diff --git a/quad/src/quad_app/iic_utils.h b/quad/src/quad_app/iic_utils.h
index 276ac22ca5c22325c371b5ae85b71dd10674d872..b1ccb6861d9fdb779debe8e42f56b866573f97d2 100644
--- a/quad/src/quad_app/iic_utils.h
+++ b/quad/src/quad_app/iic_utils.h
@@ -96,7 +96,7 @@
#define ACCEL_Y_BIAS 0.009f
#define ACCEL_Z_BIAS 0.087f
-void iic_set_global(struct I2CDriver *given_i2c);
+void iic_set_globals(struct I2CDriver *given_i2c, struct SystemDriver *given_system);
void iic0_mpu9150_write(u8 register_addr, u8 data);
void iic0_mpu9150_read(u8* recv_buffer, u8 register_addr, int size);
diff --git a/quad/src/quad_app/initialize_components.c b/quad/src/quad_app/initialize_components.c
index 7328e381a1db6e5e7bf1721e92f464b014175141..e5f73528fa3a37bb94ccb2ceadac5da5e00a0d13 100644
--- a/quad/src/quad_app/initialize_components.c
+++ b/quad/src/quad_app/initialize_components.c
@@ -8,6 +8,7 @@
#include "initialize_components.h"
#include "communication.h"
#include "sensor.h"
+#include "iic_utils.h"
//#define BENCH_TEST
@@ -39,8 +40,9 @@ int protection_loops(modular_structs_t *structs)
int init_structs(modular_structs_t *structs) {
struct LEDDriver *mio7_led = &structs->hardware_struct.mio7_led;
+ struct SystemDriver *sys = &structs->hardware_struct.sys;
if (mio7_led->reset(mio7_led)) return -1;
- mio7_init_global(mio7_led);
+ mio7_init_globals(mio7_led, sys);
// Turn off LED 7 to let observers know that the quad is not yet active
mio7_led->turn_off(mio7_led);
@@ -73,7 +75,7 @@ int init_structs(modular_structs_t *structs) {
if (i2c->reset(i2c)) {
return -1;
}
- iic_set_global(i2c);
+ iic_set_globals(i2c, sys);
// Initialize PWM Recorders and Motor outputs
struct PWMInputDriver *pwm_inputs = &structs->hardware_struct.pwm_inputs;
diff --git a/quad/src/quad_app/mio7_led.h b/quad/src/quad_app/mio7_led.h
index 52e9e8faab89e225591667027b9a9b7654385159..6244e2c1157cff657170783303506a8303ff07f5 100644
--- a/quad/src/quad_app/mio7_led.h
+++ b/quad/src/quad_app/mio7_led.h
@@ -24,7 +24,7 @@
*/
void flash_MIO_7_led(int how_many_times, int ms_between_flashes);
-void mio7_init_global(struct LEDDriver *given_mio7_led);
+void mio7_init_globals(struct LEDDriver *given_mio7_led, struct SystemDriver *sys);
void MIO7_led_on();
void MIO7_led_off();
diff --git a/quad/src/quad_app/quad_app.h b/quad/src/quad_app/quad_app.h
index ef4cab71f718e52eb7b200b05e555a3f8ad3bffa..85e753a1e14a5a87c91d36f2410651e4b696264c 100644
--- a/quad/src/quad_app/quad_app.h
+++ b/quad/src/quad_app/quad_app.h
@@ -1,6 +1,8 @@
#ifndef QUAD_APP_H
#define QUAD_APP_H
+#include "type_def.h"
+
int quad_main(int (*setup_hardware)(hardware_t *hardware_struct));
#endif
diff --git a/quad/src/quad_app/type_def.h b/quad/src/quad_app/type_def.h
index 5263c31254deca9c6d01bc80841b0a2c81937fba..1dad790da9f3c65d7e4c46153cf033ae2bcbd765 100644
--- a/quad/src/quad_app/type_def.h
+++ b/quad/src/quad_app/type_def.h
@@ -400,6 +400,7 @@ typedef struct hardware_t {
struct TimerDriver global_timer;
struct TimerDriver axi_timer;
struct LEDDriver mio7_led;
+ struct SystemDriver sys;
} hardware_t;
/**
diff --git a/quad/xsdk_workspace/modular_quad_pid/.cproject b/quad/xsdk_workspace/modular_quad_pid/.cproject
index 2a974bb61e6abb6f71e0b057d0beb3c3c2a5b789..63ab92a73ddc5e18f02c14a2a0a35a750e67eee4 100644
--- a/quad/xsdk_workspace/modular_quad_pid/.cproject
+++ b/quad/xsdk_workspace/modular_quad_pid/.cproject
@@ -18,7 +18,7 @@
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
<configuration artifactExtension="elf" artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug,org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe" cleanCommand="rm -rf" description="" id="xilinx.gnu.arm.exe.debug.980189137" name="Debug" parent="xilinx.gnu.arm.exe.debug">
<folderInfo id="xilinx.gnu.arm.exe.debug.980189137." name="/" resourcePath="">
- <toolChain id="xilinx.gnu.arm.exe.debug.toolchain.1195127676" name="Xilinx ARM GNU Toolchain" superClass="xilinx.gnu.arm.exe.debug.toolchain">
+ <toolChain id="xilinx.gnu.arm.exe.debug.toolchain.1195127676" name="Xilinx ARM GNU Toolchain" resourceTypeBasedDiscovery="true" superClass="xilinx.gnu.arm.exe.debug.toolchain">
<targetPlatform binaryParser="com.xilinx.sdk.managedbuilder.XELF.arm" id="xilinx.arm.target.gnu.base.debug.2072264921" isAbstract="false" name="Debug Platform" superClass="xilinx.arm.target.gnu.base.debug"/>
<builder buildPath="${workspace_loc:/modular_quad_pid}/Debug" enableAutoBuild="true" id="xilinx.gnu.arm.toolchain.builder.debug.2124876787" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="GNU make" superClass="xilinx.gnu.arm.toolchain.builder.debug"/>
<tool id="xilinx.gnu.arm.c.toolchain.assembler.debug.192056667" name="ARM gcc assembler" superClass="xilinx.gnu.arm.c.toolchain.assembler.debug">
@@ -27,10 +27,14 @@
<tool id="xilinx.gnu.arm.c.toolchain.compiler.debug.177835003" name="ARM gcc compiler" superClass="xilinx.gnu.arm.c.toolchain.compiler.debug">
<option defaultValue="gnu.c.optimization.level.none" id="xilinx.gnu.compiler.option.optimization.level.1900496019" name="Optimization Level" superClass="xilinx.gnu.compiler.option.optimization.level" value="gnu.c.optimization.level.none" valueType="enumerated"/>
<option id="xilinx.gnu.compiler.option.debugging.level.1207856754" name="Debug Level" superClass="xilinx.gnu.compiler.option.debugging.level" value="gnu.c.debugging.level.max" valueType="enumerated"/>
- <option id="xilinx.gnu.compiler.inferred.swplatform.includes.2123463819" name="Software Platform Include Path" superClass="xilinx.gnu.compiler.inferred.swplatform.includes" valueType="includePath">
+ <option id="xilinx.gnu.compiler.inferred.swplatform.includes.2123463819" name="Software Platform Include Path" superClass="xilinx.gnu.compiler.inferred.swplatform.includes"/>
+ <option id="xilinx.gnu.compiler.symbols.defined.1696008720" name="Defined symbols (-D)" superClass="xilinx.gnu.compiler.symbols.defined"/>
+ <option id="xilinx.gnu.compiler.dircategory.includes.1211006365" name="Include Paths" superClass="xilinx.gnu.compiler.dircategory.includes" valueType="includePath">
<listOptionValue builtIn="false" value="../../system_bsp/ps7_cortexa9_0/include"/>
+ <listOptionValue builtIn="false" value=""${workspace_loc:/modular_quad_pid/ext/computation_graph}""/>
+ <listOptionValue builtIn="false" value=""${workspace_loc:/modular_quad_pid/ext/quad_app}""/>
+ <listOptionValue builtIn="false" value=""${workspace_loc:/modular_quad_pid/ext/queue}""/>
</option>
- <option id="xilinx.gnu.compiler.symbols.defined.1696008720" name="Defined symbols (-D)" superClass="xilinx.gnu.compiler.symbols.defined"/>
<inputType id="xilinx.gnu.arm.c.compiler.input.909725989" name="C source files" superClass="xilinx.gnu.arm.c.compiler.input"/>
</tool>
<tool id="xilinx.gnu.arm.cxx.toolchain.compiler.debug.1470236349" name="ARM g++ compiler" superClass="xilinx.gnu.arm.cxx.toolchain.compiler.debug">
@@ -52,6 +56,7 @@
<option id="xilinx.gnu.c.link.option.libs.1025826490" name="Libraries (-l)" superClass="xilinx.gnu.c.link.option.libs" valueType="libs">
<listOptionValue builtIn="false" value="m"/>
</option>
+ <option id="xilinx.gnu.c.link.option.paths.1462160427" name="Library search path (-L)" superClass="xilinx.gnu.c.link.option.paths"/>
<inputType id="xilinx.gnu.linker.input.777404607" superClass="xilinx.gnu.linker.input">
<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
<additionalInput kind="additionalinput" paths="$(LIBS)"/>
@@ -101,12 +106,16 @@
<tool id="xilinx.gnu.arm.c.toolchain.compiler.release.85270120" name="ARM gcc compiler" superClass="xilinx.gnu.arm.c.toolchain.compiler.release">
<option defaultValue="gnu.c.optimization.level.more" id="xilinx.gnu.compiler.option.optimization.level.515686013" name="Optimization Level" superClass="xilinx.gnu.compiler.option.optimization.level" valueType="enumerated"/>
<option id="xilinx.gnu.compiler.option.debugging.level.1121150517" name="Debug Level" superClass="xilinx.gnu.compiler.option.debugging.level" value="gnu.c.debugging.level.none" valueType="enumerated"/>
- <option id="xilinx.gnu.compiler.inferred.swplatform.includes.687694973" name="Software Platform Include Path" superClass="xilinx.gnu.compiler.inferred.swplatform.includes" valueType="includePath">
- <listOptionValue builtIn="false" value="../../system_bsp/ps7_cortexa9_0/include"/>
- </option>
+ <option id="xilinx.gnu.compiler.inferred.swplatform.includes.687694973" name="Software Platform Include Path" superClass="xilinx.gnu.compiler.inferred.swplatform.includes" valueType="includePath"/>
<option id="xilinx.gnu.compiler.symbols.defined.1562495938" name="Defined symbols (-D)" superClass="xilinx.gnu.compiler.symbols.defined" valueType="definedSymbols">
<listOptionValue builtIn="false" value="NDEBUG=1"/>
</option>
+ <option id="xilinx.gnu.compiler.dircategory.includes.1873624761" superClass="xilinx.gnu.compiler.dircategory.includes" valueType="includePath">
+ <listOptionValue builtIn="false" value="../../system_bsp/ps7_cortexa9_0/include"/>
+ <listOptionValue builtIn="false" value=""${workspace_loc:/modular_quad_pid/ext/computation_graph}""/>
+ <listOptionValue builtIn="false" value=""${workspace_loc:/modular_quad_pid/ext/quad_app}""/>
+ <listOptionValue builtIn="false" value=""${workspace_loc:/modular_quad_pid/ext/queue}""/>
+ </option>
<inputType id="xilinx.gnu.arm.c.compiler.input.846429887" name="C source files" superClass="xilinx.gnu.arm.c.compiler.input"/>
</tool>
<tool id="xilinx.gnu.arm.cxx.toolchain.compiler.release.1846278293" name="ARM g++ compiler" superClass="xilinx.gnu.arm.cxx.toolchain.compiler.release">
@@ -158,6 +167,15 @@
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
<project id="modular_quad_pid.xilinx.gnu.arm.exe.832182557" name="Xilinx ARM Executable" projectType="xilinx.gnu.arm.exe"/>
</storageModule>
+ <storageModule moduleId="refreshScope" versionNumber="2">
+ <configuration configurationName="Release">
+ <resource resourceType="PROJECT" workspacePath="/modular_quad_pid"/>
+ </configuration>
+ <configuration configurationName="Debug">
+ <resource resourceType="PROJECT" workspacePath="/modular_quad_pid"/>
+ </configuration>
+ </storageModule>
+ <storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings"/>
<storageModule moduleId="scannerConfiguration">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
<scannerConfigBuildInfo instanceId="xilinx.gnu.arm.exe.debug.980189137;xilinx.gnu.arm.exe.debug.980189137.">
@@ -166,6 +184,9 @@
<scannerConfigBuildInfo instanceId="xilinx.gnu.arm.exe.release.255973624;xilinx.gnu.arm.exe.release.255973624.;xilinx.gnu.arm.c.toolchain.compiler.release.85270120;xilinx.gnu.arm.c.compiler.input.846429887">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="com.xilinx.managedbuilder.ui.ARMGCCManagedMakePerProjectProfileC"/>
</scannerConfigBuildInfo>
+ <scannerConfigBuildInfo instanceId="xilinx.gnu.arm.exe.debug.980189137">
+ <autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="com.xilinx.managedbuilder.ui.ARMGCCManagedMakePerProjectProfileC"/>
+ </scannerConfigBuildInfo>
<scannerConfigBuildInfo instanceId="xilinx.gnu.arm.exe.release.255973624;xilinx.gnu.arm.exe.release.255973624.">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="com.xilinx.managedbuilder.ui.ARMGCCManagedMakePerProjectProfileC"/>
</scannerConfigBuildInfo>
@@ -173,13 +194,4 @@
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="com.xilinx.managedbuilder.ui.ARMGCCManagedMakePerProjectProfileC"/>
</scannerConfigBuildInfo>
</storageModule>
- <storageModule moduleId="refreshScope" versionNumber="2">
- <configuration configurationName="Release">
- <resource resourceType="PROJECT" workspacePath="/modular_quad_pid"/>
- </configuration>
- <configuration configurationName="Debug">
- <resource resourceType="PROJECT" workspacePath="/modular_quad_pid"/>
- </configuration>
- </storageModule>
- <storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings"/>
</cproject>
diff --git a/quad/xsdk_workspace/modular_quad_pid/.project b/quad/xsdk_workspace/modular_quad_pid/.project
index bb5f1cfda9ec5d0ae27231be921b55d9fed41736..61b0bf7e40e000c5d6a0812b1b46aa8230584d8a 100644
--- a/quad/xsdk_workspace/modular_quad_pid/.project
+++ b/quad/xsdk_workspace/modular_quad_pid/.project
@@ -3,8 +3,8 @@
<name>modular_quad_pid</name>
<comment></comment>
<projects>
- <project>system_bsp_new</project>
<project>system_bsp</project>
+ <project>system_bsp_new</project>
</projects>
<buildSpec>
<buildCommand>
@@ -24,4 +24,119 @@
<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
</natures>
+ <linkedResources>
+ <link>
+ <name>ext/computation_graph</name>
+ <type>2</type>
+ <locationURI>QUAD_LOC/src/computation_graph</locationURI>
+ </link>
+ <link>
+ <name>ext/quad_app</name>
+ <type>2</type>
+ <locationURI>QUAD_LOC/src/quad_app</locationURI>
+ </link>
+ <link>
+ <name>ext/queue</name>
+ <type>2</type>
+ <locationURI>QUAD_LOC/src/queue</locationURI>
+ </link>
+ </linkedResources>
+ <filteredResources>
+ <filter>
+ <id>1489164394345</id>
+ <name></name>
+ <type>10</type>
+ <matcher>
+ <id>org.eclipse.ui.ide.multiFilter</id>
+ <arguments>1.0-name-matches-false-false-obj</arguments>
+ </matcher>
+ </filter>
+ <filter>
+ <id>0</id>
+ <name>ext/computation_graph</name>
+ <type>5</type>
+ <matcher>
+ <id>org.eclipse.ui.ide.multiFilter</id>
+ <arguments>1.0-name-matches-false-false-*.c</arguments>
+ </matcher>
+ </filter>
+ <filter>
+ <id>0</id>
+ <name>ext/computation_graph</name>
+ <type>5</type>
+ <matcher>
+ <id>org.eclipse.ui.ide.multiFilter</id>
+ <arguments>1.0-name-matches-false-false-*.h</arguments>
+ </matcher>
+ </filter>
+ <filter>
+ <id>0</id>
+ <name>ext/computation_graph</name>
+ <type>10</type>
+ <matcher>
+ <id>org.eclipse.ui.ide.multiFilter</id>
+ <arguments>1.0-name-matches-false-false-*</arguments>
+ </matcher>
+ </filter>
+ <filter>
+ <id>0</id>
+ <name>ext/quad_app</name>
+ <type>5</type>
+ <matcher>
+ <id>org.eclipse.ui.ide.multiFilter</id>
+ <arguments>1.0-name-matches-false-false-*.c</arguments>
+ </matcher>
+ </filter>
+ <filter>
+ <id>0</id>
+ <name>ext/quad_app</name>
+ <type>5</type>
+ <matcher>
+ <id>org.eclipse.ui.ide.multiFilter</id>
+ <arguments>1.0-name-matches-false-false-*.h</arguments>
+ </matcher>
+ </filter>
+ <filter>
+ <id>0</id>
+ <name>ext/quad_app</name>
+ <type>10</type>
+ <matcher>
+ <id>org.eclipse.ui.ide.multiFilter</id>
+ <arguments>1.0-name-matches-false-false-*</arguments>
+ </matcher>
+ </filter>
+ <filter>
+ <id>0</id>
+ <name>ext/queue</name>
+ <type>5</type>
+ <matcher>
+ <id>org.eclipse.ui.ide.multiFilter</id>
+ <arguments>1.0-name-matches-false-false-*.c</arguments>
+ </matcher>
+ </filter>
+ <filter>
+ <id>0</id>
+ <name>ext/queue</name>
+ <type>5</type>
+ <matcher>
+ <id>org.eclipse.ui.ide.multiFilter</id>
+ <arguments>1.0-name-matches-false-false-*.h</arguments>
+ </matcher>
+ </filter>
+ <filter>
+ <id>0</id>
+ <name>ext/queue</name>
+ <type>10</type>
+ <matcher>
+ <id>org.eclipse.ui.ide.multiFilter</id>
+ <arguments>1.0-name-matches-false-false-*</arguments>
+ </matcher>
+ </filter>
+ </filteredResources>
+ <variableList>
+ <variable>
+ <name>QUAD_LOC</name>
+ <value>$%7BPARENT-1-WORKSPACE_LOC%7D</value>
+ </variable>
+ </variableList>
</projectDescription>
diff --git a/quad/xsdk_workspace/modular_quad_pid/ext/__CAUTION__.md b/quad/xsdk_workspace/modular_quad_pid/ext/__CAUTION__.md
new file mode 100644
index 0000000000000000000000000000000000000000..6f7e2a00feb6d7083997b71389dcad6b36a0d616
--- /dev/null
+++ b/quad/xsdk_workspace/modular_quad_pid/ext/__CAUTION__.md
@@ -0,0 +1,12 @@
+****************************************
+ Do not edit files in this directory!
+****************************************
+
+The fine print
+----
+
+Files in this directory are simlinked to external libraries. They exist here
+purely to help fascilitate the build process and permit debugging of those
+libraries within XSDK. Editing them here might build within XSDK, but it might
+break in its original context. Hence, don't edit these files within XSDK. Edit
+them within a workflow that uses the Makefile in the top-level quad folder.
diff --git a/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo.h b/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo.h
index 04b408c04dff83391f02e46e1884d6206be60a37..077869a2b05161679ed5d19dd157b886b36e2d52 100644
--- a/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo.h
+++ b/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo.h
@@ -1,7 +1,7 @@
#ifndef HW_IMPL_ZYBO
#define HW_IMPL_ZYBO
-#include "../application/hw_iface.h"
+#include "hw_iface.h"
#include <sleep.h>
#include <stdlib.h>
diff --git a/quad/xsdk_workspace/modular_quad_pid/src/main.c b/quad/xsdk_workspace/modular_quad_pid/src/main.c
index fac5b292519db353db2de0059becb4d392f4f02c..2d50f0b4a7b2313e893f90d63a66f150b6369ef4 100644
--- a/quad/xsdk_workspace/modular_quad_pid/src/main.c
+++ b/quad/xsdk_workspace/modular_quad_pid/src/main.c
@@ -1,6 +1,7 @@
#include <stdio.h>
#include "hw_impl_zybo.h"
#include "quad_app.h"
+#include "type_def.h"
int setup_hardware(hardware_t *hardware) {
hardware->i2c = create_zybo_i2c();
@@ -10,6 +11,7 @@ int setup_hardware(hardware_t *hardware) {
hardware->global_timer = create_zybo_global_timer();
hardware->axi_timer = create_zybo_axi_timer();
hardware->mio7_led = create_zybo_mio7_led();
+ return 0;
}
int main()