X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=avr%2Fmotor_ctrl%2Fmain.c;h=a4c984dfa4e7e2cbd0219bc29bc7e2017b045b58;hp=7781fb4af01654b33ea2a53df04a1bbaf63b7967;hb=HEAD;hpb=d55fc1ff8c77515d29610d3940f35965ff202a90

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 7781fb4..a4c984d 100644
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -5,6 +5,10 @@
 #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 <avr/pgmspace.h>
 #include "uart.h"
 
 /*
@@ -92,6 +96,8 @@
  * 0xA0 Reset reason
  * 0xA1 Error status
  * 0xA2 count test
+ * 0xA3 last i2c status before boot
+ * 0xA4 Watchdog enable
  * free
  * 0xff Bootloader
  */
@@ -110,10 +116,11 @@
 #define WHEEL_DIST 0.39912 // Measured: 0.252
 #define PWM_BREAK INT16_MIN
 #define STALL_LIMIT 140000
+#define I2C_TIMEOUT_DISABLE 255
 
-#define TWI_ACK   TWCR = (1<<TWEA) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
-#define TWI_RESET TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
+#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);
@@ -180,6 +187,10 @@ 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;
+static volatile uint8_t last_man_update_count=0;
+static volatile uint8_t last_i2c_status = 0;
+static uint8_t last_i2c_status_boot = 0;
+static volatile uint8_t watchdog_enable = 0;
 
 ISR(TWI_vect)
 {
@@ -188,13 +199,14 @@ ISR(TWI_vect)
 	static ufloat_t tmp_speed;
 	static ufloat_t tmp_angle;
 
-	switch (TWSR & 0xF8)
+	last_i2c_status = TW_STATUS;
+	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;
@@ -346,6 +358,7 @@ ISR(TWI_vect)
 					tmp_angle.i = tmp_angle.i << 8 | TWDR;
 					cmd_vel.angle = tmp_angle.f;
 					cmd_vel.bUpdate = 1;
+					last_man_update_count = 0;
 					TWI_ACK;
 					break;
 				case 0x90: // Motor 1 switch
@@ -374,15 +387,19 @@ ISR(TWI_vect)
 					cmd_vel.bUpdate = 1;
 					TWI_ACK;
 					break;
+				case 0xA4: // Watchdog enable
+					watchdog_enable = TWDR;
+					TWI_ACK;
+					break;
 				case 0xff: // bootloader
 					bootloader = TWDR;
 				default:
 					TWI_NAK;
 			}
-			ireg++;
+			if (ireg < 0xff) 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;
@@ -610,15 +627,30 @@ ISR(TWI_vect)
 				case 0xA2: // count test
 					TWDR = count_test;
 					TWI_ACK;
+				case 0xA3: // last i2c status before boot
+					TWDR = last_i2c_status_boot;
+					TWI_ACK;
+				case 0xA4: // Watchdog enable
+					TWDR = watchdog_enable;
+					TWI_ACK;
 				default:
 					TWDR = 0;
 					TWI_NAK;
 			}
 			ireg++;
 			break;
+		case TW_SR_STOP:
+			TWI_ACK;
+			break;
+		case TW_NO_INFO:
+			break;
 		default:
 			TWI_RESET;
 	}
+
+	if (watchdog_enable == 2) {
+		wdt_reset();
+	}
 }
 
 
@@ -931,7 +963,8 @@ static void update_pid(void) {
 			speed1_wish_old = speed1_wish;
 		}
 
-		if (speed1_wish == 0) {
+		uint8_t dir_change = (speed1_wish > 0 && speed1 < 0) || (speed1_wish < 0 && speed1 > 0); // Prevent dangerous immediate engine reverse
+		if (speed1_wish == 0 || dir_change) {
 			motor1 = 0;
 			eold1 = 0;
 			error_state &= ~(1<<4);
@@ -953,7 +986,8 @@ static void update_pid(void) {
 			speed2_wish_old = speed2_wish;
 		}
 
-		if (speed2_wish == 0) {
+		uint8_t dir_change = (speed2_wish > 0 && speed2 < 0) || (speed2_wish < 0 && speed2 > 0); // Prevent dangerous immediate engine reverse
+		if (speed2_wish == 0 || dir_change) {
 			motor2 = 0;
 			eold2 = 0;
 			error_state &= ~(1<<5);
@@ -975,7 +1009,8 @@ static void update_pid(void) {
 			speed3_wish_old = speed3_wish;
 		}
 
-		if (speed3_wish == 0) {
+		uint8_t dir_change = (speed3_wish > 0 && speed3 < 0) || (speed3_wish < 0 && speed3 > 0); // Prevent dangerous immediate engine reverse
+		if (speed3_wish == 0 || dir_change) {
 			motor3 = 0;
 			eold3 = 0;
 			error_state &= ~(1<<6);
@@ -997,7 +1032,8 @@ static void update_pid(void) {
 			speed4_wish_old = speed4_wish;
 		}
 
-		if (speed4_wish == 0) {
+		uint8_t dir_change = (speed4_wish > 0 && speed4 < 0) || (speed4_wish < 0 && speed4 > 0); // Prevent dangerous immediate engine reverse
+		if (speed4_wish == 0 || dir_change) {
 			motor4 = 0;
 			eold4 = 0;
 			error_state &= ~(1<<7);
@@ -1041,7 +1077,7 @@ int main(void) {
 
 	// I2C
 	TWAR = 0x50;
-	TWI_RESET;
+	TWI_ACK;
 
 	// Motor 1 & 2
 	// Also used for PWM frequency TIMER1_FREQ (F_CPU/256)
@@ -1070,7 +1106,9 @@ int main(void) {
 	TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << CS00);
 	OCR0 = 0;
 
-	printf("\r\nStart\r\n");
+	printf_P(PSTR("\r\nStart\r\n"));
+
+	last_i2c_status_boot = eeprom_read_byte((uint8_t*)1);
 
 	set_sleep_mode(SLEEP_MODE_IDLE);
 	// Enable Timer 1 Overflow Interrupt
@@ -1079,13 +1117,23 @@ int main(void) {
 
 	while(1) {
 		switch(ireg) {
+			case 0xA4: // Watchdog enable
+				if (watchdog_enable == 1) {
+					wdt_enable(WDTO_2S);
+					watchdog_enable = 2;
+				} else if (watchdog_enable == 0) {
+					wdt_disable();
+					watchdog_enable = 3;
+				}
+				break;
 			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;
 		}
@@ -1133,6 +1181,20 @@ int main(void) {
 			update_pid();
 			update_motor();
 			count_test++;
+			if (last_man_update_count != I2C_TIMEOUT_DISABLE) last_man_update_count++;
+
+			if (last_man_update_count >= 100) {
+				// ~1s without a new i2c command
+				cmd_vel.speed = 0;
+				cmd_vel.angle = 0;
+				cmd_vel.bUpdate = 1;
+				if (last_man_update_count == 100) {
+					printf_P(PSTR("I2C State: 0x%x\r\n"), last_i2c_status);
+					eeprom_write_byte((uint8_t*)1, last_i2c_status);
+					eeprom_busy_wait();
+				}
+				last_man_update_count = I2C_TIMEOUT_DISABLE;
+			}
 		}
 
 		sleep_mode();