PaparazziUAV - User contributions [en]

Installation/FromScratch

2012-04-29T20:31:09Z

Adao2001: added /usr/lib as the symbolic location for libivy.so and libivy.so.3

<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Installation</categorytree>
__TOC__

== Intro ==

As with all Wiki pages, also this page is a work in progress. try to be a big help to the Paparazzi project and improve this page whenever you can. If you have a distribution different from Ubuntu which doesn't satisfy any other dependency and have instructions about compiling it, packaging it, feel free to add any reference on how to do that on this wikipage.

== Goal ==

The goal of this page is to clarify about which version of each piece of software has to be compiled, where to find that software, patches needed to make it compile on Linux. In our case 64bit Linux. This includes compiling all paparazzi-dev, paparazzi-arm7, paparazzi-stm32 and paparazzi-bin software on your machine, running an Ubuntu Lucid Lynx or later Linux distribution or maybe even FreeBSD, or OSX.

== The shortcut ==

Maybe you are no so interested in the details at this moment and just want to quickly install. That's fine, for that we are working on a script and you only need to run one line to get everything installed. For this to work out you do need a working internet connection, but since you can read this text, that will probably not pose a problem.

$ cd ~ && wget http://openuas.org/pub/paparazzifromscratch.sh (still not ready and a work in progress)

If you used the line above, and it all worked out you can stop reading now since everything is installed and compiled, ready for you to use.

== Paparazzi-dev packages ==

For Ubuntu users, you can install the following packages from standard repository. You can just copy the line(s) and paste into your terminal. But do not copy the $ sign, this symbol is just added on this page to show that it is to be pasted at a normal terminal prompt.

=== Whole lot in one ===

sudo apt-get install ocaml libcamlimages-ocaml liblablgtk2-ocaml-dev liblablgtk2-gl-ocaml-dev \
liblablgtk2-gnome-ocaml-dev libxml-light-ocaml-dev libocamlnet-ocaml-dev libpcre-ocaml \
libpcre-ocaml-dev libgnomecanvas2-0 libgnomecanvas2-dev libglade2-0 libglade2-dev make build-essential \
git-core gnuplot boa m4 libtool libftdi-dev libmpfr-dev tcl8.5-dev xutils-dev tkdiff

=== Ocaml and libraries ===

Ocaml, short for Objective Caml is the most popular variant of the Caml language. The Paparazzi Ground Control Station (GCS) and some of it's tools are crafted in this language.

* ocaml, ocaml-camlimages-devel, ocaml-lablgtk2-devel, ocaml-xml-light-devel, ocamlnet-ocaml-devel

$ sudo apt-get install ocaml libcamlimages-ocaml liblablgtk2-ocaml-dev liblablgtk2-gl-ocaml-dev \
liblablgtk2-gnome-ocaml-dev libxml-light-ocaml-dev libocamlnet-ocaml-dev

=== Gnome canvas Library ===

The GnomeCanvas is an engine for structured graphics that offers a rich imaging model, high performance rendering, and a powerful, high level API. This widget can be used for flexible display of graphics and for creating interactive user interface elements.

$ sudo apt-get install libgnomecanvas2-0 libgnomecanvas2-dev

=== USB Library ===

The libusb project aims to create a library for use by user level applications to access USB devices regardless of OS. http://www.libusb.org

$ sudo apt-get install libusb-dev

=== Ocaml PCRE ===

This OCaml-library interfaces the PCRE (Perl-compatibility regular expressions) C library. it can be used for matching regular expressions which are written in Perl style.

$ sudo apt-get install libpcre-ocaml libpcre-ocaml-dev

=== Glade Library ===

Libglade is a library that performs a similar job to the C source output routines in the GLADE user interface builder. Whereas GLADE's output routines create C source code that must be compiled, libglade builds the interface from an XML file (GLADE's save format) at runtime. This can allow modifying the user interface without recompiling.

$ sudo apt-get install libglade2-0 libglade2-dev

=== Tcl/Tk ===

$ sudo apt-get install tcl8.5-dev

Also the some utils are required to compile and install Ivy.

$ sudo apt-get install xutils-dev

=== Make ===

GNU Make is an utility which controls the generation of executables and other target files of a program from the program's source files.

$ sudo apt-get install make

=== Build essential ===

$ sudo apt-get install build-essential

=== Libtool ===

GNU libtool is a generic library support script. Libtool hides the complexity of using shared libraries behind a consistent, portable interface. Creating the files for Paparazzi software building becomes less cumbersome by using this tool.

$ sudo apt-get install libtool

=== Git Client ===

Git is a version control system. Version control systems allow many individuals to collaborate on the Paparazzi source code. This is needed to retrieve the latest sourcecode from various packages and Paparazzi sourcecode itself.

$ sudo apt-get install git-core

=== GNU Plot ===

A command-line driven interactive plotting program. Unknow if it is used

$ sudo apt-get install gnuplot

=== TKDiff ===

TKDiff is a graphical front end to the diff program. It provides a side-by-side view of the differences between two files. It is used by the Paparazzi Center when configuration changes are not yet saved and the option comes along where one either can keep or view changes made in aircraft- and other configuration files.

$ sudo apt-get install tkdiff

=== FTDI library ===

libftdi is a library that talks to FTDI's 232 type chips, including the popular bitbang mode, using libusb. A library to be able to use with a debugging Autopilot hardware boards.

$ sudo apt-get install libftdi-dev

=== MPFR library ===

The MPFR library is a C library for multiple-precision floating-point computations with correct rounding. MPFR is based on the GMP multiple-precision library. The main goal of MPFR is to provide a library for multiple-precision floating-point computation which is both efficient and has a well-defined semantics.

$ sudo apt-get install libmpfr-dev

=== ImageMagick ===

ImageMagick is a software suite to create, edit, and compose bitmap images. It can read, convert and write images in a variety of formats. Use ImageMagick to translate, flip, mirror, rotate, scale, shear and transform images, adjust image colors, apply various special effects, or draw text, lines, polygons, ellipses and Bézier curves. Being able to modify image based map pictures is a feature that may come in handy one time.

$ sudo apt-get install imagemagick

=== Optional on an older OS ===

If you have an older OS distribution it never hurts to install the following...

$ sudo apt-get install libx11-6 libx11-dev texinfo libncurses5 libncursesw5 libncursesw5-dev zlibc

=== Packages needed for cross compiling ===

If you don't already have them installed run
$ sudo apt-get install flex bison libgmp3-dev libmpfr-dev libncurses5-dev libmpc-dev autoconf texinfo build-essential

== Building the Cross compiler toolchain ==

The goal of this part is to building an ARM and STM32 cross-toolchain with binutils gcc newlib and gdb from source. This is needed so we can compile the code that ends up onto the autopilot board. Newlib is a C library intended for use on embedded systems. It is a conglomeration of several library parts, all under free software licenses that make them easily usable on embedded products. Enter the following on your command prompt

$ cd ~
$ nano paparazzi_from_scratch.sh

Then copy the part below (CTRL+C) and go to your terminal window again and use CTRL+SHIFT+V to paste the text into the nano editor. Afterther save the file with CTRL+X and answer Y

#!/bin/sh

# ******************************************************************************
#
# Goal: Get the ARM and STM32 cross compilers, tools and libraries installed and all
# working on 64Bit (Linux) computer system like they should
# Version: 1.7
# Copyright: 2011 LGPL OpenUAS http://www.openuas.org/
# Date: 20110225 14:01
# Usage: $ sh ./paparazzi_from_scratch.sh 2>&1 | tee buildlog.txt
#
# I want to improve this script, what can I do?
#
# IMPR: Add STM32 support
# IMPR: with automatic log filename appending date like "date +%y%j%H%M%S"
# IMPR: Set MAJOR and MINOR GCC version in make parameter automatically
# IMPR: Add all commands from this wikipage also to the script, so we have a
# full paparazzi from scratch in one script!
#
# Useful links:
# http://fun-tech.se/stm32/gcc/index.php
# http://only.mawhrin.net/~alexey/prg/lpc2103/toolchain/
# http://gcc.gnu.org/install/configure.html
# http://wiki.ubuntuusers.de/GNU_arm-toolchain
# http://gcc.gnu.org/onlinedocs/gcc-4.5.0/gcc/ARM-Options.html#ARM-Options
# http://www.hermann-uwe.de/blog/building-an-arm-cross-toolchain-with-binutils-gcc-newlib-and-gdb-from-source
# http://mcuprogramming.com/forum/arm/gnu-arm-toolchain-installer/
# http://code.google.com/p/hobbycode/source/browse/trunk/gnu-arm-installer
# http://www.ethernut.de/en/documents/cross-toolchain-osx.html
# http://paparazzi.enac.fr/w/index.php?title=User:Roirodriguez
# http://chdk.wikia.com/wiki/Gcc433
# http://chdk.wikia.com/wiki/Compiling_CHDK_under_Linux
#
# http://gcc.gnu.org/faq.html#multiple
# https://wiki.kubuntu.org/CompilerFlags
#
# Older compiler http://ubuntu-virginia.ubuntuforums.org/showthread.php?t=91596
# Replaced O_CREAT for S_IRWXU in the files where you get gcc-3.4.4/gcc/collect2.c
#
# The eBook "Definitive guide to GCC" may come in handy
#
# And if all went well, a command
# $ arm-elf-gcc -print-multi-lib
#
# Should give the following
#
# .;
# thumb;@mthumb
# interwork;@mthumb-interwork
# thumb/interwork;@mthumb@mthumb-interwork
#
# ******************************************************************************

# In case you want to recompile, and if you do not want to re-download the files
# to save time and bandwith set CLEANUPDOWNLOADS to N
CLEANUPDOWNLOADS="N"

TARGET=arm-elf #Or use TARGET=arm-none-eabi or arm_non_eabi the pararazzi makefile will figure it out
PREFIX=$HOME/arm-elf-paparazzi # Install location of the final toolchain, change this to your liking

# If you have a good reason to compile other versions, ONLY then change the version data below
BINUTILS_VERSION=2.16.1
GCC_VERSION=3.4.4
NEWLIB_VERSION=1.13.0
GDB_VERSION=6.8

#Just in case for some reason you want the latest versions a just values here
# and some more 3.4 in the rest of the script
#TARGET=arm-elf
#PREFIX=$HOME/arm-elf-latest # Install location of the final toolchain, change this to your liking
#BINUTILS_VERSION=2.20.1
#GCC_VERSION=4.4.4
#NEWLIB_VERSION=1.18.0
#GDB_VERSION=7.1

# ******************************************************************************
# * No need to change anything below this line, exept improvements *
# ******************************************************************************

# On multicore Processor this value can speedup the compilation
if grep -q "processor" /proc/cpuinfo || grep -q "siblings" /proc/cpuinfo
then
SPEEDUPCOMPILATION="-j "$(($( grep "processor" /proc/cpuinfo | sort -u | wc -l ) * $( grep "siblings" /proc/cpuinfo | tail -1 | cut -d: -f2 )))
else
SPEEDUPCOMPILATION=""
fi

# Install texinfo tool
sudo apt-get install texinfo

# A GCC v3.4 64Bit install to avoid issues whil compiling the crosscompiler, native compile use would be much better
# Or, get debian packages from here http://www.openuas.org/pub/ubuntu/pool/universe/g/gcc-3.4/ or http://es.archive.ubuntu.com/ubuntu/pool/universe/g/gcc-3.4/
wget -N -c http://archive.ubuntu.com/ubuntu/pool/universe/g/gcc-3.4/gcc-3.4-base_3.4.6-8ubuntu2_amd64.deb
wget -N -c http://archive.ubuntu.com/ubuntu/pool/universe/g/gcc-3.4/cpp-3.4_3.4.6-8ubuntu2_amd64.deb
wget -N -c http://archive.ubuntu.com/ubuntu/pool/universe/g/gcc-3.4/gcc-3.4_3.4.6-8ubuntu2_amd64.deb
# Must be installed in this order
sudo dpkg -i gcc-3.4-base_3.4.6-8ubuntu2_amd64.deb
sudo dpkg -i cpp-3.4_3.4.6-8ubuntu2_amd64.deb
sudo dpkg -i gcc-3.4_3.4.6-8ubuntu2_amd64.deb
if [ "${CLEANUPDOWNLOADS}" != "N" ]
then
rm *.deb
fi

BINUTILS=binutils-$BINUTILS_VERSION
GCC=gcc-$GCC_VERSION
NEWLIB=newlib-$NEWLIB_VERSION
GDB=gdb-$GDB_VERSION

mkdir $PREFIX

# ** Now set the gcc and tools to be used in environment
echo 'export PATH='$PREFIX'/bin:$PATH' >> ~/.bashrc
source ~/.bashrc

rm -drf build
mkdir build

# Get and compile the BinUtils
wget -N -c http://ftp.gnu.org/gnu/binutils/$BINUTILS.tar.bz2
tar xfvj $BINUTILS.tar.bz2
cd build
unset CFLAGS && unset LDFLAGS && unset CPPFLAGS && unset CXXFLAGS &&
CC=gcc-3.4
CXX=g++-3.4
../$BINUTILS/configure -v --target=$TARGET --prefix=$PREFIX --enable-interwork --enable-multilib --enable-shared --with-system-zlib --enable-long-long --enable-nls --without-included-gettext --disable-checking --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=$TARGET
make $SPEEDUPCOMPILATION CC=gcc-3.4 CXX=g++-3.4
make CC=gcc-3.4 CXX=g++-3.4 install
cd ..
rm -rf build/* $BINUTILS
if [ "${CLEANUPDOWNLOADS}" != "N" ]
then
rm $BINUTILS.tar.bz2
fi

# ** Get and compile GCC stuff
wget -N -c ftp://ftp.gnu.org/gnu/gcc/$GCC/$GCC.tar.bz2
tar xfvj $GCC.tar.bz2

# Set correct MULTILIB options in GCC config, by patching
ONTHFLYPATCHFILE='gcc_thumb_interwork_settings.patch'
rm -f $ONTHFLYPATCHFILE #Just to make sure
echo '--- t-arm-elf 2003-09-30 12:21:41.000000000 +0200' >> $ONTHFLYPATCHFILE
echo '+++ t-arm-elf 2010-08-07 19:17:47.000000000 +0200' >> $ONTHFLYPATCHFILE
echo '@@ -26,8 +26,8 @@' >> $ONTHFLYPATCHFILE
echo ' # MULTILIB_DIRNAMES += 32bit 26bit' >> $ONTHFLYPATCHFILE
echo ' # MULTILIB_EXCEPTIONS += *mthumb/*mapcs-26*' >> $ONTHFLYPATCHFILE
echo ' # ' >> $ONTHFLYPATCHFILE
echo '-# MULTILIB_OPTIONS += mno-thumb-interwork/mthumb-interwork' >> $ONTHFLYPATCHFILE
echo '-# MULTILIB_DIRNAMES += normal interwork' >> $ONTHFLYPATCHFILE
echo '+MULTILIB_OPTIONS += mno-thumb-interwork/mthumb-interwork' >> $ONTHFLYPATCHFILE
echo '+MULTILIB_DIRNAMES += normal interwork' >> $ONTHFLYPATCHFILE
echo ' # MULTILIB_EXCEPTIONS += *mapcs-26/*mthumb-interwork*' >> $ONTHFLYPATCHFILE
echo ' # ' >> $ONTHFLYPATCHFILE
echo ' # MULTILIB_OPTIONS += fno-leading-underscore/fleading-underscore' >> $ONTHFLYPATCHFILE
patch $GCC/gcc/config/arm/t-arm-elf < $ONTHFLYPATCHFILE
rm -f $ONTHFLYPATCHFILE
cd build

# IMPR "../$GCC/gcc/collect2.c" ajust the line in this file to prevent compiler error for older gcc to "redir_handle = open (redir, O_WRONLY | O_TRUNC | O_CREAT, S_IRWXU);"
unset CFLAGS && unset LDFLAGS && unset CPPFLAGS && unset CXXFLAGS &&
CC=gcc-3.4
CXX=g++-3.4
../$GCC/configure -v --enable-languages=c --prefix=$PREFIX --infodir=$PREFIX"/share/info" --mandir=$PREFIX"/share/man" --enable-interwork --enable-multilib --enable-shared --with-system-zlib --enable-long-long --enable-nls --without-included-gettext --disable-checking --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=$TARGET
make $SPEEDUPCOMPILATION CC=gcc-3.4 CXX=g++-3.4 all
make CC=gcc-3.4 CXX=g++-3.4 install
cd ..
# NOTE: We do not delete GCC temporary build yet, we need it once more later in this script

if [ "${CLEANUPDOWNLOADS}" != "N" ]
then
rm $GCC.tar.bz2
fi

# Now get and compile NewLib, note that sometimes this server is to busy serving the files,
# try to get the files via an FTP client with good resume if it happens
wget -N -c --waitretry=20 http://www.openuas.org/pub/newlib/$NEWLIB.tar.gz
tar xfvz $NEWLIB.tar.gz
cd build
unset CFLAGS && unset LDFLAGS && unset CPPFLAGS && unset CXXFLAGS &&
CC=gcc-3.4
CXX=g++-3.4
../$NEWLIB/configure -v --target=$TARGET --prefix=$PREFIX --enable-interwork --enable-multilib --enable-shared --with-system-zlib --enable-long-long --enable-nls --without-included-gettext --disable-checking --build=x86_64-linux-gnu --host=x86_64-linux-gnu
make $SPEEDUPCOMPILATION CC=gcc-3.4 CXX=g++-3.4
make CC=gcc-3.4 CXX=g++-3.4 install
cd ..
rm -rf build/* $NEWLIB
if [ "${CLEANUPDOWNLOADS}" != "N" ]
then
rm -rf $NEWLIB.tar.gz
fi

# GCC needs to be build again including the real newlib now
cd build
unset CFLAGS && unset LDFLAGS && unset CPPFLAGS && unset CXXFLAGS &&
CC=gcc-3.4
CXX=g++-3.4
../$GCC/configure -v --target=$TARGET --prefix=$PREFIX --enable-interwork --enable-multilib --enable-languages="c,c++" --with-newlib --enable-shared --with-system-zlib --enable-long-long --enable-nls --without-included-gettext --build=x86_64-linux-gnu --host=x86_64-linux-gnu --infodir=$PREFIX"/share/info" --mandir=$PREFIX"/share/man"

make $SPEEDUPCOMPILATION CC=gcc-3.4 CXX=g++-3.4 all-gcc
make CC=gcc-3.4 CXX=g++-3.4 install-gcc
cd ..
rm -rf build/* $GCC
rm -rf build

# We need a symlink to arm-elf-gcc in /usr/bin/ the way the current paparazzi AP compile script works
# We need a better solution here then symlinks, any clues...plz improve
# Yes, helping with a better use of shell by using arm-elf wild-cards is appreciated
PREFIXBINDIR=$PREFIX/bin
OURBINDIR=/usr/bin
#Remove old symlinks
for x in $OURBINDIR/arm-elf*; do if [ -L $x ]; then sudo rm $x; fi ; done
#Make fresh symlinks so arm tools ar found by paparazzi center
sudo ln -s $PREFIXBINDIR/arm-elf-gcc $OURBINDIR/arm-elf-gcc
sudo ln -s $PREFIXBINDIR/arm-elf-size $OURBINDIR/arm-elf-size
sudo ln -s $PREFIXBINDIR/arm-elf-objcopy $OURBINDIR/arm-elf-objcopy
sudo ln -s $PREFIXBINDIR/arm-elf-objdump $OURBINDIR/arm-elf-objdump
sudo ln -s $PREFIXBINDIR/arm-elf-nm $OURBINDIR/arm-elf-nm
sudo ln -s $PREFIXBINDIR/arm-elf-addr2line $OURBINDIR/arm-elf-addr2line
sudo ln -s $PREFIXBINDIR/arm-elf-ar $OURBINDIR/arm-elf-ar
sudo ln -s $PREFIXBINDIR/arm-elf-as $OURBINDIR/arm-elf-as
sudo ln -s $PREFIXBINDIR/arm-elf-c++filt $OURBINDIR/arm-elf-c++filt
sudo ln -s $PREFIXBINDIR/arm-elf-cpp $OURBINDIR/arm-elf-cpp
sudo ln -s $PREFIXBINDIR/arm-elf-gcc $OURBINDIR/arm-elf-gcc
sudo ln -s $PREFIXBINDIR/arm-elf-gcc-3.4.4 $OURBINDIR/arm-elf-gcc-3.4.4
sudo ln -s $PREFIXBINDIR/arm-elf-gccbug $OURBINDIR/arm-elf-gccbug
sudo ln -s $PREFIXBINDIR/arm-elf-gcov $OURBINDIR/arm-elf-gcov
sudo ln -s $PREFIXBINDIR/arm-elf-ld $OURBINDIR/arm-elf-ld
sudo ln -s $PREFIXBINDIR/arm-elf-nm $OURBINDIR/arm-elf-nm
sudo ln -s $PREFIXBINDIR/arm-elf-objcopy $OURBINDIR/arm-elf-objcopy
sudo ln -s $PREFIXBINDIR/arm-elf-objdump $OURBINDIR/arm-elf-objdump
sudo ln -s $PREFIXBINDIR/arm-elf-ranlib $OURBINDIR/arm-elf-ranlib
sudo ln -s $PREFIXBINDIR/arm-elf-readelf $OURBINDIR/arm-elf-readelf
sudo ln -s $PREFIXBINDIR/arm-elf-size $OURBINDIR/arm-elf-size
sudo ln -s $PREFIXBINDIR/arm-elf-strings $OURBINDIR/arm-elf-strings
sudo ln -s $PREFIXBINDIR/arm-elf-strip $OURBINDIR/arm-elf-strip

# If you also a want to add the debugger, Uncomen the lines here. Configure could need parameter "--disable-werror" in some cases
#wget -N -c ftp://ftp.gnu.org/gnu/gdb/$GDB.tar.bz2
#tar xfvj $GDB.tar.bz2
#cd build
#../$GDB/configure --target=$TARGET --prefix=$PREFIX --enable-interwork --enable-multilib
#make $SPEEDUPCOMPILATION
#make install
#cd ..

#rm -rf build $GDB
#if [ "${CLEANUPDOWNLOADS}" != "N" ]
#then
# rm $GDB.tar.bz2
#fi

echo "Misterious as this scripts progress might have looked, everything is now done, hopefully without any issue"

Then run the script in a terminal window via:

$ sh ./paparazzi_from_scratch.sh 2>&1 | tee buildlog.txt

== Rest of code needed ==

To install the rest we make a special directory "develop". You can give it another name ofcourse.

$ mkdir ~/develop

== LPC21ISP ==

To get the software onto the main autopilot board a special tool is needed. We will use the great open-source LPC21ISP application. LPC21ISP is an in-circuit programming (ISP) tool for the microcontroller used on the Paparazzi autopilot boards. The lpc21isp project is hosted on sourceforge and one can find the source packages and information at http://sourceforge.net/projects/lpc21isp/

Get the SVN version via

$ mkdir -p ~/develop/lpc21isp
$ cd ~/develop/lpc21isp
$ svn co https://lpc21isp.svn.sourceforge.net/svnroot/lpc21isp lpc21

To compile go into the source directory and then do

$ cd lpc21
$ make -f Makefile clean all

To install

$ sudo cp lpc21isp /usr/bin/

== IVY ==

IVY is a simple protocol and a set of open-source libraries and programs that allows applications to broadcast information through text messages, with a subscription mechanism based on regular expressions. The project can be found at: http://www2.tls.cena.fr/products/ivy/

In the paparazzi project, Ivy is used to send telemetry data to where ever you want.

NOTE: Do not confuse this IVY with the Apache Ivy project.

=== Ivy-python ===

The ivy-python package makes it possible to use the IVY libraries from within the Python programming language. The ivy-python package is architecture independent, so it can be downloaded from the Ubuntu or Debian paparazzi repository. However since this is the from scratch page we will download it from the official source repository via

$ mkdir -p ~/develop/ivy-python/
$ cd ~/develop/ivy-python/
$ svn co http://svn.tls.cena.fr/svn/ivy/ivy-python/trunk

Now we can build and install

$ cd ~/develop/ivy-python/trunk
$ sudo ./setup.py install

=== Ivy-c ===

To be able to use IVY-c, the libraries need to be installed. Source packages of ivy-c can be downloaded via:

$ mkdir -p ~/develop/ivy-c
$ cd ~/develop/ivy-c
$ svn co http://svn.tls.cena.fr/svn/ivy/ivy-c/trunk

To compile

$ cd ~/develop/ivy-c/trunk/src
$ make

It is possible you get errors of the test module when compiling, just ignore the messages, it is not important for the Paparazzi project. Contact the IVY team to help them also to resolve also the testing makefile issue.

Now install the compiled libraries

$ sudo make install

If you have a 64bit system your ivy libs were probably installed to /usr/local/lib64 and you have to make symbolic links so that they will be found:
$ sudo ln -s /usr/local/lib64/libivy.so /usr/local/lib64/libivy.so.3 /usr/lib

or

$ sudo ln -s /usr/local/lib64/libivy.so /usr/local/lib64/libivy.so.3 /usr/local/lib

If you get an error relating to ivytestready.c, make the following changes:
$ mkdir ~/develop/ivy-c/trunk/tools/Ivy
$ cd ~/develop/ivy-c/trunk/tools/Ivy
$ cp ../../src/ivy.h .
$ cp ../../src/ivyloop.h .
$ cp ../../src/ivysocket.h .
$ cp ../../src/timer.h .
$ cd ~/develop/ivy-c/trunk/src
$ make
This copies files from the src directory to the Ivy folder in tools which did not appear after running svn above.

=== Ivy-OCAML ===

The Ivy-ocaml is a Library that make it possible to use Ivy via the Ocaml language.

$ mkdir -p ~/develop/ivy-ocaml
$ cd ~/develop/ivy-ocaml/
$ svn co http://svn.tls.cena.fr/svn/ivy/ivy-ocaml/trunk

Now we need to compile the source via

$ cd ~/develop/ivy-ocaml/trunk
$ make
$ sudo make install

NOTE: If the above SVN repository does not work due to API incompatibilities get the ivy-ocaml source via

$ wget http://paparazzi.enac.fr/ubuntu/dists/natty/main/binary-i386/ivy-ocaml_1.1-12.tar.gz

If you are running Ubuntu use the wget method listed above. Then run

$ tar -zxvf ivy-ocaml_1.1-12.tar.gz
$ cd ivy
$ make
$ sudo make install

== Paparazzi Main sourcecode ==

To run the Ground control station and to be able to create airborne code for the Autopilot board and more one needs to get the Paparazzi source via

$ git clone https://github.com/paparazzi/paparazzi.git

Now it will compile. run paparazzi and test it with a simulation via

$ cd paparazzi
$ make
$ ./paparazzi

NOTES:
See also the main installation page

TIP:
If you get the File "pprz.mli", line 149, characters 78-89: Error: Unbound type constructor Ivy.binding
...this happens when IVY libraries are not yet installed. How to do this, read the part on installing IVY on this page

Ubuntu Users
You may see the message "Not building usb_lib: ARMGCC= not found" after running the "make" command, do not worry as this is ok.
See http://lists.gnu.org/archive/html/paparazzi-devel/2011-04/msg00057.html for more information

=== Set the UDev rules ===

To be able to access the Hardware attached to your PC later on, rules must be set in your OS. By setting the correct rules a regular user can access USB and other devices, otherwise restricted for only the root user.

Open a terminal, change do your Paparazzi dir, then

sudo cp conf/system/udev/rules/50-paparazzi.rules /etc/udev/rules.d/

Test via

$ udevadm info -q all -n /dev/paparazzi/serial

If you want to learn more about what UDEV is, [http://www.openuas.org/pub/writing_udev_rules.html there is a very informative page about '''udev''' here]

== The depriciated -mapcs-32 option ==

The option "-mapcs-32" is only available with very old tool chain versions e.g. GCC-3.3.x. More recent tool chains will either require "-mabi=apcs-gnu" (non-EABI-compliant) or "-mabi=aapcs-linux" (EABI-compliant). To have an overview of all flags go here

http://ecos.sourceware.org/docs-1.3.1/ref/gnupro-ref/arm/ARM_COMBO_ch01.html

By changing -mapcs-32 with -Wa,-mapcs-32 compilation will work with more recent compilers and we have backward compatibility with the old flag for older compilers. The option -Wa,-mapcs-32 is doing the following: ''-Wa,option'' : Pass option as an option to the assembler. If option contains commas, it is split into multiple options at the commas.

The -mapcs-32 option generates code for a processor running with a 32-bit program counter and conforming to the function calling standards for the APCS 32-bit option. If interested in depth what APCS is read the following: http://www.openuas.org/site/APCS.txt

The gcc flag -mapcs-32 was deprecated since gcc-3.4.0 and finally removed in gcc-4.0.0 which unconditionally generates 32bit ARM code. You should not need to pass this flag to the assembler either but it might not hurt for backwards compatibility with older compilers, so it's best to leave it in with the -Wa, option metho

== Useful links ==

https://github.com/esden/summon-arm-toolchain

https://github.com/paparazzi/paparazzi-portability-support

http://svn.savannah.gnu.org/svn/paparazzi/paparazzi3/trunk/conf/Makefile.stm32

http://wiki.ubuntuusers.de/GNU_arm-toolchain

http://gcc.gnu.org/onlinedocs/gcc-4.5.0/gcc/ARM-Options.html#ARM-Options

http://mcuprogramming.com/forum/arm/gnu-arm-toolchain-installer/

http://code.google.com/p/hobbycode/source/browse/trunk/gnu-arm-installer

http://www.ethernut.de/en/documents/cross-toolchain-osx.html

http://paparazzi.enac.fr/w/index.php?title=User:Roirodriguez

http://www.hermann-uwe.de/blog/building-an-arm-cross-toolchain-with-binutils-gcc-newlib-and-gdb-from-source

[[Category:Software]] [[Category:Developer_Documentation]] [[Category:Installation]]

Installation/Linux

2011-10-20T04:17:59Z

Adao2001:

== Introduction ==

Paparazzi is very easily installed on any laptop or workstation running the [http://www.ubuntu.com/ Ubuntu Linux OS] or virtually any [http://www.debian.org/ Debian] based [http://en.wikipedia.org/wiki/Linux Linux] or even Apple Macintosh running [[InstallationMacOSX|Mac OS X]].

The steps required to install the software needed to be able to let your UAS fly
<ul>
<li>Install a recent Ubuntu Linux operating system
<li>The basic Paparazzi tools installed via Synaptic Package Manager.
<li>Download the source code from the source repository.
<li>Allow access to your PC hardware connection by copying the [http://www.openuas.org/pub/writing_udev_rules.html rules file]: (export PAPARAZZI_HOME=~/paparazzi; export PAPARAZZI_SRC=~/paparazzi; sudo cp $PAPARAZZI_HOME/conf/system/udev/rules/50-paparazzi.rules /etc/udev/rules.d/)
<li>Compile the binaries from the sources (cd paparazzi && make)
</ul>

That's all.

=== Operating System ===

Paparazzi is very easily installed on any laptop or workstation running the [http://www.ubuntu.com/ Ubuntu Linux OS] or virtually any [http://www.debian.org/ Debian] based [http://en.wikipedia.org/wiki/Linux Linux]. Paparazzi is packaged for Debian as well as all of it's dependencies. The [http://paparazzi.enac.fr/debian repository] hosted at ENAC holds their latest version.

It is also possible to have your Debian/Ubuntu running in a virtual machine, for instance with [http://www.virtualbox.org/ VirtualBox]. This requires minimal changes to your computer setup, as you can run the VM from all common platforms (Windows, [http://paparazzi.enac.fr/wiki/InstallationMacOSX OS X], Linux). The virtual machine image can easily be transferred between different laptops, giving greater flexibility. Unfortunately, the Open-Source Edition of VirtualBox doesn't include the necessary USB support, so you'll need to get the regular version from the website.

If you are new and this is your first time installing it is suggested you keep it simple. Select a system you can dedicate to the Linux installation. No VMs or dual boot configurations. The idea is do a very simple generic installation that is certain to have no issues. This reassures you that the installation process works and you can see and use a working Paparazzi install for some time before you try a more complicated install. The install is well documented below and certain to succeed if followed exactly. Most issues arise when someone unfamiliar with Linux tries a non-standard install that requires special steps not documented here.

=== Compilers and Handlers ===

The typical installation contains all of the necessary C and OCaml compilers as well as some XML and [http://www.tls.cena.fr/products/ivy/ Ivy] handlers. These tools are provided by the ''paparazzi-dev'' package. Have no fear, this is all taken care of for you so all you must do is type a few simple commands. Below are those commands and helpful information. Commands can be copied and pasted from these pages to make it as easy as possible.

=== Source Code ===

The Paparazzi source code is hosted by [https://github.com/paparazzi/paparazzi Github]. It is downloaded using [[git]].

== Installation of Compilers and Handlers ==

=== Using Synaptic Package Manager ===
* Launch ''Synaptic Package Manager'' (Menu '''System/Administration''')
* In '''Settings/Repositories''', add a new repository (Software Source) in the tab '''Other Software''': APT line: <tt>deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> natty main</tt> This APT line works for Ubuntu Natty/11.04. For other Ubuntu versions adapt as described below in the command line section.
* Search for <tt>paparazzi-dev</tt>, <tt>paparazzi-arm7</tt> and <tt>paparazzi-stm32</tt> packages (use the ''Search'' button)
* Mark them for installation (right-click on package names)
* Left-click on ''Apply''

=== From the Command Line ===

If the Synaptic Package Manager doesn't work for you, you can alternatively use the command line:

For the sources file (sources.list) you only add the line required for your version. Linux names their versions.

Just add the following lines to your repository list (/etc/apt/sources.list) and then
uncomment the line relevant to your operating system (e.g. one of etch, gutsy or hardy):

Note: Because of the sources.list file permissions maybe you will need to edit it with root access. In Terminal write this:

gksudo gedit /etc/apt/sources.list

{{Box Code|/etc/apt/sources.list|
# Uncomment just _one_ of the following lines - depending on your OS version
# deb <nowiki>http://paparazzi.enac.fr/debian</nowiki> etch main
# deb <nowiki>http://paparazzi.enac.fr/debian</nowiki> lenny main
# deb <nowiki>http://paparazzi.enac.fr/debian</nowiki> squeeze main
# deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> gutsy main
# deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> hardy main
# deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> intrepid main
# deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> jaunty main
# deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> karmic main
# deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> lucid main
# deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> maverick main
# deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> natty main
}}

Then, update your sources and install the dependencies needed for recompiling from the source (dev), and the cross-compilers (arm7, stm32 or both) :

For ARM7 (i.e. Tiny or TWOG boards) :
sudo apt-get update
sudo apt-get install paparazzi-dev paparazzi-arm7
-- or newerdays --
sudo apt-get install paparazzi-dev paparazzi-lpc21

For STM32 (i.e. Lisa boards) :
sudo apt-get update
sudo apt-get install paparazzi-dev paparazzi-stm32

==== Obsolete Packages ====
Users of the older AVR based boards will also need the paparazzi-avr package. It is unlikely you need it.

==== Older Ubuntu Versions ====

On older Linux distributions (not needed for lucid and later), the Braille TTY driver interferes with FTDI USB Serial adapters. If somehow your FTDI serial adapter does not work, remove the package via:

sudo apt-get remove brltty

=== Manual Installation of Individual Packages ===
Users of other Linux flavors than a recent Ubuntu or anyone needing manual control of each individual package can [[Manual_Installation|install them independently]].

== Downloading the Source Code ==
The complete source code should be downloaded from the paparazzi software repository on Github. Make sure you have installed the <tt>paparazzi-dev</tt> package as described above. Whithout these you will not be able to compile the sourcecode.

See the [https://github.com/paparazzi/paparazzi project page] at Github for more details. From the directory of your choice type:
git clone git://github.com/paparazzi/paparazzi.git
or if you are behind a firewall with an http proxy available:
git clone https://github.com/paparazzi/paparazzi.git

This will download all of the paparazzi sourcecode need for an autopilot to work into the directory <tt>paparazzi/</tt>

'''If this whole "Git" thing is new to you an you are curious, more options and information can be found on the [[git]] page.'''

== Launching the Software ==

The first step is to compile. From the <tt>paparazzi</tt> directory (<tt>cd paparazzi</tt>), run

make

You will have to run this command after each update of the source (<tt>git pull</tt> command).
Launch the software from the <tt>paparazzi</tt> directory with

./paparazzi

From the [[Paparazzi_Center|Paparazzi Center]] interface, select the ''Microjet'' aircraft, select the ''sim'' target and ''Build'' it. Then ''Execute'' the ''Simulation'' session. The procedure is detailed in the [[Simulation]] page.

=== Quick Launch Icon ===

To create an icon on the desktop so you don’t have to manually type codes into the Terminal each time you want to start the Paparazzi Center follow these steps:

#Save [[Media:Paparazzi_logo.png|this image file]] to your /paparazzi folder
#Right click anywhere on the Ubuntu desktop and click Create Launcher.
#Enter the following in the fields provided:
#*Name: Paparazzi Center
#*Command: /home/YOUR_USER_NAME/paparazzi/paparazzi
#*Comment: Runs the Paparazzi Center
#*Then click the icon image in the top left on the dialog box and select the Paparazzi logo you just downloaded.
#Click the OK button and that’s it! Your icon should appear on the desktop and you are ready to go.

=== Agents ===

If ('''and only if''') you want to directly launch some Paparazzi agents (the ''Tools'' of the [[Paparazzi_Center|Paparazzi Center]]), without using the Paparazzi Center, you must have the Paparazzi source and home environment variables set correctly in your shell. These variables can be automatically set in your shell by adding the following lines to your .bashrc file:
{{Box Code|~/.bashrc|
export PAPARAZZI_HOME<nowiki>=</nowiki>''your paparazzi software directory''
export PAPARAZZI_SRC<nowiki>=</nowiki>''your paparazzi software directory''
}}

=== env Variables ===

If you wish to manually set the env variables (i.e. when compiling a backup copy of your code in a different folder) execute the following command from the folder you wish to set as your active paparazzi folder:
export PAPARAZZI_HOME=`pwd`;export PAPARAZZI_SRC=`pwd`
Verify that your variables are set correctly with the following command:
env | grep PAPARAZZI
which should return the following:
PAPARAZZI_HOME<nowiki>=</nowiki>''your paparazzi software directory''
PAPARAZZI_SRC<nowiki>=</nowiki>''your paparazzi software directory''

== Setting access rights for USB download ==

This may be required to flash the Paparazzi-boards directly thru USB. For flashing details, see [[Compiling]].

Default linux rights may not allow standard (non root) users to directly access the USB bus. You will need to make yourself a member of the plugdev "group" and then create a "rule", associated with that "group". 
Make yourself a member of the ''plugdev'' group:

sudo adduser <your login> plugdev

Logout and login again. Then add the appropriate rule (available ine fhe file ''50-paparazzi.rules'') to the USB handler. Simply copy as root <tt>$PAPARAZZI_HOME/conf/system/udev/rules/50-paparazzi.rules</tt> to <tt>/etc/udev/rules.d/</tt>

sudo cp $PAPARAZZI_HOME/conf/system/udev/rules/50-paparazzi.rules /etc/udev/rules.d/

== Software Updates ==
Paparazzi is a very rapidly evolving project and as such you might want to update your software regularly.

Any new files you created will not be lost/overwritten when updating (like your own airframe file). Nevertheless, as with all things, backups are advised.
If you modified source code, the best way is of course to use the version control system [[Git]] to commit your changes. Otherwise at least use the brute force method and save everything in another directory.

Update your software with care and caution, and always test the functionality on the ground and in the air as some updates will affect tuning parameters. You might need to update your airframe file as well. The compiler will usually complain if there is a problem, at which point you can look at the [[Airframe_Configuration|Airframe Configuration wiki page]] again, look on the [[Contact#Mailing_List|mailing list]] or some of the most recent airframe files on git to find the proper syntax. See the [[Compiling]] page for more help if needed.

That said, keeping your software up to date is fairly easy with Git.

To download and automatically merge any updated source files, run the following command from your Paparazzi directory
git pull
Please see the [[Git|Git wiki page]] for more details.

After any git update or source code modification the code can be recompiled from ''your paparazzi software directory'' with the following command:

make

The ''make'' command will only recompile portions of the software where changed have been detected. If it does not behave as expected you can deleted all compiled files and recompile from scratch with the following commands:

make clean
make

See the [[Compiling]] page for more info.

== Using the Live CD ==

There is a [[LiveCD]] available, but it dates back to 2008. It is still an easy way to get a first glimpse on Paparazzi.

== From Scratch==

In very rare occasions one needs to install the tools used, third-party libraries used by Paparazzi all from scratch. Currently there are no 64 bit Linux repositories, that is a very good reason to install from scratch. Sometime one just wants to be able to use all the latest and greatest compilers, or source code of everything to improve something. Then there is no other way than to install from scratch. To help you out getting it all smoothly working [[install_paparazzi_and_everything_from_scratch | a special page is created just click here]]. If you do not understand what that all means, do not panic, then the information on that page is not important to you. Just pretend you never read this part of the Wiki. You are advised just to follow the regular step as described on the install page.

== Using 32Bit on 64Bit ==

If you don't know what 64 bit (x86_64) means, then don't worry about this!
As previously discussed, there are currently no 64 bit paparazzi pre-made deb packages available. You could opt to install from scratch as described here http://paparazzi.enac.fr/wiki/Install_paparazzi_and_everything_from_scratch
An temporary solution is to use an i386 installation instead. In rare circumstances however, this may be problematic (certain engineering software for example requires 64 bit kernels).
In these cases, a chroot is a good compromise, while avoiding the overhead of a virtual machine (and USB device problems which may occur).
Initial instructions are here for now: https://help.ubuntu.com/community/DebootstrapChroot
The command you use for the bootstrap needs to reflect your architecture - I used

sudo debootstrap --variant=buildd --arch i386 lucid /var/chroot/lucid http://gb.archive.ubuntu.com/ubuntu/

The format for schroot config files has changed as of lucid however - here is mine:

$ cat /etc/schroot/chroot.d/lucid-i386
[lucid]
description=Ubuntu 10.04 Lucid for i386
directory=/var/chroot/lucid
personality=linux32
root-users=my_user
type=directory
users=my_user

Once you've installed the ubuntu minimal package, make sure you also enable the uni- and multiverse repos (the easiest way for me is to simply copy my host's /etc/apt/sources.lst to /var/chroot/lucid/etc/apt/sources.lst).
Then follow the standard instructions above. You may need to manually set the PAPARAZZI_HOME and PAPARAZZI_SRC environment variables. You will also have to set the DISPLAY environment variable to :0.0 like so:

export DISPLAY=:0.0

Please note, this is more advanced than the standard paparazzi installation and therefore you may encounter strange problems.

[[Category:Software]] [[Category:User_Documentation]]

DevGuide/Values

2011-10-14T21:53:54Z

Adao2001: /* RC transmitter */

= How do values travel through the system? =

Make sure you have a ready built system when trying to analyze the
software. Some of the embedded code is generated from the xml
configuration files at build time. You can find that in the var folder
for the aircraft you are using.

=== RC transmitter ===

The most important sensor. It gives stick movements from the safety pilot to the aircraft. The values are derived from the angle of the sticks or from position switches. The minimum configuration for a Paparazzi transmitter is two sticks and one three-position switch for manual, auto1 and auto2.

The angle is usually given from -100% to 100% for full sweep and 0% for the middle position. These are the min and max positions and values we use for a transmitter with throttle on the right :

[[Image:radio_robbe.jpg|Robbe transmitter]]

RC transmitters generate a pulse-position-modulation (PPM) signal from the angles. The information is in the length of a pulse. Usually a 1.5ms pulse is middle position and 1ms equals -100% and 2ms 100%. The pulses are sent as a packet and repeat at about 15ms rate The following shows a 9 channel transmitter (this is 10 pulses) and a decoded servo #1. Use RC_FUTABA in your airframe conf file if you see a signal like this (pulses go "high").

Note: Proprietary PCM is not supported directly by Paparazzi at this moment. Ofcourse if one knows or reversed the specific PCMx format one can add support to handle this format also. However it has no direct benefit for the autopilot project.

[[Image:9ch_pulses.png|9 Channel PPM signal]]

Various brands of RC transmitter can use slightly different timings for the middle and 100% positions and sometimes also have different directions. The /conf/radio folder contains settings for different transmitters, choose one that mostly resembles yours. Then adjust the file so it is tailored to your situation. Here, also no trim should be used. Give the repeat time of the PPM pulse and the number of channels (you have one pulse more than channels!). The switches can be filtered by a low pass filter through the [http://paparazzi.enac.fr/wiki/Radio_Control#Averaging "average"] descriptor.

=== RC receiver ===
The PPM signal is transmitted as FM signal and demodulated in your
receiver. The receiver demultiplexes the signals with a shift register
chip like 4015 or 4017 and gives it to servos. Paparazzi needs the
non-demultiplexed TTL level signal from the receiver. A good point to
grab that is the input of the shift register of the receiver (e.g. pin 1 of a 4015). Some newer receiver have microcontrollers which make it tricky to get the
signal.

[[Image:rx_jeti.jpg|Jeti Rex 4 receiver]]

The signal is low and goes high for the pulses in most cases, use
-DRADIO_CONTROL_TYPE=RC_FUTABA in your aircraft description file for
that. Some Graupner/JR receivers use inverted logic, use
-DRADIO_CONTROL_TYPE=RC_JR for them.

=== Inside Paparazzi ===

A normalized value is used for servo values within the Paparazzi
software. It ranges between MIN_PPRZ and MAX_PPRZ which is currently
-9600 and 9600. That is more than 14 bits resolution and a lot more
than what RC radios or servos can reproduce. Whenever a value is
calculated it should be trimmed to MIN and MAX by TRIM_PPRZ() or
TRIM_UPPRZ() for 0 and MAX bounds.

=== ADC sensors ===
Analog voltages between 0 and 3.3V can be measured with the internal
Analog/Digital converters (this refers to the LPC/ARM7 architecture).
The values are sampled through a NB_SAMPLES stages long low pass
filter. Every ADC pin has to be activated for ADC usage individually for
flexible configuration.

The resolution of the ADCs is 10 bits and that gives an integer value
between 0 and 1023 in the Paparazzi software. The values are converted
to more useful numbers for some sensors.

=== IR sensors ===
The thermopiles give a voltage as a (nonlinear) function of the
roll/tilt angle. The angle is calculated using the information given in
the aircraft file (neutral value, sensor alignment relative to the
aircraft axes, correction for diversity in sensitivity). Angles are
used as [http://en.wikipedia.org/wiki/Radian radians] (360° = 2 * pi) for calculations. Some flight plan
values are given in degrees, though.

=== SPI / I2C ===
Byte values can be read from SPI or I2C devices, e.g. to read data from
additional sensors.

=== Servos ===
At the end servos have to be moved. The PPRZ values are converted to
-100% .. 100% servo movements. The aircraft configuration file
describes the relation between the min/max actuation and the 1.0ms -
2.0ms long pulse.

[[Category:Software]] [[Category:RC]] [[Category:Developer Documentation]]

User:Adao2001

2011-10-14T21:50:24Z

Adao2001: First page

Anthony is a system tester in California, USA for Northrop Grumman.

----

The Paparazzi Auto Piloting System is a great project!