reame.txt

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY without ev

--------------------------------------------------------------------------------

Copyright (c) 2003, Tony Cureington
This is Free Software with ABSOLUTELY NO WARRANTY. You are welcome to
redistribute it under the terms of the GNU General Public License, see the
file COPYING for details.

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Waldo V1.0

Table of Contents
=================
What is Waldo?
Parts Used
Software Used
Installing & Configuring Waldo
Configuration File Changes
Servo Connections
Downloading Board Firmware
Connecting the Camera
Up and Running
Getting Help


What is Waldo?
--------------
This example was used at LinuxWorld (New York 2003) as part of an
HP ProLiant Gigabit network teaming demonstration using the Linux Bonding
driver.

This is an end-to-end example using a DeVaSys I2C/IO 
(www.devasys.com/usbi2cio.htm) board. The USB board controls two servos, one 
for horizontal movement and the other for vertical movement. A web interface 
allows horizontal, vertical, and diagonal camera movement - remotely. Thats 
right, the USB board and camera can be connected to a machine at another 
location and be controlled remotely. All the source code is there for you 
to review and modify.

You can find step-by-step pictures of how the device was built at
http://ezusb2131.sourceforge.net/waldo.html.


Parts Used
----------
     DeVaSys I2C/IO USB board
     Lego MindStorms Vision Command
     Lego Creator set (model 4120)
     JB Weld epoxy
     SuperLock (velcro) (Radio Shack Cat# 64-2360)
     Crochet needle (aluminum size US:7)
     Two Futaba FP-S148 servos
     Five volt power supply (to power servos)

and of course a static strap.


Software Used
-------------
The software below must be installed on your system before continuing.
Refer to each packages documentation for instructions. Specific changes
to configuration files will be provided later in this document.

     Apache v2.0.40
     Camserv v0.5.1, http://cserv.sourceforge.net
     QuickCam Express v0.40c, http://qce-ga.sourceforge.net
     SDCC v2.3.0, http://sdcc.sourceforge.net
     And of course Ezusb2131 v1.0, http://ezusb2131.sourceforge.net
     Mozilla, v5.0
     
Mozilla is required for the web interface, Netscape will not work - or at
least the version I had didn't because it didn't support "mouse up". 
A distribution with a 2.4.18 kernel was used.


Installing & Configuring Waldo
------------------------------

Download the Ezusb2131 source from http://ezusb2131.sourceforge.net.
Extract it in your home directory (all steps below will assume the
source has been extracted in your home directory). 

     cp /usr/local/share/camserv/camserv.cfg ~/.camserv
     cd ~/Ezusb2131/Examples/Waldo
     make
     ln -s ~/Ezusb2131/Examples/Waldo/Gui ~/public_html 

You may want to adjust the permissions below depending on secure/private
you want to keep your directory from others...

     chmod go+x ~/.
     chmod go+x ~/Ezusb2131
     chmod go+x ~/Ezusb2131/Examples
     chmod go+x ~/Ezusb2131/Examples/Waldo
     chmod go+rx ~/Ezusb2131/Examples/Waldo/Gui
     chmod go+r  ~/Ezusb2131/Examples/Waldo/Gui/index.php
     chmod go+r  ~/Ezusb2131/Examples/Waldo/Gui/cam_box.png
     chmod go+rx ~/Ezusb2131/Examples/Waldo/Gui/cgi-bin
     chmod ugo+rx ~/Ezusb2131/Examples/Waldo/Gui/cgi-bin/move_cam.pl

If Perl is not located at /usr/bin/perl, you must change the location
in ~/Ezusb2131/Examples/Waldo/Gui/cgi-bin/move_cam.pl.

The cam_control program must be able to write to /proc/bus/usb, so
set the set user ID bit to allow this.

     su
     chown root   ~/Ezusb2131/Examples/Waldo/Gui/cgi-bin/cam_control
     chmod 4711   ~/Ezusb2131/Examples/Waldo/Gui/cgi-bin/cam_control
     exit


Configuration File Changes
--------------------------
Changes were made to the following files, your httpd.conf may be different
depending on your distribution.

     ~/Ezusb2131/Examples/Waldo/Gui/index.php
     /etc/httpd/conf/httpd.conf
     ~/.camserv


In ~/Ezusb2131/Examples/Waldo/Gui/index.php change "flux" to the name
of the machine the camera is attached to. This could be "localhost"
if you are running everything locally - otherwise it must be the
machine name the camera is connected to.


I made the following changes in /etc/httpd/conf/httpd.conf,

     change
          ServerName localhost
     to
          ServerName flux
     where "flux" is the name of your machine

     change
          UserDir disable
     to
          UserDir public_html

     find the "#<Directory /home/*/public_html>" config segment and 
     add the following lines after the commented section

          <Directory /home/*/public_html>
              AllowOverride FileInfo AuthConfig Limit
              Options MultiViews Indexes SymLinksIfOwnerMatch ExecCGI
              <Limit GET POST OPTIONS>
                  Order allow,deny
                  Allow from all
              </Limit>
              <LimitExcept GET POST OPTIONS>
                  Order deny,allow
                  Deny from all
              </LimitExcept>
          </Directory>


     find the "DirectoryIndex" config segment and add the following
     line after the commented section

          DirectoryIndex index.php index.html index.html.var


     find the "AddHandler" config segment and add the following lines
     after the commented section

          AddHandler cgi-script .cgi
          AddHandler cgi-script .pl


I made the following changes in ~/.camserv,

     change
          device_path   /dev/video1
     to
          device_path   /dev/video0

     change
          quality               30
     to
          quality               80

     change
          num_filters           2
          filter0_section       time_stamp
          filter1_section       jpg_filter
     to
          num_filters           1
          filter0_section       jpg_filter

     change
          video_section         video_basic
     to
          video_section         video_v4l_qcam


Servo Connections
-----------------
The PB3 port controls the horizontal servo and PB4 controls the
vertical servo. Pin 1 of J1 is used as a common ground for the
servos. Refer to http://ezusb2131.sourceforge.net/images/waldo_side.jpg
and http://ezusb2131.sourceforge.net/images/waldo_complete.jpg for
good connection references. Futaba FP-S148 servos were used.


Downloading Board Firmware
--------------------------
Download the ~/Ezusb2131/Examples/Waldo/cam_control_fw.ihx to the
attached EZ-USB board. Refer to the ~/Ezusb2131/README file for
instructions on loading the ezusb2131 driver and downloading the
firmware.

After the firmware is loaded issue the following command to get
information from the board:

     ~/Ezusb2131/Examples/Waldo/Gui/cgi-bin/cam_control -i

You should get something like:

     :
     X_Coord = 0
     Y_Coord = 0
     X_Coord_Final = 0
     Y_Coord_Final = 0

This info is from the board, you should notice the Status LED blink
when you run this command (if using DeVaSys board). If you don't get 
the info above, make sure that the cam_control program is owned by root 
and has permissions like the following (set user ID):

     1831678 -rwsr-xr-x    1 root     tony    25242 Feb 18 00:38 cam_control

If that checks out, look at the last few lines in /var/log/messages
to see if the board was downloaded. You should see something like:

     ezusb2131: found ezusb venid 0x547, prodid 0x2131 interface_num:0
     ezusb2131: ready for download from /proc/ezusb/dev0
     /etc/hotplug/usb.agent: Setup ezusb2131 for USB product 547/2131/4
     ezusb2131: download started for /proc/ezusb/dev0
     ezusb2131: downloaded 5005 bytes to /proc/ezusb/dev0, re-enumerating
     usb.c: USB disconnect on device 12
     ezusb2131: /proc/ezusb/dev0 disconnected
     hub.c: USB new device connect on bus1/1/1, assigned device number 13
     usb.c: USB device 13 (vend/prod 0x547/0xcccc) is not claimed by any 
     active driver.
     /etc/hotplug/usb.agent: ... no modules for USB product 547/cccc/1

The product 547/cccc is Waldo (CamControl), it won't be claimed by
any driver.

You can move the camera using cam_control from the command line as follows

     ~/Ezusb2131/Examples/Waldo/Gui/cgi-bin/cam_control -y 10
     ~/Ezusb2131/Examples/Waldo/Gui/cgi-bin/cam_control -x -15
     ~/Ezusb2131/Examples/Waldo/Gui/cgi-bin/cam_control -c
     ~/Ezusb2131/Examples/Waldo/Gui/cgi-bin/cam_control -i

The above is a good way to debug and track down problems in the 
setup. Let me repeat that, the above is a good way to debug and 
track down problems in the setup. ;-)


Connecting the Camera
---------------------
Here is what I did to get the camera (QuickCam Express) going.
Download Quickcam Express from http://qce-ga.sourceforge.net and
extract the source.

The makefile expects /usr/src/linux to point to the current kernel
source. if /usr/src/linux does not exist, create a link as shown
below.

   su
   ln -s /usr/src/linux-2.4 /usr/src/linux
   exit

Build and install the QuickCam Express Driver per the instructions
in the README that comes with the driver. 

NOTE: the "make install" may give a "depmod" error, that is OK just
      run it from the command line "/sbin/depmod -a" as root.

Run the script to load the driver ./quickcam.sh. You'll probably
want to put this in a startup script, or you'll need to run it
by hand every time the machine is rebooted.

     su
     ./quickcam.sh
     exit

Now attach USB camera and you should see the following messages in
/var/log/message - I usually start another window and, as root,
enter "tail -f /var/log/messages" to see what is going on.

     Linux video capture interface: v1.00
     usb-uhci.c: $Revision: 1.1 $ time 22:59:22 Feb 11 2003
     usb-uhci.c: High bandwidth mode enabled
     usb-uhci.c: v1.275:USB Universal Host Controller Interface driver
     uhci.c: USB Universal Host Controller Interface driver v1.1
     usb.c: registered new driver quickcam
     hub.c: USB new device connect on bus1/2/4, assigned device number 7
     USB Quickcam Class ff SubClass ff idVendor 46d idProduct 840
     USB Quickcam camera found using: $Id: quickcam.c,v 
                  1.102 2002/03/25 22:22:34 jfclere Exp $
     quickcam: probe of HDCS1000 sensor = 08 02 id: 08
     quickcam: HDCS1000 sensor detected
     /etc/hotplug/usb.agent: ... no modules for USB product 46d/840/100
     quickcam: warning -> frame overflow (21)


Up and Running
--------------
Start httpd, or restart it if it is already running
     su
     /etc/init.d/httpd restart
     exit

NOTE: You will need to start httpd each time you reboot if it is not
      configured to start automatically.

NOTE: If you remove ~/Ezusb2131/Examples/Waldo/Gui/cgi-bin/cam_control
      (or run "make clean"), you will need to change the owner to root 
      and set the user ID bit as previously done using:

           su
           chown root   ~/Ezusb2131/Examples/Waldo/Gui/cgi-bin/cam_control
           chmod 4711   ~/Ezusb2131/Examples/Waldo/Gui/cgi-bin/cam_control
           exit

Bring up Mozilla
     mozilla &

In the URL box type http://localhost/~your_usr_id, where localhost is
the name of your machine and your_user_id is your user id. For example,
I would enter http://flux/~tonycu on my machine to bring up the interface.

Put the mouse pointer over a section of the box below the camera image, and
press the left mouse button down continuously (hold the mouse button down) 
to move in the direction. Press the upper right corner and the camera should 
move diagonally. Press the center (blue box) and the camera should move to 
the center location.

The firmware limits the movement plus or minus twenty degrees vertical and
plus or minus forty-five degrees horizontal. This can be changed in the
cam_common.h header file - I put the limit there due to the length
of the cables and weight of the camera.

You should always return the camera to the center position before turning
the power to the servos off or re-downloading the board, otherwise the servos
will snap the camera back to center when it is downloaded or powered up.


Getting Help
------------
First go to http://sourceforge.net/mailarchive/forum.php?forum_id=9578
and see if the question has been previously asked - and possibly
answered.

If you don't see a solution, go to 
http://lists.sourceforge.net/lists/listinfo/ezusb2131-users
and follow the steps for posting a question to the list. To
reduce spam, you must subscribe to the list first - you can
always un-subscribe after you've gotten your answer.