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=bd9fc9e31d634c73f3e622b3508db4d850e4ae3d;hb=d1683df60f044ecabcda11f24c835122a8cf20e4;hpb=bd5ce223f2fe077a697352c44a366a33d1f692f0 diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c index bd9fc9e..3642d4a 100644 --- a/avr/motor_ctrl/main.c +++ b/avr/motor_ctrl/main.c @@ -5,6 +5,9 @@ #include #include #include +#include +#include +#include #include "uart.h" /* @@ -60,7 +63,6 @@ * 0x3D Angle (rad/s) * 0x3E Angle (rad/s) * 0x3F Angle (rad/s) LSB - * free * 0x40 Position x (m) MSB * 0x41 Position x (m) * 0x42 Position x (m) @@ -87,27 +89,43 @@ * 0x91 Motor 2 switch * 0x92 Motor 3 switch * 0x93 Motor 4 switch - * 0x94 Front Handicap backward - * 0x95 Aft Handicap forward + * 0x94 Front Handicap + * 0x95 Aft Handicap * free * 0xA0 Reset reason - * 0xA1 TLE Error status + * 0xA1 Error status * 0xA2 count test * free * 0xff Bootloader */ -#define TWI_ACK TWCR = (1<>8; @@ -567,8 +606,8 @@ ISR(TWI_vect) MCUCSR = 0x0; TWI_ACK; break; - case 0xA1: // TLE Error status - TWDR = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf; + case 0xA1: // Error status + TWDR = error_state; TWI_ACK; break; case 0xA2: // count test @@ -580,6 +619,9 @@ ISR(TWI_vect) } ireg++; break; + case TW_SR_STOP: + TWI_ACK; + break; default: TWI_RESET; } @@ -668,17 +710,31 @@ static void update_motor(void) { 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 + 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 - PORTC &= ~(1 << 3) & ~(1 << 2); + uint8_t tmp=PORTC; + tmp &= ~(1 << 3); + tmp |= (1 << 2); + PORTC = tmp; + ENABLE_PWM_MOTOR1; } 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; @@ -688,14 +744,25 @@ static void update_motor(void) { 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); + ENABLE_PWM_MOTOR2; } 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 - PORTC &= ~(1 << 4); - PORTC |= (1 << 5); + uint8_t tmp=PORTC; + tmp &= ~(1 << 4); + tmp |= (1 << 5); + PORTC = tmp; + ENABLE_PWM_MOTOR2; } m2_old = motor2; @@ -705,14 +772,25 @@ static void update_motor(void) { 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); + ENABLE_PWM_MOTOR3; } 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 - PORTC &= ~(1 << 6); - PORTC |= (1 << 7); + uint8_t tmp=PORTC; + tmp &= ~(1 << 6); + tmp |= (1 << 7); + PORTC = tmp; + ENABLE_PWM_MOTOR3; } m3_old = motor3; @@ -722,14 +800,25 @@ static void update_motor(void) { 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); + ENABLE_PWM_MOTOR4; } 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 - PORTD &= ~(1 << 2); - PORTD |= (1 << 3); + uint8_t tmp=PORTD; + tmp &= ~(1 << 2); + tmp |= (1 << 3); + PORTD = tmp; + ENABLE_PWM_MOTOR4; } m4_old = motor4; @@ -749,7 +838,6 @@ static void update_pos(void) { int16_t pos4_diff; float diff_left_m, diff_right_m, angle_diff, translation; float pos_x_new, pos_y_new, angle_new; - int16_t speed_l, speed_r; 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; @@ -772,22 +860,20 @@ static void update_pos(void) { new_speed3 = pos3_diff/PID_T; new_speed4 = pos4_diff/PID_T; - diff_left_m = (pos1_diff + pos2_diff)/(2*STEP_PER_M); - diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M); + 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; + 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; - speed_l = (new_speed1+new_speed2)/2; - speed_r = (new_speed3+new_speed4)/2; - tmp_speed_lin = (speed_l + speed_r)/(2.0*STEP_PER_M); - tmp_speed_rot = (speed_r - speed_l)/(M_PI*WHEEL_DIST*STEP_PER_M); + tmp_speed_lin = translation/PID_T; + tmp_speed_rot = angle_diff/PID_T; // copy from tmp cli(); @@ -819,63 +905,117 @@ 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); + motor1 = KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1); 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) { + 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); + motor2 = KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2); 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) { + 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); + motor3 = KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3); 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) { + 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); + motor4 = KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4); 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; } } @@ -897,7 +1037,7 @@ 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); - // Pullup TLEs EF + // Pullup Diag/Enable PORTB = (1 << 0) | (1 << 1) | (1 << 2); PORTD = (1 << 6); @@ -907,26 +1047,33 @@ int main(void) { // I2C TWAR = 0x50; - TWI_RESET; + TWI_ACK; // 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 - 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 - // Timer 2: Fast PWM inverting mode, Top=256 + // Timer 2: Fast PWM non-inverting mode, Top=255 // 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 - // Timer 0: Fast PWM inverting mode, Top=256 + // Timer 0: Fast PWM non-inverting mode, Top=255 // 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"); @@ -941,10 +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; } @@ -959,30 +1107,24 @@ int main(void) { cmd_vel.bUpdate = 0; sei(); - speed_wish_right = angle*M_PI*WHEEL_DIST/2 + speed; + speed_wish_right = (angle*WHEEL_DIST)/2 + speed; speed_wish_left = speed*2-speed_wish_right; - speed_wish_left*=STEP_PER_M; - speed_wish_right*=STEP_PER_M; + speed_wish_left*=STEP_PER_M_LEFT; + speed_wish_right*=STEP_PER_M_RIGHT; - if (speed_wish_left > 0 && aft_handicap_fwd > 0) { - speed1_wish = speed_wish_left * (100-aft_handicap_fwd)/100.0; + 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; - } - if (speed_wish_left < 0 && front_handicap_bwd > 0) { - speed2_wish = speed_wish_left * (100-front_handicap_bwd)/100.0; - } else { - speed2_wish = speed_wish_left; - } - if (speed_wish_right < 0 && front_handicap_bwd > 0) { - speed3_wish = speed_wish_right * (100-front_handicap_bwd)/100.0; - } else { speed3_wish = speed_wish_right; } - if (speed_wish_right > 0 && aft_handicap_fwd > 0) { - speed4_wish = speed_wish_right * (100-aft_handicap_fwd)/100.0; + 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; @@ -991,7 +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();