From 61c8292cc4c6e16c9288b92b49ce61587a0c9343 Mon Sep 17 00:00:00 2001
From: Brendan Bartels <bbartels@iastate.edu>
Date: Sat, 4 Mar 2017 08:33:07 -0600
Subject: [PATCH] wip: wire-up hardware in main
and other fixes
---
.../modular_quad_pid/src/application/main.c | 2 +
.../modular_quad_pid/src/application/util.c | 11 ++++
.../modular_quad_pid/src/application/util.h | 2 +
.../src/hardware/hw_impl_zybo.c | 62 +++++++++++++++++++
.../src/hardware/hw_impl_zybo.h | 14 ++++-
5 files changed, 88 insertions(+), 3 deletions(-)
create mode 100644 quad/sw/modular_quad_pid/src/hardware/hw_impl_zybo.c
diff --git a/quad/sw/modular_quad_pid/src/application/main.c b/quad/sw/modular_quad_pid/src/application/main.c
index f06bab8c9..51c7e465f 100644
--- a/quad/sw/modular_quad_pid/src/application/main.c
+++ b/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
diff --git a/quad/sw/modular_quad_pid/src/application/util.c b/quad/sw/modular_quad_pid/src/application/util.c
index 9262e49f4..864e61ce3 100644
--- a/quad/sw/modular_quad_pid/src/application/util.c
+++ b/quad/sw/modular_quad_pid/src/application/util.c
@@ -1,4 +1,5 @@
#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
*/
diff --git a/quad/sw/modular_quad_pid/src/application/util.h b/quad/sw/modular_quad_pid/src/application/util.h
index 540c15f9a..5524b56ff 100644
--- a/quad/sw/modular_quad_pid/src/application/util.h
+++ b/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);
diff --git a/quad/sw/modular_quad_pid/src/hardware/hw_impl_zybo.c b/quad/sw/modular_quad_pid/src/hardware/hw_impl_zybo.c
new file mode 100644
index 000000000..9e74c42c3
--- /dev/null
+++ b/quad/sw/modular_quad_pid/src/hardware/hw_impl_zybo.c
@@ -0,0 +1,62 @@
+#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;
+}
diff --git a/quad/sw/modular_quad_pid/src/hardware/hw_impl_zybo.h b/quad/sw/modular_quad_pid/src/hardware/hw_impl_zybo.h
index 4128f9339..04b408c04 100644
--- a/quad/sw/modular_quad_pid/src/hardware/hw_impl_zybo.h
+++ b/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
--
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