Nadia Zryanina EMBEDDED SYSTEMS WITH ROBOTICS AND SENSORS USING - - PowerPoint PPT Presentation

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Nadia Zryanina EMBEDDED SYSTEMS WITH ROBOTICS AND SENSORS USING - - PowerPoint PPT Presentation

Jan 08, 2024 553 likes •1.09k views

Nadia Zryanina EMBEDDED SYSTEMS WITH ROBOTICS AND SENSORS USING ERLANG HARDWARE COMPONENTS SOFTWARE DEMO FUTURE THE GRISP BOARD SPECS EMBEDDED WIRELESS DEVICE REAL ERLANG ON REAL BARE METAL CONNECTORS FOR SENSORS & ACTUATORS

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Nadia Zryanina

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ROBOTICS AND SENSORS USING ERLANG

EMBEDDED SYSTEMS WITH

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HARDWARE COMPONENTS SOFTWARE FUTURE

DEMO

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SPECS

THE GRISP BOARD

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EMBEDDED WIRELESS DEVICE

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REAL ERLANG ON REAL BARE METAL

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CONNECTORS FOR SENSORS & ACTUATORS

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300 MHZ 64 MiB RAM WIFI MICROSD

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RGB LEDS SWITCHES

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GPIO UART SPI

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I2C

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MASTER SLAVE PROTOCOL 1 DATA LINE 1 CLOCK LINE POWER & GROUND ADRESSABLE

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1-WIRE

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DALLAS 1-WIRE 1 DATA + POWER LINE GROUND ADDRESSABLE MICROLAN

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WIRELESS COMMUNICATION

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WIFI

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802.11N 2.4 GHZ UP TO 150 MBPS POWER SAVING

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PMODRF2 IEEE 802.15.4 2.4GHZ ZIGBEE, MIWI

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PMODS

ACCESSORIES

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TEXT

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TEXT

CON3

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TEXT

NAV

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TEXT

GYRO

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TEXT

ACL2

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TEXT

HB3

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TEXT

HB5

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TEXT

GPS

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SOFTWARE

TOOLCHAIN, OS & RUNTIME

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RTEMS RTOS “OS-AS-A-LIBRARY” POSIX

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PERFORMANT SMP PROCESSES VIA THREADS FREEBSD NETWORKING

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BEAM COMPILED WITH RTEMS STARTS FROM BOOTLOADER OS APIS PROVIDED BY RTEMS

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HARDWARE BEAM GRiSP RUNTIME APPLICATION OTP RTEMS

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GRiSP RUNTIME HARDWARE ABSTRACTION LOW LEVEL DRIVERS HIGH LEVEL DRIVERS

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SPI DRIVER (C)

void grisp_spi_output (ErlDrvData drv_data, char *buf, ErlDrvSizeT len) { // … // Grab first byte as chip select cs = buf[0]; buf++; len -= 1;

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// … msg.cs = cs; msg.tx_buf = buf; msg.rx_buf = res; msg.len = len; rv = ioctl(grisp_spi_data.fd, SPI_IOC_MESSAGE(1), &msg); assert(rv == 0); driver_output(grisp_spi_data.port, res, len); }

SPI DRIVER (C)

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  • module(grisp_spi_drv).
  • export([open/0, command/3]).
  • pen() ->
  • pen_port({spawn_driver, "grisp_spi_drv"},

[binary]). command(Port, Slot, Command) -> Slot = slave_select(Slot), # gpio1 -> 2 Command = <<Slot, Command/binary>>, Port ! {self(), {command, Command}}.

SPI DRIVER (ERLANG)

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1> Command = <<16#0B, 16#0E>>. <<16#0B, 16#0E>> 2> Raw = <<Command/binary, 0>>. <<16#0B, 16#0E, 0>> 3> grisp_spi_drv:command(Port, spi1, Raw). {<0.132.0>,{command,spi1,<<11,14,0>>}} 4> flush(). Shell got {<0.127.0>,{data,<<0,0,172>>}}

  • k

5> grisp_spi:send_recv(spi1, Command, 2, 1). <<"¬">>

SPI DRIVER (SHELL)

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DEMO

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ISSUES <…>

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ROADMAP <…>

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UPDATES

WHAT WE’RE WORKING ON

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MQTT MQTT SMART HOME

https://github.com/mqtt-smarthome/ mqtt-smarthome

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GENERIC LIBRARY EDITABLE DASHBOARD PERSISTED MORE WIDGETS

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FEBRUARY 2018 HARDWARE SHIPS SOFTWARE 1.1

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WIFI WPA2 ERLANG 20.2 ALL BASIC DRIVERS

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INTERNET OF THINGS CRDTs SYNCHRONIZATION-FREE PROGRAMMING HYBRID GOSSIP PROTOCOLS

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ROADMAP MORE DRIVERS PREBUILT CROSS OTP PREBUILT CROSS TOOLCHAIN FIXING ERLANG DISTRIBUTION

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THANK YOU!

grisp.org github.com/grisp #grisp irc.freenode.net #grisp erlang-slack.herokuapp.com

20% DISCOUNT WITH lambda2018

https://www.grisp.org/shop.html