FPGA as USB Device: universal communication with PYNQ

#include "xparameters.h"
#include "xil_types.h"
#include "xiic.h"
#include "xintc.h"
#define MAILBOX_CMD_ADDR       (*(volatile u32 *)(0x0000FFFC))
#define MAILBOX_DATA(x)        (*(volatile u32 *)(0x0000F000 +((x)*4)))
#define MAILBOX_DATA_PTR(x)    ( (volatile u32 *)(0x0000F000 +((x)*4)))
#define MAILBOX_DATA_FLOAT(x)     (*(volatile float *)(0x0000F000 +((x)*4)))
#define MAILBOX_DATA_FLOAT_PTR(x) ( (volatile float *)(0x0000F000 +((x)*4)))
#define TEST 	0x69
#define SEND	0x9
#define INIT 	0x23
#define IIC_DEVICE_ID		XPAR_IIC_0_DEVICE_ID
#define INTC_DEVICE_ID		XPAR_INTC_0_DEVICE_ID
#define IIC_INTR_ID			XPAR_INTC_0_IIC_0_VEC_ID
/*
* The following constant defines the address of the IIC
* device on the IIC bus. Note that since
* the address is only 7 bits, this  constant is the address divided by 2.
*/
#define ARDUINO_ADDRESS	0x4 /* The actual address is 0x4 */
#define SEND_COUNT	16
#define RECEIVE_COUNT   16
XIic Iic;		  /* The instance of the IIC device */
XIic_Config *ConfigPtr;
XIntc InterruptController;
u8 WriteBuffer[SEND_COUNT];	/* Write buffer for writing a page. */
u8 ReadBuffer[RECEIVE_COUNT];	/* Read buffer for reading a page. */
volatile u8 TransmitComplete;
volatile u8 ReceiveComplete;
static int SetupInterruptSystem(XIic *IicInstPtr)
{
int Status;
if (InterruptController.IsStarted == XIL_COMPONENT_IS_STARTED) {
return XST_SUCCESS;
}
/*
* Initialize the interrupt controller driver so that it's ready to use.
*/
Status = XIntc_Initialize(&InterruptController, INTC_DEVICE_ID);
if (Status != XST_SUCCESS) {
return XST_FAILURE;
}
/*
* Connect the device driver handler that will be called when an
* interrupt for the device occurs, the handler defined above performs
*  the specific interrupt processing for the device.
*/
Status = XIntc_Connect(&InterruptController, IIC_INTR_ID,
(XInterruptHandler) XIic_InterruptHandler,
IicInstPtr);
if (Status != XST_SUCCESS) {
return XST_FAILURE;
}
/*
* Start the interrupt controller so interrupts are enabled for all
* devices that cause interrupts.
*/
Status = XIntc_Start(&InterruptController, XIN_REAL_MODE);
if (Status != XST_SUCCESS) {
return XST_FAILURE;
}
/*
* Enable the interrupts for the IIC device.
*/
XIntc_Enable(&InterruptController, IIC_INTR_ID);
/*
* Initialize the exception table.
*/
Xil_ExceptionInit();
/*
* Register the interrupt controller handler with the exception table.
*/
Xil_ExceptionRegisterHandler(XIL_EXCEPTION_ID_INT,
(Xil_ExceptionHandler) XIntc_InterruptHandler,
&InterruptController);
/*
* Enable non-critical exceptions.
*/
Xil_ExceptionEnable();
return XST_SUCCESS;
}
static void SendHandler(XIic *InstancePtr)
{
TransmitComplete = 0;
}
static void ReceiveHandler(XIic *InstancePtr)
{
ReceiveComplete = 0;
}
static void StatusHandler(XIic *InstancePtr, int Event)
{
}
int IicInit(u16 IicDeviceId, u8 ArduinoAddress){
int Status;
/*
* Initialize the IIC driver so that it is ready to use.
*/
ConfigPtr = XIic_LookupConfig(IicDeviceId);
if (ConfigPtr == NULL) {
return XST_FAILURE;
}
Status = XIic_CfgInitialize(&Iic, ConfigPtr,
ConfigPtr->BaseAddress);
if (Status != XST_SUCCESS) {
return XST_FAILURE;
}
Status = SetupInterruptSystem(&Iic);
if (Status != XST_SUCCESS) {
return XST_FAILURE;
}
/*
* Set the Transmit, Receive and Status handlers.
*/
XIic_SetSendHandler(&Iic, &Iic,
(XIic_Handler) SendHandler);
XIic_SetRecvHandler(&Iic, &Iic,
(XIic_Handler) ReceiveHandler);
XIic_SetStatusHandler(&Iic, &Iic,
(XIic_StatusHandler) StatusHandler);
Status = XIic_SetAddress(&Iic, XII_ADDR_TO_SEND_TYPE, ArduinoAddress);
if (Status != XST_SUCCESS) {
return XST_FAILURE;
}
return Status;
}
int SendArduinoIIC(u16 IicDeviceId, u8 ArduinoAddress, u8 *ArduinoPtr, u8* TxData, u16 TxLength)
{
int Status;
u8 Index;
for (Index = 0; Index < SEND_COUNT; Index++) {
WriteBuffer[Index] = 0;
ReadBuffer[Index] = 0;
}
TransmitComplete = 1;
Iic.Options = 0x0;
Status = XIic_Start(&Iic);
if (Status != XST_SUCCESS) {
return XST_FAILURE;
}
//	IicInstance.Options = XII_REPEATED_START_OPTION;
Status = XIic_MasterSend(&Iic, TxData, TxLength);
if (Status != XST_SUCCESS) {
return XST_FAILURE;
}
/*
* Wait till data is transmitted.
*/
while ((TransmitComplete) || (XIic_IsIicBusy(&Iic) == TRUE)) {
}
Status = XIic_Stop(&Iic);
if (Status != XST_SUCCESS) {
return XST_FAILURE;
}
return XST_SUCCESS;
}
int main(void)
{
int Status;
int cmd;
u8 data[16] = {0};
u8 data_len = 1;
u8 ArduinoPtr;
u8 ArduinoAddress = 0;
while (1) {
while((MAILBOX_CMD_ADDR & 0x01)==0);
cmd = MAILBOX_CMD_ADDR;
switch(cmd){
case TEST:
MAILBOX_DATA(0) = 69;
MAILBOX_CMD_ADDR = 0x0;
break;
case INIT:
ArduinoAddress = (u16) MAILBOX_DATA(0);
IicInit(IIC_DEVICE_ID, ArduinoAddress);
MAILBOX_CMD_ADDR = 0x0;
break;
case SEND:
data[0] = (u16) MAILBOX_DATA(0);
data_len = (u16) MAILBOX_DATA(1);
Status =  SendArduinoIIC(IIC_DEVICE_ID, ArduinoAddress, &ArduinoPtr, data, data_len);
MAILBOX_DATA(0) = (u16) Status;
MAILBOX_CMD_ADDR = 0x0;
break;
default:
MAILBOX_CMD_ADDR = 0x0;
break;
}
}
return 0;
}