@Andrey-Bondarev @Dong-xiaoguang
Are you guys still working?
Please can you confirm that the time stamp is being synchronised by the external PPS signal as I cannot see how it is?
Please correct me if I am wrong?
simon-rob
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Posts made by simon-rob
RE: Does the PPS code work for the new INS example for OpenIMU?
posted in The OpenIMU Family • 29 Apr 2020, 09:38
RE: Does the PPS code work for the new INS example for OpenIMU?
posted in The OpenIMU Family • 21 Apr 2020, 10:16
@Andrey-Bondarev @Dong-xiaoguang Any updates?
RE: Does the PPS code work for the new INS example for OpenIMU?
posted in The OpenIMU Family • 10 Apr 2020, 08:29
Bump
RE: Does the PPS code work for the new INS example for OpenIMU?
posted in The OpenIMU Family • 6 Apr 2020, 16:15
@Andrey Bondarev,
I can see how ppsDetected is set in Timer5, but as far as I can tell timer5 isn't triggered by the pps input on pin 2.
Timer0 gets trigger by the input on pin 2.
My question as I can't figure it out, is how is the timestamp being synchronised by the pps input?
Many thanks,
Simon
RE: Does the PPS code work for the new INS example for OpenIMU?
posted in The OpenIMU Family • 29 Mar 2020, 17:23
@dong bump
RE: Does the PPS code work for the new INS example for OpenIMU?
posted in The OpenIMU Family • 27 Mar 2020, 13:43
Dong,
I am trying to work out if the pps code actually works and what it is doing, I have the IMU connected to a Ublox zed-f9p with the pps connect to pin 2 . I now can see that the interrupt is being serviced, but I can't work out in the code as bits are commented out if the timestamp is being adjusted accordingly.
Looking at in DataAcquisitionSupport.c and ONE_PPS_EXTI_IRQHandler.
Why is ppsDetected commented out?
void ONE_PPS_EXTI_IRQHandler(void)
{
OSEnterISR();
if(platformIsGpsPPSUsed()){
// ppsDetected = 1;
}
EXTI->PR = ONE_PPS_EXTI_LINE; ///< Clear the interrupt bit
OSExitISR();
}
Simon
Does the PPS code work for the new INS example for OpenIMU?
posted in The OpenIMU Family • 26 Mar 2020, 16:28
Hi,
I have put break points on TIM2_IRQHandler and I am never seeing this code called.
I have set the the following as per the docs:
void initUserDataProcessingEngine()
{
InitUserAlgorithm(); // default implementation located in file user_algorithm.c
platformEnableGpsPps(TRUE); // Init PPS sync engine
}
What am I doing wrong?
Regards,
Simonrob
RE: STM32F405/src/startup_stm32f405xx.o] Error 1
posted in The OpenIMU Family • 25 Mar 2020, 15:31
@Andrey Bondarev
Many thanks that was driving me crazy!
STM32F405/src/startup_stm32f405xx.o] Error 1
posted in The OpenIMU Family • 17 Mar 2020, 12:08
When trying to debug with the latest firmware I get STM32F405/src/startup_stm32f405xx.o] Error 1:
Processing OpenIMU300ZI (platform: aceinna_imu; board: OpenIMU300)
Verbose mode can be enabled via -v, --verbose option
CONFIGURATION: https://docs.platformio.org/page/boards/aceinna_imu/OpenIMU300.html
PLATFORM: Aceinna IMU 1.2.5 > Aceinna OpenIMU 300
HARDWARE: STM32F405RG 120MHz, 128KB RAM, 1MB Flash
DEBUG: Current (stlink) External (blackmagic, jlink, stlink)
PACKAGES:
- toolchain-gccarmnoneeabi 1.70201.0 (7.2.1)
LDF: Library Dependency Finder -> http://bit.ly/configure-pio-ldf
LDF Modes: Finder ~ chain, Compatibility ~ soft
Found 3 compatible libraries
Scanning dependencies...
Dependency Graph
|-- <OpenIMU300-base-library> 1.0.9
|-- <Core> 1.0.4
| |-- <OpenIMU300-base-library> 1.0.9
|-- <CLI>
| |-- <Core> 1.0.4
| | |-- <OpenIMU300-base-library> 1.0.9
| |-- <OpenIMU300-base-library> 1.0.9
Building in debug mode
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/FreeRTOS/src/cmsis_os.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/FreeRTOS/src/croutine.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/FreeRTOS/src/event_groups.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/FreeRTOS/src/heap_1.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/FreeRTOS/src/list.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/FreeRTOS/src/port1.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/FreeRTOS/src/queue.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/FreeRTOS/src/tasks.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/FreeRTOS/src/timers.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/FreeRTOS_M4/src/port.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/Platform/Board/src/bsp.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/Platform/Board/src/configureGPIO.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/Platform/Board/src/spi_dummy.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/Platform/Board/src/stm32f4xx_it.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/Platform/Board/src/uart.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/Platform/Board/src/watchdog.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/Platform/CAN/src/can.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/Platform/CAN/src/sae_j1939.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/Platform/CAN/src/sae_j1939_slave.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/Platform/CAN/src/taskCANcommunicationJ1939.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/Platform/Core/src/BIT.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/Platform/Core/src/DataAcquisitionSupport.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/Platform/Core/src/comm_buffers.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/Platform/Core/src/config_fields.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/Platform/Core/src/crc.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/Platform/Core/src/crc16.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/Platform/Core/src/debug.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/Platform/Core/src/handle_packet.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/Platform/Core/src/platform.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/Platform/Core/src/send_packet.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/Platform/Core/src/sensors_data.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/Platform/Core/src/serial_port.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/Platform/Core/src/ucb_packet.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/Platform/Filter/src/filter.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/Platform/Filter/src/lowpass_filter.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/STM32F405/src/misc.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/STM32F405/src/startup_stm32f405xx.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/STM32F405/src/stm32f4xx_adc.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/STM32F405/src/stm32f4xx_can.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/STM32F405/src/stm32f4xx_crc.o
arm-none-eabi-as: unrecognised option '-Og'
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/STM32F405/src/stm32f4xx_cryp.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/STM32F405/src/stm32f4xx_cryp_aes.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/STM32F405/src/stm32f4xx_cryp_des.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/STM32F405/src/stm32f4xx_cryp_tdes.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/STM32F405/src/stm32f4xx_dac.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/STM32F405/src/stm32f4xx_dbgmcu.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/STM32F405/src/stm32f4xx_dcmi.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/STM32F405/src/stm32f4xx_dma.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/STM32F405/src/stm32f4xx_exti.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/STM32F405/src/stm32f4xx_flash.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/STM32F405/src/stm32f4xx_fsmc.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/STM32F405/src/stm32f4xx_gpio.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/STM32F405/src/stm32f4xx_hash.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/STM32F405/src/stm32f4xx_hash_md5.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/STM32F405/src/stm32f4xx_hash_sha1.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/STM32F405/src/stm32f4xx_i2c.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/STM32F405/src/stm32f4xx_iwdg.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/STM32F405/src/stm32f4xx_pwr.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/STM32F405/src/stm32f4xx_rcc.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/STM32F405/src/stm32f4xx_rng.o
Compiling .pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/STM32F405/src/stm32f4xx_rtc.o
*** [.pio/build/OpenIMU300ZI/lib451/OpenIMU300-base-library_ID6538/STM32F405/src/startup_stm32f405xx.o] Error 1
I am using Ubuntu 16.04, all Visuaol Code and Platform IO are up to date and I am trying the debug the sample INS application.
I can upload the application to the IMU and it runs fine but I can't debug.
; PlatformIO Project Configuration File
;
; Build options: build flags, source filter
; Upload options: custom upload port, speed and extra flags
; Library options: dependencies, extra library storages
; Advanced options: extra scripting
;
; Please visit documentation for the other options and examples
; http://docs.platformio.org/page/projectconf.html
[platformio]
description =
A Kalman filter based algorithm that uses rate-sensors to propagate attitude
(roll, pitch, and heading angles) forward in time and accelerometers and
magnetometers as references, to correct for bias in the rate-sensor signal.
Additionally, the algorithm uses accelerometer data to propagate velocity and
position and velocity (in the North/East/Down-Frame) and GPS data to correct
for errors and estimate bias in the accelerometer signals.
Platformio.ini:
[env:OpenIMU300ZI]
platform = aceinna_imu
lib_archive = false
board = OpenIMU300
;lib_deps= ../../OpenIMU300-lib
lib_deps = OpenIMU300-base-library@1.0.9
build_flags =
; -D CLI
-D GPS
-D SPI_BUS_COMM
-D __FPU_PRESENT
-D DISPLAY_DIAGNOSTIC_MSG
-D ARM_MATH_CM4
-I include
-I include/API
-I src/user
-I src
; -L ldscripts
-Og
; -Wno-comment
; -Wl,-Map,imu380.map
; -Wl,-Tstm32f40x.ld
-mthumb -mcpu=cortex-m4 -mfloat-abi=softfp -mfpu=fpv4-sp-d16
monitor_speed = 115200
debug_tool = stlink
;upload_protocol = jlink
;debug_tool = jlink
;debug_tool = custom
;debug_port = :4242
;debug_server = $PLATFORMIO_HOME_DIR/packages/tool-stlink/bin/st-util