I am trying to connect M210 v2 RTK to a desktop computer with Ubuntu 18.04, ROS Melodic and parallel installation of Opencv 3.3.1 and 4.5.3 using a USB-TTL RS232 to make UART connection and an USB-USB connecting drone and desktop to be able to run Advanced Sensing.
When I call ls -l /dev/ttyACM* && ls -l /dev/ttyUSB* it returns that it is indentified the USB and ACM connection.
crw-rw---- 1 root dialout 166, 0 out 4 13:18 /dev/ttyACM0
crw-rw---- 1 root dialout 188, 0 out 4 13:18 /dev/ttyUSB0
I also set the transfer rate of TTL-USB to 921600 using minicom, and gave persmission to device to read and write with sudo usermod -a -G dialout $USER && sudo chmod 666 /dev/ttyUSB0
Unfortunatelly when I launch roslaunch dji_osdk_ros dji_sdk_node.launch it appears some connection problem presented below and I am not being able to fix it. I have been trying to turn on/off drone and RC several times ass described here, but the problem still stand.
started roslaunch server http://V3D06:43613/
SUMMARY
========
PARAMETERS
* /dji_sdk/acm_name: /dev/ttyACM0
* /dji_sdk/align_time: False
* /dji_sdk/app_id: 1076017
* /dji_sdk/app_version: 1
* /dji_sdk/baud_rate: 921600
* /dji_sdk/dxc: False
* /dji_sdk/enc_key: 6bd1d26f8dd897e4b...
* /dji_sdk/serial_name: /dev/ttyUSB0
* /dji_sdk/use_broadcast: False
* /rosdistro: melodic
* /rosversion: 1.14.12
NODES
/
dji_sdk (dji_osdk_ros/dji_sdk_node)
auto-starting new master
process[master]: started with pid [2436]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to bde7b4d2-252e-11ec-8a59-1831bfb3e154
process[rosout-1]: started with pid [2458]
started core service [/rosout]
process[dji_sdk-2]: started with pid [2464]
[ INFO] [1633364323.534426789]: Advanced Sensing is Enabled on M210.
Read App ID
User Configuration read successfully.
[1276751.089]STATUS/1 # getDroneVersion, L1702: ret = 0
[1276751.089]STATUS/1 # parseDroneVersionInfo, L1122: Device Serial No. = 1DADG3E00100U4
[1276751.089]STATUS/1 # parseDroneVersionInfo, L1124: Firmware = 3.4.3.44
[1276751.089]STATUS/1 # functionalSetUp, L279: Shake hand with drone successfully by getting drone version.
[1276751.089]STATUS/1 # legacyX5SEnableTask, L56: Legacy X5S Enable task created.
[1276752.089]STATUS/1 # sendHeartbeatToFCTask, L1576: OSDK send heart beat to fc task created.
[1276752.289]STATUS/1 # Control, L40: The control class is going to be deprecated.It will be better to use the FlightController class instead!
[1276752.290]STATUS/1 # FileMgrImpl, L253: register download file callback handler successfully.
[1276753.557]STATUS/1 # PSDKModule, L98: MOP only support M300, so mop client will not be initialized here.
[1276753.557]STATUS/1 # PSDKModule, L98: MOP only support M300, so mop client will not be initialized here.
[1276753.557]STATUS/1 # PSDKModule, L98: MOP only support M300, so mop client will not be initialized here.
[1276753.557]STATUS/1 # initDJIHms, L900: DJI HMS is not supported on this platform!
[1276753.567]STATUS/1 # getDroneVersion, L1702: ret = 0
[1276753.567]STATUS/1 # parseDroneVersionInfo, L1122: Device Serial No. = 1DADG3E00100U4
[1276753.567]STATUS/1 # parseDroneVersionInfo, L1124: Firmware = 3.4.3.44
[1276753.567]STATUS/1 # AdvancedSensing, L145: Advanced Sensing init for the M210 drone
[1276753.567]STATUS/1 # init, L49: Looking for USB device...
[1276753.572]STATUS/1 # init, L65: Found 8 USB devices, identifying DJI device...
[1276753.572]STATUS/1 # init, L83: Found a DJI device...
[1276753.572]STATUS/1 # init, L96: Attempting to open DJI USB device...
[1276753.572]ERRORLOG/1 # init, L101: Failed to open DJI USB device...
[1276753.572]ERRORLOG/1 # init, L102: Error code: -3
[1276753.572]ERRORLOG/1 # init, L105: Please make sure you provide a udev file for your system and reboot the computer
[1276753.573]STATUS/1 # LiveViewImpl, L89: Finding if liveview stream is available now.
[1276754.076]STATUS/1 # init, L254: Start advanced sensing initalization
[1276754.076]STATUS/1 # activate, L1329: version 0x304032C
[1276754.076]STATUS/1 # adv_pthread, L46: adv pthread created !!!!!!!!!!!!!!!!!!!!!!!
[1276754.076]STATUS/1 # adv_pthread, L48: adv pthread running !!!!!!!!!!!!!!!!!!!!!!!
[dji_sdk-2] process has died [pid 2464, exit code -11, cmd /home/vant3d/catkin_ws/devel/lib/dji_osdk_ros/dji_sdk_node __name:=dji_sdk __log:=/home/vant3d/.ros/log/bde7b4d2-252e-11ec-8a59-1831bfb3e154/dji_sdk-2.log].
log file: /home/vant3d/.ros/log/bde7b4d2-252e-11ec-8a59-1831bfb3e154/dji_sdk-2*.log
It appears it has some problem providing a udev file, but I don't know how to fix it. Does anyone have some idea to help on this problems?
Thank you!
That's my post. Firstly turn off advanced sensing to try whether a basic FTDI works.
The second which DJI OSDK version are you using? does the OSDK version match the version in OSDK-ROS? I saw you have M300 in. that is usually in OSDK 4+. For M210, I only use 3.8 and 3.9
If basic FTDI works, and you can get all the feedback. there is a higher chance that you have the wrong ACM config. DJI RNDIS thing is nasty and may not be config properly. You need to manually set static IP of 192.168.43.1 (or I remember something like this 42 or 43, you need to check on this static IP) and set it manually
Related
I am running CentOS7 with kernel 5.4.206-v8.1.el7 on a RPi4 and I am trying to setup edge detection on GPIO with RPi.GPIO-0.7.1-py3.9 (*)
I am getting the following error whatever the pin I try to configure:
RPi.GPIO.add_event_detect(self.pin, RPi.GPIO.BOTH, self._on_event) RuntimeError: Failed to add edge detection
I also get it when I run in sudo. I previously tuned the permissions to get:
[blabla#hostname]$ ls -l /dev/gpiomem crw-rw----. 1 root gpio 246, 0 Jan 1 1970 /dev/gpiomem
so that GPIO in output mode (to blink a LED for instance) works fine.
Running my basic RPi.GPIO-based edge detection code (*) with strace I noticed a few suspicious lines:
faccessat(AT_FDCWD, "/sys/class/gpio/gpio6", F_OK) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/sys/class/gpio/export", O_WRONLY) = -1 EACCES (Permission denied)
I thought RPi.GPIO was now based on GPIO character and not sysfs anymore? Although I am far from being an expert so I may be wrong / confused
I looked a bit into /sys/class/gpio on my RPi:
[blabla#hostname]$ ls /sys/class/gpio/ export gpiochip446 gpiochip454 unexport
It seems to me that attempting to create /sys/class/gpio/gpio6 makes no sense here, one should read the base of the controller and do base+6 ? Wouldn't that explain the Permission denied?
I tried to run the event.c example of the bcm2835 library and this works fine, ie button pressed are detected correctly. For technical reasons I would like to use RPi.GPIO.
Sorry again I am far from being an expert so maybe just confused myself, any help to unblock the situation would be great!
Thanks a lot
Best wishes
(*)
import RPi.GPIO as GPIO
X=6
# Set pin X in GPIO mode
GPIO.setmode(GPIO.BCM)
GPIO.setup(X, GPIO.IN, pull_up_down=GPIO.PUD_UP)
# Define a callback function to detect edge events
def my_callback(channel):
print(f"Edge event detected on pin {X}")
# Set the callback function
GPIO.add_event_detect(X, GPIO.RISING, callback=my_callback)
# Main loop
try:
while True:
pass
# Exit gracefully
except KeyboardInterrupt:
GPIO.cleanup()
i want to make a monitoring program for tracer
i use rs485 usb converter to connect epever tracer1210a to raspberry pi 3 model b
from pymodbus.client.sync import ModbusSerialClient as ModbusClient
client = ModbusClient(method = 'rtu', port = '/dev/ttyACM0', baudrate = 115200)
client.connect()
print( client)
result = client.read_input_registers(0x3100,6,unit=1)
print (result)
solarVoltage = float(result.registers[0] /100.0)
solarCurrent = float(result.registers[1] /100.0)
batteryVoltage = float(result.registers[4] /100.0)
chargeCurrent = float(result.registers[5] /100.0)
print("solar voltage : ",solarVoltage)
print("solar current : ",solarCurrent)
print("battery volatage : ",batteryVoltage)
print("charge current : ",chargeCurrent)
client.close()
and i get error like this:
ModbusSerialClient(rtu baud[115200])
Modbus Error: [Input/Output] Modbus Error: [Invalid Message] Incomplete message received, expected at least 2 bytes (0 received)
Traceback (most recent call last):
File "yutub.py", line 9, in
solarVoltage = float(result.registers[0] /100.0)
AttributeError: 'ModbusIOException' object has no attribute 'registers'
please help me to fix this problem
I had faced the same problem.
Follow the below steps to fix the issue:
git clone https://github.com/kasbert/epsolar-tracer/tree/master/xr_usb_serial_common-1a
Follow the installation steps from Readme.
You might face problem when you execute make. In such case do sudo apt-get install linux-headers.
Check that the USB UART is detected by the system
lsusb
Check that the CDC-ACM driver was not installed for the Exar USB UART
ls /dev/tty*
To remove the CDC-ACM driver and install the driver:
sudo rmmod cdc-acm
sudo modprobe -r usbserial
sudo modprobe usbserial
sudo insmod ./xr_usb_serial_common.ko
After this when you do ls /dev/tty* you will see /dev/ttyXRUSB0. This means the driver is installed and you are in good shape.
Change the port in your code to '/dev/ttyXRUSB0'.
See the output image
After you restart the PI you might not see the ttyXRUSB0 instead you will see ttyACM0. In such case execute sudo echo blacklist cdc-acm > /etc/modprobe.d/blacklist-cdc-acm.conf. If PI does not allow you to execute then create the file in the path and write blacklist cdc-acm.
Reboot and verify if ttyACM0 is still displayed in ls /dev/tty*.
I installed the current lirc package (0.9.0~pre1-1.2) on a Raspian jessie (no pixel) (everything updated and upgraded) and connected to the (lirc default) GPIO ports:
to gpio port 17 - an IR LED via transistor etc
to gpio port 18 - an IR receiver nodule
The receiver part works perfectly:
mode2 command receiving raw data from transmitter
the IR code recognition of previously recorded keys works
However, the IR LED only works only while lirc is not involved:
a shell script can switch the IR LED on and off with no problem
The only thing that doesn't work:
irsend does not make the IR transmitter emit anything, however no error message is shown
So the hardware, especially the IR LED is definitely working, while lirc cannot make the LED emit any configured IR code.
Please note that this seems to be a duplicate of
stackoverflow: irsend is not giving errors, but does not send signal on Raspbian
Unfortunately it is not. The "solution" provided there was placing the data for /etc/modules into the file /etc/modules-load.d/lirc_rpi.conf. I tried that as well, but it makes no difference.
Any help is greatly appreciated!
Configuration data follows - if any other data is required, I'd be happy to add it! TIA!
System and lirc Configuration
Extract fom: /boot/config.txt
dtoverlay=lirc-rpi,gpio_in_pin=18,gpio_out_pin=17,debug=on
Extract of: /etc/modules
lirc_dev
lirc_rpi gpio_in_pin=18 gpio_out_pin=17
(not sure if that is necessary at all, does not make a difference if this is not configured!? Any hint apppreciated)
All active entries in: /etc/lirc/hardware.conf
LIRCD_ARGS="--uinput"
DRIVER="default"
DEVICE="/dev/lirc0"
MODULES="lirc_rpi"
LIRCD_CONF=""
LIRCMD_CONF=""
Some system output
1) The driver is loaded, output of following command right after boot, output of: dmesg | grep lirc
lirc_dev: IR Remote Control driver registered, major 245
lirc_rpi: module is from the staging directory, the quality is unknown, you have been warned.
lirc_rpi: to_irq 178
lirc_rpi: auto-detected active low receiver on GPIO pin 18
lirc_rpi lirc_rpi: lirc_dev: driver lirc_rpi registered at minor = 0
lirc_rpi: driver registered!
input: lircd as /devices/virtual/input/input0
lirc_rpi: Interrupt 178 obtained
2) the service is started and running, output of: systemctl status lirc
? lirc.service - LSB: Starts LIRC daemon.
Loaded: loaded (/etc/init.d/lirc)
Active: active (running) since Mo 2017-06-12 20:04:03 CEST; 2h 58min ago
Process: 377 ExecStart=/etc/init.d/lirc start (code=exited, status=0/SUCCESS)
CGroup: /system.slice/lirc.service
+-437 /usr/sbin/lircd --driver=default --device=/dev/lirc0 --uinput
3) the modules are loaded, output of: lsmod | grep Module;lsmod | grep lirc
Module Size Used by
lirc_rpi 8453 3
lirc_dev 10211 1 lirc_rpi
rc_core 23776 1 lirc_dev
I followed the troubleshooting steps in the (outdated) manual at http://aron.ws/projects/lirc_rpi/
to get some more information.
Output of: cat /sys/kernel/debug/gpio
gpiochip0: GPIOs 0-53, parent: platform/20200000.gpio, pinctrl-bcm2835:
gpio-35 ( |? ) in hi
gpio-47 ( |? ) out lo
I have seen that output also in this case:
raspberrypi.stcakexchange: LIRC won't transmit (irsend: hardware does not support sending)
This user is as irritated by that output as I am - can somebody please tell why gpio-35 and gpio-47 are listed here? shouldn't it be gpio-17 and gpio-18?
Output of: cat /proc/interrupts | grep lirc
178: 875 pinctrl-bcm2835 18 Edge lirc_rpi
This matches the dmesg output on having obtained interrupt 178
Any other dmesg output of lircd, no matter what action, is repeatedly (most likely due to the debug option set) only
lirc_rpi: SET_SEND_CARRIER
lirc_rpi: in init_timing_params, freq=38000 pulse=13157, space=13158
lirc_rpi: SET_SEND_DUTY_CYCLE
lirc_rpi: in init_timing_params, freq=38000 pulse=13157, space=13158
Having restarted testing again after some time for to build up a test copy of the circuit, the problem occurred again. And now, after some more month of much testing, having asked lots of people for help (no one could help), even having purchased and built up a cheap mini USB oscilloscope kit for to examine the hardware further, I finally found the solution.
Long story short: everything in the configuration was correct, and all of the attached hardware was fine. The problem was the testing script - see my remark on
"a shell script can switch the IR LED on and off with no problem"
and as I did not put it in the above description, nobody could have found the solution myself....
The script uses the pseudo files in /sys/class/gpio, see an example here:
raspberry-projects.com: IO pin control from the command line
At the end of the script a command writes to /sys/class/gpio/unexport for cleanup purposes, and this step seems to reset a GPIO port to always end up in the state of being configured for input. As a result LIRC is not longer able to control this GPIO port, since it seems to configure the GPIO port for output only during system boot, and after that always expecting the port to be in that state.
I tracked the problem down to this point by using the gpio utility from the wirinpi package (install with sudo apt-get wiringpi), executing gpio readall and checking for differences.
The time when everything suddenly worked again, I simply may have fogotten about to run my testscript before testing LIRC, which I otherwise always did...
Luckily the problem with the port configuration can easily be fixed without having to reboot the system. Again I use the gpio utility to reset reset the used port for output, where in the below example
the default output port 17 for LIRC is used and
the parameter -g lets the utility use the ordinary GPIO port numbering and not that very different one of the wiringpi package and library
Here is the command, after having executed this last in my test script, LIRC can properly send IR codes again:
gpio -g mode 17 out
I use a board running with Linux 3.0.8.
I follow the instructions from Documentation/input/rotary-encoder.txt and call the following in driver module:
platform_device_register(&rotary_encoder_device);
The kernel prints the following when boots up:
[5.629682] input: rotary-encoder as /devices/platform/rotary-encoder.0/input/input1
and I can get this:
# ls /sys/devices/platform/rotary-encoder.0/input/input1/
capabilities id name properties uevent
device modalias phys subsystem uniq
However there is no device node /dev/input/eventN created.
How to fix this? Thanks for any help.
I am trying to implement a virtual mouse driver according to the Essential Linux device Drivers book. There is a user space application, which generates coordinates as well as a kernel module.
See: Virtual mouse driver and userspace application code and also a step by step on how to use this driver.
1.) I compile the code of the user space application and driver.
2.) Next i checked dmesg output and have,
input: Unspecified device as /class/input/input32
Virtual Mouse Driver Initialized
3.) The sysfs node was created properly during initialization (found in /sys/devices/platform/vms/coordinates)
4.) I know that the virtual mouse driver (input32 ) is linked to event5 by checking the following:
$ cat /proc/bus/input/devices
I: Bus=0000 Vendor=0000 Product=0000 Version=0000
N: Name=""
P: Phys=
S: Sysfs=/devices/virtual/input/input32
U: Uniq=
H: Handlers=event5
B: EV=5
B: REL=3
5.) Next i attach a GPM server to the event interface: gpm -m /dev/input/event5 -t evdev
6.) Run the user space application to generate random coordinates for virtual mouse and observe generated coordinates using od -x /dev/input/event5.
And nothing happens. Why?
Also here author mentioned that gdm should be stopped, using /etc/init.d/gdm stop, but i get "no such service" when stopping gdm.
Here is my complete script for building and runing virtual mouse:
make -C /usr/src/kernel/2.6.35.6-45.fc14.i686/ SUBDIRS=$PWD modules
gcc -o app_userspace app_userspace.c
insmod app.ko
gpm -m /dev/input-event5 -t evdev
./app_userspace
Makefile:
obj-m+=app.o
Kernel version: 2.6.35.6
As i said before i can recieve the result through od, but i received it through your program
echo 9 19 > /sys/devices/platform/virmouse/vmevent
gives:
time 1368284298.207654 type 2 code 0 value 9
time 1368284298.207657 type 2 code 1 value 19
time 1368284298.207662 type 0 code 0 value 0
So now the question is: what is wrong with X11? I would like to stress, that i tried this code under two different distributions Ubuntu 11.04 and Fedora 14.
Maybe this will help: in Xorg.0.log i see the following:
[ 21.022] (II) No input driver/identifier specified (ignoring)
[ 272.987] (II) config/udev: Adding input device (/dev/input/event5)
[ 272.987] (II) No input driver/identifier specified (ignoring)
[ 666.521] (II) config/udev: Adding input device (/dev/input/event5)
[ 666.521] (II) No input driver/identifier specified (ignoring)
I spent a huge amount of time, resolving this issue, and i would like to help other people, who run in this problem. I think some outer X11 features interfered my module work. After disabling GDM it now works fine (runlevel 3). Working code you can find here http://fred-zone.blogspot.ru/2010/01/mouse-linux-kernel-driver.html working distro ubuntu 11.04 (gdm disabled)
Try replacing the below lines of code in the input device driver
set_bit(EV_REL, vms_input_dev->evbit);
set_bit(REL_X, vms_input_dev->relbit);
set_bit(REL_Y, vms_input_dev->relbit);
with
vms_input_dev->name = "Virtual Mouse";
vms_input_dev->phys = "vmd/input0"; // "vmd" is the driver's name
vms_input_dev->id.bustype = BUS_VIRTUAL;
vms_input_dev->id.vendor = 0x0000;
vms_input_dev->id.product = 0x0000;
vms_input_dev->id.version = 0x0000;
vms_input_dev->evbit[0] = BIT_MASK(EV_KEY) | BIT_MASK(EV_REL);
vms_input_dev->keybit[BIT_WORD(BTN_MOUSE)] = BIT_MASK(BTN_LEFT) | BIT_MASK(BTN_RIGHT) | BIT_MASK(BTN_MIDDLE);
vms_input_dev->relbit[0] = BIT_MASK(REL_X) | BIT_MASK(REL_Y);
vms_input_dev->keybit[BIT_WORD(BTN_MOUSE)] |= BIT_MASK(BTN_SIDE) | BIT_MASK(BTN_EXTRA);
vms_input_dev->relbit[0] |= BIT_MASK(REL_WHEEL);
It worked for me on ubuntu 12.04