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Re: [Paparazzi-devel] Fwd: Problems with YAPA2 I2C Port and ETS sensor

From: GalapagosUAV
Subject: Re: [Paparazzi-devel] Fwd: Problems with YAPA2 I2C Port and ETS sensor
Date: Tue, 25 Jun 2013 16:38:23 -0500

Hello Felix,

Thank you very much! This solved my problem. Is V5.0 a stable version? 

Best Regards,

Sent from my iPad

On 25/06/2013, at 12:15, Felix Ruess <address@hidden> wrote:

Hi Jorge,

there is a clash between the default interrupt slots used for i2c0 and spi.
In v5.0 and master the defaults should not clash anymore and work out of the box.

If you want to stay on v4.2 you can change the slot for i2c0 by defining it in the firmware section in your airframe file:
<define name="I2C0_VIC_SLOT" value="12"/>

Cheers, Felix

On Tue, Jun 25, 2013 at 6:42 PM, Jorge Pantoja <address@hidden> wrote:
Hello Everyone,
I have been trying to integrate an Eagle Tree Airspeed Sensor to my configuration but I have found a few problems. I hope someone can help me with this problem. Here is what I have:
YAPA2 + GPS + CHIMU on SPI + XBee on Serial + ETS Airspeed Sensor on I2C
When I comment the lines on my airframe file related to my CHIMU, the sensor works perfectly but I don't have any readings from my CHIMU (obviously). It seems like there is a conflict between my SPI and I2C ports, do you have any ideas about how can I solve this problem? My autopilot freezes when I upload a program with the CHIMU lines + the ETS sensor (see the picture attached with this emails). I am using the 4.2 branch version of the Paparazzi.
Best Regards,

---------- Forwarded message ----------
From: Christophe De Wagter <address@hidden>
Date: Mon, Jun 24, 2013 at 5:13 AM
Subject: Re: Problems with YAPA2 I2C Port and ETS sensor
To: GalapagosUAV <address@hidden>

It could be a conflict between spi-slave and i2c low level drivers.

On Jun 21, 2013 10:41 PM, "Jorge Pantoja" <address@hidden> wrote:
Hi Christoph,

Yes, everything stops including telemetry and the leds on the board. The autopilot freezes just like the I show you in the picture below. Do you think this could be a bug or a conflict between the ETS sensor and the CHIMU?

Best Regards,


On 21/06/2013, at 15:04, Christophe De Wagter <address@hidden> wrote:

I do not know anything that would be different between i2c0 and i2c1. 

When you say it freezes, do you know anything more? Does the sys_time led even stop? Does telemetry stop? Does RC stop? 


On Fri, Jun 21, 2013 at 9:50 PM, Jorge Pantoja <address@hidden> wrote:
Hello Christoph,

Thank you for your reply.

I got my Airspeed Sensor working. However, everything is not rainbow colours just yet.

When I uncommented the CHIMU lines I went back to the same problem of the autopilot freezing. It seems like there is a conflict between the Airspeed Sensor being connected to the I2C port and the CHIMU on the SPI (my hypothesis). Then, I changed the code from I2C0 to I2C1 and the board did not freeze but I got nothing from the Airspeed sensor again. Any ideas on how I can solve this?

I am thinking of switching the I2C port to the secondary I2C one shown here ( what do you think? Anyways, shouldn't the ETS Airspeed sensor work on the regular I2C port? Or should I think of changing the port where my CHIMU is?

Best Regards,

Sent from my iPhone

On 21/06/2013, at 14:35, Christophe De Wagter <address@hidden> wrote:


The i2c pullup resistors are not needed for i2c0 on yapa. i2c1 was not designed on yapa but is accessible altough it misses 1 pull-up resistor.



On Wed, Jun 19, 2013 at 5:48 PM, GalapagosUAV <address@hidden> wrote:
Hello Christoph,

I have been trying to get the Eagle Tree Airspeed Sensor V3 to work on the I2C port on the YAPA2 with no luck. I have connected the I2C port as I saw in the pictures of the wiki ( and I am also using external 4.7k pull-ups to get the sensor working. However, I still can't see if the sensor is sending information on the log messages.

Do you have any additional advice that I can use to get the sensor working? 

Best Regards,

Jorge Pantoja
Program Manager/Liaison

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