both motors

Makefile

@@ -25,11 +25,12 @@ OUT_DIR = ./out
 
 TARGET := $(APP)_$(ARCH)_core$(CORE)
 TARGET_DIR := $(SRC_DIR)/APP/$(APP)/$(ARCH)/core$(CORE)/
+$(info TARGET_DIR  : ${TARGET_DIR})
 
 OBJ_DIR = ./$(OUT_DIR)/$(TARGET)
 
 # Load specific config for compiler, linker, ...
--include $(TARGET_DIR)/build/config.mk
+include $(TARGET_DIR)/build/config.mk
 
 #Output files: elf, map and list-file
 EXECUTABLE=$(OBJ_DIR)/../$(TARGET).elf
@@ -42,16 +43,18 @@ LDSCRIPT = -T$(TARGET_DIR)/linker/lscript.ld
 endif 
 
 #Include source-files: 
-SRC =
+$(info TARGET_DIR  : ${TARGET_DIR})
--include $(TARGET_DIR)/build/Sources.mk
+INC = -I.
+include $(TARGET_DIR)/build/includes.mk
+
+SRC =
+include $(TARGET_DIR)/build/sources.mk
 
-INC = -I./
--include $(TARGET_DIR)/build/includes.mk
 
 #  C source files
 CFILES = $(filter %.c, $(SRC))
 #  Assembly source files
-ASMFILES = $(filter %.s, $(SRC))
+ASMFILES = $(filter %.S, $(SRC))
 # Object files
 COBJ = $(CFILES:$(SRC_DIR)/%.c=$(OBJ_DIR)/%.o)
 SOBJ = $(ASMFILES:$(SRC_DIR)/%.S=$(OBJ_DIR)/%.o)
@@ -72,7 +75,7 @@ $(LISTFILE): $(EXECUTABLE)
 
 $(EXECUTABLE): $(OBJ)
 	@echo 'Linking: $@'
-	$(CD) $(CFLAGS) $(LDSCRIPT) -Wl,-Map,"$(MAPFILE)" -o "$@" $(sort $(OBJ))  $(LDFLAGS)
+	$(CC) $(CFLAGS) $(LDSCRIPT) -Wl,-Map,"$(MAPFILE)" -o "$@" $(sort $(OBJ))  $(LDFLAGS)
 
 $(COBJ): $(OBJ_DIR)/%.o: $(SRC_DIR)/%.c
 	@echo 'Building file: $<'

src/APP/Aufgabe1/ps7/core0/build/includes.mk

@@ -27,6 +27,8 @@ INC += -I"$(SRC_DIR)/ucos_v1_42/ucos/components/ucos_standalone/src/common"
 INC += -I"$(SRC_DIR)/Xilinx/libsrc/ipipsu_v2_3/src/" 
 INC += -I"$(SRC_DIR)/Modules/MMU" 
 
+INC += -I"$(SRC_DIR)/Xilinx/include/" 
+
 
 INC += -I"$(SRC_DIR)/Xilinx/libsrc/ipipsu_v2_3/src/" 
 

src/APP/Aufgabe1/ps7/core0/build/sources.mk

@@ -5,7 +5,7 @@ SRC += $(SRC_DIR)/ucos_v1_42/ucos/bsp/src/$(ARCH)/asm_vectors.S
 
 -include $(SRC_DIR)/ucos_v1_42/micrium_source/uC-LIB/subdir.mk
 
-SRC += $(SRC_DIR)/ucos_v1_42/ucos/components/ucos_osii/bsp/$(ARCH)/ucos_osii_bsp.c
+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
 
 SRC += $(SRC_DIR)/Modules/MMU/mmu.c

src/APP/Aufgabe2/ps7/core0/build/sources.mk

@@ -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 $(SRC_DIR)/ucos_v1_42/ucos/bsp/src/$(ARCH)/subdir.mk
--include $(SRC_DIR)/ucos_v1_42/ucos/bsp/src/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

src/APP/Aufgabe2/ps7/core0/main.c

@@ -16,39 +16,97 @@
 #include "xil_testmem.h"
 #include "xil_printf.h"
 
-#define HELLO_WORLD_TASK_PRIO 64
+#define HELLO_WORLD_TASK_PRIO 30
-#define CALC_TASK_PRIO 64
+#define CALC_TASK_PRIO 31
+#define TASK1_PRIO 32
+#define TASK2_PRIO 33
 
-#define HELLO_WORLD_TASK_STK_SIZE 16
+#define HELLO_WORLD_TASK_STK_SIZE 16000
-#define CALC_TASK_STK_SIZE 32
+#define CALC_TASK_STK_SIZE 32000
+#define TASK1_STK_SIZE 32000
+#define TASK2_STK_SIZE 32000
 
 static  OS_STK       HelloWorldTaskStk[HELLO_WORLD_TASK_STK_SIZE];
 static  OS_STK       CalcTaskStk[HELLO_WORLD_TASK_STK_SIZE];
+static  OS_STK       Task1Stk[TASK1_STK_SIZE];
+static  OS_STK       Task2Stk[TASK2_STK_SIZE];
 
+// Define the message queue buffer
+#define QUEUE_SIZE 5
+void *MsgQueueTbl[QUEUE_SIZE];
 
-int f(int n)
+// Declare the queue's Event Control Block
+OS_EVENT *MsgQueue;
+
+// Define a simple message structure
+typedef struct {
+    INT32U MessageID;
+    INT32U Data;
+} MyMessage;
+
+// Declare message pointers
+MyMessage MyMessages[QUEUE_SIZE];
+
+int f(uint8_t n)
 {
-  if (n == 1)
+  if (n <= 1)
     return n;
   else
-    return (f(n-1) + f(n-3));
+    return (f(n-1) + f(n-2));
 }
 
 void HelloWorldTask (void *pdata)
 {
 	while(1){
-		UCOS_Printf("Hello World!");
+		UCOS_Printf("Hello World!\n");
 		OSTimeDly(OS_TICKS_PER_SEC*50);
 	}
 }
 
 void CalcTask (void *pdata)
 {
-	uint8_t n=50;
+	while(1){
-	for (uint8_t i = 1; i <= n; i)
+		uint8_t n=50;
-	 {
+		for (uint8_t i = 1; i <= n; i++)
-	  UCOS_Printf("%u", f(i));
+		{
-	 }
+			UCOS_Printf("%d", f(i));
+			OSTimeDly(OS_TICKS_PER_SEC*1);
+		}
+	}
+}
+
+void Task1(void *pdata){
+	INT8U err;
+	MyMessage *received_msg;
+
+	while (1) {
+	//	// Wait for a message from the queue. Wait indefinitely (0).
+		received_msg = OSQPend(MsgQueue, 0, &err);
+
+		if (err == 0) {
+			UCOS_Print("test");
+		}
+	}
+}
+
+void Task2(void *pdata){
+	INT8U i = 0;
+	INT8U err;
+	MyMessage *msg;
+
+	while (1) {
+		// Prepare a new message
+		msg = &MyMessages[i % QUEUE_SIZE]; // Reuse message memory
+		msg->MessageID = i;
+		msg->Data = i * 10;
+
+		// Post the message to the queue
+		OSQPost(MsgQueue, msg);
+
+		// Pause the task for a period
+		OSTimeDlyHMSM(0, 0, 1, 0);
+		i++;
+	}
 }
 
 void InitDoneCallback(void * p_arg){
@@ -56,28 +114,58 @@ void InitDoneCallback(void * p_arg){
 	UCOS_Print("OS started!\r\n");
 
 	OSTaskCreateExt(HelloWorldTask,
-					0,
+			0,
-					&HelloWorldTaskStk[0],
+			&HelloWorldTaskStk[HELLO_WORLD_TASK_STK_SIZE-1],
-					HELLO_WORLD_TASK_PRIO,
+			HELLO_WORLD_TASK_PRIO,
-					&HelloWorldTaskStk[0],
+			HELLO_WORLD_TASK_PRIO,
-					0,
+			&HelloWorldTaskStk[0],
-					0);
+			HELLO_WORLD_TASK_STK_SIZE,
+			0,
+			0);
 
 	OSTaskCreateExt(CalcTask,
-					0,
+			0,
-					CALC_TASK_PRIO,
+			&CalcTaskStk[CALC_TASK_STK_SIZE-1],
-					CALC_TASK_PRIO,
+			CALC_TASK_PRIO,
-					&CalcTaskStk[0],
+			CALC_TASK_PRIO,
-					CALC_TASK_STK_SIZE,
+			&CalcTaskStk[0],
-					0
+			CALC_TASK_STK_SIZE,
-					);
+			0,
+			0
+		       );
+
+	MsgQueue = OSQCreate((void **)&MsgQueueTbl[0], QUEUE_SIZE);
+
+	OSTaskCreateExt(Task1,
+			0,
+			&Task1Stk[TASK1_STK_SIZE-1],
+			TASK1_PRIO,
+			TASK1_PRIO,
+			&Task1Stk[0],
+			TASK1_STK_SIZE,
+			0,
+			0
+		       );
+
+	OSTaskCreateExt(Task2,
+			0,
+			&Task2Stk[TASK2_STK_SIZE-1],
+			TASK2_PRIO,
+			TASK2_PRIO,
+			&Task2Stk[0],
+			TASK2_STK_SIZE,
+			0,
+			0
+		       );
 
 	while(1){
-		OSTimeDly();
+		OSTimeDly(1);
 	}
 }
 
 int main(void) {
+
 	MMUInit();
+	UCOSStartup(InitDoneCallback);
 	while (1);;
 }

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

@@ -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_ */

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

@@ -17,21 +17,68 @@
 #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();
+
+	uint16_t melody[][2] = {{440, 500}, {440, 500}, {440, 500}, {349, 350}, {523, 150}, {440, 500}, {349, 350}, {523, 150}, {440, 1000}, {659, 500}, {659, 500}, {659, 500}, {698, 350}, {523, 150}, {415, 500}, {349, 350}, {523, 150}, {440, 1000}};
+
+	while(1){
+		for(uint8_t i=0; i<(sizeof(melody)/sizeof(melody[0])); i++){
+			CPU_SR cpu_sr;
+			OS_ENTER_CRITICAL();
+			pidValue = melody[i][0];
+			OS_EXIT_CRITICAL();
+			timer_Task(0);
+			OSTimeDly(melody[i][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);
-		;
 }

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

@@ -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);
@@ -26,52 +23,97 @@ 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[2];
 
-	return 0;
+XGpioPs xgpiops;
+XGpioPs_Config* gpioCfg;
+
+extern int16_t pidValue;
+
+void timer_Task(void *pdata) {
+	if(pidValue){
+		uint16_t interval = 1.337*(64000/abs(pidValue));
+		uint8_t direction = pidValue<0;
+		//UCOS_Printf("%d %d\r\n", direction, interval);
+		//UCOS_Printf("counter value: %d\r\n", XTtcPs_GetCounterValue(&xttcps));
+		timer_Stop(0);
+		timer_Stop(1);
+		timer_Set_Interval_Length(0,interval);
+		timer_Set_Interval_Length(1,interval);
+		timer_Start(0);
+		timer_Start(1);
+		motor_Set_Moving_Direction(54, direction);
+		motor_Set_Moving_Direction(55, !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");
+
+	timer_Dual_Timer_Setup();
+
+	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 * * */
 static int timer_Dual_Timer_Setup(void)
 {
-
+	timer_Setup(XPAR_PS7_TTC_0_DEVICE_ID);
+	timer_Setup(XPAR_PS7_TTC_1_DEVICE_ID);
 }
 
 /* * * * * * 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)
 {
-
+	XTtcPs_Config* TimerSetup = XTtcPs_LookupConfig(DeviceID);	
+	XTtcPs_CfgInitialize(&xttcps[DeviceID], TimerSetup, TimerSetup->BaseAddress);
+	XTtcPs_SetOptions(&xttcps[DeviceID], XTTCPS_OPTION_INTERVAL_MODE | XTTCPS_OPTION_MATCH_MODE);
+	XTtcPs_SetPrescaler(&xttcps[DeviceID], 8);
+	XTtcPs_SetMatchValue(&xttcps[DeviceID], 0, 1);
+	XTtcPs_SetInterval(&xttcps[DeviceID], 2);
 }
 
 /* * * starts timer number "Id" * * */
 static void timer_Start(uint32_t Id){
-
+	XTtcPs_Start(&xttcps[Id]);
 }
 
 /* * * stops timer number "Id" * * */
 static void timer_Stop(uint32_t Id){
-
+	XTtcPs_Stop(&xttcps[Id]);
 }
 
 
 /* * * sets new interval length and the correct matchvalue * * */
 static void timer_Set_Interval_Length(uint32_t Id, uint16_t interval_length){
-
+	if(XTtcPs_GetCounterValue(&xttcps[Id]) >= interval_length)
+		 XTtcPs_ResetCounterValue(&xttcps[Id]);
+	XTtcPs_SetMatchValue(&xttcps[Id], 0, interval_length/2);
+	XTtcPs_SetInterval(&xttcps[Id], interval_length);
 }