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Bugfix/wt901 via SerialPIO #96

Merged
merged 6 commits into from
Jul 23, 2024
Merged

Bugfix/wt901 via SerialPIO #96

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47c92de
Neopixel magenta flash on serial overflow
Apehaenger May 14, 2024
2c88deb
Fix timing and add comms error display via NeoPixel
Apehaenger May 16, 2024
74ccc49
Fix build of WT901_INSTEAD_OF_SOUND
Apehaenger May 16, 2024
d7d0b20
Fix Wstringop-overflow warning (nv_config related)
Apehaenger May 16, 2024
0aac871
Re-enabled unknown unlock sequence
Apehaenger May 18, 2024
8cc09ed
Merge branch 'main' into bugfix/WT901
ClemensElflein Jul 23, 2024
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29 changes: 18 additions & 11 deletions Firmware/LowLevel/lib/JY901_SERIAL/JY901.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -10,26 +10,23 @@ CJY901 ::CJY901(SerialPIO *serial)
this->serial = serial;
}

void CJY901::begin(int baudrate) {
void CJY901::begin(unsigned long baudrate) {
serial->begin(baudrate);
delay(1000);
uint8_t unlock[] = {0xFF,0xF0,0xF0,0xF0,0xF0};
/*uint8_t unlock[] = {0xFF,0xF0,0xF0,0xF0,0xF0}; // undocumented / unknown?
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Couldn't find this unlock code in any documentation. Only in a doubtful Amazon comment. So I disabled it.

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https://forum.arduino.cc/t/help-calibrating-witmotion-inclinometer-through-ttl-with-mega2560/941394/1
This is what my Google-fu gave me, not sure if it is related thou

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it is needed I remember sniffing the configuration of the GUI app to see how they do it because just sending config didn't work

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Thanks for your comments!
After reading @FadeFx comment and link I immediately thought: "Could be an Auto-Baud detection sequence", but in-between tested it. It's not :-)
Will uncomment it again.

serial->write(unlock, 5);
serial->flush();
delay(10);*/
writeRegister(RSW, 0b0000000000010110); // Return data content
delay(10);
writeRegister(RSW, 0b0000000000010110);
writeRegister(RRATE, 0x08); // Return rate 0x06 = 10Hz (default), 0x08 = 50Hz, 0x09 = 100Hz
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IMU_CYCLETIME is 20ms, so I reduced WT's return rate to 50Hz

delay(10);
writeRegister(RRATE, 0x09);
writeRegister(0x0b, 0x00); // X axis Magnetic bias
delay(10);
writeRegister(0x0b,0x00);
writeRegister(0x0c, 0x00); // Y axis Magnetic bias
delay(10);
writeRegister(0x0c,0x00);
writeRegister(0x0d, 0x00); // Z axis Magnetic bias
delay(10);
writeRegister(0x0d,0x00);
delay(10);




ucRxCnt = 0;
}
Expand All @@ -43,6 +40,7 @@ void CJY901 ::update()
if (ucRxBuffer[0] != 0x55)
{
ucRxCnt = 0;
commsError_ = true;
continue;
}
if (ucRxCnt < 11)
Expand Down Expand Up @@ -112,3 +110,12 @@ void CJY901::writeRegister(uint8_t address, uint16_t data) {
delay(100);

}

bool CJY901::commsError() {
bool hold = commsError_;
#ifdef WT901
hold |= serial->overflow();
#endif
commsError_ = false;
return hold;
}
14 changes: 8 additions & 6 deletions Firmware/LowLevel/lib/JY901_SERIAL/JY901.h
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Expand Up @@ -142,15 +142,16 @@ class CJY901
struct SGPSV stcGPSV;

#ifdef WT901_INSTEAD_OF_SOUND
CJY901 (HardwareSerial *serial);
CJY901 (HardwareSerial *serial);
void begin(unsigned long baudrate = 9600UL);
#elif WT901
CJY901 (SerialPIO *serial);
#endif

void begin(int baudrate = 9600);
CJY901 (SerialPIO *serial);
void begin(unsigned long baudrate = 9700UL); // YES, 9700 baud! See SerialPIO timing issue https://github.com/earlephilhower/arduino-pico/issues/1276
#endif

// Call as often as possible to fetch data from serial
void update();

bool commsError(); // Get (and reset) communication error flag


private:
Expand All @@ -161,6 +162,7 @@ class CJY901
#endif
unsigned char ucRxBuffer[250];
unsigned char ucRxCnt = 0;
bool commsError_ = false; // Any kind of communication error

void writeRegister(uint8_t address, uint16_t data);
};
Expand Down
4 changes: 4 additions & 0 deletions Firmware/LowLevel/src/imu.h
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Original file line number Diff line number Diff line change
Expand Up @@ -8,4 +8,8 @@ bool imu_read(float *acceleration_mss,float *gyro_rads,float *mag_uT);
// call once per loop, used to process serial or do sensor fusion or do nothing.
void imu_loop();

#if defined(WT901) || defined(WT901_INSTEAD_OF_SOUND)
bool imu_comms_error(); // get IMU communication error flag (and reset it)
#endif

#endif
5 changes: 5 additions & 0 deletions Firmware/LowLevel/src/imu/WT901_SERIAL/imu.cpp
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Expand Up @@ -41,4 +41,9 @@ bool imu_read(float *acceleration_mss, float *gyro_rads, float *mag_uT)
void imu_loop()
{
IMU.update();
}

bool imu_comms_error()
{
return IMU.commsError();
}
22 changes: 14 additions & 8 deletions Firmware/LowLevel/src/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -548,7 +548,10 @@ void sendConfigMessage(uint8_t pkt_type) {
ll_config.type = pkt_type;
ll_config.config_bitmask = config_bitmask;
ll_config.volume = 80; // FIXME: Adapt once nv_config or improve-sound got merged
strcpy(ll_config.language, "en"); // FIXME: Adapt once nv_config or improve-sound got merged
iso639_1 language = {'e', 'n'}; // FIXME: Adapt once nv_config or improve-sound got merged
for (unsigned int i = 0; i < sizeof(language); i++) {
ll_config.language[i] = language[i];
}
sendMessage(&ll_config, sizeof(struct ll_high_level_config));
}

Expand Down Expand Up @@ -632,17 +635,20 @@ void updateChargingEnabled() {

void updateNeopixel() {
led_blink_counter++;
// flash red on emergencies
if (emergency_latch && led_blink_counter & 0b10) {
p.neoPixelSetValue(0, 128, 0, 0, true);

if (emergency_latch && led_blink_counter & 0b100) { // slow blink on emergencies
p.neoPixelSetValue(0, 128, 0, 0, true); // 1/2 red
} else {
if (ROS_running) {
// Green, if ROS is running
p.neoPixelSetValue(0, 0, 255, 0, true);
p.neoPixelSetValue(0, 0, 255, 0, true); // green
} else {
// Yellow, if it's not running
p.neoPixelSetValue(0, 255, 50, 0, true);
p.neoPixelSetValue(0, 255, 50, 0, true); // yellow
}
#if defined(WT901) || defined(WT901_INSTEAD_OF_SOUND)
if (led_blink_counter & 0b10 && imu_comms_error()) { // fast blink on communication error (condition order matters -> short-circuit evaluation)
p.neoPixelSetValue(0, 255, 0, 255, true); // magenta
}
#endif
}
}

Expand Down