Teensy interface: Difference between revisions
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svn checkout svn://repos.gbar.dtu.dk/jcan/scorpi | svn checkout svn://repos.gbar.dtu.dk/jcan/scorpi | ||
Then go to the Teensy_interface and compile | Then go to the Teensy_interface and compile like this: | ||
cd scorpi/teensy_interface | cd scorpi/teensy_interface | ||
Line 46: | Line 46: | ||
A Makefile is now generated. To compile: | |||
make -j3 | make -j3 | ||
local@joe:~/svn/scorpi/teensy_interface/build $ make -j3 | |||
Scanning dependencies of target teensy_interface | |||
[ 9%] Building CXX object CMakeFiles/teensy_interface.dir/src/cheading.cpp.o | |||
[ 9%] Building CXX object CMakeFiles/teensy_interface.dir/src/bplan100.cpp.o | |||
[ 13%] Building CXX object CMakeFiles/teensy_interface.dir/src/cmixer.cpp.o | |||
[ 18%] Building CXX object CMakeFiles/teensy_interface.dir/src/cmotor.cpp.o | |||
[ 22%] Building CXX object CMakeFiles/teensy_interface.dir/src/cservo.cpp.o | |||
[ 27%] Building CXX object CMakeFiles/teensy_interface.dir/src/main.cpp.o | |||
[ 31%] Building CXX object CMakeFiles/teensy_interface.dir/src/maruco.cpp.o | |||
[ 36%] Building CXX object CMakeFiles/teensy_interface.dir/src/mpose.cpp.o | |||
[ 40%] Building CXX object CMakeFiles/teensy_interface.dir/src/sas5147u.cpp.o | |||
[ 45%] Building CXX object CMakeFiles/teensy_interface.dir/src/scam.cpp.o | |||
[ 50%] Building CXX object CMakeFiles/teensy_interface.dir/src/sencoder.cpp.o | |||
[ 54%] Building CXX object CMakeFiles/teensy_interface.dir/src/sgpiod.cpp.o | |||
[ 59%] Building CXX object CMakeFiles/teensy_interface.dir/src/simu.cpp.o | |||
[ 63%] Building CXX object CMakeFiles/teensy_interface.dir/src/sjoylogitech.cpp.o | |||
[ 68%] Building CXX object CMakeFiles/teensy_interface.dir/src/spyvision.cpp.o | |||
[ 72%] Building CXX object CMakeFiles/teensy_interface.dir/src/sstate.cpp.o | |||
[ 77%] Building CXX object CMakeFiles/teensy_interface.dir/src/steensy.cpp.o | |||
[ 81%] Building CXX object CMakeFiles/teensy_interface.dir/src/upid.cpp.o | |||
[ 86%] Building CXX object CMakeFiles/teensy_interface.dir/src/uservice.cpp.o | |||
/home/local/svn/scorpi/teensy_interface/src/steensy.cpp: In member function ‘bool UOutQueue::setMessage(const char*)’: | |||
/home/local/svn/scorpi/teensy_interface/src/steensy.cpp:66:12: warning: ‘char* strncpy(char*, const char*, size_t)’ output may be truncated copying 3 bytes from a string of length 3 [-Wstringop-truncation] | |||
66 | strncpy(msg, cc, 3); | |||
| 13:06, 21 July 2024 (CEST)~~^13:06, 21 July 2024 (CEST)13:06, 21 July 2024 (CEST)~ | |||
[ 90%] Building CXX object CMakeFiles/teensy_interface.dir/src/usocket.cpp.o | |||
[ 95%] Building CXX object CMakeFiles/teensy_interface.dir/src/utime.cpp.o | |||
[100%] Linking CXX executable teensy_interface | |||
[100%] Built target teensy_interface | |||
After a while, all should be compiled with a few warnings. Test if it can run: | |||
local@joe:~/svn/scorpi/teensy_interface/build $ ./teensy_interface | |||
# UService:: created directory log_20240721_130326.804/ | |||
# UService::setup: open to Teensy 0 | |||
# UService::setup: open to Teensy 1 | |||
# SGpiod::setup there is no GPIO chip found - disable function | |||
# SpyVision:: disabled in robot.ini | |||
# UCam:: disabled in robot.ini | |||
# --------- terminating ----------- | |||
# UService:: configuration saved to robot.ini | |||
Output depends on the configuration file "robot.ini" created with default values. |
Revision as of 12:06, 21 July 2024
Back to Scorpi
Installation packages
See installation notes for needed OS-packages.
For the Teensy interface fetch the software here:
mkdir -p ~/svn cd ~/svn svn checkout svn://repos.gbar.dtu.dk/jcan/scorpi
Then go to the Teensy_interface and compile like this:
cd scorpi/teensy_interface mkdir build cd build cmake .. -- The C compiler identification is GNU 10.2.1 -- The CXX compiler identification is GNU 10.2.1 -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Check for working C compiler: /usr/bin/cc - skipped -- Detecting C compile features -- Detecting C compile features - done -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Check for working CXX compiler: /usr/bin/c++ - skipped -- Detecting CXX compile features -- Detecting CXX compile features - done -- Found OpenCV: /usr (found version "4.5.1") -- Looking for pthread.h -- Looking for pthread.h - found -- Performing Test CMAKE_HAVE_LIBC_PTHREAD -- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Failed -- Looking for pthread_create in pthreads -- Looking for pthread_create in pthreads - not found -- Looking for pthread_create in thread -- Looking for pthread_create in pthread - found -- Found Threads: TRUE # Is a RASPBERRY; CPU=aarch64 (Pi3=armv7l, pi4=aarch64) -- Configuring done -- Generating done -- Build files have been written to: /home/local/svn/scorpi/teensy_interface/build
A Makefile is now generated. To compile:
make -j3 local@joe:~/svn/scorpi/teensy_interface/build $ make -j3 Scanning dependencies of target teensy_interface [ 9%] Building CXX object CMakeFiles/teensy_interface.dir/src/cheading.cpp.o [ 9%] Building CXX object CMakeFiles/teensy_interface.dir/src/bplan100.cpp.o [ 13%] Building CXX object CMakeFiles/teensy_interface.dir/src/cmixer.cpp.o [ 18%] Building CXX object CMakeFiles/teensy_interface.dir/src/cmotor.cpp.o [ 22%] Building CXX object CMakeFiles/teensy_interface.dir/src/cservo.cpp.o [ 27%] Building CXX object CMakeFiles/teensy_interface.dir/src/main.cpp.o [ 31%] Building CXX object CMakeFiles/teensy_interface.dir/src/maruco.cpp.o [ 36%] Building CXX object CMakeFiles/teensy_interface.dir/src/mpose.cpp.o [ 40%] Building CXX object CMakeFiles/teensy_interface.dir/src/sas5147u.cpp.o [ 45%] Building CXX object CMakeFiles/teensy_interface.dir/src/scam.cpp.o [ 50%] Building CXX object CMakeFiles/teensy_interface.dir/src/sencoder.cpp.o [ 54%] Building CXX object CMakeFiles/teensy_interface.dir/src/sgpiod.cpp.o [ 59%] Building CXX object CMakeFiles/teensy_interface.dir/src/simu.cpp.o [ 63%] Building CXX object CMakeFiles/teensy_interface.dir/src/sjoylogitech.cpp.o [ 68%] Building CXX object CMakeFiles/teensy_interface.dir/src/spyvision.cpp.o [ 72%] Building CXX object CMakeFiles/teensy_interface.dir/src/sstate.cpp.o [ 77%] Building CXX object CMakeFiles/teensy_interface.dir/src/steensy.cpp.o [ 81%] Building CXX object CMakeFiles/teensy_interface.dir/src/upid.cpp.o [ 86%] Building CXX object CMakeFiles/teensy_interface.dir/src/uservice.cpp.o /home/local/svn/scorpi/teensy_interface/src/steensy.cpp: In member function ‘bool UOutQueue::setMessage(const char*)’: /home/local/svn/scorpi/teensy_interface/src/steensy.cpp:66:12: warning: ‘char* strncpy(char*, const char*, size_t)’ output may be truncated copying 3 bytes from a string of length 3 [-Wstringop-truncation] 66 | strncpy(msg, cc, 3); | 13:06, 21 July 2024 (CEST)~~^13:06, 21 July 2024 (CEST)13:06, 21 July 2024 (CEST)~ [ 90%] Building CXX object CMakeFiles/teensy_interface.dir/src/usocket.cpp.o [ 95%] Building CXX object CMakeFiles/teensy_interface.dir/src/utime.cpp.o [100%] Linking CXX executable teensy_interface [100%] Built target teensy_interface
After a while, all should be compiled with a few warnings. Test if it can run:
local@joe:~/svn/scorpi/teensy_interface/build $ ./teensy_interface
# UService:: created directory log_20240721_130326.804/ # UService::setup: open to Teensy 0 # UService::setup: open to Teensy 1 # SGpiod::setup there is no GPIO chip found - disable function # SpyVision:: disabled in robot.ini # UCam:: disabled in robot.ini # --------- terminating ----------- # UService:: configuration saved to robot.ini
Output depends on the configuration file "robot.ini" created with default values.