// Initializes the FPGA, the sabertooth and the mototrs
void FPGA_Boot(void)
{
LOG.INFO("Initializing FPGA...");
FPGA_Status = NiFpga_Initialize();
if (NiFpga_IsNotError(FPGA_Status))
{
// opens a session, downloads the bitstream, and runs the FPGA.
LOG.INFO("Opening a session FPGA...");
NiFpga_MergeStatus(&FPGA_Status, NiFpga_Open(NiFpga_mainFPGA_Bitfile,
NiFpga_mainFPGA_Signature,
"RIO0",
NiFpga_OpenAttribute_NoRun,
&FPGA_Session));
if (NiFpga_IsNotError(FPGA_Status))
{
LOG.INFO("ReDownloading the FPGA");
NiFpga_MergeStatus(&FPGA_Status,NiFpga_Download(FPGA_Session));
if (NiFpga_IsNotError(FPGA_Status))
{
LOG.INFO("Restarting the FPGA");
NiFpga_MergeStatus(&FPGA_Status,NiFpga_Reset(FPGA_Session));
if (NiFpga_IsNotError(FPGA_Status))
{
LOG.INFO("Running the FPGA");
NiFpga_MergeStatus(&FPGA_Status,NiFpga_Run(FPGA_Session, 0));
if (NiFpga_IsNotError(FPGA_Status))
{
}
else
{
LOG.ERR("FPGA Fail to run fpga %d ",FPGA_Status);
}
}
else
{
LOG.ERR("FPGA Fail to redownload fpga %d ",FPGA_Status);
}
}
else
{
LOG.ERR("FPGA Fail to redownload fpga %d ",FPGA_Status);
}
}
else
{
LOG.ERR("FPGA Fail to open a session. Error Code %d ",FPGA_Status);
}
}
LOG.VERBOSE("Reading Constants for the fpga");
if(fileExists("config/odometry.ini"))
{
dictionary* config = iniparser_load("config/odometry.ini");
leftWheelConversionConstant = 1/(iniparser_getdouble(config,"MotorEncoderConstant:MeterPerTickLeft",0)) * PIDUpdateRateInMs/1000;
rightWheelConversionConstant = 1/(iniparser_getdouble(config,"MotorEncoderConstant:MeterPerTickRight",0)) * PIDUpdateRateInMs/1000;
iniparser_freedict(config);
LOG.VERBOSE("Odometry Ini file loaded for fpga!");
}
else
{
LOG.ERR("!!!!!!!!!!!!!!!!odomentry.ini was not found!!!!!!!!!!!!!!!!!!!!!!");
}
if(fileExists("config/pid.ini")) {
dictionary* config = iniparser_load("config/pid.ini");
max_pid_speed = (uint16_t) iniparser_getint(config, "Both:MaxSpeedTicksPerDt", 0);
left_pid_pro_gain = iniparser_getint(config, "LeftPID:ProportionalGain",0);
left_pid_int_gain = iniparser_getint(config, "LeftPID:IntegralGain",0);
left_pid_der_gain = iniparser_getint(config, "LeftPID:DerivativeGain", 0);
right_pid_pro_gain = iniparser_getint(config, "RightPID:ProportionalGain",0);
right_pid_int_gain = iniparser_getint(config, "RightPID:IntegralGain",0);
right_pid_der_gain = iniparser_getint(config, "RightPID:DerivativeGain",0);
iniparser_freedict(config);
LOG.VERBOSE("PID INI file loaded for FPGA");
}
else {
LOG.ERR("PID.ini was not found");
}
if(fileExists("config/CRIO.ini")) {
dictionary* config = iniparser_load("config/CRIO.ini");
sabertooth_address = (uint8_t) iniparser_getint(config, "Sabertooth:Address", 130);
iniparser_freedict(config);
LOG.VERBOSE("Sabertooth address loaded for FPGA");
}
else {
LOG.ERR("Unable to load Sabertooth address");
}
NiFpga_MergeStatus(&FPGA_Status,NiFpga_WriteU8(FPGA_Session,NiFpga_mainFPGA_ControlU8_SlewRateControl, 10));
if (NiFpga_IsError(FPGA_Status))
{
LOG.ERR("Failed to set Sabertooth slew rate");
}
FPGA_SetPIDdt(PIDUpdateRateInMs * 1000);
FPGA_setMaxPIDSpeed(max_pid_speed);
FPGA_setLPIDProGain(left_pid_pro_gain);
FPGA_setLPIDIntGain(left_pid_int_gain);
FPGA_setLPIDDerGain(left_pid_der_gain);
FPGA_setRPIDProGain(right_pid_pro_gain);
FPGA_setRPIDIntGain(right_pid_int_gain);
FPGA_setRPIDDerGain(right_pid_der_gain);
FPGA_setSabertoothAddress(sabertooth_address);
// This logs the version number
LOG.INFO("FPGA VERSION = %d",FPGA_GetVersion());
LOG.INFO("Turning on the motors");
FPGA_SetMotorStatus(1);
}
bool nifpga::Download() {
bool status = false;
if (sessionOpen) status = HandleStatus(NiFpga_Download(sessionHandle));
if (status) sessionRunning = false;
return status;
}
