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Topic: Massive sensor noise/problems? (Read 2375 times) previous topic - next topic

kriista

So I'm building a 9DOF sensor unit to use in a performance art oriented setup with it being strapped to a performers wrist. (this is the project http://www.youtube.com/watch?v=wTwhnUM8xdk)

The main board is an ArduIMU board (https://www.sparkfun.com/products/9956) which has onboard 3axis accel(ADXL335) and 3axis gyro (LY530/LPR530) and I've also added a 3axis magnetometer(HMC5883L) which is being read through the I2C bus.

The approach I'm taking, since I'm going to be using Max/MSP to handle all the actual data mapping and everything, is to have the ArduIMU just spit out raw sensor values over serial (XBee send/receive pair using a call/response type setup) and all the numbers will be calibrated/filtered/etc.. in Max/MSP.

The main problem I'm having is that the raw sensor values seem to be incredibly noisy. You can see this short little video here:

http://rodrigoconstanzo.com/sensors/sensors.MOV

My Accel X and Magnetometer axis' seem to just jump from 0 to 250 or so, and just go back and forth. That doesn't seem quite right. It should also be noted that I get radically different numbers sometimes when turning the sensor unit on (sometimes its other axis' that do that "jump from zero" stuff).

Now as far as treating the numbers I'm using this wonderful guide here (http://arduino.cc/forum/index.php/topic,58048.0.html), and then just applying the same ideas but to Max/MSP. (ie for my calibration code I'm taking the mean of the idle value, then subtracting the sensor value from that, and dividing by 102.3 (basically this accVal = (accAdc-accZero)/102.3 ).

I eventually want to do something like this MARG filtering (http://www.youtube.com/watch?v=fOSTOnQzZCI) but with the raw values being what they are, it's mucking up all the number crunching down the line.

Here is the Arduino code
Code: [Select]
#include <Wire.h> //I2C Arduino Library
#define address 0x1E //0011110b, I2C 7bit address of HMC5883

#define aX A0
#define aY A1
#define aZ A2
#define gX A6
#define gY A7
#define gZ A3

// define sensor variables
int AccX;
int AccY;
int AccZ;
int GyroX;
int GyroY;
int GyroZ;

int inByte = 0;         // incoming serial byte

void setup()
{
  // start serial port at 9600 bps:
  Serial.begin(57600);
  Wire.begin();
  //Put the HMC5883 IC into the correct operating mode
  Wire.beginTransmission(address); //open communication with HMC5883
  Wire.write(0x02); //select mode register
  Wire.write(0x00); //continuous measurement mode
  Wire.endTransmission();
  establishContact();  // send a byte to establish contact until receiver responds
}

void loop()
{
 
    int x,y,z; //triple axis data for magnetometer

  //Tell the HMC5883 where to begin reading data
  Wire.beginTransmission(address);
  Wire.write(0x03); //select register 3, X MSB register
  Wire.endTransmission();
 
    //Read data from each axis of magnetometer, 2 registers per axis
  Wire.requestFrom(address, 6);
  if(6<=Wire.available()){
    x = Wire.read()<<8; //X msb
    x |= Wire.read(); //X lsb
    z = Wire.read()<<8; //Z msb
    z |= Wire.read(); //Z lsb
    y = Wire.read()<<8; //Y msb
    y |= Wire.read(); //Y lsb
  }
 
  // if we get a valid byte, read analog ins:
  if (Serial.available() > 0) {
    inByte = Serial.read();
   
    AccX = analogRead(aX);
    AccY = analogRead(aY);
    AccZ = analogRead(aZ);
    GyroX = analogRead(gX);
    GyroY = analogRead(gY);
    GyroZ = analogRead(gZ);
   
    Serial.write(AccX);
    Serial.write(AccY);
    Serial.write(AccZ);
    Serial.write(GyroX);
    Serial.write(GyroY);
    Serial.write(GyroZ);
    Serial.write(x);
    Serial.write(y);
    Serial.write(z);
  }
}

void establishContact() {
  while (Serial.available() <= 0) {
    Serial.write('A');   // send a capital A
    delay(300);
  }
}


So is there any reason why I should be getting this kind of sensor behavior? And more importantly, what can I do about it?

kriista

Yup, just restarted the system and both my Accel X and Y axis' are doing the "jump from 0 to 250" thing.

MarkT

If you read the documentation for Serial.write() you will achieve enlightenment.

Your video is upside down :)
[ I won't respond to messages, use the forum please ]

kriista

For some reason it plays right side up for me, though others have mentioned the same problem. Weird.

The original code I had was based on serial.print(val, BYTE), but I literally just changed whatever Arduino 1.0 complained about to the newer versions.

I had a read through this (http://arduino.cc/en/Serial/Write) and don't feel any more enlightened. I thought maybe for a moment that I wasn't converting the data format in Max, but running it through a symbol to number object, nothing changes.

Can you elaborate?

MarkT

You are sending 16 and 10 bit values down an 8 bit pipe - you are losing the top bits.
[ I won't respond to messages, use the forum please ]

kriista

Aha!

So my accel/gyro are 10bit and the magnetometer is 16bit? I'm guessing the onboard Arduino ADC is the 10bit and the i2c is 16bit input?

So how do I get that data into Max if not using Serial.write?

kriista

Looking through an older version of my code I noticed I was using this:

Code: [Select]
  Serial.write(highByte(z));
  Serial.write(lowByte(z));


Instead of just using Serial.print

Should I be doing that? (splitting each sensor into two bytes)
Or maybe using Serial.println and sending it as ASCII?

I think I started using bytes when I wanted to get the message sent as small as possible (for minimal latency).

corb

That's exactly what you should do.  On the other end you'll need to recombine those two bytes into an int.  you should be able to find easilly find some sample code that does the lowbyte/write and then on the read recombines.

kriista

Perfect.

Now just need to figure out how to fuse the bytes together in Max.

Does it matter what order I send the bytes in?

Code: [Select]
  Serial.write(highByte(z));
  Serial.write(lowByte(z));


or

Code: [Select]
  Serial.write(lowByte(z));
  Serial.write(highByte(z));

kriista

Finally got it working. For people searching for the similar problem in the future, here is the Max code that merges the bytes.

Code: [Select]
----------begin_max5_patcher----------
828.3oc6XstSaCCE92sOEQQZ+Yqqy2iyDBo8bflPtMFvrboJwkwFh284KMsz
aotrR.jnRMwI1Ge9Ne9bN1m7vvAwSptW1DG88nKhFL3ggCF3dk8ECV77f3Bw
8SyEMtgEWLOWqZxUYx53Q99mIzSuQUd8k0xoZ+bQ.iAihvb2MHD6twGCh9Yq
LRwulVkWU6GOXLIkCvoi1YK3SDbpnLSYtH4sRBPIDJzMdRBf5jjBfoL3djjr
Tm3TDjYGOyLb.21BXlBNecImIpEERsr9RYoXRtzJOXQekyKTk4RsicfapJZq
pnbBFRrJfuBtXHNAutpppUxRsPqpJ2PKUy0spA0plpRclPK1opSZUMOwpaqB
QNMZaAITPJeO7CtURTpkFcPEBSXTaqDyLfXa.ZGzz+YlzKYb7Hy+kc2H0FNx
3EsbEacwUYNOqpI29UDIdSzvZkJAa+4VivTTpiLS3bDltG6.0JYq0ZrHi+DB
YagoLNqk7sB93vg1KiBLN3p7JyhxgCAnta9qHv+iS0UlU6F0ecCDhF2sqwVK
IF7Jz10kIhxqi2I2iiehlJMfy00OpUh73mACUJ+sYZamSs7dGwD+sHFkhoiO
L0g7TGYKpaM5AcLzCra5YmzBrWnkubP9.4ylx4iou77gpbOrA3zxFSqJJLI7
1hNxq5fOfXOg.89IftcPNp3Gv1lLj2Ol7MpNLYVuZwI8hK+YmEwOrWOcQdz9
HKv975gzSLgLuXRmmeB5WngouQ18vRLcs2Aum4Gx6K5g0KwSexDrvBvoxSdj
W0HJTuvHmed.YXfj2BYXNs7QfmN8czgSOwNLGSYrnOph8ipXOlpXwuWJhcOo
M+bnkn4qHgRecqPiDVpAmnw4pxM+fWNyy990Yplp40Sa0daAxQqrwLYiVUtz
I+hUeAimLnaTYYx0BBxTM1nOG7A6bMKX7.CAO39COfPvCr2vCOD3XwLrWfis
HhvvS+POr.fyFX9E06AE.d5ufKRHryaJzfN.ZJTYypLm+bQ1ORp86HAgL+ga
V8zJ0b5b8C.9r9ySK.zv6MzDzlJnmIb764IlM6NYcyh4zgDy4.t0erU1H2ip
R+itYLtVdmpc7zg1Y6wg+CvmzqdZ
-----------end_max5_patcher-----------


I also ended up with a weird problem in my parsing code (in Max) that meant the bytes were not coming in the correct order (which breaks everything). Once that was sorted everything came in nice and smooth. So satisfying to see that steady stream just rolling on in.

kriista

Actually it turns out that my 12-bit sensor data isn't making it in correctly (my magnetometer).

Actually it's all working perfectly for the 10bit sensors (accel/gyro). I'm wondering if the bytes are getting split and then recombined incorrectly.

Here's the relevant Arduino code:

Wire.requestFrom(address, 6);
if(6<=Wire.available()){
x = Wire.read()<<8; //X msb
x |= Wire.read(); //X lsb
z = Wire.read()<<8; //Z msb
z |= Wire.read(); //Z lsb
y = Wire.read()<<8; //Y msb
y |= Wire.read(); //Y lsb

So it's reading and splitting into a high byte and a low byte already.
Then I'm sending that out:

// Magnetometer X
Serial.write(highByte(MagX));
Serial.write(lowByte(MagX));
// Magnetometer Y
Serial.write(highByte(MagY));
Serial.write(lowByte(MagY));
// Magnetometer Z
Serial.write(highByte(MagZ));
Serial.write(lowByte(MagZ));

Now the values I'm getting inside Max are kind of hovering around 250 for each byte (low and high), so the sensor values I'm getting are in the 60000 range, now this being a 12bit sensor I should be getting no more than 4095 max.

Any thoughts on what can be happening between the value being read and sent out of the Arduino?

When you only show two pieces of code that don't appear to have the error in it makes it very difficult to guess what he problem is - try posting ALL the code!

Are you sure you're reading the values in the same order you are writing them?

kriista

I've tried switching the order that they are combined in in Max and that doesn't make a difference. I've not tried mixing up the code in Arduino but from what it looks like to me the Wire library is making a single int out of the values coming in over i2c and then I'm splitting that into two bytes. There's no 'wrong way' around for it since it's all getting boiled down to an int.

Here's the complete code

Code: [Select]
// i2c Arduino Library
#include <Wire.h>

// 0011110b, i2c 7bit address of HMC5883
#define address 0x1E

// Define sensor variables
int AccX;
int AccY;
int AccZ;
int GyroX;
int GyroY;
int GyroZ;
int SW1 = 9;
int SW2 = 10;

#define aX A0
#define aY A1
#define aZ A2
#define gX A6
#define gY A7
#define gZ A3

// Incoming serial byte
int inByte = 0;

//////////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////////

void setup() {
  // Start serial port at 57600 bps:
  Serial.begin(57600);
 
  // Set incoming switch mode
  pinMode(SW1,INPUT);
  pinMode(SW2,INPUT);
 
  // Start i2c communication
  Wire.begin();
 
  // Put the HMC5883 IC into the correct operating mode
  Wire.beginTransmission(address); //open communication with HMC5883
  Wire.write(0x02); //select mode register
  Wire.write(0x00); //continuous measurement mode
  Wire.endTransmission();
 
  // Send a byte to establish contact until receiver responds
  establishContact(); 
}

//////////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////////

void loop() {
  // Define variables for magnetometer
  int MagX,MagY,MagZ;

  // Tell the HMC5883 where to begin reading data
  Wire.beginTransmission(address);
  Wire.write(0x03); //select register 3, X MSB register
  Wire.endTransmission();
 
  // If we get a valid byte, read analog ins:
  if (Serial.available() > 0) {
    inByte = Serial.read();
   
    AccX = analogRead(aX);
    AccY = analogRead(aY);
    AccZ = analogRead(aZ);
    GyroX = analogRead(gX);
    GyroY = analogRead(gY);
    GyroZ = analogRead(gZ);
   
  // Read data from each axis of magnetometer, 2 registers per axis
  Wire.requestFrom(address, 6);
  if(6<=Wire.available()){
    MagX = Wire.read()<<8; // X msb
    MagX |= Wire.read(); // X lsb
    MagZ = Wire.read()<<8; // Z msb
    MagZ |= Wire.read(); // Z lsb
    MagY = Wire.read()<<8; // Y msb
    MagY |= Wire.read(); // Y lsb
  }
 
  // Send sensor data out
 
  // Accelerometer X 
  Serial.write(highByte(AccX));
  Serial.write(lowByte(AccX));
 
  // Accelerometer Y
  Serial.write(highByte(AccY));
  Serial.write(lowByte(AccY));
 
  // Accelerometer Z
  Serial.write(highByte(AccZ));
  Serial.write(lowByte(AccZ));
 
  // Gyroscope X
  Serial.write(highByte(GyroX));
  Serial.write(lowByte(GyroX));
 
  // Gyroscope Y
  Serial.write(highByte(GyroY));
  Serial.write(lowByte(GyroY));
 
  // Gyroscope Z
  Serial.write(highByte(GyroZ));
  Serial.write(lowByte(GyroZ));
 
  // Magnetometer X
  Serial.write(highByte(MagX));
  Serial.write(lowByte(MagX));
 
  // Magnetometer Y
  Serial.write(highByte(MagY));
  Serial.write(lowByte(MagY));
 
  // Magnetometer Z
  Serial.write(highByte(MagZ));
  Serial.write(lowByte(MagZ));
 
  // Switch 1
  Serial.write(digitalRead(SW1));
 
  // Switch 2
  Serial.write(digitalRead(SW2));
  }
}

//////////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////////

void establishContact() {
  while (Serial.available() <= 0) {
    Serial.write('A');   // send a capital A
    delay(300);
  }
}

MarkT

And the MAX code that reads the packet?  You are configuring the serial as 8N1 ?
[ I won't respond to messages, use the forum please ]

kriista

I've not configured the serial in Max at all, it's just a generic serial object [serial a 57600]

Code: [Select]

----------begin_max5_patcher----------
4233.3oc6ck0iiabD94Y9UzQH4onc.6CdY3WVi7PdIAAw.9EaiETRbjnWJRA
RpY1cM7+8zGjTjT7nnFINMcjCxrhGhppu5nqp6pZ96O9vhUwewOcA56P+L5g
G98Ge3A4oDm3g7ieXwduurNzKUdaKx7+R1piYYwQKVpt7gD+T+nLurf3nOk3
uNS83H3mLVhvtOQswFtrkHl6SLrCiXKOqA5Wy+9q1FGsNNLNQ88Ldxlgw1VK
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-----------end_max5_patcher-----------

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