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
63 * 0x40 Position x (m) MSB
66 * 0x43 Position x (m) LSB
67 * 0x44 Position y (m) MSB
70 * 0x47 Position y (m) LSB
71 * 0x48 Position angle MSB
74 * 0x4B Position angle LSB
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
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)
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
124 static volatile struct {
128 } cmd_vel = {0, 0, 0};
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=1;
145 static volatile uint8_t motor2_switch=1;
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;
169 static uint8_t tmp=0;
170 static int16_t tmp16=0;
171 static ufloat_t tmp_speed;
172 static ufloat_t tmp_angle;
176 case 0x60: // start write
182 case 0x00: // register select
184 ireg--; // because we do ireg++ below
187 case 0x01: // Motor 1 MSB
191 case 0x02: // Motor 1 LSB
192 motor1 = tmp<<8 | TWDR;
193 motor1_mode = MOTOR_MANUAL;
196 case 0x03: // Motor 2 MSB
200 case 0x04: // Motor 2 LSB
201 motor2 = tmp<<8 | TWDR;
202 motor2_mode = MOTOR_MANUAL;
205 case 0x05: // Motor 3 MSB
209 case 0x06: // Motor 3 LSB
210 motor3 = tmp<<8 | TWDR;
211 motor3_mode = MOTOR_MANUAL;
214 case 0x07: // Motor 4 MSB
218 case 0x08: // Motor 4 LSB
219 motor4 = tmp<<8 | TWDR;
220 motor4_mode = MOTOR_MANUAL;
223 case 0x20: // Motor 1 speed wish MSB
227 case 0x21: // Motor 1 speed wish LSB
228 speed1_wish = tmp<<8 | TWDR;
229 motor1_mode = MOTOR_PID;
232 case 0x22: // Motor 2 speed wish MSB
236 case 0x23: // Motor 2 speed wish LSB
237 speed2_wish = tmp<<8 | TWDR;
238 motor2_mode = MOTOR_PID;
241 case 0x24: // Motor 3 speed wish MSB
245 case 0x25: // Motor 3 speed wish LSB
246 speed3_wish = tmp<<8 | TWDR;
247 motor3_mode = MOTOR_PID;
250 case 0x26: // Motor 4 speed wish MSB
254 case 0x27: // Motor 4 speed wish LSB
255 speed4_wish = tmp<<8 | TWDR;
256 motor4_mode = MOTOR_PID;
259 case 0x28: // Left speed wish MSB
263 case 0x29: // Left speed wish
264 tmp_speed.i = tmp_speed.i << 8 | TWDR;
267 case 0x2A: // Left speed wish
268 tmp_speed.i = tmp_speed.i << 8 | TWDR;
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;
279 case 0x2C: // Right speed wish MSB
283 case 0x2D: // Right speed wish
284 tmp_speed.i = tmp_speed.i << 8 | TWDR;
287 case 0x2E: // Right speed wish
288 tmp_speed.i = tmp_speed.i << 8 | TWDR;
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;
299 case 0x50: // speed wish MSB
303 case 0x51: // speed wish
304 tmp_speed.i = tmp_speed.i << 8 | TWDR;
307 case 0x52: // speed wish
308 tmp_speed.i = tmp_speed.i << 8 | TWDR;
311 case 0x53: // speed wish LSB
312 tmp_speed.i = tmp_speed.i << 8 | TWDR;
313 cmd_vel.speed = tmp_speed.f;
316 case 0x54: // angle wish MSB
320 case 0x55: // angle wish
321 tmp_angle.i = tmp_angle.i << 8 | TWDR;
324 case 0x56: // angle wish
325 tmp_angle.i = tmp_angle.i << 8 | TWDR;
328 case 0x57: // angle wish LSB
329 tmp_angle.i = tmp_angle.i << 8 | TWDR;
330 cmd_vel.angle = tmp_angle.f;
334 case 0x90: // Motor 1 switch
335 motor1_switch = TWDR;
338 case 0x91: // Motor 2 switch
339 motor2_switch = TWDR;
342 case 0x92: // Motor 3 switch
343 motor3_switch = TWDR;
346 case 0x93: // Motor 4 switch
347 motor4_switch = TWDR;
350 case 0x94: // Front Handicap
351 front_handicap = TWDR;
355 case 0x95: // Aft Handicap
360 case 0xff: // bootloader
367 case 0xA8: // start read
370 case 0x02: // Motor 1 PWM
374 case 0x03: // Dummy to allow continous read
378 case 0x04: // Motor 2 PWM
382 case 0x05: // Dummy to allow continous read
386 case 0x06: // Motor 3 PWM
390 case 0x07: // Dummy to allow continous read
394 case 0x08: // Motor 4 PWM
398 case 0x09: // Dummy to allow continous read
402 case 0x10: // Hall 1 MSB
407 case 0x11: // Hall 1 LSB
411 case 0x12: // Hall 2 MSB
416 case 0x13: // Hall 2 LSB
420 case 0x14: // Hall 3 MSB
425 case 0x15: // Hall 3 LSB
429 case 0x16: // Hall 4 MSB
434 case 0x17: // Hall 4 LSB
438 case 0x20: // Motor 1 speed wish MSB
439 TWDR = speed1_wish>>8;
442 case 0x21: // Motor 1 speed wish LSB
446 case 0x22: // Motor 2 speed wish MSB
447 TWDR = speed2_wish>>8;
450 case 0x23: // Motor 2 speed wish LSB
454 case 0x24: // Motor 3 speed wish MSB
455 TWDR = speed3_wish>>8;
458 case 0x25: // Motor 3 speed wish LSB
462 case 0x26: // Motor 4 speed wish MSB
463 TWDR = speed4_wish>>8;
466 case 0x27: // Motor 4 speed wish LSB
470 case 0x30: // Motor 1 speed MSB
474 case 0x31: // Motor 1 speed LSB
478 case 0x32: // Motor 2 speed MSB
482 case 0x33: // Motor 2 speed LSB
486 case 0x34: // Motor 3 speed MSB
490 case 0x35: // Motor 3 speed LSB
494 case 0x36: // Motor 4 speed MSB
498 case 0x37: // Motor 4 speed LSB
502 case 0x38: // speed MSB
503 tmp_speed.f = cur_speed_lin;
504 TWDR = tmp_speed.i>>24;
508 TWDR = tmp_speed.i>>16;
512 TWDR = tmp_speed.i>>8;
515 case 0x3B: // speed LSB
519 case 0x3C: // angle MSB
520 tmp_angle.f = cur_speed_rot;
521 TWDR = tmp_angle.i>>24;
525 TWDR = tmp_angle.i>>16;
529 TWDR = tmp_angle.i>>8;
532 case 0x3F: // angle LSB
536 case 0x40: // Position x MSB
540 case 0x41: // Position x
544 case 0x42: // Position x
548 case 0x43: // Position x LSB
552 case 0x44: // Position y MSB
556 case 0x45: // Position y
560 case 0x46: // Position y
564 case 0x47: // Position y LSB
568 case 0x48: // Position angle MSB
572 case 0x49: // Position angle
576 case 0x4A: // Position angle
580 case 0x4B: // Position angle LSB
584 case 0xA0: // Reset reason
585 TWDR = MCUCSR & 0x0f;
589 case 0xA1: // Error status
593 case 0xA2: // count test
608 static void update_hall1(void) {
609 unsigned char status = (PINA >> 0) & 0x3;
610 static unsigned char oldstatus=0;
611 unsigned char diff, new;
617 new ^= 0x1; // convert gray to binary
618 diff = oldstatus - new; // difference last - new
619 if (diff & 0x1) { // bit 0 = value (1)
620 oldstatus = new; // store new as next last
621 if (motor1_switch) pos1 += (diff & 2) - 1; // bit 1 = direction (+/-)
622 else pos1 -= (diff & 2) - 1;
627 static void update_hall2(void) {
628 unsigned char status = (PINA >> 4) & 0x3;
629 static unsigned char oldstatus=0;
630 unsigned char diff, new;
636 new ^= 0x1; // convert gray to binary
637 diff = oldstatus - new; // difference last - new
638 if (diff & 0x1) { // bit 0 = value (1)
639 oldstatus = new; // store new as next last
640 if (motor2_switch) pos2 -= (diff & 2) - 1; // bit 1 = direction (+/-)
641 else pos2 += (diff & 2) - 1;
646 static void update_hall3(void) {
647 unsigned char status = (PINA >> 2) & 0x3;
648 static unsigned char oldstatus=0;
649 unsigned char diff, new;
655 new ^= 0x1; // convert gray to binary
656 diff = oldstatus - new; // difference last - new
657 if (diff & 0x1) { // bit 0 = value (1)
658 oldstatus = new; // store new as next last
659 if (motor3_switch) pos3 -= (diff & 2) - 1; // bit 1 = direction (+/-)
660 else pos3 += (diff & 2) - 1;
665 static void update_hall4(void) {
666 unsigned char status = (PINA >> 6) & 0x3;
667 static unsigned char oldstatus=0;
668 unsigned char diff, new;
674 new ^= 0x1; // convert gray to binary
675 diff = oldstatus - new; // difference last - new
676 if (diff & 0x1) { // bit 0 = value (1)
677 oldstatus = new; // store new as next last
678 if (motor4_switch) pos4 += (diff & 2) - 1; // bit 1 = direction (+/-)
679 else pos4 -= (diff & 2) - 1;
684 static void update_motor(void) {
685 static int16_t m1_old=SHRT_MIN;
686 static int16_t m2_old=SHRT_MIN;
687 static int16_t m3_old=SHRT_MIN;
688 static int16_t m4_old=SHRT_MIN;
690 error_state = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
692 if (m1_old != motor1) { // update only when changed
695 PORTC &= ~(1 << 3) & ~(1 << 2);
696 } else if ((!motor1_switch && motor1 > 0) || (motor1_switch && motor1 < 0)) {
702 } else { // motor1 < 0
714 if (m2_old != motor2) { // update only when changed
717 PORTC &= ~(1 << 5) & ~(1 << 4);
718 } else if ((!motor2_switch && motor2 > 0) || (motor2_switch && motor2 < 0)) {
724 } else { // motor2 < 0
736 if (m3_old != motor3) { // update only when changed
739 PORTC &= ~(1 << 7) & ~(1 << 6);
740 } else if ((!motor3_switch && motor3 > 0) || (motor3_switch && motor3 < 0)) {
746 } else { // motor3 < 0
758 if (m4_old != motor4) { // update only when changed
761 PORTD &= ~(1 << 3) & ~(1 << 2);
762 } else if ((!motor4_switch && motor4 > 0) || (motor4_switch && motor4 < 0)) {
768 } else { // motor4 < 0
782 static void update_pos(void) {
783 static int16_t pos1_last=0;
784 static int16_t pos2_last=0;
785 static int16_t pos3_last=0;
786 static int16_t pos4_last=0;
787 int16_t pos1_diff; // steps
791 float diff_left_m, diff_right_m, angle_diff, translation;
792 float pos_x_new, pos_y_new, angle_new;
793 int16_t speed_l, speed_r;
794 float tmp_speed_lin, tmp_speed_rot;
795 int16_t cur_pos1, cur_pos2, cur_pos3, cur_pos4;
796 int16_t new_speed1, new_speed2, new_speed3, new_speed4;
806 pos1_diff = cur_pos1 - pos1_last;
807 pos2_diff = cur_pos2 - pos2_last;
808 pos3_diff = cur_pos3 - pos3_last;
809 pos4_diff = cur_pos4 - pos4_last;
811 new_speed1 = pos1_diff/PID_T;
812 new_speed2 = pos2_diff/PID_T;
813 new_speed3 = pos3_diff/PID_T;
814 new_speed4 = pos4_diff/PID_T;
816 diff_left_m = (pos1_diff + pos2_diff)/(2*STEP_PER_M_LEFT);
817 diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M_RIGHT);
818 angle_diff = (diff_right_m - diff_left_m) / WHEEL_DIST;
820 angle_new = angle.f + angle_diff;
821 if (angle_new > 2*M_PI) angle_new-=2*M_PI;
822 else if (angle_new < -2*M_PI) angle_new+=2*M_PI;
824 translation = (diff_left_m + diff_right_m)/2.0;
825 pos_x_new = pos_x.f + cos(angle_new)*translation;
826 pos_y_new = pos_y.f + sin(angle_new)*translation;
828 speed_l = (new_speed1+new_speed2)/2;
829 speed_r = (new_speed3+new_speed4)/2;
830 tmp_speed_lin = (speed_l + speed_r)/(2.0*STEP_PER_M_AVG);
831 tmp_speed_rot = (speed_r - speed_l)/(M_PI*WHEEL_DIST*STEP_PER_M_AVG);
842 cur_speed_lin = tmp_speed_lin;
843 cur_speed_rot = tmp_speed_rot;
846 pos1_last = cur_pos1;
847 pos2_last = cur_pos2;
848 pos3_last = cur_pos3;
849 pos4_last = cur_pos4;
853 static void update_pid(void) {
854 static int16_t eold1=0;
855 static int16_t eold2=0;
856 static int16_t eold3=0;
857 static int16_t eold4=0;
858 static int32_t esum1=0;
859 static int32_t esum2=0;
860 static int32_t esum3=0;
861 static int32_t esum4=0;
863 if (motor1_mode == MOTOR_PID) {
864 if (speed1_wish == 0) {
869 int16_t e = speed1_wish - speed1;
871 motor1 = KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
874 if (motor1 > 0 && speed1_wish < 0) motor1=0;
875 else if (motor1 < 0 && speed1_wish > 0) motor1=0;
876 else if (motor1 > 255) motor1 = 255;
877 else if (motor1 < -255) motor1 = -255;
880 if (motor2_mode == MOTOR_PID) {
881 if (speed2_wish == 0) {
886 int16_t e = speed2_wish - speed2;
888 motor2 = KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
891 if (motor2 > 0 && speed2_wish < 0) motor2=0;
892 else if (motor2 < 0 && speed2_wish > 0) motor2=0;
893 else if (motor2 > 255) motor2 = 255;
894 else if (motor2 < -255) motor2 = -255;
897 if (motor3_mode == MOTOR_PID) {
898 if (speed3_wish == 0) {
903 int16_t e = speed3_wish - speed3;
905 motor3 = KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
908 if (motor3 > 0 && speed3_wish < 0) motor3=0;
909 else if (motor3 < 0 && speed3_wish > 0) motor3=0;
910 else if (motor3 > 255) motor3 = 255;
911 else if (motor3 < -255) motor3 = -255;
914 if (motor4_mode == MOTOR_PID) {
915 if (speed4_wish == 0) {
920 int16_t e = speed4_wish - speed4;
922 motor4 = KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
925 if (motor4 > 0 && speed4_wish < 0) motor4=0;
926 else if (motor4 < 0 && speed4_wish > 0) motor4=0;
927 else if (motor4 > 255) motor4 = 255;
928 else if (motor4 < -255) motor4 = -255;
934 ISR(TIMER1_OVF_vect) {
947 DDRC = (1 << 7) | (1 << 6) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
948 DDRD = (1 << 7) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
949 // Pullup Diag/Enable
950 PORTB = (1 << 0) | (1 << 1) | (1 << 2);
962 // Timer 1: Fast PWM non-inverting mode, Top=255 => 15.625kHz
964 TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM10);
965 TCCR1B = (1 << WGM12) | (1 << CS10);
970 // Timer 2: Fast PWM non-inverting mode, Top=255
972 TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << CS20);
976 // Timer 0: Fast PWM non-inverting mode, Top=255
978 TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << CS00);
981 printf("\r\nStart\r\n");
983 set_sleep_mode(SLEEP_MODE_IDLE);
984 // Enable Timer 1 Overflow Interrupt
985 TIMSK = (1 << TOIE1);
990 case 0xff: // Magic reg that starts the bootloader
991 if (bootloader == 0xa5) {
994 void (*start)(void) = (void*)0x1800;
1001 if (cmd_vel.bUpdate) {
1002 float speed_wish_right, speed_wish_left;
1006 speed = cmd_vel.speed;
1007 angle = cmd_vel.angle;
1008 cmd_vel.bUpdate = 0;
1011 speed_wish_right = angle*M_PI*WHEEL_DIST/2 + speed;
1012 speed_wish_left = speed*2-speed_wish_right;
1014 speed_wish_left*=STEP_PER_M_LEFT;
1015 speed_wish_right*=STEP_PER_M_RIGHT;
1017 if (aft_handicap > 0) {
1018 speed1_wish = speed_wish_left * (100-aft_handicap)/100.0;
1019 speed4_wish = speed_wish_right * (100-aft_handicap)/100.0;
1021 speed1_wish = speed_wish_left;
1022 speed4_wish = speed_wish_right;
1024 if (front_handicap > 0) {
1025 speed2_wish = speed_wish_left * (100-front_handicap)/100.0;
1026 speed3_wish = speed_wish_right * (100-front_handicap)/100.0;
1028 speed2_wish = speed_wish_left;
1029 speed3_wish = speed_wish_right;
1031 motor1_mode = MOTOR_PID;
1032 motor2_mode = MOTOR_PID;
1033 motor3_mode = MOTOR_PID;
1034 motor4_mode = MOTOR_PID;
1037 if (run_update >= 156) { // ~100Hz