Linux VNC and Mac OS X Screen Sharing

I’ve found that in order to get x11vnc to work with the Mac OS X built-in VNC client (“Screen Sharing Application”), there options are required when starting the VNC server:

$ x11vnc -display :0 -rfbauth /home/pi/.vnc/passwd -shared -rfbversion 3.3 -forever -bg

The -shared option is key here. Judging by the log on the VNC server, I think Mac OS X will attempt multiple connections.

For what it’s worth, here’s also how to auto-start the VNC server when the user logs into the LXDE desktop. Copy and paste this to ~/.config/autostart/x11vnc.desktop:

[Desktop Entry]
Exec=x11vnc -display :0 -rfbauth /home/pi/.vnc/passwd -shared -rfbversion 3.3 -forever -bg

Working around KiCAD Printing Issues

I’m having issues printing from KiCAD, specifically Pcbnew, on Ubuntu 15.04. I’ve seen similar things on earlier versions, and also found this bug report. Even though the bug report is closed and I’m using the right wx version, the problem persists for me. So I’ve searched for a workaround.

Luckily, “plotting” from KiCAD works which makes it generate a PostScript file for each layer.

However, I need the “Edge Cuts” layer and the bottom copper layer printed on a single page. The reason is that I’m printing my layouts on transparent film, and I’m using alignment marks on the edge cuts layer to help me tape two prints on top of each other. This increases the opaqueness of my print to a point where it’s usable for me.

So here’s the steps it takes to get my PCB layout to a decent print:

  1. “Plot” the required layers from Pcbnew, leaving a bunch of PostScript files on disk.
  2. Convert the PostScript files to PDF:
    $ for ps in *.ps ; do ps2pdf $ps ; done
  3. Use pdftk to generate a single PDF from the relevant layers like this:
    $ pdftk layout-B_Cu.pdf background layout-Edge_Cuts.pdf output layout.pdf

Update: There’s an option to include the “Edge Cuts” layer when plotting. Simply uncheck the “Exclude PCB edge layer from other layers” option as highlighted in the screenshot below.

Xilinx USB Cable on Ubuntu

Here’s what I did to install the "Xilinx Platform Cable USB II" on Ubuntu.

First, install the following two packages:

$ sudo aptitude install fxload libusb-dev

Then, download and compile the USB driver for the cable:

$ git clone git://
$ cd usb-driver
$ make
$ make lib32
$ ./setup_pcusb /opt/Xilinx/14.5/ISE_DS/ISE

If everything worked, you should see the status LED on the programmer light up after it’s plugged in.

Programming Avnet Spartan 3A FPGA Eval Board with Linux

I own a small FPGA Board by Avnet with a Spartan 3A FPGA on it. The board is nice, but unfortunately, the flash chips on the board aren’t on the JTAG chain. Instead, there is a small PSoC microcontroller that lets you programm the flashes via UART. There is a Windows tool to perform that programming which is shipped with the board. Here’s what I did to program the SPI configuration flash on Linux.

Via the FPGALibre site, I found a link to a tool called ASTriAEKiPro, which allows me to write to the FPGA SPI Configuration flash via UART and the PSoC microcontroller.

Compiling the tool is as simple as running this command:

$ make

To erase the SPI configuration flash, I used this command:

$ ./astriaekipro -p /dev/ttyACM0 -e
Avnet Spartan 3A Eval Kit Programmer v1.2.1
Copyright (c) 2009 Salvador E. Tropea 
Copyright (c) 2009 Instituto Nacional de Tecnolog�a Industrial
Embedded BPI server provided by Avnet Inc.

Erasing the memory, be patient (>1 minute) ...

To write a configuration to the SPI flash:

$ ./astriaekipro -p /dev/ttyACM0 -w 
  -b ~/sandbox/avnet_lpc/projects/13.3/avnet_lpc/avnet_i2c.bit 
Avnet Spartan 3A Eval Kit Programmer v1.2.1
Copyright (c) 2009 Salvador E. Tropea 
Copyright (c) 2009 Instituto Nacional de Tecnolog�a Industrial
Embedded BPI server provided by Avnet Inc.

Writing 235820 bytes to the serial flash, offset 0x0000000
Erasing: sector   3 (100.00 %)
Bytes written:   235820 (100.00 %)
All written!

Edit Samsung TV Channel List on Linux

Samsung TVs suck when it comes to sorting the channel list. The work-around is to transfer the channel list to a PC and edit/sort it there. To edit the channel list on Linux, I found a tool called "SamyGO ChanEdit" quite useful. Downloadable via this link.

The tool requires SWT which is installed in /usr/lib/java on my system. To start the tool, used the following command:

java -classpath .:/usr/lib/java/swt-gtk-3.8.2.jar:SamyGO-ChanEdit-v54cd.jar gui.Main

Booting a PowerBook from a LiveCD image on an USB-Stick

I have an old Apple PowerBook G4 with a broken CD/DVD drive. For most practical purposes, the broken drive is no issue. However, if you’re going to re-install the laptop, it becomes one. Luckily, the PowerBook is able to boot from USB…

At first, I tried following the instructions on "LiveUSB on PPC" found in Gentoo’s Wiki, but that didn’t work out at first. I then found a blog entry titled "Creating a bootable USB Stick with Mac OS X in 10 easy steps&quot. Combining the two lead to success, so here’s what I did:

  • I downloaded the latest PowerPC release of Finnix, a &quot self-contained, bootable Linux CD distribution&quot from the project’s front page.

  • I re-named the ISO image from finnix-ppc-105.iso to finnix-ppc-105.dmg. Also, I displayed the file’s information in Finder by right-clicking on the file icon and selecting "Show Information&quot. I doubt that this step is required but it certainly didn’t do any harm.

  • From a shell, aka "Terminal Window&quot, I used the command diskutil list to find the device path to my USB drive. In my case, it was /dev/disk6.

  • I then unmounted the drive by running

    $ diskutil unmountDisk /dev/disk6

  • Using good, old dd(1), I wrote the disk image to the USB drive:

    $ sudo dd if=finnix-ppc-105.dmg of=/dev/disk6 bs=1m
  • Finnally, I unmounted the drive by running:

    $ diskutil eject /dev/disk6

In order to boot the PowerBook from the USB drive, I had to drop into Open Firmware. In case you didn’t know it, this is done by holding down Cmd+Option+o+f right after the computer is turned on.

The next step was to find the device node of the bootable USB drive. To do this, I browsed the device tree for any USB node that had a disk child node.

> dev /
> ls

In my case, the USB drive was at /pci@f2000000/usb@1b,1/disk@1.

The instruction found on the Gentoo wiki assign the cd alias to that node, so I did that, too, by running:

> devalias cd /pci@f2000000/usb@1b,1/disk@1

This allowed me to finally boot from the USB drive like this:

> boot cd:,\:tbxi

Ubuntu 11.10 on Lenovo W520

At work, I got a new laptop — a Lenovo W520. It came with Ubuntu 11.10 ("Oneiric Ocelot") pre-installed by the support team. My first impression was that it worked pretty well, but I quickly discovered that I couldn’t change the brightness of the display through the Fn+Home/End keys.

The W520 uses this “Optimus” technology with an integrated on-board graphics card plus a separate NVIDIA card, where both cards can be switched on-the-fly — on Windows. The default installation used the high performance card and I suspected that the video card driver was keeping me from adjusting the brightness. As it turns out, after switching to the on-board Intel card, things worked fine. Here’s what I needed to do:

First, I needed to disable the NVIDIA card in “the BIOS” and switch to the on-board card. There’s an option somewhere under “Setup”, then “Display”, if I recall correctly.

Next, I changed the video card section in my /etc/X11/xorg.conf to read this:

Section "Device"
  Identifier "Device0"
  Driver "intel"
  Option "Shadow" "True"
  Option "DRI" "True"

In fact, I added the two Option lines later on and only changed the Driver line at first. I then discovered that most of the little try icons in the upper right corner of the Gnome desktop wouldn’t show anymore. A look at /var/log/Xorg.0.log turned up some errors and running glxinfo yielded lines like these:

Xlib:  extension "GLX" missing on display ":0.0".

Luckily, someone else ran into the same issues over at As indicated there, I also ran these commands:

$ sudo apt-get purge nvidia*
$ sudo apt-get install --reinstall xserver-xorg-video-intel 
    libgl1-mesa-glx libgl1-mesa-dri xserver-xorg-core
$ sudo dpkg-reconfigure xserver-xorg
$ sudo update-alternatives --remove gl_conf /usr/lib/nvidia-current/

The first command hinted that some "ubuntu-desktop" package would also be removed. I don’t know what that is, but I don’t miss it, yet. Anyways, after a final reboot, the brightness adjustment now works and all my tray icons are back in place.

CMake and C++ “Compile Time” Polymorphism

For a recent project of mine, I wanted to use what some people call “Compile Time Polymorphism” in C++. Here’s how I implemented it.

Polymorphism in the context of programming computers usually refers to the ability to tread objects of a different data type through the same interface. In C++, this is often implemented through class inheritance and the use of virtual functions. The text book example of this concept is two classes, Cat and Dog, that inherit from a common super class Animal. Animal has a method makeSound() that is implemented by each subclass accordingly. In real software projects, polymorphism is used to hide multiple implementations behind a uniform interface. Here’s an example of how this concept is usually used in C++.

class Animal {
 void makeSound(void) = 0;

class Cat : public Animal {
 void makeSound(void);

class Dog : public Animal {
 void makeSound(void);

The issue with this code is that it requires the use of virtual functions which means you need a vtable for the concrete subclasses. Usually, as a programmer, you don’t need to worry about vtables as the compiler takes care of that for you. But let’s take a look at how this works anyways. A vtable is basically a table of function pointers. For each of the concrete classes shown above, the vtable contains a pointer to the respective makeSound method. Also, each object carries a pointer to the vtable. At runtime, when a virtual method of an object is called, the pointer to the vtable is resolved to the actual vtable. From there, the address of the method is loaded and the call to it is made indirectly. So the use of virtual methods not only increases the size of your code, but also the size of your objects. In addition to that, it forces the compiler to use indirect function calls through pointers which are usually slower than direct function calls. Again, the compiler takes care of all of that, so this is purely informational.

All of the above is okay and in fact required if you don’t know the concrete type of an object until the software actually runs. Also, in most software projects, the drawbacks don’t matter and aren’t even noticeable. But there are situations where you may not want to pay the price of virtual methods, e.g. in a resource limited embedded system.

Also, there are situations where it is known at compile time what the concrete implementation of an interface will be. This is true for example when you have an abstraction of an interface that is specific to a certain operating system: When you compile the software, you already know what the target operating system will be, so you can simply use and link to the right implementation of the interface, instead of post-poning the decision to runtime.

So how would you use polymorphism in C++ without the use of virtual methods?

Here’s how you could do it:

typedef enum OperatingSystemImpl {
} OperatingSystemImpl_t;

template struct OperatingSystemChoice;

class DarwinImpl;
class FreeBSDImpl;
class LinuxImpl;

template<> struct OperatingSystemChoice {
 typedef DarwinImpl m_type;

template<> struct OperatingSystemChoice {
 typedef FreeBSDImpl m_type;

template<> struct OperatingSystemChoice {
 typedef LinuxImpl m_type;

struct OperatingSystemService {
 typedef OperatingSystemChoice< ... >::m_type m_type;

Of course, the ellipsis must be expanded, but more on that later. What’s important is how software using this construct would use the code:

OperatingSystemService::m_type OsServiceObj;

The snipped above would create an object of the correct type, dependend on what the ellipsis expands to. The neat thing is that the template compiler ensures that the ellipsis is expanded to a valid “type” as defined in enum OperatingSystemImpl. Also, it is made sure that the actual, underlying class is declared, e.g. class DarwinImpl.

In other words: If you tried to compile the software with the ellipsis expanded to Windows, you’d get a compilation error. If you had implemented this using classic polymorphism, you’d probably have some code that dynamically created the right object depending on what input is given. That means, you have to test your compiled code, feeding it an invalid type. This mean you must run your software. I’m convinced that finding problems earlier is better, so finding an issue when code is compiled is better than finding issues when code is run.

So back to how the ellipsis is expanded. Here’s how CMake, a build system, comes into play. CMake uses input files that describe how the software needs to be compiled. Those input files, as with other build systems, are able to define compiler flags. Also, CMake defines a variable that contains the operating system’s name. I suspect it’s the output of uname. So here’s what I added to my top level CMakeList.txt file:


This makes the OPERATING_SYSTEM macro known to the pre-processor. So the code with the ellipsis can be re-written like this:

struct OperatingSystemService {
 typedef OperatingSystemChoice::m_type m_type;

Et voilà, the right type is picked when the code is compiled.

Here are the nice things about this: There is no need for virtual methods, eliminating the need for vtables. Also, invalid or unsupported operating system types will be found at compile time vs. at runtime while the code for all supported operating systems will still be always compiled (just not used).

One downside may seem that you no longer have an enforced interface like when using purely virtual classes, i.e. the compiler may not tell you that you forgot to implement a newly added method to one of your implementation classes. However, this is more of a minor issue: You will still get a compilation error in that case, but only if you’re compiling for the target system where you forgot to implement the newly added method.

Building qfsm on Ubuntu 8.04

I just tried to build qfsm on Ubuntu 8.04. The only dependencies listed by qfsm are CMake and Qt 4.3.x – both of which are available through the Ubuntu packet manager.

However, when I followed the instructions provided along with the qfsm source code, I encountered this error message:

[ 41%] Building CXX object CMakeFiles/qfsm.dir/src/ExportAHDLDlgImpl.o
In file included from qfsm-0.51.0-Source/src/ExportAHDLDlgImpl.h:21,
                 from qfsm-0.51.0-Source/src/ExportAHDLDlgImpl.cpp:21:
qfsm-0.51.0-Source/src/ui_ExportAHDLDlg.h:27: error: expected constructor, 
  destructor, or type conversion before ‘class’
make[2]: *** [CMakeFiles/qfsm.dir/src/ExportAHDLDlgImpl.o] Error 1
make[1]: *** [CMakeFiles/qfsm.dir/all] Error 2
make: *** [all] Error 2

It turns out that the definition of the QT_BEGIN_NAMESPACE macro was nowhere to be found on my system. Luckily, removing the corresponding lines in the qfsm source code allowed me to build the code just fine. I used this one-liner to remove the offending lines:

$ for file in `grep -R QT_BEGIN_NAMESPACE * | awk -F : '{ print $1; }'` ; 
  do sed -i -e '/QT_.*NAMESPACE/d' $file ; done

Graphics Card

For some reason I have to look up the model of the graphics adapter in my thinkpad everytime I do an update… so here it goes: My T61p has a Quadro FX 570M in it.