6 #include <avr/interrupt.h>
11 * I2C Register Map (8 Bit)
12 * 0x00 Register select
13 * 0x01 Motor 1 PWM MSB
14 * 0x02 Motor 1 PWM LSB
15 * 0x03 Motor 2 PWM MSB
16 * 0x04 Motor 2 PWM LSB
17 * 0x05 Motor 3 PWM MSB
18 * 0x06 Motor 3 PWM LSB
19 * 0x07 Motor 4 PWM MSB
20 * 0x08 Motor 4 PWM LSB
31 * 0x20 Motor 1 speed wish MSB
32 * 0x21 Motor 1 speed wish LSB
33 * 0x22 Motor 2 speed wish MSB
34 * 0x23 Motor 2 speed wish LSB
35 * 0x24 Motor 3 speed wish MSB
36 * 0x25 Motor 3 speed wish LSB
37 * 0x26 Motor 4 speed wish MSB
38 * 0x27 Motor 4 speed wish LSB
39 * 0x28 Left speed wish (m/s) MSB
40 * 0x29 Left speed wish (m/s)
41 * 0x2A Left speed wish (m/s)
42 * 0x2B Left speed wish (m/s) LSB
43 * 0x2C Right speed wish (m/s) MSB
44 * 0x2D Right speed wish (m/s)
45 * 0x2E Right speed wish (m/s)
46 * 0x2F Right speed wish (m/s) LSB
47 * 0x30 Motor 1 speed MSB
48 * 0x31 Motor 1 speed LSB
49 * 0x32 Motor 2 speed MSB
50 * 0x33 Motor 2 speed LSB
51 * 0x34 Motor 3 speed MSB
52 * 0x35 Motor 3 speed LSB
53 * 0x36 Motor 4 speed MSB
54 * 0x37 Motor 4 speed LSB
55 * 0x38 Speed (m/s) MSB
58 * 0x3B Speed (m/s) LSB
59 * 0x3C Angle (rad/s) MSB
62 * 0x3F Angle (rad/s) LSB
64 * 0x40 Position x (m) MSB
67 * 0x43 Position x (m) LSB
68 * 0x44 Position y (m) MSB
71 * 0x47 Position y (m) LSB
72 * 0x48 Position angle MSB
75 * 0x4B Position angle LSB
77 * 0x50 speed wish (m/s) MSB
78 * 0x51 speed wish (m/s)
79 * 0x52 speed wish (m/s)
80 * 0x53 speed wish (m/s) LSB
81 * 0x54 angle wish (rad/s) MSB
82 * 0x55 angle wish (rad/s)
83 * 0x56 angle wish (rad/s)
84 * 0x57 angle wish (rad/s) LSB
92 * 0xA1 TLE Error status
99 #define TWI_ACK TWCR = (1<<TWEA) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
100 #define TWI_RESET TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
101 #define TWI_NAK TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
107 #define STEP_PER_M 3376.1 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:34
108 #define WHEEL_DIST 0.252
120 static volatile struct {
124 } cmd_vel = {0, 0, 0};
126 static volatile uint8_t ireg=0;
127 static volatile uint8_t bootloader=0;
128 static volatile int16_t motor1=0; // -255..+255
129 static volatile int16_t motor2=0;
130 static volatile int16_t motor3=0;
131 static volatile int16_t motor4=0;
132 static volatile int16_t pos1=0; // step
133 static volatile int16_t pos2=0;
134 static volatile int16_t pos3=0;
135 static volatile int16_t pos4=0;
136 static volatile enum mode motor1_mode=MOTOR_MANUAL;
137 static volatile enum mode motor2_mode=MOTOR_MANUAL;
138 static volatile enum mode motor3_mode=MOTOR_MANUAL;
139 static volatile enum mode motor4_mode=MOTOR_MANUAL;
140 static volatile uint8_t motor1_switch=0;
141 static volatile uint8_t motor2_switch=0;
142 static volatile uint8_t motor3_switch=0;
143 static volatile uint8_t motor4_switch=0;
144 static volatile int16_t speed1_wish=0; // step/s
145 static volatile int16_t speed2_wish=0;
146 static volatile int16_t speed3_wish=0;
147 static volatile int16_t speed4_wish=0;
148 static volatile uint8_t run_update=0;
149 static volatile int16_t speed1=0; // step/s
150 static volatile int16_t speed2=0;
151 static volatile int16_t speed3=0;
152 static volatile int16_t speed4=0;
153 static volatile ufloat_t pos_x={0.0};
154 static volatile ufloat_t pos_y={0.0};
155 static volatile ufloat_t angle={0.0};
156 static volatile float cur_speed_lin=0;
157 static volatile float cur_speed_rot=0;
158 static volatile uint8_t count_test=0;
162 static uint8_t tmp=0;
163 static int16_t tmp16=0;
164 static ufloat_t tmp_speed;
165 static ufloat_t tmp_angle;
169 case 0x60: // start write
175 case 0x00: // register select
177 ireg--; // because we do ireg++ below
180 case 0x01: // Motor 1 MSB
184 case 0x02: // Motor 1 LSB
185 motor1 = tmp<<8 | TWDR;
186 motor1_mode = MOTOR_MANUAL;
189 case 0x03: // Motor 2 MSB
193 case 0x04: // Motor 2 LSB
194 motor2 = tmp<<8 | TWDR;
195 motor2_mode = MOTOR_MANUAL;
198 case 0x05: // Motor 3 MSB
202 case 0x06: // Motor 3 LSB
203 motor3 = tmp<<8 | TWDR;
204 motor3_mode = MOTOR_MANUAL;
207 case 0x07: // Motor 4 MSB
211 case 0x08: // Motor 4 LSB
212 motor4 = tmp<<8 | TWDR;
213 motor4_mode = MOTOR_MANUAL;
216 case 0x20: // Motor 1 speed wish MSB
220 case 0x21: // Motor 1 speed wish LSB
221 speed1_wish = tmp<<8 | TWDR;
222 motor1_mode = MOTOR_PID;
225 case 0x22: // Motor 2 speed wish MSB
229 case 0x23: // Motor 2 speed wish LSB
230 speed2_wish = tmp<<8 | TWDR;
231 motor2_mode = MOTOR_PID;
234 case 0x24: // Motor 3 speed wish MSB
238 case 0x25: // Motor 3 speed wish LSB
239 speed3_wish = tmp<<8 | TWDR;
240 motor3_mode = MOTOR_PID;
243 case 0x26: // Motor 4 speed wish MSB
247 case 0x27: // Motor 4 speed wish LSB
248 speed4_wish = tmp<<8 | TWDR;
249 motor4_mode = MOTOR_PID;
252 case 0x28: // Left speed wish MSB
256 case 0x29: // Left speed wish
257 tmp_speed.i = tmp_speed.i << 8 | TWDR;
260 case 0x2A: // Left speed wish
261 tmp_speed.i = tmp_speed.i << 8 | TWDR;
264 case 0x2B: // Left speed wish LSB
265 tmp_speed.i = tmp_speed.i << 8 | TWDR;
266 speed1_wish = tmp_speed.f*STEP_PER_M;
267 speed2_wish = tmp_speed.f*STEP_PER_M;
268 motor1_mode = MOTOR_PID;
269 motor2_mode = MOTOR_PID;
272 case 0x2C: // Right speed wish MSB
276 case 0x2D: // Right speed wish
277 tmp_speed.i = tmp_speed.i << 8 | TWDR;
280 case 0x2E: // Right speed wish
281 tmp_speed.i = tmp_speed.i << 8 | TWDR;
284 case 0x2F: // Right speed wish LSB
285 tmp_speed.i = tmp_speed.i << 8 | TWDR;
286 speed1_wish = tmp_speed.f*STEP_PER_M;
287 speed2_wish = tmp_speed.f*STEP_PER_M;
288 motor1_mode = MOTOR_PID;
289 motor2_mode = MOTOR_PID;
292 case 0x50: // speed wish MSB
296 case 0x51: // speed wish
297 tmp_speed.i = tmp_speed.i << 8 | TWDR;
300 case 0x52: // speed wish
301 tmp_speed.i = tmp_speed.i << 8 | TWDR;
304 case 0x53: // speed wish LSB
305 tmp_speed.i = tmp_speed.i << 8 | TWDR;
306 cmd_vel.speed = tmp_speed.f;
309 case 0x54: // angle wish MSB
313 case 0x55: // angle wish
314 tmp_angle.i = tmp_angle.i << 8 | TWDR;
317 case 0x56: // angle wish
318 tmp_angle.i = tmp_angle.i << 8 | TWDR;
321 case 0x57: // angle wish LSB
322 tmp_angle.i = tmp_angle.i << 8 | TWDR;
323 cmd_vel.angle = tmp_angle.f;
327 case 0x90: // Motor 1 switch
328 motor1_switch = TWDR;
331 case 0x91: // Motor 2 switch
332 motor2_switch = TWDR;
335 case 0x92: // Motor 3 switch
336 motor3_switch = TWDR;
339 case 0x93: // Motor 4 switch
340 motor4_switch = TWDR;
343 case 0xff: // bootloader
350 case 0xA8: // start read
353 case 0x02: // Motor 1 PWM
357 case 0x04: // Motor 2 PWM
361 case 0x06: // Motor 3 PWM
365 case 0x08: // Motor 4 PWM
369 case 0x10: // Hall 1 MSB
374 case 0x11: // Hall 1 LSB
378 case 0x12: // Hall 2 MSB
383 case 0x13: // Hall 2 LSB
387 case 0x14: // Hall 3 MSB
392 case 0x15: // Hall 3 LSB
396 case 0x16: // Hall 4 MSB
401 case 0x17: // Hall 4 LSB
405 case 0x20: // Motor 1 speed wish MSB
406 TWDR = speed1_wish>>8;
409 case 0x21: // Motor 1 speed wish LSB
413 case 0x22: // Motor 2 speed wish MSB
414 TWDR = speed2_wish>>8;
417 case 0x23: // Motor 2 speed wish LSB
421 case 0x24: // Motor 3 speed wish MSB
422 TWDR = speed3_wish>>8;
425 case 0x25: // Motor 3 speed wish LSB
429 case 0x26: // Motor 4 speed wish MSB
430 TWDR = speed4_wish>>8;
433 case 0x27: // Motor 4 speed wish LSB
437 case 0x30: // Motor 1 speed MSB
441 case 0x31: // Motor 1 speed LSB
445 case 0x32: // Motor 2 speed MSB
449 case 0x33: // Motor 2 speed LSB
453 case 0x34: // Motor 3 speed MSB
457 case 0x35: // Motor 3 speed LSB
461 case 0x36: // Motor 4 speed MSB
465 case 0x37: // Motor 4 speed LSB
469 case 0x38: // speed MSB
470 tmp_speed.f = cur_speed_lin;
471 TWDR = tmp_speed.i>>24;
475 TWDR = tmp_speed.i>>16;
479 TWDR = tmp_speed.i>>8;
482 case 0x3B: // speed LSB
486 case 0x3C: // angle MSB
487 tmp_angle.f = cur_speed_rot;
488 TWDR = tmp_angle.i>>24;
492 TWDR = tmp_angle.i>>16;
496 TWDR = tmp_angle.i>>8;
499 case 0x3F: // angle LSB
503 case 0x40: // Position x MSB
507 case 0x41: // Position x
511 case 0x42: // Position x
515 case 0x43: // Position x LSB
519 case 0x44: // Position y MSB
523 case 0x45: // Position y
527 case 0x46: // Position y
531 case 0x47: // Position y LSB
535 case 0x48: // Position angle MSB
539 case 0x49: // Position angle
543 case 0x4A: // Position angle
547 case 0x4B: // Position angle LSB
551 case 0xA0: // Reset reason
552 TWDR = MCUCSR & 0x0f;
556 case 0xA1: // TLE Error status
557 TWDR = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
560 case 0xA2: // count test
575 static void update_hall1(void) {
576 unsigned char status = (PINA >> 0) & 0x3;
577 static unsigned char oldstatus=0;
578 unsigned char diff, new;
584 new ^= 0x1; // convert gray to binary
585 diff = oldstatus - new; // difference last - new
586 if (diff & 0x1) { // bit 0 = value (1)
587 oldstatus = new; // store new as next last
588 if (motor1_switch) pos1 += (diff & 2) - 1; // bit 1 = direction (+/-)
589 else pos1 -= (diff & 2) - 1;
594 static void update_hall2(void) {
595 unsigned char status = (PINA >> 4) & 0x3;
596 static unsigned char oldstatus=0;
597 unsigned char diff, new;
603 new ^= 0x1; // convert gray to binary
604 diff = oldstatus - new; // difference last - new
605 if (diff & 0x1) { // bit 0 = value (1)
606 oldstatus = new; // store new as next last
607 if (motor2_switch) pos2 -= (diff & 2) - 1; // bit 1 = direction (+/-)
608 else pos2 += (diff & 2) - 1;
613 static void update_hall3(void) {
614 unsigned char status = (PINA >> 2) & 0x3;
615 static unsigned char oldstatus=0;
616 unsigned char diff, new;
622 new ^= 0x1; // convert gray to binary
623 diff = oldstatus - new; // difference last - new
624 if (diff & 0x1) { // bit 0 = value (1)
625 oldstatus = new; // store new as next last
626 if (motor3_switch) pos3 -= (diff & 2) - 1; // bit 1 = direction (+/-)
627 else pos3 += (diff & 2) - 1;
632 static void update_hall4(void) {
633 unsigned char status = (PINA >> 6) & 0x3;
634 static unsigned char oldstatus=0;
635 unsigned char diff, new;
641 new ^= 0x1; // convert gray to binary
642 diff = oldstatus - new; // difference last - new
643 if (diff & 0x1) { // bit 0 = value (1)
644 oldstatus = new; // store new as next last
645 if (motor4_switch) pos4 += (diff & 2) - 1; // bit 1 = direction (+/-)
646 else pos4 -= (diff & 2) - 1;
651 static void update_motor(void) {
652 static int16_t m1_old=SHRT_MIN;
653 static int16_t m2_old=SHRT_MIN;
654 static int16_t m3_old=SHRT_MIN;
655 static int16_t m4_old=SHRT_MIN;
657 if (m1_old != motor1) { // update only when changed
660 PORTC |= (1 << 3) | (1 << 2);
661 } else if ((!motor1_switch && motor1 > 0) || (motor1_switch && motor1 < 0)) {
663 PORTC &= ~(1 << 3) & ~(1 << 2);
664 } else { // motor1 < 0
674 if (m2_old != motor2) { // update only when changed
677 PORTC |= (1 << 5) | (1 << 4);
678 } else if ((!motor2_switch && motor2 > 0) || (motor2_switch && motor2 < 0)) {
680 PORTC &= ~(1 << 5) & ~(1 << 4);
681 } else { // motor2 < 0
691 if (m3_old != motor3) { // update only when changed
694 PORTC |= (1 << 7) | (1 << 6);
695 } else if ((!motor3_switch && motor3 > 0) || (motor3_switch && motor3 < 0)) {
697 PORTC &= ~(1 << 7) & ~(1 << 6);
698 } else { // motor3 < 0
708 if (m4_old != motor4) { // update only when changed
711 PORTD |= (1 << 3) | (1 << 2);
712 } else if ((!motor4_switch && motor4 > 0) || (motor4_switch && motor4 < 0)) {
714 PORTD &= ~(1 << 3) & ~(1 << 2);
715 } else { // motor4 < 0
727 static void update_pos(void) {
728 static int16_t pos1_last=0;
729 static int16_t pos2_last=0;
730 static int16_t pos3_last=0;
731 static int16_t pos4_last=0;
732 int16_t pos1_diff; // steps
736 float diff_left_m, diff_right_m, angle_diff, translation;
737 float pos_x_new, pos_y_new, angle_new;
738 int16_t speed_l, speed_r;
739 float tmp_speed_lin, tmp_speed_rot;
740 int16_t cur_pos1, cur_pos2, cur_pos3, cur_pos4;
741 int16_t new_speed1, new_speed2, new_speed3, new_speed4;
751 pos1_diff = cur_pos1 - pos1_last;
752 pos2_diff = cur_pos2 - pos2_last;
753 pos3_diff = cur_pos3 - pos3_last;
754 pos4_diff = cur_pos4 - pos4_last;
756 new_speed1 = pos1_diff/PID_T;
757 new_speed2 = pos2_diff/PID_T;
758 new_speed3 = pos3_diff/PID_T;
759 new_speed4 = pos4_diff/PID_T;
761 diff_left_m = (pos1_diff + pos2_diff)/(2*STEP_PER_M);
762 diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M);
763 angle_diff = (diff_right_m - diff_left_m) / WHEEL_DIST;
765 angle_new = angle.f + angle_diff;
766 if (angle_new > 2*M_PI) angle_new-=2*M_PI;
767 else if (angle_new < 2*M_PI) angle_new+=2*M_PI;
769 translation = (diff_left_m + diff_right_m)/2.0;
770 pos_x_new = pos_x.f + cos(angle_new)*translation;
771 pos_y_new = pos_y.f + sin(angle_new)*translation;
773 speed_l = (new_speed1+new_speed2)/2;
774 speed_r = (new_speed3+new_speed4)/2;
775 tmp_speed_lin = (speed_l + speed_r)/(2.0*STEP_PER_M);
776 tmp_speed_rot = (speed_r - speed_l)/(M_PI*WHEEL_DIST*STEP_PER_M);
787 cur_speed_lin = tmp_speed_lin;
788 cur_speed_rot = tmp_speed_rot;
791 pos1_last = cur_pos1;
792 pos2_last = cur_pos2;
793 pos3_last = cur_pos3;
794 pos4_last = cur_pos4;
798 static void update_pid(void) {
799 static int16_t eold1=0;
800 static int16_t eold2=0;
801 static int16_t eold3=0;
802 static int16_t eold4=0;
803 static int32_t esum1=0;
804 static int32_t esum2=0;
805 static int32_t esum3=0;
806 static int32_t esum4=0;
808 if (motor1_mode == MOTOR_PID) {
809 if (speed1_wish == 0) {
814 int16_t e = speed1_wish - speed1;
816 motor1 += KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
819 if (motor1 > 255) motor1 = 255;
820 else if (motor1 < -255) motor1 = -255;
823 if (motor2_mode == MOTOR_PID) {
824 if (speed2_wish == 0) {
829 int16_t e = speed2_wish - speed2;
831 motor2 += KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
834 if (motor2 > 255) motor2 = 255;
835 else if (motor2 < -255) motor2 = -255;
838 if (motor3_mode == MOTOR_PID) {
839 if (speed3_wish == 0) {
844 int16_t e = speed3_wish - speed3;
846 motor3 += KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
849 if (motor3 > 255) motor3 = 255;
850 else if (motor3 < -255) motor3 = -255;
853 if (motor4_mode == MOTOR_PID) {
854 if (speed4_wish == 0) {
859 int16_t e = speed4_wish - speed4;
861 motor4 += KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
864 if (motor4 > 255) motor4 = 255;
865 else if (motor4 < -255) motor4 = -255;
871 ISR(TIMER1_OVF_vect) {
884 DDRC = (1 << 7) | (1 << 6) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
885 DDRD = (1 << 7) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
896 // Timer 1: Fast PWM inverting mode, Top=256 => 15.625kHz
898 TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << COM1A0) | (1 << COM1B0) | (1 << WGM10);
899 TCCR1B = (1 << WGM12) | (1 << CS10);
904 // Timer 2: Fast PWM inverting mode, Top=256
906 TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << COM20) | (1 << CS20);
910 // Timer 0: Fast PWM inverting mode, Top=256
912 TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << COM00) | (1 << CS00);
915 printf("\r\nStart\r\n");
917 set_sleep_mode(SLEEP_MODE_IDLE);
918 // Enable Timer 1 Overflow Interrupt
919 TIMSK = (1 << TOIE1);
924 case 0xff: // Magic reg that starts the bootloader
925 if (bootloader == 0xa5) {
928 void (*start)(void) = (void*)0x1800;
935 if (cmd_vel.bUpdate) {
936 float speed_wish_right, speed_wish_left;
940 speed = cmd_vel.speed;
941 angle = cmd_vel.angle;
945 speed_wish_right = angle*M_PI*WHEEL_DIST/2 + speed;
946 speed_wish_left = speed*2-speed_wish_right;
948 speed_wish_left*=STEP_PER_M;
949 speed_wish_right*=STEP_PER_M;
951 speed1_wish = speed_wish_left;
952 speed2_wish = speed_wish_left;
953 speed3_wish = speed_wish_right;
954 speed4_wish = speed_wish_right;
955 motor1_mode = MOTOR_PID;
956 motor2_mode = MOTOR_PID;
957 motor3_mode = MOTOR_PID;
958 motor4_mode = MOTOR_PID;
961 if (run_update >= 156) { // ~100Hz