int main(int argc, char* argv[])
{
#ifdef SW
init_pipe_handler_with_log("pipelog.txt");
PTHREAD_DECL(vector_control_daemon); // declare the Daemon thread.
PTHREAD_CREATE(vector_control_daemon); // start the Daemon..
#endif
double *iq,
*iq_prev,
*id,
*id_prev,
*flq,
*flq_prev,
*fld,
*fld_prev,
*spd,
*spd_prev,
vd,
vq,
torque,
load_torque,
*time = 0;
double speed_ref
int i=0;
int no_of_cycles = 4000 ; // 100u/25n (Ideal time necessary for conputation for FPGA/Motor_iteration_step)
while(1)
{
for(i = 0; i< no_of_cycles; i++){
im_zep(&iq,&iq_prev,&id,&id_prev,&flq,&flq_prev,&fld,&fld_prev,&spd_prev,vd,vq,&torque,load_torque,&time)
}
write_float32("in_data",*id);
write_float32("in_data",*iq);
write_float32("in_data",speed_ref);
vd = read_float32("out_data");
vq = read_float32("out_data");
}
#ifdef SW
close_pipe_handler();
PTHREAD_CANCEL(vector_control_daemon);
#endif
return(0);
}
void streamProcessor()
{
while(1)
{
#ifndef SW
#ifdef PIPELINE
__loop_pipelining_on__(32,2,1);
#endif
#endif
float x = read_float32("x_pipe");
float y = read_float32("y_pipe");
uint8_t op_code = read_uint8("op_pipe");
float result = 0;
if(op_code == 0)
result = x*y;
else if(op_code == 1)
result = x+y;
else if(op_code == 2)
result = (x*x) - (y*y);
else if(op_code == 3)
result = (x + y) * (x + y);
else
result = 0;
write_float32("z_pipe",result);
}
}
void correlator()
{
uint32_t i,j,k;
float bc;
uint32_t bi;
while(1)
{
float best_corr;
uint32_t best_index;
get_input();
write_uint8("start_slave_0",1);
#ifdef USE2
write_uint8("start_slave_1",1);
float bc0 = read_float32("best_correlation_0_pipe");
uint32_t bi0 = read_uint32("best_index_0_pipe");
float bc1 = read_float32("best_correlation_1_pipe");
uint32_t bi1 = read_uint32("best_index_1_pipe");
uint32_t cr = (bc0 < bc1);
bc = (cr ? bc1 : bc0);
bi = (cr ? bi1 : bi0);
#else
bc = read_float32("best_correlation_0_pipe");
bi = read_uint32("best_index_0_pipe");
#endif
write_float32("best_correlation_pipe", bc);
write_uint32("best_index_pipe", bi);
}
}
int main(int argc, char* argv[])
{
float result;
signal(SIGINT, Exit);
signal(SIGTERM, Exit);
#ifdef SW
init_pipe_handler();
PTHREAD_DECL(dotProduct);
PTHREAD_CREATE(dotProduct);
#endif
uint8_t idx;
float expected_result = 0.0;
for(idx = 0; idx < ORDER; idx++)
{
float val = drand48();
expected_result += (val*val);
write_float32("in_data_pipe",val);
}
result = read_float32("out_data_pipe");
fprintf(stdout,"Result = %f, expected = %f.\n", result, expected_result);
#ifdef SW
close_pipe_handler();
PTHREAD_CANCEL(dotProduct);
return(0);
#endif
}
void write_float32_n(const char *id, float* buf, int buf_len)
{
int i;
for(i = 0; i < buf_len; i++)
{
write_float32((char*) id,buf[i]);
}
}
void slave_0()
{
while(1)
{
uint8_t s = read_uint8("start_slave_0");
float bc;
int bi;
#ifdef USE2
__correlatorBase(ref_vector_0, check_vectors_0, bc, bi, NUM_VECS_BY_2);
write_float32("best_correlation_0_pipe",bc);
write_uint32("best_index_0_pipe",bi);
#else
__correlatorBase(ref_vector, check_vectors, bc, bi, NUM_VECS);
write_float32("best_correlation_0_pipe",bc);
write_uint32("best_index_0_pipe",bi);
#endif
}
}
void write_matrices()
{
uint32_t i,j;
for(i = 0; i < ORDER; i++)
{
for(j = 0; j < ORDER; j++)
{
write_float32("in_data_pipe",a_matrix[i][j]);
}
}
fprintf(stderr,"Sent a.\n");
for(i = 0; i < ORDER; i++)
{
for(j = 0; j < ORDER; j++)
{
write_float32("in_data_pipe",b_matrix[i][j]);
}
}
fprintf(stderr,"Sent b.\n");
}
void slave_1()
{
while(1)
{
uint8_t s = read_uint8("start_slave_1");
float bc;
int bi;
__correlatorBase(ref_vector_1, check_vectors_1, bc, bi, NUM_VECS_BY_2);
write_float32("best_correlation_1_pipe",bc);
write_uint32("best_index_1_pipe",bi);
}
}
void vectorSum()
{
while(1)
// unpipelined loop!
{
// read from a_pipe
float a = read_float32("a_pipe");
// add 1.0
float ap1 = a + 1.0;
// multiply by a
float result = a*ap1;
// send result..
write_float32("result_pipe",result);
}
}
int start(void)
#endif
{
int i;
uint32_t apl;
float ong;
uint64_t apl64;
uint16_t apl16;
uint8_t apl8;
void* ptr;
double ong64;
for (i = 0; i < 10; ++i) {
apl64 = read_uint64("apples64");
#ifdef RUN
fprintf(stderr, "\n(%d.a) got a 64 bit apple: %llu..", i, apl64);
#endif
ong64 = (double)apl64;
write_float64("oranges64", ong64);
#ifdef RUN
fprintf(stderr, "\nsent a (double) orange: %le.", ong64);
#endif
apl = read_uint32("apples32");
#ifdef RUN
fprintf(stderr, "\n(%d.b) got a 32-bit apple: %d.", i, apl);
#endif
ong = (float)apl;
write_float32("oranges32", ong);
#ifdef RUN
fprintf(stderr, "\nsent a (float) orange: %f.", ong);
#endif
apl16 = read_uint16("apples16");
#ifdef RUN
fprintf(stderr, "\n(%d.c) got a 16-bit apple: %d.", i, apl16);
#endif
apl8 = (uint8_t)apl;
write_uint8("oranges8", apl8);
#ifdef RUN
fprintf(stderr, "\nsent an 8-bit orange: %d.", apl8);
#endif
ptr = read_pointer("apples32");
#ifdef RUN
fprintf(stderr, "\n(%d.d) got a pointer apple: %d.", i, (unsigned int) ptr);
#endif
write_pointer("oranges32", ptr);
#ifdef RUN
fprintf(stderr, "\nsent a pointer orange: %d.", (unsigned int) ptr);
#endif
}
#ifdef RUN
fprintf(stderr, "\n");
#endif
return 0;
}
