DREAME z10 notes

notes.md

libs used

• http://ceres-solver.org/nnls_solving.html

• opencv (opencv4/opencv2/core/mat.inl.hpp)

• https://github.com/floatlazer/semantic_slam

• https://libserial.readthedocs.io/en/latest/tutorial.html

sensors/ICs used

• GD32F103ZET6 or GD32F303ZET6 main MCU
• XV7001 - Gyroscope https://support.epson.biz/td/api/doc_check.php?dl=brief_XV7001BB&lang=en
• BMI055 - IMU https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bmi055-ds000.pdf
• QMCX983 - compass https://github.com/rock12/ALPS.L1.MP6.V2.19_CENON6580_WE_1_L_KERNEL/blob/master/drivers/misc/mediatek/magnetometer/qmcX983/qmcX983.c
• PAA5501 ?

avacmd commands

camera

avacmd camera_laser '{"cmd":"get_camera_state"}'
avacmd camera_laser '{"cmd":"open_camera"}'
avacmd camera_laser '{"cmd":"take_photo", "path":"/tmp/photo.bmp"}'
avacmd camera_laser '{"cmd":"close_camera"}'

sys

avacmd sys '{"type":"system", "sys_get":"get_all"}'

ota

avacmd ota '{"type": "ota", "cmd": "report_upgrade_status", "status": "AVA_UNPACK_OK", "result": "ok"}'

iot

avacmd iot '{"type":"iot", "notify":"close_server"}'
avacmd iot '{"type":"iot", "notify":"open_server"}' 

msg_cvt

Front facing camera

avacmd msg_cvt '{"type":"msgCvt","cmd":"config_tz"}' &

avacmd msg_cvt '{"type":"msgCvt", "cmd":"status_idle"}'
avacmd msg_cvt "${MSG}" "{\"type\":\"msgCvt\",\"cmd\":\"upload_iot_events\",\"events\":\""
avacmd msg_cvt '{"type":"msgCvt","cmd":"nation_matched","result":"mismatched"}'

{"type":"msgCvt", "cmd":"calibration","value":"gyro20"}
{"type":"msgCvt", "cmd":"calibration","value":"light10"}
{"type":"msgCvt", "cmd":"calibration","value":"light20"}
{"type":"msgCvt", "cmd":"calibration","value":"gyro21"}
{"type":"msgCvt", "cmd":"calibration","value":"light11"}
{"type":"msgCvt", "cmd":"calibration","value":"light21"}

avacmd msg_cvt '{"method":"get_properties","params":[{"siid":4,"piid":1,"did":521229396},{"siid":4,"piid":7,"did":521229396},{"siid":4,"piid":4,"
did":521229396},{"siid":4,"piid":5,"did":521229396},{"siid":4,"piid":6,"did":521229396},{"siid":4,"piid":18,"did":521229396},{"siid":3,"piid":1,"did":521229396},{"siid":
3,"piid":2,"did":521229396}],"id":5340}'
RESPONSE: 
{"id":5340,"result":[{"siid":4,"did":"521229396","piid":1,"value":14,"code":0},{"siid":4,"did":"521229396","piid":7,"value":0,"code":0},{"siid":4,"did":"521229396","piid":4,"value":3,"code":0},{"siid":4,"did":"521229396","piid":5,"value":2,"code":0},{"siid":4,"did":"521229396","piid":6,"value":0,"code":0},{"siid":4,"did":"521229396","piid":18,"value":"0","code":0},{"siid":3,"did":"521229396","piid":1,"value":100,"code":0},{"siid":3,"did":"521229396","piid":2,"value":1,"code":0}]}


avacmd msg_cvt '{"method": "local.status", "params": "cloud_retry"}}'
msg_cvt{\"type\":\"fds_mult_map_put\", \"md5\":\"cf236cbd144c5e7ba5b9fadb49dd1345\", \"ret\":\"ok\"}

clb

avacmd clb "{\"type\":\"system\",\"key\":\"nq\",\"value\":\"[${MSG}]\"}"
avacmd clb "{\"type\":\"system\",\"key\":\"sys_info\",\"value\":\"{${MSG_DATA}}\"}"
 <dict>

media

avacmd media '{"type":"media","cmd":"status_get"}'

Interesting files

/mnt/misc/lds_name - laser type