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Install JR3#

Download and compile JR3 kernel driver: 

cd  # go home
mkdir -p repos; cd repos  # create $HOME/repos if it doesn't exist; then, enter it
git clone https://github.com/roboticslab-uc3m/jr3pci-linux
cd jr3pci-linux
make

In order to install and load the driver in kernel, at this point you may go away with a simple sudo make install. This will also install the IOCTL header for use by dependent project (such as our YARP device). To achieve the latter in an isolated manner, use sudo make install-header.

The traditional way we used to do this instead is detailed below (beware: the header will need to be installed manually):

cd /lib/modules/$(uname -r)/kernel/drivers
sudo mkdir -p jr3
sudo cp $HOME/repos/jr3pci-linux/jr3pci-driver.ko jr3/
sudo depmod

In case the compiled driver is not regitered and loaded automatically, add the following lines to /etc/rc.local (lines before the exit) to load the jr3 kernel module on startup (may require sudo if run manually):

modprobe jr3pci-driver  # Replaces: insmod jr3pci-driver.ko
mknod /dev/jr3 c 39 0  # Equivalent to (in code dir): make node
chmod 777 /dev/jr3
Note: the /etc/rc.local file on Ubuntu and Debian systems are used to execute commands at system startup. But there's no such file in Ubuntu 18.04. So, we need to create it adding this lines:

#!/bin/bash
modprobe jr3pci-driver
mknod /dev/jr3 c 39 0
chmod 777 /dev/jr3
exit 0
Now make it executable with:

chmod +x /etc/rc.local

View JR3 data#

There is a handy ncurses utility included in the driver repository. Make sure you have installed the Ncurses library and then compile the application:

sudo apt install libncurses-dev
cd repos/jr3pci-linux
make jr3mon

If you want to go the YARP way, then you can use our acquisition device:

  1. Install https://github.com/roboticslab-uc3m/yarp-devices
  2. Go to manipulation PC: 
    yarpdev --device Jr3 --period 20 --name /jr3  --ports "(ch0:o ch1:o ch2:o ch3:o)" --channels 24 --ch0:o 0 5 0 5 --ch1:o 6 11 0 5 --ch2:o 12 17 0 5 --ch3:o 18 23 0 5
  3. Data can be vizualized via classic yarp read ... /jr3/ch0:o or like in teoTools.xml.

Troubleshooting JR3#

Green LEDs should be ON after jr3pci_driver module is loaded (see lsmod | grep jr3). Check /etc/rc.local to see if this is the default upon switching on the PC. Possible fixes if not working:

  1. Type lspci to see PCI devices connected to the computer. The PCI card Adapter PCI bridge: Pericom Semiconductor PI7C9X110 PCI Express to PCI bridge should be there.

  2. Shutdown and review connections!! (review: PCI adapter connections, power and PCI slots).

  3. If it is due to a kernel upgrade, sometimes cleaning and installing again works: 

    cd $HOME/repos/jr3pci-linux
sudo make clean
make
cd /lib/modules/$(uname -r)/kernel/drivers
sudo mkdir -p jr3
sudo cp $HOME/repos/jr3pci-linux/jr3pci-driver.ko jr3/
sudo depmod

Unclassified#

The following repo contains a driver described as suitable for jr3 for Xenomai using RTDM: https://github.com/wdomski/jr3