Ardumower Sunray: Unterschied zwischen den Versionen
(→Rover configuration (messages)) |
(→Requirements) |
||
| Zeile 13: | Zeile 13: | ||
=Requirements= | =Requirements= | ||
| − | * Ardumower motors using odometry | + | * [https://www.marotronics.de/Ardumower-der-DIY-Rasenroboter Ardumower motors using odometry] |
| − | * Ardumower PCB 1.3 (incl. MC33926 motor drivers) | + | * [https://www.marotronics.de/Ardumower-der-DIY-Rasenroboter Ardumower PCB 1.3 (incl. MC33926 motor drivers)] |
* Arduino Due | * Arduino Due | ||
* [https://www.marotronics.de SimpleRTK2B - starter kit LR IP67] | * [https://www.marotronics.de SimpleRTK2B - starter kit LR IP67] | ||
Version vom 25. Januar 2020, 05:35 Uhr
Ardumower Sunray is an alternative Firmware (experimental) for the Ardumower. It uses RTK GPS to localize cm-precise without a perimeter wire. It requires PCB1.3, Arduino Due, ArduSimpleRTK kit and a phone (Android/iOS).
Demo video: coming soon
NOTE: everything here is still in development! Use Azurit firmware instead if you need a working firmware...
Inhaltsverzeichnis
Significant changes compared to Azurit Firmware
- Optimized for PCB 1.3
- Optimized for Arduino Due
- Optimized for RTK
Requirements
- Ardumower motors using odometry
- Ardumower PCB 1.3 (incl. MC33926 motor drivers)
- Arduino Due
- SimpleRTK2B - starter kit LR IP67
- Bluetooth BLE UART module (CC2540) and a smartphone (Android/iOS)
Bluetooth BLE UART module
1. Install Bluetooth 4.0/BLE module on your Ardumower PCB1.3 (replace any installed Bluetooth 2.0 module).
IMPORTANT: Verify the pinout of your BLE module is matching your Ardumower PCB pinout (shown at the PCB1.3 back side)!
2. Set JP10 (Bluetooth signal level) to 3.3V
3. Set JP4 (Bluetooth voltage) to 5V
4. Set JP7 (GPS voltage) to 5V
5. Set JP12 (GPS signal level) to 5V
PCB1.3 GPS pin fix
The pins TX3 and RX3 are incorrectly routed on PCB1.3 - Fix it by swapping the TX3 and RX3 pin headers as shown below.
You can see the fixing process in this video: https://youtu.be/T-EqU5azCAU?t=140
RTK base
- Make sure you have the simpleRTK2B module marked as 'BASE' in your hands (look at simpleRTK2B PCB label at backside!)
- Connect Xbee LongRange dipole antenna
- Connect GPS multifrequency patch antenna
- Connect a USB 5v power supply to the USB port marked as 'POWER+GPS'
- Install the GPS base antenna - it should have clear view to the sky in all directions without any obstacles. For best results install GPS antenna on the roof. Alternatively, if you have an open area (without trees and other obstacles), you can install the base antenna on a tripod.
RTK rover
- Make sure you have the simpleRTK2B module marked as 'ROVER' in your hands (look at simpleRTK2B PCB label at backside!)
- Connect XBee LongRange dipole antenna
- Connect GPS multifrequency patch antenna
- Connect PCB1.3_GPS_GND to simpleRTK2B GND
- Connect PCB1.3_GPS_5V to simpleRTK2B 5V_IN
- Connect PCB1.3_GPS_TX to simpleRTK2B TX1
- Connect PCB1.3_GPS_RX to simpleRTK2B RX1
- Connect simpleRTK2B IOREF to simpleRTK2B 5V_OUT (to choose signal voltage level 5v)
- Install XBee antenna and GPS antenna on the Ardumower
Rover configuration (messages)
1. IMPORTANT: Make sure the Ardumower is turned off!
2. Connect SimpleRTK ROVER module USB port marked as 'POWER+GPS' to your PC.
3. Download ublox u-Center and start it: https://www.u-blox.com/en/product/u-center
4. Choose 'Receiver->Connection' and choose your rover module COM port.
5. In this step we want to turn off all broadcast messages except one. Choose 'View->Configuration View'. Choose configuration message 'MSG (Messages)' and select one message after the other in the list (0A-37 MON-HW3, 0A-09 MON-HW, ..., etc.). For each message, make sure the selected message is turned off for UART1. Do NOT change anything for the ports UART2, USB etc. - only turn off all messages for UART1. Example for message '01-22 NAV-CLOCK' that has been deactivated for UART1:
Repeat this step for all messages in the listbox and turn off all messages for UART1.
6. Finally, activate message '01-3C NAV-RELPOSNED' for UART1 (this is the only message we want to be broadcast).
7. Choose configuration message 'PRT (Ports)', choose 'UART1', and set baudrate to 115200 for UART1:
8. Choose configuration message 'RATE (Rates)' and set measurement period to 200ms (5 Hz):
9. Choose configuration message 'CFG (Configuration)' and click on 'Send' to make the configuration in the rover persistent.
10. IMPORTANT: Disconnect USB cable from rover module!
Firmware (Arduino Code)
1. Download Ardumower Sunray Firmware and unzip it: https://github.com/Ardumower/Sunray/archive/master.zip
2. Open the Arduino sketch 'sunray.ino'.
3. Start Arduino IDE, and upload the sketch to your Arduino Due on the Ardumower PCB1.3.
2. After uploading, start your Ardumower - after a short while you should hear a 'beep'. Ardumower is now ready for your commands!
Phone App
1. Download Viewer App:
For Android, download Evothings Viewer: https://play.google.com/store/apps/details?id=com.evothings.evothingsviewer For iOS, download CGTek Viewer: https://apps.apple.com/de/app/cgtek-viewer/id1135118284
2. Start App and enter the connection URL as show below and press 'Connect':
3. The App should start as shown below:
Troubleshooting
1. Once your base module is sending satellite reference data to your rover module (via the XBee LongRange modules), the LED 'XBEE->GPS' on the rover will start to blink. Verify that by turning OFF and then again ON the base module!
2. When the rover has NOT yet found its precise position, the rover LED 'GPS FIX' will be OFF and the App shows 'invalid'. When the rover has found its position, the rover LED 'GPS FIX' will be ON and the App shows 'fixed'
