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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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45 | #define SEND_TASK_WCET 10000 |
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46 | #endif |
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47 | #define SEND_TASK_MIT 20000 |
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48 | |||
49 | #ifdef DUBUG_SEND |
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50 | #define GET_TASK_WCET 4000 |
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51 | #else |
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52 | #define GET_TASK_WCET 5000 |
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53 | #endif |
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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 | |||
72 | void print_status(int n){ |
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73 | int i; |
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74 | |||
75 | if (n>=6) { |
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76 | for (i=0; i<6;i++) |
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77 | 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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78 | cprintf("Power: %d", status.power); |
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79 | cprintf("\n"); |
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80 | } else { |
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81 | 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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82 | } |
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83 | } |
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84 | |||
85 | int set_leg_position(int n, float px, float py, float pz) |
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86 | { |
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87 | float px2 = px * px; |
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88 | float py2 = py * py; |
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89 | float pz2 = pz * pz; |
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90 | |||
91 | float pxz2 = px2 + pz2; |
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92 | |||
93 | float alfa1,beta1,alfa2,beta2,gamma1; |
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94 | float m,dsqrt; |
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95 | |||
96 | float delta_xz = pxz2 - c0; |
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97 | float s,k,k2,y1,delta_xy; |
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98 | |||
99 | if (delta_xz < 0.0) return -1; |
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100 | |||
101 | if (pz >= LEG_C) { |
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102 | gamma1 = acos((pz * LEG_C + px * sqrt(delta_xz)) / pxz2) * todeg; |
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103 | } else { |
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104 | gamma1 = -acos((pz * LEG_C + px * sqrt(delta_xz)) / pxz2) * todeg; |
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105 | } |
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106 | |||
107 | if (gamma1 < -90.0 || gamma1 > 90.0) return -1; |
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108 | |||
109 | m = pxz2 - LEG_CD_2IPO * (sin(gamma1+LEG_CD_ANG)+cos(gamma1+LEG_CD_ANG)); |
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110 | |||
111 | s = m + py2; |
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112 | k = c2 + s; |
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113 | k2 = k * k; |
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114 | |||
115 | delta_xy = py2 * k2 - s * (k2 - 4.0 * m * c1); |
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116 | |||
117 | if (delta_xy >= 0.0) { |
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118 | dsqrt = sqrt(delta_xy); |
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119 | y1 = (py * k + dsqrt) / (2.0 * s); |
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120 | beta1 = asin(y1/LEG_B) * todeg; |
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121 | alfa1 = asin((y1 - py)/LEG_A) * todeg + beta1; |
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122 | y1 = (py * k - dsqrt) / (2.0 * s); |
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123 | beta2 = asin(y1/LEG_B) * todeg; |
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124 | alfa2 = asin((y1 - py)/LEG_A) * todeg + beta2; |
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125 | |||
126 | if ((alfa1 >= 0.0 && alfa1 <= 180.0) && (beta1 >= -90.0 && beta1 <= 90.0)) { |
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127 | angles[n].a = (int)(alfa1 * 3600.0); |
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128 | angles[n].b = (int)(beta1 * 3600.0); |
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129 | angles[n].c = (int)(gamma1 * 3600.0); |
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130 | #ifdef DEBUG_SEND |
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131 | cprintf("Leg %d: ( %3d | %3d | %3d )\n", n, angles[n].a, angles[n].b, angles[n].c); |
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132 | #endif |
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133 | return 0; |
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134 | } else if ((alfa2 >= 0.0 && alfa2 <= 180.0) && (beta2 >= -90.0 && beta2 <= 90.0)) { |
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135 | angles[n].a = (int)(alfa2 * 3600.0); |
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136 | angles[n].b = (int)(beta2 * 3600.0); |
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137 | angles[n].c = (int)(gamma1 * 3600.0); |
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138 | #ifdef DEBUG_SEND |
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139 | cprintf("Leg %d: ( %3d | %3d | %3d )\n", n, angles[n].a, angles[n].b, angles[n].c); |
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140 | #endif |
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141 | return 0; |
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142 | } else { |
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143 | #ifdef DEBUG_SEND |
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144 | cprintf("No possible !\n"); |
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145 | #endif |
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146 | return 1; |
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147 | } |
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148 | } else |
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149 | return 1; |
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150 | |||
151 | return 0; |
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152 | } |
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153 | |||
154 | TASK servo_send() |
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155 | { |
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156 | HEXAPOD_STATE old_status; |
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157 | register char changes, new_pos, new_pwm, new_power; |
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158 | int n; |
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159 | |||
160 | for (n=0; n<6;n++) { |
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161 | old_status.leg[n].x = 150; |
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162 | old_status.leg[n].y = 0; |
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163 | old_status.leg[n].z = 0; |
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164 | old_status.leg[n].pwm = 0; |
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165 | } |
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166 | old_status.power = 0; |
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167 | |||
168 | while (1) { |
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169 | changes = 0; |
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170 | |||
171 | for (n=0; n<6; n++){ |
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172 | new_pos = 0; |
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173 | new_pwm = 0; |
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174 | new_power = 0; |
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175 | |||
176 | //sem_wait(&mx_status); |
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177 | 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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178 | if (set_leg_position(n, status.leg[n].x, status.leg[n].y, status.leg[n].z)==0) { |
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179 | old_status.leg[n].x = status.leg[n].x; |
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180 | old_status.leg[n].y = status.leg[n].y; |
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181 | old_status.leg[n].z = status.leg[n].z; |
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182 | new_pos++; |
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183 | } else { |
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184 | #ifdef DEBUG_SEND |
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185 | cprintf("Position not reachable.\n"); |
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186 | #endif |
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187 | status.leg[n].x = old_status.leg[n].x; |
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188 | status.leg[n].y = old_status.leg[n].y; |
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189 | status.leg[n].z = old_status.leg[n].z; |
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190 | } |
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191 | } |
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192 | if (status.leg[n].pwm != old_status.leg[n].pwm) { |
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193 | old_status.leg[n].pwm = status.leg[n].pwm; |
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194 | new_pwm++; |
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195 | } |
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196 | if (status.power != old_status.power) { |
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197 | old_status.power = status.power; |
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198 | new_power++; |
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199 | } |
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200 | //sem_post(&mx_status); |
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201 | |||
202 | if (new_pos) { |
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203 | #ifdef SERIAL_ON |
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204 | sem_wait(&mx_servo); |
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205 | servo_set_angle_sec(COM_PORT, n*3+2, angles[n].a); |
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206 | servo_set_angle_sec(COM_PORT, n*3+1, angles[n].b); |
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207 | servo_set_angle_sec(COM_PORT, n*3 , angles[n].c); |
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208 | sem_post(&mx_servo); |
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209 | #endif |
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210 | } |
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211 | |||
212 | if (new_pwm) { |
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213 | #ifdef SERIAL_ON |
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214 | sem_wait(&mx_servo); |
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215 | (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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216 | (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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217 | (old_status.leg[n].pwm & 4) ? servo_turn_on(COM_PORT, n*3 ) : servo_turn_off(COM_PORT, n*3 ); |
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218 | sem_post(&mx_servo); |
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219 | #endif |
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220 | } |
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221 | if (new_power) { |
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222 | #ifdef SERIAL_ON |
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223 | if (old_status.power) { |
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224 | sem_wait(&mx_servo); |
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225 | servo_set_RC5_switch(COM_PORT, 1); |
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226 | sem_post(&mx_servo); |
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227 | } else { |
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228 | sem_wait(&mx_servo); |
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229 | servo_set_RC5_switch(COM_PORT, 0); |
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230 | sem_post(&mx_servo); |
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231 | } |
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232 | #endif |
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233 | } |
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234 | |||
235 | if (new_pos || new_pwm || new_power) { |
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236 | changes++; |
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237 | #ifdef DEBUG_SEND |
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238 | print_status(n); |
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239 | #endif |
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240 | } |
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241 | } |
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242 | task_endcycle(); |
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243 | } |
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244 | |||
245 | return 0; |
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246 | } |
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247 | |||
248 | TASK servo_get() |
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249 | { |
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250 | int i = 0; |
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251 | |||
252 | while (1) { |
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253 | #ifdef SERIAL_ON |
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254 | //sem_wait(&mx_status); |
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255 | sem_wait(&mx_servo); |
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256 | status.leg[i ].adc_in = servo_get_analog(COM_PORT, i ); |
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257 | status.leg[i+1].adc_in = servo_get_analog(COM_PORT, i+1); |
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258 | sem_post(&mx_servo); |
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259 | #ifdef DEBUG_SEND |
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260 | 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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261 | #endif |
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262 | i = (i+2)%6; |
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263 | //sem_post(&mx_status); |
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264 | #endif |
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265 | task_endcycle(); |
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266 | } |
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267 | |||
268 | return 0; |
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269 | } |
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270 | |||
271 | int init_serial() |
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272 | { |
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273 | int err; |
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274 | err = servo_open(COM_PORT, COM_SPEED); |
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275 | |||
276 | return err; |
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277 | } |
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278 | |||
279 | void end_serial() |
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280 | { |
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281 | servo_close(COM_PORT); |
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282 | } |
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283 | |||
284 | void init_send_task() |
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285 | { |
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286 | HARD_TASK_MODEL ms; |
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287 | PID pid; |
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288 | |||
289 | hard_task_default_model(ms); |
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290 | hard_task_def_ctrl_jet(ms); |
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291 | hard_task_def_wcet(ms, SEND_TASK_WCET); |
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292 | hard_task_def_mit(ms, SEND_TASK_MIT); |
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293 | hard_task_def_usemath(ms); |
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294 | pid = task_create("Send_Task", servo_send, &ms, NULL); |
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295 | if (pid == NIL) { |
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296 | perror("Could not create task <Send_Task>"); |
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297 | sys_end(); |
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298 | } else |
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299 | task_activate(pid); |
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300 | |||
301 | hard_task_default_model(ms); |
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302 | hard_task_def_ctrl_jet(ms); |
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303 | hard_task_def_wcet(ms, GET_TASK_WCET); |
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304 | hard_task_def_mit(ms, GET_TASK_MIT); |
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305 | hard_task_def_usemath(ms); |
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306 | pid = task_create("Get_Task", servo_get, &ms, NULL); |
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307 | if (pid == NIL) { |
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308 | perror("Could not create task <Get_Task>"); |
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309 | sys_end(); |
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310 | } else |
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311 | task_activate(pid); |
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312 | } |
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313 | |||
314 | void init_send() |
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315 | { |
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316 | int i; |
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317 | |||
318 | if (init_serial()) { |
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319 | perror("Could not initialize serial port."); |
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320 | sys_end(); |
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321 | } |
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322 | |||
323 | //sem_init(&mx_status,0,1); |
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324 | sem_init(&mx_servo,0,1); |
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325 | |||
326 | for (i=0; i<6;i++) { |
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327 | status.leg[i].x = 150; |
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328 | status.leg[i].y = 0; |
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329 | status.leg[i].z = 0; |
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330 | status.leg[i].pwm = 0; |
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331 | } |
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332 | status.power = 0; |
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333 | |||
334 | init_send_task(); |
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335 | } |
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336 | |||
337 | void end_send() |
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338 | { |
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339 | end_serial(); |
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340 | } |