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1331 | giacomo | 1 | /* |
2 | * Project: HARTIK (HA-rd R-eal TI-me K-ernel) |
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3 | * |
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4 | * Coordinators: Giorgio Buttazzo <giorgio@sssup.it> |
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5 | * Gerardo Lamastra <gerardo@sssup.it> |
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6 | * |
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7 | * Authors : Paolo Gai <pj@hartik.sssup.it> |
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8 | * (see authors.txt for full list of hartik's authors) |
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9 | * |
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10 | * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
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11 | * |
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12 | * http://www.sssup.it |
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13 | * http://retis.sssup.it |
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14 | * http://hartik.sssup.it |
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15 | */ |
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16 | |||
17 | /* |
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18 | * Copyright (C) 2000 Paolo Gai |
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19 | * |
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20 | * This program is free software; you can redistribute it and/or modify |
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21 | * it under the terms of the GNU General Public License as published by |
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22 | * the Free Software Foundation; either version 2 of the License, or |
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23 | * (at your option) any later version. |
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24 | * |
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25 | * This program is distributed in the hope that it will be useful, |
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26 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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27 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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28 | * GNU General Public License for more details. |
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29 | * |
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30 | * You should have received a copy of the GNU General Public License |
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31 | * along with this program; if not, write to the Free Software |
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32 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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33 | * |
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34 | */ |
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35 | |||
36 | #include <stdlib.h> |
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37 | #include <string.h> |
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38 | #include <math.h> |
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39 | #include <kernel/kern.h> |
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40 | #include <kernel/func.h> |
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41 | #include <semaphore.h> |
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42 | #include "modules/sem.h" |
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43 | #include "modules/hartport.h" |
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44 | #include <drivers/keyb.h> |
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45 | |||
46 | #include <servo.h> |
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47 | |||
48 | /* COM Port Constants */ |
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49 | #define COM_PORT COM2 |
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50 | #define COM_SPEED 115200 |
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51 | |||
52 | #define com(i) ((i) / 12) ? COM2 : COM1 |
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53 | #define pin(i) (i) % 12 |
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54 | |||
55 | /* Angle bounds */ |
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56 | #define POS_X_MIN 0 |
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57 | #define POS_X_MAX 200 |
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58 | #define POS_Y_MIN -200 |
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59 | #define POS_Y_MAX 200 |
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60 | #define POS_Z_MIN -150 |
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61 | #define POS_Z_MAX 150 |
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62 | |||
1333 | giacomo | 63 | typedef struct { |
64 | int adc_in; |
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65 | unsigned char pwm; |
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66 | } LEG_CFG_STATE; |
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67 | |||
1331 | giacomo | 68 | typedef struct { /*describe the position and adc value of a leg*/ |
69 | int x; |
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70 | int y; |
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71 | int z; |
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1333 | giacomo | 72 | } LEG_POS_STATE; |
1331 | giacomo | 73 | |
1333 | giacomo | 74 | typedef struct { /*describe the position and adc value of a leg*/ |
75 | int a; |
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76 | int b; |
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77 | int c; |
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78 | } LEG_ANG_STATE; |
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79 | |||
1331 | giacomo | 80 | typedef struct { /*describe the position of a leg in servo angles*/ |
81 | int a; |
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82 | int b; |
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83 | int c; |
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84 | } ANGLES_STATE; |
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85 | |||
86 | typedef struct { |
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1333 | giacomo | 87 | LEG_CFG_STATE cfg[6]; |
88 | LEG_POS_STATE leg[6]; |
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89 | LEG_ANG_STATE ang[6]; |
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1331 | giacomo | 90 | char power; |
91 | } HEXAPOD_STATE; |
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92 | |||
93 | /*****************************************/ |
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94 | |||
1333 | giacomo | 95 | #define EVT_SET_MASK_LEG_ANGLE 0x01 |
96 | #define EVT_SET_MASK_LEG_POS 0x02 |
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97 | |||
98 | #define EVT_STATUS_WAIT 0x01 |
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99 | #define EVT_STATUS_EXEC 0x02 |
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100 | #define EVT_STATUS_DONE 0x03 |
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101 | |||
102 | struct action_event { |
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103 | |||
104 | unsigned char type; |
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105 | unsigned char status; |
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106 | struct timespec time; |
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107 | unsigned char mask; |
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108 | unsigned char data[20]; //Generic data |
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109 | struct action_event *next; |
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110 | |||
111 | }; |
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112 | |||
113 | struct action_event *get_first_old_event(struct timespec *time); |
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114 | |||
1331 | giacomo | 115 | extern sem_t mx_status; |
116 | extern HEXAPOD_STATE status; |
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117 | |||
118 | void init_send(void); |
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119 | void end_send(void); |
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120 | |||
121 | void init_key(void); |