From: Erik Andresen Date: Fri, 29 May 2015 17:46:28 +0000 (+0200) Subject: avr: clk back to 4MHz, optimize uninterruptible parts X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=commitdiff_plain;h=cd1512dc132f9069479bff8e73a8adabbca9ddf0 avr: clk back to 4MHz, optimize uninterruptible parts --- diff --git a/avr/motor_ctrl/Makefile b/avr/motor_ctrl/Makefile index 6160c44..50995aa 100644 --- a/avr/motor_ctrl/Makefile +++ b/avr/motor_ctrl/Makefile @@ -90,7 +90,7 @@ EXTRAINCDIRS = CSTANDARD = -std=gnu99 # Place -D or -U options here -CDEFS = -DF_CPU=8000000 +CDEFS = -DF_CPU=4000000 # Place -I options here CINCS = -Ii2c/ diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c index 72c0659..2713674 100644 --- 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 - * 0x94 TLE Error status + * free + * 0xA0 Reset reason + * 0xA1 TLE Error status + * 0xA2 count test * 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 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; @@ -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 uint8_t count_test=0; ISR(TWI_vect) { @@ -544,10 +548,18 @@ ISR(TWI_vect) 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; + case 0xA2: // count test + TWDR = count_test; + TWI_ACK; 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; - 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 cur_pos1, cur_pos2, cur_pos3, cur_pos4; + int16_t new_speed1, new_speed2, new_speed3, new_speed4; + // copy to tmp 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(); + 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; @@ -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; - 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); + // 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 = 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 - // 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); @@ -910,10 +933,18 @@ int main(void) { } 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; + 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; @@ -927,12 +958,13 @@ int main(void) { motor4_mode = MOTOR_PID; } - if (run_update >= 312) { // ~100Hz + if (run_update >= 156) { // ~100Hz run_update=0; update_pos(); update_pid(); update_motor(); + count_test++; } sleep_mode(); diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex index cfc59c5..d628a26 100644 --- a/avr/motor_ctrl/main.hex +++ b/avr/motor_ctrl/main.hex @@ -1,602 +1,603 @@ -:100000000C94D8000C94F5000C94F5000C94F500B9 -:100010000C94F5000C94F5000C94F5000C94F5008C -:100020000C94F5000C9417040C94F5000C94F50056 -:100030000C94F5000C94F6040C94F5000C94F50067 -:100040000C94F5000C94F5000C94F5000C94F7005A -:100050000C94F500CC02F803CF02F803D302F803A6 -:10006000D502F803F803F803F803F803F803F803DC -:10007000D702EF02DC02EF02E102EF02E602EF023A -:10008000F803F803F803F803F803F803F803F80398 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