Revert "Transision from 4x TLE5205 to 2x VNH2SP30"
authorErik Andresen <erik@vontaene.de>
Sun, 1 May 2016 10:33:57 +0000 (12:33 +0200)
committerErik Andresen <erik@vontaene.de>
Sun, 1 May 2016 10:33:57 +0000 (12:33 +0200)
This reverts commit 54239069f1fbc3ab2d38593454986c1a706c8b80.

avr/motor_ctrl/main.c
avr/motor_ctrl/main.hex

index 9c6413c..e8c3d3f 100644 (file)
  * 0x02 Motor 1 PWM LSB
  * 0x03 Motor 2 PWM MSB
  * 0x04 Motor 2 PWM LSB
+ * 0x05 Motor 3 PWM MSB
+ * 0x06 Motor 3 PWM LSB
+ * 0x07 Motor 4 PWM MSB
+ * 0x08 Motor 4 PWM LSB
  * free
  * 0x10 Hall 1 MSB
  * 0x11 Hall 1 LSB
  * 0x21 Motor 1 speed wish LSB
  * 0x22 Motor 2 speed wish MSB
  * 0x23 Motor 2 speed wish LSB
+ * 0x24 Motor 3 speed wish MSB
+ * 0x25 Motor 3 speed wish LSB
+ * 0x26 Motor 4 speed wish MSB
+ * 0x27 Motor 4 speed wish LSB
  * 0x28 Left speed wish (m/s) MSB
  * 0x29 Left speed wish (m/s)
  * 0x2A Left speed wish (m/s)
  * 0x31 Motor 1 speed LSB
  * 0x32 Motor 2 speed MSB
  * 0x33 Motor 2 speed LSB
+ * 0x34 Motor 3 speed MSB
+ * 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)
  * 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
+ * 0xA1 TLE Error status
  * 0xA2 count test
  * free
  * 0xff Bootloader
@@ -115,29 +131,37 @@ static volatile uint8_t ireg=0;
 static volatile uint8_t bootloader=0;
 static volatile int16_t motor1=0; // -255..+255
 static volatile int16_t motor2=0;
+static volatile int16_t motor3=0;
+static volatile int16_t motor4=0;
 static volatile int16_t pos1=0; // step
 static volatile int16_t pos2=0;
 static volatile int16_t pos3=0;
 static volatile int16_t pos4=0;
 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=1;
+static volatile uint8_t motor2_switch=0;
+static volatile uint8_t motor3_switch=0;
+static volatile uint8_t motor4_switch=0;
 static volatile int16_t speed1_wish=0; // step/s
 static volatile int16_t speed2_wish=0;
+static volatile int16_t speed3_wish=0;
+static volatile int16_t speed4_wish=0;
 static volatile uint8_t run_update=0;
 static volatile int16_t speed1=0; // step/s
 static volatile int16_t speed2=0;
 static volatile int16_t speed3=0;
 static volatile int16_t speed4=0;
-static volatile int16_t speed_l=0;
-static volatile int16_t speed_r=0;
 static volatile ufloat_t pos_x={0.0};
 static volatile ufloat_t pos_y={0.0};
 static volatile ufloat_t angle={0.0};
 static volatile float cur_speed_lin=0;
 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)
@@ -178,6 +202,24 @@ ISR(TWI_vect)
                                        motor2_mode = MOTOR_MANUAL;
                                        TWI_ACK;
                                        break;
+                               case 0x05: // Motor 3 MSB
+                                       tmp = TWDR;
+                                       TWI_ACK;
+                                       break;
+                               case 0x06: // Motor 3 LSB
+                                       motor3 = tmp<<8 | TWDR;
+                                       motor3_mode = MOTOR_MANUAL;
+                                       TWI_ACK;
+                                       break;
+                               case 0x07: // Motor 4 MSB
+                                       tmp = TWDR;
+                                       TWI_ACK;
+                                       break;
+                               case 0x08: // Motor 4 LSB
+                                       motor4 = tmp<<8 | TWDR;
+                                       motor4_mode = MOTOR_MANUAL;
+                                       TWI_ACK;
+                                       break;
                                case 0x20: // Motor 1 speed wish MSB
                                        tmp = TWDR;
                                        TWI_ACK;
@@ -196,6 +238,24 @@ ISR(TWI_vect)
                                        motor2_mode = MOTOR_PID;
                                        TWI_ACK;
                                        break;
+                               case 0x24: // Motor 3 speed wish MSB
+                                       tmp = TWDR;
+                                       TWI_ACK;
+                                       break;
+                               case 0x25: // Motor 3 speed wish LSB
+                                       speed3_wish = tmp<<8 | TWDR;
+                                       motor3_mode = MOTOR_PID;
+                                       TWI_ACK;
+                                       break;
+                               case 0x26: // Motor 4 speed wish MSB
+                                       tmp = TWDR;
+                                       TWI_ACK;
+                                       break;
+                               case 0x27: // Motor 4 speed wish LSB
+                                       speed4_wish = tmp<<8 | TWDR;
+                                       motor4_mode = MOTOR_PID;
+                                       TWI_ACK;
+                                       break;
                                case 0x28: // Left speed wish MSB
                                        tmp_speed.i = TWDR;
                                        TWI_ACK;
@@ -279,6 +339,24 @@ ISR(TWI_vect)
                                        motor2_switch = TWDR;
                                        TWI_ACK;
                                        break;
+                               case 0x92: // Motor 3 switch
+                                       motor3_switch = TWDR;
+                                       TWI_ACK;
+                                       break;
+                               case 0x93: // Motor 4 switch
+                                       motor4_switch = TWDR;
+                                       TWI_ACK;
+                                       break;
+                               case 0x94: // Front Handicap
+                                       front_handicap = TWDR;
+                                       cmd_vel.bUpdate = 1;
+                                       TWI_ACK;
+                                       break;
+                               case 0x95: // Aft Handicap
+                                       aft_handicap = TWDR;
+                                       cmd_vel.bUpdate = 1;
+                                       TWI_ACK;
+                                       break;
                                case 0xff: // bootloader
                                        bootloader = TWDR;
                                default:
@@ -297,6 +375,14 @@ ISR(TWI_vect)
                                        TWDR = OCR1B;
                                        TWI_ACK;
                                        break;
+                               case 0x06: // Motor 3 PWM
+                                       TWDR = OCR2;
+                                       TWI_ACK;
+                                       break;
+                               case 0x08: // Motor 4 PWM
+                                       TWDR = OCR0;
+                                       TWI_ACK;
+                                       break;
                                case 0x10: // Hall 1 MSB
                                        tmp16 = pos1;
                                        TWDR = tmp16>>8;
@@ -349,6 +435,22 @@ ISR(TWI_vect)
                                        TWDR = speed2_wish;
                                        TWI_ACK;
                                        break;
+                               case 0x24: // Motor 3 speed wish MSB
+                                       TWDR = speed3_wish>>8;
+                                       TWI_ACK;
+                                       break;
+                               case 0x25: // Motor 3 speed wish LSB
+                                       TWDR = speed3_wish;
+                                       TWI_ACK;
+                                       break;
+                               case 0x26: // Motor 4 speed wish MSB
+                                       TWDR = speed4_wish>>8;
+                                       TWI_ACK;
+                                       break;
+                               case 0x27: // Motor 4 speed wish LSB
+                                       TWDR = speed4_wish;
+                                       TWI_ACK;
+                                       break;
                                case 0x30: // Motor 1 speed MSB
                                        TWDR = speed1>>8;
                                        TWI_ACK;
@@ -500,8 +602,8 @@ static void update_hall1(void) {
        diff = oldstatus - new;                         // difference last - new
        if (diff & 0x1) {                               // bit 0 = value (1)
                oldstatus = new;                                        // store new as next last
-               if (motor1_switch) pos1 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
-               else pos1 += (diff & 2) - 1;
+               if (motor1_switch) pos1 += (diff & 2) - 1;              // bit 1 = direction (+/-)
+               else pos1 -= (diff & 2) - 1;
        }
 }
 
@@ -519,7 +621,7 @@ static void update_hall2(void) {
        diff = oldstatus - new;                         // difference last - new
        if (diff & 0x1) {                               // bit 0 = value (1)
                oldstatus = new;                                        // store new as next last
-               if (motor1_switch) pos2 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
+               if (motor2_switch) pos2 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
                else pos2 += (diff & 2) - 1;
        }
 }
@@ -538,8 +640,8 @@ static void update_hall3(void) {
        diff = oldstatus - new;                         // difference last - new
        if (diff & 0x1) {                               // bit 0 = value (1)
                oldstatus = new;                                        // store new as next last
-               if (motor2_switch) pos3 += (diff & 2) - 1;              // bit 1 = direction (+/-)
-               else pos3 -= (diff & 2) - 1;
+               if (motor3_switch) pos3 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
+               else pos3 += (diff & 2) - 1;
        }
 }
 
@@ -557,8 +659,8 @@ static void update_hall4(void) {
        diff = oldstatus - new;                         // difference last - new
        if (diff & 0x1) {                               // bit 0 = value (1)
                oldstatus = new;                                        // store new as next last
-               if (motor2_switch) pos4 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
-               else pos4 += (diff & 2) - 1;
+               if (motor4_switch) pos4 += (diff & 2) - 1;              // bit 1 = direction (+/-)
+               else pos4 -= (diff & 2) - 1;
        }
 }
 
@@ -566,8 +668,10 @@ static void update_hall4(void) {
 static void update_motor(void) {
        static int16_t m1_old=SHRT_MIN;
        static int16_t m2_old=SHRT_MIN;
+       static int16_t m3_old=SHRT_MIN;
+       static int16_t m4_old=SHRT_MIN;
 
-       error_state = ~(PINB & 0x03);
+       error_state = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
 
        if (motor1_mode == MOTOR_PID && bit_is_set(error_state, 0)) {
                // if error and running: stop
@@ -583,15 +687,28 @@ static void update_motor(void) {
                else if (motor2 > 0) motor2 = 255;
                else if (motor2 < 0) motor2 = -255;
        }
+       if (motor3_mode == MOTOR_PID && bit_is_set(error_state, 2)) {
+               // if error and running: stop
+               if (m3_old != 0) motor3 = 0;
+               // if we start motor in error state: start with full power
+               else if (motor3 > 0) motor3 = 255;
+               else if (motor3 < 0) motor3 = -255;
+       }
+       if (motor4_mode == MOTOR_PID && bit_is_set(error_state, 3)) {
+               // if error and running: stop
+               if (m4_old != 0) motor4 = 0;
+               // if we start motor in error state: start with full power
+               else if (motor4 > 0) motor4 = 255;
+               else if (motor4 < 0) motor4 = -255;
+       }
 
        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 << 2);
-                       PORTC &= ~(1 << 3);
+                       PORTC &= ~(1 << 3) & ~(1 << 2);
                } else { // motor1 < 0
                        // backward
                        PORTC &= ~(1 << 2);
@@ -605,11 +722,10 @@ 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 << 4);
-                       PORTC &= ~(1 << 5);
+                       PORTC &= ~(1 << 5) & ~(1 << 4);
                } else { // motor2 < 0
                        // backward
                        PORTC &= ~(1 << 4);
@@ -619,6 +735,40 @@ static void update_motor(void) {
                m2_old = motor2;
                OCR1B = abs(motor2);
        }
+
+       if (m3_old != motor3) { // update only when changed
+               if (motor3 == 0) {
+                       // stop
+                       PORTC |= (1 << 7) | (1 << 6);
+               } else if ((!motor3_switch && motor3 > 0) || (motor3_switch && motor3 < 0)) {
+                       // forward
+                       PORTC &= ~(1 << 7) & ~(1 << 6);
+               } else { // motor3 < 0
+                       // backward
+                       PORTC &= ~(1 << 6);
+                       PORTC |=  (1 << 7);
+               }
+
+               m3_old = motor3;
+               OCR2 = abs(motor3);
+       }
+
+       if (m4_old != motor4) { // update only when changed
+               if (motor4 == 0) {
+                       // stop
+                       PORTD |= (1 << 3) | (1 << 2);
+               } else if ((!motor4_switch && motor4 > 0) || (motor4_switch && motor4 < 0)) {
+                       // forward
+                       PORTD &= ~(1 << 3) & ~(1 << 2);
+               } else { // motor4 < 0
+                       // backward
+                       PORTD &= ~(1 << 2);
+                       PORTD |=  (1 << 3);
+               }
+
+               m4_old = motor4;
+               OCR0 = abs(motor4);
+       }
 }
 
 
@@ -633,6 +783,7 @@ 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;
@@ -695,8 +846,12 @@ static void update_pos(void) {
 static void update_pid(void) {
        static int16_t eold1=0;
        static int16_t eold2=0;
+       static int16_t eold3=0;
+       static int16_t eold4=0;
        static int32_t esum1=0;
        static int32_t esum2=0;
+       static int32_t esum3=0;
+       static int32_t esum4=0;
 
        if (motor1_mode == MOTOR_PID) {
                if (speed1_wish == 0) {
@@ -704,7 +859,7 @@ static void update_pid(void) {
                        eold1 = 0;
                        esum1 = 0;
                } else {
-                       int16_t e = speed1_wish - speed_l;
+                       int16_t e = speed1_wish - speed1;
                        esum1+=e;
                        motor1 = KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
                        eold1 = e;
@@ -719,7 +874,7 @@ static void update_pid(void) {
                        eold2 = 0;
                        esum2 = 0;
                } else {
-                       int16_t e = speed2_wish - speed_r;
+                       int16_t e = speed2_wish - speed2;
                        esum2+=e;
                        motor2 = KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
                        eold2 = e;
@@ -728,6 +883,36 @@ static void update_pid(void) {
                        else if (motor2 < -255) motor2 = -255;
                }
        }
+       if (motor3_mode == MOTOR_PID) {
+               if (speed3_wish == 0) {
+                       motor3 = 0;
+                       eold3 = 0;
+                       esum3 = 0;
+               } else {
+                       int16_t e = speed3_wish - speed3;
+                       esum3+=e;
+                       motor3 = KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
+                       eold3 = e;
+
+                        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;
+               } else {
+                       int16_t e = speed4_wish - speed4;
+                       esum4+=e;
+                       motor4 = KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
+                       eold4 = e;
+
+                        if (motor4 > 255) motor4 = 255;
+                       else if (motor4 < -255) motor4 = -255;
+               }
+       }
 }
 
 
@@ -746,6 +931,9 @@ 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 TLEs EF
+       PORTB = (1 << 0) | (1 << 1) | (1 << 2);
+       PORTD = (1 << 6);
 
        bootloader = 0x00;
        setup_uart(9600);
@@ -756,13 +944,25 @@ int main(void) {
        TWI_RESET;
 
        // Motor 1 & 2
-       // Timer 1: Fast PWM non-inverting mode, Top=256 => 15.625kHz
+       // Timer 1: Fast PWM inverting mode, Top=256 => 15.625kHz
        // Prescaler=1
-       TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM10);
+       TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << COM1A0) | (1 << COM1B0) | (1 << WGM10);
        TCCR1B = (1 << WGM12) | (1 << CS10);
        OCR1A = 0;
        OCR1B = 0;
 
+       // Motor 3
+       // Timer 2: Fast PWM inverting mode, Top=256
+       // Prescaler=1
+       TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << COM20) | (1 << CS20);
+       OCR2 = 0;
+
+       // Motor 4
+       // Timer 0: Fast PWM inverting mode, Top=256
+       // Prescaler=1
+       TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << COM00) | (1 << CS00);
+       OCR0 = 0;
+
        printf("\r\nStart\r\n");
 
        set_sleep_mode(SLEEP_MODE_IDLE);
@@ -799,10 +999,24 @@ int main(void) {
                        speed_wish_left*=STEP_PER_M_LEFT;
                        speed_wish_right*=STEP_PER_M_RIGHT;
 
-                       speed1_wish = speed_wish_left;
-                       speed2_wish = speed_wish_right;
+                       if (aft_handicap > 0) {
+                               speed1_wish = speed_wish_left * (100-aft_handicap)/100.0;
+                               speed4_wish = speed_wish_right * (100-aft_handicap)/100.0;
+                       } else {
+                               speed1_wish = speed_wish_left;
+                               speed4_wish = speed_wish_right;
+                       }
+                       if (front_handicap > 0) {
+                               speed2_wish = speed_wish_left * (100-front_handicap)/100.0;
+                               speed3_wish = speed_wish_right * (100-front_handicap)/100.0;
+                       } else {
+                               speed2_wish = speed_wish_left;
+                               speed3_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
index 7cc68a7..0cebf42 100644 (file)
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