public static async Task Aggregator(
// UART signals
FPGA.InputSignal <bool> RXD,
FPGA.OutputSignal <bool> TXD,
// ADC signals
FPGA.OutputSignal <bool> ADC1NCS,
FPGA.OutputSignal <bool> ADC1SLCK,
FPGA.OutputSignal <bool> ADC1DIN,
FPGA.InputSignal <bool> ADC1DOUT
)
{
Sequential handler = () =>
{
ushort adcChannel1Value = 0, adcChannel2Value = 0;
ADC102S021.Read(
out adcChannel1Value,
out adcChannel2Value,
ADC1NCS,
ADC1SLCK,
ADC1DIN,
ADC1DOUT);
Controllers.SRDTO response = new Controllers.SRDTO();
response.C1 = adcChannel1Value;
response.C2 = adcChannel2Value;
Drivers.JSON.SerializeToUART <Controllers.SRDTO>(ref response, TXD);
};
FPGA.Config.OnTimer(TimeSpan.FromSeconds(1), handler);
}
public static void Controls(
// ADC
FPGA.OutputSignal <bool> ADC1NCS,
FPGA.OutputSignal <bool> ADC1SLCK,
FPGA.OutputSignal <bool> ADC1DIN,
FPGA.InputSignal <bool> ADC1DOUT,
// keypad
FPGA.OutputSignal <bool> K7,
FPGA.OutputSignal <bool> K6,
FPGA.OutputSignal <bool> K5,
FPGA.OutputSignal <bool> K4,
FPGA.InputSignal <bool> K3,
FPGA.InputSignal <bool> K2,
FPGA.InputSignal <bool> K1,
FPGA.InputSignal <bool> K0,
ref KeysDTO controlsState)
{
KeypadKeyCode internalCode = 0;
FPGA.Config.Link(internalCode, out controlsState.KeyCode);
ushort adcChannel1Value = 32767, adcChannel2Value = 32767;
FPGA.Config.Link(adcChannel1Value, controlsState.X);
FPGA.Config.Link(adcChannel2Value, controlsState.Y);
Sequential keypadHandler = () =>
{
Keypad4x4.ReadASCIICode(K7, K6, K5, K4, K3, K2, K1, K0, out internalCode);
};
FPGA.Config.OnTimer(TimeSpan.FromMilliseconds(20), keypadHandler);
Sequential joystickHandler = () =>
{
while (true)
{
ADC102S021.Read(out adcChannel1Value, out adcChannel2Value, ADC1NCS, ADC1SLCK, ADC1DIN, ADC1DOUT);
}
};
FPGA.Config.OnStartup(joystickHandler);
}
public static async Task Aggregator(
FPGA.OutputSignal <bool> TXD,
FPGA.InputSignal <bool> RXD
)
{
const uint baud = 115200;
const uint tasksCount = 10;
ushort[] buff = new ushort[tasksCount];
FPGA.Signal <bool> tasksTrigger = false;
object buffLock = new object();
uint completedTasks = 0;
Func <bool> tasksCompleted = () => completedTasks == tasksCount;
bool internalTXD = true;
FPGA.Config.Link(internalTXD, TXD);
Sequential onStartup = () =>
{
while (true)
{
byte cmd = UART.Read(baud, RXD);
lock (buffLock)
{
completedTasks = 0;
tasksTrigger = true;
}
FPGA.Runtime.WaitForAllConditions(tasksCompleted);
for (uint idx = 0; idx < buff.Length; idx++)
{
ushort data = 0;
data = buff[idx];
UART.RegisteredWrite(baud, (byte)data, out internalTXD);
UART.RegisteredWrite(baud, (byte)(data >> 8), out internalTXD);
}
}
};
FPGA.Config.OnStartup(onStartup);
Sequential taskHandler = () =>
{
uint taskIndex = FPGA.Config.InstanceId();
FPGA.OutputSignal <bool> ADC1NCS = new FPGA.OutputSignal <bool>();
FPGA.OutputSignal <bool> ADC1SLCK = new FPGA.OutputSignal <bool>();
FPGA.OutputSignal <bool> ADC1DIN = new FPGA.OutputSignal <bool>();
FPGA.InputSignal <bool> ADC1DOUT = new FPGA.InputSignal <bool>();
ushort adcChannel1Value = 0, adcChannel2Value = 0;
ADC102S021.Read(out adcChannel1Value, out adcChannel2Value, ADC1NCS, ADC1SLCK, ADC1DIN, ADC1DOUT);
lock (buffLock)
{
// TODO: inline expression in memory accessor
uint offset1 = taskIndex * 2, offset2 = offset1 + 1;
buff[offset1] = adcChannel1Value;
buff[offset2] = adcChannel2Value;
completedTasks++;
}
};
FPGA.Config.OnSignal(tasksTrigger, taskHandler, tasksCount);
}
public static async Task Aggregator(
// blinker
FPGA.OutputSignal <bool> LED1,
// IO banks for Quokka board, not needed for another boards
FPGA.OutputSignal <bool> Bank1,
FPGA.OutputSignal <bool> Bank2,
FPGA.OutputSignal <bool> Bank5,
// ADC
FPGA.OutputSignal <bool> ADC1NCS,
FPGA.OutputSignal <bool> ADC1SLCK,
FPGA.OutputSignal <bool> ADC1DIN,
FPGA.InputSignal <bool> ADC1DOUT,
// UART
FPGA.InputSignal <bool> RXD,
FPGA.OutputSignal <bool> TXD
)
{
QuokkaBoard.OutputBank(Bank1);
QuokkaBoard.InputBank(Bank2);
QuokkaBoard.OutputBank(Bank5);
IsAlive.Blink(LED1);
bool internalTXD = true;
FPGA.Config.Link(internalTXD, TXD);
const int servosCount = 4;
byte[] servosData = new byte[servosCount]
{
90, // main panel starts lookup up
90, // main panel starts lookup up
50, // sensor panel starts at beginning of measurement cycle
50, // sensor panel starts at beginning of measurement cycle
};
object servosLock = new object();
bool autoScan = true;
Sequential servoHandler = () =>
{
uint instanceId = FPGA.Config.InstanceId();
var servoOutputPin = new FPGA.OutputSignal <bool>();
byte value = 0;
bool servoOutput = false;
byte requestValue = 0;
FPGA.Config.Link(servoOutput, servoOutputPin);
while (true)
{
requestValue = servosData[instanceId];
if (FPGA.Config.InstanceId() <= 1)
{
// large panel moves with smoothing
if (requestValue != value)
{
if (requestValue < value)
{
value--;
}
else
{
value++;
}
}
}
else
{
value = requestValue;
}
MG996R.Write(value, out servoOutput);
}
};
FPGA.Config.OnStartup(servoHandler, servosCount);
Sequential autoScanHandler = () =>
{
while (true)
{
if (!autoScan)
{
continue;
}
byte s2Delta = 5;
sbyte s3Delta = 5;
ushort maxChannel1Value = 0;
byte s2Max = 0, s3Max = 0;
// reset sensor panel to center
for (byte i = 2; i < servosCount; i++)
{
servosData[i] = 90;
}
FPGA.Runtime.Delay(TimeSpan.FromMilliseconds(50));
byte s3 = 50;
for (byte s2 = 50; s2 <= 130; s2 += s2Delta)
{
servosData[2] = s2;
while (s3 >= 50 && s3 <= 130)
{
servosData[3] = s3;
// TODO: barrier sync all servo handlers
FPGA.Runtime.Delay(TimeSpan.FromMilliseconds(50));
ushort adcChannel1Value = 0, adcChannel2Value = 0;
ADC102S021.Read(out adcChannel1Value, out adcChannel2Value, ADC1NCS, ADC1SLCK, ADC1DIN, ADC1DOUT);
if (adcChannel1Value > maxChannel1Value)
{
s2Max = s2;
s3Max = s3;
maxChannel1Value = adcChannel1Value;
byte[] buff = new byte[3];
byte tmp;
buff[0] = 255;
buff[1] = s2Max;
buff[2] = s3Max;
for (byte i = 0; i < buff.Length; i++)
{
tmp = buff[i];
UART.Write(115200, tmp, internalTXD);
}
}
s3 = (byte)(s3 + s3Delta);
}
s3Delta = (sbyte)(-s3Delta);
s3 = (byte)(s3 + s3Delta); // compensate for overshoot
}
servosData[1] = (byte)(180 - s2Max); // should be mirrored around 90 as servo is backwards
servosData[0] = s3Max; // same value
FPGA.Runtime.Delay(TimeSpan.FromMilliseconds(1000));
}
};
FPGA.Config.OnStartup(autoScanHandler);
SetServos request = new SetServos();
FPGA.Signal <bool> requestDeserialized = new FPGA.Signal <bool>();
JSON.DeserializeFromUART <SetServos>(ref request, RXD, requestDeserialized);
Sequential onRequest = () =>
{
autoScan = request.autoRun == 0 ? false : true;
servosData[0] = request.s0;
servosData[1] = request.s1;
servosData[2] = request.s2;
servosData[3] = request.s3;
};
FPGA.Config.OnSignal(requestDeserialized, onRequest);
}
