11000 réponses à ce sujet

[garfield2142]

The client crashes when using my 67W xiaomi charger, which can provide 12 volts. The INA219 shows 1.5A of charge, then the client crashes with the error above. Sometimes the client starts back up without any voltage or current sensing. But if using a regular 5v charger, it's stable.

[Mike118]

You can try to set 9v instead of 12v
This is the charge crash problem. But I still have no clue about the second kind of crash yet. Do you tested without your BMS ?

[garfield2142]

Check the captures I made. I connected a lab bench power supply directly to the battery terminal, and it still crashed when going at full speed. I suspect the cables though, so just to be 100% sure, I'll try to solder some manly thick cables directly from the power supply to the battery connector

[garfield2142]

1.75mm copper wires soldered directly to the battery terminal. No batteries. No BMS. Soldered banana plugs. Tried to go forward while holding down the robot to simulate an uphill ride or pushing something. Almost instantly crashed.

1754477254151_garfield2144_Panther.mp4   1,16 Mo

[firened]

A valid test Setup i think
Should have worked.

[Mike118]

I start to think that the issue is the resistor used for Ina. Can you try to short the ina resistor with a wire ? Current will not work anymore but I hope it will not crash anymore.

[garfield2142]

You mean this resistor?


Alright, it definitely behaves differently now. If I push it strong enough and at low enough voltage, I can shut off the entire UPS and I have to switch off and back on, but I guess I'm pushing it past what's normal now. I'll plug the battery back in, and stress test climbing some slopes

Unfortunately, setting VUSB to 9V made no difference to fast charging, the client still crashes.

[garfield2142]

After testing for a while, I can still easily crash the pi by just casually driving around

[Mike118]

Yes this one.
What battery are you using ? You have a second robot. Does it have the same motors? Can you crash it the same way ? Can you switch some hardware between both ?

[garfield2142]

It has the same motors but different RPM

[Mike118]

Higher rpm nead more current for same torque.
Can you switch them easily ?

[garfield2142]

Takes around half an hour, but I can do it

[Mike118]

You might have reach the mosfet switch limit... this might explain the new behaviour...

[garfield2142]

Me and Firened both use vBat on our robots, so battery is powering the motor drivers directly, for this exact reason. The motors are much slower this way, but we prefer it that way compared to the whole UPS dying. This also sips a little bit of power for the motor drivers even when the robot is not in use, but there could be a dedicated mosfet in this case to switch it off. Is there a way for me to test the motor drivers directly from battery power, bypassing the step-up converter?

[Mike118]

The motor drivers are already directly powered by " VBAT OUT" . VBAT OUT = VBAT after the battery protection ( including reverse polarity protection) , the mosfet switch and the Ina resistor to measure current... VBAT OUT is then used to power the motor drivers and the step up...

One of the three module should be the issue... you already shorted the ina resistor. I think it was the biggest issue...

I think that now you shorted the ina resistor you might just manage to pull too much current fot the battery protection...
this is the battery protection on the robot
I forget to mention that VBAT also go through BQ25792RQMR before being VBAT OUT... It might be the second one causing limitations.

[garfield2142]

Alright, the new body is functional now. The slower motors seem to be working well. However, for some reason the ina219 is not detected anymore. I tried to restart, unplug the dsi screen, unplug the battery but nothing happens. I don't think I touched the software that much to somehow disable it... At startup it just says "No I2C fuel gauge detected"

[Mike118]

You can try i2c scan and give me the adresses detected.
@Garfield2142

[garfield2142]

-Tried to do an i2cdetect, turns out i2c was turned off completely for some reason.
-Turned on i2c in raspi-config
-Robot started bootlooping (Camera clicking and lights turning on and off every few seconds).
-Unplugged every servo and camera
-Still bootlooping
-Took raspi out of the UPS and powered it directly from USB
-Plugged in HDMI
-Completely dead, no signal...
-Insert new SD card with brand new fresh image, reset my Panther HW and remote control config to factory settings.
-Plugged raspi into UPS and HDMI monitor.
-Raspi works, and stops at exactly the same part in booting, then restarts, repeat forever.
-Took raspi out of the UPS, powered only with USB.
-Boots completely fine

Here's my raspi 3B+ bootlooping while plugged into the vigiUPS
And here's the exact same raspi 3B+ without the UPS, booting normally

After a successful boot without the UPS, I plug the pi back into the UPS, the same bootloop happens, so it's not a "first boot setup" sequence

[garfield2142]

-Removed solderblob from set vusb, no difference.
-Sudo update, sudo upgrade, raspi now bootloops faster
-Changed ina219 address in sys.json to 68 to avoid detection, no difference.
-Disabled i2c in raspi-config, no difference
Swapped out the raspi 3B+ (Panther) to raspi4 (Pluto), same thing, can't boot.

[firened]

What is going on

it just worked and now nothing anymore?
How?
How is the red power LED doing on the pi?
Is the battery charged?