wip: wire-up hardware in main

and other fixes

quad/sw/modular_quad_pid/src/application/main.c

@@ -25,6 +25,8 @@ int main()
 	// Structures to be used throughout
 	modular_structs_t structs = { };
 
+	// Wire up hardware
+	setup_hardware(&structs.hardware_struct);
 
 	// Initialize all required components and structs:
 	// Uart, PWM receiver/generator, I2C, Sensor Board

quad/sw/modular_quad_pid/src/application/util.c

 #include "util.h"
+#include "../hardware/hw_impl_zybo.h"
 
 #include <stdlib.h>
 #include <stdio.h>
@@ -13,6 +14,16 @@
 
 extern int motor0_bias, motor1_bias, motor2_bias, motor3_bias;
 
+void setup_hardware(hardware_t *hardware) {
+  hardware->i2c = create_zybo_i2c();
+  hardware->pwm_inputs = create_zybo_pwm_inputs();
+  hardware->pwm_outputs = create_zybo_pwm_outputs();
+  hardware->uart = create_zybo_uart();
+  hardware->global_timer = create_zybo_global_timer();
+  hardware->axi_timer = create_zybo_axi_timer();
+  hardware->mio7_led = create_zybo_mio7_led();
+}
+
 /**
  * Reads all 6 receiver channels at once
  */

quad/sw/modular_quad_pid/src/application/util.h

@@ -12,6 +12,8 @@
 #include "controllers.h"
 #include "hw_iface.h"
 
+void setup_hardware(hardware_t *hardware);
+
 void read_rec_all(struct PWMInputDriver *pwm_input, u32 *mixer);
 int read_kill(int gear);
 int read_flap(int flap);

quad/sw/modular_quad_pid/src/hardware/hw_impl_zybo.c

+#include "hw_impl_zybo.h"
+
+struct UARTDriver create_zybo_uart() {
+  struct UARTDriver uart;
+  uart.state = NULL;
+  uart.reset = zybo_uart_reset;
+  uart.write = zybo_uart_write;
+  uart.read = zybo_uart_read;
+  return uart;
+}
+
+struct PWMOutputDriver create_zybo_pwm_outputs() {
+  struct PWMOutputDriver pwm_outputs;
+  pwm_outputs.state = NULL;
+  pwm_outputs.reset = zybo_pwm_output_reset;
+  pwm_outputs.write = zybo_pwm_output_write;
+  return pwm_outputs;
+}
+
+struct PWMInputDriver create_zybo_pwm_inputs() {
+  struct PWMInputDriver pwm_inputs;
+  pwm_inputs.state = NULL;
+  pwm_inputs.reset = zybo_pwm_input_reset;
+  pwm_inputs.read = zybo_pwm_input_read;
+  return pwm_inputs;
+}
+
+struct I2CDriver create_zybo_i2c() {
+  struct I2CDriver i2c;
+  i2c.state = NULL;
+  i2c.reset = zybo_i2c_reset;
+  i2c.write = zybo_i2c_write;
+  i2c.read = zybo_i2c_read;
+  return i2c;
+}
+
+struct TimerDriver create_zybo_global_timer() {
+  struct TimerDriver global_timer;
+  global_timer.state = NULL;
+  global_timer.reset = zybo_global_timer_reset;
+  global_timer.restart = zybo_global_timer_restart;
+  global_timer.read = zybo_global_timer_read;
+  return global_timer;
+}
+
+struct TimerDriver create_zybo_axi_timer() {
+  struct TimerDriver axi_timer;
+  axi_timer.state = NULL;
+  axi_timer.reset = zybo_axi_timer_reset;
+  axi_timer.restart = zybo_axi_timer_restart;
+  axi_timer.read = zybo_axi_timer_read;
+  return axi_timer;
+}
+
+struct LEDDriver create_zybo_mio7_led() {
+  struct LEDDriver mio7_led;
+  mio7_led.state = NULL;
+  mio7_led.reset = zybo_mio7_led_reset;
+  mio7_led.turn_on = zybo_mio7_led_turn_on;
+  mio7_led.turn_off = zybo_mio7_led_turn_off;
+  return mio7_led;
+}

quad/sw/modular_quad_pid/src/hardware/hw_impl_zybo.h

@@ -44,8 +44,16 @@ int zybo_axi_timer_reset(struct TimerDriver *self);
 int zybo_axi_timer_restart(struct TimerDriver *self);
 int zybo_axi_timer_read(struct TimerDriver *self, unsigned long *us);
 
-int zybo_led_reset(struct LEDDriver *self);
-int zybo_led_turn_on(struct LEDDriver *self);
-int zybo_led_turn_off(struct LEDDriver *self);
+int zybo_mio7_led_reset(struct LEDDriver *self);
+int zybo_mio7_led_turn_on(struct LEDDriver *self);
+int zybo_mio7_led_turn_off(struct LEDDriver *self);
+
+struct UARTDriver create_zybo_uart();
+struct PWMOutputDriver create_zybo_pwm_outputs();
+struct PWMInputDriver create_zybo_pwm_inputs();
+struct I2CDriver create_zybo_i2c();
+struct TimerDriver create_zybo_global_timer();
+struct TimerDriver create_zybo_axi_timer();
+struct LEDDriver create_zybo_mio7_led();
 
 #endif