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Ignore 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
çµqÄ\rÄ\r(]rܵqÄ\r®dq4]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\ràRq78.285 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
ç²q81.5895 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 ($11q7?:>!ppzpp~ +/x.p0?>/ r110/>111q@0Op|_11q@0Op|_11q@0Op|_7?:0>N.pz110/>P@0?.Oÿÿÿÿdkalm1.cdemo.hcost.hpclab/*.[acfghimnops]*../*.[acfghimnops]*pclab.h*.[acfghimnops]*pclab.cLUNGH-.xxx[
+±þ²][ 
+ ]À%c:/users/paolo/shark/tst1bkp3/pclab.cu
+][P ]Pÿ][
+±þ²][ 
+ ]à%c:/users/paolo/shark/tst1bkp3/pclab.h
+]
+ [P ]P ÿ][
+±þ²][ 
+ ]à$c:/users/paolo/shark/tst1bkp3/cost.h 
+][
+ ·±þ²][ 
+ ]%c:/users/paolo/shark/tst1bkp3/kalm1.c
+][P ]Pÿ]¿ppppppppppppppppppppppppppppppppppppp¿qpxt ($11q7?:>!ppzpp~ +/x.p0?>/ r110/>111q@0Op|_11q@0Op|_11q@0Op|_7?:0>N.pz110/>P@0?. 8ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿPPÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿc:/users/paolo/shark/tst1bkp3/ÿ$c:/users/paolo/shark/tst1bkp3/demo.hÍ[
+±þ²][ 
+ ]À$c:/users/paolo/shark/tst1bkp3/demo.h
+][P ]Pÿ]
\ 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
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+vƈ‚t¸ë'‰ö€=ptÿu¸ÿÿÿÿë€=ptþt¸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¶RsÙDªpPÚ $ƒÄÙ}ü‹Müµ ‰MôÙmôÛUô‹UôÙmüRÚ$$ƒÄÙîÚéfßà€äE€ü@tB‰S¶Rs¸‰ÑÓà‰C fƒ=Pst f‹Psë‰öºþÿ·Â‰Cfƒ=Pst f‹Psë‰öºþÿ·Â‰CÇC€=ptþu è,‰Âë*€=ptu è$‰Âë‰ö€=ptu è&‰Âë‰ö1҉Ð1Ò÷s‰CÇC ÇC$¶pt‰C(€=ptþu èΉÂë,‰ö€=ptu è¢#‰Âë‰ö€=ptu è¶%‰Âë‰ö1҉S,ÇC0ƒ=|‚tto€=ptþu
+èq‰Â됀=ptu ‹<prëv1҉S4€=ptþu
+èQ‰Âë+€=ptu è&#‰Âë‰ö€=ptu è:%‰Âë‰ö1҉S8ëÇC4ÇC8ÿÿÇC<ÇC@¸‹]ìÉÉöU‰å舉…ÒtÁèPRhk§pè¯CƒÄ €=ptþuh“§pè™Cè\
+hè$YƒÄ€=ptu ¶ÃP菃Ā=ptu ¶ÃPèŠ"‹]üÉÐU‰åS‹M‹]·E ·U¯Â·UÐf‰Áèf‰‹]üÉÍvU‰åS‹M‹]·E ·U¯Â·UPf‰Áèf‰‹]üÉÉöU‰å·U·E¯Ð·E ‰ÐÉÃU‰å‹MºÇŠEîºÉì‹U ˆºÉì‹UˆºÉìˆÉÐU‰åVSŠ] ŠE‰ÆŠMºÈŠEîºÉˆØî‰ðîˆÈîeø[^ÉÉöU‰åWVS‹}¶M‰Î¶E ‰ÃÈ9Á}#óvºÇˆÈîºÉìˆGìˆGìˆGA9Ù|âeô[^_ÉÉöU‰åWVS‹}¶M‰Î¶E ‰ÃÈ9Á}0óvºÈˆÈÆGºÉÆGÖGºÉ‰ðîA9Ù|Սeô[^_ÉÐ
+Warning! There was an error: (%x) generic.hardware incompatibility.unvalid function.unknown error %x.
+
+Error! Unable to allocate DOS memory.lmem: %lx
+‰öU‰åƒì<WVShè-d‰ÁƒÄ…Éuhl°pèf?遐‰MÈQh“°pèR?fÇEðO‹Eȃàf‰Eú‹UȁâðÿÁê‰Ű}Ìf‰}ØÁâ‰U̍E؉EЋP·Ò‰P‹}Ì xÆŒ‚tVƍ‚tBÆŽ‚tEƏ‚t2ƒÄ¹€‹}ȾŒ‚t¸üó¥¨tf¥¨t¤º!ìˆE׺¡ìˆÃº!°ÿîÿuЍ}àWEðPjè5,ƒÄº!ŠE×ˆØî‹uàfƒþOtp·ÞSh°pèv>ƒÄ‰ÙùOt% ùOtë1ùOtë&‰öh$°pèF>ë&h-°pè:>ëhG°pè.>ë·ÆPhY°pè>¹ÿÿÿÿëv¹ƒùÿt*¹€¿Œ‚t‹uȸüó¥¨tf¥¨t¤¸ëv¸ÿÿÿÿe¸[^_ÉÍvU‰åì WVSDžôþÿÿÿÿÿÿ·5”‚tÁæ·’‚tƍ½ÿÿÿ¹@»üó¥öÃtf¥öÃt¤ÿuèE‰ÆDžøþÿÿ¸)ð9…øþÿÿw½ÿÿÿ¸)ð‰…üþÿÿ‹øþÿÿŠ9‹]8u?Džôþÿÿ‹•ôþÿÿ9ò}"‹…øþÿÿЊ8‹M8
+t
+¸鬍vh]³pèŽþÿÿƒÄƒøu
+¸éhe³pèrþÿÿƒÄƒøu
+¸ëtvhi³pèVþÿÿƒÄƒøu
+¸ëXvhy³pè:þÿÿƒÄƒøu
+¸ë<vh|³pèþÿÿƒÄƒøu
+¸ë vh„³pèþÿÿƒøt ¸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‚tʉ•üûÿÿ½üÿÿ¹@‰Öüó¥¨tf¥¨t¤ho´pèL8ÿµøûÿÿhq´pè<8ƒÄ ƒ½ìûÿÿuh´pè&8ƒÄ됍…þÿÿPh°´pè8ƒÄ…ÛuhÏ´pèþ7ƒÄ됍…ýÿÿPhï´pèç7ƒÄƒ½üûÿÿuhµpèÑ7ƒÄ덅üÿÿPh.µpè»7ƒÄhMµpè®7f¡‚tf‰…ìûÿÿ¹df1Òf÷ñ‰Ó·óV‹…ìûÿÿfÁè·Ð ’ ÊÁá)э4)ÖÁîVh‡µpèa7·ž‚tÁàPh©µpèL7h˵pèB7ƒÄö–‚tt
+hÚµpëvh¶pè"7ƒÄö–‚tt
+hL¶pëvho¶pè7ƒÄö–‚tt
+h–¶pëvh´¶pèâ6¥Üûÿÿ[^_ÉÃ
+List of modes supported:
+ %s
+ho´pè 6ƒÄfƒ}þÿtfƒ}ø'v˜·EøPhz¹pèé5eè[^_ÉÃ
+Error! Unable to allocate DOS memory!Addr: %lx
+Macc..
+ùOtë/vùOtë"‰öh$°pëh-°pëhG°pè‚4ƒÄ됷ÆPhY°pèn4ƒÄ»ÿÿÿÿ뻃ûÿuh}ºpèP4‰ØëE¹A‹}‹u̸üó¥¨tf¥¨t¤‹U‹Z(‰Œ„tƒûÿuh…ºpè4‰Øëv¡Œ„teÀ[^_ÉÍvU‰åƒì0WVS‹E‰EЍuð¹‰÷1Àüó«fÇEðO‹EÐf‰Eòº!ìˆE׺¡ìˆÃº!°ÿî}ØWEàPVjè6!ƒÄº!ŠE×ˆØî‹uàfƒþOtq·ÞSh°pèw3ƒÄ‰ÙùOt& ùOtë2‰öùOtë&‰öh$°pèF3ë&h-°pè:3ëhG°pè.3ë·ÆPhY°pè3¹ÿÿÿÿëv¹‰ÈeÄ[^_ÉÐU‰åƒì<WVSŠE ˆE׍]ðÇEȹ‰ß‹EÈüó«E؉EʼnÇ1Àüó«fÇEðOŠEȈEóˆÂˆUò‹M·y‰}о@‰ð™÷ÿ¶MׯȉMЋ}Ðf‰}öº!ìˆEÖº¡ìˆEÕº!°ÿîÿučMàQSjèûƒÄº!ŠEÖŠEÕî‹uàfƒþOtm·ÞSh°pè;2ƒÄûOt$
+ûOtë0ûOtë&‰öh$°pè2ë&h-°pè2ëhG°pèö1ë·ÆPhY°pèæ1»ÿÿÿÿëv»‰Øe¸[^_ÉÃ
+ Mode: %dx%dx%d (%d bits)
+ - Mode SUPPORTED in hardware configuration
+ - Mode NOT supported in hardware configuration
+ - Color Mode
+ - Text Mode
+ - Not VGA compatible
+ - VGA compatible
+ - Windowed memory mode available
+ - Windowed memory NOT mode available
+ - Linear Frame Buffer available :-)
+ - Linear Frame Buffer NOT available :-(
+
+ Bytes Per ScanLine %d
+
+ Window A Attributes:
+ - Window is relocatable
+ - Window is not relocatable
+ - Window is readable
+ - Window is not readable
+ - Window is writeable
+ - Window is not writeable
+
+ Window granularity %u Kb
+ Window size %u Kb
+ Segment: %x
+
+ Memory Model is Text ModeCGA GraphicsHercules GraphicsPlanarPacked PixelNon-chain 4, 256 colorDirect ColorYUV Colorto be defined by OEM
+ Number of Banks %u
+ Bank Size %u Kb
+U‰åS‹]¶CPÁàP·CP·CPh_¾pèX.ƒÄöthz¾pëh©¾pè>.ƒÄöt
+hܾpëvhí¾pè".ƒÄöt
+hý¾pëvh¿pè.ƒÄöt
+h+¿pëvhP¿pèê-ƒÄöt
+hy¿pëvh¡¿pèÎ-ƒÄ·CPhÍ¿pè¼-hæ¿pè²-ƒÄ öCt hþ¿pë‰öhÀpè–-ƒÄöCt h:Àpë‰öhSÀpèz-ƒÄöCt hpÀpë‰öhŠÀpè^-ƒÄ·CPh¨ÀpèL-·CPhÄÀpè=-·C
+œ‚tÁá·š‚tÁ‰MðUþ·]‰]øv1ɉ׋uð»üó¥öÃtf¥öÃt¤]ðfƒ}þÿt¿Eþ9EøuÆEïfƒ}þÿt€}ïtÀ€}ït
+¸ÿÿÿÿëv¸eà[^_ÉÍvU‰å‹E·@ÉÃU‰å¡Œ„tÉÉöU‰å·ž‚tÁàÉÐU‰åVS‹ufƒþOtn·ÞSh°pè¬+ƒÄ‰Ø=Ot$
+=Otë1=Otë'vh$°pè~+ë&h-°pèr+ëhG°pèf+ë·ÆPhY°pèV+¸ÿÿÿÿëv¸eø[^ÉÃUnknown S3 chipViRGE VXViRGETrio64V+968868866Trio64Trio32964864928805801924911Strange...
+svgalib: S3: Unknown chip id %02x
+M1: %d M2: %d
+svgalib: Using S3 driver (%s, %dK).
+svgalib: Chip revision cannot handle modes with width 1152.
+svgalib: s3: chipsets newer than S3-864 is not supported well yet.
+vU‰åƒìVSºÔ°8îºÕ°HîºÔ°9îºÕ°¥îÇ”„tºÔ°0îºÕìˆÁ¶É‰Ëƒãùß~>ºÔ°-îºÕìˆÁ¶ÉÁáºÔ°.îºÕìˆÃ¶Ã ÁºÔ°/îºÕìˆÃ¶Ûǘ„tÿÿÿÿºÔ°6îºÕìˆEü‰Îæðþ t}þ€tGþ„·é‰öþÀ„؁þ°„ºé吁þЄÈéӍvƒûuǘ„téÖƒû…Íǘ„t龊Eüƒà‰Æ…öŒ®ƒþ~ ƒþt韐ǘ„të
+”„téJǘ„té;Ç˜„té+Ç˜„t鐁ù=ˆ„º2ùà€„Òù1V„¬éãvùˆt8éӍvùðˆ„¸ù€ˆ„žé±ù‰tx飍v‰Îæðÿþàt
+ë:ǘ„t ë.ǘ„t ë"ǘ„t
+ëǘ„t ë
+ǘ„tƒ=˜„tÿuhNÅpèç&¸ÿÿÿÿéûƒ=˜„tuQhZÅpèÈ&¸ÿÿÿÿé܉öƒ=˜„tŠUüö …;é*‰öƒ=˜„t…§ºÔ°7îºÕì‰ÆŠEüÁè‰Áƒáƒùt# …Étë=vƒùtƒùt&ë.ǐ„të"ǐ„tëǐ„të
+ǐ„t 1ۉðÁè‰Áƒátƒùt 됻됻Sÿ5„th}Åpèú%)„tƒÄ 銊EüÀè¶Èƒùw|ÿ$XÊpvxÊpÊÊp„ÊpÊpœÊp¨Êp´ÊpÀÊpǐ„tëFǐ„t ë:ǐ„t ë.ǐ„të"ǐ„tëǐ„të
+h¸Åpè%ƒÄƒ=˜„t~
+hõÅpè%ºÔ°9îºÕ1ÀîºÔ°8îºÕ1Àî1Àeð[^ÉÃV1: %x V2: %x
+U‰åVSºÔ°8îºÕ°HîºÔ°9îºÕ°¥îºÔ°GîºÕ°ÿîìˆÁ1ÀîìˆÃ¶ó‰óºÔ°9îºÕ1ÀîºÔ°8îºÕ1Àî€ùÿu ‰ð„Àujjè]úÿÿ…Àt1À됸됶ÃP¶ÁPhQËpè*$1Àeø[^Éà Using S3 driver (%s, %dK).
+ Chip revision cannot handle modes with width 1152.
+ s3: chipsets newer than S3-864 is not supported well yet.
+ s3: Frame Linear Buffer @ %lx (%ld)
+U‰åWVSºÔ°8îºÕ°HîºÔ°9îºÕ°¥îºÔ°5îºÕìˆÁ€áðˆÈîìºÔ°9îºÕ1ÀîºÔ°8îºÕ1Àî‹]Áë‹MÁé€á°‰Ç=„t~²‰×=„t°‰ÇºÔ°8îºÕ°HîºÔ°9îºÕ°¥îºÔ°@îºÕì$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_Ìpè!ƒÄ¡€rPPhœÌpèò ÉÃU‰å¡„tÁà
+ÉÍvUnknown Trident chip968094209200900089008800U‰åƒìWVS¿ÿÿÿÿºÎ°îºÏìˆÃˆÙ€á€ÉˆÈîºÄ°îºÅìˆÁ1Àîì‰Æ$ˆEÿˆÈîºÎ°îºÏˆØî€}ÿwºÄ°îºÅ1ÀîìˆÁ„Ét¿ƒÿ…ÞºÔ°îºÕìˆÁ‰ÈƒàÁࣜ„tºÄ° îºÅ1ÀîìˆÁ¶ÉƒùSt]ƒùtJ ƒùqƒù|lë0ƒù#t7ëcùƒt8
+ƒùst=ëQvù“tùÓt4ë<‰öÇ „të8Ç „të,Ç „të Ç „tëÇ „tÇ „tƒ= „tt¸ë
+¸ÿÿÿÿ됉øeì[^_Éà Using Trident driver (%s, %dK).
+vU‰åŠMöÁt€áýë€ÉºÄ°îºÅˆÈîÉÍvU‰åÿ5œ„t‹ „t•ÿ° €rhîÐpèÊÉÃU‰å¡œ„tÁà
+ÉÍvU‰åŠU€=Dr„±€ú*t€úªt
+Pr éÿÿÿv€úªt€ú¶uÆEr€úª„ €ú¶…÷þÿÿéþ€úFu?€=Iru
+ÆIrëÆIr¶IrP¶GrP¶HrPè 1À限€ú:u?€=Gru
+ÆGrëÆGr¶IrP¶GrP¶HrPè\1ÀéU€úEu?€=Hru
+Préþÿÿv€út€ú¸uÆPréèýÿÿ‰ö„ÒŒÞýÿÿ€úRt2€úOt-€úSt(€úPt#€úQt€úKt€úLt€úMt€úGt
+Pr€É@ˆMüë vŠPrˆEüˆUýŠEûˆEþ1ɉÏ1Û9Ðs~2݊D28EþuŠ28EüuEüP‹D2ÿб‰ÏƒÄC9ÐsΉù„ÉujEüP¿lsPèQÐƒÄ è=!éDÿÿÿU‰å‹E£@rŠˆÚsŠPˆÛsŠPˆÜsŠPˆÝsŠPˆÞsŠPˆßsŠPˆàsŠPˆásŠPˆâsŠP ˆãsŠP
+sŠPCˆ"sŠPDˆ®sŠPEˆ—sŠPFˆªsŠPGˆösŠPHˆ~sŠPIˆsŠPJˆsŠPKˆsŠPLˆŽsŠPMˆøsŠPNˆ€sŠPOˆêsŠPPˆrsŠPQˆùsŠPRˆsŠPSˆúsŠPTˆ‚sŠPUˆûsŠPVˆƒsŠPWˆïsŠPXˆwsŠPYˆüsŠPZˆ„sŠP[ˆýsŠPRˆ…sŠP]ˆþsŠP^ˆ†sŠP_ˆ
+sŠP`ˆ’sŠPaˆ sŠPbˆ‘sŠPcˆðsŠPdˆxsŠPeˆñsŠPfˆysŠPgˆèsŠPhˆpsŠPiˆësŠPjˆssŠPkˆ÷sŠPlˆsŠPmˆìsŠPnˆtsŠPoˆîsŠPpˆvsŠPqˆsŠPrˆsŠPsˆésŠPtˆqsŠPuˆsŠPvˆsŠPwˆísŠPxˆusŠPyˆsŠPzˆŒsŠP{ˆsŠP|ˆsŠP}ˆsŠ@~ˆsÉÃCtrl-C pressed!
+KeybPortKeyTaskU‰åƒì<WVS‹]ÇEôÿÿÿÿÇEøÿÿÿÿÇEüÿÿÿÿ1ÿƒ=Lrt‰øéK1Ò¾Øs¹`s·ÂÆ0ÆfBfúvì…Ûu]ôƒ{ÿuÇC@€rÿsèèúÿÿjjjjhÿÙpèòÂf£lsƒÄfƒøÿu ¸þÿÿÿéãjjjhÿÙpè\Æf£psƒÄfƒøÿu¿lsPèØɸýÿÿÿ鬉öÇÐsƒ{ÿuÇCÝpƒ{tEÆEÅcÆEÆ.ÆEÄÿsƒÄü‹EÄf‰$ŠEƈD$èÂÆEÄÿsƒÄü‹EÄf‰$ŠEƈD$襃ă;ÿuufÇEÈÇEÌÇEÐfÇEÔÇEØÇEÜÇEàÇEäÇEèÇEìÇEðÇEèÐÇEä ÇEà¨aÇEÜ
+ÇEìEÈë‰ö‹jjPhœÔphÚpèê‰ÃƒÄ‰tsƒûÿu"¿lsPè½È¿psPè°È‰Ø釐ƒ=TruOÿ5tsèü
+ÇLr‰øe¸[^_ÉÉöU‰åƒì¶EPEüP¿psPè|ʄÀt öEü@u¶Eýë1ÀÉÃU‰å¶E Pÿu¿psPèPÊ%ÿÿÉÐU‰åSƒ=Ðs:‹Ðs ݺXs‹Ef‰ŠE
+ˆD‹Ðs ݋E ‰DÿÐs‹]üÉÃU‰åè€
+ÉÉöU‰åè4
+ÉÉöU‰åƒ=Lrt0è
+ÿ5tsèØ/¿lsPè;Ç¿psPè.Ç1Àë‰ö¸ÿÿÿÿÉÐU‰åjè’jè[hîÙpèaè˜)ÉÉöU‰åVSŠ]¹1v¾vºdì¨t‰ðF=þÿÿvì¸ÿÿÿÿëqº`ˆØvºdì¨tº`ì¶ðëv‰ðF=þÿÿvÞ¾ÿÿÿÿƒþÿu¸þÿÿÿë-þúu1Àë þþt¸ýÿÿÿ됉ÈI…Àqÿÿÿ¸üÿÿÿeø[^ÉÐU‰åSŠM»ºdì¨t‰ØC=þÿÿvìë6‰öºd°Ôvºdì¨t‰ØC=þÿÿvìë‰öº`ˆÈîë
+‰ö¸ÿÿÿÿëN¹vºdì¨tì¨ tº`ì¶Èë‰ö‰ÈA=þÿÿvÚ¹ÿÿÿÿ…É}‰È됁ùúu1Àë¸þÿÿÿ‹]üÉÉöU‰åS»vhÿèŠþÿÿ‰ÁƒÄ…É…͹ºdì¨tº`ì¶Èëv‰ÈA=þÿÿvÞ¹ÿÿÿÿùªt‰ØK…À®ùªt
+¸üÿÿÿéhõè&þÿÿ‰ÁƒÄ…Ét ¸ûÿÿÿës‰ö¹vºdì¨t‰ÈA=þÿÿvìë
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+<…tI‰ØÁà)ØÁàfǀh…t‹°D…tƒÄü‹µÌ„t¡…t9È•À%ÿPQV‹C8ÿС<…t@‰ÂÁâ)ƒÄöÕq…t„!¡…t;<…t…¡(…t‰Eø}ø¡<…t@‰ÁÁá)Á¸Œ…t‹ȸƒÞC÷ë‰ÑÁù‰ØÁø)Á‰ÊÁâ)ʉÐÁà)ЍÁÁà)ÉØÁà)؍ƒÁà‰Ã,…t‰_¾¡/¸D‰Ø÷î‰ÑÁù‰ØÁø)Á¡<…t@‰ÂÁâ)¸Œ…t‹иƒÞC÷ë‰ÐÁøÁû)ØÁMø‹_‰Ø÷î‰ÑÁù‰ØÁø)Á‰ÊÁâ)ʉÐÁà)ЍÁ€€€Áà )É_jh,q‹Eø‹UüRP¡Ø\sÿЉÃăûÿuƒÄø¡<…tPjèHJ‰¨„t¡(…t£…t¡,…t£…te¸[^_‰ì]АThe system tick must be less than 55 mSec!(1)(2)(3)Abort detected
+Code : %u
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+$s‰ðP1À[^‰ì]АToo many scheduling levels!!!
+Too many resource levels!!!
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+¸ë$vƒyu‹‹…¬„tƒÄøQP‹B4ÿÐ됸‰ì]ÍvU‰åƒì‹Mƒ9ÿt‹‹…¬„tƒÄøQP‹B8ÿÐ됸‰ì]ÍvU‰åƒì‹Mƒ9ÿt‹‹…¬„tƒÄøQP‹B<ÿÐ됸‰ì]ÍvU‰åƒì‹Mƒ9ÿt‹‹…¬„tƒÄøQP‹B@ÿÐ됸‰ì]Í´&debug info noticewarn err crit alert emerg <%i>[%s] %s
+U‰åƒì WVS} ‹uƒÄüEüPhˆqVè å‰ÃƒÄƒûuƒ}üvÇEüƒÆë
+vÇEü‹Eü;Àr~bƒÄüWVht$sèwɃÄøj
+ƒÄôh•qèä։ðP1Àeè[^_‰ì]ÃU‰åƒìVSu ‹]ƒÄüEüPhˆqSèLäƒÄƒøuƒ}üvÇEüƒÃë ‰öÇEü‹Eü;Àr~EƒÄüVSht$sè»ÈƒÄøj
+qàq­q€q@qqqþqðqØqÁq qwqbq@qqýqíqÕqÄq¶qœq‹qpqNumber 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=›~¸›‹…qPQRh ,q識‹]è‰ì]ÉöU‰å‹E=›v¸›‹…q‰ì]Í´&U‰åƒìWVS¿ÿÿÿÿ‹E ‹‹E@‰ÐÁà)ÐÁà‹ˆt‰Uø‹€ˆt‰Eüƒùÿtw ‰ÆȉÂÁâ)‹Eø‰Ã;Õˆt|[‰Â‰Uô1‰ÐÁà)ЍÅ;šˆtu ‹Eü;‚ˆt|1‰Ï‰ÐÁà)Ћ ؅tƒùÿt4 1‰ÐÁà)Ћ]ô;ňt}«ƒÿÿt‰ÐÁà)ЋU‰؅të‹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‰؅të v‹E‹U ‰ƒùÿtI‰ÐÁà)ЋU‰Ŝ…t‹E@‰ÐÁà)ÐÁà‰ˆ˜…t‰¸œ…t[^_‰ì]ÃU‰åWVS‹}‰ÐÁà)ÐÁà‹œ…t‹°˜…tƒúÿu ‹E ‰0ë!‰öR‰ÁÁá)Á»˜…t‰ÐÁà)ЋÉ˃þÿtv‰ÁÁá)Á»œ…t‰ÐÁà)ЋÉË[^_‰ì]ÉöU‰åS‹]‹ ƒùÿt-I‰ÐÁà)Ћ؅t‰ƒøÿt@‰ÐÁà)ÐÇŜ…tÿÿÿÿ‰È[‰ì]ÉöU‰åS‹]‹M ƒ9ÿt‹@‰ÂÁâ)‰՜…t[‰ÂÁâ)ÂÁ⋉‚˜…tǂœ…tÿÿÿÿ‰[‰ì]Ͷ¿U‰åƒì WVS‹M‹u ‹}ÇEüú¡<…t@‰ÂÁâ)Õ@…t…ÿt‹C8‰…öt:ƒùtƒùt ë%ƒùt됋6 s8됋ƒðÿ!C8ë‰ö‹‰C8ëÇEü‹C8ƒðÿ‰Âë:v‰Ð#t*s1҅Àt‰ö©t‰ÐëBÑøuï1ÀƒÄôPèdƒÄ‹S8ƒòÿ‰Ð#t*suÁ‹C8ƒðÿ‰Âë6v‰Ð#C<1҅Àt©t‰ÐëBÑøuï1ÀƒÄôPèXƒÄ‹S8ƒòÿ‰Ð#C<uÈû‹Eüeè[^_‰ì]ÉöU‰åƒìVS‹u‹M …É„öƒùwv‰ÐÁà)Ðfƒ<Åh…tu ¸éԉöú‰ÈÁàö€|(suƒ¸t(suû鲉öv‰ÐÁà)ЍÅ|…tƒùvè‘ÙÇë
+èlÖÇë 0ƒÄøhx*sSè úÿÿ[‰ÐÁà)Ѝ4ŋ†D…tƒÄø‹…Ì„tSP‹BDÿл ˆtƒÄ ƒ<ÿtƒÄô‹P¡]sÿÐÇÿÿÿÿ‹Mì‰ÈPéà[‰ÐÁà)Ћ؅tƒûÿ…ÿÿÿ¾¸‰Ã‰ùÓã‰öv‰ÐÁà)ÐÁàfƒ¸h…tt}x…tƒÿvèªÕÇëf‰ö‰Ú#‰Ð…ÀuZv‰ÐÁà)ЍÅ|…tƒÿvè{ÕÇëv 1Ûë‰öC;ôr}-ƒÄø݋+sRV‹€ +sÿЃÄ…ÀtÖë
+è”ÔÇ븉ùÓà#t*st‹Uì‰ÐPé§vƒ=Euÿu‹Mì‰ÈP¸ 錉ö‹5EuvÁà¹Eu‹‰Eu‰¸ Eu‹U‰$Eu‹U‰(Eu‹<…t‰,EuÇÿÿÿÿ½º|*sƒ<ÿu‰4ë<‹½|*s‰ÁЃ<ÅEuÿt»Euv
+‹Í 
+è ÓÇë 0ƒÄøhx*sSèÔöÿÿ[‰ÐÁà)Ѝ4ŋ†D…tƒÄø‹…Ì„tSP‹BDÿл ˆtƒÄ ƒ<ÿtƒÄô‹P¡]sÿÐÇÿÿÿÿ‹Mì‰ÈPé鐍[‰ÐÁà)Ћ؅tƒûÿ…ÿÿÿ¾¸‰Ã‰ùÓã‰öv‰ÐÁà)ÐÁàfƒ¸h…tt}x…tƒÿvè^ÒÇëf‰ö‰Ú#‰Ð…ÀuZv‰ÐÁà)ЍÅ|…tƒÿvè/ÒÇëv 1Ûë‰öC;ôr}-ƒÄø݋+sRV‹€ +sÿЃÄ…ÀtÖë
+<…tI‰ØÁà)؋ÅD…tƒÄø‹…Ì„tQP‹CHÿЃÄøhx*s¡<…tPèïÿÿ¡<…t@‰ÂÁâ)»@…tfÇDÓ(Ç<…tÿÿÿÿÇ…tÿÿÿÿƒÄ 腻ÿÿƒÄô¡<…t@‰ÁÁá)Á¿DËPè’èó ‹F<#ƒÄ…Àt èû1Àëû¸eÈ[^_‰ì]ÃU‰åƒì VS‹]úƒÄøEøPjèn’ƒÄƒ=+sÿu
+©uBÑøuô1҉UðÇEôÇEø¡<…t‰EüƒÄøEðPRèDƒÄ‹S8ƒòÿ‰Ð#C<u°€c1ï‹]؉ì]Ã
+Signal number %d...
+with value : %d
+‰ö¸þÿÿÿ‰ÙÓÀ!‹Eì‰G8ûöEøtƒÄüj‹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…tu]¾ ˆtƒ<3ÿtƒÄô‹3P¡]sÿÐÇ3ÿÿÿÿƒÄƒÄøhx*sWè¸èÿÿ‰ÐÁà)ЋÅD…tƒÄø‹•Ì„tWR‹@Dÿиë=v‰ÐÁà)ÐÁàfƒ¸h…tu!‹D…tƒÄø‹•Ì„tWR‹@Dÿиëv1Àeè[^_‰ì]ÃError initializing signals...‰öU‰åƒìWVS1Ò¿|(s¾x(s»€(s¹|*s‰ÐÁàǀt(sÇ8Ç0ÇÇ‘ÿÿÿÿBƒúvÏ1Ò»Eu¹0EuvRÁàB‰Çƒú>~êÇKuÿÿÿÿÇKuÇEuÇt*sÇx*sÿÿÿÿÇ+sÿÿÿÿÇEøÇEü<LqÇEðÇEôÿÿÿÿƒÄüjEðPj èŽêÿÿƒÄƒøÿuƒÄôh´FqèáäÿÿƒÄôjèï®ƒÄ 1Ò¹¬+s»°+sRÁàÇÇÿÿÿÿÆDBƒú~áƒÄøjhìEqèFÈÿÿ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¡<…tPèŒçÿÿ‰ì]ÃU‰åƒì0VS‹]‹E ‰EðÇEôÇEøèlÁ‹0ƒÄüEàPEðPSèièÿÿƒÄ…Àt
+è\ÀÇ~ëgœúX‰Æ[…¹¬+s€|
+t=‹E ‰
+‹E‰‚°+sÆD
+U‰åƒì¡<…t@‰ÂÁâ)ÂÁâ¹p…t‹
+ƒðÿ©t)ú€
+RR_ReadyRR_DelayRR_UnknownSlice: %d
+Pid: %d Name: %20s Status: %s
+ëv¸0Oq됸9Oq됸BOqPv‰ÐÁà)ЍÅT…tPVhpOqè¡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)ÂÊUø‹_‰Ø÷î‰ÑÁù‰ØÁø)Á‰ÊÁâ)ʉÐÁà)ЍÁ€€€Áà )É_ƒÄ‹U Rh$Uq‹Eø‹UüRP¡Ø\sÿЉÃăûÿuƒÄø¡<…tPjè/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$7ph#RqèÓ¡ÿÿ‰ÆƒÄ ƒþÿuƒÄøè1¸‹Ph0Rqè”rƒÄ‹<Ì„tv‰ÐÁà)ЍÅfƒ»h…tu*ƒÄøƒ„…tPjèj€fǃh…t€ƒÄø‡ˆPVèqèe¸[^_‰ì]ÃRR_register_level
+ lev=%d
+Round Robin (RR)vU‰åƒì WVS‹uƒÄôheSqèçÄÿÿèf¾ÿÿ‰ÇƒÄôh˜è+Âÿÿ‰ÃƒÄ ƒÄøShxSqèÀÄÿÿ‰½Ì„tƒÄüjh„SqSè£fÇCÆCÇCxUqÇC¤UqÇC OqÇC$°UqÇC(,VqÇC,8VqÇC0°VqÇC4¸VqÇC8ÄVqÇC<ìVqÇC@lWqÇCDÜWqÇCH XqÇCL(XqÇCPHXqÇCTxXqÇCXQqÇC\˜XqÇC`´XqÇCdÐXqÇChìXqÇClYqÇCp$YqÇCt@YqÇCx\YqÇC|xYqǃ€”Yqǃ„°YqƒÄ ƒÄôƒˆPè×äƒÄþçw¾èþ ¡v¾ ¡‰³‹E‰ƒ”ƒ} tƒÄüjWh`Rqè©»ÿÿeè[^_‰ì]ÍvU‰åƒìS‹UR‰ÃÁã)ÃÁ㋃D…tÁà‹€Ì„tfǃh…t€ƒÄøˆPRèjæǃ ˆtÿÿÿÿè¿¢ÿÿ‹]è‰ì]ÃU‰å‹E f8t1Òf‹‹E€Ì9Âu1Àë¸ÿÿÿÿ‰ì]ÍvU‰å¸ÿÿÿÿ‰ì]ÃU‰åƒìVS‹EÁà‹°Ì„tÆˆ‰öƒÄôVègæ‰ÃƒÄƒûÿtC[‰ÐÁà)ЍŹŒ…tƒ<
+%‹‚$ˆt
+ƒÄøVSèŽäƒÄøVSè´åƒÄ 믍v‰Øeè[^‰ì]ÐU‰å¸‰ì]ÃU‰åVS‹u ‹M‹EÁà‹˜Ì„tƒytv‰ÐÁà)ÐÁà‹Q‰Œ…t‹Qëv‰ÐÁà)ÐÁà‹“‰Œ…t‹“‰$ˆtv‰ÐÁà)Ѐ Åq…t1À[^‰ì]ÐU‰å‰ì]ÐU‰å1À‰ì]ÍvU‰åƒì‹U ‹EÁàƒÄø‹€Ì„tˆPRè´ã‰ì]ÃU‰åƒìVS‹] ‹EÁà‹°Ì„t[‰ÐÁà)ЍŹŒ…tƒ<
+‹‚$ˆt
+ƒÄø†ˆPSè”äë‰öƒÄø†ˆPSèä[‰ÐÁà)ÐfÇÅh…t€eè[^‰ì]ÍvU‰åƒì WVS‹u ‹EÁà‹€Ì„t‰Eüv‰ÐÁà)ЍÅ¿@…tfƒ|;(u*ƒÄøƒ„…tPjèö{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…tƒÄøh …tQè½Õÿÿ‰ì]ÐU‰å‹E @‰ÂÁâ)ÂfÇÕh…t‰ì]ÉöU‰åƒìƒÄø¡<…tPjè†ñÿÿ1À‰ì]ÃU‰åƒìƒÄø¡<…tPjèjñÿÿ‰ì]ÉöU‰åƒìƒÄø¡<…tPjèNñÿÿ‰ì]ÉöU‰åƒìƒÄø¡<…tPjè2ñÿÿ‰ì]ÉöU‰åƒìƒÄø¡<…tPjèñÿÿ‰ì]ÉöU‰åƒìƒÄø¡<…tPjèúðÿÿ‰ì]ÉöU‰åƒìƒÄø¡<…tPjèÞðÿÿ‰ì]ÉöU‰åƒìƒÄø¡<…tPjèÂðÿÿ‰ì]ÉöU‰åƒìƒÄø¡<…tPjè¦ðÿÿ‰ì]ÉöU‰åƒìƒÄø¡<…tPjèŠðÿÿ‰ì]ÉöU‰åƒìƒÄø¡<…tPjènðÿÿ‰ì]ͶEDF_ReadyEDF_DelayEDF_Wcet_ViolatedEDF_Sporadic_WaitEDF_IdleEDF_ZombieEDF_Unknown$(dline p%d ev%d %d.%d)el%d|
+status %d
+timer_deadline:AAARRRGGGHHH!!!U‰åƒìWVS‹E‰EüƒÄôh(Zqèì½ÿÿ‹UüÒUü‰ÐÁà)ЋÅD…tÁà‹€Ì„t‰EøƒÄ‹Eü@‰ÂÁâ)Â1Àf‹Õh…t=„„‰=ƒ„¬éÍv=……µ‹UüÒUü‰ÐÁà)ÐfÇÅh…tƒÄøh …t‹EüPèÔÿÿ‹MüÁáºÿÿÿÿ‰Ð‹]ø1Ò÷´ˆ‰Á‹UüÒUü‰ÐÁà)Я Å$ˆt‰È)ƒ¨éƒÄøEüPj ¡‚rÿЋEü¹„…t@‰ÂÁâ)ÂÁâ‹‚ˆt‰‹Eü@‰ÂÁâ)ÂÁâ‹‚ˆt‰D‹Eü@‰ÖÁæ)֋}øÇˆ‹‡¸ƒÞC÷ã‰ÑÁé‰ÊÁâ)ʉÐÁà)ЍÁÁà)ÉØÁà)؍ƒÁàõˆt‹]ü[‰ÂÁâ)4Ջ–ˆt‰Uô¸¡/¸D÷ê‰ÑÁù‹EôÁø)Á‹Ÿ¸ƒÞC÷ã‰Ó‰ØÁèÁŽˆt‹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‹ÝˆtRP¡Ø\sÿЉÃăûÿuƒÄø¡<…tPjèíÿÿƒÄ‹EüÁà‹MøÁ‰ƒÄô‹Eü@‰ÂÁâ)‹Õˆt¾ÓMb‰ð÷ë‰Ö‰ðÁø‰ÚÁú)ÐP‹Eü@‰ÂÁâ)‹ÕˆtP‹EüÁà‹P‹EüPh*Zqè »ÿÿƒÄ 虚ÿÿƒÄø‹EüPhAZqèðºÿÿëa‰ö‹Eü@‰ÂÁâ)ÂfÇÕh…tëFvƒÄø‹Eü@‰ÂÁâ)Â1Àf‹Õh…tPhGZq諺ÿÿƒÄôhpZq螺ÿÿƒÄ ƒÄø‹EüPjè)ìÿÿeØ[^_‰ì]ÃAAARRRGGGHHH!!!On OffWcet Check : %s
+On-line guarantee : %s
+Used Bandwidth : %u/%u
+Pid: %2d (GUEST)
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+Panic!!! can't create dummy task...
+Entro in dummy_register_level
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+AŸ<w€Áàˆ
+B€:uì‰Ø[‰ì]ÐU‰åS‹]‰Ú€;t‰öŠ
+A¿<w€Á ˆ
+B€:uì‰Ø[‰ì]ÐU‰åS‹U‹M ‰Ó€;tvB€:uú늈AB€9uõƉØ[‰ì]ÍvU‰åƒì WVS‹]‹} ë
+‰ÃƒÄô¾Pè
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+‹E Pèµ ‰Eè€Mä‹UøJ‰U ƒÄé%vŠGƒÆ‹^üˆëÝØÿEôé ƒÆ‹^üëG€?tƒÄô¾Pè’ ƒÄ…ÀuçÇEàë#‰ööEäu
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+Wèù ‰Â‹}øƒÄ ƒ}ì…kƒ}ðt% ƒ}ðtéGÿÿÿƒ}ð…=ÿÿÿƒÆ‹Fü‰é0ÿÿÿƒÆ‹Füf‰é!ÿÿÿ‰öƒÄøh=ùqWèNûÿÿ‰ÇƒÄüEøPj
+ƒ}ðté¡þÿÿ‰öƒ}ð…•þÿÿƒÆ‹Vü‰éˆþÿÿƒÆ‹Vüf‰éyþÿÿ‰öƒÄøh`ùqWè¦úÿÿ‰ÇƒÄøEøPWè/ìÿÿ‹}øƒÄ ƒ}ìu\ƒ}ðt% ƒ}ðté9þÿÿƒ}ð…/þÿÿƒÆ‹FüÝé$þÿÿƒÆ‹FüÙéþÿÿvÇEðëvÇEðëvÇEìëÝؐ1ÛÿE ‹U €:…ÿûÿÿ‹EôeÈ[^_‰ì]ÉöU‰åƒì‹M‹U EƒÄüPRQè’ûÿÿ‰ì]Í´&¼'U‰åƒì,WVS‹] ÇEì1ÿ‹E4‰Eð‹U‰Uè…Ò}‰Ñ÷ىMè…Ò}‹E…À}
+÷Øëv‹E‹UðöÂu ƒ}}ƒ}}Gƒ}u‹MìÆD)ô0A‰Mìë2…Àt.Uô‰Uä‰öƒÄô1Ò÷uè‰ÆRèø‹Mä‹Uìˆ
+Æ@,ú1°<U‰åìlWVS‹]‹uDž¨þÿÿ½Ôþÿÿ¹K‹…¨þÿÿüó«ƒÄüSÿu ÿuèƒÄ…ÀtƒÄôSèÝ÷ÿÿélÙîÜ]ßà€äEuÆ-CÝEÙàÝ]ë‰ö÷Æt
+Æ+Cÿ…¨þÿÿƒÄü…¸þÿÿPÿu ÿuèÁ ݝ°þÿÿ1ÿƒÄÙèܝ¸þÿÿßà€äEþ̀ü@ƒÒ‰öÿ5tÿqÿ5pÿq݅¸þÿÿƒìÝ$è_ Ýpÿqܽ¸þÿÿݝ¸þÿÿƒÄôÙ½Òþÿÿf‹ÒþÿÿfÉ f‰ÐþÿÿÙ­Ðþÿÿß½Èþÿÿ‹…Èþÿÿ‹•ÌþÿÿÙ­ÒþÿÿP轈„/ÔþÿÿGƒÄ Ùèܝ¸þÿÿßà€äEþ̀ü@‚nÿÿÿ½¨þÿÿOÿ•Ôþÿÿ됊ˆCIGñ…À}1À9Á}ì…É|Oð…É|Æ0CIyùÆë
+Æ0Cÿ…¨þÿÿ݅°þÿÿÜxÿqßà€äE…
+pÿqݕ°þÿÿƒÄü…¸þÿÿPƒìÝ$èOݝ°þÿÿ݅¸þÿÿÙ½Òþÿÿf‹•ÒþÿÿfÊ f‰•ÐþÿÿÙ­Ðþÿÿ۝Äþÿÿ‹…ÄþÿÿÙ­ÒþÿÿƒÄ…Àt …öu¾ƒÄôP艈Cÿ…¨þÿÿGƒÄ…öt;}~
+Dž¬þÿÿ‹¨þÿÿ9M}
+Dž¬þÿÿƒ½¬þÿÿ„;ÿÿÿëÿ¨þÿÿK€;0u€{ÿ.uîCÆ‹…¨þÿÿ¥ˆþÿÿ[^_‰ì]Ít&¼'$@U‰åƒì WVS‹]‹}ÇEüƒÄüSÿu ÿuèCƒÄ…ÀtƒÄôSèõÿÿéA‰öÙîÜ]ßà€äEuÆ-CÝEÙàÝ]ë‰ö‹E©tÆ+CÿEüÝEÜ`rßà€äE€üuÆ0ÆC¸éîvÙèÙÀÜ]ßà€äEu#1öÝhr‰öÝEØÉÝUNØÚßà€äE€ütëÝØë-ÝØ1öÝEÜhrßà€äuÝhrÝEØñÝUFØÙßà€ätîÝ؃ÄôVèGóÿÿƒÄƒøc~ƒÇýë‰öƒø ~ƒÇþë‰ö…ö~OƒÄø‹E P‹EPWSÿu ÿuèåûÿÿEüƒÄ …öt;]üÆeCƒÄôjºgfff‰Ð÷î‰ÐÁø‰òÁú)ЃÀPj
+ƒÄôSèM…Àt¾‰ðeè[^‰ì]ÐU‰åŠE¿<9v1À븉ì]ÍvU‰å€}/~1Àëv¸‰ì]ÍvU‰åŠEÐ< v1À븉ì]ÍvU‰åŠEŸ<v1À븉ì]ÍvU‰åŠUB÷<v€ú u
+¸ëv1À‰ì]ÉöU‰åŠE¿<v1À븉ì]ÍvU‰åŠUBÐ<vBŸ<w¸ë1À‰ì]ÉöU‰åŠM€ù/~‹@“r‹E :Lÿ
+¸ëv1À‰ì]ÉöU‰åƒì‹MUf‹BfÁè%ÿ=ÿt1Àë_÷Bÿÿuƒ:t…ÉtƒÄøhárQèÄîÿÿ¸ë8€z}…ÉtƒÄøhårQè¤îÿÿ¸ë…ÉtƒÄøhêrQèŠîÿÿ¸‰ì]ÐU‰åƒìÝEÝ]øUøf‹BfÁè%ÿ=ÿt1Àë)÷Bÿÿuƒ:t
+¸ëv¸€z}¸ƒøŸÀ%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$Ùþßàf%uÃÙëØÀÙÉÙõßàf%uöÝÙÙþͶ¿ÝD$Ùÿßàf%uÃÙëØÀÙÉÙõßàf%uöÝÙÙÿͶ¿U‰åƒìƒÄøÿu ÿuè|Ý]øƒÄƒ=`“rÿtƒÄøÿu ÿuèsƒÄ…ÀtÝEøë*vÙîÜ]ßà€äEuƒÄôjÿu ÿuÿu ÿuèFëÝEø‰ì]Ѝt&U‰åƒìƒ=X“rt ¡X“rÿÐë¸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=`“rÿt*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$•”rÌr9r¨rrDrlr”r¼r7r³r/r«r'r£rÌrEr¿r;r·r3rœrmržr#r¨rërprãrLr´rr„rÈrr(rMrmrr­r0 r r!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!r|!rÌr9r¨rrDrlr”r¼r7r³r/r«r'r£rÌrEr¿r;r·r3rœrmržr#r¨rërprãrLr´rr„rÈrr(rMrmrr­r0 r r!rÝØÇEàƒøc
+ÝØÇEàƒøcÇEäÕ réñ ‰öÇEäÚ réã ÝØÇEàƒøcÇEäà réÉ ‰öÇEää ré» ÝØÇEàƒøcÇEäà ré݉öÇEää réÏÝØÇEàƒøc
+réå
+rƒ=`“ruÝPrëÝP“rÙàÝ]øƒ=`“r„ÿ
+ƒÄôEàPèD ƒÄ…À…÷
+ƒ=`“r…Û
+réi
+réƒ ÝØÇEàƒøc
+rƒ=`“ruÝHrëÝP“rÝ]øƒ=`“r„]
+ƒÄôEàPè¢
+ƒÄ…À…U
+ƒ=`“r…9
+rƒ=`“ruÝPrëÝP“rÙàÝ]øƒ=`“r„ ƒÄôEàPè(
+rë
+rë
+rƒ=`“ruÇEøÇEüë Ý`rÝ]øƒ=`“r„ýƒÄôEàPèBƒÄ…À…õƒ=`“r…ÙƒÄüj hrégvÇEàƒøc ÇEä!rë
+vÇEä&rƒ=`“r…ÏÙîÞÙßà€äE€ü„ré!þÿÿÝØÇEàƒøc ÇEä,rë ‰öÇEä1rƒ=`“ruÇEøÇEüë Ý`rÝ]øƒ=`“r„5ƒÄôEàPèzƒÄ…À…-ƒ=`“r…ƒÄüjh7r韍vÇEàƒøc ÇEäKrë
+vÇEäPrƒ=`“rtÝØÝ`rÝ]øƒ=`“r„¿ƒÄôEàPèƒÄ…À…·ƒ=`“r…›ƒÄüjhVré)ÝØÇEàƒøc ÇEäkrë ‰öÇEäurÝ`rÝ]øƒ=`“r„VƒÄôEàP蛃ąÀ…Nƒ=`“r…2ƒÄüjh€réÀÝØÇEàƒøc
+ÇEä™rëÇEäŸrÝ`rÝ]øƒ=`“r„îƒÄôEàPè3ƒÄ…À…æƒ=`“r…ʃÄüjh¦réXÝØÇEàƒøc
+ÇEä»rëÇEäÁrÝ`rÝ]øƒ=`“r„†ƒÄôEàPè˃ąÀ…~ƒ=`“r…bƒÄüjhÈréðÇEàƒøc ÇEä»rë
+vÇEäÁrÙîÞùÝ]øƒ=`“r„ ƒÄôEàPèeƒÄ…À…ƒ=`“r…üƒÄüjhÝr銉öÇEàƒøc ÇEäðrë
+vÇEäörÝP“rÝUøÙîØÚßà€äE€üÝÙ„«Ùà韐ÇEàƒøc ÇEäðrë
+rÇEøÇEüƒ=`“r„§ƒÄôEàPè΃ąÀ…ƒ=`“r…ƒƒÄüj‹EäPjè‚ëÿÿƒÄüjhrjèqëÿÿƒÄ ë]ÝØÇEàƒøc
+rë
+rÝ]øƒ=`“rÿt ƒ=`“ruÇEøÇEüð?ë"ƒÄôEàPèXƒÄ…Àuè¼éÿÿÇ!ëÝØÝEø‰ì]АÝD$ 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"rh
+ƒÄ öCtjjh(rh)rèè ƒÄ ƒ;t9wjkh(rh>)rèË ƒÄ ‹}ø9_ wjlh(rhg)rè¯ ƒÄ ‹M 9K‚‰]ô9ós‰uôÇEð됺‹MðÓâ‹Eô3E…ÂtUôÿEð‹}9}ð|ދEô)ØE 9C‚Ñ‹EôE 9Eü‚Ï‹uôƒæø9Þshh(rh~)rè, ƒÄ 9Þv9‰ñ)ىMìöÁth”h(rhŒ)rè ƒÄ ‹‰‹C+Eì‰F‹}ì‰{‰]ì‹Eôƒà‹M Lƒáø‰M 9Nv1‹‰‹v)Ήr‹}ì‰ë ‰ö‹‹M쉋} ‹Mø9ysh²h(rh¾)rè– ‹} ‹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 -rh-rè´ƒÄ ƒ~t‹F9F wj_h -rhW-rè’ƒÄ ‹F‹V )‰Ð9Fvj_h -rh–-rèoƒÄ 1ÿ‹^…Û„ªvÿ3‹CPØPSh·-rèô•ÿÿƒÄöÃtjgh -rhÙ-rè/ƒÄ öCtjhh -rh .rèƒÄ ƒ{wjih -rh>.rèûƒÄ ƒ;t9wjjh -rhZ.rèÞƒÄ 9^ wjkh -rhƒ.rèÅƒÄ {‹…Û…YÿÿÿWhš.rèV•ÿÿƒÄ9~tjqh -rh¬.rè‘ƒÄ ‹6…ö…ˆþÿÿhÄ.rè&•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0rh—0rèƒÄ …ÛujMh0rh 0rèøƒÄ ƒ}ujNh0rh«0rèÞƒÄ ‰Øƒà‹MLƒáø‰M‹v…ÛujVh0rh´0rè¯ƒÄ ƒ{uƒ{t‹C9CvjWh0rh½0rè‡ƒÄ ƒ{t‹C9C wjWh0rh1rèeƒÄ ‹C‹S )‰Ð9CvjWh0rhA1rèBƒÄ ‹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[hð3rhø3rèƒÄ ƒ~t‹F9F wj[hð3rh=4rèåƒÄ ‹F‹V )‰Ð9Fvj[hð3rh|4rèÂƒÄ ÿEü1ÿ‹^…Û„–vöÃtjbhð3rh4rè–ƒÄ öCtjchð3rhÐ4rè|ƒÄ ƒ{wjdhð3rh5rèbƒÄ ƒ;t9wjehð3rh5rèEƒÄ 9^ wjfhð3rhG5rè,ƒÄ ÿEø{‹…Û…mÿÿÿ9~tjlhð3rh^5rèƒÄ ‹VUô‹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¡…tPjSVhp7rèYeè[^‰ì]ÃU‰åƒìS‹]‹M ‹UƒÄø¡<…tPjRQSh07rè(‹]è‰ì]Ͷ¼'KERNEL PANIC: %s
+‰öU‰åƒì‹UE ƒÄüPRhÐXsèªÿÿƒÄøhÐXsh08rè»·ÿÿƒÄ ƒÄôhMèÏþÿ‰ì]Ít&¼'U‰åƒìWVS¿ÿÿÿÿ‹E ‹‹E@‰ÐÁà)ÐÁà‹ˆt‰Uø‹€ˆt‰Eüƒûÿtw‰Æ؉ÂÁâ)‹Eø‰Á;Õˆt|[‰Â‰Uô3‰ÐÁà)ЍÅ;Šˆtu ‹Eü;‚ˆt|1‰ß‰ÐÁà)Ћ؅tƒûÿt43‰ÐÁà)ЋMô; ňt}«ƒÿÿt‰ÐÁà)ЋU‰؅të‹E‹U ‰ƒûÿt[‰ÐÁà)ЋU‰Ŝ…të
+‹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‰؅të v‹E‹U ‰ƒùÿtI‰ÐÁà)ЋU‰Ŝ…të
+‹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…tÿÿÿÿëÇAÿÿÿÿ‰Ø[‰ì]ÉöU‰åS‹M‹] ƒ;ÿt)I‰ÐÁà)Ћ‰؅t‹@‰ÂÁâ)‰ ՜…t됉KI‰ÐÁà)ÐÇ؅tÿÿÿÿI‰ÐÁà)ÐÇŜ…tÿÿÿÿ‰ [‰ì]ÃU‰åS‹M‹] ƒ{ÿt,I‰ÐÁà)ЋS‰Ŝ…t‹C@‰ÂÁâ)‰ ՘…të‰ö‰ I‰ÐÁà)ÐÇŜ…tÿÿÿÿI‰ÐÁà)ÐÇ؅tÿÿÿÿ‰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‹Eƒøt…Àtë.‰öƒøtƒøtë ¸`<r됸e<r됸i<r됸o<r됸<r‰ì]ÍvU‰åƒìWVSœúX‰Â‰Uô‹E©t&ƒÄøEøPjèW–ÿÿƒÄü‹EüP‹EøPh‡<rè6ˆÿÿƒÄ ‹UöÂtP1ö;5 …tsF¿Ì„tƒÄôµ‹;1ÀŠBP1Àf‹BPRVh <rèö‡ÿÿƒÄ ƒÄô‹;V‹@ ÿЃÄF;5 …tr¿‹E©tƒÄôhÈ<rèćÿÿèóØþÿ‹Uô‰ÐPeØ[^_‰ì]Í´&¼'8Œÿÿ’ÏÿÿšÏÿ>rÿFr°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[]@#@€rÿÿÿÿÿÿÿÿqzqsqlqeq^qWqPqÐMqØMqØMq¬ÉqžÉq‘Éq€ÉqeÉqOÉq?Éq+ÉqÉq ÉqÿÈqêÈqÙÈq¿Èq³Èq Éq ÈqþþAÐrðÿÿÿÿ
\ 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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0 166 18051 55 163 15526 2953 0
0 138 17959 54 141 15598 2893 0
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0 60928 13676 63 160 14805 2520 0
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0 4274 16650 56 163 15081 2509 0
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0 4124 17791 47 170 12915 2883 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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/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
‡¹qÄ^rÄ^r(_r|¹q79.2982 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]][
+[-gÿÿÿÿ][-a][-dMNDyrxjsLtfcSlgRJdkampÿ][-fpretend-float][-gcoffÿÿÿÿ][-gdwarfÿÿÿÿ][-gdwarf+][-ggdbÿÿÿÿ][-gstabsÿÿÿÿ][-gstabs+][-gxcoffÿÿÿÿ][-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_cast constructorcontinuedefaultdelete
+destructordodouble dynamic_castelseenumexplicitexternfalsefloatforfriendgotoifinlineintlongmutable namespacenewnotnot_eqoperatororor_eqoverloadpackedprivate protectedpublicregisterregparmreinterpret_castreturnshort signaturesignedsigofsizeofstatic static_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]][HHAbsoluteAbstractAllAndAnd_thenArrayAsmBeginBindableCaseClassConst Constructor
+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"
 
/unsupported/trunk/pendulum/GRID/FILE.PS
0,0 → 1,3719
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344 153 R
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3590 793 M
0 1320 V
3559 793 M
62 0 V
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344 -951 R
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344 -647 R
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4714 736 M
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4683 736 M
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62 0 V
5838 3362 M
0 873 V
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62 0 V
6213 2727 M
0 958 V
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62 0 V
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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
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stroke
grestore
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%%Page: 2 2
gnudict begin
gsave
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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
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2045 2743 M
0 752 V
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62 0 V
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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
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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
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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
-6493 0 R
(115) Rshow
490 4872 M
63 0 V
6409 0 R
-63 0 V
-6493 0 R
(120) 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 1407 M
0 326 V
-31 -326 R
62 0 V
-62 326 R
62 0 V
227 -468 R
0 301 V
-31 -301 R
62 0 V
-62 301 R
62 0 V
2043 747 M
0 317 V
2012 747 M
62 0 V
-62 317 R
62 0 V
2302 764 M
0 325 V
2271 764 M
62 0 V
-62 325 R
62 0 V
2561 672 M
0 284 V
2530 672 M
62 0 V
-62 284 R
62 0 V
2820 682 M
0 374 V
2789 682 M
62 0 V
-62 374 R
62 0 V
228 49 R
0 181 V
-31 -181 R
62 0 V
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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
1.000 UP
1.000 UL
LT2
6311 4459 M
("tot2.0" u 2:3:4) Rshow
6395 4459 M
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684 1825 Star
943 1730 Star
1202 1428 Star
1461 1361 Star
1720 945 Star
1979 741 Star
2237 630 Star
2496 601 Star
2755 711 Star
3014 641 Star
3273 506 Star
3532 762 Star
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4050 782 Star
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4567 1239 Star
4826 1310 Star
5085 1512 Star
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1.000 UP
1.000 UL
LT3
6311 4319 M
("tot3.0" u 2:3:4) Rshow
6395 4319 M
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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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/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