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Rasware

Description

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Rasware is a generic robotics library project for the EK-LM4F120XL Stellaris Launchpad, built on top of StellarisWare. It is intended to be used for UT RAS's Robotathon competition as well as general purpose robotics projects. Authored by the IEEE - Robotics and Automation Society Student Branch at the University of Texas at Austin. For documentation, see Rasware's Github wiki.

Robotathon Setup Instructions

Get started with Git

  1. Create a free GitHub account on github.com
  2. If you want to learn more about Git check out this great beginners guide http://rogerdudler.github.io/git-guide/ or if you really want to get into it, you can read the GitPro book online for free (and legally, too!) at http://git-scm.com/book

Fork Rasware (only one Robotathon team member should do this step)

  1. Once logged into GitHub, go to ut-ras's Rasware.
  2. Fork the project's code through the button on the top right. This will copy the project to your own account.
  3. On the team's forked repository Github page, go to Settings -> Collaborators and add each team member as a collaborator

The remainder of the instructions will depend on what type of system you're running.

Setup for Windows (with VMware)

Install VMware

  1. Download and install VMware Workstation Player (near the bottom of the page).

  2. WMware Player is a hypervisor that lets us run a controlled environment for writing and flashing code.

  3. Download a copy of the latest Ubuntu LTS .iso from here:

    64-bit: http://ras.ece.utexas.edu/resources/about/robotathon/ubuntu-18.04.1-desktop-amd64.iso

  4. Open VMWare and select Create a New Virtual Machine.

  5. Select the Installer disc image file bubble and navigate to your freshly downloaded .iso. Click next.

  6. Full Name is your own name. User name is whatever you want, all lower case, no special characters. Create and confirm a password. Click next.

  7. Choose a name for your VM. (Some people like to theme their Linux machine names. We've seen famous scientists, video game AIs, Star Trek starship classes, whatever you want.)

  8. Make sure you're okay with the location where you'll store this machine, then click next.

  9. 20GB is a good max disk size. This will not immediately allocate 20GB, it will be populated as you fill it. This is just the max allowed size.

  10. Store your virtual disk as a single file. Click next.

  11. Click Customize Hardware, then slide the memory slider up to 4GB. This is plenty of RAM for this VM's purposes. Click close.

  12. Click finish, let the machine install, then log in!

    If VMWare complains about VT-x not being enabled, you'll need to go through your BIOS and enable VT-x. There should in instructions in the dialog box.

Forward USB

  1. Plug in a Launchpad to your computer. If you don't have a Launchpad available this step can be done later.
  2. In the VM, select Player -> Removable Devices -> Luminary Micro ICDI and select Connect.

Jump to the Linux Instructions

  1. Follow the rest of the instructions on how to use Rasware from the Install Dependencies step in the Linux instructions.

Setup for Mac

Install Dependencies

  1. Before we do anything else, run this in your terminal if you're running Marericks or newer (macOS 10.9+) and haven't already done this:
      xcode-select --install
  1. Install Homebrew: link (Installation instructions are at the bottom of the page.)
  2. Install OpenOCD through Homebrew in a terminal.
  brew install openocd
  1. Install the Cross Compiler Toolchain for Embedded ARM Devices through Homebrew as well:
      brew cask install gcc-arm-embedded

Configure Groups

  1. On macOS devices belong to the wheel group, so in order to access the devices on your Mac (like the Launchpad) you also need to be part of the wheel group. Put the following in a terminal to see what groups you're part of:
    groups

  1. If wheel was one of the groups listed, you're good to go and can skip the next step.

  2. If not, add yourself to the wheel group:

  sudo dscl . append /Groups/wheel GroupMembership $(whoami)

Jump to the Linux Instructions

  1. If everything has worked so far, follow the rest of the instructions on how to use Rasware from the setup a directory step in the Linux instructions.

Setup for Linux

These instructions are written for use in a terminal (xterm, gterm, kterm, tty1, etc.) and assume that you have already installed, and are familiar with, your favorite text editor. If you have not found a favorite text editor, I recomend you take a look at Vim, Emacs, and SublimeText3.

Install Dependencies

  1. First install the basic dependencies
  • Archlinux : sudo pacman -S git base-devel openocd screen arm-none-eabi-gcc gdb arm-none-eabi-newlib
  • Ubuntu/Debian : sudo apt-get install git build-essential openocd screen gcc-arm-none-eabi gdb libnewlib-arm-none-eabi

Setup a Directory

  1. Create a directory to work in. This is where we will place everything.
  mkdir ras
  cd ras

Clone Rasware

Use git to clone Rasware, replacing "username" with your Git username in the URL. Make sure you've forked Rasware already! This makes a copy of Rasware on your computer.

  git clone https://github.com/username/Rasware.git

Download StellarisWare

  1. Locate Stellarisware, the TI library, in Rasware/Downloads on your computer (in the repository you cloned).
  2. Uncompress the file, compile StellarisWare, and move it to /usr/local/lib.
  tar vfx StellarisWare.tar.bz2
  cd StellarisWare
  make
  cd ..
  sudo mv StellarisWare /usr/local/lib
  rm StellarisWare.tar.bz2

Add the LM4F rule to UDev

(skip this step if you're on macOS)

  1. To avoid needing root access to communicate with the lm4f, you will need to copy the lm4f rule to the udev directory.
  wget https://raw.githubusercontent.com/ut-ras/Rasware/master/RASLib/51-lm4f.rules
  sudo mv 51-lm4f.rules /etc/udev/rules.d
  1. Trigger udev for the new rules to come into effect.
  sudo udevadm control --reload
  sudo udevadm trigger
  1. Plug in a Stellaris Launchpad. you should now see the file /dev/lm4f.

Compile Rasware, RASTemplate, RASDemo

Compile RASLib by using the make program.

  cd Rasware/RASLib
  make
  cd ..
  cd RASTemplate
  make
  cd ..
  cd RASDemo
  make

Compile and run RASDemo

  1. We have created an example project to demonstrate Rasware running on a Launchpad.
  2. Compile RASDemo.
  cd Rasware/RASDemo
  make
  1. To flash RASDemo to the board, we use make with different arguments.
  make flash

You may get an "Error 1" the first time you run this. In this case, simply make flash again. If this doesn't help, next make sure your USB device is connected, powered on, and forwarded to your VM if necessary. If you see "shutdown command invoked," press the reset button. This will start the program on your launchpad. If you keep getting Error 1's, make sure you've forwarded your LaunchPad's USB connection to the VM: In the VM, select Player -> Removable Devices -> Luminary Micro ICDI and select Connect.

Else, if at this point an error message is printed that includes "Error erasing flash with vFlashErase packet", run the following command twice and press the board's reset button:

  openocd -f $(find /usr -path */scripts/board/*tm4c123* 2>/dev/null) -c init -c halt -c "flash write_image erase RASDemo.out" -c verify_image RASDemo.out -c halt -c shutdown

You should now be able to use make flash normally until you flash from Keil again. Keil seems to break things. Thank you to Kevin George for this workaround.

  1. If a launchpad is plugged in, it should be accessible at a special file in /dev (/dev/lm4f on Linux, /dev/tty.usbmodem[board's serial id] on macOS - run the detect-board script in the RASLib folder if you're curious). You can use make to create a terminal over UART.
  make uart

  1. You should now be presented with the RASDemo menu. Feel free to mess around and look into RASDemo's source code to see how it is done. To exit, you can detach the screen by pressing C-a d, or control-A followed by a d. To get back to the launchpad's console, in your terminal run screen -r. If you would rather kill the screen process, you can press C-a k y, or control-A followed by k then y.

  2. If you don't want to do all of the above steps each time, you can run everything with one command.

  make run

However, please note opening the console may give an error if the command was already run before and was detached. If this happens, try running screen -r in console.

There's also make start which will flash your board and start your program without opening the console.

Committing code back to your repo

  1. Before you start, you should configure git with both your username and email.
  git config --global user.name "User Name"
  git config --global user.email "[email protected]"
  1. Git will keep track of any changes to your directory. You can use the status command to show the state of git.
  git status
  1. To stage a file for commiting, you can use the add command.
  git add filename

Optionally, to stage all files, you can add all using the -A parameter or a dot (files in current directory).

  git add -A
  git add .

If you want to exclude new files for whatever reason, you can add all modified and deleted using the -u parameter

  git add -u
  1. You can now use the commit command to create a commit containing all of the modifications of the files you git added. It will open an editor for writing a commit message. If saved, the commit will be created.
  git commit

Optionally, you can place your commit message inline by passing a message parameter.

  git commit -m "Commit message"
  1. To move your local changes to the server, use the push command.
  git push origin master

Fin