misc avr fixes

[ros_wild_thumper.git] / avr / motor_ctrl / main.c

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 9d33c986b4acf0cb221f6fc8d7d1fc8a36cf930a..ec9965f68800c26812a9eadf04da5e67dd3cec81 100644 (file)
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -1,9 +1,13 @@
 #include <stdio.h>
 #include <stdlib.h>
 #include <limits.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <limits.h>

+#include <math.h>

 #include <avr/io.h>
 #include <avr/interrupt.h>
 #include <avr/sleep.h>
 #include <avr/io.h>
 #include <avr/interrupt.h>
 #include <avr/sleep.h>

+#include <util/twi.h>
+#include <avr/eeprom.h>
+#include <avr/wdt.h>

 #include "uart.h"
 
 /*
 #include "uart.h"
 
 /*


@@ -35,7 +39,14 @@
  * 0x25 Motor 3 speed wish LSB
  * 0x26 Motor 4 speed wish MSB
  * 0x27 Motor 4 speed wish LSB
  * 0x25 Motor 3 speed wish LSB
  * 0x26 Motor 4 speed wish MSB
  * 0x27 Motor 4 speed wish LSB

- * free
+ * 0x28 Left speed wish (m/s) MSB
+ * 0x29 Left speed wish (m/s)
+ * 0x2A Left speed wish (m/s)
+ * 0x2B Left speed wish (m/s) LSB
+ * 0x2C Right speed wish (m/s) MSB
+ * 0x2D Right speed wish (m/s)
+ * 0x2E Right speed wish (m/s)
+ * 0x2F Right speed wish (m/s) LSB

  * 0x30 Motor 1 speed MSB
  * 0x31 Motor 1 speed LSB
  * 0x32 Motor 2 speed MSB
  * 0x30 Motor 1 speed MSB
  * 0x31 Motor 1 speed LSB
  * 0x32 Motor 2 speed MSB


@@ -44,37 +55,101 @@
  * 0x35 Motor 3 speed LSB
  * 0x36 Motor 4 speed MSB
  * 0x37 Motor 4 speed LSB
  * 0x35 Motor 3 speed LSB
  * 0x36 Motor 4 speed MSB
  * 0x37 Motor 4 speed LSB

+ * 0x38 Speed (m/s) MSB
+ * 0x39 Speed (m/s)
+ * 0x3A Speed (m/s)
+ * 0x3B Speed (m/s) LSB
+ * 0x3C Angle (rad/s) MSB
+ * 0x3D Angle (rad/s)
+ * 0x3E Angle (rad/s)
+ * 0x3F Angle (rad/s) LSB
+ * 0x40 Position x (m) MSB
+ * 0x41 Position x (m)
+ * 0x42 Position x (m)
+ * 0x43 Position x (m) LSB
+ * 0x44 Position y (m) MSB
+ * 0x45 Position y (m)
+ * 0x46 Position y (m)
+ * 0x47 Position y (m) LSB
+ * 0x48 Position angle MSB
+ * 0x49 Position angle
+ * 0x4A Position angle
+ * 0x4B Position angle LSB
+ * free
+ * 0x50 speed wish (m/s) MSB
+ * 0x51 speed wish (m/s)
+ * 0x52 speed wish (m/s)
+ * 0x53 speed wish (m/s) LSB
+ * 0x54 angle wish (rad/s) MSB
+ * 0x55 angle wish (rad/s)
+ * 0x56 angle wish (rad/s)
+ * 0x57 angle wish (rad/s) LSB

  * free
  * 0x90 Motor 1 switch
  * 0x91 Motor 2 switch
  * 0x92 Motor 3 switch
  * 0x93 Motor 4 switch
  * free
  * 0x90 Motor 1 switch
  * 0x91 Motor 2 switch
  * 0x92 Motor 3 switch
  * 0x93 Motor 4 switch

+ * 0x94 Front Handicap
+ * 0x95 Aft Handicap
+ * free
+ * 0xA0 Reset reason
+ * 0xA1 Error status
+ * 0xA2 count test

  * free
  * 0xff Bootloader
  */
 
 
  * free
  * 0xff Bootloader
  */
 
 

-#define TWI_ACK                TWCR = (1<<TWEA) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
-#define TWI_RESET      TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
-#define TWI_NAK                TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
+#define KP 0.062
+#define KI 0.12
+#define KD 0.0
+#define PID_T 0.01
+// wheel diameter=12cm, encoder=48cpr, gear ratio=1:47
+// STEP_PER_M = 48*47/(d*pi)
+// Left real diameter: 0.12808, Right real diameter: 0.121
+#define STEP_PER_M 5573.0
+#define STEP_PER_M_LEFT (STEP_PER_M)
+#define STEP_PER_M_RIGHT (STEP_PER_M)
+#define WHEEL_DIST 0.39912 // Measured: 0.252
+#define PWM_BREAK INT16_MIN
+#define STALL_LIMIT 140000
+
+#define TWI_ACK   TWCR = (1<<TWINT) | (1<<TWEA) | (1<<TWEN) | (1<<TWIE)
+#define TWI_NAK   TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
+#define TWI_RESET TWCR = (1<<TWINT) | (1<<TWEA) | (1<<TWSTO) | (1<<TWEN) | (1<<TWIE);
+#define ENABLE_PWM_MOTOR1  TCCR1A |=  (1 << COM1A1)
+#define ENABLE_PWM_MOTOR2  TCCR1A |=  (1 << COM1B1)
+#define ENABLE_PWM_MOTOR3  TCCR2  |=  (1 << COM21);
+#define ENABLE_PWM_MOTOR4  TCCR0  |=  (1 << COM01);
+#define DISABLE_PWM_MOTOR1 TCCR1A &= ~(1 << COM1A1)
+#define DISABLE_PWM_MOTOR2 TCCR1A &= ~(1 << COM1B1)
+#define DISABLE_PWM_MOTOR3 TCCR2  &= ~(1 << COM21);
+#define DISABLE_PWM_MOTOR4 TCCR0  &= ~(1 << COM01);

 
 

-#define KP 0.009
-#define KI 0.051429
-#define KD 0.000378
-#define TIMER1_T 0.01

 
 enum mode {
        MOTOR_MANUAL,
        MOTOR_PID
 };
 
 
 enum mode {
        MOTOR_MANUAL,
        MOTOR_PID
 };
 

+typedef union {
+       float f;
+       uint32_t i;
+} ufloat_t;
+
+static volatile struct {
+       float speed;
+       float angle;
+       uint8_t bUpdate;
+} cmd_vel = {0, 0, 0};
+

 static volatile uint8_t ireg=0;
 static volatile uint8_t bootloader=0;
 static volatile uint8_t ireg=0;
 static volatile uint8_t bootloader=0;

-static volatile int16_t motor1=0;
+static volatile int16_t motor1=0; // -255..+255

 static volatile int16_t motor2=0;
 static volatile int16_t motor3=0;
 static volatile int16_t motor4=0;
 static volatile int16_t motor2=0;
 static volatile int16_t motor3=0;
 static volatile int16_t motor4=0;

-static volatile int16_t pos1=0;
+static volatile int16_t pos1=0; // step

 static volatile int16_t pos2=0;
 static volatile int16_t pos3=0;
 static volatile int16_t pos4=0;
 static volatile int16_t pos2=0;
 static volatile int16_t pos3=0;
 static volatile int16_t pos4=0;


@@ -82,32 +157,47 @@ static volatile enum mode motor1_mode=MOTOR_MANUAL;
 static volatile enum mode motor2_mode=MOTOR_MANUAL;
 static volatile enum mode motor3_mode=MOTOR_MANUAL;
 static volatile enum mode motor4_mode=MOTOR_MANUAL;
 static volatile enum mode motor2_mode=MOTOR_MANUAL;
 static volatile enum mode motor3_mode=MOTOR_MANUAL;
 static volatile enum mode motor4_mode=MOTOR_MANUAL;

-static volatile uint8_t motor1_switch=0;
-static volatile uint8_t motor2_switch=0;
+static volatile uint8_t motor1_switch=1;
+static volatile uint8_t motor2_switch=1;

 static volatile uint8_t motor3_switch=0;
 static volatile uint8_t motor4_switch=0;
 static volatile uint8_t motor3_switch=0;
 static volatile uint8_t motor4_switch=0;

-static volatile int16_t speed1_wish=0;
+static volatile int16_t speed1_wish=0; // step/s

 static volatile int16_t speed2_wish=0;
 static volatile int16_t speed3_wish=0;
 static volatile int16_t speed4_wish=0;
 static volatile int16_t speed2_wish=0;
 static volatile int16_t speed3_wish=0;
 static volatile int16_t speed4_wish=0;

-static volatile uint8_t run_pid=0;
-static int16_t speed1=0;
-static int16_t speed2=0;
-static int16_t speed3=0;
-static int16_t speed4=0;
+static volatile int16_t speed1_wish_old=0;
+static volatile int16_t speed2_wish_old=0;
+static volatile int16_t speed3_wish_old=0;
+static volatile int16_t speed4_wish_old=0;
+static volatile uint8_t run_update=0;
+static volatile int16_t speed1=0; // step/s
+static volatile int16_t speed2=0;
+static volatile int16_t speed3=0;
+static volatile int16_t speed4=0;
+static volatile ufloat_t pos_x={0.0};
+static volatile ufloat_t pos_y={0.0};
+static volatile ufloat_t angle={0.0};
+static volatile float cur_speed_lin=0;
+static volatile float cur_speed_rot=0;
+static volatile uint8_t count_test=0;
+static volatile uint8_t front_handicap=0;
+static volatile uint8_t aft_handicap=0;
+static volatile uint8_t error_state=0;

 
 ISR(TWI_vect)
 {
        static uint8_t tmp=0;
        static int16_t tmp16=0;
 
 ISR(TWI_vect)
 {
        static uint8_t tmp=0;
        static int16_t tmp16=0;

+       static ufloat_t tmp_speed;
+       static ufloat_t tmp_angle;

 
 

-       switch (TWSR & 0xF8)
-       {  
-               case 0x60: // start write
+       switch(TW_STATUS)
+       {
+               case TW_SR_SLA_ACK: // start write

                        TWI_ACK;
                        ireg = 0;
                        break;
                        TWI_ACK;
                        ireg = 0;
                        break;

-               case 0x80: // write
+               case TW_SR_DATA_ACK: // write

                        switch(ireg) {
                                case 0x00: // register select
                                        ireg = TWDR;
                        switch(ireg) {
                                case 0x00: // register select
                                        ireg = TWDR;


@@ -186,6 +276,81 @@ ISR(TWI_vect)
                                        motor4_mode = MOTOR_PID;
                                        TWI_ACK;
                                        break;
                                        motor4_mode = MOTOR_PID;
                                        TWI_ACK;
                                        break;

+                               case 0x28: // Left speed wish MSB
+                                       tmp_speed.i = TWDR;
+                                       TWI_ACK;
+                                       break;
+                               case 0x29: // Left speed wish
+                                       tmp_speed.i = tmp_speed.i << 8 | TWDR;
+                                       TWI_ACK;
+                                       break;
+                               case 0x2A: // Left speed wish
+                                       tmp_speed.i = tmp_speed.i << 8 | TWDR;
+                                       TWI_ACK;
+                                       break;
+                               case 0x2B: // Left speed wish LSB
+                                       tmp_speed.i = tmp_speed.i << 8 | TWDR;
+                                       speed1_wish = tmp_speed.f*STEP_PER_M_LEFT;
+                                       speed2_wish = tmp_speed.f*STEP_PER_M_LEFT;
+                                       motor1_mode = MOTOR_PID;
+                                       motor2_mode = MOTOR_PID;
+                                       TWI_ACK;
+                                       break;
+                               case 0x2C: // Right speed wish MSB
+                                       tmp_speed.i = TWDR;
+                                       TWI_ACK;
+                                       break;
+                               case 0x2D: // Right speed wish
+                                       tmp_speed.i = tmp_speed.i << 8 | TWDR;
+                                       TWI_ACK;
+                                       break;
+                               case 0x2E: // Right speed wish
+                                       tmp_speed.i = tmp_speed.i << 8 | TWDR;
+                                       TWI_ACK;
+                                       break;
+                               case 0x2F: // Right speed wish LSB
+                                       tmp_speed.i = tmp_speed.i << 8 | TWDR;
+                                       speed1_wish = tmp_speed.f*STEP_PER_M_RIGHT;
+                                       speed2_wish = tmp_speed.f*STEP_PER_M_RIGHT;
+                                       motor1_mode = MOTOR_PID;
+                                       motor2_mode = MOTOR_PID;
+                                       TWI_ACK;
+                                       break;
+                               case 0x50: // speed wish MSB
+                                       tmp_speed.i = TWDR;
+                                       TWI_ACK;
+                                       break;
+                               case 0x51: // speed wish
+                                       tmp_speed.i = tmp_speed.i << 8 | TWDR;
+                                       TWI_ACK;
+                                       break;
+                               case 0x52: // speed wish
+                                       tmp_speed.i = tmp_speed.i << 8 | TWDR;
+                                       TWI_ACK;
+                                       break;
+                               case 0x53: // speed wish LSB
+                                       tmp_speed.i = tmp_speed.i << 8 | TWDR;
+                                       cmd_vel.speed = tmp_speed.f;
+                                       TWI_ACK;
+                                       break;
+                               case 0x54: // angle wish MSB
+                                       tmp_angle.i = TWDR;
+                                       TWI_ACK;
+                                       break;
+                               case 0x55: // angle wish
+                                       tmp_angle.i = tmp_angle.i << 8 | TWDR;
+                                       TWI_ACK;
+                                       break;
+                               case 0x56: // angle wish
+                                       tmp_angle.i = tmp_angle.i << 8 | TWDR;
+                                       TWI_ACK;
+                                       break;
+                               case 0x57: // angle wish LSB
+                                       tmp_angle.i = tmp_angle.i << 8 | TWDR;
+                                       cmd_vel.angle = tmp_angle.f;
+                                       cmd_vel.bUpdate = 1;
+                                       TWI_ACK;
+                                       break;

                                case 0x90: // Motor 1 switch
                                        motor1_switch = TWDR;
                                        TWI_ACK;
                                case 0x90: // Motor 1 switch
                                        motor1_switch = TWDR;
                                        TWI_ACK;


@@ -202,32 +367,58 @@ ISR(TWI_vect)
                                        motor4_switch = TWDR;
                                        TWI_ACK;
                                        break;
                                        motor4_switch = TWDR;
                                        TWI_ACK;
                                        break;

+                               case 0x94: // Front Handicap
+                                       front_handicap = TWDR;
+                                       cmd_vel.bUpdate = 1;
+                                       TWI_ACK;
+                                       break;
+                               case 0x95: // Aft Handicap
+                                       aft_handicap = TWDR;
+                                       cmd_vel.bUpdate = 1;
+                                       TWI_ACK;
+                                       break;

                                case 0xff: // bootloader
                                        bootloader = TWDR;
                                default:
                                        TWI_NAK;
                        }
                                case 0xff: // bootloader
                                        bootloader = TWDR;
                                default:
                                        TWI_NAK;
                        }

-                       ireg++;
+                       if (ireg < 0xff) ireg++;

                        break;
                        break;

-               case 0xA8: // start read
-               case 0xB8: // read
+               case TW_ST_SLA_ACK: // start read
+               case TW_ST_DATA_ACK: // read

                        switch(ireg) {
                                case 0x02: // Motor 1 PWM
                                        TWDR = OCR1A;
                                        TWI_ACK;
                                        break;
                        switch(ireg) {
                                case 0x02: // Motor 1 PWM
                                        TWDR = OCR1A;
                                        TWI_ACK;
                                        break;

+                               case 0x03: // Dummy to allow continous read
+                                       TWDR = 0;
+                                       TWI_ACK;
+                                       break;

                                case 0x04: // Motor 2 PWM
                                        TWDR = OCR1B;
                                        TWI_ACK;
                                        break;
                                case 0x04: // Motor 2 PWM
                                        TWDR = OCR1B;
                                        TWI_ACK;
                                        break;

+                               case 0x05: // Dummy to allow continous read
+                                       TWDR = 0;
+                                       TWI_ACK;
+                                       break;

                                case 0x06: // Motor 3 PWM
                                        TWDR = OCR2;
                                        TWI_ACK;
                                        break;
                                case 0x06: // Motor 3 PWM
                                        TWDR = OCR2;
                                        TWI_ACK;
                                        break;

+                               case 0x07: // Dummy to allow continous read
+                                       TWDR = 0;
+                                       TWI_ACK;
+                                       break;

                                case 0x08: // Motor 4 PWM
                                        TWDR = OCR0;
                                        TWI_ACK;
                                        break;
                                case 0x08: // Motor 4 PWM
                                        TWDR = OCR0;
                                        TWI_ACK;
                                        break;

+                               case 0x09: // Dummy to allow continous read
+                                       TWDR = 0;
+                                       TWI_ACK;
+                                       break;

                                case 0x10: // Hall 1 MSB
                                        tmp16 = pos1;
                                        TWDR = tmp16>>8;
                                case 0x10: // Hall 1 MSB
                                        tmp16 = pos1;
                                        TWDR = tmp16>>8;


@@ -328,12 +519,109 @@ ISR(TWI_vect)
                                        TWDR = speed4;
                                        TWI_ACK;
                                        break;
                                        TWDR = speed4;
                                        TWI_ACK;
                                        break;

+                               case 0x38: // speed MSB
+                                       tmp_speed.f = cur_speed_lin;
+                                       TWDR = tmp_speed.i>>24;
+                                       TWI_ACK;
+                                       break;
+                               case 0x39: // speed
+                                       TWDR = tmp_speed.i>>16;
+                                       TWI_ACK;
+                                       break;
+                               case 0x3A: // speed
+                                       TWDR = tmp_speed.i>>8;
+                                       TWI_ACK;
+                                       break;
+                               case 0x3B: // speed LSB
+                                       TWDR = tmp_speed.i;
+                                       TWI_ACK;
+                                       break;
+                               case 0x3C: // angle MSB
+                                       tmp_angle.f = cur_speed_rot;
+                                       TWDR = tmp_angle.i>>24;
+                                       TWI_ACK;
+                                       break;
+                               case 0x3D: // angle
+                                       TWDR = tmp_angle.i>>16;
+                                       TWI_ACK;
+                                       break;
+                               case 0x3E: // angle
+                                       TWDR = tmp_angle.i>>8;
+                                       TWI_ACK;
+                                       break;
+                               case 0x3F: // angle LSB
+                                       TWDR = angle.i;
+                                       TWI_ACK;
+                                       break;
+                               case 0x40: // Position x MSB
+                                       TWDR = pos_x.i>>24;
+                                       TWI_ACK;
+                                       break;
+                               case 0x41: // Position x
+                                       TWDR = pos_x.i>>16;
+                                       TWI_ACK;
+                                       break;
+                               case 0x42: // Position x
+                                       TWDR = pos_x.i>>8;
+                                       TWI_ACK;
+                                       break;
+                               case 0x43: // Position x LSB
+                                       TWDR = pos_x.i;
+                                       TWI_ACK;
+                                       break;
+                               case 0x44: // Position y MSB
+                                       TWDR = pos_y.i>>24;
+                                       TWI_ACK;
+                                       break;
+                               case 0x45: // Position y
+                                       TWDR = pos_y.i>>16;
+                                       TWI_ACK;
+                                       break;
+                               case 0x46: // Position y
+                                       TWDR = pos_y.i>>8;
+                                       TWI_ACK;
+                                       break;
+                               case 0x47: // Position y LSB
+                                       TWDR = pos_y.i;
+                                       TWI_ACK;
+                                       break;
+                               case 0x48: // Position angle MSB
+                                       TWDR = angle.i>>24;
+                                       TWI_ACK;
+                                       break;
+                               case 0x49: // Position angle
+                                       TWDR = angle.i>>16;
+                                       TWI_ACK;
+                                       break;
+                               case 0x4A: // Position angle
+                                       TWDR = angle.i>>8;
+                                       TWI_ACK;
+                                       break;
+                               case 0x4B: // Position angle LSB
+                                       TWDR = angle.i;
+                                       TWI_ACK;
+                                       break;
+                               case 0xA0: // Reset reason
+                                       TWDR = MCUCSR & 0x0f;
+                                       MCUCSR = 0x0;
+                                       TWI_ACK;
+                                       break;
+                               case 0xA1: // Error status
+                                       TWDR = error_state;
+                                       TWI_ACK;
+                                       break;
+                               case 0xA2: // count test
+                                       TWDR = count_test;
+                                       TWI_ACK;

                                default:
                                        TWDR = 0;
                                        TWI_NAK;
                        }
                        ireg++;
                        break;
                                default:
                                        TWDR = 0;
                                        TWI_NAK;
                        }
                        ireg++;
                        break;

+               case TW_SR_STOP:
+                       TWI_ACK;
+                       break;

                default:
                        TWI_RESET;
        }
                default:
                        TWI_RESET;
        }


@@ -422,17 +710,31 @@ static void update_motor(void) {
        static int16_t m3_old=SHRT_MIN;
        static int16_t m4_old=SHRT_MIN;
 
        static int16_t m3_old=SHRT_MIN;
        static int16_t m4_old=SHRT_MIN;
 

+       error_state &= 0xf0; // clear lower bits
+       error_state |= ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
+

        if (m1_old != motor1) { // update only when changed
                if (motor1 == 0) {
                        // stop
        if (m1_old != motor1) { // update only when changed
                if (motor1 == 0) {
                        // stop

+                       PORTC &= ~(1 << 3) & ~(1 << 2);
+                       DISABLE_PWM_MOTOR1;
+               } else if (motor1 == PWM_BREAK) {

                        PORTC |= (1 << 3) | (1 << 2);
                        PORTC |= (1 << 3) | (1 << 2);

+                       ENABLE_PWM_MOTOR1;

                } else if ((!motor1_switch && motor1 > 0) || (motor1_switch && motor1 < 0)) {
                        // forward
                } else if ((!motor1_switch && motor1 > 0) || (motor1_switch && motor1 < 0)) {
                        // forward

-                       PORTC &= ~(1 << 3) & ~(1 << 2);
+                       uint8_t tmp=PORTC;
+                       tmp &= ~(1 << 3);
+                       tmp |=  (1 << 2);
+                       PORTC = tmp;
+                       ENABLE_PWM_MOTOR1;

                } else { // motor1 < 0
                        // backward
                } else { // motor1 < 0
                        // backward

-                       PORTC &= ~(1 << 2);
-                       PORTC |=  (1 << 3);
+                       uint8_t tmp=PORTC;
+                       tmp &= ~(1 << 2);
+                       tmp |=  (1 << 3);
+                       PORTC = tmp;
+                       ENABLE_PWM_MOTOR1;

                }
 
                m1_old = motor1;
                }
 
                m1_old = motor1;


@@ -442,14 +744,25 @@ static void update_motor(void) {
        if (m2_old != motor2) { // update only when changed
                if (motor2 == 0) {
                        // stop
        if (m2_old != motor2) { // update only when changed
                if (motor2 == 0) {
                        // stop

+                       PORTC &= ~(1 << 5) & ~(1 << 4);
+                       DISABLE_PWM_MOTOR2;
+               } else if (motor2 == PWM_BREAK) {

                        PORTC |= (1 << 5) | (1 << 4);
                        PORTC |= (1 << 5) | (1 << 4);

+                       ENABLE_PWM_MOTOR2;

                } else if ((!motor2_switch && motor2 > 0) || (motor2_switch && motor2 < 0)) {
                        // forward
                } else if ((!motor2_switch && motor2 > 0) || (motor2_switch && motor2 < 0)) {
                        // forward

-                       PORTC &= ~(1 << 5) & ~(1 << 4);
+                       uint8_t tmp=PORTC;
+                       tmp &= ~(1 << 5);
+                       tmp |=  (1 << 4);
+                       PORTC = tmp;
+                       ENABLE_PWM_MOTOR2;

                } else { // motor2 < 0
                        // backward
                } else { // motor2 < 0
                        // backward

-                       PORTC &= ~(1 << 4);
-                       PORTC |=  (1 << 5);
+                       uint8_t tmp=PORTC;
+                       tmp &= ~(1 << 4);
+                       tmp |=  (1 << 5);
+                       PORTC = tmp;
+                       ENABLE_PWM_MOTOR2;

                }
 
                m2_old = motor2;
                }
 
                m2_old = motor2;


@@ -459,14 +772,25 @@ static void update_motor(void) {
        if (m3_old != motor3) { // update only when changed
                if (motor3 == 0) {
                        // stop
        if (m3_old != motor3) { // update only when changed
                if (motor3 == 0) {
                        // stop

+                       PORTC &= ~(1 << 7) & ~(1 << 6);
+                       DISABLE_PWM_MOTOR3;
+               } else if (motor3 == PWM_BREAK) {

                        PORTC |= (1 << 7) | (1 << 6);
                        PORTC |= (1 << 7) | (1 << 6);

+                       ENABLE_PWM_MOTOR3;

                } else if ((!motor3_switch && motor3 > 0) || (motor3_switch && motor3 < 0)) {
                        // forward
                } else if ((!motor3_switch && motor3 > 0) || (motor3_switch && motor3 < 0)) {
                        // forward

-                       PORTC &= ~(1 << 7) & ~(1 << 6);
+                       uint8_t tmp=PORTC;
+                       tmp &= ~(1 << 7);
+                       tmp |=  (1 << 6);
+                       PORTC = tmp;
+                       ENABLE_PWM_MOTOR3;

                } else { // motor3 < 0
                        // backward
                } else { // motor3 < 0
                        // backward

-                       PORTC &= ~(1 << 6);
-                       PORTC |=  (1 << 7);
+                       uint8_t tmp=PORTC;
+                       tmp &= ~(1 << 6);
+                       tmp |=  (1 << 7);
+                       PORTC = tmp;
+                       ENABLE_PWM_MOTOR3;

                }
 
                m3_old = motor3;
                }
 
                m3_old = motor3;


@@ -476,14 +800,25 @@ static void update_motor(void) {
        if (m4_old != motor4) { // update only when changed
                if (motor4 == 0) {
                        // stop
        if (m4_old != motor4) { // update only when changed
                if (motor4 == 0) {
                        // stop

+                       PORTD &= ~(1 << 3) & ~(1 << 2);
+                       DISABLE_PWM_MOTOR4;
+               } else if (motor4 == PWM_BREAK) {

                        PORTD |= (1 << 3) | (1 << 2);
                        PORTD |= (1 << 3) | (1 << 2);

+                       ENABLE_PWM_MOTOR4;

                } else if ((!motor4_switch && motor4 > 0) || (motor4_switch && motor4 < 0)) {
                        // forward
                } else if ((!motor4_switch && motor4 > 0) || (motor4_switch && motor4 < 0)) {
                        // forward

-                       PORTD &= ~(1 << 3) & ~(1 << 2);
+                       uint8_t tmp=PORTD;
+                       tmp &= ~(1 << 3);
+                       tmp |=  (1 << 2);
+                       PORTD = tmp;
+                       ENABLE_PWM_MOTOR4;

                } else { // motor4 < 0
                        // backward
                } else { // motor4 < 0
                        // backward

-                       PORTD &= ~(1 << 2);
-                       PORTD |=  (1 << 3);
+                       uint8_t tmp=PORTD;
+                       tmp &= ~(1 << 2);
+                       tmp |=  (1 << 3);
+                       PORTD = tmp;
+                       ENABLE_PWM_MOTOR4;

                }
 
                m4_old = motor4;
                }
 
                m4_old = motor4;


@@ -492,11 +827,75 @@ static void update_motor(void) {
 }
 
 
 }
 
 

-void update_pid(void) {
+static void update_pos(void) {

        static int16_t pos1_last=0;
        static int16_t pos2_last=0;
        static int16_t pos3_last=0;
        static int16_t pos4_last=0;
        static int16_t pos1_last=0;
        static int16_t pos2_last=0;
        static int16_t pos3_last=0;
        static int16_t pos4_last=0;

+       int16_t pos1_diff; // steps
+       int16_t pos2_diff;
+       int16_t pos3_diff;
+       int16_t pos4_diff;
+       float diff_left_m, diff_right_m, angle_diff, translation;
+       float pos_x_new, pos_y_new, angle_new;
+       float tmp_speed_lin, tmp_speed_rot;
+       int16_t cur_pos1, cur_pos2, cur_pos3, cur_pos4;
+       int16_t new_speed1, new_speed2, new_speed3, new_speed4;
+
+       // copy to tmp
+       cli();
+       cur_pos1 = pos1;
+       cur_pos2 = pos2;
+       cur_pos3 = pos3;
+       cur_pos4 = pos4;
+       sei();
+
+       pos1_diff = cur_pos1 - pos1_last;
+       pos2_diff = cur_pos2 - pos2_last;
+       pos3_diff = cur_pos3 - pos3_last;
+       pos4_diff = cur_pos4 - pos4_last;
+
+       new_speed1 = pos1_diff/PID_T;
+       new_speed2 = pos2_diff/PID_T;
+       new_speed3 = pos3_diff/PID_T;
+       new_speed4 = pos4_diff/PID_T;
+
+       diff_left_m = (pos1_diff + pos2_diff)/(2*STEP_PER_M_LEFT);
+       diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M_RIGHT);
+       angle_diff = (diff_right_m - diff_left_m) / WHEEL_DIST;
+
+       angle_new = angle.f + angle_diff;
+       if (angle_new > 2*M_PI) angle_new-=2*M_PI;
+       else if (angle_new < -2*M_PI) angle_new+=2*M_PI;
+
+       translation = (diff_left_m + diff_right_m)/2.0;
+       pos_x_new = pos_x.f + cos(angle_new)*translation;
+       pos_y_new = pos_y.f + sin(angle_new)*translation;
+
+       tmp_speed_lin = translation/PID_T;
+       tmp_speed_rot = angle_diff/PID_T;
+
+       // copy from tmp
+       cli();
+       angle.f = angle_new;
+       pos_x.f = pos_x_new;
+       pos_y.f = pos_y_new;
+       speed1 = new_speed1;
+       speed2 = new_speed2;
+       speed3 = new_speed3;
+       speed4 = new_speed4;
+       cur_speed_lin = tmp_speed_lin;
+       cur_speed_rot = tmp_speed_rot;
+       sei();
+
+       pos1_last = cur_pos1;
+       pos2_last = cur_pos2;
+       pos3_last = cur_pos3;
+       pos4_last = cur_pos4;
+}
+
+
+static void update_pid(void) {

        static int16_t eold1=0;
        static int16_t eold2=0;
        static int16_t eold3=0;
        static int16_t eold1=0;
        static int16_t eold2=0;
        static int16_t eold3=0;


@@ -506,64 +905,121 @@ void update_pid(void) {
        static int32_t esum3=0;
        static int32_t esum4=0;
 
        static int32_t esum3=0;
        static int32_t esum4=0;
 

-       speed1 = (pos1 - pos1_last)/TIMER1_T;
-       pos1_last = pos1;
-       speed2 = (pos2 - pos2_last)/TIMER1_T;
-       pos2_last = pos2;
-       speed3 = (pos3 - pos3_last)/TIMER1_T;
-       pos3_last = pos3;
-       speed4 = (pos4 - pos4_last)/TIMER1_T;
-       pos4_last = pos4;
+       // protect motors from damage if stalling
+       if (labs(esum1) > STALL_LIMIT && speed1 == 0) {
+               motor1 = 0;
+               motor1_mode = MOTOR_MANUAL;
+               error_state |= (1<<4);
+               esum1 = 0;
+       }       
+       if (labs(esum2) > STALL_LIMIT && speed2 == 0) {
+               motor2 = 0;
+               motor2_mode = MOTOR_MANUAL;
+               error_state |= (1<<5);
+               esum2 = 0;
+       }       
+       if (labs(esum3) > STALL_LIMIT && speed3 == 0) {
+               motor3 = 0;
+               motor3_mode = MOTOR_MANUAL;
+               error_state |= (1<<6);
+               esum3 = 0;
+       }       
+       if (labs(esum4) > STALL_LIMIT && speed4 == 0) {
+               motor4 = 0;
+               motor4_mode = MOTOR_MANUAL;
+               error_state |= (1<<7);
+               esum4 = 0;
+       }       

 
        if (motor1_mode == MOTOR_PID) {
 
        if (motor1_mode == MOTOR_PID) {

-               if (speed1_wish == 0) {
+               if (speed1_wish != speed1_wish_old) {
+                       if (abs(speed1_wish - speed1_wish_old) > 500) esum1 = 0;
+                       speed1_wish_old = speed1_wish;
+               }
+
+               uint8_t dir_change = (speed1_wish > 0 && speed1 < 0) || (speed1_wish < 0 && speed1 > 0); // Prevent dangerous immediate engine reverse
+               if (speed1_wish == 0 || dir_change) {

                        motor1 = 0;
                        motor1 = 0;

+                       eold1 = 0;
+                       error_state &= ~(1<<4);

                } else {
                        int16_t e = speed1_wish - speed1;
                        esum1+=e;
                } else {
                        int16_t e = speed1_wish - speed1;
                        esum1+=e;

-                       motor1 += KP*e + KI*TIMER1_T*esum1 + KD/TIMER1_T*(e - eold1);
+                       motor1 = KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);

                        eold1 = e;
 
                        eold1 = e;
 

-                        if (motor1 > 255) motor1 = 255;
+                       if (motor1 > 0 && speed1_wish < 0) motor1=PWM_BREAK;
+                       else if (motor1 < 0 && speed1_wish > 0) motor1=PWM_BREAK;
+                       else if (motor1 > 255) motor1 = 255;

                        else if (motor1 < -255) motor1 = -255;
                }
        }
        if (motor2_mode == MOTOR_PID) {
                        else if (motor1 < -255) motor1 = -255;
                }
        }
        if (motor2_mode == MOTOR_PID) {

-               if (speed2_wish == 0) {
+               if (speed2_wish != speed2_wish_old) {
+                       if (abs(speed2_wish - speed2_wish_old) > 500) esum2 = 0;
+                       speed2_wish_old = speed2_wish;
+               }
+
+               uint8_t dir_change = (speed2_wish > 0 && speed2 < 0) || (speed2_wish < 0 && speed2 > 0); // Prevent dangerous immediate engine reverse
+               if (speed2_wish == 0 || dir_change) {

                        motor2 = 0;
                        motor2 = 0;

+                       eold2 = 0;
+                       error_state &= ~(1<<5);

                } else {
                        int16_t e = speed2_wish - speed2;
                        esum2+=e;
                } else {
                        int16_t e = speed2_wish - speed2;
                        esum2+=e;

-                       motor2 += KP*e + KI*TIMER1_T*esum2 + KD/TIMER1_T*(e - eold2);
+                       motor2 = KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);

                        eold2 = e;
 
                        eold2 = e;
 

-                        if (motor2 > 255) motor2 = 255;
+                       if (motor2 > 0 && speed2_wish < 0) motor2=PWM_BREAK;
+                       else if (motor2 < 0 && speed2_wish > 0) motor2=PWM_BREAK;
+                       else if (motor2 > 255) motor2 = 255;

                        else if (motor2 < -255) motor2 = -255;
                }
        }
        if (motor3_mode == MOTOR_PID) {
                        else if (motor2 < -255) motor2 = -255;
                }
        }
        if (motor3_mode == MOTOR_PID) {

-               if (speed3_wish == 0) {
+               if (speed3_wish != speed3_wish_old) {
+                       if (abs(speed3_wish - speed3_wish_old) > 500) esum3 = 0;
+                       speed3_wish_old = speed3_wish;
+               }
+
+               uint8_t dir_change = (speed3_wish > 0 && speed3 < 0) || (speed3_wish < 0 && speed3 > 0); // Prevent dangerous immediate engine reverse
+               if (speed3_wish == 0 || dir_change) {

                        motor3 = 0;
                        motor3 = 0;

+                       eold3 = 0;
+                       error_state &= ~(1<<6);

                } else {
                        int16_t e = speed3_wish - speed3;
                        esum3+=e;
                } else {
                        int16_t e = speed3_wish - speed3;
                        esum3+=e;

-                       motor3 += KP*e + KI*TIMER1_T*esum3 + KD/TIMER1_T*(e - eold3);
+                       motor3 = KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);

                        eold3 = e;
 
                        eold3 = e;
 

-                        if (motor3 > 255) motor3 = 255;
+                       if (motor3 > 0 && speed3_wish < 0) motor3=PWM_BREAK;
+                       else if (motor3 < 0 && speed3_wish > 0) motor3=PWM_BREAK;
+                       else if (motor3 > 255) motor3 = 255;

                        else if (motor3 < -255) motor3 = -255;
                }
        }
        if (motor4_mode == MOTOR_PID) {
                        else if (motor3 < -255) motor3 = -255;
                }
        }
        if (motor4_mode == MOTOR_PID) {

-               if (speed4_wish == 0) {
+               if (speed4_wish != speed4_wish_old) {
+                       if (abs(speed4_wish - speed4_wish_old) > 500) esum4 = 0;
+                       speed4_wish_old = speed4_wish;
+               }
+
+               uint8_t dir_change = (speed4_wish > 0 && speed4 < 0) || (speed4_wish < 0 && speed4 > 0); // Prevent dangerous immediate engine reverse
+               if (speed4_wish == 0 || dir_change) {

                        motor4 = 0;
                        motor4 = 0;

+                       eold4 = 0;
+                       error_state &= ~(1<<7);

                } else {
                        int16_t e = speed4_wish - speed4;
                        esum4+=e;
                } else {
                        int16_t e = speed4_wish - speed4;
                        esum4+=e;

-                       motor4 += KP*e + KI*TIMER1_T*esum4 + KD/TIMER1_T*(e - eold4);
+                       motor4 = KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);

                        eold4 = e;
 
                        eold4 = e;
 

-                        if (motor4 > 255) motor4 = 255;
+                       if (motor4 > 0 && speed4_wish < 0) motor4=PWM_BREAK;
+                       else if (motor4 < 0 && speed4_wish > 0) motor4=PWM_BREAK;
+                       else if (motor4 > 255) motor4 = 255;

                        else if (motor4 < -255) motor4 = -255;
                }
        }
                        else if (motor4 < -255) motor4 = -255;
                }
        }


@@ -576,7 +1032,7 @@ ISR(TIMER1_OVF_vect) {
        update_hall3();
        update_hall4();
        
        update_hall3();
        update_hall4();
        

-       run_pid++;
+       run_update++;

 }
 
 
 }
 
 


@@ -585,6 +1041,9 @@ int main(void) {
        DDRB = (1 << 3);
        DDRC = (1 << 7) | (1 << 6) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
        DDRD = (1 << 7) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
        DDRB = (1 << 3);
        DDRC = (1 << 7) | (1 << 6) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
        DDRD = (1 << 7) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);

+       // Pullup Diag/Enable
+       PORTB = (1 << 0) | (1 << 1) | (1 << 2);
+       PORTD = (1 << 6);

 
        bootloader = 0x00;
        setup_uart(9600);
 
        bootloader = 0x00;
        setup_uart(9600);


@@ -592,26 +1051,33 @@ int main(void) {
 
        // I2C
        TWAR = 0x50;
 
        // I2C
        TWAR = 0x50;

-       TWI_RESET;
+       TWI_ACK;

 
        // Motor 1 & 2
 
        // Motor 1 & 2

-       // Timer 1: Fast PWM inverting mode, Top=256 => 15.625kHz
+       // Also used for PWM frequency TIMER1_FREQ (F_CPU/256)
+       // Timer 1: Fast PWM non-inverting mode, Top=255 => 19.531kHz

        // Prescaler=1
        // Prescaler=1

-       TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << COM1A0) | (1 << COM1B0) | (1 << WGM10);
+       //TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM10);
+       // Avoid narrow spike on extreme pwm value 0 by not setting COM1*1
+       TCCR1A = (1 << WGM10);

        TCCR1B = (1 << WGM12) | (1 << CS10);
        OCR1A = 0;
        OCR1B = 0;
 
        // Motor 3
        TCCR1B = (1 << WGM12) | (1 << CS10);
        OCR1A = 0;
        OCR1B = 0;
 
        // Motor 3

-       // Timer 2: Fast PWM inverting mode, Top=256 => 15.625kHz
+       // Timer 2: Fast PWM non-inverting mode, Top=255

        // Prescaler=1
        // Prescaler=1

-       TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << COM20) | (1 << CS20);
+       //TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << CS20);
+       // Avoid narrow spike on extreme pwm value 0 by not setting COM21
+       TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << CS20);

        OCR2 = 0;
 
        // Motor 4
        OCR2 = 0;
 
        // Motor 4

-       // Timer 0: Fast PWM inverting mode, Top=256 => 15.625kHz
+       // Timer 0: Fast PWM non-inverting mode, Top=255

        // Prescaler=1
        // Prescaler=1

-       TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << COM00) | (1 << CS00);
+       //TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << CS00);
+       // Avoid narrow spike on extreme pwm value 0 by not setting COM01
+       TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << CS00);

        OCR0 = 0;
 
        printf("\r\nStart\r\n");
        OCR0 = 0;
 
        printf("\r\nStart\r\n");


@@ -626,21 +1092,59 @@ int main(void) {
                        case 0xff: // Magic reg that starts the bootloader
                                if (bootloader == 0xa5) {
                                        cli();
                        case 0xff: // Magic reg that starts the bootloader
                                if (bootloader == 0xa5) {
                                        cli();

-                                       {
-                                               void (*start)(void) = (void*)0x1800;
-                                               start();
-                                       }
+                                       // write mark to first area in eeprom
+                                       eeprom_write_byte((uint8_t*)0, 123);
+                                       eeprom_busy_wait();
+                                       // Use watchdog to restart
+                                       wdt_enable(WDTO_15MS);

                                }
                                break;
                }
                                }
                                break;
                }

-               

 
 

-               if (run_pid >= 156) { // ~100Hz
-                       run_pid=0;
-                       update_pid();
+               if (cmd_vel.bUpdate) {
+                       float speed_wish_right, speed_wish_left;
+                       float speed, angle;
+
+                       cli();
+                       speed = cmd_vel.speed;
+                       angle = cmd_vel.angle;
+                       cmd_vel.bUpdate = 0;
+                       sei();
+
+                       speed_wish_right = (angle*WHEEL_DIST)/2 + speed;
+                       speed_wish_left = speed*2-speed_wish_right;
+
+                       speed_wish_left*=STEP_PER_M_LEFT;
+                       speed_wish_right*=STEP_PER_M_RIGHT;
+
+                       if (aft_handicap > 0) {
+                               speed1_wish = speed_wish_left * (100-aft_handicap)/100.0;
+                               speed3_wish = speed_wish_right * (100-aft_handicap)/100.0;
+                       } else {
+                               speed1_wish = speed_wish_left;
+                               speed3_wish = speed_wish_right;
+                       }
+                       if (front_handicap > 0) {
+                               speed2_wish = speed_wish_left * (100-front_handicap)/100.0;
+                               speed4_wish = speed_wish_right * (100-front_handicap)/100.0;
+                       } else {
+                               speed2_wish = speed_wish_left;
+                               speed4_wish = speed_wish_right;
+                       }
+                       motor1_mode = MOTOR_PID;
+                       motor2_mode = MOTOR_PID;
+                       motor3_mode = MOTOR_PID;
+                       motor4_mode = MOTOR_PID;

                }
 
                }
 

-               update_motor();
+               if (run_update >= 195) { // TIMER1_FREQ/195 = ~100Hz
+                       run_update=0;
+
+                       update_pos();
+                       update_pid();
+                       update_motor();
+                       count_test++;
+               }

 
                sleep_mode();
        }
 
                sleep_mode();
        }