amiro-os / README.txt @ e5606def
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1 | 3dcad54e | Thomas Schöpping | AMiRo-OS is the operating system for the base version of the Autonomous Mini |
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2 | Robot (AMiRo) [1]. It utilizes ChibiOS (a real-time operating system for |
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3 | embedded devices developed by Giovanni di Sirio; see <http://chibios.org>) as |
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4 | system kernel and extends it with platform specific functionalities. |
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5 | 58fe0e0b | Thomas Schöpping | |
6 | 3dcad54e | Thomas Schöpping | Copyright (C) 2016..2017 Thomas Schöpping et al. |
7 | 58fe0e0b | Thomas Schöpping | (a complete list of all authors is given below) |
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9 | This program is free software: you can redistribute it and/or modify |
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10 | it under the terms of the GNU General Public License as published by |
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11 | the Free Software Foundation, either version 3 of the License, or (at |
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12 | your option) any later version. |
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13 | |||
14 | This program is distributed in the hope that it will be useful, but |
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15 | WITHOUT ANY WARRANTY; without even the implied warranty of |
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16 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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17 | General Public License for more details. |
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18 | |||
19 | You should have received a copy of the GNU General Public License |
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20 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
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21 | |||
22 | 074e10d7 | Thomas Schöpping | This research/work was supported by the Cluster of Excellence |
23 | Cognitive Interaction Technology 'CITEC' (EXC 277) at Bielefeld |
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24 | University, which is funded by the German Research Foundation (DFG). |
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25 | 58fe0e0b | Thomas Schöpping | |
26 | Authors: |
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27 | - Thomas Schöpping <tschoepp[at]cit-ec.uni-bielefeld.de> |
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28 | - Timo Korthals <tkorthals[at]cit-ec.uni-bielefeld.de> |
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29 | b0675b0b | Thomas Schöpping | - Stefan Herbrechtsmeier <sherbrec[at]cit-ec.uni-bielefeld.de> |
30 | 58fe0e0b | Thomas Schöpping | - Teerapat Chinapirom <tchinapirom[at]cit-ec.uni-bielefeld.de> |
31 | - Robert Abel |
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32 | - Marvin Barther |
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33 | - Claas Braun |
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34 | - Tristan Kenneweg |
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35 | |||
36 | References: |
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37 | 3dcad54e | Thomas Schöpping | [1] S. Herbrechtsmeier, T. Korthals, T. Schopping and U. Rückert, "AMiRo: A |
38 | modular & customizable open-source mini robot platform," 2016 20th |
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39 | International Conference on System Theory, Control and Computing (ICSTCC), |
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40 | Sinaia, 2016, pp. 687-692. |
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41 | |||
42 | |||
43 | |||
44 | ################################################################################ |
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45 | # # |
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46 | # RRRRRRRR EEEEEEEE AAA DDDDDDDD MM MM EEEEEEEE # |
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47 | # RR RR EE AA AA DD DD MMM MMM EE # |
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48 | # RR RR EE AA AA DD DD MMMM MMMM EE # |
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49 | # RRRRRRRR EEEEEE AA AA DD DD MM MMM MM EEEEEE # |
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50 | # RR RR EE AAAAAAAAA DD DD MM MM EE # |
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51 | # RR RR EE AA AA DD DD MM MM EE # |
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52 | # RR RR EEEEEEEE AA AA DDDDDDDD MM MM EEEEEEEE # |
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53 | # # |
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54 | ################################################################################ |
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55 | |||
56 | This file will help you to setup all required software on your system, compile |
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57 | the source code, and flash it to the AMiRo modules. |
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58 | |||
59 | ================================================================================ |
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60 | 58fe0e0b | Thomas Schöpping | |
61 | CONTENTS: |
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62 | 1 Required software |
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63 | ea4d1c60 | Thomas Schöpping | 1.1 Git |
64 | 1.2 GCC ARM Embedded Toolchain |
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65 | 1.3 ChibiOS |
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66 | 1.4 AMiRo-BLT |
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67 | 58fe0e0b | Thomas Schöpping | 2 Recommended software |
68 | 2.1 gtkterm and hterm |
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69 | 2.2 QtCreator |
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70 | 3 Building and flashing |
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71 | |||
72 | 3dcad54e | Thomas Schöpping | ================================================================================ |
73 | |||
74 | |||
75 | 58fe0e0b | Thomas Schöpping | |
76 | 1 - REQUIRED SOFTWARE |
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77 | --------------------- |
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78 | |||
79 | 3dcad54e | Thomas Schöpping | In order to compile the source code, you need to install the GCC for ARM |
80 | embedded devices. Since AMiRo-OS requires ChibiOS as system kernel, you need a |
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81 | copy of that project as well. Furthermore, AMiRo-OS requires a compatible |
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82 | bootloader, such as provided by the AMiRo-BLT project. |
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83 | |||
84 | |||
85 | ea4d1c60 | Thomas Schöpping | 1.1 - Git |
86 | --------- |
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87 | |||
88 | Since all main- and subprojects are available as Git repositories, installing a |
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89 | recent version of the tool is mandatory. |
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90 | |||
91 | |||
92 | 1.2 GCC ARM Embedded Toolchain |
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93 | 3dcad54e | Thomas Schöpping | ------------------------------ |
94 | 58fe0e0b | Thomas Schöpping | |
95 | Various versions of the GCC for ARM embedded devices can be found at |
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96 | 3dcad54e | Thomas Schöpping | <https://launchpad.net/gcc-arm-embedded>. It is highly recommended to use the |
97 | version 4.8 with update 2014-q1 since some others will cause issues. For |
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98 | installation of the compiler toolchain, please follow the instructions that can |
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99 | be found on the web page. |
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100 | |||
101 | ea4d1c60 | Thomas Schöpping | If you are running a 64-bit operating system, you will have to install several |
102 | 32-bit libraries in order to make the compiler work. The required packages are |
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103 | libc6, libstdc++6, and libncurses5. You can run the following shell commands to |
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104 | install the according 32-bit versions of the packages: |
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105 | >$ sudo dpkg --add-architecture i386 && sudo apt-get update |
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106 | >$ sudo apt-get install libc6:i386 libstdc++6:i386 libncurses5:i386 |
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107 | |||
108 | 58fe0e0b | Thomas Schöpping | |
109 | ea4d1c60 | Thomas Schöpping | 1.3 ChibiOS |
110 | 3dcad54e | Thomas Schöpping | ----------- |
111 | 58fe0e0b | Thomas Schöpping | |
112 | 3dcad54e | Thomas Schöpping | Since AMiRo-OS uses ChibiOS as underlying system kernel, you need to acquire a |
113 | copy of it as well. First, go to the directory which contains the AMiRo-OS |
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114 | folder (but do not go into the AMiRo-OS directory itself!). Now clone the GIT |
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115 | 4270bbde | Bastian Steinhagen | repository of ChibiOS and checkout version 2.6.8: |
116 | 58fe0e0b | Thomas Schöpping | >$ git clone https://github.com/ChibiOS/ChibiOS.git ChibiOS |
117 | >$ cd ChibiOS |
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118 | 4270bbde | Bastian Steinhagen | >$ git checkout ver_2.6.8 |
119 | 3dcad54e | Thomas Schöpping | It is highly recommended to use exactly this commit. Although newer commits in |
120 | the 2.6.x branch might work fine, AMiRo-OS is not compatible with ChibiOS |
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121 | version 3 or newer. |
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122 | |||
123 | AMiRo-OS comes with some patches to ChibiOS, which must be applied as well |
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124 | before compiling the project. Therefore you need to copy all files from the |
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125 | ./patches directory of AMiRo-OS to the root directory of ChibiOS. You can then |
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126 | apply the patches via the following command: |
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127 | 58fe0e0b | Thomas Schöpping | >$ for i in `ls | grep patch`; do git am --ignore-space-change --ignore-whitespace < ${i}; done |
128 | 3dcad54e | Thomas Schöpping | If the files could not be patched successfully, you are probably using an |
129 | incompatible version of ChibiOS (try to checkout the correct commit as denoted |
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130 | above). |
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131 | |||
132 | 58fe0e0b | Thomas Schöpping | |
133 | ea4d1c60 | Thomas Schöpping | 1.4 AMiRo-BLT |
134 | 3dcad54e | Thomas Schöpping | ------------- |
135 | |||
136 | AMiRo-BLT is an additional software project, which is developed in parallel with |
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137 | AMiRo-OS. If you did not receive a copy of AMiRo-BLT with AMiRo-OS, you can find |
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138 | all code and documentation at <https://opensource.cit-ec.de/projects/amiro-os>. |
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139 | Instructions for installation and how to use the software provided by AMiRo-BLT |
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140 | 6fd5a427 | Thomas Schöpping | can be found on the web page or in the project's readme file. It is highly |
141 | recommended to install AMiRo-BLT in the same directory as AMiRo-OS and ChibiOS |
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142 | and name its root directory 'amiro-blt'. |
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143 | 3dcad54e | Thomas Schöpping | |
144 | 58fe0e0b | Thomas Schöpping | |
145 | |||
146 | 2 - RECOMMENDED SOFTWARE |
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147 | ------------------------ |
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148 | |||
149 | 3dcad54e | Thomas Schöpping | In order to fully use all features of AMiRo-OS it is recommended to install the |
150 | 'hterm' or 'gtkterm' application for accessing the robot. To ease further |
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151 | development, this project offers support for the QtCreator IDE. |
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152 | |||
153 | 58fe0e0b | Thomas Schöpping | |
154 | 2.1 - gtkterm and hterm |
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155 | 3dcad54e | Thomas Schöpping | ----------------------- |
156 | 58fe0e0b | Thomas Schöpping | |
157 | 3dcad54e | Thomas Schöpping | Depending on your operating system, it is recommended to install 'gtkterm' for |
158 | Linux (available in the Ubuntu repositories), or 'hterm' for Windows. For |
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159 | gtkterm you need to modify the configuration file ~/.gtktermrc (it is generated |
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160 | automatically when you start the application for the first time) as follows: |
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161 | 58fe0e0b | Thomas Schöpping | |
162 | port = /dev/ttyUSB0 |
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163 | speed = 115200 |
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164 | bits = 8 |
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165 | stopbits = 1 |
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166 | parity = none |
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167 | flow = none |
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168 | wait_delay = 0 |
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169 | wait_char = -1 |
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170 | rs485_rts_time_before_tx = 30 |
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171 | rs485_rts_time_after_tx = 30 |
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172 | echo = False |
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173 | crlfauto = True |
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174 | |||
175 | For hterm you must need to configure the tool analogously. |
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176 | |||
177 | 3dcad54e | Thomas Schöpping | |
178 | 58fe0e0b | Thomas Schöpping | 2.2 - QtCreator |
179 | 3dcad54e | Thomas Schöpping | --------------- |
180 | |||
181 | In order to setup QtCreator projects for the three AMiRo base modules, a script |
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182 | is provided in the directory ./ide/qtcreator/. It is accompanied by an |
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183 | additional README.txt file, which contains further information. |
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184 | |||
185 | 58fe0e0b | Thomas Schöpping | |
186 | |||
187 | 3 - BUILDING AND FLASHING |
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188 | ------------------------- |
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189 | |||
190 | 3dcad54e | Thomas Schöpping | Each time you modify any part of AMiRo-OS, you need to recompile the whole |
191 | project for the according AMiRo module. Therefore you have to use the makefiles |
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192 | provided in ./devices/<DeviceToRecompile>/ by simply executing 'make' in the |
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193 | according directory. If you want to compile all modules at once, you can also |
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194 | use the makefile in the ./devices/ folder. |
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195 | 58fe0e0b | Thomas Schöpping | |
196 | 3dcad54e | Thomas Schöpping | After compilation, you always have to flash the generated program to the robot. |
197 | Therefore you need to install the SerialBoot tool provided by the AMiRo-BLT |
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198 | 6fd5a427 | Thomas Schöpping | project. By default AMiRo-OS assumes AMiRo-BLT to be installed in the same |
199 | folder and its root directory to be named 'amiro-blt'. If this is the case, it |
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200 | will automatically detect the SerialBoot tool. Otherwise the tool must be |
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201 | accessible globally under the environment variable 'SERIALBOOT'. You can make |
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202 | it so by appending the following line to your ~/.bashrc file: |
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203 | 58fe0e0b | Thomas Schöpping | |
204 | export SERIALBOOT=</absolute/path/to/the/SerialBoot/binary> |
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205 | |||
206 | You can test the tool by calling it via the variable: |
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207 | >$ ${SERIALBOOT} |
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208 | This should print some information about the tool. |
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209 | |||
210 | 3dcad54e | Thomas Schöpping | Similar to the compilation procedure as described above, you can flash either |
211 | each module separately, or all modules at once by executing 'make flash' from |
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212 | the according directory. Note that you must connect the programming cable either |
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213 | to the DiWheelDrive or the PowerManagement module for flashing the operating |
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214 | system. All other modules are powered off after reset so that only these two |
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215 | offer a bootloader that is required for flashing. |
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216 | 58fe0e0b | Thomas Schöpping | |
217 | 3dcad54e | Thomas Schöpping | ================================================================================ |