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2 merge requests!22Quad sw development,!17Create XSDK instructions in markdown to replace PDF
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quad/README.md
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......@@ -4,9 +4,9 @@ The `quad/` directory contains all code that programs the quadcopter. This
includes any C libraries we have written, any HDL to program the Zybo on
the quad, and the XSDK main project that runs on the Zybo.
## INFO
## Intro
There are three main porions to the system that runs the quad
There are three main portions to the system that runs the quad
- Quad Hardware
- Quad Software Drivers
......@@ -17,18 +17,29 @@ There are three main porions to the system that runs the quad
//TODO after looking into how the hardware works
#### Quad Software Drivers
The quad software drivers is all of the code that interacts with the sensors of the quad and collects the data for the control loop to use. For example receiving coordinates over wifi and reading measurements from the accelerometer.
The quad software drivers is all of the code that interacts with the sensors of
the quad and collects the data for the control loop to use.
For example receiving coordinates over wifi and reading measurements from the
accelerometer.
To run this application on the Zybo, we need to implement the hardware drivers,
and provide a `main` function. This is done in `xsdk_workspace/real_quad/src` To build the XSDK project, refer to the [XSDK instructions](xsdk_workspace/README.md).
and provide a `main` function.
This is done in `xsdk_workspace/real_quad/src` To build the XSDK project,
refer to the [XSDK instructions](xsdk_workspace/README.md).
We can also run this application on our own laptops for testing. We call this
implementation the "virtual quad". This is done in `src/virt_quad`.
We can also run this application on our own laptops for testing.
We call this implementation the "virtual quad".
This is modified in `src/virt_quad`.
#### Control Loop
The control loop is the algorithm that runs within the quad software drivers. This code determines what the code should do to keep the quad flying and as close to the waypoint as possible.
The main quad control application is located at `src/quad_app/`. This entails a group of C and header files that
The control loop is the algorithm that runs within the quad software drivers.
This code determines what the code should do to keep the quad flying and as
close to the waypoint
as possible.
The main quad control application is located at `src/quad_app/`.
This entails a group of C and header files that work as drivers/interfaces to
the various sensors and communications that are on the quad.
## Building
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quad/doc/how_to_use_XSDK.md
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......@@ -14,80 +14,122 @@ In this guide we will cover the following topics regarding XSDK:
## What is XSDK?
XSDK stands for Xilinx Software Development Kit and it does exactly that. It builds the project C files and necessary packages into files that allow the developer to program the Zybo board to whatever he/she desires granted it meets the system constraints.
XSDK stands for Xilinx Software Development Kit and it does exactly that.
It builds the project C files and necessary packages into files that allow the
developer to program the Zybo board to whatever he/she desires granted it meets
the system constraints.
There are three main things required for a project:
1. A system hardware platform (automatically exporting design from XPS)
2. A Board Support Package (Contains software functions for interacting with the Processing System controllers i.e. UART and I2C or logic cores on the FPGA)
3. An Application Project (A simple hello world, an NES emulator, or something else)
1. A Board Support Package (Contains software functions for interacting with
the Processing System controllers i.e. UART and I2C or logic cores on the FPGA)
1. An Application Project (A simple hello world, an NES emulator, or something else)
As mentioned above the system_hw_platform is imported for us by XPS when we export our bitstream file to the XSDK. We’ll walkthrough the other two items as well as programming the FPGA from within the XSDK.
As mentioned above the system_hw_platform is imported for us by XPS when we
export our bitstream file to the XSDK. We’ll walkthrough the other two items
as well as programming the FPGA from within the XSDK.
## Opening XSDK
Setting up access to the Xilinx tools is fairly straight forward given the machine the user is on. This guide
will cover three types of machines: Coover 3050-11 and -12 computers (highly recommended), ISU’s
Setting up access to the Xilinx tools is fairly straight forward given the
machine the user is on. This guide
will cover three types of machines: Coover 3050-11 and -12 computers
(highly recommended), ISU’s
Remote Linux Servers, and a user’s own PC
1. Coover 3050-11 and -12
Two machines in the Distributed Sensing and Decision Making Lab (Coover 3050) come with the
tools already installed. However, the following steps need to be taken in order to launch the
Two machines in the Distributed Sensing and Decision Making Lab (Coover 3050)
come with the
tools already installed. However, the following steps need to be taken in
order to launch the
program
- In a terminal, enter `source /opt/Xilinx/14.7/ISE_DS/settings64.sh`
- In terminal type `xsdk &`
2. ISU Remote Linux Servers (linux-X, research-x.ece.iastate.edu)
1. ISU Remote Linux Servers (linux-X, research-x.ece.iastate.edu)
- `source Xilinx_Tools/setup_scripts/remote_servers/setup.sh`
- In terminal type `xsdk &` (Note: these servers are not good for programming the Zybo board when it comes time to launch a program on the board)
3. User PC
Some users may opt to download the Xilinx tools on their own PCs for development, but this is not recommended.
- Download the ISE Design Suite here (~6GB)
- In terminal type `xsdk &` (Note: these servers are not good for
programming the Zybo board when it comes time to launch a program on the board)
1. User PC
Some users may opt to download the Xilinx tools on their own PCs for
development, but this is not recommended.
- Download the ISE Design Suite [here](https://www.xilinx.com/support/download/index.html/content/xilinx/en/downloadNav/design-tools.html) (~6GB)
- Run XSDK
## Creating a new Board Support Package (bsp)
The BSP package is responsible for grabbing all necessary Xilinx library files so they can be called by your program. In other words, it holds the drivers necessary to interface with the hardware on the board.
The BSP package is responsible for grabbing all necessary Xilinx library files
so they can be called by your program. In other words, it holds the drivers
necessary to interface with the hardware on the board.
1. Click File and select New->Board Support Package
2. In the New Board Support Package Project, enter a project name (system_bsp in the example).
3. Ensure system_hw_platform and ps7_cortexa9_0 are selected in Target Hardware
4. Ensure “standalone” is selected.
5. Click Finish to create the BSP
__IMPORTANT:__ If UART0 is enabled, follow the steps below, otherwise ensure these are set properly anyway. 6. Click on “standalone” and change the value of stdin AND stdout to ps7_uart_1
7. Click OK when done, you should now see the BSP in the project explorer
1. In the New Board Support Package Project, enter a project name
(system_bsp in the example).
1. Ensure system_hw_platform and ps7_cortexa9_0 are selected in Target Hardware
1. Ensure “standalone” is selected.
1. Click Finish to create the BSP
__IMPORTANT:__ If UART0 is enabled, follow the steps below, otherwise ensure
these are set properly anyway.
1. Click on “standalone” and change the
value of stdin AND stdout to ps7_uart_1
1. Click OK when done, you should now see the BSP in the project explorer
## Creating a new Application Project
Lastly, we have the software program that will run on the board. This is the last piece to the Zybo puzzle, and we’re almost there. Projects can be written in C or C++, and can use some standard libraries like stdio, stdlib, string, and otherse. HOWEVER, some libraries (often from Linux) are not implemented like time.h and other things that an OS would handle are not available and other methods must be used. Hopefully you do not run into these instances. (Off topic hint: If you need timing things, check out xtime_l.h)
Lastly, we have the software program that will run on the board. This is the
last piece to the Zybo puzzle, and we’re almost there. Projects can be written
in C or C++, and can use some standard libraries like stdio, stdlib, string,
and otherse. HOWEVER, some libraries (often from Linux) are not implemented
(like time.h), and alternate methods must be used for some things an OS would
normally handle. Hopefully you do not run into these instances.
(Off topic hint: If you need timing things, check out xtime_l.h)
1. Click File -> New -> Application Project to open the New Project box
2. Enter a project name, and select the “Use existing” radio button for the BSP. We want to use our newly created one rather than create one.
3. Click next and select a template (Hello World is probably best) and hit Finish
4. The new project should appear on the Project Explorer. Expand the project, src, and open the helloworld.c
1. Enter a project name, and select the “Use existing” radio button for the
BSP. We want to use our newly created one rather than create one.
1. Click next and select a template (Hello World is probably best) and hit Finish
1. The new project should appear on the Project Explorer. Expand the project,
src, and open the helloworld.c
## Configuring JTAG
We now have all the components, we’re now ready to program the board, but wait, we haven’t setup how we’re going to communicate with the board. You may now plug in the board to the development computer (yours, Coover machine, etc.) Flip the switch to power on the board.
We now have all the components, we’re now ready to program the board, but wait,
we haven’t setup how we’re going to communicate with the board. You may now
plug in the board to the development computer (yours, Coover machine, etc.)
Flip the switch to power on the board.
1. In the menu bar, click Xilinx Tools -> Configure JTAG
2. If the board is plugged into Coover 3050-11,-12 or a personal PC, then use Auto Detect (It is ill-advised to be programming the Zybo board from a remote linux machine at this point)
3. Click OK
1. If the board is plugged into Coover 3050-11,-12 or a personal PC, then use
Auto Detect (It is ill-advised to be programming the Zybo board from a remote
linux machine at this point)
1. Click OK
## Launching an Application Project
With all our pieces ready to go, we can finally program the board and launch our software program.
_IMPORTANT:_ A COM terminal should be open after the board has been turned on AND before launching the program. Either go through Putty on Windows (COMn Baud 115200) or if through a linux machine (sudo screen /dev/ttyUSB1 115200).
1. On the menu bar, click Xilinx Tools -> Program FPGA, and click Program to start the process
2. If the JTAG configurations and setup were correct, the bitstream should load onto the board and a blue LED should turn on indicating the board is DONE programming.
3. With the board program, we can now launch our software, click on the Application Project we want to launch and click the Green Play Arrow button to start.
4. View the data received from the board through the COM terminal.
With all our pieces ready to go, we can finally program the board and launch
our software program.
_IMPORTANT:_ A COM terminal should be open after the board has been turned on
AND before launching the program. Either go through Putty on Windows (COMn
Baud 115200) or if through a linux machine (sudo screen /dev/ttyUSB1 115200).
1. On the menu bar, click Xilinx Tools -> Program FPGA, and click Program to
start the process
1. If the JTAG configurations and setup were correct, the bitstream should
load onto the board and a blue LED should turn on indicating the board
is DONE programming.
1. With the board program, we can now launch our software, click on the
Application Project we want to launch and click the Green Play Arrow button
to start.
1. View the data received from the board through the COM terminal.
## Booting on SD
The `boot.bin` file is the file that the ZYBO board used on the quad uses to produce the hardware platform and run the software for our program to run. In a standalone application(no operating system) this should be the only file placed on the SD-card.
The `boot.bin` file is the file that the ZYBO board used on the quad uses to
produce the hardware platform and run the software for our program to run.
In a standalone application(no operating system) this should be the only
file placed on the SD-card.
### What to Do Before
To correctly make a boot.bin file (using no operating system) you must have the following:
To correctly make a boot.bin file (using no operating system) you must have
the following:
- System hardware platform `.bit` file
- Output of hardware toolset (ISE for now)
- Path: *MicroCART\quad\xsdk_workspace\sytem_hw_platform\system.bit*
......@@ -103,28 +145,38 @@ NOTE: None of the `.elf` files are on GIT to reduce clutter
### Instructions
In order to correctly create the boot file you must have all the above files updated.
In order to correctly create the boot file you must have all the above files
updated.
Within XSDK:
1. Project -> Create Boot Image.Alternatively right-click on the project in the Project Explorer and -> Create Boot Image
2. Select *MicroCART\quad\xsdk_workspace\zybo_fsbl\Realease\* as the `.bif`
3. Click add
4. Select *MicroCART\quad\xsdk_workspace\zybo_fsbl\Realease\zybo_fsbl.elf*
5. Confirm bootloader is checked and add the file to the Boot Image
6. Click add
7. Select *MicroCART\quad\xsdk_workspace\sytem_hw_platform\system.bit*
8. Add the file to the Boot Image
9. Click add
10. Select *MicroCART\quad\xsdk_workspace\real_quad\Realease\real_quad.elf*
11. Add the file to the Boot Image
12. Copy Boot.bin file at *MicroCART\quad\xsdk_workspace\zybo_fsbl\Realease\* to SD Card
13. Plus SD card into quad and power on board
_NOTE:_ If anything here is unclear there is a deeper explanation in [Xilinx: how to create a Boot Image](https://www.xilinx.com/support/documentation/sw_manuals/xilinx14_7/SDK_Doc/tasks/sdk_t_create_zynq_boot_image.htm)
1. Project -> Create Boot Image.Alternatively right-click on the project in
the Project Explorer and -> Create Boot Image
1. Select *MicroCART\quad\xsdk_workspace\zybo_fsbl\Realease\* as the `.bif`
1. Click add
1. Select *MicroCART\quad\xsdk_workspace\zybo_fsbl\Realease\zybo_fsbl.elf*
1. Confirm bootloader is checked and add the file to the Boot Image
1. Click add
1. Select *MicroCART\quad\xsdk_workspace\sytem_hw_platform\system.bit*
1. Add the file to the Boot Image
1. Click add
1. Select *MicroCART\quad\xsdk_workspace\real_quad\Realease\real_quad.elf*
1. Add the file to the Boot Image
1. Copy Boot.bin file at *MicroCART\quad\xsdk_workspace\zybo_fsbl\Realease\* to SD Card
1. Plus SD card into quad and power on board
_NOTE:_ If anything here is unclear there is a deeper explanation in
[Xilinx: how to create a Boot Image](https://www.xilinx.com/support/documentation/sw_manuals/xilinx14_7/SDK_Doc/tasks/sdk_t_create_zynq_boot_image.htm)
## XSDK Quirks
The Xilinx SDK has a few quirks that are important to watch out for:
1. From the [documentation](https://www.xilinx.com/support/documentation/sw_manuals/xilinx14_7/SDK_Doc/tasks/sdk_t_tcf_limitations_faq.htm), if you abort program execution while at a breakpoint inside an interrupt handler, when re-running the program, interrupts don’t fire. You have to do a hard reset of the board (cycle power) to have interrupts work again.
2. After doing a `git pull` or `git checkout`, refresh the files by right-clicking on the project in the sidebar and clicking "Refresh"
3. The project does not detect changes in header files, so if you modify a `.h` file, you should do a clean before re-building, otherwise you may experience unexpected behavior. We got into the habit of always doing a clean before a build whenever creating code that will be put on the quadcopter.
- From the [documentation](https://www.xilinx.com/support/documentation/sw_manuals/xilinx14_7/SDK_Doc/tasks/sdk_t_tcf_limitations_faq.htm)
, if you abort program execution while at a breakpoint inside an interrupt
handler, when re-running the program, interrupts don’t fire. You have to do
a hard reset of the board (cycle power) to have interrupts work again.
- After doing a `git pull` or `git checkout`, refresh the files by right-
clicking on the project in the sidebar and clicking "Refresh"
- The project does not detect changes in header files, so if you modify a
`.h` file, you should do a clean before re-building, otherwise you may
experience unexpected behavior. We got into the habit of always doing a
clean before a build whenever creating code that will be put on the quadcopter.
quad/xsdk_workspace/README.md
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## What is XSDK
XSDK is a development tool made by Xilinx to create the files necessary to boot the hardware and software on the FPGA. It includes a test editor based in eclipse so the tools should feel vaguely familiar. Use our [how to use XSDK document](../doc/how_to_use_XSDK.md) or [XSDK documentation webpage](https://www.xilinx.com/support/documentation/sw_manuals/xilinx2015_1/SDK_Doc/index.html)
XSDK is a development tool made by Xilinx to create the files necessary to boot
the hardware and software on the FPGA. It includes a test editor based on
eclipse so the tools should feel vaguely familiar.
Use our [how to use XSDK document](../doc/how_to_use_XSDK.md) or
[XSDK documentation webpage](https://www.xilinx.com/support/documentation/sw_manuals/xilinx2015_1/SDK_Doc/index.html)
## Setup
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quad/xsdk_workspace/real_quad/README.md
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_It is real, because it flies._
Welcome to the most lame README in MicroCART. Everything we are about to say
has already been said elsewhere, including [here][1], [here][2], and [here][3].
has already been said elsewhere, including [Our quad folder README][1], [xsdk_workspace README][2], and [HOW_TO_USE_XSDK markdown][3].
So we aren't saying it here. Hence, this README is pretty empty. Hence... lame.
[1]: ../README.md
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