Stuck

bboy8012

I have a C# app that has a trackbar on it I am trying to send the values to the propeller to update pulses, I can see the prop plug getting the data, but nothing is changing. Can I get advice on what I have so far. Thanks for all input.

OBJ
  servo : "Servo32v3"
  uart  : "FullDuplexSerialPlus"
  
CON
  _clkmode = xtal1 + pll16x                                                     'Sets clock to 16x input
  _xinfreq = 5_000_000                                                          'Sets clock to 80MHz (16x 5_000_000)
  throttlePin = 18                                                              'Sets pin to ESC on prop
  
VAR
  long uartPulse, stack[noparse][[/noparse]100]
  
PUB Main | oldPulse
  uart.start(31, 30, 0, 115200)                                                 'Start FDS object for recieving data from com port
  servo.set(throttlePin, 2200)                                                  'Initializing ESC to full brake
  servo.start
  InitESC                                                                       'Arming Electrifly ESC as per to manual
  
  cognew(servo.set(throttlePin, uartPulse), @stack)
  ''Loop constantly for a new pulse width
  repeat
    uartPulse := uart.rx                                                        'Sets uartPulse to value coming in com port
    'uart.StrToDec(uartPulse)                                                    'Convert to dec
    oldPulse := uartPulse                                                       'Sets oldPulse to uartPulse for comparison
      if uartPulse <> oldPulse                                                  'If uartPulse changes for set for new pulse
        servo.set(throttlePin, uartPulse)
        
      if uartPulse == oldPulse                                                  'If values dont change throttle stays the same
        servo.set(throttlePin, oldPulse) 
  
PUB RecieveData | throttle
''To be coded
PRI InitESC
  servo.set(throttlePin, 2200)                                                  'ESC full throttle
  pause(5000)
  servo.set(throttlePin, 1000)                                                  'ESC full brake
  pause(2000)
  servo.set(throttlePin, 2200)                                                  'ESC full throttle
  pause(2000)
  servo.set(throttlePin, 1000)                                                  'ESC full brake
  'pause(400)
PRI pause(ms)
  waitcnt((clkfreq / 1000 * mS) + cnt)

▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔

Kye

Your pause routnine looks problematic.

Use this:

PUB pauseForSeconds(value)
 
'' ┌───────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────┐
'' │ Pauses execution for any number of seconds.                                                                               │
'' └───────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────┘
 
  pauseForMilliseconds(value * 1000)
 
PUB pauseForMilliseconds(value) : buffer 
 
'' ┌───────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────┐
'' │ Pauses execution for any number of milliseconds.                                                                          │
'' └───────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────┘ 
 
  buffer := cnt 
 
  repeat (value #> 0)
    buffer += (clkfreq / 1000)
    waitcnt(buffer)

·Also, is that microseconds or milliseconds? Because you used a value of over 1000 which would pause the chip over a second with your setup.


▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
Nyamekye,

Mike Green

You cannot start a new cog using a method in another object. In other words, "cognew(servo.set(throttlePin,uartPulse),@stack)" won't work. In your particular case, the servo object will already take care of sending servo pulses until you change the value involved. In other words, when you do a servo.start, the servo object starts up a new cog that handles all the servos that you've initialized. It will continuously issue control pulses about every 20ms using the last known value of the pulse width. If you call servo.set, this changes the pulse width on the next cycle. You don't need to do the cognew.

bboy8012

Thanks kye for the pause tips, i modified that part, also I removed the congnew call but still nothing. Should I be sedning the data from my c# app in bytes, are is sending the numbers as a string fine?

▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔

Kye

Post your new code please.

▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
Nyamekye,

bboy8012

OBJ
  servo : "Servo32v3"
  uart  : "FullDuplexSerialPlus"
  
CON
  _clkmode = xtal1 + pll16x                                                     'Sets clock to 16x input
  _xinfreq = 5_000_000                                                          'Sets clock to 80MHz (16x 5_000_000)
  throttlePin = 18                                                              'Sets pin to ESC on prop
  
VAR
  long uartPulse, stack[noparse][[/noparse]100]
  
PUB Main | oldPulse
  uart.start(31, 30, 0, 115200)                                                 'Start FDS object for recieving data from com port
  servo.set(throttlePin, 2200)                                                  'Initializing ESC to full brake
  servo.start
  InitESC                                                                       'Arming Electrifly ESC as per to manual
  ''Loop constantly for a new pulse width
  repeat
    uartPulse := uart.rx                                                        'Sets uartPulse to value coming in com port
    'uart.StrToDec(uartPulse)                                                    'Convert to dec
    oldPulse := uartPulse                                                       'Sets oldPulse to uartPulse for comparison
      if uartPulse <> oldPulse                                                  'If uartPulse changes for set for new pulse
        servo.set(throttlePin, uartPulse)
        
      if uartPulse == oldPulse                                                  'If values dont change throttle stays the same
        servo.set(throttlePin, oldPulse) 
  
PUB RecieveData | throttle
''To be coded
PRI InitESC
  servo.set(throttlePin, 2200)                                                  'ESC full throttle
  pauseForSeconds(5)
  servo.set(throttlePin, 1000)                                                  'ESC full brake
  pauseForSeconds(2)
  servo.set(throttlePin, 2200)                                                  'ESC full throttle
  pauseForSeconds(2)
  servo.set(throttlePin, 1000)                                                  'ESC full brake
PRI pauseForSeconds(value)
  pauseForMilliseconds(value * 1000)
PRI pauseForMilliseconds(value) | buffer
  buffer := cnt 
 
  repeat (value #> 0)
    buffer += (clkfreq / 1000)
    waitcnt(buffer)

The values that are being sent from the trackerbar on my c# app serially are between 1000 and 2200.

▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔

Kye

Okay, well do you know that the serial object transfers bytes at a time? That said, I can't see how you would get a value of more than 255 from it.

Um, I'll just give you my whole library for pause rountines and string to integer conversion and vice versa. It should help get arround that problem for you by doing the conversions necessary. To transfer a string through serial and then convert it back to a number and etc.

Note, that you should not·use it to read directly from the serial buffers of the full duplex object but instead put the bytes received by that object into a local array and then call the conversion on the local array.

Also note that strings need to be terminated with zero you will have problems.

For debugging just test the device with some hard coded calues to se if it is sending and·receiving data propellerly.

▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
Nyamekye,

bboy8012

Updated code, it works almost. when I have the trackbar say at 1500 gives a reading of 2000. Its either 1ms or 2ms even when I have the the trackbar at all the way up to the max value of 2200.

OBJ
  servo : "Servo32v3"
  uart  : "FullDuplexSerialPlus"
  conv  : "libraryEngine"
  
CON
  _clkmode = xtal1 + pll16x                                                     'Sets clock to 16x input
  _xinfreq = 5_000_000                                                          'Sets clock to 80MHz (16x 5_000_000)
  throttlePin = 18                                                              'Sets pin to ESC on prop
  
VAR
  long uartPulse, inBuffer[noparse][[/noparse]4]
  
PUB Main | oldPulse 
  uart.start(31, 30, 0, 115200)                                                 'Start FDS object for recieving data from com port
  servo.set(throttlePin, 2200)                                                  'Initializing ESC to full brake
  servo.start
  InitESC                                                                       'Arming Electrifly ESC as per to manual
  ''Loop constantly for a new pulse width
  repeat
    inBuffer := uart.rx                                                        'Sets uartPulse to value coming in com port
    uartPulse := conv.decimalToNumber(inBuffer)                                 'Convert to dec                                                    
    oldPulse := uartPulse                                                       'Sets oldPulse to uartPulse for comparison
      if uartPulse <> oldPulse                                                  'If uartPulse changes for set for new pulse
        servo.set(throttlePin, uartPulse)
        
      if uartPulse == oldPulse                                                  'If values dont change throttle stays the same
        servo.set(throttlePin, oldPulse) 
  
PUB RecieveData | throttle
''To be coded
PRI InitESC
  servo.set(throttlePin, 2200)                                                  'ESC full throttle
  pauseForSeconds(5)
  servo.set(throttlePin, 1000)                                                  'ESC full brake
  pauseForSeconds(2)
  servo.set(throttlePin, 2200)                                                  'ESC full throttle
  pauseForSeconds(2)
  servo.set(throttlePin, 1000)                                                  'ESC full brake
PRI pauseForSeconds(value)
  pauseForMilliseconds(value * 1000)
PRI pauseForMilliseconds(value) | buffer
  buffer := cnt 
 
  repeat (value #> 0)
    buffer += (clkfreq / 1000)
    waitcnt(buffer)

▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔

Kye

Okay, how are you sending data to and from the propeller chip?

As I mentioned before, the serial data object works in bytes only. If you want a value greater than 255 you should send the data as a string first.

As in form "1005" send "1", "0" "0" "5", 0 - notice the null terminating the string, very important or the library will run on forever converting stuff.

Then you would read all those bytes into a byte sized array in the main memory, and then call the converting function on the array (pass the address of the first element of the array), and the function will then return the value in decimal form.

Notice that in your code you only get one byte from the receiver (you need to get all the bytes in it before you can make the conversion). And remeber the null terminating zero at the end of the string.

▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
Nyamekye,

bboy8012

Im passing the data to the stamp using C# like this

serialPort1.Write(sThrottle);
serialPort1.Write([color=#a31515][color=#a31515]"0"[/color][/color]);

The sThrottle is a string. But I have also tried passing it like this

[color=#008000][color=#008000]serialPort1.Write(bThrottle, 0, 4);[/color][/color]
[color=#008000][color=#008000]serialPort1.Write(new byte[noparse][[/noparse]] {0}, 0, 1); [/color][/color]

·The bThrottle is an byte array

▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔

Kye

Then you should be fine, look at your spin code however, I think you aren't getting the data into the array properly.

▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
Nyamekye,

bboy8012

Yea thats what I am trying to figure out how to do. I have been researching the manual, and looking at other code, but I kinda need to be shown and explained to how to do it, so I can learn from my mistakes. updated code

OBJ
  servo : "Servo32v3"
  uart  : "FullDuplexSerialPlus"
  conv  : "libraryEngine"
  
CON
  _clkmode = xtal1 + pll16x                                                     'Sets clock to 16x input
  _xinfreq = 5_000_000                                                          'Sets clock to 80MHz (16x 5_000_000)
  throttlePin = 4                                                              'Sets pin to ESC on prop
VAR
  long uartPulse', inBuffer[noparse][[/noparse]5]
  byte inBuffer[noparse][[/noparse]5]
  
PUB Main | oldPulse 
  uart.start(31, 30, 0, 115200)                                                 'Start FDS object for recieving data from com port
  servo.set(throttlePin, 2200)                                                  'Initializing ESC to full brake
  servo.start
  InitESC                                                                       'Arming Electrifly ESC as per to manual
  repeat
    inbuffer := uart.rx
    uartPulse := conv.decimalToNumber(@inbuffer[noparse][[/noparse]0])
    oldPulse := uartPulse
    if uartPulse <> oldPulse
      servo.set(throttlePin, uartPulse)
    else
      servo.set(throttlePin, oldPulse) 
        
PUB RecieveData | throttle
''To be coded
PRI InitESC
  servo.set(throttlePin, 2200)                                                  'ESC full throttle
  pauseForSeconds(5)
  servo.set(throttlePin, 1000)                                                  'ESC full brake
  pauseForSeconds(2)
  servo.set(throttlePin, 2200)                                                  'ESC full throttle
  pauseForSeconds(2)
  servo.set(throttlePin, 1000)                                                  'ESC full brake
PRI pauseForSeconds(value)
  pauseForMilliseconds(value * 1000)
PRI pauseForMilliseconds(value) | buffer
  buffer := cnt 
 
  repeat (value #> 0)
    buffer += (clkfreq / 1000)
    waitcnt(buffer)

▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔

Kye

You do you that the pause routines can be also found in the library. so they do not need to be included into the code.
So... Use this...

OBJ
 
  servo : "Servo32v3"
  uart  : "FullDuplexSerialPlus"
  conv  : "libraryEngine"
  
CON
 
  _clkmode = xtal1 + pll16x                                                     'Sets clock to 16x input
  _xinfreq = 5_000_000                                                          'Sets clock to 80MHz (16x 5_000_000)
  
throttlePin = 4                                                                 'Sets pin to ESC on prop
 
VAR
 
  long uartPulse
  byte inBuffer[noparse][[/noparse]11]
  
PUB Main | oldPulse, index 
 
  uart.start(31, 30, 0, 115200)                                                 'Start FDS object for recieving data from port
  servo.set(throttlePin, 2200)                                                  'Initializing ESC to full brake
  servo.start
  InitESC                                                                       'Arming Electrifly ESC as per to manual
 
repeat
 
  repeat index from 0 to 4
    inbuffer[noparse][[/noparse]index] := uart.rx

  uartPulse := conv.decimalToNumber(@inbuffer[noparse][[/noparse]0])

 
  if(uartPulse <> oldPulse)
    servo.set(throttlePin, uartPulse)
  else
    servo.set(throttlePin, oldPulse)
 
  oldPulse := uartPulse 


PRI InitESC
 
  servo.set(throttlePin, 2200)                                                  'ESC full throttle
  conv.pauseForSeconds(5)

  servo.set(throttlePin, 1000)                                                  'ESC full brake
  conv.pauseForSeconds(2)

  servo.set(throttlePin, 2200)                                                  'ESC full throttle
  conv.pauseForSeconds(2)

  servo.set(throttlePin, 1000)                                                  'ESC full brake

And, I really don't know if this will work but it should put you in the right direction. Note, that the number to be sent to the propeller chip needs to be sent with its leading digit first, as in "1" "2"·"3" "4", the zero does not need to follow it as this code has plenty of extra space in its buffer for a zeros (because the vars are cleared to zero on startup).



▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
Nyamekye,

Post Edited (Kye) : 3/1/2009 3:10:03 AM GMT

bboy8012

I corrected that, I just have been focusing on the get data correctly from fullduplexserial

▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔

bboy8012

Ok I am stuck can any one show me some spin code to get the string or bytes from FullDuplexSerial? I verified my C# app is sending zero terminated stings, for string "1034" I get 10340 with bytes of 0A-04-00-00-00. i know I am not getting the values correctly, and I have looked over the manual, and also the PE labs Objects. Here is the pertinant code:

VAR

long uartPulse, pulse, inBuffer[noparse][[/noparse]5]
  'byte inBuffer[noparse][[/noparse]5]

repeat

    inbuffer := uart.rx
    uartPulse := conv.decimalToNumber(@inbuffer) 'uart.GetStr(@inbuffer)
    'pulse := uart.StrToDec(uartPulse)
    oldPulse := uartPulse 'pulse

    if uartPulse <> oldPulse
      servo.set(throttlePin, uartPulse)

    else
      servo.set(throttlePin, oldPulse)

▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔


Post Edited (bboy8012) : 3/1/2009 5:59:55 AM GMT

Mike Green

FullDuplexSerial reads one character at a time. If you want to handle zero-terminated strings on input, look at the Extended FullDuplexSerial object from the Object Exchange. This calls FullDuplexSerial to get the individual characters and combines them to provide zero-terminated strings or decimal values. Have a look at it and the included sample code.

Kye

Um, look at the code I posted... It shows you how to do that, use it and see what happens.

▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
Nyamekye,

bboy8012

The code worked, but not get results I want funny characters. but atleast I know there getting printed to the tv. You code was a big help kye thanks

OBJ
  servo : "Servo32v3"
  uart  : "Extended_FDSerial"
  text  : "tv_text"
  conv  : "libraryEngine"
  
CON
  _clkmode = xtal1 + pll16x                                                     'Sets clock to 16x input
  _xinfreq = 5_000_000                                                          'Sets clock to 80MHz (16x 5_000_000)
  throttlePin = 4                                                              'Sets pin to ESC on prop
VAR
  long uartPulse, pulse
  byte inBuffer[noparse][[/noparse]20]
  
PUB Main | oldPulse, index 
  uart.start(31, 30, 0, 115200)                                                   'Start FDS object for recieving data from com port
  servo.set(throttlePin, 2200)                                                  'Initializing ESC to full brake
  servo.start
  text.start(12)
  conv.pauseForSeconds(2)
  text.str(String("Starting ESC intialization", 13))
  
  'InitESC                                                                       'Arming Electrifly ESC as per to manual
  text.str(String("ESC intialization complete", 13))
  conv.pauseForSeconds(1)
  text.str(String("Begin Loop", 13))
  repeat 
    'inbuffer := uart.RxCheck
    'if inBuffer <> -1
      repeat index from 0 to 3
        inBuffer[noparse][[/noparse]index] := uart.rx
        uartPulse := conv.DecimalToNumber(@inBuffer[noparse][[/noparse]0])
        
        text.Str(uartPulse)
        text.Out(13)

Now time to figure out how to get the results i want. I will post final code with c# code for others

▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔

Kye

Um, from your code you seem to have the formatting all wrong... You do understand that the if statements and repeat loops and such define their internal statments as everything to the right underneath them.

If you have turned off the ability to see the little pipe arrows that tell you what an if or repeat statment is linked to I suggest you turn it back on.

I say that because you call the convert to decimal function multiple times instead of once in the code posted due to the way the compiler includes things in loops spacing.

The formating of the code I posted above is critical.

▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
Nyamekye,

bboy8012

Sorry that was a typo as I was editing. I have a question does the prop recieve bytes. The way I am sending them in C# is byte form 98-08-00-00-00 for 2200. Should I be sending them as characters. Still not getting the desired results

▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔

Kye

Send them as characters, thats what the library converts. Anything that is not in the set of {0..9} is treated as zero when added into the final converted value.

The output from you c# program is wrong. For "2200" you should send the lieral ACSII characters '2' '2' '0' '0' or in decimal 50, 50, 48, 48.

▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
Nyamekye,

bboy8012

Here is the working C# App to prop communitcaions. Thanks to kye and all others that helped me on this. This is only a basis to control a brushless motor through an ESC.

▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔

Kye

Cool, glad I could help.

▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
Nyamekye,