propeller get the sensor data showin the C# ?

ggg558877 · 2012-10-15 19:37

Hello everyone,
i have used a propeller C3 get the sensor data,
http://i1162.photobucket.com/albums/q535/ggg558877/1_zps95366eda.jpg,
and now i want to show the data in the c#
i have no idea what to do , is there any examples?
thanks

Mike G · 2012-10-15 20:23

Welcome to the forum TW. Your question is a bit broad but a serial connection should do the trick.

Open source C# serial terminal. Not the greatest but it works and it contains a few good nuggets.

ggg558877 · 2012-10-15 21:12

Mike G wrote: »

Welcome to the forum TW. Your question is a bit broad but a serial connection should do the trick.

Open source C# serial terminal. Not the greatest but it works and it contains a few good nuggets.

Nice to meet you, Mike
now i use a simple example to run in the Parallax-Serial-Terminal,enter any number and it can calculate tangent
http://i1162.photobucket.com/albums/q535/ggg558877/789.jpg (sorry i don't know how to paste propeller code)
http://i1162.photobucket.com/albums/q535/ggg558877/555.jpg
and how can i get the same result in C# serial terminal
thanks

Mike G · 2012-10-16 07:04

The C# Serial terminal does not automatically send a control - line feed chars like PST. Update line 362 of the terminal.cs class to the following.

string message = !string.IsNullOrEmpty(toSend) ? txtSend.Text + "\r\n" : "Hello World\r\n";

Other than that, enter values in the top textbox and click the send button.

What is your goal? To learn Spin and C#?

ggg558877 · 2012-10-16 19:06

Mike G wrote: »

What is your goal? To learn Spin and C#?

Hi, Mike
My goal just like this video
http://www.youtube.com/watch?feature=player_embedded&v=JJ1SBgGG11g
i already get the sensor(AHRS) data in Spin ,and now i want to use C# to receive those data
but i don't know how to send those data to C#
sorry this my first to do this
maybe it's a stupid question

JasonDorie · 2012-10-17 12:07

In C# you can just open a serial connection as a data stream and read from it. The fastest way to do it is send the raw data bytes from the Propeller variables. On the C# side you read the bytes out of the stream, assemble them back together into an int, and perform whatever display you want. The simplest way would be to use a Label and set the .Text field of the label to your int value by using the .ToString() operator, like this:

  int myInt = GetIntFromCommStream();  // you'll need to write this function
  lblMyLabel.Text = myInt.ToString();  // Assumes that there's a label on your form, called lblMyLabel

My GroundStation program does all of this, and it's written in C#. You can download it from the top of this thread:
http://forums.parallax.com/showthread.php?136787-QuadX-my-latest-Propeller-with-Propellers

The MainForm_Load() function finds all the connected serial ports, picks the one it figures is the connected Propeller chip, and opens it.
The function GetCommWord() reads two bytes from the serial port and assembles them into a signed short (16 bit) value.

If you've never used C# before it might be a little overwhelming, but hopefully it's a step in the right direction.

Jason

ggg558877 · 2012-10-22 06:20

thanks Jason I will try it
now I get a new problem
I want to send a number from c# to propeller to control the servo and my send buttom code is

   private void btnSend_Click(object sender, EventArgs e)
        {
            // Sends the text as a byte.
            serialPort1.Write(new byte[] { Convert.ToByte(txtDatasend.Text) }, 0, 1);
        }

and propeller code is

CON
  _xinfreq=5_000_000            
  _clkmode=xtal1+pll16x                 
  
VAR
  long position             
  long p1                                 
  long Stack[5]                        
OBJ
pst : "Parallax Serial Terminal" 
PUB Demo
    pst.Start(115200)
    p1:=pst.DecIn
    
    cognew(MoveMotor(7),@Stack)           

    repeat
     position:=p1                                                                          
     waitcnt(clkfreq+cnt)


                                                                                                                           
PUB MoveMotor(Pin) | LowTime,period                  
  dira[Pin]~~                          
  ctra[30..26]:=100                                                                                                                        
  ctra[5..0]:=Pin                                                                
  frqa:=1                                             
  LowTime:=2*clkfreq/100                 
  period:=cnt                           
  repeat
    phsa:=-p1                          
    period:=period+p1+LowTime          
    waitcnt(period)

now I send a number 88000 and the propeller tx LED had Blinking but servo have not action
Can someone please tell me what is my problem

Mike G · 2012-10-22 07:08

The value in txtDatasend.text is converted to ASCII. It is not a number. Therefore, 88000 is converted to 5 bytes; $38, $38, $00, $00, $00.

On the propeller side you must read the 5 bytes and convert the byte array into a number.

The DecIn command expects the number to terminate with a CR. So add a $13 to the end of txtDatasend.text

string msg = txtDatasend.text + "\r\n"

You can also send 88000 as a number. 88000 is 3 bytes $01, $57, $C0. On the Propeller side you'll assemble the bytes into a long.

ggg558877 · 2012-10-22 07:44

Hi Mike
how can i read the 5 bytes and convert the byte array into a number on the propeller side
can you give me some example?
thanks

JasonDorie · 2012-10-22 11:23

It would be much easier (and faster) to convert the text into an integer on the C# side. Use something like this:

int Value = int.Parse( txtDatasend.Text );

Then, send that integer as 4 bytes, like this:

serialPort1.Write( (byte)(Value >> 24) );
serialPort1.Write( (byte)(Value >> 16) );
serialPort1.Write( (byte)(Value >> 8) );
serialPort1.Write( (byte)(Value >> 0) );

On the Propeller side, just read the 4 raw bytes out of the stream and reassemble them, like this:

Value := Pst.rx << 24
Value |= Pst.rx << 16
Value |= Pst.rx << 8
Value |= Pst.rx

The shifting (<< and >>) is to move the bits around. The first shift slides the upper 8 bits down so they're in the low 8-bit position, and then casting to a byte chops off the rest of the number. The other shifts select each subsequent set of 8 bits. On the Propeller side, you receive each set of 8 bits and use the opposite shifts to move them back into the right place, then use the or operator ( | ) to put them back together into a single variable.

ggg558877 · 2012-10-22 18:44

JasonDorie wrote: »

Then, send that integer as 4 bytes, like this:

serialPort1.Write( (byte)(Value >> 24) );
serialPort1.Write( (byte)(Value >> 16) );
serialPort1.Write( (byte)(Value >> 8) );
serialPort1.Write( (byte)(Value >> 0) );

hi,Jason
I try this code but he say can't convert string from byte

and I try this code

            int Value = int.Parse(txtDatasend.Text);
            byte[] buffer = new byte[4];
            buffer[0] = (byte)(Value >> 24);
            buffer[1] = (byte)(Value >> 16);
            buffer[2] = (byte)(Value >> 8);
            buffer[3] = (byte)(Value >> 0);
            serialPort1.Write(buffer, 0, 4);

i set a breakpoint and see the buffer is 0 ,1, 87, 192 when i give the value 88000
but servo isn't action too
how can i solve this problem?
thanks

propeller code

CON
  _xinfreq=5_000_000            
  _clkmode=xtal1+pll16x                 
  
VAR
  long position             
  byte p1[32]                                 
  long Stack[5]
                     
OBJ
pst : "FullDuplexSerialPlus" ' Serial communication object  
PUB Demo
    pst.Start(31, 30, 0, 115200)
    p1 := Pst.rx << 24
    p1 |= Pst.rx << 16
    p1 |= Pst.rx << 8
    p1 |= Pst.rx
 
     
    cognew(MoveMotor(7),@Stack)
    repeat
      position:=p1                                                                          
      waitcnt(clkfreq+cnt)


                                                                                                                           
PUB MoveMotor(Pin) | LowTime,period                  
  dira[Pin]~~                           '
  ctra[30..26]:=100                                                
  ctra[5..0]:=Pin                                                             
  frqa:=1                                             
  LowTime:=2*clkfreq/100                  
  period:=cnt                           
  repeat
    phsa:=-p1                     
    period:=period+p1+LowTime     
    waitcnt(period)

Mike G · 2012-10-22 22:21

Give this a shoot. The Win form blinks LED/PIN 16 ? number of times.

C# Code

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using System.IO.Ports;
using System.Configuration;

namespace SerialForm
{
    public partial class Form1 : Form
    {
        private SerialPort sp;
        string port = "COM11";
        int baud = 115200;


        public Form1()
        {
            InitializeComponent();
            sp = new SerialPort(port, baud);
        }

        private void button1_Click(object sender, EventArgs e)
        {
            int num = 0;
            if(!int.TryParse(this.textBox1.Text, out num))
                MessageBox.Show(@"Please enter a number!");

            sp.Open();

            string msg = string.Format("{0}\r", this.textBox1.Text);
            sp.Write(msg);

            sp.Close();

        }
    }
}

Spin Source

CON
  _clkmode = xtal1 + pll16x     
  _xinfreq = 5_000_000

  LED = 16

OBJ
  pst           : "Parallax Serial Terminal"

 
PUB Main | int

  pst.Start(115_200)
  pause(500)

  repeat
    int := pst.DecIn
    repeat int*2
      Toggle(LED)
      

PUB Toggle(pin)
  dira[pin]~~
    !outa[pin]
    waitcnt(80_000_000/4 + cnt)


  
PRI pause(Duration)  
  waitcnt(((clkfreq / 1_000 * Duration - 3932) #> 381) + cnt)
  return

ggg558877 · 2012-10-23 01:14

thanks for your example Mike my servo is action
but i have a new problem
in first time i send 88000 to propeller and servo go clockwise position
now i want servo to go counterclockwise position so i send 152000 to propeller
but servo still go clockwise position
how can i improve in the propeller code
and if i want to use two servo i use two hScrollBar to send the value
how can propeller Identification which value is servo1 and servo2
i want to do just like previous theme
http://forums.parallax.com/showthread.php?96973-VB-Express-to-Stamp-Template&highlight=Twin+Servo+Control
#8
thanks

Mike G · 2012-10-23 07:36

ggg558877 wrote:

in first time i send 88000 to propeller and servo go clockwise position
now i want servo to go counterclockwise position so i send 152000 to propeller
but servo still go clockwise position
how can i improve in the propeller code

I'm not sure. You'll have to debug your code. You might consider using servo32 in the OBEX as opposed to rolling your own.

ggg558877 wrote:

and if i want to use two servo i use two hScrollBar to send the value
how can propeller Identification which value is servo1 and servo2

Along with the servo position value, send the servo ID. You'll have to think about this and come up with a standard protocol so the Propeller and PC can decipher the data sent on the serial port.

Here's an idea:
![ID][Value][$0D]

Mike G · 2012-10-23 14:09

The attached C# and Propeller code should get you well on your way. The Zip contains 3 C# projects that can be used as templates.

The ServoSlider project goes with the ReceivePacket.spin. Sorry, it does not move a servo. It only blinks LEDs according to the track bar position. I'll leave the servo stuff up to you.

The SerialForm is the same project as posted on #12 and it goes with the spin code posted in the same post.

Have fun

ggg558877 · 2012-10-23 18:57

thanks Mike it useful to me

ggg558877 · 2012-10-23 20:58

Hi, Mike
I have a problem
now i use ServoSlider project to change the LED blink speed
and if value not change the LED keep this speed blinking
if value change LED blinking on the new speed
so i add this code

if(id == 1)
      repeat   until  serial.rxcheck == "!"
        dira[LED1]~~
        !outa[LED1]
        waitcnt(80_000_000/4*value + cnt)
      serial.str(string("ID1 : Value "))
      serial.Dec(value)

i try it
sometime it success but sometime it have problem
sometime i change the value LED keep bright or not bright
can anyone give me some suggest?

Mike G · 2012-10-23 21:37

First, you must understand what we're doing. The C# program is sending the Propeller a command. The command is made up of a start byte, an ID, length, payload, return.

The payload is in little endian which means the least significant byte is sent first.

! $01 $04 $01 $00 $00 $00 $0D

The spin code is simply disassembling the packet. First, the spin code looks for a "!". The next byte is the ID followed by the length of the payload, and ending with an $0D.

This code block disassembles the command.

  repeat
    value := 0
    repeat until serial.rxcheck == "!"
    id := serial.Rx
    len := serial.Rx
    repeat i from 0 to len-1
      value |= serial.Rx << (i * 8)

    'The command should end with an $0D
    if(serial.Rx <> CR)
      next

Here's one way to change the blink rate. Add an parameter to the Toggle method and fix the number of times the LED blinks. The default program was setup to blink an LED 1 to 10 times depending on the trackbar position.

    if(id == 1)
      repeat 10
        Toggle(LED1, value)
      serial.str(string("ID1 : Value "))
      serial.Dec(value)
        
    if(id == 2)
      repeat 10
        Toggle(LED2, value)
      serial.str(string("ID2 : Value "))
      serial.Dec(value)


PUB Toggle(pin, value)
  dira[pin]~~
    !outa[pin]
    waitcnt(80_000_000/(4 * value)  + cnt)

ggg558877 · 2012-10-23 22:52

Hi,Mike
i think i have already understand what you say
in your propeler code you blink an LED 1 to 10 times
but now i want it blink in the same rate until the new command receive
and it will blink in the new rate
so i change

repeat 10

to

repeat until serial.rxcheck == "!"

is it not right?

Mike G · 2012-10-24 06:15

but now i want it blink in the same rate until the new command receive
and it will blink in the new rate

How about two continuous processes. One process for each LED.

This is a sample of the source. The entire source can be found in post 15

PUB Main | id, len, value, i
  serial.start(31, 30, 0, 115200)

  'Initial blink rate
  rate[0] := 1
  rate[1] := 1

  'Start Toggle processes
  cognew(Toggle1, @stack1)
  cognew(Toggle2, @stack2)

  'Get the packet parameters
  repeat
    value := 0
    repeat until serial.rxcheck == "!"
    id := serial.Rx
    len := serial.Rx
    repeat i from 0 to len-1
      value |= serial.Rx << (i * 8)

    'The command should end with an $0D
    if(serial.Rx <> CR)
      next 
      
  
    if(id == 1)
      rate[id-1] := value 
      serial.str(string("ID1 : Value "))
      serial.Dec(value)
        
    if(id == 2)
      rate[id-1] := value
      serial.str(string("ID2 : Value "))
      serial.Dec(value)


PUB Toggle1
  dira[LED1]~~
  repeat
    !outa[LED1]
    waitcnt(80_000_000/(4 * rate[0])  + cnt)

PUB Toggle2
  dira[LED2]~~
  repeat
    !outa[LED2]
    waitcnt(80_000_000/(4 * rate[1])  + cnt)

This type of information is also available in the Propeller Education Kit. From the Propeller tool click Help -> select Propeller Education kit.

ggg558877 · 2012-10-24 22:33

thanks Mike it's a good idea
use this method my servo problem also can be solve
but it have to use 2 cog to control 1 servo
one to produce PWM ,one to control the servo's position
if i just want use 1 cog to control servo
do you have any suggest?
thanks

Mike G · 2012-10-25 06:43

but it have to use 2 cog to control 1 servo
one to produce PWM ,one to control the servo's position
if i just want use 1 cog to control servo

Correct, one cog handles serial communication while another sends continuous PWM. The Servo32 object in the OBEX can control up to 32 servos. Counters are also an option.

JasonDorie · 2012-10-25 14:33

If you want to use one cog to control the servo, it'll have to run a loop that never blocks. You can use the pst.rxCheck function to find out if there is a character waiting or not, and if not, perform a servo loop. It would look something like this:

repeat
  if( pst.rxCheck >= 0 )
    # recieve characters and process the commands

  SetServoPinHigh( ServoPin )
  Waitcnt( cnt + ServoHighTime )
  SetServoPinLow( ServoPin )
  Waitcnt( cnt + ServoLowTime )

  Waitcnt( cnt + ServoFrameTime )  # 20 milliseconds

ggg558877 · 2012-10-29 08:07

thanks for your suggest Mike and Jason
i have a new problem
i get the sensor data and now i want the value length is same
for example
100=100 , 10=010 , 1=001

term.tx(1)
  if active & $8000                             
    term.str(string("Yaw = "))
    term.dec(yaw)
    term.str(string("   "))                    
  term.tx(13)
  if active & $4000 
    term.str(string("Pitch = "))
    term.dec(pitch)
    term.str(string("   "))
  term.tx(13)
  if active & $2000
    term.str(string("Roll = "))
    term.dec(roll)
    term.str(string("   "))
  term.tx(13)

how can i change my code?
and is there some easier example for propeller tx and C# serialport.read?
thanks

Mike G · 2012-10-29 09:37

thanks for your suggest Mike and Jason
i have a new problem
i get the sensor data and now i want the value length is same
for example
100=100 , 10=010 , 1=001

That's called padding.

CON
    _clkmode = xtal1 + pll16x
    _xinfreq = 5_000_000
 
OBJ
  term : "Parallax Serial Terminal"
  
PUB Main | num
  term.Start(115200)
  waitcnt(1_000_000 + cnt)
  
  num := 1
  term.str(string("Yaw = "))
  if(num < 10)
    term.char("0")
  if(num < 100)
    term.char("0")  
  term.dec(num)
  term.str(string("   "))


  num := 10
  term.str(string("Pitch = "))
  if(num < 10)
    term.char("0")
  if(num < 100)
    term.char("0")  
  term.dec(num)
  term.str(string("   "))


  num := 100
  term.str(string("Roll = "))
  if(num < 10)
    term.char("0")
  if(num < 100)
    term.char("0")  
  term.dec(num)
  term.str(string("   "))

ggg558877 · 2012-10-29 09:59

thanks Mike
now i want to send a command to C# to read the data value
and the command just like !yaw|pitch|roll0D

  ser.tx("!")                
  ser.tx(yaw)        
  ser.tx("|")        
  ser.tx(pitch)           
  ser.tx("|")           
  ser.tx(roll)         
  ser.tx($0D)

or

  ser.str(string("!"))
  ser.dec(yaw)
  ser.str(string("|"))
  ser.dec(pitch)
  ser.str(string("|"))
  ser.dec(roll)                    
  ser.tx($0D)

is that right?

Mike G · 2012-10-29 10:42

is that right?

I do not know. Do you still require ASCII encoded zero padded 3 digit numbers? If so, then your example is NOT correct. Plus it appears that we're going from PST to FDS???

CON
    _clkmode = xtal1 + pll16x
    _xinfreq = 5_000_000
 
OBJ
  term : "Parallax Serial Terminal"
  
PUB Main | num, yaw, pitch, roll
  term.Start(115200)
  waitcnt(1_000_000 + cnt)

  yaw := 1
  pitch := 10
  roll := 100
  
  num := yaw
  term.char("!")
  if(num < 10)
    term.char("0")
  if(num < 100)
    term.char("0")  
  term.dec(num)

  num := pitch
  term.char("|")
  if(num < 10)
    term.char("0")
  if(num < 100)
    term.char("0")  
  term.dec(num)

  num := roll
  term.char("|") 
  if(num < 10)
    term.char("0")
  if(num < 100)
    term.char("0")  
  term.dec(num)
  term.char($0D)

ggg558877 · 2012-10-29 10:50

Mike G wrote: »

Plus it appears that we're going from PST to FDS???

sorry what's the FDS mean?

Mike G · 2012-10-29 10:59

The Full Duplex Serial object.

ggg558877 · 2012-10-29 11:18

do you have a better way to assemble a command?

thanks

Mike G · 2012-10-29 12:24

do you have a better way to assemble a command?

thanks

Your requirements are not clear and change from post to post.

If the requirement is to send pitch, roll, and yaw and the values do not exceed 0XFFFF (65,535) then I would send the following packet.

! [command] [low byte] [high byte] [CR]

Where command is a number that represents pitch, roll, or yaw.

pitch = 1
roll = 2
yaw = 3

IMO, this packet format makes framing the packets on the PC side a little easier. However, it might not be the best method. You need to solidify the project requirements.

propeller get the sensor data showin the C# ?

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