mart/xenomai/ex11/ex11.c

   1 #include <stdio.h>
   2 #include <signal.h>
   3 #include <unistd.h>
   4 #include <sys/mman.h>
   5 #include <sys/io.h>
   6
   7 #include <native/task.h>
   8 #include <native/timer.h>
   9 #include <native/intr.h>
  10
  11 #include <rtdk.h>
  12
  13 #define LPT1IRQ 7
  14 #define TICKS 5
  15 #define BANNERWIDTH 10000
  16 #define MSGMAX 1000
  17 #define MAXX 20
  18
  19 RT_TASK intrtask, drawtask;
  20 RTIME ticks[TICKS+1];
  21 RTIME tocks[TICKS+1];
  22
  23 unsigned char data[BANNERWIDTH];
  24 char message[MSGMAX];
  25 char inputmsg[MSGMAX];
  26 unsigned int pointer = 0;
  27 unsigned int msglen;
  28
  29 void add_tick(RTIME *t, RTIME tnew)
  30 {
  31         unsigned int i = 0;
  32         t[TICKS] = 0;
  33         for(i=TICKS-1; i>0; i--){
  34                 t[i] = t[i-1];
  35                 t[TICKS] += t[i];
  36         }
  37         t[0] = tnew;
  38         t[TICKS] = (t[TICKS]+t[0])/TICKS;
  39 }
  40
  41 void taskd(void *arg)
  42 {
  43         RTIME time = *(RTIME *)arg;
  44         RTIME step = time/(2*MAXX+2);
  45         unsigned int i;
  46
  47         outb(0x00, 0x378);
  48         rt_task_sleep(step*2);
  49         for(i=0; i<MAXX; i++){
  50                 outb(data[i+pointer], 0x378);
  51                 rt_task_sleep(step);
  52                 outb(0x00, 0x378);
  53         }
  54         rt_task_sleep(step);
  55         outb(0x00, 0x378);
  56
  57         pointer = pointer > msglen ? 0 : pointer+1;
  58 }
  59
  60 void taski(void *arg)
  61 {
  62         //Register as interrupt handler
  63         RT_INTR intr;
  64         rt_intr_create(&intr, NULL, LPT1IRQ, 0);
  65
  66         //Initialize and declare the timer variables
  67         RTIME tick = rt_timer_read();
  68         RTIME tock;
  69         RTIME period;
  70         while(1){
  71                 tock = rt_timer_read();
  72                 add_tick(ticks, tock-tick);
  73
  74                 // Tocks waiting period
  75                 if(tocks[TICKS] < ticks[TICKS]){
  76                         // sleep until the arm is most left
  77                         rt_task_sleep(tocks[TICKS]/2);
  78                         rt_task_create(&drawtask, NULL, 0, 50, 0);
  79                         period = ticks[TICKS]+tocks[TICKS];
  80                         rt_task_start(&drawtask, &taskd, &period);
  81                 }
  82                 rt_intr_wait(&intr, TM_INFINITE);
  83
  84                 //Tick waiting period
  85                 tick = rt_timer_read();
  86                 add_tick(tocks, tick-tock);
  87
  88                 if(ticks[TICKS] < tocks[TICKS]){
  89                         // sleep until the arm is most left
  90                         rt_task_sleep(ticks[TICKS]/2);
  91                         rt_task_create(&drawtask, NULL, 0, 50, 0);
  92                         period = ticks[TICKS]+tocks[TICKS];
  93                         rt_task_start(&drawtask, &taskd, &period);
  94                 }
  95                 rt_intr_wait(&intr, TM_INFINITE);
  96         }
  97 }
  98
  99 void make_message(char *msg)
 100 {
 101         unsigned int i;
 102         for(i=0; i<BANNERWIDTH; i++){
 103                 data[i] = 0;
 104         }
 105         i = 20;
 106         unsigned char s = 0;
 107         while(i<BANNERWIDTH && s < strlen(msg)){
 108                 char c = msg[s];
 109                 // Yes, we hardcoded all letters, digits and some symbols...
 110                 switch(c){
 111                         case 'A':
 112                         case 'a':
 113                                 data[i++] = 0x1e; data[i++] = 0x5; data[i++] = 0x1e; break;
 114                         case 'B':
 115                         case 'b':
 116                                 data[i++] = 0x1f; data[i++] = 0x15; data[i++] = 0xe; break;
 117                         case 'C':
 118                         case 'c':
 119                                 data[i++] = 0xe; data[i++] = 0x11; break;
 120                         case 'D':
 121                         case 'd':
 122                                 data[i++] = 0x1f; data[i++] = 0x11; data[i++] = 0xe; break;
 123                         case 'E':
 124                         case 'e':
 125                                 data[i++] = 0x1f; data[i++] = 0x15; break;
 126                         case 'F':
 127                         case 'f':
 128                                 data[i++] = 0x1f; data[i++] = 0x05; break;
 129                         case 'G':
 130                         case 'g':
 131                                 data[i++] = 0xe; data[i++] = 0x11, data[i++] = 0x1d; break;
 132                         case 'H':
 133                         case 'h':
 134                                 data[i++] = 0x1f; data[i++] = 0x4, data[i++] = 0x1f; break;
 135                         case 'I':
 136                         case 'i':
 137                                 data[i++] = 0x1f; break;
 138                         case 'J':
 139                         case 'j':
 140                                 data[i++] = 0x10; data[i++] = 0x1f; break;
 141                         case 'K':
 142                         case 'k':
 143                                 data[i++] = 0x1f; data[i++] = 0x04; data[i++] = 0x1b; break;
 144                         case 'L':
 145                         case 'l':
 146                                 data[i++] = 0x1f; data[i++] = 0x10; break;
 147                         case 'M':
 148                         case 'm':
 149                                 data[i++] = 0x1f; data[i++] = 0x2; data[i++] = 0x7; data[i++] = 0x2; data[i++] = 0x1f; break;
 150                         case 'N':
 151                         case 'n':
 152                                 data[i++] = 0x1f; data[i++] = 0x2; data[i++] = 0x4; data[i++] = 0x1f; break;
 153                         case 'O':
 154                         case 'o':
 155                                 data[i++] = 0xe; data[i++] = 0x11; data[i++] = 0xe; break;
 156                         case 'P':
 157                         case 'p':
 158                                 data[i++] = 0x1f; data[i++] = 0x5; data[i++] = 0x2; break;
 159                         case 'Q':
 160                         case 'q':
 161                                 data[i++] = 0xe; data[i++] = 0x11; data[i++] = 0x19; data[i++] = 0x1e; break;
 162                         case 'R':
 163                         case 'r':
 164                                 data[i++] = 0x1f; data[i++] = 0x5; data[i++] = 0x1a; break;
 165                         case 'S':
 166                         case 's':
 167                                 data[i++] = 0x12; data[i++] = 0x15; data[i++] = 0xd; break;
 168                         case 'T':
 169                         case 't':
 170                                 data[i++] = 0x1; data[i++] = 0x1f; data[i++] = 0x1; break;
 171                         case 'U':
 172                         case 'u':
 173                                 data[i++] = 0x1f; data[i++] = 0x10; data[i++] = 0x1f; break;
 174                         case 'V':
 175                         case 'v':
 176                                 data[i++] = 0xf; data[i++] = 0x10; data[i++] = 0xf; break;
 177                         case 'W':
 178                         case 'w':
 179                                 data[i++] = 0xf; data[i++] = 0x10; data[i++] = 0xc; data[i++] = 0x10; data[i++] = 0xf; break;
 180                         case 'X':
 181                         case 'x':
 182                                 data[i++] = 0x11; data[i++] = 0xe; data[i++] = 0x11; break;
 183                         case 'Y':
 184                         case 'y':
 185                                 data[i++] = 0x17; data[i++] = 0x14; data[i++] = 0xf; break;
 186                         case 'Z':
 187                         case 'z':
 188                                 data[i++] = 0x19; data[i++] = 0x15; data[i++] = 0x13; break;
 189                         case '0':
 190                                 data[i++] = 0xe; data[i++] = 0x11; data[i++] = 0xe; break;
 191                         case '1':
 192                                 data[i++] = 0x12; data[i++] = 0x1f; data[i++] = 0x10; break;
 193                         case '2':
 194                                 data[i++] = 0x12; data[i++] = 0x19; data[i++] = 0x16; break;
 195                         case '3':
 196                                 data[i++] = 0x15; data[i++] = 0xa; break;
 197                         case '4':
 198                                 data[i++] = 0x7; data[i++] = 0x4; data[i++] = 0x1f; break;
 199                         case '5':
 200                                 data[i++] = 0x17; data[i++] = 0x15; data[i++] = 0x9; break;
 201                         case '6':
 202                                 data[i++] = 0xe; data[i++] = 0x15; data[i++] = 0x9; break;
 203                         case '7':
 204                                 data[i++] = 0x1; data[i++] = 0x1f; break;
 205                         case '8':
 206                                 data[i++] = 0x1f; data[i++] = 0x15; data[i++] = 0x1f; break;
 207                         case '9':
 208                                 data[i++] = 0x12; data[i++] = 0x15; data[i++] = 0x1e; break;
 209                         case '.':
 210                                 data[i++] = 0x10; break;
 211                         case ',':
 212                                 data[i++] = 0x10; data[i++] = 0x8; break;
 213                         case '\'':
 214                         case '"':
 215                                 data[i++] = 0x1; break;
 216                         case ':':
 217                                 data[i++] = 0xa; break;
 218                         case '(':
 219                                 data[i++] = 0xe; data[i++] = 0x11; break;
 220                         case ')':
 221                                 data[i++] = 0x11; data[i++] = 0xe; break;
 222                         case '-':
 223                                 data[i++] = 0x4; data[i++] = 0x4; break;
 224                         case ' ':
 225                                 i++;
 226                                 break;
 227                         case '!':
 228                                 data[i++] = 0x17; break;
 229                         default:
 230                                 break;
 231                 }
 232                 i++;
 233                 s++;
 234         }
 235         msglen = i;
 236         pointer = 0;
 237 }
 238
 239 int main(int argc, char* argv[])
 240 {
 241         rt_print_auto_init(1);
 242         mlockall(MCL_CURRENT | MCL_FUTURE);
 243
 244         unsigned int i;
 245         for(i=0; i<BANNERWIDTH; i++){
 246                 data[i] = 0;
 247         }
 248
 249         ioperm(0x37A, 1, 1);
 250         ioperm(0x378, 1, 1);
 251         outb(inb(0x37A) | 0x10, 0x37A);
 252
 253         make_message("abcdefghijklmnopqrstuvwxyz1234567890,.\"()");
 254
 255         rt_task_create(&intrtask, NULL, 0, 50, 0);
 256         rt_task_start(&intrtask, &taski, 0);
 257
 258         printf("CRTL+C to exit\n");
 259         printf("legal chars: abcdefghijklmnopqrstuvwxyz1234567890,.\"()\n");
 260         while(1){
 261                 printf("Type your message(max %d chars): ", MSGMAX);
 262                 scanf("%[^\n]", inputmsg);
 263                 getchar();
 264                 make_message(inputmsg);
 265                 sleep(0.1);
 266         }
 267 }