| 1 | #include "altera_up_avalon_video_pixel_buffer_dma.h"
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| 2 | #include "altera_up_avalon_video_character_buffer_with_dma.h"
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| 3 | #include "sys/alt_stdio.h"
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| 4 |
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| 5 | #include "sys/altera_avalon_pio_regs.h"
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| 6 | #include "sys/altera_avalon_jtag_uart_regs.h"
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| 7 | #include "sys/altera_avalon_timer_regs.h"
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| 8 |
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| 9 | // === the fixed point macros ========================================
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| 10 | typedef signed int fix16 ;
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| 11 |
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| 12 | #define fix2int16(a) ((int)((a)>>8))
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| 13 | #define int2fix16(a) ((fix16)((a)<<8))
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| 14 | #define float2fix16(a) ((fix16)((a)*65536.0)) // 2^16
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| 15 |
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| 16 | int main(void)
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| 17 | {
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| 18 |
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| 19 | while(1){
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| 20 |
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| 21 | volatile int button_read;
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| 22 | volatile int dummy_delay=32768;
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| 23 |
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| 24 | ///////////////////////////////// NEW CODE //////////////////////////////////
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| 25 |
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| 26 | //Prepare to load floating point input from serial console
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| 27 | float input_float;
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| 28 |
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| 29 |
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| 30 | //For each initial condition, ask the user to input a decimal value.
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| 31 | printf("Enter kp ");
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| 32 | scanf("%f", &input_float);
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| 33 |
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| 34 | //NIOS must convert that floating point value to fixed-point compatible with
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| 35 | //the top-level hardware spring system.
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| 36 | *(volatile int *)KP_BASE = input_float;
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| 37 |
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| 38 | //Do the same for the rest of the inputs.
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| 39 | printf("Enter ki: ");
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| 40 | scanf("%f", &input_float);
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| 41 | *(volatile int *)KI_BASE = input_float;
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| 42 |
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| 43 | printf("Enter kd ");
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| 44 | scanf("%f", &input_float);
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| 45 | *(volatile int *)KD_BASE = input_float;
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| 46 |
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| 47 | ///////////////////////////////////////////////////////////////////////////////////////////////
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| 48 |
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| 49 | alt_up_pixel_buffer_dma_dev *pixel_buffer_dev;
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| 50 | alt_up_char_buffer_dev *char_buffer_dev;
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| 51 |
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| 52 | int vga_x, vga_y, clock_interval, clock_counter, initial_condition_set,x1_read_value, x1_read_value_print, x2_read_value, x2_read_value_print;
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| 53 |
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| 54 | int pid_out_value;
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| 55 |
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| 56 | ///////////////////////////////////////////////////////////////////////////////////////////////
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| 57 |
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| 58 | /* used for drawing coordinates */
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| 59 | int x1, y1, x2, y2, deltax_1, deltax_2, deltay_1, deltay_2, delay = 0;
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| 60 |
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| 61 | /* initialize the pixel buffer HAL */
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| 62 | pixel_buffer_dev = alt_up_pixel_buffer_dma_open_dev ("/dev/VGA_Pixel_Buffer");
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| 63 | if ( pixel_buffer_dev == NULL)
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| 64 | alt_printf ("Error: could not open VGA pixel buffer device\n");
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| 65 | else
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| 66 | alt_printf ("Opened character VGA pixel buffer device\n");
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| 67 | /* clear the graphics screen */
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| 68 | alt_up_pixel_buffer_dma_clear_screen(pixel_buffer_dev, 0);
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| 69 |
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| 70 | vga_x=1;
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| 71 |
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| 72 | while(1){
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| 73 |
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| 74 | x1_read_value = *(volatile int*)PIO_X1_OUTPUT_INIT_7_BASE;
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| 75 | x2_read_value = *(volatile int*)PIO_X2_OUTPUT_INIT_8_BASE;
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| 76 |
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| 77 | dummy_delay=1<<11;
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| 78 | while(dummy_delay--){}
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| 79 |
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| 80 | vga_x++;
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| 81 |
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| 82 | x1_read_value_print = x1_read_value >> 7; //White Line
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| 83 | x2_read_value_print = x2_read_value >> 7; // Brown Line
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| 84 |
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| 85 | ///// For debug only
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| 86 | //printf ("raw_prox = %d \t median = %d \n",x1_read_value,x2_read_value);
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| 87 |
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| 88 | // Implementing filtering in Verilog itself
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| 89 |
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| 90 | alt_up_pixel_buffer_dma_draw_box(pixel_buffer_dev, vga_x, 480-x1_read_value_print - 13, vga_x, 480-x1_read_value_print - 13, 0xFFFF, 0);
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| 91 |
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| 92 | alt_up_pixel_buffer_dma_draw_box(pixel_buffer_dev, vga_x, 480-x2_read_value_print - 10, vga_x, 480-x2_read_value_print - 10, 0x8888, 0);
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| 93 |
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| 94 | alt_up_pixel_buffer_dma_draw_box(pixel_buffer_dev, vga_x, 480-(32767>>7) - 10, vga_x, 480-(32767>>7) - 10, 0x187F, 0);
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| 95 |
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| 96 | alt_up_pixel_buffer_dma_draw_box(pixel_buffer_dev, vga_x, 480-0 - 10, vga_x, 480-0 - 10, 0x49AF, 0);
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| 97 |
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| 98 | if (vga_x == 639){
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| 99 | alt_up_pixel_buffer_dma_clear_screen(pixel_buffer_dev, 0);
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| 100 | vga_x=0;
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| 101 | }
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| 102 |
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| 103 | }
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| 104 | }
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| 105 | return 0;
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| 106 | }
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