02/24/2024 Test Launch Version (BB Black) (#11)

* Adding a 90% completed, compilable but untested ADS

* Made basic changes to actuator & sensor. Also added motor class

* Removed unnecessary .cpp files

* Updated sensor & actuator classes, finished ads, added variable time step to kalman filter, set up all tests for future assertions

* Relocated 'main' to 'active-drag-system.cpp'. Added more info to README

* Removed main.cpp

* Added more details to README

* Changed some function parameters from pass-by-pointer to pass-by-reference. Also removed the std namespace

* Started writing the test cases

* Updated the .gitignore file

* Removed some files that should be gitignored

* Up to date with Jazz's pull request

* Test Launch Branch Created; PRU Servo Control with Test Program

* Added I2C device class and register IDs for MPL [INCOMPLETE SENSOR IMPLEMENTATION]

Needs actual data getting function implementation for both sensors and register IDs for BNO, will implement shortly.

* Partial implementation of MPL sensor

Added startup method, still needs fleshed out data getters and setters and finished I2C implementation. MOST LIKELY WILL HAVE COMPILATION ISSUES.

* *Hypothetically* complete MPL implementation

NEEDS HARDWARE TESTING

* IMU Header and init() method implementation

Needs like, all data handling still lol

* Hypothetically functional (Definitely won't compile)

* We ball?

---------

Co-authored-by: Jazz Jackson <[email protected]>
Co-authored-by: Cian Capacci <[email protected]>

1 files changed, 86 insertions, 0 deletions

diff --git a/src/pru/AM335x_PRU.cmd b/src/pru/AM335x_PRU.cmd
new file mode 100644
index 0000000..b62f044
--- /dev/null
+++ b/src/pru/AM335x_PRU.cmd
@@ -0,0 +1,86 @@
+/****************************************************************************/
+/*  AM335x_PRU.cmd                                                          */
+/*  Copyright (c) 2015  Texas Instruments Incorporated                      */
+/*                                                                          */
+/*    Description: This file is a linker command file that can be used for  */
+/*                 linking PRU programs built with the C compiler and       */
+/*                 the resulting .out file on an AM335x device.             */
+/****************************************************************************/
+
+-cr								/* Link using C conventions */
+
+/* Specify the System Memory Map */
+MEMORY
+{
+      PAGE 0:
+	PRU_IMEM		: org = 0x00000000 len = 0x00002000  /* 8kB PRU0 Instruction RAM */
+
+      PAGE 1:
+
+	/* RAM */
+
+	PRU_DMEM_0_1	: org = 0x00000000 len = 0x00002000 CREGISTER=24 /* 8kB PRU Data RAM 0_1 */
+	PRU_DMEM_1_0	: org = 0x00002000 len = 0x00002000	CREGISTER=25 /* 8kB PRU Data RAM 1_0 */
+
+	  PAGE 2:
+	PRU_SHAREDMEM	: org = 0x00010000 len = 0x00003000 CREGISTER=28 /* 12kB Shared RAM */
+
+	DDR			    : org = 0x80000000 len = 0x00000100	CREGISTER=31
+	L3OCMC			: org = 0x40000000 len = 0x00010000	CREGISTER=30
+
+
+	/* Peripherals */
+
+	PRU_CFG			: org = 0x00026000 len = 0x00000044	CREGISTER=4
+	PRU_ECAP		: org = 0x00030000 len = 0x00000060	CREGISTER=3
+	PRU_IEP			: org = 0x0002E000 len = 0x0000031C	CREGISTER=26
+	PRU_INTC		: org = 0x00020000 len = 0x00001504	CREGISTER=0
+	PRU_UART		: org = 0x00028000 len = 0x00000038	CREGISTER=7
+
+	DCAN0			: org = 0x481CC000 len = 0x000001E8	CREGISTER=14
+	DCAN1			: org = 0x481D0000 len = 0x000001E8	CREGISTER=15
+	DMTIMER2		: org = 0x48040000 len = 0x0000005C	CREGISTER=1
+	PWMSS0			: org = 0x48300000 len = 0x000002C4	CREGISTER=18
+	PWMSS1			: org = 0x48302000 len = 0x000002C4	CREGISTER=19
+	PWMSS2			: org = 0x48304000 len = 0x000002C4	CREGISTER=20
+	GEMAC			: org = 0x4A100000 len = 0x0000128C	CREGISTER=9
+	I2C1			: org = 0x4802A000 len = 0x000000D8	CREGISTER=2
+	I2C2			: org = 0x4819C000 len = 0x000000D8	CREGISTER=17
+	MBX0			: org = 0x480C8000 len = 0x00000140	CREGISTER=22
+	MCASP0_DMA		: org = 0x46000000 len = 0x00000100	CREGISTER=8
+	MCSPI0			: org = 0x48030000 len = 0x000001A4	CREGISTER=6
+	MCSPI1			: org = 0x481A0000 len = 0x000001A4	CREGISTER=16
+	MMCHS0			: org = 0x48060000 len = 0x00000300	CREGISTER=5
+	SPINLOCK		: org = 0x480CA000 len = 0x00000880	CREGISTER=23
+	TPCC			: org = 0x49000000 len = 0x00001098	CREGISTER=29
+	UART1			: org = 0x48022000 len = 0x00000088	CREGISTER=11
+	UART2			: org = 0x48024000 len = 0x00000088	CREGISTER=12
+
+	RSVD10			: org = 0x48318000 len = 0x00000100	CREGISTER=10
+	RSVD13			: org = 0x48310000 len = 0x00000100	CREGISTER=13
+	RSVD21			: org = 0x00032400 len = 0x00000100	CREGISTER=21
+	RSVD27			: org = 0x00032000 len = 0x00000100	CREGISTER=27
+
+}
+
+/* Specify the sections allocation into memory */
+SECTIONS {
+	/* Forces _c_int00 to the start of PRU IRAM. Not necessary when loading
+	   an ELF file, but useful when loading a binary */
+	.text:_c_int00*	>  0x0, PAGE 0
+
+	.text		>  PRU_IMEM, PAGE 0
+	.stack		>  PRU_DMEM_0_1, PAGE 1
+	.bss		>  PRU_DMEM_0_1, PAGE 1
+	.cio		>  PRU_DMEM_0_1, PAGE 1
+	.data		>  PRU_DMEM_0_1, PAGE 1
+	.switch		>  PRU_DMEM_0_1, PAGE 1
+	.sysmem		>  PRU_DMEM_0_1, PAGE 1
+	.cinit		>  PRU_DMEM_0_1, PAGE 1
+	.rodata		>  PRU_DMEM_0_1, PAGE 1
+	.rofardata	>  PRU_DMEM_0_1, PAGE 1
+	.farbss		>  PRU_DMEM_0_1, PAGE 1
+	.fardata	>  PRU_DMEM_0_1, PAGE 1
+
+	.resource_table > PRU_DMEM_0_1, PAGE 1
+}