MC Controller

MCTEST/DE0-nano-HD/.qsys_edit/filters.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<filters version="12.1sp1" />

MCTEST/DE0-nano-HD/.qsys_edit/preferences.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<preferences>
+ <debug showDebugMenu="0" />
+ <systemtable>
+  <columns>
+   <connections preferredWidth="127" />
+   <irq preferredWidth="34" />
+  </columns>
+ </systemtable>
+ <clocktable>
+  <columns>
+   <clockname preferredWidth="243" />
+   <clocksource preferredWidth="242" />
+   <frequency preferredWidth="225" />
+  </columns>
+ </clocktable>
+ <library
+   expandedCategories="Project,Library/University Program,Library/Memories and Memory Controllers,Library/University Program/Communications,Library" />
+ <window width="1163" height="860" x="277" y="0" />
+</preferences>

MCTEST/DE0-nano-HD/PLLJ_PLLSPE_INFO.txt

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+PLL_Name	pll_sys:inst_pll_sys|altpll:altpll_component|pll_sys_altpll:auto_generated|pll1
+PLLJITTER	35
+PLLSPEmax	84
+PLLSPEmin	-53
+

MCTEST/DE0-nano-HD/Software/.metadata/.plugins/org.eclipse.cdt.codan.ui/dialog_settings.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<section name="Workbench">
+	<item value="org.eclipse.cdt.codan.internal.checkers.FunctionResolutionProblem" key="org.eclipse.cdt.codan.internal.ui.preferences.CodanPreferencePage.selection"/>
+</section>

MCTEST/DE0-nano-HD/Software/.metadata/.plugins/org.eclipse.cdt.core/.log

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+*** SESSION Mar 06, 2014 10:00:43.86 -------------------------------------------
+*** SESSION Mar 06, 2014 11:47:32.49 -------------------------------------------
+*** SESSION Mar 10, 2014 16:30:59.48 -------------------------------------------
+*** SESSION Mar 14, 2014 08:58:25.89 -------------------------------------------
+*** SESSION Mar 14, 2014 14:14:22.06 -------------------------------------------
+*** SESSION Mar 14, 2014 15:20:52.72 -------------------------------------------
+*** SESSION Mar 14, 2014 15:59:07.38 -------------------------------------------
+*** SESSION Mar 14, 2014 16:52:23.75 -------------------------------------------
+*** SESSION Mar 14, 2014 17:00:13.53 -------------------------------------------
+*** SESSION Mar 14, 2014 17:01:44.06 -------------------------------------------
+*** SESSION Mar 19, 2014 11:41:31.61 -------------------------------------------
+*** SESSION Mar 19, 2014 11:43:44.43 -------------------------------------------
+*** SESSION Mar 20, 2014 12:42:31.63 -------------------------------------------
+*** SESSION Mar 20, 2014 16:00:43.08 -------------------------------------------
+*** SESSION Mar 20, 2014 16:01:05.21 -------------------------------------------

MCTEST/DE0-nano-HD/Software/.metadata/.plugins/org.eclipse.cdt.make.core/specs.c

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+

MCTEST/DE0-nano-HD/Software/.metadata/.plugins/org.eclipse.cdt.make.core/specs.cpp

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+

MCTEST/DE0-nano-HD/Software/.metadata/.plugins/org.eclipse.cdt.ui/MCTest.build.log

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+
+**** Build of configuration Nios II for project MCTest ****
+
+make all 
+Info: Building ../MCTest_bsp/
+make --no-print-directory -C ../MCTest_bsp/
+[BSP build complete]
+[MCTest build complete]
+
+**** Build Finished ****

MCTEST/DE0-nano-HD/Software/.metadata/.plugins/org.eclipse.cdt.ui/MCTest_bsp.build.log

@@ -0,0 +1,7 @@
+
+**** Build of configuration Nios II for project MCTest_bsp ****
+
+make all 
+[BSP build complete]
+
+**** Build Finished ****

MCTEST/DE0-nano-HD/Software/.metadata/.plugins/org.eclipse.cdt.ui/dialog_settings.xml

@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<section name="Workbench">
+	<section name="completion_proposal_size">
+	</section>
+	<section name="PDOMSearchPage">
+	</section>
+	<section name="RenameInformationPopup">
+	</section>
+	<section name="org.eclipse.cdt.ui.text.hover.CMacroExpansionExploration.internal">
+		<item value="549" key="size.width"/>
+		<item value="180" key="size.height"/>
+	</section>
+	<section name="CRenameRefactoringInputPage">
+	</section>
+	<section name="org.eclipse.cdt.ui.text.hover.CMacroExpansionExploration">
+	</section>
+</section>

MCTEST/DE0-nano-HD/Software/.metadata/.plugins/org.eclipse.core.resources/.history/1/a042d9cc8bb000131eb0f6c547a05c39

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+/*
+ * MotorHandler.h
+ *
+ *  Created on: 2014-03-03
+ *      Author: Amshu Gongal
+ */
+
+#ifndef MOTORHANDLER_H_
+#define MOTORHANDLER_H_
+
+#include "altera_up_avalon_rs232.h"
+#include "altera_up_avalon_rs232_regs.h"
+#include <stdio.h>
+using namespace std;
+#include <string>
+#include "Status.h"
+
+//Commands from network handler
+#define MOTOR_LEFT "left"
+#define MOTOR_RIGHT "right"
+#define MOTOR_FORWARD "forward"
+#define MOTOR_BACKWARD "backward"
+
+
+// Motor messages are LSB first
+#define MOTOR_START_BYTE 		0x80
+#define MOTOR_DEVICE_TYPE 		0x00
+#define MOTOR_LEFT_CHAR 	 	0x02		// motor 1 backward
+#define MOTOR_RIGHT_CHAR 	    0x03		// motor 2 backward
+#define MOTOR_LEFT_FORWARD 		0x05		// motor 1 forward
+#define MOTOR_RIGHT_FORWARD 	0x07		// motor 2 forward
+#define MOTOR_CONST_SPEED 		0x5F
+#define MOTOR_STOP_SPEED 		0x00
+#define MOTOR_CHANGE_CONFIGURATION 0X02
+
+class MotorHandler {
+public:
+	MotorHandler();
+	virtual ~MotorHandler();
+
+	/*
+	 * Initializes this handler.
+	 * @return OK if the handler was initialized without error
+	 */
+	Status init();
+	void reset();
+	void configure();
+	void motorCommand(string motor, string motorDirection, string speed);
+
+private:
+	/* The device used to send serial commands to the motor controller. */
+	alt_up_rs232_dev *motor_dev;
+
+	char interpretMotor(string motor);
+	char interpretDirection(string direction, int motor);
+
+	/*
+	 * Moves in the given direction at constant speed.
+	 * @param direction - the motor and direction to move in, e.g. MOTOR_MOTOR1_FORWARD
+	 * @param speed speed of the motor
+	 * @param description - the string description of the movement, for debugging
+	 */
+	void move(char direction, char speed, char *description);
+
+	/*
+	 * Sends a byte-length message to the motor controller.
+	 * @param message - the message to send
+	 * @param description - the string description of the message, for debugging
+	 */
+	void send(char message, char *description);
+};
+
+#endif /* MOTORHANDLER_H_ */

MCTEST/DE0-nano-HD/Software/.metadata/.plugins/org.eclipse.core.resources/.history/15/209406a28fab001311dbfe770f133bca

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+/*************************************************************************
+ * ARCap
+ * Amshu Gongal, Kenan Kigunda
+ * February 18, 2014
+ **************************************************************************
+ * Description:                                                           *
+ * Prototype testing for infrared and mc.
+ **************************************************************************/
+
+#include <stdio.h>
+#include "includes.h"
+#include "altera_avalon_pio_regs.h"
+#include "altera_avalon_uart_regs.h"
+#include "sys/alt_irq.h"
+#include "alt_types.h"
+#include "altera_up_avalon_rs232.h"
+#include "altera_up_avalon_rs232_regs.h"
+
+#include "MotorHandler.h"
+#include "Status.h"
+
+/* Task stacks */
+#define   TASK_STACKSIZE       2048
+OS_STK    ir_task_stk[TASK_STACKSIZE];
+OS_STK    mc_task_stk[TASK_STACKSIZE];
+/* Task priorities */
+#define IR_TASK_PRIORITY	2
+#define MC_TASK_PRIORITY	1
+
+
+#define SW_READ 1
+#define SW_WRITE 2
+#define WRITE_FIFO_EMPTY 0x80
+#define READ_FIFO_EMPTY 0x0
+OS_EVENT *SWQ;
+OS_EVENT *RS232Q;
+INT8U err;
+
+
+/* Error status */
+#define OK 0
+
+/* Message queues */
+#define WAIT_FOREVER 0
+
+// ==== INFRARED ====
+
+/* Infrared message queue */
+#define IR_MAX_MESSAGES 4
+int ir_messages[IR_MAX_MESSAGES];
+OS_EVENT *ir_queue;
+
+/* Infrared messages */
+// Together these avoid passing 0 to the queue (which is not allowed since queue messages cannot be null)
+// and invert pushbutton input (since the pushbutton returns 0 when it is pushed down).
+#define IR_QUEUE_SEND_BASE	1		// Use: IR_QUEUE_SEND_BASE + IORD
+#define IR_QUEUE_RECEIVE_BASE 2		// Use: IR_QUEUE_RECEIVE_BASE - OSQPend
+
+
+MotorHandler *motor= new MotorHandler();
+
+
+// ==== mc
+
+#define mc_GUARD_TIME 1
+
+void mc_task(void *pdata)
+{
+	printf("mc task\n");
+	printf("MotorHandler [init");
+		if (motor->init() == OK) {
+			printf("]\n\n");
+			motor->forward();
+		} else {
+			printf( ", error]\n");
+		}
+		while(1){
+			motor->forward();
+			OSTimeDlyHMSM(0, 0, 0, 100);
+		}
+}
+
+
+
+// ==== GENERAL
+
+void queue_init() {
+	ir_queue = OSQCreate((void**)&ir_messages, IR_MAX_MESSAGES);
+}
+
+/* The main function creates the LCD task, registers the edge counter polling interrupt,
+ * and starts the OS. */
+int main(void)
+{
+	int status = OK;
+	// Initialize components.
+	queue_init();
+	IOWR_ALTERA_AVALON_PIO_DATA(PIO_MOTOR_RST_BASE, 0);
+	OSTimeDlyHMSM(0,0,0,100);
+	IOWR_ALTERA_AVALON_PIO_DATA(PIO_MOTOR_RST_BASE, 1);
+	// Create the mc task.
+	OSTaskCreateExt(mc_task,
+			NULL,
+			&mc_task_stk[TASK_STACKSIZE - 1],
+			MC_TASK_PRIORITY,
+			MC_TASK_PRIORITY,
+			mc_task_stk,
+			TASK_STACKSIZE,
+			NULL,
+			0);
+
+	if (status == OK) {
+		OSStart();
+	}
+
+	return 0;
+}
+
+/******************************************************************************
+ *                                                                             *
+ * License Agreement                                                           *
+ *                                                                             *
+ * Copyright (c) 2004 Altera Corporation, San Jose, California, USA.           *
+ * All rights reserved.                                                        *
+ *                                                                             *
+ * Permission is hereby granted, free of charge, to any person obtaining a     *
+ * copy of this software and associated documentation files (the "Software"),  *
+ * to deal in the Software without restriction, including without limitation   *
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,    *
+ * and/or sell copies of the Software, and to permit persons to whom the       *
+ * Software is furnished to do so, subject to the following conditions:        *
+ *                                                                             *
+ * The above copyright notice and this permission notice shall be included in  *
+ * all copies or substantial portions of the Software.                         *
+ *                                                                             *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR  *
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,    *
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE *
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER      *
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING     *
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER         *
+ * DEALINGS IN THE SOFTWARE.                                                   *
+ *                                                                             *
+ * This agreement shall be governed in all respects by the laws of the State   *
+ * of California and by the laws of the United States of America.              *
+ * Altera does not recommend, suggest or require that this reference design    *
+ * file be used in conjunction or combination with any other product.          *
+ ******************************************************************************/