From a5bfe98417764ed69ea8fce51b816c683760ddb7 Mon Sep 17 00:00:00 2001
From: NachtSpyder04 <sskarole.1504@gmail.com>
Date: Fri, 22 Mar 2024 23:21:55 +0530
Subject: [PATCH] Updated Image processing logic, timeline and added workflow
 block diagrams

---
 .../assets_drone_cape/workflow_image.png      | Bin 0 -> 25496 bytes
 proposals/assets_drone_cape/workflow_pwm.png  | Bin 0 -> 58812 bytes
 proposals/drone_cape_for_beagle-v-fire.rst    |  37 +++++++++++-------
 3 files changed, 22 insertions(+), 15 deletions(-)
 create mode 100644 proposals/assets_drone_cape/workflow_image.png
 create mode 100644 proposals/assets_drone_cape/workflow_pwm.png

diff --git a/proposals/assets_drone_cape/workflow_image.png b/proposals/assets_drone_cape/workflow_image.png
new file mode 100644
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diff --git a/proposals/assets_drone_cape/workflow_pwm.png b/proposals/assets_drone_cape/workflow_pwm.png
new file mode 100644
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diff --git a/proposals/drone_cape_for_beagle-v-fire.rst b/proposals/drone_cape_for_beagle-v-fire.rst
index 8a9b12e..5422594 100644
--- a/proposals/drone_cape_for_beagle-v-fire.rst
+++ b/proposals/drone_cape_for_beagle-v-fire.rst
@@ -57,16 +57,23 @@ This will be acheived by following technologies:-
 
 - Microchip FPGA tools- The SoftConsole and Libero tools from Microchip are required by the bitstream builder. Instances of Libero are on git.beagleboard.org’s gitlab-runners.
 
-- C++ / Python - C++ or Python will be used to generate scripts of converting images into matrix for image processing and generatng test cases for verification of RTL design
+- C++ - C++ will be used to generate scripts of acquring images for image processing and generatng test cases for verification of RTL design
 
 **Workflow**
 
 - BeagleV-Fire currently has support for robotics cape, I will be extending the current robotics cape to handle sensor values for the drone and send PWM to the motors. This will be done by writing RTL logic for the same in Verilog and verified with the help of Verilator for multiple test cases as well as edge cases and false cases
 - Once every RTL file is verified individually, An combined verification will be performed to verify if all the RTL files are working together without any discrepancies and give correct and expected outputs.
 - The drone will be equipped with MPU9250, MS5611, and HC-SR04 sensors. Integration of these sensors is possible with communication protocols like as SPI and I2C.
+
+.. image:: assets_drone_cape/workflow_pwm.png
+  :alt: workflow_pwm
+
 - For Image Processing, instead of using a camera module and get real time images, I will be using pre-captured images and process it on FPGA Fabric, performing operations like convolutions and edge detectiom
-- This will done by converting the given image in greyscale using OpenCV libraries and converting the greyscaled image into matrix form which will be sent to FPGA fabric for processing. This conversion will be performed by C++/Python script
-- The image in the Matrix form will be convoluted with 3x3 predefined kernel in the RTL design file and the resultant matrix file will be send back to on-board RISC-V CPU to run the script of converting the matrix back into the image
+- This will done by converting the given image in greyscale and pixels of greyscaled image into which will be sent to FPGA fabric according to interrupts sent by FPGA to the host CPU. This acquistion of acquring image from Host CPU's memory to the CPU will be performed by C++ script.
+- The image will be convoluted with 3x3 predefined kernel in the RTL design file and the resultant pixels values will be send back to on-board RISC-V CPU and will be displayed by the CPU.
+
+.. image:: assets_drone_cape/workflow_image.png
+  :alt: workflow_image_processing
 
 Software
 =========
@@ -74,7 +81,7 @@ Software
 - Verilog
 - Verilator
 - Microchip FPGA tools
-- C++/Python
+- C++
 - Linux
 - I2C and SPI
 - OpenBeagle CI
@@ -154,30 +161,30 @@ Coding begins (May 27th)
 
 Milestone #1, Introductory YouTube video (June 3rd)
 ===================================================
-
+- Due to my End Semester examination being conducted in this timeframe, I won't be able to contribute much and hence, a small milestone for the week. Thank you for understanding.
 - Setting up remote access/ssh on the BeagleV-Fire and flash led-blink code by customizing the cape gateware by following given `documentation. <https://docs.beagleboard.org/latest/boards/beaglev/fire/demos-and-tutorials/gateware/customize-cape-gateware-verilog.html>`_ .
 
 Milestone #2 (June 10th)
 ==========================
-
-- Analyse the robotics cape for BeagleV-Fire and have preliminary RTL designs ready, written in Verilog.
+- Due to my End Semester examination being conducted in this timeframe, I won't be able to contribute much and hence, a small milestone for the week. Thank you for understanding.
+- Analyse the robotics cape for BeagleV-Fire and have preliminary structure of RTL designs for generating PWM ready, written in Verilog.
 
 Milestone #3 (June 17th)
 =========================
 
-- Completing RTL designs and start Verification of individual designs following documentation given on `Verilator <https://veripool.org/verilator/documentation>`_
+- Completing RTL designs for generating PWM and start Verification of individual designs following documentation given on `Verilator <https://veripool.org/verilator/documentation>`_
 
 Milestone #4 (June 24th)
 ==========================
 
-- Complete individual and combined verification of the all RTL designs. 
-- Integrating sensors with the board 
+- Complete individual and combined verification of the all RTL designs of PWM generator.
+- Integrating sensors with the board.
 
 Milestone #5 (July 1st)
 ========================
 
 - Integrating all the designs with the robotics cape and flash it on the board with the help of OpenBeagle CI, with all the sensors connected to the board.
-- Work on the feedback received by the mentor
+- Work on the feedback received by the mentor.
 
 Submit midterm evaluations (July 8th)
 =====================================
@@ -189,22 +196,22 @@ Submit midterm evaluations (July 8th)
 Milestone #6 (July 15th)
 =========================
 
-- Writing a conversion scripts in C++/Python for converting images into matrix and establish a way of transferring data from RISC-V linux to FPGA fabric and vice-versa.
+- Writing an acquistion script for host CPU in C++ and establish a way of transferring data from RISC-V linux to FPGA fabric and vice-versa.
 
 Milestone #7 (July 22nd)
 =========================
 
-- Complete a preliminary RTL designs for image processing and verify whether required operations are being performed or not
+- Have a preliminary structure of RTL designs for image processing ready and verify whether required operations are being performed or not.
 
 Milestone #8 (July 29th)
 =========================
 
-- Integrating RTL designs with conversion scripts and verify whether image processing has been performed correctly from uploading the image till we get a transformed image as a output by flashing the JTAG on the board
+- Integrating RTL designs of Image procesing with acquistion scripts and verify whether image processing has been performed correctly from uploading the image till we get a transformed image as a output by flashing the JTAG on the board.
 
 Milestone #9 (Aug 5th)
 =======================
 
-- Adding some example images for the image processing and test both customized robotics cape and image procesing algorithms simultaneously on the board
+- Adding some example images for the image processing and test both customized robotics cape and image procesing algorithms simultaneously on the board.
 
 Milestone #10 (Aug 12th)
 ========================
-- 
GitLab