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Merge pull request #39 from MasterPlayer/free_fall_support
Fix issue #38
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Original file line number | Diff line number | Diff line change |
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#include <stdio.h> | ||
#include "platform.h" | ||
#include "xil_printf.h" | ||
#include "axi_adxl.h" | ||
#include <time.h> | ||
#include <xscugic.h> | ||
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#include <xparameters.h> | ||
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int scugic_initialize(XScuGic *ptr, axi_adxl* adxl_ptr); | ||
void adxl_intr_handler(void *callback); | ||
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int main(){ | ||
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init_platform(); | ||
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axi_adxl adxl_device; | ||
XScuGic gic; | ||
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axi_adxl_init(&adxl_device, 0x40030000, 0x40040000); | ||
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scugic_initialize(&gic, &adxl_device); | ||
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int status = axi_adxl_enable(&adxl_device, 0x53, 10); | ||
if (status != ADXL_OK){ | ||
printf("[MAIN] : enable device return code [%d]\r\n", status); | ||
} | ||
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status = axi_adxl_calibration(&adxl_device); | ||
if (status != ADXL_OK){ | ||
printf("[MAIN] : calibration device return code [%d]\r\n", status); | ||
} | ||
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status = axi_adxl_disable_requesting(&adxl_device); | ||
if (status != ADXL_OK){ | ||
xil_printf("[MAIN] : disable requests return code : [%d]\r\n", status); | ||
return 0; | ||
} | ||
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axi_adxl_set_int_map(&adxl_device, FREE_FALL, 0x00); | ||
axi_adxl_set_thresh_ff(&adxl_device, 0x10); | ||
axi_adxl_set_time_ff(&adxl_device, 0x10); | ||
axi_adxl_int_enable(&adxl_device, FREE_FALL); | ||
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volatile int change_mode = 0; | ||
volatile int mode = 0; | ||
while(1){ | ||
if (change_mode){ | ||
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axi_adxl_change_bw(&adxl_device, mode); | ||
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change_mode = 0; | ||
} | ||
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} | ||
cleanup_platform(); | ||
return 0; | ||
} | ||
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int scugic_initialize(XScuGic *ptr, axi_adxl* adxl_ptr){ | ||
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int status = 0; | ||
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XScuGic_Config *cfg; | ||
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cfg = XScuGic_LookupConfig(XPAR_SCUGIC_0_DEVICE_ID); | ||
if (!cfg){ | ||
return XST_FAILURE; | ||
} | ||
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status = XScuGic_CfgInitialize(ptr, cfg, cfg->CpuBaseAddress); | ||
if (status != XST_SUCCESS){ | ||
return XST_FAILURE; | ||
} | ||
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XScuGic_SetPriorityTriggerType(ptr, XPAR_FABRIC_AXI_ADXL345_VHD_0_ADXL_IRQ_INTR, 0x00, 0x3); | ||
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status = XScuGic_Connect(ptr, XPAR_FABRIC_AXI_ADXL345_VHD_0_ADXL_IRQ_INTR, (Xil_InterruptHandler)adxl_intr_handler, adxl_ptr); | ||
if (status != XST_SUCCESS){ | ||
return XST_FAILURE; | ||
} | ||
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XScuGic_Enable(ptr, XPAR_FABRIC_AXI_ADXL345_VHD_0_ADXL_IRQ_INTR); | ||
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Xil_ExceptionRegisterHandler(XIL_EXCEPTION_ID_INT, (Xil_ExceptionHandler)XScuGic_InterruptHandler, ptr); | ||
Xil_ExceptionEnable(); | ||
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return status ; | ||
} | ||
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int iter = 0; | ||
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void adxl_intr_handler(void *callback){ | ||
axi_adxl *ptr = (axi_adxl*)callback; | ||
adxl_cfg_ack(ptr->cfg); | ||
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printf("INTR[%5d]\r\n", iter); | ||
iter++; | ||
// axi_adxl_debug(ptr); | ||
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// g_coord g; | ||
// | ||
// axi_adxl_get_gravity(ptr, &g); | ||
// | ||
// printf("[x] : %3.3f \t[y] : %3.3f \t [z] %3.3f\r\n", g.x, g.y, g.z); | ||
return; | ||
} | ||
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