fpga_driver

Overview

This repository provides a driver for FPGA-based systems. It leverages the yaml-cpp and Eigen libraries for YAML configuration parsing and linear algebra computations, respectively. And this is build on sbrio and cooperate with grpc.

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Prerequisites

Before building the project, ensure that the following dependencies are installed on your system:

1. yaml-cpp

Clone the yaml-cpp repository and follow the installation instructions:

cd install
git clone https://github.com/jbeder/yaml-cpp.git
cd yaml-cpp
mkdir build && cd build
cmake .. -DCMAKE_PREFIX_PATH=$HOME/corgi_ws/install -DCMAKE_INSTALL_PREFIX=$HOME/corgi_ws/install
make -j16
sudo make install

2. Eigen

Clone the Eigen repository and follow the installation instructions:

cd install
git clone git@gitlab.com:libeigen/eigen.git
cd eigen
mkdir build && cd build
cmake .. -DCMAKE_PREFIX_PATH=$HOME/corgi_ws/install -DCMAKE_INSTALL_PREFIX=$HOME/corgi_ws/install
make -j16
sudo make install

3. grpc

Install gRPC: https://grpc.io/docs/languages/cpp/quickstart/

change address

1. /fpga_server.hpp (CONFIG_PATH and FPGA_PATH)
2. /config.yaml (log_path)
3. /NiFpga_FPGA_CANBus_4module_v3_steering.h (NiFpga_FPGA_CANBus_4module_v3_steering_Bitfile)

compiler

git clone https://github.com/Yatinghsu000627/fpga_driver.git
cd fpga_driver
mkdir build && cd build
$ cmake .. -DCMAKE_PREFIX_PATH=$HOME/corgi_ws/install -DCMAKE_INSTALL_PREFIX=$HOME/corgi_ws/install -DOPENSSL_ROOT_DIR=$HOME/corgi_ws/install/ssl
make -j16

Directory Structure

.
fpga_driver/
├── src/               # Source code for the driver
├── include/           # Header files
├── cmake/             # CMake configuration files
├── build/             # Build directory (generated after compilation)
└── README.md          # Project documentation