AMiRo-OS

AMiRo-LLD is a compilation of low-level hardware drivers for the base version of

the Autonomous Mini Robot (AMiRo) [1]. It provides directional interfaces for an

operating system to access the drivers and for the drivers to access the

communication infrastructure via the operating system.

Copyright (C) 2016..2019  Thomas Schöpping et al.

(a complete list of all authors is given below)

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU Lesser General Public License as published by

the Free Software Foundation, either version 3 of the License, or (at

your option) any later version.

This program is distributed in the hope that it will be useful, but

WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU

Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

This research/work was supported by the Cluster of Excellence

Cognitive Interaction Technology 'CITEC' (EXC 277) at Bielefeld

University, which is funded by the German Research Foundation (DFG).

Authors:

 - Thomas Schöpping          <tschoepp[at]cit-ec.uni-bielefeld.de>

 - Marc Rothmann

References:

 [1] S. Herbrechtsmeier, T. Korthals, T. Schopping and U. Rückert, "AMiRo: A

     modular & customizable open-source mini robot platform," 2016 20th

     International Conference on System Theory, Control and Computing (ICSTCC),

     Sinaia, 2016, pp. 687-692.

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AMiRo-LLD is a compilation of low-level hardware drivers, originally developed

for the Autonomous Mini Robot (AMiRo) [1]. It provides a modular design, so that

each driver can be activated individually as required. Interface functions allow

for bidirectional comunication with an operating system. On the one hand drivers

access according hardware interfaces via defined interface functions (which need

to be implemented by the operating system) and any applications (or the

operating system itself) can take advantage of the drivers by their individual

interfaces. The abstraction layer of the hardware interfaces is called

"periphAL", which is defined by this project.

Although this compilation was originally designed to be used in combination with

the AMiRo operating system (AMiRo-OS; cf. https://opensource.cit-ec.de/projects/amiro-os/),

it is not limited to this use case. The included drivers may be used for any

purpose and contributions of further drivers, even if the according hardware is

not present on the AMiRo platform, are highly appreciated.

The files are structured as follows:

./

│ The project root directory contains this file, a license.html file as well as

│ a Makefile that allows to easily integrate the project. Furthermore, two

│ interface headers are provided: amiro-lld.h and periphALtypes.h. These are

│ entry points for any utilizing superproject, so it is not required (and not

│ recommended) to include each driver individually.

│

├── include/

│     Each driver defines exactly one include header in this directory. By

│     convention these files are named by the form

│     alld_<product_name>.h

│     <product_name> is a placeholder for the exact name of the according

│     hardware, or the product familiy, if the driver is compatible with all

│     parts.

│

├── source/

│     Any source files are placed in this directory. Usually there is a single

│     file for each driver. If multiple files are necessary, these should be

│     placed in an accordingly named subfolder. Names of folders and files

│     should comply to the aforementioned convention.

│

└── templates/

      AMiRo-LLD requires an implementation of the defined interface and an

      configuration header to be accessible in the include paths at compile

      time. Template files for both can be found in this folder. It is

      recommended to place according implementations of these templated not in

      the AMiRo-LLD project, but the superproject which includes AMiRo-LLD.

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