0,0 → 1,84 |
/* |
* 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 <kernel/kern.h> |
#include <kernel/func.h> |
#include <stdlib.h> |
#include <drivers/keyb.h> |
#include <semaphore.h> |
#include "modules/sem.h" |
#include "modules/hartport.h" |
|
#include "modules/edf.h" |
#include "modules/cbs.h" |
#include "modules/rr.h" |
#include "modules/dummy.h" |
|
/*+ sysyem tick in us +*/ |
#define TICK 0 //300 |
|
/*+ RR tick in us +*/ |
#define RRTICK 300 |
|
TIME __kernel_register_levels__(void *arg) |
{ |
struct multiboot_info *mb = (struct multiboot_info *)arg; |
|
EDF_register_level(EDF_ENABLE_ALL); |
CBS_register_level(CBS_ENABLE_ALL, 0); |
RR_register_level(RRTICK, RR_MAIN_YES, mb); |
dummy_register_level(); |
|
SEM_register_module(); |
|
return TICK; |
} |
|
TASK __init__(void *arg) |
{ |
struct multiboot_info *mb = (struct multiboot_info *)arg; |
|
KEYB_PARMS kparms = BASE_KEYB; |
|
HARTPORT_init(); |
|
//keyb_set_map(itaMap); |
keyb_def_ctrlC(kparms, NULL); |
KEYB_init(&kparms); |
|
__call_main__(mb); |
|
return (void *)0; |
} |
Property changes: |
Added: svn:executable |
## -0,0 +1 ## |
+* |
\ No newline at end of property |
Index: joy/joy_test.c |
=================================================================== |
--- joy/joy_test.c (nonexistent) |
+++ joy/joy_test.c (revision 1457) |
@@ -0,0 +1,131 @@ |
+ |
+/* |
+ * 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 |
+ */ |
+ |
+/* |
+ * 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 <kernel/func.h> |
+#include <stdlib.h> |
+#include <drivers/keyb.h> |
+#include <math.h> |
+ |
+#include "joy.h" |
+ |
+PID pid; |
+ |
+void endfun(KEY_EVT *k) |
+{ |
+ cprintf("Ctrl-Brk pressed! Ending...\n"); |
+ sys_end(); |
+} |
+ |
+void my_close(void *arg) |
+{ |
+ int i; |
+ TIME tmp; |
+ |
+ kern_printf("Taskset Execution Time\n\n"); |
+ for (i=3; i<MAX_PROC; i++){ |
+ if (!jet_getstat(i, NULL, &tmp, NULL, NULL)) |
+ kern_printf("Task Name : %s - Max Time : %d\n", proc_table[i].name, (int)tmp); |
+ } |
+} |
+ |
+ |
+TASK write() |
+{ |
+ JOY_STATE jsa; |
+ |
+ while (1) { |
+ get_joystick_A(&jsa); |
+ place(2,4); |
+ cprintf("The X coord. is: %3d and the Y coord. is: %3d of the joystick1\n", jsa.x, jsa.y); |
+ place(2,12); |
+ cprintf("The button 1, joystick 1 is: %3d\n", jsa.b1); |
+ place(2,14); |
+ cprintf("The button 2, joystick 1 is: %3d\n", jsa.b2); |
+ |
+ task_endcycle(); |
+ } |
+ return 0; |
+} |
+ |
+int main(int argc, char **argv) |
+{ |
+ SOFT_TASK_MODEL ms; |
+ KEY_EVT k; |
+ TIME seme; |
+ |
+ JOY_BOUND jb; |
+ |
+ k.flag = CNTR_BIT; |
+ k.scan = KEY_C; |
+ k.ascii = 'c'; |
+ keyb_hook(k,endfun); |
+ |
+ k.flag = CNTL_BIT; |
+ k.scan = KEY_C; |
+ k.ascii = 'c'; |
+ keyb_hook(k,endfun); |
+ |
+ seme = sys_gettime(NULL); |
+ srand(seme); |
+ |
+ sys_atrunlevel(my_close, NULL, RUNLEVEL_BEFORE_EXIT); |
+ |
+ clear(); |
+ |
+ if (get_joystick_bound_A(&jb)) { |
+ perror("Could not find Joystick."); |
+ sys_end(); |
+ } |
+ |
+ place(2,2); |
+ cprintf("The X bounds are: [ %3d - %3d ] and the Y bounds are: [ %3d - %3d ]\n", jb.x_min,jb.x_max,jb.y_min,jb.y_max); |
+ |
+ soft_task_default_model(ms); |
+ soft_task_def_level(ms,1); |
+ soft_task_def_ctrl_jet(ms); |
+ soft_task_def_met(ms,100); |
+ soft_task_def_period(ms,10000); |
+ soft_task_def_usemath(ms); |
+ pid = task_create("Write", write, &ms, NULL); |
+ if (pid == NIL) { |
+ perror("Could not create task <Write>"); |
+ sys_end(); |
+ } else { |
+ task_activate(pid); |
+ } |
+ |
+ return 0; |
+} |