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  1. Thread: uNav AHRS

    by defragster
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    Since the Rx is its no longer free running, the...

    Since the Rx is its no longer free running, the count doesn't get ahead at the start, took out the - 1 in it value, and it never misses anymore.

    When right is up 1 then GPS was not read or a...
  2. Thread: uNav AHRS

    by defragster
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    I'm breaking too. In the void serialDataOut()...

    I'm breaking too. In the void serialDataOut() code search 1000. That '>' should be '>='. I didn't see until after the zip was packed . . .

    Look for function .availableForWrite() that shows...
  3. Thread: uNav AHRS

    by defragster
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    This shows UTC time when updated. 12963 It is...

    This shows UTC time when updated.
    12963

    It is possible the Filter match and prints are causing loss of GPS data - corrupted string will be tossed until next good one comes in. Since the isr()...
  4. Thread: uNav AHRS

    by defragster
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    I saw the one // sincePrint commented - missed...

    I saw the one // sincePrint commented - missed the active one :(

    Modified to better watch GPS on debug - messages are spotty?

    12962
  5. Thread: uNav AHRS

    by defragster
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    Mike: Not quite a good sleep yet. Using the...

    Mike: Not quite a good sleep yet. Using the Threaded at 96 MHz it ran no trouble?: "120355.00==120355 | 0.246000, 61720.800700 ..."

    Filters_V10c is compiled and running now T_3.6 @ 120 MHz.
    ...
  6. Thread: uNav AHRS

    by defragster
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    Updated code and notes see:...

    Updated code and notes see: Serial1-available-counting-bytes-in-the-FIFO

    It looks like we can stick with the Rx isr()! It is running 100% good after 12,500 messages at 96 MHz on T_3.6! So we have...
  7. Thread: uNav AHRS

    by defragster
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    23,064

    With Chris' tip the Error average is 8 uS off...

    With Chris' tip the Error average is 8 uS off from the RX_isr() detection now and worst case error is off by all but a full character of 21 uS where the last bits not complete. I could add the 8 uS...
  8. Thread: uNav AHRS

    by defragster
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    Indeed .send_now forces the output - and waits...

    Indeed .send_now forces the output - and waits until it is all buffered for send. Not sure if that would help.

    DOH! - Need to go thank Chris! I needed to read my own code! I had Serial1 on the...
  9. Thread: uNav AHRS

    by defragster
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    You've got some time - coming up on dinner here...

    You've got some time - coming up on dinner here so I'll be offline a couple hours if you get an update I'll take that one.
    I posted my Serial timing dilemma ...
  10. Thread: uNav AHRS

    by defragster
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    Don: have you posted the latest of your V10 code...

    Don: have you posted the latest of your V10 code - or has it migrated to V11 since last posting?

    Mike: Cool, going back to Don's code would be on a single path without mysteries from tThreads...
  11. Thread: uNav AHRS

    by defragster
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    Jiggering with the FIFO isr() Just a theory to me...

    Jiggering with the FIFO isr() Just a theory to me as well - but until there are enough chars in the FIFO ( Receive data above watermark UART_S1_RDRF ) they will sit until a default periodic timed...
  12. Thread: uNav AHRS

    by defragster
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    The delay I saw in the GPS data from IMU Filter...

    The delay I saw in the GPS data from IMU Filter of 500+ uS is not critical and without threading would be fine. It just gave me pause questioning if it was working right.

    As noted this new scheme...
  13. Thread: uNav AHRS

    by defragster
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    before I thought the Rx isr() would be better -...

    before I thought the Rx isr() would be better - which it is - I considered using this method that averages 13 uS error ( 1/2 char) at 240 MHz { though it can be off by 2-3 chars at times } { compared...
  14. Thread: uNav AHRS

    by defragster
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    Indeed per my last post - even split USB and...

    Indeed per my last post - even split USB and Serial - somehow the sum total of the output takes too much time. Showed the Rx isr() is on the edge though - at least with threading in the background. ...
  15. Thread: uNav AHRS

    by defragster
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    23,064

    T_3.6 At 120 MHz With the whole TViewer output...

    T_3.6 At 120 MHz With the whole TViewer output string to USB and/or Debug Serial I see the failure of the interrupt to catch all the time - the GPS string still comes through - but without the...
  16. Thread: uNav AHRS

    by defragster
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    23,064

    Found the selective user in A_configDefines.h -...

    Found the selective user in A_configDefines.h - Nice.

    Compiled and ran - made the GPS debug output in serialPort optional to if(rtk.upDated == true) and left the IMU data run out USB - now I see...
  17. Thread: uNav AHRS

    by defragster
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    Just started the execution with updated code...

    Just started the execution with updated code below on the T_3.0 PROXY device - I also edited Serial1.c to have 128 byte Rx and Tx buffers.

    You are using Serial4 - that does not have FIFO's ( like...
  18. Thread: uNav AHRS

    by defragster
    Replies
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    23,064

    I keep picking 'Fastest' for optimization - You?...

    I keep picking 'Fastest' for optimization - You?

    96 Mhz T_3.6 now at "49222.00==49222 " and counting with zero MissPair groups of 10 shown - so 100%.

    I'll bump Serial1 IN and OUT buffers on...
  19. Thread: uNav AHRS

    by defragster
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    Good news on your progress Don! Mike - odd you...

    Good news on your progress Don!

    Mike - odd you get the PairMiss? I pulled your code and will give it a run soon. I see those minor string anomalies - but ZERO PairMiss - my 96 MHz T-3.6 now...
  20. Thread: uNav AHRS

    by defragster
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    No - all the prints come from one function in one...

    No - all the prints come from one function in one thread.

    The next anomaly I see is almost 2,000 lines away:


    then again over 2,000 away [then again @9645, 10260]:


    I'll - fire up the IDE...
  21. Thread: uNav AHRS

    by defragster
    Replies
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    From the other thread ( and tonton feedback) -...

    From the other thread ( and tonton feedback) - and what I see - loop() IS just a thread - handled specially! That is why it needs a SetTimeslice! It will get task switched away just like any other...
  22. Thread: uNav AHRS

    by defragster
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    Ick - there should be no PairMiss - after the...

    Ick - there should be no PairMiss - after the first "PairMiss0" where I sync the numbers because one starts before the other - ( the Rx isr() is running during setup of the imu ). { not sure if you...
  23. Thread: uNav AHRS

    by defragster
    Replies
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    23,064

    CORRECTION: FASTRUN ( not ramfunc ) - is the way...

    CORRECTION: FASTRUN ( not ramfunc ) - is the way to force code to RAM for jitter free execution [ more so on T_3.5 and T_3.6 that have the extra RAM for execution ]

    I started a scan of the...
  24. Thread: uNav AHRS

    by defragster
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    Threaded V3 running. Seeing oddity - very...

    Threaded V3 running. Seeing oddity - very confusing. Not sure what should be going on . . . too much flying by. Either change to IMU or GPS prints GPS - then a 2nd time again when imuDataRdy?...
  25. Thread: uNav AHRS

    by defragster
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    23,064

    Odd the TThreading leads to skips. I'll have to...

    Odd the TThreading leads to skips. I'll have to power up what you posted and investigate. Can you tell me what the value (millis or micros?) you intended is: threads.setTimeSlice(GPS, 150);
    ...
  26. Thread: uNav AHRS

    by defragster
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    23,064

    I never looked at or edited anything SBAS related...

    I never looked at or edited anything SBAS related - so 'default' for me?

    Indeed Threading - non-linear code - as noted made me wonder about starting TThreads too soon. Interrupt's are bad...
  27. Thread: uNav AHRS

    by defragster
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    Odd, I have not seen that on my end. I had code...

    Odd, I have not seen that on my end. I had code in that was counting and measuring the end of message timing from the Rx Start and it would have shown missing any. I didn't test what I posted - I...
  28. Thread: uNav AHRS

    by defragster
    Replies
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    23,064

    Odd the GPS is missing? Quick debug to see if...

    Odd the GPS is missing? Quick debug to see if the Rx detect isr() is seeing that is below. Of course this counts on being able to see the output from loop() - which TViewer will hide if active. ...
  29. Thread: uNav AHRS

    by defragster
    Replies
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    23,064

    Might be faster to check if (GPS_PORT.available)...

    Might be faster to check if (GPS_PORT.available) before calling this chain of events - as the call pushes the address - jumps and then calls - just to find out most often there is no data when only...
  30. Thread: uNav AHRS

    by defragster
    Replies
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    23,064

    Yes - also as I have it configured, the GPS is...

    Yes - also as I have it configured, the GPS is continually sending - and the Serial port is polled for arriving data emitted on the GPS schedule by the GPS with no prompting.
  31. Thread: uNav AHRS

    by defragster
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    The GPS code is basically polling - that is the...

    The GPS code is basically polling - that is the trouble when the Filter update code update takes the time it does.

    If that polling is done ( like in prior sketch ) on a thread that wakes - calls...
  32. Thread: uNav AHRS

    by defragster
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    23,064

    Hopefully more fun reading than writing them - if...

    Hopefully more fun reading than writing them - if not that would be painful :)

    Just opened the code I think I shared for TThreads and that in essence hasn't changed ( I knew I had posted some...
  33. Thread: uNav AHRS

    by defragster
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    23,064

    Mike, It was a lot to write too - hopefully it...

    Mike, It was a lot to write too - hopefully it makes sense and is meaningfully on some point.

    It seems the isr() for IMU and that I have for GPS_Rx are good at time stamping - closest known 'time'...
  34. Thread: uNav AHRS

    by defragster
    Replies
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    I keep starting this last few days and then as I...

    I keep starting this last few days and then as I type think of code to edit - then not getting back with a good answer to post . . . The last diversion had me wonder how long the IMU processing is...
  35. Thread: uNav AHRS

    by defragster
    Replies
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    23,064

    Check the INT pin assignment?

    Check the INT pin assignment?
  36. Thread: uNav AHRS

    by defragster
    Replies
    464
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    23,064

    Changed T_3.6 speed to 180 MHz - setSrd() still...

    Changed T_3.6 speed to 180 MHz - setSrd() still not seeing success, when it does work - so recorded _srd is not updated. Didn't trap error value/location yet.

    Looking at the GPS nano field again...
  37. Thread: uNav AHRS

    by defragster
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    23,064

    My first pass of the RTC offering for timing...

    My first pass of the RTC offering for timing should be done - but then I went to make the calibrate funcs properly restore.

    Is there a limit on setSrd() other than param is a uint8_t : so max...
  38. Thread: uNav AHRS

    by defragster
    Replies
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    23,064

    Interesting - I think not - here is what my...

    Interesting - I think not - here is what my static unit is showing:


    My elevation is different (33>35) - SAT counts are updated - oddly the X,Y cords keep same last 3 digits - but are changing.
    ...
  39. Thread: uNav AHRS

    by defragster
    Replies
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    23,064

    See post #362 ??? Any Call to the indicated...

    See post #362 ???

    Any Call to the indicated Calibrate functions makes temp changes to the IMU. HOWEVER - when those temp changes succeed - the CLASS _srd ( and _gyroRange, _bandwidth ) prior...
  40. Thread: uNav AHRS

    by defragster
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    Indeed at least those functions noted in post...

    Indeed at least those functions noted in post #362 will all need similar attention:



    As shown I could readily make those changes - probably easier than explaining it :) , but I was already late...
  41. Thread: uNav AHRS

    by defragster
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    The correct code for calibrateGyro() would look...

    The correct code for calibrateGyro() would look like this - see BOLD t_??? vars:

    < This is not tested/compiled because I started back on task and went to sleep with it currently not compiling with...
  42. Thread: uNav AHRS

    by defragster
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    mjs513: The problem is the setting back - there...

    mjs513: The problem is the setting back - there is more in post #362 than you are seeing.

    By the time it is set back 'to the class stored value' of _srd for instance this code succeeded and set...
  43. Thread: uNav AHRS

    by defragster
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    noted : < I can't make it run faster or slower...

    noted : < I can't make it run faster or slower than 50 Hz > that is from this code:

    /* estimates the gyro biases */
    int MPU9250::calibrateGyro() {
    // set the range, bandwidth, and srd
    if...
  44. Thread: uNav AHRS

    by defragster
    Replies
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    23,064

    @Brian - MPU9250 needs some edits:: Found the...

    @Brian - MPU9250 needs some edits::
    Found the setSrd() issue - calibrateGyro was not done in my prior testing.

    Quick WorkAround/Kludge/HACK for setSrd() in ::

    void initIMU(){
    // ...
    ...
  45. Thread: uNav AHRS

    by defragster
    Replies
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    23,064

    Pulled V9 down and have it compiling with uBlox...

    Pulled V9 down and have it compiling with uBlox added - into GPS.ino. More to do . . .

    It doesn't seem like the IMU is being responsive to "Imu.setSrd();" in initIMU.ino? I see the "sincePrint"...
  46. Thread: uNav AHRS

    by defragster
    Replies
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    Latest posted code I see is FilterV8 with no...

    Latest posted code I see is FilterV8 with no uBlox? Should I start with that?
  47. Thread: uNav AHRS

    by defragster
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    23,064

    Did anyone ever see my GPS Serial# Rx isr() code...

    Did anyone ever see my GPS Serial# Rx isr() code to catch the GPS start bit? I think I never got it posted. Been busy with stuff past weeks and reading the forum but not actually looking at code...
  48. Thread: uNav AHRS

    by defragster
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    Cool - I just pulled down V7 - and there is V8...

    Cool - I just pulled down V7 - and there is V8 :). Nice to see the #defines - for my case I should get it working with the other edits I need to moving the i2c pins. I should also get back to the...
  49. Thread: uNav AHRS

    by defragster
    Replies
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    23,064

    This is why I was posting hacks to the sketches I...

    This is why I was posting hacks to the sketches I touched with the #define - with a common set of those interchangeability would be easier - especially for buried things like SPI, alternate i2c wires...
  50. Thread: uNav AHRS

    by defragster
    Replies
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    23,064

    Indications so far the T_3.6 can handle it from...

    Indications so far the T_3.6 can handle it from my speed test. Compile your current version at 48 Mhz and see if it needs to be bumped higher to run the same as your default 240 (180?) MHz builds....
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