IMote2 and Enalab Camera

Enalab Camera and Intel Mote2

Camera Driver and Running Environment

The linux driver for Enalab camera can be downloaded from

http://www.cs.umass.edu/~dxie/dl/enalabcamera_driver.tar.gz

To use this camera driver, you have to make patches and recompile the linux kernel on IMote2. Following are the descriptions:

RECOMPILE KERNEL:

Prerequisites: Linux 2.6.14 compiles with the 3.4.1 tool chain. It failed with 3.3.2. This is the opposite of the Blob. The 2.6.14 kernel on the 3.3.2 tool-chain fails with the error: arm-linux-ld:arch/arm/kernel/vmlinux.lds:811: parse error in make zImage

Get the Linux 2.6.14 source from kernel.org (http://ftp.kernel.org/) and untar it. http://ftp.kernel.org/pub/linux/kernel/v2.6/linux-2.6.14.tar.gz http://www.kernel.org/pub/linux/kernel/v2.6/linux-2.6.14.tar.gz

     tar xzpf linux-2.6.14.tar.gz
     cd linux-2.6.14

Apply the Stargate 2 / Intel Mote 2 patch found in the release. See Downloads.
```
patch -p1 < patch-2.6.14-sg2_10  
chmod 755 scripts/platx_config  
```

Apply our patch for the icmr2 and pxa-registers.

patch -p1 < patch-icmr2  
patch -p1 < patch-regs

If you do not have the arm cross compiler already installed, you can download a binary for the arm-linux-gcc cross compiler (arm-linux-gcc-3.4.1.tar.bz2) from handhelds.org (http://www.handhelds.org/) http://www.handhelds.org/download/projects/toolchain/

Before building the kernel you will need to add /usr/local/arm/3.4.1/bin/ to your path if it is not already there.
bzip2 -d arm-linux-gcc-3.4.1.tar.bz2  
tar xvf arm-linux-gcc-3.4.1.tar   
export PATH=$PATH:/usr/local/arm/3.4.1/bin/ 

Build the kernel. (Note - There should be an underscore between "CROSS" and "COMPILE" below.) (Note - the Stargate 2 and Intel Mote 2 builds have not yet been differentiated.)
```
export ARCH=arm  
export CROSS_COMPILE=arm-linux-  
make stargate2_defconfig  
make oldconfig  
make zImage  
```
Build the modules. Modules are a mechanism used to differentiate the Intel Mote 2 and Stargate 2 platforms. Drivers that are not needed by the Mote are compiled as modules. They include wired Ethernet, PC card (PCMCIA and CF), SD card, Bluetooth, and USB host. That is not to say that this is the only way to differential the two platforms. In addition, other functionality may also be compiled into modules.
```
make modules  
make modules_install  
```

The make modules_install copies the modules into the modules directory of the kernel root directory. From this directory the modules are picked up by the file system build tools. (You can change where the modules go by editing the INSTALL_MOD_PATH in the Makefile.)

Port OpenCV to Imote2

Download Download opencv-1.0.0.tar.gz from
  http://downloads.sourceforge.net/opencvlibrary/opencv-1.0.0.tar.gz?modtime=1162852454&big_mirror=1  

Modify the source code:
   
   At the line 227 of the file /cxcore/include/cxtypes.h

   change       
     return (int) temp.u; 
   to
     return (int) (temp.u >> 32); 
  
Cross compile OpenCV
    make clean 
    ./configure --host=arm-linux --without-gtk --without-carbon  --without-v4l --without-quicktime 
         --without-1394libs --without-ffmpeg  --without-python --without-swig 
    make 
    make install 
  
Note: the cross compiler we are using is arm-linux-gcc-3.4.1,  which is the same version used to compile the zImage of Imote2-SG2  linux.