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Commit 31e020e6 authored by Sergi Hernandez's avatar Sergi Hernandez
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Changed the Makefiles to avoid deleting the source files when cleaning. 

Added an example to control motions when the actions are not linked.
Added a header file with all the motions ID's.
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examples/get_up/Makefile
+ 4
− 1
View file @ 31e020e6
...@@ -51,5 +51,8 @@ download: $(MAIN_OUT_HEX) ...@@ -51,5 +51,8 @@ download: $(MAIN_OUT_HEX)
fw_downloader -d /dev/ttyUSB0 -f ./$(PROJECT).hex -p cm510 fw_downloader -d /dev/ttyUSB0 -f ./$(PROJECT).hex -p cm510
clean: clean:
-rm $(PROJECT).* -rm $(PROJECT).o
-rm $(PROJECT).map
-rm $(PROJECT).elf
-rm $(PROJECT).hex
-rm $(OBJS) -rm $(OBJS)
examples/movements/Makefile 0 → 100644
+ 58
− 0
View file @ 31e020e6
PROJECT=movements
########################################################
# afegir tots els fitxers que s'han de compilar aquí
########################################################
SOURCES=movements.c mtn_library.c
OBJS=$(SOURCES:.c=.o)
SRC_DIR=./
DEV_DIR=../../dyn_devices/
COMM_DIR=../../communications/
CONT_DIR=../../controllers/
MAN_DIR=../../motion/
CC=avr-gcc
OBJCOPY=avr-objcopy
MMCU=atmega2561
LIBS=$(MAN_DIR)lib/libmotion_manager.a $(CONT_DIR)lib/libcontrollers.a $(COMM_DIR)lib/libcomm.a $(DEV_DIR)lib/libdyn_devices.a
INCLUDE_DIRS=-I$(DEV_DIR)include -I$(COMM_DIR)include -I$(CONT_DIR)include -I$(MAN_DIR)include
CFLAGS=-mmcu=$(MMCU) -Wall -Os $(defines) -DF_CPU=16000000UL -gdwarf-2 -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wstrict-prototypes
LDFLAGS=-mmcu=$(MMCU) -Wl,-Map=$(PROJECT).map -DF_CPU=16000000UL
HEX_FLASH_FLAGS = -R .eeprom -R .fuse -R .lock -R .signature
.PHONY: all
all: communications dyn_devices controllers motion_manager $(PROJECT).hex
$(PROJECT).hex: $(PROJECT).elf
$(OBJCOPY) -O ihex $(HEX_FLASH_FLAGS) $< $@
$(PROJECT).elf: $(OBJS)
$(CC) $(LDFLAGS) $(OBJS) $(LIBS) -o $(PROJECT).elf
%.o:%.c
$(CC) -c $(CFLAGS) $(INCLUDE_DIRS) -o $@ $<
communications:
$(MAKE) -C $(COMM_DIR)
dyn_devices:
$(MAKE) -C $(DEV_DIR)
controllers:
$(MAKE) -C $(CONT_DIR)
motion_manager:
$(MAKE) -C $(MAN_DIR)
download: $(MAIN_OUT_HEX)
fw_downloader -d /dev/ttyUSB0 -f ./$(PROJECT).hex -p cm510
clean:
-rm $(PROJECT).o
-rm $(PROJECT).map
-rm $(PROJECT).elf
-rm $(PROJECT).hex
-rm $(OBJS)
examples/movements/movements.c 0 → 100644
+ 62
− 0
View file @ 31e020e6
#include <util/delay.h>
#include <stdio.h>
#include "cm510.h"
#include "balance.h"
#include "exp_board.h"
#include "mtn_library.h"
#include <stdlib.h>
typedef enum {wait_start,wait_walk_ready,wait_cmd,walk} main_states;
void user_init(void)
{
serial_console_init(57600);
balance_init();
balance_calibrate_gyro();
balance_enable_gyro();
mtn_lib_init();
mtn_lib_set_start_foot(left_foot);
}
void user_loop(void)
{
static main_states state=wait_start;
switch(state)
{
case wait_start: if(is_button_rising_edge(BTN_START))
{
action_set_page(31);
action_start_page();
state=wait_walk_ready;
}
else
state=wait_start;
printf("state: wait_start\n");
break;
case wait_walk_ready: if(is_action_running())
state=wait_walk_ready;
else
state=wait_cmd;
printf("state: wait_walk_ready\n");
break;
case wait_cmd: if(is_button_rising_edge(BTN_UP))
{
fast_walk_forward();
state=walk;
}
else
state=wait_cmd;
printf("state: wait_cmd\n");
break;
case walk: if(is_button_rising_edge(BTN_DOWN))
mtn_lib_stop_mtn();
if(fast_walk_forward()==0x01)
state=wait_cmd;
else
state=walk;
printf("state: walk\n");
break;
}
}
examples/movements/mtn_library.c 0 → 100644
+ 445
− 0
View file @ 31e020e6
#include <avr/io.h>
#include "mtn_library.h"
#include "action_id.h"
#include "action.h"
#include <stdio.h>
// private variables
typedef enum {mtn_fwd=0,mtn_bwd=1,mtn_turn_left=2,mtn_turn_right=3,mtn_left=4,mtn_right=5,mtn_fwd_turn_left=6,mtn_fwd_turn_right=7,
mtn_bwd_turn_left=8,mtn_bwd_turn_right=9,mtn_fwd_left=10,mtn_fwd_right=11,mtn_bwd_left=12,mtn_bwd_right=13,
mtn_fast_fwd=14,mtn_fast_bwd=15} mtn_t;
typedef enum {idle,wait_start,wait_middle,wait_end} full_states;
typedef struct{
uint8_t start_l;
uint8_t start_r;
uint8_t middle_l;
uint8_t middle_r;
uint8_t end_l;
uint8_t end_r;
}TPages;
uint8_t mtn_lib_stop;
foot_t mtn_lib_start_foot;
foot_t mtn_lib_current_foot;
TPages mtn_pages[]={{F_S_L,F_S_R,F_M_L,F_M_R,F_E_L,F_E_R},
{B_S_L,B_S_R,B_M_L,B_M_R,B_E_L,B_E_R},
{LT_S_L,LT_S_R,LT_M_L,LT_M_R,LT_E_L,LT_E_R},
{RT_S_L,RT_S_R,RT_M_L,RT_M_R,RT_E_L,RT_E_R},
{L_S_L,L_S_R,L_M_L,L_M_R,L_E_L,L_E_R},
{R_S_L,R_S_R,R_M_L,R_M_R,R_E_L,R_E_R},
{FLT_S_L,FLT_S_R,FLT_M_L,FLT_M_R,FLT_E_L,FLT_E_R},
{FRT_S_L,FRT_S_R,FRT_M_L,FRT_M_R,FRT_E_L,FRT_E_R},
{BLT_S_L,BLT_S_R,BLT_M_L,BLT_M_R,BLT_E_L,BLT_E_R},
{BRT_S_L,BRT_S_R,BRT_M_L,BRT_M_R,BRT_E_L,BRT_E_R},
{FL_S_L,FL_S_R,FL_M_L,FL_M_R,FL_E_L,FL_E_R},
{FR_S_L,FR_S_R,FR_M_L,FR_M_R,FR_E_L,FR_E_R},
{BL_S_L,BL_S_R,BL_M_L,BL_M_R,BL_E_L,BL_E_R},
{BR_S_L,BR_S_R,BR_M_L,BR_M_R,BR_E_L,BR_E_R},
{fst_F_L_S,fst_F_R_S,fst_F_R_L_M,fst_F_L_R_M,fst_F_L_E,fst_F_R_E},
{fst_B_L_S,fst_B_R_S,fst_B_L_M,fst_B_R_M,fst_B_L_E,fst_B_R_E}};
/* private functions */
uint8_t mtn_lib_full(TPages *pages)
{
static full_states state=idle;
uint8_t done=0x00;
switch(state)
{
case idle: if(mtn_lib_start_foot==left_foot)
action_set_page(pages->start_l);
else
action_set_page(pages->start_r);
action_start_page();
mtn_lib_current_foot=mtn_lib_start_foot;
state=wait_start;
break;
case wait_start: if(is_action_running())
state=wait_start;
else
{
if(mtn_lib_stop==0x01)
{
if(mtn_lib_current_foot==left_foot)
{
action_set_page(pages->end_r);
mtn_lib_current_foot=right_foot;
}
else
{
action_set_page(pages->end_l);
mtn_lib_current_foot=left_foot;
}
action_start_page();
state=wait_end;
}
else
{
if(mtn_lib_current_foot==left_foot)
{
action_set_page(pages->middle_r);
mtn_lib_current_foot=right_foot;
}
else
{
action_set_page(pages->middle_l);
mtn_lib_current_foot=left_foot;
}
action_start_page();
state=wait_middle;
}
}
break;
case wait_middle: if(is_action_running())
state=wait_middle;
else
{
if(mtn_lib_stop==0x01)
{
if(mtn_lib_current_foot==left_foot)
{
action_set_page(pages->end_r);
mtn_lib_current_foot=right_foot;
}
else
{
action_set_page(pages->end_l);
mtn_lib_current_foot=left_foot;
}
action_start_page();
state=wait_end;
}
else
{
if(mtn_lib_current_foot==left_foot)
{
action_set_page(pages->middle_r);
mtn_lib_current_foot=right_foot;
}
else
{
action_set_page(pages->middle_l);
mtn_lib_current_foot=left_foot;
}
action_start_page();
state=wait_middle;
}
}
break;
case wait_end: if(is_action_running())
state=wait_end;
else
{
mtn_lib_stop=0x00;
state=idle;
done=0x01;
}
break;
}
return done;
}
uint8_t mtn_lib_left(TPages *pages)
{
static full_states state=idle;
uint8_t done=0x00;
switch(state)
{
case idle: if(mtn_lib_start_foot==left_foot)
action_set_page(pages->start_l);
else
action_set_page(pages->start_r);
action_start_page();
mtn_lib_current_foot=mtn_lib_start_foot;
state=wait_start;
break;
case wait_start: if(is_action_running())
state=wait_start;
else
{
if(mtn_lib_current_foot==left_foot)
{
if(mtn_lib_stop==0x01)
{
action_set_page(pages->end_r);
state=wait_end;
}
else
{
action_set_page(pages->middle_r);
state=wait_middle;
}
mtn_lib_current_foot=right_foot;
action_start_page();
}
else
{
action_set_page(pages->middle_l);
mtn_lib_current_foot=left_foot;
action_start_page();
state=wait_middle;
}
}
break;
case wait_middle: if(is_action_running())
state=wait_middle;
else
{
if(mtn_lib_current_foot==left_foot)
{
if(mtn_lib_stop==0x01)
{
action_set_page(pages->end_r);
state=wait_end;
}
else
{
action_set_page(pages->middle_r);
state=wait_middle;
}
mtn_lib_current_foot=right_foot;
action_start_page();
}
else
{
action_set_page(pages->middle_l);
mtn_lib_current_foot=left_foot;
action_start_page();
state=wait_middle;
}
}
break;
case wait_end: if(is_action_running())
state=wait_end;
else
{
mtn_lib_stop=0x00;
state=idle;
done=0x01;
}
break;
}
return done;
}
uint8_t mtn_lib_right(TPages *pages)
{
static full_states state=idle;
uint8_t done=0x00;
switch(state)
{
case idle: if(mtn_lib_start_foot==left_foot)
action_set_page(pages->start_l);
else
action_set_page(pages->start_r);
action_start_page();
mtn_lib_current_foot=mtn_lib_start_foot;
state=wait_start;
break;
case wait_start: if(is_action_running())
state=wait_start;
else
{
if(mtn_lib_current_foot==right_foot)
{
if(mtn_lib_stop==0x01)
{
action_set_page(pages->end_l);
state=wait_end;
}
else
{
action_set_page(pages->middle_l);
state=wait_middle;
}
mtn_lib_current_foot=left_foot;
action_start_page();
}
else
{
action_set_page(pages->middle_r);
mtn_lib_current_foot=right_foot;
action_start_page();
state=wait_middle;
}
}
break;
case wait_middle: if(is_action_running())
state=wait_middle;
else
{
if(mtn_lib_current_foot==right_foot)
{
if(mtn_lib_stop==0x01)
{
action_set_page(pages->end_l);
state=wait_end;
}
else
{
action_set_page(pages->middle_l);
state=wait_middle;
}
mtn_lib_current_foot=left_foot;
action_start_page();
}
else
{
action_set_page(pages->middle_r);
mtn_lib_current_foot=right_foot;
action_start_page();
state=wait_middle;
}
}
break;
case wait_end: if(is_action_running())
state=wait_end;
else
{
mtn_lib_stop=0x00;
state=idle;
done=0x01;
}
break;
}
return done;
}
/* public functions */
void mtn_lib_init(void)
{
mtn_lib_stop=0x00;
mtn_lib_start_foot=left_foot;
mtn_lib_current_foot=left_foot;
}
void mtn_lib_stop_mtn(void)
{
mtn_lib_stop=0x01;
}
void mtn_lib_set_start_foot(foot_t foot)
{
mtn_lib_start_foot=foot;
}
uint8_t walk_forward(void)
{
return mtn_lib_full(&mtn_pages[mtn_fwd]);
}
uint8_t walk_backward(void)
{
return mtn_lib_full(&mtn_pages[mtn_bwd]);
}
uint8_t turn_left(void)
{
return mtn_lib_left(&mtn_pages[mtn_turn_left]);
}
uint8_t turn_right(void)
{
return mtn_lib_right(&mtn_pages[mtn_turn_right]);
}
uint8_t walk_left(void)
{
return mtn_lib_left(&mtn_pages[mtn_left]);
}
uint8_t walk_right(void)
{
return mtn_lib_right(&mtn_pages[mtn_right]);
}
uint8_t walk_forward_turn_left(void)
{
return mtn_lib_left(&mtn_pages[mtn_fwd_turn_left]);
}
uint8_t walk_forward_turn_right(void)
{
return mtn_lib_right(&mtn_pages[mtn_fwd_turn_right]);
}
uint8_t walk_backward_turn_left(void)
{
return mtn_lib_left(&mtn_pages[mtn_bwd_turn_left]);
}
uint8_t walk_backward_turn_right(void)
{
return mtn_lib_right(&mtn_pages[mtn_bwd_turn_right]);
}
uint8_t walk_forward_left(void)
{
return mtn_lib_left(&mtn_pages[mtn_fwd_left]);
}
uint8_t walk_forward_right(void)
{
return mtn_lib_right(&mtn_pages[mtn_fwd_right]);
}
uint8_t walk_backward_left(void)
{
return mtn_lib_left(&mtn_pages[mtn_bwd_left]);
}
uint8_t walk_backward_right(void)
{
return mtn_lib_right(&mtn_pages[mtn_bwd_right]);
}
uint8_t fast_walk_forward(void)
{
return mtn_lib_full(&mtn_pages[mtn_fast_fwd]);
}
uint8_t fast_walk_backward(void)
{
return mtn_lib_full(&mtn_pages[mtn_fast_bwd]);
}
uint8_t fast_turn_left(void)
{
}
uint8_t fast_turn_right(void)
{
}
uint8_t fast_walk_left(void)
{
}
uint8_t fast_walk_right(void)
{
}
uint8_t fast_walk_forward_turn_left(void)
{
}
uint8_t fast_walk_forward_turn_right(void)
{
}
uint8_t fast_walk_backward_turn_left(void)
{
}
uint8_t fast_walk_backward_turn_right(void)
{
}
examples/movements/mtn_library.h 0 → 100644
+ 36
− 0
View file @ 31e020e6
#ifndef _MTN_LIBRARY_H
#define _MTN_LIBRARY_H
typedef enum {left_foot,right_foot} foot_t;
void mtn_lib_init(void);
void mtn_lib_stop_mtn(void);
void mtn_lib_set_start_foot(foot_t foot);
uint8_t walk_forward(void);
uint8_t walk_backward(void);
uint8_t turn_left(void);
uint8_t turn_right(void);
uint8_t walk_left(void);
uint8_t walk_right(void);
uint8_t walk_forward_turn_left(void);
uint8_t walk_forward_turn_right(void);
uint8_t walk_backward_turn_left(void);
uint8_t walk_backward_turn_right(void);
uint8_t walk_forward_left(void);
uint8_t walk_forward_right(void);
uint8_t walk_backward_left(void);
uint8_t walk_backward_right(void);
uint8_t fast_walk_forward(void);
uint8_t fast_walk_backward(void);
uint8_t fast_turn_left(void);
uint8_t fast_turn_right(void);
uint8_t fast_walk_left(void);
uint8_t fast_walk_right(void);
uint8_t fast_walk_forward_turn_left(void);
uint8_t fast_walk_forward_turn_right(void);
uint8_t fast_walk_backward_turn_left(void);
uint8_t fast_walk_backward_turn_right(void);
#endif
examples/sensors/Makefile
+ 4
− 1
View file @ 31e020e6
...@@ -51,5 +51,8 @@ download: $(MAIN_OUT_HEX) ...@@ -51,5 +51,8 @@ download: $(MAIN_OUT_HEX)
fw_downloader -d /dev/ttyUSB0 -f ./$(PROJECT).hex -p cm510 fw_downloader -d /dev/ttyUSB0 -f ./$(PROJECT).hex -p cm510
clean: clean:
-rm $(PROJECT).* -rm $(PROJECT).o
-rm $(PROJECT).map
-rm $(PROJECT).hex
-rm $(PROJECT).elf
-rm $(OBJS) -rm $(OBJS)
examples/walk_straight/Makefile
+ 4
− 1
View file @ 31e020e6
...@@ -51,5 +51,8 @@ download: $(MAIN_OUT_HEX) ...@@ -51,5 +51,8 @@ download: $(MAIN_OUT_HEX)
fw_downloader -d /dev/ttyUSB0 -f ./$(PROJECT).hex -p cm510 fw_downloader -d /dev/ttyUSB0 -f ./$(PROJECT).hex -p cm510
clean: clean:
-rm $(PROJECT).* -rm $(PROJECT).o
-rm $(PROJECT).map
-rm $(PROJECT).hex
-rm $(PROJECT).elf
-rm $(OBJS) -rm $(OBJS)
motion/include/action_id.h 0 → 100644
+ 132
− 0
View file @ 31e020e6
#ifndef _ACTION_ID_H
#define _ACTION_ID_H
#define BOW 1
#define fst_F_R_S 3
#define fst_F_L_S 4
#define fst_F_R_L_M 5
#define fst_F_L_R_M 6
#define fst_F_R_E 7
#define fst_F_L_E 8
#define fst_FRT_R_M 9
#define fst_FLT_L_M 10
#define fst_B_R_S 11
#define fst_B_L_S 12
#define fst_B_R_M 13
#define fst_B_L_M 14
#define fst_B_R_E 15
#define fst_B_L_E 16
#define fst_RFT 17
#define fst_LFT 18
#define fst_RBT 19
#define fst_LBT 20
#define fst_R 21
#define fst_L 22
#define fst_RT 23
#define fst_LT 24
#define sit_down 25
#define stand_up 26
#define F_getup 27
#define B_getup 28
#define walk_ready 31
#define F_S_L 32
#define F_S_R 34
#define F_M_L 36
#define F_M_R 38
#define F_E_L 40
#define F_E_R 42
#define B_S_L 44
#define B_S_R 46
#define B_M_L 48
#define B_M_R 50
#define B_E_L 52
#define B_E_R 54
#define LT_S_L 56
#define LT_S_R 58
#define LT_M_L 60
#define LT_M_R 62
#define LT_E_L 64
#define LT_E_R 66
#define RT_S_L 68
#define RT_S_R 70
#define RT_M_L 72
#define RT_M_R 74
#define RT_E_L 76
#define RT_E_R 78
#define L_S_L 80
#define L_S_R 82
#define L_M_L 84
#define L_M_R 86
#define L_E_L 88
#define L_E_R 90
#define R_S_L 92
#define R_S_R 94
#define R_M_L 96
#define R_M_R 98
#define R_E_L 100
#define R_E_R 102
#define FLT_S_L 104
#define FLT_S_R 106
#define FLT_M_L 108
#define FLT_M_R 110
#define FLT_E_L 112
#define FLT_E_R 114
#define FRT_S_L 116
#define FRT_S_R 118
#define FRT_M_L 120
#define FRT_M_R 122
#define FRT_E_L 124
#define FRT_E_R 126
#define BLT_S_L 128
#define BLT_S_R 130
#define BLT_M_L 132
#define BLT_M_R 134
#define BLT_E_L 136
#define BLT_E_R 138
#define BRT_S_L 140
#define BRT_S_R 142
#define BRT_M_L 144
#define BRT_M_R 146
#define BRT_E_L 148
#define BRT_E_R 150
#define LTA_S_L 152
#define LTA_S_R 154
#define LTA_M_L 156
#define LTA_M_R 158
#define LTA_E_L 160
#define LTA_E_R 162
#define RTA_S_L 164
#define RTA_S_R 166
#define RTA_M_L 168
#define RTA_M_R 170
#define RTA_E_L 172
#define RTA_E_R 174
#define FL_S_L 176
#define FL_S_R 178
#define FL_M_L 180
#define FL_M_R 182
#define FL_E_L 184
#define FL_E_R 186
#define FR_S_L 188
#define FR_S_R 190
#define FR_M_L 192
#define FR_M_R 194
#define FR_E_L 196
#define FR_E_R 198
#define BL_S_L 200
#define BL_S_R 202
#define BL_M_L 204
#define BL_M_R 206
#define BL_E_L 208
#define BL_E_R 210
#define BR_S_L 212
#define BR_S_R 214
#define BR_M_L 216
#define BR_M_R 218
#define BR_E_L 220
#define BR_E_R 222
#endif
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