int SFDelay(lua_State* l)
{
int ms = lua_tonumber(Scripts.vm, 1);
int currentFps = TimerDelay(ms);
lua_pushnumber(Scripts.vm, currentFps);
return 1;
}
int main(void)
{
u32 *vgaPtr[DISPLAY_NUM_FRAMES];
u32 *hdmiPtr[DISPLAY_NUM_FRAMES];
int i;
char userInput = 0;
for (i = 0; i < DISPLAY_NUM_FRAMES; i++)
{
vgaPtr[i] = vgaBuf[i];
hdmiPtr[i] = hdmiBuf[i];
}
DisplayDemoInitialize(&vgaCtrl, VGA_VDMA_ID, SCU_TIMER_ID, VGA_BASEADDR, DISPLAY_NOT_HDMI, vgaPtr);
DisplayDemoInitialize(&hdmiCtrl, HDMI_VDMA_ID, SCU_TIMER_ID, HDMI_BASEADDR, DISPLAY_HDMI, hdmiPtr);
AudioInitialize(SCU_TIMER_ID, AUDIO_IIC_ID, AUDIO_CTRL_BASEADDR);
TimerInitialize(SCU_TIMER_ID);
/* Flush UART FIFO */
while (XUartPs_IsReceiveData(UART_BASEADDR))
{
XUartPs_ReadReg(UART_BASEADDR, XUARTPS_FIFO_OFFSET);
}
while (userInput != 'q')
{
MainDemoPrintMenu();
/* Wait for data on UART */
while (!XUartPs_IsReceiveData(UART_BASEADDR))
{}
/* Store the first character in the UART recieve FIFO and echo it */
userInput = XUartPs_ReadReg(UART_BASEADDR, XUARTPS_FIFO_OFFSET);
xil_printf("%c", userInput);
switch (userInput)
{
case '1':
AudioRunDemo(AUDIO_CTRL_BASEADDR, UART_BASEADDR, SW_BASEADDR, BTN_BASEADDR);
break;
case '2':
DisplayDemoRun(&vgaCtrl, UART_BASEADDR);
break;
case '3':
DisplayDemoRun(&hdmiCtrl, UART_BASEADDR);
break;
case 'q':
break;
default :
xil_printf("\n\rInvalid Selection");
TimerDelay(500000);
}
}
return 0;
}
SQInteger SFDelay(HSQUIRRELVM v)
{
int ms;
int currentFps;
sq_getinteger(Scripts.vm, 2, &ms);
currentFps = TimerDelay(ms);
sq_pushinteger(Scripts.vm, currentFps);
return 1;
}
extern int
camera_expose (int chip, float *exposure, int light)
{
CAMERA *C;
int imstate;
if (!is_init)
return -1;
sem_lock ();
#ifdef INIT_SHUTTER
init_shutter ();
#else
if (!light) // init shutter only for dark images
init_shutter ();
#endif
if (OpenCCD (chip, &C))
goto err;
if (CCDExpose (C, (int) 100 * (*exposure) + 0.5, light))
goto err;
sem_unlock ();
// wait for completing exp
do
{
sem_lock ();
imstate = CCDImagingState (C);
sem_unlock ();
pthread_testcancel ();
TimerDelay (100000);
}
while (imstate);
sem_lock ();
readout_line[chip] = 0;
if (CCDReadout
(img[chip], C, 0, 0, C->vertImage, C->horzImage,
ch_info[chip].binning_vertical))
goto err;
CloseCCD (C);
sem_unlock ();
return 0;
err:
CloseCCD (C);
sem_unlock ();
errno = ENODEV;
return -1;
}
/**
* @brief Do tasks. This function should be called repeatedly within the main
* program loop.
*/
void ReceiveDoTasks() {
while (Uart1IsGetReady() > 0) {
switch (Uart1GetChar()) {
case 'f':
case 'F':
SendFirmwareVersion();
TimerDelay(2000);
break;
case 'r':
case 'R':
asm("RESET");
break;
case 'z':
case 'Z':
EncoderZero();
ImuZero();
SendZero();
break;
default:
break;
}
}
}
void DisplayDemoChangeRes(DisplayCtrl *dispPtr, u32 uartAddr)
{
char userInput = 0;
int fResSet = 0;
int status;
/* Flush UART FIFO */
while (XUartPs_IsReceiveData(uartAddr))
{
XUartPs_ReadReg(uartAddr, XUARTPS_FIFO_OFFSET);
}
while (!fResSet)
{
DisplayDemoCRMenu(dispPtr);
/* Wait for data on UART */
while (!XUartPs_IsReceiveData(uartAddr))
{}
/* Store the first character in the UART recieve FIFO and echo it */
userInput = XUartPs_ReadReg(uartAddr, XUARTPS_FIFO_OFFSET);
xil_printf("%c", userInput);
status = XST_SUCCESS;
switch (userInput)
{
case '1':
status = DisplayStop(dispPtr);
DisplaySetMode(dispPtr, &VMODE_640x480);
DisplayStart(dispPtr);
fResSet = 1;
break;
case '2':
status = DisplayStop(dispPtr);
DisplaySetMode(dispPtr, &VMODE_800x600);
DisplayStart(dispPtr);
fResSet = 1;
break;
case '3':
status = DisplayStop(dispPtr);
DisplaySetMode(dispPtr, &VMODE_1280x720);
DisplayStart(dispPtr);
fResSet = 1;
break;
case '4':
status = DisplayStop(dispPtr);
DisplaySetMode(dispPtr, &VMODE_1280x1024);
DisplayStart(dispPtr);
fResSet = 1;
break;
case '5':
status = DisplayStop(dispPtr);
DisplaySetMode(dispPtr, &VMODE_1920x1080);
DisplayStart(dispPtr);
fResSet = 1;
break;
case 'q':
fResSet = 1;
break;
default :
xil_printf("\n\rInvalid Selection");
TimerDelay(500000);
}
if (status == XST_DMA_ERROR)
{
xil_printf("\n\rWARNING: AXI VDMA Error detected and cleared\n\r");
}
}
}
int DisplayDemoRun(DisplayCtrl *dispPtr, u32 uartAddr)
{
char userInput = 0;
int nextFrame = 0;
/* Flush UART FIFO */
while (XUartPs_IsReceiveData(uartAddr))
{
XUartPs_ReadReg(uartAddr, XUARTPS_FIFO_OFFSET);
}
while (userInput != 'q')
{
DisplayDemoPrintMenu(dispPtr);
/* Wait for data on UART */
while (!XUartPs_IsReceiveData(uartAddr))
{}
/* Store the first character in the UART recieve FIFO and echo it */
userInput = XUartPs_ReadReg(uartAddr, XUARTPS_FIFO_OFFSET);
xil_printf("%c", userInput);
switch (userInput)
{
case '1':
DisplayDemoChangeRes(dispPtr, uartAddr);
break;
case '2':
nextFrame = dispPtr->curFrame + 1;
if (nextFrame >= DISPLAY_NUM_FRAMES)
{
nextFrame = 0;
}
DisplayChangeFrame(dispPtr, nextFrame);
break;
case '3':
DisplayDemoPrintTest(dispPtr->framePtr[dispPtr->curFrame], dispPtr->vMode.width, dispPtr->vMode.height, dispPtr->stride, DISPLAYDEMO_PATTERN_0);
break;
case '4':
DisplayDemoPrintTest(dispPtr->framePtr[dispPtr->curFrame], dispPtr->vMode.width, dispPtr->vMode.height, dispPtr->stride, DISPLAYDEMO_PATTERN_1);
break;
case '5':
DisplayDemoInvertFrame(dispPtr->framePtr[dispPtr->curFrame], dispPtr->framePtr[dispPtr->curFrame], dispPtr->vMode.width, dispPtr->vMode.height, dispPtr->stride);
break;
case '6':
nextFrame = dispPtr->curFrame + 1;
if (nextFrame >= DISPLAY_NUM_FRAMES)
{
nextFrame = 0;
}
DisplayDemoInvertFrame(dispPtr->framePtr[dispPtr->curFrame], dispPtr->framePtr[nextFrame], dispPtr->vMode.width, dispPtr->vMode.height, dispPtr->stride);
DisplayChangeFrame(dispPtr, nextFrame);
break;
case 'q':
break;
default :
xil_printf("\n\rInvalid Selection");
TimerDelay(500000);
}
}
return XST_SUCCESS;
}
void DemoRun()
{
int nextFrame = 0;
char userInput = 0;
/* Flush UART FIFO */
while (XUartPs_IsReceiveData(UART_BASEADDR))
{
XUartPs_ReadReg(UART_BASEADDR, XUARTPS_FIFO_OFFSET);
}
while (userInput != 'q')
{
DemoPrintMenu();
/* Wait for data on UART */
while (!XUartPs_IsReceiveData(UART_BASEADDR))
{}
/* Store the first character in the UART receive FIFO and echo it */
if (XUartPs_IsReceiveData(UART_BASEADDR))
{
userInput = XUartPs_ReadReg(UART_BASEADDR, XUARTPS_FIFO_OFFSET);
xil_printf("%c", userInput);
}
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':
DemoInvertFrame(dispCtrl.framePtr[dispCtrl.curFrame], dispCtrl.framePtr[dispCtrl.curFrame], dispCtrl.vMode.width, dispCtrl.vMode.height, dispCtrl.stride);
break;
case '6':
nextFrame = dispCtrl.curFrame + 1;
if (nextFrame >= DISPLAY_NUM_FRAMES)
{
nextFrame = 0;
}
DemoInvertFrame(dispCtrl.framePtr[dispCtrl.curFrame], dispCtrl.framePtr[nextFrame], dispCtrl.vMode.width, dispCtrl.vMode.height, dispCtrl.stride);
DisplayChangeFrame(&dispCtrl, nextFrame);
break;
case 'q':
break;
default :
xil_printf("\n\rInvalid Selection");
TimerDelay(500000);
}
}
return;
}
void pong(DisplayCtrl *video ,u32 uartAddress, XGpio *btn, XGpio *sw){
u32 height = video->vMode.height,
width = video->vMode.width,
stride = video->stride,
*frame,
speed = 2,
pause=false;
char entrada;
frame=video->framePtr[video->curFrame];
xil_printf("\x1B[H"); //Set cursor to top left of terminal
xil_printf("\x1B[2J"); //Clear terminal
Rectangulo bola=crearRectangulo(10,10,RED,ANCHO_BOLA,ALTO_BOLA);
Rectangulo palaIzquierda = crearRectangulo(0,height/2-ALTO_PALA/2,GREEN,ANCHO_PALA,ALTO_PALA);
Rectangulo palaDerecha = crearRectangulo(width-ANCHO_PALA,height/2-ALTO_PALA/2,GREEN,ANCHO_PALA,ALTO_PALA);
int dir_x=true, dir_y=true, indice_frame=0,salir=0,pulsar=0,puntuacionA=0,puntuacionB=0;
salir = XGpio_DiscreteRead(sw, 1);
while(salir & 0x8){
if (salir & 0x1) // 0x1=0b0001=posicion de SW0
bola.color = WHITE;
else
bola.color = RED;
//apunta a al siguente frame
indice_frame=nextFrame(video,&frame);
pintarFondo(frame, BLACK, width,height,stride);
//movimiento y colision
if(dir_x == DERECHA)
if ((bola.x+ANCHO_BOLA > palaDerecha.x) && (bola.y >= palaDerecha.y && bola.y < palaDerecha.y+ALTO_PALA )){
bola.x-=speed;
dir_x = IZQUIERDA;
}else{
bola.x+=speed;
}
else
if ((bola.x < palaIzquierda.x+ANCHO_PALA) && (bola.y >= palaIzquierda.y && bola.y < palaIzquierda.y+ALTO_PALA)){
bola.x+=speed;
dir_x = DERECHA;
}else{
bola.x-=speed;
}
if(dir_y == ABAJO)
bola.y+=speed;
else
bola.y-=speed;
//control de direccion
if (bola.x<0){
bola.x=width/2;
bola.y=height/2;
dir_x=DERECHA;
puntuacionB++;
xil_printf("%d - %d\n\r",puntuacionA,puntuacionB);
TimerDelay(1500000);
}else if(bola.x>width - ANCHO_BOLA){
bola.x=width/2;
bola.y=height/2;
dir_x=IZQUIERDA;
puntuacionA++;
xil_printf("%d - %d\n\r",puntuacionA,puntuacionB);
TimerDelay(1500000);
}
if (bola.y<0){
bola.y=0;
dir_y=ABAJO;
}else if(bola.y>height - ALTO_BOLA){
bola.y=height - ALTO_BOLA;
dir_y=ARRIBA;
}
//pintar la pelota y las palas
pintarRectangulo(frame,&bola,width,height,stride);
pintarRectangulo(frame,&palaDerecha,width,height,stride);
pintarRectangulo(frame,&palaIzquierda,width,height,stride);
//flush
Xil_DCacheFlushRange((unsigned int) frame, DISPLAY_MAX_FRAME * 4);
DisplayChangeFrame(video,indice_frame);
//TimerDelay(17000);
salir = XGpio_DiscreteRead(sw, 1);
pulsar = XGpio_DiscreteRead(btn, 1);
//control de las palas
if (pulsar & 0x1){ //Pala derecha
if (palaDerecha.y+ALTO_PALA < height){
palaDerecha.y+=speed;
}
}else if(pulsar & 0x2){
if (palaDerecha.y >= 0){
palaDerecha.y-=speed;
}
}
if (pulsar & 0x4 ){ //Pala izquierda
if (palaIzquierda.y+ALTO_PALA < height){
palaIzquierda.y+=speed;
}
}else if(pulsar & 0x8){
if (palaIzquierda.y >= 0){
palaIzquierda.y-=speed;
}
}
//recolocar las palas si se han salido fuera
if (palaDerecha.y<0)
palaDerecha.y=0;
else if (palaDerecha.y+ALTO_PALA>height)
palaDerecha.y=height-ALTO_PALA;
if (palaIzquierda.y<0)
palaIzquierda.y=0;
else if (palaIzquierda.y+ALTO_PALA>height)
palaIzquierda.y=height-ALTO_PALA;
//leer pulsaciones de cambio de velocidad
if (XUartPs_IsReceiveData(uartAddress)){
entrada=XUartPs_ReadReg(uartAddress, XUARTPS_FIFO_OFFSET);
if (entrada==' '){
pause=true;
while(pause){
if (XUartPs_IsReceiveData(uartAddress)){
entrada=XUartPs_ReadReg(uartAddress, XUARTPS_FIFO_OFFSET);
if (entrada==' ')
pause=false;
else
cambiarVelocidad(&speed,entrada);
}
}
}else
cambiarVelocidad(&speed,entrada);
}
}
}
