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| Rev | Author | Line No. | Line |
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| 1439 | giacomo | 1 | /* |
| 2 | * Project: S.Ha.R.K. |
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| 3 | * |
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| 4 | * Coordinators: |
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| 5 | * Giorgio Buttazzo <giorgio@sssup.it> |
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| 6 | * Paolo Gai <pj@gandalf.sssup.it> |
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| 7 | * |
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| 8 | * Authors : |
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| 9 | * Giacomo Guidi <giacomo@gandalf.sssup.it> |
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| 10 | * |
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| 11 | * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
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| 12 | * |
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| 13 | * http://www.sssup.it |
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| 14 | * http://retis.sssup.it |
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| 15 | * http://shark.sssup.it |
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| 16 | */ |
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| 17 | |||
| 18 | #include "kernel/kern.h" |
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| 19 | #include "rtdac4.h" |
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| 20 | |||
| 21 | int main(int argc, char **argv) |
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| 22 | { |
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| 23 | |||
| 24 | char buf_char[4]; |
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| 25 | short buf_short[2]; |
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| 26 | long prescaler; |
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| 27 | |||
| 28 | RTDAC4_open(); |
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| 29 | |||
| 30 | RTDAC4_read_states(buf_char); |
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| 31 | |||
| 32 | buf_short[0] = 0; |
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| 33 | buf_short[1] = 0; |
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| 34 | |||
| 35 | RTDAC4_set_motor(buf_short); |
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| 36 | |||
| 37 | /* Reset encoders */ |
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| 38 | RTDAC4_ioctl(1, 0); |
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| 39 | |||
| 40 | prescaler = 0; |
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| 41 | |||
| 42 | /* Set prescaler */ |
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| 43 | RTDAC4_ioctl(2, prescaler); |
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| 44 | |||
| 45 | return 0; |
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| 46 | |||
| 47 | } |