static void LaserTest() {
InitMotorBoard();
continueTest = true;
while (continueTest) {
TurnOnLaser();
MB_Sleep(1000);
TurnOffLaser();
MB_Sleep(1000);
}
}
void init_feedback_system(void) {
// Calibrating the sensor
PWM_SetParams(&instPWMTimer, PWM_FREQ_005KHZ, 0);
MB_Sleep(2000);
TSL235R_SetMinThreshold((void*) XPAR_TSL235R_0_S00_AXI_BASEADDR);
PWM_SetParams(&instPWMTimer, PWM_FREQ_005KHZ, 99);
MB_Sleep(2000);
TSL235R_SetMaxThreshold((void*) XPAR_TSL235R_0_S00_AXI_BASEADDR);
// Putting PWM in a know state before returning
PWM_SetParams(&instPWMTimer, PWM_FREQ_005KHZ, 0);
}
void DemoRun()
{
u32 count = 0;
u16 kypdStateNew, kypdStateOld, kypdIndex = 0;
xil_printf("starting...\n\r");
kypdStateOld = KYPD_getStatus(&myDevice);
while(1)
{
kypdStateNew = KYPD_getStatus(&myDevice);
for(count = 0; count < 16; count++)
{
kypdIndex = 1 << count;
if((kypdStateNew & kypdIndex) == 0)
{
//check if rising edge
if(((kypdStateNew & kypdIndex) == 0) && ((kypdStateOld & kypdIndex) != 0)){
xil_printf("%x pressed\n\r", myDevice.keyLookUp[count]);
}
//debounce
#ifdef XPAR_MICROBLAZE_ID
MB_Sleep(5);
#else
usleep(5000);
#endif
}
}
kypdStateOld = kypdStateNew;
}
}
void LED_Init(void) {
LEDPIN_Init();
/*while(1)
{
//MB_Sleep(1000);
LED_WrCmd(0xaa);
//MB_Sleep(1000);
XGpio_DiscreteWrite(&led2, reset_CHANNEL, 0x1);
XGpio_DiscreteWrite(&led1, reset_CHANNEL, 0x0);
}*/
XGpio_DiscreteWrite(&reset, reset_CHANNEL, 0x0);
//usleep(800);
MB_Sleep(80);
XGpio_DiscreteWrite(&reset, reset_CHANNEL, 0x1);
Set_Display_On_Off(0x00); // Display Off (0x00/0x01)
Set_Display_Clock(0x80); // Set Clock as 100 Frames/Sec
Set_Multiplex_Ratio(0x3F); // 1/64 Duty (0x0F~0x3F)
Set_Display_Offset(0x00); // Shift Mapping RAM Counter (0x00~0x3F)
SetStartLine(0x00); // Set Mapping RAM Display Start Line (0x00~0x3F)
Set_Charge_Pump(0x04); // Enable Embedded DC/DC Converter (0x00/0x04)
SetAddressingMode(0x02); // Set Page Addressing Mode (0x00/0x01/0x02)
Set_Segment_Remap(0x01); // Set SEG/Column Mapping 0x00左右反置 0x01正常
Set_Common_Remap(0x08); // Set COM/Row Scan Direction 0x00上下反置 0x08正常
Set_Common_Config(0x10); // Set Sequential Configuration (0x00/0x10)
SetContrastControl(0xCF); // Set SEG Output Current
Set_Precharge_Period(0xF1); // Set Pre-Charge as 15 Clocks & Discharge as 1 Clock
Set_VCOMH(0x40); // Set VCOM Deselect Level
Set_Entire_Display(0x00); // Disable Entire Display On (0x00/0x01)
Set_Inverse_Display(0x00); // Disable Inverse Display On (0x00/0x01)
Set_Display_On_Off(0x01); // Display On (0x00/0x01)
LED_Fill(0x00); //初始清屏
LED_Set_Pos(0, 0);
}
/***************************************************************************//**
* @brief mdelay
*******************************************************************************/
void mdelay(uint32_t msecs)
{
#ifdef _XPARAMETERS_PS_H_
usleep(msecs * 1000);
#else
MB_Sleep(msecs);
#endif
}
static void runImageProcessing(void) {
//video_set_input_frame(2);
video_set_input_enabled(0);
targeting_begin_transfer(&sAxiTargetingDma, sDebugOutputEnabled);
while(ip_busy()) MB_Sleep(200);
draw_debug_dots();
//video_set_input_frame(0);
video_set_input_enabled(1);
}
void ManualMainLoop(void) {
// Set up the turret control IP.
InitMotorBoard();
TurnOnLaser();
EnablePanServo();
EnableTiltServo();
SetTiltAngle(0);
SetPanAngle(0);
continueTest = true;
xil_printf("Entering manual mode.\r\n");
while(continueTest) {
// We allow users to press more than one button at a time.
if (sButtonState & BUTTON_LEFT) {
PanLeft(1);
}
if (sButtonState & BUTTON_RIGHT) {
PanRight(1);
}
if (sButtonState & BUTTON_UP) {
TiltUp(1);
}
if (sButtonState & BUTTON_DOWN) {
TiltDown(1);
}
MB_Sleep(7);
}
SetTiltAngle(0);
SetPanAngle(0);
MB_Sleep(100);
DisableTiltServo();
DisablePanServo();
TurnOffLaser();
}
void DemoRun()
{
CLS_DisplayClear(&myDevice);
strcpy(szInfo1, " PmodCLS Demo");
strcpy(szInfo2, " Hello World!");
CLS_WriteStringAtPos(&myDevice, 0, 0, szInfo1);
CLS_WriteStringAtPos(&myDevice, 1, 0, szInfo2);
#ifdef XPAR_MICROBLAZE_ID
MB_Sleep(1000);
#else
usleep(500000);
#endif
while(1){
CLS_DisplayClear(&myDevice);
strcpy(szInfo1, "->PmodCLS Demo<- ");
CLS_WriteStringAtPos(&myDevice, 0, 0, szInfo1);
CLS_WriteStringAtPos(&myDevice, 1, 0, szInfo2);
#ifdef XPAR_MICROBLAZE_ID
MB_Sleep(1000);
#else
usleep(500000);
#endif
CLS_DisplayClear(&myDevice);
strcpy(szInfo1, " PmodCLS Demo ");
CLS_WriteStringAtPos(&myDevice, 0, 0, szInfo1);
CLS_WriteStringAtPos(&myDevice, 1, 0, szInfo2);
#ifdef XPAR_MICROBLAZE_ID
MB_Sleep(1000);
#else
usleep(500000);
#endif
}
}
static void DisplayHeman(void) {
u32 *buff = (u32 *) FRAMES_BASE_ADDR;
SdFile *file = &sSdFileBoard[FILE_ID_HEMAN];
if (file->loaded) {
video_set_input_enabled(0);
memcpy(buff, file->baseAddr, file->length);
targeting_begin_transfer(&sAxiTargetingDma, 1);
MB_Sleep(3000);
video_set_input_enabled(1);
} else {
print("File not loaded; can't diplay!");
}
}
static void MotorPatternTest() {
InitMotorBoard();
TurnOnLaser();
EnablePanServo();
EnableTiltServo();
continueTest = true;
while (continueTest) {
for (int i = -60; i < 0; i++) {
SetPanAngle(i);
SetTiltAngle(i + 60);
MB_Sleep(15);
}
MB_Sleep(20);
for (int i = 0; i < 60; i++) {
SetPanAngle(i);
SetTiltAngle(60 - i);
MB_Sleep(15);
}
MB_Sleep(20);
for (int i = 60; i > 0; i--) {
SetPanAngle(i);
SetTiltAngle(i - 60);
MB_Sleep(15);
}
MB_Sleep(20);
for (int i = 0; i > -60; i--) {
SetPanAngle(i);
SetTiltAngle(-60 - i);
MB_Sleep(15);
}
MB_Sleep(20);
}
TurnOffLaser();
DisablePanServo();
DisableTiltServo();
}
void init_welcom(void) {
// display the greeting
PMDIO_LCD_setcursor(1,0);
PMDIO_LCD_wrstring(" Project 01 ");
PMDIO_LCD_setcursor(2,0);
PMDIO_LCD_wrstring(" by Chad Sutfin ");
NX4IO_setLEDs(0x0000FFFF);
MB_Sleep(2000);
NX4IO_setLEDs(0x00000000);
// write the static text to the display
PMDIO_LCD_clrd();
PMDIO_LCD_setcursor(1,0);
PMDIO_LCD_wrstring("G|FR: DCY: %");
PMDIO_LCD_setcursor(2,0);
PMDIO_LCD_wrstring("M|FR: DCY: %");
// turn off the LEDs and clear the seven segment display
NX4IO_setLEDs(0x00000000);
NX410_SSEG_setAllDigits(SSEGLO, CC_BLANK, CC_BLANK, CC_BLANK, CC_BLANK, DP_NONE);
NX410_SSEG_setAllDigits(SSEGHI, CC_BLANK, CC_BLANK, CC_BLANK, CC_BLANK, DP_NONE);
}
/**
*
* API to set high speed in card and host. Changes clock in host accordingly.
*
*
* @param InstancePtr is a pointer to the XSdPs instance.
*
* @return
* - XST_SUCCESS if successful.
* - XST_FAILURE if fail.
*
* @note None.
*
******************************************************************************/
int XSdPs_Change_BusSpeed(XSdPs *InstancePtr)
{
u32 Status = 0;
u32 StatusReg = 0x0;
u32 Arg = 0;
#if( ffconfigSDIO_DRIVER_USES_INTERRUPT == 0 )
u32 ulPollCount;
#endif
#ifndef MMC_CARD
/* u32 ClockReg; */
#ifdef __ICCARM__
#pragma data_alignment = 32
u8 ReadBuff[64];
#pragma data_alignment = 4
#else
u8 ReadBuff[64] __attribute__ ((aligned(32)));
#endif
u16 BlkCnt;
u16 BlkSize;
#endif
Xil_AssertNonvoid(InstancePtr != NULL);
Xil_AssertNonvoid(InstancePtr->IsReady == XIL_COMPONENT_IS_READY);
#ifndef MMC_CARD
BlkCnt = XSDPS_SWITCH_CMD_BLKCNT;
BlkSize = XSDPS_SWITCH_CMD_BLKSIZE;
BlkSize &= XSDPS_BLK_SIZE_MASK;
XSdPs_WriteReg16(InstancePtr->Config.BaseAddress,
XSDPS_BLK_SIZE_OFFSET, BlkSize);
XSdPs_SetupADMA2DescTbl(InstancePtr, BlkCnt, ReadBuff);
Xil_DCacheFlushRange( ( unsigned )ReadBuff, 64);
XSdPs_WriteReg16(InstancePtr->Config.BaseAddress,
XSDPS_XFER_MODE_OFFSET,
XSDPS_TM_DAT_DIR_SEL_MASK | XSDPS_TM_DMA_EN_MASK);
Arg = XSDPS_SWITCH_CMD_HS_SET;
Status = XSdPs_CmdTransfer(InstancePtr, CMD6, Arg, 1);
if (Status != XST_SUCCESS) {
Status = XST_FAILURE;
goto RETURN_PATH;
}
#if( ffconfigSDIO_DRIVER_USES_INTERRUPT != 0 )
StatusReg = XSdPs_WaitInterrupt( InstancePtr, XSDPS_INTR_ERR_MASK | XSDPS_INTR_TC_MASK );
if( ( StatusReg & XSDPS_INTR_TC_MASK ) != 0 )
{
Status = XST_SUCCESS;
}
else
{
Status = XST_FAILURE;
goto RETURN_PATH;
}
#else
/*
* Check for transfer complete
* Polling for response
* Limit the time spent here with a simpler counter 'ulPollCount'
*/
ulPollCount = 0;
do {
StatusReg = XSdPs_ReadReg16(InstancePtr->Config.BaseAddress,
XSDPS_NORM_INTR_STS_OFFSET);
if (StatusReg & XSDPS_INTR_ERR_MASK) {
/*
* Write to clear error bits
*/
XSdPs_WriteReg16(InstancePtr->Config.BaseAddress,
XSDPS_ERR_INTR_STS_OFFSET,
XSDPS_ERROR_INTR_ALL_MASK);
Status = XST_FAILURE;
goto RETURN_PATH;
}
ulPollCount++;
if( ulPollCount == POLLCOUNT_MAX )
{
Status = XST_FAILURE;
goto RETURN_PATH;
}
} while ((StatusReg & XSDPS_INTR_TC_MASK) == 0);
/*
* Write to clear bit
*/
XSdPs_WriteReg16(InstancePtr->Config.BaseAddress,
XSDPS_NORM_INTR_STS_OFFSET, XSDPS_INTR_TC_MASK);
#endif /* ffconfigSDIO_DRIVER_USES_INTERRUPT */
/*
* Change the clock frequency to 50 MHz
*/
Status = XSdPs_Change_ClkFreq(InstancePtr, XSDPS_CLK_50_MHZ);
if (Status != XST_SUCCESS) {
Status = XST_FAILURE;
goto RETURN_PATH;
}
StatusReg = XSdPs_ReadReg8(InstancePtr->Config.BaseAddress,
XSDPS_HOST_CTRL1_OFFSET);
StatusReg |= XSDPS_HC_SPEED_MASK;
XSdPs_WriteReg8(InstancePtr->Config.BaseAddress,
XSDPS_HOST_CTRL1_OFFSET,StatusReg);
Status = XSdPs_ReadReg(InstancePtr->Config.BaseAddress,
XSDPS_RESP0_OFFSET);
#else
Arg = XSDPS_MMC_HIGH_SPEED_ARG;
Status = XSdPs_CmdTransfer(InstancePtr, CMD6, Arg, 0);
if (Status != XST_SUCCESS) {
Status = XST_FAILURE;
goto RETURN_PATH;
}
#ifdef __arm__
usleep(XSDPS_MMC_DELAY_FOR_SWITCH);
#endif
#ifdef __MICROBLAZE__
/* 2 msec delay */
MB_Sleep(2);
#endif
XSdPs_Change_ClkFreq(InstancePtr, XSDPS_CLK_52_MHZ);
StatusReg = XSdPs_ReadReg8(InstancePtr->Config.BaseAddress,
XSDPS_HOST_CTRL1_OFFSET);
StatusReg |= XSDPS_HC_SPEED_MASK;
XSdPs_WriteReg8(InstancePtr->Config.BaseAddress,
XSDPS_HOST_CTRL1_OFFSET,StatusReg);
Status = XSdPs_ReadReg(InstancePtr->Config.BaseAddress,
XSDPS_RESP0_OFFSET);
#endif
Status = XST_SUCCESS;
RETURN_PATH:
return Status;
}
/**
*
* Identify type of card using CMD0 + CMD1 sequence
*
*
* @param InstancePtr is a pointer to the XSdPs instance.
*
******************************************************************************/
static s32 XSdPs_IdentifyCard(XSdPs *InstancePtr)
{
s32 Status;
u32 OperCondReg;
u8 ReadReg;
Xil_AssertNonvoid(InstancePtr != NULL);
Xil_AssertNonvoid(InstancePtr->IsReady == XIL_COMPONENT_IS_READY);
/* 74 CLK delay after card is powered up, before the first command. */
#if defined (__arm__) || defined (__aarch64__)
usleep(XSDPS_INIT_DELAY);
#endif
#ifdef __MICROBLAZE__
/* 2 msec delay */
MB_Sleep(2);
#endif
/* CMD0 no response expected */
Status = XSdPs_CmdTransfer(InstancePtr, CMD0, 0U, 0U);
if (Status != XST_SUCCESS) {
Status = XST_FAILURE;
goto RETURN_PATH;
}
/* Host High Capacity support & High voltage window */
Status = XSdPs_CmdTransfer(InstancePtr, CMD1,
XSDPS_ACMD41_HCS | XSDPS_CMD1_HIGH_VOL, 0U);
if (Status != XST_SUCCESS) {
InstancePtr->CardType = XSDPS_CARD_SD;
} else {
InstancePtr->CardType = XSDPS_CARD_MMC;
}
XSdPs_WriteReg16(InstancePtr->Config.BaseAddress,
XSDPS_NORM_INTR_STS_OFFSET, XSDPS_NORM_INTR_ALL_MASK);
XSdPs_WriteReg16(InstancePtr->Config.BaseAddress,
XSDPS_ERR_INTR_STS_OFFSET, XSDPS_ERROR_INTR_ALL_MASK);
/* "Software reset for all" is initiated */
XSdPs_WriteReg8(InstancePtr->Config.BaseAddress, XSDPS_SW_RST_OFFSET,
XSDPS_SWRST_CMD_LINE_MASK);
/* Proceed with initialization only after reset is complete */
ReadReg = XSdPs_ReadReg8(InstancePtr->Config.BaseAddress,
XSDPS_SW_RST_OFFSET);
while ((ReadReg & XSDPS_SWRST_CMD_LINE_MASK) != 0U) {
ReadReg = XSdPs_ReadReg8(InstancePtr->Config.BaseAddress,
XSDPS_SW_RST_OFFSET);
}
Status = XST_SUCCESS;
RETURN_PATH:
return Status;
}
/**
*
* Switches the SD card voltage from 3v3 to 1v8
*
*
* @param InstancePtr is a pointer to the XSdPs instance.
*
******************************************************************************/
static s32 XSdPs_Switch_Voltage(XSdPs *InstancePtr)
{
s32 Status;
u16 CtrlReg;
u32 ReadReg;
/* Send switch voltage command */
Status = XSdPs_CmdTransfer(InstancePtr, CMD11, 0U, 0U);
if (Status != XST_SUCCESS) {
Status = XST_FAILURE;
}
/* Wait for CMD and DATA line to go low */
ReadReg = XSdPs_ReadReg(InstancePtr->Config.BaseAddress,
XSDPS_PRES_STATE_OFFSET);
while ((ReadReg & (XSDPS_PSR_CMD_SG_LVL_MASK |
XSDPS_PSR_DAT30_SG_LVL_MASK)) != 0U) {
ReadReg = XSdPs_ReadReg(InstancePtr->Config.BaseAddress,
XSDPS_PRES_STATE_OFFSET);
}
/* Stop the clock */
CtrlReg = XSdPs_ReadReg16(InstancePtr->Config.BaseAddress,
XSDPS_CLK_CTRL_OFFSET);
CtrlReg &= ~(XSDPS_CC_SD_CLK_EN_MASK | XSDPS_CC_INT_CLK_EN_MASK);
XSdPs_WriteReg16(InstancePtr->Config.BaseAddress, XSDPS_CLK_CTRL_OFFSET,
CtrlReg);
/* Wait minimum 5mSec */
#if defined (__arm__) || defined (__aarch64__)
(void)usleep(5000U);
#endif
#ifdef __MICROBLAZE__
MB_Sleep(5U);
#endif
/* Enabling 1.8V in controller */
CtrlReg = XSdPs_ReadReg16(InstancePtr->Config.BaseAddress,
XSDPS_HOST_CTRL2_OFFSET);
CtrlReg |= XSDPS_HC2_1V8_EN_MASK;
XSdPs_WriteReg16(InstancePtr->Config.BaseAddress, XSDPS_HOST_CTRL2_OFFSET,
CtrlReg);
/* Start clock */
Status = XSdPs_Change_ClkFreq(InstancePtr, XSDPS_CLK_400_KHZ);
if (Status != XST_SUCCESS) {
Status = XST_FAILURE;
goto RETURN_PATH;
}
/* Wait for CMD and DATA line to go high */
ReadReg = XSdPs_ReadReg(InstancePtr->Config.BaseAddress,
XSDPS_PRES_STATE_OFFSET);
while ((ReadReg & (XSDPS_PSR_CMD_SG_LVL_MASK | XSDPS_PSR_DAT30_SG_LVL_MASK))
!= (XSDPS_PSR_CMD_SG_LVL_MASK | XSDPS_PSR_DAT30_SG_LVL_MASK)) {
ReadReg = XSdPs_ReadReg(InstancePtr->Config.BaseAddress,
XSDPS_PRES_STATE_OFFSET);
}
RETURN_PATH:
return Status;
}
/* CalibrateOneAxisGravitational
**
** Synopsis:
** CalibrateOneAxisGravitational(&ACLobj, PAR_AXIS_ZP);
** Parameters:
** PmodACL *InstancePtr - the PmodACL object to communicate with
** uint8_t bAxisInfo - Parameter specifying axes orientation. Can be one of the following:
** 0 PAR_AXIS_XP - X axis is oriented in the gravitational direction
** 1 PAR_AXIS_XN - X axis is oriented in the opposite gravitational direction
** 2 PAR_AXIS_YP - Y axis is oriented in the gravitational direction
** 3 PAR_AXIS_YN - Y axis is oriented in the opposite gravitational direction
** 4 PAR_AXIS_ZP - Z axis is oriented in the gravitational direction
** 5 PAR_AXIS_ZN - Z axis is oriented in the opposite gravitational direction
**
** Return Value:
**
** Errors:
**
**
** Description:
** The accepted argument values are between 0 and +5.
** This function performs the calibration of the accelerometer by setting the offset registers in the following manner:
** computes the correction factor that must be loaded in the offset registers so that the acceleration readings are:
** 1 for the gravitational axis, if positive orientation
** -1 for the gravitational axis, if negative orientation
** 0 for the other axes
** The accepted argument values are between 0 and 5.
** If the argument value is outside this range, the function does nothing.
**
*/
void CalibrateOneAxisGravitational(PmodACL* InstancePtr, uint8_t bAxisInfo)
{
// perform calibration
float dX, dSumX = 0, dY, dSumY = 0, dZ, dSumZ = 0;
// set the offset registers to 0
//Put the device into standby mode to configure it.
SetMeasure(InstancePtr,false);
SetOffsetG(InstancePtr, PAR_AXIS_X, 0);
SetOffsetG(InstancePtr, PAR_AXIS_Y, 0);
SetOffsetG(InstancePtr, PAR_AXIS_Z, 0);
SetMeasure(InstancePtr,true);
// read average acceleration on the three axes
int idxAvg;
int nCntMeasurements = 128;
// consume some readings
for(idxAvg = 0; idxAvg < nCntMeasurements; idxAvg++)
{
ReadAccelG(InstancePtr, &dX, &dY, &dZ);
}
// compute average values
for(idxAvg = 0; idxAvg < nCntMeasurements; idxAvg++)
{
ReadAccelG(InstancePtr, &dX, &dY, &dZ);
dSumX = dSumX + dX;
dSumY = dSumY + dY;
dSumZ = dSumZ + dZ;
}
dX = dSumX/nCntMeasurements;
dY = dSumY/nCntMeasurements;
dZ = dSumZ/nCntMeasurements;
// computes the correction that must be put in the offset registers so that the acceleration readings are:
// 1 (for the gravitational axis, if positive
// -1 (for the gravitational axis, if negative
// 0 (for the other axes)
switch (bAxisInfo)
{
case PAR_AXIS_XP:
dX = 1.0 - dX;
dY = 0.0 - dY;
dZ = 0.0 - dZ;
break;
case PAR_AXIS_XN:
dX = -1.0 - dX;
dY = 0.0 - dY;
dZ = 0.0 - dZ;
break;
case PAR_AXIS_YP:
dY = 1.0 - dY;
dX = 0.0 - dX;
dZ = 0.0 - dZ;
break;
case PAR_AXIS_YN:
dY = -1.0 - dY;
dX = 0.0 - dX;
dZ = 0.0 - dZ;
break;
case PAR_AXIS_ZP:
dZ = 1.0 - dZ;
dY = 0.0 - dY;
dX = 0.0 - dX;
break;
case PAR_AXIS_ZN:
dZ = -1.0 - dZ;
dY = 0.0 - dY;
dX = 0.0 - dX;
break;
}
//Put the device into standby mode to configure it.
SetMeasure(InstancePtr, false);
// set the offset data to registers
SetOffsetG(InstancePtr, PAR_AXIS_X, dX);
SetOffsetG(InstancePtr, PAR_AXIS_Y, dY);
SetOffsetG(InstancePtr, PAR_AXIS_Z, dZ);
SetMeasure(InstancePtr, true);
// some delay is needed
MB_Sleep(1000);
}
/**
*
* Initializes a specific XSdPs instance such that the driver is ready to use.
*
*
* @param InstancePtr is a pointer to the XSdPs instance.
* @param ConfigPtr is a reference to a structure containing information
* about a specific SD device. This function initializes an
* InstancePtr object for a specific device specified by the
* contents of Config.
* @param EffectiveAddr is the device base address in the virtual memory
* address space. The caller is responsible for keeping the address
* mapping from EffectiveAddr to the device physical base address
* unchanged once this function is invoked. Unexpected errors may
* occur if the address mapping changes after this function is
* called. If address translation is not used, use
* ConfigPtr->Config.BaseAddress for this device.
*
* @return
* - XST_SUCCESS if successful.
* - XST_DEVICE_IS_STARTED if the device is already started.
* It must be stopped to re-initialize.
*
* @note This function initializes the host controller.
* Initial clock of 400KHz is set.
* Voltage of 3.3V is selected as that is supported by host.
* Interrupts status is enabled and signal disabled by default.
* Default data direction is card to host and
* 32 bit ADMA2 is selected. Defualt Block size is 512 bytes.
*
******************************************************************************/
s32 XSdPs_CfgInitialize(XSdPs *InstancePtr, XSdPs_Config *ConfigPtr,
u32 EffectiveAddr)
{
s32 Status;
u8 PowerLevel;
u8 ReadReg;
Xil_AssertNonvoid(InstancePtr != NULL);
Xil_AssertNonvoid(ConfigPtr != NULL);
/* Set some default values. */
InstancePtr->Config.BaseAddress = EffectiveAddr;
InstancePtr->Config.InputClockHz = ConfigPtr->InputClockHz;
InstancePtr->IsReady = XIL_COMPONENT_IS_READY;
InstancePtr->Config.CardDetect = ConfigPtr->CardDetect;
InstancePtr->Config.WriteProtect = ConfigPtr->WriteProtect;
/* Disable bus power */
XSdPs_WriteReg8(InstancePtr->Config.BaseAddress,
XSDPS_POWER_CTRL_OFFSET, 0U);
/* Delay to poweroff card */
#if defined (__arm__) || defined (__aarch64__)
(void)sleep(1U);
#endif
#ifdef __MICROBLAZE__
MB_Sleep(1000U);
#endif
/* "Software reset for all" is initiated */
XSdPs_WriteReg8(InstancePtr->Config.BaseAddress, XSDPS_SW_RST_OFFSET,
XSDPS_SWRST_ALL_MASK);
/* Proceed with initialization only after reset is complete */
ReadReg = XSdPs_ReadReg8(InstancePtr->Config.BaseAddress,
XSDPS_SW_RST_OFFSET);
while ((ReadReg & XSDPS_SWRST_ALL_MASK) != 0U) {
ReadReg = XSdPs_ReadReg8(InstancePtr->Config.BaseAddress,
XSDPS_SW_RST_OFFSET);
}
/* Host Controller version is read. */
InstancePtr->HC_Version =
(u8)(XSdPs_ReadReg16(InstancePtr->Config.BaseAddress,
XSDPS_HOST_CTRL_VER_OFFSET) & XSDPS_HC_SPEC_VER_MASK);
/*
* Read capabilities register and update it in Instance pointer.
* It is sufficient to read this once on power on.
*/
InstancePtr->Host_Caps = XSdPs_ReadReg(InstancePtr->Config.BaseAddress,
XSDPS_CAPS_OFFSET);
/* Select voltage and enable bus power. */
XSdPs_WriteReg8(InstancePtr->Config.BaseAddress,
XSDPS_POWER_CTRL_OFFSET,
XSDPS_PC_BUS_VSEL_3V3_MASK | XSDPS_PC_BUS_PWR_MASK);
/* Change the clock frequency to 400 KHz */
Status = XSdPs_Change_ClkFreq(InstancePtr, XSDPS_CLK_400_KHZ);
if (Status != XST_SUCCESS) {
Status = XST_FAILURE;
goto RETURN_PATH ;
}
if ((InstancePtr->Host_Caps & XSDPS_CAP_VOLT_3V3_MASK) != 0U) {
PowerLevel = XSDPS_PC_BUS_VSEL_3V3_MASK;
} else if ((InstancePtr->Host_Caps & XSDPS_CAP_VOLT_3V0_MASK) != 0U) {
PowerLevel = XSDPS_PC_BUS_VSEL_3V0_MASK;
} else if ((InstancePtr->Host_Caps & XSDPS_CAP_VOLT_1V8_MASK) != 0U) {
PowerLevel = XSDPS_PC_BUS_VSEL_1V8_MASK;
} else {
PowerLevel = 0U;
}
/* Select voltage based on capability and enable bus power. */
XSdPs_WriteReg8(InstancePtr->Config.BaseAddress,
XSDPS_POWER_CTRL_OFFSET,
PowerLevel | XSDPS_PC_BUS_PWR_MASK);
/* Enable ADMA2 in 64bit mode. */
XSdPs_WriteReg8(InstancePtr->Config.BaseAddress,
XSDPS_HOST_CTRL1_OFFSET,
XSDPS_HC_DMA_ADMA2_32_MASK);
/* Enable all interrupt status except card interrupt initially */
XSdPs_WriteReg16(InstancePtr->Config.BaseAddress,
XSDPS_NORM_INTR_STS_EN_OFFSET,
XSDPS_NORM_INTR_ALL_MASK & (~XSDPS_INTR_CARD_MASK));
XSdPs_WriteReg16(InstancePtr->Config.BaseAddress,
XSDPS_ERR_INTR_STS_EN_OFFSET,
XSDPS_ERROR_INTR_ALL_MASK);
/* Disable all interrupt signals by default. */
XSdPs_WriteReg16(InstancePtr->Config.BaseAddress,
XSDPS_NORM_INTR_SIG_EN_OFFSET, 0x0U);
XSdPs_WriteReg16(InstancePtr->Config.BaseAddress,
XSDPS_ERR_INTR_SIG_EN_OFFSET, 0x0U);
/*
* Transfer mode register - default value
* DMA enabled, block count enabled, data direction card to host(read)
*/
XSdPs_WriteReg16(InstancePtr->Config.BaseAddress,
XSDPS_XFER_MODE_OFFSET,
XSDPS_TM_DMA_EN_MASK | XSDPS_TM_BLK_CNT_EN_MASK |
XSDPS_TM_DAT_DIR_SEL_MASK);
/* Set block size to 512 by default */
XSdPs_WriteReg16(InstancePtr->Config.BaseAddress,
XSDPS_BLK_SIZE_OFFSET, XSDPS_BLK_SIZE_512_MASK);
Status = XST_SUCCESS;
RETURN_PATH:
return Status;
}
/**
*
* API to set high speed in card and host. Changes clock in host accordingly.
*
*
* @param InstancePtr is a pointer to the XSdPs instance.
*
* @return
* - XST_SUCCESS if successful.
* - XST_FAILURE if fail.
*
* @note None.
*
******************************************************************************/
s32 XSdPs_Change_BusSpeed(XSdPs *InstancePtr)
{
s32 Status;
u32 StatusReg;
u32 Arg;
u32 ClockReg;
u16 BlkCnt;
u16 BlkSize;
u8 ReadBuff[64];
Xil_AssertNonvoid(InstancePtr != NULL);
Xil_AssertNonvoid(InstancePtr->IsReady == XIL_COMPONENT_IS_READY);
if (InstancePtr->CardType == XSDPS_CARD_SD) {
BlkCnt = XSDPS_SWITCH_CMD_BLKCNT;
BlkSize = XSDPS_SWITCH_CMD_BLKSIZE;
BlkSize &= XSDPS_BLK_SIZE_MASK;
XSdPs_WriteReg16(InstancePtr->Config.BaseAddress,
XSDPS_BLK_SIZE_OFFSET, BlkSize);
XSdPs_SetupADMA2DescTbl(InstancePtr, BlkCnt, ReadBuff);
Xil_DCacheFlushRange((INTPTR)ReadBuff, 64);
XSdPs_WriteReg16(InstancePtr->Config.BaseAddress,
XSDPS_XFER_MODE_OFFSET,
XSDPS_TM_DAT_DIR_SEL_MASK | XSDPS_TM_DMA_EN_MASK);
Arg = XSDPS_SWITCH_CMD_HS_SET;
Status = XSdPs_CmdTransfer(InstancePtr, CMD6, Arg, 1U);
if (Status != XST_SUCCESS) {
Status = XST_FAILURE;
goto RETURN_PATH;
}
/*
* Check for transfer complete
* Polling for response for now
*/
do {
StatusReg = XSdPs_ReadReg16(InstancePtr->Config.BaseAddress,
XSDPS_NORM_INTR_STS_OFFSET);
if ((StatusReg & XSDPS_INTR_ERR_MASK) != 0U) {
/* Write to clear error bits */
XSdPs_WriteReg16(InstancePtr->Config.BaseAddress,
XSDPS_ERR_INTR_STS_OFFSET,
XSDPS_ERROR_INTR_ALL_MASK);
Status = XST_FAILURE;
goto RETURN_PATH;
}
} while ((StatusReg & XSDPS_INTR_TC_MASK) == 0U);
/* Write to clear bit */
XSdPs_WriteReg16(InstancePtr->Config.BaseAddress,
XSDPS_NORM_INTR_STS_OFFSET, XSDPS_INTR_TC_MASK);
/* Change the clock frequency to 50 MHz */
InstancePtr->BusSpeed = XSDPS_CLK_50_MHZ;
Status = XSdPs_Change_ClkFreq(InstancePtr, InstancePtr->BusSpeed);
if (Status != XST_SUCCESS) {
Status = XST_FAILURE;
goto RETURN_PATH;
}
} else if (InstancePtr->CardType == XSDPS_CARD_MMC) {
Arg = XSDPS_MMC_HIGH_SPEED_ARG;
Status = XSdPs_CmdTransfer(InstancePtr, CMD6, Arg, 0U);
if (Status != XST_SUCCESS) {
Status = XST_FAILURE;
goto RETURN_PATH;
}
/*
* Check for transfer complete
*/
do {
StatusReg = XSdPs_ReadReg16(InstancePtr->Config.BaseAddress,
XSDPS_NORM_INTR_STS_OFFSET);
if ((StatusReg & XSDPS_INTR_ERR_MASK) != 0U) {
/*
* Write to clear error bits
*/
XSdPs_WriteReg16(InstancePtr->Config.BaseAddress,
XSDPS_ERR_INTR_STS_OFFSET,
XSDPS_ERROR_INTR_ALL_MASK);
Status = XST_FAILURE;
goto RETURN_PATH;
}
} while ((StatusReg & XSDPS_INTR_TC_MASK) == 0U);
/*
* Write to clear bit
*/
XSdPs_WriteReg16(InstancePtr->Config.BaseAddress,
XSDPS_NORM_INTR_STS_OFFSET, XSDPS_INTR_TC_MASK);
/* Change the clock frequency to 52 MHz */
InstancePtr->BusSpeed = XSDPS_CLK_52_MHZ;
Status = XSdPs_Change_ClkFreq(InstancePtr, XSDPS_CLK_52_MHZ);
if (Status != XST_SUCCESS) {
Status = XST_FAILURE;
goto RETURN_PATH;
}
} else {
Arg = XSDPS_MMC_HS200_ARG;
Status = XSdPs_CmdTransfer(InstancePtr, CMD6, Arg, 0U);
if (Status != XST_SUCCESS) {
Status = XST_FAILURE;
goto RETURN_PATH;
}
/*
* Check for transfer complete
*/
do {
StatusReg = XSdPs_ReadReg16(InstancePtr->Config.BaseAddress,
XSDPS_NORM_INTR_STS_OFFSET);
if ((StatusReg & XSDPS_INTR_ERR_MASK) != 0U) {
/*
* Write to clear error bits
*/
XSdPs_WriteReg16(InstancePtr->Config.BaseAddress,
XSDPS_ERR_INTR_STS_OFFSET,
XSDPS_ERROR_INTR_ALL_MASK);
Status = XST_FAILURE;
goto RETURN_PATH;
}
} while ((StatusReg & XSDPS_INTR_TC_MASK) == 0U);
/*
* Write to clear bit
*/
XSdPs_WriteReg16(InstancePtr->Config.BaseAddress,
XSDPS_NORM_INTR_STS_OFFSET, XSDPS_INTR_TC_MASK);
/* Change the clock frequency to 200 MHz */
InstancePtr->BusSpeed = XSDPS_MMC_HS200_MAX_CLK;
Status = XSdPs_Change_ClkFreq(InstancePtr, InstancePtr->BusSpeed);
if (Status != XST_SUCCESS) {
Status = XST_FAILURE;
goto RETURN_PATH;
}
Status = XSdPs_Execute_Tuning(InstancePtr);
if (Status != XST_SUCCESS) {
Status = XST_FAILURE;
goto RETURN_PATH;
}
#if defined (__arm__) || defined (__aarch64__)
/* Program the Tap delays */
XSdPs_SetTapDelay(InstancePtr);
#endif
}
#if defined (__arm__) || defined (__aarch64__)
usleep(XSDPS_MMC_DELAY_FOR_SWITCH);
#endif
#ifdef __MICROBLAZE__
/* 2 msec delay */
MB_Sleep(2);
#endif
StatusReg = (s32)XSdPs_ReadReg8(InstancePtr->Config.BaseAddress,
XSDPS_HOST_CTRL1_OFFSET);
StatusReg |= XSDPS_HC_SPEED_MASK;
XSdPs_WriteReg8(InstancePtr->Config.BaseAddress,
XSDPS_HOST_CTRL1_OFFSET, (u8)StatusReg);
Status = (s32)XSdPs_ReadReg(InstancePtr->Config.BaseAddress,
XSDPS_RESP0_OFFSET);
Status = XST_SUCCESS;
RETURN_PATH:
return Status;
}
/**
* Mmc initialization is done in this function
*
*
* @param InstancePtr is a pointer to the instance to be worked on.
*
* @return
* - XST_SUCCESS if initialization was successful
* - XST_FAILURE if failure - could be because
* a) MMC is already initialized
* b) There is no card inserted
* c) One of the steps (commands) in the initialization
* cycle failed
* @note This function initializes the SD card by following its
* initialization and identification state diagram.
* CMD0 is sent to reset card.
* CMD1 sent to identify voltage and high capacity support
* CMD2 and CMD3 are sent to obtain Card ID and
* Relative card address respectively.
* CMD9 is sent to read the card specific data.
*
******************************************************************************/
int XSdPs_MmcCardInitialize(XSdPs *InstancePtr)
{
u32 PresentStateReg;
u32 Status;
u32 RespOCR = 0x0;
u32 CSD[4];
Xil_AssertNonvoid(InstancePtr != NULL);
Xil_AssertNonvoid(InstancePtr->IsReady == XIL_COMPONENT_IS_READY);
/*
* Check the present state register to make sure
* card is inserted and detected by host controller
*/
PresentStateReg = XSdPs_ReadReg(InstancePtr->Config.BaseAddress,
XSDPS_PRES_STATE_OFFSET);
if ((PresentStateReg & XSDPS_PSR_CARD_INSRT_MASK) == 0) {
Status = XST_FAILURE;
goto RETURN_PATH;
}
/*
* 74 CLK delay after card is powered up, before the first command.
*/
#ifdef __arm__
usleep(XSDPS_INIT_DELAY);
#endif
#ifdef __MICROBLAZE__
/* 2 msec delay */
MB_Sleep(2);
#endif
/*
* CMD0 no response expected
*/
Status = XSdPs_CmdTransfer(InstancePtr, CMD0, 0, 0);
if (Status != XST_SUCCESS) {
Status = XST_FAILURE;
goto RETURN_PATH;
}
RespOCR = 0;
/*
* Send CMD1 while card is still busy with power up
*/
while ((RespOCR & XSDPS_RESPOCR_READY) == 0) {
/*
* Host High Capacity support & High volage window
*/
Status = XSdPs_CmdTransfer(InstancePtr, CMD1,
XSDPS_ACMD41_HCS | XSDPS_CMD1_HIGH_VOL, 0);
if (Status != XST_SUCCESS) {
Status = XST_FAILURE;
goto RETURN_PATH;
}
/*
* Response with card capacity
*/
RespOCR = XSdPs_ReadReg(InstancePtr->Config.BaseAddress,
XSDPS_RESP0_OFFSET);
}
/*
* Update HCS support flag based on card capacity response
*/
if (RespOCR & XSDPS_ACMD41_HCS)
InstancePtr->HCS = 1;
/*
* CMD2 for Card ID
*/
Status = XSdPs_CmdTransfer(InstancePtr, CMD2, 0, 0);
if (Status != XST_SUCCESS) {
Status = XST_FAILURE;
goto RETURN_PATH;
}
InstancePtr->CardID[0] =
XSdPs_ReadReg16(InstancePtr->Config.BaseAddress,
XSDPS_RESP0_OFFSET);
InstancePtr->CardID[1] =
XSdPs_ReadReg16(InstancePtr->Config.BaseAddress,
XSDPS_RESP1_OFFSET);
InstancePtr->CardID[2] =
XSdPs_ReadReg16(InstancePtr->Config.BaseAddress,
XSDPS_RESP2_OFFSET);
InstancePtr->CardID[3] =
XSdPs_ReadReg16(InstancePtr->Config.BaseAddress,
XSDPS_RESP3_OFFSET);
Status = XSdPs_CmdTransfer(InstancePtr, CMD3, 0, 0);
if (Status != XST_SUCCESS) {
Status = XST_FAILURE;
goto RETURN_PATH;
}
/*
* Relative card address is stored as the upper 16 bits
* This is to avoid shifting when sending commands
*/
InstancePtr->RelCardAddr =
XSdPs_ReadReg(InstancePtr->Config.BaseAddress,
XSDPS_RESP0_OFFSET) & 0xFFFF0000;
Status = XSdPs_CmdTransfer(InstancePtr, CMD9, (InstancePtr->RelCardAddr), 0);
if (Status != XST_SUCCESS) {
Status = XST_FAILURE;
goto RETURN_PATH;
}
/*
* Card specific data is read.
* Currently not used for any operation.
*/
CSD[0] = XSdPs_ReadReg(InstancePtr->Config.BaseAddress,
XSDPS_RESP0_OFFSET);
CSD[1] = XSdPs_ReadReg(InstancePtr->Config.BaseAddress,
XSDPS_RESP1_OFFSET);
CSD[2] = XSdPs_ReadReg(InstancePtr->Config.BaseAddress,
XSDPS_RESP2_OFFSET);
CSD[3] = XSdPs_ReadReg(InstancePtr->Config.BaseAddress,
XSDPS_RESP3_OFFSET);
Status = XST_SUCCESS;
RETURN_PATH:
return Status;
}
/**
*
* API to set bus width to 4-bit in card and host
*
*
* @param InstancePtr is a pointer to the XSdPs instance.
*
* @return
* - XST_SUCCESS if successful.
* - XST_FAILURE if fail.
*
* @note None.
*
******************************************************************************/
int XSdPs_Change_BusWidth(XSdPs *InstancePtr)
{
u32 Status = 0;
u32 StatusReg = 0x0;
u32 Arg = 0;
Xil_AssertNonvoid(InstancePtr != NULL);
Xil_AssertNonvoid(InstancePtr->IsReady == XIL_COMPONENT_IS_READY);
if (InstancePtr->CardType == XSDPS_CARD_SD) {
Status = XSdPs_CmdTransfer(InstancePtr, CMD55, InstancePtr->RelCardAddr,
0);
if (Status != XST_SUCCESS) {
Status = XST_FAILURE;
goto RETURN_PATH;
}
InstancePtr->BusWidth = XSDPS_4_BIT_WIDTH;
Arg = InstancePtr->BusWidth;
Status = XSdPs_CmdTransfer(InstancePtr, ACMD6, Arg, 0);
if (Status != XST_SUCCESS) {
Status = XST_FAILURE;
goto RETURN_PATH;
}
} else {
if ((InstancePtr->HC_Version == XSDPS_HC_SPEC_V3)
&& (InstancePtr->CardType == XSDPS_CHIP_EMMC)) {
/* in case of eMMC data width 8-bit */
InstancePtr->BusWidth = XSDPS_8_BIT_WIDTH;
} else {
InstancePtr->BusWidth = XSDPS_4_BIT_WIDTH;
}
if (InstancePtr->BusWidth == XSDPS_8_BIT_WIDTH) {
Arg = XSDPS_MMC_8_BIT_BUS_ARG;
} else {
Arg = XSDPS_MMC_4_BIT_BUS_ARG;
}
Status = XSdPs_CmdTransfer(InstancePtr, CMD6, Arg, 0);
if (Status != XST_SUCCESS) {
Status = XST_FAILURE;
goto RETURN_PATH;
}
}
#ifdef __arm__
usleep(XSDPS_MMC_DELAY_FOR_SWITCH);
#endif
#ifdef __MICROBLAZE__
/* 2 msec delay */
MB_Sleep(2);
#endif
StatusReg = XSdPs_ReadReg8(InstancePtr->Config.BaseAddress,
XSDPS_HOST_CTRL1_OFFSET);
/* Width setting in controller */
if (InstancePtr->BusWidth == XSDPS_8_BIT_WIDTH) {
StatusReg |= XSDPS_HC_EXT_BUS_WIDTH;
} else {
StatusReg |= XSDPS_HC_WIDTH_MASK;
}
XSdPs_WriteReg8(InstancePtr->Config.BaseAddress,
XSDPS_HOST_CTRL1_OFFSET,
StatusReg);
Status = XSdPs_ReadReg(InstancePtr->Config.BaseAddress,
XSDPS_RESP0_OFFSET);
Status = XST_SUCCESS;
RETURN_PATH:
return Status;
}
/**
*
* API to set bus width to 4-bit in card and host
*
*
* @param InstancePtr is a pointer to the XSdPs instance.
*
* @return
* - XST_SUCCESS if successful.
* - XST_FAILURE if fail.
*
* @note None.
*
******************************************************************************/
s32 XSdPs_Change_BusWidth(XSdPs *InstancePtr)
{
s32 Status;
u32 StatusReg;
u32 Arg;
Xil_AssertNonvoid(InstancePtr != NULL);
Xil_AssertNonvoid(InstancePtr->IsReady == XIL_COMPONENT_IS_READY);
if (InstancePtr->CardType == XSDPS_CARD_SD) {
Status = XSdPs_CmdTransfer(InstancePtr, CMD55, InstancePtr->RelCardAddr,
0U);
if (Status != XST_SUCCESS) {
Status = XST_FAILURE;
goto RETURN_PATH;
}
InstancePtr->BusWidth = XSDPS_4_BIT_WIDTH;
Arg = ((u32)InstancePtr->BusWidth);
Status = XSdPs_CmdTransfer(InstancePtr, ACMD6, Arg, 0U);
if (Status != XST_SUCCESS) {
Status = XST_FAILURE;
goto RETURN_PATH;
}
} else {
if ((InstancePtr->HC_Version == XSDPS_HC_SPEC_V3)
&& (InstancePtr->CardType == XSDPS_CHIP_EMMC)) {
/* in case of eMMC data width 8-bit */
InstancePtr->BusWidth = XSDPS_8_BIT_WIDTH;
} else {
InstancePtr->BusWidth = XSDPS_4_BIT_WIDTH;
}
if (InstancePtr->BusWidth == XSDPS_8_BIT_WIDTH) {
Arg = XSDPS_MMC_8_BIT_BUS_ARG;
} else {
Arg = XSDPS_MMC_4_BIT_BUS_ARG;
}
Status = XSdPs_CmdTransfer(InstancePtr, CMD6, Arg, 0U);
if (Status != XST_SUCCESS) {
Status = XST_FAILURE;
goto RETURN_PATH;
}
/* Check for transfer complete */
do {
StatusReg = XSdPs_ReadReg16(InstancePtr->Config.BaseAddress,
XSDPS_NORM_INTR_STS_OFFSET);
if ((StatusReg & XSDPS_INTR_ERR_MASK) != 0U) {
/* Write to clear error bits */
XSdPs_WriteReg16(InstancePtr->Config.BaseAddress,
XSDPS_ERR_INTR_STS_OFFSET,
XSDPS_ERROR_INTR_ALL_MASK);
Status = XST_FAILURE;
goto RETURN_PATH;
}
} while((StatusReg & XSDPS_INTR_TC_MASK) == 0U);
/* Write to clear bit */
XSdPs_WriteReg16(InstancePtr->Config.BaseAddress,
XSDPS_NORM_INTR_STS_OFFSET, XSDPS_INTR_TC_MASK);
}
#if defined (__arm__) || defined (__aarch64__)
usleep(XSDPS_MMC_DELAY_FOR_SWITCH);
#endif
#ifdef __MICROBLAZE__
/* 2 msec delay */
MB_Sleep(2);
#endif
StatusReg = XSdPs_ReadReg8(InstancePtr->Config.BaseAddress,
XSDPS_HOST_CTRL1_OFFSET);
/* Width setting in controller */
if (InstancePtr->BusWidth == XSDPS_8_BIT_WIDTH) {
StatusReg |= XSDPS_HC_EXT_BUS_WIDTH;
} else {
StatusReg |= XSDPS_HC_WIDTH_MASK;
}
XSdPs_WriteReg8(InstancePtr->Config.BaseAddress,
XSDPS_HOST_CTRL1_OFFSET,
(u8)StatusReg);
Status = (s32)XSdPs_ReadReg(InstancePtr->Config.BaseAddress,
XSDPS_RESP0_OFFSET);
Status = XST_SUCCESS;
RETURN_PATH:
return Status;
}
void DemoRun()
{
int nextFrame = 0;
char userInput = 0;
u32 locked;
XGpio *GpioPtr = &videoCapt.gpio;
/* Flush UART FIFO */
while (!XUartLite_IsReceiveEmpty(UART_BASEADDR))
{
XUartLite_ReadReg(UART_BASEADDR, XUL_RX_FIFO_OFFSET);
}
while (userInput != 'q')
{
fRefresh = 0;
DemoPrintMenu();
/* Wait for data on UART */
while (XUartLite_IsReceiveEmpty(UART_BASEADDR) && !fRefresh)
{}
/* Store the first character in the UART receive FIFO and echo it */
if (!XUartLite_IsReceiveEmpty(UART_BASEADDR))
{
userInput = XUartLite_ReadReg(UART_BASEADDR, XUL_RX_FIFO_OFFSET);
xil_printf("%c", userInput);
}
else //Refresh triggered by video detect interrupt
{
userInput = 'r';
}
switch (userInput)
{
case '1':
DemoChangeRes();
break;
case '2':
nextFrame = dispCtrl.curFrame + 1;
if (nextFrame >= DISPLAY_NUM_FRAMES)
{
nextFrame = 0;
}
DisplayChangeFrame(&dispCtrl, nextFrame);
break;
case '3':
DemoPrintTest(pFrames[dispCtrl.curFrame], dispCtrl.vMode.width, dispCtrl.vMode.height, DEMO_STRIDE, DEMO_PATTERN_0);
break;
case '4':
DemoPrintTest(pFrames[dispCtrl.curFrame], dispCtrl.vMode.width, dispCtrl.vMode.height, DEMO_STRIDE, DEMO_PATTERN_1);
break;
case '5':
if (videoCapt.state == VIDEO_STREAMING)
VideoStop(&videoCapt);
else
VideoStart(&videoCapt);
break;
case '6':
nextFrame = videoCapt.curFrame + 1;
if (nextFrame >= DISPLAY_NUM_FRAMES)
{
nextFrame = 0;
}
VideoChangeFrame(&videoCapt, nextFrame);
break;
case '7':
nextFrame = videoCapt.curFrame + 1;
if (nextFrame >= DISPLAY_NUM_FRAMES)
{
nextFrame = 0;
}
VideoStop(&videoCapt);
DemoInvertFrame(pFrames[videoCapt.curFrame], pFrames[nextFrame], videoCapt.timing.HActiveVideo, videoCapt.timing.VActiveVideo, DEMO_STRIDE);
VideoStart(&videoCapt);
DisplayChangeFrame(&dispCtrl, nextFrame);
break;
case '8':
nextFrame = videoCapt.curFrame + 1;
if (nextFrame >= DISPLAY_NUM_FRAMES)
{
nextFrame = 0;
}
VideoStop(&videoCapt);
DemoScaleFrame(pFrames[videoCapt.curFrame], pFrames[nextFrame], videoCapt.timing.HActiveVideo, videoCapt.timing.VActiveVideo, dispCtrl.vMode.width, dispCtrl.vMode.height, DEMO_STRIDE);
VideoStart(&videoCapt);
DisplayChangeFrame(&dispCtrl, nextFrame);
break;
case 'q':
break;
case 'r':
locked = XGpio_DiscreteRead(GpioPtr, 2);
xil_printf("%d", locked);
break;
default :
xil_printf("\n\rInvalid Selection");
MB_Sleep(50);
}
}
return;
}
static void AutoMainLoop(void) {
int x_diff;
int y_diff;
int x_adj;
int y_adj;
InitMotorBoard();
TurnOnLaser();
EnablePanServo();
EnableTiltServo();
SetTiltAngle(DEFAULT_X_POS);
SetPanAngle(DEFAULT_Y_POS);
int acquired = 0;
int sleep_interval;
continueTest = true;
xil_printf("Entering auto mode.\r\n");
while(continueTest) {
runImageProcessing();
SetObjIdValue(1);
TargetingState state = get_targeting_state();
int target_x = state.target_loc.x;
int target_y = state.target_loc.y;
u32 target_size = state.target_size;
xil_printf(
"Targeting state: Laser = (%d,%d); Obj = (%d, %d) [sz=%d]\n\r",
state.laser.x, state.laser.y, target_x, target_y, target_size);
if (state.laser.x == 0 && state.laser.y == 0) {
SetPanAngle(DEFAULT_X_POS);
SetTiltAngle(DEFAULT_Y_POS);
playNeg();
goto loop_sleep;
}
// Get the diffs in both dimensions.
//x_diff = X_MIDDLE;
//y_diff = Y_MIDDLE;
x_diff = (target_x - state.laser.x);
y_diff = (state.laser.y - target_y);
// Determine how much to adjust the angles.
x_adj = (x_diff > 0) ? x_diff : -x_diff;
x_adj /= 16;
int MAX_ANGLE = 10;
if (x_adj > MAX_ANGLE) {
x_adj = MAX_ANGLE;
} else if (x_adj == 0 && x_diff != 0) {
x_adj = 1;
}
y_adj = (y_diff > 0) ? y_diff : -y_diff;
y_adj /= 16;
if (y_adj > MAX_ANGLE) {
y_adj = MAX_ANGLE;
} else if (y_adj == 0 && y_diff != 0) {
y_adj = 1;
}
// Adjust laser position to correct for these diffs.
if (x_diff > LASER_TOLERANCE) {
xil_printf("Need to move laser right by %d deg\r\n", x_adj);
PanRight(x_adj);
} else if (x_diff < -LASER_TOLERANCE) {
xil_printf("Need to move laser left by %d deg\r\n", x_adj);
PanLeft(x_adj);
} else {
xil_printf("X location on target!\r\n");
}
if (y_diff > LASER_TOLERANCE) {
xil_printf("Need to move laser up by %d deg\r\n", y_adj);
TiltUp(y_adj);
} else if (y_diff < -LASER_TOLERANCE) {
xil_printf("Need to move laser down by %d deg\r\n", y_adj);
TiltDown(y_adj);
} else {
xil_printf("Y location on target!\r\n");
}
if (x_diff <= LASER_TOLERANCE && x_diff >= -LASER_TOLERANCE &&
y_diff <= LASER_TOLERANCE && y_diff >= -LASER_TOLERANCE) {
if (acquired) {
playPortalGunSound();
} else {
playPos();
acquired = 1;
}
} else {
acquired = 0;
}
loop_sleep:
sleep_interval = sDebugOutputEnabled ? 3000 : 500;
MB_Sleep(sleep_interval);
}
SetTiltAngle(0);
SetPanAngle(0);
MB_Sleep(100);
DisableTiltServo();
DisablePanServo();
TurnOffLaser();
}
void DemoChangeRes()
{
int fResSet = 0;
int status;
char userInput = 0;
/* Flush UART FIFO */
while (!XUartLite_IsReceiveEmpty(UART_BASEADDR))
{
XUartLite_ReadReg(UART_BASEADDR, XUL_RX_FIFO_OFFSET);
}
while (!fResSet)
{
DemoCRMenu();
/* Wait for data on UART */
while (XUartLite_IsReceiveEmpty(UART_BASEADDR) && !fRefresh)
{}
/* Store the first character in the UART recieve FIFO and echo it */
userInput = XUartLite_ReadReg(UART_BASEADDR, XUL_RX_FIFO_OFFSET);
xil_printf("%c", userInput);
status = XST_SUCCESS;
switch (userInput)
{
case '1':
status = DisplayStop(&dispCtrl);
DisplaySetMode(&dispCtrl, &VMODE_640x480);
DisplayStart(&dispCtrl);
fResSet = 1;
break;
case '2':
status = DisplayStop(&dispCtrl);
DisplaySetMode(&dispCtrl, &VMODE_800x600);
DisplayStart(&dispCtrl);
fResSet = 1;
break;
case '3':
status = DisplayStop(&dispCtrl);
DisplaySetMode(&dispCtrl, &VMODE_1280x720);
DisplayStart(&dispCtrl);
fResSet = 1;
break;
case '4':
status = DisplayStop(&dispCtrl);
DisplaySetMode(&dispCtrl, &VMODE_1280x1024);
DisplayStart(&dispCtrl);
fResSet = 1;
break;
case '5':
status = DisplayStop(&dispCtrl);
DisplaySetMode(&dispCtrl, &VMODE_1920x1080);
DisplayStart(&dispCtrl);
fResSet = 1;
break;
case 'q':
fResSet = 1;
break;
default :
xil_printf("\n\rInvalid Selection");
MB_Sleep(50);
}
if (status == XST_DMA_ERROR)
{
xil_printf("\n\rWARNING: AXI VDMA Error detected and cleared\n\r");
}
}
}
int main(void)
{
colorPoint tempRead;
int x;
//Initialize the color sensor
init_csens();
//initialize the hapt AND Calibrate the hapt
for (x=1; x<4; x++){
init_hapt(x);
autoCal_hapt(x);
}
u8 val, ampR, ampG, ampB;
int VIB, SLEEP;
while (1)
{
//with a switch we turn it on
val = Xil_In8 (base+leve);
if ((val==1) || (val==2) || (val==4) || (val==8))
{
xil_printf ("Il dispositivo è acceso\n");
tempRead = readRGB_csens();
xil_printf("Red value is %d. \n",tempRead.Red);
xil_printf("Green value is %d. \n",tempRead.Green);
xil_printf("Blue value is %d. \n",tempRead.Blue);
xil_printf("Clear value is %d.\n",tempRead.Clear);
ampR = 12 * tempRead.Red /25;
ampG = 12 * tempRead.Green /25;
ampB = 12 * tempRead.Blue /25;
if (tempRead.Clear > 100)
{
VIB= 500;
SLEEP=500;
}
else
{
VIB= 2000;
SLEEP= 2000;
}
{
write_hapt(MODE_Reg, 0x05, 1, 1);
write_hapt(MODE_Reg, 0x05, 1, 2);
write_hapt(MODE_Reg, 0x05, 1, 3);
write_hapt(RTP_INPUT_Reg, ampR, 1, 1);
write_hapt(RTP_INPUT_Reg, ampG, 1, 2);
write_hapt(RTP_INPUT_Reg, ampB, 1, 3);
MB_Sleep (VIB);
write_hapt(MODE_Reg,0x40,1, 1);
write_hapt(MODE_Reg,0x40,1, 2);
write_hapt(MODE_Reg,0x40,1, 3);
MB_Sleep (SLEEP);
write_hapt(GO_Reg, 0x00,1, 1);
write_hapt(GO_Reg, 0x00,1, 2);
write_hapt(GO_Reg, 0x00,1, 3);
}
}
}
return 0;
}
/**
*
* API to set bus width to 4-bit in card and host
*
*
* @param InstancePtr is a pointer to the XSdPs instance.
*
* @return
* - XST_SUCCESS if successful.
* - XST_FAILURE if fail.
*
* @note None.
*
******************************************************************************/
int XSdPs_Change_BusWidth(XSdPs *InstancePtr)
{
u32 Status = 0;
u32 StatusReg = 0x0;
u32 Arg = 0;
Xil_AssertNonvoid(InstancePtr != NULL);
Xil_AssertNonvoid(InstancePtr->IsReady == XIL_COMPONENT_IS_READY);
#ifndef MMC_CARD
Status = XSdPs_CmdTransfer(InstancePtr, CMD55,
InstancePtr->RelCardAddr, 0);
if (Status != XST_SUCCESS) {
Status = XST_FAILURE;
goto RETURN_PATH;
}
Arg = XSDPS_4_BIT_WIDTH;
Status = XSdPs_CmdTransfer(InstancePtr, ACMD6, Arg, 0);
if (Status != XST_SUCCESS) {
Status = XST_FAILURE;
goto RETURN_PATH;
}
StatusReg = XSdPs_ReadReg8(InstancePtr->Config.BaseAddress,
XSDPS_HOST_CTRL1_OFFSET);
StatusReg |= XSDPS_HC_WIDTH_MASK;
XSdPs_WriteReg8(InstancePtr->Config.BaseAddress,
XSDPS_HOST_CTRL1_OFFSET,StatusReg);
Status = XSdPs_ReadReg(InstancePtr->Config.BaseAddress,
XSDPS_RESP0_OFFSET);
#else
Arg = XSDPS_MMC_4_BIT_BUS_ARG;
Status = XSdPs_CmdTransfer(InstancePtr, ACMD6, Arg, 0);
if (Status != XST_SUCCESS) {
Status = XST_FAILURE;
goto RETURN_PATH;
}
#ifdef __arm__
usleep(XSDPS_MMC_DELAY_FOR_SWITCH);
#endif
#ifdef __MICROBLAZE__
/* 2 msec delay */
MB_Sleep(2);
#endif
StatusReg = XSdPs_ReadReg8(InstancePtr->Config.BaseAddress,
XSDPS_HOST_CTRL1_OFFSET);
StatusReg |= XSDPS_HC_WIDTH_MASK;
XSdPs_WriteReg8(InstancePtr->Config.BaseAddress,
XSDPS_HOST_CTRL1_OFFSET,StatusReg);
Status = XSdPs_ReadReg(InstancePtr->Config.BaseAddress,
XSDPS_RESP0_OFFSET);
#endif
Status = XST_SUCCESS;
RETURN_PATH:
return Status;
}
/******************************************************************************
* This function initializes the OLED display with the proper procedure.
*
* @param psSpi is the pointer to the SPI driver structure.
* @param psGpio is the pointer to the GPIO driver structure.
*
* @return XST_SUCCESS - Everything went well
* XST_FAILURE - Failure
*
* @note This is how the GPIO is mapped to the OLED controller:
* gpio(0) = vbat
* gpio(1) = vdd
* gpio(2) = res
* gpio(3) = dc
*****************************************************************************/
XStatus fnOledDisplayInit(XSpi *psSpi, XGpio *psGpio) {
XStatus Status;
u8 rgbWrBuf[10];
// Clear the data/cmd bit
XGpio_DiscreteClear(psGpio, 1, OLED_DC_MASK);
// Start by turning VDD on and wait for the power to come up
XGpio_DiscreteClear(psGpio, 1, OLED_VDD_MASK);
MB_Sleep(1);
// Send to SPI the display off command
rgbWrBuf[0] = OLED_DISPLAY_OFF_CMD;
u8TransferInProg = TRUE;
Status = XSpi_Transfer(psSpi, rgbWrBuf, NULL, 1);
while(u8TransferInProg);
// Bring reset low and then high
XGpio_DiscreteSet(psGpio, 1, OLED_RES_MASK);
MB_Sleep(1);
XGpio_DiscreteClear(psGpio, 1, OLED_RES_MASK);
MB_Sleep(1);
XGpio_DiscreteSet(psGpio, 1, OLED_RES_MASK);
// Send the set charge pump and set pre-charge period commands
rgbWrBuf[0] = 0x8D;
rgbWrBuf[1] = 0x14;
rgbWrBuf[2] = OLED_SET_PRECHARGE_PER_CMD;
rgbWrBuf[3] = 0xF1;
u8TransferInProg = TRUE;
Status = XSpi_Transfer(psSpi, rgbWrBuf, NULL, 4);
while(u8TransferInProg);
// Turn on VCC and wait 100 ms
XGpio_DiscreteClear(psGpio, 1, OLED_VBAT_MASK);
MB_Sleep(100);
// Set display contrast
rgbWrBuf[0] = OLED_CONTRAST_CTRL_CMD;
rgbWrBuf[1] = 0x0F;
// Invert the display
rgbWrBuf[2] = OLED_SET_SEGMENT_REMAP_CMD;
rgbWrBuf[3] = OLED_SET_COM_DIR_CMD;
// Select sequential COM configuration
rgbWrBuf[4] = OLED_SET_COM_PINS_CMD;
rgbWrBuf[5] = 0x00;
rgbWrBuf[6] = 0xC0;
rgbWrBuf[7] = 0x20;
rgbWrBuf[8] = 0x00;
// Turn display on
rgbWrBuf[9]/*[6]*/ = OLED_DISPLAY_ON_CMD;
u8TransferInProg = TRUE;
Status = XSpi_Transfer(psSpi, rgbWrBuf, NULL, 10);
while(u8TransferInProg);
//Display Digilent logo
fnOledPixelToDisplay(psSpi, psGpio, &sLogoPixmap);
return Status;
}
/***************************************************************************
* This is the main thread that will do all initializations.
* It will call configure functions for all subsystems and system level
* peripherals
***************************************************************************/
int main(void)
{
XPeriph *PeriphPtr;
XVprocSs *VpssPtr;
int status;
u32 Timeout;
static int Lock = FALSE;
/* Bind instance pointer with definition */
PeriphPtr = &PeriphInst;
VpssPtr = &VprocInst;
/* Initialize ICache */
Xil_ICacheInvalidate();
Xil_ICacheEnable();
/* Initialize DCache */
Xil_DCacheInvalidate();
Xil_DCacheEnable();
xil_printf("\r\n--------------------------------------------------------\r\n");
xil_printf(" Video Processing Subsystem Example Design %s\r\n", XVPROCSS_SW_VER);
xil_printf(" (c) 2015 by Xilinx Inc.\r\n");
xil_printf("--------------------------------------------------------\r\n");
xil_printf("\r\nInitialize System Design...\r\n");
status = XSys_Init(PeriphPtr, VpssPtr);
if(status != XST_SUCCESS)
{
xil_printf("CRITICAL ERR:: System Init Failed. Cannot recover from this error. Check HW\n\r");
}
#if (VERBOSE_MODE == 1)
xil_printf("\r\nINFO> Setting up VPSS AXIS In/Out\r\n");
#endif
//Set TPG default parameters
XPeriph_SetTpgParams(PeriphPtr,
1920,
1080,
XVIDC_CSF_RGB,
XTPG_BKGND_COLOR_BARS,
FALSE);
//Set AXIS In to TPG settings
XSys_SetStreamParam(VpssPtr,
XSYS_VPSS_STREAM_IN,
PeriphInst.TpgConfig.Width,
PeriphInst.TpgConfig.Height,
PeriphInst.TpgConfig.ColorFmt,
PeriphInst.TpgConfig.IsInterlaced);
if(VpssPtr->Config.Topology == XVPROCSS_TOPOLOGY_SCALER_ONLY)
{
/* Only Scaling Ratio can be changed. Stream out color format
* must be same as stream in
*/
//Set AXIS Out
XSys_SetStreamParam(VpssPtr,
XSYS_VPSS_STREAM_OUT,
3840,
2160,
PeriphInst.TpgConfig.ColorFmt,
FALSE);
}
else //FULL_FLEDGED
{
//Set AXIS Out
XSys_SetStreamParam(VpssPtr,
XSYS_VPSS_STREAM_OUT,
3840,
2160,
XVIDC_CSF_YCRCB_422,
FALSE);
}
//Configure video processing subsystem
status = XVprocSs_SetSubsystemConfig(VpssPtr);
//Query vpss configuration
XVprocSs_ReportSubsystemConfig(VpssPtr);
if(status == XST_SUCCESS)
{
//Configure VTC with output timing
XPeriph_ConfigVtc(PeriphPtr,
&VpssPtr->VidOut,
VprocInst.Config.PixPerClock);
//Config TPG for AXIS In
XPeriph_ConfigTpg(PeriphPtr);
#if (VERBOSE_MODE == 1)
XPeriph_TpgDbgReportStatus(PeriphPtr);
#endif
/* vtc is running at 9Mhz essentially providing < 2fps frame rate
* Need to wait for 3-4 frames (~2sec) for vidout to acquire lock
*/
xil_printf("\r\nWaiting for output to lock: ");
MB_Sleep(2000);
/* check for output lock */
Timeout = VIDEO_MONITOR_LOCK_TIMEOUT;
while(!Lock && Timeout)
{
if(XPeriph_IsVideoLocked(PeriphPtr))
{
xil_printf("Locked\r\n");
Lock = TRUE;
}
--Timeout;
}
if(!Timeout)
{
xil_printf("\r\nTEST FAILED\r\n");
}
else
{
xil_printf("\r\nTEST PASSED\r\n");
}
}
else
{
xil_printf("\r\nERR:: VProcss Configuration Failed. \r\n");
xil_printf("\r\nTEST FAILED\r\n");
}
while(1)
{
//NOP
}
/* Clean up DCache. For writeback caches, the disable_dcache routine
internally does the flush and invalidate. For write through caches,
an explicit invalidation must be performed on the entire cache. */
#if XPAR_MICROBLAZE_DCACHE_USE_WRITEBACK == 0
Xil_DCacheInvalidate ();
#endif
Xil_DCacheDisable ();
/* Clean up ICache */
Xil_ICacheInvalidate ();
Xil_ICacheDisable ();
return 0;
}
/**
*
* API to set high speed in card and host. Changes clock in host accordingly.
*
*
* @param InstancePtr is a pointer to the XSdPs instance.
*
* @return
* - XST_SUCCESS if successful.
* - XST_FAILURE if fail.
*
* @note None.
*
******************************************************************************/
int XSdPs_Change_BusSpeed(XSdPs *InstancePtr)
{
u32 Status = 0;
u32 StatusReg = 0x0;
u32 Arg = 0;
#ifndef MMC_CARD
u32 ClockReg;
u8 ReadBuff[64];
u16 BlkCnt;
u16 BlkSize;
#endif
Xil_AssertNonvoid(InstancePtr != NULL);
Xil_AssertNonvoid(InstancePtr->IsReady == XIL_COMPONENT_IS_READY);
#ifndef MMC_CARD
BlkCnt = XSDPS_SWITCH_CMD_BLKCNT;
BlkSize = XSDPS_SWITCH_CMD_BLKSIZE;
BlkSize &= XSDPS_BLK_SIZE_MASK;
XSdPs_WriteReg16(InstancePtr->Config.BaseAddress,
XSDPS_BLK_SIZE_OFFSET, BlkSize);
XSdPs_SetupADMA2DescTbl(InstancePtr, BlkCnt, ReadBuff);
Xil_DCacheInvalidateRange(ReadBuff, 64);
XSdPs_WriteReg16(InstancePtr->Config.BaseAddress,
XSDPS_XFER_MODE_OFFSET,
XSDPS_TM_DAT_DIR_SEL_MASK | XSDPS_TM_DMA_EN_MASK);
Arg = XSDPS_SWITCH_CMD_HS_SET;
Status = XSdPs_CmdTransfer(InstancePtr, CMD6, Arg, 1);
if (Status != XST_SUCCESS) {
Status = XST_FAILURE;
goto RETURN_PATH;
}
/*
* Check for transfer complete
* Polling for response for now
*/
do {
StatusReg = XSdPs_ReadReg16(InstancePtr->Config.BaseAddress,
XSDPS_NORM_INTR_STS_OFFSET);
if (StatusReg & XSDPS_INTR_ERR_MASK) {
/*
* Write to clear error bits
*/
XSdPs_WriteReg16(InstancePtr->Config.BaseAddress,
XSDPS_ERR_INTR_STS_OFFSET,
XSDPS_ERROR_INTR_ALL_MASK);
Status = XST_FAILURE;
goto RETURN_PATH;
}
} while ((StatusReg & XSDPS_INTR_TC_MASK) == 0);
/*
* Write to clear bit
*/
XSdPs_WriteReg16(InstancePtr->Config.BaseAddress,
XSDPS_NORM_INTR_STS_OFFSET, XSDPS_INTR_TC_MASK);
/*
* Change the clock frequency to 50 MHz
*/
Status = XSdPs_Change_ClkFreq(InstancePtr, XSDPS_CLK_50_MHZ);
if (Status != XST_SUCCESS) {
Status = XST_FAILURE;
goto RETURN_PATH;
}
StatusReg = XSdPs_ReadReg8(InstancePtr->Config.BaseAddress,
XSDPS_HOST_CTRL1_OFFSET);
StatusReg |= XSDPS_HC_SPEED_MASK;
XSdPs_WriteReg8(InstancePtr->Config.BaseAddress,
XSDPS_HOST_CTRL1_OFFSET,StatusReg);
Status = XSdPs_ReadReg(InstancePtr->Config.BaseAddress,
XSDPS_RESP0_OFFSET);
#else
Arg = XSDPS_MMC_HIGH_SPEED_ARG;
Status = XSdPs_CmdTransfer(InstancePtr, CMD6, Arg, 0);
if (Status != XST_SUCCESS) {
Status = XST_FAILURE;
goto RETURN_PATH;
}
#ifdef __arm__
usleep(XSDPS_MMC_DELAY_FOR_SWITCH);
#endif
#ifdef __MICROBLAZE__
/* 2 msec delay */
MB_Sleep(2);
#endif
XSdPs_Change_ClkFreq(InstancePtr, XSDPS_CLK_52_MHZ);
StatusReg = XSdPs_ReadReg8(InstancePtr->Config.BaseAddress,
XSDPS_HOST_CTRL1_OFFSET);
StatusReg |= XSDPS_HC_SPEED_MASK;
XSdPs_WriteReg8(InstancePtr->Config.BaseAddress,
XSDPS_HOST_CTRL1_OFFSET,StatusReg);
Status = XSdPs_ReadReg(InstancePtr->Config.BaseAddress,
XSDPS_RESP0_OFFSET);
#endif
Status = XST_SUCCESS;
RETURN_PATH:
return Status;
}
/**
*
* Main function
*
* This function is the main entry of the interrupt test. It does the following:
* Initialize the audio
* Initialize the debug uart
* Enable the interrupts
*
* @param None
*
* @return
* - XST_SUCCESS if example finishes successfully
* - XST_FAILURE if example fails.
*
* @note None.
*
******************************************************************************/
int main(void)
{
init_platform();
InitMotorBoard();
xil_printf("\r\n--- Entering main() --- \r\n");
int status = XST_SUCCESS;
status |= initialize_audio(&sIic, &sAxiAudioDma);
status |= fnInitInterruptController(&sIntc);
status |= initialize_uart(&sUartLite);
status |= initialize_video(&sVideoCapt, &sIntc);
status |= initialize_targeting(&sAxiTargetingDma);
status |= SetupSdGpio(&sGpio);
if (status != XST_SUCCESS) {
xil_printf("Failed to initialize system.\r\n");
return XST_FAILURE;
}
// Initialize static variables.
for (int i = 0; i < FILE_ID_MAX; i++) {
sSdFileBoard[i].loaded = false;
}
sSdFileMemTip = (u32 *) AUDIO_BASE_ADDR;
sButtonState = 0;
sLoopSelect = DEFAULT_LOOP;
fnEnableInterrupts(&sIntc, &ivt[0], sizeof(ivt)/sizeof(ivt[0]));
register_uart_response("test", test_fcn);
register_uart_response("record", uart_rec_audio);
register_uart_response("play", uart_play_audio);
register_uart_response("kill", end_fcn);
register_uart_response("exit", end_fcn);
register_uart_response("dump", dump_mem);
// Commands to run self-tests
register_uart_response("lowlevel", LowLevelTest);
register_uart_response("highlevel", HighLevelTest);
register_uart_response("lasertest", EnterLaserTest);
register_uart_response("motortest", EnterMotorTest);
register_uart_response("stop", stopTest);
register_uart_response("load_sounds", loadSounds);
register_uart_response("load_images", loadImages);
register_uart_response("still_alive", playPortalSong);
register_uart_response("gun", playGunSound);
register_uart_response("portal_gun", playPortalGunSound);
register_uart_response("target", playTargetAcquired);
register_uart_response("playpos", playPos);
register_uart_response("playneg", playNeg);
register_uart_response("manual", EnterManualMainLoop);
register_uart_response("auto", EnterAutomaticMainLoop);
register_uart_response("passthrough", passthroughHdmi);
register_uart_response("runip", EnterIpTest);
register_uart_response("videoinfo", print_video_info);
register_uart_response("df1", df1);
register_uart_response("df2", df2);
register_uart_response("df0", df0);
register_uart_response("vf1", vf1);
register_uart_response("vf2", vf2);
register_uart_response("vf0", vf0);
register_uart_response("ipinfo", print_ip_info);
register_uart_response("ipouttoggle", toggle_ip_output);
register_uart_response("dummytarget", setDummyTarget);
register_uart_response("lemon", DisplayLemon);
register_uart_response("heman", DisplayHeman);
register_uart_response("pass", SetPassthroughMode);
register_uart_response("gray", SetGrayscaleMode);
register_uart_response("sobel", SetSobelMode);
register_uart_response("thresh", SetThresholdMode);
register_uart_response("label", SetLabelMode);
register_uart_response("colour", SetColourMode);
register_uart_response("laser", SetLaserMode);
register_uart_response("flood1", SetFlood1Mode);
register_uart_response("flood2", SetFlood2Mode);
register_uart_response("laseron", LaserOn);
register_uart_response("laseroff", LaserOff);
register_uart_response("redthresh", SetRedThreshold);
register_uart_response("sobelthresh", SetSobelThreshold);
register_uart_response("f1thresh", SetFlood1Threshold);
register_uart_response("f2thresh", SetFlood2Threshold);
register_uart_response("setminsize", SetSizeThreshold);
register_uart_response("setobjid", SetObjId);
register_uart_response("test_args", TestArgs);
xil_printf("\r\n--- Done registering UART commands --- \r\n");
initialSetup();
xil_printf(PROMPT_STRING);
while (do_run) {
switch (sLoopSelect) {
case MANUAL_MODE: ManualMainLoop(); break;
case AUTOMATIC_MODE: AutoMainLoop(); break;
case LASER_TEST: LaserTest(); break;
case MOTOR_TEST: MotorPatternTest(); break;
case IP_TEST: runImageProcessing(); sLoopSelect = DEFAULT_LOOP; break;
default: MB_Sleep(100); break;
}
}
xil_printf("\r\n--- Exiting main() --- \r\n");
return XST_SUCCESS;
}
