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openreroc_motion_sensor package from openreroc_motion_sensor repoopenreroc_motion_sensor |
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Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | New BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/Kumikomi/openreroc_motion_sensor.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2018-05-23 |
| Dev Status | UNMAINTAINED |
| CI status | Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kazushi Yamashina
- Takeshi Ohkawa
Authors
- Kazushi Yamashina
openreroc_motion_sensor
OpenReroc (Open Reconfigurable Robot Component) is a project to build an open source platform of reconfigurable (i.e. FPGA) devices for robot components.
This package supports ultra sonic sensor an FPGA board (ZedBoard Xilinx).
openreroc_motion_sensor publishes sensor data to the topic.
Git: https://github.com/Kumikomi/openreroc_motion_sensor
Author: Kazushi Yamashina (Utsunomiya University)
Copyright: 2015, Kazushi Yamashina, Utsunomiya University
License: new BSD License
Latest Version: 0.1.0
Directry tree
openreroc_motion_sensor
|-include/
|-msg/
|-hardware
|-src/
|-image/
|-src/
|-CMakeLists.txt
|-package.xml
|-LICENSE.txt
Requirements
Platform for ROS system
- ZedBoard
-
xillinux-1.3c
- Xillinux is used to communicate between FPGA logic and ARM processor. Xillinux is a platform for Zynq that is released by Xillybus Ltd. Linux (Ubuntu) OS runs on the ARM processor. Xillinux can access to FPGA logic through a specific device file.
- ROS (hydro or groovy) please install on xillinux!
- ssh server
Software
- ISE 14.7 (for hardware synthesis)
Sensor
How to build software
Please replace catkin_ws to your work space name.
cd ~/catkin_ws/src
git clone https://github.com/Kumikomi/openreroc_motion_sensor
cd ..
catkin_make
Test Run
Hardware bitstream installation Please replace xillydemo.bit on the SD card with
openreroc_pwm/hardware/image/openreroc_motion_sensor.bitInsert SD card & boot system
Run sample nodes
terminal 1
cd ~/catkin_ws/
source devel/setup.bash
roscore &
rosrun openreroc_motion_sensor sample_output
terminal 2
cd ~/catkin_ws/
source devel/setup.bash
rosrun openreroc_motion_sensor openreroc_motion_sensor
How to build hardware
It's too complex to describe all the necessary procedure to build hardware, so some hints are shown below.
1 : Place of Soruce code hardware/src
2 : Pin assignment: add the code below to xillydemo.ucf
NET led[0] LOC = V22 | IOSTANDARD = LVCMOS33; # LD4
NET led[1] LOC = W22 | IOSTANDARD = LVCMOS33; # LD5
NET led[2] LOC = U19 | IOSTANDARD = LVCMOS33; # LD6
NET led[3] LOC = U14 | IOSTANDARD = LVCMOS33; # LD7
NET PS_GPIO[7] LOC = K18 | IOSTANDARD = LVCMOS33; # "FMC-LA05_N"
NET PS_GPIO[8] LOC = J18 | IOSTANDARD = LVCMOS33; # "FMC-LA05_P"
NET PS_GPIO[9] LOC = L22 | IOSTANDARD = LVCMOS33; # "FMC-LA06_N"
NET PS_GPIO[10] LOC = L21 | IOSTANDARD = LVCMOS33; # "FMC-LA06_P"
3 : Add the ports to Top module xillydemo.v
inout sig,
output [3:0] led
4 : Add the FIFO connection to Top module xillydemo.v
// 32-bit loopback
// fifo_32x512 fifo_32
// (
// .clk(bus_clk),
// .srst(!user_w_write_32_open && !user_r_read_32_open),
// .din(user_w_write_32_data),
// .wr_en(user_w_write_32_wren),
// .rd_en(user_r_read_32_rden),
// .dout(user_r_read_32_data),
// .full(user_w_write_32_full),
// .empty(user_r_read_32_empty)
// );
sensor_ctl sensor_ctl
(
.clk(bus_clk),
.rst_32(!user_w_write_32_open && !user_r_read_32_open),
.din_32(user_w_write_32_data),
.wr_en_32(user_w_write_32_wren),
.rd_en_32(user_r_read_32_rden),
.dout_32(user_r_read_32_data),
.full_32(user_w_write_32_full),
.empty_32(user_r_read_32_empty),
.sig(sig),
.led(led)
);
# Acknowledgements This R&D project is done by Takeshi Ohkawa, Utsunomiya University. - https://sites.google.com/site/ohkawatakeshi/profile_en - http://www.is.utsunomiya-u.ac.jp/pearlab/openreroc/en/
This research and development work was supported by MIC/SCOPE #152103014.
Wiki Tutorials
Source Tutorials
Launch files
Messages
Services
Plugins
Recent questions tagged openreroc_motion_sensor at Robotics Stack Exchange
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|
openreroc_motion_sensor package from openreroc_motion_sensor repoopenreroc_motion_sensor |
|
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | New BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/Kumikomi/openreroc_motion_sensor.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2018-05-23 |
| Dev Status | UNMAINTAINED |
| CI status | Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kazushi Yamashina
- Takeshi Ohkawa
Authors
- Kazushi Yamashina
openreroc_motion_sensor
OpenReroc (Open Reconfigurable Robot Component) is a project to build an open source platform of reconfigurable (i.e. FPGA) devices for robot components.
This package supports ultra sonic sensor an FPGA board (ZedBoard Xilinx).
openreroc_motion_sensor publishes sensor data to the topic.
Git: https://github.com/Kumikomi/openreroc_motion_sensor
Author: Kazushi Yamashina (Utsunomiya University)
Copyright: 2015, Kazushi Yamashina, Utsunomiya University
License: new BSD License
Latest Version: 0.1.0
Directry tree
openreroc_motion_sensor
|-include/
|-msg/
|-hardware
|-src/
|-image/
|-src/
|-CMakeLists.txt
|-package.xml
|-LICENSE.txt
Requirements
Platform for ROS system
- ZedBoard
-
xillinux-1.3c
- Xillinux is used to communicate between FPGA logic and ARM processor. Xillinux is a platform for Zynq that is released by Xillybus Ltd. Linux (Ubuntu) OS runs on the ARM processor. Xillinux can access to FPGA logic through a specific device file.
- ROS (hydro or groovy) please install on xillinux!
- ssh server
Software
- ISE 14.7 (for hardware synthesis)
Sensor
How to build software
Please replace catkin_ws to your work space name.
cd ~/catkin_ws/src
git clone https://github.com/Kumikomi/openreroc_motion_sensor
cd ..
catkin_make
Test Run
Hardware bitstream installation Please replace xillydemo.bit on the SD card with
openreroc_pwm/hardware/image/openreroc_motion_sensor.bitInsert SD card & boot system
Run sample nodes
terminal 1
cd ~/catkin_ws/
source devel/setup.bash
roscore &
rosrun openreroc_motion_sensor sample_output
terminal 2
cd ~/catkin_ws/
source devel/setup.bash
rosrun openreroc_motion_sensor openreroc_motion_sensor
How to build hardware
It's too complex to describe all the necessary procedure to build hardware, so some hints are shown below.
1 : Place of Soruce code hardware/src
2 : Pin assignment: add the code below to xillydemo.ucf
NET led[0] LOC = V22 | IOSTANDARD = LVCMOS33; # LD4
NET led[1] LOC = W22 | IOSTANDARD = LVCMOS33; # LD5
NET led[2] LOC = U19 | IOSTANDARD = LVCMOS33; # LD6
NET led[3] LOC = U14 | IOSTANDARD = LVCMOS33; # LD7
NET PS_GPIO[7] LOC = K18 | IOSTANDARD = LVCMOS33; # "FMC-LA05_N"
NET PS_GPIO[8] LOC = J18 | IOSTANDARD = LVCMOS33; # "FMC-LA05_P"
NET PS_GPIO[9] LOC = L22 | IOSTANDARD = LVCMOS33; # "FMC-LA06_N"
NET PS_GPIO[10] LOC = L21 | IOSTANDARD = LVCMOS33; # "FMC-LA06_P"
3 : Add the ports to Top module xillydemo.v
inout sig,
output [3:0] led
4 : Add the FIFO connection to Top module xillydemo.v
// 32-bit loopback
// fifo_32x512 fifo_32
// (
// .clk(bus_clk),
// .srst(!user_w_write_32_open && !user_r_read_32_open),
// .din(user_w_write_32_data),
// .wr_en(user_w_write_32_wren),
// .rd_en(user_r_read_32_rden),
// .dout(user_r_read_32_data),
// .full(user_w_write_32_full),
// .empty(user_r_read_32_empty)
// );
sensor_ctl sensor_ctl
(
.clk(bus_clk),
.rst_32(!user_w_write_32_open && !user_r_read_32_open),
.din_32(user_w_write_32_data),
.wr_en_32(user_w_write_32_wren),
.rd_en_32(user_r_read_32_rden),
.dout_32(user_r_read_32_data),
.full_32(user_w_write_32_full),
.empty_32(user_r_read_32_empty),
.sig(sig),
.led(led)
);
# Acknowledgements This R&D project is done by Takeshi Ohkawa, Utsunomiya University. - https://sites.google.com/site/ohkawatakeshi/profile_en - http://www.is.utsunomiya-u.ac.jp/pearlab/openreroc/en/
This research and development work was supported by MIC/SCOPE #152103014.