int main()
{
init_platform();
XIOModule_Initialize(&gpo, XPAR_IOMODULE_0_DEVICE_ID); // Initialize the GPO module
microblaze_register_handler(XIOModule_DeviceInterruptHandler,
XPAR_IOMODULE_0_DEVICE_ID); // register the interrupt handler
XIOModule_Start(&gpo); // start the GPO module
XIOModule_Connect(&gpo, XIN_IOMODULE_FIT_1_INTERRUPT_INTR, timerTick,
NULL); // register timerTick() as our interrupt handler
XIOModule_Enable(&gpo, XIN_IOMODULE_FIT_1_INTERRUPT_INTR); // enable the interrupt
microblaze_enable_interrupts(); // enable global interrupts
u8 leds = 0;
while (1){
// write the LED value to port 1 (you can have up to 4 ports)
XIOModule_DiscreteWrite(&gpo, 1, leds++);
xil_printf("%d", leds);
xil_printf(",");
delay(500); // delay one half second
}
return 0;
}
int main()
{
init_platform();
u32 data,data2;
unsigned int empty_L;
unsigned int full_E;
unsigned int i;
XIOModule iomodule;
data = XIOModule_Initialize(&iomodule, XPAR_IOMODULE_0_DEVICE_ID);
data = XIOModule_Start(&iomodule);
DIR_FIFO_ESCRITURA_DT = (u32) 'H';
DIR_FIFO_ESCRITURA_DT = (u32) 'O';
DIR_FIFO_ESCRITURA_DT = (u32) 'L';
DIR_FIFO_ESCRITURA_DT = (u32) 'A';
DIR_FIFO_ESCRITURA_DT = (u32) '\n';
while (1) {
do{
data = DIR_FIFO_LECTURA_ST;
empty_L = (unsigned int) data;
}while(empty_L != 0);
data2 = DIR_FIFO_LECTURA_DT;
do{
data = DIR_FIFO_ESCRITURA_ST;
full_E = (unsigned int) data;
}while(full_E != 0);
DIR_FIFO_ESCRITURA_DT = data2;
data = DIR_SWITCHES;
DIR_LEDS = data;
}
cleanup_platform();
return 0;
/* init_platform();
u32 data;
XIOModule iomodule;
xil_printf("Reading switches and writing to LED port\n\r");
data = XIOModule_Initialize(&iomodule, XPAR_IOMODULE_0_DEVICE_ID);
data = XIOModule_Start(&iomodule);
while (1)
{
data = DIRSWIT;
xil_printf("Valor: %x\n\r",data);
DIRLEDS = data;
}
cleanup_platform();
return 0;*/
}
/**
*
* This function is an example of how to use the IO Module driver component
* (XIOModule) and the hardware device. This function is designed to work
* without external hardware devices to cause interrupts. It may not return if
* the IO Module is not properly connected to the processor in either software
* or hardware.
*
* @param DeviceId is device ID of the IO Module Device, typically
* XPAR_<IOMODULE_instance>_DEVICE_ID value from xparameters.h
*
* @return XST_SUCCESS to indicate success, otherwise XST_FAILURE
*
* @note None.
*
******************************************************************************/
XStatus IOModuleExample(u16 DeviceId)
{
XStatus Status;
/*
* Initialize the IO Module driver so that it is ready to use.
*/
Status = XIOModule_Initialize(&IOModule, DeviceId);
if (Status != XST_SUCCESS)
{
return XST_FAILURE;
}
/*
* Perform a self-test to ensure that the hardware was built correctly.
*/
Status = XIOModule_SelfTest(&IOModule);
if (Status != XST_SUCCESS)
{
return XST_FAILURE;
}
/*
* Setup the Interrupt System.
*/
Status = SetUpInterruptSystem(&IOModule);
if (Status != XST_SUCCESS)
{
return XST_FAILURE;
}
/*
* Generate the interrupts.
*/
Status = XOModule_GenerateIntr(&IOModule);
if (Status != XST_SUCCESS)
{
return XST_FAILURE;
}
/*
* Wait for the interrupts to be processed, if no interrupt occurs this
* loop will wait forever.
*/
while (1)
{
/*
* If the interrupts occurred which is indicated by the global
* variable which is set in the device driver handler, then
* stop waiting
*/
if (InterruptProcessed)
{
break;
}
}
return XST_SUCCESS;
}
int main()
{
u32 uDevId = XPAR_IOMODULE_0_DEVICE_ID;
XIOModule mcsIOMdule;
init_platform();
//MicroBlaze MCS IOModule Initialize
XIOModule_Initialize(&mcsIOMdule, uDevId);
//set GPO1
XIOModule_DiscreteWrite(&mcsIOMdule, 1,2);
//UART
print("Hello World\n\r");
cleanup_platform();
return 0;
}
int main()
{
init_platform();
XIOModule_Initialize(&iomodule, XPAR_IOMODULE_0_DEVICE_ID);
XIOModule_Start(&iomodule);
XIOModule_CfgInitialize(&iomodule, NULL, 1);
xil_printf ("\n\r\n\rRobot Console v0.01\n\r\n\r");
Xil_Out32 (MX_LIMIT_LO, -14400); // gripper rotate
Xil_Out32 (MX_LIMIT_HI, 14400);
Xil_Out32 (MX_POSITION, 0);
Xil_Out32 (MY_LIMIT_LO, -2800); // wrist
Xil_Out32 (MY_LIMIT_HI, 3960);
Xil_Out32 (MY_POSITION, 3960);
Xil_Out32 (MZ_LIMIT_LO, -7200); // lower arm rotate
Xil_Out32 (MZ_LIMIT_HI, 7200);
Xil_Out32 (MZ_POSITION, 0);
Xil_Out32 (MA_LIMIT_LO, -9257); // elbow
Xil_Out32 (MA_LIMIT_HI, 12750);
Xil_Out32 (MA_POSITION, 12750);
Xil_Out32 (MB_LIMIT_LO, -5520); // shoulder
Xil_Out32 (MB_LIMIT_HI, 6900);
Xil_Out32 (MB_POSITION, -5520);
Xil_Out32 (MC_LIMIT_LO, -2823); // base
Xil_Out32 (MC_LIMIT_HI, 2823);
Xil_Out32 (MC_POSITION, 0);
Xil_Out32 (MOTION_ALARM, 0x3f);
InitCommandProcessing ();
for (;;) {
if (GetCommand ()) {
ProcessCommand ();
}
}
}
int main()
{
u32 uDevId = XPAR_IOMODULE_0_DEVICE_ID;
XIOModule mcsIOMdule;
u8 read_data_8;
u8 read_data_8_old;
init_platform();
XIOModule_Initialize(&mcsIOMdule, uDevId);
print("Hello World + GPIO \n\r");
while(1){
read_data_8 = XIOModule_DiscreteRead(&mcsIOMdule, 1);
if( read_data_8 != read_data_8_old){
XIOModule_DiscreteWrite(&mcsIOMdule, 1, read_data_8);
xil_printf("sw %02x\n\r",read_data_8);
read_data_8_old = read_data_8;
}
}
return 0;
}
/**
*
* This function is used by the TestAppGen generated application to setup
* the IO Module interrupts.
*
* @param IOModuleInstancePtr is the reference to the IO Module instance.
* @param DeviceId is device ID of the IO Module Device , typically
* XPAR_<IOMODULE_instance>_DEVICE_ID value from xparameters.h
*
* @return XST_SUCCESS to indicate success, otherwise XST_FAILURE
*
* @note None.
*
******************************************************************************/
XStatus IOModuleInterruptSetup(XIOModule *IOModuleInstancePtr,
u16 DeviceId)
{
XStatus Status;
/*
* Initialize the IO Module driver so that it is ready to use.
*/
Status = XIOModule_Initialize(IOModuleInstancePtr, DeviceId);
if (Status != XST_SUCCESS)
{
return XST_FAILURE;
}
/*
* Perform a self-test to ensure that the hardware was built correctly.
*/
Status = XIOModule_SelfTest(IOModuleInstancePtr);
if (Status != XST_SUCCESS)
{
return XST_FAILURE;
}
/*
* Initialize and enable interrupts in the processor.
*/
IOModuleSetupIntrSystem(IOModuleInstancePtr);
/*
* Start the IO Module such that interrupts are enabled for all
* internal interrupts.
*/
Status = XIOModule_Start(IOModuleInstancePtr);
if (Status != XST_SUCCESS)
{
return XST_FAILURE;
}
return XST_SUCCESS;
}
/**
* This function does a minimal test on the IO Module device and driver as a
* design example. The purpose of this function is to illustrate how to use the
* IO Module component. It initializes the Programmable Interval Timers and
* then sets it up in compare mode with auto reload such that a periodic
* interrupt is generated.
*
* This function uses interrupt driven mode of the IO Module.
*
* @param IOModuleInstancePtr is a pointer to the IO Module driver
* Instance
* @param DeviceId is the XPAR_<IOModule_instance>_DEVICE_ID value from
* xparameters.h
*
* @return XST_SUCCESS if the Test is successful, otherwise XST_FAILURE
*
* @note This function contains an infinite loop such that if interrupts
* are not working it may never return.
*
*****************************************************************************/
XStatus IOModuleIntrExample(XIOModule *IOModuleInstancePtr, u16 DeviceId)
{
int Status;
u8 Timer;
XIOModule_Config *CfgPtr = IOModuleInstancePtr->CfgPtr;
/*
* Initialize the IO Module so that it's ready to use, specify the device
* ID that is generated in xparameters.h
*/
Status = XIOModule_Initialize(IOModuleInstancePtr, DeviceId);
if (Status != XST_SUCCESS) {
return XST_FAILURE;
}
/*
* Perform a self-test to ensure that the hardware was built correctly.
*/
Status = XIOModule_SelfTest(IOModuleInstancePtr);
if (Status != XST_SUCCESS) {
return XST_FAILURE;
}
/*
* Initialize and enable interrupts in the processor.
*/
IOModuleSetupIntrSystem(IOModuleInstancePtr);
/*
* Setup the handler for the IO Module handler that will be called from
* the interrupt context when an interrupt occurs, specify a pointer to
* the IO Module driver instance as the callback reference so the
* handler is able to access the instance data.
*/
XIOModule_SetHandler(IOModuleInstancePtr,
IOModuleHandler,
IOModuleInstancePtr);
for (Timer = 0; Timer < XTC_DEVICE_TIMER_COUNT; Timer++)
{
/*
* Skip unused timers,timers with prescaler (since they may
* have very long expiration times), timers without readable
* counters, and timers with small size (since the counter
* may not change when sampled).
*/
if (! (CfgPtr->PitUsed[Timer] &&
CfgPtr->PitPrescaler[Timer] == XTC_PRESCALER_NONE &&
CfgPtr->PitReadable[Timer] &&
CfgPtr->PitSize[Timer] > MIN_TIMER_BITS)) {
TimerExpired[Timer] = MAX_INTR_COUNT;
continue;
}
/*
* Use auto reload mode such that the Programmable Interval Timers will
* reload automatically and continue repeatedly, without this option
* they would expire once only
*/
XIOModule_Timer_SetOptions(IOModuleInstancePtr, Timer,
XTC_INT_MODE_OPTION | XTC_AUTO_RELOAD_OPTION);
/*
* Set a reset value for the Programmable Interval Timers such that
* they will expire earlier than letting them roll over from 0, the
* reset value is loaded into the Programmable Interval Timers when
* they are started.
*/
XIOModule_SetResetValue(IOModuleInstancePtr, Timer, RESET_VALUE);
/*
* Enable the interrupt for the Programmable Interval Timers.
*/
XIOModule_Enable(IOModuleInstancePtr,
Timer + XIN_IOMODULE_PIT_1_INTERRUPT_INTR);
/*
* Start the Programmable Interval Timers such that they are
* decrementing by default, then wait for them to timeout a number of
* times.
*/
XIOModule_Timer_Start(IOModuleInstancePtr, Timer);
}
while (1) {
int TotalExpiredCount = 0;
/*
* Wait for the Programmable Interval Timers to expire as indicated by
* the shared variable which the handler will increment, and stop each
* timer when it has reached the expected number of times.
*/
for (Timer = 0; Timer < XTC_DEVICE_TIMER_COUNT; Timer++) {
if (TimerExpired[Timer] >= MAX_INTR_COUNT)
XIOModule_Timer_Stop(IOModuleInstancePtr, Timer);
TotalExpiredCount += TimerExpired[Timer];
}
/*
* If all timers have expired the expected number of times, then stop
* this example.
*/
if (TotalExpiredCount == MAX_INTR_COUNT * XTC_DEVICE_TIMER_COUNT) {
break;
}
}
IOModuleDisableIntr(IOModuleInstancePtr);
return XST_SUCCESS;
}
int main()
{
init_platform();
XIOModule_Initialize(&iomod_inst, 0);
wait_ms(&iomod_inst,1000);
codec_init(&iomod_inst);
wait_ms(&iomod_inst,1000);
print("Codec Initialized\r\n");
print("Reading back registers\r\n");
int i;
uint8_t regData;
for(i = 1; i < 9; i++)
{
regData = codec_read(&iomod_inst,i);
print("Address ");
print_u32_hex((u32)i);
print(" ");
print_u32_hex((u32)regData);
print("\r\n");
}
print("Waiting 5 seconds for codec HPF to stabilize...\r\n");
wait_ms(&iomod_inst,5000);
u8 numCharsRet;
clearInpBuffer();
while(1)
{
print("Please select the channel (L/R)\r\n> ");
numCharsRet = serial_read_line(serialInputBuffer,SERIAL_INPUT_BUFFER_LEN);
if(numCharsRet > 0)
{
if((serialInputBuffer[0] == 'l') || (serialInputBuffer[0] == 'L'))
{
selectedChannel = Left;
break;
}
else if((serialInputBuffer[0] == 'r') || (serialInputBuffer[0] == 'R'))
{
selectedChannel = Right;
break;
}
}
print("Invalid channel selection.\r\n");
}
clearInpBuffer();
RunSineTest();
for(i = 0; i < MAX_INPUT_LEN; i++)
{
xil_printf("%d\r\n",input_buffer[i]);
}
print("End of samples\r\n");
return 0;
}
