diff --git a/controls/MATLAB/momentOfInertia/J_calc_bifilar.m b/controls/MATLAB/momentOfInertia/J_calc_bifilar.m
index 9f52a69ec50752c0c2b2b644f1a5b373ccc74bcb..0e7945bfff9acae2a5dfcefe2c7f0278ccbca208 100644
--- a/controls/MATLAB/momentOfInertia/J_calc_bifilar.m
+++ b/controls/MATLAB/momentOfInertia/J_calc_bifilar.m
@@ -1,6 +1,14 @@
function J = J_calc_bifilar( m , g, D, L, t, n , varargin)
-%UNTITLED Summary of this function goes here
-% Detailed explanation goes here
+% J = J_calc_bifilar( m , g, D, L, t, n)
+% J = J_calc_bifilar( m , g, D, L, t, n , mode_option)
+%
+% m , D , L , t , and n are vectors containing the mass, distance between
+% strings, legnth of strings, time, and cycles of a set of tests. g is the
+% acceleration of gravity you want to use.
+%
+% mode_option is an optional input which will specify how to calculate J:
+% mode_option = 0 will use averageing of the trials (default)
+% mode_option = 1 will use least squares of the whole data set
average_strings = {'average','mean','ave'};
least_squares_strings = {'least squares','ls'};
@@ -30,7 +38,5 @@ if mode == 1 %least squares
J = (16*pi^2*L./(m*g.*D.^2))\(t./n).^2 ;
end
-
-
end
diff --git a/quad/Makefile b/quad/Makefile
index 0a92c686ac1fd60dc693dbc0a8f0c86f0768331a..8f71d2be8b8812670837040173bfdd7d823271e2 100644
--- a/quad/Makefile
+++ b/quad/Makefile
@@ -38,8 +38,8 @@ test: all
$(MAKE) -C src/queue test
$(MAKE) -C src/computation_graph test
$(MAKE) -C src/quad_app test
- ruby scripts/tests/test_safety_checks.rb
ruby scripts/tests/test_memory_integrity.rb
+ ruby scripts/tests/test_safety_checks.rb
ruby scripts/tests/test_communication.rb
clean:
diff --git a/quad/doc/zybo_pinout_assignments.md b/quad/doc/zybo_pinout_assignments.md
index 05c3de7e849595b35d19101580e31fed3ad2b52f..c2bdae857218bdbae5dc933b1553161554ce533a 100644
--- a/quad/doc/zybo_pinout_assignments.md
+++ b/quad/doc/zybo_pinout_assignments.md
@@ -8,10 +8,10 @@ The Zybo board has 6 PMOD Connectors. We use these for most quad I/O.
```
Zybo PMOD Pin : Zync Pin : Xilinx Pin Name : Our Assignment
-JF1 : MIO-13 : N/A : unused
+JF1 : MIO-13 : N/A : I2C1 SDA
JF2 : MIO-10 : N/A : I2C0 SCL
JF3 : MIO-11 : N/A : I2C0 SDA
-JF4 : MIO-12 : N/A : unused
+JF4 : MIO-12 : N/A : I2C1 SCL
JF7 : MIO-0 : N/A : unused
JF8 : MIO-9 : N/A : unused
JF9 : MIO-14 : N/A : unused
@@ -40,8 +40,8 @@ JC2 : W15 : IO_L10N_T1_34 : processing_system7_0_UART0_TX_pin
JC3 : T11 : IO_L1P_T0_34 : processing_system7_0_UART0_RX_pin
JC4 : T10 : IO_L1N_T0_34 : unused
JC7 : W14 : IO_L8P_T1_34 : unused
-JC8 : Y14 : IO_L8N_T1_34 : unused
-JC9 : T12 : IO_L2P_T0_34 : unused
+JC8 : Y14 : IO_L8N_T1_34 : processing_system7_0_UART1_TX_pin
+JC9 : T12 : IO_L2P_T0_34 : processing_system7_0_UART1_RX_pin
JC10 : U12 : IO_L2N_T0_34 : unused
JB1 : T20 : IO_L15P_T2_DQS_34 : unused
diff --git a/quad/scripts/tests/test_memory_integrity.rb b/quad/scripts/tests/test_memory_integrity.rb
index adb8f9190b6adb3fff8a6e6f8de2eb143854cfe3..87cbc83b8795758275fdc63d682857f7bdd4f97d 100644
--- a/quad/scripts/tests/test_memory_integrity.rb
+++ b/quad/scripts/tests/test_memory_integrity.rb
@@ -14,7 +14,7 @@ Dir.chdir(bin_dir)
puts("Firing up the quad...")
# Start virtual quad
-quad = Process.spawn("valgrind --leak-check=full --log-file=./valgrind.out ./virt-quad start")
+quad = Process.spawn("valgrind -v --leak-check=full --log-file=./valgrind.out ./virt-quad start")
sleep 1.5
diff --git a/quad/src/quad_app/callbacks.c b/quad/src/quad_app/callbacks.c
index cb99d83ad9d108e297121666df94159e96fbaedd..8c06e3bdd5283a234578398a2246a1a322291ba5 100644
--- a/quad/src/quad_app/callbacks.c
+++ b/quad/src/quad_app/callbacks.c
@@ -28,7 +28,7 @@ int cb_debug(struct modular_structs *structs, struct metadata *meta, unsigned ch
float param_val = graph_get_output(graph, node_id, 0);
int len = snprintf((char*)buf, sizeof buf, "%f", param_val);
- send_data(&structs->hardware_struct.uart, DEBUG_ID, 0, buf, len >= sizeof(buf) ? 255 : length + 1);
+ send_data(structs->hardware_struct.comm.uart, DEBUG_ID, 0, buf, len >= sizeof(buf) ? 255 : length + 1);
return 0;
}
@@ -40,7 +40,7 @@ int cb_packetlog(struct modular_structs* structs, struct metadata *meta, u8 *dat
n_msg_received += 1;
total_payload_received += length;
int len = sprintf(buf, "Packets received: %d", n_msg_received);
- send_data(&structs->hardware_struct.uart, PACKETLOG_ID, 0, buf, len);
+ send_data(structs->hardware_struct.comm.uart, PACKETLOG_ID, 0, buf, len);
return 0;
}
@@ -54,7 +54,7 @@ int cb_getpacketlogs(struct modular_structs* structs, struct metadata *meta, u8
// Message logging number of messages received and size of payload received
int len = snprintf((char*)buf, sizeof buf, "%d,%lu", n_msg_received, total_payload_received);
- send_data(&structs->hardware_struct.uart, LOG_ID, 0, buf, len >= sizeof(buf) ? 255 : len + 1);
+ send_data(structs->hardware_struct.comm.uart, LOG_ID, 0, buf, len >= sizeof(buf) ? 255 : len + 1);
return 0;
}
@@ -202,7 +202,7 @@ int cb_getparam(struct modular_structs *structs, struct metadata *meta, unsigned
pack_float(param_val, resp_data + 4);
// Send the response
- send_data(&structs->hardware_struct.uart, RESPPARAM_ID, msg_id, resp_data, sizeof(resp_data));
+ send_data(structs->hardware_struct.comm.uart, RESPPARAM_ID, msg_id, resp_data, sizeof(resp_data));
return 5;
}
@@ -274,7 +274,7 @@ int cb_getsource(struct modular_structs *structs, struct metadata *meta, unsigne
pack_short(source.controller_id, resp_data + 4);
pack_short(source.controller_output, resp_data + 6);
- send_data(&structs->hardware_struct.uart, RESPSOURCE_ID, msg_id, resp_data, sizeof(resp_data));
+ send_data(structs->hardware_struct.comm.uart, RESPSOURCE_ID, msg_id, resp_data, sizeof(resp_data));
return 0;
}
@@ -303,7 +303,7 @@ int cb_getoutput(struct modular_structs *structs, struct metadata *meta, unsigne
pack_float(output_val, resp_data + 4);
// Send the response
- send_data(&structs->hardware_struct.uart, RESPOUTPUT_ID, msg_id, resp_data, sizeof(resp_data));
+ send_data(structs->hardware_struct.comm.uart, RESPOUTPUT_ID, msg_id, resp_data, sizeof(resp_data));
return 0;
}
@@ -325,7 +325,7 @@ int cb_getnodes(struct modular_structs *structs, struct metadata *meta, unsigned
const struct computation_graph* graph = structs->parameter_struct.graph;
if (graph->n_nodes >= 150) {
static char* error_msg = "Over 150 nodes. Not responding to cb_getnodes for fear of buffer overflow.";
- send_data(&structs->hardware_struct.uart, DEBUG_ID, 0,
+ send_data(structs->hardware_struct.comm.uart, DEBUG_ID, 0,
(u8*)error_msg, sizeof(error_msg));
return -1;
}
@@ -369,7 +369,7 @@ int cb_getnodes(struct modular_structs *structs, struct metadata *meta, unsigned
}
}
- send_data(&structs->hardware_struct.uart, RESPNODES_ID, meta->msg_id, resp_buf, offset);
+ send_data(structs->hardware_struct.comm.uart, RESPNODES_ID, meta->msg_id, resp_buf, offset);
return 0;
}
@@ -406,6 +406,6 @@ int cb_addnode(struct modular_structs *structs, struct metadata *meta, unsigned
u8 resp_buf[2];
pack_short(new_node_id, resp_buf);
- send_data(&structs->hardware_struct.uart, RESPADDNODE_ID, meta->msg_id, resp_buf, sizeof(resp_buf));
+ send_data(structs->hardware_struct.comm.uart, RESPADDNODE_ID, meta->msg_id, resp_buf, sizeof(resp_buf));
return 0;
}
diff --git a/quad/src/quad_app/communication.c b/quad/src/quad_app/communication.c
index aa7561a20a2b389a0a21e39cfc585192ce8a61cc..2f0183c984d3ad1d38ff8a07d3f72a8427675481 100644
--- a/quad/src/quad_app/communication.c
+++ b/quad/src/quad_app/communication.c
@@ -96,7 +96,7 @@ int process_packet(modular_structs_t *structs) {
void process_received(modular_structs_t *structs) {
// Parse as many packets as possible
- struct UARTDriver *uart = &structs->hardware_struct.uart;
+ struct UARTDriver *uart = structs->hardware_struct.comm.uart;
while (!try_receive_packet(uart)) {
process_packet(structs);
}
@@ -111,33 +111,34 @@ int send_data(struct UARTDriver *uart, u16 type_id, u16 msg_id, u8* data, size_t
// bytes|| 1 | 2 | 2 | 2 | var | 1 |
//----------------------------------------------------------------------------------------------
- unsigned char formattedHeader[PACKET_HEADER_SIZE];
-
- // Begin Char:
- formattedHeader[0] = BEGIN_CHAR;
- // Msg type 2 bytes:
- formattedHeader[1] = type_id & 0x000000ff;
- formattedHeader[2] = (type_id >> 8) & 0x000000ff;
- // Msg id 2 bytes
- formattedHeader[3] = msg_id & 0x000000ff;
- formattedHeader[4] = (msg_id >> 8) & 0x000000ff;
- // Data length and data - bytes 5&6 for len, 7+ for data
- formattedHeader[5] = size & 0x000000ff;
- formattedHeader[6] = (size >> 8) & 0x000000ff;
-
- // Compute checksum
- unsigned char packet_checksum = 0;
- int i;
- for(i = 0; i < PACKET_HEADER_SIZE; i++) {
- packet_checksum ^= formattedHeader[i];
- uart->write(uart, formattedHeader[i]);
- }
- for (i = 0; i < size; i++) {
- packet_checksum ^= data[i];
- uart->write(uart, data[i]);
- }
-
- uart->write(uart, packet_checksum);
-
- return 0;
+
+ unsigned char formattedHeader[PACKET_HEADER_SIZE];
+
+ // Begin Char:
+ formattedHeader[0] = BEGIN_CHAR;
+ // Msg type 2 bytes:
+ formattedHeader[1] = type_id & 0x000000ff;
+ formattedHeader[2] = (type_id >> 8) & 0x000000ff;
+ // Msg id 2 bytes
+ formattedHeader[3] = msg_id & 0x000000ff;
+ formattedHeader[4] = (msg_id >> 8) & 0x000000ff;
+ // Data length and data - bytes 5&6 for len, 7+ for data
+ formattedHeader[5] = size & 0x000000ff;
+ formattedHeader[6] = (size >> 8) & 0x000000ff;
+
+ // Compute checksum
+ unsigned char packet_checksum = 0;
+ int i;
+ for(i = 0; i < PACKET_HEADER_SIZE; i++) {
+ packet_checksum ^= formattedHeader[i];
+ uart->write(uart, formattedHeader[i]);
+ }
+ for (i = 0; i < size; i++) {
+ packet_checksum ^= data[i];
+ uart->write(uart, data[i]);
+ }
+
+ uart->write(uart, packet_checksum);
+
+ return 0;
}
diff --git a/quad/src/quad_app/hw_iface.h b/quad/src/quad_app/hw_iface.h
index 1a5f5109ce012bc531d73cbcfe40761e0613882e..03aa86e66da8e7f6f2f152b33602cc99280346f9 100644
--- a/quad/src/quad_app/hw_iface.h
+++ b/quad/src/quad_app/hw_iface.h
@@ -1,8 +1,6 @@
#ifndef HW_IFACE_H
#define HW_IFACE_H
-#include "xbasic_types.h"
-
/**
* Hardware Interfaces
*
@@ -26,6 +24,7 @@
struct gam;
struct lidar;
struct px4flow;
+struct gps;
struct RCReceiverDriver {
void *state;
@@ -68,7 +67,6 @@ struct SystemDriver {
struct I2CDriver {
void *state;
- int busId;
int (*reset)(struct I2CDriver *self);
int (*write)(struct I2CDriver *self,
unsigned short device_addr,
@@ -98,4 +96,14 @@ struct OpticalFlowDriver {
int (*read)(struct OpticalFlowDriver *self, struct px4flow *of);
};
+struct GPSDriver {
+ struct UARTDriver *uart;
+ int (*reset)(struct GPSDriver *self, struct gps *gps);
+ int (*read)(struct GPSDriver *self, struct gps *gps);
+};
+
+struct CommDriver {
+ struct UARTDriver *uart;
+};
+
#endif
diff --git a/quad/src/quad_app/initialize_components.c b/quad/src/quad_app/initialize_components.c
index b39bf638ff782b148457e012759c667567beee0a..edccbbbf88d06f4d48bc7bd24053eeb8d8dd43dc 100644
--- a/quad/src/quad_app/initialize_components.c
+++ b/quad/src/quad_app/initialize_components.c
@@ -64,7 +64,7 @@ int init_structs(modular_structs_t *structs) {
timer_init_globals(global_timer, axi_timer);
// Initialize UART0
- struct UARTDriver *uart = &structs->hardware_struct.uart;
+ struct UARTDriver *uart = &structs->hardware_struct.uart_0;
if (uart->reset(uart)) {
return -1;
}
diff --git a/quad/src/quad_app/log_data.c b/quad/src/quad_app/log_data.c
index cd724d2b2ba0681c3b36ba53932b0c8c78a26af5..2a29ddb8f798a1e9a80dfe6c879e196358621f67 100644
--- a/quad/src/quad_app/log_data.c
+++ b/quad/src/quad_app/log_data.c
@@ -186,7 +186,7 @@ int log_data(log_t* log_struct, parameter_t* ps)
* TODO: This should probably be transmitting in binary instead of ascii
*/
-void printLogging(hardware_t *hardware_struct, log_t* log_struct, parameter_t* ps, raw_sensor_t* raw_sensors){
+void printLogging(struct CommDriver *comm, log_t* log_struct, parameter_t* ps, raw_sensor_t* raw_sensors){
if (arrayIndex == 0) {
// Don't send any logs if nothing was logged
return;
@@ -197,7 +197,7 @@ void printLogging(hardware_t *hardware_struct, log_t* log_struct, parameter_t* p
// Let user know that allocation failed
if (arraySize != LOG_STARTING_SIZE) {
safe_sprintf_cat(&buf, "Failed to allocate enough log memory\n");
- send_data(&hardware_struct->uart, LOG_ID, 0, (u8*)buf.str, buf.size);
+ send_data(comm->uart, LOG_ID, 0, (u8*)buf.str, buf.size);
return;
}
@@ -240,7 +240,7 @@ void printLogging(hardware_t *hardware_struct, log_t* log_struct, parameter_t* p
safe_sprintf_cat(&buf, "\n");
// Send header names
- send_data(&hardware_struct->uart, LOG_ID, 0, (u8*)buf.str, buf.size);
+ send_data(comm->uart, LOG_ID, 0, (u8*)buf.str, buf.size);
// Send units header
buf.size = 0;
@@ -248,17 +248,17 @@ void printLogging(hardware_t *hardware_struct, log_t* log_struct, parameter_t* p
safe_sprintf_cat(&buf, units_output.str);
safe_sprintf_cat(&buf, units_param.str);
safe_sprintf_cat(&buf, "\n");
- send_data(&hardware_struct->uart, LOG_ID, 0, (u8*)buf.str, buf.size);
+ send_data(comm->uart, LOG_ID, 0, (u8*)buf.str, buf.size);
/*************************/
/* print & send log data */
for(i = 0; i < arrayIndex; i++){
format_log(i, log_struct, &buf);
- send_data(&hardware_struct->uart, LOG_ID, 0, (u8*)buf.str, buf.size);
+ send_data(comm->uart, LOG_ID, 0, (u8*)buf.str, buf.size);
}
// Empty message of type LOG_END to indicate end of log
- send_data(&hardware_struct->uart, LOG_END_ID, 0, (u8*)buf.str, 0);
+ send_data(comm->uart, LOG_END_ID, 0, (u8*)buf.str, 0);
}
void resetLogging() {
diff --git a/quad/src/quad_app/log_data.h b/quad/src/quad_app/log_data.h
index c3df9ec19c0e9b6cc41517bc4990b22db44add5c..9c4b8b7d9cf61f9d86bca21543100b5c48fdb38f 100644
--- a/quad/src/quad_app/log_data.h
+++ b/quad/src/quad_app/log_data.h
@@ -47,7 +47,7 @@ void addParamToLog(log_t* log_struct, int controller_id, int param_id, char* uni
/**
* Prints all the log information.
*/
- void printLogging(hardware_t *hardware_struct, log_t* log_struct, parameter_t* ps, raw_sensor_t* raw_sensors);
+ void printLogging(struct CommDriver *comm, log_t* log_struct, parameter_t* ps, raw_sensor_t* raw_sensors);
/**
* Resets and clears logged data
diff --git a/quad/src/quad_app/quad_app.c b/quad/src/quad_app/quad_app.c
index 7f7db6b4fbf3734ea357bc6214bd53c8411c16bd..561df5b1a26cb6394d487751cab9aeef5c227b7a 100644
--- a/quad/src/quad_app/quad_app.c
+++ b/quad/src/quad_app/quad_app.c
@@ -100,7 +100,7 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
if (this_kill_condition == 1 && last_kill_condition == 0) {
// Just disabled
- printLogging(&structs.hardware_struct, &(structs.log_struct), &(structs.parameter_struct), &structs.raw_sensor_struct);
+ printLogging(&structs.hardware_struct.comm, &(structs.log_struct), &(structs.parameter_struct), &structs.raw_sensor_struct);
resetLogging();
MIO7_led_off();
}
@@ -113,8 +113,8 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
if (structs.raw_sensor_struct.gam.error.consErrorCount > 10) {
kill_motors(&(structs.hardware_struct.motors));
char err_msg[] = "More than 10 IMU errors";
- send_data(&structs.hardware_struct.uart, DEBUG_ID, 0, (u8*)err_msg, sizeof(err_msg));
- printLogging(&structs.hardware_struct, &(structs.log_struct), &(structs.parameter_struct), &structs.raw_sensor_struct);
+ send_data(structs.hardware_struct.comm.uart, DEBUG_ID, 0, (u8*)err_msg, sizeof(err_msg));
+ printLogging(&structs.hardware_struct.comm, &(structs.log_struct), &(structs.parameter_struct), &structs.raw_sensor_struct);
break;
}
}
diff --git a/quad/src/quad_app/sensor_processing.c b/quad/src/quad_app/sensor_processing.c
index 80e2c22d38f100d47ae5fe2560ede1602da18305..ad1ee5e5e2da5679fa732d5fdf61ab895656ffcc 100644
--- a/quad/src/quad_app/sensor_processing.c
+++ b/quad/src/quad_app/sensor_processing.c
@@ -125,14 +125,14 @@ int sensor_processing(log_t* log_struct, user_input_t *user_input_struct, raw_se
/*
* Altitude double complementary filter
*/
- static float alt_alpha = 0.9975;
+ static float alt_alpha = 0.98;
static float filtered_vel = 0;
static float filtered_alt = 0;
static float last_lidar = 0;
- float this_lidar = raw_sensor_struct->lidar_distance_m;
+ float this_lidar = -raw_sensor_struct->lidar_distance_m;
// Acceleration in m/s without gravity
- float quad_z_accel = -9.8 * (accel_z + 1);
+ float quad_z_accel = 9.8 * (accel_z + 1);
filtered_vel = alt_alpha*(filtered_vel + quad_z_accel*get_last_loop_time()) +
(1 - alt_alpha)*(this_lidar - last_lidar);
filtered_alt = alt_alpha*(filtered_alt + filtered_vel*get_last_loop_time()) +
diff --git a/quad/src/quad_app/type_def.h b/quad/src/quad_app/type_def.h
index ccf8a677cfe88abb4bb4705ff0240a7cce6fce4c..d5bd1d45e240dd71e06ac784fc4c75e8b4e406d0 100644
--- a/quad/src/quad_app/type_def.h
+++ b/quad/src/quad_app/type_def.h
@@ -131,6 +131,14 @@ typedef struct px4flow {
SensorError_t error;
} px4flow_t;
+typedef struct gps {
+ double lat, lon;
+ double vel, course;
+
+ int fixed;
+ unsigned int numSats;
+} gps_t;
+
typedef struct PID_t {
float current_point; // Current value of the system
float setpoint; // Desired value of the system
@@ -454,7 +462,10 @@ typedef struct hardware_t {
struct I2CDriver i2c_1;
struct RCReceiverDriver rc_receiver;
struct MotorDriver motors;
- struct UARTDriver uart;
+ struct UARTDriver uart_0;
+ struct UARTDriver uart_1;
+ struct GPSDriver gps;
+ struct CommDriver comm;
struct TimerDriver global_timer;
struct TimerDriver axi_timer;
struct LEDDriver mio7_led;
diff --git a/quad/src/virt_quad/hw_impl_unix.c b/quad/src/virt_quad/hw_impl_unix.c
index d3607f17e16deffee36a4cefe64a6b0a55f15943..ab1704ca719e1358a46bc099d5cc7c2e06b7e495 100644
--- a/quad/src/virt_quad/hw_impl_unix.c
+++ b/quad/src/virt_quad/hw_impl_unix.c
@@ -9,6 +9,12 @@ struct UARTDriver create_unix_uart() {
return uart;
}
+struct CommDriver create_unix_comm(struct UARTDriver *uart) {
+ struct CommDriver comm;
+ comm.uart = uart;
+ return comm;
+}
+
struct MotorDriver create_unix_motors() {
struct MotorDriver motors;
motors.state = NULL;
diff --git a/quad/src/virt_quad/hw_impl_unix.h b/quad/src/virt_quad/hw_impl_unix.h
index b368f3fb50630324524ec9f50b1bb8daceb1287d..3ec22683d223584cb4865bc8f58051c733d7e4b5 100644
--- a/quad/src/virt_quad/hw_impl_unix.h
+++ b/quad/src/virt_quad/hw_impl_unix.h
@@ -78,6 +78,7 @@ int unix_optical_flow_reset(struct OpticalFlowDriver *self, struct px4flow *of);
int unix_optical_flow_read(struct OpticalFlowDriver *self, struct px4flow *of);
struct UARTDriver create_unix_uart();
+struct CommDriver create_unix_comm(struct UARTDriver *uart);
struct MotorDriver create_unix_motors();
struct RCReceiverDriver create_unix_rc_receiver();
struct I2CDriver create_unix_i2c();
diff --git a/quad/src/virt_quad/main.c b/quad/src/virt_quad/main.c
index 1e24ab458cec3ca535a21a7a538d51c4b08f6eb3..0d9620db899f86192d978200677f16ad89978025 100644
--- a/quad/src/virt_quad/main.c
+++ b/quad/src/virt_quad/main.c
@@ -31,17 +31,19 @@ void help_sub_command(char *argv[]);
* Implement each of the hardware interfaces.
*/
int setup_hardware(hardware_t *hardware) {
- hardware->i2c = create_unix_i2c();
+ hardware->i2c_0 = create_unix_i2c();
+ hardware->i2c_1 = create_unix_i2c();
hardware->rc_receiver = create_unix_rc_receiver();
hardware->motors = create_unix_motors();
- hardware->uart = create_unix_uart();
+ hardware->uart_0 = create_unix_uart();
+ hardware->comm = create_unix_comm(&hardware->uart_0);
hardware->global_timer = create_unix_global_timer();
hardware->axi_timer = create_unix_axi_timer();
hardware->mio7_led = create_unix_mio7_led();
hardware->sys = create_unix_system();
- hardware->imu = create_unix_imu(&hardware->i2c);
- hardware->lidar = create_unix_lidar(&hardware->i2c);
- hardware->of = create_unix_optical_flow(&hardware->i2c);
+ hardware->imu = create_unix_imu(&hardware->i2c_0);
+ hardware->lidar = create_unix_lidar(&hardware->i2c_1);
+ hardware->of = create_unix_optical_flow(&hardware->i2c_0);
return 0;
}
@@ -121,6 +123,7 @@ void open_new_shm_io() {
pthread_mutex_init(&virt_quad_io->led_lock, &attr);
pthread_mutex_init(&virt_quad_io->motors_lock, &attr);
pthread_mutex_init(&virt_quad_io->rc_lock, &attr);
+ pthread_mutex_init(&virt_quad_io->i2c_lock, &attr);
}
void open_existing_shm_io() {
diff --git a/quad/xsdk_workspace/real_quad/src/hw_impl_zybo.c b/quad/xsdk_workspace/real_quad/src/hw_impl_zybo.c
index 78cf4aafd4f291db173f595de9b0a826f6a929c7..df4cd13a3180ba7fe76c125cc8a72ce89e9aaa8c 100644
--- a/quad/xsdk_workspace/real_quad/src/hw_impl_zybo.c
+++ b/quad/xsdk_workspace/real_quad/src/hw_impl_zybo.c
@@ -1,14 +1,33 @@
#include "hw_impl_zybo.h"
-struct UARTDriver create_zybo_uart() {
+struct UARTDriver create_zybo_uart(int devId) {
struct UARTDriver uart;
- uart.state = NULL;
+ uart.state = malloc(sizeof(struct ZyboUARTState));
+ struct ZyboUARTState *state = uart.state;
+ state->inst = malloc(sizeof(XUartPs));
+ state->queue = queue_malloc(MAX_UART_BUFFER_SIZE);
+ state->devId = devId;
+
uart.reset = zybo_uart_reset;
uart.write = zybo_uart_write;
uart.read = zybo_uart_read;
return uart;
}
+struct GPSDriver create_zybo_gps(struct UARTDriver *uart) {
+ struct GPSDriver gps;
+ gps.uart = uart;
+ gps.reset = zybo_gps_reset;
+ gps.read = zybo_gps_read;
+ return gps;
+}
+
+struct CommDriver create_zybo_comm(struct UARTDriver *uart) {
+ struct CommDriver comm;
+ comm.uart = uart;
+ return comm;
+}
+
struct MotorDriver create_zybo_motors() {
struct MotorDriver motors;
motors.state = NULL;
@@ -27,8 +46,10 @@ struct RCReceiverDriver create_zybo_rc_receiver() {
struct I2CDriver create_zybo_i2c(int busId) {
struct I2CDriver i2c;
- i2c.busId = busId;
- i2c.state = NULL;
+ i2c.state = malloc(sizeof(struct ZyboI2CState));
+ struct ZyboI2CState *state = i2c.state;
+ state->inst = malloc(sizeof(XIicPs));
+ state->busId = busId;
i2c.reset = zybo_i2c_reset;
i2c.write = zybo_i2c_write;
i2c.read = zybo_i2c_read;
diff --git a/quad/xsdk_workspace/real_quad/src/hw_impl_zybo.h b/quad/xsdk_workspace/real_quad/src/hw_impl_zybo.h
index 2f577ee3f7f6bdb60211d20d4c7a78c6c0381a5a..8f439cdf1872f1da5bcd0638d76a152f58c27f8f 100644
--- a/quad/xsdk_workspace/real_quad/src/hw_impl_zybo.h
+++ b/quad/xsdk_workspace/real_quad/src/hw_impl_zybo.h
@@ -24,6 +24,20 @@
#define PX4FLOW_DEVICE_ADDR 0x42
#define PX4FLOW_QUAL_MIN (100)
+#define MAX_UART_BUFFER_SIZE 2048
+
+struct ZyboI2CState {
+ XIicPs *inst;
+ int busId;
+};
+
+struct ZyboUARTState {
+ struct Queue *queue;
+ XUartPs *inst;
+ XScuGic xscugic;
+ int devId;
+};
+
int zybo_uart_reset(struct UARTDriver *self);
int zybo_uart_write(struct UARTDriver *self, unsigned char c);
int zybo_uart_read(struct UARTDriver *self, unsigned char *c);
@@ -68,7 +82,12 @@ int zybo_lidar_read(struct LidarDriver *self, struct lidar *lidar);
int zybo_optical_flow_reset(struct OpticalFlowDriver *self, struct px4flow *of);
int zybo_optical_flow_read(struct OpticalFlowDriver *self, struct px4flow *of);
-struct UARTDriver create_zybo_uart();
+int zybo_gps_reset(struct GPSDriver *self, gps_t *gps);
+int zybo_gps_read(struct GPSDriver *self, gps_t *gps);
+
+struct UARTDriver create_zybo_uart(int devId);
+struct CommDriver create_zybo_comm(struct UARTDriver *uart);
+struct GPSDriver create_zybo_gps(struct UARTDriver *uart);
struct MotorDriver create_zybo_motors();
struct RCReceiverDriver create_zybo_rc_receiver();
struct I2CDriver create_zybo_i2c(int busId);
diff --git a/quad/xsdk_workspace/real_quad/src/hw_impl_zybo_gps.c b/quad/xsdk_workspace/real_quad/src/hw_impl_zybo_gps.c
new file mode 100644
index 0000000000000000000000000000000000000000..ff495afdbc2a597e3e2ca9ba89343cefeee6ed09
--- /dev/null
+++ b/quad/xsdk_workspace/real_quad/src/hw_impl_zybo_gps.c
@@ -0,0 +1,12 @@
+#include "hw_iface.h"
+#include "hw_impl_zybo.h"
+
+int zybo_gps_reset(struct GPSDriver *self, gps_t *gps) {
+ // TODO
+ return -1;
+}
+
+int zybo_gps_read(struct GPSDriver *self, gps_t *gps) {
+ // TODO
+ return -1;
+}
diff --git a/quad/xsdk_workspace/real_quad/src/hw_impl_zybo_i2c.c b/quad/xsdk_workspace/real_quad/src/hw_impl_zybo_i2c.c
index 27f85b241f652d95f2e47c7d95a9f7708e1439b6..751ae4ccf5bbc741def8cea9ea0e555be8f230f0 100644
--- a/quad/xsdk_workspace/real_quad/src/hw_impl_zybo_i2c.c
+++ b/quad/xsdk_workspace/real_quad/src/hw_impl_zybo_i2c.c
@@ -43,15 +43,13 @@ int XIicPs_MasterRecvPolled_ours(XIicPs *InstancePtr, u8 *MsgPtr,
int XIicPs_SetupMaster(XIicPs *InstancePtr, int Role);
int zybo_i2c_reset(struct I2CDriver *self) {
- int i2cID = self->busId;
- if(i2cID > 1) {
- return -1;
- }
-
- if (self->state == NULL) {
- self->state = malloc(sizeof(XIicPs));
- }
- XIicPs *inst = self->state;
+ // ensure all required memory is allocated
+ struct ZyboI2CState *state = self->state;
+ if (state == NULL) return -1;
+ if (state->inst == NULL) return -1;
+ if (state->busId > 1) return -1;
+ int i2cID = state->busId;
+ XIicPs *inst = state->inst;
//Make sure CPU_1x clk is enabled fostatusr I2C controller
u16 *aper_ctrl = (u16 *) IO_CLK_CONTROL_REG_ADDR;
@@ -86,7 +84,8 @@ int zybo_i2c_write(struct I2CDriver *self,
unsigned short device_addr,
unsigned char *data,
unsigned int length) {
- XIicPs *inst = self->state;
+ struct ZyboI2CState *state = self->state;
+ XIicPs *inst = state->inst;
if (device_addr == PX4FLOW_DEVICE_ADDR) {
// If we are sending a request to optical flow, drop down to 100kHz
XIicPs_SetSClk(inst, 100000);
@@ -104,7 +103,8 @@ int zybo_i2c_read(struct I2CDriver *self,
unsigned short device_addr,
unsigned char *buff,
unsigned int length) {
- XIicPs *inst = self->state;
+ struct ZyboI2CState *state = self->state;
+ XIicPs *inst = state->inst;
if (device_addr == PX4FLOW_DEVICE_ADDR) {
// If we are sending a request to optical flow, drop down to 100kHz
XIicPs_SetSClk(inst, 100000);
diff --git a/quad/xsdk_workspace/real_quad/src/hw_impl_zybo_imu.c b/quad/xsdk_workspace/real_quad/src/hw_impl_zybo_imu.c
index 2efebf246ee42886f1d8dc6f3fd8073ee1307ed5..da9ed7ffc6346f652d13391ae6acfd738171892b 100644
--- a/quad/xsdk_workspace/real_quad/src/hw_impl_zybo_imu.c
+++ b/quad/xsdk_workspace/real_quad/src/hw_impl_zybo_imu.c
@@ -57,8 +57,7 @@ int mpu9150_read_mag(struct IMUDriver *self, gam_t* gam);
int mpu9150_read_gyro_accel(gam_t* gam);
int zybo_imu_reset(struct IMUDriver *self, gam_t *gam) {
- // TODO: initialize gam
- memset(gam, 0, sizeof(gam_t));
+ memset(gam, 0, sizeof(gam_t));
struct I2CDriver *i2c = self->i2c;
@@ -143,7 +142,7 @@ int mpu9150_write(struct I2CDriver *i2c, u8 register_addr, u8 data){
// Check if within register range
if(register_addr < 0 || register_addr > 0x75){
- return;
+ return -1;
}
if(register_addr <= 0x12){
diff --git a/quad/xsdk_workspace/real_quad/src/hw_impl_zybo_tests.c b/quad/xsdk_workspace/real_quad/src/hw_impl_zybo_tests.c
index 9c02bdb6338734c41c8afe352682366739410f86..a38e87306620ba54d308d61cd450cf7e817614cc 100644
--- a/quad/xsdk_workspace/real_quad/src/hw_impl_zybo_tests.c
+++ b/quad/xsdk_workspace/real_quad/src/hw_impl_zybo_tests.c
@@ -65,9 +65,9 @@ int test_zybo_i2c() {
int test_zybo_i2c_imu() {
struct I2CDriver i2c = create_zybo_i2c(0);
struct IMUDriver imu = create_zybo_imu(&i2c);
- i2c.reset(&i2c);
gam_t gam;
+ if (i2c.reset(&i2c)) return 0;
if (imu.reset(&imu, &gam)) return 0;
int status = 0;
@@ -280,7 +280,7 @@ int test_zybo_global_timer() {
}
/**
- * Test for the UARTDriver.
+ * Communication tests using the UARTDriver.
*
* Instructions:
* 1) Connect Zybo board to computer by USB cable.
@@ -296,15 +296,16 @@ int test_zybo_global_timer() {
* - Observe test results on terminal
* - You might be able to see LED MIO7 blink when it receives bytes
*/
-int test_zybo_uart() {
- struct UARTDriver uart = create_zybo_uart();
+int test_zybo_uart_comm() {
+ struct UARTDriver uart = create_zybo_uart(0);
+ struct CommDriver comm = create_zybo_comm(&uart);
struct LEDDriver led = create_zybo_mio7_led();
uart.reset(&uart);
led.reset(&led);
unsigned char c;
while (1) {
- if (uart.read(&uart, &c)) {
+ if (comm.uart->read(comm.uart, &c)) {
// read failed
led.turn_off(&led);
} else {
diff --git a/quad/xsdk_workspace/real_quad/src/hw_impl_zybo_uart.c b/quad/xsdk_workspace/real_quad/src/hw_impl_zybo_uart.c
index 18c17af0a045f70686b001c0de488eacd6efbeaf..9d3ff70509cdd8837a2278f4e721d6340bb3d77b 100644
--- a/quad/xsdk_workspace/real_quad/src/hw_impl_zybo_uart.c
+++ b/quad/xsdk_workspace/real_quad/src/hw_impl_zybo_uart.c
@@ -1,29 +1,20 @@
#include "hw_impl_zybo.h"
#define BAUD_RATE 921600
-#define MAX_UART_BUFFER_SIZE 2048
-int XUartPs_SetBaudRate_ours(XUartPs *InstancePtr, u32 BaudRate);
-void uart_interrupt_handler(XUartPs *InstancePtr);
-int SetupInterruptSystem(XUartPs *UartInstancePtr, u16 UartIntrId, Xil_ExceptionHandler handler);
-void uart_interrupt_handler(XUartPs *InstancePtr);
-// Queue has to be global to be accessible to ISR
-static struct Queue queue;
-static volatile unsigned char buff[MAX_UART_BUFFER_SIZE];
-static XScuGic xscugic;
+int XUartPs_SetBaudRate_ours(XUartPs *InstancePtr, u32 BaudRate);
+int SetupInterruptSystem(struct ZyboUARTState *state, u16 UartIntrId, Xil_ExceptionHandler handler);
+void uart_interrupt_handler(struct ZyboUARTState *state);
int zybo_uart_reset(struct UARTDriver *self) {
- // Instantiate the Driver state
- if (self->state == NULL) {
- self->state = malloc(sizeof(XUartPs));
- if (self->state == NULL) {
- return -1;
- }
- queue_init(&queue, buff, MAX_UART_BUFFER_SIZE);
- }
+ // Ensure all required memory is allocated
+ struct ZyboUARTState *state = self->state;
+ if (state == NULL) return -1;
+ if (state->inst == NULL) return -1;
+ if (state->queue == NULL) return -1;
- XUartPs *inst = self->state;;
+ XUartPs *inst = state->inst;
// Configure XUartPs instance
XUartPs_Config* config = XUartPs_LookupConfig(XPAR_PS7_UART_0_DEVICE_ID);
@@ -41,7 +32,7 @@ int zybo_uart_reset(struct UARTDriver *self) {
*uart_ctrl_reg |= 0x00000003; // clear TX & RX
// Setup Interrupts
- if (SetupInterruptSystem(inst, XPAR_PS7_UART_0_INTR, (Xil_ExceptionHandler) uart_interrupt_handler) != XST_SUCCESS) {
+ if (SetupInterruptSystem(state, XPAR_PS7_UART_0_INTR, (Xil_ExceptionHandler) uart_interrupt_handler) != XST_SUCCESS) {
return -1;
}
@@ -68,14 +59,17 @@ int zybo_uart_reset(struct UARTDriver *self) {
return 0;
}
-int zybo_uart_write(struct UARTDriver *self, unsigned char c) {\
- XUartPs *inst = self->state;
+int zybo_uart_write(struct UARTDriver *self, unsigned char c) {
+ struct ZyboUARTState *state = self->state;
+ XUartPs *inst = state->inst;
XUartPs_SendByte(inst->Config.BaseAddress, c);
return 0;
}
int zybo_uart_read(struct UARTDriver *self, unsigned char *c) {
- if (queue_remove(&queue, c)) return -1;
+ struct ZyboUARTState *state = self->state;
+ struct Queue *queue = state->queue;
+ if (queue_remove(queue, c)) return -1;
else return 0;
}
@@ -188,8 +182,10 @@ int XUartPs_SetBaudRate_ours(XUartPs *InstancePtr, u32 BaudRate)
}
-void uart_interrupt_handler(XUartPs *InstancePtr) {
+void uart_interrupt_handler(struct ZyboUARTState *state) {
u32 IsrStatus;
+ XUartPs *InstancePtr = state->inst;
+ struct Queue *queue = state->queue;
/*
* Read the interrupt ID register to determine which
@@ -211,7 +207,7 @@ void uart_interrupt_handler(XUartPs *InstancePtr) {
while (0 == (CsrRegister & XUARTPS_SR_RXEMPTY)) {
u8 byte = XUartPs_ReadReg(InstancePtr->Config.BaseAddress, XUARTPS_FIFO_OFFSET);
- queue_add(&queue, byte);
+ queue_add(queue, byte);
CsrRegister = XUartPs_ReadReg(InstancePtr->Config.BaseAddress, XUARTPS_SR_OFFSET);
}
@@ -238,10 +234,9 @@ void uart_interrupt_handler(XUartPs *InstancePtr) {
* @note None.
*
****************************************************************************/
-int SetupInterruptSystem(XUartPs *UartInstancePtr, u16 UartIntrId, Xil_ExceptionHandler handler)
+int SetupInterruptSystem(struct ZyboUARTState *state, u16 UartIntrId, Xil_ExceptionHandler handler)
{
int Status;
-
XScuGic_Config *IntcConfig; /* Config for interrupt controller */
/* Initialize the interrupt controller driver */
@@ -250,7 +245,8 @@ int SetupInterruptSystem(XUartPs *UartInstancePtr, u16 UartIntrId, Xil_Exception
return XST_FAILURE;
}
- Status = XScuGic_CfgInitialize(&xscugic, IntcConfig,
+ memset(&state->xscugic, 0, sizeof(XScuGic));
+ Status = XScuGic_CfgInitialize(&state->xscugic, IntcConfig,
IntcConfig->CpuBaseAddress);
if (Status != XST_SUCCESS) {
return XST_FAILURE;
@@ -262,22 +258,22 @@ int SetupInterruptSystem(XUartPs *UartInstancePtr, u16 UartIntrId, Xil_Exception
*/
Xil_ExceptionRegisterHandler(XIL_EXCEPTION_ID_INT,
(Xil_ExceptionHandler) XScuGic_InterruptHandler,
- &xscugic);
+ &state->xscugic);
/*
* Connect a device driver handler that will be called when an
* interrupt for the device occurs, the device driver handler
* performs the specific interrupt processing for the device
*/
- Status = XScuGic_Connect(&xscugic, UartIntrId,
+ Status = XScuGic_Connect(&state->xscugic, UartIntrId,
handler,
- (void *) UartInstancePtr);
+ (void *) state);
if (Status != XST_SUCCESS) {
return XST_FAILURE;
}
/* Enable the interrupt for the device */
- XScuGic_Enable(&xscugic, UartIntrId);
+ XScuGic_Enable(&state->xscugic, UartIntrId);
/* Enable interrupts */
Xil_ExceptionEnable();
diff --git a/quad/xsdk_workspace/real_quad/src/main.c b/quad/xsdk_workspace/real_quad/src/main.c
index 6ae2ffb1c23af2f3da60e56db12eb2afa79b6cfa..d715d8e6538906b99b38f21f50260d801540c4cf 100644
--- a/quad/xsdk_workspace/real_quad/src/main.c
+++ b/quad/xsdk_workspace/real_quad/src/main.c
@@ -6,10 +6,28 @@
//#define RUN_TESTS
+/**
+ * Create the hardware drivers, and place them on the hardware struct.
+ *
+ * Things to keep in mind:
+ * - The CommDriver requires a UART. Hence, make the a UARTDriver first
+ * and then give that instance to the CommDriver.
+ * - Same for GPSDriver, except it needs a different hardware device.
+ * - The I2C devices (IMU, LIDAR, Optical Flow), need a I2C bus. Hence
+ * make a I2CDriver first, then give the appropariate instance the
+ * device drivers.
+ * - Currently, we are putting the Lidar on its own bus. Apparently,
+ * when looking at an OScope with the Lidar on a bus with other
+ * devices, it does not look right. The SCL line would never
+ * go all the way back down to 0 volts
+ */
int setup_hardware(hardware_t *hardware) {
hardware->rc_receiver = create_zybo_rc_receiver();
hardware->motors = create_zybo_motors();
- hardware->uart = create_zybo_uart();
+ hardware->uart_0 = create_zybo_uart(0);
+ hardware->uart_1 = create_zybo_uart(1);
+ hardware->comm = create_zybo_comm(&hardware->uart_0);
+ hardware->gps = create_zybo_gps(&hardware->uart_1);
hardware->global_timer = create_zybo_global_timer();
hardware->axi_timer = create_zybo_axi_timer();
hardware->mio7_led = create_zybo_mio7_led();
@@ -35,10 +53,10 @@ int main()
//test_zybo_i2c_lidar();
//test_zybo_i2c_all();
//test_zybo_rc_receiver();
- test_zybo_motors();
+ //test_zybo_motors();
//test_zybo_uart();
//test_zybo_axi_timer();
- //test_zybo_uart();
+ test_zybo_uart_comm();
return 0;
#endif
diff --git a/quad/xsdk_workspace/system_bsp/.cproject b/quad/xsdk_workspace/system_bsp/.cproject
index 58ab3351cc7a84b2307d26a9be45e62c628cc66f..d95314090b5587f6375b20955412f1ac382bb324 100644
--- a/quad/xsdk_workspace/system_bsp/.cproject
+++ b/quad/xsdk_workspace/system_bsp/.cproject
@@ -3,8 +3,8 @@
<cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
<storageModule moduleId="org.eclipse.cdt.core.settings">
- <cconfiguration id="org.eclipse.cdt.core.default.config.946402869">
- <storageModule buildSystemId="org.eclipse.cdt.core.defaultConfigDataProvider" id="org.eclipse.cdt.core.default.config.946402869" moduleId="org.eclipse.cdt.core.settings" name="Configuration">
+ <cconfiguration id="org.eclipse.cdt.core.default.config.154473096">
+ <storageModule buildSystemId="org.eclipse.cdt.core.defaultConfigDataProvider" id="org.eclipse.cdt.core.default.config.154473096" moduleId="org.eclipse.cdt.core.settings" name="Configuration">
<externalSettings/>
<extensions/>
</storageModule>
diff --git a/quad/xsdk_workspace/system_bsp/system.mss b/quad/xsdk_workspace/system_bsp/system.mss
index 2c47ed63fb85c6b87fabec00cacc13c5ae4fa666..c68ab7b92b15f34acd7f5630013691eb388335e3 100644
--- a/quad/xsdk_workspace/system_bsp/system.mss
+++ b/quad/xsdk_workspace/system_bsp/system.mss
@@ -15,6 +15,7 @@ BEGIN PROCESSOR
PARAMETER DRIVER_NAME = cpu_cortexa9
PARAMETER DRIVER_VER = 1.01.a
PARAMETER HW_INSTANCE = ps7_cortexa9_0
+ PARAMETER EXTRA_COMPILER_FLAGS = -O0 -g
END
diff --git a/quad/xsdk_workspace/zybo_fsbl/.cproject b/quad/xsdk_workspace/zybo_fsbl/.cproject
index 7ddad3fcbf9d707d11bd9f0bb6f2d6a36f1c41c2..1434e38d4d1165e75cdc6c29b1a70a808484531f 100644
--- a/quad/xsdk_workspace/zybo_fsbl/.cproject
+++ b/quad/xsdk_workspace/zybo_fsbl/.cproject
@@ -3,8 +3,8 @@
<cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
<storageModule moduleId="org.eclipse.cdt.core.settings">
- <cconfiguration id="xilinx.gnu.arm.exe.debug.1528513972">
- <storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="xilinx.gnu.arm.exe.debug.1528513972" moduleId="org.eclipse.cdt.core.settings" name="Debug">
+ <cconfiguration id="xilinx.gnu.arm.exe.debug.631125449">
+ <storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="xilinx.gnu.arm.exe.debug.631125449" moduleId="org.eclipse.cdt.core.settings" name="Debug">
<externalSettings/>
<extensions>
<extension id="com.xilinx.sdk.managedbuilder.XELF.arm" point="org.eclipse.cdt.core.BinaryParser"/>
@@ -16,68 +16,68 @@
</extensions>
</storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
- <configuration artifactExtension="elf" artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug,org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe" cleanCommand="rm -rf" description="" id="xilinx.gnu.arm.exe.debug.1528513972" name="Debug" parent="xilinx.gnu.arm.exe.debug">
- <folderInfo id="xilinx.gnu.arm.exe.debug.1528513972." name="/" resourcePath="">
- <toolChain id="xilinx.gnu.arm.exe.debug.toolchain.620865263" name="Xilinx ARM GNU Toolchain" superClass="xilinx.gnu.arm.exe.debug.toolchain">
- <targetPlatform binaryParser="com.xilinx.sdk.managedbuilder.XELF.arm" id="xilinx.arm.target.gnu.base.debug.1299613950" isAbstract="false" name="Debug Platform" superClass="xilinx.arm.target.gnu.base.debug"/>
- <builder buildPath="${workspace_loc:/zybo_fsbl}/Debug" enableAutoBuild="true" id="xilinx.gnu.arm.toolchain.builder.debug.1331514252" managedBuildOn="true" name="GNU make.Debug" superClass="xilinx.gnu.arm.toolchain.builder.debug"/>
- <tool id="xilinx.gnu.arm.c.toolchain.assembler.debug.911778202" name="ARM gcc assembler" superClass="xilinx.gnu.arm.c.toolchain.assembler.debug">
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- <inputType id="xilinx.gnu.linker.input.lscript.428167088" name="Linker Script" superClass="xilinx.gnu.linker.input.lscript"/>
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</tool>
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+ <tool id="xilinx.gnu.arm.size.debug.569464936" name="ARM Print Size" superClass="xilinx.gnu.arm.size.debug"/>
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<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
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- <storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="xilinx.gnu.arm.exe.release.819164381" moduleId="org.eclipse.cdt.core.settings" name="Release">
+ <cconfiguration id="xilinx.gnu.arm.exe.release.594409871">
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<extension id="com.xilinx.sdk.managedbuilder.XELF.arm" point="org.eclipse.cdt.core.BinaryParser"/>
@@ -89,60 +89,60 @@
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+ <builder buildPath="${workspace_loc:/zybo_fsbl}/Release" enableAutoBuild="true" id="xilinx.gnu.arm.toolchain.builder.release.1422012668" managedBuildOn="true" name="GNU make.Release" superClass="xilinx.gnu.arm.toolchain.builder.release"/>
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- <inputType id="xilinx.gnu.linker.input.lscript.1292679303" name="Linker Script" superClass="xilinx.gnu.linker.input.lscript"/>
+ <inputType id="xilinx.gnu.linker.input.lscript.503889234" name="Linker Script" superClass="xilinx.gnu.linker.input.lscript"/>
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+ <tool id="xilinx.gnu.arm.size.release.108428989" name="ARM Print Size" superClass="xilinx.gnu.arm.size.release"/>
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@@ -152,20 +152,20 @@
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- <project id="zybo_fsbl.xilinx.gnu.arm.exe.36875234" name="Xilinx ARM Executable" projectType="xilinx.gnu.arm.exe"/>
+ <project id="zybo_fsbl.xilinx.gnu.arm.exe.117806380" name="Xilinx ARM Executable" projectType="xilinx.gnu.arm.exe"/>
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<storageModule moduleId="scannerConfiguration">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
- <scannerConfigBuildInfo instanceId="xilinx.gnu.arm.exe.debug.1528513972;xilinx.gnu.arm.exe.debug.1528513972.;xilinx.gnu.arm.c.toolchain.compiler.debug.1840889584;xilinx.gnu.arm.c.compiler.input.164824730">
+ <scannerConfigBuildInfo instanceId="xilinx.gnu.arm.exe.release.594409871;xilinx.gnu.arm.exe.release.594409871.;xilinx.gnu.arm.c.toolchain.compiler.release.2101352431;xilinx.gnu.arm.c.compiler.input.729397047">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="com.xilinx.managedbuilder.ui.ARMGCCManagedMakePerProjectProfileC"/>
</scannerConfigBuildInfo>
- <scannerConfigBuildInfo instanceId="xilinx.gnu.arm.exe.release.819164381;xilinx.gnu.arm.exe.release.819164381.;xilinx.gnu.arm.c.toolchain.compiler.release.2059219877;xilinx.gnu.arm.c.compiler.input.1631463841">
+ <scannerConfigBuildInfo instanceId="xilinx.gnu.arm.exe.debug.631125449;xilinx.gnu.arm.exe.debug.631125449.">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="com.xilinx.managedbuilder.ui.ARMGCCManagedMakePerProjectProfileC"/>
</scannerConfigBuildInfo>
- <scannerConfigBuildInfo instanceId="xilinx.gnu.arm.exe.release.819164381;xilinx.gnu.arm.exe.release.819164381.">
+ <scannerConfigBuildInfo instanceId="xilinx.gnu.arm.exe.release.594409871;xilinx.gnu.arm.exe.release.594409871.">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="com.xilinx.managedbuilder.ui.ARMGCCManagedMakePerProjectProfileC"/>
</scannerConfigBuildInfo>
- <scannerConfigBuildInfo instanceId="xilinx.gnu.arm.exe.debug.1528513972;xilinx.gnu.arm.exe.debug.1528513972.">
+ <scannerConfigBuildInfo instanceId="xilinx.gnu.arm.exe.debug.631125449;xilinx.gnu.arm.exe.debug.631125449.;xilinx.gnu.arm.c.toolchain.compiler.debug.371418732;xilinx.gnu.arm.c.compiler.input.670667181">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="com.xilinx.managedbuilder.ui.ARMGCCManagedMakePerProjectProfileC"/>
</scannerConfigBuildInfo>
</storageModule>
diff --git a/quad/xsdk_workspace/zybo_fsbl/Release/makefile b/quad/xsdk_workspace/zybo_fsbl/Release/makefile
deleted file mode 100644
index 97959e1ede4a1a3378f2241945e4d9dc184546ac..0000000000000000000000000000000000000000
--- a/quad/xsdk_workspace/zybo_fsbl/Release/makefile
+++ /dev/null
@@ -1,58 +0,0 @@
-################################################################################
-# Automatically-generated file. Do not edit!
-################################################################################
-
--include ../makefile.init
-
-RM := rm -rf
-
-# All of the sources participating in the build are defined here
--include sources.mk
--include src/subdir.mk
--include subdir.mk
--include objects.mk
-
-ifneq ($(MAKECMDGOALS),clean)
-ifneq ($(strip $(C_DEPS)),)
--include $(C_DEPS)
-endif
-ifneq ($(strip $(S_UPPER_DEPS)),)
--include $(S_UPPER_DEPS)
-endif
-endif
-
--include ../makefile.defs
-
-# Add inputs and outputs from these tool invocations to the build variables
-ELFSIZE += \
-zybo_fsbl.elf.size \
-
-
-# All Target
-all: zybo_fsbl.elf secondary-outputs
-
-# Tool invocations
-zybo_fsbl.elf: $(OBJS) ../src/lscript.ld $(USER_OBJS)
- @echo 'Building target: $@'
- @echo 'Invoking: ARM gcc linker'
- arm-xilinx-eabi-gcc -L"/local/ucart/MicroCART_17-18/quad/xsdk_workspace/zybo_fsbl/src" -Wl,-T -Wl,../src/lscript.ld -L../../zybo_fsbl_bsp/ps7_cortexa9_0/lib -o "zybo_fsbl.elf" $(OBJS) $(USER_OBJS) $(LIBS)
- @echo 'Finished building target: $@'
- @echo ' '
-
-zybo_fsbl.elf.size: zybo_fsbl.elf
- @echo 'Invoking: ARM Print Size'
- arm-xilinx-eabi-size zybo_fsbl.elf |tee "zybo_fsbl.elf.size"
- @echo 'Finished building: $@'
- @echo ' '
-
-# Other Targets
-clean:
- -$(RM) $(OBJS)$(C_DEPS)$(EXECUTABLES)$(ELFSIZE)$(S_UPPER_DEPS) zybo_fsbl.elf
- -@echo ' '
-
-secondary-outputs: $(ELFSIZE)
-
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
diff --git a/quad/xsdk_workspace/zybo_fsbl/Release/objects.mk b/quad/xsdk_workspace/zybo_fsbl/Release/objects.mk
deleted file mode 100644
index 88ab2f86c60bc732322248eb99b64703856ff9af..0000000000000000000000000000000000000000
--- a/quad/xsdk_workspace/zybo_fsbl/Release/objects.mk
+++ /dev/null
@@ -1,8 +0,0 @@
-################################################################################
-# Automatically-generated file. Do not edit!
-################################################################################
-
-USER_OBJS :=
-
-LIBS := -lrsa -Wl,--start-group,-lxil,-lgcc,-lc,--end-group
-
diff --git a/quad/xsdk_workspace/zybo_fsbl/Release/sources.mk b/quad/xsdk_workspace/zybo_fsbl/Release/sources.mk
deleted file mode 100644
index a7c54c38a1e61325feea8965fd7f659ed223d79b..0000000000000000000000000000000000000000
--- a/quad/xsdk_workspace/zybo_fsbl/Release/sources.mk
+++ /dev/null
@@ -1,20 +0,0 @@
-################################################################################
-# Automatically-generated file. Do not edit!
-################################################################################
-
-O_SRCS :=
-C_SRCS :=
-LD_SRCS :=
-S_UPPER_SRCS :=
-S_SRCS :=
-OBJ_SRCS :=
-OBJS :=
-C_DEPS :=
-EXECUTABLES :=
-ELFSIZE :=
-S_UPPER_DEPS :=
-
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-src \
-
diff --git a/quad/xsdk_workspace/zybo_fsbl/Release/src/subdir.mk b/quad/xsdk_workspace/zybo_fsbl/Release/src/subdir.mk
deleted file mode 100644
index c45bb40c493a6c0fde19fd2ef6eaa2600e0e6fbb..0000000000000000000000000000000000000000
--- a/quad/xsdk_workspace/zybo_fsbl/Release/src/subdir.mk
+++ /dev/null
@@ -1,80 +0,0 @@
-################################################################################
-# Automatically-generated file. Do not edit!
-################################################################################
-
-# Add inputs and outputs from these tool invocations to the build variables
-C_SRCS += \
-../src/ddr_init.c \
-../src/ff.c \
-../src/fsbl_hooks.c \
-../src/image_mover.c \
-../src/main.c \
-../src/md5.c \
-../src/mmc.c \
-../src/nand.c \
-../src/nor.c \
-../src/pcap.c \
-../src/ps7_init.c \
-../src/qspi.c \
-../src/rsa.c \
-../src/sd.c
-
-LD_SRCS += \
-../src/lscript.ld
-
-S_UPPER_SRCS += \
-../src/fsbl_handoff.S
-
-OBJS += \
-./src/ddr_init.o \
-./src/ff.o \
-./src/fsbl_handoff.o \
-./src/fsbl_hooks.o \
-./src/image_mover.o \
-./src/main.o \
-./src/md5.o \
-./src/mmc.o \
-./src/nand.o \
-./src/nor.o \
-./src/pcap.o \
-./src/ps7_init.o \
-./src/qspi.o \
-./src/rsa.o \
-./src/sd.o
-
-C_DEPS += \
-./src/ddr_init.d \
-./src/ff.d \
-./src/fsbl_hooks.d \
-./src/image_mover.d \
-./src/main.d \
-./src/md5.d \
-./src/mmc.d \
-./src/nand.d \
-./src/nor.d \
-./src/pcap.d \
-./src/ps7_init.d \
-./src/qspi.d \
-./src/rsa.d \
-./src/sd.d
-
-S_UPPER_DEPS += \
-./src/fsbl_handoff.d
-
-
-# Each subdirectory must supply rules for building sources it contributes
-src/%.o: ../src/%.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O2 -c -fmessage-length=0 -I../../zybo_fsbl_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-src/%.o: ../src/%.S
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O2 -c -fmessage-length=0 -I../../zybo_fsbl_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-
diff --git a/quad/xsdk_workspace/zybo_fsbl_bsp/.cproject b/quad/xsdk_workspace/zybo_fsbl_bsp/.cproject
index 5129f789af122de2e3a649f495991df8ea4f0b4e..2ed788b9c962e8616019e7ed814e42f7ac4936cf 100644
--- a/quad/xsdk_workspace/zybo_fsbl_bsp/.cproject
+++ b/quad/xsdk_workspace/zybo_fsbl_bsp/.cproject
@@ -3,8 +3,8 @@
<cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
<storageModule moduleId="org.eclipse.cdt.core.settings">
- <cconfiguration id="org.eclipse.cdt.core.default.config.1389527391">
- <storageModule buildSystemId="org.eclipse.cdt.core.defaultConfigDataProvider" id="org.eclipse.cdt.core.default.config.1389527391" moduleId="org.eclipse.cdt.core.settings" name="Configuration">
+ <cconfiguration id="org.eclipse.cdt.core.default.config.1193087237">
+ <storageModule buildSystemId="org.eclipse.cdt.core.defaultConfigDataProvider" id="org.eclipse.cdt.core.default.config.1193087237" moduleId="org.eclipse.cdt.core.settings" name="Configuration">
<externalSettings/>
<extensions/>
</storageModule>