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1331 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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 * Authors     : Paolo Gai <pj@hartik.sssup.it>
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 * (see authors.txt for full list of hartik's authors)
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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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/*
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 * Copyright (C) 2000 Paolo Gai
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 *
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 * This program is free software; you can redistribute it and/or modify
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 * it under the terms of the GNU General Public License as published by
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 * the Free Software Foundation; either version 2 of the License, or
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 * (at your option) any later version.
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 *
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 * This program is distributed in the hope that it will be useful,
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 * but WITHOUT ANY WARRANTY; without even the implied warranty of
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 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 * GNU General Public License for more details.
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 *
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 * You should have received a copy of the GNU General Public License
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 * along with this program; if not, write to the Free Software
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 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
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 *
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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 "modules/sem.h"
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#include "modules/hartport.h"
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#include <drivers/keyb.h>
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#include <servo.h>
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/* COM Port Constants */
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#define COM_PORT COM2
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#define COM_SPEED 115200
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#define com(i) ((i) / 12) ? COM2 : COM1
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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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1333 giacomo 63
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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1331 giacomo 68
typedef struct { /*describe the position and adc value of a 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 position and adc value of a leg*/
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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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1331 giacomo 80
typedef struct { /*describe the position of a leg in servo angles*/
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        int     a;
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        int     b;
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        int     c;
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} ANGLES_STATE;
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typedef struct {
1333 giacomo 87
        LEG_CFG_STATE   cfg[6];
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        LEG_POS_STATE   leg[6];
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        LEG_ANG_STATE   ang[6];
1331 giacomo 90
        char            power;
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} HEXAPOD_STATE;
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/*****************************************/
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1333 giacomo 95
#define EVT_SET_MASK_LEG_ANGLE  0x01
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#define EVT_SET_MASK_LEG_POS    0x02
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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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  unsigned char       data[20]; //Generic data
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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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1331 giacomo 115
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);