K-Team Koa-PicoITX User manual

KOA
KOAKOA
KOA-
--
-PICO
PICOPICO
PICOITX
ITXITX
ITX
User manual
Version 1.0
april 2010

Koa-PicoITX User Manual rev 1.0 2
Documentation Author
Frédéric Lambercy
K-Team S.A.
Rue Galilee 9, Y-Park
1400 Yverdon-les-Bains
Switzerland
Email: [e-mail]
Url: www.k-team.com
LEGAL NOTICE:
•The contents of this manual are subject to change without notice
•All efforts have been made to ensure the accuracy of the content of this manual.
However, should any error be detected, please inform K-Team.
•The above notwithstanding, K-Team can assume no responsibility for any error in this
manual.

Koa-PicoITX User Manual rev 1.0 3
TABLE OF CONTENTS
1. INTRODUCTION..................................................................................................4
1.1 THE KOA-PICOITX ...................................................................................................4
1.2 SPECIFICATIONS ........................................................................................................4
1.3 HOW TO USE THIS HANDBOOK ...................................................................................5
1.4 SAFETY PRECAUTIONS...............................................................................................6
1.5 RECYCLING............................................................................................................... 6
2. UNPACKING AND INSPECTION .....................................................................7
2.1 PACKAGE CONTENT ..................................................................................................7
2.2 KOA-PICOITX OVERVIEW.........................................................................................8
2.3 FIRST START-UP........................................................................................................ 9
2.3.1 Hardware startup.............................................................................................9
2.3.2 Software startup .............................................................................................10
3. USAGE..................................................................................................................11
3.1 ACCESS TO THE KOALA ROBOT................................................................................11
3.2 NETWORK CONFIGURATION.....................................................................................11
3.3 FILE TRANSFER........................................................................................................12
3.4 REMOTE CONNECTION.............................................................................................12
3.5 DIGITAL INPUT/OUTPUT PORTS USAGE .....................................................................12
3.6 MOTORS USAGE ......................................................................................................13
3.7 PAN-TILT CAMERA USAGE .......................................................................................14
4. PROGRAMMING...............................................................................................15
4.1 DIRECTLY ON THE ROBOT........................................................................................15
4.1.1 Template program..........................................................................................15
4.1.2 Using examples ..............................................................................................16
4.2 ON ANOTHER COMPUTER.........................................................................................18
5. SOFTWARE REINSTALLATION ...................................................................19
5.1 UBUNTU INSTALLATION ..........................................................................................19
5.2 LIBKOREBOT INSTALLATION....................................................................................19
5.3 COMPILER INSTALLATION........................................................................................19
5.4 DRIVERS INSTALLATION..........................................................................................19
5.4.1 i2c driver........................................................................................................19
5.4.2 gpio driver......................................................................................................20
6. WARRANTY........................................................................................................22

Koa-PicoITX User Manual rev 1.0 4
1. INTRODUCTION
1.1 The Koa-PicoITX
Thank you for buying Koa-PicoITX extension. This computer extension for Koala will
give you the opportunity to make advanced embedded applications. Thanks to its powerful
processor, the Koa-PicoITX is perfect for image processing, mapping and odometry
calculation. The Koa-PicoITX was developed to work with a Koala, but can be used as a
standalone mini-computer in your own application.
1.2 Specifications
The Koa-PicoITX is based on an EPIA-P700-10L pico-ITX board from VIA. The
main board is connected to a special board which provide different IO, an additional serial
port, a power-button, led indication and the possibility to mount up to two KoreMotorLE
to drive four motors (for two Pan-Tilt cameras). The case is in anodized aluminum to
protect the main board and its extensions.
Model Name EPIA-P700-10L
Processor 1.0GHz VIA C7® 500MHz VIA EdenTM ULV
Chipset VIA VX700 Unified Digital Media IGP chipset
RAM 1GB
Hard drive 80GB, Maxtor MobileMax STM980215A
System Memory DDR2 533/667 SODIMM socket (effective speed to 533MHz)
VGA Integrated VIA UniChrome™ Pro II 3D/2D AGP graphics with
MPEG-2/4 and WMV9 video decoding acceleration
LAN Gigabit Ethernet port controlled by a
VIA VT6122 Gigabit LAN controller
Audio Line-out, Line-in, & Mic-in controlled by a
VIA VT1708B High Definition Audio Codec
BIOS Award BIOS
4/8Mbit flash ROM
I/O Connectors 2x DB9 serial port male connector
1x VGA connector
1x Gigabit Ethernet connector
3x USB 2.0 ports
3x Audio jacks: (Line-out, Line-in, Mic-in)
Up to 4 Motor connectors
2x Terminal Blocks (Supply, IO & I2C bus)
1x KoreBot power supply connector (+12V, +5V & GND)
Operating system Linux Ubuntu 9.10
System Monitoring &
Management Wake-On LAN, Keyboard Power-on, Timer Power-on System power management, AC power failure recovery
Watch Dog Timer
Operating Temperature 0°C ~ 50°C
Operating Humidity 0% ~ 95% (relative humidity; non-condensing)
Dimensions 145 x 125 x 91 mm
Weight 860g

Koa-PicoITX User Manual rev 1.0 5
1.3 How to use this handbook
This handbook introduces the Koa-PicoITX extension and how to use it. For a quick
start, jump to section 2.3, "First Start-up".
If this handbook does not answer one of the problems you are confronted with, please
consult the K-Team web site (www.k-team.com) and, especially the Forum and the FAQs.
•Unpacking and Inspection: Koa-PicoITX’s package description and first start-up.
•Hardware installation: explanation on how to mount the Koa-PicoITX on a
Koala and how to mount extension inside the case.
•Usage: description of the usage of the PicoITX and its devices.
•Programming: description of the programming methods of the Koa-
PicoITX.
•Software reinstallation: instruction to reinstall all the software needed to
program the Koa-PicoITX.
•Warranty: legal notice on the Koa-PicoITX Warranty.

Koa-PicoITX User Manual rev 1.0 6
1.4 Safety precautions
Here are some recommendations on how to correctly use the Koa-PicoITX extension:
•Keep the case away from wet area. Contact with water could cause malfunction
and/or breakdown.
•Store your computer in a stable position. This will avoid the risks of falls, which
could break it or cause damage to a person.
•Use only the official supply cable which is delivered with the Koa-PicoITX. Do
not try to use another charger; this can cause irreversible damage to the battery.
•Never leave the Koala and its Pico-ITX powered when it is unused. When you
have finished working with Koala, turn it off. It will save the battery life
1.5 Recycling
Think about the end of life of your robot! Parts of the robot can be recycled and it is
important to do so. It is for instance important to keep batteries out of the solid waste
stream. When you throw away a battery, it eventually ends up in a landfill or municipal
incinerator. These batteries, which contain Lithium Polymer, can contribute to the toxicity
levels of landfills or incinerator ash. By recycling the batteries through recycling
programs, you can help to create a cleaner and safer environment for generations to come.
For those reasons please take care to the recycling of your robot at the end of its life cycle,
for instance sending back the robot to the manufacturer or to your local dealer.
Thanks for your contribution to a cleaner environment!

Koa-PicoITX User Manual rev 1.0 7
2. UNPACKING AND INSPECTION
2.1 Package Content
Figure 2.1: Content of the Koa-PicoITX extension
Your package should contain the following items:
1. Koa-PicoITX box
2. Koa-PicoITX Support CD
3. Power Supply cable
4. Serial cable (DB9->DB15)
5. 4x fixation screws

Koa-PicoITX User Manual rev 1.0 8
2.2 Koa-PicoITX Overview
Figure 2.2: Koa-PicoITX overview
1Motor connector M1
2Motor connector M3
3Power supply connector, use the 3 color cable (red = 5V, yellow = 12V, black = GND)
4Motor connector M2
5Motor connector M0
6Terminal block
•1 : +5V
•2 : +3.3V
•3 : I2C clock
•4 : I2C data
•5 : GND
•6 : GPIO2
•7 : GPIO3
•8 : GPI4
•9 : GPI5
•10:GND
7Audio jacks connector (Line-IN, Line-OUT, Mic-IN)
8USB 2.0 connectors
9COM0 serial connector (/dev/ttyS0)
10 Power button
11 Power LED indicator
12 Hard Drive LED indicator
13 VGA output
14 USB serial port (/dev/ttyUSB0)
15 Gigabit Ethernet connector

Koa-PicoITX User Manual rev 1.0 9
2.3 First Start-up
2.3.1 Hardware startup
If you have received the Koa-PicoITX already mounted and connected to a Koala,
you can directly jump to the section "Software startup". In other case, please be sure to
respect all of the guidelines below.
All manipulations must be executed when Koala is turn off. To avoid any
damage, please remove the battery of the Koala during all the process.
To mount the Koa-PicoITX box on a Koala, you must first unmount the black
protection plate at the rear of the Robot. Place the Koa-PicoITX box on the four fixations
points (see n°2 in page 5 of the "Koala User Manual"); the rear size of the box must be turned
at the back of the Robot.
http://ftp.k-team.com/koala/documentation/KoalaSilverUserManual.pdf
Connect the serial cable to the USB serial port (n°14 in the overview) and the RS232
serial port on the rear of the Koala (see n°4 page 4 in the "Koala User Manual"). Place the
jumper in the back “DCE” serial line position (see page 8 in the "Koala User Manual") and set
the running mode selector of the Robot to the position A (115200bps communication).
Connect a VGA monitor, an USB keyboard and an USB mouse to the Koa-PicoITX.
Connect the power supply cable to the Koala terminal blocks as describe below:
- Yellow => +VBAT (+12V)
- Red => VCC (+5V)
- Black => GND (power ground)
(See page 16 of the Koala User Manual for more details)
And finally, connect the supply cable to the Koa-PicoITX (see connector n°3 in the
overview).
Then plug the battery (or the DC/DC converter) in the Robot, turn on the Koala
Robot and push the power button of the Koa-PicoITX. The boot of the computer must appear
on the screen. Then follow the "Software startup" instructions.

Koa-PicoITX User Manual rev 1.0 10
2.3.2 Software startup
At the login, enter the default user name and password as follows:
username: picoitx
password: root <= this will also be the sudo password for the
following chapters.
You will arrive at the desktop depicted in the figure below. You have the
menu bar at the top of the desktop, with direct access to help, file manager,
terminal consol, network manager and logout buttons.
You can have more help at http://help.ubuntu.com/.
Figure 2.3: Ubuntu desktop
The system should be already fully working with the gcc compiler installed and the
libkorebot. See chapter 4, PROGRAMMING" for software development and the next chapter
for using the different features.
Terminal / console quick access
Network manager logout
File manager
help