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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_2/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 "joysticks/joysticks.h"
#include "system.h"
#define SLEEP_DURATION_US (100000) // 100 ms
// Servos
#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)
uint32_t interpolate(uint32_t input,
uint32_t input_lower_bound,
uint32_t input_upper_bound,
uint32_t output_lower_bound,
uint32_t output_upper_bound) {
return (input - input_lower_bound) * (output_upper_bound - output_lower_bound) / (input_upper_bound - input_lower_bound) + output_lower_bound;
}
int main(void) {
// Hardware control structures
pantilt_dev pantilt = pantilt_inst((void *) PWM_0_BASE, (void *) PWM_1_BASE);
joysticks_dev joysticks = joysticks_inst((void *) MCP3204_0_BASE);
// Initialize hardware
pantilt_init(&pantilt);
joysticks_init(&joysticks);
// Center servos.
pantilt_configure_vertical(&pantilt, PANTILT_PWM_V_CENTER_DUTY_CYCLE_US);
pantilt_configure_horizontal(&pantilt, PANTILT_PWM_H_CENTER_DUTY_CYCLE_US);
pantilt_start_vertical(&pantilt);
pantilt_start_horizontal(&pantilt);
// Control servos with joystick.
while (true) {
// Read LEFT joystick position
uint32_t left_joystick_v = joysticks_read_left_vertical(&joysticks);
uint32_t left_joystick_h = joysticks_read_left_horizontal(&joysticks);
// Interpolate LEFT joystick position between SERVO_x_MIN_DUTY_CYCLE_US
// and SERVO_x_MAX_DUTY_CYCLE_US
uint32_t pantilt_v_duty_us = interpolate(left_joystick_v,
JOYSTICKS_MIN_VALUE,
JOYSTICKS_MAX_VALUE,
PANTILT_PWM_V_MIN_DUTY_CYCLE_US,
PANTILT_PWM_V_MAX_DUTY_CYCLE_US);
uint32_t pantilt_h_duty_us = interpolate(left_joystick_h,
JOYSTICKS_MIN_VALUE,
JOYSTICKS_MAX_VALUE,
PANTILT_PWM_H_MIN_DUTY_CYCLE_US,
PANTILT_PWM_H_MAX_DUTY_CYCLE_US);
// Configure servos with interpolated joystick values
pantilt_configure_vertical(&pantilt, pantilt_v_duty_us);
pantilt_configure_horizontal(&pantilt, pantilt_h_duty_us);
// Sleep for a while to avoid excessive sensitivity
usleep(SLEEP_DURATION_US);
}
return EXIT_SUCCESS;
}

79
cs309-psoc/lab_1_2/sw/nios/application/joysticks/joysticks.c Normal file
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#include "joysticks.h"
#define JOYSTICK_RIGHT_VRY_MCP3204_CHANNEL (0)
#define JOYSTICK_RIGHT_VRX_MCP3204_CHANNEL (1)
#define JOYSTICK_LEFT_VRY_MCP3204_CHANNEL (2)
#define JOYSTICK_LEFT_VRX_MCP3204_CHANNEL (3)
/**
* joysticks_inst
*
* Instantiate a joysticks device structure.
*
* @param base Base address of the MCP3204 component connected to the joysticks.
*/
joysticks_dev joysticks_inst(void *mcp3204_base) {
joysticks_dev dev;
dev.mcp3204 = mcp3204_inst((void *) mcp3204_base);
return dev;
}
/**
* joysticks_init
*
* Initializes the joysticks device.
*
* @param dev joysticks device structure.
*/
void joysticks_init(joysticks_dev *dev) {
mcp3204_init(&(dev->mcp3204));
}
/**
* joysticks_read_left_vertical
*
* Returns the vertical position of the left joystick. Return value ranges
* between JOYSTICKS_MIN_VALUE and JOYSTICKS_MAX_VALUE.
*
* @param dev joysticks device structure.
*/
uint32_t joysticks_read_left_vertical(joysticks_dev *dev) {
return JOYSTICKS_MAX_VALUE - mcp3204_read(&dev->mcp3204,LV_CHANNEL);
}
/**
* joysticks_read_left_horizontal
*
* Returns the horizontal position of the left joystick. Return value ranges
* between JOYSTICKS_MIN_VALUE and JOYSTICKS_MAX_VALUE.
*
* @param dev joysticks device structure.
*/
uint32_t joysticks_read_left_horizontal(joysticks_dev *dev) {
return mcp3204_read(&dev->mcp3204,LH_CHANNEL);
}
/**
* joysticks_read_right_vertical
*
* Returns the vertical position of the right joystick. Return value ranges
* between JOYSTICKS_MIN_VALUE and JOYSTICKS_MAX_VALUE.
*
* @param dev joysticks device structure.
*/
uint32_t joysticks_read_right_vertical(joysticks_dev *dev) {
return JOYSTICKS_MAX_VALUE - mcp3204_read(&dev->mcp3204,RV_CHANNEL);
}
/**
* joysticks_read_right_horizontal
*
* Returns the horizontal position of the left joystick. Return value ranges
* between JOYSTICKS_MIN_VALUE and JOYSTICKS_MAX_VALUE.
*
* @param dev joysticks device structure.
*/
uint32_t joysticks_read_right_horizontal(joysticks_dev *dev) {
return mcp3204_read(&dev->mcp3204,RH_CHANNEL);
}

33
cs309-psoc/lab_1_2/sw/nios/application/joysticks/joysticks.h Normal file
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#ifndef __JOYSTICKS_H__
#define __JOYSTICKS_H__
#include "mcp3204/mcp3204.h"
/* joysticks device structure */
typedef struct joysticks_dev {
mcp3204_dev mcp3204; /* MCP3204 device handle */
} joysticks_dev;
/*******************************************************************************
* Public API
******************************************************************************/
#define JOYSTICKS_MIN_VALUE (MCP3204_MIN_VALUE)
#define JOYSTICKS_MAX_VALUE (MCP3204_MAX_VALUE)
#define LV_CHANNEL 0
#define LH_CHANNEL 1
#define RV_CHANNEL 2
#define RH_CHANNEL 3
#define CC_CHANNEL "this is a joke"
joysticks_dev joysticks_inst(void *mcp3204_base);
void joysticks_init(joysticks_dev *dev);
uint32_t joysticks_read_left_vertical(joysticks_dev *dev);
uint32_t joysticks_read_left_horizontal(joysticks_dev *dev);
uint32_t joysticks_read_right_vertical(joysticks_dev *dev);
uint32_t joysticks_read_right_horizontal(joysticks_dev *dev);
#endif /* __JOYSTICKS_H__ */

44
cs309-psoc/lab_1_2/sw/nios/application/joysticks/mcp3204/mcp3204.c Normal file
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#include <assert.h>
#include <io.h>
#include "mcp3204.h"
#include "mcp3204_regs.h"
#define MCP3204_NUM_CHANNELS (4)
/**
* mcp3204_inst
*
* Instantiate a mcp3204 device structure.
*
* @param base Base address of the component.
*/
mcp3204_dev mcp3204_inst(void *base) {
mcp3204_dev dev;
dev.base = base;
return dev;
}
/**
* mcp3204_init
*
* Initializes the mcp3204 device.
*
* @param dev mcp3204 device structure.
*/
void mcp3204_init(mcp3204_dev *dev) {
return;
}
/**
* mcp3204_read
*
* Reads the register corresponding to the supplied channel parameter.
*
* @param dev mcp3204 device structure.
* @param channel channel to be read
*/
uint32_t mcp3204_read(mcp3204_dev *dev, uint32_t channel) {
return channel < 4 ? IORD_32DIRECT(dev->base, channel * 4) : 0;
}

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cs309-psoc/lab_1_2/sw/nios/application/joysticks/mcp3204/mcp3204.h Normal file
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#ifndef __MCP3204_H__
#define __MCP3204_H__
#include <stdint.h>
/* mcp3204 device structure */
typedef struct mcp3204_dev {
void *base; /* Base address of component */
} mcp3204_dev;
/*******************************************************************************
* Public API
******************************************************************************/
#define MCP3204_MIN_VALUE (0)
#define MCP3204_MAX_VALUE (4095)
mcp3204_dev mcp3204_inst(void *base);
void mcp3204_init(mcp3204_dev *dev);
uint32_t mcp3204_read(mcp3204_dev *dev, uint32_t channel);
#endif /* __MCP3204_H__ */

9
cs309-psoc/lab_1_2/sw/nios/application/joysticks/mcp3204/mcp3204_regs.h Normal file
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#ifndef __MCP3204_REGS_H__
#define __MCP3204_REGS_H__
#define MCP3204_CHANNEL_0_OFST (0 * 4) /* RO */
#define MCP3204_CHANNEL_1_OFST (1 * 4) /* RO */
#define MCP3204_CHANNEL_2_OFST (2 * 4) /* RO */
#define MCP3204_CHANNEL_3_OFST (3 * 4) /* RO */
#endif /* __MCP3204_REGS_H__ */

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cs309-psoc/lab_1_2/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_2/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__ */

70
cs309-psoc/lab_1_2/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);
}

21
cs309-psoc/lab_1_2/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_2/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__ */