[Elphel-support] Connecting the IMU and GPS adapter boards to 10369board
Andrey Filippov
support-list at support.elphel.com
Tue Oct 11 18:06:17 PDT 2011
Lee,
I'm sorry - it seems this will have to wait until I'll get to the FPGA
programming again - the easy solution I told you about will not work. I just
looked in the code - only 6 bits of the 16 bit sent over SPI are
programmable in the current FPGA code. I forgot to implement writing (just
missed the fact it is not possible with possible to do slowly in software
anymore) as I was not counting much on the in-IMU filtering - logging raw
data at full 2560samples/sec should be enough to play with the filtering at
post-processing.
But that's definitely the flaw of the current code - I'll fix that, but not
right now.
Andrey
On Tue, Oct 11, 2011 at 6:28 PM, Lemay, Lee C CIV SPAWARSYSCEN-PACIFIC,
52340 <lee.lemay at navy.mil> wrote:
> **
> Andrey,
>
> This is excellent. Thank you for the information.
>
> I have one request, which would be to be able to configure the ADIS IMU
> sample decimation rate through the use of imu_setup.php. For
> completeness, one would also able to select the FIR filter in default
> configuration, A-D, and enable or disable the filter.
> I understand if this is not a priority. It would definitely enhance the
> usability of the ADIS IMU.
>
> Lee
>
> ------------------------------
> *From:* elphel at gmail.com [mailto:elphel at gmail.com] *On Behalf Of *Andrey
> Filippov
> *Sent:* Tuesday, October 11, 2011 3:50 PM
> *To:* Lemay, Lee C CIV SPAWARSYSCEN-PACIFIC, 52340;
> support-list at support.elphel.com
> *Subject:* Re: [Elphel-support] Connecting the IMU and GPS adapter boards
> to 10369board
>
>
>
> On Tue, Oct 11, 2011 at 4:24 PM, Lemay, Lee C CIV SPAWARSYSCEN-PACIFIC,
> 52340 <lee.lemay at navy.mil> wrote:
>
>> **
>> Thank you Andrey. I have a few more questions.
>>
>> Where do you set the baud rate for GPS?
>>
>
> To write to EEPROM you may use this page http://community.elphel.com/<remove-this>bootblock353/
> , this page also allows to read EEPROM and bootblock records on the camera
> boards
>
>
>> Which directory is the XML configuration file located in?
>>
>
> /etc/imu_logger.xml
>
> You may also try to open the page the http://camera-ip/imu_setup.php(without parameters) - it shows how to control the logger (I'll attach the
> output below)
>
>
>
>> If I want to use "auto" baud rate, will the process be:
>> - power on Elphel
>> - wait until GPS gets a lock
>> - type 'reboot' into the console ?
>>
> "reboot -f"
> or open url in the browser
> http://camera-ip/phpshell.php?command=reboot+-f
>
> just make sure you close that page - otherwise if the browser (or the
> computer) will crash, it will try to open that page when you run the
> browser, rebooting camera unintentionally.
>
>>
>> Because if I hard reboot the Elphel by removing power, the GPS will lose
>> power too. So typing reboot seems like the only way to maintain GPS lock and
>> reboot the camera. Correct me if I am wrong.
>>
>
> Usually, if the GPS was locked, it will re-lock after short power outage
> before the camera will try to detect it.
>
>>
>> I appreciate your help!
>>
>> Lee
>>
>> ------------------------------
>>
>> Usage of IMU/GPS logger (/imu_setup.php)
>
> This script controls IMU/GPS logger. When the camera starts, the script
> looks for the */etc/imu_logger.xml*" and if it is found, the settings from
> this file are applied to the logger. If there is no such file (i.e. at first
> boot after reflashing the camera) script looks for the optional extension
> boards 103695 <http://192.168.0.9/imu_setup.php> and 103696<http://wiki.elphel.com/index.php?title=103696>and uses the information from their flash memory (not erased during reflash)
> combined with the defaults to create initial */etc/imu_logger.xml* file
> that can be modified later
>
> Script receives parameters as HTTP GET request, there are five special
> parameters:
>
> - *source <http://192.168.0.9/imu_setup.php?source>* - returns the
> source of this script
> - *list <http://192.168.0.9/imu_setup.php?list>* - returns an XML
> containing current logger settings, the names of the nodes can be used to
> modify specific settings
> - *save* - overwrite */etc/imu_logger.xml* with the current settings -
> they will be used next time camera will boot up
> - *msg=url-encoded-text-up-to-56-bytes* - set the "odometer" message
> that will be logged next time the external input is toggled
> - *smsg=url-encoded-text-up-to-56-bytes* - (not yet implemented) set
> the "odometer" message and trigger logging immediately
>
> Other parameters are just *name=value* pairs with colons separating names
> and subnames
>
> - *imu_period* - set the IMU logging period in SPI SCLK periods, maybe
> set to *auto* (default value, same as 0xff000000) to log when the IMU
> data is ready. Value 0 turns the IMU logging off
> - *sclk_freq* - set SPI clock frequency, in Hz. Default is 5000000
> (5MHz)
> - *stall* - set SPI 'stall' time, in microseconds. Default is 2 usec
> - *baud_rate* - set baud rate for the serial GPS, default is 19200
> - *imu_slot* - specify the IMU board (103695<http://wiki.elphel.com/index.php?title=103695>)
> connection to the 10369 <http://wiki.elphel.com/index.php?title=10369>board 0 - none, 1 - J9, 2 - J10, 3 - J11. Default is 1 (J9)
> - *gps_slot* - specify the GPS board (103696<http://wiki.elphel.com/index.php?title=103696>)
> connection to the 10369 <http://wiki.elphel.com/index.php?title=10369>board 0 - none, 1 - J9, 2 - J10, 3 - J11. Default is 2 (J10)
> - *gps_mode* - synchronization mode for the GPS: 0 - pulse-per-sample
> external input, negative front, 1 - pps input positive front, 2 - start of a
> first sentence after pause, 3 - start of each individual sentence. Mode 2 is
> the default, modes 0 and 1 require that GPS has a dedicated synchro output
> - *msg_conf* - GPIO number and polarity (+16 - invert polarity) uses to
> log external events (i.e. odometer pulses from a vehicle wheel sensor).
> Timestamp uses leading edge, software may write to the 56-byte buffer (see
> 'msg=' command above) before the trailing edge to attach the message to the
> event after the event occured. In the case of short external pulses the
> logged message will be the last written before the event
> - *img_sync* - 0 - disable logging of the images, 1 - enable. In the
> case of the multiple synchronized cameras this provides a way to match
> external (master) camera timestamps transmitted over the synchronization
> cable, with the local camera timestamps used by the logger - both are
> logged. Default is 1
> - *extra_conf* - Development signals (0 - config_long_sda_en, 1
> -config_late_clk, 2 - config_single_wire, should be set for 103695 rev A).
> Default is 4
> - *slow_spi* - may be set to 1 for slow SPI devices (other changes may
> be needed, i.e. changing power from 3.3V to 5.0V selected by a resistor
> divider). Default is 0
> - *imu_sa* - i2c slave address modifier (matches hardware jumpers).
> Default is 3
> - *sleep_busy* - setting for the driver. It is a sleep time (in
> microseconds) before the driver will poll the logger buffer if it does not
> have the full sample record (64 bytes of data) ready
> - *imu_registers* - setting the IMU register addresses to be logged
> (total number of logged registers is 28). You may see the complete list of
> the registers in the IMU datasheet. The registers are addressed as
> 'imu_registers:NN', where NN is the register sequnce number, starting with
> 0. Below are the default values:
> - *imu_registers:0*=0x10 - x gyro low
> - *imu_registers:1*=0x12 - x gyro high
> - *imu_registers:2*=0x14 - y gyro low
> - *imu_registers:3*=0x16 - y gyro high
> - *imu_registers:4*=0x18 - z gyro low
> - *imu_registers:5*=0x1a - z gyro high
> - *imu_registers:6*=0x1c - x accel low
> - *imu_registers:7*=0x1e - x accel high
> - *imu_registers:8*=0x20 - y accel low
> - *imu_registers:9*=0x22 - y accel high
> - *imu_registers:10*=0x24 - z accel low
> - *imu_registers:11*=0x26 - z accel high
> - *imu_registers:12*=0x40 - x delta angle low
> - *imu_registers:13*=0x42 - x delta angle high
> - *imu_registers:14*=0x44 - y delta angle low
> - *imu_registers:15*=0x46 - y delta angle high
> - *imu_registers:16*=0x48 - z delta angle low
> - *imu_registers:17*=0x4a - z delta angle high
> - *imu_registers:18*=0x4c - x delta velocity low
> - *imu_registers:19*=0x4e - x delta velocity high
> - *imu_registers:20*=0x50 - y delta velocity low
> - *imu_registers:21*=0x52 - y delta velocity high
> - *imu_registers:22*=0x54 - z delta velocity low
> - *imu_registers:23*=0x56 - z delta velocity high
> - *imu_registers:24*=0x0e - temperature
> - *imu_registers:25*=0x70 - time m/s
> - *imu_registers:26*=0x72 - time d/h
> - *imu_registers:27*=0x74 - time y/m
> - *nmea* - set format of the four logged NMEA sentences. For each
> sentence two text fields have to be specified - 'sentence' (the three
> letters following the comman prefix '$GP'), and 'format' that consists of a
> sequence of 'n' (for number) and 'b' (for bytes), up to 24 total. Numbers
> consisting of digits, minus sign and decimal point are encoded with 2 digits
> per byte (to make sure the longest sentence fits into the 56 byte logger
> payload buffer), followed by the 0xf nibble (half-byte). Bytes are encoded
> with MSB cleared ( & 0x7f) for all bytes in a field but the last, the last
> byte has it set (|0x80). Empty byte field is logged as 0xff. Below are the
> default settings:
> - *nmea:0:sentence*=RMC - sentence $GPRMC
> - *nmea:0:format*=nbnbnbnnnnb - format for the $GPRMC
> - *nmea:1:sentence*=GGA - sentence $GPGGA
> - *nmea:1:format*=nnbnbnnnnbnbbb - format for the $GPGGA
> - *nmea:2:sentence*=GSA - sentence $GPGSA
> - *nmea:2:format*=bnnnnnnnnnnnnnnnn - format for the $GPGSA
> - *nmea:3:sentence*=VTG - sentence $GPVTG
> - *nmea:3:format*=nbnbnbnb - format for the $GPVTG
>
> You may record the log to a file (i.e. on external USB stick or SSD/HDD)
> with teh following command:
> *cat /dev/imu >log-file-path*
>
> Test logger and GPS:
> *fpcf -imu 10000 | grep "1:"*
>
> The fpcf output starts the line (logged sample) with the source of the
> sample:
>
> - *0:* - IMU (normally 2560 samples/sec)
> - *1:* - GPS
> - *2:* - camera images
> - *3:* - 'odometer' - external events
>
> '10000' means that fpcf should output 10000 samples, that takes
> approximately 4 seconds if IMU output is being logged.
>
> _______________________________________________
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>
>
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