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1624 giacomo 1
/*
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 * Project: HARTIK (HA-rd R-eal TI-me K-ernel)
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 *
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 * Coordinators: Giorgio Buttazzo <giorgio@sssup.it>
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 *               Gerardo Lamastra <gerardo@sssup.it>
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 *
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 *
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 * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
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 *
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 * http://www.sssup.it
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 * http://retis.sssup.it
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 * http://hartik.sssup.it
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 */
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#include <stdlib.h>
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#include <string.h>
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#include <math.h>
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#include <kernel/kern.h>
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#include <kernel/func.h>
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#include <semaphore.h>
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#include "sem/sem/sem.h"
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#include "hartport/hartport/hartport.h"
1647 giacomo 23
#include <drivers/shark_keyb26.h>
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#include <servo.h>
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//#include <drivers/udpip.h>
1624 giacomo 27
 
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/* COM Port Constants */
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#define COM_PORT COM1
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#define COM_SPEED 115200
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#define com(i) ((i) / 12) ? COM1 : COM2
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#define pin(i) (i) % 12
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/* Angle bounds */
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#define POS_X_MIN          0
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#define POS_X_MAX        200
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#define POS_Y_MIN       -200
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#define POS_Y_MAX        200
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#define POS_Z_MIN       -150
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#define POS_Z_MAX        150
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typedef struct {
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        int             adc_in;
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        unsigned char   pwm;
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} LEG_CFG_STATE;
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typedef struct { /*describe the position of leg*/
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        int             x;
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        int             y;
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        int             z;
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} LEG_POS_STATE;
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typedef struct { /*describe the servo angles*/
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        int             a;
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        int             b;
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        int             c;
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} LEG_ANG_STATE;
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typedef struct {
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        LEG_CFG_STATE   cfg[6];
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        LEG_ANG_STATE   ang[6];
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        char            power;
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} HEXAPOD_STATE;
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/*****************************************/
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#define EVT_SET_MASK_LEG_ANGLE  0x01
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#define EVT_STATUS_FREE         0x00
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#define EVT_STATUS_WAIT         0x01
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#define EVT_STATUS_EXEC         0x02
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#define EVT_STATUS_DONE         0x03
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struct action_event {
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  unsigned char       type;
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  unsigned char       status;
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  struct timespec     time;
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  unsigned char       mask;
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  LEG_ANG_STATE       ang; //Servo angle data
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  unsigned char       pwm;
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  struct action_event *next;
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};
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struct action_event *get_first_old_event(struct timespec *time);
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extern  sem_t           mx_status;
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extern  HEXAPOD_STATE   status;
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void    init_send(void);
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void    end_send(void);
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void    init_key(void);
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/* Calibration */
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void calibrate_init(void);
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void calibrate_step(int step);
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int adjust(int angle_sec, int leg, int num);
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/* Actions */
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int init_action_event(int number_of_events);
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int insert_action_event(struct action_event *e);
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int delete_action_event(int event);
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struct action_event * get_first_old_event(struct timespec *time);
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/* Tracer */
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int trace_init(int buffer_size);
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int trace_consumption(int sensor, int value);
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int trace_send();
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