Rcio spi1.0: rcio_pwm: Error in pwm running count

I have the following hardware setup =>

RaspBerry Pi 2 Model B V1.1
NAVIO+
SD IMAGE => https://files.emlid.com/images/emlid-raspbian-20220608.img.xz

The following command shows →

pi@navio:~ $ sudo emlidtool

//==========================================
emlidtool version: 1.0.8
Vendor: ¯_(ツ)_/¯ Unknown, but most likely Emlid
Product: Seems like you booted without Navio properly screwed!
Issue: Emlid 2022-06-08 b0f907c36788f6fe9dc492de3bebd4b920c465e4
Kernel: 5.10.11-emlid-v7+
RCIO firmware: 0x0
//==========================================

I´m using the follwing command to start arducopter

sudo systemctl start arducopter

the service fails to start and i saw the follwing errors in the log /va/log/messages

Jan 6 01:10:54 navio kernel: [ 1075.447838] rcio spi1.0: rcio_pwm: Error in pwm running count
Jan 6 01:10:54 navio kernel: [ 1075.739804] rcio spi1.0: rcio_pwm: Error in pwm running count
Jan 6 01:10:55 navio kernel: [ 1076.001348] rcio spi1.0: rcio_pwm: Error in pwm running count
Jan 6 01:10:55 navio kernel: [ 1076.489313] rcio spi1.0: rcio_pwm: Error in pwm running count
Jan 6 01:10:55 navio kernel: [ 1076.743572] rcio spi1.0: rcio_pwm: Error in pwm running count
Jan 6 01:11:43 navio kernel: [ 1124.090368] rcio spi1.0: rcio_pwm: Error in pwm running count
Jan 6 01:11:43 navio kernel: [ 1124.489787] rcio spi1.0: rcio_pwm: Error in pwm running count
Jan 6 01:11:43 navio kernel: [ 1124.741154] rcio spi1.0: rcio_pwm: Error in pwm running count

There is no additional hardware or changes made. I have just NAVIO+ connected on my RaspBerry Pi 2.

any ideia ?

Hi @dnunovf,

Maybe you’ve already checked that, but I see it says the following:

Did you make sure Navio is properly attached to the RPi? Have you used this device before? Or is it the first time?

@svetlana.nikolenko

I’ve had the NAVIO+ for a long time, but I’ve never used it on any drone because the idea was to study first.

Now some time to continue studying so I downloaded the latest version and i´m facing this error.

But as you can see, I can get information from the Gyroscope.
Here goes the evidence. =>

Additionally, here are some photo of how Navio+ is connected =>





Here goes lsmod →

Here goes the “/var/log/message” log

messages.log (25.8 KB)

emlidtool_test command is not working →

emlidtool_test

Already updated =>

@svetlana.nikolenko do you have any update ? Can you help me ?

Hi @dnunovf,

I saw your messages, thank you for the details! I need a little bit of time to think about possible reasons for this. I’ll get back to you as soon as possible.

Hi @dnunovf,

I’ve discussed your case with the team. Still, the main assumption is that there is no proper connection between Navio+ sensors and RPi.

Navio+ may even be screwed too tight. Also, it is possible that the GPIO extender is faulty and does not allow a proper connection. Maybe some of the pins are bent or not being inserted correctly.

In the photos, it looks fine. But most likely, there is something that couldn’t be seen in the photos. You can try to unscrew it and attach it again or look for another extender. But if it doesn’t help, it seems something happened to the connectors themselves, which can hardly be fixed.

Hi @svetlana.nikolenko thanks for the answer.

I would like to show you a different approach.
So I will give you two answers, which are complementary.

@svetlana.nikolenko

I used the multimeter to determine if there is a connection between all the pins on the Raspberry and the Navio+, and yes they are.
I sending a photo that you can see a test of one pin, and of course i did to all pin.

If my test is not properly, please let me know how can i did it .


@svetlana.nikolenko

while I was waiting for your feed-back I did some tests using previous versions of linux that I downloaded from the site:

This error appears in versions after “emlid-raspbian-20190227”.

Therefore, I am using the “emlid-raspbian-20190227” version.

The arduplit service does not fail and the “mission planer” also connects and I can see the sensors working, such as the compass, gyroscope, gps …

I understand that it must be something in Linux and not hardware. Do you have the same equipment in the laboratory that I have to reproduce?



Mission Planer messages =>

1/23/2023 1:08:23 PM : EKF2 IMU0 Origin set to GPS
1/23/2023 1:08:18 PM : EKF2 IMU0 tilt alignment complete
1/23/2023 1:08:17 PM : Flight mode = 11
1/23/2023 1:08:17 PM : Failsafe. Long event on: type=2/reason=3
1/23/2023 1:08:13 PM : EKF2 IMU0 initial yaw alignment complete
1/23/2023 1:08:12 PM : Flight mode = 1
1/23/2023 1:08:12 PM : Failsafe. Short event on: type=1/reason=3
1/23/2023 1:08:12 PM : Throttle failsafe on
1/23/2023 1:08:12 PM : GPS 1: detected as u-blox at 115200 baud
1/23/2023 1:08:12 PM : Ground start complete
1/23/2023 1:08:12 PM : Airspeed calibration started
1/23/2023 1:08:12 PM : Barometer calibration complete
1/23/2023 1:08:08 PM : EKF2 IMU0 initial yaw alignment complete
1/23/2023 1:08:07 PM : Flight mode = 1
1/23/2023 1:08:07 PM : Failsafe. Short event on: type=1/reason=3
1/23/2023 1:08:07 PM : Throttle failsafe on
1/23/2023 1:08:07 PM : GPS 1: detected as u-blox at 115200 baud
1/23/2023 1:08:07 PM : Ground start complete
1/23/2023 1:08:07 PM : Airspeed calibration started
1/23/2023 1:08:07 PM : Barometer calibration complete
1/23/2023 1:07:55 PM : u-blox 1 HW: 00080000 SW: 2.01 (75350)
1/23/2023 1:07:50 PM : EKF2 IMU0 Origin set to GPS
1/23/2023 1:07:46 PM : EKF2 IMU0 tilt alignment complete
1/23/2023 1:07:45 PM : Flight mode = 11
1/23/2023 1:07:45 PM : Failsafe. Long event on: type=2/reason=3
1/23/2023 1:07:40 PM : EKF2 IMU0 initial yaw alignment complete
1/23/2023 1:07:39 PM : Flight mode = 1
1/23/2023 1:07:39 PM : Failsafe. Short event on: type=1/reason=3
1/23/2023 1:07:39 PM : Throttle failsafe on
1/23/2023 1:07:39 PM : GPS 1: detected as u-blox at 115200 baud
1/23/2023 1:07:39 PM : Ground start complete
1/23/2023 1:07:39 PM : Airspeed calibration started
1/23/2023 1:07:39 PM : Barometer calibration complete
1/23/2023 1:07:33 PM : u-blox 1 HW: 00080000 SW: 2.01 (75350)
1/23/2023 1:07:28 PM : EKF2 IMU0 Origin set to GPS
1/23/2023 1:07:23 PM : EKF2 IMU0 tilt alignment complete
1/23/2023 1:07:22 PM : Flight mode = 11
1/23/2023 1:07:22 PM : Failsafe. Long event on: type=2/reason=3
1/23/2023 1:07:18 PM : EKF2 IMU0 initial yaw alignment complete
1/23/2023 1:07:17 PM : Flight mode = 1
1/23/2023 1:07:17 PM : Failsafe. Short event on: type=1/reason=3
1/23/2023 1:07:17 PM : Throttle failsafe on
1/23/2023 1:07:17 PM : GPS 1: detected as u-blox at 115200 baud
1/23/2023 1:07:17 PM : Ground start complete
1/23/2023 1:07:17 PM : Airspeed calibration started
1/23/2023 1:07:17 PM : Barometer calibration complete
1/23/2023 1:07:12 PM : EKF2 IMU0 tilt alignment complete
1/23/2023 1:07:11 PM : Flight mode = 11
1/23/2023 1:07:11 PM : Failsafe. Long event on: type=2/reason=3
1/23/2023 1:07:07 PM : EKF2 IMU0 initial yaw alignment complete
1/23/2023 1:07:06 PM : Flight mode = 1
1/23/2023 1:07:06 PM : Failsafe. Short event on: type=1/reason=3
1/23/2023 1:07:06 PM : Throttle failsafe on
1/23/2023 1:07:06 PM : GPS 1: detected as u-blox at 115200 baud
1/23/2023 1:07:06 PM : Ground start complete
1/23/2023 1:07:06 PM : Airspeed calibration started
1/23/2023 1:07:06 PM : Barometer calibration complete
1/23/2023 1:06:40 PM : u-blox 1 HW: 00080000 SW: 2.01 (75350)
1/23/2023 1:06:37 PM : EKF2 IMU0 Origin set to GPS
1/23/2023 1:06:32 PM : EKF2 IMU0 tilt alignment complete
1/23/2023 1:06:31 PM : Flight mode = 11
1/23/2023 1:06:31 PM : Failsafe. Long event on: type=2/reason=3
1/23/2023 1:06:27 PM : EKF2 IMU0 initial yaw alignment complete
1/23/2023 1:06:26 PM : Flight mode = 1
1/23/2023 1:06:26 PM : Failsafe. Short event on: type=1/reason=3
1/23/2023 1:06:26 PM : Throttle failsafe on
1/23/2023 1:06:25 PM : GPS 1: detected as u-blox at 115200 baud
1/23/2023 1:06:25 PM : Ground start complete
1/23/2023 1:06:25 PM : Airspeed calibration started
1/23/2023 1:06:25 PM : Barometer calibration complete
1/23/2023 1:06:24 PM : Calibrating barometer
1/23/2023 1:06:23 PM : Beginning INS calibration. Do not move plane
1/23/2023 1:06:23 PM : Ground start
1/23/2023 1:06:19 PM : EKF2 IMU0 initial yaw alignment complete
1/23/2023 1:06:18 PM : Flight mode = 1
1/23/2023 1:06:18 PM : Failsafe. Short event on: type=1/reason=3
1/23/2023 1:06:18 PM : Throttle failsafe on
1/23/2023 1:06:17 PM : GPS 1: detected as u-blox at 115200 baud
1/23/2023 1:06:17 PM : Ground start complete
1/23/2023 1:06:17 PM : Airspeed calibration started
1/23/2023 1:06:17 PM : Barometer calibration complete
1/23/2023 1:06:16 PM : Calibrating barometer
1/23/2023 1:06:15 PM : Beginning INS calibration. Do not move plane
1/23/2023 1:06:15 PM : Ground start
1/23/2023 1:06:10 PM : u-blox 1 HW: 00080000 SW: 2.01 (75350)
1/23/2023 1:06:06 PM : EKF2 IMU0 Origin set to GPS
1/23/2023 1:06:01 PM : EKF2 IMU0 tilt alignment complete
1/23/2023 1:06:00 PM : Flight mode = 11
1/23/2023 1:06:00 PM : Failsafe. Long event on: type=2/reason=3
1/23/2023 1:05:56 PM : EKF2 IMU0 initial yaw alignment complete
1/23/2023 1:05:55 PM : Flight mode = 1
1/23/2023 1:05:55 PM : Failsafe. Short event on: type=1/reason=3
1/23/2023 1:05:55 PM : Throttle failsafe on
1/23/2023 1:05:54 PM : GPS 1: detected as u-blox at 115200 baud
1/23/2023 1:05:54 PM : Ground start complete
1/23/2023 1:05:54 PM : Airspeed calibration started
1/23/2023 1:05:54 PM : Barometer calibration complete
1/23/2023 1:05:53 PM : Calibrating barometer
1/23/2023 1:05:52 PM : Beginning INS calibration. Do not move plane
1/23/2023 1:05:52 PM : Ground start
1/23/2023 1:05:49 PM : Calibrating barometer
1/23/2023 1:05:48 PM : Beginning INS calibration. Do not move plane
1/23/2023 1:05:48 PM : Ground start
1/23/2023 1:05:17 PM : EKF2 IMU0 is using GPS
1/23/2023 1:04:55 PM : u-blox 1 HW: 00080000 SW: 2.01 (75350)
1/23/2023 1:04:51 PM : EKF2 IMU0 Origin set to GPS
1/23/2023 1:04:46 PM : EKF2 IMU0 tilt alignment complete
1/23/2023 1:04:45 PM : Flight mode = 11
1/23/2023 1:04:45 PM : Failsafe. Long event on: type=2/reason=3
1/23/2023 1:04:41 PM : EKF2 IMU0 initial yaw alignment complete
1/23/2023 1:04:40 PM : Flight mode = 1
1/23/2023 1:04:40 PM : Failsafe. Short event on: type=1/reason=3
1/23/2023 1:04:40 PM : Throttle failsafe on
1/23/2023 1:04:40 PM : GPS 1: detected as u-blox at 115200 baud
1/23/2023 1:04:40 PM : Ground start complete
1/23/2023 1:04:40 PM : Airspeed calibration started
1/23/2023 1:04:40 PM : Barometer calibration complete
1/23/2023 1:04:38 PM : Calibrating barometer
1/23/2023 1:04:37 PM : Beginning INS calibration. Do not move plane
1/23/2023 1:04:37 PM : Ground start
1/23/2023 1:04:32 PM : EKF2 IMU0 initial yaw alignment complete
1/23/2023 1:04:31 PM : Flight mode = 1
1/23/2023 1:04:31 PM : Failsafe. Short event on: type=1/reason=3
1/23/2023 1:04:31 PM : Throttle failsafe on
1/23/2023 1:04:30 PM : GPS 1: detected as u-blox at 115200 baud
1/23/2023 1:04:30 PM : Ground start complete
1/23/2023 1:04:30 PM : Airspeed calibration started
1/23/2023 1:04:30 PM : Barometer calibration complete
1/23/2023 1:04:23 PM : EKF2 IMU0 tilt alignment complete
1/23/2023 1:04:22 PM : Flight mode = 11
1/23/2023 1:04:22 PM : Failsafe. Long event on: type=2/reason=3
1/23/2023 1:04:18 PM : EKF2 IMU0 initial yaw alignment complete
1/23/2023 1:04:17 PM : Flight mode = 1
1/23/2023 1:04:17 PM : Failsafe. Short event on: type=1/reason=3
1/23/2023 1:04:17 PM : Throttle failsafe on
1/23/2023 1:04:16 PM : GPS 1: detected as u-blox at 115200 baud
1/23/2023 1:04:16 PM : Ground start complete
1/23/2023 1:04:16 PM : Airspeed calibration started
1/23/2023 1:04:16 PM : Barometer calibration complete
1/23/2023 1:03:31 PM : ArduPlane V3.9.8 (6ea22c9c)
1/23/2023 1:03:30 PM : ArduPlane V3.9.8 (6ea22c9c)

Thank you for the tests! Sorry, didn’t expect you to have a multimeter, but such a test is a good idea.

That’s an interesting finding.

I’ll discuss your case with the team. But I can’t promise fast results here. In the meantime, am I right the emlid-raspbian-20190227 version works for you?

@svetlana.nikolenko

Yes works. Apparently the sensors reflected the information in the mission planner.

Good, thanks! So, if there is any news, I’ll get back to you. But as I said before, can’t share an ETA, unfortunately.