6 #include <avr/interrupt.h>
11 * I2C Register Map (8 Bit)
12 * 0x00 Register select
13 * 0x01 Motor 1 PWM MSB
14 * 0x02 Motor 1 PWM LSB
15 * 0x03 Motor 2 PWM MSB
16 * 0x04 Motor 2 PWM LSB
17 * 0x05 Motor 3 PWM MSB
18 * 0x06 Motor 3 PWM LSB
19 * 0x07 Motor 4 PWM MSB
20 * 0x08 Motor 4 PWM LSB
31 * 0x20 Motor 1 speed wish MSB
32 * 0x21 Motor 1 speed wish LSB
33 * 0x22 Motor 2 speed wish MSB
34 * 0x23 Motor 2 speed wish LSB
35 * 0x24 Motor 3 speed wish MSB
36 * 0x25 Motor 3 speed wish LSB
37 * 0x26 Motor 4 speed wish MSB
38 * 0x27 Motor 4 speed wish LSB
39 * 0x28 Left speed wish (m/s) MSB
40 * 0x29 Left speed wish (m/s)
41 * 0x2A Left speed wish (m/s)
42 * 0x2B Left speed wish (m/s) LSB
43 * 0x2C Right speed wish (m/s) MSB
44 * 0x2D Right speed wish (m/s)
45 * 0x2E Right speed wish (m/s)
46 * 0x2F Right speed wish (m/s) LSB
47 * 0x30 Motor 1 speed MSB
48 * 0x31 Motor 1 speed LSB
49 * 0x32 Motor 2 speed MSB
50 * 0x33 Motor 2 speed LSB
51 * 0x34 Motor 3 speed MSB
52 * 0x35 Motor 3 speed LSB
53 * 0x36 Motor 4 speed MSB
54 * 0x37 Motor 4 speed LSB
55 * 0x38 Speed (m/s) MSB
58 * 0x3B Speed (m/s) LSB
59 * 0x3C Angle (rad/s) MSB
62 * 0x3F Angle (rad/s) LSB
63 * 0x40 Position x (m) MSB
66 * 0x43 Position x (m) LSB
67 * 0x44 Position y (m) MSB
70 * 0x47 Position y (m) LSB
71 * 0x48 Position angle MSB
74 * 0x4B Position angle LSB
76 * 0x50 speed wish (m/s) MSB
77 * 0x51 speed wish (m/s)
78 * 0x52 speed wish (m/s)
79 * 0x53 speed wish (m/s) LSB
80 * 0x54 angle wish (rad/s) MSB
81 * 0x55 angle wish (rad/s)
82 * 0x56 angle wish (rad/s)
83 * 0x57 angle wish (rad/s) LSB
100 #define TWI_ACK TWCR = (1<<TWEA) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
101 #define TWI_RESET TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
102 #define TWI_NAK TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
108 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:47, real wheel diameter: 0.12454m
109 #define STEP_PER_M_AVG 5766.1
110 #define STEP_PER_M_LEFT (STEP_PER_M_AVG)
111 #define STEP_PER_M_RIGHT (STEP_PER_M_AVG)
112 #define WHEEL_DIST 0.36923 // Real: 0.252
124 static volatile struct {
128 } cmd_vel = {0, 0, 0};
130 static volatile uint8_t ireg=0;
131 static volatile uint8_t bootloader=0;
132 static volatile int16_t motor1=0; // -255..+255
133 static volatile int16_t motor2=0;
134 static volatile int16_t motor3=0;
135 static volatile int16_t motor4=0;
136 static volatile int16_t pos1=0; // step
137 static volatile int16_t pos2=0;
138 static volatile int16_t pos3=0;
139 static volatile int16_t pos4=0;
140 static volatile enum mode motor1_mode=MOTOR_MANUAL;
141 static volatile enum mode motor2_mode=MOTOR_MANUAL;
142 static volatile enum mode motor3_mode=MOTOR_MANUAL;
143 static volatile enum mode motor4_mode=MOTOR_MANUAL;
144 static volatile uint8_t motor1_switch=1;
145 static volatile uint8_t motor2_switch=1;
146 static volatile uint8_t motor3_switch=0;
147 static volatile uint8_t motor4_switch=0;
148 static volatile int16_t speed1_wish=0; // step/s
149 static volatile int16_t speed2_wish=0;
150 static volatile int16_t speed3_wish=0;
151 static volatile int16_t speed4_wish=0;
152 static volatile int16_t speed1_wish_old=0;
153 static volatile int16_t speed2_wish_old=0;
154 static volatile int16_t speed3_wish_old=0;
155 static volatile int16_t speed4_wish_old=0;
156 static volatile uint8_t run_update=0;
157 static volatile int16_t speed1=0; // step/s
158 static volatile int16_t speed2=0;
159 static volatile int16_t speed3=0;
160 static volatile int16_t speed4=0;
161 static volatile ufloat_t pos_x={0.0};
162 static volatile ufloat_t pos_y={0.0};
163 static volatile ufloat_t angle={0.0};
164 static volatile float cur_speed_lin=0;
165 static volatile float cur_speed_rot=0;
166 static volatile uint8_t count_test=0;
167 static volatile uint8_t front_handicap=0;
168 static volatile uint8_t aft_handicap=0;
169 static volatile uint8_t error_state=0;
173 static uint8_t tmp=0;
174 static int16_t tmp16=0;
175 static ufloat_t tmp_speed;
176 static ufloat_t tmp_angle;
180 case 0x60: // start write
186 case 0x00: // register select
188 ireg--; // because we do ireg++ below
191 case 0x01: // Motor 1 MSB
195 case 0x02: // Motor 1 LSB
196 motor1 = tmp<<8 | TWDR;
197 motor1_mode = MOTOR_MANUAL;
200 case 0x03: // Motor 2 MSB
204 case 0x04: // Motor 2 LSB
205 motor2 = tmp<<8 | TWDR;
206 motor2_mode = MOTOR_MANUAL;
209 case 0x05: // Motor 3 MSB
213 case 0x06: // Motor 3 LSB
214 motor3 = tmp<<8 | TWDR;
215 motor3_mode = MOTOR_MANUAL;
218 case 0x07: // Motor 4 MSB
222 case 0x08: // Motor 4 LSB
223 motor4 = tmp<<8 | TWDR;
224 motor4_mode = MOTOR_MANUAL;
227 case 0x20: // Motor 1 speed wish MSB
231 case 0x21: // Motor 1 speed wish LSB
232 speed1_wish = tmp<<8 | TWDR;
233 motor1_mode = MOTOR_PID;
236 case 0x22: // Motor 2 speed wish MSB
240 case 0x23: // Motor 2 speed wish LSB
241 speed2_wish = tmp<<8 | TWDR;
242 motor2_mode = MOTOR_PID;
245 case 0x24: // Motor 3 speed wish MSB
249 case 0x25: // Motor 3 speed wish LSB
250 speed3_wish = tmp<<8 | TWDR;
251 motor3_mode = MOTOR_PID;
254 case 0x26: // Motor 4 speed wish MSB
258 case 0x27: // Motor 4 speed wish LSB
259 speed4_wish = tmp<<8 | TWDR;
260 motor4_mode = MOTOR_PID;
263 case 0x28: // Left speed wish MSB
267 case 0x29: // Left speed wish
268 tmp_speed.i = tmp_speed.i << 8 | TWDR;
271 case 0x2A: // Left speed wish
272 tmp_speed.i = tmp_speed.i << 8 | TWDR;
275 case 0x2B: // Left speed wish LSB
276 tmp_speed.i = tmp_speed.i << 8 | TWDR;
277 speed1_wish = tmp_speed.f*STEP_PER_M_LEFT;
278 speed2_wish = tmp_speed.f*STEP_PER_M_LEFT;
279 motor1_mode = MOTOR_PID;
280 motor2_mode = MOTOR_PID;
283 case 0x2C: // Right speed wish MSB
287 case 0x2D: // Right speed wish
288 tmp_speed.i = tmp_speed.i << 8 | TWDR;
291 case 0x2E: // Right speed wish
292 tmp_speed.i = tmp_speed.i << 8 | TWDR;
295 case 0x2F: // Right speed wish LSB
296 tmp_speed.i = tmp_speed.i << 8 | TWDR;
297 speed1_wish = tmp_speed.f*STEP_PER_M_RIGHT;
298 speed2_wish = tmp_speed.f*STEP_PER_M_RIGHT;
299 motor1_mode = MOTOR_PID;
300 motor2_mode = MOTOR_PID;
303 case 0x50: // speed wish MSB
307 case 0x51: // speed wish
308 tmp_speed.i = tmp_speed.i << 8 | TWDR;
311 case 0x52: // speed wish
312 tmp_speed.i = tmp_speed.i << 8 | TWDR;
315 case 0x53: // speed wish LSB
316 tmp_speed.i = tmp_speed.i << 8 | TWDR;
317 cmd_vel.speed = tmp_speed.f;
320 case 0x54: // angle wish MSB
324 case 0x55: // angle wish
325 tmp_angle.i = tmp_angle.i << 8 | TWDR;
328 case 0x56: // angle wish
329 tmp_angle.i = tmp_angle.i << 8 | TWDR;
332 case 0x57: // angle wish LSB
333 tmp_angle.i = tmp_angle.i << 8 | TWDR;
334 cmd_vel.angle = tmp_angle.f;
338 case 0x90: // Motor 1 switch
339 motor1_switch = TWDR;
342 case 0x91: // Motor 2 switch
343 motor2_switch = TWDR;
346 case 0x92: // Motor 3 switch
347 motor3_switch = TWDR;
350 case 0x93: // Motor 4 switch
351 motor4_switch = TWDR;
354 case 0x94: // Front Handicap
355 front_handicap = TWDR;
359 case 0x95: // Aft Handicap
364 case 0xff: // bootloader
371 case 0xA8: // start read
374 case 0x02: // Motor 1 PWM
378 case 0x03: // Dummy to allow continous read
382 case 0x04: // Motor 2 PWM
386 case 0x05: // Dummy to allow continous read
390 case 0x06: // Motor 3 PWM
394 case 0x07: // Dummy to allow continous read
398 case 0x08: // Motor 4 PWM
402 case 0x09: // Dummy to allow continous read
406 case 0x10: // Hall 1 MSB
411 case 0x11: // Hall 1 LSB
415 case 0x12: // Hall 2 MSB
420 case 0x13: // Hall 2 LSB
424 case 0x14: // Hall 3 MSB
429 case 0x15: // Hall 3 LSB
433 case 0x16: // Hall 4 MSB
438 case 0x17: // Hall 4 LSB
442 case 0x20: // Motor 1 speed wish MSB
443 TWDR = speed1_wish>>8;
446 case 0x21: // Motor 1 speed wish LSB
450 case 0x22: // Motor 2 speed wish MSB
451 TWDR = speed2_wish>>8;
454 case 0x23: // Motor 2 speed wish LSB
458 case 0x24: // Motor 3 speed wish MSB
459 TWDR = speed3_wish>>8;
462 case 0x25: // Motor 3 speed wish LSB
466 case 0x26: // Motor 4 speed wish MSB
467 TWDR = speed4_wish>>8;
470 case 0x27: // Motor 4 speed wish LSB
474 case 0x30: // Motor 1 speed MSB
478 case 0x31: // Motor 1 speed LSB
482 case 0x32: // Motor 2 speed MSB
486 case 0x33: // Motor 2 speed LSB
490 case 0x34: // Motor 3 speed MSB
494 case 0x35: // Motor 3 speed LSB
498 case 0x36: // Motor 4 speed MSB
502 case 0x37: // Motor 4 speed LSB
506 case 0x38: // speed MSB
507 tmp_speed.f = cur_speed_lin;
508 TWDR = tmp_speed.i>>24;
512 TWDR = tmp_speed.i>>16;
516 TWDR = tmp_speed.i>>8;
519 case 0x3B: // speed LSB
523 case 0x3C: // angle MSB
524 tmp_angle.f = cur_speed_rot;
525 TWDR = tmp_angle.i>>24;
529 TWDR = tmp_angle.i>>16;
533 TWDR = tmp_angle.i>>8;
536 case 0x3F: // angle LSB
540 case 0x40: // Position x MSB
544 case 0x41: // Position x
548 case 0x42: // Position x
552 case 0x43: // Position x LSB
556 case 0x44: // Position y MSB
560 case 0x45: // Position y
564 case 0x46: // Position y
568 case 0x47: // Position y LSB
572 case 0x48: // Position angle MSB
576 case 0x49: // Position angle
580 case 0x4A: // Position angle
584 case 0x4B: // Position angle LSB
588 case 0xA0: // Reset reason
589 TWDR = MCUCSR & 0x0f;
593 case 0xA1: // Error status
597 case 0xA2: // count test
612 static void update_hall1(void) {
613 unsigned char status = (PINA >> 0) & 0x3;
614 static unsigned char oldstatus=0;
615 unsigned char diff, new;
621 new ^= 0x1; // convert gray to binary
622 diff = oldstatus - new; // difference last - new
623 if (diff & 0x1) { // bit 0 = value (1)
624 oldstatus = new; // store new as next last
625 if (motor1_switch) pos1 += (diff & 2) - 1; // bit 1 = direction (+/-)
626 else pos1 -= (diff & 2) - 1;
631 static void update_hall2(void) {
632 unsigned char status = (PINA >> 4) & 0x3;
633 static unsigned char oldstatus=0;
634 unsigned char diff, new;
640 new ^= 0x1; // convert gray to binary
641 diff = oldstatus - new; // difference last - new
642 if (diff & 0x1) { // bit 0 = value (1)
643 oldstatus = new; // store new as next last
644 if (motor2_switch) pos2 -= (diff & 2) - 1; // bit 1 = direction (+/-)
645 else pos2 += (diff & 2) - 1;
650 static void update_hall3(void) {
651 unsigned char status = (PINA >> 2) & 0x3;
652 static unsigned char oldstatus=0;
653 unsigned char diff, new;
659 new ^= 0x1; // convert gray to binary
660 diff = oldstatus - new; // difference last - new
661 if (diff & 0x1) { // bit 0 = value (1)
662 oldstatus = new; // store new as next last
663 if (motor3_switch) pos3 -= (diff & 2) - 1; // bit 1 = direction (+/-)
664 else pos3 += (diff & 2) - 1;
669 static void update_hall4(void) {
670 unsigned char status = (PINA >> 6) & 0x3;
671 static unsigned char oldstatus=0;
672 unsigned char diff, new;
678 new ^= 0x1; // convert gray to binary
679 diff = oldstatus - new; // difference last - new
680 if (diff & 0x1) { // bit 0 = value (1)
681 oldstatus = new; // store new as next last
682 if (motor4_switch) pos4 += (diff & 2) - 1; // bit 1 = direction (+/-)
683 else pos4 -= (diff & 2) - 1;
688 static void update_motor(void) {
689 static int16_t m1_old=SHRT_MIN;
690 static int16_t m2_old=SHRT_MIN;
691 static int16_t m3_old=SHRT_MIN;
692 static int16_t m4_old=SHRT_MIN;
694 error_state &= 0xf0; // clear lower bits
695 error_state |= ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
697 if (m1_old != motor1) { // update only when changed
700 PORTC &= ~(1 << 3) & ~(1 << 2);
701 } else if ((!motor1_switch && motor1 > 0) || (motor1_switch && motor1 < 0)) {
707 } else { // motor1 < 0
719 if (m2_old != motor2) { // update only when changed
722 PORTC &= ~(1 << 5) & ~(1 << 4);
723 } else if ((!motor2_switch && motor2 > 0) || (motor2_switch && motor2 < 0)) {
729 } else { // motor2 < 0
741 if (m3_old != motor3) { // update only when changed
744 PORTC &= ~(1 << 7) & ~(1 << 6);
745 } else if ((!motor3_switch && motor3 > 0) || (motor3_switch && motor3 < 0)) {
751 } else { // motor3 < 0
763 if (m4_old != motor4) { // update only when changed
766 PORTD &= ~(1 << 3) & ~(1 << 2);
767 } else if ((!motor4_switch && motor4 > 0) || (motor4_switch && motor4 < 0)) {
773 } else { // motor4 < 0
787 static void update_pos(void) {
788 static int16_t pos1_last=0;
789 static int16_t pos2_last=0;
790 static int16_t pos3_last=0;
791 static int16_t pos4_last=0;
792 int16_t pos1_diff; // steps
796 float diff_left_m, diff_right_m, angle_diff, translation;
797 float pos_x_new, pos_y_new, angle_new;
798 float tmp_speed_lin, tmp_speed_rot;
799 int16_t cur_pos1, cur_pos2, cur_pos3, cur_pos4;
800 int16_t new_speed1, new_speed2, new_speed3, new_speed4;
810 pos1_diff = cur_pos1 - pos1_last;
811 pos2_diff = cur_pos2 - pos2_last;
812 pos3_diff = cur_pos3 - pos3_last;
813 pos4_diff = cur_pos4 - pos4_last;
815 new_speed1 = pos1_diff/PID_T;
816 new_speed2 = pos2_diff/PID_T;
817 new_speed3 = pos3_diff/PID_T;
818 new_speed4 = pos4_diff/PID_T;
820 diff_left_m = (pos1_diff + pos2_diff)/(2*STEP_PER_M_LEFT);
821 diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M_RIGHT);
822 angle_diff = (diff_right_m - diff_left_m) / WHEEL_DIST;
824 angle_new = angle.f + angle_diff;
825 if (angle_new > 2*M_PI) angle_new-=2*M_PI;
826 else if (angle_new < -2*M_PI) angle_new+=2*M_PI;
828 translation = (diff_left_m + diff_right_m)/2.0;
829 pos_x_new = pos_x.f + cos(angle_new)*translation;
830 pos_y_new = pos_y.f + sin(angle_new)*translation;
832 tmp_speed_lin = translation/PID_T;
833 tmp_speed_rot = angle_diff/PID_T;
844 cur_speed_lin = tmp_speed_lin;
845 cur_speed_rot = tmp_speed_rot;
848 pos1_last = cur_pos1;
849 pos2_last = cur_pos2;
850 pos3_last = cur_pos3;
851 pos4_last = cur_pos4;
855 static void update_pid(void) {
856 static int16_t eold1=0;
857 static int16_t eold2=0;
858 static int16_t eold3=0;
859 static int16_t eold4=0;
860 static int32_t esum1=0;
861 static int32_t esum2=0;
862 static int32_t esum3=0;
863 static int32_t esum4=0;
865 // protect motors from damage if stalling
866 if (labs(esum1) > 120000 && speed1 == 0) {
868 motor1_mode = MOTOR_MANUAL;
869 error_state |= (1<<4);
872 if (labs(esum2) > 120000 && speed2 == 0) {
874 motor2_mode = MOTOR_MANUAL;
875 error_state |= (1<<5);
878 if (labs(esum3) > 120000 && speed3 == 0) {
880 motor3_mode = MOTOR_MANUAL;
881 error_state |= (1<<6);
884 // protect motors from damage if stalling
885 if (labs(esum4) > 120000 && speed4 == 0) {
887 motor4_mode = MOTOR_MANUAL;
888 error_state |= (1<<7);
892 if (motor1_mode == MOTOR_PID) {
893 if (speed1_wish != speed1_wish_old) {
895 speed1_wish_old = speed1_wish;
898 if (speed1_wish == 0) {
901 error_state &= ~(1<<4);
903 int16_t e = speed1_wish - speed1;
905 motor1 = KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
908 if (motor1 > 0 && speed1_wish < 0) motor1=0;
909 else if (motor1 < 0 && speed1_wish > 0) motor1=0;
910 else if (motor1 > 255) motor1 = 255;
911 else if (motor1 < -255) motor1 = -255;
914 if (motor2_mode == MOTOR_PID) {
915 if (speed2_wish != speed2_wish_old) {
917 speed2_wish_old = speed2_wish;
920 if (speed2_wish == 0) {
923 error_state &= ~(1<<5);
925 int16_t e = speed2_wish - speed2;
927 motor2 = KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
930 if (motor2 > 0 && speed2_wish < 0) motor2=0;
931 else if (motor2 < 0 && speed2_wish > 0) motor2=0;
932 else if (motor2 > 255) motor2 = 255;
933 else if (motor2 < -255) motor2 = -255;
936 if (motor3_mode == MOTOR_PID) {
937 if (speed3_wish != speed3_wish_old) {
939 speed3_wish_old = speed3_wish;
942 if (speed3_wish == 0) {
945 error_state &= ~(1<<6);
947 int16_t e = speed3_wish - speed3;
949 motor3 = KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
952 if (motor3 > 0 && speed3_wish < 0) motor3=0;
953 else if (motor3 < 0 && speed3_wish > 0) motor3=0;
954 else if (motor3 > 255) motor3 = 255;
955 else if (motor3 < -255) motor3 = -255;
958 if (motor4_mode == MOTOR_PID) {
959 if (speed4_wish != speed4_wish_old) {
961 speed4_wish_old = speed4_wish;
964 if (speed4_wish == 0) {
967 error_state &= ~(1<<7);
969 int16_t e = speed4_wish - speed4;
971 motor4 = KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
974 if (motor4 > 0 && speed4_wish < 0) motor4=0;
975 else if (motor4 < 0 && speed4_wish > 0) motor4=0;
976 else if (motor4 > 255) motor4 = 255;
977 else if (motor4 < -255) motor4 = -255;
983 ISR(TIMER1_OVF_vect) {
996 DDRC = (1 << 7) | (1 << 6) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
997 DDRD = (1 << 7) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
998 // Pullup Diag/Enable
999 PORTB = (1 << 0) | (1 << 1) | (1 << 2);
1004 uart_setup_stdout();
1011 // Timer 1: Fast PWM non-inverting mode, Top=255 => 15.625kHz
1013 TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM10);
1014 TCCR1B = (1 << WGM12) | (1 << CS10);
1019 // Timer 2: Fast PWM non-inverting mode, Top=255
1021 TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << CS20);
1025 // Timer 0: Fast PWM non-inverting mode, Top=255
1027 TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << CS00);
1030 printf("\r\nStart\r\n");
1032 set_sleep_mode(SLEEP_MODE_IDLE);
1033 // Enable Timer 1 Overflow Interrupt
1034 TIMSK = (1 << TOIE1);
1039 case 0xff: // Magic reg that starts the bootloader
1040 if (bootloader == 0xa5) {
1043 void (*start)(void) = (void*)0x1800;
1050 if (cmd_vel.bUpdate) {
1051 float speed_wish_right, speed_wish_left;
1055 speed = cmd_vel.speed;
1056 angle = cmd_vel.angle;
1057 cmd_vel.bUpdate = 0;
1060 speed_wish_right = (angle*WHEEL_DIST)/2 + speed;
1061 speed_wish_left = speed*2-speed_wish_right;
1063 speed_wish_left*=STEP_PER_M_LEFT;
1064 speed_wish_right*=STEP_PER_M_RIGHT;
1066 if (aft_handicap > 0) {
1067 speed1_wish = speed_wish_left * (100-aft_handicap)/100.0;
1068 speed3_wish = speed_wish_right * (100-aft_handicap)/100.0;
1070 speed1_wish = speed_wish_left;
1071 speed3_wish = speed_wish_right;
1073 if (front_handicap > 0) {
1074 speed2_wish = speed_wish_left * (100-front_handicap)/100.0;
1075 speed4_wish = speed_wish_right * (100-front_handicap)/100.0;
1077 speed2_wish = speed_wish_left;
1078 speed4_wish = speed_wish_right;
1080 motor1_mode = MOTOR_PID;
1081 motor2_mode = MOTOR_PID;
1082 motor3_mode = MOTOR_PID;
1083 motor4_mode = MOTOR_PID;
1086 if (run_update >= 156) { // ~100Hz