MotionSystem - Revision history

ChristopheC: /* Links */

2015-04-04T14:01:32Z

Links

← Older revision		Revision as of 16:01, 4 April 2015
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	==Links==		==Links==
	[http://yvan.roch.free.fr/armadeus/MotionSystem-00.00.00.tgz Project Files]
			[http://www.embedded-wire.com/communaute/controleur-de-servomoteurs-fpga-sur-plate-forme-armadeus Project Files (new version 00.00.02)]

			[http://yvan.roch.free.fr/armadeus/MotionSystem-00.00.00.tgz Project Files (first release)]

	[http://www.cadsoft.de Eagle]		[http://www.cadsoft.de Eagle]

WikiSysop: /* How to build and install the Linux Kernel Servo Driver */

2013-09-04T16:02:54Z

How to build and install the Linux Kernel Servo Driver

← Older revision		Revision as of 18:02, 4 September 2013
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	Configure the Linux kernel to build the servo module:		Configure the Linux kernel to build the servo module:
	cd $ARMADEUS_ROOT		cd $ARMADEUS_ROOT
	make ~~linux26~~-menuconfig		make linux-menuconfig
	In Device Drivers ---> Armadeus specific drivers ---> FPGA Drivers, select Armadeus Servo driver (NEW) as module.		In Device Drivers ---> Armadeus specific drivers ---> FPGA Drivers, select Armadeus Servo driver (NEW) as module.
	Rebuild the new Linux kernel and modules:		Rebuild the new Linux kernel and modules:

YvanR: /* Introduction */

2011-01-06T10:30:06Z

Introduction

← Older revision		Revision as of 12:30, 6 January 2011
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	The following functionality are implemented:		The following functionality are implemented:
	* A FPGA firmware which manages R/C servo at low level.		* A FPGA firmware which manages R/C servo at low level.
	* A Linux Kernel Driver which manages the FPGA ~~Firware~~.		* A Linux Kernel Driver which manages the FPGA Firmware.
	* A user space daemon which manages the driver and listen on TCP port to accept remote commands from the network.		* A user space daemon which manages the driver and listen on TCP port to accept remote commands from the network.
	* A user desktop application which sends commands to the daemon.		* A user desktop application which sends commands to the daemon.

JulienB: /* Project Description */

2009-07-21T09:28:17Z

Project Description

← Older revision		Revision as of 11:28, 21 July 2009
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	* A hardware board on which are plugged R/C servos, accelerometers and ADC multiplexers.		* A hardware board on which are plugged R/C servos, accelerometers and ADC multiplexers.
	* A FPGA firmware which manages R/C servo at low level (Already written, thanks to Sonzerro and Fabien Marteau).		* A FPGA firmware which manages R/C servo at low level (Already written, thanks to Sonzerro and Fabien Marteau).
	* A Linux Kernel Driver which manages the FPGA ~~Firware~~, the ADC multiplexers and ADC ~~Max1027~~.		* A Linux Kernel Driver which manages the FPGA Firmware, the ADC multiplexers and the [[ADC_max1027\|Max1027 ADC]].
	* A user space daemon which manages the driver and listen on TCP port to accept remote commands from the network.		* A user space daemon which manages the driver and listen on TCP port to accept remote commands from the network.
	* A user desktop application which sends commands to the daemon over the network connexion.		* A user desktop application which sends commands to the daemon over the network connexion.

YvanR: /* How to test the Linux Kernel Servo Driver */

2009-07-10T16:56:05Z

How to test the Linux Kernel Servo Driver

← Older revision		Revision as of 18:56, 10 July 2009
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	====How to test the Linux Kernel Servo Driver====		====How to test the Linux Kernel Servo Driver====
	Linux Kernel Servo Driver is not design to be used with shell command. In the final configuration, the driver is managed by the User Space Daemon. However, it is possible to send ~~command~~ to the driver via writing in the <font face="Courier">/sys</font> filesystem. It is not very "Pretty User", but it is enough to validate the good working order of the driver. First, you must build and load the Servo FPGA Firmware as describe in section [[MotionSystem#FPGA_Firmware\|FPGA Firmware]].		Linux Kernel Servo Driver is not design to be used with shell command. In the final configuration, the driver is managed by the User Space Daemon. However, it is possible to send commands to the driver via writing in the <font face="Courier">/sys</font> filesystem. It is not very "Pretty User", but it is enough to validate the good working order of the driver. First, you must build and load the Servo FPGA Firmware as describe in section [[MotionSystem#FPGA_Firmware\|FPGA Firmware]].
	Load the Linux Kernel Servo Driver: Log on the Armadeus target and type:		Load the Linux Kernel Servo Driver. Log on the Armadeus target and type:
	modprobe servo		modprobe servo
	The system answers:		The system answers:
Line 364:		Line 364:
	-rw-r--r-- 1 root root 4096 Jan 1 01:14 upper_boundary		-rw-r--r-- 1 root root 4096 Jan 1 01:14 upper_boundary

	~~Explaination~~:		Explanations:
	*current_position: Read Only, the current position of this R/C servo.		*current_position: Read Only, the current position of this R/C servo.
	*desired_position: Read/Write, setpoint position (the position that you want for this R/C servo).		*desired_position: Read/Write, setpoint position (the position that you want for this R/C servo).
Line 379:		Line 379:
	Show R/C servo 0 enable status:		Show R/C servo 0 enable status:
	cat enable		cat enable
			The R/C servo 0 is enable:
	1		1

YvanR: /* Linux Kernel Servo Driver */

2009-07-10T16:11:55Z

Linux Kernel Servo Driver

← Older revision		Revision as of 18:11, 10 July 2009
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	===Linux Kernel Servo Driver===		===Linux Kernel Servo Driver===
	The Linux kernel driver is located in the ArmadeusServoDriver directory of the main archive file of the project (see above). The following files form the Linux kernel driver:		The Linux kernel driver is located in the <font face="Courier">ArmadeusServoDriver</font> directory of the main archive file of the project (see above). The following files form the Linux kernel driver:

	<b><font face="Courier">servo.c</font></b>: Main file.		<b><font face="Courier">servo.c</font></b>: Main file.

YvanR: /* How to test the FPGA firmware */

2009-07-10T15:53:09Z

How to test the FPGA firmware

← Older revision		Revision as of 17:53, 10 July 2009
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	12000070: 0000 0000 0000 0000 0000 0000 0000 0000 ................		12000070: 0000 0000 0000 0000 0000 0000 0000 0000 ................
	Explaination:		Explaination:
	*@12000000 7207: Firmware Magic Number		*@12000000 7207: Firmware Magic Number.
	*@12000002 0003: Firmware Version		*@12000002 0003: Firmware Version.
	*@12000004 0020: Number of R/C servos managed (32 in decimal)		*@12000004 0020: Number of R/C servos managed (32 in decimal).
	*@12000006 0000: Status Register		*@12000006 0000: Status Register.
	*@12000008 0000: Command Register		*@12000008 0000: Command Register.
	*@1200000A 0000: Enable Servo Register LSB		*@1200000A 0000: Enable Servo Register LSB.
	*@1200000C 0000: Enable Servo Register MSB		*@1200000C 0000: Enable Servo Register MSB.
	@12000010 to @1200004E 0800: Servos Position Registers, default position		*@12000010 to @1200004E 0800: Servos Position Registers, default position.

	Servos 0-15 enabling:		Servos 0-15 enabling:

YvanR: /* How to connect the hardware interface board to the Armadeus APF9328DevLight board */

2009-07-10T15:33:07Z

How to connect the hardware interface board to the Armadeus APF9328DevLight board

← Older revision		Revision as of 17:33, 10 July 2009
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	[[Image:Hardware-Interface-Board.png\|1024px\|center\|MotionSystem Schematic Diagram]]		[[Image:Hardware-Interface-Board.png\|1024px\|center\|MotionSystem Schematic Diagram]]
	====How to connect the hardware interface board to the Armadeus APF9328DevLight board====		====How to connect the hardware interface board to the Armadeus APF9328DevLight board====
	The following table ~~establish~~ the ~~connexion~~ between the interface board and the Armadeus APF9328DevLight board. The pinout of the Armadeus APF9328DevLight board is available at [[APF9328DevLight]]. Please refer to the official documentation for other boards.		The following table establishes the connexions between the interface board and the Armadeus APF9328DevLight board. The pinout of the Armadeus APF9328DevLight board is available at [[APF9328DevLight]]. Please refer to the official documentation for other boards.

	{\| border="1"		{\| border="1"

YvanR: /* R/C Servo */

2009-07-10T15:31:00Z

R/C Servo

← Older revision		Revision as of 17:31, 10 July 2009
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	Basically, it is possible to generate this signal with a GPIO pin controlled by Linux kernel code. But this solution has three major drawbacks:		Basically, it is possible to generate this signal with a GPIO pin controlled by Linux kernel code. But this solution has three major drawbacks:
	* The true concurrency is impossible, R/C servo signal are not synchronous.		* The true concurrency is impossible, R/C servo signal are not synchronous.
	* The delays of PWM signal (between 0.5 ms and 2.5 ms) are mandatory implemented with busy waiting (udelay Linux kernel function) to give the necessary accuracy. It is very processor time consuming. With latest Linux kernel (after 2.6.16), it would be possible to implement short delays with high-resolution timers.		* The delays of PWM signal (between 0.5 ms and 2.5 ms) are mandatory implemented with busy waiting (udelay Linux kernel function) to give the necessary accuracy. It is very processor time consuming. With latest Linux kernel (after 2.6.16), it would be possible to implement short delays with high-resolution timers if they are enabled in the kernel configuration. But I have not explore this way.
	* Due to the intrinsic non real time characteristic of the Linux kernel, the accuracy of the delays are impossible on a heavy loaded system. This causes R/C servo jittering (When a R/C servo jitters, it seems to have Parkinson's disease... [http://en.wikipedia.org/wiki/Jitter Jitter]		* Due to the intrinsic non real time characteristic of the Linux kernel, the accuracy of the delays are impossible on a heavy loaded system. This causes R/C servo jittering (When a R/C servo jitters, it seems to have Parkinson's disease... [http://en.wikipedia.org/wiki/Jitter Jitter]

YvanR: /* R/C Servo */

2009-07-10T14:45:19Z

R/C Servo

← Older revision		Revision as of 16:45, 10 July 2009
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	[[Image:Servos-signal.jpg\|800px\|center\|R/C Servo PWM Signal]]		[[Image:Servos-signal.jpg\|800px\|center\|R/C Servo PWM Signal]]
	Basically, it is possible to generate this signal with a GPIO pin controlled by Linux kernel code. But this solution has three major drawbacks:		Basically, it is possible to generate this signal with a GPIO pin controlled by Linux kernel code. But this solution has three major drawbacks:
	* The true concurrency is impossible, R/C servo signal are not synchronous		* The true concurrency is impossible, R/C servo signal are not synchronous.
	* The delays of PWM signal (between 0.5 ms and 2.5 ms) are mandatory implemented with busy waiting (udelay Linux kernel function) to give the necessary accuracy. It is very processor time consuming.		* The delays of PWM signal (between 0.5 ms and 2.5 ms) are mandatory implemented with busy waiting (udelay Linux kernel function) to give the necessary accuracy. It is very processor time consuming. With latest Linux kernel (after 2.6.16), it would be possible to implement short delays with high-resolution timers.
	* Due to the intrinsic non real time characteristic of the Linux kernel, the accuracy of the delays are ~~impassible~~ on a heavy loaded system. This causes R/C servo jittering (When a R/C servo jitters, it seems to have Parkinson's disease... [http://en.wikipedia.org/wiki/Jitter Jitter]		* Due to the intrinsic non real time characteristic of the Linux kernel, the accuracy of the delays are impossible on a heavy loaded system. This causes R/C servo jittering (When a R/C servo jitters, it seems to have Parkinson's disease... [http://en.wikipedia.org/wiki/Jitter Jitter]

	For these reasons, the subsystem that generates PWM signals is implemented in the FPGA. In a FPGA, true concurrency is feasible, no processor time is used and timings are very strict.		For these reasons, the subsystem that generates PWM signals is implemented in the FPGA. In a FPGA, true concurrency is feasible, no processor time is used and timings are very strict.