Basic Micro Studio - Changes in Beta from Build to build

[sn96]

@Acidtech

Fixed the bad alias for SLONG. Some how I deleted the check for SLONG so it was falling through as a possible alias which of course didn’t exist so…bork.

And yes I’ll be posting a new release early next week(maybe this weekend). I’ll be trying to get some videos of the ARC-32 running the BH3-R made this weekend as well.

A video of the new ARC32 running would be a great Christmas gift!

[fish-5]

I’ve been working with Xan on the phoenix. We were trying to make the robot be able to play canned routines from the SSC-32’s EEPROM. The code works… on IDE v8.0.1.7. Using IDE v8.0.1.11 or Studio (tried with 1.0.0.11 and 1.0.0.15) caused the robot not to be able to read information from the SSC-32. So there seems to be a problem with the serin command. At least, that’s what it seems to be.

I was using the phoenix 2.0 code. Let me know if you need any additional information.

[robotdude]

Little more info. Xan’s code asks the SSC-32 for it’s revision number before it will send the commands to start the GP player. For some reason in studio it does not read this reply properly. By removing the firmware version request it works.

[fish-5]

@Robot Dude

By removing the firmware version request it works.

Sort of. It runs into problems when trying to leave the GP mode. Since the BAP doesn’t get any feedback that the sequence is done, the bot can’t be stopped because certain controls are enabled during GP play.

I would have brought that up before, but I kind of… forgot.

[kurte]

@Robot Dude

Little more info. Xan’s code asks the SSC-32 for it’s revision number before it will send the commands to start the GP player. For some reason in studio it does not read this reply properly. By removing the firmware version request it works.

Which version of studio? I had better luck with 1.0.0.14 then with the current .15

SLong broken
return -1 compile errors

Nathan knows about these, I was hoping that .16 would be up soon, but…

Kurt

[fish-5]

@kurte

Which version of studio?

@Fish (Admin)

blah blah blah Studio (tried with 1.0.0.11 and 1.0.0.15)

[kurte]

@Fish (Admin)

@kurte

Which version of studio?

@Fish (Admin)

blah blah blah Studio (tried with 1.0.0.11 and 1.0.0.15)

Ooops I missed that one…

However I extracted the code into a test program and think the timout is the problem:
Here is a simple test program that both displays the whole string, plus says if it is valid or not:

[code];[SERIAL CONNECTIONS]
cSSC_OUT con P11 ;Output pin for (SSC32 RX) on BotBoard (Yellow)
cSSC_IN con P10 ;Input pin for (SSC32 TX) on BotBoard (Blue)
cSSC_BAUD con i38400 ;SSC32 BAUD rate

szTemp var byte(20) ; temporary
GPVerData var byte(3) ;Received data to check the SSC Version
Index var byte ;Index universal used

sound P9, [40\5000,40\5000]
serout s_out, i9600, [13, “Test SSC”, 13]

main:

; First lets try to print out the version
serout cSSC_OUT, cSSC_BAUD, "ver", 13]
serin cSSC_IN, cSSC_BAUD, 10000, TO_GET, [str szTemp\20\13]
serout s_out, i9600, "SSC Version: ", str szTemp\20\13, 13]

TO_GET:

; Like Xans code
index = 0
serout cSSC_OUT, cSSC_BAUD, "ver", 13]

GetSSCVersion:
serin cSSC_IN, cSSC_BAUD, 10000, timeout, [GPVerData(Index)]
Index = (Index+1)//3 ; shift last 3 chars in data
goto GetSSCVersion

timeout:
if (GPVerData(0) + GPVerData(1) + GPVerData(2)) = 164 then ; Check if the last 3 chars are G(71) P(80) cr(13)
serout s_out, i9600, “GP player valid”, 13]

else
serout s_out, i9600, “GP player NOT valid”, dec (GPVerData(0) + GPVerData(1) + GPVerData(2)), 13]
endif

pause 2000
goto main
end[/code]

For my old and crusty one I see:

SSC Version: SSC32-V2.04GP GP player valid SSC Version: SSC32-V2.04GP GP player valid

For my new shiny one from the Free giveaway, I see:

SSC Version: SSC32-V2.03XE GP player NOT valid170 SSC Version: SSC32-V2.03XE GP player NOT valid170 SSC Version: SSC32-V2.03XE GP player NOT valid170

P.S - I assume that you do have both TX and RX wires going to the SSC-32

Kurt

[robotdude]

Thanks Kurt! You are a programming GOD! I bow humbly in thanks.

[kurte]

You are welcome…

Back to Fish…

@Fish (Admin)

@Robot Dude

By removing the firmware version request it works.

Sort of. It runs into problems when trying to leave the GP mode. Since the BAP doesn’t get any feedback that the sequence is done, the bot can’t be stopped because certain controls are enabled during GP play.

I would have brought that up before, but I kind of… forgot.

I have not used this code much as I am not very good at creating these sequences

It looks to me that once you start a sequence, the code does not return to the main loop, until the sequence is completed. I will try to summarize this. If you look in phoenix_v20.bas a little after the label main: you will see the code:

;GP Player IF GPEnable THEN GOSUB GPPlayer ENDIF
If you look at GPPlayer

[code];--------------------------------------------------------------------
;[GP PLAYER]
GPStatSeq var byte
GPStatFromStep var byte
GPStatToStep var byte
GPStatTime var byte
GPPlayer:

;Start sequence
IF (GPStart=1) THEN
serout cSSC_OUT, cSSC_BAUD, “PL0SQ”, dec GPSeq, “ONCE”, 13] ;Start sequence

;Wait for GPPlayer to complete sequence    

GPWait:
serout cSSC_OUT, cSSC_BAUD, “QPL0”, 13]
serin cSSC_IN, cSSC_BAUD, [GPStatSeq, GPStatFromStep, GPStatToStep, GPStatTime]

IF (GPStatSeq<>255 | GPStatFromStep<>0 | GPStatToStep<>0 | GPStatTime<>0) THEN
  GOTO GPWait ;Continue waiting
ENDIF

GPStart=0

ENDIF

return
[/code]
To me it looks like it will hang up in this loop until it completes. So you won’t have any more input possible from the PS2 or DIY remote… until it completes. To me it looks like it would be easy to change this to allow input to be processed. For example could change the code to look more like:

[code];--------------------------------------------------------------------
GPStart var byte; was bit
;[GP PLAYER]
GPStatSeq var byte
GPStatFromStep var byte
GPStatToStep var byte
GPStatTime var byte
GPPlayer:

;Start sequence
IF (GPStart=1) THEN
serout cSSC_OUT, cSSC_BAUD, “PL0SQ”, dec GPSeq, “ONCE”, 13] ;Start sequence
GPStart=2 ; set the state to do query…
ELSEIF (GPStart=2)
;See if GPPlayer has completed sequence
serout cSSC_OUT, cSSC_BAUD, “QPL0”, 13]
serin cSSC_IN, cSSC_BAUD, [GPStatSeq, GPStatFromStep, GPStatToStep, GPStatTime]
IF (GPStatSeq=255) and (GPStatFromStep=0) and (GPStatToStep=0) and (GPStatTime=0) THEN
GPStart=0
ENDIF
ELSEIF GPStart=0xff
; user requested us to abort the sequence.
serout cSSC_OUT, cSSC_BAUD, “PL0”, 13] ;Stop the sequence now
GPStart = 0
ENDIF
return
[/code]
Now in the main code might change it like:

;GP Player IF GPEnable THEN GOSUB GPPlayer IF GPStart <> 0 THEN Main ENDIF

I would also probably change the PS2 code that processed the button to start the sequence to maybe something like:

IF (DualShock(2).bit1 = 0) and LastButton(1).bit1 THEN	;R2 Button test	  
  IF GPStart = 0 THEN   ; See if we are running a sequence
    GPStart=1    ; Nope then try to start it.
  ELSE
    GPStart = 0xff  ; Yes - cancel it.
  ENDIF
ENDIF

Now I did this on the fly here so there are probably some major problems here. Probably should run it by Xan and move to different thread…

Kurt

[robotdude]

Ok that fixed the not going into GP player mode. But it begs the question why would the timeout value that worked in 8.0.1.7 not work in Studio.

But it still does not recover from playing the sequence. It appears to read the query and the program waits till the sequence is finished before accepting other commands, and you can play a stored sequence several times over and over, but… When you press X to go back to walking mode it immediately runs to the left at high speed and ignores the PS2 forever till reset.

James and I have followed the program fairly well, but having the PS2 stuff in a separate file is blowing my mind. lol

We are so close!!!

[robotdude]

Yeah we can yank it as soon as we know it’s not a Studio thing.

[kurte]

The code may have been right on the fringe of the timings before. But just a heads up Nathan and Dale are in the process of going through the commands and trying to converge the Atom and the Atom Pro code and maybe change the timings of different commands back to milliseconds instead of .5 microseconds. Note sure about all the details yet. You can follow along up on the thread: forums.basicmicro.net/viewtopic. … c41617f43b

As for the hitting the cross button to go back to walk mode, I am not very sure how all of this is supposed to work as even though you are in GPPlayer mode it still walks through the single leg code, plus the Gait code, Body and Leg IK and call the servodriver.
So maybe some variable is being updated in the loop that is not processed until you are back in WALKMODE. Don’t have any sequences to try with, but will see what happens when I try to run a non-existing one. Also may be different as I will do with Xbee…

Kurt

[kurte]

Hi Jim, I was trying to debug some of my hacked up code that runs sequences when I am not using standard serin to talk to the SSC-32. I found some bugs in my code, which I will post up for Zenta in a bit…

But, when I do the equivlent to the code:

[code] serout cSSC_OUT, cSSC_BAUD, “PL0SQ”, dec GPSeq, “ONCE”, 13] ;Start sequence

;Wait for GPPlayer to complete sequence    

GPWait:
serout cSSC_OUT, cSSC_BAUD, “QPL0”, 13]
serin cSSC_IN, cSSC_BAUD, [GPStatSeq, GPStatFromStep, GPStatToStep, GPStatTime]

IF (GPStatSeq<>255 | GPStatFromStep<>0 | GPStatToStep<>0 | GPStatTime<>0) THEN
  GOTO GPWait ;Continue waiting
ENDIF

GPStart=0

[/code]
for lets say GPSeq=2 and I don’t have any sequences defined, I found that the Serin to get the state timed out and the SSC-32 would not talk to me anymore. I had to power cycle the SSC-32.

So I am wondering where your running to one side problem is. I don’t think the SSC-32 is hung as I assume legs… If it were me, I would put some debug messages in the code. I would for example print out the values in ServoDriver. Here I would put in the extra debug code that only prints the values when one of them changes as to not get burried in messages.

Likewise I would output debug information coming out of the control input, like:
TravelLengthX, TravelLengthZ, TravelRotationY, BodyPosX, BodyPosZ, BodyRotY, BodyYShift

I might add more in later depending on what I see or don’t see, like what values are calculated in the gait code…

Kurt

[kurte]

@Acidtech

Fixed the bad alias for SLONG. Some how I deleted the check for SLONG so it was falling through as a possible alias which of course didn’t exist so…bork.

And yes I’ll be posting a new release early next week(maybe this weekend). I’ll be trying to get some videos of the ARC-32 running the BH3-R made this weekend as well.

Any updates?

Kurt

[kurte]

This is from the Basic Micro web site:

@AcidTech

Studio 1.0.0.16. is now available. THe link hasn’t been updated yet but you can download it here:

basicmicro.com/downloads/sof … 0-0-16.exe

Below are a list of all the commands with timing arguments. Many Atom/Nano commands and some AtomPro commands have changed so please use this as a cheat sheet until the new manual is released.

I also fixed a divide bug in the AtomPro. In some cases divides with denominators larger than 65535 were wrong and the remainder was wrong.

Atom/Nano AtomPro hserin clks .5us hserin2 NA .5us (Pro40 only) serin clks .5us serout clks .5us serdetect clks .5us pwm .5us(True PWM) .5us count clks clks rctime .5us .5us pulsin .5us .5us pulsout .5us .5us freqout ms ms dtmfout ms ms dtmfout2 ms ms servo .5us .5us mservo NA .5us[size=85][/size] spmotor .5us .5us sound ms ms sound2 ms ms sound8 ms NA pauseus .5us .5us sleep 1.152s depends on mode nap 18ms to 2.3s 2.048ms shiftin 25/50/100kbps 100kbps/400kbps shiftout 25/50/100kbps 100kbps/400kbp

[kurte]

I believe that the variable type of SLONG is still broken in 1.0.0.16 …

Kurt

[kurte]

There has been a new beta release of Studio. Here is a quote from Nathan on the Basic Micro website:

This is the first public Beta release of Studio with the new BCGEdit editor class. Primary changes are focused on the editor. Secondary changes are the C/C++ project has been updated to include all the H8 processor registers for all our modules along with skeleton code for interrupt handlers and a skeleton main(). This also include the HPWM fix for AtomProONE modules.

basicmicro.com/downloads/sof … 0-0-18.exe

I only started playing with this new release last night so my summary is probably incomplete. There are pluses and minuses of going to this new release.

Pluses:
Tooltips: When you type in something like: hservo, the editor will put up a tip showing the syntax of the command.

SLONG: Works again

Some fixes for HPWM for BAP-1M

???

(Those not interested in C - Skip this part)
C Compiler: It works again. He also has valid register definitions for the different Atom Pros. The register definitions are slightly more structured than before, but not as much as the files you can download from Renesas. You still have to know which bit is which in a register whereas the Renesas files you can use the bitnames (or mult-bit names) for the sub-parts of the register…

Minuses:
Some of the keyboard things I normally use don’t work. This includes:
ctrl-f to do a find. - Can fix by setting it your self (View Menu-> Toolbars-> Customize)
F3 - Repeat Search (Have not found a way to get this to work yet)
BookMarks (Ctrl-1… Set, ALT-1… Jump to) - Don’t see any equivalents yet…

Right Click pop-up menu positions appear to be off.

Faults - If I build a multiple file project and it finds an error on a file that I don’t have open, and I double click on the error in the build status window. It opens the file, but when I click in the file, Studio Faults…

Still have User Access Error screens every time I start studio on Windows 7.

That is all for now

[acidtech]

Kurt, can you send a screen shot of the Win7 message? Is it a permissions warning? If you change to XP compatibility mode on the exe does it go away? I suspect it is something along this line. I still can’t reproduce this on my machines. I’m running Win7 64bit as my dev platform.

Eventually I’ll make more comprehensive register definitions. If anyone wants to help me with that feel free.

[kurte]

@Acidtech

Kurt, can you send a screen shot of the Win7 message? Is it a permissions warning? If you change to XP compatibility mode on the exe does it go away? I suspect it is something along this line. I still can’t reproduce this on my machines. I’m running Win7 64bit as my dev platform.

Eventually I’ll make more comprehensive register definitions. If anyone wants to help me with that feel free.

Update - I was receiving the UAE errors on only 1 machine with windows 7, but the portable that I installed Windows 7 and studio on was not. We figured out what the problem was and how to get rid of them. Hopefully no one else will have this problem. It was probably related to when I originally installed each… But if you have this problem, go to the directory where studio is installed. Do a properties on BasicMicroStudio.exe and go to the compatibility page. If the Run this program in compatibility mode for … item is checked unchecked it.
Also do the same for HBasic32.exe which is installed in the same directory.

Kurt

[kurte]

Build 20 has been released:
basicmicro.com/downloads/software/basicmicrostudiosetup_1-0-0-20.exe

Most if not all of the minus that I mentioned for 18 were fixed. (ctrl+f defined, F3 …). The pop-up menu has been fixed
Some more information from Nathan:

@Acidtech

Find in Open files is now Find in Files(eg any project files or open files not just open files).

HSERVOTIME function has been added(works only when using ENABLEHSERVO2). Syntax is: HSERVOTIME prescaler

Prescaller is anything from 0(1:1 prescaler) to 63(1:2^63 power). The timer is running at 20mhz so if you want the current time with a 1:4096 prescaler(eg 1 tick per 4096 clocks) you would do something like this:

enablehservo2
enablehserial

sethserial H9600,H8DATABITS,HNOPARITY,H1STOPBITS

starttime var long
endtime var long
main
   starttime = hservotime 12
   pause 10000
   endtime = hservotime 12
   hserout "Ticks used:",dec endtime-starttime]
   goto main

Also added a Save to HTML which will save your work in colored HTML. IE8 doesn’t like the html produced much but it works great in Chrome.

Also added Indent Selection commands under the Edit menu. You can increase or decrease the selected lines