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Re: [Paparazzi-devel] Connecting the xsens IMU to the Tiny

From: Haiyang Chao
Subject: Re: [Paparazzi-devel] Connecting the xsens IMU to the Tiny
Date: Wed, 29 Apr 2009 09:51:45 -0600

Hi, Gautier & Andreas:

We are connecting Xsens with gumstix verdex + console vx. Everything works fine on gumstix. But I did have problems for serial setting in the beginning before I double checked the settings in cmt1.cpp. cmt1.cpp is in the xsens linux example. You can use that linux example to connect to xsens in ubuntu. Just change your device to /dev/USB0 if u are using the usb cable.

But I didn't succeed in connecting Xsens directly to Tiny although I tried . It is really a huge pain in the ass to debug the code on tiny since we don't have jtag.

Hope this helps.


On Wed, Apr 29, 2009 at 8:00 AM, Gautier Hattenberger <address@hidden> wrote:

I have been trying to connect the Xsens to the PC software through a Tiny with different solution of tunnel implementation. And I've not been able to make it work... This is really frustrating. My guess is that the PC software is waiting for something or has a very short timeout on some request, but really I've not been able to find what was wrong with it. If you found anything, please tell me !


Andreas Gäb a écrit :
Hi again,

after quite some time I've been able to make some progress on this
subject, though I'm facing a problem right now.
I have a Tiny and the Xsens box here, connected with an interface cable.
Both seem to work, however the data being sent from the Xsens to the
Tiny is corrupted. I'm using the UART tunnel with an FTDI cable to
directly read the Xsens into the PC.

I've checked the following things, they all work:
* Xsens with included USB cable
* UART tunnel for Tiny internal GPS
* Disabling internal GPS with GPS_RESET pin
I double checked cable layout and baud rates over and again, that all is
supposed to be right, however, what I get has nothing to do with the
Xsens protocol.

Does anybody have an idea what could be wrong?

Thanks in advance,

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