fl-la/garfield

Garfield (ALF 2.0)@ OTH Regensburg, seeing @

garfield's Issues

Enable FPGA-ARM Bridge at startup

ARM - Linux add usbserial module to communicate to urg sensor

At the current *.img ubuntu and yocto img there are no modules loaded. We need module "usbserial" to communicate to the urg lidar sensor.
-> find way to add usbserial module (build linux or add it via software update way)

Linux Build Add

Adding the submodule to build custom linux kernel.
Add also the config file with which we can build a working linux kernel for the usb devices.

I2C HAL Driver

System update

• integrate PWM
• integrate rotary encoder

Copy old VMs on L drive

copying all VMs of last HSP

Rotary Encoder Hardware

• rotary IP - Core
• avalon mapper
• tcl files
• update top level verilog file
• simple software driver

evaluation OS for Nios II

• FreeRTOS
• Erika OSEK

Clientside Software

• Software for visualization of Garfield Data like:

  • speed
  • acceleration ( maybe mpu, rotary encoder)

• Sofware to send data to Garfield like :

  • steering angle between 0 - 180°
  • speed between 0 and 100 %
  • Direction
  • lighting (front/back)

PWM - Cannot write to register

the pwm register write does not work, nothing happens

System Build

• Nios2 with SystemTimer
• SysID
• minimal GPIO for LEDs, Keys and Switches
• remove all components from the HPS

Documentation Hardware

document exactly the hardware inc. software registers and their connections on the fpga

Check/Change all schematic/layout connections in fpga design

Driver for Display

Writing a driver for the 2.8" TFT Display
don't use touchi

Schematic - Servo In

What is the functionality of Label SERVO_IN or what does this?

String Problem - Solve

solving string problem
possible solution :

• creating own namespace, e.g. garfield_string or so
• implementing own string class
• implementing required string operation functions like to_string

Alternative:
solve problem in finding the problem in NIOS II eclipse and know how to program "around" the problem

Describing Tasks for FREERTOS

• which tasks do we need
• which priorities should they have

rotary encoder driver

Driver for the rotary encoder interface
should be generated and copied out of the HAL

Communication between various Hardware

describing communication between
FPGA <-> ARM <-> PC (over WLAN)

• which informations must be communicated
• how to communicate
• using alf_communication for all?

Folderstructure

• Application_ARM
• Application_NIOS2
  • tasks
  • Garfield_driver
• Application_HQ
• common

and so on

Schematic

Driver for the MPU6050

Software Driver for the MPU6050

Driver for the motor drivers

requires #9

PWM Driver

Driver for the PWM
should be generated by the HAL within the hardware Design

Mailbox ARM-FPGA

Hardware PWM

build PWM generator hardware
with HAL Driver

Ultrasonic Driver

Driver for the 4 ultrasonic