Software installation

Software installation

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

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

Toolchain installation

Install (unpack) arduino software from https://www.arduino.cc/en/Main/Software (tested with version 1.6.9 (and 1.6.12) on 32 bit and 64 bit kubuntu linux and raspberry (noops) - see Teensy page for compatible version)

Unpack with

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

Run the installer - on 32 bit linux it is:

chmod +x TeensyduinoInstall.linux32  
./TeensyduinoInstall.linux32

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

From this installation we need only some hardware parts in

arduino-1.6.9/hardware/tools
arduino-1.6.9/hardware/teensy/avr/cores/teensy3

The path to the compiler was earlier in arduino-1.0.6/hardware/tools/arm-none-eabi/bin this is now changed to arduino-1.6.9/hardware/tools/arm/bin, and the COMPILERPATH in the Makefile may need a change to the new path.

ADC using interrupt

Get the ADC (Analogue to Digital Converter) module that supports interrupt with teensy 3.1

Download from https://github.com/pedvide/ADC

git clone https://github.com/pedvide/ADC

From the ADC directory copy the *.cpp and *.h files to arduino-1.6.9/hardware/teensy/avr/cores/teensy3

cd ADC
cp *.cpp *.h ~/arduino-1.6.9/hardware/teensy/avr/cores/teensy3

That will add these files to the other teensy3 library files:

ADC.cpp
ADC.h
ADC_Module.cpp
ADC_Module.h
RingBuffer.cpp
RingBuffer.h
RingBufferDMA.cpp
RingBufferDMA.h

Teensy loader and udev rules

Teensy loader: Get the loader - 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 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:

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 45kB 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 case of REGBOT, about 35kB of static memory is allocated for data logging, this means that this memory overlaps 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 then 1.5kB is allocated as heap space. this leaves about 17kB as stack space. It is not tested how much of this is used.

Regbot software

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

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.

Links: go into the regbot directory with the source

cd regbot
ln -s ~/arduino-1.6.9/hardware/tools .
ln -s ~/arduino-1.6.9/hardware/teensy/avr/cores/teensy3 .
ln -s tools/teensy .

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

Compile REGBOT

Compile the source

make

Common errors

* millies()

If you get

$ make
[CXX]   src/baro180.cpp
[CXX]   src/data_logger.cpp
[CXX]   src/i2c_t3.cpp
[CXX]   src/main.cpp
[CXX]   src/mission.cpp
[CXX]   src/motor_controller.cpp
[CXX]   src/mpu9150.cpp
[CXX]   src/rbuf.cpp
[CXX]   src/robot.cpp
In file included from src/main.h:31:0,
                from src/robot.cpp:29:
./teensy3/usb_serial.h: In member function 'size_t usb_serial_class::readBytes(char*, size_t)':
./teensy3/usb_serial.h:97:38: error: 'millis' was not declared in this scope
   unsigned long startMillis = millis();

The millis() function is defined in core_pins.h, so I added this into:

nano -w ./teensy3/usb_serial.h 
// line 34 35 (in version 1.24)
#include <usb_desc.h>
#include <core_pins.h> // <= added include line

* multiple main

You probably get:

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

mv teensy3/main.cpp teensy3/main.cpp.not_used

Upload to REGBOT

Using the teensy loader, point it to the regbot.hex file and upload.

./teensy

Python packages

Additional python packages used

• python-pyqtgraph
• python-qt4-gl
• python-serial
• python-scipy

* no python-pyqtgraph

On my 14.04 32 bit ubuntu the python-pyqtgraph package was not found using apt-get, so I

downloaded from http://www.pyqtgraph.org/ the debian package python-pyqtgraph_0.9.10-1_all.deb and installed using:

sudo dpkg -i python-pyqtgraph_0.9.10-1_all.deb