public static void ReadData(uint baud, FPGA.InputSignal <bool> RXD, ComplexFloat[] data)
{
uint tmp32 = 0;
for (uint i = 0; i < data.Length; i++)
{
FPGA.Config.SetInclusiveRange(0, data.Length, i);
ComplexFloat tmp = new ComplexFloat();
for (byte idx = 0; idx < 2; idx++)
{
FPGA.Config.SetInclusiveRange(0, 2, idx);
UART.ReadUnsigned32(baud, RXD, ref tmp32);
switch (idx)
{
case 0:
FPGA.Runtime.Assign(FPGA.Expressions.Unchecked(tmp32, out tmp.Re));
break;
case 1:
FPGA.Runtime.Assign(FPGA.Expressions.Unchecked(tmp32, out tmp.Im));
break;
}
}
data[i] = tmp;
}
}
public static async Task Aggregator(
FPGA.InputSignal <bool> RXD,
FPGA.OutputSignal <bool> TXD
)
{
const int baud = 115200;
Sequential handler = () =>
{
while (true)
{
byte op = 0;
UART.Read(baud, RXD, out op);
uint op1 = 0, op2 = 0;
UART.ReadUnsigned32(baud, RXD, ref op1);
UART.ReadUnsigned32(baud, RXD, ref op2);
var result = TestMethod(op, (int)op1, (int)op2);
UART.WriteUnsigned64(baud, (ulong)result, TXD);
}
};
FPGA.Config.OnStartup(handler);
}
public static void DeviceControl(
FPGA.OutputSignal <bool> DOUT,
FPGA.InputSignal <bool> RXD,
FPGA.OutputSignal <bool> TXD
)
{
bool internalTXD = true;
FPGA.Config.Link(internalTXD, TXD);
object commsLock = new object();
bool internalDOUT = false;
FPGA.Config.Link(internalDOUT, DOUT);
const uint baud = 115200;
FPGA.SyncStream <uint> heartBeat = new FPGA.SyncStream <uint>();
const int servosCount = 5;
byte[] servosBuff = new byte[servosCount];
Sequential servosHandler = () =>
{
FPGA.OutputSignal <bool> ServoItem = new FPGA.OutputSignal <bool>();
bool servoOut = false;
FPGA.Config.Link(servoOut, ServoItem);
while (true)
{
uint idx = FPGA.Config.InstanceId();
byte servoData = 0;
servoData = servosBuff[idx];
MG996R.Write(servoData, out servoOut);
}
};
FPGA.Config.OnStartup(servosHandler, servosCount);
// SERVOs driver
Sequential <uint> servosDataHandler = (iteration) =>
{
byte data = 0;
lock (commsLock)
{
UART.RegisteredWrite(baud, 2, out internalTXD);
for (int i = 0; i < servosCount; i++)
{
data = UART.Read(baud, RXD);
servosBuff[i] = data;
}
}
};
FPGA.Config.OnStream(heartBeat, servosDataHandler);
// LED driver
Sequential <uint> ledHandler = (iteration) =>
{
uint data = 0;
uint[] buff = new uint[64];
lock (commsLock)
{
UART.RegisteredWrite(baud, 1, out internalTXD);
for (int i = 0; i < buff.Length; i++)
{
UART.ReadUnsigned32(baud, RXD, ref data);
buff[i] = data;
}
}
WS2812B.SyncWrite(buff, 0, buff.Length, out internalDOUT);
};
FPGA.Config.OnStream(heartBeat, ledHandler);
// main application driver
uint beat = 0;
Sequential heartBeatHandler = () =>
{
heartBeat.Write(beat);
beat++;
};
FPGA.Config.OnTimer(TimeSpan.FromMilliseconds(100), heartBeatHandler);
}
