0,0 → 1,405 |
/* |
* Project: S.Ha.R.K. |
* |
* Coordinators: |
* Giorgio Buttazzo <giorgio@sssup.it> |
* Paolo Gai <pj@gandalf.sssup.it> |
* |
* Authors : |
* Giacomo Guidi <giacomo@gandalf.sssup.it> |
* |
* |
* ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
* |
* http://www.sssup.it |
* http://retis.sssup.it |
* http://shark.sssup.it |
*/ |
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#include <drivers/vga.h> |
#include <drivers/keyb.h> |
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#include <GL/osmesa.h> |
#include <GL/glut.h> |
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#include <math.h> |
#include <stdlib.h> |
#include <assert.h> |
#include <kernel/log.h> |
#include <kernel/kern.h> |
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#ifndef M_PI |
#define M_PI 3.14159265 |
#endif |
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#define WIDTH 640 |
#define HEIGHT 480 |
#define BYTES_PP 2 //BytesPerPixel |
#define INITSTR G640x480x64K //SVGAlib standard mode definitions |
#define CARD NV3 //Video driver (Supported SAVAGE, NV3, R128 from SVGALib) |
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OSMesaContext ctx; |
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static GLuint TexObj[2]; |
static GLfloat Angle = 0.0f; |
static GLboolean UseObj = GL_FALSE; |
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#if defined(GL_VERSION_1_1) || defined(GL_VERSION_1_2) |
# define TEXTURE_OBJECT 1 |
#elif defined(GL_EXT_texture_object) |
# define TEXTURE_OBJECT 1 |
# define glBindTexture(A,B) glBindTextureEXT(A,B) |
# define glGenTextures(A,B) glGenTexturesEXT(A,B) |
# define glDeleteTextures(A,B) glDeleteTexturesEXT(A,B) |
#endif |
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unsigned char *rgb_565_buf = NULL; //RGB 16 bpp Buffer |
unsigned char *video_buf = NULL; //Video Buffer |
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unsigned long int VMEMLONG = WIDTH * HEIGHT * BYTES_PP / 4; // Used by copy_videomem_16to16 |
unsigned long int RGB565MEM = WIDTH * HEIGHT * BYTES_PP; // Total video mem |
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unsigned long int PERIOD_REFRESH = 40000; //fps = 25 |
unsigned long int PERIOD_DISEGNA = 40000; |
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unsigned long int WCET_REFRESH, WCET_DISEGNA; |
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TASK refesh(void); |
TASK disegna(void); |
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PID refresh_PID, disegna_PID; |
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static void draw( void ) |
{ |
glDepthFunc(GL_EQUAL); |
/* glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );*/ |
glClear( GL_COLOR_BUFFER_BIT ); |
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glColor3f( 1.0, 1.0, 1.0 ); |
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/* draw first polygon */ |
glPushMatrix(); |
glTranslatef( -1.0, 0.0, 0.0 ); |
glRotatef( Angle, 0.0, 0.0, 1.0 ); |
if (UseObj) { |
#ifdef TEXTURE_OBJECT |
glBindTexture( GL_TEXTURE_2D, TexObj[0] ); |
#endif |
} |
else { |
glCallList( TexObj[0] ); |
} |
glBegin( GL_POLYGON ); |
glTexCoord2f( 0.0, 0.0 ); glVertex2f( -1.0, -1.0 ); |
glTexCoord2f( 1.0, 0.0 ); glVertex2f( 1.0, -1.0 ); |
glTexCoord2f( 1.0, 1.0 ); glVertex2f( 1.0, 1.0 ); |
glTexCoord2f( 0.0, 1.0 ); glVertex2f( -1.0, 1.0 ); |
glEnd(); |
glPopMatrix(); |
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/* draw second polygon */ |
glPushMatrix(); |
glTranslatef( 1.0, 0.0, 0.0 ); |
glRotatef( Angle-90.0, 0.0, 1.0, 0.0 ); |
if (UseObj) { |
#ifdef TEXTURE_OBJECT |
glBindTexture( GL_TEXTURE_2D, TexObj[1] ); |
#endif |
} |
else { |
glCallList( TexObj[1] ); |
} |
glBegin( GL_POLYGON ); |
glTexCoord2f( 0.0, 0.0 ); glVertex2f( -1.0, -1.0 ); |
glTexCoord2f( 1.0, 0.0 ); glVertex2f( 1.0, -1.0 ); |
glTexCoord2f( 1.0, 1.0 ); glVertex2f( 1.0, 1.0 ); |
glTexCoord2f( 0.0, 1.0 ); glVertex2f( -1.0, 1.0 ); |
glEnd(); |
glPopMatrix(); |
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} |
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static void gl_init() |
{ |
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static GLfloat h = (GLfloat) HEIGHT / (GLfloat) WIDTH; |
static int twidth=8, theight=8; |
static GLubyte tex1[] = { |
0, 0, 0, 0, 0, 0, 0, 0, |
0, 0, 0, 0, 1, 0, 0, 0, |
0, 0, 0, 1, 1, 0, 0, 0, |
0, 0, 0, 0, 1, 0, 0, 0, |
0, 0, 0, 0, 1, 0, 0, 0, |
0, 0, 0, 0, 1, 0, 0, 0, |
0, 0, 0, 1, 1, 1, 0, 0, |
0, 0, 0, 0, 0, 0, 0, 0 }; |
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static GLubyte tex2[] = { |
0, 0, 0, 0, 0, 0, 0, 0, |
0, 0, 0, 2, 2, 0, 0, 0, |
0, 0, 2, 0, 0, 2, 0, 0, |
0, 0, 0, 0, 0, 2, 0, 0, |
0, 0, 0, 0, 2, 0, 0, 0, |
0, 0, 0, 2, 0, 0, 0, 0, |
0, 0, 2, 2, 2, 2, 0, 0, |
0, 0, 0, 0, 0, 0, 0, 0 }; |
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GLubyte tex[64][3]; |
GLint i, j; |
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//Create the OSMesa Context |
ctx = OSMesaCreateContext(OSMESA_RGB_565, NULL); |
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//Make Current Context |
OSMesaMakeCurrent(ctx, rgb_565_buf, GL_UNSIGNED_SHORT_5_6_5, WIDTH, HEIGHT); |
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UseObj = GL_TRUE; |
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glDisable( GL_DITHER ); |
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/* Setup texturing */ |
glEnable( GL_TEXTURE_2D ); |
glTexEnvi( GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_DECAL ); |
glHint( GL_PERSPECTIVE_CORRECTION_HINT, GL_FASTEST ); |
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/* generate texture object IDs */ |
if (UseObj) { |
#ifdef TEXTURE_OBJECT |
glGenTextures( 2, TexObj ); |
#endif |
} |
else { |
TexObj[0] = glGenLists(2); |
TexObj[1] = TexObj[0]+1; |
} |
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/* setup first texture object */ |
if (UseObj) { |
#ifdef TEXTURE_OBJECT |
glBindTexture( GL_TEXTURE_2D, TexObj[0] ); |
assert(glIsTexture(TexObj[0])); |
#endif |
} |
else { |
glNewList( TexObj[0], GL_COMPILE ); |
} |
/* red on white */ |
for (i=0;i<theight;i++) { |
for (j=0;j<twidth;j++) { |
int p = i*twidth+j; |
if (tex1[(theight-i-1)*twidth+j]) { |
tex[p][0] = 255; tex[p][1] = 0; tex[p][2] = 0; |
} |
else { |
tex[p][0] = 255; tex[p][1] = 255; tex[p][2] = 255; |
} |
} |
} |
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glTexImage2D( GL_TEXTURE_2D, 0, 3, twidth, theight, 0, |
GL_RGB, GL_UNSIGNED_BYTE, tex ); |
glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST ); |
glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST ); |
glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT ); |
glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT ); |
if (!UseObj) { |
glEndList(); |
} |
/* end of texture object */ |
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/* setup second texture object */ |
if (UseObj) { |
#ifdef TEXTURE_OBJECT |
glBindTexture( GL_TEXTURE_2D, TexObj[1] ); |
assert(glIsTexture(TexObj[1])); |
#endif |
assert(!glIsTexture(TexObj[1] + 999)); |
} |
else { |
glNewList( TexObj[1], GL_COMPILE ); |
} |
/* green on blue */ |
for (i=0;i<theight;i++) { |
for (j=0;j<twidth;j++) { |
int p = i*twidth+j; |
if (tex2[(theight-i-1)*twidth+j]) { |
tex[p][0] = 0; tex[p][1] = 255; tex[p][2] = 0; |
} |
else { |
tex[p][0] = 0; tex[p][1] = 0; tex[p][2] = 255; |
} |
} |
} |
glTexImage2D( GL_TEXTURE_2D, 0, 3, twidth, theight, 0, |
GL_RGB, GL_UNSIGNED_BYTE, tex ); |
glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST ); |
glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST ); |
glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT ); |
glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT ); |
if (!UseObj) { |
glEndList(); |
} |
/* end texture object */ |
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glViewport(0, 0, (GLint)WIDTH, (GLint)HEIGHT); |
glMatrixMode(GL_PROJECTION); |
glLoadIdentity(); |
/* glOrtho( -3.0, 3.0, -3.0, 3.0, -10.0, 10.0 );*/ |
glFrustum( -2.0, 2.0, 2.0, -2.0, 6.0, 20.0 ); |
glMatrixMode(GL_MODELVIEW); |
glLoadIdentity(); |
glTranslatef( 0.0, 0.0, -8.0 ); |
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} |
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static int screen(int mode) |
{ |
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vga_modeinfo *minf; |
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vga_setmode(mode,CARD); |
minf = vga_getmodeinfo(mode); |
if(! (minf->flags & CAPABLE_LINEAR)){ |
vga_setmode(TEXT,CARD); |
printk(KERN_INFO "The mode %d is not capable of linear\n",mode); |
return 1; |
} |
vga_setpage(0); |
if(vga_setlinearaddressing() == -1) { |
vga_setmode(TEXT,CARD); |
printk(KERN_INFO "Could not set linear addressing for mode %d\n",mode); |
return 1; |
} |
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video_buf = vga_getgraphmem(); |
rgb_565_buf = malloc(RGB565MEM); |
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grx_setbuffer(rgb_565_buf, WIDTH, HEIGHT); //Init of RGB16 version of grx functions |
//created to work with Mesa buffer |
return 0; |
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} |
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void program_end(void *arg) |
{ |
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OSMesaDestroyContext(ctx); |
free(rgb_565_buf); |
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vga_setmode(TEXT,CARD); |
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sys_end(); |
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} |
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void program_key_end(KEY_EVT *k) |
{ |
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sys_end(); |
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} |
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TASK refresh(void) |
{ |
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while(1) { |
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copy_videomem_16to16(rgb_565_buf, video_buf, VMEMLONG); |
task_endcycle(); |
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} |
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sys_end(); |
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} |
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TASK disegna(void) |
{ |
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char text[100]; |
TIME disegna_TIME, refresh_TIME; |
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while(1) { |
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jet_gettable(refresh_PID, &refresh_TIME, 1); |
jet_gettable(disegna_PID, &disegna_TIME, 1); |
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Angle += 2.0; |
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draw(); |
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sprintf(text,"Hard Task Refresh PER:%6d us EX:%6d us",(int)PERIOD_REFRESH,(int)refresh_TIME); |
grx_text(text,10,5,rgb16(0,0,255),0); |
sprintf(text,"Hard Task Draw PER:%6d us EX:%6d us",(int)PERIOD_DISEGNA,(int)disegna_TIME); |
grx_text(text,10,15,rgb16(0,0,255),0); |
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task_endcycle(); |
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} |
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sys_end(); |
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} |
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int main (int argc, char *argv[]) |
{ |
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HARD_TASK_MODEL ht_refresh, ht_disegna; |
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sys_atrunlevel(program_end,NULL, RUNLEVEL_BEFORE_EXIT); |
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clear(); |
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WCET_REFRESH =((long int) PERIOD_REFRESH * (0.45)); |
WCET_DISEGNA =((long int) PERIOD_DISEGNA * (0.45)); |
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hard_task_default_model(ht_refresh); |
hard_task_def_wcet(ht_refresh,WCET_REFRESH); |
hard_task_def_mit(ht_refresh,PERIOD_REFRESH); |
hard_task_def_usemath(ht_refresh); |
hard_task_def_group(ht_refresh,1); |
hard_task_def_ctrl_jet(ht_refresh); |
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refresh_PID = task_create("refresh", refresh, &ht_refresh, NULL); |
if (refresh_PID == -1) { |
sys_end(); |
exit(4); |
} |
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hard_task_default_model(ht_disegna); |
hard_task_def_mit(ht_disegna,PERIOD_DISEGNA); |
hard_task_def_wcet(ht_disegna,WCET_DISEGNA); |
hard_task_def_group(ht_disegna,1); |
hard_task_def_ctrl_jet(ht_disegna); |
hard_task_def_usemath(ht_disegna); |
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disegna_PID = task_create("disegna", disegna, &ht_disegna, NULL); |
if (disegna_PID == -1) { |
sys_end(); |
exit(4); |
} |
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{ |
KEY_EVT k; |
k.flag = ALTL_BIT; |
k.scan = KEY_C; |
k.ascii = 'c'; |
keyb_hook(k,program_key_end); |
} |
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if (screen(INITSTR)) { |
printk(KERN_INFO "Graphical initialization failed !!\n"); |
sys_end(); |
} |
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memset(rgb_565_buf, 0, RGB565MEM); |
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gl_init(); |
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group_activate(1); |
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return 0; |
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} |