KPI Rover chassis controller based on Beaglebone Blue

For the first time, the Beaglebone board should be prepared. Please refer to the section Preparing Beaglebone Blue Board.

Build project and deploy on BBB

Download Source Code

git clone --recurse-submodules git@github.com:KPI-Rover/ecu_sw_bb.git
cd ecu_sw_bb

Alternatively, if you've already cloned the repository without submodules:

cd ecu_sw_bb
git submodule init
git submodule update

Necessarily check if your glog version is v0.5.0 !

Build Docker Image

docker build -t kpi-rover-bbb-build -f docker/Dockerfile.build .

docker build -t kpi-rover-bbb-check -f docker/Dockerfile.check .

Build application using Docker

./build.sh

Upload binary file to Beaglebone Blue

export BBB_HOST=debian@<BeagleBone Blue IP>
./deploy.sh

Run software on BBB

Connect to board using SSH

Using USB over network

ssh debian@192.168.7.2:~
password: temppwd

If you set wireless interface

ssh debian@<bbb_local_ip>:~
password: temppwd

Run program

Run directly

sudo ./kpi_rover_ecu -a 0.0.0.0 -p 6000

Run like systemd service

sudo systemctl start kpi_rover_ecu.service

Stop systemd service

sudo systemctl stop kpi_rover_ecu.service

Code Style Check and Static Code Analysis

Importance

Consistent code style and static code analysis are essential for maintaining high-quality software:

• Code Readability: Consistent style makes code easier to read and understand for all team members
• Error Prevention: Static analysis helps identify potential bugs, memory leaks, and undefined behavior before runtime
• Maintainability: Standardized code is easier to maintain and extend over time
• Collaboration: Unified coding conventions improve team collaboration and onboarding process

Standards

This project follows the Google C++ Style Guide, which provides comprehensive guidelines for C++ coding conventions.

Continuous Integration

GitHub CI is configured to automatically verify code style and perform static analysis on each Pull Request. PRs failing these checks cannot be merged until issues are resolved, ensuring code quality standards are maintained throughout the development process.

Local Verification

To check code style and run static analysis locally before committing:

./check_cs.sh

This script will identify any style violations or potential issues in your code, allowing you to fix them before pushing your changes.

Preparing Beaglebone Blue Board

Download and flash image

For the Beaglebone Blue, to be able to use all robotic peripherals and the librobocontrol without much effort, the best images are:

• Boot from microSD: bone-debian-10.13-console-armhf-2023-07-01-1gb.img.xz
• Boot from eMMC (Recommended and used in this project): bone-eMMC-flasher-debian-10.13-console-armhf-2023-07-01-1gb.img.xz

Using the latest IoT images requires a lot of manual work to make it run.

Flashing instructions

1. Flash the downloaded image on an SD card. The Raspberry Pi imager or the Etcher utility can be used.
2. Power off the Beaglebone Blue board.
3. Insert the SD card into the board.
4. Hold the SD button (located near PWMs pin headers).
5. Power on the board.
6. The flashing process should start. It can take up to 10 minutes.

How to Confirm Flashing?

• Initially, the board will show a blue heartbeat LED indicating that the image has booted.
• During the flashing process, the blue user LEDs will light up in a "scanner" pattern (back and forth).
• When finished, all blue LEDs will either remain on or the board will power off automatically.
• If the LEDs stay on for too long, it may indicate a failure (e.g., wrong image). Verify by attempting to boot again.

Setup SSH connection over USB

Recommended for the first time. Connect the Beaglebone Board to your PC using a micro USB cable. The board has a USB gadget that allows using network over USB.

ssh debian@192.168.7.2
Password: temppwd

Connect Board to WiFi

connmanctl
connmanctl> tether wifi off
connmanctl> enable wifi
connmanctl> scan wifi
connmanctl> services
connmanctl> agent on
connmanctl> connect wifi_f45eab2f1ee1_6372797774616c_managed_psk (Replace with your network)
connmanctl> quit

Now you can use the wifi connection to establish an ssh connection.

Upgrade and install required packages

sudo apt update
sudo apt install -y locales
sudo dpkg-reconfigure locales # Choose a locale en_US.UTF-8 = English, United States, UTF8
sudo apt upgrade -y
sudo apt install build-essential -y
sudo apt-get install -y cpufrequtils libgoogle-glog-dev
sudo sed -i 's/GOVERNOR="ondemand"/GOVERNOR="performance"/g' /etc/init.d/cpufrequtils

Install librobotcontrol

Download source code

cd ~
git clone --branch V1.0.5 https://github.com/beagleboard/librobotcontrol.git
cd librobotcontrol

Build and install library

sudo make install

Test drivers

rc_test_drivers

You should be able to see output as follows:

Kernel: 4.19.94-ti-r74
BeagleBoard.org Debian Buster Console Image 2023-07-01
Debian: 10.13

PASSED: gpio 0
PASSED: gpio 1
PASSED: gpio 2
PASSED: gpio 3
PASSED: pwm0
PASSED: pwm1
PASSED: pwm2
PASSED: eqep0
PASSED: eqep1
PASSED: eqep2
PASSED: pru-rproc
PASSED: uart1
PASSED: uart2
PASSED: uart4
PASSED: uart5
PASSED: i2c1
PASSED: i2c2
PASSED: spi
PASSED: LED
PASSED: ADC iio

Currently running on a:
MODEL_BB_BLUE
Robot Control library Version:
1.0.5

Provide device calibration

You need to calibrate threee devices: gyroscope, accelerometer, magnetometer. You can do this using librobotcontrol utils. To calibrate devices succesfully you need to folow instructions in CLI.

Accelerometer calibration (do in every 6-8 month):

rc_calibrate_accel

Gyroscope calibration (do in every 6-8 month, with accelerometer):

rc_calibrate_gyro

Magnetometer calibration (do every time you bring robot to new place):

rc_calibrate_mag

After calibration special .cal files will store in /var/lib/robotcontrol. If you want to to reset calibration results, delete this files.

rm /var/lib/robotcontrol/accel.cal # Delete accelerometer calibration result
rm /var/lib/robotcontrol/gyro.cal # Delete gyroscope calibration result
rm /var/lib/robotcontrol/mag.cal # Delete magnetometer calibration result

Enable Background Services

sudo systemctl enable rc_battery_monitor
sudo systemctl start rc_battery_monitor

sudo systemctl enable robotcontrol
sudo systemctl start robotcontrol

Fixing probable issues while debugging or testing

If server started on 192.168.7.2 :

(On PC) 
sudo route add -net 192.168.7.0 netmask 255.255.255.0 gw <bbb_local_ip>

If you have no address to connect usb-over-network

(On PC)
sudo ip addr add 192.168.7.1/24 dev enxf45eab505491

References

• Original beagleboard.org documentation: https://docs.beagleboard.org/boards/beaglebone/blue/index.html
• Images Snapshot: https://forum.beagleboard.org/t/debian-10-x-buster-monthly-snapshot-2023-07-01-final/31203
• Ardupilot on Beaglebone Blue: https://ardupilot.org/copter/docs/common-beagle-bone-blue.html
• Robot Control Library Documentation: http://strawsondesign.com/docs/librobotcontrol/index.html