microb 2010

[aversive.git] / projects / microb2010 / mechboard / arm_xy.h

diff --git a/projects/microb2010/mechboard/arm_xy.h b/projects/microb2010/mechboard/arm_xy.h
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+++ b/projects/microb2010/mechboard/arm_xy.h
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+/*  
+ *  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: arm_xy.h,v 1.4 2009-11-08 17:25:00 zer0 Exp $
+ *
+ * Fabrice DESCLAUX <serpilliere@droids-corp.org>
+ * Olivier MATZ <zer0@droids-corp.org>
+ */
+
+/* all static configuration for an arm */
+struct arm_config {
+       void (*wrist_angle_deg2robot)(double wrist_edg,
+                                     double *wrist_out);
+
+       void (*angle_rad2robot)(double shoulder_deg, double elbow_deg,
+                               double *shoulder_out, double *elbow_out);
+
+       void (*angle_robot2rad)(double shoulder_robot, double elbow_robot,
+                               double *shoulder_rad, double *elbow_rad);
+
+       /* ax12 identifiers */
+       int8_t elbow_ax12;
+       int8_t wrist_ax12;
+       
+       /* related control system */
+       struct cs_block *csb;
+
+       /* if true, don't apply to ax12 / cs */
+       uint8_t simulate;
+};
+
+/* request for a final position, in mm */
+struct arm_request {
+       int32_t h_mm;
+       int32_t d_mm;
+       int32_t w_deg;
+};
+
+/* returned by arm_test_traj_end() */
+#define ARM_TRAJ_END         0x01
+#define ARM_TRAJ_NEAR        0x02
+#define ARM_TRAJ_TIMEOUT     0x04
+#define ARM_TRAJ_ERROR       0x08
+
+#define ARM_TRAJ_ALL (ARM_TRAJ_END|ARM_TRAJ_TIMEOUT|ARM_TRAJ_ERROR)
+#define ARM_TRAJ_ALL_NEAR (ARM_TRAJ_END|ARM_TRAJ_NEAR|ARM_TRAJ_TIMEOUT|ARM_TRAJ_ERROR)
+#define ARM_TRAJ_END_NEAR (ARM_TRAJ_END|ARM_TRAJ_NEAR)
+
+#define ARM_STATE_INIT       0
+#define ARM_FLAG_MOVING      0x01 /* arm is currently moving */
+#define ARM_FLAG_LAST_STEP   0x02 /* no more step is needed */
+#define ARM_FLAG_IN_WINDOW   0x04 /* arm speed and pos are ok */
+#define ARM_FLAG_TIMEOUT     0x08 /* too much time too reach pos */
+#define ARM_FLAG_ERROR       0x10 /* error */
+#define ARM_FLAG_FINISHED    (ARM_FLAG_LAST_STEP | ARM_FLAG_IN_WINDOW)
+
+/* Describes the current position of the arm. Mainly filled by
+ * arm_do_step(), arm_set_wrist(), arm_do_xy_cb(), ... */
+struct arm_status {
+       /* current position */
+       int32_t h_mm;
+       int32_t d_mm;
+
+       /* wrist goal position (set once at init) */
+       int16_t wrist_angle_steps;
+
+       /* current angles in steps */
+       int32_t elbow_angle_steps;
+       int32_t shoulder_angle_steps;
+
+       /* current angles in radian */
+       double elbow_angle_rad;
+       double shoulder_angle_rad;
+
+       /* time before next update */
+       uint32_t next_update_time;
+
+       /* what speed to be applied, in specific speed unit */
+       uint32_t shoulder_speed;
+       uint32_t elbow_speed;
+
+       volatile int8_t state; /* see list of flags above */
+       int8_t event; /* scheduler event, -1 if not running */
+
+       microseconds start_time; /* when we started that command */
+       microseconds wrist_reach_time; /* when the wrist should reach dest */
+       microseconds pos_reached_time; /* when last step is sent */
+};
+
+struct arm {
+       struct arm_config config;
+       struct arm_status status;
+       struct arm_request req;
+};
+
+extern struct arm left_arm;
+extern struct arm right_arm;
+
+uint8_t arm_test_traj_end(struct arm *arm, uint8_t mask);
+uint8_t arm_wait_traj_end(struct arm *arm, uint8_t mask);
+
+/* do a specific move to distance, height. This function _must_ be
+ * called from a context with a prio < ARM_PRIO to avoid any race
+ * condition. */
+int8_t arm_do_xy(struct arm *arm, int16_t d_mm, int16_t h_mm, int16_t w_deg);
+
+void arm_dump(struct arm *arm);
+void arm_calibrate(void);
+void arm_init(void);