Repo for parts for the MIL Rover

contact: adammcaleer@ufl.edu

Project Architecture

Finished tasks

Firmware has somewhat shifted away from a build system using wiringPI as a HAL for c++ - have moved towards a build system for assembly and C for performance.
The basics of the drivers for PWM are done under the c_drivers directory, and drivers for an IMU and BME280 are available under the main branch now.
We have now also added configurations for sonar in the form of a kernel interrupt - this being done once again in hopes of better performance

Our high level software team has finished configuring ROS for our external computer nodes, and have dived into the details of ROS through toturials.

Additionally, the team has dived into the battery monitor board design, and details of the future voltage dividing procedure.

The team has also spent a great deal of time researching and buying parts. Included in the documentation directory are details on that procedure, especailly for the motor selection

We encourage you to explore the repo and read the subdirectory README's and the different available documentation

Bugs

Firmware bugs are as follows: PWM through DMA drivers needs to become a persistant object to capture memory leaks - otherwise causes issues when run multiple times
Our sonar modules work independently, but need some kind of daisychaning or internal delays to prevent interference with one another.

Set up to run:

1. Load the gpio_interface module for PWM

cd /Mars-Rover/firmware/kernel_modules/
sudo insmod gpio_interface.ko

Installation:

1. Clone our repo

git clone https://github.com/kberon/Mars-Rover.git

2. Instantiate the kernel modules on start up

sudo nano /etc/systemd/system/load_custom_modules.service

In that file write:

[Unit]
Description=Load Custom Sonar Kernel Modules
After=network.target

[Service]
Type=oneshot
ExecStart=/sbin/insmod /home/raspberry/Mars-Rover/firmware/sonar_1/sonar_1.ko
ExecStart=/sbin/insmod /home/raspberry/Mars-Rover/firmware/sonar_2/sonar_2.ko
ExecStart=/sbin/insmod /home/raspberry/Mars-Rover/firmware/sonar_3/sonar_3.ko
RemainAfterExit=yes

[Install]
WantedBy=multi-user.target

Save the file and run the following commands:

sudo systemctl daemon-reload
sudo systemctl enable load_custom_modules.service

3. For the sensor setup, we will need to install the WiringPi library

cd Mars-Rover/firmware/drivers
git clone https://github.com/WiringPi/WiringPi.git
cd WiringPi
./build debian
sudo dpkg -i debian-template/wiringpi_3.10_arm64.deb

4. Docker setup Get the install script:

curl -fsSL https://get.docker.com -o get-docker.sh
chmod +x get-docker.sh

Remove an existing docker installations with:

sudo apt-get purge docker-ce docker-ce-cli containerd.io -y

Run the script:

./get-docker.sh

Fix permissions:

sudo usermod -aG docker pi
sudo systemctl unmask docker
sudo chmod 666 /var/run/docker.sock

Install docker-compose:

pip3 -v install docker-compose

Start and reboot Docker:

sudo systemctl start docker
sudo init 6

6. To run our camera + sensors executable:

sudo apt-get install libgtk-3-dev
sudo apt-get install libopencv-dev
sudo apt install python3-opencv