** Wed Sep  5 20:57:12 MDT 2007 **

----------------------------------------
How to get the RooStick USB->Serial device working:

--------------------
Excerpt: http://todbot.com/blog/2006/05/26/roombadevtools-roostick/

  The RooStick is a USB-to-Serial adapter with a Mini DIN 7-pin socket
  on it that matches the SCI connector on the Roomba. It is an
  unencased circuit board with a USB connector soldered on one end and
  the Mini DIN on the other. The circuit consists of a CP2103
  USB-to-UART chip and a couple of LEDs.

  While RoombaDevTools doesnÕt advertise it because they are focusing
  on the Windows crowd, the CP2103 has drivers for other OSes. You
  have to hunt around the Silicon Labs site, but under the USB-to-UART
  Virtual COM Port (VCP) drivers page you can find drivers for all the
  other OSes. Of course, like all USB-to-serial drivers, they require
  a reboot.

  [update: The SiLabs site doesnÕt have a link to Linux drivers
  because the driver is already in the Linux kernel. ItÕs called
  Òcp2101? and should auto-load if you have USB hotplug correctly
  configured (like Ubuntu does)]

--------------------
GNU/Linux (Ubuntu 7.04)

Plugged in RooStick to USB port, and dmesg reads:

  [86202.740000] usbcore: registered new interface driver usbserial
  [86202.744000] drivers/usb/serial/usb-serial.c: USB Serial support registered for generic
  [86202.744000] usbcore: registered new interface driver usbserial_generic
  [86202.744000] drivers/usb/serial/usb-serial.c: USB Serial Driver core
  [86202.784000] drivers/usb/serial/usb-serial.c: USB Serial support registered for cp2101
  [86202.788000] cp2101 1-2:1.0: cp2101 converter detected

So it was automatically detected, and driver installed.

In an xterm, set device setting with:

  stty -F /dev/ttyUSB0 57600 raw -parenb -parodd cs8 -hupcl -cstopb clocal

And test commands to drive (though need to pick it up to stop it due
to cable length):

  printf "\x80" > /dev/ttyUSB0 
  printf "\x82" > /dev/ttyUSB0 
  printf "\x89\x00\xc8\x80\x00" > /dev/ttyUSB0 

Worked, but I had to send the last line a few times before it seemed
to take. Maybe the sequence got messed up and it took a while to
coordinate what the first byte was.

--------------------
Mac OSX 10.3

First needed to download and install the USB driver: 

  https://www.mysilabs.com/public/documents/software_doc/drivers/Microcontrollers/Interface/en/Mac_OSX_VCP_Driver.zip

Needed to restart.

Device now shows up as:

  /dev/cu.SLAB_USBtoUART
  /dev/tty.SLAB_USBtoUART

Next, needed to get and unzip RoombaComm java library in src/roombacom.

Needed to initialize something with respect to the rxtxlib that java
code calls out to.

  % ./rxtxlib/macosx_setup.command

Also needed to restart after this.

Power on manually roomba, then run this:

  % sh runit.sh roombacomm.SimpleTest /dev/cu.SLAB_USBtoUART

And it worked.

----------------------------------------
How to get the RooTooth Bluetooth->Serial device working:

Plugged in RooTooth to Roomba, but problem trying to connect to Mac
OSX because my version 10.3.9 does not allow non-numeric bluetooth
passkeys and the passkey on the RooTooth is 'default'.

I read that the iStumbler program would all doing this, but I
downloaded and installed and the Bluetooth plugin did not show up.

Make the modem command 'ATSP' allows setting the password to a
non-numeric key, but I don't know how to do that.


  ATSP,<new PIN>,<old PIN> Set Personal Identification Number (PIN)
  Set PIN, Max alphanumeric characters (16) includes spaces (CAPS
  sensitive).  WARNING: Be careful when entering a new PIN. There is
  no way to obtain PIN status after it is changed.  EXAMPLE: Change
  PIN from default to 1234567890123456 TYPE :
  ATSP,1234567890123456,default<cr> REPLY: <cr_lf>OK<cr_lf>

I got a newer mac, connectd with rootooth 'default' passkey, installed
zterm, set terminal to 9600 baud, 8n1 and then issued the command:

  ATSP,12345678,default

and this seemed to work to change the passkey to a numeric one.

Next issue was setting up the serial port in OSX panther. I found this:

RE:
ÔThere is another issue with panter. After I changed the key I tried to setup the serial port. But under panter the required button is missing.Õ

In step 6 above, Panther does not allow you to Òedit serial portsÓ so you can access the ÒBluetooth Serial UtilityÓ found in your Ò/Applications/UtilitiesÓ folder. You can then select ÒnewÓ and set up your serial port.
Select your BlueRadio device and click ÒeditÓ then set your Òport typeÓ to RS-232?

----------------------------------------
WiPort Config

First thing I did was connect to adhoc wifi network LTRX_IBSS, then
did a broadcast ping to foind the IP of the WiPort device:

  ping 169.254.255.255

Then telnet to the device:

  telnet 169.254.x.x 9999

Then enter to enter setup mode.

I first configured it to join SSID: sparky02 at 192.168.202.0, but now
moving it to the normal 192.168.200.0 network.

When moved to 192.168.200.0 network, it would not work without
enabling ssid broadcast.  I did also have to add its MAC address into
the MAC filter list:  00:20:4A:89:88:68

I set it to have the static IP 192.168.200.222

The used the PHP web page to control it: roombacmd.php

----------------------------------------
Installing GNU/Linux on Linksys WRTSL54GS

Get openwrt firmware for router/AP:

http://downloads.x-wrt.org/xwrt/firmware_images/whiterussian/0.9/latest-daily-build/default/openwrt-wrtsl54gs-squashfs.bin

http://downloads.x-wrt.org/xwrt/firmware_images/whiterussian/0.9/latest-daily-build/default/openwrt-brcm-2.4-squashfs.trx

  NOTE: Version without web interface can be found at openwrt.org, but
  has exactly the same name, so I added x-wrt to the file name I
  downloaded.

Powered on router/AP

Connected Ubuntu (penguin) machine to wired port

Visit web interface at 192.168.1.1 with:
  username: admin
  password: admin

Go to menu choice:

  Administration->Firmware Upgrade

Browse to:

  proj/roomba/downloads/openwrt-wrtsl54gs-2.4-squashfs.x-wrt.org.bin

Click upgrade button and wait.

When upgraded, telnet:

  # telnet 192.168.1.1

Set root password with 'passwd' to disable telnet and enable ssh.

Connected WAN side to regular main wireless router hooked to cable
modem so we can gte external access to update the package manager.

Updated the package management stuff:

  # ipkg update

Changed via web console settings to make this a client instead of an router/AP:

  hostname: sparky01
  timezone: mountain
  NTP server: pool.ntp.org   # after install NTP client via button
  WAN config: disabled/none
  LAN IP:  192.168.200.200
  LAN gateway:  192.168.200.1
  LAN DNS:  192.168.200.1
  Wireless channel: auto
  Wireless Mode: client
  Wireless broadcast: off
  Wireless SSID: boulder-g
  Wireless Encryption: WEP
  WEP Key 1: <normal>

Review and apply web console changes.

Reconfigure network cables so a LAN port goes to LAN port on main
wireless router network.

  NOTE: I had to manually tweak /tmp/resolv.conf

----------------------------------------
To get USB drive to work:

  ipkg install kmod-usb-core
  ipkg install kmod-usb2
  ipkg install kmod-usb-storage
  ipkg install kmod-vfat (kamikaze name: kmod-fs-vfat, where kmod-nls-base is a dep.)

With whiterussian:
  insmod scsi_mod
  insmod sd_mod
  insmod sg
  insmod fat
  insmod vfat
  insmod usbcore
  insmod usb-storage

Insert USB stick:

  # mkdir /usbdrive
  # mount /dev/scsi/host0/bus0/target0/lun0/part1 /usbdrive
  # df -h

Check it out:

Filesystem                Size      Used Available Use% Mounted on
/dev/scsi/host0/bus0/target0/lun0/part1    967.7M      3.0M    964.7M   0% /usbdrive

----------------------------------------
To add camera:

NOTE: kamikaze didn't work, had to use whiterussian, presumably
      because the spca5xx_lite module was built for 2.4 kernel white
      kamikaze has 2.6

Following Roomba hacking book directions (with some module name chanes
that seemed to happen, mostly having to add kmod to package name):

  # ipkg install kmod-videodev
  # wget 'http://roombahacking.com/software/openwrt/spca5xx_lite.o.gz'
  # gunzip spca5xx_lite.o.gz
  # cp spca5xx_lite.o /lib/modules/`uname -r`
  # echo "spca5xx_lite" > /etc/modules.d/70-spca5xx_lite
  # insmod videodev
  # insmod spca5xx_lite
  # echo "videodev" >> /etc/modules.d/70-videodev
  # echo "spca5xx_lite" >> /etc/modules.d/75-spca5xx_lite

Plugged in the camera and got:

  # dmesg
hub.c: new USB device 01:02.2-1.4, assigned address 4
spca_core.c: USB SPCA5XX camera found. Type Creative Instant P0620

Note that the camera is a creative model VF-0040 with usb IDS:

  vendor=0x041e product=0x4034

Note that this page has some direct info about the spca5xx driver:

  http://mxhaard.free.fr/spca5le.html

----------------------------------------
Using camera tools

Get utils:

  http://roombahacking.com/software/openwrt/spcacat.gz

Copy to router:

  # scp spcacat.gz root@192.168.200.201:/tmp

Install on router:

  # gunzip spcacat.gz
  # chmod +x spcacat
  # cp spcacat /usr/bin
  # ipkg install libpthread
  # ipkg install libgcc
  # ipkg install libusb
  # ipkg install lsusb
  # ipkg install kmod-usb2
  # ipkg install kmod-usb-ohci
  # ipkg install kmod-usb-core

  # ln -s /dev/v4l/video0 /dev/video0

This will take a snapshot each second and put it in the file SpcaPict.jpg:

  # spcacat -d /dev/video0 -g -f jpg -p 1000 -o

A problem I have now is that the camera works if hooked directly up to
the router, but spcacat cannot open the devide if it is conected to
the 4 port hub.

----------------------------------------
Wireless client setup

I couldn't see to set it from the web interface.

Setup Wireless Interface
Similarly, the wireless interface (eth1) can be configured:

  nvram set wifi_ifname=eth1 
  nvram set wifi_proto=static
  nvram set wifi_ipaddr=10.60.68.234
  nvram set wifi_netmask=255.255.255.252
  nvram set wifi_gateway=10.60.68.233
  nvram set wifi_dns=10.60.68.233

----------------------------------------

Switching regulator can replace 7805

http://www.dimensionengineering.com/DE-SW050.htm

----------------------------------------

building firmware and prep for adding modules and developmnent:

  # ipkg install kmod-usb-serial


RooStick uses CP2103 chip which works with the cp2101 USB serial driver
  vendor=0x10c4 product=ea60

Here's the backport of the cp210x driver for 2.4 kernels:

  cp210x_v0.10_2.4-backport.patch 

from http://www.microtron.org.uk/~craig/Projects/CP2101Driver/

Also got patch 2.6 kernel in case I need that.

--------------------
These are the whiterussian/linux-2.4 specific instructions for building
the cp210x USB serial module that the roostick uses.

This is the command to patch a kernel from the top-level kernel source:

# Patch the kernel and enable as loadable module:
#
$ cd ~/proj/openwrt/buildroot/whiterussian/openwrt/build_mipsel/linux-2.4-brcm/linux-2.4.30
$ patch -p1 < ~/proj/openwrt/extra-source/cp210x_v0.10_2.4-backport.patch 
patching file Documentation/Configure.help
Hunk #1 succeeded at 15593 (offset 96 lines).
patching file drivers/usb/serial/Config.in
patching file drivers/usb/serial/cp210x.c
patching file drivers/usb/serial/Makefile
$ make menuconfig 
# <choose loading as a module the cp210x driver from USB serial driver section>
#
# This leads to the kernel config var: CONFIG_USB_SERIAL_CP210X=m

$ cp .config ../../../target/linux/linux-2.4/config/brcm 

# Prepare for openwrt config stuff:
#
$ cd ~/proj/openwrt/buildroot/whiterussian/openwrt/

# Add this to target/linux/Config.in
#
#    config BR2_PACKAGE_KMOD_USB_SERIAL_CP210X
#         tristate "Support for CP210X USB-to-serial converter"
#         default m
#         depends BR2_PACKAGE_KMOD_USB_SERIAL

# Add this to target/linux/linux-2.4/Makefile
#
#
#    $(eval $(call KMOD_template,USB_SERIAL_CP210X,usb-serial-cp210x,\
#         $(MODULES_DIR)/kernel/drivers/usb/serial/cp210x.o \
#    ,CONFIG_USB_SERIAL_CP210X,kmod-usb-serial,61,cp210x))

# Create target/linux/control/kmod-usb-cp210x.control with content:
#
#    Package: kmod-usb-serial-cp210x
#    Priority: optional
#    Section: sys
#    Maintainer: Tony Cassandra <openwrt@cassandra.org>
#    Source: buildroot internal
#    Description: Kernel Support for USB Serial Devices CP210X

# make sure it shows up in menuconfig under kernal config and is a module:
#
$ make menuconfig

# Rebuild:
#
$ make dirclean && make


Yuck, the 'dirclean' wiped out the patch to the kernel. Repatching,
kernel menuconfig again, then just openwrt 'make' without a dirclean,
but still the module is not getting compiled.



arc@penguin openwrt $ find . -name "*belkin*"
./bin/packages/kmod-usb-serial-belkin_2.4.30-brcm-5_mipsel.ipk
./target/linux/control/.svn/text-base/kmod-usb-serial-belkin.control.svn-base
./target/linux/control/kmod-usb-serial-belkin.control
./build_mipsel/linux-2.4-brcm/modules/lib/modules/2.4.30/kernel/drivers/usb/serial/belkin_sa.o
./build_mipsel/linux-2.4-brcm/linux-modules/ipkg/usb-serial-belkin
./build_mipsel/linux-2.4-brcm/linux-modules/ipkg/usb-serial-belkin/etc/modules.d/61-usb-serial-belkin
./build_mipsel/linux-2.4-brcm/linux-modules/ipkg/usb-serial-belkin/lib/modules/2.4.30/belkin_sa.o
./build_mipsel/linux-2.4-brcm/linux-2.4.30/include/config/usb/serial/belkin.h
./build_mipsel/linux-2.4-brcm/linux-2.4.30/include/config/usb/serial/belkin
./build_mipsel/linux-2.4-brcm/linux-2.4.30/drivers/usb/serial/belkin_sa.c
./build_mipsel/linux-2.4-brcm/linux-2.4.30/drivers/usb/serial/belkin_sa.o
./build_mipsel/linux-2.4-brcm/linux-2.4.30/drivers/usb/serial/belkin_sa.h




--------------------
For doing this in kamikaze


# Add this to the file: package/kernel/modules/usb.mk 
#

define KernelPackage/usb-serial-cp210x
  $(call usbdep,kmod-usb-serial)
  TITLE:=Support for CP210X usb-to-serial devices
  KCONFIG:=CONFIG_USB_SERIAL_CP210X
  FILES:=$(LINUX_DIR)/drivers/usb/serial/cp210x.$(LINUX_KMOD_SUFFIX)
  AUTOLOAD:=$(call AutoLoad,65,cp210x)
endef

define KernelPackage/usb-serial-cp210x/description
 Kernel support for CP210X USB-to-Serial converters
endef

$(eval $(call KernelPackage,usb-serial-cp210x))


zzzz




# make

gspcav1 "Generic Softwares Package for Camera Adapters" version 1.00.18 date: 08/05/2007

  for kernel up from 2.6.11 : gspcav1-20070508.tar.gz
  for kernel below 2.6.11: spca5xx version 0.60.00-1: spca5xx-v4l1goodbye.tar.gz


zzzzzzzz

Hello,

The module you need is found in
kernel/drivers/usb/serial/cp2101. Kernel 2.6.17 was the first to
include the device id for the Pololu USB Serial Adapter, so your
options are to either upgrade to the latest kernel or add our device
id to the table in cp2101.c. Specifically, you need to put

Code:
       { USB_DEVICE(0x10C4, 0x803B) }, /* Pololu USB-serial converter */

in the usb_device_id id_table. Recompile that module and the device
should automatically be recognized.

zzzzzzz

zzzzzzzz
http://forum.sparkfun.com/viewtopic.php?=&p=26786

The beta Linux source package is available on our ftp site:

ftp://ftp.silabs.com
user : cp210x_linux
password : linuxdriver

The Linux source package contains the complete source code for the
CP210x Linux VCP drivers. This code can be compiled for various Linux
2.4.x kernel versions without "tainting" the Linux kernel. The zip file
contains source files, Makefile and driver load scripts, a Readme with
instructions, and a tar file that contains the driver binary files.

To use the CP210x on Linux:
1) gunzip the files
2) untar the files
3) load the driver (using "load_mcci_usb" on an account with
administrative privileges)
4) the CP210x has to be plugged in for "mcci_x" to appear in /proc
5) the command "cat /proc/mcci_x" lists the device, which should look
like ttyUSB#
6) set the serial port device in the appropriate application to
"/dev/ttyUSB#" 

----------------------------------------
Good tutorial on writing serial applications (C)

  http://www.faqs.org/docs/Linux-mini/IO-Port-Programming.html
  http://www.easysw.com/~mike/serial/

----------------------------------------
To reflash firmware from existing openwrt:

  # wget http://downloads.x-wrt.org/xwrt/kamikaze/7.07/brcm-2.4/openwrt-brcm-2.4-squashfs.trx

  # scp openwrt-brcm-2.4-squashfs.trx root@192.168.201:/tmp

  # mtd -r write /tmp/openwrt-brcm-2.4-squashfs.trx linux

----------------------------------------
De-bricking:

I compiled two successful versions of kamakaize, and flashed the RAM.
Then, attempting to get more modules compiled for it, I made an image
that, when flashed, very shortly abort the flash, leaving me with a
bricked router.  Thinking maybe this was a glitch, and not a bad
image, I (ill-advisedly) tried it on the other router, proving it was
abad image.  Left with two bricked routers, and trying all sorts of
combinaions of tft and reset button did nothing for me.

Last resort was to make an unbuffered JTAG cable and try the
HairDairyMaid's debrick utility.  First attempt would not work, and
then found out the 25-port parallel port connector alternates the
wires 1-13 and 14-25....I mistakenly assumedn they would be in numeric
order.  In trying to remove the JTAG cable from the router, I pulled
up the PCB wire, which I think means this router is completely hosed
up.  Trying on the other router went better, but still not successful.

Here's a summary of unbricking with the parallel port JTAG cable.

Make JTAG cable
Solder JTAG cable to router PCB (super tricky)

  http://wiki.openwrt.org/OpenWrtDocs/Customizing/Hardware/JTAG_Cable

Download unbrick program:  HairyMaid_WRT54G_Debrick_Utility_v45.zip .

unzip and compile unbrick program
Get known good firmware, either:

  WRTSL54GS_2.06.0_US_code.bin (linksys orginal)
or
  openwrt-wrtsl54gs-2.4-squashfs.x-wrt.org.bin.whiterussian

Copy firmare to pwd of debrick with:

  cp openwrt-wrtsl54gs-2.4-squashfs.x-wrt.org.bin.whiterussian WHOLEFLASH.BIN

make sure printer not grabbing parallel port:

  sudo rmmod lp

Type this command without ENTER in terminal:

  ./wrt54g  -flash:wholeflash /skipdetect /instrlen:8

Note from newgroups:

    "HairyDairyMaid's debricker is working, but currently requires
     /skipdetect and instrlen:8 options since the 4704 isn't in the
     list of supported processors. The 28F640J3 flash in the SL is in
     the known part list of the debricker."

Turn power on router and immediately hit enter.
Flashing the whole ting take a very lobng time (hours)

First attempt failed.  I found this: 

  debrick-4_6.tar.bz2.for-wrtsl54gs, 

which says it's patched for the wrtsl54gs, so now trying this, along
with the original linksys firmaware instead of the whiterussian I
tried before.


References:

WRT Specs on wrtsl54gs:
  http://wiki.openwrt.org/OpenWrtDocs/Hardware/Linksys/WRTSL54GS

WRT troubleshooting:
  http://wiki.openwrt.org/OpenWrtDocs/Troubleshooting

JTAG cables:
  http://wiki.openwrt.org/OpenWrtDocs/Customizing/Hardware/JTAG_Cable

Discussions:
  http://forum.openwrt.org/viewtopic.php?pid=29482
  http://www.linksysinfo.org/forums/showthread.php?p=278887
  http://forum.openwrt.org/viewtopic.php?id=3529&p=3

Autopsy: WRTSL54GS:
  http://www.linksysinfo.org/forums/showthread.php?t=47389

The Wrt54g Revival Guide
  http://www.freewebs.com/wrt54grevival/wrt54grevial.htm.html

CFE Docs:
  http://wiki.openwrt.org/OpenWrtDocs/Customizing/Firmware/CFE

----------------------------------------
Serial Port Info

http://www.linksysinfo.org/forums/showthread.php?t=43413&page=12
http://wiki.openwrt.org/OpenWrtDocs/Customizing/Hardware/Serial_Console

----------------------------------------
Pan/Title Servos and Controller

After installing the setserial program on ubuntu, it save this in the
file /var/lib/setserial/autoserial.conf:

  /dev/ttyS0 uart 16550A port 0x03f8 irq 4 baud_base 115200 spd_normal skip_test

Querying:

$ setserial /dev/ttyS0 -a
/dev/ttyS0, Line 0, UART: 16550A, Port: 0x03f8, IRQ: 4
        Baud_base: 115200, close_delay: 50, divisor: 0
        closing_wait: 3000
        Flags: spd_normal skip_test

Somewhat odd, I get this from stty:

$ stty -F /dev/ttyS0 -a
speed 9600 baud; rows 0; columns 0; line = 0;
intr = ^C; quit = ^\; erase = ^?; kill = ^U; eof = ^D; eol = <undef>;
eol2 = <undef>; swtch = <undef>; start = ^Q; stop = ^S; susp = ^Z; rprnt = ^R;
werase = ^W; lnext = ^V; flush = ^O; min = 1; time = 0;
-parenb -parodd cs8 hupcl -cstopb cread clocal -crtscts
-ignbrk -brkint -ignpar -parmrk -inpck -istrip -inlcr -igncr icrnl ixon -ixoff
-iuclc -ixany -imaxbel -iutf8
opost -olcuc -ocrnl onlcr -onocr -onlret -ofill -ofdel nl0 cr0 tab0 bs0 vt0 ff0
isig icanon iexten echo echoe echok -echonl -noflsh -xcase -tostop -echoprt
echoctl echoke


The SSC-32 controller uses 115.2K Baud (settable on jumpers) and 8n1 8
data bits, no parity, 1 stop bit.

Anyway, I did this:


And this work to center them and move them to a few places:

  printf '#0 P1500 #1 P1500 T3000\n' > /dev/ttyS0 
  printf '#0 P1900 #1 P1900 T3000\n' > /dev/ttyS0 
  printf '#0 P1900 #1 P1100 T3000\n' > /dev/ttyS0 

The camera works by default in ubuntu (spca driver).

Downloaded and compiled spcacat from http://mxhaard.free.fr/spca50x/Download/

  spcaview-20061208.tar.gz 

Had libsdl libpthread dependency to compile:

  $ sudo apt-get install libsdl-image1.2 libpthread-dev

  $ cc -o spcacat spcacat.c picture.c encoder.c spcav4l.c utils.c avilib.c huffman.c quant.c marker.c -lpthread

To take picture each second and dump to same file:

  # spcacat -d /dev/video0 -g -f jpg -p 1000 -o

Streaming output from webcam:


  sudo apt-get install vlc


following script will start the http server. it will start listing for requests for http streaming on your linux machine (IP-192.168.91.77) on 8080 port. It will not stream start sending packets on network until it gets a request from a client. now to test this, open vlc player on any other machine and try carpturing the network stream by typing http://192.168.91.77:8080. you should see webcam frames.

#!/bin/bash
/etc/init.d/httpd restart
vlc -vvv v4l:/dev/video0:norm=secam:frequency=543250:size=640x480:channel=0:adev=/dev/dsp:audio=0 --sout '#transcode{vcodec=mp4v,acodec=mpga,vb=3000,ab=256,vt=800000,keyint=80,deinterlace}:std{access=http,mux=ts,dst=192.168.200.105:8080}' --ttl 12

here is a webpage I created in /var/www/html/ to embed vlc player in webpage which will capture the same network stream mentioned above. (Ref- vlc documentation)

<html>
<head><title>Webcam Streaming</title></head>
<body>
<h2><font face="Verdana">Webcam Streaming</font></h2>
<embed type="application/x-vlc-plugin"
name="parth"
autoplay="no" loop="yes" width="640" height="480"
target="http://192.168.200.105:8080" />
<br />
<a href="javascript:;" onclick='document.parth.play()'><font size="5"> <b>Play</b></font></a>
<a href="javascript:;" onclick='document.parth.pause()'><font size="5"><b>Pause</b></font></a>
<a href="javascript:;" onclick='document.parth.stop()'><font size="5"><b>Stop</b></font></a>
<a href="javascript:;" onclick='document.parth.fullscreen()'><font size="5"><b>Fullscreen</b></font></a>
</body>
</html>

now restart the http server with above script. on client machine you should have vlc plugin in mozilla firefox webbrowser. type the server IP and u should see the embedded vlc player capturing webcam stream.


This requires installing the plugin:

  $ sudo apt-get install mozilla-plugin-vlc

http://www.videolan.org/vlc/download-macosx.html


It kind of works...

sudo apt-get install mozilla-plugin-vlc

 	http://75.71.18.113/webcam.html


This can play a video file via web I think:
  sudo apt-get install gnump3d


Other camera progs?
  gqcam, kopete




----------------------------------------
Misc.

Getting into safe mode with OpenWRT:

  nc -l  -p 4919 -u

since it will UDP broadcast the point where pressing the reset button will
get into failsafe mode

Quick table of GPIO functions:

GPIO pin
0 DMZ (disable=on,enable=off)
1 power (disable=blink,enable=on)
2 ?
3 ?
4 SES button (00=pressed,01=not pressed)
5 SES white LED (disable=on, enable=off)
6 reset button (00=pressed,01=not pressed)
7 SES orange LED (disable=on,enable=off)
8 ?
9 ?

------------------------------------------------------------
------------------------------------------------------------
------------------------------------------------------------
------------------------------------------------------------

** Sun Oct 28 10:24:33 MDT 2007 **

Got my third wrtsl54gs router, and going to try to be more
conservative about flashing the firmware.  Got the kamaikaze pre-build
image with the 2.4 kernel, build dated 9/30/2007.

Powered on router/AP

Connected Ubuntu (penguin) machine to wired LAN port #1

Visit web interface at 192.168.1.1 with:
  username: admin
  password: admin

Go to menu choice:

  Administration->Firmware Upgrade

Browse to:

  ~/proj/roomba/downloads/openwrt-kamikaze-7.09/openwrt-wrtsl54gs-2.4-squashfs.bin

Click upgrade button and wait.

Note that when web page gives screen that says 'Upgrade Successful',
it is lying. The firmware upgrade is still in progress, as can be seen
by flashing light.  Wait sufficiently long until light stops flashing.

When upgraded, telnet:

  # telnet 192.168.1.1

Set root password with 'passwd' to disable telnet and enable ssh.

Connected WAN side to regular main wireless router hooked to cable
modem so we can get external access to update the package manager.

Updated the package management stuff:

  # ipkg update

Now we want to configure the network so this is a client, not a
router.

Want to set it up in bridged client mode, so wifi client is on same
network as LAN ports.

#--------------------
# /etc/config/wireless

config wifi-device    wl0
    option type       broadcom
    option channel    2

    # Uncomment to disable wifi
    # option disabled  1

config wifi-iface
    option device     wl0
    option network    wan
    option mode       sta  
    option ssid       boulder-g
    option encryption wep
    option key        1
    option key1       f45e78d99c31b58a01bdaefdf9

#--------------------
# /etc/config/network

config switch eth0
    option vlan0  "0 1 2 3 4 5u"

config interface loopback
    option ifname   "lo"
    option proto    static
    option ipaddr   127.0.0.1
    option netmask  255.0.0.0

config interface lan
    option type     bridge
    option ifname   "eth0"
    option macaddr  "00:1c:10:be:2f:45"
    option proto    static
    option ipaddr   192.168.1.1
    option netmask  255.255.255.0

config interface altwan
    option ifname   "eth1"
    option macaddr  "00:1c:10:be:2f:46"
    option proto    dhcp

config interface wan
    option ifname   "wl0"
    option macaddr  "00:10:18:90:20:db"
    option proto    static
    option ipaddr   192.168.200.203
    option netmask  255.255.255.0
    option gateway  192.168.200.1
    option dns      192.168.200.1

After this I could ssh to 192.168.1.1 from LAN ports and
192.168.200.101 (dhcp) from WAN port, but coukld not ssh to WiFi port
at 192.168.200.203, presumably because of iptables firewall rules for
'wan' which is the logical name associated with wl0 now.

Added line to /etc/firewall.user:

  iptables -t nat -A prerouting_wan -p tcp --dport 22 -j ACCEPT  
  iptables        -A input_wan      -p tcp --dport 22 -j ACCEPT  

Then restart firewall:

  /etc/init.d/firewall restart

Now I can ssh to 192.168.200.203.

####################
# Adding camera

ipkg install kmod-usb-core kmod-usb2
ipkg install kmod-videodev


# This is for whiterussion, but doesn't work on kamikaze:
#
# wget 'http://roombahacking.com/software/openwrt/spca5xx_lite.o.gz'
# gunzip spca5xx_lite.o.gz
# cp spca5xx_lite.o /lib/modules/`uname -r`
# echo "spca5xx_lite" > /etc/modules.d/70-spca5xx_lite
# insmod spca5xx_lite

# This is supposed to be for kamikaze, but it too did not detect the
# camera when plugged in:
#
# ipkg install http://eko.one.pl/openwrt/kamikaze/kmod-usb-spca5xx-le_2.4.34-brcm-1_mipsel.ipk

Found a kamikaze compiled thing here:

  http://forum.openwrt.org/viewtopic.php?pid=57775

which linked to:

  ftp://ftp.tuebingen.mpg.de/kyb/towolf/leer/spca5xx-57.08LE+spcatools20061208.tar.gz

Tried installing these modules but still did not detect camera until I installed this:

  ipkg install kmod-usb-ohci

Lack of this was also causing other USB weirdness where pluggin in
camera resulted in subsequent USB devices not being detected.  .

For spcacat video capture tools, need these:

  ipkg install libpthread libgcc libusb

cp spcacat cpcaserv /usr/bin
ln -s /dev/v4l/video0 /dev/video0

To take periodic pictures every 1000 ms:

  # spcacat -d /dev/video0 -g -f jpg -p 1000 -o

I still have the problem that the video capture does not work if
camera hooked to hub, but works if hooked directly.

####################
# Camera Setup Refinements

Making symlinks create automatically on reboot. Added these to
/etc/init.d/done

  ln -s /dev/v4l/video0 /dev/video0
  ln -s /dev/v4l/video1 /dev/video1

Setting up webserver to be able to deliver images.  One issue is that
the /www area is in the limited-write RAM, so will make symlinks to
areas where camera writes files.

cd /www
ln -s /tmp/video0 video0
ln -s /tmp/video1 video1

Need to open up port 80 on the firewall, which means adding this to
/etc/config/firewall:

  # Enable webserver access              
  accept:proto=tcp dport=80

I created a script 'camera-server.sh' which will run the spcacat
program in the background, while listening to control files poked into
either /tmp/video0 or /tmp/video1. e.g.,

  camera-server.sh 0

Then to start capture:

  touch /tmp/video0/0.RUN

To stop capture:

  rm /tmp/video0/0.RUN

To shutdown server:

  touch /tmp/video0/0.SHUTDOWN

This is the main command it runs to start the periodic capture:

  # spcacat -d /dev/video0 -g -f jpg -p 1000 -o

####################
# Serial Ports

# This shows the two serial ports, which I think are at /dev/tts/0 and /dev/tts/1:
  
  cat /proc/tty/driver/serial

Did this in case I'll need it.

  ipkg install setserial

The serial ports are on the board as empty holes, so will need to hook
up my own serial port connector, and I have this thing that has the
port and also does the 3.3V to 12V conversion that is neede to convert
the WRTSL54GS 3.3V level serial port into normal 12V serial port.

Soldered an IDC 10 pin connector to router, then have the JP3 serial
port going to the SparkFun RS232 shifter, and then made a M-M DB-9
cable to connect this to the SSC-32 servo controller.

# cat /proc/tty/driver/serial
serinfo:1.0 driver:5.05c revision:2001-07-08
0: uart:16550A port:B8000300 irq:3 baud:114583 tx:241 rx:0 RTS|DTR
1: uart:16550A port:B8000400 irq:3 tx:0 rx:0 CTS|DSR|CD

# setserial /dev/tts/0 
/dev/tts/0, UART: 16550A, Port: 0x0000, IRQ: 3

# setserial /dev/tts/1 
/dev/tts/1, UART: 16550A, Port: 0x0000, IRQ: 3

setserial /dev/tts/0 

The SSC-32 controller uses 115.2K Baud (settable on jumpers) and 8n1 8
data bits, no parity, 1 stop bit.

Doing this:

  printf '#1 P1500 T3000\n' > /dev/tts/0 
  printf '#1 P2000 T3000\n' > /dev/tts/1

I see that JP3 serial port connects to /dev/tts1 because LEDs on the
RS232 shifter blink. However, the SSC-32 doesn't do anything,
including having the LED go out to indcate it got its first command.

Good chance I should not have crossed the RX and TX in the cable I
made, since working from laptop, it was a straight through connection.
I uncrossed the wires, but still get the same effect of the rs232
shuter LED flashing, but no acknowledgement from SSC-32.

Maybe I have the port settings wrong.

 setserial -a /dev/tts/1
/dev/tts/1, Line 1, UART: 16550A, Port: 0x0000, IRQ: 3
        Baud_base: 4125000, close_delay: 50, divisor: 0
        closing_wait: 3000
        Flags: spd_normal

Did this, but still nothing:

  setserial /dev/tts/1 baud_base 115200 skip_test

but then again, maybe I do need the TX/RX lines crossed.

Crossed the wires back over, set the baud rate same story...but with a
twist.  After a echoes, the LED on the rs232 shifter would no longer
come on.

not sure what the next steps are....will think

########################################

** Sat Nov 10 14:56:29 MST 2007 **

Using one of the bricked wrtsl54gs caes, I mounted the power
distribution board and the SSC-32 servo copntroller board imnside, and
the servos to the top.  I also screwed the camera directly into the
pan tilt head, and the WiMicro board is velcroed to the top.  Now
things are in a much cleaner, more compact and stable package.

Now trying to tighten up and unify the functions I have now. 

Re-organizing files stored on sparky03, so that src/sparky03 is like
the root dir on the device itself.

Adding the USB flash drive for extra storage since it says you need
50-100 MB of space for php. The /tmp flash partition is only 16MB.

Made the script 'mount-usbdrive.sh' and adding to init scripts:

Adding the camera-server.sh to the init.script too. The proper way to
do this is to create the init.d script, making usre it runs wrapped in
the /etc/rc.common script, then execute:

  /etc/init.d/camerad enable

which creates the symlink in /etc/rc.d for you.

CGI script work if in /www/cgi-bin, so I symlinked that to a usbdrive
area.  Now installing perl, but really microperl:

  ipkg install microperl

Worried that microperl might not be functional enough, I am going to
try directly writing a C program using the SDK.

This is the best source for info of doing this I found:

  http://people.bu.edu/ebishop/openwrt-programming.html

cd package
mkdir 00-helloworld
<copy files from tutorial>

This failed to build with a message "ELF: not found".  Maybe because
this was for x86_64?  Trying the whiterussian 0.9 SDK now...Yes, much
better.

After the helloworld program, I made a hellosparky program using
sockets to send pan-tilt commands.  This worked on the dev machine and
then also on sparky. very sweet.

I then used the basic C library from the author of "Hacking Roomba",
and modified it to be able to operate over a socket.

----------------------------------------
** Mon Nov 12 20:13:44 MST 2007 **

Researching image libraries for grabbing frames and processing them in C:

Potential library to epxlore (migth depend on X though):

    http://antonym.org/libfg -> libfg-0.3.1.tar.gz

Very simple example of grabber a frame in PPM format:

  http://www.tazenda.demon.co.uk/phil/vgrabber.c

This msounds the best so far, API with few depenedncies:

http://paginas.terra.com.br/informatica/gleicon/video4linux/videodog.html

Working on seeing if I can build videodog in the openwrt SDK:

  o Need to comment out the HASJPEG stuff from the Makefile

It builds, but trying to run it:

root@sparky:~# videodog -x 320 -y 240 -w 3 -d /dev/video0  -p -f /tmp/test.pnm
ioctl VIDIOCMCAPTURE: Invalid argument

Maybe the spcaserv/spcacat things have enough functions for now?

| How can i run spcaserv servfox ?
| There are a README file in the package to know all parameters setting.
| spcaserv -h or servfox -h give you usefull informations to :)
|
| servfox -d /dev/video0 -s 320x240 -w 7070
| run servfox on the first video node available with 320x240 framesize and listen to port 7070
| spcaserv -d /dev/video0 -f yuv -s 352x288 -w 7070
| run spcaserv on the first video node with a frame size of 352x288, palette yuv420p, listen on port 7070

So in theory, I could run this:

  spcaserv -d /dev/video0 -s 320x240 -w 10111

and have a client connect to port 10111.

The reality is it a starts, the dies with:

 cmcapture: Invalid argument
 Format asked 15 check -1
 Couldnt set videopict params with VIDIOCSPICT 

But adding '-f jpg' did seem to make it work.

  spcaserv -d /dev/video0 -s 320x240 -f jpg -w 10111

So now the key would be how to write a client, and then after that,
how to proces the image in some interesting way.

Looking at the source code for spcaview might help: the spcaClient()
routine in spcaview.c looks promising, and within that readjpeg().

Next up would be to try to grab snippets from spcaview and write my
own simple client. If that works, then understanding the jpeg format
would be next.

For testing and dev, I am going to run the spcaserv on the ubuntu
laptop.  Using the spcaview source code, I build just the target
'spcaserv' and 'spcacat' (since other things required SDL and such)
and this is exactly what I have on the openwrt box.

Maybe just teaking the spcacat code is the way to go. Trying to
extract the subset of spcacat files from the full spcaview code.

Ok, reducing the code and compiling standalone within the SDK
worked. Now to probe into the spcacode to see if I can do some very
basic image manipulations.

A good video4linux tutorial/explanation by author of videodog:

  http://64.233.167.104/search?q=cache:0YQGafwk9_EJ:paginas.terra.com.br/informatica/gleicon/video4linux/p.gz+processing+frame+video4linux&hl=en&ct=clnk&cd=14&gl=us&client=firefox-a

Situation:

  - spcacat compiles and grabs video
  - it *seems* to grab it in jpeg format
  - bare bones example from tutorial compiles
  - bare bones works up to a point and always dies in ioctl call for
    VIDIOCAPTUE: Invalid Argument
  - I've tried adjusting the frame numbers, the format number and the
    height and width with no luck

Two directions:

  - understand how bare bones is different from what spcacat is doing
    in the VIDOCMCAPTURE

  - use spcacat and figure out the format the data is in in the frame
    buffer

This page seems to imply thqat the camera grabs jpeg natively. If so,
no matter what approach I go with, I need to be able to convert the
Jpeg format ro something more useful, or else have knowldeg how to
process the jpeg image.

http://mxhaard.free.fr/sview.html

Scratch that I think...

Turns out the spcacta is using the regular file read, not the mmap
method of grabbing a frame, which explains why tings wre different. In
addition, by using gdb and tracing through, I found it is grabbing a
simple WxHXxD RGB frame and then encoding it as jpeg (in encoder.c).

So I now think I can tweak spcacat to serve my purposes of video
processing.

I found that the frames are processes continually and output according
to input params.

A paper in references on wikipedia 'facial detection page' is a good
starting point for this task.

See this too:
  http://www.facedetection.com/

Also look at optical flow, edge detection algorithms.

This is C++ but looks like possibly a great reference for not having
to re-implement the standard image processing things:

  http://sourceforge.net/projects/opencvlibrary/

Indeed, I downloaded the source code and the docs seem to show it does
the things I need and much more.

** Thu Nov 15 19:34:40 MST 2007 **

Got sofware from Colorada state university at:

  http://www.cs.colostate.edu/~ross/scripts/getit.php

There is a facedetect.c in the opencv librray, goin gto run with that.

Here is a commented version of the code with instructions for using it.

  http://opencvlibrary.sourceforge.net/FaceDetection

** Sat Dec  1 11:47:29 MST 2007 **

Replacing wireless WiMicro board with wired version Micro 100.  First
hook it up to main router and it gets a DHCP address, then change it's
configuration to use a static IP address:

  telnet 192.168.200.104 9999

Choose the 'server' option, then set the network config to be:

    ip=192.168.1.203
    gw=192.168.1.1
    maskbits=8

Serial Port configs:

  Channel 1: Roomba uses 9600 Baud 8 data bits, no parity, 1 stop bit.

  Channel 2: The SSC-32 controller uses 115.2K Baud (settable on
             jumpers) and 8n1 8 data bits, no parity, 1 stop bit.

** Sat Dec  1 15:10:37 MST 2007 **

Back to working on image processing.  Trying to merge the spcacat code
with the opencv image libraries as package imaged in OpenWRT SDK.

  ./imaged  -d /dev/video0 -g -f r24 -p 10000 -o

Needed the libuClibc++ packge for the opencv c++ stuff

ipkg install libstdcpp

Getting a seg fault and doing this to force a core dump:

  ulimit -c unlimited

Copied core to dev platform and did:

  ./staging_dir_mipsel/bin/mipsel-linux-uclibc-gdb -c /tmp/core

Getting gdbserver to work?


  http://forum.openwrt.org/viewtopic.php?pid=29712

  cd /tmp
  wget -O - 'http://www.uclibc.org/downloads/root_fs_mipsel.ext2.bz2'
  bunzip2 root_fs_mipsel.ext2.bz2
  sudo mount -o loop root_fs_mipsel.ext2 /mnt
  cd /mnt
  sudo tar -czf /tmp/gdbserver.tgz usr/bin/gdbserver lib/libthread_db-0.9.27.so lib/libthread_db.so.1 lib/libgcc_s.so lib/libgcc_s.so.1
  scp /tmp/gdbserver.tgz root@192.168.200.203:/tmp
  cp /tmp/gdbserver.tgz ~/proj/roomba/openwrt-sdk/


Target side:

gdbserver 127.0.0.1:1234 /usr/bin/myprog myargs

Host side:

Need to run the mips version of gdb, not the native one:

  ./staging_dir_mipsel/bin/mipsel-linux-uclibc-gdb 

(gdb) cd /home/arc/proj/roomba/OpenWrt-SDK-Linux-i686-1/build_mipsel/imaged

(gdb) set solib-absolute-prefix /home/arc/proj/roomba/OpenWrt-SDK-Linux-i686-1/staging_dir_mipsel
(gdb) target remote 192.168.200.203:1234
(gdb) break main

To enable core dumps:
  ulimit -c 2000000

(gdb) target core /tmp/core

Program received signal SIGSEGV, Segmentation fault.
0x00510cb8 in CvType::~CvType ()
(gdb) bt
#0  0x00510cb8 in CvType::~CvType ()
#1  0x00411010 in __do_global_dtors_aux ()
#2  0x0055e3e4 in _fini ()

** Mon Dec  3 20:16:30 MST 2007 **

Tried making a pared down version of the opencv+ spcacat program, but
it still immediatrly seg faults with a corrupted stack when run on the
router, though it runs locally.

Going to mull this one and start developing some software.

I realized that if I port forward the 10001 and 10002 on sparky to the
SSC-32 I can run the code on the laptop and issue the commands.  This
allows me to have off-board processing until I figure out how to get
this running on the router.

The forward the ports, edit /etc/config/firewall to add:

  # Forward for Micro100 ethernet to serial port device
  forward:dport=9999-10002:192.168.1.203

Then issue:

  /etc/init.d/firewall reload

The one last piece is to access the camera image from the
router. Before owrrying about this, I will hook he camera up to the
laptop to try to do a simple face tracking program.

** Wed Dec  5 20:55:36 MST 2007 **

Got basic face detction and tracking working.

Next up is to integrate the spca server functions as an alternate to
writing files. Then connect with the spcaview program, then add other
feature detections.

** Sat Dec 15 18:14:12 MST 2007 **

Trying another code for face detection from CMU:

  http://vasc.ri.cmu.edu/NNFaceDetector/download.html

This code worked well at integrating. Abandoning the opencv thing for
now.

Formula to convert RGB to geyscale intensity (the cmu code mostly
cares about b/w images):

  grey=0.3*R+0.59*G+0.11*B

I should experiemtn with this and a simple average. The former is
better for human perception, but maybe the latter is better for the
face detection algorithms.

Ugh....trying to get this running on the router, and going through all
the remote debugging hoops I find the behavior to be almost identical
to the issues I had with opencv.  The only diff is that this dies with
'Aborted' instead of SEGFAULT, but attching the debugger, or examining
core dump yields same issue.

I think it must alll lie in the space of the cross-compiler
assumptions on libraries and what it actually finds on the router.

Getting the libuClibc++ is done with:
 
  ipkg install uclibcxx

but I think that is only needed on whiterussian, and that on kamikaze,
you just install:

  ipkg install libstdcpp

Option:

  Use llvm to compile c++ into llvm bit code, then use the llvm
  utility 'llc -march=c' to turn that bitcode into C code.

I downloaded the llvm source and am compiling it on ubuntu
machine. It's a big build.

  http://llvm.cs.uiuc.edu/releases/2.1/llvm-2.1.tar.gz
  http://llvm.cs.uiuc.edu/releases/2.1/llvm-gcc4.0-2.1.source.tar.gz
  http://llvm.cs.uiuc.edu/releases/2.1/llvm-gcc4.0-2.1-x86-linux-RHEL4.tar.gz

Need the gcc front-end I think. First trying the redhat binary on ubntu:

Set these:

  export CC=/home/arc/proj/roomba/src/llvm-gcc4.0-2.1-x86-linux-RHEL4/bin/llvm-gcc
  export CXX=/home/arc/proj/roomba/src/llvm-gcc4.0-2.1-x86-linux-RHEL4/bin/llvm-g++

Then reconfigure and build llvm:

  cd llvm-2.1
  ./configure --prefix=/usr/local
  make
  sudo make install

Now try to compile (normally) C++ code:

  export PATH=$PATH:/home/arc/proj/roomba/src/llvm-gcc4.0-2.1-x86-linux-RHEL4/bin

  cd /home/arc/proj/roomba/OpenWrt-SDK-Linux-i686-1/package.old/10-facetrack4/src/cmu-face-detect-c++
  llvm-g++ -c *.cc 

Now to build the llvm bit codes:

for f in *.cc ; do
  objf=`echo $f | sed 's/.cc$/.bc/'`
  llvm-g++ -emit-llvm -c -o $objf $f
done

for f in *.bc ; do
  objf=`echo $f | sed 's/.bc$/.c/'`
  llc -march=c -o $obf $f
done

Did this, but this is not going to be useful.  It does not retain the
function and variable names making it pointless.  This C++ to C
conversion is only good if you convert the whole program to an llvm
file, then convert the whole thing to one big C program to compile:
i.e., you have no C++ compiler. Back to the drawing board.


Here's a summary of the various facetrack packages and their diffs:

  facetrack  - spca code + scaled down opencv (mopencv) as linked .a lib
  facetrack2 - spca code + cmu face-dectect code as linked .a lib
  facetrack3 - spca code + cmu face-dectect directed linked .o files
  facetrack4 - spca code + cmu face-dectect converted to C from C++ via llvm

Connecting to server to view image stream:

  ./spcaview -w 127.0.0.1:7070
  ./spcaview -w 192.168.200.203:7070


 zzzzzzz

SONGS to program:
  - close encounters
  - willy wonka oopa loompa whistle
  - r2d2 sound

streamer


zzzzzzzz

Looking into getting PHP to run on openwrti and starting with this:

  http://www.macsat.com/OpenWRT/lighttpd.php




zzzzzzzzz


  ipkg install rsync