/**
* Unreserve the interrupt from FPGA and disable timer IRQ IO.
*
* @param[in] irqChannel A structure containing the registers and settings
* for timer IRQ IO to modify.
* @param[in] irqContext IRQ context under which you unreserve the IRQ.
* @return the configuration status.
*/
int32_t Irq_UnregisterTimerIrq(MyRio_IrqTimer* irqChannel,
NiFpga_IrqContext irqContext)
{
int32_t status;
/*
* Check if the specified IRQ resource is registered.
*/
status = Irq_CheckReserved(irqChannel->timerChannel, TIMERIRQNO);
if (status == NiMyrio_Status_Success)
{
/*
* Did not find the resource in the list.
*/
printf("You didn't register an interrupt with this IRQ number.\n");
return NiMyrio_Status_Success;
}
/*
* Write the value to the IRQTIMERSETTIME register.
*/
status = NiFpga_WriteU32(myrio_session, irqChannel->timerWrite, 0);
status = NiFpga_WriteBool(myrio_session, irqChannel->timerSet, NiFpga_True);
/*
* Check if there was an error writing to the IRQTIMERSETTIME register.
*
* If there was an error then print an error message to stdout and return configuration status.
*/
MyRio_ReturnStatusIfNotSuccess(status,
"Could not write to IRQTIMERSETTIME register!")
/*
* Delete the reserved resource in the list.
*/
status = Irq_RemoveReserved(TIMERIRQNO);
/*
* Check if there was an error releasing the resource from list.
*
* If there was an error then print an error message to stdout.
*/
MyRio_ReturnStatusIfNotSuccess(status,
"Could not release the irq resource!")
/*
* Unreserve an IRQ context obtained from Irq_ReserveIrqContext.
* The returned NiFpga_Status value is stored for error checking.
*/
status = NiFpga_UnreserveIrqContext(myrio_session, irqContext);
/*
* Check if there was an error when unreserve an IRQ.
*
* If there was an error then print an error message to stdout and return configuration status.
*/
MyRio_ReturnStatusIfNotSuccess(status,
"A required NiFpga_IrqContext was not unreserved.")
return NiMyrio_Status_Success;
}
void FPGA_SetMotorStatus(int value)
{
if(value)
{
NiFpga_MergeStatus(&FPGA_Status,NiFpga_WriteBool(FPGA_Session,NiFpga_mainFPGA_ControlBool_enableMotors,NiFpga_True));
if (NiFpga_IsError(FPGA_Status))
{
LOG.ERR("Set Motor Status Failed.");
}
}
else
{
NiFpga_MergeStatus(&FPGA_Status,NiFpga_WriteBool(FPGA_Session,NiFpga_mainFPGA_ControlBool_enableMotors,NiFpga_False));
if (NiFpga_IsError(FPGA_Status))
{
LOG.ERR("Set Motor Status Failed.");
}
}
}
int main()
{
double desired_angle;
int32_t desired_tick;
int32_t Kd = .5 * ACCURACY;
int32_t Kp = 5 * ACCURACY;
int32_t Ki = .0001 * ACCURACY;
int32_t error=0xFFFF;
/* must be called before any other calls */
printf("Initializing...\n");
NiFpga_Status status = NiFpga_Initialize();
if (NiFpga_IsNotError(status))
{
NiFpga_Session session;
/* opens a session, downloads the bitstream, and runs the FPGA */
printf("Opening a session...\n");
NiFpga_MergeStatus(&status,
NiFpga_Open(NiFpga_Math_Pid_Bitfile, NiFpga_Math_Pid_Signature,
"rio://146.6.84.251/RIO0",
NiFpga_OpenAttribute_NoRun,&session));
if (NiFpga_IsNotError(status))
{
/* run the FPGA application */
printf("Running the FPGA...\n");
NiFpga_MergeStatus(&status, NiFpga_Run(session, 0));
/********************************************************************/
/* Code goes here */
NiFpga_MergeStatus(&status,
NiFpga_WriteBool(session,NiFpga_Encoder_Reset,0));
NiFpga_MergeStatus(&status,
NiFpga_WriteI32(session,NiFpga_Kd,Kd));
NiFpga_MergeStatus(&status,
NiFpga_WriteI32(session,NiFpga_Kp,Kp));
NiFpga_MergeStatus(&status,
NiFpga_WriteI32(session,NiFpga_Ki,Ki));
NiFpga_MergeStatus(&status,
NiFpga_WriteI32(session,NiFpga_Accuracy,ACCURACY));
printf("Enter Desired(in degrees): ");
scanf("%lf",&desired_angle);
desired_tick = degree_tick(desired_angle);
printf("Desired(in ticks) %d\n", desired_tick);
NiFpga_MergeStatus(&status,
NiFpga_WriteI32(session,NiFpga_Desired,desired_tick));
printf("Entering loop\n");
while(error != 0) {
NiFpga_MergeStatus(&status,
NiFpga_ReadI32(session,NiFpga_RealError,&error)); printf("Error:%d\n", error);
}
/********************************************************************/
/* Stopping */
printf("Press <Enter> to stop and quit...");
getchar();
/* stop the FPGA loops */
printf("Stopping the FPGA...\n");
/* close the session now that we're done */
printf("Closing the session...\n");
NiFpga_MergeStatus(&status, NiFpga_Close(session, 0));
}
/* must be called after all other calls */
printf("Finalizing...\n");
NiFpga_MergeStatus(&status, NiFpga_Finalize());
}
/* check if anything went wrong */
if (NiFpga_IsError(status))
{
printf("Error %d!\n", status);
printf("Press <Enter> to quit...\n");
getchar();
}
return status;
}
/**
* Reserve the interrupt from FPGA and configure Timer IRQ.
*
* @param[in] irqChannel A structure containing the registers and settings
for timer IRQ IO to modify.
* @param[in] irqContext IRQ context under which you reserve IRQ.
* @param[in] timeout The time, in microseconds, after which the IRQ occurs.
* @return the configuration status.
*/
int32_t Irq_RegisterTimerIrq(MyRio_IrqTimer* irqChannel,
NiFpga_IrqContext* irqContext,
uint32_t timeout)
{
int32_t status;
/*
* Reserve an IRQ context. IRQ contexts are single-threaded; only one thread
* can wait with a particular context at any given time. To minimize jitter
* when first waiting on IRQs, reserve as many contexts as the application requires.
* If a context is successfully reserved, you must unreserve it later.
* Otherwise a memory leak will occur.
*/
status = NiFpga_ReserveIrqContext(myrio_session, irqContext);
/*
* Check if there was an error when you reserved the IRQ.
* If there was an error, print an error message to stdout and return the configuration status.
*/
MyRio_ReturnStatusIfNotSuccess(status,
"A required NiFpga_IrqContext was not reserved.")
/*
* Check if the IRQ number or channel value already exists in the resource list,
* return the configuration status and print an error message.
*/
status = Irq_CheckReserved(irqChannel->timerChannel, TIMERIRQNO);
if (status == NiMyrio_Status_IrqNumberNotUsable || status == NiMyrio_Status_IrqChannelNotUsable)
{
printf("You have already registered the only timer interrupt.\n");
return status;
}
/*
* Write the value to the TIMERWRITE register.
*
* The returned NiFpga_Status value is stored for error checking.
*/
status = NiFpga_WriteU32(myrio_session, irqChannel->timerWrite, timeout);
/*
* Check if there was an error when you reserved the IRQ.
*
* If there was an error, print an error message to stdout and return the configuration status.s.
*/
MyRio_ReturnStatusIfNotSuccess(status,
"Could not write to TIMERWRITE register!")
/*
* Write the value to the TIMERSETTIME register.
*/
status = NiFpga_WriteBool(myrio_session, irqChannel->timerSet, NiFpga_True);
/*
* Check if there was an error when you reserved the IRQ.
*
* If there was an error, print an error message to stdout and return the configuration status.
*/
MyRio_ReturnStatusIfNotSuccess(status,
"Could not write to TIMERSETTIME register!")
/*
* Add the channel value and IRQ number to the list.
*/
Irq_AddReserved(irqChannel->timerChannel, TIMERIRQNO);
return NiMyrio_Status_Success;
}
bool nifpga::WriteBool(uint32_t control, NiFpga_Bool value) {
if (sessionOpen) return HandleStatus(NiFpga_WriteBool(sessionHandle, control, value));
return false;
}
