6 #include <avr/interrupt.h>
11 * I2C Register Map (8 Bit)
12 * 0x00 Register select
13 * 0x01 Motor 1 PWM MSB
14 * 0x02 Motor 1 PWM LSB
15 * 0x03 Motor 2 PWM MSB
16 * 0x04 Motor 2 PWM LSB
17 * 0x05 Motor 3 PWM MSB
18 * 0x06 Motor 3 PWM LSB
19 * 0x07 Motor 4 PWM MSB
20 * 0x08 Motor 4 PWM LSB
31 * 0x20 Motor 1 speed wish MSB
32 * 0x21 Motor 1 speed wish LSB
33 * 0x22 Motor 2 speed wish MSB
34 * 0x23 Motor 2 speed wish LSB
35 * 0x24 Motor 3 speed wish MSB
36 * 0x25 Motor 3 speed wish LSB
37 * 0x26 Motor 4 speed wish MSB
38 * 0x27 Motor 4 speed wish LSB
39 * 0x28 Left speed wish (m/s) MSB
40 * 0x29 Left speed wish (m/s)
41 * 0x2A Left speed wish (m/s)
42 * 0x2B Left speed wish (m/s) LSB
43 * 0x2C Right speed wish (m/s) MSB
44 * 0x2D Right speed wish (m/s)
45 * 0x2E Right speed wish (m/s)
46 * 0x2F Right speed wish (m/s) LSB
47 * 0x30 Motor 1 speed MSB
48 * 0x31 Motor 1 speed LSB
49 * 0x32 Motor 2 speed MSB
50 * 0x33 Motor 2 speed LSB
51 * 0x34 Motor 3 speed MSB
52 * 0x35 Motor 3 speed LSB
53 * 0x36 Motor 4 speed MSB
54 * 0x37 Motor 4 speed LSB
55 * 0x38 Speed (m/s) MSB
58 * 0x3B Speed (m/s) LSB
59 * 0x3C Angle (rad/s) MSB
62 * 0x3F Angle (rad/s) LSB
64 * 0x40 Position x (m) MSB
67 * 0x43 Position x (m) LSB
68 * 0x44 Position y (m) MSB
71 * 0x47 Position y (m) LSB
72 * 0x48 Position angle MSB
75 * 0x4B Position angle LSB
77 * 0x50 speed wish (m/s) MSB
78 * 0x51 speed wish (m/s)
79 * 0x52 speed wish (m/s)
80 * 0x53 speed wish (m/s) LSB
81 * 0x54 angle wish (rad/s) MSB
82 * 0x55 angle wish (rad/s)
83 * 0x56 angle wish (rad/s)
84 * 0x57 angle wish (rad/s) LSB
90 * 0x94 Front Handicap backward
91 * 0x95 Aft Handicap forward
94 * 0xA1 TLE Error status
101 #define TWI_ACK TWCR = (1<<TWEA) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
102 #define TWI_RESET TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
103 #define TWI_NAK TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
109 #define STEP_PER_M 4171.4 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:34
110 #define WHEEL_DIST 0.252
122 static volatile struct {
126 } cmd_vel = {0, 0, 0};
128 static volatile uint8_t ireg=0;
129 static volatile uint8_t bootloader=0;
130 static volatile int16_t motor1=0; // -255..+255
131 static volatile int16_t motor2=0;
132 static volatile int16_t motor3=0;
133 static volatile int16_t motor4=0;
134 static volatile int16_t pos1=0; // step
135 static volatile int16_t pos2=0;
136 static volatile int16_t pos3=0;
137 static volatile int16_t pos4=0;
138 static volatile enum mode motor1_mode=MOTOR_MANUAL;
139 static volatile enum mode motor2_mode=MOTOR_MANUAL;
140 static volatile enum mode motor3_mode=MOTOR_MANUAL;
141 static volatile enum mode motor4_mode=MOTOR_MANUAL;
142 static volatile uint8_t motor1_switch=0;
143 static volatile uint8_t motor2_switch=0;
144 static volatile uint8_t motor3_switch=0;
145 static volatile uint8_t motor4_switch=0;
146 static volatile int16_t speed1_wish=0; // step/s
147 static volatile int16_t speed2_wish=0;
148 static volatile int16_t speed3_wish=0;
149 static volatile int16_t speed4_wish=0;
150 static volatile uint8_t run_update=0;
151 static volatile int16_t speed1=0; // step/s
152 static volatile int16_t speed2=0;
153 static volatile int16_t speed3=0;
154 static volatile int16_t speed4=0;
155 static volatile ufloat_t pos_x={0.0};
156 static volatile ufloat_t pos_y={0.0};
157 static volatile ufloat_t angle={0.0};
158 static volatile float cur_speed_lin=0;
159 static volatile float cur_speed_rot=0;
160 static volatile uint8_t count_test=0;
161 static volatile uint8_t front_handicap_bwd=0;
162 static volatile uint8_t aft_handicap_fwd=0;
166 static uint8_t tmp=0;
167 static int16_t tmp16=0;
168 static ufloat_t tmp_speed;
169 static ufloat_t tmp_angle;
173 case 0x60: // start write
179 case 0x00: // register select
181 ireg--; // because we do ireg++ below
184 case 0x01: // Motor 1 MSB
188 case 0x02: // Motor 1 LSB
189 motor1 = tmp<<8 | TWDR;
190 motor1_mode = MOTOR_MANUAL;
193 case 0x03: // Motor 2 MSB
197 case 0x04: // Motor 2 LSB
198 motor2 = tmp<<8 | TWDR;
199 motor2_mode = MOTOR_MANUAL;
202 case 0x05: // Motor 3 MSB
206 case 0x06: // Motor 3 LSB
207 motor3 = tmp<<8 | TWDR;
208 motor3_mode = MOTOR_MANUAL;
211 case 0x07: // Motor 4 MSB
215 case 0x08: // Motor 4 LSB
216 motor4 = tmp<<8 | TWDR;
217 motor4_mode = MOTOR_MANUAL;
220 case 0x20: // Motor 1 speed wish MSB
224 case 0x21: // Motor 1 speed wish LSB
225 speed1_wish = tmp<<8 | TWDR;
226 motor1_mode = MOTOR_PID;
229 case 0x22: // Motor 2 speed wish MSB
233 case 0x23: // Motor 2 speed wish LSB
234 speed2_wish = tmp<<8 | TWDR;
235 motor2_mode = MOTOR_PID;
238 case 0x24: // Motor 3 speed wish MSB
242 case 0x25: // Motor 3 speed wish LSB
243 speed3_wish = tmp<<8 | TWDR;
244 motor3_mode = MOTOR_PID;
247 case 0x26: // Motor 4 speed wish MSB
251 case 0x27: // Motor 4 speed wish LSB
252 speed4_wish = tmp<<8 | TWDR;
253 motor4_mode = MOTOR_PID;
256 case 0x28: // Left speed wish MSB
260 case 0x29: // Left speed wish
261 tmp_speed.i = tmp_speed.i << 8 | TWDR;
264 case 0x2A: // Left speed wish
265 tmp_speed.i = tmp_speed.i << 8 | TWDR;
268 case 0x2B: // Left speed wish LSB
269 tmp_speed.i = tmp_speed.i << 8 | TWDR;
270 speed1_wish = tmp_speed.f*STEP_PER_M;
271 speed2_wish = tmp_speed.f*STEP_PER_M;
272 motor1_mode = MOTOR_PID;
273 motor2_mode = MOTOR_PID;
276 case 0x2C: // Right speed wish MSB
280 case 0x2D: // Right speed wish
281 tmp_speed.i = tmp_speed.i << 8 | TWDR;
284 case 0x2E: // Right speed wish
285 tmp_speed.i = tmp_speed.i << 8 | TWDR;
288 case 0x2F: // Right speed wish LSB
289 tmp_speed.i = tmp_speed.i << 8 | TWDR;
290 speed1_wish = tmp_speed.f*STEP_PER_M;
291 speed2_wish = tmp_speed.f*STEP_PER_M;
292 motor1_mode = MOTOR_PID;
293 motor2_mode = MOTOR_PID;
296 case 0x50: // speed wish MSB
300 case 0x51: // speed wish
301 tmp_speed.i = tmp_speed.i << 8 | TWDR;
304 case 0x52: // speed wish
305 tmp_speed.i = tmp_speed.i << 8 | TWDR;
308 case 0x53: // speed wish LSB
309 tmp_speed.i = tmp_speed.i << 8 | TWDR;
310 cmd_vel.speed = tmp_speed.f;
313 case 0x54: // angle wish MSB
317 case 0x55: // angle wish
318 tmp_angle.i = tmp_angle.i << 8 | TWDR;
321 case 0x56: // angle wish
322 tmp_angle.i = tmp_angle.i << 8 | TWDR;
325 case 0x57: // angle wish LSB
326 tmp_angle.i = tmp_angle.i << 8 | TWDR;
327 cmd_vel.angle = tmp_angle.f;
331 case 0x90: // Motor 1 switch
332 motor1_switch = TWDR;
335 case 0x91: // Motor 2 switch
336 motor2_switch = TWDR;
339 case 0x92: // Motor 3 switch
340 motor3_switch = TWDR;
343 case 0x93: // Motor 4 switch
344 motor4_switch = TWDR;
347 case 0x94: // Front Handicap backward
348 front_handicap_bwd = TWDR;
352 case 0x95: // Aft Handicap forward
353 aft_handicap_fwd = TWDR;
357 case 0xff: // bootloader
364 case 0xA8: // start read
367 case 0x02: // Motor 1 PWM
371 case 0x04: // Motor 2 PWM
375 case 0x06: // Motor 3 PWM
379 case 0x08: // Motor 4 PWM
383 case 0x10: // Hall 1 MSB
388 case 0x11: // Hall 1 LSB
392 case 0x12: // Hall 2 MSB
397 case 0x13: // Hall 2 LSB
401 case 0x14: // Hall 3 MSB
406 case 0x15: // Hall 3 LSB
410 case 0x16: // Hall 4 MSB
415 case 0x17: // Hall 4 LSB
419 case 0x20: // Motor 1 speed wish MSB
420 TWDR = speed1_wish>>8;
423 case 0x21: // Motor 1 speed wish LSB
427 case 0x22: // Motor 2 speed wish MSB
428 TWDR = speed2_wish>>8;
431 case 0x23: // Motor 2 speed wish LSB
435 case 0x24: // Motor 3 speed wish MSB
436 TWDR = speed3_wish>>8;
439 case 0x25: // Motor 3 speed wish LSB
443 case 0x26: // Motor 4 speed wish MSB
444 TWDR = speed4_wish>>8;
447 case 0x27: // Motor 4 speed wish LSB
451 case 0x30: // Motor 1 speed MSB
455 case 0x31: // Motor 1 speed LSB
459 case 0x32: // Motor 2 speed MSB
463 case 0x33: // Motor 2 speed LSB
467 case 0x34: // Motor 3 speed MSB
471 case 0x35: // Motor 3 speed LSB
475 case 0x36: // Motor 4 speed MSB
479 case 0x37: // Motor 4 speed LSB
483 case 0x38: // speed MSB
484 tmp_speed.f = cur_speed_lin;
485 TWDR = tmp_speed.i>>24;
489 TWDR = tmp_speed.i>>16;
493 TWDR = tmp_speed.i>>8;
496 case 0x3B: // speed LSB
500 case 0x3C: // angle MSB
501 tmp_angle.f = cur_speed_rot;
502 TWDR = tmp_angle.i>>24;
506 TWDR = tmp_angle.i>>16;
510 TWDR = tmp_angle.i>>8;
513 case 0x3F: // angle LSB
517 case 0x40: // Position x MSB
521 case 0x41: // Position x
525 case 0x42: // Position x
529 case 0x43: // Position x LSB
533 case 0x44: // Position y MSB
537 case 0x45: // Position y
541 case 0x46: // Position y
545 case 0x47: // Position y LSB
549 case 0x48: // Position angle MSB
553 case 0x49: // Position angle
557 case 0x4A: // Position angle
561 case 0x4B: // Position angle LSB
565 case 0xA0: // Reset reason
566 TWDR = MCUCSR & 0x0f;
570 case 0xA1: // TLE Error status
571 TWDR = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
574 case 0xA2: // count test
589 static void update_hall1(void) {
590 unsigned char status = (PINA >> 0) & 0x3;
591 static unsigned char oldstatus=0;
592 unsigned char diff, new;
598 new ^= 0x1; // convert gray to binary
599 diff = oldstatus - new; // difference last - new
600 if (diff & 0x1) { // bit 0 = value (1)
601 oldstatus = new; // store new as next last
602 if (motor1_switch) pos1 += (diff & 2) - 1; // bit 1 = direction (+/-)
603 else pos1 -= (diff & 2) - 1;
608 static void update_hall2(void) {
609 unsigned char status = (PINA >> 4) & 0x3;
610 static unsigned char oldstatus=0;
611 unsigned char diff, new;
617 new ^= 0x1; // convert gray to binary
618 diff = oldstatus - new; // difference last - new
619 if (diff & 0x1) { // bit 0 = value (1)
620 oldstatus = new; // store new as next last
621 if (motor2_switch) pos2 -= (diff & 2) - 1; // bit 1 = direction (+/-)
622 else pos2 += (diff & 2) - 1;
627 static void update_hall3(void) {
628 unsigned char status = (PINA >> 2) & 0x3;
629 static unsigned char oldstatus=0;
630 unsigned char diff, new;
636 new ^= 0x1; // convert gray to binary
637 diff = oldstatus - new; // difference last - new
638 if (diff & 0x1) { // bit 0 = value (1)
639 oldstatus = new; // store new as next last
640 if (motor3_switch) pos3 -= (diff & 2) - 1; // bit 1 = direction (+/-)
641 else pos3 += (diff & 2) - 1;
646 static void update_hall4(void) {
647 unsigned char status = (PINA >> 6) & 0x3;
648 static unsigned char oldstatus=0;
649 unsigned char diff, new;
655 new ^= 0x1; // convert gray to binary
656 diff = oldstatus - new; // difference last - new
657 if (diff & 0x1) { // bit 0 = value (1)
658 oldstatus = new; // store new as next last
659 if (motor4_switch) pos4 += (diff & 2) - 1; // bit 1 = direction (+/-)
660 else pos4 -= (diff & 2) - 1;
665 static void update_motor(void) {
666 static int16_t m1_old=SHRT_MIN;
667 static int16_t m2_old=SHRT_MIN;
668 static int16_t m3_old=SHRT_MIN;
669 static int16_t m4_old=SHRT_MIN;
671 if (m1_old != motor1) { // update only when changed
674 PORTC |= (1 << 3) | (1 << 2);
675 } else if ((!motor1_switch && motor1 > 0) || (motor1_switch && motor1 < 0)) {
677 PORTC &= ~(1 << 3) & ~(1 << 2);
678 } else { // motor1 < 0
688 if (m2_old != motor2) { // update only when changed
691 PORTC |= (1 << 5) | (1 << 4);
692 } else if ((!motor2_switch && motor2 > 0) || (motor2_switch && motor2 < 0)) {
694 PORTC &= ~(1 << 5) & ~(1 << 4);
695 } else { // motor2 < 0
705 if (m3_old != motor3) { // update only when changed
708 PORTC |= (1 << 7) | (1 << 6);
709 } else if ((!motor3_switch && motor3 > 0) || (motor3_switch && motor3 < 0)) {
711 PORTC &= ~(1 << 7) & ~(1 << 6);
712 } else { // motor3 < 0
722 if (m4_old != motor4) { // update only when changed
725 PORTD |= (1 << 3) | (1 << 2);
726 } else if ((!motor4_switch && motor4 > 0) || (motor4_switch && motor4 < 0)) {
728 PORTD &= ~(1 << 3) & ~(1 << 2);
729 } else { // motor4 < 0
741 static void update_pos(void) {
742 static int16_t pos1_last=0;
743 static int16_t pos2_last=0;
744 static int16_t pos3_last=0;
745 static int16_t pos4_last=0;
746 int16_t pos1_diff; // steps
750 float diff_left_m, diff_right_m, angle_diff, translation;
751 float pos_x_new, pos_y_new, angle_new;
752 int16_t speed_l, speed_r;
753 float tmp_speed_lin, tmp_speed_rot;
754 int16_t cur_pos1, cur_pos2, cur_pos3, cur_pos4;
755 int16_t new_speed1, new_speed2, new_speed3, new_speed4;
765 pos1_diff = cur_pos1 - pos1_last;
766 pos2_diff = cur_pos2 - pos2_last;
767 pos3_diff = cur_pos3 - pos3_last;
768 pos4_diff = cur_pos4 - pos4_last;
770 new_speed1 = pos1_diff/PID_T;
771 new_speed2 = pos2_diff/PID_T;
772 new_speed3 = pos3_diff/PID_T;
773 new_speed4 = pos4_diff/PID_T;
775 diff_left_m = (pos1_diff + pos2_diff)/(2*STEP_PER_M);
776 diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M);
777 angle_diff = (diff_right_m - diff_left_m) / WHEEL_DIST;
779 angle_new = angle.f + angle_diff;
780 if (angle_new > 2*M_PI) angle_new-=2*M_PI;
781 else if (angle_new < -2*M_PI) angle_new+=2*M_PI;
783 translation = (diff_left_m + diff_right_m)/2.0;
784 pos_x_new = pos_x.f + cos(angle_new)*translation;
785 pos_y_new = pos_y.f + sin(angle_new)*translation;
787 speed_l = (new_speed1+new_speed2)/2;
788 speed_r = (new_speed3+new_speed4)/2;
789 tmp_speed_lin = (speed_l + speed_r)/(2.0*STEP_PER_M);
790 tmp_speed_rot = (speed_r - speed_l)/(M_PI*WHEEL_DIST*STEP_PER_M);
801 cur_speed_lin = tmp_speed_lin;
802 cur_speed_rot = tmp_speed_rot;
805 pos1_last = cur_pos1;
806 pos2_last = cur_pos2;
807 pos3_last = cur_pos3;
808 pos4_last = cur_pos4;
812 static void update_pid(void) {
813 static int16_t eold1=0;
814 static int16_t eold2=0;
815 static int16_t eold3=0;
816 static int16_t eold4=0;
817 static int32_t esum1=0;
818 static int32_t esum2=0;
819 static int32_t esum3=0;
820 static int32_t esum4=0;
822 if (motor1_mode == MOTOR_PID) {
823 if (speed1_wish == 0) {
828 int16_t e = speed1_wish - speed1;
830 motor1 += KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
833 if (motor1 > 255) motor1 = 255;
834 else if (motor1 < -255) motor1 = -255;
837 if (motor2_mode == MOTOR_PID) {
838 if (speed2_wish == 0) {
843 int16_t e = speed2_wish - speed2;
845 motor2 += KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
848 if (motor2 > 255) motor2 = 255;
849 else if (motor2 < -255) motor2 = -255;
852 if (motor3_mode == MOTOR_PID) {
853 if (speed3_wish == 0) {
858 int16_t e = speed3_wish - speed3;
860 motor3 += KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
863 if (motor3 > 255) motor3 = 255;
864 else if (motor3 < -255) motor3 = -255;
867 if (motor4_mode == MOTOR_PID) {
868 if (speed4_wish == 0) {
873 int16_t e = speed4_wish - speed4;
875 motor4 += KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
878 if (motor4 > 255) motor4 = 255;
879 else if (motor4 < -255) motor4 = -255;
885 ISR(TIMER1_OVF_vect) {
898 DDRC = (1 << 7) | (1 << 6) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
899 DDRD = (1 << 7) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
901 PORTB = (1 << 0) | (1 << 1) | (1 << 2);
913 // Timer 1: Fast PWM inverting mode, Top=256 => 15.625kHz
915 TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << COM1A0) | (1 << COM1B0) | (1 << WGM10);
916 TCCR1B = (1 << WGM12) | (1 << CS10);
921 // Timer 2: Fast PWM inverting mode, Top=256
923 TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << COM20) | (1 << CS20);
927 // Timer 0: Fast PWM inverting mode, Top=256
929 TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << COM00) | (1 << CS00);
932 printf("\r\nStart\r\n");
934 set_sleep_mode(SLEEP_MODE_IDLE);
935 // Enable Timer 1 Overflow Interrupt
936 TIMSK = (1 << TOIE1);
941 case 0xff: // Magic reg that starts the bootloader
942 if (bootloader == 0xa5) {
945 void (*start)(void) = (void*)0x1800;
952 if (cmd_vel.bUpdate) {
953 float speed_wish_right, speed_wish_left;
957 speed = cmd_vel.speed;
958 angle = cmd_vel.angle;
962 speed_wish_right = angle*M_PI*WHEEL_DIST/2 + speed;
963 speed_wish_left = speed*2-speed_wish_right;
965 speed_wish_left*=STEP_PER_M;
966 speed_wish_right*=STEP_PER_M;
968 if (speed_wish_left > 0 && aft_handicap_fwd > 0) {
969 speed1_wish = speed_wish_left * (100-aft_handicap_fwd)/100.0;
971 speed1_wish = speed_wish_left;
973 if (speed_wish_left < 0 && front_handicap_bwd > 0) {
974 speed2_wish = speed_wish_left * (100-front_handicap_bwd)/100.0;
976 speed2_wish = speed_wish_left;
978 if (speed_wish_right < 0 && front_handicap_bwd > 0) {
979 speed3_wish = speed_wish_right * (100-front_handicap_bwd)/100.0;
981 speed3_wish = speed_wish_right;
983 if (speed_wish_right > 0 && aft_handicap_fwd > 0) {
984 speed4_wish = speed_wish_right * (100-aft_handicap_fwd)/100.0;
986 speed4_wish = speed_wish_right;
988 motor1_mode = MOTOR_PID;
989 motor2_mode = MOTOR_PID;
990 motor3_mode = MOTOR_PID;
991 motor4_mode = MOTOR_PID;
994 if (run_update >= 156) { // ~100Hz