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AMiRo-OS is the operating system for the base version of the Autonomous Mini
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Robot (AMiRo) [1]. It utilizes ChibiOS (a real-time operating system for
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embedded devices developed by Giovanni di Sirio; see <http://chibios.org>) as
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system kernel and extends it with platform specific functionalities.
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Copyright (C) 2016..2017  Thomas Schöpping et al.
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(a complete list of all authors is given below)
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or (at
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your option) any later version.
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This program is distributed in the hope that it will be useful, but
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WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program.  If not, see <http://www.gnu.org/licenses/>.
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This research/work was supported by the Cluster of Excellence
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Cognitive Interaction Technology 'CITEC' (EXC 277) at Bielefeld
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University, which is funded by the German Research Foundation (DFG).
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Authors:
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 - Thomas Schöpping        <tschoepp[at]cit-ec.uni-bielefeld.de>
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 - Timo Korthals           <tkorthals[at]cit-ec.uni-bielefeld.de>
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 - Stefan Herbrechtsmeier  <sherbrec[at]cit-ec.uni-bielefeld.de>
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 - Teerapat Chinapirom     <tchinapirom[at]cit-ec.uni-bielefeld.de>
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 - Robert Abel
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 - Marvin Barther
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 - Claas Braun
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 - Tristan Kenneweg
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References:
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 [1] S. Herbrechtsmeier, T. Korthals, T. Schopping and U. Rückert, "AMiRo: A
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     modular & customizable open-source mini robot platform," 2016 20th
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     International Conference on System Theory, Control and Computing (ICSTCC),
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     Sinaia, 2016, pp. 687-692.
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################################################################################
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#                                                                              #
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#        RRRRRRRR   EEEEEEEE     AAA     DDDDDDDD   MM     MM  EEEEEEEE        #
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#        RRRRRRRR   EEEEEE    AA     AA  DD     DD  MM MMM MM  EEEEEE          #
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#        RR   RR    EE        AAAAAAAAA  DD     DD  MM     MM  EE              #
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#        RR     RR  EEEEEEEE  AA     AA  DDDDDDDD   MM     MM  EEEEEEEE        #
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#                                                                              #
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################################################################################
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This file will help you to setup all required software on your system, compile
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the source code, and flash it to the AMiRo modules.
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================================================================================
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CONTENTS:
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 1  Required software
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   1.1  Git
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   1.2  GCC ARM Embedded Toolchain
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   1.3  ChibiOS
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   1.4  AMiRo-BLT
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 2  Recommended software
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   2.1  gtkterm and hterm
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   2.2  QtCreator
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 3  Building and flashing
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================================================================================
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1 - REQUIRED SOFTWARE
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---------------------
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In order to compile the source code, you need to install the GCC for ARM
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embedded devices. Since AMiRo-OS requires ChibiOS as system kernel, you need a
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copy of that project as well. Furthermore, AMiRo-OS requires a compatible
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bootloader, such as provided by the AMiRo-BLT project.
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1.1 - Git
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---------
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Since all main- and subprojects are available as Git repositories, installing a
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recent version of the tool is mandatory.
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1.2 GCC ARM Embedded Toolchain
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------------------------------
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Various versions of the GCC for ARM embedded devices can be found at
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<https://launchpad.net/gcc-arm-embedded>. It is highly recommended to use the
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version 4.8 with update 2014-q1 since some others will cause issues. For
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installation of the compiler toolchain, please follow the instructions that can
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be found on the web page.
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If you are running a 64-bit operating system, you will have to install several
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32-bit libraries in order to make the compiler work. The required packages are
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libc6, libstdc++6, and libncurses5. You can run the following shell commands to
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install the according 32-bit versions of the packages:
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  >$ sudo dpkg --add-architecture i386 && sudo apt-get update
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  >$ sudo apt-get install libc6:i386 libstdc++6:i386 libncurses5:i386
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1.3 ChibiOS
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-----------
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Since AMiRo-OS uses ChibiOS as underlying system kernel, you need to acquire a
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copy of it as well. First, go to the directory which contains the AMiRo-OS
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folder (but do not go into the AMiRo-OS directory itself!). Now clone the GIT
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repository of ChibiOS and checkout version 2.6.8:
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  >$ git clone https://github.com/ChibiOS/ChibiOS.git ChibiOS
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  >$ cd ChibiOS
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  >$ git checkout ver_2.6.8 
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It is highly recommended to use exactly this commit. Although newer commits in
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the 2.6.x branch might work fine, AMiRo-OS is not compatible with ChibiOS
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version 3 or newer.
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AMiRo-OS comes with some patches to ChibiOS, which must be applied as well
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before compiling the project. Therefore you need to copy all files from the
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./patches directory of AMiRo-OS to the root directory of ChibiOS. You can then
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apply the patches via the following command:
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  >$ for i in `ls | grep patch`; do git am --ignore-space-change --ignore-whitespace < ${i}; done
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If the files could not be patched successfully, you are probably using an
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incompatible version of ChibiOS (try to checkout the correct commit as denoted
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above).
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1.4 AMiRo-BLT
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-------------
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AMiRo-BLT is an additional software project, which is developed in parallel with
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AMiRo-OS. If you did not receive a copy of AMiRo-BLT with AMiRo-OS, you can find
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all code and documentation at <https://opensource.cit-ec.de/projects/amiro-os>.
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Instructions for installation and how to use the software provided by AMiRo-BLT
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can be found on the web page or in the project's readme file. It is highly
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recommended to install AMiRo-BLT in the same directory as AMiRo-OS and ChibiOS
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and name its root directory 'amiro-blt'.
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2 - RECOMMENDED SOFTWARE
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------------------------
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In order to fully use all features of AMiRo-OS it is recommended to install the
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'hterm' or 'gtkterm' application for accessing the robot. To ease further
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development, this project offers support for the QtCreator IDE.
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2.1 - gtkterm and hterm
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-----------------------
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Depending on your operating system, it is recommended to install 'gtkterm' for
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Linux (available in the Ubuntu repositories), or 'hterm' for Windows. For
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gtkterm you need to modify the configuration file ~/.gtktermrc (it is generated
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automatically when you start the application for the first time) as follows:
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  port	= /dev/ttyUSB0
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  speed	= 115200
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  bits	= 8
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  stopbits	= 1
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  parity	= none
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  flow	= none
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  wait_delay	= 0
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  wait_char	= -1
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  rs485_rts_time_before_tx	= 30
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  rs485_rts_time_after_tx	= 30
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  echo	= False
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  crlfauto	= True
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For hterm you must need to configure the tool analogously.
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2.2 - QtCreator
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---------------
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In order to setup QtCreator projects for the three AMiRo base modules, a script
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is provided in the directory ./ide/qtcreator/. It is accompanied by an
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additional README.txt file, which contains further information.
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3 - BUILDING AND FLASHING
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-------------------------
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Each time you modify any part of AMiRo-OS, you need to recompile the whole
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project for the according AMiRo module. Therefore you have to use the makefiles
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provided in ./devices/<DeviceToRecompile>/ by simply executing 'make' in the
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according directory. If you want to compile all modules at once, you can also
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use the makefile in the ./devices/ folder.
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After compilation, you always have to flash the generated program to the robot.
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Therefore you need to install the SerialBoot tool provided by the AMiRo-BLT
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project. By default AMiRo-OS assumes AMiRo-BLT to be installed in the same
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folder and its root directory to be named 'amiro-blt'. If this is the case, it
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will automatically detect the SerialBoot tool. Otherwise the tool must be
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accessible globally under the environment variable 'SERIALBOOT'. You can make
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it so by appending the following line to your ~/.bashrc file:
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  export SERIALBOOT=</absolute/path/to/the/SerialBoot/binary>
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You can test the tool by calling it via the variable:
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  >$ ${SERIALBOOT}
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This should print some information about the tool.
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Similar to the compilation procedure as described above, you can flash either
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each module separately, or all modules at once by executing 'make flash' from
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the according directory. Note that you must connect the programming cable either
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to the DiWheelDrive or the PowerManagement module for flashing the operating
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system. All other modules are powered off after reset so that only these two
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offer a bootloader that is required for flashing.
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================================================================================