TODO

Remove bluetooth from kernel: http://www.nabble.com/Suppressing-bluetooth-td15523810.htm or simply mv /etc/init.d/bluetooth /etc/init.d/bluetooth.flc

Initial Setup Procedures

Hardware

PWM 1A = Servo (Ground / Black wire on the outside facing away from Robostix and yellow wire closer to Robostix)
PWM 1B = H-Bridge left motor
PWM 1C = H-Bridge right motor

PWM 3C = Buzzer

AD 7 = Sonar (Ground wire on the outside facing away from Robostix and AN wire closer to Robostix)

Gumstix/Verdex Build Environment

This guide was adapted from: http://www.gumstix.net/Software/cat/Software-verdex-pro/111.html

Using VirtualBox, I installed a Debian (Standard system and no Desktop environment) for my build environment (100GB hd, hostname:robodev, shared folder named "share")

Install Guess Additions and Add a Share

 su
 apt-get install build-essential linux-headers-`uname -r`

On VirtualBox, click Devices->Install Guess Additions

 mount /dev/cdrom /media/cdrom
 /media/cdrom/VBoxLinuxAdditions-x86.run
 mkdir /media/share
 mount -t vboxsf share /media/share

Get Misc Tools

Install screen to help with scrollback and reconnecting from anywhere

 apt-get install screen ssh

Change options for ssh daemon

 vim /etc/ssh/sshd_config

Find PermitRootLogin and set to no, as such:

PermitRootLogin no

Set options for screen

 <CTRL+D>
 vim ~/.screenrc

Add the following:

startup_message off
defscrollback 3000

Install Psyco for Faster Builds

 svn co http://codespeak.net/svn/psyco/dist/ psyco-dist
 cd psyco-dist
 su
 python setup.py install

Setup Build Environment

Install required packages for build environment

 apt-get install help2man gawk diffstat libncurses5-dev zlib1g-dev bison cvs flex texi2html autoconf python-dev python-pysqlite2 bitbake subversion

Log out from root and back in as your <user account>

 <CTRL+D>

The directory needs to be "gumstix", otherwise you'll have to modify .bashrc

 mkdir gumstix
 cd gumstix

Do the initial checkout

 svn co https://gumstix.svn.sourceforge.net/svnroot/gumstix/trunk gumstix-oe

Copy the environment variables

 cat gumstix-oe/extras/profile >> ~/.bashrc

Logout and back in to reload .bashrc

 <CTRL+D>

Once you log back in, su to root

su

Create and set permissions on the sources folder for the build to properly work

 mkdir /usr/share/sources
 chown <user account>:<user account> /usr/share/sources
 chmod 0775 /usr/share/sources
 chmod ug+s /usr/share/sources

Log out of su and back to <user account>

 <CTRL+D>

Update dbus / gmp

My initial build errored with:

 .libs/assert.o:assert.c:(.text+0x4e2): first defined here
| collect2: ld returned 1 exit status
| make[2]: *** [libgmp.la] Error 1

To resolve the above issue, I did the following (based on:http://www.nabble.com/Build-error-with-latest-svn-buildroot-td21562122.html) :

 wget http://www.klc.net.nz/images/dbus.tar.gz
 wget http://www.klc.net.nz/images/gmp.tar.gz
 tar zxvf ./dbus.tar.gz -C ./gumstix/gumstix-oe/org.openembedded.snapshot/packages/
 tar zxvf ./gmp.tar.gz -C ./gumstix/gumstix-oe/org.openembedded.snapshot/packages/

Added variables to for versions:

 vim gumstix/gumstix-oe/com.gumstix.collection/conf/machine/include/gumstix.inc

Add the following at the end:

PREFERRED_VERSION_gmp = "4.2.2"
PREFERRED_VERSION_gmp-native = "4.2.2"
PREFERRED_VERSION_dbus = "1.2.1"
PREFERRED_VERSION_dbus-native = "1.2.1"

Build

*NOTE* This part took about 8 to 9 hours to completely build everything.

Kick off the first build

 bitbake gumstix-basic-image

Fixes

I was having issues with the robostix until I realized I needed to add it into the build. I modified the ~/gumstix/gumstix-oe/com.gumstix.collection/conf/machine/gumstix-custom-verdex.conf and uncommented the robostix line, which the comments said I needed to comment out a few other lines.

 vim ~/gumstix/gumstix-oe/com.gumstix.collection/conf/machine/gumstix-custom-verdex.conf

# if you enable robostix you will need to disable both "lcd" and "touchscreen" features
#FLC - Enabled robostix
MACHINE_FEATURES  += "robostix"

#FLC#MACHINE_FEATURES  += "lcd"
#FLC#MACHINE_FEATURES  += "rgb16"
#MACHINE_FEATURES  += "rgb18"

#FLC#MACHINE_FEATURES  += "touchscreen"

Recompile

To have the conf changes take effect, I had to do a recompile as such:

 bitbake -c rebuild task-base-gumstix
 bitbake -c rebuild gumstix-basic-image

Compiling in Video Support

To support the USB web cam I needed to add a few kernel modules:

 cd ~/gumstix/gumstix-oe/tmp/work/gumstix-custom-verdex-angstrom-linux-gnueabi/gumstix-kernel-2.6.21-r1/linux-2.6.21
 cp .config .config.flc
 make ARCH=arm menuconfig

The "make ARCH=arm menuconfig" will pop up the kernel config tool and now we need to make a few modifications as such:
Make sure "Device Drivers->USB support->Support for Host-side USB" is set to <M> for module
Make sure "Device Drivers->USB support->USB Gadget Support->Support for USB Gadgets" is set to < > for excluded
Make sure "Multimedia devices->Video For Linux" is set to <M> for module

* Make sure "Multimedia devices->Video Capture Adapters->USB Logitech Quickcam Messenger" is set to <M> for module

Save the .config file
Copy the newly generated .config over the old defconfig and compile the kernel, as such:

 cp .config /home/ohayden/gumstix/gumstix-oe/com.gumstix.collection/packages/linux/gumstix-kernel-2.6.21/gumstix-custom-verdex/defconfig
 bitbake -c rebuild gumstix-kernel

Build the support for my 046d:08ad Logitech web cam, as such:

 bitbake gspcav1

Build the jpg library used by motion:

 bitbake jpeg

Build the jpg stream daemon called motion:

 bitbake motion

Re-Install via Serial

NOTE: 192.168.0.142 = RoboDev (VBox VM)
NOTE: ttyUSB4 is wherever the Belkin USB to Serial adapter wanted to present it self

 mkdir /tmp/gum
 cd /tmp/gum
 scp ohayden@192.168.0.142:~/gumstix/gumstix-oe/extras/kermit-setup ./
 scp ohayden@192.168.0.142:~/gumstix/gumstix-oe/tmp/deploy/glibc/images/gumstix-custom-verdex/* ./
 kermit -l /dev/ttyUSB4
 take /tmp/gum/kermit-setup
 connect

Power on gumstix and watch kermit terminal and as soon as you see:

U-Boot 1.2.0 (Dec 21 2007 - 13:37:16) - PXA270@600 MHz - 1578M

*** Welcome to Gumstix ***

DRAM:  128 MB
Flash: 32 MB
Using default environment

Hit any key to stop autoboot:  2

Press any key to abort the normal boot process and then do the following:

 loadb a2000000

Press CTRL+\ and then "c", then the following commands:

 cd /tmp/gum
 send gumstix-basic-image-gumstix-custom-verdex.jffs2

You will now see an upload screen, which will take about 20 minutes to complete. There will be an estimate time left on the screen.
Once done transferring, run the following commands:

 connect
 protect on 1:0-1
 erase all

It will now begin clearing and you'll see this:

Erase Flash Bank # 1 - Warning: 2 protected sectors will not be erased!
................................................................................................................................................................................................................................................................. done

Run the following:

 cp.b a2000000 40000 ${filesize}
 loadb a2000000

Press CTRL+\ and then "c", then the following commands:

 send uImage-2.6.21-r1-gumstix-custom-verdex.bin

You will now see an upload screen again, but this time the process will be completed much faster. More commands:

 connect
 katinstall 100000
 katload 100000
 boot

That's it, all is done. The first boot will take a bit longer to boot than subsequent boots.

Installing Video Support

Copy the following packages to the robo and install with "ipkg install <package_name>":

Video 4 Linux Kernel Modules (v4l2-common.ko, v4l1-compat.ko, and videodev.ko will be installed in /lib/modules/2.6.21/kernel/drivers/media/video):

 ~/gumstix/gumstix-oe/tmp/deploy/glibc/ipk/gumstix-custom-verdex/kernel-module-v4l1-compat_2.6.21-r1_gumstix-custom-verdex.ipk
 ~/gumstix/gumstix-oe/tmp/deploy/glibc/ipk/gumstix-custom-verdex/kernel-module-v4l2-common_2.6.21-r1_gumstix-custom-verdex.ipk
 ~/gumstix/gumstix-oe/tmp/deploy/glibc/ipk/gumstix-custom-verdex/kernel-module-videodev_2.6.21-r1_gumstix-custom-verdex.ipk

Web Cam (046d:08ad Logitech) Support Kernel Module (gspca.ko will be installed in /lib/modules/2.6.21/kernel/drivers/usb/media/):

 ~/gumstix/gumstix-oe/tmp/deploy/glibc/ipk/gumstix-custom-verdex/gspcav1_20070110-r2_gumstix-custom-verdex.ipk

libjpeg62:

 ~/gumstix/gumstix-oe/tmp/deploy/glibc/ipk/armv5te/libjpeg62_6b-r7_armv5te.ipk

Motion:

 ~/gumstix/gumstix-oe/tmp/deploy/glibc/ipk/armv5te/motion_3.2.6-r0_armv5te.ipk

Speed Up Boot Up

 update-rc.d -f alsa-state remove
 update-rc.d -f bluetooth remove

Development

http://www.gumstix.net/Software/view/Build-system-overview/Hello-world-tutorial/111.html

Updating Gumstix/Verdex

Look Ma, No Serial!

This is based on this article. The current problem is that *after* you flash and reboot, you won't have network access. I need to figure out how to presetup the image so that flashing it will add my predefined network settings.

 cd /tmp
 cp /usr/bin/flash_eraseall /tmp
 cp /usr/bin/flashcp /tmp
 cp /usr/bin/flash_unlock /tmp
 scp ohayden@192.168.0.142:~/gumstix/gumstix-oe/tmp/deploy/glibc/images/gumstix-custom-verdex/gumstix-basic-image-gumstix-custom-verdex.jffs2 ./
 scp ohayden@192.168.0.142:~/gumstix/gumstix-oe/tmp/deploy/glibc/images/gumstix-custom-verdex/uImage-2.6.21-r1-gumstix-custom-verdex.bin ./
 ./flash_eraseall -j /dev/mtd1
 ./flashcp -v gumstix-basic-image-gumstix-custom-verdex.jffs2 /dev/mtd1
 ./flashcp -v uImage-2.6.21-r1-gumstix-custom-verdex.bin /dev/mtd2

That's all there is to it. It's much faster than serial / kermit. If it fails, then kermit would work to de-brick. To verify the mtd devices, run "cat /proc/mtd", which 0=Bootloader, 1=RootFS, 2=Kernel.

VERDEX Setup

NOTE: This is old and should no longer be followed!
~~SSH to the Gumstix and type:~~

~~ipkg update ipkg install uisp ipkg install robostix-cmdline ipkg install robostix-module~~

ROBOSTIX Setup

NOTE: This is old and should no longer be followed! This was for use with the command line bash script, which was replaced by the gcc program (roboctrl).
~~To Configure the robotix, type:~~

~~uisp --wr_fuse_l=0xbf --wr_fuse_h=0xc2 --wr_fuse_e=0xff uisp --erase --upload if=i2c-Boot-m128-16MHz.hex~~
~~Now with the i2c-Boot-m128-16MHz.hex loaded on the robostix, we can use the i2c-load to add the i2c-io.hex~~
~~i2c-load --reset 0x0b write i2c-io.hex~~
~~After i2c-io.hex is added, the red LED on the robositx will flash twice per second then pause then repeat flash. To test if all is okay, type:~~
~~i2c-io 0x0b info~~
This will ouput the version info. I had version: 2, minVersion: 1, SVN: 1588
To Initialize PWM, I create a shell script called pwm_init.sh and is as follows:
i2c-io 0x0b wr TCCR1A 0xAA i2c-io 0x0b wr TCCR1B 0x1A i2c-io 0x0b wr ICR1 40000 i2c-io 0x0b wr TCNT1 0 i2c-io 0x0b wr OCR1A 3000 i2c-io 0x0b wr OCR1B 3000 i2c-io 0x0b wr OCR1C 3000 i2c-io 0x0b setdir b.5 out i2c-io 0x0b setdir b.6 out i2c-io 0x0b setdir b.7 out
~~To move the servos LEFT:~~
~~i2c-io 0x0b wr OCR1A 1050~~
~~To move the servos RIGHT:~~
~~i2c-io 0x0b wr OCR1A 5000~~
~~This will turn the Blue LED on:~~
~~i2c-io 0x0b setdir g.3 out i2c-io 0x0b set g.3 0~~
~~And this will turn the Blue LED off:~~
~~i2c-io 0x0b set g.3 1~~
~~This will also turn the Blue LED on using the writereg command:~~
~~i2c-io 0x0b writereg ddrg 0x18 i2c-io 0x0b writereg portg 0~~
~~And this will turn the Blue LED off:~~
~~i2c-io 0x0b writereg portg 0x08~~

Configuration Files

/etc/motion.conf

############################################################
# Daemon
############################################################

# Start in daemon (background) mode and release terminal (default: off)
daemon on

############################################################
# Basic Setup Mode
############################################################

# Start in Setup-Mode, daemon disabled. (default: off)
setup_mode off

###########################################################
# Capture device options
############################################################

# Videodevice to be used for capturing  (default /dev/video0)
# for FreeBSD default is /dev/bktr0
videodevice /dev/video0

# Tuner device to be used for capturing using tuner as source (default /dev/tuner0)
# This is ONLY used for FreeBSD. Leave it commented out for Linux
; tunerdevice /dev/tuner0

# The video input to be used (default: 8)
# Should normally be set to 1 for video/TV cards, and 8 for USB cameras
input 8

# The video norm to use (only for video capture and TV tuner cards)
# Values: 0 (PAL), 1 (NTSC), 2 (SECAM), 3 (PAL NC no colour). Default: 0 (PAL)
norm 1

# The frequency to set the tuner to (kHz) (only for TV tuner cards) (default: 0)
frequency 0

# Rotate image this number of degrees. The rotation affects all saved images as
# well as mpeg movies. Valid values: 0 (default = no rotation), 90, 180 and 270.
rotate 0

# Image width (pixels). Valid range: Camera dependent, default: 352
width 320

# Image height (pixels). Valid range: Camera dependent, default: 288
height 240

# Maximum number of frames to be captured per second.
# Valid range: 2-100. Default: 100 (almost no limit).
framerate 4

# URL to use if you are using a network camera, size will be autodetected (incl http://)
# Must be a URL that returns single jpeg pictures or a raw mjpeg stream. Default: Not defined
; netcam_url value

# Username and password for network camera (only if required). Default: not defined
# Syntax is user:password
; netcam_userpass value

# URL to use for a netcam proxy server, if required, e.g. "http://myproxy".
# If a port number other than 80 is needed, use "http://myproxy:1234".
# Default: not defined
; netcam_proxy value 

# Let motion regulate the brightness of a video device (default: off).
# The auto_brightness feature uses the brightness option as its target value.
# If brightness is zero auto_brightness will adjust to average brightness value 128.
# Only recommended for cameras without auto brightness
auto_brightness off

# Set the initial brightness of a video device.
# If auto_brightness is enabled, this value defines the average brightness level
# which Motion will try and adjust to.
# Valid range 0-255, default 0 = disabled
brightness 0

# Set the contrast of a video device.
# Valid range 0-255, default 0 = disabled
contrast 0

# Set the saturation of a video device.
# Valid range 0-255, default 0 = disabled
saturation 0

# Set the hue of a video device (NTSC feature).
# Valid range 0-255, default 0 = disabled
hue 0


############################################################
# Round Robin (multiple inputs on same video device name)
############################################################

# Number of frames to capture in each roundrobin step (default: 1)
roundrobin_frames 1

# Number of frames to skip before each roundrobin step (default: 1)
roundrobin_skip 1

# Try to filter out noise generated by roundrobin (default: off)
switchfilter off


############################################################
# Motion Detection Settings:
############################################################

# Threshold for number of changed pixels in an image that
# triggers motion detection (default: 1500)
threshold 1500

# Automatically tune the threshold down if possible (default: off)
threshold_tune off

# Noise threshold for the motion detection (default: 32)
noise_level 32

# Automatically tune the noise threshold (default: on)
noise_tune on

# Enables motion to adjust its detection/noise level for very dark frames
# Don't use this with noise_tune on. (default: off)
night_compensate off

# Despeckle motion image using (e)rode or (d)ilate or (l)abel (Default: not defined)
# Recommended value is EedDl. Any combination (and number of) of E, e, d, and D is valid.
# (l)abeling must only be used once and the 'l' must be the last letter.
# Comment out to disable
despeckle EedDl

# PGM file to use as a sensitivity mask.
# Full path name to. (Default: not defined)
; mask_file value

# Dynamically create a mask file during operation (default: 0)
# Adjust speed of mask changes from 0 (off) to 10 (fast)
smart_mask_speed 0

# Ignore sudden massive light intensity changes given as a percentage of the picture
# area that changed intensity. Valid range: 0 - 100 , default: 0 = disabled
lightswitch 0

# Picture frames must contain motion at least the specified number of frames
# in a row before they are detected as true motion. At the default of 1, all
# motion is detected. Valid range: 1 to thousands, recommended 1-10
minimum_motion_frames 1

# Specifies the number of pre-captured (buffered) pictures from before motion
# was detected that will be output at motion detection.
# Recommended range: 0 to 5 (default: 0)
# Do not use large values! Large values will cause Motion to skip video frames and
# cause unsmooth mpegs. To smooth mpegs use larger values of post_capture instead.
pre_capture 0

# Number of frames to capture after motion is no longer detected (default: 0)
post_capture 0

# Gap is the seconds of no motion detection that triggers the end of an event
# An event is defined as a series of motion images taken within a short timeframe.
# Recommended value is 60 seconds (Default). The value 0 is allowed and disables
# events causing all Motion to be written to one single mpeg file and no pre_capture.
gap 60

# Minimum gap in seconds between the storing pictures while detecting motion.
# Default: 0 = as fast as possible (given by the camera framerate)
# Note: This option has nothing to do with the option 'gap'
minimum_gap 0

# Maximum length in seconds of an mpeg movie
# When value is exceeded a new mpeg file is created. (Default: 0 = infinite)
max_mpeg_time 0

# Number of frames per second to capture when not detecting
# motion (saves CPU load) (Default: 0 = disabled)
low_cpu 0

# Always save images even if there was no motion (default: off)
output_all off


############################################################
# Image File Output
############################################################

# Output 'normal' pictures when motion is detected (default: on)
# Valid values: on, off, first, best
# When set to 'first', only the first picture of an event is saved.
# Picture with most motion of an event is saved when set to 'best'.
# Can be used as preview shot for the corresponding movie.
output_normal off

# Output pictures with only the pixels moving object (ghost images) (default: off)
output_motion off

# The quality (in percent) to be used by the jpeg compression (default: 75)
quality 75

# Output ppm images instead of jpeg (default: off)
ppm off


############################################################
# Snapshots (Traditional Periodic Webcam File Output)
############################################################

# Make automated snapshot every N seconds (default: 0 = disabled)
snapshot_interval 0


############################################################
# Text Display
# %Y = year, %m = month, %d = date,
# %H = hour, %M = minute, %S = second, %T = HH:MM:SS,
# %v = event, %q = frame number, %t = thread (camera) number,
# %D = changed pixels, %N = noise level, \n = new line,
# %i and %J = width and height of motion area,
# %K and %L = X and Y coordinates of motion center
# %C = value defined by text_event - do not use with text_event!
# You can put quotation marks around the text to allow
# leading spaces
############################################################

# Locate and draw a box around the moving object.
# Valid values: on, off and preview (default: off)
# Set to 'preview' will only draw a box in preview_shot pictures.
locate off

# Draws the timestamp using same options as C function strftime(3)
# Default: %Y-%m-%d\n%T = date in ISO format and time in 24 hour clock
# Text is placed in lower right corner
text_right %Y-%m-%d\n%T-%q

# Draw a user defined text on the images using same options as C function strftime(3)
# Default: Not defined = no text
# Text is placed in lower left corner
; text_left CAMERA %t

# Draw the number of changed pixed on the images (default: off)
# Will normally be set to off except when you setup and adjust the motion settings
# Text is placed in upper right corner
text_changes off

# This option defines the value of the special event conversion specifier %C
# You can use any conversion specifier in this option except %C. Date and time
# values are from the timestamp of the first image in the current event.
# Default: %Y%m%d%H%M%S
# The idea is that %C can be used filenames and text_left/right for creating
# a unique identifier for each event.
text_event %Y%m%d%H%M%S

# Draw characters at twice normal size on images. (default: off)
text_double off


############################################################
# Target Directories and filenames For Images And Films
# For the options snapshot_, jpeg_, mpeg_ and timelapse_filename
# you can use conversion specifiers
# %Y = year, %m = month, %d = date,
# %H = hour, %M = minute, %S = second,
# %v = event, %q = frame number, %t = thread (camera) number,
# %D = changed pixels, %N = noise level,
# %i and %J = width and height of motion area,
# %K and %L = X and Y coordinates of motion center
# %C = value defined by text_event
# Quotation marks round string are allowed.
############################################################

# Target base directory for pictures and films
# Recommended to use absolute path. (Default: current working directory)
#FLC#target_dir /usr/local/apache2/htdocs/cam1
target_dir /var/www

# File path for snapshots (jpeg or ppm) relative to target_dir
# Default: %v-%Y%m%d%H%M%S-snapshot
# Default value is equivalent to legacy oldlayout option
# For Motion 3.0 compatible mode choose: %Y/%m/%d/%H/%M/%S-snapshot
# File extension .jpg or .ppm is automatically added so do not include this.
# Note: A symbolic link called lastsnap.jpg created in the target_dir will always
# point to the latest snapshot, unless snapshot_filename is exactly 'lastsnap'
#FLC#snapshot_filename %v-%Y%m%d%H%M%S-snapshot
snapshot_filename snapshot

# File path for motion triggered images (jpeg or ppm) relative to target_dir
# Default: %v-%Y%m%d%H%M%S-%q
# Default value is equivalent to legacy oldlayout option
# For Motion 3.0 compatible mode choose: %Y/%m/%d/%H/%M/%S-%q
# File extension .jpg or .ppm is automatically added so do not include this
# Set to 'preview' together with best-preview feature enables special naming
# convention for preview shots. See motion guide for details
#FLC#jpeg_filename %v-%Y%m%d%H%M%S-%q
jpeg_filename snapshot

############################################################
# Live Webcam Server
############################################################

# The mini-http server listens to this port for requests (default: 0 = disabled)
webcam_port 8081

# Quality of the jpeg images produced (default: 50)
webcam_quality 75

# Output frames at 1 fps when no motion is detected and increase to the
# rate given by webcam_maxrate when motion is detected (default: off)
webcam_motion off

# Maximum framerate for webcam streams (default: 1)
webcam_maxrate 4

# Restrict webcam connections to localhost only (default: on)
webcam_localhost off

# Limits the number of images per connection (default: 0 = unlimited)
# Number can be defined by multiplying actual webcam rate by desired number of seconds
# Actual webcam rate is the smallest of the numbers framerate and webcam_maxrate
webcam_limit 0


############################################################
# HTTP Based Control
############################################################

# TCP/IP port for the http server to listen on (default: 0 = disabled)
control_port 8080

# Restrict control connections to localhost only (default: on)
control_localhost off

# Output for http server, select off to choose raw text plain (default: on)
control_html_output on

# Authentication for the http based control. Syntax username:password
# Default: not defined (Disabled)
; control_authentication username:password


############################################################
# Tracking (Pan/Tilt)
############################################################

# Type of tracker (0=none (default), 1=stepper, 2=iomojo, 3=pwc, 4=generic)
# The generic type enables the definition of motion center and motion size to
# be used with the conversion specifiers for options like on_motion_detected
track_type 0

# Enable auto tracking (default: off)
track_auto off

# Serial port of motor (default: none)
; track_port value

# Motor number for x-axis (default: -1)
track_motorx -1

# Motor number for y-axis (default: -1)
track_motory -1

# Maximum value on x-axis (default: 0)
track_maxx 0

# Maximum value on y-axis (default: 0)
track_maxy 0

# ID of an iomojo camera if used (default: 0)
track_iomojo_id 0

# Angle in degrees the camera moves per step on the X-axis
# with auto-track (default: 10)
# Currently only used with pwc type cameras
track_step_angle_x 10

# Angle in degrees the camera moves per step on the Y-axis
# with auto-track (default: 10)
# Currently only used with pwc type cameras
track_step_angle_y 10

# Delay to wait for after tracking movement as number
# of picture frames (default: 10)
track_move_wait 10

# Speed to set the motor to (default: 255)
track_speed 255

# Number of steps to make (default: 40)
track_stepsize 40


############################################################
# External Commands, Warnings and Logging:
# You can use conversion specifiers for the on_xxxx commands
# %Y = year, %m = month, %d = date,
# %H = hour, %M = minute, %S = second,
# %v = event, %q = frame number, %t = thread (camera) number,
# %D = changed pixels, %N = noise level,
# %i and %J = width and height of motion area,
# %K and %L = X and Y coordinates of motion center
# %C = value defined by text_event
# %f = filename with full path
# %n = number indicating filetype
# Both %f and %n are only defined for on_picture_save,
# on_movie_start and on_movie_end
# Quotation marks round string are allowed.
############################################################

# Do not sound beeps when detecting motion (default: on)
# Note: Motion never beeps when running in daemon mode.
quiet on

# Command to be executed when an event starts. (default: none)
# An event starts at first motion detected after a period of no motion defined by gap 
; on_event_start value

# Command to be executed when an event ends after a period of no motion
# (default: none). The period of no motion is defined by option gap.
; on_event_end value

# Command to be executed when a picture (.ppm|.jpg) is saved (default: none)
# To give the filename as an argument to a command append it with %f
; on_picture_save value

# Command to be executed when a motion frame is detected (default: none)
; on_motion_detected value

# Command to be executed when a movie file (.mpg|.avi) is created. (default: none)
# To give the filename as an argument to a command append it with %f
; on_movie_start value

# Command to be executed when a movie file (.mpg|.avi) is closed. (default: none)
# To give the filename as an argument to a command append it with %f
; on_movie_end value

############################################################
# Database Options For MySQL
############################################################

# Mysql database to log to (default: not defined)
; mysql_db value

# The host on which the database is located (default: not defined)
; mysql_host value

# User account name for MySQL database (default: not defined)
; mysql_user value

# User password for MySQL database (default: not defined)
; mysql_password value


############################################################
# Database Options For PostgreSQL
############################################################

# PostgreSQL database to log to (default: not defined)
; pgsql_db value

# The host on which the database is located (default: not defined)
; pgsql_host value

# User account name for PostgreSQL database (default: not defined)
; pgsql_user value

# User password for PostgreSQL database (default: not defined)
; pgsql_password value

# Port on which the PostgreSQL database is located (default: 5432)
; pgsql_port 5432


############################################################
# Video Loopback Device (vloopback project)
############################################################

# Output images to a video4linux loopback device
# The value '-' means next available (default: not defined)
; video_pipe value

# Output motion images to a video4linux loopback device
# The value '-' means next available (default: not defined)
; motion_video_pipe value


##############################################################
# Thread config files - One for each camera.
# Except if only one camera - You only need this config file.
# If you have more than one camera you MUST define one thread
# config file for each camera in addition to this config file.
##############################################################

# Remember: If you have more than one camera you must have one
# thread file for each camera. E.g. 2 cameras requires 3 files:
# This motion.conf file AND thread1.conf and thread2.conf.
# Only put the options that are unique to each camera in the
# thread config files. 
; thread /usr/local/etc/thread1.conf
; thread /usr/local/etc/thread2.conf
; thread /usr/local/etc/thread3.conf
; thread /usr/local/etc/thread4.conf

/etc/resolv.conf

domain crancho.com
search crancho.com
nameserver 192.168.0.5

/etc/network/interfaces

auto eth0
iface eth0 inet static
       address 192.168.0.202
       netmask 255.255.255.0
       gateway 192.168.0.5

auto wlan0                                                     
iface wlan0 inet static                                        
        address 10.0.1.2                                       
        netmask 255.255.255.0                                  
        broadcast 10.0.1.255                                   
        pre-up /sbin/iwconfig wlan0 mode Ad-hoc essid hobo     
        /sbin/ifconfig wlan0 up

auto wlan0
iface wlan0 inet static
        address 192.168.0.203
        netmask 255.255.255.0
        gateway 192.168.0.5
        broadcast 192.168.0.255
        pre-up /sbin/iwconfig wlan0 key <key> key open essid orc txpower 100mW power on
        /sbin/ifconfig wlan0 up

HouseRobot:InitialSetup

Contents

TODO

Initial Setup Procedures

Hardware

Gumstix/Verdex Build Environment

Install Guess Additions and Add a Share

Get Misc Tools

Install Psyco for Faster Builds

Setup Build Environment

Update dbus / gmp

Build

Fixes

Recompile

Compiling in Video Support

Re-Install via Serial

Installing Video Support

Speed Up Boot Up

Development

Updating Gumstix/Verdex

Look Ma, No Serial!

VERDEX Setup

ROBOSTIX Setup

Configuration Files

/etc/motion.conf

/etc/resolv.conf

/etc/network/interfaces

Navigation menu

HouseRobot:InitialSetup

TODO

Initial Setup Procedures

Hardware

Gumstix/Verdex Build Environment

Install Guess Additions and Add a Share

Get Misc Tools

Install Psyco for Faster Builds

Setup Build Environment

Update dbus / gmp

Build

Fixes

Recompile

Compiling in Video Support

Re-Install via Serial

Installing Video Support

Speed Up Boot Up

Development

Updating Gumstix/Verdex

Look Ma, No Serial!

VERDEX Setup

ROBOSTIX Setup

Configuration Files

/etc/motion.conf

/etc/resolv.conf

/etc/network/interfaces

Navigation menu

Search