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| − | RoboVero is a robotics expansion board for the Overo COM series.
| + | RoboVero™ is a robotics expansion board for the Overo COM series. |
| | | | |
| − | = Quickstart =
| + | Getting started information about RoboVero is available at [http://robovero.org/ RoboVero.org] |
| − | | + | |
| − | == Connect ==
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| − | All RoboVero boards ship with a peripheral driver library and command line interface preflashed. When you apply power, a red LED should illuminate immediately. This indicates that code is executing on the board. The LED stays on until a USB connection is established when it begins blinking at a heartbeat rhythm. The device should appear as /dev/ttyACM0. You can connect with kermit.
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| − | | + | |
| − | $ ls /dev | grep ttyACM
| + | |
| − | ttyACM0
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| − | $ kermit -l /dev/ttyACM0
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| − |
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| − | C-Kermit 8.0.211, 10 Apr 2004, for Linux
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| − | Copyright (C) 1985, 2004,
| + | |
| − | Trustees of Columbia University in the City of New York.
| + | |
| − | Type ? or HELP for help.
| + | |
| − | C-Kermit> set carrier-watch off
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| − | C-Kermit> connect
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| − | | + | |
| − | <snip welcome message>
| + | |
| − | press enter to begin...
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| − | This gives you a simple command line interface to most of the NXP driver functions. You can find documentation for the functions included in ${HOME}/cortex-m3/LPC1700CMSIS.
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| − | | + | |
| − | == Functions ==
| + | |
| − | | + | |
| − | === list ===
| + | |
| − | | + | |
| − | You can call '''list''' to see all available functions.
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| − | [:)] list
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| − | <snip all functions>
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| − | Or for a more manageable subset, provide a start and the number of functions to display. Note that all arguments and return values are hexadecimal.
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| − | [:)] list 1 7
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| − | 001 return
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| − | 002 search
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| − | 003 list
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| − | 004 promptOn
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| − | 005 promptOff
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| − | 006 heartbeatOn
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| − | 007 heartbeatOff
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| − | 008 malloc
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| − | 009 free
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| − | 00a deref
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| − | 00b roboveroConfig
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| − | 00c resetConfig
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| − | The number beside the function name is its index in the function list. You can speed up function calls by using the index rather than the function name.
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| − | [:)] 3 1 c
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| − | 001 return
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| − | 002 search
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| − | 003 list
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| − | 004 promptOn
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| − | 005 promptOff
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| − | 006 heartbeatOn
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| − | 007 heartbeatOff
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| − | 008 malloc
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| − | 009 free
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| − | 00a deref
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| − | 00b roboveroConfig
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| − | 00c resetConfig
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| − | === return ===
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| − | Your prompt indicates whether the previous operation succeeded.
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| − | [:)] somenonfunction
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| − | [:(]
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| − | '''return''' is another mechanism for obtaining the return status.
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| − | [:)] return
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| − | 0
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| − | [:)] somenonfunction
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| − | [:(] return
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| − | 1
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| − | [:)]
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| − | There are a couple of subtle points to understand here. First, return indicates the status of the command line, not of the function you are calling. For example, the function I2C_MasterTransferData might fail to transfer data on the I2C bus, and '''return''' will output 0 since the command line operation succeeded - the function was called. The second point is that '''return''' modifies the status variable. If you call a function that fails, and then accidentally call '''retrun''' the status of the previous operation is lost.
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| − | | + | |
| − | === search ===
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| − | If you want to find the index of a function you can use '''search''' to find it.
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| − | | + | |
| − | [:)] search GPIO_SetValue
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| − | 261 GPIO_SetValue
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| − | If you don't know the full name of the function you can '''search''' part of it.
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| − | [:)] search GPIO
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| − | 24c GPIO_ClearInt
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| − | 24d GPIO_GetIntStatus
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| − | 24f GPIO_IntCmd
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| − | 252 GPIO_ReadValue
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| − | 25a GPIO_ClearValue
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| − | 261 GPIO_SetValue
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| − | 263 GPIO_SetDir
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| − | 264 GPIO_Byte_TypeDef_malloc
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| − | 265 GPIO_HalfWord_TypeDef_malloc
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| − | 266 GPIO_HalfWord_TypeDef_FIODIRL
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| − | 267 GPIO_HalfWord_TypeDef_FIODIRU
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| − | 268 GPIO_HalfWord_TypeDef_FIOMASKL
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| − | 269 GPIO_HalfWord_TypeDef_FIOMASKU
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| − | 26a GPIO_HalfWord_TypeDef_FIOPINL
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| − | 26b GPIO_HalfWord_TypeDef_FIOPINU
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| − | 26c GPIO_HalfWord_TypeDef_FIOSETL
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| − | 26d GPIO_HalfWord_TypeDef_FIOSETU
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| − | 26e GPIO_HalfWord_TypeDef_FIOCLRL
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| − | 26f GPIO_HalfWord_TypeDef_FIOCLRU
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| − | If you attempt to call a function that isn't found, '''search''' is called automatically.
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| − | [:)] GPIO_ClearIn
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| − | 24c GPIO_ClearInt
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| − | === promptOn/promptOff ===
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| − | These functions are used to enable/disable local echo and the command prompt. These are used by the Python Client Library. You will probably not use them unless you are writing your own interface for RoboVero (in C, bash, etc.).
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| − | [:)] promptOff
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| − | <types promptOn>
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| − | [:)]
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| − | | + | |
| − | === heartbeatOn/heartbeatOff ===
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| − | If you want to disable the default heartbeat rhythm of the LED call '''heartbeatOff'''.
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| − | | + | |
| − | === malloc ===
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| − | '''malloc''' allows you to allocate space in RoboVero RAM for data. The following command requests 16 bytes of memory and a pointer to heap space where the memory is allocated is returned.
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| − | [:)] malloc 10
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| − | 10003900
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| − | === free ===
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| − | | + | |
| − | Release a block of previously allocated memory back to the heap.
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| − | [:)] free 10003900
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| − | | + | |
| − | === deref ===
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| − | Read or write the value stored at a given address. The first argument is the memory address, the second is the width (number of bytes) the value uses. If a third argument is provided the value is written, otherwise it is read.
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| − | [:)] malloc 4
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| − | 10003900
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| − | [:)] deref 10003900 1
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| − | 72
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| − | [:)] deref 10003900 2
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| − | 4472
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| − | [:)] deref 10003900 4
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| − | a2094472
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| − | [:)] deref 10003900 4 0
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| − | [:)] deref 10003900 4
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| − | 0
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| − | [:)] free 10003900
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| − | | + | |
| − | '''deref''' does not validate the memory address provided so you must exercise caution when using this function. A mistyped address could easily lead to a system fault requiring a reset.
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| − | | + | |
| − | === roboveroConfig ===
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| − | | + | |
| − | '''roboveroConfig''' exists for users that want to quickly get using the RoboVero in its standard configuration. It automatically configures the pins according to their PCB labels and initializes peripherals. The intent is to reduce the overhead associated with using RoboVero. '''roboveroConfig''' is used in a number of the Python Client Library examples.
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| − | | + | |
| − | === resetConfig ===
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| − | | + | |
| − | === Library functions ===
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| − | | + | |
| − | A second group of functions wrap the LPC17xx CMSIS-Compliant Standard Peripheral Firmware Driver Library functions. Pass arguments to these functions as hexadecimal values and expect the same returned. For example, '''GPIO_SetValue''' and '''GPIO_ClearValue''' can be used to manually control the LED. First we need to disable the heartbeat.
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| − | | + | |
| − | [:)] heartbeatOff
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| − | | + | |
| − | Now we can turn the LED on. Since P3.25 controls the LED's cathode, we need to drive the pin low.
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| − | [:)] GPIO_ClearValue 3 2000000
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| − | | + | |
| − | This is equivalent to the following function call in C, which is used in the heartbeat function.
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| − | | + | |
| − | GPIO_ClearValue(3, (1<<25));
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| − | | + | |
| − | The command line interface does not resolve mathematical operations such as (1<<25) so anything beyond simple testing quickly becomes cumbersome using the command line. However, it is relatively simple to write a script that makes a series of function calls. This is precisely what the Python Client Library does, and a similar interface can be written in any language that supports serial communication.
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| − | | + | |
| − | === Data functions ===
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| − | === Interrupts ===
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| − | Interrupts are currently unimplement. Enabling an interrupt will most likely lead to very bad things.
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| − | | + | |
| − | = Hardware =
| + | |
| − | | + | |
| − | [[Image:HubCommander.png|thumb|300px]]
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| − | | + | |
| − | All you need to get started with RoboVero is a power source - a 5-15V battery or 5V power supply will do - and USB-A to Mini-B cable. Note that the RoboVero power supply is different from that of other expansion boards.
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| − | | + | |
| − | RoboVero is based on the NXP LPC1769 ARM Cortex-M3 microcontroller.
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| − | | + | |
| − | == HubCommander ==
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| − | | + | |
| − | When an external machine is connected to the RoboVero USB Mini-B, it automatically takes control of the RoboVero USB subsystem.
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| − | | + | |
| − | = Software =
| + | |
| − | | + | |
| − | == Prerequisites ==
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| − | | + | |
| − | You'll need to install git to retrieve some of the software for the toolchain.
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| − | | + | |
| − | $ sudo apt-get install gawk bison flex automake libtool libncurses5-dev zlib1g-dev libusb-dev eclipse eclipse-cdt unzip
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| − | | + | |
| − | Create a new folder in your home directory.
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| − | | + | |
| − | $ mkdir ${HOME}/cortex-m3
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| − | | + | |
| − | == Toolchain ==
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| − | | + | |
| − | === crosstool-NG ===
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| − | | + | |
| − | A cross compiler builds executable code for a platform other than the one on which the compiler runs. In our case, the toolchain (compiler, linker, debugger, etc.) will typically run on i386 or i686 and generate binaries for ARMv7-M. crosstool-NG is an application for building cross toolchains.
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| − | | + | |
| − | ==== ARM Angstrom ====
| + | |
| − | | + | |
| − | Building the RoboVero toolchain for Overo takes hours and requires installing a number of non-standard packages. The easiest way to get started is to download the archive containing a pre-built toolchain and extract it to your home folder.
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| − | | + | |
| − | NOTE: This hasn't been tested with a clean build and may require additional packages.
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| − | | + | |
| − | # cd
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| − | # wget http://cumulus.gumstix.org/sources/robovero/x-tools.tar.gz
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| − | # tar -xzf x-tools.tar.gz
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| − | | + | |
| − | Your toolchain should appear in ${HOME}/x-tools. Process the the Exporting PATH section.
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| − | ==== Other ====
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| − | Go to http://ymorin.is-a-geek.org/dokuwiki/projects/crosstool to determine the current version of crosstool-NG
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| − | $ cd ${HOME}/cortex-m3
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| − | $ wget http://ymorin.is-a-geek.org/download/crosstool-ng/crosstool-ng-X.X.X.tar.bz2
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| − | Extract the archive
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| − | $ tar xjf crosstool-ng-X.X.X.tar.bz2
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| − | $ cd ${HOME}/cortex-m3/crosstool-ng-X.X.X
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| − | | + | |
| − | Install crosstool-ng
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| − | $ ./configure
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| − | $ make
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| − | $ make install
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| − | Make a new directory for the baremetal configuration file.
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| − | $ mkdir ${HOME}/cortex-m3/arm-eabi
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| − | $ cd ${HOME}/cortex-m3/arm-eabi
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| − | $ cp ${HOME}/cortex-m3/crosstool-ng-1.9.1/samples/arm-bare_newlib_cortex_m3_nommu-eabi/crosstool.config .config
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| − | Add gdb to the configuration and build the toolchain. The build will take around 30 minutes depending on your machine.
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| − | $ ct-ng menuconfig
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| − | Debug facilities ---
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| − | [*] gdb ---
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| − | [*] Cross-gdb
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| − | $ ct-ng build
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| − | ==== Exporting PATH ====
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| − | If the build succeeds your new toolchain will appear in ~/x-tools. Add to the PATH environment variable (where the system looks for binaries) by appending an export command to .bashrc. Open a new terminal and echo path to verify that the change has taken effect.
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| − | | + | |
| − | $ nano ${HOME}/.bashrc
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| − | export PATH="${HOME}/x-tools/arm-bare_newlib_cortex_m3_nommu-eabi/bin:$PATH"
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| − | | + | |
| − | [new terminal]
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| − | $ echo $PATH
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| − | | + | |
| − | === LPC1700CMSIS ===
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| − | | + | |
| − | LPC1700CMSIS is a collection of source code and libraries to simplify writing firmware for the M3.
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| − | $ cd ${HOME}/cortex-m3
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| − | $ mkdir LPC1700CMSIS
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| − | $ cd LPC1700CMSIS
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| − | $ wget
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| − | http://ics.nxp.com/support/documents/microcontrollers/zip/lpc17xx.cmsis.driver.library.zip
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| − | $ unzip lpc17xx.cmsis.driver.library.zip
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| − | | + | |
| − | === Test ===
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| − | | + | |
| − | Time to find out whether we can compile a project. Let's try to build the LPC1700CMSIS Driver Library.
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| − | $ cd ${HOME}/cortex-m3/LPC1700CMSIS/makesection
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| − | $ nano makeconfig
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| − | PROJ_ROOT =${HOME}/cortex-m3/LPC1700CMSIS
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| − | CMCORE_TYPE =CM3
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| − | DEVICE =LPC17xx
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| − | MANUFACTURE =NXP
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| − | TOOL =gnu
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| − | DEBUG_MODE =1
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| − | GNU_INSTALL_ROOT =${HOME}/x-tools/arm-bare_newlib_cortex_m3_nommu-eabi
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| − | GNU_VERSION =4.4.1
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| − | | + | |
| − | $ cd makerule/common
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| − | $ nano make.rules.environment
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| − | | + | |
| − | [remove path and .exe extension from tools - you might also need to change some backslashes]
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| − | $ cd ../LPC17xx
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| − | $ nano makefile.LPC17xx.gnu
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| − | TOOLCHAIN =arm-bare_newlib_cortex_m3_nommu-eabi
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| − | $ ${HOME}/cortex-m3/LPC1700CMSIS
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| − | $ make VERBOSE=yes
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| − | Take a look at the compiler messages to verify that arm-bare_newlib_cortex_m3_nommu-eabi-gcc and arm-bare_newlib_cortex_m3_nommu-eabi-ld are being invoked. If so, and you get no build errors, the toolchain is working. You can also try building one of the images in the Examples folder.
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| − | | + | |
| − | == Debug Tools ==
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| − | | + | |
| − | === FT2232 ===
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| − | | + | |
| − | FT2232 is a serial protocol converter that provides JTAG connectivity to the Robovero and console port access to the Overo COM. We need to install the driver for JTAG to work.
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| − | | + | |
| − | ==== Ubuntu ====
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| − | $ sudo apt-get install libftdi-dev
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| − | ==== ARM Angstrom ====
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| − | | + | |
| − | # opkg install libftdi
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| − | ==== Other ====
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| − | | + | |
| − | Go to http://www.intra2net.com/en/developer/libftdi/download.php to find the current libftdi release
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| − | | + | |
| − | $ cd ${HOME}/cortex-m3
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| − | $ wget http://www.intra2net.com/en/developer/libftdi/download/libftdi-X.X.tar.gz
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| − | $ tar xf libftdi-X.X.tar.gz
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| − | $ cd libftdi-X.XX/
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| − | $ ./configure
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| − | $ make
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| − | $ sudo make install
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| − | $ sudo ldconfig
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| − | | + | |
| − | === OpenOCD ===
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| − | | + | |
| − | Open On-Circuit Debugger (OpenOCD) provides debugging, in-system programming and boundary-scan testing for the Robovero. It connects the debug host (your development machine) to the target (cortex) through an adapter (FT2232). OpenOCD allows you to debug code running on the target with GDB.
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| − | | + | |
| − | ==== ARM Angstrom ====
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| − | | + | |
| − | # wget http://cumulus.gumstix.org/sources/robovero/openocd_0.4-r0.6_armv7a.ipk
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| − | # opkg install openocd_0.4-r0.6_armv7a.ipk
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| − | # wget http://cumulus.gumstix.org/sources/lpc1769.cfg
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| − | # cp lpc1769.cfg /usr/share/openocd/scripts/target
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| − | | + | |
| − | ==== Other ====
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| − | | + | |
| − | $ cd ${HOME}/cortex-m3
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| − | $ wget http://download.berlios.de/openocd/openocd-X.X.X.tar.bz2
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| − | $ tar xjf openocd-X.X.X.tar.bz2
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| − | $ cd openocd-X.X.X/
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| − | $ ./configure --enable-ft2232_libftdi
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| − | $ make
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| − | $ sudo make install
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| − | $ wget http://cumulus.gumstix.org/sources/lpc1769.cfg
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| − | $ sudo cp lpc1769.cfg /usr/local/share/openocd/scripts/target
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| − | | + | |
| − | === Test ===
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| − | | + | |
| − | Plug in your device. And run OpenOCD to connect.
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| − | | + | |
| − | $ sudo openocd -f interface/openocd-usb.cfg -f target/lpc1769.cfg
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| − | Open On-Chip Debugger 0.4.0 (2011-01-06-19:17)
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| − | Licensed under GNU GPL v2
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| − | For bug reports, read
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| − | http://openocd.berlios.de/doc/doxygen/bugs.html
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| − | 500 kHz
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| − | Info : clock speed 500 kHz
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| − | Info : JTAG tap: lpc1768.cpu tap/device found: 0x4ba00477 (mfg: 0x23b, part: 0xba00, ver: 0x4)
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| − | Info : lpc1768.cpu: hardware has 6 breakpoints, 4 watchpoints
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| − | | + | |
| − | == Firmware ==
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| − | | + | |
| − | The source for the firmware that ships with RoboVero is available via github. Follow these steps if you would like to contribute to the project or just use it as a reference.
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| − | | + | |
| − | $ cd
| + | |
| − | $ mkdir robovero
| + | |
| − | $ cd robovero
| + | |
| − | $ git clone git://github.com/robovero/firmware.git
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| − | | + | |
| − | The source will now appear in ${HOME}/robovero/firmware. Next, build and flash the firmware to your device. If your toolchain isn't at ${HOME}/x-tools you will have to modify the Makefile and PATH environment variable.
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| − | | + | |
| − | $ cd firmware
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| − | $ make
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| − | | + | |
| − | Start OpenOCD according to the above instructions if you haven't already. Open another terminal. We will flash using GDB.
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| − | | + | |
| − | $ wget http://cumulus.gumstix.org/sources/robovero/gdbconfig
| + | |
| − | $ x-tools/arm-bare_newlib_cortex_m3_nommu-eabi/bin/arm-bare_newlib_cortex_m3_nommu-eabi-gdb -x gdbconfig robovero/firmware/firmware
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| − | | + | |
| − | (gdb) load
| + | |
| − | (gdb) continue
| + | |
| − | | + | |
| − | If your LED starts to flash then your debug tools are working. You can press the RoboVero reset and the firmware will run without GDB.
| + | |
