Software installation - Revision history

Jca: /* Regbot software */

2026-01-09T10:29:24Z

Regbot software

← Older revision		Revision as of 12:29, 9 January 2026
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	From a command prompt in either Linux or Windows with SVN (Subversion (Apache)):		From a command prompt in either Linux or Windows with SVN (Subversion (Apache)):

	$ svn checkout svn://repos.gbar.dtu.dk/jcan/regbot		$ svn checkout svn://repos.gbar.dtu.dk/jcan/regbot/regbot

	~~Thye~~ regbot ~~firmware~~ is in ~~a further~~ '~~regbot~~' subdirectory		The regbot primary file is ''regbot.ino'', and all supporting code is in the ''src'' subdirectory.

	$ cd ~~regbot/~~regbot		$ cd regbot

	The ~~makefile need~~ to be ~~modified for~~ the ~~path~~ to the Arduino ~~libraries~~.		The Makefile needs to be updated to point to the Arduino libraries.

			There are also compile and upload scripts (called ''compile'' and ''upload''), but they require the command-line version of Arduino to be installed. See the Arduino/Teensyduino pages to install.

	====Modify Makefile====		====Modify Makefile====

	If ~~svn~~ version is older than 1561, then see the next section.		If the SVN version is older than 1561, then see the next section.

	Modify the Makefile (in regbot/regbot, regbot/regbot/4.1, regbot/regbot/3.5 as needed)		Modify the Makefile (in regbot/regbot, regbot/regbot/4.1, regbot/regbot/3.5 as needed)
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	Additional libraries from ~~Ardufruit~~ are needed for the small display:		Additional libraries from Adafruit are needed for the small display:
	* Adafruit_BusIO to get additional services from the I2C interface		* Adafruit_BusIO to get additional services from the I2C interface
	* Adafruit-GFX-Library to get the paint functions for the display		* Adafruit-GFX-Library to get the paint functions for the display
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	An alternative to the "make upload", which requires an X-display, is teensy_loader_cli (Teensy command line loader).		An alternative to the "make upload", which requires an X-display, is teensy_loader_cli (Teensy command line loader).
	A compiled version of teensy_loader_cli is available in the "4.1" subdirectory (compiled for Raspberry Pi and a teensy_loader_cli_ubuntu compiled for ~~ubuntu~~).		A compiled version of teensy_loader_cli is available in the "4.1" subdirectory (compiled for Raspberry Pi and a teensy_loader_cli_ubuntu compiled for Ubuntu).

	To compile for the Teensy 3.5 board		To compile for the Teensy 3.5 board
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	make upload		make upload

	NB! for Teensy 4.1 the produced regbot.hex file fails to work when compiled on Raspberry. Use the regbot.hex provided in the repository:		NB! for Teensy 4.1, the produced regbot.hex file fails to work when compiled on Raspberry. Use the regbot.hex provided in the repository:

	cd ~/regbot/regbot/4.1		cd ~/regbot/regbot/4.1

Jca at 10:07, 1 September 2024

2024-09-01T10:07:03Z

← Older revision		Revision as of 12:07, 1 September 2024
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	Back to [[regbot \| ~~Regot~~]] main page.		Back to [[regbot \| Regbot]] main page.

	==Software installation==		==Software installation==

Jca: /* Regbot software */

2024-03-20T12:50:04Z

Regbot software

← Older revision		Revision as of 14:50, 20 March 2024
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	===Regbot software===		===Regbot software===

	Then get the regbot software ~~(from SVN repository on previous page)~~		Then get the regbot software

	~~It consist of~~ a ~~series of directories but~~ is ~~missing~~ the path ~~''tools'', ''~~libraries~~'' and ''teensy3'' directories~~.		From a command prompt in either Linux or Windows with SVN (Subversion (Apache)):

			$ svn checkout svn://repos.gbar.dtu.dk/jcan/regbot

			Thye regbot firmware is in a further 'regbot' subdirectory

			$ cd regbot/regbot

			The makefile need to be modified for the path to the Arduino libraries.

	====Modify Makefile====		====Modify Makefile====

Jca: /* Software installation */

2023-12-22T09:34:40Z

Software installation

← Older revision		Revision as of 11:34, 22 December 2023
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	The description is tested on Ubuntu Linux 32bit and 64bit - version 20.04 (Long Time Stable (LTS) version)		The description is tested on Ubuntu Linux 32bit and 64bit - version 20.04 (Long Time Stable (LTS) version)

			Parts of this page are deprecated, as all platforms now are modified to use Teensy 4.1 (blue baseboard, version 6.3)

	===Toolchain installation===		===Toolchain installation===
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	NB! Teensyduino version 1.52 uses C++ features that are available in C++17 (constexpr including if statements) - i.e. in GCC compiler version 10 or higher.		NB! Teensyduino version 1.52 uses C++ features that are available in C++17 (constexpr including if statements) - i.e. in GCC compiler version 10 or higher.
	Check your GCC version before installing a newer version		Check your GCC version before installing a newer version.

	gcc -v		gcc -v
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	Teensy loader:		Teensy loader:
	Get the loader (or the command-line-loader - maybe better on ~~raspberry~~) - and udev rules - from		Get the loader (or the command-line-loader - maybe better on Raspberry) - and udev rules - from
	https://www.pjrc.com/teensy/loader.html		https://www.pjrc.com/teensy/loader.html

	The teensy loader needs to be unpacked - on ~~linux~~ it is:		The teensy loader needs to be unpacked - on Linux it is:
	gunzip teensy.gz		gunzip teensy.gz
	chmod +x teensy		chmod +x teensy

	For Linux get ~~also~~ the udev rules, and copy them to /etc/udev/rules.d to get read-write access to the ~~usb~~ connection (/dev/ttyACM0) and others:		For Linux get the udev rules and copy them to /etc/udev/rules.d to get read-write access to the USB connection (/dev/ttyACM0) and others:

	sudo cp 49-teensy.rules /etc/udev/rules.d/		sudo cp 49-teensy.rules /etc/udev/rules.d/
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	- se test on this page: http://eleccelerator.com/kinetis-microcontroller-sram-region-hard-faults/		- se test on this page: http://eleccelerator.com/kinetis-microcontroller-sram-region-hard-faults/

	In case of REGBOT, about 35kB of static memory is allocated for data logging, this means		In the case of REGBOT, about 35kB of static memory is allocated for data logging; this means
	that this memory will overlap the boundary at 0x20000000.		that this memory will overlap the boundary at 0x20000000.

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	Heap space is used by some libraries, and usually no more than 1.5kB is allocated as heap space.		Heap space is used by some libraries, and usually no more than 1.5kB is allocated as heap space.
	~~this~~ leaves about 20kB as stack space. ~~It is not tested how~~ much of this is used.		This leaves about 20kB as stack space. How much of this is used has not been tested.

	===Regbot software===		===Regbot software===
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	make upload		make upload

	An alternative to the "make upload", which ~~require~~ an X-display, is teensy_loader_cli (Teensy command line loader).		An alternative to the "make upload", which requires an X-display, is teensy_loader_cli (Teensy command line loader).
	A compiled version of teensy_loader_cli is available in the "4.1" subdirectory (compiled for Raspberry Pi and a teensy_loader_cli_ubuntu compiled for ubuntu).		A compiled version of teensy_loader_cli is available in the "4.1" subdirectory (compiled for Raspberry Pi and a teensy_loader_cli_ubuntu compiled for ubuntu).

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	Compiling to teensy 3.5 (3.6) with SD card support fails,		Compiling to teensy 3.5 (3.6) with SD card support fails,

	These 2 files ~~has~~ an include error:		These 2 files have an include error:

	nano libraries/SD/utility/SdFile.cpp		nano libraries/SD/utility/SdFile.cpp
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	===Upload to REGBOT===		===Upload to REGBOT===

	Remember to update and compile with the ~~right~~ makefile.		Remember to update and compile with the proper makefile.

	Regbot board with Teensy 3.2 (green board)		Regbot board with Teensy 3.2 (green board)
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	make		make

	Regbot board with Teensy 4.1 (purple mainboard) you need to use the makefile in the 4.1 subdirectory.		Regbot board with Teensy 4.1 (purple mainboard), you need to use the makefile in the 4.1 subdirectory.

	cd regbot/4.1		cd regbot/4.1

Jca: /* Software installation */

2023-12-22T09:31:25Z

Software installation

← Older revision		Revision as of 11:31, 22 December 2023
Line 4:		Line 4:
	==Software installation==		==Software installation==

	Software installation to maintain the REGBOT code on the ~~Teensy3.1/2~~ platform.		Software installation to maintain the REGBOT code on the Teensy platform.

	The description is tested on Ubuntu Linux 32bit and 64bit - version 14.04 (Long Time Stable (LTS) version)		The description is tested on Ubuntu Linux 32bit and 64bit - version 20.04 (Long Time Stable (LTS) version)

	===Toolchain installation===		===Toolchain installation===
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	regbot/regbot.hex - for Teensy 3.2 (green boards)		regbot/regbot.hex - for Teensy 3.2 (green boards)
	regbot/3.5/regbot.hex - for Teensy 3.5 (red board)		regbot/3.5/regbot.hex - for Teensy 3.5 (red board)
	regbot/4.1/regbot.hex - for Teensy 4.1 (purple board)		regbot/4.1/regbot.hex - for Teensy 4.1 (purple and blue board)

	NB! If Regbot runs on battery, PRESS and HOLD the (red) "power" button BEFORE and DURING the teensy programming.		NB! If Regbot runs on battery, PRESS and HOLD the (red) "power" button BEFORE and DURING the teensy programming.

Jca: /* Upload to REGBOT */

2023-08-24T06:39:07Z

Upload to REGBOT

← Older revision		Revision as of 08:39, 24 August 2023
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	===Upload to REGBOT===		===Upload to REGBOT===

	Remember to update and compile with the right makefile		Remember to update and compile with the right makefile.

	Regbot board with Teensy 3.2 (green board)		Regbot board with Teensy 3.2 (green board)
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	make		make

	Regbot board with Teensy 3.5 (red mainboard) you need to use the makefile in the 3.5 subdirectory		Regbot board with Teensy 3.5 (red mainboard), you need to use the makefile in the 3.5 subdirectory.

	cd regbot/3.5		cd regbot/3.5
	make		make

	Use the teensy loader, point it to the regbot.hex file and upload/auto. Then press the small button on the Teensy.		Regbot board with Teensy 4.1 (purple mainboard) you need to use the makefile in the 4.1 subdirectory.

			cd regbot/4.1
			make

			Use the teensy loader, and point it to the regbot.hex file and upload/auto. Then press the small button on the Teensy.

	./teensy		./teensy
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	regbot/regbot.hex - for Teensy 3.2 (green boards)		regbot/regbot.hex - for Teensy 3.2 (green boards)
	regbot/3.5/regbot.hex - for Teensy 3.5 (red board)		regbot/3.5/regbot.hex - for Teensy 3.5 (red board)
			regbot/4.1/regbot.hex - for Teensy 4.1 (purple board)

	NB! If Regbot runs on battery, ~~then~~ PRESS and HOLD the (red) "power" button BEFORE and DURING the teensy programming.		NB! If Regbot runs on battery, PRESS and HOLD the (red) "power" button BEFORE and DURING the teensy programming.
	During programming, the pin that keeps the Regbot ON will be disabled, ~~and~~ thus ~~power~~ off the Regbot (and the Raspberry Pi if on the same robot).		During programming, the pin that keeps the Regbot ON will be disabled, thus powering off the Regbot (and the Raspberry Pi if on the same robot).

	If you upload from a Raspberry pi, ~~then~~ this method requires access to a screen~~, either~~ directly on the ~~raspberry~~ or using x-forwarding (ssh -X local@...).		If you upload from a Raspberry Pi, this method requires access to a screen directly on the Raspberry or using x-forwarding (ssh -X local@...).

	To upload you can use		To upload, you can use
	make upload		make upload

Jca: /* Teensy 4.1 special */

2023-08-24T06:33:27Z

Teensy 4.1 special

← Older revision		Revision as of 08:33, 24 August 2023
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	The obtained libraries should be included in the Arduino/Teensyduino library list, e.g. if the GIT repositories are in a ~/git directory:		The obtained libraries should be included in the Arduino/Teensyduino library list, e.g. if the GIT repositories are in a ~/git directory:

	cd Arduino-1.8.13/hardware/teensy/avr/libraries		cd Arduino-1.8.19/hardware/teensy/avr/libraries
	ln -s ~/git/Adafruit_BusIO		ln -s ~/git/Adafruit_BusIO
	ln -s ~/git/Adafruit-GFX-Library		ln -s ~/git/Adafruit-GFX-Library

Jca: /* Use symbolic links */

2023-08-24T06:16:46Z

Use symbolic links

← Older revision		Revision as of 08:16, 24 August 2023
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	This change is actuated, as my development tool (Kdevelop) failed to work with the previous symbolic links, but it is also a more standard solution.		This change is actuated, as my development tool (Kdevelop) failed to work with the previous symbolic links, but it is also a more standard solution.

	~~====Use symbolic links====~~

	~~This method is deprecated for REGBOT/ROBOBOT, and will not work with svn version newer than version 1561!~~

	~~Links: go into the regbot directory with the Teensy source and Makefile (source code is in the ''sec'' subdirectory)~~
	~~cd regbot~~
	~~ln -s ~/arduino-1.8.13/hardware/tools .~~
	~~ln -s ~/arduino-1.8.13/hardware/teensy/avr/cores/teensy3 .~~
	~~ln -s ~/arduino-1.8.13/hardware/teensy/avr/cores/teensy4 .~~
	~~ln -s ~/arduino-1.8.13/hardware/teensy/avr/libraries .~~
	~~ln -s tools/teensy .~~

	~~The last link is only for convenience to start the teensy loader application.~~

	====Teensy 4.1 special ====		====Teensy 4.1 special ====

Jca: /* Teensy 4.1 special */

2023-06-12T12:27:26Z

Teensy 4.1 special

← Older revision		Revision as of 14:27, 12 June 2023
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	git clone https://github.com/adafruit/Adafruit_SSD1306.git		git clone https://github.com/adafruit/Adafruit_SSD1306.git
	git clone https://github.com/adafruit/Adafruit-GFX-Library		git clone https://github.com/adafruit/Adafruit-GFX-Library
			git clone https://github.com/pfeerick/elapsedMillis.git

	The obtained libraries should be included in the Arduino/Teensyduino library list, e.g. if the GIT repositories are in a ~/git directory:		The obtained libraries should be included in the Arduino/Teensyduino library list, e.g. if the GIT repositories are in a ~/git directory:
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	ln -s ~/git/Adafruit-GFX-Library		ln -s ~/git/Adafruit-GFX-Library
	ln -s ~/git/Adafruit_SSD1306		ln -s ~/git/Adafruit_SSD1306
			ln -s ~/git/elapsedMillis

	==== Teensy 3.2, 3.5 or 4.1 compile ====		==== Teensy 3.2, 3.5 or 4.1 compile ====

Jca: /* Teensy 3.2, 3.5 or 4.1 compile */

2023-03-05T15:21:37Z

Teensy 3.2, 3.5 or 4.1 compile

← Older revision		Revision as of 17:21, 5 March 2023
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	An alternative to the "make upload", which require an X-display, is teensy_loader_cli (Teensy command line loader).		An alternative to the "make upload", which require an X-display, is teensy_loader_cli (Teensy command line loader).
	A compiled version of teensy_loader_cli is available in the "4.1" subdirectory (compiled for Raspberry Pi and a teensy_loader_cli_ubuntu compiled for ubuntu).		A compiled version of teensy_loader_cli is available in the "4.1" subdirectory (compiled for Raspberry Pi and a teensy_loader_cli_ubuntu compiled for ubuntu).



	To compile for the Teensy 3.5 board		To compile for the Teensy 3.5 board