PaparazziUAV - User contributions [en]

Installation/Manual

2014-09-10T20:53:44Z

Lluchiari: /* Fedora 19 */

<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Installation</categorytree>
__TOC__
'''Users of recent Debian/Ubuntu distributions are advised to use the binary packages as described in [[Installation/Linux]].'''

== Intro ==

Users of other Linux flavors or anyone needing manual control of each individual package can install them independently. 
The list of dependencies of the Debian package is located in the [https://github.com/paparazzi/paparazzi-portability-support/blob/master/debian/paparazzi-dev/debian/control <tt>debian/control</tt>] file and may help users of other distributions.

Some corresponding source tarballs can be downloaded from [https://launchpad.net/~paparazzi-uav/+archive/ppa/+packages paparazzi-uav ppa] on launchpad. (maybe building the packages from source is more reliable in view of dependencies)

For distributions using RPM packaging, the [http://packages.debian.org/unstable/source/alien alien] tool can be used to convert a .deb package into a .rpm package.

== Using 32Bit on 64Bit ==

If you want to run the 32bit versions on a 64bit machine for whatever reason...

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.

== Fedora 8 ==

For Fedora (Core8) users, you can install the following packages from standard repository:
* ocaml.i386
* ocaml-camlimages-devel.i386
* ocaml-lablgtk-devel.i386
* ocaml-xml-light-devel.i386
* boa.i386
* libgnomecanvas-devel.i386
* libusb-devel.i386
* pcre-devel.i386
* arm-gp2x-linux-gcc.i386
* arm-gp2x-linux-binutils.i386
* glade2.i386
* and gcc, make, subversion, gnuplot, imagemagik...

Note that ocaml-xml-light version 2.2 in its official source release and in some distribution packages requires a patch in order to function properly with paparazzi. Find patch [https://github.com/OCamlPro/opam-repository/blob/master/packages/xml-light.2.2/files/fix_dtd_trace.patch here].

Then you need [http://packages.debian.org/unstable/source/alien alien] tool to convert packages from the paparazzi repository:
* ivy-c
* ivy-c-dev
* ivy-ocaml (WARNING: debian and fedora have different path for ocaml (/usr/lib/ocaml/<version> vs. /usr/lib/ocaml), so you need to move by hand the files in /usr/lib/ocaml/<version> to /usr/lib/ocaml)
* lpc21isp

These Ivy binary packages will only work with the corresponding version of ocaml. Ivy repository is located [http://www.eei.cena.fr/products/ivy/download/packages/ here].

== Fedora 19 ==

To build paparazzi-uav on Fedora 19, you must install the next packages from the official repository:
* ocaml
* ocaml-findlib
* ocaml-xml-light
* ocaml-ocamlnet
* ocaml-lablgtk-devel
* libxml2-devel
* SDL-devel
* libusb-devel

Paparazzi-uav needs to include some ocaml headers when it compiles the simulator, then please be sure that they are included. If not, edit sw/simulator/Makefile and add:

CAML_CFLAGS = -I/usr/lib64/ocaml

The following packages must be built from source code (they are not included in the official repository):
* ivy-c
* ivy-ocaml

Paparazzi-uav was successfully compiled using ivy-c 3.14 (downloaded from SVN repository, revision #3602) and ivy-ocaml 1.2. Please note that the ivy-c version is an unstable version!

Additionally, you need install the next RPMs to build ivy-c:
* pcre-devel
* libXt-devel
* tcl-devel
* glib2-devel

Don't forget to set the environment variable PKG_CONFIG before building ivy-ocaml, e.g:

$ export PKG_CONFIG=/usr/local/lib/pkgconfig

Finally, install the cross compiler as described at [[Installation/FromScratch]].

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

Installation/Linux

2014-09-10T16:05:32Z

Lluchiari: /* ARM embedded toolchain */

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

'''This page only describes the installation of the prerequisite tools and dependencies on Debian/Ubuntu needed for Paparazzi.'''

'''See the general [[Installation]] page for how to [[Installation#Getting_the_Source_Code|download Paparazzi]] and [[Installation#Launching_the_Software|launching it]] after you followed the instructions here.'''

== Introduction ==

Paparazzi is very easily installed on any laptop or workstation running [http://www.ubuntu.com/ Ubuntu], [http://www.debian.org/ Debian] (or any of their derivatives).

The steps required to install the software needed to be able to let your UAS fly
<ul>
<li>[[Installation/Linux#Installation_of_dependencies|Install the basic Paparazzi dependencies]] and the [[Installation/Linux#ARM_embedded_toolchain|ARM cross compiling toolchain.]]
<li>[[Installation#Getting_the_Source_Code|Download the source code from the source repository.]]
<li>Allow access to your PC hardware connection by adding appropriate [[Udev]] rules.
<li>[[Installation#Launching_the_Software|Compile the binaries from the sources and launch the software.]]
</ul>

Users of other Linux flavors than a recent Ubuntu or Debian and anyone needing manual control of each individual package can [[Installation/Manual|install them independently]].

===For the impatient===

For Ubuntu add the [https://launchpad.net/~paparazzi-uav/+archive/ppa paparazzi-uav ppa] <tt>sudo add-apt-repository ppa:paparazzi-uav/ppa</tt> and install the <tt>paparazzi-dev</tt> package.

Since Paparazzi v5.0 the [https://launchpad.net/gcc-arm-embedded/ gcc-arm-embedded toolchain] is recommended.
Available as of Ubuntu 14.04, on older versions it can be [[Installation/Linux#ARM_embedded_toolchain|installed via tarball]].

Or just use the [[Installation#Quickstart_on_Ubuntu_12.04|Quickstart for Ubuntu 12.04 LTS]].

== Installation video Tutorials ==

{{#ev:youtubehd|SshFJrBuku8}} {{#ev:youtubehd|eW0PCSjrP78}}

== Installation of dependencies ==

=== Ubuntu ===

Add the installation sources for the Paparazzi software packages. Run from a terminal:
sudo add-apt-repository ppa:paparazzi-uav/ppa

Then update the systems package inventory and install the main Paparazzi software dependencies. This will take some time.
sudo apt-get update
sudo apt-get install paparazzi-dev

=== Debian ===

For Debian Squeeze (6.0) and Wheezy (7.0) packages are built using the [http://openbuildservice.org/ Open Build Service (OBS)] on [https://build.opensuse.org/project/show?project=home%3Aflixr%3Apaparazzi-uav OpenSUSE Build Service project home:flixr:paparazzi-uav]

First add the key:
wget -q "http://download.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_7.0/Release.key" -O- | apt-key add -

Add the appropriate repo, depending on your Debian version to sources.list
echo "deb http://download.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_6.0/ ./" | tee -a /etc/apt/sources.list
echo "deb http://download.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_7.0/ ./" | tee -a /etc/apt/sources.list

Update the systems package inventory and install the main Paparazzi software dependencies.
sudo apt-get update
sudo apt-get install paparazzi-dev

== ARM embedded toolchain ==

For current Paparazzi versions (v5.0 and above) the [https://launchpad.net/gcc-arm-embedded/ gcc-arm-embedded toolchain] is recommended, which also supports the STM32F4 with FPU (hardware floating point).

The most common way is to download and unpack the tarball and add it to your PATH:

[http://pixhawk.org/dev/toolchain_installation_lin The Pixhawk Devs have mentioned the 4.8 as buggy.]

cd ~
wget https://launchpad.net/gcc-arm-embedded/4.7/4.7-2013-q2-update/+download/gcc-arm-none-eabi-4_7-2013q2-20130614-linux.tar.bz2
tar -vjxf gcc-arm-none-eabi-4_7-2013q2-20130614-linux.tar.bz2 -C /opt
rm -r gcc-arm-none-eabi-4_7-2013q2-20130614-linux.tar.bz2
exportline="PATH=$PATH:/opt/gcc-arm-none-eabi-4_7-2013q2/bin"
if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
source ~/.profile

The file .profile will be sourced in every bash after logging out and in again. Until then,
source ~/.profile
can be used for every bash individually.

If you can not access your toolchain with PATH working, look a the [[Installation/Linux#Troubleshooting]].

=== gcc-arm-none-eabi as Debian/Ubuntu package ===

Note that there are actually two '''different''' toolchains available that unfortunately have the same package name!
* [https://launchpad.net/gcc-arm-embedded/ ARM gcc-arm-embedded toolchain]
** includes libstdc++ and newlib-nano
* [https://packages.debian.org/jessie/gcc-arm-none-eabi Debian gcc-arm-none-eabi toolchain]
** does not include libstdc++
** does not include newlib-nano

Both toolchains ''should'' work for most use-cases (if you don't need C++ or nano specs), although the [https://launchpad.net/gcc-arm-embedded/ ARM gcc-arm-embedded toolchain] is better tested.

==== gcc-arm-embedded toolchain ====

On ''most'' Ubuntu versions (currently lucid, precise, raring, saucy and trusty) the [https://launchpad.net/gcc-arm-embedded/ gcc-arm-embedded toolchain] can be installed as a debian package from the [https://launchpad.net/~terry.guo/+archive/gcc-arm-embedded ppa]:
sudo add-apt-repository ppa:terry.guo/gcc-arm-embedded
sudo apt-get update
sudo apt-get install gcc-arm-none-eabi

Note [https://bugs.launchpad.net/gcc-arm-embedded/+bug/1309060 bug1309060] on Ubuntu 14.04 you have to explicitly install the gcc-arm-embedded version.
You can list the available versions with <tt>apt-cache policy gcc-arm-none-eabi</tt>
sudo apt-get remove binutils-arm-none-eabi gcc-arm-none-eabi
sudo apt-get install gcc-arm-none-eabi=4-8-2014q2-0trusty9

==== gcc-arm-none-eabi Debian toolchain ====

Debian testing ('''jessie''') and Ubuntu 14.04 ('''trusty''') have the gcc-arm-none-eabi package in the official repositories ('''universe'''), and can be installed with:
sudo apt-get update
sudo apt-get install gcc-arm-none-eabi

=== Old toolchain for Paparazzi v4.x and earlier ===

'''For Paparazzi v4.x''' and earlier you need to install the <tt>paparazzi-arm-multilib</tt> package. It has support for both ARM7 (i.e. Tiny,TWOG,YAPA autopilot boards) as well as STM32F1 (i.e. LISA boards). 
'''This toolchain does not properly support STM32F4 based autopilots!!'''

You can install it explicitly with:
sudo apt-get install paparazzi-arm-multilib

== Optional Packages ==

The packages lpc21isp and openocd are normally '''automatically installed''' as they are recommended packages of paparazzi-dev, '''if not''' you can manually install them via:

sudo apt-get install lpc21isp openocd

<tt>lpc21isp</tt> is needed to serially flash the LPC2148 based autopilots (e.g. bootloader for tiny, twog, umarim), <tt>openocd</tt> is for flashing via JTAG (e.g. for Lisa boards) and debugging.

== Installing and running Paparazzi ==

Please see [[Installation#Getting_the_Source_Code|Getting the Source Code on the general Installation page]] for details on downloading the Paparazzi source code, compiling and running it.

== Udev rules ==

Add the appropriate [[Udev]] rule (available in fhe file ''50-paparazzi.rules'') to the USB handler. Simply copy as root <tt>conf/system/udev/rules/50-paparazzi.rules</tt> to <tt>/etc/udev/rules.d/</tt>, e.g in a terminal:

cd <your paparazzi directory>
sudo cp conf/system/udev/rules/50-paparazzi.rules /etc/udev/rules.d/

See the [[Udev]] page for more details.

== Troubleshooting ==

=== No access rights for USB devices ===

Some Linux distributions, don't allow standard (non admin) users to directly access the USB bus by default. On recent Ubuntu/Debian versions the first/main user is already a member of the ''plugdev'' group which should be sufficient for most cases. 
If you have problems, make yourself a member of the ''plugdev'' and ''dialout'' groups:

sudo adduser <your login> plugdev
sudo adduser <your login> dialout

Logout and login again.

=== arm-none-eabi-gcc: Command not found ===
Appeared on Debian Wheezy 7 (gcc-arm-none-eabi-4_8-2013q4 installed via tarball) 
If this error occurs, maybe the [https://packages.debian.org/de/wheezy/ia32-libs ia32-libs] are missing.

Enable multiarch and install ia32-libs:
dpkg --add-architecture i386
apt-get update
apt-get install ia32-libs

===arm-none-eabi-gdb: error with libncurses.so.5===
Appeared on Xubuntu 14.04 LTS (gcc-arm-none-eabi-4_8-2013q4 installed via tarball) 
Terminal output: arm-none-eabi-gdb: error while loading shared libraries: libncurses.so.5: cannot open shared object file: No such file or directory

If this error occours, maybe [http://packages.ubuntu.com/search?keywords=lib32ncurses5 lib32ncurses5] is missing. 
Found on [https://answers.launchpad.net/gcc-arm-embedded/+question/226680 launchpad q&a]

=== FTDI serial adapter not working on old Ubuntu version ===

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

=== Code not starting on autopilot after changing gcc ===

If you changed the toolchain (e.g. installed a new one for having FPU-Support for the F4), you need to run

make clean && make

in sw/ext in order to rebuild the libs. Otherwise the embedded code can behave strange (most likely not start)

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

PaparazziUAV:Books/GUIDE

2013-07-08T15:10:36Z

Lluchiari: Created page with "{{saved_book}} == Paparazzi Guide == === The instuction for despair moments === :Main Page :Overview :Theory of Operation :Getting Started :[[ATmega PPM Encoder …"

{{saved_book}}

== Paparazzi Guide ==
=== The instuction for despair moments ===
:[[Main Page]]
:[[Overview]]
:[[Theory of Operation]]
:[[Getting Started]]
:[[ATmega PPM Encoder Board]]

[[Category:Books|Books/GUIDE]]