microb 2010

[aversive.git] / projects / microb2010 / mechboard / actuator.c

diff --git a/projects/microb2010/mechboard/actuator.c b/projects/microb2010/mechboard/actuator.c
new file mode 100644 (file)
index 0000000..a36a70c
--- /dev/null
+++ b/projects/microb2010/mechboard/actuator.c
@@ -0,0 +1,163 @@
+/*  
+ *  Copyright Droids Corporation (2009)
+ * 
+ *  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
+ *
+ *  Revision : $Id: actuator.c,v 1.4 2009-04-24 19:30:41 zer0 Exp $
+ *
+ */
+
+#include <aversive.h>
+#include <aversive/pgmspace.h>
+#include <aversive/wait.h>
+#include <aversive/error.h>
+
+#include <ax12.h>
+#include <uart.h>
+#include <spi.h>
+#include <encoders_spi.h>
+#include <pwm_ng.h>
+#include <timer.h>
+#include <scheduler.h>
+#include <time.h>
+
+#include <pid.h>
+#include <quadramp.h>
+#include <control_system_manager.h>
+#include <blocking_detection_manager.h>
+
+#include <rdline.h>
+
+#include "../common/i2c_commands.h"
+#include "actuator.h"
+#include "ax12_user.h"
+#include "main.h"
+
+#define FINGER_DEBUG(args...) DEBUG(E_USER_FINGER, args)
+#define FINGER_NOTICE(args...) NOTICE(E_USER_FINGER, args)
+#define FINGER_ERROR(args...) ERROR(E_USER_FINGER, args)
+
+struct finger {
+       int8_t event;
+       uint16_t destination;
+};
+
+struct finger finger;
+
+static void finger_goto_cb(void *);
+
+/* schedule a single event for the finger */
+static void finger_schedule_event(struct finger *finger)
+{
+       uint8_t flags;
+       int8_t ret;
+
+       IRQ_LOCK(flags);
+       ret = scheduler_add_event(SCHEDULER_SINGLE,
+                                 (void *)finger_goto_cb,
+                                 finger, 1, ARM_PRIO);
+       if (ret == -1) {
+               IRQ_UNLOCK(flags);
+               FINGER_ERROR("Cannot load finger event");
+               return;
+       }
+       finger->event = ret;
+       IRQ_UNLOCK(flags);
+}
+
+static void finger_goto_cb(void *data)
+{
+       uint8_t flags;
+       struct finger *finger = data;
+       uint16_t position;
+
+       IRQ_LOCK(flags);
+       finger->event = -1;
+       position = finger->destination;
+       IRQ_UNLOCK(flags);
+       FINGER_DEBUG("goto_cb %d", position);
+       ax12_user_write_int(&gen.ax12, FINGER_AX12,
+                           AA_GOAL_POSITION_L, position);
+}
+
+/* load an event that will move the ax12 for us */
+void finger_goto(uint16_t position)
+{
+       uint8_t flags;
+       FINGER_NOTICE("goto %d", position);
+
+       IRQ_LOCK(flags);
+       finger.destination = position;
+       if (finger.event != -1) {
+               IRQ_UNLOCK(flags);
+               return; /* nothing to do, event already scheduled */
+       }
+       IRQ_UNLOCK(flags);
+       finger_schedule_event(&finger);
+}
+
+static void finger_init(void)
+{
+       finger.event = -1;
+       finger.destination = 0;
+       /* XXX set pos ? */
+}
+
+uint16_t finger_get_goal_pos(void)
+{
+       return finger.destination;
+}
+
+uint8_t finger_get_side(void)
+{
+       if (finger.destination <= FINGER_CENTER)
+               return I2C_LEFT_SIDE;
+       return I2C_RIGHT_SIDE;
+}
+
+/**********/
+
+#define SERVO_LEFT_OUT  400
+#define SERVO_LEFT_1LIN 520
+#define SERVO_LEFT_2LIN 485
+#define SERVO_RIGHT_OUT  290
+#define SERVO_RIGHT_1LIN 155
+#define SERVO_RIGHT_2LIN 180
+
+void servo_lintel_out(void)
+{
+       mechboard.servo_lintel_left = SERVO_LEFT_OUT;
+       mechboard.servo_lintel_right = SERVO_RIGHT_OUT;
+}
+
+void servo_lintel_1lin(void)
+{
+       mechboard.servo_lintel_left = SERVO_LEFT_1LIN;
+       mechboard.servo_lintel_right = SERVO_RIGHT_1LIN;
+}
+
+void servo_lintel_2lin(void)
+{
+       mechboard.servo_lintel_left = SERVO_LEFT_2LIN;
+       mechboard.servo_lintel_right = SERVO_RIGHT_2LIN;
+}
+
+/**********/
+
+void actuator_init(void)
+{
+       finger_init();
+       servo_lintel_out();
+}