Rev 1333 | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 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 | |||
| 1336 | giacomo | 68 | typedef struct { /*describe the position of leg*/ |
| 1331 | giacomo | 69 | int x; |
| 70 | int y; |
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| 71 | int z; |
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| 1333 | giacomo | 72 | } LEG_POS_STATE; |
| 1331 | giacomo | 73 | |
| 1336 | giacomo | 74 | typedef struct { /*describe the servo angles*/ |
| 1333 | giacomo | 75 | int a; |
| 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 { |
| 1333 | giacomo | 81 | LEG_CFG_STATE cfg[6]; |
| 82 | LEG_ANG_STATE ang[6]; |
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| 1331 | giacomo | 83 | char power; |
| 84 | } HEXAPOD_STATE; |
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| 85 | |||
| 86 | /*****************************************/ |
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| 87 | |||
| 1333 | giacomo | 88 | #define EVT_SET_MASK_LEG_ANGLE 0x01 |
| 89 | |||
| 90 | #define EVT_STATUS_WAIT 0x01 |
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| 91 | #define EVT_STATUS_EXEC 0x02 |
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| 92 | #define EVT_STATUS_DONE 0x03 |
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| 93 | |||
| 94 | struct action_event { |
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| 95 | |||
| 96 | unsigned char type; |
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| 97 | unsigned char status; |
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| 98 | struct timespec time; |
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| 99 | unsigned char mask; |
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| 1336 | giacomo | 100 | LEG_ANG_STATE ang; //Servo angle data |
| 101 | unsigned char pwm; |
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| 1333 | giacomo | 102 | struct action_event *next; |
| 103 | |||
| 104 | }; |
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| 105 | |||
| 106 | struct action_event *get_first_old_event(struct timespec *time); |
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| 107 | |||
| 1331 | giacomo | 108 | extern sem_t mx_status; |
| 109 | extern HEXAPOD_STATE status; |
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| 110 | |||
| 111 | void init_send(void); |
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| 112 | void end_send(void); |
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| 113 | |||
| 114 | void init_key(void); |
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| 1336 | giacomo | 115 | |
| 116 | int adjust(int angle_sec, int leg, int num); |
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| 117 |