Overo Extension - Revision history

WikiSysop at 12:02, 22 April 2026

2026-04-22T12:02:41Z

← Older revision		Revision as of 12:02, 22 April 2026
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	=Introduction=		=Introduction=
	~~<span class="plainlinks">~~[~~https~~:~~//www.gctronic.com/doc/images/~~Ext+robot1.jpg ~~<img width=200 src="https://www.gctronic.com/doc/images/Ext+robot1.jpg">~~]~~</span>~~ <br/>		[[File:Ext+robot1.jpg\|200px]]<br/>
	This introductory section explains the minimal procedures needed to work with the Gumstix Overo computer-on-module (COM) mounted on the e-puck extension board and gives a general overview of the available demos and scripts shipped with the micro sd. You can also refer to [https://projects.gctronic.com/Gumstix/extension-instructions.pdf extension-instructions] that is a document containing the most important information in order to start working with the extension. The extension is mostly an interface between the e-puck robot and the Gumstix Overo COM.		This introductory section explains the minimal procedures needed to work with the Gumstix Overo computer-on-module (COM) mounted on the e-puck extension board and gives a general overview of the available demos and scripts shipped with the micro sd. You can also refer to [https://projects.gctronic.com/Gumstix/extension-instructions.pdf extension-instructions] that is a document containing the most important information in order to start working with the extension. The extension is mostly an interface between the e-puck robot and the Gumstix Overo COM.

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	=Hardware=		=Hardware=
	The following figure shows the main components offered by the e-puck extension for the Gumstix Overo COM and their interconnection with the e-puck robot and the Gumstix Overo COM.<br/>		The following figure shows the main components offered by the e-puck extension for the Gumstix Overo COM and their interconnection with the e-puck robot and the Gumstix Overo COM.<br/>
	~~<span class="plainlinks">~~[~~https~~:~~//www.gctronic.com/doc/images/~~Gumstix-schema.jpg ~~<img width=600 src="https://www.gctronic.com/doc/images/Gumstix-schema.jpg">~~]~~</span>~~ <br/>		[[File:Gumstix-schema.jpg\|600px]]<br/>
	In particular there are:		In particular there are:
	* a Gumstix Overo COMs: compatible with all Gumstix Overo COM models. The communication between the Gumstix Overo COM (OMAP 35xx) and the e-puck (dsPIC) is handled with a serial line at 230400 baud		* a Gumstix Overo COMs: compatible with all Gumstix Overo COM models. The communication between the Gumstix Overo COM (OMAP 35xx) and the e-puck (dsPIC) is handled with a serial line at 230400 baud
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	The following figure illustrates where the components are physically placed on the e-puck extension board for the Gumstix Overo COM. <br/>		The following figure illustrates where the components are physically placed on the e-puck extension board for the Gumstix Overo COM. <br/>
	~~<span class="plainlinks">~~[~~https~~:~~//www.gctronic.com/doc/images/~~Gumstix-schema2.jpg ~~<img width=600 src="https://www.gctronic.com/doc/images/Gumstix-schema2.jpg">~~]~~</span>~~ <br/>		[[File:Gumstix-schema2.jpg\|600px]]<br/>

	==Electrical schema==		==Electrical schema==
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	==Long range proximity sensors==		==Long range proximity sensors==
	The following chart illustrates the long range proximity sensors response towards a white surface. These results should be considered indicative.<br/>		The following chart illustrates the long range proximity sensors response towards a white surface. These results should be considered indicative.<br/>
	~~<span class="plainlinks">~~[~~https~~:~~//www.gctronic.com/doc/images/~~IR-characterization.jpg ~~<img width=400 src="https://www.gctronic.com/doc/images/IR-characterization.jpg">~~]</~~span~~>		[[File:IR-characterization.jpg\|400px]]<br/>

	A zoom in the bigger distances shows that the values returned from the sensors are still usable to react to obstacles.		A zoom in the bigger distances shows that the values returned from the sensors are still usable to react to obstacles.
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	# type <code>ifconfig wlanX up</code> (where X is a number) to turn on the device; now the wifi can be configured and used normally		# type <code>ifconfig wlanX up</code> (where X is a number) to turn on the device; now the wifi can be configured and used normally
	The following figures show how the device is mounted on the extension: on the left the WiFi dongle is connected to the USB HOST connector (pay attention to the position on the connector), on the right the WiFi dongle is connected to the USB OTG (this is needed when using an [https://www.gctronic.com/doc/index.php/Omnivision_Module_V2 omnivsion extension]):<br/>		The following figures show how the device is mounted on the extension: on the left the WiFi dongle is connected to the USB HOST connector (pay attention to the position on the connector), on the right the WiFi dongle is connected to the USB OTG (this is needed when using an [https://www.gctronic.com/doc/index.php/Omnivision_Module_V2 omnivsion extension]):<br/>
	~~<span class="plainlinks">~~[~~https~~:~~//www.gctronic.com/doc/images/~~Gumstix-nano-wifi.jpg ~~<img width=400 src="https://www.gctronic.com/doc/images/Gumstix-nano-wifi.jpg">~~]~~</span>~~		[[File:Gumstix-nano-wifi.jpg\|400px]] [[File:edimax-otg.jpg\|350px]]<br/>
	~~<span class="plainlinks">~~[~~https~~:~~//www.gctronic.com/doc/images/~~edimax-otg.jpg ~~<img width=350 src="https://www.gctronic.com/doc/images/edimax-otg-small.jpg">~~]~~</span>~~ <br/>

	==Consumption==		==Consumption==
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	==External power==		==External power==
	In the package you'll find also an external power adapter that will be useful during development of your applications. As power supply you could use the one of the e-puck battery charger. The following figure shows the power supply cable, the external power cable and the extension.<br/>		In the package you'll find also an external power adapter that will be useful during development of your applications. As power supply you could use the one of the e-puck battery charger. The following figure shows the power supply cable, the external power cable and the extension.<br/>
	~~<span class="plainlinks">~~[~~https~~:~~//www.gctronic.com/doc/images/~~External-power.jpg ~~<img width=400 src="https://www.gctronic.com/doc/images/External-power.jpg">~~]~~</span>~~ <br/>		[[File:External-power.jpg\|400px]]<br/>
	You need to simply attach the power supply in one side, and the other side of the external power cable on top of the extension (near the USB plug). Once the cable is connected a green led should turn on indicating that the extension is running. <br/>		You need to simply attach the power supply in one side, and the other side of the external power cable on top of the extension (near the USB plug). Once the cable is connected a green led should turn on indicating that the extension is running. <br/>
	~~<span class="plainlinks">~~[~~https~~:~~//www.gctronic.com/doc/images/~~External-power-attached.jpg ~~<img width=400 src="https://www.gctronic.com/doc/images/External-power-attached.jpg">~~]~~</span>~~ <br/>		[[File:External-power-attached.jpg\|400px]]<br/>
	The external power cable could also be plugged in when the extension is mounted on the e-puck, but '''<font style="color:red"> pay attention to not turn on the robot when the external cable supplies the energy, otherwise there could be serious damages of the devices and the battery</font>'''.		The external power cable could also be plugged in when the extension is mounted on the e-puck, but '''<font style="color:red"> pay attention to not turn on the robot when the external cable supplies the energy, otherwise there could be serious damages of the devices and the battery</font>'''.

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	The Open Computer Vision Library has more than 500 algorithms, documentation and sample code for real time computer vision; you can download it from [https://sourceforge.net/projects/opencvlibrary/ https://sourceforge.net/projects/opencvlibrary/], and find information about it from the official wiki [https://docs.opencv.org/index.html https://docs.opencv.org/index.html]. <br/>		The Open Computer Vision Library has more than 500 algorithms, documentation and sample code for real time computer vision; you can download it from [https://sourceforge.net/projects/opencvlibrary/ https://sourceforge.net/projects/opencvlibrary/], and find information about it from the official wiki [https://docs.opencv.org/index.html https://docs.opencv.org/index.html]. <br/>
	The released system comes with OpenCV version 2.0.0 pre-installed and a demo that shows an example of what can be performed with this library. The demo let the robot follow a black filled circle placed in front of it; if the circle is moved right or left the robot turns consequently. The following figure shows an example of the circle detected by the robot:<br/>		The released system comes with OpenCV version 2.0.0 pre-installed and a demo that shows an example of what can be performed with this library. The demo let the robot follow a black filled circle placed in front of it; if the circle is moved right or left the robot turns consequently. The following figure shows an example of the circle detected by the robot:<br/>
	~~<span class="plainlinks">~~[~~https~~:~~//www.gctronic.com/doc/images/~~circle-detection.jpg ~~<img width=200 src="https://www.gctronic.com/doc/images/circle-detection.jpg">~~]~~</span>~~ <br/>		[[File:circle-detection.jpg\|200px]]<br/>
	In order to start the demo follows these steps:		In order to start the demo follows these steps:
	# turn on the robot with the gumstix extension and login as ''root'' with password ''root''		# turn on the robot with the gumstix extension and login as ''root'' with password ''root''
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	The values of the accelerometer and gyroscope read from the gumstix through the I2C are 16 bits (1g = 16384); beware that regarding the accelerometer values there is a mismatch between the values read from the gumstix through I2C and the values read from the [{{fullurl:Advanced sercom protocol}} advanced sercom protocol] through Bluetooth, the latter are converted in the firmware to maintain compatibility with older e-puck hardware revisions.<br/>		The values of the accelerometer and gyroscope read from the gumstix through the I2C are 16 bits (1g = 16384); beware that regarding the accelerometer values there is a mismatch between the values read from the gumstix through I2C and the values read from the [{{fullurl:Advanced sercom protocol}} advanced sercom protocol] through Bluetooth, the latter are converted in the firmware to maintain compatibility with older e-puck hardware revisions.<br/>
	The orientation of the accelerometer for the values read from the gumstix through the I2C is also different from the one used in the e-puck firmware; the orientation is shown below, the x axis points forward, the y axis points left and the z axis points upward:<br/>		The orientation of the accelerometer for the values read from the gumstix through the I2C is also different from the one used in the e-puck firmware; the orientation is shown below, the x axis points forward, the y axis points left and the z axis points upward:<br/>
	~~<span class="plainlinks">~~[~~https~~:~~//www.gctronic.com/doc/images/~~epuck-acc-directions1.3.png ~~<img width=150 src="https://www.gctronic.com/doc/images/epuck-acc-directions1.3.png">~~]~~</span>~~<br/>		[[File:epuck-acc-directions1.3.png\|150px]]<br/>
	===Python===		===Python===
	An example in python is available from the following link [https://projects.gctronic.com/Gumstix/i2c_lsm330.py i2c_lsm330.py]. In order to run the script, some additional dependencies need to be installed in the system, follow these steps:		An example in python is available from the following link [https://projects.gctronic.com/Gumstix/i2c_lsm330.py i2c_lsm330.py]. In order to run the script, some additional dependencies need to be installed in the system, follow these steps:

WikiSysop at 11:50, 27 January 2023

2023-01-27T11:50:03Z

Show changes

WikiSysop at 07:53, 29 September 2021

2021-09-29T07:53:01Z

Show changes

WikiSysop: /* Firmware */

2019-06-12T13:10:18Z

Firmware

← Older revision		Revision as of 13:10, 12 June 2019
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	** bit1: 0=disable onboard obstacle avoidance; 1=enable onboard obstacle avoidance (not implemented yet)		** bit1: 0=disable onboard obstacle avoidance; 1=enable onboard obstacle avoidance (not implemented yet)
	** bit2: 0=set motors speed; 1=set motors steps (position)		** bit2: 0=set motors speed; 1=set motors steps (position)
			* Checksum: Longitudinal Redundancy Check (XOR of the bytes 0..18)

	Robot to gumstix packet format, 47 bytes payload (the number in the parenthesis expresses the bytes for each field):		Robot to gumstix packet format, 47 bytes payload (the number in the parenthesis expresses the bytes for each field):
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	\|}		\|}
	* Selector + button: selector values represented by 4 least significant bits (bit0, bit1, bit2, bit3); button state is in bit4 (1=pressed, 0=not pressed)		* Selector + button: selector values represented by 4 least significant bits (bit0, bit1, bit2, bit3); button state is in bit4 (1=pressed, 0=not pressed)
			* Checksum: Longitudinal Redundancy Check (XOR of the bytes 0..45)

	===I2C devices===		===I2C devices===

WikiSysop: /* Packet format */

2019-06-07T11:37:27Z

Packet format

← Older revision		Revision as of 11:37, 7 June 2019
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	\| Checksum		\| Checksum
	\|}		\|}
			* Selector + button: selector values represented by 4 least significant bits (bit0, bit1, bit2, bit3); button state is in bit4 (1=pressed, 0=not pressed)

	===I2C devices===		===I2C devices===

WikiSysop: /* Packet format */

2019-06-07T11:35:58Z

Packet format

← Older revision		Revision as of 11:35, 7 June 2019
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	====Packet format====		====Packet format====
	Gumstix to robot packet format, 19 bytes payload (the number in the parenthesis expresses the bytes for each field):		Gumstix to robot packet format, 20 bytes payload (the number in the parenthesis expresses the bytes for each field):
	{\| border="1"		{\| border="1"
	\| Left speed (2)		\| Left speed (2)
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	\| LED6 RGB (3)		\| LED6 RGB (3)
	\| LED8 RGB (3)		\| LED8 RGB (3)
	\| Settings (1)		\| Settings (1)
			\| Checksum (1)
	\|}		\|}
	* Left, right speed: [-2000 ... 2000]		* Left, right speed: [-2000 ... 2000]
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	** bit2: 0=set motors speed; 1=set motors steps (position)		** bit2: 0=set motors speed; 1=set motors steps (position)

	Robot to gumstix packet format, 30 bytes payload (the number in the parenthesis expresses the bytes for each field):		Robot to gumstix packet format, 47 bytes payload (the number in the parenthesis expresses the bytes for each field):
	{\| border="1"		{\| border="1"
	\| 8 x Prox (16)		\| 8 x Prox (16)
			\| 8 x Ambient (16)
	\| 4 x Mic (8)		\| 4 x Mic (8)
	\| Selector (1)		\| Selector + button (1)
	\| Left steps (2)		\| Left steps (2)
	\| Right steps (2)		\| Right steps (2)
	\| TV remote (1)		\| TV remote (1)
			\| Checksum
	\|}		\|}

WikiSysop: /* Packet format */

2019-06-07T11:34:16Z

Packet format

← Older revision		Revision as of 11:34, 7 June 2019
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	\| LED6 RGB (3)		\| LED6 RGB (3)
	\| LED8 RGB (3)		\| LED8 RGB (3)
	\| ~~Additional~~ (1)		\| Settings (1)
	\|}		\|}
	* Left, right speed: [-2000 ... 2000]		* Left, right speed: [-2000 ... 2000]
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	* LEDs on/off flag: bit0 for LED1, bit1 for LED3, bit2 for LED5, bit3 for LED7		* LEDs on/off flag: bit0 for LED1, bit1 for LED3, bit2 for LED5, bit3 for LED7
	* RGB LEDs: [0 (off) ... 100 (max)]		* RGB LEDs: [0 (off) ... 100 (max)]
	* ~~Additional byte for future usage~~		* Settings:
			** bit0: 1=calibrate IR proximity sensors
			** bit1: 0=disable onboard obstacle avoidance; 1=enable onboard obstacle avoidance (not implemented yet)
			** bit2: 0=set motors speed; 1=set motors steps (position)

	Robot to gumstix packet format, 30 bytes payload (the number in the parenthesis expresses the bytes for each field):		Robot to gumstix packet format, 30 bytes payload (the number in the parenthesis expresses the bytes for each field):

WikiSysop: /* Firmware */

2019-06-07T11:28:52Z

Firmware

← Older revision		Revision as of 11:28, 7 June 2019
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	The selector on the robot must be in position 10. Be sure that the selector on the robot is in position 10, because the selector on the gumstix extension is not connected to the e-puck2 robot.<br/>		The selector on the robot must be in position 10. Be sure that the selector on the robot is in position 10, because the selector on the gumstix extension is not connected to the e-puck2 robot.<br/>

	The pre-compiled firmware can be downloaded from [http://projects.gctronic.com/epuck2/gumstix/e-puck2_main-~~processor_gumstix_b5bb1dc_13~~.12.18.elf e-puck2_main-~~processor_gumstix~~.elf].<br/>		The pre-compiled firmware can be downloaded from [http://projects.gctronic.com/epuck2/gumstix/e-puck2_main-processor_extension_b346841_07.06.19.elf e-puck2_main-processor_extension.elf (07.06.19)].<br/>
	If you want to have a look a the source code, you can clone the git repository by issueing the command <code>git clone -b gumstix --recursive https://github.com/e-puck2/e-puck2_main-processor.git</code>.<br/>		If you want to have a look a the source code, you can clone the git repository by issueing the command <code>git clone -b gumstix --recursive https://github.com/e-puck2/e-puck2_main-processor.git</code>.<br/>

WikiSysop: /* Firmware */

2018-12-13T05:02:09Z

Firmware

← Older revision		Revision as of 05:02, 13 December 2018
Line 584:		Line 584:
	The selector on the robot must be in position 10. Be sure that the selector on the robot is in position 10, because the selector on the gumstix extension is not connected to the e-puck2 robot.<br/>		The selector on the robot must be in position 10. Be sure that the selector on the robot is in position 10, because the selector on the gumstix extension is not connected to the e-puck2 robot.<br/>

	The pre-compiled firmware can be downloaded from [http://projects.gctronic.com/epuck2/gumstix/e-puck2_main-~~processor_gumstix_c35e8da_06~~.11.18.elf e-puck2_main-processor_gumstix.elf].<br/>		The pre-compiled firmware can be downloaded from [http://projects.gctronic.com/epuck2/gumstix/e-puck2_main-processor_gumstix_b5bb1dc_13.12.18.elf e-puck2_main-processor_gumstix.elf].<br/>
	If you want to have a look a the source code, you can clone the git repository by issueing the command <code>git clone -b gumstix --recursive https://github.com/e-puck2/e-puck2_main-processor.git</code>.<br/>		If you want to have a look a the source code, you can clone the git repository by issueing the command <code>git clone -b gumstix --recursive https://github.com/e-puck2/e-puck2_main-processor.git</code>.<br/>

WikiSysop: /* Firmware */

2018-11-06T14:24:12Z

Firmware

← Older revision		Revision as of 14:24, 6 November 2018
Line 584:		Line 584:
	The selector on the robot must be in position 10. Be sure that the selector on the robot is in position 10, because the selector on the gumstix extension is not connected to the e-puck2 robot.<br/>		The selector on the robot must be in position 10. Be sure that the selector on the robot is in position 10, because the selector on the gumstix extension is not connected to the e-puck2 robot.<br/>

	The pre-compiled firmware can be downloaded from [http://projects.gctronic.com/epuck2/gumstix/e-puck2_main-~~processor_gumstix_2c661d7_23~~.07.18.elf e-puck2_main-processor_gumstix.elf].<br/>		The pre-compiled firmware can be downloaded from [http://projects.gctronic.com/epuck2/gumstix/e-puck2_main-processor_gumstix_c35e8da_06.11.18.elf e-puck2_main-processor_gumstix.elf].<br/>
	If you want to have a look a the source code, you can clone the git repository by issueing the command <code>git clone -b gumstix --recursive https://github.com/e-puck2/e-puck2_main-processor.git</code>.<br/>		If you want to have a look a the source code, you can clone the git repository by issueing the command <code>git clone -b gumstix --recursive https://github.com/e-puck2/e-puck2_main-processor.git</code>.<br/>