Korebot II - K-Team FTP area

Korebot II - K-Team FTP area
Korebot II
User manual
Version 1.1
July 2009
Documentation Author
Julien Tharin
K-Team S.A.
Rue Galilée 9, Y-Parc
1400 Yverdon-les-Bains
Switzerland
Email: [email protected]
Url: www.k-team.com
Documentation version
Version
1.0
1.1
Date
16.07.2009
24.07.2009
Author
J. Tharin
J. Tharin
Description
First draft
Corrected path for template program
Trademark Acknowledgements:
IBM PC
Macintosh
SUN Sparc-Station
LabVIEW
Matlab
Webots
Logitech
Gumstix
Khepera
:
:
:
:
:
:
:
:
:
International Business Machines Corp.
Apple Corp.
SUN Microsystems Corp.
National Instruments Corp.
MathWorks Corp.
Cyberbotics Ltd
Logitech Int. SA
Gumstix Inc.
K-Team SA
LEGAL NOTICE:
•
•
•
The contents of this manual are subject to change without notice
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.
The above notwithstanding, K-Team can assume no responsibility for any error in this
manual.
TABLE OF CONTENTS
1.
INTRODUCTION..................................................................................................1
1.1
1.2
1.3
1.4
2.
UNPACKING AND INSPECTION .....................................................................4
2.1
2.2
3.
HOW TO USE THIS HANDBOOK ................................................................................... 1
SAFETY PRECAUTIONS ............................................................................................... 2
RECYCLING ............................................................................................................... 2
SPECIFICATIONS ........................................................................................................ 3
PACKAGE CONTENTS................................................................................................. 4
INSPECTION ............................................................................................................... 5
DESCRIPTION......................................................................................................6
3.1
OVERVIEW ................................................................................................................ 6
3.2
KOREBOT HARDWARE ............................................................................................... 8
3.2.1
POWER REGULATION ......................................................................................... 8
3.2.2
KOREBOT SERIAL AND USB CONNECTOR ......................................................... 9
3.2.3
KOREBOT RESET ............................................................................................. 12
3.2.4
KOREBOT JTAG CONNECTION ........................................................................ 12
3.2.5
KOREBOT USB HOST ...................................................................................... 12
3.2.6
KOREBOT COMPACT FLASH CONNECTOR ......................................................... 13
3.2.7
KOREBOT µ -SD CONNECTOR............................................................................ 13
3.3
KOREBOT SOFTWARE .............................................................................................. 14
4.
USAGE..................................................................................................................15
4.1
REQUIRED HARDWARE / SOFTWARE ......................................................................... 15
4.1.1
REQUIRED HARDWARE: ................................................................................... 15
4.1.2
REQUIRED SOFTWARE:..................................................................................... 16
4.2
CONNECTIONS ......................................................................................................... 17
4.3
POWER-UP............................................................................................................... 18
4.4
SOFTWARE .............................................................................................................. 22
4.4.1
INSTALLATION................................................................................................. 22
4.4.2
LIGHT TOOLCHAIN USAGE................................................................................ 25
4.5
FULL TOOLCHAIN AND SOURCES .............................................................................. 28
4.5.1
REQUIRED SOFTWARE:..................................................................................... 28
4.5.2
INSTALLATION................................................................................................. 29
4.5.3
FULL TOOLCHAIN USAGE ................................................................................. 30
4.5.4
PACKAGES INSTALLATIONS ............................................................................. 32
5.
ANNEXES.............................................................................................................33
5.1
KB-250 EXTENSION BUS ......................................................................................... 33
5.1.1
MECHANICAL SPECIFICATIONS......................................................................... 34
5.1.2
ELECTRICAL SPECIFICATIONS........................................................................... 34
5.2
TOOLS AND COMMANDS .......................................................................................... 37
5.2.1
USING SERIAL PORT AND MINICOM .................................................................. 37
5.2.2
USING A WIRELESS COMPACT FLASH CARD ...................................................... 38
5.2.3
TRANSFERRING FILES USING SCP (SSH)............................................................. 42
5.2.4
USING THE KOREUSBCAM MODULE ............................................................... 42
5.2.5
NFS CONFIGURATION ....................................................................................... 43
6.
WARRANTY........................................................................................................44
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
This handbook introduces the KoreBot II and its various operating modes. For a quick
start, jump to chapter 4 ”Usage”.
If this handbook does not answer one of the problems you wish to solve, please consult
the K-Team web site (http://www.k-team.com) and especially the Forum and the FAQs.
•
Unpacking and Inspection :
KoreBot II package description and first use
•
Description
:
Korebot II description
•
Usage
:
KoreBot II usage descriptions.
•
Annexes
:
Detailed descriptions of several helpful tools and
commands are explained.
KoreBot II User Manual rev 1.1
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1. INTRODUCTION
1.2
Safety precautions
Here are some recommendations on how to correctly use the KoreBot II:
1.3
•
Keep the board away from wet area. Contact with water could cause malfunction
and/or breakdown.
•
Store your board in a stable position. This will avoid the risks of falling, which
could break it or cause damage to a person.
•
Do not plug any connectors while the board is powered on. To avoid any damage,
make all connections when the board power is off.
•
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.
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
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1. INTRODUCTION
1.4
Specifications
The main specifications of the KoreBot II card are listed below:
•
Processor
:
Marvell PXA270 with XScale @ 600MHz
•
Memory
:
128MB RAM
32MB Flash
•
Features
:
§
USB host signals
§
Compact Flash Connector
§
Micro SD Connector
§
Mini USB connector (for device, Camera, USB key, …)
§
Compatible with KoreBot extensions (I2C)
§
Serial port
•
OS
•
Power
consumption :
100 mA @ 5 V (without any "Kore" extension)
•
Size
:
85 width x 57 depth x 33 height [mm]
•
Mass
:
52 g
KoreBot II User Manual rev 1.1
:
Linux OS, Angström distribution (OpenEmbedded tools),
kernel 2.6.24
3
2. UNPACKING AND INSPECTION
2.
UNPACKING AND INSPECTION
2.1
Package Contents
(1)
DVD-Rom
(4)
(3)
(2)
Figure 2-1: Contents of the KoreBot Pack
Your package should contain the following items:
1. Korebot II card
2. Power supply cable
3. this present document
4. DVD-Rom with software
KoreBot II User Manual rev 1.1
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 “Connections”. The serial link
should be connected from a host computer serial port to the KoreBot board, either using a
KoreConnect extension or using a custom cable (please refer to section 4.2 “Connections” for
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 switching power on, the Linux boot messages should be displayed on the
terminal (see chapter 4.3: “How to use this handbook for details”). If no character is received,
the serial line and terminal settings should be checked. If the boot is interrupted at some point,
especially during kernel uncompress step, then the system is probably corrupted. Chapter 4.4.2.2:
“Uploading the kernel and the file system: kt-boot usage” describes how to upload a new
system to the board. If the boot process is completed to the login prompt, then the boot messages
should be checked for errors, please refer to chapter 3.3: “Korebot Software” for further
information on the KoreBot Linux system.
KoreBot II User Manual rev 1.1
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3. Description
3.
Description
3.1
Overview
An overview of the KoreBot hardware is depicted in the Figure 3-1 and Figure 3-2. The
locations of various key elements are indicated for later references. The compact flash slot can
receive a Type I card.
The KB-250 extension bus connectors are used to plug in KoreBot extensions. Please visit
http://www.k-team.com 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
KB-250
Extension
connector
KB-250
Extension
connector
Compact flash connector
Micro-SD connector
Figure 3-1: Korebot II overview – bottom view
KoreBot II User Manual rev 1.1
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3. Description
Gumstix extension connector
KB-250 Extension connector
Figure 3-2: Korebot II overview – top view
KoreBot II User Manual rev 1.1
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3. Description
3.2
Korebot Hardware
The hardware of the Korebot II is described in the sub-chapters thereafter.
3.2.1 Power Regulation
The KoreBot is designed so that unregulated 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.
ground
do not connect
3.3-5.5 V
Figure 3-3: KoreBot voltage power connection
KoreBot II User Manual rev 1.1
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3. Description
3.2.2 KoreBot Serial and USB Connector
The KoreBot serial connector provides signals for several interfaces. The board itself is too
small to include standard serial or USB connectors, but it can be easily extended using a
KoreConnect extension or with any setup suitable for a custom application.
The serial connector provides two serial interfaces, one USB slave and a regulated 3.3V power
connection. Figure 3-4 shows details for the pins function.
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.
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
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3. Description
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 TTL 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.
Figure 3-6 shows how to connect a DB9 connector to the KoreBot serial connector. This
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.
Figure 3-6: DB9 connection
KoreBot II User Manual rev 1.1
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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 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.
Serial port 2 : ttyS2
Serial port 0 : ttyS0
Figure 3-7: KoreConnect extension
KoreConnect is not included with the Korebot standard package and needs to be purchased
separately. Figure 3-8 displays how to connect the KoreBot to a PC to get the initial boot console
from the serial port 0.
Figure 3-8: Serial Port 0 Connection
KoreBot II User Manual rev 1.1
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3. Description
3.2.3 KoreBot Reset
The KoreBot reset chain can be triggered by pressing the reset button (see Figure 3-1,
Figure 3-9).
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-ResetOut 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 Pxa-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
extension or any compatible JTAG hardware. Figure 3-9 is a pin description for the JTAG
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
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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
adding or removing any Compact Flash card!
The µ-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, pcmcia 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/hda1 on /media/cf type vfat
(rw,fmask=0022,dmask=0022,codepage=cp437,iocharset=iso8859-1)
=> You can copy files to and from the card at the location /media/cf
See chapter 5.2.2: “Using a Wireless compact flash card” for wireless compact flash settings.
3.2.7 Korebot µ-SD connector
With the µ-SD connector and a µ-SD card, you can easily transfer files to and from the
Korebot.
WARNING:
The µ-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 mmc_block and pxamci
3) Typing mount shows the mounted card location:
/dev/mmcblk0p1 on /media/card type vfat
(rw,fmask=0022,dmask=0022,codepage=cp437,iocharset=iso8859-1)
=> You can copy files to and from the card at the location /media/card
KoreBot II User Manual rev 1.1
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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 "Angström OpenEmbedded".
The Linux kernel is based on standard Linux kernel sources, with adaptation made by
Gumstix. Further, exhaustive, information about Linux kernel is available from many sources,
especially on the web, starting from http://www.kernel.org. The installed distribution is based on
the handhelds familiar distribution, which is specially designed for embedded systems. Please
visit the "Angström" website http://www.angstrom-distribution.org, for further information about
this project. The main components within this distribution are described in the following
sections.
Using the KoreBot Linux system should be pretty straightforward for users with a Linux or
Unix background considering that all components are standard.
In the next chapter 4 "Usage
", the installation and usage of the KoreBot software is described. And in the Annexes,
tools for customizing, configuring and using specific tools are detailed.
KoreBot II User Manual rev 1.1
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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)
•
5V 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
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4. Usage
4.1.2 Required software:
Required free space:
•
150 MB on /usr/local *for light toolchain
•
16 MB on user account (~/)
Required files:
•
•
Remark:
1
Linux OS (kernel 2.6.x) on the computer with the following packages installed:
§
gcc
:
GNU C compiler
§
minicom
:
terminal emulation
§
lrzsz
:
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_v1.0.tar.bz2
§
Board library sources
:
libkorebot-1.11-kb1.tar.bz2
§
Script for uploading
Kernel and file system :
ktboot-2.0_20090416.tar.bz2
1
you may find updated version of these software at http://ftp.k-team.com
20090416 means the version of this software.
KoreBot II User Manual rev 1.1
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4. Usage
4.2
Connections
The basic connections of the board are depicted in Figure 4-1. The power supply is
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
You should be careful when connecting the board power properly to avoid damage.
*
*
*
*
*
Figure 4-1: Basic connections
*
Serial cable, KoreConnect, KoreConnect cable, power supply and computer are obviously not
included.
KoreBot II User Manual rev 1.1
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4. Usage
4.3
Power-up
Follow the instructions below to connect to the Korebot with the serial port.
4) Install the Linux package lrzsz containing communications programs. If your Linux
distribution is Ubuntu:
sudo apt-get install lrzsz
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]
(keys Ctrl-a + o) as described in Figure 4-2.
You may modify the serial port device 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/ttyUSB0.
+-------------------------------------------------------------+
| A Serial Device
: /dev/ttyS0
|
| B - Lockfile Location
: /var/lock
|
| C Callin Program
:
|
| D - Callout Program
:
|
| E Bps/Par/Bits
: 115200 8N1
|
| F - Hardware Flow Control : No
|
| G - Software Flow Control : No
|
|
|
|
Change which setting?
|
+-------------------------------------------------------------+
Figure 4-2: Minicom serial parameters
KoreBot II User Manual rev 1.1
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4. Usage
Save the settings with the command “Save setup as dfl” of the menu [configuration] (cf
Figure 4-3).
+-----[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
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4. Usage
7) Connect the Korebot as described in chapter 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
Figure 4-4.
U-Boot 1.2.0 (Dec 21 2007 - 13:37:16) - [email protected] MHz - 1578M
*** 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
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 = 977.2 kB
Load Address: a0008000
Entry Point: a0008000
OK
(length
Starting kernel ...
Linux version 2.6.24 ([email protected]) (gcc version 4.1.2) #1
Wed Jan 28 00:11:22 CET 2009
CPU: XScale-PXA270 [69054117] revision 7 (ARMv5TE), cr=0000397f
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 II User Manual rev 1.1
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4. Usage
8) Login to the Korebot with the following parameters:
Login:
root
Password: (none, press “Return” key)
=> You are at the prompt of the Linux console of the Korebot (see Figure 4-5).
Angstrom 2007.9-test-20090127 korebot2 ttyS0
korebot2 login: root
Password:
Welcome to Korebot2!
[email protected]:~$
Figure 4-5: Korebot prompt
KoreBot II User Manual rev 1.1
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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:
•
•
Light tool chain
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 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_v1.0.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:
ln -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
=> The last command should return:
arm-angstrom-linux-gnueabi-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-kb1.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-kb1 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 II User Manual rev 1.1
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4. Usage
4.4.1.4
ktboot
Installation of the scripts for uploading the kernel and the file system:
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
=> For usage, see chapter 4.4.2.2: ”Uploading the kernel and the file system: kt-boot usage”.
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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 and 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
=> The “template” file is the executable output file.
You can transfer the program to the Korebot by serial (see chapter 5.2.1 ”Using serial port and
Minicom”) or wireless connection (see chapters 5.2.2 and 5.2.3).
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.
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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
erased/corrupted or if a new is available or compiled with the full toolchain (see chapter 4.5,
”Full toolchain and sources”).
WARNING: All the 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/ttyS0 by default) and run it:
./picocom
3) Reboot the KoreBot, then press a key when U-Boot asks for autoboot (see Figure 4-6).
U-Boot 1.2.0 (Dec 21 2007 - 13:37:16) - [email protected] MHz - 1578M
*** Welcome to Gumstix ***
DRAM: 128 MB
Flash: 32 MB
Using default environment
Hit any key to stop autoboot:
GUM>
0
Figure 4-6: U-Boot
KoreBot II User Manual rev 1.1
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4. Usage
4) Type Ctrl-y Ctrl-x to exit picocom.
5) Then change directory to ktboot, edit the Makefile and modify the variable to match your
serial port connection :
SDEV = /dev/ttyS0
6) type to flash the kernel (~2min):
make flashk
7) flash the image file system (~30min), type :
make flashd
8) configure the kernel boot parameters (~10s), type:
make bootargs
9) reboot the Korebot
4.4.2.3
Wifi usage
See chapter 5.2.2 : “Using a Wireless compact flash card” for the description and usage.
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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:
•
5.5 GB on /usr/local
(10 GB for the installation process, including temporary files)
•
16 MB on user account ( ~/ )
Required files:
•
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 allowing the programmer to
write (libncurses5-dev on Ubuntu)
§
cvs
:
revision control system
§
gawk
:
programming language designed for processing textbased 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
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4. Usage
•
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-kb1.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.
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:
ln -s /usr/local/korebot2-oetools-1.0/tmp/cross ~/development_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
=> 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
board library libkorebot”.
6) Install the scripts for upload the file system and the kernel; see chapter 4.4.1.4:
“Installation of the scripts for uploading the kernel and the file system: ktboot”.
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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) In a 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
=> 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:
•
the kernel
:
uImage-2.6.24-r1-gumstix-custom-verdex.bin
•
its modules
:
modules-2.6.24-r1-gumstix-custom-verdex.tgz
•
the file system :
Angstrom-korebot2-image-glibc-ipk-2007.9-test20090520-gumstix-custom-verdex.rootfs.jffs2
Remarks:
You may find updated version of these software at http://ftp.k-team.com
With the kt-boot (see chapter 4.4.2.2: “Uploading the kernel and the file system:
kt-boot usage”), you can upload these files to the Korebot.
You can find more information about bitbake, the tool for executing task and
managing metadata here: http://bitbake.berlios.de/manual/
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4. Usage
And information about the OEtools is available here:
•
Cross-compiler and tools (OpenEmbedded):
http://wiki.openembedded.net/index.php/Main_Page
•
Linux distribution of the Korebot: http://www.angstrom-distribution.org
•
Gumstix documentation:
o http://www.gumstix.net/User/110.html
o http://gumstix.net/wiki/index.php?title=Main_Page
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
the kernel and the file system: kt-boot usage”).
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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
1.0/org.openembedded.dev/packages
already
in
/usr/local/korebot2-oetools-
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-oetools1.0/build/tmp/deploy/glibc/ipk
4)
Transfer the package to the Korebot (with Minicom or ssh; see chapter 5.2.1.2 ”To send a
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:
http://www.gumstix.net/Software/view/Build-system-overview/Hello-world-tutorial/111.html
KoreBot II User Manual rev 1.1
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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:
Ref: ERNI – SMC 124045
Korebot II
Male connector:
Ref: ERNI – SMC 063210
Female connector:
Ref: ERNI – SMC 124045
Overview
Figure 5-1: Korebot II - extension Bus
KoreBot II User Manual rev 1.1
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5. Annexes
5.1.1 Mechanical specifications
Figure 5-2: Board mechanical dimensions
5.1.2 Electrical specifications
Figure 5-3: Connectors pinning (top view)
KoreBot II User Manual rev 1.1
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5. Annexes
KB-250 Extension Interface (J700)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
Signal
3.3V
3.3V
Gnd
Gnd
BT-Txd
BT-Rxd
BT-Cts
BT-Rts
IrDa-Txd
IrDa-Rxd
GPIO101
NRESET
PXA_NRESET
PXA_NRESET_OUT
X_USB+
X_USBSYS_EN
LCD_D17
LCD_D16
LCD_BIAS
LCD_PCLK
LCD_LCLK
LCD_FCLK
LCD_D15
Function
Power
BlueTooth
UART
ttyS1
IrDa UART
ttyS2
I/O
USB Bus
LCD
controller
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
Signal
LCD_D14
LCD_D13
LCD_D12
LCD_D11
LCD_D10
LCD_D9
LCD_D8
LCD_D7
LCD_D6
LCD_D5
LCD_D4
LCD_D3
LCD_D2
LCD_D1
LCD_D0
5V
5V
GND
GND
GND
GND
Function
LCD
controller
Power
Power
Figure 5-4: Interface J700
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5. Annexes
KB-250 Extension Interface (J701)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
Signal
3.3V
3.3V
5V
5V
GND
GND
RS-Txd
RS-Rts
RS-Rxd
RS-Cts
I2C SCL
I2C SCA
USB OC
USB DMOUT
USB DPOUT
MMC CF RESET
MMC CF READY
USB USB +
USB ID
MMC DAT0
Function
26
27
28
Power
29
30
31
32
33
Full RS232 34
35
UART
36
ttyS0
37
38
39
40
I2C Bus
41
42
USB Bus
43
44
45
MMC
Bus
46
47
USB Bus
48
49
MMC Bus
50
Signal
SSP-Rxd
SSP-Txd
SSP-Clk
SSP-Frm
CF BVD1
MMC Clk
MMC Cmd
PWM1
PWM2
NAC Reset
SYNC
SDATA OUT
SDATA IN0
SDATA IN1
X BIT CLK
GND
GND
Function
SSP/SPI
Bus
MMC Bus
PWM
Koresound
bus
Power
Figure 5-5: Interface J701
KoreBot II User Manual rev 1.1
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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 lrzsz containing communications programs. If your Linux
distribution is Ubuntu:
sudo apt-get install lrzsz
5.2.1.1
Establish the serial connection
1) Set its parameters with the sub-menu “Serial port” setup of the menu [configuration]
(Figure 5-7) (keys “Ctrl-a + o”) as described in Figure 5-6. You may modify the serial
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.
+-------------------------------------------------------------+
| A Serial Device
: /dev/ttyS0
|
| B - Lockfile Location
: /var/lock
|
| C Callin Program
:
|
| D - Callout Program
:
|
| E Bps/Par/Bits
: 115200 8N1
|
| F - Hardware Flow Control : No
|
| G - Software Flow Control : No
|
|
|
|
Change which setting?
|
+-------------------------------------------------------------+
Figure 5-6: Minicom serial parameters
Save the settings with the sub-menu “Save setup as dfl” (Figure 5-7).
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5. Annexes
+-----[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 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.
lsz FILENAME
=> The file FILENAME is sent to the last directory Minicom used (or if not 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
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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=1
§
either in /etc/pcmcia/hostap_cs.conf
§
or for testing, by manually loading the module with 'modprobe 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)
2)
Insert a Wireless compact flash card in the Korebot
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>>/etc/modules
3)
Configure the wireless network:
i) Without any encryption for security:
Modify the file /etc/network/interfaces with our wireless network settings:
/***************** /etc/network/interfaces **********/
# 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 YOUR_SSID_OF_NETWORK
address YOUR_IP_ADDRESS
netmask YOUR_NETMASK
gateway YOUR_GATEWAY_IP
/**********************************************/
KoreBot II User Manual rev 1.1
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5. Annexes
ii) WEP encryption support
a) for configuring the wifi 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 eth0 YOUR_IP_ADDRESS
d) configure the gateway by entering the gateway 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>>etc/resolv.conf
f) and the dns server
echo nameserver YOUR_DNS_SERVER_IP_ADDRESS>> /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
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5. Annexes
iii)
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):
network={
ssid="YOUR_SSID"
key_mgmt=NONE
wep_key0="YOUR_WEP_KEY"
auth_alg=SHARED
wep_tx_keyidx=0
priority=5
}
WPA-TKIP:
- see instructions at:
http://ftp.k-team.com/korebot/kernel/modules/wpa-tkip/wpa-tkip_support.txt
#/etc/wpa_supplicant/wpa_supplicant.conf
with WPA-PSK TKIT:
network={
ssid="YOUR_SSID"
psk="YOUR_PASS_KEY"
key_mgmt=WPAgroup=TKIP
pairwise=TKIP
proto=WPA
priority=5
}
You can check the following link for other encryptions:
http://hostap.epitest.fi/wpa_supplicant/
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 II User Manual rev 1.1
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5. Annexes
5.2.3 Transferring files using scp (ssh)
1)
Establish a network connection between the computer and the Korebot (for using
wireless, see chapter 5.2.2 ”Using a Wireless compact flash card”).
2) Execute the following command:
scp FILE [email protected]_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 driver, as it is already included for the Korebot II.
The information and main programs can be found here:
•
User manual:
http://ftp.k-team.com/korebot/koreusbcam/KoreUSBCam_UserManual_v1.2.pdf
•
Main folder with user manual, applications programs:
http://ftp.k-team.com/korebot/koreusbcam/
You can use the following programs compiled for the Korebot II:
•
Ktgrab: video acquisition server:
http://ftp.kteam.com/korebot/koreusbcam/application/KTGrab_java_kore2_20090602.tar.bz2
•
Ktgrab: video acquisition client:
http://ftp.k-team.com/korebot/koreusbcam/application/libfg-0.3.1kb1_kore2_20090602.tar.bz2
•
Driver source code:
http://ftp.k-team.com/korebot/koreusbcam/driver/source/gspcav1-20071224kb2_kore2_20090602.tar.bz2
KoreBot II User Manual rev 1.1
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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 will 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
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6. WARRANTY
6.
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, workmanship or failure to meet the
specifications in the Product during the afore mentioned period, Customer must request
help on K-Team Internet forum on http://www.k-team.com/kforum/ by detailing:
•
the type of Korebot II used (version)
•
the kernel version of the Korebot II
•
the programming environment of the Korebot/robot (standard, version, OS)
•
the standard use of Product before the appearance of the problem
•
the description of the problem.
If no answers have been received within two working days, Customer can contact KTEAM 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 II User Manual rev 1.1
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6. WARRANTY
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. 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,
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 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 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.
Rue Galilee 9
1400 Yverdon-les-Bains
Switzerland
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