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/*
 * Project: HARTIK (HA-rd R-eal TI-me K-ernel)
 *
 * Coordinators: Giorgio Buttazzo <giorgio@sssup.it>
 *               Gerardo Lamastra <gerardo@sssup.it>
 *
 * Authors     : Paolo Gai <pj@hartik.sssup.it>
 * (see authors.txt for full list of hartik's authors)
 *
 * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
 *
 * http://www.sssup.it
 * http://retis.sssup.it
 * http://hartik.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 <stdlib.h>
#include <string.h>
#include <math.h>
#include <kernel/kern.h>
#include <kernel/func.h>
#include <semaphore.h>
#include "modules/sem.h"
#include "modules/hartport.h"
#include <drivers/keyb.h>

#include <servo.h>

/* COM Port Constants */
#define COM_PORT COM2
#define COM_SPEED 115200

#define com(i) ((i) / 12) ? COM2 : COM1
#define pin(i) (i) % 12

/* Angle bounds */
#define POS_X_MIN          0
#define POS_X_MAX        200
#define POS_Y_MIN       -200
#define POS_Y_MAX        200
#define POS_Z_MIN       -150
#define POS_Z_MAX        150

typedef struct { /*describe the position and adc value of a leg*/
        int             x;
        int             y;
        int             z;
        int             adc_in;
        unsigned char   pwm;
} LEG_STATE;

typedef struct { /*describe the position of a leg in servo angles*/
        int     a;
        int     b;
        int     c;
} ANGLES_STATE;

typedef struct {
        LEG_STATE       leg[6];
        char            power;
} HEXAPOD_STATE;

/*****************************************/

extern  sem_t           mx_status;
extern  HEXAPOD_STATE   status;

void    init_send(void);
void    end_send(void);

void    init_key(void);