Prop Shield Beta Test
- Thread starter Paul
- Start date
- Status
PaulStoffregen
Well-known member
Yeah, my first guess is maybe the calibration didn't get properly written to EEPROM.
Yes, I'm working on these. I plan to have both later this week.
I'm also going to polish the GUI quite a bit, but that might happen over the weekend or early next week.
That sounds really useful. I'll expand the calibration to 56 bytes tomorrow. All the existing EEPROM-stored cals will become invalid to the new code. This is a beta test, afterall...
PaulStoffregen
Well-known member
Yeah, by default the magnetometer is only used by the Orientation example.
If you look at the Madgwick example code, you'll see there's a commented out line where it updates the filter. MadgwickAHRS supports either 6 or 9 input. I honestly haven't had much time to experiment with the 9 input version, and I probably won't for the next couple days while I'm working on improving the calibration app. I could really use some feedback on the 9 input Madgwick and Mahony filters, if anyone wants to test them.
Ben
Well-known member
I recalibrated the mag and then ran the Madgwick example.
I tried all possible combinations of both Madgwick and Mahony with
but while they all compiled, nothing helped.
The third line of code was my try to adapt the NED-convention onehorse mentioned.
But all in all, as JBeale said, I can't confirm the mag config was written. So maybe changing the filters and its inputs' signs is barking up the wrong tree
-Ben
Edit: On the other hand, the roll/Pitch/Yaw even drifts with the mag data not used at all...
...so it can't be missing calibration?
I tried all possible combinations of both Madgwick and Mahony with
Code:
// Update the Madgwick filter
//filter.updateIMU(gx, gy, gz, ax, ay, az);
//filter.update(gx, gy, gz, ax, ay, az, mx, my, mz);
filter.update(-gx, gy, gz, ax, -ay, -az, mx, -my, -mz);but while they all compiled, nothing helped.
The third line of code was my try to adapt the NED-convention onehorse mentioned.
But all in all, as JBeale said, I can't confirm the mag config was written. So maybe changing the filters and its inputs' signs is barking up the wrong tree
-Ben
Edit: On the other hand, the roll/Pitch/Yaw even drifts with the mag data not used at all...
Code:
filter.updateIMU(gx, gy, gz, ax, ay, az);
Last edited:
PaulStoffregen
Well-known member
I've added a PrintCalibration example, just now.
When you run it, the output should look similar to this.
You'll get all zeros if the calibration is missing or invalid.
When you run it, the output should look similar to this.
You'll get all zeros if the calibration is missing or invalid.
mortonkopf
Well-known member
using orientation sketch to output Yaw indication to APA102 leds using FastLED on pins 11 and 13 (I believe that the choice of pins 11 and 13 should cause FastLED to select Hardware SPI - but not sure on this)
(hardware covered)
https://youtu.be/zNKY0U7-Qzs
(hardware covered)
https://youtu.be/zNKY0U7-Qzs
Code:
#include <NXPMotionSense.h>
#include <Wire.h>
#include <EEPROM.h>
#include <FastLED.h>
#define NUM_LEDS 11 //number of leds in strip length on one side
#define DATA_PIN 11
#define CLOCK_PIN 13
CRGB leds[NUM_LEDS];
NXPMotionSense imu;
NXPSensorFusion filter;
void setup() {
Serial.begin(9600);
imu.begin();
filter.begin();
// FastLED.addLeds<APA102, DATA_PIN, CLOCK_PIN>(leds, NUM_LEDS);
FastLED.addLeds<APA102, DATA_PIN, CLOCK_PIN, RGB>(leds, NUM_LEDS);
}
void loop() {
float ax, ay, az;
float gx, gy, gz;
float mx, my, mz;
float roll, pitch, heading;
if (imu.available()) {
// Read the motion sensors
imu.readMotionSensor(ax, ay, az, gx, gy, gz, mx, my, mz);
// Update the SensorFusion filter
filter.update(gx, gy, gz, ax, ay, az, mx, my, mz);
}
// roll = filter.getRoll();
// pitch = filter.getPitch();
heading = filter.getYaw();
if(heading<(-1)){
for (int x=0;x<4;x++){
leds[x]=CRGB(0,55,255);
FastLED.show();
}
}
if(heading>(1)){
for (int x=7;x<11;x++){
leds[x]=CRGB(200,155,0);
FastLED.show();
}
}
if(heading>(-1)&& heading<1){
for (int x=5;x<7;x++){
leds[x]=CRGB(0,155,0);
FastLED.show();
}
}
for (int x=0;x<NUM_LEDS;x++){
leds[x]=CRGB(0,0,0);
FastLED.show();
}
}
// Decide when to print
bool readyToPrint() {
static unsigned long nowMillis;
static unsigned long thenMillis;
// If the Processing visualization sketch is sending "s"
// then send new data each time it wants to redraw
while (Serial.available()) {
int val = Serial.read();
if (val == 's') {
thenMillis = millis();
return true;
}
}
// Otherwise, print 8 times per second, for viewing as
// scrolling numbers in the Arduino Serial Monitor
nowMillis = millis();
if (nowMillis - thenMillis > 125) {
thenMillis = nowMillis;
return true;
}
return false;
}
Last edited:
Ben
Well-known member
I added code to CalibrateMagnetometer.ino to blink the LED slowly while the sketch runs. When a config is received and written to EEPROM, the Led blinks fast for two seconds.
https://github.com/PaulStoffregen/NXPMotionSense/compare/master...Ben-Rheinland:master
https://github.com/PaulStoffregen/NXPMotionSense/compare/master...Ben-Rheinland:master
pictographer
Well-known member
[Update: Also crashes without the LC plugged in. Can make it crash by running it and quitting without doing anything. Haven't been able to make the display show anything other than labels and blank content panes.]
Had an LC plugged in.
Launched the GUI application holding the control key to temporarily bypass the restrictions on application launching.
Plugged in my T 3.2 with Prop Shield.
Selected a port from the port menu.
The following error appeared:
And here's what Apple's crash utility had to say:
Had an LC plugged in.
Launched the GUI application holding the control key to temporarily bypass the restrictions on application launching.
Plugged in my T 3.2 with Prop Shield.
Selected a port from the port menu.
The following error appeared:
And here's what Apple's crash utility had to say:
Code:
Process: gui [77248]
Path: /Users/USER/Downloads/gui.app/Contents/MacOS/gui
Identifier: com.pjrc.teensy
Version: ??? (???)
Code Type: X86-64 (Native)
Parent Process: launchd [255]
Responsible: gui [77248]
User ID: 501
Date/Time: 2016-03-16 18:17:48.551 -0700
OS Version: Mac OS X 10.9.5 (13F1603)
Report Version: 11
Anonymous UUID: F4335842-4EF9-0B79-3DB7-D9A0441E0985
Crashed Thread: 0 Dispatch queue: com.apple.main-thread
Exception Type: EXC_BAD_ACCESS (SIGSEGV)
Exception Codes: KERN_INVALID_ADDRESS at 0x0000000000000010
VM Regions Near 0x10:
-->
__TEXT 0000000100000000-000000010049a000 [ 4712K] r-x/rwx SM=COW /Users/USER/Downloads/gui.app/Contents/MacOS/gui
Thread 0 Crashed:: Dispatch queue: com.apple.main-thread
0 com.pjrc.teensy 0x000000010007669c wxMenu::DoRemove(wxMenuItem*) + 156
1 com.pjrc.teensy 0x000000010018471d wxMenuBase::DoDelete(wxMenuItem*) + 13
2 com.pjrc.teensy 0x00000001001847b2 wxMenuBase::Delete(wxMenuItem*) + 18
3 com.pjrc.teensy 0x0000000100032502 MyMenu::OnShowPortList(wxMenuEvent&) + 210
4 com.pjrc.teensy 0x00000001002d7f44 wxEvtHandler::ProcessEventIfMatchesId(wxEventTableEntryBase const&, wxEvtHandler*, wxEvent&) + 84
5 com.pjrc.teensy 0x00000001002d8f64 wxEventHashTable::HandleEvent(wxEvent&, wxEvtHandler*) + 132
6 com.pjrc.teensy 0x00000001002d9023 wxEvtHandler::TryHereOnly(wxEvent&) + 67
7 com.pjrc.teensy 0x00000001002d90bb wxEvtHandler::ProcessEventLocally(wxEvent&) + 59
8 com.pjrc.teensy 0x00000001002d9125 wxEvtHandler::ProcessEvent(wxEvent&) + 69
9 com.pjrc.teensy 0x00000001002d8ac6 wxEvtHandler::SafelyProcessEvent(wxEvent&) + 22
10 com.pjrc.teensy 0x00000001001ccfe0 wxWindowBase::HandleWindowEvent(wxEvent&) const + 16
11 com.pjrc.teensy 0x0000000100075dc5 wxMenu::DoHandleMenuEvent(wxEvent&) + 69
12 com.pjrc.teensy 0x0000000100076b89 wxMenu::DoHandleMenuOpenedOrClosed(int) + 89
13 com.apple.AppKit 0x00007fff8e0df1aa -[NSMenu _populateFromDelegateWithEventRef:] + 337
14 com.apple.AppKit 0x00007fff8e0dc189 -[NSMenu _populateWithEventRef:] + 80
15 com.apple.AppKit 0x00007fff8e0de2e0 -[NSCarbonMenuImpl _carbonPopulateEvent:handlerCallRef:] + 431
16 com.apple.AppKit 0x00007fff8e0ddff6 NSSLMMenuEventHandler + 716
17 com.apple.HIToolbox 0x00007fff916431d4 DispatchEventToHandlers(EventTargetRec*, OpaqueEventRef*, HandlerCallRec*) + 892
18 com.apple.HIToolbox 0x00007fff91642787 SendEventToEventTargetInternal(OpaqueEventRef*, OpaqueEventTargetRef*, HandlerCallRec*) + 385
19 com.apple.HIToolbox 0x00007fff916425f7 SendEventToEventTargetWithOptions + 43
20 com.apple.HIToolbox 0x00007fff91688d18 SendMenuPopulate(MenuData*, OpaqueEventTargetRef*, unsigned int, double, unsigned int, OpaqueEventRef*, unsigned char*) + 277
21 com.apple.HIToolbox 0x00007fff916a4f19 SendMenuOpening(MenuSelectData*, MenuData*, double, unsigned int, unsigned int, __CFDictionary*, unsigned char, unsigned char*) + 279
22 com.apple.HIToolbox 0x00007fff916c7651 DrawTheMenu(MenuSelectData*, __CFArray**, unsigned char, unsigned char*) + 194
23 com.apple.HIToolbox 0x00007fff916c7459 MenuChanged(MenuSelectData*, unsigned char, unsigned char) + 375
24 com.apple.HIToolbox 0x00007fff916b4c1c TrackMenuCommon(MenuSelectData&, unsigned char*) + 1476
25 com.apple.HIToolbox 0x00007fff916c6f70 MenuSelectCore(MenuData*, Point, double, unsigned int, OpaqueMenuRef**, unsigned short*) + 441
26 com.apple.HIToolbox 0x00007fff916c6cb1 _HandleMenuSelection2 + 446
27 com.apple.AppKit 0x00007fff8e05062c _NSHandleCarbonMenuEvent + 284
28 com.apple.AppKit 0x00007fff8deaf52e _DPSNextEvent + 2170
29 com.apple.AppKit 0x00007fff8deae89b -[NSApplication nextEventMatchingMask:untilDate:inMode:dequeue:] + 122
30 com.apple.AppKit 0x00007fff8dea299c -[NSApplication run] + 553
31 com.pjrc.teensy 0x00000001000d253e wxGUIEventLoop::OSXDoRun() + 254
32 com.pjrc.teensy 0x00000001002b00ef wxCFEventLoop::DoRun() + 31
33 com.pjrc.teensy 0x000000010022c936 wxEventLoopBase::Run() + 86
34 com.pjrc.teensy 0x00000001001f7ae7 wxAppConsoleBase::MainLoop() + 103
35 com.pjrc.teensy 0x000000010008ee87 wxApp::OnRun() + 39
36 com.pjrc.teensy 0x000000010025c00d wxEntry(int&, wchar_t**) + 141
37 com.pjrc.teensy 0x0000000100030d04 main + 20
38 com.pjrc.teensy 0x0000000100030bd8 start + 52
Thread 1:: Dispatch queue: com.apple.libdispatch-manager
0 libsystem_kernel.dylib 0x00007fff8d109662 kevent64 + 10
1 libdispatch.dylib 0x00007fff9131d421 _dispatch_mgr_invoke + 239
2 libdispatch.dylib 0x00007fff9131d136 _dispatch_mgr_thread + 52
Thread 2:
0 libsystem_kernel.dylib 0x00007fff8d104a1a mach_msg_trap + 10
1 libsystem_kernel.dylib 0x00007fff8d103d18 mach_msg + 64
2 com.apple.CoreFoundation 0x00007fff84de0f15 __CFRunLoopServiceMachPort + 181
3 com.apple.CoreFoundation 0x00007fff84de0539 __CFRunLoopRun + 1161
4 com.apple.CoreFoundation 0x00007fff84ddfe75 CFRunLoopRunSpecific + 309
5 com.apple.AppKit 0x00007fff8e04f05e _NSEventThread + 144
6 libsystem_pthread.dylib 0x00007fff84fc0899 _pthread_body + 138
7 libsystem_pthread.dylib 0x00007fff84fc072a _pthread_start + 137
8 libsystem_pthread.dylib 0x00007fff84fc4fc9 thread_start + 13
Thread 3:
0 libsystem_kernel.dylib 0x00007fff8d108e6a __workq_kernreturn + 10
1 libsystem_pthread.dylib 0x00007fff84fc1f08 _pthread_wqthread + 330
2 libsystem_pthread.dylib 0x00007fff84fc4fb9 start_wqthread + 13
Thread 4:
0 libsystem_kernel.dylib 0x00007fff8d108e6a __workq_kernreturn + 10
1 libsystem_pthread.dylib 0x00007fff84fc1f08 _pthread_wqthread + 330
2 libsystem_pthread.dylib 0x00007fff84fc4fb9 start_wqthread + 13
Thread 5:: com.apple.appkit-heartbeat
0 libsystem_kernel.dylib 0x00007fff8d108a3a __semwait_signal + 10
1 libsystem_c.dylib 0x00007fff8d083dd4 nanosleep + 200
2 libsystem_c.dylib 0x00007fff8d083cc6 usleep + 54
3 com.apple.AppKit 0x00007fff8e11317d -[NSUIHeartBeat _heartBeatThread:] + 2132
4 com.apple.Foundation 0x00007fff92135d8b __NSThread__main__ + 1318
5 libsystem_pthread.dylib 0x00007fff84fc0899 _pthread_body + 138
6 libsystem_pthread.dylib 0x00007fff84fc072a _pthread_start + 137
7 libsystem_pthread.dylib 0x00007fff84fc4fc9 thread_start + 13
Thread 0 crashed with X86 Thread State (64-bit):
rax: 0x0000000100505c10 rbx: 0x000000010071cb40 rcx: 0x00000000000fc080 rdx: 0x000000000003dbf0
rdi: 0x000000010069da00 rsi: 0x0000000091120003 rbp: 0x00007fff5fbfe3d0 rsp: 0x00007fff5fbfe3a0
r8: 0x000000010109d510 r9: 0x000000010109e6e0 r10: 0x000000006d32caeb r11: 0x00000000db13e675
r12: 0x000000010104a950 r13: 0x0000000000000000 r14: 0x0000000000000004 r15: 0x0000000100773ef0
rip: 0x000000010007669c rfl: 0x0000000000010246 cr2: 0x0000000000000010
Logical CPU: 0
Error Code: 0x00000004
Trap Number: 14
Binary Images:
0x100000000 - 0x100499ff7 +com.pjrc.teensy (??? - ???) <A232C836-DF59-8B70-7235-D93CBCEA6EB0> /Users/USER/Downloads/gui.app/Contents/MacOS/gui
0x10068f000 - 0x100693fff com.apple.agl (3.2.3 - AGL-3.2.3) <21798BC5-8F01-345B-B27B-1037CF71D166> /System/Library/Frameworks/AGL.framework/Versions/A/AGL
0x101692000 - 0x101698ff7 libCGXCoreImage.A.dylib (599.35.12) <561A549F-2E79-38B8-90E3-115D3D6038BB> /System/Library/Frameworks/CoreGraphics.framework/Versions/A/Resources/libCGXCoreImage.A.dylib
0x1016b1000 - 0x1016b1ffb +cl_kernels (???) <92D80B5E-13FF-4C67-AE96-C3412174CEA1> cl_kernels
0x1017dd000 - 0x1017e5ff3 libCGCMS.A.dylib (599.35.12) <E27B2C59-AC0B-3B1F-86BC-FF0B9C7743F8> /System/Library/Frameworks/CoreGraphics.framework/Versions/A/Resources/libCGCMS.A.dylib
0x1017ed000 - 0x1017f0ffa libCGXType.A.dylib (599.35.12) <48401CB4-1E4C-3BC4-96AB-272067F622B5> /System/Library/Frameworks/CoreGraphics.framework/Versions/A/Resources/libCGXType.A.dylib
0x1036f6000 - 0x10371effb libRIP.A.dylib (599.35.12) <B2F65393-2660-36FB-B5A4-082481E27704> /System/Library/Frameworks/CoreGraphics.framework/Versions/A/Resources/libRIP.A.dylib
0x103a3a000 - 0x103a45fff libGPUSupport.dylib (9.6.5) <7262B5E5-AA02-3916-9E78-071502F4F1BE> /System/Library/PrivateFrameworks/GPUSupport.framework/Versions/A/Libraries/libGPUSupport.dylib
0x103a4c000 - 0x103a75fff GLRendererFloat (9.6.5) <D216C628-95EC-346C-A4EE-C88A750ADF5F> /System/Library/Frameworks/OpenGL.framework/Resources/GLRendererFloat.bundle/GLRendererFloat
0x1051d8000 - 0x105378ff7 GLEngine (9.6.5) <30643C97-7EBB-36EE-BEEA-13844EA0F680> /System/Library/Frameworks/OpenGL.framework/Resources/GLEngine.bundle/GLEngine
0x106000000 - 0x10674aff7 libclh.dylib (4.0.3 - 4.0.3) <355B99B6-B262-346C-899D-B674873A389F> /System/Library/Extensions/GeForceTeslaGLDriver.bundle/Contents/MacOS/libclh.dylib
0x108097000 - 0x10817dfef unorm8_bgra.dylib (2.3.58) <641EC871-01E8-301F-8695-B92993AD7E23> /System/Library/Frameworks/OpenCL.framework/Versions/A/Libraries/ImageFormats/unorm8_bgra.dylib
0x123440000000 - 0x12344086dfff com.apple.GeForceTeslaGLDriver (8.24.17 - 8.2.4) <E7BF5771-102B-3DD1-AD4A-E62606132A0E> /System/Library/Extensions/GeForceTeslaGLDriver.bundle/Contents/MacOS/GeForceTeslaGLDriver
0x7fff67e4a000 - 0x7fff67e7d817 dyld (239.4) <042C4CED-6FB2-3B1C-948B-CAF2EE3B9F7A> /usr/lib/dyld
0x7fff84cc4000 - 0x7fff84cdcfff libexpat.1.dylib (12) <97F4A9A7-CB3E-3BBF-9314-4997FC770E52> /usr/lib/libexpat.1.dylib
0x7fff84cdd000 - 0x7fff84cddffd com.apple.audio.units.AudioUnit (1.10 - 1.10) <68B21135-55A6-3563-A3D6-3E692A7DEB7F> /System/Library/Frameworks/AudioUnit.framework/Versions/A/AudioUnit
0x7fff84ce9000 - 0x7fff84cedfff libpam.2.dylib (20) <B93CE8F5-DAA8-30A1-B1F6-F890509513CB> /usr/lib/libpam.2.dylib
0x7fff84cee000 - 0x7fff84d6ffff com.apple.CoreSymbolication (3.0.1 - 141.0.6) <B594EF34-A1A3-3631-914E-6FD129291983> /System/Library/PrivateFrameworks/CoreSymbolication.framework/Versions/A/CoreSymbolication
0x7fff84d70000 - 0x7fff84f55fff com.apple.CoreFoundation (6.9 - 855.17) <729BD6DA-1F63-3E72-A148-26F21EBF52BB> /System/Library/Frameworks/CoreFoundation.framework/Versions/A/CoreFoundation
0x7fff84f94000 - 0x7fff84fafff7 libsystem_malloc.dylib (23.10.1) <A695B4E4-38E9-332E-A772-29D31E3F1385> /usr/lib/system/libsystem_malloc.dylib
0x7fff84fb0000 - 0x7fff84fb1fff liblangid.dylib (117) <9546E641-F730-3AB0-B3CD-E0E2FDD173D9> /usr/lib/liblangid.dylib
0x7fff84fbf000 - 0x7fff84fc6ff7 libsystem_pthread.dylib (53.1.4) <AB498556-B555-310E-9041-F67EC9E00E2C> /usr/lib/system/libsystem_pthread.dylib
0x7fff84fc7000 - 0x7fff84fd0ffd com.apple.CommonAuth (4.0 - 2.0) <BD720379-757B-305C-A7BE-E00E680F8218> /System/Library/PrivateFrameworks/CommonAuth.framework/Versions/A/CommonAuth
0x7fff85019000 - 0x7fff85022ffb libsystem_notify.dylib (121.20.1) <9B34B4FE-F5AD-3F09-A5F0-46AFF3571323> /usr/lib/system/libsystem_notify.dylib
0x7fff85023000 - 0x7fff85026fff com.apple.TCC (1.0 - 1) <32A075D9-47FD-3E71-95BC-BFB0D583F41C> /System/Library/PrivateFrameworks/TCC.framework/Versions/A/TCC
0x7fff8504b000 - 0x7fff85070ff7 com.apple.CoreVideo (1.8 - 117.2) <4674339E-26D0-35FA-9958-422832B39B12> /System/Library/Frameworks/CoreVideo.framework/Versions/A/CoreVideo
0x7fff85071000 - 0x7fff850a1fff com.apple.IconServices (25 - 25.17) <4751127E-FBD5-3ED5-8510-08D4E4166EFE> /System/Library/PrivateFrameworks/IconServices.framework/Versions/A/IconServices
0x7fff850b4000 - 0x7fff850b5fff com.apple.TrustEvaluationAgent (2.0 - 25) <334A82F4-4AE4-3719-A511-86D0B0723E2B> /System/Library/PrivateFrameworks/TrustEvaluationAgent.framework/Versions/A/TrustEvaluationAgent
0x7fff850b6000 - 0x7fff85111ffb com.apple.AE (665.5 - 665.6) <9B17E7B7-D493-346A-827E-6DF1474E4977> /System/Library/Frameworks/CoreServices.framework/Versions/A/Frameworks/AE.framework/Versions/A/AE
0x7fff85112000 - 0x7fff85137ff7 com.apple.ChunkingLibrary (2.0 - 155.1) <B845DC7A-D1EA-31E2-967C-D1FE0C628036> /System/Library/PrivateFrameworks/ChunkingLibrary.framework/Versions/A/ChunkingLibrary
0x7fff85138000 - 0x7fff851affff com.apple.CoreServices.OSServices (600.4 - 600.4) <6BC86B46-AFD3-3F06-8659-2C954CBEBD43> /System/Library/Frameworks/CoreServices.framework/Versions/A/Frameworks/OSServices.framework/Versions/A/OSServices
0x7fff851ba000 - 0x7fff8548bff4 com.apple.CoreImage (9.4.0) <2C636ECD-0F1A-357C-9EFF-0452476FDDF5> /System/Library/Frameworks/QuartzCore.framework/Versions/A/Frameworks/CoreImage.framework/Versions/A/CoreImage
0x7fff854fd000 - 0x7fff857d1fc7 com.apple.vImage (7.0 - 7.0) <D241DBFA-AC49-31E2-893D-EAAC31890C90> /System/Library/Frameworks/Accelerate.framework/Versions/A/Frameworks/vImage.framework/Versions/A/vImage
0x7fff85809000 - 0x7fff85825fff libresolv.9.dylib (54) <11C2C826-F1C6-39C6-B4E8-6E0C41D4FA95> /usr/lib/libresolv.9.dylib
0x7fff85826000 - 0x7fff85827fff libunc.dylib (28) <62682455-1862-36FE-8A04-7A6B91256438> /usr/lib/system/libunc.dylib
0x7fff85874000 - 0x7fff85938ff7 com.apple.backup.framework (1.5.5 - 1.5.5) <CA77A4FC-7B76-30C7-94BE-FF4B8140D05A> /System/Library/PrivateFrameworks/Backup.framework/Versions/A/Backup
0x7fff85c9d000 - 0x7fff85cd2fff libssl.0.9.8.dylib (52.8.4) <3F8ADCC3-AE3F-371C-A4D5-FF219D33E507> /usr/lib/libssl.0.9.8.dylib
0x7fff85dd0000 - 0x7fff85debff7 libCRFSuite.dylib (34) <FFAE75FA-C54E-398B-AA97-18164CD9789D> /usr/lib/libCRFSuite.dylib
0x7fff85dec000 - 0x7fff861cdffe libLAPACK.dylib (1094.5) <7E7A9B8D-1638-3914-BAE0-663B69865986> /System/Library/Frameworks/Accelerate.framework/Versions/A/Frameworks/vecLib.framework/Versions/A/libLAPACK.dylib
0x7fff8631e000 - 0x7fff8632bff7 libxar.1.dylib (202) <5572AA71-E98D-3FE1-9402-BB4A84E0E71E> /usr/lib/libxar.1.dylib
0x7fff8632c000 - 0x7fff86336ff7 libcsfde.dylib (380.70.2) <3ACB87D7-A81C-3C45-B648-AD27F1B9D841> /usr/lib/libcsfde.dylib
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External Modification Summary:
Calls made by other processes targeting this process:
task_for_pid: 2
thread_create: 0
thread_set_state: 0
Calls made by this process:
task_for_pid: 0
thread_create: 0
thread_set_state: 0
Calls made by all processes on this machine:
task_for_pid: 1046389
thread_create: 0
thread_set_state: 0
VM Region Summary:
ReadOnly portion of Libraries: Total=205.4M resident=96.7M(47%) swapped_out_or_unallocated=108.7M(53%)
Writable regions: Total=107.0M written=1172K(1%) resident=47.6M(44%) swapped_out=11.0M(10%) unallocated=59.4M(56%)
REGION TYPE VIRTUAL
=========== =======
CG backing stores 2660K
CG image 12K
CG raster data 24K
CG shared images 212K
CoreGraphics 8K
CoreImage 4K
Dispatch continuations 4096K
IOKit 36.2M
IOKit (reserved) 4K reserved VM address space (unallocated)
Kernel Alloc Once 8K
MALLOC 37.1M
MALLOC (admin) 32K
Memory Tag 242 12K
OpenCL 8K
STACK GUARD 56.0M
Stack 10.1M
VM_ALLOCATE 16.4M
__DATA 42.1M
__IMAGE 528K
__LINKEDIT 68.7M
__TEXT 136.8M
__UNICODE 544K
mapped file 49.3M
shared memory 4K
=========== =======
TOTAL 460.6M
TOTAL, minus reserved VM space 460.6M
Last edited:
johnnyfp
Well-known member
The Gyro is dead, Long live the Gyro.
Hi,
I think my Gyro is Half dead on my Prop Shield!
So after pointing out about the discrepancy of the NXPMotionSense.cpp library in post #171 and then seeing that the code hadn't been updated but other people where still getting the IMURead GUI working without my change I begun to wonder how everyone is getting it to work but I need to hack the library to make it work, to get the Mag calibrated.
Then upon inspection, I can see in this code that the newdata update is only done on a gyro event or change of data, so if you move the unit then the Gyro would report the move and an newdata flag would be set. Now if My Gyro is only ever reporting back 0, and the code only sets this flag on the gyro cycle then I would never get any changes.
Updating the Initialization code so that the Gyro is now put into Self-Test mode, I'm still getting no data. It seems that the I2C Controller part of the Gyro chip is working, because the read reg and write reg are reporting, but the actual sensor part is not working. I'm also not getting any Gyro Temperature reading.
A few days ago the gyro was working with OneHorses Library, but it too is now reporting no data from the Gyro.
Any Ideas on how I should approach and find the fault?
Hi,
I think my Gyro is Half dead on my Prop Shield!
So after pointing out about the discrepancy of the NXPMotionSense.cpp library in post #171 and then seeing that the code hadn't been updated but other people where still getting the IMURead GUI working without my change I begun to wonder how everyone is getting it to work but I need to hack the library to make it work, to get the Mag calibrated.
Then upon inspection, I can see in this code that the newdata update is only done on a gyro event or change of data, so if you move the unit then the Gyro would report the move and an newdata flag would be set. Now if My Gyro is only ever reporting back 0, and the code only sets this flag on the gyro cycle then I would never get any changes.
Updating the Initialization code so that the Gyro is now put into Self-Test mode, I'm still getting no data. It seems that the I2C Controller part of the Gyro chip is working, because the read reg and write reg are reporting, but the actual sensor part is not working. I'm also not getting any Gyro Temperature reading.
A few days ago the gyro was working with OneHorses Library, but it too is now reporting no data from the Gyro.
Any Ideas on how I should approach and find the fault?
Wozzy
Well-known member
Are you using Pins 11 and 13 on the Teensy, or the 5,D,C,G pins on the PropShield?
I just got my APA102 LEDS (a 1 m, 144LED/m strip)
I am able to run them from the Teensy 3.1 pins directly , but not from the 5,D,C,G pins on the PropShield.
I get similar results with either your program above or with the FastLED Firstlight sketch.
Edit: I should have mentioned that I'm powering the APA102 strip with an external 5V supply, with the ground tied to the Teensy ground.
I was only trying to tie into the Clock and Data outputs on the PropShield.
Last edited:
defragster
Senior Member+
APA102 aren't 'Dotstar' SPI bus are they? That is what the PropShield is looking for as I saw it. I just ordered some Dotstar.
<edit>: Yes - those are the same
<edit>: Yes - those are the same
Last edited:
Wozzy
Well-known member
I was under the impression that Dotstar and APA102 were the same.
I did the calibration twice and the numbers seem somewhat close, at least. Would be cool to have the option for the Cal GUI to display this.
Plot of NXP Orientation sketch moving around, and then sitting still on desk, using default 8 Hz update rate
below plot shows about 15 minutes of data with sensor stuck down on the desk; not much drift after the initial oscillation damps out.
EDIT: I then continued the test for 8 hours, and the data looks about the same as the 15 minutes (no significant drift).
Snippet of 8 Hz raw data at end of above graph:
Code:
Hard Iron Offset
-0.51
15.25
70.61
Soft Iron Mapping
0.9821 -0.0104 -0.0133
-0.0104 0.9797 0.0035
-0.0133 0.0035 1.0396
Code:
Hard Iron Offset
-0.70
16.40
71.02
Soft Iron Mapping
0.9770 -0.0141 -0.0154
-0.0141 0.9824 0.0042
-0.0154 0.0042 1.0424Plot of NXP Orientation sketch moving around, and then sitting still on desk, using default 8 Hz update rate
below plot shows about 15 minutes of data with sensor stuck down on the desk; not much drift after the initial oscillation damps out.
EDIT: I then continued the test for 8 hours, and the data looks about the same as the 15 minutes (no significant drift).
Snippet of 8 Hz raw data at end of above graph:
Code:
2.529,0.044,-0.123
2.529,0.044,-0.123
2.528,0.044,-0.123
2.528,0.044,-0.123
2.528,0.044,-0.123
2.528,0.044,-0.124
2.527,0.043,-0.124
2.527,0.043,-0.124
2.527,0.043,-0.124
2.526,0.043,-0.124
2.526,0.043,-0.124
2.526,0.043,-0.124
2.526,0.043,-0.124
2.526,0.043,-0.124
2.527,0.043,-0.124
2.527,0.043,-0.124
2.527,0.043,-0.124
2.527,0.043,-0.124
2.528,0.043,-0.124
2.528,0.043,-0.124
2.528,0.043,-0.124
2.528,0.043,-0.124
2.527,0.043,-0.124
2.528,0.043,-0.124
2.527,0.043,-0.124
2.528,0.043,-0.124
2.527,0.043,-0.124
2.528,0.043,-0.124
2.528,0.043,-0.124
2.528,0.043,-0.124
2.527,0.043,-0.124
2.527,0.043,-0.124
2.527,0.043,-0.125
2.527,0.043,-0.124
2.527,0.043,-0.124
2.527,0.043,-0.124
2.527,0.043,-0.124
2.527,0.043,-0.125
2.526,0.043,-0.125
2.526,0.042,-0.124
2.527,0.043,-0.125
2.527,0.043,-0.125
2.527,0.042,-0.125
Last edited:
defragster
Senior Member+
opps - Hadn't looked beyond Adafruit named Dotstar . . . I found this on Adafruit - it seems they should be the same .vs. the 1 wire WS2812:
The manufacturer of the APA102C smart LED used in this strip used to be GRB order, and has changed in 2015 to have BRG color order. This means if you are using our DotStar library
apa102/
understanding-the-apa102-superled/
mortonkopf
Well-known member
@Wozzy - Initial test was to see if SPI based leds work with shield at the same time. just hooked up to pins 11 and 13, will look at using the shield pins either tonight, or tomorrow.
@defragster - dotstar is just the name that Adafruit gives to APA102, just like calling ws2811 leds Neopixels, very annoying that AdaF cause this confusion. RGB order can be defined in FastLED library usually, or pixel data can easily be restructured in a colour function in the sketch. They are MUCH cheaper from a china source, even with taxes added. These are four wire leds very different to ws2811, they have a dedicated clock line. I have ordered from a number of china suppliers, including Greeled and from alibaba.
@defragster - dotstar is just the name that Adafruit gives to APA102, just like calling ws2811 leds Neopixels, very annoying that AdaF cause this confusion. RGB order can be defined in FastLED library usually, or pixel data can easily be restructured in a colour function in the sketch. They are MUCH cheaper from a china source, even with taxes added. These are four wire leds very different to ws2811, they have a dedicated clock line. I have ordered from a number of china suppliers, including Greeled and from alibaba.
Last edited:
mortonkopf
Well-known member
defragster
Senior Member+
Remember to set Teensy Pin 7 high to use the shields 5V buffers.
Good to know - I got as far as setting pin 5 output HIGH to enable the audio amp output, but had not looked into the 5DCG shield pins.
@mortonkopf - Thx - I saw that dotstar==APA102 for my post #217, but 7 hours earlier when I saw I could get a $5 Pi Zero I got that and the a dotstar strip shipped without reading ... while they still had stock - they lasted 2 more hours.
@Wozzy - is this your problem from post #211? <edit>
(Paul?): Hopefully the Prop Shield will come with a COOL PJRC CARD - the Audio Shield could use one - to know and understand such pin details
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PaulStoffregen
Well-known member
Looks like the Mac version is pretty unstable.
I've had it crash here a few time as well. I'm going to rewrite the port menu stuff soon, so hopefully whatever I did wrong there will soon be replaced with something better.
Can you run the I2C scanner. If using Teensyduino 1.28-beta1, it's in File > Examples > Wire > Scanner. Would be good to know if the chip totally died, or is still alive but not working properly.
There no way new printed cards will happen in time for the first release. But remind me of this later....
manitou
Senior Member+
The flash chip has 3 256-byte "security registers". There are SPI instructions to erase/program/read these 3 registers. I confirmed that data written survives the eraseeverything example, so registers could be used to store calibration data. Takes about 10ms to erase a security register.
The hack used to read/program
Code:
void read_secreg() {
int i;
uint8_t v[4];
SPI.beginTransaction(SPICONFIG);
CSASSERT();
SPI.transfer(0x48); // read
SPI.transfer(0); SPI.transfer(0x10); SPI.transfer(0); // address
SPI.transfer(0); // dummy
SPI.transfer(v,sizeof(v));
CSRELEASE();
SPI.endTransaction();
for(i=0;i<sizeof(v);i++) {Serial.print(v[i]); Serial.print(" ");}
Serial.println();
}
void write_secreg() {
// erase and write a security register
SPI.beginTransaction(SPICONFIG);
CSASSERT();
SPI.transfer(0x06); // write enable
CSRELEASE();
delayMicroseconds(1);
CSASSERT();
SPI.transfer(0x44); // erase
SPI.transfer(0); SPI.transfer(0x10); SPI.transfer(0); // address
CSRELEASE();
SPI.endTransaction();
uint32_t t =micros();
SerialFlash.wait();
t=micros()-t;
SPI.beginTransaction(SPICONFIG);
CSASSERT();
SPI.transfer(0x06); // write enable
CSRELEASE();
delayMicroseconds(1);
CSASSERT();
SPI.transfer(0x42); // write
SPI.transfer(0); SPI.transfer(0x10); SPI.transfer(0); // address
for(int i=0;i<64;i++)SPI.transfer(i+4);
CSRELEASE();
SPI.endTransaction();
SerialFlash.wait();
Serial.print(t); Serial.println(" us");
}
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benscammell
Well-known member
Thanks Paul... I'm now hungry for, and a significant distance from, a Philly Cheesesteak!
Ben
Well-known member
Maybe just create the PDF version and include a small piece of paper with the link might suffice for the first batch? I think it's pretty important to convey information such as the "enable" pins and how to hook up the speaker (no gnd connection) and how many LEDs maximum with USB-power...
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