├── LICENSE ├── README.md ├── cv_usb_example ├── CMakeLists.txt └── cv_capture_example.cpp ├── misc └── cl.hpp ├── openni2_example ├── CMakeLists.txt ├── OpenNI2Grabber.h ├── openni2_cv.cpp └── openni2_pcl.cpp ├── robotics setup notes ├── ubuntu-14.04-robotics-ALL.notes.txt ├── ubuntu-14.04-robotics-C1.notes.txt.txt └── ubuntu-15.04-robotics-XU4.notes.txt └── serial_comms_example ├── CMakeLists.txt ├── serial_comms_example.cpp └── serial_comms_firmware └── serial_comms_firmware.ino /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. {http://fsf.org/} 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | {one line to give the program's name and a brief idea of what it does.} 635 | Copyright (C) {year} {name of author} 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see {http://www.gnu.org/licenses/}. 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | odroid-development Copyright (C) 2013 Christopher D. McMurrough 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | {http://www.gnu.org/licenses/}. 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | {http://www.gnu.org/philosophy/why-not-lgpl.html}. 675 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | odroid-development 2 | ================== 3 | 4 | Code examples and support files for ODROID development 5 | -------------------------------------------------------------------------------- /cv_usb_example/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | project (cv_capture_example) 2 | cmake_minimum_required(VERSION 2.8) 3 | 4 | # CONFIGURE OPENCV 5 | find_package (OpenCV REQUIRED) 6 | 7 | # CREATE EXECUTABLE 8 | add_executable (cv_capture_example cv_capture_example.cpp) 9 | target_link_libraries(cv_capture_example ${OpenCV_LIBS}) 10 | -------------------------------------------------------------------------------- /cv_usb_example/cv_capture_example.cpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright 2014 Christopher D. McMurrough 3 | // 4 | // This program is free software: you can redistribute it and/or modify 5 | // it under the terms of the GNU General Public License as published by 6 | // the Free Software Foundation, either version 3 of the License, or 7 | // (at your option) any later version. 8 | // 9 | // This program is distributed in the hope that it will be useful, 10 | // but WITHOUT ANY WARRANTY; without even the implied warranty of 11 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 12 | // GNU General Public License for more details. 13 | // 14 | // You should have received a copy of the GNU General Public License 15 | // along with this program. If not, see . 16 | // 17 | 18 | /*******************************************************************************************************************//** 19 | * @file cv_capture_example.cpp 20 | * @brief C++ example for acquiring and processing image frames with OpenCV 21 | * @author Christopher D. McMurrough 22 | **********************************************************************************************************************/ 23 | 24 | // include necessary dependencies 25 | #include 26 | #include 27 | #include 28 | 29 | // configuration parameters 30 | #define NUM_COMNMAND_LINE_ARGUMENTS 2 31 | #define DISPLAY_WINDOW_NAME "Camera Image" 32 | 33 | /*******************************************************************************************************************//** 34 | * @brief Process a single image frame 35 | * @param[in] imageIn the input image frame 36 | * @return true if frame was processed successfully 37 | * @author Christopher D. McMurrough 38 | **********************************************************************************************************************/ 39 | bool processFrame(const cv::Mat &imageIn) 40 | { 41 | // process the image frame 42 | return true; 43 | } 44 | 45 | /*********************************************************************************************************************** 46 | * @brief program entry point 47 | * @param[in] argc number of command line arguments 48 | * @param[in] argv string array of command line arguments 49 | * @return return code (0 for normal termination) 50 | * @author Christopher D. McMurrough 51 | **********************************************************************************************************************/ 52 | int main(int argc, char **argv) 53 | { 54 | // store video capture parameters 55 | int cameraIndex = 0; 56 | bool showFrames = false; 57 | 58 | // validate and parse the command line arguments 59 | if(argc != NUM_COMNMAND_LINE_ARGUMENTS + 1) 60 | { 61 | std::printf("USAGE: %s \n", argv[0]); 62 | std::printf("WARNING: Proceeding with default execution parameters... \n"); 63 | cameraIndex = 0; 64 | showFrames = true; 65 | } 66 | else 67 | { 68 | cameraIndex = atoi(argv[1]); 69 | showFrames = atoi(argv[2]) > 0; 70 | } 71 | 72 | // initialize the camera capture 73 | cv::VideoCapture capture(cameraIndex); 74 | if(!capture.isOpened()) 75 | { 76 | std::printf("Unable to open video source, terminating program! \n"); 77 | return 0; 78 | } 79 | 80 | // get the video source paramters 81 | int captureWidth = static_cast(capture.get(CV_CAP_PROP_FRAME_WIDTH)); 82 | int captureHeight = static_cast(capture.get(CV_CAP_PROP_FRAME_HEIGHT)); 83 | std::printf("Video source opened successfully (width=%d height=%d)! \n", captureWidth, captureHeight); 84 | 85 | // create the debug image windows 86 | if(showFrames) 87 | { 88 | cv::namedWindow(DISPLAY_WINDOW_NAME, CV_WINDOW_AUTOSIZE); 89 | } 90 | 91 | // process data until program termination 92 | bool doCapture = true; 93 | int frameCount = 0; 94 | while(doCapture) 95 | { 96 | // get the start time 97 | double startTicks = static_cast(cv::getTickCount()); 98 | 99 | // attempt to acquire an image frame 100 | cv::Mat captureFrame; 101 | bool captureSuccess = capture.read(captureFrame); 102 | if(captureSuccess) 103 | { 104 | // process the image frame 105 | processFrame(captureFrame); 106 | 107 | // increment the frame counter 108 | frameCount++; 109 | } 110 | else 111 | { 112 | std::printf("Unable to acquire image frame! \n"); 113 | } 114 | 115 | // update the GUI window if necessary 116 | if(showFrames && captureSuccess) 117 | { 118 | cv::imshow(DISPLAY_WINDOW_NAME, captureFrame); 119 | 120 | // check for program termination 121 | if(((char) cv::waitKey(1)) == 'q') 122 | { 123 | doCapture = false; 124 | } 125 | } 126 | 127 | // compute the frame processing time 128 | double endTicks = static_cast(cv::getTickCount()); 129 | double elapsedTime = (endTicks - startTicks) / cv::getTickFrequency(); 130 | std::printf("Frame processing time: %f \n", elapsedTime); 131 | } 132 | 133 | // release program resources before returning 134 | capture.release(); 135 | cv::destroyAllWindows(); 136 | } 137 | -------------------------------------------------------------------------------- /openni2_example/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | project (openni2_example) 2 | cmake_minimum_required(VERSION 2.8) 3 | 4 | # CONFIGURE OPENCV 5 | find_package (OpenCV REQUIRED) 6 | 7 | # CONFIGURE OPENNI2 8 | find_library(OPENNI2_LIBRARY 9 | NAMES OpenNI2 10 | PATHS "~/OpenNI-Linux-Arm-2.2/Redist" 11 | ) 12 | find_path(OPENNI2_INCLUDE_DIR OpenNI.h 13 | PATHS "~/OpenNI-Linux-Arm-2.2/Include" 14 | ) 15 | link_directories(${OPENNI2_LIBRARY}) 16 | include_directories(${OPENNI2_INCLUDE_DIR}) 17 | 18 | # CONFIGURE PCL 19 | find_package(PCL 1.7 REQUIRED) 20 | include_directories(${PCL_INCLUDE_DIRS}) 21 | link_directories(${PCL_LIBRARY_DIRS}) 22 | add_definitions(${PCL_DEFINITIONS}) 23 | 24 | # CREATE EXECUTABLE 25 | add_executable (openni2_cv openni2_cv.cpp) 26 | target_link_libraries(openni2_cv ${OPENNI2_LIBRARY} ${OpenCV_LIBS}) 27 | 28 | # CREATE EXECUTABLE 29 | add_executable (openni2_pcl openni2_pcl.cpp) 30 | target_link_libraries(openni2_pcl ${OPENNI2_LIBRARY} ${OpenCV_LIBS} ${PCL_LIBRARIES}) 31 | -------------------------------------------------------------------------------- /openni2_example/OpenNI2Grabber.h: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright 2013 Christopher D. McMurrough 3 | // 4 | // This program is free software: you can redistribute it and/or modify 5 | // it under the terms of the GNU General Public License as published by 6 | // the Free Software Foundation, either version 3 of the License, or 7 | // (at your option) any later version. 8 | // 9 | // This program is distributed in the hope that it will be useful, 10 | // but WITHOUT ANY WARRANTY; without even the implied warranty of 11 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 12 | // GNU General Public License for more details. 13 | // 14 | // You should have received a copy of the GNU General Public License 15 | // along with this program. If not, see . 16 | // 17 | 18 | /*******************************************************************************************************************//** 19 | * @file OpenNI2Grabber.h 20 | * @brief This file provides convenient access to an OpenNI2 device for OpenCV and PCL 21 | * @author Christopher D. McMurrough 22 | ***********************************************************************************************************************/ 23 | 24 | #include 25 | #include 26 | #include 27 | #include 28 | 29 | #define RESOLUTION_X_DEPTH 640 30 | #define RESOLUTION_Y_DEPTH 480 31 | #define FPS_DEPTH 30 32 | 33 | #define RESOLUTION_X_COLOR 640 34 | #define RESOLUTION_Y_COLOR 480 35 | #define FPS_COLOR 30 36 | 37 | #define DEPTH_CX 319.5 38 | #define DEPTH_CY 239.5 39 | #define DEPTH_FX 525.0 40 | #define DEPTH_FY 525.0 41 | 42 | /*******************************************************************************************************************//** 43 | * @brief This class contains conventient wrapper functions for accessing an OpenNI2 device 44 | * @author Christopher D. McMurrough 45 | ***********************************************************************************************************************/ 46 | class OpenNI2Grabber 47 | { 48 | private: 49 | 50 | openni::Device myDevice; 51 | 52 | openni::VideoStream myDepthStream; 53 | openni::VideoStream myColorStream; 54 | 55 | std::vector myStreams; 56 | 57 | openni::VideoMode myDepthVideoMode; 58 | openni::VideoMode myColorVideoMode; 59 | 60 | openni::VideoFrameRef myDepthFrame; 61 | openni::VideoFrameRef myColorFrame; 62 | 63 | bool myGetDepth; 64 | bool myGetColor; 65 | bool myImageRegistrationEnabled; 66 | bool myIsDepthColorSyncEnabled; 67 | bool myIsInitialized; 68 | bool myIsRunning; 69 | 70 | int myNumStreams; 71 | int myDepthStreamIndex; 72 | int myColorStreamIndex; 73 | 74 | public: 75 | 76 | OpenNI2Grabber() {}; 77 | ~OpenNI2Grabber() 78 | { 79 | myDepthStream.stop(); 80 | myColorStream.stop(); 81 | myDepthStream.destroy(); 82 | myColorStream.destroy(); 83 | myStreams.clear(); 84 | myDevice.close(); 85 | 86 | // delete myDepthFrame and myColorFrame? 87 | openni::OpenNI::shutdown(); 88 | }; 89 | 90 | bool initialize(bool getDepth, bool getColor, bool setRegistration, bool setDepthColorSync); 91 | bool isInitialized(); 92 | bool isRunning(); 93 | bool isImageRegistrationEnabled(); 94 | bool isDepthStreamEnabled(); 95 | bool isColorStreamEnabled(); 96 | bool IsDepthColorSyncEnabled(); 97 | bool waitForFrame(int wait_ms); 98 | bool getDepthFrame(cv::Mat& depthImage); 99 | bool getColorFrame(cv::Mat& colorImage); 100 | 101 | bool start(); 102 | void stop(); 103 | 104 | void depthToDisparity(cv::Mat& depthImage, cv::Mat& disparityImage); 105 | void depthToMeters(cv::Mat& depthMM, cv::Mat& depthM); 106 | void makeCloud(cv::Mat& depthImage, cv::Mat& colorImage, pcl::PointCloud::Ptr &cloudOut); 107 | }; 108 | 109 | /*******************************************************************************************************************//** 110 | * @brief initialize the grabber for depth and/or color acquisition 111 | * @param[in] getDepth if true, depth data will be acquired (default:true) 112 | * @param[in] getColor if true, color data will be acquired (default:true) 113 | * @param[in] setRegistration if true, image image registration will be enabled (default:true) 114 | * @param[in] setDepthColorSync if true, depth and color data synchronization will be enabled (default:true) 115 | * @returns true if the grabber was initialized successfully 116 | * @author Christopher D. McMurrough 117 | ***********************************************************************************************************************/ 118 | bool OpenNI2Grabber::initialize(bool getDepth = true, bool getColor = true, bool setRegistration = true, bool setDepthColorSync = true) 119 | { 120 | myImageRegistrationEnabled = false; 121 | myGetDepth = false; 122 | myGetColor = false; 123 | myIsInitialized = false; 124 | myIsRunning = false; 125 | myNumStreams = 0; 126 | myDepthStreamIndex = 0; 127 | myColorStreamIndex = 0; 128 | 129 | // return if no stream is specified 130 | if(!getDepth && !getColor) 131 | { 132 | std::cout << "No acquisition streams specified! " << std::endl; 133 | return false; 134 | } 135 | 136 | // initialize the OpenNI API 137 | openni::OpenNI::initialize(); 138 | 139 | // return false if unable to initialize the device 140 | if (myDevice.open(openni::ANY_DEVICE) != openni::STATUS_OK) 141 | { 142 | std::cout << "Unable to initialize OpenNI device!" << std::endl; 143 | openni::OpenNI::shutdown(); 144 | return false; 145 | } 146 | 147 | // initialize the stream pointer array 148 | myGetDepth = getDepth; 149 | myGetColor = getColor; 150 | if(myGetDepth && myGetColor) 151 | { 152 | myNumStreams = 2; 153 | myDepthStreamIndex = 0; 154 | myColorStreamIndex = 1; 155 | } 156 | else if(myGetDepth && !myGetColor) 157 | { 158 | myNumStreams = 1; 159 | myDepthStreamIndex = 0; 160 | } 161 | else if(!myGetDepth && myGetColor) 162 | { 163 | myNumStreams = 1; 164 | myColorStreamIndex = 0; 165 | } 166 | 167 | // attempt to start stream acquisition 168 | try 169 | { 170 | // initialize the depth stream if necessary 171 | if(myGetDepth) 172 | { 173 | myDepthStream.create(myDevice, openni::SENSOR_DEPTH); 174 | myDepthVideoMode = myDepthStream.getVideoMode(); 175 | myDepthVideoMode.setResolution(RESOLUTION_X_DEPTH, RESOLUTION_Y_DEPTH); 176 | myDepthVideoMode.setFps(FPS_DEPTH); 177 | myDepthStream.setVideoMode(myDepthVideoMode); 178 | myDepthStream.setMirroringEnabled(false); 179 | 180 | // update the pointer array 181 | myStreams.push_back(&myDepthStream); 182 | } 183 | 184 | // initialize the color stream if necessary 185 | if(myGetColor) 186 | { 187 | myColorStream.create(myDevice, openni::SENSOR_COLOR); 188 | openni::VideoMode myColorVideoMode = myColorStream.getVideoMode(); 189 | myColorVideoMode.setResolution(RESOLUTION_X_COLOR, RESOLUTION_Y_COLOR); 190 | myColorVideoMode.setFps(FPS_COLOR); 191 | myColorStream.setVideoMode(myColorVideoMode); 192 | myColorStream.setMirroringEnabled(false); 193 | 194 | // update the pointer array 195 | myStreams.push_back(&myColorStream); 196 | } 197 | 198 | // set depth color synchronization if necessary 199 | if(setDepthColorSync & myGetDepth && myGetColor) 200 | { 201 | int status = myDevice.setDepthColorSyncEnabled(true); 202 | if (status != openni::STATUS_OK) 203 | { 204 | std::cout << "Unable to set depth/color synchronization: " << openni::OpenNI::getExtendedError() << std::endl; 205 | myIsDepthColorSyncEnabled = false; 206 | } 207 | else 208 | { 209 | myIsDepthColorSyncEnabled = true; 210 | std::cout << "Depth/color synchronization enabled!" << std::endl; 211 | } 212 | } 213 | 214 | // set depth to color registration mode 215 | if(setRegistration && myDevice.isImageRegistrationModeSupported(openni::IMAGE_REGISTRATION_DEPTH_TO_COLOR)) 216 | { 217 | int status = myDevice.setImageRegistrationMode(openni::IMAGE_REGISTRATION_DEPTH_TO_COLOR); 218 | if (status != openni::STATUS_OK) 219 | { 220 | std::cout << "Unable to set registration mode: " << openni::OpenNI::getExtendedError() << std::endl; 221 | myImageRegistrationEnabled = false; 222 | } 223 | else 224 | { 225 | myImageRegistrationEnabled = true; 226 | std::cout << "Registration mode enabled!" << std::endl; 227 | } 228 | } 229 | else 230 | { 231 | std::cout << "Registration not supported by this device!" << std::endl; 232 | myImageRegistrationEnabled = false; 233 | } 234 | 235 | // streams opened with no error, return true 236 | myIsInitialized = true; 237 | 238 | return true; 239 | } 240 | catch(std::exception &e) 241 | { 242 | // we encountered an error, return false 243 | std::cout << "Exception occurred while opening stream: " << e.what() << std::endl; 244 | myImageRegistrationEnabled = false; 245 | myGetDepth = false; 246 | myGetColor = false; 247 | myIsInitialized = false; 248 | myIsRunning = false; 249 | myNumStreams = 0; 250 | myDepthStreamIndex = 0; 251 | myColorStreamIndex = 0; 252 | myDevice.close(); 253 | openni::OpenNI::shutdown(); 254 | 255 | return false; 256 | } 257 | } 258 | 259 | /*******************************************************************************************************************//** 260 | * @brief return the initialization state of the grabber 261 | * @returns true if the grabber was initialized successfully 262 | * @author Christopher D. McMurrough 263 | ***********************************************************************************************************************/ 264 | bool OpenNI2Grabber::isInitialized() 265 | { 266 | return myIsInitialized; 267 | } 268 | 269 | /*******************************************************************************************************************//** 270 | * @brief return the execution state of the grabber 271 | * @returns true if the grabber is currently running 272 | * @author Christopher D. McMurrough 273 | ***********************************************************************************************************************/ 274 | bool OpenNI2Grabber::isRunning() 275 | { 276 | return myIsRunning; 277 | } 278 | 279 | /*******************************************************************************************************************//** 280 | * @brief return the registration setting of the grabber 281 | * @returns true if registration is enabled on the grabber 282 | * @author Christopher D. McMurrough 283 | ***********************************************************************************************************************/ 284 | bool OpenNI2Grabber::isImageRegistrationEnabled() 285 | { 286 | return myImageRegistrationEnabled; 287 | } 288 | 289 | /*******************************************************************************************************************//** 290 | * @brief return the depth acquisition setting of the grabber 291 | * @returns true if depth acquisition is enabled 292 | * @author Christopher D. McMurrough 293 | ***********************************************************************************************************************/ 294 | bool OpenNI2Grabber::isDepthStreamEnabled() 295 | { 296 | return myGetDepth; 297 | } 298 | 299 | /*******************************************************************************************************************//** 300 | * @brief return the color acquisition setting of the grabber 301 | * @returns true if color acquisition is enabled 302 | * @author Christopher D. McMurrough 303 | ***********************************************************************************************************************/ 304 | bool OpenNI2Grabber::isColorStreamEnabled() 305 | { 306 | return myGetColor; 307 | } 308 | 309 | /*******************************************************************************************************************//** 310 | * @brief return the depth and color synchronization setting of the grabber 311 | * @returns true if depth and color streams are synchronized 312 | * @author Christopher D. McMurrough 313 | ***********************************************************************************************************************/ 314 | bool OpenNI2Grabber::IsDepthColorSyncEnabled() 315 | { 316 | return myIsDepthColorSyncEnabled; 317 | } 318 | 319 | /*******************************************************************************************************************//** 320 | * @brief wait up to the given duration in milliseconds for a frame update 321 | * @param[in] wait_ms maximum number of milliseconds to wait for a frame 322 | * @returns true if an update was successful 323 | * @author Christopher D. McMurrough 324 | ***********************************************************************************************************************/ 325 | bool OpenNI2Grabber::waitForFrame(int wait_ms) 326 | { 327 | int changedIndex; 328 | 329 | // wait for an update 330 | int status = openni::OpenNI::waitForAnyStream(&myStreams[0], myNumStreams, &changedIndex, wait_ms); 331 | 332 | // check the result of the wait 333 | if (status != openni::STATUS_OK) 334 | { 335 | std::cout << "No frame updates processed in " << wait_ms << " ms: " << openni::OpenNI::getExtendedError() << std::endl; 336 | return false; 337 | } 338 | 339 | // check the updated stream 340 | if(myGetDepth && changedIndex == myDepthStreamIndex) 341 | { 342 | return true; 343 | } 344 | else if(myGetColor && changedIndex == myColorStreamIndex) 345 | { 346 | return true; 347 | } 348 | else 349 | { 350 | std::cout << "Unexpected stream received! " << std::endl; 351 | return false; 352 | } 353 | } 354 | 355 | /*******************************************************************************************************************//** 356 | * @brief reads a depth frame from the stream 357 | * @param[out] depthImage depth image frame 358 | * @returns true if the frame is valid 359 | * @author Christopher D. McMurrough 360 | ***********************************************************************************************************************/ 361 | bool OpenNI2Grabber::getDepthFrame(cv::Mat& depthImage) 362 | { 363 | // read the frame from the depth stream 364 | myDepthStream.readFrame(&myDepthFrame); 365 | 366 | // check to see if the frame is valid 367 | if (myDepthFrame.isValid()) 368 | { 369 | depthImage.create(myDepthFrame.getHeight(), myDepthFrame.getWidth(), CV_16UC1); 370 | const openni::DepthPixel* pDepthRow = (const openni::DepthPixel*) myDepthFrame.getData(); 371 | memcpy(depthImage.data, pDepthRow, myDepthFrame.getStrideInBytes() * myDepthFrame.getHeight()); 372 | 373 | return true; 374 | } 375 | else 376 | { 377 | return false; 378 | } 379 | } 380 | 381 | /*******************************************************************************************************************//** 382 | * @brief reads a color frame from the stream 383 | * @param[out] colorImage color image frame 384 | * @returns true if the frame is valid 385 | * @author Christopher D. McMurrough 386 | ***********************************************************************************************************************/ 387 | bool OpenNI2Grabber::getColorFrame(cv::Mat& colorImage) 388 | { 389 | // read the frame from the color stream 390 | myColorStream.readFrame(&myColorFrame); 391 | 392 | // check to see if the frame is valid 393 | if (myColorFrame.isValid()) 394 | { 395 | colorImage.create(myColorFrame.getHeight(), myColorFrame.getWidth(), CV_8UC3); 396 | const openni::RGB888Pixel* pImageRow = (const openni::RGB888Pixel*) myColorFrame.getData(); 397 | memcpy(colorImage.data, pImageRow, myColorFrame.getStrideInBytes() * myColorFrame.getHeight()); 398 | cvtColor(colorImage, colorImage, CV_RGB2BGR); 399 | 400 | return true; 401 | } 402 | else 403 | { 404 | return false; 405 | } 406 | } 407 | 408 | /*******************************************************************************************************************//** 409 | * @brief start data acquisition 410 | * @returns true if the grabber was started successfully 411 | * @author Christopher D. McMurrough 412 | ***********************************************************************************************************************/ 413 | bool OpenNI2Grabber::start() 414 | { 415 | if(!myIsInitialized) 416 | { 417 | std::cout << "Grabber is not initialized, unable to start acquisition!" << std::endl; 418 | return false; 419 | } 420 | else 421 | { 422 | // start the depth stream if necessary 423 | if(myGetDepth) 424 | { 425 | if(myDepthStream.start() != openni::STATUS_OK) 426 | { 427 | std::cout << "Unable to start depth stream!" << std::endl; 428 | return false; 429 | } 430 | } 431 | 432 | // start the color stream if necessary 433 | if(myGetColor) 434 | { 435 | if (myColorStream.start() != openni::STATUS_OK) 436 | { 437 | std::cout << "Unable to start color stream!" << std::endl; 438 | return false; 439 | } 440 | } 441 | 442 | // the streams were started successfully 443 | myIsRunning = true; 444 | return true; 445 | } 446 | } 447 | 448 | /*******************************************************************************************************************//** 449 | * @brief stop data acquisition 450 | * @returns true if the grabber was stopped successfully 451 | * @author Christopher D. McMurrough 452 | ***********************************************************************************************************************/ 453 | void OpenNI2Grabber::stop() 454 | { 455 | // stop the depth stream if necessary 456 | if(myGetDepth) 457 | { 458 | myDepthStream.stop(); 459 | } 460 | 461 | // stop the color stream if necessary 462 | if(myGetColor) 463 | { 464 | myColorStream.stop(); 465 | } 466 | } 467 | 468 | /*******************************************************************************************************************//** 469 | * @brief convert the integer depth image in mm to a float image in meters 470 | * @param[in] depthMM input depth integer data frame in millimetres 471 | * @param[out] depthM input depth float data frame in meters 472 | * @returns true if the grabber is currently running 473 | * @author Christopher D. McMurrough 474 | ***********************************************************************************************************************/ 475 | void OpenNI2Grabber::depthToMeters(cv::Mat& depthMM, cv::Mat& depthM) 476 | { 477 | // convert image type to float while also scaling by 0.001 478 | depthMM.convertTo(depthM, CV_32FC1, 0.001f, 0); 479 | } 480 | 481 | /*******************************************************************************************************************//** 482 | * @brief create a point cloud structure from a given depth and color image 483 | * @param[in] depthImage depth image frame 484 | * @param[in] colorImage color image frame 485 | * @param[out] cloudOut output point cloud structure 486 | * @returns true if the grabber is currently running 487 | * @author Christopher D. McMurrough 488 | ***********************************************************************************************************************/ 489 | void OpenNI2Grabber::makeCloud(cv::Mat& depthImage, cv::Mat& colorImage, pcl::PointCloud::Ptr &cloudOut) 490 | { 491 | // define camera parameter constants 492 | const float cx = DEPTH_CX; 493 | const float cy = DEPTH_CY; 494 | const float fx = DEPTH_FX; 495 | const float fy = DEPTH_FY; 496 | const float fx_inv = 1.0f/fx; 497 | const float fy_inv = 1.0f/fy; 498 | 499 | // reset the point cloud 500 | cloudOut->clear(); 501 | cloudOut->width = colorImage.cols; 502 | cloudOut->height = colorImage.rows; 503 | cloudOut->points.resize(cloudOut->width * cloudOut->height); 504 | 505 | uint16_t d; 506 | float px, py, pz; 507 | uchar pb, pg, pr; 508 | int index = 0; 509 | 510 | // iterate through the points 511 | for(int i = 0; i < colorImage.rows; i++) 512 | { 513 | for (int j = 0; j < colorImage.cols; j++) 514 | { 515 | // get the depth value 516 | d = depthImage.at(i,j); 517 | 518 | /// TODO: Check for bad depth values and assign NaN 519 | 520 | // compute the point data 521 | pz = ((float) d) * 0.001f; 522 | px = (j - cx) * pz * fx_inv; 523 | py = (i - cy) * pz * fy_inv; 524 | pb = colorImage.at(i,j)[0]; 525 | pg = colorImage.at(i,j)[1]; 526 | pr = colorImage.at(i,j)[2]; 527 | 528 | //cloudOut->points.push_back (point); 529 | cloudOut->points[index].x = px; 530 | cloudOut->points[index].y = py; 531 | cloudOut->points[index].z = pz; 532 | cloudOut->points[index].r = pr; 533 | cloudOut->points[index].g = pg; 534 | cloudOut->points[index].b = pb; 535 | 536 | index ++; 537 | } 538 | } 539 | } 540 | -------------------------------------------------------------------------------- /openni2_example/openni2_cv.cpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright 2013 Christopher D. McMurrough 3 | // 4 | // This program is free software: you can redistribute it and/or modify 5 | // it under the terms of the GNU General Public License as published by 6 | // the Free Software Foundation, either version 3 of the License, or 7 | // (at your option) any later version. 8 | // 9 | // This program is distributed in the hope that it will be useful, 10 | // but WITHOUT ANY WARRANTY; without even the implied warranty of 11 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 12 | // GNU General Public License for more details. 13 | // 14 | // You should have received a copy of the GNU General Public License 15 | // along with this program. If not, see . 16 | // 17 | 18 | /*******************************************************************************************************************//** 19 | * @file openni2_cv.cpp 20 | * @brief Code example for using the OpenNI2Grabber class with OpenCV 21 | * @author Christopher D. McMurrough 22 | ***********************************************************************************************************************/ 23 | 24 | #include 25 | #include 26 | #include "OpenNI2Grabber.h" 27 | 28 | using namespace cv; 29 | 30 | /*******************************************************************************************************************//** 31 | * @brief program entry point 32 | * @param[in] argc number of command line arguments 33 | * @param[in] argv string array of command line arguments 34 | * @return return code (0 for normal termination) 35 | * @author Christopher D. McMurrough 36 | ***********************************************************************************************************************/ 37 | int main(int argc, char** argv) 38 | { 39 | OpenNI2Grabber grabber; 40 | bool isRunning = false; 41 | const int timeoutMs = 1000; 42 | 43 | // attempt to start the grabber 44 | if(grabber.initialize()) 45 | { 46 | if(grabber.start()) 47 | { 48 | isRunning = grabber.isRunning(); 49 | } 50 | } 51 | else 52 | { 53 | std::cout << "Unable to initialize OpenNI2Grabber, program terminating!" << std::endl; 54 | return 0; 55 | } 56 | 57 | // acquire frames until program termination 58 | std::cout << "Press 'p' to render point cloud, 'q' to halt acquisition..." << std::endl; 59 | Mat depthImage, colorImage; 60 | Mat depthImageDraw; 61 | while(isRunning) 62 | { 63 | // wait for a new image frame 64 | if(grabber.waitForFrame(timeoutMs)) 65 | { 66 | // update the display for both frames 67 | if(grabber.getDepthFrame(depthImage)) 68 | { 69 | // multiply the 11-bit depth values by 32 to extend the color range to a full 16-bits 70 | depthImage.convertTo(depthImageDraw, -1, 32); 71 | imshow("depth", depthImageDraw); 72 | } 73 | if(grabber.getColorFrame(colorImage)) 74 | { 75 | imshow("rgb", colorImage); 76 | } 77 | } 78 | else 79 | { 80 | std::cout << "No new frames received in " << timeoutMs << " ms..." << std::endl; 81 | } 82 | 83 | // check for program termination 84 | char key = (char) cv::waitKey(1); 85 | if(key == 'q' || key == 'Q') 86 | { 87 | std::cout << "Terminating program..." << std::endl; 88 | isRunning = false; 89 | } 90 | } 91 | 92 | // stop the acquisition 93 | grabber.stop(); 94 | 95 | return 0; 96 | } 97 | -------------------------------------------------------------------------------- /openni2_example/openni2_pcl.cpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright 2013 Christopher D. McMurrough 3 | // 4 | // This program is free software: you can redistribute it and/or modify 5 | // it under the terms of the GNU General Public License as published by 6 | // the Free Software Foundation, either version 3 of the License, or 7 | // (at your option) any later version. 8 | // 9 | // This program is distributed in the hope that it will be useful, 10 | // but WITHOUT ANY WARRANTY; without even the implied warranty of 11 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 12 | // GNU General Public License for more details. 13 | // 14 | // You should have received a copy of the GNU General Public License 15 | // along with this program. If not, see . 16 | // 17 | 18 | /*******************************************************************************************************************//** 19 | * @file openni2_pcl.cpp 20 | * @brief Code example for using OpenNI2Grabber to assemble point clouds from depth and rgb images 21 | * @author Christopher D. McMurrough 22 | ***********************************************************************************************************************/ 23 | 24 | #include 25 | #include 26 | 27 | #include 28 | #include 29 | #include 30 | 31 | #include "OpenNI2Grabber.h" 32 | 33 | /*******************************************************************************************************************//** 34 | * @brief program entry point 35 | * @param[in] argc number of command line arguments 36 | * @param[in] argv string array of command line arguments 37 | * @return return code (0 for normal termination) 38 | * @author Christoper D. McMurrough 39 | ***********************************************************************************************************************/ 40 | int main(int argc, char** argv) 41 | { 42 | // create the cloud viewer object 43 | pcl::visualization::CloudViewer viewer("Point Cloud"); 44 | pcl::PointCloud::Ptr cloud(new pcl::PointCloud); 45 | 46 | bool isRunning = false; 47 | OpenNI2Grabber grabber; 48 | 49 | // attempt to start the grabber 50 | if(grabber.initialize(true, true, true, true)) 51 | { 52 | if(grabber.start()) 53 | { 54 | isRunning = grabber.isRunning(); 55 | } 56 | } 57 | else 58 | { 59 | std::cout << "Unable to initialize OpenNI2Grabber, program terminating!" << std::endl; 60 | return 0; 61 | } 62 | 63 | // acquire frames until program termination 64 | std::cout << "Press 'q' to halt acquisition..." << std::endl; 65 | cv::Mat depthImage, colorImage; 66 | cv::Mat depthImageDraw; 67 | cv::Mat disparityImage; 68 | cv::Mat depthImageMeters; 69 | while(isRunning) 70 | { 71 | // acquire an image frame 72 | if(grabber.waitForFrame(1000)) 73 | { 74 | // display the acquired images 75 | if(grabber.getDepthFrame(depthImage)) 76 | { 77 | // multiply the 11-bit depth values by 32 to extend the color range to a full 16-bits 78 | depthImage.convertTo(depthImageDraw, -1, 32); 79 | cv::imshow("depth", depthImageDraw); 80 | 81 | } 82 | if(grabber.getColorFrame(colorImage)) 83 | { 84 | cv::imshow("rgb", colorImage); 85 | } 86 | } 87 | else 88 | { 89 | } 90 | 91 | // check for program termination 92 | char key = (char) cv::waitKey(1); 93 | if(key == 'q' || key == 'Q' || key == 27) 94 | { 95 | std::cout << "Terminating program..." << std::endl; 96 | isRunning = false; 97 | } 98 | 99 | // render the point cloud 100 | if(key == 'p' || key == 'P') 101 | { 102 | //grabber.makeCloud(depthImageMeters, colorImage, cloud); 103 | grabber.makeCloud(depthImage, colorImage, cloud); 104 | std::cout << "rendering point cloud with " << cloud->size() << " points..." << std::endl; 105 | viewer.showCloud(cloud); 106 | } 107 | } 108 | 109 | grabber.stop(); 110 | 111 | return 0; 112 | } 113 | -------------------------------------------------------------------------------- /robotics setup notes/ubuntu-14.04-robotics-ALL.notes.txt: -------------------------------------------------------------------------------- 1 | ### LOGIN ### 2 | username: root 3 | password: odroid 4 | 5 | ### SETUP UBUNTU ### 6 | sudo apt-get update 7 | sudo apt-get install lxde gedit build-essential checkinstall cmake cmake-curses-gui pkg-config chromium-browser gparted wicd guvcview 8 | 9 | ### ADD USER ACCOUNT ### 10 | sudo adduser odroid 11 | sudo adduser odroid sudo 12 | sudo adduser odroid netdev 13 | 14 | ### LOGIN ### 15 | username: odroid 16 | password: odroid 17 | 18 | ### CONFIGURE LXDE ### 19 | 1. Set up welcome screen (sudo gedit /etc/lxdm/default.conf) 20 | 2. Resize partition to 7168 MB with gparted 21 | 3. Check wifi using wicd 22 | 4. Set background to solid color 23 | 5. Remove logout application launch bar (lower right corner) 24 | 6. Set taskbar icons (pcmanfm, lxterminal, chromium, wicd) 25 | 7. Disable screensaver 26 | 8. Open wicd, properties menu, general settings. Enter 'wlan0' under Wireless interface 27 | 9. Open wicd, properties menu, general settings. Enter 'eth3' under ethernet interface (XU4 ONLY!) 28 | 29 | ### FIX LOGOUT GUI PERMISSION BUG (https://tracker.zentyal.org/issues/360) ### 30 | 1. sudo apt-get install systemd-shim 31 | 2. Edit lxdm session file (/etc/pam.d/lxdm), add the following line 32 | session required pam_systemd.so 33 | 34 | ### FIX WAITING FOR NETWORK CONFIGURATION BUG ### 35 | 1. Edit network interfaces file (sudo gedit /etc/network/interfaces), replace with the following 36 | auto lo 37 | iface lo inet loopback 38 | 39 | ### RUN ODROID UTILITY ### 40 | sudo -s 41 | wget -O /usr/local/bin/odroid-utility.sh https://raw.githubusercontent.com/mdrjr/odroid-utility/master/odroid-utility.sh 42 | chmod +x /usr/local/bin/odroid-utility.sh 43 | odroid-utility.sh 44 | 45 | ### INSTALL OPENCV DEPENDENCIES ### 46 | sudo apt-get install build-essential checkinstall cmake pkg-config yasm libtiff4-dev libjpeg-dev libjasper-dev libavcodec-dev libavformat-dev libswscale-dev libdc1394-22-dev libxine-dev libgstreamer0.10-dev libgstreamer-plugins-base0.10-dev libv4l-dev python-dev python-numpy libqt4-dev libgtk2.0-dev libavcodec-dev libavformat-dev libswscale-dev libtbb2 libtbb-dev 47 | 48 | ### GET OPENCV SOURCE ### 49 | cd ~ 50 | wget http://sourceforge.net/projects/opencvlibrary/files/opencv-unix/2.4.9/opencv-2.4.9.zip 51 | unzip opencv-2.4.9.zip 52 | rm opencv-2.4.9.zip 53 | cd opencv-2.4.9 54 | 55 | ### BUILD AND INSTALL OPENCV ### 56 | mkdir build 57 | cd build 58 | cmake -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX=/usr/local -DWITH_OPENGL=ON -DWITH_V4L=ON -DWITH_TBB=ON -DBUILD_TBB=ON -DENABLE_VFPV3=ON -DENABLE_NEON=ON .. 59 | make 60 | sudo make install 61 | 62 | ### INSTALL OPENNI (https://github.com/cmcmurrough/OpenNI2) ### 63 | cd ~ 64 | sudo apt-get install -y g++ python libusb-1.0-0-dev libudev-dev openjdk-6-jdk freeglut3-dev doxygen graphviz 65 | git clone https://github.com/cmcmurrough/OpenNI2 66 | cd OpenNI2 67 | PLATFORM=Arm make 68 | cd Packaging && python ReleaseVersion.py Arm 69 | mv Final/OpenNI-Linux-Arm-2.2.tar.bz2 ~ 70 | cd ~ 71 | tar -xvf OpenNI-Linux-Arm-2.2.tar.bz2 72 | rm -rf OpenNI2 73 | rm OpenNI-Linux-Arm-2.2.tar.bz2 74 | cd OpenNI-Linux-Arm-2.2 75 | sudo sh install.sh 76 | 77 | ### BUILD AND INSTALL LIBFREENECT ### 78 | cd ~ 79 | sudo apt-get install libxmu-dev libxi-dev libusb-dev 80 | git clone http://github.com/cmcmurrough/libfreenect 81 | cd libfreenect 82 | mkdir build 83 | cd build 84 | cmake .. -DBUILD_OPENNI2_DRIVER=ON 85 | make 86 | Repository=~/OpenNI-Linux-Arm-2.2/Redist/OpenNI2/Drivers/ 87 | cp -L lib/OpenNI2-FreenectDriver/libFreenectDriver.so ${Repository} 88 | sudo cp ~/libfreenect/platform/linux/udev/51-kinect.rules /etc/udev/rules.d 89 | 90 | ### INSTALL PCL DEPENDENCIES ### 91 | sudo apt-get install freeglut3-dev libboost-all-dev libeigen3-dev libflann-dev libvtk5-dev libusb-1.0-0-dev libqhull-dev 92 | 93 | ### GET PCL SOURCE (RELEASE 1.7.2) ### 94 | cd ~ 95 | git clone https://github.com/PointCloudLibrary/pcl pcl-1.7.2 96 | cd pcl-1.7.2 97 | 98 | ### BUILD AND INSTALL PCL ### 99 | mkdir build 100 | cd build 101 | cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local .. 102 | make 103 | sudo make install 104 | 105 | ### INSTALL ROS (http://wiki.ros.org/indigo/Installation/UbuntuARM) ### 106 | cd ~ 107 | sudo update-locale LANG=C LANGUAGE=C LC_ALL=C LC_MESSAGES=POSIX 108 | 109 | sudo sh -c 'echo "deb http://packages.namniart.com/repos/ros trusty main" > /etc/apt/sources.list.d/ros-latest.list' 110 | 111 | wget http://packages.namniart.com/repos/namniart.key -O - | sudo apt-key add - 112 | 113 | sudo apt-get update 114 | sudo apt-get install ros-indigo-ros-base 115 | 116 | sudo apt-get install python-rosdep 117 | sudo rosdep init 118 | rosdep update 119 | 120 | echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc 121 | source ~/.bashrc 122 | 123 | sudo apt-get install python-rosinstall 124 | 125 | ### GET ODROID-DEVELOPMENT EXAMPLES ### 126 | cd ~ 127 | git clone https://github.com/cmcmurrough/odroid-development.git 128 | -------------------------------------------------------------------------------- /robotics setup notes/ubuntu-14.04-robotics-C1.notes.txt.txt: -------------------------------------------------------------------------------- 1 | ### LOGIN ### 2 | username: odroid 3 | password: odroid 4 | 5 | ### SETUP UBUNTU ### 6 | sudo apt-get update 7 | sudo apt-get remove abiword abiword-common abiword-plugin-grammar abiword-plugin-mathview audacious audacious-plugins audacious-plugins-data blueman consolekit desktop-base docbook-xml ffmpegthumbnailer fonts-lyx galculator gdebi gdebi-core gecko-mediaplayer giblib1 gksu gnome-desktop-data gnome-icon-theme-full gnome-mplayer gnome-system-tools gnome-themes-standard gnome-themes-standard-data gnumeric gnumeric-common gnumeric-doc gpicview gtk2-engines gtk2-engines-pixbuf guvcview hardinfo indicator-application-gtk2 leafpad liba52-0.7.4 libaacs0 libabiword-3.0 libass4 libaudclient2 libaudcore1 libavcodec54 libavformat54 libavresample1 libavutil52 libbinio1ldbl libbluray1 libbs2b0 libcairo-perl libcddb2 libchamplain-0.12-0 libchamplain-gtk-0.12-0 libck-connector0 libcompfaceg1 libcue1 libdca0 libdirectfb-1.2-9 libdiscid0 libdvdnav4 libdvdread4 libenca0 libencode-locale-perl libept1.4.12 libexo-1-0 libexo-common libexo-helpers libfaad2 libffmpegthumbnailer4 libfile-listing-perl libfluidsynth1 libfm-data libfm-extra4 libfm-gtk-data libfm-gtk4 libfm-modules libfm4 libfont-afm-perl libgda-5.0-4 libgda-5.0-common libgdome2-0 libgdome2-cpp-smart0c2a libgif4 libgksu2-0 libglib-perl libgmlib1 libgmtk1 libgmtk1-data libgoffice-0.10-10 libgoffice-0.10-10-common libgsf-1-114 libgsf-1-common libgsm1 libgtk2-perl libgtkmathview0c2a libgtkspell0 libguess1 libhtml-form-perl libhtml-format-perl libhtml-parser-perl libhtml-tagset-perl libhtml-tree-perl libhttp-cookies-perl libhttp-daemon-perl libhttp-date-perl libhttp-message-perl libhttp-negotiate-perl libid3tag0 libimlib2 libindicator7 libio-html-perl libjs-jquery liblink-grammar4 libloudmouth1-0 liblwp-mediatypes-perl liblwp-protocol-https-perl libmad0 libmenu-cache-bin libmenu-cache3 libmms0 libmodplug1 libmowgli2 libmp3lame0 libmpg123-0 libmusicbrainz3-6 libnet-dbus-perl libnet-http-perl libobrender29 libobt2 libonig2 liboobs-1-5 libopenjpeg2 libopts25 libopus0 libots0 libpam-ck-connector libpango-perl libpisock9 libpostproc52 libquvi-scripts libquvi7 librarian0 libschroedinger-1.0-0 libsdl1.2debian libsidplayfp libswscale2 libtidy-0.99-0 libtie-ixhash-perl libts-0.0-0 libuniconf4.6 libva1 libvdpau1 libvte-common libvte9 libwebcam0 libwv-1.2-4 libwvstreams4.6-base libwvstreams4.6-extras libwww-perl libwww-robotrules-perl libx264-142 libxfce4ui-1-0 libxfce4ui-common libxfce4util-bin libxfce4util-common libxfce4util6 libxfconf-0-2 libxml-parser-perl libxml-twig-perl libxml-xpathengine-perl libxvidcore4 light-locker light-locker-settings lightdm-gtk-greeter link-grammar-dictionaries-en lm-sensors lubuntu-artwork lubuntu-artwork-14-04 lubuntu-core lubuntu-default-session lubuntu-default-settings lubuntu-desktop lubuntu-icon-theme lubuntu-lxpanel-icons lubuntu-software-center lxappearance lxappearance-obconf lxinput lxlauncher lxmenu-data lxpanel lxpanel-indicator-applet-plugin lxrandr lxsession lxsession-data lxsession-default-apps lxsession-logout lxshortcut lxtask lxterminal mplayer2 mtpaint ntp obconf openbox pcmanfm pidgin pidgin-data pidgin-libnotify plymouth-theme-lubuntu-logo plymouth-theme-lubuntu-text python-gudev python-psutil python-pysqlite2 rarian-compat scrot sgml-data sylpheed sylpheed-doc sylpheed-i18n sylpheed-plugins synaptic system-tools-backends transmission tsconf uvcdynctrl uvcdynctrl-data wvdial xfburn xfce4-notifyd xfce4-power-manager xfce4-power-manager-data xfconf xfonts-100dpi xpad evince camorama simple-scan medit firefox && sudo apt-get install lxde gedit build-essential checkinstall cmake cmake-curses-gui pkg-config chromium-browser gparted wicd guvcview openssh-server xdm git 8 | 9 | ### UPDATE LINUX ### 10 | sudo apt-get update && sudo apt-get dist-upgrade && sudo apt-get upgrade 11 | sudo apt-get autoremove 12 | 13 | ### CONFIGURE LXDE ### 14 | 1. Resize partition to 7168 MB with gparted, add temporary 1024 MB linux-swap partition and set "swapon" 15 | 2. Open wicd, properties menu, general settings. Enter 'wlan0' under Wireless interface 16 | 3. Check wifi using wicd 17 | 4. Set background to solid color 18 | 5. Remove logout application launch bar (lower right corner) 19 | 6. Set taskbar icons (pcmanfm, lxterminal, chromium, wicd) 20 | 7. Disable screensaver 21 | 22 | ### FIX LOGOUT GUI PERMISSION BUG (https://tracker.zentyal.org/issues/360) ### 23 | 1. sudo apt-get install systemd-shim 24 | 2. Edit lxdm session file (/etc/pam.d/lxdm), add the following line 25 | session required pam_systemd.so 26 | 27 | ### FIX WAITING FOR NETWORK CONFIGURATION BUG ### 28 | 1. Edit network interfaces file (sudo gedit /etc/network/interfaces), replace with the following 29 | auto lo 30 | iface lo inet loopback 31 | session required pam_systemd.so 32 | 33 | ### ENABLE CHROMIUM GPU ACCELERATION (C1 ONLY) ### 34 | 1. Run chromium 35 | 2. Enter about:flags as URL 36 | 3. Disable Override software rendering list (1st one) 37 | 4. Close the browser 38 | 5. Run the chromium with "chromium-browser --use-gl=egl" 39 | 6. Enter about:gpu as URL 40 | 41 | ### INSTALL OPENCV DEPENDENCIES ### 42 | sudo apt-get install build-essential checkinstall cmake pkg-config yasm libtiff4-dev libjpeg-dev libjasper-dev libavcodec-dev libavformat-dev libswscale-dev libdc1394-22-dev libxine-dev libgstreamer0.10-dev libgstreamer-plugins-base0.10-dev libv4l-dev python-dev python-numpy libqt4-dev libgtk2.0-dev libavcodec-dev libavformat-dev libswscale-dev libtbb2 libtbb-dev 43 | 44 | ### GET OPENCV SOURCE ### 45 | cd ~ 46 | wget http://sourceforge.net/projects/opencvlibrary/files/opencv-unix/2.4.9/opencv-2.4.9.zip 47 | unzip opencv-2.4.9.zip 48 | rm opencv-2.4.9.zip 49 | cd opencv-2.4.9 50 | 51 | ### BUILD AND INSTALL FFMPEG (http://forum.odroid.com/viewtopic.php?t=669) 52 | cd ~ 53 | apt-get purge ffmpeg && apt-get build-dep ffmpeg 54 | wget http://ffmpeg.org/releases/ffmpeg-1.1.3.tar.gz 55 | tar zxvf ffmpeg-1.1.3.tar.gz 56 | cd ffmpeg-1.1.3 57 | ./configure --enable-nonfree --enable-thumb --enable-neon 58 | make -j5 59 | sudo apt-get install checkinstall 60 | sudo checkinstall 61 | ffplay -h | head -n 5 62 | 63 | ### BUILD AND INSTALL OPENCV ### 64 | mkdir build 65 | cd build 66 | cmake -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX=/usr/local -DWITH_OPENGL=ON -DWITH_V4L=ON -DWITH_TBB=ON -DBUILD_TBB=ON -DENABLE_VFPV3=ON -DENABLE_NEON=ON .. 67 | make 68 | sudo make install 69 | 70 | ### INSTALL OPENNI (https://github.com/cmcmurrough/OpenNI2) ### 71 | cd ~ 72 | sudo apt-get install -y g++ python libusb-1.0-0-dev libudev-dev openjdk-6-jdk freeglut3-dev doxygen graphviz 73 | git clone https://github.com/cmcmurrough/OpenNI2 74 | cd OpenNI2 75 | PLATFORM=Arm make 76 | cd Packaging 77 | python ReleaseVersion.py Arm 78 | mv Final/OpenNI-Linux-Arm-2.2.tar.bz2 ~ 79 | cd ~ 80 | tar -xvf OpenNI-Linux-Arm-2.2.tar.bz2 81 | rm -rf OpenNI2 82 | rm OpenNI-Linux-Arm-2.2.tar.bz2 83 | cd OpenNI-Linux-Arm-2.2 84 | sudo sh install.sh 85 | 86 | ### INSTALL PCL DEPENDENCIES ### 87 | sudo apt-get install freeglut3-dev libboost-all-dev libeigen3-dev libflann-dev libvtk5-dev libusb-1.0-0-dev libqhull-dev 88 | 89 | ### GET PCL SOURCE (RELEASE 1.7.2) ### 90 | cd ~ 91 | git clone https://github.com/PointCloudLibrary/pcl pcl-1.7.2 92 | cd pcl-1.7.2 93 | 94 | ### BUILD AND INSTALL PCL (requires 1GB temporary swap file) ### 95 | mkdir build 96 | cd build 97 | cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local .. 98 | make 99 | sudo make install 100 | 101 | ### INSTALL ROS (http://wiki.ros.org/indigo/Installation/UbuntuARM) ### 102 | cd ~ 103 | sudo update-locale LANG=C LANGUAGE=C LC_ALL=C LC_MESSAGES=POSIX 104 | 105 | sudo sh -c 'echo "deb http://packages.namniart.com/repos/ros trusty main" > /etc/apt/sources.list.d/ros-latest.list' 106 | 107 | wget http://packages.namniart.com/repos/namniart.key -O - | sudo apt-key add - 108 | 109 | sudo apt-get update 110 | sudo apt-get install ros-indigo-ros-base 111 | 112 | sudo apt-get install python-rosdep 113 | sudo rosdep init 114 | rosdep update 115 | 116 | echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc 117 | source ~/.bashrc 118 | 119 | sudo apt-get install python-rosinstall 120 | 121 | ### GET ODROID-DEVELOPMENT EXAMPLES ### 122 | cd ~ 123 | git clone https://github.com/cmcmurrough/odroid-development.git 124 | 125 | 126 | -------------------------------------------------------------------------------- /robotics setup notes/ubuntu-15.04-robotics-XU4.notes.txt: -------------------------------------------------------------------------------- 1 | ### LOGIN ### 2 | username: odroid 3 | password: odroid 4 | 5 | ### REMOVE UNNECESSARY PROGRAMS ### 6 | sudo apt-get update 7 | sudo apt-get remove --purge libreoffice* plank simple-scan shotwell imagemagick* pidgin hexchat thunderbird brasero kodi rhythmbox xzoom gnome-orca onboard atril mate-utils seahorse tilda 8 | sudo apt-get purge firefox 9 | sudo rm -rf ~/.mozilla/firefox ~/.macromedia ~/.adobe /etc/firefox /usr/lib/firefox /usr/lib/firefox-addons 10 | sudo apt-get clean 11 | sudo apt-get autoremove 12 | 13 | ### INSTALL EXTRAS ### 14 | sudo apt-get update 15 | sudo apt-get dist-upgrade 16 | sudo apt-get install build-essential checkinstall cmake cmake-curses-gui pkg-config gparted guvcview lightdm-gtk-greeter-settings 17 | 18 | ### CONFIGURE DESKTOP ENVIRONMENT ### 19 | 1. Set up welcome screen (system -> administration menu) 20 | 2. Resize partition to 7168 MB with gparted 21 | 3. Combine panels 22 | 4. Set background to solid color 23 | 5. Remove logout application launch bar (lower right corner) 24 | 6. Set taskbar icons (caja, mate terminal, chromium) 25 | 7. Disable screensaver 26 | 8. Run ODROID Utility 27 | 28 | ### INSTALL OPENCV DEPENDENCIES ### 29 | sudo apt-get install build-essential checkinstall cmake pkg-config yasm libtiff5-dev libjpeg-dev libjasper-dev libavcodec-dev libavformat-dev libswscale-dev libdc1394-22-dev libxine2-dev libgstreamer0.10-dev libgstreamer-plugins-base0.10-dev libv4l-dev python-dev python-numpy libqt4-dev libgtk2.0-dev libavcodec-dev libavformat-dev libswscale-dev libtbb2 libtbb-dev ffmpeg 30 | 31 | ### GET OPENCV SOURCE ### 32 | cd ~ 33 | wget https://github.com/Itseez/opencv/archive/2.4.12.1.zip 34 | unzip 2.4.12.1.zip 35 | rm 2.4.12.1.zip 36 | cd opencv-2.4.12.1 37 | 38 | ### BUILD AND INSTALL OPENCV ### 39 | mkdir build 40 | cd build 41 | cmake -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX=/usr/local -DWITH_OPENGL=ON -DWITH_V4L=ON -DWITH_TBB=ON -DBUILD_TBB=ON -DENABLE_VFPV3=ON -DENABLE_NEON=ON .. 42 | make -j4 43 | sudo make install 44 | 45 | ### GET ODROID-DEVELOPMENT EXAMPLES ### 46 | cd ~ 47 | git clone https://github.com/cmcmurrough/odroid-development.git 48 | 49 | ### INSTALL AND PATCH OPENCL HEADERS ### 50 | sudo apt-get install opencl-headers 51 | sudo rm /usr/include/CL/cl.hpp 52 | sudo cp odroid-development/misc/cl.hpp /usr/include/CL 53 | 54 | ### BUILD AND INSTALL LIBFREENECT2 ### 55 | cd ~ 56 | sudo apt-get install build-essential libturbojpeg libjpeg-turbo8-dev libtool autoconf libudev-dev cmake mesa-common-dev freeglut3-dev libxrandr-dev doxygen libxi-dev automake opencl-headers libglfw3-dev 57 | git clone https://github.com/cmcmurrough/libfreenect2.git 58 | cd libfreenect2/depends 59 | sudo sh install_libusb.sh 60 | cd ../examples/protonect 61 | mkdir build 62 | cd build 63 | cmake -DENABLE_OPENGL=OFF .. 64 | make -j4 65 | sudo make install 66 | sudo cp ~/libfreenect2/rules/90-kinect2.rules /etc/udev/rules.d/ 67 | ./../bin/Protonect 68 | 69 | ### INSTALL OPENNI (https://github.com/cmcmurrough/OpenNI2) ### 70 | cd ~ 71 | sudo apt-get install -y g++ python libusb-1.0-0-dev libudev-dev openjdk-6-jdk freeglut3-dev doxygen graphviz 72 | git clone https://github.com/cmcmurrough/OpenNI2 73 | cd OpenNI2 74 | PLATFORM=Arm make 75 | cd Packaging && python ReleaseVersion.py Arm 76 | mv Final/OpenNI-Linux-Arm-2.2.tar.bz2 ~ 77 | cd ~ 78 | tar -xvf OpenNI-Linux-Arm-2.2.tar.bz2 79 | rm -rf OpenNI2 80 | rm OpenNI-Linux-Arm-2.2.tar.bz2 81 | cd OpenNI-Linux-Arm-2.2 82 | sudo sh install.sh 83 | 84 | ### BUILD AND INSTALL LIBFREENECT ### 85 | cd ~ 86 | sudo apt-get install libxmu-dev libxi-dev libusb-dev 87 | git clone http://github.com/cmcmurrough/libfreenect 88 | cd libfreenect 89 | mkdir build 90 | cd build 91 | cmake .. -DBUILD_OPENNI2_DRIVER=ON 92 | make -j4 93 | Repository=~/OpenNI-Linux-Arm-2.2/Redist/OpenNI2/Drivers/ 94 | cp -L lib/OpenNI2-FreenectDriver/libFreenectDriver.so ${Repository} 95 | sudo cp ~/libfreenect/platform/linux/udev/51-kinect.rules /etc/udev/rules.d 96 | 97 | ### CREATE TEMPORARY SWAP FILE ### 98 | dd if=/dev/zero of=~/.swapfile bs=1024 count=1M 99 | mkswap ~/.swapfile 100 | sudo swapon ~/.swapfile 101 | swapon -s 102 | 103 | ### INSTALL PCL DEPENDENCIES ### 104 | sudo apt-get install freeglut3-dev libboost-all-dev libeigen3-dev libflann-dev libvtk5-dev libusb-1.0-0-dev libqhull-dev 105 | 106 | ### GET PCL SOURCE (RELEASE 1.7.2) ### 107 | cd ~ 108 | git clone https://github.com/PointCloudLibrary/pcl pcl-1.7.2 109 | cd pcl-1.7.2 110 | 111 | ### BUILD AND INSTALL PCL ### 112 | mkdir build 113 | cd build 114 | cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local .. 115 | make 116 | sudo make install 117 | 118 | ### DELETE TEMPORARY SWAP FILE ### 119 | swapoff ~/.swapfile 120 | sudo rm ~/.swapfile 121 | 122 | ### BUILD AND INSTALL ROS BAREBONES (http://wiki.ros.org/jade/Installation/Source)### 123 | sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' 124 | sudo apt-key adv --keyserver hkp://pool.sks-keyservers.net --recv-key 0xB01FA116 125 | sudo apt-get update 126 | 127 | sudo apt-get install python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential 128 | sudo rosdep init 129 | rosdep update 130 | 131 | mkdir ~/ros_catkin_ws 132 | cd ~/ros_catkin_ws 133 | rosinstall_generator ros_comm --rosdistro jade --deps --wet-only --tar > jade-ros_comm-wet.rosinstall 134 | wstool init -j8 src jade-ros_comm-wet.rosinstall 135 | 136 | sudo rosdep init 137 | rosdep update 138 | sudo rosdep install --from-paths src --ignore-src --rosdistro jade -y 139 | ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release -j4 140 | sudo rm -R ~/.ros/ 141 | echo "source ~/ros_catkin_ws/install_isolated/setup.bash" >> ~/.bashrc 142 | echo "export LC_ALL=C" >> ~/.bashrc 143 | source ~/.bashrc 144 | 145 | ### INSTALL ARDUINO IDE ### 146 | sudo apt-get update && sudo apt-get install arduino arduino-core 147 | -------------------------------------------------------------------------------- /serial_comms_example/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | project (serial_comms_example) 2 | cmake_minimum_required(VERSION 2.8) 3 | 4 | # CREATE EXECUTABLE 5 | add_executable (serial_comms_example serial_comms_example.cpp) 6 | 7 | 8 | -------------------------------------------------------------------------------- /serial_comms_example/serial_comms_example.cpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright 2013 Christopher D. McMurrough 3 | // 4 | // This program is free software: you can redistribute it and/or modify 5 | // it under the terms of the GNU General Public License as published by 6 | // the Free Software Foundation, either version 3 of the License, or 7 | // (at your option) any later version. 8 | // 9 | // This program is distributed in the hope that it will be useful, 10 | // but WITHOUT ANY WARRANTY; without even the implied warranty of 11 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 12 | // GNU General Public License for more details. 13 | // 14 | // You should have received a copy of the GNU General Public License 15 | // along with this program. If not, see . 16 | // 17 | 18 | /*******************************************************************************************************************//** 19 | * @file serial_comms_example.cpp 20 | * @brief Provides an example of communcating with a USB-serial enabled microcontroller 21 | * @author Christopher D. McMurrough 22 | **********************************************************************************************************************/ 23 | 24 | #include 25 | 26 | #include 27 | #include 28 | #include 29 | #include 30 | #include 31 | #include 32 | 33 | #define SERIAL_PACKET_START_CHAR 0xAA 34 | #define SERIAL_PACKET_LENGTH 0x06 35 | 36 | /*******************************************************************************************************************//** 37 | * @brief attempt to open a serial port with the given name 38 | * @param[in] portName the name of the port to connect to (dev/tty/USB0, COM1, etc) 39 | * @return file descriptor of the serial port, or -1 on failure 40 | * @author Christopher D. McMurrough 41 | **********************************************************************************************************************/ 42 | int openSerialPort(char* portName) 43 | { 44 | // store the file descriptor for the serial port 45 | int fd; 46 | 47 | // attempt to open the port 48 | fd = open(portName, O_RDWR | O_NOCTTY | O_NDELAY); 49 | 50 | // return -1 if we are unable to open the port 51 | if(fd == -1) 52 | { 53 | return -1; 54 | } 55 | else 56 | { 57 | // create a structure to store the port settings 58 | struct termios port_settings; 59 | 60 | // get the current port settings 61 | tcgetattr(fd, &port_settings); 62 | 63 | // set the baud rates 64 | cfsetispeed(&port_settings, B9600); 65 | cfsetospeed(&port_settings, B9600); 66 | 67 | // set 8 bits, no parity, no stop bits 68 | port_settings.c_cflag &= ~PARENB; 69 | port_settings.c_cflag &= ~CSTOPB; 70 | port_settings.c_cflag &= ~CSIZE; 71 | port_settings.c_cflag |= CS8; 72 | 73 | // set raw input mode 74 | port_settings.c_lflag |= ~ICANON; 75 | 76 | // apply the settings to the port 77 | tcsetattr(fd, TCSANOW, &port_settings); 78 | 79 | // set the non blocking functionality 80 | fcntl(fd, F_SETFL, O_NONBLOCK); 81 | 82 | // return the file descriptor 83 | return(fd); 84 | } 85 | } 86 | 87 | /*******************************************************************************************************************//** 88 | * @brief close the given serial port 89 | * @param[in] serialPort file descriptor of the serial port 90 | * @author Christopher D. McMurrough 91 | **********************************************************************************************************************/ 92 | void closeSerialPort(int serialPort) 93 | { 94 | tcflush(serialPort, TCIOFLUSH); 95 | close(serialPort); 96 | } 97 | 98 | /*******************************************************************************************************************//** 99 | * @brief write a byte buffer to the serial port 100 | * @param[in] serialPort file descriptor of the serial port 101 | * @param[in] data byte buffer to write to the port 102 | * @param[in] numBytes number of bytes to write 103 | * @author Christopher D. McMurrough 104 | **********************************************************************************************************************/ 105 | void writeSerialBytes(int serialPort, unsigned char* data, int numBytes) 106 | { 107 | int result = write(serialPort, data, numBytes); 108 | } 109 | 110 | /*******************************************************************************************************************//** 111 | * @brief create a serial packet containing the data and framing bytes 112 | * @param[out] buffer output packet buffer after assembly 113 | * @param[in] b1 input byte 1 114 | * @param[in] b2 input byte 2 115 | * @param[in] b3 input byte 3 116 | * @author Christopher D. McMurrough 117 | **********************************************************************************************************************/ 118 | void makeTeensyPacket(unsigned char* buffer, unsigned char b1, unsigned char b2, unsigned char b3) 119 | { 120 | // initialize the packet 121 | buffer[0] = SERIAL_PACKET_START_CHAR; 122 | buffer[1] = SERIAL_PACKET_LENGTH; 123 | buffer[2] = b1; 124 | buffer[3] = b2; 125 | buffer[4] = b3; 126 | buffer[5] = 0x00; 127 | 128 | // compute the checksum 129 | for(int i = 0; i < SERIAL_PACKET_LENGTH - 1; i++) 130 | { 131 | buffer[SERIAL_PACKET_LENGTH - 1] = buffer[SERIAL_PACKET_LENGTH - 1] ^ buffer[i]; 132 | } 133 | } 134 | 135 | /*******************************************************************************************************************//** 136 | * @brief assemble a packet buffer of bytes and write them to the serial port 137 | * @param[in] serialPort file descriptor of the serial port 138 | * @param[in] b1 input byte 1 139 | * @param[in] b2 input byte 2 140 | * @param[in] b3 input byte 3 141 | * @author Christopher D. McMurrough 142 | **********************************************************************************************************************/ 143 | void sendPacket(int serialPort, unsigned char b1, unsigned char b2, unsigned char b3) 144 | { 145 | // create the outgoing packet buffer 146 | unsigned char packet[SERIAL_PACKET_LENGTH]; 147 | 148 | // create the packet 149 | makeTeensyPacket(packet, b1, b2, b3); 150 | 151 | printf("SENDING BYTES: "); 152 | for(int i = 0; i < SERIAL_PACKET_LENGTH; i++) 153 | { 154 | char ch = packet[i]; 155 | printf("0x%X ", ch & 0xff); 156 | } 157 | printf("\n"); 158 | 159 | // write the packet 160 | writeSerialBytes(serialPort, packet, SERIAL_PACKET_LENGTH); 161 | } 162 | 163 | /*******************************************************************************************************************//** 164 | * @brief processed received data from the serial port, returning the number of bytes 165 | * @param[in] serialPort file descriptor of the serial port 166 | * @return the number of bytes read from the port 167 | * @author Christopher D. McMurrough 168 | **********************************************************************************************************************/ 169 | int pollSerialPort(int serialPort) 170 | { 171 | const int bufferSize = 100; 172 | static unsigned char buff[bufferSize]; 173 | int n; 174 | 175 | // attempt to read bytes from the port 176 | n = read(serialPort, buff, bufferSize); 177 | 178 | // print any received bytes to terminal 179 | if(n > 0) 180 | { 181 | printf("RECEIVED BYTES: "); 182 | for(int i = 0; i < n; i++) 183 | { 184 | char ch = buff[i]; 185 | printf("0x%X ", ch & 0xff); 186 | } 187 | printf("\n"); 188 | } 189 | 190 | // return the number of bytes processed 191 | return n; 192 | } 193 | 194 | /*********************************************************************************************************************** 195 | * @brief program entry point 196 | * @param[in] argc number of command line arguments 197 | * @param[in] argv string array of command line arguments 198 | * @return return code (0 for normal termination) 199 | * @author Christopher D. McMurrough 200 | **********************************************************************************************************************/ 201 | int main(int argc, char **argv) 202 | { 203 | // store the port parameters 204 | char* portName; 205 | int serialPort; 206 | 207 | // parse the command line arguments 208 | if(argc != 2) 209 | { 210 | printf("USAGE: %s \n", argv[0]); 211 | return 0; 212 | } 213 | portName = argv[1]; 214 | 215 | // attempt to open the serial port 216 | serialPort = openSerialPort(portName); 217 | 218 | // check to see if we connected successfully 219 | if(serialPort == -1) 220 | { 221 | printf("unable to open serial port %s \n", portName); 222 | return(0); 223 | } 224 | printf("%s opened successfully!\n", portName); 225 | 226 | // continuously check for received serial data 227 | int numBytes = 0; 228 | while(1) 229 | { 230 | // check for received serial data 231 | numBytes = numBytes + pollSerialPort(serialPort); 232 | 233 | // send a packet 234 | sendPacket(serialPort, 0x01, 0x02, 0x03); 235 | 236 | // stop listening for data once we receive 100 bytes 237 | if(numBytes >= 100) 238 | { 239 | break; 240 | } 241 | 242 | // sleep for 20ms (20*1000 microseconds) 243 | usleep(20*1000); 244 | } 245 | 246 | // close the serial port 247 | closeSerialPort(serialPort); 248 | } 249 | 250 | -------------------------------------------------------------------------------- /serial_comms_example/serial_comms_firmware/serial_comms_firmware.ino: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright 2013 Christopher D. McMurrough 3 | // 4 | // This program is free software: you can redistribute it and/or modify 5 | // it under the terms of the GNU General Public License as published by 6 | // the Free Software Foundation, either version 3 of the License, or 7 | // (at your option) any later version. 8 | // 9 | // This program is distributed in the hope that it will be useful, 10 | // but WITHOUT ANY WARRANTY; without even the implied warranty of 11 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 12 | // GNU General Public License for more details. 13 | // 14 | // You should have received a copy of the GNU General Public License 15 | // along with this program. If not, see . 16 | // 17 | 18 | /*********************************************************************************************************************** 19 | FILENAME: serial_comms_firmware.cpp 20 | AUTHORS: Christopher D. McMurrough 21 | 22 | DESCRIPTION: 23 | An example Arduino sketch showing USB-serial communications with the Teensy 3.0 microcontroller 24 | 25 | REVISION HISTORY: 26 | 01.19.2014 CDM original file creation 27 | 01.20.2014 CDM published under GPL 28 | ***********************************************************************************************************************/ 29 | 30 | // set up the LED 31 | const int LED_PIN = 13; 32 | const int LED_ON = HIGH; 33 | const int LED_OFF = LOW; 34 | 35 | // define serial parameters 36 | const byte PACKET_START_CHAR = 0xAA; 37 | const byte PACKET_LENGTH = 0x06; // [0XAA,length,b1,b2,b3,checksum] 38 | unsigned long BAUD_RATE = 9600; 39 | byte Packet_Buffer[PACKET_LENGTH]; 40 | 41 | /*********************************************************************************************************************** 42 | void setup() 43 | set up the teensy 44 | ***********************************************************************************************************************/ 45 | void setup() 46 | { 47 | // set up the LED 48 | pinMode(LED_PIN, OUTPUT); 49 | 50 | // flash the LED state 51 | for(int i = 0; i < 25; i++) 52 | { 53 | digitalWrite(LED_PIN, LED_ON); 54 | delay(50); 55 | digitalWrite(LED_PIN, LED_OFF); 56 | delay(50); 57 | } 58 | 59 | Serial.begin(BAUD_RATE); 60 | } 61 | 62 | /*********************************************************************************************************************** 63 | void sendPacket(byte b1, byte b2, byte b3) 64 | send a packet with 2 payload bytes 65 | ***********************************************************************************************************************/ 66 | void sendPacket(byte b1, byte b2, byte b3) 67 | { 68 | byte packet[PACKET_LENGTH] = {PACKET_START_CHAR, PACKET_LENGTH, b1, b2, b3, 0x00}; 69 | 70 | // compute the checksum 71 | for(int i = 0; i < PACKET_LENGTH - 1; i++) 72 | { 73 | packet[PACKET_LENGTH - 1] = packet[PACKET_LENGTH - 1] ^ packet[i]; 74 | } 75 | 76 | // send the packet 77 | Serial.write(packet, PACKET_LENGTH); 78 | Serial.flush(); 79 | } 80 | 81 | 82 | /*********************************************************************************************************************** 83 | boolean isValidPacket() 84 | check to see if the buffer contains a valid packet 85 | ***********************************************************************************************************************/ 86 | boolean isValidPacket() 87 | { 88 | byte checksum = 0x00; 89 | 90 | // check the start byte 91 | if(Packet_Buffer[0] != PACKET_START_CHAR) 92 | { 93 | return false; 94 | } 95 | 96 | // check the length byte 97 | if(Packet_Buffer[1] != PACKET_LENGTH) 98 | { 99 | return false; 100 | } 101 | 102 | // compute the checksum 103 | for(int i = 0; i < (PACKET_LENGTH - 1); i++) 104 | { 105 | checksum = checksum ^ Packet_Buffer[i]; 106 | } 107 | 108 | // validate with checksum 109 | if(Packet_Buffer[PACKET_LENGTH - 1] == checksum) 110 | { 111 | return true; 112 | } 113 | else 114 | { 115 | return false; 116 | } 117 | } 118 | 119 | /*********************************************************************************************************************** 120 | void doSomething(byte b1, byte b2, byte b3) 121 | perform some action with the data we received from the host 122 | ***********************************************************************************************************************/ 123 | void doSomething(byte b1, byte b2, byte b3) 124 | { 125 | // echo the packet to acknowledge successful receipt 126 | sendPacket(Packet_Buffer[2], Packet_Buffer[3], Packet_Buffer[4]); 127 | } 128 | 129 | /*********************************************************************************************************************** 130 | void loop() 131 | main program loop 132 | ***********************************************************************************************************************/ 133 | void loop() 134 | { 135 | byte b; 136 | int index = 0; 137 | boolean packetIndex = 0; 138 | boolean ledState = false; 139 | boolean validPacket = false; 140 | 141 | // continuously check for received packets and echo upon receipt 142 | while(true) 143 | { 144 | // check to see if a character is available 145 | if(Serial.available()) 146 | { 147 | // get the byte 148 | b = Serial.read(); 149 | 150 | // handle the first byte of a packet 151 | if(packetIndex == 0) 152 | { 153 | if(b == PACKET_START_CHAR) 154 | { 155 | Packet_Buffer[packetIndex] = b; 156 | packetIndex++; 157 | } 158 | } 159 | else // handle bytes other than the packet start byte 160 | { 161 | Packet_Buffer[packetIndex] = b; 162 | 163 | // check to see if we have enough bytes for a complete packet 164 | if(packetIndex >= (PACKET_LENGTH - 1)) 165 | { 166 | // check to see if we have a valid packet 167 | if(isValidPacket()) 168 | { 169 | // we have a valid packet, now do something with it 170 | doSomething(Packet_Buffer[2], Packet_Buffer[3], Packet_Buffer[4]); 171 | } 172 | 173 | // reset the byte counter 174 | packetIndex = 0; 175 | } 176 | else 177 | { 178 | // increment the byte counter 179 | packetIndex++; 180 | } 181 | } 182 | } 183 | } 184 | } 185 | 186 | 187 | --------------------------------------------------------------------------------