Bosch Indego (gen.1) goes Teensy

[Richtel]

I think I can report something similar.
In my case yesterday it reacted twice in quick succession and switched off the loop prematurely. The Station was very warm, so I suspect he will be very warm as well. Does the motor driver have some kind of heat protection function so that it might switch off!? If that is the case, you would have to think about ventilation of the station.

 

[Jozsi76]

Ok. Thanks for the info.
I have tried it already, and from this moment on the signal is not more normal. Switching the mag from - to + sometime. Also with another l298n with only one side.
Maybe I have destroyed also the gpio pins of the esp32.

EDIT: no, the esp32 seems to be ok, and no shorted pins. But in the pfodApp
the Mag is sometimes negative than positive. So the robot don't find more the wire. I think I do anything wrong by the software update.

 

[Jozsi76]

My idea is now, I have the same problem with the uart communication as by the teensy esp32. I think I need to check the rx/tx pin setup in the esp32 code. Because the output in the web interface also not ok, and maybe the gpio pins are wrong configured.

edit: I think I was wrong. We do not have uart communication in the sender, so this can't be a problem.

 

[Jozsi76]

Here the serial output of teensy, in the time i give the command over pfod to go to station:

t 9 Loops 520271 v2 ROLLTOTRACK sig min 408 max 605 avg 508 mag 2556 qty 188 in 0 cnt 3174 on 0
BACKTOSTATION / WAITREPEAT
BACKTOSTATION / ROLLTOTRACK
t 0 Loops 524696 v2 ROLLTOTRACK sig min 380 max 636 avg 508 mag 3670 qty 193 in 0 cnt 3174 on 0
t 1 Loops 492181 v2 ROLLTOTRACK sig min 385 max 635 avg 511 mag 4353 qty 194 in 0 cnt 3174 on 0
t 2 Loops 472026 v2 ROLLTOTRACK sig min 398 max 612 avg 507 mag 2953 qty 195 in 0 cnt 3174 on 0
t 3 Loops 475043 v2 ROLLTOTRACK sig min 425 max 589 avg 506 mag 2264 qty 198 in 0 cnt 3174 on 0
BACKTOSTATION / ROLLSTOPTOTRACK
BACKTOSTATION / PTRK
t 0 Loops 478357 v2 PTRK sig min 429 max 583 avg 507 mag 1963 qty 191 in 0 cnt 3176 on 0
t 1 Loops 499241 v2 PTRK sig min 431 max 583 avg 506 mag 2094 qty 192 in 0 cnt 3176 on 0
t 2 Loops 571424 v2 PTRK sig min 444 max 568 avg 506 mag 2180 qty 194 in 0 cnt 3176 on 0
t 3 Loops 571449 v2 PTRK sig min 434 max 579 avg 507 mag 2322 qty 177 in 0 cnt 3176 on 0
t 4 Loops 571774 v2 PTRK sig min 412 max 599 avg 506 mag 2557 qty 184 in 0 cnt 3176 on 0
t 5 Loops 467042 v2 PTRK sig min 392 max 618 avg 507 mag 2920 qty 193 in 0 cnt 3176 on 0
t 6 Loops 572222 v2 PTRK sig min 383 max 628 avg 505 mag 3072 qty 176 in 0 cnt 3176 on 0
t 7 Loops 571330 v2 PTRK sig min 391 max 624 avg 505 mag 3486 qty 166 in 0 cnt 3176 on 0
Warning Serial read duration > 200 ms : 365.00
t 8 Loops 490886 v2 PTRK sig min 367 max 642 avg 506 mag -2521 qty 122 in 0 cnt 3176 on 0
Warning Serial read duration > 200 ms : 364.00
t 9 Loops 363358 v2 PTRK sig min 339 max 671 avg 505 mag 2556 qty 123 in 0 cnt 3176 on 0
t 10 Loops 442614 v2 PTRK sig min 328 max 682 avg 505 mag 3668 qty 146 in 0 cnt 3176 on 0
Warning Serial read duration > 200 ms : 364.00
t 11 Loops 571296 v2 PTRK sig min 347 max 667 avg 506 mag 4544 qty 193 in 0 cnt 3178 on 0
Warning Serial read duration > 200 ms : 364.00
t 12 Loops 359390 v2 PTRK sig min 384 max 626 avg 507 mag 4060 qty 194 in 0 cnt 3178 on 0
Warning Serial read duration > 200 ms : 364.00
t 13 Loops 358150 v2 PTRK sig min 399 max 613 avg 505 mag 3304 qty 171 in 0 cnt 3178 on 0
t 14 Loops 529233 v2 PTRK sig min 400 max 612 avg 505 mag 2332 qty 154 in 0 cnt 3178 on 0
Warning Serial read duration > 200 ms : 365.00
t 15 Loops 571448 v2 PTRK sig min 409 max 603 avg 506 mag 2205 qty 111 in 0 cnt 3178 on 0
Warning Serial read duration > 200 ms : 364.00
t 16 Loops 359182 v2 PTRK sig min 424 max 590 avg 506 mag 1324 qty 130 in 0 cnt 3178 on 0
Warning Serial read duration > 200 ms : 365.00
t 17 Loops 363272 v2 PTRK sig min 445 max 568 avg 506 mag 2171 qty 196 in 0 cnt 3178 on 0
t 18 Loops 461045 v2 PTRK sig min 438 max 571 avg 505 mag 2015 qty 195 in 0 cnt 3178 on 0
Warning Serial read duration > 200 ms : 364.00
t 19 Loops 570877 v2 PTRK sig min 434 max 577 avg 506 mag 1929 qty 197 in 0 cnt 3178 on 0
Warning Serial read duration > 200 ms : 364.00
t 20 Loops 359019 v2 PTRK sig min 427 max 581 avg 506 mag 1938 qty 112 in 0 cnt 3178 on 0
Warning Serial read duration > 200 ms : 364.00
t 22 Loops 359598 v2 PTRK sig min 434 max 579 avg 506 mag 2116 qty 194 in 0 cnt 3180 on 0
t 23 Loops 547139 v2 PTRK sig min 443 max 569 avg 505 mag 2200 qty 194 in 0 cnt 3180 on 0
Warning Serial read duration > 200 ms : 365.00
t 24 Loops 570778 v2 PTRK sig min 427 max 590 avg 507 mag 2314 qty 164 in 0 cnt 3180 on 0
Warning Serial read duration > 200 ms : 364.00
t 25 Loops 362638 v2 PTRK sig min 412 max 600 avg 505 mag 2306 qty 160 in 0 cnt 3180 on 0
t 26 Loops 364028 v2 PTRK sig min 395 max 617 avg 506 mag 2344 qty 112 in 0 cnt 3180 on 0
Warning Serial read duration > 200 ms : 364.00
t 27 Loops 571258 v2 PTRK sig min 390 max 625 avg 506 mag -2134 qty 128 in 0 cnt 3180 on 0
Warning Serial read duration > 200 ms : 365.00
t 28 Loops 358304 v2 PTRK sig min 391 max 619 avg 506 mag 2586 qty 192 in 0 cnt 3180 on 0
t 29 Loops 397254 v2 PTRK sig min 374 max 639 avg 507 mag 3991 qty 196 in 0 cnt 3180 on 0
Warning Serial read duration > 200 ms : 364.00
t 30 Loops 571414 v2 PTRK sig min 351 max 660 avg 508 mag 3585 qty 169 in 0 cnt 3180 on 0
t 31 Loops 364865 v2 PTRK sig min 340 max 672 avg 507 mag 3574 qty 113 in 0 cnt 3180 on 0
t 32 Loops 491151 v2 PTRK sig min 351 max 661 avg 506 mag -2871 qty 131 in 0 cnt 3180 on 0
Save Stats Adress Start = 800.00 Stop = 826.00
WAIT / OFF
t 0 Loops 449688 v2 OFF sig min 383 max 630 avg 508 mag -2883 qty 101 in 0 cnt 3180 on 0
t 1 Loops 478796 v2 OFF sig min 392 max 620 avg 504 mag -2629 qty 119 in 0 cnt 3180 on 0
t 2 Loops 466454 v2 OFF sig min 370 max 636 avg 505 mag -2623 qty 113 in 0 cnt 3180 on 0
t 3 Loops 463924 v2 OFF sig min 365 max 646 avg 506 mag -2643 qty 109 in 0 cnt 3180 on 0
t 4 Loops 462286 v2 OFF sig min 362 max 648 avg 505 mag -2827 qty 143 in 0 cnt 3180 on 0
t 5 Loops 464847 v2 OFF sig min 372 max 643 avg 506 mag 2197 qty 134 in 0 cnt 3180 on 0
t 6 Loops 465740 v2 OFF sig min 396 max 619 avg 507 mag 3099 qty 170 in 0 cnt 3180 on 0
t 7 Loops 387721 v2 OFF sig min 388 max 632 avg 507 mag 2861 qty 200 in 0 cnt 3180 on 0
t 8 Loops 443285 v2 OFF sig min 371 max 643 avg 508 mag 2782 qty 182 in 0 cnt 3180 on 0
t 9 Loops 446226 v2 OFF sig min 364 max 647 avg 507 mag 3055 qty 178 in 0 cnt 3180 on 0

Here we can see the mag went sometimes to negative. The mower rolling and try to find the signal. The mower is in the inside.
But i think because the negative values between the positive the wire can not targeted.

 

[Richtel]

Also ich habe den Sketch vom Stefan auf der Station und das funktioniert alles ohne Probleme mit dem Draht finden. Hast du evtl. Eine sd karte im teensy? Mach die mal raus falls ja. Ich hatte richtige Probleme deswegen. Seitdem sie raus ist funktioniert alles sehr gut.

 

[Jozsi76]

Nein, ich habe keine SD Karte im Teensy. Gestern habe ich noch ein Softwareupdate am Teensy gemacht, weil ich die max temp von 55C auf 65C gestellt habe.
Vielleicht habe ich etwas beim Teensy software update falsch gemacht. Muss ich heute nochmal versuchen. Aber sonst funktioniert alles.

edit: ach ja, beim teensy habe ich die CPU Frequenz auch runtergesetzt auf 528MHz. Macht das ein Unterschied?

 

[Richtel]

Also dazu kann ich dir berichten das ich immer wieder zu Probleme hatte mit einer Niedrigen CPU Geschwindigkeit. Meisten stieg bei mir die IMU aus und ich musste Sie ständig wieder neu einschalten. Also ich lass den Teensy auf 600mhz, da weiß ich es läuft alles rund.

 

[Jozsi76]

Ok, dann setzte ich Teensy wieder auf 600MHz. Ich werde berichten. Wahrscheinlich erst am Abend, oder morgen, weil ich diese Woche in Ungarn auf mein Ferienhaus bin und ab 10-11:00 Uhr ist hier Feierabend (38-39°C am Nachmittag) Ich kann alles erst nach 20:00 Uhr probieren.

 

[Richtel]

Schönen Urlaub gewünscht....️

 

[Bernard]

, weil ich die max temp von 55C auf 65C gestellt habe.

Max temp is not in the firmware , it's into arduremote setting, so you don't need to upload sketch again or only for frequency clock change.
What you find in the firmware is the factory setting and it is replace when mower in powered on by the one locate in the memory.

here my setting and temp, it's 32 deg outdoor.
Last year in really high outdoor temp i have trouble and set max temp to 78 deg and the teensy is always working ,so i never recommend this ,but it can work .

 

[Jozsi76]

Oh, thanks Bernard! I think I must be blind. I have search for the temp setting over a half hour in the pfodApp, before I updated it with the firmware
I hope 65C will be enough with a small heatsink on the teensy. If not, now I know where it is to set.

by the way: do you think this can help me to have in the sender firmware a better configuration of the gpio pins for the I2C communication?
Link: using the TwoWire object to create an instance of the I2C bus and assign the GPIO pins you want for the SDA & SCL

I mean to change the code in this part, as it described under the link above:

//********************* SETUP **********************************
void setup() {
Serial.begin(115200); // Serial interface start
Wire.begin(I2C_SDA, I2C_SCL); // I2C interface start

 

[Jozsi76]

Actually I think I have found the problem. I have loaded an i2c scanner on the esp32 and the Ina with the 100mohm do not answer. Maybe defective from factory
Another with 10mohm answers.
Tomorrow I will try it with the new Ina.

 

[Bernard]

I have one PCB sender , but i have test it for only 20 minutes.
It is connected to a boundary wire, so I can try using the mower with it for 2 or 3 hours and give you feedback to see if the signal is stable over long periods of time and if the temperature of the L298N is higher than my INA3221-based version

 

[Jozsi76]

So, after I tested more INAs, I can tell you, all the 4 pieces of the 100mOhm INAs (I have ordered these later than the 10mohm) was defect from factory.
Than I have desoldered a 100m resitor from it and soldered on an 10mohm INA. -> The sender works now fine.

A question to the voltage detection on the INAs: are here big differences between the INA modules, that these show around 1.0- 1.6V more than the reallity?

Here the charging & battery voltage was around 27,4V (measured with multimeter on the battery and on the charging pins.)

Is here an option to adjust these displayed voltages?

 

[Bernard]

So, after I tested more INAs, I can tell you, all the 4 pieces of the 100mOhm INAs (I have ordered these later than the 10mohm) was defect from factory.
Than I have desoldered a 100m resitor from it and soldered on an 10mohm INA. -> The sender works now fine.

A question to the voltage detection on the INAs: are here big differences between the INA modules, that these show around 1.0- 1.6V more than the reallity?
View attachment 1699View attachment 1700
Here the charging & battery voltage was around 27,4V (measured with multimeter on the battery and on the charging pins.)

Is here an option to adjust these displayed voltages?

For battery voltage, it's D5VoltageDrop into mower.h but it's strange that you need a negative value, i never test.

//**************************************************************
// ------- select one mainPCB -------------------
//**************************************************************
#define PCB_V101
//#define PCB_V103

#define D5VoltageDrop 0.8  //correction of battery voltage

For charge voltage i can do the same into futur firmware version.

 

[Bernard]

1 Hour test in full sun :
37 deg outdoor
Teensy at 70 deg stable
PCB sender INA226 : L298N and Resistor : i can't keep finger on it , so certainly between 50 and 60 deg.
Old Sender INA3231 : exactly same result.

 

[Jozsi76]

Ok, I have today very similarly values
Now i have added a small 40x40mm fan to the sender station photos tomorrow

But the good news: today was the first day for mowing
In random mode seems all good to work.
The bumper is a little bit too sensitive. tomorrow I will add a capacitor and test it. ( this is the original indego bumper sensor )
When it will works perfectly I will give for it a full describing and photos.

 

[Bernard]

Now i have added a small 40x40mm fan to the sender station photos tomorrow

It's fun , but I think you don't need it : I use this sender since now 4 years and never issue with L298N or resistor.
BUT the china oled screen never work more than 1 or 2 years.

The bumper is a little bit too sensitive

If issue is not mechanics : Try KY003 solution, but certainly need some 3d printing part ?

 

[Richtel]

Very nice, 70 C° ok, that's really hot and I was already worried at 65 C°!? According to the table, the Teensy will last at least 3 years at 600mhz and a maximum of 95C° ambient temperature. I could also put my ventilation back into the robot. They wouldn't be absolutely necessary!?



Sehr schön,
70 C° ok das ist schon ordentlich heiß und ich habe mir bei 65 C° schon sorgen gemacht!?
Laut Tabelle, hällt der Teensy wohl mindestens 3 Jahre bei 600mhz und maximal 95C° Umgebungstemperatur. da könnte ich meine Lüftung in den Roboter auch wieder zurückbauen. Die wären ja auch nicht unbedingt nötig!?

 

[Bernard]

Very often small fan are dead before teensy L298N ESP32 or other parts