BBBmini: Hardware tests fail

Hardware Linux
1

Hey all,

I’m still having problems getting this thing going. Both hardware tests for the IMU and Baro seem to be failing:

debian@beaglebone:~/ardupilot$ cp build/bbbmini/examples/* /home/debian/
debian@beaglebone:~/ardupilot$ sudo /home/debian/INS_generic
No INS backends available
AP_InertialSensor startup…
MPU9250: unexpected WHOAMI 0x0
MPU9250: Onboard IMU not detected
MPU9250: unexpected WHOAMI 0xFF
MPU9250: External IMU not detected
debian@beaglebone:~/ardupilot$ sudo /home/debian//BARO_generic
Barometer library test
Can’t read PROM

I’ve tried building the firmware on Ubuntu and directly on the BBB but get the same results. I’m powering the BBB and BBBmini from the 5v header on the mini. I’ve verified that both breakout boards are getting 3.3v. I’ve double checked all resistors and header solder connections, they seem to be fine. Any suggestions/direction on troubleshooting are appreciated.

Steve

2

Does the mpu9250 and ms5611 communicate with i2c or spi or a mix?

i2cdetect -r 0 shows:

debian@beaglebone:/dev$ sudo i2cdetect -r 0
WARNING! This program can confuse your I2C bus, cause data loss and worse!
I will probe file /dev/i2c-0 using read byte commands.
I will probe address range 0x03-0x77.
Continue? [Y/n] y
0 1 2 3 4 5 6 7 8 9 a b c d e f
00: – -- – -- – -- – -- – -- – -- –
10: – -- – -- – -- – -- – -- – -- – -- – --
20: – -- – -- UU – -- – -- – -- – -- – -- –
30: – -- – -- 34 – -- – -- – -- – -- – -- –
40: – -- – -- – -- – -- – -- – -- – -- – --
50: UU – -- – -- – -- – -- – -- – -- – -- –
60: – -- – -- – -- – -- – -- – -- – -- – --
70: – -- – -- – -- – --

i2c 1 doesn’t look to be enabled:

debian@beaglebone:/dev$ sudo i2cdetect -r 1
Error: Could not open file /dev/i2c-1' or/dev/i2c/1’: No such file or directory

i2cdetect -r 2 shows:

debian@beaglebone:/dev$ sudo i2cdetect -r 2
WARNING! This program can confuse your I2C bus, cause data loss and worse!
I will probe file /dev/i2c-2 using read byte commands.
I will probe address range 0x03-0x77.
Continue? [Y/n] y
0 1 2 3 4 5 6 7 8 9 a b c d e f
00: – -- – -- – -- – -- – -- – -- –
10: – -- – -- – -- – -- – -- – -- – -- – --
20: – -- – -- – -- – -- – -- – -- – -- – --
30: – -- – -- – -- – -- – -- – -- – -- – --
40: – -- – -- – -- – -- – -- – -- – -- – --
50: – -- – -- UU UU UU UU – -- – -- – -- – --
60: – -- – -- – -- – -- – -- – -- – -- – --
70: – -- – -- – -- – --

3

Hi Steve,

SPI is used for MPU9250 and MS5611. Can you post the result of ls /dev/sp* please.

Mirko

4

debian@beaglebone:~$ ls /dev/sp*
/dev/spidev1.0 /dev/spidev2.0 /dev/spidev2.1
debian@beaglebone:~$

5

Seems okay. Can you remove the MS5611 and than try INS_generic again. And than use only the MS5611 with BARO_generic . Just checked it here, no issues so far.

6

Thanks Mirko

Removed MS5611 and INS_generic gave same errors. Removed the IMU and the BARO_generic worked fine.

Found a small solder bridge under the header on the IMU. Removed it and both tests are working now.