MVP related utlitity files and ros node

This repository has all the hardware drivers for the AUVs using mvp framework

• install i2cbus library

 sudo apt-get install libi2c-dev

• GPIO setup using wiringPi [PI4]

  • Go to wiringPi github link

  • Following their installation steps to get the newest wiring Pi.

  • Check user access (if access denied when running the code)

  ls -l /dev/mem /dev/gpiomem
  

  • You should see

  crw-rw---- 1 root gpio 238, 0 Jan  3 19:24 /dev/gpiomem
  crw-r----- 1 root kmem   1, 1 Jan  3 19:24 /dev/mem
  

  • if the first one is root root, you do

  sudo chown root.gpio /dev/gpiomem
  sudo chmod g+rw /dev/gpiomem
  

  • Add your user to the gpio, kmem, and dialout group.

  sudo usermod -G gpio -a $USER
  sudo usermod -G kmem -a $USER
  sudo usermod -G dialout -a $USER
  

  • Add udev rules to save the change

  sudo nano /etc/udev/rules.d/99-gpiomem.rules
  
  KERNEL=="gpiomem", GROUP="gpio", MODE="0660"
  
  sudo usermod -aG gpio $USER
  
  sudo udevadm control --reload-rules
  sudo udevadm trigger
  

• GPIO Permission setup with PI5

  • replace gpiomem with gpiomem0 in the above steps

• New GPIO libary for PI5 sudo apt install python3-rpi-lgpio

  • Dropweight script GPIO chip in PI5 is gpiochip4 instead of gpiochip0

• MUC ATTINY85-20P Setup

  • Add AttinyCore for wire.h
  • Additional manager in preference http://drazzy.com/package_drazzy.com_index.json

systemd service for Dropweight & Strobe

The dropweight & strobe functionality is a script that runs as a systemd service.

1. Create a new service : sudo nano /etc/systemd/system/dropweight.service
2. Paste the following into the dropweight.service file:

[Unit]
Description=Dropweight GPIO Controller
DefaultDependencies=no
After=local-fs.target
Before=shutdown.target
Conflicts=shutdown.target
Requires=dev-gpiochip4.device

[Service]
Type=simple
ExecStart=/usr/bin/python3 <path_to_script>
Restart=no
RestartPreventExitStatus=0
RestartSec=2
KillSignal=SIGTERM
TimeoutStopSec=10

SendSIGKILL=no
# Security / sandboxing (optional)
NoNewPrivileges=true
PrivateTmp=true

# Logging
StandardOutput=journal
StandardError=journal

[Install]
WantedBy=multi-user.target

3. sudo systemctl daemon-reload
4. sudo systemctl enable dropweight.service
5. sudo systemctl start dropweight.service
6. Verify by sudo systemctl status dropweight.service