/*
| -----------------------------------------------------------------------------
| Filename: hdttest.c
|
| Author:       Thomas Braunl   (braunl@ee.uwa.edu.au)
|               Klaus Schmitt   (kschmitt@informatik.uni-kl.de)
| Description: 
| -------
| STANDARD HDT data for EyeBot MK4, UWA Aug. 2000
| -----------------------------------------------------------------------------
*/

#define VERSION 1.1      /* User specific version nr. for information */
#define NAME "Bally"     /* controller name max. 7 chars, inform. only */
#define ID   3           /* Unique platform id (int), just for inform. */

#include "hdt.h"
#include "hdt_sem.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 Servo S11 */
irtv_type irtv = {0, 12, TPU_HIGH_PRIO};
 
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_type motor0 = {2,  1, TIMER1, 8191, (void*)OutBase, 3, 2, (BYTE*)&motconv0};
motor_type motor1 = {2,  0, TIMER1, 8191, (void*)OutBase, 0, 1, (BYTE*)&motconv0};
quad_type decoder0 = {0, 2, 3, MOTOR_LEFT,  3078, 2.0}; /* diameter 55.6 mm */
quad_type decoder1 = {0, 5, 4, MOTOR_RIGHT, 3078, 2.0};
vw_type drive = {0, DIFFERENTIAL_DRIVE, {QUAD_LEFT, QUAD_RIGHT, 0.1285}};

/* SERVOs */
/* type, TPU-channel, Timer2, 20ms period, 0.7ms min, 1.7ms max */
/* here: servo 1 has TPU channel 2, and so on                   */
servo_type servo1  = {2,  2, TIMER2, 20000, 700, 1700};


/* PSD-infrared */
psd_type   psd0   = {0, 14, (BYTE*)IOBase, 0, AH, (BYTE*)IOBase, 0, AH, (short*)&dist0};

compass_type compass = {0,13,(void*)IOBase, 2,(void*)IOBase, 4, (BYTE*)IOBase, 0};


/* EyeBot SUMMARY */
info_type roboinfo  = {0,VEHICLE,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_RIGHT,"RIGHT",(void *)&motor0},
    {MOTOR,MOTOR_LEFT,"LEFT",(void *)&motor1},
    {QUAD, QUAD_RIGHT,"RIGHT",(void *)&decoder1},
    {QUAD, QUAD_LEFT,"LEFT",(void *)&decoder0},
    {VW,VW,"Drive",(void *)&drive},

    {WAIT,WAIT,"WAIT",(void *)&waitstates},
    {INFO,INFO,"INFO",(void *)&roboinfo},
                    
    {IRTV,IRTV,"IRTV",(void *)&irtv},
    {STARTMELODY,STARTMELODY,"Melody",(void *)startmelody},
    {STARTIMAGE,STARTIMAGE,"Image",(void *)&startimage},
                    
    {END_OF_HDT,UNKNOWN_SEMANTICS,"END",(void *)0}
};