Visible to Intel only — GUID: GUID-8B3F9861-D9F3-4DED-ADD8-01243F00C0DB
UPS 6000 and UP Xtreme i11 Robot Kits
Create Your Own Robot Kit
Perception
Navigation
Simulation
Benchmarking and Profiling
EI for AMR Container on a Virtual Machine
Fibocom’s FM350 5G Module Integration
Change Existing and Add New Docker* Images to the EI for AMR SDK
Troubleshooting for Robot Tutorials
Spatial Partitioning and Search Operations with Octrees
Constructing a Convex Hull Polygon for a 3D Point Cloud
Detecting Specific Models and Their Parameters in 3D Point Clouds
Plane Model Segmentation
Surface Reconstruction with Intel® oneAPI Base Toolkit's Moving Least Squares (MLS)
Intel® oneAPI Base Toolkit's Iterative Closest Point (ICP)
KdTree Search Using Intel® oneAPI Base Toolkit's KdTree FLANN
Downsampling 3D Point Clouds with a Voxelized Grid
Filtering Point Clouds with a Passthrough Filter
PCL Optimizations Outside of Docker* Images
Optimized PCL Known Limitation
Optimized PCL Troubleshooting
Visible to Intel only — GUID: GUID-8B3F9861-D9F3-4DED-ADD8-01243F00C0DB
Enable Intel® TCC Baseline Support
The baseline support for Intel® TCC consists of a real-time Linux* kernel and the Intel® TCC Mode in the BIOS. These features may be sufficient to satisfy many use cases, with initial cycle times possible in the hundreds of microseconds.
Requirements
Processor with support for Intel® TCC, such as Intel® i7-1185GRE, i5-1145GRE, and i3-1115GRE processors (The complete list of compatible devices is on the TCC Tools webpage.)
BIOS with support for Intel® TCC, such as Intel’s reference BIOS
Enable the Intel® TCC Mode in the BIOS
NOTE:
The reference BIOS may differ from BIOS versions offered by BIOS vendors. If you cannot find Intel® TCC Mode in the BIOS, contact your BIOS vendor for more information.
Go to the BIOS menu.
In the BIOS, navigate to Intel Advanced Menu > Intel® Time Coordinated Computing.
Set Intel® TCC Mode to <Enabled>.
For more details, go to Enable Intel® TCC Mode in BIOS.
For additional configuration, go to Configure Intel® TCC Tools in BIOS.
Configure, Build, and Install Intel’s Linux* kernel with Real-Time Support
Install required dependencies:
sudo apt -y install build-essential gcc bc bison flex libssl-dev libncurses5-dev libelf-dev dwarves zstd
Clone Intel’s Linux* kernel git repository:
git clone https://github.com/intel/linux-intel-lts.git
Enter the newly created directory:
cd linux-intel-lts
Reset to the latest 5.15 RT tag:
git reset --hard lts-v5.15.49-rt47-preempt-rt-220718T080310Z
Create a .config file:
make olddefconfig
Configure the kernel EI for AMR options:
scripts/config --module CONFIG_VIDEO_INTEL_IPU scripts/config --enable CONFIG_VIDEO_INTEL_IPU_SOC scripts/config --disable CONFIG_VIDEO_INTEL_IPU_FW_LIB scripts/config --enable CONFIG_VIDEO_INTEL_IPU_USE_PLATFORMDATA scripts/config --enable CONFIG_V4L_PLATFORM_DRIVERS scripts/config --module CONFIG_VIDEO_LT6911UXC scripts/config --disable CONFIG_VIDEO_CRLMODULE scripts/config --disable CONFIG_VIDEO_INTEL_IPU_PDATA_DYNAMIC_LOADING scripts/config --module CONFIG_VIDEO_IMX390 scripts/config --module CONFIG_VIDEO_TI960 scripts/config --module CONFIG_VIDEO_INTEL_IPU6 scripts/config --module CONFIG_VIDEO_AR0234 scripts/config --module CONFIG_PINCTRL_TIGERLAKE scripts/config --enable CONFIG_INTEL_IPU6_TGLRVP_PDATA scripts/config --set-str SYSTEM_TRUSTED_KEYS "" scripts/config --set-str CONFIG_SYSTEM_REVOCATION_KEYS ""
Configure the Intel® TCC-related options:
scripts/config --module CONFIG_X86_TCC_PTCM
Build the kernel:
make deb-pkg -j8
Install the kernel:
cd ../ && sudo dpkg -i linux-*.deb
Modify the kernel command line for the selected kernel by adding these options to /etc/default/grub:
apparmor=1 security=apparmor art=virtallow udmabuf.list_limit=8192 processor.max_cstate=0 intel.max_cstate=0 processor_idle.max_cstate=0 intel_idle.max_cstate=0 clocksource=tsc tsc=reliable nowatchdog intel_pstate=disable idle=poll rcupdate.rcu_cpu_stall_suppress=1 irqaffinity=0 mce=off hpet=disable numa_balancing=disable igb.blacklist=no efi=runtime hugepages=1024 nmi_watchdog=0 i915.force_probe=* i915.enable_rc6=0 i915.enable_dc=0 i915.disable_power_well=0 isolcpus rcu_nocbs noht nosoftlockup rcu_nocb_poll vt.handoff=7 i915.enable_guc=2
Make the new kernel the default by modifying /etc/default/grub:
GRUB_DEFAULT="Advanced options for Ubuntu>Ubuntu, with Linux v5.15.49-rt47"
Update grub:
sudo update-grub
Reboot the board:
sudo reboot -fn
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