/* main.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/uart/uart.h" #include "modules/proto/proto.h" #include "modules/utils/utils.h" #include "modules/utils/byte.h" #include "modules/math/fixed/fixed.h" #include "io.h" #include "misc.h" #include "state.h" #include "counter.h" #include "pwm.h" #include "pos.h" #include "speed.h" #include "postrack.h" #include "traj.h" #include "aux.h" #include "twi_proto.h" #include "eeprom.h" #ifndef HOST # include "timer.h" #else # include "simu.host.h" #endif /** Report command completion. */ uint8_t main_sequence_ack = 4, main_sequence_ack_cpt; /** Report of counters. */ uint8_t main_stat_counter, main_stat_counter_cpt; /** Report of position. */ uint8_t main_stat_postrack, main_stat_postrack_cpt; /** Report of auxiliary position. */ uint8_t main_stat_aux_pos, main_stat_aux_pos_cpt; /** Statistics about speed control. */ uint8_t main_stat_speed, main_stat_speed_cpt; /** Statistics about shaft position control. */ uint8_t main_stat_pos, main_stat_pos_cpt; /** Statistics about auxiliary shaft position control. */ uint8_t main_stat_pos_aux, main_stat_pos_aux_cpt; /** Statistics about pwm values. */ uint8_t main_stat_pwm, main_stat_pwm_cpt; /** Report of timer. */ uint8_t main_stat_timer, main_stat_timer_cpt; /** Print input port. */ uint8_t main_print_pin, main_print_pin_cpt; #ifdef HOST /** Simulation data. */ uint8_t main_simu, main_simu_cpt; #endif /* HOST */ /** Record timer value at different stage of computing. Used for performance * analisys. */ uint8_t main_timer[6]; static void main_loop (void); /** Entry point. */ int main (int argc, char **argv) { avr_init (argc, argv); /* Pull-ups. */ PORTC = 0xff; PORTD = 0xf0; PORTE = 0xff; PORTF = 0xfc; PORTG = 0x18; LED_SETUP; pwm_init (); timer_init (); counter_init (); uart0_init (); twi_proto_init (); postrack_init (); speed_init (); traj_init (); aux_init (); eeprom_read_params (); proto_send0 ('z'); sei (); while (1) main_loop (); return 0; } /** Main loop. */ static void main_loop (void) { main_timer[5] = timer_read (); timer_wait (); /* Counter update. */ counter_update (); main_timer[0] = timer_read (); /* Position control. */ pos_update (); main_timer[1] = timer_read (); /* Pwm setup. */ pwm_update (); main_timer[2] = timer_read (); /* Compute absolute position. */ postrack_update (); aux_pos_update (); /* Compute trajectory. */ if (state_main.mode >= MODE_TRAJ) traj_update (); aux_traj_update (); /* Speed control. */ speed_update (); main_timer[3] = timer_read (); /* Stats. */ if (main_sequence_ack && (state_main.sequence_ack != state_main.sequence_finish || state_aux[0].sequence_ack != state_aux[0].sequence_finish || state_aux[1].sequence_ack != state_aux[1].sequence_finish) && !--main_sequence_ack_cpt) { proto_send3b ('A', state_main.sequence_finish, state_aux[0].sequence_finish, state_aux[1].sequence_finish); main_sequence_ack_cpt = main_sequence_ack; } if (main_stat_counter && !--main_stat_counter_cpt) { proto_send4w ('C', counter_left, counter_right, counter_aux[0], counter_aux[1]); main_stat_counter_cpt = main_stat_counter; } if (main_stat_postrack && !--main_stat_postrack_cpt) { proto_send3d ('X', postrack_x, postrack_y, postrack_a); main_stat_postrack_cpt = main_stat_postrack; } if (main_stat_aux_pos && !--main_stat_aux_pos_cpt) { proto_send2w ('Y', aux[0].pos, aux[1].pos); main_stat_aux_pos_cpt = main_stat_aux_pos; } if (main_stat_speed && !--main_stat_speed_cpt) { proto_send4b ('S', speed_theta.cur >> 8, speed_alpha.cur >> 8, speed_aux[0].cur >> 8, speed_aux[1].cur >> 8); main_stat_speed_cpt = main_stat_speed; } if (main_stat_pos && !--main_stat_pos_cpt) { proto_send4w ('P', pos_theta.e_old, pos_theta.i, pos_alpha.e_old, pos_alpha.i); main_stat_pos_cpt = main_stat_pos; } if (main_stat_pos_aux && !--main_stat_pos_aux_cpt) { proto_send4w ('Q', pos_aux[0].e_old, pos_aux[0].i, pos_aux[1].e_old, pos_aux[1].i); main_stat_pos_aux_cpt = main_stat_pos_aux; } #ifdef HOST if (main_simu && !--main_simu_cpt) { proto_send3w ('H', (uint16_t) simu_pos_x, (uint16_t) simu_pos_y, (uint16_t) (simu_pos_a * 1024)); main_simu_cpt = main_simu; } #endif /* HOST */ if (main_stat_pwm && !--main_stat_pwm_cpt) { proto_send4w ('W', pwm_left.cur, pwm_right.cur, pwm_aux[0].cur, pwm_aux[1].cur); main_stat_pwm_cpt = main_stat_pwm; } if (main_stat_timer && !--main_stat_timer_cpt) { proto_send6b ('T', main_timer[0], main_timer[2], main_timer[3], main_timer[4], main_timer[4], main_timer[5]); main_stat_timer_cpt = main_stat_timer; } if (main_print_pin && !--main_print_pin_cpt) { proto_send1b ('I', PINC); main_print_pin_cpt = main_print_pin; } /* Misc. */ while (uart0_poll ()) proto_accept (uart0_getc ()); twi_proto_update (); main_timer[4] = timer_read (); } /** Handle incoming messages. */ void proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) { /* Many commands use the first argument as a selector. */ struct aux_t *auxp = 0; struct pwm_t *pwm = 0; struct pos_t *pos = 0; struct speed_t *speed = 0; struct state_t *state = 0; if (args[0] < AC_ASSERV_AUX_NB) { auxp = &aux[args[0]]; pwm = &pwm_aux[args[0]]; pos = &pos_aux[args[0]]; speed = &speed_aux[args[0]]; state = &state_aux[args[0]]; } /* Decode command. */ #define c(cmd, size) (cmd << 8 | size) switch (c (cmd, size)) { case c ('z', 0): /* Reset. */ utils_reset (); break; /* Commands. */ case c ('w', 0): /* Set zero pwm. */ pos_reset (&pos_theta); pos_reset (&pos_alpha); state_main.mode = MODE_PWM; pwm_set (&pwm_left, 0); pwm_set (&pwm_right, 0); break; case c ('W', 0): /* Set zero auxiliary pwm. */ pos_reset (&pos_aux[0]); pos_reset (&pos_aux[1]); state_aux[0].mode = MODE_PWM; state_aux[1].mode = MODE_PWM; pwm_set (&pwm_aux[0], 0); pwm_set (&pwm_aux[1], 0); break; case c ('w', 4): /* Set pwm. * - w: left pwm. * - w: right pwm. */ pos_reset (&pos_theta); pos_reset (&pos_alpha); state_main.mode = MODE_PWM; pwm_set (&pwm_left, v8_to_v16 (args[0], args[1])); pwm_set (&pwm_right, v8_to_v16 (args[2], args[3])); break; case c ('W', 3): /* Set auxiliary pwm. * - b: aux index. * - w: pwm. */ if (!auxp) { proto_send0 ('?'); return; } pos_reset (pos); state->mode = MODE_PWM; pwm_set (pwm, v8_to_v16 (args[1], args[2])); break; case c ('c', 4): /* Add to position consign. * - w: theta consign offset. * - w: alpha consign offset. */ state_main.mode = MODE_POS; state_main.variant = 0; pos_theta.cons += v8_to_v16 (args[0], args[1]); pos_alpha.cons += v8_to_v16 (args[2], args[3]); break; case c ('C', 3): /* Add to auxiliary position consign. * - b: aux index. * - w: consign offset. */ if (!auxp) { proto_send0 ('?'); return; } state->mode = MODE_POS; state->variant = 0; pos->cons += v8_to_v16 (args[1], args[2]); break; case c ('s', 0): /* Stop (set zero speed). */ state_main.mode = MODE_SPEED; state_main.variant = 0; speed_theta.use_pos = speed_alpha.use_pos = 0; speed_theta.cons = 0; speed_alpha.cons = 0; break; case c ('s', 2): /* Set speed. * - b: theta speed. * - b: alpha speed. */ state_main.mode = MODE_SPEED; state_main.variant = 0; speed_theta.use_pos = speed_alpha.use_pos = 0; speed_theta.cons = args[0] << 8; speed_alpha.cons = args[1] << 8; break; case c ('S', 2): /* Set auxiliary speed. * - b: aux index. * - b: speed. */ if (!auxp) { proto_send0 ('?'); return; } state->mode = MODE_SPEED; state->variant = 0; speed->use_pos = 0; speed->cons = args[1] << 8; break; case c ('s', 9): /* Set speed controlled position consign. * - d: theta consign offset. * - d: alpha consign offset. * - b: sequence number. */ if (args[8] == state_main.sequence) break; speed_theta.use_pos = speed_alpha.use_pos = 1; speed_theta.pos_cons = pos_theta.cons; speed_theta.pos_cons += v8_to_v32 (args[0], args[1], args[2], args[3]); speed_alpha.pos_cons = pos_alpha.cons; speed_alpha.pos_cons += v8_to_v32 (args[4], args[5], args[6], args[7]); state_start (&state_main, MODE_SPEED, args[8]); break; case c ('l', 5): /* Set linear speed controlled position consign. * - d: consign offset. * - b: sequence number. */ if (args[4] == state_main.sequence) break; speed_theta.use_pos = speed_alpha.use_pos = 1; speed_theta.pos_cons = pos_theta.cons; speed_theta.pos_cons += v8_to_v32 (args[0], args[1], args[2], args[3]); speed_alpha.pos_cons = pos_alpha.cons; state_start (&state_main, MODE_SPEED, args[4]); break; case c ('a', 5): /* Set angular speed controlled position consign. * - d: angle offset. * - b: sequence number. */ if (args[4] == state_main.sequence) break; traj_angle_offset_start (v8_to_v32 (args[0], args[1], args[2], args[3]), args[4]); break; case c ('S', 6): /* Set auxiliary speed controlled position consign. * - b: aux index. * - d: consign offset. * - b: sequence number. */ if (!auxp) { proto_send0 ('?'); return; } if (args[5] == state->sequence) break; speed->use_pos = 1; speed->pos_cons = pos->cons; speed->pos_cons += v8_to_v32 (args[1], args[2], args[3], args[4]); state_start (state, MODE_SPEED, args[5]); break; case c ('f', 2): /* Go to the wall. * - b: 0: forward, 1: backward. * - b: sequence number. */ if (args[1] == state_main.sequence) break; traj_ftw_start (args[0], args[1]); break; case c ('f', 3): /* Go to the wall, using center with a delay. * - b: 0: forward, 1: backward. * - b: delay. * - b: sequence number. */ if (args[1] == state_main.sequence) break; traj_ftw_start_center (args[0], args[1], args[2]); break; case c ('F', 1): /* Go to the dispenser. * - b: sequence number. */ if (args[0] == state_main.sequence) break; traj_gtd_start (args[0]); break; case c ('x', 10): /* Go to position. * - d: x, f24.8. * - d: y, f24.8. * - b: backward (see traj.h). * - b: sequence number. */ if (args[9] == state_main.sequence) break; traj_goto_start (v8_to_v32 (args[0], args[1], args[2], args[3]), v8_to_v32 (args[4], args[5], args[6], args[7]), args[8], args[9]); break; case c ('x', 3): /* Go to angle. * - d: a, f0.16. * - b: sequence number. */ if (args[2] == state_main.sequence) break; traj_goto_angle_start (v8_to_v32 (0, args[0], args[1], 0), args[2]); break; case c ('x', 12): /* Go to position, then angle. * - d: x, f24.8. * - d: y, f24.8. * - w: a, f0.16. * - b: backward (see traj.h). * - b: sequence number. */ if (args[11] == state_main.sequence) break; traj_goto_xya_start (v8_to_v32 (args[0], args[1], args[2], args[3]), v8_to_v32 (args[4], args[5], args[6], args[7]), v8_to_v32 (0, args[8], args[9], 0), args[10], args[11]); break; case c ('y', 4): /* Auxiliary go to position. * - b: aux index. * - w: pos, i16. * - b: sequence number. */ if (!auxp) { proto_send0 ('?'); return; } if (args[3] == state->sequence) break; aux_traj_goto_start (auxp, v8_to_v16 (args[1], args[2]), args[3]); break; case c ('y', 3): /* Auxiliary find zero. * - b: aux index. * - b: speed. * - b: sequence number. */ if (!auxp) { proto_send0 ('?'); return; } if (args[2] == state->sequence) break; if (args[0] == 0) aux_traj_find_limit_start (auxp, args[1], args[2]); else aux_traj_find_zero_reverse_start (auxp, args[1], args[2]); break; case c ('a', 3): /* Set all acknoledge. * - b: main ack sequence number. * - b: first auxiliary ack sequence number. * - b: second auxiliary ack sequence number. */ state_acknowledge (&state_aux[0], args[1]); state_acknowledge (&state_aux[1], args[2]); /* no break; */ case c ('a', 1): /* Set main acknoledge. * - b: main ack sequence number. */ state_acknowledge (&state_main, args[0]); break; /* Stats. * - b: interval between stats. */ case c ('A', 1): /* Command completion report. */ main_sequence_ack_cpt = main_sequence_ack = args[0]; break; case c ('C', 1): /* Counter stats. */ main_stat_counter_cpt = main_stat_counter = args[0]; break; case c ('X', 1): /* Position stats. */ main_stat_postrack_cpt = main_stat_postrack = args[0]; break; case c ('Y', 1): /* Auxiliary position stats. */ main_stat_aux_pos_cpt = main_stat_aux_pos = args[0]; break; case c ('S', 1): /* Motor speed control stats. */ main_stat_speed_cpt = main_stat_speed = args[0]; break; case c ('P', 1): /* Motor position control stats. */ main_stat_pos_cpt = main_stat_pos = args[0]; break; case c ('Q', 1): /* Auxiliary motor position control stats. */ main_stat_pos_aux_cpt = main_stat_pos_aux = args[0]; break; case c ('W', 1): /* Pwm stats. */ main_stat_pwm_cpt = main_stat_pwm = args[0]; break; case c ('T', 1): /* Timing stats. */ main_stat_timer_cpt = main_stat_timer = args[0]; break; case c ('I', 1): /* Input port stats. */ main_print_pin_cpt = main_print_pin = args[0]; break; #ifdef HOST case c ('H', 1): /* Simulation data. */ main_simu_cpt = main_simu = args[0]; break; #endif /* HOST */ default: /* Params. */ if (cmd == 'p') { /* Many commands use the first argument as a selector. */ switch (args[1]) { case 't': pos = &pos_theta; speed = &speed_theta; break; case 'a': pos = &pos_alpha; speed = &speed_alpha; break; case 0: case 1: pos = &pos_aux[args[1]]; speed = &speed_aux[args[1]]; break; default: pos = 0; speed = 0; break; } switch (c (args[0], size)) { case c ('X', 1): /* Reset position. */ postrack_x = 0; postrack_y = 0; postrack_a = 0; break; case c ('X', 5): /* Set current x position. * - d: x position. */ postrack_x = v8_to_v32 (args[1], args[2], args[3], args[4]); break; case c ('Y', 5): /* Set current y position. * - d: y position. */ postrack_y = v8_to_v32 (args[1], args[2], args[3], args[4]); break; case c ('A', 5): /* Set current angle. * - d: angle. */ postrack_a = v8_to_v32 (args[1], args[2], args[3], args[4]); break; case c ('c', 5): /* Set right counter correction factor. * - d: factor (f8.24). */ counter_right_correction = v8_to_v32 (args[1], args[2], args[3], args[4]); break; case c ('f', 3): /* Set footing. * - w: footing. */ postrack_set_footing (v8_to_v16 (args[1], args[2])); break; case c ('a', 4): /* Set acceleration. * - b: index. * - w: acceleration. */ if (!speed) { proto_send0 ('?'); return; } speed->acc = v8_to_v16 (args[2], args[3]); break; case c ('s', 4): /* Set maximum and slow speed. * - b: index. * - b: max speed. * - b: slow speed. */ if (!speed) { proto_send0 ('?'); return; } speed->max = args[2]; speed->slow = args[3]; break; case c ('p', 4): /* Set proportional coefficient. * - b: index. * - w: P coefficient. */ if (!pos) { proto_send0 ('?'); return; } pos->kp = v8_to_v16 (args[2], args[3]); break; case c ('i', 4): /* Set integral coefficient. * - b: index. * - w: I coefficient. */ if (!pos) { proto_send0 ('?'); return; } pos->ki = v8_to_v16 (args[2], args[3]); break; case c ('d', 4): /* Set differential coefficient. * - b: index. * - w: D coefficient. */ if (!pos) { proto_send0 ('?'); return; } pos->kd = v8_to_v16 (args[2], args[3]); break; case c ('b', 7): /* Set blocking detection parameters. * - b: index. * - w: error limit. * - w: speed limit. * - b: counter limit. */ if (!pos) { proto_send0 ('?'); return; } pos->blocked_error_limit = v8_to_v16 (args[2], args[3]); pos->blocked_speed_limit = v8_to_v16 (args[4], args[5]); pos->blocked_counter_limit = args[6]; break; case c ('E', 3): pos_e_sat = v8_to_v16 (args[1], args[2]); break; case c ('I', 3): pos_i_sat = v8_to_v16 (args[1], args[2]); break; case c ('D', 3): pos_d_sat = v8_to_v16 (args[1], args[2]); break; case c ('e', 5): traj_eps = v8_to_v16 (args[1], args[2]); traj_aeps = v8_to_v16 (args[3], args[4]); break; case c ('l', 3): traj_set_angle_limit (v8_to_v16 (args[1], args[2])); break; case c ('w', 2): /* Set PWM direction. * - b: bits: 0000[aux1][aux0][right][left]. */ pwm_set_reverse (args[1]); break; case c ('E', 2): /* Write to eeprom. * - b: 00: clear config, 01: write config. */ if (args[1]) eeprom_write_params (); else eeprom_clear_params (); break; case c ('P', 1): /* Print current settings. */ proto_send1b ('E', EEPROM_KEY); proto_send1d ('c', counter_right_correction); proto_send1w ('f', postrack_footing); proto_send2w ('a', speed_theta.acc, speed_alpha.acc); proto_send2b ('s', speed_theta.max, speed_theta.slow); proto_send2b ('s', speed_alpha.max, speed_alpha.slow); proto_send3w ('b', pos_theta.blocked_error_limit, pos_theta.blocked_speed_limit, pos_theta.blocked_counter_limit); proto_send3w ('b', pos_alpha.blocked_error_limit, pos_alpha.blocked_speed_limit, pos_alpha.blocked_counter_limit); proto_send2w ('p', pos_theta.kp, pos_alpha.kp); proto_send2w ('i', pos_theta.ki, pos_alpha.ki); proto_send2w ('d', pos_theta.kd, pos_alpha.kd); proto_send2w ('a', speed_aux[0].acc, speed_aux[1].acc); proto_send2b ('s', speed_aux[0].max, speed_aux[0].slow); proto_send2b ('s', speed_aux[1].max, speed_aux[1].slow); proto_send3w ('b', pos_aux[0].blocked_error_limit, pos_aux[0].blocked_speed_limit, pos_aux[0].blocked_counter_limit); proto_send3w ('b', pos_aux[1].blocked_error_limit, pos_aux[1].blocked_speed_limit, pos_aux[1].blocked_counter_limit); proto_send2w ('p', pos_aux[0].kp, pos_aux[1].kp); proto_send2w ('i', pos_aux[0].ki, pos_aux[1].ki); proto_send2w ('d', pos_aux[0].kd, pos_aux[1].kd); proto_send1w ('E', pos_e_sat); proto_send1w ('I', pos_i_sat); proto_send1w ('D', pos_d_sat); proto_send2w ('e', traj_eps, traj_aeps); proto_send1w ('l', traj_angle_limit); proto_send1b ('w', pwm_reverse); break; default: proto_send0 ('?'); return; } } #ifdef HOST else if (cmd == 'h') { switch (c (args[0], size)) { case c ('X', 7): /* Set simulated position. * - w: x position. * - w: y position. * - w: angle (rad) * 1024. */ simu_pos_x = (double) v8_to_v16 (args[1], args[2]); simu_pos_y = (double) v8_to_v16 (args[3], args[4]); simu_pos_a = (double) (int16_t) v8_to_v16 (args[5], args[6]) / 1024; break; } } #endif /* HOST */ else { proto_send0 ('?'); return; } break; } proto_send (cmd, size, args); #undef c }