diff --git a/linear_pendulum_2009/avr/vel_control.c b/linear_pendulum_2009/avr/vel_control.c
index 69a20cd690a6a52305c13e8edfa6124ceb8b4f90..a022b7c752af1fa1ccc93cef4da8f0700a106e0c 100644
--- a/linear_pendulum_2009/avr/vel_control.c
+++ b/linear_pendulum_2009/avr/vel_control.c
@@ -10,7 +10,6 @@
#include <avr/io.h>
#include <avr/interrupt.h>
#include <inttypes.h>
-#include <compat/deprecated.h>
#include "vel_control.h"
#include "serialio.h"
@@ -44,16 +43,16 @@
static volatile uint8_t pccom_poll=0;
+// Keep alive timer
+volatile uint16_t nbrSamples = 0; // nbr of samples between ctrl-ref updates
// reference variables
-volatile int32_t vel_ref = 0; // 11 frac bits (variable in mm/s, max 2^12)
+volatile int32_t g_vel_ref = 0; // 11 frac bits (variable in mm/s, max 2^12)
volatile int32_t refCtrl = 0; // ref used in ctrl-loop (=ref sent from simulink)
-volatile int32_t acc_ref = 0; // 14 frac bits (variable in mm/s, max 2^15)
-volatile uint16_t nbrSamples = 0; // nbr of samples between ctrl-ref updates
+volatile int32_t g_acc_ref = 0; // 14 frac bits (variable in mm/s, max 2^15)
// velocity control variables
volatile int32_t u = 0; // 11 frac bits
-volatile int32_t uSend = 0; // ctrl sent to simulink
volatile int32_t v = 0; // 11 frac bits
volatile int32_t vSat = 0;
volatile int8_t brake = 0; // brake variable if pos-sample missed
@@ -62,7 +61,7 @@ volatile int32_t e = 0; // 11 frac bits
volatile int8_t intCond = 0;
-volatile int32_t K = 807; // 6 frac bits, prop constant
+volatile int32_t K = 807; // 6 frac bits, prop constant
volatile int32_t Ke = 13; // 6 frac bits, integral constant
volatile int8_t fr_comp = (10<<3);
#define V_MAX (120<<4)
@@ -84,7 +83,6 @@ volatile int8_t oldY; // previous encoder signal
// velocity estimation parameters
volatile int32_t velEst = 0; // vel-estimate, 5 frac bits
-volatile int32_t velEstSend = 0; // vel-estimate sent to simulink
int16_t a = 116; // 7 frac bits (parameter in velocity estimate)
int16_t b = 152; // 5 frac bits (parameter in velocity estimate)
@@ -105,35 +103,44 @@ int32_t getPosition() {
/* return velocity (in mm/s) */
int32_t getVelocity() {
- return velEstSend;
+ int32_t result;
+ cli();
+ result = velEst;
+ sei();
+ return result;
}
/* return last angle measurement */
int16_t getAngle() {
- low = inp(ADCL);
- high = inp(ADCH);
- int16_t result = ADC - 512 -angleOffset;
- return result;
+ int16_t adc = ADC;
+ while (adc != ADC) {
+ adc = ADC;
+ }
+ return adc - 512 - angleOffset;
}
/* return current-reference */
int32_t getCurrentRef() {
- return uSend;
+ int32_t result;
+ cli();
+ result = u;
+ sei();
+ return result;
}
/* Set new acceleration reference value */
void setAccRef(int32_t newAccRef) {
- acc_ref = newAccRef;
+ g_acc_ref = newAccRef;
nbrSamples = 0;
}
/* Set new velocity reference value */
void setVelRef(int32_t newVelRef) {
- vel_ref = newVelRef;
+ g_vel_ref = newVelRef;
}
/* Routine used to initialize the positional encoders */
@@ -149,26 +156,26 @@ SIGNAL(TIMER2_COMP_vect) {
newX = ENCODERX;
newY = ENCODERY;
if((newX != oldX) || (newY != oldY)) { //Check if any value changed
- /*
+ /*
sum = (oldX<<2)+oldY+newX+(newY>>2);
if (sum == 2 || sum == 4 || sum == 11 || sum == 13) {
- pos = pos+1;
+ pos = pos+1;
} else if (sum == 1 || sum == 7 || sum == 8 || sum == 14) {
- pos = pos-1;
+ pos = pos-1;
} else {
- brake = 1; // emergency brake
+ brake = 1; // emergency brake
}
- */
+ */
// Works like if-clauses above, but faster!
- if ((oldX == newY) && (oldY != newX)) {
- pos = pos+1;
- } else if ((oldX != newY) && (oldY == newX)) {
- pos = pos-1;
- } else {
- brake = 1;
- }
- oldX = newX;
- oldY = newY;
+ if ((oldX == newY) && (oldY != newX)) {
+ pos = pos+1;
+ } else if ((oldX != newY) && (oldY == newX)) {
+ pos = pos-1;
+ } else {
+ brake = 1;
+ }
+ oldX = newX;
+ oldY = newY;
}
}
@@ -214,59 +221,50 @@ SIGNAL(USART_RXC_vect) {
}
}
-#if 0
-/* Timer 0, serial communication with simulink */
-SIGNAL(TIMER0_COMP_vect) {
-
- TIMSK &= ~(_BV(OCIE0)|_BV(OCIE1A)); // Disable communication and ctrl-interrupts
-
- sei(); // enable interrupts from encoder-counter
-
- // Poll UART receiver
- uint8_t status = UCSRA;
- if (status & (1<<RXC)) {
- char ch = UDR;
- pccom_receiveByte(ch);
-
- if (status & ((1<<FE)|(1<<DOR)|(1<<PE))) {
- //main_emergencyStop(); // stop on USART error
- }
- }
-
- // Poll UART sender
- if (UCSRA & (1<<UDRE)) {
- int16_t toSend = pccom_getNextByteToSend();
- if (toSend >= 0) UDR = (char)toSend;
+SIGNAL(TWI_vect) {
+ unsigned char twsr = TWSR;
+ switch (twsr) {
+ case 0x08: {
+ TWDR = 0x02; // slave is 0x02 (sla+w)
+ TWCR = _BV(TWINT)|_BV(TWEN)|_BV(TWIE);
+ } break;
+ case 0x18:
+ case 0x20: {
+ TWDR = u;
+ TWCR = _BV(TWINT)|_BV(TWEN)|_BV(TWIE);
+ } break;
+ case 0x28:
+ case 0x30: {
+ TWCR = _BV(TWINT)|_BV(TWEN)|_BV(TWSTO)|_BV(TWIE);
+ } break;
+ default: {
+ // This should never happen
+ TWCR = (_BV(TWINT)|_BV(TWEN)|_BV(TWIE));
+ } break;
}
-
- TIFR = (1<<OCF0); // skip pending interrupts from serial comm, (but not from ctrl)
-
- TIMSK |= (_BV(OCIE0)|_BV(OCIE1A)); // reenable communication and ctrl-interrupts
-
}
-#endif
-
/* Timer 0, control loop , 1 kHz */
SIGNAL(TIMER1_COMPA_vect) {
posCtrl = pos; // store pos to use in this loop
-
- sei(); // to enable interupts from encoder counter and communication
+ int32_t vel_ref = g_vel_ref;
+ int32_t acc_ref = g_acc_ref;
+ if (nbrSamples < 65535) {
+ nbrSamples++;
+ }
+ sei(); // to enable interupts from encoder counter and TWI
// velocity estimation in mm/s
velEst = (((a*velEst+64)>>7)+b*(posCtrl-oldPos)); // 5 fracbits on velEst
oldPos = posCtrl;
// store velEst and ref to be sent/used here
- cli();
- velEstSend = velEst;
- nbrSamples++;
+// cli();
refCtrl = vel_ref + ((acc_ref*nbrSamples)>>10); //shift nbrSamples 10 steps (= nbrSamples*h)
if (nbrSamples > 500) {
refCtrl = 0; // for safety reasons if doesn't send anything in 0.5 s
}
// vel_ref = vel_ref*(1-brake); // emergency stop
- sei();
// control error
e = refCtrl-((velEst+16)>>5); // mm/s
@@ -300,32 +298,18 @@ SIGNAL(TIMER1_COMPA_vect) {
if (intCond)
I = I + (((Ke*e)+(1<<1))>>2);
+ // Protect u and TWCR for concurrent updates
+ cli();
+
// scale ctrl-signal to send over twi
u = (vSat+8)>>4; // u=127 gives current = 6.75 A, vSat makes u saturate at 114
- // u that is sent to simulink
- cli();
- uSend = u;
- sei();
-
// TWI-communication to set current reference on the other atmel
// send start command
- outp(_BV(TWINT)|_BV(TWEN)|_BV(TWSTA),TWCR);
- while (!(TWCR&_BV(TWINT))) {}
-
- // Contact slave
- outp(0x02,TWDR); // slave is 0x02 (sla+w)
- outp(_BV(TWINT)|_BV(TWEN),TWCR);
- while (!(TWCR&_BV(TWINT))) {}
-
- // Send reference byte to slave
- outp((int8_t)u,TWDR); // send 8 bits reference
- outp(_BV(TWINT)|_BV(TWEN),TWCR);
- while (!(TWCR&_BV(TWINT))) {}
-
- // stop transmission
- outp(_BV(TWINT)|_BV(TWEN)|_BV(TWSTO),TWCR);
+ if (TWCR == (_BV(TWEN)|_BV(TWIE)) || TWCR == 0) {
+ TWCR = _BV(TWEN)|_BV(TWSTA)|_BV(TWIE);
+ }
}
@@ -334,36 +318,34 @@ int main()
cli();
//Port directions
- //outp(0xf0,DDRB); // Led output
- outp(0x10,DDRC); // timer calculation port
PORTD = 0x40; // pull up on reset switch
/* Timer section */
- // Enable timer0, timer1, timer2 compare match interrupts
- outp(_BV(OCIE0)|_BV(OCIE1A)|_BV(OCIE2),TIMSK);
- outp(_BV(OCIE1A)|_BV(OCIE2),TIMSK);
+ // Enable timer1, timer2 compare match interrupts
+ TIMSK = _BV(OCIE1A)|_BV(OCIE2);
/* Timer 2, 73 kHz Prescaler 1, encoder counter for position measurement */
- outp(_BV(WGM21)|_BV(CS20),TCCR2);
- outp(200,OCR2);
+ TCCR2 = _BV(WGM21)|_BV(CS20);
+ OCR2 = 200;
+
/* Reset timer 2 */
- outp(0,TCNT2);
+ TCNT2 = 0;
/* Timer 1, 1 kHz , prescaler 1, ctrl-loop */
- outp(_BV(WGM12)|_BV(CS10),TCCR1B);
- outp(0x38,OCR1AH);
- outp(0x3f,OCR1AL);
- outp(0,TCNT1H);
- outp(0,TCNT1L);
+ TCCR1B = _BV(WGM12)|_BV(CS10);
+ OCR1AH = 0x38;
+ OCR1AL = 0x3f;
+ TCNT1H = 0;
+ TCNT1L = 0;
/* Timer 0, 40 kHz, Prescaler 8, serial communication */
- outp(_BV(WGM01)|_BV(CS01),TCCR0);
- //outp(184-1,OCR0); // 10 kHz
- outp(45-1,OCR0); // 40 kHz
+ TCCR0 = _BV(WGM01)|_BV(CS01);
+ //OCR0 = 184-1; // 10 kHz
+ OCR0 = 45-1; // 40 kHz
/* Reset timer 0 */
- outp(0,TCNT0);
+ TCNT0 = 0;
// syncronization (ctrl interrupt 34 micros before communication interrupt)
@@ -371,11 +353,11 @@ int main()
//Serial communication initialization
- outp(0x00, UCSRA); // USART:
- outp(0x18, UCSRB); // USART: RxEnable|TxEnable
- outp(0x86, UCSRC); // USART: 8bit, no parity
- outp(0x00, UBRRH); // USART: 115200 @ 14.7456MHz
- outp(7,UBRRL); // USART: 115200 @ 14.7456MHz
+ UCSRA = 0x00; // USART:
+ UCSRB = 0x18; // USART: RxEnable|TxEnable
+ UCSRC = 0x86; // USART: 8bit, no parity
+ UBRRH = 0x00; // USART: 115200 @ 14.7456MHz
+ UBRRL = 7; // USART: 115200 @ 14.7456MHz
UCSRA = 0x00; // USART:
UCSRB = 0x98; // USART: RxIntEnable|RxEnable|TxEnable
@@ -385,15 +367,15 @@ int main()
/* AREF (AREF is 5V) pin external capacitor, ADC3 for pendulum angle */
- outp(_BV(REFS0)|_BV(MUX0)|_BV(MUX1),ADMUX);
+ ADMUX = _BV(REFS0)|_BV(MUX0)|_BV(MUX1);
// Enable ADC on adc3, start first conversion, prescaler 128, free running mode
- outp(_BV(ADEN)|_BV(ADSC)|_BV(ADATE)|_BV(ADPS2)|_BV(ADPS1)|_BV(ADPS0),ADCSRA);
+ ADCSRA = _BV(ADEN)|_BV(ADSC)|_BV(ADATE)|_BV(ADPS2)|_BV(ADPS1)|_BV(ADPS0);
// Initialize Master TWI
- outp(0x10,TWBR); // set SCL-frequency CPU-freq/(16+2*16)
- outp(_BV(TWEN),TWCR); // enable TWI
+ TWBR = 0x10; // set SCL-frequency CPU-freq/(16+2*16)
+ TWCR = _BV(TWEN)|_BV(TWIE);
// initialize position measurements
initPos();
@@ -404,6 +386,7 @@ int main()
//Enable interrupts
sei();
+
// loop
while (1) {
@@ -411,8 +394,8 @@ int main()
// reset position, velocity estimate and integral part of ctrl if reset button pushed
if (!(PIND & 0x40)) {
cli();
- low = inp(ADCL);
- high = inp(ADCH);
+ low = ADCL;
+ high = ADCH;
pos = 0; // reset position
angleOffset = ((int16_t) ((high<<8) | low) - 512);
oldPos = 0;