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1331 | giacomo | 1 | |
2 | /* |
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3 | * Project: S.Ha.R.K. |
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4 | * |
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5 | * Coordinators: Giorgio Buttazzo <giorgio@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://shark.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 "chimera.h" |
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37 | |||
38 | //#define DEBUG_SEND /* Print Sent Values */ |
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39 | #define SERIAL_ON /* Send Data using Serial Port */ |
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40 | |||
41 | /* Servo Tasks Constants */ |
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42 | #ifdef DUBUG_SEND |
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43 | #define SEND_TASK_WCET 6000 |
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44 | #else |
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1332 | giacomo | 45 | #define SEND_TASK_WCET 6000 |
1331 | giacomo | 46 | #endif |
47 | #define SEND_TASK_MIT 20000 |
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48 | |||
49 | #ifdef DUBUG_SEND |
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1332 | giacomo | 50 | #define GET_TASK_WCET 6000 |
1331 | giacomo | 51 | #else |
1332 | giacomo | 52 | #define GET_TASK_WCET 6000 |
1331 | giacomo | 53 | #endif |
54 | #define GET_TASK_MIT 20000 |
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55 | |||
56 | #define LEG_A 100.0 |
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57 | #define LEG_B 66.0 |
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58 | #define LEG_C 26.0 |
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59 | #define LEG_D 38.0 |
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60 | #define LEG_CD_2IPO 92.087 /* 2 * sqrt(LEG_C^2 + LEG_D^2) */ |
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61 | #define LEG_CD_ANG 34.380 /* arctg(LEG_C/LEG_D) in gradi */ |
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62 | |||
63 | const float c0 = LEG_C * LEG_C; |
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64 | const float c1 = LEG_B * LEG_B; |
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65 | const float c2 = LEG_B * LEG_B - LEG_A * LEG_A; |
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66 | const float todeg = 180.0 / PI; |
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67 | |||
68 | sem_t mx_status, mx_servo; |
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69 | HEXAPOD_STATE status; |
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70 | ANGLES_STATE angles[6]; |
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71 | |||
1332 | giacomo | 72 | extern struct leg_calibration calibration_table[]; |
73 | |||
1331 | giacomo | 74 | void print_status(int n){ |
75 | int i; |
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76 | |||
77 | if (n>=6) { |
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78 | for (i=0; i<6;i++) |
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79 | cprintf("Leg %1d: ( %3d | %3d | %3d ) (%d)\n", i, status.leg[i].x, status.leg[i].y, status.leg[i].z, status.leg[i].pwm ); |
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80 | cprintf("Power: %d", status.power); |
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81 | cprintf("\n"); |
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82 | } else { |
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83 | cprintf("Leg %1d: ( %3d | %3d | %3d ) (%1d-%1d)\n", n, status.leg[n].x,status.leg[n].y,status.leg[n].z, status.leg[n].pwm, status.power); |
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84 | } |
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85 | } |
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86 | |||
87 | int set_leg_position(int n, float px, float py, float pz) |
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88 | { |
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89 | float px2 = px * px; |
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90 | float py2 = py * py; |
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91 | float pz2 = pz * pz; |
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92 | |||
93 | float pxz2 = px2 + pz2; |
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94 | |||
95 | float alfa1,beta1,alfa2,beta2,gamma1; |
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96 | float m,dsqrt; |
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97 | |||
98 | float delta_xz = pxz2 - c0; |
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99 | float s,k,k2,y1,delta_xy; |
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100 | |||
101 | if (delta_xz < 0.0) return -1; |
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102 | |||
103 | if (pz >= LEG_C) { |
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104 | gamma1 = acos((pz * LEG_C + px * sqrt(delta_xz)) / pxz2) * todeg; |
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105 | } else { |
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106 | gamma1 = -acos((pz * LEG_C + px * sqrt(delta_xz)) / pxz2) * todeg; |
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107 | } |
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108 | |||
109 | if (gamma1 < -90.0 || gamma1 > 90.0) return -1; |
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110 | |||
111 | m = pxz2 - LEG_CD_2IPO * (sin(gamma1+LEG_CD_ANG)+cos(gamma1+LEG_CD_ANG)); |
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112 | |||
113 | s = m + py2; |
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114 | k = c2 + s; |
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115 | k2 = k * k; |
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116 | |||
117 | delta_xy = py2 * k2 - s * (k2 - 4.0 * m * c1); |
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118 | |||
119 | if (delta_xy >= 0.0) { |
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120 | dsqrt = sqrt(delta_xy); |
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121 | y1 = (py * k + dsqrt) / (2.0 * s); |
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122 | beta1 = asin(y1/LEG_B) * todeg; |
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123 | alfa1 = asin((y1 - py)/LEG_A) * todeg + beta1; |
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124 | y1 = (py * k - dsqrt) / (2.0 * s); |
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125 | beta2 = asin(y1/LEG_B) * todeg; |
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126 | alfa2 = asin((y1 - py)/LEG_A) * todeg + beta2; |
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127 | |||
128 | if ((alfa1 >= 0.0 && alfa1 <= 180.0) && (beta1 >= -90.0 && beta1 <= 90.0)) { |
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129 | angles[n].a = (int)(alfa1 * 3600.0); |
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130 | angles[n].b = (int)(beta1 * 3600.0); |
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131 | angles[n].c = (int)(gamma1 * 3600.0); |
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132 | #ifdef DEBUG_SEND |
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133 | cprintf("Leg %d: ( %3d | %3d | %3d )\n", n, angles[n].a, angles[n].b, angles[n].c); |
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134 | #endif |
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135 | return 0; |
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136 | } else if ((alfa2 >= 0.0 && alfa2 <= 180.0) && (beta2 >= -90.0 && beta2 <= 90.0)) { |
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137 | angles[n].a = (int)(alfa2 * 3600.0); |
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138 | angles[n].b = (int)(beta2 * 3600.0); |
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139 | angles[n].c = (int)(gamma1 * 3600.0); |
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140 | #ifdef DEBUG_SEND |
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141 | cprintf("Leg %d: ( %3d | %3d | %3d )\n", n, angles[n].a, angles[n].b, angles[n].c); |
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142 | #endif |
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143 | return 0; |
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144 | } else { |
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145 | #ifdef DEBUG_SEND |
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146 | cprintf("No possible !\n"); |
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147 | #endif |
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148 | return 1; |
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149 | } |
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150 | } else |
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151 | return 1; |
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152 | |||
153 | return 0; |
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154 | } |
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155 | |||
156 | TASK servo_send() |
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157 | { |
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158 | HEXAPOD_STATE old_status; |
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159 | register char changes, new_pos, new_pwm, new_power; |
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160 | int n; |
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161 | |||
162 | for (n=0; n<6;n++) { |
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163 | old_status.leg[n].x = 150; |
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164 | old_status.leg[n].y = 0; |
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165 | old_status.leg[n].z = 0; |
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166 | old_status.leg[n].pwm = 0; |
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167 | } |
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168 | old_status.power = 0; |
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169 | |||
170 | while (1) { |
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171 | changes = 0; |
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172 | |||
173 | for (n=0; n<6; n++){ |
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174 | new_pos = 0; |
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175 | new_pwm = 0; |
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176 | new_power = 0; |
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177 | |||
178 | //sem_wait(&mx_status); |
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179 | if ((status.leg[n].x != old_status.leg[n].x) || (status.leg[n].y != old_status.leg[n].y) || (status.leg[n].z != old_status.leg[n].z)) { |
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180 | if (set_leg_position(n, status.leg[n].x, status.leg[n].y, status.leg[n].z)==0) { |
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181 | old_status.leg[n].x = status.leg[n].x; |
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182 | old_status.leg[n].y = status.leg[n].y; |
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183 | old_status.leg[n].z = status.leg[n].z; |
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184 | new_pos++; |
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185 | } else { |
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186 | #ifdef DEBUG_SEND |
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187 | cprintf("Position not reachable.\n"); |
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188 | #endif |
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189 | status.leg[n].x = old_status.leg[n].x; |
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190 | status.leg[n].y = old_status.leg[n].y; |
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191 | status.leg[n].z = old_status.leg[n].z; |
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192 | } |
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193 | } |
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194 | if (status.leg[n].pwm != old_status.leg[n].pwm) { |
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195 | old_status.leg[n].pwm = status.leg[n].pwm; |
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196 | new_pwm++; |
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197 | } |
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198 | if (status.power != old_status.power) { |
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199 | old_status.power = status.power; |
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200 | new_power++; |
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201 | } |
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202 | //sem_post(&mx_status); |
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203 | |||
204 | if (new_pos) { |
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205 | #ifdef SERIAL_ON |
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206 | sem_wait(&mx_servo); |
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1332 | giacomo | 207 | servo_set_angle_sec(COM_PORT, n*3+2, adjust(angles[n].a,n,0)); |
208 | servo_set_angle_sec(COM_PORT, n*3+1, adjust(angles[n].b,n,1)); |
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209 | servo_set_angle_sec(COM_PORT, n*3 , adjust(angles[n].c,n,2)); |
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1331 | giacomo | 210 | sem_post(&mx_servo); |
1332 | giacomo | 211 | |
212 | printf_xy(3,3,WHITE,"PX = %05d PY = %05d PZ = %05d",(int)(status.leg[n].x) |
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213 | ,(int)(status.leg[n].y) |
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214 | ,(int)(status.leg[n].z)); |
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215 | |||
216 | printf_xy(3,4,WHITE,"ALFA = %07d BETA = %07d GAMMA = %07d",(int)(angles[n].a) |
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217 | ,(int)(angles[n].b) |
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218 | ,(int)(angles[n].c)); |
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219 | |||
220 | printf_xy(3,5,WHITE,"ADJ_ALFA = %07d ADJ_BETA = %07d ADJ_GAMMA = %07d",adjust(angles[n].a,n,0),adjust(angles[n].b,n,1),adjust(angles[n].c,n,2)); |
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221 | |||
1331 | giacomo | 222 | #endif |
223 | } |
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224 | |||
225 | if (new_pwm) { |
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226 | #ifdef SERIAL_ON |
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227 | sem_wait(&mx_servo); |
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228 | (old_status.leg[n].pwm & 1) ? servo_turn_on(COM_PORT, n*3+2) : servo_turn_off(COM_PORT, n*3+2); |
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229 | (old_status.leg[n].pwm & 2) ? servo_turn_on(COM_PORT, n*3+1) : servo_turn_off(COM_PORT, n*3+1); |
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230 | (old_status.leg[n].pwm & 4) ? servo_turn_on(COM_PORT, n*3 ) : servo_turn_off(COM_PORT, n*3 ); |
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231 | sem_post(&mx_servo); |
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232 | #endif |
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233 | } |
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234 | if (new_power) { |
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235 | #ifdef SERIAL_ON |
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236 | if (old_status.power) { |
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237 | sem_wait(&mx_servo); |
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238 | servo_set_RC5_switch(COM_PORT, 1); |
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239 | sem_post(&mx_servo); |
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240 | } else { |
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241 | sem_wait(&mx_servo); |
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242 | servo_set_RC5_switch(COM_PORT, 0); |
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243 | sem_post(&mx_servo); |
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244 | } |
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245 | #endif |
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246 | } |
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247 | |||
248 | if (new_pos || new_pwm || new_power) { |
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249 | changes++; |
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250 | #ifdef DEBUG_SEND |
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251 | print_status(n); |
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252 | #endif |
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253 | } |
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254 | } |
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255 | task_endcycle(); |
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256 | } |
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257 | |||
258 | return 0; |
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259 | } |
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260 | |||
261 | TASK servo_get() |
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262 | { |
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263 | int i = 0; |
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264 | |||
265 | while (1) { |
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266 | #ifdef SERIAL_ON |
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267 | //sem_wait(&mx_status); |
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268 | sem_wait(&mx_servo); |
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269 | status.leg[i ].adc_in = servo_get_analog(COM_PORT, i ); |
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270 | status.leg[i+1].adc_in = servo_get_analog(COM_PORT, i+1); |
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271 | sem_post(&mx_servo); |
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272 | #ifdef DEBUG_SEND |
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273 | cprintf("Leg %1d-%1d: (%4d) (%4d)\n", i, i+1, status.leg[i].adc_in, status.leg[i+1].adc_in); |
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274 | #endif |
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275 | i = (i+2)%6; |
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276 | //sem_post(&mx_status); |
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277 | #endif |
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278 | task_endcycle(); |
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279 | } |
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280 | |||
281 | return 0; |
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282 | } |
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283 | |||
284 | int init_serial() |
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285 | { |
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286 | int err; |
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1332 | giacomo | 287 | err = servo_open(COM_PORT, 19200); |
1331 | giacomo | 288 | |
289 | return err; |
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290 | } |
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291 | |||
292 | void end_serial() |
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293 | { |
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294 | servo_close(COM_PORT); |
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295 | } |
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296 | |||
297 | void init_send_task() |
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298 | { |
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1332 | giacomo | 299 | SOFT_TASK_MODEL ms; |
1331 | giacomo | 300 | PID pid; |
301 | |||
1332 | giacomo | 302 | soft_task_default_model(ms); |
303 | soft_task_def_ctrl_jet(ms); |
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304 | soft_task_def_met(ms, SEND_TASK_WCET); |
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305 | soft_task_def_period(ms, SEND_TASK_MIT); |
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306 | soft_task_def_usemath(ms); |
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1331 | giacomo | 307 | pid = task_create("Send_Task", servo_send, &ms, NULL); |
308 | if (pid == NIL) { |
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309 | perror("Could not create task <Send_Task>"); |
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310 | sys_end(); |
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311 | } else |
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312 | task_activate(pid); |
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313 | |||
1332 | giacomo | 314 | soft_task_default_model(ms); |
315 | soft_task_def_ctrl_jet(ms); |
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316 | soft_task_def_met(ms, GET_TASK_WCET); |
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317 | soft_task_def_period(ms, GET_TASK_MIT); |
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318 | soft_task_def_usemath(ms); |
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1331 | giacomo | 319 | pid = task_create("Get_Task", servo_get, &ms, NULL); |
320 | if (pid == NIL) { |
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321 | perror("Could not create task <Get_Task>"); |
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322 | sys_end(); |
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323 | } else |
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324 | task_activate(pid); |
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325 | } |
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326 | |||
327 | void init_send() |
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328 | { |
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329 | int i; |
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330 | |||
331 | if (init_serial()) { |
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332 | perror("Could not initialize serial port."); |
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333 | sys_end(); |
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334 | } |
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335 | |||
336 | //sem_init(&mx_status,0,1); |
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337 | sem_init(&mx_servo,0,1); |
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338 | |||
339 | for (i=0; i<6;i++) { |
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340 | status.leg[i].x = 150; |
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341 | status.leg[i].y = 0; |
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342 | status.leg[i].z = 0; |
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343 | status.leg[i].pwm = 0; |
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344 | } |
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345 | status.power = 0; |
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346 | |||
347 | init_send_task(); |
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348 | } |
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349 | |||
350 | void end_send() |
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351 | { |
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352 | end_serial(); |
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353 | } |