Le Samedi 10 Février 2007 14:04, Giovanni a écrit :
> Here is another question:
>
> If I want to control many RC-servos independently, how can I do ?
>
> Inside the source code it is defined a single output line. So do I have to
> write many different programs, which have all the same C code, except the
> definition of the output line ? Is there a better way ?
>
> Best regards,
> Giovanni
>
>
> Ernst Mayerhofer <[EMAIL PROTECTED]> wrote:
> yes, that's correct.
>
> 2007/2/4, Giovanni <[EMAIL PROTECTED]>:
> > OK, thanks.
> >
> > I will use a pin that is output only.
> >
> > If I use for example OG28, the define will be:
> >
> > #define PORT_G_SERVO_OUTPUT 1<<28
> >
> > Is it correct ?
> >
> > Best regards,
> > Giovanni
> >
> > Ernst Mayerhofer
> > <[EMAIL PROTECTED]<ernst.mayerhofer%40gmail.com>> wrote: don't
> > forget to set the direction of the lines 16-23 to output, if you
> > really use the IOG17. you have either to compile it in the kernel or set
> > some register in software, but I didn't manage to do it. So just use one
> > of
> > the only OG ports.
> >
> > greets,ernst
> >
> > 2007/2/4, Giovanni <[EMAIL PROTECTED] <pino_otto%40yahoo.com>>:
> > > OK, thanks.
> > >
> > > I found it: #define PORT_G_SERVO_OUTPUT 1<<17
> > >
> > > So this means the line IOG17, which is the pin 10 on J7.
> > >
> > > Best regards,
> > > Giovanni
> > >
> > > Ernst Mayerhofer
> > > <[EMAIL PROTECTED]<ernst.mayerhofer%40gmail.com>
> >
> > <ernst.mayerhofer%40gmail.com>>
> >
> > > wrote: okay, so, fasttimer is installed on your system. you don't have
> >
> > to
> >
> > > make a
> > > new kernel.
> > >
> > > the port is defined in the top of the file like
> > > #define ... 1<<25...
> > >
> > > 2007/2/4, Giovanni <[EMAIL PROTECTED]
<pino_otto%40yahoo.com><pino_otto%40yahoo.com>>:
> > > > Regarding "the fox port", I mean on what pin is going to be output
> > > > the PWM signal generated by the servo kernel module ?
> > > >
> > > > Regarding the fast timer, here is my situation:
> > > >
> > > > [EMAIL PROTECTED] /root]3597# ls -l /proc/fasttimer
> > > > -r--r--r-- 1 root root 0 Jan 1 03:30 /proc/fasttimer
> > > > [EMAIL PROTECTED] /root]3597# tail -f /proc/fasttimer
> > > > Sanity failed: 0
> > > >
> > > > Timers started: 0
> > > >
> > > > Timers added: 0
> > > >
> > > > Timers expired: 0
> > > >
> > > > Active timers:
> > > >
> > > > Note: I don't have compiled and installed the servo kernel module
> > > > yet.
> > > >
> > > > Is this OK for the fast timer ?
> > > >
> > > > Best regards,
> > > > Giovanni
> > > >
> > > > Ernst Mayerhofer
> > > > <[EMAIL PROTECTED]<ernst.mayerhofer%40gmail.com>
> >
> > <ernst.mayerhofer%40gmail.com>
> >
> > > <ernst.mayerhofer%40gmail.com>>
> > >
> > > > wrote: What do you mean "the fox port"?
> > > >
> > > > fast timer api: check on the foxboard if there is something in
> > > > /proc/fasttimer, if there is, everything is fine. otherwise you have
> >
> > to
> >
> > > > enable it in the kernelconfig and build a new kernel.
> > > >
> > > > 2007/2/3, Giovanni <[EMAIL PROTECTED]
<pino_otto%40yahoo.com><pino_otto%40yahoo.com><pino_otto%40yahoo.com>>:
> > > > > OK. Thanks. I received the file.
> > > > >
> > > > > I'm a newbie, so i'm asking the following questions:
> > > > >
> > > > > What is the FOX port used by the servo kernel module ?
> > > > > How can I enable the fast timer API ?
> > > > > Thanks in advance for your help.
> > > > >
> > > > > Best regards,
> > > > > Giovanni
> > > > >
> > > > > Ernst Mayerhofer
> > > > > <[EMAIL PROTECTED]<ernst.mayerhofer%40gmail.com>
> >
> > <ernst.mayerhofer%40gmail.com>
> >
> > > <ernst.mayerhofer%40gmail.com>
> > >
> > > > <ernst.mayerhofer%40gmail.com>>
> > > >
> > > > > wrote: Hi,
> > > > >
> > > > > No i didn't forget the attachments, they were deleted.
> > > > >
> > > > > here you are: http://files.the-signs.com/servo.tar.gz
> > > > >
> > > > > 2007/2/3, Giovanni <[EMAIL PROTECTED]
<pino_otto%40yahoo.com><pino_otto%40yahoo.com><pino_otto%40yahoo.com><pino_otto%40yahoo.com>>:
> > > > > > Dear Ernst,
> > > > > >
> > > > > > thanks for your reply. However I didn't find any file attached
> > > > > > to
> > >
> > > your
> > >
> > > > > > message. Maybe forgotten ?
> > > > > >
> > > > > > Best regards,
> > > > > > Giovanni
> > > > > >
> > > > > > Ernst Mayerhofer
> > > > > > <[EMAIL PROTECTED]<ernst.mayerhofer%40gmail.com>
> >
> > <ernst.mayerhofer%40gmail.com>
> >
> > > <ernst.mayerhofer%40gmail.com>
> > >
> > > > <ernst.mayerhofer%40gmail.com>
> > > >
> > > > > <ernst.mayerhofer%40gmail.com>>
> > > > >
> > > > > > wrote: if you want to make something which works really well,
> > > > > > you
> > >
> > > have
> > >
> > > > > to do
> > > > >
> > > > > > it in
> > > > > >
> > > > > > the kernel ;-)
> > > > > >
> > > > > > I made a kernel module once. As I modified it now for you and
> >
> > didn't
> >
> > > > > test
> > > > >
> > > > > > it
> > > > > > on the foxboard, there might be a problem, so feel free to ask
> > > > > > me
> >
> > if
> >
> > > > > there
> > > > >
> > > > > > is some problem.
> > > > > >
> > > > > > just compile the servo.c attached with the also attached
> > > > > > makefile.
> > >
> > > you
> > >
> > > > > > have
> > > > > > to change the path of AXIS_TOP_DIR in the Makefile.
> > > > > >
> > > > > > once you have compiled it, transfer it to the foxboard and type:
> > > > > > $ insmod servo.o
> > > > > > if you want to see the kernel log messages, type
> > > > > > $ dmesg
> > > > > > then you can make a new device node , eg
> > > > > > $ mknod c /etc/servo c 249 0
> > > > > > and, if you want to set the servo to a specific position, write
> >
> > the
> >
> > > > > value
> > > > >
> > > > > > of
> > > > > > T_on in us to /etc/servo:
> > > > > > $ echo 500 > /etc/servo
> > > > > >
> > > > > > it should work!
> > > > > > notice that if you want to use it, you have to enable the fast
> >
> > timer
> >
> > > > > api.
> > > > >
> > > > > > greets and pardon for my bad english,
> > > > > >
> > > > > > ernst mayerhofer
> > > > > >
> > > > > > 2007/2/2, Giovanni <[EMAIL PROTECTED]
<pino_otto%40yahoo.com><pino_otto%40yahoo.com><pino_otto%40yahoo.com><pino_otto%40yahoo.com><pino_otto%40yahoo.com>>:
> > > > > > > This solution sounds cool.
> > > > > > >
> > > > > > > Did you try it with a real case ?
> > > > > > >
> > > > > > > I would like to run some real working code based on this idea.
> >
> > If
> >
> > > > you
> > > >
> > > > > > have
> > > > > >
> > > > > > > some code ready to run, can you post it ? Otherwise we can
> > > >
> > > > collaborate
> > > >
> > > > > > to
> > > > > >
> > > > > > > develop some working code and test it.
> > > > > > >
> > > > > > > Best regards,
> > > > > > > Giovanni
> > > > > > >
> > > > > > > spargelzack <[EMAIL PROTECTED]
> > > > > > > <spargelzack%40yahoo.com><spargelzack%
> >
> > 40yahoo.com><spargelzack%
> >
> > > 40yahoo.com><spargelzack%
> > >
> > > > 40yahoo.com><spargelzack%
> > > >
> > > > > 40yahoo.com><spargelzack%
> > > > >
> > > > > > 40yahoo.com>> wrote:
> > > > > > > (sorry if this shows up twice, i'm not familiar with the yahoo
> > > >
> > > > groups
> > > >
> > > > > > > interface yet)
> > > > > > >
> > > > > > > Hi Everybody
> > > > > > >
> > > > > > > I found a cheap + fast solution for using servos with the
> > >
> > > foxboard.
> > >
> > > > > > > First, there is a way to use the i/o lines not described on
> > > > > > > the acmesystems website (it's well known on the axis developer
> >
> > website
> >
> > > > > > > though). You can use write() on Ports A+B after proper
> > > >
> > > > initialization.
> > > >
> > > > > > > The Clock interval is around 5 us, so you have to pass about
> >
> > 4000
> >
> > > > > > > values for a full 2ms period.
> > > > > > >
> > > > > > > But as i found out, the 20ms interval isn't all that
> > > > > > > important.
> > >
> > > What
> > >
> > > > > > > matters is the length of the pulse.
> > > > > > >
> > > > > > > So, here's my code:
> > > > > > >
> > > > > > > --
> > > > > > > #include <stdio.h>
> > > > > > > #include "stdlib.h"
> > > > > > > #include "unistd.h"
> > > > > > > #include "sys/ioctl.h"
> > > > > > > #include "fcntl.h"
> > > > > > > #include <sys/time.h>
> > > > > > > #include <asm/etraxgpio.h>
> > > > > > >
> > > > > > > int main(int argc, char **argv){
> > > > > > > int fd;
> > > > > > > int i;
> > > > > > > int pos;
> > > > > > > unsigned char mask;
> > > > > > > unsigned char period[4000];
> > > > > > >
> > > > > > > if(argc > 1)
> > > > > > > pos = atoi(argv[1]);
> > > > > > > else
> > > > > > > pos = 100;
> > > > > > >
> > > > > > > // better use memset() here, but this is proof-of-concept code
> > > > > > > for(i=0; i<pos+1; i++){
> > > > > > > if(pos > i)
> > > > > > > period[i] = 0xFF;
> > > > > > > else
> > > > > > > period[i] = 0;
> > > > > > > }
> > > > > > >
> > > > > > > fd = open("/dev/gpiob", O_RDWR);
> > > > > > >
> > > > > > > if(!fd){
> > > > > > > printf("open error\n");
> > > > > > > exit(-1);
> > > > > > > }
> > > > > > >
> > > > > > > mask = 1<<6 | 1<<7; // use pins PB6 and PB7 according to the
> > > > > > > fox pinout
> > > > > > >
> > > > > > > // prepare for write()
> > > > > > > if(ioctl(fd, _IO(ETRAXGPIO_IOCTYPE, IO_CFG_WRITE_MODE),
> > > > > > > IO_CFG_WRITE_MODE_VALUE(1, mask, 1<<1))){
> > > > > > > perror("ioctl error");
> > > > > > > exit(-1);
> > > > > > > }
> > > > > > >
> > > > > > > for(;;){
> > > > > > > write(fd, &period, pos+1); // write the pulse,
> > > > > > > followed by a zero to set the output
> > > > > > > usleep(5000); // let the CPU breathe a bit..
> > > > > > > }
> > > > > > > }
> > > > > > > --
> > > > > > >
> > > > > > > This only works with ports A and B, not with the G line.
> > > > > > >
> > > > > > > Supply any value between 100 and 400 as first argument to set
> >
> > the
> >
> > > > > > > position of two servos connected to PB6 and PB7.
> > > > > > >
> > > > > > > example:
> > > > > > >
> > > > > > > ./motor 180
> > > > > > >
> > > > > > > This uses LESS THAN 1% CPU when running.
> > > > > > >
> > > > > > > This is proof of concept code, so it's UGLY AND NOT USEFUL OUT
> >
> > OF
> >
> > > > THE
> > > >
> > > > > > > BOX. Also, my english sucks a bit.
> > > > > > >
> > > > > > > --- In [email protected]
> > > > > > > <foxboard%40yahoogroups.com><foxboard%40yahoogr
> >
> > oups.com><foxboard%40yahoogr
> >
> > > oups.com><foxboard%40yahoogr
> > >
> > > > oups.com><foxboard%40yahoogr
> > > >
> > > > > oups.com><foxboard%40yahoogr
> > > > >
> > > > > > oups.com>, "zooltheno1"
> > > > > >
> > > > > > > <[EMAIL PROTECTED]> wrote:
> > > > > > > > Hi
> > > > > > > > I want to use RC-Servos with the Foxboard, the normal
> >
> > interfall
> >
> > > is
> > >
> > > > > > > > 1-2ms and 20ms pause.
> > > > > > > > I tried to use udelay for the delay, put the minimum is
> > > > > > > > 40ms, which is far to slow, even normal AC is faster.
> > > > > > > > How could I get the nesasery delay without 100% CPU load ?
> > > > > > > >
> > > > > > > > Bye
> > > > > > > > Ralph
> > > > > > >
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http://www.robot-electronics.co.uk/htm/sd20tech.htm
with the new i2c design should be a good solutions for 20 servo controls:)
regards
--
Michel Xhaard
http://mxhaard.free.fr
