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Rev | Author | Line No. | Line |
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1332 | giacomo | 1 | /* |
2 | * Project: S.Ha.R.K. |
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3 | * |
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4 | * Coordinators: Giorgio Buttazzo <giorgio@sssup.it> |
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5 | * |
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6 | * |
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7 | * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
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8 | * |
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9 | * http://www.sssup.it |
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10 | * http://retis.sssup.it |
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11 | * http://shark.sssup.it |
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12 | */ |
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13 | |||
14 | #include "chimera.h" |
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15 | #include <ll/i386/64bit.h> |
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16 | |||
17 | volatile int calibrate_status = 0; |
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18 | volatile int calibrate_exec_step = 0; |
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19 | |||
20 | extern HEXAPOD_STATE status; |
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21 | extern unsigned char active_leg; |
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22 | |||
23 | struct leg_calibration { |
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1333 | giacomo | 24 | int side; |
1332 | giacomo | 25 | int pos[6]; |
26 | int delta_90[3]; |
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27 | int zero[3]; |
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28 | }; |
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29 | |||
30 | struct leg_calibration calibration_table[] = { |
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1335 | giacomo | 31 | {1,{0,90,-45,45,-90,0},{432001,403201,432001},{-201600,28800,241201}}, |
1359 | giacomo | 32 | {-1,{0,90,-45,45,-90,0},{413949,453599,431999},{216000,50401,-215599}}, |
1335 | giacomo | 33 | {1,{0,90,-45,45,-45,45},{417601,388801,424741},{-216000,-43200,82770}}, |
1359 | giacomo | 34 | {-1,{0,90,-45,45,-45,45},{421199,421199,443799},{165600,-8999,30600}}, |
1335 | giacomo | 35 | {1,{0,90,-45,45,0,90},{414001,424801,410401},{-162000,39600,-122400}}, |
1333 | giacomo | 36 | {-1,{0,90,-45,45,0,90},{0,0,0},{0,0,0}}, |
1332 | giacomo | 37 | }; |
38 | |||
39 | int adjust(int angle_sec, int leg, int num) { |
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40 | |||
41 | int temp; |
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42 | |||
43 | smul32div32to32(angle_sec,calibration_table[leg].delta_90[num],324000,temp); |
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44 | |||
1333 | giacomo | 45 | return calibration_table[leg].side * temp + calibration_table[leg].zero[num]; |
1332 | giacomo | 46 | |
47 | } |
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48 | |||
49 | TASK calibrate(void *arg) { |
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50 | |||
51 | int i, num = 0, angsec = 0, angsec_temp[6]; |
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52 | static int test_angle[20],set,turn_on,servo_count; |
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53 | char servo_name[10]; |
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54 | |||
55 | for (i=0;i<20;i++) test_angle[i] = 0; |
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1336 | giacomo | 56 | |
57 | clear(); |
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1332 | giacomo | 58 | |
1359 | giacomo | 59 | servo_turn_off(com(active_leg*3), pin(active_leg*3)); |
60 | servo_turn_off(com(active_leg*3+1), pin(active_leg*3+1)); |
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61 | servo_turn_off(com(active_leg*3+2), pin(active_leg*3+2)); |
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1332 | giacomo | 62 | |
63 | servo_count = 0; |
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1359 | giacomo | 64 | servo_turn_on(com(active_leg*3), pin(active_leg*3)); |
1332 | giacomo | 65 | turn_on = 0; |
66 | |||
67 | while (calibrate_status == 1) { |
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68 | |||
69 | if (calibrate_exec_step == 100000) { |
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70 | |||
71 | angsec_temp[servo_count] = test_angle[3*active_leg+num]; |
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72 | printf_xy(0,10+servo_count,WHITE,"%08d",test_angle[3*active_leg+num]); |
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1359 | giacomo | 73 | servo_turn_off(com(3*active_leg+num),pin(3*active_leg+num)); |
1332 | giacomo | 74 | servo_count++; |
75 | |||
76 | if (servo_count == 6) { |
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77 | |||
78 | for (i=0;i<3;i++) { |
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79 | calibration_table[active_leg].delta_90[i] = abs(angsec_temp[2*i+1] - angsec_temp[2*i] + 1); |
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1333 | giacomo | 80 | calibration_table[active_leg].zero[i] = calibration_table[active_leg].side * abs(calibration_table[active_leg].pos[2*i] * calibration_table[active_leg].delta_90[i] / 90) + angsec_temp[2*i]; |
1332 | giacomo | 81 | |
1333 | giacomo | 82 | printf_xy(22*i,22,WHITE,"D%d %7d Z%d %7d", |
83 | i,calibration_table[active_leg].delta_90[i], |
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84 | i,calibration_table[active_leg].zero[i]); |
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1332 | giacomo | 85 | |
86 | } |
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87 | |||
88 | calibrate_status = 0; |
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89 | calibrate_exec_step = 0; |
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90 | |||
91 | task_kill(exec_shadow); |
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92 | task_testcancel(); |
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93 | |||
94 | } |
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95 | |||
96 | turn_on = 1; |
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97 | |||
98 | calibrate_exec_step = 0; |
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99 | |||
100 | } |
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101 | |||
102 | switch (servo_count) { |
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103 | case 0: |
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104 | case 1: |
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105 | sprintf(servo_name,"ALFA "); |
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1359 | giacomo | 106 | num = 0; |
1332 | giacomo | 107 | break; |
108 | case 2: |
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109 | case 3: |
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110 | sprintf(servo_name,"BETA "); |
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111 | num = 1; |
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112 | break; |
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113 | case 4: |
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114 | case 5: |
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115 | sprintf(servo_name,"GAMMA"); |
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1359 | giacomo | 116 | num = 2; |
1332 | giacomo | 117 | break; |
118 | } |
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119 | |||
120 | if (turn_on == 1) { |
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1359 | giacomo | 121 | servo_turn_on(com(3*active_leg+num),pin(3*active_leg+num)); |
1332 | giacomo | 122 | turn_on = 0; |
123 | } |
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124 | |||
125 | set = calibration_table[active_leg].pos[servo_count]; |
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126 | printf_xy(10,10+servo_count,WHITE,"Set servo %s to position %d",servo_name,set); |
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127 | |||
1359 | giacomo | 128 | servo_turn_on(com(3*active_leg+num),pin(3*active_leg+num)); |
1332 | giacomo | 129 | |
130 | if (calibrate_exec_step != 0) { |
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131 | |||
132 | test_angle[3*active_leg+num] += calibrate_exec_step; |
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133 | printf_xy(10,20,WHITE,"Set %08d to servo %03d",test_angle[3*active_leg+num],3*active_leg+num); |
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1359 | giacomo | 134 | servo_set_angle_sec(com(3*active_leg+num), pin(3*active_leg+num), test_angle[3*active_leg+num]); |
1332 | giacomo | 135 | |
136 | calibrate_exec_step = 0; |
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137 | |||
138 | } |
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139 | |||
1359 | giacomo | 140 | angsec = servo_get_angle_sec(com(3*active_leg+num), pin(3*active_leg+num)); |
1332 | giacomo | 141 | |
142 | printf_xy(10,21,WHITE,"Angle Seconds = %08d",angsec); |
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143 | |||
144 | task_endcycle(); |
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145 | |||
146 | } |
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147 | |||
148 | return 0; |
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149 | |||
150 | } |
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151 | |||
152 | void calibrate_init() { |
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153 | |||
154 | SOFT_TASK_MODEL st; |
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155 | PID st_pid; |
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156 | |||
157 | if (calibrate_status == 0) { |
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158 | calibrate_status = 1; |
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159 | |||
160 | soft_task_default_model(st); |
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161 | soft_task_def_period(st,300000); |
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162 | soft_task_def_met(st,30000); |
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163 | soft_task_def_usemath(st); |
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164 | soft_task_def_ctrl_jet(st); |
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165 | |||
166 | st_pid = task_create("Calibration task",calibrate,&st,NULL); |
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167 | if (st_pid == NIL) { |
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168 | cprintf("Error creating calibration task\n"); |
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169 | sys_end(); |
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170 | } |
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171 | |||
172 | task_activate(st_pid); |
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173 | |||
174 | } else { |
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175 | return; |
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176 | } |
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177 | |||
178 | } |
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179 | |||
180 | void calibrate_step(int step) { |
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181 | |||
182 | if (calibrate_status != 0 && calibrate_exec_step == 0) { |
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183 | |||
184 | calibrate_exec_step = step; |
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185 | |||
186 | } |
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187 | |||
188 | } |