HiTechnic NXC function error

[mattallen37]

Ever since I tried to have the HT IR Link send messages to the RCX (HTRCXSetMessage), I have had issues getting it to work right. I always assumed I was doing something wrong out of inexperience. I just realized that only half of the messages are getting through (I think exactly every other one). However, writing the buffers myself to send the right messages seems to work every time. I use the Header 55FF00, then the Opcode f7 then all the rest that makes it work. This is what I think HTRCXSetMessage should do.

Using my homemade IR "tower" and a serial terminal program, I can see what is being transmitted. When I use my program, and write the registers myself, I get perfect results. For example, sending the IR Messages 0-3, it looks like this:

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85 255 0 247 8 0 255 247 8                                                      
85 255 0 247 8 1 254 248 7                                                      
85 255 0 247 8 2 253 249 6                                                      
85 255 0 247 8 3 252 250 5   

But when I try to send the IR Messages 0-3 using the HTRCXSetMessage function, it looks like this:

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85 255 0 247 8 0 255 247 8                                                      
85 255 0 255 0 1 254 0 255                                                      
85 255 0 247 8 2 253 249 6                                                      
85 255 0 255 0 3 252 2 253  

It looks to me, that the error is with the Opcode number being passed into the I2C buffer (probably 0x47). It should always be 0xf7, but as you can see, every other time, it is 0xff.

I am not sure exactly where the problem is, in BCC. No wonder I was only getting half of the messages.

[afanofosc]

What you are seeing, I believe, is the 0x08 bit toggle for back to back identical opcodes. I may not be doing that exactly right but hopefully I am.

http://www-graphics.stanford.edu/~kekoa/rcx/#Protocol

Messages sent by PC seem to alternate between having 0x08 set and not set
This 0x08 bit is a sequence bit only in one special case
RCX never executes same exact opcode twice in a row
Second and beyond are dropped
But the same reply that was sent the first time is sent again
Toggle 0x08 bit to make sure same opcode twice in a row is accepted

0xF7 + 0x08 = 0xFF.

Maybe with the HiTechnic IRLink device there is sufficient time between sending each message that the toggle is not needed and may be causing problems? How many milliseconds go by between the messages you are sending?

John Hansen

[mattallen37]

Ok, I can see why you did what you did, but it only gets half of them.

Using my code, it doesn't do that toggle thing, and the RCX receives every one of them. I don't have a number of milliseconds, but I am doing it as fast as it will allow. Actually, it is so fast that I can't visually see all of the numbers it receives because it doesn't update fast enough, but it isn't a certain group missing, like all the odd numbers. I will implement a datalogging program so I can confirm it gets them all. If I add a 200ms wait in the NXT program between each command, the RCX displays all of the numbers. One thing I find interesting though, is that every 11 sends (of 9 bytes), the IR Link takes a short "timeout" of some sort. I can see this in the terminal, as well as on the RCX.

I'll do a little datalogging, and see what happens.

[mattallen37]

Ok, I sent messages as fast as I could (wrote the I2C registers), and then waited for the flag in register 0x4F to = 0 (done sending the IR message). I then wrote it again immediately. I wrote the program to always use the Opcode 0xF7, and I increased the byte variable by one every time. The RCX's datalog looks perfect. Note, it started with a 1 stored in the IR Message buffer (I didn't clear it at the beginning of the program), that is why it starts with 1 in the datalog.

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Here is the RCX program:

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int LastMessage=300;
task main(){
  CreateDatalog (600);
  while(true){
    until (Message ()!= LastMessage);
    AddToDatalog (Message());
    SetUserDisplay(Message(),0);
    LastMessage = Message();
  }
}

And here is the program for the NXT:

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#include "Picaxe lib.nxc"
int i=0;
byte Data[2];
byte CheckSum=0;

int HTRCXIRData(byte port, byte DataIn[]){
  byte UserBytes;
  UserBytes=ArrayLen(DataIn);
  if(UserBytes>4)return -1;
  byte DataOut[];
  byte DataOutLen=3+5+(UserBytes*2);
  ArrayInit(DataOut, 0, DataOutLen);
  DataOut[0]=0x55;
  DataOut[1]=0xff;
  DataOut[2]=0x00;

  byte Ini=0;
  byte Outi=3;
  byte CheckSum=0;
  repeat(UserBytes){
    CheckSum+=DataIn[Ini];
    DataOut[Outi]=DataIn[Ini];
    Outi++;
    DataOut[Outi]=~DataIn[Ini];
    Outi++;
    Ini++;
  }
  DataOut[Outi]=CheckSum;
  Outi++;
  DataOut[Outi]=~CheckSum;
  Outi++;
  DataOut[Outi]=5+(UserBytes*2);
  Outi++;
  DataOut[Outi]=0x00;
  Outi++;
  DataOut[Outi]=0x01;

  byte Register=0x4D-5-(UserBytes*2);
  WritePicaxe(port, 0x02, Register, DataOut);
}

void HTRCXIRDataDoneSending(byte port){
  byte Data[1];
  ReadPicaxe(port, 0x02, 0x4F, 1, Data);
  until(Data[0]==0){
    ReadPicaxe(port, 0x02, 0x4F, 1, Data);
    Wait(1);
  }
}

task main()
{
  SetSensorLowspeed(IN_1);
  HTRCXSetIRLinkPort(IN_1);

  while(true)
  {
    Data[0]=0xf7;
    Data[1]=i;
    HTRCXIRData(IN_1, Data);
    HTRCXIRDataDoneSending(IN_1);
    //Wait(200);
    //HTRCXSetMessage(i);
    i++;
  }
}

Sorry for the PICAXE references, but my PICAXE lib functions work perfectly for writing and reading I2C, so I use them for custom I2C messages for any sensor/device.

[mattallen37]

Here is the datalog created using the same RCX program.

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Variable 1: 0
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The only thing different, is I commented out these lines in the NXT program:

Code: Select all

HTRCXIRData(IN_1, Data);
HTRCXIRDataDoneSending(IN_1);

And uncommented this line:

Code: Select all

HTRCXSetMessage(i);

[afanofosc]

We should get some input from John Barnes or some other RCX communication expert who might be able to explain what should or should not be done when sending RCX messages via the IRLink. I thought that I had implemented the code based on sample code he sent me so my hope is that I didn't deviate from his input. It's been too long now, though, for me to remember properly.

Here's a snippet from his original code:

Code: Select all

    temp = 10 + 2 * RCXcmnd[1] ;                // number of bytes to send
    ArrayInit(inI2Ccmd, 0, temp);               // initialise buffer
    inI2Ccmd[0] = 0x02;                         // write to IR Link
    inI2Ccmd[1] = 0x48 - 2 * RCXcmnd[1];        // start position in TX buffer
    inI2Ccmd[2] = 0x55;                         //
    inI2Ccmd[3] = 0xFF;                         //
    inI2Ccmd[4] = 0x00;                         // RCX message header
    inI2Ccmd[5] = RCXcmnd[3] | toggle;          // toggle to make RCX notice
    inI2Ccmd[6] = 255 - (RCXcmnd[3] | toggle);  // and inverse
    csum=RCXcmnd[3] | toggle;                   // initialise check sum
    toggle ^= 8;                                // flip the toggle for next time
    i=0;                                        // initialise for copy
    if (RCXcmnd[1] > 1)                         // put the rest of the command
       {                                        // if there's more than one byte
       while (i < RCXcmnd[1] - 1)
          {
          inI2Ccmd[2*i+7] = RCXcmnd[i+4];       // insert byte
          inI2Ccmd[2*i+8] = 255 - RCXcmnd[i+4]; // and inverse
          csum += RCXcmnd[i+4];
          i++
          }
       }
    inI2Ccmd[2*i+7] = csum;                     // put the check sum
    inI2Ccmd[2*i+8] = 255 - csum;
    inI2Ccmd[2*i+9] = 2 * RCXcmnd[1] + 5;       // put the TX buffer length
    inI2Ccmd[2*i+10] = 0x00;                    // mode 0 is RCX comm
    inI2Ccmd[2*i+11] = 0x01;                    // trigger transmit

Can you tell me if it looks like all the bytes in the non-working messages look right in terms of command byte with toggle set, the inverse of the command, and the checksum? Maybe I am messing up the inverted byte or the checksum when I do the toggle?

John Hansen

[mattallen37]

Well, I don't know how many people would benefit from you putting in the time and effort of fixing what seems to not work right. You don't need to just for me; I can use my own function(s) to send the messages.

Refer to my first post to to see the "command byte with toggle set, the inverse of the command, and the checksum". Yes, it is all right (according to how it is coded).

[afanofosc]

So you are saying that these byte:

Code: Select all

85 255 0 247 8 0 255 247 8                                                      
85 255 0 255 0 1 254 0 255                                                      
85 255 0 247 8 2 253 249 6                                                      
85 255 0 255 0 3 252 2 253  

are all correct and valid based on the code that John Barnes provided me and the available RCX communication protocol docs. Is that right?

Can you run some tests with the attached NXC program that John sent me and let me know if the bytes you see look like what you get from the NXC API function?

IRLinkWrite.zip

(1.1 KiB) Downloaded 170 times

John Hansen

[mattallen37]

I am saying, that those are from the HTRCXSetMessage command, and they are in compliance with what is said should be right. However, it is not right according to the RCX. The RCX only picked up on the ones that were 0xf7 (247), and disregarded the other ones (0xff, or 255).

I ran the program you send me, and here is what the terminal picked up.

Code: Select all

85 255 0 33 222 129 126 162 93                                                  
85 255 0 233 22 129 126 106 149                                                 
85 255 0 225 30 1 254 226 29                                                    
85 255 0 233 22 129 126 106 149                                                 
85 255 0 225 30 1 254 226 29                                                    
85 255 0 233 22 129 126 106 149                                                 
85 255 0 225 30 1 254 226 29                                                    
85 255 0 233 22 129 126 106 149                                                 
85 255 0 225 30 1 254 226 29                                                    
85 255 0 233 22 129 126 106 149                                                 
85 255 0 225 30 1 254 226 29                                                    
85 255 0 41 214 65 190 106 149  

I also ran it with an RCX turned on and in range, and here is what the terminal picked up (using the same NXT program, but no RCX program was running).

Code: Select all

85 255 0 33 222 129 126 162 93                                                  
85 255 0 222 33 94 0 0 233 22 129 126 106 149                                   
85 255 0 22 233 22 233                                                          
85 255 0 225 30 1 254 226 29                                                    
85 255 0 30 225 30 225                                                          
85 255 0 233 22 129 126 106 149                                                 
85 255 0 22 233 22 233                                                          
85 255 0 225 30 1 254 226 29                                                    
85 255 0 30 225 30 225                                                          
85 255 0 233 22 129 126 106 149                                                 
85 255 0 22 233 22 233                                                          
85 255 0 225 30 1 254 226 29                                                    
85 255 0 30 225 30 225                                                          
85 255 0 233 22 129 126 106 149                                                 
85 255 0 22 233 22 233                                                          
85 255 0 225 30 1 254 226 29                                                    
85 255 0 30 225 30 225                                                          
85 255 0 233 22 129 126 106 149                                                 
85 255 0 22 233 22 233                                                          
85 255 0 225 30 1 254 226 29                                                    
85 255 0 30 225 30 225                                                          
85 255 0 41 214 65 190 106 149                                                  
85 255 0 214 41 214 41

The RCX did indeed respond exactly as the comments in the program say it should (running the motor forwards and reverse 5 times), so obviously the toggling was okay in this case. Note the extra lines; those are from the RCX, acknowledging that it got the commands. Also note that the IR responses from the RCX are indeed the NOT of the Opcode (as they should be).

I am wondering if maybe you need to toggle the 0x08 bit only for commands that the RCX responds to (it does not respond to a set message command).

[afanofosc]

I have checked the FakeSpirit.pas source code for how it builds RCX messages. It looks like the Remote (d2) opcode, the SetMessage (f7) opcode, and the Uart (c2) opcode do not use the toggle bit. I'll see if I can fix that.

John Hansen