https://github.com/thenewwazoo/rtems-ecap
Combining RTEMS and the TI AM335x eCAP peripheral for 1D Markov localization
https://github.com/thenewwazoo/rtems-ecap
Last synced: 3 months ago
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Combining RTEMS and the TI AM335x eCAP peripheral for 1D Markov localization
- Host: GitHub
- URL: https://github.com/thenewwazoo/rtems-ecap
- Owner: thenewwazoo
- Created: 2016-05-21T04:23:11.000Z (almost 9 years ago)
- Default Branch: spinner
- Last Pushed: 2022-07-01T19:40:42.000Z (almost 3 years ago)
- Last Synced: 2025-01-09T08:36:25.877Z (4 months ago)
- Language: C
- Homepage:
- Size: 43 KB
- Stars: 0
- Watchers: 2
- Forks: 1
- Open Issues: 0
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Metadata Files:
- Readme: README.md
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README
# rtems-ecap
Combining RTEMS and the TI AM335x eCAP peripheral for 1D Markov localization
Hi! This is a very old repo that implements 1D Markov localization in C running in an [RTEMS](https://www.rtems.org) task on the BeagleBone Black, and making use of the TI AM335x' eCAP peripheral. The reason to do this is to determine the angle of a rotating toothed wheel without having to have separate code paths for every possible configuration (extra-tooth, missing-tooth, etc)
I haven't touched it in a _very_ long time, but I still think the idea is _super_ cool, so here it is.
I've got kind of a similar implementation in Erlang that uses a NIF to read/write to the eCAP. The eventual goal was to run the BEAM directly on the hardware, but that never really panned out.