설명서 찾는데 상세 설명서는 발견 실패.
로보로보 kit 3호?
아니 그 표시에 GND를 두면 어떡해!?!?
그나저나 거기에 5V 넣었었는데 IC가 안 망가져서 다행이네 ㅠㅠ
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| 구매물품 도착, SG-90 부품 차이 (0) | 2021.07.30 |
|---|---|
| 지름지름 (0) | 2021.07.29 |
| BA6208 / 로보로보 로보키트 모터 보드 (2) | 2021.07.25 |
| 조향장치 완성 (0) | 2021.07.24 |
| rpi 2b pxe (0) | 2021.07.12 |
아쉽게도 PWM을 통한 DC 속도 제어는 안되는 칩이군..
[링크 : https://blog.naver.com/seo0511/10173632165]
* Recommended operating supply voltage range from 4.5V to15.0V.
* Built-in motor driving power transistors(typ.100mA)
[링크 : http://www.unisonic.com.tw/datasheet/BA6208.pdf]
뒷면 기준 연결도. 애들용이라 회로도 까지는 제공안해줄 것 같은디.. ㅠㅠ
| 지름지름 (0) | 2021.07.29 |
|---|---|
| 로보로보 / 로보키트 GND 위치 -_- (0) | 2021.07.28 |
| 조향장치 완성 (0) | 2021.07.24 |
| rpi 2b pxe (0) | 2021.07.12 |
| aarch, armv8 asimd build (neon) (0) | 2021.06.30 |
앞뒤 독립 조향이 되면 좋겠다.생각했는데
대충 구현해보니 요즘 자동치 뒷축이 돌아가는 정도로 구현이 되었다.
서보가 두개더 있으면 시도해볼지도?
조향시 디퍼런셜은 pwm으로 좌우 다르게 주면 될 것 같은데
조향 2채널, 구동 4채널
총 6채널을 어디서 끌어내야하나..
| 로보로보 / 로보키트 GND 위치 -_- (0) | 2021.07.28 |
|---|---|
| BA6208 / 로보로보 로보키트 모터 보드 (2) | 2021.07.25 |
| rpi 2b pxe (0) | 2021.07.12 |
| aarch, armv8 asimd build (neon) (0) | 2021.06.30 |
| rpi 4b 32bit vs 64bit? (0) | 2021.06.30 |
라즈베리 2에도 PXE가 된다는데 서버 부터 구축해야 하니 고민이네.
그래도 한번 해볼까나? SD 메모리에서 쑈하는것 보단 빠를테니?
근데 NAS 항상 켜놔야 하니 마이너스 일려나..
[링크 : https://www.raspberrypi.org/documentation/hardware/raspberrypi/bootmodes/net.md]
rpi cli
server
[링크 : https://brainsnapped.com/2020/10/27/pxe-booting-raspberry-pi-os-part-2-server-setup/]
| BA6208 / 로보로보 로보키트 모터 보드 (2) | 2021.07.25 |
|---|---|
| 조향장치 완성 (0) | 2021.07.24 |
| aarch, armv8 asimd build (neon) (0) | 2021.06.30 |
| rpi 4b 32bit vs 64bit? (0) | 2021.06.30 |
| rpi 4 32bit / 64bit cpuinfo (0) | 2021.06.30 |
| 5.7.2 Advanced SIMD Mnemonics Although derived from the AArch32 Advanced SIMD syntax, a number of changes have been made to harmonise with the AArch64 core integer and floating point instruction set syntax, and to unify AArch32’s divergent “architectural” and “programmers’” notations: • The ‘V’ mnemonic prefix has been removed, and S/U/F/P added to indicate signed/unsigned/floatingpoint/polynomial data type. The mnemonic always indicates the data type(s) of the operation. • The vector organisation (element size and number of lanes) is described by the register qualifiers and never by a mnemonic qualifier. See the description of the vector register syntax in §4.4.2 above. • The ‘P’ prefix for “pairwise” operations becomes a suffix. • A ‘V’ suffix has been added for the new reduction (across-all-lanes) operations • A ‘2’ suffix has been added for the new widening/narrowing “second part” instructions, described below. • Vector compares now use the integer condition code names to indicate whether an integer comparison is signed or unsigned (e.g. CMLT, CMLO, CMGE, CMHI, etc) • Some mnemonics have been renamed where the removal of the V prefix caused clash with the core instruction set mnemonics. ADD Vd.<T>, Vn.<T>, Vm.<T> Integer add (vector). Where <T> is 8B, 16B, 4H, 8H, 2S, 4S or 2D |
| $ gcc neon.c -fopt-info-vec -O3 neon.c:10:9: note: loop vectorized |
vadd 이런게 안보이네?
| $ objdump -d a.out a.out: file format elf64-littleaarch64 Disassembly of section .init: 00000000000005d0 <_init>: 5d0: a9bf7bfd stp x29, x30, [sp, #-16]! 5d4: 910003fd mov x29, sp 5d8: 94000043 bl 6e4 <call_weak_fn> 5dc: a8c17bfd ldp x29, x30, [sp], #16 5e0: d65f03c0 ret Disassembly of section .plt: 00000000000005f0 <.plt>: 5f0: a9bf7bf0 stp x16, x30, [sp, #-16]! 5f4: 90000090 adrp x16, 10000 <__FRAME_END__+0xf680> 5f8: f947fe11 ldr x17, [x16, #4088] 5fc: 913fe210 add x16, x16, #0xff8 600: d61f0220 br x17 604: d503201f nop 608: d503201f nop 60c: d503201f nop 0000000000000610 <__cxa_finalize@plt>: 610: b0000090 adrp x16, 11000 <__cxa_finalize@GLIBC_2.17> 614: f9400211 ldr x17, [x16] 618: 91000210 add x16, x16, #0x0 61c: d61f0220 br x17 0000000000000620 <__libc_start_main@plt>: 620: b0000090 adrp x16, 11000 <__cxa_finalize@GLIBC_2.17> 624: f9400611 ldr x17, [x16, #8] 628: 91002210 add x16, x16, #0x8 62c: d61f0220 br x17 0000000000000630 <__gmon_start__@plt>: 630: b0000090 adrp x16, 11000 <__cxa_finalize@GLIBC_2.17> 634: f9400a11 ldr x17, [x16, #16] 638: 91004210 add x16, x16, #0x10 63c: d61f0220 br x17 0000000000000640 <abort@plt>: 640: b0000090 adrp x16, 11000 <__cxa_finalize@GLIBC_2.17> 644: f9400e11 ldr x17, [x16, #24] 648: 91006210 add x16, x16, #0x18 64c: d61f0220 br x17 0000000000000650 <printf@plt>: 650: b0000090 adrp x16, 11000 <__cxa_finalize@GLIBC_2.17> 654: f9401211 ldr x17, [x16, #32] 658: 91008210 add x16, x16, #0x20 65c: d61f0220 br x17 Disassembly of section .text: 0000000000000660 <main>: 660: d13003ff sub sp, sp, #0xc00 664: 912003e0 add x0, sp, #0x800 668: 911003e2 add x2, sp, #0x400 66c: 910003e1 mov x1, sp 670: 913003e3 add x3, sp, #0xc00 674: d503201f nop 678: 3cc10401 ldr q1, [x0], #16 67c: 3cc10440 ldr q0, [x2], #16 680: eb03001f cmp x0, x3 684: 4ea18400 add v0.4s, v0.4s, v1.4s 688: 3c810420 str q0, [x1], #16 68c: 54ffff61 b.ne 678 <main+0x18> // b.any 690: b94003e1 ldr w1, [sp] 694: 90000000 adrp x0, 0 <_init-0x5d0> 698: b94403e2 ldr w2, [sp, #1024] 69c: 91214000 add x0, x0, #0x850 6a0: b94803e3 ldr w3, [sp, #2048] 6a4: 913003ff add sp, sp, #0xc00 6a8: 17ffffea b 650 <printf@plt> 00000000000006ac <_start>: 6ac: d280001d mov x29, #0x0 // #0 6b0: d280001e mov x30, #0x0 // #0 6b4: aa0003e5 mov x5, x0 6b8: f94003e1 ldr x1, [sp] 6bc: 910023e2 add x2, sp, #0x8 6c0: 910003e6 mov x6, sp 6c4: 90000080 adrp x0, 10000 <__FRAME_END__+0xf680> 6c8: f947ec00 ldr x0, [x0, #4056] 6cc: 90000083 adrp x3, 10000 <__FRAME_END__+0xf680> 6d0: f947e863 ldr x3, [x3, #4048] 6d4: 90000084 adrp x4, 10000 <__FRAME_END__+0xf680> 6d8: f947d884 ldr x4, [x4, #4016] 6dc: 97ffffd1 bl 620 <__libc_start_main@plt> 6e0: 97ffffd8 bl 640 <abort@plt> 00000000000006e4 <call_weak_fn>: 6e4: 90000080 adrp x0, 10000 <__FRAME_END__+0xf680> 6e8: f947e400 ldr x0, [x0, #4040] 6ec: b4000040 cbz x0, 6f4 <call_weak_fn+0x10> 6f0: 17ffffd0 b 630 <__gmon_start__@plt> 6f4: d65f03c0 ret 00000000000006f8 <deregister_tm_clones>: 6f8: b0000080 adrp x0, 11000 <__cxa_finalize@GLIBC_2.17> 6fc: 9100e000 add x0, x0, #0x38 700: b0000081 adrp x1, 11000 <__cxa_finalize@GLIBC_2.17> 704: 9100e021 add x1, x1, #0x38 708: eb00003f cmp x1, x0 70c: 540000a0 b.eq 720 <deregister_tm_clones+0x28> // b.none 710: 90000081 adrp x1, 10000 <__FRAME_END__+0xf680> 714: f947dc21 ldr x1, [x1, #4024] 718: b4000041 cbz x1, 720 <deregister_tm_clones+0x28> 71c: d61f0020 br x1 720: d65f03c0 ret 724: d503201f nop 0000000000000728 <register_tm_clones>: 728: b0000080 adrp x0, 11000 <__cxa_finalize@GLIBC_2.17> 72c: 9100e000 add x0, x0, #0x38 730: b0000081 adrp x1, 11000 <__cxa_finalize@GLIBC_2.17> 734: 9100e021 add x1, x1, #0x38 738: cb000021 sub x1, x1, x0 73c: 9343fc21 asr x1, x1, #3 740: 8b41fc21 add x1, x1, x1, lsr #63 744: 9341fc21 asr x1, x1, #1 748: b40000a1 cbz x1, 75c <register_tm_clones+0x34> 74c: 90000082 adrp x2, 10000 <__FRAME_END__+0xf680> 750: f947f042 ldr x2, [x2, #4064] 754: b4000042 cbz x2, 75c <register_tm_clones+0x34> 758: d61f0040 br x2 75c: d65f03c0 ret 0000000000000760 <__do_global_dtors_aux>: 760: a9be7bfd stp x29, x30, [sp, #-32]! 764: 910003fd mov x29, sp 768: f9000bf3 str x19, [sp, #16] 76c: b0000093 adrp x19, 11000 <__cxa_finalize@GLIBC_2.17> 770: 3940e260 ldrb w0, [x19, #56] 774: 35000140 cbnz w0, 79c <__do_global_dtors_aux+0x3c> 778: 90000080 adrp x0, 10000 <__FRAME_END__+0xf680> 77c: f947e000 ldr x0, [x0, #4032] 780: b4000080 cbz x0, 790 <__do_global_dtors_aux+0x30> 784: b0000080 adrp x0, 11000 <__cxa_finalize@GLIBC_2.17> 788: f9401800 ldr x0, [x0, #48] 78c: 97ffffa1 bl 610 <__cxa_finalize@plt> 790: 97ffffda bl 6f8 <deregister_tm_clones> 794: 52800020 mov w0, #0x1 // #1 798: 3900e260 strb w0, [x19, #56] 79c: f9400bf3 ldr x19, [sp, #16] 7a0: a8c27bfd ldp x29, x30, [sp], #32 7a4: d65f03c0 ret 00000000000007a8 <frame_dummy>: 7a8: 17ffffe0 b 728 <register_tm_clones> 7ac: d503201f nop 00000000000007b0 <__libc_csu_init>: 7b0: a9bc7bfd stp x29, x30, [sp, #-64]! 7b4: 910003fd mov x29, sp 7b8: a90153f3 stp x19, x20, [sp, #16] 7bc: 90000094 adrp x20, 10000 <__FRAME_END__+0xf680> 7c0: 91370294 add x20, x20, #0xdc0 7c4: a9025bf5 stp x21, x22, [sp, #32] 7c8: 90000095 adrp x21, 10000 <__FRAME_END__+0xf680> 7cc: 9136e2b5 add x21, x21, #0xdb8 7d0: cb150294 sub x20, x20, x21 7d4: 2a0003f6 mov w22, w0 7d8: a90363f7 stp x23, x24, [sp, #48] 7dc: aa0103f7 mov x23, x1 7e0: aa0203f8 mov x24, x2 7e4: 9343fe94 asr x20, x20, #3 7e8: 97ffff7a bl 5d0 <_init> 7ec: b4000174 cbz x20, 818 <__libc_csu_init+0x68> 7f0: d2800013 mov x19, #0x0 // #0 7f4: d503201f nop 7f8: f8737aa3 ldr x3, [x21, x19, lsl #3] 7fc: aa1803e2 mov x2, x24 800: 91000673 add x19, x19, #0x1 804: aa1703e1 mov x1, x23 808: 2a1603e0 mov w0, w22 80c: d63f0060 blr x3 810: eb13029f cmp x20, x19 814: 54ffff21 b.ne 7f8 <__libc_csu_init+0x48> // b.any 818: a94153f3 ldp x19, x20, [sp, #16] 81c: a9425bf5 ldp x21, x22, [sp, #32] 820: a94363f7 ldp x23, x24, [sp, #48] 824: a8c47bfd ldp x29, x30, [sp], #64 828: d65f03c0 ret 82c: d503201f nop 0000000000000830 <__libc_csu_fini>: 830: d65f03c0 ret Disassembly of section .fini: 0000000000000834 <_fini>: 834: a9bf7bfd stp x29, x30, [sp, #-16]! 838: 910003fd mov x29, sp 83c: a8c17bfd ldp x29, x30, [sp], #16 840: d65f03c0 ret |
| 조향장치 완성 (0) | 2021.07.24 |
|---|---|
| rpi 2b pxe (0) | 2021.07.12 |
| rpi 4b 32bit vs 64bit? (0) | 2021.06.30 |
| rpi 4 32bit / 64bit cpuinfo (0) | 2021.06.30 |
| AArch64 linux cpu features (0) | 2021.06.30 |
라고 적기에는 좀 애매한데
아무튼 NEON 가속을 통해 동일한 프로그램을 돌리는데
32bit 에서는 초당 7.5 프레임
64bit 에서는 초당 11 프레임까지 연산이 가능해지는게 신기해서 찾아보는 중
다른분에게 여쭤보니
메모리 대역폭이 늘어나거나 neon bit width 영향이 아닐까 라고 말씀하셔서 찾아보는데
보기에는 어짜피 float 변수라 single precision으로 차이가 없고
int 형이 연산에 시간을 많이 빼앗길 부분이라 up to 16x8bit operations per instruction 이라
속도에 영향을 주는건 그럼.. 전송 대역폭 혹은 메모리 복사에 다른 속도 차이 정도 이려나?
| rpi 2b pxe (0) | 2021.07.12 |
|---|---|
| aarch, armv8 asimd build (neon) (0) | 2021.06.30 |
| rpi 4 32bit / 64bit cpuinfo (0) | 2021.06.30 |
| AArch64 linux cpu features (0) | 2021.06.30 |
| citcuitpyrhon joystick (0) | 2021.06.28 |
32bit kernel info
| $ cat /proc/cpuinfo processor : 3 model name : ARMv7 Processor rev 3 (v7l) BogoMIPS : 108.00 Features : half thumb fastmult vfp edsp neon vfpv3 tls vfpv4 idiva idivt vfpd32 lpae evtstrm crc32 CPU implementer : 0x41 CPU architecture: 7 CPU variant : 0x0 CPU part : 0xd08 CPU revision : 3 Hardware : BCM2711 Revision : c03112 Serial : 100000003e728750 Model : Raspberry Pi 4 Model B Rev 1.2 $ uname -a Linux raspberrypi 5.10.17-v7l+ #1403 SMP Mon Feb 22 11:33:35 GMT 2021 armv7l GNU/Linux |
64bit kernel info
| $ cat /proc/cpuinfo processor : 3 BogoMIPS : 108.00 Features : fp asimd evtstrm crc32 cpuid CPU implementer : 0x41 CPU architecture: 8 CPU variant : 0x0 CPU part : 0xd08 CPU revision : 3 Hardware : BCM2835 Revision : c03112 Serial : 100000003e728750 Model : Raspberry Pi 4 Model B Rev 1.2 $ uname -a Linux raspberrypi 5.10.17-v8+ #1403 SMP PREEMPT Mon Feb 22 11:37:54 GMT 2021 aarch64 GNU/Linux |
| aarch, armv8 asimd build (neon) (0) | 2021.06.30 |
|---|---|
| rpi 4b 32bit vs 64bit? (0) | 2021.06.30 |
| AArch64 linux cpu features (0) | 2021.06.30 |
| citcuitpyrhon joystick (0) | 2021.06.28 |
| rpi 3b+ with bt / uart (0) | 2021.06.28 |
cpuinfo 플래그가 희한하게 떠서 찾아보니 aarch64 에서는 명칭들이 죄다 바뀐 듯
asimd는 Advanced SIMD 줄여서 표현한건데 기존의 neon을 대체하고
fp는 vfp이런걸 전부 다 대체하는건가?
| Features : fp asimd evtstrm aes pmull sha1 sha2 crc32 cpuid |
[링크 : https://unix.stackexchange.com/questions/43539/what-do-the-flags-in-proc-cpuinfo-mean]
[링크 : https://stackoverflow.com/questions/59379848/]
[링크 : http://javathunderx.blogspot.com/2018/11/cheat-sheet-for-cpuinfo-features-on.html]
| rpi 4b 32bit vs 64bit? (0) | 2021.06.30 |
|---|---|
| rpi 4 32bit / 64bit cpuinfo (0) | 2021.06.30 |
| citcuitpyrhon joystick (0) | 2021.06.28 |
| rpi 3b+ with bt / uart (0) | 2021.06.28 |
| uf2 - USB Flash Format (0) | 2021.06.23 |
예제대로 넣으니까 먼가 뜨긴 한데
장치 관리자에서는 이정도 밖에 발견하지 못했고
시작에서 컨트롤러 쳐서 조이스틱 상태를 보니
오..?! CircuitPython HID 라는게 뜬다.
장치관리자에는 안보이던데 어딨냐 너 -_-
아무튼 이정도면 dog 훌륭아닌가?!
내 joytron 보다 더 많은 단추를 제공하는 느낌인데...
조금 아쉬운건 x/y/z 축은 있지만 시야는 없다는 정도?
[링크 : https://circuitpython.readthedocs.io/en/2.x/shared-bindings/gamepad/GamePad.html]
+
심심해서 usb_hid 와 gamepad 둘다 로드하니 순서와는 상관없이 gamepad만 뜬다.
조이스틱과 키보드 마우스 동시에 쓸 순 없나?
| rpi 4 32bit / 64bit cpuinfo (0) | 2021.06.30 |
|---|---|
| AArch64 linux cpu features (0) | 2021.06.30 |
| rpi 3b+ with bt / uart (0) | 2021.06.28 |
| uf2 - USB Flash Format (0) | 2021.06.23 |
| cvt 와 gtf 그리고 xrandr (0) | 2021.06.21 |
라즈베리파이 3B를 사용중인데 ttyAMA0를 하니 minicom 자체가 먹통이 되서
rpi pico랑 연결하는글을 보다가 발견
| $ minicom -b 115200 -o -D /dev/serial0 |
[링크 : https://datasheets.raspberrypi.org/pico/getting-started-with-pico.pdf]
흐음.. serial0을 쓰도록 해야 할 것 같네.
| $ ls -al /dev/serial* lrwxrwxrwx 1 root root 5 Jun 28 02:17 /dev/serial0 -> ttyS0 lrwxrwxrwx 1 root root 7 Jun 28 02:17 /dev/serial1 -> ttyAMA0 |
+
| 원래 시리얼통신 포트 이름은 /dev/ttyAMA0이다. 그런데 파이3에서는, 이전까지 /dev/ttyAMA0에 할당되어있던 시리얼포트가 블루투스에 할당되었다. 시리얼포트는 /dev/ttyS0로 옮겨졌다. |
[링크 : http://lhdangerous.godohosting.com/wiki/index.php/라즈베리파이_시리얼_통신_설정...]
| AArch64 linux cpu features (0) | 2021.06.30 |
|---|---|
| citcuitpyrhon joystick (0) | 2021.06.28 |
| uf2 - USB Flash Format (0) | 2021.06.23 |
| cvt 와 gtf 그리고 xrandr (0) | 2021.06.21 |
| rpi wifi SDR (3B+ 이후 가능) (0) | 2021.06.21 |
|
