GettingTheGCSRunningonAGumstixBoard

Intro

Please take note that the page is in work at the moment and that we are doing our best to have it updated as soon as possible. Please feel free to contribute!

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 with a charger
2. 8 GB SD card
3. USB to mini-USB cable
4. UTP network cable
5. 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. Ubuntu kernel on your Gumstix
3. Driver for the camera in order to be used with the Gumstix

Well, we have some tutorials on this wiki about how to install Paparazzi. Please have a look and you will definetly find all you need to know.

Before proceeding

You may get some errors during this installation. This depends on how well you are cooling down your system, how much RAM you have on your platform, the OS you are using and so on. Here are some of the errors I occured and how I solved them. You may need to worry about them or not.

If you get errors when trying install a big number of packages/libraries at once, try to divide them in smaller groups.

1. Add swap file

Due to lack of RAM memory it is possible to see errors like this:

==== 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.

The solution to this problem is to create a swap file. For this case I created a 512 MB swap file, but you should adapt it's size to the size of your SD card and the needed memory size. Run this commands as sudo:

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

Note: this will remove the swap file each time you shutdown. If you need the file, you have to repeat the swapon command after each boot. An alternative would be to have it mounted every time you boot the system. For more explanations you can go to this website

Because the original image was created as 4 GB big, you have to execute the fallowing set of instructions to enlarge it:

1. Add more space

  39  mkfs.ext3 /dev/mmcblk0p3 
  40  vol_id --uuid /dev/mmcblk0p3
  41  blkid /dev/mmcblk0p3 
  42  vim /etc/fstab
  43  mv /home /oldHome
  45  mkdir /home
  46  mount /home
  47  mount
  48  mv /oldHome/* /home/
  49  rmdir /oldHome/

Create an OS

Pre-requisites

1. 8 GB SD card or larger
2. Download the pre-built image from [vexpress-ics-gcc47-armlt-staging-alt-open.img.gz]

or maybe use this custom one if you want to have kernel driver for the video digitizer already in get this OS

Installation Steps

1. Unzip the downloaded pre-build image
2. Insert SD card and note the assigned '/dev/sdX' so on the command line type without the $ sign:

$ dmesg 

where sdX is the SD reader device found with the command above

$ SDCARD=/dev/sdX  
$ sudo dd bs=64k if=vexpress-ics-gcc47-armlt-staging-alt-open.img of=$SDCARD     

Once you have the image written on your SD card you can insert it in the SD slot of the Gumstix board and boot up your Gumstix on a carrier board.

Then type the following in the CuteCom command prompt:

$ printenv
$ setenv defaultdisplay lcd43
$ saveenv
$ run mmcboot

After this you must 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 through 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)

To add the user to the sudoers group do:

sudo adduser username sudo

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 update-locale en_US.UTF-8x
sudo export LC_ALL=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.

Remove processes not needed

sudo killall -9 NetworkManager  (for faster system) !!!???Sergiu

Install paparazzi on the gumstix

1. Install all libraries needed

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 git-core  python-usb \
python-lxml python-wxgtk2.8 speech-dispatcher m4 python-yaml

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
tar -xvzf ocaml-4.00.0.tar.gz 
cd ocaml-4.00.0
./configure
make world
make opt
umask 022
sudo make install
cd ..

1. Install Opam

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
cd ~
mkdir develop
cd develop/
wget https://bitbucket.org/mmottl/pcre-ocaml/downloads/pcre-ocaml-6.2.5.tar.gz
tar -xvzf pcre-ocaml-6.2.5.tar.gz 
cd pcre-ocaml-6.2.5
./configure
make
sudo make install
cd ..
ocaml -version (make sure you have the right version)
sudo opam install -v lablgtk
sudo opam install  xml-light 
sudo opam install pcre-ocaml
sudo opam install -v ocamlnet
cd ~
git clone https://github.com/paparazzi/paparazzi-portability-support.git
cd paparazzi-portability-support/
cd linux/
sudo ./develenv.sh
sudo apt-get install libxt-dev tcl8.4-dev
sudo apt-get install tcl-dev
cd ~/paparazzi-portability-support/linux/ivy/ivy-c/
 189  fakeroot debian/rules get-orig-source
 191  tar -xvzf ivy-c_3.12.1.orig.tar.gz
 193  cd ivy-c-3.12.1/
 197  rm -rf debian/
 198  cp -r ../debian .
 227  make
 229  cd src
 233  make
 234  sudo make install
 235  cd ../develop/
 240  git clone https://github.com/OCamlPro/opam.git
sudo opam install ocamlfind xml-light pcre-ocaml

Note: if you get an error when trying to install pcre-ocaml 7.0.2 please follow these steps:

opam remove pcre-ocaml
wget https://bitbucket.org/mmottl/pcre-ocaml/downloads/pcre-ocaml-6.2.5.tar.gz
tar -xvzf pcre-ocaml-6.2.5.tar.gz 
cd pcre-ocaml-6.2.5
make
sudo make install

 260  cd ~/paparazzi-portability-support/linux/ivy/ivy-c
 265  pkbuild
 267  sudo apt-get install dpkg-dev debhelper devscripts fakeroot linda
 268  sudo apt-get install build-essential autoconf automake autotools-dev dh-make xutils lintian pbuilder
 281  sudo apt-get install dh-ocaml
 271  cd ivy-c-3.12.1/
 273  debuild -i -us -uc -b
 279  cd develop/
 282  svn co http://svn.tls.cena.fr/svn/ivy/ivy-ocaml/trunk
 283  mv trunk ivy-ocaml
 284  cd ivy-ocaml/
 291  ocamlmklib -o ivy-ocaml ivy.cmo ivyLoop.cmo civy.o civyloop.o  -livy
 293  vim Makefile 
 303  make
 304  sudo make install

Note: if this didn't work for you, please replace the content of your Makefile with this... (add a link to the file)

 306  cd ..
 308  svn co http://svn.tls.cena.fr/svn/ivy/ivy-python/trunk
 309  mv trunk ivy-python
 310  cd ivy-python/
 312  sudo python setup.py
 313  sudo python setup.py install
 315  cd ../..
 317  git clone git://github.com/paparazzi/paparazzi.git
 324  sudo fdisk /dev/mmcblk0
 326  sudo apt-get install subversion
 331  git clone git://github.com/paparazzi/paparazzi.git
 333  cd paparazzi
 334  git checkout -b master_sergiu origin/master
 338  apt-cache search glibivy
 340  cd ../develop/

Note: if you have problems with META.glibivy and/or glibivy-ocaml.mli and/or glibivy-ocaml.a and/or Makefile from ivy-ocaml folder, replace them with the respective files from the archive.

 365  git clone git://github.com/flixr/ivy-ocaml.git
 366  cd ivy-ocaml
 380  git log
 398  sudo rm /usr/local/lib/ocaml/glibIvy.cmi 
 399  sudo rm /usr/local/lib/ocaml/glibivy-ocaml.*
 417  sudo make install
 425  vim /usr/local/lib/ocaml/3.12.0/ivy/META
 426  vim /usr/local/lib/ocaml/3.12.0/glibivy/META 
 434  sudo make install
 438  ocamlfind install  glibivy META glibIvy.mli glibIvy.cmi glibIvy.cmx glibivy-ocaml.cma glibivy-ocaml.cmxa libglibivy-ocaml.a glibivy-ocaml.a dllglibivy-ocaml.so
 445  sudo cp /usr/local/lib/ocaml/3.12.0/* /usr/local/lib/ocaml/ -r
 450  vim /home/sergiu/.opam/system/lib/findlib.conf
 457  vim /etc/ocamlfind.conf 
 464  OCAMLFIND_CONF=/etc/ocamlfind.conf ocamlfind query
 465  export OCAMLFIND_CONF=/etc/ocamlfind.conf 
 467  cp /home/sergiu/.opam/system/lib/findlib.conf /home/sergiu/.opam/system/lib/findlib.conf.old
 468  cp /etc/ocamlfind.conf /home/sergiu/.opam/system/lib/findlib.conf
 477  cd ..
 478  sudo apt-get install cvs
 479  cvs -d:pserver:anonymous@cvs.motion-twin.com:/cvsroot co ocaml/xml-light
 480  wget http://tech.motion-twin.com/zip/xml-light-2.2.zip
 481  unzip xml-light-2.2.zip 
 482  cd xml-light
 485  make
 486  make install
 487  sudo make install
 489  cd ..
 491  wget https://forge.ocamlcore.org/frs/download.php/545/ocaml-http-0.1.5.tar.gz --no-check-certificate
 492  tar -xzvf ocaml-http-0.1.5.tar.gz 
 493  cd ocaml-http_0.1.5/
 495  make
 496  apt-cache search netstring
 497  ocamlobjinfo /usr/lib/ocaml/netstring/neturl.cmi
 501  vim INSTALL 
 502  cd ..
 505  wget "http://downloads.sourceforge.net/project/ocamlnet/ocamlnet/2.2.9/ocamlnet-2.2.9.tar.gz?r=http%3A%2F%2Fsourceforge.net%2Fprojects%2Focamlnet%2F&ts=1365529051&use_mirror=ignum"
 515  mv ocamlnet-2.2.9.tar.gz\?r\=http\:%2F%2Fsourceforge.net%2Fprojects%2Focamlnet%2F\&ts\=1365529051\&use_mirror\=ignum.1 ocamlnet-2.2.9.tar.gz 
 516  tar -xzvf ocamlnet-2.2.9.tar.gz
 517  cd ocaml/ocamlnet-2.2.9
 522  ./configure -enable-gtk2 -with-nethttpd
 523  make all
 526  cd ../../ocaml-4.00.0
 530  ./configure 
 534  exit

Note: if you have problems with INSTALL and/or Makefile from ocaml-4.00.0 folder, replace them with the respective files from the archive.

 539  make compilerlibs
 540  sudo make installopt
 543  cd paparazzi
 545  vim sw/lib/ocaml/Makefile 
 547  sudo apt-get install python-xml
 549  apt-cache xml-light
 550  apt-cache search xml-light
 551  sudo apt-get install libxml-light-ocaml-dev libxmlm-ocaml-dev
 553  apt-cache search ocamlnet
 555  apt-cache search ocaml |grep http
 556  sudo apt-get install libhttp-ocaml-dev 
 557  make ground_segment
 563  vim /usr/lib/ocaml/netclient/http_client.mli
 564  apt-cache search ocamlnet
 565  sudo apt-get remove   libocamlnet-ocaml-bin
 573  opam remove ocamlnet (check where it was installed)
 578  sudo opam install ocamlnet
 579  sudo apt-get install htop
 581  sudo swapon /swapfile1
 582  sudo opam install ocamlnet
 583  apt-cache search liblgtk
 584  apt-cache search lablgtk
 586  sudo apt-get remove liblablgtk2-ocaml
 587  sudo opam install ocamlnet
 588  sudo opam install lablgtk2
 593  sudo opam install lablgtk
 594  sudo opam install ocamlnet
 595  sudo opam install topfind
 600  cd ../develop/ocamlnet-2.2.9
 601  make
 605  cd paparazzi
 607  make 
 608  git status
 610  grep -R root ~sergiu/.opam/
 611  opam
 614  opam init
 615  ocamlfind list
  7  apt-get install openssh-server
  34  login
  60  opam install ocamlnet
  62  echo $DISPLAY
  63  xterm
  64  cd ~sergiu/paparazzi
  65  ./paparazzi
  67  vim pprz_src_test.sh 
  69  vim Makefile
  70  vim sw/simulator/Makefile

Note: if you have problems with pprz_src_test.sh and/or Makefile and/or sw/simulator/Makefile, replace them with the respective files from the archive.

  76  ./paparazzi
  81  opam install ocamlnet
  82  cd /root/.opam/system/build/ocamlnet.3.6.0/src/netstring
  84  make 
  85  make installopt
  86  make install
  87  cd ../..
  91  make
  92  make optinstall
  95  make install
  96  vim Makefile
  98  cd ..
 100  cd ocamlnet.3.6.0/src/netclient/
 101  make install
 103  ocamlfind 
 105  vim     def build(self):
 106  vim /root/.opam/system/lib/findlib.conf
 108  vim /root/.opam/system/lib/findlib.conf
 112  cd /opt/
 114  cp ~sergiu/.opam/system/
 115  cp -r ~/.opam ~sergiu/
 116  chown -R sergiu ~sergiu/.opam
 117  mkdir opam_sw
 118  opam opam config env

1. Which is correct?

 119  opam config env
 120  opam config env --root
 121  opam config env --root /opt/opam_sw/
 122  opam init --root /opt/opam_sw/
 126  opam config
 127  opam list
 130  cd opam_sw/
 132  diff . ~/.opam/
 133  diff -r . ~/.opam/
 134  diff -r ./system/ ~/.opam/system/
 135  cp -r ~/.opam/system/lib system/lib/
 136  cat ~/.bashrc 
 137  . /root/.opam/opam-init/init.sh > /dev/null 2> /dev/null || true
 143  cd ~sergiu/paparazzi
 145  make
 146  opam install xml-light
 147  make
 165  vim     /root/.opam/system/lib/findlib.conf
 166  cp -r /opt/opam_sw/system/lib/xml-light ~/.opam/system/lib/
 167  make
 168  opam install glibivy
 169  opam install glibivy2
 174  cd /home/sergiu/develop/ivy-ocaml/ 
 178  make install
 181  cd ~sergiu/paparazzi
 185  opam install lablgtk
 190  cp  -r  /opt/opam_sw/system/lib/lablgtk* ~/.opam/system/lib/
 193  apt-get install libgnomecanvas2-dev libgnomecanvas2-0
 199  vim sw/lib/ocaml/Makefile
 202  opam install lablgtk2.gnomeui
 210  vim sw/lib/ocaml/Makefile
 211  vim sw/lib/ocaml/META.pprz
 214  mktemp
 215  vim sw/supervision/Makefile
 219  sudo apt-get install  liblablgtk2-ocaml
 221  export LD_LIBRARY_PATH=/usr/lib/ocaml/stublibs/:$LD_LIBRARY_PATH
 223  apt-get install  liblablgtk2-gnome-ocaml
 224  make
 235  export CAML_LD_LIBRARY_PATH=/root/.opam/system/lib/lablgtk2/:/root/.opam/system/lib/:$CAML_LD_LIBRARY_PATH
 245  export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/root/.opam/system/lib/lablgtk2/:/root/.opam/system/lib/:/root/.opam/system/lib/stublibs:/usr/local/lib/ocaml/stublibs
 255  vim sw/ground_segment/multimon/Makefile
 256  vim Makefile
 257  make pprzcenter
 258  make supervision
 260  cd sw/supervision/
 261  make
 262  export PPRZ_HOME=/home/sergiu/paparazzi/
 263  export PAPARAZZI_HOME=/home/sergiu/paparazzi/
 264  export PAPARAZZI_SRC=/home/sergiu/paparazzi/
 265  make supervision
 267  vim Makefile 
 268  vim sw/ground_segment/multimon/Makefile
 269  vim ../ground_segment/multimon/Makefile
 271  make
 272  vim Makefile 
 274  ./paparazzicenter 
 275  cd ../..
 279  cd sw/logalizer/
 280  vim Makefile 
 281  make
 282  vim ../supervision/Makefile 
 285  vim Makefile 
 286  make
 287  cd ../..
 292  vim sw/ground_segment/cockpit/Makefile 
 297  vim sw/ground_segment/multimon/Makefile 
 299  cd sw/ground_segment/multimon/
 300  make clean
 301  make
 302  cd ../../..
 306  vim sw/supervision/Makefile 
 307  vim sw/ground_segment/tmtc/Makefile 
 308  make
 309  cd sw/ground_segment/tmtc/
 310  make clean
 311  make
 312  cd ../../..
 315  vim sw/simulator/Makefile 
 316  cd sw/simulator/mak
 317  cd sw/simulator/
 318  make clean
 319  make
 320  cd ../..
 324  cd sw/ground_segment/joystick/
 332  cd ../tmtc/
 333  cd ../../tools/
 335  vim Makefile 
 336  make clean
 337  cd ../
 339  cd ground_segment/joystick/
 340  make clean
 341  make
 346  cd ../../..
 349  vim Makefile
 350  make
 351  make ground_segment
 353  X&
 354  export DISPLAY=:0
 355  xterm
 356  ./papara
 358  git status
 359  sw/ground_segment/cockpit/gcs  -b 192.168.209:2010
 360  sw/ground_segment/cockpit/gcs 
 361  sw/ground_segment/cockpit/gcs  -b 192.168.209:2010
 362  mkdir /home/dirk
 363  mkdir /home/dirk/nonSynced
 365  ln -s /home/dirk/nonSynced/paparazzi /home/sergiu/paparazzi
 366  ln -s  /home/sergiu/paparazzi /home/dirk/nonSynced/paparazzi
 367  sw/ground_segment/cockpit/gcs  -b 192.168.209:2010

opam init
. /home/sergiu/.opam/opam-init/init.sh > /dev/null 2> /dev/null || true
eval 'opam config env'

If you will get an error when trying to install pcre-ocaml 7.0.2 please follow these steps:

wget https://bitbucket.org/mmottl/pcre-ocaml/downloads/pcre-ocaml-6.2.5.tar.gz
tar -xvzf pcre-ocaml-6.2.5.tar.gz 
cd pcre-ocaml-6.2.5
make
sudo make install

Experimental steps

1. Remove LightDM GUI to preserve Gumstix RAM

{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