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Alfred Raspberry Pi will nicht

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Starsurfer78

Active member
Moin,
ich habe hier einen Alfred stehen, bei dem der Bananapi defekt war, den habe ich gegen einen Pi3 ausgetauscht.
Die Verbindung zum GPS funktioniert (/dev/ttyACM0)
Aber ich bekomme keine Verbindung zum Alfred Board:
Code: 
SerialRobot: CRC ERROR


Code: 
----starting sunray----
CMD=
working dir:/home/Sascha/Sunray/alfred
opening serial port /dev/ttyACM0...
opening serial port /dev/null...
opening serial port /dev/ttyACM0...
BLE: run
BLE: l2cap le att listen and accept
BLE: listen
BLE: Started listening on ATT channel. Waiting for connections
opening serial port /dev/null...
main
LinuxConsole::begin
opening TTY...
TTY=0
SD card found!
RESET cause: unknown
Sunray,1.0.327
compiled for: Linux
using robot driver: SerialRobotDriver
setting baudrate /dev/ttyACM0 19200...
linux working dir (pwd): /home/Sascha/Sunray/alfred

reading robot ID...
ioboard init
IMU POWER STATE 1
FAN POWER STATE 1
turning LEDs green
starting ADC
ADC S1=0.44
ADC S2=0.08
ADC S3=0.04
ADC S4=1.61
ADC S5=1.61
ADC S6=0.00
ADC S7=0.65
ADC S8=1.75
robot id: dc:a6:32:50:87:16
enableCharging 0
RCModel disabled in config
using bumper driver: LiDAR
ENABLE_PASS
ENABLE_TILT_DETECTION
FREEWHEEL_IS_AT_BACKSIDE: 0
WHEEL_BASE_CM: 39
WHEEL_DIAMETER: 205
ENABLE_LIFT_DETECTION
LIFT_OBSTACLE_AVOIDANCE
ENABLE_ODOMETRY_ERROR_DETECTION: 0
TICKS_PER_REVOLUTION: 320
MOTOR_FAULT_CURRENT: 3.00
MOTOR_OVERLOAD_CURRENT: 1.20
USE_LINEAR_SPEED_RAMP: 0
MOTOR_PID_KP: 0.50
MOTOR_PID_KI: 0.01
MOTOR_PID_KD: 0.01
MOTOR_LEFT_SWAP_DIRECTION
MOTOR_RIGHT_SWAP_DIRECTION
MOW_FAULT_CURRENT: 8.00
MOW_OVERLOAD_CURRENT: 2.00
ENABLE_OVERLOAD_DETECTION: 0
ENABLE_FAULT_DETECTION: 1
ENABLE_FAULT_OBSTACLE_AVOIDANCE: 1
ENABLE_RPM_FAULT_DETECTION: 0
RAIN_ENABLE: 1
BUMPER_ENABLE: 1
BUMPER_DEADTIME: 1000
BUMPER_TRIGGER_DELAY: 0
BUMPER_MAX_TRIGGER_TIME: 30
LIDAR_BUMPER_ENABLE: 0
CURRENT_FACTOR: 0.50
GO_HOME_VOLTAGE: 25.50
BAT_FULL_VOLTAGE: 30.00
BAT_FULL_CURRENT: -0.10
BAT_SWITCH_OFF_IDLE: 0
BAT_SWITCH_OFF_UNDERVOLTAGE: 1
REQUIRE_VALID_GPS: 1
GPS_SPEED_DETECTION: 1
GPS_MOTION_DETECTION: 1
GPS_REBOOT_RECOVERY: 1
GPS_CONFIG: 1
GPS_CONFIG_FILTER: 1
CPG_CONFIG_FILTER_MINELEV: 10
CPG_CONFIG_FILTER_NCNOTHRS: 0
CPG_CONFIG_FILTER_CNOTHRS: 0
ALLOW_ROUTE_OUTSIDE_PERI_METER: 1.00
OBSTACLE_DETECTION_ROTATION: 0
KIDNAP_DETECT: 1
KIDNAP_DETECT_ALLOWED_PATH_TOLERANCE: 1.00
DOCKING_STATION: 1
DOCK_IGNORE_GPS: 0
DOCK_AUTO_START: 1
TARGET_REACHED_TOLERANCE: 0.10
STANLEY_CONTROL_P_NORMAL: 1.10
STANLEY_CONTROL_K_NORMAL: 0.10
STANLEY_CONTROL_P_SLOW: 1.10
STANLEY_CONTROL_K_SLOW: 0.10
BUTTON_CONTROL: 1
USE_TEMP_SENSOR: 1
BUZZER_ENABLE
SERIAL_BUFFER_SIZE=4096 (increase if you experience GPS checksum errors)
-----------------------------------------------------
UBLOX::begin serial
setting baudrate /dev/ttyACM0 115200...
using gps driver: UBLOX
sizeof(short):2
sizeof(int):4
sizeof(long):8
sizeof(long long):8
sizeof(int16_t):2
sizeof(int32_t):4
sizeof(int64_t):8
ublox UBX-NAV-RELPOSNED decode test: relPosE=-7.52 TEST SUCCEEDED
ublox UBX-NAV-HPPOSLLH decode test: lat=52.26748477 TEST SUCCEEDED
trying to connect to ublox f9p...
NOTE: if GPS is not responding either set 'GPS_CONFIG=false' in config.h or perform GPS wire fix (see Wiki)
trying baud 115200
SFE_UBLOX_GPS::sendSerialCommand outgoingUBX->len=0
GPS receiver found!
SFE_UBLOX_GPS::sendSerialCommand outgoingUBX->len=0
UBLOX protocol: 27.31
ublox f9p: sending GPS rover configuration...
idx=0...SFE_UBLOX_GPS::sendSerialCommand outgoingUBX->len=24
OK
idx=1...SFE_UBLOX_GPS::sendSerialCommand outgoingUBX->len=74
OK
idx=2...SFE_UBLOX_GPS::sendSerialCommand outgoingUBX->len=39
OK
idx=3...SFE_UBLOX_GPS::sendSerialCommand outgoingUBX->len=69
OK
idx=4...OK
idx=5...SFE_UBLOX_GPS::sendSerialCommand outgoingUBX->len=34
OK
idx=6...SFE_UBLOX_GPS::sendSerialCommand outgoingUBX->len=34
OK
idx=7...SFE_UBLOX_GPS::sendSerialCommand outgoingUBX->len=54
OK
idx=8...SFE_UBLOX_GPS::sendSerialCommand outgoingUBX->len=49
OK
idx=9...SFE_UBLOX_GPS::sendSerialCommand outgoingUBX->len=39
OK
config sent successfully
Map::begin
sizeof Point=8
map load... no map file!
map dump - mapCRC=0
points:
perimeter pts: 0
exclusion pts: 0
exclusions: 0
dock pts: 0
mow pts: 0
free pts: 0
mowPointsIdx=0 dockPointsIdx=0 freePointsIdx=0 wayMode=3
WiFiClass::findWifiInterface
found WiFi interface: wlan0
MAC: DC:A6:32:50:87:17
AP_MAC: EE:74:D7:2A:35:77
WiFi signal level: -38 dBm
server begin port 80
sockfd=11
server listening
MPU ID=0x68
MPU6050/9150 found
using imu driver: MpuDriver
resuming is activated
state load... File filename=state.bin  mode=r
_fopen=-2013261968
ok
dumpState:  X=-14.64 Y=-25.42 delta=0.94 mapCRC=0 mowPointsIdx=0 dockPointsIdx=0 freePointsIdx=0 wayMode=4 op=0 sensor=4 sonar.enabled=0 fixTimeout=0 absolutePosSource=0 lon=0.00 lat=0.00 pwmMaxMow=255 finishAndRestart=0 motorMowForwardSet=1 dockAfterFinish=1
timetable (UTC times)    00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19 20 21 22 23
timetable (UTC times) mon                            *  *  *  *  *  *  *  *  *  *  *
timetable (UTC times) tue                            *  *  *  *  *  *  *  *  *  *  *
timetable (UTC times) wed                            *  *  *  *  *  *  *  *  *  *  *
timetable (UTC times) thu                            *  *  *  *  *  *  *  *  *  *  *
timetable (UTC times) fri                            *  *  *  *  *  *  *  *  *  *  *
timetable (UTC times) sat                            *  *  *  *  *  *  *  *  *  *  *
timetable (UTC times) sun                            *  *  *  *  *  *  *  *  *  *  *
* means mowing allowed
current GPS UTC weektime: dayOfWeek=mon  hour=0
timetable enabled: 0
mowing allowed: 1
SerialRobot: CRC ERROR0,47
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR0,A
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR0,91
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR0,18
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
WARN: resetting motor ticks
WARN: SerialRobot unmet communication frequency: motorFreq=1/0  summaryFreq=1/0
Process::available - not executed
FAN POWER STATE 0
Process::available - not executed
Process::available - not executed
WARN: PID unmet cycle time Ta=3.79 TaMax=0.10
WARN: PID unmet cycle time Ta=3.79 TaMax=0.10
batTemp=-9999  cpuTemp=30
GPS time (UTC): dayOfWeek=sun  hour=0
AUTOSTOP: timetable is disabled
AUTOSTART: not docked automatically (use DOCK command first)
==> changeOp:ImuCalibration(initiatedByOperator 0)->Idle
IMU gyro calibration (robot must be static)... 1
0:0:5 ctlDur=0.00 op=ImuCalibration(initiatedByOperator 0)->Idle mem=3348 bat=0.00,0.000(0.00) chg=0.00,0(0.00) diff=0.000 tg=0.00,0.00 x=-14.64 y=-25.42 delta=0.94 tow=0 lon=0.00000000 lat=0.00000000 h=0.0 n=0.00 e=-7.52 d=0.00 sol=0 age=5.88
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR0,7D
SerialRobot: CRC ERROR0,98
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR0,98
WARN: resetting motor ticks
WARN: SerialRobot unmet communication frequency: motorFreq=1/0  summaryFreq=1/0
WARN: PID unmet cycle time Ta=1.07 TaMax=0.10
WARN: PID unmet cycle time Ta=1.07 TaMax=0.10
IMU gyro calibration (robot must be static)... 2
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
sending encryptMode=1 encryptChallenge=135
HTTP WARN: high server duration: 1006
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR0,17
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR3,59
WARN: resetting motor ticks
WARN: SerialRobot unmet communication frequency: motorFreq=13/0  summaryFreq=1/0
charger conn=0 chgEnabled=0 chgTime=0 charger: 0.00 V  0.00 A  bat: 28.00 V   diffV=-0.28 slope(v/min)=0.00 slopeLowCounter=1
WARN: PID unmet cycle time Ta=1.02 TaMax=0.10
WARN: PID unmet cycle time Ta=1.02 TaMax=0.10
IMU gyro calibration (robot must be static)... 3
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
WIF:$7m6nr[su

WIF(decrypt):AT+S,0x13

WIF:$7m6tnr[vw

WIF(decrypt):AT+S2,0x45

SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR0,85
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
WIF:$7m7nr[sv

WIF(decrypt):AT+T,0x14

SerialRobot: CRC ERROR
WIF:$7m3nrnrnrnr[tv

WIF(decrypt):AT+P,0,0,0,0x24

absolutePosSource=0 lon=0.00000000 lat=0.00000000
SerialRobot: CRC ERROR
WIF:$7m3nrnrnrnr[tv

WIF(decrypt):AT+P,0,0,0,0x24

absolutePosSource=0 lon=0.00000000 lat=0.00000000
SerialRobot: CRC ERROR
WARN: resetting motor ticks
WARN: SerialRobot unmet communication frequency: motorFreq=47/0  summaryFreq=1/0
IMU gyro calibration (robot must be static)... 4
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR0,17
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
WARNING - LoopTime: 1 min=0 mean=0.40 max=5875
%CPU     PID USER     COMMAND
 4.0     629 Sascha   python3 /home/Sascha/CaSSAndRA/CaSSAndRA/app.py
36.5     858 root     /home/Sascha/Sunray/alfred/build/sunray

SerialRobot: CRC ERROR
WARN: resetting motor ticks
WARN: SerialRobot unmet communication frequency: motorFreq=48/0  summaryFreq=2/0
IMU gyro calibration (robot must be static)... 5
SerialRobot: CRC ERROR0,14
WIF:$7m6nr[su

WIF(decrypt):AT+S,0x13

SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
0:0:10 ctlDur=0.03 op=ImuCalibration(initiatedByOperator 0)->Idle mem=3348 bat=28.00,0.000(0.00) chg=0.00,0(0.00) diff=-11.727 tg=0.00,0.00 x=-14.64 y=-25.42 delta=0.94 tow=593567000 lon=9.20308800 lat=53.60753279 h=51.2 n=0.00 e=-7.52 d=0.00 sol=0 age=10.88
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
WARN: resetting motor ticks
WARN: SerialRobot unmet communication frequency: motorFreq=47/0  summaryFreq=2/0
IMU gyro calibration (robot must be static)... 6
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR0,17
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
WARN: resetting motor ticks
WARN: SerialRobot unmet communication frequency: motorFreq=48/0  summaryFreq=2/0
IMU gyro calibration (robot must be static)... 7
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR0,EC
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
SerialRobot: CRC ERROR
WIF:$7m6nr[su
Hat jemand ein Tipp für mich?
 
It is the original Ardumower Hardware only the bananapi change to pi.
I think the SERIAL_ROBOT_PATH is wrong.
dev/ttyS0 do not Work.
 
There are several things to consider on a new SBC (single board computer like Raspberry, OrangePI etc.):

1. Is the required UART activated for the required Raspberry pins?
You can check your current Raspberry pin configuration using the command 'gpio readall':

Example on a Raspberry3 shows: UART0 TxD/RxD (physical pins 8 and 10) are NOT configured for UART (Mode is ordinary GPIO input)
(if gpio is not found, you may have to install wiringpi like this: sudo apt install wiringpi )

1752995274064.png

Example on a Raspberry 5 shows: UART0 TxD/RxD (physical pins 8 and 10) is configured for UART (Mode is ALT which means alternate mode, so no ordinary GPIO but UART)
1752995134209.png

2. If the UART is not activated, you can activate it via 'sudo raspi-config' (OrangePI: sudo orangepi-config):

and choose 'Interface Options' -> 'SerialPort'

www.jemrf.com

Configure Serial Port for Raspberry Pi

The Raspberry Pi (RPI) has the serial port (pins 8-Tx & 10-Rx) configured for a login shell by default, therefore you have to configure it for serial use in order for the Wireless Gateway to communicate with the RPI. Open up a terminal window and type: raspi-config Select "Interface options"...
www.jemrf.com www.jemrf.com

3. The final step is to find out the Linux device path for the activated UART pins. There are several approaches to do this.

Ask the linux kernel (run this in a Linux terminal):

dmesg | grep ttyS (this will output UART-related driver messages often printing the linux device path)

Example output on an OrangePI showing that I need to use '/dev/ttyS0':
[ 6.346846] fd890000.serial: ttyS0 at MMIO 0xfd890000 (irq = 37, base_baud = 1500000) is a 16550A
[ 6.347257] febc0000.serial: ttyS9 at MMIO 0xfebc0000 (irq = 38, base_baud = 1500000) is a 16550A
 
Zuletzt bearbeitet:
hast du mal geschaut, ob es am Serial GPS path liegt?
Code: 
 #define SERIAL_GPS_PATH "/dev/serial/by-id/usb-u-blox_AG_-_www.u-blox.com_u-blox_GNSS_receiver-if00"
 
Alles gut, funktioniert jetzt seid gestern ohne Probleme und ist jetzt auch schon zweimal mähen gefahren.
Warte jetzt mal bis @Mr. Tree die Version für den Alfred hochlädt.
 
Hallo,
ich bin hier Anfänger und versuche vergeblich einen PI 5 ans Laufen zu bringen, scheitere aber an mehreren Stellen
- GPS wollte ich über UART3 (GPIO8 TX Pin24 + GPIO9 RX Pin21) anschließen
(ist in config.txt aktiviert - dtoverlay=uart3 und in der config.h habe ich #define SERIAL_GPS_PATH "/dev/ttyAMA3").
NMEA Daten werden via minicom Test empfangen, aber Sunray erkennt sie nicht.
- Scanne ich den I2C wird der MPU-9250 entweder auf 68 oder 69 erkannt, jenachdem ob er auf high oder low ist.
Sunray findet den MPU-9250 aber nicht, egal ob ADO auf high oder low ist (9250 ist in der config.h ausgewählt)
- #define SERIAL_NTRIP_PATH "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_00000000-if00-port0" kann er nicht öffnen, wahrscheinlich weil ich am PI 5 kein USB Adapter angeschlossen habe und WiFi beim PI5 bereits integriert ist??? Was wäre hier für den PI 5 einzustellen?

Das sind nur die Basics, den Rest habe ich noch gar nicht angeschlossen.
Hat jemand schon mal den PI 5 erfolgreich ans Laufen gebracht und kann mir weiterhelfen?
Über jede Hilfe würde ich mich sehr freuen.

Was geht ist die Sunray App. Mit dieser kann ich mit verbinden - per BLE und WiFi.

PS: @AlexanderG Wie hast du es hinbekommen, dass dir die Pin-Zuordnungstabelle am PI 5 angezeigt wird? (Post #7)

Habe meine Frage nach hier verschoben, da ich denke, dass es auch andere interessieren könnte:
Raspberry PI 5 und Sunray (Alfred)
 
Zuletzt bearbeitet:
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