void fpga_spiinitgpio(uint32_t DSP_FPGA_CSGPIO)
{
gpioInit();
gpioSetDirection(DSP_FPGA_CSGPIO,GPIO_OUT);
gpioSetOutput(DSP_FPGA_CSGPIO);
}
/* Initis the ports that use the buttons.
*
* Ports:
* PB0 - PB5 : GPIO Inputs.
*
*/
void buttonsInit(){
gpioSetMasterEnable(GPIO_PORTB);
gpioSetDirection(GPIO_PORTB,BUTTONS_ENABLED_BUTTONS,0x00);
gpioSetDigitalEnable(GPIO_PORTB,BUTTONS_ENABLED_BUTTONS,BUTTONS_ENABLED_BUTTONS);
gpioSetPullUpSelect(GPIO_PORTB,0x3F,0x3F);
gpioSetInterruptBothEdges(GPIO_PORTB,BUTTONS_ENABLED_BUTTONS,0x00);
gpioSetInterruptEvent(GPIO_PORTB,BUTTONS_ENABLED_BUTTONS,0x00);
gpioHelperInterruptMasterEnable();
gpioSetInterruptEnable(GPIO_PORTB);
buttonsEnable();
}
BOOL Gpio_Init()
{
int32_t pinNum;
//CSL_GpioHandle hGpio;
if( bGpioInitialized == TRUE)
{
return TRUE;
}
// Open the CSL GPIO Module 0
GpioHandle = CSL_GPIO_open (0);
// Disable the GPIO global interrupts
CSL_GPIO_bankInterruptEnable(GpioHandle, GPIOBANKNUM);
// Clear all falling edge trigger and rising edge trigger
for (pinNum = GPIO_0; pinNum <= GPIO_15; pinNum++) {
CSL_GPIO_clearFallingEdgeDetect(GpioHandle, pinNum);
CSL_GPIO_clearRisingEdgeDetect (GpioHandle, pinNum);
}
// Set all GPIO as input
// GPIOREGS->DIR = GPIOREGS->DIR & 0xffffffff;
// Configure the GPIOs for NAND flash controller communication
// Configure data bus as output
//gpioSetDataBusDirection(GPIO_OUT);
#ifdef EVMBOARD
// Configure the signal pins direction
gpioSetDirection(DSP_FPGA_CMD0, GPIO_OUT );
gpioSetDirection(DSP_FPGA_CMD1, GPIO_OUT );
gpioSetDirection(DSP_FPGA_STROBE, GPIO_OUT );
gpioSetDirection(FPGA_DSP_READY, GPIO_IN );
#endif
bGpioInitialized = TRUE;
return TRUE;
}
// Initialize GPIO module
void MW_gpioInit(int32_T gpio, boolean_T direction, uint32_T internalResistor, const uint8_T *pinName)
{
GPIO_info *gpioInfoPtr;
gpioInfo = realloc(gpioInfo, (numGpio + 1) * sizeof(GPIO_info));
if (gpioInfo == NULL) {
fprintf(stderr, "Error allocating memory for GPIO pin %d.\n", gpio);
MW_gpioExit();
}
gpioInfoPtr = gpioInfo + numGpio;
//Fill in GPIO info structure for the GPIO module
#ifdef _DEBUG
printf("gpio = %d, direction = %d, internalRes = %d, pinName = %s\n",
gpio, direction, internalResistor, pinName);
#endif
gpioInfoPtr->gpio = gpio;
gpioInfoPtr->direction = direction;
gpioInfoPtr->internalResistor = internalResistor;
gpioInfoPtr->fd = -1;
strcpy(&(gpioInfoPtr->pinName[0]), pinName);
numGpio++;
// Set pin muxing and claim GPIO pin
if (setGpioPinMux(pinName, direction, internalResistor) < 0) {
fprintf(stderr, "Error setting PIN MUX.\n");
MW_gpioExit();
}
if (gpioExport(gpio) < 0) {
fprintf(stderr, "Error exporting GPIO pin.\n");
MW_gpioExit();
}
if (gpioSetDirection(gpio, direction) < 0) {
fprintf(stderr, "Error setting GPIO pin direction.\n");
MW_gpioExit();
}
gpioInfoPtr->fd = gpioOpen(gpio, direction);
if (gpioInfoPtr->fd < 0) {
fprintf(stderr, "Error opening GPIO.\n");
MW_gpioExit();
}
#ifdef _DEBUG
MW_dumpGpioInfo("INIT");
#endif
}
// custom the robot behaviors
// init_robot_gpio
void init_robot_gpio(void)
{
gpioExport(OUT1);
gpioSetDirection(OUT1, outputPin);
gpioExport(OUT2);
gpioSetDirection(OUT2, outputPin);
gpioExport(OUT3);
gpioSetDirection(OUT3, outputPin);
gpioExport(OUT4);
gpioSetDirection(OUT4, outputPin);
gpioExport(ENGINE_LEFT);
gpioSetDirection(ENGINE_LEFT, outputPin);
gpioExport(ENGINE_RIGHT);
gpioSetDirection(ENGINE_RIGHT, outputPin);
}
int hpdspuaStart (void) {
uint32_t coreId;
QMSS_CFG_T qmss_cfg;
CPPI_CFG_T cppi_cfg;
/* determine the core number. */
coreId = CSL_chipReadReg (CSL_CHIP_DNUM);
led_no=coreId;
platform_write("num of cores %d starts twinkling its LED\n", number_of_cores);
platform_write("core = %d starts twinkling its LED\n", coreId);
//platform_uart_init();
//platform_uart_set_baudrate(115200);
// write_uart("AAAAAAAA");
gpioInit();
gpioSetDirection(GPIO_10 ,GPIO_IN); //DOUTA pin
gpioSetDirection(GPIO_3 ,GPIO_OUT); //CNVST pin
gpioSetDirection(GPIO_13 ,GPIO_OUT); //CS pin
gpioSetDirection(GPIO_7 ,GPIO_OUT); //SCLK
//ADDR = 0, VA1 and VB1 are sampled; ADDR =1, VA2 and VB2 are sampled
//Right now VA1 and VB1 are being sampled
gpioSetOutput(GPIO_7); //By default clock high
gpioSetOutput(GPIO_3); // by default conversion pin high
gpioSetOutput(GPIO_13); // BY Default CS pin high
gpioSetFallingEdgeInterrupt(GPIO_10);
gpioSetRisingEdgeInterrupt(GPIO_10);
gpioEnableGlobalInterrupt();
//Wait for 100us before starting first conversion
platform_delay(100);
int rc=0;
while(1) {
if(coreId==0)
{
if (platform_get_coreid() == 0)
{
qmss_cfg.master_core = 1;
}
else
{
qmss_cfg.master_core = 0;
}
qmss_cfg.max_num_desc = MAX_NUM_DESC;
qmss_cfg.desc_size = MAX_DESC_SIZE;
qmss_cfg.mem_region = Qmss_MemRegion_MEMORY_REGION0;
if (res_mgr_init_qmss (&qmss_cfg) != 0)
{
platform_write ("Failed to initialize the QMSS subsystem \n");
goto main_exit;
}
else
{
platform_write ("QMSS successfully initialized \n");
}
if (platform_get_coreid() == 0)
{
cppi_cfg.master_core = 1;
}
else
{
cppi_cfg.master_core = 0;
}
cppi_cfg.dma_num = Cppi_CpDma_PASS_CPDMA;
cppi_cfg.num_tx_queues = NUM_PA_TX_QUEUES;
cppi_cfg.num_rx_channels = NUM_PA_RX_CHANNELS;
if (res_mgr_init_cppi (&cppi_cfg) != 0)
{
platform_write ("Failed to initialize CPPI subsystem \n");
goto main_exit;
}
else
{
platform_write ("CPPI successfully initialized \n");
}
if (res_mgr_init_pass()!= 0) {
platform_write ("Failed to initialize the Packet Accelerator \n");
goto main_exit;
}
else
{
platform_write ("PA successfully initialized \n");
}
rc = NC_SystemOpen( NC_PRIORITY_HIGH, NC_OPMODE_INTERRUPT );
if( rc ) {
platform_write("NC_SystemOpen Failed (%d). Will die in an infinite loop so you need to reset...\n",rc);
for(;;);
}
platform_write("HUA version %s\n", BLM_VERSION);
hCfg = CfgNew();
if( !hCfg )
{
platform_write("Unable to create a configuration for the IP stack.\n");
goto main_exit;
}
strcpy (HostName, "tidemo-");
i = strlen(HostName);
j = strlen(gPlatformInfo.serial_nbr);
if (j > 0) {
if (j > 6) {
memcpy (&HostName[i], &gPlatformInfo.serial_nbr[j-6], 6);
HostName[i+7] = '\0';
}
else {
memcpy (&HostName[i], gPlatformInfo.serial_nbr, j);
HostName[i+j+1] = '\0';
}
}
if( strlen( DomainName ) >= CFG_DOMAIN_MAX ||
strlen( HostName ) >= CFG_HOSTNAME_MAX )
{
platform_write("Domain or Host Name too long\n");
goto main_exit;
}
platform_write("Setting hostname to %s \n", HostName);
platform_write("MAC Address: %02X-%02X-%02X-%02X-%02X-%02X \n",
gPlatformInfo.emac.efuse_mac_address[0], gPlatformInfo.emac.efuse_mac_address[1],
gPlatformInfo.emac.efuse_mac_address[2], gPlatformInfo.emac.efuse_mac_address[3],
gPlatformInfo.emac.efuse_mac_address[4], gPlatformInfo.emac.efuse_mac_address[5]);
CfgAddEntry( hCfg, CFGTAG_SYSINFO, CFGITEM_DHCP_HOSTNAME, 0,
strlen(HostName), (uint8_t *)HostName, 0 );
if (!platform_get_switch_state(1)) {
CI_IPNET NA;
CI_ROUTE RT;
IPN IPTmp;
bzero( &NA, sizeof(NA) );
NA.IPAddr = inet_addr(EVMStaticIP);
NA.IPMask = inet_addr(LocalIPMask);
strcpy( NA.Domain, DomainName );
CfgAddEntry( hCfg, CFGTAG_IPNET, 1, 1, sizeof(CI_IPNET), (uint8_t *)&NA, 0 );
bzero( &RT, sizeof(RT) );
RT.IPDestAddr = inet_addr(PCStaticIP);
RT.IPDestMask = inet_addr(LocalIPMask);
RT.IPGateAddr = inet_addr(GatewayIP);
CfgAddEntry( hCfg, CFGTAG_ROUTE, 0, 1, sizeof(CI_ROUTE), (uint8_t *)&RT, 0 );
platform_write("EVM in StaticIP mode at %s\n",EVMStaticIP);
platform_write("Set IP address of PC to %s\n", PCStaticIP);
}
rc = DBG_WARN;
CfgAddEntry( hCfg, CFGTAG_OS, CFGITEM_OS_DBGPRINTLEVEL,
CFG_ADDMODE_UNIQUE, sizeof(uint), (uint8_t *)&rc, 0 );
rc = 64000;
CfgAddEntry( hCfg, CFGTAG_IP, CFGITEM_IP_SOCKTCPTXBUF,
CFG_ADDMODE_UNIQUE, sizeof(uint), (uint8_t *)&rc, 0 );
rc = 64000;
CfgAddEntry( hCfg, CFGTAG_IP, CFGITEM_IP_SOCKTCPRXBUF,
CFG_ADDMODE_UNIQUE, sizeof(uint), (uint8_t *)&rc, 0 );
rc = 64000;
CfgAddEntry( hCfg, CFGTAG_IP, CFGITEM_IP_SOCKTCPRXLIMIT,
CFG_ADDMODE_UNIQUE, sizeof(uint), (uint8_t *)&rc, 0 );
rc = 8192;
CfgAddEntry( hCfg, CFGTAG_IP, CFGITEM_IP_SOCKUDPRXLIMIT,
CFG_ADDMODE_UNIQUE, sizeof(uint), (uint8_t *)&rc, 0 );
do
{
rc = NC_NetStart( hCfg, NetworkOpen, NetworkClose, NetworkIPAddr );
} while( rc > 0 );
platform_write("Done with this utility. Shutting things down\n");
CfgFree( hCfg );
main_exit:
platform_write("Exiting the system\n");
//NC_SystemClose();
TaskExit();
return(0);
}
else
{
while(1)
{
platform_write("done processing .exiting core %d \n", coreId);
platform_delay(300000);
break;
}
platform_delay(300000);
break;
}
}
platform_write("done processing .exiting core %d", coreId);
platform_delay(3000000);
return 0;
}
static int
ili9341_init(ILI9341PyObject *self, PyObject *args, PyObject *kwds) {
int i;
int bus, chip_select, pin_dc, pin_reset;
char path[SPIDEV_MAXPATH];
static char *kwlist[] = {"bus", "chip_select", "dc", "reset", NULL};
if (!PyArg_ParseTupleAndKeywords(args, kwds, "iiii", kwlist, &bus, &chip_select, &pin_dc, &pin_reset))
return -1;
if (snprintf(path, SPIDEV_MAXPATH, "/dev/spidev%d.%d", bus, chip_select) >= SPIDEV_MAXPATH) {
return -1;
}
if ((self->fd = open(path, O_RDWR)) < 0) {
return -1;
}
// setup CS and RST pins
self->pin_dc = pin_dc;
self->pin_reset = pin_reset;
gpioExport(self->pin_dc);
gpioSetDirection(self->pin_dc, OUTPUT);
self->fd_dc = gpioOpenSet(self->pin_dc);
gpioExport(self->pin_reset);
gpioSetDirection(self->pin_reset, OUTPUT);
self->fd_reset = gpioOpenSet(self->pin_reset);
self->width = ILI9341_TFTWIDTH;
self->height = ILI9341_TFTHEIGHT;
self->color = 0xffff;
self->bg_color = 0;
self->cursor_x = 0;
self->cursor_y = 0;
self->font = System5x7;
self->char_spacing = 1;
TFT_DC_HIGH;
TFT_RST_LOW;
for(i=0; i<0x7FFFFF; i++);
TFT_RST_HIGH;
TFT_sendCMD(self, 0xEF);
TFT_sendDATA(self, 0x03);
TFT_sendDATA(self, 0x80);
TFT_sendDATA(self, 0x02);
TFT_sendCMD(self, 0xCB);
TFT_sendDATA(self, 0x39);
TFT_sendDATA(self, 0x2C);
TFT_sendDATA(self, 0x00);
TFT_sendDATA(self, 0x34);
TFT_sendDATA(self, 0x02);
TFT_sendCMD(self, 0xCF);
TFT_sendDATA(self, 0x00);
TFT_sendDATA(self, 0xC1);
TFT_sendDATA(self, 0x30);
TFT_sendCMD(self, 0xE8);
TFT_sendDATA(self, 0x85);
TFT_sendDATA(self, 0x00);
TFT_sendDATA(self, 0x78);
TFT_sendCMD(self, 0xEA);
TFT_sendDATA(self, 0x00);
TFT_sendDATA(self, 0x00);
TFT_sendCMD(self, 0xED);
TFT_sendDATA(self, 0x64);
TFT_sendDATA(self, 0x03);
TFT_sendDATA(self, 0x12);
TFT_sendDATA(self, 0x81);
TFT_sendCMD(self, 0xF7);
TFT_sendDATA(self, 0x20);
TFT_sendCMD(self, ILI9341_PWCTR1); //Power control
TFT_sendDATA(self, 0x23); //VRH[5:0]
TFT_sendCMD(self, ILI9341_PWCTR2); //Power control
TFT_sendDATA(self, 0x10); //SAP[2:0];BT[3:0]
TFT_sendCMD(self, ILI9341_VMCTR1); //VCM control
TFT_sendDATA(self, 0x3e); //Contrast
TFT_sendDATA(self, 0x28);
TFT_sendCMD(self, ILI9341_VMCTR2); //VCM control2
TFT_sendDATA(self, 0x86); //--
TFT_sendCMD(self, ILI9341_MADCTL); // Memory Access Control
TFT_sendDATA(self, MADCTL_MX | MADCTL_BGR);
TFT_sendCMD(self, ILI9341_PIXFMT);
TFT_sendDATA(self, 0x55);
TFT_sendCMD(self, ILI9341_FRMCTR1);
TFT_sendDATA(self, 0x00);
TFT_sendDATA(self, 0x18);
TFT_sendCMD(self, ILI9341_DFUNCTR); // Display Function Control
TFT_sendDATA(self, 0x08);
TFT_sendDATA(self, 0x82);
TFT_sendDATA(self, 0x27);
TFT_sendCMD(self, 0xF2); // 3Gamma Function Disable
TFT_sendDATA(self, 0x00);
TFT_sendCMD(self, ILI9341_GAMMASET); //Gamma curve selected
TFT_sendDATA(self, 0x01);
TFT_sendCMD(self, ILI9341_GMCTRP1); //Set Gamma
TFT_sendDATA(self, 0x0F);
TFT_sendDATA(self, 0x31);
TFT_sendDATA(self, 0x2B);
TFT_sendDATA(self, 0x0C);
TFT_sendDATA(self, 0x0E);
TFT_sendDATA(self, 0x08);
TFT_sendDATA(self, 0x4E);
TFT_sendDATA(self, 0xF1);
TFT_sendDATA(self, 0x37);
TFT_sendDATA(self, 0x07);
TFT_sendDATA(self, 0x10);
TFT_sendDATA(self, 0x03);
TFT_sendDATA(self, 0x0E);
TFT_sendDATA(self, 0x09);
TFT_sendDATA(self, 0x00);
TFT_sendCMD(self, ILI9341_GMCTRN1); //Set Gamma
TFT_sendDATA(self, 0x00);
TFT_sendDATA(self, 0x0E);
TFT_sendDATA(self, 0x14);
TFT_sendDATA(self, 0x03);
TFT_sendDATA(self, 0x11);
TFT_sendDATA(self, 0x07);
TFT_sendDATA(self, 0x31);
TFT_sendDATA(self, 0xC1);
TFT_sendDATA(self, 0x48);
TFT_sendDATA(self, 0x08);
TFT_sendDATA(self, 0x0F);
TFT_sendDATA(self, 0x0C);
TFT_sendDATA(self, 0x31);
TFT_sendDATA(self, 0x36);
TFT_sendDATA(self, 0x0F);
TFT_sendCMD(self, ILI9341_SLPOUT); //Exit Sleep
for(i=0; i<0x7FFFFF; i++);
TFT_sendCMD(self, ILI9341_DISPON); //Display on
TFT_sendCMD(self, 0x2c);
return 0;
}
