diff --git a/quad/scripts/test_zybo_uart.py b/quad/scripts/test_zybo_uart.py
new file mode 100755
index 0000000000000000000000000000000000000000..0ccd93c66f47df11e9ad87651e1299ca56f8453c
--- /dev/null
+++ b/quad/scripts/test_zybo_uart.py
@@ -0,0 +1,24 @@
+#!/usr/local/bin/python3.6
+
+import sys
+import time
+
+import serial
+
+if __name__ == '__main__':
+ with serial.Serial('/dev/ttyUSB0', 921600, timeout=5) as ser:
+ ser.reset_input_buffer()
+ send_bytes = b'sdflouirgaorifa;eofija;ogijasfhluiasflawieufzxcvwe'
+ ser.write(send_bytes)
+ print("Sending {} bytes".format(len(send_bytes)))
+ time.sleep(1)
+ recv_bytes = bytes()
+ while ser.in_waiting != 0:
+ recv_bytes = ser.read(len(send_bytes))
+ if recv_bytes == send_bytes:
+ print(recv_bytes);
+ print("Test Successful")
+ else:
+ print(recv_bytes);
+ print("Test Failed.")
+
diff --git a/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_axi_timer.c b/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_axi_timer.c
index 399c819fa50f574ca33c31a0bf0714a277c2cc41..bbbb5e3a3794926729063f435b26cc319d771869 100644
--- a/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_axi_timer.c
+++ b/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_axi_timer.c
@@ -1,6 +1,5 @@
#include "hw_impl_zybo.h"
-// Apparently, this is number of counts per usec
#define PL_CLK_CNTS_PER_USEC 100
int zybo_axi_timer_reset(struct TimerDriver *self) {
diff --git a/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_tests.c b/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_tests.c
index 0bff80a1f520b1b92967448b2539ad08e6004783..530c5afe0f81a30aba768b783080107cd86bae76 100644
--- a/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_tests.c
+++ b/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_tests.c
@@ -75,7 +75,7 @@ int test_zybo_i2c() {
*
* Instructions:
* 1) Connect the quad Zybo board to computer using USB.
- * 2) Move jump on Zybo board to use JTAG instead of SD.
+ * 2) Move jumper on Zybo board to use JTAG instead of SD.
* 3) Turn on Zybo board and turn on Spektrum handheld controller.
* - Verify receiver on quad pairs with controller (orange LED should turn on)
* 3) Place breakpoint somewhere in the while loop of this function.
@@ -100,19 +100,16 @@ int test_zybo_pwm_inputs() {
}
/**
- * Test for the PWMInputDriver.
+ * Test for the PWMOutputDriver.
*
* Instructions:
* 1) Connect the quad Zybo board to computer using USB.
- * 2) Move jump on Zybo board to use JTAG instead of SD.
- * 3) Turn on Zybo board and turn on Spektrum handheld controller.
- * - Verify receiver on quad pairs with controller (orange LED should turn on)
- * 3) Place breakpoint somewhere in the while loop of this function.
+ * 2) Move jumper on Zybo board to use JTAG instead of SD.
+ * 3) Get an oscilloscope and observe PMOD outputs JE7-JE10
* 4) Set the RUN_TESTS macro in main.c
* 5) Uncomment only this test in main.c
- * 6) Debug main.
- * 7) Observe the values of pwm_inputs in debugger chaning as you use the
- * Spektrum RC controller.
+ * 6) Run main.
+ * 7) Observe the PWM width of those PMOD pins changing with time
*/
int test_zybo_pwm_outputs() {
struct PWMOutputDriver pwm_outputs = create_zybo_pwm_outputs();
@@ -134,6 +131,115 @@ int test_zybo_pwm_outputs() {
}
continue;
}
+ return 0;
+}
+
+/**
+ * Test for the AXI timer, using LEDDriver.
+ *
+ * This is essentially a basic "blink" program, using the mio7 LED
+ * on the Zybo board.
+ *
+ * Instructions:
+ * 1) Connect Zybo board to computer by USB cable.
+ * 2) Set the RUN_TESTS macro in main.c
+ * 3) Uncomment only this test in main.c
+ * 4) Run main.c
+ * 5) Observe MIO7 LED on board blinking at 1 second intervals.
+ */
+int test_zybo_axi_timer() {
+ struct TimerDriver axi = create_zybo_axi_timer();
+ struct LEDDriver led = create_zybo_mio7_led();
+ axi.reset(&axi);
+ led.reset(&led);
+
+ unsigned long time;
+
+ while (1) {
+ axi.restart(&axi);
+ time = 0;
+ while (time < 1000000) {
+ axi.read(&axi, &time);
+ }
+ led.turn_off(&led);
+ while (time < 2000000) {
+ axi.read(&axi, &time);
+ }
+ led.turn_on(&led);
+ }
+}
+
+/**
+ * Test for the Global timer, using LEDDriver.
+ *
+ * This is essentially a basic "blink" program, using the mio7 LED
+ * on the Zybo board.
+ *
+ * Instructions:
+ * 1) Connect Zybo board to computer by USB cable.
+ * 2) Set the RUN_TESTS macro in main.c
+ * 3) Uncomment only this test in main.c
+ * 4) Run main.c
+ * 5) Observe MIO7 LED on board blinking at 1 second intervals.
+ */
+int test_zybo_global_timer() {
+ struct TimerDriver global = create_zybo_global_timer();
+ struct LEDDriver led = create_zybo_mio7_led();
+ global.reset(&global);
+ led.reset(&led);
+
+ unsigned long time;
+
+ while (1) {
+ global.restart(&global);
+ time = 0;
+ while (time < 1000000) {
+ global.read(&global, &time);
+ }
+ led.turn_off(&led);
+ while (time < 2000000) {
+ global.read(&global, &time);
+ }
+ led.turn_on(&led);
+ }
+}
+
+/**
+ * Test for the UARTDriver.
+ *
+ * Instructions:
+ * 1) Connect Zybo board to computer by USB cable.
+ * 2) Get a FTDI Basic Sparkfun board in order to connect the UART pins
+ * on the Zybo to the computer by USB.
+ * - Zybo PMOD JC2 (TX) <-> Sparkfun Board RX
+ * - Zybo PMOD JC3 (RX) <-> sparkfun Board Tx
+ * - Zybo PMOD JC5 (GND) <-> Sparkfun Board GDN
+ * 2) Set the RUN_TESTS macro in main.c
+ * 3) Uncomment only this test in main.c
+ * 4) Run main.c
+ * 5) Execute quad/scripts/test_zybo_uart.py
+ * - 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();
+ struct LEDDriver led = create_zybo_mio7_led();
+ uart.reset(&uart);
+ led.reset(&led);
+
+ unsigned char c;
+ while (1) {
+ if (uart.read(&uart, &c)) {
+ // read failed
+ led.turn_off(&led);
+ } else {
+ // read successful
+ led.turn_on(&led);
+ uart.write(&uart, c);
+ }
+ }
+
+ return 0;
}
diff --git a/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_uart.c b/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_uart.c
index 58594ab6f058e1f33cd35d2e9f9ef2209f13d63e..18c17af0a045f70686b001c0de488eacd6efbeaf 100644
--- a/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_uart.c
+++ b/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_uart.c
@@ -75,7 +75,7 @@ int zybo_uart_write(struct UARTDriver *self, unsigned char c) {\
}
int zybo_uart_read(struct UARTDriver *self, unsigned char *c) {
- if (!queue_remove(&queue, c)) return -1;
+ if (queue_remove(&queue, c)) return -1;
else return 0;
}
@@ -209,7 +209,7 @@ void uart_interrupt_handler(XUartPs *InstancePtr) {
u32 CsrRegister = XUartPs_ReadReg(InstancePtr->Config.BaseAddress,
XUARTPS_SR_OFFSET);
- while (0 == (CsrRegister & XUARTPS_SR_RXEMPTY) && !queue_full(&queue)) {
+ while (0 == (CsrRegister & XUARTPS_SR_RXEMPTY)) {
u8 byte = XUartPs_ReadReg(InstancePtr->Config.BaseAddress, XUARTPS_FIFO_OFFSET);
queue_add(&queue, byte);
CsrRegister = XUartPs_ReadReg(InstancePtr->Config.BaseAddress, XUARTPS_SR_OFFSET);
diff --git a/quad/xsdk_workspace/modular_quad_pid/src/main.c b/quad/xsdk_workspace/modular_quad_pid/src/main.c
index c49e2bed8fa60b6fcccb4c9e0344106544de45a9..03612577dfc3fddee8be5afcc442527b1986eae7 100644
--- a/quad/xsdk_workspace/modular_quad_pid/src/main.c
+++ b/quad/xsdk_workspace/modular_quad_pid/src/main.c
@@ -27,9 +27,10 @@ int main()
//test_zybo_mio7_led_and_system();
//test_zybo_i2c();
//test_zybo_pwm_inputs();
- test_zybo_pwm_outputs();
+ //test_zybo_pwm_outputs();
//test_zybo_uart();
//test_zybo_axi_timer();
+ test_zybo_uart();
return 0;
#endif