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Rev | Author | Line No. | Line |
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1331 | giacomo | 1 | /* |
2 | * Project: S.Ha.R.K. |
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3 | * |
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4 | * Coordinators: Giorgio Buttazzo <giorgio@sssup.it> |
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5 | * |
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6 | * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
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7 | * |
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8 | * http://www.sssup.it |
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9 | * http://retis.sssup.it |
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10 | * http://shark.sssup.it |
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11 | */ |
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12 | |||
13 | #include "chimera.h" |
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14 | |||
1395 | giacomo | 15 | void program_key_end(KEY_EVT* e) |
1331 | giacomo | 16 | { |
1395 | giacomo | 17 | |
1331 | giacomo | 18 | int i; |
19 | TIME tmp; |
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20 | |||
21 | end_send(); |
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22 | |||
23 | for (i=3; i<MAX_PROC; i++){ |
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24 | if (!jet_getstat(i, NULL, &tmp, NULL, NULL)) |
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25 | kern_printf("Task Name : %s - Max Time : %d\n", proc_table[i].name, (int)tmp); |
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26 | } |
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1395 | giacomo | 27 | |
1408 | giacomo | 28 | trace_send(); |
29 | |||
1395 | giacomo | 30 | sys_end(); |
31 | |||
1331 | giacomo | 32 | } |
33 | |||
1333 | giacomo | 34 | void action_stand_up(void) { |
35 | |||
1395 | giacomo | 36 | struct action_event e; |
37 | int event; |
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1339 | giacomo | 38 | |
39 | status.power = 1; |
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40 | |||
1395 | giacomo | 41 | kern_gettime(&(e.time)); |
42 | ADDUSEC2TIMESPEC(5000000,&(e.time)); |
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1333 | giacomo | 43 | |
1395 | giacomo | 44 | e.type = EVT_SET_MASK_LEG_ANGLE; |
45 | e.mask = 0x3F; |
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46 | e.ang.a = 0 * 3600; |
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47 | e.ang.b = 70 * 3600; |
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48 | e.ang.c = 0; |
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49 | e.pwm = 7; |
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1333 | giacomo | 50 | |
1395 | giacomo | 51 | event = insert_action_event(&(e)); |
1397 | giacomo | 52 | cprintf("Event num = %d\n",event); |
1339 | giacomo | 53 | |
1395 | giacomo | 54 | ADDUSEC2TIMESPEC(1000000,&(e.time)); |
1334 | giacomo | 55 | |
1395 | giacomo | 56 | e.type = EVT_SET_MASK_LEG_ANGLE; |
57 | e.mask = 0x3F; |
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58 | e.ang.a = 0 * 3600; |
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59 | e.ang.b = 0 * 3600; |
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60 | e.ang.c = 0; |
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61 | e.pwm = 7; |
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1333 | giacomo | 62 | |
1395 | giacomo | 63 | event = insert_action_event(&(e)); |
1397 | giacomo | 64 | cprintf("Event num = %d\n",event); |
65 | |||
1333 | giacomo | 66 | } |
67 | |||
1331 | giacomo | 68 | int main(int argc, char **argv) |
69 | { |
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70 | TIME seme; |
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1395 | giacomo | 71 | KEY_EVT k; |
1331 | giacomo | 72 | |
73 | seme = sys_gettime(NULL); |
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74 | srand(seme); |
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75 | |||
1395 | giacomo | 76 | k.flag = ALTL_BIT; |
77 | k.scan = KEY_C; |
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78 | k.ascii = 'c'; |
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79 | keyb_hook(k,program_key_end); |
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1331 | giacomo | 80 | |
1335 | giacomo | 81 | clear(); |
82 | |||
1408 | giacomo | 83 | trace_init(1000000); |
84 | |||
1331 | giacomo | 85 | init_send(); /* Comunication */ |
86 | init_key(); /* Keyboard */ |
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87 | |||
1396 | giacomo | 88 | init_action_event(100); |
89 | |||
1390 | mauro | 90 | action_stand_up(); |
1333 | giacomo | 91 | |
1331 | giacomo | 92 | return 0; |
1359 | giacomo | 93 | |
1331 | giacomo | 94 | } |