shenerguang/ZyboRobot
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Zybo Robot Demo(Zrobot IV zybo) Where to get help: ================== 1.This demo is provide by digilent, you can visit following website for more information. http://www.digilentchina.com/productSearch.asp?key=zrobot http://zrobot.org/ Where to get source code: ========================= 1.You can download FAT partition binary from: https://github.com/shenerguang/Zrobot_Boot/tree/master/ready_to_download 2.You can download EXT partition binary from: https://github.com/shenerguang/Zrobot_Ubuntu 3.You can download Vivado project from: https://github.com/shenerguang/ZRobot_Hardware Please open with Vivado 2014.2 How to use TP-LINK WN823N: ========================== Firstly, you should disconnect battery charger of zrobot. Secondly, you should connect zybo to bottom board with usb cable. Thirdly, connect wifi and webcam to bottom board. 1.run ifconfig -a and see wlan No. in my zybo, it is wlan2 2.vi /etc/udhcpd.conf and modify wlan0 to wlan2 3.vi /etc/network/interfaces modify wlan0 to wlan2 3.vi /etc/hostapd/hostapd.conf modify ssid to yourssid modify wlan0 to wlan2 4.vi /root/go_wlan.sh modify wlan0 to wlan2 5.Reboot zybo or try to run /root/go_wlan.sh Hot to use mjpeg and Java applet: ================================= 1.cd /root/mjpeg_face_leaf_detection/mjpg-streamer 2.export LD_LIBRARY_PATH=/root/mjpeg_face_leaf_detection/mjpg-streamer 3../mjpg_streamer -i "input_uvc.so -y -f 5 -r 640*480 -q 60" "output_http.so -p 8080 -w /var/www" 4.Open IE, browse to 192.168.0.1, install the Java plug-in folling prompts. 5.Open "Control Pannel"->"Programs"->"Java"->"Security" Change Security Level to Medium. Reopen IE and click "allow" in the prompt window. Compile env: ============ #!/bin/bash export CCOMPILER=arm-xilinx-linux-gnueabi-gcc export ARCH=arm export CROSS_COMPILE=arm-xilinx-linux-gnueabi- export PATH=$PATH:/root/CodeSourcery/bin/ Uboot configuration: ==================== 1.git clone https://github.com/Digilent/u-boot-Digilent-Dev or you can clone https://github.com/shenerguang/u-boot-Digilent-Dev and skip the following changes. 2.cd u-boot-xlnx/include/configs 4.vi zynq_zybo.h 80 "sdboot=if mmcinfo; then " \ 81 "run uenvboot; " \ 82 "echo Copying my Linux from SD to RAM... && " \ 83 "fatload mmc 0 0x3000000 ${kernel_image} && " \ 84 "fatload mmc 0 0x2A00000 ${devicetree_image} && " \ 85 "bootm 0x3000000 - 0x2A00000; " \ 86 "fi\0" \ 5. cd ../../ make zynq_zybo_config make cp u-boot u-boot.elf Kernel Configuration: ===================== 1.download kernel 1.1 For zybo, please download linux-digilent kernel 3.6 git clone https://github.com/shenerguang/linux-digilent 1.2 For zed, please download linux-xup kernel 3.12 git clone https://github.com/shenerguang/linux-xup 2.cd linux_digilent 3.make ARCH=arm digilent_zybo_defconfig or you can make zybo_robot_defconfig and skip the following configurations. for zed you can make zed_robot_defconfig in linux-xup kernel. 4.make ARCH=arm menuconfig 4.1.System Type-> Xilinx Specific Options-> [ ]Device Tree At Fixed Address destination:boot from second sector successfully. 4.2.Networking support-> wireless-> cfg80211 and its sub items Common routines for IEEE802.11 drivers Generic IEEE 802.11 Networking Stack (!important!) Device Drivers-> Network device support-> Ethernet driver support-> all xilinx driver choose PHY Device support and infrastructure-> Marvell PHYS VITESSE PHYS REALTEK PHYS Support for bitbanged MDIO buses Wireless LAN-> IEEE802.11 for HOST AP and sub items Realtek RTL8192CU/RTL8188CU USB Wireless destination:tplink wn823n(RTL8192CU) wifi support 4.3.Device Drivers-> multimedia support-> Cameras/video grabbers support Video capture adapters-> V4L USB devices-> usb video class(UVC) GSPCA based webcams destination:configure web cam support How to auto build devicetree: ============================= 1.git clone https://github.com/Xilinx/device-tree-xlnx/tree/xilinx-v2014.2 2.copy "device-tree-xlnx-v2014.2" folder to C:\Xilinx\SDK\2014.2\data\embeddedsw\lib\bsp 3.create bsp choose devicetree In Vivado2014.2 SDK How to build second sector Ubuntu: ================================== 1.In your host, run apt-get and install qemu environment. apt-get install qemu-user-static qemu-system 2.create a new folder mkdir qemu-ubuntu 3.qemu-debootstrap --arch=armhf trusty qemu-ubuntu 4.cp `which qemu-arm-static` qemu-ubuntu/usr/bin/ 5.chroot qemu-ubuntu/ 6.vi /etc/init/ttyPS0.conf start on stopped rc RUNLEVEL=[2345] and ( not-container or container CONTAINER=lxc or container CONTAINER=lxc-libvirt) stop on runlevel [!2345] respawn exec /bin/login -f root < /dev/ttyPS0 > /dev/ttyPS0 2>&1 7.add apt-get source. echo "deb http://ports.ubuntu.com trusty main restricted multiverse universe" > /etc/apt/sources.list apt-get update 8.set up root password. passwd 9.copy ubuntu to sd card. sudo rsync –a qemu-ubuntu/ /media/ext4 How to config Wifi AP: ====================== 1. apt-get install linux-firmware hostapd udhcpd wireless-tools 2.vi /etc/default/hostapd Add one line to the bottom: DAEMON_CONF="/etc/hostapd/hostapd.conf" 3.vi /etc/hostapd/hostapd.conf # interface used by access point interface=wlan0 # firmware driver driver=nl80211 # access point SSID ssid=XupSmarterCar # operation mode (a = IEEE 802.11a, b = IEEE 802.11b, g = IEEE 802.11g) hw_mode=g # access point channel channel=6 macaddr_acl=0 auth_algs=1 ignore_broadcast_ssid=0 # key management algorithm #wpa_key_mgmt=WPA-PSK #wpa_passphrase=123456789 #wpa=2 # set ciphers wpa_pairwise=TKIP rsn_pairwise=CCMP 4.vi /etc/network/interfaces iface wlan0 inet static address 192.168.0.1 netmask 255.255.255.0 5.vi /etc/udhcpd.conf start 192.168.0.20 #default: 192.168.0.20 end 192.168.0.254 #default: 192.168.0.254 interface wlan0 #default: eth0 remaining yes #default: yes lease_file /var/lib/misc/udhcpd.leases pidfile /var/run/udhcpd.pid option subnet 255.255.255.0 opt router 192.168.0.1 option domain local option lease 864000 # 10 days of seconds 6.Run ifconfig wlan0 192.168.0.1 /etc/init.d/udhcpd restart /etc/init.d/hostapd restart How to build OpenCV: ==================== sudo apt-get install build-essential cmake libgtk2.0-dev pkg-config python-dev python-numpy libavcodec-dev libavformat-dev libswscale-dev apt-get install libv4l-dev cd /root/opencv-2.4.9 cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local . make install References: =========== 1.You can download openloop FAT partition binary from:
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zrobot filesystem, include boa, mjpeg, opencv, wifi source code.
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