OpenMarine

Hello all,

I am experiencing an issue with recently received pypilot hat from Sean store hooked to a raspberrypi zero with tinypilot (latest distribution : https://pypilot.org/download.php?Down=im..._27.img.xz).

The issue is with the IMU detection :
  - Raspberrypi zero with tinypilot tinypilot_2020_10_27.img.xz
  - Motor controller not connected (I am testing first the hat and then will hook the controller)
  - At start, after splashscreen, the LCD screen display : error compass or gyro failure
  - the pypilot log report the following :
    I am not certain about the 'Failed to open SPI bus 0'
  - Verification of i2c connexion to the IMU (after installing i2cdetect on tinycore : tce-load -wi i2c-tools):
    The address seems to correspond to MPU9255
  - Check of running python code

    This seems to indicate that all pypilot code is running as expected (autopilot, web and hat)
  - Trial with previous tinypilot distribution (https://pypilot.org/download.php?Down=im...019.img.xz) gives similar behavior (no IMU detection).

Would someone have any hint about this situation, experienced something similar or have any suggestion ?

Best regards,

Xavier.

Hello,

Some news after more testing:
  - Test of the tinypilot distribution with an available MPU9250 (after dismantling the hat) : OK; pypilot_boatimu shows IMU being foudn as expected
  - Test of the hat on a raspberrypi4 with openplotter / pypilot_boatimu :


Conclusion : the issue seems to lie with the hat.

Maybe Sean may suggest other tests to run with the pypilot hat.

Hello,

Last addition to tests list ; I measured the voltage Vcc at the MPU9255 and found 1.7V (looking at the schematics, 3.3V should be expected ; the MPU9250 I had is expecting 3.3V). Close inspection showed an open jumper J10 with one side connected to pin1 (3.3V) of the 40pin connector of the rapsberrypi while the other is connecter to MPU9255 Vcc.

[attachment=1585]

I am wondering if J10 should be closed to supply 3.3V to the MPU9255.

Sean, could you comment on this ?

Best regards,

Xavier.

The mystery is solved because the imu is icm20948 which needs newer rtimulib2.

Hello,

OK ; as Sean posted, mistery is solved :
  - IMU is no longer MPU9255 but ICM20948 (https://invensense.tdk.com/download-pdf/...datasheet/) which is powered between 1.71V and 3.6VDC.
  - Pypilot hat is (according to Sean) mainly shipped with this IMU rather than the MPU9255
  - J10 jumper then make sense as transition between MPU9255 (3.3V) and ICM20948 (1.7V)
  - tinypilot_2020_10_27.img.xz image does not include this driver within its IMU library ; it has been recently added to Sean's repository (git://github.com/seandepagnier/RTIMULib2.git) ; compilation needed.

I'll give a try to RTIMULib2 compilation under tinypilot_201027 and will post the results.

Thanks,

Xavier.

Yes the J10 would be closed if a device using 3.3v were used in place. When left open the 1.8v levels are used.

Hello,

OK ; compilation executed and everything works fine by now.

Here follows the commands for compilation for the ones interested with tinypilot_2020_10_27.img.xz image:
The script python-RTIMULib.build execute the compilation and generation of the package necessary for the specific structure (RAM filesystem) of tinycore (tinypilot base) ; looking at the code is interesting.

Here is the extract of /var/log/pypilot/current:
ICM20948 is indeed recognized ; tests indicate that driver is operational.

Thanks Sean for the advices, time, dedication and all work ; always deeply impressed !

Best,

Xavier.

(2021-09-27, 09:12 AM)damien Wrote: [ -> ]Hello,

OK ; compilation executed and everything works fine by now.

Here follows the commands for compilation for the ones interested with tinypilot_2020_10_27.img.xz image:

Code:

# *** Compile last git version of RTIMULib2 ***
# Prepare directories, get last git and compress in .tar.gz (expected by python-RTIMULib.build)
cd ~
mkdir RTIMULib_update
cd RTIMULib_update
git clone git://github.com/seandepagnier/RTIMULib2.git
tar czvf RTIMULib2.tar.gz RTIMULib2
rm -rf RTIMULib2
# Extract, rename, compile and generate squashfs (to make persitent)
sudo sh /mnt/mmcblk0p2/tinypilot/pypilot_dependencies/python-RTIMULib/python-RTIMULib.build

# *** Reboot... ***
sudo reboot

The script python-RTIMULib.build execute the compilation and generation of the package necessary for the specific structure (RAM filesystem) of tinycore (tinypilot base) ; looking at the code is interesting.

Here is the extract of /var/log/pypilot/current:

Code:

2020-03-14_11:00:17.41751 ERROR loading intellect.py invalid syntax (intellect.py, line 205)   invalid syntax (intellect.py, line 205)
2020-03-14_11:00:17.41853 ERROR loading learning.py invalid syntax (intellect.py, line 205)   invalid syntax (intellect.py, line 205)
2020-03-14_11:00:17.67724 Settings file RTIMULib.ini loaded
2020-03-14_11:00:17.67736 Failed to open settings file for saveDetected ICM20948 at standard address
2020-03-14_11:00:17.68017 Failed to open settings file for saveUsing fusion algorithm Kalman STATE4
2020-03-14_11:00:17.68030 min/max compass calibration not in use
2020-03-14_11:00:17.68334 Using ellipsoid compass calibration
2020-03-14_11:00:17.68341 Using accel calibration
2020-03-14_11:00:18.00325 ICM-20948 init complete
2020-03-14_11:00:18.07324 loading servo calibration /home/tc/.pypilot/servocalibration
2020-03-14_11:00:18.07338 WARNING: using default servo calibration!!
2020-03-14_11:00:18.07347 Loaded Pilots: ['absolute', 'basic', 'simple']
2020-03-14_11:00:18.07355 warning: failed to open special file /dev/watchdog0 for writing
2020-03-14_11:00:18.07363          cannot stroke the watchdog

ICM20948 is indeed recognized ; tests indicate that driver is operational.

Thanks Sean for the advices, time, dedication and all work ; always deeply impressed !

Best,

Xavier.

Hello Xavier,
I have the very same problem you got as i've just received a new Pypilot hat a few days ago, I understand the git clone command works only if the raspberry is connected to the internet how do i do that please?

Sorry. The hat is usually intended to work with openplotter (although it works with tinypilot) I did not realize so many intended to do this.

I am very close to releasing an update.. everything always takes longer. If you just wait a few days, I will release an image soon.

Hello Sean,
I might be close to manage it, i succeeded to generate a RTIMULib2.tar.gz file on my computer using the commands given above by Xavier, however i do not know where to write it on the SD card, I tried to write it next to the RTIMULib2-old.tar.gz file and as a matter of fact the build routine (launched from the raspberry) does not find the file...or maybe it is more complex and i'd better wait for the new image release?