/**
*
* 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;
}
void DemoInitialize()
{
int Status;
XAxiVdma_Config *vdmaConfig;
int i;
/*
* Initialize an array of pointers to the 3 frame buffers
*/
for (i = 0; i < DISPLAY_NUM_FRAMES; i++)
{
pFrames[i] = frameBuf[i];
}
/*
* Initialize VDMA driver
*/
vdmaConfig = XAxiVdma_LookupConfig(VGA_VDMA_ID);
if (!vdmaConfig)
{
xil_printf("No video DMA found for ID %d\r\n", VGA_VDMA_ID);
return;
}
Status = XAxiVdma_CfgInitialize(&vdma, vdmaConfig, vdmaConfig->BaseAddress);
if (Status != XST_SUCCESS)
{
xil_printf("VDMA Configuration Initialization failed %d\r\n", Status);
return;
}
/*
* Initialize the Display controller and start it
*/
Status = DisplayInitialize(&dispCtrl, &vdma, DISP_VTC_ID, DYNCLK_BASEADDR, pFrames, DEMO_STRIDE);
if (Status != XST_SUCCESS)
{
xil_printf("Display Ctrl initialization failed during demo initialization%d\r\n", Status);
return;
}
Status = DisplayStart(&dispCtrl);
if (Status != XST_SUCCESS)
{
xil_printf("Couldn't start display during demo initialization%d\r\n", Status);
return;
}
/*
* Initialize the Interrupt controller and start it.
*/
Status = fnInitInterruptController(&intc);
if(Status != XST_SUCCESS) {
xil_printf("Error initializing interrupts");
return;
}
fnEnableInterrupts(&intc, &ivt[0], sizeof(ivt)/sizeof(ivt[0]));
/*
* Initialize the Video Capture device
*/
Status = VideoInitialize(&videoCapt, &intc, &vdma, VID_GPIO_ID, VID_VTC_ID, VID_VTC_IRPT_ID, pFrames, DEMO_STRIDE, DEMO_START_ON_DET);
if (Status != XST_SUCCESS)
{
xil_printf("Video Ctrl initialization failed during demo initialization%d\r\n", Status);
return;
}
/*
* Set the Video Detect callback to trigger the menu to reset, displaying the new detected resolution
*/
VideoSetCallback(&videoCapt, DemoISR, &fRefresh);
DemoPrintTest(dispCtrl.framePtr[dispCtrl.curFrame], dispCtrl.vMode.width, dispCtrl.vMode.height, dispCtrl.stride, DEMO_PATTERN_1);
return;
}