rs485-with-Intel-Edison

Intel EdisonでGR001とRS485で通信



1.今回の目標

  • Intel EdisonでGR001とRS485で通信する.

  • 複数の構成が考えられるので代表的なものを試す.

  • できれば通信時間等の比較をしてみる.

2.実施する構成

  1. USB-RS232C変換ケーブル + RS232C-RS485変換コネクタを使用する

  2. USB-RS485変換コネクタを使用する

  3. RS232C-RS485変換ICを使用する.

*通信速度は115200[bps]で行います.

3.想定する環境

break out board

  • henry board

OS

  • ubilinux + xenomai3.0.0

library

  • cmake
  • cmake-ncurses-gui

4.コードのビルドと実行

全身のサーボの目標角度の更新と現在角度の取得を繰り返し行い。
その間に消費される時間を測定します.

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> mkdir work
> cd work
> git clone git@github.com:takarakasai/rsx.git
> mkdir -p rsx/build
> cd rsx/build
> camke ..
> ccmake ..
   ここで4.に示すコンフィグを行います.
> make
> ./sample/rsx_latency_test tty*** *
   ここで4.に示すttyUSB/ttyMFD 0/1の値を指定します.

4.実施形態

4.1 実施形態１ (USB-RS232C + RS232C-RS485)

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+--------+  USB  +------------+ RS232C +------------+ RS485 +-------+
| Edison |=======| USB-RS232C |========|RS232C-RS485|=======| GR001 |
+--------+       +------------+        +------------+       +-------+


4.1.1 サーボON中の現在角度取得 (Echo:On)

  • 1軸あたり約3.0[msec]
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file open : /dev/ttyUSB0
 auto echo read latency : 000000000001996.318[usec]
           read latency : 000000000000899.985[usec]
Model Number L:10 H:30
Firmware Version:05
 auto echo read latency : 000000000001928.862[usec]
           read latency : 000000000000941.456[usec]
 auto echo read latency : 000000000001975.050[usec]
           read latency : 000000000000959.415[usec]
 auto echo read latency : 000000000001979.356[usec]
           read latency : 000000000000939.320[usec]
 auto echo read latency : 000000000002017.731[usec]
           read latency : 000000000000928.883[usec]
 auto echo read latency : 000000000001944.446[usec]
           read latency : 000000000001006.780[usec]
 auto echo read latency : 000000000001927.463[usec]
           read latency : 000000000000954.515[usec]
 auto echo read latency : 000000000002015.670[usec]
           read latency : 000000000000936.443[usec]
 auto echo read latency : 000000000001963.297[usec]

4.1.1 サーボON中の現在角度取得 (Echo:Off)

  • 1軸あたり約3.0[msec], Echoなしとあまり変わらない。
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file open : /dev/ttyUSB0
           read latency : 000000000002938.702[usec]
Model Number L:10 H:30
Firmware Version:05
           read latency : 000000000002889.709[usec]
           read latency : 000000000002944.792[usec]
           read latency : 000000000002939.965[usec]
           read latency : 000000000002937.811[usec]
           read latency : 000000000002943.545[usec]
           read latency : 000000000002945.761[usec]
           read latency : 000000000002950.890[usec]
           read latency : 000000000002932.800[usec]
           read latency : 000000000002945.314[usec]
           read latency : 000000000002970.654[usec]
           read latency : 000000000002937.247[usec]
           read latency : 000000000002954.433[usec]
           read latency : 000000000002910.236[usec]
           read latency : 000000000002951.315[usec]
           read latency : 000000000002956.522[usec]
           read latency : 000000000002945.080[usec]

4.1.2 目標角度更新+現在角度取得 (Echo:On)

  • 1回あたり約2200[msec],遅い…
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root@ubilinux:/home/kasai/rsx/build# ./sample/rsx_latency_test ttyUSB 0
file open : /dev/ttyUSB0
Model Number L:10 H:30
Firmware Version:05
     write read latency : 000000002209018.433[usec]
     write read latency : 000000002209550.048[usec]
     write read latency : 000000002215498.369[usec]
     write read latency : 000000002210337.490[usec]
     write read latency : 000000002214434.746[usec]
     write read latency : 000000002210338.889[usec]
     write read latency : 000000002208474.912[usec]
     write read latency : 000000002213613.604[usec]
     write read latency : 000000002207402.759[usec]
     write read latency : 000000002223359.310[usec]
     write read latency : 000000002214373.243[usec]
     write read latency : 000000002209397.254[usec]
     write read latency : 000000002215453.894[usec]
     write read latency : 000000002221349.023[usec]
     write read latency : 000000002213387.381[usec]
     write read latency : 000000002226612.283[usec]
     write read latency : 000000002229343.842[usec]
     write read latency : 000000002207545.825[usec]
     write read latency : 000000002218341.943[usec]
     write read latency : 000000002221342.090[usec]

4.1.2 目標角度更新+現在角度取得 (Echo:Off)

  • 1回あたり約66[msec], Echoなしとだいぶ変わる.
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root@ubilinux:/home/kasai/rsx/build# ./sample/rsx_latency_test ttyUSB 0 
file open : /dev/ttyUSB0
Model Number L:10 H:30
Firmware Version:05
     write read latency : 000000000066007.243[usec]
     write read latency : 000000000065416.549[usec]
     write read latency : 000000000065517.149[usec]
     write read latency : 000000000065456.895[usec]
     write read latency : 000000000065402.658[usec]
     write read latency : 000000000065359.403[usec]
     write read latency : 000000000065491.657[usec]
     write read latency : 000000000065477.599[usec]
     write read latency : 000000000065335.568[usec]
     write read latency : 000000000065364.201[usec]
     write read latency : 000000000065544.980[usec]
     write read latency : 000000000065445.083[usec]
     write read latency : 000000000065318.323[usec]
     write read latency : 000000000065438.933[usec]
     write read latency : 000000000065735.271[usec]
     write read latency : 000000000065654.119[usec]
     write read latency : 000000000065327.452[usec]
     write read latency : 000000000065310.521[usec]
     write read latency : 000000000065388.858[usec]
     write read latency : 000000000065337.072[usec]
----- end -----

4.2 実施形態2 (USB-RS485)

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+--------+  USB  +----------+ RS485 +-------+
| Edison |=======| USB-RS485|=======| GR001 |
+--------+       +----------+       +-------+


4.2.0 実施形態2 (USB-RS485) 準備

  • 今回使用する変換コネクタはCH340+MAX485の構成なので,ch341なドライバが必要.
  • Edison標準のLinuxイメージにはこれがないのでドライバの導入が必要.
  • 標準でサポートしているのでカーネルコンフィグをいじってドライバをビルドする.参考
  1. インストール場所はこんな感じ
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hroot@ubilinux:home/kasai/rsx/build# find /lib/modules/3.10.17-yocto-standard | grep ch341.ko$
/lib/modules/3.10.17-yocto-standard/kernel/drivers/usb/serial/ch341.ko
hroot@ubilinux:home/kasai/rsx/build# cat /lib/modules/3.10.17-yocto-standard/modules.dep | grep ch341
kernel/drivers/usb/serial/ch341.ko:
  1. ドライバをロードすると/dev/ttyUSB*として認識する
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root@ubilinux:/home/kasai/rsx/build# dmesg | grep ch341
//ロードしていないので何も表示されない
root@ubilinux:/home/kasai/rsx/build# modprobe ch341
root@ubilinux:/home/kasai/rsx/build# dmesg | grep ch341
[ 4594.146533] usbcore: registered new interface driver ch341
[ 4594.146684] usbserial: USB Serial support registered for ch341-uart
[ 4594.146773] ch341 1-1:1.0: ch341-uart converter detected
[ 4594.149669] usb 1-1: ch341-uart converter now attached to ttyUSB0

4.2.1 サーボON中の現在角度取得 (Echo:Off)

  • 1軸あたり4.0-5.0[msec]程度の時間が消費されるようです.
  • ばらつきがあります.
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file open : /dev/ttyUSB0
           read latency : 000000000004025.258[usec]
Model Number L:10 H:30
Firmware Version:05
           read latency : 000000000004837.597[usec]
           read latency : 000000000004894.456[usec]
           read latency : 000000000004113.485[usec]
           read latency : 000000000004768.715[usec]
           read latency : 000000000004956.296[usec]
           read latency : 000000000004102.266[usec]
           read latency : 000000000004829.400[usec]
           read latency : 000000000004925.636[usec]
           read latency : 000000000004913.047[usec]
           read latency : 000000000004939.229[usec]
           read latency : 000000000004973.907[usec]
           read latency : 000000000004061.789[usec]
           read latency : 000000000004838.127[usec]
           read latency : 000000000004946.335[usec]
           read latency : 000000000004037.351[usec]
           read latency : 000000000004833.191[usec]

4.2.2 目標角度更新+現在角度取得 (Echo:Off)

  • 1軸あたり100[msec]程度の時間が消費されるようです.
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root@ubilinux:/home/kasai/rsx/build# ./sample/rsx_latency_test ttyUSB 0
file open : /dev/ttyUSB0
Model Number L:10 H:30
Firmware Version:05
     write read latency : 000000000099950.036[usec]
     write read latency : 000000000098789.981[usec]
     write read latency : 000000000099444.884[usec]
     write read latency : 000000000098239.896[usec]
     write read latency : 000000000099361.530[usec]
     write read latency : 000000000100248.693[usec]
     write read latency : 000000000100436.427[usec]
     write read latency : 000000000101202.667[usec]
     write read latency : 000000000100670.694[usec]
     write read latency : 000000000100652.687[usec]
     write read latency : 000000000101576.298[usec]
     write read latency : 000000000100529.411[usec]
     write read latency : 000000000101556.370[usec]
     write read latency : 000000000101491.546[usec]
     write read latency : 000000000100395.651[usec]
     write read latency : 000000000099471.337[usec]
     write read latency : 000000000095471.131[usec]
     write read latency : 000000000099132.585[usec]
     write read latency : 000000000101567.170[usec]
     write read latency : 000000000101641.469[usec]
----- end -----

4.3 実施形態3 (RS232C-RS485)

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+--------+  uart  +------------+ RS485 +-------+
| Edison |========|RS232C-RS485|=======| GR001 |
+--------+        +------------+       +-------+





フリスクケースあり (左)
フリスクケースなし (右)

4.3 実施形態2´ (RS232C-RS485)

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+--------+
| Edison |
+--------+
    || uart 
+--------+  uart  +------------+ RS485 +-------+
|自作基板|========|RS232C-RS485|=======| GR001 |
+--------+        +------------+       +-------+


=>

4.3.0 uart <-> RS485 変換IC

ISL32603E

-半二重通信用のICで1.8[V]で駆動.256～460[Kbps]までいける.
(※ 保証はできませんが私の環境では115[Kbps]でも動作しました.).

-パッケージはSOIC(1.27[mm])もしくはMSOP(0.5[mm])になるので表面実装が必要.

[1]
[2]
[3]


[1] http://www.incom.co.jp/var/assets/storage/images/companies/node_1664/product/node_118235/1662980-2-jpn-JP/RS-485-ISL3260x_square250.jpg

[2] http://www.eleki-jack.com/KitsandKids2/assets_c/2010/11/LTSP20620020-thumb-400x493.jpg

[3] http://akizukidenshi.com/img/goods/L/P-06863.jpg

購入場所
mouser
or
digikey

仕様書

4.3.1 サーボON中の現在角度取得

  • 1軸あたり2.5[msec]程度の時間が消費されるようです.
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file open : /dev/ttyMFD1
 auto echo read latency : 000000000002568.977[usec]
           read latency : 000000000000154.489[usec]
Model Number L:10 H:30
Firmware Version:05
 auto echo read latency : 000000000002389.956[usec]
           read latency : 000000000000153.327[usec]
 auto echo read latency : 000000000002391.869[usec]
           read latency : 000000000000150.943[usec]
 auto echo read latency : 000000000002416.129[usec]
           read latency : 000000000000161.699[usec]
 auto echo read latency : 000000000002291.760[usec]
           read latency : 000000000000161.488[usec]
 auto echo read latency : 000000000002269.892[usec]
           read latency : 000000000000165.285[usec]
 auto echo read latency : 000000000002278.397[usec]
           read latency : 000000000000163.622[usec]
 auto echo read latency : 000000000002203.704[usec]
           read latency : 000000000000164.331[usec]
 auto echo read latency : 000000000002218.209[usec]

4.3.2 目標角度更新＋現在角度取得

  • 1回あたり57[msec]程度の時間が消費されるようです.
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root@ubilinux:/home/kasai/rsx/build# ./sample/rsx_latency_test ttyMFD 1
file open : /dev/ttyMFD1
Model Number L:10 H:30
Firmware Version:05
     write read latency : 000000000056354.259[usec]
     write read latency : 000000000056687.984[usec]
     write read latency : 000000000056654.634[usec]
     write read latency : 000000000056597.344[usec]
     write read latency : 000000000056777.629[usec]
     write read latency : 000000000056968.642[usec]
     write read latency : 000000000056450.153[usec]
     write read latency : 000000000056666.476[usec]
     write read latency : 000000000056631.691[usec]
     write read latency : 000000000056884.130[usec]
     write read latency : 000000000056841.407[usec]
     write read latency : 000000000056458.870[usec]
     write read latency : 000000000056554.745[usec]
     write read latency : 000000000056651.169[usec]
     write read latency : 000000000056691.800[usec]
     write read latency : 000000000056875.255[usec]
     write read latency : 000000000056446.435[usec]
     write read latency : 000000000056648.150[usec]
     write read latency : 000000000056814.218[usec]
     write read latency : 000000000057273.610[usec]

5 結果まとめ





USB-RS232-RS485USB-RS485uart-RS232-RS485
現在角度取得 3.0[msec]4-5.0[msec] 2.5[msec]
目標角度更新と現在角度取得67.0[msec] 100.0[msec]57.0[msec]

6 考察

通信遅延要因

シリアル通信ドライバ

  • 速度優先の設定になっていない (setserial /dev/tty* low_latency)
  • バッファ処理による遅延
  • ユーザ-カーネル間の遷移に関連する遅延(通信データ, コンテキストスイッチ)

==> RTDM対応のシリアル通信ドライバを作成すれば改善する可能性あり.

その他

  • サーボに設定できる通信遅延時間が長く設定されている (0.1 - 12.850[msec])

==> 最小値(0.1[msec])に設定されていた

おわり