Michael Haberler mhaberler

The machinekit.io website is formatted with the docker-jekyll-asciidoctor docker image.

to run this locally "at home":

install docker - see https://docs.docker.com/engine/installation/linux/debian/
pull the image from dockerhub: docker pull haberlerm/docker-jekyll-asciidoctor
review and run the serve.sh script in the toplevel directory of your website
review the values in config_preview.yml which were generated by the first run
run serve.sh again, let it run to completion for the initial format of the whole site which can take 10-15mins
stop serve.sh with ^C and run it again, it will start with --incremental --skip-initial-build for quick startup since the _site directory already exists

a 4.1.22-ltsi-rt kernel with RT-PREEMPT patches applied
tested on Terasic DE0-Nano-SoC Kit, other SoCKit platforms should work with appropriate dtb
machinekit RIP-build under /home/machinekit/machinekit, all build artefacts are in place (no need to run make)
machinekit packages are NOT installed and you do not have to!
all machinekit build- and runtime required packages ARE installed.
/home/machinekit/.bashrc already set up to run machinekit from the RIP build directory.
one known-to-work configuration with hostmot2/onboard FPGA support is: machinekit/configs/hm2-soc-stepper/5i25-socfpga.ini

	// example for IRQ handling on ESP32 such that the IRQ handler
	// can do I/O operations
	#include <M5Unified.h>

	#include <Dps3xx.h>

	typedef struct {
	uint32_t timestamp;
	int16_t pin;
	} irqmsg_t;

	"""
	Connect by BLEDevice
	"""

	import asyncio
	import platform
	import sys

	from bleak import BleakClient, BleakScanner
	from bleak.exc import BleakError

	# Intended to convert a typical radar lla and az el to a cesium quaternion orientation for CZML
	# Uses numpy, transformations.py (http://www.lfd.uci.edu/~gohlke/code/transformations.py.html),
	# and ecef.py (https://code.google.com/p/pysatel/source/browse/trunk/coord.py?r=22)

	def azEl2Quaternion(lat, lon, alt, az, el):
	rotZ = rotation_matrix(math.radians(180+az), [0,0,1])
	rotY = rotation_matrix(math.radians(-(90+el)), [0,1,0])
	rotM = np.dot(rotZ, rotY)
	origin = geodetic2ecef(lat, lon, alt)
	origin = np.multiply(origin, 1000)

	loadrt hostmot2
	loadrt hm2_soc config="firmware=socfpga/soc_system.rbf num_encoders=2 num_pwmgens=2 num_stepgens=2"

	newthread servo-thread 1000000 fp
	newthread slow 1000000000 fp # 1sec


	# task1: blink the leds CR01 and CR02
	newinst not osci
	newinst not inverter

	# derived from http://wiki.ros.org/ROSberryPi/Installing%20ROS%20Indigo%20on%20Raspberry%20Pi


	sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu jessie main" > /etc/apt/sources.list.d/ros-latest.list'
	wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - \| sudo apt-key add -


	sudo apt-get update
	sudo apt-get upgrade

	# /etc/default/ptpd

	# Set to "yes" to actually start ptpd automatically
	START_DAEMON=yes

	# Add command line options for ptpd
	PTPD_OPTS="-c /etc/ptpd.conf"

	all: atomic-c++.s atomic-c.s atomic-c++ atomic-c

	clean:
	rm -f atomic-c++.s atomic-c.s atomic-c++ atomic-c

	atomic-c++.s: atomic.c
	gcc -x c++ -std=c++11 -Wa,-adhln -g $^ > $@

	atomic-c++: atomic.c
	gcc -x c++ -std=c++11 -g $^ -o $@

	# add this file to /etc/udev/rules.d:

	# 04d8:000a USBtin

	KERNEL=="ttyACM*", ATTRS{idVendor}=="04d8", ATTRS{idProduct}=="000a",SYMLINK+="USBtin%n" ,RUN+="/usr/local/bin/slcan.sh /dev/%k can%n"

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