DXL_SDK_LINUX_ v1_01.zipROBOTIS e-Manual v1.09.00
Dynamixel SDK for Linux can be downloaded.
DXL_SDK_LINUX_ v1_01.zip
[System Requirements]
▶ OS : Over Linux Kernel 2.6.21 is recommended
▶ USB2Dynamixel is required
The structure of Dynamixel SDK for Linux is as follows.
/include : there are header files to use Dynamixel SDK
/src : there are Dynamixel SDK source files
/lib : there are complied library files
/example : there are examples to control Dynamixels
FTDI's FT232RL is used for USB2Dynamixel.
* Lenux Source Directory
(Receive the source directly or copy the same source as its own Kernel version through package manager.)
/usr/src/linux-2.6.28/
* Temporary directory (empty) to compile USB2Dynamixel Driver
/usr/src/ftdi_sio
The installation procedure of USB2Dynamixel Driver is as follows.
1. Copy the following files to /usr/src/ftdi_sio directory.
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/usr/src/linux-2.6.28/drivers/usb/serial/ftdi_sio.h /usr/src/linux-2.6.28/drivers/usb/serial/ftdi_sio.c /usr/src/linux-2.6.28/drivers/usb/serial/usb-serial.h |
2. Modify the source codes of copied files to set the response speed to 1msec.
2-1. Modify ftdi_sio.c file in USB2Dynamixel Driver directory
- Modified File : /usr/src/ftdi_sio/ftdi_sio.c
Add "define" to the first part of @@ ftdi_sio.c file
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#define FTDI_LATENCY_TIMER_DEFAULT 1 |
2-2. Modify Kernel's FTDI Driver
- Modified File : /usr/src/ftdi_sio/ftdi_sio.c
Find ftdi_sio_port_probe() function, and then add the highlighted part with bold letters
The first part of @@ ftdi_sio_port_probe() function
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static int ftdi_sio_port_probe(struct usb_serial_port *port) { struct ftdi_private *priv; struct ftdi_sio_quirk *quirk = usb_get_serial_data(port->serial); struct usb_device *udev; int rv; char buf[1]; dbg("%s", __func__); udev = port->serial->dev; priv = kzalloc(sizeof(struct ftdi_private), GFP_KERNEL); if (!priv) { dev_err(&port->dev, "%s- kmalloc(%Zd) failed.\n", __func__, sizeof(struct ftdi_private)); return -ENOMEM; } |
Add the highlighted part with bold letters under create_sysfs_attrs(port) on the last part of @@ ftdi_sio_port_probe() function
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usb_set_serial_port_data(port, priv); ftdi_determine_type(port); create_sysfs_attrs(port);
rv = usb_control_msg(udev, usb_sndctrlpipe(udev, 0), FTDI_SIO_SET_LATENCY_TIMER_REQUEST, FTDI_SIO_SET_LATENCY_TIMER_REQUEST_TYPE, FTDI_LATENCY_TIMER_DEFAULT, priv->interface, buf, 0, WDR_TIMEOUT);
if (rv < 0) { dbg("Unable to write latency timer: %i", rv); return -EIO; } return 0; } |
3. Create Makefile in the /usr/src/ftdi_sio directory as below.
The path name of KDIR must be changed to Linux Source directory.
It is written as below since this example uses /usr/src/linux-2.6.28/.
Write as below and save as "Makefile" using proper small and capital letters.
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obj-m := ftdi_sio.o KDIR := /usr/src/linux-2.6.28/ PWD := $(shell pwd) all: $(MAKE) -C $(KDIR) SUBDIRS=$(PWD) modules clean: rm -rf *.ko rm -rf *.mod.* rm -rf *.o rm -rf Modules.symvers rm -rf .tmp_versions rm -rf .ftdi_sio* |
4. Execute "make" and the compiling is completed
If "make" command is executed in /usr/src/ftdi_sio directory, the compiling is completed right away.
5. Register Module
5-1. Connect the Pc to USB2Dynamixel.
5-2. Check whether Driverf before modification is loaded or not.
If existing Driver of # lsmod // is loaded, ftdi_sio module can be checked.
5-3. Erase the existing driver.
# rmmod ftdi_sio
5-4. Install new-built driver.
# insmod ftdi_sio.ko
* It must be reloaded by insmod command after rebooting.
If a library is built by "make" command in DynamixelSDK/src folder, it is automatically copied to DynamixelSDK/lib folder.
It provides ReadWrite, ScanDynamixel, and SyncWrite. They are moved to each example folder in DynamxielSDK/example folder and can be built by "make" command.
All examples are supposed to use /dev/ttyUSB0 as the basic device.
Please refer to the following link for examples.