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Commit fcf86401 authored by bbartels's avatar bbartels Committed by dawehr
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wip: connect libraries to xsdk

parent 77fd17b7
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1 merge request!9Abstract the hardware layer
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with 167 additions and 21 deletions
quad/src/quad_app/iic_utils.h
+ 1
− 1
View file @ fcf86401
......@@ -96,7 +96,7 @@
#define ACCEL_Y_BIAS 0.009f
#define ACCEL_Z_BIAS 0.087f
void iic_set_global(struct I2CDriver *given_i2c);
void iic_set_globals(struct I2CDriver *given_i2c, struct SystemDriver *given_system);
void iic0_mpu9150_write(u8 register_addr, u8 data);
void iic0_mpu9150_read(u8* recv_buffer, u8 register_addr, int size);
......
quad/src/quad_app/initialize_components.c
+ 4
− 2
View file @ fcf86401
......@@ -8,6 +8,7 @@
#include "initialize_components.h"
#include "communication.h"
#include "sensor.h"
#include "iic_utils.h"
//#define BENCH_TEST
......@@ -39,8 +40,9 @@ int protection_loops(modular_structs_t *structs)
int init_structs(modular_structs_t *structs) {
struct LEDDriver *mio7_led = &structs->hardware_struct.mio7_led;
struct SystemDriver *sys = &structs->hardware_struct.sys;
if (mio7_led->reset(mio7_led)) return -1;
mio7_init_global(mio7_led);
mio7_init_globals(mio7_led, sys);
// Turn off LED 7 to let observers know that the quad is not yet active
mio7_led->turn_off(mio7_led);
......@@ -73,7 +75,7 @@ int init_structs(modular_structs_t *structs) {
if (i2c->reset(i2c)) {
return -1;
}
iic_set_global(i2c);
iic_set_globals(i2c, sys);
// Initialize PWM Recorders and Motor outputs
struct PWMInputDriver *pwm_inputs = &structs->hardware_struct.pwm_inputs;
......
quad/src/quad_app/mio7_led.h
+ 1
− 1
View file @ fcf86401
......@@ -24,7 +24,7 @@
*/
void flash_MIO_7_led(int how_many_times, int ms_between_flashes);
void mio7_init_global(struct LEDDriver *given_mio7_led);
void mio7_init_globals(struct LEDDriver *given_mio7_led, struct SystemDriver *sys);
void MIO7_led_on();
void MIO7_led_off();
......
quad/src/quad_app/quad_app.h
+ 2
− 0
View file @ fcf86401
#ifndef QUAD_APP_H
#define QUAD_APP_H
#include "type_def.h"
int quad_main(int (*setup_hardware)(hardware_t *hardware_struct));
#endif
quad/src/quad_app/type_def.h
+ 1
− 0
View file @ fcf86401
......@@ -400,6 +400,7 @@ typedef struct hardware_t {
struct TimerDriver global_timer;
struct TimerDriver axi_timer;
struct LEDDriver mio7_led;
struct SystemDriver sys;
} hardware_t;
/**
......
quad/xsdk_workspace/modular_quad_pid/.cproject
+ 27
− 15
View file @ fcf86401
......@@ -18,7 +18,7 @@
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
<configuration artifactExtension="elf" artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug,org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe" cleanCommand="rm -rf" description="" id="xilinx.gnu.arm.exe.debug.980189137" name="Debug" parent="xilinx.gnu.arm.exe.debug">
<folderInfo id="xilinx.gnu.arm.exe.debug.980189137." name="/" resourcePath="">
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<toolChain id="xilinx.gnu.arm.exe.debug.toolchain.1195127676" name="Xilinx ARM GNU Toolchain" resourceTypeBasedDiscovery="true" superClass="xilinx.gnu.arm.exe.debug.toolchain">
<targetPlatform binaryParser="com.xilinx.sdk.managedbuilder.XELF.arm" id="xilinx.arm.target.gnu.base.debug.2072264921" isAbstract="false" name="Debug Platform" superClass="xilinx.arm.target.gnu.base.debug"/>
<builder buildPath="${workspace_loc:/modular_quad_pid}/Debug" enableAutoBuild="true" id="xilinx.gnu.arm.toolchain.builder.debug.2124876787" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="GNU make" superClass="xilinx.gnu.arm.toolchain.builder.debug"/>
<tool id="xilinx.gnu.arm.c.toolchain.assembler.debug.192056667" name="ARM gcc assembler" superClass="xilinx.gnu.arm.c.toolchain.assembler.debug">
......@@ -27,10 +27,14 @@
<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" valueType="includePath">
<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.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"/>
<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;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/modular_quad_pid/ext/queue}&quot;"/>
</option>
<option id="xilinx.gnu.compiler.symbols.defined.1696008720" name="Defined symbols (-D)" superClass="xilinx.gnu.compiler.symbols.defined"/>
<inputType id="xilinx.gnu.arm.c.compiler.input.909725989" name="C source files" superClass="xilinx.gnu.arm.c.compiler.input"/>
</tool>
<tool id="xilinx.gnu.arm.cxx.toolchain.compiler.debug.1470236349" name="ARM g++ compiler" superClass="xilinx.gnu.arm.cxx.toolchain.compiler.debug">
......@@ -52,6 +56,7 @@
<option id="xilinx.gnu.c.link.option.libs.1025826490" name="Libraries (-l)" superClass="xilinx.gnu.c.link.option.libs" valueType="libs">
<listOptionValue builtIn="false" value="m"/>
</option>
<option id="xilinx.gnu.c.link.option.paths.1462160427" name="Library search path (-L)" superClass="xilinx.gnu.c.link.option.paths"/>
<inputType id="xilinx.gnu.linker.input.777404607" superClass="xilinx.gnu.linker.input">
<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
<additionalInput kind="additionalinput" paths="$(LIBS)"/>
......@@ -101,12 +106,16 @@
<tool id="xilinx.gnu.arm.c.toolchain.compiler.release.85270120" name="ARM gcc compiler" superClass="xilinx.gnu.arm.c.toolchain.compiler.release">
<option defaultValue="gnu.c.optimization.level.more" id="xilinx.gnu.compiler.option.optimization.level.515686013" name="Optimization Level" superClass="xilinx.gnu.compiler.option.optimization.level" valueType="enumerated"/>
<option id="xilinx.gnu.compiler.option.debugging.level.1121150517" name="Debug Level" superClass="xilinx.gnu.compiler.option.debugging.level" value="gnu.c.debugging.level.none" valueType="enumerated"/>
<option id="xilinx.gnu.compiler.inferred.swplatform.includes.687694973" name="Software Platform Include Path" superClass="xilinx.gnu.compiler.inferred.swplatform.includes" valueType="includePath">
<listOptionValue builtIn="false" value="../../system_bsp/ps7_cortexa9_0/include"/>
</option>
<option id="xilinx.gnu.compiler.inferred.swplatform.includes.687694973" name="Software Platform Include Path" superClass="xilinx.gnu.compiler.inferred.swplatform.includes" valueType="includePath"/>
<option id="xilinx.gnu.compiler.symbols.defined.1562495938" name="Defined symbols (-D)" superClass="xilinx.gnu.compiler.symbols.defined" valueType="definedSymbols">
<listOptionValue builtIn="false" value="NDEBUG=1"/>
</option>
<option id="xilinx.gnu.compiler.dircategory.includes.1873624761" superClass="xilinx.gnu.compiler.dircategory.includes" valueType="includePath">
<listOptionValue builtIn="false" value="../../system_bsp/ps7_cortexa9_0/include"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/modular_quad_pid/ext/computation_graph}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/modular_quad_pid/ext/quad_app}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/modular_quad_pid/ext/queue}&quot;"/>
</option>
<inputType id="xilinx.gnu.arm.c.compiler.input.846429887" name="C source files" superClass="xilinx.gnu.arm.c.compiler.input"/>
</tool>
<tool id="xilinx.gnu.arm.cxx.toolchain.compiler.release.1846278293" name="ARM g++ compiler" superClass="xilinx.gnu.arm.cxx.toolchain.compiler.release">
......@@ -158,6 +167,15 @@
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
<project id="modular_quad_pid.xilinx.gnu.arm.exe.832182557" name="Xilinx ARM Executable" projectType="xilinx.gnu.arm.exe"/>
</storageModule>
<storageModule moduleId="refreshScope" versionNumber="2">
<configuration configurationName="Release">
<resource resourceType="PROJECT" workspacePath="/modular_quad_pid"/>
</configuration>
<configuration configurationName="Debug">
<resource resourceType="PROJECT" workspacePath="/modular_quad_pid"/>
</configuration>
</storageModule>
<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings"/>
<storageModule moduleId="scannerConfiguration">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
<scannerConfigBuildInfo instanceId="xilinx.gnu.arm.exe.debug.980189137;xilinx.gnu.arm.exe.debug.980189137.">
......@@ -166,6 +184,9 @@
<scannerConfigBuildInfo instanceId="xilinx.gnu.arm.exe.release.255973624;xilinx.gnu.arm.exe.release.255973624.;xilinx.gnu.arm.c.toolchain.compiler.release.85270120;xilinx.gnu.arm.c.compiler.input.846429887">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="com.xilinx.managedbuilder.ui.ARMGCCManagedMakePerProjectProfileC"/>
</scannerConfigBuildInfo>
<scannerConfigBuildInfo instanceId="xilinx.gnu.arm.exe.debug.980189137">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="com.xilinx.managedbuilder.ui.ARMGCCManagedMakePerProjectProfileC"/>
</scannerConfigBuildInfo>
<scannerConfigBuildInfo instanceId="xilinx.gnu.arm.exe.release.255973624;xilinx.gnu.arm.exe.release.255973624.">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="com.xilinx.managedbuilder.ui.ARMGCCManagedMakePerProjectProfileC"/>
</scannerConfigBuildInfo>
......@@ -173,13 +194,4 @@
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="com.xilinx.managedbuilder.ui.ARMGCCManagedMakePerProjectProfileC"/>
</scannerConfigBuildInfo>
</storageModule>
<storageModule moduleId="refreshScope" versionNumber="2">
<configuration configurationName="Release">
<resource resourceType="PROJECT" workspacePath="/modular_quad_pid"/>
</configuration>
<configuration configurationName="Debug">
<resource resourceType="PROJECT" workspacePath="/modular_quad_pid"/>
</configuration>
</storageModule>
<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings"/>
</cproject>
quad/xsdk_workspace/modular_quad_pid/.project
+ 116
− 1
View file @ fcf86401
......@@ -3,8 +3,8 @@
<name>modular_quad_pid</name>
<comment></comment>
<projects>
<project>system_bsp_new</project>
<project>system_bsp</project>
<project>system_bsp_new</project>
</projects>
<buildSpec>
<buildCommand>
......@@ -24,4 +24,119 @@
<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
</natures>
<linkedResources>
<link>
<name>ext/computation_graph</name>
<type>2</type>
<locationURI>QUAD_LOC/src/computation_graph</locationURI>
</link>
<link>
<name>ext/quad_app</name>
<type>2</type>
<locationURI>QUAD_LOC/src/quad_app</locationURI>
</link>
<link>
<name>ext/queue</name>
<type>2</type>
<locationURI>QUAD_LOC/src/queue</locationURI>
</link>
</linkedResources>
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<filter>
<id>1489164394345</id>
<name></name>
<type>10</type>
<matcher>
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<arguments>1.0-name-matches-false-false-obj</arguments>
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<filter>
<id>0</id>
<name>ext/computation_graph</name>
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<arguments>1.0-name-matches-false-false-*.c</arguments>
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<id>0</id>
<name>ext/quad_app</name>
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<variableList>
<variable>
<name>QUAD_LOC</name>
<value>$%7BPARENT-1-WORKSPACE_LOC%7D</value>
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quad/xsdk_workspace/modular_quad_pid/ext/__CAUTION__.md 0 → 100644
+ 12
− 0
View file @ fcf86401
****************************************
Do not edit files in this directory!
****************************************
The fine print
----
Files in this directory are simlinked to external libraries. They exist here
purely to help fascilitate the build process and permit debugging of those
libraries within XSDK. Editing them here might build within XSDK, but it might
break in its original context. Hence, don't edit these files within XSDK. Edit
them within a workflow that uses the Makefile in the top-level quad folder.
quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo.h
+ 1
− 1
View file @ fcf86401
#ifndef HW_IMPL_ZYBO
#define HW_IMPL_ZYBO
#include "../application/hw_iface.h"
#include "hw_iface.h"
#include <sleep.h>
#include <stdlib.h>
......
quad/xsdk_workspace/modular_quad_pid/src/main.c
+ 2
− 0
View file @ fcf86401
#include <stdio.h>
#include "hw_impl_zybo.h"
#include "quad_app.h"
#include "type_def.h"
int setup_hardware(hardware_t *hardware) {
hardware->i2c = create_zybo_i2c();
......@@ -10,6 +11,7 @@ int setup_hardware(hardware_t *hardware) {
hardware->global_timer = create_zybo_global_timer();
hardware->axi_timer = create_zybo_axi_timer();
hardware->mio7_led = create_zybo_mio7_led();
return 0;
}
int main()
......
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