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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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Missing writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x00); ? #61

Closed gerowtj closed 4 years ago

gerowtj commented 4 years ago

In the "EM71280_MPU9250_BMP280_M24512DFC_WS_Acc_Cal.ino" program, routine "void EM7180_set_WS_params()" there is not a "writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x00);" at the end of the routine to restart the algorithm.

Should there be a write of 0x00 to the AlgorithmControl register after the "writeByte(EM7180_ADDRESS, EM7180_ParamRequest, 0x00);" at line 929?

Thanks, Tom

kriswiner commented 4 years ago

Way old sketches, try these https://github.com/gregtomasch/EM7180_SENtral_Calibration.

On Fri, Sep 20, 2019 at 8:44 PM gerowtj notifications@github.com wrote:

In the "EM71280_MPU9250_BMP280_M24512DFC_WS_Acc_Cal.ino" program, routine "void EM7180_set_WS_params()" there is not a "writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x00);" at the end of the routine to restart the algorithm.

Should there be a write of 0x00 to the AlgorithmControl register after the "writeByte(EM7180_ADDRESS, EM7180_ParamRequest, 0x00);" at line 929?

Thanks, Tom

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kriswiner commented 4 years ago

In general, WS_Resume is called after WS_Passthru and there is no need to restart the fusion algorithm while the EM7180 is in passthrough mode.

On Fri, Sep 20, 2019 at 8:54 PM Tlera Corporation tleracorp@gmail.com wrote:

Way old sketches, try these https://github.com/gregtomasch/EM7180_SENtral_Calibration.

On Fri, Sep 20, 2019 at 8:44 PM gerowtj notifications@github.com wrote:

In the "EM71280_MPU9250_BMP280_M24512DFC_WS_Acc_Cal.ino" program, routine "void EM7180_set_WS_params()" there is not a "writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x00);" at the end of the routine to restart the algorithm.

Should there be a write of 0x00 to the AlgorithmControl register after the "writeByte(EM7180_ADDRESS, EM7180_ParamRequest, 0x00);" at line 929?

Thanks, Tom

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gerowtj commented 4 years ago

Perfect makes sense, thanks for the link to the other files, and the quick reply!

Closing this issue

Regards, Tom

K-Space909 commented 3 years ago

So is this out of date then?

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

I've been using this sketch since I began with the USFS board, since it was linked in the writeup found here: https://github.com/kriswiner/EM7180_SENtral_sensor_hub/wiki/F.--Magnetometer-and-Accelerometer-Calibration

If this is outdated, it may be the reason for all my intermittent hanging issues

kriswiner commented 3 years ago

Probably. Try this https://github.com/gregtomasch/EM7180_SENtral_Calibration instead.

On Wed, Mar 17, 2021 at 4:00 PM K-Space909 @.***> wrote:

So is this out of date then?

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

I've been using this sketch since I began with the USFS board, since it was linked in the writeup found here:

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K-Space909 commented 3 years ago

I can't seem to get this one to work. Using Teensy 3.2, the Sentral MPU9250 board, and the "Teensy_INV_USFS_Baseline_Calibration_Utility_Acc_WS" script with all the header files copied into my VisualMicro solution in Visual Studio.

I was able to get "Sentral Status: 11" at first, and tried to calibrate the accel, but after rebooting I still had "Acc Cal data invalid". And now I'm only getting "Sentral Status: 3".


Opening port
Port open
VMDPR_Initializing Sentral_0
Sentral_0:
Scanning...
I2C device found at address 0x28  !
I2C scan complete

Sentral Status: 3 (Should be 11)

Sentral firmware loaded. Fetching Accel Cal and WS parameters...
Done...

Acceleromater Calibration Data:
X-acc max: -1
Y-acc max: -1
Z-acc max: -1
X-acc min: -1
Y-acc min: -1
Z-acc min: -1

Checking/loading Acc Cal data...
Acc Cal data invalid! Defaults loaded...
Done. Loading Warm Start Parameters, modifying sensor ranges and data rates...
Warm Start data NOT loaded!
Done. Starting the Sentral...
Done. Loading algorithm tuning parameters...
Sentral initialization complete!

Algorithm Status = 0

ax_0 = -8 ay_0 = 4 az_0 = 1036 mg
gx_0 = 0.00 gy_0 = 0.00 gz_0 = 0.00 deg/s

mx_0 = 22 my_0 = -22 mz_0 = 1 uT

Sentral_0 Quaternion (NED):
Q0_0 = 0.91 Qx_0 = -0.03 Qy_0 = -0.06 Qz_0 = 0.41

Sentral_0 Yaw, Pitch, Roll: 62.53, -5.09, -6.25

Baro Pressure: 949.40 mbar
Baro Temperature: 19.49 deg C

Loop Cycletime:11087316 us

Send '1' for Sentral_0 Accel Cal
Make sure the desired accelerometer axis is properly aligned with gravity and remains still
All three accelerometers must to be calibrated in the +/-1g condition for accurate results
Send '2' to save Sentral_0 Warm Start params
K-Space909 commented 3 years ago

I probably need to hook up the interrupt pin, don't I?

kriswiner commented 3 years ago

Looks like your attempt at storing the warm start configuration didn't "take" for some reason. Otherwise, the code seems to be running at least.

Not sure what the problem is exactly?

Are you trying to do the accel cal?

On Fri, Mar 19, 2021 at 11:54 AM K-Space909 @.***> wrote:

I can't seem to get this one to work. Using Teensy 3.2, the Sentral MPU9250 board, and the "Teensy_INV_USFS_Baseline_Calibration_Utility_Acc_WS" script with all the header files copied into my VisualMicro solution in Visual Studio.

I was able to get "Sentral Status: 11" at first, and tried to calibrate the accel, but after rebooting I still had "Acc Cal data invalid". And now I'm only getting "Sentral Status: 3".

Opening port Port open VMDPR_Initializing Sentral_0 Sentral_0: Scanning... I2C device found at address 0x28 ! I2C scan complete

Sentral Status: 3 (Should be 11)

Sentral firmware loaded. Fetching Accel Cal and WS parameters... Done...

Acceleromater Calibration Data: X-acc max: -1 Y-acc max: -1 Z-acc max: -1 X-acc min: -1 Y-acc min: -1 Z-acc min: -1

Checking/loading Acc Cal data... Acc Cal data invalid! Defaults loaded... Done. Loading Warm Start Parameters, modifying sensor ranges and data rates... Warm Start data NOT loaded! Done. Starting the Sentral... Done. Loading algorithm tuning parameters... Sentral initialization complete!

Algorithm Status = 0

ax_0 = -8 ay_0 = 4 az_0 = 1036 mg gx_0 = 0.00 gy_0 = 0.00 gz_0 = 0.00 deg/s

mx_0 = 22 my_0 = -22 mz_0 = 1 uT

Sentral_0 Quaternion (NED): Q0_0 = 0.91 Qx_0 = -0.03 Qy_0 = -0.06 Qz_0 = 0.41

Sentral_0 Yaw, Pitch, Roll: 62.53, -5.09, -6.25

Baro Pressure: 949.40 mbar Baro Temperature: 19.49 deg C

Loop Cycletime:11087316 us

Send '1' for Sentral_0 Accel Cal Make sure the desired accelerometer axis is properly aligned with gravity and remains still All three accelerometers must to be calibrated in the +/-1g condition for accurate results Send '2' to save Sentral_0 Warm Start params

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kriswiner commented 3 years ago

If the sketch you are trying to use is expecting an interrupt then yes.

On Fri, Mar 19, 2021 at 12:00 PM K-Space909 @.***> wrote:

I probably need to hook up the interrupt pin, don't I?

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K-Space909 commented 3 years ago

Copy that. I'm still using the sketch as-written, and will refactor it just a bit as I bring it into my solution. Do you have any general recommendations for changing the script to a more request-based format? My scripting is a little slow since I'm sending packets over the air at around 80Hz, and I want to be sure I'm sending the most recent IMU data with each packet.

kriswiner commented 3 years ago

Polling instead of interrupt works for this. Or just set up a time-based data read in your main loop and read the data when you wnt. As long as your reads are much slower than the data rate, you will get the latest data as of the time of read request.

On Fri, Mar 19, 2021 at 12:07 PM K-Space909 @.***> wrote:

Copy that. I'm still using the sketch as-written, and will refactor it just a bit as I bring it into my solution. Do you have any general recommendations for changing the script to a more request-based format? My scripting is a little slow since I'm sending packets over the air at around 80Hz, and I want to be sure I'm sending the most recent IMU data with each packet.

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