Difference between revisions of "Pf users"

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{{T_lab_pca}}
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{{pf_top_nav}}
 
{{pf_top_nav}}
  
 
=architecture=
 
=architecture=
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[[pf_arch_overview]]
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{{T_Pf_users_temp}}
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[[pf_comm_arch]]
 
−
[[Pf_sc_arch]]
 
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[[Pf_mc_arch]]
 
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[[Pf_imu_arch]]
 
  
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* SC software
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=Development Environment=
  
−
=Development Environment=
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To compile and download code.
  
 
* MPLAB IDE > V8.1x
 
* MPLAB IDE > V8.1x
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* Microchip C30 compiler > V3.0
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* [http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=1406&dDocName=en535363 Microchip C30 compiler > V3.0]
 
* ICD2 or Real-ice programmer connected to PSER1C connected to target board
 
* ICD2 or Real-ice programmer connected to PSER1C connected to target board
  
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* [http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=1406&dDocName=en023073 Tools archive at Microchip]
 
* [http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=1406&dDocName=en023073 Tools archive at Microchip]
 
* [http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=2573 Detailed reference manuals at Microchip]
 
* [http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=2573 Detailed reference manuals at Microchip]
 +
* Tortoise SVN is a great SVN client [http://tortoisesvn.net/downloads Tortoise]
 +
 +
* [[How to Load PF Firmware]]
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 +
=Data Collection=
 +
 +
Telemetry is performed using a SWIFI board which sends diagnostic data from the ankle to a PC or laptop via WIFI. A Python script communicates with the ankle while a Matlab program is used to plot the diagnostic data.
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==Software==
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Currently python 2.5.4 is used to collect data, control the robot.  More recent versions < 3.0 will likely work. 
 +
 +
* [http://www.python.org/download/releases/2.5.4/ Python 2.5.4 download area]
 +
** [http://starship.python.net/crew/mhammond/win32/Downloads.html Windows specific support (PyWin32)] and the binary is [http://sourceforge.net/projects/pywin32/files/pywin32/Build%20214/pywin32-214.win32-py2.5.exe/download PyWin32_2.5_x86]
 +
** Numerical Python [http://sourceforge.net/projects/numpy/files/NumPy/1.3.0/numpy-1.3.0-win32-superpack-python2.5.exe/download numpy-1.3.0-win32-superpack-python2.5 library]
 +
** Python Serial Library Extension [http://sourceforge.net/projects/pyserial/files/pyserial/2.5/pyserial-2.5-rc1.win32.exe/download  pyserial-2.5-rc1.win32]
 +
** create ''wifi_v3/wifilog'' directory
 +
 +
==Network / Router Configuration (TBD)==
  
 +
==Telemetry Example==
 +
 +
* Open DOS command window
 +
* Power on ankle and verify connection to SWIFI (sw5 shown):
 +
** ''ping 192.168.192.195''
 +
* Navigate to wifi script directory and start data collection script. To stop data collection, hit ESC key. 
 +
** ''cd C:\ceb\0svn\pfcmd_python\wifi_v3''
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** ''wifi_fast.py -i 192.168.192.195 -V hall2.vlist -F -f ss0103
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*** pre-hall sensor used imu2.vlist
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* Open a new DOS command window and run Matlab
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** ''cd C:\ceb\0svn\matlab''
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** ''matlab''
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** Matlab should open.
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** Type in and run ''plot_laptoph.m''
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** In Matlab Command window press <Enter>
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** A new GUI windows should open and data plotting should begin shortly.
 +
* To stop data collection, hit ESC key in ''wifi_fast'' DOS window. Data are logged in ''wifilog'' subdirectory.
 +
* To restart data collection, hit "up arrow" or retype command in ''wifi_fast'' DOS window. Note that every restart will create a fresh set of files with the base file name prefix and timestamp information postfix (e.g., ''ss0103_091101_140312.txt.bz2'')
 +
* [[PF Manual Tuning|Tuning]] can be perfomed in ''wifi_fast'' DOS window.
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* Save parameters to a file
 +
** ''cd C:\ceb\0svn\pfcmd_python''
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** ''robo_config.py -i SW?? -I -RrSTCWeSTCW > ss0103.txt''
 +
 +
==SWIFI wifi_fast dataport reference==
  
−
=data collection=
 
−
==SWIFI dataport==
 
 
* wifi_fast.py -i <ip address or name> [-p <matlab listen port>] -V <variable list filename> -F -f <log file name>
 
* wifi_fast.py -i <ip address or name> [-p <matlab listen port>] -V <variable list filename> -F -f <log file name>
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** -i - the IP address of the SWIFI.  Typical 192.168.192.xx  or "sw8"
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** -i - the IP address of the SWIFI.  Typical 192.168.192.xx  or "sw8". xx is typically 191-198 where the last digit represents the SWIFI number.
 
** -V specifies the format and names of the packets from the dataport.  use : -V imu2.vlist
 
** -V specifies the format and names of the packets from the dataport.  use : -V imu2.vlist
 
** -p (optional), default is 9999 - use if multiple plotters running simultaniously.  If not 9999, before starting matlab plotter, assign the variable "matlab_listen_port" to some value in the range of 9990 and 9999
 
** -p (optional), default is 9999 - use if multiple plotters running simultaniously.  If not 9999, before starting matlab plotter, assign the variable "matlab_listen_port" to some value in the range of 9990 and 9999
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* sometimes at power up, SWIFI outputs garbage.  The solution is to power cycle the SWIFI until it works.
 
* sometimes at power up, SWIFI outputs garbage.  The solution is to power cycle the SWIFI until it works.
 
** this appears to be a baud rate problem - and is being corrected.
 
** this appears to be a baud rate problem - and is being corrected.
 +
* the wifi_fast.py directory is generally something (often \ceb or \cbarn\svn)  \pfcmd_python\wifi_v3
 +
* example : wifi_fast.py -F -i sw5 -V imu2.vlist -f ss0103_tuning
  
−
==matlab==
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==matlab reference==
 
Matlab is used for 'real-time' plotting.   
 
Matlab is used for 'real-time' plotting.   
  
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*cd to C:\ceb\0svn\matlab    (or the local version of svn://pedant/........./branches/cbarn/matlab)
 
*cd to C:\ceb\0svn\matlab    (or the local version of svn://pedant/........./branches/cbarn/matlab)
 
*optionally set the variable "matlab_listen_port" to something in the 999x range.
 
*optionally set the variable "matlab_listen_port" to something in the 999x range.
−
*run the program, "plot_float" and bypass the prompts.
+
*on the laptop generally use plot_laptop
 +
*or on my PC, run the program "plot_float" and bypass the prompts.
  
 
=init table=
 
=init table=
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=known issues=
 
=known issues=
 
[[Pf_insects]]
 
[[Pf_insects]]
−
 
−
 
−
=filter=
 
−
http://18.85.17.197/for_wiki/png/iir_filter_iterations.png
 

Latest revision as of 18:53, 15 March 2012

Biomech Documentation links:

  • Using the Powerfoot (Pf_users)

Edit


PF Users Navigation:

Edit

architecture

Pf_users; Pf_ui; Pf_study ; pf_arch_overview ; pf_comm_arch ; Pf_sc_arch ; Pf_mc_arch ; Pf_imu_arch ; Pf_defs ; Pf_insects [1]

Development Environment

To compile and download code.

Data Collection

Telemetry is performed using a SWIFI board which sends diagnostic data from the ankle to a PC or laptop via WIFI. A Python script communicates with the ankle while a Matlab program is used to plot the diagnostic data.

Software

Currently python 2.5.4 is used to collect data, control the robot. More recent versions < 3.0 will likely work.

Network / Router Configuration (TBD)

Telemetry Example

  • Open DOS command window
  • Power on ankle and verify connection to SWIFI (sw5 shown):
    • ping 192.168.192.195
  • Navigate to wifi script directory and start data collection script. To stop data collection, hit ESC key.
    • cd C:\ceb\0svn\pfcmd_python\wifi_v3
    • wifi_fast.py -i 192.168.192.195 -V hall2.vlist -F -f ss0103
      • pre-hall sensor used imu2.vlist
  • Open a new DOS command window and run Matlab
    • cd C:\ceb\0svn\matlab
    • matlab
    • Matlab should open.
    • Type in and run plot_laptoph.m
    • In Matlab Command window press <Enter>
    • A new GUI windows should open and data plotting should begin shortly.
  • To stop data collection, hit ESC key in wifi_fast DOS window. Data are logged in wifilog subdirectory.
  • To restart data collection, hit "up arrow" or retype command in wifi_fast DOS window. Note that every restart will create a fresh set of files with the base file name prefix and timestamp information postfix (e.g., ss0103_091101_140312.txt.bz2)
  • Tuning can be perfomed in wifi_fast DOS window.
  • Save parameters to a file
    • cd C:\ceb\0svn\pfcmd_python
    • robo_config.py -i SW?? -I -RrSTCWeSTCW > ss0103.txt

SWIFI wifi_fast dataport reference

  • wifi_fast.py -i <ip address or name> [-p <matlab listen port>] -V <variable list filename> -F -f <log file name>
    • -i - the IP address of the SWIFI. Typical 192.168.192.xx or "sw8". xx is typically 191-198 where the last digit represents the SWIFI number.
    • -V specifies the format and names of the packets from the dataport. use : -V imu2.vlist
    • -p (optional), default is 9999 - use if multiple plotters running simultaniously. If not 9999, before starting matlab plotter, assign the variable "matlab_listen_port" to some value in the range of 9990 and 9999
    • -F (optional) - flush the SWIFI buffer at startup. The buffer could be holding upto ~2 mins of the past data.
    • -f the base filename used for logging of the binary packet data, and ASC form of the packets.
  • sometimes at power up, SWIFI outputs garbage. The solution is to power cycle the SWIFI until it works.
    • this appears to be a baud rate problem - and is being corrected.
  • the wifi_fast.py directory is generally something (often \ceb or \cbarn\svn) \pfcmd_python\wifi_v3
  • example : wifi_fast.py -F -i sw5 -V imu2.vlist -f ss0103_tuning

matlab reference

Matlab is used for 'real-time' plotting.

  • start matlab
  • cd to C:\ceb\0svn\matlab (or the local version of svn://pedant/........./branches/cbarn/matlab)
  • optionally set the variable "matlab_listen_port" to something in the 999x range.
  • on the laptop generally use plot_laptop
  • or on my PC, run the program "plot_float" and bypass the prompts.

init table

PF_EEPROM

known issues

Pf_insects

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