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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1624 | giacomo | 1 | #include "kernel/kern.h" |
| 2 | #include "modules/cabs.h" |
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| 3 | |||
| 4 | #include "tmwtypes.h" |
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| 5 | |||
| 6 | #include "rtw.h" |
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| 7 | |||
| 8 | extern CAB output_cid[NOUTPUTCAB]; |
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| 9 | |||
| 10 | TASK ACTUATOR_body(void *output_port) { |
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| 11 | |||
| 12 | real_T *p, value; |
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| 13 | int out = (int)(output_port); |
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| 14 | |||
| 15 | if (out >= NOUTPUTCAB) return NULL; |
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| 16 | |||
| 17 | while(1) { |
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| 18 | |||
| 19 | /* Get CAB message */ |
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| 20 | p = (real_T *)cab_getmes(output_cid[out]); |
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| 21 | |||
| 22 | /* Set value */ |
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| 23 | value = *p; |
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| 24 | |||
| 25 | /* Release CAB message */ |
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| 26 | cab_unget(output_cid[out], p); |
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| 27 | |||
| 28 | cprintf("Value = %lf\n",value); |
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| 29 | |||
| 30 | task_endcycle(); |
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| 31 | |||
| 32 | } |
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| 33 | |||
| 34 | return NULL; |
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| 35 | |||
| 36 | } |
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| 37 | |||
| 38 | void activate_actuators() { |
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| 39 | |||
| 40 | HARD_TASK_MODEL ACTUATOR_task; |
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| 41 | PID ACTUATOR_pid; |
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| 42 | |||
| 43 | hard_task_default_model(ACTUATOR_task); |
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| 44 | hard_task_def_mit(ACTUATOR_task,20000); |
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| 45 | hard_task_def_wcet(ACTUATOR_task,4000); |
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| 46 | /* Set actuator port number */ |
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| 47 | hard_task_def_arg(ACTUATOR_task,(void *)(0)); |
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| 48 | hard_task_def_usemath(ACTUATOR_task); |
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| 49 | hard_task_def_ctrl_jet(ACTUATOR_task); |
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| 50 | |||
| 51 | ACTUATOR_pid = task_create("ACTUATOR0",ACTUATOR_body,&ACTUATOR_task,NULL); |
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| 52 | if (ACTUATOR_pid == NIL) { |
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| 53 | cprintf("Error: Cannot create RealTime Workshop [ACTUATOR0] Task\n"); |
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| 54 | sys_end(); |
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| 55 | } |
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| 56 | |||
| 57 | task_activate(ACTUATOR_pid); |
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| 58 | |||
| 59 | } |
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| 60 | |||
| 61 | |||
| 62 |