Programming PDF – Library for the creation of graphic interfaces for the control of embedded systems and application to a telemanipulated arm

"Library for the creation of

graphical interfaces for the control of
embedded systems and application to

a telemanipulated arm"

"Graphical interfaces library for embedded control

systems. Application to a telemanipulated arm "

Ángel Muñoz Cantera

e-mail: angel.munoz@alumnos.unican.es

September 2006

Acknowledgments

The present project would never have come true without the support of my friends.

Friends who have done their bit for the many months that this work has lasted

and at a time when things were not easy. I want to thank you

to all your help and interest. Above all to Marta, for your unconditional support and for

the encouragements that you have always been able to give me, and to Pablo, for your optimism and your common sense

. I feel lucky to have you there. I also want to thank

especially Elena, who has always been for me the light on the road and, beyond

that, a true friend.

To my parents.

General index [19659002] 1. Introduction

1.1. Objectives of the project. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2. MaRTE OS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3. Parts of the project and memory structure. . . . . . . . . . . . . . . . .
1.4. Elements used in the development of the project. . . . . . . . . . . . . . .
1.5. Previous notions recommended for a better understanding of the project. .
1.5.1. Entry / exit organization in the x86 architecture. . . . . . . . .
1.5.2. De fi nition and functions of device drivers. . . . . . . . . . .
1.5.3. Characteristics of the drivers in Linux and in MaRTE OS. . . . . . .
1.5.4. Adaptation of the SVGALib library for MaRTE OS. . . . . . . . .
1.5.5. Ways to access PC hardware. . . . . . . . . . . . . . . . . .

2. PS / 2 mouse driver

2.3.

2.1.

Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.1. The IBM PS / 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.2.
PS / 2 interface for keyboard and mouse. . . . . . . . . . . . . . . . . . . .
2.2. The 8042 keyboard driver. . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.1. Records of 8042. . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.2.
Initialization of the machine. . . . . . . . . . . . . . . . . . . . . . .
Standard PS / 2 mouse interface. . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.1. Events, Resolution and Scaling. . . . . . . . . . . . . . . . . . . . . .
2.3.2. Standard PS / 2 movement data package. . . . . . . . . . . . .
2.3.3. Modes of operation of the standard PS / 2 mouse
. . . . . . . . . . . . .
Standard PS / 2 mouse commands. . . . . . . . . . . . . . . . . . . .
2.3.4.
2.4. Characteristics of the mouse driver. . . . . . . . . . . . . . . . . . . . . . . .
2.4.1. The Fifo queue event queue. . . . . . . . . . . . . . . . . . . . .
2.4.2. Top level package PS2 Mouse. . . . . . . . . . . . . . . . . . .
2.4.3. PS2 Mouse-Functions package. . . . . . . . . . . . . . . . . . . . .
2.4.4. Extensions of the standard PS / 2 protocol. . . . . . . . . . . . . . . .
2.4.5. Application example of driver use
. . . . . . . . . . . . . . . . .

3. Analog joystick driver

3.1.

Introduction: The PC game adapter
. . . . . . . . . . . . . . . . .
3.1.1. The hardware of the game adapter. . . . . . . . . . . . . . . . . . .
3.1.2. Need for joystick calibration. . . . . . . . . . . . . . . . . . .
3.1.3. General expressions for normalization. . . . . . . . . . . . . .

III

1
1
2
2
4
5
5
5
6
9
9 [19659003] 11
11
11
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13
14
15
15
16
16
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18
18
20
31
33
34

36
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GENERAL INDEX

3.2 . Genius F-16 joystick features. . . . . . . . . . . . . . . . . . . . .
3.3. Features of the analog joystick driver
. . . . . . . . . . . . . . . . .
3.3.1. Event queue Simple Array Queues. . . . . . . . . . . . . . . . . .
3.3.2. Joystick top level package. . . . . . . . . . . . . . . . . . .
3.3.3. Analog joystick analog stick package. . . . . . . . . . .
3.3.4. Analog joystick methods Joystick Analog Functions. . . . .
3.3.5. Package with Jscal calibration functions. . . . . . . . . . . . .
3.3.6. Comments on the correction coefficients of the axes. . . . . . .
3.3.7. Application example of driver use
. . . . . . . . . . . . . . . . .

4. Library for the representation and control of control panels

4.1.
4.2. Operation of screen elements

Introduction: SVGALib and class hierarchy developed. . . . . . . . . . .
. . . . . . . . . . . . . . . . . .
4.2.1. Panel element. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.2. Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.3. Lights
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.4. Buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3. Treatment of the screen. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.1. The screen matrix. . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.2. Drawing the pointer on the screen. . . . . . . . . . . . . . . . . . . .
4.3.3. The Screen Manage task. . . . . . . . . . . . . . . . . . . . . . .

5. Application to the BTM panel

5.1. First part: structure of the adapted software. . . . . . . . . . . . . . . .
5.1.1. Adaptation of the Joystick Robot package. . . . . . . . . . . . . . . .
5.1.2. Adaptation of the package Buttons. . . . . . . . . . . . . . . . . . . . .
5.1.3. Adaptation of the Lights package. . . . . . . . . . . . . . . . . . . . . .
5.2. Second part: test of the adapted software. . . . . . . . . . . . . . . . . .

6. Conclusions and future lines

6.1. Summary of achievements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2. Future lines of work. . . . . . . . . . . . . . . . . . . . . . . . . . . .

References

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59
60

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IV

Table of contents

2.1. 8042 controller ports. . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2. Climbing algorithm 2: 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3. PS / 2 movement data package. . . . . . . . . . . . . . . . . . . . . .

3.1. Masks of types of joystick. . . . . . . . . . . . . . . . . . . . . . . . . .

14
16
16

42

V

Index of figures

1.1. Robot BTM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2. BTM Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3. General scheme of BTM connections. . . . . . . . . . . . . . . . . . . . . . . . .
1.4. MaRTE application architecture. . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5. Development environment for MaRTE. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.6. Complete structure for the use of devices in MaRTE OS. . . . . . . . . . . .
1.7. Ways to access hardware on the PC. . . . . . . . . . . . . . . . . . . . . . . . . .

2.1. PS / 2 standard 3 button mouse. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2. PS / 2 connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.
PS / 2 physical interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4. Color code for PS / 2 ports. . . . . . . . . . . . . . . . . . . . . . . . . .
2.5. Controller registers 8042. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.6. Module architecture of the PS / 2 mouse driver. . . . . . . . . . . . . . . . . . . .
2.7. Basic architecture of the PS / 2 mouse driver. . . . . . . . . . . . .
2.8. PS / 2 mouse event. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.9. Use of the error machine. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.10. Use of the object "Mouse". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1. Joystick position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2. Directional control FCS and CHF. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3. Input port of the game adapter. . . . . . . . . . . . . . . . . . . . . . . . .
3.4. Schematic connection of the potentiometers
. . . . . . . . . . . . . . . . . . . . . . .
3.5. Analog timing signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6. Joystick Genius MaxFighter F-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7. Gameport bits for the F-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8. Architecture of the joystick driver modules. . . . . . . . . . . . . . . . . . . . . .
3.9. Operation architecture of the joystick driver. . . . . . . . . . . . . . . . . .
3.10. Analog joystick event. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1. Structure of the library for the graphical interface. . . . . . . . . . . . . . . . . . . . . .
4.2. Class hierarchy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3. Display example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4. Example of normal and selected light. . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5. Example of circular button. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6. Screen matrix. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7. Normal and selection pointers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . .

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