AMiRo-OS

AMiRo-OS is the operating system for the base version of the

Autonomous Mini Robot (AMiRo) [1,2]. It utilizes ChibiOS (a real-time

operating system for embedded devices developed by Giovanni di Sirio;

see <http://chibios.org>) as system kernel and extends it with

platform specific functionalities.

Copyright (C) 2016  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>

 - Timo Korthals           <tkorthals[at]cit-ec.uni-bielefeld.de>

 - Stefan Herbechtsmeier   <sherbrec[at]cit-ec.uni-bielefeld.de>

 - Teerapat Chinapirom     <tchinapirom[at]cit-ec.uni-bielefeld.de>

 - Robert Abel

 - Marvin Barther

 - Claas Braun

 - Tristan Kenneweg

References:

 [1] Herbrechtsmeier S., Rückert U., & Sitte J. (2012). "AMiRo -

     Autonomous Mini Robot for Research and Education". In Advances in

     Autonomous Mini Robots (pp. 101-112). Springer Berlin

     Heidelberg.

 [2] Schöpping T., Korthals T., Herbrechtsmeier S., & Rückert U.

     (2015). "AMiRo: A Mini Robot for Scientific Applications" In

     Advances in Computational Intelligence (pp. 199-205). Springer

     International Publishing.

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

#                                                                   #

#     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  gcc-arm-none-eabi

   1.2  ChibiOS

   1.3  AMiRo-BLT

 2  Recommended software

   2.1  gtkterm and hterm

   2.2  QtCreator

 3  Building and flashing

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

1 - REQUIRED SOFTWARE

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

In order to compile the source code, you need to install the GCC for

ARM embedded devices. Since AMiRo-OS requires ChibiOS as system

kernel, you need a copy of that project as well. Furthermore, AMiRo-OS

requires a compatible bootloader, such as provided by the AMiRo-BLT

project.

1.1 gcc-arm-none-eabi

Various versions of the GCC for ARM embedded devices can be found at

<https://launchpad.net/gcc-arm-embedded>. It is highly recommended to

use the version 4.8 with update 2014-q1 since some others will cause

issues. For installation of the compiler toolchain, please follow the

instructions that can be found on the web page.

1.2 ChibiOS

Since AMiRo-OS uses ChibiOS as underlying system kernel, you need to

acquire a copy of it as well. First, go to the directory which

contains the AMiRo-OS folder (but do not go into the AMiRo-OS

directory itself!). Now clone the GIT repository of ChibiOS and

checkout version 2.6.x:

  >$ git clone https://github.com/ChibiOS/ChibiOS.git ChibiOS

  >$ cd ChibiOS

  >$ git checkout 2e6dfc7364e7551483922ea6afbaea8f3501ab0e

It is highly recommended to use exactly this commit. Although newer

commits in the 2.6.x branch might work fine, AMiRo-OS is not

compatible with ChibiOS version 3 or newer.

AMiRo-OS comes with some patches to ChibiOS, which must be applied as

well before compiling the project. Therefore you need to copy all

files from the ./patches directory of AMiRo-OS to the root directory

of ChibiOS. You can then apply the patches via the following command:

  >$ for i in `ls | grep patch`; do git am --ignore-space-change --ignore-whitespace < ${i}; done

If the files could not be patched successfully, you are probably using

an incompatible version of ChibiOS (try to checkout the correct commit

as denoted above).

1.3 AMiRo-BLT

AMiRo-BLT is an additional software project, which is developed in

parallel with AMiRo-OS. If you did not receive a copy of AMiRo-BLT

with AMiRo-OS, you can find all code and documentation at

<https://opensource.cit-ec.de/projects/amiro-os>. Instructions for

installation and how to use the software provided by AMiRo-BLT can be

found on the web page or in the project's readme file.

2 - RECOMMENDED SOFTWARE

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

In order to fully use all features of AMiRo-OS it is recommended to

install 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 (it

is generated automatically when you start the application for the

first time) as follows:

  port	= /dev/ttyUSB0

  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 must need to configure the tool analogously.

2.2 - QtCreator

In order to setup QtCreator projects for the three AMiRo base modules,

a script is provided in the directory ./ide/qtcreator/. It is

accompanied by an additional README.txt file, which contains further

information.

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 have to

use the makefiles provided in ./devices/<DeviceToRecompile>/ by simply

executing 'make' in the according directory. If you want to compile

all modules at once, you can also use the makefile in the ./devices/

folder.

After compilation, you always have to flash the generated program to

the robot. Therefore you need to install the SerialBoot tool provided

by the AMiRo-BLT project. Furthermore the tool must be accessible

globally under the environment variable 'SERIALBOOT'. You can do this

by appending the following line to your ~/.bashrc file:

  export SERIALBOOT=</absolute/path/to/the/SerialBoot/binary>

You can test the tool by calling it via the variable:

  >$ ${SERIALBOOT}

This should print some information about the tool.

Similar 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.

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 bootloader that is required for flashing.

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