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6 Commits
master ... cae559a7be

Author SHA1 Message Date
sdes1
cae559a7be both motors 2025-11-10 17:40:57 +01:00
sdes1
039fafd2c4 fix timer hickup 2025-11-10 14:31:35 +01:00
sdes1
1ee6bcc841 progress on 3 2025-11-03 20:01:00 +01:00
sdes1
4c4338c309 rest von aufg 2 2025-11-03 14:55:21 +01:00
sdes1
1353e12dd7 1+2 2025-10-20 17:39:01 +02:00
sdes1
0424d69bcd change CD to CC 2025-10-20 15:08:49 +02:00
8 changed files with 242 additions and 60 deletions
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17
Makefile
View File

@@ -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 =
-include $(TARGET_DIR)/build/Sources.mk
$(info TARGET_DIR : ${TARGET_DIR})
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: $<'

2
src/APP/Aufgabe1/ps7/core0/build/includes.mk
View File

@@ -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/"

2
src/APP/Aufgabe1/ps7/core0/build/sources.mk
View File

@@ -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

10
src/APP/Aufgabe2/ps7/core0/build/sources.mk
View File

@@ -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

112
src/APP/Aufgabe2/ps7/core0/main.c
View File

@@ -16,38 +16,96 @@
#include "xil_testmem.h"
#include "xil_printf.h"
#define HELLO_WORLD_TASK_PRIO 64
#define CALC_TASK_PRIO 64
#define HELLO_WORLD_TASK_PRIO 30
#define CALC_TASK_PRIO 31
#define TASK1_PRIO 32
#define TASK2_PRIO 33
#define HELLO_WORLD_TASK_STK_SIZE 16
#define CALC_TASK_STK_SIZE 32
#define HELLO_WORLD_TASK_STK_SIZE 16000
#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)
{
while(1){
uint8_t n=50;
for (uint8_t i = 1; i <= n; i)
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++;
}
}
@@ -57,27 +115,57 @@ void InitDoneCallback(void * p_arg){
OSTaskCreateExt(HelloWorldTask,
0,
&HelloWorldTaskStk[0],
&HelloWorldTaskStk[HELLO_WORLD_TASK_STK_SIZE-1],
HELLO_WORLD_TASK_PRIO,
HELLO_WORLD_TASK_PRIO,
&HelloWorldTaskStk[0],
HELLO_WORLD_TASK_STK_SIZE,
0,
0);
OSTaskCreateExt(CalcTask,
0,
&CalcTaskStk[CALC_TASK_STK_SIZE-1],
CALC_TASK_PRIO,
CALC_TASK_PRIO,
&CalcTaskStk[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);;
}

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_ */

55
src/APP/Aufgabe3/ps7/core0/main.c
View File

@@ -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;
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();
// This is a critcal section. Usefull for accessing global variables shared between tasks
pidValue = melody[i][0];
OS_EXIT_CRITICAL();
UCOS_Print("OS started!\r\n");
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);
}

66
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);
@@ -26,52 +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);
}