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Back to [[regbot | Regot]] main page.
Back to [[regbot | Regbot]] main page.


==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)
 
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===
Line 21: Line 23:
https://www.pjrc.com/teensy/td_download.html
https://www.pjrc.com/teensy/td_download.html


Run the installer - on 32 bit linux it is:
It installes (only) as a merge with the Arduino installed directory (arduino-1.6.9).
chmod +x TeensyduinoInstall.linux32 
./TeensyduinoInstall.linux32


It installes (only) as a merge with the arduino installed directory (arduino-1.6.9).
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.


From this installation we need only some hardware parts in
gcc -v


arduino-1.6.9/hardware/tools
Ubuntu 20.04 uses GCC version 9.6 (as of nov 2020)
arduino-1.6.9/hardware/teensy/avr/cores/teensy3
 
====ADC using interrupt====
 
NB! in version installed with arduino 1.8 this library is already included - so skip this part.


===Teensy loader and udev rules===
===Teensy loader and udev rules===


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/
Line 70: Line 66:
- 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.


Line 77: Line 73:


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===
   
   
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 ''tools'', ''Snooze'' and ''teensy3'' directories,
 
Copy (or link) the ''arduino-1.0.6/hardware/tools'', ''arduino-1.0.6/libraries/Snooze'' and ''arduino-1.0.6/hardware/teensy/cores/teensy3'' directory to the regbot directory,
or set the ''TOOLSPATH'' and ''COREPATH'' in the regbot ''Makefile''.
- in my Makefile I have added the special teensy library path as "libteensy", as in the 4th libe below.


Links: go into the regbot directory with the source
From a command prompt in either Linux or Windows with SVN (Subversion (Apache)):
cd regbot
ln -s ~/arduino-1.6.13/hardware/tools .
ln -s ~/arduino-1.6.13/hardware/teensy/avr/cores/teensy3 .
ln -s ~/arduino-1.6.13/hardware/teensy/avr/libraries libteensy 
ln -s tools/teensy .


The last link is only for convenience to start the teensy loader application.
$ svn checkout svn://repos.gbar.dtu.dk/jcan/regbot
Ther arduino version is probably different.


====Compile REGBOT====
Thye regbot firmware is in a further 'regbot' subdirectory


Compile the source
$ cd regbot/regbot
make


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


===== * multiple main =====
====Modify Makefile====


You probably get:
If svn version is older than 1561, then see the next section.
make
...
.../regbot/teensy3/main.cpp:4: multiple definition of `main'
.../regbot/build/src/main.o:/.../regbot/src/main.cpp:434: first defined here
collect2: error: ld returned 1 exit status
make: *** [regbot.elf] Fejl 1


Then rename the teensy3 main file from the compile set
Modify the Makefile (in regbot/regbot, regbot/regbot/4.1, regbot/regbot/3.5 as needed)


mv teensy3/main.cpp teensy3/main.cpp.not_used
Modify the BASEPATH to the Arduino/Teensyduino library about line 31 of the Makefile (for Robobot it should work as is):


===== Teensy 3.5 SD-card error =====
ARDUINO_ROBOBOT := $(shell ls -d /home/local/Downloads/arduino-1.8.19/hardware 2>/dev/null)
ifeq ($(ARDUINO_ROBOBOT),)
  # '''home installation''' - modify as needed
  BASEPATH := '''/home/chr/Downloads/arduino/arduino-1.8.19/hardware'''
else
  # raspberry pi based RoboBot
  BASEPATH := /home/local/Downloads/arduino-1.8.19/hardware
endif


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


These 2 files has an include error:
====Teensy 4.1 special ====


nano libteensy/SD/utility/SdFile.cpp
nano libteensy/SD/utility/SdVolume.cpp


In these files, change '#include <SdFat.h>' to '#include "SdFat.h"' in one of the first code lines.
Additional libraries from Ardufruit are needed for the small display:
* Adafruit_BusIO to get additional services from the I2C interface
* Adafruit-GFX-Library to get the paint functions for the display
* Adafruit_SSD1306 to get the specifics for the used display
git clone https://github.com/adafruit/Adafruit_BusIO.git
git clone https://github.com/adafruit/Adafruit_SSD1306.git
git clone https://github.com/adafruit/Adafruit-GFX-Library
git clone https://github.com/pfeerick/elapsedMillis.git


===Upload to REGBOT===
The obtained libraries should be included in the Arduino/Teensyduino library list, e.g. if the GIT repositories are in a ~/git directory:


Remember to update and compile with the right makefile
cd Arduino-1.8.19/hardware/teensy/avr/libraries
ln -s ~/git/Adafruit_BusIO
ln -s ~/git/Adafruit-GFX-Library
ln -s ~/git/Adafruit_SSD1306
ln -s ~/git/elapsedMillis


Regbot board with Teensy 3.2 (green board)
==== Teensy 3.2, 3.5 or 4.1 compile ====


  cd regbot
To compile for the Teensy 3.2 based boards, compile from the base directory
svn up
  cd ~/regbot/regbot
  make
  make
make upload


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


  cd regbot/3.5
To compile for the Teensy 3.5 board
  cd ~/regbot/regbot/3.5
make
make upload
To compile for the Teensy 4.1 board
cd ~/regbot/regbot/4.1
  make
  make
make upload


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


  ./teensy  
  cd ~/regbot/regbot/4.1
svn revert regbot.hex
teensy upload


Select the correct regbot.hex, either
NB2! Remember to press and hold the "power" button during the "make upload" command. The Teensy will make all ports input-pins, and this is the same as power off.
regbot/regbot.hex        - for Teensy 3.2 (green boards)
regbot/3.5/regbot.hex    - for Teensy 3.5 (red board)


NB! If Regbot runs on battery, then PRESS and HOLD the (red) "power" button BEFORE and DURING the teensy programming.
Make runs faster if the number of CPU cores is increased. On Raspberry with little memory (1GB or less) or a small cooling plate, then use 3 CPU cores or less:
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).


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@...).
make -j3


===Python packages===
====Common errors====


Additional python packages used
===== Teensy 3.5 SD-card error =====


* python-pyqtgraph
Earlier than version 1.8.16 of Arduino:
* python-qt4-gl
Compiling to teensy 3.5 (3.6) with SD card support fails,
* python-serial
* python-scipy


sudo apt install python-pyqtgraph python-qt4-gl python-serial python-scipy
These 2 files have an include error:


nano libraries/SD/utility/SdFile.cpp
nano libraries/SD/utility/SdVolume.cpp


Using python 3
In these files, change '#include <SdFat.h>' to '#include "SdFat.h"' in one of the first code lines.


Additional python packages used
===Upload to REGBOT===


* python3-pyqtgraph
Remember to update and compile with the proper makefile.
* python3-numpy
* python3-serial
* python3-scipy
* pyqt5-dev-tools


sudo apt install python3-pyqtgraph python3-numpy python3-serial python3-scipy pyqt5-dev-tools
Regbot board with Teensy 3.2 (green board)


===Kdevelop===
cd regbot
svn up
make


To use Kdevelop as integrated development tool, install the following packges
Regbot board with Teensy 3.5 (red mainboard), you need to use the makefile in the 3.5 subdirectory.


  kdevelop
  cd regbot/3.5
  kdev-python
  make
sudo apt install kdevelop kdev-python


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


To use QT dialog designer (editing regbot.ui) use the qt4-designer and to convert the ui file to python use qtuic4 command, install the packages
cd regbot/4.1
make


qt4-designer
Use the teensy loader, and point it to the regbot.hex file and upload/auto. Then press the small button on the Teensy.
pyqt4-dev-tools


or for qt5
./teensy


  qttools5-dev-tools
Select the correct regbot.hex, either
 
  regbot/regbot.hex        - for Teensy 3.2 (green boards)
To convert the regbot.ui to regbotdesign.py use the command
regbot/3.5/regbot.hex    - for Teensy 3.5 (red board)
regbot/4.1/regbot.hex    - for Teensy 4.1 (purple and blue board)


pyuic4 regbot.ui -o regbotdesign.py
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, thus powering off the Regbot (and the Raspberry Pi if on the same robot).


And to convert the dialog_control.ui use
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@...).


  pyuic4 dialog_control.ui -o dialog_control.py
To upload, you can use
  make upload

Latest revision as of 11:07, 1 September 2024

Back to Regbot main page.

Software installation

Software installation to maintain the REGBOT code on the Teensy platform.

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

Install (unpack) arduino software from https://www.arduino.cc/en/Main/Software (tested with version 1.6.9 ... 1.8.5) on 32 bit and 64 bit (k)ubuntu linux and raspberry (noops) - see Teensy page for compatible version)

Unpack with (replase "1.6.9" and "linux32" with the version you installed)

tar xf arduino-1.6.9-linux32.tar.xz

This makes a directory called arduino-1.6.9

Then get and install the teensey tool installer from (this page also shows which version of arduino that is compatible): https://www.pjrc.com/teensy/td_download.html

It installes (only) as a merge with the Arduino installed directory (arduino-1.6.9).

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.

gcc -v

Ubuntu 20.04 uses GCC version 9.6 (as of nov 2020)

Teensy loader and udev rules

Teensy loader: Get the loader (or the command-line-loader - maybe better on Raspberry) - and udev rules - from

https://www.pjrc.com/teensy/loader.html

The teensy loader needs to be unpacked - on Linux it is:

gunzip teensy.gz
chmod +x teensy

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/

Teensy 3.1 memory issues

The teensy 3.1 using MK20DX256 32 processor from Freescale. It has 64kB of RAM, but it is divided into 2 x 32kByte.

0x20007fff  top of RAM <- stack starts here

    32kB Upper part of memory

            <- Heap starts just after static variable allocation
0x20000000    |
0x1fffffff    |  REGBOT uses about 40kB of static allocated RAM
              |
    32kB Lower part of memory
              |
0x1fff8000  Start of RAM <- static variables allocated from here

A variable placed in memory overlapping the boundary between upper and lower memory is not allowed - se test on this page: http://eleccelerator.com/kinetis-microcontroller-sram-region-hard-faults/

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.

This is handled when data is added or retrieved from the log, the chunk of data overlapping the boundary is left unused. The result is that one less line of logged data is available, but there is no gap in the data stream.

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. How much of this is used has not been tested.

Regbot software

Then get the regbot software

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

If 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 BASEPATH to the Arduino/Teensyduino library about line 31 of the Makefile (for Robobot it should work as is):

ARDUINO_ROBOBOT := $(shell ls -d /home/local/Downloads/arduino-1.8.19/hardware 2>/dev/null)
ifeq ($(ARDUINO_ROBOBOT),)
  # home installation - modify as needed
  BASEPATH := /home/chr/Downloads/arduino/arduino-1.8.19/hardware
else
  # raspberry pi based RoboBot
  BASEPATH := /home/local/Downloads/arduino-1.8.19/hardware
endif

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.

Teensy 4.1 special

Additional libraries from Ardufruit are needed for the small display:

  • Adafruit_BusIO to get additional services from the I2C interface
  • Adafruit-GFX-Library to get the paint functions for the display
  • Adafruit_SSD1306 to get the specifics for the used display
git clone https://github.com/adafruit/Adafruit_BusIO.git
git clone https://github.com/adafruit/Adafruit_SSD1306.git
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:

cd Arduino-1.8.19/hardware/teensy/avr/libraries
ln -s ~/git/Adafruit_BusIO
ln -s ~/git/Adafruit-GFX-Library
ln -s ~/git/Adafruit_SSD1306
ln -s ~/git/elapsedMillis

Teensy 3.2, 3.5 or 4.1 compile

To compile for the Teensy 3.2 based boards, compile from the base directory

cd ~/regbot/regbot
make
make upload

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).

To compile for the Teensy 3.5 board

cd ~/regbot/regbot/3.5
make
make upload

To compile for the Teensy 4.1 board

cd ~/regbot/regbot/4.1
make
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:

cd ~/regbot/regbot/4.1
svn revert regbot.hex
teensy upload

NB2! Remember to press and hold the "power" button during the "make upload" command. The Teensy will make all ports input-pins, and this is the same as power off.

Make runs faster if the number of CPU cores is increased. On Raspberry with little memory (1GB or less) or a small cooling plate, then use 3 CPU cores or less:

make -j3

Common errors

Teensy 3.5 SD-card error

Earlier than version 1.8.16 of Arduino: Compiling to teensy 3.5 (3.6) with SD card support fails,

These 2 files have an include error:

nano libraries/SD/utility/SdFile.cpp 
nano libraries/SD/utility/SdVolume.cpp

In these files, change '#include <SdFat.h>' to '#include "SdFat.h"' in one of the first code lines.

Upload to REGBOT

Remember to update and compile with the proper makefile.

Regbot board with Teensy 3.2 (green board)

cd regbot
svn up
make

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

cd regbot/3.5
make

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 

Select the correct regbot.hex, either

regbot/regbot.hex        - for Teensy 3.2 (green boards)
regbot/3.5/regbot.hex    - for Teensy 3.5 (red 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. 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, this method requires access to a screen directly on the Raspberry or using x-forwarding (ssh -X local@...).

To upload, you can use

make upload