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Implementing Erlang/OTP on Intel Galileo DEGREE PROJECT, IN INFORMATION TECHNOLOGY, FIRST LEVEL STOCKHOLM, SWEDEN 2015-06-22 Implementing Erlang/OTP on Intel Galileo Paul Coada, Erkut Kaya KTH ROYAL INSTITUTE OF TECHNOLOGY INFORMATION AND COMMUNICATION TECHNOLOGY Abstract The Intel Galileo, inspired by the well-known Arduino board, is a development board with many possibilities because of its strength. The Galileo is has an Intel processor capable of running GNU/Linux and can be connected to the internet, which opens up the possibility to be controlled remotely. The programming language that comes with the Intel Galileo is the same as for the Arduino development boards, and is therefore very limited and does not utilize the Galileo’s entire strength. Our aim with this project is to integrate a more suitable programming language; a language that can make better use of the relatively powerful processor to control the components of the board. The programming language of choice is Erlang, and the reason is obvious. Erlang can be described as a process-oriented programming language based on the functional programming paradigm and its power in concurrency. The result of the project was the successful integration of a complete version of GNU/Linux on the board and the cross-compilation of Erlang/OTP onto the board. Having Erlang running on the system opens up many possibilities for future work, amongst all: creating Erlang programs for the Intel Galileo, integrating an effective API, and measuring the pros and cons of using Erlang on an Intel Galileo. Keywords Embedded, Arduino, multiprogramming, concurrency, Internet of Things, cross-compilation, API Sammanfattning Intel Galileo är ett utvecklingskort som bygger på Arduinos succé. Den kommer med en kraftigare processor jämfört med Arduino Uno, och den har möjlighet att kunna köra GNU/Linux. Den har också en port för att kunna kopplas till internet och på så sätt kommunicera med andra enheter. Programmeringsspråket som rekommenderas för Intel Galileo är densamma som används för Arduinos utvecklingskort. Det finns däremot en möjlighet att kunna kombinera utvecklingskortet med ett programmeringsspråk som kan erbjuda mer funktionalitet och fortfarande vara enkelt. Vårt val hamnade på Erlang för den är ett funktionellt språk och har möjlighet att hantera olika processer. Tanken är att kunna behandla olika komponenter kopplade till utvecklingskortet som processer, som kan kommunicera med andra komponenter och med internet. Projektarbetet bestod av att undersöka ifall det är möjligt att kunna kombinera Erlang/OTP med Intel Galileon samt skriva en guide för hur implementeringen gick till. Att kombinera de två var lyckat och det öppnar upp möjligheter för fortsatta arbeten och försök. Acknowledgements First of all, we would like to express gratitude to our advisor and examiner Johan Montelius for his enthusiasm and knowledge in the area. We were always welcomed when we came knocking on his office door and he was available when we needed his guidance - even on evenings and weekends, which we truly appreciate. Our sincere gratitude also goes to our talented classmates Axel Isaksson and Steven Arnow for their guidance and help. They took time from their own thesis work to help us on moments when we got stuck. Last but not least, we would like to thank all our friends and family for showing us their support and motivating us during our studies. List of acronyms and abbreviations μSD Micro Secure Digital ACPI Advanced Configuration and Power Interface API Application Programming Interface APT Advanced Programming Interface BSP Board Support Package CPU Central Processing Unit EEPROM Electrically Eraseable Programmable Read-Only Memory GCC GNU Compiler Collection GNU GNU Not UNIX GPIO General-Purpose Input/Output GPU Graphics Processing Unit ICT Information and Communication Technology IDE Integrated Development Environment IoT Internet of Things IP Internet Protocol MIPS Microprocessor without Interlocked Pipeline Stages MIT Massachusetts Institute of Technology OPKG Open Package Management OS Operating System OTP Open Telecom Platform PC Personal Computer PCIe Peripheral Component Interconnect Express PhD Doctor of Philosophy PWM Pulse-Width Modulation R&D Research and Development SCP Secure Copy SDK Software Development Kit SoC System-on-a-Chip SSH Secure Shell SPI Serial Peripheral Interface TTL Transistor-Transistor Logic USB Universal Serial Bus VDI VirtualBox Disk Image Table of Contents 1 Introduction............................................................................................................... 1 1.1 Background.......................................................................................................................1 1.2 Problem definition.........................................................................................................2 1.3 Purpose...............................................................................................................................3 1.4 Goal.......................................................................................................................................3 1.5 Methodology.....................................................................................................................3 1.6 Delimitations....................................................................................................................4 1.7 Outline.................................................................................................................................4 2 Background................................................................................................................. 5 2.1 Arduino...............................................................................................................................5 2.1.1 Hardware................................................................................................................................... 5 2.1.2 Software..................................................................................................................................... 6 2.2 Intel Galileo.......................................................................................................................6 2.2.1 Hardware................................................................................................................................... 6 2.2.2 Software..................................................................................................................................... 7 2.3 Erlang..................................................................................................................................8 2.3.1 Concurrency............................................................................................................................. 9 2.4 Cross-compiling...............................................................................................................9 2.5 Related work..................................................................................................................10 2.5.1 Erlang Embedded................................................................................................................ 10 2.5.2 Erlang on bare metal..........................................................................................................10 2.5.3 The Nerves Project.............................................................................................................. 11 2.5.4 Beaglebone Black running Erlang.................................................................................11 2.5.5 Raspberry Pi running Erlang..........................................................................................11 2.5.6 Arduino TRE.......................................................................................................................... 11 2.5.7 Golang Embedded Programming Framework..........................................................12 3 Method....................................................................................................................... 13 3.1 Research..........................................................................................................................13 3.2 Tools and requirements.............................................................................................13 3.3 Setting up the environment......................................................................................13 3.4 Cross-compiling Erlang..............................................................................................14 3.5 The API.............................................................................................................................14 4 Implementation...................................................................................................... 15 4.1 The necessary tools.....................................................................................................15 4.2 Installing Erlang for Intel Galileo...........................................................................15 4.2.1 Set up the development environment.........................................................................16 4.2.2 Creating the Intel Galileo image.....................................................................................16 4.2.3 Installing an OS on Intel Galileo’s µSD card...............................................................18 4.2.4 Creating the cross-compiler............................................................................................21
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