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 <util/twi.h>
   9 #include <avr/eeprom.h>
  10 #include <avr/wdt.h>
  11 #include <avr/pgmspace.h>
  12 #include "uart.h"
  13
  14 /*
  15  * I2C Register Map (8 Bit)
  16  * 0x00 Register select
  17  * 0x01 Motor 1 PWM MSB
  18  * 0x02 Motor 1 PWM LSB
  19  * 0x03 Motor 2 PWM MSB
  20  * 0x04 Motor 2 PWM LSB
  21  * 0x05 Motor 3 PWM MSB
  22  * 0x06 Motor 3 PWM LSB
  23  * 0x07 Motor 4 PWM MSB
  24  * 0x08 Motor 4 PWM LSB
  25  * free
  26  * 0x10 Hall 1 MSB
  27  * 0x11 Hall 1 LSB
  28  * 0x12 Hall 2 MSB
  29  * 0x13 Hall 2 LSB
  30  * 0x14 Hall 3 MSB
  31  * 0x15 Hall 3 LSB
  32  * 0x16 Hall 4 MSB
  33  * 0x17 Hall 4 LSB
  34  * free
  35  * 0x20 Motor 1 speed wish MSB
  36  * 0x21 Motor 1 speed wish LSB
  37  * 0x22 Motor 2 speed wish MSB
  38  * 0x23 Motor 2 speed wish LSB
  39  * 0x24 Motor 3 speed wish MSB
  40  * 0x25 Motor 3 speed wish LSB
  41  * 0x26 Motor 4 speed wish MSB
  42  * 0x27 Motor 4 speed wish LSB
  43  * 0x28 Left speed wish (m/s) MSB
  44  * 0x29 Left speed wish (m/s)
  45  * 0x2A Left speed wish (m/s)
  46  * 0x2B Left speed wish (m/s) LSB
  47  * 0x2C Right speed wish (m/s) MSB
  48  * 0x2D Right speed wish (m/s)
  49  * 0x2E Right speed wish (m/s)
  50  * 0x2F Right speed wish (m/s) LSB
  51  * 0x30 Motor 1 speed MSB
  52  * 0x31 Motor 1 speed LSB
  53  * 0x32 Motor 2 speed MSB
  54  * 0x33 Motor 2 speed LSB
  55  * 0x34 Motor 3 speed MSB
  56  * 0x35 Motor 3 speed LSB
  57  * 0x36 Motor 4 speed MSB
  58  * 0x37 Motor 4 speed LSB
  59  * 0x38 Speed (m/s) MSB
  60  * 0x39 Speed (m/s)
  61  * 0x3A Speed (m/s)
  62  * 0x3B Speed (m/s) LSB
  63  * 0x3C Angle (rad/s) MSB
  64  * 0x3D Angle (rad/s)
  65  * 0x3E Angle (rad/s)
  66  * 0x3F Angle (rad/s) LSB
  67  * 0x40 Position x (m) MSB
  68  * 0x41 Position x (m)
  69  * 0x42 Position x (m)
  70  * 0x43 Position x (m) LSB
  71  * 0x44 Position y (m) MSB
  72  * 0x45 Position y (m)
  73  * 0x46 Position y (m)
  74  * 0x47 Position y (m) LSB
  75  * 0x48 Position angle MSB
  76  * 0x49 Position angle
  77  * 0x4A Position angle
  78  * 0x4B Position angle LSB
  79  * free
  80  * 0x50 speed wish (m/s) MSB
  81  * 0x51 speed wish (m/s)
  82  * 0x52 speed wish (m/s)
  83  * 0x53 speed wish (m/s) LSB
  84  * 0x54 angle wish (rad/s) MSB
  85  * 0x55 angle wish (rad/s)
  86  * 0x56 angle wish (rad/s)
  87  * 0x57 angle wish (rad/s) LSB
  88  * free
  89  * 0x90 Motor 1 switch
  90  * 0x91 Motor 2 switch
  91  * 0x92 Motor 3 switch
  92  * 0x93 Motor 4 switch
  93  * 0x94 Front Handicap
  94  * 0x95 Aft Handicap
  95  * free
  96  * 0xA0 Reset reason
  97  * 0xA1 Error status
  98  * 0xA2 count test
  99  * 0xA3 last i2c status before boot
 100  * 0xA4 Watchdog enable
 101  * free
 102  * 0xff Bootloader
 103  */
 104
 105
 106 #define KP 0.062
 107 #define KI 0.12
 108 #define KD 0.0
 109 #define PID_T 0.01
 110 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:47
 111 // STEP_PER_M = 48*47/(d*pi)
 112 // Left real diameter: 0.12808, Right real diameter: 0.121
 113 #define STEP_PER_M 5573.0
 114 #define STEP_PER_M_LEFT (STEP_PER_M)
 115 #define STEP_PER_M_RIGHT (STEP_PER_M)
 116 #define WHEEL_DIST 0.39912 // Measured: 0.252
 117 #define PWM_BREAK INT16_MIN
 118 #define STALL_LIMIT 140000
 119 #define I2C_TIMEOUT_DISABLE 255
 120
 121 #define TWI_ACK   TWCR = (1<<TWINT) | (1<<TWEA) | (1<<TWEN) | (1<<TWIE)
 122 #define TWI_NAK   TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
 123 #define TWI_RESET TWCR = (1<<TWINT) | (1<<TWEA) | (1<<TWSTO) | (1<<TWEN) | (1<<TWIE);
 124 #define ENABLE_PWM_MOTOR1  TCCR1A |=  (1 << COM1A1)
 125 #define ENABLE_PWM_MOTOR2  TCCR1A |=  (1 << COM1B1)
 126 #define ENABLE_PWM_MOTOR3  TCCR2  |=  (1 << COM21);
 127 #define ENABLE_PWM_MOTOR4  TCCR0  |=  (1 << COM01);
 128 #define DISABLE_PWM_MOTOR1 TCCR1A &= ~(1 << COM1A1)
 129 #define DISABLE_PWM_MOTOR2 TCCR1A &= ~(1 << COM1B1)
 130 #define DISABLE_PWM_MOTOR3 TCCR2  &= ~(1 << COM21);
 131 #define DISABLE_PWM_MOTOR4 TCCR0  &= ~(1 << COM01);
 132
 133
 134 enum mode {
 135         MOTOR_MANUAL,
 136         MOTOR_PID
 137 };
 138
 139 typedef union {
 140         float f;
 141         uint32_t i;
 142 } ufloat_t;
 143
 144 static volatile struct {
 145         float speed;
 146         float angle;
 147         uint8_t bUpdate;
 148 } cmd_vel = {0, 0, 0};
 149
 150 static volatile uint8_t ireg=0;
 151 static volatile uint8_t bootloader=0;
 152 static volatile int16_t motor1=0; // -255..+255
 153 static volatile int16_t motor2=0;
 154 static volatile int16_t motor3=0;
 155 static volatile int16_t motor4=0;
 156 static volatile int16_t pos1=0; // step
 157 static volatile int16_t pos2=0;
 158 static volatile int16_t pos3=0;
 159 static volatile int16_t pos4=0;
 160 static volatile enum mode motor1_mode=MOTOR_MANUAL;
 161 static volatile enum mode motor2_mode=MOTOR_MANUAL;
 162 static volatile enum mode motor3_mode=MOTOR_MANUAL;
 163 static volatile enum mode motor4_mode=MOTOR_MANUAL;
 164 static volatile uint8_t motor1_switch=1;
 165 static volatile uint8_t motor2_switch=1;
 166 static volatile uint8_t motor3_switch=0;
 167 static volatile uint8_t motor4_switch=0;
 168 static volatile int16_t speed1_wish=0; // step/s
 169 static volatile int16_t speed2_wish=0;
 170 static volatile int16_t speed3_wish=0;
 171 static volatile int16_t speed4_wish=0;
 172 static volatile int16_t speed1_wish_old=0;
 173 static volatile int16_t speed2_wish_old=0;
 174 static volatile int16_t speed3_wish_old=0;
 175 static volatile int16_t speed4_wish_old=0;
 176 static volatile uint8_t run_update=0;
 177 static volatile int16_t speed1=0; // step/s
 178 static volatile int16_t speed2=0;
 179 static volatile int16_t speed3=0;
 180 static volatile int16_t speed4=0;
 181 static volatile ufloat_t pos_x={0.0};
 182 static volatile ufloat_t pos_y={0.0};
 183 static volatile ufloat_t angle={0.0};
 184 static volatile float cur_speed_lin=0;
 185 static volatile float cur_speed_rot=0;
 186 static volatile uint8_t count_test=0;
 187 static volatile uint8_t front_handicap=0;
 188 static volatile uint8_t aft_handicap=0;
 189 static volatile uint8_t error_state=0;
 190 static volatile uint8_t last_man_update_count=0;
 191 static volatile uint8_t last_i2c_status = 0;
 192 static uint8_t last_i2c_status_boot = 0;
 193 static volatile uint8_t watchdog_enable = 0;
 194
 195 ISR(TWI_vect)
 196 {
 197         static uint8_t tmp=0;
 198         static int16_t tmp16=0;
 199         static ufloat_t tmp_speed;
 200         static ufloat_t tmp_angle;
 201
 202         last_i2c_status = TW_STATUS;
 203         switch(TW_STATUS)
 204         {
 205                 case TW_SR_SLA_ACK: // start write
 206                         TWI_ACK;
 207                         ireg = 0;
 208                         break;
 209                 case TW_SR_DATA_ACK: // write
 210                         switch(ireg) {
 211                                 case 0x00: // register select
 212                                         ireg = TWDR;
 213                                         ireg--; // because we do ireg++ below
 214                                         TWI_ACK;
 215                                         break;
 216                                 case 0x01: // Motor 1 MSB
 217                                         tmp = TWDR;
 218                                         TWI_ACK;
 219                                         break;
 220                                 case 0x02: // Motor 1 LSB
 221                                         motor1 = tmp<<8 | TWDR;
 222                                         motor1_mode = MOTOR_MANUAL;
 223                                         TWI_ACK;
 224                                         break;
 225                                 case 0x03: // Motor 2 MSB
 226                                         tmp = TWDR;
 227                                         TWI_ACK;
 228                                         break;
 229                                 case 0x04: // Motor 2 LSB
 230                                         motor2 = tmp<<8 | TWDR;
 231                                         motor2_mode = MOTOR_MANUAL;
 232                                         TWI_ACK;
 233                                         break;
 234                                 case 0x05: // Motor 3 MSB
 235                                         tmp = TWDR;
 236                                         TWI_ACK;
 237                                         break;
 238                                 case 0x06: // Motor 3 LSB
 239                                         motor3 = tmp<<8 | TWDR;
 240                                         motor3_mode = MOTOR_MANUAL;
 241                                         TWI_ACK;
 242                                         break;
 243                                 case 0x07: // Motor 4 MSB
 244                                         tmp = TWDR;
 245                                         TWI_ACK;
 246                                         break;
 247                                 case 0x08: // Motor 4 LSB
 248                                         motor4 = tmp<<8 | TWDR;
 249                                         motor4_mode = MOTOR_MANUAL;
 250                                         TWI_ACK;
 251                                         break;
 252                                 case 0x20: // Motor 1 speed wish MSB
 253                                         tmp = TWDR;
 254                                         TWI_ACK;
 255                                         break;
 256                                 case 0x21: // Motor 1 speed wish LSB
 257                                         speed1_wish = tmp<<8 | TWDR;
 258                                         motor1_mode = MOTOR_PID;
 259                                         TWI_ACK;
 260                                         break;
 261                                 case 0x22: // Motor 2 speed wish MSB
 262                                         tmp = TWDR;
 263                                         TWI_ACK;
 264                                         break;
 265                                 case 0x23: // Motor 2 speed wish LSB
 266                                         speed2_wish = tmp<<8 | TWDR;
 267                                         motor2_mode = MOTOR_PID;
 268                                         TWI_ACK;
 269                                         break;
 270                                 case 0x24: // Motor 3 speed wish MSB
 271                                         tmp = TWDR;
 272                                         TWI_ACK;
 273                                         break;
 274                                 case 0x25: // Motor 3 speed wish LSB
 275                                         speed3_wish = tmp<<8 | TWDR;
 276                                         motor3_mode = MOTOR_PID;
 277                                         TWI_ACK;
 278                                         break;
 279                                 case 0x26: // Motor 4 speed wish MSB
 280                                         tmp = TWDR;
 281                                         TWI_ACK;
 282                                         break;
 283                                 case 0x27: // Motor 4 speed wish LSB
 284                                         speed4_wish = tmp<<8 | TWDR;
 285                                         motor4_mode = MOTOR_PID;
 286                                         TWI_ACK;
 287                                         break;
 288                                 case 0x28: // Left speed wish MSB
 289                                         tmp_speed.i = TWDR;
 290                                         TWI_ACK;
 291                                         break;
 292                                 case 0x29: // Left speed wish
 293                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 294                                         TWI_ACK;
 295                                         break;
 296                                 case 0x2A: // Left speed wish
 297                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 298                                         TWI_ACK;
 299                                         break;
 300                                 case 0x2B: // Left speed wish LSB
 301                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 302                                         speed1_wish = tmp_speed.f*STEP_PER_M_LEFT;
 303                                         speed2_wish = tmp_speed.f*STEP_PER_M_LEFT;
 304                                         motor1_mode = MOTOR_PID;
 305                                         motor2_mode = MOTOR_PID;
 306                                         TWI_ACK;
 307                                         break;
 308                                 case 0x2C: // Right speed wish MSB
 309                                         tmp_speed.i = TWDR;
 310                                         TWI_ACK;
 311                                         break;
 312                                 case 0x2D: // Right speed wish
 313                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 314                                         TWI_ACK;
 315                                         break;
 316                                 case 0x2E: // Right speed wish
 317                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 318                                         TWI_ACK;
 319                                         break;
 320                                 case 0x2F: // Right speed wish LSB
 321                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 322                                         speed1_wish = tmp_speed.f*STEP_PER_M_RIGHT;
 323                                         speed2_wish = tmp_speed.f*STEP_PER_M_RIGHT;
 324                                         motor1_mode = MOTOR_PID;
 325                                         motor2_mode = MOTOR_PID;
 326                                         TWI_ACK;
 327                                         break;
 328                                 case 0x50: // speed wish MSB
 329                                         tmp_speed.i = TWDR;
 330                                         TWI_ACK;
 331                                         break;
 332                                 case 0x51: // speed wish
 333                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 334                                         TWI_ACK;
 335                                         break;
 336                                 case 0x52: // speed wish
 337                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 338                                         TWI_ACK;
 339                                         break;
 340                                 case 0x53: // speed wish LSB
 341                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 342                                         cmd_vel.speed = tmp_speed.f;
 343                                         TWI_ACK;
 344                                         break;
 345                                 case 0x54: // angle wish MSB
 346                                         tmp_angle.i = TWDR;
 347                                         TWI_ACK;
 348                                         break;
 349                                 case 0x55: // angle wish
 350                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 351                                         TWI_ACK;
 352                                         break;
 353                                 case 0x56: // angle wish
 354                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 355                                         TWI_ACK;
 356                                         break;
 357                                 case 0x57: // angle wish LSB
 358                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 359                                         cmd_vel.angle = tmp_angle.f;
 360                                         cmd_vel.bUpdate = 1;
 361                                         last_man_update_count = 0;
 362                                         TWI_ACK;
 363                                         break;
 364                                 case 0x90: // Motor 1 switch
 365                                         motor1_switch = TWDR;
 366                                         TWI_ACK;
 367                                         break;
 368                                 case 0x91: // Motor 2 switch
 369                                         motor2_switch = TWDR;
 370                                         TWI_ACK;
 371                                         break;
 372                                 case 0x92: // Motor 3 switch
 373                                         motor3_switch = TWDR;
 374                                         TWI_ACK;
 375                                         break;
 376                                 case 0x93: // Motor 4 switch
 377                                         motor4_switch = TWDR;
 378                                         TWI_ACK;
 379                                         break;
 380                                 case 0x94: // Front Handicap
 381                                         front_handicap = TWDR;
 382                                         cmd_vel.bUpdate = 1;
 383                                         TWI_ACK;
 384                                         break;
 385                                 case 0x95: // Aft Handicap
 386                                         aft_handicap = TWDR;
 387                                         cmd_vel.bUpdate = 1;
 388                                         TWI_ACK;
 389                                         break;
 390                                 case 0xA4: // Watchdog enable
 391                                         watchdog_enable = TWDR;
 392                                         TWI_ACK;
 393                                         break;
 394                                 case 0xff: // bootloader
 395                                         bootloader = TWDR;
 396                                 default:
 397                                         TWI_NAK;
 398                         }
 399                         if (ireg < 0xff) ireg++;
 400                         break;
 401                 case TW_ST_SLA_ACK: // start read
 402                 case TW_ST_DATA_ACK: // read
 403                         switch(ireg) {
 404                                 case 0x02: // Motor 1 PWM
 405                                         TWDR = OCR1A;
 406                                         TWI_ACK;
 407                                         break;
 408                                 case 0x03: // Dummy to allow continous read
 409                                         TWDR = 0;
 410                                         TWI_ACK;
 411                                         break;
 412                                 case 0x04: // Motor 2 PWM
 413                                         TWDR = OCR1B;
 414                                         TWI_ACK;
 415                                         break;
 416                                 case 0x05: // Dummy to allow continous read
 417                                         TWDR = 0;
 418                                         TWI_ACK;
 419                                         break;
 420                                 case 0x06: // Motor 3 PWM
 421                                         TWDR = OCR2;
 422                                         TWI_ACK;
 423                                         break;
 424                                 case 0x07: // Dummy to allow continous read
 425                                         TWDR = 0;
 426                                         TWI_ACK;
 427                                         break;
 428                                 case 0x08: // Motor 4 PWM
 429                                         TWDR = OCR0;
 430                                         TWI_ACK;
 431                                         break;
 432                                 case 0x09: // Dummy to allow continous read
 433                                         TWDR = 0;
 434                                         TWI_ACK;
 435                                         break;
 436                                 case 0x10: // Hall 1 MSB
 437                                         tmp16 = pos1;
 438                                         TWDR = tmp16>>8;
 439                                         TWI_ACK;
 440                                         break;
 441                                 case 0x11: // Hall 1 LSB
 442                                         TWDR = tmp16;
 443                                         TWI_ACK;
 444                                         break;
 445                                 case 0x12: // Hall 2 MSB
 446                                         tmp16 = pos2;
 447                                         TWDR = tmp16>>8;
 448                                         TWI_ACK;
 449                                         break;
 450                                 case 0x13: // Hall 2 LSB
 451                                         TWDR = tmp16;
 452                                         TWI_ACK;
 453                                         break;
 454                                 case 0x14: // Hall 3 MSB
 455                                         tmp16 = pos3;
 456                                         TWDR = tmp16>>8;
 457                                         TWI_ACK;
 458                                         break;
 459                                 case 0x15: // Hall 3 LSB
 460                                         TWDR = tmp16;
 461                                         TWI_ACK;
 462                                         break;
 463                                 case 0x16: // Hall 4 MSB
 464                                         tmp16 = pos4;
 465                                         TWDR = tmp16>>8;
 466                                         TWI_ACK;
 467                                         break;
 468                                 case 0x17: // Hall 4 LSB
 469                                         TWDR = tmp16;
 470                                         TWI_ACK;
 471                                         break;
 472                                 case 0x20: // Motor 1 speed wish MSB
 473                                         TWDR = speed1_wish>>8;
 474                                         TWI_ACK;
 475                                         break;
 476                                 case 0x21: // Motor 1 speed wish LSB
 477                                         TWDR = speed1_wish;
 478                                         TWI_ACK;
 479                                         break;
 480                                 case 0x22: // Motor 2 speed wish MSB
 481                                         TWDR = speed2_wish>>8;
 482                                         TWI_ACK;
 483                                         break;
 484                                 case 0x23: // Motor 2 speed wish LSB
 485                                         TWDR = speed2_wish;
 486                                         TWI_ACK;
 487                                         break;
 488                                 case 0x24: // Motor 3 speed wish MSB
 489                                         TWDR = speed3_wish>>8;
 490                                         TWI_ACK;
 491                                         break;
 492                                 case 0x25: // Motor 3 speed wish LSB
 493                                         TWDR = speed3_wish;
 494                                         TWI_ACK;
 495                                         break;
 496                                 case 0x26: // Motor 4 speed wish MSB
 497                                         TWDR = speed4_wish>>8;
 498                                         TWI_ACK;
 499                                         break;
 500                                 case 0x27: // Motor 4 speed wish LSB
 501                                         TWDR = speed4_wish;
 502                                         TWI_ACK;
 503                                         break;
 504                                 case 0x30: // Motor 1 speed MSB
 505                                         TWDR = speed1>>8;
 506                                         TWI_ACK;
 507                                         break;
 508                                 case 0x31: // Motor 1 speed LSB
 509                                         TWDR = speed1;
 510                                         TWI_ACK;
 511                                         break;
 512                                 case 0x32: // Motor 2 speed MSB
 513                                         TWDR = speed2>>8;
 514                                         TWI_ACK;
 515                                         break;
 516                                 case 0x33: // Motor 2 speed LSB
 517                                         TWDR = speed2;
 518                                         TWI_ACK;
 519                                         break;
 520                                 case 0x34: // Motor 3 speed MSB
 521                                         TWDR = speed3>>8;
 522                                         TWI_ACK;
 523                                         break;
 524                                 case 0x35: // Motor 3 speed LSB
 525                                         TWDR = speed3;
 526                                         TWI_ACK;
 527                                         break;
 528                                 case 0x36: // Motor 4 speed MSB
 529                                         TWDR = speed4>>8;
 530                                         TWI_ACK;
 531                                         break;
 532                                 case 0x37: // Motor 4 speed LSB
 533                                         TWDR = speed4;
 534                                         TWI_ACK;
 535                                         break;
 536                                 case 0x38: // speed MSB
 537                                         tmp_speed.f = cur_speed_lin;
 538                                         TWDR = tmp_speed.i>>24;
 539                                         TWI_ACK;
 540                                         break;
 541                                 case 0x39: // speed
 542                                         TWDR = tmp_speed.i>>16;
 543                                         TWI_ACK;
 544                                         break;
 545                                 case 0x3A: // speed
 546                                         TWDR = tmp_speed.i>>8;
 547                                         TWI_ACK;
 548                                         break;
 549                                 case 0x3B: // speed LSB
 550                                         TWDR = tmp_speed.i;
 551                                         TWI_ACK;
 552                                         break;
 553                                 case 0x3C: // angle MSB
 554                                         tmp_angle.f = cur_speed_rot;
 555                                         TWDR = tmp_angle.i>>24;
 556                                         TWI_ACK;
 557                                         break;
 558                                 case 0x3D: // angle
 559                                         TWDR = tmp_angle.i>>16;
 560                                         TWI_ACK;
 561                                         break;
 562                                 case 0x3E: // angle
 563                                         TWDR = tmp_angle.i>>8;
 564                                         TWI_ACK;
 565                                         break;
 566                                 case 0x3F: // angle LSB
 567                                         TWDR = angle.i;
 568                                         TWI_ACK;
 569                                         break;
 570                                 case 0x40: // Position x MSB
 571                                         TWDR = pos_x.i>>24;
 572                                         TWI_ACK;
 573                                         break;
 574                                 case 0x41: // Position x
 575                                         TWDR = pos_x.i>>16;
 576                                         TWI_ACK;
 577                                         break;
 578                                 case 0x42: // Position x
 579                                         TWDR = pos_x.i>>8;
 580                                         TWI_ACK;
 581                                         break;
 582                                 case 0x43: // Position x LSB
 583                                         TWDR = pos_x.i;
 584                                         TWI_ACK;
 585                                         break;
 586                                 case 0x44: // Position y MSB
 587                                         TWDR = pos_y.i>>24;
 588                                         TWI_ACK;
 589                                         break;
 590                                 case 0x45: // Position y
 591                                         TWDR = pos_y.i>>16;
 592                                         TWI_ACK;
 593                                         break;
 594                                 case 0x46: // Position y
 595                                         TWDR = pos_y.i>>8;
 596                                         TWI_ACK;
 597                                         break;
 598                                 case 0x47: // Position y LSB
 599                                         TWDR = pos_y.i;
 600                                         TWI_ACK;
 601                                         break;
 602                                 case 0x48: // Position angle MSB
 603                                         TWDR = angle.i>>24;
 604                                         TWI_ACK;
 605                                         break;
 606                                 case 0x49: // Position angle
 607                                         TWDR = angle.i>>16;
 608                                         TWI_ACK;
 609                                         break;
 610                                 case 0x4A: // Position angle
 611                                         TWDR = angle.i>>8;
 612                                         TWI_ACK;
 613                                         break;
 614                                 case 0x4B: // Position angle LSB
 615                                         TWDR = angle.i;
 616                                         TWI_ACK;
 617                                         break;
 618                                 case 0xA0: // Reset reason
 619                                         TWDR = MCUCSR & 0x0f;
 620                                         MCUCSR = 0x0;
 621                                         TWI_ACK;
 622                                         break;
 623                                 case 0xA1: // Error status
 624                                         TWDR = error_state;
 625                                         TWI_ACK;
 626                                         break;
 627                                 case 0xA2: // count test
 628                                         TWDR = count_test;
 629                                         TWI_ACK;
 630                                 case 0xA3: // last i2c status before boot
 631                                         TWDR = last_i2c_status_boot;
 632                                         TWI_ACK;
 633                                 case 0xA4: // Watchdog enable
 634                                         TWDR = watchdog_enable;
 635                                         TWI_ACK;
 636                                 default:
 637                                         TWDR = 0;
 638                                         TWI_NAK;
 639                         }
 640                         ireg++;
 641                         break;
 642                 case TW_SR_STOP:
 643                         TWI_ACK;
 644                         break;
 645                 case TW_NO_INFO:
 646                         break;
 647                 default:
 648                         TWI_RESET;
 649         }
 650
 651         if (watchdog_enable == 2) {
 652                 wdt_reset();
 653         }
 654 }
 655
 656
 657 static void update_hall1(void) {
 658         unsigned char status = (PINA >> 0) & 0x3;
 659         static unsigned char oldstatus=0;
 660         unsigned char diff, new;
 661
 662         new = 0;
 663         if (status & 0x1)
 664                 new = 0x3;
 665         if (status & 0x2)
 666                 new ^= 0x1;                                     // convert gray to binary
 667         diff = oldstatus - new;                         // difference last - new
 668         if (diff & 0x1) {                               // bit 0 = value (1)
 669                 oldstatus = new;                                        // store new as next last
 670                 if (motor1_switch) pos1 += (diff & 2) - 1;              // bit 1 = direction (+/-)
 671                 else pos1 -= (diff & 2) - 1;
 672         }
 673 }
 674
 675
 676 static void update_hall2(void) {
 677         unsigned char status = (PINA >> 4) & 0x3;
 678         static unsigned char oldstatus=0;
 679         unsigned char diff, new;
 680
 681         new = 0;
 682         if (status & 0x1)
 683                 new = 0x3;
 684         if (status & 0x2)
 685                 new ^= 0x1;                                     // convert gray to binary
 686         diff = oldstatus - new;                         // difference last - new
 687         if (diff & 0x1) {                               // bit 0 = value (1)
 688                 oldstatus = new;                                        // store new as next last
 689                 if (motor2_switch) pos2 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
 690                 else pos2 += (diff & 2) - 1;
 691         }
 692 }
 693
 694
 695 static void update_hall3(void) {
 696         unsigned char status = (PINA >> 2) & 0x3;
 697         static unsigned char oldstatus=0;
 698         unsigned char diff, new;
 699
 700         new = 0;
 701         if (status & 0x1)
 702                 new = 0x3;
 703         if (status & 0x2)
 704                 new ^= 0x1;                                     // convert gray to binary
 705         diff = oldstatus - new;                         // difference last - new
 706         if (diff & 0x1) {                               // bit 0 = value (1)
 707                 oldstatus = new;                                        // store new as next last
 708                 if (motor3_switch) pos3 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
 709                 else pos3 += (diff & 2) - 1;
 710         }
 711 }
 712
 713
 714 static void update_hall4(void) {
 715         unsigned char status = (PINA >> 6) & 0x3;
 716         static unsigned char oldstatus=0;
 717         unsigned char diff, new;
 718
 719         new = 0;
 720         if (status & 0x1)
 721                 new = 0x3;
 722         if (status & 0x2)
 723                 new ^= 0x1;                                     // convert gray to binary
 724         diff = oldstatus - new;                         // difference last - new
 725         if (diff & 0x1) {                               // bit 0 = value (1)
 726                 oldstatus = new;                                        // store new as next last
 727                 if (motor4_switch) pos4 += (diff & 2) - 1;              // bit 1 = direction (+/-)
 728                 else pos4 -= (diff & 2) - 1;
 729         }
 730 }
 731
 732
 733 static void update_motor(void) {
 734         static int16_t m1_old=SHRT_MIN;
 735         static int16_t m2_old=SHRT_MIN;
 736         static int16_t m3_old=SHRT_MIN;
 737         static int16_t m4_old=SHRT_MIN;
 738
 739         error_state &= 0xf0; // clear lower bits
 740         error_state |= ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
 741
 742         if (m1_old != motor1) { // update only when changed
 743                 if (motor1 == 0) {
 744                         // stop
 745                         PORTC &= ~(1 << 3) & ~(1 << 2);
 746                         DISABLE_PWM_MOTOR1;
 747                 } else if (motor1 == PWM_BREAK) {
 748                         PORTC |= (1 << 3) | (1 << 2);
 749                         ENABLE_PWM_MOTOR1;
 750                 } else if ((!motor1_switch && motor1 > 0) || (motor1_switch && motor1 < 0)) {
 751                         // forward
 752                         uint8_t tmp=PORTC;
 753                         tmp &= ~(1 << 3);
 754                         tmp |=  (1 << 2);
 755                         PORTC = tmp;
 756                         ENABLE_PWM_MOTOR1;
 757                 } else { // motor1 < 0
 758                         // backward
 759                         uint8_t tmp=PORTC;
 760                         tmp &= ~(1 << 2);
 761                         tmp |=  (1 << 3);
 762                         PORTC = tmp;
 763                         ENABLE_PWM_MOTOR1;
 764                 }
 765
 766                 m1_old = motor1;
 767                 OCR1A = abs(motor1);
 768         }
 769
 770         if (m2_old != motor2) { // update only when changed
 771                 if (motor2 == 0) {
 772                         // stop
 773                         PORTC &= ~(1 << 5) & ~(1 << 4);
 774                         DISABLE_PWM_MOTOR2;
 775                 } else if (motor2 == PWM_BREAK) {
 776                         PORTC |= (1 << 5) | (1 << 4);
 777                         ENABLE_PWM_MOTOR2;
 778                 } else if ((!motor2_switch && motor2 > 0) || (motor2_switch && motor2 < 0)) {
 779                         // forward
 780                         uint8_t tmp=PORTC;
 781                         tmp &= ~(1 << 5);
 782                         tmp |=  (1 << 4);
 783                         PORTC = tmp;
 784                         ENABLE_PWM_MOTOR2;
 785                 } else { // motor2 < 0
 786                         // backward
 787                         uint8_t tmp=PORTC;
 788                         tmp &= ~(1 << 4);
 789                         tmp |=  (1 << 5);
 790                         PORTC = tmp;
 791                         ENABLE_PWM_MOTOR2;
 792                 }
 793
 794                 m2_old = motor2;
 795                 OCR1B = abs(motor2);
 796         }
 797
 798         if (m3_old != motor3) { // update only when changed
 799                 if (motor3 == 0) {
 800                         // stop
 801                         PORTC &= ~(1 << 7) & ~(1 << 6);
 802                         DISABLE_PWM_MOTOR3;
 803                 } else if (motor3 == PWM_BREAK) {
 804                         PORTC |= (1 << 7) | (1 << 6);
 805                         ENABLE_PWM_MOTOR3;
 806                 } else if ((!motor3_switch && motor3 > 0) || (motor3_switch && motor3 < 0)) {
 807                         // forward
 808                         uint8_t tmp=PORTC;
 809                         tmp &= ~(1 << 7);
 810                         tmp |=  (1 << 6);
 811                         PORTC = tmp;
 812                         ENABLE_PWM_MOTOR3;
 813                 } else { // motor3 < 0
 814                         // backward
 815                         uint8_t tmp=PORTC;
 816                         tmp &= ~(1 << 6);
 817                         tmp |=  (1 << 7);
 818                         PORTC = tmp;
 819                         ENABLE_PWM_MOTOR3;
 820                 }
 821
 822                 m3_old = motor3;
 823                 OCR2 = abs(motor3);
 824         }
 825
 826         if (m4_old != motor4) { // update only when changed
 827                 if (motor4 == 0) {
 828                         // stop
 829                         PORTD &= ~(1 << 3) & ~(1 << 2);
 830                         DISABLE_PWM_MOTOR4;
 831                 } else if (motor4 == PWM_BREAK) {
 832                         PORTD |= (1 << 3) | (1 << 2);
 833                         ENABLE_PWM_MOTOR4;
 834                 } else if ((!motor4_switch && motor4 > 0) || (motor4_switch && motor4 < 0)) {
 835                         // forward
 836                         uint8_t tmp=PORTD;
 837                         tmp &= ~(1 << 3);
 838                         tmp |=  (1 << 2);
 839                         PORTD = tmp;
 840                         ENABLE_PWM_MOTOR4;
 841                 } else { // motor4 < 0
 842                         // backward
 843                         uint8_t tmp=PORTD;
 844                         tmp &= ~(1 << 2);
 845                         tmp |=  (1 << 3);
 846                         PORTD = tmp;
 847                         ENABLE_PWM_MOTOR4;
 848                 }
 849
 850                 m4_old = motor4;
 851                 OCR0 = abs(motor4);
 852         }
 853 }
 854
 855
 856 static void update_pos(void) {
 857         static int16_t pos1_last=0;
 858         static int16_t pos2_last=0;
 859         static int16_t pos3_last=0;
 860         static int16_t pos4_last=0;
 861         int16_t pos1_diff; // steps
 862         int16_t pos2_diff;
 863         int16_t pos3_diff;
 864         int16_t pos4_diff;
 865         float diff_left_m, diff_right_m, angle_diff, translation;
 866         float pos_x_new, pos_y_new, angle_new;
 867         float tmp_speed_lin, tmp_speed_rot;
 868         int16_t cur_pos1, cur_pos2, cur_pos3, cur_pos4;
 869         int16_t new_speed1, new_speed2, new_speed3, new_speed4;
 870
 871         // copy to tmp
 872         cli();
 873         cur_pos1 = pos1;
 874         cur_pos2 = pos2;
 875         cur_pos3 = pos3;
 876         cur_pos4 = pos4;
 877         sei();
 878
 879         pos1_diff = cur_pos1 - pos1_last;
 880         pos2_diff = cur_pos2 - pos2_last;
 881         pos3_diff = cur_pos3 - pos3_last;
 882         pos4_diff = cur_pos4 - pos4_last;
 883
 884         new_speed1 = pos1_diff/PID_T;
 885         new_speed2 = pos2_diff/PID_T;
 886         new_speed3 = pos3_diff/PID_T;
 887         new_speed4 = pos4_diff/PID_T;
 888
 889         diff_left_m = (pos1_diff + pos2_diff)/(2*STEP_PER_M_LEFT);
 890         diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M_RIGHT);
 891         angle_diff = (diff_right_m - diff_left_m) / WHEEL_DIST;
 892
 893         angle_new = angle.f + angle_diff;
 894         if (angle_new > 2*M_PI) angle_new-=2*M_PI;
 895         else if (angle_new < -2*M_PI) angle_new+=2*M_PI;
 896
 897         translation = (diff_left_m + diff_right_m)/2.0;
 898         pos_x_new = pos_x.f + cos(angle_new)*translation;
 899         pos_y_new = pos_y.f + sin(angle_new)*translation;
 900
 901         tmp_speed_lin = translation/PID_T;
 902         tmp_speed_rot = angle_diff/PID_T;
 903
 904         // copy from tmp
 905         cli();
 906         angle.f = angle_new;
 907         pos_x.f = pos_x_new;
 908         pos_y.f = pos_y_new;
 909         speed1 = new_speed1;
 910         speed2 = new_speed2;
 911         speed3 = new_speed3;
 912         speed4 = new_speed4;
 913         cur_speed_lin = tmp_speed_lin;
 914         cur_speed_rot = tmp_speed_rot;
 915         sei();
 916
 917         pos1_last = cur_pos1;
 918         pos2_last = cur_pos2;
 919         pos3_last = cur_pos3;
 920         pos4_last = cur_pos4;
 921 }
 922
 923
 924 static void update_pid(void) {
 925         static int16_t eold1=0;
 926         static int16_t eold2=0;
 927         static int16_t eold3=0;
 928         static int16_t eold4=0;
 929         static int32_t esum1=0;
 930         static int32_t esum2=0;
 931         static int32_t esum3=0;
 932         static int32_t esum4=0;
 933
 934         // protect motors from damage if stalling
 935         if (labs(esum1) > STALL_LIMIT && speed1 == 0) {
 936                 motor1 = 0;
 937                 motor1_mode = MOTOR_MANUAL;
 938                 error_state |= (1<<4);
 939                 esum1 = 0;
 940         }
 941         if (labs(esum2) > STALL_LIMIT && speed2 == 0) {
 942                 motor2 = 0;
 943                 motor2_mode = MOTOR_MANUAL;
 944                 error_state |= (1<<5);
 945                 esum2 = 0;
 946         }
 947         if (labs(esum3) > STALL_LIMIT && speed3 == 0) {
 948                 motor3 = 0;
 949                 motor3_mode = MOTOR_MANUAL;
 950                 error_state |= (1<<6);
 951                 esum3 = 0;
 952         }
 953         if (labs(esum4) > STALL_LIMIT && speed4 == 0) {
 954                 motor4 = 0;
 955                 motor4_mode = MOTOR_MANUAL;
 956                 error_state |= (1<<7);
 957                 esum4 = 0;
 958         }
 959
 960         if (motor1_mode == MOTOR_PID) {
 961                 if (speed1_wish != speed1_wish_old) {
 962                         if (abs(speed1_wish - speed1_wish_old) > 500) esum1 = 0;
 963                         speed1_wish_old = speed1_wish;
 964                 }
 965
 966                 uint8_t dir_change = (speed1_wish > 0 && speed1 < 0) || (speed1_wish < 0 && speed1 > 0); // Prevent dangerous immediate engine reverse
 967                 if (speed1_wish == 0 || dir_change) {
 968                         motor1 = 0;
 969                         eold1 = 0;
 970                         error_state &= ~(1<<4);
 971                 } else {
 972                         int16_t e = speed1_wish - speed1;
 973                         esum1+=e;
 974                         motor1 = KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
 975                         eold1 = e;
 976
 977                         if (motor1 > 0 && speed1_wish < 0) motor1=PWM_BREAK;
 978                         else if (motor1 < 0 && speed1_wish > 0) motor1=PWM_BREAK;
 979                         else if (motor1 > 255) motor1 = 255;
 980                         else if (motor1 < -255) motor1 = -255;
 981                 }
 982         }
 983         if (motor2_mode == MOTOR_PID) {
 984                 if (speed2_wish != speed2_wish_old) {
 985                         if (abs(speed2_wish - speed2_wish_old) > 500) esum2 = 0;
 986                         speed2_wish_old = speed2_wish;
 987                 }
 988
 989                 uint8_t dir_change = (speed2_wish > 0 && speed2 < 0) || (speed2_wish < 0 && speed2 > 0); // Prevent dangerous immediate engine reverse
 990                 if (speed2_wish == 0 || dir_change) {
 991                         motor2 = 0;
 992                         eold2 = 0;
 993                         error_state &= ~(1<<5);
 994                 } else {
 995                         int16_t e = speed2_wish - speed2;
 996                         esum2+=e;
 997                         motor2 = KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
 998                         eold2 = e;
 999
1000                         if (motor2 > 0 && speed2_wish < 0) motor2=PWM_BREAK;
1001                         else if (motor2 < 0 && speed2_wish > 0) motor2=PWM_BREAK;
1002                         else if (motor2 > 255) motor2 = 255;
1003                         else if (motor2 < -255) motor2 = -255;
1004                 }
1005         }
1006         if (motor3_mode == MOTOR_PID) {
1007                 if (speed3_wish != speed3_wish_old) {
1008                         if (abs(speed3_wish - speed3_wish_old) > 500) esum3 = 0;
1009                         speed3_wish_old = speed3_wish;
1010                 }
1011
1012                 uint8_t dir_change = (speed3_wish > 0 && speed3 < 0) || (speed3_wish < 0 && speed3 > 0); // Prevent dangerous immediate engine reverse
1013                 if (speed3_wish == 0 || dir_change) {
1014                         motor3 = 0;
1015                         eold3 = 0;
1016                         error_state &= ~(1<<6);
1017                 } else {
1018                         int16_t e = speed3_wish - speed3;
1019                         esum3+=e;
1020                         motor3 = KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
1021                         eold3 = e;
1022
1023                         if (motor3 > 0 && speed3_wish < 0) motor3=PWM_BREAK;
1024                         else if (motor3 < 0 && speed3_wish > 0) motor3=PWM_BREAK;
1025                         else if (motor3 > 255) motor3 = 255;
1026                         else if (motor3 < -255) motor3 = -255;
1027                 }
1028         }
1029         if (motor4_mode == MOTOR_PID) {
1030                 if (speed4_wish != speed4_wish_old) {
1031                         if (abs(speed4_wish - speed4_wish_old) > 500) esum4 = 0;
1032                         speed4_wish_old = speed4_wish;
1033                 }
1034
1035                 uint8_t dir_change = (speed4_wish > 0 && speed4 < 0) || (speed4_wish < 0 && speed4 > 0); // Prevent dangerous immediate engine reverse
1036                 if (speed4_wish == 0 || dir_change) {
1037                         motor4 = 0;
1038                         eold4 = 0;
1039                         error_state &= ~(1<<7);
1040                 } else {
1041                         int16_t e = speed4_wish - speed4;
1042                         esum4+=e;
1043                         motor4 = KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
1044                         eold4 = e;
1045
1046                         if (motor4 > 0 && speed4_wish < 0) motor4=PWM_BREAK;
1047                         else if (motor4 < 0 && speed4_wish > 0) motor4=PWM_BREAK;
1048                         else if (motor4 > 255) motor4 = 255;
1049                         else if (motor4 < -255) motor4 = -255;
1050                 }
1051         }
1052 }
1053
1054
1055 ISR(TIMER1_OVF_vect) {
1056         update_hall1();
1057         update_hall2();
1058         update_hall3();
1059         update_hall4();
1060
1061         run_update++;
1062 }
1063
1064
1065 int main(void) {
1066         // Outputs
1067         DDRB = (1 << 3);
1068         DDRC = (1 << 7) | (1 << 6) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
1069         DDRD = (1 << 7) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
1070         // Pullup Diag/Enable
1071         PORTB = (1 << 0) | (1 << 1) | (1 << 2);
1072         PORTD = (1 << 6);
1073
1074         bootloader = 0x00;
1075         setup_uart(9600);
1076         uart_setup_stdout();
1077
1078         // I2C
1079         TWAR = 0x50;
1080         TWI_ACK;
1081
1082         // Motor 1 & 2
1083         // Also used for PWM frequency TIMER1_FREQ (F_CPU/256)
1084         // Timer 1: Fast PWM non-inverting mode, Top=255 => 19.531kHz
1085         // Prescaler=1
1086         //TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM10);
1087         // Avoid narrow spike on extreme pwm value 0 by not setting COM1*1
1088         TCCR1A = (1 << WGM10);
1089         TCCR1B = (1 << WGM12) | (1 << CS10);
1090         OCR1A = 0;
1091         OCR1B = 0;
1092
1093         // Motor 3
1094         // Timer 2: Fast PWM non-inverting mode, Top=255
1095         // Prescaler=1
1096         //TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << CS20);
1097         // Avoid narrow spike on extreme pwm value 0 by not setting COM21
1098         TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << CS20);
1099         OCR2 = 0;
1100
1101         // Motor 4
1102         // Timer 0: Fast PWM non-inverting mode, Top=255
1103         // Prescaler=1
1104         //TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << CS00);
1105         // Avoid narrow spike on extreme pwm value 0 by not setting COM01
1106         TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << CS00);
1107         OCR0 = 0;
1108
1109         printf_P(PSTR("\r\nStart\r\n"));
1110
1111         last_i2c_status_boot = eeprom_read_byte((uint8_t*)1);
1112
1113         set_sleep_mode(SLEEP_MODE_IDLE);
1114         // Enable Timer 1 Overflow Interrupt
1115         TIMSK = (1 << TOIE1);
1116         sei();
1117
1118         while(1) {
1119                 switch(ireg) {
1120                         case 0xA4: // Watchdog enable
1121                                 if (watchdog_enable == 1) {
1122                                         wdt_enable(WDTO_2S);
1123                                         watchdog_enable = 2;
1124                                 } else if (watchdog_enable == 0) {
1125                                         wdt_disable();
1126                                         watchdog_enable = 3;
1127                                 }
1128                                 break;
1129                         case 0xff: // Magic reg that starts the bootloader
1130                                 if (bootloader == 0xa5) {
1131                                         cli();
1132                                         // write mark to first area in eeprom
1133                                         eeprom_write_byte((uint8_t*)0, 123);
1134                                         eeprom_busy_wait();
1135                                         // Use watchdog to restart
1136                                         wdt_enable(WDTO_15MS);
1137                                 }
1138                                 break;
1139                 }
1140
1141                 if (cmd_vel.bUpdate) {
1142                         float speed_wish_right, speed_wish_left;
1143                         float speed, angle;
1144
1145                         cli();
1146                         speed = cmd_vel.speed;
1147                         angle = cmd_vel.angle;
1148                         cmd_vel.bUpdate = 0;
1149                         sei();
1150
1151                         speed_wish_right = (angle*WHEEL_DIST)/2 + speed;
1152                         speed_wish_left = speed*2-speed_wish_right;
1153
1154                         speed_wish_left*=STEP_PER_M_LEFT;
1155                         speed_wish_right*=STEP_PER_M_RIGHT;
1156
1157                         if (aft_handicap > 0) {
1158                                 speed1_wish = speed_wish_left * (100-aft_handicap)/100.0;
1159                                 speed3_wish = speed_wish_right * (100-aft_handicap)/100.0;
1160                         } else {
1161                                 speed1_wish = speed_wish_left;
1162                                 speed3_wish = speed_wish_right;
1163                         }
1164                         if (front_handicap > 0) {
1165                                 speed2_wish = speed_wish_left * (100-front_handicap)/100.0;
1166                                 speed4_wish = speed_wish_right * (100-front_handicap)/100.0;
1167                         } else {
1168                                 speed2_wish = speed_wish_left;
1169                                 speed4_wish = speed_wish_right;
1170                         }
1171                         motor1_mode = MOTOR_PID;
1172                         motor2_mode = MOTOR_PID;
1173                         motor3_mode = MOTOR_PID;
1174                         motor4_mode = MOTOR_PID;
1175                 }
1176
1177                 if (run_update >= 195) { // TIMER1_FREQ/195 = ~100Hz
1178                         run_update=0;
1179
1180                         update_pos();
1181                         update_pid();
1182                         update_motor();
1183                         count_test++;
1184                         if (last_man_update_count != I2C_TIMEOUT_DISABLE) last_man_update_count++;
1185
1186                         if (last_man_update_count >= 100) {
1187                                 // ~1s without a new i2c command
1188                                 cmd_vel.speed = 0;
1189                                 cmd_vel.angle = 0;
1190                                 cmd_vel.bUpdate = 1;
1191                                 if (last_man_update_count == 100) {
1192                                         printf_P(PSTR("I2C State: 0x%x\r\n"), last_i2c_status);
1193                                         eeprom_write_byte((uint8_t*)1, last_i2c_status);
1194                                         eeprom_busy_wait();
1195                                 }
1196                                 last_man_update_count = I2C_TIMEOUT_DISABLE;
1197                         }
1198                 }
1199
1200                 sleep_mode();
1201         }
1202
1203         return 0;
1204 }