starting tutorial for 1.3

sdk/app_cpu1/common/main.c

@@ -76,6 +76,9 @@ int main()
     // Initialize timing manager
     timing_manager_init();
 
+    // test - enable ADC on timing manager
+    timing_manager_enable_sensor(ADC);
+
 #if USER_CONFIG_ENABLE_LOGGING == 1
     log_init();
 #endif

sdk/app_cpu1/user/.project

@@ -23,4 +23,11 @@
 		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
 		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
 	</natures>
+	<linkedResources>
+		<link>
+			<name>common</name>
+			<type>2</type>
+			<location>C:/Users/srich008/Information/gitMistakes/1.3/sdk/app_cpu1/common</location>
+		</link>
+	</linkedResources>
 </projectDescription>

sdk/app_cpu1/user/usr/user_apps.c

@@ -16,6 +16,10 @@
 #include "usr/blink/app_blink.h"
 #endif
 
+#ifdef APP_VSI
+#include <usr/vsiApp/app_vsiApp.h>
+#endif
+
 #ifdef APP_BETA_LABS
 #include "usr/beta_labs/app_beta_labs.h"
 #endif
@@ -38,6 +42,10 @@ void user_apps_init(void)
     app_blink_init();
 #endif
 
+#ifdef APP_VSI
+    app_vsiApp_init();
+#endif
+
 #ifdef APP_BETA_LABS
     app_beta_labs_init();
 #endif

sdk/app_cpu1/user/usr/vsiApp/app_vsiApp.c

@@ -0,0 +1,16 @@
+
+#ifdef APP_VSI
+
+#include "usr/vsiApp/app_vsiApp.h"
+#include "usr/vsiApp/cmd/cmd_vsiApp.h"
+#include "usr/vsiApp/task_vsiApp.h"
+
+void app_vsiApp_init(void)
+{
+    // Register "vsi" command with system
+    cmd_vsiApp_register();
+
+    // task_vsiApp_init();
+}
+
+#endif // APP_VSI

sdk/app_cpu1/user/usr/vsiApp/app_vsiApp.h

@@ -0,0 +1,6 @@
+#ifndef APP_VSI_H
+#define APP_VSI_H
+
+void app_vsiApp_init(void);
+
+#endif // APP_VSI_H

sdk/app_cpu1/user/usr/vsiApp/cmd/cmd_vsiApp.c

@@ -0,0 +1,110 @@
+
+#ifdef APP_VSI
+
+#include "usr/vsiApp/cmd/cmd_vsiApp.h"
+#include "sys/commands.h"
+#include "sys/debug.h"
+#include "sys/defines.h"
+#include "sys/util.h"
+#include <usr/vsiApp/task_vsiApp.h>
+#include <stdlib.h>
+#include <string.h>
+
+// Stores command entry for command system module
+static command_entry_t cmd_entry;
+
+// Defines help content displayed for this command
+// when user types "help" at command prompt
+static command_help_t cmd_help[] = {
+    { "init", "Start task" },
+    { "deinit", "Stop task" },
+	{ "amplitude <value>", "set the analog wave to a specific amplitude" },
+	{ "frequency <value>", "set the analog wave to a specific frequency" },
+	{ "stats print", "Print stats to screen" },
+	{ "stats reset", "Reset the task timing stats" }
+};
+
+void cmd_vsiApp_register(void)
+{
+    // Populate the command entry block
+    //
+    // Here is where you define the base command string: "blink"
+    // and what function is called to handle command
+    commands_cmd_init(&cmd_entry, "vsi", "VSI application commands", cmd_help, ARRAY_SIZE(cmd_help), cmd_vsiApp);
+
+    // Register the command with the system
+    commands_cmd_register(&cmd_entry);
+}
+
+int cmd_vsiApp(int argc, char **argv)
+{
+    if (argc == 3 && strcmp("amplitude", argv[1]) == 0) {
+    	double argDoub;
+    	sscanf(argv[2], "%lf", &argDoub);
+    	if (task_vsiApp_amplitude(argDoub) != SUCCESS) {
+			return CMD_FAILURE;
+		}
+
+		return CMD_SUCCESS;
+    }
+    if (argc == 3 && strcmp("frequency", argv[1]) == 0) {
+		double argDoub;
+		sscanf(argv[2], "%lf", &argDoub);
+		if (task_vsiApp_frequency(argDoub) != SUCCESS) {
+			return CMD_FAILURE;
+		}
+
+		return CMD_SUCCESS;
+	}
+    if (strcmp("RMS", argv[1]) == 0) {
+    	if (argc == 4 && strcmp("set", argv[2]) == 0) {
+			double argDoub;
+			sscanf(argv[2], "%lf", &argDoub);
+			if (task_vsiApp_RMS(argDoub) != SUCCESS) {
+				return CMD_FAILURE;
+			}
+			return CMD_SUCCESS;
+    	}
+    	if (argc == 3 && strcmp("enable", argv[2]) == 0) {
+    		if (task_vsiApp_RMS_enable() != SUCCESS) {
+				return CMD_FAILURE;
+			}
+			return CMD_SUCCESS;
+    	}
+    	if (argc == 3 && strcmp("disable", argv[2]) == 0) {
+			if (task_vsiApp_RMS_enable() != SUCCESS) {
+				return CMD_FAILURE;
+			}
+			return CMD_SUCCESS;
+		}
+    }
+
+    if (argc == 2 && strcmp("init", argv[1]) == 0) {
+        if (task_vsiApp_init() != SUCCESS) {
+            return CMD_FAILURE;
+        }
+
+        return CMD_SUCCESS;
+    }
+
+    if (argc == 2 && strcmp("deinit", argv[1]) == 0) {
+        if (task_vsiApp_deinit() != SUCCESS) {
+            return CMD_FAILURE;
+        }
+
+        return CMD_SUCCESS;
+    }
+    if (argc == 3 && strcmp("stats", argv[1]) == 0) {
+    	if (strcmp("print", argv[2]) == 0) {
+    		task_vsiApp_stats_print();
+    		return CMD_SUCCESS_QUIET;
+    	}
+    	if (strcmp("reset", argv[2]) == 0) {
+    		task_vsiApp_stats_reset();
+    		return CMD_SUCCESS;
+    	}
+    }
+    return CMD_INVALID_ARGUMENTS;
+}
+
+#endif // APP_VSI

sdk/app_cpu1/user/usr/vsiApp/cmd/cmd_vsiApp.h

@@ -0,0 +1,11 @@
+#ifndef CMD_VSI_H
+#define CMD_VSI_H
+
+// Called in app init function to register command with system
+void cmd_vsiApp_register(void);
+
+// Function called when user types "vsi" command into command prompt
+// i.e., this is the vsi command handler function
+int cmd_vsiApp(int argc, char **argv);
+
+#endif // CMD_VSI_H

sdk/app_cpu1/user/usr/vsiApp/task_vsiApp.c

@@ -0,0 +1,145 @@
+
+#ifdef APP_VSI
+
+#include "usr/vsiApp/task_vsiApp.h"
+#include "drv/led.h"
+#include "drv/timing_manager.h"
+#include "sys/scheduler.h"
+#include "drv/cpu_timer.h"
+#include "drv/pwm.h"
+#include "drv/analog.h"
+#include <math.h>
+#include <stdlib.h>
+#include <stdint.h>
+
+// Scheduler TCB which holds task "context"
+static task_control_block_t tcb = {0};
+
+
+static double Ts = 1.0 / 10000.0; // [sec]
+static double theta = 0.0;        // [rad]
+static double omega = 10.0 * 2 * PI;       // [rad/s]
+static double Do = 0.3;          // [--]
+static uint8_t RMS_driven = 0;
+static double RMS_target = 0.0;
+
+// Logging variables
+float LOG_current_a = 0.0;
+float LOG_current_b = 0.0;
+float LOG_current_c = 0.0;
+
+/* trying this out */
+#include "xil_io.h"
+#define PWM_MUX_ADDR_LOGGING (0x43C40000)
+
+float LOG_voltage_a = 0.0;
+float LOG_voltage_b = 0.0;
+float LOG_voltage_c = 0.0;
+
+
+int task_vsiApp_init(void)
+{
+    if (scheduler_tcb_is_registered(&tcb)) {
+        return FAILURE;
+    }
+
+    pwm_enable();
+
+    // Fill TCB with parameters
+    scheduler_tcb_init(&tcb, task_vsiApp_callback, NULL, "vsiApp", TASK_VSI_INTERVAL_USEC);
+
+    task_stats_enable(&tcb.stats);
+
+    // Register task with scheduler
+    return scheduler_tcb_register(&tcb);
+}
+
+int task_vsiApp_deinit(void)
+{
+	pwm_disable();
+	return scheduler_tcb_unregister(&tcb);
+}
+
+void task_vsiApp_callback(void *arg)
+{
+
+    // Update theta
+    theta += (Ts * omega);
+    theta = fmod(theta, 2.0 * M_PI); // Wrap to 2*pi
+
+    // Calculate desired duty ratios
+    double duty_a = 0.5 + Do / 2.0 * cos(theta);
+    double duty_b = 0.5 + Do / 2.0 * cos(theta - 2.0 * M_PI / 3.0);
+    double duty_c = 0.5 + Do / 2.0 * cos(theta - 4.0 * M_PI / 3.0);
+
+    // Update PWM peripheral in FPGA
+	pwm_set_duty(0, duty_a); // Set HB1 duty ratio (INV1, PWM1 and PWM2)
+	pwm_set_duty(1, duty_b); // Set HB2 duty ratio (INV1, PWM3 and PWM4)
+	pwm_set_duty(2, duty_c); // Set HB3 duty ratio (INV1, PWM5 and PWM6)
+
+	// Update logging variables
+	analog_getf(ANALOG_IN5, &LOG_current_a);
+	analog_getf(ANALOG_IN6, &LOG_current_b);
+	analog_getf(ANALOG_IN7, &LOG_current_c);
+	LOG_current_a *= 0.5;
+	LOG_current_b *= 0.5;
+	LOG_current_c *= 0.5;
+
+	LOG_voltage_a = (duty_a - 0.5) * 20;
+	LOG_voltage_b = (duty_b - 0.5) * 20;
+	LOG_voltage_c = (duty_c - 0.5) * 20;
+
+	pwm_get_switching_freq() / timing_manager_get_ratio(); // number of samples per second
+	omega / (2.0 * M_PI); // number of periods per second
+	(pwm_get_switching_freq() / timing_manager_get_ratio()) * (2.0 * M_PI) / omega; // number of samples per period
+	if (RMS_driven) {
+		double currentRMS = calculateRMS();
+		Do += (RMS_target - currentRMS) * SQRT2;
+	}
+
+}
+
+double calculateRMS() {
+	return RMS_target;
+}
+
+int task_vsiApp_amplitude(double amplitude) {
+	Do = amplitude;
+	return SUCCESS;
+}
+
+int task_vsiApp_frequency(double frequency) {
+	omega = frequency * 2.0 * M_PI; // rad/s = frequency (Hz) * (2 * PI)
+	return SUCCESS;
+}
+
+int task_vsiApp_RMS(double RMS) {
+	RMS_target = RMS;
+	return SUCCESS;
+}
+
+int task_vsiApp_RMS_enable() {
+	if (RMS_driven == 0) {
+		RMS_driven = 1;
+		return SUCCESS;
+	}
+	return FAILURE;
+}
+
+int task_vsiApp_RMS_disable() {
+	if (RMS_driven) {
+		RMS_driven = 0;
+		return SUCCESS;
+	}
+	return FAILURE;
+}
+
+void task_vsiApp_stats_print(void) {
+    task_stats_print(&tcb.stats);
+}
+
+void task_vsiApp_stats_reset(void) {
+    task_stats_reset(&tcb.stats);
+}
+
+#endif // APP_BLINK

sdk/app_cpu1/user/usr/vsiApp/task_vsiApp.h

@@ -0,0 +1,24 @@
+#ifndef TASK_VSIAPP_H
+#define TASK_VSIAPP_H
+
+#include "sys/scheduler.h"
+
+#define TASK_VSI_UPDATES_PER_SEC (10000)
+#define TASK_VSI_INTERVAL_USEC   (USEC_IN_SEC / TASK_VSI_UPDATES_PER_SEC)
+
+int task_vsiApp_init(void);
+int task_vsiApp_deinit(void);
+
+void task_vsiApp_callback(void *arg);
+
+int task_vsiApp_amplitude(double amplitude);
+int task_vsiApp_frequency(double frequency);
+int task_vsiApp_RMS(double RMS);
+int task_vsiApp_RMS_enable();
+int task_vsiApp_RMS_disable();
+double calculateRMS();
+
+void task_vsiApp_stats_print(void);
+void task_vsiApp_stats_reset(void);
+
+#endif // TASK_VSIAPP_H