WIP: Work on a second UART, separating comm and gps drivers.

quad/src/quad_app/hw_iface.h

@@ -21,6 +21,7 @@
 struct gam;
 struct lidar;
 struct px4flow;
+struct gps;
 
 struct RCReceiverDriver {
   void *state;
@@ -36,6 +37,7 @@ struct MotorDriver {
 
 struct UARTDriver {
   void *state;
+  int devId;
   int (*reset)(struct UARTDriver *self);
   int (*write)(struct UARTDriver *self, unsigned char c);
   int (*read)(struct UARTDriver *self, unsigned char *c);
@@ -93,4 +95,17 @@ struct OpticalFlowDriver {
   int (*read)(struct OpticalFlowDriver *self, struct px4flow *of);
 };
 
+struct GPSDriver {
+	struct UARTDriver * uart;
+	int (*reset)(struct GPSDriver *self, struct gps *gps);
+	int (*read)(struct GPSDriver *self, struct gps *gps);
+};
+
+struct CommDriver {
+	struct UARTDriver * uart;
+	int (*reset)(struct CommDriver *self);
+	int (*write)(struct CommDriver *self, unsigned char c);
+	int (*read)(struct CommDriver *self, unsigned char *c);
+};
+
 #endif

quad/src/quad_app/type_def.h

@@ -131,6 +131,14 @@ typedef struct px4flow {
 	SensorError_t error;
 } px4flow_t;
 
+typedef struct gps {
+	double lat, lon;
+	double vel, course;
+
+	int fixed;
+	unsigned int numSats;
+} gps_t;
+
 typedef struct PID_t {
 	float current_point;	// Current value of the system
 	float setpoint;		// Desired value of the system
@@ -454,7 +462,10 @@ typedef struct hardware_t {
   struct I2CDriver i2c_1;
   struct RCReceiverDriver rc_receiver;
   struct MotorDriver motors;
-  struct UARTDriver uart;
+  struct UARTDriver uart_0;
+  struct UARTDriver uart_1;
+  struct GPSDriver gps;
+  struct CommDriver comm;
   struct TimerDriver global_timer;
   struct TimerDriver axi_timer;
   struct LEDDriver mio7_led;

quad/xsdk_workspace/real_quad/src/hw_impl_zybo.c

 #include "hw_impl_zybo.h"
 
-struct UARTDriver create_zybo_uart() {
+struct UARTDriver create_zybo_uart(int devId) {
   struct UARTDriver uart;
+  uart.devId = devId;
   uart.state = NULL;
   uart.reset = zybo_uart_reset;
   uart.write = zybo_uart_write;
@@ -9,6 +10,32 @@ struct UARTDriver create_zybo_uart() {
   return uart;
 }
 
+struct GPSDriver create_zybo_gps(struct UARTDriver *uart) {
+	struct GPSDriver gps;
+	gps.uart = uart;
+	gps.reset = zybo_gps_reset;
+	gps.read = zybo_gps_read;
+	return gps;
+}
+
+struct CommDriver create_zybo_comm(struct UARTDriver *uart) {
+	struct CommDriver comm;
+	comm.uart = uart;
+	comm.reset = zybo_comm_reset;
+	comm.read = zybo_comm_read;
+	return comm;
+}
+
+/*
+ * struct LidarDriver create_zybo_lidar(struct I2CDriver *i2c) {
+  struct LidarDriver lidar;
+  lidar.i2c = i2c;
+  lidar.reset = zybo_lidar_reset;
+  lidar.read = zybo_lidar_read;
+  return lidar;
+}
+ */
+
 struct MotorDriver create_zybo_motors() {
   struct MotorDriver motors;
   motors.state = NULL;

quad/xsdk_workspace/real_quad/src/main.c

@@ -9,7 +9,8 @@
 int setup_hardware(hardware_t *hardware) {
   hardware->rc_receiver = create_zybo_rc_receiver();
   hardware->motors = create_zybo_motors();
-  hardware->uart = create_zybo_uart();
+  hardware->uart_0 = create_zybo_uart(0);
+  hardware->uart_1 = create_zybo_uart(1);
   hardware->global_timer = create_zybo_global_timer();
   hardware->axi_timer = create_zybo_axi_timer();
   hardware->mio7_led = create_zybo_mio7_led();