Remora - ethernet NVEM cnc board

PCW wrote:

If the step generator works like the Mesa step generator
(basically a velocity command  servo loop), you can compensate
for the time between position read and new velocity write
with the PID loops FF2 term (you set it to the time between
read and write in seconds, so if you have 100 usec between
read and write, you set FF2 to 0.0001)

GeramyL wrote:

chrstrvs wrote:

scotta wrote:

chrstrvs wrote:

Hey, Scott (or any volunteer)!

Have you had the time to look at my config files that are causing the following errors? I use the remora-nvem-basic config from github.com/scottalford75/Remora-NVEM/tree/main/LinuxCNC, also attached to this message.
Hi, I've had a look at your config files and they are identical to mine, and I can run with a 1000% feed override without following errors....

Now I'm really scratching my head to understand what could be going on. Do you have the serial debug output connected? It would be interesting to see if there are any issues on the board.
 

Let me explain exactly what I have done. Maybe you can spot something that I've done wrong.
- Full chip erase on NVEM using STM32 ST-LINK Utility
- Flash NVEM with Remora-NVEM-STM32-1.0.0.bin from github.com/scottalford75/Remora-NVEM/tree/main/Firmware using STM32 ST-LINK Utility
- Install Raspberry Pi OS (Legacy) 32 bit
- Install LinuxCNC and realtime Kernel according to forum.linuxcnc.org/9-installing-linuxcnc...n-raspberry-pi-3b-pi
- Copy github.com/scottalford75/Remora-NVEM/tre...es/remora-nvem-basic to /home/pi/linuxcnc/configs
- Copy github.com/scottalford75/Remora-NVEM/tre...Components/Remora-nv to /home/pi/linuxcnc/components
- Install remora-nv component using

sudo halcompile --install remora-nv.c
- Install pyocd using [code]pip3 install pyocd
- Write config to NVEM using [code]python3 upload_config.py config.txt

And that's it I think. Can you spot anything I might have done wrong?

I do not have the serial debug output connected, but I can do that if there is a guide I can follow. Do you happen to have one? [img]/media/kunena/emoticons/smile.png[/img]

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scotta wrote:

[code][code][url=https://github.com/scottalford75/Remora-NVEM/tree/main/LinuxCNC/Components/Remora-nv][code][code][code]Ping response times are longer than I'm getting though, averaging around 0.17ms. Do you have a router in between the NVEM and computer?
 
No router. 2 meter cable directly from the Pi to the NVEM. Is the response time high enough to cause these errors you think?



As the response time becomes worse it changes the amount of pre-anticipation the linuxcnc software has to take in the algorithm hence PGain in order to make up for it. High ping time can cause ferror, but also can not having enough response time from the cpu on linuxcnc itself. I highly recommend you make sure your linuxcnc setup is correct and your following all recommendations by linuxcnc, also older kernels are slower and have worse response time in the real time kernel, so if linuxcnc has a timer thats supposed to go off every 1ms and the raspberrypi cpu timer goes off at 1.1ms and then the response time on the board is 0.3ms or up to 0.6ms now you are 1.13 to 1.16ms out of sync.

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BrysonW wrote:

Hello, I'm hoping I can get some help here.  I'm beyond frustrated at this point trying to get my board flashed, Ive been at this for 8 hours at this point and am about to give up, a hammer to this ec500 I've got sitting here may be the best solution at this point.  I'm pretty sure I got my st link flashed using the CMSIS-DAP file from the repository.  But it seems no matter what I do I cannot get the pyocd command to flash the board I keep getting the Message, Import Error: No module named abc.  I know its referring to the collections library but have no idea how to fix it to move forward.  Google doesn't seem to have any idea either, other than its a default library that comes with python that seems to be missing something.  The computer I'm working on has a fresh install of linuxcnc on it, and this is the only linux machine I've got to work with here at home.  I've also tried doing all of this using my windows laptop thinking that may help.  Haven't gotten any further there, can't get the pyocd command to work on the command line there.  Im sure something is missing from the PATH variable on that machine.  There again trying to find anything useful online hasn't been much help.  I think I'm missing something simple.  I think I may have finally gotten it.  Downgrading the python version on the windows machine seemed to work.

 

python -m pip install -U pyocd
pyocd flash .\remora-rt1052.axf --target mimxrt1050_quadspi

rbobey1989 wrote:

well after some tests, I was looking at some examples from the ArduinoJson6 library and I found the solution, I was making a mistake (pointers issue), I declared an extern const char* board in extern.h and then I redefined it in remora-rt1052 .cpp, I have also defined a function getBoardType() where I initialize the variable board = doc[Board]; and since it is declared in extern.h as extern we access from Qdc.cpp, I have also added the pins for the EC300 and a simple answer for the problem of not entering the correct pins for multiplexing. Greetings to all

BrysonW wrote:

Thank you, that's what it ended up being. I had to install python 3.9, instead of the latest version. I don't do much with python too often. This has been a very educational journey so far for sure. I was at my wits end and about ready to give up. As of right now the board appears to start up and I can ping it. The ping times aren't that great, but I'll deal with that later. Now I'm on to getting the LinuxCNC side of things set up to see if it'll communicate with it.
 
Update, I'll edit this post instead of creating a new one:

Now that the board is flashed I've moved on to trying to get remora working with linuxcnc.  I am running this on a pc, not a rpi and that may be the bulk of my issues, not sure, but an older pc is cheaper to use that a rpi at this point in time.  This is trying to get a ec500 to run, which I'm assuming remora-rt1052.c is the correct file to be using.  But cannot get that to compile using halcompile, it immediately gives me an error that it cant find pin_mux.h .  I was able to get remora-eth.c to compile, but using that linuxcnc fails to start giving me "bcm2835_init: gpio mmap failed: Operation not permitted".  Which I see that that is the broadcom chip thats in a rpi, which I don't have so of course it failed.  I saw in one of your videos you had this running on a laptop, just trying to figure out what I'm missing here.