X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=avr%2Fmotor_ctrl%2Fmain.c;h=66a7c4afd63af534cb47608eb82c805bcf7dd2fd;hp=479770a49e404a392faec9696ee555fdb76139e3;hb=f01d69d0a1b761c2d7c4f662b5be998fc1a889c8;hpb=f0107d7c53dc0e5d8c0c46311ce92f9fb17027e3

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 479770a..66a7c4a 100644
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -90,7 +90,7 @@
  * 0x95 Aft Handicap
  * free
  * 0xA0 Reset reason
- * 0xA1 TLE Error status
+ * 0xA1 Error status
  * 0xA2 count test
  * free
  * 0xff Bootloader
@@ -101,9 +101,9 @@
 #define TWI_RESET	TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
 #define TWI_NAK		TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
 
-#define KP 0.009
-#define KI 0.051429
-#define KD 0.000378
+#define KP 0.039
+#define KI 0.08
+#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
@@ -141,8 +141,8 @@ 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 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 int16_t speed1_wish=0; // step/s
@@ -162,6 +162,7 @@ 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)
 {
@@ -171,7 +172,7 @@ ISR(TWI_vect)
 	static ufloat_t tmp_angle;
 
 	switch (TWSR & 0xF8)
-	{  
+	{
 		case 0x60: // start write
 			TWI_ACK;
 			ireg = 0;
@@ -370,18 +371,34 @@ ISR(TWI_vect)
 					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 0x05: // Dummy to allow continous read
+					TWDR = 0;
+					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 0x09: // Dummy to allow continous read
+					TWDR = 0;
+					TWI_ACK;
+					break;
 				case 0x10: // Hall 1 MSB
 					tmp16 = pos1;
 					TWDR = tmp16>>8;
@@ -569,8 +586,8 @@ 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
@@ -670,17 +687,24 @@ 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;
+
 	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;
@@ -690,14 +714,19 @@ 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;
@@ -707,14 +736,19 @@ 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;
@@ -724,14 +758,19 @@ 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;
@@ -829,10 +868,12 @@ static void update_pid(void) {
 		} 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;
 		}
 	}
@@ -844,10 +885,12 @@ static void update_pid(void) {
 		} 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;
 		}
 	}
@@ -859,10 +902,12 @@ static void update_pid(void) {
 		} 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;
 		}
 	}
@@ -874,10 +919,12 @@ static void update_pid(void) {
 		} 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;
 		}
 	}
@@ -899,7 +946,7 @@ 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);
 
@@ -912,23 +959,23 @@ 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
+	// 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
+	// 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");