From 90c4d94b13472114daab71d3e368660224423c90 Mon Sep 17 00:00:00 2001 From: Dawsyn Schraiber <32221234+dawsynth@users.noreply.github.com> Date: Thu, 9 May 2024 01:20:17 -0400 Subject: 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 Co-authored-by: Cian Capacci <46614295+BeeGuyDude@users.noreply.github.com> --- src/pru/intc_map.h | 81 ++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 81 insertions(+) create mode 100644 src/pru/intc_map.h (limited to 'src/pru/intc_map.h') 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 +#include + +/* + * .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_ */ -- cgit v1.2.3