avr: clk back to 4MHz, optimize uninterruptible parts

diff --git a/avr/motor_ctrl/Makefile b/avr/motor_ctrl/Makefile
index 6160c44aa0091f6f2f071da1727c55309ef3b21b..50995aa9c65d90e53b26e34f9836582b37f1cabd 100644 (file)
--- a/avr/motor_ctrl/Makefile
+++ b/avr/motor_ctrl/Makefile
@@ -90,7 +90,7 @@ EXTRAINCDIRS =
 CSTANDARD = -std=gnu99\r
 \r
 # Place -D or -U options here\r
 CSTANDARD = -std=gnu99\r
 \r
 # Place -D or -U options here\r

-CDEFS = -DF_CPU=8000000\r
+CDEFS = -DF_CPU=4000000\r

 \r
 # Place -I options here\r
 CINCS = -Ii2c/\r
 \r
 # Place -I options here\r
 CINCS = -Ii2c/\r

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 72c0659ce3490b03e64d4a9fddfd1bccf67655a7..2713674b951e8a8f2cd6b0c0fe28812a3bbc43a7 100644 (file)
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -87,7 +87,10 @@
  * 0x91 Motor 2 switch
  * 0x92 Motor 3 switch
  * 0x93 Motor 4 switch
  * 0x91 Motor 2 switch
  * 0x92 Motor 3 switch
  * 0x93 Motor 4 switch

- * 0x94 TLE Error status
+ * free
+ * 0xA0 Reset reason
+ * 0xA1 TLE Error status
+ * 0xA2 count test

  * free
  * 0xff Bootloader
  */
  * free
  * 0xff Bootloader
  */


@@ -142,7 +145,7 @@ 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 int16_t speed2_wish=0;
 static volatile int16_t speed3_wish=0;
 static volatile int16_t speed4_wish=0;

-static volatile uint16_t run_update=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 speed1=0; // step/s
 static volatile int16_t speed2=0;
 static volatile int16_t speed3=0;


@@ -152,6 +155,7 @@ 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 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;

 
 ISR(TWI_vect)
 {
 
 ISR(TWI_vect)
 {


@@ -544,10 +548,18 @@ ISR(TWI_vect)
                                        TWDR = pos_y.i;
                                        TWI_ACK;
                                        break;
                                        TWDR = pos_y.i;
                                        TWI_ACK;
                                        break;

-                               case 0x94: // TLE Error status
+                               case 0xA0: // Reset reason
+                                       TWDR = MCUCSR & 0x0f;
+                                       MCUCSR = 0x0;
+                                       TWI_ACK;
+                                       break;
+                               case 0xA1: // TLE Error status

                                        TWDR = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
                                        TWI_ACK;
                                        break;
                                        TWDR = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
                                        TWI_ACK;
                                        break;

+                               case 0xA2: // count test
+                                       TWDR = count_test;
+                                       TWI_ACK;

                                default:
                                        TWDR = 0;
                                        TWI_NAK;
                                default:
                                        TWDR = 0;
                                        TWI_NAK;


@@ -722,21 +734,30 @@ static void update_pos(void) {
        int16_t pos3_diff;
        int16_t pos4_diff;
        float diff_left_m, diff_right_m, angle_diff, translation;
        int16_t pos3_diff;
        int16_t pos4_diff;
        float diff_left_m, diff_right_m, angle_diff, translation;

-       float pos_x_diff, pos_y_diff, angle_new;
+       float pos_x_new, pos_y_new, angle_new;

        int16_t speed_l, speed_r;
        float tmp_speed_lin, tmp_speed_rot;
        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;

 
 

+       // copy to tmp

        cli();
        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;
+       cur_pos1 = pos1;
+       cur_pos2 = pos2;
+       cur_pos3 = pos3;
+       cur_pos4 = pos4;

        sei();
 
        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);
        diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M);
        angle_diff = (diff_right_m - diff_left_m) / WHEEL_DIST;
        diff_left_m = (pos1_diff + pos2_diff)/(2*STEP_PER_M);
        diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M);
        angle_diff = (diff_right_m - diff_left_m) / WHEEL_DIST;


@@ -746,29 +767,31 @@ static void update_pos(void) {
        else if (angle_new < 2*M_PI) angle_new+=2*M_PI;
 
        translation = (diff_left_m + diff_right_m)/2.0;
        else if (angle_new < 2*M_PI) angle_new+=2*M_PI;
 
        translation = (diff_left_m + diff_right_m)/2.0;

-       pos_x_diff = cos(angle_new)*translation;
-       pos_y_diff = sin(angle_new)*translation;
-       
-       cli();
-       angle.f = angle_new;
-       pos_x.f += pos_x_diff;
-       pos_y.f += pos_y_diff;
-       sei();
+       pos_x_new = pos_x.f + cos(angle_new)*translation;
+       pos_y_new = pos_y.f + sin(angle_new)*translation;

 
 

-       speed_l = (speed1+speed2)/2;
-       speed_r = (speed3+speed4)/2;
+       speed_l = (new_speed1+new_speed2)/2;
+       speed_r = (new_speed3+new_speed4)/2;

        tmp_speed_lin = (speed_l + speed_r)/(2.0*STEP_PER_M);
        tmp_speed_rot = (speed_r - speed_l)/(M_PI*WHEEL_DIST*STEP_PER_M);
 
        tmp_speed_lin = (speed_l + speed_r)/(2.0*STEP_PER_M);
        tmp_speed_rot = (speed_r - speed_l)/(M_PI*WHEEL_DIST*STEP_PER_M);
 

+       // copy from tmp

        cli();
        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();
 
        cur_speed_lin = tmp_speed_lin;
        cur_speed_rot = tmp_speed_rot;
        sei();
 

-       pos1_last = pos1;
-       pos2_last = pos2;
-       pos3_last = pos3;
-       pos4_last = pos4;
+       pos1_last = cur_pos1;
+       pos2_last = cur_pos2;
+       pos3_last = cur_pos3;
+       pos4_last = cur_pos4;

 }
 
 
 }
 
 


@@ -870,7 +893,7 @@ int main(void) {
        TWI_RESET;
 
        // Motor 1 & 2
        TWI_RESET;
 
        // Motor 1 & 2

-       // Timer 1: Fast PWM inverting mode, Top=256 => 31.25kHz
+       // Timer 1: Fast PWM inverting mode, Top=256 => 15.625kHz

        // Prescaler=1
        TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << COM1A0) | (1 << COM1B0) | (1 << WGM10);
        TCCR1B = (1 << WGM12) | (1 << CS10);
        // Prescaler=1
        TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << COM1A0) | (1 << COM1B0) | (1 << WGM10);
        TCCR1B = (1 << WGM12) | (1 << CS10);


@@ -910,10 +933,18 @@ int main(void) {
                }
 
                if (cmd_vel.bUpdate) {
                }
 
                if (cmd_vel.bUpdate) {

-                       float speed_wish_right = cmd_vel.angle*M_PI*WHEEL_DIST/2 + cmd_vel.speed;
-                       float speed_wish_left = cmd_vel.speed*2-speed_wish_right;
+                       float speed_wish_right, speed_wish_left;
+                       float speed, angle;

 
 

+                       cli();
+                       speed = cmd_vel.speed;
+                       angle = cmd_vel.angle;

                        cmd_vel.bUpdate = 0;
                        cmd_vel.bUpdate = 0;

+                       sei();
+
+                       speed_wish_right = angle*M_PI*WHEEL_DIST/2 + speed;
+                       speed_wish_left = speed*2-speed_wish_right;
+

                        speed_wish_left*=STEP_PER_M;
                        speed_wish_right*=STEP_PER_M;
 
                        speed_wish_left*=STEP_PER_M;
                        speed_wish_right*=STEP_PER_M;
 


@@ -927,12 +958,13 @@ int main(void) {
                        motor4_mode = MOTOR_PID;
                }
 
                        motor4_mode = MOTOR_PID;
                }
 

-               if (run_update >= 312) { // ~100Hz
+               if (run_update >= 156) { // ~100Hz

                        run_update=0;
 
                        update_pos();
                        update_pid();
                        update_motor();
                        run_update=0;
 
                        update_pos();
                        update_pid();
                        update_motor();

+                       count_test++;

                }
 
                sleep_mode();
                }
 
                sleep_mode();

diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex
index cfc59c5c755d3de8ae5dc4af44389b2f737f1eef..d628a2624fd615065dc90827f4685d873070bc0f 100644 (file)
--- a/avr/motor_ctrl/main.hex
+++ b/avr/motor_ctrl/main.hex
@@ -1,602 +1,603 @@
-:100000000C94D8000C94F5000C94F5000C94F500B9\r
-:100010000C94F5000C94F5000C94F5000C94F5008C\r
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