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THEMA: Arctic Hare mod by Jussi

Arctic Hare mod by Jussi 2 Wochen 2 Tage her #17919

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For the station rev:
Check if it's not the same issue by adding 30 secondes on the state:
case STATE_STATION_REV: //when start in auto mode the mower first reverse to leave the station
      statusCurr = TRACK_TO_START;
      if (RaspberryPIUse) MyRpi.SendStatusToPi();
      UseAccelLeft = 1;
      UseBrakeLeft = 1;
      UseAccelRight = 1;
      UseBrakeRight = 1;
      motorLeftSpeedRpmSet = motorRightSpeedRpmSet = -motorSpeedMaxRpm / 2 ;
      stateEndOdometryRight = odometryRight - (odometryTicksPerCm * stationRevDist);
      stateEndOdometryLeft = odometryLeft - (odometryTicksPerCm * stationRevDist);
      OdoRampCompute();
MaxOdoStateDuration=MaxOdoStateDuration+30000;
      break;

between OdoRampCompute(); and break;
add this line
MaxOdoStateDuration=MaxOdoStateDuration+30000;

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Arctic Hare mod by Jussi 6 Tage 18 Stunden her #17991

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New eps32 came today and now it's working :) but..
eeprom is maybe corrupted? I can change some settings and some not. In console I load factory settings and reboot mower. nothing happens, it reads always eeprom settings. How to erase eeprom user settings other way?
Load Robot Stats
Robot Stats address Start = 800
Robot Stats address Stop = 826
ALL USER SETTINGS ARE DELETED
Save Robot Stats
Robot Stats address Start = 800
Robot Stats address Stop = 826

 MAIN MENU:
1=test motors
To test odometry --> use Arduremote
3=communications menu
To calibrate GYRO --> use Arduremote Do not move IMU during the Calib
To calibrate Compass --> use Arduremote start/stop
9=save user settings
l=load factory settings: Do not save setting before restart the mower
r=delete robot stats
x=read settings
e=delete all errors
0=exit

SETUP
------------------------------- GPS  Initialisation --------------------------------------------
Send config sentence
End of Gps Config
 --> ++++++++++++++++++++++++++++++++++* Start Robot Setup at 3382 --> +++++++++++++++++++++++++++
Load ErrorCounters
ErrorCounters address Start=500
ErrorCounters address Stop=522
Load EEprom User Setting
UserSettings address Start=2000
UserSettings address Stop=2520
Load Robot Stats
Robot Stats address Start = 800
Robot Stats address Stop = 826
--------------------------------- IMU INITIALISATION -------------------
COMPASS HMC5883L ID NEED TO BE 72 IF ALL IS OK ------>  ID=72
IMU: found calib data
Load Calibration
Calibration address Start = 600
Calibration address Stop = 650
-------- IMU CALIBRATION  --------
ACCEL GYRO MPU6050 OFFSET ax: -3404 ay: 276 az: 1890 gx: 120 gy: 24 gz: -14
COMPASS OFFSET X.Y.Z AND SCALE X.Y.Z   --> comOfs=-467.00,558.00,-1040.00
comScale=1112.00,912.00,6112.00
.
MPU6050 connection successful
Initializing DMP...
Enabling DMP...  Packet size 42
Wait 3 secondes to stabilize the Drift
AccelGyro Yaw: -0.00  Compass Yaw: -1.16  Diff between compass and accelGyro in Radian and Deg-1.15 / -66.09
--------------------------------- IMU READY ------------------------------
START
Ardumower 1.1-Azurit-ber
Config: LawnMower
press...
  d for menu
  v to change console output (sensor counters, values, perimeter etc.)
off

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Arctic Hare mod by Jussi 6 Tage 14 Stunden her #17992

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The user setting start actually at 2000 ,Try to put other value 1000 for example ,upload again the code and restart the mower.
It's certainly into mower.cpp or.h

Do not forget to unplug the USB when reboot

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Arctic Hare mod by Jussi 6 Tage 14 Stunden her #17993

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Do the factory setting
using pfod

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Arctic Hare mod by Jussi 6 Tage 5 Stunden her #17995

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www.ardumower.de/index.php/de/forum/ardu...cb1-3?start=40#17971
The user setting start address is into robot.cpp line 46 .
Test with 1000

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Arctic Hare mod by Jussi 6 Tage 3 Stunden her #17996

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By changing user settings address, I can write once but it fails. second atttemp to reset on same address wont change readflag and it keeps reading from eeprom
SETUP
------------------------------- GPS  Initialisation --------------------------------------------
Send config sentence
End of Gps Config
 --> ++++++++++++++++++++++++++++++++++* Start Robot Setup at 3382 --> +++++++++++++++++++++++++++
Load ErrorCounters
ErrorCounters address Start=500
ErrorCounters address Stop=522
EEPROM USERDATA: NO EEPROM USER DATA
PLEASE CHECK AND SAVE YOUR SETTINGS
Save Robot Stats
Robot Stats address Start = 800
Robot Stats address Stop = 826
ERROR / ERR Dir 0 State changed at 3921 From state OFF 
Load Robot Stats
Robot Stats address Start = 800
Robot Stats address Stop = 826
START
Ardumower 1.1-Azurit-ber
Config: LawnMower
press...
  d for menu
  v to change console output (sensor counters, values, perimeter etc.)
off

Watchdog is enabled and set to 2 secondes

 MAIN MENU:
1=test motors
To test odometry --> use Arduremote
3=communications menu
To calibrate GYRO --> use Arduremote Do not move IMU during the Calib
To calibrate Compass --> use Arduremote start/stop
9=save user settings
l=load factory settings: Do not save setting before restart the mower
r=delete robot stats
x=read settings
e=delete all errors
0=exit

---------- wheel motors --------------------------------------
motorAccel                                 : 1500
motorSpeedMaxRpm                           : 24
motorSpeedMaxPwm                           : 190
motorPowerMax                              : 23.00
motorSenseRightScale                       : 3.10
motorSenseLeftScale                        : 3.10
motorPowerIgnoreTime                       : 2000
motorZeroSettleTime                        : 2000
motorRollDegMax                            : 120
motorRollDegMin                            : 20
DistPeriOutRev                             : 40
DistPeriOutStop                            : 15
motorForwTimeMax                           : 80000
DistPeriObstacleAvoid                      : 100
circleTimeForObstacle                      : 4000
motorRightOffsetFwd                        : 0
motorRightOffsetRev                        : 0
SpeedOdoMin                                : 50
SpeedOdoMax                                : 140
motorBiDirSpeedRatio1                      : 0.30
motorBiDirSpeedRatio2                      : 0.92
motorLeftPID.Kp                            : 1.00
motorLeftPID.Ki                            : 0.40
motorLeftPID.Kd                            : 0.00
motorRightSwapDir                          : 0
motorLeftSwapDir                           : 0
motorRightOffsetFwd                        : 0
motorRightOffsetRev                        : 0
---------- mower motor ---------------------------------------
secondMowMotor                             : 0
motorMowForceOff                           : 0
motorMowAccel                              : 2000.00
motorMowSpeedMaxPwm                        : 240
motorMowPowerMax                           : 25.00
motorMowModulate                           : 0
motorMowRPMSet                             : 3300
motor1MowSenseScale                        : 1.85
motor2MowSenseScale                        : 1.85
motorMowPID.Kp                             : 0.00
motorMowPID.Ki                             : 0.01
motorMowPID.Kd                             : 0.01
---------- bumper --------------------------------------------
bumperUse                                  : 1
---------- drop ----------------------------------------------
dropUse                                    : 0
dropContact                                : 0
---------- rain ----------------------------------------------
rainUse                                    : 1
rainReadDelay                              : 60
wsRainData                                 : 2
----------  DHT22 Temperature --------------------------------
DHT22Use                                   : 1
MaxTemperature                             : 55.00
---------- sonar ---------------------------------------------
sonarUse                                   : 0
sonarLeftUse                               : 1
sonarRightUse                              : 1
sonarCenterUse                             : 0
sonarTriggerBelow                          : 55
sonarToFrontDist                           : 5
---------- perimeter -----------------------------------------
perimeterUse                               : 0
perimeterTriggerTimeout                    : 0
MaxSpeedperiPwm                            : 180
perimeterTrackRollTime                     : 1500
perimeterTrackRevTime                      : 2200
perimeterPID.Kp                            : 16.50
perimeterPID.Ki                            : 8.00
perimeterPID.Kd                            : 0.00
trackingPerimeterTransitionTimeOut         : 1500
trackingErrorTimeOut                       : 10000
perimeterMagMaxValue                       : 2000
swapCoilPolarityRight                      : 0
swapCoilPolarityLeft                       : 0
read2Coil                                  : 0
trackingBlockInnerWheelWhilePerimeterStrug : 1
DistPeriOutRev                             : 40
DistPeriObstacleRev                        : 30
DistPeriOutForw                            : 60
DistPeriObstacleForw                       : 25
motorLeftSpeedDivider                      : 1.70
---------- By Lanes mowing ---------------------------------------
yawSet1                                    : 45.00
yawSet2                                    : 90.00
yawSet3                                    : 135.00
yawOppositeLane1RollRight                  : -125.00
yawOppositeLane2RollRight                  : -92.00
yawOppositeLane3RollRight                  : -47.00
yawOppositeLane1RollLeft                   : -135.00
yawOppositeLane2RollLeft                   : -88.00
yawOppositeLane3RollLeft                   : -42.00
DistBetweenLane                            : 38
maxLenghtByLane                            : 9
---------- lawn sensor ---------------------------------------
lawnSensorUse                              : 0
---------- IMU (compass/accel/gyro) --------------------------
imuUse                                     : 0
stopMotorDuringCalib                       : 0
imuDirPID.Kp                               : 4.40
imuDirPID.Ki                               : 3.30
imuDirPID.Kd                               : 0.00
maxDriftPerSecond                          : 0.05
delayBetweenTwoDmpAutocalib                : 360
maxDurationDmpAutocalib                    : 60
---------- model R/C -----------------------------------------
remoteUse                                  : 1
---------- battery -------------------------------------------
batMonitor                                 : 0
batGoHomeIfBelow                           : 23.80
batSwitchOffIfBelow                        : 21.70
batSwitchOffIfIdle                         : 300
batFactor                                  : 11.07
batChgFactor                               : 10.97
batFull                                    : 29.40
batChargingCurrentMax                      : 3.00
batFullCurrent                             : 0.32
startChargingIfBelow                       : 28.50
chargingTimeout                            : 21600000
chgSenseZero                               : 511.00
batSenseFactor                             : 1.27
chgSense                                   : 185.00
chgChange                                  : 0
chgNull                                    : 2
---------- charging station ----------------------------------
stationRevDist                             : 105
stationRollAngle                           : 50
stationForwDist                            : 55
stationCheckDist                           : 0
UseBumperDock                              : 0
dockingSpeed                               : 60
---------- odometry ------------------------------------------
odometryTicksPerRevolution                 : 695
odometryTicksPerCm                         : 10.15
odometryWheelBaseCm                        : 39.50
odometryRightSwapDir                       : 0
odometryLeftSwapDir                        : 0
---------- GPS -----------------------------------------------
gpsUse                                     : 1
stuckIfGpsSpeedBelow                       : 0.20
gpsSpeedIgnoreTime                         : 5000
---------- RFID -----------------------------------------------
rfidUse                                    : 1
---------- other ---------------------------------------------
buttonUse                                  : 1
mowPatternDurationMax                      : 120
---------- user-defined switch -------------------------------
userSwitch1                                : 0
userSwitch2                                : 0
userSwitch3                                : 0
---------- timer ---------------------------------------------
timerUse                                   : 1
---------- bluetooth-----------------------------------------
bluetoothuse                               : 1
---------- esp8266 ------------------------------------------
esp8266Use                                 : 0
esp8266ConfigString                        : 1234567321
---------- robot stats ---------------------------------------
statsMowTimeMinutesTrip                    : 0
statsMowTimeMinutesTotal                   : 300
statsBatteryChargingCounterTotal           : 10
statsBatteryChargingCapacityTrip in mAh    : 0.00
statsBatteryChargingCapacityTotal in Ah    : 10.00
statsBatteryChargingCapacityAverage in mAh : 1000.00
DONE

 MAIN MENU:
1=test motors
To test odometry --> use Arduremote
3=communications menu
To calibrate GYRO --> use Arduremote Do not move IMU during the Calib
To calibrate Compass --> use Arduremote start/stop
9=save user settings
l=load factory settings: Do not save setting before restart the mower
r=delete robot stats
x=read settings
e=delete all errors
0=exit

SAVE USER SETTINGS PLEASE WAIT
Save EEprom User Setting
SETUP
------------------------------- GPS  Initialisation --------------------------------------------
Send config sentence
End of Gps Config
 --> ++++++++++++++++++++++++++++++++++* Start Robot Setup at 3382 --> +++++++++++++++++++++++++++
Load ErrorCounters
ErrorCounters address Start=500
ErrorCounters address Stop=522
Load EEprom User Setting
UserSettings address Start=1100
UserSettings address Stop=1631
Save Robot Stats
Robot Stats address Start = 800
Robot Stats address Stop = 826
--------------------------------- IMU INITIALISATION -------------------
COMPASS HMC5883L ID NEED TO BE 72 IF ALL IS OK ------>  ID=72
IMU: found calib data
Load Calibration
Calibration address Start = 600
Calibration address Stop = 650
-------- IMU CALIBRATION  --------
ACCEL GYRO MPU6050 OFFSET ax: -3404 ay: 276 az: 1890 gx: 120 gy: 24 gz: -14
COMPASS OFFSET X.Y.Z AND SCALE X.Y.Z   --> comOfs=-467.00,558.00,-1040.00
comScale=1112.00,912.00,6112.00
.
MPU6050 connection successful
Initializing DMP...
Enabling DMP...  Packet size 42
Wait 3 secondes to stabilize the Drift
AccelGyro Yaw: -0.00  Compass Yaw: -1.18  Diff between compass and accelGyro in Radian and Deg-1.17 / -67.21
--------------------------------- IMU READY ------------------------------
START
Ardumower 1.1-Azurit-ber
Config: LawnMower
press...
  d for menu
  v to change console output (sensor counters, values, perimeter etc.)
off

Watchdog is enabled and set to 2 secondes
Sending ESP8266 Config

 MAIN MENU:
1=test motors
To test odometry --> use Arduremote
3=communications menu
To calibrate GYRO --> use Arduremote Do not move IMU during the Calib
To calibrate Compass --> use Arduremote start/stop
9=save user settings
l=load factory settings: Do not save setting before restart the mower
r=delete robot stats
x=read settings
e=delete all errors
0=exit

---------- wheel motors --------------------------------------
motorAccel                                 : 1500
motorSpeedMaxRpm                           : 24
motorSpeedMaxPwm                           : 190
motorPowerMax                              : 23.00
motorSenseRightScale                       : 3.10
motorSenseLeftScale                        : 3.10
motorPowerIgnoreTime                       : 2000
motorZeroSettleTime                        : 2000
motorRollDegMax                            : 120
motorRollDegMin                            : 20
DistPeriOutRev                             : 2017478246
DistPeriOutStop                            : 14081
motorForwTimeMax                           : 80000
DistPeriObstacleAvoid                      : 1715582976
circleTimeForObstacle                      : 1715488358
motorRightOffsetFwd                        : 335544320
motorRightOffsetRev                        : 671088640
SpeedOdoMin                                : -2147483641
SpeedOdoMax                                : -268435144
motorBiDirSpeedRatio1                      : 0.30
motorBiDirSpeedRatio2                      : 0.92
motorLeftPID.Kp                            : 1.00
motorLeftPID.Ki                            : 0.40
motorLeftPID.Kd                            : 0.00
motorRightSwapDir                          : 0
motorLeftSwapDir                           : 0
motorRightOffsetFwd                        : 335544320
motorRightOffsetRev                        : 671088640
---------- mower motor ---------------------------------------
secondMowMotor                             : 0
motorMowForceOff                           : 24
motorMowAccel                              : 2000.00
motorMowSpeedMaxPwm                        : 240
motorMowPowerMax                           : 25.00
motorMowModulate                           : 0
motorMowRPMSet                             : 3300
motor1MowSenseScale                        : 1.85
motor2MowSenseScale                        : 0.00
motorMowPID.Kp                             : 0.00
motorMowPID.Ki                             : 0.01
motorMowPID.Kd                             : 0.01
---------- bumper --------------------------------------------
bumperUse                                  : 1
---------- drop ----------------------------------------------
dropUse                                    : 255
dropContact                                : 0
---------- rain ----------------------------------------------
rainUse                                    : 255
rainReadDelay                              : 750
wsRainData                                 : -104
----------  DHT22 Temperature --------------------------------
DHT22Use                                   : 0
MaxTemperature                             : 0.00
---------- sonar ---------------------------------------------
sonarUse                                   : 0
sonarLeftUse                               : 1
sonarRightUse                              : 1
sonarCenterUse                             : 0
sonarTriggerBelow                          : 55
sonarToFrontDist                           : 50
---------- perimeter -----------------------------------------
perimeterUse                               : 0
perimeterTriggerTimeout                    : 0
MaxSpeedperiPwm                            : -1107296256
perimeterTrackRollTime                     : -1
perimeterTrackRevTime                      : -1
perimeterPID.Kp                            : nan
perimeterPID.Ki                            : nan
perimeterPID.Kd                            : nan
trackingPerimeterTransitionTimeOut         : 1500
trackingErrorTimeOut                       : 10000
perimeterMagMaxValue                       : -805306368
swapCoilPolarityRight                      : 60
swapCoilPolarityLeft                       : 255
read2Coil                                  : 154
trackingBlockInnerWheelWhilePerimeterStrug : 255
DistPeriOutRev                             : 2017478246
DistPeriObstacleRev                        : 30
DistPeriOutForw                            : 60
DistPeriObstacleForw                       : 25
motorLeftSpeedDivider                      : nan
---------- By Lanes mowing ---------------------------------------
yawSet1                                    : 0.00
yawSet2                                    : ovf
yawSet3                                    : -134217920.00
yawOppositeLane1RollRight                  : 0.00
yawOppositeLane2RollRight                  : -200802304.00
yawOppositeLane3RollRight                  : 0.00
yawOppositeLane1RollLeft                   : 0.00
yawOppositeLane2RollLeft                   : 0.00
yawOppositeLane3RollLeft                   : 0.00
DistBetweenLane                            : 215
maxLenghtByLane                            : 35
---------- lawn sensor ---------------------------------------
lawnSensorUse                              : 255
---------- IMU (compass/accel/gyro) --------------------------
imuUse                                     : 255
stopMotorDuringCalib                       : 255
imuDirPID.Kp                               : nan
imuDirPID.Ki                               : nan
imuDirPID.Kd                               : nan
maxDriftPerSecond                          : 0.00
delayBetweenTwoDmpAutocalib                : 4156293
maxDurationDmpAutocalib                    : 256
---------- model R/C -----------------------------------------
remoteUse                                  : 255
---------- battery -------------------------------------------
batMonitor                                 : 255
batGoHomeIfBelow                           : nan
batSwitchOffIfBelow                        : nan
batSwitchOffIfIdle                         : -1
batFactor                                  : nan
batChgFactor                               : nan
batFull                                    : 29.40
batChargingCurrentMax                      : 3.00
batFullCurrent                             : nan
startChargingIfBelow                       : nan
chargingTimeout                            : 21600000
chgSenseZero                               : nan
batSenseFactor                             : nan
chgSense                                   : 185.00
chgChange                                  : 0
chgNull                                    : 2
---------- charging station ----------------------------------
stationRevDist                             : 255
stationRollAngle                           : 255
stationForwDist                            : -1
stationCheckDist                           : 255
UseBumperDock                              : 255
dockingSpeed                               : 255
---------- odometry ------------------------------------------
odometryTicksPerRevolution                 : -1
odometryTicksPerCm                         : nan
odometryWheelBaseCm                        : nan
odometryRightSwapDir                       : 255
odometryLeftSwapDir                        : 255
---------- GPS -----------------------------------------------
gpsUse                                     : 255
stuckIfGpsSpeedBelow                       : nan
gpsSpeedIgnoreTime                         : -1
---------- RFID -----------------------------------------------
rfidUse                                    : 255
---------- other ---------------------------------------------
buttonUse                                  : 255
mowPatternDurationMax                      : 1
---------- user-defined switch -------------------------------
userSwitch1                                : 255
userSwitch2                                : 255
userSwitch3                                : 255
---------- timer ---------------------------------------------
timerUse                                   : 255
---------- bluetooth-----------------------------------------
bluetoothuse                               : 255
---------- esp8266 ------------------------------------------
esp8266Use                                 : 255
esp8266ConfigString                        : ⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮4
---------- robot stats ---------------------------------------
statsMowTimeMinutesTrip                    : 0
statsMowTimeMinutesTotal                   : 300
statsBatteryChargingCounterTotal           : 10
statsBatteryChargingCapacityTrip in mAh    : 0.00
statsBatteryChargingCapacityTotal in Ah    : 10.00
statsBatteryChargingCapacityAverage in mAh : 1000.00
DONE

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Arctic Hare mod by Jussi 6 Tage 2 Stunden her #17997

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Have you deactivate the watchdog
I am going to see that no.
And watchdog occur before the end of the saving process.
Are you sure that you use the last version on github .
Please deactivate it and test again with address at 2000

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Arctic Hare mod by Jussi 6 Tage 1 Stunde her #17999

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watchdog disabled settings saved correctly to new address but still can't reset settings in address 2000.
When saving settings due reset itself? connection to pi is losted same time because device go to /dev/ttyACM1. I have to reboot pi or disconnect usb wire and put back, then it's again ACM0 until saving settings

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Arctic Hare mod by Jussi 6 Tage 27 Minuten her #18000

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Acm0 or acm1 i never see the change with due but yes in other project I have this trouble with mega connected on a pi.
Do you use the native USB?
For the eeprom , normally if you deactivate the watchdog the save setting need to work.
But it is possible that the last value I had in my code have already been use in your rtc and are not in same format.
Certainly you need to force only one time the type and value for the last eereadwrite param

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Arctic Hare mod by Jussi 6 Tage 10 Minuten her #18001

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nativeUSB for pi and programming to upload. Where rtc and timers go on eeprom?
I have now working setup settings start from 900 to 1420

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Arctic Hare mod by Jussi 5 Tage 23 Stunden her #18002

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udev/rules rules :D now due is always /dev/ttyACM_DUE
www.domoticz.com/wiki/Assign_fixed_device_name_to_USB_port

now port stays same but now I get this error every time when saving to eeprom
Exception in Tkinter callback
Traceback (most recent call last):
  File "/usr/lib/python3/dist-packages/serial/serialposix.py", line 490, in read
    'device reports readiness to read but returned no data '
serial.serialutil.SerialException: device reports readiness to read but returned no data (device disconnected or multiple access on port?)

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/usr/lib/python3.5/tkinter/__init__.py", line 1562, in __call__
    return self.func(*args)
  File "/usr/lib/python3.5/tkinter/__init__.py", line 608, in callit
    func(*args)
  File "/home/pi/Documents/PiArdumower/PiArdu.py", line 561, in checkSerial
    mymower.dueSerialReceived=Due_Serial.readline()
  File "/usr/lib/python3/dist-packages/serial/serialposix.py", line 497, in read
    raise SerialException('read failed: {}'.format(e))
serial.serialutil.SerialException: read failed: device reports readiness to read but returned no data (device disconnected or multiple access on port?)
watchdog disabled solves above
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Arctic Hare mod by Jussi 5 Tage 20 Stunden her #18003

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It is strange that it can t work.
I have test the watchdog on my mower and it is working without resetting.
Do you use a clone or real arduino due
In your case the watchdog reset the due each time you save setting.And it's the reason why the pi crash.
You can work without the watchdog or change the duration before reset.
I set it to 2 seconde in the code,you can test with 4 secondes

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Arctic Hare mod by Jussi 5 Tage 20 Stunden her #18004

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real due's, I have two and both reset same way

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Arctic Hare mod by Jussi 5 Tage 19 Stunden her #18005

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Are you sure to use the last code.
Into flashmem.h line 30 40 and 52 the watchdog is reset to avoid your issue ????
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Arctic Hare mod by Jussi 5 Tage 17 Stunden her #18006

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Those were missing

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Arctic Hare mod by Jussi 5 Tage 17 Stunden her #18007

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Check the last commit on git to use the last version or update all the file of your source.
Into all your code you need to reset the watchdog each 2 seconds or the due restart and pi lost the com.

This explain the issue with the eeprom ,normally you can now reuse the address 2000.

For the rtc the time is never store,it is read directly over i2c in the ds1307.
For the timer,it Is save with the user setting ,you can see it into the eereadwrite sequence as time.But it's a particular definition and save in one line.

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