X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=avr%2Fmotor_ctrl%2Fmain.c;h=3dca8cc80bb9fa380d3e9f0d3689a31d28929b09;hp=8fc3fdbf74b51328dc4f3641e242422ff21000b6;hb=8786ef14dfb5b65efa0a260d91e569aa819aac14;hpb=b022c849f0b973f34c35d5e1cd9f85fea06598dd diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c index 8fc3fdb..3dca8cc 100644 --- a/avr/motor_ctrl/main.c +++ b/avr/motor_ctrl/main.c @@ -60,7 +60,6 @@ * 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) @@ -87,7 +86,12 @@ * 0x91 Motor 2 switch * 0x92 Motor 3 switch * 0x93 Motor 4 switch - * 0x94 TLE Error status + * 0x94 Front Handicap + * 0x95 Aft Handicap + * free + * 0xA0 Reset reason + * 0xA1 Error status + * 0xA2 count test * free * 0xff Bootloader */ @@ -97,12 +101,15 @@ #define TWI_RESET TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK #define TWI_NAK TWCR = (1<>8; @@ -464,12 +500,7 @@ ISR(TWI_vect) TWI_ACK; break; case 0x38: // speed MSB - { - int16_t speed_l = (speed3+speed4)/2; - int16_t speed_r = (speed1+speed2)/2; - tmp_speed.f = (speed_l + speed_r)/(2.0*STEP_PER_M); - tmp_angle.f = (speed_r - speed_l)/(M_PI*WHEEL_DIST*STEP_PER_M); - } + tmp_speed.f = cur_speed_lin; TWDR = tmp_speed.i>>24; TWI_ACK; break; @@ -486,6 +517,7 @@ ISR(TWI_vect) TWI_ACK; break; case 0x3C: // angle MSB + tmp_angle.f = cur_speed_rot; TWDR = tmp_angle.i>>24; TWI_ACK; break; @@ -534,25 +566,33 @@ ISR(TWI_vect) TWI_ACK; break; case 0x48: // Position angle MSB - TWDR = pos_y.i>>24; + TWDR = angle.i>>24; TWI_ACK; break; case 0x49: // Position angle - TWDR = pos_y.i>>16; + TWDR = angle.i>>16; TWI_ACK; break; case 0x4A: // Position angle - TWDR = pos_y.i>>8; + TWDR = angle.i>>8; TWI_ACK; break; case 0x4B: // Position angle LSB - TWDR = pos_y.i; + TWDR = angle.i; TWI_ACK; break; - case 0x94: // TLE Error status - TWDR = (PIND & 0x40)>>2 | (PINB & 0x07); + 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; @@ -647,17 +687,25 @@ 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); + PORTC &= ~(1 << 3) & ~(1 << 2); } 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; } else { // motor1 < 0 // backward - PORTC &= ~(1 << 2); - PORTC |= (1 << 3); + uint8_t tmp=PORTC; + tmp &= ~(1 << 2); + tmp |= (1 << 3); + PORTC = tmp; } m1_old = motor1; @@ -667,14 +715,19 @@ static void update_motor(void) { if (m2_old != motor2) { // update only when changed if (motor2 == 0) { // stop - PORTC |= (1 << 5) | (1 << 4); + PORTC &= ~(1 << 5) & ~(1 << 4); } 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; } else { // motor2 < 0 // backward - PORTC &= ~(1 << 4); - PORTC |= (1 << 5); + uint8_t tmp=PORTC; + tmp &= ~(1 << 4); + tmp |= (1 << 5); + PORTC = tmp; } m2_old = motor2; @@ -684,14 +737,19 @@ static void update_motor(void) { if (m3_old != motor3) { // update only when changed if (motor3 == 0) { // stop - PORTC |= (1 << 7) | (1 << 6); + PORTC &= ~(1 << 7) & ~(1 << 6); } 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; } else { // motor3 < 0 // backward - PORTC &= ~(1 << 6); - PORTC |= (1 << 7); + uint8_t tmp=PORTC; + tmp &= ~(1 << 6); + tmp |= (1 << 7); + PORTC = tmp; } m3_old = motor3; @@ -701,14 +759,19 @@ static void update_motor(void) { if (m4_old != motor4) { // update only when changed if (motor4 == 0) { // stop - PORTD |= (1 << 3) | (1 << 2); + PORTD &= ~(1 << 3) & ~(1 << 2); } 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; } else { // motor4 < 0 // backward - PORTD &= ~(1 << 2); - PORTD |= (1 << 3); + uint8_t tmp=PORTD; + tmp &= ~(1 << 2); + tmp |= (1 << 3); + PORTD = tmp; } m4_old = motor4; @@ -727,38 +790,61 @@ static void update_pos(void) { 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; - //cli(); - pos1_diff = pos1 - pos1_last; - pos2_diff = pos2 - pos2_last; - pos3_diff = pos3 - pos3_last; - pos4_diff = pos4 - pos4_last; - speed1 = pos1_diff/PID_T; - speed2 = pos2_diff/PID_T; - speed3 = pos3_diff/PID_T; - speed4 = pos4_diff/PID_T; - //sei(); - - 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; - //cli(); - angle.f+=angle_diff; - if (angle.f > 2*M_PI) angle.f-=2*M_PI; - else if (angle.f < 2*M_PI) angle.f+=2*M_PI; - //sei(); - - //cli(); + 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.f += cos(angle.f)*translation; - pos_y.f += sin(angle.f)*translation; - //sei(); - - pos1_last = pos1; - pos2_last = pos2; - pos3_last = pos3; - pos4_last = pos4; + 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; } @@ -772,55 +858,102 @@ static void update_pid(void) { static int32_t esum3=0; static int32_t esum4=0; + // protect motors from damage if stalling + if (labs(esum1) > 120000 && speed1 == 0) { + motor1 = 0; + motor1_mode = MOTOR_MANUAL; + error_state |= (1<<4); + esum1 = 0; + } + if (labs(esum2) > 120000 && speed2 == 0) { + motor2 = 0; + motor2_mode = MOTOR_MANUAL; + error_state |= (1<<5); + esum2 = 0; + } + if (labs(esum3) > 120000 && speed3 == 0) { + motor3 = 0; + motor3_mode = MOTOR_MANUAL; + error_state |= (1<<6); + esum3 = 0; + } + // protect motors from damage if stalling + if (labs(esum4) > 120000 && speed4 == 0) { + motor4 = 0; + motor4_mode = MOTOR_MANUAL; + error_state |= (1<<7); + esum4 = 0; + } + if (motor1_mode == MOTOR_PID) { 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=0; + else if (motor1 < 0 && speed1_wish > 0) motor1=0; + else if (motor1 > 255) motor1 = 255; else if (motor1 < -255) motor1 = -255; } } if (motor2_mode == MOTOR_PID) { 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=0; + else if (motor2 < 0 && speed2_wish > 0) motor2=0; + else if (motor2 > 255) motor2 = 255; else if (motor2 < -255) motor2 = -255; } } if (motor3_mode == MOTOR_PID) { 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=0; + else if (motor3 < 0 && speed3_wish > 0) motor3=0; + else if (motor3 > 255) motor3 = 255; else if (motor3 < -255) motor3 = -255; } } if (motor4_mode == MOTOR_PID) { 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=0; + else if (motor4 < 0 && speed4_wish > 0) motor4=0; + else if (motor4 > 255) motor4 = 255; else if (motor4 < -255) motor4 = -255; } } @@ -842,6 +975,9 @@ 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); + // Pullup Diag/Enable + PORTB = (1 << 0) | (1 << 1) | (1 << 2); + PORTD = (1 << 6); bootloader = 0x00; setup_uart(9600); @@ -852,23 +988,23 @@ int main(void) { TWI_RESET; // Motor 1 & 2 - // Timer 1: Fast PWM inverting mode, Top=256 => 15.625kHz + // Timer 1: Fast PWM non-inverting mode, Top=255 => 15.625kHz // Prescaler=1 - TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << COM1A0) | (1 << COM1B0) | (1 << WGM10); + TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM10); 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 - TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << COM20) | (1 << CS20); + TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << CS20); 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 - TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << COM00) | (1 << CS00); + TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << CS00); OCR0 = 0; printf("\r\nStart\r\n"); @@ -890,7 +1026,42 @@ int main(void) { } break; } - + + 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; + } if (run_update >= 156) { // ~100Hz run_update=0; @@ -898,6 +1069,7 @@ int main(void) { update_pos(); update_pid(); update_motor(); + count_test++; } sleep_mode();