This is a draft page currently used to make notes to myself
Hardware
Software
TODO Notes on
- /dev/rtc (acess rights)
- /dev/pcan* (create)
- /dev/mxser (create) Moxa
- /dev/ttyM* (create) Moxa
- /dev/atifts (create, build module)
- /dev/genrci (create, build module)
Kernel 2.4.x configuration
Arcnet
The SH-ARC SoHard ARCnet card shows up as:
Bridge: PLX Technology, Inc. PCI <-> IOBus Bridge (rev 02)
Support is included in the linux kernel source. The modules arcnet, arcnet_raw and com20020 need to be activated in the kernel configuration:
CONFIG_ARCNET=m CONFIG_ARCNET_RAW=m CONFIG_ARCNET_COM20020=m CONFIG_ARCNET_COM20020_PCI=m
The file /etc/modules.conf contains:
# by Torsten Scherer probeall arc0 com20020-pci arc-rawmode options com20020-pci backplane=1 clockm=1
On Debian with a kernel 2.4 the options can be put into a seperate file like /etc/modutils/robot. The script update-modules merges all configurations into /etc/modules.conf.
The file /etc/modules contains:
# arcnet arcnet com20020 com20020-pci arc-rawmode
After booting the machine, the kernel or dmesg should report something like:
arcnet: v3.93 BETA 2000/04/29 - by Avery Pennarun et al. arcnet: COM20020 chipset support (by David Woodhouse et al.) arcnet: COM20020 PCI support PCI: Found IRQ 3 for device 02:0e.0 arc0: SOHARD arc0: PLX Technology, Inc. PCI <-> IOBus Bridge: station FFh found at AC00h, IRQ 3. arc0: Using backplane mode. arc0: Using CKP 64 - data rate 5 Mb/s. arcnet: raw mode (`r') encapsulation support loaded.
Afterwards the Arcnet device can be brought up as root:
marvin:~# ifconfig arc0 up
or by a startup script.
TODO: /etc/modules
TODO: /etc/init.d/arcnet
Ethernet
The onboard Intel ethernet adapter:
Ethernet controller: Intel Corporation 82801BA/BAM/CA/CAM Ethernet Controller (rev 03)
is well supported by linux system kernels. The following options are enabled in the kernel configuration:
CONFIG_NET_ETHERNET=y CONFIG_NET_PCI=y CONFIG_E100=m
To bring up the network device automatically on boot time the file /etc/network/interfaces contains:
# The primary network interface auto eth0 iface eth0 inet dhcp
The file /etc/modules contains:
# ethernet e100
Wireless LAN
The robot’s D-Link DWL G650 network adapter has the firmware version B2 and therefore an Atheros 5212 chipset. It is identified as:
Ethernet controller: Atheros Communications, Inc. AR5212 802.11abg NIC (rev 01)
Linux support for the Atheros chipset is contained in the madwifi package http://www.madwifi.org/.
The network adapter is inserted into a CardBus adapter with the Ricoh RL5c475 chipset:
CardBus bridge: Ricoh Co Ltd RL5c475 (rev 80)
which is supported by the Linux-kernels yenta driver.
Kernel CardBus support
The kernel was compiled with the following PCMCIA/CardBus options:
CONFIG_PCMCIA=m CONFIG_CARDBUS=y # CONFIG_TCIC is not set # CONFIG_I82092 is not set # CONFIG_I82365 is not set
Additionaly the pcmcia-cs package needs to be installed, which is available for most linux distributions or athttp://pcmcia-cs.sourceforge.net/.
Installation of the madwifi driver
There are two madwifi driver trunks available: madwifi-old and madwifi-ng. Seehttp://www.madwifi.org/wiki/UserDocs/GettingMadwifi for details. Both were tested and seemed to work with the network adapter, however a WPA encrypted connection utilising the wpa_supplicant driver to the Linksys WRT54G access point could only be established using the old trunk. According to http://hostap.epitest.fi/cgi-bin/viewcvs.cgi/*checkout*/hostap/wpa_supplicant/ChangeLog?rev=HEAD&content-type=text/plain wpa_supplicant will support the madwifi-ng driver with version 0.4.7.
The driver was downloaded into the modules source directory, built and installed:
cd /usr/src/modules svn checkout http://svn.madwifi.org/trunk madwifi-old cd /usr/src/modules/madwifi-old export KERNELRELEASE=2.4.37.1-custom make make install
After the installation of the madwifi driver it seemed that there was still a memory allocation error:
ath_pci: cannot reserve PCI memory region
According to http://www.linuxquestions.org/questions/archive/41/2004/08/4/189870 I modified the file /usr/src/linux/drivers/pcmcia/yenta.c in function yenta_allocate_res from:
mask = ~0xfff;
to:
mask = ~0xffff;
to increase the granularity of the memory allocation. Afterwards the ath0 device came up properly:
ath_hal: 0.9.14.9 (AR5210, AR5211, AR5212, RF5111, RF5112, RF2413) wlan: 0.8.6.0 (EXPERIMENTAL) ath_rate_onoe: 1.0 ath_pci: 0.9.6.0 (EXPERIMENTAL) ath0: 11b rates: 1Mbps 2Mbps 5.5Mbps 11Mbps ath0: 11g rates: 1Mbps 2Mbps 5.5Mbps 11Mbps 6Mbps 9Mbps 12Mbps 18Mbps 24Mbps 36Mbps 48Mbps 54Mbps ath0: turboG rates: 6Mbps 9Mbps 12Mbps 18Mbps 24Mbps 36Mbps 48Mbps 54Mbps ath0: H/W encryption support: WEP AES AES_CCM TKIP ath0: mac 7.9 phy 4.5 radio 5.6 ath0: Use hw queue 1 for WME_AC_BE traffic ath0: Use hw queue 0 for WME_AC_BK traffic ath0: Use hw queue 2 for WME_AC_VI traffic ath0: Use hw queue 3 for WME_AC_VO traffic ath0: Use hw queue 8 for CAB traffic ath0: Use hw queue 9 for beacons Debugging version (ATH) ath0: Atheros 5212: mem=0x10400000, irq=5
iwconfig showed:
ath0 IEEE 802.11 ESSID:""
Mode:Managed Frequency:2.412 GHz Access Point: 00:00:00:00:00:00
Bit Rate:0 kb/s Tx-Power:20 dBm Sensitivity=0/3
Retry:off RTS thr:off Fragment thr:off
Power Management:off
Link Quality=0/94 Signal level=-95 dBm Noise level=-95 dBm
Rx invalid nwid:0 Rx invalid crypt:0 Rx invalid frag:0
Tx excessive retries:0 Invalid misc:0 Missed beacon:0
To let hotplug bring up/down the Atheros ath0 device properly everytime the network adapter is inserted into the CardBus slot or taken out of it, the following lines are necessary in the /etc/network/interfaces file on a Debian system:
# The wireless network device
# The following line should be used instead of the other 3 lines if hotplug
# is 20050329-25 or newer
# allow-hotplug ath0
mapping hotplug
script grep
map ath0
Installation of the wpa_supplicant driver
The wpa_supplicant driver was installed as it comes with Debian. The version, the debian package relies on is 0.4.4. DHCP didn’t work, so the IP was set up statically in /etc/network/interfaces:
iface ath0 inet static
address 192.168.1.110
essid "Robot Project"
up /usr/sbin/wpa_supplicant -B -w -i ath0 -D madwifi -c /etc/wpa_supplicant.conf
The file /etc/default/wpasupplicant.conf needs to contain:
ENABLED=1
The file /etc/wpa_supplicant.conf file contains:
ctrl_interface=/var/run/wpa_supplicant
ctrl_interface_group=0
eapol_version=1
ap_scan=0 # This is important! It didn't work with ap_scan=1
fast_reauth=1
network={
scan_ssid=0
proto=WPA
key_mgmt=WPA-PSK
pairwise=CCMP TKIP
group=CCMP TKIP WEP104 WEP40
ssid="Robot Project"
#psk="<key>"
psk=<key>
}
The interface is started with WPA encryption by executing:
/usr/sbin/wpa_supplicant -B -d -w -i ath0 -D madwifi -c /etc/wpa_supplicant.conf iwconfig ath0 essid "Robot Project" ifconfig ath0 192.168.1.110
TODO upload
* /etc/defaults/wpasupplicant * /etc/wpa_supplicant * /etc/init.d/ath0
References
Graphics Adapter
The onboard graphics adapter is identiefied as:
VGA compatible controller: Silicon Integrated Systems [SiS] 315PRO PCI/AGP VGA Display Adapter
Support is included in the linux kernel source. The following modules have been activated:
# Direct Rendering Manager (XFree86 DRI support) CONFIG_DRM=y # DRM 4.1 drivers CONFIG_DRM_NEW=y CONFIG_DRM_SIS=m # Frame-buffer support CONFIG_FB=y CONFIG_DUMMY_CONSOLE=y CONFIG_VIDEO_SELECT=y CONFIG_FB_SIS=m CONFIG_FB_SIS_315=y CONFIG_FBCON_CFB8=m CONFIG_FBCON_CFB16=m CONFIG_FBCON_CFB32=m CONFIG_FONT_8x8=y CONFIG_FONT_8x16=y # AGP CONFIG_AGP=m CONFIG_AGP_INTEL=y CONFIG_AGP_SIS=y
Although there is no support for hardware 3D acceleration for the SiS 315Pro, DRM and Framebuffer support were activated to be able to load the X-server’s dri and glx modules to support mesa software rendering. Framebuffer support is necessary because of some memory management functions in the kernel’s sisfb module.
References
- Linux SiS driver: http://www.winischhofer.at/linuxsisvga.shtml.
Sound Card
Support for the integrated sound card:
Multimedia audio controller: Intel Corporation 82801BA/BAM AC'97 Audio (rev 05)
is included in the linux kernel source. It is enabled by providing the following kernel configuration lines:
CONFIG_SOUND=m CONFIG_SOUND_ICH=m
Framegrabber
The analog camera is connected to a Matrox Meteor 1 Framegrabber. The drivers were placed in the modules source directory /usr/src/modules/meteor-2.2.x. They were built and installed by executing:
cd /usr/src/modules/meteor-2.2.x make make install ./MAKEDEV
The following lines were added to the file /etc/modutils/robot:
# # matrix meteor framegrabber # alias char-major-122 himemfb alias char-major-40 meteor
Furthermore the linux kernel needs to be booted with the option mem=252m. Otherwise you might see the error message:
ioctl(METEORSETGEO): Cannot allocate memory
The whole line in the /boot/grub/menu.lst file is as follows:
kernel /vmlinuz-2.4.31-custom root=/dev/hda7 ro mem=252m
[Update]
The Matrox meteor + lipstick camera have been replaced by an IEEE1394 Firewire camera: AVT Marlin.
Serial Card
Both SICK laserscanners are connected to a Moxa serial board with a modified quartz. The board shows up as:
Serial controller: Moxa Technologies Co Ltd: Unknown device 1320 (rev 02)
The driver is placed in the modules source directory /usr/src/modules/mxser-1.3. It was built and installed by executing:
cd /usr/src/modules/mxser-1.3 make make install cd driver ./msmknod
msmknod creates the neccessary device files /dev/ttyM0 – /dev/ttyM7.
/etc/modutils/robot was extended by:
# # ++itschere20030820: moxa serial card # # alias char-major-172 rt_com_moxa alias char-major-30 mxser options mxser verbose=1
CAN Bus
The CAN Bus is supported by the PEAK Linux driver http://www.peak-system.com/linux/.
It is placed in /usr/src/modules/peak-linux-driver-1.40 and was installed by executing:
cd /usr/src/modules/peak-linux-driver-1.40 make make install
The following lines were added to the /etc/modutils/robot file:
# # "pcan" parallel port can bus dongle # alias char-major-253 pcan options parport_pc io=0x378 irq=7 options pcan type=epp # Martin Wojtczyk: The following 4 lines were added by the # peak-linux-driver-1.40 installation routine # pcan - automatic made entry, begin -------- # options pcan type=isa,epp # see documentation post-install pcan /usr/local/bin/pcan_make_devices 2 # pcan - automatic made entry, end ----------
[Update]
I did not get the 1.4 pcan drivers to work anymore – even with the old debian 3.1 distribution. However the peak-linux-driver.6.7.tar.gz worked fine. Instructions are the same.
ATI force-/torque sensor
The driver for the ATI force-/torque-sensor is located in /usr/src/modules/fts-3.1.
It was built and installed by executing:
cd /usr/src/modules/fts-3.1 make make install # make sure the kernel module is built cd /usr/src/modules/fts-3.1/arc/ati make all make install
The following lines were added to the /etc/modutils/robot file:
# # ati force/torque sensor # alias char-major-42 atifts
TODO modifications for compile
GENRCI
GENRCI is an additional kernel module which is necessary for rccl. The source can be found in a subdirectory of rccl: rccl.5.1.4/sys/Linux/rciext. It is installed by executing:
cd rccl.5.1.4/sys/Linux/rciext make make install
and by adding the following lines to /etc/modutils/robot:
# # generic rccl and pa10 driver # alias char-major-60 genrci alias char-major-61 genrci
TODO modifications for compile
RCCL
To install Torsten Scherer’s RCCL library:
Set the environment variables appropriately: see .bashrc
Install X11 dev/header files (debian 3.1: libx11-dev)
svn co https://.../rccl.5.1.4/trunk rccl.5.1.4 cd rccl.5.1.4 make su make install
Kernel 2.6.x configuration
Arcnet
Make sure the the kernel supports arcnet, arcnet_raw and the com20020 chipset:
CONFIG_ARCNET=m CONFIG_ARCNET_RAW=m CONFIG_ARCNET_COM20020=m CONFIG_ARCNET_COM20020_PCI=m
Load the com20020-pci with the appropriate options by creating a file like /etc/modprobe.d/robot:
options com20020-pci backplane=1 clockm=1
The file /etc/modules should contain the following lines:
# arcnet: load arcnet related modules for pa10 arcnet com20020 com20020-pci arc-rawmode
After booting the machine, the kernel or dmesg should report something like:
arcnet: v3.93 BETA 2000/04/29 - by Avery Pennarun et al. arcnet: COM20020 chipset support (by David Woodhouse et al.) arcnet: COM20020 PCI support PCI: Found IRQ 3 for device 0000:02:0e.0 arc%d: SOHARD arc%d: PCI COM20020: station FFh found at AC00h, IRQ 3. arc%d: Using backplane mode. arc%d: Using CKP 64 - data rate 5 Mb/s. arcnet: raw mode (`r') encapsulation support loaded.
Afterwards you can bring up the Arcnet device as root:
marvin:~# ifconfig arc0 up
or let it be done by a startup script.
Important configuration files
kernel 2.4 and 2.6 TODO: upload the following files
- /etc/modutils/robot
- /etc/init.d/arcnet
- /usr/src/linux/drivers/pcmcia/yenta.c (optional or patch)
- /etc/network/interfaces
- /etc/defaults/wpasupplicant
- /etc/wpa_supplicant
- /etc/modules
- /etc/X11/xorg.conf
kernel 2.4 specific
kernel 2.6 specific