eqep video notes

eqep-video.txt

  281  cd beaglebot/
  282  ls -ltar
  283  cd encoders/
  284  ls -ltar
  285  cd api/
  286  ls
  287  cd python/
  288  ls
  289  ls -ltar
  290  cat README.md 
  291  lses README.md 
  292  ls -ltar
  293  cat eqep.py 
  294  ls -ltar
  295  ./test.py 
  296  less /sys/devices/ocp.2/48302000.epwmss/48302180.eqep
  297  vi test.py 
  298  less /sys/devices/ocp.2/48302000.epwmss/48302180.eqep
  299  fg
  300  vi test.py 
  301  cat eqep.py 
  302  ./test.py 
  303  ./test.py 
  304  ls -ltar
  305  cat test.py 
  306  cat test.py 
  307  ls -ltar
  308  ./test.py 
  309  ls
  310  cat test.py |less
  311  cd ..
  312  cd ..
  313  cd ..
  314  ls
  315  cd pid_controller/
  316  ls -ltar
  317  python ./controller.py 
  318  PYTHON_PATH="${PYTHON_PATH}:/root/beaglebot/encoders/api/python/" ./controller.py 
  319  PYTHON_PATH="${PYTHON_PATH}:/root/beaglebot/encoders/api/python/" python ./controller.py 
  320  PYTHONPATH="${PYTHON_PATH}:/root/beaglebot/encoders/api/python/" python ./controller.py 
  321  PYTHONPATH="${PYTHON_PATH}:/root/beaglebot/encoders/api/python/" python ./controller.py 
  322  cat ./controller.py 
  323  cat ./controller.py  |less
  324  vi ./controller.py 
  325  cat ./controller.py  |less
  326  PYTHONPATH="${PYTHON_PATH}:/root/beaglebot/encoders/api/python/" python ./controller.py 
  327  vi ./controller.py 
  328  PYTHONPATH="${PYTHON_PATH}:/root/beaglebot/encoders/api/python/" python 
  329  vi ./controller.py 
  330  vi ./controller.py 
  331  PYTHONPATH="${PYTHON_PATH}:/root/beaglebot/encoders/api/python/" python 
  332  PYTHONPATH="${PYTHON_PATH}:/root/beaglebot/encoders/api/python/" python ./controller.py
  333  vi ./controller.py 
  334  ls -ltar
  335  cd beaglebot/
  336  ls -ltar
  337  cd pid_controller/
  338  ls- ltar
  339  ls -ltar
  340  PYTHONPATH="${PYTHON_PATH}:/root/beaglebot/encoders/api/python/" python ./controller.py
  341  vi ./controller.py
  342  PYTHONPATH="${PYTHON_PATH}:/root/beaglebot/encoders/api/python/" python ./controller.py
  343  vi ./controller.py
  344  history |grep eqep
  345  history |grep eqep |grep dts
  346  fg
  347  PYTHONPATH="${PYTHON_PATH}:/root/beaglebot/encoders/api/python/" python ./controller.py
  348  strace PYTHONPATH="${PYTHON_PATH}:/root/beaglebot/encoders/api/python/" python ./controller.py
  349  strace
  350  vi ../encoders/api/python/eqep.py
  351  fg
  352  strace PYTHONPATH="${PYTHON_PATH}:/root/beaglebot/encoders/api/python/" python ./controller.py
  353  PYTHONPATH="${PYTHON_PATH}:/root/beaglebot/encoders/api/python/" python ./controller.py
  354  vi ../encoders/api/python/eqep.py
  355  PYTHONPATH="${PYTHON_PATH}:/root/beaglebot/encoders/api/python/" python ./controller.py
  356  vi /root/beaglebot/encoders/api/python/eqep.py
  357  PYTHONPATH="${PYTHON_PATH}:/root/beaglebot/encoders/api/python/" python ./controller.py
  358  fg
  359  vi /root/beaglebot/encoders/api/python/eqep.py
  360  grep eQEP *
  361  vi controller.py
  362  vi /root/beaglebot/encoders/api/python/eqep.py
  363  vi /root/beaglebot/encoders/api/python/eqep.py
  364  vi controller.py
  365  fg
  366  PYTHONPATH="${PYTHON_PATH}:/root/beaglebot/encoders/api/python/" python ./controller.py
  367  vi controller.py
  368  PYTHONPATH="${PYTHON_PATH}:/root/beaglebot/encoders/api/python/" python ./controller.py
  369  vi controller.py
  370  PYTHONPATH="${PYTHON_PATH}:/root/beaglebot/encoders/api/python/" python ./controller.py
  371  fg
  372  vi controller.py
  373  PYTHONPATH="${PYTHON_PATH}:/root/beaglebot/encoders/api/python/" python ./controller.py
  374  vi controller.py
  375  PYTHONPATH="${PYTHON_PATH}:/root/beaglebot/encoders/api/python/" python ./controller.py
  376  fg
  377  vi controller.py
  378  PYTHONPATH="${PYTHON_PATH}:/root/beaglebot/encoders/api/python/" python ./controller.py
  379  fg
  380  vi controller.py
  381  PYTHONPATH="${PYTHON_PATH}:/root/beaglebot/encoders/api/python/" python ./controller.py
  382  vi controller.py
  383  fg
  384  PYTHONPATH="${PYTHON_PATH}:/root/beaglebot/encoders/api/python/" python ./controller.py
  385  fg
  386  vi controller.py
  387  PYTHONPATH="${PYTHON_PATH}:/root/beaglebot/encoders/api/python/" python ./controller.py
  388  vi controller.py
  389  PYTHONPATH="${PYTHON_PATH}:/root/beaglebot/encoders/api/python/" python ./controller.py
  390  vi ./controller.py 
  391  vi pid.py
  392  vi ./controller.py 
  393  fg
  394  PYTHONPATH="${PYTHON_PATH}:/root/beaglebot/encoders/api/python/" python ./controller.py
  395  PYTHONPATH="${PYTHON_PATH}:/root/beaglebot/encoders/api/python/" python ./controller.py > /tmp/x
  396  cat /tmp/x
  397  head /tmp/x 
  398  PYTHONPATH="${PYTHON_PATH}:/root/beaglebot/encoders/api/python/" python ./controller.py
  399  fg
  400  vi ./controller.py
  401  PYTHONPATH="${PYTHON_PATH}:/root/beaglebot/encoders/api/python/" python ./controller.py
  402  PYTHONPATH="${PYTHON_PATH}:/root/beaglebot/encoders/api/python/" python ./controller.py
  403  vi ./controller.py
  404  fg
  405  jb
  406  vi ./controller.py
  407  cat ./pid.py
  408  head ./pid.py
  409  fg
  410  vo ./pid.py
  411  vi ./pid.py
  412  vi ./controller.py
  413  vi ./pid.py
  414  vi ./controller.py
  415  fg
  416  git diff
  417  cd ..
  418  git diff 
  419  git diff  > beaglebot_git_diff.txt
  420  mv beaglebot_git_diff.txt  /tmp
  421  top
  422  kill 8830
  423  pkill python
  424  ping www.google.com
  425  pkill python
  426  ping www.google.com
  427  pkill python
  428  pkill python
  429  pkill python
  430  pkill python
  431  pkill python
  432  pkill python
  433  pkill python 
  434  history
  435  ls -ltar
  436  cat .bash_history 
  437  cp .bash_history  history.txt
  438  cd /lib/firmware/
  439  ls -ltar
  440  cat bone_eqep2alt.dts 
  441  more bone_eqep2alt.dts 
  442  cat bone_eqep2alt.dts 
  443  ls -ltar
  444  cat /sys/devices/bone_capemgr.*/slots
  445  echo bone_eqep2alt > /sys/devices/bone_capemgr.9/slots
  446  cat /sys/devices/bone_capemgr.*/slots
  447  dmesg
  448  lsmod
  449  cd /sys/devices/ocp.3/48304000.epwmss/48304180.eqep/position
  450  cd /sys/devices/ocp.*/48304000.epwmss/48304180.eqep/position
  451  ls /sys/devices/ocp.*/48304000.epwmss/48304180.eqep/position
  452  cd /sys/devices/ocp.*/48304000.epwmss/48304180.eqep/position
  453  cd /sys/devices/ocp.*/48304000.epwmss/48304180.eqep
  454  cd 
  455  cd /sys/devices/ocp.*/48304000.epwmss/48304180.eqep
  456  ls
  457  ls -la
  458  cat position 
  459  cd
  460  cd /sys/devices/ocp.*/48304000.epwmss/48304180.eqep
  461  ls -la
  462  cat position 
  463  cat /lib/firmware/bone_eqep2alt.dts 
  464  more /lib/firmware/bone_eqep2alt.dts 
  465  more /lib/firmware/bone_eqep2alt.dts 
  466  cat position 
  467  cat position 
  468  cat position 
  469  cat position 
  470  cat position 
  471  cat position 
  472  cat position 
  473  cd
  474  while /bin/true; do cat /sys/devices/ocp.3/48304000.epwmss/48304180.eqep/position && sleep 0.2; done
  475  cd /sys/devices/ocp.*/48304000.epwmss/48304180.eqep
  476  cat position 
  477  echo 0 > position 
  478  cat position 
  479  echo 0 > position 
  480  cat position 
  481  while /bin/true; do cat /sys/devices/ocp.3/48304000.epwmss/48304180.eqep/position && sleep 0.2; done
  482  cd
  483  ls beaglebot/
  484  git info
  485  git status
  486  ls
  487  cd beaglebot/
  488  ls -ltar
  489  cd encoders/
  490  ls -ltar
  491  cd patches/
  492  cd ..
  493  cd api/
  494  ls
  495  cd python/
  496  ls
  497  cat test.py 
  498  python ./test.py 
  499  python ./test.py 
  500  python ./test.py 
  501  history
root@beaglebone:~# dmesg |tail -100
[    1.275176] mmcblk1boot0: mmc1:0001 MMC02G partition 1 1.00 MiB
[    1.275570] mmcblk1boot1: mmc1:0001 MMC02G partition 2 1.00 MiB
[    1.277665]  mmcblk1: p1 p2
[    1.280234]  mmcblk1boot1: unknown partition table
[    1.282120]  mmcblk1boot0: unknown partition table
[    1.329347] tilcdc 4830e000.fb: found TDA19988
[    1.330111] [drm] Supports vblank timestamp caching Rev 1 (10.10.2010).
[    1.330126] [drm] No driver support for vblank timestamp query.
[    1.330566] tilcdc 4830e000.fb: No connectors reported connected with modes
[    1.330608] [drm] Cannot find any crtc or sizes - going 1024x768
[    1.346790] Console: switching to colour frame buffer device 128x48
[    1.357836] tilcdc 4830e000.fb: fb0:  frame buffer device
[    1.357854] tilcdc 4830e000.fb: registered panic notifier
[    1.357892] [drm] Initialized tilcdc 1.0.0 20121205 on minor 0
[    1.408381] davinci_mdio 4a101000.mdio: davinci mdio revision 1.6
[    1.408409] davinci_mdio 4a101000.mdio: detected phy mask fffffffe
[    1.418496] libphy: 4a101000.mdio: probed
[    1.418538] davinci_mdio 4a101000.mdio: phy[0]: device 4a101000.mdio:00, driver SMSC LAN8710/LAN8720
[    1.418791] Detected MACID = c8:a0:30:c4:5a:2d
[    1.418927] cpsw 4a100000.ethernet: NAPI disabled
[    1.420677] omap_rtc 44e3e000.rtc: setting system clock to 2000-01-01 00:00:01 UTC (946684801)
[    1.427917] ALSA device list:
[    1.427942]   #0: TI BeagleBone Black
[    1.428574] Freeing init memory: 244K
[    1.499857] udevd[99]: starting version 175
[    2.784987] EXT4-fs (mmcblk0p2): INFO: recovery required on readonly filesystem
[    2.785006] EXT4-fs (mmcblk0p2): write access will be enabled during recovery
[    4.098574] EXT4-fs (mmcblk0p2): recovery complete
[    4.112669] EXT4-fs (mmcblk0p2): mounted filesystem with ordered data mode. Opts: (null)
[    5.030690] rtusb init rt2870 --->
[    5.030798] usbcore: registered new interface driver rt2870
[    5.418436] udevd[237]: starting version 175
[    6.271129] EXT4-fs (mmcblk0p2): re-mounted. Opts: errors=remount-ro
[   14.019912]  gadget: using random self ethernet address
[   14.024221] usb0: MAC 6a:9c:95:65:dc:85
[   14.024238] usb0: HOST MAC c8:a0:30:c4:5a:2f
[   14.029553]  gadget: Mass Storage Function, version: 2009/09/11
[   14.029572]  gadget: Number of LUNs=1
[   14.029591]  lun0: LUN: removable file: /dev/mmcblk0p1
[   14.029713]  gadget: Multifunction Composite Gadget
[   14.029739]  gadget: g_multi ready
[   14.029781] musb-hdrc musb-hdrc.0.auto: MUSB HDRC host driver
[   14.035574] musb-hdrc musb-hdrc.0.auto: new USB bus registered, assigned bus number 2
[   14.035614] musb-hdrc musb-hdrc.0.auto: supports USB remote wakeup
[   14.035686] usb usb2: default language 0x0409
[   14.035717] usb usb2: udev 1, busnum 2, minor = 128
[   14.035729] usb usb2: New USB device found, idVendor=1d6b, idProduct=0002
[   14.035740] usb usb2: New USB device strings: Mfr=3, Product=2, SerialNumber=1
[   14.035750] usb usb2: Product: MUSB HDRC host driver
[   14.035760] usb usb2: Manufacturer: Linux 3.8.13-bone50 musb-hcd
[   14.035770] usb usb2: SerialNumber: musb-hdrc.0.auto
[   14.038527] usb usb2: usb_probe_device
[   14.038546] usb usb2: configuration #1 chosen from 1 choice
[   14.038598] usb usb2: adding 2-0:1.0 (config #1, interface 0)
[   14.038719] hub 2-0:1.0: usb_probe_interface
[   14.038732] hub 2-0:1.0: usb_probe_interface - got id
[   14.038750] hub 2-0:1.0: USB hub found
[   14.038775] hub 2-0:1.0: 1 port detected
[   14.038785] hub 2-0:1.0: standalone hub
[   14.038793] hub 2-0:1.0: individual port power switching
[   14.038802] hub 2-0:1.0: no over-current protection
[   14.038811] hub 2-0:1.0: Single TT
[   14.038822] hub 2-0:1.0: TT requires at most 8 FS bit times (666 ns)
[   14.038832] hub 2-0:1.0: power on to power good time: 10ms
[   14.038852] hub 2-0:1.0: local power source is good
[   14.038919] hub 2-0:1.0: enabling power on all ports
[   14.139005] hub 2-0:1.0: state 7 ports 1 chg 0000 evt 0000
[   14.139063] hub 2-0:1.0: hub_suspend
[   14.139092] usb usb2: bus auto-suspend, wakeup 1
[   16.436289] IPv6: ADDRCONF(NETDEV_UP): usb0: link is not ready
[   24.738760] EXT4-fs (mmcblk1p2): recovery complete
[   24.738795] EXT4-fs (mmcblk1p2): mounted filesystem with ordered data mode. Opts: (null)
[   25.233240] net eth0: initializing cpsw version 1.12 (0)
[   25.236128] net eth0: phy found : id is : 0x7c0f1
[   25.236158] libphy: PHY 4a101000.mdio:01 not found
[   25.241307] net eth0: phy 4a101000.mdio:01 not found on slave 1
[   25.254759] IPv6: ADDRCONF(NETDEV_UP): eth0: link is not ready
[   28.313268] libphy: 4a101000.mdio:00 - Link is Up - 100/Full
[   28.313389] IPv6: ADDRCONF(NETDEV_CHANGE): eth0: link becomes ready
[   30.797683] net eth0: initializing cpsw version 1.12 (0)
[   30.800450] net eth0: phy found : id is : 0x7c0f1
[   30.800475] libphy: PHY 4a101000.mdio:01 not found
[   30.805583] net eth0: phy 4a101000.mdio:01 not found on slave 1
[   30.816241] IPv6: ADDRCONF(NETDEV_UP): eth0: link is not ready
[   31.197788] net eth0: initializing cpsw version 1.12 (0)
[   31.200590] net eth0: phy found : id is : 0x7c0f1
[   31.200613] libphy: PHY 4a101000.mdio:01 not found
[   31.205736] net eth0: phy 4a101000.mdio:01 not found on slave 1
[   31.216325] IPv6: ADDRCONF(NETDEV_UP): eth0: link is not ready
[   33.208091] libphy: 4a101000.mdio:00 - Link is Up - 100/Full
[   33.208214] IPv6: ADDRCONF(NETDEV_CHANGE): eth0: link becomes ready
[ 6588.137068] bone-capemgr bone_capemgr.9: part_number 'bone_eqep2alt', version 'N/A'
[ 6588.137437] bone-capemgr bone_capemgr.9: slot #7: generic override
[ 6588.137487] bone-capemgr bone_capemgr.9: bone: Using override eeprom data at slot 7
[ 6588.137538] bone-capemgr bone_capemgr.9: slot #7: 'Override Board Name,00A0,Override Manuf,bone_eqep2alt'
[ 6588.137817] bone-capemgr bone_capemgr.9: slot #7: Requesting part number/version based 'bone_eqep2alt-00A0.dtbo
[ 6588.137866] bone-capemgr bone_capemgr.9: slot #7: Requesting firmware 'bone_eqep2alt-00A0.dtbo' for board-name 'Override Board Name', version '00A0'
[ 6588.144256] bone-capemgr bone_capemgr.9: slot #7: dtbo 'bone_eqep2alt-00A0.dtbo' loaded; converting to live tree
[ 6588.144961] bone-capemgr bone_capemgr.9: slot #7: #3 overlays
[ 6588.160211] bone-capemgr bone_capemgr.9: slot #7: Applied #3 overlays.
root@beaglebone:~#