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 0.061
 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 5770.8
 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
 113 #define TWI_ACK   TWCR = (1<<TWEA) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
 114 #define TWI_RESET TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
 115 #define TWI_NAK   TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
 116 #define ENABLE_PWM_MOTOR1  TCCR1A |=  (1 << COM1A1)
 117 #define ENABLE_PWM_MOTOR2  TCCR1A |=  (1 << COM1B1)
 118 #define ENABLE_PWM_MOTOR3  TCCR2  |=  (1 << COM21);
 119 #define ENABLE_PWM_MOTOR4  TCCR0  |=  (1 << COM01);
 120 #define DISABLE_PWM_MOTOR1 TCCR1A &= ~(1 << COM1A1)
 121 #define DISABLE_PWM_MOTOR2 TCCR1A &= ~(1 << COM1B1)
 122 #define DISABLE_PWM_MOTOR3 TCCR2  &= ~(1 << COM21);
 123 #define DISABLE_PWM_MOTOR4 TCCR0  &= ~(1 << COM01);
 124
 125
 126 enum mode {
 127         MOTOR_MANUAL,
 128         MOTOR_PID
 129 };
 130
 131 typedef union {
 132         float f;
 133         uint32_t i;
 134 } ufloat_t;
 135
 136 static volatile struct {
 137         float speed;
 138         float angle;
 139         uint8_t bUpdate;
 140 } cmd_vel = {0, 0, 0};
 141
 142 static volatile uint8_t ireg=0;
 143 static volatile uint8_t bootloader=0;
 144 static volatile int16_t motor1=0; // -255..+255
 145 static volatile int16_t motor2=0;
 146 static volatile int16_t motor3=0;
 147 static volatile int16_t motor4=0;
 148 static volatile int16_t pos1=0; // step
 149 static volatile int16_t pos2=0;
 150 static volatile int16_t pos3=0;
 151 static volatile int16_t pos4=0;
 152 static volatile enum mode motor1_mode=MOTOR_MANUAL;
 153 static volatile enum mode motor2_mode=MOTOR_MANUAL;
 154 static volatile enum mode motor3_mode=MOTOR_MANUAL;
 155 static volatile enum mode motor4_mode=MOTOR_MANUAL;
 156 static volatile uint8_t motor1_switch=1;
 157 static volatile uint8_t motor2_switch=1;
 158 static volatile uint8_t motor3_switch=0;
 159 static volatile uint8_t motor4_switch=0;
 160 static volatile int16_t speed1_wish=0; // step/s
 161 static volatile int16_t speed2_wish=0;
 162 static volatile int16_t speed3_wish=0;
 163 static volatile int16_t speed4_wish=0;
 164 static volatile int16_t speed1_wish_old=0;
 165 static volatile int16_t speed2_wish_old=0;
 166 static volatile int16_t speed3_wish_old=0;
 167 static volatile int16_t speed4_wish_old=0;
 168 static volatile uint8_t run_update=0;
 169 static volatile int16_t speed1=0; // step/s
 170 static volatile int16_t speed2=0;
 171 static volatile int16_t speed3=0;
 172 static volatile int16_t speed4=0;
 173 static volatile ufloat_t pos_x={0.0};
 174 static volatile ufloat_t pos_y={0.0};
 175 static volatile ufloat_t angle={0.0};
 176 static volatile float cur_speed_lin=0;
 177 static volatile float cur_speed_rot=0;
 178 static volatile uint8_t count_test=0;
 179 static volatile uint8_t front_handicap=0;
 180 static volatile uint8_t aft_handicap=0;
 181 static volatile uint8_t error_state=0;
 182
 183 ISR(TWI_vect)
 184 {
 185         static uint8_t tmp=0;
 186         static int16_t tmp16=0;
 187         static ufloat_t tmp_speed;
 188         static ufloat_t tmp_angle;
 189
 190         switch (TWSR & 0xF8)
 191         {
 192                 case 0x60: // start write
 193                         TWI_ACK;
 194                         ireg = 0;
 195                         break;
 196                 case 0x80: // write
 197                         switch(ireg) {
 198                                 case 0x00: // register select
 199                                         ireg = TWDR;
 200                                         ireg--; // because we do ireg++ below
 201                                         TWI_ACK;
 202                                         break;
 203                                 case 0x01: // Motor 1 MSB
 204                                         tmp = TWDR;
 205                                         TWI_ACK;
 206                                         break;
 207                                 case 0x02: // Motor 1 LSB
 208                                         motor1 = tmp<<8 | TWDR;
 209                                         motor1_mode = MOTOR_MANUAL;
 210                                         TWI_ACK;
 211                                         break;
 212                                 case 0x03: // Motor 2 MSB
 213                                         tmp = TWDR;
 214                                         TWI_ACK;
 215                                         break;
 216                                 case 0x04: // Motor 2 LSB
 217                                         motor2 = tmp<<8 | TWDR;
 218                                         motor2_mode = MOTOR_MANUAL;
 219                                         TWI_ACK;
 220                                         break;
 221                                 case 0x05: // Motor 3 MSB
 222                                         tmp = TWDR;
 223                                         TWI_ACK;
 224                                         break;
 225                                 case 0x06: // Motor 3 LSB
 226                                         motor3 = tmp<<8 | TWDR;
 227                                         motor3_mode = MOTOR_MANUAL;
 228                                         TWI_ACK;
 229                                         break;
 230                                 case 0x07: // Motor 4 MSB
 231                                         tmp = TWDR;
 232                                         TWI_ACK;
 233                                         break;
 234                                 case 0x08: // Motor 4 LSB
 235                                         motor4 = tmp<<8 | TWDR;
 236                                         motor4_mode = MOTOR_MANUAL;
 237                                         TWI_ACK;
 238                                         break;
 239                                 case 0x20: // Motor 1 speed wish MSB
 240                                         tmp = TWDR;
 241                                         TWI_ACK;
 242                                         break;
 243                                 case 0x21: // Motor 1 speed wish LSB
 244                                         speed1_wish = tmp<<8 | TWDR;
 245                                         motor1_mode = MOTOR_PID;
 246                                         TWI_ACK;
 247                                         break;
 248                                 case 0x22: // Motor 2 speed wish MSB
 249                                         tmp = TWDR;
 250                                         TWI_ACK;
 251                                         break;
 252                                 case 0x23: // Motor 2 speed wish LSB
 253                                         speed2_wish = tmp<<8 | TWDR;
 254                                         motor2_mode = MOTOR_PID;
 255                                         TWI_ACK;
 256                                         break;
 257                                 case 0x24: // Motor 3 speed wish MSB
 258                                         tmp = TWDR;
 259                                         TWI_ACK;
 260                                         break;
 261                                 case 0x25: // Motor 3 speed wish LSB
 262                                         speed3_wish = tmp<<8 | TWDR;
 263                                         motor3_mode = MOTOR_PID;
 264                                         TWI_ACK;
 265                                         break;
 266                                 case 0x26: // Motor 4 speed wish MSB
 267                                         tmp = TWDR;
 268                                         TWI_ACK;
 269                                         break;
 270                                 case 0x27: // Motor 4 speed wish LSB
 271                                         speed4_wish = tmp<<8 | TWDR;
 272                                         motor4_mode = MOTOR_PID;
 273                                         TWI_ACK;
 274                                         break;
 275                                 case 0x28: // Left speed wish MSB
 276                                         tmp_speed.i = TWDR;
 277                                         TWI_ACK;
 278                                         break;
 279                                 case 0x29: // Left speed wish
 280                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 281                                         TWI_ACK;
 282                                         break;
 283                                 case 0x2A: // Left speed wish
 284                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 285                                         TWI_ACK;
 286                                         break;
 287                                 case 0x2B: // Left speed wish LSB
 288                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 289                                         speed1_wish = tmp_speed.f*STEP_PER_M_LEFT;
 290                                         speed2_wish = tmp_speed.f*STEP_PER_M_LEFT;
 291                                         motor1_mode = MOTOR_PID;
 292                                         motor2_mode = MOTOR_PID;
 293                                         TWI_ACK;
 294                                         break;
 295                                 case 0x2C: // Right speed wish MSB
 296                                         tmp_speed.i = TWDR;
 297                                         TWI_ACK;
 298                                         break;
 299                                 case 0x2D: // Right speed wish
 300                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 301                                         TWI_ACK;
 302                                         break;
 303                                 case 0x2E: // Right speed wish
 304                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 305                                         TWI_ACK;
 306                                         break;
 307                                 case 0x2F: // Right speed wish LSB
 308                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 309                                         speed1_wish = tmp_speed.f*STEP_PER_M_RIGHT;
 310                                         speed2_wish = tmp_speed.f*STEP_PER_M_RIGHT;
 311                                         motor1_mode = MOTOR_PID;
 312                                         motor2_mode = MOTOR_PID;
 313                                         TWI_ACK;
 314                                         break;
 315                                 case 0x50: // speed wish MSB
 316                                         tmp_speed.i = TWDR;
 317                                         TWI_ACK;
 318                                         break;
 319                                 case 0x51: // speed wish
 320                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 321                                         TWI_ACK;
 322                                         break;
 323                                 case 0x52: // speed wish
 324                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 325                                         TWI_ACK;
 326                                         break;
 327                                 case 0x53: // speed wish LSB
 328                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 329                                         cmd_vel.speed = tmp_speed.f;
 330                                         TWI_ACK;
 331                                         break;
 332                                 case 0x54: // angle wish MSB
 333                                         tmp_angle.i = TWDR;
 334                                         TWI_ACK;
 335                                         break;
 336                                 case 0x55: // angle wish
 337                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 338                                         TWI_ACK;
 339                                         break;
 340                                 case 0x56: // angle wish
 341                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 342                                         TWI_ACK;
 343                                         break;
 344                                 case 0x57: // angle wish LSB
 345                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 346                                         cmd_vel.angle = tmp_angle.f;
 347                                         cmd_vel.bUpdate = 1;
 348                                         TWI_ACK;
 349                                         break;
 350                                 case 0x90: // Motor 1 switch
 351                                         motor1_switch = TWDR;
 352                                         TWI_ACK;
 353                                         break;
 354                                 case 0x91: // Motor 2 switch
 355                                         motor2_switch = TWDR;
 356                                         TWI_ACK;
 357                                         break;
 358                                 case 0x92: // Motor 3 switch
 359                                         motor3_switch = TWDR;
 360                                         TWI_ACK;
 361                                         break;
 362                                 case 0x93: // Motor 4 switch
 363                                         motor4_switch = TWDR;
 364                                         TWI_ACK;
 365                                         break;
 366                                 case 0x94: // Front Handicap
 367                                         front_handicap = TWDR;
 368                                         cmd_vel.bUpdate = 1;
 369                                         TWI_ACK;
 370                                         break;
 371                                 case 0x95: // Aft Handicap
 372                                         aft_handicap = TWDR;
 373                                         cmd_vel.bUpdate = 1;
 374                                         TWI_ACK;
 375                                         break;
 376                                 case 0xff: // bootloader
 377                                         bootloader = TWDR;
 378                                 default:
 379                                         TWI_NAK;
 380                         }
 381                         ireg++;
 382                         break;
 383                 case 0xA8: // start read
 384                 case 0xB8: // read
 385                         switch(ireg) {
 386                                 case 0x02: // Motor 1 PWM
 387                                         TWDR = OCR1A;
 388                                         TWI_ACK;
 389                                         break;
 390                                 case 0x03: // Dummy to allow continous read
 391                                         TWDR = 0;
 392                                         TWI_ACK;
 393                                         break;
 394                                 case 0x04: // Motor 2 PWM
 395                                         TWDR = OCR1B;
 396                                         TWI_ACK;
 397                                         break;
 398                                 case 0x05: // Dummy to allow continous read
 399                                         TWDR = 0;
 400                                         TWI_ACK;
 401                                         break;
 402                                 case 0x06: // Motor 3 PWM
 403                                         TWDR = OCR2;
 404                                         TWI_ACK;
 405                                         break;
 406                                 case 0x07: // Dummy to allow continous read
 407                                         TWDR = 0;
 408                                         TWI_ACK;
 409                                         break;
 410                                 case 0x08: // Motor 4 PWM
 411                                         TWDR = OCR0;
 412                                         TWI_ACK;
 413                                         break;
 414                                 case 0x09: // Dummy to allow continous read
 415                                         TWDR = 0;
 416                                         TWI_ACK;
 417                                         break;
 418                                 case 0x10: // Hall 1 MSB
 419                                         tmp16 = pos1;
 420                                         TWDR = tmp16>>8;
 421                                         TWI_ACK;
 422                                         break;
 423                                 case 0x11: // Hall 1 LSB
 424                                         TWDR = tmp16;
 425                                         TWI_ACK;
 426                                         break;
 427                                 case 0x12: // Hall 2 MSB
 428                                         tmp16 = pos2;
 429                                         TWDR = tmp16>>8;
 430                                         TWI_ACK;
 431                                         break;
 432                                 case 0x13: // Hall 2 LSB
 433                                         TWDR = tmp16;
 434                                         TWI_ACK;
 435                                         break;
 436                                 case 0x14: // Hall 3 MSB
 437                                         tmp16 = pos3;
 438                                         TWDR = tmp16>>8;
 439                                         TWI_ACK;
 440                                         break;
 441                                 case 0x15: // Hall 3 LSB
 442                                         TWDR = tmp16;
 443                                         TWI_ACK;
 444                                         break;
 445                                 case 0x16: // Hall 4 MSB
 446                                         tmp16 = pos4;
 447                                         TWDR = tmp16>>8;
 448                                         TWI_ACK;
 449                                         break;
 450                                 case 0x17: // Hall 4 LSB
 451                                         TWDR = tmp16;
 452                                         TWI_ACK;
 453                                         break;
 454                                 case 0x20: // Motor 1 speed wish MSB
 455                                         TWDR = speed1_wish>>8;
 456                                         TWI_ACK;
 457                                         break;
 458                                 case 0x21: // Motor 1 speed wish LSB
 459                                         TWDR = speed1_wish;
 460                                         TWI_ACK;
 461                                         break;
 462                                 case 0x22: // Motor 2 speed wish MSB
 463                                         TWDR = speed2_wish>>8;
 464                                         TWI_ACK;
 465                                         break;
 466                                 case 0x23: // Motor 2 speed wish LSB
 467                                         TWDR = speed2_wish;
 468                                         TWI_ACK;
 469                                         break;
 470                                 case 0x24: // Motor 3 speed wish MSB
 471                                         TWDR = speed3_wish>>8;
 472                                         TWI_ACK;
 473                                         break;
 474                                 case 0x25: // Motor 3 speed wish LSB
 475                                         TWDR = speed3_wish;
 476                                         TWI_ACK;
 477                                         break;
 478                                 case 0x26: // Motor 4 speed wish MSB
 479                                         TWDR = speed4_wish>>8;
 480                                         TWI_ACK;
 481                                         break;
 482                                 case 0x27: // Motor 4 speed wish LSB
 483                                         TWDR = speed4_wish;
 484                                         TWI_ACK;
 485                                         break;
 486                                 case 0x30: // Motor 1 speed MSB
 487                                         TWDR = speed1>>8;
 488                                         TWI_ACK;
 489                                         break;
 490                                 case 0x31: // Motor 1 speed LSB
 491                                         TWDR = speed1;
 492                                         TWI_ACK;
 493                                         break;
 494                                 case 0x32: // Motor 2 speed MSB
 495                                         TWDR = speed2>>8;
 496                                         TWI_ACK;
 497                                         break;
 498                                 case 0x33: // Motor 2 speed LSB
 499                                         TWDR = speed2;
 500                                         TWI_ACK;
 501                                         break;
 502                                 case 0x34: // Motor 3 speed MSB
 503                                         TWDR = speed3>>8;
 504                                         TWI_ACK;
 505                                         break;
 506                                 case 0x35: // Motor 3 speed LSB
 507                                         TWDR = speed3;
 508                                         TWI_ACK;
 509                                         break;
 510                                 case 0x36: // Motor 4 speed MSB
 511                                         TWDR = speed4>>8;
 512                                         TWI_ACK;
 513                                         break;
 514                                 case 0x37: // Motor 4 speed LSB
 515                                         TWDR = speed4;
 516                                         TWI_ACK;
 517                                         break;
 518                                 case 0x38: // speed MSB
 519                                         tmp_speed.f = cur_speed_lin;
 520                                         TWDR = tmp_speed.i>>24;
 521                                         TWI_ACK;
 522                                         break;
 523                                 case 0x39: // speed
 524                                         TWDR = tmp_speed.i>>16;
 525                                         TWI_ACK;
 526                                         break;
 527                                 case 0x3A: // speed
 528                                         TWDR = tmp_speed.i>>8;
 529                                         TWI_ACK;
 530                                         break;
 531                                 case 0x3B: // speed LSB
 532                                         TWDR = tmp_speed.i;
 533                                         TWI_ACK;
 534                                         break;
 535                                 case 0x3C: // angle MSB
 536                                         tmp_angle.f = cur_speed_rot;
 537                                         TWDR = tmp_angle.i>>24;
 538                                         TWI_ACK;
 539                                         break;
 540                                 case 0x3D: // angle
 541                                         TWDR = tmp_angle.i>>16;
 542                                         TWI_ACK;
 543                                         break;
 544                                 case 0x3E: // angle
 545                                         TWDR = tmp_angle.i>>8;
 546                                         TWI_ACK;
 547                                         break;
 548                                 case 0x3F: // angle LSB
 549                                         TWDR = angle.i;
 550                                         TWI_ACK;
 551                                         break;
 552                                 case 0x40: // Position x MSB
 553                                         TWDR = pos_x.i>>24;
 554                                         TWI_ACK;
 555                                         break;
 556                                 case 0x41: // Position x
 557                                         TWDR = pos_x.i>>16;
 558                                         TWI_ACK;
 559                                         break;
 560                                 case 0x42: // Position x
 561                                         TWDR = pos_x.i>>8;
 562                                         TWI_ACK;
 563                                         break;
 564                                 case 0x43: // Position x LSB
 565                                         TWDR = pos_x.i;
 566                                         TWI_ACK;
 567                                         break;
 568                                 case 0x44: // Position y MSB
 569                                         TWDR = pos_y.i>>24;
 570                                         TWI_ACK;
 571                                         break;
 572                                 case 0x45: // Position y
 573                                         TWDR = pos_y.i>>16;
 574                                         TWI_ACK;
 575                                         break;
 576                                 case 0x46: // Position y
 577                                         TWDR = pos_y.i>>8;
 578                                         TWI_ACK;
 579                                         break;
 580                                 case 0x47: // Position y LSB
 581                                         TWDR = pos_y.i;
 582                                         TWI_ACK;
 583                                         break;
 584                                 case 0x48: // Position angle MSB
 585                                         TWDR = angle.i>>24;
 586                                         TWI_ACK;
 587                                         break;
 588                                 case 0x49: // Position angle
 589                                         TWDR = angle.i>>16;
 590                                         TWI_ACK;
 591                                         break;
 592                                 case 0x4A: // Position angle
 593                                         TWDR = angle.i>>8;
 594                                         TWI_ACK;
 595                                         break;
 596                                 case 0x4B: // Position angle LSB
 597                                         TWDR = angle.i;
 598                                         TWI_ACK;
 599                                         break;
 600                                 case 0xA0: // Reset reason
 601                                         TWDR = MCUCSR & 0x0f;
 602                                         MCUCSR = 0x0;
 603                                         TWI_ACK;
 604                                         break;
 605                                 case 0xA1: // Error status
 606                                         TWDR = error_state;
 607                                         TWI_ACK;
 608                                         break;
 609                                 case 0xA2: // count test
 610                                         TWDR = count_test;
 611                                         TWI_ACK;
 612                                 default:
 613                                         TWDR = 0;
 614                                         TWI_NAK;
 615                         }
 616                         ireg++;
 617                         break;
 618                 default:
 619                         TWI_RESET;
 620         }
 621 }
 622
 623
 624 static void update_hall1(void) {
 625         unsigned char status = (PINA >> 0) & 0x3;
 626         static unsigned char oldstatus=0;
 627         unsigned char diff, new;
 628
 629         new = 0;
 630         if (status & 0x1)
 631                 new = 0x3;
 632         if (status & 0x2)
 633                 new ^= 0x1;                                     // convert gray to binary
 634         diff = oldstatus - new;                         // difference last - new
 635         if (diff & 0x1) {                               // bit 0 = value (1)
 636                 oldstatus = new;                                        // store new as next last
 637                 if (motor1_switch) pos1 += (diff & 2) - 1;              // bit 1 = direction (+/-)
 638                 else pos1 -= (diff & 2) - 1;
 639         }
 640 }
 641
 642
 643 static void update_hall2(void) {
 644         unsigned char status = (PINA >> 4) & 0x3;
 645         static unsigned char oldstatus=0;
 646         unsigned char diff, new;
 647
 648         new = 0;
 649         if (status & 0x1)
 650                 new = 0x3;
 651         if (status & 0x2)
 652                 new ^= 0x1;                                     // convert gray to binary
 653         diff = oldstatus - new;                         // difference last - new
 654         if (diff & 0x1) {                               // bit 0 = value (1)
 655                 oldstatus = new;                                        // store new as next last
 656                 if (motor2_switch) pos2 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
 657                 else pos2 += (diff & 2) - 1;
 658         }
 659 }
 660
 661
 662 static void update_hall3(void) {
 663         unsigned char status = (PINA >> 2) & 0x3;
 664         static unsigned char oldstatus=0;
 665         unsigned char diff, new;
 666
 667         new = 0;
 668         if (status & 0x1)
 669                 new = 0x3;
 670         if (status & 0x2)
 671                 new ^= 0x1;                                     // convert gray to binary
 672         diff = oldstatus - new;                         // difference last - new
 673         if (diff & 0x1) {                               // bit 0 = value (1)
 674                 oldstatus = new;                                        // store new as next last
 675                 if (motor3_switch) pos3 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
 676                 else pos3 += (diff & 2) - 1;
 677         }
 678 }
 679
 680
 681 static void update_hall4(void) {
 682         unsigned char status = (PINA >> 6) & 0x3;
 683         static unsigned char oldstatus=0;
 684         unsigned char diff, new;
 685
 686         new = 0;
 687         if (status & 0x1)
 688                 new = 0x3;
 689         if (status & 0x2)
 690                 new ^= 0x1;                                     // convert gray to binary
 691         diff = oldstatus - new;                         // difference last - new
 692         if (diff & 0x1) {                               // bit 0 = value (1)
 693                 oldstatus = new;                                        // store new as next last
 694                 if (motor4_switch) pos4 += (diff & 2) - 1;              // bit 1 = direction (+/-)
 695                 else pos4 -= (diff & 2) - 1;
 696         }
 697 }
 698
 699
 700 static void update_motor(void) {
 701         static int16_t m1_old=SHRT_MIN;
 702         static int16_t m2_old=SHRT_MIN;
 703         static int16_t m3_old=SHRT_MIN;
 704         static int16_t m4_old=SHRT_MIN;
 705
 706         error_state &= 0xf0; // clear lower bits
 707         error_state |= ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
 708
 709         if (m1_old != motor1) { // update only when changed
 710                 if (motor1 == 0) {
 711                         // stop
 712                         PORTC &= ~(1 << 3) & ~(1 << 2);
 713                         DISABLE_PWM_MOTOR1;
 714                 } else if (motor1 == PWM_BREAK) {
 715                         PORTC |= (1 << 3) | (1 << 2);
 716                         ENABLE_PWM_MOTOR1;
 717                 } else if ((!motor1_switch && motor1 > 0) || (motor1_switch && motor1 < 0)) {
 718                         // forward
 719                         uint8_t tmp=PORTC;
 720                         tmp &= ~(1 << 3);
 721                         tmp |=  (1 << 2);
 722                         PORTC = tmp;
 723                         ENABLE_PWM_MOTOR1;
 724                 } else { // motor1 < 0
 725                         // backward
 726                         uint8_t tmp=PORTC;
 727                         tmp &= ~(1 << 2);
 728                         tmp |=  (1 << 3);
 729                         PORTC = tmp;
 730                         ENABLE_PWM_MOTOR1;
 731                 }
 732
 733                 m1_old = motor1;
 734                 OCR1A = abs(motor1);
 735         }
 736
 737         if (m2_old != motor2) { // update only when changed
 738                 if (motor2 == 0) {
 739                         // stop
 740                         PORTC &= ~(1 << 5) & ~(1 << 4);
 741                         DISABLE_PWM_MOTOR2;
 742                 } else if (motor2 == PWM_BREAK) {
 743                         PORTC |= (1 << 5) | (1 << 4);
 744                         ENABLE_PWM_MOTOR2;
 745                 } else if ((!motor2_switch && motor2 > 0) || (motor2_switch && motor2 < 0)) {
 746                         // forward
 747                         uint8_t tmp=PORTC;
 748                         tmp &= ~(1 << 5);
 749                         tmp |=  (1 << 4);
 750                         PORTC = tmp;
 751                         ENABLE_PWM_MOTOR2;
 752                 } else { // motor2 < 0
 753                         // backward
 754                         uint8_t tmp=PORTC;
 755                         tmp &= ~(1 << 4);
 756                         tmp |=  (1 << 5);
 757                         PORTC = tmp;
 758                         ENABLE_PWM_MOTOR2;
 759                 }
 760
 761                 m2_old = motor2;
 762                 OCR1B = abs(motor2);
 763         }
 764
 765         if (m3_old != motor3) { // update only when changed
 766                 if (motor3 == 0) {
 767                         // stop
 768                         PORTC &= ~(1 << 7) & ~(1 << 6);
 769                         DISABLE_PWM_MOTOR3;
 770                 } else if (motor3 == PWM_BREAK) {
 771                         PORTC |= (1 << 7) | (1 << 6);
 772                         ENABLE_PWM_MOTOR3;
 773                 } else if ((!motor3_switch && motor3 > 0) || (motor3_switch && motor3 < 0)) {
 774                         // forward
 775                         uint8_t tmp=PORTC;
 776                         tmp &= ~(1 << 7);
 777                         tmp |=  (1 << 6);
 778                         PORTC = tmp;
 779                         ENABLE_PWM_MOTOR3;
 780                 } else { // motor3 < 0
 781                         // backward
 782                         uint8_t tmp=PORTC;
 783                         tmp &= ~(1 << 6);
 784                         tmp |=  (1 << 7);
 785                         PORTC = tmp;
 786                         ENABLE_PWM_MOTOR3;
 787                 }
 788
 789                 m3_old = motor3;
 790                 OCR2 = abs(motor3);
 791         }
 792
 793         if (m4_old != motor4) { // update only when changed
 794                 if (motor4 == 0) {
 795                         // stop
 796                         PORTD &= ~(1 << 3) & ~(1 << 2);
 797                         DISABLE_PWM_MOTOR4;
 798                 } else if (motor4 == PWM_BREAK) {
 799                         PORTD |= (1 << 3) | (1 << 2);
 800                         ENABLE_PWM_MOTOR4;
 801                 } else if ((!motor4_switch && motor4 > 0) || (motor4_switch && motor4 < 0)) {
 802                         // forward
 803                         uint8_t tmp=PORTD;
 804                         tmp &= ~(1 << 3);
 805                         tmp |=  (1 << 2);
 806                         PORTD = tmp;
 807                         ENABLE_PWM_MOTOR4;
 808                 } else { // motor4 < 0
 809                         // backward
 810                         uint8_t tmp=PORTD;
 811                         tmp &= ~(1 << 2);
 812                         tmp |=  (1 << 3);
 813                         PORTD = tmp;
 814                         ENABLE_PWM_MOTOR4;
 815                 }
 816
 817                 m4_old = motor4;
 818                 OCR0 = abs(motor4);
 819         }
 820 }
 821
 822
 823 static void update_pos(void) {
 824         static int16_t pos1_last=0;
 825         static int16_t pos2_last=0;
 826         static int16_t pos3_last=0;
 827         static int16_t pos4_last=0;
 828         int16_t pos1_diff; // steps
 829         int16_t pos2_diff;
 830         int16_t pos3_diff;
 831         int16_t pos4_diff;
 832         float diff_left_m, diff_right_m, angle_diff, translation;
 833         float pos_x_new, pos_y_new, angle_new;
 834         float tmp_speed_lin, tmp_speed_rot;
 835         int16_t cur_pos1, cur_pos2, cur_pos3, cur_pos4;
 836         int16_t new_speed1, new_speed2, new_speed3, new_speed4;
 837
 838         // copy to tmp
 839         cli();
 840         cur_pos1 = pos1;
 841         cur_pos2 = pos2;
 842         cur_pos3 = pos3;
 843         cur_pos4 = pos4;
 844         sei();
 845
 846         pos1_diff = cur_pos1 - pos1_last;
 847         pos2_diff = cur_pos2 - pos2_last;
 848         pos3_diff = cur_pos3 - pos3_last;
 849         pos4_diff = cur_pos4 - pos4_last;
 850
 851         new_speed1 = pos1_diff/PID_T;
 852         new_speed2 = pos2_diff/PID_T;
 853         new_speed3 = pos3_diff/PID_T;
 854         new_speed4 = pos4_diff/PID_T;
 855
 856         diff_left_m = (pos1_diff + pos2_diff)/(2*STEP_PER_M_LEFT);
 857         diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M_RIGHT);
 858         angle_diff = (diff_right_m - diff_left_m) / WHEEL_DIST;
 859
 860         angle_new = angle.f + angle_diff;
 861         if (angle_new > 2*M_PI) angle_new-=2*M_PI;
 862         else if (angle_new < -2*M_PI) angle_new+=2*M_PI;
 863
 864         translation = (diff_left_m + diff_right_m)/2.0;
 865         pos_x_new = pos_x.f + cos(angle_new)*translation;
 866         pos_y_new = pos_y.f + sin(angle_new)*translation;
 867
 868         tmp_speed_lin = translation/PID_T;
 869         tmp_speed_rot = angle_diff/PID_T;
 870
 871         // copy from tmp
 872         cli();
 873         angle.f = angle_new;
 874         pos_x.f = pos_x_new;
 875         pos_y.f = pos_y_new;
 876         speed1 = new_speed1;
 877         speed2 = new_speed2;
 878         speed3 = new_speed3;
 879         speed4 = new_speed4;
 880         cur_speed_lin = tmp_speed_lin;
 881         cur_speed_rot = tmp_speed_rot;
 882         sei();
 883
 884         pos1_last = cur_pos1;
 885         pos2_last = cur_pos2;
 886         pos3_last = cur_pos3;
 887         pos4_last = cur_pos4;
 888 }
 889
 890
 891 static void update_pid(void) {
 892         static int16_t eold1=0;
 893         static int16_t eold2=0;
 894         static int16_t eold3=0;
 895         static int16_t eold4=0;
 896         static int32_t esum1=0;
 897         static int32_t esum2=0;
 898         static int32_t esum3=0;
 899         static int32_t esum4=0;
 900
 901         // protect motors from damage if stalling
 902         if (labs(esum1) > 140000 && speed1 == 0) {
 903                 motor1 = 0;
 904                 motor1_mode = MOTOR_MANUAL;
 905                 error_state |= (1<<4);
 906                 esum1 = 0;
 907         }
 908         if (labs(esum2) > 140000 && speed2 == 0) {
 909                 motor2 = 0;
 910                 motor2_mode = MOTOR_MANUAL;
 911                 error_state |= (1<<5);
 912                 esum2 = 0;
 913         }
 914         if (labs(esum3) > 140000 && speed3 == 0) {
 915                 motor3 = 0;
 916                 motor3_mode = MOTOR_MANUAL;
 917                 error_state |= (1<<6);
 918                 esum3 = 0;
 919         }
 920         if (labs(esum4) > 140000 && speed4 == 0) {
 921                 motor4 = 0;
 922                 motor4_mode = MOTOR_MANUAL;
 923                 error_state |= (1<<7);
 924                 esum4 = 0;
 925         }
 926
 927         if (motor1_mode == MOTOR_PID) {
 928                 if (speed1_wish != speed1_wish_old) {
 929                         if (abs(speed1_wish - speed1_wish_old) > 500) esum1 = 0;
 930                         speed1_wish_old = speed1_wish;
 931                 }
 932
 933                 if (speed1_wish == 0) {
 934                         motor1 = 0;
 935                         eold1 = 0;
 936                         error_state &= ~(1<<4);
 937                 } else {
 938                         int16_t e = speed1_wish - speed1;
 939                         esum1+=e;
 940                         motor1 = KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
 941                         eold1 = e;
 942
 943                         if (motor1 > 0 && speed1_wish < 0) motor1=PWM_BREAK;
 944                         else if (motor1 < 0 && speed1_wish > 0) motor1=PWM_BREAK;
 945                         else if (motor1 > 255) motor1 = 255;
 946                         else if (motor1 < -255) motor1 = -255;
 947                 }
 948         }
 949         if (motor2_mode == MOTOR_PID) {
 950                 if (speed2_wish != speed2_wish_old) {
 951                         if (abs(speed2_wish - speed2_wish_old) > 500) esum2 = 0;
 952                         speed2_wish_old = speed2_wish;
 953                 }
 954
 955                 if (speed2_wish == 0) {
 956                         motor2 = 0;
 957                         eold2 = 0;
 958                         error_state &= ~(1<<5);
 959                 } else {
 960                         int16_t e = speed2_wish - speed2;
 961                         esum2+=e;
 962                         motor2 = KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
 963                         eold2 = e;
 964
 965                         if (motor2 > 0 && speed2_wish < 0) motor2=PWM_BREAK;
 966                         else if (motor2 < 0 && speed2_wish > 0) motor2=PWM_BREAK;
 967                         else if (motor2 > 255) motor2 = 255;
 968                         else if (motor2 < -255) motor2 = -255;
 969                 }
 970         }
 971         if (motor3_mode == MOTOR_PID) {
 972                 if (speed3_wish != speed3_wish_old) {
 973                         if (abs(speed3_wish - speed3_wish_old) > 500) esum3 = 0;
 974                         speed3_wish_old = speed3_wish;
 975                 }
 976
 977                 if (speed3_wish == 0) {
 978                         motor3 = 0;
 979                         eold3 = 0;
 980                         error_state &= ~(1<<6);
 981                 } else {
 982                         int16_t e = speed3_wish - speed3;
 983                         esum3+=e;
 984                         motor3 = KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
 985                         eold3 = e;
 986
 987                         if (motor3 > 0 && speed3_wish < 0) motor3=PWM_BREAK;
 988                         else if (motor3 < 0 && speed3_wish > 0) motor3=PWM_BREAK;
 989                         else if (motor3 > 255) motor3 = 255;
 990                         else if (motor3 < -255) motor3 = -255;
 991                 }
 992         }
 993         if (motor4_mode == MOTOR_PID) {
 994                 if (speed4_wish != speed4_wish_old) {
 995                         if (abs(speed4_wish - speed4_wish_old) > 500) esum4 = 0;
 996                         speed4_wish_old = speed4_wish;
 997                 }
 998
 999                 if (speed4_wish == 0) {
1000                         motor4 = 0;
1001                         eold4 = 0;
1002                         error_state &= ~(1<<7);
1003                 } else {
1004                         int16_t e = speed4_wish - speed4;
1005                         esum4+=e;
1006                         motor4 = KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
1007                         eold4 = e;
1008
1009                         if (motor4 > 0 && speed4_wish < 0) motor4=PWM_BREAK;
1010                         else if (motor4 < 0 && speed4_wish > 0) motor4=PWM_BREAK;
1011                         else if (motor4 > 255) motor4 = 255;
1012                         else if (motor4 < -255) motor4 = -255;
1013                 }
1014         }
1015 }
1016
1017
1018 ISR(TIMER1_OVF_vect) {
1019         update_hall1();
1020         update_hall2();
1021         update_hall3();
1022         update_hall4();
1023
1024         run_update++;
1025 }
1026
1027
1028 int main(void) {
1029         // Outputs
1030         DDRB = (1 << 3);
1031         DDRC = (1 << 7) | (1 << 6) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
1032         DDRD = (1 << 7) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
1033         // Pullup Diag/Enable
1034         PORTB = (1 << 0) | (1 << 1) | (1 << 2);
1035         PORTD = (1 << 6);
1036
1037         bootloader = 0x00;
1038         setup_uart(9600);
1039         uart_setup_stdout();
1040
1041         // I2C
1042         TWAR = 0x50;
1043         TWI_RESET;
1044
1045         // Motor 1 & 2
1046         // Also used for PWM frequency TIMER1_FREQ
1047         // Timer 1: Fast PWM non-inverting mode, Top=255 => 15.625kHz
1048         // Prescaler=1
1049         //TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM10);
1050         // Avoid narrow spike on extreme pwm value 0 by not setting COM1*1
1051         TCCR1A = (1 << WGM10);
1052         TCCR1B = (1 << WGM12) | (1 << CS10);
1053         OCR1A = 0;
1054         OCR1B = 0;
1055
1056         // Motor 3
1057         // Timer 2: Fast PWM non-inverting mode, Top=255
1058         // Prescaler=1
1059         //TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << CS20);
1060         // Avoid narrow spike on extreme pwm value 0 by not setting COM21
1061         TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << CS20);
1062         OCR2 = 0;
1063
1064         // Motor 4
1065         // Timer 0: Fast PWM non-inverting mode, Top=255
1066         // Prescaler=1
1067         //TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << CS00);
1068         // Avoid narrow spike on extreme pwm value 0 by not setting COM01
1069         TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << CS00);
1070         OCR0 = 0;
1071
1072         printf("\r\nStart\r\n");
1073
1074         set_sleep_mode(SLEEP_MODE_IDLE);
1075         // Enable Timer 1 Overflow Interrupt
1076         TIMSK = (1 << TOIE1);
1077         sei();
1078
1079         while(1) {
1080                 switch(ireg) {
1081                         case 0xff: // Magic reg that starts the bootloader
1082                                 if (bootloader == 0xa5) {
1083                                         cli();
1084                                         {
1085                                                 void (*start)(void) = (void*)0x1800;
1086                                                 start();
1087                                         }
1088                                 }
1089                                 break;
1090                 }
1091
1092                 if (cmd_vel.bUpdate) {
1093                         float speed_wish_right, speed_wish_left;
1094                         float speed, angle;
1095
1096                         cli();
1097                         speed = cmd_vel.speed;
1098                         angle = cmd_vel.angle;
1099                         cmd_vel.bUpdate = 0;
1100                         sei();
1101
1102                         speed_wish_right = (angle*WHEEL_DIST)/2 + speed;
1103                         speed_wish_left = speed*2-speed_wish_right;
1104
1105                         speed_wish_left*=STEP_PER_M_LEFT;
1106                         speed_wish_right*=STEP_PER_M_RIGHT;
1107
1108                         if (aft_handicap > 0) {
1109                                 speed1_wish = speed_wish_left * (100-aft_handicap)/100.0;
1110                                 speed3_wish = speed_wish_right * (100-aft_handicap)/100.0;
1111                         } else {
1112                                 speed1_wish = speed_wish_left;
1113                                 speed3_wish = speed_wish_right;
1114                         }
1115                         if (front_handicap > 0) {
1116                                 speed2_wish = speed_wish_left * (100-front_handicap)/100.0;
1117                                 speed4_wish = speed_wish_right * (100-front_handicap)/100.0;
1118                         } else {
1119                                 speed2_wish = speed_wish_left;
1120                                 speed4_wish = speed_wish_right;
1121                         }
1122                         motor1_mode = MOTOR_PID;
1123                         motor2_mode = MOTOR_PID;
1124                         motor3_mode = MOTOR_PID;
1125                         motor4_mode = MOTOR_PID;
1126                 }
1127
1128                 if (run_update >= 156) { // TIMER1_FREQ/156 = ~100Hz
1129                         run_update=0;
1130
1131                         update_pos();
1132                         update_pid();
1133                         update_motor();
1134                         count_test++;
1135                 }
1136
1137                 sleep_mode();
1138         }
1139
1140         return 0;
1141 }