wip: add hardware test for LEDDriver and SystemDriver (blink)

quad/xsdk_workspace/modular_quad_pid/.cproject

@@ -27,7 +27,9 @@
 							<tool id="xilinx.gnu.arm.c.toolchain.compiler.debug.177835003" name="ARM gcc compiler" superClass="xilinx.gnu.arm.c.toolchain.compiler.debug">
 								<option defaultValue="gnu.c.optimization.level.none" id="xilinx.gnu.compiler.option.optimization.level.1900496019" name="Optimization Level" superClass="xilinx.gnu.compiler.option.optimization.level" value="gnu.c.optimization.level.none" valueType="enumerated"/>
 								<option id="xilinx.gnu.compiler.option.debugging.level.1207856754" name="Debug Level" superClass="xilinx.gnu.compiler.option.debugging.level" value="gnu.c.debugging.level.max" valueType="enumerated"/>
-								<option id="xilinx.gnu.compiler.inferred.swplatform.includes.2123463819" name="Software Platform Include Path" superClass="xilinx.gnu.compiler.inferred.swplatform.includes"/>
+								<option id="xilinx.gnu.compiler.inferred.swplatform.includes.2123463819" name="Software Platform Include Path" superClass="xilinx.gnu.compiler.inferred.swplatform.includes" valueType="includePath">
+									<listOptionValue builtIn="false" value="../../system_bsp/ps7_cortexa9_0/include"/>
+								</option>
 								<option id="xilinx.gnu.compiler.symbols.defined.1696008720" name="Defined symbols (-D)" superClass="xilinx.gnu.compiler.symbols.defined"/>
 								<option id="xilinx.gnu.compiler.dircategory.includes.1211006365" name="Include Paths" superClass="xilinx.gnu.compiler.dircategory.includes" valueType="includePath">
 									<listOptionValue builtIn="false" value="../../system_bsp/ps7_cortexa9_0/include"/>
@@ -106,11 +108,13 @@
 							<tool id="xilinx.gnu.arm.c.toolchain.compiler.release.85270120" name="ARM gcc compiler" superClass="xilinx.gnu.arm.c.toolchain.compiler.release">
 								<option defaultValue="gnu.c.optimization.level.more" id="xilinx.gnu.compiler.option.optimization.level.515686013" name="Optimization Level" superClass="xilinx.gnu.compiler.option.optimization.level" valueType="enumerated"/>
 								<option id="xilinx.gnu.compiler.option.debugging.level.1121150517" name="Debug Level" superClass="xilinx.gnu.compiler.option.debugging.level" value="gnu.c.debugging.level.none" valueType="enumerated"/>
-								<option id="xilinx.gnu.compiler.inferred.swplatform.includes.687694973" name="Software Platform Include Path" superClass="xilinx.gnu.compiler.inferred.swplatform.includes" valueType="includePath"/>
+								<option id="xilinx.gnu.compiler.inferred.swplatform.includes.687694973" name="Software Platform Include Path" superClass="xilinx.gnu.compiler.inferred.swplatform.includes" valueType="includePath">
+									<listOptionValue builtIn="false" value="../../system_bsp/ps7_cortexa9_0/include"/>
+								</option>
 								<option id="xilinx.gnu.compiler.symbols.defined.1562495938" name="Defined symbols (-D)" superClass="xilinx.gnu.compiler.symbols.defined" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="NDEBUG=1"/>
 								</option>
-								<option id="xilinx.gnu.compiler.dircategory.includes.1873624761" superClass="xilinx.gnu.compiler.dircategory.includes" valueType="includePath">
+								<option id="xilinx.gnu.compiler.dircategory.includes.1873624761" name="Include Paths" superClass="xilinx.gnu.compiler.dircategory.includes" valueType="includePath">
 									<listOptionValue builtIn="false" value="../../system_bsp/ps7_cortexa9_0/include"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/modular_quad_pid/ext/computation_graph}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/modular_quad_pid/ext/quad_app}&quot;"/>

quad/xsdk_workspace/modular_quad_pid/.project

@@ -4,7 +4,7 @@
 	<comment></comment>
 	<projects>
 		<project>system_bsp</project>
-		<project>system_bsp_new</project>
+		<project>system_hw_platform</project>
 	</projects>
 	<buildSpec>
 		<buildCommand>

quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo.c

@@ -60,3 +60,11 @@ struct LEDDriver create_zybo_mio7_led() {
   mio7_led.turn_off = zybo_mio7_led_turn_off;
   return mio7_led;
 }
+
+struct SystemDriver create_zybo_system() {
+  struct SystemDriver sys;
+  sys.state = NULL;
+  sys.reset = zybo_system_reset;
+  sys.sleep = zybo_system_sleep;
+  return sys;
+}

quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo.h

@@ -15,6 +15,8 @@
 #include "xtime_l.h"
 #include "xuartps.h"
 #include "queue.h"
+#include "platform.h"
+#include "sleep.h"
 
 int zybo_uart_reset(struct UARTDriver *self);
 int zybo_uart_write(struct UARTDriver *self, unsigned char *data, unsigned int length);
@@ -48,6 +50,9 @@ 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);
 
+int zybo_system_reset(struct SystemDriver *self);
+int zybo_system_sleep(struct SystemDriver *self, unsigned long us);
+
 struct UARTDriver create_zybo_uart();
 struct PWMOutputDriver create_zybo_pwm_outputs();
 struct PWMInputDriver create_zybo_pwm_inputs();
@@ -55,5 +60,9 @@ struct I2CDriver create_zybo_i2c();
 struct TimerDriver create_zybo_global_timer();
 struct TimerDriver create_zybo_axi_timer();
 struct LEDDriver create_zybo_mio7_led();
+struct SystemDriver create_zybo_system();
+
+int test_zybo_i2c();
+int test_zybo_mio7_led_and_system();
 
 #endif

quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_system.c

+#include "hw_impl_zybo.h"
+
+int zybo_system_reset(struct SystemDriver *sys) {
+  return 0;
+}
+
+int zybo_system_sleep(struct SystemDriver *sys, unsigned long us) {
+  usleep(us);
+  return 0;
+}
+

quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_tests.c

+#include "hw_impl_zybo.h"
+#include "type_def.h"
+#include "iic_utils.h"
+#include <stdio.h>
+
+/**
+ * Use the LEDDriver and SystemDriver to create a basic "blink" program,
+ * using the mio7 LED on the Zybo board.
+ *
+ * Instructions:
+ * 1) Use the USB cable and plug Zybo board into computer.
+ * 2) Run.
+ * 3) Observe MIO7 LED on board blinking at 1 second intervals.
+ */
+int test_zybo_mio7_led_and_system() {
+  struct LEDDriver mio7 = create_zybo_mio7_led();
+  struct SystemDriver sys = create_zybo_system();
+  mio7.reset(&mio7);
+  sys.reset(&sys);
+
+  while (1) {
+    mio7.turn_on(&mio7);
+    sys.sleep(&sys, 1000000);
+    mio7.turn_off(&mio7);
+    sys.sleep(&sys, 1000000);
+  }
+
+  return 0;
+}
+
+int test_zybo_i2c() {
+  struct I2CDriver i2c = create_zybo_i2c();
+  struct SystemDriver sys = create_zybo_system();
+  i2c.reset(&i2c);
+  sys.reset(&sys);
+
+  lidar_t lidar = { };
+  iic_set_globals(&i2c, &sys);
+  if (iic0_lidarlite_init()) return 0;
+  short x;
+  while (1) {
+    iic0_lidarlite_read_distance(&lidar);
+    x = lidar.distance_cm;
+  }
+  return 0;
+}
+
+

quad/xsdk_workspace/modular_quad_pid/src/main.c

@@ -2,6 +2,9 @@
 #include "hw_impl_zybo.h"
 #include "quad_app.h"
 #include "type_def.h"
+#include "platform.h"
+
+#define RUN_TESTS
 
 int setup_hardware(hardware_t *hardware) {
   hardware->i2c = create_zybo_i2c();
@@ -16,6 +19,20 @@ int setup_hardware(hardware_t *hardware) {
 
 int main()
 {
+  // Zynq initialization
+  init_platform();
+
+#ifdef RUN_TESTS
+  test_zybo_mio7_led_and_system();
+  //test_zybo_i2c();
+  //test_zybo_pwm_inputs();
+  //test_zybo_pwm_outputs();
+  //test_zybo_uart();
+  //test_zybo_axi_timer();
+  return 0;
+#endif
+
+  // Run the main quad application
   quad_main(setup_hardware);
   return 0;
 }