Hacking the Thymio firmware

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Summary:

How to modify the thymio firmware?

Hacking the Thymio firmware

eziosoma 30 Oct 2012 23:29

I' d like to modify the firmware in order to make it running with the i2c expansion described in the page thymioi2c. How I can make the new I/O ports adressable from aseba and visible from a program? I mean how to read and write them from an aseba program? I had a look to the sources of Thymio starting from the main.c file. The i2c functions are coded in the molole library, but without some explanations it is a very hard reverse engineering exercise to understand how to use it. Any hints or advices from someone that knows the architecture of this code?

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Sic Parvis Magna

Last edited on 31 Oct 2012 00:09 by eziosoma Show more

Re: Hacking the Thymio firmware

StephaneMagnenat 01 Nov 2012 18:20

To familiarize what an Aseba node does and how variables are described, I suggest that you start by having a look at the dummy node implementation. This node does not interface to any peripheral, but shows how the VM interacts with the rest of the world, and how variables and native functions are defined.

For the use of I2C, the i2c.h file in the Molole source tree is the starting point.

To interface the two, you can either use variables, native functions and events. In your case, I would go for a native function with events to provide feedback. I think there is an example of how to use I2C with Aseba in the Smartrob firmware, I will ask Philippe if he can provide it to you.