avr/motor_ctrl/main.c

   1 #include <stdio.h>
   2 #include <stdlib.h>
   3 #include <limits.h>
   4 #include <math.h>
   5 #include <avr/io.h>
   6 #include <avr/interrupt.h>
   7 #include <avr/sleep.h>
   8 #include "uart.h"
   9
  10 /*
  11  * I2C Register Map (8 Bit)
  12  * 0x00 Register select
  13  * 0x01 Motor 1 PWM MSB
  14  * 0x02 Motor 1 PWM LSB
  15  * 0x03 Motor 2 PWM MSB
  16  * 0x04 Motor 2 PWM LSB
  17  * 0x05 Motor 3 PWM MSB
  18  * 0x06 Motor 3 PWM LSB
  19  * 0x07 Motor 4 PWM MSB
  20  * 0x08 Motor 4 PWM LSB
  21  * free
  22  * 0x10 Hall 1 MSB
  23  * 0x11 Hall 1 LSB
  24  * 0x12 Hall 2 MSB
  25  * 0x13 Hall 2 LSB
  26  * 0x14 Hall 3 MSB
  27  * 0x15 Hall 3 LSB
  28  * 0x16 Hall 4 MSB
  29  * 0x17 Hall 4 LSB
  30  * free
  31  * 0x20 Motor 1 speed wish MSB
  32  * 0x21 Motor 1 speed wish LSB
  33  * 0x22 Motor 2 speed wish MSB
  34  * 0x23 Motor 2 speed wish LSB
  35  * 0x24 Motor 3 speed wish MSB
  36  * 0x25 Motor 3 speed wish LSB
  37  * 0x26 Motor 4 speed wish MSB
  38  * 0x27 Motor 4 speed wish LSB
  39  * 0x28 Left speed wish (m/s) MSB
  40  * 0x29 Left speed wish (m/s)
  41  * 0x2A Left speed wish (m/s)
  42  * 0x2B Left speed wish (m/s) LSB
  43  * 0x2C Right speed wish (m/s) MSB
  44  * 0x2D Right speed wish (m/s)
  45  * 0x2E Right speed wish (m/s)
  46  * 0x2F Right speed wish (m/s) LSB
  47  * 0x30 Motor 1 speed MSB
  48  * 0x31 Motor 1 speed LSB
  49  * 0x32 Motor 2 speed MSB
  50  * 0x33 Motor 2 speed LSB
  51  * 0x34 Motor 3 speed MSB
  52  * 0x35 Motor 3 speed LSB
  53  * 0x36 Motor 4 speed MSB
  54  * 0x37 Motor 4 speed LSB
  55  * 0x38 Speed (m/s) MSB
  56  * 0x39 Speed (m/s)
  57  * 0x3A Speed (m/s)
  58  * 0x3B Speed (m/s) LSB
  59  * 0x3C Angle (rad/s) MSB
  60  * 0x3D Angle (rad/s)
  61  * 0x3E Angle (rad/s)
  62  * 0x3F Angle (rad/s) LSB
  63  * 0x40 Position x (m) MSB
  64  * 0x41 Position x (m)
  65  * 0x42 Position x (m)
  66  * 0x43 Position x (m) LSB
  67  * 0x44 Position y (m) MSB
  68  * 0x45 Position y (m)
  69  * 0x46 Position y (m)
  70  * 0x47 Position y (m) LSB
  71  * 0x48 Position angle MSB
  72  * 0x49 Position angle
  73  * 0x4A Position angle
  74  * 0x4B Position angle LSB
  75  * free
  76  * 0x50 speed wish (m/s) MSB
  77  * 0x51 speed wish (m/s)
  78  * 0x52 speed wish (m/s)
  79  * 0x53 speed wish (m/s) LSB
  80  * 0x54 angle wish (rad/s) MSB
  81  * 0x55 angle wish (rad/s)
  82  * 0x56 angle wish (rad/s)
  83  * 0x57 angle wish (rad/s) LSB
  84  * free
  85  * 0x90 Motor 1 switch
  86  * 0x91 Motor 2 switch
  87  * 0x92 Motor 3 switch
  88  * 0x93 Motor 4 switch
  89  * 0x94 Front Handicap
  90  * 0x95 Aft Handicap
  91  * free
  92  * 0xA0 Reset reason
  93  * 0xA1 Error status
  94  * 0xA2 count test
  95  * free
  96  * 0xff Bootloader
  97  */
  98
  99
 100 #define TWI_ACK         TWCR = (1<<TWEA) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
 101 #define TWI_RESET       TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
 102 #define TWI_NAK         TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
 103
 104 #define KP 0.06
 105 #define KI 0.10
 106 #define KD 0.0
 107 #define PID_T 0.01
 108 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:47, real wheel diameter: 0.12454m
 109 #define STEP_PER_M_AVG 5766.1
 110 #define STEP_PER_M_LEFT (STEP_PER_M_AVG)
 111 #define STEP_PER_M_RIGHT (STEP_PER_M_AVG)
 112 #define WHEEL_DIST 0.36923 // Real: 0.252
 113 #define PWM_BREAK INT16_MIN
 114
 115 enum mode {
 116         MOTOR_MANUAL,
 117         MOTOR_PID
 118 };
 119
 120 typedef union {
 121         float f;
 122         uint32_t i;
 123 } ufloat_t;
 124
 125 static volatile struct {
 126         float speed;
 127         float angle;
 128         uint8_t bUpdate;
 129 } cmd_vel = {0, 0, 0};
 130
 131 static volatile uint8_t ireg=0;
 132 static volatile uint8_t bootloader=0;
 133 static volatile int16_t motor1=0; // -255..+255
 134 static volatile int16_t motor2=0;
 135 static volatile int16_t motor3=0;
 136 static volatile int16_t motor4=0;
 137 static volatile int16_t pos1=0; // step
 138 static volatile int16_t pos2=0;
 139 static volatile int16_t pos3=0;
 140 static volatile int16_t pos4=0;
 141 static volatile enum mode motor1_mode=MOTOR_MANUAL;
 142 static volatile enum mode motor2_mode=MOTOR_MANUAL;
 143 static volatile enum mode motor3_mode=MOTOR_MANUAL;
 144 static volatile enum mode motor4_mode=MOTOR_MANUAL;
 145 static volatile uint8_t motor1_switch=1;
 146 static volatile uint8_t motor2_switch=1;
 147 static volatile uint8_t motor3_switch=0;
 148 static volatile uint8_t motor4_switch=0;
 149 static volatile int16_t speed1_wish=0; // step/s
 150 static volatile int16_t speed2_wish=0;
 151 static volatile int16_t speed3_wish=0;
 152 static volatile int16_t speed4_wish=0;
 153 static volatile int16_t speed1_wish_old=0;
 154 static volatile int16_t speed2_wish_old=0;
 155 static volatile int16_t speed3_wish_old=0;
 156 static volatile int16_t speed4_wish_old=0;
 157 static volatile uint8_t run_update=0;
 158 static volatile int16_t speed1=0; // step/s
 159 static volatile int16_t speed2=0;
 160 static volatile int16_t speed3=0;
 161 static volatile int16_t speed4=0;
 162 static volatile ufloat_t pos_x={0.0};
 163 static volatile ufloat_t pos_y={0.0};
 164 static volatile ufloat_t angle={0.0};
 165 static volatile float cur_speed_lin=0;
 166 static volatile float cur_speed_rot=0;
 167 static volatile uint8_t count_test=0;
 168 static volatile uint8_t front_handicap=0;
 169 static volatile uint8_t aft_handicap=0;
 170 static volatile uint8_t error_state=0;
 171
 172 ISR(TWI_vect)
 173 {
 174         static uint8_t tmp=0;
 175         static int16_t tmp16=0;
 176         static ufloat_t tmp_speed;
 177         static ufloat_t tmp_angle;
 178
 179         switch (TWSR & 0xF8)
 180         {
 181                 case 0x60: // start write
 182                         TWI_ACK;
 183                         ireg = 0;
 184                         break;
 185                 case 0x80: // write
 186                         switch(ireg) {
 187                                 case 0x00: // register select
 188                                         ireg = TWDR;
 189                                         ireg--; // because we do ireg++ below
 190                                         TWI_ACK;
 191                                         break;
 192                                 case 0x01: // Motor 1 MSB
 193                                         tmp = TWDR;
 194                                         TWI_ACK;
 195                                         break;
 196                                 case 0x02: // Motor 1 LSB
 197                                         motor1 = tmp<<8 | TWDR;
 198                                         motor1_mode = MOTOR_MANUAL;
 199                                         TWI_ACK;
 200                                         break;
 201                                 case 0x03: // Motor 2 MSB
 202                                         tmp = TWDR;
 203                                         TWI_ACK;
 204                                         break;
 205                                 case 0x04: // Motor 2 LSB
 206                                         motor2 = tmp<<8 | TWDR;
 207                                         motor2_mode = MOTOR_MANUAL;
 208                                         TWI_ACK;
 209                                         break;
 210                                 case 0x05: // Motor 3 MSB
 211                                         tmp = TWDR;
 212                                         TWI_ACK;
 213                                         break;
 214                                 case 0x06: // Motor 3 LSB
 215                                         motor3 = tmp<<8 | TWDR;
 216                                         motor3_mode = MOTOR_MANUAL;
 217                                         TWI_ACK;
 218                                         break;
 219                                 case 0x07: // Motor 4 MSB
 220                                         tmp = TWDR;
 221                                         TWI_ACK;
 222                                         break;
 223                                 case 0x08: // Motor 4 LSB
 224                                         motor4 = tmp<<8 | TWDR;
 225                                         motor4_mode = MOTOR_MANUAL;
 226                                         TWI_ACK;
 227                                         break;
 228                                 case 0x20: // Motor 1 speed wish MSB
 229                                         tmp = TWDR;
 230                                         TWI_ACK;
 231                                         break;
 232                                 case 0x21: // Motor 1 speed wish LSB
 233                                         speed1_wish = tmp<<8 | TWDR;
 234                                         motor1_mode = MOTOR_PID;
 235                                         TWI_ACK;
 236                                         break;
 237                                 case 0x22: // Motor 2 speed wish MSB
 238                                         tmp = TWDR;
 239                                         TWI_ACK;
 240                                         break;
 241                                 case 0x23: // Motor 2 speed wish LSB
 242                                         speed2_wish = tmp<<8 | TWDR;
 243                                         motor2_mode = MOTOR_PID;
 244                                         TWI_ACK;
 245                                         break;
 246                                 case 0x24: // Motor 3 speed wish MSB
 247                                         tmp = TWDR;
 248                                         TWI_ACK;
 249                                         break;
 250                                 case 0x25: // Motor 3 speed wish LSB
 251                                         speed3_wish = tmp<<8 | TWDR;
 252                                         motor3_mode = MOTOR_PID;
 253                                         TWI_ACK;
 254                                         break;
 255                                 case 0x26: // Motor 4 speed wish MSB
 256                                         tmp = TWDR;
 257                                         TWI_ACK;
 258                                         break;
 259                                 case 0x27: // Motor 4 speed wish LSB
 260                                         speed4_wish = tmp<<8 | TWDR;
 261                                         motor4_mode = MOTOR_PID;
 262                                         TWI_ACK;
 263                                         break;
 264                                 case 0x28: // Left speed wish MSB
 265                                         tmp_speed.i = TWDR;
 266                                         TWI_ACK;
 267                                         break;
 268                                 case 0x29: // Left speed wish
 269                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 270                                         TWI_ACK;
 271                                         break;
 272                                 case 0x2A: // Left speed wish
 273                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 274                                         TWI_ACK;
 275                                         break;
 276                                 case 0x2B: // Left speed wish LSB
 277                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 278                                         speed1_wish = tmp_speed.f*STEP_PER_M_LEFT;
 279                                         speed2_wish = tmp_speed.f*STEP_PER_M_LEFT;
 280                                         motor1_mode = MOTOR_PID;
 281                                         motor2_mode = MOTOR_PID;
 282                                         TWI_ACK;
 283                                         break;
 284                                 case 0x2C: // Right speed wish MSB
 285                                         tmp_speed.i = TWDR;
 286                                         TWI_ACK;
 287                                         break;
 288                                 case 0x2D: // Right speed wish
 289                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 290                                         TWI_ACK;
 291                                         break;
 292                                 case 0x2E: // Right speed wish
 293                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 294                                         TWI_ACK;
 295                                         break;
 296                                 case 0x2F: // Right speed wish LSB
 297                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 298                                         speed1_wish = tmp_speed.f*STEP_PER_M_RIGHT;
 299                                         speed2_wish = tmp_speed.f*STEP_PER_M_RIGHT;
 300                                         motor1_mode = MOTOR_PID;
 301                                         motor2_mode = MOTOR_PID;
 302                                         TWI_ACK;
 303                                         break;
 304                                 case 0x50: // speed wish MSB
 305                                         tmp_speed.i = TWDR;
 306                                         TWI_ACK;
 307                                         break;
 308                                 case 0x51: // speed wish
 309                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 310                                         TWI_ACK;
 311                                         break;
 312                                 case 0x52: // speed wish
 313                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 314                                         TWI_ACK;
 315                                         break;
 316                                 case 0x53: // speed wish LSB
 317                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 318                                         cmd_vel.speed = tmp_speed.f;
 319                                         TWI_ACK;
 320                                         break;
 321                                 case 0x54: // angle wish MSB
 322                                         tmp_angle.i = TWDR;
 323                                         TWI_ACK;
 324                                         break;
 325                                 case 0x55: // angle wish
 326                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 327                                         TWI_ACK;
 328                                         break;
 329                                 case 0x56: // angle wish
 330                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 331                                         TWI_ACK;
 332                                         break;
 333                                 case 0x57: // angle wish LSB
 334                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 335                                         cmd_vel.angle = tmp_angle.f;
 336                                         cmd_vel.bUpdate = 1;
 337                                         TWI_ACK;
 338                                         break;
 339                                 case 0x90: // Motor 1 switch
 340                                         motor1_switch = TWDR;
 341                                         TWI_ACK;
 342                                         break;
 343                                 case 0x91: // Motor 2 switch
 344                                         motor2_switch = TWDR;
 345                                         TWI_ACK;
 346                                         break;
 347                                 case 0x92: // Motor 3 switch
 348                                         motor3_switch = TWDR;
 349                                         TWI_ACK;
 350                                         break;
 351                                 case 0x93: // Motor 4 switch
 352                                         motor4_switch = TWDR;
 353                                         TWI_ACK;
 354                                         break;
 355                                 case 0x94: // Front Handicap
 356                                         front_handicap = TWDR;
 357                                         cmd_vel.bUpdate = 1;
 358                                         TWI_ACK;
 359                                         break;
 360                                 case 0x95: // Aft Handicap
 361                                         aft_handicap = TWDR;
 362                                         cmd_vel.bUpdate = 1;
 363                                         TWI_ACK;
 364                                         break;
 365                                 case 0xff: // bootloader
 366                                         bootloader = TWDR;
 367                                 default:
 368                                         TWI_NAK;
 369                         }
 370                         ireg++;
 371                         break;
 372                 case 0xA8: // start read
 373                 case 0xB8: // read
 374                         switch(ireg) {
 375                                 case 0x02: // Motor 1 PWM
 376                                         TWDR = OCR1A;
 377                                         TWI_ACK;
 378                                         break;
 379                                 case 0x03: // Dummy to allow continous read
 380                                         TWDR = 0;
 381                                         TWI_ACK;
 382                                         break;
 383                                 case 0x04: // Motor 2 PWM
 384                                         TWDR = OCR1B;
 385                                         TWI_ACK;
 386                                         break;
 387                                 case 0x05: // Dummy to allow continous read
 388                                         TWDR = 0;
 389                                         TWI_ACK;
 390                                         break;
 391                                 case 0x06: // Motor 3 PWM
 392                                         TWDR = OCR2;
 393                                         TWI_ACK;
 394                                         break;
 395                                 case 0x07: // Dummy to allow continous read
 396                                         TWDR = 0;
 397                                         TWI_ACK;
 398                                         break;
 399                                 case 0x08: // Motor 4 PWM
 400                                         TWDR = OCR0;
 401                                         TWI_ACK;
 402                                         break;
 403                                 case 0x09: // Dummy to allow continous read
 404                                         TWDR = 0;
 405                                         TWI_ACK;
 406                                         break;
 407                                 case 0x10: // Hall 1 MSB
 408                                         tmp16 = pos1;
 409                                         TWDR = tmp16>>8;
 410                                         TWI_ACK;
 411                                         break;
 412                                 case 0x11: // Hall 1 LSB
 413                                         TWDR = tmp16;
 414                                         TWI_ACK;
 415                                         break;
 416                                 case 0x12: // Hall 2 MSB
 417                                         tmp16 = pos2;
 418                                         TWDR = tmp16>>8;
 419                                         TWI_ACK;
 420                                         break;
 421                                 case 0x13: // Hall 2 LSB
 422                                         TWDR = tmp16;
 423                                         TWI_ACK;
 424                                         break;
 425                                 case 0x14: // Hall 3 MSB
 426                                         tmp16 = pos3;
 427                                         TWDR = tmp16>>8;
 428                                         TWI_ACK;
 429                                         break;
 430                                 case 0x15: // Hall 3 LSB
 431                                         TWDR = tmp16;
 432                                         TWI_ACK;
 433                                         break;
 434                                 case 0x16: // Hall 4 MSB
 435                                         tmp16 = pos4;
 436                                         TWDR = tmp16>>8;
 437                                         TWI_ACK;
 438                                         break;
 439                                 case 0x17: // Hall 4 LSB
 440                                         TWDR = tmp16;
 441                                         TWI_ACK;
 442                                         break;
 443                                 case 0x20: // Motor 1 speed wish MSB
 444                                         TWDR = speed1_wish>>8;
 445                                         TWI_ACK;
 446                                         break;
 447                                 case 0x21: // Motor 1 speed wish LSB
 448                                         TWDR = speed1_wish;
 449                                         TWI_ACK;
 450                                         break;
 451                                 case 0x22: // Motor 2 speed wish MSB
 452                                         TWDR = speed2_wish>>8;
 453                                         TWI_ACK;
 454                                         break;
 455                                 case 0x23: // Motor 2 speed wish LSB
 456                                         TWDR = speed2_wish;
 457                                         TWI_ACK;
 458                                         break;
 459                                 case 0x24: // Motor 3 speed wish MSB
 460                                         TWDR = speed3_wish>>8;
 461                                         TWI_ACK;
 462                                         break;
 463                                 case 0x25: // Motor 3 speed wish LSB
 464                                         TWDR = speed3_wish;
 465                                         TWI_ACK;
 466                                         break;
 467                                 case 0x26: // Motor 4 speed wish MSB
 468                                         TWDR = speed4_wish>>8;
 469                                         TWI_ACK;
 470                                         break;
 471                                 case 0x27: // Motor 4 speed wish LSB
 472                                         TWDR = speed4_wish;
 473                                         TWI_ACK;
 474                                         break;
 475                                 case 0x30: // Motor 1 speed MSB
 476                                         TWDR = speed1>>8;
 477                                         TWI_ACK;
 478                                         break;
 479                                 case 0x31: // Motor 1 speed LSB
 480                                         TWDR = speed1;
 481                                         TWI_ACK;
 482                                         break;
 483                                 case 0x32: // Motor 2 speed MSB
 484                                         TWDR = speed2>>8;
 485                                         TWI_ACK;
 486                                         break;
 487                                 case 0x33: // Motor 2 speed LSB
 488                                         TWDR = speed2;
 489                                         TWI_ACK;
 490                                         break;
 491                                 case 0x34: // Motor 3 speed MSB
 492                                         TWDR = speed3>>8;
 493                                         TWI_ACK;
 494                                         break;
 495                                 case 0x35: // Motor 3 speed LSB
 496                                         TWDR = speed3;
 497                                         TWI_ACK;
 498                                         break;
 499                                 case 0x36: // Motor 4 speed MSB
 500                                         TWDR = speed4>>8;
 501                                         TWI_ACK;
 502                                         break;
 503                                 case 0x37: // Motor 4 speed LSB
 504                                         TWDR = speed4;
 505                                         TWI_ACK;
 506                                         break;
 507                                 case 0x38: // speed MSB
 508                                         tmp_speed.f = cur_speed_lin;
 509                                         TWDR = tmp_speed.i>>24;
 510                                         TWI_ACK;
 511                                         break;
 512                                 case 0x39: // speed
 513                                         TWDR = tmp_speed.i>>16;
 514                                         TWI_ACK;
 515                                         break;
 516                                 case 0x3A: // speed
 517                                         TWDR = tmp_speed.i>>8;
 518                                         TWI_ACK;
 519                                         break;
 520                                 case 0x3B: // speed LSB
 521                                         TWDR = tmp_speed.i;
 522                                         TWI_ACK;
 523                                         break;
 524                                 case 0x3C: // angle MSB
 525                                         tmp_angle.f = cur_speed_rot;
 526                                         TWDR = tmp_angle.i>>24;
 527                                         TWI_ACK;
 528                                         break;
 529                                 case 0x3D: // angle
 530                                         TWDR = tmp_angle.i>>16;
 531                                         TWI_ACK;
 532                                         break;
 533                                 case 0x3E: // angle
 534                                         TWDR = tmp_angle.i>>8;
 535                                         TWI_ACK;
 536                                         break;
 537                                 case 0x3F: // angle LSB
 538                                         TWDR = angle.i;
 539                                         TWI_ACK;
 540                                         break;
 541                                 case 0x40: // Position x MSB
 542                                         TWDR = pos_x.i>>24;
 543                                         TWI_ACK;
 544                                         break;
 545                                 case 0x41: // Position x
 546                                         TWDR = pos_x.i>>16;
 547                                         TWI_ACK;
 548                                         break;
 549                                 case 0x42: // Position x
 550                                         TWDR = pos_x.i>>8;
 551                                         TWI_ACK;
 552                                         break;
 553                                 case 0x43: // Position x LSB
 554                                         TWDR = pos_x.i;
 555                                         TWI_ACK;
 556                                         break;
 557                                 case 0x44: // Position y MSB
 558                                         TWDR = pos_y.i>>24;
 559                                         TWI_ACK;
 560                                         break;
 561                                 case 0x45: // Position y
 562                                         TWDR = pos_y.i>>16;
 563                                         TWI_ACK;
 564                                         break;
 565                                 case 0x46: // Position y
 566                                         TWDR = pos_y.i>>8;
 567                                         TWI_ACK;
 568                                         break;
 569                                 case 0x47: // Position y LSB
 570                                         TWDR = pos_y.i;
 571                                         TWI_ACK;
 572                                         break;
 573                                 case 0x48: // Position angle MSB
 574                                         TWDR = angle.i>>24;
 575                                         TWI_ACK;
 576                                         break;
 577                                 case 0x49: // Position angle
 578                                         TWDR = angle.i>>16;
 579                                         TWI_ACK;
 580                                         break;
 581                                 case 0x4A: // Position angle
 582                                         TWDR = angle.i>>8;
 583                                         TWI_ACK;
 584                                         break;
 585                                 case 0x4B: // Position angle LSB
 586                                         TWDR = angle.i;
 587                                         TWI_ACK;
 588                                         break;
 589                                 case 0xA0: // Reset reason
 590                                         TWDR = MCUCSR & 0x0f;
 591                                         MCUCSR = 0x0;
 592                                         TWI_ACK;
 593                                         break;
 594                                 case 0xA1: // Error status
 595                                         TWDR = error_state;
 596                                         TWI_ACK;
 597                                         break;
 598                                 case 0xA2: // count test
 599                                         TWDR = count_test;
 600                                         TWI_ACK;
 601                                 default:
 602                                         TWDR = 0;
 603                                         TWI_NAK;
 604                         }
 605                         ireg++;
 606                         break;
 607                 default:
 608                         TWI_RESET;
 609         }
 610 }
 611
 612
 613 static void update_hall1(void) {
 614         unsigned char status = (PINA >> 0) & 0x3;
 615         static unsigned char oldstatus=0;
 616         unsigned char diff, new;
 617
 618         new = 0;
 619         if (status & 0x1)
 620                 new = 0x3;
 621         if (status & 0x2)
 622                 new ^= 0x1;                                     // convert gray to binary
 623         diff = oldstatus - new;                         // difference last - new
 624         if (diff & 0x1) {                               // bit 0 = value (1)
 625                 oldstatus = new;                                        // store new as next last
 626                 if (motor1_switch) pos1 += (diff & 2) - 1;              // bit 1 = direction (+/-)
 627                 else pos1 -= (diff & 2) - 1;
 628         }
 629 }
 630
 631
 632 static void update_hall2(void) {
 633         unsigned char status = (PINA >> 4) & 0x3;
 634         static unsigned char oldstatus=0;
 635         unsigned char diff, new;
 636
 637         new = 0;
 638         if (status & 0x1)
 639                 new = 0x3;
 640         if (status & 0x2)
 641                 new ^= 0x1;                                     // convert gray to binary
 642         diff = oldstatus - new;                         // difference last - new
 643         if (diff & 0x1) {                               // bit 0 = value (1)
 644                 oldstatus = new;                                        // store new as next last
 645                 if (motor2_switch) pos2 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
 646                 else pos2 += (diff & 2) - 1;
 647         }
 648 }
 649
 650
 651 static void update_hall3(void) {
 652         unsigned char status = (PINA >> 2) & 0x3;
 653         static unsigned char oldstatus=0;
 654         unsigned char diff, new;
 655
 656         new = 0;
 657         if (status & 0x1)
 658                 new = 0x3;
 659         if (status & 0x2)
 660                 new ^= 0x1;                                     // convert gray to binary
 661         diff = oldstatus - new;                         // difference last - new
 662         if (diff & 0x1) {                               // bit 0 = value (1)
 663                 oldstatus = new;                                        // store new as next last
 664                 if (motor3_switch) pos3 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
 665                 else pos3 += (diff & 2) - 1;
 666         }
 667 }
 668
 669
 670 static void update_hall4(void) {
 671         unsigned char status = (PINA >> 6) & 0x3;
 672         static unsigned char oldstatus=0;
 673         unsigned char diff, new;
 674
 675         new = 0;
 676         if (status & 0x1)
 677                 new = 0x3;
 678         if (status & 0x2)
 679                 new ^= 0x1;                                     // convert gray to binary
 680         diff = oldstatus - new;                         // difference last - new
 681         if (diff & 0x1) {                               // bit 0 = value (1)
 682                 oldstatus = new;                                        // store new as next last
 683                 if (motor4_switch) pos4 += (diff & 2) - 1;              // bit 1 = direction (+/-)
 684                 else pos4 -= (diff & 2) - 1;
 685         }
 686 }
 687
 688
 689 static void update_motor(void) {
 690         static int16_t m1_old=SHRT_MIN;
 691         static int16_t m2_old=SHRT_MIN;
 692         static int16_t m3_old=SHRT_MIN;
 693         static int16_t m4_old=SHRT_MIN;
 694
 695         error_state &= 0xf0; // clear lower bits
 696         error_state |= ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
 697
 698         if (m1_old != motor1) { // update only when changed
 699                 if (motor1 == 0) {
 700                         // stop
 701                         PORTC &= ~(1 << 3) & ~(1 << 2);
 702                 } else if (motor1 == PWM_BREAK) {
 703                         PORTC |= (1 << 3) | (1 << 2);
 704                 } else if ((!motor1_switch && motor1 > 0) || (motor1_switch && motor1 < 0)) {
 705                         // forward
 706                         uint8_t tmp=PORTC;
 707                         tmp &= ~(1 << 3);
 708                         tmp |=  (1 << 2);
 709                         PORTC = tmp;
 710                 } else { // motor1 < 0
 711                         // backward
 712                         uint8_t tmp=PORTC;
 713                         tmp &= ~(1 << 2);
 714                         tmp |=  (1 << 3);
 715                         PORTC = tmp;
 716                 }
 717
 718                 m1_old = motor1;
 719                 OCR1A = abs(motor1);
 720         }
 721
 722         if (m2_old != motor2) { // update only when changed
 723                 if (motor2 == 0) {
 724                         // stop
 725                         PORTC &= ~(1 << 5) & ~(1 << 4);
 726                 } else if (motor2 == PWM_BREAK) {
 727                         PORTC |= (1 << 5) | (1 << 4);
 728                 } else if ((!motor2_switch && motor2 > 0) || (motor2_switch && motor2 < 0)) {
 729                         // forward
 730                         uint8_t tmp=PORTC;
 731                         tmp &= ~(1 << 5);
 732                         tmp |=  (1 << 4);
 733                         PORTC = tmp;
 734                 } else { // motor2 < 0
 735                         // backward
 736                         uint8_t tmp=PORTC;
 737                         tmp &= ~(1 << 4);
 738                         tmp |=  (1 << 5);
 739                         PORTC = tmp;
 740                 }
 741
 742                 m2_old = motor2;
 743                 OCR1B = abs(motor2);
 744         }
 745
 746         if (m3_old != motor3) { // update only when changed
 747                 if (motor3 == 0) {
 748                         // stop
 749                         PORTC &= ~(1 << 7) & ~(1 << 6);
 750                 } else if (motor3 == PWM_BREAK) {
 751                         PORTC |= (1 << 7) | (1 << 6);
 752                 } else if ((!motor3_switch && motor3 > 0) || (motor3_switch && motor3 < 0)) {
 753                         // forward
 754                         uint8_t tmp=PORTC;
 755                         tmp &= ~(1 << 7);
 756                         tmp |=  (1 << 6);
 757                         PORTC = tmp;
 758                 } else { // motor3 < 0
 759                         // backward
 760                         uint8_t tmp=PORTC;
 761                         tmp &= ~(1 << 6);
 762                         tmp |=  (1 << 7);
 763                         PORTC = tmp;
 764                 }
 765
 766                 m3_old = motor3;
 767                 OCR2 = abs(motor3);
 768         }
 769
 770         if (m4_old != motor4) { // update only when changed
 771                 if (motor4 == 0) {
 772                         // stop
 773                         PORTD &= ~(1 << 3) & ~(1 << 2);
 774                 } else if (motor4 == PWM_BREAK) {
 775                         PORTD |= (1 << 3) | (1 << 2);
 776                 } else if ((!motor4_switch && motor4 > 0) || (motor4_switch && motor4 < 0)) {
 777                         // forward
 778                         uint8_t tmp=PORTD;
 779                         tmp &= ~(1 << 3);
 780                         tmp |=  (1 << 2);
 781                         PORTD = tmp;
 782                 } else { // motor4 < 0
 783                         // backward
 784                         uint8_t tmp=PORTD;
 785                         tmp &= ~(1 << 2);
 786                         tmp |=  (1 << 3);
 787                         PORTD = tmp;
 788                 }
 789
 790                 m4_old = motor4;
 791                 OCR0 = abs(motor4);
 792         }
 793 }
 794
 795
 796 static void update_pos(void) {
 797         static int16_t pos1_last=0;
 798         static int16_t pos2_last=0;
 799         static int16_t pos3_last=0;
 800         static int16_t pos4_last=0;
 801         int16_t pos1_diff; // steps
 802         int16_t pos2_diff;
 803         int16_t pos3_diff;
 804         int16_t pos4_diff;
 805         float diff_left_m, diff_right_m, angle_diff, translation;
 806         float pos_x_new, pos_y_new, angle_new;
 807         float tmp_speed_lin, tmp_speed_rot;
 808         int16_t cur_pos1, cur_pos2, cur_pos3, cur_pos4;
 809         int16_t new_speed1, new_speed2, new_speed3, new_speed4;
 810
 811         // copy to tmp
 812         cli();
 813         cur_pos1 = pos1;
 814         cur_pos2 = pos2;
 815         cur_pos3 = pos3;
 816         cur_pos4 = pos4;
 817         sei();
 818
 819         pos1_diff = cur_pos1 - pos1_last;
 820         pos2_diff = cur_pos2 - pos2_last;
 821         pos3_diff = cur_pos3 - pos3_last;
 822         pos4_diff = cur_pos4 - pos4_last;
 823
 824         new_speed1 = pos1_diff/PID_T;
 825         new_speed2 = pos2_diff/PID_T;
 826         new_speed3 = pos3_diff/PID_T;
 827         new_speed4 = pos4_diff/PID_T;
 828
 829         diff_left_m = (pos1_diff + pos2_diff)/(2*STEP_PER_M_LEFT);
 830         diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M_RIGHT);
 831         angle_diff = (diff_right_m - diff_left_m) / WHEEL_DIST;
 832
 833         angle_new = angle.f + angle_diff;
 834         if (angle_new > 2*M_PI) angle_new-=2*M_PI;
 835         else if (angle_new < -2*M_PI) angle_new+=2*M_PI;
 836
 837         translation = (diff_left_m + diff_right_m)/2.0;
 838         pos_x_new = pos_x.f + cos(angle_new)*translation;
 839         pos_y_new = pos_y.f + sin(angle_new)*translation;
 840
 841         tmp_speed_lin = translation/PID_T;
 842         tmp_speed_rot = angle_diff/PID_T;
 843
 844         // copy from tmp
 845         cli();
 846         angle.f = angle_new;
 847         pos_x.f = pos_x_new;
 848         pos_y.f = pos_y_new;
 849         speed1 = new_speed1;
 850         speed2 = new_speed2;
 851         speed3 = new_speed3;
 852         speed4 = new_speed4;
 853         cur_speed_lin = tmp_speed_lin;
 854         cur_speed_rot = tmp_speed_rot;
 855         sei();
 856
 857         pos1_last = cur_pos1;
 858         pos2_last = cur_pos2;
 859         pos3_last = cur_pos3;
 860         pos4_last = cur_pos4;
 861 }
 862
 863
 864 static void update_pid(void) {
 865         static int16_t eold1=0;
 866         static int16_t eold2=0;
 867         static int16_t eold3=0;
 868         static int16_t eold4=0;
 869         static int32_t esum1=0;
 870         static int32_t esum2=0;
 871         static int32_t esum3=0;
 872         static int32_t esum4=0;
 873
 874         // protect motors from damage if stalling
 875         if (labs(esum1) > 140000 && speed1 == 0) {
 876                 motor1 = 0;
 877                 motor1_mode = MOTOR_MANUAL;
 878                 error_state |= (1<<4);
 879                 esum1 = 0;
 880         }
 881         if (labs(esum2) > 140000 && speed2 == 0) {
 882                 motor2 = 0;
 883                 motor2_mode = MOTOR_MANUAL;
 884                 error_state |= (1<<5);
 885                 esum2 = 0;
 886         }
 887         if (labs(esum3) > 140000 && speed3 == 0) {
 888                 motor3 = 0;
 889                 motor3_mode = MOTOR_MANUAL;
 890                 error_state |= (1<<6);
 891                 esum3 = 0;
 892         }
 893         // protect motors from damage if stalling
 894         if (labs(esum4) > 140000 && speed4 == 0) {
 895                 motor4 = 0;
 896                 motor4_mode = MOTOR_MANUAL;
 897                 error_state |= (1<<7);
 898                 esum4 = 0;
 899         }
 900
 901         if (motor1_mode == MOTOR_PID) {
 902                 if (speed1_wish != speed1_wish_old) {
 903                         if (abs(speed1_wish - speed1_wish_old) > 500) esum1 = 0;
 904                         speed1_wish_old = speed1_wish;
 905                 }
 906
 907                 if (speed1_wish == 0) {
 908                         motor1 = 0;
 909                         eold1 = 0;
 910                         error_state &= ~(1<<4);
 911                 } else {
 912                         int16_t e = speed1_wish - speed1;
 913                         esum1+=e;
 914                         motor1 = KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
 915                         eold1 = e;
 916
 917                         if (motor1 > 0 && speed1_wish < 0) motor1=PWM_BREAK;
 918                         else if (motor1 < 0 && speed1_wish > 0) motor1=PWM_BREAK;
 919                         else if (motor1 > 255) motor1 = 255;
 920                         else if (motor1 < -255) motor1 = -255;
 921                 }
 922         }
 923         if (motor2_mode == MOTOR_PID) {
 924                 if (speed2_wish != speed2_wish_old) {
 925                         if (abs(speed2_wish - speed2_wish_old) > 500) esum2 = 0;
 926                         speed2_wish_old = speed2_wish;
 927                 }
 928
 929                 if (speed2_wish == 0) {
 930                         motor2 = 0;
 931                         eold2 = 0;
 932                         error_state &= ~(1<<5);
 933                 } else {
 934                         int16_t e = speed2_wish - speed2;
 935                         esum2+=e;
 936                         motor2 = KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
 937                         eold2 = e;
 938
 939                         if (motor2 > 0 && speed2_wish < 0) motor2=PWM_BREAK;
 940                         else if (motor2 < 0 && speed2_wish > 0) motor2=PWM_BREAK;
 941                         else if (motor2 > 255) motor2 = 255;
 942                         else if (motor2 < -255) motor2 = -255;
 943                 }
 944         }
 945         if (motor3_mode == MOTOR_PID) {
 946                 if (speed3_wish != speed3_wish_old) {
 947                         if (abs(speed3_wish - speed3_wish_old) > 500) esum3 = 0;
 948                         speed3_wish_old = speed3_wish;
 949                 }
 950
 951                 if (speed3_wish == 0) {
 952                         motor3 = 0;
 953                         eold3 = 0;
 954                         error_state &= ~(1<<6);
 955                 } else {
 956                         int16_t e = speed3_wish - speed3;
 957                         esum3+=e;
 958                         motor3 = KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
 959                         eold3 = e;
 960
 961                         if (motor3 > 0 && speed3_wish < 0) motor3=PWM_BREAK;
 962                         else if (motor3 < 0 && speed3_wish > 0) motor3=PWM_BREAK;
 963                         else if (motor3 > 255) motor3 = 255;
 964                         else if (motor3 < -255) motor3 = -255;
 965                 }
 966         }
 967         if (motor4_mode == MOTOR_PID) {
 968                 if (speed4_wish != speed4_wish_old) {
 969                         if (abs(speed4_wish - speed4_wish_old) > 500) esum4 = 0;
 970                         speed4_wish_old = speed4_wish;
 971                 }
 972
 973                 if (speed4_wish == 0) {
 974                         motor4 = 0;
 975                         eold4 = 0;
 976                         error_state &= ~(1<<7);
 977                 } else {
 978                         int16_t e = speed4_wish - speed4;
 979                         esum4+=e;
 980                         motor4 = KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
 981                         eold4 = e;
 982
 983                         if (motor4 > 0 && speed4_wish < 0) motor4=PWM_BREAK;
 984                         else if (motor4 < 0 && speed4_wish > 0) motor4=PWM_BREAK;
 985                         else if (motor4 > 255) motor4 = 255;
 986                         else if (motor4 < -255) motor4 = -255;
 987                 }
 988         }
 989 }
 990
 991
 992 ISR(TIMER1_OVF_vect) {
 993         update_hall1();
 994         update_hall2();
 995         update_hall3();
 996         update_hall4();
 997
 998         run_update++;
 999 }
1000
1001
1002 int main(void) {
1003         // Outputs
1004         DDRB = (1 << 3);
1005         DDRC = (1 << 7) | (1 << 6) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
1006         DDRD = (1 << 7) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
1007         // Pullup Diag/Enable
1008         PORTB = (1 << 0) | (1 << 1) | (1 << 2);
1009         PORTD = (1 << 6);
1010
1011         bootloader = 0x00;
1012         setup_uart(9600);
1013         uart_setup_stdout();
1014
1015         // I2C
1016         TWAR = 0x50;
1017         TWI_RESET;
1018
1019         // Motor 1 & 2
1020         // Timer 1: Fast PWM non-inverting mode, Top=255 => 15.625kHz
1021         // Prescaler=1
1022         TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM10);
1023         TCCR1B = (1 << WGM12) | (1 << CS10);
1024         OCR1A = 0;
1025         OCR1B = 0;
1026
1027         // Motor 3
1028         // Timer 2: Fast PWM non-inverting mode, Top=255
1029         // Prescaler=1
1030         TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << CS20);
1031         OCR2 = 0;
1032
1033         // Motor 4
1034         // Timer 0: Fast PWM non-inverting mode, Top=255
1035         // Prescaler=1
1036         TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << CS00);
1037         OCR0 = 0;
1038
1039         printf("\r\nStart\r\n");
1040
1041         set_sleep_mode(SLEEP_MODE_IDLE);
1042         // Enable Timer 1 Overflow Interrupt
1043         TIMSK = (1 << TOIE1);
1044         sei();
1045
1046         while(1) {
1047                 switch(ireg) {
1048                         case 0xff: // Magic reg that starts the bootloader
1049                                 if (bootloader == 0xa5) {
1050                                         cli();
1051                                         {
1052                                                 void (*start)(void) = (void*)0x1800;
1053                                                 start();
1054                                         }
1055                                 }
1056                                 break;
1057                 }
1058
1059                 if (cmd_vel.bUpdate) {
1060                         float speed_wish_right, speed_wish_left;
1061                         float speed, angle;
1062
1063                         cli();
1064                         speed = cmd_vel.speed;
1065                         angle = cmd_vel.angle;
1066                         cmd_vel.bUpdate = 0;
1067                         sei();
1068
1069                         speed_wish_right = (angle*WHEEL_DIST)/2 + speed;
1070                         speed_wish_left = speed*2-speed_wish_right;
1071
1072                         speed_wish_left*=STEP_PER_M_LEFT;
1073                         speed_wish_right*=STEP_PER_M_RIGHT;
1074
1075                         if (aft_handicap > 0) {
1076                                 speed1_wish = speed_wish_left * (100-aft_handicap)/100.0;
1077                                 speed3_wish = speed_wish_right * (100-aft_handicap)/100.0;
1078                         } else {
1079                                 speed1_wish = speed_wish_left;
1080                                 speed3_wish = speed_wish_right;
1081                         }
1082                         if (front_handicap > 0) {
1083                                 speed2_wish = speed_wish_left * (100-front_handicap)/100.0;
1084                                 speed4_wish = speed_wish_right * (100-front_handicap)/100.0;
1085                         } else {
1086                                 speed2_wish = speed_wish_left;
1087                                 speed4_wish = speed_wish_right;
1088                         }
1089                         motor1_mode = MOTOR_PID;
1090                         motor2_mode = MOTOR_PID;
1091                         motor3_mode = MOTOR_PID;
1092                         motor4_mode = MOTOR_PID;
1093                 }
1094
1095                 if (run_update >= 156) { // ~100Hz
1096                         run_update=0;
1097
1098                         update_pos();
1099                         update_pid();
1100                         update_motor();
1101                         count_test++;
1102                 }
1103
1104                 sleep_mode();
1105         }
1106
1107         return 0;
1108 }