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 The Mission https://www.youtube.com/watch?v=-t5TSZjHqMg

4 The Mission Control a simple real-time task on the Lego Mindstorms EV3 without using the installed Operating System

5 The Mission

6 The Beaten Path

7 Step 1: Establish Communication

8 Establish Communication

9 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 [ . . . ]

10 Step 2: Gather Information

11 [ . . . ] 0 autoboot : stop to ’ l ’ Hit N25Q128A13B Gather Information EV3 Flashtype : 0.60 EEprom Version : Booting EV3 EEprom Boot Loader passed ! EV3 i n i t i a l i z a t i o n [ . . . ]

12 f l a s h a r g s ; f la sh boo t ; f i ; f i ; e l s e \ run run f l a s h a r g s ; 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 } run run Gather Information loadbootscr ; U- Boot > printenv bootcmd=i f mmc rescan 0; then i f run then run \ e l s e b o o t s c r i p t ; e l s e i f run loadimage ; then run mmcargs ; run \ mmcboot ; [ . . . ]

13 uImage f l a s h load and boot from e l s e f i f i f l a s h load and boot from e l s e load and boot from sd card on sd card e x i s t s f i l e i f Gather Information e l s e boot . scr load and source on sd card e x i s t s f i l e boot . scr i f i n s e r t e d i s sd card i f f i

14 Step 3: Hello, World!

15 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

16 Further Reading 7063/file/tbhpi90.pdf ◮ https://github.com/mindboards/ev3sources ◮ https://publishup.uni-potsdam.de/opus4-ubp/frontdoor/deliver/index/docId/ ◮ 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