GettingTheGCSRunningonAGumstixBoard

Intro

Please take note that the page is in work at the moment and that I am doing my best to have it updated as soon as possible.

Would it not be great to have your small UAS in your backpack, throw it in the air and monitor and even adjust the flight via a small device in your pocket? If you think this would be awesome, read on, since that is what this page is all about. It is the first attempt and will not be about iPad, Android Phones, Amazon Kindles or the likes as a ground station. For this we have other wiki pages. No, we will use a thrusted solution; A Gumstix with Linux on it.

Outcome

Have the Paparazzi GCS monitoring and adjusting a UA via an small Gumstix based device.

Hardware

What do you need to get this working:

1. A gumstix board
2. Camera
3. 3.5" screen (such as the LCD panel with the Chestnut) or 4.3"

Software

Needed softwares to run this application:

1. Paparazzi software
2. Kivy library
3. Ubuntu kernel on your Gumstix
4. Driver for the camera in order to be used with the Gumstix

How to start

Well, we have some tutorials on this wiki about how to install Paparazzi. If you need any help to install Kivy, please look at their website, you will find there a good tutorial about how to get started.

Create an OS

Pre-requisites

   4GB SD card or larger
   Download the pre-built image from [vexpress-ics-gcc47-armlt-staging-alt-open.img.gz]

Installation Steps

   unzip the downloaded pre-build image
   Insert SD card and note the assigned '/dev/sdX'

    $ dmesg
    $ SDCARD=/dev/sdX   (sdcard found from dmesg above)
    $ sudo dd bs=64k if=vexpress-ics-gcc47-armlt-staging-alt-open.img of=$SDCARD     

   Continue with the instructions below to Configure your TC2 board to boot the image [link].

Once you have the image written on your sd card you can insert it in the Gumstix and boot up. Then type the following in the CuteCom command prompt:

   printenv
   setenv defaultdisplay lcd43
   saveenv
   run mmcboot

After that you can reboot your system.

Connecting peripherals

When you have a Linux version running on your Gumstix, you can add a LCD, or a mouse, or a keyboard.

To set up your LCD you must follow these steps:

Connect trough CuteCom to the Gumstix Restart the board and hit a key within 5 seconds:

   Hit any key to stop autoboot: 5

Then type the following in the CuteCom command prompt:

   setenv defaultdisplay lcd43

Or, if you are using a 3.5" screen (such as the LCD panel with the Palo35):

   setenv defaultdisplay lcd35

You can save this setting for future boots by saving it:

   saveenv

Finally, continue with the boot process by typing in CuteCom command prompt:

   boot 

Connect to the Gumstix trought the network

If you want to send files to the Gumstix, you can do it via a ssh connection. In order to do this, both devices, your computer and the Gumstix must be connected to the same same network. Once you did this, you can start setting up the connection. Fistly, you need to know the IP address of the Gumstix. Start by opening CuteCom and connect to the device. When the system loaded, type into CuteCom command prompt:

ifconfig -a (if you can't use this command from any reason you can get a list with all the ips on the network using 'arp -a')

Among the data returned, you will see something like this:

   eth0      
    Link encap:Ethernet  HWaddr 00:15:c9:28:c9:ff  
    inet addr:169.16.29.3

Now enter into the command prompt:

   sudo dhclient eth1 169.16.29.3

When this is done, install on the Gumstix openssh write into the command prompt:

   sudo apt-get install openssh-server

Set a password:

   sudo passwd username
   password  (replace password with any string you want as password)
   password  (retype the password you chose)

Now you should be able to connect using:

   ssh root@169.16.29.3 

Remove the login prompt

You may want to set your OS to auto-login. Why? Because you may not have at any time a keyboard for the Gumstix around. It is explained here very well how to do it. You have to write in your command prompt:

   sudo vi /etc/lightdm/lightdm.conf

and then modify the lines as indicated on the webpage above.

There is a chance to get an error like this "Gtk-WARNING **: Locale not supported by C library.". To solve this write into your command prompt:

   sudo locale-gen en_US.UTF-8 

or the right locale for your keyboard. If this didn't solve your problem, you may want to read here more about it.

Remove the Lightdm GUI for freeing memory

   sudo apt-get remove lightdm

After this step you must reboot.

Install paparazzi on the gumstix

Errors: W: Failed to fetch http://www.cl.cam.ac.uk/~lpw25/ocaml-rpi/dists/wheezy/main/binary-armel/Packages 404 Not Found

W: Failed to fetch http://paparazzi.enac.fr/debian/dists/wheezy/main/binary-armel/Packages 404 Not Found

E: Some index files failed to download. They have been ignored, or old ones used instead. E: dpkg was interrupted, you must manually run 'sudo dpkg --configure -a' to correct the problem. root@linaro-ubuntu-desktop:~# sudo dpkg --configure -a

1. Install Ocaml 4.0

wget -O ocaml-4.00.0.tar.gz http://caml.inria.fr/pub/distrib/ocaml-4.00/ocaml-4.00.0.tar.gz
cd ocaml-4.00.0
./configure
make world
make opt
umask 022
sudo make install
git clone https://github.com/OCamlPro/opam.git
cd opam
./configure 
make (because of overheating you may get some errors, but keep doing 'make')
sudo make install

opam init eval `opam config env

 130  history
 131  sudo shutdown -h now
 132  ll
 133  top
 134  ll
 135  tar -xvzf ll
 136  ll
 137  ocaml -version
 138  ocaml-4 -version
 139  ocaml4 -version
 140  which ocaml
 141  ulimit -s 65536
 142  ll
 143  cp -av ocaml-4.00.0 /tmp
 144  ll
 145  ll /tmp
 146  ll
 147  cd ocaml-4.00.0
 148  ll
 149  ./configure
 150  make world
 151  make opt
 152  make install
 153  cd /
 154  ll
 155  cd ~
 156  cd ocaml-4.00.0
 157  ll
 158  umask 022
 159  sudo make install
 160  ocaml -version
 161  which ocaml
 162  camlp4 -version
 163  sudo  ./build/install.sh
 164  ocaml -version
 165  which ocaml
 166  cd usr/local/bin
 167  cd /usr/local/bin
 168  ll oc*
 169  ./ocaml
 170  ocaml -version
 171  ll
 172  ./ocaml
 173  ocaml -version
 174  which ocaml
 175  su root
 176  exit
 177  ls
 178  cd develop
 179  ll
 180  cd paparazzi-portability-support/
 181  ll
 182  rm *.*
 183  ll
 184  rm darwin
 185  rm -r *
 186  ll
 187  rm *
 188  ll
 189  rm /*
 190  rm ~/develop/paparazzi-portability-support/*
 191  rm -r  ~/develop/paparazzi-portability-support/*
 192  ll
 193  rm -r  ~/develop/paparazzi-portability-support/linux/*
 194  yes
 195  ll
 196  rm -rf  ~/develop/paparazzi-portability-support/linux/*
 197  sudo rm -rf  ~/develop/paparazzi-portability-support/linux/*
 198  ll
 199  cd linux
 200  ll
 201  cd ..
 202  sudo rm -rf  ~/develop/paparazzi-portability-support/*
 203  ll
 204  sudo rm -rf  ~/develop/paparazzi-portability-support/*.*
 205  ll
 206  sudo rm -rf  ~/develop/paparazzi-portability-support/.*
 207  cd .git
 208  ocaml -version
 209  wget -O ocaml-4.00.0.tar.gz http://caml.inria.fr/pub/distrib/ocaml-4.00/ocaml-4.00.0.tar.gz
 210  $ cd ocaml-4.00.0
 211  cd ~
 212  $ cd ocaml-4.00.0
 213  cd ocaml-4.00.0
 214  wget -O ocaml-4.00.0.tar.gz http://caml.inria.fr/pub/distrib/ocaml-4.00/ocaml-4.00.0.tar.gz
 215  cd ocaml-4.00.0
 216  find -iname ocaml-4.*
 217  ll
 218  cd ocaml-4.00.0.tar.gz 
 219  tar -xvwzf ocaml-4.00.0.tar.gz 
 220  tar -xvwf ocaml-4.00.0.tar.gz 
 221  tar -xvwz ocaml-4.00.0.tar.gz 
 222  tar -xvzf ocaml-4.00.0.tar.gz 
 223  cd ocaml-4.00.0
 224  ll
 225  ./configure --with-pthreads
 226  make world.opt
 227  ocaml -version
 228  cd ..
 229  sudo apt-get install ocaml
 230  cd ocaml-4.00.0
 231  ll
 232  make world.opt
 233  sudo apt-get update
 234  sudo apt-get upgrade
 235  ocaml -version
 236  sudo apt-get remove ocaml
 237  ocaml -version
 238  cd ..
 239  ll
 240  cd develop/
 241  cd opam/
 242  ./configure
 243  ll
 244  ./configure
 245  make clean
 246  make
 247  sudo make install
 248  opam init
 249  . /home/sergiu/.opam/opam-init/init.sh > /dev/null 2> /dev/null || true
 250  eval `opam config env`
 251  eval 'opam config env'
 252  sudo apt-get install libglade2-dev libgnomeui-dev libgnomecanvas2-dev librsvg2-dev libgtkspell-dev libcanberra-gtk-dev
 253  opam install ocamlfind xml-light pcre-ocamlopam install ocamlfind xml-light pcre-ocaml
 254  opam  ocamlfind xml-light pcre-ocamlopam install ocamlfind xml-light pcre-ocaml
 255  opam --help
 256  opam install ocamlfind xml-light pcre-ocamlopam install ocamlfind xml-light pcre-ocaml
 257  opam
 258  opam install
 259  opam install ocamlfind
 260  top
 261  history

Due to overheating i got errors like

==== ERROR [while installing ocamlfind.1.3.3] ====
Internal error:
  # opam-version    1.0.1 (1.0.0-84-g9b3ff34)
# os              linux
opam: "fork" failed: Cannot allocate memory
'opam install ocamlfind' failed.

and I had to shutdown and wait for the system to cool down a little. Because the problem persisted, I had to add a swap file doing:

dd if=/dev/zero of=/swapfile1 bs=1024 count=524288 (512 MB )
mkswap /swapfile1
chown root:root /swapfile1
chmod 0600 /swapfile1
swapon /swapfile1

For more explanations you can go to this website

Attempt 10

   sudo add-apt-repository ppa:paparazzi-uav/ppa
   (press enter as you will be asked)
   sudo apt-get install ocaml-findlib libxml-light-ocaml-dev liblablgtk2-ocaml-dev liblablgtk2-gnome-ocaml-dev libocamlnet-ocaml-dev libsdl-ocaml-dev libpcre-ocaml-dev gtk2-engines-pixbuf make gcc g++ libgsl0-dev gnuplot libgnomecanvas2-dev bzip2 git libusb-dev speech-dispatcher glade imagemagick libpcre3-dev
   sudo apt-get install bzip2 git-core make gcc g++ gnuplot glade imagemagick libpcre3-dev libusb-dev python-usb python-lxml python-wxgtk2.8 speech-dispatcher libgnomecanvas2-dev m4
   sudo apt-get install python-lxml, python-wxgtk2.8, python-usb, python-yaml
   sudo apt-get update
sudo apt-get install libocamlnet-ocaml
 sudo apt-get install libocamlnet-ocaml-dev
 could not install   sudo apt-get install liblablgtk-extras-ocaml-dev

Note: because of an error that occured, I installed the packages one by one and the process was succesfully.

git clone https://github.com/paparazzi/paparazzi-portability-support.git
cd paparazzi-portability-support/linux
sudo ./develenv.sh
sudo apt-get install libxt-dev tcl8.4-dev

  75  sudo apt-get install libocamlnet-ocaml-dev

  83  git clone https://github.com/paparazzi/paparazzi-portability-support.git
  84  cd paparazzi-portability-support/linux
  85  sudo ./develenv.sh
  86  sudo apt-get install libxt-dev tcl8.4-dev
  87  cd ~/paparazzi-portability-support/linux/ivy/ivy-c
  88  cd ../../
  89  mv paparazzi-portability-support/ ../
  90  cd ../paparazzi-portability-support/
  91  pwd
  92  cd linux
  93  cd ivy/ivy-c/
  94  fakeroot debian/rules get-orig-source

  97  sudo apt-get install subversion
  98  fakeroot debian/rules get-orig-source
  99  tar -xvzf ivy-c_3.12.1.orig.tar.gz
 100  cd ivy-c-3.12.1/
 101  rm -rf debian/
 102  cp -r ../debian .
 103  dpkg-buildpackage -rfakeroot -us -uc
 104  cd ..
 105  sudo dpkg -i ivy-c_3.12.1-1_armel.deb ivy-c-dev_3.12.1-1_armel.deb
 128  cd ~/paparazzi-portability-support/linux/ivy/ivy-c

 130  ivy-c-3.12.1/
 131  cd ivy-c-3.12.1/

 137  make install
 140  cd ~/paparazzi-portability-support/linux/ivy/ivy-ocaml
 141  fakeroot debian/rules get-orig-source
 142  cd ivy-ocaml-1.1/
 143  cp -r ../debian .
 144  make
 145  svn checkout http://svn.tls.cena.fr/svn/ivy/ivy-ocaml/trunk/ ivy-ocaml

 156  mv ivy-ocaml/ _ivy-ocaml.old
 157  svn checkout http://svn.tls.cena.fr/svn/ivy/ivy-ocaml/trunk/ ivy-ocaml
 158  cd ivy-ocaml/
 166  make 
 170  make install
 171  dpkg-buildpackage -rfakeroot -us -uc

   1  dpkg-buildpackage -rfakeroot -us -uc
   2  ll
   3  cd src/
   4  ll
   5  cd ..
   6  cd ~
   7  ll
   8  mk develop
   9  mkdir develop
  10  cd develop/
  11  ll
  12  git clone https://github.com/paparazzi/paparazzi-portability-support.git
  13  cd paparazzi-portability-support/linux
  14  sudo ./develenv.sh
  15  sudo adduser test sudo
  16  sudo adduser sergiu sudo
  17  su root
  18  cd paparazzi-portability-support/linux
  19  sudo ./develenv.sh
  20  su root
  21  logout
  22  exit
  23  dpkg-buildpackage -rfakeroot -us -uc
  24  sudo dpkg-buildpackage -rfakeroot -us -uc
  25  login
  26  su login
  27  su root
  28  exit
  29  sudo dpkg -i ivy-c_3.12.1-1_arm**.deb ivy-c-dev_3.12.1-1_arm**.deb
  30  su root
  31  exit
  32  fakeroot debian/rules get-orig-source
  33  su root
  34  exit
  35  sudo cd rules
  36  ls
  37  su root
  38  exit
  39  fakeroot debian/rules get-orig-source
  40  ls
  41  cd debian
  42  ls
  43  cd rules
  44  sudo cd rules
  45  sudo passwd sergiu
  46  su root
  47  exit
  48  cd develop/
  49  ll
  50  cd paparazzi-portability-support/
  51  ll
  52  cd linux
  53  ll
  54  sudo develenv.sh 
  55  ./develenv.sh 
  56  sudo ./develenv.sh 
  57  sudo apt-get install libxt-dev tcl8.4-dev
  58  cd ..
  59  cd linux/ivy/ivy-c
  60  ll
  61  fakeroot debian/rules get-orig-source
  62  tar -xvzf ivy-c_3.12.1.orig.tar.gz
  63  cd ivy-c-3.12.1/
  64  rm -rf debian/
  65  cp -r ../debian .
  66  dpkg-buildpackage -rfakeroot -us -uc
  67  find replace-mkdirhier.patch
  68  find -iname  replace-mkdirhier.patch
  69  ll
  70  cd debian/
  71  ll
  72  rm patches/
  73  rmdir patches/
  74  rm -rf patches/
  75  rmdir patches/
  76  ll
  77  dpkg-buildpackage -rfakeroot -us -uc
  78  touch changelog 
  79  dpkg-buildpackage -rfakeroot -us -uc
  80  ll
  81  cd ..
  82  dpkg-buildpackage -rfakeroot -us -uc
  83  sudo dpkg-buildpackage -rfakeroot -us -uc
  84  history
  85  dpkg-buildpackage -rfakeroot -us -uc
  86  top
  87  dpkg-buildpackage -rfakeroot -us -uc
  88  sudo make clean
  89  cat Makefile
  90  ll
  91  cd ..
  92  ll
  93  cd ivy-c-3.12.1/
  94  ll
  95  cd src/
  96  ll
  97  ivy-c-3.12.1/make clean
  98  make
  99  sudo make install
 100  cd ..
 101  cd ../../
 102  cd ivy-ocaml/
 103  ll
 104  fakeroot debian/rules get-orig-source
 105  cd ivy-ocaml-1.1/
 106  ll
 107  make
 108  cd ../../ivy-c/
 109  ll
 110  cd ivy-c-3.12.1/
 111  ll
 112  cd src/
 113  ll
 114  cat Makefile
 115  grep -Ri fPIC Makefile
 116  cd ../../
 117  cd ../
 118  cd ivy-ocaml/
 119  ll
 120  cd ivy-ocaml-1.1/
 121  ll
 122  grep -Ri fPIC Makefile

Experimental steps

1. Remove LightDM GUI to preserver Gumstix memory

{TODO: Describe STEPS}

{install python} {install ivy python} {install kivy}

Compile example

Source of Example

X11 server to display on LCD

Next

The next step will be to make onboard video work in the GCS.

Links

• OMAP
• https://www.gumstix.com/
• Dev/Caspa