void get_adc_vdc_high()
{
int LoopCtrl;
Uint32 RunTimeMsec,StartTimeMsec;
double adc_Vdc_in, adc_Vdc_out;
UNION32 u32data;
load_sci_tx_mail_box( "Start ADC at Vdc high"); delay_msecs(10);
gfRunTime=0.0;
LoopCtrl = 1;
gMachineState = STATE_READY;
while(LoopCtrl == 1)
{
if( gfRunTime >= 1.0 ) LoopCtrl = 0;
RunTimeMsec = ulGetTime_mSec( StartTimeMsec);
if(RunTimeMsec > 1){
StartTimeMsec = ulGetNow_mSec( );
adc_Vdc_in = (double)giAdcVdc;
LPF1(0.002,10.0,adc_Vdc_in, & adc_Vdc_out);
}
}
if( gfRunTime >= 1.0 ){
code_adc_vdc_high = adc_Vdc_out;
u32data.dword = code_adc_vdc_high; write_code_2_eeprom(CODE_adc_vdc_high,u32data);
load_sci_tx_mail_box("OK adc_vdc_high Saved");delay_msecs(10);
}
}
/*************************************************************************************
* This method calculates the voltage that should be output to the PWM peripheral.
* It takes the reading from the light sensor, scales it appropriately, calculates
* the P, I, and D values, converts it to the duty cycle value, and outputs the
* value to the PWM params.
**************************************************************************************/
XStatus calc_PID()
{
double deriv, integral, error, prev_error = 0;
double volt_out;
int duty_out;
XStatus Status; // Xilinx return status
// stabilize the PWM output (and thus the lamp intensity) at the
// minimum before starting the test
Status = PWM_SetParams(&PWMTimerInst, pwm_freq, dc_start);
if (Status == XST_SUCCESS)
{
PWM_Start(&PWMTimerInst);
}
else
{
return -1;
}
//Wait for the LED output to settle before starting
delay_msecs(1500);
for (smpl_idx = 1; smpl_idx < NUM_FRQ_SAMPLES; smpl_idx++)
{
delay_msecs(100);
// get count from light sensor and convert to voltage
sample[smpl_idx] = LIGHTSENSOR_Capture(LIGHTSENSOR_BASEADDR, slope, offset, is_scaled, freq_min_cnt);
volt_out = (-3.3 / 4095.0) * (sample[smpl_idx]) + 3.3;
// calculate derivative;
error = setpoint - volt_out;
deriv = error - prev_error;
// calculate integral
if (error < setpoint/10) integral += error;
else integral = 0;
// Control offset is gotten from characterization
volt_out = offset + (error * prop_gain) + (deriv * deriv_gain) + (integral * integral_gain);
duty_out = (volt_out)* (MAX_DUTY+1)/VOLT_MAX;
// establish bounds
if (duty_out < 1) duty_out = 1;
if (duty_out > 99)duty_out = 99;
// activate PWM
Status = PWM_SetParams(&PWMTimerInst, pwm_freq, duty_out);
if (Status == XST_SUCCESS)
{
PWM_Start(&PWMTimerInst);
}
}
return XST_SUCCESS;
}
XStatus calc_bang()
{
Xfloat32 volt_out;
XStatus Status; // Xilinx return status
// stabilize the PWM output (and thus the lamp intensity) at the
// minimum before starting the test
Status = PWM_SetParams(&PWMTimerInst, pwm_freq, dc_start);
if (Status == XST_SUCCESS)
{
PWM_Start(&PWMTimerInst);
}
else
{
return -1;
}
//Wait for the LED output to settle before starting
delay_msecs(1500);
for (smpl_idx = 1; smpl_idx < NUM_FRQ_SAMPLES; smpl_idx++)
{
// get count from light sensor and convert to voltage
sample[smpl_idx] = LIGHTSENSOR_Capture(LIGHTSENSOR_BASEADDR, slope, offset, is_scaled, freq_min_cnt);
volt_out = (-3.3 / 4095.0) * (sample[smpl_idx]) + 3.3;
if (volt_out < setpoint)
{
Status = PWM_SetParams(&PWMTimerInst, pwm_freq, MAX_DUTY);
delay_msecs(1);
if (Status == XST_SUCCESS)
{
PWM_Start(&PWMTimerInst);
}
}
else
{
Status = PWM_SetParams(&PWMTimerInst, pwm_freq, MIN_DUTY);
delay_msecs(1);
if (Status == XST_SUCCESS)
{
PWM_Start(&PWMTimerInst);
}
}
delay_msecs(100);
}
return XST_SUCCESS;
}
int GetKey()
{
int KeySave;
if((KeySave= GetKeyTemp()) != BTN_NULL )
{
delay_msecs(20);
if( ( KeySave = GetKeyTemp()) != BTN_NULL )
{
while( GetKeyTemp() != BTN_NULL);
}
delay_msecs(20); // off bound proc
}
return KeySave;
}
/*****
* DoTest_Track() - Perform the Tracking test
*
* This function uses the global "pwm_freq" and "pwm_duty" values to adjust the PWM
* duty cycle and thus the intensity of the LED. The function displays
* the light detector reading as it tracks changes in the
* LED intensity. This test runs continuously until a different test is selected.
* Returns XST_SUCCESS since this test can't fail. Returns approximate sample interval
* in the global variable "frq_sample_interval"
*****/
XStatus DoTest_Track(void)
{
static int old_pwm_freq = 0; // old pwm_frequency and duty cycle
static int old_pwm_duty = 200; // these values will force the initial display
volatile u16 frq_cnt; // light detector counts to display
XStatus Status; // Xilinx return status
unsigned tss; // starting timestamp
if ((pwm_freq != old_pwm_freq) || (pwm_duty != old_pwm_duty))
{
// set the new PWM parameters - PWM_SetParams stops the timer
Status = PWM_SetParams(&PWMTimerInst, pwm_freq, pwm_duty);
if (Status == XST_SUCCESS)
{
PWM_Start(&PWMTimerInst);
}
tss = timestamp;
//ECE544 Students:
//make the light sensor measurement
frq_cnt = LIGHTSENSOR_Capture(LIGHTSENSOR_BASEADDR, slope, offset, is_scaled);
delay_msecs(1);
frq_smple_interval = timestamp - tss;
// update the display and save the frequency and duty
// cycle for next time
update_lcd(pwm_duty, frq_cnt);
old_pwm_freq = pwm_freq;
old_pwm_duty = pwm_duty;
}
return XST_SUCCESS;
}
int init_eprom_data()
{
UNION32 data,data2;
int check;
int address,cmd,loop_ctrl;
int return_value;
data.dword = 0.0;
cmd = CMD_READ_DATA;
address = return_value = 0;
loop_ctrl = 1;
while(loop_ctrl)
{
cmd = CMD_READ_DATA;
check = get_code_information( address, cmd , & code_inform);
if( check==0 ){
if( code_inform.type == TYPE_DOUBLE){
data.dword = code_inform.code_default.doubles;
}
else{
data.word.word0 = code_inform.code_default.ints;
}
read_eprom_data(address, & data2 );
if( data.dword != data2.dword) write_code_2_eeprom( address,data);
read_eprom_data(address, & data2 );
if( data.dword != data2.dword)
{
loop_ctrl = 0;
return_value = -1;
load_sci_tx_mail_box("Trip : eeprom write" );
delay_msecs(100);
break;
}
code_inform.code_value.doubles = data.dword;
cmd = CMD_WRITE_RAM;
check = get_code_information( address,cmd, & code_inform);
address ++;
}
else if( check == -2) address = (address/100)*100 + 100;
else address ++;
if( address >= CODE_GROUP7_END )
{
EepromSaveFlag = 0;
return 0;
}
}
EepromSaveFlag = 0;
return return_value;
}
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;
}
}
/*****
* DoTest_Step() - Perform the Step test
*
* This function stabilizes the duty cycle at "dc_start" for
* about a second and a half and then steps the duty cycle from min to max or
* max to min depending on the test. NUM_FRQ_SAMPLES are collected
* into the global array sample[]. An approximate sample interval
* is written to the global variable "frq_smpl_interval"
*****/
XStatus DoTest_Step(int dc_start)
{
XStatus Status; // Xilinx return status
unsigned tss; // starting timestamp
u16 frq_cnt; // measured counts to display
// stabilize the PWM output (and thus the lamp intensity) before
// starting the test
Status = PWM_SetParams(&PWMTimerInst, pwm_freq, dc_start);
if (Status == XST_SUCCESS)
{
PWM_Start(&PWMTimerInst);
}
else
{
return XST_FAILURE;
}
//Wait for the LED output to settle before starting
delay_msecs(1500);
if (dc_start > STEPDC_MAX / 2)
{
Status = PWM_SetParams(&PWMTimerInst, pwm_freq, STEPDC_MIN);
}
else
{
Status = PWM_SetParams(&PWMTimerInst, pwm_freq, STEPDC_MAX);
}
if (Status == XST_SUCCESS)
{
PWM_Start(&PWMTimerInst);
pwm_duty = dc_start;
}
else
{
return XST_FAILURE;
}
// gather the samples
smpl_idx = 0;
tss = timestamp;
while (smpl_idx < NUM_FRQ_SAMPLES)
{
//ECE544 Students:
//make the light sensor measurement
sample[smpl_idx++] = LIGHTSENSOR_Capture(LIGHTSENSOR_BASEADDR, slope, offset, is_scaled);
}
frq_smple_interval = (timestamp - tss) / NUM_FRQ_SAMPLES;
return XST_SUCCESS;
}
void get_adc_offset()
{
int LoopCtrl;
Uint32 RunTimeMsec,StartTimeMsec;
double u_offset_in, v_offset_in;
double R_offset_in, S_offset_in;
double u_offset_out, v_offset_out;
double R_offset_out, S_offset_out;
UNION32 u32data;
load_sci_tx_mail_box( "\n***********************"); delay_msecs(10);
load_sci_tx_mail_box( "\n Start ADC Offset Calc "); delay_msecs(10);
load_sci_tx_mail_box( "\n***********************"); delay_msecs(10);
gfRunTime=0.0;
LoopCtrl = 1;
while(LoopCtrl == 1)
{
if( gfRunTime >= 5.0 ) LoopCtrl = 0;
RunTimeMsec = ulGetTime_mSec( StartTimeMsec);
if(RunTimeMsec > 1){
StartTimeMsec = ulGetNow_mSec( );
u_offset_in = (double)giAdcUphase;
v_offset_in = (double)giAdcVphase;
R_offset_in = (double)giAdcRphase;
S_offset_in = (double)giAdcSphase;
LPF1(0.002,10.0,u_offset_in, & u_offset_out);
LPF1(0.002,10.0,v_offset_in, & v_offset_out);
LPF1(0.002,10.0,R_offset_in, & R_offset_out);
LPF1(0.002,10.0,S_offset_in, & S_offset_out);
}
}
if( gfRunTime >= 5.0 ){
adc_u_offset = (int)u_offset_out;
adc_v_offset = (int)v_offset_out;
adc_R_offset = (int)R_offset_out;
adc_S_offset = (int)S_offset_out;
u32data.word.word0 = adc_u_offset; write_code_2_eeprom(CODE_adc_u_offset,u32data);
u32data.word.word0 = adc_v_offset; write_code_2_eeprom(CODE_adc_v_offset,u32data);
u32data.word.word0 = adc_R_offset; write_code_2_eeprom(CODE_adc_R_offset,u32data);
u32data.word.word0 = adc_S_offset; write_code_2_eeprom(CODE_adc_S_offset,u32data);
load_sci_tx_mail_box("\n*********************");delay_msecs(10);
load_sci_tx_mail_box("\n OK Adc offset Saved ");delay_msecs(10);
load_sci_tx_mail_box("\n*********************");delay_msecs(10);
}
}
int main()
{
XStatus Status;
u32 btnsw, old_btnsw = 0x000000FF;
int rotcnt, old_rotcnt = 0x1000;
bool done = false;
// 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 = INITIAL_FREQUENCY;
pwm_duty = INITIAL_DUTY_CYCLE;
clkfit = 0;
new_perduty = false;
// start the PWM timer and kick of the processing by enabling the Microblaze interrupt
PWM_SetParams(&PWMTimerInst, pwm_freq, pwm_duty);
PWM_Start(&PWMTimerInst);
microblaze_enable_interrupts();
// display the greeting
LCD_setcursor(1,0);
LCD_wrstring(" PWM LIB TEST R0");
LCD_setcursor(2,0);
LCD_wrstring(" by Roy Kravitz ");
NX3_writeleds(0x000000FF);
delay_msecs(2000);
NX3_writeleds(0x00000000);
// write the static text to the display
LCD_clrd();
LCD_setcursor(1,0);
LCD_wrstring("G|FR: DCY: %");
LCD_setcursor(2,0);
LCD_wrstring("Vavg: ");
// main loop
do
{
// check rotary encoder pushbutton to see if it's time to quit
NX3_readBtnSw(&btnsw);
if (btnsw & msk_BTN_ROT)
{
done = true;
}
else
{
new_perduty = false;
if (btnsw != old_btnsw)
{
switch (btnsw & PWM_FREQ_MSK)
{
case 0x00: pwm_freq = PWM_FREQ_10HZ; break;
case 0x01: pwm_freq = PWM_FREQ_100HZ; break;
case 0x02: pwm_freq = PWM_FREQ_1KHZ; break;
case 0x03: pwm_freq = PWM_FREQ_10KHZ; break;
case 0x04: pwm_freq = PWM_FREQ_50KHZ; break;
case 0x05: pwm_freq = PWM_FREQ_100KHZ; break;
case 0x06: pwm_freq = PWM_FREQ_150KHZ; break;
case 0x07: pwm_freq = PWM_FREQ_200KHZ; break;
}
old_btnsw = btnsw;
new_perduty = true;
}
// read rotary count and handle duty cycle changes
// limit duty cycle to 0% to 99%
ROT_readRotcnt(&rotcnt);
if (rotcnt != old_rotcnt)
{
pwm_duty = MAX(0, MIN(rotcnt, 99));
old_rotcnt = rotcnt;
new_perduty = true;
}
// update generated frequency and duty cycle
if (new_perduty)
{
u32 freq, dutycycle;
float vavg;
char s[10];
// set the new PWM parameters - PWM_SetParams stops the timer
Status = PWM_SetParams(&PWMTimerInst, pwm_freq, pwm_duty);
if (Status == XST_SUCCESS)
{
PWM_GetParams(&PWMTimerInst, &freq, &dutycycle);
update_lcd(freq, dutycycle, 1);
vavg = dutycycle * .01 * 3.3;
voltstostrng(vavg, s);
LCD_setcursor(2,5);
LCD_wrstring(s);
PWM_Start(&PWMTimerInst);
}
}
}
} while (!done);
// wait until rotary encoder button is released
do
{
NX3_readBtnSw(&btnsw);
delay_msecs(10);
} while ((btnsw & msk_BTN_ROT) == 0x80);
// and say goodbye
LCD_clrd();
LCD_wrstring("That's all folks");
delay_msecs(2000);
LCD_clrd();
exit(XST_SUCCESS);
}
// read data format "9:4:123:x.xxxe-x"
// write data format "9:6:123:1.234e-3"
void scib_cmd_proc( int * sci_cmd, double * sci_ref)
{
double data,dbtemp;
int addr,check,temp;
char str[30]={0};
TRIP_INFO * TripData;
* sci_cmd = CMD_NULL;
* sci_ref = 0.0;
if( scib_rx_msg_flag == 0) return;
scib_rx_msg_flag = 0;
if ( scib_rx_msg_box[0] != '9') return;
addr = (scib_rx_msg_box[4]- '0')* 100 +(scib_rx_msg_box[5]- '0')*10 + (scib_rx_msg_box[6]- '0');
scib_rx_msg_box[16]=0;
data = atof( & scib_rx_msg_box[8]);
// regist write function decoding
if( scib_rx_msg_box[2] == '6'){
if( addr == 900 ){
check = (int)data;
if(check == 10){
* sci_cmd = CMD_START;
* sci_ref = code_btn_start_ref;
load_scib_tx_mail_box("UART CMD_START");
}
else if( check == 20 ){
* sci_cmd = CMD_STOP; * sci_ref = 0.0;
load_scib_tx_mail_box("UART CMD_STOP");
}
else if( check == 30 ){
* sci_cmd = CMD_RESET; * sci_ref = 0.0;
load_scib_tx_mail_box("UART CMD_RESET");
}
else if( data == 40 ){
* sci_cmd = CMD_SAVE; * sci_ref = 0.0;
load_scib_tx_mail_box("UART CMD_SAVE");
}
else if( data == 80 ){
* sci_cmd = CMD_NULL; * sci_ref = 0.0;
get_adc_offset();
}
else if( data == 90 ){
* sci_cmd = CMD_NULL; * sci_ref = 0.0;
load_scib_tx_mail_box("EEPROM init Start");
check = init_eprom_data(); // 0이 아니면 address value
if( check != 0) load_scib_tx_mail_box("EEPROM init Fail");
else load_scib_tx_mail_box("EEPROM init Success");
}
else{
load_scib_tx_mail_box("Illegal CMD data");
}
}
else{
// registor_write_proc(addr,data);
check = SaveDataProc(addr, data);
Nop();
}
}
//==================
// read routine
//====================
else if(scib_rx_msg_box[2] == '4'){
if(addr == 901){ // monitor state
check = (int)data;
if(check == 0){
switch(gMachineState){
case STATE_POWER_ON: load_scib_tx_mail_box("[POWE_ON] "); break;
case STATE_READY: load_scib_tx_mail_box("[READY] "); break;
case STATE_RUN: load_scib_tx_mail_box("[RUN ] "); break;
case STATE_TRIP: load_scib_tx_mail_box("[TRIP] "); break;
case STATE_INIT_RUN: load_scib_tx_mail_box("[INIT] "); break;
case STATE_GO_STOP: load_scib_tx_mail_box("[GO_STOP] "); break;
case STATE_WAIT_BREAK_OFF: load_scib_tx_mail_box("STATE_WAIT_BREAK_OFF"); break;
default: load_scib_tx_mail_box("Unknown State"); break;
}
}
return;
}
else if(addr == 902){ // 내부 변수 read
check = (int)data;
switch( check ){
case 0 :
temp = (int)(floor(Freq_out +0.5));
snprintf( str,10,"Fq=%3d[hz]",temp); load_scib_tx_mail_box(str);
break;
case 1 :
temp = (int)(floor(rpm +0.5));
snprintf( str,10,"RPM =%4d ",temp); load_scib_tx_mail_box(str);
break;
case 2 :
temp = (int)(floor(Vdc +0.5));
snprintf( str,10," VDC =%4d",temp); load_scib_tx_mail_box(str);
break;
case 3 :
temp = (int)(floor( RMS_Ia * 10 + 0.5 ) );
snprintf( str,10,"I1 =%2d.%d ",temp/10, temp%10); load_scib_tx_mail_box(str);
break;
case 4 :
temp = (int)(floor( RMS_Ib * 10 + 0.5 ) );
snprintf( str,10,"I2 =%2d.%d ",temp/10, temp%10); load_scib_tx_mail_box(str);
break;
case 5 : // Reset;
gMachineState = STATE_POWER_ON;
Nop();
asm (" .ref _c_int00"); // ;Branch to start of boot.asm in RTS library
asm (" LB _c_int00"); // ;Branch to start of boot.asm in RTS library
break;
default:
break;
}
// check 에 따른 변수를 포인터로 두어서 처리 한다.
// snprintf( str,30,"\n Vdc =%10.3e \n",Vdc); load_scib_tx_mail_box(str);
return;
}
else if(addr == 903){ // 내부 변수 read // EEPROM TRIP DATA
check = (int)data;
if( data == 0 ){
snprintf( str,4,"%03d:",TripInfoNow.CODE);
load_scib_tx_mail_box(str); delay_msecs(180);
load_scib_tx_mail_box(TripInfoNow.MSG); delay_msecs(220);
load_scib_tx_mail_box(TripInfoNow.TIME); delay_msecs(180);
dbtemp = TripInfoNow.HZ;
temp = (int)(floor(dbtemp +0.5));
snprintf( str,10,"Fq=%3d[hz]",temp);
load_scib_tx_mail_box(str); delay_msecs(180);
dbtemp = TripInfoNow.VDC;
temp = (int)(floor(dbtemp +0.5));
snprintf( str,10," VDC =%4d",temp);
load_scib_tx_mail_box(str); delay_msecs(180);
dbtemp = TripInfoNow.CURRENT;
temp = (int)(floor(dbtemp +0.5));
snprintf( str,10,"I1 =%4d ",temp);
load_scib_tx_mail_box(str); delay_msecs(180);
dbtemp = TripInfoNow.DATA;
temp = (int)(floor(dbtemp +0.5));
snprintf( str,10," DATA=%4d",temp);
load_scib_tx_mail_box(str); delay_msecs(180);
}
else{
TripData = (TRIP_INFO*)malloc(sizeof(TRIP_INFO));
GetTripInfo(check + 1,TripData);
strncpy(gStr1,TripInfoNow.MSG,20);
snprintf( str,4,"%03d:",TripData->CODE);
load_scib_tx_mail_box(str); delay_msecs(180);
load_scib_tx_mail_box(TripData->MSG); delay_msecs(220);
load_scib_tx_mail_box(TripData->TIME); delay_msecs(180);
dbtemp = TripData->HZ;
temp = (int)(floor(dbtemp +0.5));
snprintf( str,10,"Fq=%3d[hz]",temp);
load_scib_tx_mail_box(str); delay_msecs(180);
dbtemp = TripData->VDC;
temp = (int)(floor(dbtemp +0.5));
snprintf( str,10," VDC =%4d",temp);
load_scib_tx_mail_box(str); delay_msecs(180);
dbtemp = TripData->CURRENT;
temp = (int)(floor(dbtemp +0.5));
snprintf( str,10,"I1 =%4d ",temp);
load_scib_tx_mail_box(str); delay_msecs(180);
dbtemp = TripData->DATA;
temp = (int)(floor(dbtemp +0.5));
snprintf( str,10," DATA=%4d",temp);
load_scib_tx_mail_box(str); delay_msecs(180);
free(TripData);
}
return;
}
else if(addr == 904){ // DATE & TIME SET
check = (int)data;
switch( check ){
case 0:
TimeInput[0] = scib_rx_msg_box[10];
TimeInput[1] = scib_rx_msg_box[11];
TimeInput[2] = scib_rx_msg_box[12];
TimeInput[3] = scib_rx_msg_box[13];
TimeInput[4] = scib_rx_msg_box[14];
TimeInput[5] = scib_rx_msg_box[15];
break;
case 1:
TimeInput[6] = scib_rx_msg_box[10];
TimeInput[7] = scib_rx_msg_box[11];
TimeInput[8] = scib_rx_msg_box[12];
TimeInput[9] = scib_rx_msg_box[13];
TimeInput[10] = scib_rx_msg_box[14];
TimeInput[11] = scib_rx_msg_box[15];
delay_msecs(50);
WriteTimeToDS1307(TimeInput);
load_scib_tx_mail_box("Date & Time Saved");
break;
case 2:
// load_scib_tx_mail_box("WAIT FOR CLEAR DATA!");
// delay_msecs(180);
ClearTripDataToEeprom();
break;
}
return;
}
else if(addr == 905){ // RUN & STOP
check = (int)data;
switch( check ){
case 0:
* sci_cmd = CMD_START;
* sci_ref = code_btn_start_ref;
break;
case 1:
* sci_cmd = CMD_STOP;
* sci_ref = 0.0;
break;
case 2:
* sci_cmd = CMD_SPEED_UP;
break;
case 3:
* sci_cmd = CMD_SPEED_DOWN;
break;
default:
* sci_cmd = CMD_NULL;
break;
}
return;
}
else if(addr == 906){
GetTimeAndDateStr(str);
load_scib_tx_mail_box(str);
return;
}
else if (( addr > 979) && ( addr < 996)){
check = addr - 980;
snprintf( str,19,"adc =%4d",adc_result[check]);
load_scib_tx_mail_box(str);
delay_msecs(10);
return;
}
check = get_code_information( addr, CMD_READ_DATA , & code_inform);
if( check == 0 ){
check = (int)data;
switch(check)
{
case 0:
snprintf( str,19,"CODE=%4d",addr);
load_scib_tx_mail_box(str);
delay_msecs(10);
break;
case 1:
load_scib_tx_mail_box(code_inform.disp);delay_msecs(10);
break;
case 2:
if( code_inform.type == TYPE_DOUBLE ){
snprintf( str,20,"Data =%10.3e",code_inform.code_value.doubles);
}
else{
snprintf( str,20,"Data =%10d",code_inform.code_value.ints);
}
load_scib_tx_mail_box(str); delay_msecs(10);
break;
default:
snprintf( str,19,"CODE=%4d",addr);
load_scib_tx_mail_box(str);delay_msecs(10);
load_scib_tx_mail_box(code_inform.disp);delay_msecs(10);
if( code_inform.type == TYPE_DOUBLE )
snprintf( str,20,"Data =%10.3e",code_inform.code_value.doubles);
else
snprintf( str,20,"Data =%10d",code_inform.code_value.ints);
load_scib_tx_mail_box(str); delay_msecs(10);
break;
}
}
else{
load_scib_tx_mail_box("Error Invalid Address");delay_msecs(10);
}
return;
}
}
void TripProc( )
{
int iCommand;
int LoopCtrl;
int temp;
double fReference;
double dbtemp;
char str[30];
str[29] = 0;
EALLOW;
GpioCtrlRegs.GPAMUX1.bit.GPIO0 = 0; // GPIO0 = PWM1A
GpioCtrlRegs.GPAMUX1.bit.GPIO1 = 0; // GPIO1 = PWM1B
GpioCtrlRegs.GPAMUX1.bit.GPIO2 = 0; // GPIO2 = PWM2A
GpioCtrlRegs.GPAMUX1.bit.GPIO3 = 0; // GPIO3 = PWM2B
GpioCtrlRegs.GPAMUX1.bit.GPIO4 = 0; // GPIO4 = PWM3A
GpioCtrlRegs.GPAMUX1.bit.GPIO5 = 0; // GPIO5 = PWM3B
GpioCtrlRegs.GPAMUX1.bit.GPIO6 = 0; // GPIO4A
GpioCtrlRegs.GPAMUX1.bit.GPIO7 = 0; // GPIO4B
GpioCtrlRegs.GPAMUX1.bit.GPIO8 = 0; // GPIO5A
GpioCtrlRegs.GPAMUX1.bit.GPIO9 = 0; // GPIO5B
GpioCtrlRegs.GPAMUX1.bit.GPIO10 = 0; // GPIO6A
GpioCtrlRegs.GPAMUX1.bit.GPIO11 = 0; // GPIO6B
GpioCtrlRegs.GPADIR.bit.GPIO0 = 1; // GPIO0 = Output
GpioCtrlRegs.GPADIR.bit.GPIO1 = 1; // GPIO1 = Output
GpioCtrlRegs.GPADIR.bit.GPIO2 = 1; // GPIO2 = Output
GpioCtrlRegs.GPADIR.bit.GPIO3 = 1; // GPIO3 = Output
GpioCtrlRegs.GPADIR.bit.GPIO4 = 1; // GPIO4 = Output
GpioCtrlRegs.GPADIR.bit.GPIO5 = 1; // GPIO5 = Output
GpioCtrlRegs.GPADIR.bit.GPIO6 = 1; // GPIO4A
GpioCtrlRegs.GPADIR.bit.GPIO7 = 1; // GPIO4B
GpioCtrlRegs.GPADIR.bit.GPIO8 = 1; // GPIO5A
GpioCtrlRegs.GPADIR.bit.GPIO9 = 1; // GPIO5B
GpioCtrlRegs.GPADIR.bit.GPIO10 = 1; // GPIO6A
GpioCtrlRegs.GPADIR.bit.GPIO11 = 1; // GPIO6B
GpioDataRegs.GPACLEAR.bit.GPIO0 = 1; // Set Output
GpioDataRegs.GPACLEAR.bit.GPIO1 = 1; // Set Output
GpioDataRegs.GPACLEAR.bit.GPIO2 = 1; // Set Output
GpioDataRegs.GPACLEAR.bit.GPIO3 = 1; // Set Output
GpioDataRegs.GPACLEAR.bit.GPIO4 = 1; // Set Output
GpioDataRegs.GPACLEAR.bit.GPIO5 = 1; // Set Output
GpioDataRegs.GPACLEAR.bit.GPIO6 = 1; // Set Output
GpioDataRegs.GPACLEAR.bit.GPIO7 = 1; // Set Output
GpioDataRegs.GPACLEAR.bit.GPIO8 = 1; // Set Output
GpioDataRegs.GPACLEAR.bit.GPIO9 = 1; // Set Output
GpioDataRegs.GPACLEAR.bit.GPIO10 = 1; // Set Output
GpioDataRegs.GPACLEAR.bit.GPIO11 = 1; // Set Output
EDIS;
gMachineState = STATE_TRIP;
MAIN_CHARGE_OFF; // Main Charge Relay Off
init_charge_flag=0;
INIT_CHARGE_CLEAR;
TRIP_OUT_ON;
GetTimeAndDateStr(str);
strncpy( TripInfoNow.TIME,str,20);
// SaveTripDataToEeprom(); debug_jsk
load_sci_tx_mail_box("TRP"); delay_msecs(20);
snprintf( str,4,"%03d:",TripInfoNow.CODE);
load_sci_tx_mail_box(str); delay_msecs(20);
load_sci_tx_mail_box(TripInfoNow.MSG); delay_msecs(20);
load_sci_tx_mail_box( TripInfoNow.TIME) ; delay_msecs(20);
dbtemp = TripInfoNow.HZ;
temp = (int)(floor(dbtemp +0.5));
snprintf( str,10,"Fq=%3d[hz]",temp);
load_sci_tx_mail_box(str); delay_msecs(20);
dbtemp = TripInfoNow.VDC;
temp = (int)(floor(dbtemp +0.5));
snprintf( str,10," VDC =%4d",temp);
load_sci_tx_mail_box(str); delay_msecs(20);
dbtemp = TripInfoNow.CURRENT;
temp = (int)(floor(dbtemp +0.5));
snprintf( str,10,"I1 =%4d ",temp);
load_sci_tx_mail_box(str); delay_msecs(20);
dbtemp = TripInfoNow.DATA;
temp = (int)(floor(dbtemp +0.5));
snprintf( str,10," DATA=%4d",temp);
load_sci_tx_mail_box(str); delay_msecs(20);
LoopCtrl = CMD_NULL;
while( LoopCtrl != CMD_RESET)
{
get_command( & iCommand, & fReference); // Command를 입력 받음
if( iCommand == CMD_RESET) LoopCtrl = CMD_RESET;
Nop();
}
delay_msecs(50);
while( LoopCtrl == CMD_RESET)
{
get_command( & iCommand, & fReference); // Command를 입력 받음
if( iCommand == CMD_STOP) LoopCtrl = CMD_STOP;
Nop();
}
for( ; ; ) // system reset
{
gMachineState = STATE_TRIP;
Nop();
asm (" .ref _c_int00"); // ;Branch to start of boot.asm in RTS library
asm (" LB _c_int00"); // ;Branch to start of boot.asm in RTS library
}
}
int SaveDataProc(int addr, double data)
{
int cmd,i,return_value;
char SciBuf[30]={0};
char str[30];
UNION32 u32data,u32data2;
return_value = 0;
cmd = CMD_READ_DATA;
i = get_code_information( addr,cmd,&code_inform);
if( i != 0 ) goto _SAVE_ERROR_INVALID_ADDR;
if( addr >= 800 ){
if( data < 1.22 ) goto _SAVE_ERROR_INVALID_DATA;
if( data > 1.24 ) goto _SAVE_ERROR_INVALID_DATA;
switch(addr)
{
case CODE_Data_Check: return_value = check_backup_data(); break;
case CODE_Data_Backup:
strncpy(str,"Wait for Data Backup",20);
load_sci_tx_mail_box(str); delay_msecs(20);
save_backup_data();
strncpy(str,"Wait for Error Check",20);
load_sci_tx_mail_box(str); delay_msecs(20);
break;
case CODE_Data_Load:
strncpy(str,"Wait for Data Load !",20);
load_sci_tx_mail_box(str); delay_msecs(20);
backup_data_load();
break;
case CODE_Data_Init:
strncpy(str,"Wait For Data Init !",20);
load_sci_tx_mail_box(str); delay_msecs(20);
init_eprom_data();
strncpy(str,"Data Init OK ! ",20);
load_sci_tx_mail_box(str); delay_msecs(20);
break;
case CODE_get_adc_offset: get_adc_offset(); break;
default:
goto _SAVE_ERROR_INVALID_ADDR;
}
return return_value;
}
if( code_inform.type == TYPE_INTEGER){
if( (code_inform.code_min.ints) > (int)data ){
goto _SAVE_ERROR_DATA_UNDER;
}
else if( (code_inform.code_max.ints) < (int)data){
goto _SAVE_ERROR_DATA_OVER;
}
else {
// u32data.word.word1 = 0;
u32data.word.word0 = (int)data;
read_eprom_data( addr, & u32data2);
if( u32data.word.word0 != u32data2.word.word0 ){
write_code_2_eeprom( addr, u32data);
read_eprom_data( addr, & u32data2);
if( u32data.word.word0 != u32data2.word.word0 ) goto _EEPROM_WRITE_ERROR;
code_inform.code_value.ints = (int)data;
cmd = CMD_WRITE_RAM;
get_code_information( addr,cmd, & code_inform);
load_sci_tx_mail_box("OK write success") ;
}
else{
load_sci_tx_mail_box("Equal Data write skipped");
}
return 0;
}
}
else { // code_inform->Type == TYPE_DOUBLE
if( ( code_inform.code_min.doubles) > data ){
goto _SAVE_ERROR_DATA_UNDER;
}
else if( ( code_inform.code_max.doubles) < data ){
goto _SAVE_ERROR_DATA_OVER;
}
else {
u32data.dword = data;
read_eprom_data( addr, & u32data2);
if( u32data.dword != u32data2.dword ){
write_code_2_eeprom( addr, u32data);
read_eprom_data( addr, & u32data2);
if( u32data.dword != u32data2.dword ) goto _EEPROM_WRITE_ERROR;
code_inform.code_value.doubles = data;
cmd = CMD_WRITE_RAM;
get_code_information( addr,cmd, & code_inform);
// CheckSum Save
u32data.dword = CheckSum();
EepromSaveFlag = 1;
write_code_2_eeprom(EPROM_ADDR_CHECKSUM, u32data);
EepromSaveFlag = 0;
load_sci_tx_mail_box("OK write success") ;
}
else{
load_sci_tx_mail_box("Equal Data write skipped");
}
return 0;
}
}
_SAVE_ERROR_INVALID_ADDR:
// strcpy(SciBuf, "ADDR");
strcpy(SciBuf,"Invalid Address" );
load_sci_tx_mail_box(SciBuf) ;
return -1;
_SAVE_ERROR_DATA_UNDER:
// strcpy(SciBuf, "UNDE");
strcpy(SciBuf,"Input data under" );
load_sci_tx_mail_box(SciBuf) ;
return -1;
_SAVE_ERROR_DATA_OVER:
// strcpy(SciBuf, "OVER");
strcpy(SciBuf,"Input data over" );
load_sci_tx_mail_box(SciBuf) ;
return -1;
_SAVE_ERROR_INVALID_DATA:
// strcpy(SciBuf, "DATA");
strcpy(SciBuf,"Invalid data " );
load_sci_tx_mail_box(SciBuf) ;
return -1;
_EEPROM_WRITE_ERROR:
// strcpy(SciBuf, "DATA");
strcpy(SciBuf,"Eeprom write error" );
load_sci_tx_mail_box(SciBuf) ;
return -1;
}
/*****
* DoTest_Characterize() - Perform the Characterization test
*
* This function starts the duty cycle at the minimum duty cycle and
* then increases it to the max duty cycle for the test.
* Samples are collected into the global array sample[].
* The function toggles the TEST_RUNNING signal high for the duration
* of the test as a debug aid and adjusts the global "pwm_duty"
*
* The test also sets the global ADC min and max counts to
* help limit the ADC counts to the active range for the circuit
*****/
int DoTest_Characterize(void) {
XStatus Status; // Xilinx return status
unsigned tss; // starting timestamp
u16 adc_1, adc_2; // holds the ADC count - sampled twice and averaged
u16 adc_cnt; // ADC counts to display
int n; // number of samples
Xuint32 freq, dutyfactor; // current frequency and duty factor
// stabilize the PWM output (and thus the lamp intensity) at the
// minimum before starting the test
pwm_duty = PWM_STEPDC_MIN;
Status = PWM_SetParams(&PWMTimerInst, pwm_freq, pwm_duty);
if (Status == XST_SUCCESS) {
PWM_Start(&PWMTimerInst);
} else {
return -1;
}
delay_msecs(1000);
// sweep the duty cycle from STEPDC_MIN to STEPDC_MAX
smpl_idx = PWM_STEPDC_MIN;
n = 0;
tss = timestamp;
while (smpl_idx <= PWM_STEPDC_MAX)
{
Status = PWM_SetParams(&PWMTimerInst, pwm_freq, smpl_idx);
if (Status == XST_SUCCESS)
{
PWM_Start(&PWMTimerInst);
} else {
return -1;
}
// sample the ADC twice and average the readings
adc_1 = PmodCtlSys_readADC(&SPIInst);
delay_msecs(1);
adc_2 = PmodCtlSys_readADC(&SPIInst);
adc_cnt = (adc_1 + adc_2) / 2;
sample[smpl_idx++] = adc_cnt;
n++;
delay_msecs(20);
}
adc_smple_interval = (timestamp - tss) / smpl_idx;
// initialize the ADC min and max counts from the saved data
ADC_min_cnt = ADC_max_cnt = 0;
for (n = PWM_STEPDC_MIN; n <= PWM_STEPDC_MAX; n++) {
if (sample[n] < ADC_min_cnt)
ADC_min_cnt = sample[n];
if (sample[n] > ADC_max_cnt)
ADC_max_cnt = sample[n];
}
ADC_max_vout = PmodCtlSys_ADCVolts(ADC_min_cnt);
ADC_min_vout = PmodCtlSys_ADCVolts(ADC_max_cnt);
// initialize the PWM min and max counts - these are constants so can be calculated here
// count = ((pwm duty cycle * PLB clock frequency[Hz]) / pwm frequency[Hz]) - 2
PWM_GetParams(&PWMTimerInst, &freq, &dutyfactor);
PWM_min_cnt = ((PWM_STEPDC_MIN * .01 * PLB_CLOCK_FREQ_HZ) / freq) - 2;
PWM_max_cnt = ((PWM_STEPDC_MAX * .01 * PLB_CLOCK_FREQ_HZ) / freq) - 2;
return n;
}
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()
/*****
* DoTest_BB() - Perform Bang-Bang control
*
* This function adjusts the global "pwm_duty" value to try to bring the
* control system simulator closer to the ADC setpoint. The initial state of the PWM
* is derived from the global "init_high" flag. NUM_ADC_SAMPLES are collected
* into the global array sample[] and the count returned. The function toggles the TEST_RUNNING
* signal high for the duration of the test as a debug aid. An approximate
* ADC sample interval is written to the global variable "adc_smpl_interval"
*
* Bang-bang control is the simplest form of closed loop control. The PWM is turned either full-on
* of full-off depending on whether the output is below or above the setpoint.
*
* NOTE: THIS ALGORIHM IS LEFT AS AN EXERCISE FOR THE PROGRAMMER
*****/
int DoTest_BB(void)
{
XStatus Status; // Xilinx return status
unsigned tss; // starting timestamp
u16 adc_1, adc_2; // holds the ADC count - sampled twice and averaged
u16 adc_cnt; // ADC counts to display
int n; // number of samples
Xfloat32 setpoint_volts, adc_reading_volts;
//The initial state of the PWM is derived from the global "init_high" flag.
// true if inital state of test should be full-on, false otherwise
if (init_high == true)
pwm_duty = PWM_STEPDC_MAX;
else
pwm_duty = PWM_STEPDC_MIN;
//Checks Status
Status = PWM_SetParams(&PWMTimerInst, pwm_freq, pwm_duty);
if (Status == XST_SUCCESS) {
PWM_Start(&PWMTimerInst);
} else {
return -1;
}
delay_msecs(100);
smpl_idx = 0;
n = 0;
tss = timestamp;
//Calculate in volts our setpoint
setpoint_volts = PmodCtlSys_ADCVolts(setpoint);
////-------------------------------
LCD_clrd();
LCD_setcursor(1, 0);
LCD_wrstring("BANG BANG");
while (smpl_idx <= NUM_ADC_SAMPLES)
{
Status = PWM_SetParams(&PWMTimerInst, pwm_freq, pwm_duty);
if (Status == XST_SUCCESS)
{
PWM_Start(&PWMTimerInst);
}
else {
return -1;
}
//Sample the ADC and average the readings
adc_1 = PmodCtlSys_readADC(&SPIInst);
delay_msecs(1);
adc_2 = PmodCtlSys_readADC(&SPIInst);
adc_cnt = (adc_1 + adc_2) / 2;
//Converting the ADC average into volts
adc_reading_volts = PmodCtlSys_ADCVolts(adc_cnt);
if (adc_reading_volts < setpoint_volts)
pwm_duty = PWM_STEPDC_MIN; //input to 100% duty cycle
else
pwm_duty = PWM_STEPDC_MAX;
//CHECK STATUS
Status = PWM_SetParams(&PWMTimerInst, pwm_freq, pwm_duty);
if (Status == XST_SUCCESS) {
PWM_Start(&PWMTimerInst);
} else {
return -1;
}
//store in array
sample[smpl_idx++] = adc_cnt;
n++;
}
adc_smple_interval = (timestamp - tss) / smpl_idx;
return n;
}
int main()
{
XStatus Status;
u32 btnsw = 0x00000000, old_btnsw = 0x000000FF;
int rotcnt, old_rotcnt = 0x1000;
Test_t test, next_test;
is_scaled = false;
// 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;
pwm_duty = STEPDC_MIN;
next_test = TEST_INVALID;
// 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("PmodCtlSys Test ");
LCD_setcursor(2,0);
LCD_wrstring("R3.0 by Robin M.");
NX3_writeleds(0xFF);
//Run the LED characterization routine to establish sensor min's and max's
DoTest_Characterize();
NX3_writeleds(0x00);
// main loop - there is no exit except by hardware reset
while (1)
{
// read sw[1:0] to get the test to perform.
NX3_readBtnSw(&btnsw);
test = btnsw & (msk_SWITCH1 | msk_SWITCH0);
if (test == TEST_TRACKING) // Test 0 = Track PWM voltage
{
// write the static info to display if necessary
if (test != next_test)
{
LCD_clrd();
LCD_setcursor(1,0);
LCD_wrstring("| TRK| Vi: sx.xx");
LCD_setcursor(2,0);
LCD_wrstring("Vo:sx.xx C:sxxxx");
}
// read rotary count and handle duty cycle changes
// limit duty cycle to between STEPDC_MIN and STEPDC_MAX
// PWM frequency does not change in this test
ROT_readRotcnt(&rotcnt);
if (rotcnt != old_rotcnt)
{
pwm_duty = MAX(STEPDC_MIN, MIN(rotcnt, STEPDC_MAX));
old_rotcnt = rotcnt;
}
DoTest_Track();
next_test = TEST_TRACKING;
} // Test 0 = Track PWM voltage
else if ((test == TEST_STEPHILO) || (test == TEST_STEPLOHI)) // Test 1 & 2 - Step response
{
Xfloat32 v;
char s[20];
// write the static info to the display if necessary
if (test != next_test)
{
if (test == TEST_STEPHILO)
{
strcpy(s, "|HILO|Press RBtn");
}
else
{
strcpy(s, "|LOHI|Press RBtn");
}
LCD_clrd();
LCD_setcursor(1,0);
LCD_wrstring(s);
LCD_setcursor(2,0);
LCD_wrstring("LED OFF-Release ");
}
// 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
{
// 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
// captured to let the user know he/she can release the button
NX3_writeleds(0x01);
if (test == TEST_STEPHILO) // perform High->Low step test
{
DoTest_Step(STEPDC_MAX);
}
else // perform Low->High step
{
DoTest_Step(STEPDC_MIN);
}
NX3_writeleds(0x00);
// 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 & msk_BTN_ROT) == 0x80);
// 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_STEPHILO)
{
xil_printf("\n\rHigh->Low Test Data\t\tAppx. Sample Interval: %d msec\n\r", frq_smple_interval);
}
else
{
xil_printf("\n\rLow->High 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];
//ECE544 Students:
//Convert from count to 'volts'
v = LIGHTSENSOR_Count2Volts(count);
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;
} // do the step test and dump data
else
{
next_test = test;
}
} // Test 1 & 2 - Step response
else if (test == TEST_CHARACTERIZE) // Test 3 - Characterize Response
{
if (test != next_test)
{
LCD_clrd();
LCD_setcursor(1,0);
LCD_wrstring("|CHAR|Press RBtn");
LCD_setcursor(2,0);
LCD_wrstring("LED OFF-Release ");
}
// 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
if ((btnsw ^ old_btnsw) && (msk_BTN_ROT & btnsw)) // do the step test and dump data
{
// 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
// captured to let the user know he/she can release the button
NX3_writeleds(0x01);
DoTest_Characterize();
NX3_writeleds(0x00);
// 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 & msk_BTN_ROT) == 0x80);
// 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];
//ECE544 Students:
//Convert from count to 'volts'
v = LIGHTSENSOR_Count2Volts((Xuint32)count);
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;
} // do the step test and dump data
else
{
next_test = test;
}
} // 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()
int main() {
XStatus status;
u16 sw, oldSw =0xFFFF; // 0xFFFF is invalid --> makes sure the PWM freq is updated 1st time
int rotcnt, oldRotcnt = 0x1000;
bool done = false;
bool hw_switch = 0;
init_platform();
// initialize devices and set up interrupts, etc.
status = do_init();
if (status != XST_SUCCESS) {
PMDIO_LCD_setcursor(1,0);
PMDIO_LCD_wrstring("****** ERROR *******");
PMDIO_LCD_setcursor(2,0);
PMDIO_LCD_wrstring("INIT FAILED- EXITING");
exit(XST_FAILURE);
}
// initialize the global variables
timestamp = 0;
pwm_freq = INITIAL_FREQUENCY;
pwm_duty = INITIAL_DUTY_CYCLE;
clkfit = 0;
new_perduty = false;
// start the PWM timer and kick of the processing by enabling the Microblaze interrupt
PWM_SetParams(&PWMTimerInst, pwm_freq, pwm_duty);
PWM_Start(&PWMTimerInst);
microblaze_enable_interrupts();
// display the greeting
PMDIO_LCD_setcursor(1,0);
PMDIO_LCD_wrstring("ECE544 Project 1");
PMDIO_LCD_setcursor(2,0);
PMDIO_LCD_wrstring(" by Rehan Iqbal ");
NX4IO_setLEDs(0x0000FFFF);
delay_msecs(2000);
NX4IO_setLEDs(0x00000000);
// write the static text to the display
PMDIO_LCD_clrd();
PMDIO_LCD_setcursor(1,0);
PMDIO_LCD_wrstring("G|FR: DCY: %");
PMDIO_LCD_setcursor(2,0);
PMDIO_LCD_wrstring("D|FR: DCY: %");
// turn off the LEDs and clear the seven segment display
NX4IO_setLEDs(0x00000000);
NX410_SSEG_setAllDigits(SSEGLO, CC_BLANK, CC_BLANK, CC_BLANK, CC_BLANK, DP_NONE);
NX410_SSEG_setAllDigits(SSEGHI, CC_BLANK, CC_BLANK, CC_BLANK, CC_BLANK, DP_NONE);
// main loop
do {
// check rotary encoder pushbutton to see if it's time to quit
if (PMDIO_ROT_isBtnPressed()) {
done = true;
}
else {
new_perduty = false;
// get the switches and mask out all but the switches that determine the PWM timer frequency
sw &= PWM_FREQ_MSK;
sw = NX4IO_getSwitches();
if (sw != oldSw) {
// check the status of sw[2:0] and assign appropriate PWM output frequency
switch (sw & 0x07) {
case 0x00: pwm_freq = PWM_FREQ_100HZ; break;
case 0x01: pwm_freq = PWM_FREQ_1KHZ; break;
case 0x02: pwm_freq = PWM_FREQ_10KHZ; break;
case 0x03: pwm_freq = PWM_FREQ_50KHZ; break;
case 0x04: pwm_freq = PWM_FREQ_100KHZ; break;
case 0x05: pwm_freq = PWM_FREQ_500KHZ; break;
case 0x06: pwm_freq = PWM_FREQ_1MHZ; break;
case 0x07: pwm_freq = PWM_FREQ_5MHZ; break;
}
// check the status of sw[3] and assign to global variable
hw_switch = (sw & 0x08);
// update global variable indicating there are new changes
oldSw = sw;
new_perduty = true;
}
// read rotary count and handle duty cycle changes
// limit duty cycle to 0% to 99%
PMDIO_ROT_readRotcnt(&rotcnt);
if (rotcnt != oldRotcnt) {
// show the rotary count in hex on the seven segment display
NX4IO_SSEG_putU16Hex(SSEGLO, rotcnt);
// change the duty cycle
pwm_duty = MAX(1, MIN(rotcnt, 99));
oldRotcnt = rotcnt;
new_perduty = true;
}
// update generated frequency and duty cycle
if (new_perduty) {
u32 freq,
dutycycle;
unsigned int detect_freq = 0x00;
unsigned int detect_duty = 0x00;
// set the new PWM parameters - PWM_SetParams stops the timer
status = PWM_SetParams(&PWMTimerInst, pwm_freq, pwm_duty);
if (status == XST_SUCCESS) {
PWM_GetParams(&PWMTimerInst, &freq, &dutycycle);
update_lcd(freq, dutycycle, 1);
// check if sw[3] is high or low (HWDET / SWDET)
// pass functions different args depending on which mode is selected
if (hw_switch) {
detect_freq = calc_freq(hw_high_count, hw_low_count, hw_switch);
detect_duty = calc_duty(hw_high_count, hw_low_count);
}
else {
detect_freq = calc_freq(sw_high_count, sw_low_count, hw_switch);
detect_duty = calc_duty(sw_high_count, sw_low_count);
}
// update the LCD display with detected frequency & duty cycle
update_lcd(detect_freq, detect_duty, 2);
PWM_Start(&PWMTimerInst);
}
}
}
} while (!done);
// wait until rotary encoder button is released
do {
delay_msecs(10);
} while (PMDIO_ROT_isBtnPressed());
// we're done, say goodbye
xil_printf("\nThat's All Folks!\n\n");
PMDIO_LCD_setcursor(1,0);
PMDIO_LCD_wrstring("That's All Folks");
PMDIO_LCD_setcursor(2,0);
PMDIO_LCD_wrstring(" ");
NX410_SSEG_setAllDigits(SSEGHI, CC_BLANK, CC_B, CC_LCY, CC_E, DP_NONE);
NX410_SSEG_setAllDigits(SSEGLO, CC_B, CC_LCY, CC_E, CC_BLANK, DP_NONE);
delay_msecs(5000);
// turn the lights out
PMDIO_LCD_clrd();
NX410_SSEG_setAllDigits(SSEGHI, CC_BLANK, CC_BLANK, CC_BLANK, CC_BLANK, DP_NONE);
NX410_SSEG_setAllDigits(SSEGLO, CC_BLANK, CC_BLANK, CC_BLANK, CC_BLANK, DP_NONE);
NX4IO_RGBLED_setDutyCycle(RGB1, 0, 0, 0);
NX4IO_RGBLED_setChnlEn(RGB1, false, false, false);
// exit gracefully
cleanup_platform();
exit(0);
}
/*****
* DoTest_Characterize() - Perform the Characterization test
*
* This function starts the duty cycle at the minimum duty cycle and
* then sweeps it to the max duty cycle for the test.
* Samples are collected into the global array sample[].
* The function toggles the TEST_RUNNING signal high for the duration
* of the test as a debug aid and adjusts the global "pwm_duty"
*
* The test also sets the global frequency count min and max counts to
* help limit the counts to the active range for the circuit
*****/
XStatus DoTest_Characterize(void)
{
XStatus Status; // Xilinx return status
unsigned tss; // starting timestamp
int n; // number of samples
Xuint32 freq_max_cnt = 1000;
int i = 0;
double diff = 0;
// stabilize the PWM output (and thus the lamp intensity) at the
// minimum before starting the test
pwm_duty = STEPDC_MIN;
Status = PWM_SetParams(&PWMTimerInst, pwm_freq, pwm_duty);
if (Status == XST_SUCCESS)
{
PWM_Start(&PWMTimerInst);
}
else
{
return -1;
}
//Wait for the LED output to settle before starting
delay_msecs(1500);
// sweep the duty cycle from STEPDC_MIN to STEPDC_MAX
smpl_idx = STEPDC_MIN;
n = 0;
tss = timestamp;
while (smpl_idx <= STEPDC_MAX)
{
Status = PWM_SetParams(&PWMTimerInst, pwm_freq, smpl_idx);
if (Status == XST_SUCCESS)
{
PWM_Start(&PWMTimerInst);
}
else
{
return -1;
}
sample[smpl_idx++] = LIGHTSENSOR_Capture(LIGHTSENSOR_BASEADDR, slope, offset, is_scaled, freq_min_cnt);
n++;
delay_msecs(50);
}
frq_smple_interval = (timestamp - tss) / smpl_idx;
//Find min and max values to set scaling
for (i = 1; i < STEPDC_MAX ; i++)
{
if (sample[i] < freq_min_cnt)
{
freq_min_cnt = sample[i];
}
if (sample[i] > freq_max_cnt)
{
freq_max_cnt = sample[i];
}
}
// Send min and max to set scaling and calculate slope and offset
diff = freq_max_cnt - freq_min_cnt;
slope = 4095.0 / diff;
is_scaled = true;
return n;
}
/*****
* DoTest_PID() - Perform PID control and it's derivitives
*
* This function adjusts the global "pwm_duty", "offset" and gains (GP, GI, GD) values to try to
* bring the control system simulator close to the ADC setpoint. The initial state of the PWM
* is derived from the global "init_high" flag. NUM_ADC_SAMPLES are collected
* into the global array sample[] and the count returned. The function toggles the TEST_RUNNING
* signal high for the duration of the test as a debug aid. An approximate
* ADC sample interval is written to the global variable "adc_smpl_interval"
*
* PID control provides finer control over the control input than that offered by Bang-bang control.
* The biggest contributor to the control input is a value proportional to the distance between the
* setpoint and the actual point. Integral and Derivitive terms based on the history of the control
* system are used to fine tune the control input.
*
* NOTE: THIS ALGORIHM IS LEFT AS AN EXERCISE TO THE READER
*****/
int DoTest_PID(void)
{
XStatus Status; // Xilinx return status
unsigned tss; // starting timestamp
u16 adc_1, adc_2; // holds the ADC count - sampled twice and averaged
u16 adc_cnt; // ADC counts to display
int n; // number of samples
Xfloat32 integral, derivative; // integral, derivative terms
Xfloat32 error, prev_error; // error and prev error terms
Xfloat32 setpoint_volt, currentadc_volt; // Setpoint and ADC count in volts
//The initial state of the PWM is derived from the global "init_high" flag.
if(init_high)
pwm_duty = PWM_STEPDC_MIN;
else
pwm_duty = PWM_STEPDC_MAX;
// Get the PWM status
Status = PWM_SetParams(&PWMTimerInst, pwm_freq, pwm_duty);
if(Status == XST_SUCCESS)
PWM_Start(&PWMTimerInst);
else
return -1;
delay_msecs(1000);
integral = 0;
derivative = 0;
prev_error = 0;
smpl_idx = 0;
n = 0;
tss = timestamp;
setpoint_volt = PmodCtlSys_ADCVolts(setpoint);
while (smpl_idx <= NUM_ADC_SAMPLES)
{
// sample ADC twice and average the readings
adc_1=PmodCtlSys_readADC(&SPIInst);
delay_msecs(1);
adc_2=PmodCtlSys_readADC(&SPIInst);
adc_cnt = (adc_1 + adc_2) / 2;
currentadc_volt = PmodCtlSys_ADCVolts( adc_cnt + offset);
// calculate error: Negate the value to avoid -ve PID control parameters
error = currentadc_volt - setpoint_volt;
derivative = error - prev_error;
prev_error = error;
if (abs(error) < setpoint_volt/10)
integral += error;
else
integral = 0;
pwm_duty = (int)((error*GP) + (integral *GI) + (derivative*GD));
// Set the duty cycle based on the calculated value
if (pwm_duty < PWM_STEPDC_MIN)
pwm_duty = PWM_STEPDC_MIN;
else if (pwm_duty > PWM_STEPDC_MAX)
pwm_duty = PWM_STEPDC_MIN;
Status = PWM_SetParams(&PWMTimerInst, pwm_freq, pwm_duty);
if (Status == XST_SUCCESS)
PWM_Start(&PWMTimerInst);
else
return -1;
sample[smpl_idx++] = adc_cnt;
n++;
delay_msecs(5);
}
adc_smple_interval = (timestamp - tss) / smpl_idx;
return n;
}
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()
/*****
* DoTest_Characterize() - Perform the Characterization test
*
* This function starts the duty cycle at the minimum duty cycle and
* then sweeps it to the max duty cycle for the test.
* Samples are collected into the global array sample[].
* The function toggles the TEST_RUNNING signal high for the duration
* of the test as a debug aid and adjusts the global "pwm_duty"
*
* The test also sets the global frequency count min and max counts to
* help limit the counts to the active range for the circuit
*****/
XStatus DoTest_Characterize(void)
{
XStatus Status; // Xilinx return status
unsigned tss; // starting timestamp
volatile u16 frq_cnt; // counts to display
int n; // number of samples
Xuint32 freq, dutyfactor; // current frequency and duty factor
Xuint32 freq_max_cnt = 3000;
Xuint32 freq_min_cnt = 3000;
int i;
double diff = 0;
// stabilize the PWM output (and thus the lamp intensity) at the
// minimum before starting the test
pwm_duty = STEPDC_MIN;
Status = PWM_SetParams(&PWMTimerInst, pwm_freq, pwm_duty);
if (Status == XST_SUCCESS)
{
PWM_Start(&PWMTimerInst);
}
else
{
return -1;
}
//Wait for the LED output to settle before starting
delay_msecs(1500);
// sweep the duty cycle from STEPDC_MIN to STEPDC_MAX
smpl_idx = STEPDC_MIN;
n = 0;
tss = timestamp;
while (smpl_idx <= STEPDC_MAX)
{
Status = PWM_SetParams(&PWMTimerInst, pwm_freq, smpl_idx);
if (Status == XST_SUCCESS)
{
PWM_Start(&PWMTimerInst);
}
else
{
return -1;
}
//ECE544 Students:
// make the light sensor measurement
//frq_cnt = LIGHTSENSOR_mReadPERIOD(LIGHTSENSOR_BASEADDR);
frq_cnt = LIGHTSENSOR_Capture(LIGHTSENSOR_BASEADDR, slope, offset, is_scaled);
sample[smpl_idx++] = frq_cnt;
n++;
delay_msecs(50);
}
frq_smple_interval = (timestamp - tss) / smpl_idx;
//ECE544 Students:
//Find the min and max values and set the scaling/offset factors to use for your convert to 'voltage' function.
//NOTE: It may also be useful to scale the actual 'count' values to a range of 0 - 4095 for the SerialCharter application to work correctly
for (i = 0; i < STEPDC_MAX ; i++)
{
if (sample[i] < freq_min_cnt)
{
freq_min_cnt = sample[i];
}
if (sample[i] > freq_max_cnt)
{
freq_max_cnt = sample[i];
}
}
// YOUR_FUNCTION(FRQ_min_cnt,FRQ_max_cnt);
//LIGHTSENSOR_SetScaling(freq_max_cnt, freq_min_cnt, &slope, &offset);
diff = freq_max_cnt - freq_min_cnt;
slope = 4095.0 / diff;
offset = freq_min_cnt;
is_scaled = true;
return n;
}
