TRIK media sensors

A set of useful camera algorithms for TRIK robots

Building

1. Install required build tools:

• TI proccesor SDK for RTOS (tested on 06.03.00.106)
• TI C6000 compiler (tested on 8.3.2) (included in RTOS package)
• Also, TI library IMGlib is used (directory dsp/lib), but it's included in the repository to avoid some of the headache with building.

2. You need the IPC libraries, which are already available in the ipc-libs directory, or you can build them yourself by following the instructions in the README.md located in the corresponding directory.
3. In the directory ipc_3_50_04_08/packages/ti/ipc/remoteproc, you need to replace the file rsc_table_omapl138.h. The modified version of this file with the required changes can be found in ipc-libs/specific-trik-include. The address and size values were modified according to the memory regions allocated in Linux for the DSP to ensure proper data exchange and that the resource table metadata is located at the expected addresses.
4. Run

make TI_DEPOT=/path/to/texas-tools \
     TI_C6000=/path/to/texas-tools/ti-cgt-c6000_8.3.2 \
     KERNEL_INSTALL=/path/to/trik-kernel-installation \
     TRIK_SDK=/path/to/trik-sdk

Example if using our trik-distro (yocto) KERNEL_INSTALL=/path/to/trik-distro/tmp-glibc/work-shared/trikboard/kernel-build-artifacts

It'll build ARM and DSP part of the software both for debug and release in ./arm/bin and ./dsp/bin directories.