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 * Project: HARTIK (HA-rd R-eal TI-me K-ernel)
 * Coordinators: Giorgio Buttazzo <>
 *               Gerardo Lamastra <>
 * Authors     : Paolo Gai <>
 * (see authors.txt for full list of hartik's authors)
 * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)

 * 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
 * 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 {
        int             adc_in;
        unsigned char   pwm;

typedef struct { /*describe the position and adc value of a leg*/
        int             x;
        int             y;
        int             z;

typedef struct { /*describe the position and adc value of a leg*/
        int             a;
        int             b;
        int             c;

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

typedef struct {
        LEG_CFG_STATE   cfg[6];
        LEG_POS_STATE   leg[6];
        LEG_ANG_STATE   ang[6];
        char            power;


#define EVT_SET_MASK_LEG_ANGLE  0x01
#define EVT_SET_MASK_LEG_POS    0x02

#define EVT_STATUS_WAIT         0x01
#define EVT_STATUS_EXEC         0x02
#define EVT_STATUS_DONE         0x03

struct action_event {

  unsigned char       type;
  unsigned char       status;
  struct timespec     time;
  unsigned char       mask;
  unsigned char       data[20]; //Generic data
  struct action_event *next;


struct action_event *get_first_old_event(struct timespec *time);

extern  sem_t           mx_status;
extern  HEXAPOD_STATE   status;

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

void    init_key(void);