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  1. Thread: uNav AHRS

    by defragster
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    i2c_t3 readme lists faster rates based on Teensy...

    i2c_t3 readme lists faster rates based on Teensy and clocking level : github.com/nox771/i2c_t3
  2. Thread: uNav AHRS

    by defragster
    Replies
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    Odd - I never saw that normally of course i2c_t3...

    Odd - I never saw that normally of course i2c_t3 was a recent addition - I did when I pushed for higher rates over 400K with Wire - but not when I went to the Standard 3.4M as MAX - it keeps running...
  3. Thread: uNav AHRS

    by defragster
    Replies
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    What is the problem you see? { how do I test for...

    What is the problem you see? { how do I test for it } Did you try 3.4M?
  4. Thread: uNav AHRS

    by defragster
    Replies
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    Would be interesting to see/hear what it does 3.4...

    Would be interesting to see/hear what it does 3.4 M:: #define IMU_SPD 3400000. It functions - but I wasn't moving anything or evaluating the returned data.
  5. Thread: uNav AHRS

    by defragster
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    The notes were this (50 ns not 10 as noted) from...

    The notes were this (50 ns not 10 as noted) from https://www.u-blox.com UBX-M8030-KT-FT_ProductSummary.pdf:


    I saw those high freq notes from TBill - wasn't sure where he was reading those...
  6. Thread: uNav AHRS

    by defragster
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    Mike, Odd it has to go that slow. Last I ran...

    Mike, Odd it has to go that slow. Last I ran mine (3 weeks of SPI_MST?) I found the onehorse unit to work with 3.4 M:: #define IMU_SPD 3400000 //1000000 // 0==NULL or other
    > That is what wiki...
  7. Thread: uNav AHRS

    by defragster
    Replies
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    51,338

    Quick question - are any of the three MPU9250...

    Quick question - are any of the three MPU9250 devices inherently better suited to FLOAT versus DOUBLE math in these calculations? That is: no value in the extra cost of Double handling where float...
  8. Thread: uNav AHRS

    by defragster
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    Wondering if moving is weakening SPI line...

    Wondering if moving is weakening SPI line connects - or inducing noise on them?

    My two T_3.6 and T_3.1 are female headered and velcro'd together side by side with min length 1-2" wires. The T_3.6...
  9. Thread: uNav AHRS

    by defragster
    Replies
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    Does the output just stop - or the Teensy go...

    Does the output just stop - or the Teensy go offline? That sounds like a wire/electron disturbance?
  10. Thread: uNav AHRS

    by defragster
    Replies
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    I'd have to see context - but printRate is really...

    I'd have to see context - but printRate is really a wish - the IMU updates determine rate of updates where it was before?
  11. Thread: uNav AHRS

    by defragster
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    One thing it seems { i.e. bad terminology and...

    One thing it seems { i.e. bad terminology and limited understanding of the internals } onehorse did in his writings was note that the process was successive approximation in some fashion - it would...
  12. Thread: uNav AHRS

    by defragster
    Replies
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    51,338

    Nice Mike. Assuming the TViewer output unchanged...

    Nice Mike. Assuming the TViewer output unchanged with the order, number, mods to the Format/Display SerialPrint?

    For reference - the SPI_MST_V0.0.16 seems to be the good F&F version for getting...
  13. Thread: uNav AHRS

    by defragster
    Replies
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    Indeed - that Slave needs DEBUGHACK commented. I...

    Indeed - that Slave needs DEBUGHACK commented. I was about to upload the version of that with it off when Tony uploaded the other and didn't want a double post of similar.

    If I get to the post...
  14. Thread: uNav AHRS

    by defragster
    Replies
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    As Mike noted - INS9State_V11 just works with...

    As Mike noted - INS9State_V11 just works with SPI_MSTransfer16 per post #796 - when both M & S are recompiled.

    I noted there the two changes I made at the end of that post.

    I should revisit the...
  15. Thread: uNav AHRS

    by defragster
    Replies
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    51,338

    First time running the INS9State_V11 code - using...

    First time running the INS9State_V11 code - using SPI_MSTransfer16.zip - pushing 461 updates per second - versus 417 using the direct USB update.

    { MASTER T_3.6 : F_CPU=240 and F_BUS=120 Mhz with...
  16. Thread: uNav AHRS

    by defragster
    Replies
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    Just read a note on i2c...

    Just read a note on i2c: #define IMU_SPD 3400000 //1000000 // 0==NULL or other
    It seems i2c has a spec for :: 3.4 Mbps high speed mode.

    It seems to work with the onehorse unit where other...
  17. Thread: uNav AHRS

    by defragster
    Replies
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    51,338

    From the posted 14b: I was working on making the...

    From the posted 14b: I was working on making the examples a stable to detect issues and report them - not trying to mirror any clipped diffs to apply - as noted "Things were changing too fast :)" -...
  18. Thread: uNav AHRS

    by defragster
    Replies
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    51,338

    Just posted this on the SPI_MST thread:

    Just posted this on the SPI_MST thread:



    I special cased LED_BUILTIN - any other passed pin will do an on_Slave :: digitalWrite(tPin, !digitalRead(tPin));

    // the D_ReadFast and D_WriteFast...
  19. Thread: uNav AHRS

    by defragster
    Replies
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    51,338

    Don: The printRate was to LIMIT updates - right...

    Don: The printRate was to LIMIT updates - right now IMU data is the limiter on updates i.e. SRD=4 (about 200hz)

    A few posts back I set IMU to 1,000 updates w/SRD=0 and the current code calcs...
  20. Thread: uNav AHRS

    by defragster
    Replies
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    51,338

    i2c_t3 is a standard part of TeensyDuino...

    i2c_t3 is a standard part of TeensyDuino distribution. No local library copy is needed.
  21. Thread: uNav AHRS

    by defragster
    Replies
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    Restored from the examples_V0.0.9b.zip and...

    Restored from the examples_V0.0.9b.zip and SPI_MSTransfer 0_0_9.zip and the examples are running again - tried to hack in a count to track lost F&F data messages and failed.

    Tony couldn't get...
  22. Thread: uNav AHRS

    by defragster
    Replies
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    51,338

    Yeah - I did that while Tony and I chatted -...

    Yeah - I did that while Tony and I chatted - should have been in 2nd post? I broke my version - going back to that now.
  23. Thread: uNav AHRS

    by defragster
    Replies
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    I didn't notice a param change go by - but yes...

    I didn't notice a param change go by - but yes this post has MPU9250 code using i2c_t3.

    Follow post #753 to get latest samples and get the latest V0.0.9 SPI_MST code on that thread.
  24. Thread: uNav AHRS

    by defragster
    Replies
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    51,338

    By the way I just updated the examples :) Link...

    By the way I just updated the examples :) Link updated above



    Definitely have to do that - errands an things. Time to make lunch ...
  25. Thread: uNav AHRS

    by defragster
    Replies
    877
    Views
    51,338

    I pulled and updated to SPI_MST V_0.0.9 and it...

    I pulled and updated to SPI_MST V_0.0.9 and it runs well at 30 MHz. Posted updated Examples there : Project-SPI_MSTransfer

    Only change to MPU9250_INS9State_V10_SPI.ino was added SPI_BUS speed...
  26. Thread: uNav AHRS

    by defragster
    Replies
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    51,338

    Does fastled still complain - I saw some 'q' get...

    Does fastled still complain - I saw some 'q' get renamed - maybe that wasn't all of the conflict.

    Didn't see it as a complaint - just measuring your hypersensitive ability to see it being slower...
  27. Thread: uNav AHRS

    by defragster
    Replies
    877
    Views
    51,338

    The transfer time is 100 uS at 10 MHz - up from...

    The transfer time is 100 uS at 10 MHz - up from 39 at 30 MHz. So if it hits 20 as valid that will be in the middle {just tested and see 52 uS at 20 MHz on T_3.6, and 45 at 24 MHz} - still much...
  28. Thread: uNav AHRS

    by defragster
    Replies
    877
    Views
    51,338

    I have 87 instances in ~2.5 hours. Maybe Set...

    I have 87 instances in ~2.5 hours.

    Maybe Set the SPI speed back down as one quick test.

    <edit>: Just bumped mine to 60 MHz SPI and seeing mostly errors (requires F_BUS==120 and F_CPU=240)....
  29. Thread: uNav AHRS

    by defragster
    Replies
    877
    Views
    51,338

    Using the above tested Example Master & Slave...

    Using the above tested Example Master & Slave from provided SPI_MSTranfer they work - With a TWO **** Packet resent *** in 14 minutes.

    Maybe the SPI wires are long or 'iffy'? T_3.6 compiled at...
  30. Thread: uNav AHRS

    by defragster
    Replies
    877
    Views
    51,338

    The Master and Slave are working here? Just...

    The Master and Slave are working here? Just pulled the updated _V10
  31. Thread: uNav AHRS

    by defragster
    Replies
    877
    Views
    51,338

    It may be a short bit - if you uploaded what you...

    It may be a short bit - if you uploaded what you have I'll see if I can repro or fix it.
  32. Thread: uNav AHRS

    by defragster
    Replies
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    51,338

    Made a copy here, will look at it and try to...

    Made a copy here, will look at it and try to integrate the updated SPI_MSTransfer unless you want to do it first. Seems to just add a param to callback().

    Mike: Wonder what difference TViewerSPI...
  33. Thread: uNav AHRS

    by defragster
    Replies
    877
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    51,338

    F_BUS related to T_3.6 usage at F_CPU 240 MHz -...

    F_BUS related to T_3.6 usage at F_CPU 240 MHz - posted some time back. With Wire.h I had to bump that to get i2c to work as it failed at default F_BUS=60. Not an issue on T_3.5. The setting is in...
  34. Thread: uNav AHRS

    by defragster
    Replies
    877
    Views
    51,338

    Your system will run better under stress. Serial3...

    Your system will run better under stress. Serial3 has 1 byte hardware FIFO so each byte triggers an interrupt to unload it. #1 and #2 have 8 byte FIFO and interrupt only fires after ~4+ bytes to...
  35. Thread: uNav AHRS

    by defragster
    Replies
    877
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    51,338

    testing _V9b and replaced MPU9250 Step 1:...

    testing _V9b and replaced MPU9250

    Step 1: unzip and copy
    Step 2: EDIT CONFIGS.h! to 'defragster'
    Step 3: Comment Wire.h in both : libraries\SPI_MSTransfer\SPI_MSTransfer.h and .cpp
    Step 4:...
  36. Thread: uNav AHRS

    by defragster
    Replies
    877
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    51,338

    Phew ... yeah for SPI is the example Master/Slave...

    Phew ... yeah for SPI is the example Master/Slave work so too should the current MPU9250_INS9State_V9a_SPI\MPU9250_INS9State_V9a_SPI.ino.

    The settings are different from TonTon81 - but found pins...
  37. Thread: uNav AHRS

    by defragster
    Replies
    877
    Views
    51,338

    in A_ConfigDefines.h copy/exchange into yours and...

    in A_ConfigDefines.h copy/exchange into yours and the rest is handled in the code when it sees TViewerSPI 1:

    // TViewer Declares
    #define TViewerSPI 1

    and the spot

    #ifdef TViewerSPI...
  38. Thread: uNav AHRS

    by defragster
    Replies
    877
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    51,338

    Don: That is how long the Master WAITS for the...

    Don: That is how long the Master WAITS for the SPI transfer command to execute. When that prints the Slave has the data.

    As Mike noted - if there is a SYNC error you'll see posts about that on...
  39. Thread: uNav AHRS

    by defragster
    Replies
    877
    Views
    51,338

    Yeah - we had a discussion some pages back and it...

    Yeah - we had a discussion some pages back and it seemed there was an easy solution - I rewrote the class somehow and then there was a better solution - I have not gone back to the discussion to...
  40. Thread: uNav AHRS

    by defragster
    Replies
    877
    Views
    51,338

    It works now ... very nice. Failed to do...

    It works now ... very nice.
    Failed to do something simple ... seems 'somebody' did this the other day . . . the selector #define in A_ConfigDefines.h was not set to the hardware I have :(
  41. Thread: uNav AHRS

    by defragster
    Replies
    877
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    51,338

    Not that: went to delay(5000) - still fails -...

    Not that: went to delay(5000) - still fails - unplug - upload the prior ( it did fail -1 first time ) upload prior it works. Upload the _V9a_SPI and err -1 , repeat.

    Safe to say I uploaded the...
  42. Thread: uNav AHRS

    by defragster
    Replies
    877
    Views
    51,338

    Walked through CompareCode Diffs - nothing caught...

    Walked through CompareCode Diffs - nothing caught my eye as bad or wrong - making the setup() delay(2000) from 5 seconds will be nicer.

    On first compile I am getting this though - where it had...
  43. Thread: uNav AHRS

    by defragster
    Replies
    877
    Views
    51,338

    Good luck squashing bugs. I'll swap the...

    Good luck squashing bugs.

    I'll swap the Serial# wires to the T_3.5 so can still get back to it if debug Proxy is needed. Need to neaten it up now that the SPI seems good to go.

    No doubt Paul...
  44. Thread: uNav AHRS

    by defragster
    Replies
    877
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    51,338

    I wanted to test and see the value of the Slave...

    I wanted to test and see the value of the Slave SPI and 9+% and improved general usability seemed worthwhile [ Thanks tonton81! ]. I figured while I was there I should scope out the above edits {...
  45. Thread: uNav AHRS

    by defragster
    Replies
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    51,338

    Note measuring the benefit of using SPI to get...

    Note measuring the benefit of using SPI to get the SLAVE to feed TViewer - looks like about 10% less overhead:

    T_3.6 using SLAVE for TViewer :: IMU/sec=384 < T_3.6 at 240 MHz with 120 MHz F_BUS...
  46. Thread: uNav AHRS

    by defragster
    Replies
    877
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    51,338

    Mike: The code in p#686 actually works as posted!...

    Mike: The code in p#686 actually works as posted! Only prints twice 5 times per second with each incoming GPS message.

    Also got rid of that extra .println() as noted and now waiting to get FIX...
  47. Thread: uNav AHRS

    by defragster
    Replies
    877
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    51,338

    Put my 'setup' nearer the window and I find it...

    Put my 'setup' nearer the window and I find it running IMU and GPS with FIX, and SPI running between the two. Without FIX the GPS message still come in on schedule - and MASTER was blinking the...
  48. Thread: uNav AHRS

    by defragster
    Replies
    877
    Views
    51,338

    Moving and restarting stuff - trying TD 1.42b2...

    Moving and restarting stuff - trying TD 1.42b2 GPS lost fix.

    This message needs a DELAY() on print loop! :: "Waiting for GPS Fix......Waiting for GPS Fix......"
  49. Thread: uNav AHRS

    by defragster
    Replies
    877
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    51,338

    Don: As Mike noted Starting with the example...

    Don: As Mike noted Starting with the example Master Slave will compile faster and be more trivial. Note the: "-sketchbook-\libraries\SPI_MSTransfer\examples\master\A_ConfigDefines.h" - it has needed...
  50. Thread: uNav AHRS

    by defragster
    Replies
    877
    Views
    51,338

    This from post #634 worked for me unchanged and...

    This from post #634 worked for me unchanged and it seems what Mike used.

    Shorter wires are best - I went to 4" from 8" cheapie breadboard pin wires.

    If you can get this then grab the ZIP's and...
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