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 4171.4 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:34, calculated wheel diameter: 0.12454m
 110 #define WHEEL_DIST 0.36923 // Real: 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                                         cmd_vel.bUpdate = 1;
 350                                         TWI_ACK;
 351                                         break;
 352                                 case 0x95: // Aft Handicap forward
 353                                         aft_handicap_fwd = TWDR;
 354                                         cmd_vel.bUpdate = 1;
 355                                         TWI_ACK;
 356                                         break;
 357                                 case 0xff: // bootloader
 358                                         bootloader = TWDR;
 359                                 default:
 360                                         TWI_NAK;
 361                         }
 362                         ireg++;
 363                         break;
 364                 case 0xA8: // start read
 365                 case 0xB8: // read
 366                         switch(ireg) {
 367                                 case 0x02: // Motor 1 PWM
 368                                         TWDR = OCR1A;
 369                                         TWI_ACK;
 370                                         break;
 371                                 case 0x04: // Motor 2 PWM
 372                                         TWDR = OCR1B;
 373                                         TWI_ACK;
 374                                         break;
 375                                 case 0x06: // Motor 3 PWM
 376                                         TWDR = OCR2;
 377                                         TWI_ACK;
 378                                         break;
 379                                 case 0x08: // Motor 4 PWM
 380                                         TWDR = OCR0;
 381                                         TWI_ACK;
 382                                         break;
 383                                 case 0x10: // Hall 1 MSB
 384                                         tmp16 = pos1;
 385                                         TWDR = tmp16>>8;
 386                                         TWI_ACK;
 387                                         break;
 388                                 case 0x11: // Hall 1 LSB
 389                                         TWDR = tmp16;
 390                                         TWI_ACK;
 391                                         break;
 392                                 case 0x12: // Hall 2 MSB
 393                                         tmp16 = pos2;
 394                                         TWDR = tmp16>>8;
 395                                         TWI_ACK;
 396                                         break;
 397                                 case 0x13: // Hall 2 LSB
 398                                         TWDR = tmp16;
 399                                         TWI_ACK;
 400                                         break;
 401                                 case 0x14: // Hall 3 MSB
 402                                         tmp16 = pos3;
 403                                         TWDR = tmp16>>8;
 404                                         TWI_ACK;
 405                                         break;
 406                                 case 0x15: // Hall 3 LSB
 407                                         TWDR = tmp16;
 408                                         TWI_ACK;
 409                                         break;
 410                                 case 0x16: // Hall 4 MSB
 411                                         tmp16 = pos4;
 412                                         TWDR = tmp16>>8;
 413                                         TWI_ACK;
 414                                         break;
 415                                 case 0x17: // Hall 4 LSB
 416                                         TWDR = tmp16;
 417                                         TWI_ACK;
 418                                         break;
 419                                 case 0x20: // Motor 1 speed wish MSB
 420                                         TWDR = speed1_wish>>8;
 421                                         TWI_ACK;
 422                                         break;
 423                                 case 0x21: // Motor 1 speed wish LSB
 424                                         TWDR = speed1_wish;
 425                                         TWI_ACK;
 426                                         break;
 427                                 case 0x22: // Motor 2 speed wish MSB
 428                                         TWDR = speed2_wish>>8;
 429                                         TWI_ACK;
 430                                         break;
 431                                 case 0x23: // Motor 2 speed wish LSB
 432                                         TWDR = speed2_wish;
 433                                         TWI_ACK;
 434                                         break;
 435                                 case 0x24: // Motor 3 speed wish MSB
 436                                         TWDR = speed3_wish>>8;
 437                                         TWI_ACK;
 438                                         break;
 439                                 case 0x25: // Motor 3 speed wish LSB
 440                                         TWDR = speed3_wish;
 441                                         TWI_ACK;
 442                                         break;
 443                                 case 0x26: // Motor 4 speed wish MSB
 444                                         TWDR = speed4_wish>>8;
 445                                         TWI_ACK;
 446                                         break;
 447                                 case 0x27: // Motor 4 speed wish LSB
 448                                         TWDR = speed4_wish;
 449                                         TWI_ACK;
 450                                         break;
 451                                 case 0x30: // Motor 1 speed MSB
 452                                         TWDR = speed1>>8;
 453                                         TWI_ACK;
 454                                         break;
 455                                 case 0x31: // Motor 1 speed LSB
 456                                         TWDR = speed1;
 457                                         TWI_ACK;
 458                                         break;
 459                                 case 0x32: // Motor 2 speed MSB
 460                                         TWDR = speed2>>8;
 461                                         TWI_ACK;
 462                                         break;
 463                                 case 0x33: // Motor 2 speed LSB
 464                                         TWDR = speed2;
 465                                         TWI_ACK;
 466                                         break;
 467                                 case 0x34: // Motor 3 speed MSB
 468                                         TWDR = speed3>>8;
 469                                         TWI_ACK;
 470                                         break;
 471                                 case 0x35: // Motor 3 speed LSB
 472                                         TWDR = speed3;
 473                                         TWI_ACK;
 474                                         break;
 475                                 case 0x36: // Motor 4 speed MSB
 476                                         TWDR = speed4>>8;
 477                                         TWI_ACK;
 478                                         break;
 479                                 case 0x37: // Motor 4 speed LSB
 480                                         TWDR = speed4;
 481                                         TWI_ACK;
 482                                         break;
 483                                 case 0x38: // speed MSB
 484                                         tmp_speed.f = cur_speed_lin;
 485                                         TWDR = tmp_speed.i>>24;
 486                                         TWI_ACK;
 487                                         break;
 488                                 case 0x39: // speed
 489                                         TWDR = tmp_speed.i>>16;
 490                                         TWI_ACK;
 491                                         break;
 492                                 case 0x3A: // speed
 493                                         TWDR = tmp_speed.i>>8;
 494                                         TWI_ACK;
 495                                         break;
 496                                 case 0x3B: // speed LSB
 497                                         TWDR = tmp_speed.i;
 498                                         TWI_ACK;
 499                                         break;
 500                                 case 0x3C: // angle MSB
 501                                         tmp_angle.f = cur_speed_rot;
 502                                         TWDR = tmp_angle.i>>24;
 503                                         TWI_ACK;
 504                                         break;
 505                                 case 0x3D: // angle
 506                                         TWDR = tmp_angle.i>>16;
 507                                         TWI_ACK;
 508                                         break;
 509                                 case 0x3E: // angle
 510                                         TWDR = tmp_angle.i>>8;
 511                                         TWI_ACK;
 512                                         break;
 513                                 case 0x3F: // angle LSB
 514                                         TWDR = angle.i;
 515                                         TWI_ACK;
 516                                         break;
 517                                 case 0x40: // Position x MSB
 518                                         TWDR = pos_x.i>>24;
 519                                         TWI_ACK;
 520                                         break;
 521                                 case 0x41: // Position x
 522                                         TWDR = pos_x.i>>16;
 523                                         TWI_ACK;
 524                                         break;
 525                                 case 0x42: // Position x
 526                                         TWDR = pos_x.i>>8;
 527                                         TWI_ACK;
 528                                         break;
 529                                 case 0x43: // Position x LSB
 530                                         TWDR = pos_x.i;
 531                                         TWI_ACK;
 532                                         break;
 533                                 case 0x44: // Position y MSB
 534                                         TWDR = pos_y.i>>24;
 535                                         TWI_ACK;
 536                                         break;
 537                                 case 0x45: // Position y
 538                                         TWDR = pos_y.i>>16;
 539                                         TWI_ACK;
 540                                         break;
 541                                 case 0x46: // Position y
 542                                         TWDR = pos_y.i>>8;
 543                                         TWI_ACK;
 544                                         break;
 545                                 case 0x47: // Position y LSB
 546                                         TWDR = pos_y.i;
 547                                         TWI_ACK;
 548                                         break;
 549                                 case 0x48: // Position angle MSB
 550                                         TWDR = angle.i>>24;
 551                                         TWI_ACK;
 552                                         break;
 553                                 case 0x49: // Position angle
 554                                         TWDR = angle.i>>16;
 555                                         TWI_ACK;
 556                                         break;
 557                                 case 0x4A: // Position angle
 558                                         TWDR = angle.i>>8;
 559                                         TWI_ACK;
 560                                         break;
 561                                 case 0x4B: // Position angle LSB
 562                                         TWDR = angle.i;
 563                                         TWI_ACK;
 564                                         break;
 565                                 case 0xA0: // Reset reason
 566                                         TWDR = MCUCSR & 0x0f;
 567                                         MCUCSR = 0x0;
 568                                         TWI_ACK;
 569                                         break;
 570                                 case 0xA1: // TLE Error status
 571                                         TWDR = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
 572                                         TWI_ACK;
 573                                         break;
 574                                 case 0xA2: // count test
 575                                         TWDR = count_test;
 576                                         TWI_ACK;
 577                                 default:
 578                                         TWDR = 0;
 579                                         TWI_NAK;
 580                         }
 581                         ireg++;
 582                         break;
 583                 default:
 584                         TWI_RESET;
 585         }
 586 }
 587
 588
 589 static void update_hall1(void) {
 590         unsigned char status = (PINA >> 0) & 0x3;
 591         static unsigned char oldstatus=0;
 592         unsigned char diff, new;
 593
 594         new = 0;
 595         if (status & 0x1)
 596                 new = 0x3;
 597         if (status & 0x2)
 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;
 604         }
 605 }
 606
 607
 608 static void update_hall2(void) {
 609         unsigned char status = (PINA >> 4) & 0x3;
 610         static unsigned char oldstatus=0;
 611         unsigned char diff, new;
 612
 613         new = 0;
 614         if (status & 0x1)
 615                 new = 0x3;
 616         if (status & 0x2)
 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;
 623         }
 624 }
 625
 626
 627 static void update_hall3(void) {
 628         unsigned char status = (PINA >> 2) & 0x3;
 629         static unsigned char oldstatus=0;
 630         unsigned char diff, new;
 631
 632         new = 0;
 633         if (status & 0x1)
 634                 new = 0x3;
 635         if (status & 0x2)
 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;
 642         }
 643 }
 644
 645
 646 static void update_hall4(void) {
 647         unsigned char status = (PINA >> 6) & 0x3;
 648         static unsigned char oldstatus=0;
 649         unsigned char diff, new;
 650
 651         new = 0;
 652         if (status & 0x1)
 653                 new = 0x3;
 654         if (status & 0x2)
 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;
 661         }
 662 }
 663
 664
 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;
 670
 671         if (m1_old != motor1) { // update only when changed
 672                 if (motor1 == 0) {
 673                         // stop
 674                         PORTC |= (1 << 3) | (1 << 2);
 675                 } else if ((!motor1_switch && motor1 > 0) || (motor1_switch && motor1 < 0)) {
 676                         // forward
 677                         PORTC &= ~(1 << 3) & ~(1 << 2);
 678                 } else { // motor1 < 0
 679                         // backward
 680                         PORTC &= ~(1 << 2);
 681                         PORTC |=  (1 << 3);
 682                 }
 683
 684                 m1_old = motor1;
 685                 OCR1A = abs(motor1);
 686         }
 687
 688         if (m2_old != motor2) { // update only when changed
 689                 if (motor2 == 0) {
 690                         // stop
 691                         PORTC |= (1 << 5) | (1 << 4);
 692                 } else if ((!motor2_switch && motor2 > 0) || (motor2_switch && motor2 < 0)) {
 693                         // forward
 694                         PORTC &= ~(1 << 5) & ~(1 << 4);
 695                 } else { // motor2 < 0
 696                         // backward
 697                         PORTC &= ~(1 << 4);
 698                         PORTC |=  (1 << 5);
 699                 }
 700
 701                 m2_old = motor2;
 702                 OCR1B = abs(motor2);
 703         }
 704
 705         if (m3_old != motor3) { // update only when changed
 706                 if (motor3 == 0) {
 707                         // stop
 708                         PORTC |= (1 << 7) | (1 << 6);
 709                 } else if ((!motor3_switch && motor3 > 0) || (motor3_switch && motor3 < 0)) {
 710                         // forward
 711                         PORTC &= ~(1 << 7) & ~(1 << 6);
 712                 } else { // motor3 < 0
 713                         // backward
 714                         PORTC &= ~(1 << 6);
 715                         PORTC |=  (1 << 7);
 716                 }
 717
 718                 m3_old = motor3;
 719                 OCR2 = abs(motor3);
 720         }
 721
 722         if (m4_old != motor4) { // update only when changed
 723                 if (motor4 == 0) {
 724                         // stop
 725                         PORTD |= (1 << 3) | (1 << 2);
 726                 } else if ((!motor4_switch && motor4 > 0) || (motor4_switch && motor4 < 0)) {
 727                         // forward
 728                         PORTD &= ~(1 << 3) & ~(1 << 2);
 729                 } else { // motor4 < 0
 730                         // backward
 731                         PORTD &= ~(1 << 2);
 732                         PORTD |=  (1 << 3);
 733                 }
 734
 735                 m4_old = motor4;
 736                 OCR0 = abs(motor4);
 737         }
 738 }
 739
 740
 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
 747         int16_t pos2_diff;
 748         int16_t pos3_diff;
 749         int16_t pos4_diff;
 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;
 756
 757         // copy to tmp
 758         cli();
 759         cur_pos1 = pos1;
 760         cur_pos2 = pos2;
 761         cur_pos3 = pos3;
 762         cur_pos4 = pos4;
 763         sei();
 764
 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;
 769
 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;
 774
 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;
 778
 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;
 782
 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;
 786
 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);
 791
 792         // copy from tmp
 793         cli();
 794         angle.f = angle_new;
 795         pos_x.f = pos_x_new;
 796         pos_y.f = pos_y_new;
 797         speed1 = new_speed1;
 798         speed2 = new_speed2;
 799         speed3 = new_speed3;
 800         speed4 = new_speed4;
 801         cur_speed_lin = tmp_speed_lin;
 802         cur_speed_rot = tmp_speed_rot;
 803         sei();
 804
 805         pos1_last = cur_pos1;
 806         pos2_last = cur_pos2;
 807         pos3_last = cur_pos3;
 808         pos4_last = cur_pos4;
 809 }
 810
 811
 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;
 821
 822         if (motor1_mode == MOTOR_PID) {
 823                 if (speed1_wish == 0) {
 824                         motor1 = 0;
 825                         eold1 = 0;
 826                         esum1 = 0;
 827                 } else {
 828                         int16_t e = speed1_wish - speed1;
 829                         esum1+=e;
 830                         motor1 += KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
 831                         eold1 = e;
 832
 833                         if (motor1 > 255) motor1 = 255;
 834                         else if (motor1 < -255) motor1 = -255;
 835                 }
 836         }
 837         if (motor2_mode == MOTOR_PID) {
 838                 if (speed2_wish == 0) {
 839                         motor2 = 0;
 840                         eold2 = 0;
 841                         esum2 = 0;
 842                 } else {
 843                         int16_t e = speed2_wish - speed2;
 844                         esum2+=e;
 845                         motor2 += KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
 846                         eold2 = e;
 847
 848                         if (motor2 > 255) motor2 = 255;
 849                         else if (motor2 < -255) motor2 = -255;
 850                 }
 851         }
 852         if (motor3_mode == MOTOR_PID) {
 853                 if (speed3_wish == 0) {
 854                         motor3 = 0;
 855                         eold3 = 0;
 856                         esum3 = 0;
 857                 } else {
 858                         int16_t e = speed3_wish - speed3;
 859                         esum3+=e;
 860                         motor3 += KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
 861                         eold3 = e;
 862
 863                         if (motor3 > 255) motor3 = 255;
 864                         else if (motor3 < -255) motor3 = -255;
 865                 }
 866         }
 867         if (motor4_mode == MOTOR_PID) {
 868                 if (speed4_wish == 0) {
 869                         motor4 = 0;
 870                         eold4 = 0;
 871                         esum4 = 0;
 872                 } else {
 873                         int16_t e = speed4_wish - speed4;
 874                         esum4+=e;
 875                         motor4 += KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
 876                         eold4 = e;
 877
 878                         if (motor4 > 255) motor4 = 255;
 879                         else if (motor4 < -255) motor4 = -255;
 880                 }
 881         }
 882 }
 883
 884
 885 ISR(TIMER1_OVF_vect) {
 886         update_hall1();
 887         update_hall2();
 888         update_hall3();
 889         update_hall4();
 890
 891         run_update++;
 892 }
 893
 894
 895 int main(void) {
 896         // Outputs
 897         DDRB = (1 << 3);
 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);
 900         // Pullup TLEs EF
 901         PORTB = (1 << 0) | (1 << 1) | (1 << 2);
 902         PORTD = (1 << 6);
 903
 904         bootloader = 0x00;
 905         setup_uart(9600);
 906         uart_setup_stdout();
 907
 908         // I2C
 909         TWAR = 0x50;
 910         TWI_RESET;
 911
 912         // Motor 1 & 2
 913         // Timer 1: Fast PWM inverting mode, Top=256 => 15.625kHz
 914         // Prescaler=1
 915         TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << COM1A0) | (1 << COM1B0) | (1 << WGM10);
 916         TCCR1B = (1 << WGM12) | (1 << CS10);
 917         OCR1A = 0;
 918         OCR1B = 0;
 919
 920         // Motor 3
 921         // Timer 2: Fast PWM inverting mode, Top=256
 922         // Prescaler=1
 923         TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << COM20) | (1 << CS20);
 924         OCR2 = 0;
 925
 926         // Motor 4
 927         // Timer 0: Fast PWM inverting mode, Top=256
 928         // Prescaler=1
 929         TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << COM00) | (1 << CS00);
 930         OCR0 = 0;
 931
 932         printf("\r\nStart\r\n");
 933
 934         set_sleep_mode(SLEEP_MODE_IDLE);
 935         // Enable Timer 1 Overflow Interrupt
 936         TIMSK = (1 << TOIE1);
 937         sei();
 938
 939         while(1) {
 940                 switch(ireg) {
 941                         case 0xff: // Magic reg that starts the bootloader
 942                                 if (bootloader == 0xa5) {
 943                                         cli();
 944                                         {
 945                                                 void (*start)(void) = (void*)0x1800;
 946                                                 start();
 947                                         }
 948                                 }
 949                                 break;
 950                 }
 951
 952                 if (cmd_vel.bUpdate) {
 953                         float speed_wish_right, speed_wish_left;
 954                         float speed, angle;
 955
 956                         cli();
 957                         speed = cmd_vel.speed;
 958                         angle = cmd_vel.angle;
 959                         cmd_vel.bUpdate = 0;
 960                         sei();
 961
 962                         speed_wish_right = angle*M_PI*WHEEL_DIST/2 + speed;
 963                         speed_wish_left = speed*2-speed_wish_right;
 964
 965                         speed_wish_left*=STEP_PER_M;
 966                         speed_wish_right*=STEP_PER_M;
 967
 968                         if (speed_wish_left > 0 && aft_handicap_fwd > 0) {
 969                                 speed1_wish = speed_wish_left * (100-aft_handicap_fwd)/100.0;
 970                         } else {
 971                                 speed1_wish = speed_wish_left;
 972                         }
 973                         if (speed_wish_left < 0 && front_handicap_bwd > 0) {
 974                                 speed2_wish = speed_wish_left * (100-front_handicap_bwd)/100.0;
 975                         } else {
 976                                 speed2_wish = speed_wish_left;
 977                         }
 978                         if (speed_wish_right < 0 && front_handicap_bwd > 0) {
 979                                 speed3_wish = speed_wish_right * (100-front_handicap_bwd)/100.0;
 980                         } else {
 981                                 speed3_wish = speed_wish_right;
 982                         }
 983                         if (speed_wish_right > 0 && aft_handicap_fwd > 0) {
 984                                 speed4_wish = speed_wish_right * (100-aft_handicap_fwd)/100.0;
 985                         } else {
 986                                 speed4_wish = speed_wish_right;
 987                         }
 988                         motor1_mode = MOTOR_PID;
 989                         motor2_mode = MOTOR_PID;
 990                         motor3_mode = MOTOR_PID;
 991                         motor4_mode = MOTOR_PID;
 992                 }
 993
 994                 if (run_update >= 156) { // ~100Hz
 995                         run_update=0;
 996
 997                         update_pos();
 998                         update_pid();
 999                         update_motor();
1000                         count_test++;
1001                 }
1002
1003                 sleep_mode();
1004         }
1005
1006         return 0;
1007 }