Výkonný hybridní minipočítač pro robotický operační systém

Abstract

The goal of thesis is to select a small size and low-cost minicomputer with a hybrid processor i.MX 8M, that includes a dedicated core for real-time applications. For the selected minicomputer is created Linux distribution with a modified kernel, that supports loading new code to the dedicated core at runtime via the remoteproc framework. The modified Linux kernel also reinitializes VirtIO structures, which is required for the consistent state of VirtIO at every start of a program on the dedicated core. The issues of concurrent use of peripherals between cores as well as memory protection are also described. Implemented examples demonstrate how to use peripherals from the dedicated core and Linux. The communication between the Robot Operating System and the dedicated core is provided by the rosserial protocol. Thanks to this protocol it is easy to use the Robot Operating System directly on the dedicated core. Finally, more complex examples are implemented to demonstrate the use of the dedicated core with the Robot Operating System. These examples were also used to test the overall reliability and response time.