working on getting framing to work consistently

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()

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);
     }
   }
 }

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); 

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);

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);