diff --git a/controller/embedded/src/comm/cobsserial.h b/controller/embedded/src/comm/cobsserial.h
index d80eb76f70490a0431240c4e41c447b75c937a40..2fcf26559db8eff626b1a0743ca73a4f8f519b0b 100644
--- a/controller/embedded/src/comm/cobsserial.h
+++ b/controller/embedded/src/comm/cobsserial.h
@@ -20,7 +20,6 @@ no warranty is provided, and users accept all liability.
#include "syserror.h"
#include "./drivers/indicators.h"
-#define VPUSB_NUM_SPACES 8
#define VPUSB_SPACE_SIZE 1028
class COBSSerial {
diff --git a/controller/embedded/src/comm/syserror.cpp b/controller/embedded/src/comm/syserror.cpp
index 91ccf0f6c80d9b93c90f232563e8101fb32316c3..2918520deee2650a1a04c4d590eb11bf15acc4f1 100644
--- a/controller/embedded/src/comm/syserror.cpp
+++ b/controller/embedded/src/comm/syserror.cpp
@@ -20,12 +20,9 @@ boolean writeLenBytes(unsigned char* dest, uint16_t* dptr, uint16_t len){
*/
// config-your-own-ll-escape-hatch
-void sysError(String msg){
- return;
- // whatever you want,
- //ERRLIGHT_ON;
+void debugmsg(String msg){
uint32_t len = msg.length();
- errBuf[0] = PK_LLERR; // the ll-errmsg-key
+ errBuf[0] = DEXKEY_DEBUGMSG; // the ll-errmsg-key
errBuf[1] = len & 255;
errBuf[2] = (len >> 8) & 255;
errBuf[3] = (len >> 16) & 255;
diff --git a/controller/embedded/src/comm/syserror.h b/controller/embedded/src/comm/syserror.h
index 85728bf2bf74a9aeaa59f3112bc7bcde3fc56804..b7ae8c77ca4c1303942d2cf60584fd08fc7bd0ba 100644
--- a/controller/embedded/src/comm/syserror.h
+++ b/controller/embedded/src/comm/syserror.h
@@ -6,6 +6,8 @@
#include "cobs.h"
#include "ts.h"
-void sysError(String msg);
+#define DEXKEY_DEBUGMSG 11
+
+void debugmsg(String msg);
#endif
diff --git a/controller/embedded/src/comm/ts.cpp b/controller/embedded/src/comm/ts.cpp
index 730071146c7066ca234059ca247bf8d8e8aec045..3349d6309b4809fce2fdd875c8cef5246d213a25 100644
--- a/controller/embedded/src/comm/ts.cpp
+++ b/controller/embedded/src/comm/ts.cpp
@@ -39,6 +39,35 @@ void ts_writeUint32(uint32_t val, unsigned char *buf, uint16_t *ptr){
buf[(*ptr) ++] = (val >> 24) & 255;
}
+// pls recall the union,
+union chunk_float32 {
+ uint8_t bytes[4];
+ float f;
+};
+
+/*
+chunk_float32 dur_chunk = { .bytes = { bPck[ptr ++], bPck[ptr ++], bPck[ptr ++], bPck[ptr ++] } } ;
+float duration = dur_chunk.f;
+*/
+
+union chunk_int32 {
+ uint8_t bytes[4];
+ int32_t num;
+};
+
+void ts_readInt32(int32_t *val, unsigned char *buf, uint16_t *ptr){
+ chunk_int32 wc = { .bytes = { buf[(*ptr) ++], buf[(*ptr) ++], buf[(*ptr) ++], buf[(*ptr) ++] }};
+ *val = wc.num;
+}
+
+void ts_writeInt32(int32_t val, unsigned char *buf, uint16_t *ptr){
+ chunk_int32 wc = { .num = val };
+ buf[(*ptr) ++] = wc.bytes[0];
+ buf[(*ptr) ++] = wc.bytes[1];
+ buf[(*ptr) ++] = wc.bytes[2];
+ buf[(*ptr) ++] = wc.bytes[3];
+}
+
void ts_writeString(String val, unsigned char *buf, uint16_t *ptr){
uint32_t len = val.length();
buf[(*ptr) ++] = len & 255;
diff --git a/controller/embedded/src/comm/ts.h b/controller/embedded/src/comm/ts.h
index 4c70937a19fd766f7bd75de48c80291d5f1e7888..83820e343c4723889979e31cf7a902b603fa3a99 100644
--- a/controller/embedded/src/comm/ts.h
+++ b/controller/embedded/src/comm/ts.h
@@ -14,77 +14,16 @@ no warranty is provided, and users accept all liability.
#include <arduino.h>
-// -------------------------------------------------------- Routing (Packet) Keys
-
-#define PK_PPACK 77
-#define PK_PTR 88
-#define PK_DEST 99
-#define PK_LLERR 44
-#define PK_PORTF_KEY 11
-#define PK_PORTF_INC 3
-#define PK_BUSF_KEY 12
-#define PK_BUSF_INC 5
-#define PK_BUSB_KEY 14
-#define PK_BUSB_INC 5
-
-// -------------------------------------------------------- Destination Keys (arrival layer)
-
-#define DK_APP 100 // application codes, go to -> main
-#define DK_PINGREQ 101 // ping request
-#define DK_PINGRES 102 // ping reply
-#define DK_RREQ 111 // read request
-#define DK_RRES 112 // read response
-#define DK_WREQ 113 // write request
-#define DK_WRES 114 // write response
-
-// -------------------------------------------------------- Application Keys
-
-#define AK_MOCODE 101
-
-// -------------------------------------------------------- MVC Endpoints
-
-#define EP_ERRKEY 150
-#define EP_ERRKEY_QUERYDOWN 151
-#define EP_ERRKEY_EMPTY 153
-#define EP_ERRKEY_UNCLEAR 154
-
-#define EP_NAME 171
-#define EP_DESCRIPTION 172
-
-#define EP_NUMVPORTS 181
-#define EP_VPORT 182
-#define EP_PORTTYPEKEY 183
-#define EP_MAXSEGLENGTH 184
-#define EP_PORTSTATUS 185
-#define EP_PORTBUFSPACE 186
-#define EP_PORTBUFSIZE 187
-
-#define EP_NUMVMODULES 201
-#define EP_VMODULE 202
-
-#define EP_NUMINPUTS 211
-#define EP_INPUT 212
-
-#define EP_NUMOUTPUTS 221
-#define EP_OUTPUT 222
-
-#define EP_TYPE 231
-#define EP_VALUE 232
-#define EP_STATUS 233
-
-#define EP_NUMROUES 243
-#define EP_ROUTE 235
-
-// ... etc, later
-
// -------------------------------------------------------- Reading and Writing
void ts_writeBoolean(boolean val, unsigned char *buf, uint16_t *ptr);
void ts_readUint16(uint16_t *val, uint8_t *buf, uint16_t *ptr);
-
void ts_writeUint16(uint16_t val, unsigned char *buf, uint16_t *ptr);
void ts_writeUint32(uint32_t val, unsigned char *buf, uint16_t *ptr);
+void ts_readInt32(int32_t *val, unsigned char *buf, uint16_t *ptr);
+void ts_writeInt32(int32_t val, unsigned char *buf, uint16_t *ptr);
+
void ts_writeString(String val, unsigned char *buf, uint16_t *ptr);
diff --git a/controller/embedded/src/main.cpp b/controller/embedded/src/main.cpp
index 956c2d3e62f75793f8928ec916be79bada7c8759..ef55ea16c7de6edb7f59f51da8b66f3a1d96613a 100644
--- a/controller/embedded/src/main.cpp
+++ b/controller/embedded/src/main.cpp
@@ -5,13 +5,12 @@
#include "comm/cobs.h"
#include "comm/cobsserial.h"
-/*
// loadcell / stepper
#include "lib/HX711.h"
#include "lib/AccelStepper.h"
-#define LOADCELL_DOUT_PIN 5
-#define LOADCELL_SCK_PIN 6
+#define LOADCELL_DOUT_PIN 12
+#define LOADCELL_SCK_PIN 11
#define LOADCELL_OFFSET 50682624
#define LOADCELL_DIVIDER 5895655
@@ -22,6 +21,11 @@
HX711 loadcell;
AccelStepper stepper(AccelStepper::DRIVER, 9, 10);
+// using A4988 step driver,
+// want to limit to 1A current for thermal safety,
+// vref = 8 * I_max * 0.050 // is 8 * 1A * 50mOhm
+// so, target vref at 0.4v
+
void enableStepDriver(void){
digitalWrite(STEPPER_ENABLE_PIN, LOW);
}
@@ -30,8 +34,6 @@ void disableStepDriver(void){
digitalWrite(STEPPER_ENABLE_PIN, HIGH);
}
-*/
-
COBSSerial* cobsSerial = new COBSSerial();
void setup() {
@@ -39,31 +41,86 @@ void setup() {
ERRLIGHT_SETUP;
CLKLIGHT_SETUP;
cobsSerial->init();
- /*
// do application setup,
// EN pin on step driver
pinMode(5, OUTPUT);
disableStepDriver();
// stepper basics hello
- stepper.setMaxSpeed(100);
- stepper.setAcceleration(20);
+ stepper.setMaxSpeed(2500);
+ stepper.setAcceleration(5000);
// loacell
loadcell.begin(LOADCELL_DOUT_PIN, LOADCELL_SCK_PIN);
loadcell.set_scale(LOADCELL_DIVIDER);
loadcell.set_offset(LOADCELL_OFFSET);
loadcell.tare();
- */
}
uint8_t* pck;
uint16_t pl = 0;
+uint8_t res[1024];
+uint16_t rl = 0;
+
+#define DEXKEY_LOADCELLREADING 12
+#define DEXKEY_LOADCELLTARE 14
+#define DEXKEY_STEPS 15
+#define DEXKEY_MOTORENABLE 16
+
+uint16_t one = 1;
+int32_t stepsToTake = 0;
+int32_t position = 0;
+
void loop() {
+ stepper.run();
cobsSerial->loop();
if(cobsSerial->hasPacket()){
CLKLIGHT_TOGGLE;
cobsSerial->getPacket(&pck, &pl);
- cobsSerial->sendPacket(pck, pl);
+ switch(pck[0]){
+ case DEXKEY_LOADCELLREADING:
+ if(loadcell.is_ready()){
+ int32_t reading = loadcell.get_value(10);
+ rl = 0;
+ res[rl ++] = DEXKEY_LOADCELLREADING;
+ ts_writeInt32(reading, res, &rl);
+ debugmsg("reads: " + String(reading));
+ } else {
+ debugmsg("loadcell not ready");
+ }
+ break;
+ case DEXKEY_LOADCELLTARE:
+ loadcell.tare();
+ rl = 0;
+ res[rl ++] = DEXKEY_LOADCELLTARE;
+ break;
+ case DEXKEY_STEPS:
+ stepsToTake = 0;
+ one = 1;
+ ts_readInt32(&stepsToTake, pck, &one);
+ debugmsg("to take steps: " + String(stepsToTake));
+ stepper.runToNewPosition(position + stepsToTake);
+ position += stepsToTake;
+ rl = 0;
+ res[rl ++] = DEXKEY_STEPS;
+ ts_writeInt32(stepsToTake, res, &rl);
+ break;
+ case DEXKEY_MOTORENABLE:
+ rl = 0;
+ res[rl ++] = DEXKEY_MOTORENABLE;
+ if(pck[1] > 0){
+ enableStepDriver();
+ res[rl ++] = 1;
+ } else {
+ disableStepDriver();
+ res[rl ++] = 0;
+ }
+ default:
+ // no-op
+ break;
+ }
+ if(rl > 0){
+ cobsSerial->sendPacket(res, rl);
+ }
cobsSerial->clearPacket();
}
} // end loop
diff --git a/controller/js/client/dex-client.js b/controller/js/client/dex-client.js
index 757e667e4463b885fce13a9f8e530621d497460d..07bf7cd91ebfe06d01bdfa1d3f05dd56bc2d72f6 100644
--- a/controller/js/client/dex-client.js
+++ b/controller/js/client/dex-client.js
@@ -16,7 +16,7 @@ no warranty is provided, and users accept all liability.
import GRIDSQUID from './drawing/gridsquid.js'
-import { TS, PK, DK, AK, EP } from '../core/ts.js'
+import { TS } from '../core/ts.js'
import * as dat from './libs/dat.gui.module.js'
@@ -27,7 +27,7 @@ console.log("hello-dex-tools")
document.addEventListener('keydown', (evt) => {
console.log(`keycode ${evt.keyCode}`)
switch (evt.keyCode) {
- case 69: // 'e'
+ case 80: // 'p'
if(wscPort.send){
console.log('pinging...')
wscPort.send(Uint8Array.from([0,1,2]))
@@ -36,20 +36,164 @@ document.addEventListener('keydown', (evt) => {
}
break;
case 82: // 'r'
+ // read loadcell,
+ console.log('reading cell...')
+ dex.readLoadcell().then((count) => {
+ console.log('resolves count', count)
+ }).catch((err) => {
+ console.error(err)
+ })
break;
- case 80: // 'p'
+ case 69: // 'e'
+ dex.setMotorEnable(true).then((val) => {
+ console.log('motor is ', val)
+ }).catch((err) => {
+ console.error(err)
+ })
+ break;
+ case 68: // 'd'
+ dex.setMotorEnable(false).then((val) => {
+ console.log('motor is ', val)
+ }).catch((err) => {
+ console.error(err)
+ })
break;
case 83: // 's'
+ dex.step(-10000).then((increment) => {
+ console.log('motor stepped', increment)
+ }).catch((err) => {
+ console.error(err)
+ })
break;
}
})
+// -------------------------------------------------------- DEX Virtual Machine
+
+let TIMEOUT_MS = 5000
+let DEXKEY_DEBUGMSG = 11
+let DEXKEY_LOADCELLREADING = 12
+let DEXKEY_LOADCELLTARE = 14
+let DEXKEY_STEPS = 15
+let DEXKEY_MOTORENABLE = 16
+
+let dex = {}
+
+dex.readLoadcell = () => {
+ return new Promise((resolve, reject) => {
+ if(!wscPort.send){
+ reject('port to dex is closed')
+ return
+ }
+ wscPort.send((Uint8Array.from([DEXKEY_LOADCELLREADING])))
+ let rejected = false
+ dex.recv = (data) => {
+ if(rejected) return // if already timed out... don't get confused
+ if(data[0] != DEXKEY_LOADCELLREADING){
+ reject('oddball key after loadcell request')
+ } else {
+ let counts = TS.read('int32', data, 1, true)
+ resolve(counts)
+ }
+ }
+ setTimeout(() => {
+ rejected = true
+ reject('timeout')
+ }, TIMEOUT_MS)
+ })
+}
+
+dex.tareLoadcell = () => {
+ return new Promise((resolve, reject) => {
+ if(!wscPort.send){
+ reject('port to dex is closed')
+ return
+ }
+ wscPort.send(Uint8Array.from([DEXKEY_LOADCELLTARE]))
+ let rejected = false
+ dex.recv = (data) => {
+ if(rejected) return
+ if(data[0] != DEXKEY_LOADCELLTARE){
+ reject('oddball key after loadcell tare request')
+ } else {
+ resolve()
+ }
+ }
+ setTimeout(() => {
+ rejected = true
+ reject('timeout')
+ }, TIMEOUT_MS)
+ })
+}
+
+dex.setMotorEnable = (val) => {
+ return new Promise((resolve, reject) => {
+ if(!wscPort.send){
+ reject('port to dex is closed')
+ return
+ }
+ let ob = 0
+ if(val) ob = 1
+ wscPort.send(Uint8Array.from([DEXKEY_MOTORENABLE, ob]))
+ let rejected = false
+ dex.recv = (data) => {
+ if(rejected) return
+ if(data[0] != DEXKEY_MOTORENABLE){
+ reject('oddball key after motor enable request')
+ } else {
+ if(data[1] > 0){
+ resolve('enabled')
+ } else {
+ resolve('disabled')
+ }
+ }
+ } // end recv
+ setTimeout(() => {
+ rejected = true
+ reject('timeout')
+ }, TIMEOUT_MS)
+ })
+}
+
+dex.step = (count) => {
+ return new Promise((resolve, reject) => {
+ if(!wscPort.send){
+ reject('port to dex is closed')
+ return
+ }
+ let req = new Uint8Array(5)
+ req[0] = DEXKEY_STEPS
+ TS.write('int32', count, req, 1, true)
+ wscPort.send(req)
+ let rejected = false
+ dex.recv = (data) => {
+ if(rejected) return
+ if(data[0] != DEXKEY_STEPS){
+ reject('oddball key after step request')
+ } else {
+ let increment = TS.read('int32', data, 1, true)
+ resolve(increment)
+ }
+ } // end recv
+ setTimeout(() => {
+ rejected = true
+ reject('timeout')
+ }, TIMEOUT_MS)
+ })
+}
+
// -------------------------------------------------------- SPAWNING TEST SUBS
let wscPort = {}
wscPort.send = null
wscPort.onReceive = (data) => {
- console.warn('recv', data)
+ // put ll-msg catch flag here,
+ if(data[0] == DEXKEY_DEBUGMSG){
+ let msg = TS.read('string', data, 1, true)
+ console.warn('DEX DEBUGMSG: ', msg.value)
+ } else {
+ dex.recv(data)
+ }
}
let LOGPHY = false
diff --git a/controller/js/core/ts.js b/controller/js/core/ts.js
index 93e42cf4b302cf8ce259986c4e89d6b0700881d7..e0e84c1a47ca8387f8d2847ea42ea6e2001a7603 100644
--- a/controller/js/core/ts.js
+++ b/controller/js/core/ts.js
@@ -1,7 +1,7 @@
/*
ts.js // typeset
-serialization, keys for OSAP
+serialization, keys for DEX
Jake Read at the Center for Bits and Atoms
(c) Massachusetts Institute of Technology 2020
@@ -12,157 +12,12 @@ Copyright is retained and must be preserved. The work is provided as is;
no warranty is provided, and users accept all liability.
*/
-// 13: \r
-// 10: \n
-// these should be clearly delimited as L1 / L2 possible keys...
-
-// packet keys, for l0 of packets,
-// PKEYS all need to be on the same byte order, since they're
-// walked
-// TRANSPORT LAYER
-let PK = {
- PPACK: 77, // this and following two bytes are rcrxb size
- PTR: 88, // packet pointer (next byte is instruction)
- DEST: 99, // have arrived, (next bytes are 16b checksum)
- LLERR: 44,
- PORTF: {
- KEY: 11, // actual instruction key,
- INC: 3 // number of bytes in instruction argument + 1 for the key
- },
- BUSF: {
- KEY: 12,
- INC: 5
- },
- BUSB: {
- KEY: 14,
- INC: 5,
- }
-}
-
-// ARRIVAL LAYER (what do to once received packet / passed checksum)
-
-// destination keys
-let DK = {
- APP: 100, // next bytes are for your application,
- PINGREQ: 101, // next byte is ping-id | eop
- PINGRES: 102, // next byte is ping-id | eop
- RREQ: 111, // read request, next byte is request-id, then ENDPOINTS,
- RRES: 112, // response, next byte is request-id, then ENDPOINTS
- WREQ: 113, // write request,
- WRES: 114, // write response,
-}
-
-// application keys
-let AK = {
- MOCODE: 101
-}
-
-// could do like
-// ITEMS.key / .serialize / .deserialize
-// the mess is down here
-// the idea is that any unique endpoint has one routine to
-// serialize / deserialze. these are for the mvc layer,
-// typed objects will get a similar set
-// perhaps, i.e, some of these should be like 'numinputs'
-// or 'numports', etc ... unclear to me how to query down-tree
-let EP = {
- ERR: {
- KEY: 150,
- KEYS: {
- QUERYDOWN: 151, // selected chunk too large for single segment, go finer grain
- MSG: 152, // generic error message
- EMPTY: 153, // resource queried for not here
- UNCLEAR: 154, // bad request / query
- NOREAD: 155, // no reading supported for this,
- NOWRITE: 156, // rejected write request: writing not available here
- WRITEREJECT: 157, // writing OK here, but not with this value ?
- }
- },
- // anything can include:
- NAME: {
- KEY: 171,
- },
- DESCRIPTION: {
- KEY: 172,
- },
- // number of vPorts, at node,
- NUMVPORTS: {
- KEY: 181, // count of vPorts at node
- },
- // this vPort (always succeeded by indice)
- VPORT: {
- KEY: 182,
- ISDIVE: true,
- },
- // vPort-unique keys,
- PORTTYPEKEY:{
- KEY: 183,
- },
- MAXSEGLENGTH: {
- KEY: 184, // uint32 num-bytes-per-fwded-pck allowed on this phy
- },
- PORTSTATUS: {
- KEY: 185,
- CLOSED: 0,
- OPEN: 1,
- CLOSING: 2,
- OPENING: 3
- },
- PORTBUFSPACE: {
- KEY: 186, // num empty frames in port
- },
- PORTBUFSIZE: {
- KEY: 187,
- },
- // I currently have *no idea* how will handle bus drops:
- // perhaps they are mostly like outputs, in the vPort... typed, have value, ok
- // number of vModules, at node,
- NUMVMODULES:{
- KEY: 201,
- },
- // this vmodule, (always succeeded by indice)
- VMODULE: {
- KEY: 202,
- ISDIVE: true,
- },
- // vPorts, vModules can both have inputs, outputs,
- NUMINPUTS: {
- KEY: 211,
- },
- INPUT: { // this input (always succeeded by indice)
- KEY: 212,
- ISDIVE: true,
- },
- NUMOUTPUTS: {
- KEY: 221,
- },
- OUTPUT: { // this output (always succeeded by indice)
- KEY: 222,
- ISDIVE: true,
- },
- // inputs / outputs can have: (in addnt to name, description)
- TYPE: { // not the same as port-type, key or key(s) for compound types
- KEY: 231,
- },
- VALUE: { // data bytes currently occupying the output / input
- KEY: 232,
- },
- STATUS: {
- KEY: 233, // boolean open / closed, occupied / unoccupied, etc
- },
- // outputs have:
- NUMROUTES: {
- KEY: 234,
- },
- ROUTE: {
- KEY: 235, // within output,
- }
-}
-
let TS = {}
let decoder = new TextDecoder()
+let tempDataView = {}
+
TS.read = (type, buffer, start, keyless) => {
if (!keyless) {
throw new Error('need code here for key checking')
@@ -175,6 +30,9 @@ TS.read = (type, buffer, start, keyless) => {
return (buffer[start] & 255) | (buffer[start + 1] << 8)
case 'uint32':
return (buffer[start] & 255) | (buffer[start + 1] << 8) | (buffer[start + 2] << 16) | (buffer[start + 3] << 24)
+ case 'int32':
+ tempDataView = new DataView(buffer.buffer) // the actual buffer underlying the uint8array...
+ return tempDataView.getInt32(start, true)
case 'boolean':
if (buffer[start] > 0) {
return true
@@ -219,6 +77,11 @@ TS.write = (type, value, buffer, start, keyless) => {
buffer[start + 2] = (value >> 16) & 255
buffer[start + 3] = (value >> 24) & 255
return 4
+ case 'int32':
+ tempArr = Int32Array.from([value])
+ tempBytes = new Uint8Array(tempArr.buffer)
+ buffer.set(tempBytes, start)
+ return 4
case 'float32':
tempArr = Float32Array.from([value])
tempBytes = new Uint8Array(tempArr.buffer)
@@ -251,15 +114,6 @@ TS.write = (type, value, buffer, start, keyless) => {
}
}
-// strings, eventually...
-TS.writeAppErr = (msg) => {
- let reply = new Uint8Array(msg.length + 6)
- reply[0] = AK.ERR
- reply[1] = AK.E.MSG
- TS.write('string', msg, reply, 2, true)
- return reply
-}
-
TS.logPacket = (buffer) => {
// log a pretty buffer
// buffers should all be Uint8Array views,
@@ -270,14 +124,6 @@ TS.logPacket = (buffer) => {
console.log(pert)
}
-TS.portf = (num) => {
- return [PK.PORTF.KEY, num & 255, (num >> 8) & 255]
-}
-
export {
- PK,
- DK,
- AK,
- EP,
TS
}
diff --git a/controller/js/local/dex-usb-bridge.js b/controller/js/local/dex-usb-bridge.js
index 713514ad85e50bf422818dccfe17813721edcb6b..dcf3e07e297917c8badc4a32a3829ee025cbcf80 100644
--- a/controller/js/local/dex-usb-bridge.js
+++ b/controller/js/local/dex-usb-bridge.js
@@ -25,7 +25,7 @@ import COBS from './common/cobs.js'
import { PerformanceObserver, performance } from 'perf_hooks'
-import { TS, EP } from '../core/ts.js'
+import { TS } from '../core/ts.js'
let LOGPHY = true