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main.cpp
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main.cpp
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/****************************************************************
** OrangeBot Project
*****************************************************************
** /
** /
** /
** ______ \
** \
** \
*****************************************************************
** OrangeBot AT4809 Firmware
*****************************************************************
** This firmware is meant to run on the OrangeBot robot due to
** participate in the PiWars 2020
**
** Compiler flags:
** -Os
** -std=c++11
****************************************************************/
/****************************************************************
** DESCRIPTION
****************************************************************
** OrangeBot MVP
** UART interface with RPI
** Uniparser V4
** Set PWM from serial interface
****************************************************************/
/****************************************************************
** HISTORY VERSION
****************************************************************
**
****************************************************************/
/****************************************************************
** USED PINS
****************************************************************
** VNH7040
** | DRV0 | DRV1 | DRV2 | DRV3 | VNH7040
** -------------------------------------------------------------------------
** uC_SEN | PF0 | PF0 | PF0 | PF0 | SENSE ENABLE
** uC_DIAG | PF1 | PF1 | PF1 | PF1 | SEL1
** uC_PWM | PA2,B20 | PA3,B21 | PB4,B22 | PB5,B23 | PWM
** uC_CTRLA | PA4 | PA6 | PB2 | PD6 | INA, SEL0
** uC_CTRLB | PA5 | PA7 | PB3 | PD7 | INB
****************************************************************/
/****************************************************************
** KNOWN BUGS
****************************************************************
**
****************************************************************/
/****************************************************************
** DEFINES
****************************************************************/
#define EVER (;;)
/****************************************************************
** INCLUDES
****************************************************************/
#include "global.h"
//Universal Parser V4
#include "uniparser.h"
/****************************************************************
** FUNCTION PROTOTYPES
****************************************************************/
///----------------------------------------------------------------------
/// PERIPHERALS
///----------------------------------------------------------------------
//Initialize motors
extern void init_motors( void );
//Set direction and speed setting of the VNH7040 controlled motor
extern void set_vnh7040_speed( uint8_t index, bool f_dir, uint8_t speed );
//Set PWM of all motor channels applying slew rate limiting
extern void update_pwm( void );
///----------------------------------------------------------------------
/// PARSER
///----------------------------------------------------------------------
// Handlers are meant to be called automatically when a command is decoded
// User should not call them directly
//Handler for the ping command. Keep alive connection
extern void ping_handler( void );
//Handler for the get board signature command. Send board signature via UART
extern void signature_handler( void );
//Handler for the motor speed set command
extern void set_speed_handler( int16_t motor_index, int16_t pwm );
//Handler for the platform speed. Firmware handles logical configuration of the motors. TODO: evolve to forward and turn
extern void set_platform_speed_handler(int16_t right, int16_t left );
/****************************************************************
** GLOBAL VARIABLES
****************************************************************/
volatile Isr_flags g_isr_flags;
///----------------------------------------------------------------------
/// BUFFERS
///----------------------------------------------------------------------
// Buffers structure and data vectors
//Safe circular buffer for UART input data
volatile At_buf8_safe rpi_rx_buf;
//Safe circular buffer for uart tx data
At_buf8 rpi_tx_buf;
//allocate the working vector for the buffer
uint8_t v0[ RPI_RX_BUF_SIZE ];
//allocate the working vector for the buffer
uint8_t v1[ RPI_TX_BUF_SIZE ];
///--------------------------------------------------------------------------
/// PARSER
///--------------------------------------------------------------------------
//Board Signature
U8 *board_sign = (U8 *)"Seeker-Of-Ways-B-00002";
//communication timeout counter
U8 uart_timeout_cnt = 0;
//Communication timeout has been detected
bool f_timeout_detected = false;
///--------------------------------------------------------------------------
/// MOTORS
///--------------------------------------------------------------------------
//Desired setting for the DC motor channels
Dc_motor_pwm dc_motor[DC_MOTOR_NUM];
//Two DC Motor channels
Dc_motor_pwm dc_motor_target[DC_MOTOR_NUM];
/****************************************************************************
** Function
** main |
****************************************************************************/
//! @return bool |
//! @brief dummy method to copy the code
//! @details test the declaration of a lambda method
/***************************************************************************/
int main(void)
{
//----------------------------------------------------------------
// VARS
//----------------------------------------------------------------
//system tick prescaler
uint8_t pre = 0;
//activity LED prescaler
uint8_t pre_led = 0;
//Blink speed of the LED. Start slow
uint8_t blink_speed = 99;
//Raspberry PI UART RX Parser
Orangebot::Uniparser rpi_rx_parser = Orangebot::Uniparser();
//----------------------------------------------------------------
// INIT
//----------------------------------------------------------------
///UART RX BUFFER INIT
//I init the rx and tx buffers
//attach vector to buffer
AT_BUF_ATTACH( rpi_rx_buf, v0, RPI_RX_BUF_SIZE);
//attach vector to buffer
AT_BUF_ATTACH( rpi_tx_buf, v1, RPI_TX_BUF_SIZE);
//! Initialize AT4809 internal peripherals
init();
//! Initialize external peripherals
init_motors();
//! Initialize VNH7040
//Enable sense output
SET_BIT_VALUE( PORTF.OUT, 0, true );
//Diagnostic mode OFF
SET_BIT_VALUE( PORTF.OUT, 1, false );
///----------------------------------------------------------------------
/// REGISTER PARSER COMMANDS
///----------------------------------------------------------------------
//! Register commands and handler for the universal parser class. A masterpiece :')
//Register ping command. It's used to reset the communication timeout
rpi_rx_parser.add_cmd( "P", (void *)&ping_handler );
//Register the Find command. Board answers with board signature
rpi_rx_parser.add_cmd( "F", (void *)&signature_handler );
//Set individual motor speed command. mm/s
rpi_rx_parser.add_cmd( "M%SPWM%S", (void *)&set_speed_handler );
//Set platform speed handler to be retro compatible with SoW-B
rpi_rx_parser.add_cmd( "PWMR%SL%S", (void *)&set_platform_speed_handler );
//----------------------------------------------------------------
// BODY
//----------------------------------------------------------------
//Main loop
for EVER
{
//If: System Tick 500Hz
if (g_isr_flags.system_tick == 1)
{
//Clear system tick
g_isr_flags.system_tick = 0;
//----------------------------------------------------------------
// FULL SPEED CODE
//----------------------------------------------------------------
//Update PWM of the motors while applying the slew rate limiter
update_pwm();
//----------------------------------------------------------------
// SYSTEM PRESCALER SPEED CODE
//----------------------------------------------------------------
//If prescaler has reset
if (pre == 0)
{
//----------------------------------------------------------------
// LED BLINK
//----------------------------------------------------------------
// Two speeds
// slow: not in timeout and commands can be executed
// fast: in timeout, motor stopped
if (pre_led == 0)
{
//Toggle PF5.
SET_BIT( PORTF.OUTTGL, 5 );
}
//Increment with top
pre_led = AT_TOP_INC( pre_led, blink_speed );
//----------------------------------------------------------------
// PARSER TIMEOUT
//----------------------------------------------------------------
//Update communication timeout counter
uart_timeout_cnt++;
//
if (uart_timeout_cnt >= RPI_COM_TIMEOUT)
{
//Clip timeout counter
uart_timeout_cnt = RPI_COM_TIMEOUT;
//If: it's the first time the communication timeout is detected
if (f_timeout_detected == false)
{
//LED is blinking faster
blink_speed = 9;
}
//raise the timeout flag
f_timeout_detected = true;
}
else
{
//This is the only code allowed to reset the timeout flag
f_timeout_detected = false;
//LED is blinking slower
blink_speed = 99;
}
}
//Increment prescaler and reset if it exceeds the TOP.
pre = AT_TOP_INC( pre, 4);
} //End If: System Tick
//----------------------------------------------------------------
// AT4809 --> RPI USART TX
//----------------------------------------------------------------
//if: RPI TX buffer is not empty and the RPI TX HW buffer is ready to transmit
if ( (AT_BUF_NUMELEM( rpi_tx_buf ) > 0) && (IS_BIT_ONE(USART3.STATUS, USART_DREIF_bp)))
{
//temp var
uint8_t tx_tmp;
//Get the byte to be filtered out
tx_tmp = AT_BUF_PEEK( rpi_tx_buf );
AT_BUF_KICK( rpi_tx_buf );
//Send data through the UART3
USART3.TXDATAL = tx_tmp;
} //End If: RPI TX
//----------------------------------------------------------------
// RPI --> AT4809 USART RX
//----------------------------------------------------------------
//if: RX buffer is not empty
if (AT_BUF_NUMELEM( rpi_rx_buf ) > 0)
{
//temp var
uint8_t rx_tmp;
///Get data
//Get the byte from the RX buffer (ISR put it there)
rx_tmp = AT_BUF_PEEK( rpi_rx_buf );
AT_BUF_KICK_SAFER( rpi_rx_buf );
///Loopback
//Push into tx buffer
//AT_BUF_PUSH( rpi_tx_buf, rx_tmp );
///Command parser
//feed the input RX byte to the parser
rpi_rx_parser.exe( rx_tmp );
} //endif: RPI RX buffer is not empty
} //End: Main loop
//----------------------------------------------------------------
// RETURN
//----------------------------------------------------------------
return 0;
} //end: main
/****************************************************************************
** Function
** init_motors
****************************************************************************/
//! @return void |
//! @brief Initialize motors
//! @details Initialize motors
//!
/***************************************************************************/
void init_motors( void )
{
//----------------------------------------------------------------
// VARS
//----------------------------------------------------------------
//counter
uint8_t t;
//----------------------------------------------------------------
// INIT
//----------------------------------------------------------------
//----------------------------------------------------------------
// BODY
//----------------------------------------------------------------
//For: scan motors
for (t = 0;t < DC_MOTOR_NUM;t++)
{
//Initialize motor
dc_motor[t].f_dir = false;
dc_motor[t].pwm = (uint8_t)0x00;
} //End For: scan motors
//For: scan motors
for (t = 0;t < DC_MOTOR_NUM;t++)
{
//Initialize motor
dc_motor_target[t].f_dir = false;
dc_motor_target[t].pwm = (uint8_t)0x00;
}
//----------------------------------------------------------------
// RETURN
//----------------------------------------------------------------
return;
} //End: init_motors
/****************************************************************************
** Function
** set_vnh7040_speed
****************************************************************************/
//! @return void |
//! @param index | index of the motor to be controlled. 0 to 3
//! @param f_dir | direction of rotation of the motor
//! @param speed | Speed of the motor
//! @brief Set direction and speed setting of the VNH7040 controlled motor
//! @details
//!
/***************************************************************************/
void set_vnh7040_speed( uint8_t index, bool f_dir, uint8_t speed )
{
//----------------------------------------------------------------
// VARS
//----------------------------------------------------------------
//----------------------------------------------------------------
// INIT
//----------------------------------------------------------------
//----------------------------------------------------------------
// BODY
//----------------------------------------------------------------
//Driver 0
if (index == 0)
{
//Set INA, INB and SEL0 to select the direction of rotation of the motor
if (f_dir == true)
{
SET_MASKED_BIT( PORTA.OUT, 0x30, 0x10);
}
else
{
SET_MASKED_BIT( PORTA.OUT, 0x30, 0x20);
}
//Set the PWM value of the right PWM channel of TCA0
TCB0.CCMPH = speed;
}
//Driver 1
else if (index == 1)
{
//Set INA, INB and SEL0 to select the direction of rotation of the motor
if (f_dir == true)
{
SET_MASKED_BIT( PORTA.OUT, 0xc0, 0x40);
}
else
{
SET_MASKED_BIT( PORTA.OUT, 0xc0, 0x80);
}
//Set the PWM value of the right PWM channel of TCA0
TCB1.CCMPH = speed;
}
//Driver 2
else if (index == 2)
{
//Set INA, INB and SEL0 to select the direction of rotation of the motor
if (f_dir == true)
{
SET_MASKED_BIT( PORTB.OUT, 0x0c, 0x04);
}
else
{
SET_MASKED_BIT( PORTB.OUT, 0x0c, 0x08);
}
//Set the PWM value of the right PWM channel of TCA0
TCB2.CCMPH = speed;
}
//Driver 3
else if (index == 3)
{
//Set INA, INB and SEL0 to select the direction of rotation of the motor
if (f_dir == true)
{
SET_MASKED_BIT( PORTD.OUT, 0xc0, 0x40);
}
else
{
SET_MASKED_BIT( PORTD.OUT, 0xc0, 0x80);
}
//Set the PWM value of the right PWM channel of TCA0
TCB3.CCMPH = speed;
}
//Default case
else
{
//Driver index not installed.
//Do nothing
}
//----------------------------------------------------------------
// RETURN
//----------------------------------------------------------------
return;
} //End:
/***************************************************************************/
//! @brief convert from a dc motor PWM structure to a speed number
//! convert_pwm_to_s16 | Dc_motor_pwm
/***************************************************************************/
//! @param input | Dc_motor_pwm input PWM structure
//! @param f_dir | bool conversion between clockwise/counterclockwise to forward/backward
//! @return int16_t | speed number
/***************************************************************************/
inline int16_t convert_pwm_to_s16( Dc_motor_pwm input, bool f_dir )
{
//----------------------------------------------------------------
// VARS
//----------------------------------------------------------------
//temp return
int16_t ret;
//----------------------------------------------------------------
// INIT
//----------------------------------------------------------------
//----------------------------------------------------------------
// BODY
//----------------------------------------------------------------
//Extract PWM setting
ret = input.pwm;
//if: direction is backward
if (input.f_dir != f_dir)
{
//Correct sign
ret = -ret;
}
//----------------------------------------------------------------
// RETURN
//----------------------------------------------------------------
return ret;
}
/***************************************************************************/
//! @brief convert from a speed number to a dc motor PWM structure
//! convert_s16_to_pwm | int16_t, bool
/***************************************************************************/
//! @param input | int16_t Input speed number
//! @param f_dir | bool conversion between clockwise/counterclockwise to forward/backward
//! @return Dc_motor_pwm PWM structure
/***************************************************************************/
inline Dc_motor_pwm convert_s16_to_pwm( int16_t input, bool f_dir )
{
//----------------------------------------------------------------
// VARS
//----------------------------------------------------------------
//temp return
Dc_motor_pwm ret;
//----------------------------------------------------------------
// INIT
//----------------------------------------------------------------
//----------------------------------------------------------------
// BODY
//----------------------------------------------------------------
//For each DC motor channel
//If: right direction is backward
if (input < 0)
{
//Assign the pwm to the right temp channel
ret.pwm = -input;
ret.f_dir = !f_dir;
}
//If: right direction is forward
else
{
//Assign the pwm to the right temp channel
ret.pwm = input;
ret.f_dir = f_dir;
}
//----------------------------------------------------------------
// RETURN
//----------------------------------------------------------------
return ret;
}
/***************************************************************************/
//! @brief update DC motor PWM
//! update_pwm | void
/***************************************************************************/
//! @return void
//! @details
//! Move PWM toward target PWM
//! Apply slew rate limiter
/***************************************************************************/
void update_pwm( void )
{
//----------------------------------------------------------------
// VARS
//----------------------------------------------------------------
//temp counter
uint8_t t;
//true if speed has changed
//bool f_change[DC_MOTOR_NUM];
Dc_motor_pwm target_speed, actual_speed;
//----------------------------------------------------------------
// INIT
//----------------------------------------------------------------
//If the communication failed
if (f_timeout_detected == true)
{
//Counter
uint8_t t;
//For: scan motors
for (t = 0;t < DC_MOTOR_NUM;t++)
{
//Stop the motors
set_vnh7040_speed( (uint8_t)t, (uint8_t)false, (uint8_t)0x00 );
//Update actual PWM so tat slew rate limiter will do sensible things when restarting
dc_motor[t].pwm = (uint8_t)0x00;
}
//
return;
}
//----------------------------------------------------------------
// BODY
//----------------------------------------------------------------
//For: each DC motor channel
for (t = 0;t < DC_MOTOR_NUM;t++)
{
//Fetch current settings
target_speed = dc_motor_target[t];
actual_speed = dc_motor[t];
//If directions are different
if (target_speed.f_dir != actual_speed.f_dir)
{
//if pwm is above slew rate
if (actual_speed.pwm > DC_MOTOR_SLEW_RATE)
{
//Slow down by the slew rate
actual_speed.pwm -= DC_MOTOR_SLEW_RATE;
}
//if pwm is below or at slew rate
else
{
//Set neutral speed
actual_speed.pwm = 0;
}
//if pwm is zero
if (actual_speed.pwm == 0)
{
//I'm authorized to change direction
actual_speed.f_dir = target_speed.f_dir;
}
} //End If directions are different
//if direction is the same
else
{
//if pwm is above target
if (actual_speed.pwm > target_speed.pwm)
{
//Decrease speed by PWM
actual_speed.pwm = AT_SAT_SUM( actual_speed.pwm, -DC_MOTOR_SLEW_RATE, DC_MOTOR_MAX_PWM, 0 );
//if: overshoot
if (actual_speed.pwm < target_speed.pwm)
{
//I reached the target
actual_speed.pwm = target_speed.pwm;
}
}
//if pwm is below target
else if (actual_speed.pwm < target_speed.pwm)
{
//Decrease speed by PWM
actual_speed.pwm = AT_SAT_SUM( actual_speed.pwm, +DC_MOTOR_SLEW_RATE, DC_MOTOR_MAX_PWM, 0 );
//if: overshoot
if (actual_speed.pwm > target_speed.pwm)
{
//I reached the target
actual_speed.pwm = target_speed.pwm;
}
}
//if: I'm already at the right speed
else
{
//do nothing
}
}
//Apply setting
set_vnh7040_speed( t, actual_speed.f_dir, actual_speed.pwm );
//Write back setting
dc_motor[t] = actual_speed;
} //End For: each DC motor channel
//----------------------------------------------------------------
// RETURN
//----------------------------------------------------------------
return; //OK
} //end handler: signature_handler | void
/***************************************************************************/
//! @brief ping command handler
//! ping_handler | void
/***************************************************************************/
//! @return void
//! @details
//! Handler for the ping command. Keep alive connection
/***************************************************************************/
void ping_handler( void )
{
//----------------------------------------------------------------
// VARS
//----------------------------------------------------------------
//----------------------------------------------------------------
// INIT
//----------------------------------------------------------------
//Reset communication timeout handler
uart_timeout_cnt = 0;
//----------------------------------------------------------------
// BODY
//----------------------------------------------------------------
//----------------------------------------------------------------
// RETURN
//----------------------------------------------------------------
return; //OK
} //end handler: ping_handler | void
/***************************************************************************/
//! @brief board signature handler
//! signature_handler | void
/***************************************************************************/
//! @return void
//! @details
//! Handler for the get board signature command. Send board signature via UART
/***************************************************************************/
void signature_handler( void )
{
//----------------------------------------------------------------
// VARS
//----------------------------------------------------------------
uint8_t t;
//----------------------------------------------------------------
// INIT
//----------------------------------------------------------------
//Reset communication timeout handler
uart_timeout_cnt = 0;
//----------------------------------------------------------------
// BODY
//----------------------------------------------------------------
//Init while
t = 0;
//while: no termination and tx buffer width is not exceeded
while ((t < RPI_TX_BUF_SIZE) && (board_sign[t]!= '\0'))
{
//Send the next signature byte
AT_BUF_PUSH(rpi_tx_buf, board_sign[t]);
}
//----------------------------------------------------------------
// RETURN
//----------------------------------------------------------------
return; //OK
} //end handler: signature_handler | void
/***************************************************************************/
//! @brief set the target speed of the DC motors
//! set_speed_handler | int16_t, int16_t
/***************************************************************************/
//! @param motor_index | index of the motor being controlled
//! @param pwm | new PWM setting of the motor
//! @return false: OK | true: fail
//! @details
//! Handler for the motor speed set command. It's going to be called automatically when command is received
/***************************************************************************/
void set_speed_handler( int16_t motor_index, int16_t pwm )
{
//----------------------------------------------------------------
// VARS
//----------------------------------------------------------------
bool f_dir;
uint8_t tcb_pwm;
//----------------------------------------------------------------
// INIT
//----------------------------------------------------------------
//Reset communication timeout handler
uart_timeout_cnt = 0;
//----------------------------------------------------------------
// BODY
//----------------------------------------------------------------
if (pwm < 0)
{
f_dir = true;
pwm = -pwm;
}
else
{
f_dir = false;
}
tcb_pwm = pwm;
//Set direction and speed setting of the VNH7040 controlled motor
set_vnh7040_speed( motor_index, f_dir, tcb_pwm );
//----------------------------------------------------------------
// RETURN
//----------------------------------------------------------------
return; //OK
} //end handler: set_speed_handler | void
/***************************************************************************/
//! @brief set the target speed of the DC motors
//! set_platform_speed_handler | int16_t, int16_t
/***************************************************************************/
//! @param pwm_r | pwm for right side of platform
//! @param pwm_l | pwm for left side of platform
//! @return false: OK | true: fail
//! @details
//! Handler for the platform speed. Firmware handles logical configuration of the motors. TODO: evolve to forward and turn
//! Numeration is handled like an IC with dot on the back, viewing from the top
//! Direction is corrected so that plus is forward
//! Left Right
//! Front 2 1
//! Rear 3 0
/***************************************************************************/
void set_platform_speed_handler(int16_t right, int16_t left )
{
//----------------------------------------------------------------
// VARS
//----------------------------------------------------------------
uint8_t f_dir_r, f_dir_l;
uint8_t tcb_pwm_l, tcb_pwm_r;
//----------------------------------------------------------------
// INIT
//----------------------------------------------------------------
//Reset communication timeout handler
uart_timeout_cnt = 0;
//----------------------------------------------------------------
// BODY
//----------------------------------------------------------------
//----------------------------------------------------------------
// MOTORS LAYOUT CORRECTIONS
//----------------------------------------------------------------
if (right < 0)
{
f_dir_r = false;
tcb_pwm_r = -right;
}
else
{
f_dir_r = true;
tcb_pwm_r = right;
}
if (left < 0)
{
f_dir_l = true;
tcb_pwm_l = -left;
}
else
{
f_dir_l = false;
tcb_pwm_l = left;
}
//----------------------------------------------------------------
// UPDATE TARGET PWM AND DIRECTION
//----------------------------------------------------------------
// upgrade_pwm will take caare of trying to reach the desired setting
dc_motor_target[0].f_dir = f_dir_r;
dc_motor_target[0].pwm = tcb_pwm_r;
dc_motor_target[1].f_dir = f_dir_r;
dc_motor_target[1].pwm = tcb_pwm_r;
dc_motor_target[2].f_dir = f_dir_l;
dc_motor_target[2].pwm = tcb_pwm_l;
dc_motor_target[3].f_dir = f_dir_l;
dc_motor_target[3].pwm = tcb_pwm_l;
//----------------------------------------------------------------
// RETURN
//----------------------------------------------------------------
return; //OK
} //end handler: set_platform_speed_handler | void