ArmadeusWiki - User contributions [en]

Xenomai

2011-02-17T12:46:25Z

OlivierR: /* Links */

==What is Xenomai ?==

Xenomai is a real time co-kernel which cooperate with Linux via Adeos. With its help hard real time applications can be developped and run on the Armadeus boards. 

Thanks to Adeos, Xenomai will receive the interrupts first and decide
to handle them or not. If not, they will then be transfered to the regular
Linux kernel. Also, Xenomai provides a framework to develop applications which
can be easily moved between the Real Time Xenomai environment and the regular
Linux system. Moreover, Xeno provides a set of APIs (called "skins") that
emulate traditional RTOSes such as VxWorks and pSOS and implement other APIs
such as POSIX. Thus, porting third party real time applications to Xenomai is
a fairly simple process.

==Explanation of the process used to install Xenomai==

The main steps are:
* selection of Xenomai package on the Buildroot menuconfig,
* selection of Xenomai features in Kernel menuconfig,
* compilation of the new version,
* validation of the Xenomai behaviour.

===Selecting Xenomai package===

* First of all, you need to select Xenomai package in Buildroot menuconfig:
<pre class="host">
$ make menuconfig
</pre>
<pre class="config">
Package Selection for the target --->
Hardware handling / blockdevices and filesystem maintenance --->
....
[*] Xenomai
....
</pre>
* Exit and save your configuration
* If you plan to use ''xeno-test'' (Xenomai performance tool) then CONFIG_ASH_GETOPTS should be activated in Busybox:
<pre class="host">
$ make busybox-menuconfig
</pre>
<pre class="config">
Shells --->
Choose your default shell (ash) --->
--- ash
--- Ash Shell Options
...
[*] Builtin getopt to parse positional parameters
</pre>
* Exit and save your configuration
* rebuild Busybox:
<pre class="host">
$ make busybox-clean && make
</pre>

===Xenomai kernel space support===
*At first time, to have Linux kernel patched with Xenomai and Adeos patches, you must type:
<pre class="host">
$ make
</pre>
*Then you can configure the Xenomai kernel options from Linux menuconfig:
<pre class="host">
$ make linux26-menuconfig
</pre>

You should see the new entry :
<pre class="config">
Real-time sub-system --->
</pre>

Enter in it and check the following to compile Xenomai as a part of the Linux kernel :
<pre class="config">
[*] Xenomai
<*> Nucleus
[*] Pervasive real-time support in user-space
[ ] Interrupt shield support
[*] Priority coupling support
[*] Optimize as pipeline head
(32) Number of pipe devices
(512) Number of registry slots
(128) Size of the system heap (Kb)
(32) Size of the private stack pool (Kb)
[*] Statistics collection
[ ] Debug support
[ ] Shared interrupts
Timing --->
Scalability --->
Machine --->
Interfaces --->
Drivers --->
</pre>

Additionaly, to enable / disable the different available skins, go into ''Interfaces --->'' :
<pre class="config">
<*> Native API --->
<*> POSIX API --->
< > pSOS+ emulator --->
< > uITRON API --->
< > VRTX emulator --->
< > VxWorks emulator --->
< > RTAI emulator --->
<*> Real-Time Driver Model --->
</pre>

Finally, compile everything:
<pre class="host">
$ make linux26 && make
</pre>

==Deploy==

You can now [[Target_Software_Installation | transfer]] the rootfs and the kernel
on the APF.

==Validate the installation==

* Boot the APF and logon as root.
* You can double check Xenomai is installed correctly:
<pre class="apf">
$ dmesg | grep Xenomai
I-pipe: Domain Xenomai registered.
Xenomai: hal/arm started.
Xenomai: real-time nucleus v2.4.3 (Back to Shalla-Bal) loaded.
Xenomai: starting native API services.
Xenomai: starting POSIX services.
Xenomai: starting RTDM services.
</pre>
* Now we can run the performance test provided by Xenomai:
<pre class="apf">
$ xeno-test
</pre>

==Deinstalling or disabling Xenomai==
There are two parts needed for disabling Xenomai features

===Kernel===
For disabling kernel part, two solutions are available

* The first solution is to unselect kernel's features :
<pre class="host">
$ make linux26-menuconfig
</pre>
And disable following options:
<pre class="config">
Real-time sub-system --->
[ ] Xenomai

and

Kernel Features --->
[ ] Interrupt pipeline
</pre>

* The second solution is to destroy the kernel tree :
<pre class="host">
$ make linux26-dirclean
</pre>

===Userspace / package===
For disabling userspace/package part :
<pre class="host">
$ make menuconfig
</pre>
and disable Xenomai
<pre class="config">
Package Selection for the target --->
[ ] Xenomai
</pre>

then use the dirclean command:
<pre class="host">
$ make xenomai-dirclean
</pre>

==Going further==
* [[Xenomai:examples usage | Using Armadeus Xenomai custom examples]]
* [[Xenomai:Blinking LEDs | Xenomai tutorial (blinking LED)]]

==Links==
* [http://home.gna.org/adeos/ Adeos website]
* [http://www.xenomai.org Xenomai website]
* [[Adeos | Adeos installation]]
* [[Xenomai manual installation]] (for reference)

[[Category:Software]]
[[Category:Real-Time]]

User:OlivierR

2010-07-15T19:30:52Z

OlivierR: /* Contributions : */

Bonjour,
Je suis enseignant-chercheur à l'ENSIETA et je souhaite porter Armadeus dans le cursus d'enseignement.

== '''Mes compétences :''' ==
* Robotique
* Méthodes ensemblistes et calcul par intervalles
* Réseaux / Télécommuncations
* programmation en C/C++/Java/Python/Bash
* GNU Linux Debian

== '''Contributions :''' ==
* package Java pour faciliter la programmation Armadeus en Java et notamment l'utilisation des périphériques
* [[URG_laser|to use an URG laser with APF27dev]]

URG laser

2010-07-15T19:27:09Z

OlivierR: /* Running */

How to drive Hoyuko's URG series laser sensors.

==Installation==
<pre class="host">
$ make menuconfig
</pre>
<pre class="config">
Package Selection for the target --->
Hardware handling / blockdevices and filesystem maintenance --->
[*] urg library
</pre>
<pre class="host">
$ make
</pre>
* reflash rootfs

==Usage==

To use Hokoyu URG laser, you need Prolific pl2303 USB to serial adapter ( [[USB_to_serial_adapter | see here to install pl2303]]).

Load the module and connect the URG laser to APF27 dev USB port. You should see something like this :
<pre class="apf">
# modprobe pl2303
usbcore: registered new interface driver usbserial
usbserial: USB Serial Driver core
USB Serial support registered for pl2303
usbcore: registered new interface driver pl2303
pl2303: Prolific PL2303 USB to serial adaptor driver
# usb 2-1: new full speed USB device using mxc-ehci and address 3
usb 2-1: device descriptor read/64, error -71
usb 2-1: New USB device found, idVendor=15d1, idProduct=0000
usb 2-1: New USB device strings: Mfr=1, Product=2, SerialNumber=0
usb 2-1: Product: URG-Series USB Driver
usb 2-1: Manufacturer: Hokuyo Data Flex for USB
usb 2-1: configuration #1 chosen from 1 choice
cdc_acm 2-1:1.0: ttyACM0: USB ACM device
#
</pre>
The URG laser is known as the /dev/ttyACM0 serial device.

==Code example==
With your favorite editor/IDE, create the following program:

<source lang="cpp">
#include <iostream>
#include "UrgCtrl.h"
using namespace std;
using namespace qrk;

int main() {

const char device[] = "/dev/ttyACM0";
UrgCtrl urg;
if (! urg.connect(device)) {
cout << "UrgCtrl::connect: " << urg.what() << endl;
exit(1);
}
vector<long> data;
long timestamp = 0;
while (1)
{
int n = urg.capture(data, &timestamp);
if (n < 0) {
cout << "UrgCtrl::capture: " << urg.what() << endl;
exit(1);
}
cout << "timestamp: " << timestamp << "\t range at 0 degree : " << data[n/2] << " mm" <<endl;
}
return 0;
}

</source>
Save it as ''laser.cpp''.
==Compilation==
You can put your program compilation and installation in a ''Makefile'' to make things cleaner:
<source lang="C">
CXX=arm-linux-g++
EXEC=laser
SRC= $(wildcard *.cpp)
OBJ= $(SRC:.c=.o)
ARM_LIBS=$(ARMADEUS_STAGING_DIR)/usr/lib
URG_INCLUDE=$(ARMADEUS_STAGING_DIR)/usr/include/urg
LD_URG=-lurg_monitor -lurg -lurg_coordinate -lurg_geometry -lurg_connection -lurg_connection_sdl -lurg_common -lurg_system
SDL_INCLUDE=$(ARMADEUS_STAGING_DIR)/usr/include/SDL -D_GNU_SOURCE=1 -D_REENTRANT
LD_SDL=-lSDL
LD_PTHREAD=-lpthread
LDFLAGS=
CXXFLAGS=-g -W -Wall -DNO_DETECT_OS_H

all: $(EXEC)

laser: laser.cpp
$(CXX) $(CXXFLAGS) -I$(URG_INCLUDE) -I$(SDL_INCLUDE) -o $@ $^ $(LDFLAGS) -L$(ARM_LIBS) $(LD_URG) $(LD_SDL) $(LD_PTHREAD)

.PHONY: clean install

clean:
rm -rf *.o
rm -f $(EXEC)

install: all
cp -f $(EXEC) /tftpboot/
</source>
'''!! If you do a cut & paste with previous commands, don't forget to check TABS for each target (Makefiles are using TABS and not SPACES) !! In that case make will complains about a missing separator line 11'''

Then, on host, just do:
[host ]$ make clean install

==Running==
Copy your ''laser'' executable on your board through TFTP (for example)

* Be sure to have TFTP server installed, [[Connection_with_U-Boot_on_Linux#TFTP_server| if not it's explained here]]. Copy ''laser'' to your TFTP directory:
<pre class="host">
[demos]$ cp laser /tftpboot/
</pre>
* Load your executable on the target (here my host IP is 192.168.1.13):
<pre class="apf">
# tftp -g -r laser 192.168.1.13
</pre>
* Give it executable rights, if lost during TFTP transfer:
<pre class="apf">
# chmod a+x laser
</pre>
* Launch it:
<pre class="apf">
# ./laser
timestamp: 624546 range at 0 degree : 1219 mm
timestamp: 624646 range at 0 degree : 1217 mm
timestamp: 624746 range at 0 degree : 1210 mm
timestamp: 624846 range at 0 degree : 1213 mm
timestamp: 624946 range at 0 degree : 1207 mm
timestamp: 625046 range at 0 degree : 1213 mm
timestamp: 625145 range at 0 degree : 1211 mm
timestamp: 625245 range at 0 degree : 1220 mm
timestamp: 625345 range at 0 degree : 1220 mm
timestamp: 625445 range at 0 degree : 1205 mm
timestamp: 625545 range at 0 degree : 1216 mm
timestamp: 625645 range at 0 degree : 1214 mm
timestamp: 625745 range at 0 degree : 1225 mm
timestamp: 625845 range at 0 degree : 1217 mm
timestamp: 625945 range at 0 degree : 1221 mm
#
</pre>

Now it's up to you ! ;-)

==Links==
* [http://www.hokuyo-aut.jp/02sensor/07scanner/download/urg_programs_en/ URG library homepage]

[[Category:Robotics]]

URG laser

2010-07-15T19:26:34Z

OlivierR: /* Usage */

How to drive Hoyuko's URG series laser sensors.

==Installation==
<pre class="host">
$ make menuconfig
</pre>
<pre class="config">
Package Selection for the target --->
Hardware handling / blockdevices and filesystem maintenance --->
[*] urg library
</pre>
<pre class="host">
$ make
</pre>
* reflash rootfs

==Usage==

To use Hokoyu URG laser, you need Prolific pl2303 USB to serial adapter ( [[USB_to_serial_adapter | see here to install pl2303]]).

Load the module and connect the URG laser to APF27 dev USB port. You should see something like this :
<pre class="apf">
# modprobe pl2303
usbcore: registered new interface driver usbserial
usbserial: USB Serial Driver core
USB Serial support registered for pl2303
usbcore: registered new interface driver pl2303
pl2303: Prolific PL2303 USB to serial adaptor driver
# usb 2-1: new full speed USB device using mxc-ehci and address 3
usb 2-1: device descriptor read/64, error -71
usb 2-1: New USB device found, idVendor=15d1, idProduct=0000
usb 2-1: New USB device strings: Mfr=1, Product=2, SerialNumber=0
usb 2-1: Product: URG-Series USB Driver
usb 2-1: Manufacturer: Hokuyo Data Flex for USB
usb 2-1: configuration #1 chosen from 1 choice
cdc_acm 2-1:1.0: ttyACM0: USB ACM device
#
</pre>
The URG laser is known as the /dev/ttyACM0 serial device.

==Code example==
With your favorite editor/IDE, create the following program:

<source lang="cpp">
#include <iostream>
#include "UrgCtrl.h"
using namespace std;
using namespace qrk;

int main() {

const char device[] = "/dev/ttyACM0";
UrgCtrl urg;
if (! urg.connect(device)) {
cout << "UrgCtrl::connect: " << urg.what() << endl;
exit(1);
}
vector<long> data;
long timestamp = 0;
while (1)
{
int n = urg.capture(data, &timestamp);
if (n < 0) {
cout << "UrgCtrl::capture: " << urg.what() << endl;
exit(1);
}
cout << "timestamp: " << timestamp << "\t range at 0 degree : " << data[n/2] << " mm" <<endl;
}
return 0;
}

</source>
Save it as ''laser.cpp''.
==Compilation==
You can put your program compilation and installation in a ''Makefile'' to make things cleaner:
<source lang="C">
CXX=arm-linux-g++
EXEC=laser
SRC= $(wildcard *.cpp)
OBJ= $(SRC:.c=.o)
ARM_LIBS=$(ARMADEUS_STAGING_DIR)/usr/lib
URG_INCLUDE=$(ARMADEUS_STAGING_DIR)/usr/include/urg
LD_URG=-lurg_monitor -lurg -lurg_coordinate -lurg_geometry -lurg_connection -lurg_connection_sdl -lurg_common -lurg_system
SDL_INCLUDE=$(ARMADEUS_STAGING_DIR)/usr/include/SDL -D_GNU_SOURCE=1 -D_REENTRANT
LD_SDL=-lSDL
LD_PTHREAD=-lpthread
LDFLAGS=
CXXFLAGS=-g -W -Wall -DNO_DETECT_OS_H

all: $(EXEC)

laser: laser.cpp
$(CXX) $(CXXFLAGS) -I$(URG_INCLUDE) -I$(SDL_INCLUDE) -o $@ $^ $(LDFLAGS) -L$(ARM_LIBS) $(LD_URG) $(LD_SDL) $(LD_PTHREAD)

.PHONY: clean install

clean:
rm -rf *.o
rm -f $(EXEC)

install: all
cp -f $(EXEC) /tftpboot/
</source>
'''!! If you do a cut & paste with previous commands, don't forget to check TABS for each target (Makefiles are using TABS and not SPACES) !! In that case make will complains about a missing separator line 11'''

Then, on host, just do:
[host ]$ make clean install

==Running==
Copy your ''laser'' executable on your board through TFTP (for example)

* Be sure to have TFTP server installed, [[Connection_with_U-Boot_on_Linux#TFTP_server| if not it's explained here]]. Copy ''hello'' to your TFTP directory:
<pre class="host">
[demos]$ cp laser /tftpboot/
</pre>
* Load your executable on the target (here my host IP is 192.168.1.13):
<pre class="apf">
# tftp -g -r laser 192.168.1.13
</pre>
* Give it executable rights, if lost during TFTP transfer:
<pre class="apf">
# chmod a+x laser
</pre>
* Launch it:
<pre class="apf">
# ./laser
timestamp: 624546 range at 0 degree : 1219 mm
timestamp: 624646 range at 0 degree : 1217 mm
timestamp: 624746 range at 0 degree : 1210 mm
timestamp: 624846 range at 0 degree : 1213 mm
timestamp: 624946 range at 0 degree : 1207 mm
timestamp: 625046 range at 0 degree : 1213 mm
timestamp: 625145 range at 0 degree : 1211 mm
timestamp: 625245 range at 0 degree : 1220 mm
timestamp: 625345 range at 0 degree : 1220 mm
timestamp: 625445 range at 0 degree : 1205 mm
timestamp: 625545 range at 0 degree : 1216 mm
timestamp: 625645 range at 0 degree : 1214 mm
timestamp: 625745 range at 0 degree : 1225 mm
timestamp: 625845 range at 0 degree : 1217 mm
timestamp: 625945 range at 0 degree : 1221 mm
#
</pre>

Now it's up to you ! ;-)

==Links==
* [http://www.hokuyo-aut.jp/02sensor/07scanner/download/urg_programs_en/ URG library homepage]

[[Category:Robotics]]

URG laser

2010-07-15T19:26:24Z

OlivierR: /* Usage */

How to drive Hoyuko's URG series laser sensors.

==Installation==
<pre class="host">
$ make menuconfig
</pre>
<pre class="config">
Package Selection for the target --->
Hardware handling / blockdevices and filesystem maintenance --->
[*] urg library
</pre>
<pre class="host">
$ make
</pre>
* reflash rootfs

==Usage==

To use Hokoyu URG laser, you need Prolific pl2303 USB to serial adapter ( [[USB_to_serial_adapter | see here to install pl2303]]).

Load the module and connect the URG laser to APF27 dev USB port. You should see something like this :
<pre class="apf">
# modprobe pl2303
usbcore: registered new interface driver usbserial
usbserial: USB Serial Driver core
USB Serial support registered for pl2303
usbcore: registered new interface driver pl2303
pl2303: Prolific PL2303 USB to serial adaptor driver
# usb 2-1: new full speed USB device using mxc-ehci and address 3
usb 2-1: device descriptor read/64, error -71
usb 2-1: New USB device found, idVendor=15d1, idProduct=0000
usb 2-1: New USB device strings: Mfr=1, Product=2, SerialNumber=0
usb 2-1: Product: URG-Series USB Driver
usb 2-1: Manufacturer: Hokuyo Data Flex for USB
usb 2-1: configuration #1 chosen from 1 choice
cdc_acm 2-1:1.0: ttyACM0: USB ACM device
#
</pre>
The URG laser is known as the /dev/ttyACM0 device.

==Code example==
With your favorite editor/IDE, create the following program:

<source lang="cpp">
#include <iostream>
#include "UrgCtrl.h"
using namespace std;
using namespace qrk;

int main() {

const char device[] = "/dev/ttyACM0";
UrgCtrl urg;
if (! urg.connect(device)) {
cout << "UrgCtrl::connect: " << urg.what() << endl;
exit(1);
}
vector<long> data;
long timestamp = 0;
while (1)
{
int n = urg.capture(data, &timestamp);
if (n < 0) {
cout << "UrgCtrl::capture: " << urg.what() << endl;
exit(1);
}
cout << "timestamp: " << timestamp << "\t range at 0 degree : " << data[n/2] << " mm" <<endl;
}
return 0;
}

</source>
Save it as ''laser.cpp''.
==Compilation==
You can put your program compilation and installation in a ''Makefile'' to make things cleaner:
<source lang="C">
CXX=arm-linux-g++
EXEC=laser
SRC= $(wildcard *.cpp)
OBJ= $(SRC:.c=.o)
ARM_LIBS=$(ARMADEUS_STAGING_DIR)/usr/lib
URG_INCLUDE=$(ARMADEUS_STAGING_DIR)/usr/include/urg
LD_URG=-lurg_monitor -lurg -lurg_coordinate -lurg_geometry -lurg_connection -lurg_connection_sdl -lurg_common -lurg_system
SDL_INCLUDE=$(ARMADEUS_STAGING_DIR)/usr/include/SDL -D_GNU_SOURCE=1 -D_REENTRANT
LD_SDL=-lSDL
LD_PTHREAD=-lpthread
LDFLAGS=
CXXFLAGS=-g -W -Wall -DNO_DETECT_OS_H

all: $(EXEC)

laser: laser.cpp
$(CXX) $(CXXFLAGS) -I$(URG_INCLUDE) -I$(SDL_INCLUDE) -o $@ $^ $(LDFLAGS) -L$(ARM_LIBS) $(LD_URG) $(LD_SDL) $(LD_PTHREAD)

.PHONY: clean install

clean:
rm -rf *.o
rm -f $(EXEC)

install: all
cp -f $(EXEC) /tftpboot/
</source>
'''!! If you do a cut & paste with previous commands, don't forget to check TABS for each target (Makefiles are using TABS and not SPACES) !! In that case make will complains about a missing separator line 11'''

Then, on host, just do:
[host ]$ make clean install

==Running==
Copy your ''laser'' executable on your board through TFTP (for example)

* Be sure to have TFTP server installed, [[Connection_with_U-Boot_on_Linux#TFTP_server| if not it's explained here]]. Copy ''hello'' to your TFTP directory:
<pre class="host">
[demos]$ cp laser /tftpboot/
</pre>
* Load your executable on the target (here my host IP is 192.168.1.13):
<pre class="apf">
# tftp -g -r laser 192.168.1.13
</pre>
* Give it executable rights, if lost during TFTP transfer:
<pre class="apf">
# chmod a+x laser
</pre>
* Launch it:
<pre class="apf">
# ./laser
timestamp: 624546 range at 0 degree : 1219 mm
timestamp: 624646 range at 0 degree : 1217 mm
timestamp: 624746 range at 0 degree : 1210 mm
timestamp: 624846 range at 0 degree : 1213 mm
timestamp: 624946 range at 0 degree : 1207 mm
timestamp: 625046 range at 0 degree : 1213 mm
timestamp: 625145 range at 0 degree : 1211 mm
timestamp: 625245 range at 0 degree : 1220 mm
timestamp: 625345 range at 0 degree : 1220 mm
timestamp: 625445 range at 0 degree : 1205 mm
timestamp: 625545 range at 0 degree : 1216 mm
timestamp: 625645 range at 0 degree : 1214 mm
timestamp: 625745 range at 0 degree : 1225 mm
timestamp: 625845 range at 0 degree : 1217 mm
timestamp: 625945 range at 0 degree : 1221 mm
#
</pre>

Now it's up to you ! ;-)

==Links==
* [http://www.hokuyo-aut.jp/02sensor/07scanner/download/urg_programs_en/ URG library homepage]

[[Category:Robotics]]

URG laser

2010-07-15T19:26:07Z

OlivierR: /* Usage */

How to drive Hoyuko's URG series laser sensors.

==Installation==
<pre class="host">
$ make menuconfig
</pre>
<pre class="config">
Package Selection for the target --->
Hardware handling / blockdevices and filesystem maintenance --->
[*] urg library
</pre>
<pre class="host">
$ make
</pre>
* reflash rootfs

==Usage==

To use Hokoyu URG laser, you need Prolific pl2303 USB to serial adapter ( [[USB_to_serial_adapter | see here to install pl2303]]).

Load the module and connect the URG laser to APF27 dev USB port. You should see something like this :
<pre class="apf">
# modprobe pl2303
usbcore: registered new interface driver usbserial
usbserial: USB Serial Driver core
USB Serial support registered for pl2303
usbcore: registered new interface driver pl2303
pl2303: Prolific PL2303 USB to serial adaptor driver
# usb 2-1: new full speed USB device using mxc-ehci and address 3
usb 2-1: device descriptor read/64, error -71
usb 2-1: New USB device found, idVendor=15d1, idProduct=0000
usb 2-1: New USB device strings: Mfr=1, Product=2, SerialNumber=0
usb 2-1: Product: URG-Series USB Driver
usb 2-1: Manufacturer: Hokuyo Data Flex for USB
usb 2-1: configuration #1 chosen from 1 choice
cdc_acm 2-1:1.0: ttyACM0: USB ACM device
#
</pre>
The URG laser is the /dev/ttyACM0 device.

==Code example==
With your favorite editor/IDE, create the following program:

<source lang="cpp">
#include <iostream>
#include "UrgCtrl.h"
using namespace std;
using namespace qrk;

int main() {

const char device[] = "/dev/ttyACM0";
UrgCtrl urg;
if (! urg.connect(device)) {
cout << "UrgCtrl::connect: " << urg.what() << endl;
exit(1);
}
vector<long> data;
long timestamp = 0;
while (1)
{
int n = urg.capture(data, &timestamp);
if (n < 0) {
cout << "UrgCtrl::capture: " << urg.what() << endl;
exit(1);
}
cout << "timestamp: " << timestamp << "\t range at 0 degree : " << data[n/2] << " mm" <<endl;
}
return 0;
}

</source>
Save it as ''laser.cpp''.
==Compilation==
You can put your program compilation and installation in a ''Makefile'' to make things cleaner:
<source lang="C">
CXX=arm-linux-g++
EXEC=laser
SRC= $(wildcard *.cpp)
OBJ= $(SRC:.c=.o)
ARM_LIBS=$(ARMADEUS_STAGING_DIR)/usr/lib
URG_INCLUDE=$(ARMADEUS_STAGING_DIR)/usr/include/urg
LD_URG=-lurg_monitor -lurg -lurg_coordinate -lurg_geometry -lurg_connection -lurg_connection_sdl -lurg_common -lurg_system
SDL_INCLUDE=$(ARMADEUS_STAGING_DIR)/usr/include/SDL -D_GNU_SOURCE=1 -D_REENTRANT
LD_SDL=-lSDL
LD_PTHREAD=-lpthread
LDFLAGS=
CXXFLAGS=-g -W -Wall -DNO_DETECT_OS_H

all: $(EXEC)

laser: laser.cpp
$(CXX) $(CXXFLAGS) -I$(URG_INCLUDE) -I$(SDL_INCLUDE) -o $@ $^ $(LDFLAGS) -L$(ARM_LIBS) $(LD_URG) $(LD_SDL) $(LD_PTHREAD)

.PHONY: clean install

clean:
rm -rf *.o
rm -f $(EXEC)

install: all
cp -f $(EXEC) /tftpboot/
</source>
'''!! If you do a cut & paste with previous commands, don't forget to check TABS for each target (Makefiles are using TABS and not SPACES) !! In that case make will complains about a missing separator line 11'''

Then, on host, just do:
[host ]$ make clean install

==Running==
Copy your ''laser'' executable on your board through TFTP (for example)

* Be sure to have TFTP server installed, [[Connection_with_U-Boot_on_Linux#TFTP_server| if not it's explained here]]. Copy ''hello'' to your TFTP directory:
<pre class="host">
[demos]$ cp laser /tftpboot/
</pre>
* Load your executable on the target (here my host IP is 192.168.1.13):
<pre class="apf">
# tftp -g -r laser 192.168.1.13
</pre>
* Give it executable rights, if lost during TFTP transfer:
<pre class="apf">
# chmod a+x laser
</pre>
* Launch it:
<pre class="apf">
# ./laser
timestamp: 624546 range at 0 degree : 1219 mm
timestamp: 624646 range at 0 degree : 1217 mm
timestamp: 624746 range at 0 degree : 1210 mm
timestamp: 624846 range at 0 degree : 1213 mm
timestamp: 624946 range at 0 degree : 1207 mm
timestamp: 625046 range at 0 degree : 1213 mm
timestamp: 625145 range at 0 degree : 1211 mm
timestamp: 625245 range at 0 degree : 1220 mm
timestamp: 625345 range at 0 degree : 1220 mm
timestamp: 625445 range at 0 degree : 1205 mm
timestamp: 625545 range at 0 degree : 1216 mm
timestamp: 625645 range at 0 degree : 1214 mm
timestamp: 625745 range at 0 degree : 1225 mm
timestamp: 625845 range at 0 degree : 1217 mm
timestamp: 625945 range at 0 degree : 1221 mm
#
</pre>

Now it's up to you ! ;-)

==Links==
* [http://www.hokuyo-aut.jp/02sensor/07scanner/download/urg_programs_en/ URG library homepage]

[[Category:Robotics]]

URG laser

2010-07-15T19:25:12Z

OlivierR: /* Compilation */

How to drive Hoyuko's URG series laser sensors.

==Installation==
<pre class="host">
$ make menuconfig
</pre>
<pre class="config">
Package Selection for the target --->
Hardware handling / blockdevices and filesystem maintenance --->
[*] urg library
</pre>
<pre class="host">
$ make
</pre>
* reflash rootfs

==Usage==

To use Hokoyu URG laser, you need Prolific pl2303 USB to serial adapter ( [[USB_to_serial_adapter | see here to install pl2303]]).

Load the module and connect the URG laser to APF27 dev USB port. You should see something like this :
<pre class="apf">
# modprobe pl2303
usbcore: registered new interface driver usbserial
usbserial: USB Serial Driver core
USB Serial support registered for pl2303
usbcore: registered new interface driver pl2303
pl2303: Prolific PL2303 USB to serial adaptor driver
# usb 2-1: new full speed USB device using mxc-ehci and address 3
usb 2-1: device descriptor read/64, error -71
usb 2-1: New USB device found, idVendor=15d1, idProduct=0000
usb 2-1: New USB device strings: Mfr=1, Product=2, SerialNumber=0
usb 2-1: Product: URG-Series USB Driver
usb 2-1: Manufacturer: Hokuyo Data Flex for USB
usb 2-1: configuration #1 chosen from 1 choice
cdc_acm 2-1:1.0: ttyACM0: USB ACM device
#
</pre>

==Code example==
With your favorite editor/IDE, create the following program:

<source lang="cpp">
#include <iostream>
#include "UrgCtrl.h"
using namespace std;
using namespace qrk;

int main() {

const char device[] = "/dev/ttyACM0";
UrgCtrl urg;
if (! urg.connect(device)) {
cout << "UrgCtrl::connect: " << urg.what() << endl;
exit(1);
}
vector<long> data;
long timestamp = 0;
while (1)
{
int n = urg.capture(data, &timestamp);
if (n < 0) {
cout << "UrgCtrl::capture: " << urg.what() << endl;
exit(1);
}
cout << "timestamp: " << timestamp << "\t range at 0 degree : " << data[n/2] << " mm" <<endl;
}
return 0;
}

</source>
Save it as ''laser.cpp''.
==Compilation==
You can put your program compilation and installation in a ''Makefile'' to make things cleaner:
<source lang="C">
CXX=arm-linux-g++
EXEC=laser
SRC= $(wildcard *.cpp)
OBJ= $(SRC:.c=.o)
ARM_LIBS=$(ARMADEUS_STAGING_DIR)/usr/lib
URG_INCLUDE=$(ARMADEUS_STAGING_DIR)/usr/include/urg
LD_URG=-lurg_monitor -lurg -lurg_coordinate -lurg_geometry -lurg_connection -lurg_connection_sdl -lurg_common -lurg_system
SDL_INCLUDE=$(ARMADEUS_STAGING_DIR)/usr/include/SDL -D_GNU_SOURCE=1 -D_REENTRANT
LD_SDL=-lSDL
LD_PTHREAD=-lpthread
LDFLAGS=
CXXFLAGS=-g -W -Wall -DNO_DETECT_OS_H

all: $(EXEC)

laser: laser.cpp
$(CXX) $(CXXFLAGS) -I$(URG_INCLUDE) -I$(SDL_INCLUDE) -o $@ $^ $(LDFLAGS) -L$(ARM_LIBS) $(LD_URG) $(LD_SDL) $(LD_PTHREAD)

.PHONY: clean install

clean:
rm -rf *.o
rm -f $(EXEC)

install: all
cp -f $(EXEC) /tftpboot/
</source>
'''!! If you do a cut & paste with previous commands, don't forget to check TABS for each target (Makefiles are using TABS and not SPACES) !! In that case make will complains about a missing separator line 11'''

Then, on host, just do:
[host ]$ make clean install

==Running==
Copy your ''laser'' executable on your board through TFTP (for example)

* Be sure to have TFTP server installed, [[Connection_with_U-Boot_on_Linux#TFTP_server| if not it's explained here]]. Copy ''hello'' to your TFTP directory:
<pre class="host">
[demos]$ cp laser /tftpboot/
</pre>
* Load your executable on the target (here my host IP is 192.168.1.13):
<pre class="apf">
# tftp -g -r laser 192.168.1.13
</pre>
* Give it executable rights, if lost during TFTP transfer:
<pre class="apf">
# chmod a+x laser
</pre>
* Launch it:
<pre class="apf">
# ./laser
timestamp: 624546 range at 0 degree : 1219 mm
timestamp: 624646 range at 0 degree : 1217 mm
timestamp: 624746 range at 0 degree : 1210 mm
timestamp: 624846 range at 0 degree : 1213 mm
timestamp: 624946 range at 0 degree : 1207 mm
timestamp: 625046 range at 0 degree : 1213 mm
timestamp: 625145 range at 0 degree : 1211 mm
timestamp: 625245 range at 0 degree : 1220 mm
timestamp: 625345 range at 0 degree : 1220 mm
timestamp: 625445 range at 0 degree : 1205 mm
timestamp: 625545 range at 0 degree : 1216 mm
timestamp: 625645 range at 0 degree : 1214 mm
timestamp: 625745 range at 0 degree : 1225 mm
timestamp: 625845 range at 0 degree : 1217 mm
timestamp: 625945 range at 0 degree : 1221 mm
#
</pre>

Now it's up to you ! ;-)

==Links==
* [http://www.hokuyo-aut.jp/02sensor/07scanner/download/urg_programs_en/ URG library homepage]

[[Category:Robotics]]

URG laser

2010-07-15T19:22:06Z

OlivierR: /* Code example */

URG laser

2010-07-15T19:20:33Z

OlivierR: /* Code example */

URG laser

2010-07-15T19:19:14Z

OlivierR: /* Code example */

URG laser

2010-07-15T19:17:09Z

OlivierR: /* Code example */

URG laser

2010-07-15T19:16:47Z

OlivierR: /* Code example */

URG laser

2010-07-15T19:15:45Z

OlivierR: /* Usage */

URG laser

2010-07-15T19:15:30Z

OlivierR: /* Usage */

URG laser

2010-07-15T19:14:28Z

OlivierR: /* Usage */

URG laser

2010-07-15T19:14:16Z

OlivierR: /* Usage */

URG laser

2010-07-15T19:11:18Z

OlivierR:

User:OlivierR

2010-03-18T15:41:19Z

OlivierR:

PWM

2009-12-09T10:44:03Z

OlivierR: remove java example as long as it is not clear for me !

PWM

2009-10-05T08:30:50Z

OlivierR: /* PWM with Java */

On this page, you will find usefull informations to configure and use the Pulse Width Modulation (PWM) capabilities of your [[APF9328]]/[[APF27]] boards.

The i.MX processor is capable of driving 2 PWM signals:
* one is linked to the LCD controller and allow to control the [[BackLight | LCD backlight]]
* the other can be used to generate a PWM signal in several mode:
** audio playback
** real PWM

==Hardware==
i.MX PWM module is using ''PWMO'' (pin 2 of PortA on [[APF9328]] and pin 5 of PortE on the [[APF27]]) as ouput.
* On [[APF9328DevLight]] this pin is accessible from ''TIMER'' zone under the board (See [http://www.armadeus.com/_downloads/apf9328DevLight/documentation/dataSheet_APF9328_DevLight_V2.pdf datasheets for more infos)]
* On [[APF9328DevFull|APF9328DevFull development boards]] this pin is connected to pin 4 (TIM2) of ''"Timers"'' connector (X21)
* On [[APF27Dev|APF27Dev development boards]] this pin is connected to pin 4 of J22

== Linux driver installation ==
i.MX PWM driver is installed by default in standard Armadeus rootfs.

== Usage ==
* Load the module:
<pre class="apf">
# modprobe imx-pwm
Initializing PWM class.
Initializing PWM#0...PWM major number = 251
PWM driver v0.7
done.
</pre>
* If you plan to use sound, create ''/dev/pwm'' device file if not already existing (Major is dynamically allocated)
<pre class="apf">
# DEV=`cat /proc/devices | grep imx-pwm | cut -d " " -f 1`; mknod /dev/pwm c $DEV 0
</pre>

=== PWM Mode ===

Remark:
* The pwm has a resolution of 1uS

After driver loading, you have access to ''/sys/class/pwm/...'' functionnalities:
* to change frequency (for example 500 Hz):
<pre class="apf">
# echo 500 > /sys/class/pwm/pwm0/frequency
</pre>
* to change period (for example 100us):
<pre class="apf">
# echo 100 > /sys/class/pwm/pwm0/period
</pre>
* to change duty cycle (for example 50.0%)
<pre class="apf">
# echo 500 > /sys/class/pwm/pwm0/duty
</pre>
* to activate PWM:
<pre class="apf">
# echo 1 > /sys/class/pwm/pwm0/active
</pre>
* to de-activate PWM:
<pre class="apf">
# echo 0 > /sys/class/pwm/pwm0/active
</pre>

==== Bash test script ====
* A Bash test script is available given below. Just enter the desired frequency and duty cycle.
<source lang="Bash">
#!/bin/sh
#
# script to command imx pwm
# usage : pwm_imx frequency duty
#

if [ $# -lt 2 ]
then
echo "Provide two arguments to this script !"
echo "pwm_imx frequency dutycycle"
exit 1
fi

SYS_DIR="/sys/class/pwm/pwm0/"
FREQUENCY=$1
DUTY=$2

DUTY=`(echo $DUTY | awk '{ print $1*10}')`

if [ ! -d "$SYS_DIR" ]; then
echo "Can't find /sys/ interface for PWM"
exit 1
fi

echo "Starting PWM"
echo 1 > $SYS_DIR/active

#SET FREQUENCY
echo $FREQUENCY > $SYS_DIR/frequency
echo "Setting PWM to $FREQUENCY Hz"

#SET DUTY CYCLE
echo $DUTY > $SYS_DIR/duty
echo "Setting DUTY to $2 %"

exit 0

</source>

==== PWM with Java ====

The code bellow shows how to directly use iMX-PWM from Java. The main method provides example of using it. PWM control is done by reading and writing pseudo-files in /sys/class/pwm/pwm0/ directory.

<source lang="Java">

import java.io.*;

public class Imxpwm {

private FileReader activeReader;

private FileWriter activeWriter;

private FileReader frequencyReader;

private FileWriter frequencyWriter;

private FileReader periodReader;

private FileWriter periodWriter;

private FileReader dutyReader;

private FileWriter dutyWriter;

public boolean isActive() {
try {
int result = this.activeReader.read();
if (result == 0) {
return false;
} else {
return true;
}
} catch (Exception e) {
e.printStackTrace();
return false;
}
}

public void setActive(boolean active) {
try {
if (active) {
this.activeWriter.write("1");
this.activeWriter.flush();
} else {
this.activeWriter.write("0");
this.activeWriter.flush();
}
} catch (Exception e) {
e.printStackTrace();
}
}

public double getDuty() {
try {
return this.dutyReader.read()/10.0;
} catch (Exception e) {
e.printStackTrace();
return -1.0;
}
}

public void setDuty(double duty) {
try {
this.dutyWriter.write(Double.toString(duty * 10));
this.dutyWriter.flush();
} catch (Exception e) {
e.printStackTrace();
}
}

public int getFrequency() {
try {
return this.frequencyReader.read();
} catch (Exception e) {
e.printStackTrace();
return -1;
}
}

public void setFrequency(int frequency) {
try {
this.frequencyWriter.write(Integer.toString(frequency));
this.frequencyWriter.flush();
} catch (Exception e) {
e.printStackTrace();
}
}

public int getPeriod() {
try {
return this.periodReader.read();
} catch (Exception e) {
e.printStackTrace();
return -1;
}
}

public void setPeriod(int period) {
try {
// en µs
this.periodWriter.write(Integer.toString(period));
this.periodWriter.flush();
} catch (Exception e) {
e.printStackTrace();
}
}

/**
* @param frequency
* @param duty
* @param period
* @param active
*/
public Imxpwm(int frequency, int duty, boolean active) {

try {
activeReader = new FileReader("/sys/class/pwm/pwm0/active");
} catch (Exception e) {
e.printStackTrace();
}
try {
activeWriter = new FileWriter("/sys/class/pwm/pwm0/active");
} catch (Exception e) {
e.printStackTrace();
}
try {
frequencyReader = new FileReader("/sys/class/pwm/pwm0/frequency");
} catch (Exception e) {
e.printStackTrace();
}
try {
frequencyWriter = new FileWriter("/sys/class/pwm/pwm0/frequency");
} catch (Exception e) {
e.printStackTrace();
}
try {
periodReader = new FileReader("/sys/class/pwm/pwm0/period");
} catch (Exception e) {
e.printStackTrace();
}
try {
periodWriter = new FileWriter("/sys/class/pwm/pwm0/period");
} catch (Exception e) {
e.printStackTrace();
}
try {
dutyReader = new FileReader("/sys/class/pwm/pwm0/duty");
} catch (Exception e) {
e.printStackTrace();
}
try {
dutyWriter = new FileWriter("/sys/class/pwm/pwm0/duty");
} catch (Exception e) {
e.printStackTrace();
}
this.setActive(active);
this.setDuty(duty);
this.setFrequency(frequency);
}

public static void main(String[] args) throws Exception {
Imxpwm maPWM = new Imxpwm(50, 75, true);
double d = 0.0;
for (int j = 0; j < 100; j++) {
for (int i = 5; i <= 999; i++) {
d = i * 1.0 / 10.0;
maPWM.setDuty(d);
}
}
maPWM.setFrequency(500);
maPWM.setPeriod(50000);
}

}
</source>

=== Audio Mode ===
Audio playback mode is working since v0.5 of PWM driver (thanks to [[User:SebastienR|SebastienR]]).
You can play 8, 16 & 32 KHz 8bit linear RAW sound. It's recommended to play 8kHz one, as they use less CPU ressources.
To convert a sound to the right format we recommend to use SoX (on Linux).
For exemple:
[host]$ sox /usr/share/sounds/KDE_Chimes_1.ogg -r 8192 -b -u -c 1 Chimes.raw
-r -> sampling rate
-b -> byte/8bit signal
-u -> linear /not compressed
-c 1 -> Mono / 1 channel

Then you can test it using ''target/linux/modules/pwm/test/testplaymode'', which can be compiled that way:
<pre class="host">
$ make shell_env
$ . armadeus_env.sh
$ export PATH=$PATH:$ARMADEUS_TOOLCHAIN_PATH
$ make -C target/linux/modules/pwm/test/
$ cp target/linux/modules/pwm/test/testplaymode /tftpboot/
$ cp target/linux/modules/pwm/test/KDE_Startup_2.raw /tftpboot/
</pre>
on target do:
<pre class="apf">
# testplaymode
</pre>
or
<pre class="apf">
# testplaymode KDE_Startup_2.raw
</pre>

==Going further==
If you need more than one PWM at a time, you can use the APF's FPGA with [[MotionSystem|the following project]].

== Links ==
* [http://sox.sourceforge.net/Docs/FAQ SoX, sound format converter]
* http://en.wikipedia.org/wiki/Pulse-width_modulation

[[Category:Linux_drivers]]
[[Category:ExternalDeviceControl]]

PWM

2009-09-28T14:52:35Z

OlivierR: /* PWM with Java */

On this page, you will find usefull informations to configure and use the Pulse Width Modulation (PWM) capabilities of your [[APF9328]]/[[APF27]] boards.

The i.MX processor is capable of driving 2 PWM signals:
* one is linked to the LCD controller and allow to control the [[BackLight | LCD backlight]]
* the other can be used to generate a PWM signal in several mode:
** audio playback
** real PWM

==Hardware==
i.MX PWM module is using ''PWMO'' (pin 2 of PortA on [[APF9328]] and pin 5 of PortE on the [[APF27]]) as ouput.
* On [[APF9328DevLight]] this pin is accessible from ''TIMER'' zone under the board (See [http://www.armadeus.com/_downloads/apf9328DevLight/documentation/dataSheet_APF9328_DevLight_V2.pdf datasheets for more infos)]
* On [[APF9328DevFull|APF9328DevFull development boards]] this pin is connected to pin 4 (TIM2) of ''"Timers"'' connector (X21)
* On [[APF27Dev|APF27Dev development boards]] this pin is connected to pin 4 of J22

== Linux driver installation ==
i.MX PWM driver is installed by default in standard Armadeus rootfs.

== Usage ==
* Load the module:
<pre class="apf">
# modprobe imx-pwm
Initializing PWM class.
Initializing PWM#0...PWM major number = 251
PWM driver v0.7
done.
</pre>
* If you plan to use sound, create ''/dev/pwm'' device file if not already existing (Major is dynamically allocated)
<pre class="apf">
# DEV=`cat /proc/devices | grep imx-pwm | cut -d " " -f 1`; mknod /dev/pwm c $DEV 0
</pre>

=== PWM Mode ===

Remark:
* The pwm has a resolution of 1uS

After driver loading, you have access to ''/sys/class/pwm/...'' functionnalities:
* to change frequency (for example 500 Hz):
<pre class="apf">
# echo 500 > /sys/class/pwm/pwm0/frequency
</pre>
* to change period (for example 100us):
<pre class="apf">
# echo 100 > /sys/class/pwm/pwm0/period
</pre>
* to change duty cycle (for example 50.0%)
<pre class="apf">
# echo 500 > /sys/class/pwm/pwm0/duty
</pre>
* to activate PWM:
<pre class="apf">
# echo 1 > /sys/class/pwm/pwm0/active
</pre>
* to de-activate PWM:
<pre class="apf">
# echo 0 > /sys/class/pwm/pwm0/active
</pre>

==== Bash test script ====
* A Bash test script is available given below. Just enter the desired frequency and duty cycle.
<source lang="Bash">
#!/bin/sh
#
# script to command imx pwm
# usage : pwm_imx frequency duty
#

if [ $# -lt 2 ]
then
echo "Provide two arguments to this script !"
echo "pwm_imx frequency dutycycle"
exit 1
fi

SYS_DIR="/sys/class/pwm/pwm0/"
FREQUENCY=$1
DUTY=$2

DUTY=`(echo $DUTY | awk '{ print $1*10}')`

if [ ! -d "$SYS_DIR" ]; then
echo "Can't find /sys/ interface for PWM"
exit 1
fi

echo "Starting PWM"
echo 1 > $SYS_DIR/active

#SET FREQUENCY
echo $FREQUENCY > $SYS_DIR/frequency
echo "Setting PWM to $FREQUENCY Hz"

#SET DUTY CYCLE
echo $DUTY > $SYS_DIR/duty
echo "Setting DUTY to $2 %"

exit 0

</source>

==== PWM with Java ====

The code bellow shows how to directly use iMX-PWM from Java. The main method provides example of using it. PWM control is done by reading and writing pseudo-files in /sys/class/pwm/pwm0/ directory.

<source lang="Java">

import java.io.*;

public class Imxpwm {

private FileReader activeReader;

private FileWriter activeWriter;

private FileReader frequencyReader;

private FileWriter frequencyWriter;

private FileReader periodReader;

private FileWriter periodWriter;

private FileReader dutyReader;

private FileWriter dutyWriter;

public boolean isActive() {
try {
int result = this.activeReader.read();
if (result == 0) {
return true;
} else {
return false;
}
} catch (Exception e) {
e.printStackTrace();
return false;
}
}

public void setActive(boolean active) {
try {
if (active) {
this.activeWriter.write("1");
this.activeWriter.flush();
} else {
this.activeWriter.write("0");
this.activeWriter.flush();
}
} catch (Exception e) {
e.printStackTrace();
}
}

public double getDuty() {
try {
return this.dutyReader.read()/10.0;
} catch (Exception e) {
e.printStackTrace();
return -1.0;
}
}

public void setDuty(double duty) {
try {
this.dutyWriter.write(Double.toString(duty * 10));
this.dutyWriter.flush();
} catch (Exception e) {
e.printStackTrace();
}
}

public int getFrequency() {
try {
return this.frequencyReader.read();
} catch (Exception e) {
e.printStackTrace();
return -1;
}
}

public void setFrequency(int frequency) {
try {
this.frequencyWriter.write(Integer.toString(frequency));
this.frequencyWriter.flush();
} catch (Exception e) {
e.printStackTrace();
}
}

public int getPeriod() {
try {
return this.periodReader.read();
} catch (Exception e) {
e.printStackTrace();
return -1;
}
}

public void setPeriod(int period) {
try {
// en µs
this.periodWriter.write(Integer.toString(period));
this.periodWriter.flush();
} catch (Exception e) {
e.printStackTrace();
}
}

/**
* @param frequency
* @param duty
* @param period
* @param active
*/
public Imxpwm(int frequency, int duty, boolean active) {

try {
activeReader = new FileReader("/sys/class/pwm/pwm0/active");
} catch (Exception e) {
e.printStackTrace();
}
try {
activeWriter = new FileWriter("/sys/class/pwm/pwm0/active");
} catch (Exception e) {
e.printStackTrace();
}
try {
frequencyReader = new FileReader("/sys/class/pwm/pwm0/frequency");
} catch (Exception e) {
e.printStackTrace();
}
try {
frequencyWriter = new FileWriter("/sys/class/pwm/pwm0/frequency");
} catch (Exception e) {
e.printStackTrace();
}
try {
periodReader = new FileReader("/sys/class/pwm/pwm0/period");
} catch (Exception e) {
e.printStackTrace();
}
try {
periodWriter = new FileWriter("/sys/class/pwm/pwm0/period");
} catch (Exception e) {
e.printStackTrace();
}
try {
dutyReader = new FileReader("/sys/class/pwm/pwm0/duty");
} catch (Exception e) {
e.printStackTrace();
}
try {
dutyWriter = new FileWriter("/sys/class/pwm/pwm0/duty");
} catch (Exception e) {
e.printStackTrace();
}
this.setActive(active);
this.setDuty(duty);
this.setFrequency(frequency);
}

public static void main(String[] args) throws Exception {
Imxpwm maPWM = new Imxpwm(50, 75, true);
double d = 0.0;
for (int j = 0; j < 100; j++) {
for (int i = 5; i <= 999; i++) {
d = i * 1.0 / 10.0;
maPWM.setDuty(d);
}
}
maPWM.setFrequency(500);
maPWM.setPeriod(50000);
}

}
</source>

=== Audio Mode ===
Audio playback mode is working since v0.5 of PWM driver (thanks to [[User:SebastienR|SebastienR]]).
You can play 8, 16 & 32 KHz 8bit linear RAW sound. It's recommended to play 8kHz one, as they use less CPU ressources.
To convert a sound to the right format we recommend to use SoX (on Linux).
For exemple:
[host]$ sox /usr/share/sounds/KDE_Chimes_1.ogg -r 8192 -b -u -c 1 Chimes.raw
-r -> sampling rate
-b -> byte/8bit signal
-u -> linear /not compressed
-c 1 -> Mono / 1 channel

Then you can test it using ''target/linux/modules/pwm/test/testplaymode'', which can be compiled that way:
<pre class="host">
$ make shell_env
$ . armadeus_env.sh
$ export PATH=$PATH:$ARMADEUS_TOOLCHAIN_PATH
$ make -C target/linux/modules/pwm/test/
$ cp target/linux/modules/pwm/test/testplaymode /tftpboot/
$ cp target/linux/modules/pwm/test/KDE_Startup_2.raw /tftpboot/
</pre>
on target do:
<pre class="apf">
# testplaymode
</pre>
or
<pre class="apf">
# testplaymode KDE_Startup_2.raw
</pre>

==Going further==
If you need more than one PWM at a time, you can use the APF's FPGA with [[MotionSystem|the following project]].

== Links ==
* [http://sox.sourceforge.net/Docs/FAQ SoX, sound format converter]
* http://en.wikipedia.org/wiki/Pulse-width_modulation

[[Category:Linux_drivers]]
[[Category:ExternalDeviceControl]]

PWM

2009-09-28T14:50:59Z

OlivierR: /* Bash test script */

On this page, you will find usefull informations to configure and use the Pulse Width Modulation (PWM) capabilities of your [[APF9328]]/[[APF27]] boards.

The i.MX processor is capable of driving 2 PWM signals:
* one is linked to the LCD controller and allow to control the [[BackLight | LCD backlight]]
* the other can be used to generate a PWM signal in several mode:
** audio playback
** real PWM

==Hardware==
i.MX PWM module is using ''PWMO'' (pin 2 of PortA on [[APF9328]] and pin 5 of PortE on the [[APF27]]) as ouput.
* On [[APF9328DevLight]] this pin is accessible from ''TIMER'' zone under the board (See [http://www.armadeus.com/_downloads/apf9328DevLight/documentation/dataSheet_APF9328_DevLight_V2.pdf datasheets for more infos)]
* On [[APF9328DevFull|APF9328DevFull development boards]] this pin is connected to pin 4 (TIM2) of ''"Timers"'' connector (X21)
* On [[APF27Dev|APF27Dev development boards]] this pin is connected to pin 4 of J22

== Linux driver installation ==
i.MX PWM driver is installed by default in standard Armadeus rootfs.

== Usage ==
* Load the module:
<pre class="apf">
# modprobe imx-pwm
Initializing PWM class.
Initializing PWM#0...PWM major number = 251
PWM driver v0.7
done.
</pre>
* If you plan to use sound, create ''/dev/pwm'' device file if not already existing (Major is dynamically allocated)
<pre class="apf">
# DEV=`cat /proc/devices | grep imx-pwm | cut -d " " -f 1`; mknod /dev/pwm c $DEV 0
</pre>

=== PWM Mode ===

Remark:
* The pwm has a resolution of 1uS

After driver loading, you have access to ''/sys/class/pwm/...'' functionnalities:
* to change frequency (for example 500 Hz):
<pre class="apf">
# echo 500 > /sys/class/pwm/pwm0/frequency
</pre>
* to change period (for example 100us):
<pre class="apf">
# echo 100 > /sys/class/pwm/pwm0/period
</pre>
* to change duty cycle (for example 50.0%)
<pre class="apf">
# echo 500 > /sys/class/pwm/pwm0/duty
</pre>
* to activate PWM:
<pre class="apf">
# echo 1 > /sys/class/pwm/pwm0/active
</pre>
* to de-activate PWM:
<pre class="apf">
# echo 0 > /sys/class/pwm/pwm0/active
</pre>

==== Bash test script ====
* A Bash test script is available given below. Just enter the desired frequency and duty cycle.
<source lang="Bash">
#!/bin/sh
#
# script to command imx pwm
# usage : pwm_imx frequency duty
#

if [ $# -lt 2 ]
then
echo "Provide two arguments to this script !"
echo "pwm_imx frequency dutycycle"
exit 1
fi

SYS_DIR="/sys/class/pwm/pwm0/"
FREQUENCY=$1
DUTY=$2

DUTY=`(echo $DUTY | awk '{ print $1*10}')`

if [ ! -d "$SYS_DIR" ]; then
echo "Can't find /sys/ interface for PWM"
exit 1
fi

echo "Starting PWM"
echo 1 > $SYS_DIR/active

#SET FREQUENCY
echo $FREQUENCY > $SYS_DIR/frequency
echo "Setting PWM to $FREQUENCY Hz"

#SET DUTY CYCLE
echo $DUTY > $SYS_DIR/duty
echo "Setting DUTY to $2 %"

exit 0

</source>

==== PWM with Java ====

The code bellow shows how to directly use iMX-PWM from Java.

<source lang="Java">

import java.io.*;

public class Imxpwm {

private FileReader activeReader;

private FileWriter activeWriter;

private FileReader frequencyReader;

private FileWriter frequencyWriter;

private FileReader periodReader;

private FileWriter periodWriter;

private FileReader dutyReader;

private FileWriter dutyWriter;

public boolean isActive() {
try {
int result = this.activeReader.read();
if (result == 0) {
return true;
} else {
return false;
}
} catch (Exception e) {
e.printStackTrace();
return false;
}
}

public void setActive(boolean active) {
try {
if (active) {
this.activeWriter.write("1");
this.activeWriter.flush();
} else {
this.activeWriter.write("0");
this.activeWriter.flush();
}
} catch (Exception e) {
e.printStackTrace();
}
}

public double getDuty() {
try {
return this.dutyReader.read()/10.0;
} catch (Exception e) {
e.printStackTrace();
return -1.0;
}
}

public void setDuty(double duty) {
try {
this.dutyWriter.write(Double.toString(duty * 10));
this.dutyWriter.flush();
} catch (Exception e) {
e.printStackTrace();
}
}

public int getFrequency() {
try {
return this.frequencyReader.read();
} catch (Exception e) {
e.printStackTrace();
return -1;
}
}

public void setFrequency(int frequency) {
try {
this.frequencyWriter.write(Integer.toString(frequency));
this.frequencyWriter.flush();
} catch (Exception e) {
e.printStackTrace();
}
}

public int getPeriod() {
try {
return this.periodReader.read();
} catch (Exception e) {
e.printStackTrace();
return -1;
}
}

public void setPeriod(int period) {
try {
// en µs
this.periodWriter.write(Integer.toString(period));
this.periodWriter.flush();
} catch (Exception e) {
e.printStackTrace();
}
}

/**
* @param frequency
* @param duty
* @param period
* @param active
*/
public Imxpwm(int frequency, int duty, boolean active) {

try {
activeReader = new FileReader("/sys/class/pwm/pwm0/active");
} catch (Exception e) {
e.printStackTrace();
}
try {
activeWriter = new FileWriter("/sys/class/pwm/pwm0/active");
} catch (Exception e) {
e.printStackTrace();
}
try {
frequencyReader = new FileReader("/sys/class/pwm/pwm0/frequency");
} catch (Exception e) {
e.printStackTrace();
}
try {
frequencyWriter = new FileWriter("/sys/class/pwm/pwm0/frequency");
} catch (Exception e) {
e.printStackTrace();
}
try {
periodReader = new FileReader("/sys/class/pwm/pwm0/period");
} catch (Exception e) {
e.printStackTrace();
}
try {
periodWriter = new FileWriter("/sys/class/pwm/pwm0/period");
} catch (Exception e) {
e.printStackTrace();
}
try {
dutyReader = new FileReader("/sys/class/pwm/pwm0/duty");
} catch (Exception e) {
e.printStackTrace();
}
try {
dutyWriter = new FileWriter("/sys/class/pwm/pwm0/duty");
} catch (Exception e) {
e.printStackTrace();
}
this.setActive(active);
this.setDuty(duty);
this.setFrequency(frequency);
}

public static void main(String[] args) throws Exception {
Imxpwm maPWM = new Imxpwm(50, 75, true);
double d = 0.0;
for (int j = 0; j < 100; j++) {
for (int i = 5; i <= 999; i++) {
d = i * 1.0 / 10.0;
maPWM.setDuty(d);
}
}
maPWM.setFrequency(500);
maPWM.setPeriod(50000);
}

}
</source>

=== Audio Mode ===
Audio playback mode is working since v0.5 of PWM driver (thanks to [[User:SebastienR|SebastienR]]).
You can play 8, 16 & 32 KHz 8bit linear RAW sound. It's recommended to play 8kHz one, as they use less CPU ressources.
To convert a sound to the right format we recommend to use SoX (on Linux).
For exemple:
[host]$ sox /usr/share/sounds/KDE_Chimes_1.ogg -r 8192 -b -u -c 1 Chimes.raw
-r -> sampling rate
-b -> byte/8bit signal
-u -> linear /not compressed
-c 1 -> Mono / 1 channel

Then you can test it using ''target/linux/modules/pwm/test/testplaymode'', which can be compiled that way:
<pre class="host">
$ make shell_env
$ . armadeus_env.sh
$ export PATH=$PATH:$ARMADEUS_TOOLCHAIN_PATH
$ make -C target/linux/modules/pwm/test/
$ cp target/linux/modules/pwm/test/testplaymode /tftpboot/
$ cp target/linux/modules/pwm/test/KDE_Startup_2.raw /tftpboot/
</pre>
on target do:
<pre class="apf">
# testplaymode
</pre>
or
<pre class="apf">
# testplaymode KDE_Startup_2.raw
</pre>

==Going further==
If you need more than one PWM at a time, you can use the APF's FPGA with [[MotionSystem|the following project]].

== Links ==
* [http://sox.sourceforge.net/Docs/FAQ SoX, sound format converter]
* http://en.wikipedia.org/wiki/Pulse-width_modulation

[[Category:Linux_drivers]]
[[Category:ExternalDeviceControl]]

PWM

2009-09-27T18:45:12Z

OlivierR: /* PWM with Java */

On this page, you will find usefull informations to configure and use the Pulse Width Modulation (PWM) capabilities of your [[APF9328]]/[[APF27]] boards.

The i.MX processor is capable of driving 2 PWM signals:
* one is linked to the LCD controller and allow to control the [[BackLight | LCD backlight]]
* the other can be used to generate a PWM signal in several mode:
** audio playback
** real PWM

==Hardware==
i.MX PWM module is using ''PWMO'' (pin 2 of PortA on [[APF9328]] and pin 5 of PortE on the [[APF27]]) as ouput.
* On [[APF9328DevLight]] this pin is accessible from ''TIMER'' zone under the board (See [http://www.armadeus.com/_downloads/apf9328DevLight/documentation/dataSheet_APF9328_DevLight_V2.pdf datasheets for more infos)]
* On [[APF9328DevFull|APF9328DevFull development boards]] this pin is connected to pin 4 (TIM2) of ''"Timers"'' connector (X21)
* On [[APF27Dev|APF27Dev development boards]] this pin is connected to pin 4 of J22

== Linux driver installation ==
i.MX PWM driver is installed by default in standard Armadeus rootfs.

== Usage ==
* Load the module:
<pre class="apf">
# modprobe imx-pwm
Initializing PWM class.
Initializing PWM#0...PWM major number = 251
PWM driver v0.7
done.
</pre>
* If you plan to use sound, create ''/dev/pwm'' device file if not already existing (Major is dynamically allocated)
<pre class="apf">
# DEV=`cat /proc/devices | grep imx-pwm | cut -d " " -f 1`; mknod /dev/pwm c $DEV 0
</pre>

=== PWM Mode ===

Remark:
* The pwm has a resolution of 1uS

After driver loading, you have access to ''/sys/class/pwm/...'' functionnalities:
* to change frequency (for example 500 Hz):
<pre class="apf">
# echo 500 > /sys/class/pwm/pwm0/frequency
</pre>
* to change period (for example 100us):
<pre class="apf">
# echo 100 > /sys/class/pwm/pwm0/period
</pre>
* to change duty cycle (for example 50.0%)
<pre class="apf">
# echo 500 > /sys/class/pwm/pwm0/duty
</pre>
* to activate PWM:
<pre class="apf">
# echo 1 > /sys/class/pwm/pwm0/active
</pre>
* to de-activate PWM:
<pre class="apf">
# echo 0 > /sys/class/pwm/pwm0/active
</pre>

==== Bash test script ====
* A Bash test script is available given here :
<source lang="Bash">
#!/bin/sh
#
# script to command imx pwm
# usage : pwm_imx frequency duty
#

if [ $# -lt 2 ]
then
echo "Provide two arguments to this script !"
echo "pwm_imx frequency dutycycle"
exit 1
fi

SYS_DIR="/sys/class/pwm/pwm0/"
FREQUENCY=$1
DUTY=$2

DUTY=`(echo $DUTY | awk '{ print $1*10}')`

if [ ! -d "$SYS_DIR" ]; then
echo "Can't find /sys/ interface for PWM"
exit 1
fi

echo "Starting PWM"
echo 1 > $SYS_DIR/active

#SET FREQUENCY
echo $FREQUENCY > $SYS_DIR/frequency
echo "Setting PWM to $FREQUENCY Hz"

#SET DUTY CYCLE
echo $DUTY > $SYS_DIR/duty
echo "Setting DUTY to $2 %"

exit 0

</source>

==== PWM with Java ====

The code bellow shows how to directly use iMX-PWM from Java.

<source lang="Java">

import java.io.*;

public class Imxpwm {

private FileReader activeReader;

private FileWriter activeWriter;

private FileReader frequencyReader;

private FileWriter frequencyWriter;

private FileReader periodReader;

private FileWriter periodWriter;

private FileReader dutyReader;

private FileWriter dutyWriter;

public boolean isActive() {
try {
int result = this.activeReader.read();
if (result == 0) {
return true;
} else {
return false;
}
} catch (Exception e) {
e.printStackTrace();
return false;
}
}

public void setActive(boolean active) {
try {
if (active) {
this.activeWriter.write("1");
this.activeWriter.flush();
} else {
this.activeWriter.write("0");
this.activeWriter.flush();
}
} catch (Exception e) {
e.printStackTrace();
}
}

public double getDuty() {
try {
return this.dutyReader.read()/10.0;
} catch (Exception e) {
e.printStackTrace();
return -1.0;
}
}

public void setDuty(double duty) {
try {
this.dutyWriter.write(Double.toString(duty * 10));
this.dutyWriter.flush();
} catch (Exception e) {
e.printStackTrace();
}
}

public int getFrequency() {
try {
return this.frequencyReader.read();
} catch (Exception e) {
e.printStackTrace();
return -1;
}
}

public void setFrequency(int frequency) {
try {
this.frequencyWriter.write(Integer.toString(frequency));
this.frequencyWriter.flush();
} catch (Exception e) {
e.printStackTrace();
}
}

public int getPeriod() {
try {
return this.periodReader.read();
} catch (Exception e) {
e.printStackTrace();
return -1;
}
}

public void setPeriod(int period) {
try {
// en µs
this.periodWriter.write(Integer.toString(period));
this.periodWriter.flush();
} catch (Exception e) {
e.printStackTrace();
}
}

/**
* @param frequency
* @param duty
* @param period
* @param active
*/
public Imxpwm(int frequency, int duty, boolean active) {

try {
activeReader = new FileReader("/sys/class/pwm/pwm0/active");
} catch (Exception e) {
e.printStackTrace();
}
try {
activeWriter = new FileWriter("/sys/class/pwm/pwm0/active");
} catch (Exception e) {
e.printStackTrace();
}
try {
frequencyReader = new FileReader("/sys/class/pwm/pwm0/frequency");
} catch (Exception e) {
e.printStackTrace();
}
try {
frequencyWriter = new FileWriter("/sys/class/pwm/pwm0/frequency");
} catch (Exception e) {
e.printStackTrace();
}
try {
periodReader = new FileReader("/sys/class/pwm/pwm0/period");
} catch (Exception e) {
e.printStackTrace();
}
try {
periodWriter = new FileWriter("/sys/class/pwm/pwm0/period");
} catch (Exception e) {
e.printStackTrace();
}
try {
dutyReader = new FileReader("/sys/class/pwm/pwm0/duty");
} catch (Exception e) {
e.printStackTrace();
}
try {
dutyWriter = new FileWriter("/sys/class/pwm/pwm0/duty");
} catch (Exception e) {
e.printStackTrace();
}
this.setActive(active);
this.setDuty(duty);
this.setFrequency(frequency);
}

public static void main(String[] args) throws Exception {
Imxpwm maPWM = new Imxpwm(50, 75, true);
double d = 0.0;
for (int j = 0; j < 100; j++) {
for (int i = 5; i <= 999; i++) {
d = i * 1.0 / 10.0;
maPWM.setDuty(d);
}
}
maPWM.setFrequency(500);
maPWM.setPeriod(50000);
}

}
</source>

=== Audio Mode ===
Audio playback mode is working since v0.5 of PWM driver (thanks to [[User:SebastienR|SebastienR]]).
You can play 8, 16 & 32 KHz 8bit linear RAW sound. It's recommended to play 8kHz one, as they use less CPU ressources.
To convert a sound to the right format we recommend to use SoX (on Linux).
For exemple:
[host]$ sox /usr/share/sounds/KDE_Chimes_1.ogg -r 8192 -b -u -c 1 Chimes.raw
-r -> sampling rate
-b -> byte/8bit signal
-u -> linear /not compressed
-c 1 -> Mono / 1 channel

Then you can test it using ''target/linux/modules/pwm/test/testplaymode'', which can be compiled that way:
<pre class="host">
$ make shell_env
$ . armadeus_env.sh
$ export PATH=$PATH:$ARMADEUS_TOOLCHAIN_PATH
$ make -C target/linux/modules/pwm/test/
$ cp target/linux/modules/pwm/test/testplaymode /tftpboot/
$ cp target/linux/modules/pwm/test/KDE_Startup_2.raw /tftpboot/
</pre>
on target do:
<pre class="apf">
# testplaymode
</pre>
or
<pre class="apf">
# testplaymode KDE_Startup_2.raw
</pre>

==Going further==
If you need more than one PWM at a time, you can use the APF's FPGA with [[MotionSystem|the following project]].

== Links ==
* [http://sox.sourceforge.net/Docs/FAQ SoX, sound format converter]
* http://en.wikipedia.org/wiki/Pulse-width_modulation

[[Category:Linux_drivers]]
[[Category:ExternalDeviceControl]]

PWM

2009-09-27T18:43:25Z

OlivierR:

On this page, you will find usefull informations to configure and use the Pulse Width Modulation (PWM) capabilities of your [[APF9328]]/[[APF27]] boards.

The i.MX processor is capable of driving 2 PWM signals:
* one is linked to the LCD controller and allow to control the [[BackLight | LCD backlight]]
* the other can be used to generate a PWM signal in several mode:
** audio playback
** real PWM

==Hardware==
i.MX PWM module is using ''PWMO'' (pin 2 of PortA on [[APF9328]] and pin 5 of PortE on the [[APF27]]) as ouput.
* On [[APF9328DevLight]] this pin is accessible from ''TIMER'' zone under the board (See [http://www.armadeus.com/_downloads/apf9328DevLight/documentation/dataSheet_APF9328_DevLight_V2.pdf datasheets for more infos)]
* On [[APF9328DevFull|APF9328DevFull development boards]] this pin is connected to pin 4 (TIM2) of ''"Timers"'' connector (X21)
* On [[APF27Dev|APF27Dev development boards]] this pin is connected to pin 4 of J22

== Linux driver installation ==
i.MX PWM driver is installed by default in standard Armadeus rootfs.

== Usage ==
* Load the module:
<pre class="apf">
# modprobe imx-pwm
Initializing PWM class.
Initializing PWM#0...PWM major number = 251
PWM driver v0.7
done.
</pre>
* If you plan to use sound, create ''/dev/pwm'' device file if not already existing (Major is dynamically allocated)
<pre class="apf">
# DEV=`cat /proc/devices | grep imx-pwm | cut -d " " -f 1`; mknod /dev/pwm c $DEV 0
</pre>

=== PWM Mode ===

Remark:
* The pwm has a resolution of 1uS

After driver loading, you have access to ''/sys/class/pwm/...'' functionnalities:
* to change frequency (for example 500 Hz):
<pre class="apf">
# echo 500 > /sys/class/pwm/pwm0/frequency
</pre>
* to change period (for example 100us):
<pre class="apf">
# echo 100 > /sys/class/pwm/pwm0/period
</pre>
* to change duty cycle (for example 50.0%)
<pre class="apf">
# echo 500 > /sys/class/pwm/pwm0/duty
</pre>
* to activate PWM:
<pre class="apf">
# echo 1 > /sys/class/pwm/pwm0/active
</pre>
* to de-activate PWM:
<pre class="apf">
# echo 0 > /sys/class/pwm/pwm0/active
</pre>

==== Bash test script ====
* A Bash test script is available given here :
<source lang="Bash">
#!/bin/sh
#
# script to command imx pwm
# usage : pwm_imx frequency duty
#

if [ $# -lt 2 ]
then
echo "Provide two arguments to this script !"
echo "pwm_imx frequency dutycycle"
exit 1
fi

SYS_DIR="/sys/class/pwm/pwm0/"
FREQUENCY=$1
DUTY=$2

DUTY=`(echo $DUTY | awk '{ print $1*10}')`

if [ ! -d "$SYS_DIR" ]; then
echo "Can't find /sys/ interface for PWM"
exit 1
fi

echo "Starting PWM"
echo 1 > $SYS_DIR/active

#SET FREQUENCY
echo $FREQUENCY > $SYS_DIR/frequency
echo "Setting PWM to $FREQUENCY Hz"

#SET DUTY CYCLE
echo $DUTY > $SYS_DIR/duty
echo "Setting DUTY to $2 %"

exit 0

</source>

==== PWM with Java ====

The code bellow shows how to directly use PWM from Java.

<source lang="Java">

import java.io.*;

public class Imxpwm {

private FileReader activeReader;

private FileWriter activeWriter;

private FileReader frequencyReader;

private FileWriter frequencyWriter;

private FileReader periodReader;

private FileWriter periodWriter;

private FileReader dutyReader;

private FileWriter dutyWriter;

public boolean isActive() {
try {
int result = this.activeReader.read();
if (result == 0) {
return true;
} else {
return false;
}
} catch (Exception e) {
e.printStackTrace();
return false;
}
}

public void setActive(boolean active) {
try {
if (active) {
this.activeWriter.write("1");
this.activeWriter.flush();
} else {
this.activeWriter.write("0");
this.activeWriter.flush();
}
} catch (Exception e) {
e.printStackTrace();
}
}

public double getDuty() {
try {
return this.dutyReader.read()/10.0;
} catch (Exception e) {
e.printStackTrace();
return -1.0;
}
}

public void setDuty(double duty) {
try {
this.dutyWriter.write(Double.toString(duty * 10));
this.dutyWriter.flush();
} catch (Exception e) {
e.printStackTrace();
}
}

public int getFrequency() {
try {
return this.frequencyReader.read();
} catch (Exception e) {
e.printStackTrace();
return -1;
}
}

public void setFrequency(int frequency) {
try {
this.frequencyWriter.write(Integer.toString(frequency));
this.frequencyWriter.flush();
} catch (Exception e) {
e.printStackTrace();
}
}

public int getPeriod() {
try {
return this.periodReader.read();
} catch (Exception e) {
e.printStackTrace();
return -1;
}
}

public void setPeriod(int period) {
try {
// en µs
this.periodWriter.write(Integer.toString(period));
this.periodWriter.flush();
} catch (Exception e) {
e.printStackTrace();
}
}

/**
* @param frequency
* @param duty
* @param period
* @param active
*/
public Imxpwm(int frequency, int duty, boolean active) {

try {
activeReader = new FileReader("/sys/class/pwm/pwm0/active");
} catch (Exception e) {
e.printStackTrace();
}
try {
activeWriter = new FileWriter("/sys/class/pwm/pwm0/active");
} catch (Exception e) {
e.printStackTrace();
}
try {
frequencyReader = new FileReader("/sys/class/pwm/pwm0/frequency");
} catch (Exception e) {
e.printStackTrace();
}
try {
frequencyWriter = new FileWriter("/sys/class/pwm/pwm0/frequency");
} catch (Exception e) {
e.printStackTrace();
}
try {
periodReader = new FileReader("/sys/class/pwm/pwm0/period");
} catch (Exception e) {
e.printStackTrace();
}
try {
periodWriter = new FileWriter("/sys/class/pwm/pwm0/period");
} catch (Exception e) {
e.printStackTrace();
}
try {
dutyReader = new FileReader("/sys/class/pwm/pwm0/duty");
} catch (Exception e) {
e.printStackTrace();
}
try {
dutyWriter = new FileWriter("/sys/class/pwm/pwm0/duty");
} catch (Exception e) {
e.printStackTrace();
}
this.setActive(active);
this.setDuty(duty);
this.setFrequency(frequency);
}

public static void main(String[] args) throws Exception {
Imxpwm maPWM = new Imxpwm(50, 75, true);
double d = 0.0;
for (int j = 0; j < 100; j++) {
for (int i = 5; i <= 999; i++) {
d = i * 1.0 / 10.0;
maPWM.setDuty(d);
}
}
maPWM.setFrequency(500);
maPWM.setPeriod(50000);
}

}
</source>

=== Audio Mode ===
Audio playback mode is working since v0.5 of PWM driver (thanks to [[User:SebastienR|SebastienR]]).
You can play 8, 16 & 32 KHz 8bit linear RAW sound. It's recommended to play 8kHz one, as they use less CPU ressources.
To convert a sound to the right format we recommend to use SoX (on Linux).
For exemple:
[host]$ sox /usr/share/sounds/KDE_Chimes_1.ogg -r 8192 -b -u -c 1 Chimes.raw
-r -> sampling rate
-b -> byte/8bit signal
-u -> linear /not compressed
-c 1 -> Mono / 1 channel

Then you can test it using ''target/linux/modules/pwm/test/testplaymode'', which can be compiled that way:
<pre class="host">
$ make shell_env
$ . armadeus_env.sh
$ export PATH=$PATH:$ARMADEUS_TOOLCHAIN_PATH
$ make -C target/linux/modules/pwm/test/
$ cp target/linux/modules/pwm/test/testplaymode /tftpboot/
$ cp target/linux/modules/pwm/test/KDE_Startup_2.raw /tftpboot/
</pre>
on target do:
<pre class="apf">
# testplaymode
</pre>
or
<pre class="apf">
# testplaymode KDE_Startup_2.raw
</pre>

==Going further==
If you need more than one PWM at a time, you can use the APF's FPGA with [[MotionSystem|the following project]].

== Links ==
* [http://sox.sourceforge.net/Docs/FAQ SoX, sound format converter]
* http://en.wikipedia.org/wiki/Pulse-width_modulation

[[Category:Linux_drivers]]
[[Category:ExternalDeviceControl]]

PWM

2009-09-27T18:39:54Z

OlivierR: /* PWM Mode */

PWM

2009-09-27T18:38:47Z

OlivierR: /* PWM Mode */

Members

2009-09-25T07:19:21Z

OlivierR: /* Google Map */

==Google Map==

<googlemap lat="47" lon="6" width=640 height=480 zoom=4>
47.270377, 6.025314, [[User:JulienB]] Besancon
47.752598,7.301788, ARMadeus Systems
47.760791, 7.339897, [[User:Salocin68]] Mulhouse
47.734392,7.316975, [[User:FabienM]] Mulhouse
46.946161,7.517052, [[User:Jorasse]] Gümligen
47.681108, 7.390366, [[User:Carbure]] Helfranzkirch
47.436448, 8.429947, [[User:SonZerro]] Baden
44.653992, 6.176672, [[User:JulienN]] Chabottes
48.573342, 7.911476, [[User:KroMignon]] Legelshurst
42.734405, 2.894211, ELIAUS Perpignan
47.653363, 6.862335, UTBM Belfort
45.689589, 5.026395, [[User:OlivierT]] St Bonnet de Mure
48.879619, 2.351074, Paris - 20 members
43.622159, 1.442642, Toulouse - 2 members
-21.115141, 55.536384, La Réunion - 1 member
14.551684, -60.912323, La Martinique - 1 member
48.682805, 2.169186, [[User:BrunoL]] Les Ulis
47.399744, 8.53775, Zurich - 1 member
46.810282, 7.151241, Fribourg
47.574904, 7.580566, Basel

53.371859, -6.2677, Dublin - 1 member
50.637704, 5.608521, Liège - 1 member
50.67, 3.48, Velaines - 1 member
48.199964, 11.57959, Munich - 1 member
48.109588,-1.678752, Rennes - 1 member
47.750109,-3.366339, [[User:MatthieuT]] Lorient
48.70,2.03, [[User:JulienPeeters]] Chevreuse
45.190325, 5.700316, [[User:NicolasL]] Fontaine
49.279296, 2.472973 [[User:DavidC]] Nogent sur Oise
46.208644, 6.130027, [[User:EugeneR]] Genève
48.667158, 2.706585, [[User:BernardR]] Soignolles en Brie, France
45.188963, 5.709822, [[User:OlivierS]] Grenoble, France
47.214613,-0.737329, [[User:BrunoS]] Chemillé, France
47.225164,-1.556625, [[User:KevinP]] Nantes, France
43.609234, 1.442642, [[User:PierreBa]] Toulouse, France
41.668809,-0.87616, [[User:AntonioMB]] Zaragoza, España
49.200145, 0.407136, [[User:JeanFrancoisR]] - Asnières
48.109588,-1.678752, [[User:MichelTe]] - Rennes
49.163073, 2.550201, [[User:JulienBa]] - Pontarmé
43.488299, 5.494709, [[User:FrankA]] - Meyreuil
43.622159, 1.442642, [[User:PierreAlexandreS]] - Toulouse, France
51.46513, -0.9692, [[User:AlexG]] - Reading, UK
43.312439, 10.517693, [[User:PaoloB]] - Cecina, Italy
52.63, 4.75, Alkmaar - 1 member
47.201843, -0.991516, [[User:SamuelM]] - Beaupreau, France
50.776093, 14.632759, [[User:PetrD]] - Cvikov, ČR
48.42097, -4.471693, [[User:OlivierR]] - Brest, France
48.575244,-4.563446, [[User:JeanChristopheL]] - Brest, France
</googlemap>
 
===How to add your position===
* go to http://maps.google.com/
* type in the name of your town and launch "Search Google Maps", for example:
[[Image:Google_maps_search.png]]
* right click on "Get URL of this page" and copy the URL
[[Image:Google_maps_url.png]]
* you should get something like that:
<pre>
http://maps.google.com/maps?f=q&hl=fr&geocode=&q=besan%C3%A7on&ie=UTF8&ll=47.257796,6.025314&spn=0.216236,0.601501&z=11&iwloc=addr
</pre>
* the data between ''&ll='' and ''&spn'' are the needed one (latitude/longitude)
* extract them and copy them in the "Edit" of this wiki page. Add it you wiki name and your town. For example:
<pre>
<googlemap lat="47" lon="6" width=640 height=480 zoom=4>
...
Others coordinates
...
47.257796, 6.025314, [[User:YourID]] - Your Town
</googlemap>
</pre>

[[Category:Association]]

Members

2009-09-25T07:18:16Z

OlivierR: /* Google Map */

==Google Map==

<googlemap lat="47" lon="6" width=640 height=480 zoom=4>
47.270377, 6.025314, [[User:JulienB]] Besancon
47.752598,7.301788, ARMadeus Systems
47.760791, 7.339897, [[User:Salocin68]] Mulhouse
47.734392,7.316975, [[User:FabienM]] Mulhouse
46.946161,7.517052, [[User:Jorasse]] Gümligen
47.681108, 7.390366, [[User:Carbure]] Helfranzkirch
47.436448, 8.429947, [[User:SonZerro]] Baden
44.653992, 6.176672, [[User:JulienN]] Chabottes
48.573342, 7.911476, [[User:KroMignon]] Legelshurst
42.734405, 2.894211, ELIAUS Perpignan
47.653363, 6.862335, UTBM Belfort
45.689589, 5.026395, [[User:OlivierT]] St Bonnet de Mure
48.879619, 2.351074, Paris - 20 members
43.622159, 1.442642, Toulouse - 2 members
-21.115141, 55.536384, La Réunion - 1 member
14.551684, -60.912323, La Martinique - 1 member
48.682805, 2.169186, [[User:BrunoL]] Les Ulis
47.399744, 8.53775, Zurich - 1 member
46.810282, 7.151241, Fribourg
47.574904, 7.580566, Basel

53.371859, -6.2677, Dublin - 1 member
50.637704, 5.608521, Liège - 1 member
50.67, 3.48, Velaines - 1 member
48.199964, 11.57959, Munich - 1 member
48.109588,-1.678752, Rennes - 1 member
47.750109,-3.366339, [[User:MatthieuT]] Lorient
48.70,2.03, [[User:JulienPeeters]] Chevreuse
45.190325, 5.700316, [[User:NicolasL]] Fontaine
49.279296, 2.472973 [[User:DavidC]] Nogent sur Oise
46.208644, 6.130027, [[User:EugeneR]] Genève
48.667158, 2.706585, [[User:BernardR]] Soignolles en Brie, France
45.188963, 5.709822, [[User:OlivierS]] Grenoble, France
47.214613,-0.737329, [[User:BrunoS]] Chemillé, France
47.225164,-1.556625, [[User:KevinP]] Nantes, France
43.609234, 1.442642, [[User:PierreBa]] Toulouse, France
41.668809,-0.87616, [[User:AntonioMB]] Zaragoza, España
49.200145, 0.407136, [[User:JeanFrancoisR]] - Asnières
48.109588,-1.678752, [[User:MichelTe]] - Rennes
49.163073, 2.550201, [[User:JulienBa]] - Pontarmé
43.488299, 5.494709, [[User:FrankA]] - Meyreuil
43.622159, 1.442642, [[User:PierreAlexandreS]] - Toulouse, France
51.46513, -0.9692, [[User:AlexG]] - Reading, UK
43.312439, 10.517693, [[User:PaoloB]] - Cecina, Italy
52.63, 4.75, Alkmaar - 1 member
47.201843, -0.991516, [[User:SamuelM]] - Beaupreau, France
50.776093, 14.632759, [[User:PetrD]] - Cvikov, ČR
48.431479, -4.479504, [[User:OlivierR]] - Brest, France
48.575244,-4.563446, [[User:JeanChristopheL]] - Brest, France
</googlemap>
 
===How to add your position===
* go to http://maps.google.com/
* type in the name of your town and launch "Search Google Maps", for example:
[[Image:Google_maps_search.png]]
* right click on "Get URL of this page" and copy the URL
[[Image:Google_maps_url.png]]
* you should get something like that:
<pre>
http://maps.google.com/maps?f=q&hl=fr&geocode=&q=besan%C3%A7on&ie=UTF8&ll=47.257796,6.025314&spn=0.216236,0.601501&z=11&iwloc=addr
</pre>
* the data between ''&ll='' and ''&spn'' are the needed one (latitude/longitude)
* extract them and copy them in the "Edit" of this wiki page. Add it you wiki name and your town. For example:
<pre>
<googlemap lat="47" lon="6" width=640 height=480 zoom=4>
...
Others coordinates
...
47.257796, 6.025314, [[User:YourID]] - Your Town
</googlemap>
</pre>

[[Category:Association]]

Members

2009-09-25T07:16:48Z

OlivierR: /* Google Map */

==Google Map==

<googlemap lat="47" lon="6" width=640 height=480 zoom=4>
47.270377, 6.025314, [[User:JulienB]] Besancon
47.752598,7.301788, ARMadeus Systems
47.760791, 7.339897, [[User:Salocin68]] Mulhouse
47.734392,7.316975, [[User:FabienM]] Mulhouse
46.946161,7.517052, [[User:Jorasse]] Gümligen
47.681108, 7.390366, [[User:Carbure]] Helfranzkirch
47.436448, 8.429947, [[User:SonZerro]] Baden
44.653992, 6.176672, [[User:JulienN]] Chabottes
48.573342, 7.911476, [[User:KroMignon]] Legelshurst
42.734405, 2.894211, ELIAUS Perpignan
47.653363, 6.862335, UTBM Belfort
45.689589, 5.026395, [[User:OlivierT]] St Bonnet de Mure
48.879619, 2.351074, Paris - 20 members
43.622159, 1.442642, Toulouse - 2 members
-21.115141, 55.536384, La Réunion - 1 member
14.551684, -60.912323, La Martinique - 1 member
48.682805, 2.169186, [[User:BrunoL]] Les Ulis
47.399744, 8.53775, Zurich - 1 member
46.810282, 7.151241, Fribourg
47.574904, 7.580566, Basel

53.371859, -6.2677, Dublin - 1 member
50.637704, 5.608521, Liège - 1 member
50.67, 3.48, Velaines - 1 member
48.199964, 11.57959, Munich - 1 member
48.109588,-1.678752, Rennes - 1 member
47.750109,-3.366339, [[User:MatthieuT]] Lorient
48.70,2.03, [[User:JulienPeeters]] Chevreuse
45.190325, 5.700316, [[User:NicolasL]] Fontaine
49.279296, 2.472973 [[User:DavidC]] Nogent sur Oise
46.208644, 6.130027, [[User:EugeneR]] Genève
48.667158, 2.706585, [[User:BernardR]] Soignolles en Brie, France
45.188963, 5.709822, [[User:OlivierS]] Grenoble, France
47.214613,-0.737329, [[User:BrunoS]] Chemillé, France
47.225164,-1.556625, [[User:KevinP]] Nantes, France
43.609234, 1.442642, [[User:PierreBa]] Toulouse, France
41.668809,-0.87616, [[User:AntonioMB]] Zaragoza, España
49.200145, 0.407136, [[User:JeanFrancoisR]] - Asnières
48.109588,-1.678752, [[User:MichelTe]] - Rennes
49.163073, 2.550201, [[User:JulienBa]] - Pontarmé
43.488299, 5.494709, [[User:FrankA]] - Meyreuil
43.622159, 1.442642, [[User:PierreAlexandreS]] - Toulouse, France
51.46513, -0.9692, [[User:AlexG]] - Reading, UK
43.312439, 10.517693, [[User:PaoloB]] - Cecina, Italy
52.63, 4.75, Alkmaar - 1 member
47.201843, -0.991516, [[User:SamuelM]] - Beaupreau, France
50.776093, 14.632759, [[User:PetrD]] - Cvikov, ČR
48.250912, -4.283754, [[User:OlivierR]] - Brest, France
48.575244,-4.563446, [[User:JeanChristopheL]] - Brest, France
</googlemap>
 
===How to add your position===
* go to http://maps.google.com/
* type in the name of your town and launch "Search Google Maps", for example:
[[Image:Google_maps_search.png]]
* right click on "Get URL of this page" and copy the URL
[[Image:Google_maps_url.png]]
* you should get something like that:
<pre>
http://maps.google.com/maps?f=q&hl=fr&geocode=&q=besan%C3%A7on&ie=UTF8&ll=47.257796,6.025314&spn=0.216236,0.601501&z=11&iwloc=addr
</pre>
* the data between ''&ll='' and ''&spn'' are the needed one (latitude/longitude)
* extract them and copy them in the "Edit" of this wiki page. Add it you wiki name and your town. For example:
<pre>
<googlemap lat="47" lon="6" width=640 height=480 zoom=4>
...
Others coordinates
...
47.257796, 6.025314, [[User:YourID]] - Your Town
</googlemap>
</pre>

[[Category:Association]]

User:OlivierR

2009-09-24T17:48:30Z

OlivierR: /* Objectifs : */

Bonjour,
Je suis enseignant-chercheur à l'ENSIETA et je souhaite porter Armadeus dans le cursus d'enseignement.
C'est à mon avis une excellente plateforme pour les systèmes embarqués.
Bravo à toute l'équipe de s'appuyer sur les outils libres et linux.

== '''Mes compétences :''' ==
* Réseaux / Télécommuncations
* programmation en C/C++/Java/Python
* GNU Linux Debian

== '''Objectifs :''' ==
* développer mes compétences pour l'embarqué
* développer des projets armadeus avec mes étudiants !
* m'éclater avec une plateforme format carte de crédit !!

User:OlivierR

2009-09-24T17:48:20Z

OlivierR: /* Mes compétences : */

Bonjour,
Je suis enseignant-chercheur à l'ENSIETA et je souhaite porter Armadeus dans le cursus d'enseignement.
C'est à mon avis une excellente plateforme pour les systèmes embarqués.
Bravo à toute l'équipe de s'appuyer sur les outils libres et linux.

== '''Mes compétences :''' ==
* Réseaux / Télécommuncations
* programmation en C/C++/Java/Python
* GNU Linux Debian

== '''Objectifs :''' ==
- développer mes compétences pour l'embarqué
- développer des projets armadeus avec mes étudiants !
- m'éclater avec une plateforme format carte de crédit !!

User:OlivierR

2009-09-24T17:48:07Z

OlivierR: New page: Bonjour, Je suis enseignant-chercheur à l'ENSIETA et je souhaite porter Armadeus dans le cursus d'enseignement. C'est à mon avis une excellente plateforme pour les systèmes embarqués....

Bonjour,
Je suis enseignant-chercheur à l'ENSIETA et je souhaite porter Armadeus dans le cursus d'enseignement.
C'est à mon avis une excellente plateforme pour les systèmes embarqués.
Bravo à toute l'équipe de s'appuyer sur les outils libres et linux.

== '''Mes compétences :''' ==
- Réseaux / Télécommuncations
- programmation en C/C++/Java/Python
- GNU Linux Debian

== '''Objectifs :''' ==
- développer mes compétences pour l'embarqué
- développer des projets armadeus avec mes étudiants !
- m'éclater avec une plateforme format carte de crédit !!

Members

2009-09-24T15:41:10Z

OlivierR: /* Google Map */

==Google Map==

<googlemap lat="47" lon="6" width=640 height=480 zoom=4>
47.270377, 6.025314, [[User:JulienB]] Besancon
47.752598,7.301788, ARMadeus Systems
47.760791, 7.339897, [[User:Salocin68]] Mulhouse
47.734392,7.316975, [[User:FabienM]] Mulhouse
46.946161,7.517052, [[User:Jorasse]] Gümligen
47.681108, 7.390366, [[User:Carbure]] Helfranzkirch
47.436448, 8.429947, [[User:SonZerro]] Baden
44.653992, 6.176672, [[User:JulienN]] Chabottes
48.573342, 7.911476, [[User:KroMignon]] Legelshurst
42.734405, 2.894211, ELIAUS Perpignan
47.653363, 6.862335, UTBM Belfort
45.689589, 5.026395, [[User:OlivierT]] St Bonnet de Mure
48.879619, 2.351074, Paris - 20 members
43.622159, 1.442642, Toulouse - 2 members
-21.115141, 55.536384, La Réunion - 1 member
14.551684, -60.912323, La Martinique - 1 member
48.682805, 2.169186, [[User:BrunoL]] Les Ulis
47.399744, 8.53775, Zurich - 1 member
46.810282, 7.151241, Fribourg
47.574904, 7.580566, Basel

53.371859, -6.2677, Dublin - 1 member
50.637704, 5.608521, Liège - 1 member
50.67, 3.48, Velaines - 1 member
48.199964, 11.57959, Munich - 1 member
48.109588,-1.678752, Rennes - 1 member
47.750109,-3.366339, [[User:MatthieuT]] Lorient
48.70,2.03, [[User:JulienPeeters]] Chevreuse
45.190325, 5.700316, [[User:NicolasL]] Fontaine
49.279296, 2.472973 [[User:DavidC]] Nogent sur Oise
46.208644, 6.130027, [[User:EugeneR]] Genève
48.667158, 2.706585, [[User:BernardR]] Soignolles en Brie, France
45.188963, 5.709822, [[User:OlivierS]] Grenoble, France
47.214613,-0.737329, [[User:BrunoS]] Chemillé, France
47.225164,-1.556625, [[User:KevinP]] Nantes, France
43.609234, 1.442642, [[User:PierreBa]] Toulouse, France
41.668809,-0.87616, [[User:AntonioMB]] Zaragoza, España
49.200145, 0.407136, [[User:JeanFrancoisR]] - Asnières
48.109588,-1.678752, [[User:MichelTe]] - Rennes
49.163073, 2.550201, [[User:JulienBa]] - Pontarmé
43.488299, 5.494709, [[User:FrankA]] - Meyreuil
43.622159, 1.442642, [[User:PierreAlexandreS]] - Toulouse, France
51.46513, -0.9692, [[User:AlexG]] - Reading, UK
43.312439, 10.517693, [[User:PaoloB]] - Cecina, Italy
52.63, 4.75, Alkmaar - 1 member
47.201843, -0.991516, [[User:SamuelM]] - Beaupreau, France
50.776093, 14.632759, [[User:PetrD]] - Cvikov, ČR
48.424245, -4.469805, [[User:OlivierR]] - Brest, France
</googlemap>
 
===How to add your position===
* go to http://maps.google.com/
* type in the name of your town and launch "Search Google Maps", for example:
[[Image:Google_maps_search.png]]
* right click on "Get URL of this page" and copy the URL
[[Image:Google_maps_url.png]]
* you should get something like that:
<pre>
http://maps.google.com/maps?f=q&hl=fr&geocode=&q=besan%C3%A7on&ie=UTF8&ll=47.257796,6.025314&spn=0.216236,0.601501&z=11&iwloc=addr
</pre>
* the data between ''&ll='' and ''&spn'' are the needed one (latitude/longitude)
* extract them and copy them in the "Edit" of this wiki page. Add it you wiki name and your town. For example:
<pre>
<googlemap lat="47" lon="6" width=640 height=480 zoom=4>
...
Others coordinates
...
47.257796, 6.025314, [[User:YourID]] - Your Town
</googlemap>
</pre>

[[Category:Association]]

MemberList

2009-09-24T15:38:39Z

OlivierR: /* Here is the list of the (active) members and their skills */

==Here is the list of the (active) members and their skills==

This list is maintained by the users themself.

*0: Novice
*1: Notions. At least one successfull experiment
*2: Confirmed
 

{| border="1" cellpadding="5" cellspacing="0" summary="Signal connections"
|- style="background:#efefef;"
! '''Name / IRC Nickname''' || '''Linux Apps'''|| '''Linux Drivers'''|| '''FPGA''' || '''Board Design''' || '''Projet/Domain'''
|----------------
|[[User:Salocin68|Nicolas Colombain / Salocin]] || 1 || 1 || 1 || 2 || domotics
|----------------
|[[User:JulienB|Julien Boibessot / Artemys]] || 2 || 2 || 0 || 1 || multimedia
|----------------
|[[User:JeanBaptisteM|Jean-Baptiste Mayer / JiBee]] || 2 || 1 || 1 || 1 || robotics
|----------------
|[[User:NicolasA|Nicolas Aguirre]] || 2 || 0 || 1 || 1 || multimedia
|----------------
|[[User:BenoitC|Benoît Canet]] || 2 || 0 || 0 || 0 || multimedia
|----------------
|[[User:SonZerro|Sonzerro]] || 0 || 0 || 1 || 2 || domotics
|----------------
|[[User:HenriG|Henri Geist]] || 1 || 1 || 0 || 1 || robotics
|----------------
|[[User:BorredonB|Bernard Borredon]] || 2 || 1 || 0 || 1 || domotics
|----------------
|[[User:ThomasB|Thomas Bores]] || 2 || 0 || 0 || 1 || Entertainment
|----------------
|[[User:FabriceM|Fabrice Mousset / KroMignon]] || 1 || 1 || 2 || 1 || Domotics & multimedia
|----------------
|[[User:AmineH|Amine EL HEDADI]] || 2 || 2 || 0 || 0 || domotics & robotics
|----------------
|[[User:PhilippeM|Philippe Monteil]] || 2 || 0 || 0 || 0 || multimedia
|----------------
|[[User:CedricZ|Cédric Zmyj]] || 0 || 0 || 0 || 0 || domotics & robotics
|----------------
|[[User:JeanMichelN|Jean Michel Naimo / jeanmi12 ]] || 2 || 1 || 1 || 1 || Domotics & entertainment
|----------------
|[[User:OlivierC|Olivier Coutanceau]] || 1 || 0 || 0 || 0 || multimedia
|----------------
|[[User:ArnaudC|Arnaud COFFINET]] || 0 || 0 || 1 || 2 || multimedia & domotics
|----------------
|[[User:SylvainP|Sylvain PARRINO]] || 2 || 1 || 0 || 0 || robotics
|----------------
|[[User:AurelienH|Aurélien HIRON]] || 2 || 0 || 0 || 1 || robotics
|----------------
|[[User:GuillaumeT|Guillaume TRANNOY]] || 0 || 0 || 0 || 2 || domotics & robotics
|----------------
|[[User:JulienN|Julien NICOLAS / jujun]] || 2 || 1 || 0 || 1 || multimedia & network
|----------------
|[[User:StephaneF|Stéphane Falck]] || 0 || 0 || 0 || 0 || multimedia & robotics & domotics
|----------------
|[[User:GillesD|Gilles DUSSIN/ Sellig]] || 1 || 0 || 1 || 1 || robotics
|----------------
|[[User:MaximeL|Maxime Liron]] || 0 || 0 || 0 || 0 || domotics, robotics & multimedia
|----------------
|[[User:NicolasC|Nicolas CHARLERY/ realniko]] || 2 || 0 || 0 || 0 || electronic
|----------------
|[[User:BenoitJ|Benoit JESTER]] || 0 || 0 || 0 || 0 || robotics
|----------------
|[[User:FabienM|Fabien MARTEAU/ FabM]] || 1 || 2 || 1 || 1 || robotics,domotics
|----------------
|[[User:XavierA|Xavier AZNAR]] || 1 || 1 || 0 || 0 || environment, entertainment, domotic
|----------------
|[[User:AlbericA|Albéric AUBLANC / PoueT]] || 2 || 0 || 1 || 0 || domotics & multimedia, robotics, entertainment,
|----------------
|[[User:FredericB| Frédéric Blain / creber]] || 2 || 1 || 0 || 0 || system, domotics
|----------------
|[[User:JeanBaptisteMa| Jean-Baptiste Maillet]] || 2 || 1 || 0 || 0 || system
|----------------
|[[User:JeanFrancoisR| Jean-François Rousval]] || 2 || 1 || 0 || 1 ||
|----------------
|[[User:JulienPeeters| Julien Peeters]] || 2 || 1 || 0 || 0 || domotics, real-time, entertainment, network
|----------------
|[[User:YoannC| Yoann Congal / Alpheb]] || 0 || 0 || 0 || 1 || robotics
|----------------
|[[User:MatthieuT| Matthieu Texier / weeber]] || 1 || 0 || 1 || 0 || robotics, real-time
|----------------
|[[User:MartialG| Martial Guex]] || 2 || 1 || 1 || 2 || transceiver RF, real-time, wireless
|----------------
|[[User:NicolasL| Nicolas Lantz]] || 2 || 2 || 1 || 1 ||
|----------------
|[[User:GuillaumeD| Guillaume DELVIT]] || 1 || 1 || 1 || 1 || system, asynchronous CPU
|----------------
|[[User:BernardR|Bernard REMOND ]] || x || x || x || x ||
|----------------
|[[User:SamirH| Samir HAMNACHE]] || 0 || 0 || 0 || 1 || électronique
|----------------
|[[User:OlivierT|Olivier TARDIEU]] || 0 || 0 || 0 || 1 || électronique,robotics,domotics
|----------------
|[[User:ThibautR|Thibault Rétornaz]] || 1 || 1 || 1 || 0 || bio-med, électronique
|----------------
|[[User:BrunoS|Bruno Suarez]] || 2 || 0 || 0 || 0 || bio-med, électronique
|----------------
|[[User:guillaumeDe|Guillaume Denis]] || 0 || 0 || 2 || 1 || Electronique numérique, FPGA
|----------------
|[[User:KevinP|Kévin PETIT]] || 1 || 0 || 1 || 1 || Multimedia
|----------------
|[[User:PierreBa|Pierre Baudemont / b4ud3]] || 2 || 0 || 1 || 0 || domotics, robotics
|----------------
|[[User:BrunoL|Bruno Landré]] || 0 || 0 || 0 || 0 || robotics
|----------------
|[[User:AntonioMB|Antonio Meléndez]] || 0 || 0 || 1 || 2 || domotics, robotics, eletcronics
|----------------
|[[User:MichelTe|Michel Le Mer]] || 0 || 0 || 2 || 2 || electronics, software
|----------------
|[[User:JulienBa|Julien Baley]] || 0 || 0 || 0 || 0 ||
|----------------
|[[User:FrankA|Frank ANJEAUX]] || 1 || 0 || 0 || 1 || software,robotics, domotics, electronics
|----------------
|[[User:JulienViaud|Julien viaud/polric]] || 2 || 0 || 1 || 1 ||
|----------------
|[[User:NicolasCa|Nicolas CARTIER]] || 1 || 1 || 0 || 2 || domotics & robotics
|----------------
|[[User:PierreAlexandreS|Pierre Alexandre SCHEMBRI]] || 2 || 1 || 2 || 2 || electronics, board design, embedded software, FPGA, robotics, low power
|----------------
|[[User:AlexG|Alex GONZALEZ]] || 2 || 2 || 0 || 1 || telecommunications, network & multimedia
|----------------
|[[User:JulienL|Julien Lefrique / apapi]] || 1 || 0 || 1 || 1 ||
|----------------
|[[User:PaoloB|Paolo Bernini / nihil84]] || 2 || 1 || 0 || 0 || robotics, real-time
|----------------
|[[User:MichielE|Michiel Ettema]] || 0 || 0 || 0 || 1 || telecommunications, networking
|----------------
|[[User:NicolasD|Nicolas Duclos]] || 2 || 1 || 0 || 0 || telecommunications, domotics and funs
|----------------
|[[User:SebastienP|Sebastien Philippe]] || 1 || 2 || 1 || 2 || electronics, board design, embedded linux
|----------------
|[[User:PaulM|Paul MONSINJON]] || 1 || 1 || 2 || 1 || robotics, fpga, embedded linux
|----------------
|[[User:OlivierR|Olivier REYNET]] || 1 || 0 || 0 || 0 || robotics, linux, networking
|}

==Links==
* [[Members | Geographical position of the members]]

[[Category:Association]]