I'm coding in vb.net (I will accept answers in c# as I can approach this either way) and I need to send data to and receive data from a Vex Cortex. It has a USB port on it which I will be connecting to a computer to send it data via a program.
I have researched this and the .net side seems fairly straightforward. Here is the code I currently have:
Dim sensor As New SerialPort("COM1")
sensor.BaudRate = 9600
sensor.Parity = Parity.None
sensor.StopBits = StopBits.One
sensor.DataBits = 8
sensor.ReadTimeout = 300
sensor.WriteTimeout = 300
sensor.Handshake = Handshake.None
sensor.Open()
I was looking around and i found some steps to take to send data from the program, which is below:
Dim byteOut(5) As Byte
Dim byteIn(6) As Byte
Dim Voltage, i As Integer
Try
byteOut(0) = &H2 '2 bytes in output message
byteOut(1) = &H0 'should be 0 for NXT
byteOut(2) = &H0 '&H0 = reply expected &H80 = no reply expected
byteOut(3) = &HB '$HB = read battery command
sensor.Write(byteOut, 0, 4) '0 = offset into byteOut and 4 = number of bytes
'now read the reply
byteIn(0) = sensor.ReadByte ' number of bytes in message
byteIn(1) = sensor.ReadByte ' should be 0 for NXT
For i = 2 To 1 + byteIn(0) ' read rest of message
byteIn(i) = sensor.ReadByte()
Next
Voltage = byteIn(5) + byteIn(6) * 256 ' the voltage has low byte in 5 and high in 6
Console.Write(Voltage) 'display voltage
Catch ex As Exception
MsgBox(ex.ToString)
End Try
The example above is used to return battery data for an irrelevant device for this question. Basically I need to be able to read the data I send, and send data back to the computer, on the Vex Cortex.
The Cortex is coded in c and I'm using RobotC to compile and download the code to the Cortex. I can't figure out how to read the data for the life of me (example code said to do Serial.begin(9600); but this raises a compilation error in RobotC).
Can anyone assist me on how to read (and write back) data on the Cortex end of this transfer? I may need to ditch RobotC and I'm perfectly fine with that if a solution is proposed without it, so long as it's still c code.
Related
I am testing an interoperability between modems. one of my modem did support JANUS and I believe UnetStack base Subnero Modem Phy[3] also support JANUS. How can i send and record JANUS signal which i can use for preliminary testing for other modem ? Can someone please provide basic snippet ?
UnetStack indeed has an implementation of JANUS that is, by default, configured on phy[3].
You can check this on your modem (the sample outputs here are from unet audio SDOAM, and so your modem parameters might vary somewhat):
> phy[3]
« PHY »
[org.arl.unet.phy.PhysicalChannelParam]
fec = 7
fecList ⤇ [LDPC1, LDPC2, LDPC3, LDPC4, LDPC5, LDPC6, ICONV2]
frameDuration ⤇ 1.1
frameLength = 8
janus = true
[org.arl.yoda.FhbfskParam]
chiplen = 1
fmin = 9520.0
fstep = 160.0
hops = 13
scrambler = 0
sync = true
tukey = true
[org.arl.yoda.ModemChannelParam]
modulation = fhbfsk
preamble = (2400 samples)
threshold = 0.0
(I have dropped a few parameters that are not relevant to the discussion here to keep the output concise)
The key parameters to take note of:
modulation = fhbfsk and janus = true setup the modulation for JANUS
fmin = 9520.0, fstep = 160.0 and hops = 13 are the modulation parameters to setup fhbfsk as required by JANUS
fec = 7 chooses ICONV2 from the fecList, as required by JANUS
threshold = 0.0 indicates that reception of JANUS frames is disabled
NOTE: If your modem is a Subnero M25 series, the standard JANUS band is out of the modem's ~20-30 kHz operating band. In that case, the JANUS scheme is auto-configured to a higher frequency (which you will see as fmin in your modem). Do note that this frequency is important to match for interop with any other modem that might support JANUS at a higher frequency band.
To enable JANUS reception, you need to:
phy[3].threshold = 0.3
To avoid any other detections from CONTROL and DATA packets, we might want to disable those:
phy[1].threshold = 0
phy[2].threshold = 0
At this point, you could make a transmission by typing phy << new TxJanusFrameReq() and put a hydrophone next to the modem to record the transmitted signal as a wav file.
However, I'm assuming you would prefer to record on the modem itself, rather than with an external hydrophone. To do that, you can enable the loopback mode on the modem, and set up the modem to record the received signal:
phy.loopback = true # enable loopback
phy.fullduplex = true # enable full duplex so we can record while transmitting
phy[3].basebandRx = true # enable capture of received baseband signal
subscribe phy # show notifications from phy on shell
Now if you do a transmission, you should see a RxBasebandSignalNtf with the captured signal:
> phy << new TxJanusFrameReq()
AGREE
phy >> RxFrameStartNtf:INFORM[type:#3 rxTime:492455709 rxDuration:1100000 detector:0.96]
phy >> TxFrameNtf:INFORM[type:#3 txTime:492456016]
phy >> RxJanusFrameNtf:INFORM[type:#3 classUserID:0 appType:0 appData:0 mobility:false canForward:true txRxFlag:true rxTime:492455708 rssi:-44.2 cfo:0.0]
phy >> RxBasebandSignalNtf:INFORM[adc:1 rxTime:492455708 rssi:-44.2 preamble:3 fc:12000.0 fs:12000.0 (13200 baseband samples)]
That notification has your signal in baseband complex format. You can save it to a file:
save 'x.txt', ntf.signal, 2
To convert to a wav file, you'll need to load this signal and convert to passband. Here's some example Python code to do this:
import numpy as np
import scipy.io.wavfile as wav
import arlpy.signal as asig
x = np.genfromtxt('x.txt', delimiter=',')
x = x[:,0] + 1j * x[:,1]
x = asig.bb2pb(x, 12000, 12000, 96000)
wav.write('x.wav', 96000, x)
NOTE: You will need to replace the fd and fc of 12000 respectively, by whatever is the fs and fc fields in your modem's RxBasebandSignalNtf. For Unet audio, it is 12000 for both, but for Subnero M25 series modems it is probably 24000.
Now you have your wav file at 96 kSa/s!
You could also plot a spectrogram to check if you wanted to:
import arlpy.plot as plt
plt.specgram(x, fs=96000)
I have an issue while recording the signal. Modem refuse to send the JANUS frame. It looks like something is not correctly set on my end, specially fmin = 12000.0 , fstep = 160.0 and hops = 13. The Actual modem won't let me set the fmin to 9520.0 and automatically configured on lowest fmin = 12000. How can i calculate corresponding parameters for fmin=12000.
Although your suggestion do work on the unet audio.
Here is my modem logs:
> phy[3]
« PHY »
[org.arl.unet.DatagramParam]
MTU ⤇ 0
RTU ⤇ 0
[org.arl.unet.phy.PhysicalChannelParam]
dataRate ⤇ 64.0
errorDetection ⤇ true
fec = 7
fecList ⤇ [LDPC1, LDPC2, LDPC3, LDPC4, LDPC5, LDPC6, ICONV2]
frameDuration ⤇ 1.0
frameLength = 8
janus = true
llr = false
maxFrameLength ⤇ 56
powerLevel = -10.0
[org.arl.yoda.FhbfskParam]
chiplen = 1
fmin = 12000.0
fstep = 160.0
hops = 13
scrambler = 0
sync = true
tukey = true
[org.arl.yoda.ModemChannelParam]
basebandExtra = 0
basebandRx = true
modulation = fhbfsk
preamble = (2400 samples)
test = false
threshold = 0.3
valid ⤇ false
> phy << new TxJanusFrameReq()
REFUSE: Frame type not setup correctly
phy >> FAILURE: Timed out
I am fairly new to IDL, and I am trying to write a code that will take a MODIS HDF file (level three data MOD14A1 and MYD14A1 to be specific), read the array, and then write the data from the array preferably to a csv file, but ASCII would work, too. I have code that will allow me to do this for one file, but I want to be able to do this for multiple files. Essentially, I want it to read one HDF array, write it to a csv, move to the next HDF file, and then write that array to the same csv file in the next row. Any help here would be greatly appreciated. I've supplied the code I have so far to do this with one file.
filename = dialog_pickfile(filter = filter, path = path, title = title)
csv_file = 'Data.csv'
sd_id = HDF_SD_START(filename, /READ)
; read "FirePix", "MaxT21"
attr_index = HDF_SD_ATTRFIND(sd_id, 'FirePix')
HDF_SD_ATTRINFO, sd_id, attr_index, DATA = FirePix
attr_index = HDF_SD_ATTRFIND(sd_id, 'MaxT21')
HDF_SD_ATTRINFO, sd_id, attr_index, DATA = MaxT21
index = HDF_SD_NAMETOINDEX(sd_id, 'FireMask')
sds_id = HDF_SD_SELECT(sd_id, index)
HDF_SD_GETDATA, sds_id, FireMask
HDF_SD_ENDACCESS, sds_id
index = HDF_SD_NAMETOINDEX(sd_id, 'MaxFRP')
sds_id = HDF_SD_SELECT(sd_id, index)
HDF_SD_GETDATA, sds_id, MaxFRP
HDF_SD_ENDACCESS, sds_id
HDF_SD_END, sd_id
help, FirePix
print, FirePix, format = '(8I8)'
print, MaxT21, format = '("MaxT21:", F6.1, " K")'
help, FireMask, MaxFRP
WRITE_CSV, csv_file, FirePix
After I run this, and choose the correct file, this is the output I am getting:
FIREPIX LONG = Array[8]
0 4 0 0 3 12 3 0
MaxT21: 402.1 K
FIREMASK BYTE = Array[1200, 1200, 8]
MAXFRP LONG = Array[1200, 1200, 8]
The "FIREPIX" array is the one I want stored into a csv.
Thanks in advance for any help!
Instead of using WRITE_CSV, it is fairly simple to use the primitive IO routines to write a comma-separated array, i.e.:
openw, lun, csv_file, /get_lun
; the following line produces a single line the output CSV file
printf, lun, strjoin(strtrim(firepix, 2), ', ')
; TODO: do the above line as many times as necessary
free_lun, sun
I am attempting to use the NAudio lib like the below. When I have a WAV file saved as Mono, 4KHz, the AudioBytesOriginal array has all zeroes. The file does play when double-clicked in Windows, so the data is there. It also plays in Audacity.
using ( var waveFileReader = new WaveFileReader( FileNameIn ) )
{
var thisIsWhat = waveFileReader.WaveFormat; // reports as 8KHz
AudioBytesOriginal = new byte[waveFileReader.Length];
int read = waveFileReader.Read( AudioBytesOriginal , 0 , AudioBytesOriginal.Length );
short[] sampleBuffer = new short[read/2];
Buffer.BlockCopy( AudioBytesOriginal , 0 , sampleBuffer , 0 , read );
}
I need the extremely low sample rate for playback on a limited device, but am using .NET Framework 4.6.1 with NAudio to handle the byte work.
Thanks.
a couple of things to check
1) what is the value of read? Is it 0?
2) how far into sampleBuffer did you check? Even half a second of silence at the start of an audio file will result in several thousand samples with 0 value
I have an HP 6500 printer that will print in Duplex when set appropriately.
I'm working on a program to print automatically to other printers, but I notice a problem with the PrintCapabilities for this printer - it does not contain JobDuplexAllDocumentsContiguously - the Duplex options.
The method is below. I can't post the results because they are too long. Does anyone know why this does not work as expected? I would like to confirm that a printer can print Duplex before I send it a job, but how?
Rick
Here is how I get the PrintCapabilites:
Dim pq As Printing.PrintQueue = Printing.LocalPrintServer.GetDefaultPrintQueue
' get a stored printticket that has Duplex = TwoSidedShortEdge
Dim ps As RG.Data.Program_Setting = RG.Data.Program_Setting.GetObject(Environment.MachineName)
Dim cs As RG.Data.Computer_Setting = ps.value_object_cast
Dim pt As Printing.PrintTicket = cs.print_ticket_document
'confirm that duplex is set
MsgBox(pt.Duplexing.ToString)
Dim ms = pq.GetPrintCapabilitiesAsXml(pt)
ms.Position = 0
Using fs = RG.Utilities.GetTempFileStream(".xml")
fs.Write(ms.ToArray, 0, ms.Length - 1)
fs.Close()
End Using
I have also tried pq.GetPrintCapabilitiesAsXml() and get the same results:
I am trying to initialize a DT028ATFT-TS display on an STM32F10B main board. The system worked with DT028TFT-TS before, but that display has been discontinued. As a result of using the new diplay, the interface also had to change from ILI9320 to ILI9341. I am now basically trying to initialize the new display in a configuration that would be equivalent to what I had before.
The problem I am facing is that the display image ends up showing horizontal streaks randomly distributed (slightly different at every startup) with a bit of a flicker. And, at times (not sure if related), it just shows the backlight and nothing else - no streaks, no test image. The test image is just one big red square (100x100) displayed at x=100, y=50. You can see the effect of the problem here: Streaked Display Image.
The following is part of the initialization code that I've used - part of it taken as such from DisplayTech's sample code offered on their website, part of it customized. I've excluded commands from the sample code that are not documented under ILI9341 (probably vendor customization) and the gamma correction parameters, just to save some space. Any help in finding out where I went wrong would be appreciated.
// DT028ATFT LCD init - ILI9341:
// Frame Rate Control
SPI_WriteCMD(0xB1);
SPI_WriteDAT(0x00); // division ratio: 1
SPI_WriteDAT(0x10); // 16 clocks per line
// Power Control
SPI_WriteCMD(0xC0);
SPI_WriteDAT(0x25); // GVDD = 4.70V
SPI_WriteCMD(0xC1);
SPI_WriteDAT(0x03); // VCL=VCI x 2, VGH=VCI x 6, VGL=-VCI x 3
// VCOM Control
SPI_WriteCMD(0xC5);
SPI_WriteDAT(0x5C); // VCOMH = 5.000 V
SPI_WriteDAT(0x4C); // VCOML = -0.600 V
SPI_WriteCMD(0xC7);
SPI_WriteDAT(0x94); // VCOMH = VMH - 44, VCOML = VML - 44
// Memory Access Control
SPI_WriteCMD(0x36);
SPI_WriteDAT(0x08); // BGR=1, Normal addr order and refresh direction
// Write CTRL Display
SPI_WriteCMD(0x53);
SPI_WriteDAT(0x24); // BCTRL=1, DD=0, BL=1
// Display Function Control
SPI_WriteCMD(0xB6);
SPI_WriteDAT(0x00); // Normal scan, V63 pos pol / V0 neg pol
SPI_WriteDAT(0xA0); // LCD normally white, G1 to G320, S720 to S1
SPI_WriteDAT(0x27); // NL = 320
SPI_WriteDAT(0x00); // PCDIV not used
// Entry Mode Set
SPI_WriteCMD(0xB7);
SPI_WriteDAT(0x06); // Normal display for G1-G320 output, Low voltage detection enabled
// Column Address Set
SPI_WriteCMD(0x2A);
SPI_WriteDAT(0x00);
SPI_WriteDAT(0x00); // Start Column = 0
SPI_WriteDAT(0x00);
SPI_WriteDAT(0xEF); // End Column = 239
// Page Address Set
SPI_WriteCMD(0x2B);
SPI_WriteDAT(0x00);
SPI_WriteDAT(0x00); // Start Page = 0
SPI_WriteDAT(0x01);
SPI_WriteDAT(0x3F); // End Page = 319
// Gamma Set
SPI_WriteCMD(0x26);
SPI_WriteDAT(0x01); // Gamma Curve 1 selected (G2.2)
// Pixel Format Set
SPI_WriteCMD(0x3A);
SPI_WriteDAT(0x55); // 16bits/pixel (RGB and MCU i/f)
// Interface Control
SPI_WriteCMD(0xF6);
SPI_WriteDAT(0x00); // image data not wrapped around (exceeding data ignored)
SPI_WriteDAT(0x00); // MSB used also as LSB for R and B (64k colours)
SPI_WriteDAT(0x00); // Disp Op Mode: internal clk, GRAM access: Sys I/F, 1 transf/pxl (16bit 64k colours)
// RGB Interface Signal Control
SPI_WriteCMD(0xB0);
SPI_WriteDAT(0xC0); // BypassMode=1, RCM=2, VSPL=0, HSPL=0, DPL=0, EPL=0
// Sleep Mode off (DC/DC conv enabled, internal osc started)
SPI_WriteCMD(0x11);
Dly100us((void*)1200);
// Display ON
SPI_WriteCMD(0x29);
// ===============================
your problem sounds like a timing issue. Have you tried reducing the frame rate? that should relax the display timing. you are setting it to 119 Hz.
are you doing a proper reset before the init?
you can compare with other implementations for the ILI9341 controller:
Example
Atmel Library