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support serial communication during streaming mode
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@bimac
bimac committed Mar 9, 2022
1 parent 6c8fc9d commit 14a7e14
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Showing 2 changed files with 70 additions and 6 deletions.
6 changes: 2 additions & 4 deletions software/MATLAB/BpodStepperLive.m
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Original file line number Diff line number Diff line change
Expand Up @@ -65,8 +65,7 @@
drawnow
set(obj.h.figure,'Visible','on')

flushinput(obj.s.Port.Port)
obj.s.Port.write(['L' 1], 'uint8');
obj.s.StreamingMode = true;
end

function update(obj,~,~)
Expand Down Expand Up @@ -109,9 +108,8 @@ function update(obj,~,~)
end

function delete(obj,~,~)
obj.s.Port.write(['L' 0], 'uint8');
obj.s.Port.Port.BytesAvailableFcn = '';
flushinput(obj.s.Port.Port)
obj.s.StreamingMode = false;
end
end

Expand Down
70 changes: 68 additions & 2 deletions software/MATLAB/BpodStepperModule.m
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Original file line number Diff line number Diff line change
Expand Up @@ -35,12 +35,17 @@
MaxSpeed % peak velocity (full steps / s)
Position % absolute position
end

properties (Dependent, Access = {?BpodStepperLive})
StreamingMode
end

properties (Access = private)
privMaxSpeed % private: peak velocity
privAcceleration % private: acceleration
privRMScurrent % private: RMS current
privChopper % private: Chopper mode
privStreamingMode = false % private: streaming mode
CurrentFirmwareVersion = 2 % most recent firmware version
end

Expand Down Expand Up @@ -96,17 +101,21 @@
end
function set.MaxSpeed(obj, newSpeed)
obj.Port.write('V', 'uint8', newSpeed, 'uint16');
obj.pauseStreaming(true);
obj.Port.write('GV', 'uint8');
obj.privMaxSpeed = obj.Port.read(1, 'uint16');
obj.pauseStreaming(false);
end

function out = get.Acceleration(obj)
out = obj.privAcceleration;
end
function set.Acceleration(obj, newAccel)
obj.Port.write('A', 'uint8', newAccel, 'uint16');
obj.pauseStreaming(true);
obj.Port.write('GA', 'uint8');
obj.privAcceleration = obj.Port.read(1, 'uint16');
obj.pauseStreaming(false);
end

function out = get.RMScurrent(obj)
Expand All @@ -115,8 +124,11 @@
function set.RMScurrent(obj, newCurrent)
validateattributes(newCurrent,{'numeric'},...
{'scalar','integer','nonnegative'})
obj.Port.write('I', 'uint8', newCurrent, 'uint16', 'GI', 'uint8');
obj.Port.write('I', 'uint8', newCurrent, 'uint16');
obj.pauseStreaming(true);
obj.Port.write('GI', 'uint8');
obj.privRMScurrent = obj.Port.read(1, 'uint16');
obj.pauseStreaming(false);
end

function out = get.ChopperMode(obj)
Expand All @@ -125,13 +137,18 @@
function set.ChopperMode(obj, mode)
validateattributes(mode,{'numeric'},...
{'scalar','integer','nonnegative','<=',1})
obj.Port.write('C', 'uint8', mode, 'uint8', 'GC', 'uint8');
obj.Port.write('C', 'uint8', mode, 'uint8');
obj.pauseStreaming(true);
obj.Port.write('GC', 'uint8');
obj.privChopper = obj.Port.read(1, 'uint8');
obj.pauseStreaming(false);
end

function out = get.Position(obj)
obj.pauseStreaming(true);
obj.Port.write('GP', 'uint8');
out = obj.Port.read(1, 'int16');
obj.pauseStreaming(false);
end
function set.Position(obj,position)
validateattributes(position,{'numeric'},{'scalar','integer'})
Expand Down Expand Up @@ -200,11 +217,13 @@ function setTarget(obj, varargin)
end
n = numel(id);
out = zeros(n,3);
obj.pauseStreaming(true);
for ii = 1:n
obj.Port.write(['G' id(ii)], 'uint8');
out(ii,1) = obj.Port.read(1, 'int32');
out(ii,2:3) = obj.Port.read(2, 'uint16');
end
obj.pauseStreaming(false);
out([false(n,1) out(:,2:3)==0]) = NaN;
if nargout
varargout = mat2cell(out',[1 1 1],n);
Expand Down Expand Up @@ -261,10 +280,12 @@ function rotate(obj,dir)
{'2d','increasing','integer','>=',1,'<=',6})
end
out = zeros(1,numel(idx));
obj.pauseStreaming(true);
for ii = 1:numel(idx)
obj.Port.write(['GR' idx(ii)], 'uint8');
out(ii) = obj.Port.read(1, 'uint8');
end
obj.pauseStreaming(false);
if nargout
varargout{1} = out;
else
Expand Down Expand Up @@ -300,10 +321,12 @@ function setResistor(obj, idx, R)
{'2d','increasing','integer','>=',1,'<=',6},'','ID')
end
out = zeros(1,numel(id));
obj.pauseStreaming(true);
for ii = 1:numel(id)
obj.Port.write(['GM' id(ii)], 'uint8');
out(ii) = obj.Port.read(1, 'uint8');
end
obj.pauseStreaming(false);
if nargout
varargout{1} = out;
else
Expand Down Expand Up @@ -348,5 +371,48 @@ function delete(obj)
function liveView(obj)
BpodStepperLive(obj);
end

function out = get.StreamingMode(obj)
out = obj.privStreamingMode;
end

function set.StreamingMode(obj,enable)
if xor(obj.privStreamingMode,enable)
if enable
flushinput(obj.Port.Port)
obj.Port.write(['L' 1], 'uint8');
else
obj.Port.write(['L' 0], 'uint8');
flushinput(obj.Port.Port)
end
obj.privStreamingMode = enable;
end
end
end

methods (Access = private)
function pauseStreaming(obj,doPause)
persistent BytesAvailableFcn isPaused;
if isempty(BytesAvailableFcn)
BytesAvailableFcn = '';
isPaused = false;
end
if doPause
if isPaused || ~obj.privStreamingMode
return
end
BytesAvailableFcn = obj.Port.Port.BytesAvailableFcn;
obj.Port.Port.BytesAvailableFcn = '';
obj.StreamingMode = false;
isPaused = true;
else
if ~isPaused || obj.privStreamingMode
return
end
obj.Port.Port.BytesAvailableFcn = BytesAvailableFcn;
obj.StreamingMode = true;
isPaused = false;
end
end
end
end

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