Prop 2 Prop Serial Communication

zlantz · 2014-01-11 06:31

Data is still all garbled trash. I really dont understand why this is being so difficult. it works 100% with my gps. i am using the same standard for transferring data.

i have also noticed 'A' Buffers and 'B' Buffers appearing when only displaying ServoPos's data (not showing buffers at all)

these 2 pictures are of the p2p_buffer data at the beginning just after longfill & at the end before it repeats the loop. & 'B' Buffer using ser.tx.

zlantz · 2014-01-11 07:16

Ok, so i tried something new... i programmed prop2 to emulate a PC by sending:

  repeat
    ser.str(pSer, string("$1000|1500|2000|9999|1234|4321|6666|0000|"))   
    ser.tx(pSer, 13)

then on prop1 i went and just told the servo parsing to listen on pSer instead of pWiFi:

' // Get Servo Data from PC  
PRI rxData : v | i, ch      ' Receive and parse servo data  *** Runs in Own Cog
  repeat
    rCnt := 0        
    repeat until ser.rx(pSer) == "$"
      rCnt++
    repeat i from 0 to 8    
      v := 0
      repeat
        ch := ser.rx(pSer) 
        case ch
          "0".."9":  v := v*10 + ch-"0"
          other:     quit

      ServoPos[i] := v

then i send the data out with dio.dec(ServoPos):

Pub Start | i 

  start_uarts                                   ' Start Uart's  (WiFi - 57600, P2P - 115200)

  cog  := cognew(rxData, @Data_stack) + 1 ' Run to prevent Lock-up during flight if link drops
  
  waitcnt((clkfreq) + cnt)      ' Start-up Delay  
  
  repeat

    Ser.str(pDBG, string("Data IN:  "))  
    repeat i from 0 to 8
      
      dio.dec(pDBG, ServoPos[i])
      Ser.str(pDBG, string("   "))         

    Ser.tx (pDBG, CR)

which displays the Correct Data on prop1 as you can see in picture below.

now, i can send numbers no problems, but alphas??? not sure how to do them too. need to be able to do " N S E W A V - . " and floating point numbers... or will i have to make a code for each of these?

zlantz · 2014-01-11 10:41

What I am currently trying to get to work (any way i can) with alpha-numeric data:

' Data OUT (Prop2):
' ser.str(pSer, string("$1000|1500|2000|9999|1234|4321|6666|1|1000|1500|2000|9999|1234|4321|777|1111|-2.2G2|44.44|5zY5|5A2b|999|"))

' Data IN (Prop1): 1000 1500 2000 9999 1234 4321 6666 1 1000 1500 2000 9999 1234 4321 777 1111 222 4444 55 52 999

notice -2,2G2 is missing the "-,G", 5zY5 is missing zY, and 5A2b is missing Ab.

Numbers 100% return.

Also, i can only use so hgh of a number before it becomes something it is not. way off scale.

Pub Start | i 

  start_uarts                                   ' Start Uart's  (WiFi - 57600, P2P - 115200)

  cog  := cognew(rxData, @Data_stack) + 1 ' Run to prevent Lock-up during flight if link drops
  
  waitcnt((clkfreq) + cnt)      ' Start-up Delay  

  repeat

    Ser.str(pDBG, string("Data IN:  "))  
    repeat i from 0 to 20
      dio.dec(pDBG, ServoPos[i])              
      Ser.str(pDBG, string("   "))         

    Ser.tx (pDBG, CR)
  

  '              Data OUT (Prop2):
  '  ser.str(pSer, string("$1000|1500|2000|9999|1234|4321|6666|1|1000|1500|2000|9999|1234|4321|777|1111|-2.2G2|44.44|5zY5|5A2b|999|"))   
  '              Data IN (Prop1):   1000 1500 2000 9999 1234 4321 6666 1 1000 1500 2000 9999 1234 4321 777 1111 222 4444 55 52 999
  
' // Get Servo Data from PC  
PRI rxData : v | i, ch      ' Receive and parse servo data  *** Runs in Own Cog
  repeat
    rCnt := 0
    repeat until ser.rx(pSer) == "$"
      rCnt++
    repeat i from 0 to 20    
      v := 0

      repeat
        ch := ser.rx(pSer) 
        case ch
          "0".."9":  v := v*10 + ch-"0"        
          "|":       quit

      bytemove(@ServoPos[i], @v, strsize(@v))        ' Trying to display as a string, no luck.  (both this & ServoPos[i] := v works fine)
      'ServoPos[i] := v

zlantz · 2014-01-11 16:27

Stil at it... trying new things...

Pub rxP2P | i
              
  repeat

    'ser.str(pDBG, string("Start"))
    'ser.tx(pDBG, 13)
        
    'bytefill(p2p_buff,0,20)    
    'longfill(p2p_buff,20,0)
    
    'ser.str(pDBG, string("Begin Repeat"))
    'ser.tx(pDBG, 13)
            
    repeat while Rx <>= "$"      ' wait for the $ to insure we are starting with
    'repeat while Rx <> "$"      ' wait for the $ to insure we are starting with    
      Rx := ser.rx(pSer)         '   a complete NMEA sentence
       

            
    cptr := 0     
    repeat while Rx <>= CR       '  continue to collect data until the end of the NMEA sentence
      Rx := ser.rx(pSer)         '  get character from Rx Buffer      

      if Rx == ","
        p2p_buff[cptr++] := 0    '  If "," replace the character with 0
      else
        p2p_buff[cptr++] := Rx   '  else save the character

      dio.dec(pDBG, cptr - 1)
      ser.str(pDBG, string(":  "))      
      ser.tx(pDBG, Rx)
      ser.str(pDBG, string("   "))
      ser.tx(pDBG, p2p_buff[cptr - 1])      
      ser.tx(pDBG, 13)


    
    if p2p_buff[0] == "G"             
      if p2p_buff[1] == "P"            
        if p2p_buff[2] == "S"            
            copy_buffer(@GPSb, @GPSa)

    if p2p_buff[0] == "W"             
      if p2p_buff[1] == "A"            
        if p2p_buff[2] == "P"            
            copy_buffer(@WAPb, @WAPa)

    if p2p_buff[0] == "L"             
      if p2p_buff[1] == "C"            
        if p2p_buff[2] == "F"            
            copy_buffer(@LCFb, @LCFa)

    if p2p_buff[0] == "A"             
      if p2p_buff[1] == "I"            
        if p2p_buff[2] == "R"            
            copy_buffer(@AIRb, @AIRa)

Here is what Rx & p2p_buff is showing at last... but still no data out from ***a (copy_buffer)

kuroneko · 2014-01-11 16:35

I extracted the following string from one of your pictures yesterday (a bit hard to read at that resolution).

$GPS,1,1,1528.5,0,O,1,40.56675,N,-105.065,W,0,1,0,1.19,2.19,40.56675,N,-105.065,W,1

It is sent through serial to be decoded. This works for me. If you confirm that the above string is correct then I can produce a sample case.

zlantz · 2014-01-11 16:37

kuroneko wrote: »

So it now reads longfill(p2p_buff, 0, 20)? What's the value of the start address for this function?

Ok, so i did some more testing...

Pub rxP2P | i
              
  repeat

    'bytefill(p2p_buff,0,20)    
    'longfill(p2p_buff,20,0)
    
    repeat while Rx <>= "$"      ' wait for the $ to insure we are starting with    
      Rx := ser.rx(pSer)         '   a complete NMEA sentence
            
    cptr := 0     
    repeat while Rx <>= CR       '  continue to collect data until the end of the NMEA sentence
      Rx := ser.rx(pSer)         '  get character from Rx Buffer      

      if Rx == ","
        p2p_buff[cptr++] := 0    '  If "," replace the character with 0
      else
        p2p_buff[cptr++] := Rx   '  else save the character

      dio.dec(pDBG, cptr - 1)
      ser.str(pDBG, string(":  "))      
      ser.tx(pDBG, Rx)
      ser.str(pDBG, string("   "))
      ser.tx(pDBG, p2p_buff[cptr - 1])      
      ser.tx(pDBG, 13)


    
    if p2p_buff[0] == "G"             
      if p2p_buff[1] == "P"            
        if p2p_buff[2] == "S"            
          copy_buffer(@GPSb, @GPSa)

          ser.str(pDBG, string("Yes"))
          ser.tx(pDBG, 13)    

    if p2p_buff[0] == "W"             
      if p2p_buff[1] == "A"            
        if p2p_buff[2] == "P"            
          copy_buffer(@WAPb, @WAPa)

          ser.str(pDBG, string("Yes"))
          ser.tx(pDBG, 13)    

    if p2p_buff[0] == "L"             
      if p2p_buff[1] == "C"            
        if p2p_buff[2] == "F"            
          copy_buffer(@LCFb, @LCFa)

          ser.str(pDBG, string("Yes"))
          ser.tx(pDBG, 13)    

    if p2p_buff[0] == "A"             
      if p2p_buff[1] == "I"            
        if p2p_buff[2] == "R"            
          copy_buffer(@AIRb, @AIRa)

          ser.str(pDBG, string("Yes"))
          ser.tx(pDBG, 13)

And the results are shown in the picture below, all 4 "Yes"'s are being displayed & the data in p2p_buff is displayed correct as well.

But, there is still no correct values comming out of any copy_buffer(@GPSb, @GPSa).

At this point, the problem must be in copy_buffer and not rxP2P.

zlantz · 2014-01-11 16:43

kuroneko wrote: »
I extracted the following string from one of your pictures yesterday (a bit hard to read at that resolution).
$GPS,1,1,1528.5,0,O,1,40.56675,N,-105.065,W,0,1,0,1.19,2.19,40.56675,N,-105.065,W,1
It is sent through serial to be decoded. This works for me. If you confirm that the above string is correct then I can produce a sample case.

looks pretty much right, compare to:

    ser.str(pSer, string("$GPS"))    ' GPS
    ser.str(pSer, string(","))
    ser.str(pSer, Valid)    
    ser.str(pSer, string(","))      
    ser.str(pSer, Date)    
    ser.str(pSer, string(","))
    ser.str(pSer, fs.floattostring(Altitude))
    ser.str(pSer, string(","))
    ser.str(pSer, fs.floattostring(Speed))
    ser.str(pSer, string(","))
    ser.str(pSer, fs.floattostring(Heading))
    ser.str(pSer, string(","))
    ser.str(pSer, Time)
    ser.str(pSer, string(","))
    ser.str(pSer, fs.floattostring(Latitude))
    ser.str(pSer, string(","))
    ser.str(pSer, N_S)    
    ser.str(pSer, string(","))
    ser.str(pSer, fs.floattostring(Longitude))
    ser.str(pSer, string(","))
    ser.str(pSer, E_W)
    ser.str(pSer, string(","))
    ser.str(pSer, Satellites)
    ser.str(pSer, string(","))
    ser.str(pSer, hdop)
    ser.str(pSer, string(","))
    ser.str(pSer, fs.floattostring(Heading2))
    ser.str(pSer, string(","))
    ser.str(pSer, fs.floattostring(SpeedKn))
    ser.str(pSer, string(","))
    ser.str(pSer, SpeedKm)
    ser.str(pSer, string(","))
    ser.str(pSer, fs.floattostring(Lat2))
    ser.str(pSer, string(","))
    ser.str(pSer, N_S2)
    ser.str(pSer, string(","))
    ser.str(pSer, fs.floattostring(Lon2))
    ser.str(pSer, string(","))
    ser.str(pSer, E_W2)

my result is:
$GPS,A,120114,1528,0.63,347.19,003936.400,40.56688,N,-105.065,W,7,1.09,346.85,0.63,1.17,40.56688,N,-105.065,W

kuroneko · 2014-01-11 18:42

This is a cut down version just processing GPS messages. Incoming string can be up to 200 characters in size and hold 20 elements. When the buffer is diplayed I simply scan the A buffer and print its address and - if not empty - the sub string derived from the incoming message.

For further processing those strings have to be converted to whatever internal representation is required, e.g. latitude should be passed to StringToFloat etc.

zlantz · 2014-01-11 19:59

kuroneko wrote: »

This is a cut down version just processing GPS messages. Incoming string can be up to 200 characters in size and hold 20 elements. When the buffer is diplayed I simply scan the A buffer and print its address and - if not empty - the sub string derived from the incoming message.

For further processing those strings have to be converted to whatever internal representation is required, e.g. latitude should be passed to StringToFloat etc.

with a strange stroke of luck, I have gotten the GPS version to work!!!

Var
 
  ' ================ Cog & Stack ================

  long cog1, cog2, cog3
  long P2P_Stack[200], WiFi_Stack[100], Servo_Stack[100]

  ' ================ P2P Buffers ================

  byte p2p_buff[200], Rx
  byte GPSb[100], WAPb[40], LCFb[40], AIRb[40]      
  long GPSa[20], WAPa[20], LCFa[20], AIRa[20]

  long Null[1], cptr, arg, ptr, j


                 
Pub rxP2P 
  Null[0] := 0               
  repeat

    repeat while Rx <>= "$"      ' wait for the $ to insure we are starting with    
      Rx := ser.rx(pSer)         '   a complete NMEA sentence
            
    cptr := 0     
    repeat while Rx <>= CR       '  continue to collect data until the end of the NMEA sentence
      Rx := ser.rx(pSer)         '  get character from Rx Buffer
      
      if Rx == ","
        p2p_buff[cptr++] := 0    '  If "," replace the character with 0
      else
        p2p_buff[cptr++] := Rx   '  else save the character
    
    if p2p_buff[0] == "G"             
      if p2p_buff[1] == "P"            
        if p2p_buff[2] == "S"            
          copy_buffer(@GPSb, @GPSa)

    if p2p_buff[0] == "W"             
      if p2p_buff[1] == "A"            
        if p2p_buff[2] == "P"            
          copy_buffer(@WAPb, @WAPa)

    if p2p_buff[0] == "L"             
      if p2p_buff[1] == "C"            
        if p2p_buff[2] == "F"            
          copy_buffer(@LCFb, @LCFa)

    if p2p_buff[0] == "A"             
      if p2p_buff[1] == "I"            
        if p2p_buff[2] == "R"            
          copy_buffer(@AIRb, @AIRa)   
    
    ' // Update Values
    UpdateProp2Data

    SendDataTerm
    
    
    
Pri copy_buffer (buffer,args)
         bytemove(buffer,@p2p_buff,cptr)     '  copy received data to buffer
         ptr := buffer
         arg := 0
         repeat j from 0 to cptr - 1         ' build array of pointers
          if byte[ptr] == 0                  ' to each
             if byte[ptr+1] == 0             ' record
                long[args][arg] := Null      ' in 
             else                            ' the
                long[args][arg] := ptr+1     ' data buffer
             arg++
          ptr++


Pri UpdateProp2Data
    ' // BMP180
    BMP180_Temperature := AIRa[0]
    BMP180_Pressure    := AIRa[1]

    ' // $LCF
    lfLat  := fs.StringToFloat(LCFa[0])        ' Float   
    lfLon  := fs.StringToFloat(LCFa[1])        ' Float
    lfAlt  := fs.StringToFloat(LCFa[2])        ' Float
    gpsLat := fs.StringToFloat(LCFa[3])        ' Float
    gpsLon := fs.StringToFloat(LCFa[4])        ' Float
    gpsAlt := fs.StringToFloat(LCFa[5])        ' Float 
    
    ' // $WAP
    wCurCnt   := fs.StringToFloat(WAPa[0])     ' Float
    wDist     := fs.StringToFloat(WAPa[1])     ' Float
    wDistance := fs.StringToFloat(WAPa[2])     ' Float
    wMidLat   := fs.StringToFloat(WAPa[3])     ' Float
    wMidLon   := fs.StringToFloat(WAPa[4])     ' Float
    wBearing  := fs.StringToFloat(WAPa[5])     ' Float
    cWAPLat   := fs.StringToFloat(WAPa[6])     ' Float
    cWAPLon   := fs.StringToFloat(WAPa[7])     ' Float
    isWAP     := fs.StringToFloat(WAPa[8])     ' Float
    tRate     := WAPa[9]    
    HomeValid := WAPa[10]    

    ' // $GPS
    Valid      := GPSa[0]
    Date       := GPSa[1]   
    Altitude   := fs.StringToFloat(GPSa[2])    ' Float
    Speed      := fs.StringToFloat(GPSa[3])    ' Float
    Heading    := fs.StringToFloat(GPSa[4])    ' Float
    Time       := GPSa[5]
    Latitude   := fs.StringToFloat(GPSa[6])    ' Float
    N_S        := GPSa[7]
    Longitude  := fs.StringToFloat(GPSa[8])    ' Float
    E_W        := GPSa[9]
    Satellites := GPSa[10]
    hdop       := GPSa[11]
    Heading2   := fs.StringToFloat(GPSa[12])   ' Float
    SpeedKn    := fs.StringToFloat(GPSa[13])   ' Float
    SpeedKm    := GPSa[14]
    Lat2       := fs.StringToFloat(GPSa[15])   ' Float
    N_S2       := GPSa[16]   
    Lon2       := fs.StringToFloat(GPSa[17])   ' Float
    E_W2       := GPSa[18]
    GPS_Alt    := GPSa[19]

Prop 2 Prop Serial Communication

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