Gumstix and Robostix Setup

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In order to use the Robostix HIL driver, the Robotstix AVR and the Gumstix must be setup properly. This page summaries the setup procedure.

Setup

The Robostix AVR must first be programmed with its open-source I²C bootloader, i.e., i2c-Boot-m128-16MHz.hex, as described on the Gumstix's wiki website https://gumstix-users.narkive.com/vaiRy1Aa/error-i2ctransfer-ioctl-failed-remote-i-o-error-121 .

First compile the i2c-io.hex program which resides in gumstix-buildroot/robostix/i2c-io, and program it onto the robotstix. The red led should now flash twice quickly followed by a brief pause, and then repeat. Note that the i2c-io.hex program running on the Robostix must be at version 2.1 (or later) to be compatible with QUARC.

Once this is done, the i2c-load program, should then be used to install i2c-io.hex executable to the Robostix AVR by entering the following commands:

            # Set the pin value of Port C Pin 0 to 1
            $./i2c-io 0x0b Set C.0 1

            # Get the pin value of Port C Pin 0
            $./i2c-io 0x0b Get C.0

            # Print a help message
            $./i2c-io

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