View source for Manual control and testing

=Manual control and testing=
All functions on Recore are meant to be controlled from a graphical user interface such as OctoPrint, Fluid or Mainsail etc. This in turn in controlled by Klipper. Sometimes it can be beneficial to get low level access to certain functions and test things directly on the command line. This section is meant to give an overview of what capabilites are available from the command line (SSH/terminal).

===Power domain overview===
<div class="res-img">
[[File:Power domain overview.png]]
</div>

====Power domains====
There are 9 power domains around the board controlling voltage on different pins: 
* <b>Input power</b> controls power to 4 high power outputs, the 4 fans and the 6 stepper drivers. This input has current monitoring, fast acting over current protection, voltage monitoring, temperature monitoring and reverse polarity protection.
* <b>Thermo couple power</b> Controls +5V/1A output to the ADCs. This can be used for turning on power to the analog pins. 
* <b>End stop power</b> Controls +5V/1A output on the six endstops. Ganged. ES0 can be switched to have 12V output. The 12V output has a 
100mA internal current limit. 
* <b>4 USB host power domains</b> Controls 5V/1A current output to the usb host connectors. These are turned on by u-boot.
*<b>HDMI 5V output</b> Controls the 5V/1A HDMI output. Turned on by u-boot.

It is possible to get an overview of the different voltage regulators on the board by checking the summary created by the debug subsystem:
<pre>
cat /sys/kernel/debug/regulator/regulator_summary
</pre>
Here is an example output
<pre>
 regulator                      use open bypass  opmode voltage current     min     max
---------------------------------------------------------------------------------------
 regulator-dummy                 17   23      0 unknown     0mV     0mA     0mV     0mV 
    usb_phy_generic.3.auto-vcc    1                                 0mA     0mV     0mV
    1f02c00.pinctrl-vcc-pl        1                                 0mA     0mV     0mV
    vcc-3v3                       8    7      0 unknown  3300mV     0mA  3300mV  3300mV 
       1c30000.ethernet-phy-io    1                                 0mA     0mV     0mV
       1c30000.ethernet-phy       1                                 0mA     0mV     0mV
       1c20800.pinctrl-vcc-ph     1                                 0mA     0mV     0mV
       1c11000.mmc-vmmc           1                                 0mA  3300mV  3400mV
       1c20800.pinctrl-vcc-pd     1                                 0mA     0mV     0mV
       1c20800.pinctrl-vcc-pg     1                                 0mA     0mV     0mV
       1c20800.pinctrl-vcc-pb     1                                 0mA     0mV     0mV
    vdd-cpux                      2    1      0 unknown  1200mV     0mA  1040mV  1300mV 
       cpu0-cpu                   1                                 0mA  1200mV  1200mV
    dcdc4                         0    0      0 unknown  1100mV     0mA     0mV     0mV 
    vcc-dram                      1    0      0 unknown  1360mV     0mA  1360mV  1360mV 
    vdd-sys                       1    0      0 unknown  1100mV     0mA  1100mV  1100mV 
    vcc-phy                       1    0      0 unknown     0mV     0mA     0mV     0mV 
    vcc-ext                       1    0      0 unknown  3300mV     0mA  3300mV  3300mV 
    aldo2                         0    0      0 unknown  1800mV     0mA     0mV     0mV 
    vcc-pll-avcc                  1    0      0 unknown  3000mV     0mA  3000mV  3000mV 
    vcc-hdmi                      2    1      0 unknown  3300mV     0mA  3300mV  3300mV 
       1ee0000.hdmi-hvcc          1                                 0mA     0mV     0mV
    current-control               1    0      0 unknown  1400mV     0mA  1400mV  1400mV 
    dldo3                         0    0      0 unknown  2900mV     0mA     0mV     0mV 
    dldo4                         0    0      0 unknown  3300mV     0mA     0mV     0mV 
    emmc-io                       3    2      0 unknown  1800mV     0mA  1800mV  1800mV 
       1c11000.mmc-vqmmc          1                                 0mA     0mV     0mV
       1c20800.pinctrl-vcc-pc     1                                 0mA     0mV     0mV
    eldo2                         0    0      0 unknown   700mV     0mA     0mV     0mV 
    eldo3                         0    0      0 unknown   700mV     0mA     0mV     0mV 
    fldo1                         0    0      0 unknown  1200mV     0mA     0mV     0mV 
    vdd-cpus                      1    0      0 unknown  1100mV     0mA  1100mV  1100mV 
    vcc-rtc                       1    0      0 unknown  3000mV     0mA  3000mV  3000mV 
    vcc-ref                       1    0      0 unknown  3300mV     0mA  3300mV  3300mV 
    vcc-iref                      1    0      0 unknown  3300mV     0mA  3300mV  3300mV 
 5v-buck                          3    2      0 unknown  5000mV     0mA  5000mV  5000mV 
    usb1-vbus3                    1    0      0 unknown  5000mV     0mA  5000mV  5000mV 
    usb1-vbus4                    1    0      0 unknown  5000mV     0mA  5000mV  5000mV 
 usb1-vbus1                       1    0      0 unknown  5000mV     0mA  5000mV  5000mV 
 usb1-vbus2                       1    0      0 unknown  5000mV     0mA  5000mV  5000mV 
 hdmi-vbus                        1    0      0 unknown  5000mV     0mA  5000mV  5000mV 
</pre>

====Input stage====
Reset over current protection and set it in "one-shot" mode.
<pre>
gpioset 1 164=0
gpioset 1 164=1
</pre>

The over current protection can also be set in "transparent" mode, where the current alarm 
will be reset automatically. Note that this is a bad idea for general operation, only use for testing. 
<pre>
gpioset 1 164=0
</pre>

Enable 24V input
<pre>
gpioset 1 165=0
</pre>

Check if over current alarm has been triggered. If the value is 0, the alarm has been triggered.
<pre>
gpioget 1 166
</pre>

====End stop 5V /12V====
End stop 0 to 4 has a programmable +5V output voltage. 
End stop 5 has +5V or +12V selectable.

To enable +5V on ES 1...5
<pre>
gpioset 1 162=1
</pre>

To disable again
<pre>
gpioset 1 162=0
</pre>

To switch to 12V output on ES0
<pre>
gpioset 1 160=1
</pre>
To disable again
<pre>
gpioset 1 160=0
</pre>

====End stops values====
To see what value the end stops have
<pre>
gpioget 1 228 # ES 5
gpioget 1 229
gpioget 1 230
gpioget 1 231
gpioget 1 232
gpioget 1 233 # ES 0
</pre>

====TMC2209====
Note: This is not possible with Recore A7, since it does not have the uarts directly connected to the stepper drivers, instead relying on gpio controlled by Klipper. 

In window/shell 1:
<pre>
stty -F /dev/ttyS2 raw -echoe -echo
xxd -c 4 /dev/ttyS2
</pre>
In window/shell 2:
<pre>
echo -n -e '\x5\x0\x6\x6F' > /dev/ttyS2
</pre>
The return should be along the lines of
<pre>
00000000: 0500 066f  ...o
00000004: 05ff 0620  ... 
00000008: 0001 4058  ..@X
</pre>

To check that no errors are reported by the steppers write this on the command line. If a "1" shows up, that is an indication that the motor is reporting an error. 
<pre>
gpioget 1 128
gpioget 1 129
gpioget 1 130
gpioget 1 131
gpioget 1 132
gpioget 1 133
</pre>

==== STM32F031 ====
There is a small firmware to test all functionality that is controlled by the STM32F031 chip on the board. 
Once uploaded to the board using the flash script, the firmware will turn on all LEDs it controls and send 
back ADC readings. 
The firmware is available in the Recore repository: https://github.com/intelligent-agent/Recore/blob/master/binaries/recore-test.bin
To flash this firmware to the STM32:
<pre>
gpioset 1 197=1
gpioset 1 196=0
stm32flash -i -196,196 -w recore-test.bin -v -g 0x00 /dev/ttyS2
gpioset 1 197=0
stm32flash -i -196,196 /dev/ttyS2
</pre>

To see the ADC readings: 
<pre>
stty -F /dev/ttyS2 38400 raw
cat /dev/ttyS2
</pre>
You should see something like
<pre>
ADC T0: 0
ADC T1: 0
ADC T2: 0
ADC T3: 0
ADC U: 2338
ADC I: 0
ADC TB: 3417
</pre>

The following one-liners assumes gawk is installed.

===Reading Current===
There is board current reading implemented in OctoPrint. 
The current shunt resistor is 1 mOhm, the amplifier is 20 times, the vref is 3.3V, so we get:
(adc_val/4096*3.3)*1000/20 = (adc_val/4096)*165

If the testing firmware is installed on the STM32, you can convert the current (as in amps) reading to something useful like this:
<pre>
cat /dev/ttyS4 | awk '/I:/ { printf "scale=4; (%i/4096)*165\n", $3; fflush(); }' | bc -l
</pre>

====Current limit programming====
The current limit must be set in the device tree by programming the voltage 
on dldo2. dldo2 can have values from 0.7 V to 3.4 V. Setting the voltage level to 3.4 V effectively 
disables the fast acting current limit. Setting it to the lowest value gives an over current limit of 35 A.

===Reading Board Temperature===
To see the temperature readings, try this : 
<pre>
export beta=4327
cat /dev/ttyS1 | awk '/TB:/ { printf "scale=4; 4327/l( (4700/((3.3/(3.3*%i/4096))-1.0))/0.05306820342563400000) -273.15\n", $3; fflush(); }' | bc -l | awk '{print strftime("%k:%M:%S"), $0; fflush();}'
</pre>

===Reading Input Voltage===
To see voltage on the input, it can be converted like this: 
<pre>
exec 4</dev/ttyS4 5>/dev/ttyS4
echo -n ";A4;" >&5
read -t1 reply <&4
echo $reply | awk '{ printf "scale=4; (%i/4096)*3.3*((100+10)/10)\n", $4; fflush(); }' | bc -l
</pre>

===Thermistor inputs===
To enable pull-up on input for using thermistors for temperature measurements: 
<pre>
gpioset 1 202=1
gpioset 1 203=1
gpioset 1 204=1
gpioset 1 205=1
</pre>

Setting Op-amp gain to 1:
<pre>
gpioset 1 100=0
gpioset 1 235=0
gpioset 1 145=0
gpioset 1 34=0
</pre>

Setting Op-amp gain to 100:
<pre>
gpioset 1 100=1
gpioset 1 235=1
gpioset 1 145=1
gpioset 1 34=1
</pre>

Adding a 0.33 V offset to the input:
<pre>
gpioset 1 192=1
gpioset 1 193=1
gpioset 1 194=1
gpioset 1 200=1
</pre>

Do not add 0.33 V offset to the input:
<pre>
gpioget 1 192
gpioget 1 193
gpioget 1 194
gpioget 1 200
</pre>

In the device tree file, the gpio/ldos must be set to gpio input:
<pre>
&gpio0_ldo {
  function = "gpio_in";
};
</pre>

===Thermocouple input===
Either a thermocouple or a thermistor can be used as input on the 
T0-T3 inputs. 
====Bias====
The thermocouple is set up to have a Bias of 0.7V/100 on the input which enables negative 
values (lower than the board temperature) as input to the ADCs. 
With the input short circuited, the bias can be recorded. Typical values are 750
This needs to be subtracted from the result.
====Cold junction compensation====
Another important aspect is cold junction compensation. 
There is a thermistor connected on the board close to the thermocouple inputs
which can be used to measure the temperature close to the input junction. 
This temperature must be added in software.

The connected thermistor is a TDK [https://product.tdk.com/info/en/catalog/datasheets/503021/tpd_commercial_ntc-thermistor_ntcg_en.pdf NTCG104EF104FT1X]
The connected Thermocouple has a (25/100) beta value of 4327 K and a (25/85) beta value of 4308 K. The 25/85 
beta value is what is used in Klipper. 

In order to use the inputs for thermocouple, the pull-up-down resistors must be set to pull-down: 

<pre>
gpioset 1 102=0
gpioset 1 120=0
gpioset 1 160=0
gpioset 1 161=0
</pre>

Also, the op-amp needs a gain of 100:
<pre>
gpioset 1 100=0
gpioset 1 235=0
gpioset 1 145=0
gpioset 1 34=0
</pre>

Finally, the input bias needs to be enabled. The following LDOs needs to be enabled:
<pre>
reg_ldo_io0
reg_ldo_io1
reg_dldo3
reg_dldo4
</pre>

==Memory testing==
<pre>
sudo memtester 700M
</pre>

==Frequency testing==
<pre>
apt install cpufrequtils
cpufreq-set -u 1200MHz
cpufreq-set -g ondemand
</pre>

==rsyslog==
On the client:
<pre>
sudo nano /etc/rsyslog.d/50-remote-logging.conf
</pre>
<pre>
*.* @<ip of host>
</pre>

On the the host
<pre>
sudo nano /etc/rsyslog.conf
</pre>

<pre>
module(load="imudp")
input(type="imudp" port="514")
</pre>

==Activate the screensaver==
<pre>
xset -display :0 s activate
</pre>