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sdes1
2025-11-03 20:01:00 +01:00
parent 4c4338c309
commit 1ee6bcc841
4 changed files with 93 additions and 22 deletions
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10
src/APP/Aufgabe2/ps7/core0/build/sources.mk
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@@ -1,9 +1,9 @@
#Startup file
SRC += $(SRC_DIR)/ucos_v1_42/ucos/bsp/src/$(ARCH)/asm_vectors.S
-include $(SRC_DIR)/ucos_v1_42/ucos/bsp/src/$(ARCH)/subdir.mk
-include $(SRC_DIR)/ucos_v1_42/ucos/bsp/src/subdir.mk
include $(SRC_DIR)/ucos_v1_42/ucos/bsp/src/$(ARCH)/subdir.mk
include $(SRC_DIR)/ucos_v1_42/ucos/bsp/src/subdir.mk
-include $(SRC_DIR)/ucos_v1_42/micrium_source/uC-LIB/subdir.mk
include $(SRC_DIR)/ucos_v1_42/micrium_source/uC-LIB/subdir.mk
SRC += $(SRC_DIR)/ucos_v1_42/ucos/components/ucos_osii/src/bsp/$(ARCH)/ucos_osii_bsp.c
SRC += $(SRC_DIR)/ucos_v1_42/ucos/components/ucos_common/src/$(ARCH)/cpu_bsp.c
@@ -29,10 +29,10 @@ SRC += $(SRC_DIR)/ucos_v1_42/ucos/drivers/ucos_scuc/src/ucos_scuc.c
SRC += $(SRC_DIR)/ucos_v1_42/ucos/drivers/ucos_l2cachec/src/ucos_l2cachec.c
SRC += $(SRC_DIR)/ucos_v1_42/ucos/drivers/ucos_emacps/src/ucos_emacps.c
-include $(SRC_DIR)/ucos_v1_42/ucos/components/ucos_standalone/src/cortexa9/subdir.mk
include $(SRC_DIR)/ucos_v1_42/ucos/components/ucos_standalone/src/cortexa9/subdir.mk
SRC += $(SRC_DIR)/ucos_v1_42/micrium_source/uC-Common/KAL/uCOS-II/kal.c
SRC += $(SRC_DIR)/ucos_v1_42/micrium_source/uC-Common/Collections/slist.c
SRC += $(SRC_DIR)/ucos_v1_42/micrium_source/uC-Common/Auth/auth.c
-include $(SRC_DIR)/ucos_v1_42/micrium_source/uCOS-II/Source/subdir.mk
include $(SRC_DIR)/ucos_v1_42/micrium_source/uCOS-II/Source/subdir.mk

2
src/APP/Aufgabe3/ps7/core0/cfg/ttc_timer.h
View File

@@ -22,7 +22,7 @@
#endif
int timer_Task(void *pdata);
void timer_Task(void *pdata);
int timer_Init();
#endif /* SRC_APP_AUFGABE3_PS7_CORE0_CFG_TTC_TIMER_H_ */

49
src/APP/Aufgabe3/ps7/core0/main.c
View File

@@ -17,21 +17,58 @@
#include "xil_printf.h"
#include "ttc_timer.h"
#define TIMER_PRIO 32
#define TIMER_STK_SIZE 32000
static OS_STK TimerStk[TIMER_STK_SIZE];
int16_t pidValue = 0;
void InitDoneCallback(void * p_arg) {
(void) p_arg;
CPU_SR cpu_sr;
OS_ENTER_CRITICAL();
// This is a critcal section. Usefull for accessing global variables shared between tasks
OS_EXIT_CRITICAL();
UCOS_Print("OS started!\r\n");
//OSTaskCreateExt(timer_Task,
// 0,
// &TimerStk[TIMER_STK_SIZE-1],
// TIMER_PRIO,
// TIMER_PRIO,
// &TimerStk[0],
// TIMER_STK_SIZE,
// 0,
// 0
// );
timer_Init();
while(1){
for(int16_t i = -1000; i<=1000; i++){
CPU_SR cpu_sr;
OS_ENTER_CRITICAL();
// This is a critcal section. Usefull for accessing global variables shared between tasks
pidValue = i;
OS_EXIT_CRITICAL();
timer_Task(0);
//UCOS_Printf("pid: %d\r\n", pidValue);
OSTimeDly(1);
}
for(int16_t i = 1000; i>=-1000; i--){
CPU_SR cpu_sr;
OS_ENTER_CRITICAL();
// This is a critcal section. Usefull for accessing global variables shared between tasks
pidValue = i;
timer_Task(0);
OS_EXIT_CRITICAL();
//UCOS_Printf("pid: %d\r\n", pidValue);
OSTimeDly(1);
}
}
}
int main(void) {
MMUInit();
UCOSStartup(InitDoneCallback);
while (1)
;
while (1);
}

54
src/APP/Aufgabe3/ps7/core0/src/ttc_timer.c
View File

@@ -14,9 +14,6 @@
#include "xgpiops.h"
#include "pid.h"
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);
@@ -26,26 +23,62 @@ static void motor_Set_Steering_Direction(uint8_t steeringDirection, int16_t *mot
static void motor_Set_Moving_Direction (u32 pin, int16_t value);
static void timer_gpio_Init();
int timer_Task(void *pdata) {
XTtcPs xttcps;
XTtcPs_Config* TimerSetup;
return 0;
XGpioPs xgpiops;
XGpioPs_Config* gpioCfg;
extern int16_t pidValue;
void timer_Task(void *pdata) {
if(pidValue){
uint16_t interval = 64;//(64000/abs(pidValue));
uint8_t direction = pidValue<0;
//UCOS_Printf("%d %d\r\n", direction, interval);
timer_Stop(1);
timer_Set_Interval_Length(1,interval);
timer_Start(1);
motor_Set_Moving_Direction(54, direction);
}
else
{
timer_Stop(0);
}
}
/* * * intializes and starts two timers with respective puls generation on gpio pins * * */
int timer_Init(void *pdata){
int timer_Init(){
UCOS_Print("Setting up Timer!\r\n");
TimerSetup = XTtcPs_LookupConfig(XPAR_PS7_TTC_0_DEVICE_ID);
XTtcPs_CfgInitialize(&xttcps, TimerSetup, TimerSetup->BaseAddress);
XTtcPs_SetOptions(&xttcps, XTTCPS_OPTION_INTERVAL_MODE | XTTCPS_OPTION_MATCH_MODE);
XTtcPs_SetPrescaler(&xttcps, 8);
XTtcPs_SetMatchValue(&xttcps, 0, 1);
XTtcPs_SetInterval(&xttcps, 2);
timer_gpio_Init();
motor_Set_Moving_Direction(54, 1);
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) {
XGpioPs_WritePin(&xgpiops, pin, value);;
}
/* * * init gpio, connects IRQ to gpio * * */
static void timer_gpio_Init(){
gpioCfg = XGpioPs_LookupConfig(XPAR_PS7_GPIO_0_DEVICE_ID);
XGpioPs_CfgInitialize(&xgpiops, gpioCfg, gpioCfg->BaseAddr);
XGpioPs_SetDirectionPin(&xgpiops, 54, 1);
XGpioPs_SetOutputEnablePin(&xgpiops, 54, 1);
XGpioPs_SetDirectionPin(&xgpiops, 55, 1);
XGpioPs_SetOutputEnablePin(&xgpiops, 55, 1);
}
/* * * * * * sets up two timers by calling timer_Setup() for each wheel, connects and activates an interrupt to one of timers * * */
@@ -62,16 +95,17 @@ static int timer_Setup(int DeviceID)
/* * * starts timer number "Id" * * */
static void timer_Start(uint32_t Id){
XTtcPs_Start(&xttcps);
}
/* * * stops timer number "Id" * * */
static void timer_Stop(uint32_t Id){
XTtcPs_Stop(&xttcps);
}
/* * * sets new interval length and the correct matchvalue * * */
static void timer_Set_Interval_Length(uint32_t Id, uint16_t interval_length){
XTtcPs_SetMatchValue(&xttcps, 0, interval_length/2);
XTtcPs_SetInterval(&xttcps, interval_length);
}