S021786 at 10:50, 5 February 2009

2009-02-05T10:50:51Z

← Older revision		Revision as of 12:50, 5 February 2009
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	Robot PSU voltage: Vpsu = 4.1 * 3.5 / 1.1 / 1024 * ADin. [V]		Robot PSU voltage: Vpsu = 4.1 * 3.5 / 1.1 / 1024 * ADin. [V]
	Battery Chg Current: Ichg = ADin * 3 [mA].		Battery Chg Current: Ichg = ADin * 3 [mA].
	Battery Temp 1: Tbatt = ADin [0.1 °C].		Battery Temp 1: Tbatt = ADin [0.1 °C].
	Battery SOC: Bsoc = ADin [% remaining capacity]		Battery SOC: Bsoc = ADin [% remaining capacity]

	----		----

S021786 at 10:50, 5 February 2009

2009-02-05T10:50:15Z

← Older revision		Revision as of 12:50, 5 February 2009
Line 89:		Line 89:

	----		----
	'''New Power Module v. 3.3b'''		'''New Power Module v. 3.3b (firmware 3.31+)'''

	Data is sent in same format as the old module		Data is sent in same format as the old module
Line 97:		Line 97:
	Digital input 1 (b): External Power Connected.		Digital input 1 (b): External Power Connected.
	Digital input 2 (c): Robot is charging.		Digital input 2 (c): Robot is charging.
	Digital input 3..5 (d..f): Unused.		Digital input 3 (d): Robot is calibrating battery
			Digital input 4..5 (e..f): Unused.
	Analog input 0 (A): Battery voltage.		Analog input 0 (A): Battery voltage.
	Analog input 1 (B): Robot Power Supply voltage.		Analog input 1 (B): Robot Power Supply voltage.
	Analog input 2 (C): Battery charge current.		Analog input 2 (C): Battery charge current.
	Analog input 3 (D): Battery temperature sensor 1.		Analog input 3 (D): Battery temperature sensor 1.
	Analog input 4 (E): Battery ~~temperature sensor 2~~.		Analog input 4 (E): Battery state-of-charge.

	'''To convert analog input readings into usable values:'''		'''To convert analog input readings into usable values:'''
Line 108:		Line 109:
	Robot PSU voltage: Vpsu = 4.1 * 3.5 / 1.1 / 1024 * ADin. [V]		Robot PSU voltage: Vpsu = 4.1 * 3.5 / 1.1 / 1024 * ADin. [V]
	Battery Chg Current: Ichg = ADin * 3 [mA].		Battery Chg Current: Ichg = ADin * 3 [mA].
	Battery Temp 1 ~~& 2~~: Tbatt = ADin [0.1 °C].		Battery Temp 1: Tbatt = ADin [0.1 °C].
			Battery SOC: Bsoc = ADin [% remaining capacity]

	----		----

Lvm: New page: Normally, the SMR C library copes with communication between a user's program and the SMR sensor daemon SMRD. This page documents this communication. ---- '''Connect''' SMRD listens for ...

2008-09-29T10:18:28Z

New page: Normally, the SMR C library copes with communication between a user's program and the SMR sensor daemon SMRD. This page documents this communication. ---- '''Connect''' SMRD listens for ...

New page

Normally, the SMR C library copes with communication between a user's program and the SMR
sensor daemon SMRD.

This page documents this communication.
----
'''Connect'''

SMRD listens for TCP/IP connections on port 24901.
Multiple clients (up to ten) can be connected at once.
----
'''Data Packets'''

The communication protocol is byte oriented and binary coded.

Data both from client to server, and from server to client, is sent in packets.
Each packet starts with a ''length'' byte, specifying the number of bytes to follow.
For example:

0x04 0x10 0x20 0x30 0x40

Only the lower 5 bits of the first byte give the length. The upper 3 bits describe the source/destination of the packet:
0b000?????: RS485 master/slave serial bus
0b001?????: RS232 serial port
0b011?????: AU simulator packet
0b111?????: SMRD control packet
----
'''Poll'''

Clients start the communication by sending a ''client ready'' packet:

0xE1 0x02

The server responds with a number of packets. First, a ''start of period''. This is followed by a series of data packets. Finally, an ''end of period'' packet is sent.
----
'''Start of period'''
0xE9 0x00 <sample no.> <time stamp>
<sample no.>: 4 byte (integer) sample number
<time stamp>: 4 byte (integer) cpu clock time stamp
----
'''Motor data'''

The two motors on an SMR are numbered 1 and 2. In the following, replace ''i'' with the motor number.

Some motor modules return more data than others. The length byte distinguishes between module types.

0x03 0xAi <encoder position>
0x05 0xAi <encoder position> <status> <pwm>
<encoder position>: 2 byte (integer). 2000 positions per wheel turn.
<status>: 1 byte status
<pwm>: 1 byte motor drive voltage

MSB is to the left, for example: encoder position = 256*byte2 + byte3.
----
'''IR proximity data'''

0x09 0x88 <proximity data>
<proximity data>: 8 bytes (array of bytes) proximity data. The first 6 bytes contain measurement data.
----
'''Serial line sensor'''

The serial port line sensor sends 16 bytes of sensor data; typically split into 2 or more packets.
So, the ''length'' fields can vary from packet, and from sample to sample. A typical period might look like this:
0x27 0x73 <6 bytes serial data>
0x2B 0x73 <10 bytes serial data>
<serial data>: Up to 16 bytes (array of bytes) serial data. The first 8 bytes contain measurement data.
Other packets may be received between serial port packets.
----
'''RS485 line sensor'''

0x09 0x17 <line sensor data>
<line sensor data>: 8 bytes (array of bytes) line sensor data.
----
'''Power module'''

0x08 0x19 0b<fedcbaAA> 0b<BBCCDDEE> 0b<AAAAAAAA> 0b<BBBBBBBB> 0b<CCCCCCCC> 0b<DDDDDDDD> 0b<EEEEEEEE>
fedcba: Digital input channels 5 to 0.
AAAAAAAAAA...EEEEEEEEEE: Analog input (10 bits) channels 0 to 4. The two MSBs come from one of the pairs in byte 2 or 3. LSB is to the right.

The module inputs are connected as follows:
Digital input 0: Power on.
Digital input 1...5: Unused.
Analog input 0: Battery voltage.
Analog input 1: External supply voltage.
Analog input 2,3,4: Unused.

To convert analog input readings to volts:

Vin = 4.1 * 3.5 / 1.1 / 1024 * ADin

----
'''New Power Module v. 3.3b'''

Data is sent in same format as the old module

The module inputs are connected as follows:
Digital input 0 (a): Power on.
Digital input 1 (b): External Power Connected.
Digital input 2 (c): Robot is charging.
Digital input 3..5 (d..f): Unused.
Analog input 0 (A): Battery voltage.
Analog input 1 (B): Robot Power Supply voltage.
Analog input 2 (C): Battery charge current.
Analog input 3 (D): Battery temperature sensor 1.
Analog input 4 (E): Battery temperature sensor 2.

'''To convert analog input readings into usable values:'''
Battery voltage: Vbatt = 4.1 * 3.5 / 1.1 / 1024 * ADin. [V]
Robot PSU voltage: Vpsu = 4.1 * 3.5 / 1.1 / 1024 * ADin. [V]
Battery Chg Current: Ichg = ADin * 3 [mA].
Battery Temp 1 & 2: Tbatt = ADin [0.1 °C].

----
'''End of period'''

SMRD signals that the period is finished by sending ''end of period''.
0xE1 0x01
No more packets will be sent to the client until a new poll is started.

----
'''Simulation time'''

When SMRdemo is connected to the simulator, it will receive the simulation
time just before the ''end of period'' packet.
0x69 0x01 <simulation time>
<simulation time>: 8 byte (double) simulation time.

SMRD communication - Revision history

S021786 at 10:50, 5 February 2009

S021786 at 10:50, 5 February 2009

Lvm: New page: Normally, the SMR C library copes with communication between a user's program and the SMR sensor daemon SMRD. This page documents this communication. ---- '''Connect''' SMRD listens for ...