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EmbeddedAVR/main.c
bruno 9bb4d59e11 preai
2025-05-04 20:29:47 +02:00

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#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#include <stdlib.h>
#include "i2c.h"
#include <stdbool.h>
#include <avr/iom32.h>
#define REGISTER_SERVOA_POSITIONH 0
#define REGISTER_SERVOA_POSITIONL 1
#define REGISTER_SERVOA_KPA 2
#define REGISTER_SERVOA_KPB 3
#define REGISTER_SERVOA_KPC 4
#define REGISTER_SERVOA_KPD 5
#define REGISTER_SERVOA_KIA 6
#define REGISTER_SERVOA_KIB 7
#define REGISTER_SERVOA_KIC 8
#define REGISTER_SERVOA_KID 9
#define REGISTER_SERVOA_KDA 10
#define REGISTER_SERVOA_KDB 11
#define REGISTER_SERVOA_KDC 12
#define REGISTER_SERVOA_KDD 13
#define REGISTER_SERVOB_POSITIONH 14
#define REGISTER_SERVOB_POSITIONL 15
#define REGISTER_SERVOB_KPA 16
#define REGISTER_SERVOB_KPB 17
#define REGISTER_SERVOB_KPC 18
#define REGISTER_SERVOB_KPD 19
#define REGISTER_SERVOB_KIA 20
#define REGISTER_SERVOB_KIB 21
#define REGISTER_SERVOB_KIC 22
#define REGISTER_SERVOB_KID 23
#define REGISTER_SERVOB_KDA 24
#define REGISTER_SERVOB_KDB 25
#define REGISTER_SERVOB_KDC 26
#define REGISTER_SERVOB_KDD 27
// Motor A
#define MOTOR_A_POT 2
#define MOTOR_A_PIN_A PD5
#define MOTOR_A_PIN_B PD7
#define MOTOR_A_PIN_A_OCR OCR1A
#define MOTOR_A_PIN_B_OCR OCR2
// Motor B
#define MOTOR_B_POT 3
#define MOTOR_B_PIN_A PB3
#define MOTOR_B_PIN_B PD4
#define MOTOR_B_PIN_A_OCR OCR0
#define MOTOR_B_PIN_B_OCR OCR1B
#define Slave_Address 0x69
// I2C Slave Register Map
#define REGISTER_COUNT 27
volatile uint8_t registers[REGISTER_COUNT];
// I2C State
volatile uint8_t reg_address = 0;
volatile bool reg_address_received = false;
typedef struct
{
uint8_t pot_channel;
volatile uint8_t *pin_a_port;
volatile uint8_t *pin_a_ddr;
uint8_t pin_a_bit;
volatile uint8_t *pin_b_port;
volatile uint8_t *pin_b_ddr;
uint8_t pin_b_bit;
volatile uint8_t *ocr;
float kp, ki, kd;
int16_t target;
int16_t current;
float integral;
int16_t last_error;
bool pot_dir; // 1 or -1
bool motor_dir; // 1 or -1
volatile void *ocr_a;
volatile void *ocr_b;
bool ocr_a_16bit;
bool ocr_b_16bit;
} ServoMotor;
ServoMotor motor_a = {
.pot_channel = 2,
.pin_a_port = &PORTD,
.pin_a_bit = PD5,
.pin_a_ddr = &DDRD,
.pin_b_port = &PORTD,
.pin_b_bit = PD7,
.pin_b_ddr = &DDRD,
.kp = 1.0f,
.ki = 0.0f,
.kd = 0.0f,
.pot_dir = 1,
.motor_dir = 1,
.ocr_a = &MOTOR_A_PIN_A_OCR,
.ocr_b = &MOTOR_A_PIN_B_OCR,
};
ServoMotor motor_b = {
.pot_channel = 3,
.pin_a_port = &PORTB,
.pin_a_bit = PB3,
.pin_a_ddr = &DDRB,
.pin_b_port = &PORTD,
.pin_b_bit = PD4,
.pin_b_ddr = &DDRD,
.kp = 1.0f,
.ki = 0.0f,
.kd = 0.0f,
.pot_dir = 1,
.motor_dir = 1,
.ocr_a = &MOTOR_B_PIN_A_OCR,
.ocr_b = &MOTOR_B_PIN_B_OCR,
};
void set_ocr(volatile void *reg, bool is_16bit, uint16_t value)
{
if (is_16bit)
{
*((volatile uint16_t *)reg) = value;
}
else
{
*((volatile uint8_t *)reg) = (uint8_t)value;
}
}
void setup_pwm_motor_a(void)
{
// Setup Timer1 (shared)
DDRD |= (1 << PD5); // OC1A
TCCR1A |= (1 << COM1A1);
TCCR1A |= (1 << COM1B1); // Also needed for Motor B on OC1B (PD4)
TCCR1B |= (1 << WGM13) | (1 << WGM12) | (1 << CS11); // Fast PWM, prescaler 8
TCCR1A |= (1 << WGM11); // Complete mode 14
ICR1 = 255;
// Setup Timer2 (OC2 for PD7)
DDRD |= (1 << PD7);
TCCR2 |= (1 << WGM20) | (1 << WGM21);
TCCR2 |= (1 << COM21); // Non-inverting
TCCR2 |= (1 << CS21);
}
void setup_pwm_motor_b(void)
{
// Setup Timer0 (OC0 for PB3)
DDRB |= (1 << PB3);
TCCR0 |= (1 << WGM00) | (1 << WGM01); // Fast PWM
TCCR0 |= (1 << COM01); // Non-inverting
TCCR0 |= (1 << CS01);
// OC1B on PD4 (Timer1 already configured in setup_pwm_motor_a)
DDRD |= (1 << PD4); // Just make sure it's output
}
uint16_t read_adc(uint8_t channel)
{
// Select ADC channel with MUX bits, clear left-adjust (ADMUX[5] = 0)
ADMUX = (1 << REFS0) | (channel & 0x07);
// Start single conversion
ADCSRA |= (1 << ADSC);
// Wait for conversion to finish
while (ADCSRA & (1 << ADSC))
;
// Return 10-bit ADC result
return ADC;
}
void control_motor(ServoMotor *motor, uint8_t pwm, int8_t direction)
{
direction *= motor->motor_dir;
if (pwm == 0 || motor->target == 0)
{
// Coast: both LOW
*(motor->pin_a_port) &= ~(1 << motor->pin_a_bit);
*(motor->pin_b_port) &= ~(1 << motor->pin_b_bit);
set_ocr(motor->ocr_a, motor->ocr_a_16bit, 0);
set_ocr(motor->ocr_b, motor->ocr_b_16bit, 0);
return;
}
if (motor->target > 0)
{
if (direction > 0)
{
// PWM on A, B LOW
*(motor->pin_b_port) &= ~(1 << motor->pin_b_bit); // Direction LOW
set_ocr(motor->ocr_a, motor->ocr_a_16bit, pwm);
set_ocr(motor->ocr_b, motor->ocr_b_16bit, 0);
}
else
{
// PWM on B, A LOW
*(motor->pin_a_port) &= ~(1 << motor->pin_a_bit); // Direction LOW
set_ocr(motor->ocr_a, motor->ocr_a_16bit, 0);
set_ocr(motor->ocr_b, motor->ocr_b_16bit, pwm);
}
}
}
void update_motor(ServoMotor *motor)
{
motor->current = motor->pot_dir * read_adc(motor->pot_channel);
int16_t error = motor->target - motor->current;
motor->integral += error;
int16_t derivative = error - motor->last_error;
motor->last_error = error;
int16_t output = motor->kp * error + motor->ki * motor->integral + motor->kd * derivative;
int8_t direction = (output >= 0) ? 1 : -1;
uint8_t pwm = abs(output);
if (pwm > 255)
pwm = 255;
control_motor(motor, pwm, direction);
}
uint16_t i = 64535;
uint8_t reg_pointer = 0;
bool expecting_address = true;
int main(void)
{
DDRA = (1 << 7); // LED
PORTA = (1 << 7);
I2C_Slave_Init(Slave_Address);
*(motor_a.pin_a_ddr) |= (1 << motor_a.pin_a_bit); // Direction pin output
*(motor_a.pin_b_ddr) |= (1 << motor_a.pin_b_bit); // Direction pin output
*(motor_b.pin_a_ddr) |= (1 << motor_b.pin_a_bit); // Direction pin output
*(motor_b.pin_b_ddr) |= (1 << motor_b.pin_b_bit); // Direction pin output
setup_pwm_motor_a();
setup_pwm_motor_b();
while (1)
{
if (!i++)
{
PORTA ^= (1 << 7);
i = 64535;
}
update_motor(&motor_a);
update_motor(&motor_b);
if (TWCR & (1 << TWINT))
{
/* Wait to be addressed */
int8_t status = TWSR & 0xF8; /* Read TWI status register with masking lower three bits */
if (status == 0x60 || status == 0x68) /* Check weather own SLA+W received & ack returned (TWEA = 1) */
{
do
{
int8_t byte = I2C_Slave_Receive();
if (byte == -1)
break;
if (expecting_address)
{
reg_pointer = byte;
expecting_address = false;
}
else
{
ServoMotor *currentMotor;
uint8_t offset = 0;
// Decide which motor
if (reg_pointer >= REGISTER_SERVOB_POSITIONH)
{
offset = REGISTER_SERVOB_POSITIONH;
currentMotor = &motor_b;
}
else
{
offset = 0;
currentMotor = &motor_a;
}
uint8_t local_reg = reg_pointer - offset;
switch (local_reg)
{
case REGISTER_SERVOA_POSITIONH:
currentMotor->target &= 0x00FF;
currentMotor->target |= ((uint16_t)byte << 8);
break;
case REGISTER_SERVOA_POSITIONL:
currentMotor->target &= 0xFF00;
currentMotor->target |= byte;
break;
case REGISTER_SERVOA_KPA:
case REGISTER_SERVOA_KPB:
case REGISTER_SERVOA_KPC:
case REGISTER_SERVOA_KPD:
*((uint8_t *)&currentMotor->kp + (local_reg - REGISTER_SERVOA_KPA)) = byte;
break;
case REGISTER_SERVOA_KIA:
case REGISTER_SERVOA_KIB:
case REGISTER_SERVOA_KIC:
case REGISTER_SERVOA_KID:
*((uint8_t *)&currentMotor->ki + (local_reg - REGISTER_SERVOA_KIA)) = byte;
break;
case REGISTER_SERVOA_KDA:
case REGISTER_SERVOA_KDB:
case REGISTER_SERVOA_KDC:
case REGISTER_SERVOA_KDD:
*((uint8_t *)&currentMotor->kd + (local_reg - REGISTER_SERVOA_KDA)) = byte;
break;
default:
// Optional: save to general-purpose register map
registers[reg_pointer] = byte;
break;
}
reg_pointer++; // Optional auto-increment
}
} while (1);
expecting_address = true; // Reset for next transaction
}
if (status == 0xA8 || status == 0xB0) /* Check weather own SLA+R received & ack returned (TWEA = 1) */
{
// READ
char ret;
ServoMotor *currentMotor;
uint8_t offset = 0;
// Choose motor and adjust reg_pointer for local motor indexing
if (reg_pointer >= REGISTER_SERVOB_POSITIONH)
{
offset = REGISTER_SERVOB_POSITIONH;
currentMotor = &motor_b;
}
else
{
offset = 0;
currentMotor = &motor_a;
}
uint8_t local_reg = reg_pointer - offset;
switch (local_reg)
{
case REGISTER_SERVOA_POSITIONH:
ret = (currentMotor->current >> 8) & 0xFF;
break;
case REGISTER_SERVOA_POSITIONL:
ret = currentMotor->current & 0xFF;
break;
case REGISTER_SERVOA_KPA:
case REGISTER_SERVOA_KPB:
case REGISTER_SERVOA_KPC:
case REGISTER_SERVOA_KPD:
ret = *((uint8_t *)&currentMotor->kp + (local_reg - REGISTER_SERVOA_KPA));
break;
case REGISTER_SERVOA_KIA:
case REGISTER_SERVOA_KIB:
case REGISTER_SERVOA_KIC:
case REGISTER_SERVOA_KID:
ret = *((uint8_t *)&currentMotor->ki + (local_reg - REGISTER_SERVOA_KIA));
break;
case REGISTER_SERVOA_KDA:
case REGISTER_SERVOA_KDB:
case REGISTER_SERVOA_KDC:
case REGISTER_SERVOA_KDD:
ret = *((uint8_t *)&currentMotor->kd + (local_reg - REGISTER_SERVOA_KDA));
break;
default:
ret = registers[reg_pointer];
break;
}
I2C_Slave_Transmit(ret);
reg_pointer++;
break;
}
if (status == 0x70 || status == 0x78) /* Check weather general call received & ack returned (TWEA = 1) */
continue; /* If yes then return 2 to indicate ack returned */
else
continue; /* Else continue */
}
}
}
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