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Update Orocos Configuration

watts
2023-11-08 15:01:39 +01:00
parent 7eda8c3458
commit ee06e4ce59
1 changed files with 62 additions and 2 deletions
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Orocos-Configuration.md

@@ -14,12 +14,72 @@ The module names for your hardware can be found on the [Comedi website](https://
## Identify Device Numbers
The device numbers assigned to each card can be found in the kernel message log, which is printed with `dmesg` (might need `sudo dmesg`). There can be a lot of messages to sort through, so you can narrow it down with `dmesg | grep comedi`. This should produce output like:
The device numbers assigned to each card can be found in the kernel message log, which is printed with `dmesg` (might need `sudo dmesg`). There can be a lot of messages to sort through, so you can narrow it down with `dmesg | grep comedi`. This should produce output that includes lines like:
```
[
[ 2.507480] comedi4: ni_660x:
[ 2.507890] comedi: cannot get unshared interrupt, will not use RT interrupts.
[ 2.511676] comedi1: ni_pcimio:
[ 2.544959] comedi2: ni_pcimio:
[ 2.546311] comedi: cannot get unshared interrupt, will not use RT interrupts.
[ 2.547515] comedi2: ni_pcimio: possible problem - never saw adc go busy?
[ 2.698319] comedi3: n1231:
[ 2.698331] comedi3: found n1231a at PCI bus 3, slot 0
[ 2.698525] comedi3: N1231 now attached.
[ 2.699254] comedi0: ni_660x:
```
This corresponds to:
- NI-6602 (ni_660x) assigned device number 0
- NI-6733 (ni_pcimio) assigned device number
- Agilent N1231 assigned device number 3
- NI-6289 (ni_pcimio) assigned device number
We are looking for messages in the format of `comedi4: ni_660x:`, which tells us that an NI6602 card (with `ni_660x` kernel module) has been assigned the device number `4` by Comedi.
## Editing start.ops
The device numbers must be assigned correctly in the `start.ops` file used to configure Orocos. The first section of the `start.ops` file for PolLux looks like:
```
// deployer-gnulinux -s start.ops -linfo
import("SensorAgilent")
import("SensorAttocube")
import("PIDLoop")
import("ComController")
import("zmqStreamer")
import("AnalogOutputComedi")
import("DigitalOutputComedi")
import("TrajectoryGenerator")
import("PositionSampler")
import("RealtimeSampler")
import("DigitalInputComedi")
loadComponent("Sensor1","SensorAgilent")
loadComponent("Sensor2","SensorAttocube")
loadComponent("PID0","PIDLoop")
loadComponent("PID1","PIDLoop")
loadComponent("PID2","PIDLoop")
loadComponent("ComCon", "ComController")
loadComponent("zmqStream0", "ZmqStreamer")
loadComponent("AO1", "AnalogOutputComedi")
loadComponent("DO1", "DigitalOutputComedi")
loadComponent("TrajGen","TrajectoryGenerator")
loadComponent("PosSampler","PositionSampler")
loadComponent("RtSampler","RealtimeSampler")
loadComponent("DI1", "DigitalInputComedi")
```
Take note of each `loadComponent` command where the imported object (second argument) has "Sensor", "Input" or "Output" in the name. Each of these will need to be assigned a device number, using the name given in the first argument of the command.
In this case, we should declare the following assignments:
```
Sensor1.deviceNr=3
Sensor2.deviceNr=4
AO1.deviceNr=2
DO1.deviceNr=2
DI1.deviceNr=2
```
These assignments must be declared before the corresponding devices are configured with a command like `Sensor1.configure()`.