Posts made by 이광철

@modaltb

Hi.
I try a test on voxl-mini with your advice applied.
voxl-mini sdk version is 1.0.0
My program and spi device operates is normal.
Thanks for your advice.

@Alex-Kushleyev

Yes.
After executing voxl-gpio -w 67 1, run my test.

voxl-gpio -r 67
1

@Alex-Kushleyev

I tested it by connecting my spi device to j10.
This spi device is working normally in voxl2.
My program for testing also operates normally with this spi device in voxl2.

voxl_spi_init(SPI_BUS, SPI_MODE_0, VOXL_SPI_MAX_SPEED) is OK
but, there is no response to the voxl_spi_write function.

@Alex-Kushleyev

Please note that qrb5165io-spi-test -d 14 is a test app that just tries to detect a specific IMU on the SPI port. If the specific IMU is not connected, the test will not be successful.
Yes I know.

My spi device and test program works fine on volx2's J10.
Please refer to j10 in the url below.
https://docs.px4.io/main/en/flight_controller/modalai_voxl_2.html

@이광철

Alex-Kushleyev sorry.

voxl2-mini:~$ cd /usr/bin
voxl2-mini:/usr/bin$ spidev_test -D /dev/spidev3.0 -p "\x76\x00\xF5\x00"
spi mode: 0x0
bits per word: 8
max speed: 500000 Hz (500 KHz)
can't send spi message: Invalid argument
Aborted

This test was my mistake.

Below are the final test results.
voxl2-mini:/usr/bin$ spidev_test -D /dev/spidev3.0 -p "\x76\x00\xF5\x00"
spi mode: 0x0
bits per word: 8
max speed: 500000 Hz (500 KHz)
RX | 00 00 00 47 __ __ __ __ __ __ __ __ __ __ __ __ __ __ __ __ __ __ __ __ __ __ __ __ __ __ __ __ | ...G

@Alex-Kushleyev

I tested according to your advice.
This is the result of testing on my mini.

voxl2-mini:~$ cd /usr/bin
voxl2-mini:/usr/bin$ spidev_test -D /dev/spidev3.0 -p "\x76\x00\xF5\x00"
spi mode: 0x0
bits per word: 8
max speed: 500000 Hz (500 KHz)
can't send spi message: Invalid argument
Aborted

@Alex-Kushleyev

Hi.

I tested it by connecting my spi device to j10.
This spi device is working normally in voxl2.
My program for testing also operates normally with this spi device in voxl2.
However, when I test the spi device and test program on voxl mini, there is no response to the voxl_spi_write function.

Also, the test below is the same as before.
voxl2-mini:/dev$ qrb5165io-spi-test -d 14
There is no response to the qrb5165io-spi-test -d 14 command.

I need your help and thanks in advance.

@Alex-Kushleyev

I will connect my spi device and let you know the results after testing.
Thanks for your help.

@Alex-Kushleyev

I downloaded voxl2-mini_SDK_1.0.0.tar.gz from https://developer.modalai.com/asset/eula-download/127

It was tested as follows.

C:\Users\User\Desktop\OpenSDP\platform-tools_r33.0.3-windows\platform-tools>adb reboot bootloader
C:\Users\User\Desktop\OpenSDP\platform-tools_r33.0.3-windows\platform-tools>fastboot flash boot_a qti-ubuntu-robotics-image-m0104-boot.img
Sending 'boot_a' (17552 KB) OKAY [ 0.399s]
Writing 'boot_a' OKAY [ 0.023s]
Finished. Total time: 0.565s
C:\Users\User\Desktop\OpenSDP\platform-tools_r33.0.3-windows\platform-tools>fastboot flash boot_b qti-ubuntu-robotics-image-m0104-boot.img
Sending 'boot_b' (17552 KB) OKAY [ 0.397s]
Writing 'boot_b' OKAY [ 0.019s]
Finished. Total time: 0.561s
C:\Users\User\Desktop\OpenSDP\platform-tools_r33.0.3-windows\platform-tools>fastboot reboot
Rebooting OKAY [ 0.000s]
Finished. Total time: 0.005s
C:\Users\User\Desktop\OpenSDP\platform-tools_r33.0.3-windows\platform-tools>adb shell

system-image: 1.7.1-M0104-14.1a-perf-nightly-20231025
kernel: #1 SMP PREEMPT Fri May 19 22:53:15 UTC 2023 4.19.125

hw version: M0104

voxl-suite: 1.1.2

no current network connection

voxl2-mini:/dev$ ls spi*
spidev0.0 spidev11.0 spidev14.0 spidev3.0

OK!
The spidev14.0 file exists.

I tested it as below:
voxl2-mini:/dev$ qrb5165io-spi-test -d 0
failed to ping icm42688p IMU

voxl2-mini:/dev$ qrb5165io-spi-test -d 11
failed to ping icm42688p IMU

voxl2-mini:/dev$ qrb5165io-spi-test -d 3
[INFO] success! ICM42688 Detected

voxl2-mini:/dev$ qrb5165io-spi-test -d 14

There is no response to the qrb5165io-spi-test -d 14 command.
is this right?
Is spidev14.0 not working?

@Alex-Kushleyev

I downloaded voxl2-mini_SDK_1.1.1.tar.gz from https://developer.modalai.com/asset/eula-download/141

It was tested as follows.
C:\Users\User\Desktop\OpenSDP\platform-tools_r33.0.3-windows\platform-tools>adb reboot bootloader
C:\Users\User\Desktop\OpenSDP\platform-tools_r33.0.3-windows\platform-tools>fastboot boot qti-ubuntu-robotics-image-m0104-boot.img
Sending 'boot.img' (17548 KB) OKAY [ 0.382s]
Booting OKAY [ 0.034s]
Finished. Total time: 0.471s
C:\Users\User\Desktop\OpenSDP\platform-tools_r33.0.3-windows\platform-tools>adb shell

                                                     ▂▂▂▂▂▂▂▂▂▂▂▂▂
                                                ▂▄▆▆██▛▀▀▀▀▀▀▀▀▜████▆▆▄▂

███╗ ███╗ ██████╗ ██████╗ █████╗ ██╗ ▗▆████▀▔ ▔▔▀▀▀▀▚▄
████╗ ████║██╔═══██╗██╔══██╗██╔══██╗██║ ▗▟████▀ ▗██▖ ▐█ ▝▀▆▄▄▄
██╔████╔██║██║ ██║██║ ██║███████║██║ ▟████▀ ▗█▘▝█▖ ▐█ ▜█▀█▄
██║╚██╔╝██║██║ ██║██║ ██║██╔══██║██║ █▌ ▐█▌ ▗█▘ ▝█▖ ▐█ ▐▄ ▄█
██║ ╚═╝ ██║╚██████╔╝██████╔╝██║ ██║███████╗ ▀████ ▗█▘ ▝█▖ ▐█ ▂▄███▀
╚═╝ ╚═╝ ╚═════╝ ╚═════╝ ╚═╝ ╚═╝╚══════╝ ▀▀██▄▄ ▂▆███▀
▀▀██▄▄ ▀▀▆▄▄▄▄▆██▀▀▀▘

system-image: 1.7.1-M0104-14.1a-perf-nightly-20231025
kernel: #1 SMP PREEMPT Thu Oct 26 04:23:26 UTC 2023 4.19.125

hw version: M0104

voxl-suite: 1.1.2

no current network connection

spidev14.0 still does not exist.
There is something strange.
Why voxl-suite: 1.1.2?
voxl-suite: 1.1.1 Isn't that correct?

@Alex-Kushleyev

just to double check.. after building the kernel, did you install it to voxl2 mini?
Yes
I built the kernel and installed it on voxl2-mini.
The process is as follows.
C:\Users\User\Desktop\OpenSDP\platform-tools_r33.0.3-windows\platform-tools>adb reboot bootloader
C:\Users\User\Desktop\OpenSDP\platform-tools_r33.0.3-windows\platform-tools>fastboot flash boot_a qti-ubuntu-robotics-image-m0104-boot.img
Sending 'boot_a' (20088 KB) OKAY [ 0.458s]
Writing 'boot_a' OKAY [ 0.026s]
Finished. Total time: 0.637s
C:\Users\User\Desktop\OpenSDP\platform-tools_r33.0.3-windows\platform-tools>fastboot flash boot_b qti-ubuntu-robotics-image-m0104-boot.img
Sending 'boot_b' (20088 KB) OKAY [ 0.463s]
Writing 'boot_b' OKAY [ 0.032s]
Finished. Total time: 0.654s
C:\Users\User\Desktop\OpenSDP\platform-tools_r33.0.3-windows\platform-tools>fastboot reboot
Rebooting OKAY [ 0.001s]
Finished. Total time: 0.006s
C:\Users\User\Desktop\OpenSDP\platform-tools_r33.0.3-windows\platform-tools>adb wait-for-device
C:\Users\User\Desktop\OpenSDP\platform-tools_r33.0.3-windows\platform-tools>adb shell
▂▂▂▂▂▂▂▂▂▂▂▂▂
▂▄▆▆██▛▀▀▀▀▀▀▀▀▜████▆▆▄▂
███╗ ███╗ ██████╗ ██████╗ █████╗ ██╗ ▗▆████▀▔ ▔▔▀▀▀▀▚▄
████╗ ████║██╔═══██╗██╔══██╗██╔══██╗██║ ▗▟████▀ ▗██▖ ▐█ ▝▀▆▄▄▄
██╔████╔██║██║ ██║██║ ██║███████║██║ ▟████▀ ▗█▘▝█▖ ▐█ ▜█▀█▄
██║╚██╔╝██║██║ ██║██║ ██║██╔══██║██║ █▌ ▐█▌ ▗█▘ ▝█▖ ▐█ ▐▄ ▄█
██║ ╚═╝ ██║╚██████╔╝██████╔╝██║ ██║███████╗ ▀████ ▗█▘ ▝█▖ ▐█ ▂▄███▀
╚═╝ ╚═╝ ╚═════╝ ╚═════╝ ╚═╝ ╚═╝╚══════╝ ▀▀██▄▄ ▂▆███▀
▀▀██▄▄ ▀▀▆▄▄▄▄▆██▀▀▀▘

system-image: 1.7.1-M0104-14.1a-perf-nightly-20231025
kernel: #1 SMP PREEMPT Wed Mar 27 02:44:30 UTC 2024 4.19.125

hw version: M0104

voxl-suite: 1.1.2

no current network connection

@Alex-Kushleyev

First of all thank you for your advice.
build_mount/lu.um.1.2.1/apps_proc/poky/meta-voxl2-bsp/recipes-kernel/linux-msm/files/dts/m0104/m0104-modalai-qupv3.dtsi

/* M0104 - J10 - GPIO 40-44 */
&qupv3_se14_spi {
status = "ok";
};

/* M0104 - J10 JST connector */
&qupv3_se14_2uart {
status = "disabled";
};

Modified as above.

After building the kernel, the contents of /dev are as follows.
Why doesn't spidev14.0 exist?
What am I doing wrong?

voxl2-mini:/dev$ ls spidev*
spidev0.0 spidev3.0

voxl2-mini:/dev$ ls tty*
tty tty10 tty13 tty16 tty19 tty21 tty24 tty27 tty3 tty32 tty35 tty38 tty40 tty43 tty46 tty49 tty51 tty54 tty57 tty6 tty62 tty8 ttyprintk
tty0 tty11 tty14 tty17 tty2 tty22 tty25 tty28 tty30 tty33 tty36 tty39 tty41 tty44 tty47 tty5 tty52 tty55 tty58 tty60 tty63 tty9
tty1 tty12 tty15 tty18 tty20 tty23 tty26 tty29 tty31 tty34 tty37 tty4 tty42 tty45 tty48 tty50 tty53 tty56 tty59 tty61 tty7 ttyMSM0

@Alex-Kushleyev

Hi.
I rebuilt the kernel referring to your advice.

The modified contents are as follows.
modify file: build_mount/lu.um.1.2.1/apps_proc/poky/meta-voxl2-bsp/recipes-kernel/linux-msm/files/dts/m0104/m0104-modalai-qupv3.dtsi

/* M0104 - J10 - GPIO 40-44 */
&qupv3_se14_spi {
status = "ok";
};

/* M0104 - J10 JST connector */
&qupv3_se14_2uart {
status = "ok";
};

./qrb5165-clean.sh
./qrb5165-build.sh -m M0104

After building the kernel, ttyMSM0 was created in /dev.
However, spidev14.0 is still not found.

ls /dev/spidev*
spidev0.0 spidev3.0

I'm looking forward to your advice.
Thanks.

@admin

Do I need to change the kernel to use spi14 using the voxl_spi_init function?
or
Is this possible using voxl2_SDK_1.1.1?

Thanks

Hello.

I have voxl2 mini.

The system and kernel versions are as follows.

system-image: 1.7.1-M0104-14.1a-perf-nightly-20231025
kernel: #1 SMP PREEMPT Thu Oct 26 04:23:26 UTC 2023 4.19.125
hw version: M0104
voxl-suite: 1.1.2

I want to use j10 External UART in spi mode.
I called the voxl_spi_init function as below.

SPI_BUS = 14;
if (voxl_spi_init(SPI_BUS, SPI_MODE_0, 12000000) < 0)
return FALSE;

The result is ERROR in voxl_spi_init, failed to open /dev/spidev device: No such file or directory.

The results of ls -al /dev/spi* are as follows:
crw------- 1 root root 153, 0 Mar 2 2023 spidev0.0
crw------- 1 root root 153, 1 Mar 2 2023 spidev3.0

The result of voxl-gpio -r 67 are as follows:
1

where is spidev14.0?
Or what am I doing wrong?

Thanks.