University of Twente Student Theses
Designing an embedded software architecture for a mobile education robot with real-time control on a Raspberry Pi 4 with FPGA-based I/O
Vinkenvleugel, J.T. (2022) Designing an embedded software architecture for a mobile education robot with real-time control on a Raspberry Pi 4 with FPGA-based I/O.
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Abstract: | Commercially available robotic platforms for education usually come with software systems such as ROS that hide real-time control from the user. For courses related to embedded control, a new platform has to be designed that enables students to work on a level much closer to the hardware, while also being cost effective and easy to expand based on different teaching requirements. In this bachelor project, a software architecture for such a robotic platform is designed, expanding on existing work and taking a Raspberry Pi 4 single-board computer and an FPGA-based I/O board in the form of an icoBoard. The realized architecture includes a real-time operating system (Xenomai), a communication layer based on SPI between the two different hardware platforms and support for different peripheral devices such as encoders and PWM devices. |
Item Type: | Essay (Bachelor) |
Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
Subject: | 53 electrotechnology |
Programme: | Electrical Engineering BSc (56953) |
Link to this item: | https://purl.utwente.nl/essays/92427 |
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