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