MotionSystem - Revision history

ChristopheC: /* Links */

2015-04-04T14:01:32Z

‎Links

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

YvanR: /* Introduction */

2011-01-06T10:30:06Z

‎Introduction

JulienB: /* Project Description */

2009-07-21T09:28:17Z

‎Project Description

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

2009-07-10T16:56:05Z

‎How to test the Linux Kernel Servo Driver

YvanR: /* Linux Kernel Servo Driver */

2009-07-10T16:11:55Z

‎Linux Kernel Servo Driver

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

2009-07-10T15:53:09Z

‎How to test the FPGA firmware

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

YvanR: /* R/C Servo */

2009-07-10T15:31:00Z

‎R/C Servo

YvanR: /* R/C Servo */

2009-07-10T14:45:19Z

‎R/C Servo

@@ Line 608: / Line 608: @@
 ==Links==
 [http://yvan.roch.free.fr/armadeus/MotionSystem-00.00.00.tgz Project Files]
 [http://www.cadsoft.de Eagle]

@@ Line 316: / Line 316: @@
 Configure the Linux kernel to build the servo module:
   cd $ARMADEUS_ROOT
-  make linux26-menuconfig
+  make linux-menuconfig
 In  Device Drivers  --->  Armadeus specific drivers  --->  FPGA Drivers, select Armadeus Servo driver (NEW) as module.
 Rebuild the new Linux kernel and modules:

@@ Line 24: / Line 24: @@
 The following functionality are implemented:
 * 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 desktop application which sends commands to the daemon.

@@ Line 8: / Line 8: @@
 * 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 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 desktop application which sends commands to the daemon over the network connexion.

@@ Line 324: / Line 324: @@
 ====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
 The system answers:
@@ Line 364: / Line 364: @@
   -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.
 *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:
   cat enable
+The R/C servo 0 is enable:

@@ Line 293: / Line 293: @@
 ===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.

@@ Line 230: / Line 230: @@
   12000070: 0000 0000 0000 0000 0000 0000 0000 0000    ................
 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:

@@ Line 73: / Line 73: @@
 [[Image:Hardware-Interface-Board.png|1024px|center|MotionSystem Schematic Diagram]]
 ====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"

@@ Line 58: / Line 58: @@
 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 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]