Duet 3 and jetson Nano?

HebigT

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
    }
  ]
}

gtj0

@chrishamm Yeah I know which one he needs to use.

gtj0

And yeah, 13 is the right pin on the nano

chrishamm

AFAIR I used this guide to figure out the right gpiochip index. You can further diagnose why DCS cannot connect by launching it with the --log-level debug parameter.

gtj0

@jpomo10 Turn on debug from the command line or the "LogLevel" in config.json

HebigT

@chrishamm @gtj0

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
[debug] Lost connection to Duet
   System.OperationCanceledException: Board is not available (no header)
   at DuetControlServer.SPI.DataTransfer.ExchangeHeader() in /home/christian/duet/DuetSoftwareFramework/src/DuetControlServer/SPI/DataTransfer.cs:line 965
   at DuetControlServer.SPI.DataTransfer.PerformFullTransfer(Boolean mustSucceed) in /home/christian/duet/DuetSoftwareFramework/src/DuetControlServer/SPI/DataTransfer.cs:line 154
[error] Duet is not available

gtj0

Hmmm. Your SpiFrequency is actually on the low side. Try increasing it to 2000000 (2MHz)

chrishamm

@jpomo10 Check the SPI connection. This error message indicates that DCS could not receive any data over SPI.

HebigT

@chrishamm @gtj0

OK, I increased SPI to 2MHz but no change.

To rule-out hardware problems, I set-up a raspberry pi according to the instructions in the getting started guide.

I was able to connect to the Duet3 (thermistors and endstops were reading correctly) but the Duet never responds to gcode sent through the console. e.g. M122 just hangs forever with no response.

I had the exact same problem with the Jetson before I did my fresh install.

chrishamm

Do you have RRF 3.0 (non-beta) installed on the Duet 3? If yes, please share your config.g.

HebigT

@chrishamm

Yes, I'm running 3.0 I'll downgrade today to see if that fixes the issue.

M115
FIRMWARE_NAME: RepRapFirmware for Duet 3 MB6HC v0.6 or 1.0 FIRMWARE_VERSION: 3.0 ELECTRONICS: Duet 3 MB6HC FIRMWARE_DATE: 2020-01-03b3<LF>ok<LF>

; Configuration file for Duet 3 (firmware version 3)
; executed by the firmware on start-up
;
; generated by RepRapFirmware Configuration Tool v2.1.5 on Thu Jan 09 2020 15:58:52 GMT-0700 (Mountain Standard Time)

; General preferences
G90                                                              ; send absolute coordinates...
M83                                                              ; ...but relative extruder moves
M550 P"Duet 3"                                                   ; set printer name

M667 S1                                                          ; select CoreXY mode

; Drives
M569 P0.0 S1                                                     ; physical drive 0.0 goes forwards
M569 P0.2 S1                                                     ; physical drive 0.2 goes forwards
M569 P0.1 S1                                                     ; physical drive 0.1 goes forwards
M569 P0.5 S1                                                     ; physical drive 0.5 goes forwards
M569 P0.3 S1                                                     ; physical drive 0.3 goes forwards
M569 P0.4 S1                                                     ; physical drive 0.4 goes forwards
M584 X0.0 Y0.2 Z0.1 E0.5:0.3:0.4                                 ; set drive mapping
M350 X16 Y16 Z16 E16:16:16 I1                                    ; configure microstepping with interpolation
M92 X100.00 Y100.00 Z1600.00 E409.00:409.00:100.00               ; set steps per mm
M566 X900.00 Y900.00 Z12.00 E120.00:120.00:120.00                ; set maximum instantaneous speed changes (mm/min)
M203 X30000.00 Y30000.00 Z1200.00 E300000.00:300000.00:300000.00 ; set maximum speeds (mm/min)
M201 X6000.00 Y6000.00 Z400.00 E2500.00:2500.00:500.00           ; set accelerations (mm/s^2)
M906 X1400 Y1400 Z1000 E1000:1000:400 I30                        ; set motor currents (mA) and motor idle factor in per cent
M84 S120                                                         ; Set idle timeout

; Axis Limits
M208 X-35 Y-49 Z0 S1                                             ; set axis minima
M208 X328.5 Y243 Z300 S0                                         ; set axis maxima

; Endstops
M574 X1 S0 P"io6.in"                                             ; configure active-low endstop for low end on X via pin io6.in
M574 Y1 S0 P"io7.in"                                             ; configure active-low endstop for low end on Y via pin io7.in
M574 Z1 S1 P"io8.in"                                             ; configure active-high endstop for low end on Z via pin io8.in

; Z-Probe
M558 P5 C"io5.in" H5 F120 T6000                                  ; set Z probe type to switch and the dive height + speeds
G31 P500 X0 Y0 Z2.5                                              ; set Z probe trigger value, offset and trigger height
M557 X-20:215 Y-34:195 S20                                       ; define mesh grid

; Heaters
M308 S0 P"temp0" Y"thermistor" T100000 B4138                     ; configure sensor 0 as thermistor on pin temp0
M950 H0 C"out0" T0                                               ; create bed heater output on out0 and map it to sensor 0
M143 H0 S210                                                     ; set temperature limit for heater 0 to 210C
M307 H0 B1 S1.00                                                 ; enable bang-bang mode for the bed heater and set PWM limit
M140 H0                                                          ; map heated bed to heater 0
M308 S1 P"temp1" Y"thermistor" T100000 B4725                     ; configure sensor 1 as thermistor on pin temp1
M950 H1 C"out1" T1                                               ; create nozzle heater output on out1 and map it to sensor 1
M143 H1 S300                                                     ; set temperature limit for heater 1 to 300C
M307 H1 B0 S1.00                                                 ; disable bang-bang mode for the nozzle heater and set PWM limit
M308 S2 P"temp2" Y"thermistor" T100000 B4725                     ; configure sensor 2 as thermistor on pin temp2
M950 H2 C"out2" T2                                               ; create nozzle heater output on out2 and map it to sensor 2
M143 H2 S300                                                     ; set temperature limit for heater 2 to 300C
M307 H2 B0 S1.00                                                 ; disable bang-bang mode for the nozzle heater and set PWM limit

; Fans
M950 F0 C"out4" Q500                                             ; create fan 0 on pin out4 and set its frequency
M106 P0 S0 H-1                                                   ; set fan 0 value. Thermostatic control is turned off
M950 F1 C"out5" Q500                                             ; create fan 1 on pin out5 and set its frequency
M106 P1 S0 H-1                                                   ; set fan 1 value. Thermostatic control is turned off
M950 F2 C"out7" Q500                                             ; create fan 2 on pin out7 and set its frequency
M106 P2 S1 H1 T45                                                ; set fan 2 value. Thermostatic control is turned on
M950 F3 C"out8" Q500                                             ; create fan 3 on pin out8 and set its frequency
M106 P3 S1 H2 T45                                                ; set fan 3 value. Thermostatic control is turned on

; Tools
M563 P0 S"L-Hemera" D0 H1 F0                                     ; define tool 0
G10 P0 X0 Y0 Z0                                                  ; set tool 0 axis offsets
G10 P0 R0 S0                                                     ; set initial tool 0 active and standby temperatures to 0C
M563 P1 S"R-Hemera" D1 H2 F1                                     ; define tool 1
G10 P1 X0 Y0 Z0                                                  ; set tool 1 axis offsets
G10 P1 R0 S0                                                     ; set initial tool 1 active and standby temperatures to 0C

; Custom settings are not defined

; Miscellaneous
M911 S10 R11 P"M913 X0 Y0 G91 M83 G1 Z3 E-5 F1000"               ; set voltage thresholds and actions to run on power loss

chrishamm

@jpomo10 Don't downgrade, the recommended RRF version is still 3.0. I just tried to use your config.g on my Duet 3 / Raspi and I can still execute commands when config.g has been processed. Also make sure the diag LED on the Duet 3 blinks when powered on.

If the error message in the DCS log remains "no header" then I can only say that the Jetson does not receive any SPI data. Perhaps it's best to check your SPI connection once more.

gtj0

@jpomo10 are you using the original 26pin to 40pin cable provided with the Duet3 or did you make one of your own?

HebigT

@chrishamm

Thank you for testing my config.g on your set-up.

For what it's worth, I've now tried this with a Rasp Pi running DuetPi & a Rasp Pi running Rasbian.

In both cases, I can connect to the Duet3 but cannot send gcode through DWC. That's more than I can say for the Jetson Nano, since it will not connect to the Duet at all, so I'll adjust the SPI frequency some more, as you suggested.

I also reflashed with the latest stable release of RRF 3.0. I used the binary file called "Duet3Firmware_MB6HC.bin". Communication with the board through YAT seems fine.

@gtj0

I'm using the original (26 to 40pin). Just to make sure I didn't somehow damage it at some point, I'll make a replacement.

UPDATE: Swapping the cable didn't make a difference