KOA-PICOITX - K-Team
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1. KOA PICOITX User manual TEAM version 1 2 JUNE 2011 Documentation Author Fr d ric Lambercy K Team S A Rue Galilee 9 Y Park 1400 Yverdon les Bains Switzerland Email Url 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 Koa PicoITX User Manual rev 1 2 2 TABLE OF CONTENTS Koa PicoITX User Manual rev 1 2 3 1 INTRODUCTION 1 1 The Koa PicolTX Thank you for buying Koa PicoITX extension This computer extension for Koala will give you the opportunity to make advanced embedded applications Thanks to its powerful processor the Koa PicoITX is perfect for image processing mapping and odometry calculation The Koa PicoITX was developed to work with a Koala but can be used as a standalone mini computer in your own application 1 2 Specifications The Koa PicoITX is based on an EPIA P700 10L pico ITX board from VIA The main board is connected to a special board which provide different IO an additional serial port a power button led indication and the possibility to mount up to two KoreMotorLE to drive four motors for two Pan Tilt cameras The case is in anodized aluminum to protect the main board and its extensions Model Name Processor2. Chipset RAM Hard drive System Memory VGA LAN Audio BIOS I O Connectors Operating system System Monitoring amp Management Operating Temperature Operating Humidity Dimensions Weight EPIA P700 10L 1 0GHz VIA C7 500MHz VIA EdenTM ULV VIA VX700 Unified Digital Media IGP chipset 1GB 80GB Maxtor MobileMax STM980215A DDR2 533 667 SODIMM socket effective speed to 533MHz Integrated VIA UniChrome Pro II 3D 2D AGP graphics with MPEG 2 4 and WMV9 video decoding acceleration Gigabit Ethernet port controlled by a VIA VT6122 Gigabit LAN controller Line out Line in amp Mic in controlled by a VIA VT1708B High Definition Audio Codec Award BIOS 4 8Mbit flash ROM 2x DB9 serial port male connector 1x VGA connector 1x Gigabit Ethernet connector 3x USB 2 0 ports 3x Audio jacks Line out Line in Mic in Up to 4 Motor connectors 2x Terminal Blocks Supply IO amp I2C bus 1x KoreBot power supply connector 12V 5V amp GND Linux Ubuntu 9 10 Wake On LAN Keyboard Power on Timer Power on System power management AC power failure recovery Watch Dog Timer 0 C 50 C 0 95 relative humidity non condensing 145 x 125x 91 mm 860g Koa PicoITX User Manual rev 1 2 4 1 3 How to use this handbook This handbook introduces the Koa PicoITX extension and how to use it For a quick start jump to section 2 3 First Start up If this handbook does not answer one of the problems you are con
3. gt gt etc modules create the file via gpio giving node initialization and device group modification in etc init d content of file via_gpio bin sh create node mknod dev via_gpio c 241 0 m660 add via_gpio into dialout group chown dialout dev via_gpio change the file to execution mode sudo chmod x etc init d via_gpio launch the script sudo etc init d via_gpio create the link to the start up level 2 sudo In s etc init d via_gpio etc rc2 d S99via_gpio unpack in the created software directory the driver file gpio driver_XYZ tar bz2 mkdir software cd software tar xjf gpio driver_XYZ tar bz2 in the directory gpiodriver driver clean the old file recompile it unload the old module install the new one and load it with the commands make clean pay attention to not use sudo for this command else you will have to resintall the kernel headers files make sudo make install sudo make load Koa PicoITX User Manual rev 1 2 22 Koa PicoITX User Manual rev 1 2 23 6 WARRANTY K TEAM warrants that this product 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 under normal use conditions Upon discovery of a defect in materials workmanship or failure to meet the specifications in the Product during the afore mentioned period C
4. 4 1 below Firstly a device pointer of type knet_dev_t must be declared The library debug level is set kb_set_debug_level and the library initialised kb_init Then the device is open with knet open From now any command can be sent to the Koala By example koa_setSpeed for setting the speed of the robot which will make it move directly Some main functions are listed below setting speed int koa setSpeed knet dev t dev short int left short int right setting motors position int koa setPosition dev long left pos long right pos reading motors position int koa_readPosition knet_dev_t dev int position reading proximity sensors int koa_readProximity knet_dev_t dev int sens_table reading battery level int koa_readBattery knet_dev_t dev and many others For a detailed description check in the file software libkorebot_VERSION src koala c at the end the kb_config_exit function is called Koa PicoITX User Manual rev 1 2 16 koala_test c include lt korebot korebot h gt int main int argc char argv knet_dev_t koala int rc unsigned char buf 16 unsigned char a b c d kb set debug level 2 if rc kb_init argc argv lt 0 return 1 koala knet_open Koala Robot KNET BUS ANY 0 NULL if koala printf Open failed r n koa_getOSVersion koala amp a amp b amp C amp d printf OS revision d d protocol
5. blocks as describe below Yellow gt VBAT 412V Red gt VCC 5V Black gt GND power ground See page 16 of the Koala User Manual for more details And finally connect the supply cable to the Koa PicoITX see connector n 3 in the overview Then plug the battery or the DC DC converter in the Robot turn on the Koala Robot and push the power button of the Koa PicoITX The boot of the computer must appear on the screen Then follow the Software startup instructions Koa PicoITX User Manual rev 1 2 9 2 3 2 Software startup At the login enter the default user name at the bottom modify the language and keyboard to adapt to your system of the screen and enter the password as follows username picoitx password root lt this will also be the sudo password for the following chapters You will arrive at the desktop depicted in the figure below You have the menu bar at the top of the desktop with direct access to help file manager terminal consol network manager and logout buttons You can have more help at http help ubuntu com 3 Applications Places system MM 1 Network manager logout Terminal console quick access 4 E Thu Mar 11 11 19AM 9 picoitx Figure 2 3 Ubuntu desktop The system should be already fully working with the gcc compiler installed and the libkorebot See chapter 4 PROGRAMMING for software development and the next chapter for using the di
6. d d r n a b c d koa_setSpeed koala 10 10 sleep 1 koa_setSpeed koala 10 10 sleep 1 koa_setSpeed koala 0 0 kb config exit return 0 Figure 4 1 koala test c source code For this file you must change the serial port in the libkorebot configuration files Edit it with the following command on the Koa PicoITX sudo gedit etc libkorebot Koala kne Change the line device Robot rs232 dev tts 2 to device Robot rs232 dev tty USB0 Then execute the program with sudo koala_test e digital inputs outputs gpio_test c e additional motors kmotLE_test c e pan tilt camera kmotLE_panitilt c Koa PicoITX User Manual rev 1 2 17 4 2 On another computer You must have an ix86 compatible computer with the operating system Linux We do not provide any cross compiler You can install the Ubuntu operating system http www ubuntu com in a dual boot configuration or install the VirtualBox virtual machine from Sun Microsystems with the Ubuntu OS installed into it http www virtualbox org Then you install the compiler and the libkorebot as described in the annexes You don t need to install the gpio and i2c drivers as they are working only on the PicoITX Finally you can compile your program as explained in chapter above 4 1 above Directly ba the robot File transfer n the robot then transfer it to your robot see chapter 3 3 File transfer Koa PicoITX User Manual rev 1 2 18
7. 5 SOFTWARE REINSTALLATION Usually the Koa PicoITX comes already installed But you may need the instructions below if you would like to reinstall the software Most of the files used below can be found on the K Team ftp eam com Koa PicoITX You have two methods for reinstalling the software on your PicoITX from the clone image of the HDD fast 20 min reinstalling the whole system slow 2h for experts 5 1 Reinstallation from the clone Needed hardware software DVD containing the clone you will have to burn the image from VERSION is the current version with http www freeisoburner com or any software burning the iso Mobile usb DVD reader Clozilla bootable CD you will have to burn the image from http ftp k eam com Koa PicoITX Image Clonezilla_ VERSION iso VERSION is the current version with http www freeisoburner com or any software burning the iso SV and 12V power supply if your PicoITX is not mounted on the Koala robot Usb keyboard and mouse Display with VGA connector Instructions Connect the DVD reader the keyboard the mouse and the display to the PicoITX Insert the Clonezilla CD Connect the power cable and push the power button At the menu of the CD warning after 30s of inactivity it starts autonomously in another mode select Other modes of Clonezilla live then Clonezilla live To RAM Boot media can b
8. Exit the program with quit See the source code file software libkorebot_VERSION src tests kmotLE _test c or the KoreMotorLE user manual for details See chapter 4 PROGRAMMING for software development 3 7 Pan tilt camera usage You can connect up to two Pan tilt cameras using the motors connectors chapter Koa PicoITX Overview MO and M1 for the first one M2 and M3 and another KoreMotorLE needed See the Pan Tilt user manual for more details about the connections In the directory software libkorebot_VERSION src tests the kmotLE_panitilt program is already compiled This program makes the pan tilt camera moving Run it with the command kmotLE_pantilt MOTO MOTI NB_CYCLES where MOTO PAN motor number usually 1 MOTI TILT motor number usually 2 NB_CYCLES optional number of cycles See chapter 4 PROGRAMMING for software development Koa PicoITX User Manual rev 1 2 4 PROGRAMMING Knowledge needed C programming command line compilation Makefile You have two choices for programming directly on the robot and PicoITX fastest nothing more to be installed on another computer better for remote or if the robot is not available 4 1 Directly on the robot 4 1 1 Template program The compiler gcc should be already installed launching gcc in a terminal should return gcc no input files The libkorebot which is a K Team library providing facilities for using different ro
9. bots and modules should already be installed in software libkorebot_VERSION where VERSION is the actual version The documentation for the library is available here There is a template program with which you can start your own program located in software libkorebot_VERSION template With the following commands you can compile then run it make clean make template For specific documentation and examples on the programming of the Koala read the next sub chapter Using examples specially the koala_test c example Remarks If you modify the program source code name currently prog template c you will have to modify its occurrences in the Makefile file which is the script file launched when the above make is executed Koa PicoITX User Manual rev 1 2 15 4 1 2 Using examples You can find many examples using the libkorebot in the directory of the library software libkorebot_VERSION src tests All the examples below are already compiled You can modify them or take some part to add to your main program For recompiling them in the directory software libkorebot_VERSION execute make clean make all You can execute them with the command JPROGRAM NAME Here after is the list of examples of source code recommended for starting programming with the Koa PicoITX and its extensions e Make the Koala move koala test c Here after are desribed the steps to program the robot The source code is listed in figure
10. e removed later Choose your language and select your keyboard Koa PicoITX User Manual rev 1 2 19 At the menu Launch Clonezilla or open a session choose Enter shell and push your Enter key Change in root mode with the command sudo su Eject the cd with the command eject Remove the Clonezilla CD Insert the PicoITX clone DVD Mount the dvd on home partimag mount r dev sr0 home partimag Relaunch Clonezilla clonezilla Select device image work with disk At the menu Image directory select skip Use existing home partimag Push your Enter key Select Beginner And restoredisk At the selection of the image picoitx_hdd_DATE img push ENTER key Then for hdc 80 0 GB_MAXTOR push ENTER key push ENTER key again Wom Confirm by typing y key Confirm again by typing y key push ENTER key type reboot for restarting the system remove the DVD clone install the new libkorebot library cf chapter 1 1 1 d 5 2 Ubuntu installation From an Ubuntu installation cd do the standard installation on the PicoITX overwrite the currently installed partition Then install the compiler the Libkorebot and the drivers see following chapters 5 3 Libkorebot installation Unpack the library file libkorebot ABC_picoitx_XYZ tar bz in software cd software tar xjf libkorebot ABC_picoitx_XYZ tar bz2 Copy
11. fferent features Koa PicoITX User Manual rev 1 2 10 3 Usage 3 1 Access to the Koala robot You can communicate to the Koala robot and control it through the serial port Open a terminal console and type sudo minicom s Enter root as password then go the Serial port setup menu and configure as described in figure 2 4 Serial Device dev ttyUBSO Lockfile Location var lock Callin Program Callout Program Bps Par Bits 115200 8N1 Hardware Flow Control No Software Flow Control No A B Cc D F G Change which setting Figure 2 4 Minicom serial parameters Save the settings with the command Save setup as dfl of the menu configuration The commands available are listed in the appendix A of the Koala user manual Example the command B will read the bios and protocol versions If you enter the uppercase B then press return this should return b 1 19 1 19 See chapter 4 PROGRAMMING for software development 3 2 Network configuration The system should connect autonomously at start up to your wired network if a Ethernet cable is connected and you have a dhcp server without identification If this is not the case with the icon in the figure above you can setup your network connection You can have more information about the operation system Ubuntu there http help ubuntu co and about the network manager there https help ubuntu com 9 10 interne
12. fronted with please consult the K Team web site www k team com and especially the Forum and the FAQs e Unpacking and Inspection Koa PicoITX s package description and first start up e Hardware installation e Usage e Programming e Software reinstallation e Warranty Koa PicoITX User Manual rev 1 2 explanation on how to mount the Koa PicoITX on a Koala and how to mount extension inside the case description of the usage of the PicoITX and its devices description of the programming methods of the Koa PicolTX instruction to reinstall all the software needed to program the Koa PicoITX legal notice on the Koa PicoITX Warranty 1 4 Safety precautions Here are some recommendations on how to correctly use the Koa PicoITX extension e Keep the case away from wet area Contact with water could cause malfunction and or breakdown e Store your computer in a stable position This will avoid the risks of falls which could break it or cause damage to a person e Use only the official supply cable which is delivered with the Koa PicoITX Do not try to use another charger this can cause irreversible damage to the battery e Never leave the Koala and its Pico ITX powered when it is unused When you have finished working with Koala turn it off It will save the battery life 1 5 Recycling Think about the end of life of your robot Parts of the robot can be recycled and it is important to do so It is for insta
13. ity 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 K Team 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 not 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 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 Koa PicoITX User Manual rev 1 2 25 Koa PicoITX User Manual rev 1 2 26 Koa PicoITX User Manual rev 1 2 27 TRI wT A Koa PicoITX User Manual rev 1 2 K Team S A RUE GaALILSE 9 1400 YVEPDON LSS BaAINS SWITZErlLanD 28
14. nce important to keep batteries out of the solid waste stream When you throw away a battery it eventually ends up in a landfill or municipal incinerator These batteries which contain Lithium Polymer can contribute to the toxicity levels of landfills or incinerator ash By recycling the batteries through recycling programs 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 robot at the end of its life cycle for instance sending back the robot to the manufacturer or to your local dealer Thanks for your contribution to a cleaner environment Koa PicoITX User Manual rev 1 2 6 2 UNPACKING AND INSPECTION 2 1 Package Content Koa PicolTX O Support CD Figure 2 1 Content of the Koa PicoITX extension Your package should contain the following items 1 Koa PicoITX box 2 Koa PicoITX Support CD 3 Power Supply cable 4 Serial cable DB9 gt DB15 5 4x fixation screws Koa PicoITX User Manual rev 1 2 2 2 Koa PicolTX Overview FRONT SIDE REAR SIDE 3 Figure 2 2 Koa PicoITX overview Motor connector M1 Motor connector M3 Power supply connector use the 3 color cable red 5V yellow 12V black GND Motor connector M2 Motor connector MO Terminal block 5V 3 3V PC clock PC data GND GPIO2 GPIO3 GPI4 GPI5 e 10 GND 7 Audio jacks connector Line IN Li
15. ne OUT Mic IN 8 USB 2 0 connectors 9 COMO serial connector dev ttyS0 10 Power button 11 Power LED indicator 12 Hard Drive LED indicator 13 VGA output 14 USB serial port dev tty USB0 15 Gigabit Ethernet connector AN BYN NO CON DU KRWBN Koa PicoITX User Manual rev 1 2 8 2 3 First Start up 2 3 1 Hardware startup If you have received the Koa PicoITX already mounted and connected to a Koala you can directly jump to the section Software startup In other case please be sure to respect all of the guidelines below All manipulations must be executed when Koala is turn off To avoid any damage please remove the battery of the Koala during all the process To mount the Koa PicoITX box on a Koala you must first unmount the black protection plate at the rear of the Robot Place the Koa PicoITX box on the four fixations points see n 2 in page 5 of the Koala User Manual the rear size of the box must be turned at the back of the Robot Connect the serial cable to the USB serial port n 14 in the overview and the RS232 serial port on the rear of the Koala see n 4 page 4 in the Koala User Manual Place the jumper in the back DCE serial line position see page 8 in the Koala User Manual and set the running mode selector of the Robot to the position A 115200bps communication Connect a VGA monitor an USB keyboard and an USB mouse to the Koa PicoITX Connect the power supply cable to the Koala terminal
16. number 2 5 DIRECTION 0 input 1 output Set the IO to 1 with setio IO PORT NUMBER Set the IO to 0 with cleario IO PORT NUMBER Read the IO with readio IO PORT NUMBER Exit the program with quit See chapter 4 PROGRAMMING for software development 3 6 Motors usage You can use the motors connectors MO M1 chapter 2 2 Koa PicoITX Overview to connect one or two motors up to 4 See the KoreMotorLE user manual for more details about the connections and motors In the directory software libkorebot_VERSION src tests the kmotLE_test program is already compiled Run it with the command kmotLE_test MOTOR_NAME where MOTOR NAME KoreMotorLE PriMotor1 motor MO KoreMotorLE PriMotor2 motor M1 gt You will have a prompt gt With the command help you have the help The command init set the default parameters It is necessary to run in before any other commands because it sets and resets different default settings You will have to set the controller PID with the command setpid Set it with the command setpid REGULATION TYPE P I D where REGULATION TYPE pos position control Koa PicoITX User Manual rev 1 2 13 speed speed control torque torque control P proportional parameter I integral parameter D derivative parameter You can set the speed the position or the torque with the commands setspeed SPEED setpos POS settorque TORQUE And stop it with stop
17. t C networkmanager html Koa PicoITX User Manual rev 1 2 11 Network access From the main menu at the top choose Places then Network to see your network or Connect to Server to connect to a server 3 3 File transfer You can also use a terminal to connect or transfer files with the program scp scp FILE USER REMOTE_IP PATH where FILE is the file to transfer USER is the username at the remote computer REMOTE IP is the remote computer ip address PATH is the path to the file destination on the remote computer 3 4 Remote connection You can connect to the robot by different ways for transferring files with the scp command seen above using the RemoteDesktop feature configure the System Preferences Remote Desktop menu with the ssh protocol command ssh X picoitx ROBOT_IP from where you can launch the file manager nautilus amp a any other graphical or console program 3 5 Digital input output ports usage In the directory software libkorebot_VERSION src tests the gpio test program is already compiled Run it with the command gpio_test gt You will have a prompt gt Koa PicoITX User Manual rev 1 2 12 The GPIO 2 and 3 can be used in input or output The GPIO 4 and 5 are only outputs With the command help you have the help You configure the direction of the port with the command configio configio IO PORT NUMBER DIRECTION where IO PORT NUMBER port
18. the library into the system Koa PicoITX User Manual rev 1 2 20 sudo cp libkorebot ABC build x86 libNibkorebot ABC so usr lib Make library link sudo In s usr lib libkorebot ABC so usrNib ibkorebot so Copy the config files into the system sudo cp R libkorebot ABC config etc libkorebot 5 4 Compiler installation Execute just this command in a terminal sudo apt get install build essential Install linux headers sudo apt get install linux headers uname r sudo apt get install module assistant sudo module assistant prepare 5 5 Drivers installation 5 5 1 i2c driver The i2c driver is usually already included in the Linux OS for an autonomous start up add it in the file etc modules the ligne i2c_dev with command sudo sh c echo i2c_dev gt gt etc modules add the dev i2c device to the dialout group to be used by any user create the file i2c_chown in etc init d content of i2c_chown bin sh add i2c dev into dialout group chown dialout dev i2c 0 change the file to execution mode sudo chmod x etc init d i2c_chown Koa PicoITX User Manual rev 1 2 21 create the link to the start up level 2 sudo In s etc init d i2c_chown etc rc2 d S99i2c_chown load the module sudo modprobe i2c_dev launch the script sudo etc init d i2c_chown 5 5 2 gpio driver for an autonomous start up add it in the file etc modules with command sudo sh c echo via gpio
19. ustomer must request help on K Team Internet forum le oe I E by detailing e The type of the product used package version amp serial number The extension modules The programming environment of the robot standard version OS The standard use of Product before the appearance of the problem The description of the problem If no answer is received within two working days Customer can contact K TEAM support by phone or by electronic mail with the full reference as stated below If the defect is identified as a warranty related problem 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 labour fee and repair parts cost to Customer under the condition that Customer brings such Product to K TEAM within the period mentioned before Repair or replacement under warranty does not entitle to original warranty team extension This limited warranty is invalid if the factory applied serial number has been altered or removed from the Product This limited warranty covers only the 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 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
20. 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 availability of software Koa PicoITX User Manual rev 1 2 24 Be sure to remove all third parties hardware software features parts options alterations and attachments not warranted by K TEAM prior to Product service K TEAM is not responsible for any loss or damage to these items This 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 robot service facil
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