Duet 3 and jetson Nano?

hanshogeland

@gtj0 thx for your efforts, I couldn’t have come this far without you.

gtj0

@hanshogeland I updated my github repo with files that enable spi1 only. It may help.
Another thing you can try is to reduce the SPI bus speed as a test.
In config.json, change
"SpiFrequency": 1000000,
to
"SpiFrequency": 500000,

That's 500KHz instead of 1MHz.

You'll have to restart duetcontrolserver after making the change.

https://github.com/gtjoseph/jetson-nano-support/tree/l4t_32.2.1

hanshogeland

@gtj0 hi, I have flashed with only the spi1 support and tested again with the duetcontrolserver - it gives a similar error again.

hans@hans-desktop:~$ sudo /opt/dsf/bin/DuetControlServer
Duet Control Server v1.0.3.3
Written by Christian Hammacher for Duet3D
Licensed under the terms of the GNU Public License Version 3

Loading settings... Done!
Initialising object model... Done!
Connecting to RepRapFirmware... [warn] Bad header checksum (expected 0xffff, got 0x3b01)
[warn] Note: RepRapFirmware didn't receive valid data either (code 0x00000005)
Error: Duet is not available
hans@hans-desktop:~$ ls -al /dev/spi*
crw-rw---- 1 root gpio 153, 0 sep 21 01:18 /dev/spidev0.0
crw-rw---- 1 root gpio 153, 1 sep 21 01:18 /dev/spidev0.1

gtj0

Did you try lowering the spi frequency?

hanshogeland

@gtj0 yes, I did that - this is the config, thx again for your help - I might have to wait until you have tested it yourself and that is fine also cause I am still building on my printer. Also I am thinking on getting a Rasberry to verify the card and cable, but I would say that should not be an issue at all.

"SpiFrequency": 500000,
"SocketPath": "/var/run/duet.sock",
"Backlog": 4,
"BaseDirectory": "/opt/dsf/sd",
"HostUpdateInterval": 4000,
"MaxMessageAge": 60.0,
"SpiBusID": 0,
"SpiChipSelectLine": 0,
"SpiTransferTimeout": 500,
"MaxSpiRetries": 3,
"SpiPollDelay": 25,
"TransferReadyPin": 13,
"MaxUpdateDelay": 250.0,
"FileInfoReadLimit": 32768,
"MaxLayerHeight": 0.9,

gtj0

@hanshogeland I just uploaded DSF builds for 1.0.4.0. Suggest you give those a try.

gtj0

I'm seeing the same checksum issues. I think I have to tweak the drive strength and the timing a bit.
Working on it!

hanshogeland

@gtj0 great!

gtj0

I figured it out. I stupidly forgot to set the MISO pins to TRISTATE so the data was getting corrupted.
Tested and things now seem fully operational.
Grab the new u-boot and dtb files from:
https://github.com/gtjoseph/jetson-nano-support/tree/l4t_32.2.1

hanshogeland

@gtj0 Success!! Thank you fior your hard work of making it work Iḿ truly grateful

gtj0

Just a quick update...

There are official 64 bit builds of Duet Software Framework available from Duet3D. All you have to do is create a file named /etc/apt/sources.list.d/duet3d.list with one line in it...

deb https://pkg.duet3d.com/ stable armv7

Even though armv7 is mentioned, you'll get the arm64 packages.

Then copy the attached gpg key to /etc/apt/trusted.gpg.d/duet3d.gpg.
duet3d.gpg.txt
The .txt suffix was added just to satisfy the forum's upload restrictions so you need to remove it.

Finally, do an apt-get update and apt-get install duetsoftwareframework

hanshogeland

@gtj0 said in Duet 3 and jetson Nano?:

etc/apt/sources.list.d/duet3d.lis

Yes, I´ve been thinking about this for a while and just like that the update I was waiting for :)!
Followed your instructions and it worked like a charm, thank you so much.

gtj0

Those packages have been up there for a while now but both @chrishamm and I forgot to tell anyone.

HebigT

@gtj0

I did a fresh install (both L4T & DSF) and I'm running into an issue:

Monitoring DCS shows "Kernel SPI buffer" warning & "Duet is not available"

jpomo@jpomo-desktop:~$ sudo /opt/dsf/bin/DuetControlServer
Duet Control Server v1.2.3.0
Written by Christian Hammacher for Duet3D
Licensed under the terms of the GNU Public License Version 3

[info] Settings loaded
[info] Environment initialized
**[warn] Kernel SPI buffer size is smaller than RepRapFirmware buffer size (4096 configured vs 8192 required)
[error] Duet is not available**

Here are my config files -

http.json:

{
  "Logging": {
    "LogLevel": {
      "Default": "Information"
    }
  },
  "Kestrel": {
    "Endpoints": {
      "Http": {
        "Url": "http://127.0.0.1"
      }
    }
  },
  "KeepAliveInterval": 30,
  "ModelRetryDelay": 5000,
  "UseCors": true,
  "UseStaticFiles": true,
  "SocketPath": "/var/run/dsf/dcs.sock",
  "WebSocketBufferSize": 8192
}

config.json

  "LogLevel": "info",
  "SocketDirectory": "/var/run/dsf",
  "SocketFile": "dcs.sock",
  "Backlog": 4,
  "SocketPollInterval": 2000,
  "BaseDirectory": "/opt/dsf/sd",
  "HostUpdateInterval": 4000,
  "ConfigUpdateInterval": 5000,
  "MaxMessageAge": 60.0,
  "SpiDevice": "/dev/spidev0.0",
  "SpiFrequency": 1000000,
  "SpiTransferTimeout": 500,
  "MaxSpiRetries": 3,
  "SpiPollDelay": 25,
  "GpioChipDevice": "/dev/gpiochip0",
  "TransferReadyPin": 13,
  "BufferedPrintCodes": 32,
  "BufferedMacroCodes": 16,
  "MaxBufferSpacePerChannel": 1536,
  "ModelUpdateInterval": 125,
  "MaxMachineModelLockTime": -1,
  "FileInfoReadLimitHeader": 12288,
  "FileInfoReadLimitFooter": 262144,
  "MaxLayerHeight": 0.9,

Additonally,

sudo systemctl status duetcontrolserver:

jpomo@jpomo-desktop:~$ sudo systemctl status duetcontrolserver
● duetcontrolserver.service - Duet Control Server
   Loaded: loaded (/usr/lib/systemd/system/duetcontrolserver.service; enabled; vendor preset: ena
   Active: active (running) since Mon 2020-01-13 13:09:55 MST; 589ms ago
 Main PID: 17421 (DuetControlServ)
    Tasks: 9 (limit: 4182)
   CGroup: /system.slice/duetcontrolserver.service
           └─17421 /opt/dsf/bin/DuetControlServer

Jan 13 13:09:55 jpomo-desktop systemd[1]: Started Duet Control Server.
Jan 13 13:09:56 jpomo-desktop DuetControlServer[17421]: Duet Control Server v1.2.3.0
Jan 13 13:09:56 jpomo-desktop DuetControlServer[17421]: Written by Christian Hammacher for Duet3D
Jan 13 13:09:56 jpomo-desktop DuetControlServer[17421]: Licensed under the terms of the GNU Publi

sudo systemctl status duetwebserver:

● duetwebserver.service - Duet Web Server
   Loaded: loaded (/usr/lib/systemd/system/duetwebserver.service; enabled; vendor preset: enabled)
   Active: active (running) since Mon 2020-01-13 12:52:11 MST; 18min ago
 Main PID: 4592 (DuetWebServer)
    Tasks: 19 (limit: 4182)
   CGroup: /system.slice/duetwebserver.service
           └─4592 /opt/dsf/bin/DuetWebServer

Jan 13 13:10:26 jpomo-desktop DuetWebServer[4592]:    at System.Net.Sockets.Socket.Connect(EndPoint remoteEP)
Jan 13 13:10:26 jpomo-desktop DuetWebServer[4592]:    at DuetAPIClient.BaseConnection.Connect(ClientInitMessage initMessage, String socketPath, CancellationToken cancellationToken
Jan 13 13:10:26 jpomo-desktop DuetWebServer[4592]:    at DuetWebServer.Services.ModelObserver.Execute() in /home/christian/duet/DuetSoftwareFramework/src/DuetWebServer/Services/Mo
Jan 13 13:10:31 jpomo-desktop DuetWebServer[4592]: warn: DuetWebServer.Services.ModelObserver[0]
Jan 13 13:10:31 jpomo-desktop DuetWebServer[4592]:       Failed to synchronize machine model
Jan 13 13:10:31 jpomo-desktop DuetWebServer[4592]: System.Net.Internals.SocketExceptionFactory+ExtendedSocketException (99): Cannot assign requested address /var/run/dsf/dcs.sock
Jan 13 13:10:31 jpomo-desktop DuetWebServer[4592]:    at System.Net.Sockets.Socket.DoConnect(EndPoint endPointSnapshot, SocketAddress socketAddress)
Jan 13 13:10:31 jpomo-desktop DuetWebServer[4592]:    at System.Net.Sockets.Socket.Connect(EndPoint remoteEP)
Jan 13 13:10:31 jpomo-desktop DuetWebServer[4592]:    at DuetAPIClient.BaseConnection.Connect(ClientInitMessage initMessage, String socketPath, CancellationToken cancellationToken
Jan 13 13:10:31 jpomo-desktop DuetWebServer[4592]:    at DuetWebServer.Services.ModelObserver.Execute() in /home/christian/duet/DuetSoftwareFramework/src/DuetWebServer/Services/Mo

As far as I know, I have set the correct GPIO pin and SPI frequency.

Any advice is appreciated!

chrishamm

Have a look at the note in https://duet3d.dozuki.com/Wiki/Getting_Started_With_Duet_3#Section_Enabling_SPI I haven't tested this on a Jetson Nano, though.

gtj0

@jpomo10 It's an easy fix...

Create a file named /etc/modprobe.d/spidev.conf and put 1 line in it...

options spidev bufsiz=8192

Then reboot. You should be good to go after that.

HebigT

@chrishamm @gtj0

Thank you for your help on this.

@gtj0 said in Duet 3 and jetson Nano?:

@jpomo10 It's an easy fix...

Create a file named /etc/modprobe.d/spidev.conf and put 1 line in it...
options spidev bufsiz=8192
Then reboot. You should be good to go after that.

This fixed the buffersize problem, but still getting Duet is not available:

jpomo@jpomo-desktop:~$ sudo /opt/dsf/bin/DuetControlServer
Duet Control Server v1.2.3.0
Written by Christian Hammacher for Duet3D
Licensed under the terms of the GNU Public License Version 3

[info] Settings loaded
[info] Environment initialized
[error] Duet is not available

Any other ideas of what might be causing it?

Thanks!

gtj0

What's the contents of /opt/dsf/conf/config.json ?

Also start duetcontrolserver with -l debug

chrishamm

My best guess is that you don't have the GPIO pin for the transfer ready line configured yet. Unfortunately this part is a bit counter-intuitive because the pin index in the gpiochip device likely varies from the sysfs index but with the right tool you can dump the indices and figure out what device/index you need to use.

HebigT

@gtj0

{
  "LogLevel": "info",
  "SocketDirectory": "/var/run/dsf",
  "SocketFile": "dcs.sock",
  "Backlog": 4,
  "SocketPollInterval": 2000,
  "BaseDirectory": "/opt/dsf/sd",
  "HostUpdateInterval": 4000,
  "ConfigUpdateInterval": 5000,
  "MaxMessageAge": 60.0,
  "SpiDevice": "/dev/spidev0.0",
  "SpiFrequency": 500000,
  "SpiTransferTimeout": 500,
  "MaxSpiRetries": 3,
  "SpiPollDelay": 25,
  "GpioChipDevice": "/dev/gpiochip0",
  "TransferReadyPin": 13,
  "BufferedPrintCodes": 32,
  "BufferedMacroCodes": 16,
  "MaxBufferSpacePerChannel": 1536,
  "ModelUpdateInterval": 125,
  "MaxMachineModelLockTime": -1,
  "FileInfoReadLimitHeader": 12288,
  "FileInfoReadLimitFooter": 262144,
  "MaxLayerHeight": 0.9,
  "LayerHeightFilters": [
    {
      "Pattern": "layer_height\\D\u002B(?\u003Cmm\u003E(\\d\u002B\\.?\\d*))",
      "Options": 17
    },
    {
      "Pattern": "Layer height\\D\u002B(?\u003Cmm\u003E(\\d\u002B\\.?\\d*))",
      "Options": 17
    },
    {
      "Pattern": "layerHeight\\D\u002B(?\u003Cmm\u003E(\\d\u002B\\.?\\d*))",
      "Options": 17
    },
    {
      "Pattern": "layer_thickness_mm\\D\u002B(?\u003Cmm\u003E(\\d\u002B\\.?\\d*))",
      "Options": 17
    },
    {
      "Pattern": "layerThickness\\D\u002B(?\u003Cmm\u003E(\\d\u002B\\.?\\d*))",
      "Options": 17
    }
  ],
  "FilamentFilters": [
    {
      "Pattern": "filament used\\D\u002B(((?\u003Cmm\u003E\\d\u002B\\.?\\d*)mm)(\\D\u002B)?)\u002B",
      "Options": 17
    },
    {
      "Pattern": "filament used\\D\u002B(((?\u003Cm\u003E\\d\u002B\\.?\\d*)m([^m]|$))(\\D\u002B)?)\u002B",
      "Options": 17
    },
    {
      "Pattern": "material\\#\\d\u002B\\D\u002B(?\u003Cmm\u003E\\d\u002B\\.?\\d*)",
      "Options": 17
    },
    {
      "Pattern": "filament length\\D\u002B(((?\u003Cmm\u003E\\d\u002B\\.?\\d*)\\s*mm)(\\D\u002B)?)\u002B",
      "Options": 17
    },
    {
      "Pattern": "Filament used per extruder:\\r\\n;\\s*(?\u003Cname\u003E.\u002B)\\s\u002B=\\s*(?\u003Cmm\u003E[0-9.]\u002B)",
      "Options": 17
    }
  ],
  "GeneratedByFilters": [
    {
      "Pattern": "generated by\\s\u002B(.\u002B)",
      "Options": 17
    },
    {
      "Pattern": ";\\s*Sliced by\\s\u002B(.\u002B)",
      "Options": 17
    },
    {
      "Pattern": ";\\s*(KISSlicer.*)",
      "Options": 17
    },
    {
      "Pattern": ";\\s*Sliced at:\\s*(.\u002B)",
      "Options": 17
    },
    {
      "Pattern": ";\\s*Generated with\\s*(.\u002B)",
      "Options": 17
    }
  ],
  "PrintTimeFilters": [
    {
      "Pattern": "estimated printing time = ((?\u003Ch\u003E(\\d\u002B))h\\s*)?((?\u003Cm\u003E(\\d\u002B))m\\s*)?((?\u003Cs\u003E(\\d\u002B))s)?",
      "Options": 17
    },
    {
      "Pattern": ";TIME:(?\u003Cs\u003E(\\d\u002B\\.?\\d*))",
      "Options": 17
    },
    {
      "Pattern": "Build time: ((?\u003Ch\u003E\\d\u002B) hours\\s*)?((?\u003Cm\u003E\\d\u002B) minutes\\s*)?((?\u003Cs\u003E(\\d\u002B) seconds))?",
      "Options": 17
    },
    {
      "Pattern": "Estimated Build Time:\\s\u002B((?\u003Ch\u003E(\\d\u002B\\.?\\d*)) hours\\s*)?((?\u003Cm\u003E(\\d\u002B\\.?\\d*)) minutes\\s*)?((?\u003Cs\u003E(\\d\u002B\\.?\\d*)) seconds)?",
      "Options": 17
    }
  ],
  "SimulatedTimeFilters": [
    {
      "Pattern": "; Simulated print time\\D\u002B(?\u003Cs\u003E(\\d\u002B\\.?\\d*))",
      "Options": 17
    }
  ]
}