Updated usbip stuff, tweaked software/examples.

bin/usbipd.service → bin/usbip_host.service

@@ -4,7 +4,7 @@ Description=usbip host daemon
 [Service]
 ExecStartPre=/usr/sbin/modprobe usbip-host
 ExecStart=/usr/bin/usbipd
-ExecStartPost=/usr/local/bin/usbipd.service.sh
+ExecStartPost=/usr/local/bin/usbipd_host.service.sh
 
 [Install]
 WantedBy=multi-user.target

bin/usbipd.service.sh → bin/usbip_host.service.sh

@@ -1,6 +1,6 @@
 #!/usr/bin/bash
 log_file=/tmp/usbip_bind.log
-echo "/usr/local/bin/usbipd.servce.sh started" > "$log_file"
+echo "/usr/local/bin/usbipd_host.servce.sh started" > "$log_file"
 /usr/bin/usbip list -p -l 2>&1 >> "$log_file"
 st_link_bus_id="$(/usr/bin/usbip list -p -l)"
 echo "st_link_bus_id1=$st_link_bus_id" >> "$log_file"

electrical/master_board/rev_a/issues.md

@@ -82,6 +82,13 @@
 	* SB7 Closed=>Morpho CN12-10
       * Pi 4
         * RXD3 Pin 29
+33. PB4 is connected to LMOTOR_CTL1.  On startup, PB is conne NJTRST and is an output that
+    is set to high.  That causes the right motor to go full speed until the initialization
+    code gets around to converting into a GPIO in the low state.  Pull down resistors do
+    not help.  The pins that do not initialize to floating are described in section 6.3.1
+    in the reference manual (page 223.)  The PA15 and PB4 are not suitable.  PB4 is currently
+    used as TIM3_CH4.  The correct thing to a timer that does not use PBB or PBA15 ***AND***
+    connect pull down resistors to the LMOTOR/RMOTOR_CTL1/2 pins.
 
 <!--
 7: TXD3(Pi4)             Avail

software/README.md

@@ -453,7 +453,7 @@ This section is broken into the following sub-sections:
   You get be pick between display/keyboard bring up vs. headless bring up.
 
 * [Install Ubuntu onto a Micro-SD Card](#install-ubuntu-onto-a-micro-sd-card):
-  A program called `rpi-image` isntalled onto your development computer and
+  A program called `rpi-imager` installed onto your development computer and
   is used to load the Ubuntu image for the Raspberry Pi4 onto a micro-SD card.
 
 * [Raspberry Pi 4 Connector Locations](#raspberry-pi-4-connector-locations):
@@ -934,10 +934,7 @@ In the script below, substitute your new account name for `NEWUSER`:
 Give the new account super-user capability with the following command:
 
      sudo usermod -aG sudo NEWUSER
-
-<!--
-sudo usermod -a -G dialout wayne
--->
+     sudo usermod -aG dialout NEWUSER
 
 <!--
 Issue: It did not set default directory to /home/NEWUSER .
@@ -1120,30 +1117,30 @@ The Robot computer needs to do three things on start-up.
 
 This is done with two files:
 
-* `/etc/systemd/system/usbipd.service`:
+* `/etc/systemd/system/usbip-host.service`:
   This is a `systemd` unit file that properly installs the kernel modules
   and runs the daemon.
-  It also invokes the `usbipd.service.sh` shell file immediately below.
+  It also invokes the `usbip-host.service.sh` shell file immediately below.
 
 * `/usr/local/bin/usbip_host.service.sh`:
   This determines if an ST-Link plugged into one of the robot computer USB ports and
   (if present) bind it such that it is available for external access.
 
-The is installed as super user:
+The file is installed as super user:
 
      sudo -s  # If prompted for a password, type it in.
      # Prompt character changes from `>` to `#` to remind you that your are super-user
 
 Now install `/etc/systemd/system/usbipd.service` as follows:
 
      cd /etc/systemd/system
-     wget https://raw.githubusercontent.com/hbrobotics/hbrc_ros_robot_platform/master/bin/usbipd.service
+     wget https://raw.githubusercontent.com/hbrobotics/hbrc_ros_robot_platform/master/bin/usbip_host.service
 
-Now install `/usr/local/bin/usbipd.service.sh` as follows:
+Now install `/usr/local/bin/usbip_host.service.sh` as follows:
 
      cd /usr/local/bin
      wget https://raw.githubusercontent.com/hbrobotics/hbrc_ros_robot_platform/master/bin/usbipd.service.sh
-     chmod +x usbipd.service.sh
+     chmod +x usbip_host.service.sh
 
 ###### Verify `usbip` Installation
 
@@ -1153,7 +1150,7 @@ Plug a USB-A to USB-micro cable between the Robot Computer and the Robot Microco
 Verify that both files exist:
 
      ls -l /etc/systemd/system/usbip_host.service  # Should print a one line directory listing
-     ls -l /usr/local/bin/usbipd_host.service.sh   # Should print a one line directory listing
+     ls -l /usr/local/bin/usbipd.service.sh   # Should print a one line directory listing
 
 Now enable/start the service:
 
@@ -1274,7 +1271,7 @@ The next major step is to install ROS2 on the robot computer
 
 ### Robot Computer ROS2 Installation
 
-The intial installaton of ROS2 is pretty straight forward.
+The initial installation of ROS2 is pretty straight forward.
 The steps are:
 
 1. [Connect to ROS2 PPA](#connect-to-ros2-ppa):
@@ -1290,7 +1287,7 @@ The steps are:
 
 The ROS2 instructions for connecting to the ROS2 PPA are a little more involved
 than the instructions immediately below.
-The insturctions use `apt-key` rather than `curl`:
+The instructions use `apt-key` rather than `curl`:
 
      sudo apt-key adv --fetch-keys https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc
      sudo apt-add-repository http://packages.ros.org/ros2/ubuntu

software/blinky/Core/Src/main.c

@@ -261,7 +261,8 @@ static void MX_GPIO_Init(void)
   __HAL_RCC_GPIOG_CLK_ENABLE();
 
   /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOB, LD1_Pin|LD3_Pin|LD2_Pin, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOB, LD1_Pin|LD3_Pin|LMOTOR_CTL1_Pin|LMOTOR_CTL2_Pin
+                          |LD2_Pin, GPIO_PIN_RESET);
 
   /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(USB_PowerSwitchOn_GPIO_Port, USB_PowerSwitchOn_Pin, GPIO_PIN_RESET);
@@ -288,18 +289,20 @@ static void MX_GPIO_Init(void)
   GPIO_InitStruct.Alternate = GPIO_AF11_ETH;
   HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
-  /*Configure GPIO pins : LD1_Pin LD3_Pin LD2_Pin */
-  GPIO_InitStruct.Pin = LD1_Pin|LD3_Pin|LD2_Pin;
+  /*Configure GPIO pins : LD1_Pin LD3_Pin LMOTOR_CTL1_Pin LMOTOR_CTL2_Pin
+                           LD2_Pin */
+  GPIO_InitStruct.Pin = LD1_Pin|LD3_Pin|LMOTOR_CTL1_Pin|LMOTOR_CTL2_Pin
+                          |LD2_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
-  /*Configure GPIO pins : RMOTOR_CTL2_Pin LMOTOR_CTL1_Pin LMOTOR_CTL2_Pin */
-  GPIO_InitStruct.Pin = RMOTOR_CTL2_Pin|LMOTOR_CTL1_Pin|LMOTOR_CTL2_Pin;
+  /*Configure GPIO pin : RMOTOR_CTL2_Pin */
+  GPIO_InitStruct.Pin = RMOTOR_CTL2_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
   GPIO_InitStruct.Pull = GPIO_PULLDOWN;
-  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+  HAL_GPIO_Init(RMOTOR_CTL2_GPIO_Port, &GPIO_InitStruct);
 
   /*Configure GPIO pin : RMII_TXD1_Pin */
   GPIO_InitStruct.Pin = RMII_TXD1_Pin;