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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1418 | 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 input_cid[NINPUTCAB]; |
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| 9 | |||
| 10 | TASK SENSOR_body(void *input_port) { |
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| 11 | |||
| 12 | real_T *p; |
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| 13 | int in = (int)(input_port); |
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| 14 | char cname[20]; |
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| 15 | |||
| 16 | if (in >= NINPUTCAB) return NULL; |
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| 17 | |||
| 18 | sprintf(cname,"INPUT%d",in); |
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| 19 | input_cid[in] = cab_create(cname, sizeof(real_T), 2); |
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| 20 | |||
| 21 | while(1) { |
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| 22 | |||
| 23 | /* Reserve a message */ |
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| 24 | p = (real_T *)cab_reserve(input_cid[in]); |
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| 25 | |||
| 26 | /* Save data */ |
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| 27 | *p = 1000.0; |
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| 28 | |||
| 29 | /* Put CAB message */ |
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| 30 | cab_putmes(input_cid[in], p); |
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| 31 | |||
| 32 | task_endcycle(); |
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| 33 | |||
| 34 | } |
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| 35 | |||
| 36 | return NULL; |
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| 37 | |||
| 38 | } |
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| 39 | |||
| 40 | void activate_sensors() { |
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| 41 | |||
| 42 | HARD_TASK_MODEL SENSOR_task; |
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| 43 | PID SENSOR_pid; |
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| 44 | |||
| 45 | hard_task_default_model(SENSOR_task); |
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| 46 | hard_task_def_mit(SENSOR_task,10000); |
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| 47 | hard_task_def_wcet(SENSOR_task,1000); |
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| 48 | /* Set sensor port number */ |
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| 49 | hard_task_def_arg(SENSOR_task,(void *)(0)); |
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| 50 | hard_task_def_usemath(SENSOR_task); |
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| 51 | hard_task_def_ctrl_jet(SENSOR_task); |
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| 52 | |||
| 53 | SENSOR_pid = task_create("SENSOR0",SENSOR_body,&SENSOR_task,NULL); |
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| 54 | if (SENSOR_pid == NIL) { |
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| 55 | cprintf("Error: Cannot create RealTime Workshop [SENSOR0] Task\n"); |
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| 56 | sys_end(); |
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| 57 | } |
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| 58 | |||
| 59 | task_activate(SENSOR_pid); |
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| 60 | |||
| 61 | } |
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| 62 | |||
| 63 | |||
| 64 |