/* main.c */ /* asserv - Position & speed motor control on a ATmega128. {{{ * * Copyright (C) 2004 Nicolas Schodet * * Robot APB Team/Efrei 2005. * Web: http://assos.efrei.fr/robot/ * Email: robot AT efrei DOT fr * * 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 "dsp.h" #include #include #include #include #include #include "pwm.c" #include "timer.c" #include "counter.c" #include "speed.c" #include "postrack.c" #include "linesensor.c" /** Motor mode : * 0 - pwm setup; * 1 - speed control; * 2 - position control; * 3 - linefol mode; * 4 - linefol calibration mode. */ uint8_t motor_mode; /** Main loop counter. */ uint8_t motor_loop_cpt; /** Statistics about speed control. */ uint8_t motor_stat_speed, motor_stat_speed_cpt; /** Statistics about pwm values. */ uint8_t motor_stat_pwm, motor_stat_pwm_cpt; /** Statistics about pid components. */ uint8_t motor_stat_pid, motor_stat_pid_cpt; /** Report of timer. */ uint8_t motor_stat_timer, motor_stat_timer_cpt; /** Report of counters. */ uint8_t motor_stat_counter, motor_stat_counter_cpt; /** Report position. */ uint8_t motor_stat_postrack, motor_stat_postrack_cpt; /** Record timer value at different stage of computing. Used for performance * analisys. */ uint8_t motor_timer_0, motor_timer_1, motor_timer_2, motor_timer_3; /* +AutoDec */ /* Main loop. */ static void main_loop (void); /** Handle incoming messages. */ static void proto_callback (uint8_t cmd, uint8_t argc, proto_arg_t argv[]); /* -AutoDec */ /* Entry point. */ int main (void) { DDRD = 0x60; pwm_init (0); timer_init (); counter_init (); speed_init (); postrack_init (); rs232_init (); proto_init (proto_callback, rs232_putc); proto_send0 ('z'); sei (); main_loop (); return 0; } /* Main loop. */ static void main_loop (void) { while (1) { motor_timer_0 = timer_read (); while (!timer_pending ()) counter_poll (); counter_update (); motor_timer_3 = timer_read (); postrack_update (); motor_timer_2 = timer_read (); /* Speed control. */ switch (motor_mode) { case 1: case 2: speed_update (); speed_compute_left_pwm (); speed_compute_right_pwm (); break; case 3: linesensor_poll (); speed_compute_linefol_pwm (); speed_compute_left_pwm (); speed_compute_right_pwm (); break; case 4: delay_ms (5L); linesensor_print (); break; } motor_timer_1 = timer_read (); /* Pwm setup. */ pwm_update (); /* Stats. */ if (motor_stat_speed && !--motor_stat_speed_cpt) { proto_send4 ('U', speed_left_e_old >> 8, speed_left_e_old, speed_left_int >> 8, speed_left_int); proto_send4 ('V', speed_right_e_old >> 8, speed_right_e_old, speed_right_int >> 8, speed_right_int); motor_stat_speed_cpt = motor_stat_speed; } // displays stats concerning pid components if (motor_stat_pid && !--motor_stat_pid_cpt) { proto_send4 ('C', pid_pid >> 8, pid_pid, pid_p >> 8, pid_p); proto_send4 ('.', pid_i >> 8, pid_i, pid_d >> 8, pid_d); motor_stat_pid_cpt = motor_stat_pid; } if (motor_stat_pwm && !--motor_stat_pwm_cpt) { proto_send4 ('W', pwm_left >> 8, pwm_left, pwm_right >> 8, pwm_right); motor_stat_pwm_cpt = motor_stat_pwm; } if (motor_stat_timer && !--motor_stat_timer_cpt) { proto_send4 ('T', motor_timer_3, motor_timer_2, motor_timer_1, motor_timer_0); motor_stat_timer_cpt = motor_stat_timer; } if (motor_stat_counter && !--motor_stat_counter_cpt) { proto_send4 ('C', counter_left >> 8, counter_left, counter_right >> 8, counter_right); motor_stat_counter_cpt = motor_stat_counter; } if (motor_stat_postrack && !--motor_stat_postrack_cpt) { proto_send4 ('X', postrack_x >> 24, postrack_x >> 16, postrack_x >> 8, postrack_x); proto_send4 ('Y', postrack_y >> 24, postrack_y >> 16, postrack_y >> 8, postrack_y); proto_send4 ('A', postrack_a >> 24, postrack_a >> 16, postrack_a >> 8, postrack_a); motor_stat_postrack_cpt = motor_stat_postrack; } /* Misc. */ if ((motor_loop_cpt & 7) == 0) { if (rs232_poll ()) proto_accept (rs232_getc ()); } motor_loop_cpt++; } } /** Handle incoming messages. */ static void proto_callback (uint8_t cmd, uint8_t argc, proto_arg_t argv[]) { #define c(cmd, argc) (cmd << 8 | argc) switch (c (cmd, argc)) { case c ('z', 0): reset (); break; case c ('w', 0): speed_restart (); motor_mode = 0; pwm_left = 0; pwm_right = 0; break; case c ('w', 4): speed_restart (); motor_mode = 0; pwm_left = argv[0] << 8 | argv[1]; pwm_right = argv[2] << 8 | argv[3]; break; case c ('s', 2): motor_mode = 1; speed_left_aim = argv[0]; speed_right_aim = argv[1]; break; case c ('L', 0): motor_mode = 4; linesensor_reset (); break; case c ('l', 0): motor_mode = 3; linesensor_reset (); break; case c ('l', 1): motor_mode = 3; linesensor_reset (); linefol_max_pwm = argv[0]; break; case c ('l', 3):// set linefol general coefs : "!lmmKKKK" motor_mode = 3; linesensor_reset (); linefol_max_pwm = argv[0]; K_ATT_LINEPOS_DER = argv[1] << 8 | argv[2]; break; case c ('a', 1): speed_acc_cpt = speed_acc = argv[0]; case c ('p', 2): speed_kp = argv[0] << 8 | argv[1]; break; case c ('i', 2): speed_ki = argv[0] << 8 | argv[1]; break; case c ('d', 2): speed_kd = argv[0] << 8 | argv[1]; break;break; case c ('I', 6): // set lInefol pid coefs : "!Ippppiiiidddd" line_kp = argv[0] << 8 | argv[1]; line_ki = argv[2] << 8 | argv[3]; line_kd = argv[4] << 8 | argv[5]; break; case c ('I', 4): // set lInefol pid coefs : "!Ippppiiiidddd" line_kp = argv[0] << 8 | argv[1]; line_ki = argv[2] << 8 | argv[3]; break; case c ('I', 2): // set lInefol pid coefs : "!Ippppiiiidddd" line_kp = argv[0] << 8 | argv[1]; break; case c ('f', 2): postrack_set_footing (argv[0] << 8 | argv[1]); break; case c ('m', 1): motor_stat_speed_cpt = motor_stat_speed = argv[0]; motor_stat_pwm_cpt = motor_stat_pwm = argv[0]; break; case c ('C', 1): // display components of PID motor_stat_pid_cpt = motor_stat_pid = argv[0]; break; case c ('c', 1): motor_stat_counter_cpt = motor_stat_counter = argv[0]; break; case c ('t', 1): motor_stat_timer_cpt = motor_stat_timer = argv[0]; break; case c ('T', 1): motor_stat_postrack_cpt = motor_stat_postrack = argv[0]; break; case c ('P', 1): // switch PWM frequency mode pwm_init (argv[0]); break; default: proto_send0 ('e'); return; } proto_send (cmd, argc, argv); #undef c }