Stuck

Comments

• Kye Posts: 2,200

  2009-02-26 06:04 edited 2009-02-26 06:04

  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.
  
  
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  Nyamekye,
• Mike Green Posts: 23,101

  2009-02-26 06:06 edited 2009-02-26 06:06

  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 Posts: 153

  2009-02-26 16:25 edited 2009-02-26 16:25

  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?
  
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• Kye Posts: 2,200

  2009-02-26 20:23 edited 2009-02-26 20:23

  Post your new code please.
  
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  Nyamekye,
• bboy8012 Posts: 153

  2009-02-27 02:49 edited 2009-02-27 02:49

  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.
  
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• Kye Posts: 2,200

  2009-02-27 04:02 edited 2009-02-27 04:02

  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.
  
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  Nyamekye,

  spin

  spin

  libraryEngine.spin

  21K

  libraryEngine.spin 20.7K
• bboy8012 Posts: 153

  2009-02-27 04:45 edited 2009-02-27 04:45

  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)
  

  
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• Kye Posts: 2,200

  2009-02-27 15:01 edited 2009-02-27 15:01

  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.
  
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  Nyamekye,
• bboy8012 Posts: 153

  2009-02-28 22:24 edited 2009-02-28 22:24

  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
  
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• Kye Posts: 2,200

  2009-02-28 23:20 edited 2009-02-28 23:20

  Then you should be fine, look at your spin code however, I think you aren't getting the data into the array properly.
  
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  Nyamekye,
• bboy8012 Posts: 153

  2009-02-28 23:54 edited 2009-02-28 23:54

  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)
  

  
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• Kye Posts: 2,200

  2009-03-01 02:54 edited 2009-03-01 02:54

  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).
  
  
  
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  Nyamekye,
  
  Post Edited (Kye) : 3/1/2009 3:10:03 AM GMT
• bboy8012 Posts: 153

  2009-03-01 03:05 edited 2009-03-01 03:05

  I corrected that, I just have been focusing on the get data correctly from fullduplexserial
  
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• bboy8012 Posts: 153

  2009-03-01 05:44 edited 2009-03-01 05:44

  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)
  

  
  
  
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  Post Edited (bboy8012) : 3/1/2009 5:59:55 AM GMT
• Mike Green Posts: 23,101

  2009-03-01 06:17 edited 2009-03-01 06:17

  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 Posts: 2,200

  2009-03-01 18:09 edited 2009-03-01 18:09

  Um, look at the code I posted... It shows you how to do that, use it and see what happens.
  
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  Nyamekye,
• bboy8012 Posts: 153

  2009-03-02 04:29 edited 2009-03-02 04:29

  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
  
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• Kye Posts: 2,200

  2009-03-02 05:22 edited 2009-03-02 05:22

  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.
  
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  Nyamekye,
• bboy8012 Posts: 153

  2009-03-03 02:18 edited 2009-03-03 02:18

  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
  
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• Kye Posts: 2,200

  2009-03-03 05:06 edited 2009-03-03 05:06

  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.
  
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  Nyamekye,
• bboy8012 Posts: 153

  2009-03-06 03:27 edited 2009-03-06 03:27

  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.
  
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  zip

  zip

  HeliFlight.zip

  391K

  HeliFlight.zip 391.3K
• Kye Posts: 2,200

  2009-03-06 05:11 edited 2009-03-06 05:11

  Cool, glad I could help.
  
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  Nyamekye,