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Case Study: Hacking the Lego Mindstorms EV3
Andreas Grapentin
Operating Systems and Middleware Group
2018-11-28
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Case Study: Hacking the Lego Mindstorms EV3 Andreas Grapentin - - PowerPoint PPT Presentation
Case Study: Hacking the Lego Mindstorms EV3 Andreas Grapentin - - PowerPoint PPT Presentation
1 Case Study: Hacking the Lego Mindstorms EV3 Andreas Grapentin Operating Systems and Middleware Group 2018-11-28 2 The Mission Control a simple real-time task on the Lego Mindstorms EV3 > without using the installed Operating System 3
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The Mission https://www.youtube.com/watch?v=-t5TSZjHqMg
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The Mission
Control a simple real-time task on the Lego Mindstorms EV3 without using the installed Operating System
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The Mission
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The Beaten Path
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Step 1: Establish Communication
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Establish Communication
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Establish Communication
EV3 i n i t i a l i z a t i o n passed ! Booting EV3 EEprom Boot Loader EEprom Version : 0.60 EV3 Flashtype : N25Q128A13B [ . . . ]
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Step 2: Gather Information
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Gather Information
EV3 i n i t i a l i z a t i o n passed ! Booting EV3 EEprom Boot Loader EEprom Version : 0.60 EV3 Flashtype : N25Q128A13B [ . . . ] Hit ’ l ’ to stop autoboot : [ . . . ]
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Gather Information
U- Boot > printenv bootcmd=i f mmc rescan 0; then i f run loadbootscr ; then run \ b o o t s c r i p t ; e l s e i f run loadimage ; then run mmcargs ; run \ mmcboot ; e l s e run f l a s h a r g s ; run f la sh boo t ; f i ; f i ; e l s e \ run f l a s h a r g s ; run f la shb oo t ; f i loadbootscr=f a t l o a d mmc 0 ${ bootscraddr } boot . scr b o o t s c r i p t=source ${ bootscraddr } loadimage=f a t l o a d mmc 0 ${ loadaddr } uImage mmcboot=bootm ${ loadaddr } [ . . . ]
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Gather Information
i f sd card i s i n s e r t e d i f boot . scr f i l e e x i s t s
- n sd card
load and source boot . scr e l s e i f uImage f i l e e x i s t s
- n sd card
load and boot from sd card e l s e load and boot from f l a s h f i f i e l s e load and boot from f l a s h f i
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Step 3: Hello, World!
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Hello, World!
lms2012/open_fjrst/Makefjle: $ (UBOOT)/u - boot . bin : $ (MAKE)
- C $ (UBOOT) CROSS_COMPILE=$ (CROSS_COMPILE)\
da850_omapl138_evm_config $ (MAKE)
- C $ (UBOOT) CROSS_COMPILE=$ (CROSS_COMPILE)
a l l
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Further Reading
◮ https://github.com/mindboards/ev3sources ◮ https://publishup.uni-potsdam.de/opus4-ubp/frontdoor/deliver/index/docId/ 7063/file/tbhpi90.pdf ◮ https://github.com/ninjastorms/ninjastorms ◮ https://github.com/ninjastorms/toolchain-generator ◮ http://botbench.com/blog/2013/08/15/ev3-creating-console-cable/ ◮ https://www.lego.com/de-de/mindstorms/downloads