Subversion Repositories shark

Compare Revisions

Ignore whitespace Rev 1416 → Rev 1417

/demos/trunk/rtw/actuators.c
0,0 → 1,62
#include "kernel/kern.h"
#include "modules/cabs.h"
 
#include "tmwtypes.h"
 
#include "rtw.h"
 
extern CAB output_cid[NOUTPUTCAB];
 
TASK ACTUATOR_body(void *output_port) {
 
real_T *p, value;
int out = (int)(output_port);
if (out >= NOUTPUTCAB) return NULL;
while(1) {
/* Get CAB message */
p = (real_T *)cab_getmes(output_cid[out]);
/* Set value */
value = *p;
/* Release CAB message */
cab_unget(output_cid[out], p);
 
cprintf("Value = %lf\n",value);
task_endcycle();
}
return NULL;
 
}
 
void activate_actuators() {
 
HARD_TASK_MODEL ACTUATOR_task;
PID ACTUATOR_pid;
 
hard_task_default_model(ACTUATOR_task);
hard_task_def_mit(ACTUATOR_task,20000);
hard_task_def_wcet(ACTUATOR_task,4000);
/* Set actuator port number */
hard_task_def_arg(ACTUATOR_task,(void *)(0));
hard_task_def_usemath(ACTUATOR_task);
hard_task_def_ctrl_jet(ACTUATOR_task);
ACTUATOR_pid = task_create("ACTUATOR0",ACTUATOR_body,&ACTUATOR_task,NULL);
if (ACTUATOR_pid == NIL) {
cprintf("Error: Cannot create RealTime Workshop [ACTUATOR0] Task\n");
sys_end();
}
 
task_activate(ACTUATOR_pid);
 
}
 
 
 
/demos/trunk/rtw/makefile
33,5 → 33,5
include $(BASE)/config/example.mk
 
rtw:
make -f $(SUBMAKE) OTHERLIBS=$(DEFINE_RTWLIB) OTHERINCL=$(RTW_CFG) APP=rtw INIT= OTHEROBJS="initfile.o rt_sim_shark.o $(RTW_OBJS)" SHARKOPT="__OLDCHAR__"
make -f $(SUBMAKE) OTHERLIBS=$(DEFINE_RTWLIB) OTHERINCL=$(RTW_CFG) APP=rtw INIT= OTHEROBJS="initfile.o sensors.o actuators.o rt_sim_shark.o $(RTW_OBJS)" SHARKOPT="__OLDCHAR__"