Help needed: Arduino > FreePIE (can't read serial)

[CyberVillain]

I have this board,

https://www.sparkfun.com/products/10736

[wilee98]

That's the razor one we have two different boards mine is a.www.dx.com/p/gy-85-6dof-9dof-imu-sensor ... ino-148436

[CyberVillain]

Board shouldn't matter since ahrs/freeimu contract is the same but something is obvious not the same.


Do you have possibility to debug FreePIE from visual Studio?

vs 2013 express is free but do you know how to debug?

[wilee98]

I do not , no. And I'm only saying about different boards because of the different chips on them, in the freeimu file it has different versions you have to define and undefined in it. ( just a thought).

And I think my problem is my series monitor doesn't do nothing but rotate through the numbers and never settles down, think I need to calibrate it somehow.

Code: Select all

/*
FreeIMU.h - A libre and easy to use orientation sensing library for Arduino
Copyright (C) 2011 Fabio Varesano <fabio at varesano dot net>

Development of this code has been supported by the Department of Computer Science,
Universita' degli Studi di Torino, Italy within the Piemonte Project
http://www.piemonte.di.unito.it/


This program is free software: you can redistribute it and/or modify
it under the terms of the version 3 GNU General Public License as
published by the Free Software Foundation.

This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

#ifndef FreeIMU_h
#define FreeIMU_h

// Uncomment the appropriated version of FreeIMU you are using
//#define FREEIMU_v01
//#define FREEIMU_v02
#define FREEIMU_v03
//#define FREEIMU_v035
//#define FREEIMU_v035_MS
//#define FREEIMU_v035_BMP
//#define FREEIMU_v04

// 3rd party boards. Please consider donating or buying a FreeIMU board to support this library development.
//#define SEN_10121 //IMU Digital Combo Board - 6 Degrees of Freedom ITG3200/ADXL345 SEN-10121 http://www.sparkfun.com/products/10121
//#define SEN_10736 //9 Degrees of Freedom - Razor IMU SEN-10736 http://www.sparkfun.com/products/10736
//#define SEN_10724 //9 Degrees of Freedom - Sensor Stick SEN-10724 http://www.sparkfun.com/products/10724
//#define SEN_10183 //9 Degrees of Freedom - Sensor Stick  SEN-10183 http://www.sparkfun.com/products/10183
//#define ARDUIMU_v3 //  DIYDrones ArduIMU+ V3 http://store.diydrones.com/ArduIMU_V3_p/kt-arduimu-30.htm or https://www.sparkfun.com/products/11055
//#define GEN_MPU6050 // Generic MPU6050 breakout board. Compatible with GY-521, SEN-11028 and other MPU6050 wich have the MPU6050 AD0 pin connected to GND.

//#define DISABLE_MAGN // Uncomment this line to disable the magnetometer in the sensor fusion algorithm

// *** No configuration needed below this line ***


#define FREEIMU_LIB_VERSION "DEV"

#define FREEIMU_DEVELOPER "Fabio Varesano - varesano.net"

#if F_CPU == 16000000L
  #define FREEIMU_FREQ "16 MHz"
#elif F_CPU == 8000000L
  #define FREEIMU_FREQ "8 MHz"
#endif


// board IDs
#if defined(FREEIMU_v01)
  #define FREEIMU_ID "FreeIMU v0.1"
#elif defined(FREEIMU_v02)
  #define FREEIMU_ID "FreeIMU v0.2"
#elif defined(FREEIMU_v03)
  #define FREEIMU_ID "FreeIMU v0.3"
#elif defined(FREEIMU_v035)
  #define FREEIMU_ID "FreeIMU v0.3.5"
#elif defined(FREEIMU_v035_BMP)
  #define FREEIMU_ID "FreeIMU v0.3.5_BMP"
#elif defined(FREEIMU_v035_MS)
  #define FREEIMU_ID "FreeIMU v0.3.5_MS"
#elif defined(FREEIMU_v04)
  #define FREEIMU_ID "FreeIMU v0.4"
#elif defined(SEN_10121)
  #define FREEIMU_ID "SparkFun 10121"
#elif defined(SEN_10736)
  #define FREEIMU_ID "SparkFun 10736"
#elif defined(SEN_10724)
  #define FREEIMU_ID "SparkFun 10724"
#elif defined(SEN_10183)
  #define FREEIMU_ID "SparkFun 10183"
#elif defined(ARDUIMU_v3)
  #define FREEIMU_ID "DIY Drones ArduIMU+ V3"
#endif



#define HAS_ITG3200() (defined(FREEIMU_v01) || defined(FREEIMU_v02) || defined(FREEIMU_v03) || defined(FREEIMU_v035) || defined(FREEIMU_v035_MS) || defined(FREEIMU_v035_BMP) || defined(SEN_10121) || defined(SEN_10736) || defined(SEN_10724) || defined(SEN_10183))
#define HAS_ADXL345() (defined(FREEIMU_v01) || defined(FREEIMU_v02) || defined(FREEIMU_v03) || defined(SEN_10121) || defined(SEN_10736) || defined(SEN_10724) || defined(SEN_10183))
#define HAS_BMA180() (defined(FREEIMU_v035) || defined(FREEIMU_v035_MS) || defined(FREEIMU_v035_BMP))
#define HAS_MPU6050() (defined(FREEIMU_v04) || defined(GEN_MPU6050))
#define HAS_MS5611() (defined(FREEIMU_v035_MS) || defined(FREEIMU_v04))
#define HAS_HMC5883L() (defined(FREEIMU_v01) || defined(FREEIMU_v02) || defined(FREEIMU_v03) || defined(FREEIMU_v035) || defined(FREEIMU_v035_MS) || defined(FREEIMU_v035_BMP) || defined(FREEIMU_v04) || defined(SEN_10736) || defined(SEN_10724) || defined(SEN_10183)  || defined(ARDUIMU_v3))
#define HAS_MPU6000() (defined(ARDUIMU_v3))

#define IS_6DOM() (defined(SEN_10121) || defined(GEN_MPU6050))
#define IS_9DOM() (defined(FREEIMU_v01) || defined(FREEIMU_v02) || defined(FREEIMU_v03) || defined(FREEIMU_v035) || defined(FREEIMU_v035_MS) || defined(FREEIMU_v035_BMP) || defined(FREEIMU_v04) || defined(SEN_10736) || defined(SEN_10724) || defined(SEN_10183) || defined(ARDUIMU_v3))
#define HAS_AXIS_ALIGNED() (defined(FREEIMU_v01) || defined(FREEIMU_v02) || defined(FREEIMU_v03) || defined(FREEIMU_v035) || defined(FREEIMU_v035_MS) || defined(FREEIMU_v035_BMP) || defined(FREEIMU_v04) || defined(SEN_10121) || defined(SEN_10736))



#include <Wire.h>
#include "Arduino.h"
#include "calibration.h"

#ifndef CALIBRATION_H
#include <EEPROM.h>
#endif

#define FREEIMU_EEPROM_BASE 0x0A
#define FREEIMU_EEPROM_SIGNATURE 0x19

//#if FREEIMU_VER <= 3
#if HAS_ADXL345()
  #include <ADXL345.h>
  // default I2C 7-bit addresses of the sensors
  #define FIMU_ACC_ADDR ADXL345_ADDR_ALT_LOW // SDO connected to GND
  //#define FIMU_ADXL345_DEF_ADDR ADXL345_ADDR_ALT_HIGH // SDO connected to GND
#elif HAS_BMA180()
  #include <bma180.h>
  #define FIMU_ACC_ADDR BMA180_ADDRESS_SDO_LOW 
  //#define FIMU_ACC_ADDR BMA180_ADDRESS_SDO_HIGH
//#elif FREEIMU_VER == 7
#elif HAS_MPU6050()
  #include <Wire.h>
  #include "I2Cdev.h"
  #include "MPU60X0.h"
  #define FIMU_ACCGYRO_ADDR MPU60X0_DEFAULT_ADDRESS
#elif HAS_MPU6000()
  #include <SPI.h>
  #include "I2Cdev.h"
  #include "MPU60X0.h"
  #define FIMU_ACCGYRO_ADDR MPU60X0_DEFAULT_SS_PIN
#endif


#if HAS_MS5611()
  #include <MS561101BA.h>
  #define FIMU_BARO_ADDR MS561101BA_ADDR_CSB_LOW
  //#define FIMU_BARO_ADDR MS561101BA_ADDR_CSB_HIGH
#endif

#if HAS_ITG3200()
  #include <ITG3200.h>
#endif

#if HAS_HMC5883L()
  #include <HMC58X3.h>
#endif


#define FIMU_BMA180_DEF_ADDR BMA180_ADDRESS_SDO_LOW
#define FIMU_ITG3200_DEF_ADDR ITG3200_ADDR_AD0_LOW // AD0 connected to GND
// HMC5843 address is fixed so don't bother to define it


#define twoKpDef  (2.0f * 0.5f) // 2 * proportional gain
#define twoKiDef  (2.0f * 0.1f) // 2 * integral gain

#ifndef cbi
#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
#endif

class FreeIMU
{
  public:
    FreeIMU();
    void init();
    void init(bool fastmode);
    #if HAS_ITG3200()
    void init(int acc_addr, int gyro_addr, bool fastmode);
    #else
    void init(int accgyro_addr, bool fastmode);
    #endif
    #ifndef CALIBRATION_H
    void calLoad();
    #endif
    void zeroGyro();
    void getRawValues(int * raw_values);
    void getValues(float * values);
    void getQ(float * q);
    void getEuler(float * angles);
    void getYawPitchRoll(float * ypr);
    void getEulerRad(float * angles);
    void getYawPitchRollRad(float * ypr);
    #if HAS_MS5611()
      float getBaroAlt();
      float getBaroAlt(float sea_press);
      //float getEstimatedAlt();
      //float getEstimatedAlt(float sea_press);
    #endif
    void gravityCompensateAcc(float * acc, float * q);
    
    // we make them public so that users can interact directly with device classes
    #if HAS_ADXL345()
      ADXL345 acc;
    #elif HAS_BMA180()
      BMA180 acc;
    #endif
    
    #if HAS_HMC5883L()
      HMC58X3 magn;
    #endif
    
    
    #if HAS_ITG3200()
      ITG3200 gyro;
    #elif HAS_MPU6050()
      MPU60X0 accgyro; 
    #elif HAS_MPU6000()
      MPU60X0 accgyro; 
    #endif
      
      
    #if HAS_MS5611()
      MS561101BA baro;
    #endif
    
    
    int* raw_acc, raw_gyro, raw_magn;
    // calibration parameters
    int16_t gyro_off_x, gyro_off_y, gyro_off_z;
    int16_t acc_off_x, acc_off_y, acc_off_z, magn_off_x, magn_off_y, magn_off_z;
    float acc_scale_x, acc_scale_y, acc_scale_z, magn_scale_x, magn_scale_y, magn_scale_z;
    
  private:
    #if IS_9DOM()
    void AHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz);
    #elif IS_6DOM()
    void AHRSupdate(float gx, float gy, float gz, float ax, float ay, float az);
    #endif
    //float q0, q1, q2, q3; // quaternion elements representing the estimated orientation
    float iq0, iq1, iq2, iq3;
    float exInt, eyInt, ezInt;  // scaled integral error
    volatile float twoKp;      // 2 * proportional gain (Kp)
    volatile float twoKi;      // 2 * integral gain (Ki)
    volatile float q0, q1, q2, q3; // quaternion of sensor frame relative to auxiliary frame
    volatile float integralFBx,  integralFBy, integralFBz;
    unsigned long lastUpdate, now; // sample period expressed in milliseconds
    float sampleFreq; // half the sample period expressed in seconds
    
};

float invSqrt(float number);
void arr3_rad_to_deg(float * arr);



#endif // FreeIMU_h

[CyberVillain]

Those are different problems FreePIE cant even start communcating with you, otherwise those numbers should show up in FreePIE

[Nakon]

Hello... again!
I'm back retaking this little project.
And I'm still getting the same result: nothing.

I checked again Baud rate (115000) and COM port (12).

At arduino serial monitor i can see values like this (changing really fast):

Code: Select all

1.23,14.39,-3.38
2.93,34.58,-4.57
1.52,17.37,-4.78
4.53,14.39,-3.56
8.83,31.39,-6.83

Then, i close that serial monitor (even arduino IDE), open freepie, start a new script and write these very simple lines:

Code: Select all

diagnostics.watch(freeImu.yaw)
diagnostics.watch(freeImu.pitch)
diagnostics.watch(freeImu.roll)

When i run it, i can see, at watch window, values of variables freeImu.yaw, freeImu.pitch and freeImu.roll changing... but only once!
I mean, for example, freeImu.yaw change from "0" to "2", freeImu.pitch from "0" to "25" and freeImu.roll from "0" to "-3"
Once.
And then... nothing.
It seems that freepie is able only to read one line from serial port (i think).

So i'm considering two different causes:

1-
I'm a complete noob with freepie... and my mistake is my script is not in a loop. So it runs only once.
As i said, at the momment my freepie script is only:

Code: Select all

diagnostics.watch(freeImu.yaw)
diagnostics.watch(freeImu.pitch)
diagnostics.watch(freeImu.roll)

Nothing more!
No "update()" no "if starting" ...

If this is the problem (my script is not in a loop running over and over again), in that case, the result i'm getting is completely normal (freepie read values from serial port once, so i get values at watch window once)

2-
If the read is in a loop and freepie can read a line but not the next one...
is it possible that can be something wrong at the end of the line? I mean, freepie expects "something" that i'm not considering?
As i wrote above, i can see at arduino serial monitor values like these:

Code: Select all

1.23,14.39,-3.38
2.93,34.58,-4.57
1.52,17.37,-4.78
4.53,14.39,-3.56
8.83,31.39,-6.83

I see three comma separated values and then "jump" to the next line.
Can be possible i'm missing something? and "space" at the end of the line or another "comma",...
Or just the opposite: and "space" that should not be there.
Or the time at the end of the loop ("delay(10)") is insufficient.
I mean, something "i can't see" only viewing these values at the arduino serial monitor.
Something that makes that freepie can´t reach the next line.

My Arduino sketch ends with:

Code: Select all

void loop() {
  my3IMU.getYawPitchRoll(ypr);
  Serial.print(ypr[0]);
  Serial.print(",");
  Serial.print(ypr[1]);
  Serial.print(",");
  Serial.print(ypr[2]);
  Serial.println(""); 
  
  delay(10);
}

Again... help needed!

[CyberVillain]

FreePIE is doing a loop for you so no need, this is really strange

For fun, try this code

Code: Select all

from System.IO.Ports import SerialPort 

def onData(s, e):
   global port
   data =  port.ReadExisting();
   diagnostics.watch(data)

if starting:
   port = SerialPort("COM2", 115200)   
   port.DataReceived += onData
   port.Open()

Change comport and baudrate to correct

[Nakon]

Itried your script and nothing seems to happen.

Arduino serial monitor:



Then, close serial monitor, open freepie, new file, paste your script, change comport and... nothing happens at watch window:




I suppose that this script simply shows at watch window what is reading at comport, isn't it?

[CyberVillain]

Yepp, and you do not keep the Serial montior active, because it will steal the port

Try

adding
port.DtrEnable = true;

Code: Select all

from System.IO.Ports import SerialPort 

def onData(s, e):
   global port
   data =  port.ReadExisting();
   diagnostics.watch(data)

if starting:
   port = SerialPort("COM2", 115200)   
   port.DtrEnable = true;
   port.DataReceived += onData
   port.Open()

[Nakon]

I get a compilation error:

"name 'true' is not defined"

[CyberVillain]

Sorry, thats the .net naming style, in python its True

[Nakon]

Tnak you!
I'll try and post the results.

[Nakon]

CyberVillain, to run that script do I need to copy pySerial to the FreePIE\pylib folder?

Like this:

http://www.mtbs3d.com/phpBB/viewtopic.php?f=139&t=21114

[CyberVillain]

nope

[Nakon]

It's alive! (almost )

I tried that script with "True" and at last I get values at watch window
That values appear really fast so i can´t read them
If I take a snapshot i get pics like this:






It seems that that values are not in the way freepie expects to make freeIMU plugin work, are they?

[CyberVillain]

Try this version of FreePIE it has a fix that I forgot about (Should release new version probably )

edit: With try I mean your orignal script btw

[Nakon]

Eureka!!!!!!!!!!!!!!!




It seems to work!!!!!!!!
Thank you very much!!!

Finally i can see values changing at watch window!

But only freetrack ones.

Trackir yaw pitch and roll don't move at all (always "0").
And I tried to use this little head-tracker (using freetack values) in a pair of games (Falcon BMS and IL-2) and nothing happens.

[Nakon]

Using it like a mouse works great!!!!!

Code: Select all

DEBUG = True

def update():   
    #Apply deadband filter to avoid drift
    #And continousRotation filter to yaw axis to avoid jumps when passing tracker center
    x = filters.deadband(filters.delta(math.degrees(filters.continousRotation(freeImu.yaw))), deadband)
    y = filters.deadband(filters.delta(math.degrees(freeImu.pitch)), deadband)
      
    mouse.deltaX = x * multiply
    mouse.deltaY = y * multiply
    
    if DEBUG:
        diagnostics.watch(x)
    	diagnostics.watch(y)
   
if starting: 
    deadband = 0.19
    multiply = 1
    freeImu.update += update
    

[CyberVillain]

Can I see the Freetrack script please

[Nakon]

Sure!

The script is:

Code: Select all

### CONFIGURATION ###

# Watch input and output values
DEBUG = True

# Output mode
OUTPUT_FREETRACK = True
OUTPUT_TRACKIR   = False

# Keybindings
KEY_CENTER = Key.Pause      # Center orientation to current position
KEY_TOGGLE_ON_OFF = Key.End # Toggle headtracking on or off

# Calibration multipliers
TRACKIR_MULTIPLIER   = 10
FREETRACK_MULTIPLIER = 0.001

### THE CODE ###

def update():
    global yaw
    yaw = freeImu.yaw
    global pitch
    pitch = freeImu.pitch
    global roll
    roll = freeImu.roll

def updateTrackIR():
    trackIR.yaw = (yaw - centerYaw) * TRACKIR_MULTIPLIER
    trackIR.pitch = (pitch - centerPitch) * TRACKIR_MULTIPLIER
    trackIR.roll = (roll - centerRoll) * TRACKIR_MULTIPLIER

    if DEBUG:
        diagnostics.watch(trackIR.yaw)
        diagnostics.watch(trackIR.pitch)
        diagnostics.watch(trackIR.roll)

def updateFreeTrack():
    freeTrack.yaw = (yaw - centerYaw) * -FREETRACK_MULTIPLIER # Inverted
    freeTrack.pitch = (pitch - centerPitch) * FREETRACK_MULTIPLIER
    freeTrack.roll = (roll - centerRoll) * FREETRACK_MULTIPLIER

    if DEBUG:
        diagnostics.watch(freeTrack.yaw)
        diagnostics.watch(freeTrack.pitch)
        diagnostics.watch(freeTrack.roll)

def center():
    global centerYaw
    centerYaw = yaw
    global centerPitch
    centerPitch = pitch
    global centerRoll
    centerRoll = roll

if starting: 
    enabled = True
    centerYaw = freeImu.yaw
    centerPitch = freeImu.pitch
    centerRoll = freeImu.roll
    
    global yaw
    yaw = 0.0
    global pitch
    pitch = 0.0
    global roll
    roll = 0.0
    freeImu.update += update

def do_update():
    if OUTPUT_FREETRACK:
        updateFreeTrack()
        
    if OUTPUT_TRACKIR:
        updateTrackIR()

if DEBUG:
    diagnostics.watch(yaw)
    diagnostics.watch(pitch)
    diagnostics.watch(roll)

if enabled:
    do_update()

if keyboard.getKeyDown(KEY_CENTER):
    center()
    
if keyboard.getPressed(KEY_TOGGLE_ON_OFF):
    enabled = not enabled
    center()
    do_update()

With this script i can see freetrack values changing fast when i move the arduino board (with a mpu6050 sensor) but doesn' seem to do nothing in a few games i tried.

If i change

Code: Select all

OUTPUT_FREETRACK = True
OUTPUT_TRACKIR   = False

with

Code: Select all

OUTPUT_FREETRACK = False
OUTPUT_TRACKIR   = True

the values of trackir don't move at all (always "0"). And script crashes after 30 seconds (more or less).

[CyberVillain]

I dont think tha trackir support reading the properties when writing, so remove watch lines and it could work. Sadly there are a lot of titles that do not work out of the box you need

http://naturalpointofview.blogspot.se/p ... fixer.html

[Nakon]

I've been playing Falcon BMS and IL-2 with freetrack and FaceTrackNoIR for years

Anyway i'll keep trying

[CyberVillain]

Ah, all Freetrack titles should work