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  * free
  64  * 0x40 Position x (m) MSB
  65  * 0x41 Position x (m)
  66  * 0x42 Position x (m)
  67  * 0x43 Position x (m) LSB
  68  * 0x44 Position y (m) MSB
  69  * 0x45 Position y (m)
  70  * 0x46 Position y (m)
  71  * 0x47 Position y (m) LSB
  72  * 0x48 Position angle MSB
  73  * 0x49 Position angle
  74  * 0x4A Position angle
  75  * 0x4B Position angle LSB
  76  * free
  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
  85  * free
  86  * 0x90 Motor 1 switch
  87  * 0x91 Motor 2 switch
  88  * 0x92 Motor 3 switch
  89  * 0x93 Motor 4 switch
  90  * 0x94 TLE Error status
  91  * free
  92  * 0xff Bootloader
  93  */
  94
  95
  96 #define TWI_ACK         TWCR = (1<<TWEA) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
  97 #define TWI_RESET       TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
  98 #define TWI_NAK         TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
  99
 100 #define KP 0.009
 101 #define KI 0.051429
 102 #define KD 0.000378
 103 #define PID_T 0.01
 104 #define STEP_PER_M 3376.1 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:34
 105 #define WHEEL_DIST 0.252
 106
 107 enum mode {
 108         MOTOR_MANUAL,
 109         MOTOR_PID
 110 };
 111
 112 typedef union {
 113         float f;
 114         uint32_t i;
 115 } ufloat_t;
 116
 117 static volatile struct {
 118         float speed;
 119         float angle;
 120         uint8_t bUpdate;
 121 } cmd_vel = {0, 0, 0};
 122
 123 static volatile uint8_t ireg=0;
 124 static volatile uint8_t bootloader=0;
 125 static volatile int16_t motor1=0; // -255..+255
 126 static volatile int16_t motor2=0;
 127 static volatile int16_t motor3=0;
 128 static volatile int16_t motor4=0;
 129 static volatile int16_t pos1=0; // step
 130 static volatile int16_t pos2=0;
 131 static volatile int16_t pos3=0;
 132 static volatile int16_t pos4=0;
 133 static volatile enum mode motor1_mode=MOTOR_MANUAL;
 134 static volatile enum mode motor2_mode=MOTOR_MANUAL;
 135 static volatile enum mode motor3_mode=MOTOR_MANUAL;
 136 static volatile enum mode motor4_mode=MOTOR_MANUAL;
 137 static volatile uint8_t motor1_switch=0;
 138 static volatile uint8_t motor2_switch=0;
 139 static volatile uint8_t motor3_switch=0;
 140 static volatile uint8_t motor4_switch=0;
 141 static volatile int16_t speed1_wish=0; // step/s
 142 static volatile int16_t speed2_wish=0;
 143 static volatile int16_t speed3_wish=0;
 144 static volatile int16_t speed4_wish=0;
 145 static volatile uint16_t run_update=0;
 146 static volatile int16_t speed1=0; // step/s
 147 static volatile int16_t speed2=0;
 148 static volatile int16_t speed3=0;
 149 static volatile int16_t speed4=0;
 150 static volatile ufloat_t pos_x={0.0};
 151 static volatile ufloat_t pos_y={0.0};
 152 static volatile ufloat_t angle={0.0};
 153 static volatile float cur_speed_lin=0;
 154 static volatile float cur_speed_rot=0;
 155
 156 ISR(TWI_vect)
 157 {
 158         static uint8_t tmp=0;
 159         static int16_t tmp16=0;
 160         static ufloat_t tmp_speed;
 161         static ufloat_t tmp_angle;
 162
 163         switch (TWSR & 0xF8)
 164         {
 165                 case 0x60: // start write
 166                         TWI_ACK;
 167                         ireg = 0;
 168                         break;
 169                 case 0x80: // write
 170                         switch(ireg) {
 171                                 case 0x00: // register select
 172                                         ireg = TWDR;
 173                                         ireg--; // because we do ireg++ below
 174                                         TWI_ACK;
 175                                         break;
 176                                 case 0x01: // Motor 1 MSB
 177                                         tmp = TWDR;
 178                                         TWI_ACK;
 179                                         break;
 180                                 case 0x02: // Motor 1 LSB
 181                                         motor1 = tmp<<8 | TWDR;
 182                                         motor1_mode = MOTOR_MANUAL;
 183                                         TWI_ACK;
 184                                         break;
 185                                 case 0x03: // Motor 2 MSB
 186                                         tmp = TWDR;
 187                                         TWI_ACK;
 188                                         break;
 189                                 case 0x04: // Motor 2 LSB
 190                                         motor2 = tmp<<8 | TWDR;
 191                                         motor2_mode = MOTOR_MANUAL;
 192                                         TWI_ACK;
 193                                         break;
 194                                 case 0x05: // Motor 3 MSB
 195                                         tmp = TWDR;
 196                                         TWI_ACK;
 197                                         break;
 198                                 case 0x06: // Motor 3 LSB
 199                                         motor3 = tmp<<8 | TWDR;
 200                                         motor3_mode = MOTOR_MANUAL;
 201                                         TWI_ACK;
 202                                         break;
 203                                 case 0x07: // Motor 4 MSB
 204                                         tmp = TWDR;
 205                                         TWI_ACK;
 206                                         break;
 207                                 case 0x08: // Motor 4 LSB
 208                                         motor4 = tmp<<8 | TWDR;
 209                                         motor4_mode = MOTOR_MANUAL;
 210                                         TWI_ACK;
 211                                         break;
 212                                 case 0x20: // Motor 1 speed wish MSB
 213                                         tmp = TWDR;
 214                                         TWI_ACK;
 215                                         break;
 216                                 case 0x21: // Motor 1 speed wish LSB
 217                                         speed1_wish = tmp<<8 | TWDR;
 218                                         motor1_mode = MOTOR_PID;
 219                                         TWI_ACK;
 220                                         break;
 221                                 case 0x22: // Motor 2 speed wish MSB
 222                                         tmp = TWDR;
 223                                         TWI_ACK;
 224                                         break;
 225                                 case 0x23: // Motor 2 speed wish LSB
 226                                         speed2_wish = tmp<<8 | TWDR;
 227                                         motor2_mode = MOTOR_PID;
 228                                         TWI_ACK;
 229                                         break;
 230                                 case 0x24: // Motor 3 speed wish MSB
 231                                         tmp = TWDR;
 232                                         TWI_ACK;
 233                                         break;
 234                                 case 0x25: // Motor 3 speed wish LSB
 235                                         speed3_wish = tmp<<8 | TWDR;
 236                                         motor3_mode = MOTOR_PID;
 237                                         TWI_ACK;
 238                                         break;
 239                                 case 0x26: // Motor 4 speed wish MSB
 240                                         tmp = TWDR;
 241                                         TWI_ACK;
 242                                         break;
 243                                 case 0x27: // Motor 4 speed wish LSB
 244                                         speed4_wish = tmp<<8 | TWDR;
 245                                         motor4_mode = MOTOR_PID;
 246                                         TWI_ACK;
 247                                         break;
 248                                 case 0x28: // Left speed wish MSB
 249                                         tmp_speed.i = TWDR;
 250                                         TWI_ACK;
 251                                         break;
 252                                 case 0x29: // Left speed wish
 253                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 254                                         TWI_ACK;
 255                                         break;
 256                                 case 0x2A: // Left speed wish
 257                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 258                                         TWI_ACK;
 259                                         break;
 260                                 case 0x2B: // Left speed wish LSB
 261                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 262                                         speed1_wish = tmp_speed.f*STEP_PER_M;
 263                                         speed2_wish = tmp_speed.f*STEP_PER_M;
 264                                         motor1_mode = MOTOR_PID;
 265                                         motor2_mode = MOTOR_PID;
 266                                         TWI_ACK;
 267                                         break;
 268                                 case 0x2C: // Right speed wish MSB
 269                                         tmp_speed.i = TWDR;
 270                                         TWI_ACK;
 271                                         break;
 272                                 case 0x2D: // Right speed wish
 273                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 274                                         TWI_ACK;
 275                                         break;
 276                                 case 0x2E: // Right speed wish
 277                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 278                                         TWI_ACK;
 279                                         break;
 280                                 case 0x2F: // Right speed wish LSB
 281                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 282                                         speed1_wish = tmp_speed.f*STEP_PER_M;
 283                                         speed2_wish = tmp_speed.f*STEP_PER_M;
 284                                         motor1_mode = MOTOR_PID;
 285                                         motor2_mode = MOTOR_PID;
 286                                         TWI_ACK;
 287                                         break;
 288                                 case 0x50: // speed wish MSB
 289                                         tmp_speed.i = TWDR;
 290                                         TWI_ACK;
 291                                         break;
 292                                 case 0x51: // speed wish
 293                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 294                                         TWI_ACK;
 295                                         break;
 296                                 case 0x52: // speed wish
 297                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 298                                         TWI_ACK;
 299                                         break;
 300                                 case 0x53: // speed wish LSB
 301                                         tmp_speed.i = tmp_speed.i << 8 | TWDR;
 302                                         cmd_vel.speed = tmp_speed.f;
 303                                         TWI_ACK;
 304                                         break;
 305                                 case 0x54: // angle wish MSB
 306                                         tmp_angle.i = TWDR;
 307                                         TWI_ACK;
 308                                         break;
 309                                 case 0x55: // angle wish
 310                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 311                                         TWI_ACK;
 312                                         break;
 313                                 case 0x56: // angle wish
 314                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 315                                         TWI_ACK;
 316                                         break;
 317                                 case 0x57: // angle wish LSB
 318                                         tmp_angle.i = tmp_angle.i << 8 | TWDR;
 319                                         cmd_vel.angle = tmp_angle.f;
 320                                         cmd_vel.bUpdate = 1;
 321                                         TWI_ACK;
 322                                         break;
 323                                 case 0x90: // Motor 1 switch
 324                                         motor1_switch = TWDR;
 325                                         TWI_ACK;
 326                                         break;
 327                                 case 0x91: // Motor 2 switch
 328                                         motor2_switch = TWDR;
 329                                         TWI_ACK;
 330                                         break;
 331                                 case 0x92: // Motor 3 switch
 332                                         motor3_switch = TWDR;
 333                                         TWI_ACK;
 334                                         break;
 335                                 case 0x93: // Motor 4 switch
 336                                         motor4_switch = TWDR;
 337                                         TWI_ACK;
 338                                         break;
 339                                 case 0xff: // bootloader
 340                                         bootloader = TWDR;
 341                                 default:
 342                                         TWI_NAK;
 343                         }
 344                         ireg++;
 345                         break;
 346                 case 0xA8: // start read
 347                 case 0xB8: // read
 348                         switch(ireg) {
 349                                 case 0x02: // Motor 1 PWM
 350                                         TWDR = OCR1A;
 351                                         TWI_ACK;
 352                                         break;
 353                                 case 0x04: // Motor 2 PWM
 354                                         TWDR = OCR1B;
 355                                         TWI_ACK;
 356                                         break;
 357                                 case 0x06: // Motor 3 PWM
 358                                         TWDR = OCR2;
 359                                         TWI_ACK;
 360                                         break;
 361                                 case 0x08: // Motor 4 PWM
 362                                         TWDR = OCR0;
 363                                         TWI_ACK;
 364                                         break;
 365                                 case 0x10: // Hall 1 MSB
 366                                         tmp16 = pos1;
 367                                         TWDR = tmp16>>8;
 368                                         TWI_ACK;
 369                                         break;
 370                                 case 0x11: // Hall 1 LSB
 371                                         TWDR = tmp16;
 372                                         TWI_ACK;
 373                                         break;
 374                                 case 0x12: // Hall 2 MSB
 375                                         tmp16 = pos2;
 376                                         TWDR = tmp16>>8;
 377                                         TWI_ACK;
 378                                         break;
 379                                 case 0x13: // Hall 2 LSB
 380                                         TWDR = tmp16;
 381                                         TWI_ACK;
 382                                         break;
 383                                 case 0x14: // Hall 3 MSB
 384                                         tmp16 = pos3;
 385                                         TWDR = tmp16>>8;
 386                                         TWI_ACK;
 387                                         break;
 388                                 case 0x15: // Hall 3 LSB
 389                                         TWDR = tmp16;
 390                                         TWI_ACK;
 391                                         break;
 392                                 case 0x16: // Hall 4 MSB
 393                                         tmp16 = pos4;
 394                                         TWDR = tmp16>>8;
 395                                         TWI_ACK;
 396                                         break;
 397                                 case 0x17: // Hall 4 LSB
 398                                         TWDR = tmp16;
 399                                         TWI_ACK;
 400                                         break;
 401                                 case 0x20: // Motor 1 speed wish MSB
 402                                         TWDR = speed1_wish>>8;
 403                                         TWI_ACK;
 404                                         break;
 405                                 case 0x21: // Motor 1 speed wish LSB
 406                                         TWDR = speed1_wish;
 407                                         TWI_ACK;
 408                                         break;
 409                                 case 0x22: // Motor 2 speed wish MSB
 410                                         TWDR = speed2_wish>>8;
 411                                         TWI_ACK;
 412                                         break;
 413                                 case 0x23: // Motor 2 speed wish LSB
 414                                         TWDR = speed2_wish;
 415                                         TWI_ACK;
 416                                         break;
 417                                 case 0x24: // Motor 3 speed wish MSB
 418                                         TWDR = speed3_wish>>8;
 419                                         TWI_ACK;
 420                                         break;
 421                                 case 0x25: // Motor 3 speed wish LSB
 422                                         TWDR = speed3_wish;
 423                                         TWI_ACK;
 424                                         break;
 425                                 case 0x26: // Motor 4 speed wish MSB
 426                                         TWDR = speed4_wish>>8;
 427                                         TWI_ACK;
 428                                         break;
 429                                 case 0x27: // Motor 4 speed wish LSB
 430                                         TWDR = speed4_wish;
 431                                         TWI_ACK;
 432                                         break;
 433                                 case 0x30: // Motor 1 speed MSB
 434                                         TWDR = speed1>>8;
 435                                         TWI_ACK;
 436                                         break;
 437                                 case 0x31: // Motor 1 speed LSB
 438                                         TWDR = speed1;
 439                                         TWI_ACK;
 440                                         break;
 441                                 case 0x32: // Motor 2 speed MSB
 442                                         TWDR = speed2>>8;
 443                                         TWI_ACK;
 444                                         break;
 445                                 case 0x33: // Motor 2 speed LSB
 446                                         TWDR = speed2;
 447                                         TWI_ACK;
 448                                         break;
 449                                 case 0x34: // Motor 3 speed MSB
 450                                         TWDR = speed3>>8;
 451                                         TWI_ACK;
 452                                         break;
 453                                 case 0x35: // Motor 3 speed LSB
 454                                         TWDR = speed3;
 455                                         TWI_ACK;
 456                                         break;
 457                                 case 0x36: // Motor 4 speed MSB
 458                                         TWDR = speed4>>8;
 459                                         TWI_ACK;
 460                                         break;
 461                                 case 0x37: // Motor 4 speed LSB
 462                                         TWDR = speed4;
 463                                         TWI_ACK;
 464                                         break;
 465                                 case 0x38: // speed MSB
 466                                         tmp_speed.f = cur_speed_lin;
 467                                         TWDR = tmp_speed.i>>24;
 468                                         TWI_ACK;
 469                                         break;
 470                                 case 0x39: // speed
 471                                         TWDR = tmp_speed.i>>16;
 472                                         TWI_ACK;
 473                                         break;
 474                                 case 0x3A: // speed
 475                                         TWDR = tmp_speed.i>>8;
 476                                         TWI_ACK;
 477                                         break;
 478                                 case 0x3B: // speed LSB
 479                                         TWDR = tmp_speed.i;
 480                                         TWI_ACK;
 481                                         break;
 482                                 case 0x3C: // angle MSB
 483                                         tmp_angle.f = cur_speed_rot;
 484                                         TWDR = tmp_angle.i>>24;
 485                                         TWI_ACK;
 486                                         break;
 487                                 case 0x3D: // angle
 488                                         TWDR = tmp_angle.i>>16;
 489                                         TWI_ACK;
 490                                         break;
 491                                 case 0x3E: // angle
 492                                         TWDR = tmp_angle.i>>8;
 493                                         TWI_ACK;
 494                                         break;
 495                                 case 0x3F: // angle LSB
 496                                         TWDR = angle.i;
 497                                         TWI_ACK;
 498                                         break;
 499                                 case 0x40: // Position x MSB
 500                                         TWDR = pos_x.i>>24;
 501                                         TWI_ACK;
 502                                         break;
 503                                 case 0x41: // Position x
 504                                         TWDR = pos_x.i>>16;
 505                                         TWI_ACK;
 506                                         break;
 507                                 case 0x42: // Position x
 508                                         TWDR = pos_x.i>>8;
 509                                         TWI_ACK;
 510                                         break;
 511                                 case 0x43: // Position x LSB
 512                                         TWDR = pos_x.i;
 513                                         TWI_ACK;
 514                                         break;
 515                                 case 0x44: // Position y MSB
 516                                         TWDR = pos_y.i>>24;
 517                                         TWI_ACK;
 518                                         break;
 519                                 case 0x45: // Position y
 520                                         TWDR = pos_y.i>>16;
 521                                         TWI_ACK;
 522                                         break;
 523                                 case 0x46: // Position y
 524                                         TWDR = pos_y.i>>8;
 525                                         TWI_ACK;
 526                                         break;
 527                                 case 0x47: // Position y LSB
 528                                         TWDR = pos_y.i;
 529                                         TWI_ACK;
 530                                         break;
 531                                 case 0x48: // Position angle MSB
 532                                         TWDR = pos_y.i>>24;
 533                                         TWI_ACK;
 534                                         break;
 535                                 case 0x49: // Position angle
 536                                         TWDR = pos_y.i>>16;
 537                                         TWI_ACK;
 538                                         break;
 539                                 case 0x4A: // Position angle
 540                                         TWDR = pos_y.i>>8;
 541                                         TWI_ACK;
 542                                         break;
 543                                 case 0x4B: // Position angle LSB
 544                                         TWDR = pos_y.i;
 545                                         TWI_ACK;
 546                                         break;
 547                                 case 0x94: // TLE Error status
 548                                         TWDR = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
 549                                         TWI_ACK;
 550                                         break;
 551                                 default:
 552                                         TWDR = 0;
 553                                         TWI_NAK;
 554                         }
 555                         ireg++;
 556                         break;
 557                 default:
 558                         TWI_RESET;
 559         }
 560 }
 561
 562
 563 static void update_hall1(void) {
 564         unsigned char status = (PINA >> 0) & 0x3;
 565         static unsigned char oldstatus=0;
 566         unsigned char diff, new;
 567
 568         new = 0;
 569         if (status & 0x1)
 570                 new = 0x3;
 571         if (status & 0x2)
 572                 new ^= 0x1;                                     // convert gray to binary
 573         diff = oldstatus - new;                         // difference last - new
 574         if (diff & 0x1) {                               // bit 0 = value (1)
 575                 oldstatus = new;                                        // store new as next last
 576                 if (motor1_switch) pos1 += (diff & 2) - 1;              // bit 1 = direction (+/-)
 577                 else pos1 -= (diff & 2) - 1;
 578         }
 579 }
 580
 581
 582 static void update_hall2(void) {
 583         unsigned char status = (PINA >> 4) & 0x3;
 584         static unsigned char oldstatus=0;
 585         unsigned char diff, new;
 586
 587         new = 0;
 588         if (status & 0x1)
 589                 new = 0x3;
 590         if (status & 0x2)
 591                 new ^= 0x1;                                     // convert gray to binary
 592         diff = oldstatus - new;                         // difference last - new
 593         if (diff & 0x1) {                               // bit 0 = value (1)
 594                 oldstatus = new;                                        // store new as next last
 595                 if (motor2_switch) pos2 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
 596                 else pos2 += (diff & 2) - 1;
 597         }
 598 }
 599
 600
 601 static void update_hall3(void) {
 602         unsigned char status = (PINA >> 2) & 0x3;
 603         static unsigned char oldstatus=0;
 604         unsigned char diff, new;
 605
 606         new = 0;
 607         if (status & 0x1)
 608                 new = 0x3;
 609         if (status & 0x2)
 610                 new ^= 0x1;                                     // convert gray to binary
 611         diff = oldstatus - new;                         // difference last - new
 612         if (diff & 0x1) {                               // bit 0 = value (1)
 613                 oldstatus = new;                                        // store new as next last
 614                 if (motor3_switch) pos3 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
 615                 else pos3 += (diff & 2) - 1;
 616         }
 617 }
 618
 619
 620 static void update_hall4(void) {
 621         unsigned char status = (PINA >> 6) & 0x3;
 622         static unsigned char oldstatus=0;
 623         unsigned char diff, new;
 624
 625         new = 0;
 626         if (status & 0x1)
 627                 new = 0x3;
 628         if (status & 0x2)
 629                 new ^= 0x1;                                     // convert gray to binary
 630         diff = oldstatus - new;                         // difference last - new
 631         if (diff & 0x1) {                               // bit 0 = value (1)
 632                 oldstatus = new;                                        // store new as next last
 633                 if (motor4_switch) pos4 += (diff & 2) - 1;              // bit 1 = direction (+/-)
 634                 else pos4 -= (diff & 2) - 1;
 635         }
 636 }
 637
 638
 639 static void update_motor(void) {
 640         static int16_t m1_old=SHRT_MIN;
 641         static int16_t m2_old=SHRT_MIN;
 642         static int16_t m3_old=SHRT_MIN;
 643         static int16_t m4_old=SHRT_MIN;
 644
 645         if (m1_old != motor1) { // update only when changed
 646                 if (motor1 == 0) {
 647                         // stop
 648                         PORTC |= (1 << 3) | (1 << 2);
 649                 } else if ((!motor1_switch && motor1 > 0) || (motor1_switch && motor1 < 0)) {
 650                         // forward
 651                         PORTC &= ~(1 << 3) & ~(1 << 2);
 652                 } else { // motor1 < 0
 653                         // backward
 654                         PORTC &= ~(1 << 2);
 655                         PORTC |=  (1 << 3);
 656                 }
 657
 658                 m1_old = motor1;
 659                 OCR1A = abs(motor1);
 660         }
 661
 662         if (m2_old != motor2) { // update only when changed
 663                 if (motor2 == 0) {
 664                         // stop
 665                         PORTC |= (1 << 5) | (1 << 4);
 666                 } else if ((!motor2_switch && motor2 > 0) || (motor2_switch && motor2 < 0)) {
 667                         // forward
 668                         PORTC &= ~(1 << 5) & ~(1 << 4);
 669                 } else { // motor2 < 0
 670                         // backward
 671                         PORTC &= ~(1 << 4);
 672                         PORTC |=  (1 << 5);
 673                 }
 674
 675                 m2_old = motor2;
 676                 OCR1B = abs(motor2);
 677         }
 678
 679         if (m3_old != motor3) { // update only when changed
 680                 if (motor3 == 0) {
 681                         // stop
 682                         PORTC |= (1 << 7) | (1 << 6);
 683                 } else if ((!motor3_switch && motor3 > 0) || (motor3_switch && motor3 < 0)) {
 684                         // forward
 685                         PORTC &= ~(1 << 7) & ~(1 << 6);
 686                 } else { // motor3 < 0
 687                         // backward
 688                         PORTC &= ~(1 << 6);
 689                         PORTC |=  (1 << 7);
 690                 }
 691
 692                 m3_old = motor3;
 693                 OCR2 = abs(motor3);
 694         }
 695
 696         if (m4_old != motor4) { // update only when changed
 697                 if (motor4 == 0) {
 698                         // stop
 699                         PORTD |= (1 << 3) | (1 << 2);
 700                 } else if ((!motor4_switch && motor4 > 0) || (motor4_switch && motor4 < 0)) {
 701                         // forward
 702                         PORTD &= ~(1 << 3) & ~(1 << 2);
 703                 } else { // motor4 < 0
 704                         // backward
 705                         PORTD &= ~(1 << 2);
 706                         PORTD |=  (1 << 3);
 707                 }
 708
 709                 m4_old = motor4;
 710                 OCR0 = abs(motor4);
 711         }
 712 }
 713
 714
 715 static void update_pos(void) {
 716         static int16_t pos1_last=0;
 717         static int16_t pos2_last=0;
 718         static int16_t pos3_last=0;
 719         static int16_t pos4_last=0;
 720         int16_t pos1_diff; // steps
 721         int16_t pos2_diff;
 722         int16_t pos3_diff;
 723         int16_t pos4_diff;
 724         float diff_left_m, diff_right_m, angle_diff, translation;
 725         float pos_x_diff, pos_y_diff, angle_new;
 726         int16_t speed_l, speed_r;
 727         float tmp_speed_lin, tmp_speed_rot;
 728
 729         cli();
 730         pos1_diff = pos1 - pos1_last;
 731         pos2_diff = pos2 - pos2_last;
 732         pos3_diff = pos3 - pos3_last;
 733         pos4_diff = pos4 - pos4_last;
 734         speed1 = pos1_diff/PID_T;
 735         speed2 = pos2_diff/PID_T;
 736         speed3 = pos3_diff/PID_T;
 737         speed4 = pos4_diff/PID_T;
 738         sei();
 739
 740         diff_left_m = (pos1_diff + pos2_diff)/(2*STEP_PER_M);
 741         diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M);
 742         angle_diff = (diff_right_m - diff_left_m) / WHEEL_DIST;
 743
 744         angle_new = angle.f + angle_diff;
 745         if (angle_new > 2*M_PI) angle_new-=2*M_PI;
 746         else if (angle_new < 2*M_PI) angle_new+=2*M_PI;
 747
 748         translation = (diff_left_m + diff_right_m)/2.0;
 749         pos_x_diff = cos(angle_new)*translation;
 750         pos_y_diff = sin(angle_new)*translation;
 751
 752         cli();
 753         angle.f = angle_new;
 754         pos_x.f += pos_x_diff;
 755         pos_y.f += pos_y_diff;
 756         sei();
 757
 758         speed_l = (speed1+speed2)/2;
 759         speed_r = (speed3+speed4)/2;
 760         tmp_speed_lin = (speed_l + speed_r)/(2.0*STEP_PER_M);
 761         tmp_speed_rot = (speed_r - speed_l)/(M_PI*WHEEL_DIST*STEP_PER_M);
 762
 763         cli();
 764         cur_speed_lin = tmp_speed_lin;
 765         cur_speed_rot = tmp_speed_rot;
 766         sei();
 767
 768         pos1_last = pos1;
 769         pos2_last = pos2;
 770         pos3_last = pos3;
 771         pos4_last = pos4;
 772 }
 773
 774
 775 static void update_pid(void) {
 776         static int16_t eold1=0;
 777         static int16_t eold2=0;
 778         static int16_t eold3=0;
 779         static int16_t eold4=0;
 780         static int32_t esum1=0;
 781         static int32_t esum2=0;
 782         static int32_t esum3=0;
 783         static int32_t esum4=0;
 784
 785         if (motor1_mode == MOTOR_PID) {
 786                 if (speed1_wish == 0) {
 787                         motor1 = 0;
 788                         eold1 = 0;
 789                         esum1 = 0;
 790                 } else {
 791                         int16_t e = speed1_wish - speed1;
 792                         esum1+=e;
 793                         motor1 += KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
 794                         eold1 = e;
 795
 796                         if (motor1 > 255) motor1 = 255;
 797                         else if (motor1 < -255) motor1 = -255;
 798                 }
 799         }
 800         if (motor2_mode == MOTOR_PID) {
 801                 if (speed2_wish == 0) {
 802                         motor2 = 0;
 803                         eold2 = 0;
 804                         esum2 = 0;
 805                 } else {
 806                         int16_t e = speed2_wish - speed2;
 807                         esum2+=e;
 808                         motor2 += KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
 809                         eold2 = e;
 810
 811                         if (motor2 > 255) motor2 = 255;
 812                         else if (motor2 < -255) motor2 = -255;
 813                 }
 814         }
 815         if (motor3_mode == MOTOR_PID) {
 816                 if (speed3_wish == 0) {
 817                         motor3 = 0;
 818                         eold3 = 0;
 819                         esum3 = 0;
 820                 } else {
 821                         int16_t e = speed3_wish - speed3;
 822                         esum3+=e;
 823                         motor3 += KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
 824                         eold3 = e;
 825
 826                         if (motor3 > 255) motor3 = 255;
 827                         else if (motor3 < -255) motor3 = -255;
 828                 }
 829         }
 830         if (motor4_mode == MOTOR_PID) {
 831                 if (speed4_wish == 0) {
 832                         motor4 = 0;
 833                         eold4 = 0;
 834                         esum4 = 0;
 835                 } else {
 836                         int16_t e = speed4_wish - speed4;
 837                         esum4+=e;
 838                         motor4 += KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
 839                         eold4 = e;
 840
 841                         if (motor4 > 255) motor4 = 255;
 842                         else if (motor4 < -255) motor4 = -255;
 843                 }
 844         }
 845 }
 846
 847
 848 ISR(TIMER1_OVF_vect) {
 849         update_hall1();
 850         update_hall2();
 851         update_hall3();
 852         update_hall4();
 853
 854         run_update++;
 855 }
 856
 857
 858 int main(void) {
 859         // Outputs
 860         DDRB = (1 << 3);
 861         DDRC = (1 << 7) | (1 << 6) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
 862         DDRD = (1 << 7) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
 863
 864         bootloader = 0x00;
 865         setup_uart(9600);
 866         uart_setup_stdout();
 867
 868         // I2C
 869         TWAR = 0x50;
 870         TWI_RESET;
 871
 872         // Motor 1 & 2
 873         // Timer 1: Fast PWM inverting mode, Top=256 => 31.25kHz
 874         // Prescaler=1
 875         TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << COM1A0) | (1 << COM1B0) | (1 << WGM10);
 876         TCCR1B = (1 << WGM12) | (1 << CS10);
 877         OCR1A = 0;
 878         OCR1B = 0;
 879
 880         // Motor 3
 881         // Timer 2: Fast PWM inverting mode, Top=256
 882         // Prescaler=1
 883         TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << COM20) | (1 << CS20);
 884         OCR2 = 0;
 885
 886         // Motor 4
 887         // Timer 0: Fast PWM inverting mode, Top=256
 888         // Prescaler=1
 889         TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << COM00) | (1 << CS00);
 890         OCR0 = 0;
 891
 892         printf("\r\nStart\r\n");
 893
 894         set_sleep_mode(SLEEP_MODE_IDLE);
 895         // Enable Timer 1 Overflow Interrupt
 896         TIMSK = (1 << TOIE1);
 897         sei();
 898
 899         while(1) {
 900                 switch(ireg) {
 901                         case 0xff: // Magic reg that starts the bootloader
 902                                 if (bootloader == 0xa5) {
 903                                         cli();
 904                                         {
 905                                                 void (*start)(void) = (void*)0x1800;
 906                                                 start();
 907                                         }
 908                                 }
 909                                 break;
 910                 }
 911
 912                 if (cmd_vel.bUpdate) {
 913                         float speed_wish_right = cmd_vel.angle*M_PI*WHEEL_DIST/2 + cmd_vel.speed;
 914                         float speed_wish_left = cmd_vel.speed*2-speed_wish_right;
 915
 916                         cmd_vel.bUpdate = 0;
 917                         speed_wish_left*=STEP_PER_M;
 918                         speed_wish_right*=STEP_PER_M;
 919
 920                         speed1_wish = speed_wish_left;
 921                         speed2_wish = speed_wish_left;
 922                         speed3_wish = speed_wish_right;
 923                         speed4_wish = speed_wish_right;
 924                         motor1_mode = MOTOR_PID;
 925                         motor2_mode = MOTOR_PID;
 926                         motor3_mode = MOTOR_PID;
 927                         motor4_mode = MOTOR_PID;
 928                 }
 929
 930                 if (run_update >= 312) { // ~100Hz
 931                         run_update=0;
 932
 933                         update_pos();
 934                         update_pid();
 935                         update_motor();
 936                 }
 937
 938                 sleep_mode();
 939         }
 940
 941         return 0;
 942 }