GPIO Conflict Pypilot Hat & 1W

[antxvilla]

Hi all

First thank you all for the work you put into this project.

I have an operational autopilot on my 1985 Northwith 38 Sailboat with Pypilot controlling the Cetrek motor on my wheel pilot

My setup is currently as follows

Raspberry pi 4+ with Openplotter and Opencpn
Sparkfun ICM-20948 IMU
Arduino Nano
IBT2 Motor controller
Cetrek motor W/clutch and chain drive (motor 12v 80W, clutch 12v 11.2W)
Cetrek rudder sensor with end-of-travel click switches

All of it is working flawlessly.

I am currently controlling the autopilot from a tablet via R-VNC and a button next to the wheel in case i want to disengage the clutch if the tablet fails, but for this same reason and also not to need the tablet, I would like to have a buttonpad to control the autopilot. I have set a system that works, enabling the hat and shorting to gnd some gpios. So the buttonpad does the job.

The problem is that the hat seems to be "hijacking" all other gpios and I get conflict messages on startup with other things connected to GPIOs that in principle are not allocated to any of the pypilot buttons.

Any ideas?

Thanks very much

Antonio

[Jean-Marc Douroux]

Yes...

https://navitop.fr/documentation-en-1

[antxvilla]

Hi Jean Marc, thanks for providing the link, unfortunately I cannot find the solution, could you please specify where in the wiki I can find it?

I have looked into the hat part, and tried to change in pypilot_hat.service from 44444 to none, but in my pypilot_hat.service there is nowhere a 44444

I am running pypilot version 0.56

Thanks in advance

[Jean-Marc Douroux]

I thought I'd draw your attention to the benefit of installing pypilot on a dedicated Pi Zero with the tinypilot image. It's much more reliable and simpler if you connect the IMU and controller to it. OpenCPN on the RPi 4 will always connect to it automatically. Instead of launching the main pypilot script, you'll simply launch the secondary scripts that also connect automatically, such as pypilot_control, pypilot_scope, etc.

Pypilot no longer depends on what other applications are doing on the Pi 4.

[antxvilla]

I thought I'd draw your attention to the benefit of installing pypilot on a dedicated Pi Zero with the tinypilot image. It's much more reliable and simpler if you connect the IMU and controller to it. OpenCPN on the RPi 4 will always connect to it automatically. Instead of launching the main pypilot script, you'll simply launch the secondary scripts that also connect automatically, such as pypilot_control, pypilot_scope, etc.

Pypilot no longer depends on what other applications are doing on the Pi 4.

Thanks Jean Marc, I will give it a shot.

[antxvilla]

Hi again, I am working on implementing the tinypilot on a raspberry pi zero 2 W, I have managed to install tinypilot on it, connect the IMU and some (not all) push buttons. I have a nokia lcd screen but if I understand correctly I need to edit hat.conf to change the default jlx12864 for nokia5110. I can access the pi from my pc using putty, but i cannot find hat.conf anywhere.

My version is pypilot 5.10.77-picore-v7

Could you please provide some advice?

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Hi again, I am working on implementing the tinypilot on a raspberry pi zero 2 W, I have managed to install tinypilot on it, connect the IMU and some (not all) push buttons. I have a nokia lcd screen but if I understand correctly I need to edit hat.conf to change the default jlx12864 for nokia5110. I can access the pi from my pc using putty, but i cannot find hat.conf anywhere.

My version is pypilot 5.10.77-picore-v7

Could you please provide some advice?

Sorted!

Will post progress

Thanks

[antxvilla]

Hi again

So I managed to get everything working with tinypilot on a raspi zero 2W onboard except for the clutch, which should engage automatically when the AP is ON. I have also a switch to disengage the clutch manually if needed.

In my previous installation with pypilot on the Raspberry pi 4, the clutch was connected to pin 11 in the arduino and it engaged with no problem, now with the tinypilot on the raspi zero the clutch is not engaging, I do not know If the pin for the arduino is a different one, if I need to enable something on tinypilot...

Any help will be appreciated.

Thanks

[seandepagnier]

It is the same. Are you using the same motor controller?

There is also a clutch pwm setting, so after about 250ms the clutch switches to pwm output to use a lower hold current.. so it's possible this setting is off, but probably not.

[antxvilla]

Hi Sean, 

Yes, it is the same motor controller connected to the same pin of the arduino (P11).

Before it was working on the Raspi4 but now it is not working on the zero.

Thanks!

[Jean-Marc Douroux]

Have you checked the voltage at pin 11?

The output transistor can sometimes fail if a freewheeling diode is missing or if the diode is not fast enough.
A Schottky diode is preferred for effective protection of the transistor.