mjbots / pi3hat Goto Github PK

I would like to add support for Python 3.11 in building pi3hat_tool. Recently, Python 3.11 headers were added to mjbots/bazel_deps, but this added capability is not currently reflected in the build files for pi3hat. This support would be desirable, since currently python3.11 is the only version that is available for Raspian OS and raspberry pi 4. Older versions, such as 3.7, 3.9, and 3.10, must be built from source, which is time consuming.

I have a local branch that has implemented these changes. The changes are modest, and involves small changes to the following files:

• update the commit hash and checksum of the mjbots/bazel_deps github_archive in pi3hat/tools/workspace/bazel_deps/repository.bzl to 806ba633
• udpate multiple config_setting in pi3hat/BUILD
• add string '3.11' to pyver in pi3hat/make_release.py
• add cc_library pybind11_311 to pi3hat/tools/workspace/pybind11/package.BUILD
• update PYTHON_SHORT_VERSIONS, ABITAG, PTAG, and bdist_wheel filgroup in pi3hat/lib/python/BUILD
• update cc_binary _pi3hat_router.so in pi3hat/lib/python/moteus_pi3hat/BUILD

I may be missing a few small changes here, but I would like to open a pull request with the permission of @jpieper to review the necessary changes.

When I tried to run sample code even as root user getting error hat not detected. But HAT (r4.4) is attached on Raspberry Pi 4 Model B Rev 1.5

root@raspberrypi:/home/pidemo/pi3hat/lib/python/examples# python3 raw_can_example.py
Traceback (most recent call last):
File "/home/pidemo/pi3hat/lib/python/examples/raw_can_example.py", line 92, in
asyncio.run(main())
File "/usr/lib/python3.9/asyncio/runners.py", line 44, in run
return loop.run_until_complete(main)
File "/usr/lib/python3.9/asyncio/base_events.py", line 642, in run_until_complete
return future.result()
File "/home/pidemo/pi3hat/lib/python/examples/raw_can_example.py", line 39, in main
transport = moteus_pi3hat.Pi3HatRouter(can=can_config)
File "/usr/local/lib/python3.9/dist-packages/moteus_pi3hat/pi3hat_router.py", line 108, in init
self._impl = _pi3hat_router.Pi3HatRouter(options)
RuntimeError: No pi3hat detected

Observed by @stephane-caron

When a 64 Raspberry Pi OS is used, flashing moteus controllers over the pi3hat's CAN-FD ports often fails.

Reference.md states that the pihat accepts power input from 8-34V, but the product description states 8-44V.

Hi author, I am trying to use orangepi or upboard to communicate with pi3hat, after installing moteus-pi3hat, my sample code is as follows,
import asyncio
import math
import moteus
import moteus_pi3hat
import time

async def main():
transport = moteus_pi3hat.Pi3HatRouter(
servo_bus_map={
1:[11]
},
)
controller = moteus.Controller(id=1, transport=transport)

and after running it, the following error occurs， I would like to ask if there is something wrong with my operation？

sudo python demo.py
Traceback (most recent call last):
File "/home/orangepi/Desktop/pi3hat/demo.py", line 96, in
asyncio.run(main())
File "/usr/lib/python3.10/asyncio/runners.py", line 44, in run
return loop.run_until_complete(main)
File "/usr/lib/python3.10/asyncio/base_events.py", line 646, in run_until_complete
return future.result()
File "/home/orangepi/Desktop/pi3hat/demo.py", line 11, in main
transport = moteus_pi3hat.Pi3HatRouter(
File "/usr/local/lib/python3.10/dist-packages/moteus_pi3hat/pi3hat_router.py", line 108, in init
self._impl = _pi3hat_router.Pi3HatRouter(options)
RuntimeError: Error setting realtime scheduler, try running as root (use sudo)

The title says it all.

This is likely because the CAN controller in the stm32 only has a buffer that is 3 deep. We can probably fix it either by making the client poll after that many, adding more buffering in the firmware or both.

Hello, may I ask how to compile this project and burn it into the hardware of PI3hat

It almost always reports target 1 as available, and then wedges, requiring a power cycle.

Observed in 2021-08-10

Hello, may I ask how I can communicate with pi3hat through SPI? Could you please provide an example?

Simi on discord reported that the python library did not use their pi3hat without manually constructing a Pi3HatRouter. It should use it automatically.