Disneyland 1972 Love the old s

Command Hardware Control – IMU (MPU9250)

<Header> +

<Payload_length>

<Payload>

PL0

PL1

PL2

PL3

PL4

PL5

$ESP_OK|xx|

‘T’

‘M’

ID Control

Infor 1

Infor 2

Infor 3

...

 

‘T’

‘M’

PL2

Control IMU (MPU9250)

5

 

‘0’

M_Start_Print_IMU_Data

 

‘1’

M_Stop_Print_IMU_Data

 

‘2’

M_Start_IMU_Calibrate

 

‘3’

M_Stop_IMU_Calibrate

 

‘4’

M_Save_Calibrate_Result

 

 

 

Disable/Enable type print IMU

 

 

 

 

HOST send M_Start_Print_IMU_Data

 

<Header> +

<Payload_length>

<Payload>

PL0

PL1

PL2

PL3

PL4

PL5

$ESP_OK|xx|

‘T’

‘M’

‘0’

Infor 1

Infor 2

Infor 3

...

 

 

Payload

Index

 

Type value

Min

Value

Max

Value

Min Length

Max Length

Describe

Unit

PL2

‘0’

 

ID Control :M_Start_Print_IMU_Data

 

 

PL3

INTEGER

0

9

-

-

Type frequency update IMU

 

 

0

2 Hz

1

10 Hz

2

15 Hz

3

20 Hz

4

25 Hz

5

35 Hz

6

50 Hz

7

100 Hz

8

150 Hz

9

200 Hz

 

ESPrtk Respond

 

Payload

Index

 

Type value

Min

Value

Max

Value

Min Length

Max Length

Describe

Unit

PL2

‘0’

 

ID Control : M_Start_Print_IMU_Data

 

 

PL3

INTEGER

-1

1

-

-

Status Control

 

-1

NACK: Invalid input /wrong format / out of range …?

0

Error: Not found data configure for MPU9250 in Profile

1

OK: Is starting connect to IMU and print IMU data

 

PL4

STRING

-

-

-

-

Describe status respond control as text

 

 

Example

 

Message :

HOST Send

$ESP_OK|8|T|M|0|1|*3D5A

ACK Respond

$ESP_OK|64|T|M|0|1|Is starting print IMU data , Type Frequency update = 1 |*1C0E

NACK Respond

 

Other NACK

$ESP_ER|… or $ESS_ER|… or $AES_ER|…

 

 

 

HOST send M_Stop_Print_IMU_Data


 

<Header> +

<Payload_length>

<Payload>

PL0

PL1

PL2

PL3

PL4

PL5

$ESP_OK|xx|

‘T’

‘M’

‘1’

Infor 1

Infor 2

Infor 3

...



 

Payload

Index

 

Type value

Min

Value

Max

Value

Min Length

Max Length

Describe

Unit

PL2

‘1’

STRING

-

-

1

1

ID Control : M_Stop_Print_IMU_Data

 


ESPrtk Respond

 

Payload

Index

 

Type value

Min

Value

Max

Value

Min Length

Max Length

Describe

Unit

PL2

‘1’

 

ID Control : M_Stop_Print_IMU_Data

 

 

PL3

INTEGER

-1

1

-

-

Status Control

 

-1

NACK: Invalid input /wrong format / out of range …?

0

Error:

1

OK: Stopped Print IMU data

 

PL4

STRING

-

-

-

-

Describe status respond control as text

 


Example

 

Message :

HOST Send

$ESP_OK|6|T|M|1|*7F26

ACK Respond

$ESP_OK|31|T|M|1|1|Stopped Print IMU data|*031B

NACK Respond

 

Other NACK

$ESP_ER|… or $ESS_ER|… or $AES_ER|…

 


HOST send Disable/Enable type print IMU


Please see “Control Enable Type Print on TX_UART0” → PL3 → BIT11 and BIT12.

 

$ESP_OK|19|T|P|0|000000000000|*2157 -> Disable Print ALL output UART_0

$ESP_OK|19|T|P|0|111111111100|*2156 -> Disable Print IMU 1 + IMU2

$ESP_OK|19|T|P|0|111111111110|*2057 -> Disable Print IMU 1 , Enable Print IMU2

$ESP_OK|19|T|P|0|111111111101|*2056 -> Enable Print IMU1 , Disable Print IMU 2

$ESP_OK|19|T|P|0|111111111111|*2157 -> Enable Print ALL output UART_0


 


HOST send M_Start_IMU_Calibrate

 

<Header> +

<Payload_length>

<Payload>

PL0

PL1

PL2

PL3

PL4

PL5

$ESP_OK|xx|

‘T’

‘M’

‘2’

Infor 1

Infor 2

Infor 3

...

 

Payload

Index

 

Type value

Min

Value

Max

Value

Min Length

Max Length

Describe

Unit

PL2

‘2’

STRING

-

-

1

1

ID Control : M_Start_IMU_Calibrate

 

 

ESPrtk Respond

Payload

Index

 

Type value

Min

Value

Max

Value

Min Length

Max Length

Describe

Unit

PL2

‘2’

 

ID Control : M_Start_IMU_Calibrate

 

 

PL3

INTEGER

-1

1

-

-

Status Control

 

-1

NACK: Invalid input /wrong format / out of range …?

0

Error: Not found data configure for MPU9250 in Profile

1

OK: Is starting connect to IMU and print IMU data

2

Error : Low memory - Fail to malloc new buffer !

 

PL4

STRING

-

-

-

-

Describe status respond control as text

 

 

Example

Message :

HOST Send

$ESP_OK|6|T|M|2|*7C26

ACK Respond

$ESP_OK|30|T|M|2|1|Started IMU Calibrate|*2F54

Data Respond

$ESPLOG|59|2|INFO|CAL|Please rotate the sensor to the different angle|*6224

$ESPLOG|59|2|INFO|CAL|Please rotate the sensor to the different angle|*6224

$ESPLOG|74|2|INFO|CAL|Surface scan (0.00 %),Input [-4.2010503,4.0510130,-69.0172577]|*6C01

$ESPLOG|74|2|INFO|CAL|Surface scan (0.01 %),Input [-4.2010503,4.0510130,-69.0172577]|*6D01

$ESPLOG|74|2|INFO|CAL|Surface scan (0.02 %),Input [-9.7524385,5.1012754,-67.9669952]|*6E07

$ESPLOG|75|2|INFO|CAL|Surface scan (0.03 %),Input [-17.5543880,5.8514628,-67.9669952]|*5C76

$ESPLOG|75|2|INFO|CAL|Surface scan (0.04 %),Input [-24.4561138,5.8514628,-62.7156792]|*5276

$ESPLOG|75|2|INFO|CAL|Surface scan (0.05 %),Input [-31.9579887,6.7516880,-58.0645180]|*527A

………….

………….

 

NACK Respond

 

Other NACK

$ESP_ER|… or $ESS_ER|… or $AES_ER|…

 

 

HOST send M_Stop_IMU_Calibrate

 

<Header> +

<Payload_length>

<Payload>

PL0

PL1

PL2

PL3

PL4

PL5

$ESP_OK|xx|

‘T’

‘M’

‘3’

Infor 1

Infor 2

Infor 3

...

 

Payload

Index

 

Type value

Min

Value

Max

Value

Min Length

Max Length

Describe

Unit

PL2

‘3’

STRING

-

-

1

1

ID Control : M_Stop_IMU_Calibrate

 

 

ESPrtk Respond

Payload

Index

 

Type value

Min

Value

Max

Value

Min Length

Max Length

Describe

Unit

PL2

‘3’

 

ID Control : M_Stop_IMU_Calibrate

 

 

PL3

INTEGER

-1

1

-

-

Status Control

 

-1

NACK: Invalid input /wrong format / out of range …?

0

Is calculating ... , please wait.

1

OK: Stopped IMU Calibrate. ( Success )

2

Error : Incomplete samples (We need more samples to be able to calibrate!

3

Error : Incomplete samples ( We need more samples on the X and Y axes by rotating the sensor around the Z axis!)

4

Error : Fail to calculating , please try again !

 

PL4

STRING

-

-

-

-

Describe status respond control as text

 

 

Example

Message :

HOST Send

$ESP_OK|6|T|M|3|*7D26

ACK Respond

$ESP_OK|41|T|M|3|0|Is calculating ... , please wait|*0214

 

…. (Calibrate progress )…

…. (Noise filter progress )…

…. (Printout data calibrated progress )…

…. (Printout Bias+Rotations matrices )…

 

$ESP_OK|30|T|M|3|1|Stopped IMU Calibrate|*2656

 

Data Respond

 

$ESP_OK|41|T|M|3|0|Is calculating ... , please wait|*0214

…………..

…………..

$ESPLOG|27|2|INFO|CAL|Calibrating:1 %|*396B

$ESPLOG|27|2|INFO|CAL|Calibrating:2 %|*3A6B

$ESPLOG|27|2|INFO|CAL|Calibrating:3 %|*3B6B

…………..

$ESPLOG|28|2|INFO|CAL|Calibrating:90 %|*0E23

$ESPLOG|28|2|INFO|CAL|Calibrating:95 %|*0B23

$ESPLOG|29|2|INFO|CAL|Calibrating:100 %|*3755

…………..

…………..

…………..

$ESPLOG|28|2|INFO|CAL|Noise filter:0 %|*0B2F

$ESPLOG|28|2|INFO|CAL|Noise filter:3 %|*082F

$ESPLOG|28|2|INFO|CAL|Noise filter:6 %|*0D2F

…………..

$ESPLOG|29|2|INFO|CAL|Noise filter:90 %|*3355

$ESPLOG|29|2|INFO|CAL|Noise filter:93 %|*3055

$ESPLOG|29|2|INFO|CAL|Noise filter:96 %|*3555

…………..

…………..

…………..

$ESPLOG|69|2|INFO|CAL|Count (1/617),Output [-24.6396484,26.2568359,-19.2402344]|*112C

$ESPLOG|69|2|INFO|CAL|Count (2/617),Output [-24.6396484,26.2568359,-19.2402344]|*122F

$ESPLOG|69|2|INFO|CAL|Count (3/617),Output [-22.3652344,25.3867188,-21.1152344]|*102C

…………..

$ESPLOG|70|2|INFO|CAL|Count (615/617),Output [12.0615234,22.5830078,-25.9902344]|*3D36

$ESPLOG|70|2|INFO|CAL|Count (616/617),Output [14.1621094,25.6347656,-25.7070312]|*323C

$ESPLOG|70|2|INFO|CAL|Count (617/617),Output [12.6474609,24.3251953,-24.7656250]|*3E3D

…………..

…………..

…………..

$ESPLOG|205|2|INFO|CAL|Success ! Bias 1x3 [ -11.4422918 , -23.6864032 , -40.1461467 ] ,Rotation 3x3 [ 1.0044592 , -0.0014763 , -0.0122153 , -0.0014784 , 0.9697963 , -0.0028070 , -0.0122177 , -0.0028135 , 1.0257844 ] |*1007

…………..

…………..

…………..

$ESP_OK|30|T|M|3|1|Stopped IMU Calibrate|*2656

NACK Respond

 

Other NACK

$ESP_ER|… or $ESS_ER|… or $AES_ER|…

 


 

HOST send M_Save_Calibrate_Result

<Header> +

<Payload_length>

<Payload>

PL0

PL1

PL2

PL3

PL4

PL5

$ESP_OK|xx|

‘T’

‘M’

‘4’

Infor 1

Infor 2

Infor 3

...

 

Payload

Index

 

Type value

Min

Value

Max

Value

Min Length

Max Length

Describe

Unit

PL2

‘4’

STRING

-

-

1

1

ID Control : M_Save_Calibrate_Result

 

 

ESPrtk Respond

Payload

Index

 

Type value

Min

Value

Max

Value

Min Length

Max Length

Describe

Unit

PL2

‘4’

 

ID Control : M_Save_Calibrate_Result

 

 

PL3

INTEGER

-1

1

-

-

Status Control

 

-1

NACK: Invalid input /wrong format / out of range …?

0

Error:

1

OK: Updated Calibrate Result

 

PL4

STRING

-

-

-

-

Describe status respond control as text

 

 

Example

Message :

HOST Send

$ESP_OK|6|T|M|4|*7A26

ACK Respond

$ESP_OK|33|T|M|4|1|Updated Calibrate Result|*4650

NACK Respond

 

Other NACK

$ESP_ER|… or $ESS_ER|… or $AES_ER|…

 

 

Command Hardware Control – IMU (MPU9250)

 

<Header> +

<Payload_length>

<Payload>

PL0

PL1

PL2

PL3

PL4

PL5

$ESP_OK|xx|

‘T’

‘M’

ID Control

Infor 1

Infor 2

Infor 3

...

 

 

‘T’

‘M’

PL2

Control IMU (MPU9250)

2

 

‘0’

M_Start_Print_IMU_Data

 

‘1’

M_Stop_Print_IMU_Data

 

 

 

Disable/Enable type print IMU

 

 

 

 

HOST send M_Start_Print_IMU_Data

 

<Header> +

<Payload_length>

<Payload>

PL0

PL1

PL2

PL3

PL4

PL5

$ESP_OK|xx|

‘T’

‘M’

‘0’

Infor 1

Infor 2

Infor 3

...

 

 

Payload

Index

 

Type value

Min

Value

Max

Value

Min Length

Max Length

Describe

Unit

PL2

‘0’

 

ID Control :M_Start_Print_IMU_Data

 

 

PL3

INTEGER

0

9

-

-

Type frequency update IMU

 

 

0

2 Hz

1

10 Hz

2

15 Hz

3

20 Hz

4

25 Hz

5

35 Hz

6

50 Hz

7

100 Hz

8

150 Hz

9

200 Hz

 

ESPrtk Respond

 

Payload

Index

 

Type value

Min

Value

Max

Value

Min Length

Max Length

Describe

Unit

PL2

‘0’

 

ID Control : M_Start_Print_IMU_Data

 

 

PL3

INTEGER

-1

1

-

-

Status Control

 

-1

NACK: Invalid input /wrong format / out of range …?

0

Error: Not found data configure for MPU9250 in Profile

1

OK: Is starting connect to IMU and print IMU data

 

PL4

STRING

-

-

-

-

Describe status respond control as text

 

 

Example

 

Message :

HOST Send

$ESP_OK|8|T|M|0|1|*3D5A

ACK Respond

$ESP_OK|64|T|M|0|1|Is starting print IMU data , Type Frequency update = 1 |*1C0E

NACK Respond

 

Other NACK

$ESP_ER|… or $ESS_ER|… or $AES_ER|…

 

 

 

HOST send M_Stop_Print_IMU_Data


 

<Header> +

<Payload_length>

<Payload>

PL0

PL1

PL2

PL3

PL4

PL5

$ESP_OK|xx|

‘T’

‘M’

‘1’

Infor 1

Infor 2

Infor 3

...



 

Payload

Index

 

Type value

Min

Value

Max

Value

Min Length

Max Length

Describe

Unit

PL2

‘1’

STRING

-

-

1

1

ID Control : M_Stop_Print_IMU_Data

 


ESPrtk Respond

 

Payload

Index

 

Type value

Min

Value

Max

Value

Min Length

Max Length

Describe

Unit

PL2

‘1’

 

ID Control : M_Stop_Print_IMU_Data

 

 

PL3

INTEGER

-1

1

-

-

Status Control

 

-1

NACK: Invalid input /wrong format / out of range …?

0

Error:

1

OK: Stopped Print IMU data

 

PL4

STRING

-

-

-

-

Describe status respond control as text

 


Example

 

Message :

HOST Send

$ESP_OK|6|T|M|1|*7F26

ACK Respond

$ESP_OK|31|T|M|1|1|Stopped Print IMU data|*031B

NACK Respond

 

Other NACK

$ESP_ER|… or $ESS_ER|… or $AES_ER|…

 


HOST send Disable/Enable type print IMU


Please see “Control Enable Type Print on TX_UART0” → PL3 → BIT11 and BIT12.

 

$ESP_OK|19|T|P|0|000000000000|*2157 -> Disable Print ALL output UART_0

$ESP_OK|19|T|P|0|111111111100|*2156 -> Disable Print IMU 1 + IMU2

$ESP_OK|19|T|P|0|111111111110|*2057 -> Disable Print IMU 1 , Enable Print IMU2

$ESP_OK|19|T|P|0|111111111101|*2056 -> Enable Print IMU1 , Disable Print IMU 2

$ESP_OK|19|T|P|0|111111111111|*2157 -> Enable Print ALL output UART_0