troubles with cognew and LaserRangeFinder-Functions.

nomad

Hi,

i have some trouble and problems with cognew and my LRF-Functions
i working on the Software of a Quadcopter with the PropellerProtoBoard

for testing "cognew" and my LRF-Code i make a little testprogram for this
-> as attachment : mylrftest2.spin

1)
problem on PUB main after repeat, cognew(testing,@stack) is OK, programm with the
LRFdatas-function.
but when i make cognew(LRFdatas, @stack1) nothing runs.
what make i wrong ???

2)
in my prototype.spin -program
the problem is : if i wrote in line 254 LRFdatas, nothing goes extremly sloow
i think its a timing problem
for this i want make a cognew(LRFdatas,@stack ???)
is this possible ???

in the program LRFdatas are multible access
in line 744
in line 1004

only in the function landing on line 1038 its ok, (the copter should be verry slow landing)

Many Thanks for Help, Hints and tricks

nomad

kuroneko

nomad wrote: »

1)
problem on PUB main after repeat, cognew(testing,@stack) is OK, programm with the
LRFdatas-function.
but when i make cognew(LRFdatas, @stack1) nothing runs.
what make i wrong ???

Think about it, you're effectively starting cogs in a loop, all of them using the same stack. Provided the method doesn't exit before the next cognew comes along you're in trouble. The way it's now the testing method has long finished (cog/stack free again) before you call cognew again due to the time spent calling LRFdatas.

Duane Degn

nomad,

I think it would be very useful if the LRF could measure the altitude of a quadcopter. I'm very skeptical that it would be able to sense the altitude of a quadcopter when used outside. I've tested my LRF outside and found it had a hard time getting a reading in sunlight. When the LRF was able to measure distance outside in the sun, it would only do so for short distances < 2 meters and only if the LRF was held very still. I think the movement of the quadcopter will make it harder for the LRF to work.

Have you done any testing yourself?

I've wondered if using a brighter laser would make it more reliable when using it outside in sunlight.

nomad

hi
@ kuroneko
thanks for your answer
excuse, but to programming with cogs (threading) i'm a newbie
and have some troubles to understand your answer

please can you me explain your answer with this code-snippets
- i have translate your answer to german the understanding is not
better for me:
- what i want is this:
1) lrfInit
2) loop
- read LRF-Datas (1.cog)
- working with LRF-Datas (testing) (2.cog)

---code

---

PUB main
pst.Start(115_200)

LRFinit

REPEAT
cognew(testing,@stack)
LRFdatas
'cognew(LRFdatas,@stack1)

---

thanks for your help.

@DuaneDegn

thanks for your answer:

i am testing the lrf-datas inside
- the device looks to ground
- i am testing too device looks horizontal to the windows in my room
(sun)
- its run ok

my idea is:
- working with lrf
- on starting from the ground (hover) distance < 2 meters
- landing to control the distance < 2 meters
- for all other distance measure -> GPS-NMEA -> altitude

@ all:
please excuse my bad english. ;-)

thanks for help hints and tricks
nomad

kuroneko

nomad wrote: »

@ kuroneko
thanks for your answer
excuse, but to programming with cogs (threading) i'm a newbie
and have some troubles to understand your answer

Hmm, ich hab so 'ne Idee wo Du hinwillst mit der ganzen Sache. Zwei cogs die im Hintergrund laufen und halt ihrer Arbeit nachgehen. Das Problem mit Deiner urspruenglichen Implementierung ist, das Du die cogs zu schnell startest. In anderen Worten, waehrend LRFdatas noch laeuft startest Du schon den naechsten Aufruf dieser Funktion. An sich ist das nicht schlimm solange sie sich bei der Ausgabe nicht ins Gehege kommen (daher die Nutzung von lockset/lockclr). Das Hauptproblem hier ist, das Du den gleichen Stack benutzt. Game Over!

Versuch mal ob Du mit der Version hier klarkommst (Zeile 23 bitte loeschen, der Aufruf simuliert den LRF):

CON
  _clkmode = XTAL1|PLL16X
  _xinfreq = 5_000_000
  
  LRF_TX        = 1 '5             ' Serial output to LRF (connects to SIN)
  LRF_RX        = 2 '6             ' Serial input from LRF (connects to SOUT)
 
VAR
  long range                    ' Distance from LRF module to target object (in millimeters)
  long cog, ID
  long stack0[40]
  long stack1[40]
  long stack2[40]
   
  long temp
    
OBJ
  pst    : "Parallax Serial Terminal"
  serial : "Extended_FDSerial"
  
PUB main  

  [COLOR="#FFA500"]cognew(fake, @stack2{0})[/COLOR]      ' simulate LRF

  ID := locknew                 ' grab a lock to serialise pst traffic
  pst.Start(115_200)            ' Set Parallax Serial Terminal to 115.2kbps
  waitcnt(clkfreq*3 + cnt)      ' startup delay
  pst.clear                     ' clear screen
  
  LRFinit
  
  cognew(testing,  @stack0{0}) 
  cognew(LRFdatas, @stack1{0})

PRI testing
    
  repeat
    repeat while lockset(ID)    ' exclusive access to pst
    pst.Position(0,5)
    pst.hex(temp++, 8)
    lockclr(ID)                 ' release pst
    
    waitcnt(clkfreq + cnt)      ' Langsam! Nicht uebertreiben.

PRI LRFinit
 
  serial.Start(LRF_RX, LRF_TX, %0000, 115_200)          ' Start serial port, normal mode, 115.2kbps
  
  pst.Str(String("Waiting for LRF module..."))
  waitcnt(clkfreq << 1 + cnt)                           ' Delay for 2 seconds to let the LRF module start-up
  serial.Tx("U")                                        ' Send character
  repeat until serial.RxCheck == ":"                    ' When the LRF has initialized and is ready to go, it will send a single ':' character, so wait here until we receive it
  pst.Position(0,16)
  pst.Str(String("Ready!", pst#NL, pst#NL))             ' Ready to go!

PRI LRFdatas
                    
  repeat
    serial.Tx("R")                                   ' Send command
    repeat until serial.RxCheck == "D"               ' Wait for the header to be sent...
    repeat until serial.RxCheck == "="               '
    repeat until serial.RxCheck == " "               '              
    range := serial.RxDec                            ' ...then grab the value
    
    repeat while lockset(ID)    ' exclusive access to pst
    pst.Position(0,10)
    pst.Str(String("Distance =              "))
    pst.Position(12,10)
    pst.Dec(range)
    pst.Str(String(" mm"))      ' in milimeter
    lockclr(ID)                 ' release pst

    waitcnt(clkfreq/4 + cnt)

OBJ
  LRF: "FullDuplexSerial"
  
PRI fake | c

  LRF.start(LRF_TX, LRF_RX, %0000, 115200)

  repeat until (c := LRF.rx) == "U"
  LRF.tx(":")

  repeat
    repeat until (c := LRF.rx) == "R"
    LRF.str(string("D = "))
    LRF.dec((cnt >> 1) // 10000)
    LRF.tx(13)
  
DAT

Diese Version startet beide cogs nur einmal. Sie halten sich dann selbst am Leben (repeat) und koennen ihre Daten dann ueber globale Variablen austauschen.

nomad

hi kuroneko,
vielen dank fuer deine antwort in deutsch,

erleichtert mir vieles.
vielen dank fuer deinen spin-code.

da ich gestern meinen quadcopter voellig demontiert habe incl. LRF,
muss heute oder besser morgen lrf auf meinen propeller-proto-board wieder zum laufen bekommen,
dann teste ich deinen code.
melde mich dann wieder.
nochmals vielen dank fuer deine hilfe
nomad

nomad

hi
@kuroneko:
vielen dank fuer deine Hilfe, dein code ist genau das was ich gesucht habe ,
Code Run OK, tempcounter ok, lrf-distance OK
Thanks :-)
regards nomad