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Admin: /* 1-7 Using the IR Controller */

2018-07-17T08:36:45Z

1-7 Using the IR Controller

Admin: /* 1-7 Using the IR Controller */

2018-07-17T08:30:38Z

1-7 Using the IR Controller

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Admin: /* 1-7 Using the IR Controller */

2018-07-17T08:12:13Z

1-7 Using the IR Controller

Admin: /* a */

2018-07-17T08:09:25Z

← Older revision		Revision as of 08:09, 17 July 2018
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	end		end

-	~~===a===~~

	Figure 1-20 is the state diagram of the State Machine in the IP.		Figure 1-20 is the state diagram of the State Machine in the IP.

Admin at 18:14, 11 July 2018

2018-07-11T18:14:48Z

← Older revision		Revision as of 18:14, 11 July 2018
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	nNum		nNum

-	~~= <span style="color:#7f0055;">Chpater2~~ '''sizeof'''~~</span>~~(gCommandList)/<span style=	+	'''sizeof'''(gCommandList)/<span style=
	"color:#7f0055;">'''sizeof'''</span>(gCommandList[0]);		"color:#7f0055;">'''sizeof'''</span>(gCommandList[0]);

Admin: /* 1-6 Use the Bluetooth */

2018-07-11T18:10:07Z

1-6 Use the Bluetooth

← Older revision		Revision as of 18:10, 11 July 2018
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	ESP32 is a powerful Bluetooth+WiFi module. It is easily developed. The Factory code in the ESP32 module has been written with ID Number of the Self-balancing robot, so it is able to accept the control command from mobile phone APP via Bluetooth connection. Besides it, there are also many other expandable functions such as I2C, WiFi and SPI data transmission, etc. However, in the robot, only the Bluetooth part is currently used, so only Bluetooth part is introduced.		ESP32 is a powerful Bluetooth+WiFi module. It is easily developed. The Factory code in the ESP32 module has been written with ID Number of the Self-balancing robot, so it is able to accept the control command from mobile phone APP via Bluetooth connection. Besides it, there are also many other expandable functions such as I2C, WiFi and SPI data transmission, etc. However, in the robot, only the Bluetooth part is currently used, so only Bluetooth part is introduced.
		+

	* <div style="color:#000080;">'''Example Descriptions'''</div>		* <div style="color:#000080;">'''Example Descriptions'''</div>
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-	<div style="text-align:center;">[[Image: BAL_04_User_Guide_pic_23.png\|~~500px~~]]</div>	+	<div style="text-align:center;">[[Image: BAL_04_User_Guide_pic_23.png\|800px]]</div>

	<div style="text-align:center;"> '''Figure 1-23 The Block Diagram of the communication between EPS32 and FPGA'''</div>		<div style="text-align:center;"> '''Figure 1-23 The Block Diagram of the communication between EPS32 and FPGA'''</div>

Admin: /* 1-6 Use the Bluetooth */

2018-07-11T18:05:40Z

1-6 Use the Bluetooth

Admin: /* 1-6 Use the Bluetooth */

2018-07-11T17:57:50Z

1-6 Use the Bluetooth

← Older revision		Revision as of 17:57, 11 July 2018
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	<div style="text-align:center;">[[Image: BAL_04_User_Guide_pic_24.png\|500px]]</div>		<div style="text-align:center;">[[Image: BAL_04_User_Guide_pic_24.png\|500px]]</div>

-	<div style="text-align:center;"> '''Figure 1- Qsys uart IP Settings'''</div>	+	<div style="text-align:center;"> '''Figure 1-24 Qsys uart IP Settings'''</div>


-	As shown in Table 1- , the UART IP contains two registers: Data Register & Control Register. The read and write FIFOs are accessed via the data register. The Data transmitted via bluetooth will be stored here. RS232 UART Core’s interrupt generation and read-status information are controlled by the Control register.	+	As shown in Table 1-5 , the UART IP contains two registers: Data Register & Control Register. The read and write FIFOs are accessed via the data register. The Data transmitted via bluetooth will be stored here. RS232 UART Core’s interrupt generation and read-status information are controlled by the Control register.


-	<div style="text-align:center;"> '''Table 1- RS232 UART Core register map'''</div>	+	<div style="text-align:center;"> '''Table 1-5 RS232 UART Core register map'''</div>


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-	Table 1- shows the Data Register format, the bit 8~0 are for the data transferring, bit 23~16 are for indicating the number of characters remaining in the read FIFO. We can know the data transmission completed or not via bit 23~16.	+	Table 1-6 shows the Data Register format, the bit 8~0 are for the data transferring, bit 23~16 are for indicating the number of characters remaining in the read FIFO. We can know the data transmission completed or not via bit 23~16.

-	<div style="text-align:center;"> '''Table 1- Data register bits'''</div>	+	<div style="text-align:center;"> '''Table 1-6 Data register bits'''</div>

Admin: /* 1-6 Use the Bluetooth */

2018-07-11T17:56:41Z

1-6 Use the Bluetooth

← Older revision		Revision as of 17:56, 11 July 2018
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-	~~<span style="color:#000080;">'''~~Figure 1- ~~'''</span>~~is for the system architecture of Self-balancing robot using the ESP32. When the ESP32 receives the string command from the app via the Bluetooth protocol, it will be transferred to the UART interface and pass to the UART IP of the QSYS within the FPGA. In this way, the NIOS CPU can easily read the value of the data register in the IP, and then compare it with the defined instruction to get an effective instruction and control the movement of the robot.	+	Figure 1-23 is for the system architecture of Self-balancing robot using the ESP32. When the ESP32 receives the string command from the app via the Bluetooth protocol, it will be transferred to the UART interface and pass to the UART IP of the QSYS within the FPGA. In this way, the NIOS CPU can easily read the value of the data register in the IP, and then compare it with the defined instruction to get an effective instruction and control the movement of the robot.

Admin: /* a */

2018-07-11T17:54:38Z

← Older revision		Revision as of 17:54, 11 July 2018
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-	~~===a===~~


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-	<div style="text-align:center;">'''  Table 1- <span style="color:#000000;">R</span><span style="color:#000000;">egister table of the IP'''</span></div>	+	<div style="text-align:center;">'''  Table 1-4 <span style="color:#000000;">R</span><span style="color:#000000;">egister table of the IP'''</span></div>

← Older revision		Revision as of 08:36, 17 July 2018
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	<div style="text-align:center;">[[Image: BAL_04_User_Guide_pic_27.png\|300px]]</div>		<div style="text-align:center;">[[Image: BAL_04_User_Guide_pic_27.png\|300px]]</div>

-	<div style="text-align:center;"> '''Figure 1- IR controller key function'''</div>	+	<div style="text-align:center;"> '''Figure 1-27 IR controller key function'''</div>


	<div style="color:#4a4a4a;"></div>		<div style="color:#4a4a4a;"></div>

-	<div style="text-align:center;">'''Table 1- Key code information for each Key on remote controller'''</div>	+	<div style="text-align:center;">'''Table 1-7 Key code information for each Key on remote controller'''</div>

	{\| align="center" style="border-spacing:0;width:15.87cm;"		{\| align="center" style="border-spacing:0;width:15.87cm;"
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-	Figure 1- is the block diagram of FPGA using TERASIC_IRM.v to decode IR control signal. The IR receiver receives signal and send the signal to this IP, this IP provides Avalon interface, a submodule irda_receive_terasic.v will do the decoding work. The decoded Custom Code and Key Code information will be sent to TERASIC_IRM. V and stored in the register. At the same time, an interrupt signal is sent to the CPU and the Nios CPU will read the key value that has just been decoded. The register format is shown as Table 1- :	+	Figure 1-28 is the block diagram of FPGA using TERASIC_IRM.v to decode IR control signal. The IR receiver receives signal and send the signal to this IP, this IP provides Avalon interface, a submodule irda_receive_terasic.v will do the decoding work. The decoded Custom Code and Key Code information will be sent to TERASIC_IRM. V and stored in the register. At the same time, an interrupt signal is sent to the CPU and the Nios CPU will read the key value that has just been decoded. The register format is shown as Table 1-8 :

	<div style="text-align:center;">[[Image: BAL_04_User_Guide_pic_49.png\|500px]]</div>		<div style="text-align:center;">[[Image: BAL_04_User_Guide_pic_49.png\|500px]]</div>

-	<div style="text-align:center;"> '''Figure 1- <span style="color:#333333;"> Block diagram of using TERASIC_IRM.v to decode IR signal '''</span></div>	+	<div style="text-align:center;"> '''Figure 1-28 <span style="color:#333333;"> Block diagram of using TERASIC_IRM.v to decode IR signal '''</span></div>


-	<div style="text-align:center;"> '''Table 1- Register Format'''</div>	+	<div style="text-align:center;"> '''Table 1-8 Register Format'''</div>


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	\| style="background-color:#979797;border:0.75pt solid #797979;padding:0.026cm;" \| '''Description'''		\| style="background-color:#979797;border:0.75pt solid #797979;padding:0.026cm;" \| '''Description'''
	\|-		\|-
-	\| style="background-color:#ffffff;border-top:0.75pt solid #cccccc;border-bottom:~~none~~;border-left:0.75pt solid #cccccc;border-right:none;padding:0.~~212cm~~;" \| Base Addr + 0	+	\| rowspan="3" style="background-color:#ffffff;border-top:0.75pt solid #cccccc;border-bottom:0.75pt solid #cccccc;border-left:0.75pt solid #cccccc;border-right:none;padding:0.026cm;" \| Base Addr + 0


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	\| style="background-color:#ffffff;border:0.75pt solid #cccccc;padding:0.026cm;" \| Inversed Key Code		\| style="background-color:#ffffff;border:0.75pt solid #cccccc;padding:0.026cm;" \| Inversed Key Code
	\|-		\|-
-	\| style="background-color:#ffffff;border-top:0.75pt solid #cccccc;border-bottom:0.75pt solid #cccccc;border-left:0.75pt solid #cccccc;border-right:none;padding:0.~~212cm~~;" \| 24:16	+	\| style="background-color:#ffffff;border-top:0.75pt solid #cccccc;border-bottom:0.75pt solid #cccccc;border-left:0.75pt solid #cccccc;border-right:none;padding:0.026cm;" \| 24:16
	\| style="background-color:#ffffff;border-top:0.75pt solid #cccccc;border-bottom:0.75pt solid #cccccc;border-left:0.75pt solid #cccccc;border-right:none;padding:0.026cm;" \| RO		\| style="background-color:#ffffff;border-top:0.75pt solid #cccccc;border-bottom:0.75pt solid #cccccc;border-left:0.75pt solid #cccccc;border-right:none;padding:0.026cm;" \| RO
	\| style="background-color:#ffffff;border-top:0.75pt solid #cccccc;border-bottom:0.75pt solid #cccccc;border-left:0.75pt solid #cccccc;border-right:none;padding:0.026cm;" \| Key Code		\| style="background-color:#ffffff;border-top:0.75pt solid #cccccc;border-bottom:0.75pt solid #cccccc;border-left:0.75pt solid #cccccc;border-right:none;padding:0.026cm;" \| Key Code

← Older revision		Revision as of 08:12, 17 July 2018
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-	The infrared remote controller included with the kit package is an infrared remote controller that uses the NEC protocol. It uses 38K HZ frequency modulation to emit control signals to the infrared receiver on the robot. The FPGA decoder IP will decode the signal to control the robot motion.* <span style="color:#000080;">'''Infrared Remote Controller Protocols'''</span>	+	The infrared remote controller included with the kit package is an infrared remote controller that uses the NEC protocol. It uses 38K HZ frequency modulation to emit control signals to the infrared receiver on the robot. The FPGA decoder IP will decode the signal to control the robot motion.
-		+

		+	* <span style="color:#000080;">'''Infrared Remote Controller Protocols'''</span>

	The NEC format composes of a Leader Code, a 16-bit Custom Code, and a 8-bit Key Code. The Leader Code is transmitted first, which contains 9ms carrier frequency and 4.5ms zero signal, then followed by 16-bit Client Code, 8-bit Key Code and 8-bit Inversed Key Code, which is the reverse value of the Key Code, the robot IR receiver can use the Inversed Key Code to verify the Key Code.		The NEC format composes of a Leader Code, a 16-bit Custom Code, and a 8-bit Key Code. The Leader Code is transmitted first, which contains 9ms carrier frequency and 4.5ms zero signal, then followed by 16-bit Client Code, 8-bit Key Code and 8-bit Inversed Key Code, which is the reverse value of the Key Code, the robot IR receiver can use the Inversed Key Code to verify the Key Code.
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	The logic is judged through different time lengths, 560us carrier frequency plus 1690us 0 signal represents the transmission of logic 1, 560us carrier frequency plus 560us 0 signal represents logic 0.		The logic is judged through different time lengths, 560us carrier frequency plus 1690us 0 signal represents the transmission of logic 1, 560us carrier frequency plus 560us 0 signal represents logic 0.

-	<div style="text-align:center;"><span style="color:#4a4a4a;">[[Image: BAL_04_User_Guide_pic_25.png\|~~500px~~]]</span></div>	+	<div style="text-align:center;"><span style="color:#4a4a4a;">[[Image: BAL_04_User_Guide_pic_25.png\|900px]]</span></div>

-	<div style="text-align:center;">'''Figure 1- NEC protocol leader & length variable block'''</div>	+	<div style="text-align:center;">'''Figure 1-25 NEC protocol leader & length variable block'''</div>


-	The IR receiver on the balanced car can decode the carrier frequency of 38 kHz and reverse the received signal. Therefore, it should be noted that the signal processed in the FPGA will be opposite to that of the transmitter, as shown in Figure 1- .	+	The IR receiver on the balanced car can decode the carrier frequency of 38 kHz and reverse the received signal. Therefore, it should be noted that the signal processed in the FPGA will be opposite to that of the transmitter, as shown in Figure 1-25 .


-	<div style="text-align:center;">[[Image: BAL_04_User_Guide_pic_26.png\|~~500px~~]]</div>	+	<div style="text-align:center;">[[Image: BAL_04_User_Guide_pic_26.png\|900px]]</div>

-	<div style="text-align:center;"> '''Figure 1- The signal received by IR receiver '''</div>	+	<div style="text-align:center;"> '''Figure 1-26 The signal received by IR receiver '''</div>


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-	<div style="text-align:center;">[[Image: BAL_04_User_Guide_pic_27.png\|~~500px~~]]</div>	+	<div style="text-align:center;">[[Image: BAL_04_User_Guide_pic_27.png\|300px]]</div>

	<div style="text-align:center;"> '''Figure 1- IR controller key function'''</div>		<div style="text-align:center;"> '''Figure 1- IR controller key function'''</div>
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	{\| align="center" style="border-spacing:0;width:15.87cm;"		{\| align="center" style="border-spacing:0;width:15.87cm;"
	\|-		\|-
-	\| align=center style="background-color:#979797;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;" \| '''IR Controller key'''	+	\| rowspan="2"align=center style="background-color:#979797;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;" \| '''IR Controller key'''
	\| colspan="2" align=center style="background-color:#979797;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;" \| '''Custom Code'''		\| colspan="2" align=center style="background-color:#979797;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;" \| '''Custom Code'''
	\| align=center style="background-color:#979797;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;" \| '''Key code'''		\| align=center style="background-color:#979797;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;" \| '''Key code'''

← Older revision		Revision as of 18:05, 11 July 2018
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	<div style="text-align:center;"> '''Table 1-5 RS232 UART Core register map'''</div>		<div style="text-align:center;"> '''Table 1-5 RS232 UART Core register map'''</div>
-

	{\| align="center" style="border-spacing:0;width:16.159cm;"		{\| align="center" style="border-spacing:0;width:16.159cm;"
	\|-		\|-
-	\| align=center style="background-color:#979797;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;" \| '''Offset in bytes'''	+	\| rowspan="2" align=center style="background-color:#979797;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;" \| '''Offset in bytes'''
-	\| style="background-color:#979797;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;" \| '''Register'''	+	\| rowspan="2" style="background-color:#979797;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;" \| '''Register'''

	'''Name'''		'''Name'''
-	\| align=center style="background-color:#979797;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;" \| '''R/W'''	+	\| rowspan="2" align=center style="background-color:#979797;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;" \| '''R/W'''
	\| colspan="13" align=center style="background-color:#979797;border:0.5pt solid #000000;padding:0.212cm;" \| <span style="background-color:#979797;">'''Bit description'''</span>		\| colspan="13" align=center style="background-color:#979797;border:0.5pt solid #000000;padding:0.212cm;" \| <span style="background-color:#979797;">'''Bit description'''</span>
	\|-		\|-
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	<div style="text-align:center;"> '''Table 1-6 Data register bits'''</div>		<div style="text-align:center;"> '''Table 1-6 Data register bits'''</div>
-

	{\| align="center" style="border-spacing:0;width:15.87cm;"		{\| align="center" style="border-spacing:0;width:15.87cm;"
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	\|}		\|}
	<div style="text-align:center;"></div>		<div style="text-align:center;"></div>
		+

	The following will introduce how to use Nios to read the data transmitted by ESP32 and convert it to control commands. In the main.cpp (path:\BAL_CAR_Nios_Code\software\DE10_Nano_bal), the codes for Bluetooth controlling as below:		The following will introduce how to use Nios to read the data transmitted by ESP32 and convert it to control commands. In the main.cpp (path:\BAL_CAR_Nios_Code\software\DE10_Nano_bal), the codes for Bluetooth controlling as below: