char diff, new;
 569
 570         new = 0;
 571         if (status & 0x1)
 572                 new = 0x3;
 573         if (status & 0x2)
 574                 new ^= 0x1;                                     // convert gray to binary
 575         diff = oldstatus - new;                         // difference last - new
 576         if (diff & 0x1) {                               // bit 0 = value (1)
 577                 oldstatus = new;                                        // store new as next last
 578                 if (motor1_switch) pos1 += (diff & 2) - 1;              // bit 1 = direction (+/-)
 579                 else pos1 -= (diff & 2) - 1;
 580         }
 581 }
 582
 583
 584 static void update_hall2(void) {
 585         unsigned char status = (PINA >> 4) & 0x3;
 586         static unsigned char oldstatus=0;
 587         unsigned char diff, new;
 588
 589         new = 0;
 590         if (status & 0x1)
 591                 new = 0x3;
 592         if (status & 0x2)
 593                 new ^= 0x1;                                     // convert gray to binary
 594         diff = oldstatus - new;                         // difference last - new
 595         if (diff & 0x1) {                               // bit 0 = value (1)
 596                 oldstatus = new;                                        // store new as next last
 597                 if (motor2_switch) pos2 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
 598                 else pos2 += (diff & 2) - 1;
 599         }
 600 }
 601
 602
 603 static void update_hall3(void) {
 604         unsigned char status = (PINA >> 2) & 0x3;
 605         static unsigned char oldstatus=0;
 606         unsigned char diff, new;
 607
 608         new = 0;
 609         if (status & 0x1)
 610                 new = 0x3;
 611         if (status & 0x2)
 612                 new ^= 0x1;                                     // convert gray to binary
 613         diff = oldstatus - new;                         // difference last - new
 614         if (diff & 0x1) {                               // bit 0 = value (1)
 615                 oldstatus = new;                                        // store new as next last
 616                 if (motor3_switch) pos3 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
 617                 else pos3 += (diff & 2) - 1;
 618         }
 619 }
 620
 621
 622 static void update_hall4(void) {
 623         unsigned char status = (PINA >> 6) & 0x3;
 624         static unsigned char oldstatus=0;
 625         unsigned char diff, new;
 626
 627         new = 0;
 628         if (status & 0x1)
 629                 new = 0x3;
 630         if (status & 0x2)
 631                 new ^= 0x1;                                     // convert gray to binary
 632         diff = oldstatus - new;                         // difference last - new
 633         if (diff & 0x1) {                               // bit 0 = value (1)
 634                 oldstatus = new;                                        // store new as next last
 635                 if (motor4_switch) pos4 += (diff & 2) - 1;              // bit 1 = direction (+/-)
 636                 else pos4 -= (diff & 2) - 1;
 637         }
 638 }
 639
 640
 641 static void update_motor(void) {
 642         static int16_t m1_old=SHRT_MIN;
 643         static int16_t m2_old=SHRT_MIN;
 644         static int16_t m3_old=SHRT_MIN;
 645         static int16_t m4_old=SHRT_MIN;
 646
 647         if (m1_old != motor1) { // update only when changed
 648                 if (motor1 == 0) {
 649                         // stop
 650                         PORTC |= (1 << 3) | (1 << 2);
 651                 } else if ((!motor1_switch && motor1 > 0) || (motor1_switch && motor1 < 0)) {
 652                         // forward
 653                         PORTC &= ~(1 << 3) & ~(1 << 2);
 654                 } else { // motor1 < 0
 655                         // backward
 656                         PORTC &= ~(1 << 2);
 657                         PORTC |=  (1 << 3);
 658                 }
 659
 660                 m1_old = motor1;
 661                 OCR1A = abs(motor1);
 662         }
 663
 664         if (m2_old != motor2) { // update only when changed
 665                 if (motor2 == 0) {
 666                         // stop
 667                         PORTC |= (1 << 5) | (1 << 4);
 668                 } else if ((!motor2_switch && motor2 > 0) || (motor2_switch && motor2 < 0)) {
 669                         // forward
 670                         PORTC &= ~(1 << 5) & ~(1 << 4);
 671                 } else { // motor2 < 0
 672                         // backward
 673                         PORTC &= ~(1 << 4);
 674                         PORTC |=  (1 << 5);
 675                 }
 676
 677                 m2_old = motor2;
 678                 OCR1B = abs(motor2);
 679         }
 680
 681         if (m3_old != motor3) { // update only when changed
 682                 if (motor3 == 0) {
 683                         // stop
 684                         PORTC |= (1 << 7) | (1 << 6);
 685                 } else if ((!motor3_switch && motor3 > 0) || (motor3_switch && motor3 < 0)) {
 686                         // forward
 687                         PORTC &= ~(1 << 7) & ~(1 << 6);
 688                 } else { // motor3 < 0
 689                         // backward
 690                         PORTC &= ~(1 << 6);
 691                         PORTC |=  (1 << 7);
 692                 }
 693
 694                 m3_old = motor3;
 695                 OCR2 = abs(motor3);
 696         }
 697
 698         if (m4_old != motor4) { // update only when changed
 699                 if (motor4 == 0) {
 700                         // stop
 701                         PORTD |= (1 << 3) | (1 << 2);
 702                 } else if ((!motor4_switch && motor4 > 0) || (motor4_switch && motor4 < 0)) {
 703                         // forward
 704                         PORTD &= ~(1 << 3) & ~(1 << 2);
 705                 } else { // motor4 < 0
 706                         // backward
 707                         PORTD &= ~(1 << 2);
 708                         PORTD |=  (1 << 3);
 709                 }
 710
 711                 m4_old = motor4;
 712                 OCR0 = abs(motor4);
 713         }
 714 }
 715
 716
 717 static void update_pos(void) {
 718         static int16_t pos1_last=0;
 719         static int16_t pos2_last=0;
 720         static int16_t pos3_last=0;
 721         static int16_t pos4_last=0;
 722         int16_t pos1_diff; // steps
 723         int16_t pos2_diff;
 724         int16_t pos3_diff;
 725         int16_t pos4_diff;
 726         float diff_left_m, diff_right_m, angle_diff, translation;
 727         float pos_x_diff, pos_y_diff, angle_new;
 728         int16_t speed_l, speed_r;
 729         float tmp_speed_lin, tmp_speed_rot;
 730
 731         cli();
 732         pos1_diff = pos1 - pos1_last;
 733         pos2_diff = pos2 - pos2_last;
 734         pos3_diff = pos3 - pos3_last;
 735         pos4_diff = pos4 - pos4_last;
 736         speed1 = pos1_diff/PID_T;
 737         speed2 = pos2_diff/PID_T;
 738         speed3 = pos3_diff/PID_T;
 739         speed4 = pos4_diff/PID_T;
 740         sei();
 741
 742         diff_left_m = (pos1_diff + pos2_diff)/(2*STEP_PER_M);
 743         diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M);
 744         angle_diff = (diff_right_m - diff_left_m) / WHEEL_DIST;
 745
 746         angle_new = angle.f + angle_diff;
 747         if (angle_new > 2*M_PI) angle_new-=2*M_PI;
 748         else if (angle_new < 2*M_PI) angle_new+=2*M_PI;
 749
 750         translation = (diff_left_m + diff_right_m)/2.0;
 751         pos_x_diff = cos(angle_new)*translation;
 752         pos_y_diff = sin(angle_new)*translation;
 753
 754         cli();
 755         angle.f = angle_new;
 756         pos_x.f += pos_x_diff;
 757         pos_y.f += pos_y_diff;
 758         sei();
 759
 760         speed_l = (speed1+speed2)/2;
 761         speed_r = (speed3+speed4)/2;
 762         tmp_speed_lin = (speed_l + speed_r)/(2.0*STEP_PER_M);
 763         tmp_speed_rot = (speed_r - speed_l)/(M_PI*WHEEL_DIST*STEP_PER_M);
 764
 765         cli();
 766         cur_speed_lin = tmp_speed_lin;
 767         cur_speed_rot = tmp_speed_rot;
 768         sei();
 769
 770         pos1_last = pos1;
 771         pos2_last = pos2;
 772         pos3_last = pos3;
 773         pos4_last = pos4;
 774 }
 775
 776
 777 static void update_pid(void) {
 778         static int16_t eold1=0;
 779         static int16_t eold2=0;
 780         static int16_t eold3=0;
 781         static int16_t eold4=0;
 782         static int32_t esum1=0;
 783         static int32_t esum2=0;
 784         static int32_t esum3=0;
 785         static int32_t esum4=0;
 786
 787         if (motor1_mode == MOTOR_PID) {
 788                 if (speed1_wish == 0) {
 789                         motor1 = 0;
 790                         eold1 = 0;
 791                         esum1 = 0;
 792                 } else {
 793                         int16_t e = speed1_wish - speed1;
 794                         esum1+=e;
 795                         motor1 += KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
 796                         eold1 = e;
 797
 798                         if (motor1 > 255) motor1 = 255;
 799                         else if (motor1 < -255) motor1 = -255;
 800                 }
 801         }
 802         if (motor2_mode == MOTOR_PID) {
 803                 if (speed2_wish == 0) {
 804                         motor2 = 0;
 805                         eold2 = 0;
 806                         esum2 = 0;
 807                 } else {
 808                         int16_t e = speed2_wish - speed2;
 809                         esum2+=e;
 810                         motor2 += KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
 811                         eold2 = e;
 812
 813                         if (motor2 > 255) motor2 = 255;
 814                         else if (motor2 < -255) motor2 = -255;
 815                 }
 816         }
 817         if (motor3_mode == MOTOR_PID) {
 818                 if (speed3_wish == 0) {
 819                         motor3 = 0;
 820                         eold3 = 0;
 821                         esum3 = 0;
 822                 } else {
 823                         int16_t e = speed3_wish - speed3;
 824                         esum3+=e;
 825                         motor3 += KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
 826                         eold3 = e;
 827
 828                         if (motor3 > 255) motor3 = 255;
 829                         else if (motor3 < -255) motor3 = -255;
 830                 }
 831         }
 832         if (motor4_mode == MOTOR_PID) {
 833                 if (speed4_wish == 0) {
 834                         motor4 = 0;
 835                         eold4 = 0;
 836                         esum4 = 0;
 837                 } else {
 838                         int16_t e = speed4_wish - speed4;
 839                         esum4+=e;
 840                         motor4 += KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
 841                         eold4 = e;
 842
 843                         if (motor4 > 255) motor4 = 255;
 844                         else if (motor4 < -255) motor4 = -255;
 845                 }
 846         }
 847 }
 848
 849
 850 ISR(TIMER1_OVF_vect) {
 851         update_hall1();
 852         update_hall2();
 853         update_hall3();
 854         update_hall4();
 855
 856         run_update++;
 857 }
 858
 859
 860 int main(void) {
 861         // Outputs
 862         DDRB = (1 << 3);
 863         DDRC = (1 << 7) | (1 << 6) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
 864         DDRD = (1 << 7) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
 865
 866         bootloader = 0x00;
 867         setup_uart(9600);
 868         uart_setup_stdout();
 869
 870         // I2C
 871         TWAR = 0x50;
 872         TWI_RESET;
 873
 874         // Motor 1 & 2
 875         // Timer 1: Fast PWM inverting mode, Top=256 => 31.25kHz
 876         // Prescaler=1
 877         TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << COM1A0) | (1 << COM1B0) | (1 << WGM10);
 878         TCCR1B = (1 << WGM12) | (1 << CS10);
 879         OCR1A = 0;
 880         OCR1B = 0;
 881
 882         // Motor 3
 883         // Timer 2: Fast PWM inverting mode, Top=256
 884         // Prescaler=1
 885         TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << COM20) | (1 << CS20);
 886         OCR2 = 0;
 887
 888         // Motor 4
 889         // Timer 0: Fast PWM inverting mode, Top=256
 890         // Prescaler=1
 891         TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << COM00) | (1 << CS00);
 892         OCR0 = 0;
 893
 894         printf("\r\nStart\r\n");
 895
 896         set_sleep_mode(SLEEP_MODE_IDLE);
 897         // Enable Timer 1 Overflow Interrupt
 898         TIMSK = (1 << TOIE1);
 899         sei();
 900
 901         while(1) {
 902                 switch(ireg) {
 903                         case 0xff: // Magic reg that starts the bootloader
 904                                 if (bootloader == 0xa5) {
 905                                         cli();
 906                                         {
 907                                                 void (*start)(void) = (void*)0x1800;
 908                                                 start();
 909                                         }
 910                                 }
 911                                 break;
 912                 }
 913
 914                 if (cmd_vel.bUpdate) {
 915                         float speed_wish_right = cmd_vel.angle*M_PI*WHEEL_DIST/2 + cmd_vel.speed;
 916                         float speed_wish_left = cmd_vel.speed*2-speed_wish_right;
 917
 918                         cmd_vel.bUpdate = 0;
 919                         speed_wish_left*=STEP_PER_M;
 920                         speed_wish_right*=STEP_PER_M;
 921
 922                         speed1_wish = speed_wish_left;
 923                         speed2_wish = speed_wish_left;
 924                         speed3_wish = speed_wish_right;
 925                         speed4_wish = speed_wish_right;
 926                         motor1_mode = MOTOR_PID;
 927                         motor2_mode = MOTOR_PID;
 928                         motor3_mode = MOTOR_PID;
 929                         motor4_mode = MOTOR_PID;
 930                 }
 931
 932                 if (run_update >= 312) { // ~100Hz
 933                         run_update=0;
 934
 935                         update_pos();
 936                         update_pid();
 937                         update_motor();
 938                         test++;
 939                 }
 940
 941                 sleep_mode();
 942         }
 943
 944         return 0;
 945 }