KORUZA package for Raspberry Pi.
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Koruza Pi

This is a KORUZA package for Raspberry Pi (user interface, measurements data collection, controller).

Check repository koruza-instructions if you are looking for documentation on how to assemble and use Koruza system. See project website for complete specification and introduction.

Should you need any support with KORUZA system, get in touch with Institute IRNAS team and others involved in the project via chat or forum.



Raspberry Pi 2B running Raspberry Jesse system and KORUZA RPi shield. Copy the system to an SD card and boot the RPi and install the system.

From Git repository

To install the latest version directly from the repository do the following on the Raspberry Pi running Raspbian:

$ git clone https://github.com/IRNAS/koruza-pi
$ cd koruza-pi
$ sudo ./install.sh


First, prepare an installation package from this repository by running:

$ ./make-package.sh

This will give you a file koruza-package.tar.bz2, which you should copy to the Raspberry Pi running KORUZA. You can do this by using scp. After the file has been copied, connect to the Raspberry Pi and execute the following commands:

$ sudo tar -xf koruza-package.tar.bz2 -C /
$ sudo /koruza/install

And this should install and configure all the needed services.


To upgrade an existing installation, copy over the package as above and then run:

$ sudo /koruza/upgrade koruza-package.tar.bz2

Upgrade to the latest version

To upgrade an existing installation to the latest version from the GitHub repository, simply run:

$ sudo /koruza/upgrade

Debugging the KORUZA IPC bus

The IPC bus has two endpoints:

  • /tmp/koruza-publish.ipc is used for publishing status updates about all controlled devices.

  • /tmp/koruza-command.ipc is used for issuing commands to devices.

The following command may be used to inspect the data that is currently being published by the koruza-sensors controller:

$ sudo nanocat --sub --connect-ipc /tmp/koruza-publish.ipc --ascii

If everything is working correctly, you should see a stream of messages of the following form:

status@{"type": "motors", "motor": {"current_f": 0, "flash_write_count": 34, "next_x": 150, "next_y": 200, "status_f": 0, "accel": 1000, "command": 0, "empty": 255, "status_y": 16, "status_x": 0, "laser": 0, "next_f": 0, "flash_status": 171, "speed": 1000, "current_y": 210, "current_x": 150}}
status@{"type": "sfp", "sfp": {"150918": {"temperature_c": 44.8671875, "tx_power_mw": 0.5691, "tx_bias_ma": 34.462, "rx_power_mw": 0.0, "vcc_v": 3.2437}}}
process@{"type": "watchdog", "time": 1445805609.989954}
status@{"type": "motors", "motor": {"current_f": 0, "flash_write_count": 34, "next_x": 150, "next_y": 200, "status_f": 0, "accel": 1000, "command": 0, "empty": 255, "status_y": 16, "status_x": 0, "laser": 0, "next_f": 0, "flash_status": 171, "speed": 1000, "current_y": 210, "current_x": 150}}

Each message consists of two parts separated by an @ character. The first part is the topic and the second part is the JSON payload.

To transmit commands you may also leverage the nanocat utility by doing the following:

$ sudo nanocat --req --connect-ipc /tmp/koruza-command.ipc --ascii --data '{"type": "command", "command": "motor_move", "next_x": 150, "next_y": 200, "next_f": 0}'
{"status": "ok", "type": "cmd_reply"}


All our projects are as usefully open-source as possible.

Hardware including documentation is licensed under CERN OHL v.1.2. license

Firmware and software originating from the project is licensed under GNU GENERAL PUBLIC LICENSE v3.

Open data generated by our projects is licensed under CC0.

All our websites and additional documentation are licensed under Creative Commons Attribution-ShareAlike 4 .0 Unported License.

What this means is that you can use hardware, firmware, software and documentation without paying a royalty and knowing that you'll be able to use your version forever. You are also free to make changes but if you share these changes then you have to do so on the same conditions that you enjoy.

Koruza, GoodEnoughCNC and IRNAS are all names and marks of Institut IRNAS Rače. You may use these names and terms only to attribute the appropriate entity as required by the Open Licences referred to above. You may not use them in any other way and in particular you may not use them to imply endorsement or authorization of any hardware that you design, make or sell.