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sw [2020/02/02 19:44] – nikolal | sw [2025/01/28 13:15] (current) – [DUNE for the Otter] nikolal | ||
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====== Software Architecture ====== | ====== Software Architecture ====== | ||
- | The control box of the Otter ASV used by NTNU, use a customized version of [[https:// | + | The control box of the Otter ASV used by NTNU, use a customized version of [[https:// |
- | ===== Raspian | + | ===== The LSTS Toolchain |
- | Raspbian | + | The software used to control the Otter is based on the LSTS [[https:// |
- | great amount | + | modular system for heterogeneous systems |
- | for the Otter. | + | The Otter is an autonomous surface vehicle (ASV), but it also supports autonomous underwater vehicles |
- | Raspian comes in two official flavours, one with a full desktop environment, | + | (AUV), unmanned aerial vehicles |
+ | An important aspect in why it was chosen, was that it is open source. This makes it easier to know how the | ||
+ | software actually works, and also gives anybody | ||
+ | The three main components are Neptus, IMC and DUNE. Neptus is the operators console, IMC is the | ||
+ | communication protocol, and DUNE is the software controlling the vehicles. The next three sections give | ||
+ | more details of these components. | ||
+ | |||
+ | The LSTS toolchain is also being used by multiple other projects at NTNU: | ||
+ | * [[http:// | ||
+ | * [[http:// | ||
===== DUNE for the Otter ===== | ===== DUNE for the Otter ===== | ||
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* [[dune_configuration|DUNE configuration]] | * [[dune_configuration|DUNE configuration]] | ||
* [[torqeedo_interface_dune_task|Torqeedo Interface DUNE task]] | * [[torqeedo_interface_dune_task|Torqeedo Interface DUNE task]] | ||
- | * [[tbr700rt_dune_task|TBR-700 RT DUNE Task]] | ||
* [[stratopican_watchdog|Strato Pi CAN watchdog DUNE Task]] | * [[stratopican_watchdog|Strato Pi CAN watchdog DUNE Task]] | ||
===== Guides ===== | ===== Guides ===== | ||
- | * [[sw_setup|Installing raspian and enabling CAN bus]] | ||
* [[sw_run_startup|Starting DUNE while booting]] | * [[sw_run_startup|Starting DUNE while booting]] | ||
- | * [[glued_cross_compiler|Cross-compiling for the Raspberry Pi]] | + | * [[cmake|DUNE cmake tips]] |
* [[neptus_tips_and_tricks|Neptus tips and tricks]] | * [[neptus_tips_and_tricks|Neptus tips and tricks]] | ||
- | * [[enable_pps_support_raspian|Enable PPS support in Raspian]] | + | * [[boot_config|]] |
+ | * [[rpi_uart_setup|RPI UART setup]] |