As suspected, the problems I had with timeout and corruption came from the virtual machine. When I tested with the original code and the USB2Dynamixel, I had the same errors.
I changed to a non-virtualized plateform and everything works OK now.
For the record, the measured latency for reading data from a servo with the USB2Dynamixel is 1ms (as expected), and the latency of the same code with the USB2AX is around 0.65ms, on my Beagleboard-xM rev A @ 1GHz with Ubuntu Linaro 12.03.
Until I get to do things properly (in the documentation of the USB2AX I guess), here is the code I have working with the USB2AX for dxl_hal_open:
- Code:
int dxl_hal_open(int deviceIndex, float baudrate)
{
struct termios newtio;
//struct serial_struct serinfo;
char dev_name[100] = {0, };
sprintf(dev_name, "/dev/ttyACM%d", deviceIndex);
strcpy(gDeviceName, dev_name);
memset(&newtio, 0, sizeof(newtio));
dxl_hal_close();
if((gSocket_fd = open(gDeviceName, O_RDWR|O_NOCTTY|O_NONBLOCK)) < 0) {
fprintf(stderr, "device open error: %s\n", dev_name);
goto DXL_HAL_OPEN_ERROR;
}
newtio.c_cflag = B1000000|CS8|CLOCAL|CREAD;
newtio.c_iflag = IGNPAR;
newtio.c_oflag = 0;
newtio.c_lflag = 0;
newtio.c_cc[VTIME] = 0; // time-out 값 (TIME * 0.1초) 0 : disable
newtio.c_cc[VMIN] = 0; // MIN 은 read 가 return 되기 위한 최소 문자 개수
tcflush(gSocket_fd, TCIFLUSH);
tcsetattr(gSocket_fd, TCSANOW, &newtio);
if(gSocket_fd == -1)
return 0;
/*
if(ioctl(gSocket_fd, TIOCGSERIAL, &serinfo) < 0) {
fprintf(stderr, "Cannot get serial info\n");
return 0;
}
serinfo.flags &= ~ASYNC_SPD_MASK;
serinfo.flags |= ASYNC_SPD_CUST;
serinfo.custom_divisor = serinfo.baud_base / baudrate;
if(ioctl(gSocket_fd, TIOCSSERIAL, &serinfo) < 0) {
fprintf(stderr, "Cannot set serial info\n");
return 0;
}*/
dxl_hal_close();
gfByteTransTime = (float)((1000.0f / baudrate) * 12.0f);
strcpy(gDeviceName, dev_name);
memset(&newtio, 0, sizeof(newtio));
dxl_hal_close();
if((gSocket_fd = open(gDeviceName, O_RDWR|O_NOCTTY|O_NONBLOCK)) < 0) {
fprintf(stderr, "device open error: %s\n", dev_name);
goto DXL_HAL_OPEN_ERROR;
}
newtio.c_cflag = B1000000|CS8|CLOCAL|CREAD;
newtio.c_iflag = IGNPAR;
newtio.c_oflag = 0;
newtio.c_lflag = 0;
newtio.c_cc[VTIME] = 0; // time-out 값 (TIME * 0.1초) 0 : disable
newtio.c_cc[VMIN] = 0; // MIN 은 read 가 return 되기 위한 최소 문자 개수
tcflush(gSocket_fd, TCIFLUSH);
tcsetattr(gSocket_fd, TCSANOW, &newtio);
return 1;
DXL_HAL_OPEN_ERROR:
dxl_hal_close();
return 0;
}
void dxl_hal_close()
{
if(gSocket_fd != -1)
close(gSocket_fd);
gSocket_fd = -1;
}
int dxl_hal_set_baud( float baudrate )
{
struct serial_struct serinfo;
if(gSocket_fd == -1)
return 0;
if(ioctl(gSocket_fd, TIOCGSERIAL, &serinfo) < 0) {
fprintf(stderr, "Cannot get serial info\n");
return 0;
}
serinfo.flags &= ~ASYNC_SPD_MASK;
serinfo.flags |= ASYNC_SPD_CUST;
serinfo.custom_divisor = serinfo.baud_base / baudrate;
if(ioctl(gSocket_fd, TIOCSSERIAL, &serinfo) < 0) {
fprintf(stderr, "Cannot set serial info\n");
return 0;
}
//dxl_hal_close();
//dxl_hal_open(gDeviceName, baudrate);
gfByteTransTime = (float)((1000.0f / baudrate) * 12.0f);
return 1;
}
Statistics: Posted by xevel — Wed Nov 14, 2012 9:20 am
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