Duet 3 and jetson Nano?

gtj0

@hanshogeland What's the output of gpioinfo. You may need to install gpiod to get that command.

This is partial output of what I get...

	line  11:      unnamed       unused   input  active-high 
	line  12:  "SPI1_MOSI"       unused   input  active-high 
	line  13:  "SPI1_MISO" "dcs-trp-13"   input  active-high [used]
	line  14:   "SPI1_SCK"       unused   input  active-high 
	line  15:   "SPI1_CS0"       unused   input  active-high 
	line  16:  "SPI0_MOSI"       unused   input  active-high 
	line  17:  "SPI0_MISO"       unused   input  active-high 
	line  18:   "SPI0_SCK"       unused   input  active-high 
	line  19:   "SPI0_CS0"    "cs_gpio"  output  active-high [used]
	line  20:   "SPI0_CS1"       unused   input  active-high 
	line  21:      unnamed       unused   input  active-high

hanshogeland

Thx,

This is part of the Output:

	line  11:      unnamed       unused   input  active-high 
	line  12:  "SPI1_MOSI"       unused   input  active-high 
	line  13:  "SPI1_MISO"       unused   input  active-high 
	line  14:   "SPI1_SCK"       unused   input  active-high 
	line  15:   "SPI1_CS0"       unused   input  active-high 
	line  16:  "SPI0_MOSI"       unused   input  active-high 
	line  17:  "SPI0_MISO"       unused   input  active-high 
	line  18:   "SPI0_SCK"       unused   input  active-high 
	line  19:   "SPI0_CS0"    "cs_gpio"  output  active-high [used]
	line  20:   "SPI0_CS1"       unused   input  active-high 
	line  21:      unnamed       unused   input  active-high 
	line  22:      unnamed       unused   input  active-high

gtj0

@hanshogeland
Did you install the DSF from the packages or do a manual install?

How about the output of these commands:

$ ls -al /dev/gpio*
$ sudo -iu dsf gpioget 0 13
$ cat /boot/extlinux/extlinux.conf

Also, try using this exact dtb instead of using the dtbo and jetson-io...

tegra210-p3448-0000-p3449-0000-b00-single-spidev.dtb.stl

hanshogeland

@gtj0 Thx again,

Yes these are the results, I was not able to run sudo -iu dsf gpioget 0 13

hans@hans-desktop:~$ ls -al /dev/gpio*
crw-rw---- 1 root gpio 254, 0 feb 11 11:59 /dev/gpiochip0
crw-rw---- 1 root gpio 254, 1 feb 11 11:59 /dev/gpiochip1
hans@hans-desktop:~$ sudo -iu dsf gpioget 0 13
sudo: /sbin/nologin: command not found

hans@hans-desktop:~$ sudo gpioget 0 13
0
s-desktop:~$ cat /boot/extlinux/extlinux.conf
TIMEOUT 30
DEFAULT Single SPIDEV

MENU TITLE L4T boot options

LABEL primary
      MENU LABEL primary kernel
      LINUX /boot/Image
      INITRD /boot/initrd
      APPEND ${cbootargs} quiet root=/dev/mmcblk0p1 rw rootwait rootfstype=ext4 console=ttyS0,115200n8 console=tty0 fbcon=map:0 net.ifnames=0 

# When testing a custom kernel, it is recommended that you create a backup of
# the original kernel and add a new entry to this file so that the device can
# fallback to the original kernel. To do this:
#
# 1, Make a backup of the original kernel
#      sudo cp /boot/Image /boot/Image.backup
#
# 2, Copy your custom kernel into /boot/Image
#
# 3, Uncomment below menu setting lines for the original kernel
#
# 4, Reboot

# LABEL backup
#    MENU LABEL backup kernel
#    LINUX /boot/Image.backup
#    INITRD /boot/initrd
#    APPEND ${cbootargs}

LABEL Single SPIDEV
	MENU LABEL Single SPIDEV
	LINUX /boot/Image
	FDT /boot/kernel_tegra210-p3448-0000-p3449-0000-b00-single-spidev.dtb
	INITRD /boot/initrd
	APPEND ${cbootargs} quiet root=/dev/mmcblk0p1 rw rootwait rootfstype=ext4 console=ttyS0,115200n8 console=tty0 fbcon=map:0 net.ifnames=0

So I have written down all the steps I have done during the setup

Flash Jetson SD with latest software
Once started

Add another Sudo user
sudo adduser admin

Install GIPIOD

sudo apt-get update
sudo apt-get install -y gpiod
sudo groupadd gpiod
sudo usermod -a -G gpiod hans

Check Pins
sudo gpioinfo

Check Board info and Jetson IO https://docs.nvidia.com/jetson/l4t/index.html#page/Tegra%20Linux%20Driver%20Package%20Development%20Guide/hw_setup_jetson_io.html

Get Board info cat /sys/firmware/devicetree/base/compatible
nvidia,p3449-0000-b00+p3448-0000-b00 nvidia,jetson-nano nvidia,tegra210

Download the correct DTBO https://forum.duet3d.com/topic/11777/duet-3-and-jetson-nano/87

Copy to boot
sudo cp /home/hans/Downloads/tegra210-p3448-0000-p3449-0000-b00-single-spidev.dtbo /boot/tegra210-p3448-0000-p3449-0000-b00-single-spidev.dtbo

Configure PIN
sudo /opt/nvidia/jetson-io/jetson-io.py
Select the corresponding DTBO - save and exit without reboot

Check the boot extlinux has the correct changed DTBO name
ReBoot 

Setup the DSF
wget -q https://pkg.duet3d.com/duet3d.gpg
wget -q https://pkg.duet3d.com/duet3d.list
sudo mv duet3d.gpg /etc/apt/trusted.gpg.d/
sudo mv duet3d.list /etc/apt/sources.list.d/duet3d.list
sudo chown root:root /etc/apt/trusted.gpg.d/duet3d.gpg
sudo chown root:root /etc/apt/sources.list.d/duet3d.list

Create a file
/spidev.conf
/etc/modprobe.d/spidev.conf
options spidev bufsiz=8192
sudo cp /home/hans/Downloads/spidev.conf /etc/modprobe.d/spidev.conf

Make sure the duet are connected to the Jetson Nano
Install the DSF bundle:
sudo apt-get install apt-transport-https
sudo apt-get update
sudo apt-get install duetsoftwareframework
Copy the created config.json to other place and change to pin TramsferReadyPin 13
sudo cp /home/hans/Downloads/config.json /opt/dsf/conf/config.json
Debug DSF
hans@hans-desktop:~$ sudo /opt/dsf/bin/DuetControlServer -l debug
Duet Control Server v3.2.0
Written by Christian Hammacher for Duet3D
Licensed under the terms of the GNU Public License Version 3

[info] Settings loaded
[info] Environment initialized
[fatal] Could not connect to Duet (Timeout while waiting for transfer ready pin)
[debug] System.OperationCanceledException: Timeout while waiting for transfer ready pin
   at DuetControlServer.SPI.DataTransfer.WaitForTransfer(Boolean inTransfer) in /home/christian/Duet3D/DuetSoftwareFramework/src/DuetControlServer/SPI/DataTransfer.cs:line 1086
   at DuetControlServer.SPI.DataTransfer.ExchangeHeader() in /home/christian/Duet3D/DuetSoftwareFramework/src/DuetControlServer/SPI/DataTransfer.cs:line 1148
   at DuetControlServer.SPI.DataTransfer.PerformFullTransfer(Boolean connecting) in /home/christian/Duet3D/DuetSoftwareFramework/src/DuetControlServer/SPI/DataTransfer.cs:line 162
   at DuetControlServer.SPI.DataTransfer.Init() in /home/christian/Duet3D/DuetSoftwareFramework/src/DuetControlServer/SPI/DataTransfer.cs:line 104
   at DuetControlServer.Program.Main(String[] args) in /home/christian/Duet3D/DuetSoftwareFramework/src/DuetControlServer/Program.cs:line 113

Could you explain a bit more how I can run with the DTB instead?
Thx again for the help

gtj0

@hanshogeland It looks like you've done everything right but there are some issues with jetson-io I think.

jetson-io should create the file /boot/tegra210-p3448-0000-p3449-0000-b00-single-spidev.dtb from /boot/tegra210-p3448-0000-p3449-0000-b00-single-spidev.dtbo

Double check that there IS a file in boot named tegra210-p3448-0000-p3449-0000-b00-single-spidev.dtb

In /boot/extlinux/extlinux.conf, the FDT entry should match the file name but it looks like in your conf file there's an extra kernel_ prepended to the name...
FDT /boot/kernel_tegra210-p3448-0000-p3449-0000-b00-single-spidev.dtb
The kernel_ should NOT be there. It should be:
FDT /boot/tegra210-p3448-0000-p3449-0000-b00-single-spidev.dtb

The name itself doesn't really matter as long as the FDT entry points to the correct file.

To use the full dtb I attached, just copy it to /boot/ and make sure the FDT entry points to it.

hanshogeland

@gtj0
Ok, so I tried to remove the kernel_ prexif and I checked that the dtb exist however it will not boot up using that dtb.
So I am thinking what are controlling or setting the name in the second column in the gpioinfo for pin 13 ( "dcs-trp-13" )? Since I cant find that anywhere in any dtb or dtbo.

Thx again
//Hans

gtj0

This is really bizarre. I just rebooted a b00 unit with that exact dtb file.

Run...

$ md5sum tegra210-p3448-0000-p3449-0000-b00-single-spidev.dtb
bee35cc5ec5f1bb5eaafab30f1fbfea4  tegra210-p3448-0000-p3449-0000-b00-single-spidev.dtb

Do you get that same md5 hash?

Try placing the FDT line in the top entry (primary) of extlinux.conf and and remove the whole "Single SPIDEV" at the bottom. Then change the default entry to primary. Your extlinux.conf should now look like this...

TIMEOUT 30
DEFAULT primary
 
MENU TITLE L4T boot options
 
LABEL primary
      MENU LABEL primary kernel
      LINUX /boot/Image
      INITRD /boot/initrd
      FDT /boot/tegra210-p3448-0000-p3449-0000-b00-single-spidev.dtb
      APPEND ${cbootargs} quiet root=/dev/mmcblk0p1 rw rootwait rootfstype=ext4 console=ttyS0,115200n8 console=tty0 fbcon=map:0 net.ifnames=0 
 
# When testing a custom kernel, it is recommended that you create a backup of
# the original kernel and add a new entry to this file so that the device can
# fallback to the original kernel. To do this:
#
# 1, Make a backup of the original kernel
#      sudo cp /boot/Image /boot/Image.backup
#
# 2, Copy your custom kernel into /boot/Image
#
# 3, Uncomment below menu setting lines for the original kernel
#
# 4, Reboot
 
# LABEL backup
#    MENU LABEL backup kernel
#    LINUX /boot/Image.backup
#    INITRD /boot/initrd
#    APPEND ${cbootargs}

If that doesn't work, the only thing I can suggest as a next step is to connect to the serial console and watch the messages.

" dcs-trp-13" will only get placed there if the DCS can actually open that gpio so that's no big deal.

hanshogeland

Thx for you effort, yes it was the same hash - so I take the .DTB and just put in the the boot/ dir and changed the exif to match the one you sent. Still it would not boot. Or do I need to flash?
However I tried again with the single DBTO file and I am thinking since I get the line 19: in the GPIOINFO to match the line 19 of yours with [used], it would be the case that the DBTO is actually read in. So are there any additional changes one could make to enable the line 13 like yours? I tried to look into the pinmux spreasheet however I am not there yet to be near to understand the configuration.

	line  12:  "SPI1_MOSI"       unused   input  active-high 
	line  13:  "SPI1_MISO"       unused   input  active-high 
	line  14:   "SPI1_SCK"       unused   input  active-high 
	line  15:   "SPI1_CS0"       unused   input  active-high 
	line  16:  "SPI0_MOSI"       unused   input  active-high 
	line  17:  "SPI0_MISO"       unused   input  active-high 
	line  18:   "SPI0_SCK"       unused   input  active-high 
	line  19:   "SPI0_CS0"    "cs_gpio"  output  active-high [used]
	line  20:   "SPI0_CS1"       unused   input  active-high

gtj0

@hanshogeland Sorry! I didn't see your reply until just now.

This is really weird and I do not understand. You do NOT have to flash anything. You'll only get the "dcs-trp-13" and [used] if the duet control server is actually running and successfully opens that pin.

I'm retrying a few things with the latest 32.5.0 release of Linux for Tegra.

gtj0

@hanshogeland OK, try this dtb...

tegra210-p3448-0000-p3449-0000-b00-user-custom.dtb.stl

I've tested it so it should work. Now I have to clean up all my tries and make sure I can reproduce it.

hanshogeland

@gtj0 thx again! to rule out any Duet board issue I tested with a RPI3B+ and it turns out I get an error there also. So I checked the cable, and that seems to be ok. I have reset and flashed the board with the latest firmware - and there was my verry stupid mistake I had not flashed with the correct BOSSA settings! So I flashed it correct and now It’s working on the RPI - I will get back for the result about the Jetson. And thx again for your help!

gtj0

@hanshogeland No problem! Let me know how it goes.

hanshogeland

@gtj0 yes So the Dual did not work, but the Single DTBO worked I did not need to make any additional changes than just using the Jetson IO configuration. Thank you so much!

gtj0

@hanshogeland Excellent! So the one from this post worked?... https://forum.duet3d.com/post/212653

hanshogeland

@gtj0 yes from this

gtj0 9 Feb 2021, 20:28
tegra210-p3448-0000-p3449-0000-b00-single-spidev.dtbo.stl
tegra210-p3448-0000-p3449-0000-a02-single-spidev.dtbo.stl

I just followed my previous described steps

gtj0

@hanshogeland Whew!

hanshogeland

@gtj0 thx again for you help!

JLM4751

@gtj0 I hate to reply to such an old thread but this is the only one i could find that described the set up of the jetson nano as a SBC with the duet 3. My issue is I am following the steps that Hans nicely wrote out in his post here https://forum.duet3d.com/post/212946 . however when i add the single-spidev.dtbo file to /boot/ I cannot get this option to show up in jetson-IO under "configure for compatible hardware". I've also tried manually adding the .DTB file to /boot/ and having the extlinux.conf file point to that .dtb file, but when i run duet control server i still get the waiting for transfer ready timeout error. I've tried both a a02 board as well as a b00 board. any insight would be greatly appreciated, thanks for all the info providing in this thread its been a huge help.

gtj0

@JLM4751 said in Duet 3 and jetson Nano?:

@gtj0 I hate to reply to such an old thread but this is the only one i could find that described the set up of the jetson nano as a SBC with the duet 3.

No worries

First,let's see if the spi device is actually there or not. Try...

# ls -al /dev/spidev*
crw-rw---- 1 root gpio 153, 0 Jun 19 14:55 /dev/spidev0.0
crw-rw---- 1 root gpio 153, 1 Jun 19 14:55 /dev/spidev1.0

If you see the devices then the most probable issue is that the /opt/dsf/conf/config.json file is incorrect. The SPI related stuff should look something like this...

...
  "SpiDevice": "/dev/spidev0.0",
  "SpiBufferSize": 8192,
  "SpiTransferMode": 0,
  "SpiFrequency": 8000000,
  "SpiConnectTimeout": 500,
  "SpiTransferTimeout": 500,
  "SpiConnectionTimeout": 4000,
  "GpioChipDevice": "/dev/gpiochip0",
  "TransferReadyPin": 13,
  "MaxSpiRetries": 3,
...

The waiting for transfer ready timeout error is directly related to the GpioChipDevice and the TransferReadyPin settings.

If you can't get it going, the output of gpiodetect might help.

JLM4751

@gtj0 thanks for the reply, this is the output from running "ls -al /dev/spidev*"

mr_solderem@Mr:~$ ls -al /dev/spidev*
crw-rw---- 1 root gpio 153, 0 Jun 19 15:59 /dev/spidev0.0
crw-rw---- 1 root gpio 153, 1 Jun 19 15:59 /dev/spidev0.1
crw-rw---- 1 root gpio 153, 2 Jun 19 15:59 /dev/spidev1.0
crw-rw---- 1 root gpio 153, 3 Jun 19 15:59 /dev/spidev1.1

so you were right, I forgot to change the data transfer ready pin to pin 13. Now i have a connection over SPI.

mr_solderem@Mr:~$ sudo /opt/dsf/bin/DuetControlServer
Duet Control Server v3.4.5
Written by Christian Hammacher for Duet3D
Licensed under the terms of the GNU Public License Version 3

[info] Settings loaded
[info] Environment initialized
[info] Connection to Duet established
[info] IPC socket created at /run/dsf/dcs.sock
[info] Starting macro file config.g on channel Trigger
[error] M550: Machine name must consist of the same letters and digits as configured by the Linux hostname
[info] Finished macro file config.g

though it seems like it is hanging, I'm heading out the door now, so ill have to see whats causing the hang up tomorrow, but this is a huge step forward. thank you again for the help.