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/resource_table_empty.h | 38 ++++++++++++++++++++++++++++++++++++++ 1 file changed, 38 insertions(+) create mode 100644 src/pru/resource_table_empty.h (limited to 'src/pru/resource_table_empty.h') 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 +#include + +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_ */ -- cgit v1.2.3