AMiRo-OS is an operating system for the base version of the Autonomous Mini Robot (AMiRo) [1]. It utilizes ChibiOS (a real-time operating system for embedded devices developed by Giovanni di Sirio; see ) as system kernel and extends it with platform specific configurations and further functionalities and abstractions. Copyright (C) 2016..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 . 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 - 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 1.1 Git 1.2 Bootloader & Tools 1.3 System Kernel 1.4 Low-Level Drivers 2 Recommended software 2.1 gtkterm and hterm 2.2 QtCreator IDE 2.3 Doxygen & Graphviz 3 Building and flashing ================================================================================ 1 - REQUIRED SOFTWARE --------------------- In order to compile the source code, you need to install the GNU ARM Embedded Toolchain. Since this project uses GNU Make for configuring and calling the compiler, this tool is requried too. AMiRo-OS uses ChibiOS as system kernel, so you need a copy of that project as well. 1.1 - Git --------- Since all main- and subprojects are available as Git repositories, installing a recent version of the tool is mandatory. 1.2 Bootloader & Tools ---------------------- AMiRo-OS can take advantage of an installed bootloader if such exists and provides an interface. By default, AMiRo-BLT is included as a Git submodule and can easily be initialized via the ./setup.sh script. If requried, you can replace the used bootloader by adding an according subfolder in the ./bootloader directory. Note that you will have to adapt the makefiles and scripts, and probably the operating system as well. AMiRo-BLT furthermore has its own required and recommended software tools as described in its README.txt file. Follow th instructions to initialize the development environment manually or use the ./setup.sh script. 1.3 System Kernel ----------------- Since AMiRo-OS uses ChibiOS as underlying system kernel, you need to acquire a copy of it as well. For the sake of compatibility, it is included in AMiRo-OS as a Git submodule. It is highly recommended to use the ./setup.sh script for initialization. Moreover, you have to apply the patches to ChibiOS in order to make AMiRo-OS work properly. It is recommended to use the .setup.sh script for this purpose. If you would like to use a different kernel, you can add a subfolder in the ./kernel/ directory and adapt the scripts and operating system source code. 1.4 Low-Level Drivers --------------------- Any required low-level drivers for the AMiRo hardware is available in an additional project: AMiRo-LLD. It is included as a Git subodule and can be initialized via the ./setup.sh script. 2 - RECOMMENDED SOFTWARE ------------------------ AMiRo-OS can take advanatge of an installed bootloader, which is recommended for the best experience. In order to use all features of AMiRo-OS it is also recommended to install either the 'hterm' or 'gtkterm' application for accessing the robot. To ease further development, this project offers support for the QtCreator IDE. 2.1 - gtkterm and hterm ----------------------- Depending on your operating system it is recommended to install 'gtkterm' for Linux (available in the Ubuntu repositories), or 'hterm' for Windows. For gtkterm you need to modify the configuration file ~/.gtktermrc (generated automatically when you start the application for the first time) as follows: port = /dev/ttyAMiRo0 speed = 115200 bits = 8 stopbits = 1 parity = none flow = none wait_delay = 0 wait_char = -1 rs485_rts_time_before_tx = 30 rs485_rts_time_after_tx = 30 echo = False crlfauto = True For hterm you need to configure the tool analogously. With either tool the robot can be reset by toggling the RTS signal on and off again, and you can access the system shell of AMiRo-OS. If you need legacy support for older version of AMiRo-BLT, you can replace the port value by '/dev/ttyUSB0'. 2.2 - QtCreator IDE ------------------- In order to setup QtCreator projects for the three AMiRo base modules, you can use the provided ./setup.sh script. Further instructions for a more advanced configuration of the IDE are provided in the ./tools/qtcreator/README.txt file. 2.3 Doxygen & Graphviz ----------------------- In order to generate the documentation from the source code, Doxygen and Graphviz are requried. It is recommended to install these tool using the default versions for your system. Ubuntu users should simply run >$ sudo apt-get install doxygen graphviz 3 - BUILDING AND FLASHING ------------------------- Each time you modify any part of AMiRo-OS, you need to recompile the whole project for the according AMiRo module. Therefore you can use the ./Makefile by simply executing 'make' and follow the instructions. Alternatively, you can either use the makefiles provided per module in ./os/modules/ or - if you want to compile all modules at once - the makefile in the ./os/modules folder. After the build process has finished successfully, you always have to flash the generated program to the robot. Therefore you need an appropriate tool, such as stm32flash (if you don't use a bootloader) or SerialBoot (highly recommended; provided by AMiRo-BLT). Similarly to the compilation procedure as described above, you can flash either each module separately, or all modules at once by executing 'make flash' from the according directory. When using SerialBoot, please note that you must connect the programming cable either to the DiWheelDrive or the PowerManagement module for flashing the operating system. All other modules are powered off after reset so that only these two offer a running bootloader, which is required for flashing. ================================================================================