diff --git a/quad/Makefile b/quad/Makefile
index 42c990ec18d1b86f3fa9b05ef4985f015a5a669b..867de1bd9694a5d3f664c94a37c9a5c9beb3064e 100644
--- a/quad/Makefile
+++ b/quad/Makefile
@@ -1,8 +1,7 @@
INCDIR = inc
LIBDIR = lib
-ZYBOLIBDIR = lib-zybo
-.PHONY: default zybo all test clean
+.PHONY: default test clean deep-clean
default:
$(MAKE) -C src/test
@@ -10,17 +9,16 @@ default:
$(MAKE) -C src/computation_graph
$(MAKE) -C src/quad_app
-zybo:
- $(MAKE) -C src/test zybo
- $(MAKE) -C src/queue zybo
- $(MAKE) -C src/computation_graph zybo
- $(MAKE) -C src/quad_app zybo
-
-all: default zybo
-
test:
$(MAKE) -C src/queue test
$(MAKE) -C src/computation_graph test
clean:
- rm -rf $(INCDIR) $(LIBDIR) $(ZYBOLIBDIR)
+ rm -rf $(INCDIR) $(LIBDIR)
+
+deep-clean:
+ make clean
+ $(MAKE) -C src/test clean
+ $(MAKE) -C src/queue clean
+ $(MAKE) -C src/computation_graph clean
+ $(MAKE) -C src/quad_app clean
diff --git a/quad/library.mk b/quad/library.mk
index e5f70e9d72fe3e760752627cf3105f97cbd7689b..ab20cd9b1880cb08e6ca384b113206e3bdf6813c 100644
--- a/quad/library.mk
+++ b/quad/library.mk
@@ -1,27 +1,21 @@
GCC = gcc
AR = ar
-ZYBOGCC = /remote/Xilinx/2015.4/SDK/2015.4/gnu/arm/lin/bin/arm-xilinx-eabi-gcc
-ZYBOAR = /remote/Xilinx/2015.4/SDK/2015.4/gnu/arm/lin/bin/arm-xilinx-eabi-ar
INCDIR = $(TOP)/inc
OBJDIR = obj
-ZYBOOBJDIR = obj-zybo
LIBDIR = $(TOP)/lib
-ZYBOLIBDIR = $(TOP)/lib-zybo
SOURCES = $(wildcard *.c)
TESTSOURCES = $(wildcard test/*.c)
HEADERS = $(wildcard *.h)
INCLUDES = $(addprefix $(INCDIR)/, $(HEADERS))
OBJECTS = $(patsubst %.c, $(OBJDIR)/%.o, $(SOURCES))
-ZYBOOBJECTS = $(patsubst %.c, $(ZYBOOBJDIR)/%.o, $(SOURCES))
TESTOBJECTS = $(patsubst $.c, %.o, $(TESTSOURCES))
TARGET = $(LIBDIR)/lib$(NAME).a
-ZYBOTARGET = $(ZYBOLIBDIR)/lib$(NAME).a
TESTBIN = run_tests
-.PHONY: default zybo all test clean
+.PHONY: default test clean
################
## User Targets
@@ -29,15 +23,11 @@ TESTBIN = run_tests
default: $(TARGET) $(INCLUDES)
-zybo: $(ZYBOTARGET) $(INCLUDES)
-
-all: default zybo
-
test: $(TESTBIN)
./$(TESTBIN)
clean:
- rm -rf $(TARGET) $(ZYBOTARGET) $(INCLUDES) $(OBJDIR) $(ZYBOOBJDIR)
+ rm -rf $(TARGET) $(INCLUDES) $(OBJDIR)
####################
## Internal Targets
@@ -46,15 +36,9 @@ clean:
$(TARGET): $(OBJECTS) | $(LIBDIR)
$(AR) rcs $@ $^
-$(ZYBOTARGET): $(ZYBOOBJECTS) | $(ZYBOLIBDIR)
- $(ZYBOAR) rcs $@ $^
-
$(OBJDIR)/%.o : %.c | $(OBJDIR) $(INCDIR)
$(GCC) -c -g -o $@ $< -I$(INCDIR)
-$(ZYBOOBJDIR)/%.o : %.c | $(ZYBOOBJDIR) $(INCDIR)
- $(ZYBOGCC) -c -g -o $@ $< -I$(INCDIR)
-
$(INCDIR)/%.h : %.h | $(INCDIR)
cp $^ $(INCDIR)
@@ -67,12 +51,5 @@ $(OBJDIR):
$(LIBDIR):
mkdir $(LIBDIR)
-$(ZYBOOBJDIR):
- mkdir $(ZYBOOBJDIR)
-
-$(ZYBOLIBDIR):
- mkdir $(ZYBOLIBDIR)
-
-
$(TESTBIN): $(TESTOBJECTS) $(OBJECTS)
$(GCC) -o $(TESTBIN) $^ -I$(INCDIR) -L$(LIBDIR) $(REQLIBS)
diff --git a/quad/src/quad_app/Copy of original lscript.ld b/quad/src/quad_app/Copy of original lscript.ld
deleted file mode 100644
index 970979a58cb47d318dbc9197e5ceb885993cc867..0000000000000000000000000000000000000000
--- a/quad/src/quad_app/Copy of original lscript.ld
+++ /dev/null
@@ -1,284 +0,0 @@
-/*******************************************************************/
-/* */
-/* This file is automatically generated by linker script generator.*/
-/* */
-/* Version: Xilinx EDK 14.7 EDK_P.20131013 */
-/* */
-/* Copyright (c) 2010 Xilinx, Inc. All rights reserved. */
-/* */
-/* Description : Cortex-A9 Linker Script */
-/* */
-/*******************************************************************/
-
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-
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-_SUPERVISOR_STACK_SIZE = DEFINED(_SUPERVISOR_STACK_SIZE) ? _SUPERVISOR_STACK_SIZE : 2048;
-_FIQ_STACK_SIZE = DEFINED(_FIQ_STACK_SIZE) ? _FIQ_STACK_SIZE : 1024;
-_UNDEF_STACK_SIZE = DEFINED(_UNDEF_STACK_SIZE) ? _UNDEF_STACK_SIZE : 1024;
-
-/* Define Memories in the system */
-
-MEMORY
-{
- ps7_ddr_0_S_AXI_BASEADDR : ORIGIN = 0x00100000, LENGTH = 0x1FF00000
- ps7_ram_0_S_AXI_BASEADDR : ORIGIN = 0x00000000, LENGTH = 0x00030000
- ps7_ram_1_S_AXI_BASEADDR : ORIGIN = 0xFFFF0000, LENGTH = 0x0000FE00
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-
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-
-ENTRY(_vector_table)
-
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-
-SECTIONS
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diff --git a/quad/src/quad_app/main.c b/quad/src/quad_app/quad_app.c
similarity index 98%
rename from quad/src/quad_app/main.c
rename to quad/src/quad_app/quad_app.c
index b76fd3fe3b00d3c8087f63e05e9030c37202cc5e..fd195159c34054309d9c9facb80b0bc1545376cb 100644
--- a/quad/src/quad_app/main.c
+++ b/quad/src/quad_app/quad_app.c
@@ -20,7 +20,7 @@
//#define BENCH_TEST
//#define UART_BENCHMARK
-int quad_main()
+int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
{
// Structures to be used throughout
modular_structs_t structs = { };
diff --git a/quad/src/quad_app/quad_app.h b/quad/src/quad_app/quad_app.h
new file mode 100644
index 0000000000000000000000000000000000000000..ef4cab71f718e52eb7b200b05e555a3f8ad3bffa
--- /dev/null
+++ b/quad/src/quad_app/quad_app.h
@@ -0,0 +1,6 @@
+#ifndef QUAD_APP_H
+#define QUAD_APP_H
+
+int quad_main(int (*setup_hardware)(hardware_t *hardware_struct));
+
+#endif
diff --git a/quad/xsdk_workspace/modular_quad_pid/src/main.c b/quad/xsdk_workspace/modular_quad_pid/src/main.c
index 66d95246cb53f7fd1b4c97d225fc1efddac0dcbb..fac5b292519db353db2de0059becb4d392f4f02c 100644
--- a/quad/xsdk_workspace/modular_quad_pid/src/main.c
+++ b/quad/xsdk_workspace/modular_quad_pid/src/main.c
@@ -1,8 +1,8 @@
#include <stdio.h>
#include "hw_impl_zybo.h"
-#include "type_def.h"
+#include "quad_app.h"
-void setup_hardware(hardware_t *hardware) {
+int setup_hardware(hardware_t *hardware) {
hardware->i2c = create_zybo_i2c();
hardware->pwm_inputs = create_zybo_pwm_inputs();
hardware->pwm_outputs = create_zybo_pwm_outputs();
@@ -14,6 +14,6 @@ void setup_hardware(hardware_t *hardware) {
int main()
{
-
+ quad_main(setup_hardware);
return 0;
}