#ifdef HOST_VERSION
+#include <hostsim.h>
+
/* we must use 'flags' to avoid a warning */
-#define IRQ_UNLOCK(flags) flags=0
-#define IRQ_LOCK(flags) flags=0
-#define GLOBAL_IRQ_ARE_MASKED() (1)
+#define IRQ_UNLOCK(flags) do { flags=0; hostsim_lock(); } while(0)
+#define IRQ_LOCK(flags) do { flags=0; hostsim_unlock(); } while(0)
+#define GLOBAL_IRQ_ARE_MASKED() hostsim_islocked()
#else
#include <scheduler.h>
#endif
-pthread_mutex_t mut;
+static pthread_mutex_t mut = PTHREAD_MUTEX_INITIALIZER;
static volatile int cpt = 0;
#ifdef SA_SIGINFO
#endif
}
+static int lock_count = 0;
+
+void hostsim_lock(void)
+{
+ if (lock_count++)
+ return;
+ pthread_mutex_lock(&mut);
+}
+
+void hostsim_unlock(void)
+{
+ if (lock_count-- == 1)
+ pthread_mutex_unlock(&mut);
+}
+
+int hostsim_islocked(void)
+{
+ return lock_count;
+}
+
void host_wait_ms(int ms)
{
struct timeval tv, tv2, diff;
pthread_t parent_id, child_id;
int ret;
- pthread_mutex_init(&mut, NULL);
-
parent_id = pthread_self();
pthread_mutex_lock(&mut);
- ret = pthread_create(&child_id, NULL, parent, (void *)&parent_id);
+ ret = pthread_create(&child_id, NULL, parent, (void *)parent_id);
if (ret) {
printf("pthread_create() returned %d\n", ret);
pthread_mutex_unlock(&mut);
if (siginterrupt (SIGUSR1, 0) != 0)
return -1;
+ printf("hostsim_init()\n", ret);
pthread_mutex_unlock(&mut);
return 0;
/* replacement for wait_ms() */
void host_wait_ms(int ms);
+
+void hostsim_lock(void);
+void hostsim_unlock(void);
+int hostsim_islocked(void);
--- /dev/null
+/*
+ * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ *
+ * 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
+ *
+ * Revision : $Id: time.h,v 1.3.4.2 2007-05-23 17:18:11 zer0 Exp $
+ *
+ */
+
+/* Droids-corp, Eirbot, Microb Technology 2005 - Zer0
+ * Interface of the time module
+ */
+
+/**
+ * This module can be used to get a human readable time. It uses the
+ * scheduler module. Its goal is not to be very precise, but just
+ * simple to use. provides two timers: one in s and us, and one in
+ * us which doesn't overflow on seconds (better to substract two
+ * times)
+ */
+
+#ifndef _TIME_H_
+#define _TIME_H_
+
+#include <aversive.h>
+
+/* a 16 bit variable cannot cover one day */
+typedef int32_t seconds;
+typedef int32_t microseconds;
+
+
+/** the time structure */
+typedef struct
+{
+ microseconds us;
+ seconds s;
+} time_h;
+
+
+
+/**********************************************************/
+
+/** init time module : schedule the event with the givent priority */
+void time_init(uint8_t priority);
+
+/**********************************************************/
+
+/** get time in second since last init/reset */
+seconds time_get_s(void);
+
+/**********************************************************/
+
+/** get time in microsecond since last init/reset */
+microseconds time_get_us(void);
+
+/**********************************************************/
+
+/** get the complete time struct since last init/reset */
+time_h time_get_time(void);
+
+/**********************************************************/
+
+/** reset time counter */
+void time_reset(void);
+
+/**********************************************************/
+
+/** set time */
+void time_set(seconds s, microseconds us);
+
+/**********************************************************/
+
+/** This is an equivalent of 'wait_ms(x)', but uses time value, so it
+ * is independant of CPU load. Warning, you should not use this
+ * function in a irq locked context, or in a scheduled function with
+ * higher priority than time module */
+void time_wait_ms(uint16_t ms);
+
+/**********************************************************/
+
+/** get a microsecond timer that overflows naturally */
+microseconds time_get_us2(void);
+
+#endif
#include <stdlib.h>
#include <scheduler.h>
-#include <time.h>
+#include <clock_time.h>
#include <time_config.h>
/**********************************************************/
+++ /dev/null
-/*
- * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
- *
- * 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
- *
- * Revision : $Id: time.h,v 1.3.4.2 2007-05-23 17:18:11 zer0 Exp $
- *
- */
-
-/* Droids-corp, Eirbot, Microb Technology 2005 - Zer0
- * Interface of the time module
- */
-
-/**
- * This module can be used to get a human readable time. It uses the
- * scheduler module. Its goal is not to be very precise, but just
- * simple to use. provides two timers: one in s and us, and one in
- * us which doesn't overflow on seconds (better to substract two
- * times)
- */
-
-#ifndef _TIME_H_
-#define _TIME_H_
-
-#include <aversive.h>
-
-/* a 16 bit variable cannot cover one day */
-typedef int32_t seconds;
-typedef int32_t microseconds;
-
-
-/** the time structure */
-typedef struct
-{
- microseconds us;
- seconds s;
-} time_h;
-
-
-
-/**********************************************************/
-
-/** init time module : schedule the event with the givent priority */
-void time_init(uint8_t priority);
-
-/**********************************************************/
-
-/** get time in second since last init/reset */
-seconds time_get_s(void);
-
-/**********************************************************/
-
-/** get time in microsecond since last init/reset */
-microseconds time_get_us(void);
-
-/**********************************************************/
-
-/** get the complete time struct since last init/reset */
-time_h time_get_time(void);
-
-/**********************************************************/
-
-/** reset time counter */
-void time_reset(void);
-
-/**********************************************************/
-
-/** set time */
-void time_set(seconds s, microseconds us);
-
-/**********************************************************/
-
-/** This is an equivalent of 'wait_ms(x)', but uses time value, so it
- * is independant of CPU load. Warning, you should not use this
- * function in a irq locked context, or in a scheduled function with
- * higher priority than time module */
-void time_wait_ms(uint16_t ms);
-
-/**********************************************************/
-
-/** get a microsecond timer that overflows naturally */
-microseconds time_get_us2(void);
-
-#endif
# CONFIG_MODULE_SCHEDULER_USE_TIMERS is not set
# CONFIG_MODULE_SCHEDULER_TIMER0 is not set
CONFIG_MODULE_SCHEDULER_MANUAL=y
-# CONFIG_MODULE_TIME is not set
-# CONFIG_MODULE_TIME_CREATE_CONFIG is not set
+CONFIG_MODULE_TIME=y
+CONFIG_MODULE_TIME_CREATE_CONFIG=y
# CONFIG_MODULE_TIME_EXT is not set
# CONFIG_MODULE_TIME_EXT_CREATE_CONFIG is not set
#include <timer.h>
#include <scheduler.h>
-#include <time.h>
+#include <clock_time.h>
#include <pid.h>
#include <quadramp.h>
\r
#include <timer.h>\r
#include <scheduler.h>\r
-#include <time.h>\r
\r
#include <pid.h>\r
#include <quadramp.h>\r
#include <rdline.h>\r
\r
#include <uart.h>\r
+#include <clock_time.h>\r
//#include <timer.h>\r
#include <hostsim.h>\r
\r
\r
int main(void)\r
{\r
-#ifndef HOST_VERSION\r
- uart_init();\r
- fdevopen(uart0_dev_send, uart0_dev_recv);\r
- sei();\r
-#else\r
- int i;\r
-#endif\r
-\r
-#ifdef CONFIG_MODULE_TIMER\r
- timer_init();\r
-#endif\r
- scheduler_init();\r
printf("init\n");\r
\r
-#ifdef HOST_VERSION\r
+ scheduler_init();\r
+ time_init(TIME_PRIO);\r
+\r
hostsim_init();\r
robotsim_init();\r
-#endif\r
-\r
\r
microb_cs_init();\r
\r
mainboard.flags = DO_ENCODERS | DO_RS |\r
DO_POS | DO_POWER | DO_BD | DO_CS;\r
\r
+ time_wait_ms(1000);\r
+ printf("init\n");\r
trajectory_d_rel(&mainboard.traj, 1000);\r
- wait_ms(2000);\r
+ time_wait_ms(2000);\r
+ printf("init\n");\r
trajectory_goto_xy_abs(&mainboard.traj, 1500, 2000);\r
- wait_ms(2000);\r
+ time_wait_ms(2000);\r
return 0;\r
}\r
\r
#include <stdio.h>
#include <string.h>
#include <stdint.h>
+#include <unistd.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <fcntl.h>
char buf[BUFSIZ];
int len;
- len =snprintf(buf, sizeof(buf), "%d %d %d\n",
+ len = snprintf(buf, sizeof(buf), "%d %d %d\n",
position_get_x_s16(&mainboard.pos),
position_get_y_s16(&mainboard.pos),
position_get_a_deg_s16(&mainboard.pos));
+ hostsim_lock();
write(fd, buf, len);
+ hostsim_unlock();
}
void robotsim_pwm(void *arg, int32_t val)
git.droids-corp.org / aversive.git / commitdiff