K-Junior Smart EVO User manual - K
Contents
1. Serial Device dev ttyS0 Lockfile Location var lock C Callin Program D Callout Program E Bps Par Bits 115200 8N1 F Hardware Flow Control No G Software Flow Control No Change which setting 32 Figure 5 1 Minicom serial parameters KJ EVO User Manual rev 1 0 5 Annexes Save the settings with the command Save setup as of the menu configuration cf configuration Filenames and paths File transfer protocols Serial port setup Modem and dialing Save setup as 911 Save setup as Figure 5 2 Minicom configuration menu 5111 Establish the serial connection Set its parameters with the sub menu Serial port setup of the menu configuration Figure 5 4 accessed with keys Ctrl a 0 as described in Figure 5 3 You may modify the serial port device name depending where you plugged your serial port If you use a serial to USB adapter the serial device may be dev ttyUSBO Serial Device dev ttyS0 B Lockfile Location var lock Callin Program D Callout Program Bps Par Bits 115200 8 1 Hardware Flow Control No G Software Flow Control No Change which setting2. Save the settings with the sub menu Save setup as Figure 5 4 KJ EVO User Manual rev 1 0 33 34 5 Annexes puces configuration Filenames and paths File transfer protocols Serial port setup Modem and dialing Screen and keyboard Save setup as dfl Save setup as Exit Figure 5 4 Minicom configuration menu Instruments X Loader 1 4 4ss Oct 20 2010 10 10 28 0MAP3503 GP ES3 1 Board revision 0 Loading u boot bin from nand U Boot 2010 09 Oct 20 2010 10 11 49 0MAP3503 GP ES3 1 2 L3 165MHz Max CPU Clock 600 mHz Gumstix Overo board LPDDR NAND I2C ready DRAM 256 MiB NAND 256 MiB Warning bad CRC or NAND using default environment NAND read device 0 offset 0x280000 size 0x400000 4194304 bytes read OK Booting kernel from Legacy Image at 82000000 Image Name Angstrom 2 6 34 overo Image Type ARM Linux Kernel Image uncompressed Data Size 3255012 Bytes 3 1 MiB Load Address 80008000 Entry Point 80008000 Verifying Checksum OK Loading Kernel Image OK OK Starting kernel Uncompressing Linux done booting the kernel Linux version 2 6 34 jtharin KHEPERA04 gcc version GCC 1 Wed Jun 29 14 46 53 CEST 2011 4 3 3 KJ EVO User Manual rev 1 0 5 Annexes The Angstrom Distribution ttyS2 Angstrom 2010 7 test 20110202 kj evo ttyS2 kj evo login
3. library 1 0 tar bz2 in your development folder tar xjf kj evo library 1 0 tar bz2 C development 2 You can recompile the whole library by running the following commands in the kj evo library folder cd kj evo development kj evo library source eny sh if not already sourced in this console before make clean make 3 If you modified the library any file in src you will have to transfer the file build overo lib libkj evo 1 0 so0 to your KJ EVO board overwriting usr lib libkj evo so 20 KJ EVO User Manual rev 1 0 4 Usage The board library contains these files and directories build overo compiled library and headers doc documentation API start in doc html index html examples source code examples of programs adc example c adc and accelerometer examples camera example c camera example gpio example c Digital input ouput GPIO example gripper example c K Junior gripper example i2c example c i2c usage example kjunior and gripper example c K Junior and gripper example kjunior example c K Junior example pwm example c PWM example sound example c Microphones Speakers example src source code of the library template template program Makefile Makefile for all README kteam readme file You can find an updated version of the library from the following ftp site KJ EVO User Manual rev 1 0 4 Usage 4 5 2 Programming and light toolchain usage 4 5 2 1 Application development A
4. 1 Download and install VirtualBox version 4 1 18 or newer i your computer from If you Chooses a more recent version you will have to reinstall the Guest Additions see VirtualBox user s manual 2 Import on of the image file above with File menu Import Appliance in the VirtualBox Manager This will take some time and hard disk space 10 GB for the light tools and 40 GB for the full tools Create the directory C Wwirtual machine shared on your computer This will be the shared directory for transferring data between the virtual machine and your host computer It corresponds to the directory media sf virtual machine shared of the virtual machine 4 Start the virtual machine with your imported image Its login is username user password root2011 5 The development tools are already installed The development folder kj evo_development is in home user kj evo_development You may gd to Side the toolchain Remove the older one and follow instructions in KJ EVO User Manual rev 1 0 5 Annexes Stopping the virtual machine When going to the menu Machine and Close you will have 3 choices Save the machine state saves the current state which will be reloaded next time you restart it Send the shutdown signal or press the shutdown button into the machine power off the machine and save only the work done Power off the machine WARNING it doesn t save anything any work done will be
5. 4 3 Creating new package ttp www gumstix org software development open embedded 1 60 bitbake tutorial html And if you installed the full toolchain an example is available into usr local kjunior oetools 1 0 user collection recipes helloworld KJ EVO User Manual rev 1 0 31 5 5 1 5 Annexes Annexes Tools and commands In this part the detailed descriptions of several tools and helpful commands are explained 511 Using the serial port and Minicom The User connector chapter 3 2 1 has a serial port that can be used to connect the KJ EVO board to a computer A Warning Pay attention to the Voltage 0 5V of the User connector It is not the standard RS232 voltage level You will need a voltage level shifter 1 Install the Linux package lrzsz containing communications programs If your Linux distribution is Ubuntu sudo apt get install 17555 2 On the Linux computer run the emulation terminal Minicom minicom If Minicom is not installed you have to install this package For Linux Distribution Ubuntu the command is sudo apt get install minicom 3 Set its parameters with the sub menu Serial port setup of the menu configuration keys Ctrl a as described in Figure 5 1 You may modify the serial port device name depending where you plugged your serial port see chapter 5 1 I Using the serial port and Minicom If you use a serial to USB adapter the serial device may be dev tty USB0
6. Please refer to NFS documentation or man exports for a detailed syntax description Basically the following line should be added to the file etc exports on the computer mnt nfsarm KJ EVO IP 255 255 255 0 rw no root squash sync And make this folder on the computer mkdir mnt nfsarm 42 KJ EVO User Manual rev 1 0 5 Annexes The next step is to mount the shared directory to the KJ EVO file system Mounting a local hard drive partition or a network directory is exactly the same from the user point of view the mount commands should be on the KJ EVO where COMPUTER is the IP address of the computer which the KJ EVO will be connected mkdir mnt nfs mount t nfs o nolock COMPUTER IP mnt nfsarm mnt nfs If the NFS service is not started on the PC the mount command will issue the following message mount RPC Unable to receive errno Connection refused NFS mount program did not respond mount nfsmount failed Bad file descriptor The NFS service is usually started using a startup script for which location and name depend on you distribution for example etc init d nfs Documentation for the distribution should detail the method to start and stop services Caution For the nfs service to work properly the portmap service should be started as well and if a firewall is active on the host machine it should be configured to allow the nfs port access from the KJ EVO Once the directory is successfully mounted it ca
7. discarded Serial port sharing You may configure your virtual machine to share the serial port to connect to the KJ EVO for using Bluetooth Power off your virtual machine Select your machine image and press Settings button Go to Serial Ports settings On the tab Port 1 enable the checkbox Enable Serial Port and choose Port Number COMI gt this will be the Linux serial port dev ttySO Port Mode Host Device Port File Path COMI if you have a standard serial port and using COMI Or change to adapt to your computer serial port or Bluetooth emulated serial port 5 1 10 Debugging You can debug a program you made directly in console on the KJ EVO or remotely You will find on the DVD or online the needed files 5 1 10 1 Debugging on the KJ EVO e You need firstly to install the following packages with the command opkg install PACKAGE IPK libthread dbl 2 9 r37 4 6 armv7a ipk gdb 7 1 r8 4 6 armv7a ipk Then your program must be cross compiled with the option g Edit your Makefile and replace the flag O2 by g e Copy to the KJ EVO the compiled program and its source file And run for debugging it gdb YOUR PROGRAM KJ EVO User Manual rev 1 0 47 The basic commands r n 5 b line function delete break until line l q h 5 Annexes run next one step in the program enter in subroutines one step in the program break at line function delete bre
8. installation and the application development with the board Two development packages are available Light toolchain e Full toolchain and sources for advanced users kernel modifications packages creation addition In the subsequent paragraphs only the light tool chain is explained The full toolchain is described in the following chapter 4 6 3 With a virtual machine you can also use the toolchain 4 5 1 Installation of light toolchain The installation of the software required to use the board and the development tool is described in the next sub chapters Below are listed the files needed to install the light toolchain These files are available in the DVD or from the Internet url http ftp k team com K JuniorV2 extensions kj evo software From light toolchain folder Light toolchain cross compiler only kjunior oetools 1 0 light kb1 0 tar bz2 From common files folder Environment script env sh From library folder Board library sources Aj evo library 1 0 tar bz2 where 1 0 is the release version may change without notice 18 KJ EVO User Manual rev 1 0 4 Usage 4 5 1 1 Installation of the development directory The development directory will be the base folder for your development It contains links and scripts to easily use the cross compiler to make your programs 1 Create a new development folder kj evo_development in your home directory and enter into it You can use
9. specifications of the KJ EVO card are listed below e Processor e Performance e Memory e Features e OS e Power consumption e Size e Mass 3503 ARM Cortex A8 CPU 600MHz Up to 1200 Dhrystone MIPS 512 MB RAM 512 MB Flash USB host Micro SD Connector Mini USB OTG connector for USB slave C Serial port Wifi B G Bluetooth v2 0 EDR 3 axis accelerometer Sound 2 speakers and microphones 2PWM 2 GPIO 2 ADC Color camera 752x480 30 fps Linux OS Angstr m distribution OpenEmbedded tools kernel 2 6 34 410 mA e 5 V 105 width x 125 depth x 110 height mm 110g with antennas without lower pins KJ EVO User Manual rev 1 0 2 UNPACKING AND INSPECTION 2 UNPACKING AND INSPECTION 21 Package Contents Figure 2 1 Contents of the KJ EVO Pack Your package should contain the following items 1 KJ EVO board 2 DVD with software and this User Manual KJ EVO User Manual rev 1 0 2 UNPACKING AND INSPECTION 2 2 Inspection The KJ EVO board basic functions should be tested after unpacking A Complete Linux system is installed in the KJ EVO flash memory The system can be started as a standalone Linux box with the initial console displayed on the serial line or network connection Bluetooth Wifi USB No application is started except some standard daemons and the initial shell on the console The Bluetooth port should be linked to a terminal such a
10. template program prog template c is available in the board library in the folder kj evo_library template You can start your code into the template program and use the following commands to build it The first one makes the environment variables path to the cross compiler libraries available to the system and the second run the Makefile script to compile and build the executable program Enter in the kj evo_library template folder and type in a console to build the template program cd kj evo_development kj evo_library template source kj evo_development eny sh make gt The template file is the executable output file Then execute it on the board by running template Application Programming Interface documentation of the library is available at kj evo_development kj evo_library doc html index html Remarks If you modify the program name you will have to modify its occurrences in the Makefile file examples run make clean_examples make kj evo_examples See next sub chapter for using Eclipse guide for editing source code 22 KJ EVO User Manual rev 1 0 4 Usage 4 5 2 2 Programming using GUI source code editor Eclipse You can use also Eclipse as source code editor See instructions below how to install and use it Install the Java Runtime Environment JRE if not already installed http www eclipse org downloads moreinfo jre ph and the JRE file there http java com en download i
11. the v4l2grab program you can take snapshots pictures with the camera v4l2grab o image jpg W 752 H 480 85 where image jpg is the output image file in JPEG format 752 is the width of the image in pixel max 480 is the height of the image in pixel max 85 is the quality jpg compression in 5 1 6 2 Video streaming There is a mjpeg streamer with web server installed by default on the KJ EVO board Then launch the mjpeg streamer with the following command on the KJ EVO in one line command only streamer i input uvc so yuv f 15 o output http so w usr local mjpg streamer www On computer connected to the same network you can have access to the video streaming at http KJ EVO_IP 8080 action stream where KJ EVO is the KJ EVO network address You can stop with the CTRL c keys You can configure the web server in the folder usr local mjpg streamer www Some help is available in the file usr local mjpg streamer www README 40 KJ EVO User Manual rev 1 0 5 Annexes 5 1 6 3 Programming Image processing the examples source code Select the following example for the camera kj evo_development kj evo_library examples camera_example c Driver source code you can access to the driver if you installed the full toolchain The driver bitbake recipe is located in usr local kjunior oetools 1 0 user collection recipes mt9v032 module It is useful if you would like to change the autoe
12. 3 2 5 Leds There are 3 leds indicating the power status green for ON the Wifi network connection and the Bluetooth connection both blue for connection see Figure 3 1 3 2 6 USB slave With the USB slave connector of type mini B you can plug an USB cable to a computer and control the console of the KJ EVO board See chapter 5 1 4 for usage 3 2 7 Microphones 3 2 8 Speakers There are 2 speakers for playing stereo sound See chapter 3 2 9 Camera take images up to 60 fps See chapter 5 1 6 usage 3 2 10 Connectors to the robot There are 3 groups of pins holes to be connected to the robot See figure 3 4 chapter 421 and K Junior user s manual for usage KJ EVO User Manual rev 1 0 9 3 Description 2 5 SCL 5V NC 5V NC NC NC NC GND 5 g 25000 OFZZZ NC NC NC NC NC Figure 3 4 robot connectors of the KJ EVO bottom view 3 2 11 Wifi and Bluetooth The Wifi G and Bluetooth connections are available See chapter 4 3 for Bluetooth and 10 KJ EVO User Manual rev 1 0 3 Description 3 3 KJ EVO Software A KJ EVO embedded system is based on two main software components One is the Linux Operating System kernel and the second is a set of software packages that is called a distribution The KJ EVO uses the Linux distribution called Angstr m OpenEmbedded The Linux kernel is based on standard Linux kernel sources with adaptation made by this proj
13. BCD choose Connect to Serial Port Run minicom with the command sudo minicom o KJ EVO User Manual rev 1 0 4 Usage Serial Device dev rfcommd Lockfile Location var lock Callin Program D Callout Program E Bps Par Bits 115200 8N1 F Hardware Flow Control No G Software Flow Control No Change which setting Figure 4 2 Minicom serial parameters 8 Save the s ttings with the command Save setup as of the menu configuration cf Figure 4 3 and choose bluetooth You will be able to run again the program and load this configuration with sudo minicom o bluetooth Tees configuration Filenames and paths File transfer protocols Serial port setup Modem and dialing Save setup as dfl Save setup as Exit 9 Figure 4 3 Minicom configuration menu Push RETURN key and the prompt of the KJ EVO board will be available Figure 4 4 The Angstrom Distribution kj evo rfcommO Angstrom 2010 7 test 20110202 kj evo rfcommO KJ EVO User Manual rev 1 0 4 Usage kj evo login Figure 4 4 KJ EVO prompt 10 Login to the KJ EVO with the following parameters Login root Password none pres
14. Figure 5 5 part of the KJ EVO Boot log 5 1 1 2 send a file to the KJ EVO upload 1 In the Minicom console hold the keys Ctrl and press s and select Z Modem 2 Select the file you would like to upload to the KJ EVO navigate with the arrows keys 2x spacebar to change directory and spacebar to select the file Select Okay to send it 5 1 1 3 send a file to the computer download In the Minicom console at the prompt of the KJ EVO type the following command where FILENAME is the file you would like to send lsz FILENAME gt The file FILENAME is sent to the last directory Minicom used or if not changed where it started KJ EVO User Manual rev 1 0 35 5 Annexes 5 1 2 Using Wifi There are different ways described below for configuring the Wifi network depending on the given security 5 1 21 Without any encryption for security Modify the file etc network interfaces with your wireless network settings YOUR_SSID_OF_NETWORK the SSID of your wireless network YOUR_IP_ADDRESS the ip address you would like for the KJ EVO YOUR_NETMASK the netmask of your wireless network YOUR_GATEWAY_IP the gateway of your wireless network lote network interfaces file auto iface inet dhcp iface inet static wireless_mode managed wireless essid YOUR SSID OF NETWORK address YOUR ADDRESS netmask YOUR NETMASK gateway YOUR GATEWA
15. HEREIN SHALL LIMIT EITHER PARTY S LIABILITY FOR DEATH OR PERSONAL INJURY ARISING FROM ITS NEGLIGENCE NEITHER PARTY SHALL HAVE ANY LIABILITY TO THE OTHER FOR INDIRECT OR PUNITIVE DAMAGES OR FOR ANY CLAIM BY ANY THIRD PARTY EXCEPT AS EXPRESSLY PROVIDED HEREIN KJ EVO User Manual rev 1 0 53 TEAM s m 2 PLans Praz 133 SuJrveeruvearnp
16. K JUNIOr SMart evo user Manual TEAM version 1 0 2013 Documentation Author Julien Tharin K Team S A Z I Plans Praz 1337 Vallorbe Switzerland Email info k team com Url www k team com Documentation version Version Date Author Description 1 0 14 11 2013 J Tharin First draft Trademark Acknowledgements IBM PC International Business Machines Corp Macintosh Apple Corp LabVIEW National Instruments Corp Matlab MathWorks Corp Logitech Logitech Int SA Gumstix Gumstix Inc Khepera K Team SA K Junior SA LEGAL NOTICE e The contents of this manual are subject to change without notice e All efforts have been made to ensure the accuracy of the content of this manual However should any error be detected please inform K Team e The above notwithstanding K Team can assume no responsibility for any error in this manual TABLE OF CONTENTS 3 2 10 CONNECTORS THE ROBOT secssssessscssaccatssoncerssinsaccetasacesrassaconessseasarsasarsstesatesngends 9 3 2 11 WIFI AND BLUETOOTH 10 1 1 INTRODUCTION INTRODUCTION Thank you for buying the K Junior Smart Evo abbreviated KJ EVO in this document With this card you will be able to create many new embedded systems by interfacing standard devices or enhance the K Junior V2 robot by expanding its comput
17. New gt Source file choose test c as filename 20 Close the Welcome window with its cross at the upper left KJ EVO User Manual rev 1 0 4 Usage 21 Insert in the fest c file the following C source code include lt stdlib h gt include lt stdio h gt include lt kj_evo kj_evo h gt int main int argc char argv int rc initialise kj evo library if kj_evo_init NULL lt 0 fprintf stderr Error Unable to initialize the kj evo library r n return 1 printf Library kj evo Template Program r n 22 Then the pes with menu Menu Project gt Build AII 23 Transfer the file test to your kj evo see 4 5 De 24 And execute the program file with command test 4 5 2 3 Transferring files You can transfer files to and from the KJ EVO board by different means The default on i is Bluetooth see chapter 4 3 You have also serial chapter 5 1 1 But USB slave chapter 5 1 4 is faster and Wifi the fastest way chapter 5 1 3 KJ EVO User Manual rev 1 0 25 4 Usage 4 6 Full toolchain and sources The full toolchain is for advanced users who would like to modify the kernel rebuild the image system or develop new packages for the KJ EVO Remarks Prior knowledge of Linux its kernel and Open Embedded tools is highly recommended 4 6 1 Required software Required free space 38 on usr local 51 GB including the packed tools 15 MB
18. Y JR SR SIS A Se ze ze ze ze ze ze sie she zie zie eee 3 aie aie a oo ok ok ok The 3 last following steps are optional but will get you Internet connection delete the link etc resolv conf rm etc resolv conf insert the local domain name in etc resolv conf echo search YOUR LOCAL DOMAIN NAME etc resolv conf e and the dns server echo nameserver YOUR DNS SERVER IP ADDRESS gt gt etc resolv conf 36 KJ EVO User Manual rev 1 0 5 Annexes 5 1 2 2 WEP encryption support a for configuring the wifi connection type iwconfig wlan essid YOUR SSID OF NETWORK b if the network is secured enter the key by typing iwconfig wlan0 key YOUR KEY C then set an ip address to the KJ EVO ifconfig wlan YOUR IP ADDRESS d configure the gateway by entering the gateway ip route add default gw YOUR GATEWAY wlan0 e insert the local domain name in etc resolv conf echo search YOUR LOCAL DOMAIN NAME etc resolv conf f and the dns server echo nameserver YOUR DNS SERVER IP ADDRESS gt gt etc resolv conf You can also create a file in etc network if pre up d named wireless to have these settings saved Put the following into it bin sh ifconfig wlan0 iwconfig wlan0 essid YOUR SSID OF NETWORK iwconfig key s YOUR KEY ifconfig wlan YOUR IP ADDRESS route add default gw YOUR GATEWAY wlan0 And the following in a file named etc resolv conf search YOUR LOCAL DOMAIN NAME n
19. akpoint number continue until line continue list code quit gdb help you can have all the commands here A common sequence of debugging can be tolist the code with e seta breakpoint at the beginning of main with b main e run the program with r e execute a step with display a variable with p VAR NAME execute next step with e continue to the end with c Quit with 4 5 1 10 2 Remote debugging You need firstly to install the following package with the command opkg install PACKAGE IPK 48 gdbserver 7 1 r8 0 6 armv7a ipk Then run the gdbserver with your cross compiled program and an unused port number as argument here 7234 gdbserver multi 1234 YOUR PROGRAM source kj evo development env sh Go to the folder where you cross compiled your program KJ EVO User Manual rev 1 0 5 Annexes e You can use the debugger in command line or with ddd GUI Command line e Execute for running the debugger on the computer arm angstrom linux gnueabi gdb YOUR_PROGRAM e In this debugger set parameter and connect to the remote gdb with these 2 commands set sysroot usr local kjunior oetools 1 0 tmp sysroots armv7a angstrom linux gnueabi target extended remote YOUR KJU IP ADDRESS 1234 With GUI e On your computer install ddd the debugger GUI with sudo apt get install ddd Launch ddd with ddd debugger arm angstrom linux gnueabi gdb YOUR PROGRAM Inthe window at the bo
20. ameserver YOUR DNS SERVER IP ADDRESS 5 1 2 3 WEP WPA and other encryptions a Create a file named etc wpa supplicant wpa supplicant conf and insert your selected wireless encryption KJ EVO User Manual rev 1 0 37 38 5 Annexes WEP Shared WEP key connection no WPA network ssid YOUR_SSID key_mgmt NONE wep key0Z YOUR KEY auth alg SHARED tx keyidx 0 priority 5 WPA TKIP etc wpa_supplicant wpa_supplicant conf with WPA PSK TKIT network ssid YOUR_SSID psk YOUR_PASS_KEY key_mgmt WPA PSK group TKIP pairwise TKIP proto WPA priority 5 b run the daemon controlling the wireless connection with the following command wpa_supplicant c etc wpa_supplicant wpa_supplicant conf i wlan0 Dwext B c In etc network if pre up d named wireless add the following commands bin sh ifconfig wlan0 up ifconfig wlan YOUR IP ADDRESS route add default gw YOUR GATEWAY wlan0 wpa_supplicant c etc wpa supplicant wpa supplicant conf i wlan0 Dwext B d reboot the system or restart the network with the following command etc init d networking restart KJ EVO User Manual rev 1 0 5 Annexes 5 1 3 Transferring files using scp ssh 1 Establish a network connection between the computer and the KJ EVO either with Wifi or with USB slave 2 Execute the following command scp FILE root KJ EVO_IP home root where FILE is the file to transfer KJ EVO_IP_ is the KJ EVO i
21. ect The main components within this distribution are described in the following sections Using the KJ EVO Linux system should be pretty straightforward for users with a Linux or Unix background considering that all components are standard tools for customizing configuring and using specific tools are detailed KJ EVO User Manual rev 1 0 11 4 Usage 4 Usage 41 Required hardware software The required hardware and software to use the board and develop programs are described below 4 1 1 Required hardware Computer with Bluetooth or USB port with Linux or Linux emulation not included K Junior robot version V2 with its USB cable 4 1 2 Required software Required free space 3 on usr Jlocal for light toolchain 15 MB on user account Required files Linux OS kernel 2 6 x on the computer with the following packages installed gcc GNU compiler minicom terminal emulation rzsz communication package from the Internet http ftp k team com K JuniorV2 extensions kj evo software Cross compiler light kjunior oetools 1 0 light kb1 tar bz2 Environment script eny sh Board library sources kj evo_library_1 0 tar bz2 K Junior slave firmware kjOS_Slave_B 01 hex 12 KJ EVO User Manual rev 1 0 4 Usage 4 2 Assembly The assembly of the board with the robot is depicted in Figure 4 1 Insert the 3 groups of ait a lt pins of the KJ EVO
22. files to the KJ EVO with chapter 4 6 3 3 Uploading the eed dec siii qr 0 rae KJ EVO User Manual rev 1 0 29 4 Usage 4 6 3 3 Uploading the kernel and the file system You may need to reflash your KJ EVO board by uploading the kernel and filesystem if you want to upgrade or if something went wrong WARNING AII the data on the KJ EVO will be lost after running the following instructions Material needed e uSD card with uSD reader e level shifter for serial port and modified serial cable see chapter 5 1 1 flash MLO and u boot img script from DVD or K Team s ftp 1 Firstly you will need to make 2 partitions on your uSD card Backup all the data on your uSD card before Follow the chapters Partitioning the Card Formatting the New Partitions and Installing the Boot Files the instructions there http www gumstix org create a bootable microsd card html r 2 You will take the ulmage and Angstrom kj evo image glibc ipk 2010 7 test 20110718 overo rootfs tar bz2 where 20110718 is the release version usr local kjunior oetools 1 0 tmp deploy glibc images overo 3 Copy also the kj evo image overo tar bz2 and flash into your uSD in the first partition The names of the kernel uImage and the filesystem kj evo image overo tar bz2 must match with the ones in the flash file 4 You will need a serial connecti
23. ing power 1 1 How to use this handbook Unpacking and Inspection KJ EVO package description and first use Description KJ EVO description Usage KJ EVO usage descriptions Annexes Detailed descriptions of several helpful tools and commands are explained KJ EVO User Manual rev 1 0 1 1 INTRODUCTION 1 2 Safety precautions Here are some recommendations on how to correctly use the KJ EVO Keep the board away from wet area Contact with water could cause malfunction and or breakdown e Store your board in a stable position This will avoid the risks of falling which could break it or cause damage to a person Do not plug any connectors while the board is powered on To avoid any damage make all connections when the board power is off e Never leave the KJ EVO powered when it is unused When you have finished working with KJ EVO turn it off It will save the battery life 1 3 Recycling Think about the end of life of your product Parts of the board can be recycled and it is important to do so By recycling you can help to create a cleaner and safer environment for generations to come For those reasons please take care to the recycling of your product at the end of its life cycle for instance sending back the product to the manufacturer or to your local dealer Thanks for your contribution to a cleaner environment KJ EVO User Manual rev 1 0 1 4 Specifications 1 INTRODUCTION The main
24. into the 3 connectors of the robot Deploy the 2 antennas Antennas KJ EVO s pins Figure 4 1 Basic assembly KJ EVO User Manual rev 1 0 13 14 4 3 1 2 3 4 5 6 7 4 Usage Power up and console access Install the Linux package lrzsz containing communications programs If your Linux distribution is Ubuntu sudo apt get install lrzsz On the Linux computer run the emulation terminal Minicom sudo minicom If Minicom is not installed you have to install this package For Linux Distribution Ubuntu the command is sudo apt get install minicom Install blueman a Bluetooth manager for Linux sudo apt get install blueman Change the firmware version of your K Junior v2 robot The robot needs to be reflashed in slave mode with the special firmware AjOS Slave 01 See the K Junior V2 User s Manual chapter 5 1 entitled K Junior Uploader for uploading that file You can find a normal version of the firmware if you want to revert it at After having assembled the KJ EVO board to the K Junior robot chapter 4 2 switch the robot on Go to the Bluetooth configuration of your computer and search for a new device with blueman The KJ EVO board will appear as KJ EVO ABCD where ABCD is the serial number Don t connect to K Junior EFGH which is the robot itself Pair the robot with the access key 0000 four zeros With blueman right click on the paired KJ EVO A
25. ms such as batteries supplied with the Product any accessory products which is not contained in the Product cosmetic damages damage or loss to any software programs data or removable storage media or damage due to 1 acts of God accident misuse abuse negligence commercial use or modifications of the Product 2 improper operation or maintenance of the Product 3 connection to improper voltage supply or 4 attempted repair by any party other than a K TEAM authorized module service facility This limited warranty does not apply when the malfunction results from the use of the Product in conjunction with any accessories products or ancillary or peripheral equipment or where it is determined by K Team that there is no fault with the Product itself KJ EVO User Manual rev 1 0 6 WARRANTY K TEAM EXPRESSLY DISCLAIMS ALL OTHER WARRANTIES THAN STATED HEREINBEFORE EXPRESSED OR IMPLIED INCLUDING WITHOUT LIMITATION IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE TO THE FULLEST EXTENT PERMITTED BY LAW Limitation of Liability INNO EVENT SHALL EITHER PARTY BE LIABLE TO THE OTHER FOR ANY INDIRECT SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES RESULTING FROM PERFORMANCE OR FAILURE TO PERFORM UNDER THE CONTRACT OR FROM THE FURNISHING PERFORMANCE OR USE OF ANY GOODS OR SERVICE SOLD OR PROVIDED PURSUANT HERETO WHETHER DUE TO A BREACH OF CONTRACT BREACH OF WARRANTY NEGLIGENCE OR OTHERWISE SAVE THAT NOTHING
26. n be accessed from the board exactly as if it was a local directory Files on the PC can be read or written new files can be created and programs can be executed as long as they are ARM executables If required the shared directory can be unmounted using the command umount myMountPoint 5 1 8 Using microphones and speakers Playing You must switch ON the speakers with the commands echo 64 sys class gpio export echo out gt sys class gpio gpio64 direction echo 1 sys class gpio gpio64 value You can play PCM WAV files with aplay and the syntax aplay FILE wav and MPEG audio files with madplay and the syntax madplay FILENAME aplay cdr KJ EVO User Manual rev 1 0 43 5 Annexes You can then switch the speakers OFF with echo 0 sys class gpio gpio64 value Recording You can record PCM WAV with arecord and the syntax arecord cd FILENAME wav The f cd parameter sets the recording in stereo mode in CD quality See with the command arecord h for all the parameters and help 44 KJ EVO User Manual rev 1 0 5 Annexes Controlling volume You can modify the playback volume by launching the volume mixer with the command alsamixer You change channel with the keyboard left and right arrows and volume with the up down arrows The channels are for speakers of the KJU EVO 2 Analog for standard control Dac2 Digital Coarse for rough control Dac2 Fine Coarse for fine c
27. ndex 15 4 Download the linux version of Eclipse IDE for C C Developers includes Incubating components from for Ubuntu users don t install with apt get because the apt get version is older 5 Extract the Eclipse program file sudo tar xzf eclipse cpp indigo SR2 incubation linux gtk tar gz You can also create a link to the start file sudo In s eclipse eclipse usr bin eclipse 6 You should have installed the latest version of the kj evo toolchain light or full Copy the debugger program file arm angstrom linux gnueabi gdb to usr local kjunior oetools 1 0 tmp cross bin on your computer You can check by opening a terminal and sourcing the kj evo environment with source env sh chapter 4 5 2 1 command arm angstrom linux gnueabi gdb version which should return GNU gdb GDB 7 1 7 Run eclipse and at the Workspace launcher window choose where you would like to put your project 8 Go to file menu File gt C Project or C for running a C on the kj evo you must install the standard library with the command install libstdc 6_4 3 3 r22 1 6_armv7a ipk on the kj evo and choose a Project Name ex test 9 In the next window C Project push the Advanced Settings button and on the C C Build gt Discovery Options for c On GCC C Compiler change Compiler invocation to usr local kjunior oetools 1 0 tmp sysroots i686 linux usr armv7a bin arm angstrom linu
28. ng environment of the KJ EVO robot standard version OS the standard use of Product before the appearance of the problem e the description of the problem If no answers have been received within two working days Customer can contact K TEAM support by phone or by electronic mail with the full reference of its order and KJ EVO serial number K TEAM shall then at K TEAM s sole discretion either repair such Product or replace it with the equivalent product without charging any technical labor fee and repair parts cost to Customer on the condition that Customer brings such Product to K TEAM within the period mentioned before In case of repair or replacement K TEAM may own all the parts removed from the defective Product K TEAM may use new and or reconditioned parts made by various manufacturers in performing warranty repairs and replacement of the Product Even if K TEAM repairs or replaces the Product its original warranty term is not extended This limited warranty is invalid if the factory applied serial number has been altered or removed from the Product KJ EVO User Manual rev 1 0 51 52 6 WARRANTY This limited warranty covers only the hardware and software components contained in the Product It does not cover technical assistance for hardware or software usage and it does not cover any software products contained in the Product K TEAM excludes all watranties expressed or implied in respect of any additional software pr
29. on to the KJ EVO see chapter 5 1 1 Insert the uSD created above and power up your KJ EVO 5 Login and run the flash script with the commands cd media mmcblk0pI flash flash 6 Shutdown with the command shutdown now 7 Wait until System halted appears unplug the power or shutdown the K Junior robot if mounted and remove the un SD card 30 KJ EVO User Manual rev 1 0 4 Usage 4 6 4 Packages installations With OpenEmbedded you can easily cross compile existing packages or add your own You can list installed packages on the board with the command opkg list_installed 4 6 4 1 Existing packages Many packages are available for Open Embedded Here below are the instructions to add an existing package 1 Check if there is already a recipe package is already in usr local kjunior oetools 1 0 org openembedded dev recipes 2 If it is present you can compile it by running in the usr local kjunior oetools 1 0 directory source extras profile bitbake PACKAGE NAME 3 The package will be created in one of the folders into usr local kjunio oetools 1 0 tmp deploy glibc ipk 4 Transfer the package to the KJ EVO with Minicom or ssh see chapter 5 1 1 2 5 Then install it opkg install PACKAGE NAME ipk 4 6 4 2 Removing packages You can remove a package with the command opkg remove PACKAGE_NAME You may have to add the command parameter force depends if the package depends on others 4 6
30. on user account Required files e Linux packages 26 g patch help2man diffstat texi2html makeinfo ncurses dev CVs gawk python dev python pysqlite2 subversion git chrpath GNU C compiler patch software manual converter reads the output of diff and displays a histogram convert to html produce doc texinfo on Ubuntu library allowing the programmer to write libncurses5 dev on Ubuntu revision control system programming language designed for processing text based data dynamic object oriented programming language Python sql interface version control system fast version control system allows you to change the rpath where the application looks for libraries in an application KJ EVO User Manual rev 1 0 4 Usage On Ubuntu Linux distribution you can use the following command to install all the above packages in one time sudo apt get install g patch help2man diffstat texi2html texinfo libncurses5 dev cvs gawk python dev python pysqlite2 subversion git core chrpath e Included in the DVD ROM of the package Cross compiler and Open Embedded tools sources kjunior oetools 1 0 kb1 0 tar bz2 Environment script eny sh Board library sources kj evo_library_1 0 tar bz2 Script and files for uploading kernel and file system flash MLO u boot img where 1 0 is the release version may change without notice 4 6 2 Installation 2 3 4 Ext
31. ontrol You can change left and right with while a channel above is selected with Q and Z for left W and X for both E and C for right And mute left with key right with key Pushing h will get you more help For modifying the record volume push the Tab key while in alsamixer You change channel with the keyboard left and right arrows and volume with the up down arrows The channels are for the KJU EVO Analog Left Main Mic for mute settings of left micro Analog Right Sub Mic for mute settings of right micro By default the record channels are muted While a channel is selected pushing spacebar will toggle it You can change left and right while the Analog is selected with Q and Z for left W and X for both E and C for right Programming playback and record the examples source code Select the following example kj evo_development kj evo_library examples sound_example c KJ EVO User Manual rev 1 0 45 5 Annexes 5 1 9 Development with a virtual machine You can install the development tools on a virtual machine if you don t have access to a Linux machine This is You can even find a virtual machine image already configured with the development tools there 46 3 6 htt fttp k team com K JuniorV2 extensions kj evo virtual machine e the light tools 2 1 GB Ubuntu LTS KJ EVO light tools ova e the full tools 15 GB Ubuntu LTS KJ EVO full tools ova available on request
32. or the offsets just round the value Example 0 8 1 0 1 5 10 5 gt 205 GG 256 384 Rof 11 By default all the parameters are zeros except RR 256 GG 314 and 498 which is for an incandescent light source Then recompile the kernel source the 5 file from your development folder install the needed program uboot mkimage with sudo apt get install boot mkimage go to folder usr local kjunior oetools 1 0 tmp work overo angstrom linux gnueabi linux omap3 2 6 34 r97 git compile the kernel with the command make clean make j8 ARCH arm CROSS_COMPILE arm angstrom linux gnueabi ulmage in usr local kjunior oetools 1 0 tmp work overo angstrom linux gnueabi linux omap3 2 6 34 r97 git arch arm boot you will have the kernel file Use this file for the For future recompilations of the kernel and creations of the filesystem When you have found the right parameters insert them in the existing patch file fusr local kjunior oetools 1 0 user collection recipes linux linux omap3 2 6 34 overo isppreview patch 5 1 7 nfs configuration The first service to set up should be transparent file sharing using NFS Most Linux distributions include NFS support by default and the KJ EVO system is ready to be connected The directory to be shared between the computer and the board must be declared to the NFS service in the etc exports configuration file
33. ovided with Product and any such software is provided AS IS unless expressly provided for in any enclosed software limited warranty Please refer to the End User License Agreements included with the Product for your rights with regard to the licensor or supplier of the software parts of the Product and the parties respective obligations with respect to the software This limited warranty is non transferable It is likely that the contents of Customer s flash memory will be lost or reformatted in the course of the service and K TEAM will not be responsible for any damage to or loss of any programs data or other information stored on any media or any part of the Product serviced hereunder or damage or loss arising from the Product not being available for use before during or after the period of service provided or any indirect or consequential damages resulting therefore IF DURING THE REPAIR OF THE PRODUCT THE CONTENTS OF THE FLASH MEMORY ARE ALTERED DELETED OR IN ANY WAY MODIFIED K TEAM IS NOT RESPONSIBLE WHATEVER CUSTOMER S PRODUCT WILL BE RETURNED TO CUSTOMER CONFIGURED AS ORIGINALLY PURCHASED SUBJECT TO AVAILABILITY OF SOFTWARE Be sure to remove all third parties hardware software features parts options alterations and attachments not warranted by K TEAM prior to Product service K TEAM is not responsible for any loss or damage to these items This warranty is limited as set out herein and does not cover any consumable ite
34. p address Push the Return key when a password is asked 5 1 4 Networking over USB slave default the KJ EVO USB slave port is configured into file etc network interfaces with Interface name usb0 ip address 192 168 1 2 netmask 255 255 255 0 gateway 192 168 1 1 commented with At your computer console not the robot console execute the following for loading the drivers and setting the network connection sudo modprobe usbnet sudo modprobe cdc_ether sudo oe ig 192 168 1 3 netmask 255 255 255 0 ttp docwiki gumstix org index php Windows XP usbneti Then you configure the ip address 192 168 1 3 with netmask 255 255 255 0 and gateway 192 168 1 1 for your new network connection on the computer KJ EVO User Manual rev 1 0 39 5 Annexes 5 1 5 Remote access You can have remote access to the KJ EVO board console while using Wifi or USB slave 1 Establish a connection between the KJ EVO and the computer with one of the connections Wifi or USB slave method described in the chapters above 2 In a console of the computer launch the ssh command where KJ EVO IP ADDRESS is the network address of your KJ EVO board ssh root KJ EVO IP ADDRESS 3 Accept the host authenticity by answering yes in pushing Return key gt root kj evo appears you are logged in 5 1 6 Using the camera module The driver of the camera mt9v032 s0 is loaded by default on start up 5 1 6 1 Taking images With
35. r connecting to the serial TX and RX pins 1 GND 2 GND 3 VCC audio 1 2 4 VCC audio 5 VCC 6 VCC 5 PWMI 8 PWMO 9 ADI 10 ADO 11 12 GPO 13 RX 14 TX 15 SCL 16 SCA Figure 3 3 User connector and pins descriptions voltage of the battery 3 7 4 2 V for the old K Junior revision A coming from KJ EVO battery for the new K Junior revision B coming from the robot battery 3 2 2 Reset The KJ EVO reset can be triggered by pressing the reset button see Figure 3 1 When pressing the reset button the board core and the robot are reset 3 2 3 USB Host The KJ EVO provides two different USB interfaces One is the PXA270 USB device interface and the other one is a complete USB Host interface The USB Host interface provides a way to connect USB devices to the KJ EVO such as webcams or external disks The space was designed specially for an USB memory stick 8 KJ EVO User Manual rev 1 0 3 Description The connected USB memory stick will be mounted autonomously on media sdal For removing it execute command umount media sdal and finally unplug the stick 3 2 4 p SD connector With the u SD connector and u SD card you can easily transfer files to and from the KJ EVO Power off the KJ EVO insert the uSD card power on the KJ EVO Typing mount shows the mounted card location dev mmcbIkOpl on media mmcblkOpl type vfat gt You can copy files to and from the card at the location media mmcblkOp1
36. ract the cross compiler sources kjunior oetools 1 0 kb1 0 tar bz2 in usr local with the command sudo tar xjf kjunior oetools 1 0 kb1 0 tar bz2 C usr local Remark you must put the tools there because there are hardcoded links You have to overwrite the light tools if they were already installed You can check if the installation is correct by running the cross compiler Firstly make the environment variables available then check the version of the cross compiler source kj evo development env sh arm angstrom linux gnueabi gcc version The last command should return arm angstrom linux gnueabi gcc GCC 4 3 3 KJ EVO User Manual rev 1 0 27 4 Usage 4 6 3 Full toolchain usage 4 6 3 1 Rebuilding the whole system To rebuild the toolchain system the image file and the kernel execute the following instructions 1 In a console in the directory usr local kjunior oetools 1 0 source the following file to have access to the environment setup source extras profile 2 With the following commands you can rebuild the whole system o Cleaning bitbake c clean kj evo image o Rebuild bitbake kj evo image gt The output files will be stored in usr local kjunior oetools 1 0 tmp deploy glibc images overo Three main files will then be built the kernel ulmage 2 6 34 197 overo bin its modules modules 2 6 34 r97 overo tgz the file system Angstrom kj evo image glibc ipk 2010 7 test 20110718 overo
37. rootfs tar bz2 where 20110718 is the release version Remarks You may find updated version of these software at e Cross compiler and tools OpenEmbedded ttp www openembedded org wiki Main_ Page e Linux distribution of the KJ EVO http 7 www angstrom distribution ore e Gumstix documentation http www gurrstix Org 28 KJ EVO User Manual rev 1 0 4 Usage 4 6 3 2 Kernel modification You can modify the kernel here by accessing to its menu with these commands cd usr local kjunior oetools 1 0 tmp work overo angstrom linux gnueabi linux omap3 2 6 34 r97 eit and configure the kernel with make ARCH arm menuconfig copy config file to usr local kjunior oetools 1 0 user collection packages linux linux omap3 2 6 34 overo defconfig defconfig is the new filename Then you rebuild it and the file system by executing these commands at the root of the KJ EVO oetools cd usr local kjunior oetools 1 0 source build profile bitbake c clean virtual kernel bitbake virtual kernel may take up to 30 min depending of your computer c The new kernel uImage file will be located at usr local kjunior oetools 1 0 tmp deploy glibc images overo uImage overo bin Build also the filesystem image bitbake c clean kj evo image bitbake kj evo image gt The new filesystem will be located at usr local kjunior oetools 1 0 tmp deploy glibc images overo kj evo image overo tar bz2 You can now upload the
38. s Return key 2 You are at the prompt of the Linux console of the KJ EVO see Figure 4 5 kj evo login root Password root kj evo Figure 4 5 KJ EVO prompt logged 11 In the directory examples examples you will have the library examples compiled You can execute each by preceding its name with cd examples Jadc example You can add password to the login of your KJ EVO board with the command passwd You can upload or upload a file with the KJ EVO at chapters 5 1 1 2 and 5 1 1 3 Continue with next chapter 4 5 for starting programming 16 KJ EVO User Manual rev 1 0 4 Usage 4 4 Shutdown Reboot Reset Shutdown While logged into the console of the KJ EVO it is better to do a proper shutdown than just switching off the K Junior robot This will ensure that the open files are correctly closed and settings saved 1 Run the following command in the console shutdown h now 2 Wait 15s if you are logged through the serial cable you wait until System halted appears Then you can switch off the robot Reboot If you want to reboot you can use shutdown r now Reset The KJ EVO reset can be triggered by pressing the reset button see Figure 3 1 When pressing the reset button the board core and the robot are reset reboot KJ EVO User Manual rev 1 0 17 4 Usage 4 5 Software The following sub chapters explain the software
39. s minicom on the host computer The basic configuration for the serial line should be see chapter 4 3 Power Up 115200 Bps 8 data bits No parity 2 stop bits Then when switching power on of the K Junior robot the Linux login message should be displayed on the terminal see chapter 4 3 If no character is received the Bluetooth connection and terminal settings should be checked The boot can be accessed with a serial cable and level system KJ EVO User Manual rev 1 0 5 3 Description 3 Description 31 Overview An overview of the KJ EVO hardware is depicted in the Figure 3 1 and 3 2 The locations of various key elements are indicated for later references All the connectors are described in the subsequent part of this chapter Antennas for Wifi and Bluetooth Slave USB 2 User connector Host USB port Microphones Wifi Power and Bluetooth leds resp Speakers Camera uSD connector Figure 3 1 KJ EVO overview top view 6 KJ EVO User Manual rev 1 0 3 Description Connectors to the robot Figure 3 2 KJ EVO overview bottom view KJ EVO User Manual rev 1 0 3 Description 3 2 KJ EVO Hardware The hardware of the KJ EVO is described in the sub chapters thereafter 3 2 4 User connector The KJ EVO user connector 1 TM for several interfaces All input output are in For using a standard RS232 cable you should use a level shifter fo
40. the Debugger tab choose usr local kjunior oetools 1 0 tmp sysroots i686 linux usr armv7a bin arm angstrom linux gnueabi gdb 7 On tab change GDB Debugger to usr local kjunior oetools 1 0 tmp sysroots i686 linux usr armv7a bin arm angstrom linux gnueabi gdb On Shared Libraries tab add usr local kjunior oetools 1 0 tmp sysroots armv7a angstrom linux gnueabi lib 8 Then Push Debug enter root as User ID and no password 9 Debug step by step You can go again into the settings and select Release configuration when your program has been fully debugged You can run the program from the kj evo with a remote terminal or with Eclipse GUI After having set the Debug configuration the parameters are also available for the run Just go the menu Run then choose In the lower part of the Eclipse window you will see the output of your program in the Console tab 50 KJ EVO User Manual rev 1 0 6 6 WARRANTY WARRANTY K TEAM warrants that the KJ EVO is free from defects in materials and workmanship and in conformity with the respective specifications of the product for the minimal legal duration respectively one year from the date of delivery Upon discovery of a defect in materials workmanship or failure to meet the specifications in the Product during the afore mentioned period Customer must request e the type of KJ EVO used version e the kernel version of the KJ EVO e the programmi
41. the following commands assuming you are in a console mkdir kj evo_development cd kj evo_development 2 Obtain the environment script file env sh from the folder above and put it in your new development directory kj evo_development 3 If you gave any other name or path to the development forlder you will have to modify the KTEAM HOME variable in the env sh to point to your development directory Default KTEAM_HOME kj evo_development To be modified to KTEAM HOME FULL PATH OF YOUR NEW DEV FOLDER KJ EVO User Manual rev 1 0 19 4 Usage 4 5 1 2 Installation of the cross compiler light toolchain 1 Extract the cross compiler Ajunior oetools 1 0 light kb1 0 tar bz2 usr local with the command sudo tar xjf kjunior oetools 1 0 light kb1 0 tar bz2 C usr local Remarks You must be root or use sudo You must put the tools there because there are hardcoded links 2 You can check if the installation is correct by running the cross compiler Firstly make the environment variables available then check the version of the cross compiler cd kj evo development source env sh arm angstrom linux gnueabi gcc version The last command should return arm angstrom linux gnueabi gcc GCC 4 3 3 4 5 1 3 Installation of the board library The library is already installed on the KJ EVO To install the library on your development system follow the following instructions 1 Extract the library
42. ttom where the gdb prompt is run these 2 commands set sysroot usr local kjunior oetools 1 0 tmp sysroots armv7a angstrom linux gnueabi target extended remote YOUR KJU ADDRESS 1234 You can even send your program to the remote KJ evo with the gdb commands remote put hostfile targetfile set remote exec file targetfile where hostfile and targetfile is the same name of your new program to be debugged For quitting the debugger and remote execute commands monitor exit then disconnect and finally quit Tips for using the advantage of the GUI o For setting a breakpoint double click on the line you want to put it just before the line number or right click at the same place or choose Set Breakpoint o With the floating menu you have the different commands for debugging o You can add a watch on a variable with clicking with the right mouse button on the variable and choose Display VARIABLE NAME KJ EVO User Manual rev 1 0 49 5 Annexes 5 1 10 3 Remote debugging with Eclipse 2 On Eclipse menu Run gt Debug Configurations double click on Remote Application test Debug is created 3 Inthe tab gt C C application enter Debug test 4 On Connection push New button and choose SSH in the next window Hostname ip address of your kj evo and push Finish button 5 On Remote Absolute File Path for C C Application modify to home root test 6 In
43. x gnueabi gcc or depending if your project is C or for c On C Compiler change Compiler invocation command to usr local kjunior oetools 1 0 tmp sysroots i686 linux usr armv7a bin arm angstrom linux gnueabi g KJ EVO User Manual rev 1 0 23 24 4 Usage 10 On C C Build gt Settings Cross GCC Compiler change Command to Yusr local kjunior oetools 1 0 tmp sysroots i686 linux usr armyv7a bin arm angstrom linux gnueabi gcc 11 On Cross GCC Compiler Includes gt Include paths add usr local kjunior oetools 1 0 tmp sysroots i686 linux usr include 12 On Miscellaneous replace Other flags with c march armv7a mtune xscale Wa mcpu xscale 13 On the Cross GCC Linker change Command to usr local kjunior oetools 1 0 tmp sysroots i686 linux usr armv7a bin arm angstrom linux gnueabi gcc 14 On Cross Linker gt Libraries at Libraries 1 add with the button on the upper right 15 At Libraries search path add usr local kjunior oetools 1 0 tmp sysroots armv7a angstrom linux gnueabi lib 16 On Cross GCC Assembler in Command field modify to usr local kjunior oetools 1 0 tmp sysroots i686 linux usr armv7a bin arm angstrom linux gnueabi as 17 Choose C C Build menu at the left Discovery options repeat the steps above from 7 for the Release configuration 18 push Finish button 19 Go to menu File gt
44. xposure hdr autogain or low light parameters You can test with the right combination of these parameters in unloading the driver and reloading it with these parameters in argument example rmmod mt9v032 modprobe mt9v032 hdr 1 After compiling the module with bitbake copy the file to the KJ EVO and install it You need to remove the kernel module before opkg remove force depends kernel module mt9v032 opkg install mt9v032 module_1 0 r97 6_overo ipk 5 1 6 4 Changing colors levels whitebalance You need the full toolchain chapter 4 6 to change the colors levels For testing modify on your computer in file usr local kjunior oetools 1 0 tmp work overo angstrom linux gnueabi linux omap3 2 6 34 r97 git drivers media video isp isppreview c the structure ispprev rgbtorgb containing the RGB blending specially the parameters RR GG and BB with the matrix equation linking input to output colors static struct ispprev_rgbtorgb flr rgb2rgb RGB RGB Matrix gains RR RG RB R R IGR GG GB Rout RR RG RB 7 BR BG BB Gon GR GG GB Gof h RGB Offset BR BG Bof Gof Bof E C code Equation KJ EVO User Manual rev 1 0 41 5 Annexes These parameters integer values They coded in fixed point numbers 51208 for the 9 gains and 51000 for the 3 offsets For converting the gains for the array multiply by 256 and round the value F
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