creating rt components (nxtway edition)

#contents #clear

Introduction

This section explains how to connect NXT MINDSTORM with an OpenRTM Bluetooth component and control NXT MINDSTORM.
It explains how to install software on NXT MINDSTORM, basic operations, and how to connect it to RT components.

Environment Setup

Assembling LEGO

Required parts
- LEGO MINDSTORMS Education NXT Base Set
  - Product ID: W979797

LEGO Education Resource Set
- Product ID: W979648

NXT Gyro Sensor
- Part No : NGY1044

How to assemble LEGO
- Refer to “NXTway-GS_Building_Instructions.pdf”
- Download : http://lejos-osek.sourceforge.net/NXTway-GS_Building_Instructions.pdf

nxtOSEK Environment Setup (Windows XP/Vista)

Installing Cygwin
- Cygwin makes it possible to run various Linux software in a Windows environment
- Download : http://www.cygwin.com/
- Configuration options
  - Root Directory : c:\cygwin
  - Select Packages : Select and install “make 3.81-1” in the Devel category and “libintl3” in the Libs category
Installing GNU ARM (must be 4.0.2)
- GNU ARM is a GCC compiler package that supports the ARM7 core processor (AT91SAM7S256) of NXT
- Download : bu-2.16.1_gcc-4.0.2-c-c++_nl-1.14.0_gi-6.4.exe
- Configuration options
  - Diriectory : c:\cygwin\GNUARM
  - Select Components : Do not select “Floating Point Unit”
  - Select Additional Tasks : Do not select “Install Cygwin DLLs…”
Installing the LEGO MINDSTORMS NXT Driver
- This is a USB communication driver for NXT provided by LEGO
- Download : http://mindstorms.lego.com/en-us/support/files/Driver.aspx
- Install the PC version of Driver 1.02
Downloading NeXTTool
- NeXTTool is a PC console for communication with NXT, and can upload i*.rxe (apps) and *.rfw (firmware) to NXT
- Download : http://bricxcc.sourceforge.net/nexttool.zip
- Configuration options
  - Extraction directory : “c:\cygwin\nexttool”
Downloading the enhanced NXT firmware
- The enhanced NXT firmware is based on the standard NXT firmware and extends its functionality
- It can also execute native code for the ARM7 core CPU of NXT
- Download : http://bricxcc.sourceforge.net/nexttool.zip
- Configuration options
  - Copy only lms_arm_nbcnxc_107.rfw
  - Copy directory : c:\cygwin\nexttool
Downloading nxtOSEK
- Download version 2.13
- Download : http://bricxcc.sourceforge.net/nexttool.zip
- Configuration options
  - Extraction directory : c:\cygwin\nxtOSEK
Adding the “sg.exe” file
- Download : http://www.toppers.jp/download.cgi/osek_os-1.1.lzh
- Extract it, and copy the “sg.exe” file located under the “sg” folder inside the “toppers_osek” folder to the “c:\cygwin\nxtOSEK\toppers_osek\sg” folder

Uploading the Enhanced NXT Firmware to NXT

NXT firmware update mode
- With the power ON, keep pressing the reset button with the tip of a safety pin for about 5 seconds

You will hear a small clicking sound from the NXT speaker
Connect NXT and the PC via USB
Starting Cygwin and uploading the enhanced firmware Start cygwin
- Enter the following commands
```
 $cd c:\cygwin\nexttool
 $./NeXTTool.exe /COM=usb -firmware=lms_arm_nbcnxc_107.rfw
```
- When the upload is complete, the NXT LCD screen will look like static noise
- If the NXT buttons cannot be operated, remove the NXT battery and attach it again to start the enhanced NXT firmware

Modifying and Compiling the NXTway Source

Modifying, compiling, and uploading the source on the NXT side

Source modification
- In “sample.cpp” in the “c:\cygwin\nxtOSEK\samples_c++\cpp\NXTway_GS++” folder

If you search for “btConnection.connect”, you can find the function in the following “Main Task”

 //=============================================================================
 // Main Task
 TASK(TaskMain)
 {
 	// establish blutooth connection with a PC to use a PC HID GamePad controller
 	BTConnection btConnection(bt, lcd, nxt);
 	(void)btConnection.connect(BT_PASS_KEY);
 
 	for (U32 i = 5; i <= Lcd::MAX_CURSOR_Y; i++) lcd.clearRow(i);
 	lcd.cursor(0,5);
 	lcd.putf("snsns", "TOUCH:START/STOP", "STAND IT UP AND", "WAIT FOR A BEEP.");
 	lcd.disp();
 	SetRelAlarm(Alarm4msec, 1, 4); // Set 4msec periodical Alarm for the drive event
 
 	while(1)
 	{
 		sonarDriver.checkObstacles(sonar);
 		clock.wait(40); // 40msec wait
 	}
 }

Modify “(void)btConnection.connect(BT_PASS_KEY);” as follows

 (void)btConnection.connect(BT_PASS_KEY, "alias")

Enter a name that you can identify in the “alias” part

Compilation

Start cygwin

 $cd c:\cygwin\nxtOSEK\samples_c++\cpp\NXTway_GS++

On cygwin, in the folder above, “C:\cygwin\nxtOSEK\samples_c++\cpp\NXTway_GS++”

 $make all
 ...
 Generating binary image file: nxtway_gs++_rom.bin
 Generating binary image file: nxtway_gs++_ram.bin
 Generating binary image file: nxtway_gs++_.rxe
 $

If you see a message like the one above, compilation is complete

Uploading to NXT
- Connect the NXT containing the enhanced NXT firmware via USB
- In the compiled cygwin state
```
 $sh ./rxeflash.sh
 Executing NeXTTool to upload nxtway_gs++.rxe...
 nxtway_gs++.rxe=34240
 NeXTTool is terminated.
 $
```
- If you see a message like the one above, the upload is complete

Operation Check

Starting on the NXT Side

Wait in state ⑦ in the figure below

;

Starting the RTC on the PC Side

Start the OpenRTM-aist Naming Service

Start the TkJoyStickComp component

Bluetooth connection
- Connect Bluetooth to the PC

Connect the Bluetooth device with the name entered in the “alias” part

The Password is basically set to “1234”

Check the connected Bluetooth Comport

Starting the Bluetooth component
- Download BluetoothComp.zip(No corresponding page available.)
- After extracting BluetoothComp.zip, execute the “NXTBlueToothComp.exe” file in the “components” folder

Starting RT System Editor
- Start RT System Editor as shown in the figure below

Adding Naming Service
- Click the add button as shown in the figure below and add “127.0.0.1”

Placing components
- Place the components as shown in the figure below

Connect TkJoyStickComp and the Bluetooth component
- Connect TkJoyStickComp and BluetoothComp as shown in the figure below

In the Configuration View of the Bluetooth component, enter the confirmed Comport number in the “m_COM” variable

Activate

When the connection is complete, the NXT side will look like the figure below