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Rev | Author | Line No. | Line |
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1331 | 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 | * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
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7 | * |
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8 | * http://www.sssup.it |
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9 | * http://retis.sssup.it |
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10 | * http://shark.sssup.it |
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11 | */ |
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12 | |||
13 | #include "chimera.h" |
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1396 | giacomo | 14 | #include "tracer.h" |
1408 | giacomo | 15 | #include "unistd.h" |
1331 | giacomo | 16 | |
17 | //#define DEBUG_SEND /* Print Sent Values */ |
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18 | #define SERIAL_ON /* Send Data using Serial Port */ |
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19 | |||
20 | /* Servo Tasks Constants */ |
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21 | #ifdef DUBUG_SEND |
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1359 | giacomo | 22 | #define SEND_TASK_WCET 20000 |
1331 | giacomo | 23 | #else |
1359 | giacomo | 24 | #define SEND_TASK_WCET 20000 |
1331 | giacomo | 25 | #endif |
1391 | giacomo | 26 | #define SEND_TASK_MIT 30000 |
1331 | giacomo | 27 | |
28 | #define LEG_A 100.0 |
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29 | #define LEG_B 66.0 |
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30 | #define LEG_C 26.0 |
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31 | #define LEG_D 38.0 |
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32 | #define LEG_CD_2IPO 92.087 /* 2 * sqrt(LEG_C^2 + LEG_D^2) */ |
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1338 | giacomo | 33 | #define LEG_CD_ANG 0.600 /* arctg(LEG_C/LEG_D) in radianti */ |
1331 | giacomo | 34 | |
35 | const float c0 = LEG_C * LEG_C; |
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36 | const float c1 = LEG_B * LEG_B; |
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37 | const float c2 = LEG_B * LEG_B - LEG_A * LEG_A; |
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38 | const float todeg = 180.0 / PI; |
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1336 | giacomo | 39 | const float torad = PI / 180.0; |
1331 | giacomo | 40 | |
41 | HEXAPOD_STATE status; |
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42 | |||
1408 | giacomo | 43 | void *start_tracer = NULL; |
44 | void *end_tracer = NULL; |
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45 | void *trace_pointer = NULL; |
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1407 | giacomo | 46 | |
1332 | giacomo | 47 | extern struct leg_calibration calibration_table[]; |
48 | |||
1331 | giacomo | 49 | void print_status(int n){ |
50 | } |
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51 | |||
1336 | giacomo | 52 | int leg_to_ang(float px, float py, float pz, int *alfa, int *beta, int *gamma) |
1331 | giacomo | 53 | { |
54 | float px2 = px * px; |
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55 | float py2 = py * py; |
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56 | float pz2 = pz * pz; |
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57 | |||
58 | float pxz2 = px2 + pz2; |
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59 | |||
1338 | giacomo | 60 | float alfa1,beta1,alfa2,beta2,gamma1,gamma2; |
1331 | giacomo | 61 | float m,dsqrt; |
62 | |||
63 | float delta_xz = pxz2 - c0; |
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64 | float s,k,k2,y1,delta_xy; |
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65 | |||
66 | if (delta_xz < 0.0) return -1; |
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67 | |||
68 | if (pz >= LEG_C) { |
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1338 | giacomo | 69 | gamma2 = acos((pz * LEG_C + px * sqrt(delta_xz)) / pxz2); |
70 | gamma1 = gamma2 * todeg; |
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1331 | giacomo | 71 | } else { |
1338 | giacomo | 72 | gamma2 = -acos((pz * LEG_C + px * sqrt(delta_xz)) / pxz2); |
73 | gamma1 = gamma2 * todeg; |
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1331 | giacomo | 74 | } |
75 | |||
1338 | giacomo | 76 | m = pxz2 - LEG_CD_2IPO * (pz * sin(gamma2+LEG_CD_ANG) + px * cos(gamma2+LEG_CD_ANG) - LEG_CD_2IPO / 4.0); |
1331 | giacomo | 77 | |
78 | s = m + py2; |
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79 | k = c2 + s; |
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80 | k2 = k * k; |
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81 | |||
82 | delta_xy = py2 * k2 - s * (k2 - 4.0 * m * c1); |
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83 | |||
84 | if (delta_xy >= 0.0) { |
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85 | dsqrt = sqrt(delta_xy); |
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86 | y1 = (py * k + dsqrt) / (2.0 * s); |
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87 | beta1 = asin(y1/LEG_B) * todeg; |
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88 | alfa1 = asin((y1 - py)/LEG_A) * todeg + beta1; |
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89 | y1 = (py * k - dsqrt) / (2.0 * s); |
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90 | beta2 = asin(y1/LEG_B) * todeg; |
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91 | alfa2 = asin((y1 - py)/LEG_A) * todeg + beta2; |
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92 | |||
93 | if ((alfa1 >= 0.0 && alfa1 <= 180.0) && (beta1 >= -90.0 && beta1 <= 90.0)) { |
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1336 | giacomo | 94 | *alfa = (int)(alfa1 * 3600.0); |
95 | *beta = (int)(beta1 * 3600.0); |
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96 | *gamma = (int)(gamma1 * 3600.0); |
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1331 | giacomo | 97 | return 0; |
98 | } else if ((alfa2 >= 0.0 && alfa2 <= 180.0) && (beta2 >= -90.0 && beta2 <= 90.0)) { |
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1336 | giacomo | 99 | *alfa = (int)(alfa2 * 3600.0); |
100 | *beta = (int)(beta2 * 3600.0); |
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101 | *gamma = (int)(gamma1 * 3600.0); |
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1331 | giacomo | 102 | return 0; |
103 | } else { |
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1336 | giacomo | 104 | return -1; |
1331 | giacomo | 105 | } |
106 | } else |
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1336 | giacomo | 107 | return -1; |
1331 | giacomo | 108 | |
1336 | giacomo | 109 | return -1; |
110 | |||
1331 | giacomo | 111 | } |
112 | |||
1336 | giacomo | 113 | int ang_to_leg(int alfa, int beta, int gamma, float *px, float *py, float *pz) { |
114 | |||
115 | float alfa1 = (float)(alfa)/3600.0 * torad; |
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116 | float beta1 = (float)(beta)/3600.0 * torad; |
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117 | float sin_gamma = sin((float)(gamma)/3600.0 * torad); |
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118 | float cos_gamma = cos((float)(gamma)/3600.0 * torad); |
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119 | float m; |
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120 | |||
121 | m = LEG_B * cos(beta1) + LEG_A * cos(alfa1 - beta1); |
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122 | *py = LEG_B * sin(beta1) - LEG_A * sin(alfa1 - beta1); |
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123 | |||
124 | *pz = (LEG_D + m) * sin_gamma + LEG_C * cos_gamma; |
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125 | *px = (LEG_D + m) * cos_gamma - LEG_C * sin_gamma; |
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126 | |||
127 | return 0; |
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128 | |||
129 | } |
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130 | |||
1333 | giacomo | 131 | void update_event_action(void) { |
132 | |||
133 | struct timespec t; |
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134 | struct action_event *e; |
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135 | int i; |
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136 | |||
137 | kern_gettime(&t); |
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138 | |||
139 | while ((e = get_first_old_event(&t)) != NULL) { |
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140 | |||
141 | if (e->type == EVT_SET_MASK_LEG_ANGLE) { |
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142 | |||
143 | for (i=0;i<6;i++) |
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1359 | giacomo | 144 | if ((e->mask >> i) & 1) { |
1333 | giacomo | 145 | |
1336 | giacomo | 146 | status.ang[i].a = e->ang.a; |
147 | status.ang[i].b = e->ang.b; |
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148 | status.ang[i].c = e->ang.c; |
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149 | |||
150 | status.cfg[i].pwm = e->pwm; |
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151 | |||
1396 | giacomo | 152 | #ifdef DEBUG_SEND |
1334 | giacomo | 153 | printf_xy(3,2,WHITE,"%8d: Update leg %2d angle",(int)kern_gettime(NULL),i); |
1396 | giacomo | 154 | #endif |
1333 | giacomo | 155 | |
156 | |||
157 | } |
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158 | |||
159 | e->status = EVT_STATUS_DONE; |
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160 | |||
161 | } |
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162 | |||
163 | } |
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164 | |||
165 | } |
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166 | |||
1407 | giacomo | 167 | int trace_init(int buffer_size) |
168 | { |
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169 | |||
170 | start_tracer = trace_pointer = (void *)malloc(buffer_size); |
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171 | end_tracer = start_tracer + buffer_size; |
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172 | memset(trace_pointer,0,buffer_size); |
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173 | |||
174 | if (trace_pointer == NULL) return -1; |
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175 | |||
176 | return 0; |
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177 | } |
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178 | |||
1408 | giacomo | 179 | /* Init the network stack */ |
180 | int init_network(char *local_ip) |
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181 | { |
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182 | |||
183 | struct net_model m = net_base; |
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184 | |||
185 | net_setudpip(m, local_ip, "255.255.255.255"); |
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186 | |||
187 | if (net_init(&m) != 1) { |
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188 | cprintf("Network: Init Error.\n"); |
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189 | return -1; |
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190 | } |
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191 | |||
192 | return 0; |
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193 | |||
194 | } |
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195 | |||
1407 | giacomo | 196 | int trace_consumption(int sensor, int value) |
197 | { |
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198 | |||
199 | struct timespec t; |
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200 | SYS_FLAGS f; |
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201 | |||
202 | if (trace_pointer == NULL) return -1; |
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203 | |||
204 | if (trace_pointer >= (end_tracer-16)) return -1; |
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205 | |||
206 | f = kern_fsave(); |
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207 | |||
208 | sys_gettime(&t); |
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209 | |||
210 | *(unsigned int *)trace_pointer = (sensor & 0xFF) | 0xAABBFF00; |
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211 | *(unsigned int *)(trace_pointer + 4) = value; |
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212 | *(unsigned int *)(trace_pointer + 8) = t.tv_sec; |
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213 | *(unsigned int *)(trace_pointer + 12) = t.tv_nsec; |
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214 | |||
215 | trace_pointer += 16; |
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216 | |||
217 | kern_frestore(f); |
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218 | |||
219 | return 0; |
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220 | |||
221 | } |
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222 | |||
1408 | giacomo | 223 | int trace_send() { |
1407 | giacomo | 224 | |
225 | static char pkg_buffer[1100]; |
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226 | int actual = 0; |
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227 | |||
1408 | giacomo | 228 | UDP_ADDR target, local; |
229 | char local_ip[20], target_ip[20]; |
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230 | int socket; |
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231 | IP_ADDR bindlist[5]; |
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232 | |||
233 | strcpy(local_ip, "192.168.1.10"); |
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234 | strcpy(target_ip, "192.168.1.1"); |
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235 | |||
236 | if (init_network(local_ip)) sys_end(); |
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237 | |||
238 | /* local IP string to addr */ |
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239 | ip_str2addr(local_ip,&(local.s_addr)); |
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240 | /* set the source port */ |
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241 | local.s_port = 20000; |
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242 | |||
243 | /* target IP string to addr */ |
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244 | ip_str2addr(target_ip,&(bindlist[0])); |
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245 | memset(&(bindlist[1]), 0, sizeof(IP_ADDR)); |
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246 | /* bind */ |
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247 | socket = udp_bind(&local, NULL); |
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248 | |||
249 | /* target IP string to addr */ |
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250 | ip_str2addr(target_ip,&(target.s_addr)); |
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251 | /* target port */ |
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252 | target.s_port = 20000; |
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253 | |||
1407 | giacomo | 254 | trace_pointer = start_tracer; |
1408 | giacomo | 255 | actual = 0; |
1407 | giacomo | 256 | |
1408 | giacomo | 257 | while(trace_pointer < end_tracer) { |
1407 | giacomo | 258 | |
1408 | giacomo | 259 | if (((*(int *)(trace_pointer) >> 8) & 0xAABBFF) == 0xAABBFF) { |
1407 | giacomo | 260 | |
1408 | giacomo | 261 | memcpy(&(pkg_buffer[actual]),trace_pointer,16); |
1407 | giacomo | 262 | |
1408 | giacomo | 263 | actual += 16; |
264 | |||
265 | if (actual > 1000) { |
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266 | pkg_buffer[actual] = 0; |
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267 | udp_sendto(socket, pkg_buffer, strlen(pkg_buffer), &target); |
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268 | usleep(10000); |
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269 | actual = 0; |
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270 | } |
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271 | |||
1407 | giacomo | 272 | } |
273 | |||
1408 | giacomo | 274 | trace_pointer += 16; |
275 | |||
1407 | giacomo | 276 | } |
277 | |||
1408 | giacomo | 278 | return 0; |
279 | |||
1407 | giacomo | 280 | } |
281 | |||
1331 | giacomo | 282 | TASK servo_send() |
283 | { |
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284 | HEXAPOD_STATE old_status; |
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285 | register char changes, new_pos, new_pwm, new_power; |
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1359 | giacomo | 286 | int res,n; |
1390 | mauro | 287 | struct timespec t; |
1391 | giacomo | 288 | int actual_leg = 0; |
1331 | giacomo | 289 | |
290 | for (n=0; n<6;n++) { |
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1333 | giacomo | 291 | old_status.ang[n].a = 0; |
292 | old_status.ang[n].b = 0; |
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293 | old_status.ang[n].c = 0; |
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294 | old_status.cfg[n].pwm = 0; |
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1331 | giacomo | 295 | } |
296 | old_status.power = 0; |
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297 | |||
298 | while (1) { |
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299 | changes = 0; |
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1333 | giacomo | 300 | |
301 | update_event_action(); |
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1331 | giacomo | 302 | |
303 | for (n=0; n<6; n++){ |
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304 | new_pos = 0; |
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305 | new_pwm = 0; |
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306 | new_power = 0; |
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307 | |||
1333 | giacomo | 308 | if ((status.ang[n].a != old_status.ang[n].a) || |
309 | (status.ang[n].b != old_status.ang[n].b) || |
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310 | (status.ang[n].c != old_status.ang[n].c)) { |
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311 | |||
312 | old_status.ang[n].a = status.ang[n].a; |
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313 | old_status.ang[n].b = status.ang[n].b; |
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314 | old_status.ang[n].c = status.ang[n].c; |
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315 | new_pos++; |
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316 | } |
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317 | |||
318 | if (status.cfg[n].pwm != old_status.cfg[n].pwm) { |
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319 | old_status.cfg[n].pwm = status.cfg[n].pwm; |
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1331 | giacomo | 320 | new_pwm++; |
321 | } |
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322 | if (status.power != old_status.power) { |
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323 | old_status.power = status.power; |
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324 | new_power++; |
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325 | } |
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326 | |||
327 | if (new_pos) { |
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328 | #ifdef SERIAL_ON |
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1391 | giacomo | 329 | task_nopreempt(); |
1359 | giacomo | 330 | res = servo_set_angle_sec(com(n*3 ), pin(n*3 ), adjust(status.ang[n].a,n,0)); |
331 | if (res != 0) cprintf("Error send data\n"); |
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332 | res = servo_set_angle_sec(com(n*3+1), pin(n*3+1), adjust(status.ang[n].b,n,1)); |
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333 | if (res != 0) cprintf("Error send data\n"); |
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334 | res = servo_set_angle_sec(com(n*3+2), pin(n*3+2), adjust(status.ang[n].c,n,2)); |
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335 | if (res != 0) cprintf("Error send data\n"); |
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1391 | giacomo | 336 | task_preempt(); |
1331 | giacomo | 337 | #endif |
1359 | giacomo | 338 | |
1331 | giacomo | 339 | } |
340 | |||
341 | if (new_pwm) { |
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342 | #ifdef SERIAL_ON |
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1391 | giacomo | 343 | task_nopreempt(); |
1359 | giacomo | 344 | (old_status.cfg[n].pwm & 1) ? servo_turn_on(com(n*3 ), pin(n*3 )) : servo_turn_off(com(n*3 ), pin(n*3 )); |
345 | (old_status.cfg[n].pwm & 2) ? servo_turn_on(com(n*3+1), pin(n*3+1)) : servo_turn_off(com(n*3+1), pin(n*3+1)); |
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346 | (old_status.cfg[n].pwm & 4) ? servo_turn_on(com(n*3+2), pin(n*3+2)) : servo_turn_off(com(n*3+2), pin(n*3+2)); |
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1391 | giacomo | 347 | task_preempt(); |
1331 | giacomo | 348 | #endif |
349 | } |
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350 | if (new_power) { |
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351 | #ifdef SERIAL_ON |
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1391 | giacomo | 352 | task_nopreempt(); |
1331 | giacomo | 353 | if (old_status.power) { |
1359 | giacomo | 354 | servo_set_RC5_switch(COM2, 1); |
1331 | giacomo | 355 | } else { |
1359 | giacomo | 356 | servo_set_RC5_switch(COM2, 0); |
1331 | giacomo | 357 | } |
1391 | giacomo | 358 | task_preempt(); |
1331 | giacomo | 359 | #endif |
360 | } |
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361 | |||
362 | if (new_pos || new_pwm || new_power) { |
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363 | changes++; |
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364 | } |
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365 | } |
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366 | |||
1391 | giacomo | 367 | if (!new_pos) { |
1331 | giacomo | 368 | |
1397 | giacomo | 369 | |
370 | #ifdef SERIAL_ON |
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1391 | giacomo | 371 | task_nopreempt(); |
372 | status.cfg[actual_leg].adc_in = servo_get_analog(COM1, actual_leg); |
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1407 | giacomo | 373 | trace_consumption(actual_leg,status.cfg[actual_leg].adc_in); |
1391 | giacomo | 374 | task_preempt(); |
1397 | giacomo | 375 | #endif |
1391 | giacomo | 376 | |
377 | sys_gettime(&t); |
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378 | printf_xy(1,20,WHITE,"(%d) (%d) (%d) (%d) (%d) (%d) ", |
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379 | status.cfg[0].adc_in, |
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380 | status.cfg[1].adc_in, |
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381 | status.cfg[2].adc_in, |
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382 | status.cfg[3].adc_in, |
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383 | status.cfg[4].adc_in, |
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384 | status.cfg[5].adc_in); |
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385 | actual_leg = (actual_leg+1)%6; |
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386 | |||
387 | } |
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388 | |||
1331 | giacomo | 389 | task_endcycle(); |
390 | } |
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391 | |||
392 | return 0; |
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393 | } |
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394 | |||
395 | int init_serial() |
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396 | { |
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397 | int err; |
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1359 | giacomo | 398 | err = servo_open(COM1, COM_SPEED); |
399 | if (!err) |
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400 | err = servo_open(COM2, COM_SPEED); |
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1331 | giacomo | 401 | |
402 | return err; |
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403 | } |
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404 | |||
405 | void end_serial() |
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406 | { |
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1359 | giacomo | 407 | servo_close(COM1); |
408 | servo_close(COM2); |
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1331 | giacomo | 409 | } |
410 | |||
411 | void init_send_task() |
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412 | { |
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1359 | giacomo | 413 | HARD_TASK_MODEL ms; |
1331 | giacomo | 414 | PID pid; |
415 | |||
1359 | giacomo | 416 | hard_task_default_model(ms); |
417 | hard_task_def_ctrl_jet(ms); |
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418 | hard_task_def_wcet(ms, SEND_TASK_WCET); |
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419 | hard_task_def_mit(ms, SEND_TASK_MIT); |
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420 | hard_task_def_usemath(ms); |
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1391 | giacomo | 421 | pid = task_create("Servo_Task", servo_send, &ms, NULL); |
1331 | giacomo | 422 | if (pid == NIL) { |
423 | perror("Could not create task <Send_Task>"); |
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424 | sys_end(); |
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425 | } else |
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426 | task_activate(pid); |
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427 | |||
428 | } |
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429 | |||
430 | void init_send() |
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431 | { |
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432 | int i; |
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433 | |||
434 | if (init_serial()) { |
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435 | perror("Could not initialize serial port."); |
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436 | sys_end(); |
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437 | } |
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438 | |||
439 | for (i=0; i<6;i++) { |
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1333 | giacomo | 440 | status.ang[i].a = 0; |
441 | status.ang[i].b = 0; |
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442 | status.ang[i].c = 0; |
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443 | status.cfg[i].pwm = 0; |
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1331 | giacomo | 444 | } |
445 | status.power = 0; |
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446 | |||
447 | init_send_task(); |
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1336 | giacomo | 448 | |
1331 | giacomo | 449 | } |
450 | |||
451 | void end_send() |
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452 | { |
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453 | end_serial(); |
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454 | } |