[tuxdroid-svn] r835 - in firmware: tuxcore/trunk tuxdefs
Status: Beta
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[tuxdroid-svn] r835 - in firmware: tuxcore/trunk tuxdefs
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From: Paul_R <c2m...@c2...> - 2008-01-07 16:08:18
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Author: Paul_R
Date: 2008-01-07 17:08:17 +0100 (Mon, 07 Jan 2008)
New Revision: 835
Modified:
firmware/tuxcore/trunk/motors.c
firmware/tuxcore/trunk/motors.h
firmware/tuxcore/trunk/parser.c
firmware/tuxdefs/api.h
firmware/tuxdefs/defines.h
Log:
* Added two new commands (OxD4 - MOTORS_RUN and 0x81 - MOTORS_CONFIG) to commands the motors.
The motors can be configured with a number of movements, or with a duration. (time base : 4ms : max 255*4ms).
Modified: firmware/tuxcore/trunk/motors.c
===================================================================
--- firmware/tuxcore/trunk/motors.c 2008-01-07 16:03:39 UTC (rev 834)
+++ firmware/tuxcore/trunk/motors.c 2008-01-07 16:08:17 UTC (rev 835)
@@ -30,6 +30,20 @@
#include "global.h"
#include "motors.h"
#include "common/defines.h"
+/**
+ * \name Motors structures
+ * @{ */
+motors_t eyes_params;
+motors_t mouth_params;
+motors_t flippers_params =
+{
+ .pwm = 5,
+};
+motors_t spin_params =
+{
+ .pwm = 5,
+};
+/*! @} */
/**
* \name Braking delays
@@ -161,6 +175,107 @@
}
/*! @} */
+/**
+ * \name Motors command parser
+ * These functions parse the received command, and call the specific motor
+ * function.
+ * @{ */
+/** \ingroup movements */
+/**
+ \brief Parse the MOTORS_SET_CMD to command a motor with a specific number of movements.
+ \param motor The motor to command
+ \param value The number of movements or/ the timeout valueto execute
+ \param params bit 0 & 1 : The final state; bit 2 : 0 for count, 1 for timeout
+ */
+void motors_run(uint8_t motor, uint8_t const value, uint8_t const param)
+{
+ uint8_t cnt;
+ if (motor == MOT_EYES)
+ {
+ if (param & 0x01)
+ {
+ eyes_params.delay = value;
+ eyes_stop_delay = value;
+ cnt = 0;
+ }
+ else
+ {
+ eyes_params.count = value;
+ cnt = value;
+ }
+ blink_eyes(cnt);
+ }
+ else if (motor == MOT_MOUTH)
+ {
+ if (param & 0x01)
+ {
+ mouth_params.delay = value;
+ mouth_stop_delay = value;
+ cnt = 0;
+ }
+ else
+ {
+ mouth_params.count = value;
+ cnt = value;
+ }
+ move_mouth(cnt);
+ }
+ else if (motor == MOT_FLIPPERS)
+ {
+ if (param & 0x01)
+ {
+ flippers_params.delay = value;
+ flippers_stop_delay = value;
+ cnt = 0;
+ }
+ else
+ {
+ flippers_params.count = value;
+ cnt = value;
+ }
+ wave_flippers(cnt, flippers_params.pwm);
+ }
+ else if (motor == (MOT_SPIN_L) || motor == (MOT_SPIN_R))
+ {
+ if (param & 0x01)
+ {
+ spin_params.delay = value;
+ spin_stop_delay = value;
+ cnt = 0;
+ }
+ else
+ {
+ spin_params.count = value;
+ cnt = value;
+ }
+ if (motor == MOT_SPIN_L)
+ spin_left(value, spin_params.pwm);
+ else
+ spin_right(value, spin_params.pwm);
+ }
+}
+
+/**
+ \brief Parse the MOTORS_SET_CMD to command a motor with a specific number of movements.
+ \param motor The motor to command
+ \param pwm The PWM value
+
+ The PWM can be used only for the spinning and the flippers.
+
+ */
+void motors_config(uint8_t const motor, uint8_t const pwm)
+{
+ if (motor == MOT_FLIPPERS)
+ {
+ flippers_params.pwm = pwm;
+ flippers_PWM = pwm;
+ }
+ else if (motor == (MOT_SPIN_L) || motor == (MOT_SPIN_R))
+ {
+ spin_params.pwm = pwm;
+ spin_PWM = pwm;
+ }
+}
/** Counter for flipper interrupt suspend. */
uint8_t static suspend_flippers_delay = 0;
@@ -255,7 +370,7 @@
{
gStatus.mot |= GSTATUS_MOT_EYES;
eyes_move_counter = cnt;
- eyes_stop_delay = 0;
+ //eyes_stop_delay = 0;
run_eyes_motor();
}
@@ -414,7 +529,7 @@
{
gStatus.mot |= GSTATUS_MOT_MOUTH;
mouth_move_counter = cnt;
- mouth_stop_delay = 0;
+ //mouth_stop_delay = 0;
run_mouth_motor();
}
@@ -551,7 +666,7 @@
gStatus.mot |= GSTATUS_MOT_WINGS;
flippers_move_counter = cnt;
flippers_PWM = pwm;
- flippers_stop_delay = 0;
+ //flippers_stop_delay = 0;
MOT_FLIPPERS_BW_PT &= ~MOT_FLIPPERS_BW_MK;
flippers_PWMMask |= MOT_FLIPPERS_FW_MK;
}
Modified: firmware/tuxcore/trunk/motors.h
===================================================================
--- firmware/tuxcore/trunk/motors.h 2008-01-07 16:03:39 UTC (rev 834)
+++ firmware/tuxcore/trunk/motors.h 2008-01-07 16:08:17 UTC (rev 835)
@@ -76,6 +76,12 @@
void initMotors(void);
/*
+ * Motors commands parser
+ */
+extern void motors_run(uint8_t const motor, uint8_t const value, uint8_t const param);
+extern void motors_config(uint8_t const motor, uint8_t const pwm);
+
+/*
* Movements
*/
extern void stop_eyes(void);
@@ -100,4 +106,19 @@
*/
extern void motor_control(void);
+/*
+ * Motors status structure
+ */
+typedef struct motors_t
+{
+ uint8_t count;
+ uint8_t pwm;
+ uint8_t delay;
+} motors_t;
+
+extern motors_t eyes_params;
+extern motors_t mouth_params;
+extern motors_t flippers_params;
+extern motors_t spin_params;
+
#endif /* _MOTORS_H_ */
Modified: firmware/tuxcore/trunk/parser.c
===================================================================
--- firmware/tuxcore/trunk/parser.c 2008-01-07 16:03:39 UTC (rev 834)
+++ firmware/tuxcore/trunk/parser.c 2008-01-07 16:08:17 UTC (rev 835)
@@ -66,72 +66,15 @@
gStatus.audio_status = command[3];
return;
}
-
- /* Moves */
- else if (command[0] == BLINK_EYES_CMD)
+ /* Move */
+ else if (command[0] == MOTORS_SET_CMD)
{
- blink_eyes(command[1]);
+ motors_run(command[1], command[2], command[3]);
}
- else if (command[0] == STOP_EYES_CMD)
+ else if (command[0] == MOTORS_CONFIG_CMD)
{
- stop_eyes();
+ motors_config(command[1], command[2]);
}
- else if (command[0] == OPEN_EYES_CMD)
- {
- open_eyes();
- }
- else if (command[0] == CLOSE_EYES_CMD)
- {
- close_eyes();
- }
- else if (command[0] == MOVE_MOUTH_CMD)
- {
- move_mouth(command[1]);
- }
- else if (command[0] == OPEN_MOUTH_CMD)
- {
- open_mouth();
- }
- else if (command[0] == CLOSE_MOUTH_CMD)
- {
- close_mouth();
- }
- else if (command[0] == STOP_MOUTH_CMD)
- {
- stop_mouth();
- }
- else if (command[0] == WAVE_WINGS_CMD)
- {
- wave_flippers(command[1], command[2]);
- }
- else if (command[0] == RAISE_WINGS_CMD)
- {
- raise_flippers();
- }
- else if (command[0] == LOWER_WINGS_CMD)
- {
- lower_flippers();
- }
- else if (command[0] == RESET_WINGS_CMD)
- {
- reset_flippers();
- }
- else if (command[0] == STOP_WINGS_CMD)
- {
- stop_flippers();
- }
- else if (command[0] == SPIN_LEFT_CMD)
- {
- spin_left(command[1], command[2]);
- }
- else if (command[0] == SPIN_RIGHT_CMD)
- {
- spin_right(command[1], command[2]);
- }
- else if (command[0] == STOP_SPIN_CMD)
- {
- stop_spinning();
- }
/* Leds */
else if (command[0] == LED_PULSE_RANGE_CMD)
{
@@ -245,6 +188,72 @@
{
led_set_intensity(LED_RIGHT, 0x0);
}
+
+ /* Moves */
+ else if (command[0] == BLINK_EYES_CMD)
+ {
+ blink_eyes(command[1]);
+ }
+ else if (command[0] == STOP_EYES_CMD)
+ {
+ stop_eyes();
+ }
+ else if (command[0] == OPEN_EYES_CMD)
+ {
+ open_eyes();
+ }
+ else if (command[0] == CLOSE_EYES_CMD)
+ {
+ close_eyes();
+ }
+ else if (command[0] == MOVE_MOUTH_CMD)
+ {
+ move_mouth(command[1]);
+ }
+ else if (command[0] == OPEN_MOUTH_CMD)
+ {
+ open_mouth();
+ }
+ else if (command[0] == CLOSE_MOUTH_CMD)
+ {
+ close_mouth();
+ }
+ else if (command[0] == STOP_MOUTH_CMD)
+ {
+ stop_mouth();
+ }
+ else if (command[0] == WAVE_WINGS_CMD)
+ {
+ wave_flippers(command[1], command[2]);
+ }
+ else if (command[0] == RAISE_WINGS_CMD)
+ {
+ raise_flippers();
+ }
+ else if (command[0] == LOWER_WINGS_CMD)
+ {
+ lower_flippers();
+ }
+ else if (command[0] == RESET_WINGS_CMD)
+ {
+ reset_flippers();
+ }
+ else if (command[0] == STOP_WINGS_CMD)
+ {
+ stop_flippers();
+ }
+ else if (command[0] == SPIN_LEFT_CMD)
+ {
+ spin_left(command[1], command[2]);
+ }
+ else if (command[0] == SPIN_RIGHT_CMD)
+ {
+ spin_right(command[1], command[2]);
+ }
+ else if (command[0] == STOP_SPIN_CMD)
+ {
+ stop_spinning();
+ }
/* Undefined commands */
else
Modified: firmware/tuxdefs/api.h
===================================================================
--- firmware/tuxdefs/api.h 2008-01-07 16:03:39 UTC (rev 834)
+++ firmware/tuxdefs/api.h 2008-01-07 16:08:17 UTC (rev 835)
@@ -277,8 +277,35 @@
/*! @} */
+/** \name Movement commands
+ * Theses commands are used to move Tux.
+ * @{ */
+
+/**
+ * Execute a defined number of movements, with a specified final state.
+ *
+ * Parameters:
+ * - 1 : The motor to command
+ * - 2 : The count or/ timeout value
+ * - 3 :
+ * .0..1 : The final state
+ * .2 : 0 for count, 1 for timeout
+ */
+#define MOTORS_SET_CMD 0xD4
+
+/**
+ * Execute a movement for a defined time and specify the PWM duty cycle.
+ *
+ * Parameters:
+ * - 1 : The motor to command
+ * - 2 : The PWM frequency
+ */
+#define MOTORS_CONFIG_CMD 0x81
/*! @} */
+
+/*! @} */
+
/** States of the audio recording (flash programming) process */
typedef enum audiorec_status
{
Modified: firmware/tuxdefs/defines.h
===================================================================
--- firmware/tuxdefs/defines.h 2008-01-07 16:03:39 UTC (rev 834)
+++ firmware/tuxdefs/defines.h 2008-01-07 16:08:17 UTC (rev 835)
@@ -188,7 +188,6 @@
* \name Movements
*/
/*! @{ */
-
/**
* Type indicating the mouth position.
*/
@@ -199,6 +198,43 @@
MOUTH_CLOSED,
} MOUTH_POSITION_t;
+/**
+ * Type indicating the motor
+ */
+typedef enum
+{
+ MOT_EYES,
+ MOT_MOUTH,
+ MOT_FLIPPERS,
+ MOT_SPIN_L,
+ MOT_SPIN_R,
+} MOTOR_TYPE_t;
+
+/**
+ * Type indicating the final position
+ */
+typedef enum
+{
+ FP_OPEN = 0,
+ FP_UP = 0,
+ FP_CLOSE = 1,
+ FP_DOWN = 1,
+ FP_UNDEFINED = 2,
+} MOT_FINAL_POS_t;
+
+/**
+ * Type indicating the status
+ */
+typedef enum
+{
+ STAT_STOPPED = 0,
+ STAT_OPEN = 1,
+ STAT_UP = 1,
+ STAT_CLOSE = 2,
+ STAT_DOWN = 2,
+ STAT_RUNNING = 3,
+} MOT_STATUS_t;
+
/*! @} */
/**
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