amiro-os / README.txt @ 10687985
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1 | 58fe0e0b | Thomas Schöpping | AMiRo-OS is the operating system for the base version of the |
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2 | Autonomous Mini Robot (AMiRo) [1,2]. It utilizes ChibiOS (a real-time |
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3 | operating system for embedded devices developed by Giovanni di Sirio; |
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4 | see <http://chibios.org>) as system kernel and extends it with |
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5 | platform specific functionalities. |
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6 | |||
7 | Copyright (C) 2016 Thomas Schöpping et al. |
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8 | (a complete list of all authors is given below) |
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9 | |||
10 | This program is free software: you can redistribute it and/or modify |
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11 | it under the terms of the GNU General Public License as published by |
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12 | the Free Software Foundation, either version 3 of the License, or (at |
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13 | your option) any later version. |
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14 | |||
15 | This program is distributed in the hope that it will be useful, but |
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16 | WITHOUT ANY WARRANTY; without even the implied warranty of |
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17 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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18 | General Public License for more details. |
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19 | |||
20 | You should have received a copy of the GNU General Public License |
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21 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
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22 | |||
23 | 074e10d7 | Thomas Schöpping | This research/work was supported by the Cluster of Excellence |
24 | Cognitive Interaction Technology 'CITEC' (EXC 277) at Bielefeld |
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25 | University, which is funded by the German Research Foundation (DFG). |
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26 | 58fe0e0b | Thomas Schöpping | |
27 | Authors: |
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28 | - Thomas Schöpping <tschoepp[at]cit-ec.uni-bielefeld.de> |
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29 | - Timo Korthals <tkorthals[at]cit-ec.uni-bielefeld.de> |
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30 | - Stefan Herbechtsmeier <sherbrec[at]cit-ec.uni-bielefeld.de> |
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31 | - Teerapat Chinapirom <tchinapirom[at]cit-ec.uni-bielefeld.de> |
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32 | - Robert Abel |
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33 | - Marvin Barther |
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34 | - Claas Braun |
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35 | - Tristan Kenneweg |
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36 | |||
37 | References: |
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38 | [1] Herbrechtsmeier S., Rückert U., & Sitte J. (2012). "AMiRo - |
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39 | Autonomous Mini Robot for Research and Education". In Advances in |
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40 | Autonomous Mini Robots (pp. 101-112). Springer Berlin |
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41 | Heidelberg. |
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42 | [2] Schöpping T., Korthals T., Herbrechtsmeier S., & Rückert U. |
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43 | (2015). "AMiRo: A Mini Robot for Scientific Applications" In |
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44 | Advances in Computational Intelligence (pp. 199-205). Springer |
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45 | International Publishing. |
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46 | |||
47 | |||
48 | |||
49 | ##################################################################### |
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50 | # # |
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51 | # RRRRRRRR EEEEEEEE AAA DDDDDDDD MM MM EEEEEEEE # |
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52 | # RR RR EE AA AA DD DD MMM MMM EE # |
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53 | # RR RR EE AA AA DD DD MMMM MMMM EE # |
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54 | # RRRRRRRR EEEEEE AA AA DD DD MM MMM MM EEEEEE # |
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55 | # RR RR EE AAAAAAAAA DD DD MM MM EE # |
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56 | # RR RR EE AA AA DD DD MM MM EE # |
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57 | # RR RR EEEEEEEE AA AA DDDDDDDD MM MM EEEEEEEE # |
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58 | # # |
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59 | ##################################################################### |
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60 | |||
61 | This file will help you to setup all required software on your system, |
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62 | compile the source code, and flash it to the AMiRo modules. |
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63 | |||
64 | ===================================================================== |
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65 | |||
66 | CONTENTS: |
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67 | 1 Required software |
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68 | 1.1 gcc-arm-none-eabi |
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69 | 1.2 ChibiOS |
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70 | 1.3 AMiRo-BLT |
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71 | 2 Recommended software |
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72 | 2.1 gtkterm and hterm |
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73 | 2.2 QtCreator |
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74 | 3 Building and flashing |
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75 | |||
76 | ===================================================================== |
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77 | |||
78 | 1 - REQUIRED SOFTWARE |
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79 | --------------------- |
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80 | |||
81 | In order to compile the source code, you need to install the GCC for |
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82 | ARM embedded devices. Since AMiRo-OS requires ChibiOS as system |
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83 | kernel, you need a copy of that project as well. Furthermore, AMiRo-OS |
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84 | requires a compatible bootloader, such as provided by the AMiRo-BLT |
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85 | project. |
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86 | |||
87 | 1.1 gcc-arm-none-eabi |
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88 | |||
89 | Various versions of the GCC for ARM embedded devices can be found at |
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90 | <https://launchpad.net/gcc-arm-embedded>. It is highly recommended to |
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91 | use the version 4.8 with update 2014-q1 since some others will cause |
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92 | issues. For installation of the compiler toolchain, please follow the |
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93 | instructions that can be found on the web page. |
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94 | |||
95 | 1.2 ChibiOS |
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96 | |||
97 | Since AMiRo-OS uses ChibiOS as underlying system kernel, you need to |
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98 | acquire a copy of it as well. First, go to the directory which |
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99 | contains the AMiRo-OS folder (but do not go into the AMiRo-OS |
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100 | directory itself!). Now clone the GIT repository of ChibiOS and |
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101 | checkout version 2.6.x: |
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102 | >$ git clone https://github.com/ChibiOS/ChibiOS.git ChibiOS |
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103 | >$ cd ChibiOS |
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104 | >$ git checkout 2e6dfc7364e7551483922ea6afbaea8f3501ab0e |
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105 | It is highly recommended to use exactly this commit. Although newer |
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106 | commits in the 2.6.x branch might work fine, AMiRo-OS is not |
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107 | compatible with ChibiOS version 3 or newer. |
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108 | |||
109 | AMiRo-OS comes with some patches to ChibiOS, which must be applied as |
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110 | well before compiling the project. Therefore you need to copy all |
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111 | files from the ./patches directory of AMiRo-OS to the root directory |
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112 | of ChibiOS. You can then apply the patches via the following command: |
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113 | >$ for i in `ls | grep patch`; do git am --ignore-space-change --ignore-whitespace < ${i}; done |
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114 | If the files could not be patched successfully, you are probably using |
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115 | an incompatible version of ChibiOS (try to checkout the correct commit |
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116 | as denoted above). |
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117 | |||
118 | 1.3 AMiRo-BLT |
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119 | |||
120 | AMiRo-BLT is an additional software project, which is developed in |
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121 | parallel with AMiRo-OS. If you did not receive a copy of AMiRo-BLT |
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122 | with AMiRo-OS, you can find all code and documentation at |
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123 | <https://opensource.cit-ec.de/projects/amiro-os>. Instructions for |
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124 | installation and how to use the software provided by AMiRo-BLT can be |
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125 | found on the web page or in the project's readme file. |
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126 | |||
127 | 2 - RECOMMENDED SOFTWARE |
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128 | ------------------------ |
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129 | |||
130 | In order to fully use all features of AMiRo-OS it is recommended to |
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131 | install the 'hterm' or 'gtkterm' application for accessing the robot. |
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132 | To ease further development, this project offers support for the |
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133 | QtCreator IDE. |
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134 | |||
135 | 2.1 - gtkterm and hterm |
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136 | |||
137 | Depending on your operating system, it is recommended to install |
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138 | 'gtkterm' for Linux (available in the Ubuntu repositories), or 'hterm' |
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139 | for Windows. |
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140 | For gtkterm you need to modify the configuration file ~/.gtktermrc (it |
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141 | is generated automatically when you start the application for the |
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142 | first time) as follows: |
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143 | |||
144 | port = /dev/ttyUSB0 |
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145 | speed = 115200 |
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146 | bits = 8 |
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147 | stopbits = 1 |
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148 | parity = none |
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149 | flow = none |
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150 | wait_delay = 0 |
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151 | wait_char = -1 |
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152 | rs485_rts_time_before_tx = 30 |
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153 | rs485_rts_time_after_tx = 30 |
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154 | echo = False |
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155 | crlfauto = True |
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156 | |||
157 | For hterm you must need to configure the tool analogously. |
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158 | |||
159 | 2.2 - QtCreator |
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160 | |||
161 | In order to setup QtCreator projects for the three AMiRo base modules, |
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162 | a script is provided in the directory ./ide/qtcreator/. It is |
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163 | accompanied by an additional README.txt file, which contains further |
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164 | information. |
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165 | |||
166 | 3 - BUILDING AND FLASHING |
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167 | ------------------------- |
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168 | |||
169 | Each time you modify any part of AMiRo-OS, you need to recompile the |
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170 | whole project for the according AMiRo module. Therefore you have to |
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171 | use the makefiles provided in ./devices/<DeviceToRecompile>/ by simply |
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172 | executing 'make' in the according directory. If you want to compile |
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173 | all modules at once, you can also use the makefile in the ./devices/ |
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174 | folder. |
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175 | |||
176 | After compilation, you always have to flash the generated program to |
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177 | the robot. Therefore you need to install the SerialBoot tool provided |
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178 | by the AMiRo-BLT project. Furthermore the tool must be accessible |
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179 | globally under the environment variable 'SERIALBOOT'. You can do this |
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180 | by appending the following line to your ~/.bashrc file: |
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181 | |||
182 | export SERIALBOOT=</absolute/path/to/the/SerialBoot/binary> |
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183 | |||
184 | You can test the tool by calling it via the variable: |
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185 | >$ ${SERIALBOOT} |
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186 | This should print some information about the tool. |
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187 | Similar to the compilation procedure as described above, you can flash |
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188 | either each module separately, or all modules at once by executing |
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189 | 'make flash' from the according directory. |
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190 | Note that you must connect the programming cable either to the |
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191 | DiWheelDrive or the PowerManagement module for flashing the operating |
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192 | system. All other modules are powered off after reset so that only |
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193 | these two offer a bootloader that is required for flashing. |
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194 | |||
195 | ===================================================================== |