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 <avr/pgmspace.h>
  12 #include "uart.h"
  13
  14 /*
  15  * I2C Register Map (8 Bit)
  16  * 0x00 Register select
  17  * 0x01 Motor 1 PWM MSB
  18  * 0x02 Motor 1 PWM LSB
  19  * 0x03 Motor 2 PWM MSB
  20  * 0x04 Motor 2 PWM LSB
  21  * 0x05 Motor 3 PWM MSB
  22  * 0x06 Motor 3 PWM LSB
  23  * 0x07 Motor 4 PWM MSB
  24  * 0x08 Motor 4 PWM LSB
  25  * free
  26  * 0x10 Hall 1 MSB
  27  * 0x11 Hall 1 LSB
  28  * 0x12 Hall 2 MSB
  29  * 0x13 Hall 2 LSB
  30  * 0x14 Hall 3 MSB
  31  * 0x15 Hall 3 LSB
  32  * 0x16 Hall 4 MSB
  33  * 0x17 Hall 4 LSB
  34  * free
  35  * 0x20 Motor 1 speed wish MSB
  36  * 0x21 Motor 1 speed wish LSB
  37  * 0x22 Motor 2 speed wish MSB
  38  * 0x23 Motor 2 speed wish LSB
  39  * 0x24 Motor 3 speed wish MSB
  40  * 0x25 Motor 3 speed wish LSB
  41  * 0x26 Motor 4 speed wish MSB
  42  * 0x27 Motor 4 speed wish LSB
  43  * 0x28 Left speed wish (m/s) MSB
  44  * 0x29 Left speed wish (m/s)
  45  * 0x2A Left speed wish (m/s)
  46  * 0x2B Left speed wish (m/s) LSB
  47  * 0x2C Right speed wish (m/s) MSB
  48  * 0x2D Right speed wish (m/s)
  49  * 0x2E Right speed wish (m/s)
  50  * 0x2F Right speed wish (m/s) LSB
  51  * 0x30 Motor 1 speed MSB
  52  * 0x31 Motor 1 speed LSB
  53  * 0x32 Motor 2 speed MSB
  54  * 0x33 Motor 2 speed LSB
  55  * 0x34 Motor 3 speed MSB
  56  * 0x35 Motor 3 speed LSB
  57  * 0x36 Motor 4 speed MSB
  58  * 0x37 Motor 4 speed LSB
  59  * 0x38 Speed (m/s) MSB
  60  * 0x39 Speed (m/s)
  61  * 0x3A Speed (m/s)
  62  * 0x3B Speed (m/s) LSB
  63  * 0x3C Angle (rad/s) MSB
  64  * 0x3D Angle (rad/s)
  65  * 0x3E Angle (rad/s)
  66  * 0x3F Angle (rad/s) LSB
  67  * 0x40 Position x (m) MSB
  68  * 0x41 Position x (m)
  69  * 0x42 Position x (m)
  70  * 0x43 Position x (m) LSB
  71  * 0x44 Position y (m) MSB
  72  * 0x45 Position y (m)
  73  * 0x46 Position y (m)
  74  * 0x47 Position y (m) LSB
  75  * 0x48 Position angle MSB
  76  * 0x49 Position angle
  77  * 0x4A Position angle
  78  * 0x4B Position angle LSB
  79  * free
  80  * 0x50 speed wish (m/s) MSB
  81  * 0x51 speed wish (m/s)
  82  * 0x52 speed wish (m/s)
  83  * 0x53 speed wish (m/s) LSB
  84  * 0x54 angle wish (rad/s) MSB
  85  * 0x55 angle wish (rad/s)
  86  * 0x56 angle wish (rad/s)
  87  * 0x57 angle wish (rad/s) LSB
  88  * free
  89  * 0x90 Motor 1 switch
  90  * 0x91 Motor 2 switch
  91  * 0x92 Motor 3 switch
  92  * 0x93 Motor 4 switch
  93  * 0x94 Front Handicap
  94  * 0x95 Aft Handicap
  95  * free
  96  * 0xA0 Reset reason
  97  * 0xA1 Error status
  98  * 0xA2 count test
  99  * free
 100  * 0xff Bootloader
 101  */
 102
 103
 104 #define KP 0.062
 105 #define KI 0.12
 106 #define KD 0.0
 107 #define PID_T 0.01
 108 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:47
 109 // STEP_PER_M = 48*47/(d*pi)
 110 // Left real diameter: 0.12808, Right real diameter: 0.121
 111 #define STEP_PER_M 5573.0
 112 #define STEP_PER_M_LEFT (STEP_PER_M)
 113 #define STEP_PER_M_RIGHT (STEP_PER_M)
 114 #define WHEEL_DIST 0.39912 // Measured: 0.252
 115 #define PWM_BREAK INT16_MIN
 116 #define STALL_LIMIT 140000
 117 #define I2C_TIMEOUT_DISABLE 255
 118
 119 #define TWI_ACK   TWCR = (1<<TWINT) | (1<<TWEA) | (1<<TWEN) | (1<<TWIE)
 120 #define TWI_NAK   TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
 121 #define TWI_RESET TWCR = (1<<TWINT) | (1<<TWEA) | (1<<TWSTO) | (1<<TWEN) | (1<<TWIE);
 122 #define ENABLE_PWM_MOTOR1  TCCR1A |=  (1 << COM1A1)
 123 #define ENABLE_PWM_MOTOR2  TCCR1A |=  (1 << COM1B1)
 124 #define ENABLE_PWM_MOTOR3  TCCR2  |=  (1 << COM21);
 125 #define ENABLE_PWM_MOTOR4  TCCR0  |=  (1 << COM01);
 126 #define DISABLE_PWM_MOTOR1 TCCR1A &= ~(1 << COM1A1)
 127 #define DISABLE_PWM_MOTOR2 TCCR1A &= ~(1 << COM1B1)
 128 #define DISABLE_PWM_MOTOR3 TCCR2  &= ~(1 << COM21);
 129 #define DISABLE_PWM_MOTOR4 TCCR0  &= ~(1 << COM01);
 130
 131
 132 enum mode {
 133         MOTOR_MANUAL,
 134         MOTOR_PID
 135 };
 136
 137 typedef union {
 138         float f;
 139         uint32_t i;
 140 } ufloat_t;
 141
 142 static volatile struct {
 143         float speed;
 144         float angle;
 145         uint8_t bUpdate;
 146 } cmd_vel = {0, 0, 0};
 147
 148 static volatile uint8_t ireg=0;
 149 static volatile uint8_t bootloader=0;
 150 static volatile int16_t motor1=0; // -255..+255
 151 static volatile int16_t motor2=0;
 152 static volatile int16_t motor3=0;
 153 static volatile int16_t motor4=0;
 154 static volatile int16_t pos1=0; // step
 155 static volatile int16_t pos2=0;
 156 static volatile int16_t pos3=0;
 157 static volatile int16_t pos4=0;
 158 static volatile enum mode motor1_mode=MOTOR_MANUAL;
 159 static volatile enum mode motor2_mode=MOTOR_MANUAL;
 160 static volatile enum mode motor3_mode=MOTOR_MANUAL;
 161 static volatile enum mode motor4_mode=MOTOR_MANUAL;
 162 static volatile uint8_t motor1_switch=1;
 163 static volatile uint8_t motor2_switch=1;
 164 static volatile uint8_t motor3_switch=0;
 165 static volatile uint8_t motor4_switch=0;
 166 static volatile int16_t speed1_wish=0; // step/s
 167 static volatile int16_t speed2_wish=0;
 168 static volatile int16_t speed3_wish=0;
 169 static volatile int16_t speed4_wish=0;
 170 static volatile int16_t speed1_wish_old=0;
 171 static volatile int16_t speed2_wish_old=0;
 172 static volatile int16_t speed3_wish_old=0;
 173 static volatile int16_t speed4_wish_old=0;
 174 static volatile uint8_t run_update=0;
 175 static volatile int16_t speed1=0; // step/s
 176 static volatile int16_t speed2=0;
 177 static volatile int16_t speed3=0;
 178 static volatile int16_t speed4=0;
 179 static volatile ufloat_t pos_x={0.0};
 180 static volatile ufloat_t pos_y={0.0};
 181 static volatile ufloat_t angle={0.0};
 182 static volatile float cur_speed_lin=0;
 183 static volatile float cur_speed_rot=0;
 184 static volatile uint8_t count_test=0;
 185 static volatile uint8_t front_handicap=0;
 186 static volatile uint8_t aft_handicap=0;
 187 static volatile uint8_t error_state=0;
 188 static volatile uint8_t last_man_update_count=0;
 189 static volatile uint8_t last_i2c_status = 0;
 190
 191 ISR(TWI_vect)
 192 {
 193         static uint8_t tmp=0;
 194         static int16_t tmp16=0;
 195         static ufloat_t tmp_speed;
 196         static ufloat_t tmp_angle;
 197
 198         last_i2c_status = TW_STATUS;
 199         switch(TW_STATUS)
 200         {
 201                 case TW_SR_SLA_ACK: // start write
 202                         TWI_ACK;
 203                         ireg = 0;
 204                         break;
 205                 case TW_SR_DATA_ACK: // write
 206                         switch(ireg) {
 207                                 case 0x00: // register select
 208                                         ireg = TWDR;
 209                                         ireg--; // because we do ireg++ below
 210                                         TWI_ACK;
 211                                         break;
 212                                 case 0x01: // Motor 1 MSB
 213                                         tmp = TWDR;
 214                                         TWI_ACK;
 215                                         break;
 216                                 case 0x02: // Motor 1 LSB
 217                                         motor1 = tmp<<8 | TWDR;
 218                                         motor1_mode = MOTOR_MANUAL;
 219                                         TWI_ACK;
 220                                         break;
 221                                 case 0x03: // Motor 2 MSB
 222                                         tmp = TWDR;
 223                                         TWI_ACK;
 224                                         break;
 225                                 case 0x04: // Motor 2 LSB
 226                                         motor2 = tmp<<8 | TWDR;
 227                                         motor2_mode = MOTOR_MANUAL;
 228                                         TWI_ACK;
 229                                         break;
 230                                 case 0x05: // Motor 3 MSB
 231                                         tmp = TWDR;
 232                                         TWI_ACK;
 233                                         break;
 234                                 case 0x06: // Motor 3 LSB
 235                                         motor3 = tmp<<8 | TWDR;
 236                                         motor3_mode = MOTOR_MANUAL;
 237                                         TWI_ACK;
 238                                         break;
 239                                 case 0x07: // Motor 4 MSB
 240                                         tmp = TWDR;
 241                                         TWI_ACK;
 242                                         break;
 243                                 case 0x08: // Motor 4 LSB
 244                                         motor4 = tmp<<8 | TWDR;
 245                                         motor4_mode = MOTOR_MANUAL;
 246                                         TWI_ACK;
 247                                         break;
 248                                 case 0x20: // Motor 1 speed wish MSB
 249                                         tmp = TWDR;
 250                                         TWI_ACK;
 251                                         break;
 252                                 case 0x21: // Motor 1 speed wish LSB
 253                                         speed1_wish = tmp<<8 | TWDR;
 254                                         motor1_mode = MOTOR_PID;
 255                                         TWI_ACK;
 256                                         break;
 257                                 case 0x22: // Motor 2 speed wish MSB
 258                                         tmp = TWDR;
 259                                         TWI_ACK;
 260                                         break;
 261                                 case 0x23: // Motor 2 speed wish LSB
 262                                         speed2_wish = tmp<<8 | TWDR;
 263                                         motor2_mode = MOTOR_PID;
 264                                         TWI_ACK;
 265                                         break;
 266                                 case 0x24: // Motor 3 speed wish MSB
 267                                         tmp = TWDR;
 268                                         TWI_ACK;
 269                                         break;
 270                                 case 0x25: // Motor 3 speed wish LSB
 271                                         speed3_wish = tmp<<8 | TWDR;
 272                                         motor3_mode = MOTOR_PID;
 273                                         TWI_ACK;
 274                                         break;
 275                                 case 0x26: // Motor 4 speed wish MSB
 276                                         tmp = TWDR;
 277                                         TWI_ACK;
 278                                         break;
 279                                 case 0x27: // Motor 4 speed wish LSB
 280                                         speed4_wish = tmp<<8 | TWDR;
 281                                         motor4_mode = MOTOR_PID;
 282                                         TWI_ACK;
 283                                         break;
 284                                 case 0x28: // Left speed wish MSB
 285                                         tmp_speed.i = TWDR;
 286                                         TWI_ACK;
 287                                         break;
 288                                 case 0x29: // Left speed wish
 289                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 290                                         TWI_ACK;
 291                                         break;
 292                                 case 0x2A: // Left speed wish
 293                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 294                                         TWI_ACK;
 295                                         break;
 296                                 case 0x2B: // Left speed wish LSB
 297                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 298                                         speed1_wish = tmp_speed.f*STEP_PER_M_LEFT;
 299                                         speed2_wish = tmp_speed.f*STEP_PER_M_LEFT;
 300                                         motor1_mode = MOTOR_PID;
 301                                         motor2_mode = MOTOR_PID;
 302                                         TWI_ACK;
 303                                         break;
 304                                 case 0x2C: // Right speed wish MSB
 305                                         tmp_speed.i = TWDR;
 306                                         TWI_ACK;
 307                                         break;
 308                                 case 0x2D: // Right speed wish
 309                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 310                                         TWI_ACK;
 311                                         break;
 312                                 case 0x2E: // Right speed wish
 313                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 314                                         TWI_ACK;
 315                                         break;
 316                                 case 0x2F: // Right speed wish LSB
 317                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 318                                         speed1_wish = tmp_speed.f*STEP_PER_M_RIGHT;
 319                                         speed2_wish = tmp_speed.f*STEP_PER_M_RIGHT;
 320                                         motor1_mode = MOTOR_PID;
 321                                         motor2_mode = MOTOR_PID;
 322                                         TWI_ACK;
 323                                         break;
 324                                 case 0x50: // speed wish MSB
 325                                         tmp_speed.i = TWDR;
 326                                         TWI_ACK;
 327                                         break;
 328                                 case 0x51: // speed wish
 329                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 330                                         TWI_ACK;
 331                                         break;
 332                                 case 0x52: // speed wish
 333                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 334                                         TWI_ACK;
 335                                         break;
 336                                 case 0x53: // speed wish LSB
 337                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 338                                         cmd_vel.speed = tmp_speed.f;
 339                                         TWI_ACK;
 340                                         break;
 341                                 case 0x54: // angle wish MSB
 342                                         tmp_angle.i = TWDR;
 343                                         TWI_ACK;
 344                                         break;
 345                                 case 0x55: // angle wish
 346                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 347                                         TWI_ACK;
 348                                         break;
 349                                 case 0x56: // angle wish
 350                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 351                                         TWI_ACK;
 352                                         break;
 353                                 case 0x57: // angle wish LSB
 354                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 355                                         cmd_vel.angle = tmp_angle.f;
 356                                         cmd_vel.bUpdate = 1;
 357                                         last_man_update_count = 0;
 358                                         TWI_ACK;
 359                                         break;
 360                                 case 0x90: // Motor 1 switch
 361                                         motor1_switch = TWDR;
 362                                         TWI_ACK;
 363                                         break;
 364                                 case 0x91: // Motor 2 switch
 365                                         motor2_switch = TWDR;
 366                                         TWI_ACK;
 367                                         break;
 368                                 case 0x92: // Motor 3 switch
 369                                         motor3_switch = TWDR;
 370                                         TWI_ACK;
 371                                         break;
 372                                 case 0x93: // Motor 4 switch
 373                                         motor4_switch = TWDR;
 374                                         TWI_ACK;
 375                                         break;
 376                                 case 0x94: // Front Handicap
 377                                         front_handicap = TWDR;
 378                                         cmd_vel.bUpdate = 1;
 379                                         TWI_ACK;
 380                                         break;
 381                                 case 0x95: // Aft Handicap
 382                                         aft_handicap = TWDR;
 383                                         cmd_vel.bUpdate = 1;
 384                                         TWI_ACK;
 385                                         break;
 386                                 case 0xff: // bootloader
 387                                         bootloader = TWDR;
 388                                 default:
 389                                         TWI_NAK;
 390                         }
 391                         if (ireg < 0xff) ireg++;
 392                         break;
 393                 case TW_ST_SLA_ACK: // start read
 394                 case TW_ST_DATA_ACK: // read
 395                         switch(ireg) {
 396                                 case 0x02: // Motor 1 PWM
 397                                         TWDR = OCR1A;
 398                                         TWI_ACK;
 399                                         break;
 400                                 case 0x03: // Dummy to allow continous read
 401                                         TWDR = 0;
 402                                         TWI_ACK;
 403                                         break;
 404                                 case 0x04: // Motor 2 PWM
 405                                         TWDR = OCR1B;
 406                                         TWI_ACK;
 407                                         break;
 408                                 case 0x05: // Dummy to allow continous read
 409                                         TWDR = 0;
 410                                         TWI_ACK;
 411                                         break;
 412                                 case 0x06: // Motor 3 PWM
 413                                         TWDR = OCR2;
 414                                         TWI_ACK;
 415                                         break;
 416                                 case 0x07: // Dummy to allow continous read
 417                                         TWDR = 0;
 418                                         TWI_ACK;
 419                                         break;
 420                                 case 0x08: // Motor 4 PWM
 421                                         TWDR = OCR0;
 422                                         TWI_ACK;
 423                                         break;
 424                                 case 0x09: // Dummy to allow continous read
 425                                         TWDR = 0;
 426                                         TWI_ACK;
 427                                         break;
 428                                 case 0x10: // Hall 1 MSB
 429                                         tmp16 = pos1;
 430                                         TWDR = tmp16>>8;
 431                                         TWI_ACK;
 432                                         break;
 433                                 case 0x11: // Hall 1 LSB
 434                                         TWDR = tmp16;
 435                                         TWI_ACK;
 436                                         break;
 437                                 case 0x12: // Hall 2 MSB
 438                                         tmp16 = pos2;
 439                                         TWDR = tmp16>>8;
 440                                         TWI_ACK;
 441                                         break;
 442                                 case 0x13: // Hall 2 LSB
 443                                         TWDR = tmp16;
 444                                         TWI_ACK;
 445                                         break;
 446                                 case 0x14: // Hall 3 MSB
 447                                         tmp16 = pos3;
 448                                         TWDR = tmp16>>8;
 449                                         TWI_ACK;
 450                                         break;
 451                                 case 0x15: // Hall 3 LSB
 452                                         TWDR = tmp16;
 453                                         TWI_ACK;
 454                                         break;
 455                                 case 0x16: // Hall 4 MSB
 456                                         tmp16 = pos4;
 457                                         TWDR = tmp16>>8;
 458                                         TWI_ACK;
 459                                         break;
 460                                 case 0x17: // Hall 4 LSB
 461                                         TWDR = tmp16;
 462                                         TWI_ACK;
 463                                         break;
 464                                 case 0x20: // Motor 1 speed wish MSB
 465                                         TWDR = speed1_wish>>8;
 466                                         TWI_ACK;
 467                                         break;
 468                                 case 0x21: // Motor 1 speed wish LSB
 469                                         TWDR = speed1_wish;
 470                                         TWI_ACK;
 471                                         break;
 472                                 case 0x22: // Motor 2 speed wish MSB
 473                                         TWDR = speed2_wish>>8;
 474                                         TWI_ACK;
 475                                         break;
 476                                 case 0x23: // Motor 2 speed wish LSB
 477                                         TWDR = speed2_wish;
 478                                         TWI_ACK;
 479                                         break;
 480                                 case 0x24: // Motor 3 speed wish MSB
 481                                         TWDR = speed3_wish>>8;
 482                                         TWI_ACK;
 483                                         break;
 484                                 case 0x25: // Motor 3 speed wish LSB
 485                                         TWDR = speed3_wish;
 486                                         TWI_ACK;
 487                                         break;
 488                                 case 0x26: // Motor 4 speed wish MSB
 489                                         TWDR = speed4_wish>>8;
 490                                         TWI_ACK;
 491                                         break;
 492                                 case 0x27: // Motor 4 speed wish LSB
 493                                         TWDR = speed4_wish;
 494                                         TWI_ACK;
 495                                         break;
 496                                 case 0x30: // Motor 1 speed MSB
 497                                         TWDR = speed1>>8;
 498                                         TWI_ACK;
 499                                         break;
 500                                 case 0x31: // Motor 1 speed LSB
 501                                         TWDR = speed1;
 502                                         TWI_ACK;
 503                                         break;
 504                                 case 0x32: // Motor 2 speed MSB
 505                                         TWDR = speed2>>8;
 506                                         TWI_ACK;
 507                                         break;
 508                                 case 0x33: // Motor 2 speed LSB
 509                                         TWDR = speed2;
 510                                         TWI_ACK;
 511                                         break;
 512                                 case 0x34: // Motor 3 speed MSB
 513                                         TWDR = speed3>>8;
 514                                         TWI_ACK;
 515                                         break;
 516                                 case 0x35: // Motor 3 speed LSB
 517                                         TWDR = speed3;
 518                                         TWI_ACK;
 519                                         break;
 520                                 case 0x36: // Motor 4 speed MSB
 521                                         TWDR = speed4>>8;
 522                                         TWI_ACK;
 523                                         break;
 524                                 case 0x37: // Motor 4 speed LSB
 525                                         TWDR = speed4;
 526                                         TWI_ACK;
 527                                         break;
 528                                 case 0x38: // speed MSB
 529                                         tmp_speed.f = cur_speed_lin;
 530                                         TWDR = tmp_speed.i>>24;
 531                                         TWI_ACK;
 532                                         break;
 533                                 case 0x39: // speed
 534                                         TWDR = tmp_speed.i>>16;
 535                                         TWI_ACK;
 536                                         break;
 537                                 case 0x3A: // speed
 538                                         TWDR = tmp_speed.i>>8;
 539                                         TWI_ACK;
 540                                         break;
 541                                 case 0x3B: // speed LSB
 542                                         TWDR = tmp_speed.i;
 543                                         TWI_ACK;
 544                                         break;
 545                                 case 0x3C: // angle MSB
 546                                         tmp_angle.f = cur_speed_rot;
 547                                         TWDR = tmp_angle.i>>24;
 548                                         TWI_ACK;
 549                                         break;
 550                                 case 0x3D: // angle
 551                                         TWDR = tmp_angle.i>>16;
 552                                         TWI_ACK;
 553                                         break;
 554                                 case 0x3E: // angle
 555                                         TWDR = tmp_angle.i>>8;
 556                                         TWI_ACK;
 557                                         break;
 558                                 case 0x3F: // angle LSB
 559                                         TWDR = angle.i;
 560                                         TWI_ACK;
 561                                         break;
 562                                 case 0x40: // Position x MSB
 563                                         TWDR = pos_x.i>>24;
 564                                         TWI_ACK;
 565                                         break;
 566                                 case 0x41: // Position x
 567                                         TWDR = pos_x.i>>16;
 568                                         TWI_ACK;
 569                                         break;
 570                                 case 0x42: // Position x
 571                                         TWDR = pos_x.i>>8;
 572                                         TWI_ACK;
 573                                         break;
 574                                 case 0x43: // Position x LSB
 575                                         TWDR = pos_x.i;
 576                                         TWI_ACK;
 577                                         break;
 578                                 case 0x44: // Position y MSB
 579                                         TWDR = pos_y.i>>24;
 580                                         TWI_ACK;
 581                                         break;
 582                                 case 0x45: // Position y
 583                                         TWDR = pos_y.i>>16;
 584                                         TWI_ACK;
 585                                         break;
 586                                 case 0x46: // Position y
 587                                         TWDR = pos_y.i>>8;
 588                                         TWI_ACK;
 589                                         break;
 590                                 case 0x47: // Position y LSB
 591                                         TWDR = pos_y.i;
 592                                         TWI_ACK;
 593                                         break;
 594                                 case 0x48: // Position angle MSB
 595                                         TWDR = angle.i>>24;
 596                                         TWI_ACK;
 597                                         break;
 598                                 case 0x49: // Position angle
 599                                         TWDR = angle.i>>16;
 600                                         TWI_ACK;
 601                                         break;
 602                                 case 0x4A: // Position angle
 603                                         TWDR = angle.i>>8;
 604                                         TWI_ACK;
 605                                         break;
 606                                 case 0x4B: // Position angle LSB
 607                                         TWDR = angle.i;
 608                                         TWI_ACK;
 609                                         break;
 610                                 case 0xA0: // Reset reason
 611                                         TWDR = MCUCSR & 0x0f;
 612                                         MCUCSR = 0x0;
 613                                         TWI_ACK;
 614                                         break;
 615                                 case 0xA1: // Error status
 616                                         TWDR = error_state;
 617                                         TWI_ACK;
 618                                         break;
 619                                 case 0xA2: // count test
 620                                         TWDR = count_test;
 621                                         TWI_ACK;
 622                                 default:
 623                                         TWDR = 0;
 624                                         TWI_NAK;
 625                         }
 626                         ireg++;
 627                         break;
 628                 case TW_SR_STOP:
 629                         TWI_ACK;
 630                         break;
 631                 case TW_NO_INFO:
 632                         break;
 633                 default:
 634                         TWI_RESET;
 635         }
 636 }
 637
 638
 639 static void update_hall1(void) {
 640         unsigned char status = (PINA >> 0) & 0x3;
 641         static unsigned char oldstatus=0;
 642         unsigned char diff, new;
 643
 644         new = 0;
 645         if (status & 0x1)
 646                 new = 0x3;
 647         if (status & 0x2)
 648                 new ^= 0x1;                                     // convert gray to binary
 649         diff = oldstatus - new;                         // difference last - new
 650         if (diff & 0x1) {                               // bit 0 = value (1)
 651                 oldstatus = new;                                        // store new as next last
 652                 if (motor1_switch) pos1 += (diff & 2) - 1;              // bit 1 = direction (+/-)
 653                 else pos1 -= (diff & 2) - 1;
 654         }
 655 }
 656
 657
 658 static void update_hall2(void) {
 659         unsigned char status = (PINA >> 4) & 0x3;
 660         static unsigned char oldstatus=0;
 661         unsigned char diff, new;
 662
 663         new = 0;
 664         if (status & 0x1)
 665                 new = 0x3;
 666         if (status & 0x2)
 667                 new ^= 0x1;                                     // convert gray to binary
 668         diff = oldstatus - new;                         // difference last - new
 669         if (diff & 0x1) {                               // bit 0 = value (1)
 670                 oldstatus = new;                                        // store new as next last
 671                 if (motor2_switch) pos2 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
 672                 else pos2 += (diff & 2) - 1;
 673         }
 674 }
 675
 676
 677 static void update_hall3(void) {
 678         unsigned char status = (PINA >> 2) & 0x3;
 679         static unsigned char oldstatus=0;
 680         unsigned char diff, new;
 681
 682         new = 0;
 683         if (status & 0x1)
 684                 new = 0x3;
 685         if (status & 0x2)
 686                 new ^= 0x1;                                     // convert gray to binary
 687         diff = oldstatus - new;                         // difference last - new
 688         if (diff & 0x1) {                               // bit 0 = value (1)
 689                 oldstatus = new;                                        // store new as next last
 690                 if (motor3_switch) pos3 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
 691                 else pos3 += (diff & 2) - 1;
 692         }
 693 }
 694
 695
 696 static void update_hall4(void) {
 697         unsigned char status = (PINA >> 6) & 0x3;
 698         static unsigned char oldstatus=0;
 699         unsigned char diff, new;
 700
 701         new = 0;
 702         if (status & 0x1)
 703                 new = 0x3;
 704         if (status & 0x2)
 705                 new ^= 0x1;                                     // convert gray to binary
 706         diff = oldstatus - new;                         // difference last - new
 707         if (diff & 0x1) {                               // bit 0 = value (1)
 708                 oldstatus = new;                                        // store new as next last
 709                 if (motor4_switch) pos4 += (diff & 2) - 1;              // bit 1 = direction (+/-)
 710                 else pos4 -= (diff & 2) - 1;
 711         }
 712 }
 713
 714
 715 static void update_motor(void) {
 716         static int16_t m1_old=SHRT_MIN;
 717         static int16_t m2_old=SHRT_MIN;
 718         static int16_t m3_old=SHRT_MIN;
 719         static int16_t m4_old=SHRT_MIN;
 720
 721         error_state &= 0xf0; // clear lower bits
 722         error_state |= ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
 723
 724         if (m1_old != motor1) { // update only when changed
 725                 if (motor1 == 0) {
 726                         // stop
 727                         PORTC &= ~(1 << 3) & ~(1 << 2);
 728                         DISABLE_PWM_MOTOR1;
 729                 } else if (motor1 == PWM_BREAK) {
 730                         PORTC |= (1 << 3) | (1 << 2);
 731                         ENABLE_PWM_MOTOR1;
 732                 } else if ((!motor1_switch && motor1 > 0) || (motor1_switch && motor1 < 0)) {
 733                         // forward
 734                         uint8_t tmp=PORTC;
 735                         tmp &= ~(1 << 3);
 736                         tmp |=  (1 << 2);
 737                         PORTC = tmp;
 738                         ENABLE_PWM_MOTOR1;
 739                 } else { // motor1 < 0
 740                         // backward
 741                         uint8_t tmp=PORTC;
 742                         tmp &= ~(1 << 2);
 743                         tmp |=  (1 << 3);
 744                         PORTC = tmp;
 745                         ENABLE_PWM_MOTOR1;
 746                 }
 747
 748                 m1_old = motor1;
 749                 OCR1A = abs(motor1);
 750         }
 751
 752         if (m2_old != motor2) { // update only when changed
 753                 if (motor2 == 0) {
 754                         // stop
 755                         PORTC &= ~(1 << 5) & ~(1 << 4);
 756                         DISABLE_PWM_MOTOR2;
 757                 } else if (motor2 == PWM_BREAK) {
 758                         PORTC |= (1 << 5) | (1 << 4);
 759                         ENABLE_PWM_MOTOR2;
 760                 } else if ((!motor2_switch && motor2 > 0) || (motor2_switch && motor2 < 0)) {
 761                         // forward
 762                         uint8_t tmp=PORTC;
 763                         tmp &= ~(1 << 5);
 764                         tmp |=  (1 << 4);
 765                         PORTC = tmp;
 766                         ENABLE_PWM_MOTOR2;
 767                 } else { // motor2 < 0
 768                         // backward
 769                         uint8_t tmp=PORTC;
 770                         tmp &= ~(1 << 4);
 771                         tmp |=  (1 << 5);
 772                         PORTC = tmp;
 773                         ENABLE_PWM_MOTOR2;
 774                 }
 775
 776                 m2_old = motor2;
 777                 OCR1B = abs(motor2);
 778         }
 779
 780         if (m3_old != motor3) { // update only when changed
 781                 if (motor3 == 0) {
 782                         // stop
 783                         PORTC &= ~(1 << 7) & ~(1 << 6);
 784                         DISABLE_PWM_MOTOR3;
 785                 } else if (motor3 == PWM_BREAK) {
 786                         PORTC |= (1 << 7) | (1 << 6);
 787                         ENABLE_PWM_MOTOR3;
 788                 } else if ((!motor3_switch && motor3 > 0) || (motor3_switch && motor3 < 0)) {
 789                         // forward
 790                         uint8_t tmp=PORTC;
 791                         tmp &= ~(1 << 7);
 792                         tmp |=  (1 << 6);
 793                         PORTC = tmp;
 794                         ENABLE_PWM_MOTOR3;
 795                 } else { // motor3 < 0
 796                         // backward
 797                         uint8_t tmp=PORTC;
 798                         tmp &= ~(1 << 6);
 799                         tmp |=  (1 << 7);
 800                         PORTC = tmp;
 801                         ENABLE_PWM_MOTOR3;
 802                 }
 803
 804                 m3_old = motor3;
 805                 OCR2 = abs(motor3);
 806         }
 807
 808         if (m4_old != motor4) { // update only when changed
 809                 if (motor4 == 0) {
 810                         // stop
 811                         PORTD &= ~(1 << 3) & ~(1 << 2);
 812                         DISABLE_PWM_MOTOR4;
 813                 } else if (motor4 == PWM_BREAK) {
 814                         PORTD |= (1 << 3) | (1 << 2);
 815                         ENABLE_PWM_MOTOR4;
 816                 } else if ((!motor4_switch && motor4 > 0) || (motor4_switch && motor4 < 0)) {
 817                         // forward
 818                         uint8_t tmp=PORTD;
 819                         tmp &= ~(1 << 3);
 820                         tmp |=  (1 << 2);
 821                         PORTD = tmp;
 822                         ENABLE_PWM_MOTOR4;
 823                 } else { // motor4 < 0
 824                         // backward
 825                         uint8_t tmp=PORTD;
 826                         tmp &= ~(1 << 2);
 827                         tmp |=  (1 << 3);
 828                         PORTD = tmp;
 829                         ENABLE_PWM_MOTOR4;
 830                 }
 831
 832                 m4_old = motor4;
 833                 OCR0 = abs(motor4);
 834         }
 835 }
 836
 837
 838 static void update_pos(void) {
 839         static int16_t pos1_last=0;
 840         static int16_t pos2_last=0;
 841         static int16_t pos3_last=0;
 842         static int16_t pos4_last=0;
 843         int16_t pos1_diff; // steps
 844         int16_t pos2_diff;
 845         int16_t pos3_diff;
 846         int16_t pos4_diff;
 847         float diff_left_m, diff_right_m, angle_diff, translation;
 848         float pos_x_new, pos_y_new, angle_new;
 849         float tmp_speed_lin, tmp_speed_rot;
 850         int16_t cur_pos1, cur_pos2, cur_pos3, cur_pos4;
 851         int16_t new_speed1, new_speed2, new_speed3, new_speed4;
 852
 853         // copy to tmp
 854         cli();
 855         cur_pos1 = pos1;
 856         cur_pos2 = pos2;
 857         cur_pos3 = pos3;
 858         cur_pos4 = pos4;
 859         sei();
 860
 861         pos1_diff = cur_pos1 - pos1_last;
 862         pos2_diff = cur_pos2 - pos2_last;
 863         pos3_diff = cur_pos3 - pos3_last;
 864         pos4_diff = cur_pos4 - pos4_last;
 865
 866         new_speed1 = pos1_diff/PID_T;
 867         new_speed2 = pos2_diff/PID_T;
 868         new_speed3 = pos3_diff/PID_T;
 869         new_speed4 = pos4_diff/PID_T;
 870
 871         diff_left_m = (pos1_diff + pos2_diff)/(2*STEP_PER_M_LEFT);
 872         diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M_RIGHT);
 873         angle_diff = (diff_right_m - diff_left_m) / WHEEL_DIST;
 874
 875         angle_new = angle.f + angle_diff;
 876         if (angle_new > 2*M_PI) angle_new-=2*M_PI;
 877         else if (angle_new < -2*M_PI) angle_new+=2*M_PI;
 878
 879         translation = (diff_left_m + diff_right_m)/2.0;
 880         pos_x_new = pos_x.f + cos(angle_new)*translation;
 881         pos_y_new = pos_y.f + sin(angle_new)*translation;
 882
 883         tmp_speed_lin = translation/PID_T;
 884         tmp_speed_rot = angle_diff/PID_T;
 885
 886         // copy from tmp
 887         cli();
 888         angle.f = angle_new;
 889         pos_x.f = pos_x_new;
 890         pos_y.f = pos_y_new;
 891         speed1 = new_speed1;
 892         speed2 = new_speed2;
 893         speed3 = new_speed3;
 894         speed4 = new_speed4;
 895         cur_speed_lin = tmp_speed_lin;
 896         cur_speed_rot = tmp_speed_rot;
 897         sei();
 898
 899         pos1_last = cur_pos1;
 900         pos2_last = cur_pos2;
 901         pos3_last = cur_pos3;
 902         pos4_last = cur_pos4;
 903 }
 904
 905
 906 static void update_pid(void) {
 907         static int16_t eold1=0;
 908         static int16_t eold2=0;
 909         static int16_t eold3=0;
 910         static int16_t eold4=0;
 911         static int32_t esum1=0;
 912         static int32_t esum2=0;
 913         static int32_t esum3=0;
 914         static int32_t esum4=0;
 915
 916         // protect motors from damage if stalling
 917         if (labs(esum1) > STALL_LIMIT && speed1 == 0) {
 918                 motor1 = 0;
 919                 motor1_mode = MOTOR_MANUAL;
 920                 error_state |= (1<<4);
 921                 esum1 = 0;
 922         }
 923         if (labs(esum2) > STALL_LIMIT && speed2 == 0) {
 924                 motor2 = 0;
 925                 motor2_mode = MOTOR_MANUAL;
 926                 error_state |= (1<<5);
 927                 esum2 = 0;
 928         }
 929         if (labs(esum3) > STALL_LIMIT && speed3 == 0) {
 930                 motor3 = 0;
 931                 motor3_mode = MOTOR_MANUAL;
 932                 error_state |= (1<<6);
 933                 esum3 = 0;
 934         }
 935         if (labs(esum4) > STALL_LIMIT && speed4 == 0) {
 936                 motor4 = 0;
 937                 motor4_mode = MOTOR_MANUAL;
 938                 error_state |= (1<<7);
 939                 esum4 = 0;
 940         }
 941
 942         if (motor1_mode == MOTOR_PID) {
 943                 if (speed1_wish != speed1_wish_old) {
 944                         if (abs(speed1_wish - speed1_wish_old) > 500) esum1 = 0;
 945                         speed1_wish_old = speed1_wish;
 946                 }
 947
 948                 uint8_t dir_change = (speed1_wish > 0 && speed1 < 0) || (speed1_wish < 0 && speed1 > 0); // Prevent dangerous immediate engine reverse
 949                 if (speed1_wish == 0 || dir_change) {
 950                         motor1 = 0;
 951                         eold1 = 0;
 952                         error_state &= ~(1<<4);
 953                 } else {
 954                         int16_t e = speed1_wish - speed1;
 955                         esum1+=e;
 956                         motor1 = KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
 957                         eold1 = e;
 958
 959                         if (motor1 > 0 && speed1_wish < 0) motor1=PWM_BREAK;
 960                         else if (motor1 < 0 && speed1_wish > 0) motor1=PWM_BREAK;
 961                         else if (motor1 > 255) motor1 = 255;
 962                         else if (motor1 < -255) motor1 = -255;
 963                 }
 964         }
 965         if (motor2_mode == MOTOR_PID) {
 966                 if (speed2_wish != speed2_wish_old) {
 967                         if (abs(speed2_wish - speed2_wish_old) > 500) esum2 = 0;
 968                         speed2_wish_old = speed2_wish;
 969                 }
 970
 971                 uint8_t dir_change = (speed2_wish > 0 && speed2 < 0) || (speed2_wish < 0 && speed2 > 0); // Prevent dangerous immediate engine reverse
 972                 if (speed2_wish == 0 || dir_change) {
 973                         motor2 = 0;
 974                         eold2 = 0;
 975                         error_state &= ~(1<<5);
 976                 } else {
 977                         int16_t e = speed2_wish - speed2;
 978                         esum2+=e;
 979                         motor2 = KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
 980                         eold2 = e;
 981
 982                         if (motor2 > 0 && speed2_wish < 0) motor2=PWM_BREAK;
 983                         else if (motor2 < 0 && speed2_wish > 0) motor2=PWM_BREAK;
 984                         else if (motor2 > 255) motor2 = 255;
 985                         else if (motor2 < -255) motor2 = -255;
 986                 }
 987         }
 988         if (motor3_mode == MOTOR_PID) {
 989                 if (speed3_wish != speed3_wish_old) {
 990                         if (abs(speed3_wish - speed3_wish_old) > 500) esum3 = 0;
 991                         speed3_wish_old = speed3_wish;
 992                 }
 993
 994                 uint8_t dir_change = (speed3_wish > 0 && speed3 < 0) || (speed3_wish < 0 && speed3 > 0); // Prevent dangerous immediate engine reverse
 995                 if (speed3_wish == 0 || dir_change) {
 996                         motor3 = 0;
 997                         eold3 = 0;
 998                         error_state &= ~(1<<6);
 999                 } else {
1000                         int16_t e = speed3_wish - speed3;
1001                         esum3+=e;
1002                         motor3 = KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
1003                         eold3 = e;
1004
1005                         if (motor3 > 0 && speed3_wish < 0) motor3=PWM_BREAK;
1006                         else if (motor3 < 0 && speed3_wish > 0) motor3=PWM_BREAK;
1007                         else if (motor3 > 255) motor3 = 255;
1008                         else if (motor3 < -255) motor3 = -255;
1009                 }
1010         }
1011         if (motor4_mode == MOTOR_PID) {
1012                 if (speed4_wish != speed4_wish_old) {
1013                         if (abs(speed4_wish - speed4_wish_old) > 500) esum4 = 0;
1014                         speed4_wish_old = speed4_wish;
1015                 }
1016
1017                 uint8_t dir_change = (speed4_wish > 0 && speed4 < 0) || (speed4_wish < 0 && speed4 > 0); // Prevent dangerous immediate engine reverse
1018                 if (speed4_wish == 0 || dir_change) {
1019                         motor4 = 0;
1020                         eold4 = 0;
1021                         error_state &= ~(1<<7);
1022                 } else {
1023                         int16_t e = speed4_wish - speed4;
1024                         esum4+=e;
1025                         motor4 = KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
1026                         eold4 = e;
1027
1028                         if (motor4 > 0 && speed4_wish < 0) motor4=PWM_BREAK;
1029                         else if (motor4 < 0 && speed4_wish > 0) motor4=PWM_BREAK;
1030                         else if (motor4 > 255) motor4 = 255;
1031                         else if (motor4 < -255) motor4 = -255;
1032                 }
1033         }
1034 }
1035
1036
1037 ISR(TIMER1_OVF_vect) {
1038         update_hall1();
1039         update_hall2();
1040         update_hall3();
1041         update_hall4();
1042
1043         run_update++;
1044 }
1045
1046
1047 int main(void) {
1048         // Outputs
1049         DDRB = (1 << 3);
1050         DDRC = (1 << 7) | (1 << 6) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
1051         DDRD = (1 << 7) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
1052         // Pullup Diag/Enable
1053         PORTB = (1 << 0) | (1 << 1) | (1 << 2);
1054         PORTD = (1 << 6);
1055
1056         bootloader = 0x00;
1057         setup_uart(9600);
1058         uart_setup_stdout();
1059
1060         // I2C
1061         TWAR = 0x50;
1062         TWI_ACK;
1063
1064         // Motor 1 & 2
1065         // Also used for PWM frequency TIMER1_FREQ (F_CPU/256)
1066         // Timer 1: Fast PWM non-inverting mode, Top=255 => 19.531kHz
1067         // Prescaler=1
1068         //TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM10);
1069         // Avoid narrow spike on extreme pwm value 0 by not setting COM1*1
1070         TCCR1A = (1 << WGM10);
1071         TCCR1B = (1 << WGM12) | (1 << CS10);
1072         OCR1A = 0;
1073         OCR1B = 0;
1074
1075         // Motor 3
1076         // Timer 2: Fast PWM non-inverting mode, Top=255
1077         // Prescaler=1
1078         //TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << CS20);
1079         // Avoid narrow spike on extreme pwm value 0 by not setting COM21
1080         TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << CS20);
1081         OCR2 = 0;
1082
1083         // Motor 4
1084         // Timer 0: Fast PWM non-inverting mode, Top=255
1085         // Prescaler=1
1086         //TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << CS00);
1087         // Avoid narrow spike on extreme pwm value 0 by not setting COM01
1088         TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << CS00);
1089         OCR0 = 0;
1090
1091         printf_P(PSTR("\r\nStart\r\n"));
1092
1093         set_sleep_mode(SLEEP_MODE_IDLE);
1094         // Enable Timer 1 Overflow Interrupt
1095         TIMSK = (1 << TOIE1);
1096         sei();
1097
1098         while(1) {
1099                 switch(ireg) {
1100                         case 0xff: // Magic reg that starts the bootloader
1101                                 if (bootloader == 0xa5) {
1102                                         cli();
1103                                         // write mark to first area in eeprom
1104                                         eeprom_write_byte((uint8_t*)0, 123);
1105                                         eeprom_busy_wait();
1106                                         // Use watchdog to restart
1107                                         wdt_enable(WDTO_15MS);
1108                                 }
1109                                 break;
1110                 }
1111
1112                 if (cmd_vel.bUpdate) {
1113                         float speed_wish_right, speed_wish_left;
1114                         float speed, angle;
1115
1116                         cli();
1117                         speed = cmd_vel.speed;
1118                         angle = cmd_vel.angle;
1119                         cmd_vel.bUpdate = 0;
1120                         sei();
1121
1122                         speed_wish_right = (angle*WHEEL_DIST)/2 + speed;
1123                         speed_wish_left = speed*2-speed_wish_right;
1124
1125                         speed_wish_left*=STEP_PER_M_LEFT;
1126                         speed_wish_right*=STEP_PER_M_RIGHT;
1127
1128                         if (aft_handicap > 0) {
1129                                 speed1_wish = speed_wish_left * (100-aft_handicap)/100.0;
1130                                 speed3_wish = speed_wish_right * (100-aft_handicap)/100.0;
1131                         } else {
1132                                 speed1_wish = speed_wish_left;
1133                                 speed3_wish = speed_wish_right;
1134                         }
1135                         if (front_handicap > 0) {
1136                                 speed2_wish = speed_wish_left * (100-front_handicap)/100.0;
1137                                 speed4_wish = speed_wish_right * (100-front_handicap)/100.0;
1138                         } else {
1139                                 speed2_wish = speed_wish_left;
1140                                 speed4_wish = speed_wish_right;
1141                         }
1142                         motor1_mode = MOTOR_PID;
1143                         motor2_mode = MOTOR_PID;
1144                         motor3_mode = MOTOR_PID;
1145                         motor4_mode = MOTOR_PID;
1146                 }
1147
1148                 if (run_update >= 195) { // TIMER1_FREQ/195 = ~100Hz
1149                         run_update=0;
1150
1151                         update_pos();
1152                         update_pid();
1153                         update_motor();
1154                         count_test++;
1155                         if (last_man_update_count != I2C_TIMEOUT_DISABLE) last_man_update_count++;
1156
1157                         if (last_man_update_count >= 100) {
1158                                 // ~1s without a new i2c command
1159                                 cmd_vel.speed = 0;
1160                                 cmd_vel.angle = 0;
1161                                 cmd_vel.bUpdate = 1;
1162                                 if (last_man_update_count == 100) {
1163                                         printf_P(PSTR("I2C State: 0x%x\r\n"), last_i2c_status);
1164                                 }
1165                                 last_man_update_count = I2C_TIMEOUT_DISABLE;
1166                         }
1167                 }
1168
1169                 sleep_mode();
1170         }
1171
1172         return 0;
1173 }