Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1284 | giacomo | 1 | |
| 2 | /* |
||
| 3 | * Project: S.Ha.R.K. |
||
| 4 | * |
||
| 5 | * Coordinators: Giorgio Buttazzo <giorgio@sssup.it> |
||
| 6 | * |
||
| 7 | * Authors : Paolo Gai <pj@hartik.sssup.it> |
||
| 8 | * (see authors.txt for full list of hartik's authors) |
||
| 9 | * |
||
| 10 | * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
||
| 11 | * |
||
| 12 | * http://www.sssup.it |
||
| 13 | * http://retis.sssup.it |
||
| 14 | * http://shark.sssup.it |
||
| 15 | */ |
||
| 16 | |||
| 17 | /* |
||
| 18 | * Copyright (C) 2000 Paolo Gai |
||
| 19 | * |
||
| 20 | * This program is free software; you can redistribute it and/or modify |
||
| 21 | * it under the terms of the GNU General Public License as published by |
||
| 22 | * the Free Software Foundation; either version 2 of the License, or |
||
| 23 | * (at your option) any later version. |
||
| 24 | * |
||
| 25 | * This program is distributed in the hope that it will be useful, |
||
| 26 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
||
| 27 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
||
| 28 | * GNU General Public License for more details. |
||
| 29 | * |
||
| 30 | * You should have received a copy of the GNU General Public License |
||
| 31 | * along with this program; if not, write to the Free Software |
||
| 32 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
||
| 33 | * |
||
| 34 | */ |
||
| 35 | |||
| 36 | #include "servo.h" |
||
| 37 | #include <kernel/kern.h> |
||
| 38 | #include <drivers/scom.h> |
||
| 39 | #include <drivers/keyb.h> |
||
| 40 | |||
| 41 | /* COM Port Constants */ |
||
| 42 | #define COM_PORT COM2 |
||
| 43 | #define COM_SPEED 115200 |
||
| 44 | #define COM_PARITY NONE |
||
| 45 | #define COM_LEN 8 |
||
| 46 | #define COM_STOP 1 |
||
| 47 | |||
| 48 | /* Real Servo Value */ |
||
| 49 | #define TICK_ZERO 1600 |
||
| 50 | #define TICK_ANG (1800/180.0) |
||
| 51 | #define TICK_LEN 1.6 |
||
| 52 | #define TICK_AL ((float) TICK_ANG / TICK_LEN) |
||
| 53 | |||
| 54 | int init_serial() |
||
| 55 | { |
||
| 56 | int err=0; |
||
| 57 | err = servo_open(COM_PORT, COM_SPEED); |
||
| 58 | //if (com_open(COM_PORT, COM_SPEED, COM_PARITY, COM_LEN, COM_STOP)==-1) err = 1; |
||
| 59 | |||
| 60 | return err; |
||
| 61 | } |
||
| 62 | |||
| 63 | void end_serial() |
||
| 64 | { |
||
| 65 | servo_close(COM_PORT); |
||
| 66 | //com_close(COM_PORT); |
||
| 67 | } |
||
| 68 | |||
| 69 | TASK pic_generator() |
||
| 70 | { |
||
| 71 | int angle = -90; |
||
| 72 | int n_tick; |
||
| 73 | unsigned char buf, ech; |
||
| 74 | |||
| 75 | while (1) { |
||
| 76 | |||
| 77 | if (angle>90) angle = -90; |
||
| 78 | |||
| 79 | servo_set_angle_sec(COM2, 0,ANGLE2SEC(angle,0,0)); |
||
| 80 | |||
| 81 | /*n_tick = TICK_AL * (signed char)angle; |
||
| 82 | com_send(COM_PORT, 0); |
||
| 83 | ech = com_receive(COM_PORT); |
||
| 84 | |||
| 85 | buf = n_tick / 256; |
||
| 86 | com_send(COM_PORT, buf); |
||
| 87 | ech = com_receive(COM_PORT); |
||
| 88 | |||
| 89 | buf = n_tick % 256; |
||
| 90 | com_send(COM_PORT, buf); |
||
| 91 | ech = com_receive(COM_PORT);*/ |
||
| 92 | |||
| 93 | |||
| 94 | angle += 5; |
||
| 95 | |||
| 96 | task_endcycle(); |
||
| 97 | } |
||
| 98 | return 0; |
||
| 99 | } |
||
| 100 | |||
| 101 | |||
| 102 | void endfun(KEY_EVT *k) |
||
| 103 | { |
||
| 104 | cprintf("Ctrl-Brk pressed! Ending...\n"); |
||
| 105 | sys_end(); |
||
| 106 | } |
||
| 107 | |||
| 108 | void my_close(void *arg) |
||
| 109 | { |
||
| 110 | int i; |
||
| 111 | TIME tmp; |
||
| 112 | |||
| 113 | for (i=3; i<MAX_PROC; i++){ |
||
| 114 | if (!jet_getstat(i, NULL, &tmp, NULL, NULL)) |
||
| 115 | kern_printf("Task Name : %s - Max Time : %d\n", proc_table[i].name, (int)tmp); |
||
| 116 | } |
||
| 117 | |||
| 118 | end_serial(); |
||
| 119 | } |
||
| 120 | |||
| 121 | int main(int argc, char **argv) |
||
| 122 | { |
||
| 123 | KEY_EVT k; |
||
| 124 | TIME seme; |
||
| 125 | SOFT_TASK_MODEL mp; |
||
| 126 | PID pid; |
||
| 127 | |||
| 128 | k.flag = CNTR_BIT; |
||
| 129 | k.scan = KEY_C; |
||
| 130 | k.ascii = 'c'; |
||
| 131 | keyb_hook(k,endfun); |
||
| 132 | |||
| 133 | k.flag = CNTL_BIT; |
||
| 134 | k.scan = KEY_C; |
||
| 135 | k.ascii = 'c'; |
||
| 136 | keyb_hook(k,endfun); |
||
| 137 | |||
| 138 | seme = sys_gettime(NULL); |
||
| 139 | srand(seme); |
||
| 140 | |||
| 141 | sys_atrunlevel(my_close, NULL, RUNLEVEL_BEFORE_EXIT); |
||
| 142 | |||
| 143 | if (init_serial()) { |
||
| 144 | perror("Could not initialize serial port."); |
||
| 145 | sys_end(); |
||
| 146 | } |
||
| 147 | |||
| 148 | soft_task_default_model(mp); |
||
| 149 | soft_task_def_level(mp,1); |
||
| 150 | soft_task_def_ctrl_jet(mp); |
||
| 151 | soft_task_def_met(mp,700); |
||
| 152 | soft_task_def_period(mp,10000); |
||
| 153 | //soft_task_def_aperiodic(mp); |
||
| 154 | soft_task_def_usemath(mp); |
||
| 155 | pid = task_create("PIC_Generator", pic_generator, &mp, NULL); |
||
| 156 | if (pid == NIL) { |
||
| 157 | perror("Could not create task <Joystick>"); |
||
| 158 | sys_end(); |
||
| 159 | } else |
||
| 160 | task_activate(pid); |
||
| 161 | |||
| 162 | return 0; |
||
| 163 | } |