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miam_utils

README.md

miam_utils

This library is a very generic C++ library for handling all low-level activities: sensor drivers, PIDs, kinematics...

Compiling this code

This code can be either compiled for the local host, or cross-compiled for an arm platform with arm-linux-gnueabihf-g++. To compile this code:

	cmake /path/to/miam_utils -DCMAKE_INSTALL_PREFIX=<installPath> -DCROSS_COMPILE=<ON,OFF>
	make
	make install

Once installed, this library can be imported using pkg-config. During install, the pkg-config file miam_utils.pc is installed in <installPath>/lib/pkgconfig : this path must thus be added to the PKG_CONFIG_PATH variable. To do so, open your .bashrc file

gedit ~/.bashrc

and append the following line :

export PKG_CONFIG_PATH=<installPath>/lib/pkgconfig

Remember to source ~/.bashrc before use.

When cross-compiling, the library is called miam_utils_arm instead.

There is a doxygen documentation for this library in BBBEurobot/doc. Simply run make_documentation.sh to generate it.

Running code of the Beaglebone.

When running code on a Beaglebone Black, the GPIOs and serial ports need to be enabled. This is done using a device tree overlay (DTO) file. A DTO file for BBB-Eurobot, enabeling all the ports exposed on the PCB (plus UART4, which is needed to talk to the servo driver - it wasn't planned on the PCB but a wire can easily be solder to make this connection. Note that you need a 3.3V to 5V converter).

This file is called Eurobot-00A0.dts, and can be found in the library folder (BBB-Eurobot). To use it, copy this file to the Beaglebone, then compile it and copy it to /lib/firmware:

	dtc -O dtb -o Eurobot-00A0.dtbo -b 00 -@ Eurobot-00A0.dts
	cp Eurobot-00A0.dtbo /lib/firmware

Now doing echo Eurobot > /sys/devices/bone_capemgr.9/slots enables all these ports for the duration of the current boot (this is done internally by BBB-Eurobot).