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Quad sw development

Merged Quad sw development
quad_sw_development into 26-convert-xps-xsdk-walkthrough-to-markdown
Merged ktrost requested to merge quad_sw_development into 26-convert-xps-xsdk-walkthrough-to-markdown

I used the branch Prior to our standardization of branches. I'm just merging to get back to standard.

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quad/README.md
5 5 the quad, and the XSDK main project that runs on the Zybo.
6 6
7 ## Brief Intro
7 ## Intro
8 8
9 The main quad application is located at `src/quad_app/`.
9 There are three main portions to the system that runs the quad
10
11 - Quad Hardware
12 - Quad Software Drivers
13 - Control Loop
14
15
16 #### Quad Hardware
17 The quad hardware is located at `xsdk_workspace/system_hw_platform`. This
18 consists of the vhdl and associated wrapper code that specifies the hardware on
  • Austin Rohlfing
    Austin Rohlfing @rohlfing started a thread on the diff
    • quad/README.md
    9 The main quad application is located at `src/quad_app/`.
    9 There are three main portions to the system that runs the quad
    10
    11 - Quad Hardware
    12 - Quad Software Drivers
    13 - Control Loop
    14
    15
    16 #### Quad Hardware
    17 The quad hardware is located at `xsdk_workspace/system_hw_platform`. This
    18 consists of the vhdl and associated wrapper code that specifies the hardware on
    19 the FPGA.
    20
    21 Below is a block diagram of the hardware/software implementation:
    22
    23 ![image](doc/images/FPGA_Diagram.png)
  • Austin Rohlfing
    Austin Rohlfing @rohlfing started a thread on the diff
    • quad/README.md
    14
    15
    16 #### Quad Hardware
    17 The quad hardware is located at `xsdk_workspace/system_hw_platform`. This
    18 consists of the vhdl and associated wrapper code that specifies the hardware on
    19 the FPGA.
    20
    21 Below is a block diagram of the hardware/software implementation:
    22
    23 ![image](doc/images/FPGA_Diagram.png)
    24
    25 #### Quad Software Drivers
    26 The quad software drivers is all of the code that interacts with the sensors of
    27 the quad and collects the data for the control loop to use.
    28 For example receiving coordinates over wifi and reading measurements from the
    29 accelerometer.
    • Austin Rohlfing
      Austin Rohlfing @rohlfing ·
      Contributor

      "The quad software drivers are all of the code..." OR
      "The quad software drivers is the set of code that..."

      "For example (comma) the drivers receive coordinates over Wifi (or Wi-Fi) and reads measurements..."

    • Please register or sign in to reply
  • Austin Rohlfing
    Austin Rohlfing @rohlfing started a thread on the diff
    • quad/README.md
    16 #### Quad Hardware
    17 The quad hardware is located at `xsdk_workspace/system_hw_platform`. This
    18 consists of the vhdl and associated wrapper code that specifies the hardware on
    19 the FPGA.
    20
    21 Below is a block diagram of the hardware/software implementation:
    22
    23 ![image](doc/images/FPGA_Diagram.png)
    24
    25 #### Quad Software Drivers
    26 The quad software drivers is all of the code that interacts with the sensors of
    27 the quad and collects the data for the control loop to use.
    28 For example receiving coordinates over wifi and reading measurements from the
    29 accelerometer.
    10 30
    11 31 To run this application on the Zybo, we need to implement the hardware drivers,
  • Austin Rohlfing
    Austin Rohlfing @rohlfing started a thread on the diff
    • quad/README.md
    19 the FPGA.
    20
    21 Below is a block diagram of the hardware/software implementation:
    22
    23 ![image](doc/images/FPGA_Diagram.png)
    24
    25 #### Quad Software Drivers
    26 The quad software drivers is all of the code that interacts with the sensors of
    27 the quad and collects the data for the control loop to use.
    28 For example receiving coordinates over wifi and reading measurements from the
    29 accelerometer.
    10 30
    11 31 To run this application on the Zybo, we need to implement the hardware drivers,
    12 and provide a `main` function. This is done in `xsdk_workspace/real_quad/src`.
    32 and provide a `main` function.
    33 This is done in `xsdk_workspace/real_quad/src` To build the XSDK project,
  • Austin Rohlfing
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    • quad/README.md
    29 accelerometer.
    10 30
    11 31 To run this application on the Zybo, we need to implement the hardware drivers,
    12 and provide a `main` function. This is done in `xsdk_workspace/real_quad/src`.
    32 and provide a `main` function.
    33 This is done in `xsdk_workspace/real_quad/src` To build the XSDK project,
    34 refer to the [XSDK instructions](xsdk_workspace/README.md).
    35
    36 We can also run this application on our own laptops for testing.
    37 We call this implementation the "virtual quad".
    38 This is modified in `src/virt_quad`.
    13 39
    14 We can also run this application on our own laptops for testing. We call this
    15 implementation the "virtual quad". This is done in `src/virt_quad`.
    40 #### Control Loop
    41 The control loop is the algorithm that runs within the quad software drivers.
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    • quad/README.md
    46 76 ```
    47 77
    48 78 And glad to hear you are interested in writing your own unit tests! Look at the
  • Austin Rohlfing
    Austin Rohlfing @rohlfing started a thread on the diff
    • quad/xsdk_workspace/README.md
    1 1 # XSDK Workspace
    2 2
    3 This directory is reserved for XSDK projects.
    3 This directory is reserved for Xilinx XSDK projects and their respective hardware platforms.
    4
    5 ## What is XSDK
    6
    7 XSDK is a development tool made by Xilinx to create the files necessary to boot
    8 the hardware and software on the FPGA. It includes a test editor based on
    9 eclipse so the tools should feel vaguely familiar.
  • Austin Rohlfing
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    • quad/xsdk_workspace/README.md
    4
    5 ## What is XSDK
    6
    7 XSDK is a development tool made by Xilinx to create the files necessary to boot
    8 the hardware and software on the FPGA. It includes a test editor based on
    9 eclipse so the tools should feel vaguely familiar.
    10 Use our [how to use XSDK document](../doc/how_to_use_XSDK.md) or
    11 [XSDK documentation webpage](https://www.xilinx.com/support/documentation/sw_manuals/xilinx2015_1/SDK_Doc/index.html)
    12
    4 13
    5 14 ## Setup
    6 XSDK, being based on Ecplise, is rather fragile, so do yourself a favor
    15 XSDK, being based on Eclipse, is rather fragile, so do yourself a favor
    7 16 and read this section so things get setup correctly.
    8 17
    9 18 1. When you first open eclipse, select this directory, `xsdk_workspace`, as
  • Austin Rohlfing
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    • quad/xsdk_workspace/README.md
    13 22 add these projects, right-click on the project pane, and click on something
    14 23 like "import projects".
    15 24
    16 1. Select "Import Existing Projects" (whereever that is)
    17 2. And then select the xsd_workspace as the folder where you want to import
    25 1. Select "Import Existing Projects" (wherever that is)
    26 2. And then select the xsdk_workspace as the folder where you want to import
  • Austin Rohlfing
    Austin Rohlfing @rohlfing started a thread on the diff
    • quad/doc/how_to_use_XSDK.md 0 → 100644
    1 # How to use XSDK
    2
    3 ## Introduction
    4
    5 In this guide we will cover the following topics regarding XSDK:
    6 - What Is XSDK
    7 - How to open XSDK
    8 - How to create a BSP
    9 - How to create a new application project
    10 - How to configure JTAG
    11 - How to launch an Application Project
  • Austin Rohlfing
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    • quad/doc/how_to_use_XSDK.md 0 → 100644
    10 - How to configure JTAG
    11 - How to launch an Application Project
    12 - How to boot using an SD card
    13
    14
    15 ## What is XSDK?
    16
    17 XSDK stands for Xilinx Software Development Kit and it does exactly that.
    18 It builds the project C files and necessary packages into files that allow the
    19 developer to program the Zybo board to whatever he/she desires granted it meets
    20 the system constraints.
    21
    22 There are three main things required for a project:
    23 1. A system hardware platform (automatically exporting design from XPS)
    24 1. A Board Support Package (Contains software functions for interacting with
    25 the Processing System controllers i.e. UART and I2C or logic cores on the FPGA)
  • Austin Rohlfing
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    • quad/doc/how_to_use_XSDK.md 0 → 100644
    13
    14
    15 ## What is XSDK?
    16
    17 XSDK stands for Xilinx Software Development Kit and it does exactly that.
    18 It builds the project C files and necessary packages into files that allow the
    19 developer to program the Zybo board to whatever he/she desires granted it meets
    20 the system constraints.
    21
    22 There are three main things required for a project:
    23 1. A system hardware platform (automatically exporting design from XPS)
    24 1. A Board Support Package (Contains software functions for interacting with
    25 the Processing System controllers i.e. UART and I2C or logic cores on the FPGA)
    26 1. An Application Project (A simple hello world, an NES emulator, or something else)
    27
    28 As mentioned above the system_hw_platform is imported for us by XPS when we
  • Austin Rohlfing
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    • quad/doc/how_to_use_XSDK.md 0 → 100644
    19 developer to program the Zybo board to whatever he/she desires granted it meets
    20 the system constraints.
    21
    22 There are three main things required for a project:
    23 1. A system hardware platform (automatically exporting design from XPS)
    24 1. A Board Support Package (Contains software functions for interacting with
    25 the Processing System controllers i.e. UART and I2C or logic cores on the FPGA)
    26 1. An Application Project (A simple hello world, an NES emulator, or something else)
    27
    28 As mentioned above the system_hw_platform is imported for us by XPS when we
    29 export our bitstream file to the XSDK. We’ll walkthrough the other two items
    30 as well as programming the FPGA from within the XSDK.
    31
    32 ## Opening XSDK
    33
    34 Setting up access to the Xilinx tools is fairly straight forward given the
  • Austin Rohlfing
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    • quad/doc/how_to_use_XSDK.md 0 → 100644
    42 1. Coover 3050-11 and -12
    43 Two machines in the Distributed Sensing and Decision Making Lab (Coover 3050)
    44 come with the
    45 tools already installed. However, the following steps need to be taken in
    46 order to launch the
    47 program
    48 - In a terminal, enter `source /opt/Xilinx/14.7/ISE_DS/settings64.sh`
    49 - In terminal type `xsdk &`
    50 - When prompted, open directory `MicroCART/quad/xsdk_workspace`
    51 1. ISU Remote Linux Servers (linux-X, research-x.ece.iastate.edu)
    52 - `source Xilinx_Tools/setup_scripts/remote_servers/setup.sh`
    53 - In terminal type `xsdk &` (Note: these servers are not good for
    54 programming the Zybo board when it comes time to launch a program on the board)
    55 - When prompted, open directory `MicroCART/quad/xsdk_workspace`
    56 1. User PC
    57 Some users may opt to download the Xilinx tools on their own PCs for
  • Austin Rohlfing
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    • quad/doc/how_to_use_XSDK.md 0 → 100644
    45 tools already installed. However, the following steps need to be taken in
    46 order to launch the
    47 program
    48 - In a terminal, enter `source /opt/Xilinx/14.7/ISE_DS/settings64.sh`
    49 - In terminal type `xsdk &`
    50 - When prompted, open directory `MicroCART/quad/xsdk_workspace`
    51 1. ISU Remote Linux Servers (linux-X, research-x.ece.iastate.edu)
    52 - `source Xilinx_Tools/setup_scripts/remote_servers/setup.sh`
    53 - In terminal type `xsdk &` (Note: these servers are not good for
    54 programming the Zybo board when it comes time to launch a program on the board)
    55 - When prompted, open directory `MicroCART/quad/xsdk_workspace`
    56 1. User PC
    57 Some users may opt to download the Xilinx tools on their own PCs for
    58 development, but this is not recommended.
    59 - Download the ISE Design Suite [here](https://www.xilinx.com/support/download/index.html/content/xilinx/en/downloadNav/design-tools.html) (~6GB)
    60 - Run and open the local directory you project is in.
  • Austin Rohlfing
    Austin Rohlfing @rohlfing started a thread on the diff
    • quad/doc/how_to_use_XSDK.md 0 → 100644
    56 1. User PC
    57 Some users may opt to download the Xilinx tools on their own PCs for
    58 development, but this is not recommended.
    59 - Download the ISE Design Suite [here](https://www.xilinx.com/support/download/index.html/content/xilinx/en/downloadNav/design-tools.html) (~6GB)
    60 - Run and open the local directory you project is in.
    61
    62
    63 ## Creating a new Board Support Package (bsp)
    64
    65 The BSP package is responsible for grabbing all necessary Xilinx library files
    66 so they can be called by your program. In other words, it holds the drivers
    67 necessary to interface with the hardware on the board. You shouldn't need to
    68 make a new BSP but in the case you do, do your research as to what type of BSP you
    69 want and need for the project.
    70
    71 1. Click File and select New->Board Support Package
    • Austin Rohlfing
      Austin Rohlfing @rohlfing ·
      Contributor

      Not necessary, but you can use → to make the symbol → to look a little fancier. Similarly, ←, ↑, and ↓ make ←, ↑, and ↓, but these aren't quite as common.

    • Please register or sign in to reply
  • Austin Rohlfing
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    • quad/doc/how_to_use_XSDK.md 0 → 100644
    59 - Download the ISE Design Suite [here](https://www.xilinx.com/support/download/index.html/content/xilinx/en/downloadNav/design-tools.html) (~6GB)
    60 - Run and open the local directory you project is in.
    61
    62
    63 ## Creating a new Board Support Package (bsp)
    64
    65 The BSP package is responsible for grabbing all necessary Xilinx library files
    66 so they can be called by your program. In other words, it holds the drivers
    67 necessary to interface with the hardware on the board. You shouldn't need to
    68 make a new BSP but in the case you do, do your research as to what type of BSP you
    69 want and need for the project.
    70
    71 1. Click File and select New->Board Support Package
    72 1. In the New Board Support Package Project, enter a project name
    73 (system_bsp in the example).
    74 1. Ensure system_hw_platform and ps7_cortexa9_0 are selected in Target Hardware
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    • quad/doc/how_to_use_XSDK.md 0 → 100644
    66 so they can be called by your program. In other words, it holds the drivers
    67 necessary to interface with the hardware on the board. You shouldn't need to
    68 make a new BSP but in the case you do, do your research as to what type of BSP you
    69 want and need for the project.
    70
    71 1. Click File and select New->Board Support Package
    72 1. In the New Board Support Package Project, enter a project name
    73 (system_bsp in the example).
    74 1. Ensure system_hw_platform and ps7_cortexa9_0 are selected in Target Hardware
    75 1. Ensure “standalone” is selected.
    76 1. Click Finish to create the BSP
    77
    78 __IMPORTANT:__ If UART0 is enabled, follow the steps below, otherwise ensure
    79 these are set properly anyway.
    80 1. Click on “standalone” and change the
    81 value of stdin AND stdout to ps7_uart_1
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    82 1. Click OK when done, you should now see the BSP in the project explorer
    83
    84 ## Creating a new Application Project
    85 Lastly, we have the software program that will run on the board. This is the
    86 last piece to the Zybo puzzle, and we’re almost there. Projects can be written
    87 in C or C++, and can use some standard libraries like stdio, stdlib, string,
    88 and otherse. HOWEVER, some libraries (often from Linux) are not implemented
    89 (like time.h), and alternate methods must be used for some things an OS would
    90 normally handle. Hopefully you do not run into these instances.
    91 (Off topic hint: If you need timing things, check out xtime_l.h)
    92 1. Click File -> New -> Application Project to open the New Project box
    93 1. Enter a project name, and select the “Use existing” radio button for the
    94 BSP. We want to use our newly created one rather than create one.
    95 1. Click next and select a template (Hello World is probably best) and hit Finish
    96 1. The new project should appear on the Project Explorer. Expand the project,
    97 src, and open the helloworld.c
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