CVRA NIOS 2 Code & libraries

To build on Linux (should work on any UNIX, but not tested) :

cd /path/to/repos/
mkdir build
cd build && cmake ..
make

To build just for a single robot :

make debra
make nastya

Cross compiling for the robot is more complicated, as for now we dont have any standard makefiles to cross compile. For now you should create a blank project in Nios II SBT, and then add all the C files to the build by right clicking them and choosing "Add to NIOS II build...". Then you can add the subfolders of modules to the include path (look in the Makefile for ALT_INCLUDE_DIRS). In the long run we will probably setup our own system to be able to cross compile with nios2-gcc only, without using any other Altera tools.

Organisation of the source code

The source code is organised like this :

nios2
|-- debra
|-- doc
|-- include
|-- modules
|-- nastya
|-- nios_files
|-- tools

• The debra folder contains all the source specific to our first robot (the one with the arms).
• The nastya folder contains all the source for our holonomic robot.
• The include folder contains a few generic includes.
• The modules folder contains all generic modules and a lot of code taken from Aversive.
• The tools folder contains various tools for developpers.
• The nios_files folder contains all the binary files generated by Quartus II from VHDL.

Useful warnings

• By default UC/OS-II lowest priority is 20. Increase it to something like 60 with 20 tasks to have some room.
• When building for the NIOS 2 system, do not assume that the compiler will zero out memory before giving it to you. It won't.
• Do not do any rebase / rollback of already pushed commits.
• The NIOS 2 compiler hates you. Really.

Priority list

Here is a list of all tasks that are running on this specific app. Remember : The lower the priority number, the higher the priority (i.e., its importance). This list should always be maintained up-to-date. Really bad things can happen when you don't set your priority correctly.