tagRPi

tagRPi

Installation

Prerequisite

• Enable I2C on Raspberry Pi
• Install libi2c-dev, libeigen3-dev
• Download mlat

[sudo] raspi-config
# Enable I2C in Interfacing option
[sudo] apt-get install libi2c-dev libeigen3-dev
git clone https://github.com/gsongsong/mlat

Building tagRPi

• Copy or symlink def.h, i2c.h from headers directory to here
• Edit I2CSLAVEADDR in i2c.h if needed
• Edit MLAT in Makefile properly
• Edit I2CDEV in i2cController.h properly
• Build tagRPi

make

Wiring

Match and connect SDA and SCL

Running tagRPi

• Edit anchors.csv
  • Format: anchor ID, x, y, z (newline)
    Example

1, 0, 0, 0
2, 3.3, 3.3, 3.3
3, 6, 9, 3.3

• Run tagRPi

./tagRPi

State Diagram