UM7 register 137

[Ata]

Hello, I am using a UM7 and receiving a stream of bytes like this: 115 110 112 204 137. However I can’t see any register with 137(uint number). I would like to get rid of this signal. Could you help me out? Thanks in advance.

Ata

[Foster Collins]

I am having the same issue. I have wasted 2 days trying to get a binary parser to work, but I don’t have any info about this packet. I have turned off all outputs from the compass and am still getting this 137 code. How do I go about suppressing this “snp” message? I have given up trying to get the binary parser to work and just want NEMA messages, but this extra data is even bogging down this parser.

[Michael]

Hello Foster and Ata,

I do apologize for the lengthy response, we have taken over manufacturing of the UM7 product line so we do thank you for your patience.

The Register addresses 137, 138, and 139 now contain the gyro bias estimates from the filter. The lower-order byte in register 6 specifies its automatic transmit frequency.

We are working hard to get an updated datasheet out which contains the new register data.

Regards,
Michael

[Ata]

Hello Michael,

Thank you for your response, can you tell me how I can disable the transmission of this information by the serial interface? I couldn’t find it in CHR Serial Interface.

Regards,
Ata

[Michael]

Hi Ata & Foster,

Can I just confirm what version UM7 you are using and the firmware revision number?
Regarding this issue we are working on a fix for the CHRobotics serial software interface, as the current version does not have the ability to turn on or off the data, we do apologize about this and appreciate your patience. I will post back asap

Regards,
Michael

[Michael]

Hi Ata & Foster,

UPDATE: 19.08.2016
PLEASE DOWNLOAD SERIAL INTERFACE SOFTWARE V3.1.3

Thank you for your support and patience

Regards,
Michael

[Michael]

Hi All,

You could also downgrade your firmware version to U71C in the interim.
U71C.hex

Regards,
Michael

[Cous]

Michael > your suggested fix to use the new XML file works. I’m glad I cam across this on the forum today, it has been causing me issues for a while.

[Peter]

Michael,

The new XML file works like a charm.

Is the firmware also responsible for the graphs no longer working in the CHR serial interface?

Peter

[rocky]

Michael,
I too have been having issues with the gyro running U71D. I am operating using SPI and am having issues where the spi register reads are sometimes corrupted. In order to eliminate data also being sent out the RS232 port (which could possibly be causing the SPI problems), I attempted to set to 0 the broadcast rate settings in registers 1-7. After doing so I find that I still get RS232 transmissions of register 89H. As I understand the previous messages in this thread, you have created a new version of the firmware called U71D, which is the same name as the older version, and that this version fixes this problem.
Before I update to this presumably temporary version, I would like to know if there are any other differences in the two U71D versions, and also to know what the differences were between U71C and U71D (first version).
We have several products where we plan on using the gyro, but need to have a stable version to go forward.
Thanks,
Rocky

[Michael]

Hi Peter

“Is the firmware also responsible for the graphs no longer working in the CHR serial interface?”

Can you please be more specific which graphs are not working? I am unaware of this issue.

The firmware is not responsible for the graphing functionality that is handled on the PC side.
The firmware does all the heavy lifting on the UM7 pcb, including the transfer of data to and from the UM7.

Regards,
Michael

[Michael]

Hi Rocky

“I would like to know if there are any other differences in the two U71D versions”

No, there are no other differences in the U71D.xml file.

The newer firmware version U71D has had added real time gyro bias estimates, these are located in registers 137, 138 & 139. The xml files are a mapping file which tell the serial software what settings should be displayed to the users and similarly what commands to send to the UM7 to perform functions on those registers, however the information for these new registers 137,138 & 139 had not been added. You should be using the newer U71D.xml file as it has been updated to reflect the changes in the firmware, this is not a temporary version it will be the version deployed in the new serial software which will be released this week, I will post the link here when its ready.

“and also to know what the differences were between U71C and U71D (first version).”

The differences between U71C and U71D.

U71D added the following functionality which U71C did not have
– Adds real-time gyro bias estimation, with ability to tune bias convergence rate, and broadcast bias estimates.
– Modifies filter to run in-place to improve efficiency.
– Modified magnetometer code so that after rotating the measurement into the v1 frame (Euler-Angle mode), it computes
the yaw angle and uses the ref vector to subtract the declination. Provides more robust yaw measurements.

“We have several products where we plan on using the gyro, but need to have a stable version to go forward.”

I understand there isn’t an issue with the firmware there just hadn’t been a way to turn these registers off/on. An updated set of serial interface software V3.1.3 will be released this week. This will have the new U71D.xml file deployed within the software so users will not need to run through the workaround process discussed a few threads earlier. Also the datasheet/documentation has been updated and will also be released this week, which explains registers 137,138 & 139 functionality.

I hope this helps!

Regards,
Michael

[Jose Luis Bueno]

I would like to know when it is going to be available the version 3.1.3 of the serial interface software and the new datasheet. Thanks

Jose

[Michael]

Hi Jose,

please see here

Regards,
Michael

[Author]

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