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kriswiner / EM7180_SENtral_sensor_hub

(Affordable) Ultimate Sensor Fusion Solution
https://www.tindie.com/products/onehorse/ultimate-sensor-fusion-solution/
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stop at "Beginning Parameter Adjustments" #41

Open mbui0327 opened 5 years ago

mbui0327 commented 5 years ago

I just got this new board and ran through the default program. It seems to be stuck at: "Beginning Parameter Adjustments". What did i do wrong?

mbui0327 commented 5 years ago

It stops here

while(!(param_xfer==0x4A)) {
    param_xfer = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
  }
kriswiner commented 5 years ago

Which board? Which program? MCU? Connections?

A bit more infor would help me understand what is happening.

On Tue, Oct 16, 2018 at 2:49 PM robotdreamers notifications@github.com wrote:

I just got this new board and ran through the default program. It seems to be stuck at: "Beginning Parameter Adjustments". What did i do wrong?

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mbui0327 commented 5 years ago

Sorry, this board Ultimate Sensor Fusion Solution - MPU9250. I bought from Pesky Products. https://www.tindie.com/products/onehorse/ultimate-sensor-fusion-solution-mpu9250/

kriswiner commented 5 years ago

Good start. How are you connecting it to your MCU, which MCU? Can you detect the I2C address of the EM7180 on the I2C bus?

On Tue, Oct 16, 2018 at 3:15 PM robotdreamers notifications@github.com wrote:

Sorry, this board Ultimate Sensor Fusion Solution - MPU9250. I bought from Pesky Products.

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mbui0327 commented 5 years ago

I am using Teensy 3.5. Got this message: Scanning... Unknow error at address 0x01 Unknow error at address 0x02 Unknow error at address 0x03 Unknow error at address 0x04 Unknow error at address 0x05 Unknow error at address 0x06 Unknow error at address 0x07 Unknow error at address 0x08 Unknow error at address 0x09 Unknow error at address 0x0A Unknow error at address 0x0B Unknow error at address 0x0C Unknow error at address 0x0D Unknow error at address 0x0E Unknow error at address 0x0F Unknow error at address 0x10 Unknow error at address 0x11 Unknow error at address 0x12 Unknow error at address 0x13 Unknow error at address 0x14 Unknow error at address 0x1EEPROM detected on the sensor bus! EEPROM uploaded config file! EEPROM CRC incorrect! EM7180 in initialized state! No EEPROM detected! Beginning Parameter Adjustments

kriswiner commented 5 years ago

I suspect you don't have the board connected properly.

What are the connections? Maybe a picture?

On Tue, Oct 16, 2018 at 3:20 PM robotdreamers notifications@github.com wrote:

I am using Teensy 3.5. Got this message: Scanning... Unknow error at address 0x01 Unknow error at address 0x02 Unknow error at address 0x03 Unknow error at address 0x04 Unknow error at address 0x05 Unknow error at address 0x06 Unknow error at address 0x07 Unknow error at address 0x08 Unknow error at address 0x09 Unknow error at address 0x0A Unknow error at address 0x0B Unknow error at address 0x0C Unknow error at address 0x0D Unknow error at address 0x0E Unknow error at address 0x0F Unknow error at address 0x10 Unknow error at address 0x11 Unknow error at address 0x12 Unknow error at address 0x13 Unknow error at address 0x14 Unknow error at address 0x1EEPROM detected on the sensor bus! EEPROM uploaded config file! EEPROM CRC incorrect! EM7180 in initialized state! No EEPROM detected! Beginning Parameter Adjustments

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mbui0327 commented 5 years ago

Black is GND, White is 3.3V, Red is data, Yellow is Clk. The other end is correct as I have used this for other sensors i am testing. I just dont know if i need more wire?

img_8369

mbui0327 commented 5 years ago

I running again and I got this

Scanning...
Unknow error at address 0x01
Unknow error at address 0x02
Unknow error at address 0x03
Unknow error at address 0x04
Unknow error at address 0x05
Unknow error at address 0x06
Unknow error at address 0x07
Unknow error at address 0x08
Unknow error at address 0x09
Unknow error at address 0x0A
Unknow error at address 0x0B
Unknow error at address 0x0C
Unknow error at address 0x0D
Unknow error at address 0x0E
Unknow error at address 0x0F
Unknow error at address 0x10
Unknow error at address 0x11
Unknow error at address 0x12
Unknow error at address 0x13
Unknow error at address 0x14
Unknow error at address 0x15
Unknow error at address 0x16
Unknow error at address 0x17
Unknow error at address 0x18
Unknow error at address 0x19
Unknow error at address 0x1A
Unknow error at address 0x1B
Unknow error at address 0x1C
Unknow error at address 0x1D
Unknow error at address 0x1E
Unknow error at address 0x1F
Unknow error at address 0x20
Unknow error at address 0x21
Unknow error at address 0x22
Unknow error at address 0x23
Unknow error at address 0x24
Unknow error at address 0x25
Unknow error at address 0x26
Unknow error at address 0x27
Unknow error at address 0x28
Unknow error at address 0x29
Unknow error at address 0x2A
Unknow error at address 0x2B
Unknow error at address 0x2C
Unknow error at address 0x2D
Unknow error at address 0x2E
Unknow error at address 0x2F
Unknow error at address 0x30
Unknow error at address 0x31
Unknow error at address 0x32
Unknow error at address 0x33
Unknow error at address 0x34
Unknow error at address 0x35
Unknow error at address 0x36
Unknow error at address 0x37
Unknow error at address 0x38
Unknow error at address 0x39
Unknow error at address 0x3A
Unknow error at address 0x3B
Unknow error at address 0x3C
Unknow error at address 0x3D
Unknow error at address 0x3E
Unknow error at address 0x3F
Unknow error at address 0x40
Unknow error at address 0x41
Unknow error at address 0x42
Unknow error at address 0x43
Unknow error at address 0x44
Unknow error at address 0x45
Unknow error at address 0x46
Unknow error at address 0x47
Unknow error at address 0x48
Unknow error at address 0x49
Unknow error at address 0x4A
Unknow error at address 0x4B
Unknow error at address 0x4C
Unknow error at address 0x4D
Unknow error at address 0x4E
Unknow error at address 0x4F
Unknow error at address 0x50
Unknow error at address 0x51
Unknow error at address 0x52
Unknow error at address 0x53
Unknow error at address 0x54
Unknow error at address 0x55
Unknow error at address 0x56
Unknow error at address 0x57
Unknow error at address 0x58
Unknow error at address 0x59
Unknow error at address 0x5A
Unknow error at address 0x5B
Unknow error at address 0x5C
Unknow error at address 0x5D
Unknow error at address 0x5E
Unknow error at address 0x5F
Unknow error at address 0x60
Unknow error at address 0x61
Unknow error at address 0x62
Unknow error at address 0x63
Unknow error at address 0x64
Unknow error at address 0x65
Unknow error at address 0x66
Unknow error at address 0x67
Unknow error at address 0x68
Unknow error at address 0x69
Unknow error at address 0x6A
Unknow error at address 0x6B
Unknow error at address 0x6C
Unknow error at address 0x6D
Unknow error at address 0x6E
Unknow error at address 0x6F
Unknow error at address 0x70
Unknow error at address 0x71
Unknow error at address 0x72
Unknow error at address 0x73
Unknow error at address 0x74
Unknow error at address 0x75
Unknow error at address 0x76
Unknow error at address 0x77
Unknow error at address 0x78
Unknow error at address 0x79
Unknow error at address 0x7A
Unknow error at address 0x7B
Unknow error at address 0x7C
Unknow error at address 0x7D
Unknow error at address 0x7E
No I2C devices found

EM7180 ROM Version: 0xFFFF
Should be: 0xE609
EM7180 RAM Version: 0x255255
EM7180 ProductID: 0xFF Should be: 0x80
EM7180 RevisionID: 0xFF Should be: 0x02
A barometer is installed
A humidity sensor is installed
A temperature sensor is installed
A custom sensor is installed
A second custom sensor is installed
A third custom sensor is installed
EEPROM detected on the sensor bus!
EEPROM uploaded config file!
EEPROM CRC incorrect!
EM7180 in initialized state!
No EEPROM detected!
Beginning Parameter Adjustments
kriswiner commented 5 years ago

What voltage is showing on SDA and SCL?

On Tue, Oct 16, 2018 at 3:26 PM robotdreamers notifications@github.com wrote:

Black is GND, White is 3.3V, Red is data, Yellow is Clk. The other end is correct as I have used this for other sensors i am testing. I just dont know if i need more wire?

[image: img_8369] https://user-images.githubusercontent.com/34329345/47051111-b3944a00-d157-11e8-849e-ff5ca367dc93.jpg

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mbui0327 commented 5 years ago

Oh i don't have tool for that atm. But I have use the same connection for other sensors (which are disconnected now)

mbui0327 commented 5 years ago

Ok it seems to work now when I change config values of Wire.begin() Wire.begin();//(I2C_MASTER, 0x00, I2C_PINS_16_17, I2C_PULLUP_EXT, I2C_RATE_400); This is what was working for me before.

mbui0327 commented 5 years ago

Kris, do you have a piece of code to do mag and accel calib for this board? Thanks.

kriswiner commented 5 years ago

The em7180 has auto mag and gyro calibration. Just move the device around for a minute or so in a figure eight. You can use warm start to save the calbration for the next power on.

On Tue, Oct 16, 2018 at 4:06 PM robotdreamers notifications@github.com wrote:

Kris, do you have a piece of code to do mag and accel calib for this board? Thanks.

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mbui0327 commented 5 years ago

Oh thanks. What about accel calib?

kriswiner commented 5 years ago

See the wiki.

On Tue, Oct 16, 2018 at 4:23 PM robotdreamers notifications@github.com wrote:

Oh thanks. What about accel calib?

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mbui0327 commented 5 years ago

So the system had been working quite well for couple of mins. Then after I did some warm-start calib (saving the params), now for some reason, the both software and hardware measurement stop at 1 values after few change at the beginning. It will changes a little bit if i restart then stuck at one values. Do you happen to run into this issue? Thanks.

kriswiner commented 5 years ago

Possible that Teensy does not support > 32-byte I2C reads? Do you know if the Teensy 3.5 buffer is 32 bytes as is most Arduino MCUs?

Anyway, either there is garbage in the warm start registers or somehow not all of the data is being read. The warm start parameters are read in a 128-byte burst and sometines (like on the ESP32) the buffer size is significantly smaller than this. Either modift the read to 32byte chunks or increase the buffer size to 128 bytes or more.

I suppose it is also possible you are using an outdated sketch...

On Tue, Oct 16, 2018 at 5:58 PM robotdreamers notifications@github.com wrote:

So the system had been working quite well for couple of mins. Then after I did some warm-start calib (saving the params), now for some reason, the both software and hardware measurement stop at 1 values after few change at the beginning. It will changes a little bit if i restart then stuck at one values. Do you happen to run into this issue? Thanks.

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mbui0327 commented 5 years ago

I used the warmstart cloned from here: https://github.com/kriswiner/EM7180_SENtral_sensor_hub Let me check more on the buffer. In any case the default value in i2c_t3.h is 

#define I2C_TX_BUFFER_LENGTH 259
#define I2C_RX_BUFFER_LENGTH 259
kriswiner commented 5 years ago

This one?

https://github.com/kriswiner/EM7180_SENtral_sensor_hub/tree/master/WarmStartandAccelCal

On Tue, Oct 16, 2018 at 6:49 PM robotdreamers notifications@github.com wrote:

I used the warmstart cloned from here: https://github.com/kriswiner/EM7180_SENtral_sensor_hub Let me check more on the buffer. In any case the default value in i2c_t3.h is

define I2C_TX_BUFFER_LENGTH 259

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mbui0327 commented 5 years ago

I used this https://github.com/kriswiner/EM7180_SENtral_sensor_hub/tree/master/WarmStart

kriswiner commented 5 years ago

Did you use this to both save and restore the warm start parameters?

There are several settings that would need to change for your configuration, like wire.begin() etc. I assume you made these changes and it was running.

Not sure what is wrong, hard to tell without exactly the sketch you are running. Something has gone wrong. Will it run if you don;t select load warm start?

On Tue, Oct 16, 2018 at 6:54 PM robotdreamers notifications@github.com wrote:

I used this https://github.com/kriswiner/EM7180_SENtral_sensor_hub/tree/master/WarmStart

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mbui0327 commented 5 years ago

I am trying WarmStartandAccelCal. And there seems to be a typo on: this #include "Globals.h" instead #include "Global.h"

mbui0327 commented 5 years ago

ah, yes it did run without warmstart, i.e. mode 0.

mbui0327 commented 5 years ago

I did only save. I did not know there is restore mode as well.

kriswiner commented 5 years ago

There is a save warm start parameters and a load warm start parameters. If they are not properly saved, then they will not properly load and the EM7180 won't run.

On Tue, Oct 16, 2018 at 7:06 PM robotdreamers notifications@github.com wrote:

I did only save. I did not know there is restore mode as well.

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mbui0327 commented 5 years ago

Can you help tell me the x/y direction of the MPU9250 on the board? Thanks.

kriswiner commented 5 years ago

According to the product spec, right of board is Ax, top is Ay.

On Tue, Oct 16, 2018 at 8:10 PM robotdreamers notifications@github.com wrote:

Can you help tell me the x/y direction of the MPU9250 on the board? Thanks.

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mbui0327 commented 5 years ago

After I calibrate both mag and accel following the instruction wiki. Both are saved. It seems like the mag calib is not working properly. When I run EM7180_MPU9250_BMP280.ino I got this message:

M7180 run status = normal mode
 EM7180 magnetic anomaly detected
 EM7180 new quaternion result
 EM7180 new mag result
 EM7180 new accel result
 EM7180 new gyro result
 EM7180 sensor status = 0

The the yaw is off. Do you happen to know what is going on? Thanks.

kriswiner commented 5 years ago

Tha RAM Version is correct.

On Wed, Oct 17, 2018 at 5:12 PM robotdreamers notifications@github.com wrote:

Oh I do see this too:

EM7180 RAM Version: 1xEM7180 ROM Version: 0xE69 Should be: 0xE609

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kriswiner commented 5 years ago

These messages all seem fine.

What do you mean, "the yaw is off"?

On Wed, Oct 17, 2018 at 4:53 PM robotdreamers notifications@github.com wrote:

After I calibrate both mag and accel following the instruction wiki. Both are saved. It seems like the mag calib is not working properly. When I run EM7180_MPU9250_BMP280.ino I got this message:

M7180 run status = normal mode EM7180 magnetic anomaly detected EM7180 new quaternion result EM7180 new mag result EM7180 new accel result EM7180 new gyro result EM7180 sensor status = 0

The the yaw is off. Do you happen to know what is going on? Thanks.

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mbui0327 commented 5 years ago

I got this message EM7180 magnetic anomaly detected while I am expecting EM7180 mag calibration completed The yaw heading is not the same as the one i got when I just done the calibration, off for 100 degree or something.

kriswiner commented 5 years ago

Did you check your mag calibration like in this https://github.com/kriswiner/MPU6050/wiki/Simple-and-Effective-Magnetometer-Calibration writeup?

How do you know your sensors are calibrated? How did you check?

On Wed, Oct 17, 2018 at 5:38 PM robotdreamers notifications@github.com wrote:

I got this message EM7180 magnetic anomaly detected while I am expecting EM7180 mag calibration completed The yaw heading is not the same as the one i got when I just done the calibration, off for 100 degree or something.

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kriswiner commented 5 years ago

When properly calibrated the device is an absolute orientation estimator. Proper yaw comparison is to point the top of the boards toward True North and check the yaw, it should read zero if you have properly compensated for your local magnetic declination.

On Wed, Oct 17, 2018 at 5:42 PM Tlera Corporation tleracorp@gmail.com wrote:

Did you check your mag calibration like in this https://github.com/kriswiner/MPU6050/wiki/Simple-and-Effective-Magnetometer-Calibration writeup?

How do you know your sensors are calibrated? How did you check?

On Wed, Oct 17, 2018 at 5:38 PM robotdreamers notifications@github.com wrote:

I got this message EM7180 magnetic anomaly detected while I am expecting EM7180 mag calibration completed The yaw heading is not the same as the one i got when I just done the calibration, off for 100 degree or something.

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mbui0327 commented 5 years ago

I got this very weird thing happened. After following the instruction carefully, I can get the heading error within 2 degree. Please see the picture of the screenshot and my setting. However, after I saved the config and after few mins in that instead state, the heading yaw now becomes 18 degree. I try to recalibrate mag again but it is still 18 degree after calibration. Not sure what went wrong.

screen shot 2018-10-17 at 8 31 52 pm

img_3140

kriswiner commented 5 years ago

Not sure, is there a magnet nearby or something that could affect the heading?

Are you sure the mag is properly calibrated when you store the warm start parameters?

One way to tell is look at Mz when the board is facing upo and compre to Mz when the board is facing down, they should be equal but opposite in sign. If not then the mag is not calibrated.

On Wed, Oct 17, 2018 at 9:00 PM robotdreamers notifications@github.com wrote:

I got this very weird thing happened. After following the instruction carefully, I can get the heading error within 2 degree. Please see the picture of the screenshot and my setting. However, after I saved the config and after few mins in that instead state, the heading yaw now becomes 18 degree. I try to recalibrate mag again but it is still 18 degree after calibration. Not sure what went wrong.

[image: screen shot 2018-10-17 at 8 31 52 pm] https://user-images.githubusercontent.com/34329345/47130638-609dbe00-d24f-11e8-8a55-1580e57c4229.png img_3140

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mbui0327 commented 5 years ago

Does the chip has some self-calibration capability? After saved the mag calib, I let it running next to my small compass shown in the previous picture. Will that created the small drift overtime?

mbui0327 commented 5 years ago

and indeed, the Mz in my case is not complete opposite in sign 210 vs -250.

kriswiner commented 5 years ago

So your calibrtion is off by ~20%.

Yes, the EM7180 does auto gyro and mag calibration as I told you. if the mag is not well calibrated then the EM7180 will continue to try to calibrate even after reading warm start parameters so this might be why you are seeing changes.

On Wed, Oct 17, 2018 at 9:21 PM robotdreamers notifications@github.com wrote:

and indeed, the Mz in my case is not complete opposite in sign 210 vs -250.

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mbui0327 commented 5 years ago

is there an option to stop the self-calibration? assuming I have an application where this is necessary.

mbui0327 commented 5 years ago

Self-calib would work if the chip is moving/changing direction. But if it stays still, it won't be that helpful. Am I right? On Wed, Oct 17, 2018 at 9:56 PM Kris Winer notifications@github.com wrote:

So your calibrtion is off by ~20%.

Yes, the EM7180 does auto gyro and mag calibration as I told you. if the mag is not well calibrated then the EM7180 will continue to try to calibrate even after reading warm start parameters so this might be why you are seeing changes.

On Wed, Oct 17, 2018 at 9:21 PM robotdreamers notifications@github.com wrote:

and indeed, the Mz in my case is not complete opposite in sign 210 vs -250.

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kriswiner commented 5 years ago

No way to turn this off.

On Wed, Oct 17, 2018 at 10:33 PM robotdreamers notifications@github.com wrote:

Self-calib would work if the chip is moving/changing direction. But if it stays still, it won't be that helpful. Am I right? On Wed, Oct 17, 2018 at 9:56 PM Kris Winer notifications@github.com wrote:

So your calibrtion is off by ~20%.

Yes, the EM7180 does auto gyro and mag calibration as I told you. if the mag is not well calibrated then the EM7180 will continue to try to calibrate even after reading warm start parameters so this might be why you are seeing changes.

On Wed, Oct 17, 2018 at 9:21 PM robotdreamers notifications@github.com wrote:

and indeed, the Mz in my case is not complete opposite in sign 210 vs -250.

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mbui0327 commented 5 years ago

after understanding how it works especially the self-calib capability. I think i finally got it working stably. Thank Kris. I just ordered two more USFS boards.

kriswiner commented 5 years ago

I am sorry you had so much trouble. Maybe you could summarize your findings for others who have similar trouble in the future? Maybe as a review of the board on Tindie?

On Thu, Oct 18, 2018 at 10:00 AM robotdreamers notifications@github.com wrote:

after understanding how it works especially the self-calib capability. I think i finally got it working stably. Thank Kris. I just ordered two more USFS boards.

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mbui0327 commented 5 years ago

Yes, I will write some review note when I am done.

One more question, it seems like your code do not calibrate the gyro. I did not find the part of the code that is similar to function MPU9250::calibrateGyro in the standard Adruino MPU9250 library.

kriswiner commented 5 years ago

Gyro cal is automatic

On Sat, Oct 20, 2018 at 8:26 PM robotdreamers notifications@github.com wrote:

Yes, I will write some review note when I am done.

One more question, it seems like your code do not calibrate the gyro. I did not find the part of the code that is similar to function MPU9250::calibrateGyro in the standard Adruino MPU9250 library.

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