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  * 0x40 Position x (m) MSB
  64  * 0x41 Position x (m)
  65  * 0x42 Position x (m)
  66  * 0x43 Position x (m) LSB
  67  * 0x44 Position y (m) MSB
  68  * 0x45 Position y (m)
  69  * 0x46 Position y (m)
  70  * 0x47 Position y (m) LSB
  71  * 0x48 Position angle MSB
  72  * 0x49 Position angle
  73  * 0x4A Position angle
  74  * 0x4B Position angle LSB
  75  * free
  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
  84  * free
  85  * 0x90 Motor 1 switch
  86  * 0x91 Motor 2 switch
  87  * 0x92 Motor 3 switch
  88  * 0x93 Motor 4 switch
  89  * 0x94 Front Handicap
  90  * 0x95 Aft Handicap
  91  * free
  92  * 0xA0 Reset reason
  93  * 0xA1 Error status
  94  * 0xA2 count test
  95  * free
  96  * 0xff Bootloader
  97  */
  98
  99
 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)
 103
 104 #define KP 0.06
 105 #define KI 0.10
 106 #define KD 0.0
 107 #define PID_T 0.01
 108 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:47
 109 // STEP_PER_M = 48*47/(d*pi)
 110 // Left real diameter: 0.12808
 111 #define STEP_PER_M_LEFT 5606.7
 112 // Right real diameter: 0.121
 113 #define STEP_PER_M_RIGHT 5934.8
 114 #define WHEEL_DIST 0.39912 // Measured: 0.252
 115 #define PWM_BREAK INT16_MIN
 116
 117 enum mode {
 118         MOTOR_MANUAL,
 119         MOTOR_PID
 120 };
 121
 122 typedef union {
 123         float f;
 124         uint32_t i;
 125 } ufloat_t;
 126
 127 static volatile struct {
 128         float speed;
 129         float angle;
 130         uint8_t bUpdate;
 131 } cmd_vel = {0, 0, 0};
 132
 133 static volatile uint8_t ireg=0;
 134 static volatile uint8_t bootloader=0;
 135 static volatile int16_t motor1=0; // -255..+255
 136 static volatile int16_t motor2=0;
 137 static volatile int16_t motor3=0;
 138 static volatile int16_t motor4=0;
 139 static volatile int16_t pos1=0; // step
 140 static volatile int16_t pos2=0;
 141 static volatile int16_t pos3=0;
 142 static volatile int16_t pos4=0;
 143 static volatile enum mode motor1_mode=MOTOR_MANUAL;
 144 static volatile enum mode motor2_mode=MOTOR_MANUAL;
 145 static volatile enum mode motor3_mode=MOTOR_MANUAL;
 146 static volatile enum mode motor4_mode=MOTOR_MANUAL;
 147 static volatile uint8_t motor1_switch=1;
 148 static volatile uint8_t motor2_switch=1;
 149 static volatile uint8_t motor3_switch=0;
 150 static volatile uint8_t motor4_switch=0;
 151 static volatile int16_t speed1_wish=0; // step/s
 152 static volatile int16_t speed2_wish=0;
 153 static volatile int16_t speed3_wish=0;
 154 static volatile int16_t speed4_wish=0;
 155 static volatile int16_t speed1_wish_old=0;
 156 static volatile int16_t speed2_wish_old=0;
 157 static volatile int16_t speed3_wish_old=0;
 158 static volatile int16_t speed4_wish_old=0;
 159 static volatile uint8_t run_update=0;
 160 static volatile int16_t speed1=0; // step/s
 161 static volatile int16_t speed2=0;
 162 static volatile int16_t speed3=0;
 163 static volatile int16_t speed4=0;
 164 static volatile ufloat_t pos_x={0.0};
 165 static volatile ufloat_t pos_y={0.0};
 166 static volatile ufloat_t angle={0.0};
 167 static volatile float cur_speed_lin=0;
 168 static volatile float cur_speed_rot=0;
 169 static volatile uint8_t count_test=0;
 170 static volatile uint8_t front_handicap=0;
 171 static volatile uint8_t aft_handicap=0;
 172 static volatile uint8_t error_state=0;
 173
 174 ISR(TWI_vect)
 175 {
 176         static uint8_t tmp=0;
 177         static int16_t tmp16=0;
 178         static ufloat_t tmp_speed;
 179         static ufloat_t tmp_angle;
 180
 181         switch (TWSR & 0xF8)
 182         {
 183                 case 0x60: // start write
 184                         TWI_ACK;
 185                         ireg = 0;
 186                         break;
 187                 case 0x80: // write
 188                         switch(ireg) {
 189                                 case 0x00: // register select
 190                                         ireg = TWDR;
 191                                         ireg--; // because we do ireg++ below
 192                                         TWI_ACK;
 193                                         break;
 194                                 case 0x01: // Motor 1 MSB
 195                                         tmp = TWDR;
 196                                         TWI_ACK;
 197                                         break;
 198                                 case 0x02: // Motor 1 LSB
 199                                         motor1 = tmp<<8 | TWDR;
 200                                         motor1_mode = MOTOR_MANUAL;
 201                                         TWI_ACK;
 202                                         break;
 203                                 case 0x03: // Motor 2 MSB
 204                                         tmp = TWDR;
 205                                         TWI_ACK;
 206                                         break;
 207                                 case 0x04: // Motor 2 LSB
 208                                         motor2 = tmp<<8 | TWDR;
 209                                         motor2_mode = MOTOR_MANUAL;
 210                                         TWI_ACK;
 211                                         break;
 212                                 case 0x05: // Motor 3 MSB
 213                                         tmp = TWDR;
 214                                         TWI_ACK;
 215                                         break;
 216                                 case 0x06: // Motor 3 LSB
 217                                         motor3 = tmp<<8 | TWDR;
 218                                         motor3_mode = MOTOR_MANUAL;
 219                                         TWI_ACK;
 220                                         break;
 221                                 case 0x07: // Motor 4 MSB
 222                                         tmp = TWDR;
 223                                         TWI_ACK;
 224                                         break;
 225                                 case 0x08: // Motor 4 LSB
 226                                         motor4 = tmp<<8 | TWDR;
 227                                         motor4_mode = MOTOR_MANUAL;
 228                                         TWI_ACK;
 229                                         break;
 230                                 case 0x20: // Motor 1 speed wish MSB
 231                                         tmp = TWDR;
 232                                         TWI_ACK;
 233                                         break;
 234                                 case 0x21: // Motor 1 speed wish LSB
 235                                         speed1_wish = tmp<<8 | TWDR;
 236                                         motor1_mode = MOTOR_PID;
 237                                         TWI_ACK;
 238                                         break;
 239                                 case 0x22: // Motor 2 speed wish MSB
 240                                         tmp = TWDR;
 241                                         TWI_ACK;
 242                                         break;
 243                                 case 0x23: // Motor 2 speed wish LSB
 244                                         speed2_wish = tmp<<8 | TWDR;
 245                                         motor2_mode = MOTOR_PID;
 246                                         TWI_ACK;
 247                                         break;
 248                                 case 0x24: // Motor 3 speed wish MSB
 249                                         tmp = TWDR;
 250                                         TWI_ACK;
 251                                         break;
 252                                 case 0x25: // Motor 3 speed wish LSB
 253                                         speed3_wish = tmp<<8 | TWDR;
 254                                         motor3_mode = MOTOR_PID;
 255                                         TWI_ACK;
 256                                         break;
 257                                 case 0x26: // Motor 4 speed wish MSB
 258                                         tmp = TWDR;
 259                                         TWI_ACK;
 260                                         break;
 261                                 case 0x27: // Motor 4 speed wish LSB
 262                                         speed4_wish = tmp<<8 | TWDR;
 263                                         motor4_mode = MOTOR_PID;
 264                                         TWI_ACK;
 265                                         break;
 266                                 case 0x28: // Left speed wish MSB
 267                                         tmp_speed.i = TWDR;
 268                                         TWI_ACK;
 269                                         break;
 270                                 case 0x29: // Left speed wish
 271                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 272                                         TWI_ACK;
 273                                         break;
 274                                 case 0x2A: // Left speed wish
 275                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 276                                         TWI_ACK;
 277                                         break;
 278                                 case 0x2B: // Left speed wish LSB
 279                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 280                                         speed1_wish = tmp_speed.f*STEP_PER_M_LEFT;
 281                                         speed2_wish = tmp_speed.f*STEP_PER_M_LEFT;
 282                                         motor1_mode = MOTOR_PID;
 283                                         motor2_mode = MOTOR_PID;
 284                                         TWI_ACK;
 285                                         break;
 286                                 case 0x2C: // Right speed wish MSB
 287                                         tmp_speed.i = TWDR;
 288                                         TWI_ACK;
 289                                         break;
 290                                 case 0x2D: // Right speed wish
 291                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 292                                         TWI_ACK;
 293                                         break;
 294                                 case 0x2E: // Right speed wish
 295                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 296                                         TWI_ACK;
 297                                         break;
 298                                 case 0x2F: // Right speed wish LSB
 299                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 300                                         speed1_wish = tmp_speed.f*STEP_PER_M_RIGHT;
 301                                         speed2_wish = tmp_speed.f*STEP_PER_M_RIGHT;
 302                                         motor1_mode = MOTOR_PID;
 303                                         motor2_mode = MOTOR_PID;
 304                                         TWI_ACK;
 305                                         break;
 306                                 case 0x50: // speed wish MSB
 307                                         tmp_speed.i = TWDR;
 308                                         TWI_ACK;
 309                                         break;
 310                                 case 0x51: // speed wish
 311                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 312                                         TWI_ACK;
 313                                         break;
 314                                 case 0x52: // speed wish
 315                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 316                                         TWI_ACK;
 317                                         break;
 318                                 case 0x53: // speed wish LSB
 319                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 320                                         cmd_vel.speed = tmp_speed.f;
 321                                         TWI_ACK;
 322                                         break;
 323                                 case 0x54: // angle wish MSB
 324                                         tmp_angle.i = TWDR;
 325                                         TWI_ACK;
 326                                         break;
 327                                 case 0x55: // angle wish
 328                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 329                                         TWI_ACK;
 330                                         break;
 331                                 case 0x56: // angle wish
 332                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 333                                         TWI_ACK;
 334                                         break;
 335                                 case 0x57: // angle wish LSB
 336                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 337                                         cmd_vel.angle = tmp_angle.f;
 338                                         cmd_vel.bUpdate = 1;
 339                                         TWI_ACK;
 340                                         break;
 341                                 case 0x90: // Motor 1 switch
 342                                         motor1_switch = TWDR;
 343                                         TWI_ACK;
 344                                         break;
 345                                 case 0x91: // Motor 2 switch
 346                                         motor2_switch = TWDR;
 347                                         TWI_ACK;
 348                                         break;
 349                                 case 0x92: // Motor 3 switch
 350                                         motor3_switch = TWDR;
 351                                         TWI_ACK;
 352                                         break;
 353                                 case 0x93: // Motor 4 switch
 354                                         motor4_switch = TWDR;
 355                                         TWI_ACK;
 356                                         break;
 357                                 case 0x94: // Front Handicap
 358                                         front_handicap = TWDR;
 359                                         cmd_vel.bUpdate = 1;
 360                                         TWI_ACK;
 361                                         break;
 362                                 case 0x95: // Aft Handicap
 363                                         aft_handicap = TWDR;
 364                                         cmd_vel.bUpdate = 1;
 365                                         TWI_ACK;
 366                                         break;
 367                                 case 0xff: // bootloader
 368                                         bootloader = TWDR;
 369                                 default:
 370                                         TWI_NAK;
 371                         }
 372                         ireg++;
 373                         break;
 374                 case 0xA8: // start read
 375                 case 0xB8: // read
 376                         switch(ireg) {
 377                                 case 0x02: // Motor 1 PWM
 378                                         TWDR = OCR1A;
 379                                         TWI_ACK;
 380                                         break;
 381                                 case 0x03: // Dummy to allow continous read
 382                                         TWDR = 0;
 383                                         TWI_ACK;
 384                                         break;
 385                                 case 0x04: // Motor 2 PWM
 386                                         TWDR = OCR1B;
 387                                         TWI_ACK;
 388                                         break;
 389                                 case 0x05: // Dummy to allow continous read
 390                                         TWDR = 0;
 391                                         TWI_ACK;
 392                                         break;
 393                                 case 0x06: // Motor 3 PWM
 394                                         TWDR = OCR2;
 395                                         TWI_ACK;
 396                                         break;
 397                                 case 0x07: // Dummy to allow continous read
 398                                         TWDR = 0;
 399                                         TWI_ACK;
 400                                         break;
 401                                 case 0x08: // Motor 4 PWM
 402                                         TWDR = OCR0;
 403                                         TWI_ACK;
 404                                         break;
 405                                 case 0x09: // Dummy to allow continous read
 406                                         TWDR = 0;
 407                                         TWI_ACK;
 408                                         break;
 409                                 case 0x10: // Hall 1 MSB
 410                                         tmp16 = pos1;
 411                                         TWDR = tmp16>>8;
 412                                         TWI_ACK;
 413                                         break;
 414                                 case 0x11: // Hall 1 LSB
 415                                         TWDR = tmp16;
 416                                         TWI_ACK;
 417                                         break;
 418                                 case 0x12: // Hall 2 MSB
 419                                         tmp16 = pos2;
 420                                         TWDR = tmp16>>8;
 421                                         TWI_ACK;
 422                                         break;
 423                                 case 0x13: // Hall 2 LSB
 424                                         TWDR = tmp16;
 425                                         TWI_ACK;
 426                                         break;
 427                                 case 0x14: // Hall 3 MSB
 428                                         tmp16 = pos3;
 429                                         TWDR = tmp16>>8;
 430                                         TWI_ACK;
 431                                         break;
 432                                 case 0x15: // Hall 3 LSB
 433                                         TWDR = tmp16;
 434                                         TWI_ACK;
 435                                         break;
 436                                 case 0x16: // Hall 4 MSB
 437                                         tmp16 = pos4;
 438                                         TWDR = tmp16>>8;
 439                                         TWI_ACK;
 440                                         break;
 441                                 case 0x17: // Hall 4 LSB
 442                                         TWDR = tmp16;
 443                                         TWI_ACK;
 444                                         break;
 445                                 case 0x20: // Motor 1 speed wish MSB
 446                                         TWDR = speed1_wish>>8;
 447                                         TWI_ACK;
 448                                         break;
 449                                 case 0x21: // Motor 1 speed wish LSB
 450                                         TWDR = speed1_wish;
 451                                         TWI_ACK;
 452                                         break;
 453                                 case 0x22: // Motor 2 speed wish MSB
 454                                         TWDR = speed2_wish>>8;
 455                                         TWI_ACK;
 456                                         break;
 457                                 case 0x23: // Motor 2 speed wish LSB
 458                                         TWDR = speed2_wish;
 459                                         TWI_ACK;
 460                                         break;
 461                                 case 0x24: // Motor 3 speed wish MSB
 462                                         TWDR = speed3_wish>>8;
 463                                         TWI_ACK;
 464                                         break;
 465                                 case 0x25: // Motor 3 speed wish LSB
 466                                         TWDR = speed3_wish;
 467                                         TWI_ACK;
 468                                         break;
 469                                 case 0x26: // Motor 4 speed wish MSB
 470                                         TWDR = speed4_wish>>8;
 471                                         TWI_ACK;
 472                                         break;
 473                                 case 0x27: // Motor 4 speed wish LSB
 474                                         TWDR = speed4_wish;
 475                                         TWI_ACK;
 476                                         break;
 477                                 case 0x30: // Motor 1 speed MSB
 478                                         TWDR = speed1>>8;
 479                                         TWI_ACK;
 480                                         break;
 481                                 case 0x31: // Motor 1 speed LSB
 482                                         TWDR = speed1;
 483                                         TWI_ACK;
 484                                         break;
 485                                 case 0x32: // Motor 2 speed MSB
 486                                         TWDR = speed2>>8;
 487                                         TWI_ACK;
 488                                         break;
 489                                 case 0x33: // Motor 2 speed LSB
 490                                         TWDR = speed2;
 491                                         TWI_ACK;
 492                                         break;
 493                                 case 0x34: // Motor 3 speed MSB
 494                                         TWDR = speed3>>8;
 495                                         TWI_ACK;
 496                                         break;
 497                                 case 0x35: // Motor 3 speed LSB
 498                                         TWDR = speed3;
 499                                         TWI_ACK;
 500                                         break;
 501                                 case 0x36: // Motor 4 speed MSB
 502                                         TWDR = speed4>>8;
 503                                         TWI_ACK;
 504                                         break;
 505                                 case 0x37: // Motor 4 speed LSB
 506                                         TWDR = speed4;
 507                                         TWI_ACK;
 508                                         break;
 509                                 case 0x38: // speed MSB
 510                                         tmp_speed.f = cur_speed_lin;
 511                                         TWDR = tmp_speed.i>>24;
 512                                         TWI_ACK;
 513                                         break;
 514                                 case 0x39: // speed
 515                                         TWDR = tmp_speed.i>>16;
 516                                         TWI_ACK;
 517                                         break;
 518                                 case 0x3A: // speed
 519                                         TWDR = tmp_speed.i>>8;
 520                                         TWI_ACK;
 521                                         break;
 522                                 case 0x3B: // speed LSB
 523                                         TWDR = tmp_speed.i;
 524                                         TWI_ACK;
 525                                         break;
 526                                 case 0x3C: // angle MSB
 527                                         tmp_angle.f = cur_speed_rot;
 528                                         TWDR = tmp_angle.i>>24;
 529                                         TWI_ACK;
 530                                         break;
 531                                 case 0x3D: // angle
 532                                         TWDR = tmp_angle.i>>16;
 533                                         TWI_ACK;
 534                                         break;
 535                                 case 0x3E: // angle
 536                                         TWDR = tmp_angle.i>>8;
 537                                         TWI_ACK;
 538                                         break;
 539                                 case 0x3F: // angle LSB
 540                                         TWDR = angle.i;
 541                                         TWI_ACK;
 542                                         break;
 543                                 case 0x40: // Position x MSB
 544                                         TWDR = pos_x.i>>24;
 545                                         TWI_ACK;
 546                                         break;
 547                                 case 0x41: // Position x
 548                                         TWDR = pos_x.i>>16;
 549                                         TWI_ACK;
 550                                         break;
 551                                 case 0x42: // Position x
 552                                         TWDR = pos_x.i>>8;
 553                                         TWI_ACK;
 554                                         break;
 555                                 case 0x43: // Position x LSB
 556                                         TWDR = pos_x.i;
 557                                         TWI_ACK;
 558                                         break;
 559                                 case 0x44: // Position y MSB
 560                                         TWDR = pos_y.i>>24;
 561                                         TWI_ACK;
 562                                         break;
 563                                 case 0x45: // Position y
 564                                         TWDR = pos_y.i>>16;
 565                                         TWI_ACK;
 566                                         break;
 567                                 case 0x46: // Position y
 568                                         TWDR = pos_y.i>>8;
 569                                         TWI_ACK;
 570                                         break;
 571                                 case 0x47: // Position y LSB
 572                                         TWDR = pos_y.i;
 573                                         TWI_ACK;
 574                                         break;
 575                                 case 0x48: // Position angle MSB
 576                                         TWDR = angle.i>>24;
 577                                         TWI_ACK;
 578                                         break;
 579                                 case 0x49: // Position angle
 580                                         TWDR = angle.i>>16;
 581                                         TWI_ACK;
 582                                         break;
 583                                 case 0x4A: // Position angle
 584                                         TWDR = angle.i>>8;
 585                                         TWI_ACK;
 586                                         break;
 587                                 case 0x4B: // Position angle LSB
 588                                         TWDR = angle.i;
 589                                         TWI_ACK;
 590                                         break;
 591                                 case 0xA0: // Reset reason
 592                                         TWDR = MCUCSR & 0x0f;
 593                                         MCUCSR = 0x0;
 594                                         TWI_ACK;
 595                                         break;
 596                                 case 0xA1: // Error status
 597                                         TWDR = error_state;
 598                                         TWI_ACK;
 599                                         break;
 600                                 case 0xA2: // count test
 601                                         TWDR = count_test;
 602                                         TWI_ACK;
 603                                 default:
 604                                         TWDR = 0;
 605                                         TWI_NAK;
 606                         }
 607                         ireg++;
 608                         break;
 609                 default:
 610                         TWI_RESET;
 611         }
 612 }
 613
 614
 615 static void update_hall1(void) {
 616         unsigned char status = (PINA >> 0) & 0x3;
 617         static unsigned char oldstatus=0;
 618         unsigned char diff, new;
 619
 620         new = 0;
 621         if (status & 0x1)
 622                 new = 0x3;
 623         if (status & 0x2)
 624                 new ^= 0x1;                                     // convert gray to binary
 625         diff = oldstatus - new;                         // difference last - new
 626         if (diff & 0x1) {                               // bit 0 = value (1)
 627                 oldstatus = new;                                        // store new as next last
 628                 if (motor1_switch) pos1 += (diff & 2) - 1;              // bit 1 = direction (+/-)
 629                 else pos1 -= (diff & 2) - 1;
 630         }
 631 }
 632
 633
 634 static void update_hall2(void) {
 635         unsigned char status = (PINA >> 4) & 0x3;
 636         static unsigned char oldstatus=0;
 637         unsigned char diff, new;
 638
 639         new = 0;
 640         if (status & 0x1)
 641                 new = 0x3;
 642         if (status & 0x2)
 643                 new ^= 0x1;                                     // convert gray to binary
 644         diff = oldstatus - new;                         // difference last - new
 645         if (diff & 0x1) {                               // bit 0 = value (1)
 646                 oldstatus = new;                                        // store new as next last
 647                 if (motor2_switch) pos2 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
 648                 else pos2 += (diff & 2) - 1;
 649         }
 650 }
 651
 652
 653 static void update_hall3(void) {
 654         unsigned char status = (PINA >> 2) & 0x3;
 655         static unsigned char oldstatus=0;
 656         unsigned char diff, new;
 657
 658         new = 0;
 659         if (status & 0x1)
 660                 new = 0x3;
 661         if (status & 0x2)
 662                 new ^= 0x1;                                     // convert gray to binary
 663         diff = oldstatus - new;                         // difference last - new
 664         if (diff & 0x1) {                               // bit 0 = value (1)
 665                 oldstatus = new;                                        // store new as next last
 666                 if (motor3_switch) pos3 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
 667                 else pos3 += (diff & 2) - 1;
 668         }
 669 }
 670
 671
 672 static void update_hall4(void) {
 673         unsigned char status = (PINA >> 6) & 0x3;
 674         static unsigned char oldstatus=0;
 675         unsigned char diff, new;
 676
 677         new = 0;
 678         if (status & 0x1)
 679                 new = 0x3;
 680         if (status & 0x2)
 681                 new ^= 0x1;                                     // convert gray to binary
 682         diff = oldstatus - new;                         // difference last - new
 683         if (diff & 0x1) {                               // bit 0 = value (1)
 684                 oldstatus = new;                                        // store new as next last
 685                 if (motor4_switch) pos4 += (diff & 2) - 1;              // bit 1 = direction (+/-)
 686                 else pos4 -= (diff & 2) - 1;
 687         }
 688 }
 689
 690
 691 static void update_motor(void) {
 692         static int16_t m1_old=SHRT_MIN;
 693         static int16_t m2_old=SHRT_MIN;
 694         static int16_t m3_old=SHRT_MIN;
 695         static int16_t m4_old=SHRT_MIN;
 696
 697         error_state &= 0xf0; // clear lower bits
 698         error_state |= ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
 699
 700         if (m1_old != motor1) { // update only when changed
 701                 if (motor1 == 0) {
 702                         // stop
 703                         PORTC &= ~(1 << 3) & ~(1 << 2);
 704                 } else if (motor1 == PWM_BREAK) {
 705                         PORTC |= (1 << 3) | (1 << 2);
 706                 } else if ((!motor1_switch && motor1 > 0) || (motor1_switch && motor1 < 0)) {
 707                         // forward
 708                         uint8_t tmp=PORTC;
 709                         tmp &= ~(1 << 3);
 710                         tmp |=  (1 << 2);
 711                         PORTC = tmp;
 712                 } else { // motor1 < 0
 713                         // backward
 714                         uint8_t tmp=PORTC;
 715                         tmp &= ~(1 << 2);
 716                         tmp |=  (1 << 3);
 717                         PORTC = tmp;
 718                 }
 719
 720                 m1_old = motor1;
 721                 OCR1A = abs(motor1);
 722         }
 723
 724         if (m2_old != motor2) { // update only when changed
 725                 if (motor2 == 0) {
 726                         // stop
 727                         PORTC &= ~(1 << 5) & ~(1 << 4);
 728                 } else if (motor2 == PWM_BREAK) {
 729                         PORTC |= (1 << 5) | (1 << 4);
 730                 } else if ((!motor2_switch && motor2 > 0) || (motor2_switch && motor2 < 0)) {
 731                         // forward
 732                         uint8_t tmp=PORTC;
 733                         tmp &= ~(1 << 5);
 734                         tmp |=  (1 << 4);
 735                         PORTC = tmp;
 736                 } else { // motor2 < 0
 737                         // backward
 738                         uint8_t tmp=PORTC;
 739                         tmp &= ~(1 << 4);
 740                         tmp |=  (1 << 5);
 741                         PORTC = tmp;
 742                 }
 743
 744                 m2_old = motor2;
 745                 OCR1B = abs(motor2);
 746         }
 747
 748         if (m3_old != motor3) { // update only when changed
 749                 if (motor3 == 0) {
 750                         // stop
 751                         PORTC &= ~(1 << 7) & ~(1 << 6);
 752                 } else if (motor3 == PWM_BREAK) {
 753                         PORTC |= (1 << 7) | (1 << 6);
 754                 } else if ((!motor3_switch && motor3 > 0) || (motor3_switch && motor3 < 0)) {
 755                         // forward
 756                         uint8_t tmp=PORTC;
 757                         tmp &= ~(1 << 7);
 758                         tmp |=  (1 << 6);
 759                         PORTC = tmp;
 760                 } else { // motor3 < 0
 761                         // backward
 762                         uint8_t tmp=PORTC;
 763                         tmp &= ~(1 << 6);
 764                         tmp |=  (1 << 7);
 765                         PORTC = tmp;
 766                 }
 767
 768                 m3_old = motor3;
 769                 OCR2 = abs(motor3);
 770         }
 771
 772         if (m4_old != motor4) { // update only when changed
 773                 if (motor4 == 0) {
 774                         // stop
 775                         PORTD &= ~(1 << 3) & ~(1 << 2);
 776                 } else if (motor4 == PWM_BREAK) {
 777                         PORTD |= (1 << 3) | (1 << 2);
 778                 } else if ((!motor4_switch && motor4 > 0) || (motor4_switch && motor4 < 0)) {
 779                         // forward
 780                         uint8_t tmp=PORTD;
 781                         tmp &= ~(1 << 3);
 782                         tmp |=  (1 << 2);
 783                         PORTD = tmp;
 784                 } else { // motor4 < 0
 785                         // backward
 786                         uint8_t tmp=PORTD;
 787                         tmp &= ~(1 << 2);
 788                         tmp |=  (1 << 3);
 789                         PORTD = tmp;
 790                 }
 791
 792                 m4_old = motor4;
 793                 OCR0 = abs(motor4);
 794         }
 795 }
 796
 797
 798 static void update_pos(void) {
 799         static int16_t pos1_last=0;
 800         static int16_t pos2_last=0;
 801         static int16_t pos3_last=0;
 802         static int16_t pos4_last=0;
 803         int16_t pos1_diff; // steps
 804         int16_t pos2_diff;
 805         int16_t pos3_diff;
 806         int16_t pos4_diff;
 807         float diff_left_m, diff_right_m, angle_diff, translation;
 808         float pos_x_new, pos_y_new, angle_new;
 809         float tmp_speed_lin, tmp_speed_rot;
 810         int16_t cur_pos1, cur_pos2, cur_pos3, cur_pos4;
 811         int16_t new_speed1, new_speed2, new_speed3, new_speed4;
 812
 813         // copy to tmp
 814         cli();
 815         cur_pos1 = pos1;
 816         cur_pos2 = pos2;
 817         cur_pos3 = pos3;
 818         cur_pos4 = pos4;
 819         sei();
 820
 821         pos1_diff = cur_pos1 - pos1_last;
 822         pos2_diff = cur_pos2 - pos2_last;
 823         pos3_diff = cur_pos3 - pos3_last;
 824         pos4_diff = cur_pos4 - pos4_last;
 825
 826         new_speed1 = pos1_diff/PID_T;
 827         new_speed2 = pos2_diff/PID_T;
 828         new_speed3 = pos3_diff/PID_T;
 829         new_speed4 = pos4_diff/PID_T;
 830
 831         diff_left_m = (pos1_diff + pos2_diff)/(2*STEP_PER_M_LEFT);
 832         diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M_RIGHT);
 833         angle_diff = (diff_right_m - diff_left_m) / WHEEL_DIST;
 834
 835         angle_new = angle.f + angle_diff;
 836         if (angle_new > 2*M_PI) angle_new-=2*M_PI;
 837         else if (angle_new < -2*M_PI) angle_new+=2*M_PI;
 838
 839         translation = (diff_left_m + diff_right_m)/2.0;
 840         pos_x_new = pos_x.f + cos(angle_new)*translation;
 841         pos_y_new = pos_y.f + sin(angle_new)*translation;
 842
 843         tmp_speed_lin = translation/PID_T;
 844         tmp_speed_rot = angle_diff/PID_T;
 845
 846         // copy from tmp
 847         cli();
 848         angle.f = angle_new;
 849         pos_x.f = pos_x_new;
 850         pos_y.f = pos_y_new;
 851         speed1 = new_speed1;
 852         speed2 = new_speed2;
 853         speed3 = new_speed3;
 854         speed4 = new_speed4;
 855         cur_speed_lin = tmp_speed_lin;
 856         cur_speed_rot = tmp_speed_rot;
 857         sei();
 858
 859         pos1_last = cur_pos1;
 860         pos2_last = cur_pos2;
 861         pos3_last = cur_pos3;
 862         pos4_last = cur_pos4;
 863 }
 864
 865
 866 static void update_pid(void) {
 867         static int16_t eold1=0;
 868         static int16_t eold2=0;
 869         static int16_t eold3=0;
 870         static int16_t eold4=0;
 871         static int32_t esum1=0;
 872         static int32_t esum2=0;
 873         static int32_t esum3=0;
 874         static int32_t esum4=0;
 875
 876         // protect motors from damage if stalling
 877         if (labs(esum1) > 140000 && speed1 == 0) {
 878                 motor1 = 0;
 879                 motor1_mode = MOTOR_MANUAL;
 880                 error_state |= (1<<4);
 881                 esum1 = 0;
 882         }
 883         if (labs(esum2) > 140000 && speed2 == 0) {
 884                 motor2 = 0;
 885                 motor2_mode = MOTOR_MANUAL;
 886                 error_state |= (1<<5);
 887                 esum2 = 0;
 888         }
 889         if (labs(esum3) > 140000 && speed3 == 0) {
 890                 motor3 = 0;
 891                 motor3_mode = MOTOR_MANUAL;
 892                 error_state |= (1<<6);
 893                 esum3 = 0;
 894         }
 895         // protect motors from damage if stalling
 896         if (labs(esum4) > 140000 && speed4 == 0) {
 897                 motor4 = 0;
 898                 motor4_mode = MOTOR_MANUAL;
 899                 error_state |= (1<<7);
 900                 esum4 = 0;
 901         }
 902
 903         if (motor1_mode == MOTOR_PID) {
 904                 if (speed1_wish != speed1_wish_old) {
 905                         if (abs(speed1_wish - speed1_wish_old) > 500) esum1 = 0;
 906                         speed1_wish_old = speed1_wish;
 907                 }
 908
 909                 if (speed1_wish == 0) {
 910                         motor1 = 0;
 911                         eold1 = 0;
 912                         error_state &= ~(1<<4);
 913                 } else {
 914                         int16_t e = speed1_wish - speed1;
 915                         esum1+=e;
 916                         motor1 = KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
 917                         eold1 = e;
 918
 919                         if (motor1 > 0 && speed1_wish < 0) motor1=PWM_BREAK;
 920                         else if (motor1 < 0 && speed1_wish > 0) motor1=PWM_BREAK;
 921                         else if (motor1 > 255) motor1 = 255;
 922                         else if (motor1 < -255) motor1 = -255;
 923                 }
 924         }
 925         if (motor2_mode == MOTOR_PID) {
 926                 if (speed2_wish != speed2_wish_old) {
 927                         if (abs(speed2_wish - speed2_wish_old) > 500) esum2 = 0;
 928                         speed2_wish_old = speed2_wish;
 929                 }
 930
 931                 if (speed2_wish == 0) {
 932                         motor2 = 0;
 933                         eold2 = 0;
 934                         error_state &= ~(1<<5);
 935                 } else {
 936                         int16_t e = speed2_wish - speed2;
 937                         esum2+=e;
 938                         motor2 = KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
 939                         eold2 = e;
 940
 941                         if (motor2 > 0 && speed2_wish < 0) motor2=PWM_BREAK;
 942                         else if (motor2 < 0 && speed2_wish > 0) motor2=PWM_BREAK;
 943                         else if (motor2 > 255) motor2 = 255;
 944                         else if (motor2 < -255) motor2 = -255;
 945                 }
 946         }
 947         if (motor3_mode == MOTOR_PID) {
 948                 if (speed3_wish != speed3_wish_old) {
 949                         if (abs(speed3_wish - speed3_wish_old) > 500) esum3 = 0;
 950                         speed3_wish_old = speed3_wish;
 951                 }
 952
 953                 if (speed3_wish == 0) {
 954                         motor3 = 0;
 955                         eold3 = 0;
 956                         error_state &= ~(1<<6);
 957                 } else {
 958                         int16_t e = speed3_wish - speed3;
 959                         esum3+=e;
 960                         motor3 = KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
 961                         eold3 = e;
 962
 963                         if (motor3 > 0 && speed3_wish < 0) motor3=PWM_BREAK;
 964                         else if (motor3 < 0 && speed3_wish > 0) motor3=PWM_BREAK;
 965                         else if (motor3 > 255) motor3 = 255;
 966                         else if (motor3 < -255) motor3 = -255;
 967                 }
 968         }
 969         if (motor4_mode == MOTOR_PID) {
 970                 if (speed4_wish != speed4_wish_old) {
 971                         if (abs(speed4_wish - speed4_wish_old) > 500) esum4 = 0;
 972                         speed4_wish_old = speed4_wish;
 973                 }
 974
 975                 if (speed4_wish == 0) {
 976                         motor4 = 0;
 977                         eold4 = 0;
 978                         error_state &= ~(1<<7);
 979                 } else {
 980                         int16_t e = speed4_wish - speed4;
 981                         esum4+=e;
 982                         motor4 = KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
 983                         eold4 = e;
 984
 985                         if (motor4 > 0 && speed4_wish < 0) motor4=PWM_BREAK;
 986                         else if (motor4 < 0 && speed4_wish > 0) motor4=PWM_BREAK;
 987                         else if (motor4 > 255) motor4 = 255;
 988                         else if (motor4 < -255) motor4 = -255;
 989                 }
 990         }
 991 }
 992
 993
 994 ISR(TIMER1_OVF_vect) {
 995         update_hall1();
 996         update_hall2();
 997         update_hall3();
 998         update_hall4();
 999
1000         run_update++;
1001 }
1002
1003
1004 int main(void) {
1005         // Outputs
1006         DDRB = (1 << 3);
1007         DDRC = (1 << 7) | (1 << 6) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
1008         DDRD = (1 << 7) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
1009         // Pullup Diag/Enable
1010         PORTB = (1 << 0) | (1 << 1) | (1 << 2);
1011         PORTD = (1 << 6);
1012
1013         bootloader = 0x00;
1014         setup_uart(9600);
1015         uart_setup_stdout();
1016
1017         // I2C
1018         TWAR = 0x50;
1019         TWI_RESET;
1020
1021         // Motor 1 & 2
1022         // Timer 1: Fast PWM non-inverting mode, Top=255 => 15.625kHz
1023         // Prescaler=1
1024         TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM10);
1025         TCCR1B = (1 << WGM12) | (1 << CS10);
1026         OCR1A = 0;
1027         OCR1B = 0;
1028
1029         // Motor 3
1030         // Timer 2: Fast PWM non-inverting mode, Top=255
1031         // Prescaler=1
1032         TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << CS20);
1033         OCR2 = 0;
1034
1035         // Motor 4
1036         // Timer 0: Fast PWM non-inverting mode, Top=255
1037         // Prescaler=1
1038         TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << CS00);
1039         OCR0 = 0;
1040
1041         printf("\r\nStart\r\n");
1042
1043         set_sleep_mode(SLEEP_MODE_IDLE);
1044         // Enable Timer 1 Overflow Interrupt
1045         TIMSK = (1 << TOIE1);
1046         sei();
1047
1048         while(1) {
1049                 switch(ireg) {
1050                         case 0xff: // Magic reg that starts the bootloader
1051                                 if (bootloader == 0xa5) {
1052                                         cli();
1053                                         {
1054                                                 void (*start)(void) = (void*)0x1800;
1055                                                 start();
1056                                         }
1057                                 }
1058                                 break;
1059                 }
1060
1061                 if (cmd_vel.bUpdate) {
1062                         float speed_wish_right, speed_wish_left;
1063                         float speed, angle;
1064
1065                         cli();
1066                         speed = cmd_vel.speed;
1067                         angle = cmd_vel.angle;
1068                         cmd_vel.bUpdate = 0;
1069                         sei();
1070
1071                         speed_wish_right = (angle*WHEEL_DIST)/2 + speed;
1072                         speed_wish_left = speed*2-speed_wish_right;
1073
1074                         speed_wish_left*=STEP_PER_M_LEFT;
1075                         speed_wish_right*=STEP_PER_M_RIGHT;
1076
1077                         if (aft_handicap > 0) {
1078                                 speed1_wish = speed_wish_left * (100-aft_handicap)/100.0;
1079                                 speed3_wish = speed_wish_right * (100-aft_handicap)/100.0;
1080                         } else {
1081                                 speed1_wish = speed_wish_left;
1082                                 speed3_wish = speed_wish_right;
1083                         }
1084                         if (front_handicap > 0) {
1085                                 speed2_wish = speed_wish_left * (100-front_handicap)/100.0;
1086                                 speed4_wish = speed_wish_right * (100-front_handicap)/100.0;
1087                         } else {
1088                                 speed2_wish = speed_wish_left;
1089                                 speed4_wish = speed_wish_right;
1090                         }
1091                         motor1_mode = MOTOR_PID;
1092                         motor2_mode = MOTOR_PID;
1093                         motor3_mode = MOTOR_PID;
1094                         motor4_mode = MOTOR_PID;
1095                 }
1096
1097                 if (run_update >= 156) { // ~100Hz
1098                         run_update=0;
1099
1100                         update_pos();
1101                         update_pid();
1102                         update_motor();
1103                         count_test++;
1104                 }
1105
1106                 sleep_mode();
1107         }
1108
1109         return 0;
1110 }