Posts made by JCW

Hello, Aceinna.

Now, we are trying to get back to the original status of OpenIMU330BI.

We do build and flash the bin file using ST-Link Utility program.
Address: 0x08000000 || Data width 32 bits.

However, the bin file built is based on the OpenIMU300RI which use openimu300 board.

When we reload the bin file built using OpenIMU330BI-VG code, the Openimu330bi board show only 0 values in x,y,z accel and x,y,z gyro.

So, we want to get back to the original status.

Please let us know how to do factory reset.

BR.

Hello, Aceinna.

Fortunately, we succeeded in uploading the bin file to the 330bi through the ST Link Utility.

However, one final barrier remains.

I want to receive Roll and Pitch values ​​as well as Acceleration and Gyro from the 330BI. However, there are no roll and pitch values ​​in the z1 packet.

So, I am testing it simply by entering the roll and pitch values ​​into the Mag_x and Max_y values using below code.

---

BOOL Fill_z1PacketPayload(uint8_t *payload, uint8_t *payloadLen)
{
uint64_t tstamp;
double accels[NUM_AXIS];
double mags[NUM_AXIS];
double rates[NUM_AXIS];
real EulerAngles[NUM_AXIS];

data1_payload_t *pld = (data1_payload_t *)payload;  

// tstamp = platformGetDacqTimeStamp(); // time stamp of last sensor sample in microseconds from system start
tstamp = platformGetCurrTimeStamp(); // current time stamp in microseconds from system start
// tstamp /= 1000; // convert to miliseconds
// timer = getSystemTime(); // OS timer value (tick defined in FreeRTOSConfig.h)
pld->timer = tstamp;

EKF_GetAttitude_EA(EulerAngles);
GetAccelData_mPerSecSq(accels);
GetRateData_degPerSec(rates);
GetMagData_G(mags);

for (int i = 0; i < NUM_AXIS; i++){
    pld->accel_mpss[i] = (float)accels[i];
    pld->rate_dps[i] = (float)rates[i];
    //pld->mag_G[i] = (float)mags[i];
}
pld->mag_G[0]    = (float)EulerAngles[ROLL];
pld->mag_G[1]    = (float)EulerAngles[PITCH];
*payloadLen = sizeof(data1_payload_t);
return TRUE;

}

However, when we get the EulerAngles[ROLL] and EulerAngles[PITCH], those values were zero....................................................
How to get the slope data from the 330BI?????

Hello, Aceinna.

Now, we are trying to debug the code on the OpenIMU330BI.

Building the code is success. Because, we used the original code downloaded from the Aceinna's platform IO (imu330).

However, the debugging process stopped, and showed error message as below figure.

<Debug Console>

< Terminal >

Could you let us how to configure this problem?
This is our setup. We used STLINK V2.0

This is the code we used was downloaded via Aceinna Platform IO as below figure.

Hello, ACEINNA.

According to the STM32L431xx datasheet uploaded by ACEINNA, it appears to support CAN communication interface (https://www.mouser.com/datasheet/2/389/stm32l431cb-956249.pdf)

Is there a way to access the CAN interface of the STM32 Board internally through the pinout of OpenIMU330BI?

It seems that the openIMU330 library provided by ACEINNA already has the code for the CAN interface built in. Is it possible to use the above operation as it is?

Hello, ACEINNA.

I am trying to use openIMU330BI.

Our team uploads MCP2515 Library to OpenIMU330BI to use SPI channel like CAN communication channel. However, Build failed. Are there any teams that have tried a method like ours and have had success?

Here is the library we used : https://github.com/autowp/arduino-mcp2515.

Best Regards.

Hello, ACEINNA.

I am trying to use openIMU330BI, but I have a question.

We want to receive the output data of openIMU330BI through CAN communication.

For this purpose, is it possible only to change the data received through serial or spi communication to a CAN message with a new mcu?

Is there any way to build a CAN communication system using the openIMU330BI internal mcu and a transceiver such as MCP2515?

Best regards.

Hello, ACEINNA.
We are changing a packet type of CAN message.
So, we download the custom IMU example file of OpenIMU335RI/VG using the platformIO of VS code.

However, we cannot build the modified project. Because there is no include folder ( below figure ) .

Could you let me know how to import include folder for OpenIMU335RI device???

@zrs

The image was omitted.

Image attatchment.

Hello, Aceinna.

We changed two things ( 1. .ecuPacketType || 2. .userBehavior) in the "EcuSeeting.c" file and still have a receiving problem.

Especially, as you mentioned, we deleted the Autobaud Detection mode in ".userBehavior".

But..... Still there are no CAN message in the CANBUS.

Receiving code, Power, and cable were already checked using OpenIMU330RI we had bought last year as shown in the below figure.

Could you check our "EcuSetting.c" file??

EcuSetting.c
/** ***************************************************************************

• @file ecu_configuration.c
• THIS CODE AND INFORMATION ARE PROVIDED "AS IS" WITHOUT WARRANTY OF ANY
• KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE
• IMPLIED WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A
• PARTICULAR PURPOSE.

/
/*
Copyright 2018 ACEINNA, INC

Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at

http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
*******************************************************************************/

#include "string.h"
#include "algorithmAPI.h"
#include "configurationAPI.h"

#include "EcuSettings.h"
#include "eepromAPI.h"
#include "Indices.h"
#include "bitAPI.h"
#include "halAPI.h"
#include "odoAPI.h"

static void ApplySystemParameters(EcuConfigurationStruct* const pConfig);
static void UpdateEcuInstanceSettings();
BOOL OrientationToAscii(uint8_t *asciiOrien);

static EcuConfigurationStruct gEcuConfig;
EcuConfigurationStruct *gEcuConfigPtr = &gEcuConfig;
int32_t ConfigSaveError = 0;

static uint16_t newAddress = 0xFFFFU;
static uint16_t newCanBaudRate = 0xFFFFU;
static uint16_t newUartBaudRate = 0xFFFFU;
static uint16_t newBehavior = 0xFFFFU;
static uint16_t newEcuPacketRate = 0xFFFFU;
static uint16_t newEcuPacketType = 0xFFFFU;
static uint16_t newAccelFilter = 0xFFFFU;
static uint16_t newRateFilter = 0xFFFFU;
static uint16_t newOrientation = 0xFFFFU;

// Default user configuration structure
// Applied to unit upon reception of "zR" command
// Do Not remove - just add extra parameters if needed
// Change default settings if desired
static ecu_settings_struct const DefaultEcuSettings = {
.dataCRC = 0,
.dataSize = sizeof(ecu_settings_struct),
.ecuAddress = 128,
.ecuBaudRate = ECU_BAUD_250K,
.ecuPacketRate = 100, // 100Hz
.ecuFilterFreqAccel = 25,
.ecuFilterFreqRate = 25,
.ecuPacketType = (
ACEINNA_SAE_J1939_PACKET_SLOPE_SENSOR2 |
ACEINNA_SAE_J1939_PACKET_ANGULAR_RATE_HR |
ACEINNA_SAE_J1939_PACKET_ACCELERATION_HR |
0
),
.ecuOrientation = 0, // +X +Y +Z
.userBehavior =
(uint16_t)(USER_BEHAVIOR_ENABLE_DYN_MOTION |
USER_BEHAVIOR_SWAP_PITCH_AND_ROLL |
// USER_BEHAVIOR_ENABLE_AUTO_BAUD |
USER_BEHAVIOR_SWAP_ACCEL_FRAME |
USER_BEHAVIOR_USE_RAW_ACCEL_FOR_ALG |
USER_BEHAVIOR_RUN_ALGORITHM_MASK),

.statusPs      = 0,
.algResetPs    = 0,
.saveCfgPs     = 0,
.packetRatePs  = 0,
.packetTypePs  = 0,
.filterPs      = 0,
.orientationPs = 0,
.userBehvPs    = 0,
.algoCoefOfReduceQ       = 10,
.algoLinAccelSwitchDelay = 2000,
.algoRateIntegrationTime = 2000,
.addressChanged = 0,
.masterStatusPs = 0, 
.hwStatusPs     = 0,
.swStatusPs     = 0,
.algoCtrlPs     = 0,
.hrRatePs       = 0,
.hrAccelPs      = 0,
.aidLvarmPs     = 0,
.aidConfigPs    = 0,
.dm1ConfigPs    = 0,
.odoLeverArmX   = 0,
.odoLeverArmY   = 0,
.odoLeverArmZ   = 0,

// DM1 configuration related parameters
.lamp_status = 0x04, // amber light on
.flash_status = 0xFF, // undefined
.SPN = 0x07F4B3, // 521395 - default SPN of message DM1
.FMI1 = 12, // Failure Mode Identifier for DTC1
.FMI2 = 14, // Failure Mode Identifier for DTC2
// Priorities of messages
.ariMsgPriority = 3,
.accsMsgPriority = 2,
.ssi2MsgPriority = 3,

// UART - related parameters
.uartCfg.userUartBaudRate = 115200,
.uartCfg.userPacketType = "z1", // do not apply
.uartCfg.userPacketRate = 100, // do not apply
.uartCfg.lpfAccelFilterFreq = 25, // do not apply
.uartCfg.lpfRateFilterFreq = 25, // do not apply
.uartCfg.orientation = "+X+Y+Z", // do not apply

};

static ecu_settings_struct gEcuSettings;
static uint32_t setStat = 0U;
userUartConfig_t *pUserUartConfig = &gEcuSettings.uartCfg;

/******************************************************************************

• @brief
• @param fSave [in] sample new data to push onto the queue

******************************************************************************/
static BOOL LoadDefaultEcuSettings(BOOL const fSave)
{
// Load default user configuration
memcpy(&gEcuSettings, &DefaultEcuSettings, sizeof(ecu_settings_struct));

if(!fSave){
    return TRUE;
}

return SaveEcuSettings(TRUE, FALSE);

}

/*******************************************

• @brief
• @param config ==
  ********************************************/
  void ApplyDm1ConfigFromEeprom(uint64_t config)
  {
  gEcuSettings.lamp_status = config & 0xFF; // byte 0
  gEcuSettings.flash_status = (config >> & 0xFF; // byte 1
  gEcuSettings.SPN = (config >> 16) & 0xFFFFFF; // byte 2 - 4
  gEcuSettings.FMI1 = (config >> 40) & 0xFF; // byte 5
  gEcuSettings.FMI2 = (config >> 48) & 0xFF; // byte6
  }

/*******************************************

• @brief

• @return uint64_t
  ********************************************/
  uint64_t PrepareDm1ConfigToEeprom()
  {
  uint64_t config = 0;
  config <<= 8;
  config |= gEcuSettings.FMI2;
  config <<= 8;
  config |= gEcuSettings.FMI1;
  config <<= 24;
  config |= (gEcuSettings.SPN & 0x00FFFFFF);
  config <<= 8;
  config |= gEcuSettings.flash_status;
  config <<= 8;
  config |= gEcuSettings.lamp_status;

  return config;
  }

/******************************************************************************

• @brief

******************************************************************************/
void LoadEcuSettings()
{
uint16_t size = (uint16_t)sizeof(gEcuSettings); // total size in bytes
BOOL const factoryMode = EEPROM_IsFactoryMode(); // should be always FALSE when vital system parameters are intact
BOOL const configLoaded = EEPROM_IsConfigLoaded(size);

uint8_t    ecuAddr;
uint64_t   dm1Config;

BOOL       res;
// Validate checksum of user configuration structure
BOOL const configValid = EEPROM_ValidateUserConfig(&size);

if(!configValid){
    // Load default configuration if user configuration
    // did not pass validation
    setStat += LoadDefaultEcuSettings(FALSE);
    BIT_SetInvalidConfigStatus();
}else{
    // Here we have validated User configuration
    setStat += (uint32_t)EEPROM_LoadUserConfig((void*)&gEcuSettings, &size);
    if(configLoaded){
        res = EEPROM_InvalidateConfigSignature(size);
        if(res){
            setStat += EEPROM_SaveEcuAddress(gEcuSettings.ecuAddress);
        }
    }
}

res = EEPROM_GetLastSavedEcuAddress(&ecuAddr);

if(res){
    gEcuSettings.ecuAddress = ecuAddr;
}

res = EEPROM_GetLastSavedDM1Config(&dm1Config);

if(res){
    ApplyDm1ConfigFromEeprom(dm1Config);
}


// assign new actual size
gEcuSettings.dataSize = sizeof(ecu_settings_struct);

memset(&gEcuConfig, 0, sizeof(gEcuConfig));

// Apply parameters from NV memory to ECU configuration structure 
ApplyEcuSettings();

BIT_SetFMICodes(gEcuConfig.FMI1, gEcuConfig.FMI2);

if(!factoryMode)
{
    // User Filters and orientation
    ApplySystemParameters(&gEcuConfig);
    // UART settings 
    UserInitConfigureUart();
}

UpdateEcuInstanceSettings();

}

/*******************************************

• @brief

********************************************/
void BackFillUartDataStructure()
{
OrientationToAscii(pUserUartConfig->orientation);
pUserUartConfig->lpfAccelFilterFreq = config_GetFilterFreq(ACCEL_SENSOR, 0U);
pUserUartConfig->lpfRateFilterFreq = config_GetFilterFreq(RATE_SENSOR, 0U);
}

/** ***************************************************************************

• @name SaveUserConfig - saving of user configuration structure un the

•   predefined flash sector
  

• @brief
• @param fDefault [in]
• @return error (0), no error (1)
  ******************************************************************************/

BOOL SaveEcuSettings(BOOL const fDefault, BOOL const fromUart)
{
uint16_t size;
BOOL status;

if (!fDefault)
{
    gEcuSettings.ecuAddress         = gEcu.addr;
    if(gEcu.newAddr != 0U){
        gEcuSettings.ecuAddress     = gEcu.newAddr;
    }
    gEcuSettings.ecuBaudRate        = gEcu.baudrate;
    gEcuSettings.ecuPacketRate      = gEcuConfigPtr->packet_rate_div == 0? 0 : 100/gEcuConfigPtr->packet_rate_div;
    gEcuSettings.ecuPacketType      = gEcuConfigPtr->packet_type;
    gEcuSettings.userBehavior       = gEcuConfigPtr->user_behavior;
    if(!fromUart){
        // populate from CAN bus side
        gEcuSettings.ecuOrientation     = gEcuConfigPtr->orien_bits;
        gEcuSettings.ecuFilterFreqAccel = gEcuConfigPtr->accel_cut_off;
        gEcuSettings.ecuFilterFreqRate  = gEcuConfigPtr->rate_cut_off;
    }else{
        // populate from config structure whatever propagated from UART commands
        gEcuSettings.ecuOrientation     = config_GetOrientation();
        gEcuSettings.ecuFilterFreqAccel = config_GetFilterFreq(ACCEL_SENSOR, 0U);
        gEcuSettings.ecuFilterFreqRate  = config_GetFilterFreq(RATE_SENSOR, 0U);
    }
    gEcuSettings.algoLinAccelSwitchDelay = gEcuConfigPtr->limitAccelSwitchDelay;
    gEcuSettings.algoRateIntegrationTime = gEcuConfigPtr->limitRateIntegrationTime;
    gEcuSettings.algoCoefOfReduceQ       = gEcuConfigPtr->coefOfReduceQ;

    gEcuSettings.algResetPs      = gEcuConfigPtr->alg_reset_ps;
    gEcuSettings.saveCfgPs       = gEcuConfigPtr->save_cfg_ps;
    gEcuSettings.packetRatePs    = gEcuConfigPtr->packet_rate_ps;
    gEcuSettings.packetTypePs    = gEcuConfigPtr->packet_type_ps;
    gEcuSettings.filterPs        = gEcuConfigPtr->digital_filter_ps;
    gEcuSettings.orientationPs   = gEcuConfigPtr->orientation_ps;
    gEcuSettings.userBehvPs      = gEcuConfigPtr->user_behavior_ps;
    gEcuSettings.masterStatusPs  = gEcuConfigPtr->master_status_ps;
    gEcuSettings.hwStatusPs      = gEcuConfigPtr->hw_status_ps;
    gEcuSettings.swStatusPs      = gEcuConfigPtr->sw_status_ps;
    gEcuSettings.algoCtrlPs      = gEcuConfigPtr->algo_control_ps;
    gEcuSettings.hrRatePs        = gEcuConfigPtr->hr_rate_ps;
    gEcuSettings.hrAccelPs       = gEcuConfigPtr->hr_accel_ps;
    // Odometer lever arm
    gEcuSettings.odoLeverArmX    = gEcuConfigPtr->odoLeverArmX;
    gEcuSettings.odoLeverArmY    = gEcuConfigPtr->odoLeverArmY;
    gEcuSettings.odoLeverArmZ    = gEcuConfigPtr->odoLeverArmZ;
    // Aiding signal configuration settings
    gEcuSettings.signalSource    = gEcuConfigPtr->signalSource;  
    gEcuSettings.aidingPF        = gEcuConfigPtr->aidingPF;  
    gEcuSettings.aidingPS        = gEcuConfigPtr->aidingPS;  
    gEcuSettings.aidingMsgRate   = gEcuConfigPtr->aidingMsgRate;  
    gEcuSettings.drivingDirPF    = gEcuConfigPtr->drivingDirPF;  
    gEcuSettings.drivingDirPS    = gEcuConfigPtr->drivingDirPS;  
    gEcuSettings.odoCfgSwitch    = gEcuConfigPtr->odoCfgSwitch;  
    // new configurable ps
    gEcuSettings.aidLvarmPs      = gEcuConfigPtr->aid_lvarm_ps;
    gEcuSettings.aidConfigPs     = gEcuConfigPtr->aid_config_ps;
    // DM1 config parameters
    gEcuSettings.dm1ConfigPs     = gEcuConfigPtr->dm1_config_ps;
    gEcuSettings.lamp_status     = gEcuConfigPtr->lamp_status;
    gEcuSettings.flash_status    = gEcuConfigPtr->flash_status;
    gEcuSettings.FMI1            = gEcuConfigPtr->FMI1;
    gEcuSettings.FMI2            = gEcuConfigPtr->FMI2;
    gEcuSettings.SPN             = gEcuConfigPtr->SPN;
    // priority of messages
    gEcuSettings.ariMsgPriority  = gEcuConfigPtr->ariPriority;
    gEcuSettings.accsMsgPriority = gEcuConfigPtr->accsPriority;
    gEcuSettings.ssi2MsgPriority = gEcuConfigPtr->ssi2Priority;

    if(!fromUart){
        BackFillUartDataStructure();
    }
}

config_ApplyEcuAddress((uint8_t)gEcuSettings.ecuAddress);
config_ApplyEcuBaudrate((uint8_t)gEcuSettings.ecuBaudRate);

size   = (uint16_t)sizeof(ecu_settings_struct);
status = EEPROM_SaveEcuSettings((uint8_t *)&gEcuSettings, size);

if(status == FALSE){
    if(!fDefault){
        gEcuSettings.ecuAddress   = gEcu.addr;
    }
}

EEPROM_SaveEcuAddress(gEcuSettings.ecuAddress);
uint64_t config = PrepareDm1ConfigToEeprom();
EEPROM_SaveDM1Config(config);

return status;

}

/*******************************************

• @brief
• @param ecuAddress ==
• @return BOOL
  ********************************************/
  BOOL SaveEcuAddress(uint8_t ecuAddress)
  {
  gEcuSettings.ecuAddress = ecuAddress;
  config_ApplyEcuAddress((uint8_t)gEcuSettings.ecuAddress);
  return EEPROM_SaveEcuAddress(ecuAddress);
  }

/*******************************************

• @brief
• @param baudrate ==
  ********************************************/
  extern void UpdateEcuBaudrate(uint16_t baudrate)
  {
  gEcuSettings.ecuBaudRate = baudrate;
  config_ApplyEcuBaudrate((uint8_t)gEcuSettings.ecuBaudRate);
  }

/******************************************************************************

• @brief
• @return address
  ******************************************************************************/
  uint8_t GetEcuAddress()
  {
  return (uint8_t)gEcuSettings.ecuAddress;
  }

/**********************************************

• @brief Set the Ecu Baudrate object
• @param baudrate --
  ***********************************************/
  void SetEcuBaudrate(uint16_t const baudrate)
  {
  newCanBaudRate = baudrate;
  }

/**********************************************

• @brief Set the Ecu Address object
• @param address ---
  ***********************************************/
  void SetEcuAddress(uint16_t const address)
  {
  newAddress = address;
  }

/*******************************************

• @brief Set the Ecu Behavior object
• @param behavior ==
  ********************************************/
  void SetEcuBehavior(uint16_t const behavior)
  {
  newBehavior = behavior;
  }

/*******************************************

• @brief Set the Ecu Packet Type object
• @param type ==
  ********************************************/
  void SetEcuPacketType(uint16_t const type)
  {
  newEcuPacketType = type;
  }

/*******************************************

• @brief Set the Ecu Packet Rate object
• @param rate ==
  ********************************************/
  BOOL SetEcuPacketRate(uint16_t const rate)
  {
  if(rate){
  if((rate > 100) || ((100 % rate) != 0)){ // should be even to 100
  return FALSE;
  }
  }
  newEcuPacketRate = rate;
  return TRUE;
  }

/*******************************************

• @brief Set the Ecu Orientation object
• @param orient ==
  ********************************************/
  void SetEcuOrientation(uint16_t const orient)
  {
  newOrientation = orient;
  }

/*******************************************

• @brief Set the User Uart Baud Rate object
• @param baudRate ==
  ********************************************/
  void SetUserUartBaudRate(uint16_t const baudRate)
  {
  newUartBaudRate = baudRate;
  }

/*******************************************

• @brief Set the Ecu Accel Filter object
• @param filter ==
  ********************************************/
  void SetEcuAccelFilter(uint16_t const filter)
  {
  newAccelFilter = filter;
  }

/*******************************************

• @brief Set the Ecu Rate Filter object
• @param filter ==
  ********************************************/
  void SetEcuRateFilter(uint16_t const filter)
  {
  newRateFilter = filter;
  }

/*******************************************

• @brief

********************************************/
void UpdateEcuSettings()
{
BOOL fSave = FALSE;
BOOL fBaudRate = FALSE;
BOOL fAddress = FALSE;
BOOL fBehavior = FALSE;
BOOL fAccelLpf = FALSE;
BOOL fRateLpf = FALSE;
BOOL fOrientation = FALSE;
BOOL fPacketRate = FALSE;
BOOL fPacketType = FALSE;
BOOL fUartBaudRate = FALSE;

if(newCanBaudRate != 0xFFFFU){
    gEcuSettings.ecuBaudRate = newCanBaudRate & 0x03U;
    newCanBaudRate = 0xFFFFU;
    fBaudRate = TRUE;
    fSave   = TRUE; 
}

if(newUartBaudRate != 0xFFFFU){
    gEcuSettings.uartCfg.userUartBaudRate = newUartBaudRate;
    newUartBaudRate = 0xFFFFU;
    fUartBaudRate   = TRUE;
    fSave           = TRUE; 
}

if(newAddress != 0xFFFFU){
    gEcuSettings.ecuAddress  = newAddress & 0xFFU;
    fAddress  = TRUE;
    newAddress = 0xFFFFU;
    fSave = TRUE;
}

if(newBehavior != 0xFFFFU){
    gEcuSettings.userBehavior = newBehavior;
    fBehavior = TRUE;
    newBehavior = 0xFFFF;
    fSave = TRUE;
}

if(newAccelFilter != 0xFFFFU){
    gEcuSettings.ecuFilterFreqAccel = newAccelFilter;
    gEcuSettings.uartCfg.lpfAccelFilterFreq = 0xFF;   // invalidate 
    fAccelLpf = TRUE;
    newAccelFilter = 0xFFFF;
    fSave = TRUE;
}

if(newRateFilter != 0xFFFFU){
    gEcuSettings.ecuFilterFreqRate = newRateFilter;
    gEcuSettings.uartCfg.lpfRateFilterFreq = 0xFF;   // invalidate 
    fRateLpf = TRUE;
    newRateFilter = 0xFFFF;
    fSave = TRUE;
}

if(newOrientation != 0xFFFFU){
    gEcuSettings.ecuOrientation = newOrientation;
    gEcuSettings.uartCfg.orientation[0] = 0;   // invalidate 
    fOrientation = TRUE;
    newOrientation = 0xFFFF;
    fSave = TRUE;
}

if(newEcuPacketRate != 0xFFFFU){
    gEcuSettings.ecuPacketRate = newEcuPacketRate;
    fPacketRate  = TRUE;
    newEcuPacketRate   = 0xFFFF;
    fSave = TRUE;
}

if(newEcuPacketType != 0xFFFFU){
    gEcuSettings.ecuPacketType = newEcuPacketType;
    fPacketType  = TRUE;
    newEcuPacketType = 0xFFFF;
    fSave = TRUE;
}

if (fSave)
{

    HW_FeedWatchdog();
    uint32_t const size = sizeof(ecu_settings_struct);
    BOOL const status = EEPROM_SaveEcuSettings((uint8_t *)&gEcuSettings, size);

    if (fAddress)
    {
        config_ApplyEcuAddress((uint8_t)gEcuSettings.ecuAddress);
        EEPROM_SaveEcuAddress(gEcuSettings.ecuAddress);
    }
    if (fBaudRate)
    {
        config_ApplyEcuBaudrate((uint8_t)gEcuSettings.ecuBaudRate);
    }
    if (fBehavior)
    {
        config_ApplyEcuUnitBehavior(gEcuSettings.userBehavior);
    }
    if (fAccelLpf)
    {
        config_SelectUserLPFilter(ACCEL_SENSOR, gEcuSettings.ecuFilterFreqAccel, TRUE);
    }
    if (fRateLpf)
    {
        config_SelectUserLPFilter(RATE_SENSOR, gEcuSettings.ecuFilterFreqRate, TRUE);
    }
    if (fOrientation)
    {
        config_ApplyCanOrientation(gEcuSettings.ecuOrientation);
    }
    if (fPacketRate)
    {
        config_ApplyCanPacketRate(gEcuSettings.ecuPacketRate);
    }
    if (fPacketType)
    {
        config_ApplyCanPacketType(gEcuSettings.ecuPacketType);
    }
    if (fUartBaudRate)
    {
        config_SetBaudRate(gEcuSettings.uartCfg.userUartBaudRate, TRUE);
    }


    if (!status)
    {
        ConfigSaveError++;
    }
}

}

/**********************************************

• @brief Get the Ecu Baud Rate object
• @return int32_t
  ***********************************************/
  int32_t GetEcuBaudRate()
  {
  return gEcuSettings.ecuBaudRate;
  }

/******************************************************************************

• @brief

*****************************************************************************/
void ApplyEcuSettings()
{
EcuConfigurationStruct const pEcuConfig = gEcuConfigPtr;

// Add/Remove/Verify ECU-specific parameters here
pEcuConfig->packet_rate_div   = gEcuSettings.ecuPacketRate == 0? 0 : 100U/gEcuSettings.ecuPacketRate;   //++
pEcuConfig->accel_cut_off     = gEcuSettings.ecuFilterFreqAccel;
pEcuConfig->rate_cut_off      = gEcuSettings.ecuFilterFreqRate;
pEcuConfig->packet_type       = gEcuSettings.ecuPacketType;       //++
pEcuConfig->orien_bits        = gEcuSettings.ecuOrientation;
pEcuConfig->user_behavior     = gEcuSettings.userBehavior;
pEcuConfig->limitAccelSwitchDelay = gEcuSettings.algoLinAccelSwitchDelay;
pEcuConfig->limitRateIntegrationTime = gEcuSettings.algoRateIntegrationTime;
pEcuConfig->coefOfReduceQ            = gEcuSettings.algoCoefOfReduceQ;

pEcuConfig->alg_reset_ps      = gEcuSettings.algResetPs;          //++
pEcuConfig->save_cfg_ps       = gEcuSettings.saveCfgPs;           //++
pEcuConfig->packet_type_ps    = gEcuSettings.packetTypePs;        //++
pEcuConfig->packet_rate_ps    = gEcuSettings.packetRatePs;        //++
pEcuConfig->digital_filter_ps = gEcuSettings.filterPs;            //++
pEcuConfig->orientation_ps    = gEcuSettings.orientationPs;       //++
pEcuConfig->user_behavior_ps  = gEcuSettings.userBehvPs;          //++
pEcuConfig->master_status_ps  = gEcuSettings.masterStatusPs;  
pEcuConfig->hw_status_ps      = gEcuSettings.hwStatusPs;  
pEcuConfig->sw_status_ps      = gEcuSettings.swStatusPs;  
pEcuConfig->hr_accel_ps       = gEcuSettings.hrAccelPs;  
pEcuConfig->hr_rate_ps        = gEcuSettings.hrRatePs;  
pEcuConfig->algo_control_ps   = gEcuSettings.algoCtrlPs;  
pEcuConfig->ecuBaudrate       = gEcuSettings.ecuBaudRate;
pEcuConfig->ecuAddress        = gEcuSettings.ecuAddress;

// Odometer lever arm
pEcuConfig->odoLeverArmX      = gEcuSettings.odoLeverArmX;
pEcuConfig->odoLeverArmY      = gEcuSettings.odoLeverArmY;
pEcuConfig->odoLeverArmZ      = gEcuSettings.odoLeverArmZ;
// Aiding signal configuration settings
pEcuConfig->signalSource      = gEcuSettings.signalSource;
pEcuConfig->aidingPF          = gEcuSettings.aidingPF;
pEcuConfig->aidingPS          = gEcuSettings.aidingPS;
pEcuConfig->aidingMsgRate     = gEcuSettings.aidingMsgRate;
pEcuConfig->drivingDirPF      = gEcuSettings.drivingDirPF;
pEcuConfig->drivingDirPS      = gEcuSettings.drivingDirPS;
pEcuConfig->odoCfgSwitch      = gEcuSettings.odoCfgSwitch;
// new configurable ps
pEcuConfig->aid_lvarm_ps      = gEcuSettings.aidLvarmPs;
pEcuConfig->aid_config_ps     = gEcuSettings.aidConfigPs;
pEcuConfig->dm1_config_ps     = gEcuSettings.dm1ConfigPs;
// DM1 config parameters
pEcuConfig->dm1_config_ps     = gEcuSettings.dm1ConfigPs;
pEcuConfig->lamp_status       = gEcuSettings.lamp_status;
pEcuConfig->flash_status      = gEcuSettings.flash_status;
pEcuConfig->FMI1              = gEcuSettings.FMI1;
pEcuConfig->FMI2              = gEcuSettings.FMI2;
pEcuConfig->SPN               = gEcuSettings.SPN;

// priority of messages
pEcuConfig->ariPriority = gEcuSettings.ariMsgPriority;
pEcuConfig->accsPriority = gEcuSettings.accsMsgPriority;
pEcuConfig->ssi2Priority = gEcuSettings.ssi2MsgPriority;

// Propagate parameters to common configuration area

config_ApplyEcuAddress(gEcuSettings.ecuAddress);
config_ApplyEcuBaudrate(gEcuSettings.ecuBaudRate);
config_ApplyEcuUnitBehavior(gEcuSettings.userBehavior);
config_ApplyCanPacketRate(gEcuSettings.ecuPacketRate);
config_ApplyCanPacketType(gEcuSettings.ecuPacketType);
config_SelectUserLPFilter(ACCEL_SENSOR, gEcuSettings.ecuFilterFreqAccel, TRUE);
config_SelectUserLPFilter(RATE_SENSOR, gEcuSettings.ecuFilterFreqRate, TRUE);
config_ApplyCanOrientation(gEcuSettings.ecuOrientation);
OdoUpdateConfig(gEcuConfigPtr->aidingMsgRate, gEcuConfigPtr->signalSource ,gEcuConfigPtr->odoCfgSwitch);
OdoUpdateLeverArmConfig(&(gEcuConfigPtr->odoLeverArmX));
ecu_set_address(gEcuSettings.ecuAddress);
ecu_set_baudrate(gEcuSettings.ecuBaudRate);

}

/******************************************************************************

• @brief
• @return detect enabled
  ******************************************************************************/
  BOOL CanBaudRateDetectionEnabled()
  {
  if((gEcuConfigPtr->user_behavior & (uint16_t)USER_BEHAVIOR_ENABLE_AUTO_BAUD) != 0U){
  return TRUE;
  }
  return FALSE;

}

/******************************************************************************

• @brief

• @return use algo
  ******************************************************************************/
  BOOL UseAlgorithm()
  {
  if((gEcuConfigPtr->user_behavior & (uint16_t)USER_BEHAVIOR_RUN_ALGORITHM_MASK) != 0U){
  return TRUE;
  };

  return FALSE;
  }

/******************************************************************************

• @brief
• @return send rates
  ******************************************************************************/
  BOOL SendRawRates()
  {
  if((gEcuConfigPtr->user_behavior & (uint16_t)USER_BEHAVIOR_SEND_RAW_RATES) != 0U){
  return TRUE;
  }
  return FALSE;

}

/******************************************************************************

• @brief
• @return swap pich
  ******************************************************************************/
  BOOL SwapPitchAndRoll()
  {
  if((gEcuConfigPtr->user_behavior & (uint16_t)USER_BEHAVIOR_SWAP_PITCH_AND_ROLL) != 0U){
  return TRUE;
  }
  return FALSE;
  }

/******************************************************************************

• @brief

• @return swap Frame
  ******************************************************************************/
  BOOL SwapAccelFrame()
  {
  if ((gEcuConfigPtr->user_behavior & (uint16_t)USER_BEHAVIOR_SWAP_ACCEL_FRAME) != 0U) {
  return TRUE;
  }

  return FALSE;
  }

/******************************************************************************

• @brief

• @return swap bytes
  ******************************************************************************/
  BOOL SwapBytesInRequest()
  {
  if ((gEcuConfigPtr->user_behavior & (uint16_t)USER_BEHAVIOR_SWAP_BYTES_IN_REQUEST) != 0U) {
  return TRUE;
  }

  return FALSE;
  }

/******************************************************************************

• @brief
• @param pConfig [in]

*****************************************************************************/
static void ApplySystemParameters(EcuConfigurationStruct const pConfig)
{
setStat += (uint32_t)config_SelectUserLPFilter(RATE_SENSOR, pConfig->rate_cut_off, TRUE);
setStat += (uint32_t)config_SelectUserLPFilter(ACCEL_SENSOR, pConfig->accel_cut_off, TRUE);
setStat += (uint32_t)config_ApplyOrientation(pConfig->orien_bits, TRUE);
}

/*******************************************

• @brief

********************************************/
static void UpdateEcuInstanceSettings()
{
ecu_set_address(config_GetEcuAddress());
ecu_set_baudrate(config_GetEcuBaudRate());
}

/******************************************************************************

• @brief
• @return divider
  ******************************************************************************/
  int32_t GetCANPacketRateDivider()
  {
  return gEcuConfigPtr->packet_rate_div;
  }

/******************************************************************************

• @brief

• @return detectMode
  ******************************************************************************/
  BOOL GetAlgorithmLinAccelDetectMode()
  {
  if((gEcuConfig.user_behavior & (uint16_t)USER_BEHAVIOR_USE_RAW_ACCEL_FOR_ALG) != 0U){
  return TRUE;
  }

  return FALSE;

}

/******************************************************************************

• @brief

• @return predictMode
  ******************************************************************************/
  BOOL GetAlgorithmAccelPredictMode()
  {
  if((gEcuConfig.user_behavior & (uint16_t)USER_BEHAVIOR_USE_RAW_RATE_TO_PREDICT_ACCEL) != 0U){
  return TRUE;
  }

  return FALSE;

}

/******************************************************************************

• @brief
• @return time
  ******************************************************************************/
  float32_t GetAlgorithmCoefOfReduceQ()
  {
  // 0.0001 to 1 (1 to 10000)
  return (float32_t)gEcuConfig.coefOfReduceQ/10000.0F;
  }

/******************************************************************************

• @brief
• @return time
  ******************************************************************************/
  float32_t GetAlgorithmAccelSwitchDelay()
  {
  // 0.01 to 10 (100 to 10000)
  return (float32_t)gEcuConfig.limitAccelSwitchDelay/1000.0F;
  }

/******************************************************************************

• @brief
• @return time
  ******************************************************************************/
  float32_t GetAlgorithmRateIntegrationTime()
  {
  // 0.01 to 10 (100 to 10000)
  return (float32_t)gEcuConfig.limitRateIntegrationTime/1000.0F;
  }

@zrs Hmm..... we have a problem with the canbus communication.

We downloaded the example you uploaded recently.

And we only changed the uart setting as bellow and uploaded it on the device via rs232 serial communication.

But CAN messages were not found when we see the canbus using the NI high-speed-CAN device (below figure).

ni-can

We used 250k baudrate.

the pinout 1 (CAN_H) and 2(CAN_L) of the OpenIMU335RI were connected to the pinout 7 (CAN_H) and 2 (CAN_L) of the 9pin-DSUB to match the pinout of the NI-CAN device as below figure.

If we used the uart port, canbus couldn't transfer the message?

Or is there any setting we missed?

// UART - related parameters
.uartCfg.userUartBaudRate = 115200,
.uartCfg.userPacketType = "z1", // do not apply
.uartCfg.userPacketRate = 100, // do not apply
.uartCfg.lpfAccelFilterFreq = 25, // do not apply
.uartCfg.lpfRateFilterFreq = 25, // do not apply
.uartCfg.orientation = "+X+Y+Z", // do not apply

};

Best regards.

Hello, ACEINNA

If we used the custom example for OpenIMU335RI, Does the IMU sensor send a CAN message with the default settings?

Best regards.

@zrs Hello, ACEINNA

Thank you for the very quick updating.

We checked the custom example for OpenIMU335RI.

Best regards.

@zrs Hello, ACEINNA.

We have an another question for OpenIMU335RI.
Do you have a plan to provide the custom IMU examples made for OpenIMU335RI?

Best regards.

Thank you for your quick reply.
We want to modify the z1 packet output by changing magnetic values to roll, pitch, and yaw angles.
Could you recommend the method to solve this problem?
Best regards.

Hello, ACEINNA.

1 Years ago, we had bought OpenIMU300RI and bought OpenIMU335RI, recently.

Like OpenIMU300RI, we want to change the setting such as output packet type using visual studio code.

However, there is no open-source to modify.

So, we have some questions about OpenIMU335RI.

First, can we use the custom IMU examples made for OpenIMU300RI to set up the OpenIMU355RI?

Second, If not, how we change the setting of the OpenIMU355RI??

Best regards.

Hello, we have connection problem after updating the firmware with the baudrate of 9600.

Now, we cannot connect the device (OpenIMU300RI).

We had used (1) IMU-ready-to-use program, (2) python code uploaded on github.

Could you explain how to fix it or how to do factory reset??

Hello, Aceinna I'm interested in your product. and I already purchase OpenIMU300RI for applying it to the autonomous tractor system.

We also consider another product, OpenRTK330. But in the manual description, initialization needs dynamic conditions. As you know, a tractor usually drives in 3~5 km/h for the agricultural task. So, we need detailed information about the condition you suggest.

Best Regards