Disabled external gits

cs309-psoc/lab_1_0/sw/nios/application/app.c

@@ -0,0 +1,69 @@
+#include <stdlib.h>
+#include <io.h>
+#include <stdio.h>
+#include <inttypes.h>
+#include <stdbool.h>
+#include <unistd.h>
+
+#include "pantilt/pantilt.h"
+#include "system.h"
+
+#define SLEEP_DURATION_US (25000) //  25  ms
+#define PANTILT_STEP_US   (25)    //  25  us
+
+#define PANTILT_PWM_V_CENTER_DUTY_CYCLE_US ((PANTILT_PWM_V_MIN_DUTY_CYCLE_US + PANTILT_PWM_V_MAX_DUTY_CYCLE_US) / 2)
+#define PANTILT_PWM_H_CENTER_DUTY_CYCLE_US ((PANTILT_PWM_H_MIN_DUTY_CYCLE_US + PANTILT_PWM_H_MAX_DUTY_CYCLE_US) / 2)
+
+int main(void) {
+    // Hardware control structures
+    pantilt_dev pantilt = pantilt_inst((void *) PWM_0_BASE, (void *) PWM_1_BASE);
+
+    // Initialize hardware
+    pantilt_init(&pantilt);
+
+    // Center servos.
+    pantilt_configure_vertical(&pantilt, PANTILT_PWM_V_MIN_DUTY_CYCLE_US);
+    pantilt_configure_horizontal(&pantilt, PANTILT_PWM_H_MIN_DUTY_CYCLE_US);
+    pantilt_start_vertical(&pantilt);
+    pantilt_start_horizontal(&pantilt);
+
+    // Rotate servos in "square" motion
+    while (true) {
+        uint32_t v_duty_us = 0;
+        uint32_t h_duty_us = 0;
+
+        // bottom to top
+        v_duty_us = PANTILT_PWM_V_MIN_DUTY_CYCLE_US;
+        do {
+            pantilt_configure_vertical(&pantilt, v_duty_us);
+            v_duty_us += PANTILT_STEP_US;
+            usleep(SLEEP_DURATION_US);
+        } while (v_duty_us <= PANTILT_PWM_V_MAX_DUTY_CYCLE_US);
+
+        // left to right
+        h_duty_us = PANTILT_PWM_H_MIN_DUTY_CYCLE_US;
+        do {
+            pantilt_configure_horizontal(&pantilt, h_duty_us);
+            h_duty_us += PANTILT_STEP_US;
+            usleep(SLEEP_DURATION_US);
+        } while (h_duty_us <= PANTILT_PWM_H_MAX_DUTY_CYCLE_US);
+
+        // top to bottom
+        v_duty_us = PANTILT_PWM_V_MAX_DUTY_CYCLE_US;
+        do {
+            pantilt_configure_vertical(&pantilt, v_duty_us);
+            v_duty_us -= PANTILT_STEP_US;
+            usleep(SLEEP_DURATION_US);
+        } while (PANTILT_PWM_V_MIN_DUTY_CYCLE_US <= v_duty_us);
+
+        // left to right
+        h_duty_us = PANTILT_PWM_H_MAX_DUTY_CYCLE_US;
+        do {
+            pantilt_configure_horizontal(&pantilt, h_duty_us);
+            h_duty_us -= PANTILT_STEP_US;
+            usleep(SLEEP_DURATION_US);
+        } while (PANTILT_PWM_H_MIN_DUTY_CYCLE_US <= h_duty_us);
+    }
+
+    return EXIT_SUCCESS;
+}

cs309-psoc/lab_1_0/sw/nios/application/pantilt/pantilt.c

@@ -0,0 +1,109 @@
+#include "pantilt.h"
+
+/**
+ * pantilt_inst
+ *
+ * Instantiate a pantilt device structure.
+ *
+ * @param pwm_v_base Base address of the vertical PWM component.
+ * @param pwm_h_base Base address of the horizontal PWM component.
+ */
+pantilt_dev pantilt_inst(void *pwm_v_base, void *pwm_h_base) {
+    pantilt_dev dev;
+    dev.pwm_v = pwm_inst(pwm_v_base);
+    dev.pwm_h = pwm_inst(pwm_h_base);
+
+    return dev;
+}
+
+/**
+ * pantilt_init
+ *
+ * Initializes the pantilt device.
+ *
+ * @param dev pantilt device structure.
+ */
+void pantilt_init(pantilt_dev *dev) {
+    pwm_init(&(dev->pwm_v));
+    pwm_init(&(dev->pwm_h));
+}
+
+/**
+ * pantilt_configure_vertical
+ *
+ * Configure the vertical PWM component.
+ *
+ * @param dev pantilt device structure.
+ * @param duty_cycle pwm duty cycle in us.
+ */
+void pantilt_configure_vertical(pantilt_dev *dev, uint32_t duty_cycle) {
+    // Need to compensate for inverted servo rotation.
+    duty_cycle = PANTILT_PWM_V_MAX_DUTY_CYCLE_US - duty_cycle + PANTILT_PWM_V_MIN_DUTY_CYCLE_US;
+
+    pwm_configure(&(dev->pwm_v),
+                  duty_cycle,
+                  PANTILT_PWM_PERIOD_US,
+                  PANTILT_PWM_CLOCK_FREQ_HZ);
+}
+
+/**
+ * pantilt_configure_horizontal
+ *
+ * Configure the horizontal PWM component.
+ *
+ * @param dev pantilt device structure.
+ * @param duty_cycle pwm duty cycle in us.
+ */
+void pantilt_configure_horizontal(pantilt_dev *dev, uint32_t duty_cycle) {
+    // Need to compensate for inverted servo rotation.
+    duty_cycle = PANTILT_PWM_H_MAX_DUTY_CYCLE_US - duty_cycle + PANTILT_PWM_H_MIN_DUTY_CYCLE_US;
+
+    pwm_configure(&(dev->pwm_h),
+                  duty_cycle,
+                  PANTILT_PWM_PERIOD_US,
+                  PANTILT_PWM_CLOCK_FREQ_HZ);
+}
+
+/**
+ * pantilt_start_vertical
+ *
+ * Starts the vertical pwm controller.
+ *
+ * @param dev pantilt device structure.
+ */
+void pantilt_start_vertical(pantilt_dev *dev) {
+    pwm_start(&(dev->pwm_v));
+}
+
+/**
+ * pantilt_start_horizontal
+ *
+ * Starts the horizontal pwm controller.
+ *
+ * @param dev pantilt device structure.
+ */
+void pantilt_start_horizontal(pantilt_dev *dev) {
+    pwm_start(&(dev->pwm_h));
+}
+
+/**
+ * pantilt_stop_vertical
+ *
+ * Stops the vertical pwm controller.
+ *
+ * @param dev pantilt device structure.
+ */
+void pantilt_stop_vertical(pantilt_dev *dev) {
+    pwm_stop(&(dev->pwm_v));
+}
+
+/**
+ * pantilt_stop_horizontal
+ *
+ * Stops the horizontal pwm controller.
+ *
+ * @param dev pantilt device structure.
+ */
+void pantilt_stop_horizontal(pantilt_dev *dev) {
+    pwm_stop(&(dev->pwm_h));
+}

cs309-psoc/lab_1_0/sw/nios/application/pantilt/pantilt.h

@@ -0,0 +1,39 @@
+#ifndef __PANTILT_H__
+#define __PANTILT_H__
+
+#include "pwm/pwm.h"
+
+/* joysticks device structure */
+typedef struct pantilt_dev {
+    pwm_dev pwm_v; /* Vertical PWM device handle */
+    pwm_dev pwm_h; /* Horizontal PWM device handle */
+} pantilt_dev;
+
+/*******************************************************************************
+ *  Public API
+ ******************************************************************************/
+
+#define PANTILT_PWM_CLOCK_FREQ_HZ       (50000000) // 50.00 MHz
+
+#define PANTILT_PWM_PERIOD_US           (25000)    // 25.00 ms
+
+/* Vertical servo */
+#define PANTILT_PWM_V_MIN_DUTY_CYCLE_US (950)      //  0.95 ms
+#define PANTILT_PWM_V_MAX_DUTY_CYCLE_US (2150)     //  2.15 ms
+
+/* Horizontal servo */
+#define PANTILT_PWM_H_MIN_DUTY_CYCLE_US (1000)     //  1.00 ms
+#define PANTILT_PWM_H_MAX_DUTY_CYCLE_US (2000)     //  2.00 ms
+
+pantilt_dev pantilt_inst(void *pwm_v_base, void *pwm_h_base);
+
+void pantilt_init(pantilt_dev *dev);
+
+void pantilt_configure_vertical(pantilt_dev *dev, uint32_t duty_cycle);
+void pantilt_configure_horizontal(pantilt_dev *dev, uint32_t duty_cycle);
+void pantilt_start_vertical(pantilt_dev *dev);
+void pantilt_start_horizontal(pantilt_dev *dev);
+void pantilt_stop_vertical(pantilt_dev *dev);
+void pantilt_stop_horizontal(pantilt_dev *dev);
+
+#endif /* __PANTILT_H__ */

cs309-psoc/lab_1_0/sw/nios/application/pantilt/pwm/pwm.c

@@ -0,0 +1,71 @@
+#include <io.h>
+
+#include "pwm.h"
+#include "pwm_regs.h"
+
+#define MICROSEC_TO_CLK(time, freq) ((time)*((freq)/1000000))
+
+
+/**
+ * pwm_inst
+ *
+ * Instantiate a pwm device structure.
+ *
+ * @param base Base address of the component.
+ */
+pwm_dev pwm_inst(void *base) {
+    pwm_dev dev;
+
+    dev.base = base;
+
+    return dev;
+}
+
+/**
+ * pwm_init
+ *
+ * Initializes the pwm device. This function stops the controller.
+ *
+ * @param dev pwm device structure.
+ */
+void pwm_init(pwm_dev *dev) {
+    pwm_stop(dev);
+}
+
+/**
+ * pwm_configure
+ *
+ * Configure pwm component.
+ *
+ * @param dev pwm device structure.
+ * @param duty_cycle pwm duty cycle in us.
+ * @param period pwm period in us.
+ * @param module_frequency frequency at which the component is clocked.
+ */
+void pwm_configure(pwm_dev *dev, uint32_t duty_cycle, uint32_t period, uint32_t module_frequency) {
+
+	IOWR_32DIRECT(dev->base, PWM_PERIOD_OFST, MICROSEC_TO_CLK(period, module_frequency));
+	IOWR_32DIRECT(dev->base, PWM_DUTY_CYCLE_OFST, MICROSEC_TO_CLK(duty_cycle, module_frequency));
+}
+
+/**
+ * pwm_start
+ *
+ * Starts the pwm controller.
+ *
+ * @param dev pwm device structure.
+ */
+void pwm_start(pwm_dev *dev) {
+	IOWR_32DIRECT(dev->base, PWM_CTRL_OFST, PWM_CTRL_START_MASK);
+}
+
+/**
+ * pwm_stop
+ *
+ * Stops the pwm controller.
+ *
+ * @param dev pwm device structure.
+ */
+void pwm_stop(pwm_dev *dev) {
+	IOWR_32DIRECT(dev->base, PWM_CTRL_OFST, PWM_CTRL_STOP_MASK);
+}

cs309-psoc/lab_1_0/sw/nios/application/pantilt/pwm/pwm.h

@@ -0,0 +1,21 @@
+#ifndef __PWM_H__
+#define __PWM_H__
+
+#include <stdint.h>
+
+/* pwm device structure */
+typedef struct pwm_dev {
+    void *base; /* Base address of component */
+} pwm_dev;
+
+/*******************************************************************************
+ *  Public API
+ ******************************************************************************/
+pwm_dev pwm_inst(void *base);
+
+void pwm_init(pwm_dev *dev);
+void pwm_configure(pwm_dev *dev, uint32_t duty_cycle, uint32_t period, uint32_t module_frequency);
+void pwm_start(pwm_dev *dev);
+void pwm_stop(pwm_dev *dev);
+
+#endif /* __PWM_H__ */

cs309-psoc/lab_1_0/sw/nios/application/pantilt/pwm/pwm_regs.h

@@ -0,0 +1,11 @@
+#ifndef __PWM_REGS_H__
+#define __PWM_REGS_H__
+
+#define PWM_PERIOD_OFST     (0 * 4) /* RW */
+#define PWM_DUTY_CYCLE_OFST (1 * 4) /* RW */
+#define PWM_CTRL_OFST       (2 * 4) /* WO */
+
+#define PWM_CTRL_STOP_MASK  (0)
+#define PWM_CTRL_START_MASK (1)
+
+#endif /* __PWM_REGS_H__ */