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 connects the interrupt handler of the IO Module to the
* processor. This function is separate to allow it to be customized for each
* application. Each processor or RTOS may require unique processing to connect
* the interrupt handler.
*
* @param None.
*
* @return None.
*
* @note None.
*
****************************************************************************/
XStatus SetUpInterruptSystem(XIOModule *XIOModuleInstancePtr)
{
XStatus Status;
/*
* Connect a device driver handler that will be called when an interrupt
* for the device occurs, the device driver handler performs the specific
* interrupt processing for the device
*/
Status = XIOModule_Connect(XIOModuleInstancePtr, IOMODULE_DEVICE_ID,
(XInterruptHandler) DeviceDriverHandler,
(void *)0);
if (Status != XST_SUCCESS)
{
return XST_FAILURE;
}
/*
* Start the IO Module such that interrupts are enabled for all devices
* that cause interrupts.
*/
Status = XIOModule_Start(XIOModuleInstancePtr);
if (Status != XST_SUCCESS)
{
return XST_FAILURE;
}
/*
* Enable interrupts for the device and then cause interrupts so the
* handlers will be called.
*/
XIOModule_Enable(XIOModuleInstancePtr, IOMODULE_DEVICE_ID);
/*
* Initialize the exception table.
*/
Xil_ExceptionInit();
/*
* Register the IO module interrupt handler with the exception table.
*/
Xil_ExceptionRegisterHandler(XIL_EXCEPTION_ID_INT,
(Xil_ExceptionHandler)XIOModule_DeviceInterruptHandler,
(void*) 0);
/*
* Enable exceptions.
*/
Xil_ExceptionEnable();
return XST_SUCCESS;
}
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 ();
}
}
}
/**
*
* 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;
}
