Korebot II - K-Team FTP area
Contents
1. User Manual 6 version 1 6 2013 Documentation Author Julien Tharin K Team S A Z I Plans Praz 28 1337 Vallorbe Switzerland Email info k team com Url www k team com Documentation version Version Author Description 18 02 2013 J Tharin Minor corrections Teraterm doc 04 04 2012 J Tharin Corrected USB added Java VM C and Eclipse instructions 01 12 2011 J Tharin Added debug and virtual machine updated likorebot instructions 23 06 2011 J Tharin Corrected errata of 1 2 25 09 2009 J Tharin Corrected cable color added detailed instructions about cross compiler install 24 07 2009 J Tharin Corrected path for template program 16 07 2009 J Tharin First draft Trademark Acknowledgements IBM PC International Business Machines Corp Macintosh Apple Corp SUN Sparc Station SUN Microsystems Corp LabVIEW National Instruments Corp Matlab MathWorks Corp Webots Cyberbotics Ltd Logitech Logitech Int SA Gumstix Gumstix Inc Khepera K Team SA LEGAL NOTICE e The contents of this manual are subject to change without notice e All efforts have been made to ensure the accuracy of the content of this manual However should any error be detected please inform K Team e The above notwithstanding K Team can assume no responsibility for any error in this manual TABLE CONTENTS 4 1 1 REQUI2. 5 2 Tools and commands In this part the detailed descriptions of several tools and helpful commands are explained You can use Minicom program on Linux and Teraterm on PC for connecting to the Korebot and also for sending and receiving files given Teraterm can be downloaded from there http en sourceforge jp projects ttssh2 releases 5 2 1 Using serial port and Minicom 1 Connect and power up the Korebot as explained in chapter 4 3 2 Install the Linux package Irzsz containing communications programs If your Linux distribution is Ubuntu sudo apt get install lrzsz 5 2 1 1 Establish the serial connection 1 Set its parameters with the sub menu Serial port setup of the menu configuration serial port device name depending where you plugged your serial port If you use a serial to USB adapter the serial device may be dev tty USB0 On Teraterm go to menu and Serial Port to set the settings Serial Device dev ttyso Lockfile Location var lock Callin Program Callout Program 5 Bps Par Bits 115200 8N1 F Hardware Flow Control No Software Flow Control No Change which setting Figure 5 6 Minicom serial parameters KoreBot II User Manual rev 1 6 41 5 configuration 4 F Filenames and paths File transfer protocols Serial port setup Modem and dialing Screen and keyboard Save setup
3. KoreBot gt DB9 Gnd 12 Signal Ground 5 7 1st serial Tx 1 gt Rx 2 4 E lstserial 2 3 Female Connector view from behind Figure 3 6 DB9 connection 10 KoreBot II User Manual rev 1 6 3 Description 3 2 2 2 USB Slave Connection Up to now the PXA270 CPU doesn t support USB slave correctly Then it is not implemented here 3 2 2 3 KoreConnect Extension The KoreConnect extension provides a simple interface to standard cables and connectors from a personal computer to the KoreBot Two standard DB9 serial connections and a standard USB type B connection are provided to interface the first two KoreBot serial ports and KoreBot USB slave port Furthermore a RS232 transceiver will convert TTL signals from the second serial port to high voltage signal required for a direct connection to a PC RS232 cables m Serial port 2 ttyS2 Serial port O ttySO USB cable KoreConnect KoreBot Figure 3 7 KoreConnect extension KoreConnect is not included with the Korebot standard package and needs to be purchased from the serial port 0 Serial port 0 connection KoreConnect KoreBot Figure 3 8 Serial Port 0 Connection KoreBot II User Manual rev 1 6 11 3 Description 3 2 3 KoreBot Reset When pressing the reset button the board core supply and 3 3V regulator is actually shut down and the Pxa Reset pin is held low ensuring a proper restart from
4. 6 12 Figure 3 4 KoreBot serial connector When the KoreBot is connected without using a KoreConnect extension a flat cable is provided to create a custom cable connection The flat cable pin functions are described on Figure 3 5 Special care should be taken for USB connections as these signals are quite sensitive KoreBot II User Manual rev 1 6 9 3 Description 21436587109 12 11 n 1 1st Serial Tx 7 USB D 2 1st Serial 8 USB D 3 2nd Serial Tx 9 USB 5V 4 2nd Serial 10 USB 5V 5 3 3V 11 6 12 21 12 7 Figure 3 5 Korebot flat cable for serial connection 3 2 2 1 Serial connection Signals from the main serial interface Full UART are RS232 compatible signals a serial cable from a PC can be directly connected without any other requirement On the other hand signals from the second serial interface IrdDa UART are TTL signals and an external RS232 transceiver is required for a communication with a host computer When using a KoreConnect extension the transceiver is provided within the extension so that both serial connectors are RS232 compatible connection to the first serial line will allow an easy link to a Personal Computer and a virtual terminal This is by default the channel used for the Linux initial console and it is required for the fisrt interactions with the system
5. Khepera 3 robot KoreBot User Manual rev 1 6 4 Usage 4 1 2 Required software Required free space e 150 MB on usr local for light toolchain 16 MB on user account Required files Linux OS kernel 2 6 x on the computer with the following packages installed gcc GNU C compiler minicom terminal emulation 17757 communication package picocom minimal dumb terminal emulation program expect interactive scripts running program Included in the DVD ROM of the package Cross compilerlight korebot2 oetools light 1 0 kb1 tar bz2 Developmentfolder development k2 vl1 0 tar bz2 Board library sources gt libkorebot 1 19 kb1 tar bz2 Script for uploading Kernel and file system ktboot 2 0 20090416 tar bz2 Remark you may find updated version of these software at http ftp k team com 120090416 means the version of this software 16 KoreBot User Manual rev 1 6 4 Usage 4 2 Connections The basic connections of the board are depicted in Figure 4 1 The power supply is connected to the board with the power cable And the serial cable is connected to the computer through the KoreConnect adapter If there is no serial port you may use an usb to serial adapter A low voltage supply connection is displayed on Only two of the three power connections are used at the same time The power cable included with the KoreBot package has three wires with bare
6. 5 2 10 4 Optional instructions how to re build the Khepera3 interface library You can rebuild the Khepera3 interface library for adding new functions or modify parameters extract the sources from If you would like to add some new function add the declaration of the new function in Khepera3 java in the beginning under methods available comment update the Khepera3 h header with the command javah Khepera3 add the new declaration of Khepera3 h in libKhepera3 c and transform this function declaration into the definition by adding code inside CIOSS compile the interface d libKhepera3 cross compile with command one line arm angstrom linux gnueabi gcc shared libKhepera3 c o libKhepera3 so I usr lib jvm java 6 openjdk include I INCPATH L LIBPATH lkorebot gt This will create the library libKhepera3 so KoreBot II User Manual rev 1 6 61 6 62 6 WARRANTY WARRANTY K TEAM warrants that the Korebot is free from defects in materials and workmanship and in conformity with the respective specifications of the product for the minimal legal duration respectively one year from the date of delivery Upon discovery of a defect in materials workmanship or failure to meet the specifications in the Product during the afore mentioned period Customer must request help on K Team Internet forum on http www k team com forum by detailing the type of Korebot II used ver
7. File transfer protocols Serial port setup Modem and dialing Screen and keyboard Save setup as dfl Save setup as Exit Figure 4 3 Minicom configuration menu KoreBot II User Manual rev 1 6 19 4 Usage 4 Connect the Korebot as described in chapter 4 4 21 And connect the power supply to U Boot 1 2 0 Dec 21 2007 13 37 16 PXA270 600 MHz 1578M Welcome to Gumstix DRAM 128 MB Flash 32 MB Using default environment Hit any key to stop autoboot 0 Instruction Cache is ON Copying kernel to 0xa2000000 from 0 01 00000 length 0x00100000 done Booting image at a2000000 Image Name Angstrom 2 6 24 gumstix custom v Image Type ARM Linux Kernel Image uncompressed Data Size 1000672 Bytes 977 2 kB Load Address a0008000 Entry Point a0008000 Starting kernel Linux version 2 6 24 jtharinGKHEPERA04 gcc version 4 1 2 1 Wed Jan 28 00 11 22 CET 2009 CPU XScale PXA270 69054117 revision 7 ARMv5TE cr 0000397f Machine The Gumstix Platform OpenEmbedded Linux korebot2 50 Angstrom 2007 9 test 20090127 korebot2 50 korebot2 login Figure 4 4 part of the Korebot Boot log KoreBot II User Manual rev 1 6 4 Usage 5 Login to Korebot with the following parameters Login root Password none press Return key Angstrom 2007 9 test 20090127 korebot2 ttyS0 korebot2 login root Pa
8. Ln ES Figure 5 2 Board mechanical dimensions 5 1 2 Electrical specifications Figure 5 3 Connectors pinning top view 38 KoreBot II User Manual rev 1 6 5 KB 250 Extension Interface J700 Signal Function Function LCD 014 GPIO 72 LCD 013 71 LCD D12 GPIO 70 LCD D11 GPIO 69 BT Txd LCD D10 GPIO 68 6 BT Rxd ae LCD D9 GPIO 67 LCD D8 GPIO 66 8 CD D7 GPIO 65 controller IrDa Txd IrDa UART CD D6 64 0 IrDa Rxd ttyS2 LCD D5 GPIO 63 GPIO101 LCD 04 GPIO 62 GPIO 61 LCD 03 LCD 02 GPIO 60 LCD Di GPIO 59 GPIO 58 aja controller 3 Figure 5 4 Interface J700 KoreBot II User Manual rev 1 6 5 KB 250 Extension Interface J701 Function Signal Function 2 SSP SPI Bus ow x Ful RS282 UART Pee 36 SYNC gt lt lt lt ttySO 7 SDATA OUT Koresound SDATA INO bus SDATA IN1 X BIT CLK 122 SCL I2C Bus 12 SCA USB Bus USB Bus host USB ID master MMC DATO MMC Bus Figure 5 5 Interface J701 6 9 5 5 5 5 5 5 02 5 0 KoreBot II User Manual rev 1 6 5
9. fusr local korebot2 oetools 1 0 tmp cross bin http ftp k team com K orebotII software common debug The libexpat need to bes installed on the computer e Create the directory on the computer sudo mkdir usr local korebot2 oetools 1 0 tmp staging i686 linux lib Unpack and copy the libexpat files to that directory with sudo from the link below http ftp k team com KorebotII software common debug Create the links with the following command in one line each sudo s usr local korebot2 oetools 1 0 tmp staging i686 linux lib libexpat so 0 5 0 usr local korebot2 oetools 1 0 tmp staging i686 linux lib libexpat so 0 50 KoreBot II User Manual rev 1 6 5 sudo s usr local korebot2 oetools 1 0 tmp staging i686 linux lib libexpat so 0 5 0 usr local korebot2 oetools 1 0 tmp staging i686 linux lib libexpat so You can use the debugger in command line or with ddd GUI Command line Execute for running the debugger in the computer arm angstrom linux gnueabi gdb YOUR PROGRAM In this debugger set parameter and connect to the remote gdb with the 2 commands set sysroot usr local korebot2 oetools 1 0 tmp staging arm angstrom linux gnueabi target extended remote YOUR KOREBOT IP ADDRESS 1234 52 84 AL icis ca d ae c commands r h are the same as for gdb in chapter With GUI On your computer install the debugger GUI with sudo apt get ins
10. DUE TO A BREACH OF CONTRACT BREACH OF WARRANTY NEGLIGENCE OR OTHERWISE SAVE THAT NOTHING HEREIN SHALL LIMIT EITHER PARTY S LIABILITY FOR DEATH OR PERSONAL INJURY ARISING FROM ITS NEGLIGENCE NEITHER PARTY SHALL HAVE ANY LIABILITY TO THE OTHER FOR INDIRECT OR PUNITIVE DAMAGES OR FOR ANY CLAIM BY ANY THIRD PARTY EXCEPT AS EXPRESSLY PROVIDED HEREIN KoreBot II User Manual rev 1 6 s m 7 1 PLANS PRAZ 28 133 VALLORBE
11. acquisition server Ktgrab video acquisition client Driver source code http ftp k team com korebot koreusbcam driver source gspcav 1 2007 1224 1 kb 2 2009606024 07241 Remark the camera module focus is manual only No autofocus mode is available 46 KoreBot II User Manual rev 1 6 5 5 2 5 nfs configuration The first service to set up should be transparent file sharing using NFS Most Linux distributions include NFS support by default and the KoreBot system is ready to be connected The directory to be shared between the computer and the board must be declared to the NFS service in the etc exports configuration file Please refer to NFS documentation or man exports for a detailed syntax description Basically the following line should be added to the file etc exports on the computer mnt nfsarm KOREBOT 1 255 255 255 0 root squash sync And this directory should be created on the computer with mkdir mnt nfsarm Then the export should be refreshed with the command exportfs The next step is to mount the shared directory to the KoreBot file system Mounting a local hard drive partition or a network directory is exactly the same from the user point of view the mount commands should be on the Korebot where COMPUTER is the IP address of the computer which the Korebot will be connected mkdir mn
12. as 15 Choose C C Build menu at the left Discovery options repeat the steps above from 7 for the Release configuration 16 push Finish button 17 Goto menu gt New gt Source file choose fest c as filename 18 Close the Welcome window with its cross at the upper left KoreBot II User Manual rev 1 6 4 Usage 19 Insert in the fest c the following C source code include korebot korebot h int main int argc char argv int Set the libkorebot debug level Highly recommended for development kb set debug level 2 printf LibKorebot Template Program r n Init the korebot library if rc init argv lt 0 return 1 ADD YOUR CODE HERE return 0 20 Then cross compile project with menu Menu Project gt Build AII gt The output file will be in the subdirectory Debug or Release of the project 21 Transfer the file test to your Korebot 2 see chapter 5 2 3 22 And execute the program file with command test KoreBot II User Manual rev 1 6 31 4 Usage 4 5 Full toolchain and sources The full toolchain is for advanced users who would like to modify the kernel rebuild the image system or develop new packages for the Korebot Remarks Prior knowledge of Linux its kernel and Open Embedded tools is highly recommended 4 5 1 Required software Required
13. devices or enhance the Khepera III robot by expanding its computing power 1 1 How to use this handbook This handbook introduces the KoreBot II and its various operating modes For a quick r lo 1 start jump to chapter 4 Usage If this handbook does not answer one of the problems you wish to solve please consult the K Team web site Chttp www k team com and especially the Forum and the FAQs Unpacking and Inspection package description and first use Description Korebot II description Usage KoreBot II usage descriptions Detailed descriptions of several helpful tools and commands are explained KoreBot II User Manual rev 1 6 1 1 INTRODUCTION 1 2 Safety precautions Here are some recommendations on how to correctly use the KoreBot II Keep the board away from wet area Contact with water could cause malfunction and or breakdown e Store your board in a stable position This will avoid the risks of falling which could break it or cause damage to a person not plug any connectors while the board is powered on To avoid any damage make all connections when the board power 1 off Never leave KoreBot II powered when it is unused When you have finished working with KoreBot II turn it off It will save the battery life 1 3 Recycling Think about the end of life of your product Parts of the board can be recycled and it is i
14. in usr local with the command sudo tar xjf korebot2 oetools 1 0 kb1 2 tar bz2 C usr local 3 And create a symlink using this command in your development directory In s usr local korebot2 oetools 1 0 tmp cross development_k2_v1 0 cross 4 You can check if the installation is correct by running the cross compiler Firstly make the environment variables available then check the version of the cross compiler source env sh arm angstrom linux gnueabi gcc version The last command should return arm angstrom linux gnueabi gcc GCC 4 1 2 KoreBot II User Manual rev 1 6 33 4 Usage 4 5 3 Full toolchain usage 4 5 3 1 Rebuilding the whole system To rebuild the toolchain system the image file and the kernel execute the following instructions 1 In a console in the directory usr local korebot2 oetools 1 0 source the following file to have access to the environment setup source extras profile 2 With the following commands you can build rebuild the whole system o Cleaning bitbake c clean korebot2 image o Build bitbake c build korebot2 image o Rebuild bitbake c rebuild korebot2 image The output files will be stored in usr local korebot2 oetools 1 0 tmp deploy glibc images gumstix custom verdex Three main files will then be built the kernel ulmage 2 6 24 r1 gumstix custom verdex bin itsmodules modules 2 6 24 r1 gumstix custom verdex tgz e thefilesystem Angstrom korebo
15. key no password You will have a terminal that is the Korebot II console 5 2 7 Using vi text file editor You can use the installed vi text file editor to modify files directly on the Korebot Launch it with vi FILENAME where FILENAME is the filename with path you would like to edit Here below are the basic commands i enters in write mode for adding text You will see the I indicating this modeat the last line of the file I tmp essai 1 1 100 a enters in write mode for adding text You will see the I indicating this modeat the last line of the file I tmp essai 1 1 100 ESC to go back in command mode push ESC key delete character on cursor dd delete current line ESCwq tosave and quit ESC to quit without saving arrow keys move around text 48 KoreBot User Manual rev 1 6 5 5 2 8 Debugging You can debug a program you made directly in console on Korebot II or remotely The files can be found here http ftp k team com KorebotII software common debug 5 281 Debugging on the Korebot II You need firstly to install the following packages with the commands in that order install ncurses 5 4 9 armvSte ipk install libcidnl 2 9 r37 4 6 armvSte ipk ipkg install libc6 2 9 r37 4 6 armvSte ipk install libgccl 4 3 3 24 2 6 armvSte ipk install libpython2 6 1 0 2 6 6 ml12 2 6 armvSte ipk install gdb 7 0 r0 5 armvSte ipk Then yo
16. safe state The Pxa Reset Out pin is also held low by the CPU so that all the other devices on the board are reset On button release the regulator itself manages to wait until the power regulation is stable before releasing the Pxa Reset pin high Then the Pxa complete its reset sequence before releasing the Pxa Reset Out pin that is connected to all the other resettable devices on the board When driving the Pxa Reset pin low from an external device the processor is reset and it drives the Pxa Reset Out pin low to reset other devices The Pxa Reset Out pin is not released until the processor reset sequence is completed The only difference between the two methods is that the regulator is not shut down 3 2 4 KoreBot JTAG Connection The JTAG connector is a direct connection to the Pxa270 JTAG debug port This interface connector Figure 3 9 JTAG connector 3 2 5 KoreBot USB Host The KoreBot provides one USB host It is available from the mini USB connector see fig 3 9 The USB Host interface provides a way to connect USB devices such as webcams or external disks to the KoreBot Plug the device when the Korebot is on and it will be detected and mounted for storage devices See with mount command Example mounted on directory media hdd for USB key Unmount it with command umount media hdd before unplugging the storage device 12 KoreBot II User Manual rev 1 6 3 Description 3 2 6 Korebot Compact flash connector
17. 19 kb1 is the current version tar xjf libkorebot 1 19 kb1 tar bz2 C development k2 v1 0 2 Check in the file env sh of your development folder variable LIBKOREBOT_ROOT to update the version of the libkorebot if it is different of the one installed above 3 You can recompile the whole library by running the following commands in the libkorebot 1 19 kb1 folder source eny sh make clean make 24 KoreBot II User Manual rev 1 6 4 Usage On Korebot II there are 3 ways to check version of the installed libkorebot only last one works if the library version is 1 17 Command ipkg list installed grep libkorebot Command ls 1 usr local libkorebot For libkorebot version gt 1 17 template version or template v You can find an updated version of the libkorebot from the following ftp site 4 4 1 4 Installation of the scripts for uploading the kernel and the file system ktboot With these scripts the Korebot can be reinitialised to its default settings 1 Extract the file ktboot 2 1 20111025 tar bz2 in your development folder tar xjf ktboot 2 1 20111025 tar bz2 C k2 v1 0 4 41 5 Installation update of the libkorebot on the Korebot The library is already installed on the Korebot For an update download the new version at the site below and transfer it to the Korebot http ftp k team com KorebotII software common libkorebot Then run ipk i
18. 3 java 20120120 zip modify and add your code inside the part main program public static void main String args compile the program with javac Khepera3 java on the Korebot2 execute this for adding the library path for finding the libKhepera3 so export LD LIBRARY PATH LD LIBRARY PATH usr lib transfer Khepera3 class to the Korebot2 and run it with java Khepera3 KoreBot II User Manual rev 1 6 59 5 5 2 10 3 Optional instructions how to re build the java virtual machine The machine was build with the commands below Execute it only if you want to rebuild or patch the java virtual machine You need the Korebot II full toolchain See chapter 4 5 Then with the commands below build the java virtual machine and its library Open a terminal and go to the directory usr local korebot2 oetools 1 0 Execute this command to have access to the variables source extra profile then install the java compiler on your computer on Ubuntu sudo apt get install openjdk 6 jdk build the the classpath packages bitbake classpath and the virtual machine bitbake jamvm These 2 last steps will produce the packages there usr local korebot2 oetools 1 0 tmp deploy glibc ipk armv5te classpath common 0 96 1 2 armv5te ipk classpath dev 0 96 1 2 armv5te ipk 0 96 1 2 armv5te ipk jamvm 1 5 0 r0 armv5te ipk 60 KoreBot II User Manual rev 1 6 5
19. A Complete Linux system is installed in the KoreBot flash memory The system can be started as a standalone Linux box with the initial console displayed on the serial line No application is started except the initial shell The power supply and the serial connection only are necessary for the system check The power supply must be connected as described in section 4 2 Connections The serial link connection details The serial port should be linked to a terminal such as minicom on the host computer The basic configuration for the serial line should be 115200 Bps 8 data bits No parity 2 stop bits information on the KoreBot Linux system KoreBot II User Manual rev 1 6 5 3 Description 3 Description 3 1 Overview locations of various key elements are indicated for later references The compact flash slot can receive a Type I card http www k team com for a list of available extensions the other connectors are described in the subsequent part of this chapter The USB Host connector is a Mini AB USB On The Go connector USB peripherals can be connected to KoreBot with this connector Warnings The KoreBot power supply system is not designed to support Compact Flash card hot plug Inserting or removing a card when the power is switched on can cause critical damage to the Compact Flash electronic interface Power supply connector USB host connector Reset button Serial connector On off LE
20. D be 3 250 Extension connector Extension connector Compact flash connector Micro SD connector Figure 3 1 Korebot II overview bottom view KoreBot II User Manual rev 1 6 3 Description E 1 e Gumstix extension connector KB 250 Extension connector Figure 3 2 Korebot II overview top view KoreBot II User Manual rev 1 6 3 Description 3 2 Korebot Hardware The hardware of the Korebot II is described in the sub chapters thereafter 3 2 1 Power Regulation The KoreBot is designed so that unregulated power sources such as batteries can be directly connected to supply the board without any external regulation required One embedded regulators is provided to enable any voltage source between 3 3V and 5 5V Please notice that Wrong power connections can cause critical damage to the board A ground reference is common for the entire board The power source must be connected to the correct input to supply the board When using the high voltage input the first regulation stage provides regulated 5V and supplies the second regulation stage The second regulation stage which cannot handle input voltage over 5 5V provides regulated 3 3V and the processor core supply When using the low voltage input it is directly connected to the second regulation stage The board will be fully functional as long as the input is over 3 3V The CPU core ca
21. KIP proto WPA priority 5 You can check the following link for other encryptions b run the daemon controlling the wireless connection with the following command wpa_supplicant c etc wpa_supplicant wpa_supplicant conf ieth0 Dwext B In etc network if pre up d named wireless add the following commands bin sh ifconfig up ifconfig 0 YOUR_IP_ADDRESS route add default gw YOUR_GATEWAY pre up wpa_supplicant c etc wpa_supplicant wpa_supplicant conf ieth Dwext B post down killall q wpa_supplicant d reboot the system or restart the network with the following command etc init d networking restart KoreBot II User Manual rev 1 6 45 5 5 2 3 Transferring files using ssh 1 Establish a network connection between computer and Korebot for using 2 Execute the following command scp FILE root KOREBOT_IP home root where FILE 15 file to transfer KOREBOT IP is the Korebot ip address 5 2 4 Using the KoreUSBCam module You can connect the KoreUSBCam and use it as described in the user manual available at the link below You don t need to install the driver as it is already included for the Korebot II The information and main programs can be found here e User manuals Current KoreUSBCam Main folder with user manual applications programs You can use the following programs compiled for the Korebot II Ktgrab video
22. RED HARDWARE nnn rrr nnne nnn 15 1 2 EQUIRED SOFTWARE ai See a ae eG ai le at pic ie lla 16 HD _ CONNECTIONS 17 E E 18 4 4 SOFTWARE 22 4 4 1 INSTALLATION OE LIGHT TOOLCHAIN cata reto FH 22 4 4 2 IN G AND LIGH T TOOLCHAIN USAGE LESE BOUM E A 26 A 35 FULL TOOLC HAIN AND SOURCES de olli a 2 4 5 1 REQUIRED SOFTWARE 32 4 5 2 INSTALLATION 33 4 5 3 34 NFS CONFIGURATION KOREBOT II CONSOLE BY WIFI AND SSH eee nme nennen nen USING VI TEXT FILE EDITOR 1 INTRODUCTION 1 INTRODUCTION Thank you for buying the KoreBot II With this card you will be able to create many new embedded systems by interfacing standard
23. Ubuntu VirtualBox image Image file 94442975 4410 4 00 9 4 6186322 9 3 Image file checksum Ubuntu KorebotII_VirtualBox mf Image file settings Ubuntu KorebotlI VirtualBox ovf Hardware needed computer with at least 2GB of RAM and 4 GB of free disk space 5 2 9 1 Installation of the virtual machine Follow these instructions for installing the virtual machine Install VirtualBox from http www virtualbox org Goto File Import Appliance and import Ubuntu KorebotII_VirtualBox ovf file settings This will take some time You may configure the serial port for using the KoreConnect to connect to the Korebot II Select the Ubuntu KorebotII machine and press Settings button Goto Serial Ports settings On the tab Port 1 enable the checkbox Enable Serial Port Choose Port Number COMI gt this will be the Linux serial port dev ttySO Port Mode Host Device Port File Path COMI if you have a standard serial port and using COMI or change to adapt to your computer serial port If you have the and the Korebot II you can even use the Bluetooth com port instead of the KoreConnect See the Khepera III user manual for the Bluetooth connection The network should be detected and installed autonomously You may want to share folders between your virtual machine and your computer KoreBot II User Manual rev 1 6 55 5 You can share folders like th
24. You can connect any compact flash Type I card to this connector WARNING The system does not support hot plug Switch off the Korebot before A adding or removing any Compact Flash card The u SD and the Compact flash are on the same bus Then you cannot use both together For using a Compact flash memory card shipped in that mode by default 1 Comment the mmc_block and modules 2 Uncomment by adding at the beginning of the line or add if not present the and 2 cs modules 3 Switch off the Korebot insert the Compact flash card and switch on 4 Typing mount shows the mounted card location dev hda on media hda type vfat rw fmask 0022 dmask 0022 codepage cp437 iocharset iso8859 1 gt You can copy files to and from the card at the location media hda 3 2 7 Korebot p SD connector With the u SD connector and a u SD card you can easily transfer files to and from the Korebot WARNING The p SD and the Compact flash are on the same bus Then you cannot use both together By default the Compact flash is activated To change the activated card you have to edit the etc modules file as follow 1 Comment the pcmcia and cs module 2 Uncomment by adding at the beginning of the line or add if not present the mmc block and pxamci 3 Typing mount shows the mounted card location dev mmcblkO0p1 on media card type vfat rw fmask 0022 dmask 0022 codepage cp437 iocharse
25. ady usr local korebot2 oetools 1 0 org openembedded dev packages 2 If it is present you can compile it by running in the usr local korebot2 oetools 1 0 directory source extras profile bitbake PACKAGE_NAME 3 The package will be created in one of the folders usr local korebot2 oetools 1 0 build tmp deploy glibc ipk 5 Then install it ipkg install PACKAGE NAME ipk You can list installed packages on the Korebot II and find your PACKAGE with the command ipkg list installed grep PACKAGE 4 5 4 2 Creating new package You can create new packages for the Korebot following the instructions there http www gumstix org software development open embedded 160 bitbake tutorial html The recipes of the packages should be put in usr local korebot2 oetools 1 0 user collection packages 36 KoreBot II User Manual rev 1 6 5 5 5 1 250 Extension bus Here after are described the extension specifications for developing a new extension board Korebot extension Female connector au Ref ERNI SMC 124045 Korebot Male connector Ref ERNI SMC 063210 Female connector mr edi Ref ERNI SMC 124045 Overview Figure 5 1 Korebot II extension Bus KoreBot II User Manual rev 1 6 37 5 5 1 1 Mechanical specifications 85 79 2 765 7 A m ias emt
26. arranties expressed or implied in respect of any additional software provided with Product and any such software is provided AS IS unless expressly provided for in any enclosed software limited warranty Please refer to the End User License Agreements included with the Product for your rights with regard to the licensor or supplier of the software parts of the Product and the parties respective obligations with respect to the software This limited warranty is non transferable It is likely that the contents of Customer s flash memory will be lost or reformatted in the course of the service and K TEAM will not be responsible for any damage to or loss of any programs data or other information stored on any media or any part of the Product serviced hereunder or damage or loss arising from the Product not being available for use before during or after the period of service provided or any indirect or consequential damages resulting therefore IF DURING THE REPAIR OF THE PRODUCT THE CONTENTS OF THE FLASH MEMORY ARE ALTERED DELETED OR IN ANY WAY MODIFIED K TEAM IS NOT RESPONSIBLE WHATEVER CUSTOMER S PRODUCT WILL BE RETURNED TO CUSTOMER CONFIGURED AS ORIGINALLY PURCHASED SUBJECT TO AV AILABILITY OF SOFTWARE Be sure to remove all third parties hardware software features parts options alterations and attachments not warranted by K TEAM prior to Product service is not responsible for any loss or damage to these items This
27. as dfl Save setup as Exit Figure 5 7 Minicom configuration menu 5 2 1 2 To send a file to the Korebot upload 1 In the Minicom console hold the keys Ctrl a and press 8 and select Z Modem 2 Select the file you would like to upload to the Korebot navigate with the arrows keys 2x spacebar to change directory and to select the file Select Okay to send it For Teraterm choose menu File then Transfer Z Modem and Send 5 2 1 3 To senda file to the computer download 1 In the Minicom console at the prompt of the Korebot type the following command where FILENAME is the file you would like to send lsz FILENAME c The file FILENAME is sent to the last directory Minicom used or if not changed where it started For Teraterm run the command sz FILENAME then choose menu File then Transfer Z Modem and Receive The file will be in the directory given by menu File Change directory 42 KoreBot II User Manual rev 1 6 5 5 2 2 Using Wireless compact flash card Two wireless compact flash models are supported The card name and its driver are listed below A Ambicom WL1100C CF with hostap cs driver module B Ambicom WL5400G CF with libertas cs driver module Remark The following instructions are for the wireless compact flash B WL5400G CF With the model Ambicom WL1100C CF you have to instruct the driver to ign
28. ating menu you have the different commands for debugging o You can add watch on a variable with clicking with the right mouse button the variable and choose Display VARIABLE 5 2 8 3 Remote debugging with Eclipse 1 download to the Korebot the following openssh packages openssh scp 4 6pl r3 armvSte ipk openssh ssh 4 6pl r3 armvSte ipk openssh sshd 4 6p1 r3 armvSte ipk openssh 4 6p1 r3 armvSte ipk openssh sftp server 4 6p1 r3 armvSte ipk openssh sftp 4 6p1 r3 armvSte ipk 3 Remove dropbear program ipkg remove dropbear 52 KoreBot II User Manual rev 1 6 5 Annexes 4 Connection with SSH connection will be dropped in the middle then connect with serial port to the Korebot 2 5 Install these openssh packages in that order The command for each is ipkg install PACKAGE ipk openssh scp 4 6pl r3 armvSte ipk openssh ssh 4 6p1 r3 armvSte ipk openssh sshd 4 6p1 r3 armvSte ipk openssh 4 6 1 3 armvSte ipk openssh sftp server 4 6p1 r3 armvSte ipk openssh sftp 4 6p1 r3 armvSte ipk 6 With this new openssh server a password is needed run this command and create a new password passwd 7 Reboot the korebot 8 Remove on your computer the known host as the ssh server changed the security key changed rm ssh known hosts 9 On Eclipse menu Run gt Debug Configurations double click on Remote Application test Debug is created 10 In the Main tab gt applic
29. ation enter Debug test 11 On Connection push New button and choose SSH in the next window Hostname ip address of your korebot 2 and push Finish button 12 On Remote Absolute File Path for C C Application modify to home root test 13 In the Debugger tab choose usr local korebot2 oetools 1 0 tmp cross bin arm angstrom linux gnueabi gdb 14 On tab change GDB Debugger to usr local korebot2 oetools 1 0 tmp cross bin arm angstrom linux gnueabi gdb 15 On Shared Libraries tab add usr local korebot2 cetools 1 0 tmp staging arm angstrom linux gnueabi lib 16 Then Push Debug enter root as User ID and use the password created above at point 6 17 Debug step by step KoreBot User Manual rev 1 6 53 5 You can go again into settings and select Release configuration when your program has been fully debugged You can run the program from the korebot2 with a remote terminal or with Eclipse GUI After having set the Debug configuration the parameters are also available for the run Just go the menu Run then choose In the lower part of the Eclipse window you will see the output of your program in the Console tab 54 KoreBot II User Manual rev 1 6 5 5 2 9 Development on virtual machine Files needed VirtualBox installed from http www virtualbox org http ftp k team com KorebotII software common
30. e http java com en download index jsp 2 Download the linux version of Eclipse IDE for Developers includes Incubating components from for Ubuntu users don t install with apt get because the apt get version is older http www eclipse org cdt 3 Extract the Eclipse program file mkdir bin tar xzf eclipse cpp indigo SR2 incubation linux gtk tar gz C bin You can also create a link to the start file sudo In s eclipse eclipse usr bin eclipse 4 You should have installed the latest version of the Korebot 2 toolchain light or full to usr local korebot2 oetools 1 0 tmp cross bin on your computer with the command one line wget http ftp k team com KorebotII software common debug arm angstrom linux gnueabi gdb P usr local korebot2 oetools 1 0 tmp cross bin You can check by opening a terminal and sourcing the Korebot 2 environement with source env sh see Korebot User Manual chapter 4 4 2 1 command arm angstrom linux gnueabi gdb version which should return GNU gdb GDB 7 0 5 Run eclipse and at the Workspace launcher window choose where you would like to put your project 6 Go to file menu File gt C Project for running a on the Korebot 2 you must install the standard library http ftp k team com KorebotII software common libstdc 6 4 1 2 r10 armv te ipk with the command install libstdc 6_4 1 2 r10_armySte ipk on the Korebot 2 and ch
31. eam com KorebotII software common java_vm classpath common 0 96 1 r2 armv5te ipk classpath dev 0 96 1 2 armv5te ipk classpath 0 96 1 2 armv5te ipk jamvm 1 5 0 armv5te ipk Download and transfer them to the robot and install them with the command ipkg install PACKAGE NAME for each where PACKAGE NAME is any of the file finishing by ipk extension inside the directory of the link above Install the package javavm at the end http ftp k team com K orebotII software common java vm Khepera3 java 20120120 zip into the directory usr lib of the Korebot2 5 2 10 2 Testing and start developping You can test and start developping in Java with the instructions below install the java compiler openjdk 6 jdk command on Ubuntu sudo apt get install openjdk 6 jdk a Hello World example Create a file Hello java with the following lines on the computer 58 KoreBot II User Manual rev 1 6 5 Hello java public class Hello public static void main String args System out println Hello 1 and compile it with command javac Hello java Or use your favorite java compiler This will create a file named Hello class transfer the file Hello class on the Korebot II and run it with java Hello This should return Hello world b start from the Khepere3 java example http ftp k team com KorebotII software common java vm Khepera
32. ends o Red DC 3 3 5 5 V o Black ground o Yellow not used A You should be careful when connecting the board power properly to avoid damage Figure 4 1 Basic connections Serial cable KoreConnect KoreConnect cable power supply and computer are obviously not included KoreBot II User Manual rev 1 6 17 4 Usage 4 3 Power up Follow the instructions below to connect to the Korebot with the serial port 1 Install the Linux package Irzsz containing communications programs If your Linux distribution is Ubuntu sudo apt get install Irzsz 2 On the Linux computer run the emulation terminal Minicom minicom If Minicom is not installed you have to install this package For Linux Distribution Ubuntu the command is sudo apt get install minicom 3 Set its parameters with the sub menu Serial port setup of the menu configuration If you use a serial to USB adapter the serial device may be dev tty USB0 A Serial Device dev ttyso B Lockfile Location var lock C Callin Program D Callout Program Bps Par Bits 115200 8N1 Hardware Flow Control No G Software Flow Control No Change which setting Figure 4 2 Minicom serial parameters 18 KoreBot II User Manual rev 1 6 4 Usage Save settings with command Save setup of the menu configuration cf configuration 4 F Filenames and paths
33. ent Hit any key to stop autoboot 0 GUM gt Figure 4 6 U Boot KoreBot User Manual rev 1 6 27 4 Usage 4 Type Ctrl y Ctrl x to exit picocom 5 Then change directory to ktboot edit the Makefile with vi editor see chapter 5 2 7 SDEV dev ttyS0 6 type to flash the kernel 2min make flashk 7 flash the image file system type make flashd 8 configure the kernel boot parameters 105 type make bootargs 9 reboot the Korebot 4 4 2 3 Wifi usage 4 4 2 4 programming The C cross compiler arm angstrom linux gnueabi g is automatically installed with inside g by arm angstrom linux gnueabi g By default only the standard C library libc is installed on the Korebot II If you want use C compiled program you will have to install the C library libstdc It is available on the DVD or here as a package http ftp k team com KorebotII software common libstdc 6_4 1 2 r10_armv5te ipk Transfer this file to the Korebot and install it with the command install libstdc 6_4 1 2 r10_armvSte ipk 28 KoreBot User Manual rev 1 6 4 Usage 4 4 2 5 C C Programming using GUI source code editor Eclipse You can use also Eclipse as source code editor See instructions below how to install and use it 1 Install the Java Runtime Environment JRE if not already installed ihttp www eclipse org downloads moreinfo jre php and the JRE file ther
34. fig eth key YOUR KEY then set an ip address to the korebot ifconfig eth YOUR IP ADDRESS d configure the gateway by entering the gateway ip route add default gw YOUR GATEWAY e insert the local domain name in etc resolv conf echo search YOUR LOCAL DOMAIN NAME etc resolv conf f and the dns server echo nameserver YOUR DNS SERVER IP ADDRESS gt gt etc resolv conf You can also create a file in etc network if pre up d named wireless to have these settings saved Put the following into it bin sh ifconfig up iwconfig essid YOUR SSID OF NETWORK iwconfig key 5 YOUR KEY ifconfig eth YOUR ADDRESS route add default gw YOUR GATEWAY And make it executeable with the command chmod etc network if pre up d wireless And the following in a file named etc resolv conf KoreBot II User Manual rev 1 6 5 search YOUR LOCAL DOMAIN NAME nameserver YOUR DNS SERVER IP ADDRESS WEP WPA and other encryptions a Create a file named etc wpa_supplicant wpa_supplicant conf and insert your selected wireless encryption WEP Shared WEP key connection no WPA network ssid YOUR_SSID key_mgmt NONE wep key0Z YOUR KEY auth alg SHARED wep_tx_keyidx 0 priority 5 7 WPA TKIP Z etc wpa supplicant wpa supplicant conf Zwith WPA PSK TKIT network ssid YOUR_SSID psk YOUR_PASS_KEY key_mgmt WPA PSK group TKIP pairwise T
35. free space 5 5 GB on usr local 10 GB for the installation process including temporary files 16 MB on user account Required files e Linux packages g GNU C compiler patch patch software help2man manual converter reads the output of diff and displays histogram 2 convert to html makeinfo produce doc texinfo on Ubuntu library allowing the programmer to write libncurses5 dev on Ubuntu cvs revision control system gawk programming language designed for processing text based data python dev dynamic object oriented programming language python pysqlite2 Python sql interface Subversion version control system On Ubuntu Linux distribution you can use the following command to install all the above packages in one time sudo apt get install 2 patch help2man diffstat texi2html texinfo libncurses5 dev cvs gawk python dev python pysqlite2 subversion 32 KoreBot User Manual rev 1 6 4 Usage e Included in the DVD ROM of the package Cross compiler and Open Embedded tools sources korebot2 oetools 1 0 kb1 2 tar bz2 Development folder development_k2_v1 0 tar bz2 Board library sources libkorebot 1 19 kb1 tar bz2 Script for uploading kernel and file system ktboot 2 1_20111025 tar bz2 4 5 2 Installation 2 Extract the cross compiler sources korebot2 oetools 1 0 kb1 2 tar bz2
36. irectory development k2 v1 0 created just before which will be your development directory You can use the following commands assuming you are in a console which current directory contains the file tar xjf development k2 v1 0 tar bz2 C cd development k2 v1 0 2 Modify the KTEAM HOME variable in the file env sh to point to your development xim mea HOME home YOUR USERNAME development k2 v1 0 KoreBot II User Manual rev 1 6 23 4 Usage 4 4 1 2 Installation of the cross compiler light toolchain 1 Extract the cross compiler korebot2 oetools light 1 0 kb1 2 tar bz2 in usr local with the command sudo tar xjf korebot2 oetools light 1 0 kb1 2 tar bz2 C usr local Remark you must be root or use sudo 2 Andcreate a symlink using this command in your development directory In s usr local korebot2 oetools 1 0 tmp cross development_k2_v1 0 cross 3 You can check if the installation is correct by running the cross compiler Firstly make the environment variables available then check the version of the cross compiler source eny sh arm angstrom linux gnueabi gcc version The last command should return arm angstrom linux gnueabi gcc GCC 4 1 2 4 4 1 3 Installation of the board library libkorebot To install the library on your development system follow the following instructions 1 Extract the library libkorebot 1 19 kb1 tar bz2 in your development folder where 1
37. is Select the Ubuntu KorebotII machine and press Settings button Goto Shared Folders settings Push Insert keyboard key or the icon Add Shared Folder new dialog box for Folder path choose a existing or create one folder on your computer This folder will be available from the virtual machine ex C Wirtual machine shared The folder name should be autonomously created You can change it Try to not add any space in the name virtual machine shared After starting the virtual machine and having installed the VirtualBox drivers as described in the next points the shared folder will be mounted in mnt windows 5 2 9 2 Usage of the virtual machine Start the virtual machine Ubuntu KorebotIT Its login is user kteam password kteamroot You may need to add the VirtualBox drivers depending of the version of your computer and your VirtualBox These drivers provide access to network shared folder mouse integration In the Device menu top bar of the window of your virtual machine Install guest additions The Ubuntu OS should be updaded Use the Update Manager from the menu System Administration Korebot II development You will have the cross compiler full toolchain and sources and development folder http ftp k team com KorebotII software full toolchain Also the libkorebot should be updated See instructions at chapters 4 4 1 3 and 4 4 1 5 Stopping the virtua
38. l machine When going to the menu Machine and Close you will have 3 choices Save the machine state saves the current state which will be reloaded next time you restart it Send the shutdown signal or press the shutdown button into the machine power off the machine and save only the work done 56 KoreBot II User Manual rev 1 6 5 Power off the machine WARNING it doesn t save anything any work done will be discarded Serial port sharing You may configure your virtual machine to share the serial port to connect to the Korebot II using Bluetooth Power off your virtual machine Select your machine image and press Settings button Goto Serial Ports settings On the tab Port 1 enable the checkbox Enable Serial Port and choose Port Number COMI gt this will be the Linux serial port dev ttySO Port Mode Host Device Port File Path COMI if you have a standard serial port and using COMI Or change to adapt to your computer serial port or Bluetooth emulated serial port KoreBot II User Manual rev 1 6 57 5 5 2 10 Java virtual machine The Java virtual machine is not installed by default on the Korebot II 5 2 10 1 Instructions for Installing the java virtual machine on the Korebot II You will find from the link below the packages files to install for having the Java virtual machine on the of your Kheperalll http ftp k t
39. mportant to do so By recycling you can help to create a cleaner and safer environment for generations to come For those reasons please take care to the recycling of your product at the end of its life cycle for instance sending back the product to the manufacturer or to your local dealer Thanks for your contribution to a cleaner environment 2 KoreBot II User Manual rev 1 6 1 INTRODUCTION 14 Specifications The main specifications of the KoreBot II card are listed below Processor Marvell PXA270 with XScale 600MHz Memory 128MB 32MB Flash e Features USB host signals Compact Flash Connector Micro SD Connector Mini USB connector for device Camera USB key Compatible with KoreBot extensions Serial port e OS Linux OS Angstr m distribution OpenEmbedded tools kernel 2 6 24 e Power consumption 100 mA 5 V without any Kore extension Size 85 width x 57 depth x 33 height mm Mass 52g KoreBot II User Manual rev 1 6 2 UNPACKING AND INSPECTION 2 UNPACKING AND INSPECTION 2 1 Package Contents II 2 3 Figure 2 1 Contents the KoreBot Pack Your package should contain the following items Korebot II card 2 Power supply cable 3 DVD Rom with software 4 KoreBot II User Manual rev 1 6 2 UNPACKING AND INSPECTION 2 2 Inspection The KoreBot board basic functions should be tested after unpacking
40. n still run with an even lower input but the 3 3V supply will fall and the board peripherals will stop functioning connections are used at the same time The power cable included with the KoreBot package has three connections be careful to connect the board power properly to avoid damage Figure 3 3 KoreBot voltage power connection 8 KoreBot II User Manual rev 1 6 3 Description 3 2 2 KoreBot Serial and USB Slave Connector The KoreBot serial connector provides signals for several interfaces The board itself is too small to include standard serial or USB connectors but it can be easily extended using a KoreConnect extension or with any setup suitable for a custom application The regulated 3 3V power pin can supply external electronic devices such as a RS2332 transceiver KoreBot regular extensions should use the KB 250power pins as a supply source Please refer to the Electrical Specification for further details The third serial port Bluetooth UART is only available on the KB 250 extension bus Additional signals such as RS232 control signals are also provided on this bus Special applications may need to use the KB 250 connection for special requirements please refer to the Intel PXA270 Developer Manual for a detailed description of the various serial ports features and capabilities 1 lst Serial Tx 7 USB D 2 1st Serial 8 USB D 3 2nd Serial Tx 9 USB 5V 4 2nd Serial 10 USB 5V 5 3 3 11
41. nstall libkorebot A B r0 armvSte ipk where A B is the libkorebot version If you customized the libkorebot you can install it manually Transfer your new libkorebot A B so that is from your dev folder libkorebotA B build korebot 2 6 lib to the directory usr lib of the Korebot II Delete the link and recreate it rm usr lib libkorebot so In s usr lib libkorebot A B so usr lib libkorebot so KoreBot II User Manual rev 1 6 25 4 Usage 4 4 2 Programming and light toolchain usage 4 4 21 C Programming application development A template program prog template c is available in the board library libkorebot in the folder libkorebot 1 19 kb1 template You can start your code into the template program and use the following commands to build it The first one makes the environment variables path to the cross compiler libraries available to the system and the second run the Makefile script to compile and build the executable program Enter in the libkorebot 1 19 kb1 template folder and type in a console to build the template program source env sh make The template file is the executable output file Then execute it by running template The Application Programming Interface API documentation of the library is available in the libkorebot directory under doc html index html or there http ftp k team com K orebotII software common libkorebot api html index html You can find programming example
42. oose a Project Name ex test KoreBot II User Manual rev 1 6 29 30 4 Usage 7 In the next window C Project push the Advanced Settings button and on the Build gt Discovery Options for c On GCC C Compiler change Compiler command to usr local korebot2 oetools 1 0 tmp cross bin arm angstrom linux gnueabi gcc or depending if your project is or for c On Compiler change Compiler invocation command to usr local korebot2 oetools 1 0 tmp cross bin arm angstrom linux gnueabi g 4 8 On Build gt Settings Cross GCC Compiler change Command to usr local korebot2 oetools 1 0 tmp cross bin arm angstrom linux gnueabi gcc 9 On Cross GCC Compiler Includes gt Include paths add usr local korebot2 oetools 1 0 tmp staging arm angstrom linux gnueabi include 10 On Miscellaneous replace Other flags with c march armv5te mtune xscale Wa mcpu xscale 11 On the Cross GCC Linker change Command to usr local korebot2 oetools 1 0 tmp cross bin arm angstrom linux gnueabi gcc 12 On Cross GCC Linker gt Libraries at Libraries 1 add korebot with the button on the upper right 13 At Libraries search path add usr local korebot2 oetools 1 0 tmp staging arm angstrom linux gnueabi lib 14 On Cross GCC Assembler in Command field modify to usr local korebot2 oetools 1 0 tmp cross bin arm angstrom linux gnueabi
43. ore Vcc differences by setting module parameter ignore cis 1 either etc module put hostap cs ignore cis 1 before the line update modules start processing etc modutils pcmcia for testing by manually loading the module with modprobe hostap_cs ignore cis 1 before inserting the card Then you have to replace the wireless port name eth0 by wlan0 in the following instructions 1 Insert a Wireless compact flash card in the Korebot 2 Load the module by typing modprobe 2 You may load Wifi module automatically by adding cs in etc modules You can use the following command echo to add the module name to the file echo pxa2xx cs gt gt etc modules 3 Configure the wireless network i Without any encryption for security etc network interfaces Wee The loopback interface 10 iface lo loopback Wireless interfaces Ziface inet dhcp iface inet static KoreBot II User Manual rev 1 6 43 5 wireless mode managed wireless essid YOUR SSID OF NETWORK address YOUR IP ADDRESS netmask YOUR NETMASK gateway YOUR GATEWAY IP JS SIS Se Se zie ze GGG oo ok ii WEP encryption support a for configuring the wifi connection type iwconfig essid YOUR SSID OF NETWORK b if the network is secured enter the key by typing iwcon
44. s in the sub directory src tests of the libkorebot library Remarks If you modify the program name you will have to modify its occurrences in the Makefile file You need to source env sh file every time you open a new console when you want to program to give access to the cross compiler 26 KoreBot II User Manual rev 1 6 4 Usage 4 4 2 2 X Uploading kernel and file system kt boot usage The kt boot allows to upload to the Korebot the kernel and file system if it was erased corrupted or if a new is available or compiled with the full toolchain see chapter 4 5 WARNING AII the data on the Korebot will be lost after running the following instructions Remarks If the full toolchain is installed the kernel and file system will be taken from the toolchain directory by default and no more from the kt boot directory See the Makefile file in the kt boot directory for details Instructions for uploading the kernel and the file system 1 Install the picocom terminal and the scripts program expect sudo apt get install picocom expect 2 Edit the script picocom in your development directory to match your serial port connection dev ttyS0 by default and run it Jpicocom 3 Reboot the KoreBot then press a key when U Boot asks for autoboot see Figure 4 6 U Boot 1 2 0 Dec 21 2007 13 37 16 PXA270 600 MHz 1578M Welcome to Gumstix DRAM 128 MB Flash 32 MB Using default environm
45. sion the kernel version of the Korebot II the programming environment of the Korebot robot standard version OS the standard use of Product before the appearance of the problem the description of the problem If no answers have been received within two working days Customer can contact K TEAM support by phone or by electronic mail with the full reference of its order and Korebot II serial number K TEAM shall then at K TEAM s sole discretion either repair such Product or replace it with the equivalent product without charging any technical labor fee and repair parts cost to Customer on the condition that Customer brings such Product to K TEAM within the period mentioned before In case of repair or replacement K TEAM may own all the parts removed from the defective Product K TEAM may use new and or reconditioned parts made by various manufacturers in performing warranty repairs and replacement of the Product Even if K TEAM repairs or replaces the Product its original warranty term is not extended This limited warranty is invalid if the factory applied serial number has been altered or removed from the Product KoreBot II User Manual rev 1 6 6 WARRANTY This limited warranty covers only hardware and software components contained in the Product It does not cover technical assistance for hardware or software usage and it does not cover any software products contained in the Product K TEAM excludes all w
46. ssword Welcome to Korebot2 root korebot2 Figure 4 5 Korebot prompt KoreBot User Manual rev 1 6 21 4 Usage 4 4 Software The following sub chapters explain the software installation and the application development with the board Two development packages are available Light toolchain Full toolchain and sources for advanced users kernel modification packages creation addition In the subsequent paragraphs only the light tool chain is explained The full toolchain is described in a following chapter 4 4 1 Installation of light toolchain The installation of the software required to use the board and the development tool is described in the next sub chapters E From light toolchain folder Cross compiler light korebot2 oetools light 1 0 kb1 2 tar bz2 From common files folder Development folder development k2 vl1 0 tar bz2 Board library sources dibkorebot 1 19 kb1 tar bz2 Library package Dibkorebot 1 19 r0 armvSte ipk Script for uploading kernel and file system ktboot 2 1_20111025 tar bz2 22 KoreBot User Manual rev 1 6 4 Usage 4 4 1 1 Installation of the development directory The development directory will be the base folder for your development It contains links and scripts to easily use the cross compiler to make your programs 1 Extract the file development k2 v1 0 tar bz2 in your home directory and enter in the d
47. t iso8859 1 gt You can copy files to and from the card at the location media card KoreBot User Manual rev 1 6 13 3 Description 3 3 Korebot Software A KoreBot embedded system is based on two main software components One is the Linux Operating System kernel and the second is a set of software packages that is called a distribution The Korebot II uses the Linux distribution called Angstr m OpenEmbedded The Linux kernel is based on standard Linux kernel sources with adaptation made this project main components within this described in the following sections Using the KoreBot Linux system should be pretty straightforward for users with a Linux or Unix background E that an components are standard the installation usage of KoreBot software is described And in Annexes tools for customizing configuring and using specific tools are detailed 14 KoreBot II User Manual rev 1 6 4 Usage 4 Usage 41 Required hardware software The required hardware and software to use the board and develop programs are described below 4 1 1 Required hardware Computer with serial or USB port not included Serial cable or serial to usb adapter cable not included KoreConnect not included KoreConnect cable not included 5V DC power supply not included Optional extensions base board KoreWifi wireless module KoreUSBCam camera module
48. t nfs mount t nfs o nolock COMPUTER IP mnt nfsarm mnt nfs If the NFS service is not started on the PC the mount command will issue the following message mount Unable to receive errno Connection refused NFS mount program did not respond mount nfsmount failed Bad file descriptor The NFS service is usually started using a startup script for which location and name depend on you distribution for example etc init d nfs Documentation for the distribution should detail the method to start and stop services Caution For the nfs service to work properly the portmap service should be started as well and if a firewall is active on the host machine it should be configured to allow the nfs port access from the KoreBot Once the directory is successfully mounted it can be accessed from the board exactly as if it was a local directory Files on the PC can be read or written new files can be created and programs can be executed as long as they are ARM executables If required the shared directory can be unmounted using the command umount myMountPoint KoreBot II User Manual rev 1 6 47 5 5 2 6 Korebot Il console by WIFI and ssh You can connect to the KorebotII also by wireless Execute the following command in a Linux terminal or use your favorite ssh program Tera Term on Windows ssh root KOREBOT_IP where KOREBOT is the Korebot ip address At the password prompt just press the RETURN
49. t2 image glibc ipk 2007 9 test 20090520 gumstix custom verdex rootfs jffs2 Remarks Gumstix documentation o jittp www gumstrx orp httpzZ wiki xgumstix org immdex php titlezMtaim Page re M M rr 34 KoreBot II User Manual rev 1 6 4 Usage 4 5 3 2 Kernel modification You can modify the kernel here by accessing to its menu with these commands source extras profile bitbake c menuconfig gumstix kernel Then you rebuild it and the file system by executing these commands at the root of the korebot oetools usr local korebot2 oetools 1 0 source extras profile and before rebuilding the kernel you have to copy the config file usr local korebot2 oetools 1 0 tmp work gumstix custom verdex angstrom linux gnueabi gumstix kernel 2 6 24 rl linux 2 6 24 config V usr local korebot2 oetools 1 0 user collection packages linux gumstix kernel 2 6 24 gumstix custom verdex defconfig Rebuild the kernel and filesystem bitbake c rebuild gumstix kernel bitbake c rebuild task base gumstix bitbake korebot2 image KoreBot II User Manual rev 1 6 35 4 Usage 4 5 4 Packages installations With OpenEmbedded you can easily cross compile existing packages or add your own 4 5 41 Existing packages Many packages are available for Open Embedded Here below are the instructions to add an existing package 1 Check if the package is alre
50. tall ddd e Launch ddd with ddd debugger arm angstrom linux gnueabi gdb YOUR PROGRAM e In the window at the bottom where the gdb prompt is run these 2 commands set sysroot usr local korebot2 oetools 1 0 tmp staging arm angstrom linux gnueabi target extended remote YOUR KOREBOT ADDRESS 1234 The sequence of debugging and also the commands are the same as described above in chapter You can even send your program to the remote Korebot II with the gdb commands remote put hostfile targetfile set remote exec file targetfile where hostfile and targetfile is the same name of your new program to be debugged For quitting the debugger and remote execute commands monitor exit then disconnect and finally quit KoreBot II User Manual rev 1 6 51 5 Debugging libkoret functions If you would like to debug the libkorebot functions you will have to recompile the libkorebot in debug mode with the commands to be executed in the root directory libkorebot source files cd development k2 v1 0 libkorebot 1 19 kb1 make clean make DEBUG I Then transfer the new complied file development k2 vl1 0 libkorebot 1 19 kbIbuild korebot 2 6 lib libkorebot so 1 19 to the usr lib directory of the Korebot Tips for using the advantage of the GUI o X For setting a breakpoint double click on the line you want to put it just before the line number or right click at the same place or choose Set Breakpoint o With the flo
51. ur program must be cross compiled with the option g Edit your Makefile and replace the flag O2 by g to the Korebot II the compiled program and its source file e And run for debugging it gdb YOUR_PROGRAM The basic commands are r run 5 next one step in program enter in subroutines n one step in the program b line function break at line function delete break delete breakpoint number until line continue until line continue l list code q quit gdb h help you can have all the commands here A common sequence of debugging can be list the code with e seta breakpoint at the beginning of main with b e runthe program with r KoreBot II User Manual rev 1 6 40 5 execute a step with n e display a variable with p VAR NAME execute next step with e continue to the end with c Quit with q 5 2 8 2 Remote debugging You need firstly to install the following packages with the commands install libthread db1 2 9 r37 4 6 armvS5te ipk install gdbserver 7 0 r2 0 5 armvSte ipk Then run the gdbserver with your cross compiled program the computer host ip and a unused port number as argument gdbserver multi HOST IP 1234 YOUR PROGRAM source k2 1 0 Go to the folder where you cross compiled your program Copy the file arm angstrom linux gnueabi gdb from the link below
52. warranty is limited as set out herein and does not cover any consumable items such as batteries supplied with the Product any accessory products which is not contained in the Product cosmetic damages damage or loss to any software programs data or removable storage media or damage due to 1 acts of God accident misuse abuse negligence commercial use or modifications of the Product 2 improper operation or maintenance of the Product 3 connection to improper voltage supply or 4 attempted repair by any party other than a K TEAM authorized module service facility This limited warranty does not apply when the malfunction results from the use of the Product in conjunction with any accessories products or ancillary or peripheral equipment or where it is determined by K Team that there is no fault with the Product itself KoreBot II User Manual rev 1 6 63 64 6 WARRANTY EXPRESSLY DISCLAIMS ALL OTHER WARRANTIES THAN STATED HEREINBEFORE EXPRESSED OR IMPLIED INCLUDING WITHOUT LIMITATION IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE TO THE FULLEST EXTENT PERMITTED BY LAW Limitation of Liability IN NO EVENT SHALL EITHER PARTY BE LIABLE TO THE OTHER FOR ANY INDIRECT SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES RESULTING FROM PERFORMANCE OR FAILURE TO PERFORM UNDER THE CONTRACT OR FROM THE FURNISHING PERFORMANCE OR USE OF ANY GOODS OR SERVICE SOLD OR PROVIDED PURSUANT HERETO WHETHER
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