HEINZ NIXDORF INSTITUTE University of Paderborn

BeBot - Software Installation Guide

Version 1.4 BeBot - Software Installation Guide

Markus Koester, Stefan Herbrechtsmeier

Copyright c 2009 - 2011 HEINZ NIXDORF INSTITUTE University of Paderborn System and Circuit Technology F”urstenallee 11 D-33102 Paderborn, Germany

This work is licensed under the Creative Commons Attribution-Noncommercial-Share Alike License. To view a copy of this license, visit http://creativecommons.org/licenses/by-sa/3.0/ or send a letter to Creative Commons, 171 Second Street, Suite 300, San Francisco, California 94105, USA. i

Contents

1 BeBot Hardware1

2 Installation of the Software Development Environment3 2.1 Linux Installation...... 3 2.1.1 Wubi...... 3 2.1.2 VirtualBox...... 4 2.2 Software Installation...... 16

3 Software Development for BeBot 18 3.1 Connecting the BeBot with the Host System...... 18 3.2 Settings for BeBot Programming in Eclipse...... 19 3.2.1 Download example source code...... 20 3.2.2 Create new C/C++ project...... 20 3.2.3 Setup cross compiler...... 20 3.2.4 Setup Player framework (optional)...... 22 3.2.5 Import source files...... 22 3.2.6 Compile project...... 23 3.2.7 Setup file transfer...... 24 3.2.8 Remote system exlporer...... 25 3.2.9 Setup remote debugging...... 25 3.3 Simulate the BeBot with Player/Stage...... 26

4 Installation and usage of the Build Environment 28 4.1 Build Environment Installation...... 28 4.2 Root File System Generation...... 29 4.3 Cross Compiler Toolchain Generation...... 29

5 System utilities 30 5.1 BeBot...... 30 5.1.1 Obstacle avoidance - avoid...... 30 5.1.2 Wiimote remote control - wiibot...... 30 5.2 Player...... 30 5.2.1 Object follower - follow...... 30 5.3 FPGA...... 30 5.3.1 Register setup - fpga...... 31 5.3.2 Expansion connector - /dev/firmware/fpga.bit...... 31 ii Contents

6 System Update 33 6.1 USB device interface...... 33 6.2 Serial line...... 33 6.3 Preperations...... 34 6.4 Flash programming...... 34 1

1 BeBot Hardware

This chapter provides a brief introduction to the hardware of the BeBot. An overview is given over the most important system specifications and the communication and naviga- tion possibilities. The BeBot is based on a powerful ARM processor. The integrated CPU is an Marvell PXA270 at 520 MHz (cf. Figure 1.1). Additionally to the CPU the robot is equipped with run-time reconfigurable hardware in form of an Field Programmable Gate Array (FPGA), which is directly connected to the camera module. Thus complex algorithm such as video processing can be efficiently implemented and executed in hardware. The operating system can be installed in 64MB flash memory (cf. Table 1.1) or alternatively in a external USB memory stick. The whole system offers 64MB of internal RAM.

Application int. Name Size Flash Memory Address Range Bootloader uboot 768kB 0x00000000 - 0x000c0000 Bootloader Configuration Data env 256kB 0x000c0000 - 0x00100000 Kernel kernel 3MB 0x00100000 - 0x00400000 Root File System rootfs 40MB 0x00400000 - 0x02c00000 User Data data 20MB 0x02c00000 - 0x04000000

Table 1.1: Address ranges of the flash memory

The robot can communicate with the outside world in different ways. In the initial state (without any operating system) the robot offers a serial link (RS232). After installing a bootloader and the standard operating system, the user can access the robot by a console via the RS232 link. Additionally, the robot can be accessed via Bluetooth and SSH (cf. Chapter3) if the operating system is configured accordingly. By using a WLAN USB stick the robot is able to establish a WiFi connection. The drive and position of the robot in space is captured by a gyroscope and a 3-axis accelerometer. In co-operation with the IR sensors and the camera the robot is capable of navigating in its environment. The 12 IR sensors (two on each side, one on each corner of the robot) allow for a 360 object detection and distance measurement. The forward facing camera module enables to process image data of the environment. 2 1 BeBot Hardware

Figure 1.1: BeBot-Hardware: CPU (1), RAM (2), Flash (3), Bluetooth Module (4), Zig- Bee Module (5), FPGA (6), RS232 Port (7) 3

2 Installation of the Software Development Environment

This chapter descrips the installation of the software development environment.

2.1 Linux Installation

The development tools of the BeBot are based on a Linux operating system. There are several different Linux distributions available. For the robot development a Kubuntu 10.04 (http://www.kubuntu.org/) distribution is recommended. If you are familiar with Linux, you can use Ubuntu 10.04 (http://www.ubuntu.com/) as well. Basically, there are two options to install the Linux OS: Dual-boot system: Linux is installed as an additional operating system in a separate partition of the hard disk. When booting the computer the user can select which operating system to boot from a boot manager. This option is also referred to as a dual-boot system. If the original OS of the target computer is Microsoft Windows, the installation of Linux in a separate file of the Windows partition can be realized by the Windows Ubuntu Installer (http://wubi-installer.org/). Virtual machine: Virtualization is a technique that allows for installing multiple oper- ating systems within an existing operating system. This is done by a program, which is referred as a virtual machine. It emulates a computer with all its hard- ware. Although virtual machines do not achieve the performance of a real ma- chine, they offer a great flexibility to the user. There is no need to switch between different operating systems. Free tools for virtual machines are VMware (http: //www.vmware.com) and VirtualBox (http://www.virtualbox.org). The following section provides a step-by-step tutorial for installing Kubuntu Linux using Wubi or VirtualBox.

2.1.1 Wubi Wubi is an officially supported Ubuntu installer for Windows users that can bring you to the Linux world with a single click. Wubi allows you to install and uninstall Ubuntu as any other Windows application, in a simple and safe way. Go to http://wubi-installer.org/ and download the latest version of Wubi. Start Wubi and select your installation size, desktop environment, language, user name and password. The installation size of the Linux partition should be around 30GB to avoid a shortage in disk memory. 4 2 Installation of the Software Development Environment

2.1.2 VirtualBox

VirtualBox Installation

VirtualBox is a general-purpose virtual machine for x86 hardware offered from Sun Mi- crosystems. Targeted at server, desktop and embedded use, it is the only professional- quality virtualization solution that is Open Source Software. The following steps describe the installation of Kubuntu (Version 9.10) using VirtualBox (version 3.0.2). Basically, the installation can be done using the default settings. If custom settings are required they are explicitly mentioned.

1. Download and install VirtualBox Go to http://www.virtualbox.org/wiki/Downloads and download the latest version of VirtualBox for your target platform. Do a full installation including USB Support and Networking. After the installation is finished start VirtualBox. The following window appears. 2.1 Linux Installation 5

2. Create a new virtual machine Create a new virtual machine by clicking on New followed by Next. Enter the name of the virtual machine, e.g. Kubuntu-10.04-64. Select Linux for the operating system and Ubuntu (64bit) for the version.

3. Specify the virtual memory In the next window you can specify the memory used by the virtual machine. The base memory size should be selected based on the available memory of the host machine. Select an amount, which is equal or larger than 1024 MB. 6 2 Installation of the Software Development Environment

4. Specify the virtual hard disk The following window is used to specify the virtual hard disk used in the virtual machine. This can either be a real hard disk partition, or a large file on an existing partition, which emulates the hard disk. Make sure that Boot Hard Disk (Primary Master) is selected and choose Create new hard disk.

5. Select storage type Click Next to proceed to the Virtual Disk Wizard. You can now select the hard disk storage type. A dynamically expanding storage initially occupies a very small amount of space on your physical hard disk. It will grow dynamically (up to the size specified) as the Guest OS claims disk space. A fixed-size storage does not grow and occupies the amount of memory as the size of the virtual hard disk. Select Dynamically expanding storage. 2.1 Linux Installation 7

6. Specify the location and the size of the virtual disk The size should be around 30 GB. Note that the file size of the virtual disk can grow up to the size that you specify. So the file should be stored on a drive that offers enough space.

The next window shows a brief summary of the virtual hard disk. Verify your specification and click on Finish. 8 2 Installation of the Software Development Environment

7. Modify the video memory of the graphics adapter Click on Display in the Details tab of the virtual machine. You can now select the video memory size and 3D acceleration. It is recommended to increase the size to 64 MB to allow for larger video resolutions when working with the virtual machine.

Click OK to return to the main window, which shows a summary of the settings of your virtual machine. 2.1 Linux Installation 9

8. Specify a shared folder for file exchange In order to allow for an easy file exchange between your host operating system and the virtual machine, it is possible to add a shared folder. Click on Shared Folder in the Details tab of the virtual machine. Click on to add a new shared folder.

In the Folder Path field enter the path of the shared folder for your host operating system. Enter vboxshare in the Folder Name field. Press OK to add the shared folder. 10 2 Installation of the Software Development Environment

9. Enable a USB Bluetooth dongle The integration of the Bluetooth hardware into the virtual machine is done by enable a USB Bluetooth dongle in the virtual machine. Click on USB in the Details tab of the virtual machine. Click on to add a filter from devices and select the corresponding Bluetooth USB Device. It could be necessary to restart your system to enable the VirtualBox windows driver for the USB device.

Now, your virtual machine is ready for the installation of the Linux OS.

Kubuntu Installation

Go to releases.ubuntu.com/kubuntu/lucid/ and download the latest Desktop CD ISO image of Kubuntu 10.04 for 64-bit. After downloading continue to install Kubuntu. If you don’t use a virtual machine, you can proceed to step2. If you use a virtual machine in VirtualBox, continue with the following steps:

1. Mount the ISO-image of Kubuntu After specifying the virtual machine click on Storage in the Details tab. In the settings window select the CD icon. Click on the folder icon to open the virtual media manager. 2.1 Linux Installation 11

In the virtual media manager click on Add and select the ISO image of Kubuntu, which you have downloaded. Click Select to mount the image and to exit the virtual media manager.

Verify that the ISO image is selected to be mounted as CD/DVD Drive. Click on OK to leave the settings window. Switch on your virtual machine by clicking on Start. In VirtualBox you can switch the keyboard and mouse between the host 12 2 Installation of the Software Development Environment

operating and the virtual machine by pressing the so called HOST-key. By default this is the right CTRL-key of your keyboard. The HOST-key is also shown in the right corner of the status bar of VirtualBox. If necessary you can modify it in the settings of VirtualBox.

2. Start the installation of Kubuntu When booting from the Kubuntu installation CD, you first have to select the lan- guage for the installation program.

Go to Install Kubuntu and press Enter.

After the boot process is finished a Welcome window appears. Select your preferred language for the installation and click on Forward. In the following window you need to specify your local time zone and in the next window you have to select your 2.1 Linux Installation 13

keyboard layout. After that the Prepare disk space window is shown, where you need to select your target disk.

In the following window you need to enter your user account data. To avoid en- tering the log in information at every start of Kubuntu, you can select the Log in automatically option. 14 2 Installation of the Software Development Environment

The next window shows a summary of your specification. Verify the settings and press Install to start the installation process.

After the installation is finished the ISO-image must be removed in order to avoid restarting the installation process at the next boot. Go to the menu of VirtualBox and select Devices→CD/DVD Devices→Unmount CD/DVD Device. Restart the virtual machine. After the boot sequence is finished you should see the following screen. 2.1 Linux Installation 15

Before you install additional software you should update your system. Click on the start menu (Kickoff Application Launcher) and enter term in the search field. Press enter to open a terminal window and enter or copy the following code in the terminal:

sudo apt-get update sudo apt-get upgrade

Restart the virtual machine.

VirtualBox Guest Additions

To improve the integration of the virtual machine in your host operating system you can install the so called Guest Additions. It enables an improved handling of the mouse, auto- matic screen resolution switching, clipboard functionality and shared folder functionality. The installation compiles additional drivers for the virtual machine and therefor need a build environment. Install it via a terminal and the following command.

sudo apt-get install build-essential

The installation is done by an ISO-image, which is provided by VirtualBox. Go to the menu of VirtualBox and select Devices→Install Guest Additions... or press (HOST- key)+d. A window appears indicating a recently plugged in device. Click on VBOXADDI- TIONS .... Now the CD-ROM folder is shown. Do a right click on VBoxLinuxAdditions- amd64.run and choose Open With→Other... 16 2 Installation of the Software Development Environment

In the Open with field enter kdesudo (in Ubuntu use gksudo instead) and click on OK. Wait for the terminal window to appear. In the terminal enter the password of your user account to start the installation. After the installation is finished you are asked to press enter to close the window and restart your virtual machine. Before you restart the machine you can create a shared folder that is linked to the one from your host operating system. Click on the start menu (Kickoff Application Launcher) and enter term in the search field. Press enter to open a terminal window and enter or copy the following code in the terminal:

sudo mkdir -p /media/vboxshare echo "vboxshare /media/vboxshare vboxsf uid=1000,gid=1000 0 0" \ | sudo tee -a /etc/fstab

Now a target folder in your virtual machine (\media\vboxshare) is created and mounted to the shared folder of your host operating system. An entry in the \etc\fstab is created, which automatically mounts the shared folder on each start of Kubuntu. Restart your virtual machine to enable the guest additions and the shared folder.

2.2 Software Installation

In the following the necessary steps to install the design software package for the BeBot are described. The package includes the following components:

• ARM cross compiler toolchain, which is based on the GNU compiler,

• Robot simulation platform Player/Stage.

• Integrated development environment Eclipse, which is used for software development and debugging,

First install all necessary packages.

sudo apt-get install build-essential eclipse bluez-compat blueman subversion

Restart your system to enable all installed software. The toolchain and robot software can be installed via an additional package source

echo "deb http://groups.uni-paderborn.de/sct/ubuntu/ lucid main" \ | sudo tee -a /etc/apt/sources.list.d/uni-paderborn.list echo "deb-src http://groups.uni-paderborn.de/sct/ubuntu/ lucid main" \ | sudo tee -a /etc/apt/sources.list.d/uni-paderborn.list sudo apt-get update sudo apt-get install player player-dev stage

Download the toolchain and extract it 2.2 Software Installation 17

wget http://groups.uni-paderborn.de/sct/openrobotix/\ x86_64-linux-armv5te-linux-gnueabi-toolchain-openrobotix.tar.bz2 sudo tar -xvjf x86_64-linux-*-toolchain-openrobotix.tar.bz2 -C / To start the software development environment Eclipse, go to the start menu and click on Applications → Development → Eclipse. Additionally, you can start Eclipse from the terminal by entering eclipse. When starting Eclipse, the workspace folder requires to be selected. Here you can use the default folder or you can generate and select a new folder. If you want your developed programs to be accessible from your host operating system, you can generate and use a new folder in your shared folder. In Eclipse some additional plug-ins require to be installed in order to allow for remote debugging and automatic file transfer to the BeBot. To install the plug-ins start Eclipse and go to Help→Install New Software.... The install window opens. In the Work With field enter http://download.eclipse.org/releases/galileo and press enter. Now a list of available plug-ins is loaded. When the download is finished, open the following folder and select the listed plug-ins: • Mobile and Device Development – Eclipse C/C++ Remote Launch – Remote System Explorer End-User Runtime – Remote System Explorer User Actions – Target Management Terminal • Programming Languages – Eclipse C/C++ Development Tools

Click on Next twice and accept the terms of the license agreements. Click Finish and restart Eclipse after the installation of the plug-ins. Now all necessary software compo- nents are installed and ready to use. 18

3 Software Development for BeBot

This chapter is divided into two sections. Section 3.1 provides the necessary steps on how to connect the BeBot to your host system. Section 3.2 describes the settings of a BeBot project in Eclipse, and how to compile and execute a simple example program on the BeBot.

3.1 Connecting the BeBot with the Host System

The BeBot is connected to the host system via a Bluetooth personal area network (PAN). The BeBot becomes accessible via the IP-address 192.168.1.X, while X denotes the ID of the BeBot. By using the network connection you can login on the BeBot via SSH to start programs or transfer data to and from the BeBot. In order to connect to the robot via SSH you always have to make sure that the Bluetooth PAN is established first. In the following the preliminary steps are described to setup the Bluetooth PAN. Usually, this setup is done only once and the system stores the settings, such that future PAN connections can be established quite fast. First, you need to add the BeBot as a Bluetooth device to your computer. There are several Bluetooth vendors offering different drivers and software for the connection. However, the procedures to add a device are very similar with each vendor and involve the following steps: 1. The Bluetooth interfaces of the BeBot and your PC must be switched on and the Bluetooth software must be configured to scan for new devices.

2. Once the BeBot device is detected, it can be added by transmitting a passkey. By default the passkey of the BeBot is 1234.

3. The personal area network service must be added and configured to use a static IP-address, e.g., 192.168.1.100 with subnet mask 255.255.255.0 Before adding the BeBot to your Bluetooth devices, you must configured the Personal Area Networking (PAN). PAN provides ad hoc networking between the BeBot and the computer. First, the IP address of your Bluetooth PAN network adapter requires to be set to the static address 192.168.1.100 using subnet mask 255.255.255.0. Open a terminal and run the following command.

echo -e "auto bnep0\n\ iface bnep0 inet static\n\ \taddress 192.168.1.100\n\ \tnetmask 255.255.255.0\n\ 3.2 Settings for BeBot Programming in Eclipse 19

\tnetwork 192.168.1.0" \ | sudo tee -a /etc/network/interfaces

Note: If the IP address 192.168.1.100 is already in use by another adapter on an other computer, you can change it to any available address in the address range 192.168.1.[100- 255]. While the setting of the static IP address only needs to be done once, the following steps need to be performed whenever you connect a new BeBot to your host system. You can use the graphical Bluetooth manager Blueman to establish a Bluetooth con- nection to the BeBot. 1. Turn on the BeBot you want to connect to. Note: The start-up sequence of the BeBot takes a few seconds until the Bluetooth device is ready for a connection. 2. Start Blueman (Start menu Applications→Settings→Bluetooth Manager) 3. Select Adapter→Search. Now your computer searches for discoverable devices that are in range. When the search is complete, the BeBot should appear in the devices list of the tool. A device that has discovery turned off cannot be detected during a search. 4. Right click on the BeBot and select Pair. Now, you have to enter the passkey for the BeBot. Enter 1234 and click OK. After entering the passkey, your computer tries to connect to the device to verify the passkey. When the passkey is correct, the pairing is complete. 5. Right click on the BeBot and select Network Access Point. You can connect to your BeBot via SSH by open a terminal and entering ssh [email protected], where X is the ID of your BeBot. Leave the password empty to start the session. You should now see: root@bebotX:˜#

3.2 Settings for BeBot Programming in Eclipse

The integrated development environment Eclipse offers the CDT plug-in to enable the development of C/C++ projects. If you are unfamiliar with C/C++ development in Eclipse, you can go to http://www.eclipse.org/cdt/ to get basic information about how to use the CDT plug-in of Eclipse for building, running and debugging a program. To develop programs for the BeBot, the standard settings for C projects require to be modified such that the build process involves the compilation by the cross compiler toolchain. Before executing the resulting binary, it can be automatically transferred to the BeBot via an SSH connection. This is done by the Target Management (RSE) plug-in. For more information about the target management plug-in, go to http://www.eclipse. org/dsdp/tm/. In the following the project settings are specified for a simple C project. The steps to create a C project and how to import existing C source files are described. 20 3 Software Development for BeBot

3.2.1 Download example source code Open a terminal window and download the example programs.

cd Downloads wget http://groups.uni-paderborn.de/sct/bebot/demo.c wget http://groups.uni-paderborn.de/sct/bebot/demo.cc

The C source (demo.c) code specify a program that rotate the BeBot at its position and displays the IR sensor values of the BeBot and on screen. The C++ source code (demo.cc) specify a Player implementation. In the next step the source file is imported into a suitable Eclipse project.

3.2.2 Create new C/C++ project Start Eclipse (Start menu Applications→Development→Eclipse IDE) and create a new project. In Eclipse click on File→New→C Project or C++ Project. In the C Project (C++ Project) window enter a project name, e.g. demo, and leave the other settings.

By clicking on Next you get a list of preconfigured configurations. By default there are two configurations, one for development and debugging (Debug) and one for the final release of your program (Release). Click on Finish to create the project.

3.2.3 Setup cross compiler In the main menu go to Project→Properties. Open the C/C++ Build folder and click Manage Configurations.... In the Manager Configurations window click New.... In the Create New Configuration window enter BeBot Debug as name, select Debug under Copy setting from behind Existing configuration and click OK. Repeat the last steps, but enter 3.2 Settings for BeBot Programming in Eclipse 21

BeBot Release as name and select Release under Copy setting from. In the Manager Configurations window select BeBot Debug and click Set Active. Click OK to close the window. In the C/C++ Build window click behind Configuration and select [ Multiple configurations... ]. In the Select configurations window activate the two BeBot configu- rations and click OK. Open the Environment folder and click Add.... In the New variable window enter SDK_PATH as Name, /usr/local/angstrom/arm as Value and click OK. Re- peat this step for all the other variables from the following list.

SDK PATH /usr/local/angstrom/arm

TARGET SYS arm-angstrom-linux-gnueabi

PATH ${SDK_PATH}/bin:${PATH}*

PKG CONFIG PATH ${SDK_PATH}/${TARGET_SYS}/usr/lib/pkgconfig

PKG CONFIG SYSROOT DIR ${SDK_PATH}/${TARGET_SYS}

* Eclipse automatically add the current value of the PATH to the PATH variable. Click Edit... and remove it.

Open the Settings folder and select the Tool Settings tab. Here you can specify the compiler and linker settings for your program. By default the compiler command is gcc (g++ for C++ project). Change the compiler command to ${TARGET_SYS}-gcc (${TARGET_SYS}-g++ for C++ project). 22 3 Software Development for BeBot

Select GCC C Linker and change the linker command to ${TARGET_SYS}-gcc (${TARGET_SYS}-g++ for C++ project). Finally, select GCC Assembler and change the assembler command to ${TARGET_SYS}-as. Click on Apply and close the window by clicking on OK. Now the compiler is changed to the cross compiler.

3.2.4 Setup Player framework (optional)

In the main menu go to Project→Properties. Open the C/C++ Build folder and se- lect [ All configurations] behind Configuration. Go to Settings and select the Tool Set- tings tab. Select Miscellaneous under GCC C Compiler (GCC C++ Compiler) and add ‘pkg-config --cflags playerc‘ (‘pkg-config --cflags playerc++‘ at the end of Other flags. Select Miscellaneous under GCC C Linker (GCC C++ Linker for C++ project) and add ‘pkg-config --libs playerc‘ (‘pkg-config --libs playerc++‘ for C++ project) at the end of Linker flags.Click OK to take over the changes.

3.2.5 Import source files

In the main menu go to File→Import. In the Import window open the General folder, select File System and click on Next. Browse to the source files Downloads in your home directory. Select the demo.c (demo.cc for C++ project) file in the folder. Make sure that your project is selected in the Into folder: field and click Finish. 3.2 Settings for BeBot Programming in Eclipse 23

In the main window you can see the imported files by double-clicking on the project folder in the Project Explorer. Open demo.c (demo.cc for C++ project) by double-clicking on the file in the Project Explorer. The source file shows the main function of the example.

3.2.6 Compile project To compile the project click on or go to Project→Build All. 24 3 Software Development for BeBot

Now a binary is compiled, which can be transferred and executed on the BeBot.

3.2.7 Setup file transfer Eclipse is configured to allow for an automatic file transfer to the BeBot. This can done by creating a suitable run configuration. In the main menu go to Run→Run Configurations.... Double-click on C/C++ Remote Application and wait for the configuration to be created. Now, enter a name for the configuration, e.g. BeBot Remote. In the Main tab select your project and specify the corresponding C/C++ application by clicking on Search Project. Change the Remote Absolute File Path for C/C++ Application to /media/ram/demo. You can change demo to the name of your project, but it is important to transfer the file to the /media/ram/ folder on the BeBot. Now the type of connection requires to be defined. Behind the Connection field click on New.... In the New Connection window select Linux and click on Next. In the field Host Name enter 192.168.1.X, where X must be replaced with the ID of your BeBot. Change the Connection name to BeBotX and click Next. In the next window the subsystem information for files is defined. Select ssh.files in the Configuration list and click on Next. The following window defines the process handling. Select processes.shell.linux in the Configuration list and click on Next. The next window is used to specify the shell protocol. Select ssh.shells in the Configuration list and click on Next. Finally, the SSH terminals are specified. Make sure that ssh.terminals is selected and click on Finish. You return to the Run Configurations window. Change the connection to BeBot and click on Apply.

Before you run your program for the first time, you have to make sure that the Bluetooth connection to the BeBot is established in your host operating system and that the PAN is initialized. The necessary steps to connect to the PAN are described in Section 3.1. After 3.2 Settings for BeBot Programming in Eclipse 25 establishing the Bluetooth connection you can run your program, by clicking on Run in the Run Configurations window. A login window appears, where you need to enter root as User ID and leave the Password empty. You can select Save user ID and Save password to avoid any future login windows. The binary is now executed on the BeBot and the output is directed to the Console tab in the main window. A list of sensor data appears, which is updated frequently. If you hold your hand close to one side of the robot, some of the data is changed significantly. To terminate the program click on . If you want to run your program again, you can now click on the black arrow of to open a pull-down menu. Click on BeBot Remote to run your program on the BeBot.

3.2.8 Remote system exlporer

Beside running a program, you can also start an SSH terminal connection or view the list of processes of your BeBot. This can be done by the Remote System Explorer, which you can access from the main menu of Eclipse. Go to Window→Open Perspective→Other.... In the Open Perspective window select Remote System Explorer and click on OK. In the Remote Systems list you can now double-click on BeBot to get a list of options. With the Remote System Explorer you can

• transfer files by SFTP,

• view or kill shell processes,

• launch a shell,

• or launch an SSH terminal.

E.g., to open an SSH terminal, do a right click on Ssh Terminals and select Launch Terminal. The terminal is now started in a tab. To return to the C/C++ perspective go to Window→Open Perspective→Other... and select C/C++.

3.2.9 Setup remote debugging

If you want to debug your code you can use a remote connection to the BeBot. In the following the necessary steps are described to setup the remote debugging for the Be- Bot. From the main menu go to Run→Debug Configurations....A Debug Configurations window opens, where you can see the settings for the remote connection, which you pre- viously specified. Go to the Debugger tab and change the debugger command in the GDB debugger field to /usr/local/angstrom/arm/bin/arm-angstrom-linux-gnueabi-gdb. 26 3 Software Development for BeBot

Click on Apply to save the settings. Start remote debugging your code by clicking on Debug. Now Eclipse asks you to switch to the Debug perspective. You can select to remember your decision and click on Yes. Now the debugging perspective is opened, where you can remotely debug your code. To terminate your program you can click on . For future debugging you can click on the black arrow of to open a pull-down menu, where you can select BeBot Remote.

3.3 Simulate the BeBot with Player/Stage

Before you can start your simulation you have to download the BeBot simulation models. Open a terminal and run the following command.

svn checkout svn://svn.berlios.de/openrobotix/playerstage/trunk/worlds

You can start the simulation with the command.

player worlds/bebot.cfg 3.3 Simulate the BeBot with Player/Stage 27 28

4 Installation and usage of the Build Environment

This chapter describes the installation of the build environment openRobotix / openEm- bedded. The environment allows the easy generation of software packages and image for the system.

4.1 Build Environment Installation

Click on the start menu (Kickoff Application Launcher) and enter term in the search field. Press enter to open a terminal window and enter or copy the following code in the terminal. Change the default shell to bash by reconfigure dash and answer with No.

sudo dpkg-reconfigure dash

Install all required packages.

sudo apt-get install sed wget cvs subversion git-core \ coreutils unzip texi2html texinfo docbook-utils \ gawk python-pysqlite2 diffstat help2man make gcc \ build-essential g++ desktop-file-utils chrpath

Setup the build environment.

cd ${HOME} mkdir -p openrobotix/build/recipes cd openrobotix git clone git://git.openembedded.org/openembedded cd openembedded git checkout -b 2011.03-maintenance origin/2011.03-maintenance cd .. git clone git://git.openembedded.org/bitbake cd bitbake git checkout -b 1.12 origin/1.12 cd .. git clone git://git.berlios.de/openrobotix cp -r openrobotix/contrib/openrobotix/* build 4.2 Root File System Generation 29

4.2 Root File System Generation

Click on the start menu (Kickoff Application Launcher) and enter term in the search field. Press enter to open a terminal window and enter or copy the following code in the terminal to generate the root file system (rootfs) and the Linux image (uImage).

cd ${HOME}/openrobotix/build source source-me.sh bitbake openrobotix-image

4.3 Cross Compiler Toolchain Generation

Click on the start menu (Kickoff Application Launcher) and enter term in the search field. Press enter to open a terminal window and enter or copy the following code in the terminal to generate the cross compiler toolchain.

cd ${HOME}/openrobotix/build source source-me.sh bitbake meta-toolchain-openrobotix 30

5 System utilities

This chapter describes the system utilities of the BeBot operating system. They are divided into three parts BeBot, Player and FPGA.

5.1 BeBot

The BeBot utilities use the BeBot hardware direct via the bebot.h header.

5.1.1 Obstacle avoidance - avoid This utility moves the robot forward until it detects a obstacle at the front and it starts rotating as long as there is a obstacle in front of the robot. The demo starts moving if the two back sensors are covered and stops moving if the four front sensors are covered.

5.1.2 Wiimote remote control - wiibot This utility enables the BeBot to remote controlled by a Nintendo Wiimote. The robot can be controlled by the directional pad or by the relative alignment of the controller towards the earth together with pressing button B. The maximum speed of the robot can be controlled with the + and - button. The connection of the Wiimote to the BeBot is established by pressing 1 and 2 together.

5.2 Player

The Player utilities use the BeBot hardware via the Player framework.

5.2.1 Object follower - follow This utility uses the camera and a blobfinder of the Player framework to follow a blue colored object. The object color is defined via the blobfinder module of the player server.

5.3 FPGA

This utilities use the hardware configuration and data interface to interact with the FPGA.

Configuration The FPGA can be configuration by copy a bit steam to the em /dev/cpld node. 5.3 FPGA 31

Communication The data interface use the /dev/fpga node to communicate with the FPGA.

5.3.1 Register setup - fpga This utility allows read and write of FPGA registers via command line. Read register value from address ADDR

fpga ADDR

Write value VALUE to register address ADDR

fpga ADDR VALUE

5.3.2 Expansion connector - /dev/firmware/fpga.bit The FPGA has a expansion connector on the right side of the robot.

3.3 V 1 2 SYS IO0 SYS IO1 3 4 SYS IO2 SYS IO3 5 6 GND SYS IO4 7 8 SYS IO5 SYS IO6 9 10 SYS IO7 GND 11 12 SYS IO8 SYS IO9 13 14 SYS IO10 SYS IO11 14 16 GND SYS IO12 17 18 SYS IO13 SYS IO14 19 20 SYS IO15 GND 21 22 SYS IO16 SYS IO17 23 24 SYS IO18 SYS IO19 25 26 GND SYS IO20 27 28 SYS IO21 SYS IO22 29 30 SYS IO23 GND 31 32 SYS IO24 SYS IO25 33 34 SYS IO26 SYS IO27 35 36 GND SYS IO28 37 38 SYS IO29 SYS IO30 39 40 SYS IO31

Table 5.1: Expansion connector on the BeBot

This can be used as inputs and outputs with the default /lib/firmware/fpga.bit configu- ration. This configuration offers three registers to read the input status, write the output status and setup the output direction. 32 5 System utilities

Address Description 0x0 Input level register 0x4 Output level register 0x8 Output direction register

Table 5.2: Expansion connector configuration register

Configure the FPGA with the default bit stream

cp /lib/firmware/fpga.bit /dev/cpld

Read input level of the pins

fpga 0x0

Configure outputs via bit mask VALUE

fpga 0x8 VALUE

Enable outpus via bit mask VALUE

fpga 0x4 VALUE 33

6 System Update

This chapter describes the software update of the BeBot operating system. The update is done via the bootloader of the system, a USB memory stick and the USB device interface or the serial line of the BeBot. The next section deals with the setup of a USB and serial line connection between the BeBot and a computer. Afterward the setup of the USB memory stick is described. The last section descries the interaction with the bootloader

6.1 USB device interface

The mini USB connector of the USB device interface (P19) is located at the front on the left below the processor. The interface emulates a serial line when it is connected to a computer and the boot process of the bootloader (u-boot) is stopped by pressing the power button (S4) below the board at the front beside the reset button during startup.

6.2 Serial line

The connector of the serial line (P9) is located between the Bluetooth chip and the processor direct at the corner of the board (see figure ??) and uses a Header, 1.27mm, 6 Way. The pinning is displayed in table 6.1 and pin one is at the top market with a white point. The serial interface in the bootloader (u-boot) is enabled by pressing the user button (S3) above the processor during startup.

3.3 V 1 2 SYS RXD SYS TXD 3 4 SYS SDA SYS SCL 5 6 GND

Table 6.1: Serial connector on the BeBot

The signal names of the serial line describe the function at the processor and must be cross connected to the computer signals. The signals use a 3.3 V level and must be level shifted before connected to a RS232 interface. This can be done with a MAX232 or comparable chip. The serial line use a 115200 baud, no parity and 8 bit configuration. Any serial terminal program can be used. 34 6 System Update

6.3 Preperations

A new root file system image (rootfs.jffs2) and Linux image (uImage) can be generated with the bitbake openrobotix-image. The bootloader (u-boot.bin) can be generated with bitbake virtual/bootloader. The generated files are located in the oe/tmp/..../deploy/.. directory. The files have to be copied on a windows (FAT) formated USB memory stick in the root directory with the names mentioned above.

6.4 Flash programming

Press the power button (S4) below the board at the front beside the reset button during startup of the BeBot to stop the boot process. Start the terminal program, insert the USB memory stick in the left connector (P18) below the processor. Don’t switch off or reset the device or interrupt the update process! Update the bootloader (u-boot.bin) only if you really need to update it and you are sure your image is functional!

run program_usb_u-boot

Update the Linux image (uImage)

run program_usb_uImage

Update the root file system (rootfs.jffs2)

run program_usb_rootfs

Restart the BeBot

reset

The first setup can take some time, don’t power off or reset the device.