PinePhone Sensors and Navigation - Revision history

Fxc: /* Sensor reference frames */ fix

2023-02-20T16:41:01Z

Sensor reference frames: fix

← Older revision		Revision as of 16:41, 20 February 2023
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	As a basis for software development, a common body coordinate system has to be established along with it's relation to a world coordinate system. "iio-sensor-proxy expects the (sensor) readings to match those defined in the Linux IIO documentation, the Windows Integrating Motion and Orientation Sensors whitepaper, and the Android sensor documentation"[ref]. To transform the sensor coordinate systems into body coordinates, 'mount matrices' have to be defined.		As a basis for software development, a common body coordinate system has to be established along with it's relation to a world coordinate system. "iio-sensor-proxy expects the (sensor) readings to match those defined in the Linux IIO documentation, the Windows Integrating Motion and Orientation Sensors whitepaper, and the Android sensor documentation"[ref]. To transform the sensor coordinate systems into body coordinates, 'mount matrices' have to be defined.

	[TODO: explain body reference choices, north-east-down world coordinates]		TODO: explain body reference choices, north-east-down world coordinates

	== Software ==		== Software ==

Fxc at 16:40, 20 February 2023

2023-02-20T16:40:31Z

← Older revision		Revision as of 16:40, 20 February 2023
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	* 400Hz max. update rate		* 400Hz max. update rate
	* 16-bit data output		* 16-bit data output


	=== Sensor reference frames ===		=== Sensor reference frames ===
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	** /dev/ttyUSB2 : AT command interface		** /dev/ttyUSB2 : AT command interface
	** /dev/ttyUSB1 : default NMEA data output		** /dev/ttyUSB1 : default NMEA data output


	* MPU6050:inv_mpu6050, inv_mpu6050_i2c, industrialio		* MPU6050:inv_mpu6050, inv_mpu6050_i2c, industrialio
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	=== Userspace services ===		=== Userspace services ===

	[TODO: ...]		TODO: ...

	* Modem Manager		* Modem Manager
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	=== Tools/Utilities ===		=== Tools/Utilities ===

	[TODO: minicom, gpsmon, monitor-sensor, iio-utils...]		TODO: minicom, gpsmon, monitor-sensor, iio-utils...

	=== Applications ===		=== Applications ===

	[TODO: pure-maps, navit, ...]		TODO: pure-maps, navit, ...

	== Development ==		== Development ==

	[TODO: Open issues, tasks, projects]		TODO: Open issues, tasks, projects

	=== Open issues ===		=== Open issues ===
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	** https://www.freedesktop.org/software/geoclue/docs/gdbus-org.freedesktop.GeoClue2.Location.html		** https://www.freedesktop.org/software/geoclue/docs/gdbus-org.freedesktop.GeoClue2.Location.html
	** https://www.freedesktop.org/software/geoclue/docs/libgeoclue/GClueLocation.html		** https://www.freedesktop.org/software/geoclue/docs/libgeoclue/GClueLocation.html


			[[Category:PinePhone]]

Fxc: /* Drivers */ fix

2023-02-20T16:39:48Z

Drivers: fix

← Older revision		Revision as of 16:39, 20 February 2023
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	=== Drivers ===		=== Drivers ===

			TODO: i2cdev, linux-iio, support matrix
	[TODO: i2cdev, linux-iio, support matrix]


	* EG25G: provides either UART or USB based interfaces for NMEA data		* EG25G: provides either UART or USB based interfaces for NMEA data

Fxc: draft template

2021-03-26T13:50:27Z

draft template

← Older revision		Revision as of 13:50, 26 March 2021
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	~~DRAFT~~		{{under construction}}

	== Overview ==		== Overview ==

Xalius: /* Frameworks/APIs/... */

2021-03-26T11:00:07Z

Frameworks/APIs/...

← Older revision		Revision as of 11:00, 26 March 2021
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	* Modem Manager location API		* Modem Manager location API
	** https://www.freedesktop.org/software/ModemManager/api/latest/gdbus-org.freedesktop.ModemManager1.Modem.Location.html		** https://www.freedesktop.org/software/ModemManager/api/latest/gdbus-org.freedesktop.ModemManager1.Modem.Location.html
	* oFono ~~locaiton~~ API (experimental?)		* oFono location API (experimental?)
	** https://git.kernel.org/pub/scm/network/ofono/ofono.git/tree/doc/location-reporting-api.txt		** https://git.kernel.org/pub/scm/network/ofono/ofono.git/tree/doc/location-reporting-api.txt
	* geoclue API		* geoclue API
	** https://www.freedesktop.org/software/geoclue/docs/gdbus-org.freedesktop.GeoClue2.Location.html		** https://www.freedesktop.org/software/geoclue/docs/gdbus-org.freedesktop.GeoClue2.Location.html
	** https://www.freedesktop.org/software/geoclue/docs/libgeoclue/GClueLocation.html		** https://www.freedesktop.org/software/geoclue/docs/libgeoclue/GClueLocation.html

Xalius: /* Development */ document issues

2021-03-26T10:58:49Z

Development: document issues

@@ Line 187: / Line 187: @@
 [TODO: Open issues, tasks, projects]
 === Frameworks/APIs/... ===
@@ Line 196: / Line 215: @@
 ** https://www.freedesktop.org/software/geoclue/docs/gdbus-org.freedesktop.GeoClue2.Location.html
 ** https://www.freedesktop.org/software/geoclue/docs/libgeoclue/GClueLocation.html

Xalius: /* Frameworks/APIs/... */ some more API links

2021-03-26T10:23:53Z

Frameworks/APIs/...: some more API links

← Older revision		Revision as of 10:23, 26 March 2021
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	* oFono locaiton API (experimental?)		* oFono locaiton API (experimental?)
	** https://git.kernel.org/pub/scm/network/ofono/ofono.git/tree/doc/location-reporting-api.txt		** https://git.kernel.org/pub/scm/network/ofono/ofono.git/tree/doc/location-reporting-api.txt
			* geoclue API
			** https://www.freedesktop.org/software/geoclue/docs/gdbus-org.freedesktop.GeoClue2.Location.html
			** https://www.freedesktop.org/software/geoclue/docs/libgeoclue/GClueLocation.html

	* AGPS integration		* AGPS integration
	* Raw magnetometer data + calibration in iio-sensor-proxy		* Raw magnetometer data + calibration in iio-sensor-proxy
	* Compass App		* Compass App

Xalius: /* Development */ add some links for location APIs

2021-03-26T10:15:26Z

Development: add some links for location APIs

← Older revision		Revision as of 10:15, 26 March 2021
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	[TODO: Open issues, tasks, projects]		[TODO: Open issues, tasks, projects]
			=== Frameworks/APIs/... ===

			* Modem Manager location API
			** https://www.freedesktop.org/software/ModemManager/api/latest/gdbus-org.freedesktop.ModemManager1.Modem.Location.html
			* oFono locaiton API (experimental?)
			** https://git.kernel.org/pub/scm/network/ofono/ofono.git/tree/doc/location-reporting-api.txt


	* AGPS integration		* AGPS integration
	* Raw magnetometer data + calibration in iio-sensor-proxy		* Raw magnetometer data + calibration in iio-sensor-proxy
	* Compass App		* Compass App

Fxc: fixes

2021-03-21T23:17:07Z

fixes

Fxc: Fxc moved page Pinephone Sensors and Navigation to PinePhone Sensors and Navigation: Name convention

2021-03-21T23:14:33Z

Fxc moved page Pinephone Sensors and Navigation to PinePhone Sensors and Navigation: Name convention

← Older revision	Revision as of 23:14, 21 March 2021
(No difference)

← Older revision		Revision as of 23:17, 21 March 2021
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	== Overview ==		== Overview ==

	The ~~Pinephone~~ contains various components that enable or aid orientation and navigation tasks.		The PinePhone contains various components that enable or aid orientation and navigation tasks.

	* Multi-GNSS Receiver as part of the cellular modem (GPS/Galileo/~~Glonass~~/BeiDou)		* Multi-GNSS Receiver as part of the cellular modem (GPS/Galileo/GLONASS/BeiDou)
	* IMU (Inertial ~~Measurment~~ Unit), combined Accelerometer and Gyroscope sensor (MPU6050)		* IMU (Inertial Measurement Unit), combined Accelerometer and Gyroscope sensor (MPU6050)
	* Magnetometer (LIS3MDL or AF8133J)		* Magnetometer (LIS3MDL or AF8133J)

	...		...

	[[File:Pp_sensors_block.png\|thumb\|500px\|none\|~~Pinephone~~ navigation sensors]]		[[File:Pp_sensors_block.png\|thumb\|500px\|none\|PinePhone navigation sensors]]

	== Hardware ==		== Hardware ==
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	* Digital-output X-, Y-, and Z-Axis angular rate sensors (gyroscopes) with selectable range of ±250, ±500, ±1000, and ±2000°/sec		* Digital-output X-, Y-, and Z-Axis angular rate sensors (gyroscopes) with selectable range of ±250, ±500, ±1000, and ±2000°/sec
	* Digital-output triple-axis accelerometer with a programmable full scale range of ±2g, ±4g, ±8g and ±16g		* Digital-output triple-axis accelerometer with a programmable full scale range of ±2g, ±4g, ±8g and ±16g
	* ~~400kHz~~ Fast Mode I2C for communicating with all registers		* 400 kHz Fast Mode I2C for communicating with all registers

	=== ST LIS3MDL Magnetometer/Compass ===		=== ST LIS3MDL Magnetometer/Compass ===
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	=== Sensor reference frames ===		=== Sensor reference frames ===

	The sensors are mounted on the ~~Pinephone~~'s ~~main board~~ in different positions and orientations~~, for~~ the purpose of orientation and navigation it is important to know the relationship between the sensor coordinate frames and the body frame of the phone...		The sensors are mounted on the PinePhone's mainboard in different positions and orientations. For the purpose of orientation and navigation it is important to know the relationship between the sensor coordinate frames and the body frame of the phone.

	[[File:pp coordinates.png\|500px\|thumb\|none\|~~Pinephone~~ sensor coordinates systems (red) and body coordinate system (cyan)]]		[[File:pp coordinates.png\|500px\|thumb\|none\|PinePhone sensor coordinates systems (red) and body coordinate system (cyan)]]

	As a basis for software development, a common body coordinate system has to be established along with it's relation to a world coordinate system. "iio-sensor-proxy expects the (sensor) readings to match those defined in the Linux IIO documentation, the Windows Integrating Motion and Orientation Sensors whitepaper, and the Android sensor documentation"[ref]. To transform the sensor coordinate systems into body coordinates, 'mount matrices' have to be defined.		As a basis for software development, a common body coordinate system has to be established along with it's relation to a world coordinate system. "iio-sensor-proxy expects the (sensor) readings to match those defined in the Linux IIO documentation, the Windows Integrating Motion and Orientation Sensors whitepaper, and the Android sensor documentation"[ref]. To transform the sensor coordinate systems into body coordinates, 'mount matrices' have to be defined.