Disabled external gits

cs309-psoc/lab_4_1/sw/hps/application/client-sfml/Makefile

@@ -0,0 +1,14 @@
+
+CC=g++
+LDLIBS=`pkg-config --libs sfml-graphics sfml-window sfml-network`
+
+all: main
+
+main.o: main.cpp
+main: main.o
+
+run:
+	@./main
+
+clean: 
+	rm -f main.o main

cs309-psoc/lab_4_1/sw/hps/application/client-sfml/main.cpp

@@ -0,0 +1,120 @@
+
+#include <SFML/Graphics.hpp>
+#include <SFML/Network.hpp>
+#include <iostream>
+#include <type_traits>
+using namespace std;
+
+#define IMAGE_WIDTH 80
+#define IMAGE_HEIGHT 60
+#define SCALE_FACTOR 10
+#define UPDATE_INTERVAL IMAGE_HEIGHT
+
+#define SERVER_PORT 25700
+#define BUFFER_SIZE (4 + IMAGE_WIDTH * 2)
+#define HANDSHAKE_TIMEOUT 2000
+
+void updateLine(uint8_t* buffer, uint32_t lineIndex, uint16_t* line);
+void bernsteinRGB(uint8_t* rgba, double t);
+void sendHandshake(sf::UdpSocket& socket, sf::IpAddress address, unsigned short port);
+
+int main(int argc, char* argv[]) {
+    if (argc != 2) {
+        cout << "Invalid usage of client. You should pass the address of the server." << endl;
+        return -1;
+    }
+
+    // We create the window to which we render the image
+    sf::RenderWindow window(sf::VideoMode(IMAGE_WIDTH * SCALE_FACTOR, IMAGE_HEIGHT * SCALE_FACTOR), "Thermalizer", sf::Style::Close);
+
+    // The intermediate buffer in which the image is received before being sent to the GPU
+    uint8_t buffer[IMAGE_HEIGHT * IMAGE_WIDTH * 4]; // RGBA = 4 bytes per pixel
+    size_t lastRefresh = 0; // the number of lines since the last refresh
+    uint32_t lineIndex = 0; // the index of the last line that was received
+
+    // The texture to which the image will be drawn
+    sf::Texture texture;
+    texture.create(IMAGE_WIDTH, IMAGE_HEIGHT);
+    sf::Sprite sprite;
+    sprite.setTexture(texture);
+    sprite.setScale(SCALE_FACTOR, SCALE_FACTOR);
+
+    // The buffer in which the packet for the lines are received
+    char lineBuffer[BUFFER_SIZE];
+    size_t received;
+    sf::IpAddress serverAddress(argv[1]), senderAddress;
+    unsigned short serverPort = SERVER_PORT, senderPort;
+
+    // Create the UDP socket
+    cout << "Creating and binding a UDP socket..." << endl;
+    sf::UdpSocket socket;
+    sf::SocketSelector selector;
+    if (socket.bind(sf::UdpSocket::AnyPort) != sf::Socket::Done) {
+        cout << "Couldn't bind socket on port " << socket.getLocalPort() << endl;
+        return -1;
+    }
+
+    cout << "UDP Socket successfully bound." << endl;
+    sendHandshake(socket, serverAddress, serverPort);
+    selector.add(socket);
+
+    while (window.isOpen()) {
+        sf::Event event;
+        while (window.pollEvent(event)) {
+            // If the user requested the window to be closed
+            if (event.type == sf::Event::Closed ||
+                (event.type == sf::Event::KeyPressed && event.key.code == sf::Keyboard::Q)) {
+                // Inform the server about the client stopping
+                socket.send(nullptr, 0, serverAddress, serverPort);
+                window.close();
+            }
+        }
+
+        if (selector.wait(sf::milliseconds(500))) {
+            // If a packet was received, we update the intermediate buffer
+            socket.receive(lineBuffer, BUFFER_SIZE, received, senderAddress, senderPort);
+            lineIndex = *((uint32_t*) lineBuffer);
+            updateLine(buffer, lineIndex, (uint16_t*) (lineBuffer + sizeof(uint32_t)));
+            lastRefresh++;
+        } else {
+            // If no packet was received in a while, we re-send a handshake to try to reconnect
+            sendHandshake(socket, serverAddress, serverPort);
+        }
+
+        // We refresh the image every once in a while, so that if there is packet loss on the last
+        // line the screen is still updated.
+        if (lastRefresh == UPDATE_INTERVAL || lineIndex == IMAGE_HEIGHT - 1) {
+            // If enough packets were received, we update the texture
+            lastRefresh = 0;
+            texture.update(buffer);
+
+            // And draw it to the screen
+            window.clear();
+            window.draw(sprite);
+            window.display();
+        }
+
+    }
+}
+
+// Updates the line of the buffer with the packet that arrived
+void updateLine(uint8_t* buffer, uint32_t lineIndex, uint16_t* line) {
+    uint8_t* lineBuffer = buffer + lineIndex * IMAGE_WIDTH * 4;
+
+    for (size_t x = 0; x < IMAGE_WIDTH; x++)
+        bernsteinRGB(lineBuffer + x * 4, (double) line[x] / 0x3FFF);
+}
+
+// Performs the color interpolation using Bernstein polynomials
+void bernsteinRGB(uint8_t* rgba, double t) {
+    rgba[0] = (9 * (1 - t) * t * t * t) * 255;
+    rgba[1] = (15 * (1 - t) * (1 - t) * t * t) * 255;
+    rgba[2] = (9 * (1 - t) * (1 - t) * (1 - t) * t) * 255;
+    rgba[3] = 255;
+}
+
+// Sends a handshake to the server
+void sendHandshake(sf::UdpSocket& socket, sf::IpAddress address, unsigned short port) {
+    cout << "Sending a handshake to the server..." << endl;
+    socket.send(nullptr, 0, address, port);
+}

cs309-psoc/lab_4_1/sw/hps/application/client/Makefile

@@ -0,0 +1,5 @@
+LDLIBS= -lcaca
+CFLAGS= -Wall
+
+main: main.o
+main.o: main.c

cs309-psoc/lab_4_1/sw/hps/application/client/main.c

@@ -0,0 +1,216 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+#include <assert.h>
+#include <unistd.h>
+#include <string.h>
+
+#include <caca.h>
+
+#define ERR -1
+#define NO_ERR 0
+
+#define M_REQUIRE(cond_, mess_, ...) \
+	do{ \
+		if(!(cond_)){ \
+			fprintf(stderr, mess_, ##__VA_ARGS__); \
+			return ERR; \
+		} \
+	}while(0);
+
+#define M_REQUIRE_NO_ERR(v, mess_, ...)\
+	M_REQUIRE(v==NO_ERR, mess_, ##__VA_ARGS__)
+
+#define M_REQUIRE_NO_NULL(v, mess_, ...)\
+	M_REQUIRE(v!=NULL, mess_, ##__VA_ARGS__)
+
+#define MAX(a,b) ((a)>(b)?(a):(b))
+#define MIN(a,b) ((a)<(b)?(a):(b))
+
+#define DEFAULT_PORT 25700
+
+#define IM_WIDTH 80
+#define IM_HEIGHT 60
+#define IM_BPP 16
+#define IM_TOTAL IM_WIDTH*IM_HEIGHT
+
+#define PCKT_SIZE (IM_WIDTH*sizeof(pix_t)+sizeof(uint32_t))
+
+#define PX_MAX_V 0x3FFF
+
+#define IM_MR 0xFF00
+#define IM_MG 0x0000
+#define IM_MB 0x00FF
+#define IM_MA 0x0000
+
+#define IM_5B 0x1F
+
+#define REF_DIV 1
+
+
+typedef uint16_t pix_t;
+typedef struct sockaddr_in saddr_t;
+
+/*=================================================================================================*/
+
+
+pix_t IMG_IN[IM_TOTAL] = {0};
+caca_canvas_t* cv = NULL;
+caca_display_t* dp = NULL;
+caca_dither_t* dither;
+int ww = 0, wh = 0;
+uint64_t msg_cnt = 0;
+uint8_t refresh = 0;
+
+char event = 0;
+
+/*=================================================================================================*/
+
+int setup_caca(){
+	cv = caca_create_canvas(IM_WIDTH,IM_HEIGHT);
+	M_REQUIRE_NO_NULL(cv, "Error: Unable to create caca canvas\n");
+	dp = caca_create_display(cv);
+	M_REQUIRE_NO_NULL(dp, "Error: Unable to create caca canvas\n");
+	caca_set_display_title(dp,"CACA HEAT VIEWER");
+	ww = caca_get_canvas_width(cv);
+	wh = caca_get_canvas_height(cv);
+
+	#ifdef COLORING_RB
+		dither = caca_create_dither(IM_BPP,IM_WIDTH,IM_HEIGHT,IM_WIDTH*sizeof(pix_t),IM_MR,IM_MG,IM_MB,IM_MA);
+	#else
+		dither = caca_create_dither(IM_BPP,IM_WIDTH,IM_HEIGHT,IM_WIDTH*sizeof(pix_t),IM_5B<<10,IM_5B<<5,IM_5B,IM_MA);
+	#endif
+
+	caca_refresh_display(dp);
+	return NO_ERR;
+}
+
+int clear_caca(){
+	caca_free_display(dp);
+	caca_free_canvas(cv);
+	return NO_ERR;
+}
+
+int get_server_addr(const char* ip, const uint16_t port, struct sockaddr_in* const p_server_addr){
+	assert(p_server_addr != NULL);
+
+	struct sockaddr_in server_addr = {0};
+	server_addr.sin_family = AF_INET;
+	server_addr.sin_port = htons(port);
+	if(ip == NULL){
+		server_addr.sin_addr.s_addr = htonl(INADDR_ANY);
+	}else{
+		M_REQUIRE(inet_aton(ip, &server_addr.sin_addr)== 1, "Error: Unable to set server adress (IP)\n");
+	}
+	*p_server_addr = server_addr;
+	return NO_ERR;
+}
+
+int bind_server(const int socket, const uint16_t port){
+	struct sockaddr_in server_addr;
+	M_REQUIRE_NO_ERR(get_server_addr(NULL, port, &server_addr), "Error: Unable to get server adress\n");
+	M_REQUIRE_NO_ERR(bind(socket, (const struct  sockaddr*) &server_addr, sizeof(server_addr)), " Error: Unable to bind socket\n");
+	return NO_ERR;
+}
+
+pix_t bernstein_rgb(float f){
+	uint8_t r = (9*(1-f) *f *f *f)*IM_5B;
+	uint8_t g = (15*(1-f) *(1-f) *f *f)*IM_5B;
+	uint8_t b = (9*(1-f) *(1-f)  *(1-f) *f)*IM_5B;
+	return r<<10 | g<<5 | b;
+}
+
+pix_t custom_rb(float f){
+	uint8_t r = f*0xFF ;
+	uint8_t b = (1-f)*0xFF;
+	return r<<8 | b;
+}
+
+void adjust_row(uint32_t row){
+	for(size_t i = 0; i < IM_WIDTH; ++i){
+		#ifdef COLORING_RB
+			IMG_IN[row*IM_WIDTH+i] = custom_rb((float)IMG_IN[row*IM_WIDTH+i]/PX_MAX_V);
+		#else
+			IMG_IN[row*IM_WIDTH+i] = bernstein_rgb((float)IMG_IN[row*IM_WIDTH+i]/PX_MAX_V);
+		#endif
+	}
+}
+
+int handle_message(ssize_t in_msg_len, uint8_t* in_msg){
+	M_REQUIRE_NO_NULL(in_msg,"Error: input message is null\n");
+	M_REQUIRE(in_msg_len >=0, "Error: server message timeout\n");
+	M_REQUIRE(in_msg_len == PCKT_SIZE, "Error: message with wrong length (%zu)\n",in_msg_len);
+
+	uint32_t row = (uint32_t) in_msg[0];
+	if(row < IM_HEIGHT){
+		memcpy(IMG_IN + row*IM_WIDTH, in_msg + sizeof(uint32_t), IM_WIDTH*sizeof(pix_t));
+		adjust_row(row);
+	}
+	if(row == IM_HEIGHT-1){
+		refresh = 1;
+	}
+
+	return NO_ERR;
+}
+
+int main (int argc, char** argv){
+	M_REQUIRE(argc==2,"Invalid usage of client. You should pass the address of the server.\n");
+
+  	fprintf(stderr, "Starting Caca\n");
+	M_REQUIRE_NO_ERR(setup_caca(),"Error: Creating Caca\n");
+	memset(IMG_IN,0,IM_TOTAL*sizeof(pix_t));
+	M_REQUIRE_NO_ERR(caca_dither_bitmap(cv,0,0,IM_WIDTH,IM_HEIGHT,dither,IMG_IN), "Error: Unable to draw\n");
+  	caca_refresh_display(dp);
+  	fprintf(stderr, "Started CACA HEAT VIEWER successfully\n");
+
+  	fprintf(stderr, "Starting Network\n");
+	int32_t s = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
+	M_REQUIRE(s > 0, "Error: Unable to open socket\n");
+	M_REQUIRE_NO_ERR(bind_server(s, 0), "Error: Unable to bind socket\n");
+	saddr_t srv_addr;
+	M_REQUIRE_NO_ERR(get_server_addr(argv[1], DEFAULT_PORT, &srv_addr), "Error: Unable to get server adress\n");
+  	fprintf(stderr, "Started Network\n");
+
+  	fprintf(stderr, "Sending poke to server...\n");
+  	char e = 0;
+	M_REQUIRE(sendto(s,&e,0,0,(struct sockaddr *)&srv_addr,sizeof(srv_addr))==0, " Error: Unable to send message to server\n");
+	fprintf(stderr, "Sent poke successfully\n");
+	uint8_t quit = 0;
+	while(!feof(stdin) && !ferror(stdin) && !quit){
+		caca_event_t ev;
+		if(caca_get_event(dp, CACA_EVENT_RESIZE | CACA_EVENT_QUIT | CACA_EVENT_KEY_PRESS, &ev, 0)){
+			if(caca_get_event_type(&ev) == CACA_EVENT_RESIZE){
+				caca_set_canvas_size(cv,IM_WIDTH,IM_HEIGHT);
+			}else if(caca_get_event_type(&ev) & CACA_EVENT_QUIT){
+				quit = 1;
+			}else {
+				switch(caca_get_event_key_ch(&ev)){
+					case 'Q':
+					case 'q':
+						quit=1;
+						break;
+					default:
+						break;
+				}
+			}
+		}
+    	uint8_t in_msg[PCKT_SIZE] = {0};
+  		ssize_t in_msg_len = recv(s, in_msg, PCKT_SIZE, 0);
+  		M_REQUIRE_NO_ERR(handle_message(in_msg_len, in_msg), "Error: Couldn't handle message\n");
+  		++msg_cnt;
+		if (msg_cnt%(IM_HEIGHT/REF_DIV)==0 || refresh){
+			refresh = 0;
+			msg_cnt = 0;
+			M_REQUIRE_NO_ERR(caca_dither_bitmap(cv,0,0,IM_WIDTH,IM_HEIGHT,dither,IMG_IN), "Error: Unable to draw\n");
+  			caca_refresh_display(dp);
+  		}
+  	}
+	M_REQUIRE(sendto(s,&e,0,0,(struct sockaddr *)&srv_addr,sizeof(srv_addr))==0, " Error: Unable to send message to server\n");
+  	M_REQUIRE_NO_ERR(clear_caca(),"Error: Clearing Caca\n" );
+  	close(s);
+
+  	return NO_ERR;
+}

cs309-psoc/lab_4_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_4_1/sw/hps/application/iorw.h

@@ -0,0 +1,24 @@
+#ifndef __IORW_H__
+#define __IORW_H__
+
+#if defined(__nios2_arch__) // For the soft-core Nios processor
+    #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 // For the hard-core ARM Cortex A9 processor
+    #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_4_1/sw/hps/application/lab_4_1/Makefile

@@ -0,0 +1,9 @@
+
+all: app
+clean:
+	rm -rf *.o
+	rm -f app
+	
+server.o: server.c server.h
+app.o: app.c server.h
+app: app.o server.o

cs309-psoc/lab_4_1/sw/hps/application/lab_4_1/app.c

@@ -0,0 +1,125 @@
+#include "hps_soc_system.h"
+#include "lepton/lepton.h"
+#include "server.h"
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <arpa/inet.h>
+#include <socal/hps.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <sys/mman.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <termios.h>
+
+/** The port on which the server is available */
+#define SERVER_PORT 25700
+
+int main(int argc, char* argv[]) {
+    // Copy the old terminal configuration to restore it later
+    struct termios orig_term_attr, new_term_attr;
+    tcgetattr(fileno(stdin), &orig_term_attr);
+    memcpy(&new_term_attr, &orig_term_attr, sizeof(struct termios));
+
+
+    // Set the input to non-canonical mode, so that the keypresses are instantaneously recorded
+    new_term_attr.c_lflag &= ~(ECHO | ICANON);
+    new_term_attr.c_cc[VTIME] = 0;
+    new_term_attr.c_cc[VMIN] = 0;
+    tcsetattr(fileno(stdin), TCSANOW, &new_term_attr);
+
+	// Open the physical memory through the filesystem
+	int mem_fd = open("/dev/mem", O_SYNC | O_RDWR);
+	if(mem_fd == -1){
+	  	fprintf(stderr, "Failed to open /dev/mem. Exiting. Consider running this program with root privileges.\n");
+        tcsetattr(fileno(stdin), TCSANOW, &orig_term_attr);
+	  	return -1;
+	}
+
+    // Map the physical memory into the virtual address space
+    size_t length = ALT_LWFPGASLVS_UB_ADDR - ALT_LWFPGASLVS_LB_ADDR + 1;
+    size_t offset = ALT_LWFPGASLVS_OFST;
+	void* mapped = mmap(NULL, length, PROT_READ | PROT_WRITE, MAP_SHARED, mem_fd, offset);
+	if (mapped == MAP_FAILED){
+		fprintf(stderr, "Failed to map physical memory into virtual address space. Exiting.\n");
+        close(mem_fd);
+        tcsetattr(fileno(stdin), TCSANOW, &orig_term_attr);
+		return -1;
+	}
+
+	// Initialize the lepton device with the mapped memory
+	lepton_dev lepton = lepton_inst(mapped + LEPTON_0_BASE);
+	lepton_init(&lepton);
+
+    // Create the socket
+    printf("Creating and binding a UDP socket on port %d...\n", SERVER_PORT);
+    int socket = create_upd_socket(SERVER_PORT);
+    if (socket == -1) {
+        fprintf(stderr, "Failed to create the UDP socket. Exiting.\n");
+        close(mem_fd);
+        munmap(mapped, length);
+        tcsetattr(fileno(stdin), TCSANOW, &orig_term_attr);
+        return EXIT_FAILURE;
+    }
+
+    printf("Socket successfully bound.\n");
+    printf("Press 'q' to stop the server.\n");
+
+    while (1) {
+        // Wait for a client to connect
+        printf("Waiting for a new client to connect...\n");
+        struct sockaddr_in client_addr, sender_addr;
+        int event;
+
+        do {
+            // Wait for either a packet or the user quiting
+            event = wait_for_event(socket, &client_addr, -1);
+        } while (event == NO_EVENT);
+
+        if (event == QUIT_EVENT) {
+            printf("Stopping the server...\n");
+            munmap(mapped, length);
+            close(mem_fd);
+            close(socket);
+            tcsetattr(fileno(stdin), TCSANOW, &orig_term_attr);
+            return EXIT_SUCCESS;
+        }
+
+        // Inform the user about the connection
+        char addr_string[INET_ADDRSTRLEN];
+        inet_ntop(AF_INET, &client_addr.sin_addr, addr_string, INET_ADDRSTRLEN);
+        printf("Connected to client at address %s:%d.\n", addr_string, client_addr.sin_port);
+
+        // We continuously send the stream to the client until stopping is requested
+        do {
+            do {
+                lepton_start_capture(&lepton);
+                lepton_wait_until_eof(&lepton);
+            } while (lepton_error_check(&lepton));
+
+            uint16_t* image = lepton_get_image(&lepton, true);
+            send_image(socket, image, &client_addr);
+
+            event = wait_for_event(socket, &sender_addr, 0);
+            if (event == PACKET_EVENT &&
+                (sender_addr.sin_addr.s_addr != client_addr.sin_addr.s_addr
+                || sender_addr.sin_port != client_addr.sin_port))
+                event = NO_EVENT;
+        } while (event == NO_EVENT);
+
+        // Stop the server if the user wants to
+        if (event == QUIT_EVENT) {
+            printf("Stopping the server...\n");
+            munmap(mapped, length);
+            close(mem_fd);
+            close(socket);
+            tcsetattr(fileno(stdin), TCSANOW, &orig_term_attr);
+            return EXIT_SUCCESS;
+        }
+
+        printf("The client disconnected.\n");
+    }
+
+    return EXIT_SUCCESS;
+}

cs309-psoc/lab_4_1/sw/hps/application/lab_4_1/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_4_1/sw/hps/application/lab_4_1/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_4_1/sw/hps/application/lab_4_1/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_4_1/sw/hps/application/lab_4_1/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_4_1/sw/hps/application/lab_4_1/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_4_1/sw/hps/application/lab_4_1/lepton/lepton.c

@@ -0,0 +1,122 @@
+#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));
+}
+
+uint16_t* lepton_get_image(lepton_dev *dev, bool adjusted) {
+    size_t offset = adjusted ? LEPTON_REGS_ADJUSTED_BUFFER_OFST : LEPTON_REGS_RAW_BUFFER_OFST;
+    return (uint16_t*) ((uint8_t*) dev->base + offset);
+}

cs309-psoc/lab_4_1/sw/hps/application/lab_4_1/lepton/lepton.h

@@ -0,0 +1,26 @@
+#ifndef __LEPTON_H__
+#define __LEPTON_H__
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <stdint.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);
+uint16_t* lepton_get_image(lepton_dev *dev, bool adjusted);
+
+#endif /* __LEPTON_H__ */

cs309-psoc/lab_4_1/sw/hps/application/lab_4_1/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_4_1/sw/hps/application/lab_4_1/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_4_1/sw/hps/application/lab_4_1/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_4_1/sw/hps/application/lab_4_1/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_4_1/sw/hps/application/lab_4_1/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_4_1/sw/hps/application/lab_4_1/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__ */

cs309-psoc/lab_4_1/sw/hps/application/lab_4_1/server.c

@@ -0,0 +1,79 @@
+#include "server.h"
+#include <sys/socket.h> // for socket
+#include <sys/types.h> // for AF_INET
+#include <netinet/in.h> // for sockaddr_in
+#include <arpa/inet.h> // for htonl
+#include <stdint.h> // for uint16_t
+#include <unistd.h> // for close
+#include <string.h> // for memcpy
+#include <poll.h> // for poll
+
+#define ROW_SIZE (IMG_WIDTH * sizeof(uint16_t))
+
+int create_upd_socket(uint16_t port) {
+    int sock = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
+
+    if (sock == -1)
+        return -1;
+
+    struct sockaddr_in addr;
+    addr.sin_family = AF_INET;
+    addr.sin_port = htons(port);
+    addr.sin_addr.s_addr = htonl(INADDR_ANY);
+
+    if (bind(sock, (const struct sockaddr*) &addr, sizeof(addr))) {
+        close(sock);
+        return -1;
+    }
+
+    return sock;
+}
+
+int wait_for_event(int socket, struct sockaddr_in* addr, int timeout) {
+    char c = 0;
+    struct pollfd fds[2];
+
+    // Wait for a packet
+    fds[0].fd = socket;
+    fds[0].events = POLLIN;
+    fds[0].revents = 0;
+
+    // Wait for a command line input
+    fds[1].fd = STDIN_FILENO;
+    fds[1].events = POLLIN;
+    fds[1].revents = 0;
+
+    // Wait for the two file descriptors in parallel
+    int ret = poll(fds, 2, timeout);
+
+    if (ret <= 0) // error or timeout
+        return NO_EVENT;
+
+    if (fds[1].revents & POLLIN) {
+        read(STDIN_FILENO, &c, 1);
+
+        if (c == 'q')
+            return QUIT_EVENT;
+    }
+    
+    if (fds[0].revents & POLLIN) {
+        socklen_t addr_len = sizeof(struct sockaddr_in);
+        recvfrom(socket, &c, 1, 0, (struct sockaddr*) addr, &addr_len);
+        return PACKET_EVENT;
+    }
+    
+    return NO_EVENT;
+}
+
+void send_image(int socket, uint16_t* img, const struct sockaddr_in* addr) {
+    // This buffer is used to hold the packet for a row
+    char row_buffer[sizeof(uint32_t) + ROW_SIZE];
+
+    // We send the rows one by one
+    uint8_t i = 0;
+    for (i = 0; i < IMG_HEIGHT; i++) {
+        *((uint32_t*) row_buffer) = i; // The first bytes of the packet contain the row index
+        memcpy(row_buffer + sizeof(uint32_t), img + i * IMG_WIDTH, ROW_SIZE); // The rest contains the actual row
+        sendto(socket, row_buffer, sizeof(uint32_t) + ROW_SIZE, 0, (const struct sockaddr*) addr, sizeof(*addr));
+    }
+}

cs309-psoc/lab_4_1/sw/hps/application/lab_4_1/server.h

@@ -0,0 +1,32 @@
+#ifndef __SERVER_H__
+#define __SERVER_H__
+
+#include <netinet/in.h>
+#include <stdint.h>
+
+/** Image definitions - needs to move to another file later */
+#define IMG_WIDTH 80
+#define IMG_HEIGHT 60
+#define IMG_SIZE (IMG_WIDTH * IMG_HEIGHT)
+
+/**
+ * Creates and binds a socket on the given port, using the UDP protocol.
+ * If an error occured, -1 is returned, otherwise the socket is returned.
+ */
+int create_upd_socket(in_port_t port);
+
+/**
+ * Polls the given socket for a message, and check if the user wants to quit by pressing q
+ * in the console. Returns what happened in the form of an integer.
+ */
+#define NO_EVENT 0
+#define QUIT_EVENT 1
+#define PACKET_EVENT 2
+int wait_for_event(int socket, struct sockaddr_in* addr, int timeout);
+
+/**
+ * Sends the entire image over udp, row by row, through the given socket.
+ */
+void send_image(int socket, uint16_t* img, const struct sockaddr_in* addr);
+
+#endif

cs309-psoc/lab_4_1/sw/hps/application/mock_server/Makefile

@@ -0,0 +1,9 @@
+
+all: app
+clean:
+	rm -rf *.o
+	rm -f app
+	
+server.o: server.c server.h
+app.o: app.c server.h
+app: app.o server.o

cs309-psoc/lab_4_1/sw/hps/application/mock_server/app.c

@@ -0,0 +1,94 @@
+#include "server.h"
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <arpa/inet.h>
+#include <unistd.h>
+#include <termios.h>
+
+/** The port on which the server is available */
+#define SERVER_PORT 25700
+
+// Creates a moving fake image
+void generate_image(uint16_t* img, size_t t);
+
+int main(int argc, char* argv[]) {
+
+    // Set the input to non-canonical mode, so that the keypresses are instantaneously recorded
+    struct termios term_attr;
+    tcgetattr(fileno(stdin), &term_attr);
+    term_attr.c_lflag &= ~(ECHO | ICANON);
+    term_attr.c_cc[VTIME] = 0;
+    term_attr.c_cc[VMIN] = 0;
+    tcsetattr(fileno(stdin), TCSANOW, &term_attr);
+    
+    // This is the image that will be sent
+    uint16_t img[IMG_WIDTH * IMG_HEIGHT];
+    size_t t = 0;
+
+    // Create the socket
+    printf("Creating and binding a UDP socket on port %d...\n", SERVER_PORT);
+    int socket = create_upd_socket(SERVER_PORT);
+    if (socket == -1) {
+        fprintf(stderr, "Failed to create the UDP socket. Exiting.\n");
+        return EXIT_FAILURE;
+    }
+
+    printf("Socket successfully bound.\n");
+    printf("Press 'q' to stop the server.\n");
+
+    while (1) {
+        // Wait for a client to connect
+        printf("Waiting for a new client to connect...\n");
+        struct sockaddr_in client_addr, sender_addr;
+        int event;
+
+        do {
+            // Wait for either a packet or the user quiting
+            event = wait_for_event(socket, &client_addr, -1);
+        } while (event == NO_EVENT);
+
+        if (event == QUIT_EVENT) {
+            printf("Stopping the server...\n");
+            close(socket);
+            return EXIT_SUCCESS;
+        }
+
+        // Inform the user about the connection
+        char addr_string[INET_ADDRSTRLEN];
+        inet_ntop(AF_INET, &client_addr.sin_addr, addr_string, INET_ADDRSTRLEN);
+        printf("Connected to client at address %s:%d.\n", addr_string, client_addr.sin_port);
+
+        // We continuously send the stream to the client until stopping is requested
+        do {
+            generate_image(img, t++);
+            send_image(socket, img, &client_addr);
+            event = wait_for_event(socket, &sender_addr, 100);
+
+            if (event == PACKET_EVENT &&
+                (sender_addr.sin_addr.s_addr != client_addr.sin_addr.s_addr
+                || sender_addr.sin_port != client_addr.sin_port))
+                event = NO_EVENT;
+        } while (event == NO_EVENT);
+
+        // Stop the server if the user wants to
+        if (event == QUIT_EVENT) {
+            printf("Stopping the server...\n");
+            close(socket);
+            return EXIT_SUCCESS;
+        }
+
+        printf("The client disconnected.\n");
+    }
+
+    return EXIT_SUCCESS;
+}
+
+void generate_image(uint16_t* img, size_t t) {
+    for (size_t x = 0; x < IMG_WIDTH; x++) {
+        uint16_t val = ((x + t) % IMG_WIDTH) * 0x3FFF / IMG_WIDTH;
+
+        for (size_t y = 0; y < IMG_HEIGHT; y++)
+            img[y * IMG_WIDTH + x] = val;
+    }
+}

cs309-psoc/lab_4_1/sw/hps/application/mock_server/server.c

@@ -0,0 +1,79 @@
+#include "server.h"
+#include <sys/socket.h> // for socket
+#include <sys/types.h> // for AF_INET
+#include <netinet/in.h> // for sockaddr_in
+#include <arpa/inet.h> // for htonl
+#include <stdint.h> // for uint16_t
+#include <unistd.h> // for close
+#include <string.h> // for memcpy
+#include <poll.h> // for poll
+
+#define ROW_SIZE (IMG_WIDTH * sizeof(uint16_t))
+
+int create_upd_socket(uint16_t port) {
+    int sock = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
+
+    if (sock == -1)
+        return -1;
+
+    struct sockaddr_in addr;
+    addr.sin_family = AF_INET;
+    addr.sin_port = htons(port);
+    addr.sin_addr.s_addr = htonl(INADDR_ANY);
+
+    if (bind(sock, (const struct sockaddr*) &addr, sizeof(addr))) {
+        close(sock);
+        return -1;
+    }
+
+    return sock;
+}
+
+int wait_for_event(int socket, struct sockaddr_in* addr, int timeout) {
+    char c = 0;
+    struct pollfd fds[2];
+
+    // Wait for a packet
+    fds[0].fd = socket;
+    fds[0].events = POLLIN;
+    fds[0].revents = 0;
+
+    // Wait for a command line input
+    fds[1].fd = STDIN_FILENO;
+    fds[1].events = POLLIN;
+    fds[1].revents = 0;
+
+    // Wait for the two file descriptors in parallel
+    int ret = poll(fds, 2, timeout);
+
+    if (ret <= 0) // error or timeout
+        return NO_EVENT;
+
+    if (fds[1].revents & POLLIN) {
+        read(STDIN_FILENO, &c, 1);
+
+        if (c == 'q')
+            return QUIT_EVENT;
+    }
+    
+    if (fds[0].revents & POLLIN) {
+        socklen_t addr_len = sizeof(struct sockaddr_in);
+        recvfrom(socket, &c, 1, 0, (struct sockaddr*) addr, &addr_len);
+        return PACKET_EVENT;
+    }
+    
+    return NO_EVENT;
+}
+
+void send_image(int socket, uint16_t* img, const struct sockaddr_in* addr) {
+    // This buffer is used to hold the packet for a row
+    char row_buffer[sizeof(uint32_t) + ROW_SIZE];
+
+    // We send the rows one by one
+    uint8_t i = 0;
+    for (i = 0; i < IMG_HEIGHT; i++) {
+        *((uint32_t*) row_buffer) = i; // The first bytes of the packet contain the row index
+        memcpy(row_buffer + sizeof(uint32_t), img + i * IMG_WIDTH, ROW_SIZE); // The rest contains the actual row
+        sendto(socket, row_buffer, sizeof(uint32_t) + ROW_SIZE, 0, (const struct sockaddr*) addr, sizeof(*addr));
+    }
+}

cs309-psoc/lab_4_1/sw/hps/application/mock_server/server.h

@@ -0,0 +1,32 @@
+#ifndef __SERVER_H__
+#define __SERVER_H__
+
+#include <netinet/in.h>
+#include <stdint.h>
+
+/** Image definitions - needs to move to another file later */
+#define IMG_WIDTH 80
+#define IMG_HEIGHT 60
+#define IMG_SIZE (IMG_WIDTH * IMG_HEIGHT)
+
+/**
+ * Creates and binds a socket on the given port, using the UDP protocol.
+ * If an error occured, -1 is returned, otherwise the socket is returned.
+ */
+int create_upd_socket(in_port_t port);
+
+/**
+ * Polls the given socket for a message, and check if the user wants to quit by pressing q
+ * in the console. Returns what happened in the form of an integer.
+ */
+#define NO_EVENT 0
+#define QUIT_EVENT 1
+#define PACKET_EVENT 2
+int wait_for_event(int socket, struct sockaddr_in* addr, int timeout);
+
+/**
+ * Sends the entire image over udp, row by row, through the given socket.
+ */
+void send_image(int socket, uint16_t* img, const struct sockaddr_in* addr);
+
+#endif

cs309-psoc/lab_4_1/sw/hps/linux/rootfs/config_post_install.sh

@@ -0,0 +1,22 @@
+#!/bin/bash -x 
+# apt sources 
+# uncomment the "deb" lines (no need to uncomment "deb src" lines)
+
+# Edit the “/etc/apt/sources.list” file to configure the package manager. This 
+# file contains a list of mirrors that the package manager queries. By default, 
+# this file has all fields commented out, so the package manager will not have 
+# access to any mirrors. The following command uncomments all commented out 
+# lines starting with "deb". These contain the mirrors we are interested in. 
+sudo perl -pi -e 's/^#+\s+(deb\s+http)/$1/g' "/etc/apt/sources.list" 
+
+# When writing our linux applications, we want to use ARM DS-5’s remote 
+# debugging feature to automatically transfer our binaries to the target device 
+# and to start a debugging session. The remote debugging feature requires an SSH 
+# server and a remote gdb server to be available on the target. These are easy 
+# to install as we have a package manager available 
+sudo apt update 
+sudo apt -y install ssh gdbserver 
+
+# Allow root SSH login with password (needed so we can use ARM DS-5 for remote 
+# debugging) 
+sudo perl -pi -e 's/^(PermitRootLogin) without-password$/$1 yes/g' "/etc/ssh/sshd_config" 

cs309-psoc/lab_4_1/sw/hps/linux/rootfs/config_system.sh

@@ -0,0 +1,74 @@
+#!/bin/bash -x
+# Configure the locale to have proper language support.
+localedef -i en_US -c -f UTF-8 en_US.UTF-8
+dpkg-reconfigure locales
+# Configure the timezone.
+echo "Europe/Zurich" > "/etc/timezone"
+dpkg-reconfigure -f noninteractive tzdata
+# Set the machine’s hostname.
+echo "DE0-Nano-SoC" > "/etc/hostname"
+tee "/etc/hosts" >"/dev/null" <<EOF
+127.0.0.1 localhost
+127.0.1.1 DE0-Nano-SoC
+EOF
+# Create the “/etc/network/interfaces” file that describes the network
+# interfaces available on the board.
+tee "/etc/network/interfaces" > "/dev/null" <<EOF
+# interfaces(5) file used by ifup(8) and ifdown(8)
+# The loopback network interface
+auto lo
+iface lo inet loopback
+# The primary network interface
+auto eth0
+iface eth0 inet dhcp
+EOF
+# DNS configuration for name resolution. We use google's public DNS server here.
+sudo tee "/etc/resolv.conf" > "/dev/null" <<EOF
+nameserver 8.8.8.8
+EOF
+# Configure Ubuntu Core to display a login shell on the serial console once the
+# kernel boots. We had previously configured U-Boot to supply the command-line
+# argument "console=ttyS0,115200" to the linux kernel. This argument instructs
+# the kernel to use serial console “ttyS0” as the boot shell, so here we choose
+# to use the same serial console for the login shell
+tee "/etc/init/ttyS0.conf" > "/dev/null" <<EOF
+# ttyS0 - getty
+#
+# This service maintains a getty on ttyS0
+description "Get a getty on ttyS0"
+start on runlevel [2345]
+stop on runlevel [016]
+respawn
+exec /sbin/getty -L 115200 ttyS0 vt102
+EOF
+# Create a user and a password. In this example, we create a user called
+# “sahand” with password "1234". Note that we compute an encrypted version of
+# the password, because useradd does not allow plain text passwords to be used
+# in non-interactive mode.
+username="sahand"
+password="1234"
+encrypted_password="$(perl -e 'printf("%s\n", crypt($ARGV[0], "password"))' "${password}")"
+useradd -m -p "${encrypted_password}" -s "/bin/bash" "${username}"
+# Ubuntu requires the admin to be part of the "adm" and "sudo" groups, so add
+# the previously-created user to the 2 groups.
+addgroup ${username} adm
+addgroup ${username} sudo
+# Set root password to "1234" (same as previously-created user).
+echo -e "${password}\n${password}\n" | passwd root
+# Remove "/rootfs_config.sh" from /etc/rc.local to avoid reconfiguring system on
+# next boot
+tee "/etc/rc.local" > "/dev/null" <<EOF
+#!/bin/sh -e
+#
+# rc.local
+#
+# This script is executed at the end of each multiuser runlevel.
+# Make sure that the script will "exit 0" on success or any other
+# value on error.
+#
+# In order to enable or disable this script just change the execution
+# bits.
+#
+# By default this script does nothing.
+exit 0
+EOF