Add PID to run on AIC.

diff --git a/Changes b/Changes
index 0edc0ef..a1474cd 100644 (file)
--- a/Changes
+++ b/Changes
@@ -1,3 +1,9 @@
+2005.01.06     Criada versao 1.4.1
+
+2004.12.05     Corrigido bug nas inicializacao das classes AIC_CAN e
+               AIC_HOST_CAN que violava o padrao ISO C++ e impedia estas
+               classes de serem compiladas com o g++ 3.4.3.
+
 2004.11.29     Criada versao 1.4.0
 
 2004.09.28     Alterados os nomes das classes utilizadas para sinalizar

diff --git a/Makefile b/Makefile
index d9f8ca6..0d112af 100644 (file)
--- a/Makefile
+++ b/Makefile
@@ -9,6 +9,7 @@ PACKAGES=       doc \
                JointTest \
                MotorReset \
                MotorTest \
+               PIDDaemon \
                StrobeTest \
                aicd \
                braketst \

diff --git a/PID/Makefile b/PID/Makefile
new file mode 100644 (file)
index 0000000..f801da0
--- /dev/null
+++ b/PID/Makefile
@@ -0,0 +1,44 @@
+CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar
+APIDBPATH=-d /opt/tini/bin/tini.db
+TINIRTAIPATH=${HOME}/src/tini/rtai
+LIBPATH=-PATH ${TINIRTAIPATH}/lib/rtai.jar
+JAVAFLAGS=-O -target 1.1 -source 1.3
+ASMINC=-I/opt/tini/native/lib
+ASMOPT=-f 1.15 -p 390 -l
+ASMMACRO=/opt/tini/native/bin/Linux/macro
+ASM=/opt/tini/native/bin/Linux/a390
+CC=sdcc
+CFLAGS=-mTININative -S --use-accelerator
+CINCLUDE=-I${TINIRTAIPATH}/include
+CMPFLAGS=${CFLAGS} ${CINCLUDE}
+
+all: PID.tini
+
+PID.class: PID.java
+       javac ${CLASSPATH} ${JAVAFLAGS} PID.java
+
+pid.mpp: pid.a51
+       ${ASMMACRO} ${ASMINC} -e- pid.a51
+       
+globals.mpp: globals.a51
+       ${ASMMACRO} ${ASMINC} globals.a51       
+
+pid.tlib: pid.mpp globals.mpp
+       cat pid.mpp globals.a51 > tmp.mpp
+       ${ASM} ${ASMOPT} tmp.mpp
+       mv tmp.tlib pid.tlib
+       mv tmp.lst pid.lst
+
+pid.a51: pid.c
+       ${CC} ${CMPFLAGS} pid.c
+
+PID.tini: PID.class pid.tlib
+       java ${CLASSPATH} TINIConvertor -n pid.tlib -f PID.class ${APIDBPATH} -o PID.tini
+
+
+clean:
+       rm -f *.bak *~ PID.class pid.tlib pid.mpp pid.lst pid.a51 globals.mpp tmp.mpp tmp.lst
+
+distclean: clean
+       rm -f PID.tini
+

diff --git a/PID/PID.java b/PID/PID.java
new file mode 100644 (file)
index 0000000..5771b2a
--- /dev/null
+++ b/PID/PID.java
@@ -0,0 +1,79 @@
+/******************************************************************************
+
+                       Actuator Interface Card
+                                PID
+                        User Interface Module     
+       Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
+
+    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., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+    You can also obtain a copy of the GNU General Public License
+    at <http://www.gnu.org/licenses>.
+
+*******************************************************************************/
+
+import com.dalsemi.system.*;
+
+public class PID
+{
+       public static native int startRealtime(int period);
+       public static native void stopRealtime();
+       public static native void setReference(float reference);
+       public static native float getOutput();
+
+       public static void main(String[] args)
+       {
+               System.out.println("PID");
+               System.out.println("Copyright (C) Walter Fetter Lages, 2005.\n");
+               
+               int tfms=0;
+               if(args.length==1)
+               {
+                       tfms=Integer.parseInt(args[0]);
+               }
+               else
+               {
+                       System.out.println("Usage:\tPID ms");
+                       System.exit(1);
+               }
+               
+               System.out.print("Loading native library...");
+               System.loadLibrary("pid.tlib");
+               System.out.println("done.");
+
+               int us=10000;
+               System.out.print("Starting real-time timer with "+us+" us period...");
+               int period=startRealtime(us);
+               System.out.println("done.");
+               System.out.println("Effective period: "+period+" us.");
+       
+               System.out.println("Running PID for "+tfms+" ms...");   
+               long t0=TINIOS.uptimeMillis();
+               long t=0;
+               while(t <= tfms)
+               {
+                       t=TINIOS.uptimeMillis()-t0;
+                       System.out.print("t="+t+" ms");
+                       float ref=((float)t)/2;
+                       setReference(ref);
+                       System.out.println("\treference="+ref+"\toutput="+getOutput());
+               }
+               System.out.println("...done.");
+               
+               System.out.print("Stoping real-time timer...");
+               stopRealtime();
+               System.out.println("done.");
+       }
+}

diff --git a/PID/globals.a51 b/PID/globals.a51
new file mode 100644 (file)
index 0000000..bf5b08d
--- /dev/null
+++ b/PID/globals.a51
@@ -0,0 +1,31 @@
+;******************************************************************************
+;
+;                      Actuator Interface Card
+;                                PID
+;                   Real Time Module Global Variables
+;      Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
+;
+;    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., 675 Mass Ave, Cambridge, MA 02139, USA.
+;
+;    You can also obtain a copy of the GNU General Public License
+;    at <http://www.gnu.org/licenses>.
+;
+;*******************************************************************************/
+
+
+output:                db      0,0,0,0
+th:            db      0,0
+reference:     db      0,0,0,0
+               end

diff --git a/PID/globals.mpp b/PID/globals.mpp
new file mode 100644 (file)
index 0000000..18f29e4
--- /dev/null
+++ b/PID/globals.mpp
@@ -0,0 +1,35 @@
+$BEGIN_MODULE(globals)
+; DEFAULTING TO A390 MODE
+;******************************************************************************
+;
+;                      Actuator Interface Card
+;                                PID
+;                   Real Time Module Global Variables
+;      Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
+;
+;    This program is free software; you can redistribute it and/or modify
+;    it under the terms of the GNU General Public License as published by
+;    the Free Software Foundation; either version 2 of the License, or
+;    (at your option) any later version.
+;
+;    This program is distributed in the hope that it will be useful,
+;    but WITHOUT ANY WARRANTY; without even the implied warranty of
+;    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+;    GNU General Public License for more details.
+;
+;    You should have received a copy of the GNU General Public License
+;    along with this program; if not, write to the Free Software
+;    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+;
+;    You can also obtain a copy of the GNU General Public License
+;    at <http://www.gnu.org/licenses>.
+;
+;*******************************************************************************/
+
+
+output:                db 0, 0, 0, 0
+th:            db 0, 0
+reference:     db 0, 0, 0, 0
+               
+$END_MODULE
+end

diff --git a/PID/pid.a51 b/PID/pid.a51
new file mode 100644 (file)
index 0000000..0b34f21
--- /dev/null
+++ b/PID/pid.a51
@@ -0,0 +1,365 @@
+;--------------------------------------------------------
+; File Created by SDCC : FreeWare ANSI-C Compiler
+; Version 2.4.7 #924 (Jan 11 2005)
+; This file generated Thu Jun  2 17:33:28 2005
+;--------------------------------------------------------
+       ; .file "pid.c"
+       
+$include(tini.inc)
+$include(ds80c390.inc)
+$include(tinimacro.inc)
+$include(apiequ.inc)
+_bpx EQU 01Eh          ; _bpx (frame pointer) mapped to R8_B3:R7_B3
+_ap  EQU 01Dh          ; _ap mapped to R6_B3
+Lib_Native_Init:
+       clr     a
+       ret
+LibraryID:
+       db "DS"
+       db 0,0,0,0,0,1
+;--------------------------------------------------------
+; Public variables in this module
+;--------------------------------------------------------
+       ; .globl Native_setReference
+       ; .globl Native_getOutput
+       ; .globl Native_stopRealtime
+       ; .globl Native_startRealtime
+;--------------------------------------------------------
+;  ram data
+;--------------------------------------------------------
+       ; SECTION NOT SUPPORTED
+;--------------------------------------------------------
+; overlayable items in  ram 
+;--------------------------------------------------------
+       ; SECTION NOT SUPPORTED
+;--------------------------------------------------------
+; external initialized ram data
+;--------------------------------------------------------
+;--------------------------------------------------------
+; global & static initialisations
+;--------------------------------------------------------
+       ; SECTION NOT SUPPORTED
+       ; SECTION NOT SUPPORTED
+       ; SECTION NOT SUPPORTED
+;--------------------------------------------------------
+; Home
+;--------------------------------------------------------
+       ; SECTION NOT SUPPORTED
+       ; SECTION NOT SUPPORTED
+;--------------------------------------------------------
+; code
+;--------------------------------------------------------
+       ; SECTION NOT SUPPORTED
+;------------------------------------------------------------
+;Allocation info for local variables in function 'Native_startRealtime'
+;------------------------------------------------------------
+;period                    Allocated to stack - offset 1
+;------------------------------------------------------------
+;      pid.c:31: long Native_startRealtime(void) _JavaNative
+;      genFunction 
+;      -----------------------------------------
+;       function Native_startRealtime
+;      -----------------------------------------
+Native_startRealtime:
+       ar2  equ 002h
+       ar3  equ 003h
+       ar4  equ 004h
+       ar5  equ 005h
+       ar6  equ 006h
+       ar7  equ 007h
+       ar0  equ 000h
+       ar1  equ 001h
+       push    _bpx
+       push    _bpx+1
+       mov     _bpx,sp
+       mov     _bpx+1,esp
+       anl     _bpx+1,#3
+       push    acc
+       push    acc
+       push    acc
+       push    acc
+;      pid.c:33: volatile long period = NatLib_LoadInt(0);
+       mov     a,#000h
+       lcall   NatLib_LoadPrimitive
+       push    ar3
+       push    ar2
+       push    ar1
+       push    ar0
+       pop     ar2
+       pop     ar3
+       pop     ar4
+       pop     ar5
+;      genAssign 
+;      genAssign: resultIsFar = TRUE
+       mov     dpx,#040h
+       mov     dph,_bpx+1
+       mov     dpl,_bpx
+       inc     dptr
+       mov     a,r2
+       movx    @dptr,a
+       inc     dptr
+       mov     a,r3
+       movx    @dptr,a
+       inc     dptr
+       mov     a,r4
+       movx    @dptr,a
+       inc     dptr
+       mov     a,r5
+       movx    @dptr,a
+;      pid.c:59: _endasm;
+;      genInline 
+               mov T2CON,#00h ; clear TR2 = disable timer 2
+               anl IE,#0dfh ; clear ET2 = disable timer 2 interrupt
+               mov dps,#1
+               mov dptr,#controller
+               mov a,#2bh ; timer 2
+               call System_InstallInterrupt
+               mov dps,#00h
+               anl CKCON,#0dfh ; clear T2M = timer 2 uses clock/12
+               mov T2MOD,#00h ; clear DCEN = counts up only
+; TINI oscillator is 18432000 => counter=0c400h=100Hz
+               mov RCAP2L,#00h ; count reload LSB
+               mov TL2,#00h ; count LSB
+               mov RCAP2H,#0c4h ; count reload MSB
+               mov TH2,#0c4h ; count MSB
+               orl IP,#20h ; set PT2 = set timer 2 interrupt to high priority
+               orl IE,#20h ; set ET2 = enable timer 2 interrupt
+               mov T2CON,#04h ; set TR2 = enable timer 2
+;      pid.c:61: return period;
+;      genRet 
+       mov     dpx1,#040h
+       mov     dph1,_bpx+1
+       mov     dpl1,_bpx
+; Peephole 220a removed bogus DPS set
+; Peephole 220d removed bogus DPS set
+       mov     dps,#1
+       inc     dptr
+       xch     a, _ap
+       movx    a,@dptr
+       mov     dps,#0
+       xch     a, _ap
+       mov     r0,_ap
+       mov     dps,#1
+       xch     a, _ap
+       inc     dptr
+       movx    a,@dptr
+       mov     dps,#0
+       xch     a, _ap
+       mov     r1,_ap
+       mov     dps,#1
+       xch     a, _ap
+       inc     dptr
+       movx    a,@dptr
+       mov     dps,#0
+       xch     a, _ap
+       mov     r2,_ap
+       mov     dps,#1
+       xch     a, _ap
+       inc     dptr
+       movx    a,@dptr
+       mov     dps,#0
+       xch     a, _ap
+       mov     r3,_ap
+;      genLabel 
+L00101:
+;      genEndFunction 
+       mov     sp,_bpx
+       mov     esp,_bpx+1
+       pop     _bpx+1
+       pop     _bpx
+       ret
+;------------------------------------------------------------
+;Allocation info for local variables in function 'Native_stopRealtime'
+;------------------------------------------------------------
+;------------------------------------------------------------
+;      pid.c:65: void Native_stopRealtime(void) _JavaNative
+;      genFunction 
+;      -----------------------------------------
+;       function Native_stopRealtime
+;      -----------------------------------------
+Native_stopRealtime:
+;      pid.c:71: _endasm;
+;      genInline 
+               mov T2CON,#00h ; clear TR2 = disable timer 2
+               anl IE,#0dfh ; clear ET2 = disable timer 2 interrupt
+               anl IP,#0dfh ; clear PT2 = set timer 2 interrupt to normal priority
+;      genLabel 
+L00103:
+;      genEndFunction 
+       ret
+;------------------------------------------------------------
+;Allocation info for local variables in function 'int2ack'
+;------------------------------------------------------------
+;------------------------------------------------------------
+;      pid.c:74: static void int2ack(void)
+;      genFunction 
+;      -----------------------------------------
+;       function int2ack
+;      -----------------------------------------
+int2ack:
+;      pid.c:78: _endasm;
+;      genInline 
+               anl T2CON,#7fh ; clear TF2 = clears timer 2 overflow
+;      genLabel 
+L00105:
+;      genEndFunction 
+       ret
+;------------------------------------------------------------
+;Allocation info for local variables in function 'controller'
+;------------------------------------------------------------
+;------------------------------------------------------------
+;      pid.c:81: static void controller(void) interrupt
+;      genFunction 
+;      -----------------------------------------
+;       function controller
+;      -----------------------------------------
+controller:
+       push    acc
+       push    b
+       push    dpl
+       push    dph
+       push    dpx
+       push    dps
+       mov     dps,#0
+       push    dpl1
+       push    dph1
+       push    dpx1
+       push    _ap
+       push    (0+2)
+       push    (0+3)
+       push    (0+4)
+       push    (0+5)
+       push    (0+6)
+       push    (0+7)
+       push    (0+0)
+       push    (0+1)
+       push    psw
+       mov     psw,#000h
+;      pid.c:83: int2ack();
+;      genCall 
+       lcall   int2ack
+;      pid.c:85: output=reference;
+;      genAssign 
+       mov     dptr,#reference
+;      genAssign: resultIsFar = TRUE
+;      genFarFarAssign (390 auto-toggle fun)
+       mov     dps,#021h
+       mov     dptr,#output
+       movx    a,@dptr
+       movx    @dptr,a
+       inc     dptr
+       inc     dptr
+       movx    a,@dptr
+       movx    @dptr,a
+       inc     dptr
+       inc     dptr
+       movx    a,@dptr
+       movx    @dptr,a
+       inc     dptr
+       inc     dptr
+       movx    a,@dptr
+       movx    @dptr,a
+       mov     dps,#0
+;      genLabel 
+L00107:
+;      genEndFunction 
+       pop     psw
+       pop     (0+1)
+       pop     (0+0)
+       pop     (0+7)
+       pop     (0+6)
+       pop     (0+5)
+       pop     (0+4)
+       pop     (0+3)
+       pop     (0+2)
+       pop     _ap
+       pop     dpx1
+       pop     dph1
+       pop     dpl1
+       pop     dps
+       pop     dpx
+       pop     dph
+       pop     dpl
+       pop     b
+       pop     acc
+       reti
+;------------------------------------------------------------
+;Allocation info for local variables in function 'Native_getOutput'
+;------------------------------------------------------------
+;------------------------------------------------------------
+;      pid.c:89: float Native_getOutput(void) _JavaNative
+;      genFunction 
+;      -----------------------------------------
+;       function Native_getOutput
+;      -----------------------------------------
+Native_getOutput:
+;      pid.c:91: return output;
+;      genRet 
+; Peephole 220a removed bogus DPS set
+       mov     dps, #1
+       mov     dptr, #output
+       xch     a, _ap
+       movx    a,@dptr
+       mov     dps,#0
+       xch     a, _ap
+       mov     r0,_ap
+       mov     dps,#1
+       xch     a, _ap
+       inc     dptr
+       movx    a,@dptr
+       mov     dps,#0
+       xch     a, _ap
+       mov     r1,_ap
+       mov     dps,#1
+       xch     a, _ap
+       inc     dptr
+       movx    a,@dptr
+       mov     dps,#0
+       xch     a, _ap
+       mov     r2,_ap
+       mov     dps,#1
+       xch     a, _ap
+       inc     dptr
+       movx    a,@dptr
+       mov     dps,#0
+       xch     a, _ap
+       mov     r3,_ap
+;      genLabel 
+L00109:
+;      genEndFunction 
+       ret
+;------------------------------------------------------------
+;Allocation info for local variables in function 'Native_setReference'
+;------------------------------------------------------------
+;------------------------------------------------------------
+;      pid.c:95: void Native_setReference(void) _JavaNative
+;      genFunction 
+;      -----------------------------------------
+;       function Native_setReference
+;      -----------------------------------------
+Native_setReference:
+;      pid.c:118: _endasm;
+;      genInline 
+               clr a
+        lcall Natlib_LoadPrimitive ; get parameter in R3:
+2:
+1:
+       0
+               mov dptr,#reference
+               mov a,r0
+               movx @dptr,a
+               inc dptr
+               mov a,r1
+               movx @dptr,a
+               inc dptr
+               mov a,r2
+               movx @dptr,a
+               inc dptr
+               mov a,r3
+               movx @dptr,a
+;      genLabel 
+L00111:
+;      genEndFunction 
+       ret
+       ; SECTION NOT SUPPORTED
+       end

diff --git a/PID/pid.c b/PID/pid.c
new file mode 100644 (file)
index 0000000..c27d19c
--- /dev/null
+++ b/PID/pid.c
@@ -0,0 +1,119 @@
+/******************************************************************************
+
+                       Actuator Interface Card
+                                PID
+                          Real Time Module
+       Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
+
+    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., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+    You can also obtain a copy of the GNU General Public License
+    at <http://www.gnu.org/licenses>.
+
+*******************************************************************************/
+
+extern volatile float output;
+extern volatile float reference;
+
+/* public static native int startRealtime(int period) */
+long Native_startRealtime(void) _JavaNative
+{
+       volatile long period = NatLib_LoadInt(0);
+
+       _asm
+       
+       mov     T2CON,#00h      ; clear TR2 = disable timer 2
+       anl     IE,#0dfh        ; clear ET2 = disable timer 2 interrupt
+
+       mov     dps,#1
+       mov     dptr,#controller
+       mov     a,#2bh          ; timer 2
+       call    System_InstallInterrupt
+       mov     dps,#00h
+       
+       anl     CKCON,#0dfh     ; clear T2M = timer 2 uses clock/12
+       mov     T2MOD,#00h      ; clear DCEN = counts up only
+       
+; TINI oscillator is 18432000  => counter=0c400h=100Hz
+       mov     RCAP2L,#00h     ; count reload LSB
+       mov     TL2,#00h        ; count LSB
+       mov     RCAP2H,#0c4h    ; count reload MSB
+       mov     TH2,#0c4h       ; count MSB
+
+       orl     IP,#20h         ; set PT2 = set timer 2 interrupt to high priority
+       orl     IE,#20h         ; set ET2 = enable timer 2 interrupt
+
+       mov     T2CON,#04h      ; set TR2 = enable timer 2
+       _endasm;
+
+       return period;
+}
+
+/* public static native void stopRealtime() */
+void Native_stopRealtime(void) _JavaNative
+{
+       _asm
+       mov     T2CON,#00h      ; clear TR2 = disable timer 2
+       anl     IE,#0dfh        ; clear ET2 = disable timer 2 interrupt
+       anl     IP,#0dfh        ; clear PT2 = set timer 2 interrupt to normal priority
+       _endasm;
+}
+
+static void int2ack(void)
+{
+       _asm
+       anl T2CON,#7fh  ; clear TF2 = clears timer 2 overflow
+       _endasm;
+}
+
+static void controller(void) interrupt
+{
+       int2ack();
+
+       output=reference;
+}
+
+/* public static native float getOutput() */
+float Native_getOutput(void) _JavaNative
+{
+       return output;
+}
+
+/* public static native void setReference(float reference) */
+void Native_setReference(void) _JavaNative
+{
+       
+/*
+       volatile long ref =NatLib_LoadInt(0);
+       reference=*((float *) &ref);
+*/
+
+       _asm
+       clr     a
+       lcall   Natlib_LoadPrimitive    ; get parameter in R3:R2:R1:R0
+       mov     dptr,#reference
+       mov     a,r0
+       movx    @dptr,a
+       inc     dptr
+       mov     a,r1
+       movx    @dptr,a
+       inc     dptr
+       mov     a,r2
+       movx    @dptr,a
+       inc     dptr
+       mov     a,r3
+       movx    @dptr,a
+       _endasm;
+}

diff --git a/PID/pid.lst b/PID/pid.lst
new file mode 100644 (file)
index 0000000..2017dca
--- /dev/null
+++ b/PID/pid.lst
@@ -0,0 +1,512 @@
+                     
+                     ; DEFAULTING TO A390 MODE
+                     ;--------------------------------------------------------
+                     ; File Created by SDCC : FreeWare ANSI-C Compiler
+                     ; Version 2.4.7 #924 (Jan 11 2005)
+                     ; This file generated Thu Jun  2 17:33:28 2005
+                     ;--------------------------------------------------------
+                              ; .file "pid.c"
+                              
+                     $include(tini.inc)
+                     $include(ds80c390.inc)
+                     $include(tinimacro.inc)
+                     $include(apiequ.inc)
+                                      ; _bpx (frame pointer) mapped to R8_B3:R7_
+                                      ; _ap mapped to R6_B3
+                     Lib_Native_Init:
+00000F: E4                    clr     a
+000010: 22                    ret
+                     LibraryID:
+000011: 44 53                 db "DS"
+000013: 00 00 00 00 
+        00 01                 db 0, 0, 0, 0, 0, 1
+                     ;--------------------------------------------------------
+                     ; Public variables in this module
+                     ;--------------------------------------------------------
+                              ; .globl Native_setReference
+                              ; .globl Native_getOutput
+                              ; .globl Native_stopRealtime
+                              ; .globl Native_startRealtime
+                     ;--------------------------------------------------------
+                     ;  ram data
+                     ;--------------------------------------------------------
+                              ; SECTION NOT SUPPORTED
+                     ;--------------------------------------------------------
+                     ; overlayable items in  ram 
+                     ;--------------------------------------------------------
+                              ; SECTION NOT SUPPORTED
+                     ;--------------------------------------------------------
+                     ; external initialized ram data
+                     ;--------------------------------------------------------
+                     ;--------------------------------------------------------
+                     ; global & static initialisations
+                     ;--------------------------------------------------------
+                              ; SECTION NOT SUPPORTED
+                              ; SECTION NOT SUPPORTED
+                              ; SECTION NOT SUPPORTED
+                     ;--------------------------------------------------------
+                     ; Home
+                     ;--------------------------------------------------------
+                              ; SECTION NOT SUPPORTED
+                              ; SECTION NOT SUPPORTED
+                     ;--------------------------------------------------------
+                     ; code
+                     ;--------------------------------------------------------
+                              ; SECTION NOT SUPPORTED
+                     ;----------------------------------------------------------
+                     ;Allocation info for local variables in function 'Native_st
+                     ;----------------------------------------------------------
+                     ;period                    Allocated to stack - offset 1
+                     ;----------------------------------------------------------
+                     ;        pid.c:31: long Native_startRealtime(void) _JavaNat
+                     ;        genFunction 
+                     ;        -----------------------------------------
+                     ;         function Native_startRealtime
+                     ;        -----------------------------------------
+                     Native_startRealtime:
+                              
+                              
+                              
+                              
+                              
+                              
+                              
+                              
+000019: C0 1E                 push    01Eh
+00001B: C0 1F                 push    01Fh
+00001D: 85 81 1E              mov     01Eh,sp
+000020: 85 9B 1F              mov     01Fh,09Bh
+000023: 53 1F 03              anl     01Fh,#03h
+000026: C0 E0                 push    0E0h
+000028: C0 E0                 push    0E0h
+00002A: C0 E0                 push    0E0h
+00002C: C0 E0                 push    0E0h
+                     ;        pid.c:33: volatile long period = NatLib_LoadInt(0)
+00002E: 74 00                 mov     a,#00h
+000030: 12 02 9A 28           lcall   029A28h
+000034: C0 03                 push    03h
+000036: C0 02                 push    02h
+000038: C0 01                 push    01h
+00003A: C0 00                 push    00h
+00003C: D0 02                 pop     02h
+00003E: D0 03                 pop     03h
+000040: D0 04                 pop     04h
+000042: D0 05                 pop     05h
+                     ;        genAssign 
+                     ;        genAssign: resultIsFar = TRUE
+000044: 75 93 40              mov     093h,#040h
+000047: 85 1F 83              mov     dph,01Fh
+00004A: 85 1E 82              mov     dpl,01Eh
+00004D: A3                    inc     dptr
+00004E: EA                    mov     a,r2
+00004F: F0                    movx    @dptr,a
+000050: A3                    inc     dptr
+000051: EB                    mov     a,r3
+000052: F0                    movx    @dptr,a
+000053: A3                    inc     dptr
+000054: EC                    mov     a,r4
+000055: F0                    movx    @dptr,a
+000056: A3                    inc     dptr
+000057: ED                    mov     a,r5
+000058: F0                    movx    @dptr,a
+                     ;        pid.c:59: _endasm;
+                     ;        genInline 
+000059: 75 C8 00                      mov 0C8h,#00h ; clear TR2 = disable timer 
+00005C: 53 A8 DF                      anl 0A8h,#0DFh ; clear ET2 = disable timer
+00005F: 75 86 01                      mov 086h,#01h
+000062: 90 00 00 E4                   mov dptr,#controller
+000066: 74 2B                         mov a,#02Bh ; timer 2
+000068: 12 00 E0 47                   call 0E047h
+00006C: 75 86 00                      mov 086h,#00h
+00006F: 53 8E DF                      anl 08Eh,#0DFh ; clear T2M = timer 2 uses 
+000072: 75 C9 00                      mov 0C9h,#00h ; clear DCEN = counts up onl
+                     ; TINI oscillator is 18432000 => counter=0c400h=100Hz
+000075: 75 CA 00                      mov 0CAh,#00h ; count reload LSB
+000078: 75 CC 00                      mov 0CCh,#00h ; count LSB
+00007B: 75 CB C4                      mov 0CBh,#0C4h ; count reload MSB
+00007E: 75 CD C4                      mov 0CDh,#0C4h ; count MSB
+000081: 43 B8 20                      orl 0B8h,#020h ; set PT2 = set timer 2 int
+000084: 43 A8 20                      orl 0A8h,#020h ; set ET2 = enable timer 2 
+000087: 75 C8 04                      mov 0C8h,#04h ; set TR2 = enable timer 2
+                     ;        pid.c:61: return period;
+                     ;        genRet 
+00008A: 75 95 40              mov     095h,#040h
+00008D: 85 1F 85              mov     085h,01Fh
+000090: 85 1E 84              mov     084h,01Eh
+                     ; Peephole 220a removed bogus DPS set
+                     ; Peephole 220d removed bogus DPS set
+000093: 75 86 01              mov     086h,#01h
+000096: A3                    inc     dptr
+000097: C5 1D                 xch     a,01Dh
+000099: E0                    movx    a,@dptr
+00009A: 75 86 00              mov     086h,#00h
+00009D: C5 1D                 xch     a,01Dh
+00009F: A8 1D                 mov     r0,01Dh
+0000A1: 75 86 01              mov     086h,#01h
+0000A4: C5 1D                 xch     a,01Dh
+0000A6: A3                    inc     dptr
+0000A7: E0                    movx    a,@dptr
+0000A8: 75 86 00              mov     086h,#00h
+0000AB: C5 1D                 xch     a,01Dh
+0000AD: A9 1D                 mov     r1,01Dh
+0000AF: 75 86 01              mov     086h,#01h
+0000B2: C5 1D                 xch     a,01Dh
+0000B4: A3                    inc     dptr
+0000B5: E0                    movx    a,@dptr
+0000B6: 75 86 00              mov     086h,#00h
+0000B9: C5 1D                 xch     a,01Dh
+0000BB: AA 1D                 mov     r2,01Dh
+0000BD: 75 86 01              mov     086h,#01h
+0000C0: C5 1D                 xch     a,01Dh
+0000C2: A3                    inc     dptr
+0000C3: E0                    movx    a,@dptr
+0000C4: 75 86 00              mov     086h,#00h
+0000C7: C5 1D                 xch     a,01Dh
+0000C9: AB 1D                 mov     r3,01Dh
+                     ;        genLabel 
+                     L00101:
+                     ;        genEndFunction 
+0000CB: 85 1E 81              mov     sp,01Eh
+0000CE: 85 1F 9B              mov     09Bh,01Fh
+0000D1: D0 1F                 pop     01Fh
+0000D3: D0 1E                 pop     01Eh
+0000D5: 22                    ret
+                     ;----------------------------------------------------------
+                     ;Allocation info for local variables in function 'Native_st
+                     ;----------------------------------------------------------
+                     ;----------------------------------------------------------
+                     ;        pid.c:65: void Native_stopRealtime(void) _JavaNati
+                     ;        genFunction 
+                     ;        -----------------------------------------
+                     ;         function Native_stopRealtime
+                     ;        -----------------------------------------
+                     Native_stopRealtime:
+                     ;        pid.c:71: _endasm;
+                     ;        genInline 
+0000D6: 75 C8 00                      mov 0C8h,#00h ; clear TR2 = disable timer 
+0000D9: 53 A8 DF                      anl 0A8h,#0DFh ; clear ET2 = disable timer
+0000DC: 53 B8 DF                      anl 0B8h,#0DFh ; clear PT2 = set timer 2 i
+                     ;        genLabel 
+                     L00103:
+                     ;        genEndFunction 
+0000DF: 22                    ret
+                     ;----------------------------------------------------------
+                     ;Allocation info for local variables in function 'int2ack'
+                     ;----------------------------------------------------------
+                     ;----------------------------------------------------------
+                     ;        pid.c:74: static void int2ack(void)
+                     ;        genFunction 
+                     ;        -----------------------------------------
+                     ;         function int2ack
+                     ;        -----------------------------------------
+                     int2ack:
+                     ;        pid.c:78: _endasm;
+                     ;        genInline 
+0000E0: 53 C8 7F                      anl 0C8h,#07Fh ; clear TF2 = clears timer 
+                     ;        genLabel 
+                     L00105:
+                     ;        genEndFunction 
+0000E3: 22                    ret
+                     ;----------------------------------------------------------
+                     ;Allocation info for local variables in function 'controlle
+                     ;----------------------------------------------------------
+                     ;----------------------------------------------------------
+                     ;        pid.c:81: static void controller(void) interrupt
+                     ;        genFunction 
+                     ;        -----------------------------------------
+                     ;         function controller
+                     ;        -----------------------------------------
+                     controller:
+0000E4: C0 E0                 push    0E0h
+0000E6: C0 F0                 push    b
+0000E8: C0 82                 push    dpl
+0000EA: C0 83                 push    dph
+0000EC: C0 93                 push    093h
+0000EE: C0 86                 push    086h
+0000F0: 75 86 00              mov     086h,#00h
+0000F3: C0 84                 push    084h
+0000F5: C0 85                 push    085h
+0000F7: C0 95                 push    095h
+0000F9: C0 1D                 push    01Dh
+0000FB: C0 02                 push    02h
+0000FD: C0 03                 push    03h
+0000FF: C0 04                 push    04h
+000101: C0 05                 push    05h
+000103: C0 06                 push    06h
+000105: C0 07                 push    07h
+000107: C0 00                 push    00h
+000109: C0 01                 push    01h
+00010B: C0 D0                 push    0D0h
+00010D: 75 D0 00              mov     0D0h,#00h
+                     ;        pid.c:83: int2ack();
+                     ;        genCall 
+000110: 12 00 00 E0           lcall   int2ack
+                     ;        pid.c:85: output=reference;
+                     ;        genAssign 
+000114: 90 00 01 AE           mov     dptr,#reference
+                     ;        genAssign: resultIsFar = TRUE
+                     ;        genFarFarAssign (390 auto-toggle fun)
+000118: 75 86 21              mov     086h,#021h
+00011B: 90 00 01 A8           mov     dptr,#output
+00011F: E0                    movx    a,@dptr
+000120: F0                    movx    @dptr,a
+000121: A3                    inc     dptr
+000122: A3                    inc     dptr
+000123: E0                    movx    a,@dptr
+000124: F0                    movx    @dptr,a
+000125: A3                    inc     dptr
+000126: A3                    inc     dptr
+000127: E0                    movx    a,@dptr
+000128: F0                    movx    @dptr,a
+000129: A3                    inc     dptr
+00012A: A3                    inc     dptr
+00012B: E0                    movx    a,@dptr
+00012C: F0                    movx    @dptr,a
+00012D: 75 86 00              mov     086h,#00h
+                     ;        genLabel 
+                     L00107:
+                     ;        genEndFunction 
+000130: D0 D0                 pop     0D0h
+000132: D0 01                 pop     01h
+000134: D0 00                 pop     00h
+000136: D0 07                 pop     07h
+000138: D0 06                 pop     06h
+00013A: D0 05                 pop     05h
+00013C: D0 04                 pop     04h
+00013E: D0 03                 pop     03h
+000140: D0 02                 pop     02h
+000142: D0 1D                 pop     01Dh
+000144: D0 95                 pop     095h
+000146: D0 85                 pop     085h
+000148: D0 84                 pop     084h
+00014A: D0 86                 pop     086h
+00014C: D0 93                 pop     093h
+00014E: D0 83                 pop     dph
+000150: D0 82                 pop     dpl
+000152: D0 F0                 pop     b
+000154: D0 E0                 pop     0E0h
+000156: 32                    reti
+                     ;----------------------------------------------------------
+                     ;Allocation info for local variables in function 'Native_ge
+                     ;----------------------------------------------------------
+                     ;----------------------------------------------------------
+                     ;        pid.c:89: float Native_getOutput(void) _JavaNative
+                     ;        genFunction 
+                     ;        -----------------------------------------
+                     ;         function Native_getOutput
+                     ;        -----------------------------------------
+                     Native_getOutput:
+                     ;        pid.c:91: return output;
+                     ;        genRet 
+                     ; Peephole 220a removed bogus DPS set
+000157: 75 86 01              mov     086h,#01h
+00015A: 90 00 01 A8           mov     dptr,#output
+00015E: C5 1D                 xch     a,01Dh
+000160: E0                    movx    a,@dptr
+000161: 75 86 00              mov     086h,#00h
+000164: C5 1D                 xch     a,01Dh
+000166: A8 1D                 mov     r0,01Dh
+000168: 75 86 01              mov     086h,#01h
+00016B: C5 1D                 xch     a,01Dh
+00016D: A3                    inc     dptr
+00016E: E0                    movx    a,@dptr
+00016F: 75 86 00              mov     086h,#00h
+000172: C5 1D                 xch     a,01Dh
+000174: A9 1D                 mov     r1,01Dh
+000176: 75 86 01              mov     086h,#01h
+000179: C5 1D                 xch     a,01Dh
+00017B: A3                    inc     dptr
+00017C: E0                    movx    a,@dptr
+00017D: 75 86 00              mov     086h,#00h
+000180: C5 1D                 xch     a,01Dh
+000182: AA 1D                 mov     r2,01Dh
+000184: 75 86 01              mov     086h,#01h
+000187: C5 1D                 xch     a,01Dh
+000189: A3                    inc     dptr
+00018A: E0                    movx    a,@dptr
+00018B: 75 86 00              mov     086h,#00h
+00018E: C5 1D                 xch     a,01Dh
+000190: AB 1D                 mov     r3,01Dh
+                     ;        genLabel 
+                     L00109:
+                     ;        genEndFunction 
+000192: 22                    ret
+                     ;----------------------------------------------------------
+                     ;Allocation info for local variables in function 'Native_se
+                     ;----------------------------------------------------------
+                     ;----------------------------------------------------------
+                     ;        pid.c:95: void Native_setReference(void) _JavaNati
+                     ;        genFunction 
+                     ;        -----------------------------------------
+                     ;         function Native_setReference
+                     ;        -----------------------------------------
+                     Native_setReference:
+                     ;        pid.c:118: _endasm;
+                     ;        genInline 
+000193: E4                            clr a
+000194: 12 02 9A 28          lcall 029A28h ; get parameter in R3:
+                     
+                     
+                              
+000198: 90 00 01 AE                   mov dptr,#reference
+00019C: E8                            mov a,r0
+00019D: F0                            movx @dptr,a
+00019E: A3                            inc dptr
+00019F: E9                            mov a,r1
+0001A0: F0                            movx @dptr,a
+0001A1: A3                            inc dptr
+0001A2: EA                            mov a,r2
+0001A3: F0                            movx @dptr,a
+0001A4: A3                            inc dptr
+0001A5: EB                            mov a,r3
+0001A6: F0                            movx @dptr,a
+                     ;        genLabel 
+                     L00111:
+                     ;        genEndFunction 
+0001A7: 22                    ret
+                              ; SECTION NOT SUPPORTED
+                              
+                     
+                     ;Comment Inserted By Macro Preprocessor - end
+                     ;**********************************************************
+                     ;
+                     ;                        Actuator Interface Card
+                     ;                                  PID
+                     ;                     Real Time Module Global Variables
+                     ;        Copyright (C) 2005 Walter Fetter Lages <w.fetter@i
+                     ;
+                     ;    This program is free software; you can redistribute it
+                     ;    it under the terms of the GNU General Public License a
+                     ;    the Free Software Foundation; either version 2 of the 
+                     ;    (at your option) any later version.
+                     ;
+                     ;    This program is distributed in the hope that it will b
+                     ;    but WITHOUT ANY WARRANTY; without even the implied war
+                     ;    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  
+                     ;    GNU General Public License for more details.
+                     ;
+                     ;    You should have received a copy of the GNU General Pub
+                     ;    along with this program; if not, write to the Free Sof
+                     ;    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, U
+                     ;
+                     ;    You can also obtain a copy of the GNU General Public L
+                     ;    at <http://www.gnu.org/licenses>.
+                     ;
+                     ;**********************************************************
+                     
+                     
+0001A8: 00 00 00 00  output:          db      0,0,0,0
+0001AC: 00 00        th:              db      0,0
+0001AE: 00 00 00 00  reference:       db      0,0,0,0
+0001B2:                               end
+
+
+Code Statistics (count):
+========================
+
+The following section is included to detect operations
+that consume more code space than necessary.
+
+Optimizations recommended:
+lcalls       -> acalls (within 512k boundaries)
+ljmps        -> ajmps (within 512k boundaries)
+mov a, #0    -> clr a
+xrl a, #0    -> REMOVE, DOES NOTHING USEFUL
+xrl a, #0ffh -> cpl a
+
+
+Module Statistics: code bytes, lcalls,  ljmps, mov a, #0, xrl a, #0, xrl a, #0ffh
+=================================================================================
+                 pid:       0,      4,      0,         1,         0,            0
+                      -----------------------------------------------------------
+               Total:       0,      4,      0,         1,         0,            0
+
+
+Symbols (hex value: decimal value):
+================================
+                                    OUTPUT: 0x0001A8:      424
+                                       ET0: 0x0000A9:      169
+                                       ET1: 0x0000AB:      171
+                                       ET2: 0x0000AD:      173
+                                         B: 0x0000F0:      240
+                                         P: 0x0000D0:      208
+                                       IT0: 0x000088:      136
+                                       IT1: 0x00008A:      138
+                                       RB8: 0x00009A:      154
+                                        AC: 0x0000D6:      214
+                                      TMOD: 0x000089:      137
+                                       EX0: 0x0000A8:      168
+                                       EX1: 0x0000AA:      170
+                                        CY: 0x0000D7:      215
+                                        F0: 0x0000D5:      213
+                                        EA: 0x0000AF:      175
+                                       REN: 0x00009C:      156
+                                      PCON: 0x000087:      135
+                                        ES: 0x0000AC:      172
+                                        IE: 0x0000A8:      168
+                                        IP: 0x0000B8:      184
+                                       RL2: 0x0000C8:      200
+                                      SBUF: 0x000099:      153
+                                CONTROLLER: 0x0000E4:      228
+                                      RCLK: 0x0000CD:      205
+                                     T2CON: 0x0000C8:      200
+                                      EXF2: 0x0000CE:      206
+                                        P0: 0x000080:      128
+                                        P1: 0x000090:      144
+                                        P2: 0x0000A0:      160
+                                        P3: 0x0000B0:      176
+                                        OV: 0x0000D2:      210
+                                        PS: 0x0000BC:      188
+                                       RS0: 0x0000D3:      211
+                                       RS1: 0x0000D4:      212
+                                        RI: 0x000098:      152
+                                     EXEN2: 0x0000CB:      203
+                                        SP: 0x000081:      129
+                                        TH: 0x0001AC:      428
+                                        TI: 0x000099:      153
+                                   INT2ACK: 0x0000E0:      224
+                          NATIVE_GETOUTPUT: 0x000157:      343
+                                      SCON: 0x000098:      152
+                                    L00101: 0x0000CB:      203
+                                    L00103: 0x0000DF:      223
+                                    L00105: 0x0000E3:      227
+                      NATIVE_STARTREALTIME: 0x000019:       25
+                                    L00107: 0x000130:      304
+                                    L00109: 0x000192:      402
+                       NATIVE_STOPREALTIME: 0x0000D6:      214
+                                    L00111: 0x0001A7:      423
+                                      TCLK: 0x0000CC:      204
+                                       SM0: 0x00009F:      159
+                                       SM1: 0x00009E:      158
+                                       SM2: 0x00009D:      157
+                                      TCON: 0x000088:      136
+                       NATIVE_SETREFERENCE: 0x000193:      403
+                                       TB8: 0x00009B:      155
+                                 REFERENCE: 0x0001AE:      430
+                                       TF0: 0x00008D:      141
+                                       TF1: 0x00008F:      143
+                                       TF2: 0x0000CF:      207
+                                       TH0: 0x00008C:      140
+                                       TH1: 0x00008D:      141
+                                       TH2: 0x0000CD:      205
+                                 LIBRARYID: 0x000011:       17
+                                    RCAP2H: 0x0000CB:      203
+                                    RCAP2L: 0x0000CA:      202
+                                       DPH: 0x000083:      131
+                                       DPL: 0x000082:      130
+                                       TL0: 0x00008A:      138
+                                       TL1: 0x00008B:      139
+                                       TL2: 0x0000CC:      204
+                                       ACC: 0x0000E0:      224
+                           LIB_NATIVE_INIT: 0x00000F:       15
+                                       IE0: 0x000089:      137
+                                       IE1: 0x00008B:      139
+                                       TR0: 0x00008C:      140
+                                       TR1: 0x00008E:      142
+                                       TR2: 0x0000CA:      202
+                                       PT0: 0x0000B9:      185
+                                       PT1: 0x0000BB:      187
+                                       PT2: 0x0000BD:      189
+                                       PSW: 0x0000D0:      208
+                                       PX0: 0x0000B8:      184
+                                       PX1: 0x0000BA:      186

diff --git a/PID/pid.mpp b/PID/pid.mpp
new file mode 100644 (file)
index 0000000..7c879c5
--- /dev/null
+++ b/PID/pid.mpp
@@ -0,0 +1,369 @@
+$BEGIN_MODULE(pid)
+; DEFAULTING TO A390 MODE
+;--------------------------------------------------------
+; File Created by SDCC : FreeWare ANSI-C Compiler
+; Version 2.4.7 #924 (Jan 11 2005)
+; This file generated Thu Jun  2 17:33:28 2005
+;--------------------------------------------------------
+       ; .file "pid.c"
+       
+$include(tini.inc)
+$include(ds80c390.inc)
+$include(tinimacro.inc)
+$include(apiequ.inc)
+               ; _bpx (frame pointer) mapped to R8_B3:R7_B3
+               ; _ap mapped to R6_B3
+Lib_Native_Init:
+       clr     a
+       ret
+LibraryID:
+       db "DS"
+       db 0, 0, 0, 0, 0, 1
+;--------------------------------------------------------
+; Public variables in this module
+;--------------------------------------------------------
+       ; .globl Native_setReference
+       ; .globl Native_getOutput
+       ; .globl Native_stopRealtime
+       ; .globl Native_startRealtime
+;--------------------------------------------------------
+;  ram data
+;--------------------------------------------------------
+       ; SECTION NOT SUPPORTED
+;--------------------------------------------------------
+; overlayable items in  ram 
+;--------------------------------------------------------
+       ; SECTION NOT SUPPORTED
+;--------------------------------------------------------
+; external initialized ram data
+;--------------------------------------------------------
+;--------------------------------------------------------
+; global & static initialisations
+;--------------------------------------------------------
+       ; SECTION NOT SUPPORTED
+       ; SECTION NOT SUPPORTED
+       ; SECTION NOT SUPPORTED
+;--------------------------------------------------------
+; Home
+;--------------------------------------------------------
+       ; SECTION NOT SUPPORTED
+       ; SECTION NOT SUPPORTED
+;--------------------------------------------------------
+; code
+;--------------------------------------------------------
+       ; SECTION NOT SUPPORTED
+;------------------------------------------------------------
+;Allocation info for local variables in function 'Native_startRealtime'
+;------------------------------------------------------------
+;period                    Allocated to stack - offset 1
+;------------------------------------------------------------
+;      pid.c:31: long Native_startRealtime(void) _JavaNative
+;      genFunction 
+;      -----------------------------------------
+;       function Native_startRealtime
+;      -----------------------------------------
+Native_startRealtime:
+       
+       
+       
+       
+       
+       
+       
+       
+       push    01Eh
+       push    01Fh
+       mov     01Eh,sp
+       mov     01Fh,09Bh
+       anl     01Fh,#03h
+       push    0E0h
+       push    0E0h
+       push    0E0h
+       push    0E0h
+;      pid.c:33: volatile long period = NatLib_LoadInt(0);
+       mov     a,#00h
+       lcall   029A28h
+       push    03h
+       push    02h
+       push    01h
+       push    00h
+       pop     02h
+       pop     03h
+       pop     04h
+       pop     05h
+;      genAssign 
+;      genAssign: resultIsFar = TRUE
+       mov     093h,#040h
+       mov     dph,01Fh
+       mov     dpl,01Eh
+       inc     dptr
+       mov     a,r2
+       movx    @dptr,a
+       inc     dptr
+       mov     a,r3
+       movx    @dptr,a
+       inc     dptr
+       mov     a,r4
+       movx    @dptr,a
+       inc     dptr
+       mov     a,r5
+       movx    @dptr,a
+;      pid.c:59: _endasm;
+;      genInline 
+               mov 0C8h,#00h ; clear TR2 = disable timer 2
+               anl 0A8h,#0DFh ; clear ET2 = disable timer 2 interrupt
+               mov 086h,#01h
+               mov dptr,#controller
+               mov a,#02Bh ; timer 2
+               call 0E047h
+               mov 086h,#00h
+               anl 08Eh,#0DFh ; clear T2M = timer 2 uses clock/12
+               mov 0C9h,#00h ; clear DCEN = counts up only
+; TINI oscillator is 18432000 => counter=0c400h=100Hz
+               mov 0CAh,#00h ; count reload LSB
+               mov 0CCh,#00h ; count LSB
+               mov 0CBh,#0C4h ; count reload MSB
+               mov 0CDh,#0C4h ; count MSB
+               orl 0B8h,#020h ; set PT2 = set timer 2 interrupt to high priority
+               orl 0A8h,#020h ; set ET2 = enable timer 2 interrupt
+               mov 0C8h,#04h ; set TR2 = enable timer 2
+;      pid.c:61: return period;
+;      genRet 
+       mov     095h,#040h
+       mov     085h,01Fh
+       mov     084h,01Eh
+; Peephole 220a removed bogus DPS set
+; Peephole 220d removed bogus DPS set
+       mov     086h,#01h
+       inc     dptr
+       xch     a,01Dh
+       movx    a,@dptr
+       mov     086h,#00h
+       xch     a,01Dh
+       mov     r0,01Dh
+       mov     086h,#01h
+       xch     a,01Dh
+       inc     dptr
+       movx    a,@dptr
+       mov     086h,#00h
+       xch     a,01Dh
+       mov     r1,01Dh
+       mov     086h,#01h
+       xch     a,01Dh
+       inc     dptr
+       movx    a,@dptr
+       mov     086h,#00h
+       xch     a,01Dh
+       mov     r2,01Dh
+       mov     086h,#01h
+       xch     a,01Dh
+       inc     dptr
+       movx    a,@dptr
+       mov     086h,#00h
+       xch     a,01Dh
+       mov     r3,01Dh
+;      genLabel 
+L00101:
+;      genEndFunction 
+       mov     sp,01Eh
+       mov     09Bh,01Fh
+       pop     01Fh
+       pop     01Eh
+       ret
+;------------------------------------------------------------
+;Allocation info for local variables in function 'Native_stopRealtime'
+;------------------------------------------------------------
+;------------------------------------------------------------
+;      pid.c:65: void Native_stopRealtime(void) _JavaNative
+;      genFunction 
+;      -----------------------------------------
+;       function Native_stopRealtime
+;      -----------------------------------------
+Native_stopRealtime:
+;      pid.c:71: _endasm;
+;      genInline 
+               mov 0C8h,#00h ; clear TR2 = disable timer 2
+               anl 0A8h,#0DFh ; clear ET2 = disable timer 2 interrupt
+               anl 0B8h,#0DFh ; clear PT2 = set timer 2 interrupt to normal priority
+;      genLabel 
+L00103:
+;      genEndFunction 
+       ret
+;------------------------------------------------------------
+;Allocation info for local variables in function 'int2ack'
+;------------------------------------------------------------
+;------------------------------------------------------------
+;      pid.c:74: static void int2ack(void)
+;      genFunction 
+;      -----------------------------------------
+;       function int2ack
+;      -----------------------------------------
+int2ack:
+;      pid.c:78: _endasm;
+;      genInline 
+               anl 0C8h,#07Fh ; clear TF2 = clears timer 2 overflow
+;      genLabel 
+L00105:
+;      genEndFunction 
+       ret
+;------------------------------------------------------------
+;Allocation info for local variables in function 'controller'
+;------------------------------------------------------------
+;------------------------------------------------------------
+;      pid.c:81: static void controller(void) interrupt
+;      genFunction 
+;      -----------------------------------------
+;       function controller
+;      -----------------------------------------
+controller:
+       push    0E0h
+       push    b
+       push    dpl
+       push    dph
+       push    093h
+       push    086h
+       mov     086h,#00h
+       push    084h
+       push    085h
+       push    095h
+       push    01Dh
+       push    02h
+       push    03h
+       push    04h
+       push    05h
+       push    06h
+       push    07h
+       push    00h
+       push    01h
+       push    0D0h
+       mov     0D0h,#00h
+;      pid.c:83: int2ack();
+;      genCall 
+       lcall   int2ack
+;      pid.c:85: output=reference;
+;      genAssign 
+       mov     dptr,#reference
+;      genAssign: resultIsFar = TRUE
+;      genFarFarAssign (390 auto-toggle fun)
+       mov     086h,#021h
+       mov     dptr,#output
+       movx    a,@dptr
+       movx    @dptr,a
+       inc     dptr
+       inc     dptr
+       movx    a,@dptr
+       movx    @dptr,a
+       inc     dptr
+       inc     dptr
+       movx    a,@dptr
+       movx    @dptr,a
+       inc     dptr
+       inc     dptr
+       movx    a,@dptr
+       movx    @dptr,a
+       mov     086h,#00h
+;      genLabel 
+L00107:
+;      genEndFunction 
+       pop     0D0h
+       pop     01h
+       pop     00h
+       pop     07h
+       pop     06h
+       pop     05h
+       pop     04h
+       pop     03h
+       pop     02h
+       pop     01Dh
+       pop     095h
+       pop     085h
+       pop     084h
+       pop     086h
+       pop     093h
+       pop     dph
+       pop     dpl
+       pop     b
+       pop     0E0h
+       reti
+;------------------------------------------------------------
+;Allocation info for local variables in function 'Native_getOutput'
+;------------------------------------------------------------
+;------------------------------------------------------------
+;      pid.c:89: float Native_getOutput(void) _JavaNative
+;      genFunction 
+;      -----------------------------------------
+;       function Native_getOutput
+;      -----------------------------------------
+Native_getOutput:
+;      pid.c:91: return output;
+;      genRet 
+; Peephole 220a removed bogus DPS set
+       mov     086h,#01h
+       mov     dptr,#output
+       xch     a,01Dh
+       movx    a,@dptr
+       mov     086h,#00h
+       xch     a,01Dh
+       mov     r0,01Dh
+       mov     086h,#01h
+       xch     a,01Dh
+       inc     dptr
+       movx    a,@dptr
+       mov     086h,#00h
+       xch     a,01Dh
+       mov     r1,01Dh
+       mov     086h,#01h
+       xch     a,01Dh
+       inc     dptr
+       movx    a,@dptr
+       mov     086h,#00h
+       xch     a,01Dh
+       mov     r2,01Dh
+       mov     086h,#01h
+       xch     a,01Dh
+       inc     dptr
+       movx    a,@dptr
+       mov     086h,#00h
+       xch     a,01Dh
+       mov     r3,01Dh
+;      genLabel 
+L00109:
+;      genEndFunction 
+       ret
+;------------------------------------------------------------
+;Allocation info for local variables in function 'Native_setReference'
+;------------------------------------------------------------
+;------------------------------------------------------------
+;      pid.c:95: void Native_setReference(void) _JavaNative
+;      genFunction 
+;      -----------------------------------------
+;       function Native_setReference
+;      -----------------------------------------
+Native_setReference:
+;      pid.c:118: _endasm;
+;      genInline 
+               clr a
+        lcall 029A28h ; get parameter in R3:
+
+
+       
+               mov dptr,#reference
+               mov a,r0
+               movx @dptr,a
+               inc dptr
+               mov a,r1
+               movx @dptr,a
+               inc dptr
+               mov a,r2
+               movx @dptr,a
+               inc dptr
+               mov a,r3
+               movx @dptr,a
+;      genLabel 
+L00111:
+;      genEndFunction 
+       ret
+       ; SECTION NOT SUPPORTED
+       
+$END_MODULE
+;Comment Inserted By Macro Preprocessor - end

diff --git a/PID/pid.tlib b/PID/pid.tlib
new file mode 100644 (file)
index 0000000..103df45
Binary files /dev/null and b/PID/pid.tlib differ

diff --git a/PID/tmp.mpp b/PID/tmp.mpp
new file mode 100644 (file)
index 0000000..4d5f927
--- /dev/null
+++ b/PID/tmp.mpp
@@ -0,0 +1,400 @@
+$BEGIN_MODULE(pid)
+; DEFAULTING TO A390 MODE
+;--------------------------------------------------------
+; File Created by SDCC : FreeWare ANSI-C Compiler
+; Version 2.4.7 #924 (Jan 11 2005)
+; This file generated Thu Jun  2 17:33:28 2005
+;--------------------------------------------------------
+       ; .file "pid.c"
+       
+$include(tini.inc)
+$include(ds80c390.inc)
+$include(tinimacro.inc)
+$include(apiequ.inc)
+               ; _bpx (frame pointer) mapped to R8_B3:R7_B3
+               ; _ap mapped to R6_B3
+Lib_Native_Init:
+       clr     a
+       ret
+LibraryID:
+       db "DS"
+       db 0, 0, 0, 0, 0, 1
+;--------------------------------------------------------
+; Public variables in this module
+;--------------------------------------------------------
+       ; .globl Native_setReference
+       ; .globl Native_getOutput
+       ; .globl Native_stopRealtime
+       ; .globl Native_startRealtime
+;--------------------------------------------------------
+;  ram data
+;--------------------------------------------------------
+       ; SECTION NOT SUPPORTED
+;--------------------------------------------------------
+; overlayable items in  ram 
+;--------------------------------------------------------
+       ; SECTION NOT SUPPORTED
+;--------------------------------------------------------
+; external initialized ram data
+;--------------------------------------------------------
+;--------------------------------------------------------
+; global & static initialisations
+;--------------------------------------------------------
+       ; SECTION NOT SUPPORTED
+       ; SECTION NOT SUPPORTED
+       ; SECTION NOT SUPPORTED
+;--------------------------------------------------------
+; Home
+;--------------------------------------------------------
+       ; SECTION NOT SUPPORTED
+       ; SECTION NOT SUPPORTED
+;--------------------------------------------------------
+; code
+;--------------------------------------------------------
+       ; SECTION NOT SUPPORTED
+;------------------------------------------------------------
+;Allocation info for local variables in function 'Native_startRealtime'
+;------------------------------------------------------------
+;period                    Allocated to stack - offset 1
+;------------------------------------------------------------
+;      pid.c:31: long Native_startRealtime(void) _JavaNative
+;      genFunction 
+;      -----------------------------------------
+;       function Native_startRealtime
+;      -----------------------------------------
+Native_startRealtime:
+       
+       
+       
+       
+       
+       
+       
+       
+       push    01Eh
+       push    01Fh
+       mov     01Eh,sp
+       mov     01Fh,09Bh
+       anl     01Fh,#03h
+       push    0E0h
+       push    0E0h
+       push    0E0h
+       push    0E0h
+;      pid.c:33: volatile long period = NatLib_LoadInt(0);
+       mov     a,#00h
+       lcall   029A28h
+       push    03h
+       push    02h
+       push    01h
+       push    00h
+       pop     02h
+       pop     03h
+       pop     04h
+       pop     05h
+;      genAssign 
+;      genAssign: resultIsFar = TRUE
+       mov     093h,#040h
+       mov     dph,01Fh
+       mov     dpl,01Eh
+       inc     dptr
+       mov     a,r2
+       movx    @dptr,a
+       inc     dptr
+       mov     a,r3
+       movx    @dptr,a
+       inc     dptr
+       mov     a,r4
+       movx    @dptr,a
+       inc     dptr
+       mov     a,r5
+       movx    @dptr,a
+;      pid.c:59: _endasm;
+;      genInline 
+               mov 0C8h,#00h ; clear TR2 = disable timer 2
+               anl 0A8h,#0DFh ; clear ET2 = disable timer 2 interrupt
+               mov 086h,#01h
+               mov dptr,#controller
+               mov a,#02Bh ; timer 2
+               call 0E047h
+               mov 086h,#00h
+               anl 08Eh,#0DFh ; clear T2M = timer 2 uses clock/12
+               mov 0C9h,#00h ; clear DCEN = counts up only
+; TINI oscillator is 18432000 => counter=0c400h=100Hz
+               mov 0CAh,#00h ; count reload LSB
+               mov 0CCh,#00h ; count LSB
+               mov 0CBh,#0C4h ; count reload MSB
+               mov 0CDh,#0C4h ; count MSB
+               orl 0B8h,#020h ; set PT2 = set timer 2 interrupt to high priority
+               orl 0A8h,#020h ; set ET2 = enable timer 2 interrupt
+               mov 0C8h,#04h ; set TR2 = enable timer 2
+;      pid.c:61: return period;
+;      genRet 
+       mov     095h,#040h
+       mov     085h,01Fh
+       mov     084h,01Eh
+; Peephole 220a removed bogus DPS set
+; Peephole 220d removed bogus DPS set
+       mov     086h,#01h
+       inc     dptr
+       xch     a,01Dh
+       movx    a,@dptr
+       mov     086h,#00h
+       xch     a,01Dh
+       mov     r0,01Dh
+       mov     086h,#01h
+       xch     a,01Dh
+       inc     dptr
+       movx    a,@dptr
+       mov     086h,#00h
+       xch     a,01Dh
+       mov     r1,01Dh
+       mov     086h,#01h
+       xch     a,01Dh
+       inc     dptr
+       movx    a,@dptr
+       mov     086h,#00h
+       xch     a,01Dh
+       mov     r2,01Dh
+       mov     086h,#01h
+       xch     a,01Dh
+       inc     dptr
+       movx    a,@dptr
+       mov     086h,#00h
+       xch     a,01Dh
+       mov     r3,01Dh
+;      genLabel 
+L00101:
+;      genEndFunction 
+       mov     sp,01Eh
+       mov     09Bh,01Fh
+       pop     01Fh
+       pop     01Eh
+       ret
+;------------------------------------------------------------
+;Allocation info for local variables in function 'Native_stopRealtime'
+;------------------------------------------------------------
+;------------------------------------------------------------
+;      pid.c:65: void Native_stopRealtime(void) _JavaNative
+;      genFunction 
+;      -----------------------------------------
+;       function Native_stopRealtime
+;      -----------------------------------------
+Native_stopRealtime:
+;      pid.c:71: _endasm;
+;      genInline 
+               mov 0C8h,#00h ; clear TR2 = disable timer 2
+               anl 0A8h,#0DFh ; clear ET2 = disable timer 2 interrupt
+               anl 0B8h,#0DFh ; clear PT2 = set timer 2 interrupt to normal priority
+;      genLabel 
+L00103:
+;      genEndFunction 
+       ret
+;------------------------------------------------------------
+;Allocation info for local variables in function 'int2ack'
+;------------------------------------------------------------
+;------------------------------------------------------------
+;      pid.c:74: static void int2ack(void)
+;      genFunction 
+;      -----------------------------------------
+;       function int2ack
+;      -----------------------------------------
+int2ack:
+;      pid.c:78: _endasm;
+;      genInline 
+               anl 0C8h,#07Fh ; clear TF2 = clears timer 2 overflow
+;      genLabel 
+L00105:
+;      genEndFunction 
+       ret
+;------------------------------------------------------------
+;Allocation info for local variables in function 'controller'
+;------------------------------------------------------------
+;------------------------------------------------------------
+;      pid.c:81: static void controller(void) interrupt
+;      genFunction 
+;      -----------------------------------------
+;       function controller
+;      -----------------------------------------
+controller:
+       push    0E0h
+       push    b
+       push    dpl
+       push    dph
+       push    093h
+       push    086h
+       mov     086h,#00h
+       push    084h
+       push    085h
+       push    095h
+       push    01Dh
+       push    02h
+       push    03h
+       push    04h
+       push    05h
+       push    06h
+       push    07h
+       push    00h
+       push    01h
+       push    0D0h
+       mov     0D0h,#00h
+;      pid.c:83: int2ack();
+;      genCall 
+       lcall   int2ack
+;      pid.c:85: output=reference;
+;      genAssign 
+       mov     dptr,#reference
+;      genAssign: resultIsFar = TRUE
+;      genFarFarAssign (390 auto-toggle fun)
+       mov     086h,#021h
+       mov     dptr,#output
+       movx    a,@dptr
+       movx    @dptr,a
+       inc     dptr
+       inc     dptr
+       movx    a,@dptr
+       movx    @dptr,a
+       inc     dptr
+       inc     dptr
+       movx    a,@dptr
+       movx    @dptr,a
+       inc     dptr
+       inc     dptr
+       movx    a,@dptr
+       movx    @dptr,a
+       mov     086h,#00h
+;      genLabel 
+L00107:
+;      genEndFunction 
+       pop     0D0h
+       pop     01h
+       pop     00h
+       pop     07h
+       pop     06h
+       pop     05h
+       pop     04h
+       pop     03h
+       pop     02h
+       pop     01Dh
+       pop     095h
+       pop     085h
+       pop     084h
+       pop     086h
+       pop     093h
+       pop     dph
+       pop     dpl
+       pop     b
+       pop     0E0h
+       reti
+;------------------------------------------------------------
+;Allocation info for local variables in function 'Native_getOutput'
+;------------------------------------------------------------
+;------------------------------------------------------------
+;      pid.c:89: float Native_getOutput(void) _JavaNative
+;      genFunction 
+;      -----------------------------------------
+;       function Native_getOutput
+;      -----------------------------------------
+Native_getOutput:
+;      pid.c:91: return output;
+;      genRet 
+; Peephole 220a removed bogus DPS set
+       mov     086h,#01h
+       mov     dptr,#output
+       xch     a,01Dh
+       movx    a,@dptr
+       mov     086h,#00h
+       xch     a,01Dh
+       mov     r0,01Dh
+       mov     086h,#01h
+       xch     a,01Dh
+       inc     dptr
+       movx    a,@dptr
+       mov     086h,#00h
+       xch     a,01Dh
+       mov     r1,01Dh
+       mov     086h,#01h
+       xch     a,01Dh
+       inc     dptr
+       movx    a,@dptr
+       mov     086h,#00h
+       xch     a,01Dh
+       mov     r2,01Dh
+       mov     086h,#01h
+       xch     a,01Dh
+       inc     dptr
+       movx    a,@dptr
+       mov     086h,#00h
+       xch     a,01Dh
+       mov     r3,01Dh
+;      genLabel 
+L00109:
+;      genEndFunction 
+       ret
+;------------------------------------------------------------
+;Allocation info for local variables in function 'Native_setReference'
+;------------------------------------------------------------
+;------------------------------------------------------------
+;      pid.c:95: void Native_setReference(void) _JavaNative
+;      genFunction 
+;      -----------------------------------------
+;       function Native_setReference
+;      -----------------------------------------
+Native_setReference:
+;      pid.c:118: _endasm;
+;      genInline 
+               clr a
+        lcall 029A28h ; get parameter in R3:
+
+
+       
+               mov dptr,#reference
+               mov a,r0
+               movx @dptr,a
+               inc dptr
+               mov a,r1
+               movx @dptr,a
+               inc dptr
+               mov a,r2
+               movx @dptr,a
+               inc dptr
+               mov a,r3
+               movx @dptr,a
+;      genLabel 
+L00111:
+;      genEndFunction 
+       ret
+       ; SECTION NOT SUPPORTED
+       
+$END_MODULE
+;Comment Inserted By Macro Preprocessor - end
+;******************************************************************************
+;
+;                      Actuator Interface Card
+;                                PID
+;                   Real Time Module Global Variables
+;      Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
+;
+;    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., 675 Mass Ave, Cambridge, MA 02139, USA.
+;
+;    You can also obtain a copy of the GNU General Public License
+;    at <http://www.gnu.org/licenses>.
+;
+;*******************************************************************************/
+
+
+output:                db      0,0,0,0
+th:            db      0,0
+reference:     db      0,0,0,0
+               end

diff --git a/PIDDaemon/Makefile b/PIDDaemon/Makefile
new file mode 100644 (file)
index 0000000..590bf53
--- /dev/null
+++ b/PIDDaemon/Makefile
@@ -0,0 +1,44 @@
+CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar
+APIDBPATH=-d /opt/tini/bin/tini.db
+TINIRTAIPATH=${HOME}/src/tini/rtai
+LIBPATH=-PATH ${TINIRTAIPATH}/lib/rtai.jar
+JAVAFLAGS=-O -target 1.1 -source 1.3
+ASMINC=-I/opt/tini/native/lib
+ASMOPT=-f 1.14 -p 390 -l
+ASMMACRO=/opt/tini/native/bin/Linux/macro
+ASM=/opt/tini/native/bin/Linux/a390
+CC=sdcc
+CFLAGS=-mTININative -S --use-accelerator
+CINCLUDE=-I${TINIRTAIPATH}/include
+CMPFLAGS=${CFLAGS} ${CINCLUDE}
+
+all: PIDDaemon.tini
+
+PIDDaemon.class: PIDDaemon.java
+       javac ${CLASSPATH} ${JAVAFLAGS} PIDDaemon.java
+
+pid.mpp: pid.a51
+       ${ASMMACRO} ${ASMINC} -e- pid.a51
+       
+globals.mpp: globals.a51
+       ${ASMMACRO} ${ASMINC} globals.a51       
+
+pid.tlib: pid.mpp globals.mpp ${TINIRTAIPATH}/lib/globals.mpp
+       cat pid.mpp ${TINIRTAIPATH}/lib/globals.mpp globals.a51 > tmp.mpp
+       ${ASM} ${ASMOPT} tmp.mpp
+       mv tmp.tlib pid.tlib
+       mv tmp.lst pid.lst
+
+pid.a51: pid.c
+       ${CC} ${CMPFLAGS} pid.c
+
+PIDDaemon.tini: PIDDaemon.class pid.tlib
+       java ${CLASSPATH} TINIConvertor -n pid.tlib -f PIDDaemon.class ${APIDBPATH} -o PIDDaemon.tini
+
+
+clean:
+       rm -f *.bak *~ PIDDaemon.class pid.tlib pid.mpp pid.lst pid.a51 globals.mpp tmp.mpp tmp.lst
+
+distclean: clean
+       rm -f PIDDaemon.tini
+

diff --git a/PIDDaemon/PIDDaemon.java b/PIDDaemon/PIDDaemon.java
new file mode 100644 (file)
index 0000000..d669fcb
--- /dev/null
+++ b/PIDDaemon/PIDDaemon.java
@@ -0,0 +1,78 @@
+/******************************************************************************
+
+                       Actuator Interface Card
+                             PID Daemon
+                        User Interface Module     
+       Copyright (C) 2004, 2005 Walter Fetter Lages <w.fetter@ieee.org>
+
+    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., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+    You can also obtain a copy of the GNU General Public License
+    at <http://www.gnu.org/licenses>.
+
+*******************************************************************************/
+
+import com.dalsemi.system.*;
+
+public class PIDDaemon
+{
+       public static native int startRealtime(int period);
+       public static native void stopRealtime();
+       public static native void setReference(int reference);
+       public static native int getOutput();
+
+       public static void main(String[] args)
+       {
+               System.out.println("PID Daemon");
+               System.out.println("Copyright (C) Walter Fetter Lages, 2005.\n");
+               
+               int tfms=0;
+               if(args.length==1)
+               {
+                       tfms=Integer.parseInt(args[0]);
+               }
+               else
+               {
+                       System.out.println("Usage:\tPIDDaemon ms");
+                       System.exit(1);
+               }
+               
+               System.out.print("Loading native library...");
+               System.loadLibrary("pid.tlib");
+               System.out.println("done.");
+
+               int us=10000;
+               System.out.print("Starting real-time timer with "+us+" us period...");
+               int period=startRealtime(us);
+               System.out.println("done. Effective period: "+period+" us.");
+       
+               System.out.print("Running PID for "+tfms+" ms...");     
+               long t0=TINIOS.uptimeMillis();
+               long t=0;
+               while(t <= tfms)
+               {
+                       t=TINIOS.uptimeMillis()-t0;
+                       System.out.print("t="+t+" ms");
+                       int ref=(int)t/2;
+                       setReference(ref);
+                       System.out.println("\treference="+ref+"\toutput="+getOutput());
+               }
+               System.out.println("...done.");
+               
+               System.out.print("Stoping real-time timer...");
+               stopRealtime();
+               System.out.println("done.");
+       }
+}

diff --git a/PIDDaemon/globals.a51 b/PIDDaemon/globals.a51
new file mode 100644 (file)
index 0000000..27ccad3
--- /dev/null
+++ b/PIDDaemon/globals.a51
@@ -0,0 +1,31 @@
+;******************************************************************************
+;
+;                      Actuator Interface Card
+;                            PID Daemon
+;                   Real Time Module Global Variables
+;      Copyright (C) 2004, 2005 Walter Fetter Lages <w.fetter@ieee.org>
+;
+;    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., 675 Mass Ave, Cambridge, MA 02139, USA.
+;
+;    You can also obtain a copy of the GNU General Public License
+;    at <http://www.gnu.org/licenses>.
+;
+;*******************************************************************************/
+
+
+output:                db      0,0,0,0
+th:            db      0,0
+reference:     db      0,0,0,0
+               end

diff --git a/PIDDaemon/pid.c b/PIDDaemon/pid.c
new file mode 100644 (file)
index 0000000..2895194
--- /dev/null
+++ b/PIDDaemon/pid.c
@@ -0,0 +1,71 @@
+/******************************************************************************
+
+                       Actuator Interface Card
+                             PID Daemon
+                          Real Time Module
+       Copyright (C) 2004, 2005 Walter Fetter Lages <w.fetter@ieee.org>
+
+    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., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+    You can also obtain a copy of the GNU General Public License
+    at <http://www.gnu.org/licenses>.
+
+*******************************************************************************/
+
+#include <rtai_sched.h>
+
+#include <pthread.h>
+
+extern volatile long *output;
+extern volatile pthread_t th;
+extern volatile long *reference;
+
+/* By now this is not actually a thread as it should be,
+ but a function that is called at each timer interrupt */
+void *count(void *arg)
+{
+//     volatile long *output=(volatile long *)arg;
+//     for(;;)
+//     {
+//             rt_wait_period();               
+               *output=*reference;
+//     }
+}
+
+RTIME Native_startRealtime(void) _JavaNative
+{
+       volatile long period = NatLib_LoadInt(0);
+       RTIME count=micro2count(period);
+       start_rt_timer(count);
+       pthread_create(&th,NULL,count,output);
+       return count2micro(count);
+}
+
+void Native_stopRealtime(void) _JavaNative
+{
+       pthread_cancel(th);
+       stop_rt_timer();
+}
+
+
+long Native_getOutput(void) _JavaNative
+{
+       return output;
+}
+
+void Native_setReference(void) _JavaNative
+{
+       *reference = NatLib_LoadInt(0);
+}

diff --git a/PIDDaemon/pid1.c b/PIDDaemon/pid1.c
new file mode 100644 (file)
index 0000000..40019df
--- /dev/null
+++ b/PIDDaemon/pid1.c
@@ -0,0 +1,85 @@
+/******************************************************************************
+
+                       Actuator Interface Card
+                             PID Daemon
+                          Real Time Module
+       Copyright (C) 2004, 2005 Walter Fetter Lages <w.fetter@ieee.org>
+
+    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., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+    You can also obtain a copy of the GNU General Public License
+    at <http://www.gnu.org/licenses>.
+
+*******************************************************************************/
+
+#define RTIME long
+
+RTIME Native_start_rt_timer(void) _JavaNative
+{
+       volatile long period = NatLib_LoadInt(0);
+
+       _asm
+       
+       mov     T2CON,#00h      ; clear TR2 = disable timer 2
+       anl     IE,#0dfh        ; clear ET2 = disable timer 2 interrupt
+
+       mov     dps,#1
+       mov     dptr,#count
+       mov     a,#2bh          ; timer 2
+       call    System_InstallInterrupt
+       mov     dps,#00h
+       
+       anl     CKCON,#0dfh     ; clear T2M = timer 2 uses clock/12
+       mov     T2MOD,#00h      ; clear DCEN = counts up only
+       
+; TINI oscillator is 18432000  => counter=0c400h=100Hz
+       mov     RCAP2L,#00h     ; count reload LSB
+       mov     TL2,#00h        ; count LSB
+       mov     RCAP2H,#0c4h    ; count reload MSB
+       mov     TH2,#0c4h       ; count MSB
+
+       orl     IP,#20h         ; set PT2 = set timer 2 interrupt to high priority
+       orl     IE,#20h         ; set ET2 = enable timer 2 interrupt
+
+       mov     T2CON,#04h      ; set TR2 = enable timer 2
+       _endasm;
+
+       return period;
+}
+
+void Native_stop_rt_timer(void) _JavaNative
+{
+       _asm
+       mov     T2CON,#00h      ; clear TR2 = disable timer 2
+       anl     IE,#0dfh        ; clear ET2 = disable timer 2 interrupt
+       anl     IP,#0dfh        ; clear PT2 = set timer 2 interrupt to normal priority
+       _endasm;
+}
+
+static void int2ack(void)
+{
+       _asm
+       anl T2CON,#7fh  ; clear TF2 = clears timer 2 overflow
+       _endasm;
+}
+
+extern volatile long counter;
+
+static void count(void) interrupt
+{
+       int2ack();
+       
+       counter++;      
+}

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 2296.8 5248.08 m
 0 -17.89 -14.51 -32.4 -32.4 -32.4 c
 -17.89 0 -32.4 14.51 -32.4 32.4 c
@@ -56544,7 +56985,8 @@ f
 0 17.89 14.51 32.4 32.4 32.4 c
 17.89 0 32.4 -14.51 32.4 -32.4 c
 f
-4204.8 3858.48 79.2 79.2 rf
+4204.8 3858.48 79.2 79.2 re
+f
 4356 3898.08 m
 0 -21.87 -17.73 -39.6 -39.6 -39.6 c
 -21.87 0 -39.6 17.73 -39.6 39.6 c
@@ -56557,28 +56999,32 @@ f
 0 21.87 17.73 39.6 39.6 39.6 c
 21.87 0 39.6 -17.73 39.6 -39.6 c
 f
-810 3905.28 64.7998 64.7998 rf
+810 3905.28 64.7998 64.7998 re
+f
 874.8 3865.68 m
 0 -17.89 -14.51 -32.4 -32.4 -32.4 c
 -17.89 0 -32.4 14.51 -32.4 32.4 c
 0 17.89 14.51 32.4 32.4 32.4 c
 17.89 0 32.4 -14.51 32.4 -32.4 c
 f
-1530 3163.68 64.7998 64.7998 rf
+1530 3163.68 64.7998 64.7998 re
+f
 1594.8 2980.08 m
 0 -17.89 -14.51 -32.4 -32.4 -32.4 c
 -17.89 0 -32.4 14.51 -32.4 32.4 c
 0 17.89 14.51 32.4 32.4 32.4 c
 17.89 0 32.4 -14.51 32.4 -32.4 c
 f
-4410 5179.68 64.7998 64.7998 rf
+4410 5179.68 64.7998 64.7998 re
+f
 4474.8 5500.08 m
 0 -17.89 -14.51 -32.4 -32.4 -32.4 c
 -17.89 0 -32.4 14.51 -32.4 32.4 c
 0 17.89 14.51 32.4 32.4 32.4 c
 17.89 0 32.4 -14.51 32.4 -32.4 c
 f
-3258 5215.68 64.7998 64.7998 rf
+3258 5215.68 64.7998 64.7998 re
+f
 3394.8 5248.08 m
 0 -17.89 -14.51 -32.4 -32.4 -32.4 c
 -17.89 0 -32.4 14.51 -32.4 32.4 c
@@ -56621,7 +57067,8 @@ f
 0 17.89 14.51 32.4 32.4 32.4 c
 17.89 0 32.4 -14.51 32.4 -32.4 c
 f
-3906 4783.68 64.7998 64.7998 rf
+3906 4783.68 64.7998 64.7998 re
+f
 4042.8 4816.08 m
 0 -17.89 -14.51 -32.4 -32.4 -32.4 c
 -17.89 0 -32.4 14.51 -32.4 32.4 c
@@ -56664,28 +57111,32 @@ f
 0 17.89 14.51 32.4 32.4 32.4 c
 17.89 0 32.4 -14.51 32.4 -32.4 c
 f
-4266 4747.68 64.7998 64.7998 rf
+4266 4747.68 64.7998 64.7998 re
+f
 4330.8 5068.08 m
 0 -17.89 -14.51 -32.4 -32.4 -32.4 c
 -17.89 0 -32.4 14.51 -32.4 32.4 c
 0 17.89 14.51 32.4 32.4 32.4 c
 17.89 0 32.4 -14.51 32.4 -32.4 c
 f
-3762 4747.68 64.7998 64.7998 rf
+3762 4747.68 64.7998 64.7998 re
+f
 3826.8 5068.08 m
 0 -17.89 -14.51 -32.4 -32.4 -32.4 c
 -17.89 0 -32.4 14.51 -32.4 32.4 c
 0 17.89 14.51 32.4 32.4 32.4 c
 17.89 0 32.4 -14.51 32.4 -32.4 c
 f
-3762 5179.68 64.7998 64.7998 rf
+3762 5179.68 64.7998 64.7998 re
+f
 3826.8 5500.08 m
 0 -17.89 -14.51 -32.4 -32.4 -32.4 c
 -17.89 0 -32.4 14.51 -32.4 32.4 c
 0 17.89 14.51 32.4 32.4 32.4 c
 17.89 0 32.4 -14.51 32.4 -32.4 c
 f
-3906 5215.68 64.7998 64.7998 rf
+3906 5215.68 64.7998 64.7998 re
+f
 4042.8 5248.08 m
 0 -17.89 -14.51 -32.4 -32.4 -32.4 c
 -17.89 0 -32.4 14.51 -32.4 32.4 c
@@ -56728,21 +57179,24 @@ f
 0 17.89 14.51 32.4 32.4 32.4 c
 17.89 0 32.4 -14.51 32.4 -32.4 c
 f
-4266 5179.68 64.7998 64.7998 rf
+4266 5179.68 64.7998 64.7998 re
+f
 4330.8 5500.08 m
 0 -17.89 -14.51 -32.4 -32.4 -32.4 c
 -17.89 0 -32.4 14.51 -32.4 32.4 c
 0 17.89 14.51 32.4 32.4 32.4 c
 17.89 0 32.4 -14.51 32.4 -32.4 c
 f
-4410 4747.68 64.7998 64.7998 rf
+4410 4747.68 64.7998 64.7998 re
+f
 4474.8 5068.08 m
 0 -17.89 -14.51 -32.4 -32.4 -32.4 c
 -17.89 0 -32.4 14.51 -32.4 32.4 c
 0 17.89 14.51 32.4 32.4 32.4 c
 17.89 0 32.4 -14.51 32.4 -32.4 c
 f
-3258 4783.68 64.7998 64.7998 rf
+3258 4783.68 64.7998 64.7998 re
+f
 3394.8 4816.08 m
 0 -17.89 -14.51 -32.4 -32.4 -32.4 c
 -17.89 0 -32.4 14.51 -32.4 32.4 c
@@ -56785,14 +57239,16 @@ f
 0 17.89 14.51 32.4 32.4 32.4 c
 17.89 0 32.4 -14.51 32.4 -32.4 c
 f
-3618 4747.68 64.7998 64.7998 rf
+3618 4747.68 64.7998 64.7998 re
+f
 3682.8 5068.08 m
 0 -17.89 -14.51 -32.4 -32.4 -32.4 c
 -17.89 0 -32.4 14.51 -32.4 32.4 c
 0 17.89 14.51 32.4 32.4 32.4 c
 17.89 0 32.4 -14.51 32.4 -32.4 c
 f
-3376.8 3030.48 79.2 79.2 rf
+3376.8 3030.48 79.2 79.2 re
+f
 3384 3070.08 m
 0 -21.87 -17.73 -39.6 -39.6 -39.6 c
 -21.87 0 -39.6 17.73 -39.6 39.6 c
@@ -56805,14 +57261,16 @@ f
 0 21.87 17.73 39.6 39.6 39.6 c
 21.87 0 39.6 -17.73 39.6 -39.6 c
 f
-2538 3163.68 64.7998 64.7998 rf
+2538 3163.68 64.7998 64.7998 re
+f
 2602.8 2980.08 m
 0 -17.89 -14.51 -32.4 -32.4 -32.4 c
 -17.89 0 -32.4 14.51 -32.4 32.4 c
 0 17.89 14.51 32.4 32.4 32.4 c
 17.89 0 32.4 -14.51 32.4 -32.4 c
 f
-2808 5179.68 64.7998 64.7998 rf
+2808 5179.68 64.7998 64.7998 re
+f
 2872.8 5500.08 m
 0 -17.89 -14.51 -32.4 -32.4 -32.4 c
 -17.89 0 -32.4 14.51 -32.4 32.4 c
@@ -58025,7 +58483,7 @@ f
 0 17.89 14.51 32.4 32.4 32.4 c
 17.89 0 32.4 -14.51 32.4 -32.4 c
 f
-end showpage pagesave restore
+cleartomark end end pagesave restore showpage
 %%PageTrailer
 %%Trailer
 %%Pages: 9

diff --git a/lib/Makefile b/lib/Makefile
index a86704d..0767d0f 100644 (file)
--- a/lib/Makefile
+++ b/lib/Makefile
@@ -6,7 +6,7 @@ JAVAFLAGS=-O -target 1.1 -source 1.3
 NATINC=/opt/tini/native/lib
 ASMINC=../include
 TINIINC=${ASMINC}/tini.inc ${ASMINC}/tinimacro.inc ${ASMINC}/ds80c390.inc
-ASMOPT=-f 1.14 -p 390 -l
+ASMOPT=-f 1.15 -p 390 -l
 ASMMACRO=/opt/tini/native/bin/Linux/macro
 ASM=/opt/tini/native/bin/Linux/a390
 
@@ -84,6 +84,9 @@ index.mpp: index.a51 ${TINIINC} ${ASMINC}/aicpld.inc
 
 index.tlib: index.mpp
        ${ASM} ${ASMOPT} index.mpp
+       
+t.tlib: t.mpp
+       ${ASM} ${ASMOPT} t.mpp  
 
 encoder.mpp: encoder.a51 ${TINIINC} ${ASMINC}/aicpld.inc
        ${ASMMACRO} -I${ASMINC} encoder.a51

diff --git a/lib/aiccan.cpp b/lib/aiccan.cpp
index c1cacfc..b7b2e21 100644 (file)
--- a/lib/aiccan.cpp
+++ b/lib/aiccan.cpp
@@ -47,7 +47,8 @@ AIC(this)
 {
        aicnumber=aic;
        canHandle handle;
-       canStatus status=(canStatus)handle=canOpenChannel(bus,canWANT_EXTENDED);
+       handle=canOpenChannel(bus,canWANT_EXTENDED);
+       canStatus status=(canStatus)handle;
        if(status < 0) throw BAD_OPEN();
 
        status=canSetBusParams(handle,BAUD_125K,13,7,1,1,0);

diff --git a/lib/aichostcan.cpp b/lib/aichostcan.cpp
index 3d5a292..f356d4a 100644 (file)
--- a/lib/aichostcan.cpp
+++ b/lib/aichostcan.cpp
@@ -41,7 +41,8 @@ AIC_HOST()
 {
        aicnumber=aic;
        canHandle handle;
-       canStatus status=(canStatus)handle=canOpenChannel(bus,canWANT_EXTENDED);
+       handle=canOpenChannel(bus,canWANT_EXTENDED);
+       canStatus status=(canStatus)handle;
        if(status < 0) throw BAD_OPEN();
 
        status=canSetBusParams(handle,BAUD_125K,13,7,1,1,0);

diff --git a/pid5/Makefile b/pid5/Makefile
deleted file mode 100644 (file)
index 5992b86..0000000
--- a/pid5/Makefile
+++ /dev/null
@@ -1,44 +0,0 @@
-PRJLIBDIR=../lib
-PRJINCLUDE=../include
-PRJFLAGS=-DVERBOSE
-
-CFLAGS=-O2 -Wall -march=i486
-CINCLUDE=-I. -I${HOME}/include -I/usr/local/include -I/usr/realtime/include
-CLIBDIR=-L${HOME}/lib -L/usr/local/lib
-CLIBS=-lcutil -lpthread -lcanlib
-
-CPPFLAGS=
-CPPINCLUDE=-I${HOME}/include/cpp -I/usr/local/include/cpp -I../include
-CPPLIBDIR=-L${HOME}/lib/cpp -L../lib
-CPPLIBS=-laic -lcpputil -lcontrol
-
-INCLUDE=${CINCLUDE} ${CPPINCLUDE}
-FLAGS= ${CFLAGS} ${CPPFLAGS}
-LIBDIR=${CLIBDIR} ${CPPLIBDIR}
-LIBS=${CPPLIBS} ${CLIBS}
-
-CMP=           g++
-CMPFLAGS=      ${FLAGS} ${INCLUDE} ${PRJFLAGS}
-LDFLAGS=       ${LIBDIR} ${LIBS}
-CMPSWTCH=      gnu
-CMPMESSAGE=    '${?*:warning:}\"${FILE}\", line ${LINE}:* at or near * \"${COLUMN=AFTER}\"'
-
-
-all: pid .runinfo
-
-pid: pid.cpp ${PRJINCLUDE}/aic.h ${PRJLIBDIR}/libaic.a
-       ${CMP} ${CMPFLAGS} -o pid pid.cpp ${LDFLAGS}
-
-${PRJLIBDIR}/libaic.a:
-       $(MAKE) -C ${PRJLIBDIR}
-
-clean:
-       rm -f *~ *.bak *.o
-
-install:
-
-distclean: clean
-       rm -f pid *.dat .runinfo
-
-.runinfo: runinfo
-       cp runinfo .runinfo

diff --git a/pid5/pid.cpp b/pid5/pid.cpp
deleted file mode 100644 (file)
index 38e1492..0000000
--- a/pid5/pid.cpp
+++ /dev/null
@@ -1,234 +0,0 @@
-/******************************************************************************
-
-                       Actuator Interface Card
-                         AIC PID Controller
-       Copyright (C) 2004 Walter Fetter Lages <w.fetter@ieee.org>
-
-    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., 675 Mass Ave, Cambridge, MA 02139, USA.
-
-    You can also obtain a copy of the GNU General Public License
-    at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-#include <errno.h>
-#include <iostream>
-using namespace std;
-
-#include <math.h>
-#include <sys/mman.h>
-
-#include <control.h>
-
-#include <aiccan.h>
-
-#include <rtai_lxrt.h>
-
-static inline double ref(double t,int i)
-{
-       return M_PI;
-}
-
-struct PID_ARGS
-{
-       double st;
-       volatile int *run;
-       double gain[3];
-       char name[64];
-       int aicn;
-};
-
-void *pid_thread(void *arg)
-{
-       struct PID_ARGS *p=(struct PID_ARGS *) arg;
-
-       AIC_CAN *aic;
-
-       try
-       {
-               aic=new AIC_CAN(p->aicn);
-       }
-       catch(AIC_CAN::BAD_OPEN)
-       {
-               cerr << "Can't open CAN" << endl;
-               pthread_exit(NULL);
-       }
-       catch(AIC_CAN::BAD_PARMS)
-       {
-               cerr << "Bad CAN parameters" << endl;
-               pthread_exit(NULL);
-       }
-       catch(AIC_CAN::BAD_BUSON)
-       {
-               cerr << "Bad CAN bus" << endl;
-               pthread_exit(NULL);
-       }
-       aic->motor.on();
-       aic->brake.release();
-
-       PID_CONTROLLER pid(p->gain[0],p->gain[1],p->gain[2]);
-       pid.saturate(1,-24.0,24.0);
-
-       double u=0.0;
-       double y=0.0;
-
-       unsigned long tsk_name = nam2num(p->name);
-       struct sched_param sched;
-
-       sched.sched_priority = sched_get_priority_max(SCHED_FIFO) - 1;
-       if(sched_setscheduler(0,SCHED_FIFO, &sched ) == -1 )
-       {
-               cerr << "Error setting scheduler: " << strerror(errno) << "\n";
-               pthread_exit(NULL);
-       }       
-
-        mlockall(MCL_CURRENT | MCL_FUTURE);
-
-       RT_TASK *tsk;
-       if(!(tsk = rt_task_init(tsk_name, p->aicn, 0, 0)))
-       {
-               cerr << "Can't init task\n";
-               pthread_exit(NULL);
-       }
-       
-       rt_make_hard_real_time();
-
-       int period = (int) nano2count((RTIME)(p->st*1e9));
-       rt_task_make_periodic(tsk,rt_get_time(),period);
-
-       RTIME t0=rt_get_time_ns();
-
-       for(double t=0;*(p->run);t=(rt_get_time_ns()-t0)*1e-9)
-       {
-
-               rt_make_soft_real_time();
-               y+=aic->encoder.read();
-               rt_make_hard_real_time();
-
-               double e=ref(t,p->aicn)-y;
-               u=pid.out(e);
-
-               rt_make_soft_real_time();
-               aic->motor=u;
-
-
-               cout << p->aicn << "\t" << y << endl;
-               rt_make_hard_real_time();
-
-               rt_task_wait_period();
-
-       }
-
-       aic->motor=0;
-       aic->brake.apply();
-       aic->motor.off();
-       rt_make_soft_real_time();
-       rt_task_delete(tsk);
-       munlockall();
-       try
-       {
-               delete aic;
-       }
-       catch(AIC_CAN::BAD_CLOSE)
-       {
-               cerr << "Can't close AIC_CAN" << endl;
-               pthread_exit(NULL);
-       }
-       pthread_exit(NULL);
-       return NULL;
-}
-
-
-int main(void)
-{
-
-       const double ST=0.01;
-       const double TF=20;
-
-       rt_allow_nonroot_hrt();
-
-       rt_set_oneshot_mode();
-       int period = (int) nano2count((RTIME)(ST*1e9));
-       start_rt_timer(period);
-
-
-       unsigned long tsk_name = nam2num("Main");
-       struct sched_param sched;
-
-       sched.sched_priority = sched_get_priority_max(SCHED_FIFO) - 1;
-       if(sched_setscheduler(0,SCHED_FIFO, &sched ) == -1 )
-       {
-               cerr << "Error setting scheduler: " << strerror(errno) << "\n";
-               pthread_exit(NULL);
-       }       
-
-       volatile int run=1;
-
-       pthread_t pid_th[5];
-       struct PID_ARGS pidargs[5];
-
-       for(int i=0;i < 5;i++)
-       {
-               pidargs[i].st=ST;
-               pidargs[i].run=&run;
-               pidargs[i].gain[0]=20;
-               pidargs[i].gain[1]=5;
-               pidargs[i].gain[2]=10;
-               snprintf(pidargs[i].name,64,"PID%d",i);
-               pidargs[i].aicn=i+1;
-
-               if(int err=pthread_create(&pid_th[i],NULL,&pid_thread,&pidargs[i]))
-               {
-                       cerr << "Error creating thread: " << strerror(err) << endl;
-               }
-       }
-
-
-        mlockall(MCL_CURRENT | MCL_FUTURE);
-
-       RT_TASK *tsk;
-       if(!(tsk = rt_task_init(tsk_name, 1, 0, 0)))
-       {
-               cerr << "Can't init task\n";
-               pthread_exit(NULL);
-       }
-       
-//     rt_make_hard_real_time();
-
-       rt_task_make_periodic(tsk,rt_get_time()+period,period);
-
-       RTIME t0=rt_get_time_ns();
-       for(double t=0; t <= TF && run; t=(rt_get_time_ns()-t0)*1e-9)
-       {
-
-#ifdef VERBOSE
-               cout << t << "\n";
-#endif
-
-               rt_task_wait_period();
-       }
-               
-       run=0;
-
-       for(int i=0;i < 5;i++) pthread_join(pid_th[i],NULL);
-
-//     rt_make_soft_real_time();
-       rt_task_delete(tsk);
-       munlockall();
-
-       stop_rt_timer();
-
-       return 0;
-}

diff --git a/pid5/runinfo b/pid5/runinfo
deleted file mode 100644 (file)
index 478ce5e..0000000
--- a/pid5/runinfo
+++ /dev/null
@@ -1 +0,0 @@
-pid:lxrt:./pid 1;popall: