amiro-os / README.txt @ 58fe0e0b
History | View | Annotate | Download (7.89 KB)
1 | 58fe0e0b | Thomas Schöpping | AMiRo-OS is the operating system for the base version of the |
---|---|---|---|
2 | Autonomous Mini Robot (AMiRo) [1,2]. It utilizes ChibiOS (a real-time |
||
3 | operating system for embedded devices developed by Giovanni di Sirio; |
||
4 | see <http://chibios.org>) as system kernel and extends it with |
||
5 | platform specific functionalities. |
||
6 | |||
7 | Copyright (C) 2016 Thomas Schöpping et al. |
||
8 | (a complete list of all authors is given below) |
||
9 | |||
10 | This program is free software: you can redistribute it and/or modify |
||
11 | it under the terms of the GNU General Public License as published by |
||
12 | the Free Software Foundation, either version 3 of the License, or (at |
||
13 | your option) any later version. |
||
14 | |||
15 | This program is distributed in the hope that it will be useful, but |
||
16 | WITHOUT ANY WARRANTY; without even the implied warranty of |
||
17 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
||
18 | General Public License for more details. |
||
19 | |||
20 | You should have received a copy of the GNU General Public License |
||
21 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
||
22 | |||
23 | The development of this software was supported by the Excellence |
||
24 | Cluster EXC 227 Cognitive Interaction Technology. The Excellence |
||
25 | Cluster EXC 227 is a grant of the Deutsche Forschungsgemeinschaft |
||
26 | (DFG) in the context of the German Excellence Initiative. |
||
27 | |||
28 | Authors: |
||
29 | - Thomas Schöpping <tschoepp[at]cit-ec.uni-bielefeld.de> |
||
30 | - Timo Korthals <tkorthals[at]cit-ec.uni-bielefeld.de> |
||
31 | - Stefan Herbechtsmeier <sherbrec[at]cit-ec.uni-bielefeld.de> |
||
32 | - Teerapat Chinapirom <tchinapirom[at]cit-ec.uni-bielefeld.de> |
||
33 | - Robert Abel |
||
34 | - Marvin Barther |
||
35 | - Claas Braun |
||
36 | - Tristan Kenneweg |
||
37 | |||
38 | References: |
||
39 | [1] Herbrechtsmeier S., Rückert U., & Sitte J. (2012). "AMiRo - |
||
40 | Autonomous Mini Robot for Research and Education". In Advances in |
||
41 | Autonomous Mini Robots (pp. 101-112). Springer Berlin |
||
42 | Heidelberg. |
||
43 | [2] Schöpping T., Korthals T., Herbrechtsmeier S., & Rückert U. |
||
44 | (2015). "AMiRo: A Mini Robot for Scientific Applications" In |
||
45 | Advances in Computational Intelligence (pp. 199-205). Springer |
||
46 | International Publishing. |
||
47 | |||
48 | |||
49 | |||
50 | ##################################################################### |
||
51 | # # |
||
52 | # RRRRRRRR EEEEEEEE AAA DDDDDDDD MM MM EEEEEEEE # |
||
53 | # RR RR EE AA AA DD DD MMM MMM EE # |
||
54 | # RR RR EE AA AA DD DD MMMM MMMM EE # |
||
55 | # RRRRRRRR EEEEEE AA AA DD DD MM MMM MM EEEEEE # |
||
56 | # RR RR EE AAAAAAAAA DD DD MM MM EE # |
||
57 | # RR RR EE AA AA DD DD MM MM EE # |
||
58 | # RR RR EEEEEEEE AA AA DDDDDDDD MM MM EEEEEEEE # |
||
59 | # # |
||
60 | ##################################################################### |
||
61 | |||
62 | This file will help you to setup all required software on your system, |
||
63 | compile the source code, and flash it to the AMiRo modules. |
||
64 | |||
65 | ===================================================================== |
||
66 | |||
67 | CONTENTS: |
||
68 | 1 Required software |
||
69 | 1.1 gcc-arm-none-eabi |
||
70 | 1.2 ChibiOS |
||
71 | 1.3 AMiRo-BLT |
||
72 | 2 Recommended software |
||
73 | 2.1 gtkterm and hterm |
||
74 | 2.2 QtCreator |
||
75 | 3 Building and flashing |
||
76 | |||
77 | ===================================================================== |
||
78 | |||
79 | 1 - REQUIRED SOFTWARE |
||
80 | --------------------- |
||
81 | |||
82 | In order to compile the source code, you need to install the GCC for |
||
83 | ARM embedded devices. Since AMiRo-OS requires ChibiOS as system |
||
84 | kernel, you need a copy of that project as well. Furthermore, AMiRo-OS |
||
85 | requires a compatible bootloader, such as provided by the AMiRo-BLT |
||
86 | project. |
||
87 | |||
88 | 1.1 gcc-arm-none-eabi |
||
89 | |||
90 | Various versions of the GCC for ARM embedded devices can be found at |
||
91 | <https://launchpad.net/gcc-arm-embedded>. It is highly recommended to |
||
92 | use the version 4.8 with update 2014-q1 since some others will cause |
||
93 | issues. For installation of the compiler toolchain, please follow the |
||
94 | instructions that can be found on the web page. |
||
95 | |||
96 | 1.2 ChibiOS |
||
97 | |||
98 | Since AMiRo-OS uses ChibiOS as underlying system kernel, you need to |
||
99 | acquire a copy of it as well. First, go to the directory which |
||
100 | contains the AMiRo-OS folder (but do not go into the AMiRo-OS |
||
101 | directory itself!). Now clone the GIT repository of ChibiOS and |
||
102 | checkout version 2.6.x: |
||
103 | >$ git clone https://github.com/ChibiOS/ChibiOS.git ChibiOS |
||
104 | >$ cd ChibiOS |
||
105 | >$ git checkout 2e6dfc7364e7551483922ea6afbaea8f3501ab0e |
||
106 | It is highly recommended to use exactly this commit. Although newer |
||
107 | commits in the 2.6.x branch might work fine, AMiRo-OS is not |
||
108 | compatible with ChibiOS version 3 or newer. |
||
109 | |||
110 | AMiRo-OS comes with some patches to ChibiOS, which must be applied as |
||
111 | well before compiling the project. Therefore you need to copy all |
||
112 | files from the ./patches directory of AMiRo-OS to the root directory |
||
113 | of ChibiOS. You can then apply the patches via the following command: |
||
114 | >$ for i in `ls | grep patch`; do git am --ignore-space-change --ignore-whitespace < ${i}; done |
||
115 | If the files could not be patched successfully, you are probably using |
||
116 | an incompatible version of ChibiOS (try to checkout the correct commit |
||
117 | as denoted above). |
||
118 | |||
119 | 1.3 AMiRo-BLT |
||
120 | |||
121 | AMiRo-BLT is an additional software project, which is developed in |
||
122 | parallel with AMiRo-OS. If you did not receive a copy of AMiRo-BLT |
||
123 | with AMiRo-OS, you can find all code and documentation at |
||
124 | <https://opensource.cit-ec.de/projects/amiro-os>. Instructions for |
||
125 | installation and how to use the software provided by AMiRo-BLT can be |
||
126 | found on the web page or in the project's readme file. |
||
127 | |||
128 | 2 - RECOMMENDED SOFTWARE |
||
129 | ------------------------ |
||
130 | |||
131 | In order to fully use all features of AMiRo-OS it is recommended to |
||
132 | install the 'hterm' or 'gtkterm' application for accessing the robot. |
||
133 | To ease further development, this project offers support for the |
||
134 | QtCreator IDE. |
||
135 | |||
136 | 2.1 - gtkterm and hterm |
||
137 | |||
138 | Depending on your operating system, it is recommended to install |
||
139 | 'gtkterm' for Linux (available in the Ubuntu repositories), or 'hterm' |
||
140 | for Windows. |
||
141 | For gtkterm you need to modify the configuration file ~/.gtktermrc (it |
||
142 | is generated automatically when you start the application for the |
||
143 | first time) as follows: |
||
144 | |||
145 | port = /dev/ttyUSB0 |
||
146 | speed = 115200 |
||
147 | bits = 8 |
||
148 | stopbits = 1 |
||
149 | parity = none |
||
150 | flow = none |
||
151 | wait_delay = 0 |
||
152 | wait_char = -1 |
||
153 | rs485_rts_time_before_tx = 30 |
||
154 | rs485_rts_time_after_tx = 30 |
||
155 | echo = False |
||
156 | crlfauto = True |
||
157 | |||
158 | For hterm you must need to configure the tool analogously. |
||
159 | |||
160 | 2.2 - QtCreator |
||
161 | |||
162 | In order to setup QtCreator projects for the three AMiRo base modules, |
||
163 | a script is provided in the directory ./ide/qtcreator/. It is |
||
164 | accompanied by an additional README.txt file, which contains further |
||
165 | information. |
||
166 | |||
167 | 3 - BUILDING AND FLASHING |
||
168 | ------------------------- |
||
169 | |||
170 | Each time you modify any part of AMiRo-OS, you need to recompile the |
||
171 | whole project for the according AMiRo module. Therefore you have to |
||
172 | use the makefiles provided in ./devices/<DeviceToRecompile>/ by simply |
||
173 | executing 'make' in the according directory. If you want to compile |
||
174 | all modules at once, you can also use the makefile in the ./devices/ |
||
175 | folder. |
||
176 | |||
177 | After compilation, you always have to flash the generated program to |
||
178 | the robot. Therefore you need to install the SerialBoot tool provided |
||
179 | by the AMiRo-BLT project. Furthermore the tool must be accessible |
||
180 | globally under the environment variable 'SERIALBOOT'. You can do this |
||
181 | by appending the following line to your ~/.bashrc file: |
||
182 | |||
183 | export SERIALBOOT=</absolute/path/to/the/SerialBoot/binary> |
||
184 | |||
185 | You can test the tool by calling it via the variable: |
||
186 | >$ ${SERIALBOOT} |
||
187 | This should print some information about the tool. |
||
188 | Similar to the compilation procedure as described above, you can flash |
||
189 | either each module separately, or all modules at once by executing |
||
190 | 'make flash' from the according directory. |
||
191 | Note that you must connect the programming cable either to the |
||
192 | DiWheelDrive or the PowerManagement module for flashing the operating |
||
193 | system. All other modules are powered off after reset so that only |
||
194 | these two offer a bootloader that is required for flashing. |
||
195 | |||
196 | ===================================================================== |