/**
* Opens a session to the myRIO FPGA Personality.
*
* This function ensures that the NiFpga library is loaded and that the correct
* myRIO personality bitfile is programmed to the FPGA, started, and is
* running. The myRIO personality bitfile (.lvbitx file) for your target
* must be in the same directory as where the executable is run otherwise the
* function will fail.
*
* @warning This function is not thread-safe.
* It should be called before all other function calls and only once
* per application.
*
* @return NiFpga_Status which indicates if the operation was successful.
*/
NiFpga_Status MyRio_Open()
{
const uint32_t timeoutDelay = 5; /* 5 seconds */
NiFpga_Status status;
NiFpga_Bool sysReady;
time_t currentTime;
time_t finalTime;
/*
* Initialize the NiFpga Library.
*/
status = NiFpga_Initialize();
if (MyRio_IsNotSuccess(status))
{
MyRio_PrintStatus(status);
printf("Could not load NiFpga library!\n");
return status;
}
/*
* Open the appropriate FPGA bitfile.
*/
status = NiFpga_Open(MyRio_BitfilePath,
MyRio_Signature, "RIO0", NiFpga_OpenAttribute_NoRun,
&myrio_session);
if (MyRio_IsNotSuccess(status))
{
MyRio_PrintStatus(status);
printf("Could not Open FPGA!\n");
if (status == NiFpga_Status_BitfileReadError)
{
printf("Ensure the bitfile %s exists\n", MyRio_BitfilePath);
}
return status;
}
/*
* Ensure that the FPGA code is reset and in a known state.
*/
status = NiFpga_Reset(myrio_session);
if (MyRio_IsNotSuccess(status))
{
MyRio_PrintStatus(status);
printf("Could not Reset FPGA!\n");
return status;
}
/*
* Start the FPGA code.
*/
status = NiFpga_Run(myrio_session, 0);
if (MyRio_IsNotSuccess(status))
{
MyRio_PrintStatus(status);
printf("Could not Run FPGA!\n");
return status;
}
/*
* Wait for the FPGA to signal ready
*/
time(¤tTime);
finalTime = currentTime + timeoutDelay;
sysReady = NiFpga_False;
while (currentTime < finalTime && !MyRio_IsNotSuccess(status) && !sysReady)
{
time(¤tTime);
NiFpga_MergeStatus(&status,
NiFpga_ReadBool(myrio_session, SYSRDY, &sysReady));
}
if (MyRio_IsNotSuccess(status))
{
MyRio_PrintStatus(status);
printf("Could not read the system ready register!\n");
return status;
}
if (!sysReady)
{
printf("Problem waiting for system ready!\n");
printf("Timed out\n");
return NiFpga_Status_InternalError;
}
return NiFpga_Status_Success;
}
// 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::Reset() {
bool status = false;
if (sessionOpen) status = HandleStatus(NiFpga_Reset(sessionHandle));
return status;
}
