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Ignore whitespace Rev 1332 → Rev 1333

/demos/trunk/chimera/send.c
76,11 → 76,11
 
if (n>=6) {
for (i=0; i<6;i++)
cprintf("Leg %1d: ( %3d | %3d | %3d ) (%d)\n", i, status.leg[i].x, status.leg[i].y, status.leg[i].z, status.leg[i].pwm );
cprintf("Leg %1d: ( %3d | %3d | %3d ) (%d)\n", i, status.leg[i].x, status.leg[i].y, status.leg[i].z, status.cfg[i].pwm );
cprintf("Power: %d", status.power);
cprintf("\n");
} else {
cprintf("Leg %1d: ( %3d | %3d | %3d ) (%1d-%1d)\n", n, status.leg[n].x,status.leg[n].y,status.leg[n].z, status.leg[n].pwm, status.power);
cprintf("Leg %1d: ( %3d | %3d | %3d ) (%1d-%1d)\n", n, status.leg[n].x,status.leg[n].y,status.leg[n].z, status.cfg[n].pwm, status.power);
}
}
 
153,6 → 153,47
return 0;
}
 
void update_event_action(void) {
 
struct timespec t;
struct action_event *e;
int i;
 
kern_gettime(&t);
 
while ((e = get_first_old_event(&t)) != NULL) {
 
if (e->type == EVT_SET_MASK_LEG_POS) {
 
e->status = EVT_STATUS_DONE;
 
}
 
if (e->type == EVT_SET_MASK_LEG_ANGLE) {
 
for (i=0;i<6;i++)
if ((1 << i) & e->mask) {
 
status.ang[i].a = angles[i].a = *(int *)(e->data);
status.ang[i].b = angles[i].b = *(int *)(e->data+4);
status.ang[i].c = angles[i].c = *(int *)(e->data+8);
status.cfg[i].pwm = *(unsigned char *)(e->data+16);
 
//#ifdef DEBUG_SEND
cprintf("Update leg %d angle\n",i);
//#endif
 
 
}
 
e->status = EVT_STATUS_DONE;
 
}
 
}
 
}
 
TASK servo_send()
{
HEXAPOD_STATE old_status;
161,14 → 202,19
 
for (n=0; n<6;n++) {
old_status.leg[n].x = 150;
old_status.leg[n].y = 0;
old_status.leg[n].z = 0;
old_status.leg[n].pwm = 0;
old_status.leg[n].y = 0;
old_status.leg[n].z = 0;
old_status.ang[n].a = 0;
old_status.ang[n].b = 0;
old_status.ang[n].c = 0;
old_status.cfg[n].pwm = 0;
}
old_status.power = 0;
 
while (1) {
changes = 0;
 
update_event_action();
for (n=0; n<6; n++){
new_pos = 0;
175,7 → 221,7
new_pwm = 0;
new_power = 0;
//sem_wait(&mx_status);
sem_wait(&mx_status);
if ((status.leg[n].x != old_status.leg[n].x) || (status.leg[n].y != old_status.leg[n].y) || (status.leg[n].z != old_status.leg[n].z)) {
if (set_leg_position(n, status.leg[n].x, status.leg[n].y, status.leg[n].z)==0) {
old_status.leg[n].x = status.leg[n].x;
191,8 → 237,19
status.leg[n].z = old_status.leg[n].z;
}
}
if (status.leg[n].pwm != old_status.leg[n].pwm) {
old_status.leg[n].pwm = status.leg[n].pwm;
 
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)) {
old_status.ang[n].a = status.ang[n].a;
old_status.ang[n].b = status.ang[n].b;
old_status.ang[n].c = status.ang[n].c;
new_pos++;
}
 
if (status.cfg[n].pwm != old_status.cfg[n].pwm) {
old_status.cfg[n].pwm = status.cfg[n].pwm;
new_pwm++;
}
if (status.power != old_status.power) {
199,7 → 256,7
old_status.power = status.power;
new_power++;
}
//sem_post(&mx_status);
sem_post(&mx_status);
if (new_pos) {
#ifdef SERIAL_ON
213,11 → 270,11
,(int)(status.leg[n].y)
,(int)(status.leg[n].z));
 
printf_xy(3,4,WHITE,"ALFA = %07d BETA = %07d GAMMA = %07d",(int)(angles[n].a)
,(int)(angles[n].b)
,(int)(angles[n].c));
printf_xy(3,4,WHITE,"ALFA = %07d BETA = %07d GAMMA = %07d",(int)(angles[n].a/3600)
,(int)(angles[n].b/3600)
,(int)(angles[n].c/3600));
 
printf_xy(3,5,WHITE,"ADJ_ALFA = %07d ADJ_BETA = %07d ADJ_GAMMA = %07d",adjust(angles[n].a,n,0),adjust(angles[n].b,n,1),adjust(angles[n].c,n,2));
printf_xy(3,5,WHITE,"ADJ_ALFA = %07d ADJ_BETA = %07d ADJ_GAMMA = %07d",adjust(angles[n].a,n,0)/3600,adjust(angles[n].b,n,1)/3600,adjust(angles[n].c,n,2)/3600);
 
#endif
}
225,9 → 282,9
if (new_pwm) {
#ifdef SERIAL_ON
sem_wait(&mx_servo);
(old_status.leg[n].pwm & 1) ? servo_turn_on(COM_PORT, n*3+2) : servo_turn_off(COM_PORT, n*3+2);
(old_status.leg[n].pwm & 2) ? servo_turn_on(COM_PORT, n*3+1) : servo_turn_off(COM_PORT, n*3+1);
(old_status.leg[n].pwm & 4) ? servo_turn_on(COM_PORT, n*3 ) : servo_turn_off(COM_PORT, n*3 );
(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);
#endif
}
266,8 → 323,8
#ifdef SERIAL_ON
//sem_wait(&mx_status);
sem_wait(&mx_servo);
status.leg[i ].adc_in = servo_get_analog(COM_PORT, i );
status.leg[i+1].adc_in = servo_get_analog(COM_PORT, i+1);
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);
#ifdef DEBUG_SEND
cprintf("Leg %1d-%1d: (%4d) (%4d)\n", i, i+1, status.leg[i].adc_in, status.leg[i+1].adc_in);
333,14 → 390,17
sys_end();
}
 
//sem_init(&mx_status,0,1);
sem_init(&mx_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;
status.ang[i].c = 0;
status.leg[i].x = 150;
status.leg[i].y = 0;
status.leg[i].z = 0;
status.leg[i].pwm = 0;
status.cfg[i].pwm = 0;
}
status.power = 0;