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  * free
  18  * 0x10 Hall 1 MSB
  19  * 0x11 Hall 1 LSB
  20  * 0x12 Hall 2 MSB
  21  * 0x13 Hall 2 LSB
  22  * 0x14 Hall 3 MSB
  23  * 0x15 Hall 3 LSB
  24  * 0x16 Hall 4 MSB
  25  * 0x17 Hall 4 LSB
  26  * free
  27  * 0x20 Motor 1 speed wish MSB
  28  * 0x21 Motor 1 speed wish LSB
  29  * 0x22 Motor 2 speed wish MSB
  30  * 0x23 Motor 2 speed wish LSB
  31  * 0x28 Left speed wish (m/s) MSB
  32  * 0x29 Left speed wish (m/s)
  33  * 0x2A Left speed wish (m/s)
  34  * 0x2B Left speed wish (m/s) LSB
  35  * 0x2C Right speed wish (m/s) MSB
  36  * 0x2D Right speed wish (m/s)
  37  * 0x2E Right speed wish (m/s)
  38  * 0x2F Right speed wish (m/s) LSB
  39  * 0x30 Motor 1 speed MSB
  40  * 0x31 Motor 1 speed LSB
  41  * 0x32 Motor 2 speed MSB
  42  * 0x33 Motor 2 speed LSB
  43  * 0x38 Speed (m/s) MSB
  44  * 0x39 Speed (m/s)
  45  * 0x3A Speed (m/s)
  46  * 0x3B Speed (m/s) LSB
  47  * 0x3C Angle (rad/s) MSB
  48  * 0x3D Angle (rad/s)
  49  * 0x3E Angle (rad/s)
  50  * 0x3F Angle (rad/s) LSB
  51  * 0x40 Position x (m) MSB
  52  * 0x41 Position x (m)
  53  * 0x42 Position x (m)
  54  * 0x43 Position x (m) LSB
  55  * 0x44 Position y (m) MSB
  56  * 0x45 Position y (m)
  57  * 0x46 Position y (m)
  58  * 0x47 Position y (m) LSB
  59  * 0x48 Position angle MSB
  60  * 0x49 Position angle
  61  * 0x4A Position angle
  62  * 0x4B Position angle LSB
  63  * free
  64  * 0x50 speed wish (m/s) MSB
  65  * 0x51 speed wish (m/s)
  66  * 0x52 speed wish (m/s)
  67  * 0x53 speed wish (m/s) LSB
  68  * 0x54 angle wish (rad/s) MSB
  69  * 0x55 angle wish (rad/s)
  70  * 0x56 angle wish (rad/s)
  71  * 0x57 angle wish (rad/s) LSB
  72  * free
  73  * 0x90 Motor 1 switch
  74  * 0x91 Motor 2 switch
  75  * free
  76  * 0xA0 Reset reason
  77  * 0xA1 Error status
  78  * 0xA2 count test
  79  * free
  80  * 0xff Bootloader
  81  */
  82
  83
  84 #define TWI_ACK         TWCR = (1<<TWEA) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
  85 #define TWI_RESET       TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
  86 #define TWI_NAK         TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
  87
  88 #define KP 0.045
  89 #define KI 2.298
  90 #define KD 0.0004
  91 #define PID_T 0.01
  92 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:34, real wheel diameter: 0.12454m
  93 #define STEP_PER_M_AVG 4171.4
  94 #define STEP_PER_M_LEFT (STEP_PER_M_AVG)
  95 #define STEP_PER_M_RIGHT (STEP_PER_M_AVG)
  96 #define WHEEL_DIST 0.36923 // Real: 0.252
  97
  98 enum mode {
  99         MOTOR_MANUAL,
 100         MOTOR_PID
 101 };
 102
 103 typedef union {
 104         float f;
 105         uint32_t i;
 106 } ufloat_t;
 107
 108 static volatile struct {
 109         float speed;
 110         float angle;
 111         uint8_t bUpdate;
 112 } cmd_vel = {0, 0, 0};
 113
 114 static volatile uint8_t ireg=0;
 115 static volatile uint8_t bootloader=0;
 116 static volatile int16_t motor1=0; // -255..+255
 117 static volatile int16_t motor2=0;
 118 static volatile int16_t pos1=0; // step
 119 static volatile int16_t pos2=0;
 120 static volatile int16_t pos3=0;
 121 static volatile int16_t pos4=0;
 122 static volatile enum mode motor1_mode=MOTOR_MANUAL;
 123 static volatile enum mode motor2_mode=MOTOR_MANUAL;
 124 static volatile uint8_t motor1_switch=0;
 125 static volatile uint8_t motor2_switch=1;
 126 static volatile int16_t speed1_wish=0; // step/s
 127 static volatile int16_t speed2_wish=0;
 128 static volatile uint8_t run_update=0;
 129 static volatile int16_t speed1=0; // step/s
 130 static volatile int16_t speed2=0;
 131 static volatile int16_t speed3=0;
 132 static volatile int16_t speed4=0;
 133 static volatile int16_t speed_l=0;
 134 static volatile int16_t speed_r=0;
 135 static volatile ufloat_t pos_x={0.0};
 136 static volatile ufloat_t pos_y={0.0};
 137 static volatile ufloat_t angle={0.0};
 138 static volatile float cur_speed_lin=0;
 139 static volatile float cur_speed_rot=0;
 140 static volatile uint8_t count_test=0;
 141 static volatile uint8_t error_state=0;
 142
 143 ISR(TWI_vect)
 144 {
 145         static uint8_t tmp=0;
 146         static int16_t tmp16=0;
 147         static ufloat_t tmp_speed;
 148         static ufloat_t tmp_angle;
 149
 150         switch (TWSR & 0xF8)
 151         {
 152                 case 0x60: // start write
 153                         TWI_ACK;
 154                         ireg = 0;
 155                         break;
 156                 case 0x80: // write
 157                         switch(ireg) {
 158                                 case 0x00: // register select
 159                                         ireg = TWDR;
 160                                         ireg--; // because we do ireg++ below
 161                                         TWI_ACK;
 162                                         break;
 163                                 case 0x01: // Motor 1 MSB
 164                                         tmp = TWDR;
 165                                         TWI_ACK;
 166                                         break;
 167                                 case 0x02: // Motor 1 LSB
 168                                         motor1 = tmp<<8 | TWDR;
 169                                         motor1_mode = MOTOR_MANUAL;
 170                                         TWI_ACK;
 171                                         break;
 172                                 case 0x03: // Motor 2 MSB
 173                                         tmp = TWDR;
 174                                         TWI_ACK;
 175                                         break;
 176                                 case 0x04: // Motor 2 LSB
 177                                         motor2 = tmp<<8 | TWDR;
 178                                         motor2_mode = MOTOR_MANUAL;
 179                                         TWI_ACK;
 180                                         break;
 181                                 case 0x20: // Motor 1 speed wish MSB
 182                                         tmp = TWDR;
 183                                         TWI_ACK;
 184                                         break;
 185                                 case 0x21: // Motor 1 speed wish LSB
 186                                         speed1_wish = tmp<<8 | TWDR;
 187                                         motor1_mode = MOTOR_PID;
 188                                         TWI_ACK;
 189                                         break;
 190                                 case 0x22: // Motor 2 speed wish MSB
 191                                         tmp = TWDR;
 192                                         TWI_ACK;
 193                                         break;
 194                                 case 0x23: // Motor 2 speed wish LSB
 195                                         speed2_wish = tmp<<8 | TWDR;
 196                                         motor2_mode = MOTOR_PID;
 197                                         TWI_ACK;
 198                                         break;
 199                                 case 0x28: // Left speed wish MSB
 200                                         tmp_speed.i = TWDR;
 201                                         TWI_ACK;
 202                                         break;
 203                                 case 0x29: // Left speed wish
 204                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 205                                         TWI_ACK;
 206                                         break;
 207                                 case 0x2A: // Left speed wish
 208                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 209                                         TWI_ACK;
 210                                         break;
 211                                 case 0x2B: // Left speed wish LSB
 212                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 213                                         speed1_wish = tmp_speed.f*STEP_PER_M_LEFT;
 214                                         speed2_wish = tmp_speed.f*STEP_PER_M_LEFT;
 215                                         motor1_mode = MOTOR_PID;
 216                                         motor2_mode = MOTOR_PID;
 217                                         TWI_ACK;
 218                                         break;
 219                                 case 0x2C: // Right speed wish MSB
 220                                         tmp_speed.i = TWDR;
 221                                         TWI_ACK;
 222                                         break;
 223                                 case 0x2D: // Right speed wish
 224                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 225                                         TWI_ACK;
 226                                         break;
 227                                 case 0x2E: // Right speed wish
 228                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 229                                         TWI_ACK;
 230                                         break;
 231                                 case 0x2F: // Right speed wish LSB
 232                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 233                                         speed1_wish = tmp_speed.f*STEP_PER_M_RIGHT;
 234                                         speed2_wish = tmp_speed.f*STEP_PER_M_RIGHT;
 235                                         motor1_mode = MOTOR_PID;
 236                                         motor2_mode = MOTOR_PID;
 237                                         TWI_ACK;
 238                                         break;
 239                                 case 0x50: // speed wish MSB
 240                                         tmp_speed.i = TWDR;
 241                                         TWI_ACK;
 242                                         break;
 243                                 case 0x51: // speed wish
 244                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 245                                         TWI_ACK;
 246                                         break;
 247                                 case 0x52: // speed wish
 248                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 249                                         TWI_ACK;
 250                                         break;
 251                                 case 0x53: // speed wish LSB
 252                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 253                                         cmd_vel.speed = tmp_speed.f;
 254                                         TWI_ACK;
 255                                         break;
 256                                 case 0x54: // angle wish MSB
 257                                         tmp_angle.i = TWDR;
 258                                         TWI_ACK;
 259                                         break;
 260                                 case 0x55: // angle wish
 261                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 262                                         TWI_ACK;
 263                                         break;
 264                                 case 0x56: // angle wish
 265                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 266                                         TWI_ACK;
 267                                         break;
 268                                 case 0x57: // angle wish LSB
 269                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 270                                         cmd_vel.angle = tmp_angle.f;
 271                                         cmd_vel.bUpdate = 1;
 272                                         TWI_ACK;
 273                                         break;
 274                                 case 0x90: // Motor 1 switch
 275                                         motor1_switch = TWDR;
 276                                         TWI_ACK;
 277                                         break;
 278                                 case 0x91: // Motor 2 switch
 279                                         motor2_switch = TWDR;
 280                                         TWI_ACK;
 281                                         break;
 282                                 case 0xff: // bootloader
 283                                         bootloader = TWDR;
 284                                 default:
 285                                         TWI_NAK;
 286                         }
 287                         ireg++;
 288                         break;
 289                 case 0xA8: // start read
 290                 case 0xB8: // read
 291                         switch(ireg) {
 292                                 case 0x02: // Motor 1 PWM
 293                                         TWDR = OCR1A;
 294                                         TWI_ACK;
 295                                         break;
 296                                 case 0x04: // Motor 2 PWM
 297                                         TWDR = OCR1B;
 298                                         TWI_ACK;
 299                                         break;
 300                                 case 0x10: // Hall 1 MSB
 301                                         tmp16 = pos1;
 302                                         TWDR = tmp16>>8;
 303                                         TWI_ACK;
 304                                         break;
 305                                 case 0x11: // Hall 1 LSB
 306                                         TWDR = tmp16;
 307                                         TWI_ACK;
 308                                         break;
 309                                 case 0x12: // Hall 2 MSB
 310                                         tmp16 = pos2;
 311                                         TWDR = tmp16>>8;
 312                                         TWI_ACK;
 313                                         break;
 314                                 case 0x13: // Hall 2 LSB
 315                                         TWDR = tmp16;
 316                                         TWI_ACK;
 317                                         break;
 318                                 case 0x14: // Hall 3 MSB
 319                                         tmp16 = pos3;
 320                                         TWDR = tmp16>>8;
 321                                         TWI_ACK;
 322                                         break;
 323                                 case 0x15: // Hall 3 LSB
 324                                         TWDR = tmp16;
 325                                         TWI_ACK;
 326                                         break;
 327                                 case 0x16: // Hall 4 MSB
 328                                         tmp16 = pos4;
 329                                         TWDR = tmp16>>8;
 330                                         TWI_ACK;
 331                                         break;
 332                                 case 0x17: // Hall 4 LSB
 333                                         TWDR = tmp16;
 334                                         TWI_ACK;
 335                                         break;
 336                                 case 0x20: // Motor 1 speed wish MSB
 337                                         TWDR = speed1_wish>>8;
 338                                         TWI_ACK;
 339                                         break;
 340                                 case 0x21: // Motor 1 speed wish LSB
 341                                         TWDR = speed1_wish;
 342                                         TWI_ACK;
 343                                         break;
 344                                 case 0x22: // Motor 2 speed wish MSB
 345                                         TWDR = speed2_wish>>8;
 346                                         TWI_ACK;
 347                                         break;
 348                                 case 0x23: // Motor 2 speed wish LSB
 349                                         TWDR = speed2_wish;
 350                                         TWI_ACK;
 351                                         break;
 352                                 case 0x30: // Motor 1 speed MSB
 353                                         TWDR = speed1>>8;
 354                                         TWI_ACK;
 355                                         break;
 356                                 case 0x31: // Motor 1 speed LSB
 357                                         TWDR = speed1;
 358                                         TWI_ACK;
 359                                         break;
 360                                 case 0x32: // Motor 2 speed MSB
 361                                         TWDR = speed2>>8;
 362                                         TWI_ACK;
 363                                         break;
 364                                 case 0x33: // Motor 2 speed LSB
 365                                         TWDR = speed2;
 366                                         TWI_ACK;
 367                                         break;
 368                                 case 0x34: // Motor 3 speed MSB
 369                                         TWDR = speed3>>8;
 370                                         TWI_ACK;
 371                                         break;
 372                                 case 0x35: // Motor 3 speed LSB
 373                                         TWDR = speed3;
 374                                         TWI_ACK;
 375                                         break;
 376                                 case 0x36: // Motor 4 speed MSB
 377                                         TWDR = speed4>>8;
 378                                         TWI_ACK;
 379                                         break;
 380                                 case 0x37: // Motor 4 speed LSB
 381                                         TWDR = speed4;
 382                                         TWI_ACK;
 383                                         break;
 384                                 case 0x38: // speed MSB
 385                                         tmp_speed.f = cur_speed_lin;
 386                                         TWDR = tmp_speed.i>>24;
 387                                         TWI_ACK;
 388                                         break;
 389                                 case 0x39: // speed
 390                                         TWDR = tmp_speed.i>>16;
 391                                         TWI_ACK;
 392                                         break;
 393                                 case 0x3A: // speed
 394                                         TWDR = tmp_speed.i>>8;
 395                                         TWI_ACK;
 396                                         break;
 397                                 case 0x3B: // speed LSB
 398                                         TWDR = tmp_speed.i;
 399                                         TWI_ACK;
 400                                         break;
 401                                 case 0x3C: // angle MSB
 402                                         tmp_angle.f = cur_speed_rot;
 403                                         TWDR = tmp_angle.i>>24;
 404                                         TWI_ACK;
 405                                         break;
 406                                 case 0x3D: // angle
 407                                         TWDR = tmp_angle.i>>16;
 408                                         TWI_ACK;
 409                                         break;
 410                                 case 0x3E: // angle
 411                                         TWDR = tmp_angle.i>>8;
 412                                         TWI_ACK;
 413                                         break;
 414                                 case 0x3F: // angle LSB
 415                                         TWDR = angle.i;
 416                                         TWI_ACK;
 417                                         break;
 418                                 case 0x40: // Position x MSB
 419                                         TWDR = pos_x.i>>24;
 420                                         TWI_ACK;
 421                                         break;
 422                                 case 0x41: // Position x
 423                                         TWDR = pos_x.i>>16;
 424                                         TWI_ACK;
 425                                         break;
 426                                 case 0x42: // Position x
 427                                         TWDR = pos_x.i>>8;
 428                                         TWI_ACK;
 429                                         break;
 430                                 case 0x43: // Position x LSB
 431                                         TWDR = pos_x.i;
 432                                         TWI_ACK;
 433                                         break;
 434                                 case 0x44: // Position y MSB
 435                                         TWDR = pos_y.i>>24;
 436                                         TWI_ACK;
 437                                         break;
 438                                 case 0x45: // Position y
 439                                         TWDR = pos_y.i>>16;
 440                                         TWI_ACK;
 441                                         break;
 442                                 case 0x46: // Position y
 443                                         TWDR = pos_y.i>>8;
 444                                         TWI_ACK;
 445                                         break;
 446                                 case 0x47: // Position y LSB
 447                                         TWDR = pos_y.i;
 448                                         TWI_ACK;
 449                                         break;
 450                                 case 0x48: // Position angle MSB
 451                                         TWDR = angle.i>>24;
 452                                         TWI_ACK;
 453                                         break;
 454                                 case 0x49: // Position angle
 455                                         TWDR = angle.i>>16;
 456                                         TWI_ACK;
 457                                         break;
 458                                 case 0x4A: // Position angle
 459                                         TWDR = angle.i>>8;
 460                                         TWI_ACK;
 461                                         break;
 462                                 case 0x4B: // Position angle LSB
 463                                         TWDR = angle.i;
 464                                         TWI_ACK;
 465                                         break;
 466                                 case 0xA0: // Reset reason
 467                                         TWDR = MCUCSR & 0x0f;
 468                                         MCUCSR = 0x0;
 469                                         TWI_ACK;
 470                                         break;
 471                                 case 0xA1: // TLE Error status
 472                                         TWDR = error_state;
 473                                         TWI_ACK;
 474                                         break;
 475                                 case 0xA2: // count test
 476                                         TWDR = count_test;
 477                                         TWI_ACK;
 478                                 default:
 479                                         TWDR = 0;
 480                                         TWI_NAK;
 481                         }
 482                         ireg++;
 483                         break;
 484                 default:
 485                         TWI_RESET;
 486         }
 487 }
 488
 489
 490 static void update_hall1(void) {
 491         unsigned char status = (PINA >> 0) & 0x3;
 492         static unsigned char oldstatus=0;
 493         unsigned char diff, new;
 494
 495         new = 0;
 496         if (status & 0x1)
 497                 new = 0x3;
 498         if (status & 0x2)
 499                 new ^= 0x1;                                     // convert gray to binary
 500         diff = oldstatus - new;                         // difference last - new
 501         if (diff & 0x1) {                               // bit 0 = value (1)
 502                 oldstatus = new;                                        // store new as next last
 503                 if (motor1_switch) pos1 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
 504                 else pos1 += (diff & 2) - 1;
 505         }
 506 }
 507
 508
 509 static void update_hall2(void) {
 510         unsigned char status = (PINA >> 4) & 0x3;
 511         static unsigned char oldstatus=0;
 512         unsigned char diff, new;
 513
 514         new = 0;
 515         if (status & 0x1)
 516                 new = 0x3;
 517         if (status & 0x2)
 518                 new ^= 0x1;                                     // convert gray to binary
 519         diff = oldstatus - new;                         // difference last - new
 520         if (diff & 0x1) {                               // bit 0 = value (1)
 521                 oldstatus = new;                                        // store new as next last
 522                 if (motor1_switch) pos2 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
 523                 else pos2 += (diff & 2) - 1;
 524         }
 525 }
 526
 527
 528 static void update_hall3(void) {
 529         unsigned char status = (PINA >> 2) & 0x3;
 530         static unsigned char oldstatus=0;
 531         unsigned char diff, new;
 532
 533         new = 0;
 534         if (status & 0x1)
 535                 new = 0x3;
 536         if (status & 0x2)
 537                 new ^= 0x1;                                     // convert gray to binary
 538         diff = oldstatus - new;                         // difference last - new
 539         if (diff & 0x1) {                               // bit 0 = value (1)
 540                 oldstatus = new;                                        // store new as next last
 541                 if (motor2_switch) pos3 += (diff & 2) - 1;              // bit 1 = direction (+/-)
 542                 else pos3 -= (diff & 2) - 1;
 543         }
 544 }
 545
 546
 547 static void update_hall4(void) {
 548         unsigned char status = (PINA >> 6) & 0x3;
 549         static unsigned char oldstatus=0;
 550         unsigned char diff, new;
 551
 552         new = 0;
 553         if (status & 0x1)
 554                 new = 0x3;
 555         if (status & 0x2)
 556                 new ^= 0x1;                                     // convert gray to binary
 557         diff = oldstatus - new;                         // difference last - new
 558         if (diff & 0x1) {                               // bit 0 = value (1)
 559                 oldstatus = new;                                        // store new as next last
 560                 if (motor2_switch) pos4 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
 561                 else pos4 += (diff & 2) - 1;
 562         }
 563 }
 564
 565
 566 static void update_motor(void) {
 567         static int16_t m1_old=SHRT_MIN;
 568         static int16_t m2_old=SHRT_MIN;
 569
 570         error_state = ~(PINB & 0x03);
 571
 572         if (motor1_mode == MOTOR_PID && bit_is_set(error_state, 0)) {
 573                 // if error and running: stop
 574                 if (m1_old != 0) motor1 = 0;
 575                 // if we start motor in error state: start with full power
 576                 else if (motor1 > 0) motor1 = 255;
 577                 else if (motor1 < 0) motor1 = -255;
 578         }
 579         if (motor2_mode == MOTOR_PID && bit_is_set(error_state, 1)) {
 580                 // if error and running: stop
 581                 if (m2_old != 0) motor2 = 0;
 582                 // if we start motor in error state: start with full power
 583                 else if (motor2 > 0) motor2 = 255;
 584                 else if (motor2 < 0) motor2 = -255;
 585         }
 586
 587         if (m1_old != motor1) { // update only when changed
 588                 if (motor1 == 0) {
 589                         // stop
 590                         PORTC &= ~(1 << 3) & ~(1 << 2);
 591                 } else if ((!motor1_switch && motor1 > 0) || (motor1_switch && motor1 < 0)) {
 592                         // forward
 593                         PORTC |=  (1 << 2);
 594                         PORTC &= ~(1 << 3);
 595                 } else { // motor1 < 0
 596                         // backward
 597                         PORTC &= ~(1 << 2);
 598                         PORTC |=  (1 << 3);
 599                 }
 600
 601                 m1_old = motor1;
 602                 OCR1A = abs(motor1);
 603         }
 604
 605         if (m2_old != motor2) { // update only when changed
 606                 if (motor2 == 0) {
 607                         // stop
 608                         PORTC &= ~(1 << 5) & ~(1 << 4);
 609                 } else if ((!motor2_switch && motor2 > 0) || (motor2_switch && motor2 < 0)) {
 610                         // forward
 611                         PORTC |=  (1 << 4);
 612                         PORTC &= ~(1 << 5);
 613                 } else { // motor2 < 0
 614                         // backward
 615                         PORTC &= ~(1 << 4);
 616                         PORTC |=  (1 << 5);
 617                 }
 618
 619                 m2_old = motor2;
 620                 OCR1B = abs(motor2);
 621         }
 622 }
 623
 624
 625 static void update_pos(void) {
 626         static int16_t pos1_last=0;
 627         static int16_t pos2_last=0;
 628         static int16_t pos3_last=0;
 629         static int16_t pos4_last=0;
 630         int16_t pos1_diff; // steps
 631         int16_t pos2_diff;
 632         int16_t pos3_diff;
 633         int16_t pos4_diff;
 634         float diff_left_m, diff_right_m, angle_diff, translation;
 635         float pos_x_new, pos_y_new, angle_new;
 636         float tmp_speed_lin, tmp_speed_rot;
 637         int16_t cur_pos1, cur_pos2, cur_pos3, cur_pos4;
 638         int16_t new_speed1, new_speed2, new_speed3, new_speed4;
 639
 640         // copy to tmp
 641         cli();
 642         cur_pos1 = pos1;
 643         cur_pos2 = pos2;
 644         cur_pos3 = pos3;
 645         cur_pos4 = pos4;
 646         sei();
 647
 648         pos1_diff = cur_pos1 - pos1_last;
 649         pos2_diff = cur_pos2 - pos2_last;
 650         pos3_diff = cur_pos3 - pos3_last;
 651         pos4_diff = cur_pos4 - pos4_last;
 652
 653         new_speed1 = pos1_diff/PID_T;
 654         new_speed2 = pos2_diff/PID_T;
 655         new_speed3 = pos3_diff/PID_T;
 656         new_speed4 = pos4_diff/PID_T;
 657
 658         diff_left_m = (pos1_diff + pos2_diff)/(2*STEP_PER_M_LEFT);
 659         diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M_RIGHT);
 660         angle_diff = (diff_right_m - diff_left_m) / WHEEL_DIST;
 661
 662         angle_new = angle.f + angle_diff;
 663         if (angle_new > 2*M_PI) angle_new-=2*M_PI;
 664         else if (angle_new < -2*M_PI) angle_new+=2*M_PI;
 665
 666         translation = (diff_left_m + diff_right_m)/2.0;
 667         pos_x_new = pos_x.f + cos(angle_new)*translation;
 668         pos_y_new = pos_y.f + sin(angle_new)*translation;
 669
 670         speed_l = (new_speed1+new_speed2)/2;
 671         speed_r = (new_speed3+new_speed4)/2;
 672         tmp_speed_lin = (speed_l + speed_r)/(2.0*STEP_PER_M_AVG);
 673         tmp_speed_rot = (speed_r - speed_l)/(M_PI*WHEEL_DIST*STEP_PER_M_AVG);
 674
 675         // copy from tmp
 676         cli();
 677         angle.f = angle_new;
 678         pos_x.f = pos_x_new;
 679         pos_y.f = pos_y_new;
 680         speed1 = new_speed1;
 681         speed2 = new_speed2;
 682         speed3 = new_speed3;
 683         speed4 = new_speed4;
 684         cur_speed_lin = tmp_speed_lin;
 685         cur_speed_rot = tmp_speed_rot;
 686         sei();
 687
 688         pos1_last = cur_pos1;
 689         pos2_last = cur_pos2;
 690         pos3_last = cur_pos3;
 691         pos4_last = cur_pos4;
 692 }
 693
 694
 695 static void update_pid(void) {
 696         static int16_t eold1=0;
 697         static int16_t eold2=0;
 698         static int32_t esum1=0;
 699         static int32_t esum2=0;
 700
 701         if (motor1_mode == MOTOR_PID) {
 702                 if (speed1_wish == 0) {
 703                         motor1 = 0;
 704                         eold1 = 0;
 705                         esum1 = 0;
 706                 } else {
 707                         int16_t e = speed1_wish - speed_l;
 708                         esum1+=e;
 709                         motor1 = KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
 710                         eold1 = e;
 711
 712                         if (motor1 > 255) motor1 = 255;
 713                         else if (motor1 < -255) motor1 = -255;
 714                 }
 715         }
 716         if (motor2_mode == MOTOR_PID) {
 717                 if (speed2_wish == 0) {
 718                         motor2 = 0;
 719                         eold2 = 0;
 720                         esum2 = 0;
 721                 } else {
 722                         int16_t e = speed2_wish - speed_r;
 723                         esum2+=e;
 724                         motor2 = KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
 725                         eold2 = e;
 726
 727                         if (motor2 > 255) motor2 = 255;
 728                         else if (motor2 < -255) motor2 = -255;
 729                 }
 730         }
 731 }
 732
 733
 734 ISR(TIMER1_OVF_vect) {
 735         update_hall1();
 736         update_hall2();
 737         update_hall3();
 738         update_hall4();
 739
 740         run_update++;
 741 }
 742
 743
 744 int main(void) {
 745         // Outputs
 746         DDRB = (1 << 3);
 747         DDRC = (1 << 7) | (1 << 6) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
 748         DDRD = (1 << 7) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
 749
 750         bootloader = 0x00;
 751         setup_uart(9600);
 752         uart_setup_stdout();
 753
 754         // I2C
 755         TWAR = 0x50;
 756         TWI_RESET;
 757
 758         // Motor 1 & 2
 759         // Timer 1: Fast PWM non-inverting mode, Top=256 => 15.625kHz
 760         // Prescaler=1
 761         TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM10);
 762         TCCR1B = (1 << WGM12) | (1 << CS10);
 763         OCR1A = 0;
 764         OCR1B = 0;
 765
 766         printf("\r\nStart\r\n");
 767
 768         set_sleep_mode(SLEEP_MODE_IDLE);
 769         // Enable Timer 1 Overflow Interrupt
 770         TIMSK = (1 << TOIE1);
 771         sei();
 772
 773         while(1) {
 774                 switch(ireg) {
 775                         case 0xff: // Magic reg that starts the bootloader
 776                                 if (bootloader == 0xa5) {
 777                                         cli();
 778                                         {
 779                                                 void (*start)(void) = (void*)0x1800;
 780                                                 start();
 781                                         }
 782                                 }
 783                                 break;
 784                 }
 785
 786                 if (cmd_vel.bUpdate) {
 787                         float speed_wish_right, speed_wish_left;
 788                         float speed, angle;
 789
 790                         cli();
 791                         speed = cmd_vel.speed;
 792                         angle = cmd_vel.angle;
 793                         cmd_vel.bUpdate = 0;
 794                         sei();
 795
 796                         speed_wish_right = angle*M_PI*WHEEL_DIST/2 + speed;
 797                         speed_wish_left = speed*2-speed_wish_right;
 798
 799                         speed_wish_left*=STEP_PER_M_LEFT;
 800                         speed_wish_right*=STEP_PER_M_RIGHT;
 801
 802                         speed1_wish = speed_wish_left;
 803                         speed2_wish = speed_wish_right;
 804                         motor1_mode = MOTOR_PID;
 805                         motor2_mode = MOTOR_PID;
 806                 }
 807
 808                 if (run_update >= 156) { // ~100Hz
 809                         run_update=0;
 810
 811                         update_pos();
 812                         update_pid();
 813                         update_motor();
 814                         count_test++;
 815                 }
 816
 817                 sleep_mode();
 818         }
 819
 820         return 0;
 821 }