From 8920e1a4fdc2d24e6ac03bf1070eabf059d0b69f Mon Sep 17 00:00:00 2001
From: "ucart@co3050-12" <dawehr@iastate.edu>
Date: Fri, 21 Apr 2017 22:13:18 -0500
Subject: [PATCH] WIP: Work on a second UART, separating comm and gps drivers.
---
quad/src/quad_app/hw_iface.h | 15 ++++++++++
quad/src/quad_app/type_def.h | 13 ++++++++-
.../real_quad/src/hw_impl_zybo.c | 29 ++++++++++++++++++-
quad/xsdk_workspace/real_quad/src/main.c | 3 +-
4 files changed, 57 insertions(+), 3 deletions(-)
diff --git a/quad/src/quad_app/hw_iface.h b/quad/src/quad_app/hw_iface.h
index 2880dcc23..38dbe6dad 100644
--- a/quad/src/quad_app/hw_iface.h
+++ b/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
diff --git a/quad/src/quad_app/type_def.h b/quad/src/quad_app/type_def.h
index ccf8a677c..d5bd1d45e 100644
--- a/quad/src/quad_app/type_def.h
+++ b/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;
diff --git a/quad/xsdk_workspace/real_quad/src/hw_impl_zybo.c b/quad/xsdk_workspace/real_quad/src/hw_impl_zybo.c
index 78cf4aafd..396c07c46 100644
--- a/quad/xsdk_workspace/real_quad/src/hw_impl_zybo.c
+++ b/quad/xsdk_workspace/real_quad/src/hw_impl_zybo.c
@@ -1,7 +1,8 @@
#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;
diff --git a/quad/xsdk_workspace/real_quad/src/main.c b/quad/xsdk_workspace/real_quad/src/main.c
index f2562cb6f..d192b9c6c 100644
--- a/quad/xsdk_workspace/real_quad/src/main.c
+++ b/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();
--
GitLab