Re: [Machinekit] Re: world mode in machienkit

2017-08-24 Thread Bas de Bruijn 

> On 25 Aug 2017, at 05:01, thangle  wrote:
> 
> some SS for more details

with all your good intentions, that does not make it easier for anyone to 
deduct what you do and what all the pictures should clarify.

> 
> Vào 09:28:39 UTC+7 Thứ Sáu, ngày 25 tháng 8 năm 2017, thangle đã viết:
> I have some problems when i try configuring custom arm robot 6DOF. hope 
> someone can help me resolve these.
> 
> 1st. i run PUMA560 sim but i cant open "world mode" from AXIS GUI. everytime 
> i turn it on by "Alt+M" it return joint mode. if anyway to use "world mode" 
> in manual control

alt+M+/ (if you look at the docs http://www.machinekit.io/docs/gui/axis/ ) is 
"Toggle Skip lines”

> 
> 2nd: i used genserkins to configure a new custom arm robot and compare to the 
> one i configure in matlab. They are difference about coordinate, look like 
> the origin coordinate was rotated. i think the one from genserkins is 
> incorrect

Maybe you have made different decisions then the original author(s) of 
genserkins (which is around for 7 years btw). So IMO it’s a question about 
difference. Have a look thru the code of the kinematics and see what needs 
changing (in your code or the kinematics)

>  
> 
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[Machinekit] world mode in machienkit

2017-08-24 Thread thangle 
I have some problems when i try configuring custom arm robot 6DOF. hope 
someone can help me resolve these.

1st. i run PUMA560 sim but i cant open "world mode" from AXIS GUI. 
everytime i turn it on by "Alt+M" it return joint mode. if anyway to use 
"world mode" in manual control

2nd: i used genserkins to configure a new custom arm robot and compare to 
the one i configure in matlab. They are difference about coordinate, look 
like the origin coordinate was rotated. i think the one from genserkins is 
incorrect

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[Machinekit] Re: Will DE0-Nano image work on a DE10-Nano board?

2017-08-24 Thread mugginsac 
I understand CONFIG_DEFAULT_FDT_FILE but what does 
CONFIG_DEFAULT_DEVICE_TREE indicate?
CONFIG_DEFAULT_DEVICE_TREE="socfpga_cyclone5_de10_nano"
CONFIG_DEFAULT_FDT_FILE="socfpga_cyclone5_de10_nano.dtb"

The DE10_NANO_SoC_GHRD *(Golden Hardware Reference Design) from the 
DE10-Nano CD uses soc_system.dtb for the device tree binary.*

So if I change CONFIG_DEFAULT_FDT_FILE to reference "*soc_system*.dtb", do 
I also need to change CONFIG_DEFAULT_DEVICE_TREE?

Where does the system expect to find the .rbf file (like "soc_system.rbf")?

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[Machinekit] Re: Will DE0-Nano image work on a DE10-Nano board?

2017-08-24 Thread mugginsac 
Is there a way to get the DE10 to use uenv.txt for boot environment info 
with the new u-boot?

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Re: [Machinekit] Re: Will DE0-Nano image work on a DE10-Nano board?

2017-08-24 Thread Charles Steinkuehler 
On 8/24/2017 6:23 PM, mugginsac wrote:
> 
> By the way when I type characters I just see the RX LED. When the
> DE10 starts from either uSD I just see the TX led while it is
> processing the initial messages.

That is as expected.

> On the one I am trying to build, when it goes crazy, I see both the
> RX and TX either flashing at the same time or alternating (at 
> 115200 it is really too fast to tell for sure).

I think if the Rx LED is flashing, your terminal program is sending
characters.  If there was some sort of short between the Rx/Tx lines,
at the serial UART level (ie: the SoC pins), you wouldn't see the Rx
light from the FTDI chip.

...so it sounds like you have something messed up in your custom uSD
setup.  I would recommend trying to replace one bit at a time (Root
OS, Linux Kernel, U-Boot boot-loader) from a known good working uSD image.

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[Machinekit] Re: Will DE0-Nano image work on a DE10-Nano board?

2017-08-24 Thread mugginsac 
When I boot the disk that has the original boot loader. I get the following:

 UART clock 10 KHz

CLOCK: MMC clock 5 KHz

CLOCK: QSPI clock 3125 KHz

RESET: COLD

SDRAM: Initializing MMR registers
SDRAM: Calibrating PHY

SEQ.C: Preparing to start memory calibration



U-Boot SPL 2013.01.01 (Nov 30 2016 - 14:20:53)

BOARD : Altera SOCFPGA Cyclone V Board

CLOCK: EOSC1 clock 25000 KHz

CLOCK: EOSC2 clock 25000 KHz

CLOCK: F2S_SDR_REF clock 0 KHz

CLOCK: F2S_PER_REF clock 0 KHz

CLOCK: MPU clock 800 MHz

CLOCK: DDR clock 400 MHz

CLOCK:?O?WR⑪?


It stopped with some of unicode characters or control characters. I assume 
that when I stop seeing output on the serial console that I am at boot 
prompt because that is about the amount of time it normally takes to reach 
the u-boot window to choose normal kernel or safe mode. 

By the way when I type characters I just see the RX LED. When the DE10 
starts from either uSD I just see the TX led while it is processing the 
initial messages. On the one I am trying to build, when it goes crazy, I 
see both the RX and TX either flashing at the same time or alternating (at 
115200 it is really too fast to tell for sure).

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Re: [Machinekit] Re: Will DE0-Nano image work on a DE10-Nano board?

2017-08-24 Thread Robert Nelson 
On Thu, Aug 24, 2017 at 3:51 PM, mugginsac  wrote:
> OK that made some progress. It still looks like some command processor is
> running at the same time as the login process.
>
> It printed "U-Boot SPL 2017.05-dirty (Aug 23 2017 - 15:20:51)
> drivers/ddr/alt" on the serial console and then went quiet. Next thing I saw
> was that it had apparently loaded the kernel and was waiting for a user
> name.
>
> However, some process was feeding characters that were being consumed by the
> login process. Every so often it would hit something that corresponded to
> something the command processor recognized and display a bunch of stuff on
> the screen again, like a help menu. Look at the file I captured and see if
> it helps understand what is going on. I don't know what process is putting
> up the various help menus.


"Something" else is echoing data into your serial device node from
your development pc.

What program are you using to access the serial terminal?

Regards,

-- 
Robert Nelson
https://rcn-ee.com/

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Re: [Machinekit] Re: Will DE0-Nano image work on a DE10-Nano board?

2017-08-24 Thread Charles Steinkuehler 
On 8/24/2017 3:51 PM, mugginsac wrote:
> OK that made some progress. It still looks like some command processor is 
> running at the same time as the login process.
> 
> It printed "U-Boot SPL 2017.05-dirty (Aug 23 2017 - 15:20:51)
> drivers/ddr/alt" on the serial console and then went quiet. Next thing I 
> saw was that it had apparently loaded the kernel and was waiting for a user 
> name.
> 
> However, some process was feeding characters that were being consumed by 
> the login process. Every so often it would hit something that corresponded 
> to something the command processor recognized and display a bunch of stuff 
> on the screen again, like a help menu. Look at the file I captured and see 
> if it helps understand what is going on. I don't know what process is 
> putting up the various help menus.

It almost sounds like you've got some sort of serial echo going on,
but typically the echo setting is opposite of what you're seeing (ie:
if echo is on, the putty/minicom Tx characters are echoed back to the
putty/minicom screen, you're seeing what might be DE10 Tx data echoed
back to the DE10 Rx).

My DE10 certainly doesn't behave the way you're describing.  I wonder
if there could possibly be a short between the UART Tx and Rx lines on
the DE10?

Do you have a 'scope to check the physical Rx/Tx lines?  If not, you
may be able to use the RXD/TXD LEDs (next to the UART USB connector)
to diagnose.  You should only see the RXD light if you actually type
something into the terminal window.  If you see RXD along with TXD
without typing anything, that's your problem...then you just need to
figure out why it's happening.

Note that the LEDs are driven by the FTDI USB chip and don't directly
indicate the presence of traffic on the physical UART Rx/Tx lines to
the SoC.  So just because you don't see the RXD LED turn on doesn't
mean that the Rx/Tx lines couldn't be shorted.  You'd need to probe
the HPS_UART_RX line (pin 30 on the U12 FTDI chip) with a 'scope to be
sure what's going on.

What happens if you try to boot with the uSD image that shipped with
the DE10 while you have the USB UART connected?

-- 
Charles Steinkuehler
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[Machinekit] Re: Will DE0-Nano image work on a DE10-Nano board?

2017-08-24 Thread mugginsac 
OK that made some progress. It still looks like some command processor is 
running at the same time as the login process.

It printed "U-Boot SPL 2017.05-dirty (Aug 23 2017 - 15:20:51)
drivers/ddr/alt" on the serial console and then went quiet. Next thing I 
saw was that it had apparently loaded the kernel and was waiting for a user 
name.

However, some process was feeding characters that were being consumed by 
the login process. Every so often it would hit something that corresponded 
to something the command processor recognized and display a bunch of stuff 
on the screen again, like a help menu. Look at the file I captured and see 
if it helps understand what is going on. I don't know what process is 
putting up the various help menus.

Thanks,
Alan


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U-Boot SPL 2017.05-dirty (Aug 23 2017 - 15:20:51)
drivers/ddr/alt
^
bian' - try 'help'
=> 
Unknown command 'Debian' - try 'help'
=> D525MW login: 
Unknown command '^[^H^H^H^H^H^H^H' - try 'help'
=> 
Unknown command '^[^H^H^H^H^H^H^H' - try 'help'
=> Debian GNU/Linux 9 D525MW ttyUSB0
Unknown command 'Debian' - try 'help'
=> 
Unknown command 'Debian' - try 'help'
=> 
Unknown command 'De
Unknown command 'D525MW' - try 'help'
=> 
Unknown command 'D525MW' - try 'help'
=> Debian GNU/Linux 9 D525MW ttyUSB0
Unkn
=> 
---
Unknown command '=' - try 'help'
=> h  
?   - alias for 'help'
askenv  - get environment variables from stdin
base- print or set address offset
bdinfo  - print Board Info structure
boot- boot default, i.e., run 'bootcmd'
bootd   - boot default, i.e., run 'bootcmd'
bootefi - Boots an EFI payload from memory
bootelf - Boot from an ELF image in memory
bootm   - boot application image from memory
bootp   - boot image via network using BOOTP/TFTP protocol
bootvx  - Boot vxWorks from an ELF image
bootz   - boot Linux zImage image from memory
bridge  - SoCFPGA HPS FPGA bridge control
chpart  - change active partition
clocks  - display clocks
cmp - memory compare
coninfo - print console devices and information
cp  - memory copy
crc32   - checksum calculation
dcache  - enable or disable data cachedfu - Device Firmware Upgrade
dhcp- boot image via network using DHCP/TFTP protocol
dm  - Driver model low level access
echo- echo args to console
editenv - edit environment variable
env - environment handling commands
exit- exit script
ext4load- load binary file from a Ext4 filesystem
ext4ls  - list files in a directory (default /)
ext4size- determine a file's size
ext4write- create a file in the root directory
false   - do nothing, unsuccessfully
fatinfo - print information about filesystem
fatload - load binary file from a dos filesystem
fatls   - list files in a directory (default /)
fatsize - determine a file's size
fatwrite- write file into a dos filesystem
lp- print command description/usage
i2c - I2C sub-system
icache  - enable or disable instruction cache
iminfo  - print header information for application image
imxtract- extract a part of a multi-image
itest   - return true/false on integer compare
load- load binary file from a filesystem
loadb   - load binary file over serial line (kermit mode)
loads   - load S-Record file over serial line
loadx   - load binary file over serial line (xmodem mode)
loady   - load binary file over serial line (ymodem mode)
loop- infinite loop on address range
ls  - list files in a directory (default /)
md  - memory display
mdio- MDIO utility commands
mii - MII utility commands
mm  - memory modify (auto-incrementing address)
mmc - MMC sub system
mmcinfo - display MMC info
mtdparts- define flash/nand partitions
mw  - memory write (fill)
nfs - boot image via network using NFS protocol
nm  - memory modify (constant address)
part- disk partition related commands
ping- send ICMP ECHO_REQUEST to network host
printenv- print environment variables
pxe - commands to get and boot from pxe files
reset   - Perform RESET of the CPU
run - run commands in an environment variable
save- save file to a filesystem
saveenv - save environment variables to persistent storage
setenv  - set environment variables
setexpr - set environment variable as the result of eval expression
showvar - print local hushshell variables
size- determine a file's size
sleep   - delay execution for some time
source  - run script from memory
sspi- SPI utility command
sysboot - command to get and boot from syslinux files
test- minimal test like /bin/sh
tftpboot-

Re: [Machinekit] Re: Will DE0-Nano image work on a DE10-Nano board?

2017-08-24 Thread Robert Nelson 
On Wed, Aug 23, 2017 at 10:56 PM, mugginsac  wrote:
> I still have problems with the serial terminal.
>
> It seems to me like U-boot is starting up and receiving input that is
> putting it into command mode. Then it is like the process that outputs the
> text from the DE10 is being fed into the  console input and confusing the
> heck out of the command processor. It keeps reporting command not understood
> or not recognized and then advising to try help. This seems to continue
> until minicom, putty or screen are overwhelmed and abort or terminate. It is
> almost like the command processor is still running but u-boot is restarting
> and outputting the startup messages again.
>
> Does any of this make any sense?
>
> Occasionally, it will hit a state where the boot process will complete to
> where it will read extlinux.conf and load the kernel.

+CONFIG_AUTOBOOT_KEYED=y
+CONFIG_AUTOBOOT_PROMPT="Press SPACE to abort autoboot in %d seconds\n"
+CONFIG_AUTOBOOT_DELAY_STR="d"
+CONFIG_AUTOBOOT_STOP_STR=" "

Then the only way to enter command mode, is the "space" key...

Regards,


-- 
Robert Nelson
https://rcn-ee.com/

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