OpenSource Software

Git Repositories


Develop Notes

Current Status

  • Support only publisher & subscriber.
  • Support only one topic per one xel.
  • Support USB to DYNAMIXEL bypass on CommXel.
  • Support basic message types.
  • PlugAndPlay (You can limit the range of IDs to search for performance)

Plan

  • Support service, action, parameter.
  • More sophisticated real-time performance
  • Supports various message types
  • GUI program release
  • Support IDE likes Arduino for user customizing for SensorXel.
  • Support multi topics on one device.
  • Improved performance.
  • Clean code.


Development

Get Xel's source from git

$ cd && mkdir -p ~/workspace/source && cd ~/workspace/source
$ git clone --recursive https://github.com/ROBOTIS-GIT/XelNetwork_CommXel.git -b develop
$ git clone --recursive https://github.com/ROBOTIS-GIT/XelNetwork_SensorXel.git -b develop
$ git clone --recursive https://github.com/ROBOTIS-GIT/XelNetwork_PowerXel.git -b develop

TrueStudio (IDE option #1)

  • Install TrueStudio Please refer to this link to install A

  • Import Xel's project to TrueStudio's workspace

    • Click [File] - [Import..] on the top menu
    • Click [Existing Projects into Workspace] in [General], click [Next >] button.
      • Enter path as shown below.
      • Select root directory: ~/workspace/source
    • Select projects list below in [Projects:]
      • commXel_app (in project/trueStudio)
      • commXel_boot (in project/trueStudio)
      • sensorXel_app (in project/trueStudio)
      • sensorXel_boot (in project/trueStudio)
      • powerXel_app (in project/trueStudio)
      • powerXel_boot (in project/trueStudio)
    • Click [Finish]

EclipseCDT (IDE option #2)

$ mkdir ~/tools && cd ~/tools
$ wget https://launchpad.net/gcc-arm-embedded/5.0/5-2016-q2-update/+download/gcc-arm-none-eabi-5_4-2016q2-20160622-linux.tar.bz2
$ tar -xvjf gcc-arm-none-eabi-5_4-2016q2-20160622-linux.tar.bz2
$ ./gcc-arm-none-eabi-5_4-2016q2/bin/arm-none-eabi-gcc --version

$ cd ~/tools
$ wget https://github.com/gnuarmeclipse/openocd/releases/download/gae-0.10.0-20170124/gnuarmeclipse-openocd-debian64-0.10.0-201701241841.tgz
$ tar xvf gnuarmeclipse-openocd-debian64-0.10.0-201701241841.tgz
$ ./openocd/0.10.0-201701241841/bin/openocd --version
$ sudo cp ./openocd/0.10.0-201701241841/contrib/60-openocd.rules /etc/udev/rules.d
$ sudo udevadm control --reload-rules
$ sudo udevadm trigger

  • Eclipse CDT

  • GNU ARM Eclipse Plugin

    • Click [Help] - [Install New Software] on the top menu of Eclipse.
    • In the pop-up window, click [Add ... ] Button.
    • Enter the following in the [Add Repository] popup window.
      • Name : GNU ARM Eclipse Plug-ins
      • Location : http://gnuarmeclipse.sourceforge.net/updates
    • Check all and install GNU ARM C/C++ Cross Develoment Tools
    • When you install it, the warning "unsigned content" appears in the middle of the installation. If so, press the [OK] button to proceed with the installation.

  • Eclipse Setting

    • Set Global Toolchain path
      • Click [Windows] - [Preferences] on the top menu
      • Click [C/C++] - [Build] - [Workspace Tools] on the left menu of the popup window
      • Enter Path as shown below.
        • Toolchain folder: ~/tools/gcc-arm-none-eabi-5_4-2016q2/bin
    • Set OpenOCD path
      • Click [Windows] - [Preferences] on the top menu
      • Click [Run / Debug] - [OpenOCD] on the left menu of the popup window
      • Enter Path as shown below.
        • Executable: openocd
        • Folder: ~/tools/openocd/0.10.0-201701241841/bin
      • Click [Apply]
    • Set String Substitution for ExternalTool argument
      • Click [Windows] - [Preferences] on the top menu
      • Click [Run / Debug] - [String Substitution] on the left menu of the popup window
      • Click [New..] button and enter variable, value as shown below.
        • Name: COM_PORT
        • Value: /dev/ttyACM0

  • Import Xel's project to EclipseCDT's workspace

    • Click [File] - [Import..] on the top menu
    • Click [Existing Projects into Workspace] in [General], click [Next >] button.
      • Enter path as shown below.
      • Select root directory: ~/workspace/source
    • Select projects list below in [Projects:]
      • commXel_app (in project/eclipse)
      • commXel_boot (in project/eclipse)
      • sensorXel_app (in project/eclipse)
      • sensorXel_boot (in project/eclipse)
      • powerXel_app (in project/eclipse)
      • powerXel_boot (in project/eclipse)
    • Click [Finish]

Introducing source tree structure

  • common F/W architecture

  • commXEL F/W architecture