QuimWiki

a20

Anonymous (anonymous@undisclosed.example.com) — 2018-05-22T08:33:40+00:00

Getting started with Olimex A20-SOM Interesting links: * * * * Buildroot system Based on , using the sunxi u-boot and Linux kernel make a20_olinuxino_defconfig make Bootable microSD Make two partitions: * boot partition: FAT16, starting at offset 1MB, for u-boot.…

beagleboneblack

Anonymous (anonymous@undisclosed.example.com) — 2018-05-22T08:33:40+00:00

Getting started with BeagleBoneBlack Interesting links: * * * Toolchain from Linaro: arm-linux-gnueabihf-gcc (GCC 4.8.3) U-Boot The BeagleBoneBlack is fully supported in mainline U-Boot (currently tested with U-Boot 2014.04) make O=bbb CROSS_COMPILE=arm-linux-…

buildroot

Anonymous (anonymous@undisclosed.example.com) — 2022-02-24T10:48:26+00:00

Buildroot Buildroot SDK It is the host directory generated in the output directory of Buildroot. It contains absolute paths of where it has been generated, so cannot be shared directly. To replace all absolute paths at once by the ones you are going to install the SDK to, execute:

buildrootsdk

Anonymous (anonymous@undisclosed.example.com) — 2022-02-24T10:34:55+00:00

Moved to Buildroot SDK

can

Anonymous (anonymous@undisclosed.example.com) — 2024-04-11T09:25:06+00:00

CAN Setup set interface bitrate: # ip link set can0 type can bitrate 1000000 set interface up # ip link set can0 up For an automatic configuration of the CAN bus on systems using systemd, just create a 80-can.network file in /etc/systemd/network

can_communication_with_controllers

Anonymous (anonymous@undisclosed.example.com) — 2019-02-15T13:35:16+00:00

CAN communication with controllers CAN bus basics The Controller Area Network bus is a broadcast real-time bus which is widely used in industrial or automotive applications. It has the following characteristics: * its physical layer used a differential signal pair, which make the bus more robust against electromagnetic noises ;

coding_style

Anonymous (anonymous@undisclosed.example.com) — 2022-09-16T16:16:55+00:00

General rules * All code and documentation is written in English. * Maximum line length should be 100 characters C/C++ A Gerrit repository contains formatter configuration profiles compatible with Eclipse and Visual Studio. Refer to the attached README to know how to use them.

connection_guide

Anonymous (anonymous@undisclosed.example.com) — 2018-05-22T08:33:40+00:00

Physical interfaces Serial port The QuimBox features multiple mini-USB ports to connect to the different modules of the box. They all integrate a serial-to-usb converter for easy connection with a development station. The serial port settings should be as follows:

connman

Anonymous (anonymous@undisclosed.example.com) — 2018-05-22T08:33:40+00:00

connman's howto's Howto connect to a WPA-EAP network Create a config file (.config) in /var/lib/connman, with the followinf content: [service_] Type = wifi Name = EAP = peap Phase2 = MSCHAPV2 Identity = Passphrase =

control_loops

Anonymous (anonymous@undisclosed.example.com) — 2018-05-22T08:33:40+00:00

Control Loops The QuimDC has four control modes, one is an open loop and the others are closed loops. Default mode is PWM Open Loop control mode. PWM Open Loop (loop_function 0) In open loop, ref_speed is used to control the motors, here is an example :

debug_freertos

Anonymous (anonymous@undisclosed.example.com) — 2018-05-22T08:33:40+00:00

Debug Freertos vTaskList To display the list of tasks states : //Approximately 40 bytes per task should be sufficient char buffer[400]; vTaskList(buffer); /* example of output */ // Name State Priority Stack Num //************************************* // CANAPP R 2 178 3 // DBG R 1 42 1 // IDLE R 0 116 5 // LED B 1 238 4 // MCTRL B 4 202 2

device_tree

Anonymous (anonymous@undisclosed.example.com) — 2018-05-22T08:33:40+00:00

Linux Device tree References: * *

esp32

Anonymous (anonymous@undisclosed.example.com) — 2020-02-24T11:56:47+00:00

ESP32 Get started

example_code

Anonymous (anonymous@undisclosed.example.com) — 2018-05-22T08:33:40+00:00

Example code CAN communication with control boards The applications running in the embedded Linux environment can communicate with the IO boards through the CAN bus protocol. The high level protocol is a reduced version of the CANopen stack. Here is how to write a Object Dictionary entry:

flash_sd

Anonymous (anonymous@undisclosed.example.com) — 2018-05-22T08:33:40+00:00

Flash SD The quimesis_imx6dl_quimbrain defconfig from the buildroot-quimesis repository can be used to generate a basic Linux system running on the QuimBrain : $ git clone ssh://dev.quimesis.be:29418/buildroot-quimesis $ cd buildroot-quimesis $ make O=build_quimbrain quimesis_imx6dl_quimbrain_defconfig $ cd build_quimbrain $ make

gazebo_plugin

Anonymous (anonymous@undisclosed.example.com) — 2018-05-22T08:33:40+00:00

GAZEBO PLUGIN OVERVIEW Introduction You can use plugin to access a huge amount of GAZEBO parameters. The following resources are available online : * Learn to write a plugin * Gazebo plugin that you can use with ros * Gazebo API * ROS Package that contain other Gazebo plugins Study an example There is a Gazebo plugin code example. //hello_world.hh #ifndef HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_SONAR_H #define HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_SONAR_H #include #includ…

getting_started

Anonymous (anonymous@undisclosed.example.com) — 2020-03-02T12:36:50+00:00

Getting Started A simple tutorial that explains the basic setup and command needed to start using the QuimDC. Requirement : * QuimDC * USB/Serial port cable * DC laboratory power supply * DC motor * Two Jumpers ---------- Connection

hackrf

Anonymous (anonymous@undisclosed.example.com) — 2018-12-14T09:39:13+00:00

HackRF The HackRF One from Great Scott Gadgets is a Software Defined Radio peripheral capable of transmission or reception of radio signals from 1 MHz to 6 GHz. It can be used as RF receptor, spectrum alayzer, etc. Getting started On Linux, you need to install the following packages:

hostapd

Anonymous (anonymous@undisclosed.example.com) — 2018-05-22T08:33:40+00:00

hostapd's howto's Howto create a WPA-EAP-protected network Prevent NetworkManager from trying to configure/use the network interface you want to use for the AP network: ... [keyfile] unmanaged-devices=mac: ... Create hostapd's configuration for an WPA-EAP-protected access point, using the internal RADIUS server:

how_to_write_a_parameter_in_the_flash

Anonymous (anonymous@undisclosed.example.com) — 2018-05-22T08:33:40+00:00

How to write a parameter in the flash ---------- Description The QuimDC is using a STM32F103RCT7 processor and have 512KiB flash memory. The processor is a high-density device and its layout memory is as in the following table : The firmware is flash at the beginning i.e. at address 0x08000000. The parameters will be saved at the end of the flash.

hw_setup

Anonymous (anonymous@undisclosed.example.com) — 2018-05-22T08:33:40+00:00

Hardware configuration The QuimBox should be powered with a 24V DC power source. All devices should be connected to the box before the box is powered on (e.g. usb-to-ethernet dongle).

nfc

Anonymous (anonymous@undisclosed.example.com) — 2018-05-22T08:33:40+00:00

NFC Some references: * *

optical_references

Anonymous (anonymous@undisclosed.example.com) — 2021-05-04T11:43:21+00:00

Optical references In this section, you will find some references and tools that help you to understand some optical phenomenon Aperture and focal lens simulator: * * * Aperture definition: Bending light through matters :

pid_implementation

Anonymous (anonymous@undisclosed.example.com) — 2018-05-22T08:33:40+00:00

PID Implementation The PID controller use proportional, integral, derivative and output derivative gain with fixed point arithmetic. ---------- Proportional Proportional = Proportional_gain * (Consigne - Reference) ---------- Integral if Integral_gain == 0 Integral = 0 else Integral = Integral_gain * (Consigne - Reference) + Previous_integral_gain_sum We saturate the integral term with uIAntiWU_Limit if Integral > uIAntiWU_Limit Integral = uIAntiWU_Limit if Integral <…

quimbox

Anonymous (anonymous@undisclosed.example.com) — 2018-09-03T12:45:08+00:00

QuimBox The QuimBox is a versatile platform for robot control. It integrates, in one box, a powerful embedded Linux environment, coupled with dedicated IO controllers. It currently features: * 1GHz Cortex-A8 ARM core with 512MB RAM, running embedded Linux,

quimdc

Anonymous (anonymous@undisclosed.example.com) — 2018-05-22T08:33:40+00:00

QuimDC By default the QuimDC doesn't enable its motors. You must enable them before using the board. Use enterOperationalMode command to enter in operational mode and enable motors and control loops. Tutorial * Getting Started ---------- Controls * PID Implementation * Control Loops

regular_expression

Anonymous (anonymous@undisclosed.example.com) — 2019-02-27T10:35:44+00:00

Regular expression In this section, you will find some references and tools that help you to create and test a regular expression. * RegEx101 :

ros

Anonymous (anonymous@undisclosed.example.com) — 2020-03-06T08:25:54+00:00

ROS ROS Installation Easy way * Choose a distribution from the one available here * Make sure you got the right Ubuntu release for the ROS distribution you chose, check that here * Follow the install step from the ROS website for the ROS distribution you chose (

speed-current_control_loop

Anonymous (anonymous@undisclosed.example.com) — 2018-05-22T08:33:40+00:00

speed-current control loop Dimensions flow 2015/12/18 16:28 --> --> FLOW --> --> Speed (Tick/loop) Vadc (bit) Pwm -60 60 -4096 4096 -128 128

start

Anonymous (anonymous@undisclosed.example.com) — 2022-02-24T10:32:38+00:00

Welcome to the QuimWiki ! You will find here detailed documentation and user guides for the Quimesis products. Please feel free to contribute, and share your experience. Have a nice day with the Quimesis products. The Quimesis team Quick links:

the_quimdc_command_line_interface

Anonymous (anonymous@undisclosed.example.com) — 2022-06-24T09:50:33+00:00

The QuimDC Command Line Interface The QuimDC Command Line Interface (C.L.I.) aims to behave like the linux bash. Features * You can type “help” to display all the available commands * You can use “tab” to auto complete a command * You can use

the_quimdc_object_dictionary

Anonymous (anonymous@undisclosed.example.com) — 2023-02-09T11:09:39+00:00

The QuimDC Object Dictionary ---------- How to add a parameter All the parameters are added to the Object Dictionary (O.D.) in board/quimdc/od_factory.c file. Beware to check the max size of OD defined by MAX_NUM_OD_ENTRIES in common/lib/can/od.h.

tof-demo

Anonymous (anonymous@undisclosed.example.com) — 2018-05-22T08:33:40+00:00

Quimesis' ToF interface demo Quimesis' ToF interface board runs a Linux-based OS, interfacing with Bluetechnix' TIM/LIM. A demonstration application is provided to illustrate how to manage the boards IO's in order to retrieve point clouds captured by the 3D camera. It can be build using the

tools

Anonymous (anonymous@undisclosed.example.com) — 2025-01-30T10:21:32+00:00

Development tools Add compiler to Code::Blocks If you want to use an IDE like Code::Blocks, you can configure it to use the newly installed toolchain. * Settings > Compiler * Copy “GNU GCC Compiler”, call the new compiler “Quimesis ARM Linux Compiler

ubuntu

Anonymous (anonymous@undisclosed.example.com) — 2018-05-22T08:33:40+00:00

Getting started with Quimbuntu : Ubuntu on the Quimbrain This tool is an easy tool to create an image of Ubuntu for the Quimbrain. The purpose is to automate the process of the build of the image. You can find it in the Quimesis git repository: quimbox-tools/quimbuntu