Re-Worked exercise 3

src/APP/Aufgabe3/ps7/core0/cfg/pid.h

@@ -0,0 +1,21 @@
+/*
+ * pid.h
+ *
+ *  Created on: Jan 28, 2019
+ *      Author: laurenzb
+ */
+
+#ifndef SRC_APP_AUFGABE7_PS7_CORE0_CFG_PID_H_
+#define SRC_APP_AUFGABE7_PS7_CORE0_CFG_PID_H_
+
+#define PID_BOUND 			1000	//Restrict PID Value in [-1000,1000]
+#define PI 3.14159265
+
+int pid_Init(void *pdata);
+int16_t pid_Constrain(int16_t value, int16_t lowerBorder, int16_t higherBorder);
+int pid_Task(void *pdata);
+int16_t map(int16_t x, int16_t in_min, int16_t in_max, int16_t out_min, int16_t out_max);
+
+
+
+#endif /* SRC_APP_AUFGABE7_PS7_CORE0_CFG_PID_H_ */

src/APP/Aufgabe3/ps7/core0/cfg/ttc_timer.h

@@ -10,10 +10,19 @@
 #ifndef SRC_APP_AUFGABE3_PS7_CORE0_CFG_TTC_TIMER_H_
 #define SRC_APP_AUFGABE3_PS7_CORE0_CFG_TTC_TIMER_H_
 
+#define MIN_PWM_FREQ 20
+#define MOTOR_ID_LEFT  0
+#define MOTOR_ID_RIGHT 1
+#define MOTOR_MIN_SPEED 	12345
+#define MOTOR_MAX_SPEED		12345
 
 //Dummy-Define for Excercise 3 only, there is no PID yet
 #ifndef PID_BOUND
 #define PID_BOUND 1000
 #endif
 
+
+int timer_Task(void *pdata);
+int timer_Init();
+
 #endif /* SRC_APP_AUFGABE3_PS7_CORE0_CFG_TTC_TIMER_H_ */

src/APP/Aufgabe3/ps7/core0/src/ttc_timer.c

@@ -12,26 +12,66 @@
 #include "ucos_int.h"
 #include "ttc_timer.h"
 #include "xgpiops.h"
+#include "pid.h"
 
 
-#define TTC_PWM_INTR_ID	XPAR_XTTCPS_0_INTR
 
 
-int timer_Init(void *pdata);
+static void timer_Start(uint32_t Id);
+static void timer_Stop(uint32_t Id);
+static void timer_Set_Interval_Length(uint32_t Id, uint16_t intervalLength);
+static int timer_Dual_Timer_Setup(void);
+static int timer_Setup(int DeviceID);
+static void motor_Set_Steering_Direction(uint8_t steeringDirection, int16_t *motorPower);
+static void motor_Set_Moving_Direction (u32 pin, int16_t value);
 static void timer_gpio_Init();
-static void intervalHandler(void *CallBackRef);
 
+int timer_Task(void *pdata) {
 
+	return 0;
+}
+
+/* * * intializes and starts two timers with respective puls generation on gpio pins * * */
 int timer_Init(void *pdata){
 	UCOS_Print("Setting up Timer!\r\n");
 	UCOS_Print("Done!\r\n");
 	return 0;
 }
 
+/* * * checks the desired moving direction and sets the direction pin for the steppers * * */
+static void motor_Set_Moving_Direction (uint32_t pin, int16_t value) {
+
+}
+
+/* * * init gpio, connects IRQ to gpio * * */
 static void timer_gpio_Init(){
+
+}
+
+/* * * * * * sets up two timers by calling timer_Setup() for each wheel, connects and activates an interrupt to one of timers * * */
+static int timer_Dual_Timer_Setup(void)
+{
+
+}
+
+/* * * * * * sets up a timer counter device, initialize device, set options, set interval and prescaler value for given output frequency * * */
+static int timer_Setup(int DeviceID)
+{
+
+}
+
+/* * * starts timer number "Id" * * */
+static void timer_Start(uint32_t Id){
+
+}
+
+/* * * stops timer number "Id" * * */
+static void timer_Stop(uint32_t Id){
+
 }
 
 
-static void intervalHandler(void *CallBackRef){
+/* * * sets new interval length and the correct matchvalue * * */
+static void timer_Set_Interval_Length(uint32_t Id, uint16_t interval_length){
 
 }

src/APP/Aufgabe7/ps7/core0/cfg/pid.h

@@ -1,21 +0,0 @@
-/*
- * pid.h
- *
- *  Created on: Jan 28, 2019
- *      Author: laurenzb
- */
-
-#ifndef SRC_APP_AUFGABE7_PS7_CORE0_CFG_PID_H_
-#define SRC_APP_AUFGABE7_PS7_CORE0_CFG_PID_H_
-
-#define PID_BOUND 			1000	//Restrict PID Value in [-1000,1000]
-#define PI 3.14159265
-
-int pid_Init(void *pdata);
-int16_t pid_Constrain(int16_t value, int16_t lowerBorder, int16_t higherBorder);
-int pid_Task(void *pdata);
-int16_t map(int16_t x, int16_t in_min, int16_t in_max, int16_t out_min, int16_t out_max);
-
-
-
-#endif /* SRC_APP_AUFGABE7_PS7_CORE0_CFG_PID_H_ */

src/APP/Aufgabe7/ps7/core0/cfg/pid.h

@@ -0,0 +1 @@
+../../../../Aufgabe3/ps7/core0/cfg/pid.h