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Design of a Bluetooth Enabled Android Application

1. 6 1 Table of the first 128 Characters of the ASCII Code Table 4 First 128 Characters of the ASCII code Decimal BIN Symbol Description Decimal BIN Symbol Description 0 0 NUL Null char 64 1000000 At symbol 1 1 SOH Start of Heading 65 1000001 A Uppercase A 2 10 STX Start of Text 66 1000010 B Uppercase B 3 11 ETX End of Text 67 1000011 C Uppercase C 4 100 EOT End of Transmission 68 1000100 D Uppercase D 5 101 ENQ Enquiry 69 1000101 E Uppercase E 6 110 ACK Acknowledgment 70 1000110 F Uppercase F 7 111 BEL Bell 71 1000111 G Uppercase G 8 1000 BS Back Space 72 1001000 H Uppercase H 9 1001 HT Horizontal Tab 73 1001001 l Uppercase 10 1010 LF Line Feed 74 1001010 J Uppercase J 11 1011 VT Vertical Tab 75 1001011 K Uppercase K 12 1100 FF Form Feed 76 1001100 L Uppercase L 13 1101 CR Carriage Return 77 1001101 M Uppercase M 14 1110 SO Shift Out X On 78 1001110 N Uppercase N 15 1111 SI Shift In X Off 79 1001111 o Uppercase O 16 10000 DLE Data Line Escape 80 1010000 P Uppercase P 17 10001 DC1 Device Control 1 oft XON 81 1010001 Q Uppercase Q 18 10010 DC2 Device Control 2 82 1010010 R Uppercase R 19 10011 DC3 Device Control 3 oft XOFF 83 1010011 S Uppercase S 20 10100 DC4 Device Control 4 84 1010100 T Uppercase T 21 10101 NAK Negative Acknowledgement 85 1010101 U Uppercase U 22 10110 SYN Synchronous Idle 86 1010110 V Uppercase V 23 10111 ETB End of Transmit Block 87 1010111 W Uppercase W 24 11000 CAN Cancel 88 1011000
2. I have developed a communication protocol that meets the prescribe definition of a communication protocol as discussed earlier Additionally I have implemented said communication protocol and demonstrate its use in the communication between an Android powered mobile device and a robotic platform over a Bluetooth connection Finally I have shown that the communication protocol and its application implementation produce a responsive user experience that is on par with existing radio controlled robotic platforms 2 METHODOLOGY IMPLEMENTATION Developing a communication protocol for use between typical electronic devices and mobile devices such as tablets and cell phones requires that the foundation and principles rules i e the protocol should be transferable across any platform However due to the number of mobile platforms available Windows iOS Blackberry Android the number of data transfer methods Bluetooth Peer to Peer Wi Fi Internet Cell Network and the number or electronic devices it would be an extensive task to demonstrate implement the communication protocol across all of the available platforms It would also be a trivial task in that relatively no unique work would be required For the most part it would be a task of translating the code from one language to another Instead I plan to demonstrate a communication protocol and the communication between an android device and a microcontroller over Bluetooth using only open so
3. _inputing numerical data simultaneously it is necessary to delare another instance so that the buffers do not clash That applies to numerical parsing only OBJ uarts FullDuplexSerial4port PUB str port stringptr 109 Send string repeat strsize stringptr uarts tx port byte stringptr PUB strln port strAddr Print a zero terminated string str port strAddr uarts tx port CR PUB dec port value i Print a decimal number decl port value 10 0 PUB decf port value width i Prints signed decimal value in space padded fixed width field decl port value width 1 PUB decx port value digits i Prints zero padded signed decimal string if value is negative field width is digits 1 decl port value digits 2 PUB decl port value digits flag i x digits 1 gt digits lt 10 x value NEGX Check for max negative if value lt 0 value value x If negative make positive adjust for max negative uarts tx port i 1000 000000 110 if flag amp 3 if digits lt 10 less than 10 digits repeat 10 digits i 10 yes adjust divisor repeat digits if value gt i uarts tx port value i 0 value i result elseif i 1 OR result OR flag amp 2 uarts tx port 0 elseif flag amp 1 uarts tx port i 10 PUB decDp port value places divisor prints out a fixed point number with a decimal point places di
4. 2 1 2 Selecting a Microcontroller and Robotic Platform ceeeeeeeeeeeeeeee 9 2 1 3 Setting up the Development Environment Android amp Propeller 13 2 2 Communication Protocol and Control Logic Design ssssessssssessessreseesseese 15 2 2 1 Development of a Communication Protocol ssssesessessessesseseesesseseese 15 2 2 2 Implementing and Demonstrating the Communication Protocol 17 3 RESULTS AND DISCUSSION reri ao a A a a AR EEA 26 AS CONCLUSIONS Acnee EE E T E N E ERRE 28 5 REFERENCES roere a ET EA T a E tin E T a E 29 6 APPENDICES murna n a a a a O AAEE RENEE A R ERG 31 6 1 Table of the first 128 Characters of the ASCH Code cece ceseeteeneereeerees 31 6 2 Android Device User Interface Screen Captures 00 ccecceeseeeseeeteeeteeeseeeees 33 6 3 XML Code for Android User Interface and Context Menus eeeeeeees 37 6 3 1 Main User Interface XML Cod esis ss cxigncgatasti tu naeatnnacd aetanas eaves tataens 37 6 4 6 5 6 3 2 Discovered and Connected Bluetooth Device List eeeeeeteeeeees 38 6 3 3 Display Format of Device Names sy is gacciteseicaatiesicasieswishdatssdles 39 6 3 4 XML Code for Options Menu seis sis ciaiicdeccaiess satssmcdantnen 39 6 3 5 String Constants Referenced in the User Interface 00 0 eee eee 40 6 3 6 Android Manifest Files a2 ctetcictes te diccassashaseateuasiui es cueietaacm seats 40 Java Source Code for Android Device eeeeceesecetecseeenee
5. A Speed B Direction l Data received by Serial Microcontroller I I BT module and commands read sends l l converted to amp interpreted by commands to l I serial commands microcontroller servo motors I kossn nenna an Nee Robotic Platform y Figure 15 Level 0 System Block Diagram 2 2 2 1 Implementation of the Communication Protocol on the Android Device To implement the communication protocol on the Android powered mobile device one must first create an Android application In addition to the behind the scenes code that runs the Android application which is responsible for taking the users input and converting it into what will eventually become messages sent via the communication protocol a large part of the Android application development is the user interface To create the user interface for controlling a wheeled robotic platform I decided to mimic as closely as possible a standard remote that would be used to control a RC car Figure 16 A vertical scrolling bar will be used to control the speed of the robot while a similar horizontal scrolling bar will be used to control the direction of the robot 19 a Us BlueTest3 V 50 H 50 Forward Start Left Neutral gt Neutral Reverse Figure 16 Android User Interface for Controlling the Robotic Platform In addition to the controls of the robotic platform the GUI Graphical User Interface needs to provide the user with a method to search for and connect to
6. CTS Clear to send RTS Request to send API Application programming interface RC Radio controlled SDK Software development kit IDE Integrated development environment MAC Media Access Control LIST OF FIGURES Figure Rover Revolution Available from Brookstone 2 cccceccccesceeeeeeseeeseeeeeeees 2 Figure 2 Parallax RN 42 Bluetooth Demo 3 ccecccececeseceseceeeceeeeeceeeeeeeeeeeeeeseecaeens 3 Figure 3 MicroTronics Technologies Mobile Control Robot 4 cceeeeseesseeeteeee 3 Figure 4 World Wide Mobile OS Market Share 5 cceceecceesceeseeceteceeeeeeeeeeseeeeaeens 6 Figure 5 Relative Number of Devices by Platform Number API level Code Name 8 sl sagen ae Lak steal laded cs atta de Wo dod Coa A atin a Secon aac toad dialtone inti 8 Figure 6 Mobile Platform Samsung Galaxy Note II Running Android 4 3 Ice Cream SandWIC eico oeie e ciate oO nanan tein A N OM hates e A sack aa 9 Figure 7 ActivityBot Robot Kit 9s ace hagtsca heise 10 Figure 8 Propeller Activity Board 10 a cs2sciysssaesandexdssaxssans tatvnniaawstantanventaryscteariatoons 11 Figure 9 RN 42 Bluetooth Adapter 11 oo ccceceseceseceeeeeeseeceeceeeeeeeesseecsseeneenaes 12 Figure 10 Assembled Robotic Platform with Bluetooth Adapter ce eeeeeeeeeeeees 12 Figure 11 System Wiring Diagram for the Robotic Platform and Bluetooth Adapter 13 Figure 12 Android Environment and Eclipse
7. Copyright c EME Systems and others under MIT licence F See end of file for terms of use adapted from pcFullDuplexSerial4fc by Tim Moore 2008 Merged Debug PC Jon Williams 7 Merged Parallax Serial Terminal numeric input Jeff Martin Andy Lindsay Chip Gracey T Woke x Release Notes These are methods for string and numeric output and input using fullDuplexSerial4port my adaptation of Tim Moore s pcFullDuplexSerial4fc In the original these were included in the main program but here I have broken them off as pass through routines and added string and numeric input methods These methods are called with reference to a port as defined when FullDuplexSerial4port is initialized a Woke x Ifyou do want to merge these methods back into the main object simply remove all the uarts object references 108 Woke x I made these separate because for my own work I often use a completely different set of string amp numeric i o methods Woke x TEKK K K k kK k k k k k k k K k k k k k k kK k k 8 k K k k k k K K 8 k k K K kK k k k K 8 k k k K K K k k 2K K K k K 2K K K k 2k 2K K 2 2K CON FF 12 form feed CR 13 carriage return NL 13 MAXSTR_ LENGTH 32 this limits the size of a binary string that can be entered VAR byte str_buffer MAXSTR_LENGTH 1 String buffer for numerical string input only This is in VAR space If multiple cogs will be
8. android minSdkVersion 9 android targetSdkVersion 17 gt lt uses permission android name android permission BLUETOOTH gt lt uses permission android name android permission BLUETOOTH ADMIN gt lt application android allowBackup true android icon drawable ic_launcher android label string app name android theme style AppTheme gt lt activity android name com dynamicsolutions bluetest3 MainActivity android label string app name gt lt intent filter gt lt action android name android intent action MAIN gt lt category android name android intent category LAUNCHER gt lt intent filter gt lt activity gt lt activity android name DeviceListActivity 40 android label string select_device gt lt application gt lt manifest gt 6 4 Java Source Code for Android Device 6 4 1 Main Activity Java Code package com dynamicsolutions bluetest3 import android os Bundle import android os Handler import android os Message import android util Log import android view Menu import android view MenulInflater import android view MenulItem import android view View import android view View OnClickListener import android widget Button import android widget SeekBar import android widget TextView import android widget Toast import android widget SeekBar OnSeekBarChangeListener import android app Activity import android bluetooth BluetoothAdap
9. scale 0 repeat Index from 1 to ctr 1 scale ctr 1 Index if scale 2 dataV dataV inByteArr Index 48 100 elseif scale dataV dataV inByteArr Index 48 10 else dataV dataV inByteArr Index 48 rawSpeed dataV dio dec DEBUG dataV fds tx DEBUG 13 if inByteArr ctr B repeat ctr inByteArr ctr fds rx A_PORT until inByteArr ctr dataH 0 scale 0 repeat Index from 1 to ctr 1 scale ctr 1 Index if scale dataH dataH inByteArr Index 48 100 elseif scale dataH dataH inByteArr Index 48 10 else 67 dataH dataH inByteArr Index 48 rawDirection dataH dio dec DEBUG dataH fds tx DEBUG 13 PUB Values fds str DEBUG String Values Started Outputs Program Started to the terminal screen fds tx DEBUG 13 repeat waitent clkfreq 20 cnt if rawSpeed gt 50 and rawDirection lt 50 Forward and Left range 100 speed range rawSpeed 50 100 50 100 direction speed 100 50 rawDirection 100 50 100 Servo 750 direction rServo 750 speed elseif rawSpeed gt 50 and rawDirection gt 50 Forward and Right range 100 speed range rawSpeed 50 100 50 100 direction speed 100 rawDirection 50 100 50 100 IServo 750 speed rServo 750 direction elseif rawSpeed lt 50 and rawDirection lt 50 Reverse and Right
10. ut TERMS OF USE MIT License c Permission is hereby granted free of charge to any person obtaining a copy of this software and associated documentation files the Software to deal in the Software without restriction including without limitation the rights to use copy modify merge publish distribute sublicense and or sell copies of the Software and to permit persons to whom the Software is furnished to do so subject to the following conditions The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software 116 THE SOFTWARE IS PROVIDED AS IS WITHOUT WARRANTY OF ANY KIND EXPRESS OR IMPLIED INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM DAMAGES OR OTHER LIABILITY WHETHER IN AN ACTION OF CONTRACT TORT OR OTHERWISE ARISING FROM OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE ee i 117
11. 1 bit period jmpret rxcode2 txcode2 run a chuck of transmit code then return mov tl rxent2 check if bit receive period done sub tl cnt cmps t1 0 wc jmp wait2 test rxmask2 ina wc receive bit on rx pin rcer rxdata2 1 djnz rxbits2 bit2 test rxtx mode2 INVERTRX wz find out if rx is inverted jmp receive2 abort if no stop bit TTA from 93 norts2 no rts if c rts2 rec2i Receive3 receive3 start3 if c jmpret rxcode2 txcode2 run a chunk of transmit code then return shr rxdata2 32 9 justify and trim received byte wrbyte rxdata2 rxbuff head_ptr2 7 22 add rx_head2 1 cmpsub rx _ head2 rxsize2 TTA allows non binary buffer size wrlong rx_head2 rx_head_ptr2 mov rxbuff head _ptr2 rxbuff ptr2 calculate next byte head_ptr add rxbuff_head_ptr2 rx_head2 rdlong rx_tail2 rx_tail_ptr2 7 22 or 8 will be patched to jmp r3 if mov t1 rx_head2 sub tl rx_tail2 we add tl rxsize2 fix wrap TTA change cmps tl rtssize2 we muxc outa rtsmask2 jmp receive2 byte done receive next byte jmpret rxcode3 txcode3 run a chunk of transmit code then return test rxmask3 ina we jmp norts3 go check rts if no start bit mov rxbits3 9 ready to receive byte mov rxcnt3 bit4 ticks3 1 4 bits add rxcnt3 cnt 94 bit3 wait3 if nc if z ne c serialMirror norts3 no rts if c add rxcnt3 bit ticks3 1 bit period jmpret rxcode3 txcode3 run a chuck of transmi
12. 42 Bluetooth Module A TX l To RX pin on RN 42 Bluetooth Module A RX 2 To TX pin on RN 42 Bluetooth Module A CTS 3 To RTS pin on RN 42 Bluetooth Module A RTS 4 To CTS pin on RN 42 Bluetooth Module BAUD 9600 Baud Rate 9600 bps VAR long tLow tHigh T dt stack 700 cntr inByte inString ctr testStr 15 milis char word cntMin byte i inByteArr 300 bufferSize OBJ fds FullDuplexSerial4port dio datalO4port pst Parallax Serial Terminal V1 0 Create the Parallax Serial Terminal Object for the LCD Screen amp Bluetooth module Need to use pst file in this folder as it has been modified to use Pin 1 amp 12 for serial comm 61 PUB Main milis clkfreq 1_ 000 dira 26 27 11 Set Pin 26 amp 27 to output outa 26 27 00 Set pin 26 amp 27 to low dira A_TX 1 outa A_TX 1 Pause 100 outa A_TX 0 fds Init fds AddPort A_ PORT A RX A TX A CTS A RTS 0 000000 BAUD fds AddPort DEBUG 31 30 1 1 0 000000 BAUD Debug to the terminal screen fds Start fds str DEBUG String Program Started Outputs Program Started to the terminal screen fds tx DEBUG 13 Pause 2000 UART startup delay fds str A_PORT String Sends to the RN 42 to enter command mode 62 ctr 0 This block of code reads in characters until 13 is found inByteArr ctr fds rx A_PORT 13 represents the Carraige Return which is sent at t
13. Android devices run Android 4 0 API 15 or later Since we want to maintain a similar user experience and style to what the majority of users are currently used to experiencing and selecting an older android version as the target version may make the application appear older and outdated compared to newer applications Android 4 0 API15 Ice Cream Sandwich will be selected as the target Android platform Ultimately this means that the application developed will not be capable of running on 19 of Android devices currently in use however this number will continue to decrease as these devices older are phased out and users upgrade to newer devices With a target mobile operating system selected the next choice is selecting a mobile device that utilizes the selected operating system Fortunately I currently own two mobile device that uses the Android operating system a cellphone and a tablet Both devices run Android Ice Cream Sandwich or later operating systems and while the tablet may boast higher performance processing power I have selected the cell phone Figure 6 as the test platform The reason for this selection was due to the form factor of the device the 10 tablet was difficult to hold with two hands and still use my thumbs to control the device however the smaller 5 cell phone fit nicely within my hands similar to a game controller or an R C car controller Additionally a 7 or 8 tablet would also likely work just as w
14. IDE with Code Snippet from BlueTest3 NN 6 8 aO r asi Sw fe Se PRR ERS ea eye AP CE Em Vey eR ey SPR nea eR 14 Figure 13 Spin IDE with Code Snippet from the PBAA_v0 7 spin Program 15 Figure 14 Example Message per the Communication Protocol ceceeeeeseeeteeneeees 16 Figure 15 Level 0 System Block Diagram 25 enn auc shai wea hae 19 Figure 16 Android User Interface for Controlling the Robotic Platform 0 20 Figure 17 Android User Interface Code Snippet sssesessssesseseesseessessessressessessressesse 21 Figure 18 Level 1 Block Diagram Android Process for Connecting to a Remote Bluetooth Devicesin iaria riisiin iaa iei aniti raai tia 22 Figure 19 Level 1 Block Diagram for Reading User Input and Transmitting to a R m te DDS yi Ce garish Sa e e a aa E A A a ach odes arate wae a ties oe 23 Figure 20 Level 1 Block Diagram of the Propeller Microcontroller and the Interaction between Co FG saat ort as sue e a caat etic mea ua educa ce ecuspeualeattara E E N 24 Figure 21 BlueTest 3 Application Launched from the Application Menu 33 Figure 22 User Menu within the Application ccccceeccessceesceeeeceeeeeeeeeeseeesseenteenees 33 Figure 23 List of Bluetooth Devices Found for Pairing eseeseseessseesesseserssssersessesee 34 Figure 24 Screen Prior to Selecting Start Slider Bars Disabled ec eeeeeeteeeeeeee 34 Figure 25 Screen after Selectin
15. PULSOUT 14 rServo PUB PULSOUT Pin duration clkcycles H Produces an opposite pulse on the pin for the duration in 2uS increments Smallest value is 10 at clkfreq 80Mhz Largest value is around 50 seconds at 80Mhz BS2 Pulsout 500 1 mS pulse i ClkCycles Duration us 2 1250 gt cntMin duration clk cycles for 2us inst time min cntMin dira pin Set to output louta pin set to opposite state waitcnt clkcycles cnt wait until clk gets there louta pin 70 PRI Pause ms waitcnt clkfreq 1000 ms cnt Convert to mS 6 5 4 FullDuplexSerial4port Spin Library FullDuplexSerial4portPlus version 1 01 Tracy Allen TTA c 22 Jan 2011 MIT license see end of file for terms of use Extends existing terms of use Can open up to 4 independent serial ports using only one pasm cog for all 4 Supports flow control and open and inverted baud modes Individually configurable tx and rx buffers for all 4 ports any size set in CONstants section at compile time Part of the buffer fits within the object s hub footprint but even so the object is restartable Buffers are DAT type variables therefore a single instance of the object can be accessed throughout a complex project Modified from Tim Moore s pcFullDuplexSerial4fc with further motivation and ideas from Duane Degn s pcFullDuplexSerial4fc128 Changes and bug fixes include Flow control is now operational when called for with
16. RN 42 Unit repeat until inByteArr ctr 13 If successfull CMD is returned ctr inByteArr ctr fds rx A_PORT fds tx DEBUG inByteArr ctr Pause 1200 Pause for 1 2 seconds the message will be ignored if additional messages are sent within 1 second of the S fds str A_ PORT String SU 96 Set up message that sets the programmed serial baud rate to 9600 fds tx A_PORT 13 If successfull AOK is returned fds tx A_PORT 10 ctr 0 59 inByteArr ctr fds rx A_PORT fds tx DEBUG inByteArr ctr repeat until inByteArr ctr 13 ctr inByteArr ctr fds rx A_PORT fds tx DEBUG inByteArr ctr fds str A_ PORT String Message sent that tells the RN 42 to Exit command mode fds tx A_PORT 13 If successfull END is returned fds tx A_PORT 10 ctr 0 inByteArr ctr fds rx A_PORT fds tx DEBUG inByteArr ctr repeat until inByteArr ctr 13 ctr inByteArr ctr fds rx A_PORT fds tx DEBUG inByteArr ctr 6 5 2 RN 42 Bluetooth Module Verification Spin Source Code File PBAA_v0 3 spin PBAA Propeller Bluetooth and Android v0 3 Test the use of get commands on the RN 42 Bluetooth Module Assumption is that the module is set to 9600 Baud rate CON _xinfreq 5_000_000 _clkmode xtall pll16x 60 Bluetooth Constants DEBUG 0 Debug port sends results to Parallax Serial Terminal A PORT 1 Bluetooth Module A RESET 0 To RST pin on RN
17. correct polarity bug correction Jitter is reduced unused ports are properly skipped over bug correction operation speed is increased Stop bit on reception is now checked and if there is a framing error the byte is not put in the buffer Buffer sizes are arbitrary each port separate rx amp tx up to available memory Changes in pasm and in Spin methods to accomodate larger buffers major reorganization of DAT section Added strn method for counted string and rsxHowFull method for buffer size 71 Cut out most of the format methods such as DEC and HEX expecting those to be their own object calling rx tx str and strn methods See companion object DatalO4port spin in order to maintain compatibility with methods in the original pcFullDuplexSerial4fc lv01 init method returns pointer rxsize for data buffers and data structure 1v00 documentation Ov91 restored DEFAULTTHRESHOLD constant made default buffer sizes in the DAT section rather than init removed the numeric methods to their own companion object datalO4port 0v3 first public release with the jitter and flow control issues fixed and large buffers Links Development of this version http forums parallax com showthread php 137349 yet another variant fullDuplexSerial4portplus Tim Moore s original pcFullDuplexSerial4fc and updates to allow flow control http forums parallaxinc com forums default aspx f 25 amp p 1 amp m 27329 1
18. for a byte to be received returns 1 if no byte received 00 FF if byte t cnt repeat until rxbyte rxcheck port gt 0 or ent t clkfreq 1000 gt ms PUB rx port rxbyte Receive byte may wait for byte returns 00 FF repeat while rxbyte rxcheck port lt 0 PUB tx port txbyte Send byte may wait for room in buffer if port gt 3 abort repeat until tx_tail port lt gt tx_head port 1 txsize port byte txbuff_ptr port tx_head port txbyte tx_head port tx_head port 1 txsize port 82 if rxtx_mode port amp NOECHO rx port PUB txflush port repeat until long tx_tail port long tx_head port PUB str port stringptr Send zstring strn port stringptr strsize stringptr PUB strn port stringptr nchar Send counted string repeat nchar tx port byte stringptr DAT TKK 3K 3K 3K 3K K gt K K K 3K 3K 3K 3K 2K 3K K K 3K 3K 3K 3K FK 2K K K K 2k K 2 3K is 2K K ok Assembly language serial driver DKK 3K 3K 3K 3K 3K K K 3K 3K 3K 3K 3K 2K K K K K K K 3K FK FK K K K 2k K 2 3K FK ok 2K ok org 0 Entry To maximize the speed of rx and tx processing all the mode checks are no longer inline The initialization code checks the modes and modifies the rx tx code for that mode e g the if condition for rx checking for a start bit will be inverted if mode INVERTRX is it similar for other mode flags The code is also patc
19. m276667 http obex parallax com objects 340 7 24 08 version http forums parallaxinc com forums default aspx f 25 amp p 1 amp m 349173 8 14 08 update flow polarity correction not in obex Duane Degn s thread larger 128 or 512 byte buffers and reusing buffer space discussion of issues http forums parallax com showthread php 129714 Tim Moore s pcFullDuplexSerial4FC with larger 285 12 byte 29 rx buffer Juergen Buchmueller 2 port trimmed down version 72 http forums parallax com showthread php 128 184 Serial Objects for SPIN Programming amp p 967075 amp viewfull 1 post967075 Serial Mirror single port but same idea regarding buffers in the DATa space http forums parallax com showthread php 943 1 1 SerialMirror A FullDuplexSerial enhancement http obex parallax com objects 189 Re baud rates attainable hiccups http forums parallaxinc com forums default aspx f 25 amp p 1 amp m 282923 m282978 http forums parallaxinc com forums default aspx f 25 amp p 1 amp m 334784 http forums parallax com showthread php 120868 FullDuplexSerial hiccups Jitter discussions of jitter in different Prop serial programs PhiPi s development of PBnJ full duplex http forums parallax com showthread php 129776 Anybody aware of high accuracy 0 7 or less serial full duplex driver http forums parallax com showthread php 13643 1 Serial objects question Humanoido s catalog of serial port
20. other discoverable Bluetooth enabled devices This was implemented utilizing the menu button one of the three standard buttons on all android devices upon selecting the menu button the user is presented with the option to search for and connect to remote Bluetooth devices After which the user is presented with the Names and MAC Addresses of devices found See Appendix 6 2 for screen captures of the various screens a user sees when interacting with the android application In addition to the movement of the sliding bars the values of the sliders are displayed in the top left corner of the application this was done to provide the user with additional visual feedback and helps to verify that the user input is being understood by the Android application this was also very helpful in the development and debugging of the application This feature could be removed in a final production version of the application and is not critical to the functionality of the application Finally the user interface and its various sub menus and screens is written in the XML language format Figure 17 is a Code Snippet of the XML code written to display two text views and a button on the user interface The XML code used to generate the Android User interface can be found in Appendix 6 3 XML Code for Android User Interface and Context Menus 20 Java BlueTest3 res layout activity_main xt File Edit Refactor Source Navigate Search Project Run Window Help irae
21. pin on RN 42 Bluetooth Module To RX pin on RN 42 Bluetooth Module To TX pin on RN 42 Bluetooth Module To RTS pin on RN 42 Bluetooth Module To CTS pin on RN 42 Bluetooth Module Baud Rate 9600 bps long tLow tHigh T dt stack 700 cntr inByte inString ctr testStr 15 milis char word cntMin byte i inByteArr 25 bufferSize 57 OBJ fds FullDuplexSerial4port dio datalO4port pst Parallax Serial Terminal V1 0 Create the Parallax Serial Terminal Object for the LCD Screen amp Bluetooth module Need to use pst file in this folder as it has been modified to use Pin 1 amp 12 for serial comm PUB Main milis clkfreq 1_000 dira 26 27 11 Set Pin 26 amp 27 to output outa 26 27 00 Set pin 26 amp 27 to low dira A_TX 1 outa A_TX 1 Pause 100 outa A_TX 0 fds Init fds AddPort A_PORT A RX A TX A CTS A RTS 0 000000 BAUD fds AddPort DEBUG 31 30 1 1 0 000000 BAUD Debug to the terminal screen fds Start 58 fds str DEBUG String Program Started Outputs Program Started to the terminal screen Pause 2000 UART startup delay fds str A_PORT String Sends to the RN 42 to enter command mode ctr 0 This block of code reads in characters until 13 is found inByteArr ctr fds rx A_PORT 13 represents the Carraige Return which is sent at the end of fds tx DEBUG inByteArr ctr every message from the
22. time sensitive tasks without issues or delays This translates into the ability to constantly monitor the incoming Bluetooth communication channel while simultaneously updating and sending the time sensitive pulse commands required to control the servo motors driving the platform To do this with an Arduino a second motor controller board would be required to off load the time sensitive pulse commands from the main microcontroller The second reason for selecting the Parallax Propeller platform Propeller Activity Board for this project was a matter of convenience and available documentation product support From a compatibility standpoint by selecting a robotic platform and microcontroller both from the same manufacturer compatibility was guaranteed Additionally Parallax offered supporting documentation for the use of the Propeller Activity Board with the ActivityBot which can be found on the product s web page 9 The same methodology of selecting components from the same vendor Parallax in this case was also leveraged when selecting a Bluetooth adapter for use on the project The RN 42 Bluetooth adapter Figure 9 manufactured by Parallax 11 provided Bluetooth 2 1 2 0 1 2 1 1 communication support to the project The RN 42 Bluetooth adapter provides a standard pin breakout connector which can easily be connected to the breadboard on the Parallax Activity Board and wired to its I O pins Additionally it can be set to operate off of and control
23. z to if_z_or_c using or doif z or_nc long 002c0000 patch condition if z to if z _or_nc using or domuxne long 04000000 patch muxc to muxnc using or txbitor long 0401 bits to or for transmitting adding start and stop bits Buffer sizes initialized from CONstants and used by both spin and pasm rxsize long RX_SIZEO TTA size of the rx and tx buffers is available to pasm and spin rxsizel long RX SIZEI1 these values are transfered from the declared CONstants rxsize2 long RX SIZE2 at startup individually configurable rxsize3 long RX SIZE3 txsize long TX SIZEO txsizel long TX_SIZE1 txsize2 long TX SIZE2 txsize3 long TX SIZE3 Object memory from here to the end is zeroed in the init stop method Some locations within the next set of values after being initialized to zero are then filled with alternative options 101 That are accessed from both spin and pasm Dont Change the order of these initialized variables within port groups of 4 without modifying the code to match both spin and assembler startfill rxchar byte 0 used by spin rxcheck for inversion of received data rxchar1 byte 0 rxchar2 byte 0 rxchar3 byte 0 cog long 0 cog flag id rxtx_mode long 0 mode setting from values passed in by addport rxtx model long 0 rxtx_mode2 long 0 rxtx_mode3 long 0 rx_head long 0 rx head pointer from 0 to size of rx buffer used in spin and pasm rx_head1 long 0 data i
24. 8 words bi Passed from Spin to Cog on cog initialization z Spin per port info 4 x 1 byte Used by Spin Spin Cog rx tx buffer hub address 4 x 4 words Passed from Spin to Cog on cog initialization Spin Cog rx tx index hub address 4 x 4 words F Passed from Spin to Cog on cog initialization z Spin per port rx buffer 4 x 64 byte x DWD Changed to 4 x 128 bytes Read by Spin written by cog i x Cog per port rx state 4 x 4 words overlayed on rx buffer Used by Cog n Spin per port tx buffer 4 x 16 byte 75 Woke Woke Woke ES Woke Woke Woke Woke Woke Woke Woke Woke Woke Woke Written by Spin read by Cog Cog per port tx state 4 x 4 words overlayed on tx buffer Used by Cog 7 Cog constants 4 words z A significant amount of space 4 x 16 words is used for pre calculated information hub addresses per port configuration This speeds up the tx rx routines at the cost of this space x Note There are 8 longs remaining in the cog s memory x expect to do some work to add features x DWD Note from Duane Many of the longs in the cog image are only used in hub RAM There is still lots of room in cog RAM TTA agreed thanks DWD x 7 1 08 Fixed bug of not receiving with only 1 port enabled Fixed bug of rts not working on ports 0 2 and3 7 22 08 Missed a jmpret call in port 1 and 3 tx Fixed a bug in port 3 tx not in
25. Design of a Bluetooth Enabled Android Application for a Microcontroller Driven Robot by Vito M Guardi An Engineering Project Submitted to the Graduate Faculty of Rensselaer Polytechnic Institute in Partial Fulfillment of the Requirements for the degree of MASTER OF ENGINEERING Major Subject Mechanical Engineering Approved Ernesto Gutierrez Miravete Project Adviser Rensselaer Polytechnic Institute Hartford CT May 2014 Copyright 2014 by Vito M Guardi All Rights Reserved CONTENTS Design of a Bluetooth Enabled Android Application for a Microcontroller Driven Roboti LAS TOR TABLES yaan aasnccnd a nr aE aa eia TAa R a AE AE RE iii LIST OF ACCRONYM S orita ien o eA E E OA E A E N iv EIS FOF RIGURES oes ee a A nate E 8 N E E N v ACKNOWLEDGMENT nprap e a a G Gee vii ABSTRACT Trennen ae a a E T A E viii 1 INTRODUCTION BACKGROUND ssssssssessssesesessesestsrtsestssesestsresestssesestaresesesseseseste 1 1 1 RAC KRONE a aoc eeicarareniebaszucclcaonseea stunned etal aes oe a A e a ENE 1 12 RAO WOK hoe ceca hai ad 8 aa cca a hesitated tines M0 arn ucla ean toh india Sa Jains cadre 1 VS Objettiv Ecri aioe tijuana Sac tecat aa eh sewage Gc tad ana ceca aden aes 4 2 METHODOLOGY AMPLEMENTATION icc cccsseissseastdeatsacs canine haamaeas 5 2 1 Component and Software Selection ccsscssccsssccsssssssccsscsssrcsessccssnssencesaces 5 2 1 1 Selecting a Mobile Operating System and a Mobile Device 5
26. ERTCTS we c set if inverted if nz and c or ctsi0 doif_z or nc if nc jmp TTA reversed order to correctly invert CTS if nz and nc or ctsi0 doif_z orc if cjmp if z moy txcts0 transmit copy the jmpret over the cts test if z moys ctsi0 txcts0 patch the jmps to transmit to txcts0 if z add txcode 1 change co routine entry to skip first jmpret patch rx routine depending on whether rts is used and if it is inverted or rtsmask 0 wz rts pin z not set ifin use if nz test rxtx_mode INVERTRTS wc if nz and nc or rts0 domuxne patch muxc to muxnc if z mov norts0 rec0i patch to a jmp receive if z moys start0 receive skip all rts processing if not used or txmask 0 wz iftx pin not used if z movi transmit 010111_000 patch it out entirely by making the jmpret into a jmp TTA or rxmask 0 wz ditto for rx routine if z movi receive 010111 000 TTA f MAIN LOOP 89 Receive receive jmpret rxcode txcode run a chunk of transmit code then return patched to a jmp if pin not used test rxmask ina we start0 if c jmp norts0 go check rts if no start bit have to check rts because other process may remove chars will be patched to jmp receive if no rts moy rxbits 9 ready to receive byte moy rxcnt bit4 ticks 1 4 bits add rxcnt cnt bit add rxcnt bit ticks 1 bit period wait jmpret rxcode txcode run a chu
27. Enabled program User selects List of List of s A Scan for x Scan and Paired devices Connect Devices found Attempt to Alert User Y connect to Select Devi selected Select Device device N Alert User Figure 18 Level 1 Block Diagram Android Process for Connecting to a Remote Bluetooth Device In addition to detecting and connecting to a remote Bluetooth device the Android application is also responsible for obtaining the user s input through the user interface and converting the gestures and motions of the user s hand on the touch screen into input for controlling the robotic platform Ultimately the application takes the user s input constructs messages that fit the established communication protocol and then transmits them over the Bluetooth connection A block diagram of the process implemented can be seen in Figure 19 Note that at this point a successful connection with a remote device has already been established Also note that this process is repeated as to continuously monitor user input and transfer data to the remote device It is also worth noting that data transmission is triggered by user input if user input is not received or remains unchanged over a period of time data is not transmitted Keep in mind that this is just one method for implementing the communication protocol another approach could have been to transmit updated values of the sliders at a fixed time interval independent of whether the input had chan
28. IZE lt extra overlay ut ee TERMS OF USE MIT License ecc Permission is hereby granted free of charge to any person obtaining a copy of this software and associated documentation files the Software to deal in the Software without restriction including without limitation the rights to use copy modify merge publish distribute sublicense and or sell copies of the Software and to permit persons to whom the Software is furnished to do so subject to the following conditions The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software THE SOFTWARE IS PROVIDED AS IS WITHOUT WARRANTY OF ANY KIND EXPRESS OR IMPLIED INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT IN NO EVENT SHALL THE AUTHORS OR 107 COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM DAMAGES OR OTHER LIABILITY WHETHER IN AN ACTION OF CONTRACT TORT OR OTHERWISE ARISING FROM OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE CO l ENEN 6 5 5 DatalO4port Spin Library TKK 3K 3K 3K 3K K K K 3K 3K 3K 3K 2K 2K K K K 3K 3K 3K FK 2K K K K K 3K 3K 3K FK FK K K K OIE 3K 3K FK FK FK K K K 2K 3K 3K FK FK FK K K K K 3K 3K FK FK FK K K 2K 2K K K ok DatalO4port version 1 0 1 22 2012 k Author Tracy Allen
29. InMax port stringptr 1 PUB StrInMax port stringptr maxcount char ticks from PST modified Receive a string of characters either carriage return terminated or maxcount in length and stores it zero terminated starting at stringptr Waits until either full string received or maxcount characters received Parameters stringptr pointer to memory in which to store received string characters Memory reserved must be large enough for all string characters plus a zero terminator maxcount 1 maxcount maximum length of string to receive or 1 for unlimited 113 maxcount lt MAXSTR_ LENGTH repeat maxcount While maxcount not reached if byte stringptr uarts rx 0 NL Get chars until NL quit byte stringptr byte stringptr 1 NL Zero terminate string overwrite NL or append 0 char PUB StrInB port stringptr seconds char ticks ticks clkfreq seconds cnt repeat MAXSTR_ LENGTH repeat char uarts rxcheck port until char gt 1 case char 32 126 byte stringptr char encompasses all numeric chars in dec and hex 8 127 stringptr 13 quit if ticks cnt lt 0 quit byte stringptr PUB DecIn port value PST Receive carriage return terminated string of characters representing a decimal value Returns the corresponding decimal value StrInMax port str_buffer MAXSTR LENGTH value StrfoBase str_buffer 10 114 PUB HexIn port value from PST Re
30. Module 64 A RX 2 To TX pin on RN 42 Bluetooth Module A CTS 3 To RTS pin on RN 42 Bluetooth Module A RTS 4 To CTS pin on RN 42 Bluetooth Module BAUD 9600 Baud Rate 9600 bps VAR long tLow tHigh T dt stack 700 cntr inByte inString ctr testStr 15 milis char us dataV dataH scale rawSpeed rawDirection speed Servo rServo direction range word cntMin byte i inByteArr 300 bufferSize cntB temp Index OBJ fds FullDuplexSerial4port dio datalO4port PUB Main milis clkfreq 1_ 000 dira 26 27 11 Set Pin 26 amp 27 to output outa 26 27 00 Set pin 26 amp 27 to low dira A_TX 1 outa A_TX 1 rawSpeed 50 rawDirection 50 65 IServo 750 rServo 750 Pause 100 outa A_TX 0 fds Init fds AddPort A PORT A RX A TX A CTS A RTS 0 000000 BAUD fds AddPort DEBUG 31 30 1 1 0 000000 BAUD Debug to the terminal screen fds Start fds str DEBUG String Program Started Outputs Program Started to the terminal screen fds tx DEBUG 13 Pause 2000 UART startup delay cognew Values stack 0 Start a new cog to manage the servo pulses Pause 250 cognew ServoPulse Wstack 300 repeat repeat ctr 0 inByteArr ctr fds rx A_PORT until inByteArr ctr A or inByteArr ctr B if inByteArr ctr A 66 repeat ctr inByteArr ctr fds rx A_PORT until inByteArr ctr dataV 0
31. Three 115 1110011 S Lowercase s 52 110100 4 Four 116 1110100 t Lowercase t 53 110101 5 Five 117 1110101 u Lowercase u 54 110110 6 Six 118 1110110 v Lowercase v 55 110111 7 Seven 119 1110111 w Lowercase w 56 111000 8 Eight 120 1111000 x Lowercase x 57 111001 9 Nine 121 1111001 y Lowercase y 58 111010 Colon 122 1111010 Z Lowercase z 59 111011 p Semicolon 123 1111011 Opening brace 60 111100 lt Less than or open angled bracket 124 1111100 Vertical bar 61 111101 Equals 125 1111101 Closing brace 62 111110 X Greater than or close angled 126 1111110 7 Equivalency sign bracket tilde 63 111111 Question mark 127 1111111 Delete 32 6 2 Android Device User Interface Screen Captures 9 22 PM gt ye 7 Advanced AIDE AT amp T Code AT amp T AT amp T Task Killer Scanner Connect f FamilyMap Ge ih iE ops A AT amp T AT amp T AT amp T AT amp T Smart ESE Locker NEW ef Colmuus Iai relep facie Wi Fi d JE O EJ Calculator Calenda saeta ChatON o iy A Color Contacts Downloads Matchen ET A ow Drive Dropbox Earth mai Figure 21 BlueTest 3 Application Launched from the Application Menu a I 46 gg 9 22 PM ic BlueTest3 V 50 H 50 Start gt Cu Scan and Connect Make device discoverable Figure 22 User Menu within the Application 33 aa f Select a device to connect to Paired Devices FORS AEGSE ES RN42 966D 00 06 66 48 96 6D asyBT g
32. X Uppercase X 25 11001 EM End of Medium 89 1011001 Y Uppercase Y 26 11010 SUB Substitute 90 1011010 Z Uppercase Z 27 11011 ESC Escape 91 1011011 Opening bracket 28 11100 FS File Separator 92 1011100 Backslash 29 11101 GS Group Separator 93 1011101 Closing bracket 30 11110 RS Record Separator 94 1011110 A Caret circumflex 31 11111 US Unit Separator 95 1011111 Underscore 32 100000 Space 96 1100000 Grave accent 33 100001 Exclamation mark 97 1100001 a Lowercase a 34 100010 j Double quotes or speech marks 98 1100010 b Lowercase b 35 100011 Number 99 1100011 c Lowercase c 31 36 100100 Dollar 100 1100100 d Lowercase d 37 100101 Percent 101 1100101 e Lowercase e 38 100110 amp Ampersand 102 1100110 f Lowercase f 39 100111 i Single quote 103 1100111 g Lowercase g 40 101000 Open parenthesis or open bracket 104 1101000 h Lowercase h 41 101001 Close parenthesis or close bracket 105 1101001 i Lowercase i 42 101010 x Asterisk 106 1101010 j Lowercase j 43 101011 Plus 107 1101011 k Lowercase k 44 101100 F Comma 108 1101100 Lowercase 45 101101 Hyphen 109 1101101 m Lowercase m 46 101110 Period dot or full stop 110 1101110 n Lowercase n 47 101111 Slash or divide 111 1101111 o Lowercase o 48 110000 0 Zero 112 1110000 p Lowercase p 49 110001 1 One 113 1110001 q Lowercase q 50 110010 2 Two 114 1110010 r Lowercase r 51 110011 3
33. a getExtras getString DeviceListActivity EXTRA DEVICE ADDRESS Get the bluetooth Device object BluetoothDevice device mBluetoothAdapter getRemoteDevice address 46 Attempt to connect to the device Toast makeText getBaseContext Attempting to connect to address Toast LENGTH SHORT show mDataService connect device The Handler that gets information back from the BluetoothDataTransferService private final Handler mHandler new Handler Override public void handleMessage Message msg switch msg what case MESSAGE TOAST Toast makeText getBaseContext msg getData getString TOAST Toast LENGTH SHORT show break case MESSAGE READ resolveData msgFull break End of switch End of handleMessage End of mHandler private void resolveData String inputString String message ABCDE String test mResolverService SortInputData inputString Toast makeText getBaseContext test Toast LENGTH SHORT show TextView txtOut TextView findViewById R id txtOut txtOut setText test byte send message getBytes mDataService write send End if end main 6 4 2 Bluetooth Data Transfer Service package com dynamicsolutions bluetest3 import java io IOException import java io InputStream 47 import java io OutputStream import java nio charset Charset
34. accomodate all of the buffers if the sum totals to 308 then the buffers exactly fit within the object footprint PUB Init Always call init before adding ports Stop bytefill startfill 0 endfill startfill initialize head tails port info and hub buffer pointers return rxsize TTA returns pointer to data structure buffer sizes PUB AddPort port rxpin txpin ctspin rtspin rtsthreshold mode baudrate Call AddPort to define each port port 0 3 port index of which serial port rx tx cts rtspin pin number XXX PINNOTUSED if not used rtsthreshold buffer threshold before rts is used XXX DEFAULTTHRSHOLD means use default mode bit 0 invert rx XXX INVERTRX mode bit 1 invert tx XXX INVERTTX mode bit 2 open drain source tx XXX OCTX 78 mode bit 3 ignore tx echo on rx XXX NOECHO mode bit 4 invert cts XXX INVERTCTS mode bit 5 invert rts XXX INVERTRTS baudrate if cog OR port gt 3 abort if rxpin lt gt 1 long rxmask port lt rxpin if txpin lt gt 1 long txmask port lt txpin if ctspin lt gt 1 long ctsmask port lt ctspin if rtspin lt gt 1 long rtsmask port lt rtspin if rtsthreshold gt 0 AND rtsthreshold lt rxsize port variable buffer size long rtssize port rtsthreshold else long rtssize port rxsize port 3 4 buffer TTS ref RX_BUFSIZE long rxtx_mode port mode if mode amp INVERTRX byte rxchar po
35. android xmlns tools http schemas android com tools android layout width fiil parent android layout_height fill parent tools context MainActivity android orientation horizontal gt lt TextView android id tid txtoOut android layout_width fill parent android layout height wrap_content gt lt Button android id id btn_Send android layout _width wrap content android layout_height wrap_ content android layout_alignParentTop true android layout _centerHorizontal true android text Start gt lt TextView android android android android android android id tid textViewl1 layout_width wrap_ content layout_height wrap_ content layout_alignParentLeft true layout_alignParentTop true text V gt 37 lt TextView android android android android android android id tid textView2 layout_width wrap_content layout_height wrap_ content layout _alignParentLeft true layout_below tid txtOut text H gt lt TextView android android android android android android id tid vTextView layout_width wrap_content layout _height wrap_ content layout_above id hTextView layout toRightOf id textView2 text 50 gt lt TextView android android android android android android android id t tid hTextView layout_width wrap_content layout _height
36. apter mBluetoothAdapter BluetoothAdapter getDefaultAdapter Check to see if bluetooth is supported and if not alert the user if mBluetoothAdapter null Toast makeText this Bluetooth is not supported on this device Toast LENGTH LONG show finish return mResolverService new DataResolverService this mHandler Send Button btnSend Button findViewById R id btn_ Send hText TextView findViewById R id hTextView hSeek SeekBar findViewById R id hSeekBarl vText TextView findViewBylId R id vTextView vSeek SeekBar findViewById R id vSeekBarl1 hSeek setProgress 50 hSeek setEnabled false vSeek setProgress 50 vSeek setEnabled false 42 hSeek setOnSeekBarChangeListener new OnSeekBarChangeListener Override public void onStopTrackingTouch SeekBar seekBar hSeek setProgress 50 Override public void onStartTrackingTouch SeekBar seekBar TODO Auto generated method stub Override public void onProgressChanged SeekBar seekBar int progress boolean fromUser String stringH Integer toString progress hText setText stringH String messageB B String messageF byte sendB messageB getBytes mDataService write sendB try Thread sleep 1 catch InterruptedException e TODO Auto generated catch block e printStackTrace Log
37. atform Additionally I will describe at a high level the control logic implemented on both the Android device and the Propeller controlled robotic platform 2 2 1 Development of a Communication Protocol In its most basic form the communication protocols purpose is to serve as a common language that can be interpreted by any device design to accept the language and rules of the communication protocol A device receiving a message per the communication protocol would not care how the message was generated or by what type of device the message was generated from Additionally the device generating the message would not care what type of device the message is going to This is because compatibility between the two devices is guaranteed based on following the rules of the protocol To suit the needs of this project while remaining general enough that its implementation could be widely accepted I set out to create as basic a communication protocol as possible This was in an attempt to make the requirements imposed on 15 devices as basic as possible in order to capture as many devices as possible The rules of the protocol are as follows 1 The device should parse all messages and transmit them a single byte of data at a time 2 The data must be transmitted as 8 bit ASCII American Standard Code for Information Interchange characters 3 The first character must be an Alpha and is the Index that represents the parameter the following data wi
38. c or ctsi2 doif_z or c if cjmp if z moy txcts2 transmit2 copy the jmpret over the cts test if z moys ctsi2 txcts2 patch the jmps to transmit to txcts0 if z add txcode2 1 change co routine entry to skip first jmpret or rtsmask2 0 wz if nz or dira rtsmask2 TTA rts needs to be an output if nz test rxtx _mode2 INVERTRTS we if nz and nc or rts2 domuxnc patch muxc to muxnc if z mov norts2 rec2i patch to a jmp receive2 if z movs start2 receive2 skip all rts processing or txmask2 0 wz iftx pin not used if z movi transmit2 010111_000 patch it out entirely by making the jmpret into a jmp TTA or rxmask2 40 wz ditto for rx routine if z movi receive2 010111 000 TTA port 1 initialization test rxtx_model OCTX wz init tx pin according to mode test rxtx_model INVERTTX we if z nec or _ outa txmaskl if z or dira txmask1 if z eqc or txoutl domuxnc patch muxc to muxnc if nz moyd txoutl dira change destination from outa to dira test rxtx_model INVERTRX wz wait for start bit on rx pin if nz xor startl doifc2ifnc if cjmp to if nc or ctsmaskl 0 wz if nz test rxtx_model INVERTCTS we 87 if nz and c or ctsil doif z or nc if nc jmp TTA reversed order to correctly invert CTS if nz and nc or ctsil doif z or c if cjmp if z moy txctsl transmitl copy the jmpret over the cts test if z moys ctsil txcts1 patch the jmps to tra
39. ceive carriage return terminated string of characters representing a hexadecimal value Returns the corresponding hexadecimal value StrInMax port str_buffer MAXSTR LENGTH value StrToBase str_buffer 16 PUB BinIn port value from PST Receive carriage return terminated string of characters representing a binary value Returns the corresponding binary value Note that the constant MAXSTR LENGTH limits the of digits StrInMax port str_buffer MAXSTR LENGTH value StrToBase str_buffer 2 PRI StrToBase stringptr base value chr index from PST Converts a zero terminated string representation of a number to a value in the designated base Ignores all non digit characters except negative when base is decimal 10 value index 0 repeat until chr byte stringptr index 0 chr 15 chr amp 11011111 39 chr gt 56 Make 0 9 A F a f be 0 15 others out of range if chr gt 1 and chr lt base Accumulate valid values into result ignore others value value base chr 115 if base 10 and byte stringptr If decimal address negative sign ignore otherwise value value DAT TKK K 3K 3K 3K 24g K K 3K 3K 3K 3K 3K 2K K K K K 3K 3K 3K FK 2K K K K 2K 2s 2 2k 2K 2K K ok Assembly language serial driver TKK 3K 3K 3K 3K K K K 3K 3K 3K 3K 2K 2K K K K K 3K 3K 3K FK FK FK K K 2k 2g 2 2k 2K 2K gt K ok
40. ces setAdapter mPairedDevicesArrayAdapter lstPairedDevices setOnItemClickListener mDeviceSelectedListener Find and set up list view for new devices ListView lstNewDevices ListView findViewById R id new device list lstNewDevices setAdapter mNewDevicesArrayAdapter lstNewDevices setOnItemClickListener mDeviceSelectedListener Register for broadcasts when a device is found IntentFilter filter new IntentFilter BluetoothDevice ACTION FOUND this registerReceiver mReceiver filter Register for broadcasts when discovery has finished filter new IntentFilter BluetoothAdapter ACTION DISCOVERY FINISHED this registerReceiver mReceiver filter Get the local bluetooth adapter mBtAdapter BluetoothAdapter getDefaultAdapter Get a set of currently paired devices Set lt BluetoothDevice gt pairedDevices mBtAdapter getBondedDevices If there are paired devices add them to the Array Adapter if pairedDevices size gt 0 findViewBylId R id title paired devices setVisibility View VISIBL E for BluetoothDevice device pairedDevices mPairedDevicesArrayAdapter add device getName n device getAddress End for End of if else 53 String noDevices getResources getText R string none paired toString mPairedDevicesArrayAdapter add noDevices End else End
41. cess I set a bench mark for the minimum number of data transfers or parameter updates that needed to be able to occur per second This was in an attempt to quantify the responsiveness of the platform and the implementation of the communication protocol Additionally it would help flush out if the protocol had any inherent attributes that were not conducive to rapid data transfer I initially had set out to show that the given parameters could be updated 4 times per second this should ensure that the robotic platform would be responsive and react to user input without a significant visual delay With some simple testing I observed that the configuration was capable of preforming over 20 updates per second The capability 26 for this high refresh rate meant that the robotic platform would be able to react to the users input with virtually no visual delay on par with existing R C solutions and products currently on the market A video of the application and robotic platform in action has been uploaded to You Tube 16 27 4 CONCLUSIONS The intent of this project was to demonstrate the possibility to create a communication protocol that could be implemented over Bluetooth between a mobile device and a robotic platform The intent being that if the robotic platform was designed to receive messages per the protocol it could be implemented without creating a unique application on the mobile device for each robotic platform I have shown
42. ck of transmit code then return mov tl rxcnt check if bit receive period done sub tl cnt cmps t1 0 wc if nc jmp wait test rxmask ina wc receive bit on rx pin rcer rxdata 1 djnz rxbits bit get remaining bits test rxtx mode INVERTRX wz _ find out if rx is inverted if z ne c jmp receive abort if no stop bit TTA from serialMirror jmpret rxcode txcode run a chunk of transmit code then return shr rxdata 32 9 justify and trim received byte 90 nortsO rts wc if c rts0 rec0i Receivel receivel startl if c wrbyte rxdata rxbuff head _ptr 7 22 lwr add rx_head 1 cmpsub rx_head rxsize TTA allows non binary buffer size wrlong rx_head rx_head_ptr 8 2wr moy rxbuff head_ptr rxbuff ptr calculate next byte head_ptr add rxbuff head_ptr rx_head rdlong rx tail rx tail ptr 7 22 or 8 will be patched to jmp r3 if no Ird moy tl rx_head sub tl rx_tail we calculate number bytes in buffer TTA add and tl 7F fix wrap add tl rxsize fix wrap TTA change cmps tl rtssize wc is it more than the threshold muxc outa rtsmask set rts correctly jmp receive byte done receive next byte jmpret rxcodel txcodel run a chunk of transmit code then return test rxmaskl ina we jmp norts1 go check rts if no start bit mov rxbits1 9 ready to receive byte mov rxcntl bit4 ticks 1 4 bits add rxcntl cnt 91 bit1 waitl if nc if z ne c serialMirror norts 1 no r
43. creasing tx ptr 7 24 08 Added version variable to change if need multiple copies of the driver z x TEKK K kk k k k k k k k k k k k K k k k k K K k 8 k 2K K k k k K K 8 k k K K K k k k fg 8 k k 2k 2K K k k fe 2K K K k 2 2K 2K 3K 3k 2k 2K 2 2K 2k CON NOMODE 000000 INVERTRX 000001 INVERTTX 000010 OCTX 000100 76 NOECHO 001000 INVERTCTS 010000 INVERTRTS 100000 PINNOTUSED tx tx cts rts pin is not used DEFAULTTHRESHOLD 0 zero defaults to 3 4 of buffer length BAUD1200 1200 BAUD2400 2400 BAUD4800 4800 BAUD9600 9600 BAUD19200 19200 BAUD38400 38400 BAUDS57600 57600 BAUD115200 115200 The following constants declare the sizes of the rx and tx buffers Enter in the needed size in bytes for each rx and tx buffer These values can be any size within available memory They do not have to be a power of two Unused buffers can be reduced to 1 byte RX_SIZEO 200 receive buffer allocations RX_SIZE1 200 RX_SIZE2 80 RX_SIZE3 80 TX_SIZEO 20 transmit buffer allocations TX_SIZE1 20 TX_SIZE2 20 TX_SIZE3 20 T1 RXTX_BUFSIZE TX_SIZEO TX_SIZE1 TX_SIZE2 TX_SIZE3 RX_SIZEO RX_SIZE1 RX_SIZE2 RX_SIZE3 total buffer footprint in bytes 77 longs 308 bytes are available for buffers within the hub footprint of the object the final instruction in this program allocates additional buffer space beyond that if necessary to
44. d OutputService Output B Complete byte sendH stringH getBytes mDataService write sendH try Thread sleep 1 catch InterruptedException e TODO Auto generated catch block e printStackTrace Log d OutputService Output H Complete byte sendF messageF getBytes mDataService write sendF try Thread sleep 1 catch InterruptedException e TODO Auto generated catch block e printStackTrace Log d OutputService Output F Complete 43 vSeek setOnSeekBarChangeListener new OnSeekBarChangeListener Override public void onStopTrackingTouch SeekBar seekBar vSeek setProgress 50 Override public void onStartTrackingTouch SeekBar seekBar TODO Auto generated method stub Override public void onProgressChanged SeekBar seekBar int progress boolean fromUser String stringV Integer toString progress vText setText stringV String messageA A String messageF byte sendA messageA getBytes mDataService write sendA try Thread sleep 1 catch InterruptedException e TODO Auto generated catch block e printStackTrace Log d OutputService Output A Complete byte sendV stringV getBytes mDataService write sendV try Thread sleep 1 catch InterruptedException e TODO Auto generated catch block e printStackTrace Log d OutputService Out
45. d 2 0 1 6 ECLAIR 0 1 Android 2 0 5 ECLAIR Android 1 6 4 DONUT Android 1 5 3 CUPCAKE Android 1 1 2 BASE 1 1 Android 1 0 1 BASE Android applications designed for and that utilize features available only in later versions of Android will not be capable of running on earlier version or API levels of the operating system Therefore the selection of a platform will mean that all devices running an older version of Android will be incompatible reducing the number of devices capable of running the application Since our application will require Bluetooth functionality we can eliminate any platform versions that did not support Bluetooth The Bluetooth Adapter Class 7 was first incorporated into Android 2 0 API level 5 AKA Eclair which sets the minimum API level that will be able to support our needs Additionally Android publishes statistics on a monthly basis that tells us the relative number of devices that run a given platform version 8 Distribution e oom 8 1 1 Froyo 2 3 3 Gingerbread 10 17 8 2 3 7 3 2 Honeycomb 13 0 1 4 0 3 Ice Cream 15 14 3 4 0 4 Sandwich ae 4 1 x Jelly Bean 16 34 4 4 2 x 17 18 1 ce Cream Sandwich g 4 3 18 8 9 4 4 KitKat 19 5 3 Data collected during a 7 day period ending on April 1 2014 Any versions with less than 0 1 distribution are not shown Figure 5 Relative Number of Devices by Platform Number API level Code Name 8 Based on Figure 5 as of April 2014 approximately 81 of
46. dditionally the ActivityBot is compatible with a number of microcontroller boards produced by Parallax Figure 7 ActivityBot Robot Kit 9 When selecting a microcontroller for this project I considered a number of factors to help make my decision Factors considered included startup cost open source IDE compatibility with existing add ons robotic platforms the availability of documentation and the architecture processing power of the microcontroller I found that there were two microcontroller platforms at the forefront of the hobby armature robotics community the Arduino platform and the Parallax Propeller platform Both platforms compared equally across many aspects as both offered products with a 32 bit processor both offer free open source IDE s both are in the same price range both offer a large number of add ons compatible robotic platforms and both have a large online support community I did however find two differences that for my application were the deciding factor in selecting the Propeller Activity Board from Parallax Figure 8 over a similar board from Arduino The Propeller microcontroller has a unique architecture unlike many others including the Arduino while most contain a single processor or cog the Propeller contains 8 independent 32 bit processors 10 Propeller Activity Board Figure 8 Propeller Activity Board 10 This allows for a consolidated package that can perform multiple
47. del transmitl rxcode2 if never mov _ rxcode2 receive2 txcode2 if never mov txcode2 transmit2 rxcode3 if never moy rxcode3 receive3 txcode3 if never mov _ txcode3 transmit3 84 j INITIALIZATIONS port 3 initialization test rxtx_mode3 4OCTX wz init tx pin according to mode test rxtx_mode3 INVERTTX we if z ne cor outa txmask3 if z or dira txmask3 patch tx routine depending on invert and oc if invert change muxc to muxnc if oc change outa to dira if z eq cor txout3 domuxne patch muxc to muxnc if nz movd txout3 dira change destination from outa to dira patch rx wait for start bit depending on invert test rxtx mode3 INVERTRX wz wait for start bit on rx pin if nz xor start3 doifc2ifnc if cjmp to if nc patch tx routine depending on whether cts is used and if it is inverted or ctsmask3 0 wz cts pin z not set if in use if nz test rxtx_mode3 INVERTCTS we c set if inverted if nz and c or ctsi3 doif_z or nc if nc jmp TTA reversed order to correctly invert CTS if nz and ne or ctsi3 doif_z or c if cjmp f not cts remove the test by moving the transmit entry point down 1 instruction and moving the jmpret over the cts test and changing co routine entry point if z moy txcts3 transmit3 copy the jmpret over the cts test if z moys ctsi3 txcts3 patch the jmps to transmit to txcts0 if z add txcode3 1 change co routine entry to
48. done while other cogs work to interpret the data received and generate the pulse commands require to run the platforms motors I Cog 0 i Shared Global Memory i Initialize drive l i aw comman oe l variables to R d j i l osition neutral values i data ee aide l J l Initialize serial l jcommunication l I ports l Launch cog 1 i l l l l Read raw data l l Raad l Launch cog2 I l Commands l l l l Wait to receive l interpret and l l l data l l convert to i l Generate Pulse i l i l potisni i l to servos i l Interpret data l l and store l Si l Pause 20 milli l l according to l l l econds index l Commands l l m j bl Ll Ll Ll Figure 20 Level 1 Block Diagram of the Propeller Microcontroller and the Interaction between Cogs A block diagram of the processes executed on each cog as well as the interaction between cogs and the shared global memory can be seen in Figure 20 Additionally the 24 Spin source code implemented on the Propeller microcontroller can be found in Appendix 6 5 3 with supporting libraries in appendix sections 6 5 4 and 6 5 5 25 3 RESULTS AND DISCUSSION To determine if the attempt to create and implement a communication protocol between a mobile device and a robotic platform was successful I determined it was best to implement the device on physical hardware This would provide means of comparison between existing radio controll
49. eContext address toString Toast LENGTH SHORT show Set the results and finish the activity setResult Activity RESULT OK intent finish End of on item click End mDeviceSelectedListener The Broadcast Receiver for when devices are found and discovery is finished private final BroadcastReceiver mReceiver new BroadcastReceiver Override public void onReceive Context context Intent intent String action intent getAction When discovery finds a device if BluetoothDevice ACTION FOUND equals action Get the Bluetooth Device from the Intent BluetoothDevice device intent getParcelableExtra BluetoothDevice EXTRA DEVICE T its already paired skip is since its already been listed if device getBondState BluetoothDevice BOND BONDED mNewDevicesArrayAdapter add device getName n device getAddress End if End if else if BluetoothAdapter ACTION DISCOVERY FINISHED equals action setProgressBarIndeterminateVisibility false setTitle R string select device if mNewDevicesArrayAdapter getCount 0 String noDevices getResources getText R string none found toString mNewDevicesArrayAdapter add noDevices End if End else if End onRecieve End Broadcast Receiver End of DeviceListActivity Class 55 6 4 4 Data Resolver Service package com dynamicsoluti
50. echnologies Mobile Controlled Robot http www projectsof805 1 com mobile controlled robot 5 Mobile Operating System World Wide Market Share International Business Times http www ibtimes com android vs ios whats most popular mobile operating system your country 1464892 6 Android platform names API levels and Code names http developer android com guide topics manifest uses sdk element html 7 Bluetooth Adapter Class http developer android com reference android bluetooth BluetoothAdapter html 8 Relative number of devices running a given Android version or API level http developer android com about dashboards index html 9 ActivityBot Robot Kit manufactured by Parallax http www parallax com product 32500 10 Propeller Activity Board Manufactured by Parallax http www parallax com product 32910 11 RN 42 Bluetooth Adapter manufactured by parallax http www parallax com product 30086 12 Android Developers Website http developer android com index html 13 Android SDK download link http developer android com sdk index html 14 Parallax Main Webpage http www parallax com 29 15 Propeller software and driver download http www parallax com downloads propeller tool software 16 You Tube video of application and robotic platform in action http youtu be ytDogEmw2ZQ 30 6 APPENDICES
51. ed robotic platforms even something as simple as an RC car would serve as an acceptable analog for comparison Along the way I uncovered several unforeseen challenges that did create good learning opportunities some directly relevant to my work and others not as much One such example was the use of the Easy Bluetooth Module which was offered by Parallax for some period of time The most notable difference between the Easy Bluetooth Module and the RN 42 Bluetooth Adapter was the lack of RTS CTS flow control for the asynchronous serial interface between the Bluetooth module and the microcontroller While initially I did not believe this would be an issue I was unable to write an application that was able to maintain a good connection The adapter and the Propeller were constantly getting out of sync causing slow transfer rates and data loss This issue was especially challenging to debug as it was difficult to determine if the issue was with the data being transmitted over Bluetooth or if it was the sync between the module and the Propeller However I am now confident that the lack of flow control was the source of the problem as all sync issues were resolved with the implementation of the RN 42 module with no major changes to the structure of the Propeller code It is also worth noting that the Easy Bluetooth module is now discontinued however Parallax does still offer support for the product on their web page As an additional means for measuring suc
52. eeeeeeceseceseeeeeneeerees 41 6 4 1 Main Activity Java Odes oie ceshenerea ice uij an tovecaetiestohcnuaeve ous 41 6 4 2 Bluetooth Data Transfer Service ecesscesssssseseeccescctsseseeneesoeeess 47 643 Devic Eist ACtvityeosiensseean a e E a a an a 52 GAA Data Resolver Service se arii a a e a ie ean a eaei 56 ActivityBot Propeller Spin Source Code sssssssesessseessessesseossessresresseesreseessee 56 6 5 1 RN 42 Bluetooth Module Configuration Spin Source Code 56 6 5 2 RN 42 Bluetooth Module Verification Spin Source Code 60 6 5 3 ActivityBot Spin Source Code Implemented on the Propeller Microcontroller sisien eo ctu Da cane Sah Si fencetecg 64 6 5 4 FullDuplexSerial4port Spin Library 200 0 ce eecceesseceteceteeeeeeeeteeesseees 71 6 5 5 DatalO4port Spin Library cucei nasa cawedys secarederdetanivansceadeeestedac gen enaaeyeeeeeas 108 ii LIST OF TABLES Table 1 List of Android API Levels and Corresponding Code Names 6 0008 7 Table 2 Correlation between Index its Meaning on the Android Device and the Robot Aiea erst stitial Act nl E E etl Dell Dalen Succ Ach ET E E 9s aah el tail 17 Table 3 Correlation between Numerical Value its Physical Implementation on the Android Application and the Robotic Platform for Parameters A amp Buu eeeeeeeeeeee 18 Table 4 First 128 Characters of the ASCII code wo cei cceesssesecseeeecsseeeceseeeeeaeesseaeens 31 iii LIST OF ACCRONYMS
53. ell and ultimately it s a matter of personal taste a SAMSUNG 12 45 Thu Nov 15 Tala PEERS AccuWeatiey Figure 6 Mobile Platform Samsung Galaxy Note II Running Android 4 3 Ice Cream Sandwich 2 1 2 Selecting a Microcontroller and Robotic Platform The robotic platform could take many forms for one to demonstrate control of it It could be as simple as just a microcontroller with an output to a monitor terminal showing the change in variables being controlled However this method of implementation would not provide a good feel for the speed and responsiveness of the control of the robot To better perceive judge these qualities I decided it would be best to implement a robotic platform capable of movement This would provide a platform that could be compared to the responsiveness found and expected by users of existing Radio controlled robotic platforms I selected the ActivityBot Robot Kit Figure 7 as shown with optional Propeller Activity Board Attached manufactured by Parallax The ActivityBot Kit provides a platform that is capable of movement as provided by the two wheels connected directly to continuous rotation servos Since it only has two wheels a third sliding post is provided for stability It also changes direction using skid steering that is to turn left the right wheel must be rotating faster than the left wheel It is also capable of turning in place by rotating the wheels in opposite directions A
54. ent End of write private void connectionFailed End of connection failed public synchronized void connected BluetoothSocket socket BluetoothDevice device final String socketType Start the thread to manage the connection and perfor transmission mConnectedThread new ConnectedThread socket socketType mConnectedThread start End of connected private class ConnectedThread extends Thread private final BluetoothSocket mmSocket private final InputStream mmInStream private final OutputStream mmOutStream public ConnectedThread BluetoothSocket socket String socketType mmSocket socket InputStream tmpIn null OutputStream tmpOut null Get the bluetooth socket input and output streams try tmpIn socket getInputStream tmpOut socket getOutputStream End of try catch IOException e Log e TAG temp sockets not created e End of Catch mminStream tmpIn mmOutStream tmpOut public void run byte buffer new byte 1024 50 int bytes String end StringBuilder curMsg new StringBuilder Keep listening to the input stream while connected while true try while 1 bytes mmIinStream read buffer curMsg append new String buffer 0 bytes Charset forName UTF 8 String fullMessage curMsg toString mHandler obtainMessage MainActivity MESSAGE READ fu
55. fill rx head ptr rx_head TTA note addresses of the head and tail counts are passed to the cog rx head ptrl rx_head1 if that is confusing take heart These are pointers to pointers to pointers rx_head_ptr2 rx_head2 rx_head_ptr3 rx_head3 80 rx tail ptr rx_tail rx tail ptrl rx_taill rx tail ptr2 rx_tail2 rx tail ptr3 rx_tail3 tx_head_ptr tx_head tx_head_ptrl tx_head1 tx_head_ptr2 tx_head2 tx_head_ptr3 tx_head3 tx_tail_ptr tx_tail tx_tail_ptrl tx_taill tx_tail_ptr2 tx_tail2 tx_tail_ptr3 tx_tail3 okay cog cognew entry rx_head 1 PUB Stop Stop serial driver frees a cog if cog cogstop cog 1 PUB getCogID result return cog 1 PUB rxflush port Flush receive buffer here until empty repeat while rxcheck port gt 0 PUB rxHowFull port TTA added method returns number of chars in rx buffer return rx_head port rx_tail port rxsize port rxsize port rx_head and rx_tail are values in the range 0 lt lt RX _BUFSIZE 81 PUB rxcheck port rxbyte Check if byte received never waits returns 1 if no byte received 00 FF if byte TTA simplified references if port gt 3 abort rxbyte if rx_tail port lt gt rx_head port rxbyte rxchar port byte rxbuff_ptr port rx_tail port rx_tail port rx_tail port 1 rxsize port PUB rxtime port ms rxbyte t Wait ms milliseconds
56. for accepting connection attempts the module must first be configured This is done via the asynchronous serial interface with RTS CTS flow control which can be established between the Propeller and the Bluetooth module Supporting documentation and the products user manual go into sufficient detail on how to set up and configure the Bluetooth module based on the desired application both are available on the product s 23 webpage 11 Additionally the Propeller Spin code used to configure and then verify the state of the Bluetooth adapter can be found in Appendix sections 6 5 1 and 6 5 2 The task of implementing the communication protocol on the ActivityBot robotic platform utilizes the multiple cores of the Propeller microcontroller Since the communication protocol does not specify when or how frequent data will be transmitted and received the robotic platform must be ready and capable of receiving a message at any time For example on a single processor microcontroller if a message was received while the microcontroller was processing a piece of data that was received earlier or outputting a pulse command to one of the servo motors the incoming message could be missed However since the Propeller microcontroller is capable of preforming multiple tasks simultaneously by utilizing its 8 processors or cogs it can have one processor that is solely devoted to listening for incoming data helping to ensure a message is not missed This can be
57. for the pin used for cts input a single bit set a mask for the pin used for rts output bit ticks for start bit 1 4 of standard bit clock ticks per bit threshold in count of bytes above which will assert rts Hub address of data received base plus offset pasm writes WRBYTE to hub at this address Hub address of data tranmitted base plus offset pasm reads RDBYTE from hub at this address 105 txbuff tail ptr2 long 0 txbuff tail ptr3 long 0 rx head ptr long 0 pointer to the hub address of where the head and tail offset pointers are stored rx head ptrl long 0 these pointers are initialized in spin but then used only by pasm rx head _ptr2 long 0 the pasm cog has to know where in the hub to find those offsets rx head _ptr3 long 0 rx _tail ptr long 0 rx_tail ptrl long 0 rx_tail_ptr2 long 0 rx_tail_ptr3 long 0 tx_head_ptr long 0 tx_head_ptrl long 0 tx_head_ptr2 long 0 tx_head_ptr3 long 0 tx_tail_ptr long 0 tx_tail_ptr1 long 0 tx_tail_ptr2 long 0 tx_tail_ptr3 long 0 endfill FIT End of the object memory zeroed from startfill to endfill in the init stop The above is all of the necessary code that must fit in the cog The following are extra bytes if necessary to provide the required rx and tx buffers the number required is computed from the aggregate buffer size declared minus the above initialized but recycled variables 106 extra byte 0 RXTX BUFSIZE RXTX BUFS
58. g Start Slider Bars Enabled ou eeeeeeeeeeeteeneeees 35 Figure 26 Screen Requesting the User to Enable Bluetooth on the Device 35 Figure 27 Alerting the User of Successfully Enabling Bluetooth 0 cece ceeeeeeeeeee 36 Figure 28 Alerting the User Bluetooth Failed to Initialize ee eeeeeeeeeeeeeeeeeneeees 36 Figure 29 Example of User Inputs c cscccationcaessetundysaeacauaaeniengeenoetidy onan oseesoanns 37 vi ACKNOWLEDGMENT To my parents who have taught me the importance and value of education and to my loving wife whose support has kept me going when I might have otherwise quit vii ABSTRACT The objective of this paper is to show that it is possible to create a single Android application capable of working with a number of electronic devices typically used within the hobby and armature robotics field without the devices creator having to know anything about developing an Android application To do this a standard communication protocol must be established between Android powered devices and other electronic devices To limit the scope of this task this paper considers communication between an electronic device powered by a typical microcontroller and an Android 4 0 Jelly Bean or later powered device Additionally communication between the two devices takes place over Bluetooth communication channels V2 1 or later Vill 1 INTRODUCTION BACKGROUND 1 1 Background All communications betwee
59. ged The Java source code associated with the block diagram 22 from Figure 19 can be found in Appendix 6 3 6 Likewise relevant screen captures of the user interface can be found in Appendix 6 2 User lifted finger off lider User selects start from the mobile device Wait for user input I change in status of slider bars slider bar Horizontal Return slider to a Transmit bytes Neutral or device over Bluetooth Vertical Index Slider Position Prefix Construct full message Add Index B Prefix Figure 19 Level 1 Block Diagram for Reading User Input and Transmitting to a Remote Device Add Index A Parse message into bytes 2 2 2 2 Implementation of the Communication Protocol on the Robotic Platform The task of implementing the communication protocol on the robotic platform and Propeller microcontroller is similar to that of its implementation on the Android device However there is one key difference that simplifies to some degree the task on the robotic platform no user interface is required While instead of interfacing with a user and obtaining input the Propeller microcontroller is tasked with reading input per the communication protocol and outputting signals to drive the platforms motors To establish communication between the Bluetooth module and the Propeller microcontroller as well as setting the module in the correct mode
60. h interprets the tones of the numeric keys being pressed through the headphone jack Commands are sent by pressing one of the numeric key on the operator s cell phone frequencies are transmitted over the cell network towers received on the platform mounted cell and interpreted by the microcontroller as commands The benefits of this set up is that it requires no additional software to be installed on the cellphone as it utilizes existing functionality built in to make phone calls Figure 3 MicroTronics Technologies Mobile Control Robot 4 The downside is that the system is limited to only 12 unique codes correlating to the 12 keys on frequencies created by a phone 10 Numeric keys 0 through 9 the pound key and the asterisk key and only one command can be sent at a time Another difference is that the signals are sent over a cellphone network so the range is only limited by the size of the cell network however the devices will only work where cell service exists and are dependent on a network outside the users control The Bluetooth connection I have proposed does have a limited range which is many times smaller than that of a modern cell network However it is not subject to the infrastructure requirements of a cell network i e it will operate where cell coverage is not provided Additionally the Bluetooth network is completely in the users control and can be optimized to meet the requirements of the application 1 3 Objective
61. he end of fds tx DEBUG inByteArr ctr every message from the RN 42 Unit repeat until inByteArr ctr 13 If successfull CMD is returned ctr inByteArr ctr fds rx A_PORT fds tx DEBUG inByteArr ctr Pause 1200 Pause for 1 2 seconds the message will be ignored if additional messages are sent within 1 second of the S fds str A_ PORT String D fds tx A_ PORT 13 fds tx A_ PORT 10 repeat 11 ctr 0 inByteArr ctr fds rx A_PORT fds tx DEBUG inByteArr ctr repeat until inByteArr ctr 13 ctr inByteArr ctr fds rx A_PORT fds tx DEBUG inByteArr ctr 63 fds str A_ PORT String Message sent that tells the RN 42 to Exit command mode fds tx A_PORT 13 If successfull END is returned fds tx A_ PORT 10 ctr 0 inByteArr ctr fds rx A_PORT fds tx DEBUG inByteArr ctr repeat until inByteArr ctr 13 ctr inByteArr ctr fds rx A_PORT fds tx DEBUG inByteArr ctr 6 5 3 ActivityBot Spin Source Code Implemented on the Propeller Microcontroller File PBAA_v0 7 spin PBAA Propellar Bluetooth and Android v0 7 Working control of platfrom and successfull bluetooth comm CON _xinfreq 5_000_000 _clkmode xtall pll16x Bluetooth Constants DEBUG 0 Debug port sends results to Parallax Serial Terminal A PORT 1 Bluetooth Module A RESET 0 To RST pin on RN 42 Bluetooth Module A TX l To RX pin on RN 42 Bluetooth
62. he keyboard manufacture to develop and produce a keyboard without requiring them to write custom software for the computer 1 2 Prior Work Much work has been done amongst the amateur robotic community to develop platforms that are controlled by mobile devices as shown in 3 and 4 Additionally several companies offer small robotic devices that can be controlled by mobile devices typically from the Android of Apple operating systems These systems come with proprietary software for both the robot and the mobile device that is specifically designed to control only the device sold by the manufacture Figure 1 the Rover Revolution available from Brookstone is one such example which allows the end user to remotely operate the device from an application on an Apple or Android device This device also has advanced capabilities that allow the user to remotely control the vehicle while also streaming video from an onboard camera Due to the high bandwidth requirements to support streaming video the device utilizes WIFI instead of Bluetooth or other lower frequency RF communication protocols 2 Note that this software nor the communication protocol is distributed as open source software for others to modify or implement in their own projects and applications Figure 1 Rover Revolution Available from Brookstone 2 Parallax a popular supplier of microcontrollers and other components commonly used by armature robotic developers offers tutor
63. hed depending on whether a cts or rts pin are supplied The normal routines support cts rts processing If the cts rts mask is 0 then the code is patched 83 to remove the addtional code This means I O modes and CTS RTS handling adds no extra code in the rx tx routines which not required Similar with the co routine variables If a rx or tx pin is not configured the co routine variable for the routine that handles that pin is modified so the routine is never called We start with port 3 and work down to ports because we will be updating the co routine pointers and the order matters e g we can update txcode3 and then update rxcode3 based on txcode3 TTA coroutine patch was not working in the way originally described TTA patched unused coroutines jmprets become simple jmps Tim s comments about the order from 3 to 0 no longer apply The following 8 locations are skipped at entry due to if_never The mov instruction and the destination address are here only for syntax the important thing are the source field primed to contain the start address of each port routine When jmpret instructions are executed the source adresses here are used for jumps And new source addresses will be written in the process entry rxcode if never moy rxcode receive set source fields to initial entry points txcode if never mov __ txcode transmit rxcodel if never mov rxcodel receive l txcodel if never mov txco
64. ials and educational material for many of their products In one such tutorial shown in Figure 2 Parallax demonstrates the ability to send commands to a Propeller microcontroller remotely from a PC via a Bluetooth Serial Port Profile 3 Additionally the example provides open source software for the microcontroller mainly programs that were already available as published open source library s tied together with a single custom application The example utilizes an RN 42 Bluetooth adapter and the user sends commands to the microcontroller via a serial terminal like HyperTerminal or in the case of the example the Parallax Serial Terminal This example will be used a starting point for my work on the microcontroller side of the task While this application demonstrates the ability to send data over a Bluetooth connection it has essentially used the Bluetooth connection to replace the wired connection with the computer User input is no different than if the computer was directly wired to the computer and no generic communication protocol is established Figure 2 Parallax RN 42 Bluetooth Demo 3 An alternative approach to controlling a robot via a cell phone was demonstrated by MicroTronics Technologies 4 the device is shown in Figure 3 In this application a call is placed from a user s cell phone to a cell phone mounted on the remote platform The platform mounted cell is connected to the microcontroller through a decoding module whic
65. ilar processing power memory RAM and ROM screen size screen resolution touch screen capability battery life Bluetooth Wi Fi GPS and cell network capabilities With no limiting factors on the selection of an OS from an available required hardware standpoint the decision came down to two factors the market share or number of devices in service for the operating system and the ability to provide an open source solution Googles Android OS is known for its open source developer friendly environment and as of May 2012 it has surpassed Apple IOS in terms of market share in mobile devices Figure 4 As of the end of 2013 Android represents over 43 of the market compared to Apple its closest competitor which has just over 20 of the market LATE 2009 JAN 2010 MAY 2012 HTC Samsung and Google launches its first mobile device For the first time Android surpasses Motorola launch the Nexus One It s not very successful Apple iOS market share A id ndroid powered MAY 2010 emos Google launches Android 2 2 Froyo the first mobile OS capable of mutltiasking Apple s iOS still lacked this type of functionality NOW Android has more than double Apple iOS market share Android 43 iOS 20 6 Symbian 5 8 Nokia Series 40 13 2 Nokia BlackBerry 3 5 Samsung 4 7 Windows 1 8 Figure 4 World Wide Mobile OS Market Share 5 With the Android OS selected as the operating system of choice for develop
66. import java util UUID import android bluetooth BluetoothAdapter import android bluetooth BluetoothDevice import android bluetooth BluetoothSocket import android content Context import android os Build import android os Handler import android util Log import android widget Toast public class BluetoothDataTransferService Member Fields private ConnectThread mConnectThread private final BluetoothAdapter mAdapter private final Handler mHandler private ConnectedThread mConnectedThread UUID for this application MY _UUID is the secure UUID from the google bluetooth chat example private static final UUID MY UUID UUID fromString 00001101 0000 1000 8000 O0805f9b34 fb UUID fromString fa87c0d0 afac 1llde 8a39 0800200c9a66 public BluetoothDataTransferService Context context Handler handler mAdapter BluetoothAdapter getDefaultAdapter mHandler handler public synchronized void connect BluetoothDevice device Start the tread to connect with the given devic mConnectThread new ConnectThread device mConnectThread start private class ConnectThread extends Thread private final BluetoothSocket mmSocket private final BluetoothDevice mmDevice private String mSocketType Secure public ConnectThread BluetoothDevice device mmDevice device BluetoothSocket tmp null 48 Get a bluetoothSocket for a connection with the given Blue
67. in my creation of an Android application that outputs messages per the communication protocol and development of a robotic platform that accepts messages per the communication protocol and response with the appropriate actions that it is possible to implement such a communication protocol However there is still further work to be done as I have thus far only defined two parameters in the communication protocol speed and direction or A and B While these two parameters are sufficient for a simple two wheeled robot they would not be sufficient for control of say a helicopter which would require at least 4 parameters for control over roll pitch yaw and elevation I can envision a protocol that takes advantage of the full 52 upper and lower case characters for all sorts of different parameters and for all sorts of different robotic platforms Additionally the protocol can also be utilized to transmit data from the robotic platform back to the Android application possible using upper versus lower case letters to distinguish the difference of in the direction of flow of the data 28 5 REFERENCES 1 Definition of a communication protocol http www webopedia com TERM C communications_protocol html 2 Rover Revolution App Controlled Wireless Spy Vehicle http www brookstone com rover revolution wireless spy vehicle 3 Parallax RN 42 Bluetooth to PC demo http learn parallax com project rm 42 bluetooth pc demo 4 MicroTronics T
68. ion on the Android Application and the Robotic Platform for Parameters A amp B Parameter A Parameter B Numeric Value Android Correlation Robotic Platform Correlation Android Correlation Robotic Platform Correlation 100 Slider in topmost position Full speed forward Slider in rightmost position Full turn right Slider in central position Neutral Slider in center position Neutral Full turn left Slider in bottommost position Full speed reverse Slider in leftmost position Additionally before we can dive into the implementation of the protocol on the Android and robotic platforms it is important to create a roadmap or high level system block diagram describing the flow of input form the user to the eventual signals that will be sent to the motors on the robotic platform The block diagram governing the entire system can be seen in Figure 15 This diagram shows which tasks will be the responsibility of the Android device and which operations the robotic platform will be responsible for Additional block diagrams showing in greater detail the operations on the individual devices as well as their interaction are included in later sections of this report 18 eek Sn Re Le a ee a ee ae re ta aaa Android Device I User scans for l and connects User input on l to a remote BT Android Device Device ESS ee eee ee to data amp sent via Bluetooth l Input converted l l
69. led by 3 3V which aligns with the 3 3V powered Propeller microcontroller 11 Figure 9 RN 42 Bluetooth Adapter 11 The RN 42 module communicates with the Propeller microcontroller via asynchronous serial interface with RTS CTS flow control at a user programmed baud rate which was set to 9600 bps for compatibility with the microcontroller Further support information and examples of use with the Propeller microcontroller can be found on the product s web page 11 The fully assembled Robotic Platform is shown in Figure 10 USB Programming amp Debug Port Figure 10 Assembled Robotic Platform with Bluetooth Adapter while the system wiring schematic is shown in Figure 11 12 Continuous Continuous Rotation Servo Rotation Servo Right Figure 11 System Wiring Diagram for the Robotic Platform and Bluetooth Adapter 2 1 3 Setting up the Development Environment Android amp Propeller Providing a full description of how to download install and configure the Android and Propeller development environments is outside the scope of this project However below is a brief description of the software required as well as links to web pages that will go into full detail on the subject Google has a website 12 completely devoted to Android Developers this site provides developers with free training modules full library support of the Android APIs Application Programming Interfaces and instructions on how to d
70. ll be relative to 4 The characters following the index i e the second and so forth bytes must be numeric as the expectation is they will be converted to and stored as a single number This number can contain up to 10 characters and its numeric value must not exceed 2 147 483 647 This value may be positive or negative 5 The last character of the message must be an Exclamation Point This acts as a stop byte and lets the program know that the message is complete An example of a message written to the rules of the communication can be seen in Figure 14 Note that the example message shown X123 is displayed in its symbol format per the ASCII code A conversion chart between the Symbol Decimal and Binary formats for the first 128 ASCII characters is included in Appendix 6 1 Communication Protocol X 123 The first character or The characters to The character is Index represents the follow will represent used as a unique parameter being sent the value of the stop byte or in the message In this parameter specified identifier Upon program the character by Index A They will receiving this A or Index A be interpreted as a character the designates the value of number and program knows the the vertical slider bar therefore must be message has ended numeric Figure 14 Example Message per the Communication Protocol 16 As an example X123 broken down and converted to binary forma
71. llMessage sendToTarget curMsg delete 0 bytes End of try catch IOException e connectionLost break End of Catch End of while End of run public void cancel try mmSocket close end of try catch IOException e TODO handle exception End of cancel End of cancel Write to the connected OutStream param buffer The bytes to write xy public void write byte buffer String good new String buffer Charset forName ISO 8859 1 buffer good getBytes Charset forName ISO 8859 1 try mmOutStream write buffer end of try catch IOException e end of catch 51 En 6 4 3 End of write End of ConnectedThread d of BluetoothData Device List Activity package com dynamicsolutions bluetest3 import java util Set import android app Activity import android bluetooth BluetoothAdapter import android bluetooth BluetoothDevice import android content import android content Context import android content BroadcastReceiver Intent import android content IntentFilter import android os Bundle import android view View import android view View OnClickListener import android view Window import android widget AdapterView import android widget AdapterView OnItemClickListener import android widget ArrayAdapter import android widget Button import and
72. ment the next question that arises is which variant or platform version will be targeted for the application development Platform versions in Android are tracked by API level and to most they are known by their clever nick names like Gingerbread Ice Cream Sandwich or Kit Kat Google has made a pattern out of naming their new platform versions after desserts or snacks in alphabetical order Table 1 contains a list of the current API levels Android version numbers and platform code names from version 1 0 or Base to their latest version Android 4 4 API 19 or Kit Kat API levels are analogous to the different versions of Windows operating system like XP Vista Windows 7 or Windows 8 Each new API brings in various software and hardware support updates like the ability to support a GPS module or the ability to support multi point touch screen displays Table 1 List of Android API Levels and Corresponding Code Names 6 Platform Version API Level VERSION_CODE 19 Android 4 4 KITKAT Android 4 3 18 JELLY_BEAN_MR2 Android 4 2 4 2 2 17 JELLY_BEAN_MR1 Android 4 1 4 1 1 16 JELLY BEAN Android 4 0 3 4 0 4 15 ICE CREAM SANDWICH MR1 Android 4 0 4 0 1 4 0 2 14 ICE_CREAM SANDWICH Android 3 2 13 HONEYCOMB _MR2 Android 3 1 x 12 HONEYCOMB MR1 Android 3 0 x 11 HONEYCOMB Android 2 3 4 10 GINGERBREAD MR1 Android 2 3 3 Android 2 3 2 9 GINGERBREAD Android 2 3 1 Android 2 3 Android 2 2 x 8 FROYO Android 2 1 x 7 ECLAIR MR1 Androi
73. mit txjmp2 jmp ctsi2 byte done transmit next byte Transmit3 transmit3 jmpret txcode3 rxcode run a chunk of receive code then return 99 txcts3 ctsi3 if z test ctsmask3 ina wc if flow controlled dont send rdlong tl tx_head_ptr3 cmp tl tx_tail3 wz jmp transmit3 may be patched to if z or_c or if_z_or_nc rdbyte txdata3 txbuff_tail_ptr3 add tx_tail3 1 cmpsub tx tail3 txsize3 wz TTA for individually sized buffers will zero at rollover if z if nz txbit3 txout3 wait3 if nc wrlong tx_tail3 tx_tail_ptr3 moy txbuff_tail_ptr3 txbuff_ptr3 reset tail_ptr if we wrapped add txbuff tail ptr3 1 otherwise add 1 jmpret txcode3 rxcode shl txdata3 2 or txdata3 txbitor ready byte to transmit moy txbits3 11 mov txcnt3 cnt shr txdata3 1 we muxc outa txmask3 maybe patched to muxnc dira txmask add txcnt3 bit_ ticks3 ready next cnt jmpret txcode3 rxcode run a chunk of receive code then return mov tl txcnt3 check if bit transmit period done sub tl cnt cmps t1 0 wc jmp wait3 100 djnz txbits3 txbit3 another bit to transmit txjmp3 jmp ctsi3 byte done transmit next byte The following are constants used by pasm for patching the code depending on options required doifc2ifnc long 003c0000 patch condition if c to if_ne using xor doif z or c long 00380000 patch condition if
74. n devices require that the devices agree on the format of the data The set of rules defining said format is called a protocol 1 Communication protocols are almost everywhere we look from computers to televisions to basic mp3 players They can even be compared to social mannerisms in today s culture Take the activity of answering a phone when someone answers the phone they say Hello or some other equivalent greeting This first phrase lets the person on the other end of the phone know that its their turn to speak and that the person they have called is ready to receive information This can be equated to flow control within a communication protocol which is used to let one device know that another device is ready for some communication or data transfer to occur If a product developer wishes to make an electronic device that allows the end user to control said electronic device from their smart phone or tablet since there is currently no industry standard open source communication protocol applicable to this scenario they would be forced to develop their own basic protocol They would not only have to develop the software on the electronic device side but they would also have to design a custom application for the end users cell phone or tablet As a basic example consider a company which designs keyboards for computers There is a standard communication protocol and standard human interface driver for all modern USB keyboards This allows t
75. nsmit to txcts0 if z add txcodel 1 change co routine entry to skip first jmpret patch rx routine depending on whether rts is used and if it is inverted or rtsmaskl 0 wz if nz or dira rtsmask1 TTA rts needs to be an output if nz test rxtx_model INVERTRTS we if nz and nc or rtsl domuxne patch muxc to muxnc if z mov nortsl recli patch to a jmp receivel if z movs startl receivel skip all rts processing or txmaskl 0 wz _ if tx pin not used if z movi transmitl 010111_000 patch it out entirely by making the jmpret into a jmp TTA or rxmaskl 0 wz ditto for rx routine if z movi receivel 010111_000 TTA port 0 initialization test rxtx_mode OCTX wz init tx pin according to mode test rxtx_mode INVERTTX we if z nec or _ outa txmask if z or dira txmask patch tx routine depending on invert and oc if invert change muxc to muxnc if oc change out to dira if z eq or txout0 domuxne patch muxc to muxnc if nz moyd txout0 dira change destination from outa to dira 88 patch rx wait for start bit depending on invert test rxtx_mode INVERTRX wz wait for start bit on rx pin if nz xor start0 doife2ifnc if _c jmp to if nc patch tx routine depending on whether cts is used and if it is inverted or ctsmask 0 wz cts pin z not set if in use if nz or dira rtsmask TTA rts needs to be an output if nz test rxtx_mode INV
76. objects http forums parallax com showthread php 128 184 Serial Objects for SPIN Programming Tim Moore s release notes follow Also note by Duane Degn Not all these comments apply to FullDuplexSerial4port iy TKK 3K 3K 3K 3K K K K 3K 3K 3K 3K 2K 2K K K K 3K 3K 3K FK 2K K K K K 3K 8 3K FK FK K K 2K 3K 3K 28 3K FK FK K K K 2K 3K 3K FK FK FK K K 2 FK 3K 2 FK FK FK 2K 2K 2s ok 2K K ok Based on X Full Duplex Serial Driver v1 1 Author Chip Gracey z Copyright c 2006 Parallax Inc i See end of file for terms of use x Tim Moore 2008 173 Woke Woke Woke Woke Woke Woke Woke Woke Woke Woke Woke Woke Woke Woke Woke Woke Woke Woke Modified to support 4 serial ports i It should run 1 port faster than FullDuplexSerial or run up to 4 ports t Merged 64 byte rx buffer change z Merged Debug_PC Jon Williams k TTA cut the numeric methods see datalO4port spin to maintain compatibility with pcFullDuplexSerial4fc i or use other numeric methods such as simpleNumbers Uses DAT rather than VAR so can be used in multiple objects If you want multiple objects using this driver you must copy the driver to a new file and make sure version long is unique in each version Added txflush Optimization perf 1 port up to 750kbps t 2 por
77. oe Oy anne ae MIPS OV OVI OVI Fei we Oe I Package Explorer 5 amp f MainActivityjava d activity_main xml amp J DataResolverService java J DeviceListActivityjava 3 Bluet appcompat_v7 lt RelativeLayout xmlns android http schemas android com apk res android xmlns tools http schemas android com tools android layout_width fill parent android layout_height fill parent tools context MainActivity appcompat_v7_2 G appcompat_v7_3 19 BlueTest3 G sliderTest android orientation horizontal gt U sliderTest2 G sliderTest3 lt TextView android id id txtout G testApp android layout_width fill parent android layout_height wrap content gt id id t id btn_Send layout_width wrap content layout_height wrap content layout_alignParentTop true layout_centerHorizontal true amp id text Start gt id tid textView1l layout_width wrap content layout_height wrap_ content layout_alignParentLeft true android layout_alignParentTop true amp android text V gt Figure 17 Android User Interface Code Snippet In addition to the user Interface the behind the scenes control logic written in Java for the Android application has an even larger role to play This is where all of the activity takes place to support the user interface interpret user input manage the Bluetooth connection data transmissions and last but certainl
78. of OnCreate protected void onDestroy super onDestroy Make sure we are not still discovering devices mBtAdapter cancelDiscovery Unregister broadcast listeners this unregisterReceiver mReceiver End of on destroy Starts device discovery with the bluetooth adapter private void discoverDevices indicate scanning in the title set ProgressBarIndeterminateVisibility true setTitle R string scanning Turn on the subtitle for new devices findViewByld R id title new devices setVisibility View VISIBLE T we are already discovering stop it if mBtAdapter isDiscovering mBtAdapter cancelDiscovery end if Request discovery from Bluetooth Adapter mBtAdapter startDiscovery end of discoverDevices The on click listener for all of the devices in the ListViews private OnItemClickListener mDeviceSelectedListener new OnItemClickListener public void onItemClick AdapterView lt gt av View v int arg2 long arg3 Cancel discovery if it is still active mBtAdapter cancelDiscovery Get the MAC address which is the last 17 characters in the View String info TextView v getText toString String address info substring info length 17 create the result Intent and include the MAC address Intent intent new Intent intent putExtra EXTRA DEVICE ADDRESS address 54 Toast makeText getBas
79. oid com apk res android gt lt item android id tid scan_and_connect android icon android drawable ic_menu_search android title string scan_and_connect gt lt item 39 lt item android id id discoverable android icon android drawable ic_menu_mylocation android title string discoverable gt lt menu gt 6 3 5 String Constants Referenced in the User Interface lt xml version 1 0 encoding utf 8 gt lt resources gt lt string name app_ name gt BlueTest3 lt string gt lt string name scan_and_connect gt Scan and Connect lt string gt lt string name discoverable gt Make device discoverable lt string gt lt string name title paired _devices gt Paired Devices lt string gt lt string name title new_devices gt New Devices lt string gt lt string name btn_scan gt Scan for Devices lt string gt lt string name scanning gt Scanning for devices lt string gt lt string name none paired gt No devices have been paired lt string gt lt string name select_device gt Select a device to connect to lt string gt lt string name none_ found gt No devices found lt string gt lt resources gt 6 3 6 Android Manifest File lt xml version 1 0 encoding utf 8 gt lt manifest xmlns android http schemas android com apk res android package com dynamicsolutions bluetest3 android versionCode 1 android versionName 1 0 gt lt uses sdk
80. ons bluetest3 import android content Context import android os Handler public class DataResolverService Member Fields private final Handler mHandler private StringBuilder masterString new StringBuilder private String end public DataResolverService Context context Handler handler mHandler handler public String SortInputData String inputString String completeSegment masterString append inputString String temp masterString toString int endIdX masterString indexOf end if 1 endIdx completeSegment masterString substring 0 endIdxX masterString delete 0 endIdX 1 return completeSegment else return Working End of DataResolver 6 5 ActivityBot Propeller Spin Source Code 6 5 1 RN 42 Bluetooth Module Configuration Spin Source Code File PBAA_v0 2 spin PBAA Propeller Bluetooth and Android v0 2 This application programs the RN 42 to communicate with a 9600 Baud rate 56 commands New to Version 0 2 CON _xinfreq 5_000_000 _clkmode xtall pll16x Bluetooth Constants DEBUG 0 Terminal A PORT 1 A RESET 0 A TX l A RX 2 ACTS 3 A RTS 4 BAUD 9600 VAR It also demonstrates how to enter command mode and also how to exit it The program also demonstrates how to record the responses received after issuing Debug port sends results to Parallax Serial Bluetooth Module To RST
81. ownload and install the latest Android development environment also called the Android SDK Software Development Kit 13 The kit includes the Eclipse IDE Integrated Development Environment the ADT Android Developer Tools plugin and other required items A full list of system and software requirements is available on the webpage as well Java is the foundation or base of the Android programming language with specific libraries added for the increased or specific functionality of Android powered devices The 13 Android development environment and Eclipse IDE is shown in Figure 12 with a code snippet from the BlueTest3 application Java BlueTest3 src com dynamicsolutions biuetest3 MainActivity java ADT On BOQ HE Sere java a mBluetoo rAdapter Bit F REQUEST ENABLE BT inl a REQUEST_CONNECT_DEV OT MESSAGE_READ int F MESSAGETOAST int St TOAST Strirc 2 mDataService Bluetccth mResolverService Datak Saved Filters Search tor messages Accepts Java regexes Pretix with pid app tag or text to limit scope verbose v H amp DE All messages no filters Writable Smait Insert 152 30 Matam T Sign in te Google Figure 12 Android Environment and Eclipse IDE with Code Snippet from BlueTest3 Application Parallax 14 also provides an abundant amount of support information for the Propeller microcontroller Additionally the software and drivers required to set up the Propeller developmen
82. put V Complete byte sendF messageF getBytes mDataService write sendF try Thread sleep 1 catch InterruptedException e TODO Auto generated catch block e printStackTrace Log d OutputService Output F Complete btnSend setOnClickListener new OnClickListener 44 public void onClick View arg0 vSeek setEnabled true hSeek setEnabled true F End of onCreate Override public void onStart super onStart If bluetooth is not enabled request that it is enabled if mBluetoothAdapter isEnabled Intent enableBTIntent new Intent BluetoothAdapter ACTION REQUEST ENABLE startActivityForResult enableBTIntent REQUEST ENABLE BT End of onStart Override public synchronized void onResume super onResume End of on resume Override public void onDestroy super onDestroy if timer null timer cancel End of if End of on destroy Override public void onActivityResult int requestCode int resultCode Intent data switch requestCode case REQUEST CONNECT DEVICE When DeviceListActivity returns with a device to connect to if results ok then launch connectDevice if resultCode Activity RESULT OK connectDevice data break case REQUEST ENABLE BT if resultCode Activity RESULT OK Bluetooth is now enabled no
83. range 100 speed range 50 rawSpeed 100 50 100 direction speed 100 50 rawDirection 100 50 100 Servo 750 direction rServo 750 speed elseif rawSpeed lt 50 and rawDirection gt 50 Reverse and Left 68 range 100 speed range 50 rawSpeed 100 50 100 direction speed 100 rawDirection 50 100 50 100 IServo 750 speed rServo 750 direction elseif rawDirection 50 and rawSpeed gt 50 speed rawSpeed 50 2 IServo 750 speed rServo 750 speed elseif rawDirection 50 and rawSpeed lt 50 speed 50 rawSpeed 2 IServo 750 speed rServo 750 speed elseif rawSpeed 50 and rawDirection gt 50 speed rawDirection 50 2 IServo 750 speed rServo 750 speed elseif rawSpeed 50 and rawDirection lt 50 speed 50 rawDirection 2 IServo 750 speed rServo 750 speed else IServo 750 rServo 750 PUB ServoPulse fds str DEBUG String Pulse out Started Outputs Program Started to the terminal screen 69 fds tx DEBUG 13 us clkfreq 1_000_ 000 define what a micro second is tLow clkfreq 50 Duration of time between pulses standard 20 mS or 0 020 Seconds dira 14 15 Set P14 and P15 to output T cnt T is set to the current number of clock ticks when line is executed repeat T tlLow waitcnt T PULSOUT 15 IServo
84. rection This will also be true for almost all wheeled robotic platforms Indexes and their corresponding incarnations on the Android device and ActivityBot are listed in Table 2 Table 2 Correlation between Index its Meaning on the Android Device and the Robot Android Correlation Robotic Platform Correlation Vertical Slider Position B Horizontal Slider Position Furthermore to properly implement the communication protocol limits and boundaries of the parameters being transmitted must be defined and correlated in terms of numeric value their physical appearance on the user interface and their expected effect on the robotic platform Table 3 contains the numeric value boundaries and their correlation to the Android application and the Robotic platform Note that the values are 17 to a degree arbitrary as the important item is consistency in their meaning between the Android application and the robot The values selected and their correlations were chosen based in that they appeared convenient and logical As shown below in Table 3 the numeric value 100 represent full speed forward on the robotic platform and on the android application it represents the vertical slider in its topmost position The parameters are arbitrary in the sense that the numeric value 150 representing full speed forward could be implemented with little to no effect on the results Table 3 Correlation between Numerical Value its Physical Implementat
85. rlay buffers txdata txbits txcnt txdatal txbits1 long long long long long 103 txcntl long 0 txdata2 long 0 txbits2 long 0 txcnt2 long 0 txdata3 long 0 txbits3 long 0 txcnt3 long 0 rxdata long 0 rxbits long 0 rxcnt long 0 rxdatal long 0 rxbits1 long 0 rxcntl long 0 rxdata2 long 0 rxbits2 long 0 rxent2 long 0 rxdata3 long 0 rxbits3 long 0 rxcnt3 long 0 tl long 0 this is a temporary variable used by pasm rxmask long 0 a single bit set a mask for the pin used for receive zero if port not used for receive rxmask1 long 0 rxmask2 long 0 rxmask3 long 0 txmask long 0 a single bit set a mask for the pin used for transmit zero if port not used for transmit txmask1 long 0 txmask2 long 0 txmask3 long 0 104 ctsmask zero if port not using cts ctsmask1 ctsmask2 ctsmask3 rtsmask zero if port not using rts rtsmask 1 rtsmask2 rtsmask3 bit4 ticks bit4_ticks1 bit4_ticks2 bit4_ticks3 bit_ticks bit_ticks1 bit_ticks2 bit_ticks3 rtssize to stop flow rtssize 1 rtssize2 rtssize3 rxbuff head_ptr long 0 long 0 long 0 long 0 long 0 long 0 long 0 long 0 long 0 long 0 long 0 long 0 long 0 long 0 long 0 long 0 long 0 long 0 long 0 long 0 long long rxbuff_head_ptrl initialized in spin to base address rxbuff_head_ptr2 rxbuff_head_ptr3 txbuff_tail_ptr txbuff tail ptr1 initialized in spin to base address long long long long a single bit set a mask
86. roid id id title new_devices android layout_width match_parent android layout_height wrap_ content android text string title new devices android visibility gone android background 666 android textColor fff android paddingLeft 5dip gt lt ListView android id id new_device list android layout_width match_parent android layout_height wrap_ content android stackFromBottom true android layout weight 1 gt lt Button android id tid btn_scan android layout_width match_parent android layout_height wrap_ content android text string btn_ scan gt lt LinearLayout gt 6 3 3 Display Format of Device Names lt xml version 1 0 encoding utf 8 gt lt TextView xmlns android http schemas android android layout_width match_parent android layout_height wrap_ content android textSize 18sp android padding 5dip gt com apk res android 6 3 4 XML Code for Options Menu lt xml version 1 0 encoding utf 8 gt lt menu xmlns android http schemas android com apk res android gt lt item android id id scan_and_connect android icon android drawable ic_menu_search android title string scan_and_connect gt android id id discoverable android icon android drawable ic_menu_mylocation android title string discoverable gt lt menu gt lt xml version 1 0 encoding utf 8 gt lt menu xmlns android http schemas andr
87. roid widget ListView import android widget TextView import android widget Toast public class DeviceListActivity extends Activity private BluetoothAdapter mBtAdapter private ArrayAdapter lt String gt mPairedDevicesArrayAdapter private ArrayAdapter lt String gt mNewDevicesArrayAdapter Return Intent extras public static String EXTRA DEVICE ADDRESS device address Override protected void onCreate Bundle savedInstanceState super onCreate savedInstanceState Set up the display window requestWindowFeature Window FEATURE INDETERMINATE PROGRESS setContentView R layout device list Set results as canceled in case the user backs out setResult Activity RESULT CANCELED Initialize the button to perform device discovery Button btnScan Button findViewById R id btn_scan btnScan setOnClickListener new OnClickListener public void onClick View v 52 discoverDevices v setVisibility View GONE End of setOnClickListener Initialize the array adapters One for the paired devices and one for the newly discovered devices mPairedDevicesArrayAdapter new ArrayAdapter lt String gt this R layout device name mNewDevicesArrayAdapter new ArrayAdapter lt String gt this R layout device_name Find and set up the list view for paired devices ListView lstPairedDevices ListView findViewBylId R id paired_ devices list lstPairedDevi
88. rt ff long bit_ticks port clkfreq baudrate long bit4_ticks port long bit_ticks port gt gt 2 PUB Start okay Call start to start cog Start serial driver starts a cog returns false if no cog available 79 TTA modified for default rts threshold 3 4 of tx buffers will start within the object footprint overlaying certain locations that were initialized in spin for use within the cog but are not needed by spin thereafter and are not needed for object restart txbuff_tail_ptr txbuff_ptr buffers TTA all buffers are calculated as offsets from this address txbuff_tail_ptrl txbuff_ptrl txbuff ptr txsize pase addresses of the corresponding port buffer txbuff_tail_ptr2 txbuff_ptr2 txbuff_ptrl txsizel txbuff_tail_ptr3 txbuff_ptr3 txbuff_ptr2 txsize2 rxbuff_head_ptr rxbuff ptr txbuff_ptr3 txsize3 rx buffers follow immediately after the tx buffers by size rxbuff_head_ptrl rxbuff_ptrl rxbuff_ptr rxsize II rxbuff head_ptr2 rxbuff_ptr2 rxbuff ptrl rxsizel rxbuff head_ptr3 rxbuff_ptr3 rxbuff_ptr2 rxsize2 note that txbuff ptr rxbuff ptr3 are the base addresses fixed in memory for use by both spin and pasm while txbuff tail ptr rxbuff head ptr3 are dynamic addresses used only by pasm and here initialized to point to the start of the buffers the rx buffer 3 comes last up through address end
89. s enqueued to this offset above base rxbuff ptr rx_head2 long 0 rx_head3 long 0 rx tail long 0 rx tail pointer ditto zero to size of rx buffer rx taill long 0 data is dequeued from this offset above base rxbuff ptr rx_tail2 long 0 rx_tail3 long 0 tx_head long 0 tx head pointer from 0 to size of tx buffer used in spin and pasm tx_head1 long 0 data is enqueued to this offset above base txbuff_ptr tx_head2 long 0 102 tx_head3 tx_tail tx_taill txbuff_ptr tx_tail2 tx_tail3 rxbuff_ptr buffers rxbuff_ptrl rxbuff_ptr2 rxbuff_ptr3 txbuff_ptr buffers txbuff_ptr1 txbuff_ptr2 txbuff_ptr3 long long long long long long long long long long long long long Start of HUB overlay tx tail pointer ditto zero to size of rx buffer data is transmitted from this offset above base These are the base hub addresses of the receive initialized in spin referenced in pasm and spin these buffers and sizes are individually configurable These are the base hub addresses of the transmit Some locations within the next set of values after being init d to zero are then filled from spin with options That are transferred to and accessed by the pasm cog once started but no longer needed in spin Therefore tx and rx buffers start here and overlays the hub footprint of these variables tx_ buffers come first 0 1 2 3 then rx buffers 0 1 2 3 by offset from buffers ove
90. skip first jmpret patch rx routine depending on whether rts is used 85 and if it is inverted or rtsmask3 40 wz if nz or _ dira rtsmask3 TTA rts needs to be an output if nz test rxtx _mode3 INVERTRTS we if nz and nc or rts3 domuxne patch muxc to muxnc if z mov norts3 rec3i patch rts code to a jmp receive3 if z movs start3 receive3 skip all rts processing or txmask3 0 wz iftx pin not used if z movi transmit3 010111_000 patch it out entirely by making the jmpret into a jmp TTA or rxmask3 4 0 wz ditto for rx routine if z movi receive3 010111_000 TTA in pcFullDuplexSerial4fc the bypass was ostensibly done by patching the co routine variables but it was commented out and didn t work when restored so I did it by changing the affected jmpret to jmp Now the jitter is MUCH reduced port 2 initialization test rxtx_mode2 4OCTX wz init tx pin according to mode test rxtx_mode2 INVERTTX we if z nec or _ outa txmask2 if z or dira txmask2 if z eq c or txout2 domuxnc patch muxc to muxnc if nz movyd txout2 dira change destination from outa to dira test rxtx mode2 INVERTRX wz wait for start bit on rx pin if nz xor start2 doifc2ifnc if cjmp to if nc or ctsmask2 0 wz if nz test rxtx_mode2 4INVERTCTS we 86 if nz and c or ctsi2 doif_z or nc if nc jmp TTA reversed order to correctly invert CTS if nz and n
91. t 0 17 A0 01 6D 5C UConnect 00 06 F5 FB 4E 82 UConnect 04 98 F3 E6 AF 0D Figure 23 List of Bluetooth Devices Found for Pairing aa RS 4 dm 9 23 PM feJ BlueTest3 V 50 H 50 Start m Figure 24 Screen Prior to Selecting Start Slider Bars Disabled 34 aa ENIK fg 9 23 PM g BlueTest3 V 50 H 50 Start Figure 25 Screen after Selecting Start Slider Bars Enabled Bluetooth permission request Application is requesting permission to turn on Bluetooth Allow Copied to clipboard Figure 26 Screen Requesting the User to Enable Bluetooth on the Device 35 ana joo im BlueTest3 V 50 H 50 Start Bluetooth Enabled Figure 27 Alerting the User of Successfully Enabling Bluetooth faa Saving screenshot Apps x E 3 A Fo AdVahced AIDE AT amp T Code AT amp T A AT amp T Task Killet Scanner Connect FE ae AT amp T ATAT Locker WENCEL LECEN T AT oE 31 Bluetooth Calculator 3 amera ChatON Chat gt Chrome L Contacts Downloads Matcher aay 25 TA e f Drive Bluetooth failed to initialize exiting 1CeBOOK Figure 28 Alerting the User Bluetooth Failed to Initialize 36 ae OS OH E P3 Js BlueTest3 V 80 H 30 Start Figure 29 Example of User Input 6 3 XML Code for Android User Interface and Context Menus 6 3 1 Main User Interface XML Code lt RelativeLayout xmlns android http schemas android com apk res
92. t code then return moy tl rxcnt3 check if bit receive period done sub tl cnt cmps t1 0 we jmp wait3 test rxmask3 ina wc receive bit on rx pin rer rxdata3 1 djnz rxbits3 bit3 test rxtx_mode3 INVERTRX wz _ find out if rx is inverted jmp receive3 abort if no stop bit TTA from jmpret rxcode3 txcode3 run a chunk of transmit code then return shr rxdata3 32 9 justify and trim received byte wrbyte rxdata3 rxbuff_head_ptr3 7 22 add rx_head3 1 cmpsub rx_head3 rxsize3 TTA allows non binary buffer size wrlong rx_head3 rx_head_ptr3 8 moy rxbuff_head_ptr3 rxbuff_ptr3 calculate next byte head_ptr add rxbuff_head_ptr3 rx_head3 rdlong rx_tail3 rx_tail_ptr3 7 22 or 8 may be patched to jmp r3 if mov t1 rx_head3 sub tl rx_tail3 we add tl rxsize3 fix wrap TTA change cmps tl rtssize3 wc is buffer more that 3 4 full 95 rts3 muxc outa rtsmask3 rec31 jmp receive3 byte done receive next byte TRANSMIT transmit jmpret txcode rxcodel run a chunk of receive code then return patched to a jmp if pin not used txcts0 test ctsmask ina wc _ if flow controlled dont send rdlong tl tx_head_ptr 7 22 head 0 cmp tl tx tail wz tail 0 ctsi0 if z jmp transmit may be patched to if z or corif z or nc rdbyte txdata txbuff_tail_ptr 8 add tx_tail 1 cmpsub tx tail txsize wz TTA for individually sized buffers will zero at rollover if z if nz wrlong t
93. t environment can be found on the company s main web page 15 One downside to the Propeller microcontroller is that the language used to program it is specific to the microcontroller and is known as Spin shown in Figure 13 with a code snippet However in recent months Parallax has launched a new complier for the Propeller microcontroller that utilizes the C programming language information about this compiler can also be found on the company s webpage 16 I have chosen to use the Spin language for this project as at the time of writing this paper there are more support libraries and examples written for the Spin language and compiler than its C based counterparts 14 a Propeller Tool PBAA v0 7 File Edit Run Help PBAA_vO7 FulSowce f Condensed C Summay Documentation bu CMUsersWVioWRPRMatiersProject Spn Code spn d Sp AA EJ Masters Project Jp Android code Archive J Archive lt i PSO ASEH gt datalO4port spin a FullDuplexSerial spin fullDuplexSerial4port spin GrouploSet spin LedOnOffP4 spin LedOnP4 spin OutputT oLCD spin Parallax Serial Terminal V1 0 spin Parallax Serial Terminal spin Figure 13 Spin IDE with Code Snippet from the PBAA_v0 7 spin Program 2 2 Communication Protocol and Control Logic Design In the next section I will elaborate on the communication protocol designed and created for implementation between the mobile operating system and the robotic pl
94. t up to 230kbps t 3 port up to 140kbps 4 port up to 100kbps Tested 4 ports to 115Kbps with 6MHz crystal These are approx theoretical worse case you may get faster if port is active but idle t Added RTS CTS flow control x There is no perf penalty supporting 4 serial ports when they are not enabled There is no perf penalty supporting CTS and RTS i Enabling CTS on any port costs 4 clocks per port s Enabling RTS on any port costs 32 clocks per port F Main Rx Tx loop is 256 clocks per port without CTS RTS compared with FullDuplexSerial at 356 clocks i x 74 Mok Woke Woke Woke Woke Woke Woke Woke Woke ES Woke Woke Woke Woke m Woke Woke E3 There is a cost to read write a byte in the transmit i receive routines The transmit cost is greater than the receive cost so between propellors you can run at max baud rate If receiving from another device the sending device needs a delay between each byte once you are above 470kbps with 1 port enabled x x TTA I have not updated the following comments 7 Size Cog Initialzation code 1 x 8 4 x 25 Cog Receive code 4 x 30 words Cog Transmit code 4 x 26 words Spin Cog circular buffer indexes 4 x 4 words t Used in both spin and Cog and read written in both directions gt Spin Cog per port info 4 x
95. t would be displayed as 1011000110001110000110011100001 This communication protocol establishes the ability to send up to 52 unique parameters includes upper and lower case alphas with assigned values up to 10 characters long The reason for the 10 character 2 147 483 647 numeric value limitation is due to the 32 bit architecture of the Propeller microcontroller The value 2 147 483 647 which can be represented in binary as 1111111111111111111111111111111 is the largest value that can be stored in a single variable or register of a 32 bit microcontroller 2 2 2 Implementing and Demonstrating the Communication Protocol To demonstrate the applicability of the protocol designed I implemented its use on the communication between a mobile operating system Android and a robotic platform the Parallax ActivityBot over Bluetooth In the actual implementation of the communication protocol an additional level of detail is required As noted earlier the first character transmitted in the message represents the Index or parameter of the data being transferred In practical terms it is a label for the data so that when the data is received the receiving device knows how to handle it To properly use the index I must establish the index values required and assign them their respective functions Due to the simple nature of the robotic platform selected all that is needed to control its movement is a value to control its speed and a value for its di
96. ter import android bluetooth BluetoothDevice import android content Intent p import java util Timer j import java util TimerTask public class MainActivity extends Activity Declare variables and constants Declare buttons Button btnSend Declare Seek Bars SeekBar hSeek SeekBar vSeek TextView hText TextView vText Timer declarations static final int UPDATE INTERVAL 250 private Timer timer new Timer int i The local Bluetooth Adapter private BluetoothAdapter mBluetoothAdapter null 41 Intent request codes private static final int REQUEST ENABLE BT 1 private static final int REQUEST CONNECT DEVICE 2 Message types sent form the BluetoothDataTransferService handler public static final int MESSAGE READ 2 public static final int MESSAGE TOAST 5 Key names received from the BluetoothDataTransferService handler public static final String TOAST toast public static String EXTRA DEVICE ADDRESS device address Member of object for the data transfer service private BluetoothDataTransferService mDataService null Member of object for the data resolver servic private DataResolverService mResolverService null Override public void onCreate Bundle savedInstanceState super onCreate savedInstanceState setContentView R layout activity main Get the default bluetooth ad
97. tify the user 45 Toast makeText this Bluetooth Enabled Toast LENGTH SHORT show else The user chose not to enable bluetooth or there was an error Toast makeText this Bluetooth failed to initialize exiting Toast LENGTH SHORT show finish end request code switch end on activity result Creates an option menu for when the user presses the menu key Override public boolean onCreateOptionsMenu Menu menu MenuInflater inflater getMenuInflater inflater inflate R menu option_ menu menu return true End of onCreateOptionsMenu Override public boolean onOptionsItemSelected MenuItem item Intent serverIntent null switch item getItemId case R id scan_and_connect Launch the device list activity to see existing find new and select a device to connect to serverIntent new Intent this DeviceListActivity class startActivityForResult serverIntent REQUEST CONNECT DEVICE return true case R id discoverable Enable bluetooth device discovery Toast makeText getBaseContext Discover Toast LENGTH SHORT show return true end switch return false end of onOptionsItemSelected private void connectDevice Intent data TInitialize the BluetoothDataTransferService to perform bluetooth connections mDataService new BluetoothDataTransferService this mHandler Get the MAC Address String address dat
98. tl muxc outa txmask1 maybe patched to muxnce dira txmask add txcntl bit ticks ready next cnt waitl jmpret txcodel rxcode2 run a chunk of receive code then return mov tl txcntl check if bit transmit period done sub tl cnt cmps t1 0 we if nc jmp waitl djnz txbits1 txbit1 another bit to transmit txjmp1 jmp ctsil byte done transmit next byte Transmit transmit2 jmpret txcode2 rxcode3 run a chunk of receive code then return txcts2 test ctsmask2 ina wc ifflow controlled dont send rdlong tl tx_head_ptr2 cmp tl tx_tail2 wz ctsi2 if z jmp transmit2 may be patched to if z or c orif z or nc rdbyte txdata2 txbuff_tail_ptr2 98 add tx_tail2 1 cmpsub tx tail2 txsize wz TTA for individually sized buffers will zero at rollover wrlong tx_tail2 tx_tail_ptr2 if z moy txbuff_tail_ptr2 txbuff_ptr2 reset tail_ptr if we wrapped if nz add txbuff tail ptr2 1 otherwise add 1 jmpret txcode2 rxcode3 shl txdata2 2 or txdata2 txbitor ready byte to transmit moy txbits2 11 mov txcnt2 cnt txbit2 shr txdata2 1 we txout2 muxc outa txmask2 maybe patched to muxnc dira txmask add txcnt2 bit ticks2 ready next cnt wait2 jmpret txcode2 rxcode3 run a chunk of receive code then return mov tl txcnt2 check if bit transmit period done sub tl cnt cmps t1 0 wc if nc jmp wait2 djnz txbits2 txbit2 another bit to trans
99. toothDevice try tmp device createRfcommSocketToServiceRecord MY UUID End try catch IOException e End Catch mmSocket tmp End of ConnectThread public method public void run setName ConnectThread mSocketType Always cancel discovery because it will slow down the connection mAdapter cancelDiscovery Make a connection to the bluetooth socket try This is a blocking call and will only return on a successful connection or an exception mmSocket connect End try catch IOException e Close the socket try mmSocket close End try catch IOException E2 End catch connectionFailed return End catch Reset the ConnectThread because we re don synchronized BluetoothDataTransferService this mConnectThread null Start the connected thread connected mmSocket mmDevice mSocketType End run public void cancel try mmSocket close catch IOException e End of cancel End of ConnectThread private class 49 public void write byte out Create temporary object ConnectedThread r Synchronize a copy of the connected thread synchronized this should check for a connected thread here first need to add code r mConnectedThread End of synchronized Perform the write unsynchronized r write out Log d Data Transfer S
100. ts if c add rxcntl bit ticks1 1 bit period jmpret rxcodel txcodel run a chuck of transmit code then return mov tl rxcntl check if bit receive period done sub tl cnt cmps tl 0 wc jmp waitl test rxmaskl ina wc receive bit on rx pin rcer rxdatal 1 djnz rxbitsl bitl test rxtx model INVERTRX wz find out if rx is inverted jmp receivel abort if no stop bit TTA from jmpret rxcodel txcodel run a chunk of transmit code then return shr rxdatal 32 9 justify and trim received byte wrbyte rxdatal rxbuff_head_ptrl 7 22 add rx_head1 1 cmpsub rx_head1 rxsizel TTA allows non binary buffer size wrlong rx_head1 rx_head_ptr1 moy rxbuff_head_ptrl rxbuff_ptr1 calculate next byte head_ptr add rxbuff_head_ptrl rx_head1 rdlong rx_taill rx_tail_ptrl 7 22 or 8 will be patched to jmp 13 if mov t1 rx_head1 sub tl rx taill we add tl rxsizel fix wrap TTA change 92 rtsl recli cmps tl rtssizel we muxc outa rtsmask1 jmp receivel byte done receive next byte Receive receive2 start2 if c bit2 wait2 if nc if z ne c serialMirror jmpret rxcode2 txcode2 run a chunk of transmit code then return test rxmask2 ina we jmp norts2 go check rts if no start bit moy rxbits2 9 ready to receive byte mov rxcnt2 bit4 ticks2 1 4 bits add rxcnt2 cnt add rxcnt2 bit ticks2
101. urce hardware and software This will allow me to develop the communication protocol in a cost effective manner while still remaining flexible so that it can be expanded to other operating systems and devices as need dictates 2 1 Component and Software Selection To develop and implement a communication protocol between a mobile device and another electronic device several pieces of both software and hardware are required On the mobile device side both an IDE Integrated Development Environment and SDK Software Development Kit are required for programming the electronic device Additionally a physical device will be required for implementation testing On the Electronic device side an IDE and SDK are required for programming the microcontroller as well a physical microcontroller and robotic platform for implementation testing Additionally since Bluetooth will be used for data transfer between the devices a Bluetooth module that is compatible with the selected microcontroller is required 2 1 1 Selecting a Mobile Operating System and a Mobile Device There are many choices to pick from when it comes to selecting a mobile platform operating system to demonstrate communication via Bluetooth with a microcontroller The leading operating systems include Google s Android Apple s IOS Windows Mobile and Blackberry all of which offer products of similar technological implementations That is all of these devices are available with sim
102. visor 1 repeat places divisor divisor 10 dec port value divisor uarts tx port decx port value divisor places PUB hex port value digits Print a hexadecimal number value lt lt 8 digits lt lt 2 repeat digits uarts tx port lookupz value lt 4 amp F 0 9 A F 111 PUB ihex port value digits Print an indicated hexadecimal number uarts tx port hex port value digits PUB bin port value digits Print a binary number value lt lt 32 digits repeat digits uarts tx port value lt 1 amp 1 0 PUB padchar port count txbyte repeat count uarts tx port txbyte PUB ibin port value digits Print an indicated binary number uarts tx port bin port value digits PUB putc port txbyte Send a byte to the terminal uarts tx port txbyte PUB newline port putc port CR PUB cls port putc port FF PUB getc port 112 Get a character will not block if nothing in uart buffer return uarts rxcheck port return rx con the following added from PST primarily for data input PUB StrIn port stringptr TTA from PST Receive a string carriage return terminated and stores it zero terminated starting at stringptr Waits until full string received Parameter stringptr pointer to memory in which to store received string characters Memory reserved must be large enough for all string characters plus a zero terminator Str
103. wrap_ content layout_alignBaseline tid textView2 layout _alignBottom id textView2 layout_alignLeft tid vTextView text 50 gt lt SeekBar android android android android android android lt SeekBar android android android android android id t tid vSeekBar1 layout_width 250dip layout_height wrap_ content layout_alignParentLeft true layout _centerVertical true rotation 270 gt id t tid hSeekBar1 layout _width 250dip layout _height wrap_ content layout alignParentRight true layout _alignTop id vSeekBar1 gt 6 3 2 Discovered and Connected Bluetooth Device List lt xml version 1 0 encoding utf 8 gt g lt LinearLayout xmlns android http schemas android com apk res android android layout width match parent android layout height match parent android orientation vertical gt lt TextView android id id title paired devices android android androidi android android android layout_width match_parent layout_height wrap content text string titie paired devices visibility gone background 666 textColor fff 38 android paddingLeft 5dip gt lt ListView android id id paired_devices_list android layo android layo android stac android layo ut _width match parent ut_height wrap_ content kFromBottom true ut_weight 1 gt lt TextView and
104. x tail tx_tail ptr 8 moy txbuff tail ptr txbuff ptr reset tail_ptr if we wrapped add txbuff tail ptr 1 otherwise add 1 jmpret txcode rxcodel shl txdata 2 or txdata txbitor ready byte to transmit moy txbits 11 mov txcnt cnt 96 txbit shr txdata 1 wc txout0 muxc outa txmask maybe patched to muxnce dira txmask add txcnt bit ticks ready next cnt wait jmpret txcode rxcodel run a chunk of receive code then return moy tl txcnt check if bit transmit period done sub tl cnt cmps t1 0 we if nc jmp wait djnz txbits txbit another bit to transmit txjmp0 jmp ctsi0 byte done transmit next byte Transmit transmitl jmpret txcodel rxcode2 run a chunk of receive code then return txcts1 test ctsmaskl ina wc ifflow controlled dont send rdlong tl tx_head_ptr1 cmp tl tx taill wz ctsil if z jmp transmitl may be patched to if z or_c or if_z_or_nc rdbyte txdatal txbuff tail ptr1 add tx taill 1 cmpsub tx taill txsizel wz TTA for individually sized buffers will zero at rollover wrlong tx_taill tx_tail_ptrl if z moy txbuff tail ptrl txbuff ptr1 reset tail_ptr if we wrapped if nz add txbuff tail ptrl 1 otherwise add 1 97 jmpret txcodel rxcode2 run a chunk of receive code then return shl txdatal 2 or txdatal txbitor ready byte to transmit moy txbits1 11 mov txcntl cnt txbit shr txdatal l we txou
105. y not least to implement mistake proofing features like ensuring the Bluetooth device is enabled before starting the application Figure 18 is a block diagram that represents the process for connecting to a remote discoverable Bluetooth enabled device from the Android device Note that the application ensures that Bluetooth is enabled on the mobile device requesting user input when required or else the application is terminated Note also that it is possible to write an application that will on its own enable Bluetooth communication without notifying or requesting permission from the user However this is generally frowned upon by the Android development community as well as most application users as there is an implicit trust among users that one would not have written an application that may harm their device or act in any malicious manner When applications start to modify the state of the device without first requesting permission that trust can be lost very quickly and is not likely to be regained Java source code supporting the Android application can be found in Appendix 6 4 Additionally screen captures of the user interface showing 21 the automated prompts as well as the other screens the user will see during the Bluetooth connection process can be seen in Appendix 6 2 Android Device User Interface Screen Captures User launches ls BT N N User ears Enabled h Application 2 selection N Application Starts Bluetooth

Design of a Bluetooth Enabled Android Application

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