AMiRo-OS

build

.dep

*.tmp

*.backup

# Eclipse files

*eclipse*

# QtCreator files

*.includes

*.files

*.config

*.creator

*.creator.user

# Shadow files

*kate-swp

*~

# Backup files

*backup*

*Backup*

[submodule "os/AMiRo-OS"]

	path = os/AMiRo-OS

	url = http://openresearch.cit-ec.de/git/amiro-os.amiro-os.git

[submodule "middleware/uRtWare"]

	path = middleware/uRtWare

	url = http://openresearch.cit-ec.de/git/amiro-os.urtware.git

AMiRo-Apps is a collection of applications and configurations for the Autonomous

Mini Robot (AMiRo) [1]. It is tightly coupled to the AMiRo-OS and uRtWare

projects, which provide a sophisticated operating system (based on ChibiOS) amd

a real-time middleware for embedded devices.

Copyright (C) 2018..2018  Thomas Schöpping et al.

(a complete list of all authors is given below)

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or (at

your option) any later version.

This program is distributed in the hope that it will be useful, but

WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU

General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

This research/work was supported by the Cluster of Excellence

Cognitive Interaction Technology 'CITEC' (EXC 277) at Bielefeld

University, which is funded by the German Research Foundation (DFG).

Authors:

 - Thomas Schöpping          <tschoepp[at]cit-ec.uni-bielefeld.de>

 - Marc Rothmann

References:

 [1] S. Herbrechtsmeier, T. Korthals, T. Schopping and U. Rückert, "AMiRo: A

     modular & customizable open-source mini robot platform," 2016 20th

     International Conference on System Theory, Control and Computing (ICSTCC),

     Sinaia, 2016, pp. 687-692.

################################################################################

#                                                                              #

#        RRRRRRRR   EEEEEEEE     AAA     DDDDDDDD   MM     MM  EEEEEEEE        #

#        RR     RR  EE          AA AA    DD     DD  MMM   MMM  EE              #

#        RR     RR  EE         AA   AA   DD     DD  MMMM MMMM  EE              #

#        RRRRRRRR   EEEEEE    AA     AA  DD     DD  MM MMM MM  EEEEEE          #

#        RR   RR    EE        AAAAAAAAA  DD     DD  MM     MM  EE              #

#        RR    RR   EE        AA     AA  DD     DD  MM     MM  EE              #

#        RR     RR  EEEEEEEE  AA     AA  DDDDDDDD   MM     MM  EEEEEEEE        #

#                                                                              #

################################################################################

This file will help you to setup all required software on your system, compile

the source code, and flash it to the AMiRo modules.

================================================================================

CONTENTS:

  1  Required software

  3  Building and flashing

================================================================================

1 - REQUIRED SOFTWARE

---------------------

Since AMiRo-Apps depends on the AMiRo-OS and uRtWare projects, both are included

as Git submodules. Use the provided ./setup.sh script to initialize those. When

AMiRo-OS is fully configured, there is no additional software required by

AMiRo-Apps. For further details about the initialization follow the instructions

in the script and refer to the README.txt file of AMiRo-OS and uRtWare

respectively.

2 - BUILDING AND FLASHING

-------------------------

For building and flashing a specific setup, you must first define a

configuration in the ./configurations folder (e.g. ./configurations/MyConf).

Such a configuration must consist of a Makefile and a C header file with the

name "osconf.h". Please copy the provided template files from the

./configurations/template directory and modify them as required in order to

minimize the risk of errors and for the sake of consistency. As a result you can

build and flash all software using the Makefile.

================================================================================

<!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">

<!-- saved from url=(0051)http://www.gnu.org/licenses/gpl-3.0-standalone.html -->

<html><head><meta http-equiv="Content-Type" content="text/html; charset=UTF-8">

 <title>GNU General Public License v3.0 - GNU Project - Free Software Foundation (FSF)</title>

 <link rel="alternate" type="application/rdf+xml" href="http://www.gnu.org/licenses/gpl-3.0.rdf"> 

</head>

<body>

<h3 style="text-align: center;">GNU GENERAL PUBLIC LICENSE</h3>

<p style="text-align: center;">Version 3, 29 June 2007</p>

<p>Copyright © 2007 Free Software Foundation, Inc.

 &lt;<a href="http://fsf.org/">http://fsf.org/</a>&gt;</p><p>

 Everyone is permitted to copy and distribute verbatim copies

 of this license document, but changing it is not allowed.</p>

<h3><a name="preamble"></a>Preamble</h3>

<p>The GNU General Public License is a free, copyleft license for

software and other kinds of works.</p>

<p>The licenses for most software and other practical works are designed

to take away your freedom to share and change the works.  By contrast,

the GNU General Public License is intended to guarantee your freedom to

share and change all versions of a program--to make sure it remains free

software for all its users.  We, the Free Software Foundation, use the

GNU General Public License for most of our software; it applies also to

any other work released this way by its authors.  You can apply it to

your programs, too.</p>

<p>When we speak of free software, we are referring to freedom, not

price.  Our General Public Licenses are designed to make sure that you

have the freedom to distribute copies of free software (and charge for

them if you wish), that you receive source code or can get it if you

want it, that you can change the software or use pieces of it in new

free programs, and that you know you can do these things.</p>

<p>To protect your rights, we need to prevent others from denying you

these rights or asking you to surrender the rights.  Therefore, you have

certain responsibilities if you distribute copies of the software, or if

you modify it: responsibilities to respect the freedom of others.</p>

<p>For example, if you distribute copies of such a program, whether

gratis or for a fee, you must pass on to the recipients the same

freedoms that you received.  You must make sure that they, too, receive

or can get the source code.  And you must show them these terms so they

know their rights.</p>

<p>Developers that use the GNU GPL protect your rights with two steps:

(1) assert copyright on the software, and (2) offer you this License

giving you legal permission to copy, distribute and/or modify it.</p>

<p>For the developers' and authors' protection, the GPL clearly explains

that there is no warranty for this free software.  For both users' and

authors' sake, the GPL requires that modified versions be marked as

changed, so that their problems will not be attributed erroneously to

authors of previous versions.</p>

<p>Some devices are designed to deny users access to install or run

modified versions of the software inside them, although the manufacturer

can do so.  This is fundamentally incompatible with the aim of

protecting users' freedom to change the software.  The systematic

pattern of such abuse occurs in the area of products for individuals to

use, which is precisely where it is most unacceptable.  Therefore, we

have designed this version of the GPL to prohibit the practice for those

products.  If such problems arise substantially in other domains, we

stand ready to extend this provision to those domains in future versions

of the GPL, as needed to protect the freedom of users.</p>

<p>Finally, every program is threatened constantly by software patents.

States should not allow patents to restrict development and use of

software on general-purpose computers, but in those that do, we wish to

avoid the special danger that patents applied to a free program could

make it effectively proprietary.  To prevent this, the GPL assures that

patents cannot be used to render the program non-free.</p>

<p>The precise terms and conditions for copying, distribution and

modification follow.</p>

<h3><a name="terms"></a>TERMS AND CONDITIONS</h3>

<h4><a name="section0"></a>0. Definitions.</h4>

<p>“This License” refers to version 3 of the GNU General Public License.</p>

<p>“Copyright” also means copyright-like laws that apply to other kinds of

works, such as semiconductor masks.</p>

<p>“The Program” refers to any copyrightable work licensed under this

License.  Each licensee is addressed as “you”.  “Licensees” and

“recipients” may be individuals or organizations.</p>

<p>To “modify” a work means to copy from or adapt all or part of the work

in a fashion requiring copyright permission, other than the making of an

exact copy.  The resulting work is called a “modified version” of the

earlier work or a work “based on” the earlier work.</p>

<p>A “covered work” means either the unmodified Program or a work based

on the Program.</p>

<p>To “propagate” a work means to do anything with it that, without

permission, would make you directly or secondarily liable for

infringement under applicable copyright law, except executing it on a

computer or modifying a private copy.  Propagation includes copying,

distribution (with or without modification), making available to the

public, and in some countries other activities as well.</p>

<p>To “convey” a work means any kind of propagation that enables other

parties to make or receive copies.  Mere interaction with a user through

a computer network, with no transfer of a copy, is not conveying.</p>

<p>An interactive user interface displays “Appropriate Legal Notices”

to the extent that it includes a convenient and prominently visible

feature that (1) displays an appropriate copyright notice, and (2)

tells the user that there is no warranty for the work (except to the

extent that warranties are provided), that licensees may convey the

work under this License, and how to view a copy of this License.  If

the interface presents a list of user commands or options, such as a

menu, a prominent item in the list meets this criterion.</p>

<h4><a name="section1"></a>1. Source Code.</h4>

<p>The “source code” for a work means the preferred form of the work

for making modifications to it.  “Object code” means any non-source

form of a work.</p>

<p>A “Standard Interface” means an interface that either is an official

standard defined by a recognized standards body, or, in the case of

interfaces specified for a particular programming language, one that

is widely used among developers working in that language.</p>

<p>The “System Libraries” of an executable work include anything, other

than the work as a whole, that (a) is included in the normal form of

packaging a Major Component, but which is not part of that Major

Component, and (b) serves only to enable use of the work with that

Major Component, or to implement a Standard Interface for which an

implementation is available to the public in source code form.  A

“Major Component”, in this context, means a major essential component

(kernel, window system, and so on) of the specific operating system

(if any) on which the executable work runs, or a compiler used to

produce the work, or an object code interpreter used to run it.</p>

<p>The “Corresponding Source” for a work in object code form means all

the source code needed to generate, install, and (for an executable

work) run the object code and to modify the work, including scripts to

control those activities.  However, it does not include the work's

System Libraries, or general-purpose tools or generally available free

programs which are used unmodified in performing those activities but

which are not part of the work.  For example, Corresponding Source

includes interface definition files associated with source files for

the work, and the source code for shared libraries and dynamically

linked subprograms that the work is specifically designed to require,

such as by intimate data communication or control flow between those

subprograms and other parts of the work.</p>

<p>The Corresponding Source need not include anything that users

can regenerate automatically from other parts of the Corresponding

Source.</p>

<p>The Corresponding Source for a work in source code form is that

same work.</p>

<h4><a name="section2"></a>2. Basic Permissions.</h4>

<p>All rights granted under this License are granted for the term of

copyright on the Program, and are irrevocable provided the stated

conditions are met.  This License explicitly affirms your unlimited

permission to run the unmodified Program.  The output from running a

covered work is covered by this License only if the output, given its

content, constitutes a covered work.  This License acknowledges your

rights of fair use or other equivalent, as provided by copyright law.</p>

<p>You may make, run and propagate covered works that you do not

convey, without conditions so long as your license otherwise remains

in force.  You may convey covered works to others for the sole purpose

of having them make modifications exclusively for you, or provide you

with facilities for running those works, provided that you comply with

the terms of this License in conveying all material for which you do

not control copyright.  Those thus making or running the covered works

for you must do so exclusively on your behalf, under your direction

and control, on terms that prohibit them from making any copies of

your copyrighted material outside their relationship with you.</p>

<p>Conveying under any other circumstances is permitted solely under

the conditions stated below.  Sublicensing is not allowed; section 10

makes it unnecessary.</p>

<h4><a name="section3"></a>3. Protecting Users' Legal Rights From Anti-Circumvention Law.</h4>

<p>No covered work shall be deemed part of an effective technological

measure under any applicable law fulfilling obligations under article

11 of the WIPO copyright treaty adopted on 20 December 1996, or

similar laws prohibiting or restricting circumvention of such

measures.</p>

<p>When you convey a covered work, you waive any legal power to forbid

circumvention of technological measures to the extent such circumvention

is effected by exercising rights under this License with respect to

the covered work, and you disclaim any intention to limit operation or

modification of the work as a means of enforcing, against the work's

users, your or third parties' legal rights to forbid circumvention of

technological measures.</p>

<h4><a name="section4"></a>4. Conveying Verbatim Copies.</h4>

<p>You may convey verbatim copies of the Program's source code as you

receive it, in any medium, provided that you conspicuously and

appropriately publish on each copy an appropriate copyright notice;

keep intact all notices stating that this License and any

non-permissive terms added in accord with section 7 apply to the code;

keep intact all notices of the absence of any warranty; and give all

recipients a copy of this License along with the Program.</p>

<p>You may charge any price or no price for each copy that you convey,

and you may offer support or warranty protection for a fee.</p>

<h4><a name="section5"></a>5. Conveying Modified Source Versions.</h4>

<p>You may convey a work based on the Program, or the modifications to

produce it from the Program, in the form of source code under the

terms of section 4, provided that you also meet all of these conditions:</p>

<ul>

<li>a) The work must carry prominent notices stating that you modified

    it, and giving a relevant date.</li>

<li>b) The work must carry prominent notices stating that it is

    released under this License and any conditions added under section

    7.  This requirement modifies the requirement in section 4 to

    “keep intact all notices”.</li>

<li>c) You must license the entire work, as a whole, under this

    License to anyone who comes into possession of a copy.  This

    License will therefore apply, along with any applicable section 7

    additional terms, to the whole of the work, and all its parts,

    regardless of how they are packaged.  This License gives no

    permission to license the work in any other way, but it does not

    invalidate such permission if you have separately received it.</li>

<li>d) If the work has interactive user interfaces, each must display

    Appropriate Legal Notices; however, if the Program has interactive

    interfaces that do not display Appropriate Legal Notices, your

    work need not make them do so.</li>

</ul>

<p>A compilation of a covered work with other separate and independent

works, which are not by their nature extensions of the covered work,

and which are not combined with it such as to form a larger program,

in or on a volume of a storage or distribution medium, is called an

“aggregate” if the compilation and its resulting copyright are not

used to limit the access or legal rights of the compilation's users

beyond what the individual works permit.  Inclusion of a covered work

in an aggregate does not cause this License to apply to the other

parts of the aggregate.</p>

<h4><a name="section6"></a>6. Conveying Non-Source Forms.</h4>

<p>You may convey a covered work in object code form under the terms

of sections 4 and 5, provided that you also convey the

machine-readable Corresponding Source under the terms of this License,

in one of these ways:</p>

<ul>

<li>a) Convey the object code in, or embodied in, a physical product

    (including a physical distribution medium), accompanied by the

    Corresponding Source fixed on a durable physical medium

    customarily used for software interchange.</li>

<li>b) Convey the object code in, or embodied in, a physical product

    (including a physical distribution medium), accompanied by a

    written offer, valid for at least three years and valid for as

    long as you offer spare parts or customer support for that product

    model, to give anyone who possesses the object code either (1) a

    copy of the Corresponding Source for all the software in the

    product that is covered by this License, on a durable physical

    medium customarily used for software interchange, for a price no

    more than your reasonable cost of physically performing this

    conveying of source, or (2) access to copy the

    Corresponding Source from a network server at no charge.</li>

<li>c) Convey individual copies of the object code with a copy of the

    written offer to provide the Corresponding Source.  This

    alternative is allowed only occasionally and noncommercially, and

    only if you received the object code with such an offer, in accord

    with subsection 6b.</li>

<li>d) Convey the object code by offering access from a designated

    place (gratis or for a charge), and offer equivalent access to the

    Corresponding Source in the same way through the same place at no

    further charge.  You need not require recipients to copy the

    Corresponding Source along with the object code.  If the place to

    copy the object code is a network server, the Corresponding Source

    may be on a different server (operated by you or a third party)

    that supports equivalent copying facilities, provided you maintain

    clear directions next to the object code saying where to find the

    Corresponding Source.  Regardless of what server hosts the

    Corresponding Source, you remain obligated to ensure that it is

    available for as long as needed to satisfy these requirements.</li>

<li>e) Convey the object code using peer-to-peer transmission, provided

    you inform other peers where the object code and Corresponding

    Source of the work are being offered to the general public at no

    charge under subsection 6d.</li>

</ul>

<p>A separable portion of the object code, whose source code is excluded

from the Corresponding Source as a System Library, need not be

included in conveying the object code work.</p>