amiro-lld / README.txt @ 9e45662e
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AMiRo-LLD is a compilation of low-level hardware drivers for the base version of |
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the Autonomous Mini Robot (AMiRo) [1]. It provides directional interfaces for an |
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operating system to access the drivers and for the drivers to access the |
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communication infrastructure via the operating system. |
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Copyright (C) 2016..2019 Thomas Schöpping et al. |
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(a complete list of all authors is given below) |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU Lesser General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or (at |
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your option) any later version. |
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This program is distributed in the hope that it will be useful, but |
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WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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Lesser General Public License for more details. |
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|
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You should have received a copy of the GNU Lesser General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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This research/work was supported by the Cluster of Excellence |
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Cognitive Interaction Technology 'CITEC' (EXC 277) at Bielefeld |
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University, which is funded by the German Research Foundation (DFG). |
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Authors: |
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- Thomas Schöpping <tschoepp[at]cit-ec.uni-bielefeld.de> |
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- Marc Rothmann |
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References: |
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[1] S. Herbrechtsmeier, T. Korthals, T. Schopping and U. Rückert, "AMiRo: A |
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modular & customizable open-source mini robot platform," 2016 20th |
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International Conference on System Theory, Control and Computing (ICSTCC), |
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Sinaia, 2016, pp. 687-692. |
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################################################################################ |
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# RRRRRRRR EEEEEEEE AAA DDDDDDDD MM MM EEEEEEEE # |
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# RRRRRRRR EEEEEE AA AA DD DD MM MMM MM EEEEEE # |
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# RR RR EE AAAAAAAAA DD DD MM MM EE # |
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# RR RR EE AA AA DD DD MM MM EE # |
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# RR RR EEEEEEEE AA AA DDDDDDDD MM MM EEEEEEEE # |
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# # |
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################################################################################ |
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AMiRo-LLD is a compilation of low-level hardware drivers, originally developed |
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for the Autonomous Mini Robot (AMiRo) [1]. It provides a modular design, so that |
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each driver can be (de)activated individually as required. Interface functions |
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allow for bidirectional comunication with an operating system. On the one hand |
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drivers access according hardware interfaces via defined interface functions |
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(which need to be implemented by the operating system) and any applications (or |
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the operating system itself) can take advantage of the drivers by their |
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individual interfaces. The abstraction layer of the hardware interfaces is |
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called "periphAL", which is defined by this project. |
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Although this compilation was originally designed to be used in combination with |
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the AMiRo operating system (AMiRo-OS; cf. https://opensource.cit-ec.de/projects/amiro-os/), |
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it is not limited to this use case. The included drivers may be used for any |
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purpose and contributions of further drivers, even if the according hardware is |
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not present on the AMiRo platform, are highly appreciated. |
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The files are structured as follows: |
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* include/ |
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Each driver defines exactly one include header in this directory. By |
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convention these files are named by the form |
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alld_<product_name>.h |
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<product_name> is a placeholder for the exact name of the according hardware, |
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or the product familiy, if the driver is compatible with all parts. |
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* source/ |
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Any source files are placed in this directory. Usually there is a single file |
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for each driver. If multiple files are necessary, these should be placed in an |
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accordingly named subfolder. Names of folders and files should comply to the |
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aforementioned convention. |
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* templates/ |
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AMiRo-LLD requires an implementation of the defined interface and an |
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configuration header to be accessible in the include paths at compile time. |
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Template files for both can be found in this folder. It is recommended to |
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place according implementations of these templated not in the AMiRo-LLD |
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project, but the superproject which includes AMiRo-LLD. |
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* / |
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The project root directory contains this file, a license.html file as well as |
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a Makefile that allows to easily integrate the project. Furthermore, two |
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interface headers are provided: amiro-lld.h and periphALtypes.h. These are |
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entry points for any utilizing superproject, so it is not required (and not |
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recommanded) to include each driver individually. |
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