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View Full Version : XV-11 LDS version 2.6 problem



jbot
06-21-2011, 03:33 PM
Hi everyone,

I'm a new owner of the famous XV-11. So, I decided to open it to take the LDS and put it in another project.
I decide to build the little circuit shown on the ROS webpage : http://www.ros.org/wiki/xv_11_laser_driver/Tutorials/Connecting%20the%20XV-11%20Laser%20to%20USB
But first issue, the LDS only sends me his version :

Piccolo Laser Distance Scanner
Copyright (c) 2009-2011 Neato Robotics, Inc.
All Rights Reserved

Loader V2.5.14010
CPU F2802x/c001
Serial WTD15411AA-0014401
LastCal [5371726C]
Runtime V2.6.14138
#Spin...3 ESCs or BREAK to abort.�:)

The 3V regulator is to low for the logic, so I put a 5V for the logic.

Now the LDS sends me values. (maybe not good).

First, I try with the ROS package for the XV-11 LDS, not working (see the video )
http://www.youtube.com/watch?v=zNnWEBKAhk4

Then, I only outputs the values of the sensor and print it in a terminal to see what is sent.
If the protocole is the same than in the 2.4 version, the char 0xFA is the first byte, so I put it in the beginning of the line :

FA 55 59 8 21 75 D1 CE 80 88 21 0 0
FA 21 0 80 80 7F 7A 68 55 80 0 71 21 8F 0
FA 55 0 6 65 65 6 4A D2 21 64 6 21 CD 0 D3 21 E6 5D 80 80 FD BE 0 0 0 80 80 3B BE 55 80 80 0 0 0 3F BE 80 80 0 0 0
FA 55 0 35 0 0 1E
FA 55 0 80 80 35 CB
FA 55 0 0 21 35 0 6F 55 80 35 21 0 80 6F DE 21 0 5 21 35 0
FA 21 35 80 0 80 0 6F 55 80 5 21 5C CA 23 D3 21 FC 0 80 35 39 55 0 4E 21 0 0
FA 21 0 0 80 0 0 E1 55 41 3C 80 2 9 D3 80 0 0 78 28 22 BD 28 56 37 80 6 0 E4 21 35 0 0 80 3B
FA 21 0 0 8C 29 2E 55 29 55 89 21 35 0 E7 21 2C 0 0 80 0 F BD 0 41 80 0 41 0 E9 80 0 1C 21 1C 1F
FA 21 1F 41 80 8D 10 BF 35 9B 25 80 41 0
FA 21 0 0 39 59 39 ED 80 5E 84 80 6C B1 41 21 7E 0 0 35 59
FA 55 0 87 80 C2 31 F0 80 98 21 0 6 53 C0 61 7 0 0 4B D4
FA 80 5C 52 21 F6 6 23 F3 80 A1 21 0 8F 38 F4 80 8F 9C 21 0 0 F5 21 3B 0 0 5 0
FA 21 0 5 0 41 72 F7 21 72 5F 21 0 0
FA 21 0 0 22 29 0 F9 80 35 0 21 4D 3 7A A0 55 1 7C 21 2D 3 F BE 21 1E 1 1 BE A2 21 7 21 1 1
FA 21 1 2 15 E7 4C A4 E7 2 1 80 2 3E BE 80 2 21 D5 2 A6 80 D2 21 1 2 2 A7 21 2 21 20 28 5D 55 28 34 80 2 E9
FA C1 18 2 80 2 2 2
FA 21 D9 21 2 2
FA 21 13 B 80 2 72 C1 21 2 1 F4 DB 5C 55 DB 6 CA CA 3 1A AE 55 80 DB 1 1 2E 1 82 8E 80 3 21 6A 0 B0 55 80 7 80 0 7 72 8E 55 0 0 86 36 0 B2 55 0 7D 7D 23 0 B3 21 0 7 21 23 0
FA 5D 80 7 21 84 7D C
FA 21 0 80 21 0 0
FA 21 0 80 21 0 80 6D 5D 0 35 0 0 80 C6 5D 80 80 0 80 35 0
FA 55 0 0 80 6 4 33 80 4 0 D 0
FA 21 0 42 21 42 50 85 BC 80 7 0 80 7 4B 33 21 35 0 80 80 1E BE 55 0 0 80 80 E2
FA 21 0 3A 80 7 CE 22 80 0 7 80 0 0
FA 21 27 8 80 0 B
FA 55 B 80 0 80 82 53 C3 55 80 B 21 1F 2D 38 C4 80 B 21 2D A 31 C5 55 2E 34 21 F6 15 32 21 0 0 2D 23 17 32 21 34 0 80 0 38 C8 55 0 B 21 F0 0 C9 55 A F7 7 7 80 5E 32 0 38 0 0 5 6E 55 80 0 0 21 0 0
FA 63 55 0 0 21 0 8 4 63 58 8 80 76 DE
FA 63 80 8A 0 59 46 2C CF 80 35 21 0 0 12 D0 21 86 0 8F 0 75 55 66 6 21 AB 0 3 D2 80 0 BC 80 CD 18
FA 21 55 E4 21 35 0 7A D4 80 35 21 0 0
FA 55 0 80 80 35 3F D6 21 0 0 80 35 43 D7 80 35 21 0 0

First strange thing : Not always the same length.

So, I put the LDS in the XV-11, and run it in a little room ( 1-2m² ) and it does not seem to go in the walls and the LCD print no error. So the sensor works ?

Anyone already use this 2.6 version of the LDS ? Does the protocol really change ?

Thanks,
Jbot

Xevel
06-21-2011, 03:44 PM
On this particular matter, I think it might be yet another version of the protocol, but right now I'm not sure at all (and have not time to work on it right now, event though I would LOVE to :s ).

By the way, if I may add something not perfectly relevant to the matter:

I recently realized that my lidar version 2.4 needed 5v (written on the silkscreen, on the PCB inside the lidar), even if it managed to work with only 3.3V.

Chunk
06-21-2011, 04:12 PM
Runtime V2.6.14138

I am so so jealous.. Can you post the reply to the 'Help' command to see if we have any new goodies in this LDS version 2.6?



The 3V regulator is to low for the logic, so I put a 5V for the logic.
This seems risky... did you measure how many volts the XV-11 sends into the LDS? You should probably match that voltage.. Sparkfun measured the voltage at 3.3V but then Xevel says the silkscreen says 5V..



Then, I only outputs the values of the sensor and print it in a terminal to see what is sent.
This data looks a lot like protocol 2.4 only horribly corrupted.. Can you run a test command like TestEncoder and post the data you receive? That would prove that your communication link is okay and the protocol is new..

Also I suspect some data was corrupted in the program you used to print the lidar data.. Can you use a normal terminal program with a binary log feature? Tera Term works for that.. Then look in the binary log with a text file.. this is how I did most of my reversing

Here's why I suspect the data you posted is corrupted: The lidar test program shows points which should be impossible since it should never find a packet OR a valid checksum in the kind of data you posted.. since it is apparently finding packets and valid checksums I am suspicious!

Xevel
06-21-2011, 04:42 PM
This seems risky... did you measure how many volts the XV-11 sends into the LDS? You should probably match that voltage.. Sparkfun measured the voltage at 3.3V but then Xevel says the silkscreen says 5V..


On Sparkfun's version, the silkscreen said 3.3v too. The PCB and the protocol changed between 2.1 and 2.4.



Here's why I suspect the data you posted is corrupted: The lidar test program shows points which should be impossible since it should never find a packet OR a valid checksum in the kind of data you posted.. since it is apparently finding packets and valid checksums I am suspicious!

I haven't had a look at the ROS code, does it really verify the checksum?

Chunk
06-21-2011, 06:52 PM
I haven't had a look at the ROS code, does it really verify the checksum?
Actually it looks like the ROS code was meant for the old/Sparkfun LDS.. it expects the old protocol although I still don't see how it could have worked because it also demands the old header of "5A, A5, 00, C0" before it should do anything.. unless the code is bugged!

Also that guide he linked says to use 3.0V which must be why it didn't work.. 3.3V might be enough for a 2.4 LDS but not 3.0V?

Xevel
06-21-2011, 08:05 PM
Actually it looks like the ROS code was meant for the old/Sparkfun LDS.. it expects the old protocol although I still don't see how it could have worked because it also demands the old header of "5A, A5, 00, C0" before it should do anything.. unless the code is bugged!

Makes sense, correct code for the 2.4 would never find a valid packet in this soup.

Chunk
06-21-2011, 08:45 PM
Hi jbot!

I can help you with reversing this protocol but I need a few things from you:

The reply from the 'Help' command

The reply from the 'TestEncoder' command - spin the LDS after sending the command and wait until the LDS speed is stable.. then copy out a few lines from the period with the stable speed

Some information about how you are capturing the binary data.. are you capturing it using a terminal program like TeraTerm with a binary logging feature?

Verification that the LDS spins counter clockwise.. if it spins clockwise it goes really crazy

I am really excited about your new find!

jbot
06-22-2011, 11:59 AM
Hi,

Thanks for your replies.

Here is the reply to Help command :

Help...3 ESCs or BREAK to abort...
GetVersion
Help
Log
SaveCal
SetSerial
Upload
Wanderer
Calibrate b16 b8 SunBlind loop2AA loop155
GetCal A B C LPT LFL LFT LFH IMX IB LPI LCH LPD NRX
SetCal A B C LPT LFL LFT LFH IMX IB LPI LCH LPD NRX
Spin Fake DotX DotI Text Hash79 Timing Foto RPS Pac
TestEncoder
OK
#


Now TestEncoder :

0000 0000530492 0000115151 00000087520283
0024 0000527354 0000246445 00000087030283
0048 0000525458 0000245674 00000087800283
0072 0000524035 0000244750 00000085220283
0096 0000521941 0000244344 00000085960283
0120 0000520507 0000243294 00000086880283
0144 0000517675 0000241904 00000084520283
0168 0000513634 0000239869 00000087470283
0192 0000510052 0000238116 00000087440283
0216 0000507643 0000237362 00000086860283
0240 0000506663 0000237280 00000085440283
0264 0000505689 0000236670 00000086840283
0288 0000504371 0000235920 00000087260283
0312 0000502442 0000234893 00000085930283
0336 0000500596 0000233784 00000085280283
0000 0000498362 0000108055 00000086080312
0024 0000496007 0000231880 00000085720312
0048 0000495765 0000231924 00000084160312
0072 0000496258 0000232087 00000084750312
0096 0000496302 0000232308 00000084980312
0120 0000495589 0000231572 00000085260312
0144 0000493339 0000230710 00000086880312
0168 0000490830 0000229101 00000085470312
0192 0000488833 0000228543 00000086470312
0216 0000487635 0000228071 00000085210312
0240 0000487432 0000228230 00000086200312
0264 0000487680 0000228379 00000084490312
0288 0000486953 0000227823 00000086670312
0312 0000486771 0000227659 00000087130312
0336 0000485807 0000227003 00000086610312
0000 0000484498 0000105150 00000085270326
0024 0000483325 0000225887 00000084910326
0048 0000483832 0000226548 00000086640326
0072 0000484690 0000226761 00000086810326
0096 0000485589 0000227303 00000084910326
0120 0000486074 0000227374 00000085380326
0144 0000484646 0000226621 00000085910326
0168 0000482833 0000225331 00000086950326
0192 0000480131 0000224413 00000087030326
0216 0000479267 0000224249 00000085050326
0240 0000479902 0000224728 00000087220326
0264 0000481014 0000225387 00000085470326
0288 0000480649 0000224843 00000087250326
0312 0000480473 0000224725 00000087390326
0336 0000479776 0000224250 00000087420326
0000 0000478199 0000103844 00000085490331

The LDS spins counter clockwise.

I will publish more information (and new dump) in a few hour, I really need to go!

Chunk
06-22-2011, 12:31 PM
I will publish more information (and new dump) in a few hour, I really need to go!
No problem.. this is a lot of good information!

I noticed TestEncoder says you're spinning as fast as 331 RPM (the number on the far right).. you might want to aim for 300 RPM or even go a little on the low side.. I think if you go past 330 RPM it starts skipping some readings

However that doesn't explain the protocol differences.. and it's clear you have a clean connection because the TestEncoder data is well formatted

The ROS library you used works ONLY with 2.1 LDSes.. so there's no way it could have worked for you even if the protocol hasn't changed in 2.6

Here are some links to libraries that work with 2.4 LDSes:
https://github.com/Xevel/NXV11
http://random-workshop.blogspot.com/2010/11/python-source-code.html

Once we figure out he protocol from the dump you'll post later, we can build on these routines since I assume the new protocol is more like 2.4 than 2.1

Xevel
06-22-2011, 01:22 PM
By the way, I have refactored heavily my code for the lidar while working on the Xachikoma, my code on github is old and, let's face it, a horrible ball of mud.
I removed dependencies to VPython and pyserial, changed the architecture to be really object oriented and fixed a few errors along the way. The visualization part is now in a separate file and is also much better and readable.
I haven't had time to release it yet, but I will in a few weeks.

Xevel
06-22-2011, 01:59 PM
Well, if anyone feels adventurous and wants to have a preview look, here are the main chunks of code (pun non intended).

Chunk
06-22-2011, 02:45 PM
While we're waiting for the logs I noticed there are some small changes in the command line.
I put the 2.4 output red and the 2.6 output in blue:

Help...3 ESCs or BREAK to abort...
Help...press ESC 3 times to abort...
GetVersion
GetVersion
Help
Help
Log
Log
SaveCal
SaveCal
SetBaud
SetSerial
SetSerial
Upload
Upload
Wanderer
Wanderer
Calibrate b16 b8 SunBlind loop2AA loop155
Calibrate b16 b8 SunBlind loop2AA loop155
GetCal A B C LPT LFL LFT LFH IMX IB LPI LCH LPD NRX
GetCal A B C LPT LFL LFT LFH IMX IB LPI LCH LPD ANG
SetCal A B C LPT LFL LFT LFH IMX IB LPI LCH LPD NRX
SetCal A B C LPT LFL LFT LFH IMX IB LPI LCH LPD ANG
Spin Fake DotX DotI Text Hash79 Timing Foto RPS Pac
Spin Fake DotX DotI Text Hash Timing Foto RPS Pac
TestEncoder
TestEncoder
OK
SUCCEEDED

Looks like they took away SetBaud which is too bad.. :genmad:

Maybe related: They added BREAK support as well.. these could be signs that they are doing something to the protocol..

Also there seems to be a joke added in the Spin parameters.. :veryhappy:

hash79
06-22-2011, 03:22 PM
No way!! :)

I almost have to buy another XV-11 so I get the module that says Hash79!! :)

Neato may have tightened the requirements for a constant RPM of a certain value, perhaps 300. I noticed when I was testing I would get a similar output when my LIDAR unit was spinning up and not at the proper RPM yet.

The motor driver circuit I was working on before was going to use the feedback from the sensor to control speed. I stopped development on this because at the time very fine motor control was not necessary. Xevel's video and my own testing showed just sending enough power to spin around 300 RPM was good enough.

Perhaps it is time to revive that design...

-Hash

hash79
06-22-2011, 03:29 PM
Jbot,

Not sure what your test setup looks like, but if you can connect your serial interface cable to the LIDAR unit while it is still inside the XV-11 and operating normally, you can get a dump of the serial data as the XV-11 sees it.

I did this and you can see my XV-11 on my bench in one of the YouTube videos, just connected ground and RX from my TTL -> 232 converter to the ground and TX line of the LIDAR unit and turned the thing on.

This may answer the question about the accuracy of the spin speed as well. You can put your finger on the rotating LIDAR unit as it is spinning up to vary the speed slightly and see if the unit outputs garbage. Keep in mind the XV-11 has feedback so it will try to fight you slowing it down by increasing power to the motor. If done for too long the XV-11 will stop and report an error.

-Hash

Xevel
06-22-2011, 03:41 PM
Spin Fake DotX DotI Text Hash79 Timing Foto RPS Pac


Excellent :D

Chunk
06-22-2011, 04:13 PM
I almost have to buy another XV-11 so I get the module that says Hash79!! :)

I am very jealous of jbot because I think he has the new version of the XV-11.. take a look at this page I found by googling for 2.6.14138:

http://neato.jimdo.com/2011/05/21/neato-mit-firmware-2-0-14418-aufgetaucht/

http://u.jimdo.com/www14/o/s448d9d8b9a85e6fe/img/i83ea83fd8b7a0c25/1305962040/std/neato-new-firmware-2-0-14418-copyright-cheaperthanyou.jpg

I am afraid I'm going to spam jbot to death with questions unless I just go out and find one of these XV-11s to try on my own.. :o

The XV-11 firmware is new too not just the LDS.. so what does the XV-11 'Help' command say? What does the XV-11 ' Help' command (with the added space) say?

And of course what does 'Spin hash79' do different from 'Spin hash'!

Inquiring minds need to know! I'm jonesing here!! :eek:

jbot
06-26-2011, 01:10 PM
Hi !

Sorry for this late posting, I'm very very busy :(
So I can't play with my new toy.

I put the LDS to ~300RPM using the testencoder command.

Then I have done a dump of the "distances" in HEX :
(Don't look at the 0001a030: etc, it's the address given by my dumping tool)


p, li { white-space: pre-wrap; } 0001a030: 41 1d 52 80 10 00 52 80 10 00 52 80 10 00 52 80
0001a040: 10 00 5c 75 fa be b5 18 52 80 10 00 52 80 10 00
0001a050: 52 80 10 00 52 80 10 00 9b 68 fa ea b5 18 52 80
0001a060: 10 00 52 80 10 00 52 80 10 00 52 80 10 00 4b 69
0001a070: fa bd b5 18 52 80 10 00 52 80 10 00 52 80 10 00
0001a080: 52 80 10 00 97 68 fa e9 b5 18 52 80 10 00 52 80
0001a090: 10 00 52 80 10 00 52 80 10 00 47 69 fa bc b5 18
0001a0a0: 52 80 10 00 52 80 10 00 52 80 10 00 52 80 10 00
0001a0b0: 93 68 fa e8 b5 18 52 80 10 00 52 80 10 00 52 80
0001a0c0: 10 00 52 80 10 00 43 69 fa ba b5 18 52 80 10 00
0001a0d0: 52 80 10 00 52 80 10 00 52 80 10 00 8b 68 fa e7
0001a0e0: b5 18 52 80 10 00 52 80 10 00 52 80 10 00 52 80
0001a0f0: 10 00 3f 69 fa b9 b5 18 52 80 10 00 52 80 10 00
0001a100: 52 80 10 00 52 80 10 00 87 68 fa e6 b5 18 52 80
0001a110: 10 00 52 80 10 00 52 80 10 00 52 80 10 00 3b 69
0001a120: fa b8 b5 18 52 80 10 00 52 80 10 00 52 80 10 00
0001a130: 52 80 10 00 83 68 fa e4 b5 18 52 80 10 00 52 80
0001a140: 10 00 52 80 10 00 52 80 10 00 33 69 fa b7 b5 18
0001a150: 52 80 10 00 52 80 10 00 52 80 10 00 52 80 10 00
0001a160: 7f 68 fa e3 b5 18 52 80 10 00 52 80 10 00 52 80
0001a170: 10 00 52 80 10 00 2f 69 fa b6 b5 18 52 80 10 00
0001a180: 52 80 10 00 52 80 10 00 52 80 10 00 7b 68 fa e2
0001a190: b5 18 52 80 10 00 52 80 10 00 52 80 10 00 52 80
0001a1a0: 10 00 2b 69 fa b5 b5 18 52 80 10 00 52 80 10 00
0001a1b0: 52 80 10 00 52 80 10 00 77 68 fa e1 b5 18 52 80
0001a1c0: 10 00 52 80 10 00 52 80 10 00 52 80 10 00 27 69
0001a1d0: fa b4 b5 18 52 80 10 00 52 80 10 00 52 80 10 00
0001a1e0: 52 80 10 00 73 68 fa e0 b5 18 52 80 10 00 52 80
0001a1f0: 10 00 52 80 10 00 52 80 10 00 23 69 fa b2 b5 18
0001a200: 52 80 10 00 52 80 10 00 52 80 10 00 52 80 10 00
0001a210: 6b 68 fa df b5 18 52 80 10 00 52 80 10 00 52 80
0001a220: 10 00 52 80 10 00 1f 69 fa b1 b5 18 52 80 10 00
0001a230: 52 80 10 00 52 80 10 00 52 80 10 00 67 68 fa de
0001a240: b5 18 52 80 10 00 52 80 10 00 52 80 10 00 52 80
0001a250: 10 00 1b 69 fa b0 b5 18 52 80 10 00 52 80 10 00
0001a260: 52 80 10 00 52 80 10 00 63 68 fa dd b5 18 52 80
0001a270: 10 00 52 80 10 00 52 80 10 00 52 80 10 00 17 69
0001a280: fa af 6f 13 52 80 10 00 52 80 10 00 52 80 10 00
0001a290: 52 80 10 00 55 22 fa db 6f 13 52 80 10 00 52 80
0001a2a0: 10 00 52 80 10 00 52 80 10 00 05 23 fa ae 6f 13
0001a2b0: 52 80 10 00 52 80 10 00 52 80 10 00 52 80 10 00
0001a2c0: 51 22 fa da 6f 13 52 80 10 00 52 80 10 00 52 80
0001a2d0: 10 00 52 80 10 00 01 23 fa ad 6f 13 52 80 10 00
0001a2e0: 52 80 10 00 52 80 10 00 52 80 10 00 4d 22 fa d9
0001a2f0: 6f 13 52 80 10 00 52 80 10 00 52 80 10 00 52 80
0001a300: 10 00 fd 22 fa ab 6f 13 52 80 10 00 52 80 10 00
0001a310: 52 80 10 00 52 80 10 00 45 22 fa d8 6f 13 52 80
0001a320: 10 00 52 80 10 00 52 80 10 00 52 80 10 00 f9 22
0001a330: fa aa 6f 13 52 80 10 00 52 80 10 00 52 80 10 00
0001a340: 52 80 10 00 41 22 fa d7 6f 13 52 80 10 00 52 80
0001a350: 10 00 52 80 10 00 52 80 10 00 f5 22 fa a9 6f 13
0001a360: 52 80 10 00 52 80 10 00 52 80 10 00 52 80 10 00
0001a370: 3d 22 fa d5 6f 13 52 80 10 00 52 80 10 00 52 80
0001a380: 10 00 52 80 10 00 ed 22 fa a8 6f 13 52 80 10 00
0001a390: 52 80 10 00 52 80 10 00 52 80 10 00 39 22 fa d4
0001a3a0: 6f 13 52 80 10 00 52 80 10 00 52 80 10 00 52 80
0001a3b0: 10 00 e9 22 fa a7 6f 13 52 80 10 00 52 80 10 00
0001a3c0: 52 80 10 00 52 80 10 00 35 22 fa d3 6f 13 52 80

0001a3d0: 10 00 52 80 10 00 52 80 10 00 52 80 10 00 e5 22
0001a3e0: fa a5 6f 13 52 80 10 00 52 80 10 00 52 80 10 00
0001a3f0: 52 80 10 00 2d 22 fa d2 6f 13 52 80 10 00 52 80
0001a400: 10 00 52 80 10 00 52 80 10 00 e1 22 fa a4 6f 13
0001a410: 52 80 10 00 52 80 10 00 52 80 10 00 52 80 10 00
0001a420: 29 22 fa d1 6f 13 52 80 10 00 52 80 10 00 52 80
0001a430: 10 00 52 80 10 00 dd 22 fa a3 6f 13 52 80 10 00
0001a440: 52 80 10 00 52 80 10 00 52 80 10 00 25 22 fa cf
0001a450: 6f 13 52 80 10 00 52 80 10 00 52 80 10 00 52 80
0001a460: 10 00 d5 22 fa a2 6f 13 52 80 10 00 52 80 10 00
0001a470: 52 80 10 00 52 80 10 00 21 22 fa ce 6f 13 52 80
0001a480: 10 00 52 80 10 00 52 80 10 00 52 80 10 00 d1 22
0001a490: fa a1 6f 13 52 80 10 00 52 80 10 00 52 80 10 00
0001a4a0: 52 80 10 00 1d 22 fa cd 6f 13 52 80 10 00 52 80
0001a4b0: 10 00 52 80 10 00 52 80 10 00 cd 22 fa a0 6f 13
0001a4c0: 52 80 10 00 52 80 10 00 52 80 10 00 52 80 10 00
0001a4d0: 19 22 fa cc 6f 13 52 80 10 00 52 80 10 00 52 80
0001a4e0: 10 00 52 80 10 00 c9 22 fa f8 6f 13 52 80 10 00
0001a4f0: 52 80 10 00 52 80 10 00 52 80 10 00 79 23 fa cb
0001a500: 6f 13 52 80 10 00 52 80 10 00 52 80 10 00 52 80
0001a510: 10 00 c5 22 fa f7 6f 13 52 80 10 00 52 80 10 00
0001a520: 52 80 10 00 52 80 10 00 75 23 fa ca 6f 13 52 80
0001a530: 10 00 52 80 10 00 52 80 10 00 52 80 10 00 c1 22
0001a540: fa f6 6f 13 52 80 10 00 52 80 10 00 52 80 10 00
0001a550: 52 80 10 00 71 23 fa c9 6f 13 52 80 10 00 52 80
0001a560: 10 00 52 80 10 00 52 80 10 00 bd 22 fa f5 6f 13
0001a570: 52 80 10 00 52 80 10 00 52 80 10 00 52 80 10 00
0001a580: 6d 23 fa c7 6f 13 52 80 10 00 52 80 10 00 52 80
0001a590: 10 00 52 80 10 00 b5 22 fa f4 6f 13 52 80 10 00
0001a5a0: 52 80 10 00 52 80 10 00 52 80 10 00 69 23 fa c6
0001a5b0: 6f 13 52 80 10 00 52 80 10 00 52 80 10 00 52 80
0001a5c0: 10 00 b1 22 fa f3 6f 13 52 80 10 00 52 80 10 00
0001a5d0: 52 80 10 00 52 80 10 00 65 23 fa c5 6f 13 52 80
0001a5e0: 10 00 52 80 10 00 52 80 10 00 52 80 10 00 ad 22
0001a5f0: fa f2 6f 13 52 80 10 00 52 80 10 00 52 80 10 00
0001a600: 52 80 10 00 61 23 fa c4 ce 0c 52 80 10 00 52 80
0001a610: 10 00 52 80 10 00 52 80 10 00 9b 01 fa f0 ce 0c
0001a620: 52 80 10 00 52 80 10 00 52 80 10 00 52 80 10 00
0001a630: 4b 02 fa c3 ce 0c 52 80 10 00 52 80 10 00 52 80
0001a640: 10 00 52 80 10 00 97 01 fa ef ce 0c 52 80 10 00
0001a650: 52 80 10 00 52 80 10 00 52 80 10 00 47 02 fa c2
0001a660: ce 0c 52 80 10 00 52 80 10 00 52 80 10 00 52 80
0001a670: 10 00 93 01 fa ee ce 0c 52 80 10 00 52 80 10 00
0001a680: 52 80 10 00 52 80 10 00 43 02 fa c0 ce 0c 52 80
0001a690: 10 00 52 80 10 00 52 80 10 00 52 80 10 00 8b 01
0001a6a0: fa ed ce 0c 52 80 10 00 52 80 10 00 52 80 10 00
0001a6b0: 52 80 10 00 3f 02 fa bf ce 0c 52 80 10 00 52 80
0001a6c0: 10 00 52 80 10 00 52 80 10 00 87 01 fa eb ce 0c
0001a6d0: 52 80 10 00 52 80 10 00 52 80 10 00 52 80 10 00
0001a6e0: 37 02 fa be ce 0c 52 80 10 00 52 80 10 00 52 80
0001a6f0: 10 00 52 80 10 00 83 01 fa ea ce 0c 52 80 10 00
0001a700: 52 80 10 00 52 80 10 00 52 80 10 00 33 02 fa bd
0001a710: ce 0c 52 80 10 00 52 80 10 00 52 80 10 00 52 80
0001a720: 10 00 7f 01 fa e9 ce 0c 52 80 10 00 52 80 10 00
0001a730: 52 80 10 00 52 80 10 00 2f 02 fa bb ce 0c 52 80
0001a740: 10 00 52 80 10 00 52 80 10 00 52 80 10 00 77 01
0001a750: fa e8 ce 0c 52 80 10 00 52 80 10 00 52 80 10 00
0001a760: 52 80 10 00 2b 02 fa ba ce 0c 52 80 10 00 52 80
0001a770: 10 00 52 80 10 00 52 80 10 00 73 01 fa e6 ce 0c
0001a780: 52 80 10 00 52 80 10 00 52 80 10 00 52 80 10 00
0001a790: 23 02 fa b9 ce 0c 52 80 10 00 52 80 10 00 52 80
0001a7a0: 10 00 52 80 10 00 6f 01 fa e5 ce 0c 52 80 10 00
0001a7b0: 52 80 10 00 52 80 10 00 52 80 10 00 1f 02 fa b8
0001a7c0: ce 0c 52 80 10 00 52 80 10 00 52 80 10 00 52 80
0001a7d0: 10 00 6b 01 fa e4 ce 0c 52 80 10 00 52 80 10 00
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Here, another dump :

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0002be00: e7 69 0f 52 80 68 00 52 80 68 00 52 80 68 00 52
0002be10: 80 68 00 65 3a fa ba 69 0f 52 80 68 00 52 80 68
0002be20: 00 52 80 68 00 52 80 68 00 b1 39 fa e7 69 0f 52
0002be30: 80 68 00 52 80 68 00 52 80 68 00 52 80 68 00 65
0002be40: 3a fa ba 69 0f 52 80 68 00 52 80 68 00 52 80 68
0002be50: 00 52 80 68 00 b1 39 fa e7 69 0f 52 80 68 00 52
0002be60: 80 68 00 52 80 68 00 52 80 68 00 65 3a fa ba 69
0002be70: 0f 52 80 68 00 52 80 68 00 52 80 68 00 52 80 68
0002be80: 00 b1 39 fa e7 69 0f 52 80 68 00 52 80 68 00 52
0002be90: 80 68 00 52 80 68 00 65 3a fa b9 69 0f 52 80 68
0002bea0: 00 52 80 68 00 52 80 68 00 52 80 68 00 ad 39 fa
0002beb0: e7 69 0f 52 80 68 00 52 80 68 00 52 80 68 00 52
0002bec0: 80 68 00 65 3a fa b9 69 0f 52 80 68 00 52 80 68
0002bed0: 00 52 80 68 00 52 80 68 00 ad 39 fa e6 69 0f 52
0002bee0: 80 68 00 52 80 68 00 52 80 68 00 52 80 68 00 61
0002bef0: 3a fa b9 69 0f 52 80 68 00 52 80 68 00 52 80 68
0002bf00: 00 52 80 68 00 ad 39 fa e6 69 0f 52 80 68 00 52
0002bf10: 80 68 00 52 80 68 00 52 80 68 00 61 3a fa b9 69
0002bf20: 0f 52 80 68 00 52 80 68 00 52 80 68 00 52 80 68
0002bf30: 00 ad 39 fa e6 69 0f 52 80 68 00 52 80 68 00 52
0002bf40: 80 68 00 52 80 68 00 61 3a fa b9 69 0f 52 80 68
0002bf50: 00 52 80 68 00 52 80 68 00 52 80 68 00 ad 39 fa
0002bf60: e6 69 0f 52 80 68 00 52 80 68 00 52 80 68 00 52
0002bf70: 80 68 00 61 3a fa b9 69 0f 52 80 68 00 52 80 68
0002bf80: 00 52 80 68 00 52 80 68 00 ad 39 fa e6 69 0f 52
0002bf90: 80 68 00 52 80 68 00 52 80 68 00 52 80 68 00 61
0002bfa0: 3a fa b9 69 0f 52 80 68 00 52 80 68 00 52 80 68
0002bfb0: 00 52 80 68 00 ad 39 fa e6 69 0f 52 80 68 00 52
0002bfc0: 80 68 00 52 80 68 00 52 80 68 00 61 3a fa b9 69
0002bfd0: 0f 52 80 68 00 52 80 68 00 52 80 68 00 52 80 68
0002bfe0: 00 ad 39 fa e6 69 0f 52 80 68 00 52 80 68 00 52
0002bff0: 80 68 00 52 80 68 00 61 3a fa b9 69 0f 52 80 68
0002c000: 00 52 80 68 00 52 80 68 00 52 80 68 00 ad 39 fa
0002c010: e6 69 0f 52 80 68 00 52 80 68 00 52 80 68 00 52
0002c020: 80 68 00 61 3a fa b9 69 0f 52 80 68 00 52 80 68
0002c030: 00 52 80 68 00 52 80 68 00 ad 39 fa e6 69 0f 52
0002c040: 80 68 00 52 80 68 00 52 80 68 00 52 80 68 00 61
0002c050: 3a fa b9 69 0f 52 80 68 00 52 80 68 00 52 80 68
0002c060: 00 52 80 68 00 ad 39 fa e6 69 0f 52 80 68 00 52
0002c070: 80 68 00 52 80 68 00 52 80 68 00 61 3a fa b9 69
0002c080: 0f 52 80 68 00 52 80 68 00 52 80 68 00 52 80 68
0002c090: 00 ad 39 fa e6 69 0f 52 80 68 00 52 80 68 00 52
0002c0a0: 80 68 00 52 80 68 00 61 3a fa b9 69 0f 52 80 68
0002c0b0: 00 52 80 68 00 52 80 68 00 52 80 68 00 ad 39 fa
0002c0c0: e6 69 0f 52 80 68 00 52 80 68 00 52 80 68 00 52
0002c0d0: 80 68 00 61 3a fa b8 69 0f 52 80 68 00 52 80 68
0002c0e0: 00 52 80 68 00 52 80 68 00 a9 39 fa e5 69 0f 52
0002c0f0: 80 68 00 52 80 68 00 52 80 68 00 52 80 68 00 5d
0002c100: 3a fa b8 69 0f 52 80 68 00 52 80 68 00 52 80 68
0002c110: 00 52 80 68 00 a9 39 fa e5 69 0f 52 80 68 00 52
0002c120: 80 68 00 52 80 68 00 52 80 68 00 5d 3a fa b8 69
0002c130: 0f 52 80 68 00 52 80 68 00 52 80 68 00 52 80 68
0002c140: 00 a9 39 fa e5 69 0f 52 80 68 00 52 80 68 00 52
0002c150: 80 68 00 52 80 68 00 5d 3a fa b8 69 0f 52 80 68
0002c160: 00 52 80 68 00 52 80 68 00 52 80 68 00 a9 39 fa
0002c170: e5 69 0f 52 80 68 00 52 80 68 00 52 80 68 00 52
0002c180: 80 68 00 5d 3a fa b8 69 0f 52 80 68 00 52 80 68
0002c190: 00 52 80 68 00 52 80 68 00 a9 39 fa e5 69 0f 52
0002c1a0: 80 68 00 52 80 68 00 52 80 68 00 52 80 68 00 5d
0002c1b0: 3a fa b8 69 0f 52 80 68 00 52 80 68 00 52 80 68
0002c1c0: 00 52 80 68 00 a9 39 fa e5 69 0f 52 80 68 00 52
0002c1d0: 80 68 00 52 80 68 00 52 80 68 00 5d 3a fa b8 69
0002c1e0: 0f 52 80 68 00 52 80 68 00 52 80 68 00 52 80 68
0002c1f0: 00 a9 39 fa e5 69 0f 52 80 68 00 52 80 68 00 52
0002c200: 80 68 00 52 80 68 00 5d 3a fa b8 69 0f 52 80 68
0002c210: 00 52 80 68 00 52 80 68 00 52 80 68 00 a9 39 fa
0002c220: e5 69 0f 52 80 68 00 52 80 68 00 52 80 68 00 52
0002c230: 80 68 00 5d 3a fa b8 69 0f 52 80 68 00 52 80 68
0002c240: 00 52 80 68 00 52 80 68 00 a9 39 fa e5 69 0f 52
0002c250: 80 68 00 52 80 68 00 52 80 68 00 52 80 68 00 5d
0002c260: 3a fa b8 69 0f 52 80 68 00 52 80 68 00 52 80 68
0002c270: 00 52 80 68 00 a9 39 fa e5 69 0f 52 80 68 00 52
0002c280: 80 68 00 52 80 68 00 52 80 68 00 5d 3a fa b8 69
0002c290: 0f 52 80 68 00 52 80 68 00 52 80 68 00 52 80 68
0002c2a0: 00 a9 39 fa e5 69 0f 52 80 68 00 52 80 68 00 52
0002c2b0: 80 68 00 52 80 68 00 5d 3a fa b8 69 0f 52 80 68
0002c2c0: 00 52 80 68 00 52 80 68 00 52 80 68 00 a9 39 fa
0002c2d0: e5 69 0f 52 80 68 00 52 80 68 00 52 80 68 00 52
0002c2e0: 80 68 00 5d 3a fa b8 69 0f 52 80 68 00 52 80 68
0002c2f0: 00 52 80 68 00 52 80 68 00 a9 39 fa e5 69 0f 52
0002c300: 80 68 00 52 80 68 00 52 80 68 00 52 80 68 00 5d
0002c310: 3a fa b7 69 0f 52 80 68 00 52 80 68 00 52 80 68
0002c320: 00 52 80 68 00 a5 39 fa e4 69 0f 52 80 68 00 52
0002c330: 80 68 00 52 80 68 00 52 80 68 00 59 3a fa b7 69
0002c340: 0f 52 80 68 00 52 80 68 00 52 80 68 00 52 80 68
0002c350: 00 a5 39 fa e4 69 0f 52 80 68 00 52 80 68 00 52
0002c360: 80 68 00 52 80 68 00 59 3a fa b7 69 0f 52 80 68
0002c370: 00 52 80 68 00 52 80 68 00 52 80 68 00 a5 39 fa
0002c380: e4 69 0f 52 80 68 00 52 80 68 00 52 80 68 00 52
0002c390: 80 68 00 59 3a fa b7 69 0f 52 80 68 00 52 80 68
0002c3a0: 00 52 80 68 00 52 80 68 00 a5 39 fa e4 69 0f 52
0002c3b0: 80 68 00 52 80 68 00 52 80 68 00 52 80 68 00 59
0002c3c0: 3a fa b7 69 0f 52 80 68 00 52 80 68 00 52 80 68
0002c3d0: 00 52 80 68 00 a5 39 fa e4 69 0f 52 80 68 00 52
0002c3e0: 80 68 00 52 80 68 00 52 80 68 00 59 3a fa b7 69
0002c3f0: 0f 52 80 68 00 52 80 68 00 52 80 68 00 52 80 68
0002c400: 00 a5 39 fa e4 69 0f 52 80 68 00 52 80 68 00 52
0002c410: 80 68 00 52 80 68 00 59 3a fa b7 69 0f 52 80 68
0002c420: 00 52 80 68 00 52 80 68 00 52 80 68 00 a5 39 fa
0002c430: e4 69 0f 52 80 68 00 52 80 68 00 52 80 68 00 52
0002c440: 80 68 00 59 3a fa b7 69 0f 52 80 68 00 52 80 68
0002c450: 00 52 80 68 00 52 80 68 00 a5 39 fa e4 69 0f 52
0002c460: 80 68 00 52 80 68 00 52 80 68 00 52 80 68 00 59
0002c470: 3a fa b7 69 0f 52 80 68 00 52 80 68 00 52 80 68
0002c480: 00 52 80 68 00 a5 39 fa e4 69 0f 52 80 68 00 52
0002c490: 80 68 00 52 80 68 00 52 80 68 00 59 3a fa b7 69
0002c4a0: 0f 52 80 68 00 52 80 68 00 52 80 68 00 52 80 68
0002c4b0: 00 a5 39 fa e4 69 0f 52 80 68 00 52 80 68 00 52
0002c4c0: 80 68 00 52 80 68 00 59 3a fa b7 69 0f 52 80 68
0002c4d0: 00 52 80 68 00 52 80 68 00 52 80 68 00 a5 39 fa
0002c4e0: e4 69 0f 52 80 68 00 52 80 68 00 52 80 68 00 52

0002c4f0: 80 68 00 59 3a fa b7 69 0f 52 80 68 00 52 80 68
0002c500: 00 52 80 68 00 52 80 68 00 a5 39 fa e4 69 0f 52
0002c510: 80 68 00 52 80 68 00 52 80 68 00 52 80 68 00 59
0002c520: 3a fa b7 69 0f 52 80 68 00 52 80 68 00 52 80 68
0002c530: 00 52 80 68 00 a5 39 fa e4 69 0f 52 80 68 00 52
0002c540: 80 68 00 52 80 68 00 52 80 68 00 59 3a fa b7 69
0002c550: 0f 52 80 68 00 52 80 68 00 52 80 68 00 52 80 68
0002c560: 00 a5 39 fa e4 69 0f 52 80 68 00 52 80 68 00 52
0002c570: 80 68 00 52 80 68 00 59 3a fa b7 69 0f 52 80 68
0002c580: 00 52 80 68 00 52 80 68 00 52 80 68 00 a5 39 fa
0002c590: e4 69 0f 52 80 68 00 52 80 68 00 52 80 68 00 52
0002c5a0: 80 68 00 59 3a fa b7 69 0f 52 80 68 00 52 80 68
0002c5b0: 00 52 80 68 00 52 80 68 00 a5 39 fa e3 69 0f 52
0002c5c0: 80 68 00 52 80 68 00 52 80 68 00 52 80 68 00 55
0002c5d0: 3a fa b6 69 0f 52 80 68 00 52 80 68 00 52 80 68
0002c5e0: 00 52 80 68 00 a1 39 fa e3 69 0f 52 80 68 00 52
0002c5f0: 80 68 00 52 80 68 00 52 80 68 00 55 3a fa b6 69
0002c600: 0f 52 80 68 00 52 80 68 00 52 80 68 00 52 80 68
0002c610: 00 a1 39 fa e3 69 0f 52 80 68 00 52 80 68 00 52
0002c620: 80 68 00 52 80 68 00 55 3a fa b6 69 0f 52 80 68
0002c630: 00 52 80 68 00 52 80 68 00 52 80 68 00 a1 39 fa
0002c640: e3 69 0f 52 80 68 00 52 80 68 00 52 80 68 00 52
0002c650: 80 68 00 55 3a fa b6 69 0f 52 80 68 00 52 80 68
0002c660: 00 52 80 68 00 52 80 68 00 a1 39 fa e3 69 0f 52
0002c670: 80 68 00 52 80 68 00 52 80 68 00 52 80 68 00 55
0002c680: 3a fa b6 69 0f 52 80 68 00 52 80 68 00 52 80 68
0002c690: 00 52 80 68 00 a1 39 fa e3 69 0f 52 80 68 00 52
0002c6a0: 80 68 00 52 80 68 00 52 80 68 00 55 3a fa b6 69
0002c6b0: 0f 52 80 68 00 52 80 68 00 52 80 68 00 52 80 68
0002c6c0: 00 a1 39 fa e3 69 0f 52 80 68 00 52 80 68 00 52
0002c6d0: 80 68 00 52 80 68 00 55 3a fa b6 69 0f 52 80 68
0002c6e0: 00 52 80 68 00 52 80 68 00 52 80 68 00 a1 39 fa
0002c6f0: e3 69 0f 52 80 68 00 52 80 68 00 52 80 68 00 52
0002c700: 80 68 00 55 3a fa b6 69 0f 52 80 68 00 52 80 68
0002c710: 00 52 80 68 00 52 80 68 00 a1 39 fa e3 69 0f 52
0002c720: 80 68 00 52 80 68 00 52 80 68 00 52 80 68 00 55
0002c730: 3a fa b6 69 0f 52 80 68 00 52 80 68 00 52 80 68
0002c740: 00 52 80 68 00 a1 39 fa e3 69 0f 52 80 68 00 52
0002c750: 80 68 00 52 80 68 00 52 80 68 00 55 3a fa b6 69
0002c760: 0f 52 80 68 00 52 80 68 00 52 80 68 00 52 80 68
0002c770: 00 a1 39 fa e3 69 0f 52 80 68 00 52 80 68 00 52
0002c780: 80 68 00 52 80 68 00 55 3a fa b6 69 0f 52 80 68
0002c790: 00 52 80 68 00 52 80 68 00 52 80 68 00 a1 39 fa
0002c7a0: e3 69 0f 52 80 68 00 52 80 68 00 52 80 68 00 52
0002c7b0: 80 68 00 55 3a fa b6 69 0f 52 80 68 00 52 80 68
0002c7c0: 00 52 80 68 00 52 80 68 00 a1 39 fa e3 69 0f 52
0002c7d0: 80 68 00 52 80 68 00 52 80 68 00 52 80 68 00 55
0002c7e0: 3a fa b6 69 0f 52 80 68 00 52 80 68 00 52 80 68
0002c7f0: 00 52 80 68 00 a1 39 fa e3 69 0f 52 80 68 00 52
0002c800: 80 68 00 52 80 68 00 52 80 68 00 55 3a fa b6 69
0002c810: 0f 52 80 68 00 52 80 68 00 52 80 68 00 52 80 68
0002c820: 00 a1 39 fa e3 69 0f 52 80 68 00 52 80 68 00 52
0002c830: 80 68 00 52 80 68 00 55 3a fa b6 69 0f 52 80 68
0002c840: 00 52 80 68 00 52 80 68 00 52 80 68 00 a1 39 fa
0002c850: e3 69 0f 52 80 68 00 52 80 68 00 52 80 68 00 52
0002c860: 80 68 00 55 3a fa b6 69 0f 52 80 68 00 52 80 68
0002c870: 00 52 80 68 00 52 80 68 00 a1 39 fa e3 69 0f 52
0002c880: 80 68 00 52 80 68 00 52 80 68 00 52 80 68 00 55
0002c890: 3a fa b7 69 0f 52 80 68 00 52 80 68 00 52 80 68
0002c8a0: 00 52 80 68 00 a5 39 fa e4 69 0f 52 80 68 00 52
0002c8b0: 80 68 00 52 80 68 00 52 80 68 00 59 3a fa b7 69
0002c8c0: 0f 52 80 68 00 52 80 68 00 52 80 68 00 52 80 68
0002c8d0: 00 a5 39 fa e4 69 0f 52 80 68 00 52 80 68 00 52
0002c8e0: 80 68 00 52 80 68 00 59 3a fa b7 69 0f 52 80 68
0002c8f0: 00 52 80 68 00 52 80 68 00 52 80 68 00 a5 39 fa
0002c900: e4 69 0f 52 80 68 00 52 80 68 00 52 80 68 00 52
0002c910: 80 68 00 59 3a fa b7 69 0f 52 80 68 00 52 80 68
0002c920: 00 52 80 68 00 52 80 68 00 a5 39 fa e4 69 0f 52
0002c930: 80 68 00 52 80 68 00 52 80 68 00 52 80 68 00 59
0002c940: 3a fa b7 69 0f 52 80 68 00 52 80 68 00 52 80 68
0002c950: 00 52 80 68 00 a5 39 fa e4 69 0f 52 80 68 00 52
0002c960: 80 68 00 52 80 68 00 52 80 68 00 59 3a fa b7 69
0002c970: 0f 52 80 68 00 52 80 68 00 52 80 68 00 52 80 68
0002c980: 00 a5 39 fa e4 69 0f 52 80 68 00 52 80 68 00 52
0002c990: 80 68 00 52 80 68 00 59 3a fa b7 69 0f 52 80 68
0002c9a0: 00 52 80 68 00 52 80 68 00 52 80 68 00 a5 39 fa
0002c9b0: e4 69 0f 52 80 68 00 52 80 68 00 52 80 68 00 52
0002c9c0: 80 68 00 59 3a fa b7 69 0f 52 80 68 00 52 80 68
0002c9d0: 00 52 80 68 00 52 80 68 00 4f 4b 0a 0d 23



Sorry for this veryyyyy long post ;)

About the ' Help' command, it gives that :
#
Help?
#

Xevel
06-26-2011, 02:28 PM
Thanks jbot !

First thing : when it writes "Help?", it means that it can't understand what you typed. Maybe the line feed character is important ? Also, try to add echo of what you type in your console, it's easier to pinpoint the problem.


Second thing : it looks like in fact it's could be the same protocol as 2.4...
In your last dumped data, the 0xFA have a much more regular pattern than in the data you posted in the first post.
I extracted what should have been a packet, and... yeah, it IS a 2.4 packet. At least, same length and the checksum works.


fa e4 69 0f 52 80 68 00 52 80 68 00 52 80 68 00 52 80 68 00 59 3aThe following byte is a 0xFA. The checksum 59 3A matches the checksum computed on the 20 first bytes of the packet.

Data in the packet seem to tell us that all sample are invalid (in 52 80 68 00 for example, 80 means that the "bad data" flag is set), and that it was spinning at 61RPM (in 2.4, 0F 69 would have been the speed, little-endian and shifted 6 times => 0x0F69>>6 ~= 61rpm ) O_o

Maybe some things have changed, but I guess you should try to have a look at your data with my old visualization tool : https://github.com/Xevel/NXV11 (in /XV-11_test_python/ (https://github.com/Xevel/NXV11/tree/master/XV-11_test_python) )

Xevel
06-26-2011, 02:39 PM
But the "ID" field of the 2.4 protocol (the byte directly after 0xFA) does not seem to work at all here. It keeps jumping around, around 0xB6 and 0xE4, and it does not rise progressively like it should have...

Curious and curiouser.

jbot
06-27-2011, 08:02 AM
Hi guys !

Good news (I hope ;) ), I manage to have a quite good dump ! (see in attachment).

The index seems correct, and the number of byte per message too. (and speed of 292 RPM)

The last few lines in the file are some good datas I found in the dump (good index).

I don't know why my dump is better, maybe because I use the FTDI of the arduino board without the arduino (Thanks Xevel for the advice ^^).

I'm going to try the framework done by Xevel (with the 2.4 version) to see if it works.

jbot
06-27-2011, 08:52 AM
It works !


YouTube - ‪Lidar begins to work...‬‏

The software from xevel works with the 2.6 LDS.
I'm going to see what was wrong before. Maybe the arduino, maybe not enought power for the logic or the motor... still investigating but my LDS is not broken !

Thanks everyone for your help.

If you want me to do some test on the new LDS, let me know ^^

Chunk
06-27-2011, 11:33 AM
It works !
If you want me to do some test on the new LDS, let me know ^^
This is great news jbot! I was hoping it was just a matter of dropped bytes and that looks like all it was. I looked at the logs and did not see anything new or different about the protocol.. I guess this release does not add anything major that we can detect.

By the way, that ' Help' command to get hidden commands was for the robot, over USB, not the LDS. I don't think the LDS has hidden commands based on my auto-complete experiments running through the alphabet.

If you want some stuff on the LDS to try I would suggest checking 'spin hash79' to see if there is something new there or if it's the same old spin hash command. 'log' is interesting but I don't think anybody knows how to reverse engineer that yet. And 'wanderer' seems to be another easter egg that shows a small picture of a heart.

jbot
06-29-2011, 07:44 AM
Hi guys !

FYI, the motor turns at 300RPM for about 3.7V and 230RPM for 3V.
The logic works with 3.3V regulator and FTDI.

I'm currently using a 3V regulator for the motor and 3.3V FTDI for usbconversion and it works great !

Today I have done a ROS package to use the XV-11 v2.4 and v2.6 : https://github.com/JBot/smart-robotics-ros-pkg/tree/master/neato_xv11_lds

It's inspired by Xevel software :D

The code is not finished yet but it works (I don't use the checksum, nor the error flags), I can see the map of my room in Rviz.

Edit : I now use the <"invalid data" flag>.

jbot
07-01-2011, 02:47 PM
Hello !

Humm, this time I really think I break my LDS...
Wednesday it was working, and when I try to use it yesterday, nothing output from it...
I can send command, and the LDS answers the right things for "help" "getversion" but nothing for "testencoder".
So, maybe the encoder is broken.

I've tried to put the LDS into the XV-11 robot, but it says me that there is an LDS error.

Maybe I make a short-circuit which destroy something inside or the fact I power it with 3.3V has a bad behaviour on a component.

EDIT : Very strange behaviour, after 5 tests non-working on the XV-11, the 6th try has worked... Now the LDS module work again with my computer! Very strange...

Chunk
07-02-2011, 01:58 AM
EDIT : Very strange behaviour, after 5 tests non-working on the XV-11, the 6th try has worked... Now the LDS module work again with my computer! Very strange...

Could it be that 3.3V isn't quite enough? The silk screen says 5V0.. maybe it's a little marginal at lower voltages?

Chunk
07-02-2011, 05:11 PM
Here's an idea.. I had a problem with another project where the microcontroller was not 5V tolerant but I used a 5V USB TTL serial adapter. Everything worked fine most of the time but then the chip inputs would go crazy and see stuck 0s or 1s.. removing power for a while let it work again

Once I figured out what I was doing wrong I went to a 3.3V TTL serial and the problem never came back...

I have measured the signals from the XV-11 and although the power is 5V the UART is 3.3V in both directions.. is your serial interface 5V or 3.3V?

jbot
07-03-2011, 06:45 AM
My thought was a power level problem too, but I tried with a 3.3V and with a 5V FTDI and both of them have the same problem.

But the worst is that the LDS does not work on the XV-11... So, logically, it's not a power problem.

When I'll have time, I will try the encoder output. It's strange to be able to communicate with the microcontroller but not to have any values when the motor turns. The behaviour is the same if the motor turns or not, I can send commands, and get the answers (exept for testencoder).

ringo42
07-21-2011, 12:15 PM
Jbot, did you get it fixed?

jbot
07-22-2011, 12:38 AM
Sadly, not yet..;

I have contacted Neato Robotics to have some information and they answer me :
"The RPS error is a software glitch.

If you haven’t already, please perform a manual shut down / reset by selecting: Menu > Support > Shut Down.

If this process does not cure the RPS error, we may need to replace your robot."

So, I will try this when I'll get home and take you informed.

andyhol
01-04-2014, 07:17 PM
I hope some one is still watching this thread.

I just picked up a new(?) XV11 range finder from ebay. I am having some issues that I would like some help with.

The first load of date is a clip showing ascii first and then hex data, The ascii seems correct but the hex seems wrong. this is my first try.

My second try is next, with some what looks like good data, but a harder look reveals a bunch of errors.

The next try and the rest went back to the data that looked like the first. Some questions come to mind, is the laser visible? Can someone point me to or tell me how to run some kind of a internal diagnostic on it? The communication seems to be good but the data is weird.

Any thoughts

Thanks
Andy

First Try Data

LoaderÿV2.4.13386

CPUÿF2802x/c600

SerialÿAAA44410AA-0006306

LastCalÿ[2010290450]

RuntimeÿV2.6.15295

#Spin...press ESC 3 times to abort.þOK

Piccolo Laser Distance Scanner

Copyright (c) 2009-2010 Neato Robotics, Inc.

All Rights Reserved


LoaderÿV2.4.13386

CPUÿF2802x/c600

SerialÿAAA44410AA-0006306

LastCalÿ[2010290450]

RuntimeÿV2.6.15295

#Spin...press ESC 3 times to abort.þOK

Piccolo Laser Distance Scanner

Copyright (c) 2009-2010 Neato Robotics, Inc.

All Rights Reserved


LoaderÿV2.4.13386

CPUÿF2802x/c600

SerialÿAAA44410AA-0006306

LastCalÿ[2010290450]

RuntimeÿV2.6.15295

#Spin...press ESC 3 times to abort.þ 4F 4B 0A 0D 50 69 63 63 6F 6C 6F 20 4C 61 73 65 72 20 44 69 73 74 61 6E 63 65 20 53 63 61 6E 6E 65 72 0A 0D 43 6F 70 79 72 69 67 68 74 20 28 63
29 20 32 30 30 39 2D 32 30 31 30 20 4E 65 61 74 6F 20 52 6F 62 6F 74 69 63 73 2C 20 49 6E 63 2E 0A 0D 41 6C 6C 20 52 69 67 68 74 73 20 52 65 73 65 72 76 65 64 0A 0D 0A 0D 4C 6F 61 64 65 72 09 56 32 2E 34 2E 31 33 33 38 36 0A 0D 43 50 55 09 46 32 38 30 32 78 2F 63 36 30 30 0A 0D 53 65 72 69 61 6C 09 41 41 41 34 34 34 31 30 41 41 2D 30 30 30 36 33 30 36 0A 0D 4C 61 73 74 43 61 6C 09 5B 32 30 31 30 32 39 30 34 35 30 5D 0A 0D 52 75 6E 74 69 6D 65 09 56 32 2E 36 2E 31 35 32 39 35 0A 0D 23
53 70 69 6E 2E 2E 2E 70 72 65 73 73 20 45 53 43 20 33 20 74 69 6D 65 73 20 74 6F 20 61 62 6F 72 74 2E FE
4F 4B 0A 0D 50 69 63 63 6F 6C 6F 20 4C 61 73 65 72 20 44 69 73 74 61 6E 63 65 20 53 63 61 6E 6E 65 72 0A 0D 43 6F 70 79 72 69 67 68 74 20
28 63 29 20 32 30 30 39 2D 32 30 31 30 20 4E 65 61 74 6F 20 52 6F 62 6F 74 69 63 73 2C 20 49 6E 63 2E 0A 0D 41 6C 6C 20 52 69 67 68 74 73 20 52 65 73 65 72 76 65 64 0A 0D 0A 0D 4C 6F 61 64 65 72 09 56 32 2E 34 2E 31 33 33 38 36 0A 0D 43 50 55 09 46 32 38 30 32 78 2F 63 36 30 30 0A 0D 53 65 72 69 61 6C 09 41 41 41 34 34 34 31 30 41 41 2D 30 30 30 36 33 30 36 0A 0D 4C 61 73 74 43 61 6C 09 5B 32 30 31 30 32 39 30 34 35 30 5D 0A 0D 52 75 6E 74 69 6D 65 09 56 32 2E 36 2E 31 35 32 39 35 0A 0D 23
53
70 69 6E 2E 2E 2E 70 72 65 73 73 20 45 53 43 20 33 20 74 69 6D 65 73 20 74 6F 20 61 62 6F 72 74 2E FE
4F 4B 0A 0D 50 69 63 63 6F 6C 6F 20 4C 61 73 65 72 20 44 69 73 74 61 6E 63 65 20 53 63 61 6E 6E 65 72 0A 0D 43 6F 70 79 72 69 67 68 74 20 28 63
29 20 32 30 30 39 2D 32 30 31 30 20 4E 65 61 74 6F 20 52 6F 62 6F 74 69 63 73 2C 20 49 6E 63 2E 0A 0D 41 6C 6C 20 52 69 67 68 74 73 20 52 65 73 65 72 76 65 64 0A 0D 0A 0D 4C 6F 61 64 65 72 09 56 32 2E 34 2E 31 33 33 38 36 0A 0D 43 50 55 09 46 32 38 30 32 78 2F 63 36 30 30 0A 0D 53 65 72 69 61 6C 09 41 41 41 34 34 34 31 30 41 41 2D 30 30 30 36 33 30 36 0A 0D 4C 61 73 74 43 61 6C 09 5B 32 30 31 30 32 39 30 34 35 30 5D 0A 0D 52 75 6E 74 69 6D 65 09 56 32 2E 36 2E 31 35 32 39 35 0A 0D 23

Second try (I formatted the first part of this)
FA E2 D1 6B 89 01 FC 01 21 80 FC 01 21 80 FC 01 21 80 FC 01 26 3C
FA E4 C0 6B 9B 01 9C 00 21 80 9C 00 21 80 9C 00 21 80 9C 00 4D 3F
FA E5 C0 6B C3 01 3F 01 21 80 3F 01 21 80 3F 01 21 80 3F 01 71 09
FA E6 C0 6B CA 01 25 01 21 80 25 01 21 80 25 01 21 80 25 01 52 04
FA E7 C0 6B 0B 02 2B 01 21 80 2B 01 21 80 2B 01 21 80 2B 01 D5 26
FA E9 01 6C 02 80 00 00 21 80 00 00 F2 04 0F 00 21 80 0F 00 5F 27
FA EA 01 6C 21 80 0F 00 21 80 0F 00 35 80 00 00 21 80 00 00 68 15
FA EB 01 6C 21 80 00 00 21 80 00 00 02 80 00 00 21 80 00 00 24 0F
FA EC 01 6C 35 03 6B 00 21 80 6B 00 21 80 6B 00 21 80 6B 00 2A 3D
FA EE 01 6C 35 80 00 00 21 80 00 00 21 80 00 00 21 80 00 00 28 1A
FA EF 18 6C 35 80 00 00 21 80 00 00 21 80 00 00 21 80 00 00 21 80 00 00 21 80 00 00 9B 51
FA CC B9 6B 35 80 00 00 21 80 00 00 21 80 00 00 21 80 00 00 9F 51
FA CD B9 6B 9C 06 30 00 21 80 30 00 21 80 30 00 21 80 30 00 9A 14
FA CF B9 6B EF 05 3F 00 21 80 3F 00 21 80 3F 00 21 80 3F 00 1C 43
FA D0 B9 6B F1 03 12 00 21 80 12 00 21 80 12 00 21 80 12 00 2D 35
FA D1 9D 6B EB 03 6D 00 21 80 6D 00 21 80 6D 00 21 80 6D 00 68 34
FA D2 9D 6B CD 03 71 00 21 80 71 00 21 80 71 00 21 80 71 00 C0 26
FA D4 9D 6B A9 03 C7 00 21 80 C7 00 21 80 C7 00 21 80 C7 00 56 31
FA D5 9D 6B 9C 03 E8 00 21 80 E8 00 21 80 E8 00 21 80 E8 00 CF 35
FA D6 9D 6B 8A 03 E1 00 21 80 E1 00 21 80 E1 00 21 80 E1 00 80 2A
FA D7 8F 6B 92 03 48 01 21 80 48 01 21 80 48 01 21 80 48 01 B7 42
FA D9 8F 6B 96 03 0C 01 21 80 0C 01 21 80 0C 01 21 80 0C 01 D3 30
FA DA 8F 6B 9E 03 A0 00 21 80 A0 00 21 80 A0 00 21 80 A0 00 FB 10
FA DB 8F 6B AF 03 74 00 21 80 74 00 21 80 74 00 21 80 74 00 E3 0A
FA DC 8F 6B 10 05 90 00 21 80 90 00 21 80 90 00 21 80 90 00 B4 44
FA DE 7F 6B C0 02 17 00 21 80 17 00 21 80 17 00 21 80 17 00 8C 64
FA DF 7F 6B E9 02 13 00 21 80 13 00 21 80 13 00 21 80 13 00 BC 77
FA E0 7F 6B 00 02 6D 00 21 80 6D 00 21 80 6D 00 21 80 6D 00 22 21
FA E1 7F 6B 9D 01 35 01 21 80 35 01 21 80 35 01 21 80 35 01 0E 32
FA E3 5E 6B 86 01 DE 01 21 80 DE 01 21 80 DE 01 21 80 DE 01 B3 3D
FA E4 5E 6B 9B 01 93 00 21 80 93 00 21 80 93 00 21 80 93 00 4F 5A
FA E5 5E 6B C5 01 55 01 21 80 55 01 21 80 55 01 21 80 55 01 BE 2F
FA E6 5E 6B CC 01 35 01 21 80 35 01 21 80 35 01 21 80 35 01 A2 28
FA E8 5E 6B 32 02 F6 00 21 80 F6 00 21 80 F6 00 21 80 F6 00 BF 46
FA E9 94 6B 02 80 00 00 21 80 00 00 23 80 00 00 22 80 00 00 A5 13
FA EB 94 6B 21 80 00 00 35 80 00 00 21 80 00 00 21 80 00 00 9B 25
FA EC 94 6B 21 80 00 00 2A 03 41 00 21 80 41 00 21 80 41 00 75 09
FA ED 94 6B 21 80 41 00 19 03 57 00 21 80 57 00 21 80 57 00 67 19
FA EF C1 6B 21 80 07 00 0E 41 52 00 21 80 52 00 21 80 52 00 35 76
FA F0 C1 6B 21 80 52 00 C2 03 56 00 21 80 56 00 21 80 56 00 BE 5F
FA F1 C1 6B 21 80 56 00 99 03 20 00 21 80 20 00 21 80 20 00 34 57
FA F2 C1 6B 21 80 20 00 35 80 00 00 21 80 00 00 21 80 00 00 B7 5A
FA F4 C1 6B 21 80 00 00 35 80 00 00 21 80 00 00 21 80 00 00 BF 52
FA F5 E0 6B 21 80 00 00 35 80 00 00 21 80 00 00 21 80 00 00 C3 71
FA F6 E0 6B 21 80 00 00 35 80 00 00 21 80 00 00 21 80 00 00 C7 71
FA F7 E0 6B 21 80 00 00 35 80 00 00 21 80 00 00 21 80 00 00 CB 71
FA F9 E0 6B 21 80 00 00 35 80 00 00 21 80 00 00 21 80 00 00 D3 71
FA A0 E0 6B 21 80 00 00 88 40 2F 00 21 80 2F 00 21 80 2F 00 9A 7E
FA A1 A1 6B 21 80 2F 00 02 80 00 00 21 80 00 00 21 80 00 00 D3 36
FA A2 A1 6B 21 80 00 00 03 80 00 00 21 80 00 00 25 80 00 00 3F 2B
FA A4 A1 6B 21 80 00 00 87 40 54 00 21 80 54 00 21 80 54 00 93 42
FA A5 A1 6B 21 80 54 00 88 40 23 00 21 80 23 00 21 80 23 00 B2 53
FA A6 A1 6B 21 80 23 00 89 40 18 00 21 80 18 00 21 80 18 00 AF 46
FA A7 8E 6B 21 80 18 00 35 80 00 00 21 80 00 00 21 80 00 00 8B 24
FA A9 8E 6B 21 80 00 00 7C 41 27 00 21 80 27 00 21 80 27 00 96 4A
FA AA 8E 6B 21 80 27 00 19 02 A5 02 21 80 A5 02 21 80 A5 02 41 1C
FA AB 8E 6B 21 80 A5 02 19 02 6C 02 21 80 6C 02 21 80 6C 02 19 37
FA AC 8E 6B 21 80 6C 02 1D 02 AB 02 21 80 AB 02 21 80 AB 02 88 2E
FA AE 4E 6B 21 80 00 00 35 80 00 00 21 80 00 00 21 80 00 00 A6 5E
FA AF 4E 6B 21 80 00 00 0E 41 2E 00 21 80 2E 00 21 80 2E 00 80 7D
FA B0 4E 6B 21 80 2E 00 45 02 43 02 21 80 43 02 21 80 43 02 8E 5B
FA B1 4E 6B 21 80 43 02 59 02 38 02 21 80 38 02 21 80 38 02 6C 62
FA B3 2F 6B 21 80 4A 00 8E 02 E2 01 21 80 E2 01 21 80 E2 01 C5 44
FA B4 2F 6B 21 80 E2 01 35 80 00 00 21 80 00 00 21 80 00 00 3F 38
FA B5 2F 6B 21 80 00 00 35 80 00 00 21 80 00 00 21 80 00 00 C2 3F
FA B6 2F 6B 21 80 00 00 35 80 00 00 21 80 00 00 21 80 00 00 C6 3F
FA B8 2F 6B 21 80 00 00 35 80 00 00 21 80 00 00 21 80 00 00 CE 3F
FA B9 19 6B 21 80 00 00 35 80 00 00 21 80 00 00 21 80 00 00 D2 29
FA BA 19 6B 21 80 00 00 35 80 00 00 21 80 00 00 21 80 00 00 D6 29
FA BB 19 6B 21 80 00 00 35 80 00 00 21 80 00 00 21 80 00 00 DA 29
FA BD 19 6B 21 80 00 00 35 80 00 00 21 80 00 00 21 80 00 00 E2 29
FA BE 19 6B 21 80 00 00 35 80 00 00 21 80 00 00 21 80 00 00 E6 29
FA BF 41 6B 21 80 00 00 35 80 00 00 21 80 00 00 21 80 00 00 EA 51
FA C0 41 6B 21 80 00 00 A0 40 20 00 21 80 20 00 21 80 20 00 DE 61
FA C2 41 6B 21 80 00 00 35 80 00 00 21 80 00 00 21 80 00 00 F6 51
FA C3 41 6B 21 80 00 00 35 80 00 00 21 80 00 00 21 80 00 00 FA 51
FA C4 41 6B 21 80 00 00 02 80 00 00 21 80 00 00 21 80 00 00 9E 4B
FA C5 7B 6B 21 80 00 00 35 80 00 00 21 80 00 00 21 80 00 00 03 0C
FA C7 7B 6B 21 80 00 00 35 80 00 00 21 80 00 00 21 80 00 00 0B 0C
FA C8 7B 6B 21 80 00 00 80 02 84 00 21 80 84 00 21 80 84 00 23 60
FA C9 7B 6B 21 80 84 00 94 02 B9 00 21 80 B9 00 21 80 B9 00 01 08
FA CA 7B 6B 21 80 B9 00 20 06 26 00 21 80 26 00 21 80 26 00 B6 7A
FA CC A9 6B 21 80 00 00 C6 05 79 00 21 80 79 00 21 80 79 00 0D 76
FA CD A9 6B 21 80 79 00 0E 06 15 00 21 80 15 00 21 80 15 00 1E 15
FA CE A9 6B 21 80 15 00 02 80 00 00 21 80 00 00 F2 05 3B 00 E2 44
FA CF A9 6B 21 80 3B 00 21 80 3B 00 21 80 3B 00 F1 03 06 00 AB 52
FA D0 A9 6B 21 80 06 00 21 80 06 00 21 80 06 00 EC 03 BC 00 F7 41
FA D2 AC 6B 21 80 72 00 21 80 72 00 21 80 72 00 BE 03 61 00 B8 67
FA D3 AC 6B 21 80 61 00 21 80 61 00 21 80 61 00 AA 03 8E 00 2D 62
FA D4 AC 6B 21 80 8E 00 21 80 8E 00 21 80 8E 00 9F 03 E3 00 34 71
FA D5 AC 6B 21 80 E3 00 21 80 E3 00 21 80 E3 00 8C 03 E1 00 F5 0C
FA D7 8A 6B 21 80 30 01 21 80 30 01 21 80 30 01 8F 03 57 01 BC 04
FA D8 8A 6B 21 80 57 01 21 80 57 01 21 80 57 01 94 03 32 01 72 11
FA D9 8A 6B 21 80 32 01 21 80 32 01 21 80 32 01 9B 03 BE 00 EC 04
FA DA 8A 6B 21 80 BE 00 21 80 BE 00 21 80 BE 00 A9 03 6A 00 A7 5E
FA DC 8A 6B 21 80 00 00 18 05 9B 00 21 80 9B 00 21 80 9B 00 57 44
FA DD 88 6B 21 80 9B 00 35 80 00 00 21 80 00 00 21 80 00 00 23 40 FA DE 88 6B 21 80 00 00 CA 02 25 00 21 80 25 00 21 80 25 00 F0 6E FA E0 88 6B 21 80 20 00 AA 00 8D 01 21 80 8D 01 21 80 8D 01 80 50 FA E1 88 6B 21 80 8D 01 96 01 A6 01 21 80 A6 01 21 80 A6 01 52 4B FA E2 88 6B 21 80 A6 01 87 01 16 02 21 80 16 02 21 80 16 02 E6 58 FA E3 72 6B 21 80 16 02 8C 01 E9 01 21 80 E9 01 21 80 E9 01 D9 5B FA E5 72 6B 21 80 6F 01 C6 01 7C 01 21 80 7C 01 21 80 7C 01 70 30 FA E6 72 6B 21 80 7C 01 D1 01 22 01 21 80 22 01 21 80 22 01 B2 2D FA E7 72 6B 21 80 22 01 1A 02 67 01 21 80 67 01 21 80 67 01 FF 25 FA E8 72 6B 21 80 67 01 94 02 04 01 21 80 04 01 21 80 04 01 64 3E FA EA B0 6B 21 80 0F 00 D8 04 0A 00 21 80 0A 00 21 80 0A 00 6A 5A FA EB B0 6B 21 80 0A 00 35 80 00 00 21 80 00 00 21 80 00 00 1B 44 FA EC B0 6B 21 80 00 00 29 03 3D 00 21 80 3D 00 21 80 3D 00 01 25 FA ED B0 6B 21 80 3D 00 16 03 70 00 21 80 70 00 21 80 70 00 14 36 FA EF D8 6B 21 80 00 00 0F 41 52 00 21 80 52 00 21 80 52 00 96 0B FA F0 D8 6B 21 80 52 00 C1 03 5E 00 21 80 5E 00 21 80 5E 00 46 77 FA F1 D8 6B 21 80 5E 00 99 03 24 00 21 80 24 00 21 80 24 00 88 70 FA F2 D8 6B 21 80 24 00 35 80 00 00 21 80 00 00 21 80 00 00 B7 72 FA F4 D8 6B 21 80 00 00 35 80 00 00 21 80 00 00 21 80 00 00 BF 69 FA F5 06 6C 21 80 00 00 35 80 00 00 21 80 00 00 21 80 00 00 C4 17 FA F6 06 6C 21 80 00 00 35 80 00 00 21 80 00 00 21 80 00 00 C8 17 FA F7 06 6C 21 80 00 00 35 80 00 00 21 80 00 00 21 80 00 00 CC 17 FA F9 06 6C 21 80 00 00 35 80 00

Here is what I am reading today

4F 4B 0A 0D 50 69 63 63 6F 6C 6F 20 4C 61 73 65 72 20 44 69 73 74 61 6E 63 65 20 53 63 61 6E 6E 65 72 0A 0D 43 6F 70 79 72 69 67 68 74 20 28 63 29 20 32 30 30 39 2D 32 30 31 30 20 4E 65 61 74 6F 20 52 6F 62 6F 74 69 63 73 2C 20 49 6E 63 2E 0A 0D 41 6C 6C 20 52 69 67 68 74 73 20 52 65 73 65 72 76 65 64 0A 0D 0A 0D 4C 6F 61 64 65 72 09 56 32 2E 34 2E 31 33 33 38 36 0A 0D 43 50 55 09 46 32 38 30 32 78 2F 63 36 30 30 0A 0D 53 65 72 69 61 6C 09 41 41 41 34 34 34 31 30 41 41 2D 30 30 30 36 33 30 36 0A 0D 4C 61 73 74 43 61 6C 09 5B 32 30 31 30 32 39 30 34 35 30 5D 0A 0D 52 75 6E 74 69 6D 65 09 56 32 2E 36 2E 31 35 32 39 35 0A 0D 23 53 70 69 6E 2E 2E 2E 70 72 65 73 73 20 45 53 43 20 33 20 74 69 6D 65 73 20 74 6F 20 61 62 6F 72 74 2E FE 4F 4B 0A 0D 50 69 63 63 6F 6C 6F 20 4C 61 73 65 72 20 44 69 73 74 61 6E 63 65 20 53 63 61 6E 6E 65 72 0A 0D 43 6F 70 79 72 69 67 68 74 20 28 63 29 20 32 30 30 39 2D 32 30 31 30 20 4E 65 61 74 6F 20 52 6F 62 6F 74 69 63 73 2C 20 49 6E 63 2E 0A 0D 41 6C 6C 20 52 69 67 68 74 73 20 52 65 73 65 72 76 65 64 0A 0D 0A 0D 4C 6F 61 64 65 72 09 56 32 2E 34 2E 31 33 33 38 36 0A 0D 43 50 55 09 46 32 38 30 32 78 2F 63 36 30 30 0A 0D 53 65 72 69 61 6C 09 41 41 41 34 34 34 31 30 41 41 2D 30 30 30 36 33 30 36 0A 0D 4C 61 73 74 43 61 6C 09 5B 32 30 31 30 32 39 30 34 35 30 5D 0A 0D 52 75 6E 74 69 6D 65 09 56 32 2E 36 2E 31 35 32 39 35 0A 0D 23 53 70 69 6E 2E 2E 2E 70 72 65 73 73 20 45 53 43 20 33 20 74 69 6D 65 73 20 74 6F 20 61 62 6F 72 74 2E FE 4F 4B 0A 0D 50 69 63 63 6F 6C 6F 20 4C 61 73 65 72 20 44 69 73 74 61 6E 63 65 20 53 63 61 6E 6E 65 72 0A 0D 43 6F 70 79 72 69 67 68 74 20 28 63 29 20 32 30 30 39 2D 32 30 31 30 20 4E 65 61 74 6F 20 52 6F 62 6F 74 69 63 73 2C 20 49 6E 63 2E 0A 0D 41 6C 6C 20 52 69 67 68 74 73 20 52 65 73 65 72 76 65 64 0A 0D 0A 0D 4C 6F 61 64 65 72 09 56 32 2E 34 2E 31 33 33 38 36 0A 0D 43 50 55 09 46 32 38 30 32 78 2F 63 36 30 30 0A 0D 53 65 72 69 61 6C 09 41 41 41 34 34 34 31 30 41 41 2D 30 30 30 36 33 30 36 0A 0D 4C 61 73 74 43 61 6C 09 5B 32 30 31 30 32 39 30 34 35 30 5D 0A 0D 52 75 6E 74 69 6D 65 09 56 32 2E 36 2E 31 35 32 39 35 0A 0D 23 53 70 69 6E 2E 2E 2E 70 72 65 73 73 20 45 53 43 20 33 20 74 69 6D 65 73 20 74 6F 20 61 62 6F 72 74 2E FE 4F 4B 0A 0D 50 69 63 63 6F 6C 6F 20 4C 61 73 65 72 20 44 69 73 74 61 6E 63 65 20 53 63 61 6E 6E 65 72 0A 0D 43 6F 70 79 72 69 67 68 74 20 28 63 29 20 32 30 30 39 2D 32 30 31 30 20 4E 65 61 74 6F 20 52 6F 62 6F 74 69 63 73 2C 20 49 6E 63 2E 0A 0D 41 6C 6C 20 52 69 67 68 74 73 20 52 65 73 65 72 76 65 64 0A 0D 0A 0D 4C 6F 61 64 65 72 09 56 32 2E 34 2E 31 33 33 38 36 0A 0D 43 50 55 09 46 32 38 30 32 78 2F 63 36 30 30 0A 0D 53 65 72 69 61 6C 09 41 41 41 34 34 34 31 30 41 41 2D 30 30 30 36 33 30 36 0A 0D 4C 61 73 74 43 61 6C 09 5B 32 30 31 30 32 39 30 34 35 30 5D 0A 0D 52 75 6E 74 69 6D 65 09 56 32 2E 36 2E 31 35 32 39 35 0A 0D 23 53 70 69 6E 2E 2E 2E 70 72 65 73 73 20 45 53 43 20 33 20 74 69 6D 65 73 20 74 6F 20 61 62 6F 72 74 2E FE 4F 4B 0A 0D 50 69 63 63 6F 6C 6F 20 4C 61 73 65 72 20 44 69 73 74 61 6E 63 65 20 53 63 61 6E 6E 65 72 0A 0D 43 6F 70 79 72 69 67 68 74 20 28 6

Xevel
01-05-2014, 09:25 PM
Hi,

Have you tried visualizing the data, to get a better idea of what is going on? It's rather cryptic in that form.
If you could hook it up to a PC, you could look at the data with http://xevel.fr/other/OpenLidarMap+Bluetooth.zip. Requires Python, pySerial and Visual Python.

alfragou
01-17-2014, 07:23 AM
Hello all and thanks for all your contributions.

I bought a Neato XV-25, removed the LDS and I am trying to use it with ROS. I ve used the Sparkfun FTDI and the arduino to check the data.
I assume connection work and here is the output
Help...3 ESCs or BREAK to abort…
GetVersion
Help
Log
SaveCal
SetSerial
Upload
Wanderer
Calibrate b16 b8 SunBlind loop2AA loop155
GetCal A B C LPT LFL LFT LFH IMX IB LPI LCH LPD NRX SCR
SetCal A B C LPT LFL LFT LFH IMX IB LPI LCH LPD NRX SCR
Spin Fake DotX DotI Text Hash79 Timing Foto RPS Pac
TestEncoder
OK
#
GetVersion...3 ESCs or BREAK to abort...:)
Piccolo Laser Distance Scanner
Copyright (c) 2009-2011 Neato Robotics, Inc.
All Rights Reserved
Loader V2.5.15295
CPU F2802x/c001
Serial KSH21113AA-0102312
LastCal [5371726C]
Runtime V2.6.15295

But when I spin the LDS by hand or by applying 3V i am getting weird readings.
#Spin...3 ESCs or BREAK to abort...[00][00]ú«z[00]R€”xR€”xR€”xR€”xR€”OK


#Spin...3 ESCs or BREAK to abort...R€”x:yúÇ}[00]R€”xR€”xR€”xR€”x³4úùs[05]R€”xR€”xR€”x’Lú¯Ÿ[01]R€”xR€”x‚wú¿É[04]R€”xR€”x'*úö½[04]R€”xR€”xu úÐ{[04]R€”xR€”xR€”xR€”xR€”xROK


#Spin...3 ESCs or BREAK to abort...R€”x:yúÂ{[00]R€”xR€”xR€”xR€”xR€”xR€”xR ”xR€”xï_ú¢Õ[04]R€”xi$úÍU[04]R€”xR€”xR€”xR€”xR€”xR€”xR ”xš&úî˜[07]R€”xz[0F]úÍ[13][07]R€”xOK

Can anyone help me??

Xevel
01-17-2014, 08:00 AM
Hi,

Similiarly to what I said in the last post, seeing that data in such a form is cryptic.
What you see now with the LDS connected using an FTDI seems roughly OK to me, it is supposed to be in a binary format that is explained here : http://xv11hacking.wikispaces.com/LIDAR+Sensor
Other important things are explained there, like the fact that the LDS only outputs data when it is rotating above 180 rpm.
The file I linked to previously contains a script that decodes it and makes it easy to visualize to check that everything is OK.
After that