avr/motor_ctrl: handicap: sep forward, backward
[ros_wild_thumper.git] / avr / motor_ctrl / main.c
1 #include <stdio.h>
2 #include <stdlib.h>
3 #include <limits.h>
4 #include <math.h>
5 #include <avr/io.h>
6 #include <avr/interrupt.h>
7 #include <avr/sleep.h>
8 #include "uart.h"
9
10 /*
11  * I2C Register Map (8 Bit)
12  * 0x00 Register select
13  * 0x01 Motor 1 PWM MSB
14  * 0x02 Motor 1 PWM LSB
15  * 0x03 Motor 2 PWM MSB
16  * 0x04 Motor 2 PWM LSB
17  * 0x05 Motor 3 PWM MSB
18  * 0x06 Motor 3 PWM LSB
19  * 0x07 Motor 4 PWM MSB
20  * 0x08 Motor 4 PWM LSB
21  * free
22  * 0x10 Hall 1 MSB
23  * 0x11 Hall 1 LSB
24  * 0x12 Hall 2 MSB
25  * 0x13 Hall 2 LSB
26  * 0x14 Hall 3 MSB
27  * 0x15 Hall 3 LSB
28  * 0x16 Hall 4 MSB
29  * 0x17 Hall 4 LSB
30  * free
31  * 0x20 Motor 1 speed wish MSB
32  * 0x21 Motor 1 speed wish LSB
33  * 0x22 Motor 2 speed wish MSB
34  * 0x23 Motor 2 speed wish LSB
35  * 0x24 Motor 3 speed wish MSB
36  * 0x25 Motor 3 speed wish LSB
37  * 0x26 Motor 4 speed wish MSB
38  * 0x27 Motor 4 speed wish LSB
39  * 0x28 Left speed wish (m/s) MSB
40  * 0x29 Left speed wish (m/s)
41  * 0x2A Left speed wish (m/s)
42  * 0x2B Left speed wish (m/s) LSB
43  * 0x2C Right speed wish (m/s) MSB
44  * 0x2D Right speed wish (m/s)
45  * 0x2E Right speed wish (m/s)
46  * 0x2F Right speed wish (m/s) LSB
47  * 0x30 Motor 1 speed MSB
48  * 0x31 Motor 1 speed LSB
49  * 0x32 Motor 2 speed MSB
50  * 0x33 Motor 2 speed LSB
51  * 0x34 Motor 3 speed MSB
52  * 0x35 Motor 3 speed LSB
53  * 0x36 Motor 4 speed MSB
54  * 0x37 Motor 4 speed LSB
55  * 0x38 Speed (m/s) MSB
56  * 0x39 Speed (m/s)
57  * 0x3A Speed (m/s)
58  * 0x3B Speed (m/s) LSB
59  * 0x3C Angle (rad/s) MSB
60  * 0x3D Angle (rad/s)
61  * 0x3E Angle (rad/s)
62  * 0x3F Angle (rad/s) LSB
63  * free
64  * 0x40 Position x (m) MSB
65  * 0x41 Position x (m)
66  * 0x42 Position x (m)
67  * 0x43 Position x (m) LSB
68  * 0x44 Position y (m) MSB
69  * 0x45 Position y (m)
70  * 0x46 Position y (m)
71  * 0x47 Position y (m) LSB
72  * 0x48 Position angle MSB
73  * 0x49 Position angle
74  * 0x4A Position angle
75  * 0x4B Position angle LSB
76  * free
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
85  * free
86  * 0x90 Motor 1 switch
87  * 0x91 Motor 2 switch
88  * 0x92 Motor 3 switch
89  * 0x93 Motor 4 switch
90  * 0x94 Front Handicap backward
91  * 0x95 Aft Handicap forward
92  * free
93  * 0xA0 Reset reason
94  * 0xA1 TLE Error status
95  * 0xA2 count test
96  * free
97  * 0xff Bootloader
98  */
99
100
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)
104
105 #define KP 0.009
106 #define KI 0.051429
107 #define KD 0.000378
108 #define PID_T 0.01
109 #define STEP_PER_M 3376.1 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:34
110 #define WHEEL_DIST 0.252
111
112 enum mode {
113         MOTOR_MANUAL,
114         MOTOR_PID
115 };
116
117 typedef union {
118         float f;
119         uint32_t i;
120 } ufloat_t;
121
122 static volatile struct {
123         float speed;
124         float angle;
125         uint8_t bUpdate;
126 } cmd_vel = {0, 0, 0};
127
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;
163
164 ISR(TWI_vect)
165 {
166         static uint8_t tmp=0;
167         static int16_t tmp16=0;
168         static ufloat_t tmp_speed;
169         static ufloat_t tmp_angle;
170
171         switch (TWSR & 0xF8)
172         {  
173                 case 0x60: // start write
174                         TWI_ACK;
175                         ireg = 0;
176                         break;
177                 case 0x80: // write
178                         switch(ireg) {
179                                 case 0x00: // register select
180                                         ireg = TWDR;
181                                         ireg--; // because we do ireg++ below
182                                         TWI_ACK;
183                                         break;
184                                 case 0x01: // Motor 1 MSB
185                                         tmp = TWDR;
186                                         TWI_ACK;
187                                         break;
188                                 case 0x02: // Motor 1 LSB
189                                         motor1 = tmp<<8 | TWDR;
190                                         motor1_mode = MOTOR_MANUAL;
191                                         TWI_ACK;
192                                         break;
193                                 case 0x03: // Motor 2 MSB
194                                         tmp = TWDR;
195                                         TWI_ACK;
196                                         break;
197                                 case 0x04: // Motor 2 LSB
198                                         motor2 = tmp<<8 | TWDR;
199                                         motor2_mode = MOTOR_MANUAL;
200                                         TWI_ACK;
201                                         break;
202                                 case 0x05: // Motor 3 MSB
203                                         tmp = TWDR;
204                                         TWI_ACK;
205                                         break;
206                                 case 0x06: // Motor 3 LSB
207                                         motor3 = tmp<<8 | TWDR;
208                                         motor3_mode = MOTOR_MANUAL;
209                                         TWI_ACK;
210                                         break;
211                                 case 0x07: // Motor 4 MSB
212                                         tmp = TWDR;
213                                         TWI_ACK;
214                                         break;
215                                 case 0x08: // Motor 4 LSB
216                                         motor4 = tmp<<8 | TWDR;
217                                         motor4_mode = MOTOR_MANUAL;
218                                         TWI_ACK;
219                                         break;
220                                 case 0x20: // Motor 1 speed wish MSB
221                                         tmp = TWDR;
222                                         TWI_ACK;
223                                         break;
224                                 case 0x21: // Motor 1 speed wish LSB
225                                         speed1_wish = tmp<<8 | TWDR;
226                                         motor1_mode = MOTOR_PID;
227                                         TWI_ACK;
228                                         break;
229                                 case 0x22: // Motor 2 speed wish MSB
230                                         tmp = TWDR;
231                                         TWI_ACK;
232                                         break;
233                                 case 0x23: // Motor 2 speed wish LSB
234                                         speed2_wish = tmp<<8 | TWDR;
235                                         motor2_mode = MOTOR_PID;
236                                         TWI_ACK;
237                                         break;
238                                 case 0x24: // Motor 3 speed wish MSB
239                                         tmp = TWDR;
240                                         TWI_ACK;
241                                         break;
242                                 case 0x25: // Motor 3 speed wish LSB
243                                         speed3_wish = tmp<<8 | TWDR;
244                                         motor3_mode = MOTOR_PID;
245                                         TWI_ACK;
246                                         break;
247                                 case 0x26: // Motor 4 speed wish MSB
248                                         tmp = TWDR;
249                                         TWI_ACK;
250                                         break;
251                                 case 0x27: // Motor 4 speed wish LSB
252                                         speed4_wish = tmp<<8 | TWDR;
253                                         motor4_mode = MOTOR_PID;
254                                         TWI_ACK;
255                                         break;
256                                 case 0x28: // Left speed wish MSB
257                                         tmp_speed.i = TWDR;
258                                         TWI_ACK;
259                                         break;
260                                 case 0x29: // Left speed wish
261                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
262                                         TWI_ACK;
263                                         break;
264                                 case 0x2A: // Left speed wish
265                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
266                                         TWI_ACK;
267                                         break;
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;
274                                         TWI_ACK;
275                                         break;
276                                 case 0x2C: // Right speed wish MSB
277                                         tmp_speed.i = TWDR;
278                                         TWI_ACK;
279                                         break;
280                                 case 0x2D: // Right speed wish
281                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
282                                         TWI_ACK;
283                                         break;
284                                 case 0x2E: // Right speed wish
285                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
286                                         TWI_ACK;
287                                         break;
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;
294                                         TWI_ACK;
295                                         break;
296                                 case 0x50: // speed wish MSB
297                                         tmp_speed.i = TWDR;
298                                         TWI_ACK;
299                                         break;
300                                 case 0x51: // speed wish
301                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
302                                         TWI_ACK;
303                                         break;
304                                 case 0x52: // speed wish
305                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
306                                         TWI_ACK;
307                                         break;
308                                 case 0x53: // speed wish LSB
309                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
310                                         cmd_vel.speed = tmp_speed.f;
311                                         TWI_ACK;
312                                         break;
313                                 case 0x54: // angle wish MSB
314                                         tmp_angle.i = TWDR;
315                                         TWI_ACK;
316                                         break;
317                                 case 0x55: // angle wish
318                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
319                                         TWI_ACK;
320                                         break;
321                                 case 0x56: // angle wish
322                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
323                                         TWI_ACK;
324                                         break;
325                                 case 0x57: // angle wish LSB
326                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
327                                         cmd_vel.angle = tmp_angle.f;
328                                         cmd_vel.bUpdate = 1;
329                                         TWI_ACK;
330                                         break;
331                                 case 0x90: // Motor 1 switch
332                                         motor1_switch = TWDR;
333                                         TWI_ACK;
334                                         break;
335                                 case 0x91: // Motor 2 switch
336                                         motor2_switch = TWDR;
337                                         TWI_ACK;
338                                         break;
339                                 case 0x92: // Motor 3 switch
340                                         motor3_switch = TWDR;
341                                         TWI_ACK;
342                                         break;
343                                 case 0x93: // Motor 4 switch
344                                         motor4_switch = TWDR;
345                                         TWI_ACK;
346                                         break;
347                                 case 0x94: // Front Handicap backward
348                                         front_handicap_bwd = TWDR;
349                                         TWI_ACK;
350                                         break;
351                                 case 0x95: // Aft Handicap forward
352                                         aft_handicap_fwd = TWDR;
353                                         TWI_ACK;
354                                         break;
355                                 case 0xff: // bootloader
356                                         bootloader = TWDR;
357                                 default:
358                                         TWI_NAK;
359                         }
360                         ireg++;
361                         break;
362                 case 0xA8: // start read
363                 case 0xB8: // read
364                         switch(ireg) {
365                                 case 0x02: // Motor 1 PWM
366                                         TWDR = OCR1A;
367                                         TWI_ACK;
368                                         break;
369                                 case 0x04: // Motor 2 PWM
370                                         TWDR = OCR1B;
371                                         TWI_ACK;
372                                         break;
373                                 case 0x06: // Motor 3 PWM
374                                         TWDR = OCR2;
375                                         TWI_ACK;
376                                         break;
377                                 case 0x08: // Motor 4 PWM
378                                         TWDR = OCR0;
379                                         TWI_ACK;
380                                         break;
381                                 case 0x10: // Hall 1 MSB
382                                         tmp16 = pos1;
383                                         TWDR = tmp16>>8;
384                                         TWI_ACK;
385                                         break;
386                                 case 0x11: // Hall 1 LSB
387                                         TWDR = tmp16;
388                                         TWI_ACK;
389                                         break;
390                                 case 0x12: // Hall 2 MSB
391                                         tmp16 = pos2;
392                                         TWDR = tmp16>>8;
393                                         TWI_ACK;
394                                         break;
395                                 case 0x13: // Hall 2 LSB
396                                         TWDR = tmp16;
397                                         TWI_ACK;
398                                         break;
399                                 case 0x14: // Hall 3 MSB
400                                         tmp16 = pos3;
401                                         TWDR = tmp16>>8;
402                                         TWI_ACK;
403                                         break;
404                                 case 0x15: // Hall 3 LSB
405                                         TWDR = tmp16;
406                                         TWI_ACK;
407                                         break;
408                                 case 0x16: // Hall 4 MSB
409                                         tmp16 = pos4;
410                                         TWDR = tmp16>>8;
411                                         TWI_ACK;
412                                         break;
413                                 case 0x17: // Hall 4 LSB
414                                         TWDR = tmp16;
415                                         TWI_ACK;
416                                         break;
417                                 case 0x20: // Motor 1 speed wish MSB
418                                         TWDR = speed1_wish>>8;
419                                         TWI_ACK;
420                                         break;
421                                 case 0x21: // Motor 1 speed wish LSB
422                                         TWDR = speed1_wish;
423                                         TWI_ACK;
424                                         break;
425                                 case 0x22: // Motor 2 speed wish MSB
426                                         TWDR = speed2_wish>>8;
427                                         TWI_ACK;
428                                         break;
429                                 case 0x23: // Motor 2 speed wish LSB
430                                         TWDR = speed2_wish;
431                                         TWI_ACK;
432                                         break;
433                                 case 0x24: // Motor 3 speed wish MSB
434                                         TWDR = speed3_wish>>8;
435                                         TWI_ACK;
436                                         break;
437                                 case 0x25: // Motor 3 speed wish LSB
438                                         TWDR = speed3_wish;
439                                         TWI_ACK;
440                                         break;
441                                 case 0x26: // Motor 4 speed wish MSB
442                                         TWDR = speed4_wish>>8;
443                                         TWI_ACK;
444                                         break;
445                                 case 0x27: // Motor 4 speed wish LSB
446                                         TWDR = speed4_wish;
447                                         TWI_ACK;
448                                         break;
449                                 case 0x30: // Motor 1 speed MSB
450                                         TWDR = speed1>>8;
451                                         TWI_ACK;
452                                         break;
453                                 case 0x31: // Motor 1 speed LSB
454                                         TWDR = speed1;
455                                         TWI_ACK;
456                                         break;
457                                 case 0x32: // Motor 2 speed MSB
458                                         TWDR = speed2>>8;
459                                         TWI_ACK;
460                                         break;
461                                 case 0x33: // Motor 2 speed LSB
462                                         TWDR = speed2;
463                                         TWI_ACK;
464                                         break;
465                                 case 0x34: // Motor 3 speed MSB
466                                         TWDR = speed3>>8;
467                                         TWI_ACK;
468                                         break;
469                                 case 0x35: // Motor 3 speed LSB
470                                         TWDR = speed3;
471                                         TWI_ACK;
472                                         break;
473                                 case 0x36: // Motor 4 speed MSB
474                                         TWDR = speed4>>8;
475                                         TWI_ACK;
476                                         break;
477                                 case 0x37: // Motor 4 speed LSB
478                                         TWDR = speed4;
479                                         TWI_ACK;
480                                         break;
481                                 case 0x38: // speed MSB
482                                         tmp_speed.f = cur_speed_lin;
483                                         TWDR = tmp_speed.i>>24;
484                                         TWI_ACK;
485                                         break;
486                                 case 0x39: // speed
487                                         TWDR = tmp_speed.i>>16;
488                                         TWI_ACK;
489                                         break;
490                                 case 0x3A: // speed
491                                         TWDR = tmp_speed.i>>8;
492                                         TWI_ACK;
493                                         break;
494                                 case 0x3B: // speed LSB
495                                         TWDR = tmp_speed.i;
496                                         TWI_ACK;
497                                         break;
498                                 case 0x3C: // angle MSB
499                                         tmp_angle.f = cur_speed_rot;
500                                         TWDR = tmp_angle.i>>24;
501                                         TWI_ACK;
502                                         break;
503                                 case 0x3D: // angle
504                                         TWDR = tmp_angle.i>>16;
505                                         TWI_ACK;
506                                         break;
507                                 case 0x3E: // angle
508                                         TWDR = tmp_angle.i>>8;
509                                         TWI_ACK;
510                                         break;
511                                 case 0x3F: // angle LSB
512                                         TWDR = angle.i;
513                                         TWI_ACK;
514                                         break;
515                                 case 0x40: // Position x MSB
516                                         TWDR = pos_x.i>>24;
517                                         TWI_ACK;
518                                         break;
519                                 case 0x41: // Position x
520                                         TWDR = pos_x.i>>16;
521                                         TWI_ACK;
522                                         break;
523                                 case 0x42: // Position x
524                                         TWDR = pos_x.i>>8;
525                                         TWI_ACK;
526                                         break;
527                                 case 0x43: // Position x LSB
528                                         TWDR = pos_x.i;
529                                         TWI_ACK;
530                                         break;
531                                 case 0x44: // Position y MSB
532                                         TWDR = pos_y.i>>24;
533                                         TWI_ACK;
534                                         break;
535                                 case 0x45: // Position y
536                                         TWDR = pos_y.i>>16;
537                                         TWI_ACK;
538                                         break;
539                                 case 0x46: // Position y
540                                         TWDR = pos_y.i>>8;
541                                         TWI_ACK;
542                                         break;
543                                 case 0x47: // Position y LSB
544                                         TWDR = pos_y.i;
545                                         TWI_ACK;
546                                         break;
547                                 case 0x48: // Position angle MSB
548                                         TWDR = angle.i>>24;
549                                         TWI_ACK;
550                                         break;
551                                 case 0x49: // Position angle
552                                         TWDR = angle.i>>16;
553                                         TWI_ACK;
554                                         break;
555                                 case 0x4A: // Position angle
556                                         TWDR = angle.i>>8;
557                                         TWI_ACK;
558                                         break;
559                                 case 0x4B: // Position angle LSB
560                                         TWDR = angle.i;
561                                         TWI_ACK;
562                                         break;
563                                 case 0xA0: // Reset reason
564                                         TWDR = MCUCSR & 0x0f;
565                                         MCUCSR = 0x0;
566                                         TWI_ACK;
567                                         break;
568                                 case 0xA1: // TLE Error status
569                                         TWDR = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
570                                         TWI_ACK;
571                                         break;
572                                 case 0xA2: // count test
573                                         TWDR = count_test;
574                                         TWI_ACK;
575                                 default:
576                                         TWDR = 0;
577                                         TWI_NAK;
578                         }
579                         ireg++;
580                         break;
581                 default:
582                         TWI_RESET;
583         }
584 }
585
586
587 static void update_hall1(void) {
588         unsigned char status = (PINA >> 0) & 0x3;
589         static unsigned char oldstatus=0;
590         unsigned char diff, new;
591
592         new = 0;
593         if (status & 0x1)
594                 new = 0x3;
595         if (status & 0x2)
596                 new ^= 0x1;                                     // convert gray to binary
597         diff = oldstatus - new;                         // difference last - new
598         if (diff & 0x1) {                               // bit 0 = value (1)
599                 oldstatus = new;                                        // store new as next last
600                 if (motor1_switch) pos1 += (diff & 2) - 1;              // bit 1 = direction (+/-)
601                 else pos1 -= (diff & 2) - 1;
602         }
603 }
604
605
606 static void update_hall2(void) {
607         unsigned char status = (PINA >> 4) & 0x3;
608         static unsigned char oldstatus=0;
609         unsigned char diff, new;
610
611         new = 0;
612         if (status & 0x1)
613                 new = 0x3;
614         if (status & 0x2)
615                 new ^= 0x1;                                     // convert gray to binary
616         diff = oldstatus - new;                         // difference last - new
617         if (diff & 0x1) {                               // bit 0 = value (1)
618                 oldstatus = new;                                        // store new as next last
619                 if (motor2_switch) pos2 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
620                 else pos2 += (diff & 2) - 1;
621         }
622 }
623
624
625 static void update_hall3(void) {
626         unsigned char status = (PINA >> 2) & 0x3;
627         static unsigned char oldstatus=0;
628         unsigned char diff, new;
629
630         new = 0;
631         if (status & 0x1)
632                 new = 0x3;
633         if (status & 0x2)
634                 new ^= 0x1;                                     // convert gray to binary
635         diff = oldstatus - new;                         // difference last - new
636         if (diff & 0x1) {                               // bit 0 = value (1)
637                 oldstatus = new;                                        // store new as next last
638                 if (motor3_switch) pos3 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
639                 else pos3 += (diff & 2) - 1;
640         }
641 }
642
643
644 static void update_hall4(void) {
645         unsigned char status = (PINA >> 6) & 0x3;
646         static unsigned char oldstatus=0;
647         unsigned char diff, new;
648
649         new = 0;
650         if (status & 0x1)
651                 new = 0x3;
652         if (status & 0x2)
653                 new ^= 0x1;                                     // convert gray to binary
654         diff = oldstatus - new;                         // difference last - new
655         if (diff & 0x1) {                               // bit 0 = value (1)
656                 oldstatus = new;                                        // store new as next last
657                 if (motor4_switch) pos4 += (diff & 2) - 1;              // bit 1 = direction (+/-)
658                 else pos4 -= (diff & 2) - 1;
659         }
660 }
661
662
663 static void update_motor(void) {
664         static int16_t m1_old=SHRT_MIN;
665         static int16_t m2_old=SHRT_MIN;
666         static int16_t m3_old=SHRT_MIN;
667         static int16_t m4_old=SHRT_MIN;
668
669         if (m1_old != motor1) { // update only when changed
670                 if (motor1 == 0) {
671                         // stop
672                         PORTC |= (1 << 3) | (1 << 2);
673                 } else if ((!motor1_switch && motor1 > 0) || (motor1_switch && motor1 < 0)) {
674                         // forward
675                         PORTC &= ~(1 << 3) & ~(1 << 2);
676                 } else { // motor1 < 0
677                         // backward
678                         PORTC &= ~(1 << 2);
679                         PORTC |=  (1 << 3);
680                 }
681
682                 m1_old = motor1;
683                 OCR1A = abs(motor1);
684         }
685
686         if (m2_old != motor2) { // update only when changed
687                 if (motor2 == 0) {
688                         // stop
689                         PORTC |= (1 << 5) | (1 << 4);
690                 } else if ((!motor2_switch && motor2 > 0) || (motor2_switch && motor2 < 0)) {
691                         // forward
692                         PORTC &= ~(1 << 5) & ~(1 << 4);
693                 } else { // motor2 < 0
694                         // backward
695                         PORTC &= ~(1 << 4);
696                         PORTC |=  (1 << 5);
697                 }
698
699                 m2_old = motor2;
700                 OCR1B = abs(motor2);
701         }
702
703         if (m3_old != motor3) { // update only when changed
704                 if (motor3 == 0) {
705                         // stop
706                         PORTC |= (1 << 7) | (1 << 6);
707                 } else if ((!motor3_switch && motor3 > 0) || (motor3_switch && motor3 < 0)) {
708                         // forward
709                         PORTC &= ~(1 << 7) & ~(1 << 6);
710                 } else { // motor3 < 0
711                         // backward
712                         PORTC &= ~(1 << 6);
713                         PORTC |=  (1 << 7);
714                 }
715
716                 m3_old = motor3;
717                 OCR2 = abs(motor3);
718         }
719
720         if (m4_old != motor4) { // update only when changed
721                 if (motor4 == 0) {
722                         // stop
723                         PORTD |= (1 << 3) | (1 << 2);
724                 } else if ((!motor4_switch && motor4 > 0) || (motor4_switch && motor4 < 0)) {
725                         // forward
726                         PORTD &= ~(1 << 3) & ~(1 << 2);
727                 } else { // motor4 < 0
728                         // backward
729                         PORTD &= ~(1 << 2);
730                         PORTD |=  (1 << 3);
731                 }
732
733                 m4_old = motor4;
734                 OCR0 = abs(motor4);
735         }
736 }
737
738
739 static void update_pos(void) {
740         static int16_t pos1_last=0;
741         static int16_t pos2_last=0;
742         static int16_t pos3_last=0;
743         static int16_t pos4_last=0;
744         int16_t pos1_diff; // steps
745         int16_t pos2_diff;
746         int16_t pos3_diff;
747         int16_t pos4_diff;
748         float diff_left_m, diff_right_m, angle_diff, translation;
749         float pos_x_new, pos_y_new, angle_new;
750         int16_t speed_l, speed_r;
751         float tmp_speed_lin, tmp_speed_rot;
752         int16_t cur_pos1, cur_pos2, cur_pos3, cur_pos4;
753         int16_t new_speed1, new_speed2, new_speed3, new_speed4;
754
755         // copy to tmp
756         cli();
757         cur_pos1 = pos1;
758         cur_pos2 = pos2;
759         cur_pos3 = pos3;
760         cur_pos4 = pos4;
761         sei();
762
763         pos1_diff = cur_pos1 - pos1_last;
764         pos2_diff = cur_pos2 - pos2_last;
765         pos3_diff = cur_pos3 - pos3_last;
766         pos4_diff = cur_pos4 - pos4_last;
767
768         new_speed1 = pos1_diff/PID_T;
769         new_speed2 = pos2_diff/PID_T;
770         new_speed3 = pos3_diff/PID_T;
771         new_speed4 = pos4_diff/PID_T;
772
773         diff_left_m = (pos1_diff + pos2_diff)/(2*STEP_PER_M);
774         diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M);
775         angle_diff = (diff_right_m - diff_left_m) / WHEEL_DIST;
776
777         angle_new = angle.f + angle_diff;
778         if (angle_new > 2*M_PI) angle_new-=2*M_PI;
779         else if (angle_new < 2*M_PI) angle_new+=2*M_PI;
780
781         translation = (diff_left_m + diff_right_m)/2.0;
782         pos_x_new = pos_x.f + cos(angle_new)*translation;
783         pos_y_new = pos_y.f + sin(angle_new)*translation;
784
785         speed_l = (new_speed1+new_speed2)/2;
786         speed_r = (new_speed3+new_speed4)/2;
787         tmp_speed_lin = (speed_l + speed_r)/(2.0*STEP_PER_M);
788         tmp_speed_rot = (speed_r - speed_l)/(M_PI*WHEEL_DIST*STEP_PER_M);
789
790         // copy from tmp
791         cli();
792         angle.f = angle_new;
793         pos_x.f = pos_x_new;
794         pos_y.f = pos_y_new;
795         speed1 = new_speed1;
796         speed2 = new_speed2;
797         speed3 = new_speed3;
798         speed4 = new_speed4;
799         cur_speed_lin = tmp_speed_lin;
800         cur_speed_rot = tmp_speed_rot;
801         sei();
802
803         pos1_last = cur_pos1;
804         pos2_last = cur_pos2;
805         pos3_last = cur_pos3;
806         pos4_last = cur_pos4;
807 }
808
809
810 static void update_pid(void) {
811         static int16_t eold1=0;
812         static int16_t eold2=0;
813         static int16_t eold3=0;
814         static int16_t eold4=0;
815         static int32_t esum1=0;
816         static int32_t esum2=0;
817         static int32_t esum3=0;
818         static int32_t esum4=0;
819
820         if (motor1_mode == MOTOR_PID) {
821                 if (speed1_wish == 0) {
822                         motor1 = 0;
823                         eold1 = 0;
824                         esum1 = 0;
825                 } else {
826                         int16_t e = speed1_wish - speed1;
827                         esum1+=e;
828                         motor1 += KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
829                         eold1 = e;
830
831                         if (motor1 > 255) motor1 = 255;
832                         else if (motor1 < -255) motor1 = -255;
833                 }
834         }
835         if (motor2_mode == MOTOR_PID) {
836                 if (speed2_wish == 0) {
837                         motor2 = 0;
838                         eold2 = 0;
839                         esum2 = 0;
840                 } else {
841                         int16_t e = speed2_wish - speed2;
842                         esum2+=e;
843                         motor2 += KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
844                         eold2 = e;
845
846                         if (motor2 > 255) motor2 = 255;
847                         else if (motor2 < -255) motor2 = -255;
848                 }
849         }
850         if (motor3_mode == MOTOR_PID) {
851                 if (speed3_wish == 0) {
852                         motor3 = 0;
853                         eold3 = 0;
854                         esum3 = 0;
855                 } else {
856                         int16_t e = speed3_wish - speed3;
857                         esum3+=e;
858                         motor3 += KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
859                         eold3 = e;
860
861                         if (motor3 > 255) motor3 = 255;
862                         else if (motor3 < -255) motor3 = -255;
863                 }
864         }
865         if (motor4_mode == MOTOR_PID) {
866                 if (speed4_wish == 0) {
867                         motor4 = 0;
868                         eold4 = 0;
869                         esum4 = 0;
870                 } else {
871                         int16_t e = speed4_wish - speed4;
872                         esum4+=e;
873                         motor4 += KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
874                         eold4 = e;
875
876                         if (motor4 > 255) motor4 = 255;
877                         else if (motor4 < -255) motor4 = -255;
878                 }
879         }
880 }
881
882
883 ISR(TIMER1_OVF_vect) {
884         update_hall1();
885         update_hall2();
886         update_hall3();
887         update_hall4();
888         
889         run_update++;
890 }
891
892
893 int main(void) {
894         // Outputs
895         DDRB = (1 << 3);
896         DDRC = (1 << 7) | (1 << 6) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
897         DDRD = (1 << 7) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
898         // Pullup TLEs EF
899         PORTB = (1 << 0) | (1 << 1) | (1 << 2);
900         PORTD = (1 << 6);
901
902         bootloader = 0x00;
903         setup_uart(9600);
904         uart_setup_stdout();
905
906         // I2C
907         TWAR = 0x50;
908         TWI_RESET;
909
910         // Motor 1 & 2
911         // Timer 1: Fast PWM inverting mode, Top=256 => 15.625kHz
912         // Prescaler=1
913         TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << COM1A0) | (1 << COM1B0) | (1 << WGM10);
914         TCCR1B = (1 << WGM12) | (1 << CS10);
915         OCR1A = 0;
916         OCR1B = 0;
917
918         // Motor 3
919         // Timer 2: Fast PWM inverting mode, Top=256
920         // Prescaler=1
921         TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << COM20) | (1 << CS20);
922         OCR2 = 0;
923
924         // Motor 4
925         // Timer 0: Fast PWM inverting mode, Top=256
926         // Prescaler=1
927         TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << COM00) | (1 << CS00);
928         OCR0 = 0;
929
930         printf("\r\nStart\r\n");
931
932         set_sleep_mode(SLEEP_MODE_IDLE);
933         // Enable Timer 1 Overflow Interrupt
934         TIMSK = (1 << TOIE1);
935         sei();
936
937         while(1) {
938                 switch(ireg) {
939                         case 0xff: // Magic reg that starts the bootloader
940                                 if (bootloader == 0xa5) {
941                                         cli();
942                                         {
943                                                 void (*start)(void) = (void*)0x1800;
944                                                 start();
945                                         }
946                                 }
947                                 break;
948                 }
949
950                 if (cmd_vel.bUpdate) {
951                         float speed_wish_right, speed_wish_left;
952                         float speed, angle;
953
954                         cli();
955                         speed = cmd_vel.speed;
956                         angle = cmd_vel.angle;
957                         cmd_vel.bUpdate = 0;
958                         sei();
959
960                         speed_wish_right = angle*M_PI*WHEEL_DIST/2 + speed;
961                         speed_wish_left = speed*2-speed_wish_right;
962
963                         speed_wish_left*=STEP_PER_M;
964                         speed_wish_right*=STEP_PER_M;
965
966                         if (speed1_wish > 0 && aft_handicap_fwd > 0) {
967                                 speed1_wish = speed_wish_left * (100-aft_handicap_fwd)/100.0;
968                         } else {
969                                 speed1_wish = speed_wish_left;
970                         }
971                         if (speed2_wish > 0 && front_handicap_bwd > 0) {
972                                 speed2_wish = speed_wish_left * (100-front_handicap_bwd)/100.0;
973                         } else {
974                                 speed2_wish = speed_wish_left;
975                         }
976                         if (speed3_wish > 0 && front_handicap_bwd > 0) {
977                                 speed3_wish = speed_wish_right * (100-front_handicap_bwd)/100.0;
978                         } else {
979                                 speed3_wish = speed_wish_right;
980                         }
981                         if (speed4_wish > 0 && aft_handicap_fwd > 0) {
982                                 speed4_wish = speed_wish_right * (100-aft_handicap_fwd)/100.0;
983                         } else {
984                                 speed4_wish = speed_wish_right;
985                         }
986                         motor1_mode = MOTOR_PID;
987                         motor2_mode = MOTOR_PID;
988                         motor3_mode = MOTOR_PID;
989                         motor4_mode = MOTOR_PID;
990                 }
991
992                 if (run_update >= 156) { // ~100Hz
993                         run_update=0;
994
995                         update_pos();
996                         update_pid();
997                         update_motor();
998                         count_test++;
999                 }
1000
1001                 sleep_mode();
1002         }
1003
1004         return 0;
1005 }