int do_init(void) {
int status; // status from Xilinx Lib calls
// initialize the Nexys4IO and Pmod544IO hardware and drivers
// rotary encoder is set to increment from 0 by DUTY_CYCLE_CHANGE
status = NX4IO_initialize(NX4IO_BASEADDR);
if (status != XST_SUCCESS) {
return XST_FAILURE;
}
status = PMDIO_initialize(PMDIO_BASEADDR);
if (status != XST_SUCCESS) {
return XST_FAILURE;
}
// successful initialization. Set the rotary encoder
// to increment from 0 by DUTY_CYCLE_CHANGE counts per rotation
PMDIO_ROT_init(DUTY_CYCLE_CHANGE, true);
PMDIO_ROT_clear();
// initialize the GPIO instances
status = XGpio_Initialize(&GPIOInst0, GPIO_0_DEVICE_ID);
if (status != XST_SUCCESS) {
return XST_FAILURE;
}
status = XGpio_Initialize(&GPIOInst1, GPIO_1_DEVICE_ID);
if (status != XST_SUCCESS) {
return XST_FAILURE;
}
// GPIO_0 channel 1 is an 8-bit input port. bit[7:1] = reserved, bit[0] = PWM output (for duty cycle calculation)
// GPIO_0 channel 2 is an 8-bit output port. bit[7:1] = reserved, bit[0] = FIT clock
XGpio_SetDataDirection(&GPIOInst0, GPIO_0_INPUT_CHANNEL, 0xFF);
XGpio_SetDataDirection(&GPIOInst0, GPIO_0_OUTPUT_CHANNEL, 0xFE);
// GPIO_1 channel 1 is a 32-bit input port - used to pass hw_detect 'high' count to application
// GPIO_1 channel 2 is an 8-bit output port - used to pass hw_detect 'low' count to application
XGpio_SetDataDirection(&GPIOInst1, GPIO_1_HIGH_COUNT, 0xFFFFFFFF);
XGpio_SetDataDirection(&GPIOInst1, GPIO_1_LOW_COUNT, 0xFFFFFFFF);
// initialize the PWM timer/counter instance but do not start it
// do not enable PWM interrupts. Clock frequency is the AXI clock frequency
status = PWM_Initialize(&PWMTimerInst, PWM_TIMER_DEVICE_ID, false, AXI_CLOCK_FREQ_HZ);
if (status != XST_SUCCESS) {
return XST_FAILURE;
}
// initialize the interrupt controller
status = XIntc_Initialize(&IntrptCtlrInst, INTC_DEVICE_ID);
if (status != XST_SUCCESS) {
return XST_FAILURE;
}
// connect the fixed interval timer (FIT) handler to the interrupt
status = XIntc_Connect(&IntrptCtlrInst, FIT_INTERRUPT_ID, (XInterruptHandler)FIT_Handler, (void *)0);
if (status != XST_SUCCESS) {
return XST_FAILURE;
}
// start the interrupt controller such that interrupts are enabled for
// all devices that cause interrupts
status = XIntc_Start(&IntrptCtlrInst, XIN_REAL_MODE);
if (status != XST_SUCCESS) {
return XST_FAILURE;
}
// enable the FIT interrupt
XIntc_Enable(&IntrptCtlrInst, FIT_INTERRUPT_ID);
// set the duty cycles for RGB1. The channels will be enabled/disabled
// in the FIT interrupt handler. Red and Blue make purple
NX4IO_RGBLED_setDutyCycle(RGB1, 64, 0, 64);
NX4IO_RGBLED_setChnlEn(RGB1, false, false, false);
return XST_SUCCESS;
}
XStatus init_axi_devices(void) {
int status;
// INITIALIZE : Nexys4IO
status = NX4IO_initialize(XPAR_NEXYS4IO_0_S00_AXI_BASEADDR);
if (status != XST_SUCCESS) return XST_FAILURE;
NX4IO_setLEDs(0x0000FFFF);
// INITIALIZE : PMOD544IO
status = PMDIO_initialize(XPAR_PMOD544IOR2_0_S00_AXI_BASEADDR);
if (status != XST_SUCCESS) return XST_FAILURE;
// SET : Encoder val = 0, increment val = DUTY_CYCLE_CHANGE
NX4IO_setLEDs(0x0000FFFE);
PMDIO_ROT_init(DUTY_CYCLE_INCREMENTS, true);
PMDIO_ROT_clear();
NX4IO_setLEDs(0x0000FFFD);
// This is currently crashing the program =/
// No GPIO for now
// INITIALIZE : Degug signal GPIO (1X 4-bit)
/*status = XGpio_Initialize(&instGPIODebug, XPAR_AXI_GPIO_0_BASEADDR);*/
/*if (status != XST_SUCCESS) return XST_FAILURE;*/
/*NX4IO_setLEDs(0x0000FFFC);*/
/*// SET : Direction of output ports */
/*XGpio_SetDataDirection(&instGPIODebug, 0, 0xFFFFFFF0);*/
/*NX4IO_setLEDs(0x0000FFFB);*/
// INITIALIZE : PWM timer/counter
status = PWM_Initialize(&instPWMTimer, XPAR_AXI_TIMER_0_DEVICE_ID, false, XPAR_CPU_CORE_CLOCK_FREQ_HZ);
if (status != XST_SUCCESS) return XST_FAILURE;
NX4IO_setLEDs(0x0000FFFA);
// INITIALIZE : Interrupt controller
status = XIntc_Initialize(&instIntrCtrl, XPAR_MICROBLAZE_0_AXI_INTC_DEVICE_ID);
if (status != XST_SUCCESS) return XST_FAILURE;
NX4IO_setLEDs(0x0000FFF9);
// SET : GPIO handler to interrupt vector
status = XIntc_Connect(&instIntrCtrl, XPAR_MICROBLAZE_0_AXI_INTC_FIT_TIMER_0_INTERRUPT_INTR,
(XInterruptHandler)FIT_Handler,
(void *)0);
if (status != XST_SUCCESS) return XST_FAILURE;
NX4IO_setLEDs(0x0000FFF8);
// SET : Interrupt controller enabled for all devices
status = XIntc_Start(&instIntrCtrl, XIN_REAL_MODE);
if (status != XST_SUCCESS) return XST_FAILURE;
NX4IO_setLEDs(0x0000FFF7);
// SET : Interrupts enabled
XIntc_Enable(&instIntrCtrl, XPAR_MICROBLAZE_0_AXI_INTC_FIT_TIMER_0_INTERRUPT_INTR);
NX4IO_setLEDs(0x0000FFF6);
// SET : RGB LED duty cycles and disable output
NX4IO_RGBLED_setDutyCycle(RGB1, 64, 0, 64);
NX4IO_RGBLED_setChnlEn(RGB1, false, false, false);
NX4IO_setLEDs(0x0000FFF5);
return XST_SUCCESS;
}
