Project Description

I plan to learn how to program for PREEMPT-RT (Real Time) patched Linux kernel on aarch64 architecture. I will use a digital oscilloscope and a raspberry pi to compare preempt vs preempt-rt kernels on aarch64 vs a micro-controller. I then plan to build a 4WD robot utilizing the Raspberry Pi, I2C sonar sensors, DC motor controller and camera.

Goal for this Hackweek

  1. Learn how to program for PREEMPT-RT on aarch64
  2. Compare latency performance of PREEMPT vs PREEMPT-TR vs MCU using oscilloscope
  3. Build 4WD robot utilizing Raspberry Pi with PREEMPT-RT kernel and controlling motor controller, sonar sensors and camera.

Resources

I have:

  • Raspberry Pi 3s and 4s

  • Adafruit DC & Stepper Motor HAT for Raspberry Pi

  • a few different i2C sonar sensors

  • DSI camera

  • 4WD platform

  • 4 DC motors

Looking for hackers with the skills:

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This project is part of:

Hack Week 20

Activity

  • 9 months ago: petar.dimov joined this project.
  • 9 months ago: jblainchristen liked this project.
  • 9 months ago: jahudson liked this project.
  • 9 months ago: simotek joined this project.
  • 9 months ago: mbrugger liked this project.
  • 9 months ago: jahudson started this project.
  • 9 months ago: jahudson originated this project.

  • Comments

    • simotek
      9 months ago by simotek | Reply

      I'm working on something similar, but i'm lazy and do the real time parts with arduino and I use DC motors rather then stepper motors. I also need to get stuff like i2c working on openSUSE's raspberry pi images so we can probably share progress with stuff like that.

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