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BOM: WT61 being fitted on Dupont wires; realign button optional (push button + 10 kΩ)

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Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01DDwfd6Ki8UfG4hK6W5YpJz
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Mikkeli Matlock
2026-10-12 15:12:03 +09:00
parent 7d9f0a0099
commit 4ac775a13d
1 changed files with 6 additions and 3 deletions
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docs/BOM.md
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@@ -98,7 +98,7 @@ type: reference
## WitMotion WT61 IMU ## WitMotion WT61 IMU
**Status: planned.** Moving from the smart-serow motorcycle unit, where an Arduino reads it; not fitted yet. **Status: being fitted (2026-10-12)** on Dupont wires, moved from the smart-serow motorcycle unit, where an Arduino read it. Final mounting and connector to follow.
| Field | Value | | Field | Value |
|-------|-------| |-------|-------|
@@ -120,7 +120,7 @@ type: reference
| GND | 6 | | GND | 6 |
| TX | 10 (UART1 RX) | | TX | 10 (UART1 RX) |
| RX | 8 (UART1 TX), needed only to send config commands | | RX | 8 (UART1 TX), needed only to send config commands |
| *Realign button* | 7 (GPIO09, `PAC.06`) to ground on 9, with 10 kΩ pull-up to 3.3 V; planned, pin to confirm | | *Realign button (optional)* | 7 (GPIO09, `PAC.06`) through the button to ground on 9; 10 kΩ from 7 to 3.3 V (pin 1). Pin to confirm |
Everything sits in header pins 1–10, so one 2×5 connector can carry it. Pins 3/5 (I²C bus 7) carry the UPS monitor. Everything sits in header pins 1–10, so one 2×5 connector can carry it. Pins 3/5 (I²C bus 7) carry the UPS monitor.
@@ -144,7 +144,10 @@ Everything sits in header pins 1–10, so one 2×5 connector can carry it. Pins
- **Output is low-pass filtered at 10 Hz** by default, even at 100 Hz output. Fine for vehicle motion, but it smooths out bumps and - **Output is low-pass filtered at 10 Hz** by default, even at 100 Hz output. Fine for vehicle motion, but it smooths out bumps and
vibration. A gyro rate under 0.122 °/s reads as 0 (static threshold). Both are set only from WitMotion's PC software; there is no vibration. A gyro rate under 0.122 °/s reads as 0 (static threshold). Both are set only from WitMotion's PC software; there is no
serial command for them. serial command for them.
- **Realign button (planned):** a press levels the frame to gravity (the mounting rotation, from averaged accelerometer readings) and sends - **Realign button parts (optional, not fitted):** one momentary push button (normally open) and one 10 kΩ resistor. The resistor pulls
pin 7 up to 3.3 V, so the pin reads 1, and a press grounds it to 0. Realigning starts from the tablet app first; the button adds a way
that works without the tablet, triggering the same command.
- **Realign:** a press levels the frame to gravity (the mounting rotation, from averaged accelerometer readings) and sends
`FF AA 52` to zero yaw. The result is stored on disk, not redone every drive. Refuse while moving (gyro or GPS speed); record raw data `FF AA 52` to zero yaw. The result is stored on disk, not redone every drive. Refuse while moving (gyro or GPS speed); record raw data
plus a realign event, so a bad alignment can be corrected afterwards. Align on level ground: a slope becomes part of the mount. plus a realign event, so a bad alignment can be corrected afterwards. Align on level ground: a slope becomes part of the mount.
- I²C mode (`FF AA 62`) exposes the raw MPU6050 only (no angles) and needs 4.7 kΩ pull-ups. Not used. - I²C mode (`FF AA 62`) exposes the raw MPU6050 only (no angles) and needs 4.7 kΩ pull-ups. Not used.