Eddie Control Board Aux Port constant settings - Help
Hi,
Since a couple of days I'm looking to solve this problem. It sounds simple, but...
I want to set the Aux Port A from the mainboard/controlboard of eddie to a constant output on a high level
when I switch on the power supply of the robot. (cause I need 12 V for a timer)
Thats what I did:
I ran the propeller tool and opened eddie.spin.
Then I opened the Parallax Serial Terminal and wrote in HEX:
"out 10000 (this is for the pin 16 in AUX A)
high 10000"
It works, the blue light flashes and my AUX A Device works.
But when I close the two applications, the aux port is dead again.
So I wrote the two lines "out $10000, high $10000" into the eddie.spin file and selected run\compile current\load eeprom.
It worked, but nothing happend, the aux port is still dead at start and only over the Parallax Terminal, I can activate this (like above).
So, how can I save the changes for the AUX Port permanently, so that it is activ (and high), when I switch on the power supply?
Many Thanks in advance :-)
Since a couple of days I'm looking to solve this problem. It sounds simple, but...
I want to set the Aux Port A from the mainboard/controlboard of eddie to a constant output on a high level
when I switch on the power supply of the robot. (cause I need 12 V for a timer)
Thats what I did:
I ran the propeller tool and opened eddie.spin.
Then I opened the Parallax Serial Terminal and wrote in HEX:
"out 10000 (this is for the pin 16 in AUX A)
high 10000"
It works, the blue light flashes and my AUX A Device works.
But when I close the two applications, the aux port is dead again.
So I wrote the two lines "out $10000, high $10000" into the eddie.spin file and selected run\compile current\load eeprom.
It worked, but nothing happend, the aux port is still dead at start and only over the Parallax Terminal, I can activate this (like above).
So, how can I save the changes for the AUX Port permanently, so that it is activ (and high), when I switch on the power supply?
Many Thanks in advance :-)
Comments
Todd
And how can I hardcode it in the eddie firmware?
What are the commands I must write in the eddie.spin?
What I tried was this:
out $10000
high $10000
And then I wrote the firmware to the board (with success)
But it didn't work anyway.
Namus
Can you post a text file of the code you attempted? It would be easier to help if we had the context of what you attempted.
Cheers,
Jessica
in the attachement is the eddie.txt file. I renamed the original eddie.spin. But it is the same file. In Line 76/77 is the code I attempted.
The jpg-file is a snipet-picture from the "Propeller Tool" with the same code.
Cheers
Namus
perhaps I can ask my question in another way:
I'm looking for a code with that I can set an arbitrary GPIO Port to "always on" (in this case AUX Port to OUT) when I switch on the power switch.
Has anybody an idea?
Namus
After reading myriads of lines in this forum and in different manuals, here is the solution, to those who are interested:
First of all I must say for a beginner it is not as easy to find out how to connect and activate other devices to the several, not activated GPIO Ports(what is a GPIO Port?
IMHO it would be an improvement to write this in the assembly manual or the normal manual in an "easier" way.
For Beginners: The eddie board has several GPIO (Gerneral Purpose Input Output) Ports that come from the processor, named cog. To this ports you can connect devices like a
robot arm or in this case a timer modul, that starts when you turn on the power switch.
Especially the AUX Ports (Port 16, 17, 18) you can activate to a lower status and a higher status.
The higher status ist about 12 V.
To activate this via the debbuging software, you can use the "Parallax Serial Terminal". The commands for this are written in the "Eddie Control Board Firmware Command Set".
However it is only for runtime use.
If you want to use it as a "real" robot that starts some extern devices automaticaly, you can turn on the board with activated GPIO Ports or propably via the MRDS Software (like Todd wrote, thanks :-) - not yet tested).
To activate the AUX Port 16 (named A on the board), you must write the following lines in the "Pub Main" Section of the eddie.spin file (via the "Propeller Tool"):
dira[16]~~ 'set GPIO 16 as output
' outa[16]~ set the GPIO to low
outa[16]~~ 'set GPIO 16 to high
Note: the ' is for comments.
You have to write this commands directly under the "Pub Main" Words Section (see code below). When you write this at the end, it doesn't work.
The explanation for this is to find in this (400 pages!) manual on page 175: http://www.parallax.com/Portals/0/Downloads/docs/prod/prop/Web-PropellerManual-v1.2.pdf
here is the code of the eddie.spin
Con _CLKMODE = XTAL1 + PLL16X _CLKFREQ = 80_000_000 ' Settings BUFFER_LENGTH = 255 ' Input Buffer Length must fit within input/output 'Index' ranges (currently a byte) VERSION = 12 ' Positions one wheel must make for a 360° rotation POSITIONS_PER_ROTATION = 186 ' Position Sensor Constants #0 ' Identifiers ALL_ENCODERS LEFT_ENCODER RIGHT_ENCODER #1 ' Commands QUERY_POSITION QUERY_SPEED CHECK_FOR_ARRIVAL TRAVEL_NUMBER_OF_POSITIONS CLEAR_POSITION SET_ORIENTATION_AS_REVERSED SET_TRANSMIT_DELAY SET_SPEED_MAXIMUM SET_SPEED_RAMP_RATE ' Motor names #0 LEFT_MOTOR RIGHT_MOTOR ' Motor control modes #0 POWER VELOCITY STOPPING POSITION 'ARC_POSITION ' Pin assignments ' Ping))) sensors PING_0 = 0 PING_1 = 1 ' Encoders ENCODERS_PIN = 10 ' Solid-state Relays SSR_A = 16 SSR_B = 17 SSR_C = 18 ' Motors MOTOR_L_B = 19 MOTOR_L_PWM = 20 MOTOR_L_A = 21 MOTOR_R_B = 22 MOTOR_R_PWM = 23 MOTOR_R_A = 24 ' ADC ADC_CS = 25 ADC_DIO = 26 ADC_CLK = 27 ' I2C SCL = 28 SDA = 29 ' RS-232 TTL TX = 30 RX = 31 ' Master GPIO mask (Only high pins can be set as outputs) OUTPUTABLE = %00000000_00000111_11111111_11111111 PINGABLE = %00000000_00000000_11111111_11111111 INITIAL_GPIO = |< SSR_A | |< SSR_B | |< SSR_C INITIAL_PING = |< PING_0 | |< PING_1 'DIRA[16]~~ 'OUTA[16]~ 'OUTA[16]~~ ' Terminal Settings BAUDMODE = %0000 BAUDRATE = 115_200 TIMEOUT = 10 ' ASCII commands NUL = $00 ' Null character SOH = $01 ' Start of Header STX = $02 ' Start of Text ETX = $03 ' End of Text EOT = $04 ' End of Transmission ENQ = $05 ' Enquiry ACK = $06 ' Acknowledgment BEL = $07 ' Bell BS = $08 ' Backspace HT = $09 ' Horizontal Tab LF = $0A ' Line feed VT = $0B ' Vertical Tab FF = $0C ' Form feed CR = $0D ' Carriage return SO = $0E ' Shift Out SI = $0F ' Shift In DLE = $10 ' Data Link Escape DC1 = $11 ' Device Control 1 (i.e. XON) DC2 = $12 ' Device Control 2 DC3 = $13 ' Device Control 3 (i.e. XOFF) DC4 = $14 ' Device Control 4 NAK = $15 ' Negative Acknowledgment SYN = $16 ' Synchronous idle ETB = $17 ' End of Transmission Block CAN = $18 ' Cancel EM = $19 ' End of Medium SB = $1A ' Substitute ESC = $1B ' Escape FS = $1C ' File Separator GS = $1D ' Group Separator RS = $1E ' Record Separator US = $1F ' Unit Separator DEL = $7F ' Delete ' EEPROM constants I2C_ACK = 0 I2C_NACK = 1 DEVICE_CODE = %0110 << 4 PAGE_SIZE = 128 ' Other DIVISOR = 50 DEADZONE = 1 PROMPT_SUM = $0 Obj Term : "FullDuplexSerial" Encoders : "FullDuplexSerial" ADC : "MCP3208.spin" ' Works with MCP3008, but two LSBs may be incorrect Ping : "ReadPulseWidths.spin" Motors : "Eddie Motor Driver" Var long Error ' Error message pointer for verbose responses long MotorSpeed[2] ' Current motor speeds reported from position controllers long Stack[50] ' Stack for cog running position control system Dat GPIOMask long INITIAL_GPIO ' Pins currently used as GPIO pins PingMask long INITIAL_PING ' Pins currently running PING))) Sensors PingResults long INITIAL_PING, 0[31] ' Results from cog recording PING))) sensor output pulses MotorPosition long 0[2] ' Physical position of the motor as returned by encoder MotPosOffset long 0[2] ' Offset between Physical and internal motor position MotorPower long 0[2] ' Current motor power level MidPosition long 0[2] ' Position the PD loop is attempting to hold MidPosAcc long 0[2] ' fractional part MidVelocity long 0[2] ' Current position change velocity MidVelAcc long 0[2] ' fractional part SetPosition long 0[2] ' Position that MidPosition is approaching SetVelocity long 0[2] ' Velocity that MidVelocity is approaching SetPower long 0[2] ' Power level that MotorPower is approaching MaxPowAccel long Motors#MAX_ON_TIME / 16 ' Maximum allowed motor power acceleration MaxPosAccel long 200 ' Maximum allowed positional acceleration Decel long 0[2] ' Deceleration rate Kp long Motors#MAX_ON_TIME / 16 ' Proportional error feedback gain StillCnt byte 0[2] ' Number of iterations in a row that the motor hasn't moved noticeably Mode byte 0 ' Current mode of the control system InputBuffer byte 0[BUFFER_LENGTH] ' Command input buffer OutputBuffer byte 0[BUFFER_LENGTH] ' Response output buffer InputIndex byte 0 ' Next empty position in the command input buffer ParseIndex byte 0 ' Last processed position in the command input buffer OutputIndex byte 0 ' Next empty position in the response output buffer Verbose byte 0 ' Verbosity level (Currently nonzero = verbose) PDRunning byte 0 ' State of position control cog Pub Main dira[16]~~ 'set GPIO 16 as output 'outa[16]~ outa[16]~~ 'set GPIO 16 to high Term.Start(RX, TX, BAUDMODE, BAUDRATE) ' Start a UART for the command port ADC.Start(ADC_DIO, ADC_CLK, ADC_CS, $FF) ' Continuously run ADC conversions Ping.Start(@PingResults) ' Continuously read pulse widths on PING))) pins cognew(PDLoop, @Stack) ' Run the position controller in another core repeat ' Main loop (repeats forever) InputBuffer[InputIndex++] := Term.Rx ' Read a byte from the command UART if InputIndex == constant(BUFFER_LENGTH) ' Check for a full buffer OutputStr(@Nack) ' Ready error response if Verbose ' If in verbose mode, add a description OutputStr(@Overflow) repeat ' Ignore all inputs other than NUL or CR (terminating a command) case Term.Rx ' Send the correct error response for the transmission mode NUL : ' Checksum mode SendChecksumResponse quit CR : ' Plain text mode SendResponse quit else ' If there isn't a buffer overflow... case InputBuffer[InputIndex - 1] ' Parse the character NUL : ' End command in checksum mode: if InputIndex > 1 ' Only parse buffer if it has content ifnot Error := \ChecksumParse ' Run the parser and trap and report errors OutputIndex~ ' Handle errors, if they occurred OutputStr(@Nack) if Verbose OutputStr(Error) SendChecksumResponse ' Send a response if no error else ' For an empty buffer, clear the pointer InputIndex~ ' to start receiving a new command BS : ' Process backspaces if --InputIndex ' Ignore the BS character itself --InputIndex ' Ignore previous character if exists CR: ' End command in plaintext mode: if InputIndex > 1 ' Only parse buffer if it has content if Error := \Parse ' Run the parser and trap and report errors OutputIndex~ ' Handle errors, if they occurred OutputStr(@Nack) if Verbose OutputStr(Error) SendResponse ' Send a response if no error else ' For an empty buffer, clear the pointer InputIndex~ ' to start receiving a new command SOH..BEL, LF..FF, SO..US, 127..255 : ' Ignore invalid characters Pri Parse | Index, Difference, Parameter[3] '' Parse the command in the input buffer InputBuffer[InputIndex - 1]~ ' Ensure buffer is NUL terminated (may have been CR terminated) repeat ParseIndex from 0 to InputIndex - 2 ' Find the end of the command in the input buffer case InputBuffer[ParseIndex] "a".."z" : ' Set all command characters to uppercase InputBuffer[ParseIndex] -= constant("a" - "A") HT, " " : ' Determine command length by finding the first whitespace character InputBuffer[ParseIndex]~ ' Null terminate the command quit ' ParseIndex now points to the null at the end of the command string (before the first parameter, if present) ' Parameter[n] := ParseHex(NextParameter) caches the parameters to check for their existence before running the command ' CheckLastParameter checks for too many parameters ' The Output...() methods write responses to the output buffer ' Check command against the following strings: if strcomp(@InputBuffer, string("HWVER")) ' Command: Respond with hardware version number CheckLastParameter ReadEEPROM(@Parameter, @Parameter + 1, 65534) ' Read the hardware version from upper EEPROM OutputHex(Parameter, 4) elseif strcomp(@InputBuffer, string("VER")) ' Command: Respond with version number CheckLastParameter OutputHex(VERSION, 4) elseif strcomp(@InputBuffer, string("OUT")) ' Command: Set GPIO pins in mask as outputs Parameter := ParseHex(NextParameter) CheckLastParameter dira |= (Parameter & GPIOMask) ' Change only GPIO pins in mask to outputs elseif strcomp(@InputBuffer, string("IN")) ' Command: Set GPIO pins in mask as inputs Parameter := ParseHex(NextParameter) CheckLastParameter dira &= !(Parameter & GPIOMask) ' Change only GPIO pins in mask to inputs elseif strcomp(@InputBuffer, string("HIGH")) ' Command: Set GPIO pins in mask high Parameter := ParseHex(NextParameter) CheckLastParameter outa |= Parameter & GPIOMask ' Change only GPIO pins in mask high elseif strcomp(@InputBuffer, string("LOW")) ' Command: Set GPIO pins in mask low Parameter := ParseHex(NextParameter) CheckLastParameter outa &= !(Parameter & GPIOMask) ' Change only GPIO pins in mask low elseif strcomp(@InputBuffer, string("OUTS")) ' Command: Set GPIO pins in mask as outputs CheckLastParameter OutputHex(dira & GPIOMask, 8) elseif strcomp(@InputBuffer, string("INS")) ' Command: return list of GPIO inputs CheckLastParameter OutputHex(!dira & GPIOMask, 8) elseif strcomp(@InputBuffer, string("HIGHS")) ' Command: return list of high GPIO pins (may be inputs) CheckLastParameter OutputHex(outa & GPIOMask, 8) elseif strcomp(@InputBuffer, string("LOWS")) ' Command: return list of low GPIO pins (may be inputs) CheckLastParameter OutputHex(!outa & GPIOMask, 8) elseif strcomp(@InputBuffer, string("READ")) ' Command: return state of GPIO pins CheckLastParameter OutputHex(ina & GPIOMask, 8) elseif strcomp(@InputBuffer, string("ADC")) ' Command: Respond with voltages from ADC CheckLastParameter OutputHex(ADC.In(0), 3) ' Show output from first ADC repeat Index from 1 to 7 ' For the remaining 7 OutputChr(" ") ' Transmit a space character OutputHex(ADC.In(Index), 3) ' Then the output from the ADC elseif strcomp(@InputBuffer, string("PING")) ' Command: Respond with status of active PING))) sensors CheckLastParameter ProcessPings ' Processed in a separate method elseif strcomp(@InputBuffer, string("SGP")) ' Command: Set pins as GPIO pins Parameter := ParseHex(NextParameter) & OUTPUTABLE ' Ignore pins that shouldn't be set as GPIO pins CheckLastParameter if Parameter & PingMask ' If this affects any active PING))) sensors, ResetPingDriver(PingMask &= !Parameter) ' remove them from the list of active PING))) sensors GPIOMask := Parameter ' Set the pins as GPIO pins elseif strcomp(@InputBuffer, string("SPNG")) ' Command: Set pins as PING))) sensor pins Parameter := ParseHex(NextParameter) & PINGABLE ' Ignore pins that shouldn't be set as PING))) sensor pins CheckLastParameter GPIOMask &= !Parameter ' Remove active PING))) sensor pins from GPIO mask outa &= !Parameter ' Set active PING))) sensor pins as low inputs dira &= !Parameter ResetPingDriver(Parameter) ' Restart the ReadPulseWidths object, with new PING))) sensor mask elseif strcomp(@InputBuffer, string("TRVL")) ' Command: Travel a specified distance at a specified speed Parameter[0] := ParseHex(NextParameter) Parameter[1] := ParseHex(NextParameter) CheckLastParameter ifnot PDRunning ' Return an error if the position controller cog isn't running abort @EncoderError case Parameter[1] ' Only accept a valid speed 1..127: InterpolateMidVariables SetVelocity[LEFT_MOTOR] := SetVelocity[RIGHT_MOTOR] := Parameter[1] SetPosition[LEFT_MOTOR] := MidPosition[LEFT_MOTOR] + ~~Parameter[0] ' Add travel distance to current position SetPosition[RIGHT_MOTOR] := MidPosition[RIGHT_MOTOR] + ~~Parameter[0] StillCnt~ Mode := POSITION other: abort @InvalidParameter elseif strcomp(@InputBuffer, string("GOSPD")) ' Command: Set the motors to a specified power Parameter[0] := ParseHex(NextParameter) Parameter[1] := ParseHex(NextParameter) CheckLastParameter ifnot PDRunning ' Requires use of the PD controller abort @EncoderError ' Abort if it isn't running InterpolateMidVariables SetVelocity[LEFT_MOTOR] := ~~Parameter[0] ' Then set the motors' powers SetVelocity[RIGHT_MOTOR] := ~~Parameter[1] StillCnt~ Mode := VELOCITY else ' Only 16 elseifs, nest within an else for more if strcomp(@InputBuffer, string("GO")) ' Command: Set the motors to a specified power Parameter[0] := ParseHex(NextParameter) ' Read both parameters before processing them Parameter[1] := ParseHex(NextParameter) ' To prevent changes with a "Too few parameters" error CheckLastParameter ifnot PDRunning ' Requires use of the PD controller abort @EncoderError ' Abort if it isn't running Mode := POWER SetPower[LEFT_MOTOR] := ~Parameter[0] * Motors#MAX_ON_TIME / 127' Then set the motors' powers SetPower[RIGHT_MOTOR] := ~Parameter[1] * Motors#MAX_ON_TIME / 127 elseif strcomp(@InputBuffer, string("STOP")) ' Command: Slow to a stop over a specified distance Parameter := ParseHex(NextParameter) CheckLastParameter ifnot PDRunning ' If the motor controller isn't running outa[24..19]~~ ' Forcefully disable all motors (cannot be undone, firmware must be reset) abort @EncoderError if Parameter InterpolateMidVariables case SetPower[LEFT_MOTOR] -1..negx: SetPosition[LEFT_MOTOR] := MotorPosition[LEFT_MOTOR] - Parameter 1..posx: SetPosition[LEFT_MOTOR] := MotorPosition[LEFT_MOTOR] + Parameter other: SetPosition[LEFT_MOTOR] := MotorPosition[LEFT_MOTOR] case SetPower[RIGHT_MOTOR] -1..negx: SetPosition[RIGHT_MOTOR] := MotorPosition[RIGHT_MOTOR] - Parameter 1..posx: SetPosition[RIGHT_MOTOR] := MotorPosition[RIGHT_MOTOR] + Parameter other: SetPosition[RIGHT_MOTOR] := MotorPosition[RIGHT_MOTOR] Decel[LEFT_MOTOR] := ||(-25 * MidVelocity[LEFT_MOTOR] * MidVelocity[LEFT_MOTOR] / (MidVelocity[LEFT_MOTOR] - DIVISOR * ||(SetPosition[LEFT_MOTOR] - MotorPosition[LEFT_MOTOR]))) Decel[RIGHT_MOTOR] := ||(-25 * MidVelocity[RIGHT_MOTOR] * MidVelocity[RIGHT_MOTOR] / (MidVelocity[RIGHT_MOTOR] - DIVISOR * ||(SetPosition[RIGHT_MOTOR] - MotorPosition[RIGHT_MOTOR]))) StillCnt~ Mode := STOPPING else ' For a zero stopping distance: waitcnt(constant(_clkfreq / DIVISOR) + cnt) ' Prevent race condition with PDLoop SetPower[LEFT_MOTOR]~ ' Disable power to both motors SetPower[RIGHT_MOTOR]~ StillCnt~ Mode := POWER ' Set the motors to power mode elseif strcomp(@InputBuffer, string("TURN")) ' Command: Turn a specified number of degrees around a circle of a specified radius ' Read both parameters before processing them (and adjust encoder positions per revolution / 2 wheels) Parameter[0] := ParseHex(NextParameter) Parameter[1] := ParseHex(NextParameter) ' To prevent changes with a "Too few parameters" error CheckLastParameter ifnot PDRunning abort @EncoderError case Parameter[1] 1..127: InterpolateMidVariables SetVelocity[LEFT_MOTOR] := SetVelocity[RIGHT_MOTOR] := Parameter[1] SetPosition[LEFT_MOTOR] := MidPosition[LEFT_MOTOR] + ~~Parameter[0] * (POSITIONS_PER_ROTATION / 2) / 360' Add travel distance to current position SetPosition[RIGHT_MOTOR] := MidPosition[RIGHT_MOTOR] - ~~Parameter[0] * (POSITIONS_PER_ROTATION / 2) / 360 StillCnt~ Mode := POSITION other: abort @InvalidParameter { elseif strcomp(@InputBuffer, string("ARC")) ' Command: Turn a specified number of degrees around a circle of a specified radius Parameter[0] := ParseHex(NextParameter) ' Read both parameters before processing them Parameter[1] := ParseHex(NextParameter) ' To prevent changes with a "Too few parameters" error CheckLastParameter } elseif strcomp(@InputBuffer, string("ACC")) Parameter := ParseHex(NextParameter) CheckLastParameter case Parameter 0..511: MaxPosAccel := Parameter other: abort @InvalidParameter elseif strcomp(@InputBuffer, string("SPD")) ' Command: Respond with the current motor speeds CheckLastParameter ifnot PDRunning abort @EncoderError OutputHex(MotorSpeed[LEFT_MOTOR], 4) OutputChr(" ") OutputHex(MotorSpeed[RIGHT_MOTOR], 4) elseif strcomp(@InputBuffer, string("HEAD")) ' Command: Respond with the current heading, relative to last reset CheckLastParameter ifnot PDRunning abort @EncoderError OutputHex((((MotorPosition[LEFT_MOTOR] + MotPosOffset[LEFT_MOTOR]) - (MotorPosition[RIGHT_MOTOR] + MotPosOffset[RIGHT_MOTOR])) // POSITIONS_PER_ROTATION) * 360 / POSITIONS_PER_ROTATION, 3) elseif strcomp(@InputBuffer, string("DIST")) ' Command: Respond with the accumulative distance each motor has traveled, relative to last reset CheckLastParameter ifnot PDRunning abort @EncoderError OutputHex(MotorPosition[LEFT_MOTOR] + MotPosOffset[LEFT_MOTOR], 8) OutputChr(" ") OutputHex(MotorPosition[RIGHT_MOTOR] + MotPosOffset[RIGHT_MOTOR], 8) elseif strcomp(@InputBuffer, string("RST")) ' Command: Reset heading and accumulated distance CheckLastParameter MotPosOffset[LEFT_MOTOR] := -MotorPosition[LEFT_MOTOR] MotPosOffset[RIGHT_MOTOR] := -MotorPosition[RIGHT_MOTOR] elseif strcomp(@InputBuffer, string("BLNK")) ' Command: Blink the specified pin at a specified rate Parameter[0] := ParseHex(NextParameter) ' Pin number Parameter[1] := ParseHex(NextParameter) ' Frequency CheckLastParameter Parameter[2] := |< Parameter[0] ' Create a pin mask from the pin number if Parameter[2] & OUTPUTABLE ' Only use this command on a pin that can be an output if Parameter[1] if Parameter[2] & PingMask ' If the pin used to be a PING))) sensor pin ResetPingDriver(PingMask &= !Parameter[0]) ' Restart the PING))) sensor processor with the pin removed from the mask GPIOMask &= !Parameter[2] ' Flag the pin as a GPIO pin outa[Parameter[0]]~ ' The I/O pin must be set as a low input dira[Parameter[0]]~~ ctra := constant(%00101 << 26) + Parameter[0] ' Set counter A to toggle the I/O pin frqa := constant($8000_0000 / _clkfreq / 10) * Parameter[1] ' Calculate the toggle period else ctra~ ' A frequency of 0 turns of the counter elseif strcomp(@InputBuffer, string("VERB")) ' Command: Set verbose mode Parameter := ParseHex(NextParameter) CheckLastParameter case Parameter 0..1: Verbose := Parameter other: abort @InvalidParameter else abort @InvalidCommand return 0 Pri InterpolateMidVariables | Difference '' Sets MidVelocity and MidPosition variables to values that would create the current SetPower at the current MotorPosition if Difference := SetPower[LEFT_MOTOR] / Kp ' Determine left MidPosition to MotorPosition offset if Difference => DEADZONE ' Adjust for the deadzone Difference -= DEADZONE elseif Difference =< DEADZONE Difference += DEADZONE MidPosition[LEFT_MOTOR] := MotorPosition[LEFT_MOTOR] + Difference ' Add it back to the current Motor Position else MidPosition[LEFT_MOTOR] := MotorPosition[LEFT_MOTOR] MidPosAcc[LEFT_MOTOR]~ ' Clear the fractional part if Difference := SetPower[RIGHT_MOTOR] / Kp ' Determine right MidPosition to MotorPosition offset if Difference => DEADZONE ' Remove the deadzone Difference -= DEADZONE elseif Difference =< DEADZONE Difference += DEADZONE MidPosition[RIGHT_MOTOR] := MotorPosition[RIGHT_MOTOR] + Difference ' Add it back to the current Motor Position else MidPosition[RIGHT_MOTOR] := MotorPosition[RIGHT_MOTOR] MidPosAcc[RIGHT_MOTOR]~ ' Clear the fractional part ' Set the left MidVelocity to the current motor speed MidVelocity[LEFT_MOTOR] := MotorSpeed[LEFT_MOTOR] MidVelAcc[LEFT_MOTOR]~ ' Clear the fractional part ' Set the right MidVelocity to the current motor speed MidVelocity[RIGHT_MOTOR] := MotorSpeed[RIGHT_MOTOR] MidVelAcc[LEFT_MOTOR]~ ' Clear the fractional part Pri PDLoop | NextCNT, ToSignExtend '' Measure, set, and maintain wheel position ' Open a serial connection to the position sensors Encoders.Start(ENCODERS_PIN, ENCODERS_PIN, %1100, 19_200) waitcnt(constant(_clkfreq / 2) + cnt) ' Give the driver time to start repeat 3 ' Clear the position sensors' input buffers Encoders.Tx(constant(CLEAR_POSITION << 3 | ALL_ENCODERS)) ' Disable the transmit delay Encoders.Tx(constant(SET_TRANSMIT_DELAY << 3 | ALL_ENCODERS)) Encoders.Tx(0) Encoders.Tx(constant(QUERY_SPEED << 3) | LEFT_ENCODER) ' Request left motor speed ifnot !Encoders.RxTime(TIMEOUT) ' Don't start the motor controller if a position sensor isn't working cogstop(cogid) ToSignExtend := Encoders.RxTime(TIMEOUT) ' Read left motor speed MotorSpeed[LEFT_MOTOR] := ~ToSignExtend ' Work around inability to sign the result of an expression Encoders.Tx(constant(QUERY_SPEED << 3) | RIGHT_ENCODER) ' Request right motor speed ifnot !Encoders.RxTime(TIMEOUT) ' Don't start the motor controller if a position sensor isn't working cogstop(cogid) ToSignExtend := Encoders.RxTime(TIMEOUT) ' Read right motor speed MotorSpeed[RIGHT_MOTOR] := -~ToSignExtend ' Work around inability to sign the result of an expression Motors.Start ' Start the motor controller Encoders.Tx(constant(QUERY_POSITION << 3) | LEFT_ENCODER) ' Request distance traveled for left wheel ToSignExtend := Encoders.RxTime(TIMEOUT) << 8 | Encoders.RxTime(TIMEOUT) SetPosition[LEFT_MOTOR] := MotorPosition[LEFT_MOTOR] := ~~ToSignExtend Encoders.Tx(constant(QUERY_POSITION << 3) | RIGHT_ENCODER) ' Request distance traveled for right wheel ToSignExtend := Encoders.RxTime(TIMEOUT) << 8 | Encoders.RxTime(TIMEOUT) SetPosition[RIGHT_MOTOR] := MotorPosition[RIGHT_MOTOR] := -~~ToSignExtend PDRunning~~ ' Let the command parser know that the motor controller is running NextCNT := cnt ' Set up a timed loop repeat Motors.Right(PDIteration(RIGHT_MOTOR)) ' Service right wheel and motor Motors.Left(PDIteration(LEFT_MOTOR)) ' Service left wheel and motor waitcnt(NextCNT += constant(_clkfreq / DIVISOR)) ' Loop DIIVSOR times per second Pri PDIteration(Side) | Difference[2], ToSignExtend, Limit, RawPosition '' Read the wheel's speed and position, and set its power Encoders.Tx(constant(QUERY_SPEED << 3) | Side + 1) ' Request motor speed ifnot !Encoders.RxTime(TIMEOUT) ' Ignore high byte and abort on error PDRunning~ Motors.Stop cogstop(cogid) ToSignExtend := Encoders.RxTime(TIMEOUT) MotorSpeed[Side] := ~ToSignExtend * (2 - Side << 2) ' Multiply by two and reverse sign for right motor Encoders.Tx(constant(QUERY_POSITION << 3) | Side + 1) ' Request distance traveled ToSignExtend := (RawPosition := (Encoders.RxTime(TIMEOUT) << 8 | Encoders.RxTime(TIMEOUT))) * (1 - Side << 1) & $FFFF - MotorPosition[Side] MotorPosition[Side] += ~~ToSignExtend if ||MotorSpeed[Side] =< 2 or RawPosition == 00 ' Keep track of how long the motor hasn't been moving StillCnt[Side]++ StillCnt[Side] <#= 127 else StillCnt[Side]~ ' Keep the mid point from traveling too far away from the current motor position Difference := SetPower[Side] / Kp ' Interpolate MidPosition to MotorPosition offset, based on current power if Difference => DEADZONE ' Adjust for the deadzone Difference -= DEADZONE elseif Difference =< DEADZONE Difference += DEADZONE else Difference~ { ' Check to see if offset is higher than it should be for the current power level (When motor is moving) if Difference > DEADZONE * 2 + 1 and ||(MidPosition[Side] - MotorPosition[Side]) > ||Difference * 11 / 10 ' If so, bring the set point closer to the physical position MidPosition[Side] := MotorPosition[Side] - (MotorPosition[Side] - MidPosition[Side]) if StillCnt => constant(DIVISOR / 2) ' If the offset was high and the motor isn't moving PDRunning~ ' Then something is wrong - stop the motor driver Motors.Stop cogstop(cogid) } case Mode ' Set motor power based on current control method POWER: ' Run the motors at a set power level ' MotorPower approaches SetPower as limited by MaxPowAccel return MotorPower[Side] += -MaxPowAccel #> (SetPower[Side] - MotorPower[Side]) <# MaxPowAccel StillCnt~ VELOCITY: ' Maintain the motors at a set velocity ' MidVelocity / DIVISOR approaches SetVelocity as limited by MaxPosAccel MidVelAcc[Side] += -MaxPosAccel #> (SetVelocity[Side] - MidVelocity[Side]) * DIVISOR - MidVelAcc[Side] <# MaxPosAccel MidVelocity[Side] += MidVelAcc[Side] / DIVISOR MidVelAcc[Side] //= DIVISOR ' MidPosition / DIVISOR increases by MidVelocity / DIVISOR MidPosAcc[Side] += MidVelocity[Side] MidPosition[Side] += MidPosAcc[Side] / DIVISOR MidPosAcc[Side] //= DIVISOR ' Measure motors physical distance from the set point Difference := MidPosition[Side] - MotorPosition[Side] if Difference => DEADZONE ' Adjust for the deadzone Difference -= DEADZONE elseif Difference =< DEADZONE Difference += DEADZONE else Difference~ ' SetPower is proportional to the motors physical distance from the set point, limited by Motors#MAX_ON_TIME SetPower[Side] := -Motors#MAX_ON_TIME #> Difference * Kp <# Motors#MAX_ON_TIME ' MotorPower approaches SetPower as limited by MaxPowAccel return MotorPower[Side] += -MaxPowAccel #> (SetPower[Side] - MotorPower[Side]) <# MaxPowAccel STOPPING: ' Slow to a stop at a set position ' MidPosition approaches SetPosition as limited by the deceleration curve Limit := ^^(constant(8 * DIVISOR * DIVISOR) * (SetPosition[Side] - MidPosition[Side])/ Decel ) * Decel / 2 MidPosAcc[Side] += -Limit #> (SetPosition[Side] - MidPosition[Side]) * constant(DIVISOR * DIVISOR) + MidPosAcc[Side] <# Limit MidPosition[Side] += MidPosAcc[Side] / constant(DIVISOR * DIVISOR) MidPosAcc[Side] //= constant(DIVISOR * DIVISOR) ' Measure motors physical distance from the set point Difference := MidPosition[Side] - MotorPosition[Side] if Difference => DEADZONE ' Adjust for the deadzone Difference -= DEADZONE elseif Difference =< DEADZONE Difference += DEADZONE else Difference~ ' SetPower is proportional to the motors physical distance from the set point, limited by Motors#MAX_ON_TIME SetPower[Side] := -Motors#MAX_ON_TIME #> Difference * Kp <# Motors#MAX_ON_TIME ' MotorPower approaches SetPower as limited by MaxPowAccel return MotorPower[Side] += -MaxPowAccel #> (SetPower[Side] - MotorPower[Side]) <# MaxPowAccel ' ARC_POSITION: ' Turn along an arc POSITION: ' Travel to a set position ' MidVelocity approaches SetVelocity as limited by MaxPosAccel / DIVISOR MidVelAcc[Side] += -MaxPosAccel #> (SetVelocity[Side] - MidVelocity[Side]) * DIVISOR - MidVelAcc[Side] <# MaxPosAccel MidVelocity[Side] += MidVelAcc[Side] / DIVISOR MidVelAcc[Side] //= DIVISOR ' MidPosition approaches SetPosition as limited by the deceleration curve Limit := MidVelocity[Side] * DIVISOR + MidVelAcc[Side] <# ^^(constant(8 * DIVISOR * DIVISOR) * (SetPosition[Side] - MidPosition[Side])/ MaxPosAccel) * MaxPosAccel / 2 MidPosAcc[Side] += -Limit #> (SetPosition[Side] - MidPosition[Side]) * constant(DIVISOR * DIVISOR) + MidPosAcc[Side] <# Limit MidPosition[Side] += MidPosAcc[Side] / constant(DIVISOR * DIVISOR) MidPosAcc[Side] //= constant(DIVISOR * DIVISOR) ' Measure motors physical distance from the set point Difference := MidPosition[Side] - MotorPosition[Side] if Difference => DEADZONE ' Adjust for the deadzone Difference -= DEADZONE elseif Difference =< DEADZONE Difference += DEADZONE else Difference~ ' SetPower is proportional to the motors physical distance from the set point, limited by Motors#MAX_ON_TIME SetPower[Side] := -Motors#MAX_ON_TIME #> Difference * Kp <# Motors#MAX_ON_TIME ' MotorPower approaches SetPower as limited by MaxPowAccel return MotorPower[Side] += -MaxPowAccel #> (SetPower[Side] - MotorPower[Side]) <# MaxPowAccel other: ' Invalid state return MotorPower[Side]~ ' Stop the motor Pri ProcessPings | PingPins, Index, Response '' Output distance readings from all active PING))) sensors ' PingPins is a working variable used to count the number of PING)))sensors that are currently active if PingPins := PingMask ' Copy mask of affected PING))) sensors into PingPins and only proceed if some are active outa |= PingMask ' Set the outputs high for all active PING))) sensors dira |= PingMask ' Set directions to outputs outa &= !PingMask ' Set the outputs low dira &= !PingMask ' Set directions to inputs waitcnt(constant(_clkfreq / 40) + cnt) Index~ repeat if PingPins & %1 Response := PingResults[Index] >> 9 if Response < 18 or Response > 2900 'abort @PINGNotResponding ' Send error if any PING))) sensors don't respond Response~ OutputHex(Response, 3) OutputChr(" ") Index += 2 PingPins >>= 1 while PingPins OutputBuffer[OutputIndex--]~ ' Remove last space from output buffer Pri ResetPingDriver(NewMask) '' Restart the PING))) driver with anew set of pins PingMask := NewMask & PINGABLE ' Only use allowed pins GPIOMask &= !PingMask ' Remove used pins from GPIO set Ping.Stop ' Stop the PING))) driver PingResults := PingMask ' Set the new set of pins Ping.Start(@PingResults) ' Start the PING))) driver Pri ChecksumParse | Index, Accumulator, RemoteChecksum '' Verify checksum and parse input command Accumulator~ repeat Index from 0 to InputIndex - 1 Accumulator += InputBuffer[Index] RemoteChecksum := Term.Rx << 8 RemoteChecksum |= Term.Rx if Accumulator == RemoteChecksum \Parse else abort @BadChecksum Pri NextParameter '' Condition the next input parameter and return its pointer repeat until ++ParseIndex => InputIndex ' Ignore whitespace case InputBuffer[ParseIndex] ' First character is always whitespace 0, HT, " ": other: quit ' ParseIndex points to first non-whitespace character if ParseIndex => InputIndex ' If at the end of the buffer (or passed it, just in case) abort @TooFewParameters ' then there are no more parameters result := @InputBuffer[ParseIndex] ' When responding, point to the next parameter, repeat ParseIndex from ParseIndex to InputIndex - 1 ' But first... case InputBuffer[ParseIndex] NUL, HT, " " : ' Null terminate the parameter InputBuffer[ParseIndex]~ quit "a".."z" : ' Set all command characters to uppercase InputBuffer[ParseIndex] -= constant("a" - "A") Pri CheckLastParameter '' Abort if there are any unparsed input parameters repeat until (InputBuffer[ParseIndex] <> 0 and InputBuffer[ParseIndex] <> " " and InputBuffer[ParseIndex] <> HT) or ParseIndex == InputIndex - 1 ++ParseIndex ifnot ParseIndex == InputIndex - 1 ' Ensure that there are no further arguments abort @TooManyParameters ' To prevent changes with a "Too many parameters" error Pri ParseHex(Pointer) | Character '' Interpret an ASCII hexadecimal string repeat 8 case Character := byte[Pointer++] NUL : Pointer-- return result "0".."9" : result := result << 4 + Character - "0" "A".."F" : result := result << 4 + Character - constant("A" - 10) "a".."f" : result := result << 4 + Character - constant("a" - 10) other : abort @InvalidParameter if byte[Pointer] ' Make sure there are no remaining characters after parsing first eight. abort @InvalidParameter Pri OutputChr(Char) '' Add a character to the output buffer if OutputIndex < BUFFER_LENGTH - 3 OutputBuffer[OutputIndex++] := Char OutputBuffer[OutputIndex]~ Pri OutputStr(Pointer) '' Concatenate a string to the end of the output buffer if strsize(Pointer) + 1 =< BUFFER_LENGTH - OutputIndex ' Check for overflow bytemove(@OutputBuffer + OutputIndex, Pointer, strsize(Pointer) + 1) ' Copy the string to the buffer, including the terminator OutputIndex += strsize(Pointer) ' Increment the output buffer index by the length of the sting, not including the terminator Pri OutputDec(value) | i, x '' Create a decimal string and concatenate the end of the output buffer '' Print a decimal number x := value == NEGX ' Check for max negative if value < 0 value := ||(value+x) ' If negative, make positive; adjust for max negative OutputChr("-") ' and output sign i := 1_000_000_000 ' Initialize divisor repeat 10 ' Loop for 10 digits if value => i OutputChr(value / i + "0" + x*(i == 1)) ' If non-zero digit, output digit; adjust for max negative value //= i ' and digit from value result~~ ' flag non-zero found elseif result or i == 1 OutputChr("0") ' If zero digit (or only digit) output it i /= 10 ' Update divisor Pri OutputHex(value, digits) '' Create a hexadecimal string and concatenate the end of the output buffer '' Print a hexadecimal number if OutputIndex < BUFFER_LENGTH - digits - 2 value <<= (8 - digits) << 2 repeat digits OutputBuffer[OutputIndex++] := lookupz((value <-= 4) & $F : "0".."9", "A".."F") OutputBuffer[OutputIndex]~ Pri SendResponse '' Transmit the string in the output buffer and clear the buffer Term.Str(@OutputBuffer) ' Transmit the buffer contents Term.Str(@Prompt) ' Transmit the prompt InputIndex~ ' Clear the buffers OutputBuffer~ OutputIndex~ Pri SendChecksumResponse | Index, Accumulator '' Transmit the string in the output buffer, and its checksum, then clear the buffer Accumulator := PROMPT_SUM ' Generate the checksum repeat Index from 0 to strsize(@OutputBuffer) Accumulator += OutputBuffer[Index] Term.Str(@OutputBuffer) ' Transmit the buffer contents Term.Str(@CheckSumPrompt) ' Transmit the prompt Term.Tx(0) ' Null must be transmitted separately (cannot be part of CheckSumPrompt string) Term.Tx(Accumulator >> 8) ' Transmit the Checksum Term.Tx(Accumulator) InputIndex~ ' Clear the buffers OutputBuffer~ OutputIndex~ Pri ReadEEPROM(startAddr, endAddr, eeStart) | addr ''Copy from EEPROM beginning at eeStart address to startAddr..endAddr in main RAM. SetAddr(eeStart) ' Set EEPROM's address pointer i2cstart SendByte(%10100001) ' EEPROM I2C address + read operation if startAddr == endAddr addr := startAddr else repeat addr from startAddr to endAddr - 1 ' Main RAM index startAddr to endAddr byte[addr] := GetByte ' GetByte byte from EEPROM & copy to RAM SendAck(I2C_ACK) ' Acknowledge byte received byte[addr] := GetByte ' GetByte byte from EEPROM & copy to RAM SendAck(I2C_NACK) i2cstop ' Stop sequential read Pri WriteEEPROM(startAddr, endAddr, eeStart) | addr, page, eeAddr ''Copy startAddr..endAddr from main RAM to EEPROM beginning at eeStart address. addr := startAddr ' Initialize main RAM index eeAddr := eeStart ' Initialize EEPROM index repeat page := addr +PAGE_SIZE -eeAddr // PAGE_SIZE <# endaddr +1 ' Find next EEPROM page boundary SetAddr(eeAddr) ' Give EEPROM starting address repeat ' Bytes -> EEPROM until page boundary SendByte(byte[addr++]) until addr == page i2cstop ' From 24LC256's page buffer -> EEPROM eeaddr := addr - startAddr + eeStart ' Next EEPROM starting address until addr > endAddr ' Quit when RAM index > end address Pri SetAddr(addr) : ackbit 'Sets EEPROM internal address pointer. ' Poll until acknowledge. This is especially important if the 24LC256 is copying from buffer to EEPROM. ackbit~~ ' Make acknowledge 1 repeat ' Send/check acknowledge loop i2cstart ' Send I2C start condition ackbit := SendByte(%10100000) ' Write command with EEPROM's address while ackbit ' Repeat while acknowledge is not 0 SendByte(addr >> 8) ' Send address high byte SendByte(addr) ' Send address low byte Pri I2cStart ' I2C start condition. SDA transitions from high to low while the clock is high. ' SCL does not have the pullup resistor called for in the I2C protocol, so it has to be ' set high. (It can't just be set to inSendByte because the resistor won't pull it up.) dira[SCL]~ ' SCL pin outSendByte-high dira[SDA]~ ' Let pulled up SDA pin go high dira[SDA]~~ ' SDA -> outSendByte for SendByte method Pri I2cStop ' Send I2C stop condition. SCL must be high as SDA transitions from low to high. ' See note in i2cStart about SCL line. dira[SDA]~~ dira[SCL]~ ' SCL -> high dira[SDA]~ ' SDA -> inSendByte GetBytes pulled up Pri SendAck(ackbit) ' Transmit an acknowledgment bit (ackbit). dira[SDA] := !ackbit ' Set SDA output state to ackbit dira[SDA]~~ ' Make sure SDA is an output dira[SCL]~ ' Send a pulse on SCL dira[SCL]~~ dira[SDA]~ ' Let go of SDA Pri GetAck : ackbit ' GetByte and return acknowledge bit transmitted by EEPROM after it receives a byte. ' 0 = I2C_ACK, 1 = I2C_NACK. dira[SDA]~ ' SDA -> SendByte so 24LC256 controls dira[SCL]~ ' Start a pulse on SCL ackbit := ina[SDA] ' GetByte the SDA state from 24LC256 dira[SCL]~~ ' Finish SCL pulse dira[SDA]~~ ' SDA -> outSendByte, master controls Pri SendByte(b) : ackbit | i ' Shift a byte to EEPROM, MSB first. Return if EEPROM acknowledged. Returns ' acknowledge bit. 0 = I2C_ACK, 1 = I2C_NACK. b ><= 8 ' Reverse bits for shifting MSB right dira[SCL]~~ ' SCL low, SDA can change repeat 8 ' 8 reps sends 8 bits dira[SDA] := !b ' Lowest bit sets state of SDA dira[SCL]~ ' Pulse the SCL line dira[SCL]~~ b >>= 1 ' Shift b right for next bit ackbit := GetAck ' Call GetByteAck and return EEPROM's Ack Pri GetByte : value ' Shift in a byte, MSB first. value~ ' Clear value dira[SDA]~ ' SDA input so 24LC256 can control repeat 8 ' Repeat shift in eight times dira[SCL]~ ' Start an SCL pulse value <-= 1 ' Shift the value left value |= ina[SDA] ' Add the next most significant bit dira[SCL]~~ ' Finish the SCL pulse Dat Prompt byte CR, 0 CheckSumPrompt NullString byte 0 Nack byte "ERROR", 0 Overflow byte " - Overflow", 0 BadChecksum byte " - Bad checksum", 0 InvalidCommand byte " - Invalid command", 0 InvalidParameter byte " - Invalid parameter", 0 TooFewParameters byte " - Too few parameters", 0 TooManyParameters byte " - Too many parameters", 0 EncoderError byte " - Encoder error", 0 NonCommand byte " - Nothing happens", 0Hope this will help especially the beginners to let extern devices work on the eddie platform.
Please don't hesitate to ask, when you have questions around the other processes (i. e. how to get the code to the controller board).
Or leave some suggetions or corrections...
Kind regards from germany
Have a nice weekend
Namus
Is it possible to power a 6V device from AUX port? I have a SSC32 which operates on 6V. Can I connect it directly to one of the AUX ports and then set the AUX port to permanently high in the spin code? Please advise.
Thanks.
If you use the AUX Ports on HIGH you will get 12V.
What you can do is to sold a resistor "in" the "Plus"-wire to your device. But to calculate the resistor, you need the maximum current what your device can stand.
Then you use the formula: R=U/I.
I looked at this page: http://www.lynxmotion.com/p-395-ssc-32-servo-controller.aspx
And there is given a current of 31mA (current requirements). This might be the right specification. Then you would have need a 400 OHM Resistor.
If you use the AUX Porst on LOW, I think you have only 3,3 given (You should measure it ;-)). This is too less. You could then try to serially connect two ports, then you have 6,6V.
Perhaps you can also use the Regulated power headers on 5 V, and perhaps it will work with your 6 V Device ;-)
Sorry, it is bit complicated. But at the moment I have no other solution.
Hope it will help.
I think I would try it with the voltage regulator yet, because it is glitch free.
The voltage regulator is within the tolerance of the 12V input and you can switch the output to 6V.
It is not really cheap, but I think without this, there might be a "limit problem" with the 5 A fuse from the Eddie board.