CMPE 117 - Lab, Esterel, and LegOS information

Lab Information

First time software setup:

• Log in into the linux server at CATS:
  ssh -l linux.ic.ucsc.edu
• Copy the LegOS in your home directory (you need approximately 1.6 MB of space):
  cp /afs/cats.ucsc.edu/users/f/luca/public_html/legOS.tgz .
• Unpack LegOS:
  tar xfvz legOS.tgz

To compile with LegOS and Esterel:

• Be sure that you have the following directory in your path:
  /afs/cats.ucsc.edu/users/f/luca/public_html/esterelv5_21/bin
  To insert it in the path, if you are using tcsh or csh, you can execute the following or put it into your .cshrc.mine file:
  setenv PATH /afs/cats.ucsc.edu/users/f/luca/public_html/esterelv5_21/bin:$PATH
• Go to the directory legOS/esterel, which is where you can keep your code.
• If your Esterel program is called try.strl, do:
  • Compile the Esterel into C:
    esterel -LLego try.strl
    The resulting code is left in try.c.
  • Compile the C into LegOS executable:
    make try.lx
    
  • The resulting file, try.lx, has to be installed on the Lego. See the following instructions for doing so in the lab.

How to install the code on the Lego, in the lab:

• Get a Cygwin B20 shell (not the most recent implementation of Cygwin, but use this one), and go to the directory /legOS-0.2.4/legOS. If there is no sub-directory named code, create it.
• If it is not there yet, copy legOS.srec from your unix CATS directory legOS/boot; DO NOT use the legOS.srec that comes with your windows distribution in ../boot as it will not work.
• To transfer programs from your cats account to your Windows machine, use the secure shell application. Put the *.lx files in the code sub-directory mentioned above.
  Hint: if you have weird problems with permissions denied (I had), just work in your public_html sub-directory of your cats account. The problems have to do with how permissions are set up on cats, and this is something I do not fully understand; it has something to do with the fs setacl command.
• The first time, or whenever you take the batteries out of the Lego, you have to load the LegOS firmware onto the Lego brick, with the command:
  ../util/firmdl3 --slow legOS.srec
• If you want to install a file, for example try.lx, on the Lego, do:
  ../util/dll lego_light.lx
• You are now ready to run your program!

Thanks