colonymech / docs / www / colonyscout / computing.php @ 781890a0
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1 | f59acf11 | Dan Shope | <?php
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2 | $cacheFile="cache/platform.html"; |
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3 | if (file_exists($cacheFile)) //we can read this cache file back reduce database load |
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4 | { |
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5 | header("Content-Type: text/html"); |
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6 | readfile($cacheFile); |
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7 | exit;
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8 | } else {
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9 | ob_start(); //start buffering so we can cache for future accesses
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10 | } |
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11 | ?>
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12 | |||
13 | <!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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14 | <html xmlns="http://www.w3.org/1999/xhtml" xml:lang="en" lang="en"><head> |
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15 | <meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1"/> |
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16 | <meta name="description" content="Scout uses a dual chip architecture of an ARM9 and an AVR."/> |
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17 | <meta name="keywords" content="ARM9, linux, rtos, real time, processing, pcb, Scout"/> |
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18 | |||
19 | <?php include("header.php"); ?> |
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20 | <title>Software Platform | ColonyScout.com</title> |
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21 | |||
22 | </head>
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23 | <body bgcolor="#eeeeee"> |
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24 | |||
25 | <div id="general"> |
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26 | <?php include("nav.php"); ?> |
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27 | <div id="body"> |
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28 | <div id="body-boxes"> |
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29 | <div class="box-row"> |
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30 | <div class="white-top"></div> |
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31 | <div class="white-body text-box"> |
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32 | <a href="javascript:;" title="Click to Expand" onmousedown="toggleDiv('hardware');"> |
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33 | <h1>Hardware Platform</h1><img src="images/btn_expand.png" /></a> |
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34 | <p><span class="description">Scout uses a dual chip architecture to support a vast array of |
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35 | devices and provide computational prowess. The system flash memory is expandable and can grow to |
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36 | meet storage demands. |
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37 | <br/><br/><a href="javascript:;" onmousedown="toggleDiv('hardware');"><em>learn more >></em></a> |
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38 | </span></p> |
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39 | |||
40 | <div id="hardware"> |
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41 | |||
42 | |||
43 | <div class="content-box"> |
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44 | <h2>System Overview</h2> |
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45 | <p>The Scout mainboard pairs an 8-bit AVR as an IO node with an 32-bit ARM Cortex A8 for heavy computational
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46 | tasks.</p>
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47 | <p><img src="images/software_blockdiagram.png" alt="Scout board design couples an ARM9 and AVR together."/></p> </div> |
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48 | <div class="side-box"> |
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49 | <h3>System Specifications</h3> |
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50 | <ul>
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51 | <li>ARM Cortex™ A8 (TI OMAP 3503)</li> |
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52 | <ul>
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53 | <li>Clocked at 600Mhz</li> |
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54 | <li>32-bit</li> |
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55 | <li>MMU</li> |
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56 | </ul>
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57 | <li>ATMega™ 128RFA1</li> |
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58 | <ul>
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59 | <li>Clocked at 16Mhz</li> |
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60 | <li>8-bit</li> |
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61 | <li>Inbuilt Zigbee® Wireless</li> |
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62 | </ul>
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63 | <li>256MB SDRAM</li> |
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64 | <li>256MB Flash + microSD Support</li> |
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65 | </ul>
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66 | </div>
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67 | |||
68 | </div><!--end 'hardware' collapse--> |
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69 | |||
70 | </div>
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71 | |||
72 | <div class="white-body text-box"> |
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73 | <div class="hr"></div> |
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74 | <a href="javascript:;" title="Click to Expand" onmousedown="toggleDiv('os');"> |
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75 | <h1>Software Architecture</h1><img src="images/btn_expand.png" /></a> |
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76 | <p><span class="description">Scout runs on a Gumstix (Overo) port of <a href="http://www.ros.org/"/>ROS</a> |
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77 | (robot operating system), which provides the infrastructure necessary to control a complex robotic system. ROS has |
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78 | an active developer community, and the Scout team is proud to be a part of the developer network. The Scout port of ROS |
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79 | runs on top of Ubuntu (ARM). |
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80 | <br/><br/><a href="javascript:;" onmousedown="toggleDiv('os');"><em>learn more >></em></a> |
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81 | </span></p> |
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82 | |||
83 | <div id="os" style="display:none;"> |
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84 | |||
85 | <div class="content-box"> |
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86 | Multitasking will allow the software that runs on the robot to be split up into tasks which can each handle a |
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87 | subsystem such as wireless communication or odometry. Users will be able to write high level programs and |
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88 | depend on the operating system and Scout library to create robot behaviors. |
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89 | |||
90 | <p>The operating system will also provide abstractions like virtual memory which will prevent errors in
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91 | behaviors from crashing the robot. If a user application fails, the system can recover and continue running tasks |
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92 | which will do things like cliff detection or even autonomous recharging.</p>
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93 | </div>
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94 | |||
95 | <div class="side-box"> |
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96 | <h3>POSIX compliant OS</h3> |
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97 | <ul>
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98 | <li>Use standard UNIX tools (ssh, bash, compile on the robot)</li> |
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99 | <li>IPv6 6LoWPAN Networking</li> |
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100 | <li>Program behaviors in any language</li> |
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101 | <li>Emulate with QEMU</li> |
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102 | </ul>
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103 | </div>
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104 | |||
105 | </div><!--end 'os' collapse--> |
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106 | |||
107 | </div>
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108 | |||
109 | <div class="white-body text-box"> |
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110 | <div class="hr"></div> |
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111 | <div id="bottom-nav"> |
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112 | <ul id="pagenav"> |
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113 | <li class="previous"> |
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114 | <a href="<?php echo $nav[$nav_id['plat']-1]; ?></a></li> |
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115 | <li class="next"> |
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116 | <a href="<?php echo $nav[$nav_id['plat']+1]; ?></a></li> |
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117 | </ul>
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118 | </div>
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119 | </div>
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120 | |||
121 | <div class="white-bottom"></div> |
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122 | </div>
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123 | |||
124 | |||
125 | </div>
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126 | </div> <!--BODY!--> |
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127 | |||
128 | |||
129 | <?php include("footer.php"); ?> |
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130 | |||
131 | </div><!--GENERAL!--> |
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132 | |||
133 | </body></html> |
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134 | <?php
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135 | $buffer = ob_get_contents();
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136 | ob_end_flush(); |
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137 | $fp = fopen($cacheFile, "w"); fwrite($fp, $buffer); fclose($fp); |
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138 | ?> |