Gumstix User Wiki - User contributions [en]

Main Page

2011-04-08T18:20:52Z

Searchworks: remove old link

<big>''Welcome to the Gumstix User Wiki''</big>

This site is provided so that users of the Gumstix OpenEmbedded build system can share their knowledge, showcase their Gumstix-based projects, and pass on links to other sources of information and materials. This information is entirely user generated and supported. Please contribute your know-how to help your fellow developers.

'''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.''

Go to the [http://gumstix.org Gumstix Developer's website] for official Gumstix supported documentation on OpenEmbedded and other information of interest to developers:
{|
| valign="top" |
{|cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#f5fffa;border:1px solid #bcc"
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's - Focus]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's]]

|-
| valign="top" |
* [[:Category:how to - Android|Android]]
* [[:Category:how to - eclipse|Eclipse]]
* [[:Category:How_to_-_Migrate_to_Gumstix|Migrate to Gumstix]]
* [[Linaro]]
* [[:Category:how to - Ubuntu|Ubuntu]]
| valign="top" |
* [[:Category:how to - audio|Audio]]
* [[AutoLogin|Automatic Logins]]
* [[:Category:how to - batteries|Batteries]]
* [[:Category:how to - bluetooth|Bluetooth]]
* [[:Category:Connect_hardware|Connect Hardware]]
* [[Caspa_camera_boards|Caspa camera boards]]
* [[:Category:how to - displays|Displays]]
* [[:Category:how to - DSP|DSP]]
* [[:Category:how_to_-_ethernet|Ethernet]]
* [[:Category:how_to_-_expansion_boards|Expansion Boards]]
* [[:Category:how to - fedora|Fedora]]
* [[:Category:how to - Fast Boot|Fast Boot]]
* [[Gaining Console Connection via Terminal]]
* [[:Category:how to - git|Git]]

| valign="top" |
* [[GPIO|GPIO]]
* [[GPS|GPS]]
* [[:Category:how to - gui|GUI]]
* [[:Category:how to - general|General]]
* [[:Category:how to - Build helloworld|HelloWorld]]
* [[HelloWorld|HelloWorld in Python, C, C++]]
* [[HelloWorld in Java|HelloWorld in Java]]
* [[:Category:how to - i2c|I2C]]
* [[:Category:how to - IMU|IMU]]
* [[:Category:how to - JAVA|JAVA]]
* [[Kernel Reconfiguration|Kernel Reconfiguration]]
* [[:Category:how to - Known Issues|Known Issues]]
* [[:Category:how to - LCD|LCD]]
* [[:Category:how to - Low Power|Low Power]]
| valign="top" |
* [[:Category:how to - linux|Linux]]
* [[AudioIn | Use a microphone]]
* [[MicroSd |MicroSD Duplication]]
* [[:Category:how to - Network_Boot|Network Boot]]
* [[:Category:how to - OpenEmbedded|OpenEmbedded]]
* [[:Category:how to - player|Player]]
* [[:Category:How to - PWM|PWM]]
* [[:Category:How_to_-_qemu|Qemu]]
* [[:Category:How_to_-_Qt|Qt]]
* [[:Category:how to - robotics|Robotics]]
* [[:Category:how to - security|Security]]
* [[:Category:SPI|SPI]]
| valign="top" |
* [[:Category:SUSE|SUSE]]
* [[Remote Debugging with GDB|Remote Debugging with GDB]]
* [[U-Boot|UBoot]]
* [[:Category:how to - usb|USB]]
* [[Verdex Git Repository]]
* [[VerdexPro U-Boot Flashing Fix]]
* [[:Category:how to - virtual machine|Virtual Machine]]
* [[:Category:how to - webcams|Webcams]]
* [[:Category:how to - wifi|Wifi]]

|}

{|
| valign="top" |
{|cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#f5fffa;border:1px solid #bcc"
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:projects|User projects]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:User_pics_videos|User Pics & Videos]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:resources|Resources]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:faqs|Questions and Answers]]

|-
| valign="top" |
* [[:Category:projects - audio|Audio]]
* [[:Category:projects - competitions|Competitions]]
* [[:Category:projects - displays|Displays]]
* [[:Category:projects - pdas|PDA's]]
* [[:Category:Projects_-Research_and_Education|Research & Education]]
* [[:Category:projects - monitoring and control|Monitoring and Control]]
* [[:Category:projects - robotics|Robotics & UAV's]]
| valign="top" |
* [http://www.youtube.com/results?uploaded=m&search_query=gumstix&search_type=videos&suggested_categories=28&uni=3&search_sort=video_date_uploaded Gumstix on Youtube]
* [http://www.flickr.com/search/?q=gumstix&s=rec Gumstix in Flickr]
* [http://www.cs.umd.edu/alandaluz/nchen/ebook/dualdisp-chi.mov Dual Display device at UMD]
| valign="top" |
* [[Windows CE solution|Solutions for Windows CE]]
* [[Qt solution|Solutions for Qt]]
* [[Manufacturer's specifications|Specifications for Processors & Components]]
* [[Software information]]
* [[Supported hardware]]
* [[Third Party Boards]]
| valign="top" |
Gumstix Community Mailing List (no cost)
* [https://lists.sourceforge.net/lists/listinfo/gumstix-users Sign-up]
* [http://old.nabble.com/Gumstix-f22543.html Archives]
|}

For information and support for the legacy gumstix buildroot build system:
[http://docwiki.gumstix.com/Main_Page docwiki.gumstix.com]
.

Main Page

2011-04-08T18:17:56Z

Searchworks: youtube link

<big>''Welcome to the Gumstix User Wiki''</big>

This site is provided so that users of the Gumstix OpenEmbedded build system can share their knowledge, showcase their Gumstix-based projects, and pass on links to other sources of information and materials. This information is entirely user generated and supported. Please contribute your know-how to help your fellow developers.

'''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.''

Go to the [http://gumstix.org Gumstix Developer's website] for official Gumstix supported documentation on OpenEmbedded and other information of interest to developers:
{|
| valign="top" |
{|cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#f5fffa;border:1px solid #bcc"
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's - Focus]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's]]

|-
| valign="top" |
* [[:Category:how to - Android|Android]]
* [[:Category:how to - eclipse|Eclipse]]
* [[:Category:How_to_-_Migrate_to_Gumstix|Migrate to Gumstix]]
* [[Linaro]]
* [[:Category:how to - Ubuntu|Ubuntu]]
| valign="top" |
* [[:Category:how to - audio|Audio]]
* [[AutoLogin|Automatic Logins]]
* [[:Category:how to - batteries|Batteries]]
* [[:Category:how to - bluetooth|Bluetooth]]
* [[:Category:Connect_hardware|Connect Hardware]]
* [[Caspa_camera_boards|Caspa camera boards]]
* [[:Category:how to - displays|Displays]]
* [[:Category:how to - DSP|DSP]]
* [[:Category:how_to_-_ethernet|Ethernet]]
* [[:Category:how_to_-_expansion_boards|Expansion Boards]]
* [[:Category:how to - fedora|Fedora]]
* [[:Category:how to - Fast Boot|Fast Boot]]
* [[Gaining Console Connection via Terminal]]
* [[:Category:how to - git|Git]]

| valign="top" |
* [[GPIO|GPIO]]
* [[GPS|GPS]]
* [[:Category:how to - gui|GUI]]
* [[:Category:how to - general|General]]
* [[:Category:how to - Build helloworld|HelloWorld]]
* [[HelloWorld|HelloWorld in Python, C, C++]]
* [[HelloWorld in Java|HelloWorld in Java]]
* [[:Category:how to - i2c|I2C]]
* [[:Category:how to - IMU|IMU]]
* [[:Category:how to - JAVA|JAVA]]
* [[Kernel Reconfiguration|Kernel Reconfiguration]]
* [[:Category:how to - Known Issues|Known Issues]]
* [[:Category:how to - LCD|LCD]]
* [[:Category:how to - Low Power|Low Power]]
| valign="top" |
* [[:Category:how to - linux|Linux]]
* [[AudioIn | Use a microphone]]
* [[MicroSd |MicroSD Duplication]]
* [[:Category:how to - Network_Boot|Network Boot]]
* [[:Category:how to - OpenEmbedded|OpenEmbedded]]
* [[:Category:how to - player|Player]]
* [[:Category:How to - PWM|PWM]]
* [[:Category:How_to_-_qemu|Qemu]]
* [[:Category:How_to_-_Qt|Qt]]
* [[:Category:how to - robotics|Robotics]]
* [[:Category:how to - security|Security]]
* [[:Category:SPI|SPI]]
| valign="top" |
* [[:Category:SUSE|SUSE]]
* [[Remote Debugging with GDB|Remote Debugging with GDB]]
* [[U-Boot|UBoot]]
* [[:Category:how to - usb|USB]]
* [[Verdex Git Repository]]
* [[VerdexPro U-Boot Flashing Fix]]
* [[:Category:how to - virtual machine|Virtual Machine]]
* [[:Category:how to - webcams|Webcams]]
* [[:Category:how to - wifi|Wifi]]

|}

{|
| valign="top" |
{|cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#f5fffa;border:1px solid #bcc"
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:projects|User projects]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:User_pics_videos|User Pics & Videos]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:resources|Resources]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:faqs|Questions and Answers]]

|-
| valign="top" |
* [[:Category:projects - audio|Audio]]
* [[:Category:projects - competitions|Competitions]]
* [[:Category:projects - displays|Displays]]
* [[:Category:projects - pdas|PDA's]]
* [[:Category:Projects_-Research_and_Education|Research & Education]]
* [[:Category:projects - monitoring and control|Monitoring and Control]]
* [[:Category:projects - robotics|Robotics & UAV's]]
| valign="top" |
* [http://johnwoconnor.blogspot.com/2009/03/linux-on-gumstick-tour-of-gumstix-overo.html Short & Sweet - A User's Tour of Overo Earth]
* [http://www.flickr.com/search/?q=gumstix&s=rec Gumstix in Flickr]
* [http://www.youtube.com/results?uploaded=m&search_query=gumstix&search_type=videos&suggested_categories=28&uni=3&search_sort=video_date_uploaded Gumstix on Youtube]
* [http://www.cs.umd.edu/alandaluz/nchen/ebook/dualdisp-chi.mov Dual Display device at UMD]
| valign="top" |
* [[Windows CE solution|Solutions for Windows CE]]
* [[Qt solution|Solutions for Qt]]
* [[Manufacturer's specifications|Specifications for Processors & Components]]
* [[Software information]]
* [[Supported hardware]]
* [[Third Party Boards]]
| valign="top" |
Gumstix Community Mailing List (no cost)
* [https://lists.sourceforge.net/lists/listinfo/gumstix-users Sign-up]
* [http://old.nabble.com/Gumstix-f22543.html Archives]
|}

For information and support for the legacy gumstix buildroot build system:
[http://docwiki.gumstix.com/Main_Page docwiki.gumstix.com]
.

Category:Projects - robotics

2011-04-08T18:14:02Z

Searchworks: link

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.''

=== 2011 ===
==== Gumstix-based Robotics Projects====

Check out the many Gumstix-based robotics project [http://www.youtube.com/results?search_query=gumstix+robot&aq=f here on Youtube].

==== Giger V2.0 Humanoid Robot ====

Giger is a WIP (work in progress) fully custom humanoid robot. He stands about 25" tall and weighs roughly 12lbs. All his brackets are made of 2/2.5mm 5052 aluminum, and uses a 400mhz Gumstix Verdex Pro COM as on-board smarts.

See [http://www.youtube.com/results?uploaded=m&search_query=giger+gumstix&search_type=videos&suggested_categories=28&uni=3&search_sort=video_date_uploaded videos here].

==== RoboSavvy ====

The [http://robosavvy.com/forum/viewtopic.php?t=6543 Robosavvy project].

=== 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]]

Category:Projects - robotics

2011-04-08T18:06:45Z

Searchworks: Robosavvy

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.''

=== 2011 ===
==== Gumstix-based Robotics Projects====

Check out the many Gumstix-based robotics project [http://www.youtube.com/results?search_query=gumstix+robot&aq=f here on Youtube].

==== Giger V2.0 Humanoid Robot ====

Giger is a WIP (work in progress) fully custom humanoid robot. He stands about 25" tall and weighs roughly 12lbs. All his brackets are made of 2/2.5mm 5052 aluminum, and uses a 400mhz Gumstix Verdex Pro COM as on-board smarts. See [http://www.youtube.com/watch?v=jYDPrD4Njko video here].

==== RoboSavvy ====

The [http://robosavvy.com/forum/viewtopic.php?t=6543 Robosavvy project].

=== 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]]

Category:Projects - robotics

2011-04-08T18:03:22Z

Searchworks: Giger

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.''

=== 2011 ===
==== Gumstix-based Robotics Projects====

Check out the many Gumstix-based robotics project [http://www.youtube.com/results?search_query=gumstix+robot&aq=f here on Youtube].

==== Giger V2.0 Humanoid Robot ====

Giger is a WIP (work in progress) fully custom humanoid robot. He stands about 25" tall and weighs roughly 12lbs. All his brackets are made of 2/2.5mm 5052 aluminum, and uses a 400mhz Gumstix Verdex Pro COM as on-board smarts. See [http://www.youtube.com/watch?v=jYDPrD4Njko video here].

=== 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]]

Category:Projects - robotics

2011-04-08T17:58:12Z

Searchworks: 2011 link to Youtube search

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.''

=== 2011 ===
==== Gumstix-based Robotics Projects====

Check out the many Gumstix-based robotics project [http://www.youtube.com/results?search_query=gumstix+robot&aq=f here on Youtube].

=== 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]]

Category:Projects - monitoring and control

2011-04-08T17:55:04Z

Searchworks: 2011 CBG

==2011==
=== Computing by Gumstix ===

Check out our [http://www.gumstix.com/cbg.html "computing by Gumstix"].

== 2009 ==

=== Nottingham Scientific -- Global Navigation Satellite System ===
Nottingham Scientific is using an Overo Earth board to run some of their satellite receiver software. Michele, one of the software engineers, writes, "Not only can the OMAP3503 reliably record the raw GNSS stream, but it is also capable of processing 16 GPS -or Galileo BOC(1,1)- channels in real-time, continuously!" See [http://michelebavaro.blogspot.com/2009/12/still-alive-and-working-hard.html his blog post] for more details.

=== 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.

=== TIMS - Telecom Infrastructure Management System ===

[http://www.gumstix.net/wiki/images/3/33/Powertech-1.jpg Inside the Powertech network controller]

[http://www.gumstix.net/wiki/images/a/ac/Powertech-in-India-Jan-2009.jpg Map of Powertech across India]

[http://www.pasl.in/Default.asp Powertech Automation Solutions] provides an innovative platform for remote asset monitoring and management. Their patented product helps companies with asset monitoring, energy management, real time data acquisition and analysis, mobile work force management and work flow integration.

TIMS, their telecom infrastructure management system, is powered by gumstix technology and uses the GPRS network to talk to central server.

The product picture on the right shows the internal layout of the Powertech system.

The map on the right indicates Powertech installations in the country of India as of January 2009.

"Thanks a lot for making a great product". Ashish Sirasao, Powertech.

== 2008 ==

=== Ad-hoc wireless network for Emergency Workers ===

[http://www.gumstix.net/wiki/images/6/69/Mica_x220.jpg Mica creates Ad-hoc wireless network]

Ad-hoc wireless networks may soon tell emergency workers how to deploy transmitters.

Building an [http://www.elektronx.com/?p=221 on-the-fly wireless communications networks] is a vital part of firefighting, handling hostage situations, and dealing with other emergencies. But it is difficult to build such networks quickly and reliably.

Soon these emergency wireless networks could help build themselves. The National Institute of Standards and Technology (NIST) recently presented details of two experimental networks that tell emergency workers when to set down wireless transmitters to ensure a good signal.

===Gumstix on the Matterhorn Hornligrat in Swiss Alps===

[http://www.gumstix.net/wiki/images/6/65/Jan-1.JPG Helicopter over the Matterhorn, in the Swiss Alps]]

[http://www.permasense.ch PermaSense] observes physical parameters related to permafrost in steep high-alpine terrain over a period of multiple years. Live sensor network data is transmitted from the Matterhorn, Switzerland field site at 3400 m a.s.l. every 2 minutes.

Gumstix verdex is the base station computer high on the mountain.

[http://data.permasense.ch PermaSense Live Data Viewer]

Contact: [http://www.tik.ee.ethz.ch/~beutel/ Jan Beutel at Swiss Federal Institute of Technology Zurich].

===Gumstix on the Iceland icecap===

The [http://envisense.org/glacsweb/iceland/index.html Glacsweb] project used Gumstix (connex) together with a low power sensor board to control a sensor network installed in the summer of 2008 in the glacier ice of the main icecap in Iceland. The gumstix runs control scripts in Python to fetch sensor data from probes in the ice and a dGPS on the surface. It uses GPRS to copy data and fetch scripts from the server in the UK.

.

[[Category: Projects]]

Category:Projects - audio

2011-04-08T17:50:26Z

Searchworks: 2011 CBG

==2011==
=== Computing by Gumstix ===

Check out our [http://www.gumstix.com/cbg.html "computing by Gumstix"].

==2008==
=== passive pulseaudio "client" ===

in order to play the sounds of the [http://www.hellea.org/bastet/pmwiki.php/Main/PortierLectronique Bastet project] I need some low-consumption networked audio peripheral.

Products: Gumstix+netstix+audiostix

==2007==

===Greg Elliott===
Location: University of California, Irvine: Irvine, CA
*Contact - gelliott followed by an at sign then uci dot edu

====PersonalSoundtrack:====

PersonalSoundtrack, a tiny wearable computer, detects your walking or running speed and plays songs from your music library that match your pace. Song speed is adjusted in real-time to match subtle variations in your gait, while larger, deliberate pace changes cause the device to change songs. You simply put it on and begin moving; that's it.

Most computational devices require the user to adapt to the machine. PersonalSoundtrack offers, instead, a symbiotic relationship: both human and machine actively adapt to each other in real-time. The 'interface' is one's natural gait. There is no optimal or pre-defined experience, encouraging meandering, wasting time, and loitering.

This project has been demonstrated at several shows and featured in several magazines.

*Website - [http://ace.uci.edu/~gelliott/personalsoundtrack PersonalSoundtrack]

====PublicSoundtrack:====

*Website - [http://ace.uci.edu/~gelliott/publicsoundtrack PublicSoundtrack]

===Tunestix===
Project, open to all to contribute to, working towards a framework making it easier for people to construct their own portable music player using a gumstix computer as the base. At present only mp3s can be played off a CF card however many additions planned such as voice synthesis using flite of Wikipedia and the use of CF Wireless Card to stream iTunes shares.

* Website: [http://www.srcf.ucam.org/~jac208/dokuwiki-2006-11-06/doku.php Tunestix]
* Contact: James Coxon <jac208@cam.ac.uk>

[[Category: Projects]]

Gumstix-x11-image

2011-04-07T13:16:10Z

Searchworks: restore

The gumstix-x11-image builds a gumstix minimal system (gumstix-minimal-image) plus KDrive (Xserver), the matchbox window manager and GTK+

Main Page

2011-03-31T00:56:01Z

Searchworks: Reverted edits by Dahwarm (talk) to last revision by Maroc

<big>''Welcome to the Gumstix User Wiki''</big>

This site is provided so that users of the Gumstix OpenEmbedded build system can share their knowledge, showcase their Gumstix-based projects, and pass on links to other sources of information and materials. This information is entirely user generated and supported. Please contribute your know-how to help your fellow developers.

'''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.''

Go to the [http://gumstix.org Gumstix Developer's website] for official Gumstix supported documentation on OpenEmbedded and other information of interest to developers:
{|
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! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's - Focus]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's]]
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! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's]]

|-
| valign="top" |
* [[:Category:how to - Android|Android]]
* [[:Category:how to - eclipse|Eclipse]]
* [[:Category:How_to_-_Migrate_to_Gumstix|Migrate to Gumstix]]
* [[Linaro]]
* [[:Category:how to - Ubuntu|Ubuntu]]
| valign="top" |
* [[:Category:how to - audio|Audio]]
* [[AutoLogin|Automatic Logins]]
* [[:Category:how to - batteries|Batteries]]
* [[:Category:how to - bluetooth|Bluetooth]]
* [[:Category:Connect_hardware|Connect Hardware]]
* [[Caspa_camera_boards|Caspa camera boards]]
* [[:Category:how to - displays|Displays]]
* [[:Category:how to - DSP|DSP]]
* [[:Category:how_to_-_ethernet|Ethernet]]
* [[:Category:how_to_-_expansion_boards|Expansion Boards]]
* [[:Category:how to - fedora|Fedora]]
* [[:Category:how to - Fast Boot|Fast Boot]]
* [[Gaining Console Connection via Terminal]]
* [[:Category:how to - git|Git]]

| valign="top" |
* [[GPIO|GPIO]]
* [[GPS|GPS]]
* [[:Category:how to - gui|GUI]]
* [[:Category:how to - general|General]]
* [[:Category:how to - Build helloworld|HelloWorld]]
* [[HelloWorld|HelloWorld in Python, C, C++]]
* [[HelloWorld in Java|HelloWorld in Java]]
* [[:Category:how to - i2c|I2C]]
* [[:Category:how to - IMU|IMU]]
* [[:Category:how to - JAVA|JAVA]]
* [[Kernel Reconfiguration|Kernel Reconfiguration]]
* [[:Category:how to - Known Issues|Known Issues]]
* [[:Category:how to - LCD|LCD]]
* [[:Category:how to - Low Power|Low Power]]
| valign="top" |
* [[:Category:how to - linux|Linux]]
* [[AudioIn | Use a microphone]]
* [[MicroSd |MicroSD Duplication]]
* [[:Category:how to - Network_Boot|Network Boot]]
* [[:Category:how to - OpenEmbedded|OpenEmbedded]]
* [[:Category:how to - player|Player]]
* [[:Category:How to - PWM|PWM]]
* [[:Category:How_to_-_qemu|Qemu]]
* [[:Category:How_to_-_Qt|Qt]]
* [[:Category:how to - robotics|Robotics]]
* [[:Category:how to - security|Security]]
* [[:Category:SPI|SPI]]
| valign="top" |
* [[:Category:SUSE|SUSE]]
* [[Remote Debugging with GDB|Remote Debugging with GDB]]
* [[U-Boot|UBoot]]
* [[:Category:how to - usb|USB]]
* [[Verdex Git Repository]]
* [[VerdexPro U-Boot Flashing Fix]]
* [[:Category:how to - virtual machine|Virtual Machine]]
* [[:Category:how to - webcams|Webcams]]
* [[:Category:how to - wifi|Wifi]]

|}

{|
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! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:projects|User projects]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:User_pics_videos|User Pics & Videos]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:resources|Resources]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:faqs|Questions and Answers]]

|-
| valign="top" |
* [[:Category:projects - audio|Audio]]
* [[:Category:projects - competitions|Competitions]]
* [[:Category:projects - displays|Displays]]
* [[:Category:projects - pdas|PDA's]]
* [[:Category:Projects_-Research_and_Education|Research & Education]]
* [[:Category:projects - monitoring and control|Monitoring and Control]]
* [[:Category:projects - robotics|Robotics & UAV's]]
| valign="top" |
* [http://johnwoconnor.blogspot.com/2009/03/linux-on-gumstick-tour-of-gumstix-overo.html Short & Sweet - A User's Tour of Overo Earth]
* [http://www.flickr.com/search/?q=gumstix&s=rec Gumstix in Flickr]
* [http://www.youtube.com/results?search_query=gumstix&search_sort=video_date_uploaded Gumstix on Youtube]
* [http://www.cs.umd.edu/alandaluz/nchen/ebook/dualdisp-chi.mov Dual Display device at UMD]
| valign="top" |
* [[Windows CE solution|Solutions for Windows CE]]
* [[Qt solution|Solutions for Qt]]
* [[Manufacturer's specifications|Specifications for Processors & Components]]
* [[Software information]]
* [[Supported hardware]]
* [[Third Party Boards]]
| valign="top" |
Gumstix Community Mailing List (no cost)
* [https://lists.sourceforge.net/lists/listinfo/gumstix-users Sign-up]
* [http://old.nabble.com/Gumstix-f22543.html Archives]
|}

For information and support for the legacy gumstix buildroot build system:
[http://docwiki.gumstix.com/Main_Page docwiki.gumstix.com]
.

Main Page

2011-03-23T17:25:01Z

Searchworks: Reverted edits by Neiyeo (talk) to last revision by Ashcharles

<big>''Welcome to the Gumstix User Wiki''</big>

This site is provided so that users of the Gumstix OpenEmbedded build system can share their knowledge, showcase their Gumstix-based projects, and pass on links to other sources of information and materials. This information is entirely user generated and supported. Please contribute your know-how to help your fellow developers.

'''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.''

Go to the [http://gumstix.org Gumstix Developer's website] for official Gumstix supported documentation on OpenEmbedded and other information of interest to developers:
{|
| valign="top" |
{|cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#f5fffa;border:1px solid #bcc"
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's - Focus]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's]]

|-
| valign="top" |
* [[:Category:how to - Android|Android]]
* [[:Category:how to - eclipse|Eclipse]]
* [[:Category:How_to_-_Migrate_to_Gumstix|Migrate to Gumstix]]
* [[Linaro]]
* [[:Category:how to - Ubuntu|Ubuntu]]
| valign="top" |
* [[:Category:how to - audio|Audio]]
* [[AutoLogin|Automatic Logins]]
* [[:Category:how to - batteries|Batteries]]
* [[:Category:how to - bluetooth|Bluetooth]]
* [[:Category:Connect_hardware|Connect Hardware]]
* [[Caspa_camera_boards|Caspa camera boards]]
* [[:Category:how to - displays|Displays]]
* [[:Category:how to - DSP|DSP]]
* [[:Category:how_to_-_ethernet|Ethernet]]
* [[:Category:how_to_-_expansion_boards|Expansion Boards]]
* [[:Category:how to - fedora|Fedora]]
* [[Gaining Console Connection via Terminal]]
* [[:Category:how to - git|Git]]
* [[GPIO|GPIO]]
| valign="top" |
* [[GPS|GPS]]
* [[:Category:how to - gui|GUI]]
* [[:Category:how to - general|General]]
* [[:Category:how to - Build helloworld|HelloWorld]]
* [[HelloWorld|HelloWorld in Python, C, C++]]
* [[HelloWorld in Java|HelloWorld in Java]]
* [[:Category:how to - i2c|I2C]]
* [[:Category:how to - IMU|IMU]]
* [[:Category:how to - JAVA|JAVA]]
* [[Kernel Reconfiguration|Kernel Reconfiguration]]
* [[:Category:how to - Known Issues|Known Issues]]
* [[:Category:how to - LCD|LCD]]
* [[:Category:how to - Low Power|Low Power]]
| valign="top" |
* [[:Category:how to - linux|Linux]]
* [[AudioIn | Use a microphone]]
* [[MicroSd |MicroSD Duplication]]
* [[:Category:how to - Network_Boot|Network Boot]]
* [[:Category:how to - OpenEmbedded|OpenEmbedded]]
* [[:Category:how to - player|Player]]
* [[:Category:How to - PWM|PWM]]
* [[:Category:How_to_-_qemu|Qemu]]
* [[:Category:How_to_-_Qt|Qt]]
* [[:Category:how to - robotics|Robotics]]
* [[:Category:how to - security|Security]]
* [[:Category:SPI|SPI]]
| valign="top" |
* [[:Category:SUSE|SUSE]]
* [[Remote Debugging with GDB|Remote Debugging with GDB]]
* [[U-Boot|UBoot]]
* [[:Category:how to - usb|USB]]
* [[Verdex Git Repository]]
* [[VerdexPro U-Boot Flashing Fix]]
* [[:Category:how to - virtual machine|Virtual Machine]]
* [[:Category:how to - webcams|Webcams]]
* [[:Category:how to - wifi|Wifi]]

|}

{|
| valign="top" |
{|cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#f5fffa;border:1px solid #bcc"
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:projects|User projects]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:User_pics_videos|User Pics & Videos]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:resources|Resources]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:faqs|Questions and Answers]]

|-
| valign="top" |
* [[:Category:projects - audio|Audio]]
* [[:Category:projects - competitions|Competitions]]
* [[:Category:projects - displays|Displays]]
* [[:Category:projects - pdas|PDA's]]
* [[:Category:Projects_-Research_and_Education|Research & Education]]
* [[:Category:projects - monitoring and control|Monitoring and Control]]
* [[:Category:projects - robotics|Robotics & UAV's]]
| valign="top" |
* [http://johnwoconnor.blogspot.com/2009/03/linux-on-gumstick-tour-of-gumstix-overo.html Short & Sweet - A User's Tour of Overo Earth]
* [http://www.flickr.com/search/?q=gumstix&s=rec Gumstix in Flickr]
* [http://www.youtube.com/results?search_query=gumstix&search_sort=video_date_uploaded Gumstix on Youtube]
* [http://www.cs.umd.edu/alandaluz/nchen/ebook/dualdisp-chi.mov Dual Display device at UMD]
| valign="top" |
* [[Windows CE solution|Solutions for Windows CE]]
* [[Qt solution|Solutions for Qt]]
* [[Manufacturer's specifications|Specifications for Processors & Components]]
* [[Software information]]
* [[Supported hardware]]
* [[Third Party Boards]]
| valign="top" |
Gumstix Community Mailing List (no cost)
* [https://lists.sourceforge.net/lists/listinfo/gumstix-users Sign-up]
* [http://old.nabble.com/Gumstix-f22543.html Archives]
|}

For information and support for the legacy gumstix buildroot build system:
[http://docwiki.gumstix.com/Main_Page docwiki.gumstix.com]

Caspa camera boards

2011-03-22T03:07:04Z

Searchworks: add lens links

The Caspa series of Camera Boards from Gumstix

The MT9V032 sensor, at the heart of the Caspa FS camera board and the Caspa VL camera board, is not yet supported in the kernel, so a little work is necessary to get the camera up and running.

OMAP35x processors have dedicated hardware for capturing and processing data from image sensors. The Caspa camera sensor outputs raw 10-bit Bayer images which is transferred to the Image Signal Processor (ISP) via a parallel interface. The ISP contains various sub-modules that can be exported as Video for Linux (V4L2) devices in /dev. For additional hardware information see the external links section.

[[Image:Altoids.jpg|thumb|300px]]

== Quickstart ==

=== Hardware ===

[[Image:CaspaHardware.jpg|thumb|300px]]

Insert the white ribbon cable contact-side-up into the Caspa connector and contact side down into the Overo connector.

Using a small flat-head screwdriver, loosen the lensholder set screw and rotate the lens to adjust the focus.

=== Install Pre-built Kernel ===

The easiest way to get started is to replace the kernel and modules of an existing image. This has been tested on an Overo Fire with a Tobi expansion board using the desktop image available [http://www.sakoman.com/feeds/omap3/glibc/images/overo/201011150741/ here].

Get the kernel and modules.
$ wget http://cumulus.gumstix.org/images/angstrom/misc/caspapx/uImage-2.6.34
$ wget http://cumulus.gumstix.org/images/angstrom/misc/caspapx/modules-2.6.34.tgz

Copy to a bootable microSD card.
$ tar -xf modules-2.6.34.tgz -C /media/mmcblk0p2/
$ cp uImage-2.6.34 /media/mmcblk0p1/uImage
$ cp uImage-2.6.34 /media/mmcblk0p2/boot/uImage

Alternatively, if you have a network connection, you can copy the files without removing the microSD.
$ tar -xf modules-2.6.34.tgz
$ scp -r lib root@overo:/
$ scp uImage-2.6.34 root@overo:/boot/uImage
$ scp uImage-2.6.34 root@overo:/media/mmcblk0p1/uImage
$ ssh root@overo 'depmod; shutdown -r now'

=== Test ===

From the serial console:

# export DISPLAY=:0.0

# gst-launch v4l2src ! xvimagesink
''or''
# mplayer tv:// -tv driver=v4l2:device=/dev/video0

From the desktop:

<left-click> Applications > Multimedia > Cheese

If video0 doesn't appear in /dev you might have to load the driver manually.

# depmod
# modprobe mt9v032

== Bitbake ==

You can build the kernel and modules using bit-bake. This allows you to incorporate the kernel with camera driver into an image of your design.

$ cd ~/overo-oe/org.openembedded.dev
$ git pull origin overo
$ bitbake linux-omap3-caspapx

When the build completes, the kernel and modules will appear in ~/overo-oe/tmp/deploy/glibc/images/overo.

== Customization ==

This section describes how to customize the camera driver and kernel for your needs.

=== 2.6.34 ===

Get the kernel source that is used in the Gumstix kernel recipe (~/overo-oe/org.openmebedded.dev/recipes/linux/linux-omap3_2.6.34.bb) and create a new branch from the recipe SRCREV.
$ cd ~
$ git clone git://www.sakoman.com/git/linux-omap-2.6.git
$ cd linux-omap-2.6
$ git checkout -b 2.6.34 cb89736af28f583598e49a05249334a194d00f1d

Get the patch.
$ wget http://cumulus.gumstix.org/sources/mt9v032-2.6.34.patch
$ patch -p1 < mt9v032-2.6.34.patch

Get the kernel configuration. This is the same one used for the linux-omap3-caspapx image.
$ wget http://cumulus.gumstix.org/sources/mt9v032-2.6.34.defconfig
$ cp mt9v032-2.6.34.defconfig .config

If you haven't done so yet, you'll need to [http://www.gumstix.net/Setup-and-Programming/view/Overo-Setup-and-Programming/Setting-up-a-build-environment/111.html set up your build environment]. Build the console image. This will ensure that the cross compiler, binutils, and libraries need to compile the kernel are installed.
$ bitbake omap3-console-image

Add the cross compiler to your path and configure the kernel. The cross compiler location depends on the architecture of your build machine.
''32-bit processors''
$ export PATH=/home/<username>/overo-oe/tmp/sysroots/i686-linux/usr/armv7a/bin:${PATH} 
''64-bit processors''
$ export PATH=/home/<username>/overo-oe/tmp/sysroots/x86_64-linux/usr/armv7a/bin:${PATH}

Build kernel and modules
$ make ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi- uImage
$ make ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi- modules

Install modules
$ mkdir ~/linux-omap-2.6/modules
$ make ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi- INSTALL_MOD_PATH=./modules modules_install

=== Other Kernel Versions ===

The ISP code used for the 2.6.34 patch came from the arago-project. This is the OMAP3 PSP kernel integration/staging tree
$ git remote add git://arago-project.org/git/projects/linux-omap3.git aragoOMAP3 PSP kernel integration/staging tree
$ git fetch arago
$ git checkout -b arago

The V4L2 subdevice framework offers a way to configure the Image Signal Processor pipeline from user-space. This is currently under active development and users wishing to make use of this should visit the Media controller development repository [http://git.linuxtv.org/pinchartl/media.git here]. This contains the bleeding edge Video for Linux media framework, ISP, and MT9V032 drivers.

=== MT9V032 Driver ===

If you want to take advantage of an unimplemented sensor feature, change defaults, etc., you need to modify the driver source. After you've made a change you can use a script like the following to quickly test your new driver.

#! /bin/bash 
TARGET_OVERO="root@10.0.1.15"
make -j8 ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi- modules
ssh $TARGET_OVERO 'rmmod mt9v032'
scp drivers/media/video/mt9v032.ko $TARGET_OVERO:/lib/modules/2.6.34/kernel/drivers/media/video/
ssh $TARGET_OVERO 'insmod /lib/modules/2.6.34/kernel/drivers/media/video/mt9v032.ko'
ssh $TARGET_OVERO 'mplayer -display :0.0 tv:// -tv driver=v4l2:device=/dev/video0'

=== Image Signal Processor ===

There is some code that you can't modularize and modifying means rebuilding the kernel. Such is the case for the ISP code which is used by board-overo.c for hardware configuration. Another script like that in the previous section can be very useful.

This script rebuilds the kernel, copies it to the COM, and resets:

#! /bin/bash 
TARGET_OVERO="root@10.0.1.15"
make -j8 ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi- uImage;
scp arch/arm/boot/uImage $TARGET_OVERO:/boot/uImage;
scp arch/arm/boot/uImage $TARGET_OVERO:/media/mmcblk0p1/uImage
ssh $TARGET_OVERO 'shutdown -r now'

This is useful for adjusting the filters, white balance, and color blending coefficients used by the ISP preview module. The preview module is used for doing hardware conversion from 10-bit Bayer to YUV. If you are having color problems - especially under certain lighting conditions but not others - look at '''isppreview.c''' and the gamma correction tables in '''drivers/media/video/isp/'''

== Tuning ==

=== Module Parameters ===
By default, auto exposure, auto gain, and high dynamic range are all enabled. You can disable any or all of these to suit your needs by reloading the driver.

Get a list of driver parameters.
# modinfo mt9v032
filename: /lib/modules/2.6.34/kernel/drivers/media/video/mt9v032.ko
license: GPL
author: Ignacio Garcia Perez <iggarpe@gmail.com>
description: mt9v032 camera sensor driver
srcversion: A46920FD64C35A2645E0D54
alias: i2c:mt9v032
depends:
vermagic: 2.6.34 mod_unload modversions ARMv7
parm: sensor_type:Sensor type: "color" or "mono" (charp)
parm: auto_exp:Initial state of automatic exposure (int)
parm: auto_gain:Initial state of automatic gain (int)
parm: hdr:High dynamic range (int)
parm: low_light:Enable companding (int)
parm: hflip:Horizontal flip (int)
parm: vflip:Vertical flip (int)

Depending on the light level, auto exposure might reduce the framerate as low as 15 frames per second. You can disable auto exposure like so:
# rmmod mt9v032;
# insmod /lib/modules/2.6.34/kernel/drivers/media/video/mt9v032.ko auto_exp=0

If this makes your image too dark, you can disable auto gain and enable companding mode (more information [http://www.aptina.com/assets/downloadDocument.do?id=668 here]).
# rmmod mt9v032
# insmod /lib/modules/2.6.34/kernel/drivers/media/video/mt9v032.ko auto_exp=0 auto_gain=0 low_light=1



== External Links ==

Caspa VL (filtered lens): [http://www.mars-cam.com/optical/lenses/ccd_cmos/43fix.php V-4303.6-1]

Caspa FS (unfiltered lens): [http://www.ktnc.co.kr/english/viewtopic.php?t=468 KLB-0360]

[http://focus.ti.com/general/docs/lit/getliterature.tsp?literatureNumber=spruf98m&fileType=pdf OMAP35x Technical Reference Manual]

[http://www.aptina.com/assets/downloadDocument.do?id=668 MT9V032 Datasheet]

[http://pubs.gumstix.com/boards/CASPA/PCB30009-R2496/ Caspa layout and schematic files]

[[Category:How_to_-_expansion_boards]]

Category:How to - Low Power

2011-03-02T15:05:57Z

Searchworks: title change

==Status==
This page is a work in progress. Many users are running Gumstix COMs in power sensitive applications and need to reduce power consumption as much as possible. This page is being developed by the Gumstix community as the steps are learned for reducing power.

===Relevant Community Mailing List Threads===
[http://old.nabble.com/sample-numbers-for-Overo-Earth-power-consumption-td29792431.html sample numbers for Overo Earth COM power consumption]

[http://old.nabble.com/Building-a-linux-omap3-pm-for-Overo-td29819751.html#a29819751 Building a linux omap3 pm for Overo]

[http://old.nabble.com/cpufreq-on-the-Overo-td21680612.htm cpufreq on the Overo]

==Background==
The default omap3 openembedded build does not provide an optimal setup for power reduction on Gumstix Overo COMS. In order to achieve the lowest power possible for your application, you have to perform a combination of the following:

* Use the latest OMAP Power Management (pm) kernel branch
* Enable power saving features such as sleep when idle, off mode, and dvfs
* Disable internal OMAP devices
* Hold unused external chips such as USB, Wifi, Bluetooth, etc. in reset
* Turn off unused LEDs

==PM Kernel==
The [http://elinux.org/OMAP_Power_Management PM kernel] is a development branch of the linux-omap kernel focused on developing the power management features of OMAP. Many of the changes of the PM branch have been merged to the mainstream linux-omap branch. Not all changes have been merged though so you must manually configure openembedded to use the PM kernel instead of the mainstream branch.

===Compile PM Kernel===
'''NOTE:''' The linux-omap-pm bitbake recipe is setup to use the 2.6.29 branch + patches. This is significantly older than the 2.6.36 kernel available in the open embedded build. The 2.6.36 contains most of the changes in the 2.6.29 branch. For the best power savings you'll need to follow the alternate method below.

'''TODO:''' Figure out how to update recipe for latest PM branch.

To enable the PM kernel edit the file
org.openembedded.dev/conf/machine/overo.conf
and change the line
PREFERRED_PROVIDER_virtual/kernel = "linux-omap3"
to
PREFERRED_PROVIDER_virtual/kernel = "linux-omap-pm"
Save the changes and then run bitbake as usual e.g.
$ bitbake omap3-console-image
The pm branch will be downloaded and compiled.

Once you have the PM kernel built, follow the instructions for copying the new image and filesystem to your microSD card.

===PM Kernel Alternate Method===
There is an alternate method for building the omap-pm kernel taken from Peter Lawrence on the Gumstix mailing list.

'''NOTE:''' As per the comments below, this method disables nand and microSD access.

'''TODO:''' See how to get nand and microSD working with the latest PM kernel.

<pre>

Here are steps to build the kernel "the traditional way".

1) Download and install cross-compiler tools:

The easiest solution is to download the CodeSourcery binaries:

http://www.codesourcery.com/sgpp/lite/arm

CodeSourcery provides an install program. (You'll have to set the
executable bit on the file to run it.)

Note that the CodeSourcery install modifies .bash_profile to add the
path, but this file does not run automatically in Ubuntu. To fix
this, refer to:

http://www.linuxquestions.org/questions/linux-general-1/do-i-put-path-in-bash_profile-or-bashrc-or-both-540288/

which says:

"You can change the second by opening a gnome-terminal window and
going to Edit / Profiles - select the Default profile and click the
Edit button. On the Title and Command tab, click the check box for Run
command as a login shell. Your .bash_profile file should be sourced
the next time you open a gnome-terminal."

2) Get latest Linux OMAP PM code

"git" the latest code:

git clone git://git.kernel.org/pub/scm/linux/kernel/git/khilman/linux-omap-pm.git

The result will be in the subdirectory "linux-omap-pm".

3) Build the OMAP3_PM Linux Kernel

Extract the download Linux kernel code and cd to that directory. The
command sequence is:

export ARCH=arm
make omap3_pm_defconfig

This creates a .config file suitable for Linux OMAP3 PM.

TBD: patch the .config file for JFFS2 and SD card

export CROSS_COMPILE=arm-none-eabi-
make uImage [this takes a very long while]

The resultant kernel file will be in: ./arch/arm/boot/uImage

4) Download the initramfs filesystem

Obtain "rd-ext2-8M.bin" from:

http://code.google.com/p/beagleboard/downloads/list

5) Create a bootable MicroSD card

Follow the [http://www.gumstix.net/Setup-and-Programming/view/Overo-Setup-and-Programming/Creating-a-bootable-microSD-card/111.html instructions here].

However, one can omit the "MLO" and the "u-boot.bin" files.

One should, however, copy over the "uImage" file created in step #3,
and the "rd-ext2-8M.bin" (as "rd-ext2.bin") created in step #4.

6) Boot the Overo

Use the "Press any key" prompt at boot to operate the U-Boot app.

Enter the following commands: (these commands must be done individually,
as U-Boot does not have a large enough buffer for the entire quantity
to be pasted at once)

mmc init
fatload mmc 1:1 0x80300000 uImage.pm
fatload mmc 1:1 0x81600000 rd-ext2.bin
setenv bootargs console=ttyS2,115200n8 ramdisk_size=8192
root=/dev/ram0 rw rootfstype=ext2 initrd=0x81600000,8M
bootm 0x80300000

TBD: change u-boot parameters to perform this automatically

Linux should boot to a BusyBox console prompt.
</pre>

==PM Features==
For a full list of PM features see [http://elinux.org/OMAP_Power_Management OMAP Power Management]. The features listed here are the most common needed to reduce power.

===Setup Debug FS===
Before you can enable PM features, you need to setup the debug file system for manipulating pm configuration.
mkdir /debug
mount -t debugfs debugfs /debug

===Sleep While Idle===
Next, enable "sleep while idle". This will allow the processor to attempt deeper sleep states when idle. You must also enable sleep timeouts for the serial ports, otherwise this will result in '''increased''' power consumption.
$ echo 5 > /sys/devices/platform/serial8250.0/sleep_timeout
$ echo 5 > /sys/devices/platform/serial8250.1/sleep_timeout
$ echo 5 > /sys/devices/platform/serial8250.2/sleep_timeout
$ echo 1 > /debug/pm_debug/sleep_while_idle

You can also enable "off mode" after enabling "sleep while idle".
$ echo 1 > /debug/pm_debug/enable_off_mode

'''NOTE:''' Enabling sleep when idle will cause the device to "miss" the first character or two from the serial console (and most likely all UARTS). Since the UART is asleep, a character must be sent to wake it up. This character will be missed as well as subsequent characters until the UART is fully awake.

===DVFS===
Dynamic frequency and voltage scaling dynamically reduces clock frequency and voltage for further power savings. This function is not available in the mainline kernel. Will fill in after switching to PM kernel.

TBD

==Disable Internal Devices==
The internal peripherals and devices such as the DSP and GPU consume power if not being used. All unused peripherals, DSP, and GPU should be turned off.

===Turn Off Peripherals===

TBD

===Turn Off DSP===
This section applies only to the OMAP3530-based Overo COMs, as the OMAP3530 has both a DSP and Graphics engine.

TBD

===Turn Off GPU===
This section applies only to the OMAP3530-based Overo COMs, as the OMAP3530 has both a DSP and Graphics engine.

TBD

==Disable External Chipsets==
Several external chipsets on the Gumstix COM consume power even if not being used. Their power consumption can be reduced (although not completely eliminated) by holding the chips in reset.

===USB===
You can hold the USB chip in reset with the following commands:

$ echo 183 > /sys/class/gpio/export
$ echo out > /sys/class/gpio/gpio183/direction
$ echo 0 > /sys/class/gpio/gpio183/value

These commands will export GPIO 183 for access through the sys interface, set the GPIO to output, and drive "0" to the reset line on the USB chip.

You can also turn off power to the USB chip.

If someone wanted to try the same nasty kernel hack, I added this two lines:
twl_i2c_write_u8(TWL4030_MODULE_USB, 0x08 /* value */, 0xBB /* register (CARKIT_ANA_CTRL) */);
twl_i2c_write_u8(TWL4030_MODULE_USB, 0x01 /* value */, 0xFD /*register (PHY_PWR_CTRL) */);
in the function "twl_probe" in /drivers/mfd/twl-core.c just prior to the comment "load power event scripts".

===Wifi/Bluetooth===
If not using the combined Wifi/Bluetooth module, you can hold it in reset. You can also hold it in reset and only enable as needed for periodic connectivity.

TBD

==Disable LEDs==
The on-board blue LED can be disabled with the following commands.

$ echo 211 > /sys/class/gpio/export
$ echo out > /sys/class/gpio/gpio211/direction
$ echo 1 > /sys/class/gpio/gpio211/value

[[Category:How_to_-_general]]

Category:How to - Low Power

2011-03-02T15:05:18Z

Searchworks: spelling

==Status==
This page is a work in progress. Many users are running Gumstix COMs in power sensitive applications and need to reduce power consumption as much as possible. This page is being developed by the Gumstix community as the steps are learned for reducing power.

===Relevant Emails===
[http://old.nabble.com/sample-numbers-for-Overo-Earth-power-consumption-td29792431.html sample numbers for Overo Earth COM power consumption]

[http://old.nabble.com/Building-a-linux-omap3-pm-for-Overo-td29819751.html#a29819751 Building a linux omap3 pm for Overo]

[http://old.nabble.com/cpufreq-on-the-Overo-td21680612.htm cpufreq on the Overo]

==Background==
The default omap3 openembedded build does not provide an optimal setup for power reduction on Gumstix Overo COMS. In order to achieve the lowest power possible for your application, you have to perform a combination of the following:

* Use the latest OMAP Power Management (pm) kernel branch
* Enable power saving features such as sleep when idle, off mode, and dvfs
* Disable internal OMAP devices
* Hold unused external chips such as USB, Wifi, Bluetooth, etc. in reset
* Turn off unused LEDs

==PM Kernel==
The [http://elinux.org/OMAP_Power_Management PM kernel] is a development branch of the linux-omap kernel focused on developing the power management features of OMAP. Many of the changes of the PM branch have been merged to the mainstream linux-omap branch. Not all changes have been merged though so you must manually configure openembedded to use the PM kernel instead of the mainstream branch.

===Compile PM Kernel===
'''NOTE:''' The linux-omap-pm bitbake recipe is setup to use the 2.6.29 branch + patches. This is significantly older than the 2.6.36 kernel available in the open embedded build. The 2.6.36 contains most of the changes in the 2.6.29 branch. For the best power savings you'll need to follow the alternate method below.

'''TODO:''' Figure out how to update recipe for latest PM branch.

To enable the PM kernel edit the file
org.openembedded.dev/conf/machine/overo.conf
and change the line
PREFERRED_PROVIDER_virtual/kernel = "linux-omap3"
to
PREFERRED_PROVIDER_virtual/kernel = "linux-omap-pm"
Save the changes and then run bitbake as usual e.g.
$ bitbake omap3-console-image
The pm branch will be downloaded and compiled.

Once you have the PM kernel built, follow the instructions for copying the new image and filesystem to your microSD card.

===PM Kernel Alternate Method===
There is an alternate method for building the omap-pm kernel taken from Peter Lawrence on the Gumstix mailing list.

'''NOTE:''' As per the comments below, this method disables nand and microSD access.

'''TODO:''' See how to get nand and microSD working with the latest PM kernel.

<pre>

Here are steps to build the kernel "the traditional way".

1) Download and install cross-compiler tools:

The easiest solution is to download the CodeSourcery binaries:

http://www.codesourcery.com/sgpp/lite/arm

CodeSourcery provides an install program. (You'll have to set the
executable bit on the file to run it.)

Note that the CodeSourcery install modifies .bash_profile to add the
path, but this file does not run automatically in Ubuntu. To fix
this, refer to:

http://www.linuxquestions.org/questions/linux-general-1/do-i-put-path-in-bash_profile-or-bashrc-or-both-540288/

which says:

"You can change the second by opening a gnome-terminal window and
going to Edit / Profiles - select the Default profile and click the
Edit button. On the Title and Command tab, click the check box for Run
command as a login shell. Your .bash_profile file should be sourced
the next time you open a gnome-terminal."

2) Get latest Linux OMAP PM code

"git" the latest code:

git clone git://git.kernel.org/pub/scm/linux/kernel/git/khilman/linux-omap-pm.git

The result will be in the subdirectory "linux-omap-pm".

3) Build the OMAP3_PM Linux Kernel

Extract the download Linux kernel code and cd to that directory. The
command sequence is:

export ARCH=arm
make omap3_pm_defconfig

This creates a .config file suitable for Linux OMAP3 PM.

TBD: patch the .config file for JFFS2 and SD card

export CROSS_COMPILE=arm-none-eabi-
make uImage [this takes a very long while]

The resultant kernel file will be in: ./arch/arm/boot/uImage

4) Download the initramfs filesystem

Obtain "rd-ext2-8M.bin" from:

http://code.google.com/p/beagleboard/downloads/list

5) Create a bootable MicroSD card

Follow the [http://www.gumstix.net/Setup-and-Programming/view/Overo-Setup-and-Programming/Creating-a-bootable-microSD-card/111.html instructions here].

However, one can omit the "MLO" and the "u-boot.bin" files.

One should, however, copy over the "uImage" file created in step #3,
and the "rd-ext2-8M.bin" (as "rd-ext2.bin") created in step #4.

6) Boot the Overo

Use the "Press any key" prompt at boot to operate the U-Boot app.

Enter the following commands: (these commands must be done individually,
as U-Boot does not have a large enough buffer for the entire quantity
to be pasted at once)

mmc init
fatload mmc 1:1 0x80300000 uImage.pm
fatload mmc 1:1 0x81600000 rd-ext2.bin
setenv bootargs console=ttyS2,115200n8 ramdisk_size=8192
root=/dev/ram0 rw rootfstype=ext2 initrd=0x81600000,8M
bootm 0x80300000

TBD: change u-boot parameters to perform this automatically

Linux should boot to a BusyBox console prompt.
</pre>

==PM Features==
For a full list of PM features see [http://elinux.org/OMAP_Power_Management OMAP Power Management]. The features listed here are the most common needed to reduce power.

===Setup Debug FS===
Before you can enable PM features, you need to setup the debug file system for manipulating pm configuration.
mkdir /debug
mount -t debugfs debugfs /debug

===Sleep While Idle===
Next, enable "sleep while idle". This will allow the processor to attempt deeper sleep states when idle. You must also enable sleep timeouts for the serial ports, otherwise this will result in '''increased''' power consumption.
$ echo 5 > /sys/devices/platform/serial8250.0/sleep_timeout
$ echo 5 > /sys/devices/platform/serial8250.1/sleep_timeout
$ echo 5 > /sys/devices/platform/serial8250.2/sleep_timeout
$ echo 1 > /debug/pm_debug/sleep_while_idle

You can also enable "off mode" after enabling "sleep while idle".
$ echo 1 > /debug/pm_debug/enable_off_mode

'''NOTE:''' Enabling sleep when idle will cause the device to "miss" the first character or two from the serial console (and most likely all UARTS). Since the UART is asleep, a character must be sent to wake it up. This character will be missed as well as subsequent characters until the UART is fully awake.

===DVFS===
Dynamic frequency and voltage scaling dynamically reduces clock frequency and voltage for further power savings. This function is not available in the mainline kernel. Will fill in after switching to PM kernel.

TBD

==Disable Internal Devices==
The internal peripherals and devices such as the DSP and GPU consume power if not being used. All unused peripherals, DSP, and GPU should be turned off.

===Turn Off Peripherals===

TBD

===Turn Off DSP===
This section applies only to the OMAP3530-based Overo COMs, as the OMAP3530 has both a DSP and Graphics engine.

TBD

===Turn Off GPU===
This section applies only to the OMAP3530-based Overo COMs, as the OMAP3530 has both a DSP and Graphics engine.

TBD

==Disable External Chipsets==
Several external chipsets on the Gumstix COM consume power even if not being used. Their power consumption can be reduced (although not completely eliminated) by holding the chips in reset.

===USB===
You can hold the USB chip in reset with the following commands:

$ echo 183 > /sys/class/gpio/export
$ echo out > /sys/class/gpio/gpio183/direction
$ echo 0 > /sys/class/gpio/gpio183/value

These commands will export GPIO 183 for access through the sys interface, set the GPIO to output, and drive "0" to the reset line on the USB chip.

You can also turn off power to the USB chip.

If someone wanted to try the same nasty kernel hack, I added this two lines:
twl_i2c_write_u8(TWL4030_MODULE_USB, 0x08 /* value */, 0xBB /* register (CARKIT_ANA_CTRL) */);
twl_i2c_write_u8(TWL4030_MODULE_USB, 0x01 /* value */, 0xFD /*register (PHY_PWR_CTRL) */);
in the function "twl_probe" in /drivers/mfd/twl-core.c just prior to the comment "load power event scripts".

===Wifi/Bluetooth===
If not using the combined Wifi/Bluetooth module, you can hold it in reset. You can also hold it in reset and only enable as needed for periodic connectivity.

TBD

==Disable LEDs==
The on-board blue LED can be disabled with the following commands.

$ echo 211 > /sys/class/gpio/export
$ echo out > /sys/class/gpio/gpio211/direction
$ echo 1 > /sys/class/gpio/gpio211/value

[[Category:How_to_-_general]]

Category:How to - Low Power

2011-03-02T15:03:59Z

Searchworks: Gumstix edit

==Status==
This page is a work in progress. Many users are running gumstix in power sensitive applications and therefore need to reduce power consumption as much as possible. This page is being developed by the community as the steps are learned for reducing power.

===Relevant Emails===
[http://old.nabble.com/sample-numbers-for-Overo-Earth-power-consumption-td29792431.html sample numbers for Overo Earth power consumption]

[http://old.nabble.com/Building-a-linux-omap3-pm-for-Overo-td29819751.html#a29819751 Building a linux omap3 pm for Overo]

[http://old.nabble.com/cpufreq-on-the-Overo-td21680612.htm cpufreq on the Overo]

==Background==
The default omap3 openembedded build does not provide an optimal setup for power reduction on gumstix Overo COMS. In order to achieve the lowest power possible for your application, you have to perform a combination of the following:

* Use the latest OMAP Power Management (pm) kernel branch
* Enable power saving features such as sleep when idle, off mode, and dvfs
* Disable internal OMAP devices
* Hold unused external chips such as USB, Wifi, Bluetooth, etc. in reset
* Turn off unused LEDs

==PM Kernel==
The [http://elinux.org/OMAP_Power_Management PM kernel] is a development branch of the linux-omap kernel focused on developing the power management features of OMAP. Many of the changes of the PM branch have been merged to the mainstream linux-omap branch. Not all changes have been merged though so you must manually configure openembedded to use the PM kernel instead of the mainstream branch.

===Compile PM Kernel===
'''NOTE:''' The linux-omap-pm bitbake recipe is setup to use the 2.6.29 branch + patches. This is significantly older than the 2.6.36 kernel available in the open embedded build. The 2.6.36 contains most of the changes in the 2.6.29 branch. For the best power savings you'll need to follow the alternate method below.

'''TODO:''' Figure out how to update recipe for latest PM branch.

To enable the PM kernel edit the file
org.openembedded.dev/conf/machine/overo.conf
and change the line
PREFERRED_PROVIDER_virtual/kernel = "linux-omap3"
to
PREFERRED_PROVIDER_virtual/kernel = "linux-omap-pm"
Save the changes and then run bitbake as usual e.g.
$ bitbake omap3-console-image
The pm branch will be downloaded and compiled.

Once you have the PM kernel built, follow the instructions for copying the new image and filesystem to your microSD card.

===PM Kernel Alternate Method===
There is an alternate method for building the omap-pm kernel taken from Peter Lawrence on the gumstix mailing list.

'''NOTE:''' As per the comments below, this method disables nand and microSD access.

'''TODO:''' See how to get nand and microSD working with the latest PM kernel.

<pre>

Here are steps to build the kernel "the traditional way".

1) Download and install cross-compiler tools:

The easiest solution is to download the CodeSourcery binaries:

http://www.codesourcery.com/sgpp/lite/arm

CodeSourcery provides an install program. (You'll have to set the
executable bit on the file to run it.)

Note that the CodeSourcery install modifies .bash_profile to add the
path, but this file does not run automatically in Ubuntu. To fix
this, refer to:

http://www.linuxquestions.org/questions/linux-general-1/do-i-put-path-in-bash_profile-or-bashrc-or-both-540288/

which says:

"You can change the second by opening a gnome-terminal window and
going to Edit / Profiles - select the Default profile and click the
Edit button. On the Title and Command tab, click the check box for Run
command as a login shell. Your .bash_profile file should be sourced
the next time you open a gnome-terminal."

2) Get latest Linux OMAP PM code

"git" the latest code:

git clone git://git.kernel.org/pub/scm/linux/kernel/git/khilman/linux-omap-pm.git

The result will be in the subdirectory "linux-omap-pm".

3) Build the OMAP3_PM Linux Kernel

Extract the download Linux kernel code and cd to that directory. The
command sequence is:

export ARCH=arm
make omap3_pm_defconfig

This creates a .config file suitable for Linux OMAP3 PM.

TBD: patch the .config file for JFFS2 and SD card

export CROSS_COMPILE=arm-none-eabi-
make uImage [this takes a very long while]

The resultant kernel file will be in: ./arch/arm/boot/uImage

4) Download the initramfs filesystem

Obtain "rd-ext2-8M.bin" from:

http://code.google.com/p/beagleboard/downloads/list

5) Create a bootable MicroSD card

Follow the [http://www.gumstix.net/Setup-and-Programming/view/Overo-Setup-and-Programming/Creating-a-bootable-microSD-card/111.html instructions here].

However, one can omit the "MLO" and the "u-boot.bin" files.

One should, however, copy over the "uImage" file created in step #3,
and the "rd-ext2-8M.bin" (as "rd-ext2.bin") created in step #4.

6) Boot the Overo

Use the "Press any key" prompt at boot to operate the U-Boot app.

Enter the following commands: (these commands must be done individually,
as U-Boot does not have a large enough buffer for the entire quantity
to be pasted at once)

mmc init
fatload mmc 1:1 0x80300000 uImage.pm
fatload mmc 1:1 0x81600000 rd-ext2.bin
setenv bootargs console=ttyS2,115200n8 ramdisk_size=8192
root=/dev/ram0 rw rootfstype=ext2 initrd=0x81600000,8M
bootm 0x80300000

TBD: change u-boot parameters to perform this automatically

Linux should boot to a BusyBox console prompt.
</pre>

==PM Features==
For a full list of PM features see [http://elinux.org/OMAP_Power_Management OMAP Power Management]. The features listed here are the most common needed to reduce power.

===Setup Debug FS===
Before you can enable PM features, you need to setup the debug file system for manipulating pm configuration.
mkdir /debug
mount -t debugfs debugfs /debug

===Sleep While Idle===
Next, enable "sleep while idle". This will allow the processor to attempt deeper sleep states when idle. You must also enable sleep timeouts for the serial ports, otherwise this will result in '''increased''' power consumption.
$ echo 5 > /sys/devices/platform/serial8250.0/sleep_timeout
$ echo 5 > /sys/devices/platform/serial8250.1/sleep_timeout
$ echo 5 > /sys/devices/platform/serial8250.2/sleep_timeout
$ echo 1 > /debug/pm_debug/sleep_while_idle

You can also enable "off mode" after enabling "sleep while idle".
$ echo 1 > /debug/pm_debug/enable_off_mode

'''NOTE:''' Enabling sleep when idle will cause the device to "miss" the first character or two from the serial console (and most likely all UARTS). Since the UART is asleep, a character must be sent to wake it up. This character will be missed as well as subsequent characters until the UART is fully awake.

===DVFS===
Dynamic frequency and voltage scaling dynamically reduces clock frequency and voltage for further power savings. This function is not available in the mainline kernel. Will fill in after switching to PM kernel.

TBD

==Disable Internal Devices==
The internal peripherals and devices such as the DSP and GPU consume power if not being used. All unused peripherals, DSP, and GPU should be turned off.

===Turn Off Peripherals===

TBD

===Turn Off DSP===
This section applies only to the OMAP3530-based Overo COMs, as the OMAP3530 has both a DSP and Graphics engine.

TBD

===Turn Off GPU===
This section applies only to the OMAP3530-based Overo COMs, as the OMAP3530 has both a DSP and Graphics engine.

TBD

==Disable External Chipsets==
Several external chipsets on the Gumstix COM consume power even if not being used. Their power consumption can be reduced (although not completely eliminated) by holding the chips in reset.

===USB===
You can hold the USB chip in reset with the following commands:

$ echo 183 > /sys/class/gpio/export
$ echo out > /sys/class/gpio/gpio183/direction
$ echo 0 > /sys/class/gpio/gpio183/value

These commands will export GPIO 183 for access through the sys interface, set the GPIO to output, and drive "0" to the reset line on the USB chip.

You can also turn off power to the USB chip.

If someone wanted to try the same nasty kernel hack, I added this two lines:
twl_i2c_write_u8(TWL4030_MODULE_USB, 0x08 /* value */, 0xBB /* register (CARKIT_ANA_CTRL) */);
twl_i2c_write_u8(TWL4030_MODULE_USB, 0x01 /* value */, 0xFD /*register (PHY_PWR_CTRL) */);
in the function "twl_probe" in /drivers/mfd/twl-core.c just prior to the comment "load power event scripts".

===Wifi/Bluetooth===
If not using the combined Wifi/Bluetooth module, you can hold it in reset. You can also hold it in reset and only enable as needed for periodic connectivity.

TBD

==Disable LEDs==
The on-board blue LED can be disabled with the following commands.

$ echo 211 > /sys/class/gpio/export
$ echo out > /sys/class/gpio/gpio211/direction
$ echo 1 > /sys/class/gpio/gpio211/value

[[Category:How_to_-_general]]

Main Page

2011-03-01T06:16:41Z

Searchworks: reorganize list

<big>''Welcome to the Gumstix User Wiki''</big>

This site is provided so that users of the Gumstix OpenEmbedded build system can share their knowledge, showcase their Gumstix-based projects, and pass on links to other sources of information and materials. This information is entirely user generated and supported. Please contribute your know-how to help your fellow developers.

'''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.''

Go to the [http://gumstix.org Gumstix Developer's website] for official Gumstix supported documentation on OpenEmbedded and other information of interest to developers:
{|
| valign="top" |
{|cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#f5fffa;border:1px solid #bcc"
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's - Focus]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's]]

|-
| valign="top" |
* [[:Category:how to - Android|Android]]
* [[:Category:how to - eclipse|Eclipse]]
* [[:Category:How_to_-_Migrate_to_Gumstix|Migrate to Gumstix]]
* [[:Category:how to - Ubuntu|Ubuntu]]
| valign="top" |
* [[:Category:how to - audio|Audio]]
* [[AutoLogin|Automatic Logins]]
* [[:Category:how to - batteries|Batteries]]
* [[:Category:how to - bluetooth|Bluetooth]]
* [[:Category:Connect_hardware|Connect Hardware]]
* [[Caspa_camera_boards|Caspa camera boards]]
* [[:Category:how to - displays|Displays]]
* [[:Category:how to - DSP|DSP]]
* [[:Category:how_to_-_ethernet|Ethernet]]
* [[:Category:how_to_-_expansion_boards|Expansion Boards]]
* [[:Category:how to - fedora|Fedora]]
* [[Gaining Console Connection via Terminal]]
* [[:Category:how to - git|Git]]
* [[GPIO|GPIO]]
| valign="top" |
* [[GPS|GPS]]
* [[:Category:how to - gui|GUI]]
* [[:Category:how to - general|General]]
* [[:Category:how to - Build helloworld|HelloWorld]]
* [[HelloWorld|HelloWorld in Python, C, C++]]
* [[HelloWorld in Java|HelloWorld in Java]]
* [[:Category:how to - i2c|I2C]]
* [[:Category:how to - IMU|IMU]]
* [[:Category:how to - JAVA|JAVA]]
* [[Kernel Reconfiguration|Kernel Reconfiguration]]
* [[:Category:how to - Known Issues|Known Issues]]
* [[:Category:how to - LCD|LCD]]
| valign="top" |
* [[:Category:how to - linux|Linux]]
* [[AudioIn | Use a microphone]]
* [[MicroSd |MicroSD Duplication]]
* [[:Category:how to - Network_Boot|Network Boot]]
* [[:Category:how to - OpenEmbedded|OpenEmbedded]]
* [[:Category:how to - player|Player]]
* [[:Category:How to - PWM|PWM]]
* [[:Category:How_to_-_qemu|Qemu]]
* [[:Category:How_to_-_Qt|Qt]]
* [[:Category:how to - robotics|Robotics]]
* [[:Category:how to - security|Security]]
* [[:Category:SPI|SPI]]
| valign="top" |
* [[:Category:SUSE|SUSE]]
* [[Remote Debugging with GDB|Remote Debugging with GDB]]
* [[U-Boot|UBoot]]
* [[:Category:how to - usb|USB]]
* [[Verdex Git Repository]]
* [[VerdexPro U-Boot Flashing Fix]]
* [[:Category:how to - virtual machine|Virtual Machine]]
* [[:Category:how to - webcams|Webcams]]
* [[:Category:how to - wifi|Wifi]]

|}

{|
| valign="top" |
{|cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#f5fffa;border:1px solid #bcc"
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:projects|User projects]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:User_pics_videos|User Pics & Videos]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:resources|Resources]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:faqs|Questions and Answers]]

|-
| valign="top" |
* [[:Category:projects - audio|Audio]]
* [[:Category:projects - competitions|Competitions]]
* [[:Category:projects - displays|Displays]]
* [[:Category:projects - pdas|PDA's]]
* [[:Category:Projects_-Research_and_Education|Research & Education]]
* [[:Category:projects - monitoring and control|Monitoring and Control]]
* [[:Category:projects - robotics|Robotics & UAV's]]
| valign="top" |
* [http://johnwoconnor.blogspot.com/2009/03/linux-on-gumstick-tour-of-gumstix-overo.html Short & Sweet - A User's Tour of Overo Earth]
* [http://www.flickr.com/search/?q=gumstix&s=rec Gumstix in Flickr]
* [http://www.youtube.com/results?search_query=gumstix&search_sort=video_date_uploaded Gumstix on Youtube]
* [http://www.cs.umd.edu/alandaluz/nchen/ebook/dualdisp-chi.mov Dual Display device at UMD]
| valign="top" |
* [[Windows CE solution|Solutions for Windows CE]]
* [[Qt solution|Solutions for Qt]]
* [[Manufacturer's specifications|Specifications for Processors & Components]]
* [[Software information]]
* [[Supported hardware]]
* [[Third Party Boards]]
| valign="top" |
Gumstix Community Mailing List (no cost)
* [https://lists.sourceforge.net/lists/listinfo/gumstix-users Sign-up]
* [http://old.nabble.com/Gumstix-f22543.html Archives]
|}

For information and support for the legacy gumstix buildroot build system:
[http://docwiki.gumstix.com/Main_Page docwiki.gumstix.com]

Main Page

2011-03-01T01:02:54Z

Searchworks: focus on Caspa

<big>''Welcome to the Gumstix User Wiki''</big>

This site is provided so that users of the Gumstix OpenEmbedded build system can share their knowledge, showcase their Gumstix-based projects, and pass on links to other sources of information and materials. This information is entirely user generated and supported. Please contribute your know-how to help your fellow developers.

'''Customer additions and edits are encouraged, but please read the help page before you make any major edits.'''
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Go to the [http://gumstix.org Gumstix Developer's website] for official Gumstix supported documentation on OpenEmbedded and other information of interest to developers:
{|
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{|cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#f5fffa;border:1px solid #bcc"
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's - Focus]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's]]
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! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's]]

|-
| valign="top" |
* [[:Category:how to - Android|Android]]
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|}

{|
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{|cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#f5fffa;border:1px solid #bcc"
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:projects|User projects]]
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|-
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| valign="top" |
* [http://johnwoconnor.blogspot.com/2009/03/linux-on-gumstick-tour-of-gumstix-overo.html Short & Sweet - A User's Tour of Overo Earth]
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* [http://www.cs.umd.edu/alandaluz/nchen/ebook/dualdisp-chi.mov Dual Display device at UMD]
| valign="top" |
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For information and support for the legacy gumstix buildroot build system:
[http://docwiki.gumstix.com/Main_Page docwiki.gumstix.com]

Caspa camera boards

2011-03-01T00:55:47Z

Searchworks: spell check

The Caspa series of Camera Boards from Gumstix

The MT9V032 sensor, at the heart of the Caspa FS camera board and the Caspa VL camera board, is not yet supported in the kernel, so a little work is necessary to get the camera up and running.

OMAP35x processors have dedicated hardware for capturing and processing data from image sensors. The Caspa camera sensor outputs raw 10-bit Bayer images which is transferred to the Image Signal Processor (ISP) via a parallel interface. The ISP contains various sub-modules that can be exported as Video for Linux (V4L2) devices in /dev. For additional hardware information see the external links section.

[[Image:Altoids.jpg|thumb|300px]]

== Quickstart ==

=== Install Pre-built Kernel ===

The easiest way to get started is to replace the kernel and modules of an existing image. This has been tested on an Overo Fire with a Tobi expansion board using the desktop image available [http://www.sakoman.com/feeds/omap3/glibc/images/overo/201011150741/ here].

Get the kernel and modules.
$ wget http://cumulus.gumstix.org/images/angstrom/misc/caspapx/uImage-2.6.34
$ wget http://cumulus.gumstix.org/images/angstrom/misc/caspapx/modules-2.6.34.tgz

Copy to a bootable microSD card.
$ tar -xf modules-2.6.34.tgz -C /media/mmcblk0p2/
$ cp uImage-2.6.34 /media/mmcblk0p1/uImage
$ cp uImage-2.6.34 /media/mmcblk0p2/boot/uImage

Alternatively, if you have a network connection, you can copy the files without removing the microSD.
$ tar -xf modules-2.6.34.tgz
$ scp -r lib root@overo:/
$ scp uImage-2.6.34 root@overo:/boot/uImage
$ scp uImage-2.6.34 root@overo:/media/mmcblk0p1/uImage
$ ssh root@overo 'depmod; shutdown -r now'

=== Test ===

From the serial console:

# export DISPLAY=:0.0

# gst-launch v4l2src ! xvimagesink
''or''
# mplayer tv:// -tv driver=v4l2:device=/dev/video0

From the desktop:

<left-click> Applications > Multimedia > Cheese

If video0 doesn't appear in /dev you might have to load the driver manually.

# depmod
# modprobe mt9v032

== Bitbake ==

You can build the kernel and modules using bit-bake. This allows you to incorporate the kernel with camera driver into an image of your design.

$ cd ~/overo-oe/org.openembedded.dev
$ git pull origin overo
$ bitbake linux-omap3-caspapx

When the build completes, the kernel and modules will appear in ~/overo-oe/tmp/deploy/glibc/images/overo.

== Customization ==

This section describes how to customize the camera driver and kernel for your needs.

=== 2.6.34 ===

Get the kernel source that is used in the Gumstix kernel recipe (~/overo-oe/org.openmebedded.dev/recipes/linux/linux-omap3_2.6.34.bb) and create a new branch from the recipe SRCREV.
$ cd ~
$ git clone git://www.sakoman.com/git/linux-omap-2.6.git
$ cd linux-omap-2.6
$ git checkout -b 2.6.34 cb89736af28f583598e49a05249334a194d00f1d

Get the patch.
$ wget http://cumulus.gumstix.org/sources/mt9v032-2.6.34.patch
$ patch -p1 < mt9v032-2.6.34.patch

Get the kernel configuration. This is the same one used for the linux-omap3-caspapx image.
$ wget http://cumulus.gumstix.org/sources/mt9v032-2.6.34.defconfig
$ cp mt9v032-2.6.34.defconfig .config

If you haven't done so yet, you'll need to [http://www.gumstix.net/Setup-and-Programming/view/Overo-Setup-and-Programming/Setting-up-a-build-environment/111.html set up your build environment]. Build the console image. This will ensure that the cross compiler, binutils, and libraries need to compile the kernel are installed.
$ bitbake omap3-console-image

Add the cross compiler to your path and configure the kernel. The cross compiler location depends on the architecture of your build machine.
''32-bit processors''
$ export PATH=/home/<username>/overo-oe/tmp/sysroots/i686-linux/usr/armv7a/bin:${PATH} 
''64-bit processors''
$ export PATH=/home/<username>/overo-oe/tmp/sysroots/x86_64-linux/usr/armv7a/bin:${PATH}

Build kernel and modules
$ make ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi- uImage
$ make ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi- modules

Install modules
$ mkdir ~/linux-omap-2.6/modules
$ make ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi- INSTALL_MOD_PATH=./modules modules_install

=== Other Kernel Versions ===

The ISP code used for the 2.6.34 patch came from the arago-project. This is the OMAP3 PSP kernel integration/staging tree
$ git remote add git://arago-project.org/git/projects/linux-omap3.git aragoOMAP3 PSP kernel integration/staging tree
$ git fetch arago
$ git checkout -b arago

The V4L2 subdevice framework offers a way to configure the Image Signal Processor pipeline from user-space. This is currently under active development and users wishing to make use of this should visit the Media controller development repository [http://git.linuxtv.org/pinchartl/media.git here]. This contains the bleeding edge Video for Linux media framework, ISP, and MT9V032 drivers.

=== MT9V032 Driver ===

If you want to take advantage of an unimplemented sensor feature, change defaults, etc., you need to modify the driver source. After you've made a change you can use a script like the following to quickly test your new driver.

#! /bin/bash 
TARGET_OVERO="root@10.0.1.15"
make -j8 ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi- modules
ssh $TARGET_OVERO 'rmmod mt9v032'
scp drivers/media/video/mt9v032.ko $TARGET_OVERO:/lib/modules/2.6.34/kernel/drivers/media/video/
ssh $TARGET_OVERO 'insmod /lib/modules/2.6.34/kernel/drivers/media/video/mt9v032.ko'
ssh $TARGET_OVERO 'mplayer -display :0.0 tv:// -tv driver=v4l2:device=/dev/video0'

=== Image Signal Processor ===

There is some code that you can't modularize and modifying means rebuilding the kernel. Such is the case for the ISP code which is used by board-overo.c for hardware configuration. Another script like that in the previous section can be very useful.

This script rebuilds the kernel, copies it to the COM, and resets:

#! /bin/bash 
TARGET_OVERO="root@10.0.1.15"
make -j8 ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi- uImage;
scp arch/arm/boot/uImage $TARGET_OVERO:/boot/uImage;
scp arch/arm/boot/uImage $TARGET_OVERO:/media/mmcblk0p1/uImage
ssh $TARGET_OVERO 'shutdown -r now'

This is useful for adjusting the filters, white balance, and color blending coefficients used by the ISP preview module. The preview module is used for doing hardware conversion from 10-bit Bayer to YUV. If you are having color problems - especially under certain lighting conditions but not others - look at '''isppreview.c''' and the gamma correction tables in '''drivers/media/video/isp/'''

== Tuning ==

=== Module Parameters ===
By default, auto exposure, auto gain, and high dynamic range are all enabled. You can disable any or all of these to suit your needs by reloading the driver.

Get a list of driver parameters.
# modinfo mt9v032
filename: /lib/modules/2.6.34/kernel/drivers/media/video/mt9v032.ko
license: GPL
author: Ignacio Garcia Perez <iggarpe@gmail.com>
description: mt9v032 camera sensor driver
srcversion: A46920FD64C35A2645E0D54
alias: i2c:mt9v032
depends:
vermagic: 2.6.34 mod_unload modversions ARMv7
parm: sensor_type:Sensor type: "color" or "mono" (charp)
parm: auto_exp:Initial state of automatic exposure (int)
parm: auto_gain:Initial state of automatic gain (int)
parm: hdr:High dynamic range (int)
parm: low_light:Enable companding (int)
parm: hflip:Horizontal flip (int)
parm: vflip:Vertical flip (int)

Depending on the light level, auto exposure might reduce the framerate as low as 15 frames per second. You can disable auto exposure like so:
# rmmod mt9v032;
# insmod /lib/modules/2.6.34/kernel/drivers/media/video/mt9v032.ko auto_exp=0

If this makes your image too dark, you can disable auto gain and enable companding mode (more information [http://www.aptina.com/assets/downloadDocument.do?id=668 here]).
# rmmod mt9v032
# insmod /lib/modules/2.6.34/kernel/drivers/media/video/mt9v032.ko auto_exp=0 auto_gain=0 low_light=1



== External Links ==

[http://focus.ti.com/general/docs/lit/getliterature.tsp?literatureNumber=spruf98m&fileType=pdf OMAP35x Technical Reference Manual]

[http://www.aptina.com/assets/downloadDocument.do?id=668 MT9V032 Datasheet]

[http://pubs.gumstix.com/boards/CASPA/PCB30009-R2496/ Caspa layout and schematic files]

[[Category:How_to_-_expansion_boards]]

Caspa

2011-03-01T00:53:33Z

Searchworks: Replaced content with "For information about the Caspa camera boards, go to the [http://wiki.gumstix.org/index.php?title=Caspa_camera_boards wiki page]."

For information about the Caspa camera boards, go to the [http://wiki.gumstix.org/index.php?title=Caspa_camera_boards wiki page].

CaspaPX

2011-03-01T00:53:07Z

Searchworks: relink

For information about the Caspa camera boards, go to the [http://wiki.gumstix.org/index.php?title=Caspa_camera_boards wiki page].

CaspaPX

2011-03-01T00:52:03Z

Searchworks: relink

For information about the Caspa camera boards, go to the [http://wiki.gumstix.org/index.php?title=Caspa_camera_boards Caspa Camera Boards wiki page].

Caspa camera boards

2011-03-01T00:51:27Z

Searchworks: new page

The Caspa series of Camera Boards from Gumstix

The MT9V032 sensor, at the heart of the Caspa FS camera board and the Caspa VL camera board, is not yet supported in the kernel, so a little work is necessary to get the camera up and running.

OMAP35x processors have dedicated hardware for capturing and processing data from image sensors. The CaspaPX camera sensor outputs raw 10-bit Bayer images which is transfered to the Image Signal Processor (ISP) via a parallel interface. The ISP contains various submodules that can be exported as Video for Linux (V4L2) devices in /dev. For additional hardware information see the external links section.

[[Image:Altoids.jpg|thumb|300px]]

== Quickstart ==

=== Install Pre-built Kernel ===

The easiest way to get started is to replace the kernel and modules of an existing image. This has been tested on an Overo Fire with a Tobi expansion board using the desktop image available [http://www.sakoman.com/feeds/omap3/glibc/images/overo/201011150741/ here].

Get the kernel and modules.
$ wget http://cumulus.gumstix.org/images/angstrom/misc/caspapx/uImage-2.6.34
$ wget http://cumulus.gumstix.org/images/angstrom/misc/caspapx/modules-2.6.34.tgz

Copy to a bootable microSD card.
$ tar -xf modules-2.6.34.tgz -C /media/mmcblk0p2/
$ cp uImage-2.6.34 /media/mmcblk0p1/uImage
$ cp uImage-2.6.34 /media/mmcblk0p2/boot/uImage

Alternatively, if you have a network connection, you can copy the files without removing the microSD.
$ tar -xf modules-2.6.34.tgz
$ scp -r lib root@overo:/
$ scp uImage-2.6.34 root@overo:/boot/uImage
$ scp uImage-2.6.34 root@overo:/media/mmcblk0p1/uImage
$ ssh root@overo 'depmod; shutdown -r now'

=== Test ===

From the serial console:

# export DISPLAY=:0.0

# gst-launch v4l2src ! xvimagesink
''or''
# mplayer tv:// -tv driver=v4l2:device=/dev/video0

From the desktop:

<left-click> Applications > Multimedia > Cheese

If video0 doesn't appear in /dev you might have to load the driver manually.

# depmod
# modprobe mt9v032

== Bitbake ==

You can build the kernel and modules using bitbake. This allows you to incorporate the kernel with camera driver into an image of your design.

$ cd ~/overo-oe/org.openembedded.dev
$ git pull origin overo
$ bitbake linux-omap3-caspapx

When the build completes, the kernel and modules will appear in ~/overo-oe/tmp/deploy/glibc/images/overo.

== Customization ==

This section describes how to customize the camera driver and kernel for your needs.

=== 2.6.34 ===

Get the kernel source that is used in the Gumstix kernel recipe (~/overo-oe/org.openmebedded.dev/recipes/linux/linux-omap3_2.6.34.bb) and create a new branch from the recipe SRCREV.
$ cd ~
$ git clone git://www.sakoman.com/git/linux-omap-2.6.git
$ cd linux-omap-2.6
$ git checkout -b 2.6.34 cb89736af28f583598e49a05249334a194d00f1d

Get the patch.
$ wget http://cumulus.gumstix.org/sources/mt9v032-2.6.34.patch
$ patch -p1 < mt9v032-2.6.34.patch

Get the kernel configuration. This is the same one used for the linux-omap3-caspapx image.
$ wget http://cumulus.gumstix.org/sources/mt9v032-2.6.34.defconfig
$ cp mt9v032-2.6.34.defconfig .config

If you haven't done so yet, you'll need to [http://www.gumstix.net/Setup-and-Programming/view/Overo-Setup-and-Programming/Setting-up-a-build-environment/111.html set up your build environment]. Build the console image. This will ensure that the cross compiler, binutils, and libraries need to compile the kernel are installed.
$ bitbake omap3-console-image

Add the cross compiler to your path and configure the kernel. The cross compiler location depends on the architecture of your build machine.
''32-bit processors''
$ export PATH=/home/<username>/overo-oe/tmp/sysroots/i686-linux/usr/armv7a/bin:${PATH} 
''64-bit processors''
$ export PATH=/home/<username>/overo-oe/tmp/sysroots/x86_64-linux/usr/armv7a/bin:${PATH}

Build kernel and modules
$ make ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi- uImage
$ make ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi- modules

Install modules
$ mkdir ~/linux-omap-2.6/modules
$ make ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi- INSTALL_MOD_PATH=./modules modules_install

=== Other Kernel Versions ===

The ISP code used for the 2.6.34 patch came from the arago-project. This is the OMAP3 PSP kernel integration/staging tree
$ git remote add git://arago-project.org/git/projects/linux-omap3.git aragoOMAP3 PSP kernel integration/staging tree
$ git fetch arago
$ git checkout -b arago

The V4L2 subdevice framework offers a way to configure the Image Signal Processor pipeline from userspace. This is currently under active development and users wishing to make use of this should visit the Media controller development repository [http://git.linuxtv.org/pinchartl/media.git here]. This contains the bleeding edge Video for Linux media framework, ISP, and MT9V032 drivers.

=== MT9V032 Driver ===

If you want to take advantage of an unimplemented sensor feature, change defaults, etc., you need to modify the driver source. After you've made a change you can use a script like the following to quickly test your new driver.

#! /bin/bash 
TARGET_OVERO="root@10.0.1.15"
make -j8 ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi- modules
ssh $TARGET_OVERO 'rmmod mt9v032'
scp drivers/media/video/mt9v032.ko $TARGET_OVERO:/lib/modules/2.6.34/kernel/drivers/media/video/
ssh $TARGET_OVERO 'insmod /lib/modules/2.6.34/kernel/drivers/media/video/mt9v032.ko'
ssh $TARGET_OVERO 'mplayer -display :0.0 tv:// -tv driver=v4l2:device=/dev/video0'

=== Image Signal Processor ===

There is some code that you can't modularize and modifying means rebuilding the kernel. Such is the case for the ISP code which is used by board-overo.c for hardware configuration. Another script like that in the previous section can be very useful.

This script rebuilds the kernel, copies it to the COM, and resets:

#! /bin/bash 
TARGET_OVERO="root@10.0.1.15"
make -j8 ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi- uImage;
scp arch/arm/boot/uImage $TARGET_OVERO:/boot/uImage;
scp arch/arm/boot/uImage $TARGET_OVERO:/media/mmcblk0p1/uImage
ssh $TARGET_OVERO 'shutdown -r now'

This is useful for adjusting the filters, white balance, and color blending coefficients used by the ISP preview module. The preview module is used for doing hardware conversion from 10-bit Bayer to YUV. If you are having color problems - especially under certain lighting conditions but not others - look at '''isppreview.c''' and the gamma correction tables in '''drivers/media/video/isp/'''

== Tuning ==

=== Module Parameters ===
By default, auto exposure, auto gain, and high dynamic range are all enabled. You can disable any or all of these to suit your needs by reloading the driver.

Get a list of driver parameters.
# modinfo mt9v032
filename: /lib/modules/2.6.34/kernel/drivers/media/video/mt9v032.ko
license: GPL
author: Ignacio Garcia Perez <iggarpe@gmail.com>
description: mt9v032 camera sensor driver
srcversion: A46920FD64C35A2645E0D54
alias: i2c:mt9v032
depends:
vermagic: 2.6.34 mod_unload modversions ARMv7
parm: sensor_type:Sensor type: "color" or "mono" (charp)
parm: auto_exp:Initial state of automatic exposure (int)
parm: auto_gain:Initial state of automatic gain (int)
parm: hdr:High dynamic range (int)
parm: low_light:Enable companding (int)
parm: hflip:Horizontal flip (int)
parm: vflip:Vertical flip (int)

Depending on the light level, auto exposure might reduce the framerate as low as 15 frames per second. You can disable auto exposure like so:
# rmmod mt9v032;
# insmod /lib/modules/2.6.34/kernel/drivers/media/video/mt9v032.ko auto_exp=0

If this makes your image too dark you can disable auto gain and enable companding mode (more information [http://www.aptina.com/assets/downloadDocument.do?id=668 here]).
# rmmod mt9v032
# insmod /lib/modules/2.6.34/kernel/drivers/media/video/mt9v032.ko auto_exp=0 auto_gain=0 low_light=1



== External Links ==

[http://focus.ti.com/general/docs/lit/getliterature.tsp?literatureNumber=spruf98m&fileType=pdf OMAP35x Technical Reference Manual]

[http://www.aptina.com/assets/downloadDocument.do?id=668 MT9V032 Datasheet]

[http://pubs.gumstix.com/boards/CASPA/PCB30009-R2496/ Caspa layout and schematic files]

[[Category:How_to_-_expansion_boards]]

Caspa

2011-03-01T00:49:02Z

Searchworks: camera board

The Caspa series of Camera Boards from Gumstix

The MT9V032 sensor, at the heart of the Caspa FS camera board and the Caspa VL camera board, is not yet supported in the kernel, so a little work is necessary to get the camera up and running.

OMAP35x processors have dedicated hardware for capturing and processing data from image sensors. The CaspaPX camera sensor outputs raw 10-bit Bayer images which is transfered to the Image Signal Processor (ISP) via a parallel interface. The ISP contains various submodules that can be exported as Video for Linux (V4L2) devices in /dev. For additional hardware information see the external links section.

[[Image:Altoids.jpg|thumb|300px]]

== Quickstart ==

=== Install Pre-built Kernel ===

The easiest way to get started is to replace the kernel and modules of an existing image. This has been tested on an Overo Fire with a Tobi expansion board using the desktop image available [http://www.sakoman.com/feeds/omap3/glibc/images/overo/201011150741/ here].

Get the kernel and modules.
$ wget http://cumulus.gumstix.org/images/angstrom/misc/caspapx/uImage-2.6.34
$ wget http://cumulus.gumstix.org/images/angstrom/misc/caspapx/modules-2.6.34.tgz

Copy to a bootable microSD card.
$ tar -xf modules-2.6.34.tgz -C /media/mmcblk0p2/
$ cp uImage-2.6.34 /media/mmcblk0p1/uImage
$ cp uImage-2.6.34 /media/mmcblk0p2/boot/uImage

Alternatively, if you have a network connection, you can copy the files without removing the microSD.
$ tar -xf modules-2.6.34.tgz
$ scp -r lib root@overo:/
$ scp uImage-2.6.34 root@overo:/boot/uImage
$ scp uImage-2.6.34 root@overo:/media/mmcblk0p1/uImage
$ ssh root@overo 'depmod; shutdown -r now'

=== Test ===

From the serial console:

# export DISPLAY=:0.0

# gst-launch v4l2src ! xvimagesink
''or''
# mplayer tv:// -tv driver=v4l2:device=/dev/video0

From the desktop:

<left-click> Applications > Multimedia > Cheese

If video0 doesn't appear in /dev you might have to load the driver manually.

# depmod
# modprobe mt9v032

== Bitbake ==

You can build the kernel and modules using bitbake. This allows you to incorporate the kernel with camera driver into an image of your design.

$ cd ~/overo-oe/org.openembedded.dev
$ git pull origin overo
$ bitbake linux-omap3-caspapx

When the build completes, the kernel and modules will appear in ~/overo-oe/tmp/deploy/glibc/images/overo.

== Customization ==

This section describes how to customize the camera driver and kernel for your needs.

=== 2.6.34 ===

Get the kernel source that is used in the Gumstix kernel recipe (~/overo-oe/org.openmebedded.dev/recipes/linux/linux-omap3_2.6.34.bb) and create a new branch from the recipe SRCREV.
$ cd ~
$ git clone git://www.sakoman.com/git/linux-omap-2.6.git
$ cd linux-omap-2.6
$ git checkout -b 2.6.34 cb89736af28f583598e49a05249334a194d00f1d

Get the patch.
$ wget http://cumulus.gumstix.org/sources/mt9v032-2.6.34.patch
$ patch -p1 < mt9v032-2.6.34.patch

Get the kernel configuration. This is the same one used for the linux-omap3-caspapx image.
$ wget http://cumulus.gumstix.org/sources/mt9v032-2.6.34.defconfig
$ cp mt9v032-2.6.34.defconfig .config

If you haven't done so yet, you'll need to [http://www.gumstix.net/Setup-and-Programming/view/Overo-Setup-and-Programming/Setting-up-a-build-environment/111.html set up your build environment]. Build the console image. This will ensure that the cross compiler, binutils, and libraries need to compile the kernel are installed.
$ bitbake omap3-console-image

Add the cross compiler to your path and configure the kernel. The cross compiler location depends on the architecture of your build machine.
''32-bit processors''
$ export PATH=/home/<username>/overo-oe/tmp/sysroots/i686-linux/usr/armv7a/bin:${PATH} 
''64-bit processors''
$ export PATH=/home/<username>/overo-oe/tmp/sysroots/x86_64-linux/usr/armv7a/bin:${PATH}

Build kernel and modules
$ make ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi- uImage
$ make ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi- modules

Install modules
$ mkdir ~/linux-omap-2.6/modules
$ make ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi- INSTALL_MOD_PATH=./modules modules_install

=== Other Kernel Versions ===

The ISP code used for the 2.6.34 patch came from the arago-project. This is the OMAP3 PSP kernel integration/staging tree
$ git remote add git://arago-project.org/git/projects/linux-omap3.git aragoOMAP3 PSP kernel integration/staging tree
$ git fetch arago
$ git checkout -b arago

The V4L2 subdevice framework offers a way to configure the Image Signal Processor pipeline from userspace. This is currently under active development and users wishing to make use of this should visit the Media controller development repository [http://git.linuxtv.org/pinchartl/media.git here]. This contains the bleeding edge Video for Linux media framework, ISP, and MT9V032 drivers.

=== MT9V032 Driver ===

If you want to take advantage of an unimplemented sensor feature, change defaults, etc., you need to modify the driver source. After you've made a change you can use a script like the following to quickly test your new driver.

#! /bin/bash 
TARGET_OVERO="root@10.0.1.15"
make -j8 ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi- modules
ssh $TARGET_OVERO 'rmmod mt9v032'
scp drivers/media/video/mt9v032.ko $TARGET_OVERO:/lib/modules/2.6.34/kernel/drivers/media/video/
ssh $TARGET_OVERO 'insmod /lib/modules/2.6.34/kernel/drivers/media/video/mt9v032.ko'
ssh $TARGET_OVERO 'mplayer -display :0.0 tv:// -tv driver=v4l2:device=/dev/video0'

=== Image Signal Processor ===

There is some code that you can't modularize and modifying means rebuilding the kernel. Such is the case for the ISP code which is used by board-overo.c for hardware configuration. Another script like that in the previous section can be very useful.

This script rebuilds the kernel, copies it to the COM, and resets:

#! /bin/bash 
TARGET_OVERO="root@10.0.1.15"
make -j8 ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi- uImage;
scp arch/arm/boot/uImage $TARGET_OVERO:/boot/uImage;
scp arch/arm/boot/uImage $TARGET_OVERO:/media/mmcblk0p1/uImage
ssh $TARGET_OVERO 'shutdown -r now'

This is useful for adjusting the filters, white balance, and color blending coefficients used by the ISP preview module. The preview module is used for doing hardware conversion from 10-bit Bayer to YUV. If you are having color problems - especially under certain lighting conditions but not others - look at '''isppreview.c''' and the gamma correction tables in '''drivers/media/video/isp/'''

== Tuning ==

=== Module Parameters ===
By default, auto exposure, auto gain, and high dynamic range are all enabled. You can disable any or all of these to suit your needs by reloading the driver.

Get a list of driver parameters.
# modinfo mt9v032
filename: /lib/modules/2.6.34/kernel/drivers/media/video/mt9v032.ko
license: GPL
author: Ignacio Garcia Perez <iggarpe@gmail.com>
description: mt9v032 camera sensor driver
srcversion: A46920FD64C35A2645E0D54
alias: i2c:mt9v032
depends:
vermagic: 2.6.34 mod_unload modversions ARMv7
parm: sensor_type:Sensor type: "color" or "mono" (charp)
parm: auto_exp:Initial state of automatic exposure (int)
parm: auto_gain:Initial state of automatic gain (int)
parm: hdr:High dynamic range (int)
parm: low_light:Enable companding (int)
parm: hflip:Horizontal flip (int)
parm: vflip:Vertical flip (int)

Depending on the light level, auto exposure might reduce the framerate as low as 15 frames per second. You can disable auto exposure like so:
# rmmod mt9v032;
# insmod /lib/modules/2.6.34/kernel/drivers/media/video/mt9v032.ko auto_exp=0

If this makes your image too dark you can disable auto gain and enable companding mode (more information [http://www.aptina.com/assets/downloadDocument.do?id=668 here]).
# rmmod mt9v032
# insmod /lib/modules/2.6.34/kernel/drivers/media/video/mt9v032.ko auto_exp=0 auto_gain=0 low_light=1



== External Links ==

[http://focus.ti.com/general/docs/lit/getliterature.tsp?literatureNumber=spruf98m&fileType=pdf OMAP35x Technical Reference Manual]

[http://www.aptina.com/assets/downloadDocument.do?id=668 MT9V032 Datasheet]

[http://pubs.gumstix.com/boards/CASPA/PCB30009-R2496/ Caspa layout and schematic files]

[[Category:How_to_-_expansion_boards]]

Caspa

2011-03-01T00:48:09Z

Searchworks: relink to pubs

The Caspa series of Camera Boards from Gumstix

The MT9V032 sensor at the heart of the Caspa FS expansion board and the Caspa VL expansion board is not yet supported in the kernel, so a little work is necessary to get the camera up and running.

OMAP35x processors have dedicated hardware for capturing and processing data from image sensors. The CaspaPX camera sensor outputs raw 10-bit Bayer images which is transfered to the Image Signal Processor (ISP) via a parallel interface. The ISP contains various submodules that can be exported as Video for Linux (V4L2) devices in /dev. For additional hardware information see the external links section.

[[Image:Altoids.jpg|thumb|300px]]

== Quickstart ==

=== Install Pre-built Kernel ===

The easiest way to get started is to replace the kernel and modules of an existing image. This has been tested on an Overo Fire with a Tobi expansion board using the desktop image available [http://www.sakoman.com/feeds/omap3/glibc/images/overo/201011150741/ here].

Get the kernel and modules.
$ wget http://cumulus.gumstix.org/images/angstrom/misc/caspapx/uImage-2.6.34
$ wget http://cumulus.gumstix.org/images/angstrom/misc/caspapx/modules-2.6.34.tgz

Copy to a bootable microSD card.
$ tar -xf modules-2.6.34.tgz -C /media/mmcblk0p2/
$ cp uImage-2.6.34 /media/mmcblk0p1/uImage
$ cp uImage-2.6.34 /media/mmcblk0p2/boot/uImage

Alternatively, if you have a network connection, you can copy the files without removing the microSD.
$ tar -xf modules-2.6.34.tgz
$ scp -r lib root@overo:/
$ scp uImage-2.6.34 root@overo:/boot/uImage
$ scp uImage-2.6.34 root@overo:/media/mmcblk0p1/uImage
$ ssh root@overo 'depmod; shutdown -r now'

=== Test ===

From the serial console:

# export DISPLAY=:0.0

# gst-launch v4l2src ! xvimagesink
''or''
# mplayer tv:// -tv driver=v4l2:device=/dev/video0

From the desktop:

<left-click> Applications > Multimedia > Cheese

If video0 doesn't appear in /dev you might have to load the driver manually.

# depmod
# modprobe mt9v032

== Bitbake ==

You can build the kernel and modules using bitbake. This allows you to incorporate the kernel with camera driver into an image of your design.

$ cd ~/overo-oe/org.openembedded.dev
$ git pull origin overo
$ bitbake linux-omap3-caspapx

When the build completes, the kernel and modules will appear in ~/overo-oe/tmp/deploy/glibc/images/overo.

== Customization ==

This section describes how to customize the camera driver and kernel for your needs.

=== 2.6.34 ===

Get the kernel source that is used in the Gumstix kernel recipe (~/overo-oe/org.openmebedded.dev/recipes/linux/linux-omap3_2.6.34.bb) and create a new branch from the recipe SRCREV.
$ cd ~
$ git clone git://www.sakoman.com/git/linux-omap-2.6.git
$ cd linux-omap-2.6
$ git checkout -b 2.6.34 cb89736af28f583598e49a05249334a194d00f1d

Get the patch.
$ wget http://cumulus.gumstix.org/sources/mt9v032-2.6.34.patch
$ patch -p1 < mt9v032-2.6.34.patch

Get the kernel configuration. This is the same one used for the linux-omap3-caspapx image.
$ wget http://cumulus.gumstix.org/sources/mt9v032-2.6.34.defconfig
$ cp mt9v032-2.6.34.defconfig .config

If you haven't done so yet, you'll need to [http://www.gumstix.net/Setup-and-Programming/view/Overo-Setup-and-Programming/Setting-up-a-build-environment/111.html set up your build environment]. Build the console image. This will ensure that the cross compiler, binutils, and libraries need to compile the kernel are installed.
$ bitbake omap3-console-image

Add the cross compiler to your path and configure the kernel. The cross compiler location depends on the architecture of your build machine.
''32-bit processors''
$ export PATH=/home/<username>/overo-oe/tmp/sysroots/i686-linux/usr/armv7a/bin:${PATH} 
''64-bit processors''
$ export PATH=/home/<username>/overo-oe/tmp/sysroots/x86_64-linux/usr/armv7a/bin:${PATH}

Build kernel and modules
$ make ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi- uImage
$ make ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi- modules

Install modules
$ mkdir ~/linux-omap-2.6/modules
$ make ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi- INSTALL_MOD_PATH=./modules modules_install

=== Other Kernel Versions ===

The ISP code used for the 2.6.34 patch came from the arago-project. This is the OMAP3 PSP kernel integration/staging tree
$ git remote add git://arago-project.org/git/projects/linux-omap3.git aragoOMAP3 PSP kernel integration/staging tree
$ git fetch arago
$ git checkout -b arago

The V4L2 subdevice framework offers a way to configure the Image Signal Processor pipeline from userspace. This is currently under active development and users wishing to make use of this should visit the Media controller development repository [http://git.linuxtv.org/pinchartl/media.git here]. This contains the bleeding edge Video for Linux media framework, ISP, and MT9V032 drivers.

=== MT9V032 Driver ===

If you want to take advantage of an unimplemented sensor feature, change defaults, etc., you need to modify the driver source. After you've made a change you can use a script like the following to quickly test your new driver.

#! /bin/bash 
TARGET_OVERO="root@10.0.1.15"
make -j8 ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi- modules
ssh $TARGET_OVERO 'rmmod mt9v032'
scp drivers/media/video/mt9v032.ko $TARGET_OVERO:/lib/modules/2.6.34/kernel/drivers/media/video/
ssh $TARGET_OVERO 'insmod /lib/modules/2.6.34/kernel/drivers/media/video/mt9v032.ko'
ssh $TARGET_OVERO 'mplayer -display :0.0 tv:// -tv driver=v4l2:device=/dev/video0'

=== Image Signal Processor ===

There is some code that you can't modularize and modifying means rebuilding the kernel. Such is the case for the ISP code which is used by board-overo.c for hardware configuration. Another script like that in the previous section can be very useful.

This script rebuilds the kernel, copies it to the COM, and resets:

#! /bin/bash 
TARGET_OVERO="root@10.0.1.15"
make -j8 ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi- uImage;
scp arch/arm/boot/uImage $TARGET_OVERO:/boot/uImage;
scp arch/arm/boot/uImage $TARGET_OVERO:/media/mmcblk0p1/uImage
ssh $TARGET_OVERO 'shutdown -r now'

This is useful for adjusting the filters, white balance, and color blending coefficients used by the ISP preview module. The preview module is used for doing hardware conversion from 10-bit Bayer to YUV. If you are having color problems - especially under certain lighting conditions but not others - look at '''isppreview.c''' and the gamma correction tables in '''drivers/media/video/isp/'''

== Tuning ==

=== Module Parameters ===
By default, auto exposure, auto gain, and high dynamic range are all enabled. You can disable any or all of these to suit your needs by reloading the driver.

Get a list of driver parameters.
# modinfo mt9v032
filename: /lib/modules/2.6.34/kernel/drivers/media/video/mt9v032.ko
license: GPL
author: Ignacio Garcia Perez <iggarpe@gmail.com>
description: mt9v032 camera sensor driver
srcversion: A46920FD64C35A2645E0D54
alias: i2c:mt9v032
depends:
vermagic: 2.6.34 mod_unload modversions ARMv7
parm: sensor_type:Sensor type: "color" or "mono" (charp)
parm: auto_exp:Initial state of automatic exposure (int)
parm: auto_gain:Initial state of automatic gain (int)
parm: hdr:High dynamic range (int)
parm: low_light:Enable companding (int)
parm: hflip:Horizontal flip (int)
parm: vflip:Vertical flip (int)

Depending on the light level, auto exposure might reduce the framerate as low as 15 frames per second. You can disable auto exposure like so:
# rmmod mt9v032;
# insmod /lib/modules/2.6.34/kernel/drivers/media/video/mt9v032.ko auto_exp=0

If this makes your image too dark you can disable auto gain and enable companding mode (more information [http://www.aptina.com/assets/downloadDocument.do?id=668 here]).
# rmmod mt9v032
# insmod /lib/modules/2.6.34/kernel/drivers/media/video/mt9v032.ko auto_exp=0 auto_gain=0 low_light=1



== External Links ==

[http://focus.ti.com/general/docs/lit/getliterature.tsp?literatureNumber=spruf98m&fileType=pdf OMAP35x Technical Reference Manual]

[http://www.aptina.com/assets/downloadDocument.do?id=668 MT9V032 Datasheet]

[http://pubs.gumstix.com/boards/CASPA/PCB30009-R2496/ Caspa layout and schematic files]

[[Category:How_to_-_expansion_boards]]

CaspaPX

2011-03-01T00:38:18Z

Searchworks: relay

For information about the Caspa camera boards, go to the [http://wiki.gumstix.org/index.php?title=Caspa Caspa wiki page].

Caspa

2011-03-01T00:36:35Z

Searchworks: category

The Caspa series of Camera Boards from Gumstix

The MT9V032 sensor at the heart of the Caspa FS expansion board and the Caspa VL expansion board is not yet supported in the kernel, so a little work is necessary to get the camera up and running.

OMAP35x processors have dedicated hardware for capturing and processing data from image sensors. The CaspaPX camera sensor outputs raw 10-bit Bayer images which is transfered to the Image Signal Processor (ISP) via a parallel interface. The ISP contains various submodules that can be exported as Video for Linux (V4L2) devices in /dev. For additional hardware information see the external links section.

[[Image:Altoids.jpg|thumb|300px]]

== Quickstart ==

=== Install Pre-built Kernel ===

The easiest way to get started is to replace the kernel and modules of an existing image. This has been tested on an Overo Fire with a Tobi expansion board using the desktop image available [http://www.sakoman.com/feeds/omap3/glibc/images/overo/201011150741/ here].

Get the kernel and modules.
$ wget http://cumulus.gumstix.org/images/angstrom/misc/caspapx/uImage-2.6.34
$ wget http://cumulus.gumstix.org/images/angstrom/misc/caspapx/modules-2.6.34.tgz

Copy to a bootable microSD card.
$ tar -xf modules-2.6.34.tgz -C /media/mmcblk0p2/
$ cp uImage-2.6.34 /media/mmcblk0p1/uImage
$ cp uImage-2.6.34 /media/mmcblk0p2/boot/uImage

Alternatively, if you have a network connection, you can copy the files without removing the microSD.
$ tar -xf modules-2.6.34.tgz
$ scp -r lib root@overo:/
$ scp uImage-2.6.34 root@overo:/boot/uImage
$ scp uImage-2.6.34 root@overo:/media/mmcblk0p1/uImage
$ ssh root@overo 'depmod; shutdown -r now'

=== Test ===

From the serial console:

# export DISPLAY=:0.0

# gst-launch v4l2src ! xvimagesink
''or''
# mplayer tv:// -tv driver=v4l2:device=/dev/video0

From the desktop:

<left-click> Applications > Multimedia > Cheese

If video0 doesn't appear in /dev you might have to load the driver manually.

# depmod
# modprobe mt9v032

== Bitbake ==

You can build the kernel and modules using bitbake. This allows you to incorporate the kernel with camera driver into an image of your design.

$ cd ~/overo-oe/org.openembedded.dev
$ git pull origin overo
$ bitbake linux-omap3-caspapx

When the build completes, the kernel and modules will appear in ~/overo-oe/tmp/deploy/glibc/images/overo.

== Customization ==

This section describes how to customize the camera driver and kernel for your needs.

=== 2.6.34 ===

Get the kernel source that is used in the Gumstix kernel recipe (~/overo-oe/org.openmebedded.dev/recipes/linux/linux-omap3_2.6.34.bb) and create a new branch from the recipe SRCREV.
$ cd ~
$ git clone git://www.sakoman.com/git/linux-omap-2.6.git
$ cd linux-omap-2.6
$ git checkout -b 2.6.34 cb89736af28f583598e49a05249334a194d00f1d

Get the patch.
$ wget http://cumulus.gumstix.org/sources/mt9v032-2.6.34.patch
$ patch -p1 < mt9v032-2.6.34.patch

Get the kernel configuration. This is the same one used for the linux-omap3-caspapx image.
$ wget http://cumulus.gumstix.org/sources/mt9v032-2.6.34.defconfig
$ cp mt9v032-2.6.34.defconfig .config

If you haven't done so yet, you'll need to [http://www.gumstix.net/Setup-and-Programming/view/Overo-Setup-and-Programming/Setting-up-a-build-environment/111.html set up your build environment]. Build the console image. This will ensure that the cross compiler, binutils, and libraries need to compile the kernel are installed.
$ bitbake omap3-console-image

Add the cross compiler to your path and configure the kernel. The cross compiler location depends on the architecture of your build machine.
''32-bit processors''
$ export PATH=/home/<username>/overo-oe/tmp/sysroots/i686-linux/usr/armv7a/bin:${PATH} 
''64-bit processors''
$ export PATH=/home/<username>/overo-oe/tmp/sysroots/x86_64-linux/usr/armv7a/bin:${PATH}

Build kernel and modules
$ make ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi- uImage
$ make ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi- modules

Install modules
$ mkdir ~/linux-omap-2.6/modules
$ make ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi- INSTALL_MOD_PATH=./modules modules_install

=== Other Kernel Versions ===

The ISP code used for the 2.6.34 patch came from the arago-project. This is the OMAP3 PSP kernel integration/staging tree
$ git remote add git://arago-project.org/git/projects/linux-omap3.git aragoOMAP3 PSP kernel integration/staging tree
$ git fetch arago
$ git checkout -b arago

The V4L2 subdevice framework offers a way to configure the Image Signal Processor pipeline from userspace. This is currently under active development and users wishing to make use of this should visit the Media controller development repository [http://git.linuxtv.org/pinchartl/media.git here]. This contains the bleeding edge Video for Linux media framework, ISP, and MT9V032 drivers.

=== MT9V032 Driver ===

If you want to take advantage of an unimplemented sensor feature, change defaults, etc., you need to modify the driver source. After you've made a change you can use a script like the following to quickly test your new driver.

#! /bin/bash 
TARGET_OVERO="root@10.0.1.15"
make -j8 ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi- modules
ssh $TARGET_OVERO 'rmmod mt9v032'
scp drivers/media/video/mt9v032.ko $TARGET_OVERO:/lib/modules/2.6.34/kernel/drivers/media/video/
ssh $TARGET_OVERO 'insmod /lib/modules/2.6.34/kernel/drivers/media/video/mt9v032.ko'
ssh $TARGET_OVERO 'mplayer -display :0.0 tv:// -tv driver=v4l2:device=/dev/video0'

=== Image Signal Processor ===

There is some code that you can't modularize and modifying means rebuilding the kernel. Such is the case for the ISP code which is used by board-overo.c for hardware configuration. Another script like that in the previous section can be very useful.

This script rebuilds the kernel, copies it to the COM, and resets:

#! /bin/bash 
TARGET_OVERO="root@10.0.1.15"
make -j8 ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi- uImage;
scp arch/arm/boot/uImage $TARGET_OVERO:/boot/uImage;
scp arch/arm/boot/uImage $TARGET_OVERO:/media/mmcblk0p1/uImage
ssh $TARGET_OVERO 'shutdown -r now'

This is useful for adjusting the filters, white balance, and color blending coefficients used by the ISP preview module. The preview module is used for doing hardware conversion from 10-bit Bayer to YUV. If you are having color problems - especially under certain lighting conditions but not others - look at '''isppreview.c''' and the gamma correction tables in '''drivers/media/video/isp/'''

== Tuning ==

=== Module Parameters ===
By default, auto exposure, auto gain, and high dynamic range are all enabled. You can disable any or all of these to suit your needs by reloading the driver.

Get a list of driver parameters.
# modinfo mt9v032
filename: /lib/modules/2.6.34/kernel/drivers/media/video/mt9v032.ko
license: GPL
author: Ignacio Garcia Perez <iggarpe@gmail.com>
description: mt9v032 camera sensor driver
srcversion: A46920FD64C35A2645E0D54
alias: i2c:mt9v032
depends:
vermagic: 2.6.34 mod_unload modversions ARMv7
parm: sensor_type:Sensor type: "color" or "mono" (charp)
parm: auto_exp:Initial state of automatic exposure (int)
parm: auto_gain:Initial state of automatic gain (int)
parm: hdr:High dynamic range (int)
parm: low_light:Enable companding (int)
parm: hflip:Horizontal flip (int)
parm: vflip:Vertical flip (int)

Depending on the light level, auto exposure might reduce the framerate as low as 15 frames per second. You can disable auto exposure like so:
# rmmod mt9v032;
# insmod /lib/modules/2.6.34/kernel/drivers/media/video/mt9v032.ko auto_exp=0

If this makes your image too dark you can disable auto gain and enable companding mode (more information [http://www.aptina.com/assets/downloadDocument.do?id=668 here]).
# rmmod mt9v032
# insmod /lib/modules/2.6.34/kernel/drivers/media/video/mt9v032.ko auto_exp=0 auto_gain=0 low_light=1



== External Links ==

[http://focus.ti.com/general/docs/lit/getliterature.tsp?literatureNumber=spruf98m&fileType=pdf OMAP35x Technical Reference Manual]

[http://www.aptina.com/assets/downloadDocument.do?id=668 MT9V032 Datasheet]

[http://pubs.gumstix.com/boards/CASPAPX/PCB30009-R2496/ Caspa CAD files]

[[Category:How_to_-_expansion_boards]]

Caspa

2011-03-01T00:34:45Z

Searchworks: setup page

The Caspa series of Camera Boards from Gumstix

The MT9V032 sensor at the heart of the Caspa FS and Casp VL expansion boards is not yet supported in the kernel, so a little work is necessary to get the camera up and running.

OMAP35x processors have dedicated hardware for capturing and processing data from image sensors. The CaspaPX camera sensor outputs raw 10-bit Bayer images which is transfered to the Image Signal Processor (ISP) via a parallel interface. The ISP contains various submodules that can be exported as Video for Linux (V4L2) devices in /dev. For additional hardware information see the external links section.

[[Image:Altoids.jpg|thumb|300px]]

== Quickstart ==

=== Install Pre-built Kernel ===

The easiest way to get started is to replace the kernel and modules of an existing image. This has been tested on an Overo Fire with a Tobi expansion board using the desktop image available [http://www.sakoman.com/feeds/omap3/glibc/images/overo/201011150741/ here].

Get the kernel and modules.
$ wget http://cumulus.gumstix.org/images/angstrom/misc/caspapx/uImage-2.6.34
$ wget http://cumulus.gumstix.org/images/angstrom/misc/caspapx/modules-2.6.34.tgz

Copy to a bootable microSD card.
$ tar -xf modules-2.6.34.tgz -C /media/mmcblk0p2/
$ cp uImage-2.6.34 /media/mmcblk0p1/uImage
$ cp uImage-2.6.34 /media/mmcblk0p2/boot/uImage

Alternatively, if you have a network connection, you can copy the files without removing the microSD.
$ tar -xf modules-2.6.34.tgz
$ scp -r lib root@overo:/
$ scp uImage-2.6.34 root@overo:/boot/uImage
$ scp uImage-2.6.34 root@overo:/media/mmcblk0p1/uImage
$ ssh root@overo 'depmod; shutdown -r now'

=== Test ===

From the serial console:

# export DISPLAY=:0.0

# gst-launch v4l2src ! xvimagesink
''or''
# mplayer tv:// -tv driver=v4l2:device=/dev/video0

From the desktop:

<left-click> Applications > Multimedia > Cheese

If video0 doesn't appear in /dev you might have to load the driver manually.

# depmod
# modprobe mt9v032

== Bitbake ==

You can build the kernel and modules using bitbake. This allows you to incorporate the kernel with camera driver into an image of your design.

$ cd ~/overo-oe/org.openembedded.dev
$ git pull origin overo
$ bitbake linux-omap3-caspapx

When the build completes, the kernel and modules will appear in ~/overo-oe/tmp/deploy/glibc/images/overo.

== Customization ==

This section describes how to customize the camera driver and kernel for your needs.

=== 2.6.34 ===

Get the kernel source that is used in the Gumstix kernel recipe (~/overo-oe/org.openmebedded.dev/recipes/linux/linux-omap3_2.6.34.bb) and create a new branch from the recipe SRCREV.
$ cd ~
$ git clone git://www.sakoman.com/git/linux-omap-2.6.git
$ cd linux-omap-2.6
$ git checkout -b 2.6.34 cb89736af28f583598e49a05249334a194d00f1d

Get the patch.
$ wget http://cumulus.gumstix.org/sources/mt9v032-2.6.34.patch
$ patch -p1 < mt9v032-2.6.34.patch

Get the kernel configuration. This is the same one used for the linux-omap3-caspapx image.
$ wget http://cumulus.gumstix.org/sources/mt9v032-2.6.34.defconfig
$ cp mt9v032-2.6.34.defconfig .config

If you haven't done so yet, you'll need to [http://www.gumstix.net/Setup-and-Programming/view/Overo-Setup-and-Programming/Setting-up-a-build-environment/111.html set up your build environment]. Build the console image. This will ensure that the cross compiler, binutils, and libraries need to compile the kernel are installed.
$ bitbake omap3-console-image

Add the cross compiler to your path and configure the kernel. The cross compiler location depends on the architecture of your build machine.
''32-bit processors''
$ export PATH=/home/<username>/overo-oe/tmp/sysroots/i686-linux/usr/armv7a/bin:${PATH} 
''64-bit processors''
$ export PATH=/home/<username>/overo-oe/tmp/sysroots/x86_64-linux/usr/armv7a/bin:${PATH}

Build kernel and modules
$ make ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi- uImage
$ make ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi- modules

Install modules
$ mkdir ~/linux-omap-2.6/modules
$ make ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi- INSTALL_MOD_PATH=./modules modules_install

=== Other Kernel Versions ===

The ISP code used for the 2.6.34 patch came from the arago-project. This is the OMAP3 PSP kernel integration/staging tree
$ git remote add git://arago-project.org/git/projects/linux-omap3.git aragoOMAP3 PSP kernel integration/staging tree
$ git fetch arago
$ git checkout -b arago

The V4L2 subdevice framework offers a way to configure the Image Signal Processor pipeline from userspace. This is currently under active development and users wishing to make use of this should visit the Media controller development repository [http://git.linuxtv.org/pinchartl/media.git here]. This contains the bleeding edge Video for Linux media framework, ISP, and MT9V032 drivers.

=== MT9V032 Driver ===

If you want to take advantage of an unimplemented sensor feature, change defaults, etc., you need to modify the driver source. After you've made a change you can use a script like the following to quickly test your new driver.

#! /bin/bash 
TARGET_OVERO="root@10.0.1.15"
make -j8 ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi- modules
ssh $TARGET_OVERO 'rmmod mt9v032'
scp drivers/media/video/mt9v032.ko $TARGET_OVERO:/lib/modules/2.6.34/kernel/drivers/media/video/
ssh $TARGET_OVERO 'insmod /lib/modules/2.6.34/kernel/drivers/media/video/mt9v032.ko'
ssh $TARGET_OVERO 'mplayer -display :0.0 tv:// -tv driver=v4l2:device=/dev/video0'

=== Image Signal Processor ===

There is some code that you can't modularize and modifying means rebuilding the kernel. Such is the case for the ISP code which is used by board-overo.c for hardware configuration. Another script like that in the previous section can be very useful.

This script rebuilds the kernel, copies it to the COM, and resets:

#! /bin/bash 
TARGET_OVERO="root@10.0.1.15"
make -j8 ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi- uImage;
scp arch/arm/boot/uImage $TARGET_OVERO:/boot/uImage;
scp arch/arm/boot/uImage $TARGET_OVERO:/media/mmcblk0p1/uImage
ssh $TARGET_OVERO 'shutdown -r now'

This is useful for adjusting the filters, white balance, and color blending coefficients used by the ISP preview module. The preview module is used for doing hardware conversion from 10-bit Bayer to YUV. If you are having color problems - especially under certain lighting conditions but not others - look at '''isppreview.c''' and the gamma correction tables in '''drivers/media/video/isp/'''

== Tuning ==

=== Module Parameters ===
By default, auto exposure, auto gain, and high dynamic range are all enabled. You can disable any or all of these to suit your needs by reloading the driver.

Get a list of driver parameters.
# modinfo mt9v032
filename: /lib/modules/2.6.34/kernel/drivers/media/video/mt9v032.ko
license: GPL
author: Ignacio Garcia Perez <iggarpe@gmail.com>
description: mt9v032 camera sensor driver
srcversion: A46920FD64C35A2645E0D54
alias: i2c:mt9v032
depends:
vermagic: 2.6.34 mod_unload modversions ARMv7
parm: sensor_type:Sensor type: "color" or "mono" (charp)
parm: auto_exp:Initial state of automatic exposure (int)
parm: auto_gain:Initial state of automatic gain (int)
parm: hdr:High dynamic range (int)
parm: low_light:Enable companding (int)
parm: hflip:Horizontal flip (int)
parm: vflip:Vertical flip (int)

Depending on the light level, auto exposure might reduce the framerate as low as 15 frames per second. You can disable auto exposure like so:
# rmmod mt9v032;
# insmod /lib/modules/2.6.34/kernel/drivers/media/video/mt9v032.ko auto_exp=0

If this makes your image too dark you can disable auto gain and enable companding mode (more information [http://www.aptina.com/assets/downloadDocument.do?id=668 here]).
# rmmod mt9v032
# insmod /lib/modules/2.6.34/kernel/drivers/media/video/mt9v032.ko auto_exp=0 auto_gain=0 low_light=1



== External Links ==

[http://focus.ti.com/general/docs/lit/getliterature.tsp?literatureNumber=spruf98m&fileType=pdf OMAP35x Technical Reference Manual]

[http://www.aptina.com/assets/downloadDocument.do?id=668 MT9V032 Datasheet]

[http://pubs.gumstix.com/boards/CASPAPX/PCB30009-R2496/ Caspa CAD files]

Coin cell

2011-02-15T19:17:33Z

Searchworks: wording

===Batteries for coin cell backup battery holder===

====From Digikey====

A rechargeable 6.8mm lithium coin cell battery, part #ML-621S/ZTN, is available from Digikey via [http://parts.digikey.com/1/parts/1406-battery-lithium-3v-recharge-ml-621s-ztn.html this link].

[[Category:How_to_-_batteries]]

[[Category:How_to_-_expansion_boards]]

Coin cell

2011-02-15T19:16:07Z

Searchworks:

===Batteries for Coin cell backup battery holder===

====From Digikey====

A rechargeable 6.8mm lithium coin cell battery, part #ML-621S/ZTN, is available from Digikey via [http://parts.digikey.com/1/parts/1406-battery-lithium-3v-recharge-ml-621s-ztn.html this link].

[[Category:How_to_-_batteries]]

[[Category:How_to_-_expansion_boards]]

NiMH

2011-02-15T19:13:07Z

Searchworks: editing

===NiMH===

====NiMH battery pack====
1/ A customer ordered:

the #E1702F 2.4v 1700mah NiMH 2 cell AA Flat Pack

With this connector:

MOLEX: #50-37-5023 (POSITIVE RIGHT)

from this supplier:

onlybatterypacks.com

====NiMH battery pack connectors====

Connector for NiMH battery pack:
- Molex 5268 series #22-05-7025

Mating connector required on NiMH battery pack:
- Molex 5264 series #50-37-5023

[[Category:How_to_-_batteries]]

[[Category:How_to_-_expansion_boards]]

NiMH

2011-02-15T18:39:12Z

Searchworks: add connectors

===NiMH===

====NiMH battery pack====
1/ For use with the Gallop43 board, a customer ordered:

the #E1702F 2.4v 1700mah NiMH 2 cell AA Flat Pack

With this connector:

MOLEX: #50-37-5023 (POSITIVE RIGHT)

from this supplier:

onlybatterypacks.com

====NiMH battery pack connectors====

Connector provided on Gallop43 for NiMH battery pack:
- Molex 5268 series #22-05-7025

Mating connector required on NiMH battery pack:
- Molex 5264 series #50-37-5023

[[Category:How_to_-_batteries]]

[[Category:How_to_-_expansion_boards]]

Gallop43

2011-02-15T18:32:06Z

Searchworks: coin cell and battery

{{DISPLAYTITLE:Gallop43}}
== Gallop43 Expansion Board ==

[[Category:How_to_-_expansion_boards]]

=== LCD Side of Board ===

[[Image:Buttons_lcd_side_of_board_v2_scaled_458_1000_credit_alexthegeek.jpg|thumb|left|alt=View of buttons on the LCD surface, right side of the Gallop43 board. Also shown are locations of the connectors on the Overo COM side of the board.|Buttons on the LCD side of Gallop43 board.|By alexthegeek.]] The Gallop43 expansion board offers numerous features to help you make the most of your Overo COM. This discussion will begin with closeup photos of various parts of the Gallop43. Because many users buy an LCD to go with their Gallop43, we will begin with a tour of the buttons found on the right side of the LCD surface of the board, which is the surface you will normally see if you use the LCD a lot. Also shown in this photo are the connectors populating the right edge of Overo COM side of the board -- that is, what connectors are on the other side of those user buttons.
==== Corner Holes ====
The holes on each corner of the Gallop43 appear to be sized for 2-56 screws. Screws and nuts of this size tend to loosen easily without locking washers.

==== User Buttons ====

The buttons are marked, from top to bottom:

::: ''Reset''
::: ''GPIO23''
::: ''GPIO14''
::: ''Power On''

==== LEDs ====

LED's are marked, from top to bottom:

::: ''GPIO21 (D2)''
::: ''D9''
::: ''D10''
::: ''D8''
::: ''D3 (GPIO22)''

The purpose and colors of some of these LEDs are unknown. D10 possibly turns on, glowing red, to indicate the external battery is charging.

=== Connectors Under User Buttons ===

When looking at the LCD, one might wonder where a particular connector on the right edge, under the user buttons, is. This section identifies the connectors.

# The topmost connector, positioned above the Reset button, is the USB OTG connector.
# Directly under the Reset button is the audio connector.
# Directly under GPIO21 and (D2) is the USB Console connector.
# Directly under D9, D10, and D8 is the external battery connector.
# Just under the "Power On" button is the external power (wall wart) connector.
[[Image:Lcd_connector_closeup_gallop43_v1.jpg|thumb|right|alt=View of the LCD connector area, showing the connector, IC4, U$2 and locating pins 39 and 40 of the 40-pin expansion area.|LCD Connector of Gallop43]]

=== LCD Connector Area ===

You can click the image on the right to enlarge it and see a view of the LCD connector area. The labeling of IC4 and U$2 are given. Pins 40 (marked "V_IN" on the board and "V_BATT" on website documentation) and 39 ("ADCIN4") of the 40-pin header are located.
=== Overo COM Side of Board ===
Now for an examination of the exciting Overo COM side of the Gallop43. Here is where you plug in your Overo and gain access to the board's special features.

==== U-Blox GPS Details ====

[[Image:u-blox_module_and_antenna_connector.jpg|thumb|left|alt=View of the Overo COM side of the board showing the U-blox GPS module, the U-blox MCX antenna connector and giving a view of the antenna cable when seated correctly in the MCX connector.|U-blox GPS details and antenna connection on Gallop43]]
Shown at left is the U-blox Neo-5G GPS module with a GPS antenna cable connected. With the white silkscreen printing on the board "right side up" and readable, the U-Blox module and its MCX antenna connector is tucked into the top right corner of the Gallop43. In this photo, you can see that a U-Blox GPS antenna cable is seated into the gold-colored MCX antenna connector. The cable connector on the antenna sold by U-blox seats quite snugly into the board's connector. It is high quality, as is the Gallop43 connector. The result is a cable that is fairly stiff at the connector end. There is about 2 inches of very noticeable stiffness, then the cable becomes more flexible. This may or may not make a difference to your cable routing. To the right of the MCX connector is a hex aluminum standoff. This is user-supplied and does not come with the purchase of the Gallop43 board. The circled area on the board is quite interesting -- does documentation exist for how to use GPS_V_BCKP? Also of interest is the scannable bar code on the U-blox module's label.

===== U-blox GPS Antenna =====

[[Image:u_blox_gps_antenna_mag_mount_v1.jpg|thumb|right|alt=View of the U-blox GPS antenna, showing the magnetic mount side. An American quarter coin is placed to the left to give a sense of size.|U-blox GPS antenna magnetic mount side]]
This shows the magnetic mount side of a U-blox GPS antenna. This antenna has a quite long cable of approximately 10 feet in length. The magnetic mount is very convenient to use. The author put the antenna unit magnetic mount side down on an empty tin used for tea samples, and wedged the tin and antenna onto the crank of a window. This was enough for the antenna to pick up satellites and reporting information via the cgps utility. To the left of the antenna, in this photo, an American quarter coin is shown to provide scale.
[[Image:u_blox_gps_antenna_top_side_v1.jpg|thumb|left|alt=View of the U-blox GPS antenna, showing the top surface resting against a salt shaker.|U-blox GPS antenna top surface]]
Here we can see the top surface of the U-blox antenna. The antenna is standing on it's long side, resting against a salt shaker. The black coloring of the antenna will no doubt absorb warmth from available sunshine. It should be quite interesting to see how temperature extremes affect the antenna.

===Connectors for NiMH Battery pack ===

1/ Connector provided on Gallop43 for NiMH battery pack:
- Molex 5268 series #22-05-7025

2/ Mating connector required on NiMH battery pack:
- Molex 5264 series #50-37-5023

===Coin Cell and NiMH Batteries===

Coin cell and NiMH battery solutions have been posted [http://wiki.gumstix.org/index.php?title=Category:How_to_-_batteries here].

NiMH

2011-02-15T18:26:09Z

Searchworks: setup page

===NiMH===

====NiMH battery pack====
1/ For use with the Gallop43 board, a customer ordered:

the #E1702F 2.4v 1700mah NiMH 2 cell AA Flat Pack

With this connector:

MOLEX: #50-37-5023 (POSITIVE RIGHT)

from this supplier:

onlybatterypacks.com

[[Category:How_to_-_batteries]]

[[Category:How_to_-_expansion_boards]]

Coin cell

2011-02-11T04:33:07Z

Searchworks:

===Batteries for Coin cell backup battery holder===

====Rechargeable 6.8mm lithium coin cell battery====
This coin cell battery has been tested on the Tobi expansion board: ML-621S/ZTN

This rechargeable 6.8mm lithium coin cell battery is available from Digikey via [http://parts.digikey.com/1/parts/1406-battery-lithium-3v-recharge-ml-621s-ztn.html this link].

[[Category:How_to_-_batteries]]

[[Category:How_to_-_expansion_boards]]

Coin cell

2011-02-11T04:32:42Z

Searchworks:

Coin cell

2011-02-11T04:11:16Z

Searchworks: Category:How_to_-_batteries

Coin cell

2011-02-11T04:10:15Z

Searchworks: coin cell

User:MichaelLWinebrenner

2011-02-10T21:10:17Z

Searchworks: spam

...

Main Page

2011-02-08T04:00:47Z

Searchworks: focus on Linaro

<big>''Welcome to the Gumstix User Wiki''</big>

This site is provided so that users of the Gumstix OpenEmbedded build system can share their knowledge, showcase their Gumstix-based projects, and pass on links to other sources of information and materials. This information is entirely user generated and supported. Please contribute your know-how to help your fellow developers.

'''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.''

Go to the [http://gumstix.org Gumstix Developer's website] for official Gumstix supported documentation on OpenEmbedded and other information of interest to developers:
{|
| valign="top" |
{|cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#f5fffa;border:1px solid #bcc"
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's - Focus]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's]]

|-
| valign="top" |
* [[:Category:how to - Android|Android]]
* [[:Category:how to - eclipse|Eclipse]]
* [[Linaro | Linaro]]
* [[:Category:How_to_-_Migrate_to_Gumstix|Migrate to Gumstix]]
* [[:Category:how to - Ubuntu|Ubuntu]]
| valign="top" |
* [[:Category:how to - audio|Audio]]
* [[AutoLogin|Automatic Logins]]
* [[:Category:how to - batteries|Batteries]]
* [[:Category:how to - bluetooth|Bluetooth]]
* [[:Category:how to - fedora|Fedora]]
* [[:Category:Connect_hardware|Connect Hardware]]
* [[:Category:how to - displays|Displays]]
* [[:Category:how to - DSP|DSP]]
* [[:Category:how_to_-_ethernet|Ethernet]]
* [[:Category:how_to_-_expansion_boards|Expansion Boards]]
* [[Gaining Console Connection via Terminal]]
* [[:Category:how to - git|Git]]
* [[GPIO|GPIO]]
| valign="top" |
* [[GPS|GPS]]
* [[:Category:how to - gui|GUI]]
* [[:Category:how to - general|General]]
* [[:Category:how to - Build helloworld|HelloWorld]]
* [[HelloWorld|HelloWorld in Python, C, C++]]
* [[HelloWorld in Java|HelloWorld in Java]]
* [[:Category:how to - i2c|I2C]]
* [[:Category:how to - IMU|IMU]]
* [[:Category:how to - JAVA|JAVA]]
* [[Kernel Reconfiguration|Kernel Reconfiguration]]
* [[:Category:how to - Known Issues|Known Issues]]
* [[:Category:how to - LCD|LCD]]
| valign="top" |
* [[:Category:how to - linux|Linux]]
* [[AudioIn | Use a microphone]]
* [[MicroSd |MicroSD Duplication]]
* [[:Category:how to - Network_Boot|Network Boot]]
* [[:Category:how to - OpenEmbedded|OpenEmbedded]]
* [[:Category:how to - player|Player]]
* [[:Category:How to - PWM|PWM]]
* [[:Category:How_to_-_qemu|Qemu]]
* [[:Category:How_to_-_Qt|Qt]]
* [[:Category:how to - robotics|Robotics]]
* [[:Category:how to - security|Security]]
* [[:Category:SPI|SPI]]
| valign="top" |
* [[:Category:SUSE|SUSE]]
* [[Remote Debugging with GDB|Remote Debugging with GDB]]
* [[U-Boot|UBoot]]
* [[:Category:how to - usb|USB]]
* [[Verdex Git Repository]]
* [[VerdexPro U-Boot Flashing Fix]]
* [[:Category:how to - virtual machine|Virtual Machine]]
* [[:Category:how to - webcams|Webcams]]
* [[:Category:how to - wifi|Wifi]]

|}

{|
| valign="top" |
{|cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#f5fffa;border:1px solid #bcc"
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:projects|User projects]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:User_pics_videos|User Pics & Videos]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:resources|Resources]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:faqs|Questions and Answers]]

|-
| valign="top" |
* [[:Category:projects - audio|Audio]]
* [[:Category:projects - competitions|Competitions]]
* [[:Category:projects - displays|Displays]]
* [[:Category:projects - pdas|PDA's]]
* [[:Category:Projects_-Research_and_Education|Research & Education]]
* [[:Category:projects - monitoring and control|Monitoring and Control]]
* [[:Category:projects - robotics|Robotics & UAV's]]
| valign="top" |
* [http://johnwoconnor.blogspot.com/2009/03/linux-on-gumstick-tour-of-gumstix-overo.html Short & Sweet - A User's Tour of Overo Earth]
* [http://www.flickr.com/search/?q=gumstix&s=rec Gumstix in Flickr]
* [http://www.youtube.com/results?search_query=gumstix&search_sort=video_date_uploaded Gumstix on Youtube]
* [http://www.cs.umd.edu/alandaluz/nchen/ebook/dualdisp-chi.mov Dual Display device at UMD]
| valign="top" |
* [[Windows CE solution|Solutions for Windows CE]]
* [[Qt solution|Solutions for Qt]]
* [[Manufacturer's specifications|Specifications for Processors & Components]]
* [[Software information]]
* [[Supported hardware]]
* [[Third Party Boards]]
| valign="top" |
Gumstix Community Mailing List (no cost)
* [https://lists.sourceforge.net/lists/listinfo/gumstix-users Sign-up]
* [http://old.nabble.com/Gumstix-f22543.html Archives]
|}

For information and support for the legacy gumstix buildroot build system:
[http://docwiki.gumstix.com/Main_Page docwiki.gumstix.com]

Main Page

2011-02-08T03:54:45Z

Searchworks: add Linaro

<big>''Welcome to the Gumstix User Wiki''</big>

This site is provided so that users of the Gumstix OpenEmbedded build system can share their knowledge, showcase their Gumstix-based projects, and pass on links to other sources of information and materials. This information is entirely user generated and supported. Please contribute your know-how to help your fellow developers.

'''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.''

Go to the [http://gumstix.org Gumstix Developer's website] for official Gumstix supported documentation on OpenEmbedded and other information of interest to developers:
{|
| valign="top" |
{|cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#f5fffa;border:1px solid #bcc"
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's - Focus]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:How-tos |User how to's]]

|-
| valign="top" |
* [[:Category:how to - Android|Android]]
* [[:Category:how to - eclipse|Eclipse]]
* [[:Category:How_to_-_Migrate_to_Gumstix|Migrate to Gumstix]]
* [[:Category:how to - Ubuntu|Ubuntu]]
| valign="top" |
* [[:Category:how to - audio|Audio]]
* [[AutoLogin|Automatic Logins]]
* [[:Category:how to - batteries|Batteries]]
* [[:Category:how to - bluetooth|Bluetooth]]
* [[:Category:how to - fedora|Fedora]]
* [[:Category:Connect_hardware|Connect Hardware]]
* [[:Category:how to - displays|Displays]]
* [[:Category:how to - DSP|DSP]]
* [[:Category:how_to_-_ethernet|Ethernet]]
* [[:Category:how_to_-_expansion_boards|Expansion Boards]]
* [[Gaining Console Connection via Terminal]]
* [[:Category:how to - git|Git]]
* [[GPIO|GPIO]]
| valign="top" |
* [[GPS|GPS]]
* [[:Category:how to - gui|GUI]]
* [[:Category:how to - general|General]]
* [[:Category:how to - Build helloworld|HelloWorld]]
* [[HelloWorld|HelloWorld in Python, C, C++]]
* [[HelloWorld in Java|HelloWorld in Java]]
* [[:Category:how to - i2c|I2C]]
* [[:Category:how to - IMU|IMU]]
* [[:Category:how to - JAVA|JAVA]]
* [[Kernel Reconfiguration|Kernel Reconfiguration]]
* [[:Category:how to - Known Issues|Known Issues]]
* [[:Category:how to - LCD|LCD]]
| valign="top" |
* [[Linaro | Linaro]]
* [[:Category:how to - linux|Linux]]
* [[AudioIn | Use a microphone]]
* [[MicroSd |MicroSD Duplication]]
* [[:Category:how to - Network_Boot|Network Boot]]
* [[:Category:how to - OpenEmbedded|OpenEmbedded]]
* [[:Category:how to - player|Player]]
* [[:Category:How to - PWM|PWM]]
* [[:Category:How_to_-_qemu|Qemu]]
* [[:Category:How_to_-_Qt|Qt]]
* [[:Category:how to - robotics|Robotics]]
* [[:Category:how to - security|Security]]
* [[:Category:SPI|SPI]]
| valign="top" |
* [[:Category:SUSE|SUSE]]
* [[Remote Debugging with GDB|Remote Debugging with GDB]]
* [[U-Boot|UBoot]]
* [[:Category:how to - usb|USB]]
* [[Verdex Git Repository]]
* [[VerdexPro U-Boot Flashing Fix]]
* [[:Category:how to - virtual machine|Virtual Machine]]
* [[:Category:how to - webcams|Webcams]]
* [[:Category:how to - wifi|Wifi]]

|}

{|
| valign="top" |
{|cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#f5fffa;border:1px solid #bcc"
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:projects|User projects]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:User_pics_videos|User Pics & Videos]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:resources|Resources]]
! style="margin:0;background:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3b0bf;text-align:left;color:#000;padding:0.2em 0.4em;" | [[:Category:faqs|Questions and Answers]]

|-
| valign="top" |
* [[:Category:projects - audio|Audio]]
* [[:Category:projects - competitions|Competitions]]
* [[:Category:projects - displays|Displays]]
* [[:Category:projects - pdas|PDA's]]
* [[:Category:Projects_-Research_and_Education|Research & Education]]
* [[:Category:projects - monitoring and control|Monitoring and Control]]
* [[:Category:projects - robotics|Robotics & UAV's]]
| valign="top" |
* [http://johnwoconnor.blogspot.com/2009/03/linux-on-gumstick-tour-of-gumstix-overo.html Short & Sweet - A User's Tour of Overo Earth]
* [http://www.flickr.com/search/?q=gumstix&s=rec Gumstix in Flickr]
* [http://www.youtube.com/results?search_query=gumstix&search_sort=video_date_uploaded Gumstix on Youtube]
* [http://www.cs.umd.edu/alandaluz/nchen/ebook/dualdisp-chi.mov Dual Display device at UMD]
| valign="top" |
* [[Windows CE solution|Solutions for Windows CE]]
* [[Qt solution|Solutions for Qt]]
* [[Manufacturer's specifications|Specifications for Processors & Components]]
* [[Software information]]
* [[Supported hardware]]
* [[Third Party Boards]]
| valign="top" |
Gumstix Community Mailing List (no cost)
* [https://lists.sourceforge.net/lists/listinfo/gumstix-users Sign-up]
* [http://old.nabble.com/Gumstix-f22543.html Archives]
|}

For information and support for the legacy gumstix buildroot build system:
[http://docwiki.gumstix.com/Main_Page docwiki.gumstix.com]

Software information

2011-02-06T20:22:51Z

Searchworks: remove spam

== Introduction ==

Gumstix uses Linux® OpenEmbedded, a build environment that allows you to build rootfs images, packages and custom software in a easy way.

There are different rootfs images (gumstix images) that provide a software bundle and a base system out-of-the-box with a single command,
choose one that fits best your application needs!

Extra software not included on gumstix images is installed through software packages with ipkg.

== OMAP 35x-based Overo Development ==

To get started on Overo, [http://www.gumstix.net/Overo/114.html click here].

== PXA-based Gumstix Motherboards ==

To get started on Verdex Pro, [http://www.gumstix.net/Setup-and-Programming/cat/Getting-started/111.html click here] and bitbake the image of your choice depending on your application needs.

After building, the rootfs image, kernel and optionally any software packages are transferred to your gumstix through a serial connection, using compact flash or MMC type cards or ethernet network (assuming your hardware supports the appropriate interface)

=== Gumstix images ===

 

{| border="1" cellpadding="5" cellspacing="0"
! Image || Size || Description || Status
|-
| gumstix-minimal-image || ~7.8 MB || Builds a gumstix minimal system || style="background:green;" | ok
|-
| gumstix-basic-image || ~9.0 MB || Builds a gumstix minimal system (gumstix-minimal-image) + '''cron''', '''ntp''', '''ntpdate''', '''mtd-utils''' and '''boa''' webserver || style="background:green;" | ok
|-
| gumstix-perl-image || ~9.7 MB || Builds gumstix-basic-image + '''perl''' || style="background:green;" | ok
|-
| gumstix-goliath-image || || || style="background:white;" |
|-
| gumstix-qtopia-console-image || ~10.9 MB || Builds a basic gumstix root filesystem plus non-GUI Qtopia libraries || style="background:white;" |
|-
| gumstix-qtopia-gui-image || ~15.5 MB || Builds a basic gumstix root filesystem plus Qtopia || style="background:yellow;" | work-in-progress
|-
| gumstix-x11-image || ~14.8 MB || Builds a gumstix minimal system (gumstix-minimal-image) + plus '''KDrive''' (Xserver), the [http://matchbox-project.org/ '''matchbox'''] window manager and '''GTK+''' || ! style="background:green;" | ok
|-
| gumstix-x11-full-image || || gumstix x11 image + midori || style="background:yellow;" | work-in-progress
|-
| gumstix-x11-32mb-image || ~17.7 MB || gumstix x11 image + midori || style="background:yellow;" | work-in-progress
|-
| gumstix-microwindows-image || --- || --- || style="background:yellow;" | work-in-progress
|-
| gumstix-directfb-image || ~10.8 MB || gumstix-basic-image + DirectFB 1.1.0 (packages [http://www.directfb.org/ '''directfb'''] and '''directfb-examples''') || style="background:green;" | ok
|}

Recipes to build gumstix images are stored in '''gumstix-oe/com.gumstix.collection/packages/images'''

=== Packages ===

Once you have setup the build environment, building a software package is as easy as typing bitbake <app>

Package receipes are stored in '''gumstix-oe/org.openembedded.snapshot/packages'''

.
[[Category:Literature]]

VerdexPro U-Boot Flashing Fix

2011-02-04T23:10:42Z

Searchworks:

== PKI 2010-3 (Product Known Issue) ==
Gumstix created Known Issue PKI 2010-3 in September 2010 because the Numonyx NOR flash memory that Gumstix installed on a small quantity of Verdex Pro XL6P COMs in August 2010 showed errors when written from u-boot.

See Gumstix PKI 2010-3 posted [http://www.gumstix.net/Hardware/cat/Known-issues/112.html#faq206 here].

=== Symptoms ===
This faulty Numonyx NOR flash memory report errors when written from u-boot; this is due to an error in the Numonyx NOR flash memory itself.

Usually, users discover this problem when trying to replace the [http://www.gumstix.net/Setup-and-Programming/view/Getting-started/Replacing-the-file-system-image/111.html file system image]. U-boot might report any or all of these message after a copy to flash command:
<code>
GUM> '''cp.b a2000000 40000 ${filesize}'''
Flash buffer write error at address 40000
Command Sequence Error.
Block locked.
Vpp Low Error.
</code>

=== Affected Parts ===
Verdex Pro XL6P COMs of build R2635 with Numonyx NOR flash memory (U$2) marked 256PF30TF as opposed to 256PF30T likely have this fault. Note, not all memory pages in the flash memory are necessarily affected. More details about affected parts can be found [http://www.gumstix.net/Hardware/cat/Known-issues/112.html#faq206 here].

While any software that modifies the block protection status of the Numonyx NOR flash memory is potentially susceptible to this hardware bug, we have only noticed the issue in u-boot.

===Resolution===

Gumstix Engineering developed a software fix so that the Verdex Pro XL6P COMs built with this NOR flash memory can become functional.

All verdex pro XL6P COMs shipped by Gumstix have this U-boot flashing fix, at this time.

Note that a customer planning to reflash u-boot on the NOR flash of a Verdex Pro XL6P COM with a different root file system must apply this flashing fix.

By following the information below, a user can install a new version of u-boot to the NOR Flash memory.

Please note that this fix slows down writes to flash within u-boot by a factor of 20 Note that this fix does NOT affect write performance in Linux.

Until further testing and customer feedback is received, this resolution is NOT considered to be a final answer to PKI 2010-3 by Gumstix.

=== Fix Details ===

The manufacturer [http://www.numonyx.com/Documents/Specification%20Updates/509003_P3X_65nm_3V_256Mbit_Discrete.pdf notes] that the block protection status is incorrectly set when software tries to unlock a flash block. By changing the block locking command sequence as shown in this [http://git.denx.de/?p=u-boot/u-boot-cfi-flash.git;a=commit;h=54652991caedc39b2ec2e5b49e750669bfcd1e2e fix], the silicon behaves correctly. In addition, it is necessary to disable the buffered write mode; '''this slows down writes to flash within u-boot by a factor of 20.'''
This [http://dl.dropbox.com/u/211887/numonyx-256P30TF.patch patch] applies against Verdex Pro u-boot revision 1.2.0.

As an FYI, unless you need to change the software running in flash memory, it is not necessary to apply this fix---it only affects re-flashing code in u-boot.

=== Usage ===
Caveats:
* Installing a new version of u-boot to your Flash memory is risky and, if not done correctly, can result in your Verdex Pro XL6P COM being bricked. Proceed with caution.
* This fix will slow down writes to flash within u-boot by a factor of 20

Download a patched version of u-boot. Most users will want the standard u-boot; for those using the git repository or having a kernel larger than 1MB might want the large kernel version ([http://old.nabble.com/Buildable-U-boot-available-for-VerdexPRO-td28298831.html see] for more details).
{| border="1" cellspacing="0"
! Note !! File !! MD5
|-
| Standard (katload 100000) || [http://dl.dropbox.com/u/211887/u-boot-verdex600-256P30TF-standard.bin u-boot.bin] || 8f7f905549cd3ba7f2e6a755395e7e16
|-
| Large Kernel (katload 160000) || [http://dl.dropbox.com/u/211887/u-boot-verdex600-256P30TF.bin u-boot.bin] || 55e999c2bb21a5b963473f213c3911cc
|}

Follow the instructions [http://www.gumstix.net/Setup-and-Programming/view/Developer-how-to-s/Reflashing-using-a-serial-connection/111.html here] to get a serial connection to your Verdex Pro XL6P COM.

Type these commands to load the new u-boot to RAM and jump to it. This new u-boot will allow you to write to NAND:
<code>
GUM> '''loadb a2000000'''
'''CTRL+\, c'''
C-Kermit> '''send u-boot.bin''' (this should be the file you downloaded)
...tranfer for about 20 seconds...
C-Kermit> '''connect'''
GUM> '''go a2000000'''
U-Boot 1.2.0 (Oct 6 2010 - 00:42:27) - PXA270@600 MHz -

*** Welcome to Gumstix ***

DRAM: 128 MB
Flash: 32 MB
Using default environment
</code>
Hit a key to interrupt u-boot and then proceed by testing that your new u-boot is working correctly by writing to a non-boot partitions. For example,
<code>
GUM> '''protect off 1:2-3'''
Un-Protect Flash Sectors 2-3 in Bank # 1
.. done
GUM> '''erase 1:2-3'''
Erase Flash Sectors 2-3 in Bank # 1
.. done
GUM> '''loadb a2000000'''
'''CTRL+\, c'''
C-Kermit> '''send u-boot.bin''' (this should be the file you downloaded)
...tranfer for about 20 seconds...
C-Kermit> '''connect'''
GUM> '''cp.b a2000000 40000 ${filesize}'''
Copy to Flash... done
</code>
If everything went smoothly in the previous step, the new uboot is working. Let's ''carefully'' reflash the boot partition with the same steps but for sector 1:0-1 (0x0) rather than sector 1:2-3 (0x00040000):
<code>
GUM> '''protect off 1:0-1'''
Un-Protect Flash Sectors 0-1 in Bank # 1
.. done
GUM> '''erase 1:0-1'''
Erase Flash Sectors 0-1 in Bank # 1
.. done
GUM> '''loadb a2000000'''
'''CTRL+\, c'''
C-Kermit> '''send u-boot.bin''' (this should be the file you downloaded)
...tranfer for about 20 seconds...
C-Kermit> '''connect'''
GUM> '''cp.b a2000000 0 ${filesize}'''
Copy to Flash... done
GUM> '''reset'''
</code>
The Verdex Pro XL6P COM should now boot into the new u-boot and the ''protect'', ''erase'', and ''cp.b'' commands should behave correctly albeit slowly.

== Source ==
A git repository containing the modified Verdex u-boot source code is available on GitHub. You would fetch and compile u-boot using these commands:
$ git clone git://github.com/ashcharles/verdex-uboot.git
$ cd verdex-uboot
(assuming you are using the OE cross-compiler. Change the path as
appropriate. Note: some gcc-4.5 arm cross-compilers (gnuarm, linaro
and Android in my case) fail with this bug
https://bugs.launchpad.net/ubuntu/+source/gcc-4.5-armel-cross/+bug/662887)
$ export PATH=/home/openembedded/tmp/sysroots/i686-linux/usr/armv5te/bin/:$PATH
$ export ARCH=arm
$ export CROSS_COMPILE=arm-angstrom-linux-gnueabi-
$ make gumstix_config
$ make -j8

You should now have u-boot.bin available.
== Notes ==

* Please contact ash (at) gumstix.com in case of problems with this procedure.

VerdexPro U-Boot Flashing Fix

2011-02-04T22:32:58Z

Searchworks: correcting wording

== PKI 2010-3 (Product Known Issue) ==
Gumstix created Known Issue PKI 2010-3 in September 2010 because the Numonyx NOR flash memory that Gumstix installed on a small quantity of Verdex Pro XL6P COMs in August 2010 showed errors when written from u-boot.

See Gumstix PKI 2010-3 posted [http://www.gumstix.net/Hardware/cat/Known-issues/112.html#faq206 here].

=== Symptoms ===
This faulty Numonyx NOR flash memory report errors when written from u-boot; this is due to an error in the Numonyx NOR flash memory itself.

Usually, users discover this problem when trying to replace the [http://www.gumstix.net/Setup-and-Programming/view/Getting-started/Replacing-the-file-system-image/111.html file system image]. U-boot might report any or all of these message after a copy to flash command:
<code>
GUM> '''cp.b a2000000 40000 ${filesize}'''
Flash buffer write error at address 40000
Command Sequence Error.
Block locked.
Vpp Low Error.
</code>

=== Affected Parts ===
Verdex Pro XL6P COMs of build R2635 with Numonyx NOR flash memory (U$2) marked 256PF30TF as opposed to 256PF30T likely have this fault. Note, not all memory pages in the flash memory are necessarily affected. More details about affected parts can be found [http://www.gumstix.net/Hardware/cat/Known-issues/112.html#faq206 here].

While any software that modifies the block protection status of the Numonyx NOR flash memory is potentially susceptible to this hardware bug, we have only noticed the issue in u-boot.

==Resolution==

Gumstix Engineering developed a software fix so that the Verdex Pro XL6P COMs built with this NOR flash memory can become functional.

All verdex pro XL6P COMs shipped by Gumstix have this U-boot flashing fix, at this time.

Note that a customer planning to reflash u-boot on the NOR flash of a Verdex Pro XL6P COM with a different root file system must apply this flashing fix.

By following the information below, a user can install a new version of u-boot to the NOR Flash memory.

Please note that this fix slows down writes to flash within u-boot by a factor of 20 Note that this fix does NOT affect write performance in Linux.

Until further testing and customer feedback is received, this resolution is NOT considered to be a final answer to PKI 2010-3 by Gumstix.

=== Fix Details ===

The manufacturer [http://www.numonyx.com/Documents/Specification%20Updates/509003_P3X_65nm_3V_256Mbit_Discrete.pdf notes] that the block protection status is incorrectly set when software tries to unlock a flash block. By changing the block locking command sequence as shown in this [http://git.denx.de/?p=u-boot/u-boot-cfi-flash.git;a=commit;h=54652991caedc39b2ec2e5b49e750669bfcd1e2e fix], the silicon behaves correctly. In addition, it is necessary to disable the buffered write mode; '''this slows down writes to flash within u-boot by a factor of 20.'''
This [http://dl.dropbox.com/u/211887/numonyx-256P30TF.patch patch] applies against Verdex Pro u-boot revision 1.2.0.

As an FYI, unless you need to change the software running in flash memory, it is not necessary to apply this fix---it only affects re-flashing code in u-boot.

=== Usage ===
Caveats:
* Installing a new version of u-boot to your Flash memory is risky and, if not done correctly, can result in your Verdex Pro XL6P COM being bricked. Proceed with caution.
* This fix will slow down writes to flash within u-boot by a factor of 20

Download a patched version of u-boot. Most users will want the standard u-boot; for those using the git repository or having a kernel larger than 1MB might want the large kernel version ([http://old.nabble.com/Buildable-U-boot-available-for-VerdexPRO-td28298831.html see] for more details).
{| border="1" cellspacing="0"
! Note !! File !! MD5
|-
| Standard (katload 100000) || [http://dl.dropbox.com/u/211887/u-boot-verdex600-256P30TF-standard.bin u-boot.bin] || 8f7f905549cd3ba7f2e6a755395e7e16
|-
| Large Kernel (katload 160000) || [http://dl.dropbox.com/u/211887/u-boot-verdex600-256P30TF.bin u-boot.bin] || 55e999c2bb21a5b963473f213c3911cc
|}

Follow the instructions [http://www.gumstix.net/Setup-and-Programming/view/Developer-how-to-s/Reflashing-using-a-serial-connection/111.html here] to get a serial connection to your Verdex Pro XL6P COM.

Type these commands to load the new u-boot to RAM and jump to it. This new u-boot will allow you to write to NAND:
<code>
GUM> '''loadb a2000000'''
'''CTRL+\, c'''
C-Kermit> '''send u-boot.bin''' (this should be the file you downloaded)
...tranfer for about 20 seconds...
C-Kermit> '''connect'''
GUM> '''go a2000000'''
U-Boot 1.2.0 (Oct 6 2010 - 00:42:27) - PXA270@600 MHz -

*** Welcome to Gumstix ***

DRAM: 128 MB
Flash: 32 MB
Using default environment
</code>
Hit a key to interrupt u-boot and then proceed by testing that your new u-boot is working correctly by writing to a non-boot partitions. For example,
<code>
GUM> '''protect off 1:2-3'''
Un-Protect Flash Sectors 2-3 in Bank # 1
.. done
GUM> '''erase 1:2-3'''
Erase Flash Sectors 2-3 in Bank # 1
.. done
GUM> '''loadb a2000000'''
'''CTRL+\, c'''
C-Kermit> '''send u-boot.bin''' (this should be the file you downloaded)
...tranfer for about 20 seconds...
C-Kermit> '''connect'''
GUM> '''cp.b a2000000 40000 ${filesize}'''
Copy to Flash... done
</code>
If everything went smoothly in the previous step, the new uboot is working. Let's ''carefully'' reflash the boot partition with the same steps but for sector 1:0-1 (0x0) rather than sector 1:2-3 (0x00040000):
<code>
GUM> '''protect off 1:0-1'''
Un-Protect Flash Sectors 0-1 in Bank # 1
.. done
GUM> '''erase 1:0-1'''
Erase Flash Sectors 0-1 in Bank # 1
.. done
GUM> '''loadb a2000000'''
'''CTRL+\, c'''
C-Kermit> '''send u-boot.bin''' (this should be the file you downloaded)
...tranfer for about 20 seconds...
C-Kermit> '''connect'''
GUM> '''cp.b a2000000 0 ${filesize}'''
Copy to Flash... done
GUM> '''reset'''
</code>
The Verdex Pro XL6P COM should now boot into the new u-boot and the ''protect'', ''erase'', and ''cp.b'' commands should behave correctly albeit slowly.

== Source ==
A git repository containing the modified Verdex u-boot source code is available on GitHub. You would fetch and compile u-boot using these commands:
$ git clone git://github.com/ashcharles/verdex-uboot.git
$ cd verdex-uboot
(assuming you are using the OE cross-compiler. Change the path as
appropriate. Note: some gcc-4.5 arm cross-compilers (gnuarm, linaro
and Android in my case) fail with this bug
https://bugs.launchpad.net/ubuntu/+source/gcc-4.5-armel-cross/+bug/662887)
$ export PATH=/home/openembedded/tmp/sysroots/i686-linux/usr/armv5te/bin/:$PATH
$ export ARCH=arm
$ export CROSS_COMPILE=arm-angstrom-linux-gnueabi-
$ make gumstix_config
$ make -j8

You should now have u-boot.bin available.
== Notes ==

* Please contact ash (at) gumstix.com in case of problems with this procedure.

VerdexPro U-Boot Flashing Fix

2011-02-04T18:21:00Z

Searchworks: update in Q1 2011

== PKI 2010-3 (Product Known Issue) ==
Gumstix created Known Issue PKI 2010-3 in September 2010 because the Numonyx NOR flash memory that Gumstix installed on a small quantity of Verdex Pro XL6P COMs in August 2010 showed errors when written from u-boot.

See Gumstix PKI 2010-3 posted [http://www.gumstix.net/Hardware/cat/Known-issues/112.html#faq206 here].

===Description===
Since Gumstix could not, and still cannot as of Q1 2011, source corrected memory modules from Numonyx NOR flash memory, all verdex pro XL6P COMs shipped by Gumstix in low and high volume orders must have this U-boot flashing fix until corrected memory modules can be sourced by Gumstix.

Gumstix Engineering developed a software fix so that the Verdex Pro XL6P COMs built with this NOR flash memory can become functional.

=== Symptoms ===
This faulty Numonyx NOR flash memory report errors when written from u-boot; this is due to an error in the Numonyx NOR flash memory itself.

Usually, users discover this problem when trying to replace the [http://www.gumstix.net/Setup-and-Programming/view/Getting-started/Replacing-the-file-system-image/111.html file system image]. U-boot might report any or all of these message after a copy to flash command:
<code>
GUM> '''cp.b a2000000 40000 ${filesize}'''
Flash buffer write error at address 40000
Command Sequence Error.
Block locked.
Vpp Low Error.
</code>

=== Affected Parts ===
Verdex Pro XL6P COMs of build R2635 with Numonyx NOR flash memory (U$2) marked 256PF30TF as opposed to 256PF30T likely have this fault. Note, not all memory pages in the flash memory are necessarily affected. More details about affected parts can be found [http://www.gumstix.net/Hardware/cat/Known-issues/112.html#faq206 here].

While any software that modifies the block protection status of the Numonyx NOR flash memory is potentially susceptible to this hardware bug, we have only noticed the issue in u-boot.

==Resolution==
By following the information below, a user can install a new version of u-boot to the NOR Flash memory.

Please note that this fix slows down writes to flash within u-boot by a factor of 20 Note that this fix does NOT affect write performance in Linux.

Until further testing and customer feedback is received, this resolution is NOT considered to be a final answer to PKI 2010-3 by Gumstix.

=== Fix Details ===

The manufacturer [http://www.numonyx.com/Documents/Specification%20Updates/509003_P3X_65nm_3V_256Mbit_Discrete.pdf notes] that the block protection status is incorrectly set when software tries to unlock a flash block. By changing the block locking command sequence as shown in this [http://git.denx.de/?p=u-boot/u-boot-cfi-flash.git;a=commit;h=54652991caedc39b2ec2e5b49e750669bfcd1e2e fix], the silicon behaves correctly. In addition, it is necessary to disable the buffered write mode; '''this slows down writes to flash within u-boot by a factor of 20.'''
This [http://dl.dropbox.com/u/211887/numonyx-256P30TF.patch patch] applies against Verdex Pro u-boot revision 1.2.0.

As an FYI, unless you need to change the software running in flash memory, it is not necessary to apply this fix---it only affects re-flashing code in u-boot.

=== Usage ===
Caveats:
* Installing a new version of u-boot to your Flash memory is risky and, if not done correctly, can result in your Verdex Pro XL6P COM being bricked. Proceed with caution.
* This fix will slow down writes to flash within u-boot by a factor of 20

Download a patched version of u-boot. Most users will want the standard u-boot; for those using the git repository or having a kernel larger than 1MB might want the large kernel version ([http://old.nabble.com/Buildable-U-boot-available-for-VerdexPRO-td28298831.html see] for more details).
{| border="1" cellspacing="0"
! Note !! File !! MD5
|-
| Standard (katload 100000) || [http://dl.dropbox.com/u/211887/u-boot-verdex600-256P30TF-standard.bin u-boot.bin] || 8f7f905549cd3ba7f2e6a755395e7e16
|-
| Large Kernel (katload 160000) || [http://dl.dropbox.com/u/211887/u-boot-verdex600-256P30TF.bin u-boot.bin] || 55e999c2bb21a5b963473f213c3911cc
|}

Follow the instructions [http://www.gumstix.net/Setup-and-Programming/view/Developer-how-to-s/Reflashing-using-a-serial-connection/111.html here] to get a serial connection to your Verdex Pro XL6P COM.

Type these commands to load the new u-boot to RAM and jump to it. This new u-boot will allow you to write to NAND:
<code>
GUM> '''loadb a2000000'''
'''CTRL+\, c'''
C-Kermit> '''send u-boot.bin''' (this should be the file you downloaded)
...tranfer for about 20 seconds...
C-Kermit> '''connect'''
GUM> '''go a2000000'''
U-Boot 1.2.0 (Oct 6 2010 - 00:42:27) - PXA270@600 MHz -

*** Welcome to Gumstix ***

DRAM: 128 MB
Flash: 32 MB
Using default environment
</code>
Hit a key to interrupt u-boot and then proceed by testing that your new u-boot is working correctly by writing to a non-boot partitions. For example,
<code>
GUM> '''protect off 1:2-3'''
Un-Protect Flash Sectors 2-3 in Bank # 1
.. done
GUM> '''erase 1:2-3'''
Erase Flash Sectors 2-3 in Bank # 1
.. done
GUM> '''loadb a2000000'''
'''CTRL+\, c'''
C-Kermit> '''send u-boot.bin''' (this should be the file you downloaded)
...tranfer for about 20 seconds...
C-Kermit> '''connect'''
GUM> '''cp.b a2000000 40000 ${filesize}'''
Copy to Flash... done
</code>
If everything went smoothly in the previous step, the new uboot is working. Let's ''carefully'' reflash the boot partition with the same steps but for sector 1:0-1 (0x0) rather than sector 1:2-3 (0x00040000):
<code>
GUM> '''protect off 1:0-1'''
Un-Protect Flash Sectors 0-1 in Bank # 1
.. done
GUM> '''erase 1:0-1'''
Erase Flash Sectors 0-1 in Bank # 1
.. done
GUM> '''loadb a2000000'''
'''CTRL+\, c'''
C-Kermit> '''send u-boot.bin''' (this should be the file you downloaded)
...tranfer for about 20 seconds...
C-Kermit> '''connect'''
GUM> '''cp.b a2000000 0 ${filesize}'''
Copy to Flash... done
GUM> '''reset'''
</code>
The Verdex Pro XL6P COM should now boot into the new u-boot and the ''protect'', ''erase'', and ''cp.b'' commands should behave correctly albeit slowly.

== Source ==
A git repository containing the modified Verdex u-boot source code is available on GitHub. You would fetch and compile u-boot using these commands:
$ git clone git://github.com/ashcharles/verdex-uboot.git
$ cd verdex-uboot
(assuming you are using the OE cross-compiler. Change the path as
appropriate. Note: some gcc-4.5 arm cross-compilers (gnuarm, linaro
and Android in my case) fail with this bug
https://bugs.launchpad.net/ubuntu/+source/gcc-4.5-armel-cross/+bug/662887)
$ export PATH=/home/openembedded/tmp/sysroots/i686-linux/usr/armv5te/bin/:$PATH
$ export ARCH=arm
$ export CROSS_COMPILE=arm-angstrom-linux-gnueabi-
$ make gumstix_config
$ make -j8

You should now have u-boot.bin available.
== Notes ==

* Please contact ash (at) gumstix.com in case of problems with this procedure.

AudioIn

2011-01-16T06:11:29Z

Searchworks: wording

Each Gumstix expansion board that has a "3.5-mm stereo headset jack", such as the [http://www.gumstix.com/store/catalog/product_info.php?products_id=255 Gallop43 board], has a mic-in line so a microphone can be plugged in directly. Make sure to use a kernel that is more recent than 25 Sept. 2010 - see [http://www.sakoman.com/feeds/omap3/glibc/images/overo/ here] for recent pre-built images.

Each expansion board that has "stereo audio in" rather than a "headset jack", such as the [http://www.gumstix.com/store/catalog/product_info.php?cPath=31_40&products_id=230 Tobi board] or [http://www.gumstix.com/store/catalog/product_info.php?products_id=229 Palo43 board], does not have a mic-in line so a microphone cannot be plugged in directly. An amplifier would be needed for an electret microphone since there isn't a pre-amplifier.

Check the features listed on the product page of each [http://www.gumstix.com/store/catalog/index.php?cPath=31_40 expansion board] to determine if the expansion board has a stereo headset jack or stereo audio-in.

== Capture Interface Settings ==
The audio Line-in uses the 'Analog Right AUXR' and the 'Analog Left AUXL' lines; the Mic-in uses the 'Analog Left Main Mic' and the 'Analog Right Sub Mic' lines. Use ''amixer'' or ''alsamixer'' to select the correct capture interface for your application.

Currently, Line-in is selected as the default capture interface. You could switch to the Mic-in interface like this:
<code>
$ amixer -c 0 sset 'Analog Right AUXR' nocap
$ amixer -c 0 sset 'Analog Left AUXL' nocap
$ amixer -c 0 sset 'Analog Left Main Mic' cap
$ amixer -c 0 sset 'Analog Right Sub Mic' cap
</code>

To test, you might use something like this; it records for two seconds and then plays back the recorded sound.
<code>
$ arecord -d 2 -f cd -t wav foobar.wav;aplay foobar.wav
</code>

[[Category:How_to_-_audio]]

AudioIn

2011-01-16T05:59:55Z

Searchworks: reword re audio

Any expansion board that has a "3.5-mm stereo headset jack", such as the [http://www.gumstix.com/store/catalog/product_info.php?products_id=255 Gallop43 board], has a mic-in line so a microphone can be plugged in directly. Make sure to use a kernel that is more recent than 25 Sept. 2010 - see [http://www.sakoman.com/feeds/omap3/glibc/images/overo/ here] for recent pre-built images.

Each expansion board that has "stereo audio in" rather than a "headset jack", such as the [http://www.gumstix.com/store/catalog/product_info.php?cPath=31_40&products_id=230 Tobi board] or [http://www.gumstix.com/store/catalog/product_info.php?products_id=229 Palo43 board], does not have a mic-in line so a microphone cannot be plugged in directly. An amplifier would be needed for an electret microphone since there isn't a pre-amplifier.

Check the features listed on the product page of each [http://www.gumstix.com/store/catalog/index.php?cPath=31_40 expansion board] to determine if the board has a stereo headset jack or stereo audio-in.

== Capture Interface Settings ==
The audio Line-in uses the 'Analog Right AUXR' and the 'Analog Left AUXL' lines; the Mic-in uses the 'Analog Left Main Mic' and the 'Analog Right Sub Mic' lines. Use ''amixer'' or ''alsamixer'' to select the correct capture interface for your application.

Currently, Line-in is selected as the default capture interface. You could switch to the Mic-in interface like this:
<code>
$ amixer -c 0 sset 'Analog Right AUXR' nocap
$ amixer -c 0 sset 'Analog Left AUXL' nocap
$ amixer -c 0 sset 'Analog Left Main Mic' cap
$ amixer -c 0 sset 'Analog Right Sub Mic' cap
</code>

To test, you might use something like this; it records for two seconds and then plays back the recorded sound.
<code>
$ arecord -d 2 -f cd -t wav foobar.wav;aplay foobar.wav
</code>

[[Category:How_to_-_audio]]

Gumstix User Wiki:About

2011-01-13T05:59:58Z

Searchworks: setup page

Please contribute to the Gumstix User Wiki.

How to connect Palo43

2011-01-13T05:37:09Z

Searchworks: Category:How_to_-_expansion_boards

Gumstix has made a set of videos about the Overo series as [[http://www.gumstix.com/gumstix-videos.html posted here]]. Look for a video explaining the features of the Palo43 board and another video showing how to connect a flex connector to the Palo43 board.

[[Category:Connect_hardware]]
[[Category:How_to_-_LCD]]
[[Category:How_to_-_displays]]
[[Category:How_to_-_expansion_boards]]

How to connect Palo35

2011-01-13T05:36:48Z

Searchworks: Category:How_to_-_expansion_boards

==The Palo35 LCD Connector==

[[http://www.gumstix.net/wiki/images/0/04/Palo35-2.jpg Pull up the black lock mechanism]] of the LCD connector on the Palo35 (it rotates up), insert the flexible printed circuit from the LCD display into the connector, and finally [[http://www.gumstix.net/wiki/images/4/46/Palo35-1.jpg push the black mechanism down]] to lock connector. The orientation of the display relative to the board during installation is the same as shown in the Palo43 LCD installation.

The lock is on the opposite side, and the mechanism is different from the Palo43. Instead of "pulling it out" like in the palo43, you have to pull the lock away from the board (i.e., up if the board is laying flat on a table). The lock hinges on the sides and rotates up. Once it is up you can insert the FPC cable on the other side of the connector, and it does require some force to get it in. Try holding the FPC cable against the board while pushing it in to prevent it from flexing. Pushing the lock down once the FPC cable is in requires some force.

[[Category:Connect_hardware]]
[[Category:How_to_-_LCD]]
[[Category:How_to_-_displays]]
[[Category:How_to_-_expansion_boards]]

Category:How to - expansion boards

2011-01-13T05:35:34Z

Searchworks: add video link

== Overview and Introduction Videos ==

Gumstix Engineering has [http://www.youtube.com/user/GumstixEngineering posted some videos] on Youtube.

Please contribute your knowledge to the gumstix community