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 <util/twi.h>
   9 #include <avr/eeprom.h>
  10 #include <avr/wdt.h>
  11 #include "uart.h"
  12
  13 /*
  14  * I2C Register Map (8 Bit)
  15  * 0x00 Register select
  16  * 0x01 Motor 1 PWM MSB
  17  * 0x02 Motor 1 PWM LSB
  18  * 0x03 Motor 2 PWM MSB
  19  * 0x04 Motor 2 PWM LSB
  20  * 0x05 Motor 3 PWM MSB
  21  * 0x06 Motor 3 PWM LSB
  22  * 0x07 Motor 4 PWM MSB
  23  * 0x08 Motor 4 PWM LSB
  24  * free
  25  * 0x10 Hall 1 MSB
  26  * 0x11 Hall 1 LSB
  27  * 0x12 Hall 2 MSB
  28  * 0x13 Hall 2 LSB
  29  * 0x14 Hall 3 MSB
  30  * 0x15 Hall 3 LSB
  31  * 0x16 Hall 4 MSB
  32  * 0x17 Hall 4 LSB
  33  * free
  34  * 0x20 Motor 1 speed wish MSB
  35  * 0x21 Motor 1 speed wish LSB
  36  * 0x22 Motor 2 speed wish MSB
  37  * 0x23 Motor 2 speed wish LSB
  38  * 0x24 Motor 3 speed wish MSB
  39  * 0x25 Motor 3 speed wish LSB
  40  * 0x26 Motor 4 speed wish MSB
  41  * 0x27 Motor 4 speed wish LSB
  42  * 0x28 Left speed wish (m/s) MSB
  43  * 0x29 Left speed wish (m/s)
  44  * 0x2A Left speed wish (m/s)
  45  * 0x2B Left speed wish (m/s) LSB
  46  * 0x2C Right speed wish (m/s) MSB
  47  * 0x2D Right speed wish (m/s)
  48  * 0x2E Right speed wish (m/s)
  49  * 0x2F Right speed wish (m/s) LSB
  50  * 0x30 Motor 1 speed MSB
  51  * 0x31 Motor 1 speed LSB
  52  * 0x32 Motor 2 speed MSB
  53  * 0x33 Motor 2 speed LSB
  54  * 0x34 Motor 3 speed MSB
  55  * 0x35 Motor 3 speed LSB
  56  * 0x36 Motor 4 speed MSB
  57  * 0x37 Motor 4 speed LSB
  58  * 0x38 Speed (m/s) MSB
  59  * 0x39 Speed (m/s)
  60  * 0x3A Speed (m/s)
  61  * 0x3B Speed (m/s) LSB
  62  * 0x3C Angle (rad/s) MSB
  63  * 0x3D Angle (rad/s)
  64  * 0x3E Angle (rad/s)
  65  * 0x3F Angle (rad/s) LSB
  66  * 0x40 Position x (m) MSB
  67  * 0x41 Position x (m)
  68  * 0x42 Position x (m)
  69  * 0x43 Position x (m) LSB
  70  * 0x44 Position y (m) MSB
  71  * 0x45 Position y (m)
  72  * 0x46 Position y (m)
  73  * 0x47 Position y (m) LSB
  74  * 0x48 Position angle MSB
  75  * 0x49 Position angle
  76  * 0x4A Position angle
  77  * 0x4B Position angle LSB
  78  * free
  79  * 0x50 speed wish (m/s) MSB
  80  * 0x51 speed wish (m/s)
  81  * 0x52 speed wish (m/s)
  82  * 0x53 speed wish (m/s) LSB
  83  * 0x54 angle wish (rad/s) MSB
  84  * 0x55 angle wish (rad/s)
  85  * 0x56 angle wish (rad/s)
  86  * 0x57 angle wish (rad/s) LSB
  87  * free
  88  * 0x90 Motor 1 switch
  89  * 0x91 Motor 2 switch
  90  * 0x92 Motor 3 switch
  91  * 0x93 Motor 4 switch
  92  * 0x94 Front Handicap
  93  * 0x95 Aft Handicap
  94  * free
  95  * 0xA0 Reset reason
  96  * 0xA1 Error status
  97  * 0xA2 count test
  98  * free
  99  * 0xff Bootloader
 100  */
 101
 102
 103 #define KP 0.062
 104 #define KI 0.12
 105 #define KD 0.0
 106 #define PID_T 0.01
 107 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:47
 108 // STEP_PER_M = 48*47/(d*pi)
 109 // Left real diameter: 0.12808, Right real diameter: 0.121
 110 #define STEP_PER_M 5573.0
 111 #define STEP_PER_M_LEFT (STEP_PER_M)
 112 #define STEP_PER_M_RIGHT (STEP_PER_M)
 113 #define WHEEL_DIST 0.39912 // Measured: 0.252
 114 #define PWM_BREAK INT16_MIN
 115 #define STALL_LIMIT 140000
 116 #define I2C_TIMEOUT_DISABLE 255
 117
 118 #define TWI_ACK   TWCR = (1<<TWINT) | (1<<TWEA) | (1<<TWEN) | (1<<TWIE)
 119 #define TWI_NAK   TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
 120 #define TWI_RESET TWCR = (1<<TWINT) | (1<<TWEA) | (1<<TWSTO) | (1<<TWEN) | (1<<TWIE);
 121 #define ENABLE_PWM_MOTOR1  TCCR1A |=  (1 << COM1A1)
 122 #define ENABLE_PWM_MOTOR2  TCCR1A |=  (1 << COM1B1)
 123 #define ENABLE_PWM_MOTOR3  TCCR2  |=  (1 << COM21);
 124 #define ENABLE_PWM_MOTOR4  TCCR0  |=  (1 << COM01);
 125 #define DISABLE_PWM_MOTOR1 TCCR1A &= ~(1 << COM1A1)
 126 #define DISABLE_PWM_MOTOR2 TCCR1A &= ~(1 << COM1B1)
 127 #define DISABLE_PWM_MOTOR3 TCCR2  &= ~(1 << COM21);
 128 #define DISABLE_PWM_MOTOR4 TCCR0  &= ~(1 << COM01);
 129
 130
 131 enum mode {
 132         MOTOR_MANUAL,
 133         MOTOR_PID
 134 };
 135
 136 typedef union {
 137         float f;
 138         uint32_t i;
 139 } ufloat_t;
 140
 141 static volatile struct {
 142         float speed;
 143         float angle;
 144         uint8_t bUpdate;
 145 } cmd_vel = {0, 0, 0};
 146
 147 static volatile uint8_t ireg=0;
 148 static volatile uint8_t bootloader=0;
 149 static volatile int16_t motor1=0; // -255..+255
 150 static volatile int16_t motor2=0;
 151 static volatile int16_t motor3=0;
 152 static volatile int16_t motor4=0;
 153 static volatile int16_t pos1=0; // step
 154 static volatile int16_t pos2=0;
 155 static volatile int16_t pos3=0;
 156 static volatile int16_t pos4=0;
 157 static volatile enum mode motor1_mode=MOTOR_MANUAL;
 158 static volatile enum mode motor2_mode=MOTOR_MANUAL;
 159 static volatile enum mode motor3_mode=MOTOR_MANUAL;
 160 static volatile enum mode motor4_mode=MOTOR_MANUAL;
 161 static volatile uint8_t motor1_switch=1;
 162 static volatile uint8_t motor2_switch=1;
 163 static volatile uint8_t motor3_switch=0;
 164 static volatile uint8_t motor4_switch=0;
 165 static volatile int16_t speed1_wish=0; // step/s
 166 static volatile int16_t speed2_wish=0;
 167 static volatile int16_t speed3_wish=0;
 168 static volatile int16_t speed4_wish=0;
 169 static volatile int16_t speed1_wish_old=0;
 170 static volatile int16_t speed2_wish_old=0;
 171 static volatile int16_t speed3_wish_old=0;
 172 static volatile int16_t speed4_wish_old=0;
 173 static volatile uint8_t run_update=0;
 174 static volatile int16_t speed1=0; // step/s
 175 static volatile int16_t speed2=0;
 176 static volatile int16_t speed3=0;
 177 static volatile int16_t speed4=0;
 178 static volatile ufloat_t pos_x={0.0};
 179 static volatile ufloat_t pos_y={0.0};
 180 static volatile ufloat_t angle={0.0};
 181 static volatile float cur_speed_lin=0;
 182 static volatile float cur_speed_rot=0;
 183 static volatile uint8_t count_test=0;
 184 static volatile uint8_t front_handicap=0;
 185 static volatile uint8_t aft_handicap=0;
 186 static volatile uint8_t error_state=0;
 187 static volatile uint8_t last_man_update_count=I2C_TIMEOUT_DISABLE;
 188
 189 ISR(TWI_vect)
 190 {
 191         static uint8_t tmp=0;
 192         static int16_t tmp16=0;
 193         static ufloat_t tmp_speed;
 194         static ufloat_t tmp_angle;
 195
 196         switch(TW_STATUS)
 197         {
 198                 case TW_SR_SLA_ACK: // start write
 199                         TWI_ACK;
 200                         ireg = 0;
 201                         break;
 202                 case TW_SR_DATA_ACK: // write
 203                         switch(ireg) {
 204                                 case 0x00: // register select
 205                                         ireg = TWDR;
 206                                         ireg--; // because we do ireg++ below
 207                                         TWI_ACK;
 208                                         break;
 209                                 case 0x01: // Motor 1 MSB
 210                                         tmp = TWDR;
 211                                         TWI_ACK;
 212                                         break;
 213                                 case 0x02: // Motor 1 LSB
 214                                         motor1 = tmp<<8 | TWDR;
 215                                         motor1_mode = MOTOR_MANUAL;
 216                                         TWI_ACK;
 217                                         break;
 218                                 case 0x03: // Motor 2 MSB
 219                                         tmp = TWDR;
 220                                         TWI_ACK;
 221                                         break;
 222                                 case 0x04: // Motor 2 LSB
 223                                         motor2 = tmp<<8 | TWDR;
 224                                         motor2_mode = MOTOR_MANUAL;
 225                                         TWI_ACK;
 226                                         break;
 227                                 case 0x05: // Motor 3 MSB
 228                                         tmp = TWDR;
 229                                         TWI_ACK;
 230                                         break;
 231                                 case 0x06: // Motor 3 LSB
 232                                         motor3 = tmp<<8 | TWDR;
 233                                         motor3_mode = MOTOR_MANUAL;
 234                                         TWI_ACK;
 235                                         break;
 236                                 case 0x07: // Motor 4 MSB
 237                                         tmp = TWDR;
 238                                         TWI_ACK;
 239                                         break;
 240                                 case 0x08: // Motor 4 LSB
 241                                         motor4 = tmp<<8 | TWDR;
 242                                         motor4_mode = MOTOR_MANUAL;
 243                                         TWI_ACK;
 244                                         break;
 245                                 case 0x20: // Motor 1 speed wish MSB
 246                                         tmp = TWDR;
 247                                         TWI_ACK;
 248                                         break;
 249                                 case 0x21: // Motor 1 speed wish LSB
 250                                         speed1_wish = tmp<<8 | TWDR;
 251                                         motor1_mode = MOTOR_PID;
 252                                         TWI_ACK;
 253                                         break;
 254                                 case 0x22: // Motor 2 speed wish MSB
 255                                         tmp = TWDR;
 256                                         TWI_ACK;
 257                                         break;
 258                                 case 0x23: // Motor 2 speed wish LSB
 259                                         speed2_wish = tmp<<8 | TWDR;
 260                                         motor2_mode = MOTOR_PID;
 261                                         TWI_ACK;
 262                                         break;
 263                                 case 0x24: // Motor 3 speed wish MSB
 264                                         tmp = TWDR;
 265                                         TWI_ACK;
 266                                         break;
 267                                 case 0x25: // Motor 3 speed wish LSB
 268                                         speed3_wish = tmp<<8 | TWDR;
 269                                         motor3_mode = MOTOR_PID;
 270                                         TWI_ACK;
 271                                         break;
 272                                 case 0x26: // Motor 4 speed wish MSB
 273                                         tmp = TWDR;
 274                                         TWI_ACK;
 275                                         break;
 276                                 case 0x27: // Motor 4 speed wish LSB
 277                                         speed4_wish = tmp<<8 | TWDR;
 278                                         motor4_mode = MOTOR_PID;
 279                                         TWI_ACK;
 280                                         break;
 281                                 case 0x28: // Left speed wish MSB
 282                                         tmp_speed.i = TWDR;
 283                                         TWI_ACK;
 284                                         break;
 285                                 case 0x29: // Left speed wish
 286                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 287                                         TWI_ACK;
 288                                         break;
 289                                 case 0x2A: // Left speed wish
 290                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 291                                         TWI_ACK;
 292                                         break;
 293                                 case 0x2B: // Left speed wish LSB
 294                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 295                                         speed1_wish = tmp_speed.f*STEP_PER_M_LEFT;
 296                                         speed2_wish = tmp_speed.f*STEP_PER_M_LEFT;
 297                                         motor1_mode = MOTOR_PID;
 298                                         motor2_mode = MOTOR_PID;
 299                                         TWI_ACK;
 300                                         break;
 301                                 case 0x2C: // Right speed wish MSB
 302                                         tmp_speed.i = TWDR;
 303                                         TWI_ACK;
 304                                         break;
 305                                 case 0x2D: // Right speed wish
 306                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 307                                         TWI_ACK;
 308                                         break;
 309                                 case 0x2E: // Right speed wish
 310                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 311                                         TWI_ACK;
 312                                         break;
 313                                 case 0x2F: // Right speed wish LSB
 314                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 315                                         speed1_wish = tmp_speed.f*STEP_PER_M_RIGHT;
 316                                         speed2_wish = tmp_speed.f*STEP_PER_M_RIGHT;
 317                                         motor1_mode = MOTOR_PID;
 318                                         motor2_mode = MOTOR_PID;
 319                                         TWI_ACK;
 320                                         break;
 321                                 case 0x50: // speed wish MSB
 322                                         tmp_speed.i = TWDR;
 323                                         TWI_ACK;
 324                                         break;
 325                                 case 0x51: // speed wish
 326                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 327                                         TWI_ACK;
 328                                         break;
 329                                 case 0x52: // speed wish
 330                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 331                                         TWI_ACK;
 332                                         break;
 333                                 case 0x53: // speed wish LSB
 334                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 335                                         cmd_vel.speed = tmp_speed.f;
 336                                         TWI_ACK;
 337                                         break;
 338                                 case 0x54: // angle wish MSB
 339                                         tmp_angle.i = TWDR;
 340                                         TWI_ACK;
 341                                         break;
 342                                 case 0x55: // angle wish
 343                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 344                                         TWI_ACK;
 345                                         break;
 346                                 case 0x56: // angle wish
 347                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 348                                         TWI_ACK;
 349                                         break;
 350                                 case 0x57: // angle wish LSB
 351                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 352                                         cmd_vel.angle = tmp_angle.f;
 353                                         cmd_vel.bUpdate = 1;
 354                                         last_man_update_count = 0;
 355                                         TWI_ACK;
 356                                         break;
 357                                 case 0x90: // Motor 1 switch
 358                                         motor1_switch = TWDR;
 359                                         TWI_ACK;
 360                                         break;
 361                                 case 0x91: // Motor 2 switch
 362                                         motor2_switch = TWDR;
 363                                         TWI_ACK;
 364                                         break;
 365                                 case 0x92: // Motor 3 switch
 366                                         motor3_switch = TWDR;
 367                                         TWI_ACK;
 368                                         break;
 369                                 case 0x93: // Motor 4 switch
 370                                         motor4_switch = TWDR;
 371                                         TWI_ACK;
 372                                         break;
 373                                 case 0x94: // Front Handicap
 374                                         front_handicap = TWDR;
 375                                         cmd_vel.bUpdate = 1;
 376                                         TWI_ACK;
 377                                         break;
 378                                 case 0x95: // Aft Handicap
 379                                         aft_handicap = TWDR;
 380                                         cmd_vel.bUpdate = 1;
 381                                         TWI_ACK;
 382                                         break;
 383                                 case 0xff: // bootloader
 384                                         bootloader = TWDR;
 385                                 default:
 386                                         TWI_NAK;
 387                         }
 388                         if (ireg < 0xff) ireg++;
 389                         break;
 390                 case TW_ST_SLA_ACK: // start read
 391                 case TW_ST_DATA_ACK: // read
 392                         switch(ireg) {
 393                                 case 0x02: // Motor 1 PWM
 394                                         TWDR = OCR1A;
 395                                         TWI_ACK;
 396                                         break;
 397                                 case 0x03: // Dummy to allow continous read
 398                                         TWDR = 0;
 399                                         TWI_ACK;
 400                                         break;
 401                                 case 0x04: // Motor 2 PWM
 402                                         TWDR = OCR1B;
 403                                         TWI_ACK;
 404                                         break;
 405                                 case 0x05: // Dummy to allow continous read
 406                                         TWDR = 0;
 407                                         TWI_ACK;
 408                                         break;
 409                                 case 0x06: // Motor 3 PWM
 410                                         TWDR = OCR2;
 411                                         TWI_ACK;
 412                                         break;
 413                                 case 0x07: // Dummy to allow continous read
 414                                         TWDR = 0;
 415                                         TWI_ACK;
 416                                         break;
 417                                 case 0x08: // Motor 4 PWM
 418                                         TWDR = OCR0;
 419                                         TWI_ACK;
 420                                         break;
 421                                 case 0x09: // Dummy to allow continous read
 422                                         TWDR = 0;
 423                                         TWI_ACK;
 424                                         break;
 425                                 case 0x10: // Hall 1 MSB
 426                                         tmp16 = pos1;
 427                                         TWDR = tmp16>>8;
 428                                         TWI_ACK;
 429                                         break;
 430                                 case 0x11: // Hall 1 LSB
 431                                         TWDR = tmp16;
 432                                         TWI_ACK;
 433                                         break;
 434                                 case 0x12: // Hall 2 MSB
 435                                         tmp16 = pos2;
 436                                         TWDR = tmp16>>8;
 437                                         TWI_ACK;
 438                                         break;
 439                                 case 0x13: // Hall 2 LSB
 440                                         TWDR = tmp16;
 441                                         TWI_ACK;
 442                                         break;
 443                                 case 0x14: // Hall 3 MSB
 444                                         tmp16 = pos3;
 445                                         TWDR = tmp16>>8;
 446                                         TWI_ACK;
 447                                         break;
 448                                 case 0x15: // Hall 3 LSB
 449                                         TWDR = tmp16;
 450                                         TWI_ACK;
 451                                         break;
 452                                 case 0x16: // Hall 4 MSB
 453                                         tmp16 = pos4;
 454                                         TWDR = tmp16>>8;
 455                                         TWI_ACK;
 456                                         break;
 457                                 case 0x17: // Hall 4 LSB
 458                                         TWDR = tmp16;
 459                                         TWI_ACK;
 460                                         break;
 461                                 case 0x20: // Motor 1 speed wish MSB
 462                                         TWDR = speed1_wish>>8;
 463                                         TWI_ACK;
 464                                         break;
 465                                 case 0x21: // Motor 1 speed wish LSB
 466                                         TWDR = speed1_wish;
 467                                         TWI_ACK;
 468                                         break;
 469                                 case 0x22: // Motor 2 speed wish MSB
 470                                         TWDR = speed2_wish>>8;
 471                                         TWI_ACK;
 472                                         break;
 473                                 case 0x23: // Motor 2 speed wish LSB
 474                                         TWDR = speed2_wish;
 475                                         TWI_ACK;
 476                                         break;
 477                                 case 0x24: // Motor 3 speed wish MSB
 478                                         TWDR = speed3_wish>>8;
 479                                         TWI_ACK;
 480                                         break;
 481                                 case 0x25: // Motor 3 speed wish LSB
 482                                         TWDR = speed3_wish;
 483                                         TWI_ACK;
 484                                         break;
 485                                 case 0x26: // Motor 4 speed wish MSB
 486                                         TWDR = speed4_wish>>8;
 487                                         TWI_ACK;
 488                                         break;
 489                                 case 0x27: // Motor 4 speed wish LSB
 490                                         TWDR = speed4_wish;
 491                                         TWI_ACK;
 492                                         break;
 493                                 case 0x30: // Motor 1 speed MSB
 494                                         TWDR = speed1>>8;
 495                                         TWI_ACK;
 496                                         break;
 497                                 case 0x31: // Motor 1 speed LSB
 498                                         TWDR = speed1;
 499                                         TWI_ACK;
 500                                         break;
 501                                 case 0x32: // Motor 2 speed MSB
 502                                         TWDR = speed2>>8;
 503                                         TWI_ACK;
 504                                         break;
 505                                 case 0x33: // Motor 2 speed LSB
 506                                         TWDR = speed2;
 507                                         TWI_ACK;
 508                                         break;
 509                                 case 0x34: // Motor 3 speed MSB
 510                                         TWDR = speed3>>8;
 511                                         TWI_ACK;
 512                                         break;
 513                                 case 0x35: // Motor 3 speed LSB
 514                                         TWDR = speed3;
 515                                         TWI_ACK;
 516                                         break;
 517                                 case 0x36: // Motor 4 speed MSB
 518                                         TWDR = speed4>>8;
 519                                         TWI_ACK;
 520                                         break;
 521                                 case 0x37: // Motor 4 speed LSB
 522                                         TWDR = speed4;
 523                                         TWI_ACK;
 524                                         break;
 525                                 case 0x38: // speed MSB
 526                                         tmp_speed.f = cur_speed_lin;
 527                                         TWDR = tmp_speed.i>>24;
 528                                         TWI_ACK;
 529                                         break;
 530                                 case 0x39: // speed
 531                                         TWDR = tmp_speed.i>>16;
 532                                         TWI_ACK;
 533                                         break;
 534                                 case 0x3A: // speed
 535                                         TWDR = tmp_speed.i>>8;
 536                                         TWI_ACK;
 537                                         break;
 538                                 case 0x3B: // speed LSB
 539                                         TWDR = tmp_speed.i;
 540                                         TWI_ACK;
 541                                         break;
 542                                 case 0x3C: // angle MSB
 543                                         tmp_angle.f = cur_speed_rot;
 544                                         TWDR = tmp_angle.i>>24;
 545                                         TWI_ACK;
 546                                         break;
 547                                 case 0x3D: // angle
 548                                         TWDR = tmp_angle.i>>16;
 549                                         TWI_ACK;
 550                                         break;
 551                                 case 0x3E: // angle
 552                                         TWDR = tmp_angle.i>>8;
 553                                         TWI_ACK;
 554                                         break;
 555                                 case 0x3F: // angle LSB
 556                                         TWDR = angle.i;
 557                                         TWI_ACK;
 558                                         break;
 559                                 case 0x40: // Position x MSB
 560                                         TWDR = pos_x.i>>24;
 561                                         TWI_ACK;
 562                                         break;
 563                                 case 0x41: // Position x
 564                                         TWDR = pos_x.i>>16;
 565                                         TWI_ACK;
 566                                         break;
 567                                 case 0x42: // Position x
 568                                         TWDR = pos_x.i>>8;
 569                                         TWI_ACK;
 570                                         break;
 571                                 case 0x43: // Position x LSB
 572                                         TWDR = pos_x.i;
 573                                         TWI_ACK;
 574                                         break;
 575                                 case 0x44: // Position y MSB
 576                                         TWDR = pos_y.i>>24;
 577                                         TWI_ACK;
 578                                         break;
 579                                 case 0x45: // Position y
 580                                         TWDR = pos_y.i>>16;
 581                                         TWI_ACK;
 582                                         break;
 583                                 case 0x46: // Position y
 584                                         TWDR = pos_y.i>>8;
 585                                         TWI_ACK;
 586                                         break;
 587                                 case 0x47: // Position y LSB
 588                                         TWDR = pos_y.i;
 589                                         TWI_ACK;
 590                                         break;
 591                                 case 0x48: // Position angle MSB
 592                                         TWDR = angle.i>>24;
 593                                         TWI_ACK;
 594                                         break;
 595                                 case 0x49: // Position angle
 596                                         TWDR = angle.i>>16;
 597                                         TWI_ACK;
 598                                         break;
 599                                 case 0x4A: // Position angle
 600                                         TWDR = angle.i>>8;
 601                                         TWI_ACK;
 602                                         break;
 603                                 case 0x4B: // Position angle LSB
 604                                         TWDR = angle.i;
 605                                         TWI_ACK;
 606                                         break;
 607                                 case 0xA0: // Reset reason
 608                                         TWDR = MCUCSR & 0x0f;
 609                                         MCUCSR = 0x0;
 610                                         TWI_ACK;
 611                                         break;
 612                                 case 0xA1: // Error status
 613                                         TWDR = error_state;
 614                                         TWI_ACK;
 615                                         break;
 616                                 case 0xA2: // count test
 617                                         TWDR = count_test;
 618                                         TWI_ACK;
 619                                 default:
 620                                         TWDR = 0;
 621                                         TWI_NAK;
 622                         }
 623                         ireg++;
 624                         break;
 625                 case TW_SR_STOP:
 626                         TWI_ACK;
 627                         break;
 628                 default:
 629                         TWI_RESET;
 630         }
 631 }
 632
 633
 634 static void update_hall1(void) {
 635         unsigned char status = (PINA >> 0) & 0x3;
 636         static unsigned char oldstatus=0;
 637         unsigned char diff, new;
 638
 639         new = 0;
 640         if (status & 0x1)
 641                 new = 0x3;
 642         if (status & 0x2)
 643                 new ^= 0x1;                                     // convert gray to binary
 644         diff = oldstatus - new;                         // difference last - new
 645         if (diff & 0x1) {                               // bit 0 = value (1)
 646                 oldstatus = new;                                        // store new as next last
 647                 if (motor1_switch) pos1 += (diff & 2) - 1;              // bit 1 = direction (+/-)
 648                 else pos1 -= (diff & 2) - 1;
 649         }
 650 }
 651
 652
 653 static void update_hall2(void) {
 654         unsigned char status = (PINA >> 4) & 0x3;
 655         static unsigned char oldstatus=0;
 656         unsigned char diff, new;
 657
 658         new = 0;
 659         if (status & 0x1)
 660                 new = 0x3;
 661         if (status & 0x2)
 662                 new ^= 0x1;                                     // convert gray to binary
 663         diff = oldstatus - new;                         // difference last - new
 664         if (diff & 0x1) {                               // bit 0 = value (1)
 665                 oldstatus = new;                                        // store new as next last
 666                 if (motor2_switch) pos2 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
 667                 else pos2 += (diff & 2) - 1;
 668         }
 669 }
 670
 671
 672 static void update_hall3(void) {
 673         unsigned char status = (PINA >> 2) & 0x3;
 674         static unsigned char oldstatus=0;
 675         unsigned char diff, new;
 676
 677         new = 0;
 678         if (status & 0x1)
 679                 new = 0x3;
 680         if (status & 0x2)
 681                 new ^= 0x1;                                     // convert gray to binary
 682         diff = oldstatus - new;                         // difference last - new
 683         if (diff & 0x1) {                               // bit 0 = value (1)
 684                 oldstatus = new;                                        // store new as next last
 685                 if (motor3_switch) pos3 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
 686                 else pos3 += (diff & 2) - 1;
 687         }
 688 }
 689
 690
 691 static void update_hall4(void) {
 692         unsigned char status = (PINA >> 6) & 0x3;
 693         static unsigned char oldstatus=0;
 694         unsigned char diff, new;
 695
 696         new = 0;
 697         if (status & 0x1)
 698                 new = 0x3;
 699         if (status & 0x2)
 700                 new ^= 0x1;                                     // convert gray to binary
 701         diff = oldstatus - new;                         // difference last - new
 702         if (diff & 0x1) {                               // bit 0 = value (1)
 703                 oldstatus = new;                                        // store new as next last
 704                 if (motor4_switch) pos4 += (diff & 2) - 1;              // bit 1 = direction (+/-)
 705                 else pos4 -= (diff & 2) - 1;
 706         }
 707 }
 708
 709
 710 static void update_motor(void) {
 711         static int16_t m1_old=SHRT_MIN;
 712         static int16_t m2_old=SHRT_MIN;
 713         static int16_t m3_old=SHRT_MIN;
 714         static int16_t m4_old=SHRT_MIN;
 715
 716         error_state &= 0xf0; // clear lower bits
 717         error_state |= ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
 718
 719         if (m1_old != motor1) { // update only when changed
 720                 if (motor1 == 0) {
 721                         // stop
 722                         PORTC &= ~(1 << 3) & ~(1 << 2);
 723                         DISABLE_PWM_MOTOR1;
 724                 } else if (motor1 == PWM_BREAK) {
 725                         PORTC |= (1 << 3) | (1 << 2);
 726                         ENABLE_PWM_MOTOR1;
 727                 } else if ((!motor1_switch && motor1 > 0) || (motor1_switch && motor1 < 0)) {
 728                         // forward
 729                         uint8_t tmp=PORTC;
 730                         tmp &= ~(1 << 3);
 731                         tmp |=  (1 << 2);
 732                         PORTC = tmp;
 733                         ENABLE_PWM_MOTOR1;
 734                 } else { // motor1 < 0
 735                         // backward
 736                         uint8_t tmp=PORTC;
 737                         tmp &= ~(1 << 2);
 738                         tmp |=  (1 << 3);
 739                         PORTC = tmp;
 740                         ENABLE_PWM_MOTOR1;
 741                 }
 742
 743                 m1_old = motor1;
 744                 OCR1A = abs(motor1);
 745         }
 746
 747         if (m2_old != motor2) { // update only when changed
 748                 if (motor2 == 0) {
 749                         // stop
 750                         PORTC &= ~(1 << 5) & ~(1 << 4);
 751                         DISABLE_PWM_MOTOR2;
 752                 } else if (motor2 == PWM_BREAK) {
 753                         PORTC |= (1 << 5) | (1 << 4);
 754                         ENABLE_PWM_MOTOR2;
 755                 } else if ((!motor2_switch && motor2 > 0) || (motor2_switch && motor2 < 0)) {
 756                         // forward
 757                         uint8_t tmp=PORTC;
 758                         tmp &= ~(1 << 5);
 759                         tmp |=  (1 << 4);
 760                         PORTC = tmp;
 761                         ENABLE_PWM_MOTOR2;
 762                 } else { // motor2 < 0
 763                         // backward
 764                         uint8_t tmp=PORTC;
 765                         tmp &= ~(1 << 4);
 766                         tmp |=  (1 << 5);
 767                         PORTC = tmp;
 768                         ENABLE_PWM_MOTOR2;
 769                 }
 770
 771                 m2_old = motor2;
 772                 OCR1B = abs(motor2);
 773         }
 774
 775         if (m3_old != motor3) { // update only when changed
 776                 if (motor3 == 0) {
 777                         // stop
 778                         PORTC &= ~(1 << 7) & ~(1 << 6);
 779                         DISABLE_PWM_MOTOR3;
 780                 } else if (motor3 == PWM_BREAK) {
 781                         PORTC |= (1 << 7) | (1 << 6);
 782                         ENABLE_PWM_MOTOR3;
 783                 } else if ((!motor3_switch && motor3 > 0) || (motor3_switch && motor3 < 0)) {
 784                         // forward
 785                         uint8_t tmp=PORTC;
 786                         tmp &= ~(1 << 7);
 787                         tmp |=  (1 << 6);
 788                         PORTC = tmp;
 789                         ENABLE_PWM_MOTOR3;
 790                 } else { // motor3 < 0
 791                         // backward
 792                         uint8_t tmp=PORTC;
 793                         tmp &= ~(1 << 6);
 794                         tmp |=  (1 << 7);
 795                         PORTC = tmp;
 796                         ENABLE_PWM_MOTOR3;
 797                 }
 798
 799                 m3_old = motor3;
 800                 OCR2 = abs(motor3);
 801         }
 802
 803         if (m4_old != motor4) { // update only when changed
 804                 if (motor4 == 0) {
 805                         // stop
 806                         PORTD &= ~(1 << 3) & ~(1 << 2);
 807                         DISABLE_PWM_MOTOR4;
 808                 } else if (motor4 == PWM_BREAK) {
 809                         PORTD |= (1 << 3) | (1 << 2);
 810                         ENABLE_PWM_MOTOR4;
 811                 } else if ((!motor4_switch && motor4 > 0) || (motor4_switch && motor4 < 0)) {
 812                         // forward
 813                         uint8_t tmp=PORTD;
 814                         tmp &= ~(1 << 3);
 815                         tmp |=  (1 << 2);
 816                         PORTD = tmp;
 817                         ENABLE_PWM_MOTOR4;
 818                 } else { // motor4 < 0
 819                         // backward
 820                         uint8_t tmp=PORTD;
 821                         tmp &= ~(1 << 2);
 822                         tmp |=  (1 << 3);
 823                         PORTD = tmp;
 824                         ENABLE_PWM_MOTOR4;
 825                 }
 826
 827                 m4_old = motor4;
 828                 OCR0 = abs(motor4);
 829         }
 830 }
 831
 832
 833 static void update_pos(void) {
 834         static int16_t pos1_last=0;
 835         static int16_t pos2_last=0;
 836         static int16_t pos3_last=0;
 837         static int16_t pos4_last=0;
 838         int16_t pos1_diff; // steps
 839         int16_t pos2_diff;
 840         int16_t pos3_diff;
 841         int16_t pos4_diff;
 842         float diff_left_m, diff_right_m, angle_diff, translation;
 843         float pos_x_new, pos_y_new, angle_new;
 844         float tmp_speed_lin, tmp_speed_rot;
 845         int16_t cur_pos1, cur_pos2, cur_pos3, cur_pos4;
 846         int16_t new_speed1, new_speed2, new_speed3, new_speed4;
 847
 848         // copy to tmp
 849         cli();
 850         cur_pos1 = pos1;
 851         cur_pos2 = pos2;
 852         cur_pos3 = pos3;
 853         cur_pos4 = pos4;
 854         sei();
 855
 856         pos1_diff = cur_pos1 - pos1_last;
 857         pos2_diff = cur_pos2 - pos2_last;
 858         pos3_diff = cur_pos3 - pos3_last;
 859         pos4_diff = cur_pos4 - pos4_last;
 860
 861         new_speed1 = pos1_diff/PID_T;
 862         new_speed2 = pos2_diff/PID_T;
 863         new_speed3 = pos3_diff/PID_T;
 864         new_speed4 = pos4_diff/PID_T;
 865
 866         diff_left_m = (pos1_diff + pos2_diff)/(2*STEP_PER_M_LEFT);
 867         diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M_RIGHT);
 868         angle_diff = (diff_right_m - diff_left_m) / WHEEL_DIST;
 869
 870         angle_new = angle.f + angle_diff;
 871         if (angle_new > 2*M_PI) angle_new-=2*M_PI;
 872         else if (angle_new < -2*M_PI) angle_new+=2*M_PI;
 873
 874         translation = (diff_left_m + diff_right_m)/2.0;
 875         pos_x_new = pos_x.f + cos(angle_new)*translation;
 876         pos_y_new = pos_y.f + sin(angle_new)*translation;
 877
 878         tmp_speed_lin = translation/PID_T;
 879         tmp_speed_rot = angle_diff/PID_T;
 880
 881         // copy from tmp
 882         cli();
 883         angle.f = angle_new;
 884         pos_x.f = pos_x_new;
 885         pos_y.f = pos_y_new;
 886         speed1 = new_speed1;
 887         speed2 = new_speed2;
 888         speed3 = new_speed3;
 889         speed4 = new_speed4;
 890         cur_speed_lin = tmp_speed_lin;
 891         cur_speed_rot = tmp_speed_rot;
 892         sei();
 893
 894         pos1_last = cur_pos1;
 895         pos2_last = cur_pos2;
 896         pos3_last = cur_pos3;
 897         pos4_last = cur_pos4;
 898 }
 899
 900
 901 static void update_pid(void) {
 902         static int16_t eold1=0;
 903         static int16_t eold2=0;
 904         static int16_t eold3=0;
 905         static int16_t eold4=0;
 906         static int32_t esum1=0;
 907         static int32_t esum2=0;
 908         static int32_t esum3=0;
 909         static int32_t esum4=0;
 910
 911         // protect motors from damage if stalling
 912         if (labs(esum1) > STALL_LIMIT && speed1 == 0) {
 913                 motor1 = 0;
 914                 motor1_mode = MOTOR_MANUAL;
 915                 error_state |= (1<<4);
 916                 esum1 = 0;
 917         }
 918         if (labs(esum2) > STALL_LIMIT && speed2 == 0) {
 919                 motor2 = 0;
 920                 motor2_mode = MOTOR_MANUAL;
 921                 error_state |= (1<<5);
 922                 esum2 = 0;
 923         }
 924         if (labs(esum3) > STALL_LIMIT && speed3 == 0) {
 925                 motor3 = 0;
 926                 motor3_mode = MOTOR_MANUAL;
 927                 error_state |= (1<<6);
 928                 esum3 = 0;
 929         }
 930         if (labs(esum4) > STALL_LIMIT && speed4 == 0) {
 931                 motor4 = 0;
 932                 motor4_mode = MOTOR_MANUAL;
 933                 error_state |= (1<<7);
 934                 esum4 = 0;
 935         }
 936
 937         if (motor1_mode == MOTOR_PID) {
 938                 if (speed1_wish != speed1_wish_old) {
 939                         if (abs(speed1_wish - speed1_wish_old) > 500) esum1 = 0;
 940                         speed1_wish_old = speed1_wish;
 941                 }
 942
 943                 uint8_t dir_change = (speed1_wish > 0 && speed1 < 0) || (speed1_wish < 0 && speed1 > 0); // Prevent dangerous immediate engine reverse
 944                 if (speed1_wish == 0 || dir_change) {
 945                         motor1 = 0;
 946                         eold1 = 0;
 947                         error_state &= ~(1<<4);
 948                 } else {
 949                         int16_t e = speed1_wish - speed1;
 950                         esum1+=e;
 951                         motor1 = KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
 952                         eold1 = e;
 953
 954                         if (motor1 > 0 && speed1_wish < 0) motor1=PWM_BREAK;
 955                         else if (motor1 < 0 && speed1_wish > 0) motor1=PWM_BREAK;
 956                         else if (motor1 > 255) motor1 = 255;
 957                         else if (motor1 < -255) motor1 = -255;
 958                 }
 959         }
 960         if (motor2_mode == MOTOR_PID) {
 961                 if (speed2_wish != speed2_wish_old) {
 962                         if (abs(speed2_wish - speed2_wish_old) > 500) esum2 = 0;
 963                         speed2_wish_old = speed2_wish;
 964                 }
 965
 966                 uint8_t dir_change = (speed2_wish > 0 && speed2 < 0) || (speed2_wish < 0 && speed2 > 0); // Prevent dangerous immediate engine reverse
 967                 if (speed2_wish == 0 || dir_change) {
 968                         motor2 = 0;
 969                         eold2 = 0;
 970                         error_state &= ~(1<<5);
 971                 } else {
 972                         int16_t e = speed2_wish - speed2;
 973                         esum2+=e;
 974                         motor2 = KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
 975                         eold2 = e;
 976
 977                         if (motor2 > 0 && speed2_wish < 0) motor2=PWM_BREAK;
 978                         else if (motor2 < 0 && speed2_wish > 0) motor2=PWM_BREAK;
 979                         else if (motor2 > 255) motor2 = 255;
 980                         else if (motor2 < -255) motor2 = -255;
 981                 }
 982         }
 983         if (motor3_mode == MOTOR_PID) {
 984                 if (speed3_wish != speed3_wish_old) {
 985                         if (abs(speed3_wish - speed3_wish_old) > 500) esum3 = 0;
 986                         speed3_wish_old = speed3_wish;
 987                 }
 988
 989                 uint8_t dir_change = (speed3_wish > 0 && speed3 < 0) || (speed3_wish < 0 && speed3 > 0); // Prevent dangerous immediate engine reverse
 990                 if (speed3_wish == 0 || dir_change) {
 991                         motor3 = 0;
 992                         eold3 = 0;
 993                         error_state &= ~(1<<6);
 994                 } else {
 995                         int16_t e = speed3_wish - speed3;
 996                         esum3+=e;
 997                         motor3 = KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
 998                         eold3 = e;
 999
1000                         if (motor3 > 0 && speed3_wish < 0) motor3=PWM_BREAK;
1001                         else if (motor3 < 0 && speed3_wish > 0) motor3=PWM_BREAK;
1002                         else if (motor3 > 255) motor3 = 255;
1003                         else if (motor3 < -255) motor3 = -255;
1004                 }
1005         }
1006         if (motor4_mode == MOTOR_PID) {
1007                 if (speed4_wish != speed4_wish_old) {
1008                         if (abs(speed4_wish - speed4_wish_old) > 500) esum4 = 0;
1009                         speed4_wish_old = speed4_wish;
1010                 }
1011
1012                 uint8_t dir_change = (speed4_wish > 0 && speed4 < 0) || (speed4_wish < 0 && speed4 > 0); // Prevent dangerous immediate engine reverse
1013                 if (speed4_wish == 0 || dir_change) {
1014                         motor4 = 0;
1015                         eold4 = 0;
1016                         error_state &= ~(1<<7);
1017                 } else {
1018                         int16_t e = speed4_wish - speed4;
1019                         esum4+=e;
1020                         motor4 = KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
1021                         eold4 = e;
1022
1023                         if (motor4 > 0 && speed4_wish < 0) motor4=PWM_BREAK;
1024                         else if (motor4 < 0 && speed4_wish > 0) motor4=PWM_BREAK;
1025                         else if (motor4 > 255) motor4 = 255;
1026                         else if (motor4 < -255) motor4 = -255;
1027                 }
1028         }
1029 }
1030
1031
1032 ISR(TIMER1_OVF_vect) {
1033         update_hall1();
1034         update_hall2();
1035         update_hall3();
1036         update_hall4();
1037
1038         run_update++;
1039 }
1040
1041
1042 int main(void) {
1043         // Outputs
1044         DDRB = (1 << 3);
1045         DDRC = (1 << 7) | (1 << 6) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
1046         DDRD = (1 << 7) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
1047         // Pullup Diag/Enable
1048         PORTB = (1 << 0) | (1 << 1) | (1 << 2);
1049         PORTD = (1 << 6);
1050
1051         bootloader = 0x00;
1052         setup_uart(9600);
1053         uart_setup_stdout();
1054
1055         // I2C
1056         TWAR = 0x50;
1057         TWI_ACK;
1058
1059         // Motor 1 & 2
1060         // Also used for PWM frequency TIMER1_FREQ (F_CPU/256)
1061         // Timer 1: Fast PWM non-inverting mode, Top=255 => 19.531kHz
1062         // Prescaler=1
1063         //TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM10);
1064         // Avoid narrow spike on extreme pwm value 0 by not setting COM1*1
1065         TCCR1A = (1 << WGM10);
1066         TCCR1B = (1 << WGM12) | (1 << CS10);
1067         OCR1A = 0;
1068         OCR1B = 0;
1069
1070         // Motor 3
1071         // Timer 2: Fast PWM non-inverting mode, Top=255
1072         // Prescaler=1
1073         //TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << CS20);
1074         // Avoid narrow spike on extreme pwm value 0 by not setting COM21
1075         TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << CS20);
1076         OCR2 = 0;
1077
1078         // Motor 4
1079         // Timer 0: Fast PWM non-inverting mode, Top=255
1080         // Prescaler=1
1081         //TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << CS00);
1082         // Avoid narrow spike on extreme pwm value 0 by not setting COM01
1083         TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << CS00);
1084         OCR0 = 0;
1085
1086         printf("\r\nStart\r\n");
1087
1088         set_sleep_mode(SLEEP_MODE_IDLE);
1089         // Enable Timer 1 Overflow Interrupt
1090         TIMSK = (1 << TOIE1);
1091         sei();
1092
1093         while(1) {
1094                 switch(ireg) {
1095                         case 0xff: // Magic reg that starts the bootloader
1096                                 if (bootloader == 0xa5) {
1097                                         cli();
1098                                         // write mark to first area in eeprom
1099                                         eeprom_write_byte((uint8_t*)0, 123);
1100                                         eeprom_busy_wait();
1101                                         // Use watchdog to restart
1102                                         wdt_enable(WDTO_15MS);
1103                                 }
1104                                 break;
1105                 }
1106
1107                 if (cmd_vel.bUpdate) {
1108                         float speed_wish_right, speed_wish_left;
1109                         float speed, angle;
1110
1111                         cli();
1112                         speed = cmd_vel.speed;
1113                         angle = cmd_vel.angle;
1114                         cmd_vel.bUpdate = 0;
1115                         sei();
1116
1117                         speed_wish_right = (angle*WHEEL_DIST)/2 + speed;
1118                         speed_wish_left = speed*2-speed_wish_right;
1119
1120                         speed_wish_left*=STEP_PER_M_LEFT;
1121                         speed_wish_right*=STEP_PER_M_RIGHT;
1122
1123                         if (aft_handicap > 0) {
1124                                 speed1_wish = speed_wish_left * (100-aft_handicap)/100.0;
1125                                 speed3_wish = speed_wish_right * (100-aft_handicap)/100.0;
1126                         } else {
1127                                 speed1_wish = speed_wish_left;
1128                                 speed3_wish = speed_wish_right;
1129                         }
1130                         if (front_handicap > 0) {
1131                                 speed2_wish = speed_wish_left * (100-front_handicap)/100.0;
1132                                 speed4_wish = speed_wish_right * (100-front_handicap)/100.0;
1133                         } else {
1134                                 speed2_wish = speed_wish_left;
1135                                 speed4_wish = speed_wish_right;
1136                         }
1137                         motor1_mode = MOTOR_PID;
1138                         motor2_mode = MOTOR_PID;
1139                         motor3_mode = MOTOR_PID;
1140                         motor4_mode = MOTOR_PID;
1141                 }
1142
1143                 if (run_update >= 195) { // TIMER1_FREQ/195 = ~100Hz
1144                         run_update=0;
1145
1146                         update_pos();
1147                         update_pid();
1148                         update_motor();
1149                         count_test++;
1150                         if (last_man_update_count != I2C_TIMEOUT_DISABLE) last_man_update_count++;
1151
1152                         if (last_man_update_count > 100) {
1153                                 // ~1s without a new i2c command
1154                                 cmd_vel.speed = 0;
1155                                 cmd_vel.angle = 0;
1156                                 cmd_vel.bUpdate = 1;
1157                                 last_man_update_count = I2C_TIMEOUT_DISABLE;
1158                         }
1159                 }
1160
1161                 sleep_mode();
1162         }
1163
1164         return 0;
1165 }