/*
| -----------------------------------------------------------------------------
| Filename: hdtS4Y-M5.c
|
| Author:       Michael Kasper, Thomas Braunl, Klaus Schmitt
|
| Description:
| -------
| HDT data for SoccerBot S4(Y) with EyeBot M5
| AndroTec Sept. 2005
| -----------------------------------------------------------------------------
*/

#define VERSION 1.1         /* User specific version nr. for information */
#define NAME "S4Y"          /* 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 "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"

#include "startup.h"        /* include startup sound and image */

/* infraread remote control on TPU13=Servo S14        */
/* the final 1 is to state that it is used for ROBIOS */
irtv_type irtv = {1, 13, TPU_HIGH_PRIO,
                  REMOTE_ON, SPACE_CODE, 15, 0x0000, 0x03FF, DEFAULT_MODE,
	              1, -1, RC_RED, RC_GREEN, RC_YELLOW, RC_BLUE};

/* Setup remote radio control */
remote_type remote = {1, ID, REMOTE_OFF, SERIAL2, SER115200, IMAGE_REDUCED, RADIO_BLUETOOTH};

/* Example LookUp-Table for PSD-raw to distance conversion */
/* Measure and use your own LUT for each PSD on you robot  */
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};

/* 1:1 motor LUT */
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, t_min, t_max */
/* here: servo 1 has TPU channel 0, and so on           */
servo_type S13_Kicker = {2, 12, TIMER2, 20000, 1550, 1300};


/* 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};

/* this is a HDT structure which contains the SoccerBot 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},

    {SERVO,SERVO13,"Kick12",(void *)&S13_Kicker},

    {PSD,PSD_FRONT,    "Left-0", (void *)&psd0},
    {PSD,PSD_LEFT,     "Front1", (void *)&psd1},
    {PSD,PSD_RIGHT,    "Right2", (void *)&psd2},

    {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}
};