From ed44eef7013dddb65eda0a6e76baa9889ef4cc7a Mon Sep 17 00:00:00 2001
From: James Talbert <jtalbert@iastate.edu>
Date: Wed, 17 Oct 2018 14:58:33 -0500
Subject: [PATCH] Confirmed that the IMU works on the new HW platform.
---
quad/src/virt_quad/hw_impl_unix.c | 9 -------
quad/src/virt_quad/hw_impl_unix.h | 5 ----
quad/src/virt_quad/hw_impl_unix_axi_timer.c | 24 ------------------
quad/src/virt_quad/main.c | 1 -
.../quad_hw/src/constrs/Zybo-Z7-Master.xdc | 4 +--
.../real_quad/src/main.c | 6 ++---
.../libsrc/standalone_v6_2/src/_exit.o | Bin 764 -> 0 bytes
.../libsrc/standalone_v6_2/src/_open.o | Bin 864 -> 0 bytes
.../libsrc/standalone_v6_2/src/_sbrk.o | Bin 1040 -> 0 bytes
.../libsrc/standalone_v6_2/src/abort.o | Bin 848 -> 0 bytes
.../libsrc/standalone_v6_2/src/asm_vectors.o | Bin 1640 -> 0 bytes
.../libsrc/standalone_v6_2/src/boot.o | Bin 3072 -> 0 bytes
.../libsrc/standalone_v6_2/src/close.o | Bin 768 -> 0 bytes
.../libsrc/standalone_v6_2/src/cpu_init.o | Bin 664 -> 0 bytes
.../libsrc/standalone_v6_2/src/errno.o | Bin 868 -> 0 bytes
.../libsrc/standalone_v6_2/src/fcntl.o | Bin 768 -> 0 bytes
.../libsrc/standalone_v6_2/src/fstat.o | Bin 776 -> 0 bytes
.../libsrc/standalone_v6_2/src/getpid.o | Bin 796 -> 0 bytes
.../libsrc/standalone_v6_2/src/inbyte.o | Bin 860 -> 0 bytes
.../libsrc/standalone_v6_2/src/isatty.o | Bin 796 -> 0 bytes
.../libsrc/standalone_v6_2/src/kill.o | Bin 916 -> 0 bytes
.../libsrc/standalone_v6_2/src/lseek.o | Bin 912 -> 0 bytes
.../libsrc/standalone_v6_2/src/open.o | Bin 860 -> 0 bytes
.../libsrc/standalone_v6_2/src/outbyte.o | Bin 864 -> 0 bytes
.../libsrc/standalone_v6_2/src/print.o | Bin 880 -> 0 bytes
.../libsrc/standalone_v6_2/src/putnum.o | Bin 976 -> 0 bytes
.../libsrc/standalone_v6_2/src/read.o | Bin 980 -> 0 bytes
.../libsrc/standalone_v6_2/src/sbrk.o | Bin 1140 -> 0 bytes
.../libsrc/standalone_v6_2/src/sleep.o | Bin 924 -> 0 bytes
.../standalone_v6_2/src/translation_table.o | Bin 17180 -> 0 bytes
.../libsrc/standalone_v6_2/src/unlink.o | Bin 864 -> 0 bytes
.../libsrc/standalone_v6_2/src/usleep.o | Bin 924 -> 0 bytes
.../libsrc/standalone_v6_2/src/vectors.o | Bin 1232 -> 0 bytes
.../libsrc/standalone_v6_2/src/write.o | Bin 1004 -> 0 bytes
.../libsrc/standalone_v6_2/src/xil-crt0.o | Bin 1256 -> 0 bytes
.../libsrc/standalone_v6_2/src/xil_assert.o | Bin 1240 -> 0 bytes
.../libsrc/standalone_v6_2/src/xil_cache.o | Bin 4940 -> 0 bytes
.../standalone_v6_2/src/xil_exception.o | Bin 1544 -> 0 bytes
.../libsrc/standalone_v6_2/src/xil_io.o | Bin 824 -> 0 bytes
.../libsrc/standalone_v6_2/src/xil_mem.o | Bin 908 -> 0 bytes
.../src/xil_misc_psreset_api.o | Bin 2120 -> 0 bytes
.../libsrc/standalone_v6_2/src/xil_mmu.o | Bin 1208 -> 0 bytes
.../libsrc/standalone_v6_2/src/xil_printf.o | Bin 3896 -> 0 bytes
.../standalone_v6_2/src/xil_testcache.o | Bin 728 -> 0 bytes
.../libsrc/standalone_v6_2/src/xil_testio.o | Bin 1884 -> 0 bytes
.../libsrc/standalone_v6_2/src/xil_testmem.o | Bin 3488 -> 0 bytes
.../standalone_v6_2/src/xl2cc_counter.o | Bin 1016 -> 0 bytes
.../standalone_v6_2/src/xplatform_info.o | Bin 788 -> 0 bytes
.../libsrc/standalone_v6_2/src/xpm_counter.o | Bin 1564 -> 0 bytes
.../libsrc/standalone_v6_2/src/xtime_l.o | Bin 892 -> 0 bytes
50 files changed, 5 insertions(+), 44 deletions(-)
delete mode 100644 quad/src/virt_quad/hw_impl_unix_axi_timer.c
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/_exit.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/_open.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/_sbrk.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/abort.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/asm_vectors.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/boot.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/close.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/cpu_init.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/errno.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/fcntl.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/fstat.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/getpid.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/inbyte.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/isatty.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/kill.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/lseek.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/open.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/outbyte.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/print.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/putnum.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/read.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/sbrk.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/sleep.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/translation_table.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/unlink.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/usleep.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/vectors.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/write.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/xil-crt0.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/xil_assert.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/xil_cache.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/xil_exception.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/xil_io.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/xil_mem.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/xil_misc_psreset_api.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/xil_mmu.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/xil_printf.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/xil_testcache.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/xil_testio.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/xil_testmem.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/xl2cc_counter.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/xplatform_info.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/xpm_counter.o
delete mode 100644 quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/xtime_l.o
diff --git a/quad/src/virt_quad/hw_impl_unix.c b/quad/src/virt_quad/hw_impl_unix.c
index ab1704ca7..11ffd49ad 100644
--- a/quad/src/virt_quad/hw_impl_unix.c
+++ b/quad/src/virt_quad/hw_impl_unix.c
@@ -49,15 +49,6 @@ struct TimerDriver create_unix_global_timer() {
return global_timer;
}
-struct TimerDriver create_unix_axi_timer() {
- struct TimerDriver axi_timer;
- axi_timer.state = NULL;
- axi_timer.reset = unix_axi_timer_reset;
- axi_timer.restart = unix_axi_timer_restart;
- axi_timer.read = unix_axi_timer_read;
- return axi_timer;
-}
-
struct LEDDriver create_unix_mio7_led() {
struct LEDDriver mio7_led;
mio7_led.state = NULL;
diff --git a/quad/src/virt_quad/hw_impl_unix.h b/quad/src/virt_quad/hw_impl_unix.h
index 3ec22683d..0877a4e9d 100644
--- a/quad/src/virt_quad/hw_impl_unix.h
+++ b/quad/src/virt_quad/hw_impl_unix.h
@@ -57,10 +57,6 @@ int unix_global_timer_reset(struct TimerDriver *self);
int unix_global_timer_restart(struct TimerDriver *self);
int unix_global_timer_read(struct TimerDriver *self, u64 *us);
-int unix_axi_timer_reset(struct TimerDriver *self);
-int unix_axi_timer_restart(struct TimerDriver *self);
-int unix_axi_timer_read(struct TimerDriver *self, u64 *us);
-
int unix_mio7_led_reset(struct LEDDriver *self);
int unix_mio7_led_turn_on(struct LEDDriver *self);
int unix_mio7_led_turn_off(struct LEDDriver *self);
@@ -83,7 +79,6 @@ struct MotorDriver create_unix_motors();
struct RCReceiverDriver create_unix_rc_receiver();
struct I2CDriver create_unix_i2c();
struct TimerDriver create_unix_global_timer();
-struct TimerDriver create_unix_axi_timer();
struct LEDDriver create_unix_mio7_led();
struct SystemDriver create_unix_system();
struct IMUDriver create_unix_imu(struct I2CDriver *i2c);
diff --git a/quad/src/virt_quad/hw_impl_unix_axi_timer.c b/quad/src/virt_quad/hw_impl_unix_axi_timer.c
deleted file mode 100644
index 73e9acc28..000000000
--- a/quad/src/virt_quad/hw_impl_unix_axi_timer.c
+++ /dev/null
@@ -1,24 +0,0 @@
-#include "hw_impl_unix.h"
-
-int unix_axi_timer_reset(struct TimerDriver *self) {
- if (self->state == NULL) {
- self->state = malloc(sizeof(struct timeval));
- }
- return 0;
-}
-
-int unix_axi_timer_restart(struct TimerDriver *self) {
- struct timeval *start = self->state;
- struct timezone tz;
- gettimeofday(start, &tz);
- return 0;
-}
-
-int unix_axi_timer_read(struct TimerDriver *self, u64 *us) {
- struct timeval *start = self->state;
- struct timeval end;
- struct timezone tz;
- gettimeofday(&end, &tz);
- *us = end.tv_usec - start->tv_usec;
- return 0;
-}
diff --git a/quad/src/virt_quad/main.c b/quad/src/virt_quad/main.c
index 7ed5ed278..95bf36c5c 100644
--- a/quad/src/virt_quad/main.c
+++ b/quad/src/virt_quad/main.c
@@ -38,7 +38,6 @@ int setup_hardware(hardware_t *hardware) {
hardware->uart_0 = create_unix_uart();
hardware->comm = create_unix_comm(&hardware->uart_0);
hardware->global_timer = create_unix_global_timer();
- hardware->axi_timer = create_unix_axi_timer();
hardware->mio7_led = create_unix_mio7_led();
hardware->sys = create_unix_system();
hardware->imu = create_unix_imu(&hardware->i2c_0);
diff --git a/quad/vivado_workspace/quad_hw/src/constrs/Zybo-Z7-Master.xdc b/quad/vivado_workspace/quad_hw/src/constrs/Zybo-Z7-Master.xdc
index 704ec5a4d..07a207269 100644
--- a/quad/vivado_workspace/quad_hw/src/constrs/Zybo-Z7-Master.xdc
+++ b/quad/vivado_workspace/quad_hw/src/constrs/Zybo-Z7-Master.xdc
@@ -124,8 +124,8 @@
##Pmod Header JC
#set_property -dict { PACKAGE_PIN V15 IOSTANDARD LVCMOS33 } [get_ports { jc[0] }]; #IO_L10P_T1_34 Sch=jc_p[1]
-#set_property -dict { PACKAGE_PIN W15 IOSTANDARD LVCMOS33 } [get_ports { jc[1] }]; #IO_L10N_T1_34 Sch=jc_n[1]
-#set_property -dict { PACKAGE_PIN T11 IOSTANDARD LVCMOS33 } [get_ports { jc[2] }]; #IO_L1P_T0_34 Sch=jc_p[2]
+set_property -dict { PACKAGE_PIN W15 IOSTANDARD LVCMOS33 } [get_ports { UART0_TX_0 }]; #IO_L10N_T1_34 Sch=jc_n[1]
+set_property -dict { PACKAGE_PIN T11 IOSTANDARD LVCMOS33 } [get_ports { UART0_RX_0 }]; #IO_L1P_T0_34 Sch=jc_p[2]
#set_property -dict { PACKAGE_PIN T10 IOSTANDARD LVCMOS33 } [get_ports { jc[3] }]; #IO_L1N_T0_34 Sch=jc_n[2]
#set_property -dict { PACKAGE_PIN W14 IOSTANDARD LVCMOS33 } [get_ports { jc[4] }]; #IO_L8P_T1_34 Sch=jc_p[3]
#set_property -dict { PACKAGE_PIN Y14 IOSTANDARD LVCMOS33 } [get_ports { jc[5] }]; #IO_L8N_T1_34 Sch=jc_n[3]
diff --git a/quad/xsdk_workspace_vivado/real_quad/src/main.c b/quad/xsdk_workspace_vivado/real_quad/src/main.c
index a71c754a7..30d3132df 100644
--- a/quad/xsdk_workspace_vivado/real_quad/src/main.c
+++ b/quad/xsdk_workspace_vivado/real_quad/src/main.c
@@ -4,7 +4,7 @@
#include "type_def.h"
#include "platform.h"
-//#define RUN_TESTS
+#define RUN_TESTS
/**
* Create the hardware drivers, and place them on the hardware struct.
@@ -47,8 +47,8 @@ int main()
#ifdef RUN_TESTS
//test_zybo_mio7_led_and_system();
//test_zybo_i2c();
- //test_zybo_i2c_imu();
- test_zybo_i2c_px4flow();
+ test_zybo_i2c_imu();
+ //test_zybo_i2c_px4flow();
//test_zybo_i2c_lidar();
//test_zybo_i2c_all();
//test_zybo_rc_receiver();
diff --git a/quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/_exit.o b/quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/_exit.o
deleted file mode 100644
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GIT binary patch
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diff --git a/quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/_open.o b/quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/_open.o
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diff --git a/quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/_sbrk.o b/quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/_sbrk.o
deleted file mode 100644
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diff --git a/quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/abort.o b/quad/xsdk_workspace_vivado/standalone_bsp_0/ps7_cortexa9_0/libsrc/standalone_v6_2/src/abort.o
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