WebSVN - shark - Rev 1336 - /demos/trunk/chimera/send.c

/*
* Project: S.Ha.R.K.
*
* Coordinators: Giorgio Buttazzo <giorgio@sssup.it>
*
* ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
*
* http://www.sssup.it
* http://retis.sssup.it
* 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 */
#define SERIAL_ON /* Send Data using Serial Port */

/* Servo Tasks Constants */
#ifdef DUBUG_SEND
#define SEND_TASK_WCET 6000
#else
#define SEND_TASK_WCET 6000
#endif
#define SEND_TASK_MIT 20000

#ifdef DUBUG_SEND
#define GET_TASK_WCET 6000
#else
#define GET_TASK_WCET 6000
#endif
#define GET_TASK_MIT 20000

#define LEG_A 100.0
#define LEG_B 66.0
#define LEG_C 26.0
#define LEG_D 38.0
#define LEG_CD_2IPO 92.087 /* 2 * sqrt(LEG_C^2 + LEG_D^2) */
#define LEG_CD_ANG 34.380 /* arctg(LEG_C/LEG_D) in gradi */

const float c0 = LEG_C * LEG_C;
const float c1 = LEG_B * LEG_B;
const float c2 = LEG_B * LEG_B - LEG_A * LEG_A;
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[];

void print_status(int n){
}

int leg_to_ang(float px, float py, float pz, int *alfa, int *beta, int *gamma)
{
float px2 = px * px;
float py2 = py * py;
float pz2 = pz * pz;

float pxz2 = px2 + pz2;

float alfa1,beta1,alfa2,beta2,gamma1;
float m,dsqrt;

float delta_xz = pxz2 - c0;
float s,k,k2,y1,delta_xy;

if (delta_xz < 0.0) return -1;

if (pz >= LEG_C) {
gamma1 = acos((pz * LEG_C + px * sqrt(delta_xz)) / pxz2) * todeg;
} else {
gamma1 = -acos((pz * LEG_C + px * sqrt(delta_xz)) / pxz2) * todeg;
}

if (gamma1 < -90.0 || gamma1 > 90.0) return -1;

m = pxz2 - LEG_CD_2IPO * (sin(gamma1+LEG_CD_ANG)+cos(gamma1+LEG_CD_ANG));

s = m + py2;
k = c2 + s;
k2 = k * k;

delta_xy = py2 * k2 - s * (k2 - 4.0 * m * c1);

if (delta_xy >= 0.0) {
dsqrt = sqrt(delta_xy);
y1 = (py * k + dsqrt) / (2.0 * s);
beta1 = asin(y1/LEG_B) * todeg;
alfa1 = asin((y1 - py)/LEG_A) * todeg + beta1;
y1 = (py * k - dsqrt) / (2.0 * s);
beta2 = asin(y1/LEG_B) * todeg;
alfa2 = asin((y1 - py)/LEG_A) * todeg + beta2;

if ((alfa1 >= 0.0 && alfa1 <= 180.0) && (beta1 >= -90.0 && beta1 <= 90.0)) {
*alfa = (int)(alfa1 * 3600.0);
*beta = (int)(beta1 * 3600.0);
*gamma = (int)(gamma1 * 3600.0);
return 0;
} else if ((alfa2 >= 0.0 && alfa2 <= 180.0) && (beta2 >= -90.0 && beta2 <= 90.0)) {
*alfa = (int)(alfa2 * 3600.0);
*beta = (int)(beta2 * 3600.0);
*gamma = (int)(gamma1 * 3600.0);
return 0;
} else {
return -1;
}
} else
return -1;

return -1;

}

int ang_to_leg(int alfa, int beta, int gamma, float *px, float *py, float *pz) {

float alfa1 = (float)(alfa)/3600.0 * torad;
float beta1 = (float)(beta)/3600.0 * torad;
float sin_gamma = sin((float)(gamma)/3600.0 * torad);
float cos_gamma = cos((float)(gamma)/3600.0 * torad);
float m;

m = LEG_B * cos(beta1) + LEG_A * cos(alfa1 - beta1);
*py = LEG_B * sin(beta1) - LEG_A * sin(alfa1 - beta1);

*pz = (LEG_D + m) * sin_gamma + LEG_C * cos_gamma;
*px = (LEG_D + m) * cos_gamma - LEG_C * sin_gamma;

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_ANGLE) {

for (i=0;i<6;i++)
if ((1 << i) & e->mask) {

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;

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

}

e->status = EVT_STATUS_DONE;

}

}

}

TASK servo_send()
{
HEXAPOD_STATE old_status;
register char changes, new_pos, new_pwm, new_power;
int n;

for (n=0; n<6;n++) {
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;
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)) {

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) {
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);
#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);
#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);
} else {
sem_wait(&mx_servo);
servo_set_RC5_switch(COM_PORT, 0);
sem_post(&mx_servo);
}
#endif
}

if (new_pos || new_pwm || new_power) {
changes++;
#ifdef DEBUG_SEND
print_status(n);
#endif
}
}
task_endcycle();
}

return 0;
}

TASK servo_get()
{
int i = 0;

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);
#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();
}

return 0;
}

int init_serial()
{
int err;
err = servo_open(COM_PORT, 19200);

return err;
}

void end_serial()
{
servo_close(COM_PORT);
}

void init_send_task()
{
SOFT_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);
pid = task_create("Send_Task", servo_send, &ms, NULL);
if (pid == NIL) {
perror("Could not create task <Send_Task>");
sys_end();
} 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);
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);
}

void init_send()
{
int i;

if (init_serial()) {
perror("Could not initialize serial port.");
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<16;i++) {

servo_set_max_angle_sec(COM_PORT,i,460000);
servo_set_min_angle_sec(COM_PORT,i,-460000);

}

for (i=0; i<6;i++) {
status.ang[i].a = 0;
status.ang[i].b = 0;
status.ang[i].c = 0;
status.cfg[i].pwm = 0;
}
status.power = 0;

init_send_task();

}

void end_send()
{

end_serial();

}

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(root)/demos/trunk/chimera/send.c @ 1359 - Rev 1336