STorM32-BGC Wiki - User contributions [en]

Overview of NT Modules

2016-07-09T18:18:49Z

Bortek: /* Ensys NT IMU Module */

This page presents some NT modules, or hardware which may be used as NT modules. The overview is not complete.

__TOC__

== OlliW's v1.x NT Modules ==

:[[File:Storm32-nt-modules-v1x-01.jpg|720px]]

== CC3D Atom NT IMU Module ==

The Openpilot CC3D Atom and clones such as the Mini CC3D can be used as NT IMU modules.

:[[File:Storm32-nt-modules-cc3datom-01.jpg|360px]]

== GekoCH & OlliW's Marcia Motor Module ==

:[[File:Nt motor 01-wiki.jpg|320px]] [[File:Marcia 005.JPG|340px]]

== Ensys NT IMU Module ==

These NT IMU modules are a bit different than the others in that they are based on a LPC1111 micro controller and use a MPU6050. They thus need to be loaded with their "own" firmware using their "own" flashing tools. The firmware and instructions for flashing are provided by the vendor. Here is the link to the product page http://www.ensys.lt/. If for some reason you cannot calibrate this module (blue arrow never appears) get in touch with Ensys to get help on resolving this issue.

Specifications:
* size: see picture
* IMU used: MPU6050
* controller: LPC1111
* pin headers: 0.1 inch (2.54 mm)

:[[File:Ensys-nt.png|480px]]

== midimon's NT IMU Module ==

These NT IMU modules are similar to OlliW's Mini NT IMU module, but modified in several ways, which may better fit user needs.

The EAGLE source files have been released:
* http://www.rcgroups.com/forums/showpost.php?p=34299825&postcount=17
* http://www.rcgroups.com/forums/showpost.php?p=34761320&postcount=26

:[[File:NT_IMU_4_sale.jpg|720px]]

NT Data Logging

2016-07-01T17:00:51Z

Bortek: /* Data Fields */

A data logger (= NT Logger) can be connected to the NT bus, which allows us to record on a micro SD card a substantial amount of data. The data are recorded for each cycle of the controller loop, i.e., with the maximal possible time resolution. The NT logger is also quite small and can be easily mounted on-board. This way one can get highly accurate and informative data taken during a real flight condition. The same data can also be recorded on the ground, without the need of a NT logger, using the live-recording feature.

The data logging option hopefully will allow us to better diagnose any in-flight troubles, such as jello or micro vibrations in the video, and find solutions to resolve them. It also suggests many other applications. For instance, one may use it to dynamically balance the motors and propellers.

== NT Logger Module ==

[[File:P1100441rcg.JPG|342px]] [[File:P1100682-kl.JPG|240px]] [[File:P1100685-kl.JPG|240px]]

The NT logger module is connected to the NT bus, like any other NT module.

The micro SD card must be formatted with FAT32. The firmware author uses the Windows tool. Using the [https://www.sdcard.org/downloads/formatter_4/ SD Association formatting tool] didn't yielded any noticeable advantage.

The micro SD card should be of very high speed. Unfortunately, not any card works equally well. Little experience is available so far:

{| class="wikitable"
!micro SD card
!experience
!reported by
|-
| SanDisk Extreme SDHC 16GB UHS-I Class 10 U3 || very good, missing frames of ca. 0.1% || OlliW, GekoCH
|-
| Kingston 8GB HC class 4 || bad, missing frames of ca. 20% || OlliW
|-
| Kingston 32GB HC class 4 || bad, missing frames of ca. 20% || OlliW
|}

== NTLoggerTool ==

For analyzing the recorded data, the NTLoggerTool is available, providing tools such as FFT, and others. It also allows us to convert the data to other formats, most notably to .cfl files. The .cfl files are suitable for the program BlackboxExplorer for STorM32, which is a decendant of [https://github.com/cleanflight/blackbox-log-viewer CleanFlight's BlackboxExplorer]. The NTLoggerTool also allows us to record directly the data on the NT bus using a USB-TTL adapter; a feature called live-recording. It enables many work-bench tests and procedures.

The NTLoggerTool is steadily advancing with fast pace; any manual would be quickly outdated. For a discussion it is best to join the STorM32 NT thread at rcgroups.

The NTLoggerTool is open source (GPL3). Anyone is highly welcome to contribute to it.

== Logged Data ==

The data logger "spies" on the STorM32's NT Tx line, i.e., is capable of recording all data transmitted from the STorM32 to the NT modules. The points in the controller loop at which data are "sampled" are indicated in this sketch:

[[File:Storm32-nt-logger-data-sources-02.jpg|880px|center]]

== GUI Settings ==

However, not all data samples may be send out. Which data are emitted by the STorM32 can be controlled by the parameter {{PARAMNAME|NT Logging}}, found in the {{GUI|Expert Tool}} window.

{| class="wikitable"
!{{PARAMNAME|NT Logging}}
!basic
!pid
!accgyro
!accgyro_raw
|-
|
|SetLogger CmdAhrs SetMotorAll
|CmdPid
|CmdAccGyro
|CmdAccGyroRaw Imu1 & Imu2 & Imu3
|-
| {{PARAMVALUE|off}} || - || - || - || -
|-
| {{PARAMVALUE|basic}} || x || - || - || -
|-
| {{PARAMVALUE|basic + pid}} || x || x || - || -
|-
| {{PARAMVALUE|basic + accgyro}} || x || - || x || -
|-
| {{PARAMVALUE|basic + accgyro_raw}} || x || - || - || x
|-
| {{PARAMVALUE|basic + pid + accgyro}} || x || x || x || -
|-
| {{PARAMVALUE|basic + pid + ag_raw}} || x || x || - || x
|-
| {{PARAMVALUE|full}} || x || x || x || x
|}

It can happen that not all data can be transmitted in one cycle, if the computational load and data rate are too high. This mostly occurs with both 2nd IMU and full data logging enabled. In that case the raw data are distributed over several cycles.

Also the data rate of the micro SD card represents an obvious limitation. If the SD card can't keep up, frames (i.e. the data of one controller cycle) will be lost. Lowering the logging can alleviate that a lot.

== Live Recording ==

It is also possible to "spy" on the STorM32's NT Tx line using a USB-TTL adapter, and record the data using the NTLoggerTool. The feature is somewhat analogous to the DataDisplay in the STorM32 GUI, except that it records much more data and moreover at full speed, with maximal time resolution.

The USB-TTL adapter must be capable of handling 2.000.000 bauds. Adapters with FT232RL (FTDI) work out of the box. Adapters with CP2102 may be configured to do so, see [[How to configure CP2102 USB adapters for high baud rates]]. Both adapter types have however problems with keeping up with the high data rate (it's about 1Mb/s!). The firmware author has somewhat better results with a CP2102-based adapter. It would be interesting to try FT2232H high-speed adapters; the firmware author didn't had luck with them however (driver issues?).

The USB-TTL adapter is connected to the NT bus as follows:

USB-TTL adapter GND -> STorM32 NT GND
USB-TTL adapter Rx -> STorM32 NT Tx
USB-TTL adapter Tx -> do not connect

The USB-TTL adapter's Tx line '''''must not''''' be connected to the STorM32's NT Rx line, i.e., should be left floating.

== Data Fields ==

feel free to fill in

use {{DATAFIELD|data field}} for fields

and {{DATAVALUE|data value}} for special (non-numeric) data values

{{DATAFIELD|T1,T2,T3}}{{DATAVALUE|Temperature of IMU1, IMU2, IMU3}}

Overview of NT Modules

2016-06-25T15:57:43Z

Bortek: /* Walmis0's NT IMU Module */

This page presents some NT modules, or hardware which may be used as NT modules. The overview is not complete.

__TOC__

== OlliW's v1.x NT Modules ==

:[[File:Storm32-nt-modules-v1x-01.jpg|720px]]

== CC3D Atom NT IMU Module ==

The Openpilot CC3D Atom and clones such as the Mini CC3D can be used as NT IMU modules.

:[[File:Storm32-nt-modules-cc3datom-01.jpg|360px]]

== GekoCH & OlliW's Marcia Motor Module ==

:[[File:Nt motor 01-wiki.jpg|320px]] [[File:Marcia 005.JPG|340px]]

== Walmis0's NT IMU Module ==

These NT IMU modules are a bit different than the others in that they are based on a LPC1111 micro controller and use a MPU6050. They thus need to be loaded with their "own" firmware using their "own" flashing tools. The firmware and instructions for flashing are provided by the vendor.

Specifications:
* size: 17 x 24 x 2.1 mm
* IMU used: MPU6050
* controller: LPC1111
* pin headers: 0.1 inch (2.54 mm)

:[[File:Walmi0-nt-imu-module-s-l1600.jpg|240px]]

Here is the link to the product page http://www.ensys.lt/

== midimon's NT IMU Module ==

These NT IMU modules are similar to OlliW's Mini NT IMU module, but modified in several ways, which may better fit user needs.

The EAGLE source files have been released:
* http://www.rcgroups.com/forums/showpost.php?p=34299825&postcount=17
* http://www.rcgroups.com/forums/showpost.php?p=34761320&postcount=26

:[[File:NT_IMU_4_sale.jpg|720px]]

Pins and Connectors

2016-06-24T12:31:10Z

Bortek: /* Walmis0's NT Imu Module */

__TOC__

== STorM32 v1.x Boards ==

On the STorM32 v1.x main boards, the I2C plug is used as NT bus connector, with the pin assignments as shown below.

{{COMMENT|The Rx and Tx pins on the STorM32 board must be connected to the Tx and Rx pins on the NT modules, see also the diagram in [[What_is_STorM32_NT_about%3F|What is STorM32 NT about?]]}}

{{COMMENT|If starting from a "classic" (non-NT) STorM32 gimbal kit with an I2C IMU module, it is usually necessary to rewire existing cables to match the pinout of the NT bus.}}

:[[File:NT_Pinout.jpg|480px]]

== NT v1.x Modules ==

All NT v1.x modules have a 4 pin JST plug for the NT bus connector, with the pin assignments as shown below. They in addition offer a BOOT0 solder jumper, to allow for a first-time flashing. Some modules offer some further solder jumper for configuring them, some others expose also the SWD pins, and yet some others may provide access to additional extension pins.

:[[File:Storm32-nt-imu-v10-docu-02.jpg|360px]]

== CC3D Atom ==

On the CC3D Atom boards the Main Port plug is used as NT bus connector, with the pin assignments as shown below. Further information on the CC3D Atom can be found [http://opwiki.readthedocs.io/en/latest/user_manual/cc3d/cc3d.html here].

{{COMMENT|To close the IMU ID selector, connect the indicated pin to GND.}}

:[[File:Storm32-nt-imu-cc3datom-docu-03.jpg|600px]]

== Walmis0's NT Imu Module ==
TOP IMU actually means IMU mounted on the Copter frame or in another words this is IMU-C (or IMU3) or the "2nd NT IMU module". So if you plan to use this module as IMU3 for vibration measuring then you need to short this lead shown on the picture as TOP IMU.

[[File:Walmi0-nt-imu-module-s-l1600-02.jpg|320px]] [[File:Walmi0-nt-imu-module-s-l1600-03.jpg|240px]]

== midimon's NT Imu Module ==

[[File:DescR1.png|360px]] [[File:DescR2.png|360px]]

Pins and Connectors

2016-06-24T12:30:35Z

Bortek: /* Walmis0's NT Imu Module */

__TOC__

== STorM32 v1.x Boards ==

On the STorM32 v1.x main boards, the I2C plug is used as NT bus connector, with the pin assignments as shown below.

{{COMMENT|The Rx and Tx pins on the STorM32 board must be connected to the Tx and Rx pins on the NT modules, see also the diagram in [[What_is_STorM32_NT_about%3F|What is STorM32 NT about?]]}}

{{COMMENT|If starting from a "classic" (non-NT) STorM32 gimbal kit with an I2C IMU module, it is usually necessary to rewire existing cables to match the pinout of the NT bus.}}

:[[File:NT_Pinout.jpg|480px]]

== NT v1.x Modules ==

All NT v1.x modules have a 4 pin JST plug for the NT bus connector, with the pin assignments as shown below. They in addition offer a BOOT0 solder jumper, to allow for a first-time flashing. Some modules offer some further solder jumper for configuring them, some others expose also the SWD pins, and yet some others may provide access to additional extension pins.

:[[File:Storm32-nt-imu-v10-docu-02.jpg|360px]]

== CC3D Atom ==

On the CC3D Atom boards the Main Port plug is used as NT bus connector, with the pin assignments as shown below. Further information on the CC3D Atom can be found [http://opwiki.readthedocs.io/en/latest/user_manual/cc3d/cc3d.html here].

{{COMMENT|To close the IMU ID selector, connect the indicated pin to GND.}}

:[[File:Storm32-nt-imu-cc3datom-docu-03.jpg|600px]]

== Walmis0's NT Imu Module ==
TOP IMU actually means IMU mounted on the Copter frame or in another words this is IMU-C (or IMU3) or the "2nd NT IMU module". So if you plan to use this module as IMU3 for vibration measuring then you need to short this lead shown on the picture as TOP IMU.
[[File:Walmi0-nt-imu-module-s-l1600-02.jpg|320px]] [[File:Walmi0-nt-imu-module-s-l1600-03.jpg|240px]]

== midimon's NT Imu Module ==

[[File:DescR1.png|360px]] [[File:DescR2.png|360px]]

Evaluating Vibrations and Optimizing Damper Systems

2016-06-24T12:18:11Z

Bortek: /* 3rd IMU */

For aerial video applications, one of the most difficult aspect of a DIY gimbal system is to achieve a low level of vibration and a well working damping system. The first reaction of most users to artefacts such as micro vibs or jello in the video seems to be "better PID tuning", while in fact the secret sauce of a well working system usually lies not in the PID tuning, which generally is "simple", but the copter's vibration level and construction of the gimbal damping system.

Unfortunately, when it comes to the latter aspects the current approach available to us DIY guys is essentially trial-and-error, which at times can be frustrating. The STorM32 NT thus aims at providing tools to alleviate the situation. This is still an effort in progress, meaning that the best set of tools and/or best set of recipes to achieve the goals have not yet been established. However, some tools and procedures have emerged.

== Conceptional ==

The basic idea of the STorM32's vibration and damping system analysis is sketched in the following picture.

[[File:Storm32-nt-vibrations-overview-01.jpg|680px|center]]

Flight controller often provide options for analyzing the copter's vibrations. However, the disadvantage is obvious: In most cases it doesn't see the real copter vibrations, since it is mounted with some dampers. What matters are the vibrations at the camera, which is "far away" from the flight controller. That is, in a technical language, the transfer functions for the copter's vibrations to the flight controller or the camera are substantially different. For a complete vibration analysis one needs to know the vibrations on the copter, on the gimbal frame, and the camera. It is pointed out that only with knowing the vibrations on the copter '''''and''''' the gimbal frame, the performance of a gimbal damping system can actually be assessed.

That's the basic idea of the STorM32's three IMU setup, to provide us with a means to properly evaluate the vibrations and especially the gimbal damping system, which hopefully will allow us to get better gimbals.

The offered mechanisms however can also be used in other ways, e.g. for balancing motors and propellers. The possibilities are only limited by our creativity :).

{{COMMENT|In order to avoid confusion, this clarification: In the above sketch the IMU on the gimbal frame is named IMU-B and that on the copter IMU-C. Depending on the user's setup either could be the 2nd IMU (in the terminology of the STorM32 gimbal controller).}}

The following video explains that too, and also shows possible uses of the NTLoggerTool and Blackbox Explorer.

{{#ev:youtube|nGp_PlPxleQ|480|center}}

== Basic Physics ==

The physics of vibrations and damper systems is elementary, and quite many aspects can be properly inferred by applying basic laws of physics. Surprisingly, it seems very rarely been done. In this chapter only one simple, but crucial point shall be pointed out:

The vibration dampers, as we like to call them, do not actually damp vibrations.

Before explaining that, it may be useful to first introduce the two general approaches of '''''vibration isolation''''' and '''''vibration absorption''''' (this classification seems to be widely, but not generally, accepted):

'''''Vibration Isolation:'''''
The system is separated from a vibrating source by some flexible pieces of something (which we call dampers). Physically it is described as to consist of a damping element, spring element, and a mass of payload.

'''''Vibration Absorption:'''''
The system is separated from a vibrating source by some dampers, with in addition a second mass of payload attached to the primary mass via some further dampers.

[[File:Vibration-isolation-absortpion-schemes-02.jpg|680px|center]]

The gimbal damper system by itself constitutes a vibration isolation system. However, if the stiffness of the gimbal is taken into account, the copter + gimbal frame + camera system is rather reminiscent of a vibration absorption system (but with swapped roles of the masses). Anyway, let's assume a perfectly stiff gimbal, and let's talk about the gimbal dampers as a vibration isolation system.

Physically, the item which we commonly call a damper is a combination of a damping element and a spring element. The most crucial points to realize are these. First:

The damping coefficient of (most) vibration dampers is relatively low.

You may confirm that easily yourself by using google. The damping coefficient of e.g. rubber is somewhere in the range of few 0.1 or less. You may also easily confirm that by a simple test: Tip your gimbal, and you will see it swinging back and forth a couple of times. The necessary consequence of that is, second:

The vibration damper does not always reduce the vibrations.
In some frequency range the vibrations are actually substantially amplified.

This latter point makes the gimbal damping issue so complicated, because a good vibration reduction in some frequency range is payed for by some substantial amplification in vibrations in a lower frequency range. The situation is shown in this picture:

[[File:Vibration-isolation-amplitude-vs-frequency-01.jpg|360px|center]]

== 3rd IMU ==

As discussed in the chapter [[#Conceptional|Conceptional]], the evaluation of all vibrations relevant to the gimbal performance asks for 3 IMUs. The STorM32 NT thus supports this, in the following way:

The labeling of the three IMUs is as in the above figure. The three-IMU support is then constrained by these rules:

* Two of the IMUs must be NT IMU modules, and one IMU must be a traditional I2C-based IMU.
* The I2C-based IMU can be either the on-board IMU or an external IMU module connected to the I2C#2 port.
* As usual for NT, IMU-A must be the 1st NT IMU module, or IMU1, respectively.

Thus, these four cases are possible:

* IMU-B = 2nd NT IMU module, IMU-C = on-board IMU
* IMU-B = 2nd NT IMU module, IMU-C = external I2C-based IMU at I2C#2
* '''IMU-B = on-board IMU, IMU-C = 2nd NT IMU module '''
* IMU-B = external I2C-based IMU at I2C#2, IMU-C = 2nd NT IMU module

'''NOTE!!!:''' As of June 2016 the 4 listed cases are actually just two, since the i2c imu is selected automatically by the standard rule, so the decision is just if IMU-B should be the i2c imu or the NT imu2. Currently only the case IMU-B = i2c imu is possible.

Which case is used, is determined by the setting in the parameter field {{PARAMNAME|Imu3 Configuration}} in the {{GUI|Expert Tool}}, and by whether an external IMU is connected to the I2C#2 port or not.

== Analysis Tools ==

The STorM32 NT project includes a range of hardware and software tools, which help tremendously in analyzing all sort of things, vibration issues would be one of them.

=== NT Logger ===

This piece of hardware can be connected to the NT bus and records all data on its Tx line on a micro SD card. For further info see the article [[NT Data Logging]].

=== NTLoggerTool ===

This piece of software, written with PyQT and pyqtgraph, is the STorM32 developer's main tool to inspect recorded data. The data can come from various sources:

* Data recorded with the NT logger on a SD card
* Data recorded with the DataDisplay of the o323BGCTool GUI
* Live-recording

For further info see the article [[NT Data Logging]].

=== Blackbox Explorer for STorM32 ===

The NTLoggerTool allows us to convert the data into Blackbox Explorer compatible .cfl files. The Blackbox Explorer allows us then to overlay the recorded video with the logged data, and thus to directly correlate any video artifacts with features in the logged data.

Evaluating Vibrations and Optimizing Damper Systems

2016-06-24T11:27:07Z

Bortek: /* 3rd IMU */

For aerial video applications, one of the most difficult aspect of a DIY gimbal system is to achieve a low level of vibration and a well working damping system. The first reaction of most users to artefacts such as micro vibs or jello in the video seems to be "better PID tuning", while in fact the secret sauce of a well working system usually lies not in the PID tuning, which generally is "simple", but the copter's vibration level and construction of the gimbal damping system.

Unfortunately, when it comes to the latter aspects the current approach available to us DIY guys is essentially trial-and-error, which at times can be frustrating. The STorM32 NT thus aims at providing tools to alleviate the situation. This is still an effort in progress, meaning that the best set of tools and/or best set of recipes to achieve the goals have not yet been established. However, some tools and procedures have emerged.

== Conceptional ==

The basic idea of the STorM32's vibration and damping system analysis is sketched in the following picture.

[[File:Storm32-nt-vibrations-overview-01.jpg|680px|center]]

Flight controller often provide options for analyzing the copter's vibrations. However, the disadvantage is obvious: In most cases it doesn't see the real copter vibrations, since it is mounted with some dampers. What matters are the vibrations at the camera, which is "far away" from the flight controller. That is, in a technical language, the transfer functions for the copter's vibrations to the flight controller or the camera are substantially different. For a complete vibration analysis one needs to know the vibrations on the copter, on the gimbal frame, and the camera. It is pointed out that only with knowing the vibrations on the copter '''''and''''' the gimbal frame, the performance of a gimbal damping system can actually be assessed.

That's the basic idea of the STorM32's three IMU setup, to provide us with a means to properly evaluate the vibrations and especially the gimbal damping system, which hopefully will allow us to get better gimbals.

The offered mechanisms however can also be used in other ways, e.g. for balancing motors and propellers. The possibilities are only limited by our creativity :).

{{COMMENT|In order to avoid confusion, this clarification: In the above sketch the IMU on the gimbal frame is named IMU-B and that on the copter IMU-C. Depending on the user's setup either could be the 2nd IMU (in the terminology of the STorM32 gimbal controller).}}

The following video explains that too, and also shows possible uses of the NTLoggerTool and Blackbox Explorer.

{{#ev:youtube|nGp_PlPxleQ|480|center}}

== Basic Physics ==

The physics of vibrations and damper systems is elementary, and quite many aspects can be properly inferred by applying basic laws of physics. Surprisingly, it seems very rarely been done. In this chapter only one simple, but crucial point shall be pointed out:

The vibration dampers, as we like to call them, do not actually damp vibrations.

Before explaining that, it may be useful to first introduce the two general approaches of '''''vibration isolation''''' and '''''vibration absorption''''' (this classification seems to be widely, but not generally, accepted):

'''''Vibration Isolation:'''''
The system is separated from a vibrating source by some flexible pieces of something (which we call dampers). Physically it is described as to consist of a damping element, spring element, and a mass of payload.

'''''Vibration Absorption:'''''
The system is separated from a vibrating source by some dampers, with in addition a second mass of payload attached to the primary mass via some further dampers.

[[File:Vibration-isolation-absortpion-schemes-02.jpg|680px|center]]

The gimbal damper system by itself constitutes a vibration isolation system. However, if the stiffness of the gimbal is taken into account, the copter + gimbal frame + camera system is rather reminiscent of a vibration absorption system (but with swapped roles of the masses). Anyway, let's assume a perfectly stiff gimbal, and let's talk about the gimbal dampers as a vibration isolation system.

Physically, the item which we commonly call a damper is a combination of a damping element and a spring element. The most crucial points to realize are these. First:

The damping coefficient of (most) vibration dampers is relatively low.

You may confirm that easily yourself by using google. The damping coefficient of e.g. rubber is somewhere in the range of few 0.1 or less. You may also easily confirm that by a simple test: Tip your gimbal, and you will see it swinging back and forth a couple of times. The necessary consequence of that is, second:

The vibration damper does not always reduce the vibrations.
In some frequency range the vibrations are actually substantially amplified.

This latter point makes the gimbal damping issue so complicated, because a good vibration reduction in some frequency range is payed for by some substantial amplification in vibrations in a lower frequency range. The situation is shown in this picture:

[[File:Vibration-isolation-amplitude-vs-frequency-01.jpg|360px|center]]

== 3rd IMU ==

As discussed in the chapter [[#Conceptional|Conceptional]], the evaluation of all vibrations relevant to the gimbal performance asks for 3 IMUs. The STorM32 NT thus supports this, in the following way:

The labeling of the three IMUs is as in the above figure. The three-IMU support is then constrained by these rules:

* Two of the IMUs must be NT IMU modules, and one IMU must be a traditional I2C-based IMU.
* The I2C-based IMU can be either the on-board IMU or an external IMU module connected to the I2C#2 port.
* As usual for NT, IMU-A must be the 1st NT IMU module, or IMU1, respectively.

Thus, these four cases are possible:

* IMU-B = 2nd NT IMU module, IMU-C = on-board IMU
* IMU-B = 2nd NT IMU module, IMU-C = external I2C-based IMU at I2C#2
* IMU-B = on-board IMU, IMU-C = 2nd NT IMU module
* IMU-B = external I2C-based IMU at I2C#2, IMU-C = 2nd NT IMU module

'''NOTE!!!:''' As of June 2016 the 4 listed cases are actually just two, since the i2c imu is selected automatically by the standard rule, so the decision is just if IMU-B should be the i2c imu or the NT imu2. Currently only the case IMU-B = i2c imu is possible.

Which case is used, is determined by the setting in the parameter field {{PARAMNAME|Imu3 Configuration}} in the {{GUI|Expert Tool}}, and by whether an external IMU is connected to the I2C#2 port or not.

== Analysis Tools ==

The STorM32 NT project includes a range of hardware and software tools, which help tremendously in analyzing all sort of things, vibration issues would be one of them.

=== NT Logger ===

This piece of hardware can be connected to the NT bus and records all data on its Tx line on a micro SD card. For further info see the article [[NT Data Logging]].

=== NTLoggerTool ===

This piece of software, written with PyQT and pyqtgraph, is the STorM32 developer's main tool to inspect recorded data. The data can come from various sources:

* Data recorded with the NT logger on a SD card
* Data recorded with the DataDisplay of the o323BGCTool GUI
* Live-recording

For further info see the article [[NT Data Logging]].

=== Blackbox Explorer for STorM32 ===

The NTLoggerTool allows us to convert the data into Blackbox Explorer compatible .cfl files. The Blackbox Explorer allows us then to overlay the recorded video with the logged data, and thus to directly correlate any video artifacts with features in the logged data.

File:Storm32-nt-firmware-first-time-flashing-gui-screen-corrected.jpg

2016-06-20T19:05:31Z

Bortek: Bortek uploaded a new version of "File:Storm32-nt-firmware-first-time-flashing-gui-screen-corrected.jpg"

corrected drop down menu where atom module is selected instead of regular NT module.

File:Storm32-nt-firmware-first-time-flashing-gui-screen-02.jpg

2016-06-20T19:01:45Z

Bortek: Bortek uploaded a new version of "File:Storm32-nt-firmware-first-time-flashing-gui-screen-02.jpg"

Flashing the CC3D Atom

2016-06-20T18:55:29Z

Bortek: Undo revision 3679 by Bortek (talk) . will update an image properly instead of adding new image.

On this board the BOOT0 pin is exposed as a solder jumper (it doesn't provide access to the SWD pins). The simplest method for first-time flashing is thus to use a standard USB-TTL adapter connected to the UART1 port, which is supported by the GUI. Any subsequent flashing (updating) can be performed by the simpler procedures described in [[Updating the Firmware of NT Modules]].

__TOC__

== First-Time Flashing Using a USB-TTL Adapter ==

'''1.''' You will need a standard USB-TTL adapter (see [[STorM32_FAQ#Which USB-TTL adapter should I use.3F|FAQ: Which USB-TTL adapter should I use?]]). Ensure that it is working (drivers installed, etc.).

'''2.''' Connect the serial adapter to the Main port on the CC3D Atom: Green goes to RX, yellow to TX and black to GND on the USB-TTL adapter; red stays unconnected. Do not yet power the CC3D Atom.

:[[File:Atom cc3d usart1 ftdi.jpg|420px]] [[File:White-ftdi.jpg|420px]]

'''3.''' Find the BOOT0 solder jumper and close it (depending on the particular model, the solder jumper may be located differently).

:[[File:Atom cc3d boot0.jpg|420px]]

'''4.''' Now power up the CC3D Atom, e.g. by connecting its VCC pin to an external power supply or most easily via its USB connector. 
{{COMMENT|Do not power the CC3D Atom by connecting its VCC pin to the 3.3 V or 5 V pin on the USB-TTL adapter. This power scheme often doesn't work.}}

'''5.''' From the STorM32 GUI select the Flash Firmware Tab and set the fields as seen below (the {{GUIFIELD|Board}} field should be set to {{GUIPARAM|NT Imu Module CC3D Atom}} and the {{GUIFIELD|Firmware Version}} selected as desired):

:[[File:Storm32-nt-firmware-first-time-flashing-gui-screen-02.jpg|640px]]

'''6.''' Select the Flash Firmware button and a DOS window opens similar to below:

'''7.''' Important: Open the BOOT0 solder jumper. The CC3D Atom is now ready to be used as NT imu module.

== Updating Firmware ==

For updating the NT firmware you may again use the method described before, but preferably the "canonical" procedure described in [[Updating the Firmware of NT Modules]].

== Troubleshooting ==

If your CC3D Atom is not reachable via in the flash console and you get message "ERROR: No response from target, the Bootloader can not be started", try the following:

'''1.''' Stay in DOS console for flashing but don't press any button yet.

'''2.''' Disconnect power from your CC3D Atom (most probably disconnect your USB)

'''3.''' For the next step, timing is important: reconnect power and press any key to retry flash. You need to be quite fast for successful start of flash proceedure.

Pins and Connectors

2016-06-20T18:51:26Z

Bortek:

__TOC__

== STorM32 v1.x Boards ==

On the STorM32 v1.x main boards, the I2C plug is used as NT bus connector, with the pin assignments as shown below.

{{COMMENT|The Rx and Tx pins on the StorM32 board must be connected to the Tx and Rx pins on the NT modules.}} Look at wiring on this [[What_is_STorM32_NT_about%3F|this]] page

{{COMMENT|If starting from a "classic" (non-NT) STorM32 gimbal kit with an I2C IMU module, it is usually necessary to rewire existing cables to match the pinout of the NT bus.}}

:[[File:NT_Pinout.jpg|480px]]

== NT v1.x Modules ==

All NT v1.x modules have a 4 pin JST plug for the NT bus connector, with the pin assignments as shown below. They in addition offer a BOOT0 solder jumper, to allow for a first-time flashing. Some modules offer some further solder jumper for configuring them, some others expose also the SWD pins, and yet some others may provide access to additional extension pins.

:[[File:Storm32-nt-imu-v10-docu-02.jpg|360px]]

== CC3D Atom ==

On the CC3D Atom boards the Main Port plug is used as NT bus connector, with the pin assignments as shown below.

:[[File:Storm32-nt-imu-cc3datom-docu-03.jpg|600px]]

== Walmis0's NT Imu Module ==

[[File:Walmi0-nt-imu-module-s-l1600-02.jpg|320px]] [[File:Walmi0-nt-imu-module-s-l1600-03.jpg|240px]]

== midimon's NT Imu Module ==

[[File:DescR1.png|360px]] [[File:DescR2.png|360px]]

Flashing the CC3D Atom

2016-06-20T18:21:53Z

Bortek:

On this board the BOOT0 pin is exposed as a solder jumper (it doesn't provide access to the SWD pins). The simplest method for first-time flashing is thus to use a standard USB-TTL adapter connected to the UART1 port, which is supported by the GUI. Any subsequent flashing (updating) can be performed by the simpler procedures described in [[Updating the Firmware of NT Modules]].

__TOC__

== First-Time Flashing Using a USB-TTL Adapter ==

'''1.''' You will need a standard USB-TTL adapter (see [[STorM32_FAQ#Which USB-TTL adapter should I use.3F|FAQ: Which USB-TTL adapter should I use?]]). Ensure that it is working (drivers installed, etc.).

'''2.''' Connect the serial adapter to the Main port on the CC3D Atom: Green goes to RX, yellow to TX and black to GND on the USB-TTL adapter; red stays unconnected. Do not yet power the CC3D Atom.

:[[File:Atom cc3d usart1 ftdi.jpg|420px]] [[File:White-ftdi.jpg|420px]]

'''3.''' Find the BOOT0 solder jumper and close it (depending on the particular model, the solder jumper may be located differently).

:[[File:Atom cc3d boot0.jpg|420px]]

'''4.''' Now power up the CC3D Atom, e.g. by connecting its VCC pin to an external power supply or most easily via its USB connector. 
{{COMMENT|Do not power the CC3D Atom by connecting its VCC pin to the 3.3 V or 5 V pin on the USB-TTL adapter. This power scheme often doesn't work.}}

'''5.''' From the STorM32 GUI select the Flash Firmware Tab and set the fields as seen below (the {{GUIFIELD|Board}} field should be set to {{GUIPARAM|NT Imu Module CC3D Atom}} and the {{GUIFIELD|Firmware Version}} selected as desired):

:[[File:Storm32-nt-firmware-first-time-flashing-gui-screen-corrected.jpg|640px]]

'''6.''' Select the Flash Firmware button and a DOS window opens similar to below:

'''7.''' Important: Open the BOOT0 solder jumper. The CC3D Atom is now ready to be used as NT imu module.

== Updating Firmware ==

For updating the NT firmware you may again use the method described before, but preferably the "canonical" procedure described in [[Updating the Firmware of NT Modules]].

== Troubleshooting ==

If your CC3D Atom is not reachable via in the flash console and you get message "ERROR: No response from target, the Bootloader can not be started", try the following:

'''1.''' Stay in DOS console for flashing but don't press any button yet.

'''2.''' Disconnect power from your CC3D Atom (most probably disconnect your USB)

'''3.''' For the next step, timing is important: reconnect power and press any key to retry flash. You need to be quite fast for successful start of flash proceedure.

File:Storm32-nt-firmware-first-time-flashing-gui-screen-corrected.jpg

2016-06-20T18:21:09Z

Bortek: corrected drop down menu where atom module is selected instead of regular NT module.

corrected drop down menu where atom module is selected instead of regular NT module.

Ports and Pins by Function

2016-06-17T17:29:35Z

Bortek: /* SWD */

The info on this page refers to the v1.3 STorM32-BGC board. For v1.1 and v1.2 boards small but important differences exist; read carefully the comments below. The pins of the v1.31 board are identical to that of the v1.3 board.

This page gives a brief overview and description of the many connections on the STorM32 BGC. For the details of their function and usage refer please to the other wiki pages.

The STorM32 BGC connections are grouped into what shall be called '''''ports'''''. A port consists typically of one or more '''''pins''''', a Gnd pin and possibly a 3.3 V pin. The pins of a port are typically labeled by the port name plus a number (e.g. AUX-0 refers to the pin 0 on the AUX port) or, if relevant, by its commonly known function (such as Gnd, 3.3 V, Tx, Rx, SCL, SDA etc.). Some pins serve multiple purposes (e.g. pin RC-0 serves as Futaba S-BUS input or UART1-Rx).

Except of the ports POT and BUT all ports are 5 V tolerant, which means that you can apply signals with voltages of up to 5 V to their pins without damaging the board. The ports POT and BUT are however not 5 V tolerant. '''''{{WARNING|The voltage on the POT and BUT pins must not exceed 3.3 V}}'''''.

The 3.3 V pins should only be used as supply. '''''{{WARNING|Never apply any voltage to a 3.3 V pin}}''''' (unless you're an expert and know what you do).

[[File:Storm32-nt-v130-ports-and-connections-01.jpg|thumb|315px]]
The following ports are available:

== MOT0, MOT1, MOT2 ==
'''Function:''' These ports are the connectors for the motors. The yaw motor has to be connected to MOT2.

== I2C (NT Bus Port) ==
'''Pins:''' Gnd, Tx, Rx, 3.3V

'''Function:''' Connector for the NT bus, where all NT modules go to.

{{COMMENT|In I2C-based setups, the pins of this port are assigned to the I2C lines Gnd, SCL, SDA, and 3.3V. Hence the name of this port.}}

== I2C#2 ==
'''Pins:''' Gnd, SCL, SDA, 3.3V

'''Function:''' Connector for an external I2C-based 2nd MPU module, if this is to be used instead of the on-board MPU.

''{{WARNING|'''WARNING:''' On v1.1 boards the pins of connector I2C#2 are in reverse order to those of connector I2C, which implies also reversed voltage polarity. Pay attention to that before connecting a second IMU to the I2C#2 port.}}''

== RC ==
'''Pins:''' Gnd, RC-0, RC-1, RC-2

'''Function:''' The pins on this port can serve multiple functions, depending on parameter settings.

Their default function is to provide inputs for RC PWM signals. Typically RC receivers are connected to here. The input pulse lengths of 1 ms to 2 ms are converted to the value range -500 ... 500. The frequency of the input pulses can vary, and can be as high as 430 Hz.

Pin RC-0 can alternatively be configured as input to read the signal line from a Spektrum satellite, or the Futaba S-bus.

Pin RC-2 can alternatively be configured as input for sum PPM signals.

{{COMMENT|On v1.1 boards the Futaba S-bus support is not available.}}

== RC2 ==
'''Pins:''' Gnd, RC2-0, RC2-1, RC2-2, RC2-3

'''Function:''' Inputs for RC PWM signals. Typically RC receivers are connected to here. The input pulse lengths of 1 ms to 2 ms are converted to the value range -500 ... 500. The frequency of the input pulses can vary, and can be as high as 430 Hz.

== POT ==
'''Pins:''' Gnd, POT-0, POT-1, POT-2, 3.3V

'''Function:''' These three pins are connected to the analog digital converter (ADC) of the microprocessor and hence can digest analog signals. The analog signal is converted to the value range -500...500. Typically the central pins of potentiometers of e.g. a joystick are connected to here; the hot and cold potentiometer pins go then to the Gnd and 3.3V pins.

''{{WARNING|'''WARNING:''' Never apply signals with voltages larger than 3.3 V to any of these pins, this will destroy your board immediately!}}''

== BUT ==
'''Pins:''' Gnd, BUT-0

'''Function:''' This pin is actually also connected to the analog digital converter (ADC) of the microprocessor, but the analog signal are processed differently than those on the POT port. Currently this port is used to connect a key or switch to it.

''{{WARNING|'''WARNING:''' Never apply signals with voltages larger than 3.3 V to any of these pins, this will destroy your board immediately!}}''

== AUX ==
'''Pins:''' Gnd, AUX-0, AUX-1, AUX-2

'''Function:''' These are general purpose pins. Currently they are used to connect up to three keys and/or switches.

{{COMMENT|On v1.1 and v1.2 boards this port exhibits a 3.3 V pin instead of AUX-2, i.e. the pins are Gnd, AUX-0, AUX-1, 3.3V from right to left.}}

== SPK ==
'''Pins:''' 3.3 V, Gnd, Signal

'''Function:''' Connector for a Spektrum satellite receiver.

{{COMMENT|On v1.1 boards the connector itself is not available, but the function can be accessed by connecting the Spektrum's signal line to the RC-0 pin.}}

== IR ==
'''Pins:''' Gnd, IR-0

'''Function:''' Allows to connect an IR led to remote control a camera.

== UART ==
'''Pins:''' Gnd, Rx, Tx

'''Function:''' Standard serial port to communicate with the board. The serial is set to 115200 bps, no parity bit, one stop bit. Details of the communication protocol can be found in the [http://www.olliw.eu/storm32bgc-wiki/index.php5/Technical_Manual Technical Manual].

== SWD ==
SWP port is located right above the AUX port on the board.

'''Pins:''' SWDIO, Gnd, SWCLK, 3.3V

'''Function:''' Connector for programming the microcontroller using a [http://www.st.com/web/en/catalog/tools/FM146/CL1984/SC724/SS1677/PF251168 ST-Link/V2] programming tool.

{{COMMENT|On v1.1 boards the labeling of the pins is incorrect. On some boards the issue has been resolved by a sticker.}}

Flashing the CC3D Atom

2016-06-17T17:22:07Z

Bortek:

On this board the BOOT0 pin is exposed as a solder jumper (it doesn't provide access to the SWD pins). The simplest method for first-time flashing is thus to use a standard USB-TTL adapter connected to the UART1 port, which is supported by the GUI. Any subsequent flashing (updating) can be performed by the simpler procedures described in [[Updating the Firmware of NT Modules]].

__TOC__

== First-Time Flashing Using a USB-TTL Adapter ==

'''1.''' You will need a standard USB-TTL adapter (see [[STorM32_FAQ#Which USB-TTL adapter should I use.3F|FAQ: Which USB-TTL adapter should I use?]]). Ensure that it is working (drivers installed, etc.).

'''2.''' Connect the serial adapter to the Main port on the CC3D Atom. Green goes to RX, Yellow to TX and black to GND on TTL module. Do not yet power the CC3D Atom.

:[[File:Atom cc3d usart1 ftdi.jpg|420px]] [[File:White-ftdi.jpg|420px]]

'''3.''' Find the BOOT0 solder jumper and close it (depending on the particular model, the solder jumper may be located differently).

:[[File:Atom cc3d boot0.jpg|420px]]

'''4.''' Now power up the CC3D Atom, e.g. by connecting its VCC pin to an external power supply or most easily via its USB connector. 
{{COMMENT|Do not power the CC3D Atom by connecting its VCC pin to the 3.3 V or 5 V pin on the USB-TTL adapter. This power scheme often doesn't work.}}

'''5.''' From the STorM32 GUI select the Flash Firmware Tab and set the fields as seen below (the {{GUIFIELD|Board}} field should be set to {{GUIPARAM|NT Imu Module CC3D Atom}} and the {{GUIFIELD|Firmware Version}} selected as desired):

:[[File:Storm32-nt-firmware-first-time-flashing-gui-screen-02.jpg|640px]]

'''6.''' Select the Flash Firmware button and a DOS window opens similar to below:

'''7.''' Important: Open the BOOT0 solder jumper. The CC3D Atom is now ready to be used as NT imu module.

== Updating Firmware ==

For updating the NT firmware you may again use the method described before, but preferably the "canonical" procedure described in [[Updating the Firmware of NT Modules]].

== Troubleshooting ==

If your CC3D Atom is not reachable via in the flash console and you get message "ERROR: No response from target, the Bootloader can not be started", try the following:

'''1.''' Stay in DOS console for flashing but don't press any button yet.

'''2.''' Disconnect power from your CC3D Atom (most probably disconnect your USB)

'''3.''' For the next step, timing is important: reconnect power and press any key to retry flash. You need to be quite fast for successful start of flash proceedure.

File:White-ftdi.jpg

2016-06-17T17:19:41Z

Bortek: