From 5320f2ac196e784c795f622b3dcf24b1aac94b96 Mon Sep 17 00:00:00 2001
From: "ucart@co3050-12" <dawehr@iastate.edu>
Date: Sat, 22 Apr 2017 14:05:23 -0500
Subject: [PATCH] wip: addressing more issues with new uart
---
.../real_quad/src/hw_impl_zybo.c | 7 +----
.../real_quad/src/hw_impl_zybo_imu.c | 5 ++--
.../real_quad/src/hw_impl_zybo_uart.c | 26 +++++++++----------
quad/xsdk_workspace/real_quad/src/main.c | 4 +--
4 files changed, 17 insertions(+), 25 deletions(-)
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 093b67ef7..df4cd13a3 100644
--- a/quad/xsdk_workspace/real_quad/src/hw_impl_zybo.c
+++ b/quad/xsdk_workspace/real_quad/src/hw_impl_zybo.c
@@ -5,12 +5,7 @@ struct UARTDriver create_zybo_uart(int devId) {
uart.state = malloc(sizeof(struct ZyboUARTState));
struct ZyboUARTState *state = uart.state;
state->inst = malloc(sizeof(XUartPs));
-
- // We are cheating. We put the Queue on the callback field,
- // because that was the only way we could get the Queue
- // into the interupt handler. And the callback field was a void
- // pointer so we can do whatever we want with it...
- state->inst->CallBackRef = queue_malloc(MAX_UART_BUFFER_SIZE);
+ state->queue = queue_malloc(MAX_UART_BUFFER_SIZE);
state->devId = devId;
uart.reset = zybo_uart_reset;
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 3bfc6c08d..67177ace7 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_uart.c b/quad/xsdk_workspace/real_quad/src/hw_impl_zybo_uart.c
index dd9a2ca17..940ef0abb 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
@@ -4,9 +4,8 @@
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);
+int SetupInterruptSystem(XUartPs *UartInstancePtr, u16 UartIntrId, Xil_ExceptionHandler handler, struct ZyboUARTState *state);
+void uart_interrupt_handler(struct ZyboUARTState *state);
int zybo_uart_reset(struct UARTDriver *self) {
// Ensure all required memory is allocated
@@ -33,7 +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(inst, XPAR_PS7_UART_0_INTR, (Xil_ExceptionHandler) uart_interrupt_handler, state) != XST_SUCCESS) {
return -1;
}
@@ -60,16 +59,16 @@ 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) {
struct ZyboUARTState *state = self->state;
- // We put the queue on the void pointer callback reference
- struct Queue *queue = state->inst->CallBackRef;
+ struct Queue *queue = state->queue;
if (queue_remove(queue, c)) return -1;
else return 0;
}
@@ -183,11 +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;
-
- // We put the queue on the void pointer callback reference
- struct Queue *queue = InstancePtr->CallBackRef;
+ XUartPs *InstancePtr = state->inst;
+ struct Queue *queue = state->queue;
/*
* Read the interrupt ID register to determine which
@@ -236,7 +234,7 @@ void uart_interrupt_handler(XUartPs *InstancePtr) {
* @note None.
*
****************************************************************************/
-int SetupInterruptSystem(XUartPs *UartInstancePtr, u16 UartIntrId, Xil_ExceptionHandler handler)
+int SetupInterruptSystem(XUartPs *UartInstancePtr, u16 UartIntrId, Xil_ExceptionHandler handler, struct ZyboUARTState *state)
{
int Status;
XScuGic xscugic;
@@ -269,7 +267,7 @@ int SetupInterruptSystem(XUartPs *UartInstancePtr, u16 UartIntrId, Xil_Exception
*/
Status = XScuGic_Connect(&xscugic, UartIntrId,
handler,
- (void *) UartInstancePtr);
+ (void *) state);
if (Status != XST_SUCCESS) {
return XST_FAILURE;
}
diff --git a/quad/xsdk_workspace/real_quad/src/main.c b/quad/xsdk_workspace/real_quad/src/main.c
index 599a602d3..ee7e493f4 100644
--- a/quad/xsdk_workspace/real_quad/src/main.c
+++ b/quad/xsdk_workspace/real_quad/src/main.c
@@ -51,12 +51,12 @@ int main()
//test_zybo_i2c_imu();
//test_zybo_i2c_px4flow();
//test_zybo_i2c_lidar();
- test_zybo_i2c_all();
+ //test_zybo_i2c_all();
//test_zybo_rc_receiver();
//test_zybo_motors();
//test_zybo_uart();
//test_zybo_axi_timer();
- //test_zybo_uart();
+ test_zybo_uart_comm();
return 0;
#endif
--
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