PMSM motor control on ICE-V Wireless (#Espressif #RiscV ESP32-C6 + iCE-40 #FPGA) project has been presented at #LinuxDays https://pretalx.linuxdays.cz/linuxdays-2024/talk/QGST3J/ (Video in Czech ), (Presentation PDF - English), Jakub Janousek’s related thesis (PDF - Engish) and project site https://gitlab.fel.cvut.cz/otrees/risc-v-esp32/ice-v-pmsm . Presentation starts with robotic platform based on ESP32-C6 chosen as cheap option for teaching Microcomputer Engineering with Space Applications course @LTUniv in #Kiruna in #SpaceMaster https://spacemaster.eu/ on M-Bot like platform. The related QENC driver by Martin Vajnar for ESP32-C6 is in mainline #NuttX now.

Part of CTU FEE OTREES HW ZOO at #LinuxDays booth. On the left , #RiscV #milkvpioneer with #fedora desktop running #CHROMuLAN, #qtrvsim with new branch predictors visualization and Elektroline.cz Silicon-Heaven SHVspy https://github.com/silicon-heaven/libshv. On the right, x86 Debian running Silicon-Heaven broker and #pysimCoder https://github.com/robertobucher/pysimCoder to generate and runtime tune PMSM control application running on #NuttX on open-source motion control platform SaMoCon https://gitlab.fel.cvut.cz/otrees/motion/samocon which is a result of Stepan Pressl's thesis https://wiki.control.fel.cvut.cz/mediawiki/images/4/44/Bp_2024_pressl_stepan.pdf . On the left in front, MZ_APO Xilinx Zynq based educational kit running Debian from NFS RO root. Its FPGA is configured by 2x CTU CAN FD, PMSM motor control peripherals and RVapo #riscv soft core co-processor used for inverse and forward Park and Clarke transformations for PWM, current sensing and calibration all running at 20 kHz in sync with PWM cycles. The soft core was started by Eduard Lavus as PAP course project and has been extended and integrated with PMSM by Damir Gruncl - see more about these projects in the OTREES theses list https://gitlab.fel.cvut.cz/otrees/org/-/wikis/theses-defend

Thanks for the visit and effort invested into Fedora on #RiscV, #milkvpioneer and in general.

Our #qtmips simulator has received some minor care as well. Actual release includes Jakub Dupak's memory simulation rework (initially part of RISC-V switch preparation) which allows to run both little and big-endian ELF files. Integrated editor and assembler targets big-endian target only (there is no switch for interactive endianness choice). See https://github.com/cvut/QtMips/releases

Damir Gruncl has designed (as part of his thesis - see OTREE thesis list https://gitlab.fel.cvut.cz/otrees/org/-/wikis/theses-defend) RISC-V processor (RVapo) which corresponds to QtRvSim. Sources https://gitlab.fel.cvut.cz/otrees/fpga/rvapo-vhdl . Can be simulated by GHDL, and it is used on Xilinx Zynq as coprocessor for inverse and forward Clarke and Park transformations for PWM cycle by cycle (20 kHz) PMSM motor control (project
https://gitlab.fel.cvut.cz/otrees/fpga/rvapo-apps/-/tree/master/apps/rvapo-pmsm)

I will be happy to see you at RISC-V Summit North America and discuss teaching, Linux, RTEMS, NuttX real time topics and development, motion control and robotics.

New release of #qtrvsim #riscv simulator for education. QtRvSim v0.9.8 adds Jiri Stefan's work on branch predictor. Its visualization extends cache, pipeline, memory and other visualization capabilities (https://github.com/cvut/qtrvsim/releases). Online version available at https://comparch.edu.cvut.cz/ . There is new WebEvaluator site link and description available (work of Jakub Pelc) for training on simple assembly and C tasks. The project will be discussed at RISC-V International Special Interest Group: Academia and Training meeting at October 10 2024 at 8 AM Pacific Time (5 PM CEST). The feedback is welcomed. I will be present on 2024 RISC-V Summit North America too.

Je nejvyšší čas přihlásit přednášku na konferenci #OpenAlt 2024. Termín pro poslání přihlášek je do konce týdne.

https://talks.openalt.cz/openalt-2024/cfp

In the fact, there has been the cover letter on the paper top, but it is of less interest to me. On the other hand, it lists included ARM64 and RISC-V in addition to x86, which I see as very important
https://git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git/commit/?id=baeb9a7d8b60b021d907127509c44507539c15e5

Last night at the real-time celebration, Thomas Gleixner handed Linus Torvalds his official pull request of the real-time patch on paper "wrapped in gold with a ribbon around it''

The Golden Commit
https://git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git/commit/?id=d2d6422f8bd17c6bb205133e290625a564194496

A little from our HPLC instruments design and delivery history. The LC4000 instruments generation design started in 1990 and the first setup has been delivered to a customer (IOCB) in 1992. It has been based on Intel 8051 + 32kB EPROM and 32 kB SRAM. Then we updated to Philips 80552 (i.e. the HPLC pump LCP5020). The archival of SW51 Firmware for curiosity mostly at PiKRON’s sw51-pbproj GitLab. Our first ARM7TDMI based component has been used in instrument set forming Automatic amino Acid Analyser AAA 400 (together with pumps and other components based on 8051). Then we have switched to NXP LCP1768 (i.e. in LCP5024). We have started to use LPC4088 on LX_CPU board for HPLC and motion control and robotic applications. The new controllers are prepared to be based on Cortex-M7 ATSAMV71. Some initial info is available in our presentation about LX_RoCoN use at ESA and Airbus (Tracking 75 GHz satellite beacon using PiKRON LX-RoCon motion control unit and digital radio). All our HPLC systems starting from 1990 talk the same RS-485 multi-master open-source protocol uLAN protocol which provides device dictionary introspection, fully deterministic distributed arbitration up to 64 devices with round-robin property up to 16 devices. More in separate presentation uLAN Open RS-485 Communication Protocol, 30 Year of Service in Laboratories, Healthcare and Agriculture.

The idea to test this obscure build came to my mind when I have gone to Department of Organic Chemistry at Charles University to help them restart our HPLC instruments after lab relocation. That LCD 5000 and LCP 5020 has been delivered 20 years ago and SW and drivers allows them to serve with Windows 10 and 11 today. The Milk-V funded by RISC-V International for our RT and CAN FD PCIe cards tests arrived the same day so I decided to try to combine this alternative control computer to demonstrate that our technologies are fully portable. CHROMuLAN Linux build is experimental still and doing that on RISC-V is maximizing the adventure. But not many others can say that even instruments produced two years ago as well as some 30 years ago are still supported by SW on Linux and Windows and can be connected together to build complete system.

#CHROMuLAN running chromatography data acquisition from ULAD32 on Milk-V Pioneer box #milkvpioneer 64-core RISC-V system. Application has been built on that system as well as #freepascal and #Lazarus LCL actual mainline GIT versions. uLAN kernel driver for instruments connection and control has been build directly on the system as well. Our #QtRvSim #Qt based simulator builds and on this #riscv system as well. More about our open-source chromatography system serving users more than 20 years there https://sourceforge.net/projects/chromulan/

It seems to have happened without much fanfare, but about a month ago @purism has released the Librem 5 hardware layouts under GPLv3 (as original PADS and converted KiCad projects), joining the schematics that were already available from the start.

https://source.puri.sm/Librem5/l5-schematic

#librem5 #linuxmobile #kicad #openhardware

@dos @purism The release of Librem 5 PCB design files is great news. Then next step is information about GPS antenna signal path and geometry which would allow to proceed with measurement I have suggested and offered in 2021. Shame the original Purism stance and information ban because my friend, Marek Peca, has started own company (eltvor.cz) busyness and is no more member and employee of ESA Galileo-next team from start of this year. So access to their test lab is no more possible for us.

We will present our new #canbus (CAN/CAN FD) stack for #RTEMS (https://www.rtems.org/) on #CiA_iCC https://old.can-cia.org/icc in Baden-Baden on Wednesday 15. The stack is based on our LinCAN Linux driver (initiated in 2003 as part of https://ortcan.sourceforge.net/ ). The new code source and documentation is available at https://gitlab.fel.cvut.cz/otrees/rtems/rtems-canfd . Our presentation "Scheduling of CAN frame transmission when multiple FIFOs with assigned priorities are used in RTOS drivers" is relevant even for future Linux #SocketCAN stack to solve its long standing link level priority inversion problem at least for some controllers when multi-queue support is implemented and our previous QoS work is updated. The measured latency results on #zynq on #RTEMS are great and in order better than maximal ones on PREEMP_RT Linux https://canbus.pages.fel.cvut.cz/#can-bus-channels-mutual-latency-testing . So there is lot to do on Linux side as well.

@sesivany I suggest for hiking planning, routes elevation profiles and links to additional information https://hiking.waymarkedtrails.org/ which renders #OSM data quite well for the purpose.

Our #riscv and computer architectures course materials and videos updated https://cw.fel.cvut.cz/wiki/courses/b35apo/en/lectures/start (switch to LaTeX, slides sources available). New online #riscv assembly and low level C-language tasks online evaluation, training site added https://eval.comparch.edu.cvut.cz/ as companion to our #qtrvsim online and native educational simulator https://github.com/cvut/qtrvsim
If you are interested in materials or want to see our hardware ZOO, stop at #osadl booth (in hall 4, booth 4-168) at #embeddedworld #ew24 . OSADL https://www.osadl.org/ has been kind to provide us space there on our academic membership base. We will have GNU/Linux, RTEMS, NuttX ARM and RISC-V HW running there.

Some of you know today as π-day.

But the real insiders know that today is the 30th anniversary of the 1.0 release of Linux.