Commit ef3d05a1 authored by julien.delange's avatar julien.delange

import the exarm device driver



git-svn-id: https://tecsw.estec.esa.int/svn/taste/trunk/ocarina@966 129961e7-ef38-4bb5-a8f7-c9a525a55882
parent 4859b65c
......@@ -7,6 +7,7 @@ with deployment;
with ocarina_buses;
with Data_Model;
with Base_Types;
with ocarina_drivers_rasta_1553;
with ocarina_drivers_rasta_serial;
......@@ -19,6 +20,8 @@ with ocarina_drivers_serial;
with ocarina_drivers_ip_asn1;
with ocarina_drivers_ip_pohic;
with ocarina_drivers_ni_6071e;
------------------
-- RASTA 1553 --
------------------
......@@ -131,6 +134,14 @@ properties
Provided_Virtual_Bus_Class => (classifier (ocarina_buses::pohi.c));
end rtems_ne2000.ip_pohic;
------------------------------------------
-- Exarm UDP driver --
------------------------------------------
-- This driver is used to communicate --
-- with the exarm robot and also --
-- the Matlab simulator. --
------------------------------------------
device exarm
features
thebus : requires bus access ocarina_buses::ip.i;
......@@ -156,6 +167,25 @@ properties
Data_Model::Data_Representation => Struct;
end exarm_protocol_data.robot;
---------------------------------------
-- National Instruments PCI-6071E --
---------------------------------------
-- This device is used to make data --
-- acquisition of the EXARM robot. --
---------------------------------------
device ni_pci_6071e
features
data1 : out data port Base_Types::Integer;
end ni_pci_6071e;
device implementation ni_pci_6071e.i
properties
Deployment::Driver_Name => "ni_pci_6071e";
Device_Driver => classifier (ocarina_drivers_ni_6071e::driver.i);
Initialize_Entrypoint => classifier (ocarina_drivers_ni_6071e::spg_init);
end ni_pci_6071e.i;
end ocarina_drivers;
package ocarina_drivers_ni_6071e
public
subprogram spg_init
properties
Source_Language => C;
Source_Name => "__po_hi_c_driver_ni_pcimio_init";
end spg_init;
subprogram spg_poller
properties
Source_Language => C;
Source_Name => "__po_hi_c_driver_ni_pcimio_poller";
end spg_poller;
thread thr_poller
end thr_poller;
thread implementation thr_poller.i
calls
mycall : {
pspg : subprogram spg_poller;
};
properties
Period => 100 ms;
Dispatch_Protocol => Periodic;
end thr_poller.i;
abstract driver
end driver;
abstract implementation driver.i
subcomponents
poller : thread thr_poller.i;
end driver.i;
end ocarina_drivers_ni_6071e;
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