Not sure if this is a bug or user error....Trying to access wpilib DO channel 21 (High Current DIO Pin 10)

[Charlie Peppler]

After having some success with CAN, I'm moving on to testing Digital Outputs.
The plan is to use an external relay driven by a 5V Digital Output to power a 12V LED for lighting up vision.

I went through the hardware manual and the 

This is what I did:

Looked up the wpilib i/o mapping page on Kauai Lab beta website.

Went down to section "Digital I/O (DIO) Channel Addressing"

Selected wpilib channel 21, which should map to High Current DIO pin 10.

Wired Ground, Power, and signal to the inputs on the relay (Got a green LED, so relay is happy).

Assumed High Current DIO is set to 5V (as shipped), and direction set to output.

in 

in class Robot:

  private static final int ledChannelID = 21;

  private DigitalOutput ledOutput = new DigitalOutput(ledChannelID);

This the result (from Console):

VMX HAL:  pigpio library version 69 opened. 

 VMX HAL:  SPI Aux Channel 2 opened with baudrate of 4000000. 

 VMX HAL:  Established communication with VMX-pi model 0x32, hardware rev 60, firmware version 3.0.411 

 VMX HAL:  Acquired navX-Sensor configuration. 

 VMX HAL:  Library version 1.1.220 

 Set VMX CAN Mode to NORMAL. 

 Server Running... 

 ********** Robot program starting ********** 

 In disabledInit() 

 Default disabledPeriodic() method... Override me! 

 Default robotPeriodic() method... Override me! 

ERROR  1  Unhandled exception: edu.wpi.first.hal.util.UncleanStatusException:  Code: -1098. HAL: A handle parameter was passed incorrectly  frc.robot.Main.main(Main.java:27) 

 Error at frc.robot.Main.main(Main.java:27): Unhandled exception: edu.wpi.first.hal.util.UncleanStatusException:  Code: -1098. HAL: A handle parameter was passed incorrectly 

 at edu.wpi.first.hal.DIOJNI.getDIO(Native Method) 

 at edu.wpi.first.wpilibj.DigitalOutput.get(DigitalOutput.java:69) 

 at edu.wpi.first.wpilibj.smartdashboard.SendableBuilderImpl.lambda$addBooleanProperty$0(SendableBuilderImpl.java:219) 

 at edu.wpi.first.wpilibj.smartdashboard.SendableBuilderImpl.updateTable(SendableBuilderImpl.java:95) 

 at edu.wpi.first.wpilibj.livewindow.LiveWindow.updateValues(LiveWindow.java:290) 

 at edu.wpi.first.wpilibj.IterativeRobotBase.loopFunc(IterativeRobotBase.java:263) 

 at edu.wpi.first.wpilibj.TimedRobot.startCompetition(TimedRobot.java:81) 

 at edu.wpi.first.wpilibj.RobotBase.startRobot(RobotBase.java:263) 

 at frc.robot.Main.main(Main.java:27) 

  

Warning  1  Robots should not quit, but yours did!  edu.wpi.first.wpilibj.RobotBase.startRobot(RobotBase.java:274) 

 Warning at edu.wpi.first.wpilibj.RobotBase.startRobot(RobotBase.java:274): Robots should not quit, but yours did! 

ERROR  1  The startCompetition() method (or methods called by it) should have handled the exception above.  edu.wpi.first.wpilibj.RobotBase.startRobot(RobotBase.java:276) 

 Error at edu.wpi.first.wpilibj.RobotBase.startRobot(RobotBase.java:276): The startCompetition() method (or methods called by it) should have handled the exception above. 

 # 

 # A fatal error has been detected by the Java Runtime Environment: 

 # 

 #  SIGSEGV (0xb) at pc=0x739ccf28, pid=11649, tid=11698 

 # 

 # JRE version: OpenJDK Runtime Environment (11.0.7+10) (build 11.0.7+10-post-Raspbian-3deb10u1) 

 # Java VM: OpenJDK Server VM (11.0.7+10-post-Raspbian-3deb10u1, mixed mode, g1 gc, linux-) 

 # Problematic frame: 

 # C  [libvmxpi_hal_cpp.so+0xa3f28][thread 11704 also had an error] 

 [thread 11725 also had an error] 

   spiGoA+0x2a8 

 # 

 # No core dump will be written. Core dumps have been disabled. To enable core dumping, try "ulimit -c unlimited" before starting Java again 

 # 

 # An error report file with more information is saved as: 

 # //hs_err_pid11649.log 

Warning  44004  FRC:  The Driver Station has lost communication with the robot.  Driver Station 

If I comment out the reference to DigitalOutput, all is happy.

Am I doing something wrong, or is this a bug?

(Just a note:  I just did a Raspi update/upgrade, and it looks like a new java runtime came down...not sure if that might have an effect.

[Jacob Roth-Ritchie]

Hello,

I think the high output DI/DO need to be set using the jumper (either all output or all input), though I think they are set to output as default.

Did you set the jumper to Output?  I have only used that section as PWM, but I did get the flex DIO working with a button, and it works.  The channel mappings in WPILIB seem to be the same as the docs.

Barring that, did you update the VMX-Pi Software after the update to the Raspberry pi OS?  I wonder if that could have reset something.

Other than those two things, I am out of ideas.  Sorry.  Oh, I think it would be a different error, but if you instantiated pin10 for PWM, that would also cause a similar issue (though I think the error would say something to that effect).

[Charlie Peppler]

Hello Jacob,

I powered VMX down, opened it up, and rechecked all the jumpers.  HiCurrent DIO set to output, all power level jumpers

set to 5V.

The code is stripped down to just a single call to allocate the Digital Output on a single channel (wpilib 21, HiCurr DIO physical channel 10).  No PWMs.

$ java --version

openjdk 11.0.7 2020-04-14

OpenJDK Runtime Environment (build 11.0.7+10-post-Raspbian-3deb10u1)

OpenJDK Server VM (build 11.0.7+10-post-Raspbian-3deb10u1, mixed mode)

Raspberry Pi 4 Model B Rev 1.2

sudo apt-cache show vmxpi-frc

Package: vmxpi-frc

Version: 1.1.220

Architecture: armhf

Maintainer: Kauai Labs

Installed-Size: 500

Depends: vmxpi-hal

Filename: ./vmxpi-frc_1.1.220_armhf.deb

sudo apt-cache show vmxpi-hal

Package: vmxpi-hal

Version: 1.1.220

Architecture: armhf

Maintainer: Kauai Labs

Installed-Size: 3000

Filename: ./vmxpi-hal_1.1.220_armhf.deb

 I submitted an issue on the beta github site.  Will update it with this info.

Thank you for checking in!

Charlie

[Scott Libert]

Thanks for reporting this, it is indeed a bug.

After some research, the issue is specifically w Digital IO channel #21.  As it stands now, this single digital IO channel number fails to allocate correctly, due to a bug in the VMX-pi WPI Library HAL.  I'll have more details soon in the Github issue you've entered - and will be working on a solution.  

Your workaround until this is fixed is to not use Channel #s 21 as a Digital Input or Output.  It should work OK for PWM.

[Charlie Peppler]

Thank you Scott.  I confirmed that Digital Output works on channels 18-20, and I can happily click my relay.