@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.

@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

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

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

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?