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Regard whitespace Rev 1358 → Rev 1359

/demos/trunk/chimera/send.c
1,4 → 1,3
 
/*
* Project: S.Ha.R.K.
*
11,25 → 10,6
* http://shark.sssup.it
*/
 
/*
* Copyright (C) 2000 Paolo Gai
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
 
#include "chimera.h"
 
//#define DEBUG_SEND /* Print Sent Values */
37,18 → 17,18
 
/* Servo Tasks Constants */
#ifdef DUBUG_SEND
#define SEND_TASK_WCET 6000
#define SEND_TASK_WCET 20000
#else
#define SEND_TASK_WCET 6000
#define SEND_TASK_WCET 20000
#endif
#define SEND_TASK_MIT 20000
#define SEND_TASK_MIT 40000
 
#ifdef DUBUG_SEND
#define GET_TASK_WCET 6000
#define GET_TASK_WCET 5000
#else
#define GET_TASK_WCET 6000
#define GET_TASK_WCET 5000
#endif
#define GET_TASK_MIT 20000
#define GET_TASK_MIT 40000
 
#define LEG_A 100.0
#define LEG_B 66.0
63,7 → 43,6
const float todeg = 180.0 / PI;
const float torad = PI / 180.0;
 
sem_t mx_status, mx_adc_status, mx_servo;
HEXAPOD_STATE status;
 
extern struct leg_calibration calibration_table[];
163,10 → 142,8
if (e->type == EVT_SET_MASK_LEG_ANGLE) {
 
for (i=0;i<6;i++)
if ((1 << i) & e->mask) {
if ((e->mask >> i) & 1) {
 
sem_wait(&mx_status);
 
status.ang[i].a = e->ang.a;
status.ang[i].b = e->ang.b;
status.ang[i].c = e->ang.c;
173,8 → 150,6
 
status.cfg[i].pwm = e->pwm;
 
sem_post(&mx_status);
 
#ifdef DEBUG_SEND
printf_xy(3,2,WHITE,"%8d: Update leg %2d angle",(int)kern_gettime(NULL),i);
#endif
194,7 → 169,7
{
HEXAPOD_STATE old_status;
register char changes, new_pos, new_pwm, new_power;
int n;
int res,n;
 
for (n=0; n<6;n++) {
old_status.ang[n].a = 0;
214,8 → 189,6
new_pwm = 0;
new_power = 0;
sem_wait(&mx_status);
 
if ((status.ang[n].a != old_status.ang[n].a) ||
(status.ang[n].b != old_status.ang[n].b) ||
(status.ang[n].c != old_status.ang[n].c)) {
234,37 → 207,32
old_status.power = status.power;
new_power++;
}
sem_post(&mx_status);
if (new_pos) {
#ifdef SERIAL_ON
sem_wait(&mx_servo);
servo_set_angle_sec(COM_PORT, n*3+2, adjust(status.ang[n].a,n,0));
servo_set_angle_sec(COM_PORT, n*3+1, adjust(status.ang[n].b,n,1));
servo_set_angle_sec(COM_PORT, n*3 , adjust(status.ang[n].c,n,2));
sem_post(&mx_servo);
res = servo_set_angle_sec(com(n*3 ), pin(n*3 ), adjust(status.ang[n].a,n,0));
if (res != 0) cprintf("Error send data\n");
res = servo_set_angle_sec(com(n*3+1), pin(n*3+1), adjust(status.ang[n].b,n,1));
if (res != 0) cprintf("Error send data\n");
res = servo_set_angle_sec(com(n*3+2), pin(n*3+2), adjust(status.ang[n].c,n,2));
if (res != 0) cprintf("Error send data\n");
#endif
 
}
if (new_pwm) {
#ifdef SERIAL_ON
sem_wait(&mx_servo);
(old_status.cfg[n].pwm & 1) ? servo_turn_on(COM_PORT, n*3+2) : servo_turn_off(COM_PORT, n*3+2);
(old_status.cfg[n].pwm & 2) ? servo_turn_on(COM_PORT, n*3+1) : servo_turn_off(COM_PORT, n*3+1);
(old_status.cfg[n].pwm & 4) ? servo_turn_on(COM_PORT, n*3 ) : servo_turn_off(COM_PORT, n*3 );
sem_post(&mx_servo);
(old_status.cfg[n].pwm & 1) ? servo_turn_on(com(n*3 ), pin(n*3 )) : servo_turn_off(com(n*3 ), pin(n*3 ));
(old_status.cfg[n].pwm & 2) ? servo_turn_on(com(n*3+1), pin(n*3+1)) : servo_turn_off(com(n*3+1), pin(n*3+1));
(old_status.cfg[n].pwm & 4) ? servo_turn_on(com(n*3+2), pin(n*3+2)) : servo_turn_off(com(n*3+2), pin(n*3+2));
#endif
}
if (new_power) {
#ifdef SERIAL_ON
if (old_status.power) {
sem_wait(&mx_servo);
servo_set_RC5_switch(COM_PORT, 1);
sem_post(&mx_servo);
servo_set_RC5_switch(COM2, 1);
} else {
sem_wait(&mx_servo);
servo_set_RC5_switch(COM_PORT, 0);
sem_post(&mx_servo);
servo_set_RC5_switch(COM2, 0);
}
#endif
}
288,16 → 256,12
 
while (1) {
#ifdef SERIAL_ON
sem_wait(&mx_adc_status);
sem_wait(&mx_servo);
status.cfg[i ].adc_in = servo_get_analog(COM_PORT, i );
status.cfg[i+1].adc_in = servo_get_analog(COM_PORT, i+1);
sem_post(&mx_servo);
status.cfg[i ].adc_in = servo_get_analog(COM1, i );
status.cfg[i+1].adc_in = servo_get_analog(COM1, i+1);
#ifdef DEBUG_SEND
cprintf("Leg %1d-%1d: (%4d) (%4d)\n", i, i+1, status.leg[i].adc_in, status.leg[i+1].adc_in);
#endif
i = (i+2)%6;
sem_post(&mx_adc_status);
#endif
task_endcycle();
}
308,7 → 272,9
int init_serial()
{
int err;
err = servo_open(COM_PORT, 19200);
err = servo_open(COM1, COM_SPEED);
if (!err)
err = servo_open(COM2, COM_SPEED);
 
return err;
}
315,19 → 281,20
 
void end_serial()
{
servo_close(COM_PORT);
servo_close(COM1);
servo_close(COM2);
}
 
void init_send_task()
{
SOFT_TASK_MODEL ms;
HARD_TASK_MODEL ms;
PID pid;
 
soft_task_default_model(ms);
soft_task_def_ctrl_jet(ms);
soft_task_def_met(ms, SEND_TASK_WCET);
soft_task_def_period(ms, SEND_TASK_MIT);
soft_task_def_usemath(ms);
hard_task_default_model(ms);
hard_task_def_ctrl_jet(ms);
hard_task_def_wcet(ms, SEND_TASK_WCET);
hard_task_def_mit(ms, SEND_TASK_MIT);
hard_task_def_usemath(ms);
pid = task_create("Send_Task", servo_send, &ms, NULL);
if (pid == NIL) {
perror("Could not create task <Send_Task>");
335,17 → 302,17
} else
task_activate(pid);
 
soft_task_default_model(ms);
soft_task_def_ctrl_jet(ms);
soft_task_def_met(ms, GET_TASK_WCET);
soft_task_def_period(ms, GET_TASK_MIT);
soft_task_def_usemath(ms);
hard_task_default_model(ms);
hard_task_def_ctrl_jet(ms);
hard_task_def_wcet(ms, GET_TASK_WCET);
hard_task_def_mit(ms, GET_TASK_MIT);
hard_task_def_usemath(ms);
pid = task_create("Get_Task", servo_get, &ms, NULL);
if (pid == NIL) {
perror("Could not create task <Get_Task>");
sys_end();
} else
task_activate(pid);
} //else
//task_activate(pid);
}
 
void init_send()
357,10 → 324,6
sys_end();
}
 
sem_init(&mx_status,0,1);
sem_init(&mx_adc_status,0,1);
sem_init(&mx_servo,0,1);
 
for (i=0; i<6;i++) {
status.ang[i].a = 0;
status.ang[i].b = 0;
375,7 → 338,5
 
void end_send()
{
 
end_serial();
 
}