jeudi 14 novembre 2013

Drone

http://gauth.fr/2011/09/introduction-to-the-ar-drone-sdk/
https://ffmpeg.org/trac/ffmpeg/wiki/UbuntuCompilationGuide

Navdata for flight demonstrations =====================
Control state : 0 mV 0.000  [vY] 0.000  [vZPsi] 0.000
Control state : 131072] 0.000  [Phi] 0.000  [Psi] 0.000
Battery level : 61 mVa] 0.000  [Phi] 0.000  [Psi] 0.000
Orientation   : [Theta] 3276.000  [Phi] -2533.000  [Psi] 8627.000
Altitude      : 218] 0.000  [vY] 0.000  [vZPsi] 0.000
Speed         : [vX] 3276.000  [vY] -2533.000  [vZPsi] 8627.000

mardi 5 novembre 2013

eibd

eibd

Install bug
checking for GNU Pth... *FAILED*
 +------------------------------------------------------------------------+
 | Found pthsem 2.0.8 under /usr/local, but
 | was unable to perform a sanity execution check. This usually
 | means that the pthsem shared library libpthsem.so is present
 | but $LD_LIBRARY_PATH is incomplete to execute a Pth test.
 | In this case either disable this test via --without-pth-test,
 | or extend $LD_LIBRARY_PATH, or build pthsem as a static
 | library only via its --disable-shared Autoconf option.
 | We used the following build environment:
 |    CC="gcc"
 |    CFLAGS="-g -O2 -I/usr/local/include"
 |    LDFLAGS=" -L/usr/local/lib"
 |    LIBS=" -lpthsem"
 | See config.log for possibly more details.
 +------------------------------------------------------------------------+

pi@raspberrypi ~ $ sudo findknxusb 
Possible addresses for KNX USB devices:
device: 1:4:1:0:0 (Merten GmbH & Co. KG:KNX-USB Data Interface)


eibd --help
Usage: eibd [OPTION...] URL
eibd -- a commonication stack for EIB
(C) 2005-2011 Martin Koegler <mkoegler@auto.tuwien.ac.at>
supported URLs are:
ft12:/dev/ttySx
ipt:router-ip[:dest-port[:src-port[:nat-ip[:data-port]]]]]
iptn:router-ip[:dest-port[:src-port]]
usb:[bus[:device[:config[:interface]]]]

ft12 connects over a serial line without any driver with the FT1.2 Protocol to
a BCU 2

ipt connects with the EIBnet/IP Tunneling protocol over an EIBnet/IP gateway.
The gateway must be so configured, that it routes the necessary addresses

iptn connects with the EIBnet/IP Tunneling protocol over an EIBnet/IP gateway
using the NAT mode

usb connects over a KNX USB interface



  -c, --GroupCache           enable caching of group communication network
                             state
  -d, --daemon[=FILE]        start the programm as daemon, the output will be
                             written to FILE, if the argument present
  -D, --Discovery            enable the EIBnet/IP server to answer discovery
                             and description requests (SEARCH, DESCRIPTION)
  -e, --eibaddr=EIBADDR      set our own EIB-address to EIBADDR (default
                             0.0.1), for drivers, which need an address
  -f, --error=LEVEL          set error level
  -i, --listen-tcp[=PORT]    listen at TCP port PORT (default 6720)
      --no-tunnel-client-queuing   do not assume KNXnet/IP Tunneling bus
                             interface can handle parallel cEMI requests
  -p, --pid-file=FILE        write the PID of the process to FILE
  -R, --Routing              enable EIBnet/IP Routing in the EIBnet/IP server
  -S, --Server[=ip[:port]]   starts the EIBnet/IP server part
  -t, --trace=LEVEL          set trace level
  -T, --Tunnelling           enable EIBnet/IP Tunneling in the EIBnet/IP
                             server
  -u, --listen-local[=FILE]  listen at Unix domain socket FILE (default
                             /tmp/eib)
  -?, --help                 Give this help list
      --usage                Give a short usage message
  -V, --version              Print program version

Mandatory or optional arguments to long options are also mandatory or optional
for any corresponding short options.


pi@raspberrypi ~ $ sudo eibd --trace=1 -u usb:1:4:1:0
W00000001: EIBD should not run as root
Layer 0(014ABF98,527910F5) StartRecv
Layer 0(014ABF98,527910F5) Send(064): 01 13 09 00 08 00 01 0F 01 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
Layer 0(014ABF98,527910F5) StartSend
Layer 0(014ABF98,527910F5) SendComplete 64
Layer 0(014ABF98,527910F5) RecvComplete 64
Layer 0(014ABF98,527910F5) RecvUSB(064): 01 13 0B 00 08 00 03 0F 02 00 00 01 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
Layer 0(014ABF98,527910F5) StartRecv
Layer 0(014ABF98,527910F5) Send(064): 01 13 0A 00 08 00 02 0F 03 00 00 05 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
Layer 0(014ABF98,527910F5) StartSend
Layer 0(014AC820,527910F5) Send-EMI(005): 46 01 00 60 12
Layer 0(014ABF98,527910F5) SendComplete 64
Layer 0(014ABF98,527910F5) Send(064): 01 13 0D 00 08 00 05 01 01 00 00 46 01 00 60 12 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
Layer 0(014ABF98,527910F5) StartSend
Layer 0(014ABF98,527910F5) SendComplete 64
^CLayer 0(014AC820,527910FF) Send-EMI(005): 46 01 00 60 C0
Layer 0(014ABF98,527910FF) Send(064): 01 13 0D 00 08 00 05 01 01 00 00 46 01 00 60 C0 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
Layer 0(014ABF98,527910FF) StartSend
Layer 0(014ABF98,527910FF) SendComplete 64

sudo eibd -d -D -i -S -T usb:1:4:1:0:0
pi@raspberrypi ~ $ groupswrite ip:127.0.0.1 0/0/1 0
Send request
pi@raspberrypi ~ $ groupswrite ip:127.0.0.1 0/0/1 1
Send request
pi@raspberrypi ~ $ groupswrite ip:127.0.0.1 0/0/1 0
Send request