Getting Started with T-STorM32 - Revision history

OlliW: /* Ordering Information */

2025-07-15T05:58:52Z

Ordering Information

← Older revision		Revision as of 07:58, 15 July 2025
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	Why the STorM32 board, the NT IMU module, and the NT Motor-Encoder modules are needed should be obvious from the T-STorM32's concept discussed before.		Why the STorM32 board, the NT IMU module, and the NT Motor-Encoder modules are needed should be obvious from the T-STorM32's concept discussed before.

	The USB-TTL adapter is required for flashing/upgrading v1.x STorM32 main boards to the latest firmware; it is not required for v3.x or v4.x STorM32 boards. Note though that a USB-TTL adapter allows one to use the [[NT_Data_Logging#Live_Recording\|Live Recording]] feature, which can be very helpful. So, it's a nice-have anyways.		The USB-TTL adapter is required for flashing/upgrading v1.x STorM32 main boards to the latest firmware; it is not required for v3.x, v4.x or v6.x STorM32 boards. Note though that a USB-TTL adapter allows one to use the [[NT_Data_Logging#Live_Recording\|Live Recording]] feature, which can be very helpful. So, it's a nice-have anyways.

	== Supported Gimbals ==		== Supported Gimbals ==

OlliW: /* 1. Camera IMU Orientation */

2024-01-20T19:48:33Z

1. Camera IMU Orientation

← Older revision		Revision as of 21:48, 20 January 2024
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	The camera IMU should also be calibrated. Follow the descriptions in [[Calibration#Calibration_Procedure\|Calibration Procedure]]. A 1-point calibration is sufficient in nearly all cases.		The camera IMU should also be calibrated. Follow the descriptions in [[Calibration#Calibration_Procedure\|Calibration Procedure]]. A 1-point calibration is sufficient in nearly all cases.

	{{COMMENT\|The Configure Gimbal Tool must only be used for setting the ~~Imu1~~ (and ~~Imu2~~) orientation, it cannot be used otherwise for setting up a T-STorM32 gimbal. Only the ~~Imu1~~ and ~~Imu2~~ Orientation checkboxes, and the two last ones listed under Finish, may be used, all other checkboxes must be unchecked (when the GUI is in T-STorM32 mode these in fact should not be even displayed, that is, if you see them, then better double check what you're doing).}}		{{COMMENT\|The Configure Gimbal Tool must only be used for setting the IMU1 (and IMU2) orientation, it cannot be used otherwise for setting up a T-STorM32 gimbal. Only the IMU1 and IMU2 Orientation checkboxes, and the two last ones listed under Finish, may be used, all other checkboxes must be unchecked (when the GUI is in T-STorM32 mode these in fact should not be even displayed, that is, if you see them, then better double check what you're doing).}}

	{{COMMENT\|It is recommended to restart the gimbal before proceeding to the next step, in order to ensure that the AHRS for the camera IMU has settled to the new IMU orientation.}}		{{COMMENT\|It is recommended to restart the gimbal before proceeding to the next step, in order to ensure that the AHRS for the camera IMU has settled to the new IMU orientation.}}

OlliW: /* Supported Gimbals */

2024-01-20T19:45:02Z

Supported Gimbals

← Older revision		Revision as of 21:45, 20 January 2024
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	T-STorM32 supports the following setups:		T-STorM32 supports the following setups:

	* '''''3-axis with camera IMU:''''' One NT IMU, mounted to the camera, and three NT Motor-Encoder modules.		* '''''3-axis with camera IMU:''''' One NT IMU module, mounted to the camera, and three NT Motor-Encoder modules.
	* '''''2-axis with camera IMU:''''' One NT IMU, mounted to the camera, and two NT Motor-Encoder modules.		* '''''2-axis with camera IMU:''''' One NT IMU module, mounted to the camera, and two NT Motor-Encoder modules.
	* '''''1-axis with camera IMU:''''' One NT IMU, mounted to the camera, and one NT Motor-Encoder module.		* '''''1-axis with camera IMU:''''' One NT IMU module, mounted to the camera, and one NT Motor-Encoder module.

	T-STorM32 allows us to connect a 2nd IMU (IMU2). Its data are read, but are not used in any way by the STorM32 controller when in T-STorM32 mode, i.e., a 2nd IMU is not required for operation. However, the 2nd IMU data are recorded by the NT ~~logger~~, which can be of help in e.g. vibration analyses. A 3rd IMU (IMU3) can also be connected, it ~~doesn't~~ harm, but it is ignored completely, i.e., not even its data are read.		T-STorM32 allows us to connect a 2nd IMU (IMU2) module. Its data are read, but are not used in any way by the STorM32 controller when in T-STorM32 mode, i.e., a 2nd IMU module is not required for operation. However, the 2nd IMU data are recorded by the NT Logger, which can be of help in e.g. vibration analyses. A 3rd IMU (IMU3) module can also be connected, it does not harm, but it is ignored completely, i.e., not even its data are read.

	== Encoders ==		== Encoders ==

OlliW at 19:43, 20 January 2024

2024-01-20T19:43:14Z

← Older revision		Revision as of 21:43, 20 January 2024
Line 37:		Line 37:
	Why the STorM32 board, the NT IMU module, and the NT Motor-Encoder modules are needed should be obvious from the T-STorM32's concept discussed before.		Why the STorM32 board, the NT IMU module, and the NT Motor-Encoder modules are needed should be obvious from the T-STorM32's concept discussed before.

	The USB-TTL adapter is required for flashing/upgrading v1.x STorM32 main boards to the latest firmware; it is not required for v3.3 or v4.1 STorM32 boards. Note though that a USB-TTL adapter allows one to use the [[NT_Data_Logging#Live_Recording\|Live Recording]] feature, which can be very helpful. So, it's a nice-have anyways.		The USB-TTL adapter is required for flashing/upgrading v1.x STorM32 main boards to the latest firmware; it is not required for v3.x or v4.x STorM32 boards. Note though that a USB-TTL adapter allows one to use the [[NT_Data_Logging#Live_Recording\|Live Recording]] feature, which can be very helpful. So, it's a nice-have anyways.

	== Supported Gimbals ==		== Supported Gimbals ==

OlliW at 19:42, 20 January 2024

2024-01-20T19:42:28Z

Show changes

OlliW: /* Ordering Information */

2024-01-19T16:18:43Z

Ordering Information

← Older revision		Revision as of 18:18, 19 January 2024
Line 37:		Line 37:
	Why the STorM32 board, the NT IMU module, and the NT motor-encoder modules are needed should be obvious from the T-STorM32's concept discussed before.		Why the STorM32 board, the NT IMU module, and the NT motor-encoder modules are needed should be obvious from the T-STorM32's concept discussed before.

	The USB-TTL adapter is required for flashing/upgrading v1.x STorM32 main boards to the latest firmware; it is not required for v3.x STorM32 boards. Note though that a USB-TTL adapter allows one to use the [[NT_Data_Logging#Live_Recording\|Live Recording]] feature, which can be very helpful. So, it's a nice-have anyways.		The USB-TTL adapter is required for flashing/upgrading v1.x STorM32 main boards to the latest firmware; it is not required for v3.3 or v4.1 STorM32 boards. Note though that a USB-TTL adapter allows one to use the [[NT_Data_Logging#Live_Recording\|Live Recording]] feature, which can be very helpful. So, it's a nice-have anyways.

	== Supported Gimbals ==		== Supported Gimbals ==

OlliW: /* Ex-Situ Configuration */

2023-05-09T02:17:47Z

Ex-Situ Configuration

← Older revision		Revision as of 04:17, 9 May 2023
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	# Open the {{GUI\|NT Module CLI Tool}}, or start the terminal and connect with the STorM32 board (in both cases the correct COM port must have been selected). Power up the NT motor module by connecting a battery.		# Open the {{GUI\|NT Module CLI Tool}}, or start the terminal and connect with the STorM32 board (in both cases the correct COM port must have been selected). Power up the NT motor module by connecting a battery.
	# '''''Open tunnel:''''' Open the tunnel to the NT module you want to talk to. {{GUI\|NT Module CLI Tool}}: Hit the respective button. Terminal: Send "xQTcNTQMODE" plus the ID of the NT module as a double-digit: To talk to the pitch NT motor module with ID = 4, you send "xQTcNTQMODE04" (without the quotation marks), for roll you add 05, and for yaw 06. The STorM32 board will now go into the tunnel mode and the addressed NT module starts its CLI. This can be recognized on the STorM32 board by a dark green LED and fast-blinking red LED. In the output screen of the {{GUI\|NT Module CLI Tool}} or terminal you should see a welcome line such as "Hello, I'm MOTORPITCH", and the indicator ">".		# '''''Open tunnel:''''' Open the tunnel to the NT module you want to talk to. {{GUI\|NT Module CLI Tool}}: Hit the respective button. Terminal: Send "xQTcNTQMODE" plus the ID of the NT module as a double-digit: To talk to the pitch NT motor module with ID = 4, you send "xQTcNTQMODE04" (without the quotation marks), for roll you add 05, and for yaw 06. The STorM32 board will now go into the tunnel mode and the addressed NT module starts its CLI. This can be recognized on the STorM32 board by a dark green LED and fast-blinking red LED. In the output screen of the {{GUI\|NT Module CLI Tool}} or terminal you should see a welcome line such as "Hello, I'm MOTORPITCH", and the indicator ">".
	# '''''Check encoder type:''''' Run the command "getsetup;". Please do not forget the semicolon ";". All CLI commands should be finished with a semicolon. In the output screen you should see the current setup values. Check that the entry for 'EncoderModel' matches the used encoder. If it does not match, then run the command "setmodeltle5012b;", "setmodelas5048a;" or "setmodelpotadc5;" depending on your encoder. Activate the setting by running the commands "store;" and "RESTART;". You should see again the welcome line appearing.		# '''''Check encoder type:''''' Run the command "getsetup;". Please do not forget the semicolon ";". All CLI commands should be finished with a semicolon. In the output screen you should see the current setup values. Check that the entry for 'EncoderModel' matches the used encoder. If it does not match, then run the command "setmodeltle5012b;", "setmodelas5048a;", "setmodelma732;" or "setmodelpotadc5;" depending on your encoder. Activate the setting by running the commands "store;" and "RESTART;". You should see again the welcome line appearing.
	# '''''Check encoder distance:''''' Run the command "rrange;". The motor should start to turn, and in the output screen values should be displayed. The displayed values depend on the type of the used encoder chip. For a TLE5012B encoder the adcx and adcy values should be in the range of +/- 6000 ... 15000. For a AS5048A encoder the mag values should be around 4000. No errors should have occurred.		# '''''Check encoder distance:''''' Run the command "rrange;". The motor should start to turn, and in the output screen values should be displayed. The displayed values depend on the type of the used encoder chip. For a TLE5012B encoder the adcx and adcy values should be in the range of +/- 6000 ... 15000. For a AS5048A encoder the mag values should be around 4000. No errors should have occurred.
	# '''''Determine number of motor pole pairs:''''' Run the command "rpp;". The motor makes one turn. The result is displayed in the output screen.		# '''''Determine number of motor pole pairs:''''' Run the command "rpp;". The motor makes one turn. The result is displayed in the output screen.

OlliW: /* In-Situ Configuration */

2023-05-09T02:17:17Z

In-Situ Configuration

← Older revision		Revision as of 04:17, 9 May 2023
Line 104:		Line 104:
	# Open the {{GUI\|NT Module CLI Tool}}, or start the terminal and connect with the STorM32 board (in both cases the correct COM port must have been selected). Ensure that no battery is connected (only USB connection).		# Open the {{GUI\|NT Module CLI Tool}}, or start the terminal and connect with the STorM32 board (in both cases the correct COM port must have been selected). Ensure that no battery is connected (only USB connection).
	# '''''Open tunnel:''''' Open the tunnel to the NT module you want to talk to. {{GUI\|NT Module CLI Tool}}: Hit the respective button. Terminal: Send "xQTcNTQMODE" plus the ID of the NT module as a double-digit: To talk to the pitch NT motor module with ID = 4, you send "xQTcNTQMODE04" (without the quotation marks), for roll you add 05, and for yaw 06. The STorM32 board will now go into the tunnel mode and the addressed NT module starts its CLI. This can be recognized on the STorM32 board by a dark green LED and fast-blinking red LED. In the output screen of the {{GUI\|NT Module CLI Tool}} or terminal you should see a welcome line such as "Hello, I'm MOTORPITCH", and the indicator ">".		# '''''Open tunnel:''''' Open the tunnel to the NT module you want to talk to. {{GUI\|NT Module CLI Tool}}: Hit the respective button. Terminal: Send "xQTcNTQMODE" plus the ID of the NT module as a double-digit: To talk to the pitch NT motor module with ID = 4, you send "xQTcNTQMODE04" (without the quotation marks), for roll you add 05, and for yaw 06. The STorM32 board will now go into the tunnel mode and the addressed NT module starts its CLI. This can be recognized on the STorM32 board by a dark green LED and fast-blinking red LED. In the output screen of the {{GUI\|NT Module CLI Tool}} or terminal you should see a welcome line such as "Hello, I'm MOTORPITCH", and the indicator ">".
	# '''''Check encoder type:''''' Run the command "getsetup;". Please do not forget the semicolon ";". All CLI commands should be finished with a semicolon. In the output screen you should see the current setup values. Check that the entry for 'EncoderModel' matches the used encoder. If it does not match, then run the command "~~setenctle5012b~~;", "~~setencas5048a~~;", "~~setencma732~~;", or "~~setencpotadc5~~;" depending on your encoder. Activate the setting by running the commands "store;" and "RESTART;". You should see again the welcome line appearing.		# '''''Check encoder type:''''' Run the command "getsetup;". Please do not forget the semicolon ";". All CLI commands should be finished with a semicolon. In the output screen you should see the current setup values. Check that the entry for 'EncoderModel' matches the used encoder. If it does not match, then run the command "setmodeltle5012b;", "setmodelas5048a;", "setmodelma732;", or "setmodelpotadc5;" depending on your encoder. Activate the setting by running the commands "store;" and "RESTART;". You should see again the welcome line appearing.
	# '''''Connect battery:''''' Connect a battery to the STorM32 board, in order to fully power the NT motor module.		# '''''Connect battery:''''' Connect a battery to the STorM32 board, in order to fully power the NT motor module.
	# '''''Check encoder:''''' This is optional. Run the command "reval;". You may now turn the motor by hand and watch the values printed in the terminal to check for correct operation. The displayed values depend on the type of the used encoder chip. Terminate the command by sending any character to the NT module.		# '''''Check encoder:''''' This is optional. Run the command "reval;". You may now turn the motor by hand and watch the values printed in the terminal to check for correct operation. The displayed values depend on the type of the used encoder chip. Terminate the command by sending any character to the NT module.

OlliW: /* In-Situ Configuration */

2023-05-09T02:16:22Z

In-Situ Configuration

← Older revision		Revision as of 04:16, 9 May 2023
Line 104:		Line 104:
	# Open the {{GUI\|NT Module CLI Tool}}, or start the terminal and connect with the STorM32 board (in both cases the correct COM port must have been selected). Ensure that no battery is connected (only USB connection).		# Open the {{GUI\|NT Module CLI Tool}}, or start the terminal and connect with the STorM32 board (in both cases the correct COM port must have been selected). Ensure that no battery is connected (only USB connection).
	# '''''Open tunnel:''''' Open the tunnel to the NT module you want to talk to. {{GUI\|NT Module CLI Tool}}: Hit the respective button. Terminal: Send "xQTcNTQMODE" plus the ID of the NT module as a double-digit: To talk to the pitch NT motor module with ID = 4, you send "xQTcNTQMODE04" (without the quotation marks), for roll you add 05, and for yaw 06. The STorM32 board will now go into the tunnel mode and the addressed NT module starts its CLI. This can be recognized on the STorM32 board by a dark green LED and fast-blinking red LED. In the output screen of the {{GUI\|NT Module CLI Tool}} or terminal you should see a welcome line such as "Hello, I'm MOTORPITCH", and the indicator ">".		# '''''Open tunnel:''''' Open the tunnel to the NT module you want to talk to. {{GUI\|NT Module CLI Tool}}: Hit the respective button. Terminal: Send "xQTcNTQMODE" plus the ID of the NT module as a double-digit: To talk to the pitch NT motor module with ID = 4, you send "xQTcNTQMODE04" (without the quotation marks), for roll you add 05, and for yaw 06. The STorM32 board will now go into the tunnel mode and the addressed NT module starts its CLI. This can be recognized on the STorM32 board by a dark green LED and fast-blinking red LED. In the output screen of the {{GUI\|NT Module CLI Tool}} or terminal you should see a welcome line such as "Hello, I'm MOTORPITCH", and the indicator ">".
	# '''''Check encoder type:''''' Run the command "getsetup;". Please do not forget the semicolon ";". All CLI commands should be finished with a semicolon. In the output screen you should see the current setup values. Check that the entry for 'EncoderModel' matches the used encoder. If it does not match, then run the command "~~setmodeltle5012b~~;", "~~setmodelas5048a~~;" or "~~setmodelpotadc5~~;" depending on your encoder. Activate the setting by running the commands "store;" and "RESTART;". You should see again the welcome line appearing.		# '''''Check encoder type:''''' Run the command "getsetup;". Please do not forget the semicolon ";". All CLI commands should be finished with a semicolon. In the output screen you should see the current setup values. Check that the entry for 'EncoderModel' matches the used encoder. If it does not match, then run the command "setenctle5012b;", "setencas5048a;", "setencma732;", or "setencpotadc5;" depending on your encoder. Activate the setting by running the commands "store;" and "RESTART;". You should see again the welcome line appearing.
	# '''''Connect battery:''''' Connect a battery to the STorM32 board, in order to fully power the NT motor module.		# '''''Connect battery:''''' Connect a battery to the STorM32 board, in order to fully power the NT motor module.
	# '''''Check encoder:''''' This is optional. Run the command "reval;". You may now turn the motor by hand and watch the values printed in the terminal to check for correct operation. The displayed values depend on the type of the used encoder chip. Terminate the command by sending any character to the NT module.		# '''''Check encoder:''''' This is optional. Run the command "reval;". You may now turn the motor by hand and watch the values printed in the terminal to check for correct operation. The displayed values depend on the type of the used encoder chip. Terminate the command by sending any character to the NT module.

OlliW: /* NT Motor-Encoder Module Configuration */

2023-05-09T01:18:33Z

NT Motor-Encoder Module Configuration

← Older revision		Revision as of 03:18, 9 May 2023
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	== NT Motor-Encoder Module Configuration ==		== NT Motor-Encoder Module Configuration ==

	The first step in the gimbal configuration consists of configuring the NT motor modules, for each axis. Three parameters need to be set for each NT motor module, namely ~~the~~ type of encoder~~, the~~ number of motor pole pairs~~, and the~~ offset between ~~the~~ mechanical and electrical angle ~~(depending~~ on the encoder type there might be further parameters which needs to be set). These values are stored permanently in the NT motor module, and need never be modified once set, unless of course the "NT motor module + motor" unit is modified in some way (e.g. disassembled and reassembled). For DIY builds one also first needs to check if the magnet and encoder are located properly, i.e., if the distance between them results in appropriate signal strengths and if they are properly centered. In addition, the NT motor module firmware includes options to run various test sequences, which provide detailed information on the motor properties and can yield much insight into its performance.		The first step in the gimbal configuration consists of configuring the NT motor modules, for each axis. Three parameters need to be set for each NT motor module, namely
			* type of encoder
			* number of motor pole pairs
			* offset between mechanical and electrical angle

			Depending on the encoder type there might be further parameters which needs to be set. These values are stored permanently in the NT motor module, and need never be modified once set, unless of course the "NT motor module + motor" unit is modified in some way (e.g. disassembled and reassembled). For DIY builds one also first needs to check if the magnet and encoder are located properly, i.e., if the distance between them results in appropriate signal strengths and if they are properly centered. In addition, the NT motor module firmware includes options to run various test sequences, which provide detailed information on the motor properties and can yield much insight into its performance.

	{{COMMENT\|The number of pole pairs can be positive or negative. The sign accounts for the motor spin direction, which in turn depends on how the motor phases are connected to the NT motor module. Note that the number of pole '''pairs''' is determined, i.e., for a 14 pole motor it is +7 or -7.}}		{{COMMENT\|The number of pole pairs can be positive or negative. The sign accounts for the motor spin direction, which in turn depends on how the motor phases are connected to the NT motor module. Note that the number of pole '''pairs''' is determined, i.e., for a 14 pole motor it is +7 or -7.}}

← Older revision		Revision as of 21:48, 20 January 2024
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	The camera IMU should also be calibrated. Follow the descriptions in [[Calibration#Calibration_Procedure\|Calibration Procedure]]. A 1-point calibration is sufficient in nearly all cases.		The camera IMU should also be calibrated. Follow the descriptions in [[Calibration#Calibration_Procedure\|Calibration Procedure]]. A 1-point calibration is sufficient in nearly all cases.

	{{COMMENT\|The Configure Gimbal Tool must only be used for setting the ~~Imu1~~ (and ~~Imu2~~) orientation, it cannot be used otherwise for setting up a T-STorM32 gimbal. Only the ~~Imu1~~ and ~~Imu2~~ Orientation checkboxes, and the two last ones listed under Finish, may be used, all other checkboxes must be unchecked (when the GUI is in T-STorM32 mode these in fact should not be even displayed, that is, if you see them, then better double check what you're doing).}}		{{COMMENT\|The Configure Gimbal Tool must only be used for setting the IMU1 (and IMU2) orientation, it cannot be used otherwise for setting up a T-STorM32 gimbal. Only the IMU1 and IMU2 Orientation checkboxes, and the two last ones listed under Finish, may be used, all other checkboxes must be unchecked (when the GUI is in T-STorM32 mode these in fact should not be even displayed, that is, if you see them, then better double check what you're doing).}}

	{{COMMENT\|It is recommended to restart the gimbal before proceeding to the next step, in order to ensure that the AHRS for the camera IMU has settled to the new IMU orientation.}}		{{COMMENT\|It is recommended to restart the gimbal before proceeding to the next step, in order to ensure that the AHRS for the camera IMU has settled to the new IMU orientation.}}