First commit

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.6)
+
+PROJECT(autolab-rapi)
+SET( V_MAJOR 0 )
+SET( V_MINOR 1 )
+SET( V_BUGFIX 0 )
+
+SET( VERSION ${V_MAJOR}.${V_MINOR}.${V_BUGFIX} )
+SET( APIVERSION ${V_MAJOR}.${V_MINOR} )
+
+ADD_DEFINITIONS(-g -Wall -O2)
+ADD_SUBDIRECTORY(librapicore)
+ADD_SUBDIRECTORY(librapistage)
+ADD_SUBDIRECTORY(librapichatterbox)
+#ADD_SUBDIRECTORY(test_stage)
+
+# Create and install the pkgconfig file from the .in template
+SET( PKGFILE ${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}.pc )
+CONFIGURE_FILE( ${PKGFILE}.in ${PKGFILE} @ONLY)
+INSTALL( FILES ${PKGFILE} DESTINATION lib/pkgconfig/)

autolab-rapi.pc.in

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+prefix=@CMAKE_INSTALL_PREFIX@
+
+Name: autolab-rapi
+Description: Robot Application Programming Interface
+Version: @VERSION@
+Requires: 
+Libs: -L${prefix}/lib -lautolab-rapi
+Cflags: -I${prefix}/include/autolab-rapi-@APIVERSION@

librapichatterbox/CMakeLists.txt

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+
+SET( PROJECT_CB autolab-rapi-chatterbox )
+
+SET( TARGET ${PROJECT_CB} )
+
+ADD_SUBDIRECTORY(i2c)
+
+SET( HEADERS
+  cbrobot.h
+  cbdrivetrain2dof.h
+  cbpowerpack.h
+  cbodometry.h
+  cblaser.h
+  cbdriver.h
+  cbirsensor.h
+  cblights.h
+  cbtextdisplay.h
+)
+
+SET( SOURCES
+  cbrobot.cpp
+  cbdrivetrain2dof.cpp
+  cbpowerpack.cpp
+  cbodometry.cpp
+  cblaser.cpp
+  cbdriver.cpp
+  cbirsensor.cpp
+  cblights.cpp
+  cbtextdisplay.cpp
+)
+
+INCLUDE_DIRECTORIES(
+  ../librapicore
+  ./i2c
+)
+
+LINK_DIRECTORIES( ../librapicore
+                  ../i2c )
+
+LINK_LIBRARIES( ${TARGET} i2c autolab-rapi)
+
+# build a shared library
+ADD_LIBRARY( ${TARGET} SHARED ${SOURCES} )
+
+# give the shared library a version number
+SET_TARGET_PROPERTIES( ${TARGET} PROPERTIES
+                        VERSION ${VERSION}
+)
+
+INSTALL(TARGETS ${TARGET}
+  LIBRARY DESTINATION lib )
+
+INSTALL(FILES ${HEADERS}
+  DESTINATION include/${PROJECT_CB}-${APIVERSION}
+)

librapichatterbox/RapiChatterbox

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+/***************************************************************************
+ * Project: RAPI                                                           *
+ * Author:  Jens Wawerla ([email protected])                                 *
+ * $Id: $
+ ***************************************************************************
+ *   This program is free software; you can redistribute it and/or modify  *
+ *   it under the terms of the GNU General Public License as published by  *
+ *   the Free Software Foundation; either version 2 of the License, or     *
+ *   (at your option) any later version.                                   *
+ *                                                                         *
+ *   This program is distributed in the hope that it will be useful,       *
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
+ *   GNU General Public License for more details.                          *
+ *                                                                         *
+ *   You should have received a copy of the GNU General Public License     *
+ *   along with this program; if not, write to the                         *
+ *   Free Software Foundation, Inc.,                                       *
+ *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
+ **************************************************************************/
+
+#include "RapiCore"
+#include "cbrobot.h"
+#include "cbdrivetrain2dof.h"
+#include "cbpowerpack.h"
+#include "cblaser.h"
+#include "cbirsensor.h"
+#include "cblights.h"
+#include "cbtextdisplay.h"

librapichatterbox/cbdefinitions.h

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+/***************************************************************************
+ * Project: RAPI                                                           *
+ * Author:  Jens Wawerla ([email protected])                                 *
+ * $Id: cbdefinitions.h,v 1.2 2008/12/04 01:41:17 jwawerla Exp $
+ ***************************************************************************
+ *   This program is free software; you can redistribute it and/or modify  *
+ *   it under the terms of the GNU General Public License as published by  *
+ *   the Free Software Foundation; either version 2 of the License, or     *
+ *   (at your option) any later version.                                   *
+ *                                                                         *
+ *   This program is distributed in the hope that it will be useful,       *
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
+ *   GNU General Public License for more details.                          *
+ *                                                                         *
+ *   You should have received a copy of the GNU General Public License     *
+ *   along with this program; if not, write to the                         *
+ *   Free Software Foundation, Inc.,                                       *
+ *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
+ ***************************************************************************
+ * $Log: cbdefinitions.h,v $
+ * Revision 1.2  2008/12/04 01:41:17  jwawerla
+ * Snapshot
+ *
+ * Revision 1.1.1.1  2008/04/10 21:26:29  jwawerla
+ * rapi3
+ *
+ * Revision 1.2  2008/03/19 00:22:16  gumstix
+ * Basic device driver functionality achived
+ *
+ * Revision 1.1.1.1  2008/02/02 22:19:52  jwawerla
+ * new to cvs
+ *
+ * Revision 1.1.1.1  2008/01/10 19:43:55  jwawerla
+ * first time in cvs
+ *
+ *
+ ***************************************************************************/
+
+#ifndef CBDEFINITIONS_H
+#define CBDEFINITIONS_H
+
+//---------------------------------------------------------------------------
+// Create open interface definitions
+//---------------------------------------------------------------------------
+
+// from the IRobot website
+// However, if the robot is on the charger but not charging because it is in
+// Safe or Full mode, this doesn?t work. Instead, use this procedure:
+//   1. Send opcode "7". This is not an official OI opcode, rather it is an
+//      opcode used by Osmo (a firmware updating device) to initiate a soft
+//      reset of the robot and force it to run its bootloader.
+//   2. The robot resets. Wait 3 seconds for the bootloader to complete. Do
+//      NOT send any opcodes while the bootloader is running.
+//   3. The robot should start charging. Note that the robot spews some
+//      battery-related text if it is charging and not in OI mode. Ignore
+//      this text.
+//   4. Send a Start command to get back into the OI (and stop the spew).
+#define CREATE_OPCODE_RESET            7
+#define CREATE_OPCODE_START            128
+#define CREATE_OPCODE_SAFE             131
+#define CREATE_OPCODE_FULL             132
+#define CREATE_OPCODE_DEMO             136
+#define CREATE_OPCODE_DRIVE            137
+#define CREATE_OPCODE_LOW_SIDE_DRIVER  138
+#define CREATE_OPCODE_LED              139
+#define CREATE_OPCODE_DEFINE_SONG      140
+#define CREATE_OPCODE_PLAY_SONG        141
+#define CREATE_OPCODE_SENSORS          142
+#define CREATE_OPCODE_SEND_IR          151
+
+#define CREATE_DELAY_MODECHANGE_MS     20
+
+#define CREATE_AXLE_LENGTH             0.258
+#define CREATE_TVEL_MAX_MM_S           500
+#define CREATE_RADIUS_MAX_MM           2000
+#define CREATE_DIAMETER                0.33
+
+
+// which sensor package do we want ? note changing this value might require 
+// to change the message parse method.
+//   0 -  package  7 - 26  size 26 bytes
+//   1 -  package  7 - 16  size 10 bytes
+//   2 -  package 17 - 20  size  6 bytes
+//   3 -  package 21 - 26  size 10 bytes
+//   4 -  package 27 - 34  size 14 bytes
+//   5 -  package 35 - 42  size 12 bytes
+//   6 -  package  7 - 42  size 52 bytes
+#define CREATE_SENSOR_PACKAGE_ID       6
+#define CREATE_SENSOR_PACKET_SIZE      52
+
+// time of for read operations [ms]
+#define READ_TIMEOUT                   5000
+
+#define CB_OVERCURRENT_LSD_0           0x01
+#define CB_OVERCURRENT_LSD_1           0x02
+#define CB_OVERCURRENT_LSD_2           0x04
+#define CB_OVERCURRENT_LEFT_WHEEL      0x08
+#define CB_OVERCURRENT_RIGHT_WHEEL     0x10
+
+#define CB_RIGHT_BUMPER                0x01
+#define CB_LEFT_BUMPER                 0x02
+#define CB_RIGHT_WHEEL_DROP            0x04
+#define CB_LEFT_WHEEL_DROP             0x08
+#define CB_CASTER_WHEEL_DROP           0x10
+
+#define CB_RED_BUOY                    248
+#define CB_GREEN_BUOY                  244
+#define CB_FORCE_FIELD                 242
+#define CB_RED_GREEN_BUOY              252
+#define CB_RED_BUOY_FORCE_FIELD        250
+#define CB_GREEN_BUOY_FORCE_FIELD      246
+#define CB_RED_GREEN_BUOY_FORCE_FIELD  254
+#define CB_NO_IR_DATA                  255
+
+#define CB_INT_CHARGER                 0x01
+#define CB_HOME_BASE                   0x02
+
+#define CB_NOT_CHARGING                0x00
+#define CB_RECONDITIONING_CHARGING     0x01
+#define CB_FULL_CHARGING               0x02
+#define CB_TRICK_CHARGING              0x03
+#define CB_WAITING                     0x04
+#define CB_CHARGING_FAULT              0x05
+
+//---------------------------------------------------------------------------
+// CB mainboard definitions
+//---------------------------------------------------------------------------
+
+#define ROBOSTIX_ADDR 0x0B
+#define I2C_DEV_NAME "/dev/i2c-0"
+
+// ADC reference voltage
+#define VREF 5.0
+
+// ports for 7 segment display
+#define DDRA 58
+#define PORTA 59
+
+// Coefficients for IR voltage to distance conversion
+#define K0 -0.033305
+#define K1  0.384938
+#define K2 -1.788040
+#define K3  4.171021
+#define K4 -5.079344
+#define K5  2.983591
+
+// RGB led stuff
+#define CHIP_A_ADDR 0x67
+#define CHIP_B_ADDR 0x6f
+
+#define LED0_R_ADDR CHIP_A_ADDR
+#define LED0_R_PORT 0x07
+#define LED0_G_ADDR CHIP_A_ADDR
+#define LED0_G_PORT 0x06
+#define LED0_B_ADDR CHIP_B_ADDR
+#define LED0_B_PORT 0x02
+
+#define LED1_R_ADDR CHIP_B_ADDR
+#define LED1_R_PORT 0x03
+#define LED1_G_ADDR CHIP_B_ADDR
+#define LED1_G_PORT 0x05
+#define LED1_B_ADDR CHIP_B_ADDR
+#define LED1_B_PORT 0x06
+
+#define LED2_R_ADDR CHIP_B_ADDR
+#define LED2_R_PORT 0x04
+#define LED2_G_ADDR CHIP_B_ADDR
+#define LED2_G_PORT 0x07
+#define LED2_B_ADDR CHIP_B_ADDR
+#define LED2_B_PORT 0x08
+
+#define LED3_R_ADDR CHIP_A_ADDR
+#define LED3_R_PORT 0x08
+#define LED3_G_ADDR CHIP_A_ADDR
+#define LED3_G_PORT 0x04
+#define LED3_B_ADDR CHIP_A_ADDR
+#define LED3_B_PORT 0x05
+
+#define LED4_R_ADDR CHIP_A_ADDR
+#define LED4_R_PORT 0x09
+#define LED4_G_ADDR CHIP_A_ADDR
+#define LED4_G_PORT 0x03
+#define LED4_B_ADDR CHIP_A_ADDR
+#define LED4_B_PORT 0x02
+
+//----------------------------------------------------------------------------
+#endif