| 464,10 → 464,45 |
|---|
| return NULL; |
| } |
| |
| TASK OUTPUT_w_body(void *arg) { |
| |
| real_T *output, *p; |
| |
| real_T wr = 0; |
| real_T wl = 0; |
| |
| output_cid[0] = cab_create("WR", sizeof(real_T), 2); |
| output_cid[1] = cab_create("WL", sizeof(real_T), 2); |
| |
| output = (real_T *)rtmGetY(S); |
| |
| while(1) { |
| |
| wr = output[3]; |
| wl = output[4]; |
| |
| /* Send wr */ |
| p = (real_T *)cab_reserve(output_cid[3]); |
| *p = wr; |
| cab_putmes(output_cid[3], p); |
| |
| /* Send wl */ |
| p = (real_T *)cab_reserve(output_cid[4]); |
| *p = wl; |
| cab_putmes(output_cid[4], p); |
| |
| task_endcycle(); |
| |
| } |
| |
| return NULL; |
| |
| } |
| |
| void Init_Rtw() { |
| |
| HARD_TASK_MODEL RTW_task,OUTPUT_task; |
| PID RTW_pid,OUTPUT_pid; |
| PID RTW_pid,OUTPUT_pid,OUTPUT_w_pid; |
| |
| int i; |
| |
| 516,9 → 551,19 |
|---|
| cprintf("Error: Cannot create RealTime Workshop [OUTPUT] Task\n"); |
| sys_end(); |
| } |
| |
| |
| hard_task_def_mit(OUTPUT_task,OUTPUT_period); |
| hard_task_def_wcet(OUTPUT_task,OUTPUT_wcet); |
| |
| OUTPUT_w_pid = task_create("OUTPUTW",OUTPUT_w_body,&OUTPUT_task,NULL); |
| if (OUTPUT_pid == NIL) { |
| cprintf("Error: Cannot create RealTime Workshop [OUTPUTW] Task\n"); |
| sys_end(); |
| } |
| |
| task_activate(RTW_pid); |
| task_activate(OUTPUT_pid); |
| task_activate(OUTPUT_pid); |
| task_activate(OUTPUT_w_pid); |
| |
| } |
| |