X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=avr%2Fmotor_ctrl%2Fmain.c;h=3642d4a8b222e59530eaafb28cb8a287f3dcd4da;hp=576d57c1c7d75d22b286f462f6c3618c57f61b3c;hb=d1683df60f044ecabcda11f24c835122a8cf20e4;hpb=8217c6feeab407f201dd55ea7be27ff51ed62c27

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 576d57c..3642d4a 100644
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -5,6 +5,9 @@
 #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"
 
 /*
@@ -97,19 +100,32 @@
  */
 
 
-#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 0.039
-#define KI 0.08
+#define KP 0.062
+#define KI 0.12
 #define KD 0.0
 #define PID_T 0.01
-// wheel diameter=12cm, encoder=48cpr, gear ratio=1:34, real wheel diameter: 0.12454m
-#define STEP_PER_M_AVG 4171.4
-#define STEP_PER_M_LEFT (STEP_PER_M_AVG)
-#define STEP_PER_M_RIGHT (STEP_PER_M_AVG)
-#define WHEEL_DIST 0.36923 // Real: 0.252
+// 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);
+
 
 enum mode {
 	MOTOR_MANUAL,
@@ -149,6 +165,10 @@ 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 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;
@@ -171,13 +191,13 @@ ISR(TWI_vect)
 	static ufloat_t tmp_speed;
 	static ufloat_t tmp_angle;
 
-	switch (TWSR & 0xF8)
+	switch(TW_STATUS)
 	{
-		case 0x60: // start write
+		case TW_SR_SLA_ACK: // start write
 			TWI_ACK;
 			ireg = 0;
 			break;
-		case 0x80: // write
+		case TW_SR_DATA_ACK: // write
 			switch(ireg) {
 				case 0x00: // register select
 					ireg = TWDR;
@@ -364,8 +384,8 @@ ISR(TWI_vect)
 			}
 			ireg++;
 			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;
@@ -599,6 +619,9 @@ ISR(TWI_vect)
 			}
 			ireg++;
 			break;
+		case TW_SR_STOP:
+			TWI_ACK;
+			break;
 		default:
 			TWI_RESET;
 	}
@@ -687,24 +710,31 @@ static void update_motor(void) {
 	static int16_t m3_old=SHRT_MIN;
 	static int16_t m4_old=SHRT_MIN;
 
-	error_state = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
+	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
 			PORTC &= ~(1 << 3) & ~(1 << 2);
+			DISABLE_PWM_MOTOR1;
+		} else if (motor1 == PWM_BREAK) {
+			PORTC |= (1 << 3) | (1 << 2);
+			ENABLE_PWM_MOTOR1;
 		} else if ((!motor1_switch && motor1 > 0) || (motor1_switch && motor1 < 0)) {
 			// forward
 			uint8_t tmp=PORTC;
 			tmp &= ~(1 << 3);
 			tmp |=  (1 << 2);
 			PORTC = tmp;
+			ENABLE_PWM_MOTOR1;
 		} else { // motor1 < 0
 			// backward
 			uint8_t tmp=PORTC;
 			tmp &= ~(1 << 2);
 			tmp |=  (1 << 3);
 			PORTC = tmp;
+			ENABLE_PWM_MOTOR1;
 		}
 
 		m1_old = motor1;
@@ -715,18 +745,24 @@ static void update_motor(void) {
 		if (motor2 == 0) {
 			// stop
 			PORTC &= ~(1 << 5) & ~(1 << 4);
+			DISABLE_PWM_MOTOR2;
+		} else if (motor2 == PWM_BREAK) {
+			PORTC |= (1 << 5) | (1 << 4);
+			ENABLE_PWM_MOTOR2;
 		} else if ((!motor2_switch && motor2 > 0) || (motor2_switch && motor2 < 0)) {
 			// forward
 			uint8_t tmp=PORTC;
 			tmp &= ~(1 << 5);
 			tmp |=  (1 << 4);
 			PORTC = tmp;
+			ENABLE_PWM_MOTOR2;
 		} else { // motor2 < 0
 			// backward
 			uint8_t tmp=PORTC;
 			tmp &= ~(1 << 4);
 			tmp |=  (1 << 5);
 			PORTC = tmp;
+			ENABLE_PWM_MOTOR2;
 		}
 
 		m2_old = motor2;
@@ -737,18 +773,24 @@ static void update_motor(void) {
 		if (motor3 == 0) {
 			// stop
 			PORTC &= ~(1 << 7) & ~(1 << 6);
+			DISABLE_PWM_MOTOR3;
+		} else if (motor3 == PWM_BREAK) {
+			PORTC |= (1 << 7) | (1 << 6);
+			ENABLE_PWM_MOTOR3;
 		} else if ((!motor3_switch && motor3 > 0) || (motor3_switch && motor3 < 0)) {
 			// forward
 			uint8_t tmp=PORTC;
 			tmp &= ~(1 << 7);
 			tmp |=  (1 << 6);
 			PORTC = tmp;
+			ENABLE_PWM_MOTOR3;
 		} else { // motor3 < 0
 			// backward
 			uint8_t tmp=PORTC;
 			tmp &= ~(1 << 6);
 			tmp |=  (1 << 7);
 			PORTC = tmp;
+			ENABLE_PWM_MOTOR3;
 		}
 
 		m3_old = motor3;
@@ -759,18 +801,24 @@ static void update_motor(void) {
 		if (motor4 == 0) {
 			// stop
 			PORTD &= ~(1 << 3) & ~(1 << 2);
+			DISABLE_PWM_MOTOR4;
+		} else if (motor4 == PWM_BREAK) {
+			PORTD |= (1 << 3) | (1 << 2);
+			ENABLE_PWM_MOTOR4;
 		} else if ((!motor4_switch && motor4 > 0) || (motor4_switch && motor4 < 0)) {
 			// forward
 			uint8_t tmp=PORTD;
 			tmp &= ~(1 << 3);
 			tmp |=  (1 << 2);
 			PORTD = tmp;
+			ENABLE_PWM_MOTOR4;
 		} else { // motor4 < 0
 			// backward
 			uint8_t tmp=PORTD;
 			tmp &= ~(1 << 2);
 			tmp |=  (1 << 3);
 			PORTD = tmp;
+			ENABLE_PWM_MOTOR4;
 		}
 
 		m4_old = motor4;
@@ -857,70 +905,116 @@ static void update_pid(void) {
 	static int32_t esum3=0;
 	static int32_t esum4=0;
 
+	// 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 (speed1_wish != speed1_wish_old) {
+			if (abs(speed1_wish - speed1_wish_old) > 500) esum1 = 0;
+			speed1_wish_old = speed1_wish;
+		}
+
 		if (speed1_wish == 0) {
 			motor1 = 0;
 			eold1 = 0;
-			esum1 = 0;
+			error_state &= ~(1<<4);
 		} else {
 			int16_t e = speed1_wish - speed1;
 			esum1+=e;
 			motor1 = KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
 			eold1 = e;
 
-			if (motor1 > 0 && speed1_wish < 0) motor1=0;
-			else if (motor1 < 0 && speed1_wish > 0) motor1=0;
+			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) {
+		if (speed2_wish != speed2_wish_old) {
+			if (abs(speed2_wish - speed2_wish_old) > 500) esum2 = 0;
+			speed2_wish_old = speed2_wish;
+		}
+
 		if (speed2_wish == 0) {
 			motor2 = 0;
 			eold2 = 0;
-			esum2 = 0;
+			error_state &= ~(1<<5);
 		} else {
 			int16_t e = speed2_wish - speed2;
 			esum2+=e;
 			motor2 = KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
 			eold2 = e;
 
-			if (motor2 > 0 && speed2_wish < 0) motor2=0;
-			else if (motor2 < 0 && speed2_wish > 0) motor2=0;
+			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) {
+		if (speed3_wish != speed3_wish_old) {
+			if (abs(speed3_wish - speed3_wish_old) > 500) esum3 = 0;
+			speed3_wish_old = speed3_wish;
+		}
+
 		if (speed3_wish == 0) {
 			motor3 = 0;
 			eold3 = 0;
-			esum3 = 0;
+			error_state &= ~(1<<6);
 		} else {
 			int16_t e = speed3_wish - speed3;
 			esum3+=e;
 			motor3 = KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
 			eold3 = e;
 
-			if (motor3 > 0 && speed3_wish < 0) motor3=0;
-			else if (motor3 < 0 && speed3_wish > 0) motor3=0;
+			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) {
+		if (speed4_wish != speed4_wish_old) {
+			if (abs(speed4_wish - speed4_wish_old) > 500) esum4 = 0;
+			speed4_wish_old = speed4_wish;
+		}
+
 		if (speed4_wish == 0) {
 			motor4 = 0;
 			eold4 = 0;
-			esum4 = 0;
+			error_state &= ~(1<<7);
 		} else {
 			int16_t e = speed4_wish - speed4;
 			esum4+=e;
 			motor4 = KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
 			eold4 = e;
 
-			if (motor4 > 0 && speed4_wish < 0) motor4=0;
-			else if (motor4 < 0 && speed4_wish > 0) motor4=0;
+			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;
 		}
@@ -953,12 +1047,15 @@ int main(void) {
 
 	// I2C
 	TWAR = 0x50;
-	TWI_RESET;
+	TWI_ACK;
 
 	// Motor 1 & 2
-	// Timer 1: Fast PWM non-inverting mode, Top=255 => 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
-	TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (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;
@@ -966,13 +1063,17 @@ int main(void) {
 	// Motor 3
 	// Timer 2: Fast PWM non-inverting mode, Top=255
 	// Prescaler=1
-	TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (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
 	// Timer 0: Fast PWM non-inverting mode, Top=255
 	// Prescaler=1
-	TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (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");
@@ -987,10 +1088,11 @@ int main(void) {
 			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;
 		}
@@ -1013,17 +1115,17 @@ int main(void) {
 
 			if (aft_handicap > 0) {
 				speed1_wish = speed_wish_left * (100-aft_handicap)/100.0;
-				speed4_wish = speed_wish_right * (100-aft_handicap)/100.0;
+				speed3_wish = speed_wish_right * (100-aft_handicap)/100.0;
 			} else {
 				speed1_wish = speed_wish_left;
-				speed4_wish = speed_wish_right;
+				speed3_wish = speed_wish_right;
 			}
 			if (front_handicap > 0) {
 				speed2_wish = speed_wish_left * (100-front_handicap)/100.0;
-				speed3_wish = speed_wish_right * (100-front_handicap)/100.0;
+				speed4_wish = speed_wish_right * (100-front_handicap)/100.0;
 			} else {
 				speed2_wish = speed_wish_left;
-				speed3_wish = speed_wish_right;
+				speed4_wish = speed_wish_right;
 			}
 			motor1_mode = MOTOR_PID;
 			motor2_mode = MOTOR_PID;
@@ -1031,7 +1133,7 @@ int main(void) {
 			motor4_mode = MOTOR_PID;
 		}
 
-		if (run_update >= 156) { // ~100Hz
+		if (run_update >= 195) { // TIMER1_FREQ/195 = ~100Hz
 			run_update=0;
 
 			update_pos();