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/demos/trunk/mesademo/initfile.c
0,0 → 1,120
/*
* 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: initfile.c,v 1.1 2003-03-13 13:13:15 giacomo Exp $
 
File: $File$
Revision: $Revision: 1.1 $
Last update: $Date: 2003-03-13 13:13:15 $
------------
 
System initialization file
 
This file contains the 2 functions needed to initialize the system.
 
These functions register the following levels:
 
an EDF (Earliest Deadline First) level
a RR (Round Robin) level
a CBS (Costant Bandwidth Server) level
a Dummy level
 
It can accept these task models:
 
HARD_TASK_MODEL (wcet+mit) at level 0
SOFT_TASK_MODEL (met, period) at level 1
NRT_TASK_MODEL at level 2
 
This file is similar to the configuration of kernel/init/hartik3.c
 
TICK is set to 0 (one-shot timer is used)
*/
 
/*
* Copyright (C) 2000 Paolo Gai
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
 
#include "kernel/kern.h"
#include "modules/edf.h"
#include "modules/cbs.h"
#include "modules/rr.h"
#include "modules/dummy.h"
 
#include "modules/sem.h"
#include "modules/hartport.h"
#include "modules/cabs.h"
 
#include "drivers/keyb.h"
 
 
/*+ sysyem tick in us +*/
#define TICK 0
 
/*+ RR tick in us +*/
#define RRTICK 10000
 
TIME __kernel_register_levels__(void *arg)
{
struct multiboot_info *mb = (struct multiboot_info *)arg;
 
EDF_register_level(EDF_ENABLE_ALL);
CBS_register_level(CBS_ENABLE_ALL, 0);
RR_register_level(RRTICK, RR_MAIN_YES, mb);
dummy_register_level();
 
SEM_register_module();
 
CABS_register_module();
 
return TICK;
}
 
TASK __init__(void *arg)
{
struct multiboot_info *mb = (struct multiboot_info *)arg;
 
KEYB_PARMS kparms = BASE_KEYB;
 
HARTPORT_init();
 
keyb_def_ctrlC(kparms, NULL);
keyb_def_map(kparms,itaMap);
KEYB_init(&kparms);
 
__call_main__(mb);
 
return (void *)0;
}
 
/demos/trunk/mesademo/mesademo.c
0,0 → 1,409
/*
* Project: S.Ha.R.K.
*
* Coordinators:
* Giorgio Buttazzo <giorgio@sssup.it>
* Paolo Gai <pj@gandalf.sssup.it>
*
* Authors :
* Giacomo Guidi <giacomo@gandalf.sssup.it>
*
*
* ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
*
* http://www.sssup.it
* http://retis.sssup.it
* http://shark.sssup.it
*/
 
#include <drivers/vga.h>
#include <drivers/keyb.h>
 
#include <GL/osmesa.h>
#include <GL/glut.h>
 
#include <math.h>
#include <stdlib.h>
 
#include <kernel/log.h>
#include <kernel/kern.h>
 
#ifndef M_PI
#define M_PI 3.14159265
#endif
 
#define WIDTH 640
#define HEIGHT 480
#define BYTES_PP 2 //BytesPerPixel
#define INITSTR G640x480x64K //SVGAlib standard mode definitions
#define CARD NV3 //Video driver (Supported SAVAGE, NV3, R128 from SVGALib)
 
OSMesaContext ctx;
 
unsigned char *rgb_565_buf = NULL; //RGB 16 bpp Buffer
unsigned char *video_buf = NULL; //Video Buffer
 
unsigned long int VMEMLONG = WIDTH * HEIGHT * BYTES_PP / 4; // Used by copy_videomem_16to16
unsigned long int RGB565MEM = WIDTH * HEIGHT * BYTES_PP; // Total video mem
 
unsigned long int PERIOD_REFRESH = 50000; //fps = 20 Test
unsigned long int PERIOD_DISEGNA = 50000;
 
unsigned long int WCET_REFRESH, WCET_DISEGNA;
 
TASK refesh(void);
TASK disegna(void);
 
PID refresh_PID, disegna_PID;
 
static void
gear(GLfloat inner_radius, GLfloat outer_radius, GLfloat width,
GLint teeth, GLfloat tooth_depth)
{
GLint i;
GLfloat r0, r1, r2;
GLfloat angle, da;
GLfloat u, v, len;
 
r0 = inner_radius;
r1 = outer_radius - tooth_depth / 2.0;
r2 = outer_radius + tooth_depth / 2.0;
 
da = 2.0 * M_PI / teeth / 4.0;
 
glShadeModel(GL_FLAT);
 
glNormal3f(0.0, 0.0, 1.0);
 
glBegin(GL_QUAD_STRIP);
for (i = 0; i <= teeth; i++) {
angle = i * 2.0 * M_PI / teeth;
glVertex3f(r0 * cos(angle), r0 * sin(angle), width * 0.5);
glVertex3f(r1 * cos(angle), r1 * sin(angle), width * 0.5);
if (i < teeth) {
glVertex3f(r0 * cos(angle), r0 * sin(angle), width * 0.5);
glVertex3f(r1 * cos(angle + 3 * da), r1 * sin(angle + 3 * da), width * 0.5);
}
}
glEnd();
 
glBegin(GL_QUADS);
da = 2.0 * M_PI / teeth / 4.0;
for (i = 0; i < teeth; i++) {
angle = i * 2.0 * M_PI / teeth;
 
glVertex3f(r1 * cos(angle), r1 * sin(angle), width * 0.5);
glVertex3f(r2 * cos(angle + da), r2 * sin(angle + da), width * 0.5);
glVertex3f(r2 * cos(angle + 2 * da), r2 * sin(angle + 2 * da), width * 0.5);
glVertex3f(r1 * cos(angle + 3 * da), r1 * sin(angle + 3 * da), width * 0.5);
}
glEnd();
 
glNormal3f(0.0, 0.0, -1.0);
 
glBegin(GL_QUAD_STRIP);
for (i = 0; i <= teeth; i++) {
angle = i * 2.0 * M_PI / teeth;
glVertex3f(r1 * cos(angle), r1 * sin(angle), -width * 0.5);
glVertex3f(r0 * cos(angle), r0 * sin(angle), -width * 0.5);
if (i < teeth) {
glVertex3f(r1 * cos(angle + 3 * da), r1 * sin(angle + 3 * da), -width * 0.5);
glVertex3f(r0 * cos(angle), r0 * sin(angle), -width * 0.5);
}
}
glEnd();
 
glBegin(GL_QUADS);
da = 2.0 * M_PI / teeth / 4.0;
for (i = 0; i < teeth; i++) {
angle = i * 2.0 * M_PI / teeth;
 
glVertex3f(r1 * cos(angle + 3 * da), r1 * sin(angle + 3 * da), -width * 0.5);
glVertex3f(r2 * cos(angle + 2 * da), r2 * sin(angle + 2 * da), -width * 0.5);
glVertex3f(r2 * cos(angle + da), r2 * sin(angle + da), -width * 0.5);
glVertex3f(r1 * cos(angle), r1 * sin(angle), -width * 0.5);
}
glEnd();
 
glBegin(GL_QUAD_STRIP);
for (i = 0; i < teeth; i++) {
angle = i * 2.0 * M_PI / teeth;
 
glVertex3f(r1 * cos(angle), r1 * sin(angle), width * 0.5);
glVertex3f(r1 * cos(angle), r1 * sin(angle), -width * 0.5);
u = r2 * cos(angle + da) - r1 * cos(angle);
v = r2 * sin(angle + da) - r1 * sin(angle);
len = sqrt(u * u + v * v);
u /= len;
v /= len;
glNormal3f(v, -u, 0.0);
glVertex3f(r2 * cos(angle + da), r2 * sin(angle + da), width * 0.5);
glVertex3f(r2 * cos(angle + da), r2 * sin(angle + da), -width * 0.5);
glNormal3f(cos(angle), sin(angle), 0.0);
glVertex3f(r2 * cos(angle + 2 * da), r2 * sin(angle + 2 * da), width * 0.5);
glVertex3f(r2 * cos(angle + 2 * da), r2 * sin(angle + 2 * da), -width * 0.5);
u = r1 * cos(angle + 3 * da) - r2 * cos(angle + 2 * da);
v = r1 * sin(angle + 3 * da) - r2 * sin(angle + 2 * da);
glNormal3f(v, -u, 0.0);
glVertex3f(r1 * cos(angle + 3 * da), r1 * sin(angle + 3 * da), width * 0.5);
glVertex3f(r1 * cos(angle + 3 * da), r1 * sin(angle + 3 * da), -width * 0.5);
glNormal3f(cos(angle), sin(angle), 0.0);
}
 
glVertex3f(r1 * cos(0), r1 * sin(0), width * 0.5);
glVertex3f(r1 * cos(0), r1 * sin(0), -width * 0.5);
 
glEnd();
 
glShadeModel(GL_SMOOTH);
 
glBegin(GL_QUAD_STRIP);
for (i = 0; i <= teeth; i++) {
angle = i * 2.0 * M_PI / teeth;
glNormal3f(-cos(angle), -sin(angle), 0.0);
glVertex3f(r0 * cos(angle), r0 * sin(angle), -width * 0.5);
glVertex3f(r0 * cos(angle), r0 * sin(angle), width * 0.5);
}
glEnd();
 
}
 
static GLfloat view_rotx = 20.0, view_roty = 30.0, view_rotz = 0.0;
static GLint gear1, gear2, gear3;
static GLfloat angle = 0.0;
 
static void draw(void)
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
 
glPushMatrix();
glRotatef(view_rotx, 1.0, 0.0, 0.0);
glRotatef(view_roty, 0.0, 1.0, 0.0);
glRotatef(view_rotz, 0.0, 0.0, 1.0);
 
glPushMatrix();
glTranslatef(-3.0, -2.0, 0.0);
glRotatef(angle, 0.0, 0.0, 1.0);
glCallList(gear1);
glPopMatrix();
 
glPushMatrix();
glTranslatef(3.1, -2.0, 0.0);
glRotatef(-2.0 * angle - 9.0, 0.0, 0.0, 1.0);
glCallList(gear2);
glPopMatrix();
 
glPushMatrix();
glTranslatef(-3.1, 4.2, 0.0);
glRotatef(-2.0 * angle - 25.0, 0.0, 0.0, 1.0);
glCallList(gear3);
glPopMatrix();
 
glPopMatrix();
 
glFinish();
 
}
 
static void gl_init()
{
 
static GLfloat red[4] = {1.0, 0.0, 0.0, 1.0};
static GLfloat green[4] = {0.0, 0.8, 0.2, 1.0};
static GLfloat blue[4] = {0.2, 0.2, 1.0, 1.0};
static GLfloat pos[4] = {5.0, 5.0, 10.0, 1.0};
static GLfloat h = (GLfloat) HEIGHT / (GLfloat) WIDTH;
 
//Create the OSMesa Context
ctx = OSMesaCreateContext(OSMESA_RGB_565, NULL);
 
//Make Current Context
OSMesaMakeCurrent(ctx, rgb_565_buf, GL_UNSIGNED_SHORT_5_6_5, WIDTH, HEIGHT);
glLightfv(GL_LIGHT0, GL_POSITION, pos);
glEnable(GL_CULL_FACE);
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glEnable(GL_DEPTH_TEST);
/* make the gears */
gear1 = glGenLists(1);
glNewList(gear1, GL_COMPILE);
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, red);
gear(1.0, 4.0, 1.0, 20, 0.7);
glEndList();
 
gear2 = glGenLists(1);
glNewList(gear2, GL_COMPILE);
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, green);
gear(0.5, 2.0, 2.0, 10, 0.7);
glEndList();
 
gear3 = glGenLists(1);
glNewList(gear3, GL_COMPILE);
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, blue);
gear(1.3, 2.0, 0.5, 10, 0.7);
glEndList();
glEnable(GL_NORMALIZE);
 
glViewport(0, 0, (GLint) WIDTH, (GLint) HEIGHT);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glFrustum(-1.0, 1.0, -h, h, 5.0, 60.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glTranslatef(0.0, 0.0, -40.0);
 
}
 
static int screen(int mode)
{
 
vga_modeinfo *minf;
 
vga_setmode(mode,CARD);
minf = vga_getmodeinfo(mode);
if(! (minf->flags & CAPABLE_LINEAR)){
vga_setmode(TEXT,CARD);
printk(KERN_INFO "The mode %d is not capable of linear\n",mode);
return 1;
}
vga_setpage(0);
if(vga_setlinearaddressing() == -1) {
vga_setmode(TEXT,CARD);
printk(KERN_INFO "Could not set linear addressing for mode %d\n",mode);
return 1;
}
video_buf = vga_getgraphmem();
rgb_565_buf = malloc(RGB565MEM);
 
grx_setbuffer(rgb_565_buf, WIDTH, HEIGHT); //Init of RGB16 version of grx functions
//created to work with Mesa buffer
return 0;
}
 
void program_end(void *arg)
{
OSMesaDestroyContext(ctx);
free(rgb_565_buf);
 
vga_setmode(TEXT,CARD);
 
sys_end();
 
}
 
void program_key_end(KEY_EVT *k)
{
sys_end();
 
}
 
TASK refresh(void)
{
 
while(1) {
 
copy_videomem_16to16(rgb_565_buf, video_buf, VMEMLONG);
task_endcycle();
 
}
 
sys_end();
 
}
 
 
TASK disegna(void)
{
 
char text[100];
TIME disegna_TIME, refresh_TIME;
while(1) {
jet_gettable(refresh_PID, &refresh_TIME, 1);
jet_gettable(disegna_PID, &disegna_TIME, 1);
 
angle += 1.0;
 
draw();
sprintf(text,"Hard Task Refresh PER:%6d us EX:%6d us",(int)PERIOD_REFRESH,(int)refresh_TIME);
grx_text(text,10,5,rgb16(0,0,255),0);
sprintf(text,"Hard Task Draw PER:%6d us EX:%6d us",(int)PERIOD_DISEGNA,(int)disegna_TIME);
grx_text(text,10,15,rgb16(0,0,255),0);
 
task_endcycle();
 
}
 
sys_end();
 
}
 
int main (int argc, char *argv[])
{
HARD_TASK_MODEL ht_refresh, ht_disegna;
 
sys_atrunlevel(program_end,NULL, RUNLEVEL_BEFORE_EXIT);
 
clear();
WCET_REFRESH =((long int) PERIOD_REFRESH * (0.3));
WCET_DISEGNA =((long int) PERIOD_DISEGNA * (0.65));
 
hard_task_default_model(ht_refresh);
hard_task_def_wcet(ht_refresh,WCET_REFRESH);
hard_task_def_mit(ht_refresh,PERIOD_REFRESH);
hard_task_def_usemath(ht_refresh);
hard_task_def_group(ht_refresh,1);
hard_task_def_ctrl_jet(ht_refresh);
 
refresh_PID = task_create("refresh", refresh, &ht_refresh, NULL);
if (refresh_PID == -1) {
sys_end();
exit(4);
}
 
hard_task_default_model(ht_disegna);
hard_task_def_mit(ht_disegna,PERIOD_DISEGNA);
hard_task_def_wcet(ht_disegna,WCET_DISEGNA);
hard_task_def_group(ht_disegna,1);
hard_task_def_ctrl_jet(ht_disegna);
hard_task_def_usemath(ht_disegna);
 
disegna_PID = task_create("disegna", disegna, &ht_disegna, NULL);
if (disegna_PID == -1) {
sys_end();
exit(4);
}
 
{
KEY_EVT k;
k.flag = ALTL_BIT;
k.scan = KEY_C;
k.ascii = 'c';
keyb_hook(k,program_key_end);
}
if (screen(INITSTR)) {
printk(KERN_INFO "Graphical initialization failed !!\n");
sys_end();
}
 
memset(rgb_565_buf, 0, RGB565MEM);
 
gl_init();
 
group_activate(1);
 
return 0;
}
/demos/trunk/mesademo/makefile
0,0 → 1,19
#
#
#
 
ifndef BASE
BASE=../..
endif
include $(BASE)/config/config.mk
 
PROGS = mesademo
GRAPH_DRV = svga
 
include $(BASE)/config/example.mk
 
mesademo:
make -f $(SUBMAKE) GRAPH_DRV=svga APP=mesademo INIT= OTHEROBJS="initfile.o" OTHERINCL=
cd $(BASE)/demos/mesademo/
zip -9 mesademo.zip mesademo