From 75a907f61ee07e8fd472a363910ead288d3dfc65 Mon Sep 17 00:00:00 2001
From: Sam Calisch <s.calisch@gmail.com>
Date: Tue, 26 Sep 2017 13:01:03 -0400
Subject: [PATCH] working on getting framing to work consistently
---
as5013-test/nrf52-as5013/host.py | 65 +++++++-----
as5013-test/nrf52-as5013/nrf52-as5013.ino | 103 +++++++++++++++-----
as5013-test/nrf52-as5013/radio.h | 2 +
as5013-test/nrf52-drv8825/nrf52-drv8825.ino | 1 +
as5013-test/nrf52-drv8825/radio.h | 4 +-
5 files changed, 127 insertions(+), 48 deletions(-)
diff --git a/as5013-test/nrf52-as5013/host.py b/as5013-test/nrf52-as5013/host.py
index de34586..87699e7 100644
--- a/as5013-test/nrf52-as5013/host.py
+++ b/as5013-test/nrf52-as5013/host.py
@@ -10,46 +10,65 @@ import matplotlib.animation as animation
import bitstring
n_samples = 20
+Nx = 20
+Ny = 20
+halls = np.zeros((Nx,Ny,5))
+def roll_left(lst):
+ return lst[1:] + [lst[0]]
def read_as5013_12bit(bytes):
return (bitstring.Bits(bytes=bytes, length=16)<<4).unpack('uint:16')[0]
#signed 12 bit val comes in two bytes
#return struct.unpack("<h",bytearray([ (high<<4) , low<<4 ]))[0]
+def read_int16(bytes,signed=False):
+ try:
+ n = struct.unpack("<h",bytearray(bytes))[0] if signed else struct.unpack("<H",bytearray(bytes))[0]
+ return n
+ except:
+ print "not properly formatted bytes: ",list(bytes)
+ return None
+
def read(ser=None):
if ser is None:
print "No serial connection!"
else:
- c = ser.read(n_samples)
- data = [read_as5013_12bit(c[x:x+2]) for x in xrange(0,n_samples,2)]
+ #wait for framing signal at tail of packet
+ framing = range(8) #we expect the sequence 012...8
+ c = [ser.read(1) for i in range(n_samples+4)]
+ c += [ser.read(1) for i in framing]
+ while( map(ord,c[n_samples+4:]) != framing ):
+ c = roll_left(c)
+ c[-1] = ser.read(1)
+ print c
+ #c = ser.read(n_samples+12) #samples (20) + xi (2) + yi (2) + framing (8)
+ try:
+ data = [read_as5013_12bit(c[x:x+2]) for x in xrange(0,n_samples,2)]
+ data += [read_int16(c[x:x+2]) for x in xrange(n_samples,n_samples+4,2)]
+ except(bitstring.CreationError):
+ print c
return data
def main():
try:
- ser = serial.Serial(port='/dev/tty.usbserial-FT9L3KWR',baudrate=1000000,timeout=1.)
- ser.isOpen()
- print "Established serial connection."
+ #make sure timeout is longer than any period between data.
+ ser = serial.Serial(port='/dev/tty.usbserial-FT9L3KWR',baudrate=1000000,timeout=5.)
+ print "Established serial connection"
+ ser.flush()
+ while True:
+ try:
+ data = np.asarray(read(ser=ser))
+ print data[10], data[11], data[1:10:2]-data[:10:2]
+ if (data[10]<=Nx) and (data[11]<=Ny):
+ halls[data[10]-1,data[11]-1] = data[1:10:2] - data[:10:2]
+ except(KeyboardInterrupt):
+ ser.close()
+ break
except(OSError):
#no serial port
- print "Couldn't find the serial port, entering debug mode."
- ser = None
- ser.flush()
-
-
- while True:
- #connection, address = serversocket.accept()
-
- try:
- data = np.asarray(read(ser=ser))
- print data[1::2] - data[::2]
- except(KeyboardInterrupt):
- break
- #if data:
- # clientsocket.send(data)
+ print "Couldn't find the serial port."
+ ser = None
print "quitting"
- ser.close()
-
-
if __name__ == '__main__':
main()
diff --git a/as5013-test/nrf52-as5013/nrf52-as5013.ino b/as5013-test/nrf52-as5013/nrf52-as5013.ino
index 4c09a76..f4e610d 100644
--- a/as5013-test/nrf52-as5013/nrf52-as5013.ino
+++ b/as5013-test/nrf52-as5013/nrf52-as5013.ino
@@ -14,16 +14,16 @@
#define sda_pin 1 //XL2
#define rst_pin 3 //A1
static uint8_t txdata[n_tx_bytes] = {0};
-static uint8_t rxdata[n_rx_bytes] = {0};
-
-//uint16_t step_period = 30000; //microseconds
+static uint8_t rxdata[n_rx_bytes+12] = {0}; //add four bytes for xi, yi over uarte, 8 bytes for framing
//uarte
const uint8_t pin_rx = 8;
const uint8_t pin_tx = 6;
uint32_t last_tx_time = 0;
-uint32_t tx_period = 1000; //ms
+uint32_t tx_period = 200; //ms
+
+int16_t step_period = 4;
//
//UARTE
@@ -37,7 +37,7 @@ void uarte_setup(){
NRF_UARTE0->BAUDRATE = UART_BAUDRATE_BAUDRATE_Baud1M;
NRF_UARTE0->ENABLE = (UARTE_ENABLE_ENABLE_Enabled << UARTE_ENABLE_ENABLE_Pos) & UARTE_ENABLE_ENABLE_Msk;
- NRF_UARTE0->TXD.MAXCNT = n_rx_bytes;
+ NRF_UARTE0->TXD.MAXCNT = n_rx_bytes+12;
}
@@ -120,38 +120,93 @@ void as5013_read(){
twi_rx();
}
-//
-//main
-//
-void setup() {
- //Serial.begin(115200);
- uarte_setup();
- twi_setup();
- as5013_setup();
- radio_setup();
-
+void configure_motor(){
//set step speed
radio_buffer[0] = 2; //set step speed
- radio_buffer[1] = 10000; //30ms step period
+ radio_buffer[1] = step_period*1000; //10ms step period
radio_send_redundant();
//set full steps
radio_buffer[0] = 3; //set step speed
- radio_buffer[1] = 0; //M1,M0 = 0,1
+ radio_buffer[1] = 0; //M1,M0 = 0,0
radio_send_redundant();
//set current limit
radio_buffer[0] = 4; //set step speed
radio_buffer[1] = 100; //M1,M0 = 0,1
radio_send_redundant();
+}
+
+//
+//main
+//
+void setup() {
+ //Serial.begin(115200);
+ uarte_setup();
+ twi_setup();
+ as5013_setup();
+ radio_setup();
+ NRF_RADIO->TXADDRESS = 0x00UL; // Set device address 0: X axis
+ configure_motor();
+ NRF_RADIO->TXADDRESS = 0x01UL; // Set device address 1: Y axis
+ configure_motor();
+
+ int16_t xi=0; //counter
+ int16_t yi=0; //counter
+ int16_t Nx = 20; //max number of x moves
+ int16_t Ny = 20; //max number of y moves
+ int16_t moves_per_step = 8; //8 steps = 10 microns
+
+ //insert framing.
+ rxdata[n_rx_bytes+4] = (uint8_t)0;
+ rxdata[n_rx_bytes+5] = (uint8_t)1;
+ rxdata[n_rx_bytes+6] = (uint8_t)2;
+ rxdata[n_rx_bytes+7] = (uint8_t)3;
+ rxdata[n_rx_bytes+8] = (uint8_t)4;
+ rxdata[n_rx_bytes+9] = (uint8_t)5;
+ rxdata[n_rx_bytes+10] = (uint8_t)6;
+ rxdata[n_rx_bytes+11] = (uint8_t)7;
+
while(1){
- if (millis() - last_tx_time > tx_period){
- as5013_read();
+ NRF_RADIO->TXADDRESS = 0x00UL; // Set device address 0: X axis
+ radio_buffer[0] = 1; //send a move command
+ radio_buffer[1] = moves_per_step; //move 10 steps forward
+ radio_send_redundant(); //send command
+ delay(step_period*moves_per_step+1);
+ xi++;
+
+ as5013_read();
+ rxdata[n_rx_bytes] = (uint8_t)(xi);
+ rxdata[n_rx_bytes+1] = (uint8_t)(xi>>8);
+ rxdata[n_rx_bytes+2] = (uint8_t)(yi);
+ rxdata[n_rx_bytes+3] = (uint8_t)(yi>>8);
+ NRF_UARTE0->TXD.PTR = (uint32_t)(&rxdata); //reset pointer to start of buffer
+ NRF_UARTE0->TASKS_STARTTX = 1; //trigger start task to send data to host
+
+ delay(50); //for demonstration, not really necessary.
+
+ if (xi==Nx){
+ xi=0;
+ NRF_RADIO->TXADDRESS = 0x00UL; // Set device address 0: X axis
+ radio_buffer[0] = 1; //send a move command
+ radio_buffer[1] = -moves_per_step*Nx; //move back to start
+ radio_send_redundant(); //send command
+ delay(step_period*Nx*moves_per_step+1);
+
+ NRF_RADIO->TXADDRESS = 0x01UL; // Set device address 1: Y axis
+ radio_buffer[0] = 1; //send a move command
+ radio_buffer[1] = moves_per_step; //move back to start
+ radio_send_redundant(); //send command
+ delay(step_period*moves_per_step+1);
+ yi++;
+ }
+ if (yi==Ny){
+ delay(10);
+ yi=0;
+ NRF_RADIO->TXADDRESS = 0x01UL; // Set device address 1: Y axis
radio_buffer[0] = 1; //send a move command
- radio_buffer[1] = 10; //move 10 steps forward
- radio_send_redundant(); //send command
- NRF_UARTE0->TXD.PTR = (uint32_t)(&rxdata); //reset pointer to start of buffer
- NRF_UARTE0->TASKS_STARTTX = 1; //trigger start task
- last_tx_time = millis();
+ radio_buffer[1] = -moves_per_step*Ny; //move back to start
+ radio_send_redundant(); //send command
+ delay(step_period*Ny*moves_per_step+1);
}
}
}
diff --git a/as5013-test/nrf52-as5013/radio.h b/as5013-test/nrf52-as5013/radio.h
index 89b5972..ab8fa10 100644
--- a/as5013-test/nrf52-as5013/radio.h
+++ b/as5013-test/nrf52-as5013/radio.h
@@ -21,8 +21,10 @@ void radio_setup(){
NRF_RADIO->PREFIX0 = ((uint32_t)0xC0 << 0); // Prefix byte of address 0
NRF_RADIO->BASE0 = 0x01234567UL; // Base address for prefix 0
+ NRF_RADIO->BASE1 = 0x02345678UL; // Base address for prefix 0
NRF_RADIO->TXADDRESS = 0x00UL; // Set device address 0 to use when transmitting
NRF_RADIO->RXADDRESSES = 0x01UL; // Enable device address 0 to use to select which addresses to receive
+ //NRF_RADIO->RXADDRESSES = 0x02UL; // Enable device address 1 to use to select which addresses to receive
// Packet configuration
NRF_RADIO->PCNF0 = (0 << RADIO_PCNF0_S1LEN_Pos) | (0 << RADIO_PCNF0_S0LEN_Pos) | (0 << RADIO_PCNF0_LFLEN_Pos);
diff --git a/as5013-test/nrf52-drv8825/nrf52-drv8825.ino b/as5013-test/nrf52-drv8825/nrf52-drv8825.ino
index c13df2a..40f4f58 100644
--- a/as5013-test/nrf52-drv8825/nrf52-drv8825.ino
+++ b/as5013-test/nrf52-drv8825/nrf52-drv8825.ino
@@ -50,6 +50,7 @@ void parse_command(){
} else {
NRF_GPIO->OUTCLR = (1<<pin_direction); //set direction backwards
}
+ radio_buffer[1] = radio_buffer[1] > 0 ? radio_buffer[1] : -radio_buffer[1];
for(i=0; i<radio_buffer[1]; i++){
NRF_GPIO->OUTSET = (1<<pin_step);
delayMicroseconds(step_period);
diff --git a/as5013-test/nrf52-drv8825/radio.h b/as5013-test/nrf52-drv8825/radio.h
index 89b5972..edceba6 100644
--- a/as5013-test/nrf52-drv8825/radio.h
+++ b/as5013-test/nrf52-drv8825/radio.h
@@ -21,8 +21,10 @@ void radio_setup(){
NRF_RADIO->PREFIX0 = ((uint32_t)0xC0 << 0); // Prefix byte of address 0
NRF_RADIO->BASE0 = 0x01234567UL; // Base address for prefix 0
+ NRF_RADIO->BASE1 = 0x02345678UL; // Base address for prefix 0
NRF_RADIO->TXADDRESS = 0x00UL; // Set device address 0 to use when transmitting
- NRF_RADIO->RXADDRESSES = 0x01UL; // Enable device address 0 to use to select which addresses to receive
+ //NRF_RADIO->RXADDRESSES = 0x01UL; // Enable device address 0 to use to select which addresses to receive
+ NRF_RADIO->RXADDRESSES = 0x02UL; // Enable device address 1 to use to select which addresses to receive
// Packet configuration
NRF_RADIO->PCNF0 = (0 << RADIO_PCNF0_S1LEN_Pos) | (0 << RADIO_PCNF0_S0LEN_Pos) | (0 << RADIO_PCNF0_LFLEN_Pos);
--
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