Merge branch 'develop' into 397-no-input-sound---badly-initialized-microphones

Author: FabienDanieau

README.md

@@ -225,6 +225,10 @@ pre-commit run --all-files
 
 Checks are performed by Ruff. You may want to [configure your IDE to support it](https://docs.astral.sh/ruff/editors/setup/).
 
+## Troubleshooting
+
+see [dedicated section](docs/troubleshooting.md)
+
 ## License
 
 This project is licensed under the Apache 2.0 License - see the [LICENSE](LICENSE) file for details.

docs/troubleshooting.md

@@ -0,0 +1,43 @@
+# Troubleshooting
+
+## No Microphone Input
+*For beta only*
+
+There is a known issue where the microphone may not initialize correctly. The best way to resolve this is to reboot the microphone array using [xvf_host](https://github.com/respeaker/reSpeaker_XVF3800_USB_4MIC_ARRAY/tree/master/host_control):
+
+```bash
+xvf_host(.exe) REBOOT 1
+```
+
+Then run [examples/debug/sound_record.py](../examples/debug/sound_record.py) to check that everything is working properly.
+
+If the problem persists, check the connection of the flex cables ([see slides 45 to 47](https://huggingface.co/spaces/pollen-robotics/Reachy_Mini_Assembly_Guide)).
+
+## Sound Direction of Arrival Not Working
+*For beta only*
+
+The microphone array requires firmware version 2.1.0 or higher to support this feature. The firmware is located in `src/reachy_mini/assets/firmware/*.bin`.
+
+Refer to the [Seeed documentation](https://wiki.seeedstudio.com/respeaker_xvf3800_introduction/#update-firmware) for the upgrade process.
+
+## Volume Is Too Low
+*Linux only*
+
+Check with `alsamixer` that PCM1 is set to 100%. Then use PCM,0 to adjust the volume.
+
+To make this change permanent:
+```bash
+CARD=$(aplay -l | grep -i "reSpeaker XVF3800 4-Mic Array" | head -n1 | sed -n 's/^card \([0-9]*\):.*/\1/p')
+amixer -c "$CARD" set PCM,1 100%
+sudo alsactl store "$CARD"
+```
+
+## Circular Buffer Overrun Warning
+
+When starting a client with `with ReachyMini() as mini:` in Mujoco (--sim mode), you may see the following warning:
+
+```bash
+Circular buffer overrun. To avoid, increase fifo_size URL option. To survive in such case, use overrun_nonfatal option
+```
+
+This message comes from FFmpeg (embedded in OpenCV) while consuming the UDP video stream. It appears because the frames are not being used, causing the buffer to fill up. If you do not intend to use the frames, set `ReachyMini(media_backend="no_media")` or `ReachyMini(media_backend="default_no_video")`.