| /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 |