/* | ----------------------------------------------------------------------------- | Filename: hdttest.c | | Author: Thomas Braunl (braunl@ee.uwa.edu.au) | Klaus Schmitt (kschmitt@informatik.uni-kl.de) | Description: | ------- | RADIO-METRIX HDT data for EyeBot MK4, UWA Aug. 2000, 2005, 2006 | ----------------------------------------------------------------------------- */ #define VERSION 1.1 /* User specific version nr. for information */ #define NAME "Eye-RM" /* controller name max. 7 chars, inform. only */ #define ID 1 /* Unique platform id (int), just for inform. */ #include "hdt.h" #include "hdt_sem.h" #include "IRu170.h" /* or: "IRnokia.h" */ #include "irtv.h" /* The HDT structure */ /*-------------------*/ int magic = 123456789; extern HDT_entry_type HDT[]; HDT_entry_type *hdtbase = &HDT[0]; #include "types.h" #include "const.h" #include "rs232.h" #include "cam.h" #include "librobi/librobi.h" /* infraread remote control on TPU13=Servo S14 */ irtv_type irtv = {1, 13, TPU_HIGH_PRIO, REMOTE_ON, /* NOKIA SPACE_CODE, 15, 0x0000, 0x03FF, DEFAULT_MODE, 1, -1, RC_RED, RC_GREEN, RC_YELLOW, RC_BLUE}; */ /* SupportPlus 170 */ MANCHESTER_CODE, 14, 0x0800, 0x0000, DEFAULT_MODE, 4, 300, RC_RED, RC_YELLOW, RC_BLUE, 0x303C}; remote_type remote = {1, ID, REMOTE_OFF, SERIAL2, SER115200, IMAGE_REDUCED, RADIO_METRIX}; short dist0[128] = { 60, 60, 60, 60, 60, 60, 60, 60, 60, 60, 60, 60, 60, 60, 60, 60, 60, 60, 60, 60, 60, 60, 60, 60, 60, 65, 69, 70, 73, 75, 76, 77, 79, 81, 84, 85, 87, 88, 89, 90, 93, 95, 96, 98, 100, 103, 105, 107, 109, 110, 112, 114, 116, 117, 119, 121, 126, 127, 129, 131, 134, 137, 140, 144, 146, 149, 151, 156, 159, 167, 170, 175, 179, 183, 188, 195, 200, 205, 210, 220, 225, 235, 240, 250, 265, 275, 285, 295, 310, 320, 340, 350, 370, 380, 400, 410, 440, 460, 490, 530, 600, 610, 630, 680, 750, 830, 900, 999, 999, 999, 999, 999, 999, 999, 999, 999, 999, 999, 999, 999, 999, 999, 999, 999, 999, 999, 999, 999}; BYTE motconv0[101]= { 0, 1, 2, 3, 4, 5, 6, 7, 8, 9,10,11,12,13,14,15,16,17,18,19, 20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39, 40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59, 60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79, 80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99, 100}; /* DC motors */ /* Motor A = left, Motor B = right */ motor_type motorA = {3, 0, TIMER1, 8191, (void*)sim_porte, 0, 0, (BYTE*)0, 0}; motor_type motorB = {3, 1, TIMER1, 8191, (void*)sim_porte, 1, 1, (BYTE*)0, 1}; quad_type encoderA = {0, 2, 3, MOTOR_LEFT, 3240, 2.0}; quad_type encoderB = {0, 5, 4, MOTOR_RIGHT, 3240, 2.0}; vw_type drive = {0, DIFFERENTIAL_DRIVE, {QUAD_LEFT, QUAD_RIGHT, 0.085}}; /* SERVOs */ /* type, TPU-channel, Timer2, 20ms period, 0.7ms min, 1.7ms max */ /* here: servo 0 has TPU channel 0, and so on */ servo_type servo0 = {2, 0, TIMER2, 20000, 900, 2100}; servo_type servo1 = {2, 1, TIMER2, 20000, 900, 2100}; servo_type servo2 = {2, 2, TIMER2, 20000, 900, 2100}; servo_type servo3 = {2, 3, TIMER2, 20000, 900, 2100}; servo_type servo4 = {2, 4, TIMER2, 20000, 900, 2100}; servo_type servo5 = {2, 5, TIMER2, 20000, 900, 2100}; servo_type servo6 = {2, 6, TIMER2, 20000, 900, 2100}; servo_type servo7 = {2, 7, TIMER2, 20000, 900, 2100}; servo_type servo8 = {2, 8, TIMER2, 20000, 900, 2100}; servo_type servo9 = {2, 9, TIMER2, 20000, 900, 2100}; servo_type servo10 = {2, 10, TIMER2, 20000, 900, 2100}; servo_type servo11 = {2, 11, TIMER2, 20000, 900, 2100}; servo_type servo12 = {2, 12, TIMER2, 20000, 900, 2100}; servo_type servo13 = {2, 13, TIMER2, 20000, 900, 2100}; /* COMPASS */ compass_type compass = {0,12,(void*)IOBase, 2,(void*)IOBase, 4, (BYTE*)IOBase, 0}; /* PSD-infrared */ psd_type psd0 = {0, 14, (BYTE*)IOBase, 0, AH, (BYTE*)IOBase, 0, AH, (short*)&dist0}; psd_type psd1 = {0, 14, (BYTE*)IOBase, 1, AH, (BYTE*)IOBase, 0, AH, (short*)&dist0}; psd_type psd2 = {0, 14, (BYTE*)IOBase, 2, AH, (BYTE*)IOBase, 0, AH, (short*)&dist0}; psd_type psd3 = {0, 14, (BYTE*)IOBase, 3, AH, (BYTE*)IOBase, 0, AH, (short*)&dist0}; psd_type psd4 = {0, 14, (BYTE*)IOBase, 4, AH, (BYTE*)IOBase, 0, AH, (short*)&dist0}; psd_type psd5 = {0, 14, (BYTE*)IOBase, 5, AH, (BYTE*)IOBase, 0, AH, (short*)&dist0}; /* EyeBot SUMMARY */ info_type roboinfo = {0,MK5,SER115200,RTSCTS,SERIAL1,0,0,AUTOBRIGHTNESS,BATTERY_ON,33,VERSION,NAME,ID}; /* waitstates = 0..13, Fast Termination = 14, External = 15 */ /* Version, ROM, RAM, LCD, IO, Parallel+Serial2/3 */ /* 16MHz - 20Mhz */ /* waitstate_type waitstates = {0,3,0,1,0,2}; */ /* 21MHz - 41Mhz */ waitstate_type waitstates = {0,3,1,2,1,2}; /* include startup sound and image */ #include "startup.h" /* this is a test HDT structure which contains ALL EyeBot hardware devices */ HDT_entry_type HDT[] = { {MOTOR,MOTOR_LEFT,"MotA-L", (void *)&motorA}, {MOTOR,MOTOR_RIGHT,"MotB-R",(void *)&motorB}, {QUAD, QUAD_LEFT,"LEFT", (void *)&encoderA}, {QUAD, QUAD_RIGHT,"RIGHT", (void *)&encoderB}, {VW,VW,"Drive",(void *)&drive}, /* {BUMP, BUMP_LEFT,"LEFT",(void *)&bumper0}, */ /* {IR, IR_LF,"LF",(void *)&ir0}, */ /* {SERVO,SERVO1, "SERV00",(void *)&servo0}, {SERVO,SERVO1, "SERV01",(void *)&servo1}, {SERVO,SERVO2, "SERV02",(void *)&servo2}, {SERVO,SERVO3, "SERV03",(void *)&servo3}, {SERVO,SERVO4, "SERV04",(void *)&servo4}, {SERVO,SERVO5, "SERV05",(void *)&servo5}, */ {SERVO,SERVO6, "SERV06",(void *)&servo6}, {SERVO,SERVO7, "SERV07",(void *)&servo7}, {SERVO,SERVO8, "SERV08",(void *)&servo8}, {SERVO,SERVO9, "SERV09",(void *)&servo9}, {SERVO,SERVO10,"SERV10",(void *)&servo10}, {SERVO,SERVO11,"SERV11",(void *)&servo11}, {SERVO,SERVO12,"SERV12",(void *)&servo12}, /* {SERVO,SERVO13,"SERV13",(void *)&servo13}, */ {PSD,PSD_FRONT, "P0-F", (void *)&psd0}, {PSD,PSD_LEFT, "P1-L", (void *)&psd1}, {PSD,PSD_RIGHT, "P2-R", (void *)&psd2}, {PSD,PSD_LEFTDIAG, "P3-LD", (void *)&psd3}, {PSD,PSD_RIGHTDIAG,"P4-RD", (void *)&psd4}, {PSD,PSD_BACK, "P5-BK", (void *)&psd5}, /* {COMPASS,COMPASS,"COMPAS",(void *)&compass}, */ {WAIT,WAIT,"WAIT",(void *)&waitstates}, {INFO,INFO,"INFO",(void *)&roboinfo}, {IRTV,IRTV,"IRTV",(void *)&irtv}, {REMOTE,REMOTE,"BlueT",(void *)&remote}, {STARTMELODY,STARTMELODY,"Melody",(void *)startmelody}, {STARTIMAGE,STARTIMAGE,"Image",(void *)&startimage}, {END_OF_HDT,UNKNOWN_SEMANTICS,"END",(void *)0} };