Disabled external gits

cs309-psoc/lab_3_1/sw/hps/application/hps_soc_system.h

@@ -0,0 +1,67 @@
+#ifndef _ALTERA_HPS_SOC_SYSTEM_H_
+#define _ALTERA_HPS_SOC_SYSTEM_H_
+
+/*
+ * This file was automatically generated by the swinfo2header utility.
+ * 
+ * Created from SOPC Builder system 'soc_system' in
+ * file 'hw/quartus/soc_system.sopcinfo'.
+ */
+
+/*
+ * This file contains macros for module 'hps_0' and devices
+ * connected to the following master:
+ *   h2f_lw_axi_master
+ * 
+ * Do not include this header file and another header file created for a
+ * different module or master group at the same time.
+ * Doing so may result in duplicate macro names.
+ * Instead, use the system header file which has macros with unique names.
+ */
+
+/*
+ * Macros for device 'lepton_0', class 'lepton'
+ * The macros are prefixed with 'LEPTON_0_'.
+ * The prefix is the slave descriptor.
+ */
+#define LEPTON_0_COMPONENT_TYPE lepton
+#define LEPTON_0_COMPONENT_NAME lepton_0
+#define LEPTON_0_BASE 0x40000
+#define LEPTON_0_SPAN 32768
+#define LEPTON_0_END 0x47fff
+
+/*
+ * Macros for device 'mcp3204_0', class 'mcp3204'
+ * The macros are prefixed with 'MCP3204_0_'.
+ * The prefix is the slave descriptor.
+ */
+#define MCP3204_0_COMPONENT_TYPE mcp3204
+#define MCP3204_0_COMPONENT_NAME mcp3204_0
+#define MCP3204_0_BASE 0x49000
+#define MCP3204_0_SPAN 16
+#define MCP3204_0_END 0x4900f
+
+/*
+ * Macros for device 'pwm_1', class 'pwm'
+ * The macros are prefixed with 'PWM_1_'.
+ * The prefix is the slave descriptor.
+ */
+#define PWM_1_COMPONENT_TYPE pwm
+#define PWM_1_COMPONENT_NAME pwm_1
+#define PWM_1_BASE 0x49010
+#define PWM_1_SPAN 16
+#define PWM_1_END 0x4901f
+
+/*
+ * Macros for device 'pwm_0', class 'pwm'
+ * The macros are prefixed with 'PWM_0_'.
+ * The prefix is the slave descriptor.
+ */
+#define PWM_0_COMPONENT_TYPE pwm
+#define PWM_0_COMPONENT_NAME pwm_0
+#define PWM_0_BASE 0x49020
+#define PWM_0_SPAN 16
+#define PWM_0_END 0x4902f
+
+
+#endif /* _ALTERA_HPS_SOC_SYSTEM_H_ */

cs309-psoc/lab_3_1/sw/hps/application/iorw.h

@@ -0,0 +1,24 @@
+#ifndef __IORW_H__
+#define __IORW_H__
+
+#ifdef __nios2_arch__
+    #include <io.h>
+
+    #define io_write_8(base, ofst, data)  (IOWR_8DIRECT((base), (ofst), (data)))
+    #define io_write_16(base, ofst, data) (IOWR_16DIRECT((base), (ofst), (data)))
+    #define io_write_32(base, ofst, data) (IOWR_32DIRECT((base), (ofst), (data)))
+    #define io_read_8(base, ofst)         (IORD_8DIRECT((base), (ofst)))
+    #define io_read_16(base, ofst)        (IORD_16DIRECT((base), (ofst)))
+    #define io_read_32(base, ofst)        (IORD_32DIRECT((base), (ofst)))
+#else
+    #include <socal/socal.h>
+    
+    #define io_write_8(base, ofst, data)  (alt_write_byte((uintptr_t) (base) + (ofst), (data)))
+    #define io_write_16(base, ofst, data) (alt_write_hword((uintptr_t) (base) + (ofst), (data)))
+    #define io_write_32(base, ofst, data) (alt_write_word((uintptr_t) (base) + (ofst), (data)))
+    #define io_read_8(base, ofst)         (alt_read_byte((uintptr_t) (base) + (ofst)))
+    #define io_read_16(base, ofst)        (alt_read_hword((uintptr_t) (base) + (ofst)))
+    #define io_read_32(base, ofst)        (alt_read_word((uintptr_t) (base) + (ofst)))
+#endif
+
+#endif

cs309-psoc/lab_3_1/sw/hps/application/lab_3_0/app.c

@@ -0,0 +1,96 @@
+#include <socal/hps.h>
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <hps_soc_system.h>
+
+#include "pantilt/pantilt.h"
+#include "joysticks/joysticks.h"
+#include "lepton/lepton.h"
+
+
+#define SLEEP_DURATION (1000)
+
+// 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)
+
+// Right joystick horizontal threshold for triggering lepton capture
+#define LEPTON_RIGHT_JOYSTICK_HORIZONTAL_TRIGGER_THRESHOLD ((uint32_t) (0.8 * JOYSTICKS_MAX_VALUE))
+
+uint32_t interpolate(uint32_t input,
+                     uint32_t input_min,
+                     uint32_t input_max,
+                     uint32_t output_min,
+                     uint32_t output_max) {
+    return (input - input_min) * (output_max - output_min) / (input_max - input_min) + output_min;
+}
+
+void handle_pantilt(pantilt_dev *pantilt, joysticks_dev *joysticks) {
+    // 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);
+}
+
+void handle_lepton(joysticks_dev *joysticks, lepton_dev *lepton) {
+    uint32_t h = joysticks_read_right_horizontal(joysticks);
+    uint32_t v = joysticks_read_right_vertical(joysticks);
+
+    // If the norm of the joystick's movement is greater than half of the max value, we capture
+    if (4 * h * h + v * v >= MCP3204_MAX_VALUE * MCP3204_MAX_VALUE) {
+        do {
+            lepton_start_capture(lepton);
+            lepton_wait_until_eof(lepton);
+        } while(lepton_error_check(lepton));
+
+        lepton_save_capture(lepton, true, stdout);
+    }
+}
+
+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);
+    lepton_dev lepton = lepton_inst((void*) LEPTON_0_BASE);
+
+    // Initialize hardware
+    pantilt_init(&pantilt);
+    joysticks_init(&joysticks);
+    lepton_init(&lepton);
+
+    // 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 LEFT joystick, capture thermal image with RIGHT joystick.
+    while (true) {
+        handle_pantilt(&pantilt, &joysticks);
+        handle_lepton(&joysticks, &lepton);
+
+        // Sleep for a while to avoid excessive sensitivity
+        uint32_t i = 0;
+        for (; i < SLEEP_DURATION; i++);
+    }
+
+    return EXIT_SUCCESS;
+}

cs309-psoc/lab_3_1/sw/hps/application/lab_3_0/joysticks/joysticks.c

@@ -0,0 +1,79 @@
+#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, JOYSTICK_RIGHT_VRY_MCP3204_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, JOYSTICK_LEFT_VRX_MCP3204_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, JOYSTICK_RIGHT_VRY_MCP3204_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, JOYSTICK_RIGHT_VRX_MCP3204_CHANNEL);
+}

cs309-psoc/lab_3_1/sw/hps/application/lab_3_0/joysticks/joysticks.h

@@ -0,0 +1,27 @@
+#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)
+
+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__ */

cs309-psoc/lab_3_1/sw/hps/application/lab_3_0/joysticks/mcp3204/mcp3204.c

@@ -0,0 +1,44 @@
+#include "mcp3204.h"
+#include "iorw.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) {
+    if (channel >= 4)
+        return 0;
+
+    return io_read_32(dev->base, channel * 4);
+}

cs309-psoc/lab_3_1/sw/hps/application/lab_3_0/joysticks/mcp3204/mcp3204.h

@@ -0,0 +1,23 @@
+#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__ */

cs309-psoc/lab_3_1/sw/hps/application/lab_3_0/joysticks/mcp3204/mcp3204_regs.h

@@ -0,0 +1,9 @@
+#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__ */

cs309-psoc/lab_3_1/sw/hps/application/lab_3_0/lepton/lepton.c

@@ -0,0 +1,117 @@
+#include <assert.h>
+#include <inttypes.h>
+#include <stdio.h>
+#include <unistd.h>
+
+#include "lepton_regs.h"
+#include "lepton.h"
+#include "iorw.h"
+
+/**
+ * lepton_inst
+ *
+ * Instantiate a lepton device structure.
+ *
+ * @param base Base address of the component.
+ */
+lepton_dev lepton_inst(void *base) {
+    lepton_dev dev;
+    dev.base = base;
+
+    return dev;
+}
+
+/**
+ * lepton_init
+ *
+ * Initializes the lepton device.
+ *
+ * @param dev lepton device structure.
+ */
+void lepton_init(lepton_dev *dev) {
+    return;
+}
+
+/**
+ * lepton_start_capture
+ *
+ * Instructs the device to start the frame capture process.
+ *
+ * @param dev lepton device structure.
+ */
+void lepton_start_capture(lepton_dev *dev) {
+    io_write_16(dev->base, LEPTON_REGS_COMMAND_OFST, 0x1);
+}
+
+/**
+ * lepton_error_check
+ *
+ * @abstract Check for errors at the device level.
+ * @param dev lepton device structure.
+ * @return true if there was an error, and false otherwise.
+ */
+bool lepton_error_check(lepton_dev *dev) {
+    return (io_read_16(dev->base, LEPTON_REGS_STATUS_OFST) & 0x2) != 0;
+}
+
+/**
+ * lepton_wait_until_eof
+ *
+ * Waits until the frame being captured has been fully received and saved in the
+ * internal memory.
+ *
+ * @param dev lepton device structure.
+ */
+void lepton_wait_until_eof(lepton_dev *dev) {
+    while (io_read_16(dev->base, LEPTON_REGS_STATUS_OFST) & 0x1);
+}
+
+/**
+ * lepton_save_capture
+ *
+ * Saves the captured frame on the host filesystem under the supplied filename.
+ * The frame will be saved in PGM format.
+ *
+ * @param dev lepton device structure.
+ * @param adjusted Setting this parameter to false will cause RAW sensor data to
+ *                 be written to the file.
+ *                 Setting this parameter to true will cause a preprocessed image
+ *                 (with a stretched dynamic range) to be saved to the file.
+ *
+ * @param fname the output file name.
+ */
+void lepton_save_capture(lepton_dev *dev, bool adjusted, FILE* file) {
+    assert(file);
+
+    const uint8_t num_rows = 60;
+    const uint8_t num_cols = 80;
+
+    uint16_t offset = LEPTON_REGS_RAW_BUFFER_OFST;
+    uint16_t max_value = io_read_16(dev->base, LEPTON_REGS_MAX_OFST);
+    if (adjusted) {
+        offset = LEPTON_REGS_ADJUSTED_BUFFER_OFST;
+        max_value = 0x3fff;
+    }
+
+    /* Write PGM header */
+    fprintf(file, "P2\n%" PRIu8 " %" PRIu8 "\n%" PRIu16, num_cols, num_rows, max_value);
+
+    /* Write body */
+    uint8_t row = 0;
+    for (row = 0; row < num_rows; ++row) {
+        fprintf(file, "\n");
+
+        uint8_t col = 0;
+        for (col = 0; col < num_cols; ++col) {
+            if (col > 0) {
+                fprintf(file, " ");
+            }
+
+            uint16_t current_ofst = offset + (row * num_cols + col) * sizeof(uint16_t);
+            uint16_t pix_value = io_read_16(dev->base, current_ofst);
+            fprintf(file, "%" PRIu16, pix_value);
+        }
+    }
+
+    assert(!fclose(file));
+}

cs309-psoc/lab_3_1/sw/hps/application/lab_3_0/lepton/lepton.h

@@ -0,0 +1,23 @@
+#ifndef __LEPTON_H__
+#define __LEPTON_H__
+
+#include <stdbool.h>
+
+/* lepton device structure */
+typedef struct {
+    void *base; /* Base address of the component */
+} lepton_dev;
+
+/*******************************************************************************
+ *  Public API
+ ******************************************************************************/
+
+lepton_dev lepton_inst(void *base);
+
+void lepton_init(lepton_dev *dev);
+void lepton_start_capture(lepton_dev *dev);
+void lepton_wait_until_eof(lepton_dev *dev);
+bool lepton_error_check(lepton_dev *dev);
+void lepton_save_capture(lepton_dev *dev, bool adjusted, FILE* file);
+
+#endif /* __LEPTON_H__ */

cs309-psoc/lab_3_1/sw/hps/application/lab_3_0/lepton/lepton_regs.h

@@ -0,0 +1,25 @@
+#ifndef __LEPTON_REGS_H__
+#define __LEPTON_REGS_H__
+
+/* Register offsets */
+#define LEPTON_REGS_COMMAND_OFST         (   0 * 2)  /* WO */
+#define LEPTON_REGS_STATUS_OFST          (   1 * 2)  /* RO */
+#define LEPTON_REGS_MIN_OFST             (   2 * 2)  /* RO */
+#define LEPTON_REGS_MAX_OFST             (   3 * 2)  /* RO */
+#define LEPTON_REGS_SUM_LSB_OFST         (   4 * 2)  /* RO */
+#define LEPTON_REGS_SUM_MSB_OFST         (   5 * 2)  /* RO */
+#define LEPTON_REGS_ROW_IDX_OFST         (   6 * 2)  /* RO */
+#define LEPTON_REGS_RAW_BUFFER_OFST      (   8 * 2)  /* RO */
+#define LEPTON_REGS_ADJUSTED_BUFFER_OFST (8192 * 2)  /* RO */
+
+/* Command register */
+#define LEPTON_COMMAND_START (0x0001)
+
+/* Status register */
+#define LEPTON_STATUS_CAPTURE_IN_PROGRESS_MASK (1 << 0)
+#define LEPTON_STATUS_ERROR_MASK               (1 << 1)
+
+#define LEPTON_REGS_BUFFER_NUM_PIXELS (80 * 60)
+#define LEPTON_REGS_BUFFER_BYTELENGTH (LEPTON_REGS_BUFFER_NUM_PIXELS * 2)
+
+#endif /* __LEPTON_REGS_H__ */

cs309-psoc/lab_3_1/sw/hps/application/lab_3_0/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_3_1/sw/hps/application/lab_3_0/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_3_1/sw/hps/application/lab_3_0/pantilt/pwm/pwm.c

@@ -0,0 +1,68 @@
+#include "pwm.h"
+#include "pwm_regs.h"
+#include "iorw.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) {
+    io_write_32(dev->base, PWM_PERIOD_OFST, MICROSEC_TO_CLK(period, module_frequency));
+    io_write_32(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) {
+    io_write_32(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) {
+    io_write_32(dev->base, PWM_CTRL_OFST, PWM_CTRL_START_MASK);
+}

cs309-psoc/lab_3_1/sw/hps/application/lab_3_0/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_3_1/sw/hps/application/lab_3_0/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__ */