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-rw-r--r--digital/mimot/src/asserv/Makefile22
-rw-r--r--digital/mimot/src/asserv/avrconfig.h173
-rw-r--r--digital/mimot/src/asserv/contacts.h34
-rw-r--r--digital/mimot/src/asserv/misc.h44
-rw-r--r--digital/mimot/src/asserv/models.host.c165
-rw-r--r--digital/mimot/src/asserv/timer.avr.c68
6 files changed, 506 insertions, 0 deletions
diff --git a/digital/mimot/src/asserv/Makefile b/digital/mimot/src/asserv/Makefile
new file mode 100644
index 00000000..d8841db4
--- /dev/null
+++ b/digital/mimot/src/asserv/Makefile
@@ -0,0 +1,22 @@
+BASE = ../../../avr
+PROGS = asserv
+asserv_SOURCES = main.c timer.avr.c \
+ postrack.c traj.c cs.c \
+ twi_proto.c eeprom.avr.c seq.c \
+ simu.host.c models.host.c
+MODULES = proto uart utils math/fixed twi \
+ motor/encoder motor/encoder/ext motor/output motor/output/pwm_ocr \
+ motor/control_system motor/speed_control motor/pos_control \
+ motor/blocking_detection motor/motor_model
+CONFIGFILE = avrconfig.h
+# atmega8, atmega8535, atmega128...
+AVR_MCU = atmega32
+# -O2 : speed
+# -Os : size
+OPTIMIZE = -Os
+HOST_LIBS = -lm
+
+vpath %.c ../../../asserv/src/asserv
+INCLUDES += -I. -I../../../asserv/src/asserv
+
+include $(BASE)/make/Makefile.gen
diff --git a/digital/mimot/src/asserv/avrconfig.h b/digital/mimot/src/asserv/avrconfig.h
new file mode 100644
index 00000000..f6c13b83
--- /dev/null
+++ b/digital/mimot/src/asserv/avrconfig.h
@@ -0,0 +1,173 @@
+#ifndef avrconfig_h
+#define avrconfig_h
+/* avrconfig.h */
+/* asserv - Position & speed motor control on AVR. {{{
+ *
+ * Copyright (C) 2005 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+
+/* global */
+/** AVR Frequency : 1000000, 1843200, 2000000, 3686400, 4000000, 7372800,
+ * 8000000, 11059200, 14745600, 16000000, 18432000, 20000000. */
+#define AC_FREQ 14745600
+
+/* uart - UART module. */
+/** Select hardware uart for primary uart: 0, 1 or -1 to disable. */
+#define AC_UART0_PORT 0
+/** Baudrate: 2400, 4800, 9600, 14400, 19200, 28800, 38400, 57600, 76800,
+ * 115200, 230400, 250000, 500000, 1000000. */
+#define AC_UART0_BAUDRATE 38400
+/** Send mode:
+ * - POLLING: no interrupts.
+ * - RING: interrupts, ring buffer. */
+#define AC_UART0_SEND_MODE RING
+/** Recv mode, same as send mode. */
+#define AC_UART0_RECV_MODE RING
+/** Character size: 5, 6, 7, 8, 9 (only 8 implemented). */
+#define AC_UART0_CHAR_SIZE 8
+/** Parity : ODD, EVEN, NONE. */
+#define AC_UART0_PARITY EVEN
+/** Stop bits : 1, 2. */
+#define AC_UART0_STOP_BITS 1
+/** Send buffer size, should be power of 2 for RING mode. */
+#define AC_UART0_SEND_BUFFER_SIZE 128
+/** Recv buffer size, should be power of 2 for RING mode. */
+#define AC_UART0_RECV_BUFFER_SIZE 32
+/** If the send buffer is full when putc:
+ * - DROP: drop the new byte.
+ * - WAIT: wait until there is room in the send buffer. */
+#define AC_UART0_SEND_BUFFER_FULL DROP
+/** In HOST compilation:
+ * - STDIO: use stdin/out.
+ * - PTS: use pseudo terminal. */
+#define AC_UART0_HOST_DRIVER STDIO
+/** Same thing for secondary port. */
+#define AC_UART1_PORT -1
+#define AC_UART1_BAUDRATE 115200
+#define AC_UART1_SEND_MODE RING
+#define AC_UART1_RECV_MODE RING
+#define AC_UART1_CHAR_SIZE 8
+#define AC_UART1_PARITY EVEN
+#define AC_UART1_STOP_BITS 1
+#define AC_UART1_SEND_BUFFER_SIZE 32
+#define AC_UART1_RECV_BUFFER_SIZE 32
+#define AC_UART1_SEND_BUFFER_FULL WAIT
+#define AC_UART1_HOST_DRIVER PTS
+
+/* proto - Protocol module. */
+/** Maximum argument size. */
+#define AC_PROTO_ARGS_MAX_SIZE 12
+/** Callback function name. */
+#define AC_PROTO_CALLBACK proto_callback
+/** Putchar function name. */
+#define AC_PROTO_PUTC uart0_putc
+/** Support for quote parameter. */
+#define AC_PROTO_QUOTE 1
+
+/* asserv. */
+/** Number of auxiliary motors. */
+#define AC_ASSERV_AUX_NB 0
+/** TWI address. */
+#define AC_ASSERV_TWI_ADDRESS 4
+/** Header file misc.h. */
+#define AC_ASSERV_MISC_H <misc.h>
+/** Header file contacts.h. */
+#define AC_ASSERV_CONTACTS_H <contacts.h>
+
+/* twi - TWI module. */
+/** Driver to implement TWI: HARD, SOFT, or USI. */
+#define AC_TWI_DRIVER HARD
+/** Do not use interrupts. */
+#define AC_TWI_NO_INTERRUPT 0
+/** TWI frequency, should really be 100 kHz. */
+#define AC_TWI_FREQ 100000
+/** Enable slave part. */
+#define AC_TWI_SLAVE_ENABLE 1
+/** Enable master part. */
+#define AC_TWI_MASTER_ENABLE 0
+/** Use polled slave mode: received data is stored in a buffer which can be
+ * polled using twi_slave_poll. */
+#define AC_TWI_SLAVE_POLLED 1
+/** Slave reception callback to be defined by the user when not in polled
+ * mode. */
+#undef AC_TWI_SLAVE_RECV
+/** Use internal pull up. */
+#define AC_TWI_PULL_UP 0
+/** Slave reception buffer size. */
+#define AC_TWI_SLAVE_RECV_BUFFER_SIZE 16
+/** Slave transmission buffer size. */
+#define AC_TWI_SLAVE_SEND_BUFFER_SIZE 16
+
+/* motor/encoder - Encoder module. */
+/** Use external encoder module. */
+#define AC_ENCODER_USE_EXT 1
+
+/* motor/encoder/ext - External encoder module. */
+/** Number of encoders. */
+#define AC_ENCODER_EXT_NB 2
+/** Use external memory hardware interface. */
+#define AC_ENCODER_EXT_USE_XMEM 0
+/** If not using XMEM, address/data bus, see io_bus.h. */
+#define AC_ENCODER_EXT_AD_BUS A, 4, 0, B, 4, 0
+/** If not using XMEM, address latch enable IO. */
+#define AC_ENCODER_EXT_ALE_IO B, 4
+/** If not using XMEM, read enable IO, valid low. */
+#define AC_ENCODER_EXT_RD_IO D, 6
+/** Reverse flag for each encoder (1 to reverse direction). */
+#define AC_ENCODER_EXT_REVERSE 0, 0
+/** Right shift for all encoders to lower resolution. */
+#define AC_ENCODER_EXT_SHIFT 1
+/** For debug purpose only! */
+#define AC_ENCODER_EXT_EXPORT_READ 0
+
+/* motor/output - Output module. */
+/** Use Output Compare PWM output. */
+#define AC_OUTPUT_USE_PWM_OCR 1
+/** Use Motor Power PWM output. */
+#define AC_OUTPUT_USE_PWM_MP 0
+/** Define module and module index for each output. */
+#define AC_OUTPUT_LIST (pwm_ocr, 0), (pwm_ocr, 1)
+
+/* motor/output/pwm_ocr - Output Compare PWM output module. */
+/** For each output, define output parameters:
+ *
+ * (timer, ocr, pwm_io, dir_io[, brake_io])
+ *
+ * With:
+ * - timer: timer number (ex: 1 for TIMER1)
+ * - ocr: output compare (ex: A for output compare A)
+ * - mode: compare output mode (ex: 2, see datasheet)
+ * - pwm_io: corresponding io port (ex: B, 1)
+ * - dir_io: io port used for direction (ex: B, 2)
+ * - brake_io: optional io port used for brake (ex: B, 3)
+ */
+#define AC_OUTPUT_PWM_OCR_LIST \
+ (1, A, 2, D,5, D,3, A,4), \
+ (1, B, 2, D,4, D,2, A,5)
+/** Clock select for each used timer. */
+#define AC_OUTPUT_PWM_OCR_CS_1 0b0001
+/** Waveform Generation Mode for each used timer. */
+#define AC_OUTPUT_PWM_OCR_WGM_1 0b0011
+/** Offset added to PWM value to compensate for H-bridge weakness. */
+#define AC_OUTPUT_PWM_OCR_OFFSET 0x40
+
+#endif /* avrconfig_h */
diff --git a/digital/mimot/src/asserv/contacts.h b/digital/mimot/src/asserv/contacts.h
new file mode 100644
index 00000000..61f2a371
--- /dev/null
+++ b/digital/mimot/src/asserv/contacts.h
@@ -0,0 +1,34 @@
+#ifndef contacts_h
+#define contacts_h
+/* contacts.h */
+/* asserv - Position & speed motor control on AVR. {{{
+ *
+ * Copyright (C) 2009 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+
+/** Define contacts. */
+#define CONTACT_BACK_LEFT_IO C, 7
+#define CONTACT_BACK_RIGHT_IO C, 6
+#define CONTACT_FRONT_LEFT_IO C, 5
+#define CONTACT_FRONT_RIGHT_IO C, 4
+
+#endif /* contacts_h */
diff --git a/digital/mimot/src/asserv/misc.h b/digital/mimot/src/asserv/misc.h
new file mode 100644
index 00000000..8c1cefc6
--- /dev/null
+++ b/digital/mimot/src/asserv/misc.h
@@ -0,0 +1,44 @@
+#ifndef misc_h
+#define misc_h
+/* misc.h - Miscellaneous definitions. */
+/* asserv - Position & speed motor control on AVR. {{{
+ *
+ * Copyright (C) 2006 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+
+#define MISC_SETUP do { \
+ /* Pull-ups. */ \
+ PORTB = 0xe0; \
+ PORTC = 0xfc; \
+ PORTD = 0x80; \
+} while (0)
+
+#define LED_SETUP do { \
+} while (0)
+
+#define LED1(x) do { \
+} while (0)
+
+#define LED2(x) do { \
+} while (0)
+
+#endif /* misc_h */
diff --git a/digital/mimot/src/asserv/models.host.c b/digital/mimot/src/asserv/models.host.c
new file mode 100644
index 00000000..27a696ea
--- /dev/null
+++ b/digital/mimot/src/asserv/models.host.c
@@ -0,0 +1,165 @@
+/* models.host.c */
+/* asserv - Position & speed motor control on AVR. {{{
+ *
+ * Copyright (C) 2006 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+#define _GNU_SOURCE 1 /* Need ISO C99 features as well. */
+#include "common.h"
+
+#include "modules/utils/utils.h"
+
+#include "io.h"
+
+#include "models.host.h"
+#include "simu.host.h"
+
+#include "aux.h"
+
+#include AC_ASSERV_CONTACTS_H
+
+#include <math.h>
+#include <string.h>
+
+#define NO_CORNER { { 0, 0 }, { 0, 0 }, { 0, 0 }, { 0, 0 } }
+
+static int
+simu_table_test_guybrush (double p_x, double p_y);
+
+/* Guybrush, APBTeam 2012. */
+static const struct robot_t guybrush_robot =
+{
+ /* Main motors. */
+ &motor_model_def_faulhaber_2657_x9_7,
+ /* Motors voltage (V). */
+ 24.0,
+ /* Number of steps on the main motors encoders. */
+ 2500,
+ /* Wheel radius (m). */
+ 0.065 / 2,
+ /* Distance between the wheels (m). */
+ 0.16,
+ /* Weight of the robot (kg). */
+ 10.0,
+ /* Distance of the gravity center from the center of motors axis (m). */
+ 0.0,
+ /* Whether the encoder is mounted on the main motor (false) or not (true). */
+ 1,
+ /** Encoder wheel radius (m). */
+ 0.063 / 2,
+ /** Distance between the encoders wheels (m). */
+ 0.28,
+ /** No auxiliary motors. */
+ { }, { }, { },
+ /** Sensor update function. */
+ NULL,
+ /** Table test function, return false if given robot point is not in
+ * table. */
+ simu_table_test_guybrush,
+ /** Robot corners, from front left, then clockwise. */
+ { { 150, 171.5 }, { 150, -171.5 }, { -130, -121.5 }, { -130, 121.5 } },
+ /** Initialisation function. */
+ NULL,
+};
+
+/* Table of models. */
+static const struct
+{
+ const char *name;
+ const struct robot_t *robot;
+} models[] = {
+ { "guybrush", &guybrush_robot },
+ { 0, 0 }
+};
+
+/** Get a pointer to a model by name, or return 0. */
+const struct robot_t *
+models_get (const char *name)
+{
+ int i;
+ for (i = 0; models[i].name; i++)
+ {
+ if (strcmp (models[i].name, name) == 0)
+ return models[i].robot;
+ }
+ return 0;
+}
+
+/** Initialise simulation models. */
+void
+models_init (const struct robot_t *robot, motor_model_t *main_motor_left,
+ motor_model_t *main_motor_right, motor_model_t aux_motor[])
+{
+ int i;
+ if (main_motor_left)
+ {
+ main_motor_left->m = *robot->main_motor;
+ main_motor_left->m.J = robot->weight * robot->wheel_r
+ * robot->wheel_r / 2;
+ main_motor_left->h = ECHANT_PERIOD;
+ main_motor_left->d = 1000;
+ }
+ if (main_motor_right)
+ {
+ main_motor_right->m = *robot->main_motor;
+ main_motor_right->m.J = robot->weight * robot->wheel_r
+ * robot->wheel_r / 2;
+ main_motor_right->h = ECHANT_PERIOD;
+ main_motor_right->d = 1000;
+ }
+ if (aux_motor)
+ {
+ for (i = 0; i < AC_ASSERV_AUX_NB; i++)
+ {
+ if (robot->aux_motor[i])
+ {
+ aux_motor[i].m = *robot->aux_motor[i];
+ aux_motor[i].m.J = robot->aux_load[i];
+ aux_motor[i].h = ECHANT_PERIOD;
+ aux_motor[i].d = 1000;
+ }
+ }
+ }
+ if (robot->init)
+ robot->init (robot, main_motor_left, main_motor_right, aux_motor);
+}
+
+/* Table test for Guybrush. */
+int
+simu_table_test_guybrush (double p_x, double p_y)
+{
+ static const double table_width = 3000.0, table_height = 2000.0;
+ double x, y;
+ simu_compute_absolute_position (p_x, p_y, &x, &y);
+ if (x < 0 || y < 0 || x >= table_width || y >= table_height)
+ return 0;
+ /* Totems. */
+ if (((x >= 1500 - 400 - 125 && x < 1500 - 400 + 125)
+ || (x >= 1500 + 400 - 125 && x < 1500 + 400 + 125))
+ && (y >= 1000 - 125 && y < 1000 + 125))
+ return 0;
+ /* Boats. */
+ double bx = 325 + (400 - 325) * y / 1500. + 22;
+ if ((x < bx || x >= 3000 - bx) && y < 740)
+ return 0;
+ return 1;
+}
+
diff --git a/digital/mimot/src/asserv/timer.avr.c b/digital/mimot/src/asserv/timer.avr.c
new file mode 100644
index 00000000..45079ccd
--- /dev/null
+++ b/digital/mimot/src/asserv/timer.avr.c
@@ -0,0 +1,68 @@
+/* timer.avr.c */
+/* asserv - Position & speed motor control on AVR. {{{
+ *
+ * Copyright (C) 2005 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+#include "common.h"
+
+#include "modules/utils/utils.h"
+#include "modules/motor/encoder/encoder.h"
+#include "io.h"
+
+/** Top timer value. */
+#define TIMER_TOP 255
+/** Number of steps during wait. */
+#define TIMER_STEPS 4
+/** Size of step. */
+#define TIMER_STEP ((TIMER_TOP + 1) / TIMER_STEPS)
+
+/** Initialise the timer. */
+void
+timer_init (void)
+{
+ TCCR0 = regv (FOC0, WGM00, COM01, COM00, WGM01, CS02, CS01, CS00,
+ 0, 0, 0, 0, 0, 1, 0, 0);
+ /* Fov = F_io / (prescaler * (TOP + 1))
+ * TOP = 0xff
+ * prescaler = 256
+ * Tov = 1 / Fov = 4.444 ms */
+}
+
+/** Wait for timer overflow. */
+void
+timer_wait (void)
+{
+ uint8_t i;
+ /* Make small steps with counter updates. */
+ for (i = 1; i < TIMER_STEPS; i++)
+ {
+ while (TCNT0 < i * TIMER_STEP)
+ ;
+ encoder_update_step ();
+ }
+ /* Wait overflow. */
+ while (!(TIFR & _BV (TOV0)))
+ ;
+ /* Write 1 to clear. */
+ TIFR = _BV (TOV0);
+}
+