Noisebridge - User contributions [en]

Autonomous Flying Platform

2009-03-24T02:16:21Z

Nelsonjm: Removed redundant and out of date information and linked to the noisedroid FAQ section on G1 serial cables.

==Overview==

A long desire of mine has been to create an autonomous flying solution. I was initially inspired when I saw a competition with the following specifications:

<ol>
<li>Solution cannot touch the ground</li>
<li>Retrieve a metal ring on the other side of a barrier</li>
<li>Bring it back to its origin and drop it off</li>
</ol>

The autonomous rc helicopter from Stanford won the competition. Blimps were tried but they flew away etc... in the outdoor winds.

==Team Members==

<table border="1">
<tr>
<th>Name</th>
<th>Expertise</th>
<th>Role</th>
<tr>
<tr>
<td>Tim Heath</td>
<td>Software Developer, Project Management</td>
<td>Project Leader/Developer</td>
</tr>
</table>

==Requirements==

<ol>
<li>Use a solution that is modular and used as many off the shelf components for rapid prototyping/solutions</li>
<li>Easy to reprogram and loosely coupled</li>
<li>Easy to interface with external control devices</li>
<li>Navigates in 3d space in an efficient easy way</li>
</ol>

==Design==

I am going to use the G1 cell phone as it is the most modular.

'''G1 Info'''

<table border="1">
<tr>
<th>Property</th>
<th>Value</th>
</tr>
<tr>
<td>Weight</td><td>5.6 ounces</td>
</tr>
<tr>
<td>Size</td><td>4.6 by 2.2 by 0.6 inches</td>
</tr>
<tr>
<td>Memory</td><td>1GB (memory card of up to 8 GB possible)</td>
</tr>
<tr>
<td>Wifi</td><td>Yes</td>
</tr>
<tr>
<td>Bluetooth</td><td>Yes</td>
</tr>
<tr>
<td>USB</td><td>Non host mode but yes</td>
</tr>
<tr>
<td>Serial</td><td>Yes</td>
</tr>
<tr>
<td>Camera</td><td>3 megapixels</td>
</tr>
</table>

==Blimp Size Calculations==

<pre>
air is about 1.2 kg/m^3
helium is about 1/6th of that
6.2 ounces = 175.767043 grams
then you'd need about 175 liters
180 liters = 6.35664001 cubic feet
((6.3566 * 3) / (4 * pi))^(1 / 3) = 1.14915539
a balloon with a diameter of 2.3 ft
</pre>

==Blimps for Purchase We could Use==

http://cgi.ebay.com.sg/52-Mylar-Silver-Blimp-Balloon-Mach-RC-Airship-Blimp_W0QQcmdZViewItemQQitemZ130276783354

I also found out they make latex 3 foot balloons we could use for only 7 dollars that I can pick up locally!

==Serial Connection Information==

<pre>
I am by no means a G1 god or guru. There are better people to ask and I
do hope they'll chime in. I am however linked to that nickname that you
dropped and so I feel compelled to answer. ( And no, I'm not nor have I
ever been, a woman. )

The serial interface you're discussing does indeed exist on the HTC
Dream (G1). I hear it's possible to build a cable that is a mini-usb on
one end and a normal sized usb on the other. Between the two is a usb to
serial device. It's just a nice way to have a set of pin outs and power;
it's otherwise not a special cable.

If you have or build such a cable, you'll then be able to access a few
low level debuggers or boot prompts on the serial port. If you have the
right setup, you should be able to connect the cable, attach to the usb
serial device and set minicom to operate at 115200 8N1 (and with no
software/hardware flow control).

A photo of the mythical cable attached to my G1 is available here:
https://www.noisebridge.net/wiki/Image:G1-two-usb-to-serial-cable.jpg

This is the code for that interface (see the Android source):
/kernel/drivers/serial/msm_serial_debugger.c

From the source you'll see the following commands available when the
phone is booted:
pc
regs
reboot
irqs
kmsg
version
sysrq

If you have the developer or engineering boot loader, you can do more...

You can boot the phone with the camera button held down to access a
serial boot prompt that looks like this:
UART0:Cmd>

So far I've only seen a single command 'set'. I didn't find very much
useful information beyond that for the serial interface to the (first?)
boot loader. Perhaps someone knows more about this? It may prove to be
useful...

Another interesting but unrelated (GSM) test function is available in
the dialer program when the phone is booted by calling this number:
*#*#INFO#*#*

Best,
Jake
</pre>

==Serial Hardware to Interface with G1==

https://noisebridge.net/wiki/Noisedroid/FAQ#USB_to_Serial_interface_with_the_G1

==Helpful Links==

=== Android hacking ===
* https://noisebridge.net/Noisedroid
* http://www.android-unleashed.com/2009/01/root-your-android-g1-with-rc30-firmware.html
* http://forum.xda-developers.com/forumdisplay.php?f=448
* http://andblogs.net/2009/01/new-future-proofed-pre-cupcake-checkout/

=== HTC Pinout/discussions ===
* http://www.tracyandmatt.co.uk/blogs/index.php/2006/09/10/htc_hermes_usb_connector_pin_config
* http://groups.google.com/group/android-platform/browse_thread/thread/f03730e25cc3fe55

=== Open hardware/source DIY drones ===
* http://diydrones.com/
* http://paparazzi.enac.fr/wiki/Main_Page
* http://www.rcguys.com/66blimp.html

===Awsome People===
* Macpod http://macpod.net/

=== HTC 11pin breakout board (save your sanity) ===
* http://www.podgizmo.com/index.php?act=viewProd&productId=30

Noisedroid/FAQ

2009-03-24T02:12:16Z

Nelsonjm: /* USB to Serial interface with the G1 */

== Building ==
* Configure a x86_32 Ubuntu 8.10 or Debian 4.0 host with at least 20GB of disk space.
* download sources according to http://source.android.com/download, install needed packages, etc
* build for Dream (the internal name for G1) according to http://source.android.com/documentation/building-for-dream
** however, you probably want to use an up-to-date kernel branch instead of the the ancient 2.6.25 that the android.com <tt>local_manifest.xml</tt> refers to:
<project path="kernel" name="kernel/msm" revision="refs/heads/android-msm-2.6.27"/>
** this results in a build using a prebuilt <tt>kernel</tt> and <tt>wlan.ko</tt> from <tt>vendor/htc/dream/</tt>.
* after <tt>make</tt> completes you'll have a built tree in <tt>out/target/product/dream</tt>, and you can run
# fastboot flash boot boot.img
# fastboot flash system system.img

Here's what I did to build my own kernel and wlan.ko:
cd mydroid
d=$PWD
First, build the kernel. The <tt>android-msm-2.6.27</tt> branch seems to work just fine. We're building for the <tt>msm</tt> platform using the <tt>mydroid/prebuilt/</tt> 4.2.1 toolchain; the 4.3.1 toolchain doesn't seem to work.
cd kernel
make ARCH=arm CROSS_COMPILE=$d/prebuilt/linux-x86/toolchain/arm-eabi-4.2.1/bin/arm-eabi- msm_defconfig
make ARCH=arm CROSS_COMPILE=$d/prebuilt/linux-x86/toolchain/arm-eabi-4.2.1/bin/arm-eabi-
Once the kernel build completes without errors, we can build the horrifyingly complex TIWLAN driver. We don't need to set CROSS_COMPILE or ARCH, the <tt>system/wlan/ti/Makefile</tt> does that for us, but we do need to add the prebuilt toolchain to $PATH.
cd $d/system/wlan/ti
PATH=$d/prebuilt/linux-x86/toolchain/arm-eabi-4.2.1/bin:$PATH make KERNEL_DIR=$d/kernel
Finally, we can install the results into <tt>out/target/product/dream/</tt> and rebuild <tt>boot.img</tt> (for the new kernel) and <tt>system.img</tt> (for the new wlan.ko). The makefiles don't have correct dependencies for the .img files, so we just delete them and let them get rebuilt.
cd $d
cp kernel/arch/arm/boot/zImage out/target/product/dream/kernel
cp system/wlan/ti/sta_dk_4_0_4_32/wlan.ko out/target/product/dream/system/lib/modules/wlan.ko
rm out/target/product/dream/*.img
make

== Working with the G1 ==
* TODO: how to root a retail G1
* http://www.gotontheinter.net/content/fastboot-cheat-sheet

There are two significant host apps for (ab)using the G1: [http://www.gotontheinter.net/content/fastboot-cheat-sheet fastboot] and [http://developer.android.com/guide/developing/tools/adb.html adb]. Fastboot is used to write over USB to the G1's flash, for example to [http://groups.google.com/group/android-platform/msg/437448ed327a5fbc flash a complete system.img] or [http://www.gotontheinter.net/logo.rle replace the T-Mobile splash screen]. adb gives you access to a debug root shell on the G1 with <tt>adb shell</tt>, and also "syslog" with <tt>adb logcat</tt>.

[[Category:Cellular]]

== USB to Serial interface with the G1 ==
[[Image:G1-two-usb-to-serial-cable.jpg|thumb|G1 USB to Serial interface cable]]

It's possible to create a USB to serial interface cable ([https://noisebridge.net/pipermail/noisebridge-discuss/2009-March/003336.html details here]) to interact with the running phone and the boot loader(s).

According to [http://groups.google.com/group/android-platform/browse_thread/thread/439d3f3af7a88a09/10a80eb835e8dbcc?lnk=gst&q=serial#10a80eb835e8dbcc this android-platform post] the serial port is 115,200 8N1 at 2.8V TTL with the following pinout:
_____________
| A B C D E |
\1 2 3 4 5 6|

A: GND
B: NC
C: +DATA
D: -DATA
E: +5v

1: +Mic
2: +Right
3: Switch / Tx (2.8V, CMOS-TTL Level) / CABLE_IN2
4: GND / Rx (2.8V, CMOS-TTL Level) / CABLE_IN1
5: GND (Serial GND, 0 Ohms resistance between this and pin A)
6: +Left

[http://www.instructables.com/id/Android_G1_Serial_Cable/ How to make a Android G1 Serial to USB Cable]

Noisedroid/FAQ

2009-03-24T02:11:21Z

Nelsonjm: I am 99% sure that pinout was incorrect. Also added a link to instructables on how to make a G1 Serial Cable.

User:Nelsonjm

2009-03-19T03:52:09Z

Nelsonjm: Nothing important here.

Name: Jeffrey Nelson

Contact: nelsonjm@macpod.net

Website: http://macpod.net

Autonomous Flying Platform

2009-03-19T03:48:38Z

Nelsonjm: Added pinout links, updated pinout educated guesses.

==Overview==

A long desire of mine has been to create an autonomous flying solution. I was initially inspired when I saw a competition with the following specifications:

<ol>
<li>Solution cannot touch the ground</li>
<li>Retrieve a metal ring on the other side of a barrier</li>
<li>Bring it back to its origin and drop it off</li>
</ol>

The autonomous rc helicopter from Stanford won the competition. Blimps were tried but they flew away etc... in the outdoor winds.

==Team Members==

<table border="1">
<tr>
<th>Name</th>
<th>Expertise</th>
<th>Role</th>
<tr>
<tr>
<td>Tim Heath</td>
<td>Software Developer, Project Management</td>
<td>Project Leader/Developer</td>
</tr>
</table>

==Requirements==

<ol>
<li>Use a solution that is modular and used as many off the shelf components for rapid prototyping/solutions</li>
<li>Easy to reprogram and loosely coupled</li>
<li>Easy to interface with external control devices</li>
<li>Navigates in 3d space in an efficient easy way</li>
</ol>

==Design==

I am going to use the G1 cell phone as it is the most modular.

'''G1 Info'''

<table border="1">
<tr>
<th>Property</th>
<th>Value</th>
</tr>
<tr>
<td>Weight</td><td>5.6 ounces</td>
</tr>
<tr>
<td>Size</td><td>4.6 by 2.2 by 0.6 inches</td>
</tr>
<tr>
<td>Memory</td><td>1GB (memory card of up to 8 GB possible)</td>
</tr>
<tr>
<td>Wifi</td><td>Yes</td>
</tr>
<tr>
<td>Bluetooth</td><td>Yes</td>
</tr>
<tr>
<td>USB</td><td>Non host mode but yes</td>
</tr>
<tr>
<td>Serial</td><td>Yes</td>
</tr>
<tr>
<td>Camera</td><td>3 megapixels</td>
</tr>
</table>

==Serial Connection Information==

<pre>
I am by no means a G1 god or guru. There are better people to ask and I
do hope they'll chime in. I am however linked to that nickname that you
dropped and so I feel compelled to answer. ( And no, I'm not nor have I
ever been, a woman. )

The serial interface you're discussing does indeed exist on the HTC
Dream (G1). I hear it's possible to build a cable that is a mini-usb on
one end and a normal sized usb on the other. Between the two is a usb to
serial device. It's just a nice way to have a set of pin outs and power;
it's otherwise not a special cable.

If you have or build such a cable, you'll then be able to access a few
low level debuggers or boot prompts on the serial port. If you have the
right setup, you should be able to connect the cable, attach to the usb
serial device and set minicom to operate at 115200 8N1 (and with no
software/hardware flow control).

A photo of the mythical cable attached to my G1 is available here:
https://www.noisebridge.net/wiki/Image:G1-two-usb-to-serial-cable.jpg

This is the code for that interface (see the Android source):
/kernel/drivers/serial/msm_serial_debugger.c

From the source you'll see the following commands available when the
phone is booted:
pc
regs
reboot
irqs
kmsg
version
sysrq

If you have the developer or engineering boot loader, you can do more...

You can boot the phone with the camera button held down to access a
serial boot prompt that looks like this:
UART0:Cmd>

So far I've only seen a single command 'set'. I didn't find very much
useful information beyond that for the serial interface to the (first?)
boot loader. Perhaps someone knows more about this? It may prove to be
useful...

Another interesting but unrelated (GSM) test function is available in
the dialer program when the phone is booted by calling this number:
*#*#INFO#*#*

Best,
Jake
</pre>

==Serial Hardware to Interface with G1==

'''Untested pinout'''

Taken from PodGizmo. See website for their pinout.

# USB VCC +5v
# USB Data -
# USB Data +
# N / C
# USB GND
# Left Audio +
# Labeled "AG"
# Audio - (GND) Labeled "CK"
# Switch (Talk) Labeled "OT"
# Right Audio +
# Mic +
# Chassis Ground (GND)

'''Pinout'''
<pre>
it's muxxed on the headset terminals, i think there's some documentation in the h2w source file in arch-msm
</pre>

* <strike>Picture shows a mini-usb plug going into the G1 indicates only pins 1-5 can be involved. (GND=GND, RX/TX = USB Data +/-)?</strike>. I think it is actually an htc plug.. especially considering the google discussion on UART stuff (and that quote above!) Current <b>guess</b> is GND=(AG or CK), TX=Left channel, RX=Right channel.

==Helpful Links==

=== Android hacking ===
* https://noisebridge.net/Noisedroid
* http://www.android-unleashed.com/2009/01/root-your-android-g1-with-rc30-firmware.html
* http://forum.xda-developers.com/forumdisplay.php?f=448
* http://andblogs.net/2009/01/new-future-proofed-pre-cupcake-checkout/

=== HTC Pinout/discussions ===
* http://www.tracyandmatt.co.uk/blogs/index.php/2006/09/10/htc_hermes_usb_connector_pin_config
* http://groups.google.com/group/android-platform/browse_thread/thread/f03730e25cc3fe55

=== Open hardware/source DIY drones ===
* http://diydrones.com/
* http://paparazzi.enac.fr/wiki/Main_Page
* http://www.rcguys.com/66blimp.html

===Awsome People===
* Macpod http://macpod.net/

=== HTC 11pin breakout board (save your sanity) ===
* http://www.podgizmo.com/index.php?act=viewProd&productId=30

Autonomous Flying Platform

2009-03-18T00:35:27Z

Nelsonjm: Updated notes on likely G1 TTL pinout.

==Overview==

A long desire of mine has been to create an autonomous flying solution. I was initially inspired when I saw a competition with the following specifications:

<ol>
<li>Solution cannot touch the ground</li>
<li>Retrieve a metal ring on the other side of a barrier</li>
<li>Bring it back to its origin and drop it off</li>
</ol>

The autonomous rc helicopter from Stanford won the competition. Blimps were tried but they flew away etc... in the outdoor winds.

==Team Members==

<table border="1">
<tr>
<th>Name</th>
<th>Expertise</th>
<th>Role</th>
<tr>
<tr>
<td>Tim Heath</td>
<td>Software Developer, Project Management</td>
<td>Project Leader/Developer</td>
</tr>
</table>

==Requirements==

<ol>
<li>Use a solution that is modular and used as many off the shelf components for rapid prototyping/solutions</li>
<li>Easy to reprogram and loosely coupled</li>
<li>Easy to interface with external control devices</li>
<li>Navigates in 3d space in an efficient easy way</li>
</ol>

==Design==

I am going to use the G1 cell phone as it is the most modular.

'''G1 Info'''

<table border="1">
<tr>
<th>Property</th>
<th>Value</th>
</tr>
<tr>
<td>Weight</td><td>5.6 ounces</td>
</tr>
<tr>
<td>Size</td><td>4.6 by 2.2 by 0.6 inches</td>
</tr>
<tr>
<td>Memory</td><td>1GB (memory card of up to 8 GB possible)</td>
</tr>
<tr>
<td>Wifi</td><td>Yes</td>
</tr>
<tr>
<td>Bluetooth</td><td>Yes</td>
</tr>
<tr>
<td>USB</td><td>Non host mode but yes</td>
</tr>
<tr>
<td>Serial</td><td>Yes</td>
</tr>
<tr>
<td>Camera</td><td>3 megapixels</td>
</tr>
</table>

==Serial Connection Information==

<pre>
I am by no means a G1 god or guru. There are better people to ask and I
do hope they'll chime in. I am however linked to that nickname that you
dropped and so I feel compelled to answer. ( And no, I'm not nor have I
ever been, a woman. )

The serial interface you're discussing does indeed exist on the HTC
Dream (G1). I hear it's possible to build a cable that is a mini-usb on
one end and a normal sized usb on the other. Between the two is a usb to
serial device. It's just a nice way to have a set of pin outs and power;
it's otherwise not a special cable.

If you have or build such a cable, you'll then be able to access a few
low level debuggers or boot prompts on the serial port. If you have the
right setup, you should be able to connect the cable, attach to the usb
serial device and set minicom to operate at 115200 8N1 (and with no
software/hardware flow control).

A photo of the mythical cable attached to my G1 is available here:
https://www.noisebridge.net/wiki/Image:G1-two-usb-to-serial-cable.jpg

This is the code for that interface (see the Android source):
/kernel/drivers/serial/msm_serial_debugger.c

From the source you'll see the following commands available when the
phone is booted:
pc
regs
reboot
irqs
kmsg
version
sysrq

If you have the developer or engineering boot loader, you can do more...

You can boot the phone with the camera button held down to access a
serial boot prompt that looks like this:
UART0:Cmd>

So far I've only seen a single command 'set'. I didn't find very much
useful information beyond that for the serial interface to the (first?)
boot loader. Perhaps someone knows more about this? It may prove to be
useful...

Another interesting but unrelated (GSM) test function is available in
the dialer program when the phone is booted by calling this number:
*#*#INFO#*#*

Best,
Jake
</pre>

== Untested pinout ==
Taken from PodGizmo

# USB VCC +5v
# USB Data -
# USB Data +
# N / C
# USB GND
# Left Audio +
# Labeled "AG"
# Audio - (GND) Labeled "CK"
# Switch (Talk) Labeled "OT"
# Right Audio +
# Mic +
# Chassis Ground (GND)

== Notes: ==

* Specifying a mini-usb connector indicates only pins 1-5 can be involved. (GND=GND, RX/TX = USB Data +/-)?

==Serial Hardware to Interface with G1==

'''Pinout'''
<pre>
it's muxxed on the headset terminals, i think there's some documentation in the h2w source file in arch-msm
</pre>

==Helpful Links==

=== Android hacking ===
* https://noisebridge.net/Noisedroid
* http://www.android-unleashed.com/2009/01/root-your-android-g1-with-rc30-firmware.html
* http://forum.xda-developers.com/forumdisplay.php?f=448

=== Open hardware/source DIY drones ===
* http://diydrones.com/
* http://paparazzi.enac.fr/wiki/Main_Page

=== HTC 11pin breakout board (save your sanity) ===
* http://www.podgizmo.com/index.php?act=viewProd&productId=30

Autonomous Flying Platform

2009-03-18T00:34:27Z

Nelsonjm: /* Serial Connection Information */

==Overview==

A long desire of mine has been to create an autonomous flying solution. I was initially inspired when I saw a competition with the following specifications:

<ol>
<li>Solution cannot touch the ground</li>
<li>Retrieve a metal ring on the other side of a barrier</li>
<li>Bring it back to its origin and drop it off</li>
</ol>

The autonomous rc helicopter from Stanford won the competition. Blimps were tried but they flew away etc... in the outdoor winds.

==Team Members==

<table border="1">
<tr>
<th>Name</th>
<th>Expertise</th>
<th>Role</th>
<tr>
<tr>
<td>Tim Heath</td>
<td>Software Developer, Project Management</td>
<td>Project Leader/Developer</td>
</tr>
</table>

==Requirements==

<ol>
<li>Use a solution that is modular and used as many off the shelf components for rapid prototyping/solutions</li>
<li>Easy to reprogram and loosely coupled</li>
<li>Easy to interface with external control devices</li>
<li>Navigates in 3d space in an efficient easy way</li>
</ol>

==Design==

I am going to use the G1 cell phone as it is the most modular.

'''G1 Info'''

<table border="1">
<tr>
<th>Property</th>
<th>Value</th>
</tr>
<tr>
<td>Weight</td><td>5.6 ounces</td>
</tr>
<tr>
<td>Size</td><td>4.6 by 2.2 by 0.6 inches</td>
</tr>
<tr>
<td>Memory</td><td>1GB (memory card of up to 8 GB possible)</td>
</tr>
<tr>
<td>Wifi</td><td>Yes</td>
</tr>
<tr>
<td>Bluetooth</td><td>Yes</td>
</tr>
<tr>
<td>USB</td><td>Non host mode but yes</td>
</tr>
<tr>
<td>Serial</td><td>Yes</td>
</tr>
<tr>
<td>Camera</td><td>3 megapixels</td>
</tr>
</table>

==Serial Connection Information==

<pre>
I am by no means a G1 god or guru. There are better people to ask and I
do hope they'll chime in. I am however linked to that nickname that you
dropped and so I feel compelled to answer. ( And no, I'm not nor have I
ever been, a woman. )

The serial interface you're discussing does indeed exist on the HTC
Dream (G1). I hear it's possible to build a cable that is a mini-usb on
one end and a normal sized usb on the other. Between the two is a usb to
serial device. It's just a nice way to have a set of pin outs and power;
it's otherwise not a special cable.

If you have or build such a cable, you'll then be able to access a few
low level debuggers or boot prompts on the serial port. If you have the
right setup, you should be able to connect the cable, attach to the usb
serial device and set minicom to operate at 115200 8N1 (and with no
software/hardware flow control).

A photo of the mythical cable attached to my G1 is available here:
https://www.noisebridge.net/wiki/Image:G1-two-usb-to-serial-cable.jpg

This is the code for that interface (see the Android source):
/kernel/drivers/serial/msm_serial_debugger.c

From the source you'll see the following commands available when the
phone is booted:
pc
regs
reboot
irqs
kmsg
version
sysrq

If you have the developer or engineering boot loader, you can do more...

You can boot the phone with the camera button held down to access a
serial boot prompt that looks like this:
UART0:Cmd>

So far I've only seen a single command 'set'. I didn't find very much
useful information beyond that for the serial interface to the (first?)
boot loader. Perhaps someone knows more about this? It may prove to be
useful...

Another interesting but unrelated (GSM) test function is available in
the dialer program when the phone is booted by calling this number:
*#*#INFO#*#*

Best,
Jake
</pre>

== Untested pinout ==
Taken from PodGizmo

# USB VCC +5v
# USB Data -
# USB Data +
# N / C
# USB GND
# Left Audio +
# Labeled "AG"
# Audio - (GND) Labeled "CK"
# Switch (Talk) Labeled "OT"
# Right Audio +
# Mic +
# Chassis Ground (GND)

== Notes: ==

* Specifying a mini-usb connector indicates only pins 1-5 can be involved. (GND=10, RX/TX = USB Data +/-)?

==Serial Hardware to Interface with G1==

'''Pinout'''
<pre>
it's muxxed on the headset terminals, i think there's some documentation in the h2w source file in arch-msm
</pre>

==Helpful Links==

=== Android hacking ===
* https://noisebridge.net/Noisedroid
* http://www.android-unleashed.com/2009/01/root-your-android-g1-with-rc30-firmware.html
* http://forum.xda-developers.com/forumdisplay.php?f=448

=== Open hardware/source DIY drones ===
* http://diydrones.com/
* http://paparazzi.enac.fr/wiki/Main_Page

=== HTC 11pin breakout board (save your sanity) ===
* http://www.podgizmo.com/index.php?act=viewProd&productId=30

Autonomous Flying Platform

2009-03-17T22:54:27Z

Nelsonjm: /* Helpful Links */

==Overview==

A long desire of mine has been to create an autonomous flying solution. I was initially inspired when I saw a competition with the following specifications:

<ol>
<li>Solution cannot touch the ground</li>
<li>Retrieve a metal ring on the other side of a barrier</li>
<li>Bring it back to its origin and drop it off</li>
</ol>

The autonomous rc helicopter from Stanford won the competition. Blimps were tried but they flew away etc... in the outdoor winds.

==Team Members==

<table border="1">
<tr>
<th>Name</th>
<th>Expertise</th>
<th>Role</th>
<tr>
<tr>
<td>Tim Heath</td>
<td>Software Developer, Project Management</td>
<td>Project Leader/Developer</td>
</tr>
</table>

==Requirements==

<ol>
<li>Use a solution that is modular and used as many off the shelf components for rapid prototyping/solutions</li>
<li>Easy to reprogram and loosely coupled</li>
<li>Easy to interface with external control devices</li>
<li>Navigates in 3d space in an efficient easy way</li>
</ol>

==Design==

I am going to use the G1 cell phone as it is the most modular.

'''G1 Info'''

<table border="1">
<tr>
<th>Property</th>
<th>Value</th>
</tr>
<tr>
<td>Weight</td><td>5.6 ounces</td>
</tr>
<tr>
<td>Size</td><td>4.6 by 2.2 by 0.6 inches</td>
</tr>
<tr>
<td>Memory</td><td>1GB (memory card of up to 8 GB possible)</td>
</tr>
<tr>
<td>Wifi</td><td>Yes</td>
</tr>
<tr>
<td>Bluetooth</td><td>Yes</td>
</tr>
<tr>
<td>USB</td><td>Non host mode but yes</td>
</tr>
<tr>
<td>Serial</td><td>Yes</td>
</tr>
<tr>
<td>Camera</td><td>3 megapixels</td>
</tr>
</table>

==Serial Connection Information==

<pre>
I am by no means a G1 god or guru. There are better people to ask and I
do hope they'll chime in. I am however linked to that nickname that you
dropped and so I feel compelled to answer. ( And no, I'm not nor have I
ever been, a woman. )

The serial interface you're discussing does indeed exist on the HTC
Dream (G1). I hear it's possible to build a cable that is a mini-usb on
one end and a normal sized usb on the other. Between the two is a usb to
serial device. It's just a nice way to have a set of pin outs and power;
it's otherwise not a special cable.

If you have or build such a cable, you'll then be able to access a few
low level debuggers or boot prompts on the serial port. If you have the
right setup, you should be able to connect the cable, attach to the usb
serial device and set minicom to operate at 115200 8N1 (and with no
software/hardware flow control).

A photo of the mythical cable attached to my G1 is available here:
https://www.noisebridge.net/wiki/Image:G1-two-usb-to-serial-cable.jpg

This is the code for that interface (see the Android source):
/kernel/drivers/serial/msm_serial_debugger.c

From the source you'll see the following commands available when the
phone is booted:
pc
regs
reboot
irqs
kmsg
version
sysrq

If you have the developer or engineering boot loader, you can do more...

You can boot the phone with the camera button held down to access a
serial boot prompt that looks like this:
UART0:Cmd>

So far I've only seen a single command 'set'. I didn't find very much
useful information beyond that for the serial interface to the (first?)
boot loader. Perhaps someone knows more about this? It may prove to be
useful...

Another interesting but unrelated (GSM) test function is available in
the dialer program when the phone is booted by calling this number:
*#*#INFO#*#*

Best,
Jake
</pre>

==Serial Hardware to Interface with G1==

'''Pinout'''
<pre>
it's muxxed on the headset terminals, i think there's some documentation in the h2w source file in arch-msm
</pre>

==Helpful Links==

=== Android hacking ===
* https://noisebridge.net/Noisedroid
* http://www.android-unleashed.com/2009/01/root-your-android-g1-with-rc30-firmware.html
* http://forum.xda-developers.com/forumdisplay.php?f=448

=== Open hardware/source DIY drones ===
* http://diydrones.com/
* http://paparazzi.enac.fr/wiki/Main_Page

=== HTC 11pin breakout board (save your sanity) ===
* http://www.podgizmo.com/index.php?act=viewProd&productId=30