Subversion Repositories shark

/*
 * Project: S.Ha.R.K.
 *
 * Coordinators: Giorgio Buttazzo <giorgio@sssup.it>
 *
 * Authors     : Mauro Marinoni <mauro.marinoni@unipv.it>
 * (see authors.txt for full list of hartik's authors)
 *
 * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
 *
 * http://www.sssup.it
 * http://retis.sssup.it
 * http://shark.sssup.it
 */

/*
 * Copyright (C) 2000 Paolo Gai
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */

#include <kernel/kern.h>
#include <kernel/func.h>
#include <stdlib.h>
#include <string.h>

#include <drivers/shark_linuxc26.h>
#include <drivers/shark_input26.h>
#include <drivers/shark_joy26.h>

//void my_sysclose(KEY_EVT *e)
void my_sysclose(void)
{
        JOY26_close();
        INPUT26_close();

        kern_printf("S.Ha.R.K. closed.\n\n");
        sys_end();
}

TASK my_getjoy(void *arg) {

        int a0, a1, a2, a3, btn;
       
        while (1) {
                joy_getstatus(&a0, &a1, &a2, &a3, &btn);
                printk ("(%6d %6d) %2x\n", a0, a1, btn);
                task_endcycle();
                if (btn == 0xF)
                        my_sysclose();
        }
}

int main(int argc, char **argv)
{
        SOFT_TASK_MODEL mp;
        PID pid;

        soft_task_default_model(mp);
        soft_task_def_level(mp,2);
        soft_task_def_ctrl_jet(mp);
        soft_task_def_met(mp,700);
        soft_task_def_period(mp,10000);
        //soft_task_def_aperiodic(mp);
        soft_task_def_usemath(mp);
        pid = task_create("Joy_Print", my_getjoy, &mp, NULL);
        if (pid == NIL) {
                perror("Could not create task <Joy_Print>");
                sys_end();
        } else
                task_activate(pid);
        /*while ( (sys_gettime(NULL)/1000) < 20000);
        my_sysclose();*/
       
        //while(1);

        return 0;
}