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1. KOreBOT IL_______ user Manual K Te am gt Version 1 1 JULY 2009 MOBILE ROBOTICS Documentation Author Julien Tharin K Team S A Rue Galilee 9 Y Parc 1400 Yverdon les Bains Switzerland Email infoOk team coni Url www k team com Documentation version Version Author Description 16 07 2009 J Tharin First draft 24 07 2009 J Tharin Corrected path for template program 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 OF CONTENTS E INTRODUETTON Ge enges armen 1 Ete e re eez ss ss ss gr est eiz e re eez nun 4 2 CONNECTIONS a 17 TE AA a tei R eae 18 4 4 een S OFTWARE ee a e E a a a a a SP e eee 22 4 4 1 zur I NS TALLATION BEATO 22 u 4 4 2 en L IGHT TOOLCHAIN USAGE Ga eae EE 4 5 mun FULL TOOLCHAIN AND SOURCES AAA 28 4 5 1 REQUIRED SOFTWARE rrura 28 4 5 2 INSTALLATION a eea aea r
2. KoreBot II User Manual rev 1 1 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 comi for a list of available extensions All 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 connector Reset button Serial connector On off LED a je 2434411414444 3444414444 KB 250 Extension connector EDI ILL DE EO 5 KB 250 Extension connector a Compact flash connector Micro SD connector Figure 3 1 Korebot II overview bottom view KoreBot II User Manual rev 1 1 6 3 Description eo AAA e 1 Gumstix extension connector KB 250 Extension connector Figure 3 2 Korebot II overview top view KoreBot II User Manual rev 1 1 8 Description 3 2 Korebot Hardyvare The hardware of the Korebot II is described in the sub chapters thereafter 3 2 1 Power Regulation The KoreBot is designed so that unre
3. 2nd Serial Rx 10 USB 5V 5 3 3V 11 Gnd 6 N C 12 Gnd 21214 1216181012 E 3 B KI BEI DE 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 TIL 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 KoreBot gt DEO Gnd 12 Signal Ground 5 rr 3 1st serial Tx 1 Rx 2 4 i 1st serial Rx 2 Tx 3 Female Connector view from behind Figure 3 6 DB9 connection KoreBot II User Manual rev 1 1 10 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
4. network ssid YOUR_SSID key_mgmt NONE wep_key0 YOUR_WEP_KEY auth_alg SHARED wep_tx_keyidx 0 priority 5 j WPA TKIP see instructions at etc wpa_supplicant wpa_supplicant conf with WPA PSK TKIT network ssid YOUR_SSID psk YOUR PASS KEY key_mgmt WPA group TKIP pairwise TKIP proto WPA priority 5 b run the daemon controlling the wireless connection with the following command wpa_supplicant c etc wpa_supplicant wpa_supplicant conf i eth0 Dwext B c In etc network if pre up d named wireless add the following commands bin sh ifconfig eth0 up ifconfig eth0 YOUR IP ADDRESS route add default gw YOUR GATEWAY eth0 wpa_supplicant c etc wpa_supplicant wpa_supplicant conf i eth0 Dwext B 4 reboot the system or restart the network with the following command etc init d networking restart KoreBot I User Manual rev 1 1 41 5 Annexes 5 2 3 Transferring files using scp ssh 1 Establish a netyvork connection between the computer and the Korebot for using wireless see chapter 5 2 2 Using a Wireless compact flash card ee os Lose Ro o eaen eda a eta re 2 Execute the following command scp FILE root KOREBOT _IP home root where FILE is the 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 dr
5. serial connection port device name depending where you plugged your serial port If you use a serial to USB adapter the serial device may be dev ttyUSB0 Serial Device dev ttyS0 Lockfile Location var lock Callin Program Callout Program Bps Par Bits 115200 8N1 Hardware Flow Control No Software Flow Control No GO SI E GI OO D E I Change which setting Figure 5 6 Minicom serial parameters Save the settings with the sub menu Save setup as dfl Figure 5 7 KoreBot I User Manual rev 1 1 37 5 Annexes configuration F Filenames and paths File transfer protocols Serial port setup Modem and dialing Screen and keyboard Save setup 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 s 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 spacebar to select the file Select Okay to send it 5 2 1 3 To send a 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 Isz FILENAME gt The file FILENAME is sent to the last directory Minicom used or if n
6. standard USB type B connection are provided to interface the first two KoreBot serial ports and the 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 a Serial port 2 ttyS2 Serial port 0 ttySO Ea 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 RS232 cable Serial port 0 connection KoreConnect KoreBot Figure 3 8 Serial Port 0 Connection KoreBot II User Manual rev 1 1 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 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 P
7. workmanship or failure to meet the specifications in the Product during the afore mentioned period Customer must request e the type of Korebot Il used version e the kernel version of the Korebot II e the programming environment of the Korebot robot standard version OS e the standard use of Product before the appearance of the problem e 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 I User Manual rev 1 1 44 6 WARRANTY This limited warranty covers only the hardware and software components contained in the Product It does no
8. 2 kB Load Address a0008000 Entry Point a0008000 OK Starting kernel Linux version 2 6 24 jtharin KHEPERA04 gcc version 4 1 2 1 Wed Jan 28 00 11 22 CET 2009 CPU XScale PXA270 69054117 revision 7 ARMv5TE cr 0000397 Machine The Gumstix Platform OpenEmbedded Linux korebot2 ttys0 Angstrom 2007 9 test 20090127 korebot2 ttyS0 korebot2 login Figure 4 4 part of the Korebot Boot log KoreBot I User Manual rev 1 1 20 4 Usage 8 Login to the Korebot with the following parameters Login root Passvord none press Return key Angstrom 2007 9 test 20090127 korebot2 ttyS0 korebot2 login root Password Welcome to Korebot2 root korebot2 Figure 4 5 Korebot prompt KoreBot II User Manual rev 1 1 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 e Light tool chain e 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 The installation of the software required to use the board and the development tool is described in the next sub chapters 4 4 1 1 Installation of the development directory The development directory
9. 2007 13 37 16 PXA270 600 MHz 1578M xx Welcome to Gumstix DRAM 128 MB Flash 32 MB Using default environment Hit any key to stop autoboot 0 GUM gt Figure 4 6 U Boot KoreBot I User Manual rev 1 1 26 A 5 6 7 8 9 4 Usage Type Ctrl y Ctrl x to exit picocom Then change directory to ktboot edit the Makefile and modify the variable to match your serial port connection SDEV dev ttySO type to flash the kernel 2min make flashk flash the image file system 30min type make flashd configure the kernel boot parameters 10s type make bootargs reboot the Korebot 4 4 2 3 Wifi usage KoreBot II User Manual rev 1 1 27 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 free space e 5 5 GB on usr local 10 GB for the installation process including temporary files e 16MB on user account ei Required files e Linux packages g GNU C compiler patch patch software help2man manual converter diffstat reads the output of diff and displays a histogram texi2html convert to html makeinfo produce doc texinfo on Ubuntu ncurses dev library allowi
10. 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 KoreBot II User Manual rev 1 1 46 K Team S A K Teat nN gt Rue Galilee 9 1400 Yverdon les Bains MOBILE ROBOTICS Switzerland A DIVISION OF KT amp GT gt gt gt
11. YOUR SSID OF NETWORK address YOUR IP ADDRESS netmask YOUR NETMASK gateway YOUR GATEWAY IP RRR A AB OO d d d d d d d d he d b b bbk dek dk db KK KEKO KoreBot II User Manual rev 1 1 39 5 Annexes 11 VVEP encryption support a for configuring the vvifi connection type iwconfig eth0 essid YOUR SSID OF NETWORK b if the network is secured enter the key by typing iwconfig eth0 key YOUR KEY c then set an ip address to the korebot ifconfig ethO YOUR IP ADDRESS d configure the gatevvay by entering the gatevvay ip route add default gw YOUR GATEWAY IP eth0 e insert the local domain name in etc resolv conf echo search YOUR LOCAL DOMAIN NAME gt gt 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 eth0 up iwconfig eth0 essid YOUR SSID OF NETWORK iwconfig eth0 key s YOUR KEY ifconfig eth0 YOUR IP ADDRESS route add default gw YOUR GATEWAY IP eth0 And the following in a file named etc resolv conf search YOUR LOCAL DOMAIN NAME nameserver YOUR DNS SERVER IP ADDRESS KoreBot II User Manual rev 1 1 40 5 Annexes ili 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
12. _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 gt The last command should return arm angstrom linux gnueabi gcc GCC 4 1 2 5 Install the board library Libkorebot as explained in chapter 4 4 1 3 Installation of the 6 Install the scripts for upload the file system and the kernel see chapter 4 4 1 4 KoreBot I User Manual rev 1 1 29 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 Ina 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 Build bitbake c build korebot2 image o Rebuild bitbake c rebuild korebot2 image o Cleaning bitbake c clean korebot2 image gt 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 e the kernel ulmage 2 6 24 rl gumstix custom verdex bin e its modules modules 2 6 24 rl gumstix custom verdex tgz e thefilesystem Angstrom korebot2 image glibc ipk 2007 9 test 20090520 gumstix cus
13. al Function too ss 7 perj 100 08 f cooo TJ f ooon TJ soj coo 0 TJ ef erw af toos TJ sel cooo La arms Er a die of mara e egn Gre wyse es tonos mf arior wo e Ze 7 EU nneser a coos 18 PXANRESET se LcD D2 14 PXA NRESET_OUT ss HERE GOL LCD DO ae af ssw peat BOE E EE ee paa sy OT EEE wo lali dila izer EO pover Ps eno so ono Figure 5 4 Interface J700 KoreBot II User Manual rev 1 1 KB Signal 1f 33V i y Ee a 5y y ALS 5 GND ef GND 7 RS Txd 8 RS Rs BJs 10 RS Rxd KORNEA Eee Me 14 RS cts 15 EOS 16 2CSCA 17 usBoc 18 USBDMOUT 19 USBDPOUT 20 MMCCFRESET 21 MMCCFREADY 22 USB 23 USB JI 24 USBID 25 MMC DATO MMC Bus KoreBot II User Manual rev 1 1 5 Annexes 250 Extension Interface J701 Function Sigal Function SSP SPI Bus MMC Bus Full RS232 UART wan Koresound bus BEE al MAA USB Bus 43 MMC Bus USB Bus MMC Bus Figure 5 5 Interface J701 36 5 Annexes 5 2 Tools and commands In this part the detailed descriptions of several tools and helpful commands are explained 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 Irzsz 5 2 1 1 Establish the
14. bed And in the Annexes tools for customizing configuring and using specific tools are detailed KoreBot II User Manual rev 1 1 14 4 Usage 4 Usage 4 1 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 SV DC power supply not included Optional extensions KoreBase base board KoreWifi wireless module KoreUSBCam camera module Khepera 3 robot KoreBot II User Manual rev 1 1 15 4 Usage 4 1 2 Required software Required free space 150 MB on usr local ie Yet toolchain e 16 MB on user account Required files e Linux OS kernel 2 6 x on the computer vvith the follovving packages installed gcc GNU C compiler minicom terminal emulation Irzsz communication package picocom minimal dumb terminal emulation program expect interactive scripts running program Included in the DVD ROM of the package Cross compiler light korebot2 oetools light 1 0 kb1 tar bz2 Development folder development k2 vl 0 tar bz2 Board library sources libkorebot 1 11 kb1 tar bz2 Script for uploading Kernel and file system ktboot 2 0 20090416 tar bz2 Remark you may find updated version of th
15. d build the executable program Enter in the libkorebot 1 11 kb1 template folder and type in a console to build the template program source env sh make gt The template file is the executable output file You can transfer the program to the Korebot by serial see chapter 5 2 1 1 ARA AA E EEE EEE ne ee Then execute it by running template Application Programming Interface documentation of the library is available at http ftp k team com korebot libkorebot doc files html Remarks If you modify the program name you will have to modify its occurrences in the Makefile file KoreBot I User Manual rev 1 1 25 4 Usage 4 4 2 2 Uploading the kernel and the file system kt boot usage The kt boot allows to upload to the Korebot the kernel and file system if it was WARNING Allthe 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 ttySO by default and run it picocom U Boot 1 2 0 Dec 21
16. 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 4 Transfer the package to the Korebot with Minicom or ssh see chapter 5 2 1 2 T o send a I ee Le pa o ea ea v file to the Korebot upload 5 Then install it ipkg install PACKAGE NAME ipk 4 5 4 2 Creating new package You can create new packages for the Korebot following the instructions there KoreBot I User Manual rev 1 1 32 5 Annexes 5 Annexes 5 1 KB 250 Extension bus Here after are described the extension specifications for developing a new extension board Korebot extension Female connector Ben Ref ERNI SMC 124045 A Korebot Il Male connector Ref ERNI SMC 063210 Female connector Loa Ref ERNI SMC 124045 Overview Figure 5 1 Korebot II extension Bus KoreBot II User Manual rev 1 1 33 5 Annexes 5 1 1 Mechanical specifications be 85 Io 9 qg 765 pa T 57 36 8 5 OH Figure 5 2 Board mechanical dimensions 5 1 2 Electrical specifications KoreBot II User Manual rev 1 1 Figure 5 3 Connectors pinning top view 34 5 Annexes KB 250 Extension Interface J700 Signal Function Sign
17. e the KoreBot II e 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 e Do not plug any connectors while the board is powered on To avoid any damage make all connections when the board power is off e Never leave the 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 important 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 KoreBot II User Manual rev 1 1 2 1 INTRODUCTION 1 4 Specifications The main specifications of the KoreBot II card are listed below e Processor Marvell PXA270 with XScale 600MHz e Memory 128MB RAM 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 IC Serial port e OS Linux OS Angstr m distribution OpenEmbedded tool
18. eka 29 4 5 E egea F ULL TOOLCHAIN USAGE rn gegia eea ee da ge da ege ea ege ag ga dee EGE eae 30 4 5 4 dai P ACKAGES INSTALLATIONS 53 BA NES KR BAAN Aeta 32 5 HARANA 33 5 A KB 250 EXTENS ON ARE 5 1 1 EEE M ECHANICAL SPEC IFICATIONS elea e at e i e E ah ae a a a e e e A ed 34 5 1 2 zu E LECTRICAL SPECIFICATIONS u enersuen agere ge eee ge eee ee ge ee eee ee ER 5 2 TOOLS AND C OMMANDS ETNEN NANA NANA ATA NA ANANA LE E E E E E Y EEE 5 2 1 USING SERIAL PORT AND MINICOM ss 37 5 2 2 USING A WIRELESS COMPACT FLASH CARD rss 38 5 2 3 ons I RANSFERRING F ILE S USING SCP SSH ee ee eet 4 2 5 2 4 USING THE KOREUSBCAM MODULE s scsssssscsssessesesesecsesecscessscscassecacaesesecseees 42 5 2 5 Eddie N FS CONFIGURATION Ga e AEE 43 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 devices or enhance the Khepera III robot by expanding its computing power 1 1 How to use this handbook start jump to chapter 4 Usage Unpacking and Inspection KoreBot II package description and first use e Description Korebot II description Usage KoreBot II usage descriptions e Annexes Detailed descriptions of several helpful tools and commands are explained KoreBot II User Manual rev 1 1 1 1 INTRODUCTION 1 2 Safety precautions Here are some recommendations on how to correctly us
19. ese software at http ftp k team com 120090416 means the version of this software KoreBot II User Manual rev 1 1 16 4 Usage 4 2 Connections 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 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 d Serial cable KoreConnect KoreConnect cable power supply and computer are obviously not included KoreBot II User Manual rev 1 1 17 4 Usage 4 3 Power up Follow the instructions below to connect to the Korebot with the serial port 4 Install the Linux package Irzsz containing communications programs If your Linux distribution is Ubuntu sudo apt get install Irzsz 5 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 6 Set its parameters with the sub menu Serial port setup of the menu configuration You may modify the serial port device
20. files to and from the card at the location media cf 3 2 7 Korebot u SD connector With the u SD connector and a u SD card you can easily transfer files to and from the Korebot WARNING The u 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 mfc25 pcmcia and cfio modules 2 Uncomment or add if not present the mme block and pxamci 3 Typing mount shows the mounted card location dev mmcblkOp1 on media card 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 card KoreBot I User Manual rev 1 1 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 SO this project The main eat within this distribution are rer in the following sections Using the KoreBot Linux system should be pretty straightforward for users with a Linux or Unix background m all components are standard the installation and usage of the KoreBot software is descri
21. gcc GCC 4 1 2 4 4 1 3 Installation of the board library libkorebot The library is already installed on the Korebot To install the library on your development system follow the following instructions 1 Extract the library libkorebot 1 11 kbl tar bz2 in your development folder tar xjf libkorebot 1 11 kb1 tar bz2 C development_k2_v1 0 2 You can recompile the whole library by running the following commands in the libkorebot 1 11 kbl folder source env sh make clean make You can find an updated version of the libkorebot from the following ftp site http ftp k team com korebot libkorebot KoreBot I User Manual rev 1 1 23 4 Usage 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 0_20090416 tar bz2 in your development folder tar xjf ktboot 2 0_20090416 tar bz2 C development_k2_v1 0 KoreBot II User Manual rev 1 1 24 4 Usage 4 4 2 Light toolchain usage 4 4 2 1 Application development A template program prog template c is available in the board library libkorebot in the folder libkorebot 1 11 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 an
22. gulated 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 can still run with an even lower input but the 3 3V supply will fall and the board peripherals will stop functioning A low voltage supply connection is displayed on Figure 3 3 Only two of the three power 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 KoreBot II User Manual rev 1 1 8 3 Description 3 2 2 KoreBot Serial and USB Connector The KoreBot serial connector provides signals for several interfaces The board itself is
23. ill be connected makedir mnt 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 RPC 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 1 43 6 6 WARRANTY WARRANTY K TEAM warrants that the Korebot II 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
24. iver as it is already included for the Korebot II The information and main programs can be found here e User manual e Main folder with user manual applications programs You can use the following programs compiled for the Korebot II e Ktgrab video acquisition server http ftp k e Ktgrab video acquisition client http ftp k team com korebot koreusbcam application hbfg 0 3 t ku nore a e Driver source code hittp ftp k team com korebot koreusbcam driver source gspcavi 20071224 EEE KoreBot I User Manual rev 1 1 42 5 Annexes 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_IP 255 255 255 0 rw no_root_squash sync 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 IP is the IP address of the computer which the Korebot w
25. name depending where you plugged your serial port see chapter 5 2 1 Using serial port and Minicom If you use a serial to USB adapter the serial device may be dev ttyUSBO Serial Device dev ttyS0 Lockfile Location var lock Callin Program Callout Program Bps Par Bits 115200 8N1 Hardware Flow Control No Software Flow Control No GO EI E E GO D P P I Change which setting Figure 4 2 Minicom serial parameters KoreBot I User Manual rev 1 1 18 4 Usage ee configuration Filenames and paths 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 1 19 4 Usage 7 Connect the Korebot as described in chapter 4 4 2 And connect the power supply to the Korebot and switch it on The Korebot will boot and the prompt will be available see U Boot 1 2 0 Dec 21 2007 13 37 16 PXA270 600 MHz 1578M xx 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 0x01f00000 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
26. ng 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 g patch help2man diffstat texi2html texinfo libncurses5 dev cvs gawk python dev python pysqlite2 subversion KoreBot II User Manual rev 1 1 28 4 Usage e Included in the DVD ROM of the package Cross compiler and Open Embedded tools sources korebot2 oetools 1 0 kb1 tar bz2 Development folder development k2 v1 0 tar bz2 Board library sources libkorebot 1 11 kbl tar bz2 Script for uploading kernel and file system ktboot 2 0 20090416 tar bz2 4 5 2 Installation 1 Install the development directory as explained in chapter 4 4 1 1 Installation of the development directory if not already done L Sd I l I PRESA A HEN EE IIT earra ETT ISS EEA ee et ee at ee E E EE 2 Extract the cross compiler sources korebot2 oetools 1 0 kb1 tar bz2 in usr local with the command sudo tar xjf korebot2 oetools 1 0 kb1 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
27. ot changed where it started 5 2 2 Using a 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 KoreBot II User Manual rev 1 1 38 5 Annexes Remark The following instructions are for the wireless compact flash B WL5400G CF With the model A Ambicom WL1100C CF you have to instruct the driver to ignore Vcc differences by setting module parameter ignore cis vcc l either in etc pemcia hostap_cs conf or for testing by manually loading the module with nodprobe hostap_cs ignore_cis_vcc 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 pxa2xx_cs You may load the Wifi module automatically by adding pxa2xx_cs in the file 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 1 Without any encryption for security Modify the file etc network interfaces with our wireless network settings The loopback interface auto lo iface lo inet loopback Wireless interfaces auto eth0 iface eth0 inet dhcp iface eth0 inet static wireless_mode managed wireless essid
28. s kernel 2 6 24 e Power consumption 100 mA 5 V without any Kore extension e Size 85 width x 57 depth x 33 height mm e Mass e 52g KoreBot II User Manual rev 1 1 3 2 UNPACKING AND INSPECTION 2 UNPACKING AND INSPECTION 2 1 Package Contents 2 KOFEBOT 0 user MANUAL K Team gt Ed MOBILE ROBOTICS 3 Figure 2 1 Contents of the KoreBot Pack Your package should contain the follovving items Korebot II card Povver supply cable this present document ESA ZE FOR d DVD Rom with software KoreBot II User Manual rev 1 1 KOreBoT Il O 4 2 UNPACKING AND INSPECTION 2 2 Inspection The KoreBot board basic functions should be tested after unpacking 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 Pez 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 Then when Ed power on the Linux boot messages should be displayed on 1 the information on the KoreBot inox system
29. t cover technical assistance for hardware or software usage and it does not cover any software products contained in the Product K TEAM excludes all warranties 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 AVAILABILITY OF SOFTWARE Be sure to remove all third parties hardware software features parts options al
30. terations and attachments not warranted by K TEAM prior to Product service K TEAM 1s 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 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 1 45 6 WARRANTY 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 NO EVENT SHALL EITHER PARTY BE LIABLE TO THE OTHER FOR ANY INDIRECT SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES RESULTING FROM PERFORMANCE OR FAILURE TO
31. tom verdex rootfs jffs2 Remarks You may find updated version of these software at http ftp k team com zen TE Mn na ea nn AT ED eee KoreBot I User Manual rev 1 1 30 4 Usage And information about the OEtools is available here e Cross compiler and tools OpenEmbedded http wiki openembedded net index php Main_Pagei e Linux distribution of the Korebot i wWwWw angstrom distribution org e Gumstix documentation o httpz www gumstixmet User 1 F0 htmt o http gumstix net wiki mndex php title Marmn Pare 4 5 3 2 Kernel modification You can modify the kernel here by accessing to its menu with these commands source extras profile bitbake gumstix kernel c menuconfig 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 bitbake c rebuild gumstix kernel bitbake c rebuild task base gumstix bitbake c rebuild korebot2 image You can now upload the files to the Korebot with kt boot see chapter 4 4 2 2 Uploading KoreBot II User Manual rev 1 1 31 4 Usage 4 5 4 Packages installations With OpenEmbedded you can easily cross compile existing packages or add your own 4 5 4 1 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 already in usr local korebot2 oetools 1 0 org openembedded
32. too small to include standard serial or USB connectors but it can be easily extended using a KoreConnect extension or with any on 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 1st Serial Tx 7 USB D 2 1st Serial Rx 8 USB D 3 2nd Serial Tx 9 USB 5V 4 2nd SerialRx 10 USB 5V 5 3 3V 11 Gnd 6 N C 12 Gnd Hous ew 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 1 9 8 Description 21436587109 12 11 1 1st Serial Tx 7 USB D 2 1st Serial Rx 8 USB D 3 2nd Serial Tx 9 USB 5V 4
33. 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 directory development_lightV0 1_kernel 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 vl 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 directory replace YOUR USERNAME by your Linux account name KTEAM_HOME home YOUR_USERNAME development_k2_v1 0 KoreBot II User Manual rev 1 1 22 4 Usage 4 4 1 2 Installation of the cross compiler light toolchain 1 Extract the cross compiler korebot2 oetools light 1 0 kb1 tar bz2 in usr local with the command sudo tar xjf korebot2 oetools light 1 0 kb1 tar bz2 C usr local Remark you must be root or use sudo 2 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 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 env sh arm angstrom linux gnueabi gcc version gt The last command should return arm angstrom linux gnueabi
34. xa 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 enables online debugging and memory access from a host computer using the KoreJTAG connector Figure 3 9 JTAG connector 3 2 5 KoreBot USB Host The KoreBot provides two different USB interfaces One is the PXA270 USB device interface and the other one is a complete USB Host interface The USB Host interface provides a way to connect USB devices such as webcams or external disks to the KoreBot KoreBot II User Manual rev 1 1 12 3 Description 3 2 6 Korebot Compact flash connector 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 1 Comment the mmc_block and pxamci modules 2 Uncomment or add if not present the mfc25 pemcia and cfio modules 3 Switch off the Korebot insert the Compact flash card and switch on 4 Typing mount shows the mounted card location dev hdal on media cf type vfat rw fmask 0022 dmask 0022 codepage cp437 iocharset is0o8859 1 gt You can copy

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