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, 81 insertions, 0 deletions

diff --git a/src/pru/intc_map.h b/src/pru/intc_map.h
new file mode 100644
index 0000000..eebf27b
--- /dev/null
+++ b/src/pru/intc_map.h
@@ -0,0 +1,81 @@
+/*
+ * Copyright (C) 2021 Texas Instruments Incorporated - http://www.ti.com/
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *      * Redistributions of source code must retain the above copyright
+ *        notice, this list of conditions and the following disclaimer.
+ *
+ *      * Redistributions in binary form must reproduce the above copyright
+ *        notice, this list of conditions and the following disclaimer in the
+ *        documentation and/or other materials provided with the
+ *        distribution.
+ *
+ *      * Neither the name of Texas Instruments Incorporated nor the names of
+ *        its contributors may be used to endorse or promote products derived
+ *        from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef _INTC_MAP_0_H_
+#define _INTC_MAP_0_H_
+
+/*
+ * ======== PRU INTC Map ========
+ *
+ * Define the INTC mapping for interrupts going to the ICSS / ICSSG:
+ * 	ICSS Host interrupts 0, 1
+ * 	ICSSG Host interrupts 0, 1, 10-19
+ *
+ * Note that INTC interrupts going to the ARM Linux host should not be defined
+ * in this file (ICSS/ICSSG Host interrupts 2-9).
+ *
+ * The INTC configuration for interrupts going to the ARM host should be defined
+ * in the device tree node of the client driver, "interrupts" property.
+ * See Documentation/devicetree/bindings/interrupt-controller/ti,pruss-intc.yaml
+ * entry #interrupt-cells for more.
+ *
+ * For example, on ICSSG:
+ *
+ * &client_driver0 {
+ * 	interrupt-parent = <&icssg0_intc>;
+ * 	interrupts = <21 2 2>, <22 3 3>;
+ * 	interrupt-names = "interrupt_name1", "interrupt_name2";
+ * };
+ *
+ */
+
+#include <stddef.h>
+#include <rsc_types.h>
+
+/*
+ * .pru_irq_map is used by the RemoteProc driver during initialization. However,
+ * the map is NOT used by the PRU firmware. That means DATA_SECTION and RETAIN
+ * are required to prevent the PRU compiler from optimizing out .pru_irq_map.
+ */
+#pragma DATA_SECTION(my_irq_rsc, ".pru_irq_map")
+#pragma RETAIN(my_irq_rsc)
+
+struct pru_irq_rsc my_irq_rsc  = {
+	0,			/* type = 0 */
+	1,			/* number of system events being mapped */
+	{
+		{7, 1, 1},	/* {sysevt, channel, host interrupt} */
+	},
+};
+
+#endif /* _INTC_MAP_0_H_ */