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SoDeV Demo manual with the STM32 board and CARLA

SoDeV Demo manual with the STM32 board and CARLA

1. CARLA setup

Overview

This manual describes the procedures for setup CARLA of the AGL SoDeV demo environment.

Official quick start guide
OS（Ubuntu22.04）

Procedure

  1. Download CARLA
    Download CARLA_0.9.16.tar.gz from here

  2. Make work directory

$ mkdir ~/CARLA_0.9.16 $ tar zxf CARLA_0.9.16.tar.gz -C ~/CARLA_0.9.16

  1. Set python env

$ python3 -m venv .venv $ source .venv/bin/activate $ python3 -m pip install --upgrade pip $ python3 -m pip install carla==0.9.16 $ cd ~/CARLA_0.9.16/PythonAPI/carla/dist $ python3 -m pip install carla-0.9.16-cp310-cp310-manylinux_2_31_x86_64.whl ->If you encounter the error: ERROR: carla-0.9.16-cp310-cp310-manylinux_2_31_x86_64.whl is not a supported wheel on this platform. your host PC may not be running Ubuntu 22.04. Please verify this.

  1. Install Client example script

$ cd ~/CARLA_0.9.16/PythonAPI/examples $ python3 -m pip install -r requirements.txt

  1. start CARLA

$ cd ~/CARLA_0.9.16 $ ./CarlaUE4.sh -RenderOffScreen & Launch a new console $ cd ~/CARLA_0.9.16/PythonAPI $ source ~/.venv/bin/activate (.venv) $ cd ./examples (.venv) $ python3 ./manual_control.py -a --sync Launch a new console $ cd ~/CARLA_0.9.16/PythonAPI $ source ~/.venv/bin/activate (.venv) $ cd ./examples (.venv) $ python3 ./generate_traffic.py -n X --safe ->This will run X vehicles. Adjust the value of X according to the GPU capability of the host PC.

  1. clone agl-demo-control-panel

$ cd $HOME $ git clone https://gerrit.automotivelinux.org/gerrit/src/agl-demo-control-panel

  1. setup can0 for STM32

$ sudo slcand -o -c -s4 -t hw -S 3000000 /dev/ttyXXX can0 →Edit /dev/ttyXXX to match the device file of the target CAN device. $ sudo ip link set can0 txqueuelen 1000 $ sudo ip link set can0 type can bitrate 125000 $ sudo ip link set can0 up $ ip link show can0

  1. send can data to STM32

$ cd ~/agl-demo-control-panel/Scripts $ python3 -u carla_to_CAN.py --interface can0

 

2. STM32 setup

Overview

This manual describes the procedures for setup STM32 of the AGL SoDeV demo environment.

How to convert vehicle-speed CAN data from CARLA in a Zephyr program on an STM32 and output it to the target GPIO.

Equipment

nucleo-h753zi
CAN Converter
CAN Bus Tranciever

Patch file

Preparation

To prepare for West Flash, install the Linux version of CubeProgrammer by referring to the following page: https://www.st.com/en/development-tools/stm32cubeprog.html .

After installation, add it to your PATH.

Procedure

  1. Setup Zephyr build environment

$ sudo apt update $ sudo apt upgrade $ sudo apt install --no-install-recommends git cmake ninja-build gperf \ ccache dfu-util device-tree-compiler wget python3-dev python3-venv python3-tk \ xz-utils file make gcc gcc-multilib g++-multilib libsdl2-dev libmagic1 // setup python virtualenv and activate $ python3 -m venv ~/zephyrproject/.venv $ source ~/zephyrproject/.venv/bin/activate // setup zephyr $ pip install west $ west init -m https://github.com/zephyrproject-rtos/zephyr --mr v4.3.0 ~/zephyrproject $ cd ~/zephyrproject $ west update $ west zephyr-export $ west packages pip --install # install the Zephyr SDK $ cd ~/zephyrproject/zephyr $ west sdk install

  1. Apply PATCH-can_pwm_vehicle_speed.patch to ~/zephyrproject/zephyr

$ cd zephyrproject/zephyr $ mv <path>/PATCH-can_pwm_vehicle_speed.patch . $ patch -p1 < PATCH-can_pwm_vehicle_speed.patch

  1. Build zephyr with "can_pwm_vehicle_speed" application

$ cd zephyrproject/zephyr $ west build -b nucleo_h753zi samples/net/can_pwm_vehicle_speed -p

  1. Connect nucleo-h753zi to PC by USB cable

    image-20260327-010137.png

  2. Flash image

$ west flash

*If you encounter an error such as:

libusb: error [get_usbfs_fd] libusb couldn't open USB device /dev/bus/usb/003/011, errno=13

when running west flash, you need to create a udev rule.

Connect the board to your PC and run:

$ lsusb | grep -i st

Example output:

Bus 003 Device 011: ID 0483:374e STMicroelectronics STLINK-V3

Based on this output, create the file:

/etc/udev/rules.d/49-stlink.rules

The contents should match the IDs detected by lsusb. For example:

SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="374e", MODE:="0666", TAG+="uaccess", SYMLINK+="stlinkv3_%n"

Then reload udev rules and trigger them:

$ sudo udevadm control --reload-rules $ sudo udevadm trigger

Unplug and reconnect the USB cable of the board.

After that, run west flash again.

3. How to connect CARLA and STM32 and V4H sparrow hawk

How to connect CARLA and STM32

connect nucleo-h753zi to PC

PC-STM.png

 

how to connect can converter and can tranciever and STM board

STM-CARLA.png

Pinout for the CAN connection

STM-CAN-PINOUT.png

How to connect STM32 and V4H sparrow hawk

Pinout for the GPIO connection

STM-V4H-GPIO-PINOUT.png

V4H sparrow hawk

Build the Zephyr Guest VM as DomZ using the Xen BSP.
The detailed build procedure is omitted.

Demo Execution

After the system boots, enter the following commands in the console to connect to the UART of DomZ.
After connecting, the vehicle speed information will be output on the UART.

generic-armv8-xt-dom0 login: root ... root@generic-armv8-xt-dom0:~# xl console DomZ Vehicle speed: 20.7 km/h Vehicle speed: 18.0 km/h Vehicle speed: 18.9 km/h Vehicle speed: 18.0 km/h ...