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 TLE 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 0.009
 105 #define KI 0.051429
 106 #define KD 0.000378
 107 #define PID_T 0.01
 108 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:34, real wheel diameter: 0.12454m
 109 #define STEP_PER_M_AVG 4171.4
 110 #define STEP_PER_M_LEFT (STEP_PER_M_AVG)
 111 #define STEP_PER_M_RIGHT (STEP_PER_M_AVG)
 112 #define WHEEL_DIST 0.36923 // Real: 0.252
 113
 114 enum mode {
 115         MOTOR_MANUAL,
 116         MOTOR_PID
 117 };
 118
 119 typedef union {
 120         float f;
 121         uint32_t i;
 122 } ufloat_t;
 123
 124 static volatile struct {
 125         float speed;
 126         float angle;
 127         uint8_t bUpdate;
 128 } cmd_vel = {0, 0, 0};
 129
 130 static volatile uint8_t ireg=0;
 131 static volatile uint8_t bootloader=0;
 132 static volatile int16_t motor1=0; // -255..+255
 133 static volatile int16_t motor2=0;
 134 static volatile int16_t motor3=0;
 135 static volatile int16_t motor4=0;
 136 static volatile int16_t pos1=0; // step
 137 static volatile int16_t pos2=0;
 138 static volatile int16_t pos3=0;
 139 static volatile int16_t pos4=0;
 140 static volatile enum mode motor1_mode=MOTOR_MANUAL;
 141 static volatile enum mode motor2_mode=MOTOR_MANUAL;
 142 static volatile enum mode motor3_mode=MOTOR_MANUAL;
 143 static volatile enum mode motor4_mode=MOTOR_MANUAL;
 144 static volatile uint8_t motor1_switch=0;
 145 static volatile uint8_t motor2_switch=0;
 146 static volatile uint8_t motor3_switch=0;
 147 static volatile uint8_t motor4_switch=0;
 148 static volatile int16_t speed1_wish=0; // step/s
 149 static volatile int16_t speed2_wish=0;
 150 static volatile int16_t speed3_wish=0;
 151 static volatile int16_t speed4_wish=0;
 152 static volatile uint8_t run_update=0;
 153 static volatile int16_t speed1=0; // step/s
 154 static volatile int16_t speed2=0;
 155 static volatile int16_t speed3=0;
 156 static volatile int16_t speed4=0;
 157 static volatile ufloat_t pos_x={0.0};
 158 static volatile ufloat_t pos_y={0.0};
 159 static volatile ufloat_t angle={0.0};
 160 static volatile float cur_speed_lin=0;
 161 static volatile float cur_speed_rot=0;
 162 static volatile uint8_t count_test=0;
 163 static volatile uint8_t front_handicap=0;
 164 static volatile uint8_t aft_handicap=0;
 165 static volatile uint8_t error_state=0;
 166
 167 ISR(TWI_vect)
 168 {
 169         static uint8_t tmp=0;
 170         static int16_t tmp16=0;
 171         static ufloat_t tmp_speed;
 172         static ufloat_t tmp_angle;
 173
 174         switch (TWSR & 0xF8)
 175         {
 176                 case 0x60: // start write
 177                         TWI_ACK;
 178                         ireg = 0;
 179                         break;
 180                 case 0x80: // write
 181                         switch(ireg) {
 182                                 case 0x00: // register select
 183                                         ireg = TWDR;
 184                                         ireg--; // because we do ireg++ below
 185                                         TWI_ACK;
 186                                         break;
 187                                 case 0x01: // Motor 1 MSB
 188                                         tmp = TWDR;
 189                                         TWI_ACK;
 190                                         break;
 191                                 case 0x02: // Motor 1 LSB
 192                                         motor1 = tmp<<8 | TWDR;
 193                                         motor1_mode = MOTOR_MANUAL;
 194                                         TWI_ACK;
 195                                         break;
 196                                 case 0x03: // Motor 2 MSB
 197                                         tmp = TWDR;
 198                                         TWI_ACK;
 199                                         break;
 200                                 case 0x04: // Motor 2 LSB
 201                                         motor2 = tmp<<8 | TWDR;
 202                                         motor2_mode = MOTOR_MANUAL;
 203                                         TWI_ACK;
 204                                         break;
 205                                 case 0x05: // Motor 3 MSB
 206                                         tmp = TWDR;
 207                                         TWI_ACK;
 208                                         break;
 209                                 case 0x06: // Motor 3 LSB
 210                                         motor3 = tmp<<8 | TWDR;
 211                                         motor3_mode = MOTOR_MANUAL;
 212                                         TWI_ACK;
 213                                         break;
 214                                 case 0x07: // Motor 4 MSB
 215                                         tmp = TWDR;
 216                                         TWI_ACK;
 217                                         break;
 218                                 case 0x08: // Motor 4 LSB
 219                                         motor4 = tmp<<8 | TWDR;
 220                                         motor4_mode = MOTOR_MANUAL;
 221                                         TWI_ACK;
 222                                         break;
 223                                 case 0x20: // Motor 1 speed wish MSB
 224                                         tmp = TWDR;
 225                                         TWI_ACK;
 226                                         break;
 227                                 case 0x21: // Motor 1 speed wish LSB
 228                                         speed1_wish = tmp<<8 | TWDR;
 229                                         motor1_mode = MOTOR_PID;
 230                                         TWI_ACK;
 231                                         break;
 232                                 case 0x22: // Motor 2 speed wish MSB
 233                                         tmp = TWDR;
 234                                         TWI_ACK;
 235                                         break;
 236                                 case 0x23: // Motor 2 speed wish LSB
 237                                         speed2_wish = tmp<<8 | TWDR;
 238                                         motor2_mode = MOTOR_PID;
 239                                         TWI_ACK;
 240                                         break;
 241                                 case 0x24: // Motor 3 speed wish MSB
 242                                         tmp = TWDR;
 243                                         TWI_ACK;
 244                                         break;
 245                                 case 0x25: // Motor 3 speed wish LSB
 246                                         speed3_wish = tmp<<8 | TWDR;
 247                                         motor3_mode = MOTOR_PID;
 248                                         TWI_ACK;
 249                                         break;
 250                                 case 0x26: // Motor 4 speed wish MSB
 251                                         tmp = TWDR;
 252                                         TWI_ACK;
 253                                         break;
 254                                 case 0x27: // Motor 4 speed wish LSB
 255                                         speed4_wish = tmp<<8 | TWDR;
 256                                         motor4_mode = MOTOR_PID;
 257                                         TWI_ACK;
 258                                         break;
 259                                 case 0x28: // Left speed wish MSB
 260                                         tmp_speed.i = TWDR;
 261                                         TWI_ACK;
 262                                         break;
 263                                 case 0x29: // Left speed wish
 264                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 265                                         TWI_ACK;
 266                                         break;
 267                                 case 0x2A: // Left speed wish
 268                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 269                                         TWI_ACK;
 270                                         break;
 271                                 case 0x2B: // Left speed wish LSB
 272                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 273                                         speed1_wish = tmp_speed.f*STEP_PER_M_LEFT;
 274                                         speed2_wish = tmp_speed.f*STEP_PER_M_LEFT;
 275                                         motor1_mode = MOTOR_PID;
 276                                         motor2_mode = MOTOR_PID;
 277                                         TWI_ACK;
 278                                         break;
 279                                 case 0x2C: // Right speed wish MSB
 280                                         tmp_speed.i = TWDR;
 281                                         TWI_ACK;
 282                                         break;
 283                                 case 0x2D: // Right speed wish
 284                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 285                                         TWI_ACK;
 286                                         break;
 287                                 case 0x2E: // Right speed wish
 288                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 289                                         TWI_ACK;
 290                                         break;
 291                                 case 0x2F: // Right speed wish LSB
 292                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 293                                         speed1_wish = tmp_speed.f*STEP_PER_M_RIGHT;
 294                                         speed2_wish = tmp_speed.f*STEP_PER_M_RIGHT;
 295                                         motor1_mode = MOTOR_PID;
 296                                         motor2_mode = MOTOR_PID;
 297                                         TWI_ACK;
 298                                         break;
 299                                 case 0x50: // speed wish MSB
 300                                         tmp_speed.i = TWDR;
 301                                         TWI_ACK;
 302                                         break;
 303                                 case 0x51: // speed wish
 304                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 305                                         TWI_ACK;
 306                                         break;
 307                                 case 0x52: // speed wish
 308                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 309                                         TWI_ACK;
 310                                         break;
 311                                 case 0x53: // speed wish LSB
 312                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 313                                         cmd_vel.speed = tmp_speed.f;
 314                                         TWI_ACK;
 315                                         break;
 316                                 case 0x54: // angle wish MSB
 317                                         tmp_angle.i = TWDR;
 318                                         TWI_ACK;
 319                                         break;
 320                                 case 0x55: // angle wish
 321                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 322                                         TWI_ACK;
 323                                         break;
 324                                 case 0x56: // angle wish
 325                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 326                                         TWI_ACK;
 327                                         break;
 328                                 case 0x57: // angle wish LSB
 329                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 330                                         cmd_vel.angle = tmp_angle.f;
 331                                         cmd_vel.bUpdate = 1;
 332                                         TWI_ACK;
 333                                         break;
 334                                 case 0x90: // Motor 1 switch
 335                                         motor1_switch = TWDR;
 336                                         TWI_ACK;
 337                                         break;
 338                                 case 0x91: // Motor 2 switch
 339                                         motor2_switch = TWDR;
 340                                         TWI_ACK;
 341                                         break;
 342                                 case 0x92: // Motor 3 switch
 343                                         motor3_switch = TWDR;
 344                                         TWI_ACK;
 345                                         break;
 346                                 case 0x93: // Motor 4 switch
 347                                         motor4_switch = TWDR;
 348                                         TWI_ACK;
 349                                         break;
 350                                 case 0x94: // Front Handicap
 351                                         front_handicap = TWDR;
 352                                         cmd_vel.bUpdate = 1;
 353                                         TWI_ACK;
 354                                         break;
 355                                 case 0x95: // Aft Handicap
 356                                         aft_handicap = TWDR;
 357                                         cmd_vel.bUpdate = 1;
 358                                         TWI_ACK;
 359                                         break;
 360                                 case 0xff: // bootloader
 361                                         bootloader = TWDR;
 362                                 default:
 363                                         TWI_NAK;
 364                         }
 365                         ireg++;
 366                         break;
 367                 case 0xA8: // start read
 368                 case 0xB8: // read
 369                         switch(ireg) {
 370                                 case 0x02: // Motor 1 PWM
 371                                         TWDR = OCR1A;
 372                                         TWI_ACK;
 373                                         break;
 374                                 case 0x04: // Motor 2 PWM
 375                                         TWDR = OCR1B;
 376                                         TWI_ACK;
 377                                         break;
 378                                 case 0x06: // Motor 3 PWM
 379                                         TWDR = OCR2;
 380                                         TWI_ACK;
 381                                         break;
 382                                 case 0x08: // Motor 4 PWM
 383                                         TWDR = OCR0;
 384                                         TWI_ACK;
 385                                         break;
 386                                 case 0x10: // Hall 1 MSB
 387                                         tmp16 = pos1;
 388                                         TWDR = tmp16>>8;
 389                                         TWI_ACK;
 390                                         break;
 391                                 case 0x11: // Hall 1 LSB
 392                                         TWDR = tmp16;
 393                                         TWI_ACK;
 394                                         break;
 395                                 case 0x12: // Hall 2 MSB
 396                                         tmp16 = pos2;
 397                                         TWDR = tmp16>>8;
 398                                         TWI_ACK;
 399                                         break;
 400                                 case 0x13: // Hall 2 LSB
 401                                         TWDR = tmp16;
 402                                         TWI_ACK;
 403                                         break;
 404                                 case 0x14: // Hall 3 MSB
 405                                         tmp16 = pos3;
 406                                         TWDR = tmp16>>8;
 407                                         TWI_ACK;
 408                                         break;
 409                                 case 0x15: // Hall 3 LSB
 410                                         TWDR = tmp16;
 411                                         TWI_ACK;
 412                                         break;
 413                                 case 0x16: // Hall 4 MSB
 414                                         tmp16 = pos4;
 415                                         TWDR = tmp16>>8;
 416                                         TWI_ACK;
 417                                         break;
 418                                 case 0x17: // Hall 4 LSB
 419                                         TWDR = tmp16;
 420                                         TWI_ACK;
 421                                         break;
 422                                 case 0x20: // Motor 1 speed wish MSB
 423                                         TWDR = speed1_wish>>8;
 424                                         TWI_ACK;
 425                                         break;
 426                                 case 0x21: // Motor 1 speed wish LSB
 427                                         TWDR = speed1_wish;
 428                                         TWI_ACK;
 429                                         break;
 430                                 case 0x22: // Motor 2 speed wish MSB
 431                                         TWDR = speed2_wish>>8;
 432                                         TWI_ACK;
 433                                         break;
 434                                 case 0x23: // Motor 2 speed wish LSB
 435                                         TWDR = speed2_wish;
 436                                         TWI_ACK;
 437                                         break;
 438                                 case 0x24: // Motor 3 speed wish MSB
 439                                         TWDR = speed3_wish>>8;
 440                                         TWI_ACK;
 441                                         break;
 442                                 case 0x25: // Motor 3 speed wish LSB
 443                                         TWDR = speed3_wish;
 444                                         TWI_ACK;
 445                                         break;
 446                                 case 0x26: // Motor 4 speed wish MSB
 447                                         TWDR = speed4_wish>>8;
 448                                         TWI_ACK;
 449                                         break;
 450                                 case 0x27: // Motor 4 speed wish LSB
 451                                         TWDR = speed4_wish;
 452                                         TWI_ACK;
 453                                         break;
 454                                 case 0x30: // Motor 1 speed MSB
 455                                         TWDR = speed1>>8;
 456                                         TWI_ACK;
 457                                         break;
 458                                 case 0x31: // Motor 1 speed LSB
 459                                         TWDR = speed1;
 460                                         TWI_ACK;
 461                                         break;
 462                                 case 0x32: // Motor 2 speed MSB
 463                                         TWDR = speed2>>8;
 464                                         TWI_ACK;
 465                                         break;
 466                                 case 0x33: // Motor 2 speed LSB
 467                                         TWDR = speed2;
 468                                         TWI_ACK;
 469                                         break;
 470                                 case 0x34: // Motor 3 speed MSB
 471                                         TWDR = speed3>>8;
 472                                         TWI_ACK;
 473                                         break;
 474                                 case 0x35: // Motor 3 speed LSB
 475                                         TWDR = speed3;
 476                                         TWI_ACK;
 477                                         break;
 478                                 case 0x36: // Motor 4 speed MSB
 479                                         TWDR = speed4>>8;
 480                                         TWI_ACK;
 481                                         break;
 482                                 case 0x37: // Motor 4 speed LSB
 483                                         TWDR = speed4;
 484                                         TWI_ACK;
 485                                         break;
 486                                 case 0x38: // speed MSB
 487                                         tmp_speed.f = cur_speed_lin;
 488                                         TWDR = tmp_speed.i>>24;
 489                                         TWI_ACK;
 490                                         break;
 491                                 case 0x39: // speed
 492                                         TWDR = tmp_speed.i>>16;
 493                                         TWI_ACK;
 494                                         break;
 495                                 case 0x3A: // speed
 496                                         TWDR = tmp_speed.i>>8;
 497                                         TWI_ACK;
 498                                         break;
 499                                 case 0x3B: // speed LSB
 500                                         TWDR = tmp_speed.i;
 501                                         TWI_ACK;
 502                                         break;
 503                                 case 0x3C: // angle MSB
 504                                         tmp_angle.f = cur_speed_rot;
 505                                         TWDR = tmp_angle.i>>24;
 506                                         TWI_ACK;
 507                                         break;
 508                                 case 0x3D: // angle
 509                                         TWDR = tmp_angle.i>>16;
 510                                         TWI_ACK;
 511                                         break;
 512                                 case 0x3E: // angle
 513                                         TWDR = tmp_angle.i>>8;
 514                                         TWI_ACK;
 515                                         break;
 516                                 case 0x3F: // angle LSB
 517                                         TWDR = angle.i;
 518                                         TWI_ACK;
 519                                         break;
 520                                 case 0x40: // Position x MSB
 521                                         TWDR = pos_x.i>>24;
 522                                         TWI_ACK;
 523                                         break;
 524                                 case 0x41: // Position x
 525                                         TWDR = pos_x.i>>16;
 526                                         TWI_ACK;
 527                                         break;
 528                                 case 0x42: // Position x
 529                                         TWDR = pos_x.i>>8;
 530                                         TWI_ACK;
 531                                         break;
 532                                 case 0x43: // Position x LSB
 533                                         TWDR = pos_x.i;
 534                                         TWI_ACK;
 535                                         break;
 536                                 case 0x44: // Position y MSB
 537                                         TWDR = pos_y.i>>24;
 538                                         TWI_ACK;
 539                                         break;
 540                                 case 0x45: // Position y
 541                                         TWDR = pos_y.i>>16;
 542                                         TWI_ACK;
 543                                         break;
 544                                 case 0x46: // Position y
 545                                         TWDR = pos_y.i>>8;
 546                                         TWI_ACK;
 547                                         break;
 548                                 case 0x47: // Position y LSB
 549                                         TWDR = pos_y.i;
 550                                         TWI_ACK;
 551                                         break;
 552                                 case 0x48: // Position angle MSB
 553                                         TWDR = angle.i>>24;
 554                                         TWI_ACK;
 555                                         break;
 556                                 case 0x49: // Position angle
 557                                         TWDR = angle.i>>16;
 558                                         TWI_ACK;
 559                                         break;
 560                                 case 0x4A: // Position angle
 561                                         TWDR = angle.i>>8;
 562                                         TWI_ACK;
 563                                         break;
 564                                 case 0x4B: // Position angle LSB
 565                                         TWDR = angle.i;
 566                                         TWI_ACK;
 567                                         break;
 568                                 case 0xA0: // Reset reason
 569                                         TWDR = MCUCSR & 0x0f;
 570                                         MCUCSR = 0x0;
 571                                         TWI_ACK;
 572                                         break;
 573                                 case 0xA1: // TLE Error status
 574                                         TWDR = error_state;
 575                                         TWI_ACK;
 576                                         break;
 577                                 case 0xA2: // count test
 578                                         TWDR = count_test;
 579                                         TWI_ACK;
 580                                 default:
 581                                         TWDR = 0;
 582                                         TWI_NAK;
 583                         }
 584                         ireg++;
 585                         break;
 586                 default:
 587                         TWI_RESET;
 588         }
 589 }
 590
 591
 592 static void update_hall1(void) {
 593         unsigned char status = (PINA >> 0) & 0x3;
 594         static unsigned char oldstatus=0;
 595         unsigned char diff, new;
 596
 597         new = 0;
 598         if (status & 0x1)
 599                 new = 0x3;
 600         if (status & 0x2)
 601                 new ^= 0x1;                                     // convert gray to binary
 602         diff = oldstatus - new;                         // difference last - new
 603         if (diff & 0x1) {                               // bit 0 = value (1)
 604                 oldstatus = new;                                        // store new as next last
 605                 if (motor1_switch) pos1 += (diff & 2) - 1;              // bit 1 = direction (+/-)
 606                 else pos1 -= (diff & 2) - 1;
 607         }
 608 }
 609
 610
 611 static void update_hall2(void) {
 612         unsigned char status = (PINA >> 4) & 0x3;
 613         static unsigned char oldstatus=0;
 614         unsigned char diff, new;
 615
 616         new = 0;
 617         if (status & 0x1)
 618                 new = 0x3;
 619         if (status & 0x2)
 620                 new ^= 0x1;                                     // convert gray to binary
 621         diff = oldstatus - new;                         // difference last - new
 622         if (diff & 0x1) {                               // bit 0 = value (1)
 623                 oldstatus = new;                                        // store new as next last
 624                 if (motor2_switch) pos2 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
 625                 else pos2 += (diff & 2) - 1;
 626         }
 627 }
 628
 629
 630 static void update_hall3(void) {
 631         unsigned char status = (PINA >> 2) & 0x3;
 632         static unsigned char oldstatus=0;
 633         unsigned char diff, new;
 634
 635         new = 0;
 636         if (status & 0x1)
 637                 new = 0x3;
 638         if (status & 0x2)
 639                 new ^= 0x1;                                     // convert gray to binary
 640         diff = oldstatus - new;                         // difference last - new
 641         if (diff & 0x1) {                               // bit 0 = value (1)
 642                 oldstatus = new;                                        // store new as next last
 643                 if (motor3_switch) pos3 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
 644                 else pos3 += (diff & 2) - 1;
 645         }
 646 }
 647
 648
 649 static void update_hall4(void) {
 650         unsigned char status = (PINA >> 6) & 0x3;
 651         static unsigned char oldstatus=0;
 652         unsigned char diff, new;
 653
 654         new = 0;
 655         if (status & 0x1)
 656                 new = 0x3;
 657         if (status & 0x2)
 658                 new ^= 0x1;                                     // convert gray to binary
 659         diff = oldstatus - new;                         // difference last - new
 660         if (diff & 0x1) {                               // bit 0 = value (1)
 661                 oldstatus = new;                                        // store new as next last
 662                 if (motor4_switch) pos4 += (diff & 2) - 1;              // bit 1 = direction (+/-)
 663                 else pos4 -= (diff & 2) - 1;
 664         }
 665 }
 666
 667
 668 static void update_motor(void) {
 669         static int16_t m1_old=SHRT_MIN;
 670         static int16_t m2_old=SHRT_MIN;
 671         static int16_t m3_old=SHRT_MIN;
 672         static int16_t m4_old=SHRT_MIN;
 673
 674         error_state = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
 675
 676         // if error and running: stop
 677         if (bit_is_set(error_state, 0) && m1_old != 0) motor1 = 0;
 678         if (bit_is_set(error_state, 1) && m2_old != 0) motor2 = 0;
 679         if (bit_is_set(error_state, 2) && m3_old != 0) motor3 = 0;
 680         if (bit_is_set(error_state, 3) && m4_old != 0) motor4 = 0;
 681
 682         // if we start motor in error state: start with full power
 683         if (bit_is_set(error_state, 0) && m1_old == 0 && motor1 != 0) motor1 = 255;
 684         if (bit_is_set(error_state, 1) && m2_old == 0 && motor2 != 0) motor2 = 255;
 685         if (bit_is_set(error_state, 2) && m3_old == 0 && motor3 != 0) motor3 = 255;
 686         if (bit_is_set(error_state, 3) && m4_old == 0 && motor4 != 0) motor4 = 255;
 687
 688         if (m1_old != motor1) { // update only when changed
 689                 if (motor1 == 0) {
 690                         // stop
 691                         PORTC |= (1 << 3) | (1 << 2);
 692                 } else if ((!motor1_switch && motor1 > 0) || (motor1_switch && motor1 < 0)) {
 693                         // forward
 694                         PORTC &= ~(1 << 3) & ~(1 << 2);
 695                 } else { // motor1 < 0
 696                         // backward
 697                         PORTC &= ~(1 << 2);
 698                         PORTC |=  (1 << 3);
 699                 }
 700
 701                 m1_old = motor1;
 702                 OCR1A = abs(motor1);
 703         }
 704
 705         if (m2_old != motor2) { // update only when changed
 706                 if (motor2 == 0) {
 707                         // stop
 708                         PORTC |= (1 << 5) | (1 << 4);
 709                 } else if ((!motor2_switch && motor2 > 0) || (motor2_switch && motor2 < 0)) {
 710                         // forward
 711                         PORTC &= ~(1 << 5) & ~(1 << 4);
 712                 } else { // motor2 < 0
 713                         // backward
 714                         PORTC &= ~(1 << 4);
 715                         PORTC |=  (1 << 5);
 716                 }
 717
 718                 m2_old = motor2;
 719                 OCR1B = abs(motor2);
 720         }
 721
 722         if (m3_old != motor3) { // update only when changed
 723                 if (motor3 == 0) {
 724                         // stop
 725                         PORTC |= (1 << 7) | (1 << 6);
 726                 } else if ((!motor3_switch && motor3 > 0) || (motor3_switch && motor3 < 0)) {
 727                         // forward
 728                         PORTC &= ~(1 << 7) & ~(1 << 6);
 729                 } else { // motor3 < 0
 730                         // backward
 731                         PORTC &= ~(1 << 6);
 732                         PORTC |=  (1 << 7);
 733                 }
 734
 735                 m3_old = motor3;
 736                 OCR2 = abs(motor3);
 737         }
 738
 739         if (m4_old != motor4) { // update only when changed
 740                 if (motor4 == 0) {
 741                         // stop
 742                         PORTD |= (1 << 3) | (1 << 2);
 743                 } else if ((!motor4_switch && motor4 > 0) || (motor4_switch && motor4 < 0)) {
 744                         // forward
 745                         PORTD &= ~(1 << 3) & ~(1 << 2);
 746                 } else { // motor4 < 0
 747                         // backward
 748                         PORTD &= ~(1 << 2);
 749                         PORTD |=  (1 << 3);
 750                 }
 751
 752                 m4_old = motor4;
 753                 OCR0 = abs(motor4);
 754         }
 755 }
 756
 757
 758 static void update_pos(void) {
 759         static int16_t pos1_last=0;
 760         static int16_t pos2_last=0;
 761         static int16_t pos3_last=0;
 762         static int16_t pos4_last=0;
 763         int16_t pos1_diff; // steps
 764         int16_t pos2_diff;
 765         int16_t pos3_diff;
 766         int16_t pos4_diff;
 767         float diff_left_m, diff_right_m, angle_diff, translation;
 768         float pos_x_new, pos_y_new, angle_new;
 769         int16_t speed_l, speed_r;
 770         float tmp_speed_lin, tmp_speed_rot;
 771         int16_t cur_pos1, cur_pos2, cur_pos3, cur_pos4;
 772         int16_t new_speed1, new_speed2, new_speed3, new_speed4;
 773
 774         // copy to tmp
 775         cli();
 776         cur_pos1 = pos1;
 777         cur_pos2 = pos2;
 778         cur_pos3 = pos3;
 779         cur_pos4 = pos4;
 780         sei();
 781
 782         pos1_diff = cur_pos1 - pos1_last;
 783         pos2_diff = cur_pos2 - pos2_last;
 784         pos3_diff = cur_pos3 - pos3_last;
 785         pos4_diff = cur_pos4 - pos4_last;
 786
 787         new_speed1 = pos1_diff/PID_T;
 788         new_speed2 = pos2_diff/PID_T;
 789         new_speed3 = pos3_diff/PID_T;
 790         new_speed4 = pos4_diff/PID_T;
 791
 792         diff_left_m = (pos1_diff + pos2_diff)/(2*STEP_PER_M_LEFT);
 793         diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M_RIGHT);
 794         angle_diff = (diff_right_m - diff_left_m) / WHEEL_DIST;
 795
 796         angle_new = angle.f + angle_diff;
 797         if (angle_new > 2*M_PI) angle_new-=2*M_PI;
 798         else if (angle_new < -2*M_PI) angle_new+=2*M_PI;
 799
 800         translation = (diff_left_m + diff_right_m)/2.0;
 801         pos_x_new = pos_x.f + cos(angle_new)*translation;
 802         pos_y_new = pos_y.f + sin(angle_new)*translation;
 803
 804         speed_l = (new_speed1+new_speed2)/2;
 805         speed_r = (new_speed3+new_speed4)/2;
 806         tmp_speed_lin = (speed_l + speed_r)/(2.0*STEP_PER_M_AVG);
 807         tmp_speed_rot = (speed_r - speed_l)/(M_PI*WHEEL_DIST*STEP_PER_M_AVG);
 808
 809         // copy from tmp
 810         cli();
 811         angle.f = angle_new;
 812         pos_x.f = pos_x_new;
 813         pos_y.f = pos_y_new;
 814         speed1 = new_speed1;
 815         speed2 = new_speed2;
 816         speed3 = new_speed3;
 817         speed4 = new_speed4;
 818         cur_speed_lin = tmp_speed_lin;
 819         cur_speed_rot = tmp_speed_rot;
 820         sei();
 821
 822         pos1_last = cur_pos1;
 823         pos2_last = cur_pos2;
 824         pos3_last = cur_pos3;
 825         pos4_last = cur_pos4;
 826 }
 827
 828
 829 static void update_pid(void) {
 830         static int16_t eold1=0;
 831         static int16_t eold2=0;
 832         static int16_t eold3=0;
 833         static int16_t eold4=0;
 834         static int32_t esum1=0;
 835         static int32_t esum2=0;
 836         static int32_t esum3=0;
 837         static int32_t esum4=0;
 838
 839         if (motor1_mode == MOTOR_PID) {
 840                 if (speed1_wish == 0) {
 841                         motor1 = 0;
 842                         eold1 = 0;
 843                         esum1 = 0;
 844                 } else {
 845                         int16_t e = speed1_wish - speed1;
 846                         esum1+=e;
 847                         motor1 += KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
 848                         eold1 = e;
 849
 850                         if (motor1 > 255) motor1 = 255;
 851                         else if (motor1 < -255) motor1 = -255;
 852                 }
 853         }
 854         if (motor2_mode == MOTOR_PID) {
 855                 if (speed2_wish == 0) {
 856                         motor2 = 0;
 857                         eold2 = 0;
 858                         esum2 = 0;
 859                 } else {
 860                         int16_t e = speed2_wish - speed2;
 861                         esum2+=e;
 862                         motor2 += KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
 863                         eold2 = e;
 864
 865                         if (motor2 > 255) motor2 = 255;
 866                         else if (motor2 < -255) motor2 = -255;
 867                 }
 868         }
 869         if (motor3_mode == MOTOR_PID) {
 870                 if (speed3_wish == 0) {
 871                         motor3 = 0;
 872                         eold3 = 0;
 873                         esum3 = 0;
 874                 } else {
 875                         int16_t e = speed3_wish - speed3;
 876                         esum3+=e;
 877                         motor3 += KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
 878                         eold3 = e;
 879
 880                         if (motor3 > 255) motor3 = 255;
 881                         else if (motor3 < -255) motor3 = -255;
 882                 }
 883         }
 884         if (motor4_mode == MOTOR_PID) {
 885                 if (speed4_wish == 0) {
 886                         motor4 = 0;
 887                         eold4 = 0;
 888                         esum4 = 0;
 889                 } else {
 890                         int16_t e = speed4_wish - speed4;
 891                         esum4+=e;
 892                         motor4 += KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
 893                         eold4 = e;
 894
 895                         if (motor4 > 255) motor4 = 255;
 896                         else if (motor4 < -255) motor4 = -255;
 897                 }
 898         }
 899 }
 900
 901
 902 ISR(TIMER1_OVF_vect) {
 903         update_hall1();
 904         update_hall2();
 905         update_hall3();
 906         update_hall4();
 907
 908         run_update++;
 909 }
 910
 911
 912 int main(void) {
 913         // Outputs
 914         DDRB = (1 << 3);
 915         DDRC = (1 << 7) | (1 << 6) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
 916         DDRD = (1 << 7) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
 917         // Pullup TLEs EF
 918         PORTB = (1 << 0) | (1 << 1) | (1 << 2);
 919         PORTD = (1 << 6);
 920
 921         bootloader = 0x00;
 922         setup_uart(9600);
 923         uart_setup_stdout();
 924
 925         // I2C
 926         TWAR = 0x50;
 927         TWI_RESET;
 928
 929         // Motor 1 & 2
 930         // Timer 1: Fast PWM inverting mode, Top=256 => 15.625kHz
 931         // Prescaler=1
 932         TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << COM1A0) | (1 << COM1B0) | (1 << WGM10);
 933         TCCR1B = (1 << WGM12) | (1 << CS10);
 934         OCR1A = 0;
 935         OCR1B = 0;
 936
 937         // Motor 3
 938         // Timer 2: Fast PWM inverting mode, Top=256
 939         // Prescaler=1
 940         TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << COM20) | (1 << CS20);
 941         OCR2 = 0;
 942
 943         // Motor 4
 944         // Timer 0: Fast PWM inverting mode, Top=256
 945         // Prescaler=1
 946         TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << COM00) | (1 << CS00);
 947         OCR0 = 0;
 948
 949         printf("\r\nStart\r\n");
 950
 951         set_sleep_mode(SLEEP_MODE_IDLE);
 952         // Enable Timer 1 Overflow Interrupt
 953         TIMSK = (1 << TOIE1);
 954         sei();
 955
 956         while(1) {
 957                 switch(ireg) {
 958                         case 0xff: // Magic reg that starts the bootloader
 959                                 if (bootloader == 0xa5) {
 960                                         cli();
 961                                         {
 962                                                 void (*start)(void) = (void*)0x1800;
 963                                                 start();
 964                                         }
 965                                 }
 966                                 break;
 967                 }
 968
 969                 if (cmd_vel.bUpdate) {
 970                         float speed_wish_right, speed_wish_left;
 971                         float speed, angle;
 972
 973                         cli();
 974                         speed = cmd_vel.speed;
 975                         angle = cmd_vel.angle;
 976                         cmd_vel.bUpdate = 0;
 977                         sei();
 978
 979                         speed_wish_right = angle*M_PI*WHEEL_DIST/2 + speed;
 980                         speed_wish_left = speed*2-speed_wish_right;
 981
 982                         speed_wish_left*=STEP_PER_M_LEFT;
 983                         speed_wish_right*=STEP_PER_M_RIGHT;
 984
 985                         if (aft_handicap > 0) {
 986                                 speed1_wish = speed_wish_left * (100-aft_handicap)/100.0;
 987                                 speed4_wish = speed_wish_right * (100-aft_handicap)/100.0;
 988                         } else {
 989                                 speed1_wish = speed_wish_left;
 990                                 speed4_wish = speed_wish_right;
 991                         }
 992                         if (front_handicap > 0) {
 993                                 speed2_wish = speed_wish_left * (100-front_handicap)/100.0;
 994                                 speed3_wish = speed_wish_right * (100-front_handicap)/100.0;
 995                         } else {
 996                                 speed2_wish = speed_wish_left;
 997                                 speed3_wish = speed_wish_right;
 998                         }
 999                         motor1_mode = MOTOR_PID;
1000                         motor2_mode = MOTOR_PID;
1001                         motor3_mode = MOTOR_PID;
1002                         motor4_mode = MOTOR_PID;
1003                 }
1004
1005                 if (run_update >= 156) { // ~100Hz
1006                         run_update=0;
1007
1008                         update_pos();
1009                         update_pid();
1010                         update_motor();
1011                         count_test++;
1012                 }
1013
1014                 sleep_mode();
1015         }
1016
1017         return 0;
1018 }