//! at start enable cache
void cyg_user_start(void){
#ifdef USE_CACHE
printf( "enabling data cache for external ram\n" );
XCache_EnableDCache( 0xF0000000 );
#else
printf( "data cache disabled\n" );
XCache_DisableDCache( );
#endif
}
void
enable_caches()
{
#ifdef __PPC__
XCache_EnableICache(CACHEABLE_REGION_MASK);
XCache_EnableDCache(CACHEABLE_REGION_MASK);
#elif __MICROBLAZE__
#ifdef XPAR_MICROBLAZE_USE_ICACHE
microblaze_invalidate_icache();
microblaze_enable_icache();
#endif
#ifdef XPAR_MICROBLAZE_USE_DCACHE
microblaze_invalidate_dcache();
microblaze_enable_dcache();
#endif
#endif
}
int main (void) {
XCache_EnableICache(0x80000001);
XCache_EnableDCache(0x80000000);
/* Initialize RS232 - Set baudrate and number of stop bits */
XUartNs550_SetBaud(XPAR_RS232_BASEADDR, XPAR_XUARTNS550_CLOCK_HZ, 9600);
XUartNs550_mSetLineControlReg(XPAR_RS232_BASEADDR, XUN_LCR_8_DATA_BITS);
print("-- Entering main() --\r\n");
/*
* MemoryTest routine will not be run for the memory at
* 0x81000000 (FLASH_8Mx16)
* because it is a read-only memory
*/
/*
* MemoryTest routine will not be run for the memory at
* 0x00000000 (DDR_SDRAM_1)
* because it is being used to hold a part of this application program
*/
/*
* MemoryTest routine will not be run for the memory at
* 0xfffff000 (plb_bram_if_cntlr_1)
* because it is being used to hold a part of this application program
*/
print("-- Exiting main() --\r\n");
XCache_DisableDCache();
XCache_DisableICache();
return 0;
}
/**
sample sw thread
@param data: input data for sw thread
*/
void sampling_sw_thread (cyg_addrword_t data){
//unsigned int thread_number = (unsigned int) data;
int from, to;
int done;
int i;
int new_message = FALSE;
int message = 1;
int message_to_deliver = FALSE;
timing_t time_start_s = 0, time_stop_s = 0, time_sampling_sw = 0;
int number_of_measurements_s = 0;
while (42) {
// 1) if there is no message to delivered, check for new message
while (message_to_deliver == FALSE && new_message == FALSE){
message = (int) cyg_mbox_get( mb_sampling_handle[0] );
if (message > 0 && message <= number_of_blocks){
//printf("\n[Sampling Thread No. %d] Nachricht %d erhalten", (int) thread_number, message);
new_message = TRUE;
time_start_s = gettime();
}
}
#ifdef USE_CACHE
XCache_EnableDCache( 0xF0000000 );
#endif
// 2) if a new message has arrived, sample the particles
while (new_message == TRUE){
new_message = FALSE;
from = (message - 1) * block_size;
to = from + block_size - 1;
if ((N - 1) < to)
to = N - 1;
// sample particles
for (i=from; i<=to; i++){
// predict particle
prediction (&particles[i]);
}
message_to_deliver = TRUE;
}
#ifdef USE_CACHE
XCache_EnableDCache( 0xF0000000 );
#endif
time_stop_s = gettime();
// 3) if a message should be delivered, deliver it
while ( message_to_deliver == TRUE){
done = cyg_mbox_tryput( mb_sampling_done_handle[0], ( void * ) message );
if (done > 0){
//printf("\n[Sampling Thread No. %d] Nachricht %d geschickt", (int) thread_number, message);
message_to_deliver = FALSE;
time_sampling_sw = calc_timediff( time_start_s, time_stop_s );
number_of_measurements_s++;
//diag_printf("\nSampling SW: %d, \tmessage %d, \ttime: %d", number_of_measurements_s, message, time_sampling_sw);
}
}
}
}
/**
observation sw thread
@param data: input data for sw thread
*/
void observation_sw_thread (cyg_addrword_t data){
//unsigned int thread_number = (unsigned int) data;
int from, to;
int done;
int i;
int new_message = FALSE;
int message = 1;
int message_to_deliver = FALSE;
int number_of_measurements_o = 0;
//int sum_of_measurements_o = 0;
//int average_of_measurements_o = 0;
timing_t time_start_o = 0, time_stop_o = 0, time_observation_sw = 0;
while (42) {
// 1) if there is no message to delivered, check for new message
while (message_to_deliver == FALSE && new_message == FALSE){
message = (int) cyg_mbox_get( mb_sampling_done_handle[0] );
if (message > 0 && message <= (N/block_size)){
new_message = TRUE;
time_start_o = gettime();
//printf("\n[Observation Thread No. %d] Nachricht %d erhalten", (int) thread_number, message);
//diag_printf("\n[Observation] Nachricht %d erhalten", message);
}
}
// 2) if a new message has arrived, sample the particles
new_message = FALSE;
from = (message - 1) * block_size;
to = from + block_size - 1;
if ((N - 1) < to)
to = N - 1;
#ifdef USE_CACHE
XCache_EnableDCache( 0xF0000000 );
#endif
//printf("\nOBSERVATION");
// extract observations
for (i=from; i<=to; i++){
extract_observation(&particles[i], &observations[i]);
}
message_to_deliver = TRUE;
#ifdef USE_CACHE
XCache_EnableDCache( 0xF0000000 );
#endif
time_stop_o = gettime();
// 3) if a message should be delivered, deliver it
while ( message_to_deliver == TRUE){
done = cyg_mbox_tryput( mb_importance_handle[0], ( void * ) message );
if (done > 0){
message_to_deliver = FALSE;
time_observation_sw = calc_timediff( time_start_o, time_stop_o );
number_of_measurements_o++;
//sum_of_measurements_o += time_observation_sw;
//average_of_measurements_o = sum_of_measurements_o / number_of_measurements_o;
//diag_printf("\nObservation SW: %d, \tmessage %d, \ttime: %d",
// number_of_measurements_o, (message-1), time_observation_sw);
//printf("\n[Observation Thread No. %d] Nachricht %d geschickt", (int) thread_number, message);
}
}
}
}
int main (void) {
XCache_EnableICache(0x00000001);
XCache_EnableDCache(0x00000001);
XCache_DisableDCache();
XCache_DisableICache();
xil_printf("\r\n-- Entering main() --\r\n");
/************************ SDRAM SelfTest **************************/
xil_printf("Performing SelfTest of SDRAM controller...\r\n");
int iteration = 0;
while(1)
{
xil_printf("*Iteration %d\r\n", iteration++);
int Status;
int i;
volatile a;
volatile b;
int TotalErrors;
Xuint8 dcm_psen, dcm_psincdec, dcm_done;
mySDRAMConfig = XMpmc_LookupConfig(XPAR_MPMC_0_DEVICE_ID);
if(mySDRAMConfig == NULL)
{
xil_printf("Could not find SDRAM based on dev id\r\n");
return XST_FAILURE;
}
else {
xil_printf("Got SDRAM config\r\n");
}
Status = XMpmc_CfgInitialize(&mySDRAM,mySDRAMConfig, XPAR_MPMC_0_MPMC_BASEADDR);
if(Status != XST_SUCCESS) {
xil_printf("Initialization Failed!\r\n");
return XST_FAILURE;
}
else {
xil_printf("Initialization Complete!\r\n");
}
Status = XMpmc_SelfTest(&mySDRAM);
if(Status != XST_SUCCESS) {
xil_printf("SelfTest Failed!\r\n");
return XST_FAILURE;
}
else {
xil_printf("SelfTest Complete!\r\n");
}
/***************** START CALIBRATION ***************/
Status = MpmcCalibrationExample(XPAR_MPMC_0_DEVICE_ID);
if (Status != XST_SUCCESS) {
return XST_FAILURE;
}
/***************** END CALIBRATION *****************/
TotalErrors = MpmcMemTestExample(XPAR_MPMC_0_DEVICE_ID);
if (TotalErrors) {
xil_printf("\r\n### Program finished with errors ###\r\n");
} else {
xil_printf("\r\n### Program finished successfully ###\r\n");
}
ENABLE_ICACHE();
ENABLE_DCACHE();
Xuint32 memSize = XPAR_MPMC_0_MPMC_HIGHADDR - XPAR_MPMC_0_MPMC_BASEADDR + 1; //get correct SDRAM size
Xuint32* myAddress = (Xuint32*)XPAR_MPMC_0_MPMC_BASEADDR;
xil_printf("\r\nStarting Wade's special Test...\r\n");
char wadeSuccess = RunAllMemoryTests(myAddress, memSize);
if (wadeSuccess){
xil_printf("Wade's test PASSED!");
}
else{
xil_printf("Wade's test FAILED!");
}
xil_printf("Total Errors: %d\r\n", TotalErrors);
}
}
/**
get new measurement
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
!!!!! U S E R F U N C T I O N !!!!!
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
*/
void get_new_measurement(void){
int i, j, k, l;
int16 re, im;
//unsigned char byte_buffer[1];
//int counter = 0;
// fill measurement buffer with next bytes of audio input file
// (a) shift old values
//memcpy(&measurement[MEASUREMENT_BUFFER/2], &measurement[0], (MEASUREMENT_BUFFER/2));
// (b) get new sound data
//receive_sound_frame(measurement, (MEASUREMENT_BUFFER/2));
#ifndef STORE_AUDIO
receive_sound_frame(measurement, MEASUREMENT_BUFFER);
//printf("\nload next frame");
#else
memcpy(measurement, &sound_frames[current_audio_frame*MEASUREMENT_BUFFER], MEASUREMENT_BUFFER);
current_audio_frame++;
if (MAX_FRAMES <= current_audio_frame)
{
//printf("\nload %d frames", MAX_FRAMES);
current_audio_frame = 0;
// load first frames
for(i=0; i<MAX_FRAMES-1; i++)
{
receive_sound_frame(&sound_frames[i*MEASUREMENT_BUFFER],
MEASUREMENT_BUFFER);
}
}
#endif
memcpy(output, measurement, MEASUREMENT_BUFFER);
event_found = FALSE;
// spectral center (sc)
//complex_number sc, sc_old;
//sc_old.re = 0; sc_old.im = 0; sc.re = 0; sc.im = 0;
// find first two beats
//printf("\ninterval min: %ld ", interval_min);
//for(i=0;i<NUM_INITIAL_BEATS;i++) printf("\n%d. initial beat: %ld", i, initial_beats[i]);
if (initial_phase == TRUE )
{
//printf("\ninitial phase");
int16 samples[OBSERVATION_LENGTH];
//observation obs;
complex_number obs[OBSERVATION_LENGTH];
int max_amplitude = 0, max_frequency = 0, current_amplitude;
int max_amplitude_total = 0, max_frequency_total = 0;
int16 max_sample_value = 0, max_sample_value_total = 0;
long int position = 0;
event_found = FALSE;
// check current measurement frame
for (i=0; i<MEASUREMENT_BUFFER/(OBSERVATION_LENGTH); i++)
{
memcpy(samples, &measurement[i*OBSERVATION_LENGTH], (OBSERVATION_LENGTH*sizeof(int16)));
//change Little Endian <-> Big Endian
max_sample_value = 0;
for (j=0; j<OBSERVATION_LENGTH; j++)
{
samples[j] = ntohl(samples[j]);
if (ABS(samples[j]) > max_sample_value)
{
max_sample_value = ABS(samples[j]);
}
}
for (j=0; j<OBSERVATION_LENGTH; j++)
{
obs[j].re = 111;
obs[j].im = 222;
}
#ifdef USE_CACHE
XCache_EnableDCache( 0xF0000000 );
#endif
// fft
//fft_analysis_try (samples, OBSERVATION_LENGTH, obs, sample_rate);
// -a: send message: sample address (input)
while (cyg_mbox_tryput( *mb_fft_start_handle, (void *) samples ) == 0)
{
}
// -b: send message: observations address (output)
while (cyg_mbox_tryput( *mb_fft_start_handle, (void *) obs ) == 0)
{
}
// -c: receive message (fft done)
while (cyg_mbox_get( *mb_fft_done_handle ) == 0)
{
}
#ifdef USE_CACHE
XCache_EnableDCache( 0xF0000000 );
#endif
// find spectral center (sc)
/*sc.re = 32000; sc.im = 32000;
for (j=1;j<((OBSERVATION_LENGTH/2)-1);j++)
{
}*/
// max amplitude, frequency
//for (j=0; j<OBSERVATION_LENGTH; j++)
/*printf("\n\nSAMPLES\n");
for (j=0; j<OBSERVATION_LENGTH; j++)
{
printf("\n%d", samples[j]);
}
printf("\n\nFFT RESULTS\n");*/
for (j=0; j<OBSERVATION_LENGTH; j++)
{
// i. calculate current amplitude
re = (int16) obs[j].re;
im = (int16) obs[j].im;
current_amplitude = (re*re) + (im*im);
current_amplitude = sqrt(current_amplitude);
// ii. max amplitude
if (current_amplitude > max_amplitude)
{
max_amplitude = current_amplitude;
// calculate max frequency
max_frequency = j*(sample_rate/2);
max_frequency /= (OBSERVATION_LENGTH);
}
//printf("\n%d", current_amplitude);
}
//printf("\nmax frequency %d, \tmax amplitude: %d", max_frequency, max_amplitude);
// likelihood for 'beat' (frequency > 100 => amplitude)
if (max_frequency>100 && max_frequency<5000 && max_amplitude_total<max_amplitude)//<5000
{
max_amplitude_total = max_amplitude;
max_frequency_total = max_frequency;
max_sample_value_total = max_sample_value;
position = interval_min + i*OBSERVATION_LENGTH - (OBSERVATION_LENGTH/2);
}
}
//printf("\n!!!!!!!max frequency %d, \tmax amplitude: %d", max_frequency_total, max_amplitude_total);
// analyse if event was found
if (max_frequency_total>100 && max_amplitude_total>50 &&
max_frequency_total<5000 && max_sample_value_total>5000){
//printf("\nEVENT FOUND at position %ld", position);
event_found = TRUE;
event_position = position;
event_salience = max_amplitude_total;
}
// init particle filter if needed;
if (event_found == TRUE) // new beat
{
int beat_ind = 0;
while (initial_beats[beat_ind]>0 && beat_ind<(NUM_INITIAL_BEATS-1))
{
beat_ind++;
}
// 'beat_ind' is the current initial beat
initial_beats[beat_ind] = event_position;
if ((beat_ind>0 && initial_beats[beat_ind] - initial_beats[beat_ind-1] < bytespersecond/5))
{
event_found = FALSE;
initial_beats[beat_ind] = 0;
return;
}
//printf("\n%d. beat at position: %ld", beat_ind, event_position);
// if last initial beat found: extract hypothesises
if (beat_ind == (NUM_INITIAL_BEATS-1))
{
// if last initial beat => initialize particles with extracted hypothesis
// number of possibilities to create hypothesis for beats
// mathematical reasoning to calcualate the number of possibilities
int num_hypothesis = (NUM_INITIAL_BEATS*NUM_INITIAL_BEATS)
- (((NUM_INITIAL_BEATS+1)*NUM_INITIAL_BEATS)/2);
// generic algorithm to calcualte all possibilities for tempo hypothesises
// i: current initial beat
// j: other initial beats before current initial beat
// k: current hypothesis [0,...,num_hypothesis-1]
// l: current particle position: (N/num_hypothesis) particles per hypothesis
k = 0;
for (i=NUM_INITIAL_BEATS-1; i>=0;i--)
{
for (j=i-1; j>=0;j--)
{
for(l=(k*N)/num_hypothesis; l<MIN((((k+1)*N)/num_hypothesis),N);l++)
{
// init particle according to hypothesis
particles[l].tempo = (int)initial_beats[i]
- initial_beats[j];
if((5*particles[l].tempo)<bytespersecond)
{
//printf("\ndifference short, set to default value");
particles[l].tempo = bytespersecond/5;
}
particles[l].last_beat = initial_beats[i];
particles[l].next_beat = initial_beats[i]
+ particles[l].tempo;
particles[l].w = 100;
particles[l].likelihood = 100;
}
//printf("\n%d. hypothesis: tempo = %d,\tlast beat: %ld",
// (k+1),(int)(initial_beats[i]-initial_beats[j]),
// initial_beats[i]);
k++;
}
}
}
/*if (first_beat_pos <= 0)
{
first_beat_pos = event_position;
printf("\n1st beat at position: %ld", first_beat_pos);
}
else
{
if (second_beat_pos <= 0 && (event_position - first_beat_pos > (bytespersecond/5)))
{
second_beat_pos = event_position;
printf("\n2nd beat at position: %ld (init particles, tempo: %ld)",
second_beat_pos, (second_beat_pos -
first_beat_pos));
// init particles
for (i=0; i<N; i++)
{
particles[i].tempo = second_beat_pos - first_beat_pos;
particles[i].last_beat = second_beat_pos;
particles[i].next_beat = second_beat_pos
+ particles[i].tempo;
particles[i].last_event_time = second_beat_pos;
particles[i].w = PF_GRANULARITY/N;
particles[i].likelihood = 100;
}
}
}*/
//last_event_found = TRUE;
}
/*else
{
last_event_found = FALSE;
}*/
}
//int16 sample_value = 0;
// make short-time Fourier transformation for the incoming sound data
/*fft_analysis (measurement, (MEASUREMENT_BUFFER/2), fft_window, sample_rate);
// real, and imaginary component
// debug: find max frequency
double amplitude_max = 0; int max_freq = 0;
for(i = 0; i < (sample_rate/(2*FREQUENCY_HOPPING)); i++){
if (amplitude_max < fft_window[i]){
max_freq = i*FREQUENCY_HOPPING;
amplitude_max = fft_window[i];
}
}
event_found = FALSE;
// extract events
if (max_freq > 100 && amplitude_max > 60){
//if (last_event_found == FALSE){
printf("\nevent found!!!!!!!!!!!");
// event found
event_found = TRUE;
event_position = interval_min + (MEASUREMENT_BUFFER/4);
event_salience = amplitude_max;
//}
}
else
{
last_event_found = FALSE;
}
// init particle filter if needed;
if (first_beat_pos <= 0 || second_beat_pos <= 0 ){ // init still needed
if (event_found == TRUE && last_event_found == FALSE){ // new beat
if (first_beat_pos <= 0){
first_beat_pos = event_position;
printf("\n1st beat at position: %d", (int)(first_beat_pos/10000));
} else {
if (second_beat_pos <= 0){
second_beat_pos = event_position;
printf("\n2nd beat at position: %d (init particles, tempo: %d)",
(int)(second_beat_pos/10000), (int)((second_beat_pos -
first_beat_pos)/10000));
// init particles
for (i=0; i<N; i++){
particles[i].tempo = second_beat_pos - first_beat_pos;
particles[i].last_beat = second_beat_pos;
particles[i].next_beat = second_beat_pos
+ particles[i].tempo;
particles[i].last_event_time = second_beat_pos;
particles[i].w = PF_GRANULARITY/N;
particles[i].likelihood = 100;
}
}
}
}
}
if (event_found == TRUE) {last_event_found = TRUE; }
*/
// calculate 'energy' in buffer
//int16 output_value = max_ind;
//for(i = 0; i < MEASUREMENT_BUFFER/2; i++) memcpy(&output[2*i], &output_value, 2);
/*
// debug: print sample values to screen
for(i = 0; i < MEASUREMENT_BUFFER/2; i++){
double result = fft_window[i];
memcpy(&sample_value, &measurement[2*i], 2);
if (interval_min > bytespersecond && interval_min < bytespersecond+1000)
printf("\n%f", 1.0*sample_value);
//if (i>0) result *= 8;
if (result > 32767){printf("\nFFT value to high ( < 32768), but it is %f", result); result = 32767;}
if (result<-32768){printf("\nFFT value to high ( >= -32768), but it is %f", result); result=-32768;}
sample_value = (signed short int)result;
//printf("\n sample value: %d", sample_value);
//memcpy(&measurement[2*i], &sample_value, 2);
//printf("\nA[%d] = %d", i, sample_value]);
}*/
// TRY START: CHANGE CHANGE CHANGE
/*event_found = FALSE;
long int energy = 0;
char current_sample[2];
// calculate 'energy' in buffer
int16 max_value = 0;
for (i=0; i<MEASUREMENT_BUFFER/2; i++){
current_sample[1] = measurement[(2*i) + 1];
current_sample[0] = measurement[(i*2)];
memcpy(&sample_value, current_sample, 2);
if (ABS(sample_value) > max_value) max_value = ABS(sample_value);
energy += (sample_value * sample_value);
}
max_amplitude = max_value;
// adjust energy change
long int value = sqrt(sqrt(energy-last_energy));// / 2;
//long int value = (energy-last_energy)/80000;
sample_value = value;
if (value > 32767){
sample_value = 32768;
printf("\nenergy change too high (%d > 32767)", value);
} else if (value < -32768) {
sample_value = -32768;
printf("\nenergy change too high (%d < -32768)", value);
}
if (max_value < 15000 || sample_value == 0) {
sample_value = 0;
last_event_found = FALSE;
//energy = 0;
} else {
if (last_event_found == FALSE){
event_found = TRUE;
last_event_found = TRUE;
event_position = interval_min + (MEASUREMENT_BUFFER/2);
event_salience = ABS(sample_value);
//printf("\nEvent found: position = %d, salience = %d", event_position, event_salience);
}
}
last_energy = energy;*/
// debug: write energy into file
/*for (i=0; i<MEASUREMENT_BUFFER/2; i++){
memcpy(current_sample, &sample_value, 2);
measurement[(2*i) + 1] = current_sample[0];
measurement[(i*2)] = current_sample[1];
}*/
// TRY TRY TRY
//fft_calc(measurement, MEASUREMENT_BUFFER/2);
// TRY END: CHANGE CHANGE CHANGE
/*
char current_sample[2];
int16 sample_value;
long int left_max = 0, right_max=0; int s;
event_found = FALSE;
// calcualte left sum
for (s=0; s<MEASUREMENT_BUFFER/4; s++){
current_sample[0] = measurement[(2*s) + 1];
current_sample[1] = measurement[(2*s)];
memcpy(&sample_value, current_sample, 2);
if (ABS(sample_value) > left_max)
left_max = ABS(sample_value);
}
// calculate right sum
for (s=MEASUREMENT_BUFFER/4; s<MEASUREMENT_BUFFER/2; s++){
current_sample[0] = measurement[(2*s) + 1];
current_sample[1] = measurement[(2*s)];
memcpy(&sample_value, current_sample, 2);
if (ABS(sample_value) > right_max)
right_max = ABS(sample_value);
}
if ((left_max > 0) && (((4.0 * right_max) / (1.0 * left_max)) > 4.5) && ((right_max + left_max) > 40000)){
event_found = TRUE;
event_position = interval_min + (MEASUREMENT_BUFFER/2);
if (left_max > 0)
event_salience = (4*right_max) / left_max;
else
event_salience = 2;
printf("\nEvent found: position = %d, salience = %d", event_position, event_salience);
}
}*/
//for (i=0; i<MEASUREMENT_BUFFER; i++) fwrite(&measurement[i],1,(BUFFSIZE-1),outputstream);
}
int main( int argc, char *argv[] )
{
unsigned int i, start_count = 0, done_count = 0;
timing_t t_start = 0, t_stop = 0, t_gen = 0, t_sort = 0, t_merge =
0, t_check = 0;
unsigned int *addr;
unsigned int dummy;
int retval;
printf( "-------------------------------------------------------\n"
"ReconOS hardware multithreading case study (sort)\n"
"(c) Computer Engineering Group, University of Paderborn\n\n"
"eCos/POSIX, multi-threaded hardware version (" __FILE__ ")\n"
"Compiled on " __DATE__ ", " __TIME__ ".\n"
"-------------------------------------------------------\n\n" );
#ifdef USE_CACHE
printf( "enabling data cache for external ram\n" );
XCache_EnableDCache( 0x80000000 );
#else
printf( "data cache disabled\n" );
XCache_DisableDCache( );
#endif
data = buf_a;
//----------------------------------
//-- GENERATE DATA
//----------------------------------
printf( "Generating data..." );
t_start = gettime( );
generate_data( data, SIZE );
t_stop = gettime( );
t_gen = calc_timediff_ms( t_start, t_stop );
printf( "done\n" );
#ifdef USE_CACHE
// flush cache contents - the hardware can only read from main memory
// TODO: storing could be more efficient
printf( "Flushing cache..." );
XCache_EnableDCache( 0x80000000 );
printf( "done\n" );
#endif
//----------------------------------
//-- SORT DATA
//----------------------------------
// create mail boxes for 'start' and 'complete' messages
mb_start_attr.mq_flags = mb_done_attr.mq_flags = 0;
mb_start_attr.mq_maxmsg = mb_done_attr.mq_maxmsg = 10;
mb_start_attr.mq_msgsize = mb_done_attr.mq_msgsize = 4;
mb_start_attr.mq_curmsgs = mb_done_attr.mq_curmsgs = 0;
// unlink mailboxes, if they exist
retval = mq_unlink("/mb_start");
if (retval != 0 && errno != ENOENT) { // we don't care if it doesn't exist
diag_printf("unable to unlink mb_start");
}
retval = mq_unlink("/mb_done");
if (retval != 0 && errno != ENOENT) { // we don't care if it doesn't exist
diag_printf("unable to unlink mb_done");
}
// open/create mailboxes
mb_start = mq_open("/mb_start",
O_RDWR | O_CREAT, S_IRWXU | S_IRWXG,
&mb_start_attr);
if (mb_start == (mqd_t)-1) {
diag_printf("unable to create mb_start");
}
mb_done = mq_open("/mb_done",
O_RDWR | O_CREAT, S_IRWXU | S_IRWXG,
&mb_done_attr);
if (mb_done == (mqd_t)-1) {
diag_printf("unable to create mb_done");
}
// create sorting sowftware threads
for ( i = 0; i < MT_HW_NUM_SW_THREADS; i++ ) {
pthread_attr_init(&thread_sorter_attr[i]);
pthread_create(&thread_sorter[i],
&thread_sorter_attr[i],
sort8k_entry_posix, (void*)i);
}
// create sorting hardware thread
pthread_attr_init(&hwthread_sorter_attr);
pthread_attr_setstacksize(&hwthread_sorter_attr, STACK_SIZE);
rthread_attr_init(&hwthread_sorter_hwattr);
rthread_attr_setslotnum(&hwthread_sorter_hwattr, 0);
rthread_attr_setresources(&hwthread_sorter_hwattr, hwthread_sorter_resources, 2);
rthread_create(&hwthread_sorter, &hwthread_sorter_attr, &hwthread_sorter_hwattr, (void*)0);
printf( "Sorting data..." );
i = 0;
t_start = gettime( );
// put 9 messages into mb_start
while ( start_count < 9 ) {
addr = &data[i];
if ( mq_send( mb_start, ( void * ) &addr, sizeof(addr), 0 ) == 0 ) {
start_count++;
i += N;
} else {
perror("while sending to mq_send");
break;
}
}
t_stop = gettime( );
t_sort += calc_timediff_ms( t_start, t_stop );
while ( done_count < SIZE / N ) {
t_start = gettime( );
// if we have something to distribute,
// put one into the start mailbox
if ( start_count < SIZE / N ) {
addr = &data[i];
if ( mq_send( mb_start, ( void * ) &addr, sizeof(addr), 0 ) == 0 ) {
start_count++;
i += N;
} else {
perror("while sending to mq_send");
break;
}
}
// see whether anybody's done
if ( mq_receive( mb_done, (void*)&dummy, sizeof(dummy), 0 ) == sizeof(dummy) ) {
done_count++;
} else {
perror( "while receiving from mq_done" );
break;
}
t_stop = gettime( );
t_sort += calc_timediff_ms( t_start, t_stop );
}
printf( "done\n" );
#ifdef USE_CACHE
// flush cache contents
// TODO: invalidating would suffice
printf( "Flushing cache..." );
XCache_EnableDCache( 0x80000000 );
printf( "done\n" );
#endif
//----------------------------------
//-- MERGE DATA
//----------------------------------
printf( "Merging data..." );
t_start = gettime( );
data = recursive_merge( data, buf_b, SIZE, N, simple_merge );
t_stop = gettime( );
t_merge = calc_timediff_ms( t_start, t_stop );
printf( "done\n" );
//----------------------------------
//-- CHECK DATA
//----------------------------------
printf( "Checking sorted data..." );
t_start = gettime( );
if ( check_data( data, SIZE ) != 0 )
printf( "CHECK FAILED!\n" );
else
printf( "check successful.\n" );
t_stop = gettime( );
t_check = calc_timediff_ms( t_start, t_stop );
printf( "\nRunning times (size: %d words):\n"
"\tGenerate data: %d ms\n"
"\tSort data : %d ms\n"
"\tMerge data : %d ms\n"
"\tCheck data : %d ms\n"
"\nTotal computation time (sort & merge): %d ms\n",
SIZE, t_gen, t_sort, t_merge, t_check, t_sort + t_merge );
return 0;
}
void enable_caches()
{
XCache_EnableICache(0x80000000);
XCache_EnableDCache(0x80000000);
}
/**
*
* This function gets the calibration value.
*
* @param InstancePtr is a pointer to an XMpmc instance to be worked on.
*
* @return XST_SUCCESS if the DCM Phase shift decrement is completed
* else XST_FAILURE.
*
* @note None.
*
*****************************************************************************/
int MpmcGetCalibrate(XMpmc *InstancePtr, u32 MemoryStartAddr,
MpmcCalibReturnValue *CalibStatus)
{
int Count;
MpmcCalibValue LocalCalibValue;
int ValidCount;
u32 RegValue;
u8 Toggle = 0;
u32 Status;
LocalCalibValue.FoundValid = FALSE;
RegValue = MPMC_RDEN_DELAY_MIN_VAL;
/*
* Get the initial value from the register.
*/
LocalCalibValue.OrigTapValue = XMpmc_GetStaticPhyReg(InstancePtr) &
XMPMC_SPIR_DCM_TAP_VALUE_MASK;
if (LocalCalibValue.OrigTapValue > MPMC_MAX_TAPS) {
LocalCalibValue.OrigTapValue =
LocalCalibValue.OrigTapValue - 0x100;
}
/*
* Try to find valid calibration settings.
*/
while (LocalCalibValue.FoundValid == FALSE) {
LocalCalibValue.MinValue = MPMC_MAX_TAPS - 1;
LocalCalibValue.MaxValue = MPMC_MIN_TAPS + 1;
/*
* Reset DCM to minimum value
*/
Status = MpmcResetDcmPhaseShift(InstancePtr);
if (Status != XST_SUCCESS) {
return XST_FAILURE;
}
/*
* Read the memory and check that data versus the expected
* value.
*
* If the value matches, read the current calibration value.
* Repeat this to ensure that this is not on a transition.
* If the value is incorrect in any of these increments, the
* value must be re-established.
*
* If the value at 0 does match then we are probably in a case
* where the window is a wrap case. This means that we are
* looking for the upper bound not the lower bound.
*/
ValidCount = 0;
for (Count = MPMC_MIN_TAPS; Count < MPMC_MAX_TAPS; Count++) {
MpmcWriteTestPattern(MemoryStartAddr, Toggle);
if (MpmcCheckPattern(MemoryStartAddr, Toggle) !=
XST_SUCCESS) {
/*
* Found invalid calibration setting.
*/
if (ValidCount > MPMC_EDGE_TAPS) {
LocalCalibValue.MaxValue = Count;
}
ValidCount = 0;
} else {
/*
* Found valid calibration setting
* Check to make sure that cache reads work.
*/
#ifdef __MICROBLAZE__
#if XPAR_MICROBLAZE_0_USE_DCACHE
/*
* Initialize and Enable the data cache.
*/
microblaze_init_dcache_range(0,
XPAR_MICROBLAZE_0_DCACHE_BYTE_SIZE);
microblaze_enable_dcache();
#endif
#endif
#ifdef __PPC__
/*
* Enable the Dcache for all memory regions
* except the boot region of the PPC.
*/
XCache_InvalidateDCacheLine(MemoryStartAddr);
XCache_EnableDCache(0xFFFFFFFE);
#endif
Status = MpmcCheckPattern(MemoryStartAddr,
Toggle);
/*
* Disable and reinitialize the data cache.
*/
#ifdef __MICROBLAZE__
#if XPAR_MICROBLAZE_0_USE_DCACHE
microblaze_disable_dcache();
microblaze_init_dcache_range(0,
XPAR_MICROBLAZE_0_DCACHE_BYTE_SIZE);
#endif
#endif
#ifdef __PPC__
XCache_DisableDCache();
XCache_InvalidateDCacheLine(MemoryStartAddr);
#endif
if (Status != XST_SUCCESS) {
/*
* Found invalid calibration setting
*/
if (ValidCount > MPMC_EDGE_TAPS) {
LocalCalibValue.MaxValue =
Count;
}
ValidCount = 0;
} else {
/*
* Found valid calibration setting
*/
if (ValidCount == MPMC_EDGE_TAPS) {
LocalCalibValue.MinValue =
Count - MPMC_EDGE_TAPS;
LocalCalibValue.MaxValue =
Count;
}
else if (ValidCount > MPMC_EDGE_TAPS) {
LocalCalibValue.MaxValue =
Count;
}
ValidCount++;
if (ValidCount>MPMC_EDGE_TAPS) {
LocalCalibValue.FoundValid =
TRUE;
}
}
}
Status = MpmcIncDcmPhaseShift(InstancePtr, RegValue);
if (Status != XST_SUCCESS) {
return XST_FAILURE;
}
if (Toggle == 0) {
Toggle = 1;
} else {
Toggle = 0;
}
}
if ((LocalCalibValue.FoundValid == FALSE) &&
(((RegValue & XMPMC_SPIR_RDEN_DELAY_MASK)
!= MPMC_RDEN_DELAY_MAX_VAL) ||
((RegValue & XMPMC_SPIR_RDDATA_CLK_SEL_MASK) !=
XMPMC_SPIR_RDDATA_CLK_SEL_MASK) ||
((RegValue & XMPMC_SPIR_RDDATA_SWAP_RISE_MASK) !=
XMPMC_SPIR_RDDATA_SWAP_RISE_MASK))){
if ((RegValue & XMPMC_SPIR_RDEN_DELAY_MASK) !=
MPMC_RDEN_DELAY_MAX_VAL) {
RegValue = RegValue + MPMC_RDEN_DELAY_INC;
}
else if ((RegValue & XMPMC_SPIR_RDDATA_CLK_SEL_MASK) !=
XMPMC_SPIR_RDDATA_CLK_SEL_MASK) {
RegValue =
(RegValue |
XMPMC_SPIR_RDEN_DELAY_MASK) -
XMPMC_SPIR_RDEN_DELAY_MASK +
MPMC_RDEN_DELAY_MIN_VAL +
XMPMC_SPIR_RDDATA_CLK_SEL_MASK;
}
else if ((RegValue & XMPMC_SPIR_RDDATA_SWAP_RISE_MASK)
!=
XMPMC_SPIR_RDDATA_SWAP_RISE_MASK) {
RegValue =
(RegValue |
XMPMC_SPIR_RDEN_DELAY_MASK) -
XMPMC_SPIR_RDEN_DELAY_MASK +
MPMC_RDEN_DELAY_MIN_VAL -
XMPMC_SPIR_RDDATA_CLK_SEL_MASK +
XMPMC_SPIR_RDDATA_SWAP_RISE_MASK;
}
} else if (LocalCalibValue.FoundValid == FALSE) {
xil_printf("\r\n ERROR: Could not calibrate.\r\n");
return XST_FAILURE;
}
}
CalibStatus->FoundValid = LocalCalibValue.FoundValid;
CalibStatus->MinValue = LocalCalibValue.MinValue;
CalibStatus->MaxValue = LocalCalibValue.MaxValue;
CalibStatus->RegValue = RegValue;
if (LocalCalibValue.MaxValue >= LocalCalibValue.MinValue) {
CalibStatus->CalibTapValue = (LocalCalibValue.MinValue +
LocalCalibValue.MaxValue)/2;
} else {
CalibStatus->CalibTapValue = (LocalCalibValue.MinValue +
LocalCalibValue.MaxValue +
MPMC_NUMBER_TAPS)/2;
if (CalibStatus->CalibTapValue > MPMC_MAX_TAPS) {
CalibStatus->CalibTapValue =
(CalibStatus->CalibTapValue - MPMC_NUMBER_TAPS);
}
}
return XST_SUCCESS;
}
int main( int argc, char *argv[] )
{
unsigned int i, start_count = 0, done_count = 0, j;
timing_t t_start = 0, t_stop = 0, t_gen = 0, t_sort = 0, t_merge =
0, t_check = 0, t_tmp;
printf( "-------------------------------------------------------\n"
"ReconOS hardware multithreading case study (sort)\n"
"(c) Computer Engineering Group, University of Paderborn\n\n"
"eCos, single-threaded hardware version (" __FILE__ ")\n"
"Compiled on " __DATE__ ", " __TIME__ ".\n"
"-------------------------------------------------------\n\n" );
#ifdef USE_CACHE
printf( "enabling data cache for external ram\n" );
XCache_EnableDCache( 0x80000000 );
#else
printf( "data cache disabled\n" );
XCache_DisableDCache( );
#endif
data = buf_a;
//----------------------------------
//-- GENERATE DATA
//----------------------------------
printf( "Generating data..." );
t_start = gettime( );
generate_data( data, SIZE );
t_stop = gettime( );
t_gen = calc_timediff_ms( t_start, t_stop );
printf( "done\n" );
#ifdef USE_CACHE
// flush cache contents - the hardware can only read from main memory
// TODO: storing could be more efficient
printf( "Flushing cache..." );
XCache_EnableDCache( 0x80000000 );
printf( "done\n" );
#endif
//----------------------------------
//-- SORT DATA
//----------------------------------
// create mail boxes for 'start' and 'complete' messages
cyg_mbox_create( &mb_start_handle, &mb_start );
cyg_mbox_create( &mb_done_handle, &mb_done );
// create sorting thread
reconos_hwthread_create( 16, // priority
0, // entry data (not needed)
"MT_HW_SORT", // thread name
hwthread_sorter_stack, // stack
STACK_SIZE, // stack size
&hwthread_sorter_handle, // thread handle
&hwthread_sorter, // thread object
(void*)UPBHWR_OSIF_0_BASEADDR,
XPAR_OPB_INTC_0_OSIF_0_INTERRUPT_INTR+1,
// ( void * ) XPAR_PLB_RECONOS_SLOT_0_BASEADDR, // base address
// XPAR_OPB_INTC_0_PLB_RECONOS_SLOT_0_INTERRUPT_INTR + 1, // interrupt
hwthread_sorter_resources, // resource array
2, // number of resources
0xFFFFFFFF, 0xFFFFFFFF
);
cyg_thread_resume( hwthread_sorter_handle );
printf( "Sorting data..." );
i = 0;
while ( done_count < SIZE / N ) {
t_start = gettime( );
// if we have something to distribute,
// put as many as possile into the start mailbox
while ( start_count < SIZE / N ) {
if ( cyg_mbox_tryput( mb_start_handle, ( void * ) &data[i] ) ==
true ) {
start_count++;
i += N;
} else { // mailbox full
break;
}
}
t_stop = gettime( );
t_sort += calc_timediff_ms( t_start, t_stop );
// see whether anybody's done
t_start = gettime( );
if ( ( t_tmp = ( timing_t ) cyg_mbox_get( mb_done_handle ) ) != 0 ) {
done_count++;
} else {
printf( "cyg_mbox_get returned NULL!\n" );
}
t_stop = gettime( );
t_sort += calc_timediff_ms( t_start, t_stop );
}
printf( "done\n" );
#ifdef USE_CACHE
// flush cache contents
// TODO: invalidating would suffice
printf( "Flushing cache..." );
XCache_EnableDCache( 0x80000000 );
printf( "done\n" );
#endif
//----------------------------------
//-- MERGE DATA
//----------------------------------
printf( "Merging data..." );
t_start = gettime( );
data = recursive_merge( data, buf_b, SIZE, N, simple_merge );
t_stop = gettime( );
t_merge = calc_timediff_ms( t_start, t_stop );
printf( "done\n" );
//----------------------------------
//-- CHECK DATA
//----------------------------------
printf( "Checking sorted data..." );
t_start = gettime( );
if ( check_data( data, SIZE ) != 0 )
printf( "CHECK FAILED!\n" );
else
printf( "check successful.\n" );
t_stop = gettime( );
t_check = calc_timediff_ms( t_start, t_stop );
printf( "\nRunning times (size: %d words):\n"
"\tGenerate data: %d ms\n"
"\tSort data : %d ms\n"
"\tMerge data : %d ms\n"
"\tCheck data : %d ms\n"
"\nTotal computation time (sort & merge): %d ms\n",
SIZE, t_gen, t_sort, t_merge, t_check, t_sort + t_merge );
return 0;
}
/******************************************************************************
* Name: main
* Description: Program entry point
*
* Returns: int - returns 0 if no errors
******************************************************************************/
int main() {
/* declare a network interface and network addresses */
struct netif *netif, server_netif;
struct ip_addr ipaddr, netmask, gw;
/* specify a unique MAC address for the board */
#ifdef XPAR_CPU_PPC440_CORE_CLOCK_FREQ_HZ /* set MAC on ML507 board */
unsigned char mac_ethernet_address[] = {0x00, 0x0a, 0x35, 0x01, 0xC9, 0x76};
#else /* set MAC on ML410 board */
unsigned char mac_ethernet_address[] = {0x00, 0x0a, 0x35, 0x01, 0x9A, 0xFE};
#endif
/* set the network interface pointer */
netif = &server_netif;
/* enable caches */
XCache_EnableICache( INSTR_CACHE );
XCache_EnableDCache( DATA_CACHE );
/* setup interrupts */
setup_interrupts();
/* initliaze network addresses to be used */
IP4_ADDR( &ipaddr, 192, 168, 1, 15 );
IP4_ADDR( &netmask, 255, 255, 255, 0 );
IP4_ADDR( &gw, 192, 168, 1, 1 );
/* print the application header and IP settings */
print_app_header();
print_ip_settings(&ipaddr, &netmask, &gw);
/* initialize lwip */
lwip_init();
/* add network interface to the netif_list, and set it as default */
if( !xemac_add( netif, &ipaddr, &netmask, &gw,
mac_ethernet_address, EMAC_BASEADDR ) ) {
xil_printf( "Error adding N/W interface\n\r" );
return -1;
}
netif_set_default( netif );
/* now enable interrupts */
enable_interrupts();
/* specify that the network if is up */
netif_set_up( netif );
/* start the application */
start_application();
/* print debug header if debug mode set */
#ifdef QMFIR_DEBUG
debug_menu();
while( 1) {
qmfir_debug();
}
#endif
/* receive and process packets */
while( 1 ) {
xemacif_input( netif );
}
/* disable caches */
XCache_DisableDCache();
XCache_DisableICache();
return 0;
} /* main */
int main (void) {
XCache_EnableICache(0x80000001);
XCache_EnableDCache(0x80000001);
/* Initialize RS232 - Set baudrate and number of stop bits */
XUartNs550_SetBaud(XPAR_RS232_BASEADDR, XPAR_XUARTNS550_CLOCK_HZ, 9600);
XUartNs550_mSetLineControlReg(XPAR_RS232_BASEADDR, XUN_LCR_8_DATA_BITS);
print("-- Entering main() --\r\n");
/*
* MemoryTest routine will not be run for the memory at
* 0xffff0000 (xps_bram_if_cntlr_1)
* because it is being used to hold a part of this application program
*/
/*
* MemoryTest routine will not be run for the memory at
* 0x86000000 (FLASH_8Mx16)
* because it is a read-only memory
*/
/* Testing Memory (DDR2_SDRAM_16Mx32)*/
{
XStatus status;
print("Starting MemoryTest for DDR2_SDRAM_16Mx32:\r\n");
print(" Running 32-bit test...");
status = XUtil_MemoryTest32((Xuint32*)XPAR_DDR2_SDRAM_16MX32_MEM_BASEADDR, 1024, 0xAAAA5555, XUT_ALLMEMTESTS);
if (status == XST_SUCCESS) {
print("PASSED!\r\n");
}
else {
print("FAILED!\r\n");
}
print(" Running 16-bit test...");
status = XUtil_MemoryTest16((Xuint16*)XPAR_DDR2_SDRAM_16MX32_MEM_BASEADDR, 2048, 0xAA55, XUT_ALLMEMTESTS);
if (status == XST_SUCCESS) {
print("PASSED!\r\n");
}
else {
print("FAILED!\r\n");
}
print(" Running 8-bit test...");
status = XUtil_MemoryTest8((Xuint8*)XPAR_DDR2_SDRAM_16MX32_MEM_BASEADDR, 4096, 0xA5, XUT_ALLMEMTESTS);
if (status == XST_SUCCESS) {
print("PASSED!\r\n");
}
else {
print("FAILED!\r\n");
}
}
print("-- Exiting main() --\r\n");
XCache_DisableDCache();
XCache_DisableICache();
return 0;
}
/**
preResampling sw thread. Waits for all importance_done messages, normalizes the particle weights,
calls iteration_done function and finally sends messages to the resampling message box.
*/
void preResampling_thread (cyg_addrword_t data){
int message = 1;
int i, done;
int message_delivered = FALSE;
int * messages = (int *) malloc(sizeof(int)*(number_of_blocks));
//int * messages = (int *) malloc(sizeof(int)*N);
timing_t time_start = 0, time_stop = 0, time_particle_filter = 0;
int number_of_measurements = 0;
timing_t t_start = 0, t_stop = 0, t_result_1 = 0, t_result;
for (i=0; i<number_of_blocks; i++){
messages[i] = FALSE;
}
while (42){
// 1) check, if all messages are received to message box
// If this is not true, get the next message
while (!all_messages_received(messages, number_of_blocks) ){
message = (int) cyg_mbox_get( mb_importance_done_handle[0] );
if (message > 0){
messages[message-1] = TRUE;
}
}
//printf("\n[Resampling Switch] alle Nachrichten erhalten");
t_start = gettime();
// set messages back to 'not received'
for (i=0; i<number_of_blocks; i++){
messages[i] = FALSE;
}
#ifdef USE_CACHE
XCache_EnableDCache( 0xF0000000 );
#endif
#ifdef OBSERVATION_DEBUG
// debug: check, if observation is correct
i = 0;
observation * obs1 = &observations[i];
observation obs2;
extract_observation(&particles[i], &obs2);
if (obs1->no_tracking_needed != obs2.no_tracking_needed)
{
diag_printf("\nparticle[%d] \tno_tracking_needed - hw=%d sw=%d",
i, obs1->no_tracking_needed, obs2.no_tracking_needed);
diag_printf("\nparticle[%d] \told_likelihood - hw=%d sw=%d",
i, obs1->old_likelihood, obs2.old_likelihood);
}
else if (obs1->no_tracking_needed == FALSE)
{
int j;
for(j=0;j<OBSERVATION_LENGTH;j++)
{
if ((ABS(obs2.fft[j].re-obs1->fft[j].re)>1)||(ABS(obs2.fft[j].im-obs1->fft[j].im)>1))
{
diag_printf("\nobservation[%d].fft[%d].re - hw=%d sw=%d",
i,j,(int)obs1->fft[j].re,(int)obs2.fft[j].re);
diag_printf("\nobservation[%d].fft[%d].im - hw=%d sw=%d",
i,j,(int)obs1->fft[j].im,(int)obs2.fft[j].im);
}
}
}
// debug end
#endif
#ifdef IMPORTANCE_DEBUG2
// TODO: remove debug
// debug: check if likelihood is calculated correctly
int sw_likelihood, difference;
for (i=0; i<N; i++){
if (observations[i].no_tracking_needed == FALSE) {
//printf("\nreceived hw results. get sw results");
sw_likelihood = likelihood(&particles[i], &observations[i], NULL);
// difference between likelihood calculated in sw and likelihood calculated in hw
difference = particles[i].w - sw_likelihood;
//if (difference > 1 || difference < -1)
diag_printf("\nlikelihood[%d]: sw = %d; hw = %d", i, sw_likelihood, particles[i].w);
}
}
// debug end
if (particles[i].w <= 0) particles[i].w = 1;
#endif
// 2) calls iteration_done user function
iteration_done(particles, observations, ref_data, N);
// 3) normalize particle weights
normalize_particle_weights();
t_stop = gettime();
t_result_1 = calc_timediff(t_start, t_stop);
//printf("\nNormalize weights + iteration done: %d", t_result_1);;
// calculate time for one particle filter loop
time_stop = gettime();
time_particle_filter = calc_timediff( time_start, time_stop );
if (number_of_measurements > 0)
//printf("\n%d \t%d", number_of_measurements, time_particle_filter);
printf("\n%d", time_particle_filter);
//diag_printf("\n%d \t%d", number_of_measurements, time_particle_filter);
time_start = gettime();
number_of_measurements++;
t_start = gettime();
// 4) calculate Resampling Function U
calculate_resampling_function();
t_stop = gettime();
t_result = calc_timediff(t_start, t_stop);
t_result += t_result_1;
//printf("\nPreresampling: %d", t_result);
#ifdef USE_CACHE
XCache_EnableDCache( 0xF0000000 );
#endif
// 5) send all messages to sw/hw message box
for (message=1; message<=number_of_blocks; message++){
message_delivered = FALSE;
while (message_delivered == FALSE){
done = cyg_mbox_tryput( mb_resampling_handle[0], ( void * ) message );
if (done > 0){
//diag_printf("\n[Resampling Switch] Nachricht %d an Reampling weitergeleitet", message);
message_delivered = TRUE;
}
}
}
//printf("\n[Sampling Switch] alle Nachrichten geschickt");
}
}
///
/// Application entry function. Sets up data strctures and threads.
///
void cyg_user_start()
{
struct udp_connection *con;
// cyg_sem_t *sem_array[8];
reconos_res_t sem_array_laplace[8];
reconos_res_t sem_array_display[8];
int i;
#if defined(USE_DCACHE)
// enable caches for DRAM
XCache_EnableDCache(0x80000000);
#endif
diag_printf("Hello embedded world!\n"
"This is " __FILE__ " (ReconOS), built " __DATE__ ", "
__TIME__ "\n");
// initialize hardware
diag_printf("Initializing hardware...\n");
init();
// initialize image buffers
diag_printf("Initializing image buffers...\n");
for (i = 0; i < 2; i++) {
byte_buffer_init(&input_buffer[i], WIDTH, HEIGHT); // one image + four lines (???)
byte_buffer_fill(&input_buffer[i], 0);
byte_buffer_init(&laplace_buffer[i], WIDTH, HEIGHT); // one image
byte_buffer_fill(&laplace_buffer[i], 0);
}
// initialize fake output image buffer
output_buffer[0].width = WIDTH; // irrelevant
output_buffer[0].height = HEIGHT; // irrelevant
output_buffer[0].data = fb_info.fb; // this points to the VGA frame buffer
// NOTE: the semaphores of this buffer are not used and therefore not initialized
diag_printf
("Buffer addresses: input: 0x%08X, laplace: 0x%08X, output: 0x%08X\n",
input_buffer[0].data, laplace_buffer[0].data, output_buffer[0].data);
// set up UDP connection
diag_printf("Setting up UDP networking...\n");
con = udp_connection_create(inet_addr("192.168.1.2"));
// initialize thread info structures
diag_printf("Initializing thread info structures...\n");
buffer_thread_info_init(&input_thread_info, 2, NULL, input_buffer);/*, NULL,
&laplace_rdy, NULL, &input_new);*/
buffer_thread_info_init(&laplace_thread_info, 2, input_buffer,
laplace_buffer);/*, &laplace_rdy, &display_rdy,
&input_new, &laplace_new);*/
buffer_thread_info_init(&display_thread_info, 2, laplace_buffer,
output_buffer);/*, &display_rdy, NULL,
&laplace_new, NULL);*/
// initialize semaphores
/* diag_printf("Initializing semaphores...\n");
cyg_semaphore_init(&input_new, 0);
cyg_semaphore_init(&laplace_rdy, 1);
cyg_semaphore_init(&laplace_new, 0);
cyg_semaphore_init(&display_rdy, 1);*/
// pass connection info to input thread
input_thread_info.data = (cyg_addrword_t) con;
diag_printf("Creating threads...");
// create input thread
diag_printf("input...");
cyg_thread_create(16, // scheduling info (eg pri)
entry_buffer_recv, // entry point function
(cyg_addrword_t) & input_thread_info, // entry data
"INPUT THREAD", // optional thread name
input_stack, // stack base
MYTHREAD_STACK_SIZE, // stack size,
&input_handle, // returned thread handle
&input_thread // put thread here
);
#if !defined(USE_HW_LAPLACE)
// create laplace software thread
diag_printf("laplace_sw...");
cyg_thread_create(16, // scheduling info (eg pri)
entry_buffer_laplace, // entry point function
(cyg_addrword_t) & laplace_thread_info, // entry data
"LAPLACE THREAD (SW)", // optional thread name
laplace_stack, // stack base
MYTHREAD_STACK_SIZE, // stack size,
&laplace_handle, // returned thread handle
&laplace_thread // put thread here
);
#else
// create laplace hardware thread
diag_printf("laplace_hw...");
fill_sem_array(sem_array_laplace, &laplace_thread_info);
rthread_attr_init(&laplace_hwthread_attr);
rthread_attr_setslotnum(&laplace_hwthread_attr, 0);
rthread_attr_setresources(&laplace_hwthread_attr, sem_array_laplace, 8);
reconos_hwthread_create(16, // scheduling info (eg pri)
&laplace_hwthread_attr, // hw thread attributes
shm_init(&laplace_thread_info), // init data
"LAPLACE_THREAD (HW)", // optional thread name
laplace_stack, // stack base
MYTHREAD_STACK_SIZE, // stack size,
&laplace_handle, // returned thread handle
&laplace_hwthread); // put thread here
#endif
#if !defined(USE_HW_DISPLAY)
// create display software thread
diag_printf("display_sw...");
cyg_thread_create(16, // scheduling info (eg pri)
entry_buffer_display, // entry point function
(cyg_addrword_t) & display_thread_info, // entry data
"DISPLAY THREAD", // optional thread name
display_stack, // stack base
MYTHREAD_STACK_SIZE, // stack size,
&display_handle, // returned thread handle
&display_thread // put thread here
);
#else
// create display hardware thread
diag_printf("display_hw...");
fill_sem_array(sem_array_display, &display_thread_info);
rthread_attr_init(&display_hwthread_attr);
rthread_attr_setslotnum(&display_hwthread_attr, 0);
rthread_attr_setresources(&display_hwthread_attr, sem_array_display, 8);
reconos_hwthread_create(16, // scheduling info (eg pri)
&display_hwthread_attr, // hw thread attributes
shm_init(&display_thread_info), // init data
"DISPLAY_THREAD (HW)", // optional thread name
display_stack, // stack base
MYTHREAD_STACK_SIZE, // stack size,
&display_handle, // returned thread handle
&display_hwthread, // put thread here
(void *) XPAR_PLB_RECONOS_SLOT_1_BASEADDR, XPAR_OPB_INTC_0_PLB_RECONOS_SLOT_1_INTERRUPT_INTR + 1, // associated interrupt vector
shm_init(&display_thread_info), SHM_SIZE,
sem_array, 8);
#endif
diag_printf("\nStarting threads...\n");
cyg_thread_resume(input_handle);
cyg_thread_resume(laplace_handle);
cyg_thread_resume(display_handle);
diag_printf("end of main()\n");
}