X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=avr%2Fmotor_ctrl%2Fmain.c;h=5d655290a7e8b78cb3efd33b881eaf85fafd3bfe;hp=9d33c986b4acf0cb221f6fc8d7d1fc8a36cf930a;hb=b301eb19e6487497a8bb946c538a25aa4ee28c1d;hpb=d59156fdf0d81fc362bb56e5404069234ee436a5 diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c index 9d33c98..5d65529 100644 --- a/avr/motor_ctrl/main.c +++ b/avr/motor_ctrl/main.c @@ -1,6 +1,7 @@ #include #include #include +#include #include #include #include @@ -35,7 +36,14 @@ * 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 @@ -44,37 +52,101 @@ * 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 + * 0x94 Front Handicap + * 0x95 Aft Handicap + * free + * 0xA0 Reset reason + * 0xA1 Error status + * 0xA2 count test * free * 0xff Bootloader */ -#define TWI_ACK TWCR = (1<>8; @@ -328,6 +516,100 @@ ISR(TWI_vect) 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; @@ -422,17 +704,31 @@ 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; @@ -442,14 +738,25 @@ 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; @@ -459,14 +766,25 @@ 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; @@ -476,14 +794,25 @@ 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; @@ -492,11 +821,75 @@ 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; + 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; @@ -506,64 +899,117 @@ void update_pid(void) { 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 (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; + error_state &= ~(1<<4); } 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; - 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; + error_state &= ~(1<<5); } 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; - 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; + error_state &= ~(1<<6); } 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; - 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; + error_state &= ~(1<<7); } 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; - 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; } } @@ -576,7 +1022,7 @@ ISR(TIMER1_OVF_vect) { update_hall3(); update_hall4(); - run_pid++; + run_update++; } @@ -585,6 +1031,9 @@ 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); @@ -595,23 +1044,30 @@ int main(void) { TWI_RESET; // 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 => 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); + // 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 => 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); + // 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"); @@ -633,14 +1089,51 @@ int main(void) { } 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(); }