Duet 3 and jetson Nano?
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And yeah, 13 is the right pin on the nano
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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 debugparameter. -
@jpomo10 Turn on debug from the command line or the "LogLevel" in config.json
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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 -
Hmmm. Your SpiFrequency is actually on the low side. Try increasing it to 2000000 (2MHz)
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@jpomo10 Check the SPI connection. This error message indicates that DCS could not receive any data over SPI.
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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.
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Do you have RRF 3.0 (non-beta) installed on the Duet 3? If yes, please share your config.g.
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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 -
@jpomo10 Don't downgrade, the recommended RRF version is still 3.0. I just tried to use your
config.gon 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.
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@jpomo10 are you using the original 26pin to 40pin cable provided with the Duet3 or did you make one of your own?
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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.
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
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I'm beginning to think bad cable or bad Duet3.
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@hanshogeland and I were just chatting about upgrading a Nano so...
Here's the latest device tree overlay file for the "b00" version of the Nano.
- Download the file to "/boot" removing the ".stl" extension.
- Run
/opt/nvidia/jetson-io/jetson-io.pyfrom a command prompt - Select "Configure Jetson for compatible hardware"
- Select "Dual SPIDEV"
- Select "Save and exit without rebooting"
- Double check that a new "Dual SPIDEV" entry was placed in /boot/extlinux/extlinux.conf
- Edit or move the entry as needed.
- Reboot
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Thank you verry much!
*Updated this post, since I hade the wrong config for the ready pin so Iǘe changed to pin 13 as it should be.
I have ran the .py and verified the .conf however I get an error starting the DCS stating:
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 113This is how it looks like in the Jetson IO
=================== Jetson Expansion Header Tool =================== | | | | | 3.3V ( 1) ( 2) 5V | | i2c2 ( 3) ( 4) 5V | | i2c2 ( 5) ( 6) GND | | unused ( 7) ( 8) uartb | | GND ( 9) (10) uartb | | unused (11) (12) unused | | spi2 (13) (14) GND | | unused (15) (16) spi2 | | 3.3V (17) (18) spi2 | | spi1 (19) (20) GND | | spi1 (21) (22) spi2 | | spi1 (23) (24) spi1 | | GND (25) (26) spi1 | | i2c1 (27) (28) i2c1 | | unused (29) (30) GND | | unused (31) (32) unused | | unused (33) (34) GND | | unused (35) (36) unused | | spi2 (37) (38) unused | | GND (39) (40) unused | | | | | | | | Select one of the following options: | | | | Configure Jetson for compatible hardware | | Configure 40-pin expansion header | | Exit | | | | | | | | | | | | | ====================================================================The extlinux,conf
TIMEOUT 30 DEFAULT Dual 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 MCP251x CAN Controller MENU LABEL MCP251x CAN Controller LINUX /boot/Image FDT /boot/kernel_tegra210-p3448-0000-p3449-0000-b00-mcp251x-can-controller.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 LABEL FE-PI Audio V1 and Z V2 MENU LABEL FE-PI Audio V1 and Z V2 LINUX /boot/Image FDT /boot/kernel_tegra210-p3448-0000-p3449-0000-b00-fe-pi-audio-v1-and-z-v2.dtb INITRD /boot/initrd APPEND ${cbootargs} LABEL Dual SPIDEV MENU LABEL Dual SPIDEV LINUX /boot/Image FDT /boot/kernel_tegra210-p3448-0000-p3449-0000-b00-dual-spidev.dtb INITRD /boot/initrd APPEND ${cbootargs}The Config.json
{ "PluginsFilename": "/opt/dsf/conf/plugins.txt", "InstallPackageCommand": "/usr/bin/apt-get", "InstallPackageArguments": "install -y {package}", "LogLevel": "debug", "SocketDirectory": "/var/run/dsf", "SocketFile": "dcs.sock", "Backlog": 4, "SocketPollInterval": 2000, "BaseDirectory": "/opt/dsf/sd", "PluginDirectory": "/opt/dsf/plugins", "NoTerminateOnReset": false, "HostUpdateInterval": 4000, "MaxMessageAge": 60, "SpiDevice": "/dev/spidev0.0", "SpiBufferSize": 8192, "SpiTransferMode": 0, "SpiFrequency": 500000, "SpiConnectTimeout": 500, "SpiTransferTimeout": 500, "SpiConnectionTimeout": 4000, "MaxSpiRetries": 3, "SpiPollDelay": 25, "GpioChipDevice": "/dev/gpiochip0", "TransferReadyPin": 13, "BufferedPrintCodes": 32, "BufferedMacroCodes": 16, "MaxBufferSpacePerChannel": 1536, "MaxCodeBufferSize": 256, "MaxMessageLength": 4096, "FirmwareComments": [ "printing object", "MESH", "process", "stop printing object", "layer", "LAYER", "BEGIN_LAYER_OBJECT z=", "HEIGHT" ], "ModelUpdateInterval": 250, "MaxMachineModelLockTime": -1, "FileBufferSize": 8192, "FileInfoReadLimitHeader": 12288, "FileInfoReadLimitFooter": 262144, "MaxLayerHeight": 0.9, "LayerHeightFilters": [ { "Pattern": "^\\s*layer_height\\D+(?<mm>(\\d+\\.?\\d*))", "Options": 17 }, { "Pattern": "Layer height\\D+(?<mm>(\\d+\\.?\\d*))", "Options": 17 }, { "Pattern": "layerHeight\\D+(?<mm>(\\d+\\.?\\d*))", "Options": 17 }, { "Pattern": "layer_thickness_mm\\D+(?<mm>(\\d+\\.?\\d*))", "Options": 17 }, { "Pattern": "layerThickness\\D+(?<mm>(\\d+\\.?\\d*))", "Options": 17 } ], "FilamentFilters": [ { "Pattern": "filament used\\D+(((?<mm>\\d+\\.?\\d*)mm)(\\D+)?)+", "Options": 17 }, { "Pattern": "filament used\\D+(((?<m>\\d+\\.?\\d*)m([^m]|$))(\\D+)?)+", "Options": 17 }, { "Pattern": "filament length\\D+(((?<mm>\\d+\\.?\\d*)\\s*mm)(\\D+)?)+", "Options": 17 }, { "Pattern": "filament used \\[mm\\]\\D+((?<mm>\\d+\\.?\\d*)(\\D+)?)+", "Options": 17 }, { "Pattern": "material\\#\\d+\\D+(?<mm>\\d+\\.?\\d*)", "Options": 17 }, { "Pattern": "Filament used per extruder:\\r\\n;\\s*(?<name>.+)\\s+=\\s*(?<mm>[0-9.]+)", "Options": 17 } ], "GeneratedByFilters": [ { "Pattern": "generated by\\s+(.+)", "Options": 17 }, { "Pattern": "Sliced by\\s+(.+)", "Options": 17 }, { "Pattern": "(KISSlicer.*)", "Options": 17 }, { "Pattern": "Sliced at:\\s*(.+)", "Options": 17 }, { "Pattern": "Generated with\\s*(.+)", "Options": 17 } ], "PrintTimeFilters": [ { "Pattern": "estimated printing time .*= ((?<h>(\\d+))h\\s*)?((?<m>(\\d+))m\\s*)?((?<s>(\\d+))s)?", "Options": 17 }, { "Pattern": "TIME:(?<s>(\\d+\\.?\\d*))", "Options": 17 }, { "Pattern": "Build time: ((?<h>\\d+) hour(s)?\\s*)?((?<m>\\d+) minute(s)?\\s*)?((?<s>(\\d+) second(s)?))?", "Options": 17 }, { "Pattern": "Estimated Build Time:\\s+((?<h>(\\d+\\.?\\d*)) hour(s)?\\s*)?((?<m>(\\d+\\.?\\d*)) minute(s)?\\s*)?((?<s>(\\d+\\.?\\d*)) second(s)?)?", "Options": 17 } ], "SimulatedTimeFilters": [ { "Pattern": "Simulated print time\\D+(?<s>(\\d+\\.?\\d*))", "Options": 17 } ] }I noticed in the dtbo file the Tri-state value are ending with 0 is this ok?
**** fdtdump is a low-level debugging tool, not meant for general use. **** If you want to decompile a dtb, you probably want **** dtc -I dtb -O dts <filename> /dts-v1/; // magic: 0xd00dfeed // totalsize: 0xb06 (2822) // off_dt_struct: 0x38 // off_dt_strings: 0xa14 // off_mem_rsvmap: 0x28 // version: 17 // last_comp_version: 16 // boot_cpuid_phys: 0x0 // size_dt_strings: 0xf2 // size_dt_struct: 0x9dc / { overlay-name = "Dual SPIDEV"; compatible = "nvidia,p3449-0000-b00+p3448-0000-b00", "nvidia,p3449-0000-a02+p3448-0000-a02"; fragment@pinmux { target = <0xffffffff>; __overlay__ { pinctrl-names = "default"; pinctrl-0 = <0x00000001>; header-40pin-pinmux { phandle = <0x00000001>; pin19 { nvidia,function = "spi1"; nvidia,pins = "spi1_mosi_pc0"; nvidia,pull = <0x00000001>; nvidia,tristate = <0x00000000>; nvidia,enable-input = <0x00000000>; }; pin21 { nvidia,function = "spi1"; nvidia,pins = "spi1_miso_pc1"; nvidia,pull = <0x00000000>; nvidia,tristate = <0x00000001>; nvidia,enable-input = <0x00000001>; }; pin23 { nvidia,function = "spi1"; nvidia,pins = "spi1_sck_pc2"; nvidia,pull = <0x00000001>; nvidia,tristate = <0x00000000>; nvidia,enable-input = <0x00000000>; }; pin24 { nvidia,function = "spi1"; nvidia,pins = "spi1_cs0_pc3"; nvidia,pull = <0x00000002>; nvidia,tristate = <0x00000000>; nvidia,enable-input = <0x00000000>; }; pin26 { nvidia,function = "spi1"; nvidia,pins = "spi1_cs1_pc4"; nvidia,pull = <0x00000002>; nvidia,tristate = <0x00000000>; nvidia,enable-input = <0x00000000>; }; pin37 { nvidia,function = "spi2"; nvidia,pins = "spi2_mosi_pb4"; nvidia,pull = <0x00000001>; nvidia,tristate = <0x00000000>; nvidia,enable-input = <0x00000000>; }; pin22 { nvidia,function = "spi2"; nvidia,pins = "spi2_miso_pb5"; nvidia,pull = <0x00000000>; nvidia,tristate = <0x00000001>; nvidia,enable-input = <0x00000001>; }; pin13 { nvidia,function = "spi2"; nvidia,pins = "spi2_sck_pb6"; nvidia,pull = <0x00000001>; nvidia,tristate = <0x00000000>; nvidia,enable-input = <0x00000000>; }; pin18 { nvidia,function = "spi2"; nvidia,pins = "spi2_cs0_pb7"; nvidia,pull = <0x00000002>; nvidia,tristate = <0x00000000>; nvidia,enable-input = <0x00000000>; }; pin16 { nvidia,function = "spi2"; nvidia,pins = "spi2_cs1_pdd0"; nvidia,pull = <0x00000002>; nvidia,tristate = <0x00000000>; nvidia,enable-input = <0x00000000>; }; }; }; }; fragment@spi0 { target = <0xffffffff>; __overlay__ { status = "okay"; nvidia,polling-mode; prod-settings { status = "disabled"; prod { prod; }; }; spi@0 { compatible = "spidev"; status = "okay"; reg = <0x00000000>; spi-max-frequency = <0x0337f980>; controller-data { nvidia,enable-hw-based-cs; }; }; spi@1 { compatible = "spidev"; status = "okay"; reg = <0x00000001>; spi-max-frequency = <0x0337f980>; controller-data { nvidia,enable-hw-based-cs; }; }; }; }; fragment@spi1 { target = <0xffffffff>; __overlay__ { status = "okay"; nvidia,polling-mode; prod-settings { status = "disabled"; prod { prod; }; }; spi@0 { compatible = "spidev"; status = "okay"; reg = <0x00000000>; spi-max-frequency = <0x0337f980>; controller-data { nvidia,enable-hw-based-cs; }; }; spi@1 { compatible = "spidev"; status = "okay"; reg = <0x00000001>; spi-max-frequency = <0x0337f980>; controller-data { nvidia,enable-hw-based-cs; }; }; }; }; __symbols__ { hdr40_pinmux = "/fragment@pinmux/__overlay__/header-40pin-pinmux"; }; __fixups__ { pinmux = "/fragment@pinmux:target:0"; spi0 = "/fragment@spi0:target:0"; spi1 = "/fragment@spi1:target:0"; }; __local_fixups__ { fragment@pinmux { __overlay__ { pinctrl-0 = <0x00000000>; }; }; }; };Any idea if there is something more I need to configure?
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@hanshogeland I'm investigating.
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@gtj0 This is really odd. I'm getting the same error now. Should have it fixed shortly.
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I think this'll fix it. ..
tegra210-p3448-0000-p3449-0000-b00-single-spidev.dtbo.stl
tegra210-p3448-0000-p3449-0000-a02-single-spidev.dtbo.stlUse the appropriate one for your board and double check extlinux.conf after you use jetson-io.py.
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@gtj0
Thx, I tried with the b00 however I got the issue again: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 113I have double checked the config, and I think the GPIO group settings rights where sat by DCS now.
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@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
