/advdemos/trunk/chimera/initfile.c |
---|
17,7 → 17,7 |
#include "chimera.h" |
#include "modules/edf.h" |
#include "modules/hardcbs.h" |
#include "modules/cbs.h" |
#include "modules/rr.h" |
#include "modules/dummy.h" |
#include "modules/intdrive.h" |
25,7 → 25,7 |
#include <drivers/keyb.h> |
/*+ sysyem tick in us +*/ |
#define TICK 0 |
#define TICK 1000 |
/*+ RR tick in us +*/ |
#define RRTICK 10000 |
41,7 → 41,7 |
struct multiboot_info *mb = (struct multiboot_info *)arg; |
EDF_register_level(EDF_ENABLE_ALL); |
HCBS_register_level(HCBS_ENABLE_ALL, 0); |
CBS_register_level(CBS_ENABLE_ALL, 0); |
RR_register_level(RRTICK, RR_MAIN_YES, mb); |
dummy_register_level(); |
/advdemos/trunk/chimera/chimera.c |
---|
276,7 → 276,8 |
init_action_event(100); |
action_walk(); |
//action_walk(); |
action_stand_up(); |
return 0; |
/advdemos/trunk/chimera/send.c |
---|
17,11 → 17,11 |
/* Servo Tasks Constants */ |
#ifdef DUBUG_SEND |
#define SEND_TASK_WCET 1000 |
#define SEND_TASK_WCET 6000 |
#else |
#define SEND_TASK_WCET 1000 |
#define SEND_TASK_WCET 6000 |
#endif |
#define SEND_TASK_MIT 10000 |
#define SEND_TASK_MIT 20000 |
#define LEG_A 100.0 |
#define LEG_B 66.0 |
255,11 → 255,21 |
task_preempt(); |
task_endcycle(); |
#endif |
#endif |
} |
} |
#ifdef SERIAL_ON |
task_nopreempt(); |
status.cfg[0].adc_in = servo_get_analog(COM_PORT, 0, 8); |
printf_xy(1,1,WHITE,"[%d : %d]",0,status.cfg[0].adc_in); |
task_preempt(); |
//#ifdef DEBUG_SEND |
//cprintf("Analog in %d: %d\n", 0, status.cfg[0].adc_in); |
//#endif |
#endif |
task_endcycle(); |
task_testcancel(); |
} |
/advdemos/trunk/chimera/makefile |
---|
7,7 → 7,7 |
endif |
include $(BASE)/config/config.mk |
PROGS= chimera udpdump list |
PROGS= chimera |
include $(BASE)/config/example.mk |