a kivancsiaknak dmesg:
[ 0.000000] Initializing cgroup subsys cpuset
[ 0.000000] Initializing cgroup subsys cpu
[ 0.000000] Linux version 3.1.0+ (koen@dominion) (gcc version 4.5.4 20111126 (prerelease) (GCC) ) #1 Thu Jan 12 12:53:00 CET 2012
[ 0.000000] CPU: ARMv7 Processor [413fc082] revision 2 (ARMv7), cr=50c53c7f
[ 0.000000] CPU: VIPT nonaliasing data cache, VIPT aliasing instruction cache
[ 0.000000] Machine: am335xevm
[ 0.000000] Memory policy: ECC disabled, Data cache writeback
[ 0.000000] On node 0 totalpages: 65536
[ 0.000000] free_area_init_node: node 0, pgdat c047bbe8, node_mem_map c04c2000
[ 0.000000] Normal zone: 512 pages used for memmap
[ 0.000000] Normal zone: 0 pages reserved
[ 0.000000] Normal zone: 65024 pages, LIFO batch:15
[ 0.000000] AM335X ES1.0 (neon )
[ 0.000000] pcpu-alloc: s0 r0 d32768 u32768 alloc=1*32768
[ 0.000000] pcpu-alloc: [0] 0
[ 0.000000] Built 1 zonelists in Zone order, mobility grouping on. Total pages: 65024
[ 0.000000] Kernel command line: console=ttyO0,115200n8 root=/dev/mmcblk0p2 ro rootfstype=ext4 rootwait ip=none
[ 0.000000] PID hash table entries: 1024 (order: 0, 4096 bytes)
[ 0.000000] Dentry cache hash table entries: 32768 (order: 5, 131072 bytes)
[ 0.000000] Inode-cache hash table entries: 16384 (order: 4, 65536 bytes)
[ 0.000000] allocated 1048576 bytes of page_cgroup
[ 0.000000] please try 'cgroup_disable=memory' option if you don't want memory cgroups
[ 0.000000] Memory: 256MB = 256MB total
[ 0.000000] Memory: 253964k/253964k available, 8180k reserved, 0K highmem
[ 0.000000] Virtual kernel memory layout:
[ 0.000000] vector : 0xffff0000 - 0xffff1000 ( 4 kB)
[ 0.000000] fixmap : 0xfff00000 - 0xfffe0000 ( 896 kB)
[ 0.000000] DMA : 0xffa00000 - 0xffe00000 ( 4 MB)
[ 0.000000] vmalloc : 0xd0800000 - 0xf8000000 ( 632 MB)
[ 0.000000] lowmem : 0xc0000000 - 0xd0000000 ( 256 MB)
[ 0.000000] modules : 0xbf800000 - 0xc0000000 ( 8 MB)
[ 0.000000] .text : 0xc0008000 - 0xc03fc6e4 (4050 kB)
[ 0.000000] .init : 0xc03fd000 - 0xc0431000 ( 208 kB)
[ 0.000000] .data : 0xc0432000 - 0xc047c6c0 ( 298 kB)
[ 0.000000] .bss : 0xc047c6e4 - 0xc04c12e0 ( 275 kB)
[ 0.000000] NR_IRQS:410 nr_irqs:410 410
[ 0.000000] IRQ: Found an INTC at 0xfa200000 (revision 5.0) with 128 interrupts
[ 0.000000] Total of 128 interrupts on 1 active controller
[ 0.000000] OMAP clockevent source: GPTIMER1 at 24000000 Hz
[ 0.000000] OMAP clocksource: GPTIMER2 at 24000000 Hz
[ 0.000000] sched_clock: 32 bits at 24MHz, resolution 41ns, wraps every 178956ms
[ 0.000000] Console: colour dummy device 80x30
[ 0.000215] Calibrating delay loop... 498.89 BogoMIPS (lpj=2494464)
[ 0.058647] pid_max: default: 32768 minimum: 301
[ 0.058808] Security Framework initialized
[ 0.058882] Mount-cache hash table entries: 512
[ 0.059297] Initializing cgroup subsys cpuacct
[ 0.059338] Initializing cgroup subsys memory
[ 0.059382] Initializing cgroup subsys devices
[ 0.059397] Initializing cgroup subsys freezer
[ 0.059411] Initializing cgroup subsys blkio
[ 0.059439] Initializing cgroup subsys perf_event
[ 0.059538] CPU: Testing write buffer coherency: ok
[ 0.060694] devtmpfs: initialized
[ 0.064839] print_constraints: dummy:
[ 0.065095] NET: Registered protocol family 16
[ 0.065284] GPMC revision 6.0
[ 0.066391] OMAP GPIO hardware version 0.1
[ 0.067356] omap_l3_smx omap_l3_smx.0: couldn't find resource
[ 0.067456] omap_mux_init: Add partition: #1: core, flags: 0
[ 0.069993] omap_i2c.1: alias fck already exists
[ 0.070238] hw-breakpoint: debug architecture 0x4 unsupported.
[ 0.070724] omap2_mcspi.1: alias fck already exists
[ 0.070848] omap2_mcspi.2: alias fck already exists
[ 0.079849] bio: create slab <bio-0> at 0
[ 0.081090] SCSI subsystem initialized
[ 0.081958] usbcore: registered new interface driver usbfs
[ 0.082088] usbcore: registered new interface driver hub
[ 0.082275] usbcore: registered new device driver usb
[ 0.083090] omap_i2c omap_i2c.1: bus 1 rev4.0 at 100 kHz
[ 0.084060] Advanced Linux Sound Architecture Driver Version 1.0.24.
[ 0.084640] Switching to clocksource gp timer
[ 0.088716] Switched to NOHz mode on CPU #0
[ 0.097077] musb-hdrc: version 6.0, ?dma?, otg (peripheral+host)
[ 0.097251] musb-hdrc musb-hdrc.0: dma type: pio
[ 0.097457] musb-hdrc: ConfigData=0xde (UTMI-8, dyn FIFOs, bulk combine, bulk split, HB-ISO Rx, HB-ISO Tx, SoftConn)
[ 0.097483] musb-hdrc: MHDRC RTL version 2.0
[ 0.097497] musb-hdrc: setup fifo_mode 4
[ 0.097524] musb-hdrc: 28/31 max ep, 16384/16384 memory
[ 0.097875] musb-hdrc musb-hdrc.0: USB OTG mode controller at d080a000 using PIO, IRQ 18
[ 0.098154] musb-hdrc musb-hdrc.1: dma type: pio
[ 0.098328] musb-hdrc: ConfigData=0xde (UTMI-8, dyn FIFOs, bulk combine, bulk split, HB-ISO Rx, HB-ISO Tx, SoftConn)
[ 0.098352] musb-hdrc: MHDRC RTL version 2.0
[ 0.098365] musb-hdrc: setup fifo_mode 4
[ 0.098391] musb-hdrc: 28/31 max ep, 16384/16384 memory
[ 0.098727] musb-hdrc musb-hdrc.1: USB OTG mode controller at d080c800 using PIO, IRQ 19
[ 0.099101] NET: Registered protocol family 2
[ 0.099320] IP route cache hash table entries: 2048 (order: 1, 8192 bytes)
[ 0.099777] TCP established hash table entries: 8192 (order: 4, 65536 bytes)
[ 0.100000] TCP bind hash table entries: 8192 (order: 3, 32768 bytes)
[ 0.100136] TCP: Hash tables configured (established 8192 bind 8192)
[ 0.100152] TCP reno registered
[ 0.100170] UDP hash table entries: 256 (order: 0, 4096 bytes)
[ 0.100202] UDP-Lite hash table entries: 256 (order: 0, 4096 bytes)
[ 0.100525] NET: Registered protocol family 1
[ 0.100904] RPC: Registered named UNIX socket transport module.
[ 0.100923] RPC: Registered udp transport module.
[ 0.100935] RPC: Registered tcp transport module.
[ 0.100948] RPC: Registered tcp NFSv4.1 backchannel transport module.
[ 0.101242] omap_init_opp_table: no hwmod or odev for iva, [8] cannot add OPPs.
[ 0.113542] VFS: Disk quotas dquot_6.5.2
[ 0.113623] Dquot-cache hash table entries: 1024 (order 0, 4096 bytes)
[ 0.115063] msgmni has been set to 496
[ 0.116201] Block layer SCSI generic (bsg) driver version 0.4 loaded (major 252)
[ 0.116310] io scheduler noop registered
[ 0.116326] io scheduler deadline registered
[ 0.116400] io scheduler cfq registered (default)
[ 0.117443] Serial: 8250/16550 driver, 4 ports, IRQ sharing enabled
[ 0.118814] omap_uart.0: ttyO0 at MMIO 0x44e09000 (irq = 72) is a OMAP UART0
[ 0.652401] console [ttyO0] enabled
[ 0.656557] omap_uart.1: ttyO1 at MMIO 0x48022000 (irq = 73) is a OMAP UART1
[ 0.664313] omap_uart.2: ttyO2 at MMIO 0x48024000 (irq = 74) is a OMAP UART2
[ 0.672107] omap_uart.3: ttyO3 at MMIO 0x481a6000 (irq = 44) is a OMAP UART3
[ 0.679853] omap_uart.4: ttyO4 at MMIO 0x481a8000 (irq = 45) is a OMAP UART4
[ 0.687539] omap_uart.5: ttyO5 at MMIO 0x481aa000 (irq = 46) is a OMAP UART5
[ 0.696510] brd: module loaded
[ 0.703745] loop: module loaded
[ 0.707157] at24 1-0051: 32768 byte 24c256 EEPROM, writable, 64 bytes/write
[ 0.754686] No daughter card found
[ 0.758321] at24 1-0050: 32768 byte 24c256 EEPROM, writable, 64 bytes/write
[ 0.773634] Board name: A335BONE
[ 0.777056] Board version: 00A4
[ 0.780362] The board is a AM335x Beaglebone.
[ 0.785868] da8xx_lcdc da8xx_lcdc.0: GLCD: Found 1024x768@60 panel
[ 0.812890] Console: switching to colour frame buffer device 128x48
[ 0.834221] omap_i2c.3: alias fck already exists
[ 0.839517] omap_i2c omap_i2c.3: bus 3 rev4.0 at 100 kHz
[ 0.845885] omap_hsmmc.0: alias fck already exists
[ 0.851366] _omap_mux_get_by_name: Could not find signal leds-gpio
[ 0.858457] at24 3-0054: 32768 byte 24c256 EEPROM, writable, 64 bytes/write
[ 0.865793] at24 3-0055: 32768 byte 24c256 EEPROM, writable, 64 bytes/write
[ 0.873098] at24 3-0056: 32768 byte 24c256 EEPROM, writable, 64 bytes/write
[ 0.880417] at24 3-0057: 32768 byte 24c256 EEPROM, writable, 64 bytes/write
[ 0.888409] SCSI Media Changer driver v0.25
[ 0.934712] davinci_mdio davinci_mdio.0: davinci mdio revision 1.6
[ 0.941235] davinci_mdio davinci_mdio.0: detected phy mask fffffffe
[ 0.948852] davinci_mdio.0: probed
[ 0.952460] davinci_mdio davinci_mdio.0: phy[0]: device 0:00, driver SMSC LAN8710/LAN8720
[ 0.961615] usbcore: registered new interface driver catc
[ 0.967285] catc: v2.8:CATC EL1210A NetMate USB Ethernet driver
[ 0.973536] usbcore: registered new interface driver kaweth
[ 0.979376] pegasus: v0.6.14 (2006/09/27), Pegasus/Pegasus II USB Ethernet driver
[ 0.987342] usbcore: registered new interface driver pegasus
[ 0.993307] rtl8150: v0.6.2 (2004/08/27):rtl8150 based usb-ethernet driver
[ 1.000648] usbcore: registered new interface driver rtl8150
[ 1.006645] usbcore: registered new interface driver asix
[ 1.012339] usbcore: registered new interface driver cdc_ether
[ 1.018514] usbcore: registered new interface driver dm9601
[ 1.024392] usbcore: registered new interface driver cdc_subset
[ 1.030654] usbcore: registered new interface driver zaurus
[ 1.036539] cdc_ncm: 04-Aug-2011
[ 1.039972] usbcore: registered new interface driver cdc_ncm
[ 1.046014] usbcore: registered new interface driver cdc_acm
[ 1.051930] cdc_acm: USB Abstract Control Model driver for USB modems and ISDN adapters
[ 1.060410] usbcore: registered new interface driver usblp
[ 1.066222] usbcore: registered new interface driver cdc_wdm
[ 1.072197] usbcore: registered new interface driver uas
[ 1.077763] Initializing USB Mass Storage driver...
[ 1.082939] usbcore: registered new interface driver usb-storage
[ 1.089232] USB Mass Storage support registered.
[ 1.094185] usbcore: registered new interface driver libusual
[ 1.100253] musb-hdrc musb-hdrc.1: MUSB HDRC host driver
[ 1.105905] musb-hdrc musb-hdrc.1: new USB bus registered, assigned bus number 1
[ 1.113758] usb usb1: New USB device found, idVendor=1d6b, idProduct=0002
[ 1.120886] usb usb1: New USB device strings: Mfr=3, Product=2, SerialNumber=1
[ 1.128448] usb usb1: Product: MUSB HDRC host driver
[ 1.133633] usb usb1: Manufacturer: Linux 3.1.0+ musb-hcd
[ 1.139289] usb usb1: SerialNumber: musb-hdrc.1
[ 1.145112] hub 1-0:1.0: USB hub found
[ 1.149050] hub 1-0:1.0: 1 port detected
[ 1.154090] mousedev: PS/2 mouse device common for all mice
[ 1.160580] dev addr = c044ea20
[ 1.163893] pdev addr = c044ea18
[ 1.168085] omap_rtc omap_rtc: rtc core: registered omap_rtc as rtc0
[ 1.175002] i2c /dev entries driver
[ 1.179145] Linux media interface: v0.10
[ 1.183455] lirc_dev: IR Remote Control driver registered, major 249
[ 1.190224] IR NEC protocol handler initialized
[ 1.194984] IR RC5(x) protocol handler initialized
[ 1.199987] IR RC6 protocol handler initialized
[ 1.204735] IR JVC protocol handler initialized
[ 1.209476] IR Sony protocol handler initialized
[ 1.214295] IR RC5 (streamzap) protocol handler initialized
[ 1.220132] IR MCE Keyboard/mouse protocol handler initialized
[ 1.226237] IR LIRC bridge handler initialized
[ 1.230876] Linux video capture interface: v2.00
[ 1.235882] usbcore: registered new interface driver uvcvideo
[ 1.241888] USB Video Class driver (1.1.1)
[ 1.246277] Driver for 1-wire Dallas network protocol.
[ 1.252638] OMAP Watchdog Timer Rev 0x01: initial timeout 60 sec
[ 1.260068] Registered led device: beaglebone::usr0
[ 1.260216] Registered led device: beaglebone::usr1
[ 1.260332] Registered led device: beaglebone::usr2
[ 1.260437] Registered led device: beaglebone::usr3
[ 1.260540] Registered led device: dvi::usr0
[ 1.260642] Registered led device: dvi::usr1
[ 1.261066] usbcore: registered new interface driver usbhid
[ 1.266934] usbhid: USB HID core driver
[ 1.271587] usbcore: registered new interface driver snd-usb-audio
[ 1.278683] ALSA device list:
[ 1.281781] No soundcards found.
[ 1.285817] TCP cubic registered
[ 1.289230] Initializing XFRM netlink socket
[ 1.293742] NET: Registered protocol family 17
[ 1.298513] NET: Registered protocol family 15
[ 1.303237] Registering the dns_resolver key type
[ 1.308268] VFP support v0.3: implementor 41 architecture 3 part 30 variant c rev 3
[ 1.316371] ThumbEE CPU extension supported.
[ 1.321822] omap2_set_init_voltage: unable to get clk dpll1_ck
[ 1.328020] omap2_set_init_voltage: unable to set vdd_mpu_iva
[ 1.334091] omap2_set_init_voltage: unable to get clk l3_ick
[ 1.340077] omap2_set_init_voltage: unable to set vdd_core
[ 1.350565] registered taskstats version 1
[ 1.355292] Detected MACID=d4:94:a1:3a:f8:88
[ 1.360685] omap_rtc omap_rtc: setting system clock to 2000-01-01 00:00:00 UTC (946684800)
[ 1.369953] Waiting for root device /dev/mmcblk0p2...
[ 1.455300] mmc0: host does not support reading read-only switch. assuming write-enable.
[ 1.463919] mmc0: new SD card at address 8fe4
[ 1.469167] mmcblk0: mmc0:8fe4 SU02G 1.84 GiB
[ 1.476712] mmcblk0: p1 p2
[ 1.488234] EXT4-fs (mmcblk0p2): INFO: recovery required on readonly filesystem
[ 1.495989] EXT4-fs (mmcblk0p2): write access will be enabled during recovery
[ 4.074546] EXT4-fs (mmcblk0p2): recovery complete
[ 4.322777] EXT4-fs (mmcblk0p2): mounted filesystem with ordered data mode. Opts: (null)
[ 4.331395] VFS: Mounted root (ext4 filesystem) readonly on device 179:2.
[ 4.342651] devtmpfs: mounted
[ 4.346231] Freeing init memory: 208K
>[ 4.665983] systemd[1]: systemd 37 running in system mode. (+PAM +LIBWRAP -AUDIT -SELINUX +SYSVINIT -LIBCRYPTSETUP; angstrom)
[ 4.793842] NET: Registered protocol family 10
>[ 4.802675] systemd[1]: Set hostname to <beaglebone>.
>[ 5.267659] udevd[58]: starting version 175
>[ 5.686306] systemd-fsck[70]: Angstrom: clean, 4059/116160 files, 25606/463876 blocks
[ 5.753118] EXT4-fs (mmcblk0p2): re-mounted. Opts: (null)
[ 6.898153]
[ 6.898164] CPSW phy found : id is : 0x7c0f1
[ 6.904979] PHY 0:01 not found
[ 6.910750] ADDRCONF(NETDEV_UP): eth0: link is not ready
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Hozzászólások
Kivagott/kibelezett/leselejtezett Androidos telefon nem lenne jobb? En azzal terveztem hasonlo kutyu epiteset. Van rendes API, tobbe-kevesbe normalis magasszintu nyelv (esetleg NDK, bar te epp szereted a Javat), beepitett GPS, gyorsulasmero, kamera, kommunikaciohoz/taviranyitashoz izles szerint BT/WiFi/mobilnet (vagy kap egy SMS-t benne felsorolva a waypointok koordinatait), memoria, hattertar, kb. minden elerheto.
Jol emlekszem, hogy van egy regi Hero-d?
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igen, van egy regi herom, es en is elgondolkoztam ezen, azonban onnan a motorvezerlest nehez lesz megoldani GPIO portok nelkul, nem?
PWM-et kene tudnia.
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Hozzakotsz egy uC-t, 1 (vagy 2) labon adod neki a parancsokat hogy melyik labat hogy emelgesse, a tobbi laba meg szabadon maradhat (programozhato GPIO). A sebessege nem fontos, labszam (2 motornal) szinten nem kritikus.
A telefonon nincs GPIO, hangkimenete viszont van (sztereo). Innentol DTMF kodokkal elfutyulod, hogy mit akarsz. Esetleg valami lassu soros atvitellel, vagy - ha mar stereo - osszekotheted a jobb- es balcsatornat, es azon is kodolhatod valahogy. FM/fazismodulacio szinten lehetseges (bar az a uC oldalrol nehezkesebb).
A lenyeg, hogy a DC komponenst valoszinuleg lenyeli, ezert nem celszeru vegig azonos szinten tartani a jeleket.
Ha valamit vissza akarsz uzenni, mikrofonbemenete is van (ez autonal nem lenyeges).
Ha csak 2 motorod van, PWM helyett valami trukkos analog kapcsolassal egy sima erosites utan is rakotheted a motorokat a 2 csatornadra, akkor meg uC sem kell.
Ha a hang nem tetszik, BT nem tudom mennyire bonyolult uC oldalrol, de az is megoldhato (bar par centire felesleges). USB szinten van rajta, de ez is nehezkes.
Ha felaldozhato a telefon, valoszinuleg talalsz belul szabad (vagy szabadda teheto) soros csatornat. GPS peldaul tipikusan sorosan jon be NMEA-n, de valoszinunek tartom, hogy nem csak egy portja van.
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tul maceras. :-)
beagle + GPS mar mukdik, a motorvezerlo aramkort megepitettem multkor, lenyegeben csak a PWM marad meg, meg a navigalo szoftver. ennyi. ezen is tudok Javat futtatni ;)
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Mondjuk most, hogy megvetted/osszeraktad azt, mar mindegy.
Csak ugye a GPS nem garantalja, hogy rajtamaradj az uton (foleg magas hazak mellett nagy az elteres), es ha kellene egy kis kameras rasegites, akkor megint uj HW kell. Tavvezerles megint macerasabb/uj HW (raadasul a mobilnet sokkal messzebbre elvisz, mint egy egyszeru R/C).
Amugy jol latom, hogy a PWM ugy kb. 10 sor kodbol megvan tetszoleges nyelven? Szoval gyakorlatilag keszen vagy. :)
Marmint a navigaciot kiveve. Persze kerdes, hogy mennyire akarod tulbonyolitani. Eleg egy egyszeru lat0/lon0->lat1/lon1, vagy irni akarsz hozza egy iGOt? :)
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eleg az egyszeru. robotika orara lesz, semmi mas celom nincs ezzel a projekttel most. a nagy hazak se erdekesek, az egyetem mellett lesz csak hasznalva, meg itt nalunk, de ez megint kert.
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