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Disabled external gits

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This commit is contained in:
choelzl
2022-04-07 18:54:11 +02:00
parent 15e7120d6d
commit 0fb3e365d4
376 changed files with 50840 additions and 0 deletions
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69
cs309-psoc/lab_1_0/sw/nios/application/app.c Normal file
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#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;
}

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cs309-psoc/lab_1_0/sw/nios/application/pantilt/pantilt.c Normal file
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#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));
}

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cs309-psoc/lab_1_0/sw/nios/application/pantilt/pantilt.h Normal file
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#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__ */

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cs309-psoc/lab_1_0/sw/nios/application/pantilt/pwm/pwm.c Normal file
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#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);
}

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cs309-psoc/lab_1_0/sw/nios/application/pantilt/pwm/pwm.h Normal file
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#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__ */

11
cs309-psoc/lab_1_0/sw/nios/application/pantilt/pwm/pwm_regs.h Normal file
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#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__ */