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Commit 5312f6e4 authored by James Talbert's avatar James Talbert
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PCB wuad working in manual mode, about to add output override command

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with 45 additions and 34 deletions
quad/src/quad_app/quad_app.c
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− 1
View file @ 5312f6e4
...@@ -19,7 +19,7 @@ ...@@ -19,7 +19,7 @@
int quad_main(int (*setup_hardware)(hardware_t *hardware_struct)) int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
{ {
// Structures to be used throughout // Structures to be used throughout
modular_structs_t structs = { }; modular_structs_t structs = { };
// Wire up hardware // Wire up hardware
setup_hardware(&structs.hardware_struct); setup_hardware(&structs.hardware_struct);
......
quad/xsdk_workspace_vivado/real_quad/src/hw_impl_zybo.h
+ 18
− 17
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...@@ -29,26 +29,27 @@ ...@@ -29,26 +29,27 @@
#define QUAD_NUM 1 #define QUAD_NUM 1
#if QUAD_NUM==0 #if QUAD_NUM==0
#define IMU_ACCX_SIGN 1 #define IMU_ACCX_SIGN -1
#define IMU_ACCY_SIGN 1 #define IMU_ACCY_SIGN 1
#define IMU_ACCZ_SIGN 1 #define IMU_ACCZ_SIGN 1
#define IMU_GYRX_SIGN 1 #define IMU_GYRX_SIGN -1
#define IMU_GYRY_SIGN 1 #define IMU_GYRY_SIGN 1
#define IMU_GYRZ_SIGN 1 #define IMU_GYRZ_SIGN 1
#define MOTOR_FRONTLEFT_BASEADDR XPAR_PWM_SIGNAL_OUT_3_S_AXI_BASEADDR
#define MOTOR_FRONTRIGHT_BASEADDR XPAR_PWM_SIGNAL_OUT_1_S_AXI_BASEADDR
#define MOTOR_BACKLEFT_BASEADDR XPAR_PWM_SIGNAL_OUT_2_S_AXI_BASEADDR
#define MOTOR_BACKRIGHT_BASEADDR XPAR_PWM_SIGNAL_OUT_0_S_AXI_BASEADDR
#define ACCEL_X_BIAS 0.023f #define MOTOR_FRONTLEFT_BASEADDR XPAR_PWM_SIGNAL_OUT_3_S_AXI_BASEADDR
#define ACCEL_Y_BIAS 0.009f #define MOTOR_FRONTRIGHT_BASEADDR XPAR_PWM_SIGNAL_OUT_1_S_AXI_BASEADDR
#define ACCEL_Z_BIAS 0.0686f #define MOTOR_BACKLEFT_BASEADDR XPAR_PWM_SIGNAL_OUT_2_S_AXI_BASEADDR
#define MOTOR_BACKRIGHT_BASEADDR XPAR_PWM_SIGNAL_OUT_0_S_AXI_BASEADDR
#define ACCEL_X_BIAS 0.08f
#define ACCEL_Y_BIAS -0.057f
#define ACCEL_Z_BIAS 0.0f
#define GYRO_X_BIAS 0.005f #define GYRO_X_BIAS -0.006f
#define GYRO_Y_BIAS -0.014f #define GYRO_Y_BIAS 0.0545f
#define GYRO_Z_BIAS 0.0534//0.0541f #define GYRO_Z_BIAS 0.005//0.0541f
#endif #endif
...@@ -68,13 +69,13 @@ ...@@ -68,13 +69,13 @@
#define MOTOR_BACKLEFT_BASEADDR XPAR_PWM_SIGNAL_OUT_2_S_AXI_BASEADDR #define MOTOR_BACKLEFT_BASEADDR XPAR_PWM_SIGNAL_OUT_2_S_AXI_BASEADDR
#define MOTOR_BACKRIGHT_BASEADDR XPAR_PWM_SIGNAL_OUT_0_S_AXI_BASEADDR #define MOTOR_BACKRIGHT_BASEADDR XPAR_PWM_SIGNAL_OUT_0_S_AXI_BASEADDR
#define ACCEL_X_BIAS -0.005f #define ACCEL_X_BIAS -0.01f
#define ACCEL_Y_BIAS 0.03f #define ACCEL_Y_BIAS 0.041f
#define ACCEL_Z_BIAS 0.0f #define ACCEL_Z_BIAS 0.0f
#define GYRO_X_BIAS -0.001f #define GYRO_X_BIAS -0.024f
#define GYRO_Y_BIAS -0.0135f #define GYRO_Y_BIAS -0.013f
#define GYRO_Z_BIAS 0.035//0.0541f #define GYRO_Z_BIAS 0.02//0.0541f
#endif #endif
......
quad/xsdk_workspace_vivado/real_quad/src/hw_impl_zybo_imu.c
+ 6
− 0
View file @ 5312f6e4
...@@ -144,6 +144,9 @@ int zybo_imu_read(struct IMUDriver *self, gam_t *gam) { ...@@ -144,6 +144,9 @@ int zybo_imu_read(struct IMUDriver *self, gam_t *gam) {
raw_accel_x = sensor_raw_accel_y; raw_accel_x = sensor_raw_accel_y;
raw_accel_y = -sensor_raw_accel_x; raw_accel_y = -sensor_raw_accel_x;
raw_accel_z = sensor_raw_accel_z; raw_accel_z = sensor_raw_accel_z;
// raw_accel_x = sensor_raw_accel_y;
// raw_accel_y = sensor_raw_accel_x;
// raw_accel_z = sensor_raw_accel_z;
// put in G's // put in G's
gam->accel_x = IMU_ACCX_SIGN * (raw_accel_x / 4096.0) + ACCEL_X_BIAS; // 4,096 is the gain per LSB of the measurement reading based on a configuration range of +-8g gam->accel_x = IMU_ACCX_SIGN * (raw_accel_x / 4096.0) + ACCEL_X_BIAS; // 4,096 is the gain per LSB of the measurement reading based on a configuration range of +-8g
...@@ -159,6 +162,9 @@ int zybo_imu_read(struct IMUDriver *self, gam_t *gam) { ...@@ -159,6 +162,9 @@ int zybo_imu_read(struct IMUDriver *self, gam_t *gam) {
gyro_x = sensor_gyro_y; gyro_x = sensor_gyro_y;
gyro_y = -sensor_gyro_x; gyro_y = -sensor_gyro_x;
gyro_z = sensor_gyro_z; gyro_z = sensor_gyro_z;
// gyro_x = sensor_gyro_y;
// gyro_y = sensor_gyro_x;
// gyro_z = sensor_gyro_z;
//Get the number of degrees //Get the number of degrees
//javey: converted to radians to following SI units //javey: converted to radians to following SI units
......
quad/xsdk_workspace_vivado/real_quad/src/hw_impl_zybo_lidar.c
+ 1
− 1
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...@@ -18,7 +18,7 @@ int zybo_lidar_reset(struct LidarDriver *self, lidar_t *lidar) { ...@@ -18,7 +18,7 @@ int zybo_lidar_reset(struct LidarDriver *self, lidar_t *lidar) {
int error = 0; int error = 0;
//Device wakeup if asleep. //Device wakeup if asleep.
lidarlite_write(i2c, 0x00, 0x00); lidarlite_write(i2c, 0x00, 0x00);
usleep(15000);
// Device Reset & Wake up with default settings // Device Reset & Wake up with default settings
error = lidarlite_write(i2c, 0x00, 0x00); error = lidarlite_write(i2c, 0x00, 0x00);
if (error) return error; if (error) return error;
......
quad/xsdk_workspace_vivado/real_quad/src/main.c
+ 1
− 1
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...@@ -49,6 +49,7 @@ int main() ...@@ -49,6 +49,7 @@ int main()
//test_zybo_mio7_led_and_system(); //test_zybo_mio7_led_and_system();
//!test_zybo_i2c(); //!test_zybo_i2c();
//!test_zybo_i2c_imu(); //!test_zybo_i2c_imu();
zybo_i2c_imu_self_test();
//!test_zybo_i2c_px4flow(); //!test_zybo_i2c_px4flow();
//!test_zybo_i2c_lidar(); //!test_zybo_i2c_lidar();
//!test_zybo_i2c_all(); //!test_zybo_i2c_all();
...@@ -59,7 +60,6 @@ int main() ...@@ -59,7 +60,6 @@ int main()
return 0; return 0;
#endif #endif
usleep(2*1000000);
// Run the main quad application // Run the main quad application
quad_main(setup_hardware); quad_main(setup_hardware);
......
quad/xsdk_workspace_vivado/system_bsp/.cproject
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View file @ 5312f6e4
<?xml version="1.0" encoding="UTF-8" standalone="no"?> <?xml version="1.0" encoding="UTF-8" standalone="no"?>
<?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage"> <?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
<storageModule moduleId="org.eclipse.cdt.core.settings"> <storageModule moduleId="org.eclipse.cdt.core.settings">
<cconfiguration id="org.eclipse.cdt.core.default.config.1532584570"> <cconfiguration id="org.eclipse.cdt.core.default.config.1229250672">
<storageModule buildSystemId="org.eclipse.cdt.core.defaultConfigDataProvider" id="org.eclipse.cdt.core.default.config.1532584570" moduleId="org.eclipse.cdt.core.settings" name="Configuration"> <storageModule buildSystemId="org.eclipse.cdt.core.defaultConfigDataProvider" id="org.eclipse.cdt.core.default.config.1229250672" moduleId="org.eclipse.cdt.core.settings" name="Configuration">
<externalSettings/> <externalSettings/>
<extensions/> <extensions/>
</storageModule> </storageModule>
...@@ -10,10 +10,4 @@ ...@@ -10,10 +10,4 @@
</cconfiguration> </cconfiguration>
</storageModule> </storageModule>
<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/> <storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
<storageModule moduleId="scannerConfiguration"/>
<storageModule moduleId="org.eclipse.cdt.core.pathentry">
<pathentry kind="src" path=""/>
<pathentry kind="out" path=""/>
</storageModule>
</cproject> </cproject>
quad/xsdk_workspace_vivado/system_bsp/.project
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...@@ -24,10 +24,6 @@ ...@@ -24,10 +24,6 @@
<key>org.eclipse.cdt.make.core.build.command</key> <key>org.eclipse.cdt.make.core.build.command</key>
<value>make</value> <value>make</value>
</dictionary> </dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.build.location</key>
<value></value>
</dictionary>
<dictionary> <dictionary>
<key>org.eclipse.cdt.make.core.build.target.auto</key> <key>org.eclipse.cdt.make.core.build.target.auto</key>
<value>all</value> <value>all</value>
......
quad/xsdk_workspace_vivado/system_bsp/.sdkproject
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THIRPARTY=false THIRPARTY=false
HW_PROJECT_REFERENCE=design_1_wrapper_hw_platform_0
PROCESSOR=ps7_cortexa9_0 PROCESSOR=ps7_cortexa9_0
HW_PROJECT_REFERENCE=design_1_wrapper_hw_platform_1
MSS_FILE=system.mss MSS_FILE=system.mss
quad/xsdk_workspace_vivado/system_bsp/ps7_cortexa9_0/include/xparameters.h
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− 0
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...@@ -622,4 +622,11 @@ ...@@ -622,4 +622,11 @@
/******************************************************************/ /******************************************************************/
/* Xilinx FAT File System Library (XilFFs) User Settings */
#define FILE_SYSTEM_INTERFACE_SD
#define FILE_SYSTEM_USE_MKFS
#define FILE_SYSTEM_NUM_LOGIC_VOL 2
#define FILE_SYSTEM_USE_STRFUNC 0
#define FILE_SYSTEM_SET_FS_RPATH 0
#define FILE_SYSTEM_WORD_ACCESS
#endif /* end of protection macro */ #endif /* end of protection macro */
quad/xsdk_workspace_vivado/system_bsp/ps7_cortexa9_0/libsrc/standalone_v6_7/src/bspconfig.h
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...@@ -5,7 +5,7 @@ ...@@ -5,7 +5,7 @@
* Version: * Version:
* DO NOT EDIT. * DO NOT EDIT.
* *
* Copyright (C) 2010-2018 Xilinx, Inc. All Rights Reserved.* * Copyright (C) 2010-2019 Xilinx, Inc. All Rights Reserved.*
*Permission is hereby granted, free of charge, to any person obtaining a copy *Permission is hereby granted, free of charge, to any person obtaining a copy
*of this software and associated documentation files (the Software), to deal *of this software and associated documentation files (the Software), to deal
*in the Software without restriction, including without limitation the rights *in the Software without restriction, including without limitation the rights
......
quad/xsdk_workspace_vivado/system_bsp/system.mss
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− 0
View file @ 5312f6e4
...@@ -325,3 +325,10 @@ BEGIN DRIVER ...@@ -325,3 +325,10 @@ BEGIN DRIVER
END END
BEGIN LIBRARY
PARAMETER LIBRARY_NAME = xilffs
PARAMETER LIBRARY_VER = 3.9
PARAMETER PROC_INSTANCE = ps7_cortexa9_0
END
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