Information-Processing-/led_acceleromter_main.c at main · OrkunAliOzkan/Information-Processing- · GitHub

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#include "system.h"
#include "altera_up_avalon_accelerometer_spi.h"
#include "altera_avalon_timer_regs.h"
#include "altera_avalon_timer.h"
#include "altera_avalon_pio_regs.h"
#include "sys/alt_irq.h"
#include <stdlib.h>
#include <time.h>


#define OFFSET -32
#define PWM_PERIOD 16

alt_8 pwm = 0;
alt_u8 led;
int level;
int N =5;
double coeff[] = {-0.1196,0.4105,0.7344,0.4105,-0.1196};


void led_write(alt_u8 led_pattern) {
    IOWR(LED_BASE, 0, led_pattern);
}

void convert_read(alt_32 acc_read, int * level, alt_u8 * led) {
    acc_read += OFFSET;
    alt_u8 val = (acc_read >> 6) & 0x07;
    * led = (8 >> val) | (8 << (8 - val));
    * level = (acc_read >> 1) & 0x1f;
}

void sys_timer_isr() {
    IOWR_ALTERA_AVALON_TIMER_STATUS(TIMER_BASE, 0);

    if (pwm < abs(level)) {

        if (level < 0) {
            led_write(led << 1);
        } else {
            led_write(led >> 1);
        }

    } else {
        led_write(led);
    }

    if (pwm > PWM_PERIOD) {
        pwm = 0;
    } else {
        pwm++;
    }

}

void timer_init(void * isr) {

    IOWR_ALTERA_AVALON_TIMER_CONTROL(TIMER_BASE, 0x0003);
    IOWR_ALTERA_AVALON_TIMER_STATUS(TIMER_BASE, 0);
    IOWR_ALTERA_AVALON_TIMER_PERIODL(TIMER_BASE, 0x0900);
    IOWR_ALTERA_AVALON_TIMER_PERIODH(TIMER_BASE, 0x0000);
    alt_irq_register(TIMER_IRQ, 0, isr);
    IOWR_ALTERA_AVALON_TIMER_CONTROL(TIMER_BASE, 0x0007);

}


alt_32 filter(double tmp[],double coeff[]){

	alt_32 out = 0;
	 for(int i=0;i<N;i++)
	  {
	    out += coeff[i]*tmp[i];
	  }
	return out;
}

int main() {

    alt_32 x_read;

    alt_up_accelerometer_spi_dev * acc_dev;
    acc_dev = alt_up_accelerometer_spi_open_dev("/dev/accelerometer_spi");
    if (acc_dev == NULL) { // if return 1, check if the spi ip name is "accelerometer_spi"
        return 1;
    }
    double tmp[N];
    for(int i=0;i<N;i++)
    	  {
    	    tmp[i] = 0;
    	  }
    timer_init(sys_timer_isr);
    while (1) {
        alt_up_accelerometer_spi_read_x_axis(acc_dev, & x_read);
        for(int i = N-1;i>0;i--){
           tmp[i]=tmp[i-1];
           }
        tmp[0] = x_read;

         alt_printf("filter data: %x\n", filter(tmp,coeff));
        convert_read(filter(tmp,coeff), & level, & led);
    }

    return 0;
}