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, 38 insertions, 0 deletions

diff --git a/src/pru/resource_table_empty.h b/src/pru/resource_table_empty.h
new file mode 100644
index 0000000..8e7743e
--- /dev/null
+++ b/src/pru/resource_table_empty.h
@@ -0,0 +1,38 @@
+/*
+ *  ======== resource_table_empty.h ========
+ *
+ *  Define the resource table entries for all PRU cores. This will be
+ *  incorporated into corresponding base images, and used by the remoteproc
+ *  on the host-side to allocated/reserve resources.  Note the remoteproc
+ *  driver requires that all PRU firmware be built with a resource table.
+ *
+ *  This file contains an empty resource table.  It can be used either as:
+ *
+ *        1) A template, or
+ *        2) As-is if a PRU application does not need to configure PRU_INTC
+ *                  or interact with the rpmsg driver
+ *
+ */
+
+#ifndef _RSC_TABLE_PRU_H_
+#define _RSC_TABLE_PRU_H_
+
+#include <stddef.h>
+#include <rsc_types.h>
+
+struct my_resource_table {
+	struct resource_table base;
+
+	uint32_t offset[1]; /* Should match 'num' in actual definition */
+};
+
+#pragma DATA_SECTION(pru_remoteproc_ResourceTable, ".resource_table")
+#pragma RETAIN(pru_remoteproc_ResourceTable)
+struct my_resource_table pru_remoteproc_ResourceTable = {
+	1,	/* we're the first version that implements this */
+	0,	/* number of entries in the table */
+	0, 0,	/* reserved, must be zero */
+	0,	/* offset[0] */
+};
+
+#endif /* _RSC_TABLE_PRU_H_ */