Greybus_for_Robotics.pdf

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1、Greybus for Robotics with Zephyr RTOS2023-06-28,PragueVaishnav AchathAbout us|TI Processors and Open source2Speaker|Intro3Vaishnav Achath,Software Engineer at Texas Instruments India.Vaishnav primarily works on Linux Kernel and U-Boot as part ofthe Texas Instruments Linux development team.Vaishnav i

2、s also amaintainer for TI platforms in Zephyr RTOS.Introduced to Greybus as part of Google Summer of Code projectwith Beagleboard.org for adding MikroElektronika Click BoardSupport through greybus in 2019.Overview Greybus.Greybus for IoT BeagleConnect Limitations of Greybus in IoT.Greybus Python hos

3、t.Extending Greybus operations.Demo.4Greybus5Greybus is an application layer protocol initially designed for Googles Project Ara smartphone and is the same technology being used in Motorolas Moto Mods for modules.The central concept behind greybus is keeping the intelligence in the host.The external

4、 modules interface with the host.The host discovers what is connected,sends instructions(greybus operation),and performs operations on the module,modules respond back in the same protocol.Greybus can be thought of as an RPC-like application layer protocol that allows control and interfacing of modul

5、es from a host.Greybus is unique because it can interact with various parts of the Linux kernel.Credits:Project Ara,Google LLC;Moto Mods,Motorola Inc.6GreybusSPII2CUARTUSBV4L2POWERPWMHIDGreybus allows peripherals on a remote device to appear as if they were on the host through any transport.Greybus

6、supports module discovery,and hot-plug/unplug during run-time.Allows to keep the intelligence in the host.Remote device requires very generic firmware.GPIODISPLAYCAMERASENSORAUDIOGreybusSoCPeripheralsMCUI2CSPIGPIOTransportGreybus for IoT There have been developments in using greybus for IoT applicat