int Init_ScuTimer(void)
{
int Status = XST_SUCCESS;
XScuTimer_Config *ConfigPtr;
int TimerLoadValue = 0;
ConfigPtr = XScuTimer_LookupConfig(TIMER_DEVICE_ID);
Status = XScuTimer_CfgInitialize(&TimerInstance, ConfigPtr,
ConfigPtr->BaseAddr);
if (Status != XST_SUCCESS) {
xil_printf("In %s: Scutimer Cfg initialization failed...\r\n", __func__);
return XST_FAILURE;
}
Status = XScuTimer_SelfTest(&TimerInstance);
if (Status != XST_SUCCESS) {
xil_printf("In %s: Scutimer Self test failed...\r\n", __func__);
return XST_FAILURE;
}
XScuTimer_EnableAutoReload(&TimerInstance);
/*
* Set for 250 milli seconds timeout.
*/
TimerLoadValue = XPAR_CPU_CORTEXA9_0_CPU_CLK_FREQ_HZ / 8;
XScuTimer_LoadTimer(&TimerInstance, TimerLoadValue);
return XST_SUCCESS;
}
/*
* The application must provide a function that configures a peripheral to
* create the FreeRTOS tick interrupt, then define configSETUP_TICK_INTERRUPT()
* in FreeRTOSConfig.h to call the function. This file contains a function
* that is suitable for use on the Zynq SoC.
*/
void vConfigureTickInterrupt( void )
{
static XScuGic xInterruptController; /* Interrupt controller instance */
BaseType_t xStatus;
extern void FreeRTOS_Tick_Handler( void );
XScuTimer_Config *pxTimerConfig;
XScuGic_Config *pxGICConfig;
const uint8_t ucRisingEdge = 3;
/* This function is called with the IRQ interrupt disabled, and the IRQ
interrupt should be left disabled. It is enabled automatically when the
scheduler is started. */
/* Ensure XScuGic_CfgInitialize() has been called. In this demo it has
already been called from prvSetupHardware() in main(). */
pxGICConfig = XScuGic_LookupConfig( XPAR_SCUGIC_SINGLE_DEVICE_ID );
xStatus = XScuGic_CfgInitialize( &xInterruptController, pxGICConfig, pxGICConfig->CpuBaseAddress );
configASSERT( xStatus == XST_SUCCESS );
( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */
/* The priority must be the lowest possible. */
XScuGic_SetPriorityTriggerType( &xInterruptController, XPAR_SCUTIMER_INTR, portLOWEST_USABLE_INTERRUPT_PRIORITY << portPRIORITY_SHIFT, ucRisingEdge );
/* Install the FreeRTOS tick handler. */
xStatus = XScuGic_Connect( &xInterruptController, XPAR_SCUTIMER_INTR, (Xil_ExceptionHandler) FreeRTOS_Tick_Handler, ( void * ) &xTimer );
configASSERT( xStatus == XST_SUCCESS );
( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */
/* Initialise the timer. */
pxTimerConfig = XScuTimer_LookupConfig( XPAR_SCUTIMER_DEVICE_ID );
xStatus = XScuTimer_CfgInitialize( &xTimer, pxTimerConfig, pxTimerConfig->BaseAddr );
configASSERT( xStatus == XST_SUCCESS );
( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */
/* Enable Auto reload mode. */
XScuTimer_EnableAutoReload( &xTimer );
/* Ensure there is no prescale. */
XScuTimer_SetPrescaler( &xTimer, 0 );
/* Load the timer counter register. */
XScuTimer_LoadTimer( &xTimer, XSCUTIMER_CLOCK_HZ / configTICK_RATE_HZ );
/* Start the timer counter and then wait for it to timeout a number of
times. */
XScuTimer_Start( &xTimer );
/* Enable the interrupt for the xTimer in the interrupt controller. */
XScuGic_Enable( &xInterruptController, XPAR_SCUTIMER_INTR );
/* Enable the interrupt in the xTimer itself. */
vClearTickInterrupt();
XScuTimer_EnableInterrupt( &xTimer );
}
int main(void) {
XGpio dip, push;
XScuTimer Timer; /* Cortex A9 SCU Private Timer Instance */
XScuTimer_Config *ConfigPtr;
int value, skip, psb_check, dip_check, status, timerCounter, time1, time2;
VectorArray AInst;
VectorArray BTinst;
VectorArray PInst;
xil_printf("-- Start of the Program --\r\n");
xil_printf("Enter choice: 1 (SW->Leds), 2 (Timer->Leds), 3 (Matrix), 4 (Exit) \r\n");
XGpio_Initialize(&dip, XPAR_SW_8BIT_DEVICE_ID);
XGpio_SetDataDirection(&dip, 1, 0xffffffff);
XGpio_Initialize(&push, XPAR_BTNS_5BIT_DEVICE_ID);
XGpio_SetDataDirection(&push, 1, 0xffffffff);
ConfigPtr = XScuTimer_LookupConfig (XPAR_PS7_SCUTIMER_0_DEVICE_ID);
status = XScuTimer_CfgInitialize (&Timer, ConfigPtr, ConfigPtr->BaseAddr);
if(status != XST_SUCCESS){
xil_printf("Timer init() failed\r\n");
return XST_FAILURE;
}
// Load timer with delay
XScuTimer_LoadTimer(&Timer, ONE_SECOND);
// Set AutoLoad mode
XScuTimer_EnableAutoReload(&Timer);
while (1) {
xil_printf("CMD:> ");
// Read an input value from the console.
value = inbyte();
skip = inbyte(); //CR
skip = inbyte(); //LF
switch (value) {
case '1':
while(!XGpio_DiscreteRead(&push, 1))
{
dip_check = XGpio_DiscreteRead(&dip, 1);
LED_IP_mWriteReg(XPAR_LED_IP_S_AXI_BASEADDR, 0, dip_check);
for (skip = 0; skip < 9999999; skip++);
}
break;
case '2':
timerCounter = 0;
XScuTimer_Start(&Timer);
while(!XGpio_DiscreteRead(&push, 1))
{
if(XScuTimer_IsExpired(&Timer))
{
XScuTimer_ClearInterruptStatus(&Timer);
timerCounter = (timerCounter + 1) % 256;
LED_IP_mWriteReg(XPAR_LED_IP_S_AXI_BASEADDR, 0, timerCounter);
}
}
break;
case '3':
setInputMatrices(AInst, BTinst);
displayMatrix(AInst);
displayMatrix(BTinst);
XScuTimer_Start(&Timer);
// Software matrix
time1 = XScuTimer_GetCounterValue(&Timer);
multiMatrixSoft(AInst, BTinst, PInst);
time2 = XScuTimer_GetCounterValue(&Timer);
xil_printf("SW time: %d\n\n", time1-time2);
displayMatrix(PInst);
// Hardware matrix
time1 = XScuTimer_GetCounterValue(&Timer);
multiMatrixHard(AInst, BTinst, PInst);
time2 = XScuTimer_GetCounterValue(&Timer);
XScuTimer_Stop(&Timer);
xil_printf("HW time: %d\n\n", time1-time2);
displayMatrix(PInst);
break;
case '4':
// Exit
return XST_SUCCESS;
break;
default :
break;
}
}
}
int main (void)
{
XGpio dip, push;
int psb_check, dip_check, dip_check_prev, count, Status;
// PS Timer related definitions
XScuTimer_Config *ConfigPtr;
XScuTimer *TimerInstancePtr = &Timer;
xil_printf("-- Start of the Program --\r\n");
XGpio_Initialize(&dip, XPAR_SW_4BIT_DEVICE_ID);
XGpio_SetDataDirection(&dip, 1, 0xffffffff);
XGpio_Initialize(&push, XPAR_BTNS_4BIT_DEVICE_ID);
XGpio_SetDataDirection(&push, 1, 0xffffffff);
count = 0;
// Initialize the timer
ConfigPtr = XScuTimer_LookupConfig(XPAR_PS7_SCUTIMER_0_DEVICE_ID);
Status = XScuTimer_CfgInitialize(TimerInstancePtr, ConfigPtr, ConfigPtr->BaseAddr);
if(Status != XST_SUCCESS){
return XST_FAILURE;
}
// Read dip switch values
dip_check_prev = XGpio_DiscreteRead(&dip, 1);
// Load timer with delay in multiple of ONE_SECOND
XScuTimer_LoadTimer(TimerInstancePtr, ONE_SECOND*dip_check_prev);
// Set AutoLoad mode
XScuTimer_EnableAutoReload(TimerInstancePtr);
// Start the timer
XScuTimer_Start(TimerInstancePtr);
while (1)
{
// Read push buttons and break the loop if Center button pressed
psb_check = XGpio_DiscreteRead(&push, 1);
if(psb_check & 0x1)
{
XScuTimer_Stop(TimerInstancePtr);
break;
}
dip_check = XGpio_DiscreteRead(&dip, 1);
if (dip_check != dip_check_prev) {
xil_printf("DIP Switch Status %x, %x\r\n", dip_check_prev, dip_check);
dip_check_prev = dip_check;
// load timer with the new switch settings
XScuTimer_LoadTimer(TimerInstancePtr, ONE_SECOND*dip_check_prev);
count = 0;
}
if(XScuTimer_IsExpired(TimerInstancePtr)) {
// clear status bit
XScuTimer_ClearInterruptStatus(TimerInstancePtr);
// output the count to LED and increment the count
LED_IP_mWriteReg(XPAR_LED_IP_S_AXI_BASEADDR, 0, count);
count++;
}
}
return 0;
}
/*
* Setup the A9 internal timer to generate the tick interrupts at the
* required frequency.
*/
static void prvSetupTimerInterrupt( void )
{
extern void vTickISR (void);
int Status;
XScuTimer_Config *ScuConfig;
prvSetupInterruptController();
Xil_ExceptionRegisterHandler(XIL_EXCEPTION_ID_IRQ_INT,
(Xil_ExceptionHandler)XScuGic_InterruptHandler,
&InterruptController);
/*
* Connect to the interrupt controller
*/
Status = XScuGic_Connect(&InterruptController, XPAR_SCUTIMER_INTR,
(Xil_ExceptionHandler)vTickISR, (void *)&Timer);
if (Status != XST_SUCCESS) {
return;
}
/* Timer Setup */
/*
* Initialize the A9Timer driver.
*/
ScuConfig = XScuTimer_LookupConfig(XPAR_SCUTIMER_DEVICE_ID);
Status = XScuTimer_CfgInitialize(&Timer, ScuConfig,
ScuConfig->BaseAddr);
if (Status != XST_SUCCESS) {
return;
}
/*
* Enable Auto reload mode.
*/
XScuTimer_EnableAutoReload(&Timer);
/*
* Load the timer counter register.
*/
XScuTimer_LoadTimer(&Timer, XSCUTIMER_CLOCK_HZ / configTICK_RATE_HZ);
/*
* Start the timer counter and then wait for it
* to timeout a number of times.
*/
XScuTimer_Start(&Timer);
/*
* Enable the interrupt for the Timer in the interrupt controller
*/
XScuGic_Enable(&InterruptController, XPAR_SCUTIMER_INTR);
/*
* Enable the timer interrupts for timer mode.
*/
XScuTimer_EnableInterrupt(&Timer);
/*
* Do NOT enable interrupts in the ARM processor here.
* This happens when the scheduler is started.
*/
}
int main()
{
init_platform();
XScuTimer Timer;
XGpio ce, axis_data, axis_sw, btn, rst, sw;
//setup of the timer
XScuTimer_Config *TimerConfigPtr;
XScuTimer *TimerInstancePtr = &Timer;
TimerConfigPtr = XScuTimer_LookupConfig(TIMER_DEVICE_ID);
int status, readFlag, switchVal, i = 0;
int16_t rawData = 0; //the raw binary from the ACL chip
float res = 0.003921568627; //resolution of each bit in the raw binary
double gData, angle, sumAngle = 0;
/* Initialize all the GPIOs used */
status = XGpio_Initialize(&btn, BTN_ID);
if (status != XST_SUCCESS) {
return XST_FAILURE;
}
status = XGpio_Initialize(&sw, SW_ID);
if (status != XST_SUCCESS) {
return XST_FAILURE;
}
status = XGpio_Initialize(&ce, CE_ID);
if (status != XST_SUCCESS) {
return XST_FAILURE;
}
status = XGpio_Initialize(&axis_data, AXIS_DATA_ID);
if (status != XST_SUCCESS) {
return XST_FAILURE;
}
status = XGpio_Initialize(&axis_sw, AXIS_SW_ID);
if (status != XST_SUCCESS) {
return XST_FAILURE;
}
status = XGpio_Initialize(&rst, RST_ID);
if (status != XST_SUCCESS) {
return XST_FAILURE;
}
/* Private Timer Initialization */
status = XScuTimer_CfgInitialize(&Timer, TimerConfigPtr, TimerConfigPtr->BaseAddr);
if (status != XST_SUCCESS) {
return XST_FAILURE;
}
XScuTimer_LoadTimer(TimerInstancePtr, TIMER_LOAD_VALUE); //loaded with 65
XScuTimer_EnableAutoReload(TimerInstancePtr);
XScuTimer_Start(TimerInstancePtr);
while(1){
/* Constantly read the switches */
switchVal = XGpio_DiscreteRead(&sw, 1);
/* Constantly looking for when the reset button (btn0) is pressed */
XGpio_DiscreteWrite(&rst, 1, XGpio_DiscreteRead(&btn, 1));
/* Tells the PmodACL HW model what switches are active */
XGpio_DiscreteWrite(&axis_sw, 1, switchVal);
/* Used to see if the axis data gpio has been read yet */
readFlag = 0;
if (XGpio_DiscreteRead(&ce, 1) == 0){
XScuTimer_LoadTimer(TimerInstancePtr, TIMER_LOAD_VALUE);
/* This keeps us in here until it's done sending/receiving */
while (XGpio_DiscreteRead(&ce, 1) == 0){
if (XScuTimer_IsExpired(TimerInstancePtr)){
rawData = XGpio_DiscreteRead(&axis_data, 1);
readFlag = 1; //you've read!
XScuTimer_ClearInterruptStatus(TimerInstancePtr);
}
}
}
if (readFlag == 1){
/* This state is used to see if the number received is negative or not (rawData > 512 is negative) */
if (rawData < 512){
gData = rawData * res; //res is the resolution of each bit received
}else{
gData = (512 - rawData) * res; //subtracting rawData from 512 is used to get the actual negative number
} //not the binary unsigned
/* This switch is used to see what axis you're using and what to display
* NOTE: The Z-axis is setup to do angle measurement! */
switch(switchVal){
case 0:
printf("x-axis:%fg\r\n", gData);
break;
case 1:
printf("y-axis:%fg\r\n", gData);
break;
case 2:
gData += .0991; //add the offset
gData = (gData>1)? 1 : gData; //if gData is greater than 1, gData = 1 (because you can't take the acos
angle = acos(gData); //of a number greater than 1)
angle *= (180 / 3.14159); //acos gives you the angle in radians, this converts it to degrees
sumAngle += angle; //used for finding the average
i++;
/* After 20 samples it prints the average value out */
if (i == 20){
printf("z-axis:%f degrees\r\n", (sumAngle / 20) );
i = 0;
sumAngle = 0;
}
break;
default:
printf("x-axis:%fg\r\n", gData); //chooses x-axis by default
break;
}
readFlag = 0;
}
}
cleanup_platform();
return 0;
}