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BOM: WT61 realign button on header pin 7 (planned)

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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 00:04:52 +09:00
parent c05585c9b0
commit 7d9f0a0099
1 changed files with 6 additions and 0 deletions
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docs/BOM.md
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@@ -120,6 +120,9 @@ 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 |
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.
### Notes ### Notes
@@ -141,6 +144,9 @@ type: reference
- **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
`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.
- 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.
## RTC backup battery ## RTC backup battery