static struct lu_device *osc_device_alloc(const struct lu_env *env,
struct lu_device_type *t,
struct lustre_cfg *cfg)
{
struct lu_device *d;
struct osc_device *od;
struct obd_device *obd;
int rc;
od = kzalloc(sizeof(*od), GFP_NOFS);
if (!od)
return ERR_PTR(-ENOMEM);
cl_device_init(&od->od_cl, t);
d = osc2lu_dev(od);
d->ld_ops = &osc_lu_ops;
/* Setup OSC OBD */
obd = class_name2obd(lustre_cfg_string(cfg, 0));
LASSERT(obd);
rc = osc_setup(obd, cfg);
if (rc) {
osc_device_free(env, d);
return ERR_PTR(rc);
}
od->od_exp = obd->obd_self_export;
return d;
}
static struct lu_device *osc_device_alloc(const struct lu_env *env,
struct lu_device_type *t,
struct lustre_cfg *cfg)
{
struct lu_device *d;
struct osc_device *od;
struct obd_device *obd;
int rc;
OBD_ALLOC_PTR(od);
if (od == NULL)
RETURN(ERR_PTR(-ENOMEM));
cl_device_init(&od->od_cl, t);
d = osc2lu_dev(od);
d->ld_ops = &osc_lu_ops;
od->od_cl.cd_ops = &osc_cl_ops;
/* Setup OSC OBD */
obd = class_name2obd(lustre_cfg_string(cfg, 0));
LASSERT(obd != NULL);
rc = osc_setup(obd, cfg);
if (rc) {
osc_device_free(env, d);
RETURN(ERR_PTR(rc));
}
od->od_exp = obd->obd_self_export;
RETURN(d);
}
/* ----------------------- global setup routine ---------------- */
void d_osc_setup(void)
{
phasor_setup();
cos_setup();
osc_setup();
sigvcf_setup();
noise_setup();
}
int main(void)
{
volatile int is_done = 0;
osc_setup();
int_setup();
serial_setup();
m600_setup();
while (!is_done)
{
m600_request_t req;
m600_reply_t rep;
if (m600_read_request(&req) == -1)
continue ;
switch (req)
{
case M600_REQ_READ_CARD:
{
toggle_led(0);
rep.alarms = m600_read_card(rep.card_data);
break;
}
case M600_REQ_READ_ALARMS:
{
toggle_led(1);
rep.alarms = m600_read_alarms();
break;
}
default:
{
break;
}
}
m600_write_reply(&rep);
}
return 0;
}
void main(void)
{
sched_timer_t* light_timer;
sched_timer_t* dist_timer;
unsigned char is_light_disabled;
unsigned char is_dist_disabled;
osc_setup();
int_setup();
srf04_setup();
sched_setup();
behavior_setup();
/* sensor timers */
light_timer = sched_add_timer(2, on_light_timer, 1);
is_light_disabled = 0;
dist_timer = sched_add_timer(2, on_distance_timer, 1);
is_dist_disabled = 0;
/* default behaviour */
behavior_start(BEHAVIOR_ID_LAND_EXPLORER);
/* main loop */
sched_enable();
while (1)
{
/* sensors. order matters so that object
avoider takes priority over light tracker.
this can be removed as soon as behavior
priority is implemented.
*/
if (TIMER_MAP_ISSET(DISTANCE))
{
{
#define MIN_DISTANCE_VALUE 0x0a00 /* 20 cms */
unsigned int dist = srf04_get_distance(MIN_DISTANCE_VALUE);
if (dist <= MIN_DISTANCE_VALUE)
{
if (behavior_switch(BEHAVIOR_ID_OBJECT_AVOIDER) != -1)
{
sched_disable_timer(dist_timer);
is_dist_disabled = 1;
}
}
}
/* clear after the timer may have been disabled */
TIMER_MAP_CLEAR(DISTANCE);
}
if (TIMER_MAP_ISSET(LIGHT))
{
{
unsigned short light = adc_read(LIGHT_ADC_CHANNEL);
if ((light <= ADC_QUANTIZE_5_10(2.35)) || (light >= ADC_QUANTIZE_5_10(2.65)))
{
if (behavior_switch(BEHAVIOR_ID_LIGHT_TRACKER) != -1)
{
sched_disable_timer(light_timer);
is_light_disabled = 1;
}
}
}
TIMER_MAP_CLEAR(LIGHT);
}
/* schedule behavior */
behavior_next();
if (behavior_is_done())
{
/* reenable timer */
if (is_light_disabled)
{
sched_enable_timer(light_timer);
is_light_disabled = 0;
}
if (is_dist_disabled)
{
sched_enable_timer(dist_timer);
is_dist_disabled = 0;
}
/* switch to default behavior */
behavior_switch(BEHAVIOR_ID_DEFAULT);
}
}
}
