Dev/Caspa

This page describes the ongoing work to fully integrate a Caspa FS camera on a Lisa/L board. Any advices/suggestions/contributions are welcome.

Final Goal

The final goal is to have a Caspa FS camera connected to the Overo chip on a Lisa/L board. The Overo chip should be able to communicate with the STM32 via SPI. The link shall be used to transmit the result of the image processing computed by the Overo. However this should be flexible enough to let some room for the developer to decide which processing to do and which kind of data to send.

Methods

The following lists the steps that are deemed to be important in achieving the final goal.

1. Bitbake a kernel for Overo that includes the camera modules and the SPI modules
2. Bitbake a kernel for STM32 that includes the SPI modules

> Hardware components 1 Pixhawk (Gumstix) camera 1 CLB047 (Gumstix) flat cable 1 Overo board (Gumstix) + expansion board + LCD touchscreen

> Procedure

1. Create a bootable MicroSD card if you do not have one

http://code.google.com/p/beagleboard/wiki/LinuxBootDiskFormat (use LABEL1 as mmcblk0p1 and LABEL2 as mmcblk0p2)

2. Load it with a pre-built standard image

Go to http://cumulus.gumstix.org/images/angstrom/factory/2011-03-25-1619/ Untar the content of 'omap3-desktop-nand-image-overo-booted.tar.bz2' to the partion mmcblk0p2 Put the files 'MLO', 'u-boot.bin', 'uImage' into the partition mmcblk0p1

3. Replace some files to get the camera modules working

Download: http://cumulus.gumstix.org/images/angstrom/misc/caspapx/uImage-2.6.34 http://cumulus.gumstix.org/images/angstrom/misc/caspapx/modules-2.6.34.tgz

Do: $ tar -xf modules-2.6.34.tgz -C /media/mmcblk0p2/ $ cp uImage-2.6.34 /media/mmcblk0p1/uImage $ cp uImage-2.6.34 /media/mmcblk0p2/boot/uImage

4. Attach the camera to the Overo board

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

5. Insert MicroSD card in the Overo board

6. Set environment variables

Connect the expansion board to the host machine via USB

On the host machine do: sudo apt-get install ckermit $ kermit -l /dev/ttyUSB0 C-Kermit>set flow-control none C-Kermit>set carrier-watch off C-Kermit>set speed 115200 /dev/ttyUSB0, 115200 bps C-Kermit>connect Connecting to /dev/ttyUSB0, speed 115200 Escape character: Ctrl-\ (ASCII 28, FS): enabled Type the escape character followed by C to get back, or followed by ? to see other options.

Power-up the expansion board

Hit 'Enter' to interrupt the boot sequence Type: nand erase 240000 20000 reset Hit 'Enter' to interrupt the boot sequence Type: setenv defaultdisplay lcd43; saveenv; reset

7. Get the image

Let the Overo boot properly Touch the screen and calibrate it as indicated In the serial command line do: overo login: root export DISPLAY=:0.0 mplayer tv:// -tv driver=v4l2:device=/dev/video0 -x 480 -y 272 -vo x11

The camera image should appear in the LCD display

Based on: http://wiki.gumstix.org/index.php?title=Caspa_camera_boards