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  → / @ 1658

  → / @ 1659

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Regard whitespace Rev 1658 → Rev 1659

/unsupported/trunk/pendulum/CAMERA.ERR
0,0 → 1,4
camera.c: In function `tracking_task':
camera.c:273: warning: unused variable `k'
camera.c: In function `init_framegrabber':
camera.c:446: warning: unused variable `my_key'

/unsupported/trunk/pendulum/INTG1
0,0 → 1,0
2114 11000 79.3087 0.8879 15 845 4399

/unsupported/trunk/pendulum/COMMG1
0,0 → 1,15
x1 kalm1 11000 2114 0.3
x1 kalm1 12000 2114 0.3
x1 kalm1 13000 2114 0.3
x1 kalm1 14000 2114 0.3
x1 kalm1 15000 2114 0.3
x1 kalm1 16000 2114 0.3
x1 kalm1 17000 2114 0.3
x1 kalm1 18000 2114 0.3
x1 kalm1 19000 2114 0.3
x1 kalm1 20000 2114 0.3
x1 kalm1 21000 2114 0.3
x1 kalm1 22000 2114 0.3
x1 kalm1 23000 2114 0.3
x1 kalm1 24000 2114 0.3
x1 kalm1 25000 2114 0.3

/unsupported/trunk/pendulum/INTDATA
0,0 → 1,0
15000 20000 NaN NaN 0 6000 7999

/unsupported/trunk/pendulum/COMMG2
0,0 → 1,15
x1 kalm1 13000 1503 0.3
x1 kalm1 14000 1503 0.3
x1 kalm1 15000 1503 0.3
x1 kalm1 16000 1503 0.3
x1 kalm1 17000 1503 0.3
x1 kalm1 18000 1503 0.3
x1 kalm1 19000 1503 0.3
x1 kalm1 20000 1503 0.3
x1 kalm1 21000 1503 0.3
x1 kalm1 22000 1503 0.3
x1 kalm1 23000 1503 0.3
x1 kalm1 24000 1503 0.3
x1 kalm1 25000 1503 0.3
x1 kalm1 26000 1503 0.3
x1 kalm1 27000 1503 0.3

/unsupported/trunk/pendulum/INITFILE.C
0,0 → 1,98
#define PI
#include "kernel/kern.h"
#include "modules/edf.h"
#include "modules/cbs.h"
#include "modules/rr.h"
/*
#ifndef PI
#include "modules/rrsoft.h"
#endif
*/
#include "modules/dummy.h"
#include "modules/sem.h"
#include "modules/hartport.h"
#include "modules/cabs.h"
#include "modules/pi.h"
#include "modules/pc.h"
#include "modules/srp.h"
#include "modules/npp.h"
#include "modules/nop.h"
#include "drivers/keyb.h"
#include "drivers/glib.h"
/*+ system tick in us +*/
#define TICK 500
/*+ RR tick in us +*/
//#define RRTICK 10000
#define RRTICK 3000
TIME __kernel_register_levels__(void *arg)
{
struct multiboot_info *mb = (struct multiboot_info *)arg;
#ifdef PI
EDF_register_level(0); //EDF_ENABLE_ALL);
CBS_register_level(0,0); //CBS_ENABLE_ALL, 0);
#else
RRSOFT_register_level(RRTICK, RR_MAIN_NO, mb, RRSOFT_ONLY_HARD|RRSOFT_ONLY_SOFT);
RRSOFT_register_level(RRTICK, RR_MAIN_NO, mb, RRSOFT_ONLY_SOFT); //cbs
#endif
RR_register_level(RRTICK, RR_MAIN_YES, mb);
dummy_register_level();
SEM_register_module();
CABS_register_module();
PI_register_module();
NOP_register_module();
return TICK;
}
TASK __init__(void *arg)
{
struct multiboot_info *mb = (struct multiboot_info *)arg;
HARTPORT_init();
kern_printf("TIME=%d\n",sys_gettime(NULL));
KEYB_init(NULL);
kern_printf("TIME=%d\n",sys_gettime(NULL));
grx_init();
__call_main__(mb);
return (void *)0;
}
#ifdef PI
void app_mutex_init(mutex_t *m)
{
PI_mutexattr_t attr;
PI_mutexattr_default(attr);
mutex_init(m, &attr);
}
/*#else
void app_mutex_init(mutex_t *m)
{
NOP_mutexattr_t attr;
NOP_mutexattr_default(attr);
mutex_init(m, &attr);
}*/
#endif

/unsupported/trunk/pendulum/COMMG3
0,0 → 1,12
x1 kalm1 14000 1273 0.3
x1 kalm1 16000 1273 0.3
x1 kalm1 18000 1273 0.3
x1 kalm1 20000 1273 0.3
x1 kalm1 22000 1273 0.3
x1 kalm1 24000 1273 0.3
x1 kalm1 26000 1273 0.3
x1 kalm1 28000 1273 0.3
x1 kalm1 30000 1273 0.3
x1 kalm1 32000 1273 0.3
x1 kalm1 34000 1273 0.3
x1 kalm1 36000 1273 0.3

/unsupported/trunk/pendulum/DEMO1.C
0,0 → 1,69
#include "demo.h"
#include <kernel/func.h>
#include <string.h>
#include <stdlib.h>
#include <drivers/keyb.h>
#include <drivers/glib.h>
/* graphic mutex... */
mutex_t mutex;
void app_mutex_init(mutex_t *m);
void my_close(void *arg)
{
grx_close();
}
/*
void endfun(KEY_EVT *k)
{
grx_close();
cprintf("Ctrl-Brk pressed! Ending...\n");
sys_end();
}
void zerofun(KEY_EVT *k)
{
int i;
for (i=0; i<MAX_PROC; i++) jet_delstat(i);
}
*/
int main(int argc, char **argv)
{
int modenum;
KEY_EVT k;
struct sigaction action;
srand(4);
sys_atrunlevel(my_close, NULL, RUNLEVEL_BEFORE_EXIT);
modenum = grx_getmode(800, 600, 16); //(640, 480, 16);
grx_setmode(modenum);
/* init the graphic mutex */
app_mutex_init(&mutex);
grx_text("HARTIK 4.0 " , 0,0, rgb16(0,255,0),BLACK);
grx_text("Thesis Demo", 0,8, rgb16(0,255,0), BLACK);
init_framegrabber(); /* fra le altre cose attiva i task della camera */
PXC_Start();
group_activate(1);
return 0;
}

/unsupported/trunk/pendulum/KALM1.C
0,0 → 1,1207
/*************************************************************
* *
* Stabilizzazione di un pendolo inverso *
* *
* *
*Written by: Gabriele Bolognini - Scuola S.Anna -- Pisa *
* *
*************************************************************/
#include "demo.h"
#include "pclab.h"
#include "cost.h" /* Contiene le costanti del task DISEGNA */
#ifdef SOFTPROG
long int PERIOD_CARRELLO={1200}, PERIOD_TRACKING={12000};
long int WCET_CARRELLO={240}, WCET_TRACKING={7200};
#else
long int PERIOD_CARRELLO={1800}, PERIOD_TRACKING={22200};
#endif
#define LUNGH 35.0
#define THETAMAX 45.0
#define VDANG 2.4
#define NMAX 300
#define SEC_ID 7.0
#define MAXRUN_ID 9 //16
int start_id=0;
// dati da scrivere nei files
static long int contat_id=-1, num_id=0;
#ifdef DATAPLANT
struct DATA_FILE {
TIME time;
float xist ;
float thist ;
float par1 ;
float par2 ;
float par3 ;
float par4 ;
} dati[NMAX];
long int numdat=0; // numero dati scritti su DATI[NMAX]
#endif
#define NSAMPLES 500
#define NTASKS 10
static float timetab[NSAMPLES][NTASKS];
static int index[NTASKS];
static float somma[MAXRUN_ID][2]; // valore dello indice di prestazione
mutex_t mutex,mutexadc;
#define MAX_TEMPI 15
static char stringa[MAX_TEMPI][250];
// **- ACHTUNG!!!: param. iniz. del guadagno, deadline, ecc.-----******* /
#define INIPARAMS {{ 2.3 , 300 , 0.5 , 15 },1.,1.0,20.,20., 0.1, 1 , 1, 0.}
#define MODPARAMS {{ 1. , 300 , 0.9 , 34 },0.74 ,1.,20.,20., 0.2, 1 , 1, 0.}
#define PARAM2 {{ 1. , 300 , 0.79 , 23 },0.70 ,2.5 ,20.,20., 0.1, 1 , 1, 0.}
/*
struct Parametri{
float GUAD[4];
float COST;
float NOISE;
float WCUT;
float WCUT1;
float OFFSVAL;
int DEADLINE;
int SCAN;
float XTRASL;
};
struct Data_cab1 {
float rif;
int imp;
};
struct Data_cab2 {
float x;
float y;
} ;
*/
struct Parametri prm=PARAM2, prmbase=INIPARAMS, prmmod=MODPARAMS, prm2=PARAM2;
#define DEADSECX(x) ( x /*PERIOD_TRACKING*/ * 1.0e-6 ) // mit task TRACK in sec
#define DEADSECTH(x) (x /*PERIOD_CARRELLO*/ * 1.0e-6 ) // mit task CARRELLO in sec
CAB cab1, cab2;
float vmax, vmin, vmaxth, vminth;
float vin=0, vout, yout, thout;
void graphframe(void);
void my_end(void);
void scritt(void);
void scritt1(void);
void scritt2(void);
void scritt3(void);
void nuovi_tempi(long int*);
void initial(void);
void scenario_jetcontrol(void);
void init_jetcontrol(void);
TASK jetslide_task(void *);
TASK jetctrl_task(void *);
TASK jetdummy_task(void *);
void framegrabber_close(void *);
TASK camera_task(void *);
TASK tracking_task(void *);
extern int white, black, red, gray, green, blue;
float integrale(float y[], float u, int flag)
{
static float sum=0, oldcoeff=0;
float coeff=0 ;
static float R=1 , Q[2][2]={1,0,0,1.5} ;
if(flag) sum=0; //reset
coeff=Q[0][0]*y[0]*y[0]+Q[0][1]*y[0]*y[1]+Q[1][0]*y[1]*y[0]+Q[1][1]*y[1]*y[1]+R*u*u;
sum += (coeff+oldcoeff)*DEADSECTH(PERIOD_CARRELLO) / 2.0 ;
oldcoeff=coeff;
return sum;
}
void zerofun(KEY_EVT *k)
{
int i;
for (i=0; i<MAX_PROC; i++) jet_delstat(i);
}
int da_motor(float v)
{
da_conv( 2.5 , 2 );
da_conv( v + 2.5 , 1 );
return(0);
}
float v2x(float v)
{ /* trasforma i volt in x */
float x;
x= LUNGH * (v-(vmax+vmin)/2 ) / (vmax-vmin);
return x;
}
float v2theta(float v)
{ /* trasforma i volt in angoli */
float theta;
theta=2.0*(THETAMAX/FCA) * (v-(vmaxth+vminth)/2 ) / (vmaxth-vminth);
return theta;
}
float bass1(float u)
{
float y;
static float oldy=0;
y=(oldy + prm.WCUT * DEADSECX(PERIOD_TRACKING) *u)/(1+ prm.WCUT * DEADSECX(PERIOD_TRACKING));
oldy=y;
return y;
}
float bass2(float u)
{
float y;
static float oldy=0;
y=(oldy + prm.WCUT1 * DEADSECX(PERIOD_TRACKING) *u)/(1+ prm.WCUT1 * DEADSECX(PERIOD_TRACKING));
oldy=y;
return y;
}
float bass3(float u)
{
float y;
static float oldy=0;
y=(oldy + prm.WCUT * DEADSECTH(PERIOD_CARRELLO) *u)/(1+ prm.WCUT * DEADSECTH(PERIOD_CARRELLO));
oldy=y;
return y;
}
float bass4(float u)
{
float y;
static float oldy=0;
y=(oldy + prm.WCUT1 * DEADSECTH(PERIOD_CARRELLO) *u)/(1+ prm.WCUT1 * DEADSECTH(PERIOD_CARRELLO));
oldy=y;
return y;
}
float dx(float u)
{
static float oldu=0;
float y;
y=(u-oldu)/DEADSECX(PERIOD_TRACKING);
oldu=u;
return y;
}
float dth(float u)
{
static float oldu=0;
float y;
y=(u-oldu)/DEADSECTH(PERIOD_CARRELLO);
oldu=u;
return y;
}
TASK eval(void)
{
int x,y;
char str[100];
mutex_lock(&mutex);
grx_rect(10,325,XTI - 20,479,blue);
x = 20;
y = 350;
grx_text("PARAMETRI DI CONTROLLO ( R , T ) ", x+60, y-18 , red, 0);
grx_text("Guad=", x, y,green, 0);y+=18;
grx_text("Cost=", x, y,green, 0); y+=18;
grx_text("WCUT=", x, y,green, 0); y+=18;
grx_text("WCUT1=", x, y,green, 0); y+=18;
grx_text("NOISE=", x, y,green, 0); y+=18;
grx_text("DEADL=", x, y,green, 0);y+=18;
grx_text("OFFS=", x, y,green, 0);y+=18;
{ /* legenda */
int x=280, y=350;
grx_text("Guad 1,2 3,4 5,6 7,8", x, y,green, 0);y+=18;
grx_text("Cost [ , ]", x, y,green, 0); y+=18;
grx_text("WCUT o , p", x , y,green, 0); y+=18;
grx_text("WCUT1 k , l", x, y,green, 0); y+=18;
grx_text("NOISE n , m", x, y,green, 0); y+=18;
grx_text("DEADL - , +", x, y,green, 0);y+=18;
grx_text("OFFS / , *", x, y,green, 0);y+=18;
}
{ /* frame dei valori rilevati dai sensori */
int x=15, y=YTI+10;
grx_rect(10,YTI,XTI - 20,YTI+70,red);
grx_text("V_com = ", x, y,green, 0);y+=14;
grx_text("V+offs = ", x, y,green, 0);y+=14;
grx_text("V_sens_x = ", x, y,green, 0);y+=14;
grx_text("SCAN = ", x, y,green, 0);y+=14;
}
mutex_unlock(&mutex);
while(1){
x = 70;
y = 350;
mutex_lock(&mutex);
grx_text(" ", x, y, 12, 0);
sprintf(str, "%6.2f %6.2f %6.2f %6.2f ", prm.GUAD[0],prm.GUAD[1],prm.GUAD[2],prm.GUAD[3]);
grx_text(str, x, y, blue, 0);y+=18;
grx_text(" ", x, y, 12, 0);
sprintf(str, "%6.2f ", prm.COST);
grx_text(str, x, y, blue, 0); y += 18;
grx_text(" ", x, y, 12, 0);
sprintf(str, "%6.2f Hz", prm.WCUT);
grx_text(str, x, y, blue, 0); y += 18;
grx_text(" ", x, y, 12, 0);
sprintf(str, "%6.2f Hz ", prm.WCUT1);
grx_text(str, x, y, blue, 0); y += 18;
grx_text(" ", x, y, 12, 0);
sprintf(str, "%6.2f Volt ", prm.NOISE);
grx_text(str, x, y, blue, 0); y += 18;
grx_text(" ", x, y, 12, 0);
sprintf(str, "%d ticks ", prm.DEADLINE);
grx_text(str, x, y, blue, 0); y += 18;
grx_text(" ", x, y, 12, 0);
sprintf(str, "%6.2f Volt ", prm.OFFSVAL);
grx_text(str, x, y, blue, 0); y += 18;
mutex_unlock(&mutex);
/* scrivo vin , vout (vin+offs) , SCAN e PARAMETRIBASE*/
{ int x=95, y= YTI + 10;
mutex_lock(&mutex);
grx_text(" ", x, y, 0, 0);
sprintf(str, "%7.4f ", vin);
grx_text(str, x, y, blue, 0);y += 14;
grx_text(" ", x, y, 0, 0);
sprintf(str, "%7.4f", vout);
grx_text(str, x, y, blue, 0);y += 14;
grx_text(" ", x, y, 0, 0);
sprintf(str, "%7.3f", yout);
grx_text(str, x, y , blue, 0); y += 14;
grx_text(" ", x, y, 0, 0);
sprintf(str, "%3.2d c , v", prm.SCAN);
grx_text(str, x, y , blue, 0); y += 14;
mutex_unlock(&mutex);
}
task_endcycle();
}
}
/*------------------------------------------------------------------------
Il task CARRELLO controlla la posizione del carrello
y = posizione angolare dell'asta (non usata)
x = posizione lineare del carrello
-----------------------------------------------------------------------*/
float xrif=0, orif=1;
TASK carrello(void)
{
float thist=0, y[2]={0,0}, yp[2]={0,0}; /* valori attuali */
PORT pa, pb; /* communication ports */
struct Data_cab1 data;
struct Data_cab2 tmp;
char *pun, *pun2;
int i;
float offset;
long int k=0;
long int stime =0 ;
/* Si creano 2 per mandare al task DISEGNA le var.di stato x1 e x3 */
pa = port_create("porta1",sizeof(float),1,STICK,WRITE);
pb = port_create("porta2",sizeof(float),1,STICK,WRITE);
while (1) {
/* prendo i dati sul riferimento in volt per la x */
pun = cab_getmes(cab1);
memcpy(&data, pun, sizeof(struct Data_cab1));
cab_unget(cab1, pun);
/* prendo i dati sulle posizioni dal trasduttore ADC */
task_nopreempt();
thout=ad_conv(10);
task_preempt();
/* taglio brusco dei livelli di rumore sopra il NOISE */
{
#define AVR 10
static float othout[AVR];
float avth;
static int index=0, flag=1;
if(flag==1) {
for(i=0; i<AVR;++i) { othout[i] = thout;}
flag=0;
}
avth=0;
for(i=0;i<AVR;++i) { avth += othout[i]; }
avth /= AVR ;
if(fabs(thout-avth)>=prm.NOISE) { thout=avth;}
othout[index]=thout;
index = (index+1) % AVR ;
}
/* converto i valori dei sensori in posizioni */
/* calcolo le velocita' lineari e angolari opportunamente filtrate */
thist=v2theta(thout);
y[1]=bass3(thist);
yp[1] = bass4(dth(y[1]));
/* a questo punto dovrei prendere i valori dall'altro task CARR2 */
pun2 = cab_getmes(cab2);
memcpy(&tmp , pun2, sizeof(struct Data_cab2));
cab_unget(cab2, pun2);
y[0]=yout=tmp.x;
yp[0]=tmp.y;
/* PARAMETRI del controllore :1 */
vin = prm.COST * (prm.GUAD[0] * (y[0]-v2x(data.rif+prm.XTRASL))+ prm.GUAD[1] * thist + prm.GUAD[2] * yp[0] + prm.GUAD[3] * yp[1]) ;
/* metto un offset che mi elimina l'attrito */
if( vin >= 0) offset=prm.OFFSVAL;
else offset=-prm.OFFSVAL;
vout=vin+offset;
if(vout >= VDANG ) vout = VDANG ;
if(vout <= -VDANG ) vout = -VDANG ;
/* la applico */
da_motor(vout);
/* mando i dati sulle posizioni al task DISEGNA */
port_send(pa, &y[1], NON_BLOCK);
port_send(pb, &y[0], NON_BLOCK);
{
char str[5];
static long int contatwait=-1;
// extern float xrif;
if(start_id == 1) {
start_id=0;
contat_id=(int) (SEC_ID / DEADSECTH(PERIOD_CARRELLO));
num_id++;
somma[num_id-1][1]=contat_id;
integrale(y,vout,1);
contatwait=(long int) (1.5 * SEC_ID / DEADSECTH(PERIOD_CARRELLO));
}
if(contat_id > 0) {
xrif=0.0; //pone la xrif a zero
somma[num_id-1][0]=integrale(y,vout,0);
somma[num_id-1][1]= --contat_id;
}
if(contat_id == 0) {
if(num_id>= (MAXRUN_ID-1)) nuovi_tempi(&contatwait); //sys_end();
xrif=-10.0;
contatwait--; if(contatwait==0) start_id=1;//attiva la racc. dati
}
if(contat_id == -1 ) ; // vero solo allo inizio del programma
}
/* aggiorno i riferimenti utilizzati in questo task, piu' in alto*/
data.rif=(vmax+vmin)/2. + xrif * (vmax-vmin)/LUNGH;
data.imp=0;
pun = cab_reserve(cab1);
memcpy(pun, &data, sizeof(struct Data_cab1));
cab_putmes(cab1, pun);
/* scrivo i dati istantanei (fino a NMAX) nella struttura 'dati' */
#ifdef DATAPLANT
if((contat_id>0)&&(k<(NMAX-1))) {
dati[k].time=sys_gettime(NULL)/1000;
dati[k].xist=y[0];
dati[k].thist=thist;
dati[k].par1=vout;
dati[k].par2=yp[0];
dati[k].par3=yp[1];
dati[k].par4=thist*FCA;
numdat=k++;
}
#endif
task_endcycle();
}
/* Eliminazione porte di comunicazione */
port_delete(pa);
port_delete(pb);
} /* FINE DEL TASK CARRELLO */
/*--------------------------------------------------------------*/
/* Il task DISEGNA riceve dal task CONTROLLO i valori delle */
/* variabili x1 e x3 e disegna il pendolo corrispondente */
/*--------------------------------------------------------------*/
TASK diseg(void)
{
WORD xp, yp, oxp, oyp; /* coordinate carrello */
WORD xa, ya, oxa, oya; /* coordinate asta */
float x1, x3; /* variabili di stato */
char str[100];
PORT pra, prb, prc; /* communication ports */
int delta; /* dimensione finestre */
/* Connessione alle porte create dal task CONTROLLO */
pra = port_connect("porta1",sizeof(float),STICK,READ);
prb = port_connect("porta2",sizeof(float),STICK,READ);
delta = 120;
/* Inizializzazione variabili carrello e asta */
xp = oxp = 100;
xa = oxa = 100;
yp = oyp = 105 + delta - H;
ya = oya = 105 + delta - H;
graphframe();
while (1) {
/*if(contat_id==0)*/ {
char str1[15];
mutex_lock(&mutex);
grx_text(" ", XTI, YTI+174, 0, 0);
sprintf(str1, "%d ", contat_id);
grx_text(str1, XTI, YTI+174, red, 0);
grx_text(" ", XTI, YTI+188, 0, 0);
sprintf(str1, "%d ", num_id);
grx_text(str1, XTI, YTI+188,green , 0);
grx_text(" ", XTI, YTI+202, 0, 0);
sprintf(str1, "%f ", somma[num_id-1][0]);
grx_text(str1, XTI, YTI+202,green , 0);
grx_text(" ", XTI, YTI+216, 0, 0);
sprintf(str1, "carr= %d %d %f", PERIOD_CARRELLO, WCET_CARRELLO, ((float) WCET_CARRELLO) / PERIOD_CARRELLO );
grx_text(str1, XTI, YTI+216,green , 0);
grx_text(" ", XTI, YTI+230, 0, 0);
sprintf(str1, "track= %d %d %f", PERIOD_TRACKING, WCET_TRACKING, ((float) WCET_TRACKING) / PERIOD_TRACKING );
grx_text(str1, XTI, YTI+230,green , 0);
mutex_unlock(&mutex);
}
/* disegna il pendolo */
port_receive(pra, &x1, BLOCK);
port_receive(prb, &x3, BLOCK);
/* scrivo posizione del carrello e angolo dell'asta */
mutex_lock(&mutex);
grx_text(" ", XTI+45, YTI+28, 0, 0);
sprintf(str, "%5.2f", x3);
grx_text(str, XTI+45, YTI+28, blue, 0);
grx_text(" ", XTI+50, YTI+42, 0, 0);
sprintf(str, "%4.3f", x1 * FCA );
grx_text(str, XTI+50, YTI+42, blue, 0);
mutex_unlock(&mutex);
/* calcolo ascissa del punto P del carrello */
xp = XMED + x3 * SGX;
/* calcolo ascissa e ordinata dell'estremo dell'asta */
xa = xp + LA * sin((double)(x1 * SGA));
ya = yp - LA * cos((double)(x1 * SGA));
mutex_lock(&mutex);
/* cancella e disegna il carrello */
grx_box(oxp-LC,oyp,oxp+LC,oyp+H,0);
grx_box(xp-LC,yp,xp+LC,yp+H,blue);
/* cancella e disegna la ruota sinistra del carrello */
grx_circle(oxp-LC+8,oyp+H+4,RAGGIO+2,0);
grx_circle(xp-LC+8,yp+H+4,RAGGIO+2,green);
/* cancella e disegna la ruota destra del carrello */
grx_circle(oxp+LC-8,oyp+H+4,RAGGIO+2,0);
grx_circle(xp+LC-8,yp+H+4,RAGGIO+2,green);
/* cancella e disegna l'asta */
grx_line(oxp,oyp,oxa,oya,0);
grx_line(xp,yp,xa,ya,red);
/* cancella e disegna la pallina sull'asta */
grx_circle(oxa,oya,RAGGIO,0);
grx_circle(xa,ya,RAGGIO,blue);
mutex_unlock(&mutex);
/* aggiornamento variabili */
oxp = xp;
oyp = yp;
oxa = xa;
oya = ya;
task_endcycle();
}
port_disconnect(pra);
port_disconnect(prb);
port_disconnect(prc);
} /* FINE TASK DISEGNA */
TASK query(void)
{
char c, str[100];
int count = 0;
char *pun;
struct Data_cab1 data={0,0};
while(1)
{
do {
c = keyb_getch(BLOCK);
switch (c) {
case 'd': xrif += 1; break;
case 's': xrif -= 1; break;
case 'D': xrif=7; break;
case 'S': xrif=-7; break;
case '0': xrif =0 ; break;
case '1': prm.GUAD[0] -= 0.1 ; break;
case '2': prm.GUAD[0] += 0.1; break;
case '3': prm.GUAD[1] -= 10 ; break;
case '4': prm.GUAD[1] += 10 ; break;
case '5': prm.GUAD[2] -= 0.05; break;
case '6': prm.GUAD[2] += 0.05; break;
case '7': prm.GUAD[3] -= 0.5; break;
case '8': prm.GUAD[3] += 0.5; break;
case 'o': prm.WCUT -= 2. ; break;
case 'p': prm.WCUT += 2. ; break;
case 'k': prm.WCUT1 -= 2. ; break;
case 'l': prm.WCUT1 += 2. ; break;
case 'n': prm.NOISE -= 0.1; break;
case 'm': prm.NOISE += 0.1; break;
case '/': prm.OFFSVAL -= 0.1; break;
case '*': prm.OFFSVAL += 0.1; break;
case '[': prm.COST -= 0.02; break;
case ']': prm.COST += 0.02; break;
case 'c': prm.SCAN -= 1; break;
case 'v': prm.SCAN += 1; break;
case 'R': prm = prmbase; break;
case 'T': prm = prmmod; break;
case 'U': prm = prm2; break;
case '<': prm.XTRASL -= .05; break;
case '>': prm.XTRASL += .05; break;
case '!': start_id=1; break;
case '@': if(num_id>0) num_id--; break;
default: break;
}
data.rif=(vmax+vmin)/2. + xrif * (vmax-vmin)/LUNGH;
/* controllo che il riferim non vada fuori scala massima */
if (data.rif > vmax) data.rif = vmax;
if (data.rif < vmin) data.rif = vmin;
/* controllo l'impulso */
if (count>0) count--;
if (data.imp != 0 && count==0) data.imp = 0;
/* scrivo sul cab1 i riferim ( rif + imp) per il carrello */
pun = cab_reserve(cab1);
memcpy(pun, &data, sizeof(struct Data_cab1));
cab_putmes(cab1, pun);
/* si visualizza il riferimento del carrello. */
if (xrif != orif) {
orif = xrif;
mutex_lock(&mutex);
grx_text(" ", XTI+45, YTI+14, 0, 0);
sprintf(str, "%2.1f cm.", xrif);
grx_text(str, XTI+55, YTI+14, green, 0);
mutex_unlock(&mutex);
}
} while (c != 27);
sys_end();
task_endcycle();
}
}
int printglob;
TASK timejet(void *arg)
{
TIME table[JET_TABLE_DIM];
int k, nistan;
PID i;
int printed;
while(1) {
for (i=2, printed=0; i<NTASKS ; i++) {
if ( (nistan=jet_gettable(i,(TIME *) table, -1)) != -1) {
for(k=0;k<nistan;k++){
if(index[i] >= NSAMPLES) break;
if( i>=NTASKS ) {grx_close();perror("Ntask too high for jet");sys_end();}
timetab[ index[i] ][i] = (float) table[k];
index[i]++;
}
printed++;
}
}
printglob=printed;
task_endcycle();
}
}
/****************** * MAIN * ******************************/
PID pc,pc2, pd, pe, pq, pt;
PID camera_PID;
PID tracking_PID;
void main(int argc, char **argv)
{
int modenum;
HARD_TASK_MODEL m;
SOFT_TASK_MODEL ms, md, mt;
SOFT_TASK_MODEL m1, m2;
HARD_TASK_MODEL m3;
white = rgb16(255,255,255);
black = rgb16(0,0,0);
red = rgb16(255,0,0);
gray = rgb16(128,128,128);
green = rgb16(0,255,0);
blue = rgb16(0,0,255);
#ifdef SOFTPROG
if(argc!=4) {perror("numero di parametri errato. Rilancia");keyb_getchar();sys_end();}
PERIOD_TRACKING=atol(argv[1]);
PERIOD_CARRELLO=atol(argv[2]);
WCET_TRACKING =(long int) PERIOD_TRACKING *( 1.0 - (atof(argv[3])) - 0.2) ;
WCET_CARRELLO =(long int) PERIOD_CARRELLO * ( atof(argv[3]));
#else
if(argc!=3) {perror("numero di parametri errato. Rilancia");keyb_getchar();sys_end();}
PERIOD_TRACKING=atol(argv[1]);
PERIOD_CARRELLO=atol(argv[2]);
#endif
sys_atrunlevel((void *) my_end,NULL, RUNLEVEL_BEFORE_EXIT);
#ifdef TIMEJET
sys_atrunlevel((void *) scritt,NULL, RUNLEVEL_AFTER_EXIT);
#endif
#ifdef DATAPLANT
sys_atrunlevel((void *) scritt1,NULL, RUNLEVEL_AFTER_EXIT);
#endif
sys_atrunlevel((void *) scritt2,NULL, RUNLEVEL_AFTER_EXIT);
sys_atrunlevel((void *) scritt3,NULL, RUNLEVEL_AFTER_EXIT);
modenum = grx_getmode(800, 600, 16);
if (modenum == -1) {
cprintf("Errore in grx_mode");
sys_end();
exit(2);
}
if (grx_setmode(modenum) == -1) {
cprintf("Non posso andare in modo grafico");
sys_end();
exit(3);
}
init_framegrabber();
{ char str[50];
sprintf(str, "CARRELLO = %d TRACK = %d ", PERIOD_CARRELLO, PERIOD_TRACKING);
grx_text(str, 20 , 20 , green, 0);
grx_text("Premi un tasto per continuare", 20 , 30 , green, 0);
keyb_getchar();
grx_text(" ", 20 , 20 , black, 0);
grx_text(" ", 20 , 30 , black, 0);
}
initial();
app_mutex_init(&mutex);
scenario_jetcontrol();
{
KEY_EVT k;
k.flag = ALTL_BIT;
k.scan = KEY_C;
k.ascii = 'c';
keyb_hook(k,zerofun);
}
/* Creazione dei CAB */
cab1 = cab_create("cab1", sizeof(struct Data_cab1), 3);
cab2 = cab_create("cab2", sizeof(struct Data_cab2), 3);
/* Creazione dei task */
#ifdef SOFTPROG
soft_task_default_model(m1);
soft_task_def_level(m1,1);
soft_task_def_met(m1,WCET_TRACKING);
soft_task_def_usemath(m1);
soft_task_def_period(m1,(PERIOD_TRACKING));
soft_task_def_group(m1,1);
soft_task_def_ctrl_jet(m1);
// soft_task_def_skip_arrivals(m1);
tracking_PID = task_create("track", tracking_task, &m1, NULL);
if (tracking_PID == -1) {
sys_end();
exit(4);
}
#else
hard_task_default_model(m3);
//hard_task_def_level(m3,1);
hard_task_def_wcet(m3,WCET_TRACKING);
hard_task_def_mit(m3,(PERIOD_TRACKING));
hard_task_def_usemath(m3);
hard_task_def_group(m3,1);
hard_task_def_ctrl_jet(m3);
tracking_PID = task_create("track", tracking_task, &m3, NULL);
if (tracking_PID == -1) {
sys_end();
exit(4);
}
#endif
soft_task_default_model(m2);
soft_task_def_level(m2,1);
soft_task_def_met(m2,WCET_CAMERA);
soft_task_def_usemath(m2);
soft_task_def_period(m2,PERIOD_CAMERA);
soft_task_def_group(m2,1);
soft_task_def_ctrl_jet(m2);
camera_PID = task_create("cam", camera_task, &m2, NULL);
if (camera_PID == -1) {
sys_end();
exit(4);
}
hard_task_default_model(m);
hard_task_def_mit(m, PERIOD_CARRELLO );
hard_task_def_wcet(m,WCET_CARRELLO );
hard_task_def_group(m,2);
hard_task_def_ctrl_jet(m);
hard_task_def_usemath(m);
soft_task_default_model(ms);
soft_task_def_period(ms, PERIOD_CARRELLO );
soft_task_def_met(ms,WCET_CARRELLO );
soft_task_def_group(ms,2);
soft_task_def_ctrl_jet(ms);
soft_task_def_usemath(ms);
soft_task_default_model(md);
soft_task_def_level(md,1);
soft_task_def_period(md,PERIOD_DESIGN);
soft_task_def_met(md, WCET_DESIGN);
soft_task_def_group(md, 2);
soft_task_def_ctrl_jet(md);
soft_task_def_usemath(md);
#ifdef TIMEJET
soft_task_default_model(mt);
soft_task_def_level(mt,1);
soft_task_def_period(mt,PERIOD_TIMEJET);
soft_task_def_met(mt, WCET_TIMEJET);
soft_task_def_group(mt, 2);
soft_task_def_ctrl_jet(mt);
soft_task_def_usemath(mt);
#endif
#ifndef TIMEJET
init_jetcontrol();
#else
pt = task_create("timejet",(TASK) timejet,&md,NULL);
if (pt == -1) {
sys_end();
exit(4);
}
#endif
#ifdef SOFTPROG
pc = task_create("carrello",(TASK) carrello, &ms, NULL);
if (pc == -1) {
sys_end();
exit(4);
}
#else
pc = task_create("carrello",(TASK) carrello, &m, NULL);
if (pc == -1) {
sys_end();
exit(4);
}
#endif
pe = task_create("eval",(TASK) eval,&md, NULL);
if (pe == -1) {
sys_end();
exit(4);
}
pd = task_create("diseg",(TASK) diseg,&md,NULL);
if (pd == -1) {
sys_end();
exit(4);
}
pq = task_create("query",(TASK) query,&md,NULL);
if (pq == -1) {
sys_end();
exit(4);
}
/* Attivo i task per controllare e disegnare il carrello */
#ifdef TIMEJET
task_activate(pt);
#endif
// task_activate(pc2);
task_activate(pd);
task_activate(pc);
task_activate(pe);
task_activate(pq);
group_activate(1);
}
/****************************************************************/
/* initial */
/****************************************************************/
void initial(void)
{
int x, y;
grx_rect(1, 1, 639, 243, blue); /* dialog box pendolo */
da_motor(0.);
x = 10;
y = YTI;
grx_text("INIZIALIZZ.", x, y, blue, 0); y += 42;
grx_text("Carr a sx e premi un tasto", x, y, green, 0);y += 28;
keyb_getchar();
vmin=ad_conv(11);
grx_text("Carr a dx e premi un tasto",x,y,green,0); y += 28;
keyb_getchar();
vmax=ad_conv(11);
grx_text("Asta a sx e premi un tasto", x, y, green, 0);y += 28;
keyb_getchar();
vminth=ad_conv(10);
grx_text("Asta a dx e premi un tasto", x, y, green, 0);y += 28;
keyb_getchar();
vmaxth=ad_conv(10);
grx_text("Premi 'y' per l' identificazione ", x, y, green, 0);y += 28;
keyb_getchar();
grx_clear(0);
}
/****************************************************************/
/* graphframe */
/****************************************************************/
void graphframe(void)
{
int x, y;
mutex_lock(&mutex);
grx_rect(XTI-15,245,639,479,blue); /* finestra di stato */
grx_rect(1, 1, 450 /*639*/, 243, blue); /* dialog box pendolo */
x = XTI;
y = YTI;
grx_text("PENDOLO", x, y, red, 0); y += 14;
grx_text("Rif.:", x, y, green, 0); y += 14;
grx_text("X =", x, y, green, 0); y += 14;
grx_text("Ang =", x, y, green, 0); y += 14;
grx_text("s sx, d dx", x, y, green, 0); y += 14;
grx_text("S: xrif-> -7 ", x, y, green, 0); y += 14;
grx_text("D: xrif-> +7 ", x, y, green, 0); y += 14;
grx_text("0: xrif-> 0 ", x, y, green, 0); y += 14;
grx_text("S imp-,D imp+", x, y, green, 0); y += 14;
grx_text("CALIBRAZ: < , >", x, y, green, 0); y += 14;
grx_text("Dati Start: !", x, y, green, 0); y += 14;
grx_text("Cancel Last: @", x, y, green, 0); y += 14;
mutex_unlock(&mutex);
}
/*--------------------------------------------------------------*/
/* This function is called at system termination */
/*--------------------------------------------------------------*/
void my_end(void)
{
da_motor(0.0);
grx_close();
// sys_status(CLOCK_STATUS|SCHED_STATUS);
sys_end();
}
/*--------------------------------------------------------------*/
/* This function writes the data in the file DATA */
/*--------------------------------------------------------------*/
void scritt(void)
{
DOS_FILE *file;
long int i , k;
char str[500];
file = DOS_fopen("data","w");
#if 1
for(i=2;i<NTASKS;i++) {
sprintf(str,"%s ",proc_table[i].name);
cprintf("%s", str);
DOS_fwrite(str,1,strlen(str) ,file);
}
DOS_fwrite("\n",1,1,file);
cprintf("%s", "\n");
#endif
for(k=0;k<NSAMPLES;k++){
for(i=2;i<NTASKS;i++) {
sprintf(str,"%f ",timetab[k][i]);
cprintf("%s", str);
// keyb_getchar();
DOS_fwrite(str,1,strlen(str) ,file);
}
DOS_fwrite("\n",1,1,file);
cprintf("%s", "\n");
}
DOS_fclose(file);
}
#ifdef DATAPLANT
void scritt1(void)
{
DOS_FILE *file;
char str[300];
long int i;
float pippy=3.14;
file = DOS_fopen("dataplant","w");
for(i=0;i<numdat;i++) {
sprintf(str,"%lu %f %f %f %f %f %f \n",dati[i].time , dati[i].xist,dati[i].thist,dati[i].par1, dati[i].par2, dati[i].par3, dati[i].par4 );
cprintf("%lu %f %f %f %f %f %f \n",dati[i].time , dati[i].xist,dati[i].thist,dati[i].par1, dati[i].par2, dati[i].par3, dati[i].par4 );
if(DOS_fwrite(str,1,strlen(str),file)==0) perror("Errore in write");
}
DOS_fclose(file);
}
#endif
void scritt2(void)
{
DOS_FILE *file;
char tmp[15]={0}, str[250];
int i;
float parz=0.0 , average=0.0, sumsq=0.0, confid_int=0.0;
float t_stud[20]={0.0, 6.314,2.920,2.353,2.132,2.015,1.943,1.895,1.860,\
1.833,1.812,1.796,1.782,1.771,1.761,1.753,1.746,1.740,1.734,1.729};
file = DOS_fopen("integrale","wa");
for(i=0;i<num_id;i++) {
sprintf(tmp,"%f %f \n",somma[i][0],somma[i][1]);
strcat(str,tmp);
}
for(i=0;i<num_id;i++) parz += somma[i][0];
average=parz /num_id;
for(i=0;i<num_id;i++) sumsq +=(average-somma[i][0])*(average-somma[i][0]);
confid_int= t_stud[num_id-1]*sqrt((double) sumsq/((float) num_id*(num_id-1)));
sprintf(tmp,"n.run=%d aver=%f confid_int=%f \n",num_id,average,confid_int);
strcat(str,tmp);
if(DOS_fwrite(str,1,strlen(str),file)==0) perror("Errore in write");
DOS_fclose(file);
file = DOS_fopen("intdata","wa");
sprintf(str,"%d %d %f %f %d %d %d \n",PERIOD_CARRELLO, PERIOD_TRACKING,average,confid_int, num_id,WCET_CARRELLO, WCET_TRACKING );
// strcat(str,tmp);
if(DOS_fwrite(str,1,strlen(str),file)==0) perror("Errore in write");
DOS_fclose(file);
}
void nuovi_tempi(long int * contatwait)
{
int i;
float parz=0.0 , average=0.0, sumsq=0.0, confid_int=0.0;
float t_stud[20]={0.0, 6.314,2.920,2.353,2.132,2.015,1.943,1.895,1.860,\
1.833,1.812,1.796,1.782,1.771,1.761,1.753,1.746,1.740,1.734,1.729};
static int num_tempi=0;
// calcolo la media e lo interv di confidenza
for(i=0;i<num_id;i++) parz += somma[i][0];
average=parz /num_id;
for(i=0;i<num_id;i++) sumsq +=(average-somma[i][0])*(average-somma[i][0]);
confid_int= t_stud[num_id-1]*sqrt((double) sumsq/((float) num_id*(num_id-1)));
// scrivo i dati relativi alrun in una matrice globale
sprintf(stringa[num_tempi],"%d %d %f %f %d %d %d \n",PERIOD_CARRELLO, PERIOD_TRACKING,average,confid_int, num_id,WCET_CARRELLO, WCET_TRACKING );
num_tempi++;
if(num_tempi >= MAX_TEMPI) sys_end();
// cambio i periodi-banda dei tasks
{
double band;
band=((float) WCET_CARRELLO)/PERIOD_CARRELLO;
PERIOD_CARRELLO = PERIOD_CARRELLO; // + 500;
PERIOD_TRACKING = PERIOD_TRACKING; // +2000;
band+=0.1;
WCET_CARRELLO = band * PERIOD_CARRELLO;
WCET_TRACKING = ( 0.8 - band) * PERIOD_TRACKING;
}
CBS_modify_bandwidth(pc,(TIME) PERIOD_CARRELLO,(int) WCET_CARRELLO);
CBS_modify_bandwidth(tracking_PID,(TIME) PERIOD_TRACKING,(int) WCET_TRACKING);
// resetto le variabili per il run successivo
num_id=0;
*contatwait=(long int) (1.5 * SEC_ID / DEADSECTH(PERIOD_CARRELLO));
}
void scritt3(void)
{
DOS_FILE *file;
char tmp[1000]={0};
int i;
file = DOS_fopen("totaldata","wa");
for(i=0;i<MAX_TEMPI;i++) {
if(DOS_fwrite(stringa[i],1,strlen(stringa[i]),file)==0) perror("Errore in write");
// strcat(tmp, stringa[i][0]);
}
// if(DOS_fwrite(tmp,1,strlen(tmp),file)==0) perror("Errore in write");
DOS_fclose(file);
}

/unsupported/trunk/pendulum/INTDIR/INTOUT
0,0 → 1,63
çµq Ä\r Ä\r (]r ܵq Ä\r ®dq 4]r <]r 78.7698 0
77.4059 0
76.0983 0
76.1722 0
73.5694 0
73.9977 0
77.1772 0
74.809 0
77.152 0
73.6139 0
n.run=10 aver=75.8766 confid_int=1.0454
Ü\r àRq 78.285 0
78.1921 0
74.2018 0
77.8378 0
71.0703 0
74.2567 0
75.3337 0
75.0806 0
76.2923 0
67.9952 0
73.7665 0
n.run=11 aver=74.7556 confid_int=1.7049
84.7805 0
85.7624 0
107.4614 0
96.7407 0
107.754 0
86.0293 0
99.482 0
95.9617 0
96.5085 0
105.0103 0
81.311 0
92.455 0
n.run=12 aver=94.9381 confid_int=4.7118
72.3848 0
79.7338 0
76.5855 0
75.0214 0
79.5618 0
83.6138 0
75.705 0
79.8631 0
74.4328 0
90.4947 0
92.3488 0
81.1682 0
63.2695 0
n.run=13 aver=78.7833 confid_int=3.7256
128.8931 0
88.7952 0
127.9526 0
86.7683 0
87.4571 0
127.5284 0
95.8795 0
111.2734 0
119.7814 0
81.1899 0
99.7919 0
n.run=11 aver=105.0283 confid_int=10.1375

/unsupported/trunk/pendulum/INTDIR/INTEGRAL
0,0 → 1,10
ç²q 81.5895 0
78.8374 0
68.6844 0
86.3867 0
84.3205 0
82.5948 0
86.8545 0
81.3735 0
80.8773 0
n.run=9 aver=81.2798 confid_int=3.346

/unsupported/trunk/pendulum/INTDIR/OUT
0,0 → 1,6
2331 19000 75.8766 1.0454 10 600 10000
2114 20000 74.7556 1.7049 11 600 10000
1451 27000 78.7833 3.7256 13 600 10000
1273 32000 94.9381 4.7118 12 600 10000
1273 32000 94.9381 4.7118 12 600 10000
1152 38000 105.0283 10.1375 11 600 10000

/unsupported/trunk/pendulum/INTDIR/INT1
0,0 → 1,13
8643 14000 113.3934 3.0521 11 600 10000
3780 16000 92.2722 1.752 11 600 10000
1451 27000 85.3176 2.6436 11 600 10000
2629 18000 79.3446 1.1486 11 600 10000
2114 20000 80.861 1.3404 11 600 10000
1152 38000 120.2788 5.1264 11 600 10000
1822 22000 81.6772 1.7735 11 600 10000
1634 24000 79.3911 1.3985 11 600 10000
1634 24000 79.3911 1.3985 11 600 10000
1503 26000 84.1363 2.2404 11 600 10000

/unsupported/trunk/pendulum/DEMO.H0
0,0 → 1,236
#define PI
#include "kernel/kern.h"
#include "modules/edf.h"
#include "modules/cbs.h"
#include "modules/rr.h"
#ifndef PI
#include "modules/rrsoft.h"
#endif
#include "modules/dummy.h"
#include "modules/sem.h"
#include "modules/hartport.h"
#include "modules/cabs.h"
#include "modules/pi.h"
#include "modules/pc.h"
#include "modules/srp.h"
#include "modules/npp.h"
#include "modules/nop.h"
#include "drivers/keyb.h"
#include "drivers/glib.h"
/*+ system tick in us +*/
#define TICK 1000
/*+ RR tick in us +*/
#define RRTICK 10000
//#define RRTICK 3000
TIME __kernel_register_levels__(void *arg)
{
struct multiboot_info *mb = (struct multiboot_info *)arg;
#ifdef PI
EDF_register_level(EDF_ENABLE_WCET_CHECK);
CBS_register_level(0,0); //CBS_ENABLE_ALL, 0);
#else
RRSOFT_register_level(RRTICK, RR_MAIN_NO, mb, RRSOFT_ONLY_HARD|RRSOFT_ONLY_SOFT);
RRSOFT_register_level(RRTICK, RR_MAIN_NO, mb, RRSOFT_ONLY_SOFT); //cbs
#endif
RR_register_level(RRTICK, RR_MAIN_YES, mb);
dummy_register_level();
SEM_register_module();
CABS_register_module();
PI_register_module();
NOP_register_module();
return TICK;
}
TASK __init__(void *arg)
{
struct multiboot_info *mb = (struct multiboot_info *)arg;
HARTPORT_init();
kern_printf("TIME=%d\n",sys_gettime(NULL));
KEYB_init(NULL);
kern_printf("TIME=%d\n",sys_gettime(NULL));
grx_init();
__call_main__(mb);
return (void *)0;
}
#ifdef PI
void app_mutex_init(mutex_t *m)
{
PI_mutexattr_t attr;
PI_mutexattr_default(attr);
mutex_init(m, &attr);
}
#else
void app_mutex_init(mutex_t *m)
{
NOP_mutexattr_t attr;
NOP_mutexattr_default(attr);
mutex_init(m, &attr);
}
#endif
E_WCET_CHECK);
CBS_register_level(0,0); //CBS_ENABLE_ALL, 0);
#else
RRSOFT_register_level(RRTICK, RR_MAIN_NO, mb, RRSOFT_ONLY_HARD|RRSOFT_ONLY_SOFT);
RRSOFT_register_level(RRTICK, RR_MAIN_NO, mb, RRSOFT_ONLY_SOFT); //cbs
#endif
RR_register_level(RRTICK, RR_MAIN_YES, mb
B cab1, cab2;
extern struct Parametri prm;
void app_mutex_init(mutex_t *);
int da_motor(float v);
float v2x(float v);
float v2theta(float v);
float bass1(float u);
float bass2(float u);
float bass3(float u);
float bass4(float u);
float dx(float u);
float dth(float u);
/* scenario */
#define SCENARIO_NLABEL 16
/*
* Global Stuffs
*/
/* graphic mutex... */
extern mutex_t mutex;
/* useful colors... */
int white;
int black;
int red;
int gray;
int green;
int blue;
void init_jetcontrol();
void init_framegrabber();
/*
*
* JETCONTROL stuffs
*
*/
#define JET_NTASK 13
#define JET_Y_NAME 480 //500
#define DUMMY_PID 1
#define JET_DUMMY_WIDTH 210
#define JET_DUMMY_HEIGHT 40
/* the point (x, y) is the top left corner */
#define JET_DUMMY_X 60
#define JET_DUMMY_Y 514
#define JET_SLIDE_WIDTH 50
#define JET_SLIDE_X (384+200)
/*
*
* FRAMEGRABBER stuffs
*
*/
// if defined... object black on a white background
#ifndef __BLACK_ON_WHITE
#define __BLACK_ON_WHITE
#endif
#define ABS_NUM(a) ((a >= 0) ? a : -a)
#define MIN_NUM(a, b) ((a < b) ? a : b)
#define MAX_NUM(a, b) ((a > b) ? a : b)
// Cols and rows of the framegrabber image
#define N_COL 384 // 384
#define N_ROW 288
#define N_BPS 8 // Bits per pixel
#define N_GRIGI 256
#define N_FRAMES 20 // 100
/* pixel of the video image */
#define IMG_COL 230 // 230 //256
#define IMG_ROW 160 // 160 //192
/* position of the video image */
#define IMG_X 500 // 644 // 384
#define IMG_Y 32 // 200 // 32
// I singoli pixel sono caratteri a 8 bit
typedef unsigned char TPixel;
typedef struct {
int x1, y1;
int x2, y2;
int xb, yb;
TIME time_stamp;
} TDataObj;
typedef struct {
int found;
int top_frame;
int vx,vy;
int predx;
int predy;
TDataObj current;
} TTracking;
float distance(unsigned int x1, unsigned int y1,
unsigned int x2, unsigned int y2);
char scan_all_frame(TDataObj *data, TPixel *in_frame);
char scan_window_frame(TDataObj *data, TPixel *in_frame, \
unsigned int xc, unsigned int yc, int border, int border_y);
void threshold_up_function(KEY_EVT key);
void threshold_down_function(KEY_EVT key);
void border_up_function(KEY_EVT key);
void border_down_function(KEY_EVT key);
void tracking(int top_frame, int *track_x, int *track_y, int *int_vx, int *int_vy, int time_to);
TASK elab_image_TASK(void);

/unsupported/trunk/pendulum/COMMHARD
0,0 → 1,15
x1 kalm1 500000 1000
x1 kalm1 31250 2000
x1 kalm1 23809 3000
x1 kalm1 21276 4000
x1 kalm1 20000 5000
x1 kalm1 19230 6000
x1 kalm1 18716 7000
x1 kalm1 18348 8000
x1 kalm1 18072 9000
x1 kalm1 17857 10000
x1 kalm1 17684 11000
x1 kalm1 17543 12000
x1 kalm1 17426 13000
x1 kalm1 17326 14000
x1 kalm1 17241 15000

/unsupported/trunk/pendulum/DISTRIB/TIMEJET
0,0 → 1,120
3.7700000e-002 1.4285714e-003
3.9100000e-002 0.0000000e+000
4.0500000e-002 4.2857143e-003
4.1900000e-002 1.4285714e-003
4.3300000e-002 3.8571429e-002
4.4700000e-002 1.5714286e-002
4.6100000e-002 8.5714286e-003
4.7500000e-002 8.5714286e-003
4.8900000e-002 1.4285714e-003
5.0300000e-002 1.4285714e-003
5.1700000e-002 7.1428571e-003
5.3100000e-002 4.2857143e-003
5.4500000e-002 8.8571429e-002
5.5900000e-002 9.1428571e-002
5.7300000e-002 2.3428571e-001
5.8700000e-002 8.7142857e-002
6.0100000e-002 6.1428571e-002
6.1500000e-002 9.0000000e-002
6.2900000e-002 3.0000000e-002
6.4300000e-002 4.1428571e-002
6.5700000e-002 5.7142857e-003
6.7100000e-002 2.8571429e-003
6.8500000e-002 5.7142857e-003
6.9900000e-002 7.1428571e-003
7.1300000e-002 1.2857143e-002
7.2700000e-002 2.0000000e-002
7.4100000e-002 1.8571429e-002
7.5500000e-002 5.1428571e-002
7.6900000e-002 2.2857143e-002
7.8300000e-002 1.5714286e-002
7.9700000e-002 0.0000000e+000
8.1100000e-002 0.0000000e+000
8.2500000e-002 2.8571429e-003
8.3900000e-002 1.4285714e-003
8.5300000e-002 4.2857143e-003
8.6700000e-002 0.0000000e+000
8.8100000e-002 0.0000000e+000
8.9500000e-002 0.0000000e+000
9.0900000e-002 0.0000000e+000
9.2300000e-002 0.0000000e+000
9.3700000e-002 0.0000000e+000
9.5100000e-002 0.0000000e+000
9.6500000e-002 0.0000000e+000
9.7900000e-002 0.0000000e+000
9.9300000e-002 0.0000000e+000
1.0070000e-001 0.0000000e+000
1.0210000e-001 0.0000000e+000
1.0350000e-001 0.0000000e+000
1.0490000e-001 0.0000000e+000
1.0630000e-001 0.0000000e+000
1.0770000e-001 0.0000000e+000
1.0910000e-001 0.0000000e+000
1.1050000e-001 0.0000000e+000
1.1190000e-001 0.0000000e+000
1.1330000e-001 0.0000000e+000
1.1470000e-001 0.0000000e+000
1.1610000e-001 1.4285714e-003
1.1750000e-001 0.0000000e+000
1.1890000e-001 0.0000000e+000
1.2030000e-001 1.4285714e-003
1.2170000e-001 0.0000000e+000
1.2310000e-001 1.4285714e-003
1.2450000e-001 0.0000000e+000
1.2590000e-001 0.0000000e+000
1.2730000e-001 0.0000000e+000
1.2870000e-001 0.0000000e+000
1.3010000e-001 0.0000000e+000
1.3150000e-001 0.0000000e+000
1.3290000e-001 0.0000000e+000
1.3430000e-001 0.0000000e+000
1.3570000e-001 0.0000000e+000
1.3710000e-001 0.0000000e+000
1.3850000e-001 1.4285714e-003
1.3990000e-001 0.0000000e+000
1.4130000e-001 0.0000000e+000
1.4270000e-001 0.0000000e+000
1.4410000e-001 0.0000000e+000
1.4550000e-001 0.0000000e+000
1.4690000e-001 0.0000000e+000
1.4830000e-001 0.0000000e+000
1.4970000e-001 0.0000000e+000
1.5110000e-001 0.0000000e+000
1.5250000e-001 1.4285714e-003
1.5390000e-001 0.0000000e+000
1.5530000e-001 0.0000000e+000
1.5670000e-001 0.0000000e+000
1.5810000e-001 0.0000000e+000
1.5950000e-001 0.0000000e+000
1.6090000e-001 0.0000000e+000
1.6230000e-001 0.0000000e+000
1.6370000e-001 0.0000000e+000
1.6510000e-001 0.0000000e+000
1.6650000e-001 0.0000000e+000
1.6790000e-001 0.0000000e+000
1.6930000e-001 1.4285714e-003
1.7070000e-001 0.0000000e+000
1.7210000e-001 0.0000000e+000
1.7350000e-001 0.0000000e+000
1.7490000e-001 0.0000000e+000
1.7630000e-001 0.0000000e+000
1.7770000e-001 0.0000000e+000
1.7910000e-001 0.0000000e+000
1.8050000e-001 0.0000000e+000
1.8190000e-001 0.0000000e+000
1.8330000e-001 0.0000000e+000
1.8470000e-001 0.0000000e+000
1.8610000e-001 1.4285714e-003
1.8750000e-001 0.0000000e+000
1.8890000e-001 0.0000000e+000
1.9030000e-001 0.0000000e+000
1.9170000e-001 0.0000000e+000
1.9310000e-001 0.0000000e+000
1.9450000e-001 0.0000000e+000
1.9590000e-001 0.0000000e+000
1.9730000e-001 0.0000000e+000
1.9870000e-001 0.0000000e+000
2.0010000e-001 0.0000000e+000
2.0150000e-001 0.0000000e+000
2.0290000e-001 0.0000000e+000
2.0430000e-001 1.4285714e-003

/unsupported/trunk/pendulum/DISTRIB/CARRELLO
0,0 → 1,120
1.2835417e+002 1.4285714e-003
1.2906250e+002 1.4285714e-003
1.2977083e+002 0.0000000e+000
1.3047917e+002 0.0000000e+000
1.3118750e+002 0.0000000e+000
1.3189583e+002 2.8571429e-003
1.3260417e+002 0.0000000e+000
1.3331250e+002 5.7142857e-003
1.3402083e+002 1.2857143e-002
1.3472917e+002 7.1428571e-003
1.3543750e+002 0.0000000e+000
1.3614583e+002 5.7142857e-003
1.3685417e+002 8.5714286e-003
1.3756250e+002 0.0000000e+000
1.3827083e+002 1.1428571e-002
1.3897917e+002 8.5714286e-003
1.3968750e+002 7.1428571e-003
1.4039583e+002 0.0000000e+000
1.4110417e+002 8.5714286e-003
1.4181250e+002 1.4285714e-003
1.4252083e+002 0.0000000e+000
1.4322917e+002 2.8571429e-003
1.4393750e+002 1.4285714e-003
1.4464583e+002 2.8571429e-003
1.4535417e+002 0.0000000e+000
1.4606250e+002 1.4285714e-003
1.4677083e+002 1.4285714e-003
1.4747917e+002 0.0000000e+000
1.4818750e+002 1.4285714e-003
1.4889583e+002 0.0000000e+000
1.4960417e+002 0.0000000e+000
1.5031250e+002 1.4285714e-003
1.5102083e+002 2.8571429e-003
1.5172917e+002 1.0000000e-002
1.5243750e+002 0.0000000e+000
1.5314583e+002 1.2857143e-002
1.5385417e+002 1.4285714e-002
1.5456250e+002 0.0000000e+000
1.5527083e+002 2.1428571e-002
1.5597917e+002 3.2857143e-002
1.5668750e+002 3.4285714e-002
1.5739583e+002 0.0000000e+000
1.5810417e+002 5.1428571e-002
1.5881250e+002 5.2857143e-002
1.5952083e+002 0.0000000e+000
1.6022917e+002 6.5714286e-002
1.6093750e+002 6.5714286e-002
1.6164583e+002 6.1428571e-002
1.6235417e+002 0.0000000e+000
1.6306250e+002 8.8571429e-002
1.6377083e+002 5.8571429e-002
1.6447917e+002 0.0000000e+000
1.6518750e+002 6.5714286e-002
1.6589583e+002 6.5714286e-002
1.6660417e+002 0.0000000e+000
1.6731250e+002 4.5714286e-002
1.6802083e+002 3.7142857e-002
1.6872917e+002 2.5714286e-002
1.6943750e+002 0.0000000e+000
1.7014583e+002 2.4285714e-002
1.7085417e+002 1.1428571e-002
1.7156250e+002 0.0000000e+000
1.7227083e+002 1.4285714e-002
1.7297917e+002 8.5714286e-003
1.7368750e+002 4.2857143e-003
1.7439583e+002 0.0000000e+000
1.7510417e+002 1.0000000e-002
1.7581250e+002 1.4285714e-003
1.7652083e+002 0.0000000e+000
1.7722917e+002 0.0000000e+000
1.7793750e+002 4.2857143e-003
1.7864583e+002 0.0000000e+000
1.7935417e+002 0.0000000e+000
1.8006250e+002 1.4285714e-003
1.8077083e+002 1.4285714e-003
1.8147917e+002 0.0000000e+000
1.8218750e+002 0.0000000e+000
1.8289583e+002 0.0000000e+000
1.8360417e+002 0.0000000e+000
1.8431250e+002 0.0000000e+000
1.8502083e+002 0.0000000e+000
1.8572917e+002 0.0000000e+000
1.8643750e+002 0.0000000e+000
1.8714583e+002 0.0000000e+000
1.8785417e+002 0.0000000e+000
1.8856250e+002 0.0000000e+000
1.8927083e+002 0.0000000e+000
1.8997917e+002 0.0000000e+000
1.9068750e+002 0.0000000e+000
1.9139583e+002 0.0000000e+000
1.9210417e+002 0.0000000e+000
1.9281250e+002 0.0000000e+000
1.9352083e+002 0.0000000e+000
1.9422917e+002 0.0000000e+000
1.9493750e+002 1.4285714e-003
1.9564583e+002 0.0000000e+000
1.9635417e+002 0.0000000e+000
1.9706250e+002 0.0000000e+000
1.9777083e+002 0.0000000e+000
1.9847917e+002 0.0000000e+000
1.9918750e+002 0.0000000e+000
1.9989583e+002 2.8571429e-003
2.0060417e+002 0.0000000e+000
2.0131250e+002 1.4285714e-003
2.0202083e+002 0.0000000e+000
2.0272917e+002 0.0000000e+000
2.0343750e+002 0.0000000e+000
2.0414583e+002 0.0000000e+000
2.0485417e+002 0.0000000e+000
2.0556250e+002 0.0000000e+000
2.0627083e+002 0.0000000e+000
2.0697917e+002 0.0000000e+000
2.0768750e+002 1.4285714e-003
2.0839583e+002 0.0000000e+000
2.0910417e+002 0.0000000e+000
2.0981250e+002 0.0000000e+000
2.1052083e+002 0.0000000e+000
2.1122917e+002 0.0000000e+000
2.1193750e+002 1.4285714e-003
2.1264583e+002 1.4285714e-003

/unsupported/trunk/pendulum/DISTRIB/TRACK
0,0 → 1,120
1.6983167e+000 2.9585799e-003
1.7429500e+000 4.4378698e-003
1.7875833e+000 0.0000000e+000
1.8322167e+000 4.4378698e-003
1.8768500e+000 1.4792899e-003
1.9214833e+000 1.4792899e-003
1.9661167e+000 7.3964497e-003
2.0107500e+000 1.0355030e-002
2.0553833e+000 1.3313609e-002
2.1000167e+000 1.1834320e-002
2.1446500e+000 1.0355030e-002
2.1892833e+000 1.4792899e-003
2.2339167e+000 2.9585799e-003
2.2785500e+000 1.4792899e-003
2.3231833e+000 0.0000000e+000
2.3678167e+000 1.4792899e-003
2.4124500e+000 5.9171598e-003
2.4570833e+000 7.3964497e-003
2.5017167e+000 1.4792899e-002
2.5463500e+000 1.6272189e-002
2.5909833e+000 1.3313609e-002
2.6356167e+000 2.2189349e-002
2.6802500e+000 1.1834320e-002
2.7248833e+000 3.9940828e-002
2.7695167e+000 2.9585799e-002
2.8141500e+000 2.3668639e-002
2.8587833e+000 1.7751479e-002
2.9034167e+000 2.0710059e-002
2.9480500e+000 2.0710059e-002
2.9926833e+000 2.9585799e-003
3.0373167e+000 1.3313609e-002
3.0819500e+000 1.0355030e-002
3.1265833e+000 1.1834320e-002
3.1712167e+000 8.8757396e-003
3.2158500e+000 1.1834320e-002
3.2604833e+000 7.3964497e-003
3.3051167e+000 1.4792899e-002
3.3497500e+000 1.0355030e-002
3.3943833e+000 1.0355030e-002
3.4390167e+000 1.0355030e-002
3.4836500e+000 7.3964497e-003
3.5282833e+000 7.3964497e-003
3.5729167e+000 8.8757396e-003
3.6175500e+000 5.9171598e-003
3.6621833e+000 2.9585799e-003
3.7068167e+000 7.3964497e-003
3.7514500e+000 1.4792899e-002
3.7960833e+000 1.3313609e-002
3.8407167e+000 2.5147929e-002
3.8853500e+000 1.6272189e-002
3.9299833e+000 2.0710059e-002
3.9746167e+000 2.5147929e-002
4.0192500e+000 3.2544379e-002
4.0638833e+000 3.5502959e-002
4.1085167e+000 4.8816568e-002
4.1531500e+000 4.2899408e-002
4.1977833e+000 3.8461538e-002
4.2424167e+000 3.8461538e-002
4.2870500e+000 3.8461538e-002
4.3316833e+000 2.9585799e-002
4.3763167e+000 1.7751479e-002
4.4209500e+000 1.9230769e-002
4.4655833e+000 2.9585799e-003
4.5102167e+000 2.9585799e-003
4.5548500e+000 5.9171598e-003
4.5994833e+000 8.8757396e-003
4.6441167e+000 1.4792899e-003
4.6887500e+000 1.4792899e-003
4.7333833e+000 0.0000000e+000
4.7780167e+000 0.0000000e+000
4.8226500e+000 1.4792899e-003
4.8672833e+000 0.0000000e+000
4.9119167e+000 1.4792899e-003
4.9565500e+000 0.0000000e+000
5.0011833e+000 2.9585799e-003
5.0458167e+000 1.4792899e-003
5.0904500e+000 1.4792899e-003
5.1350833e+000 1.4792899e-003
5.1797167e+000 0.0000000e+000
5.2243500e+000 0.0000000e+000
5.2689833e+000 0.0000000e+000
5.3136167e+000 1.4792899e-003
5.3582500e+000 0.0000000e+000
5.4028833e+000 0.0000000e+000
5.4475167e+000 0.0000000e+000
5.4921500e+000 0.0000000e+000
5.5367833e+000 0.0000000e+000
5.5814167e+000 0.0000000e+000
5.6260500e+000 0.0000000e+000
5.6706833e+000 0.0000000e+000
5.7153167e+000 0.0000000e+000
5.7599500e+000 2.9585799e-003
5.8045833e+000 1.4792899e-003
5.8492167e+000 0.0000000e+000
5.8938500e+000 0.0000000e+000
5.9384833e+000 0.0000000e+000
5.9831167e+000 0.0000000e+000
6.0277500e+000 1.4792899e-003
6.0723833e+000 0.0000000e+000
6.1170167e+000 0.0000000e+000
6.1616500e+000 0.0000000e+000
6.2062833e+000 0.0000000e+000
6.2509167e+000 0.0000000e+000
6.2955500e+000 0.0000000e+000
6.3401833e+000 0.0000000e+000
6.3848167e+000 2.9585799e-003
6.4294500e+000 0.0000000e+000
6.4740833e+000 1.4792899e-003
6.5187167e+000 0.0000000e+000
6.5633500e+000 0.0000000e+000
6.6079833e+000 0.0000000e+000
6.6526167e+000 0.0000000e+000
6.6972500e+000 0.0000000e+000
6.7418833e+000 0.0000000e+000
6.7865167e+000 5.9171598e-003
6.8311500e+000 8.8757396e-003
6.8757833e+000 4.4378698e-003
6.9204167e+000 2.9585799e-003
6.9650500e+000 0.0000000e+000
7.0096833e+000 2.9585799e-003

/unsupported/trunk/pendulum/DISTRIB/EVAL
0,0 → 1,120
1.2203575e+001 1.4285714e-003
1.2318725e+001 0.0000000e+000
1.2433875e+001 1.4285714e-003
1.2549025e+001 0.0000000e+000
1.2664175e+001 0.0000000e+000
1.2779325e+001 2.8571429e-003
1.2894475e+001 4.2857143e-003
1.3009625e+001 2.2857143e-002
1.3124775e+001 1.1428571e-002
1.3239925e+001 5.7142857e-003
1.3355075e+001 1.4285714e-003
1.3470225e+001 1.4285714e-003
1.3585375e+001 1.4285714e-003
1.3700525e+001 1.4285714e-003
1.3815675e+001 0.0000000e+000
1.3930825e+001 1.4285714e-003
1.4045975e+001 2.8571429e-003
1.4161125e+001 1.4285714e-003
1.4276275e+001 1.5714286e-002
1.4391425e+001 3.0000000e-002
1.4506575e+001 4.4285714e-002
1.4621725e+001 3.8571429e-002
1.4736875e+001 6.1428571e-002
1.4852025e+001 5.8571429e-002
1.4967175e+001 8.8571429e-002
1.5082325e+001 1.0857143e-001
1.5197475e+001 9.1428571e-002
1.5312625e+001 1.2000000e-001
1.5427775e+001 1.5142857e-001
1.5542925e+001 9.5714286e-002
1.5658075e+001 3.1428571e-002
1.5773225e+001 0.0000000e+000
1.5888375e+001 0.0000000e+000
1.6003525e+001 0.0000000e+000
1.6118675e+001 0.0000000e+000
1.6233825e+001 0.0000000e+000
1.6348975e+001 0.0000000e+000
1.6464125e+001 0.0000000e+000
1.6579275e+001 0.0000000e+000
1.6694425e+001 0.0000000e+000
1.6809575e+001 0.0000000e+000
1.6924725e+001 0.0000000e+000
1.7039875e+001 0.0000000e+000
1.7155025e+001 0.0000000e+000
1.7270175e+001 0.0000000e+000
1.7385325e+001 0.0000000e+000
1.7500475e+001 0.0000000e+000
1.7615625e+001 0.0000000e+000
1.7730775e+001 1.4285714e-003
1.7845925e+001 0.0000000e+000
1.7961075e+001 0.0000000e+000
1.8076225e+001 0.0000000e+000
1.8191375e+001 0.0000000e+000
1.8306525e+001 0.0000000e+000
1.8421675e+001 0.0000000e+000
1.8536825e+001 0.0000000e+000
1.8651975e+001 0.0000000e+000
1.8767125e+001 0.0000000e+000
1.8882275e+001 0.0000000e+000
1.8997425e+001 0.0000000e+000
1.9112575e+001 0.0000000e+000
1.9227725e+001 0.0000000e+000
1.9342875e+001 0.0000000e+000
1.9458025e+001 0.0000000e+000
1.9573175e+001 0.0000000e+000
1.9688325e+001 0.0000000e+000
1.9803475e+001 0.0000000e+000
1.9918625e+001 0.0000000e+000
2.0033775e+001 0.0000000e+000
2.0148925e+001 0.0000000e+000
2.0264075e+001 0.0000000e+000
2.0379225e+001 0.0000000e+000
2.0494375e+001 0.0000000e+000
2.0609525e+001 0.0000000e+000
2.0724675e+001 0.0000000e+000
2.0839825e+001 0.0000000e+000
2.0954975e+001 0.0000000e+000
2.1070125e+001 0.0000000e+000
2.1185275e+001 0.0000000e+000
2.1300425e+001 0.0000000e+000
2.1415575e+001 0.0000000e+000
2.1530725e+001 0.0000000e+000
2.1645875e+001 0.0000000e+000
2.1761025e+001 0.0000000e+000
2.1876175e+001 0.0000000e+000
2.1991325e+001 0.0000000e+000
2.2106475e+001 0.0000000e+000
2.2221625e+001 0.0000000e+000
2.2336775e+001 0.0000000e+000
2.2451925e+001 0.0000000e+000
2.2567075e+001 0.0000000e+000
2.2682225e+001 0.0000000e+000
2.2797375e+001 0.0000000e+000
2.2912525e+001 0.0000000e+000
2.3027675e+001 0.0000000e+000
2.3142825e+001 0.0000000e+000
2.3257975e+001 0.0000000e+000
2.3373125e+001 0.0000000e+000
2.3488275e+001 0.0000000e+000
2.3603425e+001 0.0000000e+000
2.3718575e+001 0.0000000e+000
2.3833725e+001 0.0000000e+000
2.3948875e+001 0.0000000e+000
2.4064025e+001 0.0000000e+000
2.4179175e+001 0.0000000e+000
2.4294325e+001 0.0000000e+000
2.4409475e+001 0.0000000e+000
2.4524625e+001 0.0000000e+000
2.4639775e+001 0.0000000e+000
2.4754925e+001 0.0000000e+000
2.4870075e+001 0.0000000e+000
2.4985225e+001 0.0000000e+000
2.5100375e+001 0.0000000e+000
2.5215525e+001 0.0000000e+000
2.5330675e+001 0.0000000e+000
2.5445825e+001 0.0000000e+000
2.5560975e+001 0.0000000e+000
2.5676125e+001 0.0000000e+000
2.5791275e+001 0.0000000e+000
2.5906425e+001 1.4285714e-003

/unsupported/trunk/pendulum/DISTRIB/CAMERA
0,0 → 1,120
1.3494042e+001 2.8571429e-003
1.3592125e+001 0.0000000e+000
1.3690208e+001 2.8571429e-003
1.3788292e+001 0.0000000e+000
1.3886375e+001 1.4285714e-003
1.3984458e+001 0.0000000e+000
1.4082542e+001 0.0000000e+000
1.4180625e+001 0.0000000e+000
1.4278708e+001 0.0000000e+000
1.4376792e+001 0.0000000e+000
1.4474875e+001 0.0000000e+000
1.4572958e+001 4.2857143e-003
1.4671042e+001 0.0000000e+000
1.4769125e+001 2.8571429e-003
1.4867208e+001 1.4285714e-003
1.4965292e+001 0.0000000e+000
1.5063375e+001 4.2857143e-003
1.5161458e+001 1.4285714e-003
1.5259542e+001 0.0000000e+000
1.5357625e+001 0.0000000e+000
1.5455708e+001 1.4285714e-003
1.5553792e+001 1.4285714e-003
1.5651875e+001 1.4285714e-003
1.5749958e+001 1.4285714e-003
1.5848042e+001 4.2857143e-003
1.5946125e+001 0.0000000e+000
1.6044208e+001 2.8571429e-003
1.6142292e+001 4.2857143e-003
1.6240375e+001 1.4285714e-003
1.6338458e+001 5.7142857e-003
1.6436542e+001 8.5714286e-003
1.6534625e+001 2.2857143e-002
1.6632708e+001 3.0000000e-002
1.6730792e+001 1.8571429e-002
1.6828875e+001 1.7142857e-002
1.6926958e+001 4.0000000e-002
1.7025042e+001 5.7142857e-002
1.7123125e+001 4.5714286e-002
1.7221208e+001 6.0000000e-002
1.7319292e+001 6.8571429e-002
1.7417375e+001 6.7142857e-002
1.7515458e+001 4.4285714e-002
1.7613542e+001 5.0000000e-002
1.7711625e+001 7.8571429e-002
1.7809708e+001 1.6142857e-001
1.7907792e+001 1.2142857e-001
1.8005875e+001 4.7142857e-002
1.8103958e+001 1.1428571e-002
1.8202042e+001 1.4285714e-003
1.8300125e+001 0.0000000e+000
1.8398208e+001 0.0000000e+000
1.8496292e+001 1.4285714e-003
1.8594375e+001 0.0000000e+000
1.8692458e+001 0.0000000e+000
1.8790542e+001 0.0000000e+000
1.8888625e+001 0.0000000e+000
1.8986708e+001 0.0000000e+000
1.9084792e+001 0.0000000e+000
1.9182875e+001 0.0000000e+000
1.9280958e+001 0.0000000e+000
1.9379042e+001 0.0000000e+000
1.9477125e+001 0.0000000e+000
1.9575208e+001 0.0000000e+000
1.9673292e+001 0.0000000e+000
1.9771375e+001 0.0000000e+000
1.9869458e+001 0.0000000e+000
1.9967542e+001 0.0000000e+000
2.0065625e+001 0.0000000e+000
2.0163708e+001 0.0000000e+000
2.0261792e+001 0.0000000e+000
2.0359875e+001 0.0000000e+000
2.0457958e+001 0.0000000e+000
2.0556042e+001 0.0000000e+000
2.0654125e+001 0.0000000e+000
2.0752208e+001 0.0000000e+000
2.0850292e+001 0.0000000e+000
2.0948375e+001 0.0000000e+000
2.1046458e+001 0.0000000e+000
2.1144542e+001 0.0000000e+000
2.1242625e+001 0.0000000e+000
2.1340708e+001 0.0000000e+000
2.1438792e+001 0.0000000e+000
2.1536875e+001 0.0000000e+000
2.1634958e+001 0.0000000e+000
2.1733042e+001 0.0000000e+000
2.1831125e+001 0.0000000e+000
2.1929208e+001 0.0000000e+000
2.2027292e+001 0.0000000e+000
2.2125375e+001 0.0000000e+000
2.2223458e+001 0.0000000e+000
2.2321542e+001 0.0000000e+000
2.2419625e+001 0.0000000e+000
2.2517708e+001 0.0000000e+000
2.2615792e+001 0.0000000e+000
2.2713875e+001 0.0000000e+000
2.2811958e+001 0.0000000e+000
2.2910042e+001 0.0000000e+000
2.3008125e+001 0.0000000e+000
2.3106208e+001 0.0000000e+000
2.3204292e+001 0.0000000e+000
2.3302375e+001 0.0000000e+000
2.3400458e+001 0.0000000e+000
2.3498542e+001 0.0000000e+000
2.3596625e+001 0.0000000e+000
2.3694708e+001 0.0000000e+000
2.3792792e+001 0.0000000e+000
2.3890875e+001 0.0000000e+000
2.3988958e+001 0.0000000e+000
2.4087042e+001 0.0000000e+000
2.4185125e+001 0.0000000e+000
2.4283208e+001 0.0000000e+000
2.4381292e+001 0.0000000e+000
2.4479375e+001 0.0000000e+000
2.4577458e+001 0.0000000e+000
2.4675542e+001 0.0000000e+000
2.4773625e+001 0.0000000e+000
2.4871708e+001 0.0000000e+000
2.4969792e+001 0.0000000e+000
2.5067875e+001 0.0000000e+000
2.5165958e+001 1.4285714e-003

/unsupported/trunk/pendulum/DISTRIB/DISEG
0,0 → 1,120
2.2915667e+000 1.7142857e-002
2.3747000e+000 2.8571429e-003
2.4578333e+000 1.4285714e-002
2.5409667e+000 5.1428571e-002
2.6241000e+000 5.0000000e-002
2.7072333e+000 3.7142857e-002
2.7903667e+000 3.4142857e-001
2.8735000e+000 2.9857143e-001
2.9566333e+000 1.7000000e-001
3.0397667e+000 4.2857143e-003
3.1229000e+000 0.0000000e+000
3.2060333e+000 1.4285714e-003
3.2891667e+000 0.0000000e+000
3.3723000e+000 0.0000000e+000
3.4554333e+000 1.4285714e-003
3.5385667e+000 0.0000000e+000
3.6217000e+000 1.4285714e-003
3.7048333e+000 0.0000000e+000
3.7879667e+000 0.0000000e+000
3.8711000e+000 0.0000000e+000
3.9542333e+000 0.0000000e+000
4.0373667e+000 0.0000000e+000
4.1205000e+000 0.0000000e+000
4.2036333e+000 0.0000000e+000
4.2867667e+000 0.0000000e+000
4.3699000e+000 0.0000000e+000
4.4530333e+000 0.0000000e+000
4.5361667e+000 0.0000000e+000
4.6193000e+000 0.0000000e+000
4.7024333e+000 0.0000000e+000
4.7855667e+000 0.0000000e+000
4.8687000e+000 0.0000000e+000
4.9518333e+000 0.0000000e+000
5.0349667e+000 0.0000000e+000
5.1181000e+000 0.0000000e+000
5.2012333e+000 0.0000000e+000
5.2843667e+000 0.0000000e+000
5.3675000e+000 0.0000000e+000
5.4506333e+000 0.0000000e+000
5.5337667e+000 0.0000000e+000
5.6169000e+000 0.0000000e+000
5.7000333e+000 0.0000000e+000
5.7831667e+000 0.0000000e+000
5.8663000e+000 0.0000000e+000
5.9494333e+000 0.0000000e+000
6.0325667e+000 1.4285714e-003
6.1157000e+000 0.0000000e+000
6.1988333e+000 0.0000000e+000
6.2819667e+000 0.0000000e+000
6.3651000e+000 0.0000000e+000
6.4482333e+000 0.0000000e+000
6.5313667e+000 0.0000000e+000
6.6145000e+000 0.0000000e+000
6.6976333e+000 0.0000000e+000
6.7807667e+000 0.0000000e+000
6.8639000e+000 0.0000000e+000
6.9470333e+000 0.0000000e+000
7.0301667e+000 0.0000000e+000
7.1133000e+000 0.0000000e+000
7.1964333e+000 0.0000000e+000
7.2795667e+000 0.0000000e+000
7.3627000e+000 0.0000000e+000
7.4458333e+000 0.0000000e+000
7.5289667e+000 0.0000000e+000
7.6121000e+000 0.0000000e+000
7.6952333e+000 0.0000000e+000
7.7783667e+000 0.0000000e+000
7.8615000e+000 1.4285714e-003
7.9446333e+000 0.0000000e+000
8.0277667e+000 0.0000000e+000
8.1109000e+000 0.0000000e+000
8.1940333e+000 0.0000000e+000
8.2771667e+000 0.0000000e+000
8.3603000e+000 0.0000000e+000
8.4434333e+000 0.0000000e+000
8.5265667e+000 0.0000000e+000
8.6097000e+000 0.0000000e+000
8.6928333e+000 0.0000000e+000
8.7759667e+000 0.0000000e+000
8.8591000e+000 0.0000000e+000
8.9422333e+000 0.0000000e+000
9.0253667e+000 0.0000000e+000
9.1085000e+000 0.0000000e+000
9.1916333e+000 0.0000000e+000
9.2747667e+000 0.0000000e+000
9.3579000e+000 0.0000000e+000
9.4410333e+000 0.0000000e+000
9.5241667e+000 0.0000000e+000
9.6073000e+000 0.0000000e+000
9.6904333e+000 0.0000000e+000
9.7735667e+000 0.0000000e+000
9.8567000e+000 0.0000000e+000
9.9398333e+000 0.0000000e+000
1.0022967e+001 0.0000000e+000
1.0106100e+001 1.4285714e-003
1.0189233e+001 0.0000000e+000
1.0272367e+001 0.0000000e+000
1.0355500e+001 0.0000000e+000
1.0438633e+001 0.0000000e+000
1.0521767e+001 0.0000000e+000
1.0604900e+001 0.0000000e+000
1.0688033e+001 0.0000000e+000
1.0771167e+001 0.0000000e+000
1.0854300e+001 0.0000000e+000
1.0937433e+001 0.0000000e+000
1.1020567e+001 0.0000000e+000
1.1103700e+001 0.0000000e+000
1.1186833e+001 1.4285714e-003
1.1269967e+001 0.0000000e+000
1.1353100e+001 0.0000000e+000
1.1436233e+001 0.0000000e+000
1.1519367e+001 0.0000000e+000
1.1602500e+001 0.0000000e+000
1.1685633e+001 0.0000000e+000
1.1768767e+001 0.0000000e+000
1.1851900e+001 0.0000000e+000
1.1935033e+001 0.0000000e+000
1.2018167e+001 0.0000000e+000
1.2101300e+001 1.4285714e-003
1.2184433e+001 1.4285714e-003

/unsupported/trunk/pendulum/PCLAB.C
0,0 → 1,131
/*==============================================================*/
/* LIBRERIA DI GESTIONE DELLA SCHEDA PCL-812 */
/* Marco Caccamo, 6-2-2000 */
/*==============================================================*/
/*--------------------------------------------------------------*/
/* Register bit: 7 6 5 4 3 2 1 0 */
/*--------------------------------------------------------------*/
/* ABUFL D7 D6 D5 D4 D3 D2 D1 D0 */
/* ABUFH 0 0 0 DRDY D3 D2 D1 D0 */
/*--------------------------------------------------------------*/
/* SELEC X X X X C3 C2 C1 C0 */
/*--------------------------------------------------------------*/
/* CTRLB X X X X X S2 S1 S0 */
/*--------------------------------------------------------------*/
/* TRIGG X X X X X X X TR */
#include <kernel/kern.h>
#define BASE 0x220 /* indirizzo base BIT */
#define ABUFL (BASE + 4) /* low byte for AD/DA (0 - 7) */
#define ABUFH (BASE + 5) /* high byte for AD/DA (8 -13) */
#define IBUFL (BASE + 6) /* low byte for DIN (0 - 7) */
#define IBUFH (BASE + 7) /* high byte for DIN (8 -15) */
#define SELEC (BASE + 10) /* select AD channel (0 - 3) */
#define CTRLB (BASE + 11) /* control register (0 - 2) */
#define TRIGG (BASE + 12) /* A/D trigger control (0) */
#define OBUFL (BASE + 13) /* low byte for DOUT (0 - 7) */
#define OBUFH (BASE + 14) /* high byte for DOUT (8 -15) */
/*--------------------------------------------------------------*/
/* AD_CONV(ch) ritorna il valore (in volt) convertito */
/* dal canale ch dell'ingresso analogico. */
/* Volt range: [-10,10], Resolution: 2.4 mV */
/*--------------------------------------------------------------*/
float ad_conv(int ch) /* AD channel [0-15] */
{
int lb, hb; /* low byte, high byte [0,255] */
int n; /* converted value [-8192,8191] */
float v; /* value in volt [-10,10] */
outp(SELEC, ch); /* set AD channel */
outp(CTRLB, 1); /* enable software trigger */
outp(TRIGG, 1); /* trigger AD converter */
do { /* wait conversion */
hb = 0xff & inp(ABUFH); /* read high byte */
} while ((hb & 0x10) == 16); /* loop if (bit 4 == 1) */
lb = 0xff & inp(ABUFL); /* read low byte */
n = (hb * 256 + lb); // -4096; //- 2048; /* compose number */
//cprintf();
v = (20. * (float)n ) / 4096 - 10.; //2048.; /* convert n in volt */
return(v);
}
/*--------------------------------------------------------------*/
/* DA_CONV(float v,int ch) converte in analogico il valore in volt */
/* passato come parametro sul canale ch. */
/* Volt range: [0,5], Resolution: 1.2 mV */
/* return(-1) se non viene eseguita la conversione */
/* altrimenti return(0) */
/*--------------------------------------------------------------*/
int da_conv(float v, int ch) /* value (in volt) to convert */
{
int lb, hb; /* low byte, high byte */
float x; /* value to convert */
if (v > 5 || v < 0)
return(-1);
else{
x = ((v / 5.) * 4095.); /* compose number */
hb = (int) x / 256; /* compute high byte */
lb = (int) x % 256; /* compute low byte */
if(ch == 2) {
outp(IBUFL, lb); /* write lb in IBUFL */
outp(IBUFH, hb); /* write hb in IBUFL */
}
else if(ch == 1) {
outp(ABUFL, lb); /* write lb in ABUFL */
outp(ABUFH, hb); /* write hb in ABUFH */
}
else return(-1);
return(0);
}
}
/*--------------------------------------------------------------*/
/* PAR_IN() ritorna il valore letto sui 16 bit */
/* della porta parallela di ingresso. */
/*--------------------------------------------------------------*/
int par_in()
{
int lb, hb; /* low byte, high byte */
int n; /* value on 16 bit */
lb = 0xff & inp(IBUFL); /* read low byte */
hb = 0xff & inp(IBUFH); /* read high byte */
n = hb * 256 + lb; /* compose number */
return(n);
}
/*--------------------------------------------------------------*/
/* PAR_OUT(n) scrive il valore n sui 16 bit */
/* della porta parallela di uscita. */
/*--------------------------------------------------------------*/
void par_out(n)
int n; /* value to write */
{
int lb, hb; /* low byte, high byte */
hb = n / 256; /* extract high byte */
lb = n % 256; /* extract low byte */
outp(OBUFL,lb); /* write low byte */
outp(OBUFH,hb); /* write high byte */
}
/*--------------------------------------------------------------*/

/unsupported/trunk/pendulum/COEF.H
0,0 → 1,20
/*--------------------------------------------------------------*/
/* File: coef.h */
/* Definisce i coefficienti del sistema in termini di variabili */
/* di stato. I valori sono stati ottenuti mediante il file */
/* MATLAB contif.m con un tempo di campionamento pari a 100 ms */
/*--------------------------------------------------------------*/
#define AA -2.7528
#define BB -10.9526
#define CC 0.0043
#define DD 28.5812
#define EE 24.9179
#define FF -0.0441
#define GG 1.9432
#define HH -4.4385
#define DELTA 0.030
#define KK1 -29.2616
#define KK2 -5.5492
#define KK3 -7.1996
#define KK4 -9.8654
/*--------------------------------------------------------------*/

/unsupported/trunk/pendulum/JETCON.C
0,0 → 1,205
#include "kernel/kern.h"
#include "demo.h"
extern int white, gray, red, green, blue;
TASK jetdummy_task(void *arg)
{
TIME now_dummy, last_dummy, diff_dummy, slice;
struct timespec now, last, diff;
int x = 0;
int height;
NULL_TIMESPEC(&last);
last_dummy = 0;
for (;;) {
task_nopreempt();
jet_getstat(DUMMY_PID, NULL, NULL, NULL, &now_dummy);
sys_gettime(&now);
task_preempt();
SUBTIMESPEC(&now, &last, &diff);
slice = diff.tv_sec * 1000000 + diff.tv_nsec/1000;
diff_dummy = now_dummy - last_dummy;
height = (int)(JET_DUMMY_HEIGHT*((float)diff_dummy)/((float)slice));
TIMESPEC_ASSIGN(&last, &now);
last_dummy = now_dummy;
mutex_lock(&mutex);
grx_line(JET_DUMMY_X+x,JET_DUMMY_Y,
JET_DUMMY_X+x,JET_DUMMY_Y+height ,BLACK);
grx_line(JET_DUMMY_X+x,JET_DUMMY_Y+height,
JET_DUMMY_X+x,JET_DUMMY_Y+JET_DUMMY_HEIGHT,white);
grx_line(JET_DUMMY_X+(x+1)%JET_DUMMY_WIDTH,JET_DUMMY_Y,
JET_DUMMY_X+(x+1)%JET_DUMMY_WIDTH,JET_DUMMY_Y+JET_DUMMY_HEIGHT,white);
mutex_unlock(&mutex);
x = (x+1)%JET_DUMMY_WIDTH;
task_endcycle();
}
}
TASK jetctrl_task(void *arg)
{
char st[50];
TIME sum, max;
int n;
PID i;
int printed = 0;
for (;;) {
for (i=2, printed=0; i<MAX_PROC && printed<JET_NTASK; i++) {
if (jet_getstat(i, &sum, &max, &n, NULL) != -1) {
if (!n) n=1;
mutex_lock(&mutex);
sprintf(st,"%6d %6d %10s", (int)sum/n,(int)max, proc_table[i].name);
grx_text(st, 354, JET_Y_NAME+16+printed*10, green, BLACK);
mutex_unlock(&mutex);
printed++;
}
}
while (printed<JET_NTASK) {
mutex_lock(&mutex);
grx_text(" ",
354, JET_Y_NAME+16+printed*10, gray, BLACK);
mutex_unlock(&mutex);
printed++;
}
task_endcycle();
}
}
TASK jetslide_task(void *arg)
{
TIME sum, curr, max;
TIME total[JET_NTASK];
int slides[JET_NTASK];
PID i;
int printed = 0;
for (;;) {
// Fill the total array in a nonpreemptive section
task_nopreempt();
for (i=2, printed=0; i<MAX_PROC && printed<JET_NTASK; i++) {
if (jet_getstat(i, &sum, NULL, NULL, &curr) != -1) {
total[printed] = sum+curr;
printed++;
}
}
task_preempt();
while (printed < JET_NTASK)
total[printed++] = 0;
// Compute the Max elapsed time
max = 0;
for (i=0; i<JET_NTASK; i++)
if (total[i] > max) max = total[i];
if (!max) max = 1;
// Compute the slides width
for (i=0; i<JET_NTASK; i++)
slides[i] = (int)( (((float)total[i])/max) * JET_SLIDE_WIDTH);
// print the data
mutex_lock(&mutex);
for (i=0; i<JET_NTASK; i++) {
grx_box(JET_SLIDE_X, JET_Y_NAME+16+i*10, \
JET_SLIDE_X+slides[i], JET_Y_NAME+23+i*10, blue);
grx_box(JET_SLIDE_X+slides[i], JET_Y_NAME+16+i*10, \
JET_SLIDE_X+JET_SLIDE_WIDTH, JET_Y_NAME+23+i*10, BLACK);
}
while (i<JET_NTASK) {
grx_box(JET_SLIDE_X, JET_Y_NAME+16+i*10, \
JET_SLIDE_X+JET_SLIDE_WIDTH, JET_Y_NAME+20+i*10, BLACK);
i++;
}
mutex_unlock(&mutex);
task_endcycle();
}
}
void scenario_jetcontrol(void)
{ mutex_lock(&mutex);
grx_rect(10,JET_DUMMY_Y-30, JET_DUMMY_X+600,JET_DUMMY_Y+70,red);
grx_text("System load" , JET_DUMMY_X+36 ,JET_DUMMY_Y-16 , green, BLACK);
grx_text(" Mean Max Name Slide",354 ,JET_Y_NAME, green,BLACK);
grx_rect(JET_DUMMY_X-1, JET_DUMMY_Y-1, JET_DUMMY_X+JET_DUMMY_WIDTH, JET_DUMMY_Y+JET_DUMMY_HEIGHT+1, gray);
grx_text("100%", JET_DUMMY_X-40, JET_DUMMY_Y, green, BLACK);
grx_text(" 0%", JET_DUMMY_X-40, JET_DUMMY_Y+JET_DUMMY_HEIGHT-8,green,BLACK);
grx_line(JET_DUMMY_X-1, JET_DUMMY_Y, JET_DUMMY_X-5, JET_DUMMY_Y, gray);
grx_line(JET_DUMMY_X-1, JET_DUMMY_Y+JET_DUMMY_HEIGHT, JET_DUMMY_X-5, JET_DUMMY_Y+JET_DUMMY_HEIGHT, gray);
mutex_unlock(&mutex);
}
void init_jetcontrol(void)
{
SOFT_TASK_MODEL m3, m4, m5;
PID p3, p4, p5;
soft_task_default_model(m3);
soft_task_def_level(m3,1);
soft_task_def_period(m3, PERIOD_JETCTRL);
soft_task_def_met(m3, WCET_JETCTRL);
soft_task_def_ctrl_jet(m3);
soft_task_def_group(m3, 1);
p3 = task_create("jctrl", jetctrl_task, &m3, NULL);
if (p3 == -1) {
grx_close();
perror("FFTPlay: Could not create task <jetctrl>\n");
ll_abort(54);
sys_end();
}
soft_task_default_model(m4);
soft_task_def_level(m4,1);
soft_task_def_period(m4, PERIOD_JETDUMMY);
soft_task_def_met(m4, WCET_JETDUMMY);
soft_task_def_group(m4, 1);
soft_task_def_usemath(m4);
soft_task_def_ctrl_jet(m4);
p4 = task_create("jdmy", jetdummy_task, &m4, NULL);
if (p4 == -1) {
grx_close();
perror("FFTPlay: Could not create task <jetdummy>\n");
ll_abort(54);
sys_end();
}
soft_task_default_model(m5);
soft_task_def_level(m5,1);
soft_task_def_period(m5, PERIOD_JETSLIDE);
soft_task_def_met(m5, WCET_JETSLIDE);
soft_task_def_group(m5, 1);
soft_task_def_usemath(m5);
soft_task_def_ctrl_jet(m5);
p5 = task_create("jsli", jetslide_task, &m5, NULL);
if (p5 == -1) {
grx_close();
perror("FFTPlay: Could not create task <jetslide>\n");
ll_abort(54);
sys_end();
}
}

/unsupported/trunk/pendulum/XXX.GDT
0,0 → 1,28
__RHIDE_desktop-file__¿qpxt ($11q7?:>!ppzpp~ +/x.p0?>/ r110/>111q@0Op|_11q@0Op|_11q@0Op|_7?:0>N.pz110/>P@0?. Oÿÿÿÿdkalm1.cdemo.hcost.hpclab/*.[acfghimnops]*../*.[acfghimnops]*pclab.h*.[acfghimnops]*pclab.c LUNGH-. xxx[
+ ±þ²][ 
+  ]À %c:/users/paolo/shark/tst1bkp3/pclab.cu
+ ]   [ P ] P ÿ ][
+ ±þ²][ 
+  ]à %c:/users/paolo/shark/tst1bkp3/pclab.h
+ ]
+ [ P ] P ÿ ][
+ ±þ²][ 
+  ]à $c:/users/paolo/shark/tst1bkp3/cost.h
+][
+  · ±þ²][ 
+  ] %c:/users/paolo/shark/tst1bkp3/kalm1.c
+ ]   [ P ] P ÿ ]¿ p ppppp p pp pp pp ppppppp ppppppp ppppp pppp p ¿qpxt ($11q7?:>!ppzpp~ +/x.p0?>/ r110/>111q@0Op|_11q@0Op|_11q@0Op|_7?:0>N.pz110/>P@0?. 8 ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿPPÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿc:/users/paolo/shark/tst1bkp3/ ÿ $c:/users/paolo/shark/tst1bkp3/demo.hÍ [
+ ±þ²][ 
+  ]À $c:/users/paolo/shark/tst1bkp3/demo.h
+ ]   [ P ] P ÿ ]
\ No newline at end of file

/unsupported/trunk/pendulum/INTDATA1
0,0 → 1,0
12000 8000 101.8441 2.3409 15 3600 3999

/unsupported/trunk/pendulum/KALM1
0,0 → 1,974
L   >pULp p >r .textp p >° .data>r >r pU°>@.bssp“r p“r L€é °­ üOQä p p p“r ¼˜u p e‹Ká€uT¿€=–eÆG1GeÆGGÆG2GeÆG¡Øáq fe£ >r Áèfe£&>r  Fr ¿€=”eÆG0GeÆG¸0ŽØŽÀŽÐŽàŽè¼nr Ç—u Nr Ç°˜u nr £Nr ‰Nr  Fr êÁ p 8 Nr üèº× ê PARAMETRI DI CONTROLLO ( R , T ) Guad=Cost=WCUT=WCUT1=NOISE=DEADL=OFFS=Guad 1,2 3,4 5,6 7,8Cost [ , ]WCUT o , pWCUT1 k , lNOISE n , mDEADL - , +OFFS / , *V_com = V+offs = V_sens_x = SCAN = %6.2f %6.2f %6.2f %6.2f %6.2f %6.2f Hz %6.2f Hz %6.2f Volt %d ticks %7.4f %7.4f %7.3f%3.2d c , vvU‰åƒì|WVSƒÄôh]s è ƒÄô¡ ]s Phß hhE j
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+p 輏 f‰ dÿÿÿjjjh3
+ ƒÄôj èø¼ƒÄ è çƒÄüj
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+p hp è9ÐƒÄ £à\s ƒøÿuè¯âƒÄôjèÒ ƒÄE€ƒÄôjjPh p hp èÐƒÄ £H]s ƒøÿuèvâƒÄôjèäÑ ƒÄE€ƒÄôjjPh@p h$p èÇÏƒÄ £]s ƒøÿuè=âƒÄôjè«Ñ ƒÄE€ƒÄôjjPhhp h*p èŽÏƒÄ £(]s ƒøÿuèâƒÄôjèrÑ ƒÄƒÄô¡]s PèƃÄô¡à\s PèÆƒÄ ƒÄô¡H]s PèòŃÄô¡(]s PèäÅƒÄ ƒÄôj èŸÇ‹ˆþÿÿ‰ì]ÃINIZIALIZZ.Carr a sx e premi un tastoCarr a dx e premi un tastoAsta a sx e premi un tastoAsta a dx e premi un tastot&Premi 'y' per l' identificazione ‰ö @U‰åƒìƒÄô¡ ]s Phóhj j ¡Dt ÿÐƒÄ ƒÄøjÿ5D&p 聃Äøj ÿ5D&p èqƒÄ ƒÄôj¡ ]s Phúj
+h£%p ¡Xt ÿÐƒÄ ƒÄôj¡@]s Ph$ j
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+hÊ%p ¡Xt ÿÐƒÄ ƒÄôj è|µƒÄôjèbÙ]s ƒÄ ƒÄôj¡@]s Ph\ j
+hå%p ¡Xt ÿÐƒÄ ƒÄôj è>µƒÄôj
+è$Ùü\s ƒÄ ƒÄôj¡@]s Phx j
+h&p ¡Xt ÿÐƒÄ ƒÄôj 赃Äôj
+èæÙÐ\s ƒÄ ƒÄôj¡@]s Ph” j
+h &p ¡Xt ÿÐƒÄ ƒÄôj 贃Äôjè4W‰ì]ÃPENDOLORif.:X =Ang =s sx, d dxS: xrif-> -7 D: xrif-> +7 0: xrif-> 0 S imp-,D imp+CALIBRAZ: < , >Dati Start: !Cancel Last: @U‰åƒìSƒÄôh]s è<ïƒÄô¡ ]s Phß hhõh¡Dt ÿЃÄ0ƒÄô¡ ]s Phóh j j ¡Dt ÿлƒÄ ƒÄôj¡ì\s PhúShä'p ¡Xt ÿÐƒÄ ƒÄôj¡@]s Ph Shì'p ¡Xt ÿÐƒÄ ƒÄôj¡@]s Ph Shò'p ¡Xt ÿÐƒÄ ƒÄôj¡@]s Ph$ Shö'p ¡Xt ÿÐƒÄ ƒÄôj¡@]s Ph2 Shü'p ¡Xt ÿÐƒÄ ƒÄôj¡@]s Ph@ Sh(p ¡Xt ÿÐƒÄ ƒÄôj¡@]s PhN Sh(p ¡Xt ÿÐƒÄ ƒÄôj¡@]s Ph\ Sh#(p ¡Xt ÿÐƒÄ ƒÄôj¡@]s Phj Sh1(p ¡Xt ÿÐƒÄ ƒÄôj¡@]s Phx Sh?(p ¡Xt ÿÐƒÄ ƒÄôj¡@]s Ph† ShO(p ¡Xt ÿÐƒÄ ƒÄôj¡@]s Ph” Sh](p ¡Xt ÿÐƒÄ ƒÄôh]s èÂí‹]è‰ì]Ãwdata%s %s
+± ƒÄøho*p hl*p èÅ Ç øýÿÿƒÄ þÿÿ¾‹•øýÿÿ’<ōvل·˜“r ƒìÝ$hq*p Sè¼ ƒÄøShl*p è²Ä ƒÄ ‹ üýÿÿPƒÄôSè'Ì ƒÄPj S苰 ƒÄFƒþ ~²‹•üýÿÿRj j ho*p èm° ƒÄøho*p hl*p ècÄ ƒÄ ÿ øýÿÿ½øýÿÿó ŽZÿÿÿƒÄô‹ üýÿÿPè7± ¥Øýÿÿ[^_‰ì]ÉöJÊ@Há:@—@°r@Ãõ@9´ø?\ò?{î?¾Ÿê?žïç?Tãå?“ä?!°â?shá?Nbà?î|ß?R¸Þ?¶óÝ?ßOÝ?waintegrale%f %f
+n.run=%d aver=%f confid_int=%f
+Errore in writeintdata%d %d %f %f %d %d %d
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+Wrong FLB!!! Forced to %lx
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+ƒø u!Æpt þ÷Æ tƈ‚t ë ‰öƈ‚t è¼(ƒø uÆpt ƈ‚t èˆ$ƒø u+Æpt ÷Æ tƈ‚t ë
+vƈ‚t ¸ ë'‰ö€=pt ÿu¸ÿÿÿÿë€=pt þt¸þÿÿÿëèWeô[^_ÉÃMode number %x
+MaxX: %u
+MaxY: %u
+BPR: %u
+ gd: Frame Linear Buffer @ %lx (%luM)
+Vesa SVGA card
+Trident graphic card
+S3 graphic card
+Mode: %x
+Lin_Mode: %x
+Ns ‰K¶Rs ÙDªp PÚ$ƒÄÙ}ü‹Müµ‰MôÙmôÛUô‹UôÙmüRÚ$$ƒÄÙîÚéfßà€äE€ü@t B‰S¶Rs ¸ ‰ÑÓà‰Cfƒ=Ps tf‹Ps ë‰öºþÿ·Â‰Cfƒ=Ps tf‹Ps ë‰öºþÿ·Â‰CÇC€=pt þu è,‰Âë*€=pt uè$‰Âë‰ö€=pt uè&‰Âë‰ö1҉Ð1Ò÷s‰CÇC ÇC$¶pt ‰C(€=pt þuèΉÂë,‰ö€=pt uè¢#‰Âë‰ö€=pt uè¶%‰Âë‰ö1҉S,ÇC0ƒ=|‚t to€=pt þu
+èq‰Â됀=pt u‹<pr ëv1҉S4€=pt þu
+èQ‰Âë+€=pt uè&#‰Âë‰ö€=pt uè:%‰Âë‰ö1҉S8ëÇC4ÇC8ÿÿÇC<ÇC@¸ ‹]ìÉÉöU‰å舉 ÒtÁèPRhk§p è¯C ƒÄ€=pt þuh“§p è™C è\
+h è$YƒÄ€=pt u¶ÃP菃Ā=pt u ¶ÃPèŠ"‹]üÉÐU‰åS‹M‹]·E·U¯Â·U Ðf‰ Áèf‰‹]üÉÍvU‰åS‹M‹]·E·U¯Â·UPf‰ Áèf‰‹]üÉÉöU‰å·U·E¯Ð·E ‰ÐÉÃU‰å‹MºÇŠEîºÉì‹UˆºÉì‹UˆºÉìˆ ÉÐU‰åVSŠ]ŠE‰ÆŠMºÈŠEîºÉˆØî‰ðîˆÈîeø[^ÉÉöU‰åWVS‹}¶M‰Î¶E‰Ã È9Á}# óvºÇˆÈîºÉìˆGìˆGìˆGA9Ù|âeô[^_ÉÉöU‰åWVS‹}¶M‰Î¶E‰Ã È9Á}0 óvºÈˆÈÆGºÉÆGÖGºÉ‰ðîA9Ù|Սeô[^_ÉÐ
+Warning! There was an error: (%x) generic.hardware incompatibility.unvalid function.unknown error %x.
+
+Error! Unable to allocate DOS memory.lmem: %lx
+‰öU‰åƒì<WVShè-d‰ÁƒÄ Éuhl°p èf? é ‰MÈQh“°p èR? fÇEðO‹Eȃàf‰Eú‹UȁâðÿÁê‰Ű}Ìf‰}ØÁâ‰U̍E؉EЋP·Ò‰P‹}Ì xÆŒ‚t Vƍ‚t BÆŽ‚t EƏ‚t 2ƒÄ¹€‹}ȾŒ‚t ¸üó¥¨tf¥¨ t ¤º!ìˆE׺¡ìˆÃº!°ÿîÿuЍ}àWEðPjè5, ƒÄº!ŠE×ˆØî‹uàfƒþOtp·ÞSh°p èv> ƒÄ‰ÙùOt%ùO të1ùOtë&‰öh$°p èF> ë&h-°p è:> ëhG°p è.> ë·ÆPhY°p è> ¹ÿÿÿÿëv¹ ƒùÿt*¹€¿Œ‚t ‹uȸüó¥¨tf¥¨ t ¤¸ ëv¸ÿÿÿÿe¸[^_ÉÍvU‰åì WVSÇ ôþÿÿÿÿÿÿ·5”‚t Áæ·’‚t ƍ½ÿÿÿ¹@» üó¥öÃtf¥öà t ¤ÿuèE ‰ÆÇ øþÿÿ¸)ð9 øþÿÿw½ÿÿÿ¸)ð‰ üþÿÿ‹øþÿÿŠ9‹]8u?Ç ôþÿÿ ‹•ôþÿÿ9ò}"‹ øþÿÿ Њ8‹M8
+t
+¸鬍vh]³p èŽþÿÿƒÄƒø u
+¸éhe³p èrþÿÿƒÄƒø u
+¸ëtvhi³p èVþÿÿƒÄƒø u
+¸ëXvhy³p è:þÿÿƒÄƒø u
+¸ë<vh|³p èþÿÿƒÄƒø u
+¸ë vh„³p èþÿÿƒø t ¸ÿë‰ö¸ÉÃ
+Software ................. %s
+Vendor Name .............. n/a
+Vendor Name .............. %s
+Product Name ............. n/a
+Product Name ............. %s
+Product Revision ......... n/a
+Product Revision ......... %s
+--------------------------------------------------------
+Driver Version............ %d.%d
+Total Memory OnBoard...... %d Kb
+Capabilities:
+ - DAC is fixed width, with 6 bits per primary color
+ - DAC width is switchable to 8 bits per primary color
+ - Controller is VGA compatible
+ - Controller is not VGA compatible
+ - Normal RAMDAC operation
+ - RAMDAC recommends programming during blank period only
+ª‚t ʉ•üûÿÿ½üÿÿ¹@‰Öüó¥¨tf¥¨ t ¤ho´p èL8 ÿµøûÿÿhq´p è<8 ƒÄƒ½ìûÿÿuh´p è&8 ƒÄ됍 þÿÿPh°´p è8 ƒÄ ÛuhÏ´p èþ7 ƒÄ됍 ýÿÿPhï´p èç7 ƒÄƒ½üûÿÿuhµp èÑ7 ƒÄë üÿÿPh.µp è»7 ƒÄhMµp è®7 f¡‚t f‰ ìûÿÿ¹df1Òf÷ñ‰Ó·óV‹ ìûÿÿfÁè·Ð’ÊÁá)э4)ÖÁîVh‡µp èa7 ·ž‚t ÁàPh©µp èL7 h˵p èB7 ƒÄö–‚t t
+hÚµp ëvh¶p è"7 ƒÄö–‚t t
+hL¶p ëvho¶p è7 ƒÄö–‚t t
+h–¶p ëvh´¶p èâ6 ¥Üûÿÿ[^_ÉÃ
+List of modes supported:
+ %s
+ho´p è 6 ƒÄfƒ}þÿtfƒ}ø'v˜·EøPhz¹p èé5 eè[^_ÉÃ
+Error! Unable to allocate DOS memory!Addr: %lx
+Macc..
+ùO të/vùOtë"‰öh$°p ëh-°p ëhG°p è‚4 ƒÄ됷ÆPhY°p èn4 ƒÄ»ÿÿÿÿë» ƒûÿuh}ºp èP4 ‰ØëE¹A‹}‹u̸ üó¥¨tf¥¨ t ¤‹U‹Z(‰Œ„t ƒûÿuh ºp è4 ‰Øëv¡Œ„t eÀ[^_ÉÍvU‰åƒì0WVS‹E‰EЍuð¹‰÷1Àüó«fÇEðO‹EÐf‰Eòº!ìˆE׺¡ìˆÃº!°ÿî}ØWEàPVjè6! ƒÄº!ŠE×ˆØî‹uàfƒþOtq·ÞSh°p èw3 ƒÄ‰ÙùOt&ùO të2‰öùOtë&‰öh$°p èF3 ë&h-°p è:3 ëhG°p è.3 ë·ÆPhY°p è3 ¹ÿÿÿÿëv¹ ‰ÈeÄ[^_ÉÐU‰åƒì<WVSŠEˆE׍]ðÇEȹ‰ß‹EÈüó«E؉EʼnÇ1Àüó«fÇEðOŠEȈEóˆÂˆUò‹M·y‰}о@‰ð™÷ÿ¶MׯȉMЋ}Ðf‰}öº!ìˆEÖº¡ìˆEÕº!°ÿîÿučMàQSjèû ƒÄº!ŠEÖŠEÕî‹uàfƒþOtm·ÞSh°p è;2 ƒÄûOt$
+ûO të0ûOtë&‰öh$°p è2 ë&h-°p è2 ëhG°p èö1 ë·ÆPhY°p èæ1 »ÿÿÿÿëv» ‰Øe¸[^_ÉÃ
+ Mode: %dx%dx%d (%d bits)
+ - Mode SUPPORTED in hardware configuration
+ - Mode NOT supported in hardware configuration
+ - Color Mode
+ - Text Mode
+ - Not VGA compatible
+ - VGA compatible
+ - Windowed memory mode available
+ - Windowed memory NOT mode available
+ - Linear Frame Buffer available :-)
+ - Linear Frame Buffer NOT available :-(
+
+ Bytes Per ScanLine %d
+
+ Window A Attributes:
+ - Window is relocatable
+ - Window is not relocatable
+ - Window is readable
+ - Window is not readable
+ - Window is writeable
+ - Window is not writeable
+
+ Window granularity %u Kb
+ Window size %u Kb
+ Segment: %x
+
+ Memory Model is Text ModeCGA GraphicsHercules GraphicsPlanarPacked PixelNon-chain 4, 256 colorDirect ColorYUV Colorto be defined by OEM
+ Number of Banks %u
+ Bank Size %u Kb
+U‰åS‹]¶CPÁàP·CP·CPh_¾p èX. ƒÄö thz¾p ëh©¾p è>. ƒÄöt
+hܾp ëvhí¾p è". ƒÄöt
+hý¾p ëvh¿p è. ƒÄöt
+h+¿p ëvhP¿p èê- ƒÄöt
+hy¿p ëvh¡¿p èÎ- ƒÄ·CPhÍ¿p è¼- hæ¿p è²- ƒÄöC t hþ¿p ë‰öhÀp è–- ƒÄöCt h:Àp ë‰öhSÀp èz- ƒÄöCt hpÀp ë‰öhŠÀp è^- ƒÄ·CPh¨Àp èL- ·CPhÄÀp è=- ·C
+œ‚t Áá·š‚t Á‰MðUþ·]‰]øv1ɉ׋uð»üó¥öÃtf¥öà t ¤ ]ðfƒ}þÿt¿Eþ9EøuÆEï fƒ}þÿt€}ïtÀ€}ï t
+¸ÿÿÿÿëv¸ eà[^_ÉÍvU‰å‹E·@ÉÃU‰å¡Œ„t ÉÉöU‰å·ž‚t ÁàÉÐU‰åVS‹ufƒþOtn·ÞSh°p è¬+ ƒÄ‰Ø=Ot$
+=O të1=Otë'vh$°p è~+ ë&h-°p èr+ ëhG°p èf+ ë·ÆPhY°p èV+ ¸ÿÿÿÿëv¸ eø[^ÉÃUnknown S3 chipViRGE VXViRGETrio64V+968868866Trio64Trio32964864928805801924911Strange...
+svgalib: S3: Unknown chip id %02x
+M1: %d M2: %d
+svgalib: Using S3 driver (%s, %dK).
+svgalib: Chip revision cannot handle modes with width 1152.
+svgalib: s3: chipsets newer than S3-864 is not supported well yet.
+vU‰åƒìVSºÔ°8îºÕ°HîºÔ°9îºÕ°¥îÇ”„t ºÔ°0îºÕìˆÁ¶É‰Ëƒãùß~>ºÔ°-îºÕìˆÁ¶ÉÁáºÔ°.îºÕìˆÃ¶Ã ÁºÔ°/îºÕìˆÃ¶Ûǘ„t ÿÿÿÿºÔ°6îºÕìˆEü‰Îæðþ t}þ€tGþ„·é ‰öþÀ„؁þ°„ºé吁þЄÈéӍvƒû uǘ„t éÖ ƒû Í Ç˜„t é¾ ŠEüƒà‰Æ öŒ® ƒþ ~ƒþtéŸ Ç˜„t ë
+”„t éJ ǘ„t é; Ç˜„t é+ Ç˜„t é ù=ˆ„º2ùà€„Òù1V„¬éãvùˆt8éӍvùðˆ„¸ù€ˆ„žé±ù ‰tx飍v‰Îæðÿþàt
+ë:ǘ„t ë.ǘ„t ë"ǘ„t
+ëǘ„t ë
+ǘ„t ƒ=˜„t ÿuhNÅp èç& ¸ÿÿÿÿéû ƒ=˜„t uQhZÅp èÈ& ¸ÿÿÿÿéÜ ‰öƒ=˜„t ŠUüö  ; é* ‰öƒ=˜„t  §ºÔ°7îºÕì‰ÆŠEüÁè‰Áƒáƒù t# Étë=vƒùtƒùt&ë.ǐ„t ë"ǐ„t ëǐ„t ë
+ǐ„t 1ۉðÁè‰Áƒátƒùt됻됻Sÿ5„t h}Åp èú% )„t ƒÄ銊EüÀè¶Èƒùw|ÿ$XÊp vxÊp ÊÊp „Êp Êp œÊp ¨Êp ´Êp ÀÊp ǐ„t ëFǐ„t ë:ǐ„t ë.ǐ„t ë"ǐ„t ëǐ„t ë
+h¸Åp è% ƒÄƒ=˜„t ~
+hõÅp è% ºÔ°9îºÕ1ÀîºÔ°8îºÕ1Àî1Àeð[^ÉÃV1: %x V2: %x
+U‰åVSºÔ°8îºÕ°HîºÔ°9îºÕ°¥îºÔ°GîºÕ°ÿîìˆÁ1ÀîìˆÃ¶ó‰óºÔ°9îºÕ1ÀîºÔ°8îºÕ1Àî€ùÿu ‰ð„Àujjè]úÿÿ Àt1À됸 됶ÃP¶ÁPhQËp è*$ 1Àeø[^Éà Using S3 driver (%s, %dK).
+ Chip revision cannot handle modes with width 1152.
+ s3: chipsets newer than S3-864 is not supported well yet.
+ s3: Frame Linear Buffer @ %lx (%ld)
+U‰åWVSºÔ°8îºÕ°HîºÔ°9îºÕ°¥îºÔ°5îºÕìˆÁ€áðˆÈîìºÔ°9îºÕ1ÀîºÔ°8îºÕ1Àî‹]Áë‹MÁé€á°‰Ç=„t ~²‰×=„t °‰ÇºÔ°8îºÕ°HîºÔ°9îºÕ°¥îºÔ°@îºÕì$ö
+‰ÆºÔî°SîºÕì‰Æ$ï‰ÆîºÔ°XîºÕì‰Æ‰úЉƺÕîºÔ°YîºÕˆØîºÔ°ZîºÕˆÈîºÔ°9îºÕ1ÀîºÔ°8îºÕ1Àîeô[^_ÉÉöU‰åƒìºÔ°8îºÕ°HîºÔ°9îºÕ°¥îºÔ°5îºÕìˆÁ€áðˆMûŠE$ˆÁ
+MûˆÈîìºÔ°9îºÕ1ÀîºÔ°8îºÕ1ÀîÉÃU‰åƒìºÔ°8îºÕ°HîºÔ°9îºÕ°¥îºÔ°jîºÕìˆÁ€áÀˆMÿ
+h_Ìp è! ƒÄ¡€r PPhœÌp èò ÉÃU‰å¡„t Áà
+ÉÍvUnknown Trident chip968094209200900089008800U‰åƒìWVS¿ÿÿÿÿºÎ°îºÏìˆÃˆÙ€á€ÉˆÈîºÄ°îºÅìˆÁ1Àîì‰Æ$ˆEÿˆÈîºÎ°îºÏˆØî€}ÿ wºÄ°îºÅ1ÀîìˆÁ„Ét¿ ƒÿ  ÞºÔ°îºÕìˆÁ‰ÈƒàÁà £œ„t ºÄ°îºÅ1ÀîìˆÁ¶ÉƒùSt]ƒùtJƒùqƒù|lë0ƒù#t7ëcùƒt8
+ƒùst=ëQvù“tùÓt4ë<‰öÇ „t ë8Ç „t ë,Ç „t ë Ç „t ëÇ „t Ç „t ƒ= „t t¸ ë
+¸ÿÿÿÿ됉øeì[^_Éà Using Trident driver (%s, %dK).
+vU‰åŠMöÁt€áýë€ÉºÄ°îºÅˆÈîÉÍvU‰åÿ5œ„t ‹ „t •ÿ° €r hîÐp èÊ ÉÃU‰å¡œ„t Áà
+ÉÍvU‰åŠU€=Dr „±€ú*t€úªt
+Pr éÿÿÿv€úªt€ú¶uÆEr €úª„ €ú¶ ÷þÿÿéþ€úFu?€=Ir u
+ÆIr ëÆIr ¶Ir P¶Gr P¶Hr Pè 1Àé™ €ú:u?€=Gr u
+ÆGr ëÆGr ¶Ir P¶Gr P¶Hr Pè\1ÀéU €úEu?€=Hr u
+Pr é þÿÿv€út€ú¸uÆPr éèýÿÿ‰ö„ÒŒÞýÿÿ€úRt2€úOt-€úSt(€úPt#€úQt€úKt€úLt€úMt€úGt
+Pr €É@ˆMüëvŠPr ˆEüˆUýŠEûˆEþ1ɉÏ1Û9Ðs ~2݊D28EþuŠ28EüuEüP‹D2ÿб ‰ÏƒÄC9Ðs Ήù„ÉujEüP¿ls PèQЃÄè=!éDÿÿÿU‰å‹E£@r ŠˆÚs ŠP ˆÛs ŠPˆÜs ŠPˆÝs ŠPˆÞs ŠPˆßs ŠPˆàs ŠPˆás ŠPˆâs ŠP ˆãs ŠP
+s ŠPCˆ"s ŠPDˆ®s ŠPEˆ—s ŠPFˆªs ŠPGˆös ŠPHˆ~s ŠPIˆs ŠPJˆs ŠPKˆs ŠPLˆŽs ŠPMˆøs ŠPNˆ€s ŠPOˆês ŠPPˆrs ŠPQˆùs ŠPRˆs ŠPSˆús ŠPTˆ‚s ŠPUˆûs ŠPVˆƒs ŠPWˆïs ŠPXˆws ŠPYˆüs ŠPZˆ„s ŠP[ˆýs ŠPRˆ s ŠP]ˆþs ŠP^ˆ†s ŠP_ˆ
+s ŠP`ˆ’s ŠPaˆ s ŠPbˆ‘s ŠPcˆðs ŠPdˆxs ŠPeˆñs ŠPfˆys ŠPgˆès ŠPhˆps ŠPiˆës ŠPjˆss ŠPkˆ÷s ŠPlˆs ŠPmˆìs ŠPnˆts ŠPoˆîs ŠPpˆvs ŠPqˆs ŠPrˆs ŠPsˆés ŠPtˆqs ŠPuˆs ŠPvˆs ŠPwˆís ŠPxˆus ŠPyˆs ŠPzˆŒs ŠP{ˆs ŠP|ˆs ŠP}ˆs Š@~ˆs ÉÃCtrl-C pressed!
+KeybPortKeyTaskU‰åƒì<WVS‹]ÇEôÿÿÿÿÇEøÿÿÿÿÇEüÿÿÿÿ1ÿƒ=Lr t‰øéK1Ò¾Øs ¹`s ·ÂÆ0ÆfBfúvì Ûu]ôƒ{ÿuÇC@€r ÿsèèúÿÿj j jjhÿÙp èòÂf£ls ƒÄfƒøÿu¸þÿÿÿé㠐jj jhÿÙp è\Æf£ps ƒÄfƒøÿu¿ls PèØɸýÿÿÿé¬ ‰öÇÐs ƒ{ÿuÇCÝp ƒ{tEÆEÅcÆEÆ.ÆEÄÿsƒÄü‹EÄf‰$ŠEƈD$è ÆEÄÿsƒÄü‹EÄf‰$ŠEƈD$è¥ ƒÄƒ;ÿuufÇEÈÇEÌÇEÐfÇEÔÇEØÇEÜÇEàÇEäÇEèÇEìÇEðÇEèÐÇEä ÇEà¨aÇEÜ
+ÇEì EÈë‰ö‹jjPhœÔp hÚp èê‰ÃƒÄ‰ts ƒûÿu"¿ls Pè½È¿ps Pè°È‰Ø釐ƒ=Tr uOÿ5ts èü
+ÇLr ‰øe¸[^_ÉÉöU‰åƒì¶EPEüP¿ps Pè|ʄÀtöEü@u¶Eýë1ÀÉÃU‰å¶EPÿu¿ps PèPÊ%ÿÿÉÐU‰åSƒ=Ðs :‹Ðs ݺXs ‹Ef‰ŠE
+ˆD‹Ðs ݋E‰DÿÐs ‹]üÉÃU‰åè€
+ÉÉöU‰åè4
+ÉÉöU‰åƒ=Lr t0è
+ÿ5ts èØ/¿ls Pè;Ç¿ps Pè.Ç1Àë‰ö¸ÿÿÿÿÉÐU‰åjè’ jè[ hîÙp èa è˜)ÉÉöU‰åVSŠ]¹1v¾ vºdì¨t‰ðF=þÿÿvì¸ÿÿÿÿëqº`ˆØî¾ vºdì¨ tº`ì¶ðëv‰ðF=þÿÿvÞ¾ÿÿÿÿƒþÿu¸þÿÿÿë-þúu1Àë þþt¸ýÿÿÿ됉ÈI Àqÿÿÿ¸üÿÿÿeø[^ÉÐU‰åSŠM» ºdì¨t‰ØC=þÿÿvìë6‰öºd°Ôî» vºdì¨t‰ØC=þÿÿvìë‰öº`ˆÈîë
+‰ö¸ÿÿÿÿëN¹ vºdì¨ tì¨ tº`ì¶Èë‰ö‰ÈA=þÿÿvÚ¹ÿÿÿÿ É}‰È됁ùúu1Àë¸þÿÿÿ‹]üÉÉöU‰åS»vhÿèŠþÿÿ‰ÁƒÄ É ͹ ºdì¨ tº`ì¶Èëv‰ÈA=þÿÿvÞ¹ÿÿÿÿùªt‰ØK À®ùªt
+¸üÿÿÿéhõè&þÿÿ‰ÁƒÄ Ét ¸ûÿÿÿës‰ö¹ vºdì¨t‰ÈA=þÿÿvìë
+‰öºd°`î¹ vºdì¨t‰ÈA=þÿÿvìë
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+< t I‰ØÁà)ØÁàfǀh t ‹°D t ƒÄü‹µÌ„t ¡ t 9È•À%ÿPQV‹C8ÿС< t @‰ÂÁâ)ƒÄöÕq t „! ¡ t ;< t   ¡( t ‰Eø}ø¡< t @‰ÁÁá)Á¸Œ t ‹ȸƒÞC÷ë‰ÑÁù‰ØÁø)Á‰ÊÁâ)ʉÐÁà)ЍÁÁà)ÉØÁà)؍ƒÁà‰Ã, t ‰_¾¡/¸D‰Ø÷î‰ÑÁù‰ØÁø)Á¡< t @‰ÂÁâ)¸Œ t ‹иƒÞC÷ë‰ÐÁøÁû)Ø Á Mø‹_‰Ø÷î‰ÑÁù‰ØÁø)Á‰ÊÁâ)ʉÐÁà)ЍÁ€€€Áà )É_jh,q ‹Eø‹UüRP¡Ø\s ÿЉÃăûÿuƒÄø¡< t PjèHJ‰¨„t ¡( t £ t ¡, t £ t e¸[^_‰ì]АThe system tick must be less than 55 mSec!(1)(2)(3)Abort detected
+Code : %u
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+$s ‰ðP1À[^‰ì]АToo many scheduling levels!!!
+Too many resource levels!!!
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+$s Ç$s ÿÿÿÿÇô\s ƒùÿtP¿€!s ƒ}t‰ÈÁàƒ¸|!s u2ƒÄô‰Î‰ËÁ㋃x!s P‹ƒt!s ÿЋ;‰òÁâ¡$s ‰:‰5$s ƒÄƒùÿuµÇô\s eè[^_‰ì]Ͷ¼'U‰åƒì‹EƒÄüj Ph$s èG ‰ì]ÍvU‰åƒì‹U‹EƒÄüPRh$s è ‰ì]ÐU‰åƒìEüPEøPEôPEðPè)ɃÄôh$s è˜ ƒÄ ƒÄøjjhÿÿjh$s h$s èŒ ƒÄ ƒÄøj jhÿÿÿhh4$s h$s èi ƒÄ ƒÄøjjhÿÿÿþh hT$s h$s èF ƒÄ ƒ}ütƒÄü‹EüHP‹EøPh$s èÏ ƒÄƒ}ôtƒÄü‹EôP‹EðPh$s è± ‰ì]ÐU‰åƒì‹E ÀtƒÄüjPh$s è3 ë1À‰ì]ÉöU‰åƒìS‹]‹M‹U‹EƒÄôPRQSh$s è´ ‹]è‰ì]ÐU‰åƒìWVS‹}‹u‹]‹M‹U‹EƒÄüPRQSVWh$s è^ eè[^_‰ì]ÃU‰åƒì‹U‹EƒÄüPRh$s è! ‰ì]ÐU‰åƒì‹EƒÄøPh$s èí ‰ì]ÐU‰åƒì‹EƒÄøPh$s èñ ‰ì]ÐU‰åƒìƒÄôh$s èí ƒÄôh$s è¬ ‰ì]Ѝ´&U‰åƒìWVS‹}ÇEüú‹EÇÿÿÿÿÇ@1ö;50 t s=‰ö‹µ¬„t ƒ{ u%ƒÄøWV‹C,ÿЃÄ À|ƒÄüW‹EPV‹C0ÿЉEüƒÄF;50 t rÅû‹Eüeè[^_‰ì]ÍvU‰åƒì‹Mƒ9ÿu
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+U‰åƒìWVS}‹uƒÄüEüPhˆq Vèå‰ÃƒÄƒû uƒ}üvÇEüƒÆë
+vÇEü‹Eü;Àr ~bƒÄüWVht$s èwɃÄøj
+ƒÄôh•q èä։ðP1Àeè[^_‰ì]ÃU‰åƒìVSu‹]ƒÄüEüPhˆq SèLäƒÄƒø uƒ}üvÇEüƒÃë ‰öÇEü‹Eü;Àr ~EƒÄüVSht$s è»ÈƒÄøj
+q àq ­q €q @q q q þq ðq Øq Áq  q wq bq @q q ýq íq Õq Äq ¶q œq ‹q pq Number of message exceededNo more cab freeUnvalid number of messageCab is closedCab id not validInvalid Port DescriptorWrong port typeWrong port operationUnsupported port access2 connection on same receive portNo more hash entriesPort already openIncompatible message declarationNo more port interfaceNo more port descriptorInvalid groupInvalid task IDInvalid killNo stack memory availablet&¼'Created task cannot be guaranteedResource module not found for the model usedError during task_createSchedule module not found for the model usedNo task descriptor availableToo much exit functionsToo much init functionsUnused interrupt numberAlready used interrupt numberWrong interrupt numberCancelledWrong medium typeNo medium foundDisk quota exceededRemote I/O errorIs a named type fileNo XENIX semaphores availableNot a XENIX named type fileStructure needs cleaningStale NFS file handleOperation now in progressOperation already in progressNo route to hostHost is downConnection refusedConnection timed out¶¿Too many references: cannot spliceCannot send after transport endpoint shutdownTransport endpoint is not connectedTransport endpoint is already connectedNo buffer space availableConnection reset by peert&Software caused connection abortNetwork dropped connection on resetNetwork is unreachableNetwork is downCannot assign requested addressAddress already in use‰ö¼'Address family not supported by protocolProtocol family not supportedOperation not supportedSocket type not supportedProtocol not supportedProtocol not availableProtocol wrong type for socketMessage too longDestination address requiredSocket operation on non-socketToo many usersStreams pipe errorInterrupted system call should be restartedInvalid or incomplete multibyte or wide character´&¼'Cannot exec a shared library directlyAttempting to link in too many shared libraries.lib section in a.out corruptedAccessing a corrupted shared libraryCan not access a needed shared libraryRemote address changedFile descriptor in bad stateName not unique on networkv¼'Value too large for defined data typeBad messageRFS specific errorMultihop attemptedProtocol errorCommunication error on sendSrmount errorAdvertise errorLink has been severedObject is remotePackage not installedMachine is not on the networkOut of streams resourcesTimer expiredNo data availableDevice not a streamBad font file formatInvalid slotInvalid request codeNo anodeExchange fullInvalid request descriptorInvalid exchangeLevel 2 haltedNo CSI structure availableProtocol driver not attachedLink number out of rangeLevel 3 resetLevel 3 haltedLevel 2 not synchronizedChannel number out of rangeIdentifier removedNo message of desired type(null)Too many levels of symbolic linksDirectory not emptyFunction not implementedNo locks availableFile name too longResource deadlock avoidedNumerical result out of rangeNumerical argument out of domainBroken pipeToo many linksRead-only file systemIllegal seekNo space left on deviceFile too largeText file busyt&¼'Inappropriate ioctl for deviceToo many open filesToo many open files in systemInvalid argumentIs a directoryNot a directoryNo such deviceInvalid cross-device linkFile existsDevice or resource busyBlock device requiredBad addressPermission deniedCannot allocate memory´&Resource temporarily unavailableNo child processesBad file descriptorExec format errorArgument list too longDevice not configuredInput/output errorInterrupted system callNo such processNo such file or directoryOperation not permittedSuccess: %s%s%s
+U‰åƒìS‹]èyދ Ût€;u
+ºœ,q ‰Ñ됹,q ‰Ú=›~¸›‹ q PQRh ,q 識‹]è‰ì]ÉöU‰å‹E=›v¸›‹ q ‰ì]Í´&U‰åƒìWVS¿ÿÿÿÿ‹E‹‹E@‰ÐÁà)ÐÁà‹ˆt ‰Uø‹€ˆt ‰Eüƒùÿtw ‰Æ ȉÂÁâ)‹Eø‰Ã;Õˆt |[‰Â‰Uô1‰ÐÁà)ЍÅ;šˆt u‹Eü;‚ˆt |1‰Ï‰ÐÁà)ЋŘ t ƒùÿt4 1‰ÐÁà)Ћ]ô;ňt }«ƒÿÿt‰ÐÁà)ЋU‰Ř t ë‹E‹U‰ƒùÿtI‰ÐÁà)ЋU‰Ŝ t ‹E@‰ÐÁà)ÐÁà‰ˆ˜ t ‰¸œ t [^_‰ì]ÃU‰åƒìWVS¿ÿÿÿÿ‹E‹‹E@‰ÐÁà)лˆt ‰]ü‹4Ãùÿt:I‰ÐÁà)Ð;4Ãr+»˜ t ‰Ï‰ÐÁà)ЋÃùÿtI‰ÐÁà)ЋUü;4Âsڃÿÿt‰ÐÁà)ЋU‰Ř t ëv‹E‹U‰ƒùÿtI‰ÐÁà)ЋU‰Ŝ t ‹E@‰ÐÁà)ÐÁà‰ˆ˜ t ‰¸œ t [^_‰ì]ÃU‰åWVS‹}‰ÐÁà)ÐÁà‹œ t ‹°˜ t ƒúÿu ‹E‰0ë!‰öR‰ÁÁá)Á»˜ t ‰ÐÁà)ЋÉ˃þÿtv‰ÁÁá)Á»œ t ‰ÐÁà)ЋÉË[^_‰ì]ÉöU‰åS‹]‹ƒùÿt-I‰ÐÁà)ЋŘ t ‰ƒøÿt@‰ÐÁà)ÐÇŜ t ÿÿÿÿ‰È[‰ì]ÉöU‰åS‹]‹Mƒ9ÿt‹ @‰ÂÁâ)‰՜ t [‰ÂÁâ)ÂÁâ‹ ‰‚˜ t ǂœ t ÿÿÿÿ‰[‰ì]Ͷ¿U‰åƒìWVS‹M‹u‹}ÇEüú¡< t @‰ÂÁâ)Õ@ t ÿt‹C8‰ öt:ƒùtƒù të%ƒùt됋6 s8됋ƒðÿ!C8ë‰ö‹‰C8ëÇEü‹C8ƒðÿ‰Âë:v‰Ð#t*s 1Ò Àt‰ö© t‰ÐëBÑøuï1ÀƒÄôPèdƒÄ‹S8ƒòÿ‰Ð#t*s uÁ‹C8ƒðÿ‰Âë6v‰Ð#C<1Ò Àt© t‰ÐëBÑøuï1ÀƒÄôPèXƒÄ‹S8ƒòÿ‰Ð#C<uÈû‹Eüeè[^_‰ì]ÉöU‰åƒìVS‹u‹M É„öƒùwv‰ÐÁà)Ðfƒ<Åh t u¸éԉöú‰ÈÁàö€|(s uƒ¸t(s uû鲉öv‰ÐÁà)ЍÅ| t ƒùvè‘ÙÇë
+èlÖÇë 0ƒÄøhx*s Sè úÿÿ[‰ÐÁà)Ѝ4ŋ†D t ƒÄø‹ ̄t SP‹BDÿл ˆt ƒÄ ƒ<ÿtƒÄô‹P¡]s ÿÐÇÿÿÿÿ‹Mì‰ÈPéà[‰ÐÁà)ЋŘ t ƒûÿ ÿÿÿ¾ ¸ ‰Ã‰ùÓã‰öv‰ÐÁà)ÐÁàfƒ¸h t t}x t ƒÿvèªÕÇëf‰ö‰Ú#‰Ð ÀuZv‰ÐÁà)ЍÅ| t ƒÿvè{ÕÇëv 1Ûë‰öC;ôr }-ƒÄø݋+s RV‹€+s ÿЃÄ ÀtÖë
+è”ÔÇë¸ ‰ùÓà#t*s t‹Uì‰ÐPé§vƒ=Eu ÿu‹Mì‰ÈP¸éŒ‰ö‹5Eu vÁà¹Eu ‹‰Eu ‰¸ Eu ‹U‰$Eu ‹U‰(Eu ‹< t ‰,Eu Çÿÿÿÿ½º|*s ƒ<ÿu‰4ë<‹½|*s ‰Á Ѓ<ÅEu ÿt»Eu v
+‹Í
+è ÓÇë 0ƒÄøhx*s SèÔöÿÿ[‰ÐÁà)Ѝ4ŋ†D t ƒÄø‹ ̄t SP‹BDÿл ˆt ƒÄ ƒ<ÿtƒÄô‹P¡]s ÿÐÇÿÿÿÿ‹Mì‰ÈPé鐍[‰ÐÁà)ЋŘ t ƒûÿ ÿÿÿ¾ ¸ ‰Ã‰ùÓã‰öv‰ÐÁà)ÐÁàfƒ¸h t t}x t ƒÿvè^ÒÇëf‰ö‰Ú#‰Ð ÀuZv‰ÐÁà)ЍÅ| t ƒÿvè/ÒÇëv 1Ûë‰öC;ôr }-ƒÄø݋+s RV‹€+s ÿЃÄ ÀtÖë
+< t I‰ØÁà)؋ÅD t ƒÄø‹ ̄t QP‹CHÿЃÄøhx*s ¡< t Pèïÿÿ¡< t @‰ÂÁâ)»@ t fÇDÓ(Ç< t ÿÿÿÿÇ t ÿÿÿÿƒÄ è »ÿÿƒÄô¡< t @‰ÁÁá)Á¿DËPè’èó‹F<#ƒÄ Àtèû1Àëû¸eÈ[^_‰ì]ÃU‰åƒì VS‹]úƒÄøEøPjèn’ƒÄƒ=+s ÿu
+© uBÑøuô1҉UðÇEôÇEø¡< t ‰EüƒÄøEðPRèDƒÄ‹S8ƒòÿ‰Ð#C<u°€c1ï‹]؉ì]Ã
+Signal number %d...
+with value : %d
+‰ö¸þÿÿÿ‰ÙÓÀ!‹Eì‰G8ûöEø tƒÄüj‹EPS‹EüÿÐëvƒÄüj‹U‹BPS‹EðÿÐú‰w8‹Mè‰ÈPeÈ[^_‰ì]ÃRAISE
+Hartik Exception raised!!!
+Time (s:ns) :%d:%d
+Exception number:%d
+PID :%d
+U‰åƒìWVS‹}‰ÐÁà)ЍÅfƒ»h t u]¾ ˆt ƒ<3ÿtƒÄô‹3P¡]s ÿÐÇ3ÿÿÿÿƒÄƒÄøhx*s Wè¸èÿÿ‰ÐÁà)ЋÅD t ƒÄø‹•Ì„t WR‹@Dÿи ë=v‰ÐÁà)ÐÁàfƒ¸h t u!‹D t ƒÄø‹•Ì„t WR‹@Dÿи ëv1Àeè[^_‰ì]ÃError initializing signals...‰öU‰åƒìWVS1Ò¿|(s ¾x(s »€(s ¹|*s ‰ÐÁàǀt(s Ç8Ç0ÇÇ‘ÿÿÿÿBƒúvÏ1Ò»Eu ¹0Eu vRÁàB‰Çƒú>~êÇKu ÿÿÿÿÇKu ÇEu Çt*s Çx*s ÿÿÿÿÇ+s ÿÿÿÿÇEø ÇEü<Lq ÇEðÇEôÿÿÿÿƒÄüjEðPj èŽêÿÿƒÄƒøÿuƒÄôh´Fq èáäÿÿƒÄôjèï®ƒÄ 1Ò¹¬+s »°+s RÁàÇÇÿÿÿÿÆDBƒú~áƒÄøjhìEq èFÈÿÿeØ[^_‰ì]ÃU‰å‹EÇ1À‰ì]ÉöU‰å‹EÇÿÿÿÿ1À‰ì]ÉöU‰åƒì‹U‹Mƒùw¸ Óà 1Àë‰öèËÂǸÿÿÿÿ‰ì]ÃU‰åƒì‹U‹Mƒùw¸þÿÿÿÓÀ!1Àë‰öè—ÂǸÿÿÿÿ‰ì]ÃU‰åƒì‹Mƒùw¸ Óà‹U#ëègÂǸÿÿÿÿ‰ì]ÃU‰åƒì‹M‹U‹EƒÄüPRQèçÿÿ‰ì]ÉöU‰åƒìWVS‹]uð1Ò¹‰÷‰Ðüó«ƒÄüjVSèSðÿÿ Àu
+‹Uð‹E‰1ÀeØ[^_‰ì]ÍvU‰åƒì‹U‹EƒÄüjPRè ðÿÿ‰ì]ÃU‰åƒì‹E ÀtƒÄüP‹EP‹EPèþïÿÿ븉ì]ÍvU‰åƒì‹EƒÄøP¡< t PèŒçÿÿ‰ì]ÃU‰åƒì0VS‹]‹E‰EðÇEôÇEøèlÁ‹0ƒÄüEàPEðPSèièÿÿƒÄ Àt
+è\ÀÇ~ëgœúX‰Æ[ ¹¬+s €|
+ t=‹E‰
+‹E‰‚°+s ÆD
+U‰åƒì¡< t @‰ÂÁâ)ÂÁâ¹p t ‹
+ƒðÿ©t)ú€
+RR_ReadyRR_DelayRR_UnknownSlice: %d
+Pid: %d Name: %20s Status: %s
+ëv¸0Oq 됸9Oq 됸BOq Pv‰ÐÁà)ЍÅT t PVhpOq è¡tƒÄFƒþAŽXÿÿÿeè[^_‰ì]ÉöU‰åƒìWVS‹]‹E@‰ÐÁà)ÐfÇÅh t ƒÄøEøPjèc‚}øºƒÞC‰Ð÷ã‰ÑÁé‰ÊÁâ)ʉÐÁà)ЍÁÁà)ÉØÁà)؍ƒ‹W‰_¾¡/¸D‰Ø÷îÁú‰ØÁø)Â Ê Uø‹_‰Ø÷î‰ÑÁù‰ØÁø)Á‰ÊÁâ)ʉÐÁà)ЍÁ€€€Áà )É_ƒÄ‹URh$Uq ‹Eø‹UüRP¡Ø\s ÿЉÃăûÿuƒÄø¡< t Pjè/øÿÿ‹E@‰ÐÁà)ЉÅ ˆt eØ[^_‰ì]ÃMain´&
+Panic!!! can't create main task... errno =%d
+U‰åƒì<WVS‹]ÇEØÇEÜfÇEàÇEäÇEèÇEìÇEðÇEôÇEøÇEü ‰Ø´€Ìf‰EԋÌ„t ‹€”‰EäÇEèEԃÄôjjPh$7p h#Rq èÓ¡ÿÿ‰ÆƒÄ ƒþÿuƒÄøè1¸‹Ph0Rq è”rƒÄ‹<Ì„t v‰ÐÁà)ЍÅfƒ»h t u*ƒÄøƒ„ t Pjèj€fǃh t €ƒÄø‡ˆPVèqèe¸[^_‰ì]ÃRR_register_level
+ lev=%d
+Round Robin (RR)vU‰åƒìWVS‹uƒÄôheSq èçÄÿÿèf¾ÿÿ‰ÇƒÄôh˜è+Âÿÿ‰ÃƒÄ ƒÄøShxSq èÀÄÿÿ‰½Ì„t ƒÄüjh„Sq Sè£fÇCÆC ÇCxUq ÇC¤Uq ÇC Oq ÇC$°Uq ÇC(,Vq ÇC,8Vq ÇC0°Vq ÇC4¸Vq ÇC8ÄVq ÇC<ìVq ÇC@lWq ÇCDÜWq ÇCH Xq ÇCL(Xq ÇCPHXq ÇCTxXq ÇCXQq ÇC\˜Xq ÇC`´Xq ÇCdÐXq ÇChìXq ÇClYq ÇCp$Yq ÇCt@Yq ÇCx\Yq ÇC|xYq ǃ€”Yq ǃ„°Yq ƒÄ ƒÄôƒˆPè×äƒÄþçw¾èþ ¡v¾ ¡‰³‹E‰ƒ”ƒ}tƒÄüj Wh`Rq è©»ÿÿeè[^_‰ì]ÍvU‰åƒìS‹UR‰ÃÁã)ÃÁ㋃D t Áà‹€Ì„t fǃh t €ƒÄøˆPRèjæǃ ˆt ÿÿÿÿè¿¢ÿÿ‹]è‰ì]ÃU‰å‹Ef8t1Òf‹‹E€Ì9Âu1Àë¸ÿÿÿÿ‰ì]ÍvU‰å¸ÿÿÿÿ‰ì]ÃU‰åƒìVS‹EÁà‹°Ì„t Æˆ‰öƒÄôVègæ‰ÃƒÄƒûÿtC[‰ÐÁà)ЍŹŒ t ƒ<
+%‹‚$ˆt 
+ƒÄøVSèŽäƒÄøVSè´åƒÄ 믍v‰Øeè[^‰ì]ÐU‰å¸ ‰ì]ÃU‰åVS‹u‹M‹EÁà‹˜Ì„t ƒytv‰ÐÁà)ÐÁà‹Q‰Œ t ‹Qëv‰ÐÁà)ÐÁà‹“‰Œ t ‹“‰$ˆt v‰ÐÁà)ЀÅq t 1À[^‰ì]ÐU‰å‰ì]ÐU‰å1À‰ì]ÍvU‰åƒì‹U‹EÁàƒÄø‹€Ì„t ˆPRè´ã‰ì]ÃU‰åƒìVS‹]‹EÁà‹°Ì„t [‰ÐÁà)ЍŹŒ t ƒ<
+‹‚$ˆt 
+ƒÄø†ˆPSè”äë‰öƒÄø†ˆPSèä[‰ÐÁà)ÐfÇÅh t €eè[^‰ì]ÍvU‰åƒìWVS‹u‹EÁà‹€Ì„t ‰Eüv‰ÐÁà)ЍÅ¿@ t fƒ|;(u*ƒÄøƒ„ t Pjèö{fÇD;(€ƒÄø‹EüˆPVèýãeè[^_‰ì]ÍvU‰åƒìS‹]‹EÁà‹ˆÌ„t [‰ÐÁà)ÐfÇÅh t €ƒÄøÁˆQSè¶ã‹]è‰ì]ÍvU‰å‰ì]ÐU‰å‹E@‰ÂÁâ)ÂfÇÕh t ‰ì]ÉöU‰åƒì‹MI‰ÐÁà)ÐfÇÅh t ƒÄøh t Qè½Õÿÿ‰ì]ÐU‰å‹E@‰ÂÁâ)ÂfÇÕh t ‰ì]ÉöU‰åƒìƒÄø¡< t Pjè†ñÿÿ1À‰ì]ÃU‰åƒìƒÄø¡< t Pjèjñÿÿ‰ì]ÉöU‰åƒìƒÄø¡< t PjèNñÿÿ‰ì]ÉöU‰åƒìƒÄø¡< t Pjè2ñÿÿ‰ì]ÉöU‰åƒìƒÄø¡< t Pjèñÿÿ‰ì]ÉöU‰åƒìƒÄø¡< t Pjèúðÿÿ‰ì]ÉöU‰åƒìƒÄø¡< t PjèÞðÿÿ‰ì]ÉöU‰åƒìƒÄø¡< t PjèÂðÿÿ‰ì]ÉöU‰åƒìƒÄø¡< t Pjè¦ðÿÿ‰ì]ÉöU‰åƒìƒÄø¡< t PjèŠðÿÿ‰ì]ÉöU‰åƒìƒÄø¡< t Pjènðÿÿ‰ì]ͶEDF_ReadyEDF_DelayEDF_Wcet_ViolatedEDF_Sporadic_WaitEDF_IdleEDF_ZombieEDF_Unknown$(dline p%d ev%d %d.%d)el%d|
+status %d
+timer_deadline:AAARRRGGGHHH!!!U‰åƒìWVS‹E‰EüƒÄôh(Zq èì½ÿÿ‹Uü ÒUü‰ÐÁà)ЋÅD t Áà‹€Ì„t ‰EøƒÄ‹Eü@‰ÂÁâ)Â1Àf‹Õh t =„„‰=ƒ„¬éÍv=  µ‹Uü ÒUü‰ÐÁà)ÐfÇÅh t ƒÄøh t ‹EüPèÔÿÿ‹MüÁáºÿÿÿÿ‰Ð‹]ø1Ò÷´ˆ‰Á‹Uü ÒUü‰ÐÁà)ЯÅ$ˆt ‰È)ƒ¨éƒÄøEüPj ¡‚r ÿЋEü¹„ t @‰ÂÁâ)ÂÁâ‹‚ˆt ‰‹Eü@‰ÂÁâ)ÂÁâ‹‚ˆt ‰D‹Eü@‰ÖÁæ)֋}øÇˆ‹‡¸ƒÞC÷ã‰ÑÁé‰ÊÁâ)ʉÐÁà)ЍÁÁà)ÉØÁà)؍ƒÁà õˆt ‹]ü[‰ÂÁâ)4Ջ–ˆt ‰Uô¸¡/¸D÷ê‰ÑÁù‹EôÁø)Á‹Ÿ¸ƒÞC÷ã‰Ó‰ØÁè Á Žˆt ‹Eü@‰ÃÁã)ÃÁ㋳ˆt ¸¡/¸D÷î‰ÑÁù‰ðÁø)Á‰ÊÁâ)ʉÐÁà)ЍÁ€€€Áà )Ɖ³ˆt ‹Eü@‰ÂÁâ)ÂfÇÕh t €ƒÄø‹Eø P‹EüPèIÐÿÿ‹Eü@‰ËÁã)ËƒÄ PhZq ‹Ýˆt ‹Ýˆt RP¡Ø\s ÿЉÃăûÿuƒÄø¡< t PjèíÿÿƒÄ‹EüÁà‹MøÁ ‰ƒÄô‹Eü@‰ÂÁâ)‹Õˆt ¾ÓMb‰ð÷ë‰Ö‰ðÁø‰ÚÁú)ÐP‹Eü@‰ÂÁâ)‹Õˆt P‹EüÁà‹P‹EüPh*Zq è »ÿÿƒÄ 虚ÿÿƒÄø‹EüPhAZq èðºÿÿëa‰ö‹Eü@‰ÂÁâ)ÂfÇÕh t ëFvƒÄø‹Eü@‰ÂÁâ)Â1Àf‹Õh t PhGZq 諺ÿÿƒÄôhpZq 螺ÿÿƒÄ ƒÄø‹EüPjè)ìÿÿeØ[^_‰ì]ÃAAARRRGGGHHH!!!On OffWcet Check : %s
+On-line guarantee : %s
+Used Bandwidth : %u/%u
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+Æ0Cÿ ¨þÿÿÝ °þÿÿÜxÿq ßà€äE
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+Ç ¬þÿÿ ‹¨þÿÿ9M}
+Ç ¬þÿÿ ƒ½¬þÿÿ„;ÿÿÿëÿ¨þÿÿK€;0u€{ÿ.uîCÆ‹ ¨þÿÿ¥ˆþÿÿ[^_‰ì]Ít&¼' $@U‰åƒìWVS‹]‹}ÇEüƒÄüSÿuÿuèCƒÄ ÀtƒÄôSèõÿÿéA ‰öÙîÜ]ßà€äEuÆ-CÝEÙàÝ]ë‰ö‹E©tÆ+CÿEüÝEÜ`r ßà€äE€ü uÆ0ÆC ¸ éîvÙèÙÀÜ]ßà€äEu#1öÝhr ‰öÝEØÉÝUNØÚßà€äE€ü tëÝØë-ÝØ1öÝEÜhr ßà€äuÝhr ÝEØñÝUFØÙßà€ätîÝ؃ÄôVèGóÿÿƒÄƒøc~ƒÇýë‰öƒø ~ƒÇþë‰ö ö~ OƒÄø‹E P‹EPWSÿuÿuèåûÿÿ EüƒÄ öt;]üÆeCƒÄôjºgfff‰Ð÷î‰ÐÁø‰òÁú)ЃÀPj
+ƒÄôSèM Àt¾ ‰ðeè[^‰ì]ÐU‰åŠE¿<9v1Àë¸ ‰ì]ÍvU‰å€}/~1Àëv¸ ‰ì]ÍvU‰åŠEÐ< v1Àë¸ ‰ì]ÍvU‰åŠEŸ<v1Àë¸ ‰ì]ÍvU‰åŠUB÷<v€ú u
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+¸ ëv1À‰ì]ÉöU‰åƒì‹MUf‹BfÁè%ÿ=ÿt1Àë_÷Bÿÿuƒ:t ÉtƒÄøhár QèÄîÿÿ¸ ë8€z} ÉtƒÄøhår Qè¤îÿÿ¸ë ÉtƒÄøhêr QèŠîÿÿ¸‰ì]ÐU‰åƒìÝEÝ]øUøf‹BfÁè%ÿ=ÿt1Àë)÷Bÿÿuƒ:t
+¸ ëv¸€z}¸ƒø ŸÀ%ÿ‰ì]ÐU‰åƒìÝEÝ]øUøf‹BfÁè%ÿ=ÿt1Àë)÷Bÿÿuƒ:t
+?f‰EøÙmø›ÝEÙüÝ]ð›‹Uð‹Mô‹]‰‰KÝEÜeðeì›ÛâÙmü›[ÉÍt&¼'U‰åƒìÝEÙÀÝ]ð‹Eð‹Uô‰ÐÝ]ø%ÿÿÿ‰EüÝEø‰ì]Ѝ´&ÝD$Ùþßàf%u ÃÙëØÀÙÉÙõßàf%uöÝÙÙþͶ¿ÝD$Ùÿßàf%u ÃÙëØÀÙÉÙõßàf%uöÝÙÙÿͶ¿U‰åƒìƒÄøÿuÿuè| Ý]øƒÄƒ=`“r ÿtƒÄøÿuÿuèsƒÄ ÀtÝEøë*vÙîÜ]ßà€äEuƒÄôjÿuÿuÿuÿuèFëÝEø‰ì]Ѝt&U‰åƒìƒ=X“r t ¡X“r ÿÐë¸ÌTs ‰ì]ÍvU‰å‹E£X“r ‰ì]ÐU‰åU1Éf‹BfÁè%ÿ=ÿu÷Bÿÿuƒ}t¹ ‰È‰ì]ÉöU‰åƒìS‹E‹]ƃÄôPèVéÿÿ‰Ø‹]è‰ì]ÐU‰åƒìÿuÿuÿuÿuèÉÝ]øƒÄƒ=`“r ÿt*ƒÄøÿuÿuèpÿÿÿƒÄ ÀuƒÄøÿuÿuè[ÿÿÿƒÄ ÀtÝEøë3vÙîÝEÝáßà€äD€ô@ÝÙuƒÄôjƒìÝ$ÿuÿuè'ëÝØÝEø‰ì]Ít&ÝD$ÙúÉö¼'acosacosfacos: DOMAIN error
+asinasinfasin: DOMAIN error
+atan2atan2fatan2: DOMAIN error
+hypothypotfcoshcoshfexpexpfy0y0fy0: DOMAIN error
+y1y1fy1: DOMAIN error
+ynynfyn: DOMAIN error
+lgammalgammaflgamma: SING error
+loglogflog: SING error
+log: DOMAIN error
+log10log10flog10: SING error
+log10: DOMAIN error
+powpowfpow(0,0): DOMAIN error
+pow(0,neg): DOMAIN error
+¶¿neg**non-integral: DOMAIN error
+sinhsinhfsqrtsqrtfsqrt: DOMAIN error
+fmodfmodffmod: DOMAIN error
+remainderremainderfremainder: DOMAIN error
+acoshacoshfacosh: DOMAIN error
+atanhatanhfatanh: DOMAIN error
+atanh: SING error
+scalbscalbfj0j0f: TLOSS error
+j1j1fjnjnfgammagammafgamma: SING error
+´&àÿÿïGàÿÿïÇà?øU‰åƒì(ÝE‹EÝUèÝEÝ]ðPÿú‡ðÿ$•”r Ìr 9r ¨r r Dr lr ”r ¼r 7r ³r /r «r 'r £r Ìr Er ¿r ;r ·r 3r œr mr žr #r ¨r ër pr ãr Lr ´r r „r Èr r (r Mr mr r ­r 0 r  r !r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r |!r Ìr 9r ¨r r Dr lr ”r ¼r 7r ³r /r «r 'r £r Ìr Er ¿r ;r ·r 3r œr mr žr #r ¨r ër pr ãr Lr ´r r „r Èr r (r Mr mr r ­r 0 r  r !r ÝØÇEà ƒøc
+ÝØÇEàƒøcÇEäÕr éñ‰öÇEäÚr éãÝØÇEàƒøcÇEäàr éÉ‰öÇEäär é»ÝØÇEàƒøcÇEäàr é݉öÇEäär éÏÝØÇEà ƒøc
+r éå
+r ƒ=`“r uÝPr ëÝP“r ÙàÝ]øƒ=`“r „ÿ
+ƒÄôEàPèDƒÄ À ÷
+ƒ=`“r  Û
+r éi
+r éƒ ÝØÇEàƒøc
+r ƒ=`“r uÝHr ëÝP“r Ý]øƒ=`“r „]
+ƒÄôEàPè¢
+ƒÄ À U
+ƒ=`“r  9
+r ƒ=`“r uÝPr ëÝP“r ÙàÝ]øƒ=`“r „ ƒÄôEàPè(
+r ë
+r ë
+r ƒ=`“r uÇEøÇEüë Ý`r Ý]øƒ=`“r „ýƒÄôEàPèBƒÄ À õƒ=`“r  ÙƒÄüj hr égvÇEàƒøcÇEä!r ë
+vÇEä&r ƒ=`“r  ÏÙîÞÙßà€äE€ü „ré!þÿÿÝØÇEà ƒøcÇEä,r ë ‰öÇEä1r ƒ=`“r uÇEøÇEüë Ý`r Ý]øƒ=`“r „5ƒÄôEàPèzƒÄ À -ƒ=`“r  ƒÄüjh7r 韍vÇEà ƒøcÇEäKr ë
+vÇEäPr ƒ=`“r tÝØÝ`r Ý]øƒ=`“r „¿ƒÄôEàPèƒÄ À ·ƒ=`“r  ›ƒÄüjhVr é)ÝØÇEà ƒøcÇEäkr ë ‰öÇEäur Ý`r Ý]øƒ=`“r „VƒÄôEàPè›ƒÄ À Nƒ=`“r  2ƒÄüjh€r éÀÝØÇEà ƒøc
+ÇEä™r ëÇEäŸr Ý`r Ý]øƒ=`“r „îƒÄôEàPè3ƒÄ À æƒ=`“r  ʃÄüjh¦r éXÝØÇEà ƒøc
+ÇEä»r ëÇEäÁr Ý`r Ý]øƒ=`“r „†ƒÄôEàPèËƒÄ À ~ƒ=`“r  bƒÄüjhÈr éðÇEàƒøcÇEä»r ë
+vÇEäÁr ÙîÞùÝ]øƒ=`“r „ ƒÄôEàPèeƒÄ À ƒ=`“r  üƒÄüjhÝr 銉öÇEàƒøcÇEäðr ë
+vÇEäör ÝP“r ÝUøÙîØÚßà€äE€ü ÝÙ„« ÙàéŸ ÇEàƒøcÇEäðr ë
+r ÇEøÇEüƒ=`“r „§ƒÄôEàPèÎ ƒÄ À  ƒ=`“r  ƒƒÄüj‹EäPjè‚ëÿÿƒÄüjhr jèqëÿÿƒÄ ë]ÝØÇEàƒøc
+r ë
+r Ý]øƒ=`“r ÿt ƒ=`“r uÇEøÇEüð?ë"ƒÄôEàPèXƒÄ Àuè¼éÿÿÇ!ëÝØÝEø‰ì]АÝD$ÝD$Ùø›ßàžzøÝÙͶ¼'U‰å1À‰ì]Í´&ÝD$ÙüÉö¼'‹T$â€‹D$%ÿÿÿ ЉD$ÝD$Éöaddfree.cmax >= minreg->min < reg->max(reg->min & (sizeof(struct lmm_node) - 1)) == 0(reg->max & (sizeof(struct lmm_node) - 1)) == 0new_max > new_minU‰åƒìWVS‹U‰UüUƒEü€eüøƒâø‰Uø‹Uü9UøsjSh"r h
+ƒÄöCtjjh(r h)r èèƒÄƒ;t9wjkh(r h>)r èËƒÄ‹}ø9_wjlh(r hg)r è¯ƒÄ‹M9K‚ ‰]ô9ós‰uôÇEð됺 ‹MðÓâ‹Eô3E Ât UôÿEð‹}9}ð|ދEô)ØE9C‚Ñ‹EôE9Eü‚Ï‹uôƒæø9Þshh(r h~)r è,ƒÄ9Þv9‰ñ)ىMìöÁth”h(r hŒ)r èƒÄ‹‰‹C+Eì‰F‹}ì‰{‰]ì‹Eôƒà‹MLƒáø‰M9Nv1‹‰‹v)Ήr‹}ì‰ë ‰ö‹‹Mì‰ ‹}‹Mø9ysh²h(r h¾)r è–‹}‹Mø)y‹Eôë‰]ì‹ Û cþÿÿ‹}ø‹?‰}ø ÿ Ÿýÿÿ1Àeà[^_ÉÐU‰åjÿjjjÿuhÿuèýÿÿÉÍvlmm_dump(lmm=%p)
+ region %08x-%08x size=%08x flags=%08x pri=%d free=%08x
+dump.c(reg->nodes == 0 && reg->free == 0) || (DWORD)reg->nodes >= reg->minreg->nodes == 0 || (DWORD)reg->nodes < reg->maxreg->free >= 0reg->free <= reg->max - reg->min node %p-%08x size=%08x next=%p
+((DWORD)node & (sizeof(struct lmm_node) - 1)) == 0(node->size & (sizeof(struct lmm_node) - 1)) == 0node->size >= sizeof(*node)(node->next == 0) || (node->next > node)(DWORD)node < reg->max free_check=%08x
+reg->free == free_checklmm_dump done
+U‰åWVS‹]ShÀ,r 踖ÿÿ‹3ƒÄ ö„{ vÿvÿvÿv‹F‹N‰Â)ÊRPQhÒ,r 舖ÿÿƒÄƒ~uƒ~t‹F9Fvj_h-r h-r è´ƒÄƒ~t‹F9Fwj_h-r hW-r è’ƒÄ‹F‹V)‰Ð9Fvj_h-r h–-r èoƒÄ1ÿ‹^ Û„ªvÿ3‹CP ØPSh·-r èô•ÿÿƒÄöÃtjgh-r hÙ-r è/ƒÄöCtjhh-r h.r èƒÄƒ{wjih-r h>.r èûƒÄƒ;t9wjjh-r hZ.r èÞƒÄ9^wjkh-r hƒ.r èŃÄ{‹ Û YÿÿÿWhš.r èV•ÿÿƒÄ9~tjqh-r h¬.r 葃Ä‹6 ö ˆþÿÿhÄ.r è&•ÿÿeô[^_ÉÉöfree.clmm != 0block != 0size > 0reg != 0(reg->nodes == 0 && reg->free == 0) || (DWORD)reg->nodes >= reg->minreg->nodes == 0 || (DWORD)reg->nodes < reg->maxreg->free >= 0reg->free <= reg->max - reg->min(DWORD)prevnode + prevnode->size == (DWORD)node(DWORD)node + size == (DWORD)nextnodeU‰åƒìWVS‹u‹]‰Úƒâø‰Uü öujLh0r h—0r èƒÄ ÛujMh0r h 0r èøƒÄƒ}ujNh0r h«0r èÞƒÄ‰Øƒà‹MLƒáø‰M‹v ÛujVh0r h´0r 诃Äƒ{uƒ{t‹C9CvjWh0r h½0r 臃Äƒ{t‹C9CwjWh0r h1r èeƒÄ‹C‹S)‰Ð9CvjWh0r hA1r èBƒÄ‹Mü9Kw9Kw
+‰ö‹U‹Mü‰Q‰1eð[^_ÉÐU‰åhÿuÿuèåýÿÿÉÍvU‰å‹EÇÉÉöstats.c(reg->nodes == 0 && reg->free == 0) || (DWORD)reg->nodes >= reg->minreg->nodes == 0 || (DWORD)reg->nodes < reg->maxreg->free >= 0reg->free <= reg->max - reg->min((DWORD)node & (sizeof(struct lmm_node) - 1)) == 0(node->size & (sizeof(struct lmm_node) - 1)) == 0node->size >= sizeof(*node)(node->next == 0) || (node->next > node)(DWORD)node < reg->maxreg->free == free_checkLMM=%p: %u bytes in %u regions, %d nodes
+U‰åƒìWVSÇEô‹Uô‰Uø‰Uü‹U‹2 ö„> ‰öƒ~uƒ~t‹F9Fvj[hð3r hø3r èƒÄƒ~t‹F9Fwj[hð3r h=4r èå ƒÄ‹F‹V)‰Ð9Fvj[hð3r h|4r 蠃ÄÿEü1ÿ‹^ Û„–vöÃtjbhð3r h4r è– ƒÄöCtjchð3r hÐ4r è| ƒÄƒ{wjdhð3r h5r èb ƒÄƒ;t9wjehð3r h5r èE ƒÄ9^wjfhð3r hG5r è, ƒÄÿEø{‹ Û mÿÿÿ9~tjlhð3r h^5r è ƒÄ‹V Uô‹6 ö Äþÿÿÿuøÿuüÿuôÿuhv5r 膎ÿÿeè[^_ÉÉöassertion %s failed in %s at line %i (task:%i_%i)
+¶¼'MAGIC assertion failed in %s at line %i (task:%i_%i): %s
+‰öU‰åƒìVS‹u‹]‹UEƒÄüPRhÐTs 衪ÿÿƒÄøhÐTs ¡ t PjSVhp7r èYeè[^‰ì]ÃU‰åƒìS‹]‹M‹UƒÄø¡< t PjRQSh07r è(‹]è‰ì]Ͷ¼'KERNEL PANIC: %s
+‰öU‰åƒì‹UEƒÄüPRhÐXs èªÿÿƒÄøhÐXs h08r è»·ÿÿƒÄ ƒÄôhM èÏþÿ‰ì]Ít&¼'U‰åƒìWVS¿ÿÿÿÿ‹E‹‹E@‰ÐÁà)ÐÁà‹ˆt ‰Uø‹€ˆt ‰Eüƒûÿtw‰Æ ؉ÂÁâ)‹Eø‰Á;Õˆt |[‰Â‰Uô3‰ÐÁà)ЍÅ;Šˆt u‹Eü;‚ˆt |1‰ß‰ÐÁà)ЋŘ t ƒûÿt43‰ÐÁà)ЋMô;ňt }«ƒÿÿt‰ÐÁà)ЋU‰Ř t ë‹E‹U‰ƒûÿt[‰ÐÁà)ЋU‰Ŝ t ë
+‹E‹U‰B‹E@‰ÐÁà)ÐÁà‰˜˜ t ‰¸œ t [^_‰ì]ÃU‰å‹EÇÿÿÿÿÇ@ÿÿÿÿ‰ì]ÐU‰åƒìWVS¿ÿÿÿÿ‹E‹‹E@‰ÐÁà)лˆt ‰]ü‹4Ãùÿt:I‰ÐÁà)Ð;4Ãr+»˜ t ‰Ï‰ÐÁà)ЋÃùÿtI‰ÐÁà)ЋUü;4Âsڃÿÿt‰ÐÁà)ЋU‰Ř t ëv‹E‹U‰ƒùÿtI‰ÐÁà)ЋU‰Ŝ t ë
+‹E‹U‰B‹E@‰ÐÁà)ÐÁà‰ˆ˜ t ‰¸œ t [^_‰ì]ÃU‰åWVS‹uv‰ÐÁà)ÐÁà‹˜œ t ¿˜ t ‹8ƒûÿt[‰ÐÁà)ЉÇë‹E‰ƒùÿt"I‰ÁÁá)Á»œ t v‰ÐÁà)ЋÉË됋E‰X[^_‰ì]ÍvU‰åS‹M‹ƒûÿt9‹ @‰ÂÁâ)‹՘ t ‰ ƒøÿt@‰ÐÁà)ÐÇŜ t ÿÿÿÿëÇAÿÿÿÿ‰Ø[‰ì]ÉöU‰åS‹M‹]ƒ;ÿt)I‰ÐÁà)Ћ‰Ř t ‹@‰ÂÁâ)‰՜ t 됉KI‰ÐÁà)ÐÇŘ t ÿÿÿÿI‰ÐÁà)ÐÇŜ t ÿÿÿÿ‰[‰ì]ÃU‰åS‹M‹]ƒ{ÿt,I‰ÐÁà)ЋS‰Ŝ t ‹C@‰ÂÁâ)‰՘ t ë‰ö‰I‰ÐÁà)ÐÇŜ t ÿÿÿÿI‰ÐÁà)ÐÇŘ t ÿÿÿÿ‰K[‰ì]ÃU‰å‹E‹‰ì]ÃU‰å‹E‹@‰ì]Ít&¼'FreeExeSleepWaiting on joinUnknownTime (EXACT) : %us %uns
+< Level %d : %s Code: %d Version: %d >
+< Memory Dump >
+vU‰å1Àf‹Eƒø t Àtë.‰öƒøtƒøtë ¸`<r 됸e<r 됸i<r 됸o<r 됸<r ‰ì]ÍvU‰åƒìWVSœúX‰Â‰Uô‹E© t&ƒÄøEøPjèW–ÿÿƒÄü‹EüP‹EøPh‡<r è6ˆÿÿƒÄ ‹UöÂtP1ö;5 t sF¿Ì„t ƒÄôµ‹;1ÀŠBP1Àf‹BPRVh <r èö‡ÿÿƒÄ ƒÄô‹;V‹@ ÿЃÄF;5 t r¿‹E©tƒÄôhÈ<r èćÿÿèóØþÿ‹Uô‰ÐPeØ[^_‰ì]Í´&¼'8Œÿÿ’ÏÿÿšÏÿ>r ÿFr °à.ð ÿÿÿÿ€?–Cq=J?¸A333? @ A AÍÌÌ= 33@–C?pA€?€? A AÍÌÌ= €?–Cfff?B¤p=?€? A AÍÌL> €?–Cq=J?¸A333? @ A AÍÌÌ= €?€?À?€? ÿÿÿÿ
+‚((€
+1234567890.+*/-+*-aAbBcCdDeEfFgGhHiIjJkKlLmMnNoOpPqQrRsStTuUvVwWxXyYzZ[]@#@€r ÿÿÿÿ ÿÿÿÿ q zq sq lq eq ^q Wq Pq ÐMq ØMq ØMq ¬Éq žÉq ‘Éq €Éq eÉq OÉq ?Éq +Éq Éq Éq ÿÈq êÈq ÙÈq ¿Èq ³Èq Éq  Èq  þþAÐr ðÿÿÿÿ
\ No newline at end of file

/unsupported/trunk/pendulum/INT2DAT
0,0 → 1,172
75.7087 0
79.9333 0
77.452 0
75.3592 0
75.1914 0
77.1122 0
76.3612 0
76.5635 0
73.9504 0
75.4943 0
73.6073 0
75.7513 0
n.run=12 aver=76.0404 confid_int=0.8652
69.615 0
79.0877 0
70.4339 0
76.2718 0
74.4578 0
71.2658 0
78.2078 0
72.5839 0
71.7884 0
79.1128 0
75.3653 0
n.run=11 aver=74.3809 confid_int=1.9058
81.6815 0
75.8802 0
80.6838 0
76.0847 0
78.8381 0
76.4383 0
73.7466 0
73.239 0
80.0471 0
77.6 0
80.6322 0
76.3205 0
78.6785 0
77.3736 0
n.run=14 aver=77.6603 confid_int=1.2184
84.9702 0
72.1639 0
76.0931 0
76.013 0
70.9388 0
75.983 0
71.1463 0
79.5522 0
71.536 0
76.1734 0
73.7142 0
75.2916 0
71.7764 0
65.3898 0
n.run=14 aver=74.3387 confid_int=2.1747
84.4624 0
95.3063 0
87.6632 0
83.6 0
84.9754 0
87.6817 0
n.run=6 aver=87.2815 confid_int=3.5194
76.6448 0
82.0144 0
87.5942 0
75.6285 0
79.6174 0
77.6895 0
84.8597 0
84.1193 0
87.6496 0
84.2535 0
81.0485 0
76.4112 0
84.7744 0
71.9385 0
n.run=14 aver=81.0174 confid_int=2.2814
82.5791 0
78.0991 0
71.5994 0
81.0511 0
82.9043 0
85.5369 0
84.8637 0
83.5807 0
87.976 0
86.481 0
83.3191 0
91.5774 0
84.8253 0
89.5961 0
n.run=14 aver=83.8564 confid_int=2.3311
74.7544 0
79.9592 0
75.8156 0
79.532 0
79.0309 0
76.5483 0
73.3284 0
78.4312 0
76.8304 0
79.285 0
78.9462 0
78.9369 0
77.4298 0
73.846 0
79.4989 0
n.run=15 aver=77.4782 confid_int=0.9962
102.59 0
109.897 0
105.5264 0
98.4997 0
108.467 0
102.7557 0
98.8228 0
99.3031 0
98.7208 0
101.1272 0
105.1235 0
102.2002 0
104.9151 0
104.0164 0
99.6698 0
n.run=15 aver=102.7756 confid_int=1.6187
78.6897 0
78.2469 0
81.2174 0
82.1115 0
83.7755 0
78.4076 0
81.1527 0
78.4506 0
77.9865 0
79.2684 0
81.5052 0
81.6938 0
82.1072 0
82.5532 0
79.6109 0
n.run=15 aver=80.4518 confid_int=0.8508
79.4425 0
79.9719 0
82.8739 0
79.5375 0
76.5184 0
79.0933 0
81.7751 0
79.9321 0
78.9243 0
81.1876 0
81.3341 0
76.1698 0
76.9999 0
82.5071 0
81.54 0
n.run=15 aver=79.8538 confid_int=0.9509
75.308 0
75.4524 0
78.2246 0
81.9861 0
78.5754 0
79.5758 0
81.2646 0
80.0706 0
74.8796 0
79.2708 0
76.4449 0
78.0854 0
76.2797 0
76.9625 0
81.2889 0
n.run=15 aver=78.2446 confid_int=1.0535

/unsupported/trunk/pendulum/PCLAB.H
0,0 → 1,13
/*--------------------------------------------------------------*/
/* File header da includere nel main quando si usano */
/* le funzioni di aquisizione contenute in PCLAB.C */
/*--------------------------------------------------------------*/
float ad_conv(int ); /* conversione A/D */
int da_conv(float, int ); /* conversione D/A */
int par_in(void); /* ingresso digitale */
void par_out(int n); /* uscita digitale */
/*--------------------------------------------------------------*/

/unsupported/trunk/pendulum/EDFACT.C
0,0 → 1,745
/*
* Project: S.Ha.R.K.
*
* Coordinators:
* Giorgio Buttazzo <giorgio@sssup.it>
* Paolo Gai <pj@gandalf.sssup.it>
*
* Authors :
* Paolo Gai <pj@gandalf.sssup.it>
* (see the web pages for full authors list)
*
* ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
*
* http://www.sssup.it
* http://retis.sssup.it
* http://shark.sssup.it
*/
/**
------------
CVS : $Id: EDFACT.C,v 1.1 2004-06-04 10:48:28 giacomo Exp $
File: $File$
Revision: $Revision: 1.1 $
Last update: $Date: 2004-06-04 10:48:28 $
------------
**/
/*
* Copyright (C) 2001 Paolo Gai
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
#include "edfact.h"
#include <ll/stdio.h>
#include <ll/string.h>
#include <kernel/model.h>
#include <kernel/descr.h>
#include <kernel/var.h>
#include <kernel/func.h>
#include <kernel/trace.h>
//#define edfact_printf kern_printf
#define edfact_printf printk
/*+ Status used in the level +*/
#define EDFACT_READY MODULE_STATUS_BASE /*+ - Ready status +*/
#define EDFACT_IDLE MODULE_STATUS_BASE+4 /*+ to wait the deadline +*/
/*+ flags +*/
#define EDFACT_FLAG_NORAISEEXC 2
/*+ the level redefinition for the Earliest Deadline First level +*/
typedef struct {
level_des l; /*+ the standard level descriptor +*/
TIME period[MAX_PROC]; /*+ The task periods; the deadlines are
stored in the priority field +*/
int deadline_timer[MAX_PROC];
/*+ The task deadline timers +*/
struct timespec deadline_timespec[MAX_PROC];
int dline_miss[MAX_PROC]; /*+ Deadline miss counter +*/
int wcet_miss[MAX_PROC]; /*+ Wcet miss counter +*/
int nact[MAX_PROC]; /*+ Wcet miss counter +*/
int flag[MAX_PROC];
/*+ used to manage the JOB_TASK_MODEL and the
periodicity +*/
QUEUE ready; /*+ the ready queue +*/
int flags; /*+ the init flags... +*/
bandwidth_t U; /*+ the used bandwidth +*/
} EDFACT_level_des;
static void EDFACT_timer_deadline(void *par);
static void EDFACT_internal_activate(EDFACT_level_des *lev, PID p)
{
TIMESPEC_ASSIGN(&proc_table[p].timespec_priority,
&proc_table[p].request_time);
ADDUSEC2TIMESPEC(lev->period[p], &proc_table[p].timespec_priority);
TIMESPEC_ASSIGN(&lev->deadline_timespec[p],
&proc_table[p].timespec_priority);
/* Insert task in the correct position */
proc_table[p].status = EDFACT_READY;
q_timespec_insert(p,&lev->ready);
/* needed because when there is a wcet miss I disable CONTROL_CAP */
proc_table[p].control |= CONTROL_CAP;
}
static char *EDFACT_status_to_a(WORD status)
{
if (status < MODULE_STATUS_BASE)
return status_to_a(status);
switch (status) {
case EDFACT_READY : return "EDFACT_Ready";
case EDFACT_IDLE : return "EDFACT_Idle";
default : return "EDFACT_Unknown";
}
}
static void EDFACT_timer_deadline(void *par)
{
PID p = (PID) par;
EDFACT_level_des *lev;
lev = (EDFACT_level_des *)level_table[proc_table[p].task_level];
switch (proc_table[p].status) {
case EDFACT_IDLE:
edfact_printf("I%d",p);
TIMESPEC_ASSIGN(&proc_table[p].request_time,
&proc_table[p].timespec_priority);
EDFACT_internal_activate(lev,p);
event_need_reschedule();
break;
default:
edfact_printf("D%d",p );
/* else, a deadline miss occurred!!! */
lev->dline_miss[p]++;
/* the task is into another state */
lev->nact[p]++;
/* Set the deadline timer */
ADDUSEC2TIMESPEC(lev->period[p], &lev->deadline_timespec[p]);
}
/* Set the deadline timer */
lev->deadline_timer[p] = kern_event_post(&lev->deadline_timespec[p],
EDFACT_timer_deadline,
(void *)p);
}
static void EDFACT_timer_guest_deadline(void *par)
{
PID p = (PID) par;
edfact_printf("AAARRRGGGHHH!!!");
kern_raise(XDEADLINE_MISS,p);
}
static int EDFACT_level_accept_task_model(LEVEL l, TASK_MODEL *m)
{
if (m->pclass == HARD_PCLASS || m->pclass == (HARD_PCLASS | l)) {
HARD_TASK_MODEL *h = (HARD_TASK_MODEL *)m;
if (h->wcet && h->mit && h->periodicity == PERIODIC)
return 0;
}
return -1;
}
static int EDFACT_level_accept_guest_model(LEVEL l, TASK_MODEL *m)
{
if (m->pclass == JOB_PCLASS || m->pclass == (JOB_PCLASS | l))
return 0;
else
return -1;
}
static char *onoff(int i)
{
if (i)
return "On ";
else
return "Off";
}
static void EDFACT_level_status(LEVEL l)
{
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
PID p = lev->ready;
kern_printf("On-line guarantee : %s\n",
onoff(lev->flags & EDFACT_ENABLE_GUARANTEE));
kern_printf("Used Bandwidth : %u/%u\n",
lev->U, MAX_BANDWIDTH);
while (p != NIL) {
if ((proc_table[p].pclass) == JOB_PCLASS)
kern_printf("Pid: %2d (GUEST)\n", p);
else
kern_printf("Pid: %2d Name: %10s %s: %9d Dline: %9d.%6d Stat: %s\n",
p,
proc_table[p].name,
"Period ",
lev->period[p],
proc_table[p].timespec_priority.tv_sec,
proc_table[p].timespec_priority.tv_nsec/1000,
EDFACT_status_to_a(proc_table[p].status));
p = proc_table[p].next;
}
for (p=0; p<MAX_PROC; p++)
if (proc_table[p].task_level == l && proc_table[p].status != EDFACT_READY
&& proc_table[p].status != FREE )
kern_printf("Pid: %2d Name: %10s %s: %9d Dline: %9d.%6d Stat: %s\n",
p,
proc_table[p].name,
"Period ",
lev->period[p],
proc_table[p].timespec_priority.tv_sec,
proc_table[p].timespec_priority.tv_nsec/1000,
EDFACT_status_to_a(proc_table[p].status));
}
/* The scheduler only gets the first task in the queue */
static PID EDFACT_level_scheduler(LEVEL l)
{
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
/* { // print 4 dbg the ready queue
PID p= lev->ready;
kern_printf("(s");
while (p != NIL) {
kern_printf("%d ",p);
p = proc_table[p].next;
}
kern_printf(") ");
}
*/
return (PID)lev->ready;
}
/* The on-line guarantee is enabled only if the appropriate flag is set... */
static int EDFACT_level_guarantee(LEVEL l, bandwidth_t *freebandwidth)
{
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
if (lev->flags & EDFACT_FAILED_GUARANTEE) {
*freebandwidth = 0;
return 0;
}
else
if (*freebandwidth >= lev->U) {
*freebandwidth -= lev->U;
return 1;
}
else
return 0;
}
static int EDFACT_task_create(LEVEL l, PID p, TASK_MODEL *m)
{
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
/* if the EDFACT_task_create is called, then the pclass must be a
valid pclass. */
HARD_TASK_MODEL *h = (HARD_TASK_MODEL *)m;
lev->period[p] = h->mit;
lev->flag[p] = 0;
lev->deadline_timer[p] = -1;
lev->dline_miss[p] = 0;
lev->wcet_miss[p] = 0;
lev->nact[p] = 0;
/* Enable wcet check */
proc_table[p].avail_time = h->wcet;
proc_table[p].wcet = h->wcet;
proc_table[p].control |= CONTROL_CAP;
/* update the bandwidth... */
if (lev->flags & EDFACT_ENABLE_GUARANTEE) {
bandwidth_t b;
b = (MAX_BANDWIDTH / h->mit) * h->wcet;
/* really update lev->U, checking an overflow... */
if (MAX_BANDWIDTH - lev->U > b)
lev->U += b;
else
/* The task can NOT be guaranteed (U>MAX_BANDWIDTH)...
in this case, we don't raise an exception... in fact, after the
EDFACT_task_create the task_create will call level_guarantee that return
-1... return -1 in EDFACT_task_create isn't correct, because:
. generally, the guarantee must be done when also the resources
are registered
. returning -1 will cause the task_create to return with an errno
ETASK_CREATE instead of ENO_GUARANTEE!!!
Why I use the flag??? because if the lev->U overflows, if i.e. I set
it to MAX_BANDWIDTH, I lose the correct allocated bandwidth...
*/
lev->flags |= EDFACT_FAILED_GUARANTEE;
}
return 0; /* OK, also if the task cannot be guaranteed... */
}
static void EDFACT_task_detach(LEVEL l, PID p)
{
/* the EDFACT level doesn't introduce any dinamic allocated new field.
we have only to reset the NO_GUARANTEE FIELD and decrement the allocated
bandwidth */
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
if (lev->flags & EDFACT_FAILED_GUARANTEE)
lev->flags &= ~EDFACT_FAILED_GUARANTEE;
else
lev->U -= (MAX_BANDWIDTH / lev->period[p]) * proc_table[p].wcet;
}
static int EDFACT_task_eligible(LEVEL l, PID p)
{
return 0; /* if the task p is chosen, it is always eligible */
}
static void EDFACT_task_dispatch(LEVEL l, PID p, int nostop)
{
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
/* the task state is set EXE by the scheduler()
we extract the task from the ready queue
NB: we can't assume that p is the first task in the queue!!! */
q_extract(p, &lev->ready);
}
static void EDFACT_task_epilogue(LEVEL l, PID p)
{
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
/* check if the wcet is finished... */
if (proc_table[p].avail_time <= 0 && proc_table[p].control&CONTROL_CAP) {
/* wcet finished: disable wcet event and count wcet miss */
edfact_printf("W%d",p);
proc_table[p].control &= ~CONTROL_CAP;
lev->wcet_miss[p]++;
}
/* the task it returns into the ready queue... */
q_timespec_insert(p,&lev->ready);
proc_table[p].status = EDFACT_READY;
}
static void EDFACT_task_activate(LEVEL l, PID p)
{
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
/* Test if we are trying to activate a non sleeping task */
/* save activation (only if needed... */
if (proc_table[p].status != SLEEP) {
/* a periodic task cannot be activated when it is already active */
kern_raise(XACTIVATION,p);
return;
}
ll_gettime(TIME_EXACT, &proc_table[p].request_time);
EDFACT_internal_activate(lev,p);
/* Set the deadline timer */
lev->deadline_timer[p] = kern_event_post(&lev->deadline_timespec[p],
EDFACT_timer_deadline,
(void *)p);
}
static void EDFACT_task_insert(LEVEL l, PID p)
{
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
/* Insert task in the coEDFect position */
proc_table[p].status = EDFACT_READY;
q_timespec_insert(p,&lev->ready);
}
static void EDFACT_task_extract(LEVEL l, PID p)
{
}
static void EDFACT_task_endcycle(LEVEL l, PID p)
{
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
/* we reset the capacity counters... */
proc_table[p].avail_time = proc_table[p].wcet;
if (lev->nact[p] > 0) {
edfact_printf("E%d",p);
/* Pending activation: reactivate the thread!!! */
lev->nact[p]--;
/* see also EDFACT_timer_deadline */
ll_gettime(TIME_EXACT, &proc_table[p].request_time);
EDFACT_internal_activate(lev,p);
/* check if the deadline has already expired */
if (TIMESPEC_A_LT_B(&proc_table[p].timespec_priority, &schedule_time)) {
/* count the deadline miss */
lev->dline_miss[p]++;
event_delete(lev->deadline_timer[p]);
}
}
else {
edfact_printf("e%d",p);
/* the task has terminated his job before it consume the wcet. All OK! */
proc_table[p].status = EDFACT_IDLE;
/* when the deadline timer fire, it recognize the situation and set
correctly all the stuffs (like reactivation, request_time, etc... ) */
}
}
static void EDFACT_task_end(LEVEL l, PID p)
{
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
edfact_printf("Û%d",p);
/* we finally put the task in the ready queue */
proc_table[p].status = FREE;
q_insertfirst(p,&freedesc);
/* and free the allocated bandwidth */
lev->U -= (MAX_BANDWIDTH/lev->period[p]) * proc_table[p].wcet;
if (lev->deadline_timer[p] != -1) {
edfact_printf("²%d",p);
event_delete(lev->deadline_timer[p]);
}
}
static void EDFACT_task_sleep(LEVEL l, PID p)
{ kern_raise(XUNVALID_TASK,exec_shadow); }
static void EDFACT_task_delay(LEVEL l, PID p, TIME usdelay)
{ kern_raise(XUNVALID_TASK,exec_shadow); }
/* Guest Functions
These functions manages a JOB_TASK_MODEL, that is used to put
a guest task in the EDFACT ready queue. */
static int EDFACT_guest_create(LEVEL l, PID p, TASK_MODEL *m)
{
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
JOB_TASK_MODEL *job = (JOB_TASK_MODEL *)m;
/* if the EDFACT_guest_create is called, then the pclass must be a
valid pclass. */
TIMESPEC_ASSIGN(&proc_table[p].timespec_priority, &job->deadline);
lev->deadline_timer[p] = -1;
lev->dline_miss[p] = 0;
lev->wcet_miss[p] = 0;
lev->nact[p] = 0;
if (job->noraiseexc)
lev->flag[p] = EDFACT_FLAG_NORAISEEXC;
else
lev->flag[p] = 0;
lev->period[p] = job->period;
/* there is no bandwidth guarantee at this level, it is performed
by the level that inserts guest tasks... */
return 0; /* OK, also if the task cannot be guaranteed... */
}
static void EDFACT_guest_detach(LEVEL l, PID p)
{
/* the EDFACT level doesn't introduce any dinamic allocated new field.
No guarantee is performed on guest tasks... so we don't have to reset
the NO_GUARANTEE FIELD */
}
static void EDFACT_guest_dispatch(LEVEL l, PID p, int nostop)
{
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
/* the task state is set to EXE by the scheduler()
we extract the task from the ready queue
NB: we can't assume that p is the first task in the queue!!! */
q_extract(p, &lev->ready);
}
static void EDFACT_guest_epilogue(LEVEL l, PID p)
{
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
/* the task has been preempted. it returns into the ready queue... */
q_timespec_insert(p,&lev->ready);
proc_table[p].status = EDFACT_READY;
}
static void EDFACT_guest_activate(LEVEL l, PID p)
{
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
/* Insert task in the correct position */
q_timespec_insert(p,&lev->ready);
proc_table[p].status = EDFACT_READY;
/* Set the deadline timer */
if (!(lev->flag[p] & EDFACT_FLAG_NORAISEEXC))
lev->deadline_timer[p] = kern_event_post(&proc_table[p].timespec_priority,
EDFACT_timer_guest_deadline,
(void *)p);
}
static void EDFACT_guest_insert(LEVEL l, PID p)
{
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
/* Insert task in the correct position */
q_timespec_insert(p,&lev->ready);
proc_table[p].status = EDFACT_READY;
}
static void EDFACT_guest_extract(LEVEL l, PID p)
{
}
static void EDFACT_guest_endcycle(LEVEL l, PID p)
{ kern_raise(XUNVALID_GUEST,exec_shadow); }
static void EDFACT_guest_end(LEVEL l, PID p)
{
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
//kern_printf("EDFACT_guest_end: dline timer %d\n",lev->deadline_timer[p]);
if (proc_table[p].status == EDFACT_READY)
{
q_extract(p, &lev->ready);
//kern_printf("(g_end rdy extr)");
}
/* we remove the deadline timer, because the slice is finished */
if (lev->deadline_timer[p] != NIL) {
// kern_printf("EDFACT_guest_end: dline timer %d\n",lev->deadline_timer[p]);
event_delete(lev->deadline_timer[p]);
lev->deadline_timer[p] = NIL;
}
}
static void EDFACT_guest_sleep(LEVEL l, PID p)
{ kern_raise(XUNVALID_GUEST,exec_shadow); }
static void EDFACT_guest_delay(LEVEL l, PID p, TIME usdelay)
{ kern_raise(XUNVALID_GUEST,exec_shadow); }
/* Registration functions */
/*+ Registration function:
int flags the init flags ... see EDFACT.h +*/
void EDFACT_register_level(int flags)
{
LEVEL l; /* the level that we register */
EDFACT_level_des *lev; /* for readableness only */
PID i; /* a counter */
printk("EDFACT_register_level\n");
/* request an entry in the level_table */
l = level_alloc_descriptor();
printk(" alloco descrittore %d %d\n",l,(int)sizeof(EDFACT_level_des));
/* alloc the space needed for the EDFACT_level_des */
lev = (EDFACT_level_des *)kern_alloc(sizeof(EDFACT_level_des));
printk(" lev=%d\n",(int)lev);
/* update the level_table with the new entry */
level_table[l] = (level_des *)lev;
/* fill the standard descriptor */
strncpy(lev->l.level_name, EDFACT_LEVELNAME, MAX_LEVELNAME);
lev->l.level_code = EDFACT_LEVEL_CODE;
lev->l.level_version = EDFACT_LEVEL_VERSION;
lev->l.level_accept_task_model = EDFACT_level_accept_task_model;
lev->l.level_accept_guest_model = EDFACT_level_accept_guest_model;
lev->l.level_status = EDFACT_level_status;
lev->l.level_scheduler = EDFACT_level_scheduler;
if (flags & EDFACT_ENABLE_GUARANTEE)
lev->l.level_guarantee = EDFACT_level_guarantee;
else
lev->l.level_guarantee = NULL;
lev->l.task_create = EDFACT_task_create;
lev->l.task_detach = EDFACT_task_detach;
lev->l.task_eligible = EDFACT_task_eligible;
lev->l.task_dispatch = EDFACT_task_dispatch;
lev->l.task_epilogue = EDFACT_task_epilogue;
lev->l.task_activate = EDFACT_task_activate;
lev->l.task_insert = EDFACT_task_insert;
lev->l.task_extract = EDFACT_task_extract;
lev->l.task_endcycle = EDFACT_task_endcycle;
lev->l.task_end = EDFACT_task_end;
lev->l.task_sleep = EDFACT_task_sleep;
lev->l.task_delay = EDFACT_task_delay;
lev->l.guest_create = EDFACT_guest_create;
lev->l.guest_detach = EDFACT_guest_detach;
lev->l.guest_dispatch = EDFACT_guest_dispatch;
lev->l.guest_epilogue = EDFACT_guest_epilogue;
lev->l.guest_activate = EDFACT_guest_activate;
lev->l.guest_insert = EDFACT_guest_insert;
lev->l.guest_extract = EDFACT_guest_extract;
lev->l.guest_endcycle = EDFACT_guest_endcycle;
lev->l.guest_end = EDFACT_guest_end;
lev->l.guest_sleep = EDFACT_guest_sleep;
lev->l.guest_delay = EDFACT_guest_delay;
/* fill the EDFACT descriptor part */
for(i=0; i<MAX_PROC; i++) {
lev->period[i] = 0;
lev->deadline_timer[i] = -1;
lev->flag[i] = 0;
lev->dline_miss[i] = 0;
lev->wcet_miss[i] = 0;
lev->nact[i] = 0;
}
lev->ready = NIL;
lev->flags = flags & 0x07;
lev->U = 0;
}
bandwidth_t EDFACT_usedbandwidth(LEVEL l)
{
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
if (lev->l.level_code == EDFACT_LEVEL_CODE &&
lev->l.level_version == EDFACT_LEVEL_VERSION)
return lev->U;
else
return 0;
}
int EDFACT_get_dline_miss(PID p)
{
LEVEL l = proc_table[p].task_level;
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
if (lev->l.level_code == EDFACT_LEVEL_CODE &&
lev->l.level_version == EDFACT_LEVEL_VERSION)
return lev->dline_miss[p];
else
return -1;
}
int EDFACT_get_wcet_miss(PID p)
{
LEVEL l = proc_table[p].task_level;
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
if (lev->l.level_code == EDFACT_LEVEL_CODE &&
lev->l.level_version == EDFACT_LEVEL_VERSION)
return lev->wcet_miss[p];
else
return -1;
}
int EDFACT_get_nact(PID p)
{
LEVEL l = proc_table[p].task_level;
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
if (lev->l.level_code == EDFACT_LEVEL_CODE &&
lev->l.level_version == EDFACT_LEVEL_VERSION)
return lev->nact[p];
else
return -1;
}
int EDFACT_reset_dline_miss(PID p)
{
LEVEL l = proc_table[p].task_level;
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
if (lev->l.level_code == EDFACT_LEVEL_CODE &&
lev->l.level_version == EDFACT_LEVEL_VERSION)
{
lev->dline_miss[p] = 0;
return 0;
}
else
return -1;
}
int EDFACT_reset_wcet_miss(PID p)
{
LEVEL l = proc_table[p].task_level;
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
if (lev->l.level_code == EDFACT_LEVEL_CODE &&
lev->l.level_version == EDFACT_LEVEL_VERSION)
{
lev->wcet_miss[p] = 0;
return 0;
}
else
return -1;
}
void EDFACT_modify_dline(PID p, TIME period, int wcet)
{
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[proc_table[p].task_level]);
lev->period[p] = period;
// lev->wcet[p] = wcet;
proc_table[p].wcet =wcet;
}

/unsupported/trunk/pendulum/DATADIR/DATA1
0,0 → 1,701
%KeyTask track cam timejet carrello eval diseg query
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0 4124 17791 47 170 12915 2883 0
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0 4271 17619 46 160 13085 2832 0
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/unsupported/trunk/pendulum/DATADIR/DATA2
0,0 → 1,701
KeyTask track cam timejet carrello eval diseg query
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/unsupported/trunk/pendulum/DATADIR/DATA3
0,0 → 1,601
KeyTask track cam timejet carrello eval diseg query
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/unsupported/trunk/pendulum/DATADIR/DATA4
0,0 → 1,701
KeyTask track cam timejet carrello eval diseg query
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/unsupported/trunk/pendulum/DATADIR/DATA5
0,0 → 1,701
KeyTask track cam timejet carrello eval diseg query
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0 5480 0 0 165 0 0 0
0 5736 0 0 165 0 0 0
0 5725 0 0 161 0 0 0
0 5457 0 0 160 0 0 0
0 5466 0 0 161 0 0 0
0 5563 0 0 159 0 0 0
0 5691 0 0 166 0 0 0
0 5911 0 0 161 0 0 0
0 5864 0 0 173 0 0 0
0 5917 0 0 137 0 0 0
0 6039 0 0 168 0 0 0
0 6080 0 0 167 0 0 0
0 5932 0 0 159 0 0 0
0 5846 0 0 166 0 0 0
0 6089 0 0 165 0 0 0
0 5949 0 0 165 0 0 0
0 5812 0 0 169 0 0 0
0 5978 0 0 170 0 0 0
0 5692 0 0 160 0 0 0
0 5743 0 0 165 0 0 0
0 5350 0 0 162 0 0 0
0 5532 0 0 164 0 0 0
0 5332 0 0 141 0 0 0
0 5550 0 0 157 0 0 0
0 5473 0 0 168 0 0 0
0 5541 0 0 157 0 0 0
0 5716 0 0 167 0 0 0
0 5662 0 0 164 0 0 0
0 5631 0 0 162 0 0 0
0 5626 0 0 158 0 0 0
0 5853 0 0 157 0 0 0

/unsupported/trunk/pendulum/CAMERA.C
0,0 → 1,540
// framegrabber stuffs
/* File name ......... : ELABOR.C
* Project............ :
* Object ............ :
* Author ............ : Facchinetti Tullio
* Language .......... : C
* Compiler .......... : GNU C
* Operative system .. : MS-DOS/HARTIK
* Creation data ..... : 04/03/2000
* Last modify ....... : 19/11/99
*/
#include "demo.h"
#include "pclab.h"
#include <kernel/func.h>
#include <modules/cabs.h>
#include <stdio.h>
#include <drivers/pxc.h>
#include "string.h"
#include "ll/i386/x-dos.h"
#include "modules/hartport.h"
#define LUNGH 35.
// extern struct Data_cab2 tmp;
static CAB frameCAB; // CAB di deposito dgelle immagini
static CAB trackingCAB; // CAB di deposito delle info di tracking
int img_border = 10; // 10;
int img_border_y = 130; // new!!
int window_width = 40; //40;
int window_height = 40; //40;
TPixel pix_threshold = 128;
// a 256 GRAYscale palette
WORD GRAY_palette[256];
// the image to be put on the screen
WORD converted_image[IMG_COL * IMG_ROW];
TDataObj sequence[N_FRAMES];
char scan_window_frame(TDataObj *data, TPixel *in_frame, \
unsigned int xc, unsigned int yc, int border, int border_y)
{
unsigned long int offset;
unsigned int i, j;
TPixel pix;
double sum_x = 0.0, sum_y = 0.0;
unsigned int n_pix = 0;
int x1, y1, x2, y2; // Must be int!!!
char found;
data->x1 = N_COL;
data->y1 = N_ROW;
data->x2 = data->y2 = 0;
data->xb = data->yb = -1;
data->time_stamp = -1;
found = 0;
x1 = MAX_NUM((xc - window_width / 2), (border));
y1 = MAX_NUM((yc - window_height / 2), (border_y));
x2 = MIN_NUM((xc + window_width / 2), (N_COL - border));
y2 = MIN_NUM((yc + window_height / 2), (N_ROW - border_y));
for (i = y1; i < y2; i++) {
for (j = x1; j < x2; j++) {
offset = i * N_COL + j;
pix = *(in_frame + offset);
#ifdef __BLACK_ON_WHITE
// Pixel found (object is BLACK, background is WHITE)
if (pix < pix_threshold) {
#else
// Pixel found (object is WHITE, background is BLACK)
if (pix > pix_threshold) {
#endif
data->time_stamp = sys_gettime(NULL);
found = 1;
n_pix++;
sum_x += j;
sum_y += i;
// *(in_frame + offset) = 0;
if (i < data->y1)
data->y1 = i;
if (i > data->y2)
data->y2 = i;
if (j < data->x1)
data->x1 = j;
if (j > data->x2)
data->x2 = j;
} else {
// *(in_frame + offset) = 255;
}
}
}
data->xb = sum_x / n_pix;
data->yb = sum_y / n_pix;
return(found);
}
char scan_all_frame(TDataObj *data, TPixel *in_frame)
{
unsigned long int offset;
unsigned int i, j;
TPixel pix;
double sum_x = 0.0, sum_y = 0.0;
unsigned int n_pix = 0;
char found;
data->x1 = N_COL;
data->y1 = N_ROW;
data->x2 = data->y2 = 0;
data->xb = data->yb = -1;
data->time_stamp = -1;
found = 0;
// In a single image scanning it performs thresholding and computation
for (i = img_border_y; i < N_ROW - img_border_y; i++) {
for (j = img_border; j < N_COL - img_border; j++) {
offset = i * N_COL + j;
pix = *(in_frame + offset);
#ifdef __BLACK_ON_WHITE
// Pixel found (object is BLACK, background is WHITE)
if (pix < pix_threshold) {
#else
// Pixel found (object is WHITE, background is BLACK)
if (pix > pix_threshold) {
#endif
data->time_stamp = sys_gettime(NULL);
found = 1;
n_pix++;
sum_x += j;
sum_y += i;
// *(in_frame + offset) = 0;
if (i < data->y1)
data->y1 = i;
if (i > data->y2)
data->y2 = i;
if (j < data->x1)
data->x1 = j;
if (j > data->x2)
data->x2 = j;
} else {
// *(in_frame + offset) = 255;
}
}
}
data->xb = sum_x / n_pix;
data->yb = sum_y / n_pix;
return(found);
}
void tracking(int top_frame, int *track_x, int *track_y, int *int_vx, int *int_vy, int time_to)
{
float vx, vy;
vx = (float)(sequence[top_frame - 1].xb - sequence[top_frame - 2].xb) /
(float)(sequence[top_frame - 1].time_stamp - sequence[top_frame - 2].time_stamp);
vx *= 1000;
vy = (float)(sequence[top_frame - 1].yb - sequence[top_frame - 2].yb) /
(float)(sequence[top_frame - 1].time_stamp - sequence[top_frame - 2].time_stamp);
vy *= 1000;
*track_x = sequence[top_frame - 1].xb + vx * time_to;
*track_y = sequence[top_frame - 1].yb + vy * time_to;
*int_vx = vx * 1000;
*int_vy = vy * 1000;
}
char found;
TPixel *grabber_frame;
int top_frame = 0;
TDataObj current;
TTracking *track;
void init_tracking_task(void)
{
frameCAB = PXC_GetCab();
grabber_frame = cab_getmes(frameCAB);
// Executes first time
found = scan_all_frame(&current, grabber_frame);
if (found) {
memcpy(&sequence[top_frame], &current, sizeof(TDataObj));
top_frame++;
}
cab_unget(frameCAB, grabber_frame);
}
TASK tracking_task(void *arg)
{
// static unsigned int n_frame = 0;
/* char found;
TPixel *grabber_frame;
int top_frame = 0;
TDataObj current;
TTracking *track;
*/
/* frameCAB = PXC_GetCab();
grabber_frame = cab_getmes(frameCAB);
// Executes first time
found = scan_all_frame(&current, grabber_frame);
if (found) {
memcpy(&sequence[top_frame], &current, sizeof(TDataObj));
top_frame++;
}
cab_unget(frameCAB, grabber_frame);
task_endcycle();
*/
while (1) {
// Acquisizione immagine corrente
grabber_frame = (TPixel *)cab_getmes(frameCAB);
track = (TTracking *)cab_reserve(trackingCAB);
// Estrazione della nuova trasformata sul frame corrente
if (found) {
found = scan_window_frame(&current, grabber_frame, current.xb, current.yb, img_border,img_border_y);
} else {
found = scan_all_frame(&current, grabber_frame);
}
track->found = found;
if (found) {
if (top_frame < N_FRAMES) {
memcpy(&sequence[top_frame], &current, sizeof(TDataObj));
top_frame++;
} else {
top_frame = 0;
memcpy(&sequence[top_frame], &current, sizeof(TDataObj));
}
track->top_frame = top_frame;
memcpy(&track->current, &current, sizeof(TDataObj));
if (top_frame > 1) {
tracking(top_frame, &track->predx, &track->predy,
&track->vx, &track->vy, 100);
}
} else {
track->top_frame = top_frame = 0;
}
// parte di acquisizione dal sensore x
{
float y[2], yp[2],x3ist=0;
long int k=0;
char *pun2;
struct Data_cab2 posiz;
float yout1;
task_nopreempt();
yout1=ad_conv(11);
task_preempt();
{ // filtraggio dati ottenuti dal sensore di x
#define AVR 10
int i;
static float oyout1[AVR];
float avy;
static int index=0, flag=1;
if(flag==1) {
for(i=0; i<AVR;++i) { oyout1[i]=yout1;}
flag=0;
}
avy=0;
for(i=0;i<AVR;++i) { avy += oyout1[i]; }
avy /= AVR;
if(fabs(yout1-avy)>=prm.NOISE) { yout1=avy;}
oyout1[index]=yout1;
index = (index+1) % AVR ;
}
#ifndef CAMERA_X
x3ist=v2x(yout1);
y[0]=bass1(x3ist);
yp[0] = bass2(dx(y[0]));
posiz.x = y[0] ; posiz.y = yp[0] ;
#else
posiz.x=bass1( -(LUNGH/2.0)+ ((float)(current.x1 + current.x2))*LUNGH/( 2.0 *N_COL) );
posiz.y=bass2(dx(posiz.x));
// posiz.y=((float) (track->vx *LUNGH )) /(N_COL);
#endif
pun2 = cab_reserve(cab2);
memcpy(pun2, &posiz, sizeof(struct Data_cab2));
cab_putmes(cab2, pun2);
}
// Release CABs
cab_putmes(trackingCAB, (char *)track);
cab_unget(frameCAB, grabber_frame);
task_endcycle();
}
}
/*
*
*
*
* Camera task
*
*
*
*
*/
TASK camera_task(void *arg)
{
register int i,j,col,row;
static unsigned int n_frame = 0;
TPixel *grabber_frame;
TTracking *track;
// char st[600];
// Inizializzazione del task
frameCAB = PXC_GetCab();
while (1) {
n_frame++;
/* Acquisizione immagine corrente */
grabber_frame = cab_getmes(frameCAB);
for (i=0; i<IMG_ROW; i++)
for (j=0; j<IMG_COL; j++) {
col = (j*(N_COL-1))/(IMG_COL-1);
row = (i*(N_ROW-1))/(IMG_ROW-1);
converted_image[i*IMG_COL+j] = GRAY_palette[*(grabber_frame+row*N_COL+col)];
}
// Release CAB
cab_unget(frameCAB, grabber_frame);
for (j=0; j<IMG_COL; j++) {
converted_image[j] = GRAY_palette[0];
converted_image[(IMG_ROW-1)*IMG_COL+j] = GRAY_palette[0];
}
/* scrive l'immagine della camera su video!!! */
#ifdef PLOTIMG
mutex_lock(&mutex);
grx_putimage(IMG_X, IMG_Y, IMG_X+IMG_COL-1, IMG_Y+IMG_ROW-1,(BYTE *)converted_image);
mutex_unlock(&mutex);
#endif
mutex_lock(&mutex);
/* prende dati sul tracking !!! */
track = (TTracking *)cab_getmes(trackingCAB);
/* scrive l'immagine del tracking su video!!! */
if (track->found) {
if (track->top_frame > 1) {
int px, py;
if (track->predx < img_border)
px = img_border;
else if (track->predx > N_COL-img_border)
px = N_COL-img_border;
else
px = track->predx;
if (track->predy < img_border_y)
py = img_border_y;
else if (track->predy > N_ROW-img_border_y)
py = N_ROW-img_border_y;
else
py = track->predy;
#ifdef PLOTIMG
grx_disc(IMG_X+(px*IMG_COL)/N_COL, IMG_Y+(py*IMG_ROW)/N_ROW, 3, 127);
grx_rect(IMG_X+(track->current.x1*IMG_COL)/N_COL, IMG_Y+(track->current.y1*IMG_ROW)/N_ROW, IMG_X+(track->current.x2*IMG_COL)/N_COL, IMG_Y+(track->current.y2*IMG_ROW)/N_ROW, 127);
// grx_disc(IMG_X+(px*2)/3, IMG_Y+(py*2)/3, 3, 127);
// grx_rect(IMG_X+(track->current.x1*2)/3, IMG_Y+(track->current.y1*2)/3, IMG_X+(track->current.x2*2)/3, IMG_Y+(track->current.y2*2)/3, 127);
#endif
}
}
cab_unget(trackingCAB, (char *)track);
mutex_unlock(&mutex);
task_endcycle();
}
}
/*
*
*
*
* Framegrabber Initialization
*
*
*
*
*/
void start_listener(void); //(TIME p);
void framegrabber_close(void *arg)
{
PXC_Close();
}
void init_framegrabber(void)
{
int i;
KEY_EVT my_key;
TIME period;
// Aggiusta la palette
for (i = 0; i < 256; i++)
GRAY_palette[i] = rgb16(i,i,i);
period = PXC_Initiate(4);
if (!period) {
grx_close();
cprintf("Problemi nell'inizializz. del framegrabber. premi un tasto \n");
keyb_getchar();
halt();
sys_end();
}
else {
TTracking *trdata;
// tracking CAB init
trackingCAB = cab_create("trackingCAB", sizeof(TTracking), 3);
trdata = (TTracking *)cab_reserve(trackingCAB);
trdata->found = 0;
cab_putmes(trackingCAB, (char *)trdata);
PXC_Start();
init_tracking_task();
// start_listener();
}
sys_atrunlevel(framegrabber_close, NULL, RUNLEVEL_BEFORE_EXIT);
}
/* crea i TASK tracking_task e camera_task */
/*
void start_listener(void) //(TIME period)
{
SOFT_TASK_MODEL m1, m2;
HARD_TASK_MODEL m3;
#ifdef SOFTPROG
soft_task_default_model(m1);
soft_task_def_level(m1,1);
soft_task_def_met(m1,WCET_TRACKING);
soft_task_def_usemath(m1);
soft_task_def_period(m1,(PERIOD_TRACKING));
soft_task_def_group(m1,1);
soft_task_def_ctrl_jet(m1);
// soft_task_def_skip_arrivals(m1);
tracking_PID = task_create("track", tracking_task, &m1, NULL);
if (tracking_PID == -1) {
sys_end();
exit(4);
}
#else
hard_task_default_model(m3);
//hard_task_def_level(m3,1);
hard_task_def_wcet(m3,WCET_TRACKING);
hard_task_def_mit(m3,(PERIOD_TRACKING));
hard_task_def_usemath(m3);
hard_task_def_group(m3,1);
hard_task_def_ctrl_jet(m3);
tracking_PID = task_create("track", tracking_task, &m3, NULL);
if (tracking_PID == -1) {
sys_end();
exit(4);
}
#endif
soft_task_default_model(m2);
soft_task_def_level(m2,1);
soft_task_def_met(m2,WCET_CAMERA);
soft_task_def_usemath(m2);
soft_task_def_period(m2,PERIOD_CAMERA);
soft_task_def_group(m2,1);
soft_task_def_ctrl_jet(m2);
camera_PID = task_create("cam", camera_task, &m2, NULL);
if (camera_PID == -1) {
sys_end();
exit(4);
}
}
*/

/unsupported/trunk/pendulum/SCRIPT.BAT
0,0 → 1,2
iniz.exe
call iniz.exe

/unsupported/trunk/pendulum/INTG1DAT
0,0 → 1,16
‡¹q Ä^r Ä^r (_r |¹q 79.2982 0
80.451 0
79.3526 0
79.3806 0
77.6759 0
77.3419 0
76.6355 0
81.6373 0
81.4882 0
79.1259 0
79.4511 0
81.281 0
81.5279 0
74.966 0
80.0171 0
n.run=15 aver=79.3087 confid_int=0.8879

/unsupported/trunk/pendulum/CONFIG.MAK
0,0 → 1,96
#
#
#
ifndef SYSNAME
SYSNAME=$(shell uname -s)
ifndef SYSNAME
SYSNAME=MS-DOS
endif
endif
#
# Directories
#
INCLUDE_PATH = $(BASE)/include
LIB_PATH = $(BASE)/lib
ifeq ($(SYSNAME),MS-DOS)
LIB_DIR= $(subst /,\,$(LIB_PATH))
else
LIB_DIR= $(LIB_PATH)
endif
#
# Compiler & utilities
#
CC = gcc
AS = gcc
LD = ld
AR = ar
C_WARN = -Wimplicit-function-declaration -Wall
C_FLAGS = -O -finline-functions -fno-builtin -nostdinc
C_INC = -I$(INCLUDE_PATH)
C_MAC =
ASM_WARN =
ASM_FLAGS = -x assembler-with-cpp
ASM_INC = -I$(INCLUDE_PATH)
ASM_MAC =
ifeq ($(SYSNAME),Linux)
include $(BASE)/config/linux.mak
else
ifeq ($(SYSNAME),MS-DOS)
include $(BASE)/config/msdos.mak
endif
endif
#
#
#
C_OPT = $(C_DEF) $(C_WARN) $(C_INC) $(C_MAC) $(C_FLAGS)
C_OUTPUT = -o $*.o
ASM_OPT = $(ASM_DEF) $(ASM_WARN) $(ASM_INC) $(ASM_MAC) $(ASM_FLAGS)
ASM_OUTPUT = -o $*.o
#
#
#
LINK_STARTUP = $(LIB_PATH)/x0.o
LINK_LIB = -lhpxc -lfftr -lfftc -lhsnd \
-lhpci -lhgd -lhdev -lmem -lhart \
-lmod -lkl -lhx -lhc -lhm -lblk -lfs -lc -lhnet -lcomp
LIB_DEP = $(LIB_PATH)/libhpxc.a $(LIB_PATH)/libfftr.a $(LIB_PATH)/libfftc.a \
$(LIB_PATH)/libhpci.a $(LIB_PATH)/libhgd.a \
$(LIB_PATH)/libhdev.a $(LIB_PATH)/libmem.a $(LIB_PATH)/libhart.a \
$(LIB_PATH)/libmod.a $(LIB_PATH)/libkl.a $(LIB_PATH)/libhx.a \
$(LIB_PATH)/libhc.a $(LIB_PATH)/libhm.a $(LIB_PATH)/libblk.a \
$(LIB_PATH)/libfs.a $(LIB_PATH)/libc.a $(LIB_PATH)/libhnet.a \
$(LIB_PATH)/libcomp.a
#
# Common rules
#
%.o : %.s
$(REDIR) $(CC) $(ASM_OPT) $(ASM_OUTPUT) -c $<
%.o : %.c
$(REDIR) $(CC) $(C_OPT) $(C_OUTPUT) -c $<
%.i : %.c
$(REDIR) $(CC) $(C_OPT) -o $*.o -B $<

/unsupported/trunk/pendulum/EDFACT.H
0,0 → 1,153
/*
* Project: S.Ha.R.K.
*
* Coordinators:
* Giorgio Buttazzo <giorgio@sssup.it>
* Paolo Gai <pj@gandalf.sssup.it>
*
* Authors :
* Paolo Gai <pj@gandalf.sssup.it>
* Massimiliano Giorgi <massy@gandalf.sssup.it>
* Luca Abeni <luca@gandalf.sssup.it>
* (see the web pages for full authors list)
*
* ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
*
* http://www.sssup.it
* http://retis.sssup.it
* http://shark.sssup.it
*/
/**
------------
CVS : $Id: EDFACT.H,v 1.1 2004-06-04 10:48:28 giacomo Exp $
File: $File$
Revision: $Revision: 1.1 $
Last update: $Date: 2004-06-04 10:48:28 $
------------
This file contains the server EDFACT (EDF with pending activations)
Title:
EDFACT
Task Models Accepted:
HARD_TASK_MODEL - Hard Tasks (only Periodic)
wcet field and mit field must be != 0. They are used to set the wcet
and period of the tasks.
periodicity field can be only PERIODIC
drel field is ignored
Guest Models Accepted:
JOB_TASK_MODEL - a single guest task activation
Identified by an absolute deadline and a period.
period field is ignored
Description:
This module schedule his tasks following the classic EDF scheme.
The task guarantee is based on the factor utilization approach.
The tasks scheduled are only periodic.
All the task are put in a queue and the scheduling is based on the
deadline value.
NO GUARANTEE is performed on guest tasks. The guarantee must be performed
by the level that inserts guest tasks in the EDF level.
If a task miss a deadline a counter is incremented.
If a task exausts the wcet a counter is incremented
No ZOMBIE support!!!!!!
Exceptions raised:
XUNVALID_GUEST XUNVALID_TASK
some primitives are not implemented:
task_sleep, task_delay, guest_endcycle, guest_sleep, guest_delay
XACTIVATION
If a task is actiated through task_activate or guest_activate more than
one time
Restrictions & special features:
- This level doesn't manage the main task.
- At init time we have to specify:
. guarantee check
(when all task are created the system will check that the task_set
will not use more than the available bandwidth)
- A function to return the used bandwidth of the level is provided.
- Functions to return and reset the nact, wcet and dline miss counters
**/
/*
* Copyright (C) 2001 Paolo Gai
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
#ifndef __EDFACT_H__
#define __EDFACT_H__
#include <ll/ll.h>
#include <kernel/config.h>
#include <sys/types.h>
#include <kernel/types.h>
#include <modules/codes.h>
/*+ flags... +*/
#define EDFACT_ENABLE_GUARANTEE 1 /*+ Task Guarantee enabled +*/
#define EDFACT_ENABLE_ALL 1
#define EDFACT_FAILED_GUARANTEE 8 /*+ used in the module, unsettabl
in EDF_register_level... +*/
#define ELASTIC_HARD_PCLASS 0x0600
#define EDFACT_LEVELNAME "EDFACT base"
#define EDFACT_LEVEL_CODE 166
#define EDFACT_LEVEL_VERSION 1
/*+ Registration function:
int flags Options to be used in this level instance...
+*/
void EDFACT_register_level(int flags);
/*+ Returns the used bandwidth of a level +*/
bandwidth_t EDFACT_usedbandwidth(LEVEL l);
/*+ returns respectively the number of dline, wcet or nact; -1 if error +*/
int EDFACT_get_dline_miss(PID p);
int EDFACT_get_wcet_miss(PID p);
int EDFACT_get_nact(PID p);
/*+ resets respectively the number of dline, wcet miss; -1 if error +*/
int EDFACT_reset_dline_miss(PID p);
int EDFACT_reset_wcet_miss(PID p);
/*+ modify the dedadlines on runtime +*/
void EDFACT_modify_dline(PID p, TIME period, int wcet);
#endif

/unsupported/trunk/pendulum/XXX.GPR
0,0 → 1,45
__RHIDE_project-file__[ ÿxxx.exe
+ ][  ][  ][ 11
+-fno-peephole][  -fno-rerun-cse-after-loop][  -fno-schedule-insns][  -fno-schedule-insns2][  -fno-strength-reduce][  -fno-thread-jumps][  -fno-unroll-all-loops][  -fno-unroll-loops][  -fomit-frame-pointer][ 
+-fpeephole][  -frerun-cse-after-loop][  -fschedule-insns][  -fschedule-insns2][  -fstrength-reduce][  -fthread-jumps][  -funroll-all-loops][  -funroll-loops]][ ''
+[  -pedantic][  -pedantic-errors][  -w][  -W][  -Waggregate-return][  -Wall][  -Wbad-function-cast][  -Wcast-align][  -Wcast-qual][  -Wchar-subscripts][  -Wcomment][  -Wconversion][  -Wenum-clash][  -Werror][  -Wformat][  -Wid-clash- ÿÿÿÿ][ 
+-Wtraditional][  -Wtrigraphs][  -Wuninitialized][  -Wunused][  -Wwrite-strings]][ 
+[  -g ÿÿÿÿ][  -a][  -d MNDyrxjsLtfcSlgRJdkampÿ][  -fpretend-float][  -gcoff ÿÿÿÿ][  -gdwarf ÿÿÿÿ][  -gdwarf+][  -ggdb ÿÿÿÿ][  -gstabs ÿÿÿÿ][  -gstabs+][  -gxcoff ÿÿÿÿ][  -p][  -pg][  -save-temps]][ 
+-fall-virtual][  -falt-external-templates][  -fcheck-new][  -fconserve-space][  -fdollars-in-identifiers][  -fenum-int-equiv][  -fexternal-templates][  -fhandle-signatures][  -fhuge-objects][  -fmemoize-lookups][  -fno-access-control][  -fno-default-inline][  -fno-gnu-keywords][  -fno-implement-inlines][  -fno-implicit-templates][  -fno-nonnull-objects][  -foperator-names][  -fsave-memoized][  -fstrict-prototype][  -fthis-is-variable][  -fvtable-thunks][  -nostdinc++][  -traditional][  -Wenum-clash][  -Woverloaded-virtual][  -Wtemplate-debugging]][ 
+-fsigned-char][  -funsigned-bitfields][  -funsigned-char][  -fwritable-strings][  -traditional][  -traditional-cpp][ 
+__extension____inline
+__inline__ __label__
+__signature____signed
+__signed__ __sigof____typeof
+__typeof__
+__unused__
+__volatile__volatile__ __wchar_tandand_eqasmautobitandbitorboolbreakcasecatchcharclasscomplconst
+const_castconstructorcontinuedefaultdelete
+destructordodoubledynamic_castelseenumexplicitexternfalsefloatforfriendgotoifinlineintlongmutable namespacenewnotnot_eqoperatororor_eqoverloadpackedprivate protectedpublicregisterregparmreinterpret_castreturnshort signaturesignedsigofsizeofstaticstatic_caststructswitchtemplatethisthrowtruetrytypedeftypeidtypenametypeofunionunsignedunusedusingvirtualvoidvolatilewhilexorxor_eq][ ][ 
+[  -fchar-escapes][  -fc-numbers][  -fshort-circuit][  -flazy-io][  -fstandard-pascal][  -fextended-pascal][  -fobject-pascal][  -fborland-pascal][  -fpascal-sc][  -fextended-syntax][  -flines][  -fdebug-gpi][  -fnested-comments][  -fsetlimit: ÿÿÿÿ][  -fgpc-main: ÿÿ]][ HH AbsoluteAbstractAllAndAnd_thenArrayAsmBeginBindableCaseClassConstConstructor
+DestructorDivDoDowntoElseEndExportExportsFileForFunctionGotoIfImplementationImportIn InheritedInline InterfaceIsLabelLibraryModModuleNilNotObjectOfOnlyOperatorOrOr_else OtherwisePackedPow ProcedureProgramProperty Protected QualifiedRecordRepeat
+RestrictedSetShlShrThenToTypeUnitUntilUsesValueVarViewVirtualWhileWithXor][ ii
+-ff2c-library][  -fno-f2c-library][  -ffree-form][  -fno-free-form][  -ffixed-form][  -fno-fixed-form][ 
+-fugly-logint][  -fno-ugly-logint][  -fdebug][ 
+-fno-debug][  -finit-local-zero][  -fno-init-local-zero][  -fbackslash][  -fno-backslash][  -funderscoring][  -fno-underscoring][  -fsecond-underscore][  -fno-second-underscore][  -fintrin-case-initcap][  -fintrin-case-upper][  -fintrin-case-lower][  -fintrin-case-any][  -fmatch-case-initcap][  -fmatch-case-upper][  -fmatch-case-lower][  -fmatch-case-any][  -fsource-case-upper][  -fsource-case-lower][  -fsource-case-preserve][  -fsymbol-case-initcap][  -fsymbol-case-upper][  -fsymbol-case-lower][  -fsymbol-case-any][  -fcase-strict-upper][  -fcase-strict-lower][  -fcase-initcap][  -fcase-upper][  -fcase-lower][  -fcase-preserve][  -fdcp-intrinsics-delete][  -fdcp-intrinsics-hide][  -fdcp-intrinsics-disable][  -fdcp-intrinsics-enable][  -ff2c-intrinsics-delete][  -ff2c-intrinsics-hide][  -ff2c-intrinsics-disable][  -ff2c-intrinsics-enable][  -ff90-intrinsics-delete][  -ff90-intrinsics-hide][  -ff90-intrinsics-disable][  -ff90-intrinsics-enable][  -fmil-intrinsics-delete][  -fmil-intrinsics-hide][  -fmil-intrinsics-disable][  -fmil-intrinsics-enable][  -funix-intrinsics-delete][  -funix-intrinsics-hide][  -funix-intrinsics-disable][  -funix-intrinsics-enable][  -fvxt-intrinsics-delete][  -fvxt-intrinsics-hide][  -fvxt-intrinsics-disable][  -fvxt-intrinsics-enable][  -fzeros][ 
+-fno-zeros][  -fdebug-kludge][  -fno-debug-kludge][  -fonetrip][  -fno-onetrip][  -fsilent][  -fno-silent][  -ftypeless-boz][  -fno-typeless-boz][  -Wsurprising][  -Wno-surprising][  -ffixed-line-length-]][  ][ 
+ libc]Xmain]
\ No newline at end of file

/unsupported/trunk/pendulum/COMMON.H
0,0 → 1,203
#include "assert.h"
#include "ctype.h"
#include "dirent.h"
#include "endian.h"
#include "errno.h"
#include "fcntl.h"
#include "features.h"
#include "float.h"
#include "getopt.h"
#include "limits.h"
#include "mqueue.h"
#include "pthread.h"
#include "semaphor.h"
#include "signal.h"
#include "stdarg.h"
#include "stddef.h"
#include "stdio.h"
#include "stdlib.h"
#include "string.h"
#include "time.h"
#include "unistd.h"
#include "utime.h"
#include "trace/qcirc.h"
#include "trace/qdummy.h"
#include "trace/qfixed.h"
#include "trace/qudp.h"
#include "trace/queues.h"
#include "trace/trace.h"
#include "trace/types.h"
#include "sys/cdefs.h"
#include "sys/file.h"
#include "sys/types.h"
#include "sys/ioctl.h"
#include "sys/limits.h"
#include "sys/mount.h"
#include "sys/mutex.h"
#include "sys/param.h"
#include "sys/stat.h"
#include "sys/sysmacro.h"
#include "sys/time.h"
#include "sys/utsname.h"
#include "ports/conffftw.h"
#include "ports/f77_func.h"
#include "ports/fftw-int.h"
#include "ports/fftw.h"
#include "ports/rfftw.h"
#include "modules/bd_edf.h"
#include "modules/bd_pscan.h"
#include "modules/cabs.h"
#include "modules/cbs.h"
#include "modules/codes.h"
#include "modules/ds.h"
#include "modules/dummy.h"
#include "modules/edf.h"
#include "modules/hartport.h"
#include "modules/nop.h"
#include "modules/nopm.h"
#include "modules/npp.h"
#include "modules/pc.h"
#include "modules/pi.h"
#include "modules/posix.h"
#include "modules/ps.h"
#include "modules/rm.h"
#include "modules/rr.h"
#include "modules/rr2.h"
#include "modules/rrsoft.h"
#include "modules/sem.h"
#include "modules/sl.h"
#include "modules/srp.h"
#include "modules/ss.h"
#include "modules/ssutils.h"
#include "modules/tbs.h"
#include "modules/xartsem.h"
#include "ll/ctype.h"
#include "ll/errno.h"
#include "ll/float.h"
#include "ll/limits.h"
#include "ll/ll.h"
#include "ll/stdarg.h"
#include "ll/stdio.h"
#include "ll/stdlib.h"
#include "ll/string.h"
#include "ll/time.h"
#include "ll/unistd.h"
#include "ll/sys/cdefs.h"
#include "ll/sys/lltypes.h"
#include "ll/sys/types.h"
#include "ll/sys/ll/aspace.h"
#include "ll/sys/ll/event.h"
#include "ll/sys/ll/exc.h"
#include "ll/sys/ll/ll-data.h"
#include "ll/sys/ll/ll-func.h"
#include "ll/sys/ll/ll-instr.h"
#include "ll/sys/ll/ll-mem.h"
#include "ll/sys/ll/time.h"
#include "ll/sys/ll/timeutil.h"
#include "ll/i386/cons.h"
#include "ll/i386/defs.h"
#include "ll/i386/error.h"
#include "ll/i386/float.h"
#include "ll/i386/hw-arch.h"
#include "ll/i386/hw-data.h"
#include "ll/i386/hw-func.h"
#include "ll/i386/hw-instr.h"
#include "ll/i386/hw-io.h"
#include "ll/i386/limits.h"
#include "ll/i386/linkage.h"
#include "ll/i386/mb-hdr.h"
#include "ll/i386/mb-info.h"
#include "ll/i386/mem.h"
#include "ll/i386/pit.h"
#include "ll/i386/sel.h"
#include "ll/i386/stdio.h"
#include "ll/i386/stdlib.h"
#include "ll/i386/string.h"
#include "ll/i386/tss-ctx.h"
#include "ll/i386/x-bios.h"
#include "ll/i386/x-dos.h"
#include "ll/i386/x-dosmem.h"
#include "kernel/assert.h"
#include "kernel/config.h"
#include "kernel/const.h"
#include "kernel/descr.h"
#include "kernel/func.h"
#include "kernel/int_sem.h"
#include "kernel/kern.h"
#include "kernel/kernmem.h"
#include "kernel/lmm.h"
#include "kernel/log.h"
#include "kernel/mem.h"
#include "kernel/model.h"
#include "kernel/trace.h"
#include "kernel/types.h"
#include "kernel/var.h"
#include "fs/assert.h"
#include "fs/bdev.h"
#include "fs/bdevconf.h"
#include "fs/bdevinit.h"
#include "fs/const.h"
#include "fs/dirent.h"
#include "fs/errno.h"
#include "fs/fcntl.h"
#include "fs/fs.h"
#include "fs/fsconf.h"
#include "fs/fsind.h"
#include "fs/fsinit.h"
#include "fs/glue.h"
#include "fs/ioctls.h"
#include "fs/irq.h"
#include "fs/libio.h"
#include "fs/limits.h"
#include "fs/maccess.h"
#include "fs/magic.h"
#include "fs/major.h"
#include "fs/mount.h"
#include "fs/mutex.h"
#include "fs/old-glue.h"
#include "fs/semaph.h"
#include "fs/stat.h"
#include "fs/stdarg.h"
#include "fs/syscall.h"
#include "fs/sysmacro.h"
#include "fs/task.h"
#include "fs/types.h"
#include "fs/util.h"
#include "drivers/comp.h"
#include "drivers/crtwin.h"
#include "drivers/dma.h"
#include "drivers/eth.h"
#include "drivers/gd.h"
#include "drivers/glib.h"
#include "drivers/keyb.h"
#include "drivers/keycode.h"
#include "drivers/linuxpci.h"
#include "drivers/llpci.h"
#include "drivers/mouse.h"
#include "drivers/net.h"
#include "drivers/pci.h"
#include "drivers/pxc.h"
#include "drivers/rtc.h"
#include "drivers/scom.h"
#include "drivers/sound.h"
#include "drivers/udpip.h"
#include "bits/ansi.h"
#include "bits/confname.h"
#include "bits/dirent.h"
#include "bits/endian.h"
#include "bits/environm.h"
#include "bits/errno.h"
#include "bits/fcntl.h"
#include "bits/ioctls.h"
#include "bits/limits.h"
#include "bits/local_li.h"
#include "bits/posix1_l.h"
#include "bits/posix2_l.h"
#include "bits/posix_op.h"
#include "bits/stat.h"
#include "bits/stdio_li.h"
#include "bits/time.h"
#include "bits/types.h"
#include "bits/utime.h"
#include "bits/wordsize.h"

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0,0 → 1,3719
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406 2576 M
63 0 V
6493 0 R
-63 0 V
-6577 0 R
(82) Rshow
406 3150 M
63 0 V
6493 0 R
-63 0 V
-6577 0 R
(84) Rshow
406 3724 M
63 0 V
6493 0 R
-63 0 V
-6577 0 R
(86) Rshow
406 4298 M
63 0 V
6493 0 R
-63 0 V
-6577 0 R
(88) Rshow
406 4872 M
63 0 V
6493 0 R
-63 0 V
-6577 0 R
(90) Rshow
406 280 M
0 63 V
0 4529 R
0 -63 V
406 140 M
(5000) Cshow
1343 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(10000) Cshow
2279 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(15000) Cshow
3216 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(20000) Cshow
4152 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(25000) Cshow
5089 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(30000) Cshow
6025 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(35000) Cshow
6962 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(40000) Cshow
1.000 UL
LTb
406 280 M
6556 0 V
0 4592 V
-6556 0 V
406 280 L
1.000 UP
1.000 UL
LT0
6311 4739 M
("tot1.0" u 2:3:4) Rshow
6395 4739 M
399 0 V
-399 31 R
0 -62 V
399 62 R
0 -62 V
968 2654 M
0 1020 V
937 2654 M
62 0 V
937 3674 M
62 0 V
1343 2211 M
0 939 V
-31 -939 R
62 0 V
-62 939 R
62 0 V
1717 590 M
0 992 V
1686 590 M
62 0 V
-62 992 R
62 0 V
2092 643 M
0 1019 V
2061 643 M
62 0 V
-62 1019 R
62 0 V
2466 357 M
0 888 V
2435 357 M
62 0 V
-62 888 R
62 0 V
2841 387 M
0 1170 V
2810 387 M
62 0 V
-62 1170 R
62 0 V
344 153 R
0 565 V
-31 -565 R
62 0 V
-62 565 R
62 0 V
3590 793 M
0 1320 V
3559 793 M
62 0 V
-62 1320 R
62 0 V
344 -951 R
0 919 V
-31 -919 R
62 0 V
-62 919 R
62 0 V
344 -647 R
0 826 V
-31 -826 R
62 0 V
-62 826 R
62 0 V
4714 736 M
0 1169 V
4683 736 M
62 0 V
-62 1169 R
62 0 V
344 231 R
0 1462 V
5058 2136 M
62 0 V
-62 1462 R
62 0 V
343 -51 R
0 872 V
-31 -872 R
62 0 V
-62 872 R
62 0 V
5838 3362 M
0 873 V
-31 -873 R
62 0 V
-62 873 R
62 0 V
6213 2727 M
0 958 V
-31 -958 R
62 0 V
-62 958 R
62 0 V
968 3164 Pls
1343 2681 Pls
1717 1086 Pls
2092 1152 Pls
2466 801 Pls
2841 972 Pls
3216 1993 Pls
3590 1453 Pls
3965 1622 Pls
4340 1847 Pls
4714 1321 Pls
5089 2867 Pls
5463 3983 Pls
5838 3798 Pls
6213 3206 Pls
6594 4739 Pls
stroke
grestore
end
showpage
%%Page: 2 2
gnudict begin
gsave
50 50 translate
0.100 0.100 scale
90 rotate
0 -5040 translate
0 setgray
newpath
(Helvetica) findfont 140 scalefont setfont
1.000 UL
LTb
406 280 M
63 0 V
6493 0 R
-63 0 V
322 280 M
(70) Rshow
406 739 M
63 0 V
6493 0 R
-63 0 V
322 739 M
(72) Rshow
406 1198 M
63 0 V
6493 0 R
-63 0 V
-6577 0 R
(74) Rshow
406 1658 M
63 0 V
6493 0 R
-63 0 V
-6577 0 R
(76) Rshow
406 2117 M
63 0 V
6493 0 R
-63 0 V
-6577 0 R
(78) Rshow
406 2576 M
63 0 V
6493 0 R
-63 0 V
-6577 0 R
(80) Rshow
406 3035 M
63 0 V
6493 0 R
-63 0 V
-6577 0 R
(82) Rshow
406 3494 M
63 0 V
6493 0 R
-63 0 V
-6577 0 R
(84) Rshow
406 3954 M
63 0 V
6493 0 R
-63 0 V
-6577 0 R
(86) Rshow
406 4413 M
63 0 V
6493 0 R
-63 0 V
-6577 0 R
(88) Rshow
406 4872 M
63 0 V
6493 0 R
-63 0 V
-6577 0 R
(90) Rshow
406 280 M
0 63 V
0 4529 R
0 -63 V
406 140 M
(0) Cshow
1225 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(5000) Cshow
2045 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(10000) Cshow
2864 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(15000) Cshow
3684 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(20000) Cshow
4503 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(25000) Cshow
5323 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(30000) Cshow
6142 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(35000) Cshow
6962 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(40000) Cshow
1.000 UL
LTb
406 280 M
6556 0 V
0 4592 V
-6556 0 V
406 280 L
1.000 UP
1.000 UL
LT0
6311 4739 M
("tot1.0" u 2:3:4) Rshow
6395 4739 M
399 0 V
-399 31 R
0 -62 V
399 62 R
0 -62 V
1717 3097 M
0 816 V
-31 -816 R
62 0 V
-62 816 R
62 0 V
2045 2743 M
0 752 V
-31 -752 R
62 0 V
-62 752 R
62 0 V
2373 1446 M
0 794 V
-31 -794 R
62 0 V
-62 794 R
62 0 V
297 -751 R
0 815 V
-31 -815 R
62 0 V
-62 815 R
62 0 V
3028 1260 M
0 711 V
-31 -711 R
62 0 V
-62 711 R
62 0 V
297 -687 R
0 936 V
-31 -936 R
62 0 V
-62 936 R
62 0 V
297 122 R
0 453 V
-31 -453 R
62 0 V
-62 453 R
62 0 V
4012 1609 M
0 1056 V
3981 1609 M
62 0 V
-62 1056 R
62 0 V
297 -761 R
0 735 V
-31 -735 R
62 0 V
-62 735 R
62 0 V
296 -518 R
0 661 V
-31 -661 R
62 0 V
-62 661 R
62 0 V
4995 1563 M
0 935 V
-31 -935 R
62 0 V
-62 935 R
62 0 V
297 185 R
0 1170 V
5292 2683 M
62 0 V
-62 1170 R
62 0 V
297 -41 R
0 698 V
-31 -698 R
62 0 V
-62 698 R
62 0 V
297 -846 R
0 698 V
-31 -698 R
62 0 V
-62 698 R
62 0 V
6306 3156 M
0 766 V
-31 -766 R
62 0 V
-62 766 R
62 0 V
1717 3505 Pls
2045 3119 Pls
2373 1843 Pls
2701 1896 Pls
3028 1615 Pls
3356 1752 Pls
3684 2568 Pls
4012 2137 Pls
4340 2272 Pls
4667 2452 Pls
4995 2031 Pls
5323 3268 Pls
5651 4161 Pls
5979 4013 Pls
6306 3539 Pls
6594 4739 Pls
1.000 UP
1.000 UL
LT1
6311 4599 M
("tot2.0" u 2:3:4) Rshow
6395 4599 M
399 0 V
-399 31 R
0 -62 V
399 62 R
0 -62 V
652 3968 M
0 347 V
621 3968 M
62 0 V
-62 347 R
62 0 V
980 3683 M
0 445 V
949 3683 M
62 0 V
-62 445 R
62 0 V
1307 2922 M
0 454 V
-31 -454 R
62 0 V
-62 454 R
62 0 V
297 -643 R
0 497 V
-31 -497 R
62 0 V
-62 497 R
62 0 V
1963 1723 M
0 441 V
-31 -441 R
62 0 V
-62 441 R
62 0 V
297 -981 R
0 501 V
-31 -501 R
62 0 V
-62 501 R
62 0 V
2619 834 M
0 642 V
2588 834 M
62 0 V
-62 642 R
62 0 V
2946 803 M
0 560 V
2915 803 M
62 0 V
-62 560 R
62 0 V
3274 978 M
0 760 V
3243 978 M
62 0 V
-62 760 R
62 0 V
3602 950 M
0 464 V
3571 950 M
62 0 V
-62 464 R
62 0 V
3930 462 M
0 765 V
3899 462 M
62 0 V
-62 765 R
62 0 V
297 -75 R
0 668 V
-31 -668 R
62 0 V
-62 668 R
62 0 V
4585 865 M
0 657 V
4554 865 M
62 0 V
-62 657 R
62 0 V
297 -315 R
0 657 V
-31 -657 R
62 0 V
-62 657 R
62 0 V
297 -217 R
0 911 V
-31 -911 R
62 0 V
-62 911 R
62 0 V
297 -333 R
0 903 V
-31 -903 R
62 0 V
-62 903 R
62 0 V
297 -628 R
0 709 V
-31 -709 R
62 0 V
-62 709 R
62 0 V
296 -97 R
0 498 V
-31 -498 R
62 0 V
-62 498 R
62 0 V
297 -282 R
0 599 V
-31 -599 R
62 0 V
-62 599 R
62 0 V
297 -3 R
0 774 V
-31 -774 R
62 0 V
-62 774 R
62 0 V
652 4141 Crs
980 3906 Crs
1307 3149 Crs
1635 2982 Crs
1963 1943 Crs
2291 1433 Crs
2619 1155 Crs
2946 1083 Crs
3274 1358 Crs
3602 1182 Crs
3930 845 Crs
4258 1486 Crs
4585 1193 Crs
4913 1536 Crs
5241 2102 Crs
5569 2677 Crs
5897 2855 Crs
6224 3361 Crs
6552 3627 Crs
6880 4311 Crs
6594 4599 Crs
stroke
grestore
end
showpage
%%Page: 3 3
gnudict begin
gsave
50 50 translate
0.100 0.100 scale
90 rotate
0 -5040 translate
0 setgray
newpath
(Helvetica) findfont 140 scalefont setfont
1.000 UL
LTb
406 280 M
63 0 V
6493 0 R
-63 0 V
322 280 M
(74) Rshow
406 854 M
63 0 V
6493 0 R
-63 0 V
322 854 M
(76) Rshow
406 1428 M
63 0 V
6493 0 R
-63 0 V
-6577 0 R
(78) Rshow
406 2002 M
63 0 V
6493 0 R
-63 0 V
-6577 0 R
(80) Rshow
406 2576 M
63 0 V
6493 0 R
-63 0 V
-6577 0 R
(82) Rshow
406 3150 M
63 0 V
6493 0 R
-63 0 V
-6577 0 R
(84) Rshow
406 3724 M
63 0 V
6493 0 R
-63 0 V
-6577 0 R
(86) Rshow
406 4298 M
63 0 V
6493 0 R
-63 0 V
-6577 0 R
(88) Rshow
406 4872 M
63 0 V
6493 0 R
-63 0 V
-6577 0 R
(90) Rshow
406 280 M
0 63 V
0 4529 R
0 -63 V
406 140 M
(5000) Cshow
1343 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(10000) Cshow
2279 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(15000) Cshow
3216 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(20000) Cshow
4152 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(25000) Cshow
5089 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(30000) Cshow
6025 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(35000) Cshow
6962 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(40000) Cshow
1.000 UL
LTb
406 280 M
6556 0 V
0 4592 V
-6556 0 V
406 280 L
1.000 UP
1.000 UL
LT0
6311 4739 M
("tot1.0" u 2:3:4) Rshow
6395 4739 M
399 0 V
-399 31 R
0 -62 V
399 62 R
0 -62 V
968 2654 M
0 1020 V
937 2654 M
62 0 V
937 3674 M
62 0 V
1343 2211 M
0 939 V
-31 -939 R
62 0 V
-62 939 R
62 0 V
1717 590 M
0 992 V
1686 590 M
62 0 V
-62 992 R
62 0 V
2092 643 M
0 1019 V
2061 643 M
62 0 V
-62 1019 R
62 0 V
2466 357 M
0 888 V
2435 357 M
62 0 V
-62 888 R
62 0 V
2841 387 M
0 1170 V
2810 387 M
62 0 V
-62 1170 R
62 0 V
344 153 R
0 565 V
-31 -565 R
62 0 V
-62 565 R
62 0 V
3590 793 M
0 1320 V
3559 793 M
62 0 V
-62 1320 R
62 0 V
344 -951 R
0 919 V
-31 -919 R
62 0 V
-62 919 R
62 0 V
344 -647 R
0 826 V
-31 -826 R
62 0 V
-62 826 R
62 0 V
4714 736 M
0 1169 V
4683 736 M
62 0 V
-62 1169 R
62 0 V
344 231 R
0 1462 V
5058 2136 M
62 0 V
-62 1462 R
62 0 V
343 -51 R
0 872 V
-31 -872 R
62 0 V
-62 872 R
62 0 V
5838 3362 M
0 873 V
-31 -873 R
62 0 V
-62 873 R
62 0 V
6213 2727 M
0 958 V
-31 -958 R
62 0 V
-62 958 R
62 0 V
968 3164 Pls
1343 2681 Pls
1717 1086 Pls
2092 1152 Pls
2466 801 Pls
2841 972 Pls
3216 1993 Pls
3590 1453 Pls
3965 1622 Pls
4340 1847 Pls
4714 1321 Pls
5089 2867 Pls
5463 3983 Pls
5838 3798 Pls
6213 3206 Pls
6594 4739 Pls
stroke
grestore
end
showpage
%%Page: 4 4
gnudict begin
gsave
50 50 translate
0.100 0.100 scale
90 rotate
0 -5040 translate
0 setgray
newpath
(Helvetica) findfont 140 scalefont setfont
1.000 UL
LTb
490 280 M
63 0 V
6409 0 R
-63 0 V
406 280 M
(70) Rshow
490 854 M
63 0 V
6409 0 R
-63 0 V
406 854 M
(75) Rshow
490 1428 M
63 0 V
6409 0 R
-63 0 V
-6493 0 R
(80) Rshow
490 2002 M
63 0 V
6409 0 R
-63 0 V
-6493 0 R
(85) Rshow
490 2576 M
63 0 V
6409 0 R
-63 0 V
-6493 0 R
(90) Rshow
490 3150 M
63 0 V
6409 0 R
-63 0 V
-6493 0 R
(95) Rshow
490 3724 M
63 0 V
6409 0 R
-63 0 V
-6493 0 R
(100) Rshow
490 4298 M
63 0 V
6409 0 R
-63 0 V
-6493 0 R
(105) Rshow
490 4872 M
63 0 V
6409 0 R
-63 0 V
-6493 0 R
(110) Rshow
490 280 M
0 63 V
0 4529 R
0 -63 V
490 140 M
(0) Cshow
1137 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(5000) Cshow
1784 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(10000) Cshow
2432 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(15000) Cshow
3079 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(20000) Cshow
3726 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(25000) Cshow
4373 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(30000) Cshow
5020 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(35000) Cshow
5668 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(40000) Cshow
6315 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(45000) Cshow
6962 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(50000) Cshow
1.000 UL
LTb
490 280 M
6472 0 V
0 4592 V
-6472 0 V
490 280 L
1.000 UP
1.000 UL
LT0
6311 4739 M
("tot1.0" u 2:3:4) Rshow
6395 4739 M
399 0 V
-399 31 R
0 -62 V
399 62 R
0 -62 V
1526 1689 M
0 408 V
-31 -408 R
62 0 V
-62 408 R
62 0 V
227 -585 R
0 375 V
-31 -375 R
62 0 V
-62 375 R
62 0 V
2043 863 M
0 397 V
2012 863 M
62 0 V
-62 397 R
62 0 V
2302 885 M
0 407 V
2271 885 M
62 0 V
-62 407 R
62 0 V
2561 770 M
0 355 V
2530 770 M
62 0 V
-62 355 R
62 0 V
2820 782 M
0 468 V
2789 782 M
62 0 V
-62 468 R
62 0 V
228 61 R
0 226 V
-31 -226 R
62 0 V
-62 226 R
62 0 V
3338 945 M
0 527 V
3307 945 M
62 0 V
-62 527 R
62 0 V
228 -380 R
0 368 V
-31 -368 R
62 0 V
-62 368 R
62 0 V
227 -259 R
0 330 V
-31 -330 R
62 0 V
-62 330 R
62 0 V
4114 922 M
0 467 V
4083 922 M
62 0 V
-62 467 R
62 0 V
228 92 R
0 585 V
-31 -585 R
62 0 V
-62 585 R
62 0 V
228 -20 R
0 349 V
-31 -349 R
62 0 V
-62 349 R
62 0 V
228 -423 R
0 349 V
-31 -349 R
62 0 V
-62 349 R
62 0 V
228 -603 R
0 383 V
-31 -383 R
62 0 V
-62 383 R
62 0 V
1526 1893 Pls
1784 1699 Pls
2043 1062 Pls
2302 1088 Pls
2561 948 Pls
2820 1016 Pls
3079 1424 Pls
3338 1208 Pls
3597 1276 Pls
3855 1366 Pls
4114 1155 Pls
4373 1774 Pls
4632 2220 Pls
4891 2146 Pls
5150 1910 Pls
6594 4739 Pls
1.000 UP
1.000 UL
LT1
6311 4599 M
("tot1.5b" u 2:3:4) Rshow
6395 4599 M
399 0 V
-399 31 R
0 -62 V
399 62 R
0 -62 V
749 1553 M
0 352 V
718 1553 M
62 0 V
-62 352 R
62 0 V
228 -558 R
0 274 V
977 1347 M
62 0 V
-62 274 R
62 0 V
228 -299 R
0 423 V
-31 -423 R
62 0 V
-62 423 R
62 0 V
228 -603 R
0 259 V
-31 -259 R
62 0 V
-62 259 R
62 0 V
227 -173 R
0 279 V
-31 -279 R
62 0 V
-62 279 R
62 0 V
2043 980 M
0 250 V
2012 980 M
62 0 V
-62 250 R
62 0 V
228 -122 R
0 332 V
-31 -332 R
62 0 V
-62 332 R
62 0 V
2561 635 M
0 447 V
2530 635 M
62 0 V
-62 447 R
62 0 V
2820 921 M
0 318 V
2789 921 M
62 0 V
-62 318 R
62 0 V
3079 658 M
0 277 V
3048 658 M
62 0 V
-62 277 R
62 0 V
228 204 R
0 349 V
-31 -349 R
62 0 V
-62 349 R
62 0 V
228 -11 R
0 437 V
-31 -437 R
62 0 V
-62 437 R
62 0 V
227 -472 R
0 386 V
-31 -386 R
62 0 V
-62 386 R
62 0 V
228 -77 R
0 397 V
-31 -397 R
62 0 V
-62 397 R
62 0 V
228 -113 R
0 318 V
-31 -318 R
62 0 V
-62 318 R
62 0 V
228 -76 R
0 388 V
-31 -388 R
62 0 V
-62 388 R
62 0 V
228 -436 R
0 419 V
-31 -419 R
62 0 V
-62 419 R
62 0 V
228 -404 R
0 366 V
-31 -366 R
62 0 V
-62 366 R
62 0 V
228 261 R
0 375 V
-31 -375 R
62 0 V
-62 375 R
62 0 V
228 -480 R
0 437 V
-31 -437 R
62 0 V
-62 437 R
62 0 V
227 -173 R
0 559 V
-31 -559 R
62 0 V
-62 559 R
62 0 V
228 -329 R
0 527 V
-31 -527 R
62 0 V
-62 527 R
62 0 V
228 -548 R
0 566 V
-31 -566 R
62 0 V
-62 566 R
62 0 V
228 -40 R
0 657 V
-31 -657 R
62 0 V
-62 657 R
62 0 V
749 1729 Crs
1008 1484 Crs
1267 1534 Crs
1526 1271 Crs
1784 1368 Crs
2043 1105 Crs
2302 1274 Crs
2561 858 Crs
2820 1080 Crs
3079 797 Crs
3338 1314 Crs
3597 1695 Crs
3855 1635 Crs
4114 1950 Crs
4373 2194 Crs
4632 2471 Crs
4891 2439 Crs
5150 2427 Crs
5409 3059 Crs
5668 2984 Crs
5926 3309 Crs
6185 3524 Crs
6444 3522 Crs
6703 4094 Crs
6594 4599 Crs
stroke
grestore
end
showpage
%%Page: 5 5
gnudict begin
gsave
50 50 translate
0.100 0.100 scale
90 rotate
0 -5040 translate
0 setgray
newpath
(Helvetica) findfont 140 scalefont setfont
1.000 UL
LTb
490 280 M
63 0 V
6409 0 R
-63 0 V
406 280 M
(70) Rshow
490 854 M
63 0 V
6409 0 R
-63 0 V
406 854 M
(75) Rshow
490 1428 M
63 0 V
6409 0 R
-63 0 V
-6493 0 R
(80) Rshow
490 2002 M
63 0 V
6409 0 R
-63 0 V
-6493 0 R
(85) Rshow
490 2576 M
63 0 V
6409 0 R
-63 0 V
-6493 0 R
(90) Rshow
490 3150 M
63 0 V
6409 0 R
-63 0 V
-6493 0 R
(95) Rshow
490 3724 M
63 0 V
6409 0 R
-63 0 V
-6493 0 R
(100) Rshow
490 4298 M
63 0 V
6409 0 R
-63 0 V
-6493 0 R
(105) Rshow
490 4872 M
63 0 V
6409 0 R
-63 0 V
-6493 0 R
(110) Rshow
490 280 M
0 63 V
0 4529 R
0 -63 V
490 140 M
(0) Cshow
1137 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(5000) Cshow
1784 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(10000) Cshow
2432 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(15000) Cshow
3079 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(20000) Cshow
3726 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(25000) Cshow
4373 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(30000) Cshow
5020 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(35000) Cshow
5668 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(40000) Cshow
6315 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(45000) Cshow
6962 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(50000) Cshow
1.000 UL
LTb
490 280 M
6472 0 V
0 4592 V
-6472 0 V
490 280 L
1.000 UP
1.000 UL
LT0
6311 4739 M
("tot1.0" u 2:3:4) Rshow
6395 4739 M
399 0 V
-399 31 R
0 -62 V
399 62 R
0 -62 V
1526 1689 M
0 408 V
-31 -408 R
62 0 V
-62 408 R
62 0 V
227 -585 R
0 375 V
-31 -375 R
62 0 V
-62 375 R
62 0 V
2043 863 M
0 397 V
2012 863 M
62 0 V
-62 397 R
62 0 V
2302 885 M
0 407 V
2271 885 M
62 0 V
-62 407 R
62 0 V
2561 770 M
0 355 V
2530 770 M
62 0 V
-62 355 R
62 0 V
2820 782 M
0 468 V
2789 782 M
62 0 V
-62 468 R
62 0 V
228 61 R
0 226 V
-31 -226 R
62 0 V
-62 226 R
62 0 V
3338 945 M
0 527 V
3307 945 M
62 0 V
-62 527 R
62 0 V
228 -380 R
0 368 V
-31 -368 R
62 0 V
-62 368 R
62 0 V
227 -259 R
0 330 V
-31 -330 R
62 0 V
-62 330 R
62 0 V
4114 922 M
0 467 V
4083 922 M
62 0 V
-62 467 R
62 0 V
228 92 R
0 585 V
-31 -585 R
62 0 V
-62 585 R
62 0 V
228 -20 R
0 349 V
-31 -349 R
62 0 V
-62 349 R
62 0 V
228 -423 R
0 349 V
-31 -349 R
62 0 V
-62 349 R
62 0 V
228 -603 R
0 383 V
-31 -383 R
62 0 V
-62 383 R
62 0 V
1526 1893 Pls
1784 1699 Pls
2043 1062 Pls
2302 1088 Pls
2561 948 Pls
2820 1016 Pls
3079 1424 Pls
3338 1208 Pls
3597 1276 Pls
3855 1366 Pls
4114 1155 Pls
4373 1774 Pls
4632 2220 Pls
4891 2146 Pls
5150 1910 Pls
6594 4739 Pls
1.000 UP
1.000 UL
LT1
6311 4599 M
("tot1.5b" u 2:3:4) Rshow
6395 4599 M
399 0 V
-399 31 R
0 -62 V
399 62 R
0 -62 V
749 1553 M
0 352 V
718 1553 M
62 0 V
-62 352 R
62 0 V
228 -558 R
0 274 V
977 1347 M
62 0 V
-62 274 R
62 0 V
228 -299 R
0 423 V
-31 -423 R
62 0 V
-62 423 R
62 0 V
228 -603 R
0 259 V
-31 -259 R
62 0 V
-62 259 R
62 0 V
227 -173 R
0 279 V
-31 -279 R
62 0 V
-62 279 R
62 0 V
2043 980 M
0 250 V
2012 980 M
62 0 V
-62 250 R
62 0 V
228 -122 R
0 332 V
-31 -332 R
62 0 V
-62 332 R
62 0 V
2561 635 M
0 447 V
2530 635 M
62 0 V
-62 447 R
62 0 V
2820 921 M
0 318 V
2789 921 M
62 0 V
-62 318 R
62 0 V
3079 658 M
0 277 V
3048 658 M
62 0 V
-62 277 R
62 0 V
228 204 R
0 349 V
-31 -349 R
62 0 V
-62 349 R
62 0 V
228 -11 R
0 437 V
-31 -437 R
62 0 V
-62 437 R
62 0 V
227 -472 R
0 386 V
-31 -386 R
62 0 V
-62 386 R
62 0 V
228 -77 R
0 397 V
-31 -397 R
62 0 V
-62 397 R
62 0 V
228 -113 R
0 318 V
-31 -318 R
62 0 V
-62 318 R
62 0 V
228 -76 R
0 388 V
-31 -388 R
62 0 V
-62 388 R
62 0 V
228 -436 R
0 419 V
-31 -419 R
62 0 V
-62 419 R
62 0 V
228 -404 R
0 366 V
-31 -366 R
62 0 V
-62 366 R
62 0 V
228 261 R
0 375 V
-31 -375 R
62 0 V
-62 375 R
62 0 V
228 -480 R
0 437 V
-31 -437 R
62 0 V
-62 437 R
62 0 V
227 -173 R
0 559 V
-31 -559 R
62 0 V
-62 559 R
62 0 V
228 -329 R
0 527 V
-31 -527 R
62 0 V
-62 527 R
62 0 V
228 -548 R
0 566 V
-31 -566 R
62 0 V
-62 566 R
62 0 V
228 -40 R
0 657 V
-31 -657 R
62 0 V
-62 657 R
62 0 V
749 1729 Crs
1008 1484 Crs
1267 1534 Crs
1526 1271 Crs
1784 1368 Crs
2043 1105 Crs
2302 1274 Crs
2561 858 Crs
2820 1080 Crs
3079 797 Crs
3338 1314 Crs
3597 1695 Crs
3855 1635 Crs
4114 1950 Crs
4373 2194 Crs
4632 2471 Crs
4891 2439 Crs
5150 2427 Crs
5409 3059 Crs
5668 2984 Crs
5926 3309 Crs
6185 3524 Crs
6444 3522 Crs
6703 4094 Crs
6594 4599 Crs
1.000 UP
1.000 UL
LT2
6311 4459 M
("tot2.0" u 2:3:4) Rshow
6395 4459 M
399 0 V
-399 31 R
0 -62 V
399 62 R
0 -62 V
684 2124 M
0 174 V
653 2124 M
62 0 V
-62 174 R
62 0 V
943 1982 M
0 222 V
912 1982 M
62 0 V
-62 222 R
62 0 V
228 -603 R
0 227 V
-31 -227 R
62 0 V
-62 227 R
62 0 V
228 -321 R
0 248 V
-31 -248 R
62 0 V
-62 248 R
62 0 V
228 -754 R
0 221 V
-31 -221 R
62 0 V
-62 221 R
62 0 V
1979 731 M
0 251 V
1948 731 M
62 0 V
-62 251 R
62 0 V
2237 557 M
0 321 V
2206 557 M
62 0 V
-62 321 R
62 0 V
2496 541 M
0 280 V
2465 541 M
62 0 V
-62 280 R
62 0 V
2755 629 M
0 380 V
2724 629 M
62 0 V
-62 380 R
62 0 V
3014 615 M
0 232 V
2983 615 M
62 0 V
-62 232 R
62 0 V
3273 371 M
0 383 V
3242 371 M
62 0 V
-62 383 R
62 0 V
228 -38 R
0 334 V
3501 716 M
62 0 V
-62 334 R
62 0 V
3791 572 M
0 329 V
3760 572 M
62 0 V
-62 329 R
62 0 V
4050 744 M
0 328 V
4019 744 M
62 0 V
-62 328 R
62 0 V
4308 964 M
0 455 V
4277 964 M
62 0 V
-62 455 R
62 0 V
228 -166 R
0 451 V
-31 -451 R
62 0 V
-62 451 R
62 0 V
228 -314 R
0 355 V
-31 -355 R
62 0 V
-62 355 R
62 0 V
228 -49 R
0 249 V
-31 -249 R
62 0 V
-62 249 R
62 0 V
228 -141 R
0 300 V
-31 -300 R
62 0 V
-62 300 R
62 0 V
228 -2 R
0 387 V
-31 -387 R
62 0 V
-62 387 R
62 0 V
684 2211 Star
943 2093 Star
1202 1715 Star
1461 1631 Star
1720 1112 Star
1979 857 Star
2237 717 Star
2496 681 Star
2755 819 Star
3014 731 Star
3273 562 Star
3532 883 Star
3791 737 Star
4050 908 Star
4308 1191 Star
4567 1478 Star
4826 1567 Star
5085 1821 Star
5344 1954 Star
5603 2296 Star
6594 4459 Star
stroke
grestore
end
showpage
%%Page: 6 6
gnudict begin
gsave
50 50 translate
0.100 0.100 scale
90 rotate
0 -5040 translate
0 setgray
newpath
(Helvetica) findfont 140 scalefont setfont
1.000 UL
LTb
490 280 M
63 0 V
6409 0 R
-63 0 V
406 280 M
(70) Rshow
490 854 M
63 0 V
6409 0 R
-63 0 V
406 854 M
(75) Rshow
490 1428 M
63 0 V
6409 0 R
-63 0 V
-6493 0 R
(80) Rshow
490 2002 M
63 0 V
6409 0 R
-63 0 V
-6493 0 R
(85) Rshow
490 2576 M
63 0 V
6409 0 R
-63 0 V
-6493 0 R
(90) Rshow
490 3150 M
63 0 V
6409 0 R
-63 0 V
-6493 0 R
(95) Rshow
490 3724 M
63 0 V
6409 0 R
-63 0 V
-6493 0 R
(100) Rshow
490 4298 M
63 0 V
6409 0 R
-63 0 V
-6493 0 R
(105) Rshow
490 4872 M
63 0 V
6409 0 R
-63 0 V
-6493 0 R
(110) Rshow
490 280 M
0 63 V
0 4529 R
0 -63 V
490 140 M
(0) Cshow
1137 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(5000) Cshow
1784 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(10000) Cshow
2432 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(15000) Cshow
3079 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(20000) Cshow
3726 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(25000) Cshow
4373 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(30000) Cshow
5020 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(35000) Cshow
5668 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(40000) Cshow
6315 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(45000) Cshow
6962 280 M
0 63 V
0 4529 R
0 -63 V
0 -4669 R
(50000) Cshow
1.000 UL
LTb
490 280 M
6472 0 V
0 4592 V
-6472 0 V
490 280 L
1.000 UP
1.000 UL
LT0
6311 4739 M
("tot1.0" u 2:3:4) Rshow
6395 4739 M
399 0 V
-399 31 R
0 -62 V
399 62 R
0 -62 V
1526 1689 M
0 408 V
-31 -408 R
62 0 V
-62 408 R
62 0 V
227 -585 R
0 375 V
-31 -375 R
62 0 V
-62 375 R
62 0 V
2043 863 M
0 397 V
2012 863 M
62 0 V
-62 397 R
62 0 V
2302 885 M
0 407 V
2271 885 M
62 0 V
-62 407 R
62 0 V
2561 770 M
0 355 V
2530 770 M
62 0 V
-62 355 R
62 0 V
2820 782 M
0 468 V
2789 782 M
62 0 V
-62 468 R
62 0 V
228 61 R
0 226 V
-31 -226 R
62 0 V
-62 226 R
62 0 V
3338 945 M
0 527 V
3307 945 M
62 0 V
-62 527 R
62 0 V
228 -380 R
0 368 V
-31 -368 R
62 0 V
-62 368 R
62 0 V
227 -259 R
0 330 V
-31 -330 R
62 0 V
-62 330 R
62 0 V
4114 922 M
0 467 V
4083 922 M
62 0 V
-62 467 R
62 0 V
228 92 R
0 585 V
-31 -585 R
62 0 V
-62 585 R
62 0 V
228 -20 R
0 349 V
-31 -349 R
62 0 V
-62 349 R
62 0 V
228 -423 R
0 349 V
-31 -349 R
62 0 V
-62 349 R
62 0 V
228 -603 R
0 383 V
-31 -383 R
62 0 V
-62 383 R
62 0 V
1526 1893 Pls
1784 1699 Pls
2043 1062 Pls
2302 1088 Pls
2561 948 Pls
2820 1016 Pls
3079 1424 Pls
3338 1208 Pls
3597 1276 Pls
3855 1366 Pls
4114 1155 Pls
4373 1774 Pls
4632 2220 Pls
4891 2146 Pls
5150 1910 Pls
6594 4739 Pls
1.000 UP
1.000 UL
LT1
6311 4599 M
("tot1.5b" u 2:3:4) Rshow
6395 4599 M
399 0 V
-399 31 R
0 -62 V
399 62 R
0 -62 V
749 1553 M
0 352 V
718 1553 M
62 0 V
-62 352 R
62 0 V
228 -558 R
0 274 V
977 1347 M
62 0 V
-62 274 R
62 0 V
228 -299 R
0 423 V
-31 -423 R
62 0 V
-62 423 R
62 0 V
228 -603 R
0 259 V
-31 -259 R
62 0 V
-62 259 R
62 0 V
227 -173 R
0 279 V
-31 -279 R
62 0 V
-62 279 R
62 0 V
2043 980 M
0 250 V
2012 980 M
62 0 V
-62 250 R
62 0 V
228 -122 R
0 332 V
-31 -332 R
62 0 V
-62 332 R
62 0 V
2561 635 M
0 447 V
2530 635 M
62 0 V
-62 447 R
62 0 V
2820 921 M
0 318 V
2789 921 M
62 0 V
-62 318 R
62 0 V
3079 658 M
0 277 V
3048 658 M
62 0 V
-62 277 R
62 0 V
228 204 R
0 349 V
-31 -349 R
62 0 V
-62 349 R
62 0 V
228 -11 R
0 437 V
-31 -437 R
62 0 V
-62 437 R
62 0 V
227 -472 R
0 386 V
-31 -386 R
62 0 V
-62 386 R
62 0 V
228 -77 R
0 397 V
-31 -397 R
62 0 V
-62 397 R
62 0 V
228 -113 R
0 318 V
-31 -318 R
62 0 V
-62 318 R
62 0 V
228 -76 R
0 388 V
-31 -388 R
62 0 V
-62 388 R
62 0 V
228 -436 R
0 419 V
-31 -419 R
62 0 V
-62 419 R
62 0 V
228 -404 R
0 366 V
-31 -366 R
62 0 V
-62 366 R
62 0 V
228 261 R
0 375 V
-31 -375 R
62 0 V
-62 375 R
62 0 V
228 -480 R
0 437 V
-31 -437 R
62 0 V
-62 437 R
62 0 V
227 -173 R
0 559 V
-31 -559 R
62 0 V
-62 559 R
62 0 V
228 -329 R
0 527 V
-31 -527 R
62 0 V
-62 527 R
62 0 V
228 -548 R
0 566 V
-31 -566 R
62 0 V
-62 566 R
62 0 V
228 -40 R
0 657 V
-31 -657 R
62 0 V
-62 657 R
62 0 V
749 1729 Crs
1008 1484 Crs
1267 1534 Crs
1526 1271 Crs
1784 1368 Crs
2043 1105 Crs
2302 1274 Crs
2561 858 Crs
2820 1080 Crs
3079 797 Crs
3338 1314 Crs
3597 1695 Crs
3855 1635 Crs
4114 1950 Crs
4373 2194 Crs
4632 2471 Crs
4891 2439 Crs
5150 2427 Crs
5409 3059 Crs
5668 2984 Crs
5926 3309 Crs
6185 3524 Crs
6444 3522 Crs
6703 4094 Crs
6594 4599 Crs
1.000 UP
1.000 UL
LT2
6311 4459 M
("tot2.0" u 2:3:4) Rshow
6395 4459 M
399 0 V
-399 31 R
0 -62 V
399 62 R
0 -62 V
684 2124 M
0 174 V
653 2124 M
62 0 V
-62 174 R
62 0 V
943 1982 M
0 222 V
912 1982 M
62 0 V
-62 222 R
62 0 V
228 -603 R
0 227 V
-31 -227 R
62 0 V
-62 227 R
62 0 V
228 -321 R
0 248 V
-31 -248 R
62 0 V
-62 248 R
62 0 V
228 -754 R
0 221 V
-31 -221 R
62 0 V
-62 221 R
62 0 V
1979 731 M
0 251 V
1948 731 M
62 0 V
-62 251 R
62 0 V
2237 557 M
0 321 V
2206 557 M
62 0 V
-62 321 R
62 0 V
2496 541 M
0 280 V
2465 541 M
62 0 V
-62 280 R
62 0 V
2755 629 M
0 380 V
2724 629 M
62 0 V
-62 380 R
62 0 V
3014 615 M
0 232 V
2983 615 M
62 0 V
-62 232 R
62 0 V
3273 371 M
0 383 V
3242 371 M
62 0 V
-62 383 R
62 0 V
228 -38 R
0 334 V
3501 716 M
62 0 V
-62 334 R
62 0 V
3791 572 M
0 329 V
3760 572 M
62 0 V
-62 329 R
62 0 V
4050 744 M
0 328 V
4019 744 M
62 0 V
-62 328 R
62 0 V
4308 964 M
0 455 V
4277 964 M
62 0 V
-62 455 R
62 0 V
228 -166 R
0 451 V
-31 -451 R
62 0 V
-62 451 R
62 0 V
228 -314 R
0 355 V
-31 -355 R
62 0 V
-62 355 R
62 0 V
228 -49 R
0 249 V
-31 -249 R
62 0 V
-62 249 R
62 0 V
228 -141 R
0 300 V
-31 -300 R
62 0 V
-62 300 R
62 0 V
228 -2 R
0 387 V
-31 -387 R
62 0 V
-62 387 R
62 0 V
684 2211 Star
943 2093 Star
1202 1715 Star
1461 1631 Star
1720 1112 Star
1979 857 Star
2237 717 Star
2496 681 Star
2755 819 Star
3014 731 Star
3273 562 Star
3532 883 Star
3791 737 Star
4050 908 Star
4308 1191 Star
4567 1478 Star
4826 1567 Star
5085 1821 Star
5344 1954 Star
5603 2296 Star
6594 4459 Star
1.000 UP
1.000 UL
LT3
6311 4319 M
("tot3.0" u 2:3:4) Rshow
6395 4319 M
399 0 V
-399 31 R
0 -62 V
399 62 R
0 -62 V
1008 2213 M
0 260 V
977 2213 M
62 0 V
-62 260 R
62 0 V
1267 1412 M
0 270 V
-31 -270 R
62 0 V
-62 270 R
62 0 V
228 -520 R
0 263 V
-31 -263 R
62 0 V
-62 263 R
62 0 V
227 -176 R
0 170 V
-31 -170 R
62 0 V
-62 170 R
62 0 V
228 -80 R
0 222 V
-31 -222 R
62 0 V
-62 222 R
62 0 V
228 -226 R
0 163 V
-31 -163 R
62 0 V
-62 163 R
62 0 V
228 -72 R
0 223 V
-31 -223 R
62 0 V
-62 223 R
62 0 V
228 43 R
0 245 V
-31 -245 R
62 0 V
-62 245 R
62 0 V
228 -79 R
0 311 V
-31 -311 R
62 0 V
-62 311 R
62 0 V
228 -22 R
0 270 V
-31 -270 R
62 0 V
-62 270 R
62 0 V
228 -181 R
0 291 V
-31 -291 R
62 0 V
-62 291 R
62 0 V
227 -372 R
0 365 V
-31 -365 R
62 0 V
-62 365 R
62 0 V
228 -178 R
0 306 V
-31 -306 R
62 0 V
-62 306 R
62 0 V
228 7 R
0 360 V
-31 -360 R
62 0 V
-62 360 R
62 0 V
228 -613 R
0 382 V
-31 -382 R
62 0 V
-62 382 R
62 0 V
228 -153 R
0 398 V
-31 -398 R
62 0 V
-62 398 R
62 0 V
228 102 R
0 380 V
-31 -380 R
62 0 V
-62 380 R
62 0 V
1008 2343 Box
1267 1547 Box
1526 1294 Box
1784 1334 Box
2043 1450 Box
2302 1416 Box
2561 1538 Box
2820 1815 Box
3079 2013 Box
3338 2282 Box
3597 2382 Box
3855 2338 Box
4114 2495 Box
4373 2835 Box
4632 2593 Box
4891 2830 Box
5150 3321 Box
6594 4319 Box
stroke
grestore
end
showpage
%%Page: 7 7
gnudict begin
gsave
50 50 translate
0.100 0.100 scale
90 rotate
0 -5040 translate
0 setgray
newpath
(Helvetica) findfont 140 scalefont setfont
1.000 UL
LTb
490 280 M
63 0 V
6409 0 R
-63 0 V
406 280 M
(70) Rshow
490 739 M
63 0 V
6409 0 R
-63 0 V
406 739 M
(75) Rshow
490 1198 M
63 0 V
6409 0 R
-63 0 V
-6493 0 R
(80) Rshow
490 1658 M
63 0 V
6409 0 R
-63 0 V
-6493 0 R
(85) Rshow
490 2117 M
63 0 V
6409 0 R
-63 0 V
-6493 0 R
(90) Rshow
490 2576 M
63 0 V
6409 0 R
-63 0 V
-6493 0 R
(95) Rshow
490 3035 M
63 0 V
6409 0 R
-63 0 V
-6493 0 R
(100) Rshow
490 3494 M
63 0 V
6409 0 R
-63 0 V
-6493 0 R
(105) Rshow
490 3954 M
63 0 V
6409 0 R
-63 0 V
-6493 0 R
(110) Rshow
490 4413 M
63 0 V
6409 0 R
-63 0 V
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1784 280 M
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3079 280 M
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LTb
490 280 M
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LT0
6311 4739 M
("tot1.0" u 2:3:4) Rshow
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1526 1570 Pls
1784 1416 Pls
2043 905 Pls
2302 927 Pls
2561 814 Pls
2820 869 Pls
3079 1195 Pls
3338 1023 Pls
3597 1077 Pls
3855 1149 Pls
4114 980 Pls
4373 1475 Pls
4632 1832 Pls
4891 1773 Pls
5150 1584 Pls
6594 4739 Pls
1.000 UP
1.000 UL
LT1
6311 4599 M
("tot1.5b" u 2:3:4) Rshow
6395 4599 M
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749 1439 Crs
1008 1243 Crs
1267 1283 Crs
1526 1073 Crs
1784 1150 Crs
2043 940 Crs
2302 1075 Crs
2561 743 Crs
2820 920 Crs
3079 693 Crs
3338 1107 Crs
3597 1412 Crs
3855 1364 Crs
4114 1616 Crs
4373 1811 Crs
4632 2033 Crs
4891 2007 Crs
5150 1997 Crs
5409 2503 Crs
5668 2443 Crs
5926 2703 Crs
6185 2875 Crs
6444 2874 Crs
6703 3331 Crs
6594 4599 Crs
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1.000 UL
LT2
6311 4459 M
("tot2.0" u 2:3:4) Rshow
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684 1825 Star
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1.000 UP
1.000 UL
LT3
6311 4319 M
("tot3.0" u 2:3:4) Rshow
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1008 1931 Box
1267 1294 Box
1526 1091 Box
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2043 1216 Box
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3855 1926 Box
4114 2052 Box
4373 2324 Box
4632 2130 Box
4891 2320 Box
5150 2713 Box
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1.000 UP
1.000 UL
LT4
6311 4179 M
("tot5.0" u 2:3:4) Rshow
6395 4179 M
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%%Trailer
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/unsupported/trunk/pendulum/GRID/UNTITLED.MDL
0,0 → 1,277
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ConsistencyChecking "off"
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/unsupported/trunk/pendulum/GRID/GOOD/TOTGOOD
0,0 → 1,15
2000 1500 88.0508 1.5706 15 600 10000 58351 106124
2000 3500 85.0774 1.2029 15 600 10000 41 159
2000 5500 82.8211 1.2167 15 600 10000 0 0
2000 7500 82.1919 1.2672 15 600 10000 0 0
2000 9500 81.3062 0.9816 15 600 10000 0 0
2000 11500 79.5073 0.7178 15 600 10000 0 0
2000 13500 81.7589 1.0643 15 600 10000 0 0
2000 15500 83.4928 1.0542 15 600 10000 0 0
2000 17500 83.3429 1.1972 15 600 10000 0 0
2000 19500 84.7699 1.3679 15 600 10000 0 0
2000 21500 85.1341 0.7751 15 600 10000 0 0
2000 23500 84.9116 1.5264 15 600 10000 0 0
2000 25500 85.6596 1.3235 15 600 10000 0 0
2000 27500 86.2558 1.3584 15 600 10000 0 0
2000 29500 86.7602 1.8045 15 600 10000 0 0

/unsupported/trunk/pendulum/GRID/GOOD/TOT1.0
0,0 → 1,17
1000 8000 84.0476 1.7767 15 400 3199
1000 10000 82.3649 1.636 15 400 3199
1000 12000 76.8086 1.7286 15 400 3199
1000 14000 77.0399 1.7741 15 400 3199
1000 16000 75.8153 1.5482 15 400 3199
1000 18000 76.411 2.0377 15 400 3199
1000 20000 79.967 0.9848 15 400 3199
1000 22000 78.0875 2.299 15 400 3199
1000 24000 78.6746 1.6002 15 400 3199
1000 26000 79.4593 1.4389 15 400 3199
1000 28000 77.6262 2.0361 15 400 3199
1000 30000 83.0127 2.547 15 400 3199
1000 32000 86.9028 1.5184 15 400 3199
1000 34000 86.2585 1.5207 15 400 3199
1000 36000 84.1951 1.668 15 400 3199

/unsupported/trunk/pendulum/GRID/GOOD/TOT2.0
0,0 → 1,20
2000 1500 86.8182 0.756 15 800 599
2000 3500 85.7908 0.9673 15 800 599
2000 5500 82.4961 0.9896 15 800 599
2000 7500 81.7676 1.0817 15 800 599
2000 9500 77.2445 0.961 15 800 599
2000 11500 75.0225 1.0916 15 800 599
2000 13500 73.8103 1.3974 15 800 599
2000 15500 73.4961 1.2188 15 800 599
2000 17500 74.6959 1.6547 15 800 599
2000 19500 73.9284 1.0095 15 800 599
2000 21500 72.4593 1.6665 15 800 599
2000 23500 75.2534 1.4538 15 800 599
2000 25500 73.9767 1.4309 15 800 599
2000 27500 75.4698 1.4306 15 800 599
2000 29500 77.9373 1.9831 15 800 11799
2000 31500 80.4388 1.966 15 800 11799
2000 33500 81.2133 1.5443 15 800 11799
2000 35500 83.4191 1.0863 15 800 11799
2000 37500 84.5792 1.3051 15 800 11799
2000 39500 87.5574 1.6851 15 800 11799

/unsupported/trunk/pendulum/GRID/GOOD/TOT3.0
0,0 → 1,17
3000 4000 87.973 1.1312 15 1200 1599
3000 6000 81.0372 1.1788 15 1200 1599
3000 8000 78.8287 1.1475 15 1200 3199
3000 10000 79.182 0.7371 15 1200 3199
3000 12000 80.1915 0.9694 15 1200 3199
3000 14000 79.8997 0.7133 15 1200 3199
3000 16000 80.9561 0.9726 15 1200 3199
3000 18000 83.369 1.0651 15 1200 3199
3000 20000 85.0991 1.3525 15 1200 3199
3000 22000 87.4409 1.1774 15 1200 3199
3000 24000 88.3078 1.2679 15 1200 3199
3000 26000 87.925 1.5891 15 1200 3199
3000 28000 89.2923 1.3311 15 1200 3199
3000 30000 92.2551 1.5649 15 1200 3199
3000 32000 90.1476 1.6642 15 1200 3199
3000 34000 92.2124 1.7345 15 1200 3199
3000 36000 96.4892 1.6524 15 1200 3199

/unsupported/trunk/pendulum/GRID/GOOD/TOT4.0
0,0 → 1,15
4000 4000 88.3422 1.8595 15 1600 1599
4000 6000 90.8506 0.7793 15 1600 1599
4000 8000 95.0764 1.1589 15 1600 1599
4000 10000 96.6339 1.2891 15 1600 1599
4000 12000 100.028 0.8958 15 1600 1599
4000 14000 99.338 1.0627 15 1600 1599
4000 16000 99.7682 0.8759 15 1600 1599
4000 18000 101.6622 0.7613 15 1600 1599
4000 20000 101.7812 1.0285 15 1600 1599
4000 22000 100.3629 0.7058 15 1600 1599
4000 24000 102.7675 0.6614 15 1600 1599
4000 26000 104.696 0.8858 15 1600 1599
4000 28000 108.9578 1.0378 15 1600 1599
4000 30000 111.4675 1.2162 15 1600 1599
4000 32000 116.628 1.1836 15 1600 1599

/unsupported/trunk/pendulum/GRID/GOOD/TOT5.0
0,0 → 1,11
5000 4000 99.6597 0.9508 15 1500 1999
5000 6000 102.1466 0.868 15 1500 1999
5000 8000 99.1058 1.6307 15 1500 1999
5000 10000 101.2993 1.4038 15 1500 1999
5000 12000 104.9585 1.3545 15 1500 1999
5000 14000 105.409 1.6477 15 1500 1999
5000 16000 107.3719 1.3391 15 1500 1999
5000 18000 108.2252 1.402 15 1500 1999
5000 20000 111.3235 1.4347 15 1500 1999
5000 22000 118.2912 1.5269 15 1500 1999
5000 24000 128.8224 1.6365 15 1500 1999

/unsupported/trunk/pendulum/GRID/GOOD/TOT1.5
0,0 → 1,24
1500 2000 82.6188 1.5336 15 600 799
1500 4000 80.4864 1.1905 15 600 799
1500 6000 80.921 1.8441 15 600 799
1500 8000 78.6365 1.1265 15 600 799
1500 10000 79.4766 1.2152 15 600 799
1500 12000 77.1868 1.0918 15 600 799
1500 14000 78.659 1.4472 15 600 799
1500 16000 75.0361 1.9463 15 600 799
1500 18000 76.969 1.3823 15 600 799
1500 20000 74.5002 1.2067 15 600 799
1500 22000 79.005 1.5182 15 600 799
1500 24000 82.3277 1.9026 15 600 799
1500 26000 81.801 1.6807 15 600 799
1500 28000 84.5439 1.7278 15 600 799
1500 30000 86.6743 1.3875 15 600 799
1500 32000 89.0856 1.6868 15 600 11199
1500 34000 88.8031 1.824 15 600 11199
1500 36000 88.7009 1.5957 15 600 11199
1500 38000 94.2057 1.6343 15 600 11199
1500 40000 93.5572 1.902 15 600 11199
1500 42000 96.3855 2.4342 15 600 11199
1500 44000 98.2551 2.2947 15 600 11199
1500 46000 98.2414 2.4633 15 600 11199
1500 48000 103.2226 2.8616 15 600 11199

/unsupported/trunk/pendulum/GRID/GOOD/TOT2.5
0,0 → 1,15
2500 3000 79.7853 0.7804 15 1000 1199
2500 5000 78.5659 0.6775 15 1000 1199
2500 7000 79.3899 0.962 15 1000 1199
2500 9000 78.8556 0.8618 15 1000 1199
2500 11000 77.9325 0.6388 15 1000 1199
2500 13000 76.8483 1.0752 15 1000 1199
2500 15000 77.7977 0.873 15 1000 1199
2500 17000 78.6172 0.6719 15 1000 1199
2500 19000 79.2742 1.1471 15 1000 1199
2500 21000 80.3181 0.6336 15 1000 1199
2500 23000 78.7815 0.9503 15 1000 1199
2500 25000 80.2304 1.2729 15 1000 1199
2500 27000 82.8485 0.7548 15 1000 1199
2500 29000 84.7271 1.2587 15 1000 1199
2500 31000 85.2648 1.0206 15 1000 1199

/unsupported/trunk/pendulum/GRID/GOOD/TOT3.5
0,0 → 1,12
3500 4000 85.4465 1.4615 15 1400 1599
3500 6000 84.222 1.0713 15 1400 1599
3500 8000 86.9767 1.2739 15 1400 1599
3500 10000 89.0943 1.2192 15 1400 1599
3500 12000 89.8492 1.421 15 1400 1599
3500 14000 90.8121 1.347 15 1400 1599
3500 16000 91.0541 1.2001 15 1400 1599
3500 18000 93.8276 1.1655 15 1400 1599
3500 20000 94.3808 1.5287 15 1400 1599
3500 22000 92.8072 1.4299 15 1400 1599
3500 24000 96.5382 1.5884 15 1400 1599
3500 26000 101.6641 1.2899 15 1400 1599

/unsupported/trunk/pendulum/GRID/GOOD/TOTALDAT
0,0 → 1,15
2000 1500 85.5755 0.8544 15 600 10000 9117 15295
2000 3500 84.4442 1.1503 15 600 10000 1113 967
2000 5500 81.1699 0.9948 15 600 10000 0 0
2000 7500 78.7258 1.2752 15 600 10000 0 0
2000 9500 79.4686 0.8467 15 600 10000 0 0
2000 11500 77.8304 1.1154 15 600 10000 0 0
2000 13500 78.9995 1.0193 15 600 10000 0 0
2000 15500 80.4003 1.0119 15 600 10000 0 0
2000 17500 80.486 0.8492 15 600 10000 0 0
2000 19500 81.1657 1.1078 15 600 10000 0 0
2000 21500 83.4079 1.3075 15 600 10000 0 0
2000 23500 82.9181 1.4006 15 600 10000 0 0
2000 25500 84.631 0.7921 15 600 10000 0 0
2000 27500 84.5173 0.5918 15 600 10000 0 0
2000 29500 84.2482 0.9888 15 600 10000 0 0

/unsupported/trunk/pendulum/GRID/GOOD/TOT4.5
0,0 → 1,15
4500 5000 79.7213 0.7509 15 1800 1999
4500 7000 79.4865 1.1001 15 1800 1999
4500 9000 79.5493 0.9039 15 1800 1999
4500 11000 78.8512 1.2466 15 1800 1999
4500 13000 79.898 1.1685 15 1800 1999
4500 15000 78.236 1.5391 15 1800 1999
4500 17000 78.539 1.0014 15 1800 1999
4500 19000 77.8964 1.0781 15 1800 1999
4500 21000 75.7171 1.0544 15 1800 1999
4500 23000 76.4153 1.4224 15 1800 1999
4500 25000 76.7917 1.8115 15 1800 1999
4500 27000 74.7383 1.2586 15 1800 1999
4500 29000 74.6965 1.2509 15 1800 1999
4500 31000 74.4654 1.6275 15 1800 1999
4500 33000 73.4916 1.8593 15 1800 1999

/unsupported/trunk/pendulum/GRID/GOOD/EDF/INT1DAT
0,0 → 1,69
'¶q Ä\r Ä\r (]r ¶q Ä\r îdq 4]r <]r 90.2608 0
89.8988 0
95.1431 0
90.0103 0
90.4306 0
91.3798 0
79.6768 0
83.7062 3154
n.run=8 aver=88.8133 confid_int=3.2383
'¶q Ä\r Ä\r (]r ¶q Ä\r îdq 4]r <]r 85.4295 0
88.921 0
90.2657 0
87.5184 0
93.9049 0
83.0245 0
79.8525 1343
n.run=7 aver=86.9881 confid_int=3.44
‡¶q Ä\r Ä\r (]r |¶q Ä\r Neq 4]r <]r 94.4126 0
98.9936 0
92.7234 0
92.02 0
90.0298 0
91.4831 0
98.3342 0
97.9877 0
97.432 0
90.5471 0
93.1316 0
92.669 0
n.run=12 aver=94.147 confid_int=1.6647
Ü\r €Sq 100.709 0
99.6424 0
103.4695 0
102.7054 0
101.6715 0
98.7488 0
106.2199 0
106.1587 0
95.7078 0
98.8141 0
103.7753 0
99.7882 0
n.run=12 aver=101.4509 confid_int=1.6382
105.8662 0
110.0078 0
105.2827 0
106.4219 0
114.156 0
103.0817 0
114.4651 0
105.7321 0
104.0767 0
113.7002 0
113.6413 0
106.387 0
n.run=12 aver=108.5682 confid_int=2.2432
113.8136 0
111.5669 0
110.4065 0
118.2816 0
114.2184 0
115.51 0
120.7633 0
110.4938 0
108.9392 0
117.3219 0
111.7547 0
117.2564 0
n.run=12 aver=114.1939 confid_int=1.9107

/unsupported/trunk/pendulum/GRID/GOOD/EDF/INT1COMM
0,0 → 1,14
x1 kalm1 16000 41467
x1 kalm1 14000 8643
x1 kalm1 16000 3780
x1 kalm1 18000 2629
x1 kalm1 20000 2114
x1 kalm1 22000 1822
x1 kalm1 24000 1634
x1 kalm1 26000 1503
x1 kalm1 28000 1406
x1 kalm1 30000 1332
x1 kalm1 32000 1273
x1 kalm1 34000 1225
x1 kalm1 36000 1185
x1 kalm1 38000 1152

/unsupported/trunk/pendulum/GRID/GOOD/EDF/INT1
0,0 → 1,15
8643 14000 113.3934 3.0521 11 600 10000
4471 15000 101.3934 1.8521 11 600 10000
3780 16000 92.2722 1.752 11 600 10000
2629 18000 79.3446 1.1486 11 600 10000
2114 20000 80.861 1.3404 11 600 10000
1822 22000 81.6772 1.7735 11 600 10000
1634 24000 79.3911 1.3985 11 600 10000
1503 26000 84.1363 2.2404 11 600 10000
1451 27000 85.3176 2.6436 11 600 10000
1406 28000 85.8005 1.5707 13 600 10000
1332 30000 94.147 1.6647 12 600 10000
1273 32000 101.4509 1.6382 12 600 10000
1225 34000 108.5682 2.2432 12 600 10000
1185 36000 114.1939 1.9107 12 600 10000
1152 38000 120.2788 5.1264 11 600 10000

/unsupported/trunk/pendulum/INT2COMM
0,0 → 1,16
x1 kalm1 8000 12000 0.3
x1 kalm1 9000 3176 0.3
x1 kalm1 10000 2000 0.3
x1 kalm1 11000 1534 0.3
x1 kalm1 12000 1285 0.3
x1 kalm1 14000 1024 0.3
x1 kalm1 16000 888 0.3
x1 kalm1 18000 805 0.3
x1 kalm1 20000 750 0.3
x1 kalm1 22000 709 0.3
x1 kalm1 24000 679 0.3
x1 kalm1 26000 655 0.3
x1 kalm1 28000 636 0.3
x1 kalm1 30000 620 0.3
x1 kalm1 32000 607 0.3
x1 kalm1 34000 596 0.3

/unsupported/trunk/pendulum/INT3COMM
0,0 → 1,10
x1 kalm1 18000 805 2.500000e-01
x1 kalm1 18000 805 3.000000e-01
x1 kalm1 18000 805 3.500000e-01
x1 kalm1 18000 805 4.000000e-01
x1 kalm1 18000 805 4.500000e-01
x1 kalm1 18000 805 5.000000e-01
x1 kalm1 18000 805 5.500000e-01
x1 kalm1 18000 805 6.000000e-01
x1 kalm1 18000 805 6.500000e-01
x1 kalm1 18000 805 7.000000e-01

/unsupported/trunk/pendulum/TST1BKP3.TXT
0,0 → 1,12
KALM1 20000 15000 0.4
GUAD = POSTION LIMIT, VAL. LIMIT, POSITION ANGLE, VAL ANGLE
COST = GAIN CONST
WCUT/CUT = CUT FREQUENCY OF SENSORS
NOISE = NOISE LEVEL AFTER HIGH PASS FILTER
DEADLINE/OFFSET = FRICTION COMPENSATION

/unsupported/trunk/pendulum/INITFILE.ERR
--- unsupported/trunk/pendulum/KALM1.ERR (nonexistent)
+++ unsupported/trunk/pendulum/KALM1.ERR (revision 1659)
@@ -0,0 +1,37 @@
+kalm1.c: In function `integrale':
+kalm1.c:120: warning: missing braces around initializer
+kalm1.c:120: warning: (near initialization for `Q[0]')
+kalm1.c: In function `carrello':
+kalm1.c:411: warning: unused variable `str'
+kalm1.c:329: warning: unused variable `stime'
+kalm1.c:328: warning: unused variable `k'
+kalm1.c: In function `diseg':
+kalm1.c:502: warning: int format, long int arg (arg 3)
+kalm1.c:505: warning: int format, long int arg (arg 3)
+kalm1.c:512: warning: int format, long int arg (arg 3)
+kalm1.c:512: warning: int format, long int arg (arg 4)
+kalm1.c:516: warning: int format, long int arg (arg 3)
+kalm1.c:516: warning: int format, long int arg (arg 4)
+kalm1.c: At top level:
+kalm1.c:719: warning: return type of `main' is not `int'
+kalm1.c: In function `main':
+kalm1.c:781: warning: int format, long int arg (arg 3)
+kalm1.c:781: warning: int format, long int arg (arg 4)
+kalm1.c:728: warning: unused variable `m3'
+kalm1.c:725: warning: unused variable `mt'
+kalm1.c: In function `scritt2':
+kalm1.c:1130: warning: int format, long int arg (arg 3)
+kalm1.c:1137: warning: int format, long int arg (arg 3)
+kalm1.c:1137: warning: int format, long int arg (arg 4)
+kalm1.c:1137: warning: int format, long int arg (arg 7)
+kalm1.c:1137: warning: int format, long int arg (arg 8)
+kalm1.c:1137: warning: int format, long int arg (arg 9)
+kalm1.c: In function `nuovi_tempi':
+kalm1.c:1163: warning: int format, long int arg (arg 3)
+kalm1.c:1163: warning: int format, long int arg (arg 4)
+kalm1.c:1163: warning: int format, long int arg (arg 7)
+kalm1.c:1163: warning: int format, long int arg (arg 8)
+kalm1.c:1163: warning: int format, long int arg (arg 9)
+kalm1.c:1181: warning: implicit declaration of function `CBS_modify_bandwidth'
+kalm1.c: In function `scritt3':
+kalm1.c:1192: warning: unused variable `tmp'

/unsupported/trunk/pendulum/COST.H
0,0 → 1,21
/*----------------------------------------------------------------------*/
/* File: cost.h */
/* Contiene la definizione delle costanti usate nel file pend.c */
/*----------------------------------------------------------------------*/
#define MAXREF 40 /* valore assoluto max per i riferimenti */
#define XMED 210 //320 /* ascissa media delle finestre del pendolo */
#define LC 30 /* semi-lunghezza carrello */
#define H 15 /* altezza carrello */
#define LA 160 /* lunghezza asta */
#define RAGGIO 6 /* raggio ruote carrello e massa sull'asta */
#define SGX 8 //15 /* amplificazione spostamento lungo l'asse X */
#define XTI 535 /* coord. X di base della finestra di stato */
#define YTI 250 /* coord. Y di base della finestra di stato */
#define FCA 57.29578 /* costante di conversione gradi/rad. */
#define SGA 1 /* fattore amplificazione angoli */
#define STEP 1 /* incremento per i riferimenti */
/*----------------------------------------------------------------------*/

/unsupported/trunk/pendulum/MODULO/XXX.GDT
0,0 → 1,44
__RHIDE_desktop-file__¿qpxt ($11q7?:>!ppzpp~ +/x.p0?>/ r110/>111q@0Op|_11q@0Op|_11q@0Op|_7?:0>N.pz110/>P@0?. Oÿÿÿÿd xxx$jumpball/*.[acfghimnops]*ball.cedf.cevent1.c
endcycle.ccash/*.[acfghimnops]*cash.h c:/shark/demos/pippo/cash/cash.hc:/shark/demos/pippo/edfact.hedf.h edfact1.cedfact.ckl/*.[acfghimnops]*event.cusers/*.[acfghimnops]*paolo/*.[acfghimnops]*examples/*.[acfghimnops]*test5.ctest6.cshark/*.[acfghimnops]*
initfile.cmakefileinclude/*.[acfghimnops]*ll.hsys/*.[acfghimnops]*ll/*.[acfghimnops]*event.h
timeutil.hdemos/*.[acfghimnops]*pippo/*.[acfghimnops]*edfact.h*.[acfghimnops]*../*.[acfghimnops]*kernel/*.[acfghimnops]*modules/*.[acfghimnops]*cbs.cEDFedfdeadline dline_misnactraise aperiodicapersporadiEDF_waitwaitflagtracertrc
+deadline_timeprintfwcet_miss[p][++wcet_miss[p]++W%dinternalendcycleedfactEDFACT[
+  Ýõ& ±þ²][ (
+  ]À c:/shark/demos/pippo/edfact1.cªï
+ ]   [ P) ] P) ÿ ][
+  rß& ±þ²][ (
+  ]@_ c:/shark/demos/pippo/edfact.cíí
+ ]
+ [ P) ] P) ÿ ][
+  & ±þ²][ (
+  ] o c:/shark/kernel/modules/cbs.c˜
+][
+  & ±þ²][ (
+  ]à c:/shark/demos/pippo/makefileK
+ ]   [ P) ] P) ÿ ][
+  Rc ±þ²][ 
+  ]à c:/shark/demos/pippo/initfile.clZ
+ ]   [ P ] P) ÿ ][
+  P—& ±þ²][ (
+  ]À c:/shark/demos/pippo/edfact.h™ûc
+ ] " ! [ P) ] P) #ÿ ]¿ p ppppp p pp pp pp ppppppp ppppppp ppppp pppp p ¿qpxt ($11q7?:>!ppzpp~ +/x.p0?>/ r110/>111q@0Op|_11q@0Op|_11q@0Op|_7?:0>N.pz110/>P@0?. 8 ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿPÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿc:/shark/kernel/modules/ ÿ"c:/shark/include/ll/sys/ll/event.hË [
+  9& ±þ²][ (
+  ]à "c:/shark/include/ll/sys/ll/event.h
+ ]   [ P) ] P) ÿ ]%c:/shark/include/ll/sys/ll/timeutil.hÎ [
+  !¡& ±þ²][ (
+  ]À %c:/shark/include/ll/sys/ll/timeutil.hB
+ ]   [ P) ] P) ÿ ]c:/shark/include/ll/ll.hÁ [
+  +& ±þ²][ (
+  ]à c:/shark/include/ll/ll.h
+ ]   [ P) ] P) ÿ ]
\ No newline at end of file

/unsupported/trunk/pendulum/MODULO/INITFILE.C
0,0 → 1,99
/*
* Project: S.Ha.R.K.
*
* Coordinators:
* Giorgio Buttazzo <giorgio@sssup.it>
* Paolo Gai <pj@gandalf.sssup.it>
*
* Authors :
* Paolo Gai <pj@gandalf.sssup.it>
* (see the web pages for full authors list)
*
* ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
*
* http://www.sssup.it
* http://retis.sssup.it
* http://shark.sssup.it
*/
/*
------------
CVS : $Id: INITFILE.C,v 1.1 2004-06-04 10:48:40 giacomo Exp $
File: $File$
Revision: $Revision: 1.1 $
Last update: $Date: 2004-06-04 10:48:40 $
------------
*/
/*
* Copyright (C) 2000 Paolo Gai
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
#include "kernel/kern.h"
#include "edfact.h"
#include "modules/cbs.h"
#include "modules/rr.h"
#include "modules/dummy.h"
#include "modules/sem.h"
#include "modules/hartport.h"
#include "modules/cabs.h"
#include "drivers/keyb.h"
/*+ sysyem tick in us +*/
#define TICK 0
/*+ RR tick in us +*/
#define RRTICK 10000
TIME __kernel_register_levels__(void *arg)
{
struct multiboot_info *mb = (struct multiboot_info *)arg;
EDFACT_register_level(EDFACT_ENABLE_ALL);
CBS_register_level(CBS_ENABLE_ALL, 0);
RR_register_level(RRTICK, RR_MAIN_YES, mb);
dummy_register_level();
SEM_register_module();
CABS_register_module();
return TICK;
}
TASK __init__(void *arg)
{
struct multiboot_info *mb = (struct multiboot_info *)arg;
KEYB_PARMS kparms = BASE_KEYB;
HARTPORT_init();
//keyb_def_ctrlC(kparms, NULL);
keyb_def_map(kparms,itaMap);
KEYB_init(&kparms);
__call_main__(mb);
return (void *)0;
}

/unsupported/trunk/pendulum/MODULO/EDFACT1
+ƒÄPÿ5Óq hø p jjj2ècûƒÄ$éïþÿÿv
+Ctrl-C = end demo
+fÇE¸ jjhÓq è1¾ÇEÌЍE¬ƒÄjjPhlp hHp èt8ƒÄ£,Óq ƒøÿuhJp èEkèˆJƒÄÇEÌЍE¬jjPhÈp hHp è78ƒÄ£Óq ƒøÿuhJp èkèKJƒÄÇEÌЍE¬jjPh4p hHp èú7ƒÄ£(Óq ƒøÿuhJp èËjèJƒÄÇEÄ NÇEÌô E¬jjPhœp hHp è¶7ƒÄ£Óq ƒøÿuhJp è‡jèÊIƒÄj è80fÇEÔÇEØÇEÜfÇEàÇEäÇEèÇEìÇEðÇEôÇEøÇEü EԃÄjjPhp h{p è+7ƒÄPèú-1ÀÉÉöU‰åVS»
+¡ÄÓq 4PhÜ p jVj èþøƒÄvhß p jVSèvþè•8há p jVSècþCƒÄ ƒûL~Ö1Àeø[^ÉÐU‰åVS»
+¡ÄÓq 4PhÜ p jVj è¢øƒÄvhß p jVSèþ1ÀƒÄ@=?B~øè+8há p jVSèùýCƒÄƒûL~È1Àeø[^ÉÍvU‰åVS»
+¡ÄÓq 4PhÜ p jVj è6øƒÄvhß p jVSè®ýhÓq èаèÃ7há p jVSè‘ýCƒÄ$ƒûL~Ì1Àeø[^ÉÍvU‰åWVS¾
+ÿ5ÄÓq j胀‹Eü‰œ¸Œ eä[^_ÉÃAAARRRGGGHHH!!!On OffOn-line guarantee : %s
+Used Bandwidth : %u/%u
+Pid: %2d (GUEST)
+Period Pid: %2d Name: %10s %s: %9d Dline: %9d.%6d Stat: %s
+p è§N‹MI‰ÂÁâ)ÂfÇÕðÓq „eô[^_ÉÃÛ%d²%dEDFACT_register_level
+ alloco descrittore %d %d
+ lev=%d
+·‹E€Ì 9Âuƒy tƒyt
+ щ‹°ë
+p è^H€d31÷‹Müÿ„¹œƒÄ‹Eü¨PWè½Z‰ÂÁâ)ÂfÇÕðÓq €eð[^_ÉÐU‰åWVS‹]‹M‹¸TÓq [‰ÂÁâ)Âfƒ<ÕðÓq t
+ÿ5ÄÓq jès‰œ¾Œ eô[^_ÉÃU‰åS‹]‹U•‹€TÓq ¨PSè=W[‰ØÁà)ØfÇÅðÓq €‹]üÉÃU‰åÉÍvU‰åÿ5ÄÓq jè´rÉÉöU‰åVS‹]‹M‹°TÓq [‰ÂÁâ)Âf<ÕðÓq €u†¨PSè¥XƒÄÁー3Œ ÿtÿ´3Œ ¡$Óq ÿÐDŽ3Œ ÿÿÿÿeø[^ÉÐU‰åÿ5ÄÓq jè4rÉÉöU‰åÿ5ÄÓq jè rÉÉöU‰åS‹]hp èãCSjèr‹]üÉÉöU‰åŠU€=q „±€ú*t€úªt
+$q éÿÿÿv€úªt€ú¶uƁq €úª„ €ú¶ ÷þÿÿéþ€úFu?€=q u
+Ɓq ëÆq ¶q P¶q P¶q Pè”1Àé™ €ú:u?€=q u
+Ɓq ëÆq ¶q P¶q P¶q PèP1ÀéU €úEu?€=q u
+$q é þÿÿv€út€ú¸uÆ$q éèýÿÿ‰ö„ÒŒÞýÿÿ€úRt2€úOt-€úSt(€úPt#€úQt€úKt€úLt€úMt€úGt
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+ëpƒøtSëi‰ØÁàǀ$žq ÿÿÿÿƒ=˜ q ÿu‰˜ q ë¡œ q Áà‰˜$žq ‰œ q ëH‰ö‰ÚÁâ¡  q ‰‚$žq ‰  q ë.‰ÚÁ⡤ q ‰‚$žq ‰¤ q ë‰ÚÁ⡨ q ‰‚$žq ‰¨ q ‰ðP1Àeì[^_ÉÃToo many scheduling levels!!!
+Too many resource levels!!!
+U‰åƒ=¨Óq uh¼Xp èJj è3®¡¨Óq ÿ¨Óq ÉÉöU‰åƒ=¸Óq uhÛXp èj 计¸Óq ÿ¸Óq ÉÉöU‰åWVS‹E‹u‹}1ɋX‰öt7€;t0‹‰—€8 tv€<tA€< uó€< uÆAÿ€<uÐÿeô[^_ÉÉöU‰åì” WVS‹Eµlþÿÿ½pþÿÿ1ɋX‰öt7€;t0‹‰—€8 tv€<tA€< uó€< uÆAÿ€<uÐÿ pþÿÿPÿµlþÿÿèh©ÿÿ¥`þÿÿ[^_ÉÐU‰å1À¹žq ‰ö‰ÂÁâ@‰D
+¬ q ƒûÿu»Ç Óq eô[^_ÉÐU‰åj ÿuh° q è*ÝÉÃU‰åÿuÿuh° q èqèÉÍvU‰åƒìEüPEøPEôPEðP葙h° q è[êjjhÿÿjh¸ q h° q èÚƒÄ,j jhÿÿÿhhØ q h° q èmÚjjhÿÿÿþh hø q h° q èPڃÄ0ƒ}üt‹EüHPÿuøh° q èé؃Äƒ}ôtÿuôÿuðh° q èÐØÉÉöU‰å‹E ÀtjPh° q èEÜëv1ÀÉÃU‰åÿuÿuÿuÿuh° q èÏÝÉÐU‰åÿuÿuÿuÿuÿuÿuh° q èßÉÍvU‰åÿuÿuh° q èEçÉÍvU‰åÿuh° q è$âÉÉöU‰åÿuh° q èéÉÉöU‰åh° q è3äh° q èÕêÉÍvdebug info noticewarn err crit alert emerg <%i>[%s] %s
+U‰åƒìWVS}‹]EüPhH]p SèR®‰ÆƒÄƒþ uƒ}üvÇEüƒÃë ‰öÇEü‹Eü9\q }XWSh¡q è*®j
+Sèr¨ƒÄ À•À¶ðœúX‰Ãh¡q ‹Uü•ÿ°`q hM]p èW ƒÄ öu
+hU]p èF ‰ØP1Àeð[^_ÉÃU‰åƒìVSu‹]EüPhH]p S裭ƒÄƒø uƒ}üvÇEüƒÃëÇEü‹Eü9\q }?VSh¡q è~­j
+lp lp ëkp Økp ¼kp £kp ”kp †kp mkp Pkp 5kp &kp kp újp ìjp ãjp Îjp Ájp lp ¬jp ˜jp †jp xjp _jp Ajp +jp jp jp ôip æip Êip »ip ¨ip •ip ‰ip cip Hip +ip ip íhp Èhp ¨hp xhp Rhp hp ôgp ágp Ògp ³gp –gp gp fgp Ogp 8gp gp gp èfp ¿fp ¨fp ˆfp xfp afp =fp fp fp éep Áep ep oep Lep 7ep $ep ep ep èdp Îdp ¸dp Ÿdp ƒdp edp Pdp ?dp +dp dp dp ÿcp ècp Êcp ²cp šcp ‚cp ecp 8cp cp òbp Ðbp ¶bp Žbp bp qbp cbp Kbp 4bp bp bp ìap Êap ²ap ap ap uap dap Vap <ap +ap ap Number of message exceededNo more cab freeUnvalid number of messageCab is closedCab id not validInvalid Port DescriptorWrong port typeWrong port operationUnsupported port access2 connection on same receive portNo more hash entriesPort already openIncompatible message declarationNo more port interfaceNo more port descriptorInvalid groupInvalid task IDInvalid killNo TSS available to create another taskNo stack memory availableCreated task cannot be guaranteedResource module not found for the model usedError during task_createSchedule module not found for the model usedNo task descriptor availableToo much exit functionsToo much init functionsUnused interrupt numberAlready used interrupt numberWrong interrupt numberCancelledWrong medium typeNo medium foundDisk quota exceededRemote I/O errorIs a named type fileNo XENIX semaphores availableNot a XENIX named type fileStructure needs cleaningStale NFS file handleOperation now in progressOperation already in progressNo route to hostHost is downConnection refusedConnection timed outToo many references: cannot spliceCannot send after transport endpoint shutdownTransport endpoint is not connectedTransport endpoint is already connectedNo buffer space availableConnection reset by peerSoftware caused connection abortNetwork dropped connection on resetNetwork is unreachableNetwork is downCannot assign requested addressAddress already in useAddress family not supported by protocolProtocol family not supportedOperation not supportedSocket type not supportedProtocol not supportedProtocol not availableProtocol wrong type for socketMessage too longDestination address requiredSocket operation on non-socketToo many usersStreams pipe errorInterrupted system call should be restartedInvalid or incomplete multibyte or wide characterCannot exec a shared library directlyAttempting to link in too many shared libraries.lib section in a.out corruptedAccessing a corrupted shared libraryCan not access a needed shared libraryRemote address changedFile descriptor in bad stateName not unique on networkValue too large for defined data typeBad messageRFS specific errorMultihop attemptedProtocol errorCommunication error on sendSrmount errorAdvertise errorLink has been severedObject is remotePackage not installedMachine is not on the networkOut of streams resourcesTimer expiredNo data availableDevice not a streamBad font file formatInvalid slotInvalid request codeNo anodeExchange fullInvalid request descriptorInvalid exchangeLevel 2 haltedNo CSI structure availableProtocol driver not attachedLink number out of rangeLevel 3 resetLevel 3 haltedLevel 2 not synchronizedChannel number out of rangeIdentifier removedNo message of desired type(null)Too many levels of symbolic linksDirectory not emptyFunction not implementedNo locks availableFile name too longResource deadlock avoidedNumerical result out of rangeNumerical argument out of domainBroken pipeToo many linksRead-only file systemIllegal seekNo space left on deviceFile too largeText file busyInappropriate ioctl for deviceToo many open filesToo many open files in systemInvalid argumentIs a directoryNot a directoryNo such deviceInvalid cross-device linkFile existsDevice or resource busyBlock device requiredBad addressPermission deniedCannot allocate memoryResource temporarily unavailableNo child processesBad file descriptorExec format errorArgument list too longDevice not configuredInput/output errorInterrupted system callNo such processNo such file or directoryOperation not permittedSuccess: %s%s%s
+‰Î‹ˆ Ôq ƒùÿuۃþÿtv‰ÂÁâ)‰<Õ Ôq ëv‹]‰;ƒùÿtI‰ÂÁâ)‰<Õ$Ôq ‰ÂÁâ)ÂÁâ¸ÈÓq ‰LX‰t\eð[^_ÉÍvU‰åWVS‹}‰ÂÁâ)ÂÁâ¸ÈÓq ‹L\‹tXƒùÿu‹E‰0ë"I‰ÁÁá)Á»ÈÓq ‰ÂÁâ)‹DÓX‰DËXƒþÿt!v‰ÁÁá)Á»ÈÓq ‰ÂÁâ)‹DÓ\‰DË\eô[^_ÉÐU‰åVS‹]‹ƒùÿt,I‰ÂÁâ)¾ÈÓq ‹DÖX‰ƒøÿt@‰ÂÁâ)ÂÇDÖ\ÿÿÿÿ‰Èeø[^ÉÃU‰åVS‹u‹]ƒ;ÿt‹@‰ÂÁâ)‰4Õ$Ôq v‰ÂÁâ)ÂÁâ¹ÈÓq ‹‰D
+XÇD
+\ÿÿÿÿ‰3eø[^ÉÃU‰åƒìWVS‹M‹u‹}ÇEüú¡ÄÓq @‰ÂÁâ)ÕÈÓq ÿt‹C8‰ öt:ƒùtƒù të%ƒùt됋6 s8됋÷Ð!C8ëv‹‰C8ëÇEü‹C8÷ЉÂë0‰Ð#§q 1Ò Àt‰ö¨ t‰ÐëBÁø uò1ÀP肃ċS8÷҉Ð#§q uȋC8÷ЉÂë/v‰Ð#C<1Ò Àt¨ t‰ÐëBÁø uò1ÀPèæƒÄ‹S8÷҉Ð#C<uÏû‹Eüeð[^_ÉÍvU‰åWVS‹u‹M É„ïƒùwv‰ÂÁâ)Âfƒ<ÕðÓq u
+¸éÍú‰ÊÁ⻥q ‹Dƒà uƒ< uû魍v‰ÂÁâ)ÕÔq ƒùv虩Çë
+萦Çë 0h§q Sè[úÿÿ[‰ÂÁâ)4Ջ†ÌÓq ‹ TÓq SP‹BDÿЃÄƒ¾¨Öq ÿtÿ¶¨Öq ¡$Óq ÿÐdž¨Öq ÿÿÿÿ‹Mì‰ÈPéލv[‰ÂÁâ)‹Õ Ôq ƒûÿ "ÿÿÿ¾ ‰ð‰Ã‰ùÓ㐍v‰ÐÁà)ÐÁàfƒ¸ðÓq t}Ôq ƒÿvèÖ¥Çëf‰ö‰Ù#‰È ÀuZv‰ÂÁâ)ÕÔq ƒÿv觥Çëv 1Û9„q ~2Ýÿ°°§q V‹€¬§q ÿЃÄ ÀuC9„q Úë
+èH£Çë 0h§q Sè÷ÿÿ[‰ÂÁâ)4Ջ†ÌÓq ‹ TÓq SP‹BDÿЃÄƒ¾¨Öq ÿtÿ¶¨Öq ¡$Óq ÿÐdž¨Öq ÿÿÿÿ‹Mì‰ÈPéçv[‰ÂÁâ)‹Õ Ôq ƒûÿ "ÿÿÿ¾ ‰ð‰Ã‰ùÓ㐍v‰ÐÁà)ÐÁàfƒ¸ðÓq t}Ôq ƒÿv莢Çëf‰ö‰Ù#‰È ÀuZv‰ÂÁâ)ÕÔq ƒÿvè_¢Çëv 1Û9„q ~2Ýÿ°°§q V‹€¬§q ÿЃÄ ÀuC9„q Úë
+Fƒþ@Žbÿÿÿè)^ Àuƒ=€q uè
+èØ Çë¸þÿÿÿ‰ñÓÀ![4Å¿¼r ‹L>‹U‰
+èðœÇë¸þÿÿÿ‰ñÓÀ!§q ž¼r ‹L3‹U‰
+vǤ§q ÿÿÿÿû‹Eðeè[^ÉÍvU‰åƒìWVS‹uƒ<µ§q ÿuB‰uðÇEôÇEø¡ÄÓq ‰Eüƒþv诘Ç馸þÿÿÿ‰ñÓÀ!§q 钍µº§q ‹[‹żr ‰ƒøÿu"ƒþvèe˜Ç됸þÿÿÿ‰ñÓÀ!§q [Å¿¼r ‹D:‰Eð‹D:‰Eô‹D:‰Eø‹D:‰EüöD: t€d:ýë[‹¸r ‰żr ‰¸r EðPVèüeä[^_ÉÃU‰åƒìS¡ÄÓq @‰ÂÁâ)ÕÈÓq öC1 Ÿ€K1‹C8÷ЉÂë0‰Ð#§q 1Ò Àt‰ö¨ t‰ÐëBÁø uò1ÀPèªþÿÿƒÄ‹S8÷҉Ð#§q uȋC8÷ЉÂëHv‰Ð#C<1Ò Àt¨ uBÁø uö1҉UðÇEôÇEø¡ÄÓq ‰EüEðPRèAƒÄ‹S8÷҉Ð#C<u¶€c1ï‹]ìÉÃ
+Signal number %d...
+with value : %d
+j‹MÿqS‹EðÿÐú‰w8‹Mè‰ÈPeØ[^_ÉÍvU‰åWVS‹}‰ÂÁâ)Õ¾ÈÓq fƒ|3(uYƒ¼3àÿtÿ´3à¡$Óq ÿÐDŽ3àÿÿÿÿƒÄh§q WèTéÿÿ‰ÂÁâ)‹ÕÌÓq ‹•TÓq WR‹@Dÿи ë<‰ö‰ÂÁâ)ÕºÈÓq fƒ|(u‹T‹•TÓq WR‹@Dÿи ë1Àeô[^_ÉÉöU‰åƒìS1Ò¹¥q »§q ‰ÐÁàÇÇDÇDÇDÇ“ÿÿÿÿBƒúvÏ1Ò¹¼r RÁàB‰ÇDƒú>~éǤ–r ÿÿÿÿǸ–r Ǹr ǧq ǧq ÿÿÿÿǤ§q ÿÿÿÿ1Ò¹L¨q ‰öRÁàÇÇDÿÿÿÿÆDBƒú~àjhˆp è°Íÿÿ‹]ìÉÍvU‰å‹EÇ1ÀÉÃU‰å‹EÇÿÿÿÿ1ÀÉÃU‰å‹U‹Mƒùw¸ Óà 1Àëèë“ǸÿÿÿÿÉÉöU‰å‹U‹Mƒùw¸þÿÿÿÓÀ!1Àëè»“ǸÿÿÿÿÉÉöU‰å‹Mƒùw¸ Óà‹U#ëv苓ǸÿÿÿÿÉÉöU‰åÿuÿuÿuè[èÿÿÉÐU‰åƒìWVSuð1Ò¹‰÷‰Ðüó«RVÿuèXñÿÿ‰Á Éu‹Uð‹E‰‰Èeä[^_ÉÃU‰åjÿuÿuè0ñÿÿÉÉöU‰å‹E ÀtPÿuÿuèñÿÿë¸ÉÐU‰åÿuÿ5ÄÓq èÛèÿÿÉÐU‰åƒì VS‹]‹E‰EðÇEôÇEøèÀ’‹0EàPEðPSè´éÿÿƒÄ Àt »ÿÿÿÿë‰ö»ÿÿÿÿöEè u‹]à荒‰0‰ØeØ[^ÉÉöU‰åS‹E‹ÄÓq R‰ÑÁá)ы§q ÍÔq ‰1À‹]üÉÍvU‰åS‹Eú‹ÄÓq £ÄÓq Ç€q j ÿuj jèéìÿÿÇ€q ‰ÄÓq û‹]üÉÍvU‰åVS‹M‹]‹5„q õ¸¬§q ‰‰\ÿ„q eø[^ÉÍvU‰åVS‹]CÿƒøvèÑÇ~ëbvœúX‰Æ[ ¹L¨q €|
+ t5‹E‰
+‹E‰D
+ÆD
+ jhLp SèM·ÃPèed‰ðP¸ ë‰ö‰ðPè_‘Ǹÿÿÿÿeø[^ÉÐU‰å1ÀÉÐU‰åƒì‹E‰EðÇEôÇEø‹ÄÓq ‰UüUðRPèúÿÿÉÐU‰åWVS‹}‰ÃÁã)ÃÁã¾ÈÓq DŽ3àÿÿÿÿ€L32 h§q Wè¾äÿÿ‹D3‹ TÓq WP‹BDÿÐèï²ÿÿeô[^_ÉÍvU‰åǤ§q ÿÿÿÿj jèÞèÿÿèɲÿÿÉÍvU‰åƒìEüÇÿÿÿÿPèwôÿÿÉÐU‰åƒì‹E‹‰EüEüPj¡ˆq ÿЋUüRÁà¹L¨q ƒÄƒ<tûR‹ÿЃÄú‹Eü@ÿ4 P¨q èÅ¥ÿÿÉÍvFreeExeSleepWaiting on joinUnknownTime (EXACT) : %us %uns
+< Level %d : %s Code: %d Version: %d >
+< Memory Dump >
+vU‰å·Eƒø t Àtë,ƒøtƒøtë ¸ p 됸¥p 됸©p 됸¯p 됸¿p ÉÐU‰åƒìWVSœúX‰Á‰Mô‹MöÁ tEøPjè¸SÿuüÿuøhǍp è@SƒÄ‹MöÁtF1ö95¨Óq v<¿TÓq ‰öµ‹;¶BP·BPRVhàp èS‹;V‹@ ÿЃÄF95¨Óq wˋMöÁthŽp èÝRèôÍÿÿ‹Mô‰ÈPeè[^_ÉÐU‰åÉÍvU‰å1ÀÉÐU‰åVSœúX‰Æ¡ÄÓq @‰ÂÁâ)Õ»ÈÓq öD1 t(öD1t!j èVÂÿÿ¡ÄÓq @‰ÂÁâ)¿DÓPè”Z‰ðPeø[^ÉÐU‰åS‹]úû t Ût¸ÿÿÿÿëB¡ÄÓq @‰ÂÁâ)¹ÈÓq ‹TÑ0Áê‹Eƒâ ‰¡ÄÓq @‰ÂÁâ)ÂÁâ€d
+1þ \
+0û1À‹]üÉÉöU‰åS‹]úût Ût¸ÿÿÿÿëB¡ÄÓq @‰ÂÁâ)¹ÈÓq ‹TÑ0Áê ‹Eƒâ ‰¡ÄÓq @‰ÂÁâ)ÂÁâ€d
+1ý \
+0û1À‹]üÉÉöRR_ReadyRR_DelayRR_UnknownSlice: %d
+Pid: %d Name: %20s Status: %s
+ëv¸Hp 됸Qp 됸Zp Pv‰ÂÁâ)ÕÜÓq RVhqp èåOƒÄFƒþ@Ždÿÿÿeô[^_ÉÃMain
+Panic!!! can't create main task... errno =%d
+’p èñNƒÄ‹<TÓq v‰ÂÁâ)Õfƒ»ðÓq u%‰ØÔq Pjè%OfǃðÓq €‡ˆPV胺eÈ[^_ÉÃRR_register_level
+ lev=%d
+·‹E€Ì9Âu1Àë‰ö¸ÿÿÿÿÉÐU‰å¸ÿÿÿÿÉÉöU‰åWVS‹M‹¸TÓq Çˆ¾ÈÓq vWèò¸‰ÃƒÄƒûÿt:[‰ÐÁà)ЍŃ|2L ‹„2ä D2LWSè·WSèC¸ƒÄ뺉ö‰Øeô[^_ÉÉöU‰å¸ ÉÉöU‰åƒìWVS‹}‹]‹uµ‹€TÓq ‰Eüƒ{t ‰ÂÁâ)ÂÁâ¹ÈÓq ‹C‰D
+L‹Cë'‰ö‰ÂÁâ)ÂÁâ¹ÈÓq ‹uü‹†‰D
+L‹†‰„
+䍉ÂÁâ)€ÕùÓq 1Àeð[^_ÉÃU‰åÉÍvU‰å1ÀÉÐU‰å‹U•‹€TÓq ˆPÿuè'¶ÉÐU‰åWVS‹]‹}½‹°TÓq [‰ÂÁâ)ÂÁâ¹ÈÓq ƒ|
+L‹„
+ä D
+ÿ5ÄÓq jèÍòÿÿ‰ÂÁâ)‰Õ¨Öq eè[^_ÉÃU‰åÿ5ÄÓq jè¤òÿÿ1ÀÉÃU‰åÿ5ÄÓq jèòÿÿÉÉöU‰åÿ5ÄÓq jè|òÿÿÉÉöU‰åÿ5ÄÓq jèhòÿÿÉÉöU‰åÿ5ÄÓq jèTòÿÿÉÉöU‰åÿ5ÄÓq jè@òÿÿÉÉöU‰åÿ5ÄÓq jè,òÿÿÉÉöU‰åÿ5ÄÓq jèòÿÿÉÉöU‰åÿ5ÄÓq jèòÿÿÉÉöU‰åÿ5ÄÓq jèðñÿÿÉÉöU‰åÿ5ÄÓq jèÜñÿÿÉÉöU‰åVS‹UR‰ÃÁã)ÃÁã¾ÈÓq ‹L3‹€TÓq fÇD3(€ˆPRèγDŽ3àÿÿÿÿè¦ÿÿeø[^ÉÍvdummy PID: %d
+Dummy1Dummy2Dummy3Dummy4Dummy5Dummy6Dummy7Dummy8Dummy9Dummy0DummyaDummybDummycDummydDummyeDummyfDummygDummyhDummy
+Panic!!! can't create dummy task...
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+acoshacoshfacosh: DOMAIN error
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+ region %08x-%08x size=%08x flags=%08x pri=%d free=%08x
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+((DWORD)node & (sizeof(struct lmm_node) - 1)) == 0(node->size & (sizeof(struct lmm_node) - 1)) == 0node->size >= sizeof(*node)(node->next == 0) || (node->next > node)(DWORD)node < reg->max free_check=%08x
+reg->free == free_checklmm_dump done
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+U‰åƒìWVSÇEô‹Uô‰Uø‰Uü‹U‹2 ö„> ‰öƒ~uƒ~t‹F9Fvj[h0Fq h8Fq è㠃Äƒ~t‹F9Fwj[h0Fq h}Fq èÁ ƒÄ‹F‹V)‰Ð9Fvj[h0Fq h¼Fq èž ƒÄÿEü1ÿ‹^ Û„–vöÃtjbh0Fq hÝFq èr ƒÄöCtjch0Fq hGq èX ƒÄƒ{wjdh0Fq hBGq è> ƒÄƒ;t9wjeh0Fq h^Gq è! ƒÄ9^wjfh0Fq h‡Gq è ƒÄÿEø{‹ Û mÿÿÿ9~tjlh0Fq hžGq è߃Ä‹V Uô‹6 ö Äþÿÿÿuøÿuüÿuôÿuh¶Gq è~˜ÿÿeè[^_ÉÉöassertion %s failed in %s at line %i (task:%i_%i)
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\ No newline at end of file

/unsupported/trunk/pendulum/MODULO/EDFACT.C
0,0 → 1,735
/*
* Project: S.Ha.R.K.
*
* Coordinators:
* Giorgio Buttazzo <giorgio@sssup.it>
* Paolo Gai <pj@gandalf.sssup.it>
*
* Authors :
* Paolo Gai <pj@gandalf.sssup.it>
* (see the web pages for full authors list)
*
* ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
*
* http://www.sssup.it
* http://retis.sssup.it
* http://shark.sssup.it
*/
/**
------------
CVS : $Id: EDFACT.C,v 1.1 2004-06-04 10:48:40 giacomo Exp $
File: $File$
Revision: $Revision: 1.1 $
Last update: $Date: 2004-06-04 10:48:40 $
------------
**/
/*
* Copyright (C) 2001 Paolo Gai
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
#include "edfact.h"
#include <ll/stdio.h>
#include <ll/string.h>
#include <kernel/model.h>
#include <kernel/descr.h>
#include <kernel/var.h>
#include <kernel/func.h>
#include <kernel/trace.h>
//#define edfact_printf kern_printf
#define edfact_printf printk
/*+ Status used in the level +*/
#define EDFACT_READY MODULE_STATUS_BASE /*+ - Ready status +*/
#define EDFACT_IDLE MODULE_STATUS_BASE+4 /*+ to wait the deadline +*/
/*+ flags +*/
#define EDFACT_FLAG_NORAISEEXC 2
/*+ the level redefinition for the Earliest Deadline First level +*/
typedef struct {
level_des l; /*+ the standard level descriptor +*/
TIME period[MAX_PROC]; /*+ The task periods; the deadlines are
stored in the priority field +*/
int deadline_timer[MAX_PROC];
/*+ The task deadline timers +*/
struct timespec deadline_timespec[MAX_PROC];
int dline_miss[MAX_PROC]; /*+ Deadline miss counter +*/
int wcet_miss[MAX_PROC]; /*+ Wcet miss counter +*/
int nact[MAX_PROC]; /*+ Wcet miss counter +*/
int flag[MAX_PROC];
/*+ used to manage the JOB_TASK_MODEL and the
periodicity +*/
QUEUE ready; /*+ the ready queue +*/
int flags; /*+ the init flags... +*/
bandwidth_t U; /*+ the used bandwidth +*/
} EDFACT_level_des;
static void EDFACT_timer_deadline(void *par);
static void EDFACT_internal_activate(EDFACT_level_des *lev, PID p)
{
TIMESPEC_ASSIGN(&proc_table[p].timespec_priority,
&proc_table[p].request_time);
ADDUSEC2TIMESPEC(lev->period[p], &proc_table[p].timespec_priority);
TIMESPEC_ASSIGN(&lev->deadline_timespec[p],
&proc_table[p].timespec_priority);
/* Insert task in the correct position */
proc_table[p].status = EDFACT_READY;
q_timespec_insert(p,&lev->ready);
/* needed because when there is a wcet miss I disable CONTROL_CAP */
proc_table[p].control |= CONTROL_CAP;
}
static char *EDFACT_status_to_a(WORD status)
{
if (status < MODULE_STATUS_BASE)
return status_to_a(status);
switch (status) {
case EDFACT_READY : return "EDFACT_Ready";
case EDFACT_IDLE : return "EDFACT_Idle";
default : return "EDFACT_Unknown";
}
}
static void EDFACT_timer_deadline(void *par)
{
PID p = (PID) par;
EDFACT_level_des *lev;
lev = (EDFACT_level_des *)level_table[proc_table[p].task_level];
switch (proc_table[p].status) {
case EDFACT_IDLE:
edfact_printf("I%d",p);
TIMESPEC_ASSIGN(&proc_table[p].request_time,
&proc_table[p].timespec_priority);
EDFACT_internal_activate(lev,p);
event_need_reschedule();
break;
default:
edfact_printf("D%d",p, proc_table[p].status);
/* else, a deadline miss occurred!!! */
lev->dline_miss[p]++;
/* the task is into another state */
lev->nact[p]++;
/* Set the deadline timer */
ADDUSEC2TIMESPEC(lev->period[p], &lev->deadline_timespec[p]);
}
/* Set the deadline timer */
lev->deadline_timer[p] = kern_event_post(&lev->deadline_timespec[p],
EDFACT_timer_deadline,
(void *)p);
}
static void EDFACT_timer_guest_deadline(void *par)
{
PID p = (PID) par;
edfact_printf("AAARRRGGGHHH!!!");
kern_raise(XDEADLINE_MISS,p);
}
static int EDFACT_level_accept_task_model(LEVEL l, TASK_MODEL *m)
{
if (m->pclass == HARD_PCLASS || m->pclass == (HARD_PCLASS | l)) {
HARD_TASK_MODEL *h = (HARD_TASK_MODEL *)m;
if (h->wcet && h->mit && h->periodicity == PERIODIC)
return 0;
}
return -1;
}
static int EDFACT_level_accept_guest_model(LEVEL l, TASK_MODEL *m)
{
if (m->pclass == JOB_PCLASS || m->pclass == (JOB_PCLASS | l))
return 0;
else
return -1;
}
static char *onoff(int i)
{
if (i)
return "On ";
else
return "Off";
}
static void EDFACT_level_status(LEVEL l)
{
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
PID p = lev->ready;
kern_printf("On-line guarantee : %s\n",
onoff(lev->flags & EDFACT_ENABLE_GUARANTEE));
kern_printf("Used Bandwidth : %u/%u\n",
lev->U, MAX_BANDWIDTH);
while (p != NIL) {
if ((proc_table[p].pclass) == JOB_PCLASS)
kern_printf("Pid: %2d (GUEST)\n", p);
else
kern_printf("Pid: %2d Name: %10s %s: %9d Dline: %9d.%6d Stat: %s\n",
p,
proc_table[p].name,
"Period ",
lev->period[p],
proc_table[p].timespec_priority.tv_sec,
proc_table[p].timespec_priority.tv_nsec/1000,
EDFACT_status_to_a(proc_table[p].status));
p = proc_table[p].next;
}
for (p=0; p<MAX_PROC; p++)
if (proc_table[p].task_level == l && proc_table[p].status != EDFACT_READY
&& proc_table[p].status != FREE )
kern_printf("Pid: %2d Name: %10s %s: %9d Dline: %9d.%6d Stat: %s\n",
p,
proc_table[p].name,
"Period ",
lev->period[p],
proc_table[p].timespec_priority.tv_sec,
proc_table[p].timespec_priority.tv_nsec/1000,
EDFACT_status_to_a(proc_table[p].status));
}
/* The scheduler only gets the first task in the queue */
static PID EDFACT_level_scheduler(LEVEL l)
{
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
/* { // print 4 dbg the ready queue
PID p= lev->ready;
kern_printf("(s");
while (p != NIL) {
kern_printf("%d ",p);
p = proc_table[p].next;
}
kern_printf(") ");
}
*/
return (PID)lev->ready;
}
/* The on-line guarantee is enabled only if the appropriate flag is set... */
static int EDFACT_level_guarantee(LEVEL l, bandwidth_t *freebandwidth)
{
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
if (lev->flags & EDFACT_FAILED_GUARANTEE) {
*freebandwidth = 0;
return 0;
}
else
if (*freebandwidth >= lev->U) {
*freebandwidth -= lev->U;
return 1;
}
else
return 0;
}
static int EDFACT_task_create(LEVEL l, PID p, TASK_MODEL *m)
{
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
/* if the EDFACT_task_create is called, then the pclass must be a
valid pclass. */
HARD_TASK_MODEL *h = (HARD_TASK_MODEL *)m;
lev->period[p] = h->mit;
lev->flag[p] = 0;
lev->deadline_timer[p] = -1;
lev->dline_miss[p] = 0;
lev->wcet_miss[p] = 0;
lev->nact[p] = 0;
/* Enable wcet check */
proc_table[p].avail_time = h->wcet;
proc_table[p].wcet = h->wcet;
proc_table[p].control |= CONTROL_CAP;
/* update the bandwidth... */
if (lev->flags & EDFACT_ENABLE_GUARANTEE) {
bandwidth_t b;
b = (MAX_BANDWIDTH / h->mit) * h->wcet;
/* really update lev->U, checking an overflow... */
if (MAX_BANDWIDTH - lev->U > b)
lev->U += b;
else
/* The task can NOT be guaranteed (U>MAX_BANDWIDTH)...
in this case, we don't raise an exception... in fact, after the
EDFACT_task_create the task_create will call level_guarantee that return
-1... return -1 in EDFACT_task_create isn't correct, because:
. generally, the guarantee must be done when also the resources
are registered
. returning -1 will cause the task_create to return with an errno
ETASK_CREATE instead of ENO_GUARANTEE!!!
Why I use the flag??? because if the lev->U overflows, if i.e. I set
it to MAX_BANDWIDTH, I lose the correct allocated bandwidth...
*/
lev->flags |= EDFACT_FAILED_GUARANTEE;
}
return 0; /* OK, also if the task cannot be guaranteed... */
}
static void EDFACT_task_detach(LEVEL l, PID p)
{
/* the EDFACT level doesn't introduce any dinamic allocated new field.
we have only to reset the NO_GUARANTEE FIELD and decrement the allocated
bandwidth */
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
if (lev->flags & EDFACT_FAILED_GUARANTEE)
lev->flags &= ~EDFACT_FAILED_GUARANTEE;
else
lev->U -= (MAX_BANDWIDTH / lev->period[p]) * proc_table[p].wcet;
}
static int EDFACT_task_eligible(LEVEL l, PID p)
{
return 0; /* if the task p is chosen, it is always eligible */
}
static void EDFACT_task_dispatch(LEVEL l, PID p, int nostop)
{
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
/* the task state is set EXE by the scheduler()
we extract the task from the ready queue
NB: we can't assume that p is the first task in the queue!!! */
q_extract(p, &lev->ready);
}
static void EDFACT_task_epilogue(LEVEL l, PID p)
{
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
/* check if the wcet is finished... */
if (proc_table[p].avail_time <= 0 && proc_table[p].control&CONTROL_CAP) {
/* wcet finished: disable wcet event and count wcet miss */
edfact_printf("W%d",p);
proc_table[p].control &= ~CONTROL_CAP;
lev->wcet_miss[p]++;
}
/* the task it returns into the ready queue... */
q_timespec_insert(p,&lev->ready);
proc_table[p].status = EDFACT_READY;
}
static void EDFACT_task_activate(LEVEL l, PID p)
{
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
/* Test if we are trying to activate a non sleeping task */
/* save activation (only if needed... */
if (proc_table[p].status != SLEEP) {
/* a periodic task cannot be activated when it is already active */
kern_raise(XACTIVATION,p);
return;
}
ll_gettime(TIME_EXACT, &proc_table[p].request_time);
EDFACT_internal_activate(lev,p);
/* Set the deadline timer */
lev->deadline_timer[p] = kern_event_post(&lev->deadline_timespec[p],
EDFACT_timer_deadline,
(void *)p);
}
static void EDFACT_task_insert(LEVEL l, PID p)
{
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
/* Insert task in the coEDFect position */
proc_table[p].status = EDFACT_READY;
q_timespec_insert(p,&lev->ready);
}
static void EDFACT_task_extract(LEVEL l, PID p)
{
}
static void EDFACT_task_endcycle(LEVEL l, PID p)
{
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
/* we reset the capacity counters... */
proc_table[p].avail_time = proc_table[p].wcet;
if (lev->nact[p] > 0) {
edfact_printf("E%d",p);
/* Pending activation: reactivate the thread!!! */
lev->nact[p]--;
/* see also EDFACT_timer_deadline */
ll_gettime(TIME_EXACT, &proc_table[p].request_time);
EDFACT_internal_activate(lev,p);
/* check if the deadline has already expired */
if (TIMESPEC_A_LT_B(&proc_table[p].timespec_priority, &schedule_time)) {
/* count the deadline miss */
lev->dline_miss[p]++;
event_delete(lev->deadline_timer[p]);
}
}
else {
edfact_printf("e%d",p);
/* the task has terminated his job before it consume the wcet. All OK! */
proc_table[p].status = EDFACT_IDLE;
/* when the deadline timer fire, it recognize the situation and set
correctly all the stuffs (like reactivation, request_time, etc... ) */
}
}
static void EDFACT_task_end(LEVEL l, PID p)
{
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
edfact_printf("Û%d",p);
/* we finally put the task in the ready queue */
proc_table[p].status = FREE;
q_insertfirst(p,&freedesc);
/* and free the allocated bandwidth */
lev->U -= (MAX_BANDWIDTH/lev->period[p]) * proc_table[p].wcet;
if (lev->deadline_timer[p] != -1) {
edfact_printf("²%d",p);
event_delete(lev->deadline_timer[p]);
}
}
static void EDFACT_task_sleep(LEVEL l, PID p)
{ kern_raise(XUNVALID_TASK,exec_shadow); }
static void EDFACT_task_delay(LEVEL l, PID p, TIME usdelay)
{ kern_raise(XUNVALID_TASK,exec_shadow); }
/* Guest Functions
These functions manages a JOB_TASK_MODEL, that is used to put
a guest task in the EDFACT ready queue. */
static int EDFACT_guest_create(LEVEL l, PID p, TASK_MODEL *m)
{
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
JOB_TASK_MODEL *job = (JOB_TASK_MODEL *)m;
/* if the EDFACT_guest_create is called, then the pclass must be a
valid pclass. */
TIMESPEC_ASSIGN(&proc_table[p].timespec_priority, &job->deadline);
lev->deadline_timer[p] = -1;
lev->dline_miss[p] = 0;
lev->wcet_miss[p] = 0;
lev->nact[p] = 0;
if (job->noraiseexc)
lev->flag[p] = EDFACT_FLAG_NORAISEEXC;
else
lev->flag[p] = 0;
lev->period[p] = job->period;
/* there is no bandwidth guarantee at this level, it is performed
by the level that inserts guest tasks... */
return 0; /* OK, also if the task cannot be guaranteed... */
}
static void EDFACT_guest_detach(LEVEL l, PID p)
{
/* the EDFACT level doesn't introduce any dinamic allocated new field.
No guarantee is performed on guest tasks... so we don't have to reset
the NO_GUARANTEE FIELD */
}
static void EDFACT_guest_dispatch(LEVEL l, PID p, int nostop)
{
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
/* the task state is set to EXE by the scheduler()
we extract the task from the ready queue
NB: we can't assume that p is the first task in the queue!!! */
q_extract(p, &lev->ready);
}
static void EDFACT_guest_epilogue(LEVEL l, PID p)
{
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
/* the task has been preempted. it returns into the ready queue... */
q_timespec_insert(p,&lev->ready);
proc_table[p].status = EDFACT_READY;
}
static void EDFACT_guest_activate(LEVEL l, PID p)
{
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
/* Insert task in the correct position */
q_timespec_insert(p,&lev->ready);
proc_table[p].status = EDFACT_READY;
/* Set the deadline timer */
if (!(lev->flag[p] & EDFACT_FLAG_NORAISEEXC))
lev->deadline_timer[p] = kern_event_post(&proc_table[p].timespec_priority,
EDFACT_timer_guest_deadline,
(void *)p);
}
static void EDFACT_guest_insert(LEVEL l, PID p)
{
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
/* Insert task in the correct position */
q_timespec_insert(p,&lev->ready);
proc_table[p].status = EDFACT_READY;
}
static void EDFACT_guest_extract(LEVEL l, PID p)
{
}
static void EDFACT_guest_endcycle(LEVEL l, PID p)
{ kern_raise(XUNVALID_GUEST,exec_shadow); }
static void EDFACT_guest_end(LEVEL l, PID p)
{
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
//kern_printf("EDFACT_guest_end: dline timer %d\n",lev->deadline_timer[p]);
if (proc_table[p].status == EDFACT_READY)
{
q_extract(p, &lev->ready);
//kern_printf("(g_end rdy extr)");
}
/* we remove the deadline timer, because the slice is finished */
if (lev->deadline_timer[p] != NIL) {
// kern_printf("EDFACT_guest_end: dline timer %d\n",lev->deadline_timer[p]);
event_delete(lev->deadline_timer[p]);
lev->deadline_timer[p] = NIL;
}
}
static void EDFACT_guest_sleep(LEVEL l, PID p)
{ kern_raise(XUNVALID_GUEST,exec_shadow); }
static void EDFACT_guest_delay(LEVEL l, PID p, TIME usdelay)
{ kern_raise(XUNVALID_GUEST,exec_shadow); }
/* Registration functions */
/*+ Registration function:
int flags the init flags ... see EDFACT.h +*/
void EDFACT_register_level(int flags)
{
LEVEL l; /* the level that we register */
EDFACT_level_des *lev; /* for readableness only */
PID i; /* a counter */
printk("EDFACT_register_level\n");
/* request an entry in the level_table */
l = level_alloc_descriptor();
printk(" alloco descrittore %d %d\n",l,(int)sizeof(EDFACT_level_des));
/* alloc the space needed for the EDFACT_level_des */
lev = (EDFACT_level_des *)kern_alloc(sizeof(EDFACT_level_des));
printk(" lev=%d\n",(int)lev);
/* update the level_table with the new entry */
level_table[l] = (level_des *)lev;
/* fill the standard descriptor */
strncpy(lev->l.level_name, EDFACT_LEVELNAME, MAX_LEVELNAME);
lev->l.level_code = EDFACT_LEVEL_CODE;
lev->l.level_version = EDFACT_LEVEL_VERSION;
lev->l.level_accept_task_model = EDFACT_level_accept_task_model;
lev->l.level_accept_guest_model = EDFACT_level_accept_guest_model;
lev->l.level_status = EDFACT_level_status;
lev->l.level_scheduler = EDFACT_level_scheduler;
if (flags & EDFACT_ENABLE_GUARANTEE)
lev->l.level_guarantee = EDFACT_level_guarantee;
else
lev->l.level_guarantee = NULL;
lev->l.task_create = EDFACT_task_create;
lev->l.task_detach = EDFACT_task_detach;
lev->l.task_eligible = EDFACT_task_eligible;
lev->l.task_dispatch = EDFACT_task_dispatch;
lev->l.task_epilogue = EDFACT_task_epilogue;
lev->l.task_activate = EDFACT_task_activate;
lev->l.task_insert = EDFACT_task_insert;
lev->l.task_extract = EDFACT_task_extract;
lev->l.task_endcycle = EDFACT_task_endcycle;
lev->l.task_end = EDFACT_task_end;
lev->l.task_sleep = EDFACT_task_sleep;
lev->l.task_delay = EDFACT_task_delay;
lev->l.guest_create = EDFACT_guest_create;
lev->l.guest_detach = EDFACT_guest_detach;
lev->l.guest_dispatch = EDFACT_guest_dispatch;
lev->l.guest_epilogue = EDFACT_guest_epilogue;
lev->l.guest_activate = EDFACT_guest_activate;
lev->l.guest_insert = EDFACT_guest_insert;
lev->l.guest_extract = EDFACT_guest_extract;
lev->l.guest_endcycle = EDFACT_guest_endcycle;
lev->l.guest_end = EDFACT_guest_end;
lev->l.guest_sleep = EDFACT_guest_sleep;
lev->l.guest_delay = EDFACT_guest_delay;
/* fill the EDFACT descriptor part */
for(i=0; i<MAX_PROC; i++) {
lev->period[i] = 0;
lev->deadline_timer[i] = -1;
lev->flag[i] = 0;
lev->dline_miss[i] = 0;
lev->wcet_miss[i] = 0;
lev->nact[i] = 0;
}
lev->ready = NIL;
lev->flags = flags & 0x07;
lev->U = 0;
}
bandwidth_t EDFACT_usedbandwidth(LEVEL l)
{
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
if (lev->l.level_code == EDFACT_LEVEL_CODE &&
lev->l.level_version == EDFACT_LEVEL_VERSION)
return lev->U;
else
return 0;
}
int EDFACT_get_dline_miss(PID p)
{
LEVEL l = proc_table[p].task_level;
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
if (lev->l.level_code == EDFACT_LEVEL_CODE &&
lev->l.level_version == EDFACT_LEVEL_VERSION)
return lev->dline_miss[p];
else
return -1;
}
int EDFACT_get_wcet_miss(PID p)
{
LEVEL l = proc_table[p].task_level;
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
if (lev->l.level_code == EDFACT_LEVEL_CODE &&
lev->l.level_version == EDFACT_LEVEL_VERSION)
return lev->wcet_miss[p];
else
return -1;
}
int EDFACT_get_nact(PID p)
{
LEVEL l = proc_table[p].task_level;
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
if (lev->l.level_code == EDFACT_LEVEL_CODE &&
lev->l.level_version == EDFACT_LEVEL_VERSION)
return lev->nact[p];
else
return -1;
}
int EDFACT_reset_dline_miss(PID p)
{
LEVEL l = proc_table[p].task_level;
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
if (lev->l.level_code == EDFACT_LEVEL_CODE &&
lev->l.level_version == EDFACT_LEVEL_VERSION)
{
lev->dline_miss[p] = 0;
return 0;
}
else
return -1;
}
int EDFACT_reset_wcet_miss(PID p)
{
LEVEL l = proc_table[p].task_level;
EDFACT_level_des *lev = (EDFACT_level_des *)(level_table[l]);
if (lev->l.level_code == EDFACT_LEVEL_CODE &&
lev->l.level_version == EDFACT_LEVEL_VERSION)
{
lev->wcet_miss[p] = 0;
return 0;
}
else
return -1;
}

/unsupported/trunk/pendulum/MODULO/EDFACT1.C
0,0 → 1,245
/*
* Project: S.Ha.R.K.
*
* Coordinators:
* Giorgio Buttazzo <giorgio@sssup.it>
* Paolo Gai <pj@gandalf.sssup.it>
*
* Authors :
* Paolo Gai <pj@gandalf.sssup.it>
* (see the web pages for full authors list)
*
* ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
*
* http://www.sssup.it
* http://retis.sssup.it
* http://shark.sssup.it
*/
/**
------------
CVS : $Id: EDFACT1.C,v 1.1 2004-06-04 10:48:40 giacomo Exp $
File: $File$
Revision: $Revision: 1.1 $
Last update: $Date: 2004-06-04 10:48:40 $
------------
**/
/*
* Copyright (C) 2001 Paolo Gai
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
/* the demo tests EDFACT with my Celeron 366 Mhz.
Aster1 meet all wcets and all deadlines
Aster2 miss all wcets but hits all the deadlines
Aster3 blocks on a semaphore so it miss all the deadlines and it accumulates
pending activations
Aster4 does 5 states:
1: is a cycle, long enough to cope a little more than 2 periods
2-5: like aster1, they meets all the wcet and deadlines
the debug pattern is something like
WDDEEeIeIeI
W wcet violated
D deadline miss event
E endcycle with automatic reactivation due to pending activations
e normal endcycle
I normal reactivation event
*/
#include <kernel/kern.h>
#include <semaphore.h>
#include "edfact.h"
PID p1,p2,p3,p4;
sem_t sem;
#define ASTER_LIM 77
TASK aster1(void *arg)
{
int i = 10;
int y = 10+exec_shadow;
printf_xy(1,y,WHITE,"%d", exec_shadow);
while (i < ASTER_LIM) {
puts_xy(i,y,WHITE,"*");
task_endcycle();
puts_xy(i,y,WHITE," ");
i++;
}
return 0;
}
TASK aster2(void *arg)
{
int i = 10;
int y = 10+exec_shadow;
int x;
printf_xy(1,y,WHITE,"%d", exec_shadow);
while (i < ASTER_LIM) {
puts_xy(i,y,WHITE,"*");
for(x=0; x<1000000; x++);
task_endcycle();
puts_xy(i,y,WHITE," ");
i++;
}
return 0;
}
TASK aster3(void *arg)
{
int i = 10;
int y = 10+exec_shadow;
printf_xy(1,y,WHITE,"%d", exec_shadow);
while (i < ASTER_LIM) {
puts_xy(i,y,WHITE,"*");
sem_wait(&sem);
task_endcycle();
puts_xy(i,y,WHITE," ");
i++;
}
return 0;
}
TASK aster4(void *arg)
{
int i = 10;
int y = 10+exec_shadow;
int x;
int flag = 0;
printf_xy(1,y,WHITE,"%d", exec_shadow);
while (i < ASTER_LIM) {
puts_xy(i,y,WHITE,"*");
switch (flag) {
case 0:
kern_printf("!");
for(x=0; x<5000000; x++) flag=1;
break;
case 1:
flag = 2;
break;
case 2:
flag = 3;
break;
case 3:
flag = 4;
break;
case 4:
flag = 0;
break;
}
task_endcycle();
puts_xy(i,y,WHITE," ");
i++;
}
return 0;
}
TASK clock()
{
printf_xy(50,19,WHITE,"PID miss wcet nact");
while(1) {
printf_xy(50,20,WHITE,"%3d %4d %4d %4d",
p1, EDFACT_get_dline_miss(p1),
EDFACT_get_wcet_miss(p1),
EDFACT_get_nact(p1));
printf_xy(50,21,WHITE,"%3d %4d %4d %4d",
p2, EDFACT_get_dline_miss(p2),
EDFACT_get_wcet_miss(p2),
EDFACT_get_nact(p2));
printf_xy(50,22,WHITE,"%3d %4d %4d %4d",
p3, EDFACT_get_dline_miss(p3),
EDFACT_get_wcet_miss(p3),
EDFACT_get_nact(p3));
printf_xy(50,23,WHITE,"%3d %4d %4d %4d",
p4, EDFACT_get_dline_miss(p4),
EDFACT_get_wcet_miss(p4),
EDFACT_get_nact(p4));
}
}
int main(int argc, char **argv)
{
NRT_TASK_MODEL n;
HARD_TASK_MODEL m;
kern_printf("\nCtrl-C = end demo\n");
hard_task_default_model(m);
hard_task_def_mit(m,200000);
hard_task_def_group(m,1);
sem_init(&sem,0,0);
hard_task_def_wcet(m,2000);
p1 = task_create("1",aster1,&m,NULL);
if (p1 == -1) {
perror("Aster.C(main): Could not create task <aster> ...");
sys_end();
}
hard_task_def_wcet(m,2000);
p2 = task_create("1",aster2,&m,NULL);
if (p2 == -1) {
perror("Aster.C(main): Could not create task <aster> ...");
sys_end();
}
hard_task_def_wcet(m,2000);
p3 = task_create("1",aster3,&m,NULL);
if (p3 == -1) {
perror("Aster.C(main): Could not create task <aster> ...");
sys_end();
}
hard_task_def_mit(m,20000);
hard_task_def_wcet(m,500);
p4 = task_create("1",aster4,&m,NULL);
if (p4 == -1) {
perror("Aster.C(main): Could not create task <aster> ...");
sys_end();
}
group_activate(1);
nrt_task_default_model(n);
task_activate(task_create("Clock",clock,&n,NULL));
return 0;
}

/unsupported/trunk/pendulum/MODULO/EDFACT.H
0,0 → 1,151
/*
* Project: S.Ha.R.K.
*
* Coordinators:
* Giorgio Buttazzo <giorgio@sssup.it>
* Paolo Gai <pj@gandalf.sssup.it>
*
* Authors :
* Paolo Gai <pj@gandalf.sssup.it>
* Massimiliano Giorgi <massy@gandalf.sssup.it>
* Luca Abeni <luca@gandalf.sssup.it>
* (see the web pages for full authors list)
*
* ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
*
* http://www.sssup.it
* http://retis.sssup.it
* http://shark.sssup.it
*/
/**
------------
CVS : $Id: EDFACT.H,v 1.1 2004-06-04 10:48:40 giacomo Exp $
File: $File$
Revision: $Revision: 1.1 $
Last update: $Date: 2004-06-04 10:48:40 $
------------
This file contains the server EDFACT (EDF with pending activations)
Title:
EDFACT
Task Models Accepted:
HARD_TASK_MODEL - Hard Tasks (only Periodic)
wcet field and mit field must be != 0. They are used to set the wcet
and period of the tasks.
periodicity field can be only PERIODIC
drel field is ignored
Guest Models Accepted:
JOB_TASK_MODEL - a single guest task activation
Identified by an absolute deadline and a period.
period field is ignored
Description:
This module schedule his tasks following the classic EDF scheme.
The task guarantee is based on the factor utilization approach.
The tasks scheduled are only periodic.
All the task are put in a queue and the scheduling is based on the
deadline value.
NO GUARANTEE is performed on guest tasks. The guarantee must be performed
by the level that inserts guest tasks in the EDF level.
If a task miss a deadline a counter is incremented.
If a task exausts the wcet a counter is incremented
No ZOMBIE support!!!!!!
Exceptions raised:
XUNVALID_GUEST XUNVALID_TASK
some primitives are not implemented:
task_sleep, task_delay, guest_endcycle, guest_sleep, guest_delay
XACTIVATION
If a task is actiated through task_activate or guest_activate more than
one time
Restrictions & special features:
- This level doesn't manage the main task.
- At init time we have to specify:
. guarantee check
(when all task are created the system will check that the task_set
will not use more than the available bandwidth)
- A function to return the used bandwidth of the level is provided.
- Functions to return and reset the nact, wcet and dline miss counters
**/
/*
* Copyright (C) 2001 Paolo Gai
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
#ifndef __EDFACT_H__
#define __EDFACT_H__
#include <ll/ll.h>
#include <kernel/config.h>
#include <sys/types.h>
#include <kernel/types.h>
#include <modules/codes.h>
/*+ flags... +*/
#define EDFACT_ENABLE_GUARANTEE 1 /*+ Task Guarantee enabled +*/
#define EDFACT_ENABLE_ALL 1
#define EDFACT_FAILED_GUARANTEE 8 /*+ used in the module, unsettabl
in EDF_register_level... +*/
#define ELASTIC_HARD_PCLASS 0x0600
#define EDFACT_LEVELNAME "EDFACT base"
#define EDFACT_LEVEL_CODE 166
#define EDFACT_LEVEL_VERSION 1
/*+ Registration function:
int flags Options to be used in this level instance...
+*/
void EDFACT_register_level(int flags);
/*+ Returns the used bandwidth of a level +*/
bandwidth_t EDFACT_usedbandwidth(LEVEL l);
/*+ returns respectively the number of dline, wcet or nact; -1 if error +*/
int EDFACT_get_dline_miss(PID p);
int EDFACT_get_wcet_miss(PID p);
int EDFACT_get_nact(PID p);
/*+ resets respectively the number of dline, wcet miss; -1 if error +*/
int EDFACT_reset_dline_miss(PID p);
int EDFACT_reset_wcet_miss(PID p);
#endif

/unsupported/trunk/pendulum/MODULO/MAKEFILE
0,0 → 1,16
#
#
#
ifndef BASE
BASE=../..
endif
include $(BASE)/config/config.mak
PROGS= edfact1
include $(BASE)/config/example.mak
edfact1:
make -f $(SUBMAKE) APP=edfact1 INIT= OTHEROBJS="initfile.o edfact.o"

/unsupported/trunk/pendulum/MODULO/XXX.GPR
0,0 → 1,45
__RHIDE_project-file__[ ÿxxx.exe
+ ][  ][  ][ 11
+-fno-peephole][  -fno-rerun-cse-after-loop][  -fno-schedule-insns][  -fno-schedule-insns2][  -fno-strength-reduce][  -fno-thread-jumps][  -fno-unroll-all-loops][  -fno-unroll-loops][  -fomit-frame-pointer][ 
+-fpeephole][  -frerun-cse-after-loop][  -fschedule-insns][  -fschedule-insns2][  -fstrength-reduce][  -fthread-jumps][  -funroll-all-loops][  -funroll-loops]][ ''
+[  -pedantic][  -pedantic-errors][  -w][  -W][  -Waggregate-return][  -Wall][  -Wbad-function-cast][  -Wcast-align][  -Wcast-qual][  -Wchar-subscripts][  -Wcomment][  -Wconversion][  -Wenum-clash][  -Werror][  -Wformat][  -Wid-clash- ÿÿÿÿ][ 
+-Wtraditional][  -Wtrigraphs][  -Wuninitialized][  -Wunused][  -Wwrite-strings]][ 
+[  -g ÿÿÿÿ][  -a][  -d MNDyrxjsLtfcSlgRJdkampÿ][  -fpretend-float][  -gcoff ÿÿÿÿ][  -gdwarf ÿÿÿÿ][  -gdwarf+][  -ggdb ÿÿÿÿ][  -gstabs ÿÿÿÿ][  -gstabs+][  -gxcoff ÿÿÿÿ][  -p][  -pg][  -save-temps]][ 
+-fall-virtual][  -falt-external-templates][  -fcheck-new][  -fconserve-space][  -fdollars-in-identifiers][  -fenum-int-equiv][  -fexternal-templates][  -fhandle-signatures][  -fhuge-objects][  -fmemoize-lookups][  -fno-access-control][  -fno-default-inline][  -fno-gnu-keywords][  -fno-implement-inlines][  -fno-implicit-templates][  -fno-nonnull-objects][  -foperator-names][  -fsave-memoized][  -fstrict-prototype][  -fthis-is-variable][  -fvtable-thunks][  -nostdinc++][  -traditional][  -Wenum-clash][  -Woverloaded-virtual][  -Wtemplate-debugging]][ 
+-fsigned-char][  -funsigned-bitfields][  -funsigned-char][  -fwritable-strings][  -traditional][  -traditional-cpp][ 
+__extension____inline
+__inline__ __label__
+__signature____signed
+__signed__ __sigof____typeof
+__typeof__
+__unused__
+__volatile__volatile__ __wchar_tandand_eqasmautobitandbitorboolbreakcasecatchcharclasscomplconst
+const_castconstructorcontinuedefaultdelete
+destructordodoubledynamic_castelseenumexplicitexternfalsefloatforfriendgotoifinlineintlongmutable namespacenewnotnot_eqoperatororor_eqoverloadpackedprivate protectedpublicregisterregparmreinterpret_castreturnshort signaturesignedsigofsizeofstaticstatic_caststructswitchtemplatethisthrowtruetrytypedeftypeidtypenametypeofunionunsignedunusedusingvirtualvoidvolatilewhilexorxor_eq][ ][ 
+[  -fchar-escapes][  -fc-numbers][  -fshort-circuit][  -flazy-io][  -fstandard-pascal][  -fextended-pascal][  -fobject-pascal][  -fborland-pascal][  -fpascal-sc][  -fextended-syntax][  -flines][  -fdebug-gpi][  -fnested-comments][  -fsetlimit: ÿÿÿÿ][  -fgpc-main: ÿÿ]][ HH AbsoluteAbstractAllAndAnd_thenArrayAsmBeginBindableCaseClassConstConstructor
+DestructorDivDoDowntoElseEndExportExportsFileForFunctionGotoIfImplementationImportIn InheritedInline InterfaceIsLabelLibraryModModuleNilNotObjectOfOnlyOperatorOrOr_else OtherwisePackedPow ProcedureProgramProperty Protected QualifiedRecordRepeat
+RestrictedSetShlShrThenToTypeUnitUntilUsesValueVarViewVirtualWhileWithXor][ ii
+-ff2c-library][  -fno-f2c-library][  -ffree-form][  -fno-free-form][  -ffixed-form][  -fno-fixed-form][ 
+-fugly-logint][  -fno-ugly-logint][  -fdebug][ 
+-fno-debug][  -finit-local-zero][  -fno-init-local-zero][  -fbackslash][  -fno-backslash][  -funderscoring][  -fno-underscoring][  -fsecond-underscore][  -fno-second-underscore][  -fintrin-case-initcap][  -fintrin-case-upper][  -fintrin-case-lower][  -fintrin-case-any][  -fmatch-case-initcap][  -fmatch-case-upper][  -fmatch-case-lower][  -fmatch-case-any][  -fsource-case-upper][  -fsource-case-lower][  -fsource-case-preserve][  -fsymbol-case-initcap][  -fsymbol-case-upper][  -fsymbol-case-lower][  -fsymbol-case-any][  -fcase-strict-upper][  -fcase-strict-lower][  -fcase-initcap][  -fcase-upper][  -fcase-lower][  -fcase-preserve][  -fdcp-intrinsics-delete][  -fdcp-intrinsics-hide][  -fdcp-intrinsics-disable][  -fdcp-intrinsics-enable][  -ff2c-intrinsics-delete][  -ff2c-intrinsics-hide][  -ff2c-intrinsics-disable][  -ff2c-intrinsics-enable][  -ff90-intrinsics-delete][  -ff90-intrinsics-hide][  -ff90-intrinsics-disable][  -ff90-intrinsics-enable][  -fmil-intrinsics-delete][  -fmil-intrinsics-hide][  -fmil-intrinsics-disable][  -fmil-intrinsics-enable][  -funix-intrinsics-delete][  -funix-intrinsics-hide][  -funix-intrinsics-disable][  -funix-intrinsics-enable][  -fvxt-intrinsics-delete][  -fvxt-intrinsics-hide][  -fvxt-intrinsics-disable][  -fvxt-intrinsics-enable][  -fzeros][ 
+-fno-zeros][  -fdebug-kludge][  -fno-debug-kludge][  -fonetrip][  -fno-onetrip][  -fsilent][  -fno-silent][  -ftypeless-boz][  -fno-typeless-boz][  -Wsurprising][  -Wno-surprising][  -ffixed-line-length-]][  ][ 
+ libc]Xmain]
\ No newline at end of file

/unsupported/trunk/pendulum/KALM1.BAK
0,0 → 1,905
/*************************************************************
* *
* Stabilizzazione di un pendolo inverso *
* *
* *
*Written by: Gabriele Bolognini - Scuola S.Anna -- Pisa *
* *
*************************************************************/
#include "demo.h"
#include "kernel/func.h"
#include "kernel/kern.h"
#include <stdlib.h>
#include "drivers/keyb.h"
#include "drivers/glib.h"
#include "ll/i386/x-dos.h"
#include "modules/cabs.h"
#include "modules/hartport.h"
#include "string.h"
#include <math.h>
#include "pclab.h"
#include "modules/pi.h"
#include "modules/nop.h"
#include "cost.h" /* Contiene le costanti del task DISEGNA */
#define NSAMPLES 500
#define NTASKS 10
TIME timetab[NSAMPLES][NTASKS];
static int index[MAX_PROC];
char dest[10000];
mutex_t mutex;
void app_mutex_init(mutex_t *);
#define LUNGH 35
#define THETAMAX 45
#define VDANG 2.4
#define NMAX 500
/*----- ACHTUNG!!!: param. iniz. del guadagno, deadline, ecc.----------- */
#define INIPARAMS {{ 2.3 , 300 , 0.5 , 15 },1.,1.0,20.,20., 0.1, 1 , 1}
#define MODPARAMS {{ 1. , 300 , 0.9 , 34 },0.74 ,1.,20.,20., 0.2, 1 , 1}
struct Parametri{
float GUAD[4];
float COST;
float NOISE;
float WCUT;
float WCUT1;
float OFFSVAL;
int DEADLINE;
int SCAN;
} prm=INIPARAMS, prmbase=INIPARAMS, prmmod=MODPARAMS;
#define DEADSECX (prm.DEADLINE * 0.001 * prm.SCAN)/*mit task CONTROLLO in sec*/
#define DEADSECTH (prm.DEADLINE * 0.001 ) /* mit task CONTROLLO in sec*/
struct Data_cab1 {
float rif;
int imp;
};
struct Data_cab2 {
float x;
float y;
};
CAB cab1, cab2;
float vmax, vmin, vmaxth, vminth;
float vin=0, vout, yout, thout;
//int sysid=0, startid=0; /* usate nell'identificazione del sistema */
void graphframe(void);
void my_end(void);
void scritt(void);
void initial(void);
void scenario_jetcontrol(void);
void init_jetcontrol(void);
TASK jetslide_task(void *);
TASK jetctrl_task(void *);
TASK jetdummy_task(void *);
void framegrabber_close(void *);
TASK camera_task(void *);
TASK tracking_task(void *);
extern int white, black, red, gray, green, blue;
int da_motor(float v)
{
da_conv( 2.5 , 2 );
da_conv( v + 2.5 , 1 );
return(0);
}
float v2x(float v)
{ /* trasforma i volt in x */
float x;
x= LUNGH * (v-(vmax+vmin)/2 ) / (vmax-vmin);
return x;
}
float v2theta(float v)
{ /* trasforma i volt in angoli */
float theta;
theta=2.0*(THETAMAX/FCA) * (v-(vmaxth+vminth)/2 ) / (vmaxth-vminth);
return theta;
}
float bass1(float u)
{
float y;
static float oldy=0;
y=(oldy + prm.WCUT * DEADSECX *u)/(1+ prm.WCUT * DEADSECX);
oldy=y;
return y;
}
float bass2(float u)
{
float y;
static float oldy=0;
y=(oldy + prm.WCUT1 * DEADSECX *u)/(1+ prm.WCUT1 * DEADSECX);
oldy=y;
return y;
}
float bass3(float u)
{
float y;
static float oldy=0;
y=(oldy + prm.WCUT * DEADSECTH *u)/(1+ prm.WCUT * DEADSECTH);
oldy=y;
return y;
}
float bass4(float u)
{
float y;
static float oldy=0;
y=(oldy + prm.WCUT1 * DEADSECTH *u)/(1+ prm.WCUT1 * DEADSECTH);
oldy=y;
return y;
}
float dx(float u)
{
static float oldu=0;
float y;
y=(u-oldu)/DEADSECX;
oldu=u;
return y;
}
float dth(float u)
{
static float oldu=0;
float y;
y=(u-oldu)/DEADSECTH;
oldu=u;
return y;
}
TASK eval(void)
{
int x,y;
char str[100];
mutex_lock(&mutex);
grx_rect(10,325,XTI - 20,479,blue);
x = 20;
y = 350;
grx_text("PARAMETRI DI CONTROLLO ( R , T ) ", x+60, y-18 , red, 0);
grx_text("Guad=", x, y,green, 0);y+=18;
grx_text("Cost=", x, y,green, 0); y+=18;
grx_text("WCUT=", x, y,green, 0); y+=18;
grx_text("WCUT1=", x, y,green, 0); y+=18;
grx_text("NOISE=", x, y,green, 0); y+=18;
grx_text("DEADL=", x, y,green, 0);y+=18;
grx_text("OFFS=", x, y,green, 0);y+=18;
{ /* legenda */
int x=280, y=350;
grx_text("Guad 1,2 3,4 5,6 7,8", x, y,green, 0);y+=18;
grx_text("Cost [ , ]", x, y,green, 0); y+=18;
grx_text("WCUT o , p", x , y,green, 0); y+=18;
grx_text("WCUT1 k , l", x, y,green, 0); y+=18;
grx_text("NOISE n , m", x, y,green, 0); y+=18;
grx_text("DEADL - , +", x, y,green, 0);y+=18;
grx_text("OFFS / , *", x, y,green, 0);y+=18;
}
{ /* frame dei valori rilevati dai sensori */
int x=15, y=YTI+10;
grx_rect(10,YTI,XTI - 20,YTI+70,red);
grx_text("V_com = ", x, y,green, 0);y+=14;
grx_text("V+offs = ", x, y,green, 0);y+=14;
grx_text("V_sens_x = ", x, y,green, 0);y+=14;
grx_text("SCAN = ", x, y,green, 0);y+=14;
}
mutex_unlock(&mutex);
while(1){
x = 70;
y = 350;
mutex_lock(&mutex);
grx_text(" ", x, y, 12, 0);
sprintf(str, "%6.2f %6.2f %6.2f %6.2f ", prm.GUAD[0],prm.GUAD[1],prm.GUAD[2],prm.GUAD[3]);
grx_text(str, x, y, blue, 0);y+=18;
grx_text(" ", x, y, 12, 0);
sprintf(str, "%6.2f ", prm.COST);
grx_text(str, x, y, blue, 0); y += 18;
grx_text(" ", x, y, 12, 0);
sprintf(str, "%6.2f Hz", prm.WCUT);
grx_text(str, x, y, blue, 0); y += 18;
grx_text(" ", x, y, 12, 0);
sprintf(str, "%6.2f Hz ", prm.WCUT1);
grx_text(str, x, y, blue, 0); y += 18;
grx_text(" ", x, y, 12, 0);
sprintf(str, "%6.2f Volt ", prm.NOISE);
grx_text(str, x, y, blue, 0); y += 18;
grx_text(" ", x, y, 12, 0);
sprintf(str, "%d ticks ", prm.DEADLINE);
grx_text(str, x, y, blue, 0); y += 18;
grx_text(" ", x, y, 12, 0);
sprintf(str, "%6.2f Volt ", prm.OFFSVAL);
grx_text(str, x, y, blue, 0); y += 18;
mutex_unlock(&mutex);
/* scrivo vin , vout (vin+offs) , SCAN e PARAMETRIBASE*/
{ int x=95, y= YTI + 10;
mutex_lock(&mutex);
grx_text(" ", x, y, 0, 0);
sprintf(str, "%7.4f ", vin);
grx_text(str, x, y, blue, 0);y += 14;
grx_text(" ", x, y, 0, 0);
sprintf(str, "%7.4f", vout);
grx_text(str, x, y, blue, 0);y += 14;
grx_text(" ", x, y, 0, 0);
sprintf(str, "%7.3f", yout);
grx_text(str, x, y , blue, 0); y += 14;
grx_text(" ", x, y, 0, 0);
sprintf(str, "%3.2d c , v", prm.SCAN);
grx_text(str, x, y , blue, 0); y += 14;
mutex_unlock(&mutex);
}
task_endcycle();
}
}
/*------------------------------------------------------------------------
Il task CARRELLO controlla la posizione del carrello
y = posizione angolare dell'asta (non usata)
x = posizione lineare del carrello
-----------------------------------------------------------------------*/
TASK carr2(void)
{
float thist, y[2], yp[2],x3ist=0;
while(1) {
if(contat%prm.SCAN==0) yout=ad_conv(11);
/* converto i valori dei sensori in posizioni */
/* calcolo le velocita' lineari e angolari opportunamente filtrate */
if(contat%prm.SCAN == 0) {
x3ist=v2x(yout);
y[0]=bass1(x3ist);
yp[0] = bass2(dx(y[0]));
}
task_endcycle();
}
}
TASK carrello(void)
{
float thist, y[2], yp[2],x3ist=0; /* valori attuali */
PORT pa, pb; /* communication ports */
struct Data_cab1 data;
char *pun;
int i;
float offset;
long int k=0, contat=0;
long int stime =0 ;
/* Si creano 2 per mandare al task DISEGNA le var.di stato x1 e x3 */
pa = port_create("porta1",sizeof(float),1,STICK,WRITE);
pb = port_create("porta2",sizeof(float),1,STICK,WRITE);
while (1) {
/* prendo i dati sul riferimento in volt*/
pun = cab_getmes(cab1);
memcpy(&data, pun, sizeof(struct Data_cab1));
cab_unget(cab1, pun);
/* prendo i dati sulle posizioni dal trasduttore ADC */
// if(contat%prm.SCAN==0) yout=ad_conv(11);
thout=ad_conv(10);
/* taglio brusco dei livelli di rumore sopra il NOISE */
{
#define AVR 10
static float oyout[AVR], othout[AVR];
float avy, avth;
static int index=0, flag=1;
if(flag==1) {
for(i=0; i<AVR;++i) { oyout[i]=yout; othout[i] = thout;}
flag=0;
}
avy=avth=0;
for(i=0;i<AVR;++i) { avy += oyout[i]; avth += othout[i]; }
avy /= AVR; avth /= AVR ;
if(fabs(yout-avy)>=prm.NOISE) { yout=avy;}
if(fabs(thout-avth)>=prm.NOISE) { thout=avth;}
oyout[index]=yout; othout[index]=thout;
index = (index+1) % AVR ;
}
/* converto i valori dei sensori in posizioni */
/* calcolo le velocita' lineari e angolari opportunamente filtrate */
// if(contat%prm.SCAN == 0) {
// x3ist=v2x(yout);
// y[0]=bass1(x3ist);
// yp[0] = bass2(dx(y[0]));
// }
thist=v2theta(thout);
y[1]=bass3(thist);
yp[1] = bass4(dth(y[1]));
/* PARAMETRI del controllore :1 */
vin = prm.COST * (prm.GUAD[0] * (x3ist-v2x(data.rif))+ prm.GUAD[1] * thist + prm.GUAD[2] * yp[0] + prm.GUAD[3] * yp[1]) ;
/* metto un offset che mi elimina l'attrito */
if( vin >= 0) offset=prm.OFFSVAL;
else offset=-prm.OFFSVAL;
vout=vin+offset;
/* !!!! se si e' scelta la procedura di identificazione */
/* if(sysid != 0){
if(startid == 0) {vin=0.0; vout=0.0;}
else if(startid == 1 ) {
if(stime==0 ) stime = sys_gettime(NULL);
if((sys_gettime(NULL)-stime)/1000 <= 400 ) {vin= -1.7; vout=-2.4;}
else {vin= 0.0; vout=0.0;}
}
}
*/
if(vout >= VDANG ) vout = VDANG ;
if(vout <= -VDANG ) vout = -VDANG ;
/* la applico */
da_motor(vout);
/* mando i dati sulle posizioni al task DISEGNA */
port_send(pa, &y[1], NON_BLOCK);
port_send(pb, &y[0], NON_BLOCK);
contat++;
task_endcycle();
}
/* Eliminazione porte di comunicazione */
port_delete(pa);
port_delete(pb);
} /* FINE DEL TASK CARRELLO */
/*--------------------------------------------------------------*/
/* Il task DISEGNA riceve dal task CONTROLLO i valori delle */
/* variabili x1 e x3 e disegna il pendolo corrispondente */
/*--------------------------------------------------------------*/
TASK diseg(void)
{
WORD xp, yp, oxp, oyp; /* coordinate carrello */
WORD xa, ya, oxa, oya; /* coordinate asta */
float x1, x3; /* variabili di stato */
char str[100];
PORT pra, prb, prc; /* communication ports */
int delta; /* dimensione finestre */
/* Connessione alle porte create dal task CONTROLLO */
pra = port_connect("porta1",sizeof(float),STICK,READ);
prb = port_connect("porta2",sizeof(float),STICK,READ);
delta = 120;
/* Inizializzazione variabili carrello e asta */
xp = oxp = 100;
xa = oxa = 100;
yp = oyp = 105 + delta - H;
ya = oya = 105 + delta - H;
graphframe();
while (1) {
/* disegna il pendolo */
port_receive(pra, &x1, BLOCK);
port_receive(prb, &x3, BLOCK);
/* scrivo posizione del carrello e angolo dell'asta */
mutex_lock(&mutex);
grx_text(" ", XTI+45, YTI+28, 0, 0);
sprintf(str, "%5.2f", x3);
grx_text(str, XTI+45, YTI+28, blue, 0);
grx_text(" ", XTI+50, YTI+42, 0, 0);
sprintf(str, "%4.3f", x1 * FCA );
grx_text(str, XTI+50, YTI+42, blue, 0);
mutex_unlock(&mutex);
/* calcolo ascissa del punto P del carrello */
xp = XMED + x3 * SGX;
/* calcolo ascissa e ordinata dell'estremo dell'asta */
xa = xp + LA * sin((double)(x1 * SGA));
ya = yp - LA * cos((double)(x1 * SGA));
mutex_lock(&mutex);
/* cancella e disegna il carrello */
grx_box(oxp-LC,oyp,oxp+LC,oyp+H,0);
grx_box(xp-LC,yp,xp+LC,yp+H,blue);
/* cancella e disegna la ruota sinistra del carrello */
grx_circle(oxp-LC+8,oyp+H+4,RAGGIO+2,0);
grx_circle(xp-LC+8,yp+H+4,RAGGIO+2,green);
/* cancella e disegna la ruota destra del carrello */
grx_circle(oxp+LC-8,oyp+H+4,RAGGIO+2,0);
grx_circle(xp+LC-8,yp+H+4,RAGGIO+2,green);
/* cancella e disegna l'asta */
grx_line(oxp,oyp,oxa,oya,0);
grx_line(xp,yp,xa,ya,red);
/* cancella e disegna la pallina sull'asta */
grx_circle(oxa,oya,RAGGIO,0);
grx_circle(xa,ya,RAGGIO,blue);
mutex_unlock(&mutex);
/* aggiornamento variabili */
oxp = xp;
oyp = yp;
oxa = xa;
oya = ya;
task_endcycle();
}
port_disconnect(pra);
port_disconnect(prb);
port_disconnect(prc);
} /* FINE TASK DISEGNA */
TASK query(void)
{
char c, str[100];
int count = 0;
char *pun;
struct Data_cab1 data={0,0};
float xrif=0, orif=1;
while(1)
{
do {
c = keyb_getch(BLOCK);
switch (c) {
case 'd': xrif += 1; break;
case 's': xrif -= 1; break;
case 'w': xrif=7; break;
case 'q': xrif=-7; break;
case '0': xrif =0 ; break;
// case 'z': startid = 1; break;
case '1': prm.GUAD[0] -= 0.1 ; break;
case '2': prm.GUAD[0] += 0.1; break;
case '3': prm.GUAD[1] -= 10 ; break;
case '4': prm.GUAD[1] += 10 ; break;
case '5': prm.GUAD[2] -= 0.1; break;
case '6': prm.GUAD[2] += 0.1; break;
case '7': prm.GUAD[3] -= 0.5; break;
case '8': prm.GUAD[3] += 0.5; break;
case 'o': prm.WCUT -= 5. ; break;
case 'p': prm.WCUT += 5. ; break;
case 'k': prm.WCUT1 -= 5. ; break;
case 'l': prm.WCUT1 += 5. ; break;
case 'n': prm.NOISE -= 0.1; break;
case 'm': prm.NOISE += 0.1; break;
case '/': prm.OFFSVAL -= 0.1; break;
case '*': prm.OFFSVAL += 0.1; break;
case '[': prm.COST -= 0.05; break;
case ']': prm.COST += 0.05; break;
case 'c': prm.SCAN -= 1; break;
case 'v': prm.SCAN += 1; break;
case 'R': prm = prmbase; break;
case 'T': prm = prmmod; break;
default: break;
}
data.rif=(vmax+vmin)/2. + xrif * (vmax-vmin)/LUNGH;
/* controllo che il riferim non vada fuori scala massima */
if (data.rif > vmax) data.rif = vmax;
if (data.rif < vmin) data.rif = vmin;
/* controllo l'impulso */
if (count>0) count--;
if (data.imp != 0 && count==0) data.imp = 0;
/* scrivo sul cab1 i riferim ( rif + imp) per il carrello */
pun = cab_reserve(cab1);
memcpy(pun, &data, sizeof(struct Data_cab1));
cab_putmes(cab1, pun);
/* si visualizza il riferimento del carrello. */
if (xrif != orif) {
orif = xrif;
mutex_lock(&mutex);
grx_text(" ", XTI+45, YTI+14, 0, 0);
sprintf(str, "%2.1f cm.", xrif);
grx_text(str, XTI+55, YTI+14, green, 0);
mutex_unlock(&mutex);
}
} while (c != 27);
sys_end();
task_endcycle();
}
}
int printglob;
TASK timejet(void *arg)
{
TIME table[JET_TABLE_DIM];
int k, nistan;
PID i;
int printed;
for (;;) {
for (i=2, printed=0; i<MAX_PROC && printed<JET_NTASK; i++) {
if ( (nistan=jet_gettable(i,(TIME *) &table, -1)) != -1) {
for(k=0;k<nistan;k++){
if(index[i] >= NSAMPLES) break;
if( i>NTASKS ) sys_end();
timetab[ index[i] ][i] = table[k];
index[i]++;
}
printed++;
}
}
printglob=printed;
task_endcycle();
}
}
/****************** * MAIN * ******************************/
void main(int argc, char **argv)
{
int modenum;
HARD_TASK_MODEL m;
SOFT_TASK_MODEL md, mt;
PID pc,pd, pe, pq, pt;
white = rgb16(255,255,255);
black = rgb16(0,0,0);
red = rgb16(255,0,0);
gray = rgb16(128,128,128);
green = rgb16(0,255,0);
blue = rgb16(0,0,255);
sys_atrunlevel((void *) my_end,NULL, RUNLEVEL_BEFORE_EXIT);
sys_atrunlevel((void *) scritt,NULL, RUNLEVEL_AFTER_EXIT);
modenum = grx_getmode(800, 600, 16);
if (modenum == -1) {
cprintf("Errore in grx_mode");
sys_end();
exit(2);
}
if (grx_setmode(modenum) == -1) {
cprintf("Non posso andare in modo grafico");
sys_end();
exit(3);
}
initial();
app_mutex_init(&mutex);
scenario_jetcontrol();
init_framegrabber();
/* Creazione dei CAB */
cab1 = cab_create("cab1", sizeof(struct Data_cab1), 3);
cab2 = cab_create("cab2", sizeof(struct Data_cab2), 3);
/* Creazione dei task */
hard_task_default_model(m);
hard_task_def_mit(m, PERIOD_CARRELLO );
hard_task_def_wcet(m,WCET_CARRELLO );
hard_task_def_group(m,2);
hard_task_def_ctrl_jet(m);
hard_task_def_usemath(m);
soft_task_default_model(md);
soft_task_def_level(md,1);
soft_task_def_period(md,PERIOD_DESIGN);
soft_task_def_met(md, WCET_DESIGN);
soft_task_def_group(md, 2);
soft_task_def_ctrl_jet(md);
soft_task_def_usemath(md);
soft_task_default_model(mt);
soft_task_def_level(mt,1);
soft_task_def_period(mt,PERIOD_TIMEJET);
soft_task_def_met(mt, WCET_TIMEJET);
soft_task_def_group(mt, 2);
soft_task_def_ctrl_jet(mt);
soft_task_def_usemath(mt);
init_jetcontrol();
pc = task_create("carrello",(TASK) carrello, &m, NULL);
if (pc == -1) {
sys_end();
exit(4);
}
pe = task_create("eval",(TASK) eval,&md, NULL);
if (pe == -1) {
sys_end();
exit(4);
}
pd = task_create("diseg",(TASK) diseg,&md,NULL);
if (pd == -1) {
sys_end();
exit(4);
}
pq = task_create("query",(TASK) query,&md,NULL);
if (pq == -1) {
sys_end();
exit(4);
}
pt = task_create("timejet",(TASK) timejet,&md,NULL);
if (pt == -1) {
sys_end();
exit(4);
}
/* Attivo i task per controllare e disegnare il carrello */
task_activate(pt);
task_activate(pc);
task_activate(pd);
task_activate(pe);
task_activate(pq);
group_activate(1);
}
/****************************************************************/
/* initial */
/****************************************************************/
void initial(void)
{
int x, y;
grx_rect(1, 1, 639, 243, blue); /* dialog box pendolo */
da_motor(0.);
x = 10;
y = YTI;
grx_text("INIZIALIZZ.", x, y, blue, 0); y += 42;
grx_text("Carr a sx e premi un tasto", x, y, green, 0);y += 28;
keyb_getchar();
vmin=ad_conv(11);
grx_text("Carr a dx e premi un tasto",x,y,green,0); y += 28;
keyb_getchar();
vmax=ad_conv(11);
grx_text("Asta a sx e premi un tasto", x, y, green, 0);y += 28;
keyb_getchar();
vminth=ad_conv(10);
grx_text("Asta a dx e premi un tasto", x, y, green, 0);y += 28;
keyb_getchar();
vmaxth=ad_conv(10);
/* grx_text("Premi 'y' per l' identificazione ", x, y, green, 0);y += 28;
if(keyb_getchar() == 'y' ) sysid=1;
else sysid=0 ;
if(sysid==1) {
grx_text("MODALITA' IDENTIFICAZIONE!!!!", x, y, green, 0);y += 14;
grx_text("Premi un tasto per iniziare", x, y, green, 0);y += 14;
keyb_getchar();
}
*/
grx_clear(0);
}
/****************************************************************/
/* graphframe */
/****************************************************************/
void graphframe(void)
{
int x, y;
mutex_lock(&mutex);
grx_rect(XTI-15,245,639,479,blue); /* finestra di stato */
grx_rect(1, 1, 450 /*639*/, 243, blue); /* dialog box pendolo */
x = XTI;
y = YTI;
grx_text("PENDOLO", x, y, red, 0); y += 14;
grx_text("Rif.:", x, y, green, 0); y += 14;
grx_text("X =", x, y, green, 0); y += 14;
grx_text("Ang =", x, y, green, 0); y += 14;
grx_text("s sx, d dx", x, y, green, 0); y += 14;
grx_text("q: xrif-> -7 ", x, y, green, 0); y += 14;
grx_text("p: xrif-> +7 ", x, y, green, 0); y += 14;
grx_text("0: xrif-> 0 ", x, y, green, 0); y += 14;
grx_text("S imp-,d imp+", x, y, green, 0); y += 14;
mutex_unlock(&mutex);
}
/*--------------------------------------------------------------*/
/* This function is called at system termination */
/*--------------------------------------------------------------*/
void my_end(void)
{
da_motor(0.0);
grx_close();
sys_end();
}
/*--------------------------------------------------------------*/
/* This function writes the data in the file DATA */
/*--------------------------------------------------------------*/
void scritt(void)
{
DOS_FILE *file;
long int i , k;
char str[500];
for(i=2;i<11;i++) {
sprintf(str,"%s ",proc_table[i].name);
strcat(dest,str);
}
strcat(dest,"\n");
for(k=0;k<500;k++){
for(i=2;i<11;i++) {
sprintf(str,"%ld ",timetab[k][i]);
strcat(dest,str);
}
strcat(dest,"\n");
}
file = DOS_fopen("data","w");
DOS_fwrite(dest,1,strlen(dest),file);
DOS_fclose(file);
}

/unsupported/trunk/pendulum/INTDAT0
0,0 → 1,0
805 18000 76.6176 1.0578 15 563 1799

/unsupported/trunk/pendulum/DEMO.C
0,0 → 1,69
#include "demo.h"
#include <kernel/func.h>
#include <string.h>
#include <stdlib.h>
#include <drivers/keyb.h>
#include <drivers/glib.h>
/* graphic mutex... */
mutex_t mutex;
void app_mutex_init(mutex_t *m);
void my_close(void *arg)
{
grx_close();
}
/*
void endfun(KEY_EVT *k)
{
grx_close();
cprintf("Ctrl-Brk pressed! Ending...\n");
sys_end();
}
void zerofun(KEY_EVT *k)
{
int i;
for (i=0; i<MAX_PROC; i++) jet_delstat(i);
}
*/
int main(int argc, char **argv)
{
int modenum;
KEY_EVT k;
struct sigaction action;
srand(4);
sys_atrunlevel(my_close, NULL, RUNLEVEL_BEFORE_EXIT);
modenum = grx_getmode(800, 600, 16); //(640, 480, 16);
grx_setmode(modenum);
/* init the graphic mutex */
app_mutex_init(&mutex);
grx_text("HARTIK 4.0 " , 0,0, rgb16(0,255,0),BLACK);
grx_text("Thesis Demo", 0,8, rgb16(0,255,0), BLACK);
init_framegrabber(); /* fra le altre cose attiva i task della camera */
PXC_Start();
group_activate(1);
return 0;
}

/unsupported/trunk/pendulum/INTEGRAL
0,0 → 1,0
n.run=0 aver=NaN confid_int=NaN

/unsupported/trunk/pendulum/INT3DAT
0,0 → 1,128
‡¹q Ä^r Ä^r (_r |¹q 75.7099 0
80.108 0
85.4867 0
78.2545 0
78.2561 0
78.93 0
85.7908 0
84.8832 0
79.0782 0
82.4032 0
86.7021 0
88.649 0
81.5869 0
84.1977 0
85.6914 0
n.run=15 aver=82.3818 confid_int=1.748
‡¹q Ä^r Ä^r (_r |¹q 75.4719 0
78.781 0
76.8028 0
78.9521 0
80.4325 0
80.0006 0
78.1622 0
79.0336 0
71.0803 0
80.4065 0
81.1657 0
81.6214 0
78.922 0
74.04 0
75.4928 0
n.run=15 aver=78.0244 confid_int=1.331
73.3918 0
77.4049 0
76.3166 0
75.8917 0
72.4518 0
71.2558 0
75.0408 0
77.1337 0
76.8767 0
75.2669 0
78.0492 0
74.0585 0
77.7857 0
79.5591 0
74.2487 0
n.run=15 aver=75.6488 confid_int=1.0349
‡¹q Ä^r Ä^r (_r |¹q Ä^r Nhq 4_r <_r 71.8336 0
73.1345 0
71.206 0
73.7992 0
74.3655 0
73.5682 0
73.7192 0
73.9717 0
75.6469 0
70.1426 0
73.2581 0
77.3398 0
69.6372 0
76.8539 0
75.4511 0
n.run=15 aver=73.5952 confid_int=1.0153
‡¹q Ä^r Ä^r (_r |¹q Ä^r Nhq 4_r <_r 76.8806 0
78.4833 0
77.8074 0
77.517 0
71.6402 0
75.2367 0
70.6855 0
74.9925 0
77.7864 0
70.4862 0
74.4898 0
72.7198 0
77.4384 0
73.244 0
78.2524 0
n.run=15 aver=75.1773 confid_int=1.2893
78.1922 0
75.6832 0
75.3288 0
75.0859 0
77.6747 0
80.3962 0
80.2391 0
73.3704 0
80.1903 0
74.4322 0
73.4412 0
70.6988 0
74.3452 0
74.2038 0
80.6449 0
n.run=15 aver=76.2618 confid_int=1.4087
82.5753 0
83.5002 0
78.2769 0
77.9239 0
79.7167 0
79.775 0
72.6921 0
80.1941 0
78.5484 0
81.5043 0
77.8081 0
76.7427 0
77.8913 0
83.7964 0
81.3378 0
n.run=15 aver=79.4855 confid_int=1.3099
‡¹q Ä^r Ä^r (_r |¹q Ä^r Nhq 4_r <_r 82.4464 0
105.5753 0
99.6441 0
101.7372 0
99.7762 0
92.1514 0
100.4418 0
100.927 0
105.091 0
106.0872 0
95.7784 0
95.6548 0
101.9669 0
104.8949 0
102.8197 0
n.run=15 aver=99.6662 confid_int=2.8208

/unsupported/trunk/pendulum/MYMOD.C
0,0 → 1,270
/*
* Project: HARTIK (HA-rd R-eal TI-me K-ernel)
*
* Coordinators: Giorgio Buttazzo <giorgio@sssup.it>
* Gerardo Lamastra <gerardo@sssup.it>
*
* Authors : Paolo Gai <pj@hartik.sssup.it>
* (see authors.txt for full list of hartik's authors)
*
* ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
*
* http://www.sssup.it
* http://retis.sssup.it
* http://hartik.sssup.it
*/
/*
* Copyright (C) 2000 Paolo Gai
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
#include "mymod.h"
#include <ll/string.h>
#include <kernel/model.h>
#include <kernel/descr.h>
#include <kernel/var.h>
#include <kernel/func.h>
// other include files if needed
// NOTE: NO GLOBAL OR STATIC VARIABLES!!!
// (put them inside the level descriptor!)
/* Statuses used in the level */
#define MYMOD_READY MODULE_STATUS_BASE
#define MYMOD_WAIT MODULE_STATUS_BASE+3
#define MYMOD_IDLE MODULE_STATUS_BASE+4
/* the level redefinition for the Module */
typedef struct {
level_des l; /* the standard level descriptor */
int myvar[100]; /* other local (private) variables of the module */
} MYMOD_level_des;
// example of OSLib event
static void MYMOD_timer_deadline(void *par)
{
// usually the void *par is a pointer to a structure or a PID
// if it is a PID, you can do that to retrieve it and the correspondent
// level descriptor
PID p = (PID) par;
MYMOD_level_des *lev;
lev = (MYMOD_level_des *)level_table[proc_table[p].task_level];
// now you know the PID of the task and the level descriptor
// ... so, you know all the things you need
}
static int MYMOD_level_accept_task_model(LEVEL l, TASK_MODEL *m)
{
// your code here
return 0; // dummy number
}
static int MYMOD_level_accept_guest_model(LEVEL l, TASK_MODEL *m)
{
// your code here
return 0; // dummy number
}
static void MYMOD_level_status(LEVEL l)
{
}
/* The scheduler only gets the first task in the queue */
static PID MYMOD_level_scheduler(LEVEL l)
{
return 0; // dummy number
}
/* The on-line guarantee is enabled only if the appropriate flag is set... */
static int MYMOD_level_guarantee(LEVEL l, bandwidth_t *freebandwidth)
{
return 0; // dummy number
}
static int MYMOD_task_create(LEVEL l, PID p, TASK_MODEL *m)
{
return 0; // dummy number
}
static void MYMOD_task_detach(LEVEL l, PID p)
{
}
static int MYMOD_task_eligible(LEVEL l, PID p)
{
return 0; // dummy number
}
static void MYMOD_task_dispatch(LEVEL l, PID p, int nostop)
{
}
static void MYMOD_task_epilogue(LEVEL l, PID p)
{
}
static void MYMOD_task_activate(LEVEL l, PID p)
{
}
static void MYMOD_task_insert(LEVEL l, PID p)
{
}
static void MYMOD_task_extract(LEVEL l, PID p)
{
}
static void MYMOD_task_endcycle(LEVEL l, PID p)
{
}
static void MYMOD_task_end(LEVEL l, PID p)
{
}
static void MYMOD_task_sleep(LEVEL l, PID p)
{
}
static void MYMOD_task_delay(LEVEL l, PID p, TIME usdelay)
{
}
static int MYMOD_guest_create(LEVEL l, PID p, TASK_MODEL *m)
{
return 0; // dummy number
}
static void MYMOD_guest_detach(LEVEL l, PID p)
{
}
static void MYMOD_guest_dispatch(LEVEL l, PID p, int nostop)
{
}
static void MYMOD_guest_epilogue(LEVEL l, PID p)
{
}
static void MYMOD_guest_activate(LEVEL l, PID p)
{
}
static void MYMOD_guest_insert(LEVEL l, PID p)
{
}
static void MYMOD_guest_extract(LEVEL l, PID p)
{
}
static void MYMOD_guest_endcycle(LEVEL l, PID p)
{
}
static void MYMOD_guest_end(LEVEL l, PID p)
{
}
static void MYMOD_guest_sleep(LEVEL l, PID p)
{
}
static void MYMOD_guest_delay(LEVEL l, PID p, TIME usdelay)
{
}
/* Registration functions */
/*+ Registration function:
int flags the init flags ... see MYMOD.h +*/
void MYMOD_register_level(int flags)
{
LEVEL l; /* the level that we register */
MYMOD_level_des *lev; /* for readableness only */
PID i; /* a counter */
/* request an entry in the level_table */
l = level_alloc_descriptor();
/* alloc the space needed for the MYMOD_level_des */
lev = (MYMOD_level_des *)kern_alloc(sizeof(MYMOD_level_des));
/* update the level_table with the new entry */
level_table[l] = (level_des *)lev;
/* fill the standard descriptor */
strncpy(lev->l.level_name, MYMOD_LEVELNAME, MAX_LEVELNAME);
lev->l.level_code = MYMOD_LEVEL_CODE;
lev->l.level_version = MYMOD_LEVEL_VERSION;
lev->l.level_accept_task_model = MYMOD_level_accept_task_model;
lev->l.level_accept_guest_model = MYMOD_level_accept_guest_model;
lev->l.level_status = MYMOD_level_status;
lev->l.level_scheduler = MYMOD_level_scheduler;
lev->l.level_guarantee = MYMOD_level_guarantee;
lev->l.task_create = MYMOD_task_create;
lev->l.task_detach = MYMOD_task_detach;
lev->l.task_eligible = MYMOD_task_eligible;
lev->l.task_dispatch = MYMOD_task_dispatch;
lev->l.task_epilogue = MYMOD_task_epilogue;
lev->l.task_activate = MYMOD_task_activate;
lev->l.task_insert = MYMOD_task_insert;
lev->l.task_extract = MYMOD_task_extract;
lev->l.task_endcycle = MYMOD_task_endcycle;
lev->l.task_end = MYMOD_task_end;
lev->l.task_sleep = MYMOD_task_sleep;
lev->l.task_delay = MYMOD_task_delay;
lev->l.guest_create = MYMOD_guest_create;
lev->l.guest_detach = MYMOD_guest_detach;
lev->l.guest_dispatch = MYMOD_guest_dispatch;
lev->l.guest_epilogue = MYMOD_guest_epilogue;
lev->l.guest_activate = MYMOD_guest_activate;
lev->l.guest_insert = MYMOD_guest_insert;
lev->l.guest_extract = MYMOD_guest_extract;
lev->l.guest_endcycle = MYMOD_guest_endcycle;
lev->l.guest_end = MYMOD_guest_end;
lev->l.guest_sleep = MYMOD_guest_sleep;
lev->l.guest_delay = MYMOD_guest_delay;
/* fill the MYMOD descriptor part */
for (i=0; i<100; i++)
lev->myvar[i] = 0;
}
// put here the other interface functions added

/unsupported/trunk/pendulum/DEMO.H
0,0 → 1,260
#include <stdlib.h>
#include "kernel/kern.h"
#include "kernel/func.h"
#include "ll/i386/x-dos.h"
#include "modules/cabs.h"
#include "modules/hartport.h"
#include "string.h"
#include <math.h>
#include <drivers/glib.h>
#include <drivers/keyb.h>
#include <drivers/pxc.h>
//#include "modules/pi.h"
//#include "modules/nop.h"
//#define PI
//#define CAMERA_X
//#define TIMEJET //e` incompatibile con PLOTIMG on
//#define DATAPLANT
/*//#define SOFTCARR
//#define SOFTTRACK unused!!!!
*/
#define SOFTPROG
#define PLOTIMG // e` incompatibile con TIMEJET on (???perche`?)
#define FRAMEGRABBER_ON
#define JET_ON
/*
* WCET, Periods and Models
*/
/* define if you want NRT or SOFT... */
// dipendono dalla macchina !!!!
#define TASK_TYPE SOFT
// SOFT + HARD tasks !!!!!!!!!!!!!!!!!!
/*
// TASK carrello
#ifdef SOFTCARR // SOFT
//#define WCET_CARRELLO 240 //460
//#define PERIOD_CARRELLO 1200
#else // HARD
#define WCET_CARRELLO 600//500
//#define PERIOD_CARRELLO 1800//1800
#endif
// TASK tracking
#ifdef SOFTTRACK // SOFT
//#define WCET_TRACKING 7200 //5000
//#define PERIOD_TRACKING 12000
#else // HARD
#define WCET_TRACKING 10000 //10000
//#define PERIOD_TRACKING 22200 //30000
#endif
*/
#ifdef SOFTPROG
extern long int PERIOD_CARRELLO, WCET_CARRELLO, PERIOD_TRACKING, WCET_TRACKING;
#else
#define WCET_CARRELLO 600//500
#define WCET_TRACKING 10000 //10000
extern long int PERIOD_CARRELLO , PERIOD_TRACKING;
#endif
/*+ altri TASKS +*/
// TIMEJET non viene attivato nei run.Incompatibile con i tasks JETCTRL
#define WCET_TIMEJET 900
#define PERIOD_TIMEJET 2000
#define WCET_DESIGN 4000 // 4000
#define PERIOD_DESIGN 100000 // 50000
#define WCET_CAMERA 5000 // 5000
#define PERIOD_CAMERA 100000 // 50000
#define WCET_JETCTRL 1000
#define WCET_JETDUMMY WCET_JETCTRL
#define WCET_JETSLIDE WCET_JETCTRL
#define PERIOD_JETCTRL 100000
#define PERIOD_JETDUMMY 100000
#define PERIOD_JETSLIDE 100000
/* controllo stuffs */
struct Data_cab1 {
float rif;
int imp;
};
struct Data_cab2 {
float x;
float y;
} ;
struct Parametri{
float GUAD[4];
float COST;
float NOISE;
float WCUT;
float WCUT1;
float OFFSVAL;
int DEADLINE;
int SCAN;
float XTRASL;
};
extern mutex_t mutex, mutexadc;
extern CAB cab1, cab2;
extern struct Parametri prm;
void app_mutex_init(mutex_t *);
int da_motor(float v);
float v2x(float v);
float v2theta(float v);
float bass1(float u);
float bass2(float u);
float bass3(float u);
float bass4(float u);
float dx(float u);
float dth(float u);
/* scenario */
#define SCENARIO_NLABEL 16
/*
* Global Stuffs
*/
/* graphic mutex... */
extern mutex_t mutex;
/* useful colors... */
int white;
int black;
int red;
int gray;
int green;
int blue;
void init_jetcontrol();
void init_framegrabber();
/*
*
* JETCONTROL stuffs
*
*/
#define JET_NTASK 13
#define JET_Y_NAME 480 //500
#define DUMMY_PID 1
#define JET_DUMMY_WIDTH 210
#define JET_DUMMY_HEIGHT 40
/* the point (x, y) is the top left corner */
#define JET_DUMMY_X 60
#define JET_DUMMY_Y 514
#define JET_SLIDE_WIDTH 50
#define JET_SLIDE_X (384+200)
/*
*
* FRAMEGRABBER stuffs
*
*/
// if defined... object black on a white background
#ifndef __BLACK_ON_WHITE
#define __BLACK_ON_WHITE
#endif
#define ABS_NUM(a) ((a >= 0) ? a : -a)
#define MIN_NUM(a, b) ((a < b) ? a : b)
#define MAX_NUM(a, b) ((a > b) ? a : b)
// Cols and rows of the framegrabber image
#define N_COL 384 // 384
#define N_ROW 288
#define N_BPS 8 // Bits per pixel
#define N_GRIGI 256
#define N_FRAMES 20 // 100
/* pixel of the video image */
#define IMG_COL 230 // 230 //256
#define IMG_ROW 160 // 160 //192
/* position of the video image */
#define IMG_X 500 // 644 // 384
#define IMG_Y 32 // 200 // 32
// I singoli pixel sono caratteri a 8 bit
typedef unsigned char TPixel;
typedef struct {
int x1, y1;
int x2, y2;
int xb, yb;
TIME time_stamp;
} TDataObj;
typedef struct {
int found;
int top_frame;
int vx,vy;
int predx;
int predy;
TDataObj current;
} TTracking;
float distance(unsigned int x1, unsigned int y1,
unsigned int x2, unsigned int y2);
char scan_all_frame(TDataObj *data, TPixel *in_frame);
char scan_window_frame(TDataObj *data, TPixel *in_frame, \
unsigned int xc, unsigned int yc, int border, int border_y);
void threshold_up_function(KEY_EVT key);
void threshold_down_function(KEY_EVT key);
void border_up_function(KEY_EVT key);
void border_down_function(KEY_EVT key);
void tracking(int top_frame, int *track_x, int *track_y, int *int_vx, int *int_vy, int time_to);
TASK elab_image_TASK(void);

/unsupported/trunk/pendulum/MYMOD.H
0,0 → 1,113
/*
* Project: S.Ha.R.K.
*
* Coordinators: Giorgio Buttazzo <giorgio@sssup.it>
*
* Authors : Paolo Gai <pj@hartik.sssup.it>
* (see authors.txt for full list of hartik's authors)
*
* ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
*
* http://www.sssup.it
* http://retis.sssup.it
* http://shark.sssup.it
*/
/* put here a description of the module */
/*
* Copyright (C) 2000 Paolo Gai
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
#ifndef __MYMOD_H__
#define __MYMOD_H__
#include <kernel/model.h>
// maybe you need here some include file
// then... we define a new Task Model without modifying
// the standard kernel distribution
// pick a pclass number not used into include/kernel/model.h
#define MY_PCLASS 0x0700
/*
maybe a description of the new fields of the Model is useful here
*/
typedef struct {
TASK_MODEL t;
int myparameter;
} MY_TASK_MODEL;
#define my_task_default_model(m) \
task_default_model((m).t,MY_PCLASS), \
(m).myparameter = 0
#define my_task_def_level(m,l) task_def_level((m).t,l)
#define my_task_def_arg(m,a) task_def_arg((m).t,a)
#define my_task_def_stack(m,s) task_def_stack((m).t,s)
#define my_task_def_stackaddr(m,s) task_def_stackaddr((m).t,s)
#define my_task_def_group(m,g) task_def_group((m).t,g)
#define my_task_def_usemath(m) task_def_usemath((m).t)
#define my_task_def_system(m) task_def_system((m).t)
#define my_task_def_nokill(m) task_def_nokill((m).t)
#define my_task_def_ctrl_jet(m) task_def_ctrl_jet((m).t)
#define my_task_def_myparameter(m,p) (m).myparameter = (p)
#define my_task_def_joinable(m) task_def_joinable((m).t)
#define my_task_def_unjoinable(m) task_def_unjoinable((m).t)
#define my_task_def_trace(m) task_def_trace((m).t)
#define my_task_def_notrace(m) task_def_notrace((m).t)
// pick a code and a version not used into the file include/modules/codes.h
#define MYMOD_LEVELNAME "My new scheduling module"
#define MYMOD_LEVEL_CODE 999
#define MYMOD_LEVEL_VERSION 1
// if the module raises some new exception list them here
// pincking up unused numbers from include/bits/errno.h
/*+ Registration function:
int parameter Options to be used in this level instance... +*/
void MYMOD_register_level(int parameter);
/* here you can also put some other functions similar for example
to the EDF_usedbandwidth() in the file include/modules/edf.h */
#endif

/unsupported/trunk/pendulum/OUT.BAT
0,0 → 1,3
ld -oformat coff-go32 -Bstatic -Ttext 0x1700000 -s -nostartfiles -nostdlib -LC:/SHARK/lib C:/SHARK/lib/x0.o kalm1.o initfile.o jetcon.o pclab.o camera.o --start-group -lhpxc -lfftr -lfftc -lhsnd -lhpci -lhgd -lhdev -lmem -lhart -lmod -lkl -lhx -lhc -lhm
-o kalm1

/unsupported/trunk/pendulum/TOTALDAT
--- unsupported/trunk/pendulum/INT2 (nonexistent)
+++ unsupported/trunk/pendulum/INT2 (revision 1659)
@@ -0,0 +1,16 @@
+12000 8000 102.7756 1.6187 15 3600 3999
+3176 9000 80.4518 0.8508 15 952 4499
+2000 10000 79.8538 0.9509 15 600 4999
+1534 11000 78.2446 1.0535 15 460 5499
+1285 12000 76.0404 0.8652 12 385 5999
+1024 14000 74.6151 1.4339 12 307 6999
+888 16000 74.335 1.8183 11 266 7999
+805 18000 77.4782 0.9962 15 241 8999
+709 22000 74.3809 1.9058 11 212 10999
+679 24000 77.6603 1.2184 14 203 11999
+655 26000 78.3387 2.1747 14 196 12999
+636 28000 82.0485 1.3688 13 190 13999
+620 30000 81.0174 2.2814 14 186 14999
+607 32000 83.8564 2.3311 14 182 15999
+596 34000 88.2372 3.2298 15 178 16999
+

/unsupported/trunk/pendulum/INT3
0,0 → 1,8
805 18000 82.3818 1.748 15 201 9899 0.25
805 18000 78.0244 1.331 15 241 8999 0.3
805 18000 75.6488 1.0349 15 322 7199 0.4
805 18000 73.5952 1.0153 15 402 5399 0.5
805 18000 75.1773 1.2893 15 483 3599 0.6
805 18000 76.6176 1.0578 15 563 1799 0.65
805 18000 79.4855 1.3099 15 603 899 0.7
805 18000 99.6662 2.8208 15 635 179 0.75

/unsupported/trunk/pendulum/MAKEFILE
0,0 → 1,20
#
#
#
ifndef BASE
BASE=C:\SHARK
endif
#include .\config.mak
PROGS= kalm kalm1 demo
include $(BASE)\config\example.mak
kalm1:
make -f $(SUBMAKE) APP=kalm1 INIT= OTHEROBJS="initfile.o jetcon.o pclab.o camera.o"
kalm2:
make -f $(SUBMAKE) APP=kalm2 INIT= OTHEROBJS="initfile.o jetcon.o pclab.o camera.o"