void set_PID_vals(row, col)
{
u32 btnsw;
NX3_readBtnSw(&btnsw);
// Set which control measurement we're using
if (btnsw & msk_BTN_NORTH)
{
// increment to the next selection. If we're at the last enum, set it to the 1st (proportional)
if (PID_current_sel == OFFSET) PID_current_sel = PROPORTIONAL;
else PID_current_sel = (Control_t)((int)(PID_current_sel+1)); //casting to allow increment
// cursor control logic
if (PID_current_sel == PROPORTIONAL)
{
row = 1;
col = 2;
}
else if (PID_current_sel == INTEGRAL)
{
row = 1;
col = 7;
}
else if (PID_current_sel == DERIVATIVE)
{
row = 1;
col = 12;
}
else if (PID_current_sel == OFFSET)
{
row = 2;
col = 13;
}
}
delay_msecs(20);
//set cursor location and turn on cursor
LCD_setcursor(row,col);
LCD_docmd(LCD_DISPLAYONOFF, LCD_CURSOR_ON);
if (btnsw & msk_BTN_EAST)
{
if (PID_current_sel == PROPORTIONAL) prop_gain += GAIN_INCREMENT;
else if (PID_current_sel == INTEGRAL) integral_gain += GAIN_INCREMENT;
else if (PID_current_sel == DERIVATIVE) deriv_gain += GAIN_INCREMENT;
else offset += GAIN_INCREMENT;
}
if (btnsw & msk_BTN_WEST)
{
if (PID_current_sel == PROPORTIONAL) prop_gain -= GAIN_INCREMENT;
else if (PID_current_sel == INTEGRAL) integral_gain -= GAIN_INCREMENT;
else if (PID_current_sel == DERIVATIVE) deriv_gain -= GAIN_INCREMENT;
else offset -= GAIN_INCREMENT;
}
}
int main() {
XStatus Status;
u32 btnsw = 0x00000000, old_btnsw = 0x000000FF, diff_btnsw;
u32 leds;
int rotcnt, old_rotcnt;
Test_t test;
ParamSel_t param_select;
bool wrlcd_dynamic;
bool wrlcd_static;
// initialize devices and set up interrupts, etc.
Status = do_init();
if (Status != XST_SUCCESS) {
LCD_setcursor(1, 0);
LCD_wrstring("****** ERROR *******");
LCD_setcursor(2, 0);
LCD_wrstring("INIT FAILED- EXITING");
exit(XST_FAILURE);
}
// initialize the global variables
timestamp = 0;
pwm_freq = PWM_FREQUENCY_HZ;
pwm_duty = PWM_STEPDC_MIN;
// initialize the local variables
btnsw = 0x00;
old_btnsw = 0x00;
rotcnt = 0;
old_rotcnt = 0;
param_select = SLCT_GP;
wrlcd_dynamic = true;
wrlcd_static = true;
leds = LEDS_ALLOFF;
_prev_button_down_count = 0;
// Enable the Microblaze caches and
// kick off the processing by enabling the Microblaze interrupt
// this starts the FIT timer which updates the timestamp.
if (USE_ICACHE == 1) {
microblaze_invalidate_icache();
microblaze_enable_icache();
}
if (USE_DCACHE == 1) {
microblaze_invalidate_dcache();
microblaze_enable_dcache();
}
microblaze_enable_interrupts();
// display the greeting
LCD_setcursor(1, 0);
LCD_wrstring("ECE544 Project 2");
LCD_setcursor(2, 0);
LCD_wrstring("Starter App-R5.0");
NX3_writeleds(LEDS_ALLON);
delay_msecs(2000);
NX3_writeleds(LEDS_ALLOFF);
// Set the PWM and ADC min and max counts by forcing a characterization
LCD_clrd();
LCD_setcursor(1, 0);
LCD_wrstring("Characterizing..");
DoTest_Characterize();
LCD_setcursor(2, 0);
LCD_wrstring("...Done ");
//*****GAIN AND OFFSET ARE HARDWIRED IN THE STARTER APP *****
// initialize the control parameters
// start the set point in the middle of the range
setpoint = (ADC_max_cnt - ADC_min_cnt) / 2;
offset = 100;
GP = 10;
GD = 5;
GI = 5;
init_high = false;
//*****GAIN AND OFFSET ARE HARDWIRED IN THE STARTER APP *****
// main loop - there is no exit except by hardware reset
while (1) {
// write static portion of output to display
if (wrlcd_static) {
LCD_clrd();
LCD_setcursor(1, 0);
LCD_wrstring("G|Pxxx Ixxx Dxxx");
LCD_setcursor(2, 0);
LCD_wrstring("SP:+x.xx OFF:xxx");
wrlcd_static = false;
}
// write the dynamic portion of output to display
if (wrlcd_dynamic) {
Xfloat32 v;
u16 count;
char s[20];
u32 row, col;
// display GP, GI, and GD
LCD_setcursor(1, 3);
LCD_wrstring(" ");
LCD_setcursor(1, 3);
LCD_putnum(GP, 10);
LCD_setcursor(1, 8);
LCD_wrstring(" ");
LCD_setcursor(1, 8);
LCD_putnum(GI, 10);
LCD_setcursor(1, 13);
LCD_wrstring(" ");
LCD_setcursor(1, 13);
LCD_putnum(GD, 10);
LCD_setcursor(2, 13);
LCD_wrstring(" ");
LCD_setcursor(2, 13);
LCD_putnum(offset, 10);
// display the setpoint in volts
count = setpoint;
v = PmodCtlSys_ADCVolts(count);
voltstostrng(v, s);
LCD_setcursor(2, 3);
LCD_wrstring(" ");
LCD_setcursor(2, 3);
LCD_wrstring(s);
// place the cursor under the currently selected parameter
LCD_docmd(LCD_DISPLAYONOFF, LCD_CURSOR_OFF);
switch (param_select) {
case SLCT_OFFSET:
row = 2;
col = 13;
break;
case SLCT_GP:
row = 1;
col = 3;
break;
case SLCT_GD:
row = 1;
col = 13;
break;
case SLCT_GI:
row = 1;
col = 8;
break;
case SLCT_INVALID:
break;
}
if (param_select != SLCT_INVALID) {
LCD_setcursor(row, col);
LCD_docmd(LCD_DISPLAYONOFF, LCD_CURSOR_ON);
}
wrlcd_dynamic = false;
}
// read switches and buttons to get the test to perform and its initial value
// display the selected test on the LEDs
NX3_readBtnSw(&btnsw);
init_high = (btnsw & SW_INIT_HILO) ? true : false;
test = btnsw & SW_TEST_SELECT;
//update the HI/LO and TEST LEDs
leds &= ~(LEDS_HILO | LEDS_TEST);
leds |= (init_high == true) ? LEDS_HILO : 0;
leds |= test << 3;
NX3_writeleds(leds);
// read rotary count and handle setpoint changes
// accelerate setpoint if speedup threshold has been exceeded
// Use MIN and MAX to keep scaled ADC count within range
ROT_readRotcnt(&rotcnt);
if (rotcnt != old_rotcnt) {
if (abs(rotcnt - old_rotcnt) > ROTCNT_SPEEDUP_GATE) {
setpoint += (rotcnt - old_rotcnt) * ROTCNT_DELTA
* ROTCNT_SPEEDUP_FACTOR;
} else {
setpoint += (rotcnt - old_rotcnt) * ROTCNT_DELTA;
}
setpoint = MAX(ADC_min_cnt, MIN(setpoint, ADC_max_cnt));
old_rotcnt = rotcnt;
wrlcd_dynamic = true;
} // rotary count changed
//***** NOTE: User interface handling should go in this section. *****
//***** The starter app just lets the user select the setpoint and *****
//***** run the test selected by the switches *****
// look at the buttons and take action on the rising edge of a button press
bool north_button = btnsw & msk_BTN_NORTH;
bool east_button = btnsw & msk_BTN_EAST;
bool west_button = btnsw & msk_BTN_WEST;
bool button_down = north_button || east_button || west_button;
if (button_down)
{
_prev_button_down_count++;
if (_prev_button_down_count > 5)
_prev_button_down_count = 5;
if (north_button) {
switch (param_select) {
case SLCT_GP:
param_select = SLCT_GI;
break;
case SLCT_GI:
param_select = SLCT_GD;
break;
case SLCT_GD:
param_select = SLCT_OFFSET;
break;
case SLCT_OFFSET:
param_select = SLCT_GP;
break;
}
wrlcd_dynamic = true;
}
if (east_button) {
switch (param_select) {
case SLCT_GP:
GP+=_prev_button_down_count;
break;
case SLCT_GI:
GI+=_prev_button_down_count;
break;
case SLCT_GD:
GD+=_prev_button_down_count;
break;
case SLCT_OFFSET:
offset+=_prev_button_down_count;
break;
}
wrlcd_dynamic = true;
}
if (west_button) {
switch (param_select) {
case SLCT_GP:
GP-=_prev_button_down_count;
break;
case SLCT_GI:
GI-=_prev_button_down_count;
break;
case SLCT_GD:
GD-=_prev_button_down_count;
break;
case SLCT_OFFSET:
offset-=_prev_button_down_count;
break;
}
wrlcd_dynamic = true;
}
} else {
_prev_button_down_count = 0;
}
btnsw &= BTN_MSK_ALLBUTTONS;
diff_btnsw = (btnsw ^ old_btnsw) & btnsw;
old_btnsw = btnsw;
if (diff_btnsw & BTN_RUN_XFER) // run a test
{
Xfloat32 vADC, vSP; // VADC from circuit and Vsetpoint
char s1[20], s2[30]; // display and print strings
int (*funcPtr)(void); // pointer to test function
int n; // number of samples to transfer (returned by test functions)
switch (test) // set up for the selected test
{
case TEST_BB: // Bit Bang control
strcpy(s1, "|BB |Press RBtn");
strcpy(s2, "Bit Bang Control Test Data");
funcPtr = DoTest_BB;
break;
case TEST_PID: // PID control
strcpy(s1, "|PID |Press RBtn");
strcpy(s2, "PID Control Test Data");
funcPtr = DoTest_PID;
break;
case TEST_CHARACTERIZE: // characterize control system simulator
strcpy(s1, "|CHAR|Press RBtn");
strcpy(s2, "Characterization Test Data");
funcPtr = DoTest_Characterize;
break;
default: // no test to run
strcpy(s1, "");
strcpy(s2, "");
funcPtr = NULL;
break;
}
// Change the display to indicate that a test will be run
LCD_clrd();
LCD_setcursor(1, 0);
LCD_wrstring(s1);
LCD_setcursor(2, 0);
LCD_wrstring("LED OFF-Release ");
// turn on Run LED to show the test has begun
// and do the test. The test will return when the ADC samples array
// has been filled. Turn off the rightmost LED after the data has been
// captured to let the user know he/she can release the button
if (funcPtr != NULL) {
leds |= LEDS_RUN;
NX3_writeleds(leds);
n = funcPtr();
leds &= ~LEDS_RUN;
NX3_writeleds(leds);
// wait for the Rotary Encoder button to be released
// and then send the sample data to stdout
do {
NX3_readBtnSw(&btnsw);
delay_msecs(10);
} while (btnsw & BTN_RUN_XFER);
// turn on Transfer LED to indicate that data is being transmitted
// Show the transfer traffic on the LCD
leds |= LEDS_XFER;
NX3_writeleds(leds);
LCD_clrd();
LCD_setcursor(1, 0);
LCD_wrstring("Sending Data....");
LCD_setcursor(2, 0);
LCD_wrstring("S: DATA: ");
// transfer the descriptive heading followed by the data
xil_printf("\n\r%s\tAppx. Sample Interval: %d msec\n\r", s2,
adc_smple_interval);
xil_printf("sample\tADCCount\tVout\tsetpoint\tPWMCount\n\r");
// tell SerialCharter to start gathering data)
xil_printf("===STARTPLOT===\n");
for (smpl_idx = 2; smpl_idx < n; smpl_idx++) {
u16 count;
count = sample[smpl_idx];
vADC = PmodCtlSys_ADCVolts(count);
vSP = PmodCtlSys_ADCVolts(setpoint);
voltstostrng(vADC, s1);
voltstostrng(vSP, s2);
xil_printf("%d\t%d\t%s\t%s\t%d\n\r", smpl_idx, count, s1,
s2, PIDdebug[smpl_idx].pwm_count);
LCD_setcursor(2, 2);
LCD_wrstring(" ");
LCD_setcursor(2, 2);
LCD_putnum(smpl_idx, 10);
LCD_setcursor(2, 11);
LCD_wrstring(" ");
LCD_setcursor(2, 11);
LCD_putnum(count, 10);
}
// tell SeriaCharter to stop gathering data and display the graph
xil_printf("===ENDPLOT===\n");
// transfer complete - turn Transfer LED off and wrap up command processing
leds &= ~LEDS_XFER;
NX3_writeleds(leds);
wrlcd_static = true;
wrlcd_dynamic = true;
}
} // run a test
// wait a bit and start again
delay_msecs(100);
} // while(1) loop
} // end main()
int main()
{
XStatus Status;
u32 btnsw = 0x00000000, old_btnsw = 0x000000FF;
int rotcnt, old_rotcnt = 0x1000;
Test_t test, next_test;
is_scaled = false;
bool lcd_initial = true;
char sp[20];
u16 row = 1;
u16 col = 2;
bool calc_done = false;
freq_min_cnt = 3000;
// initialize devices and set up interrupts, etc.
Status = do_init();
if (Status != XST_SUCCESS)
{
LCD_setcursor(1,0);
LCD_wrstring("****** ERROR *******");
LCD_setcursor(2,0);
LCD_wrstring("INIT FAILED- EXITING");
exit(XST_FAILURE);
}
// initialize the variables
timestamp = 0;
pwm_freq = PWM_FREQUENCY;
next_test = TEST_INVALID;
prop_gain = PROP_INIT_GAIN;
integral_gain = INT_INIT_GAIN;
deriv_gain = DERIV_INIT_GAIN;
// Enable the Microblaze caches and kick off the processing by enabling the Microblaze
// interrupt. This starts the FIT timer which updates the timestamp.
if (USE_ICACHE == 1)
{
microblaze_invalidate_icache();
microblaze_enable_icache();
}
if (USE_DCACHE == 1)
{
microblaze_invalidate_dcache();
microblaze_enable_dcache();
}
microblaze_enable_interrupts();
// display the greeting
LCD_setcursor(1,0);
LCD_wrstring("PWM Ctrl sys");
LCD_setcursor(2,0);
LCD_wrstring("Erik R, Caren Z");
NX3_writeleds(0xFF);
//delay_msecs(2500);
LCD_clrd();
LCD_setcursor(1,0);
LCD_wrstring("Characterizing..");
//Run the LED characterization routine to establish sensor min's and max's
DoTest_Characterize();
LCD_setcursor(2,0);
LCD_wrstring("Done.");
NX3_writeleds(0x00);
delay_msecs(500);
//set initial screen
// main loop - there is no exit except by hardware reset
while (1)
{
//set Vin to min or max depending on switch 3 value
if (btnsw & msk_SWITCH3)
{
pwm_duty = MAX_DUTY;
dc_start = MAX_DUTY;
}
else
{
pwm_duty = MIN_DUTY;
dc_start = MIN_DUTY;
}
// Write values to display when in "idle" state
if (lcd_initial)
{
LCD_clrd();
LCD_setcursor(1,0);
LCD_wrstring("P: I: D: ");
LCD_setcursor(1,2);
LCD_setcursor(2,0);
LCD_wrstring("SP:+ OFF: ");
lcd_initial = false;
LCD_setcursor(1,2);
}
no_test_LCD();
NX3_readBtnSw(&btnsw);
// Set which control measurement we're using
if (btnsw & msk_BTN_NORTH)
{
// increment to the next selection. If we're at the last enum, set it to the 1st (proportional)
if (PID_current_sel == OFFSET) PID_current_sel = PROPORTIONAL;
else PID_current_sel = (Control_t)((int)(PID_current_sel+1)); //casting to allow increment
// cursor control logic
if (PID_current_sel == PROPORTIONAL)
{
row = 1;
col = 2;
}
else if (PID_current_sel == INTEGRAL)
{
row = 1;
col = 7;
}
else if (PID_current_sel == DERIVATIVE)
{
row = 1;
col = 12;
}
else if (PID_current_sel == OFFSET)
{
row = 2;
col = 13;
}
}
delay_msecs(20);
//set cursor location and turn on cursor
LCD_setcursor(row,col);
LCD_docmd(LCD_DISPLAYONOFF, LCD_CURSOR_ON);
if (btnsw & msk_BTN_EAST)
{
if (PID_current_sel == PROPORTIONAL) prop_gain += GAIN_INCREMENT;
else if (PID_current_sel == INTEGRAL) integral_gain += GAIN_INCREMENT;
else if (PID_current_sel == DERIVATIVE) deriv_gain += GAIN_INCREMENT;
else offset += GAIN_INCREMENT;
}
if (btnsw & msk_BTN_WEST)
{
if (PID_current_sel == PROPORTIONAL) prop_gain -= GAIN_INCREMENT;
else if (PID_current_sel == INTEGRAL) integral_gain -= GAIN_INCREMENT;
else if (PID_current_sel == DERIVATIVE) deriv_gain -= GAIN_INCREMENT;
else offset -= GAIN_INCREMENT;
}
// read sw[1:0] to get the test to perform.
NX3_readBtnSw(&btnsw);
test = btnsw & (msk_SWITCH1 | msk_SWITCH0);
ROT_readRotcnt(&rotcnt);
if (rotcnt != old_rotcnt)
{
//scale rotary count to setpoint values
LCD_docmd(LCD_DISPLAYONOFF, LCD_CURSOR_OFF);
setpoint = MAX(VOLT_MIN, MIN((rotcnt/SETPOINT_SCALE), VOLT_MAX));
voltstostrng(setpoint, sp);
old_rotcnt = rotcnt;
LCD_setcursor(2, 3);
LCD_wrstring(sp);
LCD_setcursor(2, 3);
LCD_wrstring('+');
}
if (test == TEST_T_CALLS) //unused
{
next_test = TEST_INVALID;
lcd_initial = true;
delay_msecs(3000);
}
else if ((test == TEST_BANG ) || (test == TEST_PID)) // Test 1 & 2 - control methods Bang Bang and PID
{
Xfloat32 v;
char s[20];
// start the test on the rising edge of the Rotary Encoder button press
// the test will write the light detector samples into the global "sample[]"
// the samples will be sent to stdout when the Rotary Encoder button
// is released
//
// NOTE ON DETECTING BUTTON CHANGES:
// btnsw ^ old_btnsw will set the bits for all of the buttons and switches that
// have changed state since the last time the buttons and switches were read
// msk_BTN_ROT & btnsw will test whether the rotary encoder was one of the
// buttons that changed from 0 -> 1
if ((btnsw ^ old_btnsw) && (msk_BTN_ROT & btnsw)) // do the step test and dump data
{
/*Running Test (rotary pushbutton pushed): Show which control algorithm is running and
display instructions for running test and uploading data.*/
if (test != next_test)
{
if (test == TEST_BANG)
{
strcpy(s, "|BANG|Long Press");
}
else
{
strcpy(s, "|PID|Long Press");
}
delay_msecs(100);
LCD_clrd();
LCD_setcursor(1,0);
LCD_wrstring(s);
LCD_setcursor(2,0);
LCD_wrstring("RotBtn to start");
}
NX3_writeleds(0x01);
if (test == TEST_BANG) // perform bang bang calculations
{
calc_bang();
}
else // perform PID tests
{
calc_PID();
}
NX3_writeleds(0x00);
//FEATURE: wait for user input to send data over
NX3_readBtnSw(&btnsw);
if ((btnsw ^ old_btnsw) && (msk_BTN_ROT & btnsw))
{
// light "Transfer" LED to indicate that data is being transmitted
// Show the traffic on the LCD
NX3_writeleds(0x02);
LCD_clrd();
LCD_setcursor(1, 0);
LCD_wrstring("Sending Data....");
LCD_setcursor(2, 0);
LCD_wrstring("S: DATA: ");
// print the descriptive heading followed by the data
if (test == TEST_BANG)
{
xil_printf("\n\rBang Bang! Test Data\t\tAppx. Sample Interval: %d msec\n\r", frq_smple_interval);
}
else
{
xil_printf("\n\rPID Test Data\t\tAppx. Sample Interval: %d msec\n\r", frq_smple_interval);
}
// trigger the serial charter program)
xil_printf("===STARTPLOT===\n");
// start with the second sample. The first sample is not representative of
// the data. This will pretty-up the graph a bit
for (smpl_idx = 1; smpl_idx < NUM_FRQ_SAMPLES; smpl_idx++)
{
u16 count;
count = sample[smpl_idx];
if (count > 4096)
count = 4095;
v = (-3.3 / 4095.0) * (count) + 3.3;
voltstostrng(v, s);
xil_printf("%d\t%d\t%s\n\r", smpl_idx, count, s);
LCD_setcursor(2, 2);
LCD_wrstring(" ");
LCD_setcursor(2, 2);
LCD_putnum(smpl_idx, 10);
LCD_setcursor(2, 11);
LCD_wrstring(" ");
LCD_setcursor(2, 11);
LCD_putnum(count, 10);
}
// stop the serial charter program
xil_printf("===ENDPLOT===\n");
NX3_writeleds(0x00);
old_btnsw = btnsw;
next_test = TEST_INVALID;
lcd_initial = true;
delay_msecs(3000);
}
} // do the step test and dump data
}
else if (test == TEST_CHARACTERIZE) // Test 3 - Characterize Response
{
// start the test on the rising edge of the Rotary Encoder button press
// the test will write the samples into the global "sample[]"
// the samples will be sent to stdout when the Rotary Encoder button
// is released
NX3_readBtnSw(&btnsw);
if ((btnsw ^ old_btnsw) && (msk_BTN_ROT & btnsw))
{
LCD_docmd(LCD_DISPLAYONOFF, LCD_CURSOR_OFF);
// light "Run" (rightmost) LED to show the test has begun
// and do the test. The test will return when the measured samples array
// has been filled. Turn off the rightmost LED after the data has been
if (test != next_test)
{
LCD_clrd();
LCD_setcursor(1,0);
LCD_wrstring("|CHAR|Long Press");
LCD_setcursor(2,0);
LCD_wrstring("RotBtn to start");
}
// captured to let the user know he/she can release the button
NX3_readBtnSw(&btnsw);
if ((msk_BTN_ROT & btnsw) && (!calc_done))
{
NX3_writeleds(0x01);
LCD_clrd();
LCD_setcursor(1,0);
LCD_wrstring("Characterizing..");
DoTest_Characterize();
LCD_setcursor(2,0);
LCD_wrstring("Done.");
NX3_writeleds(0x00);
delay_msecs(750);
LCD_setcursor(2,8);
LCD_wrstring("<OK>");
calc_done = true;
next_test = test;
}
NX3_readBtnSw(&btnsw);
if (msk_BTN_ROT & btnsw)
{
// light "Transfer" LED to indicate that data is being transmitted
// Show the traffic on the LCD
NX3_writeleds(0x02);
LCD_clrd();
LCD_setcursor(1, 0);
LCD_wrstring("Sending Data....");
LCD_setcursor(2, 0);
LCD_wrstring("S: DATA: ");
xil_printf("\n\rCharacterization Test Data\t\tAppx. Sample Interval: %d msec\n\r", frq_smple_interval);
// trigger the serial charter program)
xil_printf("===STARTPLOT===\n\r");
for (smpl_idx = STEPDC_MIN; smpl_idx <= STEPDC_MAX; smpl_idx++)
{
u16 count;
Xfloat32 v;
char s[10];
count = sample[smpl_idx];
if (count > 4096)
count = 4095;
v = (-3.3 / 4095.0) * (count) + 3.3;
voltstostrng(v, s);
xil_printf("%d\t%d\t%s\n\r", smpl_idx, count, s);
LCD_setcursor(2, 2);
LCD_wrstring(" ");
LCD_setcursor(2, 2);
LCD_putnum(smpl_idx, 10);
LCD_setcursor(2, 11);
LCD_wrstring(" ");
LCD_setcursor(2, 11);
LCD_putnum(count, 10);
}
// stop the serial charter program
xil_printf("===ENDPLOT===\n\r");
NX3_writeleds(0x00);
old_btnsw = btnsw;
next_test = TEST_INVALID;
delay_msecs(1000);
lcd_initial = true;
delay_msecs(3000);
}
} // do the step test and dump data
} // Test 3 - Characterize Response
else // outside the current test range - blink LED's and hang
{
// should never get here but just in case
NX3_writeleds(0xFF);
delay_msecs(2000);
NX3_writeleds(0x00);
}
// wait a bit and start again
delay_msecs(100);
} // while(1) loop
} // end main()
