돛단배

08-07-24

long CSGLSDlg::lCom_RcvData( WPARAM wParam, LPARAM lParam )
{
 if(Rvd_flag)
 {
  register int nRcvSize = (int)lParam; // data length
 
  for( int i=0;i<nRcvSize;i++)
  {   
   data1[i]=m_Commthread->g_byRcvBuf[i];
   fprintf(_fp1,"%02X\t",data1[i]);
  }

  fprintf(_fp1,"\n");
  m_nData++;
  UpdateData(FALSE);
 }
 return 1;
 
}

08-07-27

long CSGLSDlg::lCom_RcvData( WPARAM wParam, LPARAM lParam )
{

 if(Rvd_flag)
 {
  register int nRcvSize = (int)lParam; // data length

  for( int i=0;i<nRcvSize;i++)
  {   
   data1[i]=m_Commthread->g_byRcvBuf[i];
   fprintf(_fp1,"%02X\t",data1[i]);
  }

  if((ByteCount+nRcvSize) >= 25)
  {
   ByteCount = ByteCount - 25;
  }

  for(i=0;i<nRcvSize;i++)
  {
   if((ByteFlag==false)&&(data1[i]==250))
   {
    IdenFlag = true;
    StartIden[0] = data1[i];
   }
   else
   {
    if(IdenFlag==true)
    {
     if(data1[i] == 175)
     {
      StartIden[1] = data1[i];
     }
     else if(data1[i] == 32)
     {
      StartIden[2] = data1[i];
     }
     else if(data1[i] == 170)
     {
      StartIden[3] = data1[i];
      IdenFlag = false;
      ByteFlag = true;
     }
    }
    else
    {
     if(((ByteCount+i)==16)&&(ByteFlag==true))
     {
      Magneto[0] = data1[i];
      // ByteFlag = false;
      fprintf(_fp2,"%02X\t",Magneto[0]);
     }
     else if(((ByteCount+i)==17)&&(ByteFlag==true))
     {
      Magneto[1] = data1[i];
      // ByteFlag = false;
      fprintf(_fp2,"%02X\t",Magneto[1]);
     }
     else if(((ByteCount+i)==18)&&(ByteFlag==true))
     {
      Magneto[2] = data1[i];
      // ByteFlag = false;
      fprintf(_fp2,"%02X\t",Magneto[2]);
     }
     else if(((ByteCount+i)==19)&&(ByteFlag==true))
     {
      Magneto[3] = data1[i];
      // ByteFlag = false;

      fprintf(_fp2,"%02X\t",Magneto[3]);
     }
     else if(((ByteCount+i)==20)&&(ByteFlag==true))
     {
      Magneto[4] = data1[i];
      // ByteFlag = false;
      fprintf(_fp2,"%02X\t",Magneto[4]);
     }
     else if(((ByteCount+i)==21)&&(ByteFlag==true))
     {
      Magneto[5] = data1[i];
      fprintf(_fp2,"%02X\t",Magneto[5]);
      ByteFlag = false;
     }    
    } // else
   } // else
  } // for

  ByteCount = ByteCount + nRcvSize;

  fprintf(_fp1,"\n");
  fprintf(_fp2,"\n");
  m_nData++;
  UpdateData(FALSE);
 }
 return 1;
}

08-08-11

long CSGLSDlg::lCom_RcvData( WPARAM wParam, LPARAM lParam )
{   // check
 if(Rvd_flag)
 {
  register int nRcvSize = (int)lParam; // data length

  for( int i=0;i<nRcvSize;i++)
  {   
   data1[i]=m_Commthread->g_byRcvBuf[i];
   fprintf(_fp1,"%02X\t",data1[i]);
  }

  if((ByteCount+nRcvSize) >= 25)
  {
   ByteCount = ByteCount - 25;
  }

  for(i=0;i<nRcvSize;i++)
  {
   if((ByteFlag==false)&&(data1[i]==250))
   {
    IdenFlag = true;
    StartIden[0] = data1[i];
   }
   else
   {
    if(IdenFlag==true)
    {
     if(data1[i] == 175)
     {
      StartIden[1] = data1[i];
     }
     else if(data1[i] == 32)
     {
      StartIden[2] = data1[i];
     }
     else if(data1[i] == 170)
     {
      StartIden[3] = data1[i];
      IdenFlag = false;
      ByteFlag = true;
     }
    }
    else
    {
     if(((ByteCount+i)==16)&&(ByteFlag==true))
     {
      Magneto[0] = data1[i];
      // ByteFlag = false;
      fprintf(_fp2,"%02X\t",Magneto[0]);

      temp_m = Magneto[0]>>4;
      temp_l = Magneto[0]<<4;
      bit_order = temp_m | temp_l;
      fprintf(_fp2,"%02x\t",bit_order);
     }
     else if(((ByteCount+i)==17)&&(ByteFlag==true))
     {
      Magneto[1] = data1[i];
      // ByteFlag = false;
      fprintf(_fp2,"%02X\t",Magneto[1]);

      temp_m = Magneto[1]>>4;
      temp_l = Magneto[1]<<4;
      bit_order = temp_m | temp_l;
      fprintf(_fp2,"%02x\t",bit_order);
     }
     else if(((ByteCount+i)==18)&&(ByteFlag==true))
     {
      Magneto[2] = data1[i];
      // ByteFlag = false;
      fprintf(_fp2,"%02X\t",Magneto[2]);

      temp_m = Magneto[2]>>4;
      temp_l = Magneto[2]<<4;
      bit_order = temp_m | temp_l;
      fprintf(_fp2,"%02x\t",bit_order);
     }
     else if(((ByteCount+i)==19)&&(ByteFlag==true))
     {
      Magneto[3] = data1[i];
      // ByteFlag = false;
      fprintf(_fp2,"%02X\t",Magneto[3]);

      temp_m = Magneto[3]>>4;
      temp_l = Magneto[3]<<4;
      bit_order = temp_m | temp_l;
      fprintf(_fp2,"%02x\t",bit_order);
     }
     else if(((ByteCount+i)==20)&&(ByteFlag==true))
     {
      Magneto[4] = data1[i];
      // ByteFlag = false;
      fprintf(_fp2,"%02X\t",Magneto[4]);

      temp_m = Magneto[4]>>4;
      temp_l = Magneto[4]<<4;
      bit_order = temp_m | temp_l;
      fprintf(_fp2,"%02x\t",bit_order);
     }
     else if(((ByteCount+i)==21)&&(ByteFlag==true))
     {
      Magneto[5] = data1[i];
      fprintf(_fp2,"%02X\t",Magneto[5]);
      ByteFlag = false;

      temp_m = Magneto[5]>>4;
      temp_l = Magneto[5]<<4;
      bit_order = temp_m | temp_l;
      fprintf(_fp2,"%02x\t",bit_order);
     }    
    } // else
   } // else
  } // for

  ByteCount = ByteCount + nRcvSize;

  fprintf(_fp1,"\n");
  fprintf(_fp2,"\n");
  m_nData++;
  UpdateData(FALSE);
 }
 return 1;
}

08-08-12

unsigned char bit_more;
unsigned char bit_less;
//unsigned char bit_order;

unsigned short int Magneto_x;
unsigned short int Magneto_y;
unsigned short int Magneto_z;

long CSGLSDlg::lCom_RcvData( WPARAM wParam, LPARAM lParam )
{
 if(Rvd_flag)
 {
  register int nRcvSize = (int)lParam; // data length

  for( int i=0;i<nRcvSize;i++)
  {   
   data1[i]=m_Commthread->g_byRcvBuf[i];
   fprintf(_fp1,"%02X\t",data1[i]);
  }

  if((ByteCount+nRcvSize) >= 25)
  {
   ByteCount = ByteCount - 25;
  }

  for(i=0;i<nRcvSize;i++)
  {
   if((ByteFlag==false)&&(data1[i]==250))
   {
    IdenFlag = true;
    StartIden[0] = data1[i];
   }
   else
   {
    if(IdenFlag==true)
    {
     if(data1[i] == 175)
     {
      StartIden[1] = data1[i];
     }
     else if(data1[i] == 32)
     {
      StartIden[2] = data1[i];
     }
     else if(data1[i] == 170)
     {
      StartIden[3] = data1[i];
      IdenFlag = false;
      ByteFlag = true;
     }
    }
    else
    {
     if(((ByteCount+i)==16)&&(ByteFlag==true))
     {
      Magneto[0] = data1[i];
      // ByteFlag = false;
      fprintf(_fp2,"%02X\t",Magneto[0]);

      bit_more = Magneto[0]>>4;
      bit_less = Magneto[0]<<4;
      Magneto[0] = bit_more | bit_less;
//      fprintf(_fp2,"%02x\t",Magneto[0]);
     }
     else if(((ByteCount+i)==17)&&(ByteFlag==true))
     {
      Magneto[1] = data1[i];
      // ByteFlag = false;
      fprintf(_fp2,"%02X\t",Magneto[1]);

      bit_more = Magneto[1]>>4;
      bit_less = Magneto[1]<<4;
      Magneto[1] = bit_more | bit_less;
//      fprintf(_fp2,"%02x\t",Magneto[1]);
     }
     else if(((ByteCount+i)==18)&&(ByteFlag==true))
     {
      Magneto[2] = data1[i];
      // ByteFlag = false;
      fprintf(_fp2,"%02X\t",Magneto[2]);

      bit_more = Magneto[2]>>4;
      bit_less = Magneto[2]<<4;
      Magneto[2] = bit_more | bit_less;
//      fprintf(_fp2,"%02x\t",Magneto[2]);
     }
     else if(((ByteCount+i)==19)&&(ByteFlag==true))
     {
      Magneto[3] = data1[i];
      // ByteFlag = false;
      fprintf(_fp2,"%02X\t",Magneto[3]);

      bit_more = Magneto[3]>>4;
      bit_less = Magneto[3]<<4;
      Magneto[3] = bit_more | bit_less;
//      fprintf(_fp2,"%02x\t",Magneto[3]);
     }
     else if(((ByteCount+i)==20)&&(ByteFlag==true))
     {
      Magneto[4] = data1[i];
      // ByteFlag = false;
      fprintf(_fp2,"%02X\t",Magneto[4]);

      bit_more = Magneto[4]>>4;
      bit_less = Magneto[4]<<4;
      Magneto[4] = bit_more | bit_less;
//      fprintf(_fp2,"%02x\t",Magneto[4]);
     }
     else if(((ByteCount+i)==21)&&(ByteFlag==true))
     {
      Magneto[5] = data1[i];
      fprintf(_fp2,"%02X\t",Magneto[5]);
      ByteFlag = false;

      bit_more = Magneto[5]>>4;
      bit_less = Magneto[5]<<4;
      Magneto[5] = bit_more | bit_less;
//      fprintf(_fp2,"%02x\t",Magneto[5]);
     }    
    } // else
   } // else
  } // for

//  fprintf(_fp3,"%02X%\t%02X\t",Magneto[0],Magneto[1]);
//  fprintf(_fp3,"%02X%\t%02X\t",Magneto[2],Magneto[3]);
//  fprintf(_fp3,"%02X%\t%02X\t",Magneto[4],Magneto[5]);

  Magneto_x = (Magneto[0]<<8) | Magneto[1];
  Magneto_y = (Magneto[2]<<8) | Magneto[3];
  Magneto_z = (Magneto[4]<<8) | Magneto[5];

  fprintf(_fp3,"Magneto_x=%02X\t", Magneto_x);
  fprintf(_fp3,"Magneto_y=%02X\t", Magneto_y);
  fprintf(_fp3,"Magneto_z=%02X\t", Magneto_z);

  ByteCount = ByteCount + nRcvSize;

  fprintf(_fp1,"\n");
  fprintf(_fp2,"\n");
  fprintf(_fp3,"\n");
  m_nData++;
  UpdateData(FALSE);
 }
 return 1;
}

08-08-16 20:42
- log1.txt가 FA AF 20 AA로 시작하지 않으면, log2.txt에 한 번에 3개씩 (6개가 아니라) 저장된다. 이때 한 주기의 16번(17번째) byte부터 읽는 것이 아니라 무조건 처음에 들어온 데이터로부터 16번(17번째) byte를 읽기 시작한다.

08-08-17 02:22

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http://www.xsens.com/en/support/faq/mti_mtig_and_mtx.php#3.1

3 Sensor hardware Topics

3.1 Q: What are the measurement principles of the physical sensors in the MTi / MTx?
A: Rate of turn sensors (gyros):
MEMS, solid state, “vibrating structure" concept.
Linear accelerometers: MEMS, solid state, capacitative readout.
Magnetic field sensors: Thin-film magneto-resistive.

3.2 Q: What is the accelerometer range of the MTi / MTx?
A: The standard version of the MTx/MTi comes with 5g accelerometers (±50 m/s2 range). Full scales of 1.7g and 10g are available as well. Please, contact us at info@xsens.com if you need other specifications.

3.3 Q: Can I disconnect/connect the MTi / MTx as I please?
A: Yes. But keep in mind that for optimal accuracy the electronics of the MTi / MTx should be 'warmed up' for about 10-15 minutes.

3.4 Q: What kind of anti-aliasing (low-pass) filters does the MTx/MTi have?
A:What kind of anti-aliasing (low-pass) filters does the MTx/MTi have?
A: To avoid aliasing the MT uses low-pass (LP) filters on all inertial data channels (not on temperature and magnetometers). The filters used are effective second order and are available in different cut-off frequencies depending on your requirements. The standard MT is delivered with 40 Hz LP on the rate-of-turn sensors and 30 Hz LP on the accelerometers.

3.5 Q: Is there a USB version of the MTi / MTx?
A: The MTi and MTx are delivered with an Xsens USB Converter. The communication from sensor to USB Converter can be either RS-232, RS-422 or RS-485.

3.6 Q: What is the connector type on the MT inertial measurement unit (IMU)?
A: For the MTx the connector type is 'Binder 719'. For the MTi the connector type is ‘ODU L-series 7’. Pin-definitions are listed in the MTi and MTx User Manual. Please contact Xsens (info@xsens.com) and we will send you a copy.

3.7 Q: What are the pin definitions on the connectors (to save us buzzing the MT out)?
A:The pin-definitions are listed in the MTi and MTx User Manual. Please contact Xsens (info@xsens.com) and we will send you a copy.

3.8 Q: When you say that your MT samples at 100 Hz, does that mean that each sensor (accelerometers, gyroscope, etc.) is sampling at 100 Hz or that the total throughput is 100 Hz—i.e. that the true sampling rate is 100/number of sensors?
A: When we say 100 Hz we mean that each sensor channel is sampled at 100 Hz, so actually for the MT 10 channels of data (3D accelerometer, 3D rate of turn, 3D magnetometer and temperature) are transmitted at 100 Hz, some would call it 1000 Hz throughput.

3.9 Q: Is it possible to connect the MTx/MTi to a PocketPC?
A:Yes, most PocketPC's support standard RS232 input (mostly with supplied RS232 synch cable) so you can develop software for the PocketPC using binary data from the MTi or MTx or log the inertial data on the PocketPC (please contact us if you would like to receive a simple binary datalogger for the PocketPC).

Using the Xbus Master you can also easily connect to a PocketPC using Bluetooth.

http://webopedia.com/TERM/f/firmware.html

Software (programs or data) that has been written onto read-only memory (ROM). Firmware is a combination of software and hardware. ROMs, PROMs and EPROMs that have data or programs recorded on them are firmware.

http://en.wikipedia.org/wiki/Firmware

In computing, firmware is a computer program that is embedded in a hardware device, for example a microcontroller. It can also be provided on flash memory or as a binary image file that can be uploaded onto existing hardware by a user.

As its name suggests, firmware is somewhere between hardware and software. Like software, it is a computer program which is executed by a microprocessor or a microcontroller. But it is also tightly linked to a piece of hardware, and has little meaning outside of it.

http://terms.empas.com/dicsearch/view.html?i=3018166
①처리 과정 동안 컴퓨터에 의해 동적으로 변경이 불가능한 부류의 기억 장치에 적재된 컴퓨터 프로그램과 자료들.
②사용자 입장에서 변경할 수 없는 컴퓨터 프로그램과 자료가 들어 있는 하드웨어. 즉, 펌웨어에 들어 있는 컴퓨터 프로그램과 자료는 소프트웨어로 분류되고, 그 프로그램과 자료가 들어 있는 전기 회로는 하드웨어로 분류된다.
③읽기용 기억 장치(ROM)에 저장된 프로그램 명령어들.
④정상적인 동작을 하는 동안에는 변하지 않는, 기능적 개체를 구성하고 있는 컴퓨터 프로그램과 하드웨어가 1개의 단위로 이루어진 집합체. 그 하드웨어 단위에 저장된 컴퓨터 프로그램은 특정한 응용이나 작용에 맞는 요구를 만족시킬 고정된 논리 윤곽을 가진 집적 회로(IC)로서 저장된다.

As modems have become increasingly fast, the UART has come under greater scrutiny as the cause of transmission bottlenecks. If you are purchasing a fast external modem, make sure that the computer's UART can handle the modem's maximum transmission rate. The newer 16550 UART contains a 16-byte buffer, enabling it to support higher transmission rates than the older 8250 UART.

http://en.wikipedia.org/wiki/UART

a piece of computer hardware that translates data between parallel and serial forms.

A UART is usually an individual (or part of an) integrated circuit used for serial communications over a computer or peripheral device serial port. UARTs are now commonly included in microcontrollers.

http://www.mhprofessional.com/getpage.php?c=engarch_cutcher.php&cat=113

http://books.google.com/books?id=HAkdt2CHCTIC&source=gbs_summary_s&cad=0

WinAVR^TM (pronounced "whenever") is a suite of executable, open source software development tools for the Atmel AVR series of RISC microprocessors hosted on the Windows platform. It includes the GNU GCC compiler for C and C++.
http://winavr.sourceforge.net/

ZEUS EMTEK Co., Ltd
#81 Guro 2 Dong, Guro-Gu, Seoul, Korea
Phone: +82 (0)2 856-8246, Fax: +82 (0) 867-8246
URL: www.emulator.co.kr
Email: zeus@emulator.co.kr

servo, is a device used to provide control of a desired operation through the use of feedback. 

servomechanism |ˈsərvōˌmekəˌnizəm| |ˈsərvoʊˌmɛkəˌnɪzəm|
noun
a powered mechanism producing motion or forces at a higher level of energy than the input level, e.g., in the brakes and steering of large motor vehicles, esp. where feedback is employed to make the control automatic.

http://www.seattlerobotics.org/guide/servos.html

A Servo is a small device that has an output shaft. This shaft can be positioned to specific angular positions by sending the servo a coded signal. As long as the coded signal exists on the input line, the servo will maintain the angular position of the shaft. As the coded signal changes, the angular position of the shaft changes.

http://www.openservo.com

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http://www.societyofrobots.com/actuators_servos.shtml

http://en.wikipedia.org/wiki/Electric_motor

http://en.wikipedia.org/wiki/Control_theory

PWM = Pulse-width modulation

RC servos

: The servo is controlled by three wires: ground (black/orange), power (red) and control (brown/other colour) and will move based on the pulses sent over the control wire. The servo expects a pulse every 20 ms, or 0.02 s in order to gain correct information about the angle. The width of the servo pulse dictates the range of the servo's angular motion.

http://en.wikipedia.org/wiki/Motion_control

http://www.rane.com/par-s.html#servo_loopservo-loop; servo-locked loop; servo-mechanism A self-regulating feedback system or mechanism. Typically a feedback system consisting of a sensing element, an amplifier, and a (servo)motor, used in the automatic control of a mechanical device (such as a loudspeaker). In audio, usually the name applies to a class of electronic control circuits comprised of an amplifier and a feedback path from the output signal that is compared with a reference signal. This topology creates an error signal that is the difference between the reference and the output signal. The error signal causes the output to do whatever is necessary to reduce the error to zero. A loudspeaker system with motional feedback is such a system. A sensor is attached to the speaker cone and provides a feedback signal that is compared against the driving signal to create more accurate control of the loudspeaker. Another example is Rane's servo-locked limiter™ which is an audio peak limiter circuit where the output is compared against a reference signal (the threshold setting) creating an error signal that reduces the gain of the circuit until the error is zero.