Gumstix User Wiki - User contributions [en]

Overo Wifi

2010-09-24T18:23:39Z

Orjanp: /* Issues */

[[Category:How_to_-_wifi]]
[http://www.gumstix.com/store/catalog/product_info.php?cPath=31&products_id=226 Overo Air] and [http://www.gumstix.com/store/catalog/product_info.php?cPath=31&products_id=227 Overo Fire] COMs have a 802.11(g) wireless module "on board". This page gives some details about the hardware and software configuration for this Wifi module.

=Hardware=

This section gives some infos about various hardware related topics regarding Overo Wifi.

==Module==

Overo Wifi solution is based on an [http://www.wi2wi.com/wireless.php Wi2Wi chip] based on Marvell's industry leading 88W8686 which brings 802.11(b/g) wifi.

==MMC==

Overo fire's WiFi port connected to MMC port '''2''' in 4 bit configuration.

==Connector and Antenna==

For 802.11b/g (Wifi) to work on an Overo Air COM or Overo Fire COM, a [http://www.gumstix.com/store/catalog/product_info.php?products_id=173 u.fl antenna] must be connected to '''J2''' on Overo Air or Fire COMs. The location of J2 is shown [http://www.gumstix.net/wiki/images/3/34/J2-J3.jpg here].

Note: J3 is the antenna location when using BlueTooth. J3 also takes a [http://www.gumstix.com/store/catalog/product_info.php?products_id=173 u.fl antenna].

Note that two (2) u.fl antennae come with each Overo Fire COM and with each Overo Air COM.

=Software=

Official Overo [http://www.gumstix.net/Setup-and-Programming/view/Overo-Setup-and-Programming/Downloading-pre-built-images/111.html pre-built Linux images] or [http://www.sakoman.com/feeds/omap3/glibc/images/overo/ developer images] contain already support for Overo Wifi. However, wifi configuration depending on your local wifi environment still has to be done.

There is also a [[thin-firmware driver]] and firmware that permit you to utilize the mac80211 drives in the Linux kernel. This is useful if you want to experiment with running an AP, 802.11s mesh, or other types of experiments on your Overo.

==Boot messages==

At Overo boot, you should get something like

...
libertas_sdio: Libertas SDIO driver
libertas_sdio: Copyright Pierre Ossman
libertas_sdio mmc1:0001:1: firmware: requesting sd8686_helper.bin
libertas_sdio mmc1:0001:1: firmware: requesting sd8686.bin
libertas: 00:19:88:05:b5:31, fw 9.70.3p24, cap 0x00000303
libertas: PREP_CMD: command 0x00a3 failed: 2
libertas: PREP_CMD: command 0x00a3 failed: 2
libertas: eth0: Marvell WLAN 802.11 adapter
...

Note: The two “command 0×00a3 failed” messages are harmless, and have to do with features that are not supported.

==Test==

For test of basic functionality, do the following at command line (after log in as root / no password):

root@overo:~# '''iwconfig wlan0 essid any'''
root@overo:~# '''ifconfig wlan0 up'''
root@overo:~# '''iwlist wlan0 scan'''

what should list the wifi's visible, then.

==Unencypted wifi==

Some default builds do not enable any Wifi. You may need to edit /etc/network/interfaces to include a section which looks like:
<pre>
allow-hotplug wlan0
auto wlan0
iface wlan0 inet dhcp
pre-up /sbin/iwconfig wlan0 essid any
wireless_mode managed
</pre>
The problem is this setup is not reliable! we're waiting for a solution.

==WEP encryption==

* Edit ''/etc/network/interfaces'' to have only for wlan0 (don't touch the other entries):

iwconfig wlan0 essid "My Wireless Network"
iwconfig wlan0 key my-hex-key
ifdown wlan0
ifup wlan0

==WPA encryption==

* Edit ''/etc/network/interfaces'' to have only for wlan0 (don't touch the other entries):

allow-hotplug wlan0
iface wlan0 inet dhcp
pre-up wpa_supplicant -Dwext -iwlan0 -c/etc/wpa_supplicant.conf -B
down killall wpa_supplicant

* Create ''/etc/wpa_supplicant.conf'' containing:

ctrl_interface=/var/run/wpa_supplicant
ctrl_interface_group=0
eapol_version=1
ap_scan=1
fast_reauth=1

network={
ssid="add-your-ascii-ssid"
proto=WPA2 # try WPA RSN if you WPA2 fails
key_mgmt=WPA-PSK
pairwise=CCMP TKIP
group=CCMP TKIP
scan_ssid=1
psk="add-your-ascii-passphrase"
priority=10
}

==Connect to network==

To connect to the wireless network when the configuration is done, do the following:

* Take down the wireless network (it might already be down, but try to be sure):

# ifdown wlan0

* Then, bring it up again:

# ifup wlan0

=Issues=

Many users have reported issues with wifi data throughput being [http://old.nabble.com/Overo-wifi-speed-and-WPA2-connection-issue-td27196711.html#a27231874 limited to about 100kB/second]. It is theorized this is due to lack of SDIO IRQ support in the OMAP3 MMC driver. A patch is being investigated which reportedly [http://marc.info/?l=linux-omap&m=126140067103975&w=2 achieves 13Mbps].

Additionally, the driver does not support power management at present. The use of iwconfig power commands such as the following will fail:
<pre>
iwconfig wlan0 power on
</pre>
Therefore, the wifi module always consumes close to 1 Watt of power when turned on.

==NetworkManager==

If NetworkManager is installed, this would probably not work. Check if it is installed by:

# opkg list_installed | grep networkmanager

If it is installed, remove it:

# opkg remove networkmanager

This if NetworkManager is not needed. NetworkManager uses a different configuration.

=Links=

* [http://bec-systems.com/site/387/wi2wi-wifi-bt-module-review Wi2Wi W2CBW003 Wifi/Bluetooth module review]

Category:Projects - robotics

2010-09-24T15:02:14Z

Orjanp: /* Lise - Paparazzi */

This webpage is provided so that users of the Gumstix OpenEmbedded build system can share their robotics knowledge, showcase their gumstix based robotics projects, and pass on links to other sources of information and materials. This information is entirely user generated and supported.

'''Customer additions and edits are encouraged, but please read the help page before you make any major edits.'''
''Note: you will need to create a new user account if you would like to contribute or edit content on this site.''

=== 2009 & 2010 ===

==== Lisa - Paparazzi ====

[http://paparazzi.enac.fr/wiki/Lisa Lisa] ( the Lost Illusions Serendipitous Autopilot) is a new STM32 based range of autopilots designed to run Paparazzi. The first two members of the family are Lisa/L, a design where the STM32 is associated to a gumstix Overo and Lisa/S, an all-in-one design focusing on space and weight constraints.

Using a STM32 instead of the luminarymicro, the main purpose of this board is to be an autopilot, although it has applications in other robotics fields. The board has on-board pressure sensors ( absolute and differential ) but the inertial ones are external to allow a choice of commercial IMUs ( xsense, cloudcap, vectornav) or the self-designed [http://paparazzi.enac.fr/wiki/BoozIMU BoozIMU].

The board runs [http://paparazzi.enac.fr/wiki/Main_Page Paparazzi] and the STM32 has enough processing power to run the autopilot on its
own, leaving the Gumstix Overo COM available for payload processing. SPI used with DMA on both ends between the OMAP and the STM32, thus providing ample bandwith and flexibility in the repartition of tasks between processors.

The board has an onboard FT2232H USB chip. One of its channels is used for JTAG on the STM32 and the second one for the Overo's console. The board features two switching supply modules and all the connectors are Molex picoblades with locking mechanism.

This project information provide by Antoine Drouin <poinix@gmail.com>

==== UPBOT Cyber Physical Systems Testbed at the University of Portland ====
Students and faculty at the University of Portland are working together to build a distributed system of collaborative, intelligent robots using a platform built from the iRobot Create and gumstix computing hardware. A small fleet of gumstix verdex pro + iRobot Create platforms are controlled wirelessly by an artificially intelligent supervisor. Their [http://kaju.dreamhosters.com/index.php?option=com_content&view=article&id=63&Itemid=59 RoboDocs] page provides the technical specifications and offers many resources for interfacing the gumstix connex and verdex pro to the iRobot Create.

==== Quanser UVS Lab for Education & Research ====
Recently, Quanser introduced a completely new platform for teaching and research - the Unmanned Vehicle Systems ([http://www.quanser.com/english/html/UVS_Lab/fs_overview.htm UVS Lab]). UVS Lab is the result of more than five years of Quanser’s internal research and development efforts.

==== Skybotix CoaX - The open source robotic helicopter platform from ETH Zürich ====
[http://www.skybotix.com/ Skybotix] AG has released recently the CoaX, the open-source coaxial helicopter, developed at ETH Zürich and equipped with the Gumstix Overo technology. The CoaX board includes a fast 3D IMU, a transparent Bluetooth module, a pressure sensor, a color camera, a down-looking sonar, 2.4GHz receiver+RC, etc. An open-source API for high level control is provided in addition to the built-in low-level controller. A bluetooth bootloader is provided as well as an ODE simulator and Simulink simulators.

The [http://support.skybotix.com/ documentation & support portal ]provides all the technical specifications.

==== Pixhawk Computer Vision on Micro Air Vehicles - Award Winning ====

[http://www.gumstix.net/wiki/images/a/ad/Pixhawwk-award.png Pixhawk Award certificate]

The [http://pixhawk.ethz.ch/wiki/blog/pixhawk_team_wins_emav2009_indoor_autonomy_competitio PIXHAWK Micro Air Vehicle Team] won the [http://pixhawk.ethz.ch/wiki/_detail/blog/2009-09-21-emav-indoor-autonomy-competition-won.png?id=blog%3Apixhawk_team_wins_emav2009_indoor_autonomy_competitio EMAV2009 Indoor Autonomy Competition]. The EMAV air robotic competition and conference is a yearly event reflecting the advances in the micro air vehicle research field. They were able to show automatic image recognition in our entry on the smallest platform capable of onboard image processing. This also proved the feasibility of realtime image processing on a micro air vehicle on a system as small as the Texas Instruments OMAP3530-driven Gumstix Overo Fire COM.

A student team supported by the [http://www.cvg.ethz.ch/ Computer Vision and Geometry Lab] at the Computer Science Department of ETH Zurich is developing an autonomous micro helicopter named [http://pixhawk.ethz.ch PIXHAWK].
The PIXHAWK Gumstix Computer Vision system is leveraging the DSP of the OMAP3530 Gumstix Overo Water computer-on-module. This led to the [http://pixhawk.ethz.ch/wiki/blog/dsp_running_on_gumstix_overo_water first DSP code running ever on a Gumstix] single board computer.

The team will offer all hard- and software as open-source to the community after the 2009 MAV competitions, which hopefully encourages others to contribute to computer vision on Gumstix. The project website offers a in-depth series of [http://pixhawk.ethz.ch/wiki/tutorials/start tutorials] on OpenEmbedded, Gumstix and MAV related topics.

The project's main website can be found [http://pixhawk.ethz.ch here].

====nControl^2 - General Purpose Computing====

[http://www.gumstix.net/wiki/images/4/49/Ncontrol2-initial-design.jpg Ncontrol initial design]

[http://www.clearboxsystems.com.au Clearbox Systems] is developing its next generation nControl product which will be called nControl^2 (or nControl Squared). It is a small general purpose computer based on the Gumstix Overo module and will be officially released in Q4 2009. The development of this product can be followed at [http://www.clearboxsystems.com.au/category/development/ Clearbox Systems Development Blog] and we would appreciate any feedback or suggestions over the next month or so during the prototyping phase.

This product will feature a compact size, robust wide input power supply, and 8 USB host ports for easy expansion.
It is aimed to be used in Remote Monitoring & Control, Automation, CarPC, UAV and Robotics applications, however it should be suitable for many other purposes and industries.

====Adrian and Tonica's gumstix car-like robot====

Adrian and Tony built a car-like robot for their diploma project. They are students in their last year at the University of Politehnics Timisoara (Romania) , Automation and Applied Informatics department. The robot's name is MV1204BC. You can visit MV1204BC's website at
http://sites.google.com/site/mv1204bc/ .

==== Hagetaka in Mech Warfare Competition at RoboGames 2009====

"Meet [http://blog.trossenrobotics.com/index.php/2009/04/16/hagetaka-a-bipedal-combat-robot/ Hagetaka]; a 7DOF per leg biped built around the powerful RX-64 servo from Robotis. This robot boasts 14 RX-64s, 2 RX-28s, a custom aluminum chassis machined by sponsor Big Blue Saw, an on-board Linux based Gumstix computer with a PS3 Sixaxis controller, a WiFi video server using a Headplay Personal Cinema System for remote piloting, and of course dual automatic airsoft guns".

Youtube video of Hagetaka [http://www.youtube.com/watch?v=CAjYA2xum9c here].

RoboGames runs June 12-14, 2009 in San Francisco. Check [http://mech-warfare.com/default.aspx here] for Mech Warfare!

====SFU Autonomy lab's Chatterbox robots====
Ever since 2005, the [http://autonomy.cs.sfu.ca/robots.html Autonomy Lab] at [http://www.sfu.ca Simon Fraser University], Burnaby, British Columbia, Canada has been designing a fleet of small "Chatterbox robots" around Gumstix boards. They have ported [http://playerstage.sourceforge.net Player ] to Gumstix, and are developing controller code and matching Player drivers for the Robostix interface board.

* Here is an [http://fas.sfu.ca/newsitems/vaughan-chatterbox/ interview], conducted in 2005, with SFU Professor Vaughan about his "swarm of chatterboxes" - his gumstix-driven robots.

* A profile of Masters Student Ash Charles has been [http://www.gumstix.net/Developer-profiles/Developer-profiles/Ash-Charles-SFU.html posted here].

=== 2008 ===

====River current research====

A team of researchers from the University of California at Berkeley trying to learn more about the river currents in the delta.

The researchers are working with propelled 4-foot-long submarines and floating drifters equipped with GPS-receivers for positioning, GSM-modules for communication, and sensors inside for recording temperature, salinity, and currents.

More [http://news.cnet.com/8301-11128_3-9973448-54.html here].

====Sailing Robots====

[http://www.aber.ac.uk/compsci Aberystwyth University Department of Computer Science] is using gumstix in several sailing robots. These are being used to autonomously perform oceanography and to compete in the [http://www.microtransat.org Microtransat Challenge] a transatlantic autonomous boat race.

Currently 3 boats are using the gumstix:

* "The ARC" - A 1.5m long plywood boat. Uses stepper motors to drive two sails and the rudder. Originally a robostix was used to do this, with a wifi enabled gumstix (connex 200 with CF wifi card) being used to reflash the robostix over i2c. This has now been replaced with a single gumstix controlling a series of [http://www.robot-electronics.co.uk/htm/gpio14tech.htm GPIO14] chips to drive the steppers as well as some DS1621 temperature sensors.

* "Beagle B" - A 3.5m long fibre glass boat based on an off the shelf dinghy. This uses two linear actuators to drive the sail and rudder, these are controlled by [http://www.robot-electronics.co.uk/htm/md22tech.htm MD22] motor controllers over I2C from the gumstix and a [http://www.robot-electronics.co.uk/htm/gpio14tech.htm GPIO14] is used to read the feedback potentiometers on each actuator. A rowind ultrasonic windsensor, GPS and PG-500 compass are all connected to serial ports on the gumstix, GPIO lines on a breakout-gs are used to switch transistors which control the power to each of these. Communications is provided by an 802.11b compact flash card configured to behave as an access point as this was found to reconnect with greater ease than using ad-hoc mode. This boat is currently being fitted out to perform oceanographic monitoring and the control system is being redesigned to incorporate two gumstix, one for robot control and another to control the scientific instruments.

* unamed boat - A 2.75m long dinghy intended to cross the atlantic in the [http://www.microtransat.org Microtransat Challenge]. An off the shelf tiller pilot controls steering and is connected to the gumstix via a serial interface. Another motor controls the sail using an MD-03 i2c controller. Comms are to be provided with an Iridium satellite phone.

====Clarinet-playing robot====

Australian research group NICTA and the University of New South Wales (UNSW) have developed a clarinet-playing robot that runs Linux. The "Robo-Clarinet" won first prize at the Artemis Music Orchestra competition for autonomous, embedded musical instrument performances.

More [http://linuxdevices.com/news/NS7651953393.html here].

====Beam powered climber ====
[http://mclinkor.mit.edu/index.php MIT Space Elevator Team] at [http://www.mit.edu Massachusetts Institute of Technology] is using GumStix hardware in their beam powered climber. The climber will be competing in the NASA Centennial [http://www.elevator2010.org/site/competition.html Space Elevator Challenge].

Please contribute an article about your project

====Pegasus High Altitude Balloon Project====
By James Coxon - [http://www.pegasushabproject.org.uk Project Website]

The Pegasus High Altitude Balloon project is a UK based amateur student run project that involves launching payloads to "Near Space" (between an altitude of 60,000ft (20km) and 325,000ft (99km). This is achieved through the use of helium weather balloons which are designed to burst at a certain height and then the payload returns to earth via parachute.

The Pegasus missions utilise the Gumstix as the main flight computer which gathers GPS data, triggers the onboard camera and also transmits data. The most recent launch of Pegasus VI included a data downlink and also SSTV transmission of 'real time' images.

Features of gumstixs used:
* GPS (serial, compact flash and onboard)
* Interfacing with mobile phones/gm862 module (gnokii)
* Interfacing with radio (Aerocomm 868mhz radio modems + 434mhz beacons)
* Using GPIOs to trigger camera shutters + cutdown circuits
* Batteries

===2007 and earlier===

====Acroname Robotics====

Acroname set up their [http://www.acroname.com/robotics/info/gumstix/configuration.html Garcia robots] using a Gumstix verdex configuration.

====Flockbot robots====
[http://cs.gmu.edu/~eclab/projects/robots/flockbots/pmwiki.php?n=Main.Home FlockBots] Open Robotics Specification Wiki at [http://cs.gmu.edu/ George Mason University]: Washington, DC, USA

The goal of the FlockBots project is to produce a small (7-inch), differential-drive mobile robot crammed with functionality for about $800. The robot includes a Gumstix 200bt, servoed camera, gripper, encoded wheels, five range finders, touch sensors, and I2C. The robots are intended to be a major step up in capability from "hobby"-type robot kits running off of PIC controllers, etc., while being inexpensive enough to construct a swarm on a budget.

We have published the specification, software, vendor information, and extensive construction details in the hope that others will be able to build similar bots without having to reinvent the wheel. Almost all the robot parts are COTS and provided software is free open source. We invite you to contribute to the website: suggest design changes, revised software, or include a link to your own swarm robotics page.

====Mapping & video via radio controlles helicopter====
During the 06-07 academic year, students in the [http://ait.gmu.edu AIT] Dept. at [http://www.gmu.edu George Mason University] in Manassas, VA built a Gumstix based payload flown on a radio controlled helicopter to do mapping, video and networking. This is a project for a class on Information Defense Technologies. More on the mission can be found on [http://mason.gmu.edu/~amarchan Dr. Marchant's website] and on the class [http://gmuav.com wiki]. During the Fall 07 term, students will integrate a Gumstix with an iRobot Create to produce a surveillance UGV. (Can it be a coincidence that GUM is an anagram of GMU?)

====Rotary wing UAV====
Our group is working on Rotary-Wing UAV. Recently we use gumstix 200-bt and robostix instead of early used PC/104 system. the new gumstix system is much smaller and highly integrated, which is ideal for aerospace special demand in weight. the platform is still under development and by now everything looks pretty good. latest news will be reported on [http://www.personal.psu.edu/users/w/x/wxg130/uav.htm our project page].

* [http://www.personal.psu.edu/users/w/x/wxg130/uav.htm Website]
* [http://www.engr.psu.edu/rcoe/ Penn State RCOE]

==== Flightstix ====
The North Carolina State University [http://www.ncsu.edu/stud_orgs/ar Aerial Robotics Club is developing a UAV autopilot module for the GumStix, called FlightStix. The FlightStix may be used by ARC to compete in the AUVSI international aerial robotics competition. The system is intended for use in medium-sized fixed-wing (15-50 lb) and rotor wing (5-15 lb) unmanned aerial vehicles. The system's sensors and outputs include:

* 10-channel independant servo-type PWM input and output
* 3-axis gyroscope
* 3-axis accelerometer
* 3-axis magnetometer
* Ultrasonic altimeter
* 2 differential-pressure transducers (for pitot/static and barametric altitude)
* GPS

The hardware used to develop FlightStix consists almost entirely of donations from various electronics manufacturers, including GumStix, Inc.

==== Binocular vision Gumstix ====
I used a gumstix to give my FIRST robot binocular vision, and over the summer I'll be using a robostix and the CMUcams to write an easy-to-customize binocular vision implementation with the CMUcams for gumstix robotics projects.

* [http://www.gumstix.org/tikiwiki/tiki-index.php?page=UserPagemogunus Website]

====RoombaNet at MIT====
The newly-released Roomba Serial Command Interface (SCI) allows the user to drive a Roomba around and read out sensor data. My application has been to control the Roomba using a neural network, but the system is basically a tiny Linux box, so the possibilities are only limited by what will fit in the flash space. This will let you hack your Roomba with complete freedom.

More [http://people.csail.mit.edu/bpadams/roomba/ here].

==== Robo-fish ====
: London, England.
Professor Hu at the University of Essex, London has designed a robotic fish swimming in the London Aquarium. Next up, a whole school of fish.

* [http://www.youtube.com/watch?v=wymrQ966pXo robo fish on Youtube]

* [http://cswww.essex.ac.uk/staff/hhu/ Robo-fish]

==== Cheap Robotic Microhelicopter ====
A tutorial on building a robotic helicopter experimentation platform from off-the-shelf components.

* [http://www.pabr.org/chromicro/doc/chromicro.en.html Cheap Robotic Microhelicopter HOWTO]
* [http://www.pabr.org/pxarc/doc/pxarc.en.html Related software, including PWM/PPM drivers]

==== ZeeRO mobile robot ====
The [http://rrg.utcluj.ro Robotics Research Group, Technical University of Cluj-Napoca], Cluj-Napoca, Romania has created a sub-1000 Euro mobile robot, which can be used as a standard research platform in their labs. ZeeRO (Zee RObot - see Snatch, the movie) is a differential drive, low cost mobile robot, using a Gumstix 400bt, 2 "clustered" Acroname Brainstem boards (although one of them is just for expansion purposes right now), 4 x SONAR, 2 x IR, 1 x pyroelectric sensors, together with a CMUcam2 servoed.

We ported the [http://playerstage.sourceforge.net Player] platform to Gumstix, and use [http://java-player.sourceforge.net Javaclient] to control our robot's complex algorithms. We're experimenting a lot with neural networks, intelligent agents, and D*-like dynamic navigation algorithms.

In order to control ZeeRO from Player, we wrote a new driver (zeero) and modified some existing ones (such as the cmucam2 driver). The zeero driver is providing the following interfaces to the client library: ^- position2d (for the servos)^ ^- sonar (for the ultrasonic sensors)^ ^- ir (for the infrared detectors)^ ^ - aio (for the pyroelectric sensor)^ The cmucam2 driver (thanks to [http://www.cs.sfu.ca/~vaughan/ Richard Vaughan] for the original driver) provides a blobfinder, a ptz and a camera interface to the robot. Schemes, pictures, ideas, explanations, and most importantly, source codes are provided on the ZeeRO web site.

* [http://www.robotux.info/zeero The ZeeRO mobile robot]

==== The High Altitude Slug Project ====
This is a UK based project to send a high altitude glider powered by a Gumstix to the edge of space, around 100,000 feet.

* [http://glider.phatmonkey.org.uk/ The High Altitude Slug Project]

==== Nomad Autonomous Buggy ====
Side project to produce an autonomous vehicle based on a Tamiya RCO Attack Vehicle (R/C Car) and a Gumstix connex with STUART Waysmall. Uses radio modems, GPS and PWM.

* [http://www.pegasushabproject.org.uk/nomad/ Nomad Autonomous Buggy]

==== AMFO-1/Bobby ====
: Montevideo, Uruguay.
* [http://uavamfo.blogspot.com/ AMFO-1/Bobby (Spanish)]
This project belongs to three students of electrical engineering and to the [http://iie.fing.edu.uy/ Institute of Electrical Engineering], Faculty of Engineering, Universidad de la Republica.

Its our degree project and consists in designing, constructing and validating an autonomous flying vehicle. The main purpose was to develop a platform for further investigation in the area so it needed to be scalable. Due to limited budget, the construction was done entirely by the group which held to time problems.

The system includes:

* 1x Gumstix connex 400xm
* 1x Robostix
* 1x Tweener
* 3-axis accelerometer (2x ADXL320)
* 3-axis gyroscope (3x ADXRS300)
* GPS (1x GPSstix)
The system is deployed and landed manually and switched in auto-mode using a free channel from the R/C radio. It's supposed to follow a determined path (pre flight configured).
Right now we are in the final stages, only resting the interface for tuning the PID loops.
All the software is open source based, and very special thanks goes to all the contributors on the gumstix mailing list.
You can visit a [http://uavamfo.blogspot.com/ blog] of the project (Spanish) to see some of the work and news, an english version and more complete webpage will be available when time permits it.

====Jordan’s Gumstix Robot Project====

Jordan is building a robotuse the Gumstix verdex XL6P as its controller. Check out his [http://jshenz.angelfire.com Project] page for all the details.

[[Category:Projects]]

== Previous robotics projects in the docwiki==
Many customer projects in robotics have been [http://docwiki.gumstix.com/index.php/Customer_projects posted here in the old wiki].

[[Category: Projects]]

Overo Wifi

2010-09-24T10:17:45Z

Orjanp: /* Added "How to connect to the network after configuration" */

[[Category:How_to_-_wifi]]
[http://www.gumstix.com/store/catalog/product_info.php?cPath=31&products_id=226 Overo Air] and [http://www.gumstix.com/store/catalog/product_info.php?cPath=31&products_id=227 Overo Fire] COMs have a 802.11(g) wireless module "on board". This page gives some details about the hardware and software configuration for this Wifi module.

=Hardware=

This section gives some infos about various hardware related topics regarding Overo Wifi.

==Module==

Overo Wifi solution is based on an [http://www.wi2wi.com/wireless.php Wi2Wi chip] based on Marvell's industry leading 88W8686 which brings 802.11(b/g) wifi.

==MMC==

Overo fire's WiFi port connected to MMC port '''2''' in 4 bit configuration.

==Connector and Antenna==

For 802.11b/g (Wifi) to work on an Overo Air COM or Overo Fire COM, a [http://www.gumstix.com/store/catalog/product_info.php?products_id=173 u.fl antenna] must be connected to '''J2''' on Overo Air or Fire COMs. The location of J2 is shown [http://www.gumstix.net/wiki/images/3/34/J2-J3.jpg here].

Note: J3 is the antenna location when using BlueTooth. J3 also takes a [http://www.gumstix.com/store/catalog/product_info.php?products_id=173 u.fl antenna].

Note that two (2) u.fl antennae come with each Overo Fire COM and with each Overo Air COM.

=Software=

Official Overo [http://www.gumstix.net/Setup-and-Programming/view/Overo-Setup-and-Programming/Downloading-pre-built-images/111.html pre-built Linux images] or [http://www.sakoman.com/feeds/omap3/glibc/images/overo/ developer images] contain already support for Overo Wifi. However, wifi configuration depending on your local wifi environment still has to be done.

There is also a [[thin-firmware driver]] and firmware that permit you to utilize the mac80211 drives in the Linux kernel. This is useful if you want to experiment with running an AP, 802.11s mesh, or other types of experiments on your Overo.

==Boot messages==

At Overo boot, you should get something like

...
libertas_sdio: Libertas SDIO driver
libertas_sdio: Copyright Pierre Ossman
libertas_sdio mmc1:0001:1: firmware: requesting sd8686_helper.bin
libertas_sdio mmc1:0001:1: firmware: requesting sd8686.bin
libertas: 00:19:88:05:b5:31, fw 9.70.3p24, cap 0x00000303
libertas: PREP_CMD: command 0x00a3 failed: 2
libertas: PREP_CMD: command 0x00a3 failed: 2
libertas: eth0: Marvell WLAN 802.11 adapter
...

Note: The two “command 0×00a3 failed” messages are harmless, and have to do with features that are not supported.

==Test==

For test of basic functionality, do the following at command line (after log in as root / no password):

root@overo:~# '''iwconfig wlan0 essid any'''
root@overo:~# '''ifconfig wlan0 up'''
root@overo:~# '''iwlist wlan0 scan'''

what should list the wifi's visible, then.

==Unencypted wifi==

Some default builds do not enable any Wifi. You may need to edit /etc/network/interfaces to include a section which looks like:
<pre>
allow-hotplug wlan0
auto wlan0
iface wlan0 inet dhcp
pre-up /sbin/iwconfig wlan0 essid any
wireless_mode managed
</pre>
The problem is this setup is not reliable! we're waiting for a solution.

==WEP encryption==

* Edit ''/etc/network/interfaces'' to have only for wlan0 (don't touch the other entries):

iwconfig wlan0 essid "My Wireless Network"
iwconfig wlan0 key my-hex-key
ifdown wlan0
ifup wlan0

==WPA encryption==

* Edit ''/etc/network/interfaces'' to have only for wlan0 (don't touch the other entries):

allow-hotplug wlan0
iface wlan0 inet dhcp
pre-up wpa_supplicant -Dwext -iwlan0 -c/etc/wpa_supplicant.conf -B
down killall wpa_supplicant

* Create ''/etc/wpa_supplicant.conf'' containing:

ctrl_interface=/var/run/wpa_supplicant
ctrl_interface_group=0
eapol_version=1
ap_scan=1
fast_reauth=1

network={
ssid="add-your-ascii-ssid"
proto=WPA2 # try WPA RSN if you WPA2 fails
key_mgmt=WPA-PSK
pairwise=CCMP TKIP
group=CCMP TKIP
scan_ssid=1
psk="add-your-ascii-passphrase"
priority=10
}

==Connect to network==

To connect to the wireless network when the configuration is done, do the following:

* Take down the wireless network (it might already be down, but try to be sure):

# ifdown wlan0

* Then, bring it up again:

# ifup wlan0

=Issues=

Many users have reported issues with wifi data throughput being [http://old.nabble.com/Overo-wifi-speed-and-WPA2-connection-issue-td27196711.html#a27231874 limited to about 100kB/second]. It is theorized this is due to lack of SDIO IRQ support in the OMAP3 MMC driver. A patch is being investigated which reportedly [http://marc.info/?l=linux-omap&m=126140067103975&w=2 achieves 13Mbps].

Additionally, the driver does not support power management at present. The use of iwconfig power commands such as the following will fail:
<pre>
iwconfig wlan0 power on
</pre>
Therefore, the wifi module always consumes close to 1 Watt of power when turned on.

=Links=

* [http://bec-systems.com/site/387/wi2wi-wifi-bt-module-review Wi2Wi W2CBW003 Wifi/Bluetooth module review]