I'm trying to transmit messages through CAN using HAL library. For test I repeated code from the first part of this video I have the same bluepill so I just did the same. Also I've tried his project, but changing Nucleo RE to ZE model. I've looked through other sources and they all do the same thing, and in their videos/articles bus perfoms as it is supposed to.
But on all of my devices HAL_CAN_AddTxMessage produces empty (or maybe error) message
Theese different lines are TX on one board and RX from other transcievers.
Debugging showed me nothing wrong: function returns HAL_OK. I went step by stem through it in debug mode and everything seemed as normal. But niether loopback nor normal mode transmitts correct message.
Also I've checked my LA with MCP2515 + TJA1040 and CAN bus worked as it has to
So I'm confused and don't understand what I'm doing wrong.
The problem was in TimeQuanta settings. I had to be more considerate. I'll wrigth a more exact explanation later
Related
I’m working on Bluetooth mesh network solution and I have requirement to increase range.
I’m using nrf52840 DK and nrf52840 dongles, nrf5SDKforMeshv310.
In Nordic Devzone
I found solution which, enables BLE long range mode in NRF SDK for mesh.
NOTE! I'm aware solution doesn't comply with Bluetooth Mesh standard.
Following changes were applied to nrf5 SDK for Mesh v310:
In advertise.c, set_default_broadcast_configuration() changed radio_mode to use RADIO_MODE_NRF_62K5BIT instead of RADIO_MODE_BLE_1MBIT.
In scanner.c, scanner_config_reset() changed scanner_config_radio_mode_set() to use RADIO_MODE_NRF_62K5BIT instead of RADIO_MODE_BLE_1MBIT.
In radio_config.c, radio_config_config() added the following code at the end:
if (p_config->radio_mode==RADIO_MODE_NRF_62K5BIT ){
NRF_RADIO->PCNF0 |=(
((RADIO_PCNF0_PLEN_LongRange << RADIO_PCNF0_PLEN_Pos) & RADIO_PCNF0_PLEN_Msk) |
((2 << RADIO_PCNF0_CILEN_Pos) & RADIO_PCNF0_CILEN_Msk) |
((3 << RADIO_PCNF0_TERMLEN_Pos) & RADIO_PCNF0_TERMLEN_Msk) );
}
In broadcast.c, time_required_to_send_us() added:
if (radio_mode == RADIO_MODE_NRF_62K5BIT)
{
packet_length_in_bytes +=RADIO_PREAMBLE_LENGTH_LR_EXTRA_BYTES;
}
Defined RADIO_PREAMBLE_LENGTH_LR_EXTRA_BYTES = 9 in same file
Changed 5th element in radio_mode_to_us_per_byte[] from 128 to 64.
NOTE. that the long-range mode is mislabeled. It is called RADIO_MODE_NRF_62K5BIT in the header file but corresponds to the 125kbps BLE long range mode instead.
Unfortunately for relays I’m pushed to use Zephyr to support friend feature and Zephyr is not relaying messages after applying changes to NRF SDK. I did brief investigation on Zephyr side and found that code bits for BLE long range described above for NRF SDK are in place and can be enabled using following Kconfig settings:
CONFIG_BT_AUTO_PHY_UPDATE=y
CONFIG_BT_PHY_UPDATE=y
CONFIG_BT_HCI_MESH_EXT=y
CONFIG_BT_CTLR_PHY=y
CONFIG_BT_CTLR_ADV_EXT=y
CONFIG_BT_CTLR_ADVANCED_FEATURES=y
CONFIG_BT_CTLR_PHY_2M=y
CONFIG_BT_CTLR_PHY_CODED=y
But still I don’t see that messages are being relayed on Zephyr side (using J-Link RTT Viewer). I also tried to increase log level for Bluetooth and Mesh to DEBUG, but I don’t see any signs that messages are malformed or rejected.
May be someone has ideas in which direction I should dig in on Zephyr side?
I'm trying to interface a C++ program and a serial port and I have a problem receiving data using "termios.h". I'm on Debian, using Eclipse and G++. Everything is ok, except I only receive part of the message (I think).
My port is connected to a Wavecom Modem and I receive SMS transactions I need to analyse. Port, rate and every stuff are ok.
If I connect an external analyzer (CuteCom), the message received is correct for every sms : +CMTI: "SMS", xx
(xx is a sequential number)
If I use another library (C, not C++) "RS232.h", it's also ok : +CMTI: "SMS",xx
If I use "termios.h" I only receive : +CMTI:
no "SMS" and no number. It looks like termios doesn't like the « " » and thinks it's the end of the string.
I unfortunately need to use C++ for the project. Does anyone of you has encounter this trouble before ? Is there someone who would be able to give me some hints to check the termios librairy ?
Thanks.
FZ
I'm trying to write some code to read from an Isochronous pipe using LibUsbK in Win32. I have successfully initialised the device into the correct state to send and receive Isochronous data and I can see data being sent over the USB in my hardware USB analyser, but the buffers I am receiving are always unfilled even though the analyser shows that there was data in the packets sent to the PC.
I'm new to LibUsbK and using Isochronous transfers though I'm not new to USB in general but I've been really struggling with this.
The code I'm using to read from the device is something like this...
UsbK_SelectInterface(usbHandle,1,0);
UsbK_SetAltInterface(usbHandle,1,0,1);
IsoK_Init(&isoCtx, ISO_PACKETS_PER_XFER, 0);
IsoK_SetPackets(isoCtx, ISO_PACKET_SIZE); // Size of each individual packet
OvlK_Init(&ovlPool, usbHandle, 4, 0);
OvlK_ResetPipe(usbHandle, 0x83);
OclK_Acquire(&ovlkHandle, ovlPool);
UsbK_IsoReadPipe(usbHandle, 0x83, inBuffer, sizeof(inBuffer), ovlkHandle, isoCtx);
while(!finished)
{
if(OvlK_IsComplete(ovlkHandle)
{
fwrite(inBuffer, sizeof(inBuffer), 1, outFile);
memset(inBuffer,0xcc,sizeof(inBuffer));
OvlK_ReUse(ovlkHandle);
UsbK_IsoReadPipe(usbHandle, 0x83, inBuffer, sizeof(inBuffer), ovlkHandle, isoCtx);
{
}
If I put a breakpoint at the fwrite line then the inBuffer is always full of 0xCC - ie, not having been filled by the iso read.
I've checked all the error return values from the UsbK/OvlK function calls and they are all as they should be. I've checked my buffers are sufficiently big to receive the data.
I use very similar code to write to the ISO out pipe on endpoint 0x02 and that works perfectly, the only difference really between the code above and my write code is that the fwrite/memset commands are replaced with a call to a "fillbuffer" function that populates my outBuffer before calling UsbK_IsoWritePipe function.
I tried looking through any examples I could find in the samples and also online but struggled to understand/get them to work with my particular device.
Any suggestions or help greatly appreciated.
So it appears that the above code did work and I was being mislead by the fact that the debugger was interrupting the flow of things - I keep forgetting that trying to debug real time stuff can introduce it's own issues.
The first issue was that stepping through the code in the debugger was causing issues with the low level libusbk code capturing the usb packets and filling my buffers correctly - once I let it run full speed and found other ways to test the buffers I did actually find there was some data in there.
The second problem I had was that quite often the buffer was starting to be filled part way through only (and not always right from the start) so when I examined the data I was only printing the first part of the buffer to the console and so all I saw was 0xCC and I was therefore assuming it hadn't worked.
Once I realised that there was actually some data later in the buffer I just started looking through the buffer in packet sized chuncks, if the packet was completely contained of 0xCC I would skip it and move on, but if any of it was not 0xCC then I would treat it as a valid packet - this worked perfectly and I was successfully receiving all the data. I'm sure there's a more "proper" way of doing this, but it works for me now.
I am working on a project in which I am controlling a quadcopter with an android phone. I have noticed that the using the DroneListener to listen for ATTITUDE_UPDATED messages is not updating the yaw nearly as fast enough as I need it to. I would like to get the quadcopter’s yaw updated frequently, in (more or less) real time, such as how the Mission Planner application does when you plug your quadcopter in via usb.
I have tried using msg_request_data_stream (that is essentially what Mission Planner uses, but in C#) to request various data streams from the drone, but it has not worked. My assumption is that such the response to this request (i.e., the stream) would be received by any registered MavlinkObservers, however the custom MavlinkObserver that I have added to my drone has not had its onMavlinkMessageReceived(…) method called a single time. It has not even received heartbeat messages, which should (based on my understanding) be coming reqularly and frequently.
Is there any help that you could offer? Is there any better way to get the quadcopter’s yaw than waiting for the DroneListener to be notified of events? I know that it should be possible with Mavlink (MissionPlanner does it), but I haven’t been having any success with Mavlink messages or with a MavlinkObserver.
Here is my code for requesting a data stream:
msg_request_data_stream message = new msg_request_data_stream();
//not sure how doubles cast to byte, so I cast it to an int first (the value is
//always going to be an int anyway, getValue just returns doubles for parameters by default)
message.target_system = (byte)((int)params.getParameter("SYSID_THISMAV").getValue());
message.req_message_rate = (short)1;
message.req_stream_id = (byte)0;
message.start_stop = (byte)1;
//wrap the message and send it!
ExperimentalApi.sendMavlinkMessage(this, new MavlinkMessageWrapper(message));
The following code is inside a thread and reads input data coming over usb. Approximately every 80 readings it misses one of the packets coming from an stm32 board. The board is programmed to send data packets to the android tablet every one second.
// Non Working Code
while(running){
int resp = bulktransfer(mInEp,mBuf,mBuf.lenght,1000);
if(resp>0){
dispatchMessage(mBuf);
}else if(resp<0)
showsBufferEmptyMessage();
}
I was looking the Missile Launcher example in android an other libraries on the internet and they put a delay of 50ms between each poll. Doing this it solves the missing package problem.
//Working code
while(running){
int resp = bulktransfer(mInEp,mBuf,mBuf.lenght,1000);
if(resp>0){
dispatchMessage(mBuf);
}else if(resp<0)
showsBufferEmptyMessage();
try{
Thread.sleep(50);
}catch(Exception e){}
}
Does anyone knows the reason why the delay works. Most of the libraries on github has this delay an as I mention before the google example too.
I am putting down my results regarding this problem. After all seems that the UsbConnection.bulkTransfer(...) method has some bug when called continuously. The solution was to use the asynchronous API, UsbRequest class. Using this method I could read from the input endpoint without delay and no data was lost during the whole stress test. So the direction to take is asynchronous UsbRequest instead of synchronously bulktransfer.