SSC-32 fast binary communication test firmware

[kurte]

I also put up postings on BM website about the baud rate of 115200 not working and I deduced there was an off by 1 error in the calls to the wait…
Nathan posted an update to the threa yesterday:

="AcidTech"I’ve fixed this and done some other tweaks to the serin/out commands. The +1 error was caused by my counting one pass of the delay loop as overhead and then adding the delay loop time. This was only an issue in serout. I unrolled some code which means the commands are a little bigger(about 50 bytes split between serin and serout). Also the top speed successfully tested for serin was 156250bps without timeouts enabled and 125000bps with timeouts enabled. 156250 was too fast with timeouts enabled so the max bps will be somewhere between 125k and 156k. Serout appears to work upto 166666bps. But since serin can’t work that high I wouldn’t recommend going past 156k.

So when the next build goes out we should all be able to use 115200 to the SSC-32!

[zenta]

@kurte

So when the next build goes out we should all be able to use 115200 to the SSC-32!

8. Thats really awesome news!

[xan]

That’s a good thing indeed! This will really speed up the communication.

[km6vv]

I thank you, and my 'bot thanks you!

Alan KM6VV

[zenta]

Hi Kurt & Xan,

Shouldn’t the FreeServos sub also be converted to binary mode? I’m just working with a Phoenix V20 +PS2 for T-Hex and I just realized that this sub still used the standard commands. If so what binary command should I use for the PO command, the PO was the latest firmware fix too if I remember, Xan?

[kurte]

Yep you could probably update free servos as well. I probably got lazy back then and since the robot was going to be idle anyway, but you could probably simply change the code that looks like:

for LegIndex = 0 to 31 serout cSSC_OUT, cSSC_BAUD, "#",DEC LegIndex,"P0"] next serout cSSC_OUT, cSSC_BAUD, "T200",13]
to something that looks like:

for LegIndex = 0 to 31 serout cSSC_OUT, cSSC_BAUD, [0x80+LegIndex, 0, 0] next serout cSSC_OUT, cSSC_BAUD, [0xA1, 0, 200]
Note: I have not tried this, I edited this on the fly…

I am not sure if any new versions have come out yet, that the binary query is updated to reflect the servo offsets…

Kurt

P.S. - How is T-Hex?

[snailkeeper]

@kurte

I am not sure if any new versions have come out yet, that the binary query is updated to reflect the servo offsets…

I’m still waiting on official documentation, but the Alpha4 version is available for download here for those who know what to do with it:

lynxmotion.com/p-395-ssc-32- … #downloads

[kurte]

@Snailkeeper (Admin)

I’m still waiting on official documentation, but the Alpha4 version is available for download here for those who know what to do with it:

lynxmotion.com/p-395-ssc-32- … #downloads

Thanks Beth, I was not sure if a newer version came out yet since MikeD posted this on Oct19th…

OK, you caught me. The binary queries do not take the PO value into account. Mea culpa. I am working on an update to the SSC-32 firmware to clean up binary mode and add some features. I’ll fix it in that update.

If so I will download it and try it out…

Thanks again
Kurt

[snailkeeper]

@kurte

OK, you caught me. The binary queries do not take the PO value into account. Mea culpa. I am working on an update to the SSC-32 firmware to clean up binary mode and add some features. I’ll fix it in that update.

If so I will download it and try it out…

Sorry, forgot to post the info from Mike regarding the Alpha4A version:

@miked

the only thing that changed from the Alpha3A version was that the Extended Binary query command now takes PO offsets into account

[zenta]

Thanks for the update!

I’ve just tested T-Hex with PS2 control at full baud speed (115200) and binary mode. Two word: VERY FAST 8)

Jim/James I’ll send you the code tomorrow…

[fish-5]

@zenta

Jim/James I’ll send you the code tomorrow…

[pet cat]Eeeeeeexcellent… [/pet cat]

[robotdude]

@zenta

Jim/James I’ll send you the code tomorrow…

Whoot!!! :mrgreen:

Great work! It’s getting late there… lol

[kurte]

@zenta

I’ve just tested T-Hex with PS2 control at full baud speed (115200) and binary mode. Two word: VERY FAST 8)

Great to hear!

Kurt

[tnay]

Hi guys, just want to say thanks to you for the great work! Like what zenta said, it is very fast At full speed, it takes only couple of miliseconds to complete the transmission.