Conor O'Rourke | 13 Apr 16:54 2014

Patch for Duovero shutdown

Hi all,

Here's a patch to the 3.6 Linux kernel tree to fix power off shutdown
for the Duovero's TWL6030. Yes, I should probably do a pull request on
the Gumstix 3.6 tree but haven't had the time to figure out how :-(
The patch is to:

[linux kernel source]/drivers/mfd/twl-core.c

The TWL6030 registers were taken from the datasheet and I've been
running a patched kernel no problem for the last few weeks so it is
tested. I found a piece of code from a TI engineer somewhere that did
the same thing with the same registers so I'm sure it's right ;-)

Conor.
 <at>  <at>  -239,8 +239,13  <at>  <at> 
 
 /* for pm_power_off */
 #define PWR_P1_SW_EVENTS	0x10
 #define PWR_DEVOFF		(1 << 0)
+
+#define TWL6030_PHOENIX_DEV_ON	0x25
+#define TWL6030_APP_DEVOFF	(1<<0)
+#define TWL6030_CON_DEVOFF	(1<<1)
+#define TWL6030_MOD_DEVOFF	(1<<2)
 
 /*----------------------------------------------------------------------*/
 
(Continue reading)

zafrullahsyed | 13 Apr 14:33 2014
Picon

Gumstix Caspa VL vs USB camera

Hi all,

I would like to know the advantages of buying Caspa VL camera(as it costs
75$) sold by Gumstix. What difference is caused when a normal USB camera is
used for application in robotics?

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adam | 9 Apr 20:54 2014

Re: ROS pre-installed on Linaro: Overo AirSTORM + Robovero

Hi Francesco, I thought I responded to your question, but apparently I haven't!
If you are familiar with Gumstix Yocto Project, you should try out meta-ros
It will let you cross-compile the latest ROS for your Overo. 

Adam



On Mon, Mar 31, 2014 at 6:45 AM, francesco [via Gumstix] <[hidden email]> wrote:
Hi all,

recently I got  an Overo AirSTORM COM and a Robovero, with Linaro and ROS pre-installed (*2 for details).
Everything is ok, but ROS doesn't work well.

In particular, I can run roscore, rosrun, but catkin_make doesn't work.

When I run  catkin_make at the root of my ROS workspaces, I always obtain:
$> #### Running command: "make -j1" in "/root/catkin_ws2/build"  (*1 for details)
Even if I apply this advice, nothing changes.


Furthermore, I checked the links like ( http://wiki.gumstix.org/index.php?title=ROS ,  http://wiki.ros.org/groovy/Installation/Linaro/Source)
and I found that some steps proposed in these links had not been performed on my boards ( e.g. step 8 and 9 in the first link).
I applied the corrections in steps 8 and 9 but it didn't solve the issue. In particular, if I run  $>python os_detect.py   I still obtain ubuntu as answer.

Any ideas about how to make the ROS installation  works?

Thanks,
Francesco.

PS: Details
------------------------------------------
(*1)
Detailed Input:
root <at> linaro-alip:~/catkin_ws2# catkin_make
Detailed Output:
Base path: /root/catkin_ws2
Source space: /root/catkin_ws2/src
Build space: /root/catkin_ws2/build
Devel space: /root/catkin_ws2/devel
Install space: /root/catkin_ws2/install
####
#### Running command: "make -j1" in "/root/catkin_ws2/build"
####

-----------------------------------------------------
(*2)
Datails of my System:
ROS: Groovy

Linaro:
Linux linaro-alip 3.5.0-2-linaro-omap #2~ci+121210190143 PREEMPT Mon Dec 10 11:03:27 PST 2012 armv7l armv7l armv7l GNU/Linux

Overo AirSTORM COM ( GUM3703A-R3950 )
Robovero (PKG30019 )

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Gaurav Chaturvedi | 8 Apr 17:53 2014

[Gumstix Overo] USB issue with kernel v3.5 and above

Hi,

I have been using Gumstix Overo board with yocto-generated images. At 
the moment, I am facing an issue in which my USB device (requiring very 
less current under the USB port current limit) connected to Overo board 
is not powered through USB port when I use kernel version 3.5. I am not 
sure whether it is lack of power from USB port or I need to modify some 
configuration for this.

I noticed on the yocto release notes that the "dora" release has the 
"USB host issue" as a Known issue.

With previous version (v3.4 --> Yocto dylan branch has been tried), the 
device gets the power and is detected.

Any suggestions or information about any work in this regard are welcome.

Thanks
Gaurav

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Marcelo Jr. | 8 Apr 07:28 2014
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Encoder with a RoboVero board

Hi, im engineering student and im using a RoboVero board in a project of a nonholonomic vehicle. I need to measure the RPM and velocity of the vehicle, so im trying to use a odometry sensor (encoder) with the RoboVero board, but im not sure what pins use e how i will make it.

First, i try to use de ADC pins (AD0_0, AD0_1,...) and got this error when run the "adc.py" file of the RoboVero library:

"File 'adc.py', line 4, in <module>
   from robovero.arduino import analogRead, AD0_0, AD0_1, AD0_2, AD0_3, AD0_4, AD0_5, AD0_6, AD0_7
File 'home/marcelo/robovero/python/robovero/arduino.py', line 13, in <module>
   from extras import initMatch
File 'home/marcelo/robovero/python/robovero/extras.py', line 79, in <module>
   from robovero.arduino import pinMode, digitalWrite, P1_0, OUTPUT
ImportError: cannot import namo pinMode"

Sounds like a problem in the code. I have not changed the code as this could make the problem worse

I wish someone could help me with this problem or give me another solution to use the encoder.


Encoder:
http://www.usdigital.com/products/e4p

Sorry for the bad english. Thanks.
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seesemichaelj | 8 Apr 04:13 2014
Picon

Ubuntu 12.04, Sakoman's Yocto 3.6 Kernel and Modules on DuoVero

I've had a couple of people recently ask me about my Ubuntu on DuoVero
adventures, so I started from scratch and built up a brand new image. I
wanted to share this for others to find.

The means in which I got this working was different then I originally got it
working so I'm not 100% sure of the integrity of the image. However, I have
been running with it for about a month and it seems to be just as good, if
not better, than my previous image.

You can login with ubuntu:ubuntu (user:password); the ubuntu user is also on
the sudo group so you may get root (logging in as root at terminal has been
disabled as per default). You can start the ethernet network (currently
configured for DHCP in /etc/network/interfaces) with "ifup -a" command.

*rootfs partition*
-
http://www.mediafire.com/download/8jvr56ldv4vd1jn/20140315_0200_rootfs.tar.gz
<http://www.mediafire.com/download/8jvr56ldv4vd1jn/20140315_0200_rootfs.tar.gz>  
-Uses the
http://cdimage.ubuntu.com/ubuntu-core/releases/12.04/release/ubuntu-core-12.04.4-core-armhf.tar.gz
rootfs as a base
-lib/modules/3.6.0 and lib/firmware were obtained from the Yocto console
rootfs found at
https://s3-us-west-2.amazonaws.com/yocto/gumstix-console-image-duovero.tar.bz2

*boot partition*
-http://www.mediafire.com/download/0564j6a8ez6eo8y/20140315_0200_boot.tar.gz
-Uses the uImage, U-Boot, and MLO that can be downloaded at
http://gumstix.org/software-development/stable-and-development-images.html
-Yocto Linux 3.6.0

Basic functionality is working. I can't get busybox to fully work (i.e. you
can't use the 'ping' command without doing 'busybox ping ...'), so you might
want to look into that if necessary. As a side note, if you want to use a
USB network interface, be sure to instantiate the "modprobe g_ether"
command; I haven't tested this with this specific image extensively, but it
has been working for me so far.

This is definitely an unofficial image but it does work.

NOTE/WARNING: This does NOT work with the TI OMAP PPA release for
Pandaboard. You need to port the modules for this kernel, rebuild the module
with that kernel, and then get that to work. I have gotten this to work, but
please do not contact me about this. I will post my findings when I am sure
about it. I still haven't got hardware acceleration (Ducati framework) to
work on the DuoVero either.

Best regards,

Mike Seese
http://mikeseese.com

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bowu86 | 4 Apr 17:38 2014
Picon

Frame capture from Caspa camera in Opencv

Dear all,

I am now having a problem with getting a frame from the Caspa camera in
Opencv on gumstix. 

I have a FireStorm gumstix and Linaro operating system that is purchased
from gumstix website. Previously I was able to use media-ctl to set up the
pipeline and get snapshots from Caspa (/dev/video6) using mplayer even
though the pictures looked a little bit green-ish. 

My goal is to use Caspa in Opencv and do some onboard image processing. But
now I cannot get a single frame from Caspa in Opencv. I did a lot of search
but was unable to figure out a solution.

I tried  

  CvCapture *capture=cvCaptureFromCAM(6);

But when I run the code, what I got was the following message showing
repeatedly:

VIDIOC_QUERYCTRL: Inappropriate ioctl for device

I also tried the code from

http://linuxtv.org/downloads/v4l-dvb-apis/capture-example.html

What I got is 

/dev/video6 does not support memory mapping

Run lsmod in command line I can see the following:

Module                  Size                        Used by
ipv6                         258125                    8
libertas_sdio            17341                    0
libertas                   101798                    1  libertas_sdio
cfg80211                175549                   1 libertas
rfkill                           17776                   1 cfg80211
mt9v032                      7401                  1
lib80211                      5134                  1 libertas
firmware_class           7173                  2 libertas_sdio,libertas
omap3_isp              138629                 0
v4l2_common             8746                 2 mt9v032,omap3_isp
videodev                    99516                3
mt9v032,omap3_isp,v4l2_common
media                          13127               3
mt9v032,omap3_isp,videodev
ads7846                     11041               0

I believe getting a frame from Caspa in Opencv on Gumstix should be
accomplished before. Could someone who has done it share with me how or
where to look? Any suggestion is greatly appreciated.  

Thanks,
Bo

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Scott Ellis | 4 Apr 14:44 2014

Re: Issue with bitbake under Fedora 20

I don't use the Gumstix repos, but did you explicitly add perf to
your image?

When I wanted to use perf, I had to add a little kernel patch like
this to get around that path problem building perf with Yocto. 
Could be you could do the fix in the perf recipe, but I was just
playing around and this was easy.

--- patch ---
diff --git git/tools/perf/util/evsel.c-orig git/tools/perf/util/evsel.c
index 9f6cebd..d5491f1 100644
--- git/tools/perf/util/evsel.c-orig
+++ git/tools/perf/util/evsel.c
 <at>  <at>  -15,7 +15,7  <at>  <at> 
 #include "cpumap.h"
 #include "thread_map.h"
 #include "target.h"
-#include "../../include/linux/perf_event.h"
+#include "../../../include/linux/perf_event.h"

 #define FD(e, x, y) (*(int *)xyarray__entry(e->fd, x, y))
 #define GROUP_FD(group_fd, cpu) (*(int *)xyarray__entry(group_fd, cpu, 0))
--- patch ---

I also needed this set in the kernel config to use it

CONFIG_OMAP3_EMU=y
CONFIG_HAVE_PERF_EVENTS=y
CONFIG_PERF_EVENTS=y
CONFIG_HW_PERF_EVENTS=y
CONFIG_CPU_HAS_PMU=y

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William J. Beksi | 1 Apr 06:15 2014
Picon

Re: ROS pre-installed on Linaro: Overo AirSTORM + Robovero

On 03/31/2014 08:44 AM, francesco [via Gumstix] wrote:


> Hi all,
>
> recently I got  an Overo AirSTORM COM and a Robovero, with Linaro and
> ROS pre-installed (*2 for details).
> Everything is ok, but ROS doesn't work well.
>
> In particular, I can run roscore, rosrun, but catkin_make doesn't work.
>
> When I run  catkin_make at the root of my ROS workspaces, I always
> obtain:
> $> #### Running command: "make -j1" in "/root/catkin_ws2/build"  (*1
> for details)
> Even if I apply this advice, nothing changes.
>
>
> Furthermore, I checked the links like (
> http://wiki.gumstix.org/index.php?title=ROS ,
> http://wiki.ros.org/groovy/Installation/Linaro/Source)
> and I found that some steps proposed in these links had not been
> performed on my boards ( e.g. step 8 and 9 in the first link).
> I applied the corrections in steps 8 and 9 but it didn't solve the
> issue. In particular, if I run  $>python os_detect.py   I still obtain
> ubuntu as answer.
>
> Any ideas about how to make the ROS installation  works?

I did a ROS native compilation on an Overo running Linaro a while back.  
It's difficult to know the state of your configuration from the
information above.  Looking back on my notes, this is how I built the
'robot' variant configuration for Groovy.

Install libraries and tools
-------------------------------
Get all the necessary libraries and tools:

sudo apt-get install build-essential python-pip python-yaml
python-setuptools libyaml-dev libboost-all-dev cmake git subversion vim

sudo pip install rospkg rosdep rosinstall catkin-pkg wstool

Setup catkin
----------------
We create a catkin workspace and initialize it to build core ROS packages:

sudo mkdir -p /opt/ros/groovy/catkin_ws
cd /opt/ros/groovy/catkin_ws

Next, download all the packages for the 'robot' variant configuration:

sudo wstool init src -j1
http://packages.ros.org/web/rosinstall/generate/raw/groovy/robot

Install dependencies
--------------------------
Ensure rosdep has been initialized and update it:

sudo rosdep init
rosdep update

ROS does not detect Linaro as an OS right now.  Therefore, we need to
patch os_detect.py.

sudo vi /usr/local/lib/python2.7/dist-packages/rospkg/os_detect.py

Add the following lines:

OS_LINARO='linaro'
OsDetect.register_default(OS_UBUNTU, LsbDetect("Linaro"))

Before we can build the catkin workspace, we need to make sure that we
have all the required dependencies.  We use the rosdep tool for this.
The -y option automatically accepts the download and the -r option will
ignore errors.

sudo rosdep install --from-paths src --ignore-src --rosdistro groovy -y

After the above command finishes, there may be some warnings about
missing libraries.  This is due to there being no repositories for the
ARM variants of those libraries.  Below are instructions for installing
the necessary libraries.

collada-dom
----------------
sudo apt-get install libxml2-dev
cd /opt
sudo wget
http://sourceforge.net/projects/collada-dom/files/Collada%20DOM/Collada%20DOM%202.4/collada-dom-2.4.0.tgz
sudo tar -xf collada-dom-2.4.0.tgz
cd collada-dom-2.4.0
sudo cmake .
sudo make install

assimp
---------
cd /opt
sudo wget sudo wget
http://downloads.sourceforge.net/project/assimp/assimp-3.0/assimp--3.0.1270-source-only.zip
sudo unzip -q assimp--3.0.1270-source-only.zip
cd assimp--3.0.1270-source-only
sudo cmake .
sudo make install

Install ROS
--------------
Build catkin and install it.  catkin is the low-level build system of ROS:

sudo ./src/catkin/bin/catkin_make_isolated --install

Configure ROS
-------------------
Run the following command to automatically add ROS environment variables
every time a new shell is launched and then set them in the current bash
session:

echo "source /opt/ros/groovy/catkin_ws/install_isolated/setup.bash" >>
~/.bashrc
source ~/.bashrc

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sujo1 | 1 Apr 01:00 2014
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Robovero Compass Problem

Hello,

I bought a Robovero board and have been having problems reading the values
from the LSM303DLH compass.

The IMU.py example code is working but the magnetometer always reads 32 in
all channels regardless of the orientation.
This post: http://forum.pololu.com/viewtopic.php?f=3&t=3801 says that it may
be a possible problem with the board's power.  Just in case, I connected the
5V power supply first and then connected the USB, but it still reads 32 on
every channel of the magnetometer.

I have also reflashed the firmware of the Robovero and the magnetometer
still doesn't give another measure. I'm posting this here in case there's
something else I could try before obtaining a RMA.

Thanks.

Jossué

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Mazahir Poonawalla | 28 Mar 05:52 2014
Picon

Caspa FS driver installation

Hi All,

I am new to gumstix and I am using overo waterstorm along with Tobi. I have used Ridgerun SDK for it. However, I have successfully installed everything on the sd card but Ridgerun does not provide driver for Caspa FS camera headboard. 
Can anyone please help me as to how to go about it and how do I install the driver into the kernel or ridgerun sdk to make it run.

Thank you.
Cheers,
Max
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