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Pololu Wixel User's Guide

1. Wixel on breadboard with a bootloader button and reset button connected 5 Connecting Your Wixels Page 27 of 64 Pololu Wixel User s Guide 2001 2014 Pololu Corporation 6 Using a Virtual COM Port Most of the available Wixel apps implement a USB interface that consists of a single virtual COM serial port This interface allows you to send and receive bytes from the Wixel in the same way you would send and receive bytes from any other serial port on your computer 6 a Determining the Port Name To connect to a COM port you usually have to know the name of the port In Windows the port name will be something like COM4 and you can determine the port name by selecting the Wixel in the Wixel Configuration Utility and looking at the Port Name property displayed below You can also find out the port name by looking the Ports COM amp LPT list in your Device Manager y Windows Tip Besides having names like COMS5 and COM6 the virtual COM ports provided by the Wixel also have names like USBSER000 and NAUSBSEROO1 These names are assigned sequentially whenever a device with a virtual COM port is plugged in If you only have one device with a virtual COM port plugged into your computer the name USBSERO000 will usually be assigned to it These names will work with most programs that allow you to specify arbitrary port names 6 b Using a Terminal Program There are many fr
2. Wixel pin Input type Joystick function PO 0 Rz axis Button 1 Button 2 Button 3 Digital Connecting Buttons and Potentiometers 2001 2014 Pololu Corporation The diagrams below show examples of how buttons switches and potentiometers can be connected to the Wixel for use with the Joystick App For a more comprehensive tutorial on wiring these components to build a USB input device with a Wixel see our USB Wixel Joystick sample project http www pololu com docs 0J59 digital input with internal pull up enabled button or switch Note P1_0 and P1_1 do not have intemal pull ups pull downs so external resistors are required when using switches on these pins Diagram for connecting a button or switch to the Wixel for use with the Joystick App Wixel Configuration Diagram for connecting a potentiometer to the Wixel for use with the Joystick App Download the Joystick App v1 0 http www pololu com file download joystick v1 0 wxl file_id 0J670 33k wxl Open it with the Wixel Configuration Utility set any parameters you want to change from the default values and then write 9 Wixel Apps Page 47 of 64 Pololu Wixel User s Guide O 2001 2014 Pololu Corporation the app to a Wixel See Section 4 for more information on how this is done The Wixel should now appear to your computer as a Human Interface Device If you are using Windows there should be a new entry ca
3. Download the Wireless Tilt Mouse Receiver App v1 0 http www pololu com file download wireless tilt mouse receiver v1 0 wxI file_id 03471 15k wxl Open it with the Wixel Configuration Utility choose your settings and write it to the receiver Wixel The receiver Wixel should now appear to your computer as a Human Interface Device If you are using Windows there should be a new entry entitled HID compliant mouse in your Device Manager in the Mice and other pointing devices section The receiver will also show up as a keyboard but it does not use that interface Y The Wixel Configuration Utility does not detect Wixels with USB HID interfaces Therefore if you need to reconfigure your receiver Wixel you will need to manually get it into bootloader mode set pin P2 2 high and reset although this app monitors P2_2 all the time and enters the bootloader if it goes high so the reset is not strictly necessary Assembly With the battery pack switched off connect power for the transmitter Wixel The black wire from the battery pack should connect to a GND pin on the Wixel The red wire from the battery pack should connect to VIN To test the connection turn on the battery pack the transmitter Wixel s yellow LED should turn on Remember to turn off the battery pack while you are making connections Connect the GND of the Wixel to the GND ground pin of the accelerometer Connect power for the accelerometer The MMA7361L acce
4. In parentheses you will see the name of the port for example COM5 or COM6 Some software will not allow connection to higher COM port numbers If you need to change the COM port number assigned to a Wixel you can do so using the Device Manager Bring up the properties dialog for the COM port and click the Advanced button in the Port Settings tab From this dialog you can change the COM port assigned to your device Windows will remember which COM port was assigned to which Wixel using the built in serial number of the Wixel a given Wixel will always get assigned to the same COM port regardless of which USB port it is plugged into 3 Getting Started Page 13 of 64 Pololu Wixel User s Guide O 2001 2014 Pololu Corporation 3 b Installing Linux Drivers and Software x iv o Pololu Wixel Configuration Utility Wixels App Configuration Get Apps E 07 37 88 69 Momej dlexample blink tec Open a k_period ms 500 WW Auto Read Selected Wixel Serial Number 07 37 8B 69 USB Product ID 0x2200 Status App Running Action Output Erasing a Writing Reading Wixel successfully verified Restarting device Wixel successfully written The Wixel Configuration Utility running in Ubuntu Linux You can download the Wixel Configuration Utility and the Wixel command line utility wixelemd for Linux here e Wixel Linux Software for 1386 Slpar 32 bit http www pololu com file downl
5. Any line of the HEX file that writes to bytes outside of this region will be ignored The license section The license section is a human readable section that should specify the terms under which others may distribute copies or modifications of the app The Wixel SDK automatically inserts the MIT license into all Wixel App files because that is required by the Wixel SDK s license The description section The description section is a human readable section that should describe what the app does or link to a web site about the app The cdb section The edb section contains the names and addresses of the user configurable parameters For each parameter there must be two lines in this section not necessarily consecutive as specified below One line contains the address of the parameter and must be of the form 1 G param_NAMES0S0 ADDRESS where NAME is the name of the parameter and ADDRESS specifies the address of the parameter in the Wixel s flash memory as a 4 digit hexadecimal number e g 11C3 Another line contains the type of the parameter and must be of the form s G param NAME 0 0 TYPE D 0 0 where NAME is the name of the parameter and TYPE is the type of the parameter Currently the only allowed type is a 32 bit signed integer which is encoded as 4 SL S The Wixel SDK generates the cdb of section by running grep on the CDB file produced by SDCC during the linking step selecting all lines containing the st
6. 00 for red which allows for a higher update rate e echo_on Set to 0 to disable echoing of every character sent While echoes are useful for debugging you might want to disable them for the highest possible speed Data Format The data consists of a series of red green and blue RGB values as ASCII hex strings Each value contains from 1 to 4 characters depending on the value of input_bits specifying a number from 0 to 21 PUEbits_1 When a complete set of R G and B values has been received the values are multiplied or divided by the appropriate factor to match the 10 bit ShiftBrite data format and shifted out to the ShiftBrite chain An Enter character ASCII 10 or 13 causes the Latch pin to be toggled instantly setting each ShiftBrite to its new color 9 Wixel Apps Page 52 of 64 Pololu Wixel User s Guide O 2001 2014 Pololu Corporation Tips The yellow LED is normally on and flickers whenever data is received from the radio which might be useful for debugging your wireless connection e You can use wires with pre crimped terminals http www pololu com category 71 wires with pre crimped terminals and crimp connector housings http www pololu com category 70 crimp connector housings to make a custom cable between the Wixel and the ShiftBrite chain Versions Shiftbrite App v1 1 http www pololu com file download shiftbrite v1 1 wx1 file_id 0J469 20k wxl released 2011 04 06 Changed the yellow LED to be nor
7. if uint16 getMs lastToggle gt param blink period ms 2 LED RED LED RED STATE lastToggle getMs El Console 3 a FEEL C Build wixel sdk a Build of configuration Default for project wixel sdk make all Compiling apps example bl ink _led example blink led rel apps example blink led example blink led c 18 error 20 Undefined identifier foo make apps example blink led example blink led rel Error 1 X p error 20 ier foo Writable Smart Insert If there is an error during compilation in Eclipse you can double click on the error message to jump to the source of the error 10 Writing Your Own Wixel App Page 58 of 64 Pololu Wixel User s Guide O 2001 2014 Pololu Corporation Hiding Unused Features By default Eclipse has a large number of toolbar buttons views panes and menu items that are not needed for developing Wixel applications You can greatly simplify the user interface of Eclipse by hiding those items To hide unused toolbar and menu commands select Window gt Customize Perspective This brings up the Customize Perspective C C window Select the Command Groups Availability tab By unchecking a command group in this tab you can automatically remove all the commands in that group from the toolbars and the menus The only useful command groups for developing Wixel applications are C C Coding C C Editor Presentat
8. 1 uF os uF 560 pF Y The schematic also available as a printable pdf http www pololu com file download wixel_schematic pdf file_id 03463 51k pdf 8 Schematic Diagram Page 31 of 64 Pololu Wixel User s Guide 2001 2014 Pololu Corporation 9 Wixel Apps This section describes some of the available Wixel apps written by Pololu you can find their source code in the Wixel SDK see Section 10 For more apps including ones written by community members see the Wixel SDK and the Wixel Apps forum thread http forum pololu com viewtopic php f 308 t 5165 9 a Example App Blink LED This is an example app that blinks the red LED with a configurable period See Section 3 d for a tutorial on using this app Download link Example Blink LED App v1 0 http www pololu com file download example blink led v1 0 wx1 file_id 03449 11k wxl 9 b Wireless Serial App Overview This app allows you to connect two Wixels together to make a wireless bidirectional lossless serial link It uses an RF bit rate of 350 kbps is capable of carrying up to 10 KB of payload data per second and can reach a range of approximately 50 feet under typical conditions indoors You can also use it to turn one Wixel into a USB to TTL serial adapter This app can run on multiple pairs of Wixels as long as each pair operates on a different radio channel the channels should be separated by 2 to avoid interference This app is designed fo
9. 7 and Vista or Continue Anyway Windows XP Would you like to install this device software Software Installation Ei O E The software you are installing has not passed Windows Logo testing to vesty its compatiblity vah Windows XP Tel me why this testing is important Always trast software from Polotu Corporation install Don t install You should onty install driver software from publichers you trust How can deci n which deoce software a safe to tt Would you like to install this device software Name Wael Virtual COM Pert Drivers lt Pubisher Poloha Corporation C Always trast software from Poloha Corporation Install Don t install You should ordy install driver software from publishers you trust How can deci n niech deve voftmare a safe to motel 4 After the installation is finished your start menu should have a shortcut to the Wixel Configuration Utility in the Pololu folder This is a Windows application that allows you to load apps onto your Wixel There will also be a command line utility called WixelCmd which you can run at a Command Prompt Windows 8 Windows 7 and Windows Vista users Your computer should now automatically install the necessary drivers when you connect a Wixel No further action from you is required Windows XP users Follow steps 5 9 for each new Wixel you connect to your computer You will also have to follow these steps again the first time you run an actual
10. Wixel app on the Wixel 5 Connect the device to your computer s USB port 6 When the Found New Hardware Wizard is displayed select No not this time and click Next 3 Getting Started Page 9 of 64 Pololu Wixel User s Guide 2001 2014 Pololu Corporation Found New Hardware Wizard Welcome to the Found New Hardware Wizard Windows will search for current and updated software by looking on your computer on the hardware installation CD or on the Windows Update Web site with your permission Read our privacy policy Can Windows connect to Windows Update to search for software O Yes this time only O Yes now and every time connect a device No not this time Click Next to continue 7 On the second screen of the Found New Hardware Wizard select Install the software automatically and click Next 3 Getting Started Page 10 of 64 Pololu Wixel User s Guide 2001 2014 Pololu Corporation Found New Hardware Wizard This wizard helps you install software for Pololu Wixel USB Bootloader f E K If your hardware came with an installation CD lt 6 or floppy disk insert it now What do you want the wizard to do Install the software automatically Recommended Install from a list or specific location Advanced Click Next to continue 8 Windows XP will warn you again that the driver has not been tested by Microsoft and recommend th
11. Wixel to outputs from 5V systems The CC2511F32 has several peripherals that are available to be used in Wixel applications e 2 USARTs which can perform asynchronous serial or SPI communication e 3 timers that are capable of PWM output as shown above plus 1 more internal timer e 6 analog input capable pins connected to a 7 12 bit ADC 1 Overview Page 5 of 64 Pololu Wixel User s Guide O 2001 2014 Pololu Corporation Different Wixel applications may use different sets of these peripherals Consult the application documentation for details on the behavior of the I O lines Y The pinout and peripheral diagram at the top of this section is also available as a printable pdf http www pololu com file download wixel_pinout pdf file_id 03462 145k pdf The Wixel has three indicator LEDs Green USB LED The green LED is powered from USB so it can only be turned on when USB cable is connected and supplying power to the Wixel While the Wixel is in bootloader mode i e the app is stopped this Green USB LED LED is used to indicate the USB status of the device When the Wixel USB Bootloader connects to USB the green LED starts blinking slowly The blinking continues until the bootloader la lt receives a particular message from the computer indicating that the E E Wixel USB Bootloader drivers are installed correctly see Section Red LED HE e 3 a for driver installation instructions After the bootloader gets th
12. app is running You can not send or receive data on this COM port Its only purpose is to let the Wixel Configuration Utility easily get the Wixel into bootloader mode Parameters e radio_channel The channel number is from 0 to 255 and determines which frequency to broadcast on The default is 128 Wixels must be on the same channel to communicate with each other To avoid interference Wixels that aren t supposed to talk to each other should be at least 2 channels away from each other For example you could have one pair of Wixels on channel 128 and another pair on 130 e Pm_n_link The link ID of pin Pm_n where m is the port number 0 2 and n is the pin number 0 7 Default Settings The default settings are Pin Link ID Function P0_0 1 Input with pull up resistor P2_1 red LED pin 1 Output linked to PO_0 on the other Wixel Therefore if you load this app onto two Wixels using the default settings they should behave as follows If nothing is connected to either Wixel s PO_0 line the red LEDs on both Wixels will be on If you connect the PO_0 line of one Wixel to GND using a wire then you should see the red LED on the other Wixel turn off This demonstrates the basic operation of the app Example Uses e A Wixel output pin can be used to control an LED Be sure to use an appropriate current limiting resistor in series with the LED e g 1 kQ e A Wixel input pin can be used to read the state of a button or switch Connect t
13. builds all of the apps and the libraries they depend on Once again you can see the build output by selecting the Console tab at the bottom or by going to Window gt Show View gt Console The Wixel SDK s Makefile should detect that example blink led c has changed so it should rebuild the app The output in the Console view should look something like this E Console 3 7B eR Erinn C Build wixel sdk Build of configuration Default for project wixel sdk make all Compiling apps example blink led example blink led rel Linking apps example blink led example blink led hex Packaging apps example blink led example blink led wxl E packihx read 441 lines wrote 249 OK f Writable Sma ert 14 Congratulations You have made your first change to an app and recompiled it using the Eclipse IDE 15 When you are ready to load the app onto a Wixel open up a Command Prompt navigate to the wixel sdk directory and run make load APPNAME where APPNAME is the name of the app We do not have a way of loading apps onto the Wixel that is integrated into Eclipse Improving the configuration of Eclipse 1 In the Project menu select Properties Under C C General gt Paths and Symbols gt Includes click the Add button Enter the full path to SDCC s include directory If you are on a 64 bit machine and SDCC is installed in the default location this will be C Program Files x86 SDCC include Check the Add
14. get sent to the radio and vice versa 2 UART to Radio Serial bytes from the UART s RX line get sent to the radio and bytes from the radio get sent to the UART s TX line 3 USB to UART Just like a normal USB to TTL serial adapter bytes from the virtual COM port get sent on the UART s TX line and bytes from the UART s RX line get sent to the virtual COM port You can select which serial mode you want to use by setting the serial_mode parameter to the appropriate number from the list above or you can leave the serial mode at 0 which is the default If the serial mode is 0 then the Wixel will automatically choose a serial mode based on how it is being powered as described in the table below and it will switch between the different serial modes on the fly Auto Detect Serial Mode serial_ mode 0 Power Source Serial Mode USB only USB to Radio VIN only UART to Radio USB and VIN USB to UART The RX pin has an internal 20 kQ pull up resistor The PA _PD pin P1_5 is a debugging output that goes low while the Wixel is transmitting a packet on the radio The serial data format used by this app is 8 data bits one stop bit with no parity which is often expressed 8 N 1 The data is non inverted so 0 V represents 0 and 3 3 V represents 1 9 Wixel Apps Page 33 of 64 Pololu Wixel User s Guide 2001 2014 Pololu Corporation Indicator LEDs The green LED behaves as described in Section 1 a and also flickers when t
15. in bootloader mode i e the app is stopped this LED turns solidly on and flickers whenever the bootloader receives a command from Wixel software on the computer The Wixel Configuration Utility queries the state of the bootloader once per second so if the Wixel Configuration Utility is open then the LED will flicker once per second While the Wixel is being programmed the yellow LED will constantly flicker 1 Overview Page 6 of 64 Pololu Wixel User s Guide 2001 2014 Pololu Corporation The P2_2 pin is connected to the yellow LED so this line will go high when the yellow LED is on and otherwise be pulled low While the Wixel is running its app the behavior of this LED depends on the app See the documentation of your particular app for more details 1 b Supported Operating Systems The Wixel USB drivers and configuration software currently work under Windows 8 Windows 7 Windows Vista Microsoft Windows XP SP 3 Linux and Mac OS X Any Wixel app that implements a single USB virtual COM port will work on Linux or Mac OS X with no special driver installation required Any Wixel app that implements a Human Interface Device HID will work on Windows Linux or Mac OS X with no special driver installation required y Mac OS X compatibility we have confirmed that the Wixel works on Mac OS X 10 7 and we can assist with advanced technical issues but most of our tech support staff does not use Macs so basic support for Mac OS X is
16. limited 1 c Government Regulations for Radio Devices Warning about radio regulations The Wixel has not been tested or certified for conformance with any radio regulations and the Wixel is shipped with only a bootloader that does not use the radio The 2 4 GHz band is relatively unrestricted in many parts of the world but it is your responsibility to comply with your local regulations if you program your Wixel to use its wireless capabilities The Wixel is a multi purpose development platform not a finished product and it is not certified by the FCC or any other government agency It is your responsibility to follow local regulations and use good engineering practices when developing installing and configuring apps for your Wixel The Wixel has a low power radio and uses the reference PCB antenna suggested by TI so we expect typical applications developed for the Wixel to comply with FCC rules but the Wixel is not intended for integration into other products If you are contemplating adding Wixel like features to your product we recommend that you integrate the CC2511 IC directly using documentation from TI any software developed for the Wixel should work on any other CC2511 based platform For more information on the requirements for operating a 2 4 GHz device see TI Application Note 032 SRD regulations for license free transceiver operation in the 2 4 GHz band http focus ti com lit an swra060 swra060 pdf 1 Overview Page 7
17. nDSR_pin to 12 To disable a signal assign it to no pin set the corresponding parameter to 1 e nDTR pin The pin assignment for the inverted DTR output The default is 10 P1_0 nRTS pin The pin assignment for the inverted RTS output The default is 11 P1_1 nDSR pin The pin assignment for the inverted DSR input The default is 12 P1_2 e nCD pin The pin assignment for the inverted CD input The default is 13 P1_3 DTR_pin The pin assignment for the non inverted DTR output The default is 1 disabled RTS_pin The pin assignment for the non inverted RTS output The default is 1 disabled DSR pin The pin assignment for the non inverted DSR input The default is 1 disabled e CD pin The pin assignment for the non inverted CD input The default is 1 disabled e arduino_DTR_pin The pin assignment for an output for wireless Arduino programming when used with the Wixel shield http www pololu com product 2500 The default is 0 PO_0 You should not simultaneously enable the non inverted and inverted input for the same signal Specifically either nCD_pin or CD_pin should be 1 and either nDSR_pin or DSR_ pin should be 1 Example Uses 1 This application can be used to make a wireless serial link between two microcontrollers with no USB involved except for initially configuring the Wixels To do this use the UART to Radio mode on both Wixels 2 This application can be used to make a wireless s
18. of 64 Pololu Wixel User s Guide 2 Contacting Pololu We would be delighted to hear from you about any of your projects and about your experience with the Wixel You can contact us http www pololu com contact directly or post on our forum http forum pololu com Tell us what we did well what we could improve what you would like to see in the future or anything else you would like to say 2001 2014 Pololu Corporation Wixel programmable USB wireless module with USB cabled connected 2 Contacting Pololu Page 8 of 64 Pololu Wixel User s Guide 2001 2014 Pololu Corporation 3 Getting Started 3 a Installing Windows Drivers and Software Before you connect a Wixel to a computer running Microsoft Windows you should install the drivers 1 Download the Wixel Windows Drivers and Software http www pololu com file download wixel windows 121129 zip file_id 0J448 12MB zip 2 Open the ZIP archive and run setup exe The installer will guide you through the steps required to install the Wixel Configuration Utility the Wixel command line utility WixelCmd and the Wixel drivers on your computer If the installer fails when run directly from the ZIP file extract the contents of the ZIP file to a temporary directory on your computer right click setup exe and select Run as Administrator 3 During the installation Windows will ask you if you want to install the drivers Click Install Windows 8
19. parameter a value of 0 disables this timeout If the Wixel receives a Get Errors command E it will respond with a single byte containing the status of several error conditions This command can be issued any time the app is not expecting a slave address or data byte When an error occurs the corresponding bit in the error byte is set and remains set until the errors are read with the Get Errors command after which it is cleared internally The following table shows the error condition that corresponds to each bit Bit Error Description 0 PC NACK on A NACK was received on the PC bus after a slave device address was transmitted LSB Address PC 1 NACK on A NACK was received on the PC bus after a data byte was transmitted Data PC The SCL line stayed low for too long possibly because a slave device was holding it low and 2 the I C bus was reset The allowed delay until this timeout occurs is 10 ms by default and can Timgout be changed with the I2C_timeout_ms parameter Invalid DEE 3 An invalid command byte was received on the serial interface Command The next byte of an unfinished command sequence took too long to be received on the 4 a serial interface The timeout is 500 ms by default and can be changed or disabled with the cmd_timeout_ms parameter gt UART The UART s receive buffer is full Overflow UART 6 Framing A framing error occurred on the UART Error Indicator LEDs The green LED beh
20. terminal Press Enter and the first ShiftBrite in your chain will light up in white Then type 0000 and press Enter now the first ShiftBrite should be red and the second should be white if present To shift out multiple color commands at once for example when you want to set the colors of the entire chain type a series of single color commands without pressing Enter then press Enter once to apply them all Parameters e radio_channel The channel number is from 0 to 255 and determines which frequency to broadcast on The default is 128 Wixels must be on the same channel to communicate with each other To avoid interference Wixels that aren t supposed to talk to each other should be at least 2 channels away from each other For example you could have one pair of Wixels on channel 128 and another pair on 130 e input_bits The number of bits per channel that you would like to use to send color information The allowed values are 1 to 16 and the default is 8 which corresponds to colors represented by 6 digit hex values However the ShiftBrite supports 10 bits of resolution so choose a value of 10 to make use of its full dynamic range In this case you must send 9 digits to set a color For example 3 3 3 f is the brightest possible white and 001000000 is the dimmest possible red Other values for this parameter might be useful in special situations e g 4 bits of resolution lets you specify a full color in three bytes such as
21. to all languages box and click OK This will allow Eclipse to find the headers provided by the compiler such as stdio h Which will reduce the number of warnings you see from Eclipse while developing apps 2 In the Window menu select Preferences Under C C gt Code Analysis uncheck the boxes for Type cannot be resolved and Field cannot be resolved We found that these two errors were not working correctly under Eclipse Indigo Service Release 1 and they will be caught by the compiler regardless of how you configure Eclipse 3 In the Window menu select Preferences Under General gt Workspace check Save automatically before build This makes Eclipse save your code automatically before building so you do not have to remember to do that Advanced Features of Eclipse The attraction of using Eclipse is the large number of advanced C C editing features 1t provides Here are just a few of these features e Eclipse supports C syntax highlighting e Ifan error occurs during the build you can double click on the error from the Console or Problems view in order to jump directly to the line of code that has the problem 10 Writing Your Own Wixel App Page 57 of 64 Pololu Wixel User s Guide O 2001 2014 Pololu Corporation e If you put your text cursor on a function name variable name preprocessor macro or include directive then you can quickly jump to the place where that item is defined by pressing F3 or by right cl
22. to talk to each other To avoid interference Wixels that aren t supposed to talk to each other should be at least 2 channels away from each other For example you could have one pair of Wixels on channel 128 and another pair on 130 The transmitter app has additional parameters to configure the behavior of the mouse 9 Wixel Apps Page 50 of 64 Pololu Wixel User s Guide 2001 2014 Pololu Corporation e invert_x Set to 1 to invert the horizontal movement of the mouse Default is 0 e invert_y Set to 1 to invert the vertical movement of the mouse Default is 0 e speed A positive number that determines the speed of the mouse Default is 100 This speed is linearly proportional to this number Alternative Parts You could replace the battery pack with a single 9 V battery and a step down regulator that outputs voltage within the Wixel s 2 7 6 5 V operating range such as our step down voltage regulator D24V3ALV http www pololu com catalog product 2101 or you could use a 1 or 2 cell holder along with an appropriate step up voltage regulator such as our 5V boost regulator NCP 1402 http www pololu com catalog product 798 You could replace the accelerometer by any other accelerometer http www pololu com catalog category 80 whose outputs are equal to one half of the input voltage when the acceleration on the corresponding axis is 0 Mouse Speed Calculation The mouse speed is calculated from the measured acceleration
23. you first get your Wixel it will have no application loaded To make your Wixel do something useful you must load an app onto it This section guides you through the steps needed to load an example application onto the Wixel using the Wixel Configuration Utility 1 Install the Wixel drivers and software by following the instructions in the preceding sections 2 Download the example application here Example Blink LED App v1 0 http www pololu com file download example blink led v1 0 wxI file_id 03449 11k wxl If you want to see the source code it is in the Wixel SDK under apps example blink led See Section 10 a 3 Open the app in the Wixel Configuration Utility To do this in Windows you can simply double click on the Wixel App WXL file Alternatively you can open the Wixel Configuration Utility click the Open button and select the Wixel App file In Windows you can find the Wixel Configuration Utility in the Pololu folder in your Start Menu 4 Connect a Wixel to your computer via USB You should see it appear in the Wixels list If it does not appear you might need to use a button or wire to get your Wixel into bootloader mode see Section 5 c At this point your screen should look something like this 3 Getting Started Page 16 of 64 Pololu Wixel User s Guide O 2001 2014 Pololu Corporation File Connections Wixel Help Wixels App Configuration DD 00 82 26 Read wiel C User xample_blink led_
24. your description into your post so that we can see what your app is about before downloading it Contributing your source code Sharing your source code greatly increases the value of your app since other members of the community will be able to adapt it to their own projects or learn from your code You might also have made changes to the common sections of the Wixel SDK that you would like us to incorporate or you might have discovered and want to share your fixes For all of these reasons we are maintaining the Pololu Wixel SDK Repository on GitHub http github com pololu wixel sdk as a central location for sharing Wixel code You can easily use this site to fork your own version of the Wixel SDK show us what you are working on submit changes and so on Y GitHub uses the Git Version Control System http git sem com for tracking versions and branches of code so we highly recommend learning how to use Git if you want to share your code with the Wixel community or even just to get the latest version for your own use Teaching Git is beyond the scope of this User s Guide but there are many good tutorials available on the web For example the Git tutorial http help github com set up git redirect provided by GitHub will help you get started For the rest of this section we will assume that you are comfortable with Git If you have been following the instructions in this document your code is located within the wixe1 sdx folder al
25. 64 Pololu Wixel User s Guide 2001 2014 Pololu Corporation The three GND pins are all connected and are at 0 V by definition When connecting the Wixel to other electronic systems you should make sure that the Wixel s GND is connected to the other system s GND unless you are doing something very advanced The Wixel can be powered from VIN pin Simply connect a 2 7 6 5 V power source between VIN and GND with the positive terminal going to VIN It is OK to connect VIN and USB at the same time See Section 5 a for more information about powering your Wixels The VALT pin is connected to three things the 5V USB bus power from the USB port through a diode VIN through a diode and to the input of the Wixel s on board 3 3 V regulator The connection to 5V is switched off when a power supply is connected to VIN Most people will not need to use the VALT pin see Section 5 a for example uses Wixel programmable USB wireless The pin labeled 3V3 on the board 3 3V Output in the diagram above is module bottom view with US connected to the output of the Wixel s 3 3V regulator This power source quarter for size reference can be used to power other low current peripherals in your system With an input voltage of 5 V either from USB VIN or VALT this output can provide up to 150 mA of current At higher input voltages this output can provide up to 100 mA The pin labeled RST on the board RESET in the diagram above is the reset
26. 670 33k wxl released 2013 08 12 Initial release 9 Wixel Apps Page 48 of 64 Pololu Wixel User s Guide 2001 2014 Pololu Corporation 9 h Wireless Tilt Mouse App Overview This app allows you to make a wireless tilt mouse for your computer By tilting the mouse you can control the position of the mouse cursor The mouse also supports two buttons for clicking This app requires two Wixels a transmitter and a receiver The transmitter Wixel detects a tilt using an accelerometer and wirelessly transmits that information to the receiver Wixel which relays itto the computer as mouse movements The receiver appears to the computer as a standard USB Human Interface Device HID after the Wixels have been configured no driver installation is necessary to use the mouse Wireless tilt mouse made with two Parts Needed Wixels and an accelerometer There are many different ways to build this project Here are the parts we used Wixel Pair Fully Assembled USB Cable http www pololu com catalog product 1338 e MMA7361L 3 Axis Accelerometer 1 5 6g http www pololu com catalog product 1246 e 3 AAA Battery Holder Enclosed with Switch http www pololu com catalog product 1147 and 3 AAA batteries 270 Point Breadboard http www pololu com catalog product 350 Mini Pushbutton Switches http www pololu com catalog product 1400 You will need wires and connectors to make the electrical connections We suggest our
27. 8 schematic Diagrami a zie a oie ew eee BA Re A Ae eee ee E ee 31 OF Wixel ADDS A ee Cobh Tien Shedd eck ee A ate ete ot OE a a eds 32 9 a Example App Blink LED 2 2 ee 32 9 bo Wireless Sera App cat os a fo at e de e ot a ena A ote ts ae ae el tok ate 32 9 5 USB to serial ADD x4 A A Ee A A A a e A o A 37 9 d Serial ASCII to Binary App 38 9 serial to 2C App ea e o Sie we SOLA ES eS A As 40 Of WO Repeater App td tele Mo hk Sok A Ae ede cance at Gitte Vel Soe MES Te a dep id 44 98 JOVSUCK ADD stv 26 A Bie A ee ea PAE GA RGA Bek Ai ee Cee ee OE EER RS 46 9 h Wireless Tilt Mouse App 49 Oa ShittBrite App os oc Sed ehh ee BESS SE 24S Bae ee Ree Eb SAS eS 51 10 Writing Your Own Wixel App 2 aoaaa ee 54 10 a Getting Started in Windows ee 54 10 b Compiling an Example App 54 10 c Using the Eclipse IDE lt S o e gaa Se ew SORA AS Ae SD Seek eS Se ee OR aA 56 10 d Sharing Your App with the Wixel Community 2 2 0 0000002 eee ee eee 59 10 e USB Configurations Recognized by the Wixel Configuration Software o ooo 61 10 f Wixel App File Format tii E Ble ao ind amp ho ays 61 11 The Wixel USB Bootloader a 63 Page 2 of 64 Pololu Wixel User s Guide 2001 2014 Pololu Corporation 1 Overview The Pololu Wixel is a general purpose programmable module featuring a 2 4 GHz radio and USB The Wixel is based around the CC2511F32 http focus ti com docs prod fol
28. B drivers are installed properly the green LED should be on solid Congratulations you have successfully configured your Wixel 3 Getting Started Page 17 of 64 Pololu Wixel User s Guide O 2001 2014 Pololu Corporation 9 The speed of the blinking is determined by the blink _period_ms parameter The units of this parameter are milliseconds ms Try changing blink _period_ms to 100 by double clicking on the number and typing 100 You can now write the new configuration to the Wixel by clicking the Write to Wixel button After the writing is done and the app is running you should see the red LED blinking 5 times faster than it was before 10 The Wixel Configuration Utility can also read the settings from the Wixel To demonstrate this close the Wixel Configuration Utility reopen it and select your Wixel Since the Auto Read checkbox is checked by default and there is an application on the Wixel the Wixel Configuration Utility will attempt to read the Wixel s settings If you have not yet opened the correct app a dialog box like the one below will pop up E Wixel Configuration Utility o amp File Connections Wixel Help Wixels App Configuration Get Apps DD 00 82 26 Read Wixel NOAPP File open open gt gt gt Settings Parameter Value No App File open To read settings you must open the App Pr that is currently on the Wixel oduct mera Show Detail
29. Pololu Wixel User s Guide 2001 2014 Pololu Corporation Pololu Wixel User s Guide http www pololu com docs 0J46 all Page of 64 Pololu Wixel User s Guide O 2001 2014 Pololu Corporation VS OVERVIEW Lc AI AA AO e A A et ed ee Ee ae as 3 l a Module Pinout and Components oaaae ee 4 1 b Supported Operating Systems 2 7 1 c Government Regulations for Radio Devices 2 2 2 o e 7 2 Contacting PolOlU 2 cael de Se oe We E ER he ee OE RY 8 3 Getting Started ae Oke idee eet ek le ed eee ae et a oe aa 9 3 a Installing Windows Drivers and Software ee 9 3 b Installing Linux Drivers and Software ee 14 3 c Installing Mac OS X Drivers and Software 2 aa a 15 3 d Loading an Example APP sete det Sede tg a Se ag a ee ee R 16 4 Configuring Your Wixels s o soe aes eote A A Se AN as 20 5 Connecting Your Wixels ea ea ae a ee aien a ea aada aa E A aa a aa es eie d a 23 da Connecting POWEL ti k Gye e ii O A RGR EE Ai SE Ci E a a N 23 5 b Connecting a Microcontroller via TTL Serial naaa aa ee 24 5 c Connecting Buttons and Starting the Bootloader oaoa e e e 25 6 Using a Virtual COM Port 2 p ieee a e a E a anA a e e a d A aa a a a a p 28 6 a Determining th Port Name 4 4 4 0 oe AR EE A a E a eS 28 6 b Using a Terminal Programi ta ti tt oe Bt er ee 28 6 c Writing PC Software to Use a Serial Port 2 e 29 7 Ensuring a Good Radio Signal 2 ee 30
30. a serial adapter http www pololu com product 126 RS 232 serial is inverted the Wixel s serial interface expects non inverted serial 9 d Serial ASCII to Binary App Overview This app uses the Wixel s two UARTs to convert between ASCII characters and binary data with arbitrary bytes This can be useful if you are programming a controller with a serial interface that is limited to only transmitting ASCII characters but you want to control a device with a serial interface that requires you to send arbitrary bytes between 0x00 and OxFF This app can act as a translator between your controller and such a device Installation Instructions Download the Serial ASCII to Binary App v1 0 http www pololu com file download serial ascii binary v1 0 wxI file_id 03640 17k wxl Open it with the Wixel Configuration Utility choose your parameters and then write it to a Wixel See Section 4 for more information on how this is done 9 Wixel Apps Page 38 of 64 Pololu Wixel User s Guide O 2001 2014 Pololu Corporation Pinout Pin Function P0_3 ASCIL TX Serial output transmits ASCH 03 3 V PO 2 ASCIL RX Serial input receives ASCII 0 3 3 V not 5 V tolerant P1 _6 BINARY TX Serial output transmits arbitrary bytes 0 3 3 V P1_7 BINARY_RX Serial input receives arbitrary bytes 0 3 3 V not 5 V tolerant ASCII to Binary conversion ASCII characters are received on the ASCIL_RX pin converted into the appropr
31. alfunctioning program onto the Wixel that is incapable of responding to the special USB command 5 Connecting Your Wixels Page 25 of 64 Pololu Wixel User s Guide 2001 2014 Pololu Corporation e You loaded a program which uses a different type of USB interface or no USB interface In this case check the documentation of the app to see if there is a convenient way for getting the Wixel into bootloader mode No matter what state the Wixel is in you can manually get it into bootloader mode by connecting USB setting P2_2 high and resetting the Wixel There are two main ways to accomplish this One way is to disconnect the Wixel from any possible power sources connect P2_2 to 3V3 using a wire and then plug it into USB Using a wire to put the Wixel into bootloader mode Another way to is to wire a bootloader button and a reset button to the Wixel and follow the procedure shown in the picture below Using Buttons to Start the Bootloader 1 Connect USB cable 2 Press both buttons 3 Release reset button reset button bootloader button Using pushbuttons to put the Wixel into bootloader mode 5 Connecting Your Wixels Page 26 of 64 Pololu Wixel User s Guide O 2001 2014 Pololu Corporation dal af rf of rises wes sf 2 ss u E sf amp q CC CET of sf s Ff Ff i Pe co ran f dait a ae nf
32. and merge them into your code by typing the following command git pull pololu 10 Writing Your Own Wixel App Page 60 of 64 Pololu Wixel User s Guide O 2001 2014 Pololu Corporation Initially you will commit your changes to your local repository but when you are ready to publish them you should set up your own repository on GitHub to make them accessible to the community To do this sign up for a GitHub account and fork our repository into a repository on your account Please do this by clicking the fork button at the top of our repository http github com pololu wixel sdk so that it will be connected within the GitHub system this way we will see your changes and can easily incorporate them into the SDK After making your fork you can push all of the changes from your local repository to GitHub with git remote add myrepo lt GitHub URL gt git push myrepo where lt GitHub URL gt is the SSH or HTTP URL shown on your GitHub page Finally you will probably want to post a link to your GitHub repository on the Wixel forum http forum pololu com viewforum php f 30 This will help others find out about it and give you feedback on your contribution 10 e USB Configurations Recognized by the Wixel Configuration Software The Wixel Configuration Utility and the Wixel Command Line Utility can currently only recognize certain Wixel apps If your app is not recognized then users of your app will not easily be able to reconfigu
33. at you stop the installation Click Continue Anyway MAA Pease mad mide the md ds the sohase ES lhe Aeee a me rs Pe haaye J Pretty USE A Progr Prag ar Port Pr SE AE Peng gene Prag rr Poot hat rot ad Loge String mt coro P Lele nte tu wirta 4 w g EL 9 When you have finished the Found New Hardware Wizard click Finish 3 Getting Started Page 11 of 64 Pololu Wixel User s Guide Found New Hardware Wizard 2001 2014 Pololu Corporation Completing the Found New Hardware Wizard The wizard has finished installing the software for 2 Pololu Wixel USB Bootloader Click Finish to close the wizard After installing the drivers if you go to your computer s Device Manager and expand the Pololu USB Devices list you should see an entry for the Pololu Wixel USB Bootloader Es Device Manager koka File Action View Help e 9 m H amp H E Network adapters FN Pololu USB Devices Ed Pololu Wixel USB Bootloader t H P Ports COM amp LPT gt i Processors z Device Manager File Action View Help H amp h y Network Bus Enumerator Pololu USB Devices Pololu Wixel USB Bootloader SB Processors a BBR Sosnste Newiroc Windows Vista or Windows 7 Device Manager showing a Wixel in bootloader mode Windows XP Device Manager showing a Wixel in bootloader mode If you see the Pololu Wixel USB Bootloader entry in your
34. ate The Wixel App file is plain text every byte is an ASCII encoded character The allowed ASCII codes are 0x20 through 0x7F and also 0x09 tab OxA new line An and OxD carriage return r The bytes in a Wixel App file are divided into lines Line endings can be encoded with any of the following byte sequences nn OxD 0xA Ar OxD or An OxA The first line must be Pololu Wixel Application www pololu com This line explains the purpose of the Wixel App file The second line must be 1 0 This specifies the version number of the file format used in the file The third line and all the lines below it are divided into sections Each section has a one line header at the top of it that specifies the name of the section The header line consists of 6 equals signs followed by a space followed by the name of the section The order of the sections does not matter The only sections required by the Wixel software are the edb and hex sections 10 Writing Your Own Wixel App Page 61 of 64 Pololu Wixel User s Guide 2001 2014 Pololu Corporation The hex section The hex section contains an Intel Hex file that specifies the bytes to write to the flash of the Wixel See the Intel HEX http en wikipedia org wiki Intel HEX page on Wikipedia for more information The flash memory region on the CC2511F32 that is available for Wixel applications consists of addresses 0x400 through 0x77FF inclusive
35. available for the app The bootloader places no restrictions on what data can be written to the application section However the bootloader will consider the application to be invalid and not allow any code in the application section to run if the first byte of the application section address 0x400 is OxFF which should never be the case for an application that is compiled correctly The CC2511 s standard entry vector and the interrupt vectors are remapped by the bootloader to the beginning of the application section The application s entry vector should be placed at 0x400 The first interrupt vector should be at 0x403 and consecutive interrupt vectors should be 8 bytes apart The application can put the Wixel into bootloader mode by jumping to address 0x6 using an 13mp instruction The block of flash memory from 0x3CC to 0x3FF in the bootloader is used to store some information that can be read by the application e Addresses 0x3CC 0x3DD contain the USB device descriptor of the bootloader as defined in the USB 2 0 Specification e Addresses 0x3E0 0x3E3 contain the serial number of the Wixel as a 32 bit unsigned little endian integer e Addresses 0x3E6 0x3FD contain the serial number of the Wixel in USB string descriptor format The bytes in the 0x3CC 0x3FF region not mentioned above are reserved and contain only zeros 11 The Wixel USB Bootloader Page 63 of 64 Pololu Wixel User s Guide Startup Procedure Every time the Wi
36. aves as described in Section 1 a and also flickers when there is data transferred over USB 9 Wixel Apps Page 42 of 64 Pololu Wixel User s Guide 2001 2014 Pololu Corporation The yellow LED is on when VIN power is detected The red LED indicates an error condition when lit it can be reset by issuing a Get Errors command described above General Parameters bridge_mode Selects the bridge mode 0 2 see list above The default is 0 e baud_rate The baud rate to use for the UART in bits per second The default is 9600 We recommend not exceeding 115200 This parameter has no effect on serial communication over the virtual COM port USB e 2C_freq_kHz The clock frequency of the PC bus in kilohertz The default is 100 Common PC speeds are 10 kHz low speed 100 kHz standard and 400 kHz high speed The range of possible frequencies is 2 500 kHz because of rounding inaccuracies and timing constraints the actual frequency might be lower than the selected frequency but it is guaranteed never to be higher 12C timeout_ms The allowed delay in milliseconds before a low SCL line causes an PC bus timeout This resets the bus and sets the I C Timeout error bit The default is 10 e cmd_timeout_ms The allowed delay in milliseconds before failure to receive the next byte of a command sequence causes a command timeout This resets the PC bus and sets the Command Timeout error bit The default is 500 A value of 0 disables t
37. cts the serial mode 1 3 see list above or auto detect serial mode 0 The default is 0 9 Wixel Apps Page 34 of 64 Pololu Wixel User s Guide O 2001 2014 Pololu Corporation baud_rate The baud rate to use for the UART in bits per second The default is 9600 We recommend not exceeding 115200 This parameter has no effect on serial communication over the virtual COM port USB e radio_channel The channel number is from 0 to 255 and determines which frequency to broadcast on The default is 128 Wixels must be on the same channel to communicate with each other To avoid interference Wixels that aren t supposed to talk to each other should be at least 2 channels away from each other For example you could have one pair of Wixels on channel 128 and another pair on 130 e framing error_ms The approximate number of milliseconds to disable the UART s receiver for after encountering a framing error on the RX line Valid values are 0 250 The default is 0 which means that the UART s receiver will not get disabled after a framing error Pin Assignment Parameters The following parameters can be used to reassign the control signals to different pins on the Wixel The value of each parameter must be the number of an unused pin on the Wixel The number can be computed by multiplying the first digit in the pin name by 10 and adding it to the second digit in the pin name For example if you wanted to assign the DSR pin to P1_2 you would set
38. ders print cc2511f32 html microcontroller from Texas Instruments which has an integrated radio transceiver 32 KB of flash memory 4 KB of RAM and a full speed USB interface A total of 15 general purpose I O lines are available including 6 analog inputs and the 0 1 pin spacing makes the Wixel easy to use with breadboards http www pololu com category 28 solderless breadboards and perfboards We provide free open source apps for the Wixel that you can load and configure with its built in USB bootloader turning it into whatever you need for your current project Simply download a different app to reuse the Wixel in your next project Wixel programmable USB wireless module Our Wireless Serial app turns a pair of Wixels into a wireless USB TTL serial link for communication between two microcontrollers or between a PC and a microcontroller This can be used for example for communication between two robots or to remotely monitor a robot from a computer A special version of this app is designed for use with our Wixel shield for Arduino http www pololu com product 2500 which makes it easy to add wireless capabilities including wireless programmability to an Arduino http www pololu com product 2191 or Arduino clone Using an RF bit rate of 350 kbps the serial app is capable of transmitting or receiving up to 10 KB of data per second and can reach a range of approximately 50 feet under typical Wixel programmable USB wire
39. device manager it means that your Wixel is in bootloader mode Your Wixel should go into bootloader mode when you first plug it into USB because there is no app on the Wixel by default Once you have loaded an app onto the Wixel using the Wixel Configuration Utility and the app is running then you will not see the Pololu Wixel USB Bootloader entry in your Device Manager The entry you see in the Device Manager will depend on the application that is loaded on the Wixel Some apps might not enable the USB interface in which case you will see no entry for the Wixel in the Device Manager However typical Wixel Apps will appear in your Device Manager as a single Virtual COM port with product ID 0x2200 in the Ports COM amp LPT list as shown below 3 Getting Started Page 12 of 64 Pololu Wixel User s Guide File Action View Help 9 m HB m amp Network adapters 8 I Ports COM amp LPT Y Communications Port COM1 1 Wixel COM3 E a Processors Device Manager l 3 la la Windows Vista or Windows 7 Device Manager showing a Wixel that is running an app with a virtual COM port 2001 2014 Pololu Corporation 2 Device Manager File Action View Help e gt m amp R Network Bus Enumerator Ports COM amp LPT ov Wixel COMS BR Processors a BBR Sanska Mawviras Windows XP Device Manager showing a Wixel that is running an app with a virtual COM port
40. ee terminal programs available which are capable of sending and receiving bytes on a virtual COM port These programs include PuTTY http www chiark greenend org uk sgtatham putty Windows or Linux Tera Term http ttssh2 sourceforge jp Windows and Br y Terminal http sites google com site terminalbpp Windows Advanced users developing scripted applications may prefer the free terminal program kermit http www columbia edu kermit ck80 html To use any of these terminal programs with the Wixel you must specify the port name see Section 6 a and the baud rate The baud rate may or may not affect anything see your applications documentation The characters you type will be transmitted on the programmer s TX line Bytes received by the programmer on the RX line will be displayed on the screen by the terminal program Typical terminal programs will allow you to choose several other settings besides the baud rate If you are not sure what settings to use then you should pick 8 data bits 1 stop bit no parity and no flow control Typical terminal programs will not allow you to use the serial control signals but Br y terminal does You can click the DTR and RTS buttons to change the state of the DTR and RTS signals The state of the CTS CD DSR RI DTR and RTS signals are indicated by the colors of the corresponding buttons 6 Using a Virtual COM Port Page 28 of 64 Pololu Wixel User s Guide O 2001 2014 Pololu Co
41. erial link between a computer and a microcontroller Use USB to Radio mode on the Wixel that is connected to the computer and use UART to Radio mode on the Wixel that is connected to the microcontroller If you are powering both Wixels in the usual way you should be able to use auto detect serial mode serial_ mode 0 3 Ifyou are doing option 2 above and using the the auto detect serial mode serial_ mode 0 then you have the option to at any time plug a USB cable directly into the Wixel that is connected to your microcontroller to establish a more direct wired serial connection with the microcontroller You would of course have to tell your computer to switch to the other COM port when you do this 9 Wixel Apps Page 35 of 64 Pololu Wixel User s Guide O 2001 2014 Pololu Corporation Caveats Data will be lost if the Wixel receives bytes on the RX line faster than the radio can convey them to the other Wixel If you have trouble try reducing the amount of data sent to the RX line by lowering the baud rate or adding delays to your microcontroller s code Caution The Wixel s I O lines are not 5V tolerant You must use level shifters diodes or voltage dividers to connect the Wixel to outputs from 5V systems Also avoid drawing more current from an I O line than it can provide see the discussion of P1_0 and P1_1 in Section 1 a Avoid connecting multiple output pins together The Wixel does not support the RS 232 voltage
42. gital outputs that can be used to control something such as an LED from a computer e The DSR and CD lines are general purpose digital inputs that can be connected to a sensor or other circuit and read from a computer Caveats e The CC2511 s UARTs do not actually support 1 5 stop bits so if you try to set the number of stop bits to 1 5 this app will use 1 stop bit instead e The CC2511 s UARTs do not support having 2 stop bits very well so if you set the number of stop bits to 2 this app may fail to detect framing errors that occur during the second stop bit Also the next byte received after the framing error occurred may be discarded even if that byte is valid This problem only applies to receiving bytes on the RX line this app has no problem transmitting bytes on the TX line with 2 stop bits Caution The Wixel s I O lines are not 5V tolerant You must use level shifters diodes or voltage dividers to connect the Wixel to outputs from 5V systems Also avoid drawing more current from an I O line than it can provide see the discussion ofP1_ 0 and P1_1 in Section 1 a Avoid connecting multiple output pins together The Wixel does not support the RS 232 voltage levels typically used by DB9 serial ports The Wixel s I O lines including the RX and TX lines operate on voltages between 0 and 3 3 V To connect the Wixel to an RS 232 serial signal you will need additional level shifting and inverting hardware like the Pololu 23201
43. hat the valid values are The Wixel Configuration Utility will not prevent you from entering invalid or inconsistent values Writing to a Wixel After you have chosen the app and settings you want to use and selected a Wixel you can write the app and settings to the Wixel by clicking the Write to Wixel button This will erase whatever application was previously on the Wixel and write the new application to the Wixel When the write operation is done the Wixel will be restarted and the application should start running Reading from a Wixel To read the settings from a Wixel that has been programmed select the Wixel If the Auto Read checkbox is checked then the Wixel will automatically be read Uncheck this box if you want to retain current settings when changing 4 Configuring Your Wixels Page 21 of 64 Pololu Wixel User s Guide O 2001 2014 Pololu Corporation Wixels for example when you want to write the same app and settings to multiple Wixels If the box is unchecked you can click the Read Wixel button at any time to read settings from the selected Wixel To read the settings from a Wixel you will need to open the app that is currently on the Wixel This is necessary because the app file contains metadata which is needed in order to correctly interpret the settings contained in the Wixel s flash memory If you have lost the app file and want to read the contents of your Wixel select Read Flash and Export to HEX File fro
44. he button or switch between the input pin and GND so that when the switch is open the pin will read high and when the switch is closed the pin will read low e A Wixel output pin can be connected to an input pin on another microcontroller e A Wixel input pin can be connected to an output pin on another microcontroller The output must not drive to a voltage higher than 3 3 V If your microcontroller is running at 5 V you could get around this by using a diode or putting your output pin into open collector mode never drive high Caveats e A change on an input pin will usually be reflected on the corresponding output pin s within 10 100 ms but every radio packet has a chance of being lost so there is no guaranteed latency Therefore this app is only suitable for very low speed digital signals such as the signal from a pushbutton or the signal used to control an LED This app is not suitable for PWM or RC servo signals This app uses digital I O which means that every reading is transmitted as a 0 or 1 This app does not support analog voltages 9 Wixel Apps Page 45 of 64 Pololu Wixel User s Guide 2001 2014 Pololu Corporation Caution The Wixel s I O lines are not 5V tolerant You must use level shifters diodes or voltage dividers to connect the Wixel to outputs from 5V systems Also avoid drawing more current from an I O line than it can provide see the discussion ofP1 0 and P1_1 in Section 1 a Avoid connecting mul
45. here is data transferred over USB The yellow LED represents the state of the radio If the Wixel is in a serial mode where the radio is not used the yellow LED will be off Otherwise the yellow LED turns on and off slowly until radio communication is established for the first time after which it blinks briefly once per second and flickers whenever data is sent or received via the radio The red LED indicates errors The red LED will flash briefly if a byte is received on the UART s RX line that had to be discarded because the receive buffers were full The red LED will turn on when a framing error occurs on the RX line and will stay on until the RX line goes high Control Signals In addition to relaying bidirectional serial data this app also relays the values of four control signals DTR RTS DSR and CD The names of these control signals come from the RS 232 protocol but in this app they do not actually have the same role as they have in that protocol they are general purpose digital control signals that can carry any kind of data that you want them to as long as that data changes slowly on the order of 5 Hz or slower and is limited to two bits in each direction In USB to Radio mode the DTR and RTS signals from USB are transmitted wirelessly to the other Wixel while the control signals wirelessly received from the other Wixel are relayed to USB as DSR and CD In UART to Radio mode the DSR and CD signals from the digital input pi
46. his timeout e radio_channel The channel number is from 0 to 255 and determines which frequency to broadcast on The default is 128 Wixels must be on the same channel to communicate with each other To avoid interference Wixels that aren t supposed to talk to each other should be at least 2 channels away from each other For example you could have one pair of Wixels on channel 128 and another pair on 130 Pin Assignment Parameters The following parameters can be used to reassign the PC lines to different pins on the Wixel The value of each parameter must be the number of an unused pin on the Wixel The number can be computed by multiplying the first digit in the pin name by 10 and adding it to the second digit in the pin name For example if you wanted to assign the SCL pin to P1_2 you would set I2C_SCL_pin to 12 e 12C _SCL pin The pin assignment for the I C SCL clock line The default is 10 P1_0 e 12C_SDA pin The pin assignment for the PC SDA data line The default is 11 P1_1 Caveats Data will be lost if the Wixel receives commands on the UART s RX line faster than they can be processed on the PC bus If you have trouble try reducing the amount of data sent to the RX line by lowering the baud rate or adding delays to your microcontroller s code Using the Get Errors command and checking the UART Overflow error bit is a good way to detect this problem Caution The Wixel s I O lines are not 5V tolerant You must use
47. iate bytes and then transmitted on BINARY_TX If you want the Wixel to send a particular byte on the BINARY_TX line then you should send an ASCII H character to the ASCII RX pin followed by the two hex digits representing the byte For example if you want the Wixel to transmit the byte OXFA on BINARY_TX send the three byte ASCII string HFA to the ASCIL RX line This example can be described as ASCII string HFA ASCIL RX ASCII to binary conversion gt BINARY TX byte OxFA The delimiting H character can be omitted but we recommend sending it at the beginning of each transmission to make sure the Wixel is in sync with the device transmitting the ASCII For example to send the two bytes OxFA and 0x1C you could send the five byte ASCH string HFA1C Uppercase and lowercase hex digits are both recognized You do not need to send any newlines or other ending delimiters to the ASCII_RX line The Wixel transmits each byte as soon as the second hex digit is received Binary to ASCII conversion Arbitrary bytes are received on the BINARY RX pin and an ASCII representation of them is transmitted on BINARY _ TX Whenever a byte is received on BINARY RX the Wixel will transmit three bytes on the ASCIL TX line the delimiting character H is transmitted first followed by the two hex digits representing the byte For the digits A F upper case is used For example if the Wixel receives OXFB on BINARY _ RX
48. icking and selecting Open Declaration e Pressing Ctrl Tab inside a source c file opens up the corresponding header h file and vice versa This is especially useful if you are writing a Wixel library e The Outline view shows all the variables and functions defined in the current file You can click on one of them to quickly jump to its definition You can even drag them within the Outline view to change their order in your file Ifyou put your cursor on a function name you can see all the places where that function is called by typing Ctri Alt H or right clicking and selecting Open Call Heirarchy e Eclipse makes it easy to rename selected objects variables methods functions etc by automatically propagating the changes to other files in the project You can access this feature by putting your cursor on a name and then right clicking and selecting Refactor gt Rename e Eclipse scans your files for comments containing TODO These comments are aggregated in the Tasks view and you can also easily find them in your current file by clicking on the little blue rectangles to the right of the vertical scroll bar Each blue rectangle represents the location of a TODO item in your file File Edit Source Refactor Navigate Search Run Project Window Help ka HEB o 7 ieo a s EE ih usb h int32 CODE param blink period ms uint32 lastToggle 0 void updateLeds usbShowStatusWithGreenLed LED YELLOW 0
49. in can map to one or more output pins on one or more Wixels Installation Instructions Download the I O Repeater App v1 3 http www pololu com file download io repeater v1 3 wxI file_id 03562 22k wxl Open it with the Wixel Configuration Utility choose your settings and write it to two or more Wixels See Section 4 for more information on how this is done Description The following 15 pins on each Wixel can be used as inputs or outputs or be disabled e All the pins on Port 0 PO_ 0 PO_1 PO 2 PO_3 PO 4 PO_S e All the pins on Port 1 P1_0 P1_1 P1_2 P1_3 P1_4 P1_5 P1_6 Pl_7 e Pin P2_1 the red LED pin The behavior of each pin is determined by its link ID which is a parameter that you can set individually for each pin on each Wixel using the Wixel Configuration Utility A link ID of 0 means the pin will be disabled it will be an input but its input value will not have any effect A negative link ID between 1 and 127 means that the pin will be a digital input and its value will be transmitted over the radio A positive link ID between and 127 means that the pin will be a digital output and its output value will be determined by the input value of the pin with the opposite negated link ID on another Wixel For example if the P1_3 pin on one Wixel has a link ID of 13 then it will be a digital input and its value will be reflected on all the output pins that have a link ID of 13 on all the other Wixels Input
50. ion C C Element Creation C C Navigation C C Open Actions C C Search Editor Navigation Editor Presentation Keyboard Shortcuts Open Files Search If you want further customization you can use the Tool Bar Visibility and Menu Visibility tabs to show or hide individual commands 10 d Sharing Your App with the Wixel Community Preparing your app for the community Please make sure that you have set up the following sections in your WXL file e description this should fully describe what your app does or link to a web site with a complete description Since other people will be trying this on their Wixels make sure to bring our attention to anything that may cause damage or incompatibility Most importantly any JO ports used as outputs should be explicitly listed in the description e license this specifies the terms under which others may distribute copies or modifications of your app We recommend and use the MIT license which is simple and allows widespread use of your code Note that if you have used the Wixel SDK to build your app you need to include our license though you may add your own restrictions 1f necessary We recommend using the following template which will make it easy for us to share your app or to include it in the Wixel SDK Copyright c 2011 lt YOUR NAME gt Documentation for this app is available at http lt YOUR SITE gt Copyright c 2011 Pololu Corporation For more info
51. is a message the green LED will do a double blinking pattern The Yellow LED a tc i am Jit a green LED also turns off during USB Suspend Mode which o happens when the computer goes to sleep or shuts down the USB port for any other reason Wixel indicator LEDs While the Wixel is running its app the behavior ofthe LED depends on the app The standard apps provided by Pololu all behave as follows When the app connects to USB the green LED starts blinking slowly The blinking continues until the app receives a particular message from the computer indicating that the app s drivers are installed correctly After the app gets this message the green LED turns solidly on The green LED also turns off during USB Suspend Mode which happens when the computer goes to sleep or shuts down the USB port for any other reason Red LED While the Wixel is in bootloader mode i e the app is stopped this LED indicates whether there is an application on the Wixel If there is no application the red LED will be on Otherwise it will be off By default the Wixel does not have an application on it so this LED will be on the first time you power your Wixel The P2_1 pin is connected to the red LED so this line will go high when the red LED is on and otherwise be pulled low While the Wixel is running its app the behavior of this LED depends on the app See the documentation of your particular app for more details Yellow LED While the Wixel is
52. it will transmit the three byte ASCII string HFB on ASCII TX This example can be described as Byte 0xFB BINARY RX Binary to ASCII conversion gt ASCII_TX ASCII string HFB The Wixel does not ever omit the delimiting character H when transmitting on the ASCIL TX pin Serial specifications The serial interfaces of this app are non inverted and they use 8 data bits with stop bit This is called 8 N 1 Any serial devices connected to the Wixel should use these same settings Parameters e ascii_baud_rate The baud rate of the ASCII interface ASCH RX and ASCII TX in bits per second The default value is 9600 bps We recommend not exceeding 115200 binary _baud_rate The baud rate of the binary interface BINARY RX and BINARY TX in bits per second The default value is 9600 bps We recommend not exceeding 115200 9 Wixel Apps Page 39 of 64 Pololu Wixel User s Guide 2001 2014 Pololu Corporation Caveats e If data is received on the ASCII_ RX or BINARY_RX pins too quickly it could result in the internal buffers filling up and data loss This app has 512 bytes of buffer space for the ASCH to binary conversion and 512 bytes of buffer space for the binary to ASCII conversion Caution The Wixel s I O lines are not 5V tolerant You must use level shifters diodes or voltage dividers to connect the Wixel to outputs from 5V systems Also avoid drawing more current from an I O line than it can p
53. ity Wixels App Configuration Get Apps 07 37 88 69 Read Wixel Users Jexample_blink_led_v1 0 wxl Open gt gt gt Settings Y Auto Read Parameter Value blink_period_ms 500 Selected Wixel Serial Number 07 37 8B 69 USB Product ID 0x2200 Port Name cu usbmodemfal21 Write to Wixel Status App Running pe Start App Stop App Action Output Erasing Writing Reading Wixel successfully verified Restarting device Wixel successfully written The Wixel Configuration Utility running in Mac OS X You can download the Wixel Configuration Utility and the Wixel command line utility wixelemd for Mac OS X here e Wixel Mac Software http www pololu com file download wixel mac 120514 dmg file_id 0J550 SMB dmg Double click on the dmg file to open it and then follow the instructions in README txt The virtual COM ports are managed by the AppleUSBCDCACM component of Mac OS X The source code http www opensource apple com of Apple USBCDCACM is available from Apple When you connect a Wixel running an app that implements a virtual serial port to the PC the virtual serial port should appear as a device with a name like dev cu usbmodemfa121 the number depends on which USB port you use You can use any terminal program such as screen to send and receive bytes on those ports 3 Getting Started Page 15 of 64 Pololu Wixel User s Guide O 2001 2014 Pololu Corporation 3 d Loading an Example App When
54. jumper wire kits http www pololu com catalog category 29 Or premium jumper wires http www pololu com catalog category 65 You will need a soldering iron http www pololu com catalog category 5 to solder the included header pins into the accelerometer The pushbuttons are optional and any normally open NO pushbutton or switch will work If you want to have both a left mouse button and a right mouse button you should get two pushbuttons Note that only one button on P1_2 is shown in the picture above Pinout of Transmitter Wixel Pin Function P0_1 analog input for vertical mouse speed P0_2 analog input for horizontal mouse speed P1_2 left mouse button input internally pulled high P1_7 right mouse button input internally pulled high Wixel Configuration Download the Wireless Tilt Mouse App v1 0 http www pololu com file download wireless tilt mouse v1 0 wxI file_id 03470 26k wxl Open it with the Wixel Configuration Utility choose your settings and write it to the transmitter Wixel The transmitter Wixel should now appear to your computer as a USB virtual COM port with USB product ID 0x2200 You can not send or receive data on this COM port Its only purpose is to let the Wixel 9 Wixel Apps Page 49 of 64 Pololu Wixel User s Guide 2001 2014 Pololu Corporation Configuration Utility easily get the transmitter Wixel into bootloader mode when the transmitter Wixel is connected to the computer via USB
55. lerometer we used can run off of 3 3 V and draws relatively little current so we powered it from the Wixel s 3V3 line by connecting 3V3 to the accelerometer s VDD Make any connections necessary to enable your accelerometer For the MMA7361L we connected SLP to VDD Choose which axis of the accelerometer will control the mouse cursor s horizontal movement and connect its output to the transmitter Wixel s PO_2 pin If your accelerometer is oriented as shown in the picture above you should use the Y axis Choose which axis of the accelerometer will control the mouse cursor s vertical movement and connect its output to the transmitter Wixel s PO_1 pin If your accelerometer is oriented as shown in the picture above you should use the X axis Connect a normally open NO pushbutton between the transmitter Wixel s P1_2 pin and GND This will be the left mouse button The P1_2 input line has an internal pull up resistor so the voltage on that line should be high 3 3 V when the button is not pressed When the button is pressed the voltage should go low 0 V In the same manner connect a pushbutton between the transmitter Wixel s P1_7 pin and GND This will be the right mouse button Parameters Both the transmitter and receiver app have a parameter called radio_channel The channel number is from 0 to 255 and determines which frequency to broadcast on The default is 128 The transmitter and receiver must be on the same channel
56. less module enabling Be j E i wireless communication conditions indoors Multiple serial links can be used simultaneously on between a PC and robot different channels Detailed information about the wireless serial app is available in Section 9 b Our USB to Serial app turns a single Wixel into a USB to TTL serial adapter that is capable of baud rates as high as 350 000 bps and supports four serial control signals This app does not use the radio Detailed information about this app is avallable in Section 9 c Our I O Repeater app allows you to wirelessly extend the reach of your microcontroller s I O lines up to 50 feet using two or more Wixels Detailed information about this app is available in Section 9 f We plan to release additional apps in the future for wireless AVR programming wireless sensing and more You can also write your own apps using the open source Wixel SDK see Section 10 and share them with the community Included Hardware The Wixel is available in two versions The Partial Kit version http www pololu com product 1337 comes with a 25x1 straight 0 1 male header strip http www pololu com product 965 This version is ideal for compact installations and allows flexibility in choice of connectors The Assembled version http www pololu com product 1336 comes with its header pins soldered in so it is ready to be connected to your project with no soldering required 1 Overview Page 3 of 64 Pol
57. level shifters diodes or voltage dividers to connect the Wixel to outputs from 5V systems Also avoid drawing more current from an I O line than it can provide see the discussion of P1_0 and P1_1 in Section 1 a Avoid connecting multiple output pins together The Wixel does not support the RS 232 voltage levels typically used by DB9 serial ports The Wixel s I O lines including the RX and TX lines operate on voltages between 0 and 3 3 V To connect the Wixel to an RS 232 serial signal you will need additional level shifting and inverting hardware like the Pololu 23201a serial adapter http www pololu com product 126 RS 232 serial is inverted the Wixel s serial interface expects non inverted serial 9 Wixel Apps Page 43 of 64 Pololu Wixel User s Guide 2001 2014 Pololu Corporation Versions e Serial to PC App v1 0 http www pololu com file download serial i2c v1 0 wx1 file_id 0J480 26k wxl released 2011 05 03 Initial release 9 f I O Repeater App Overview This app allows you to wirelessly extend the reach of your microcontroller s I O lines up to 50 feet using two or more Wixels An input pin on one Wixel can be mapped to an output pin on another Wixel When the input pin reads high the output pin will be driven high 3 3 V and when the input pin reads low the output pin will be driven low 0 V Each Wixel can have up to 15 input pins 15 output pins or a mixture of input and output pins Each input p
58. levels typically used by DB9 serial ports The Wixel s I O lines including the RX and TX lines operate on voltages between 0 and 3 3 V To connect the Wixel to an RS 232 serial signal you will need additional level shifting and inverting hardware like the Pololu 23201a serial adapter http www pololu com product 126 RS 232 serial is inverted the Wixel s serial interface expects non inverted serial Versions e Wireless Serial App v1 3 http www pololu com file download wireless serial v1 3 wxl file_id 03484 26k wxl released 2011 06 20 Added the framing _error_ms parameter and the corresponding feature for disabling the UART s receiver after a framing error Changed the behavior of the red and yellow LEDs in previous versions the red LED was off and the yellow LED simply indicated the presence of VIN power e Wireless Serial App v1 2 http www pololu com file download wireless serial v1 2 wxl file_id 03468 24k wxl released 2011 04 06 Added support for control signals As a result the radio protocol used is NOT compatible with earlier versions Also fixed a glitch on the TX line that occurred upon power up or reset Added blinking behavior to the green LED to indicate USB data transfer e Wireless Serial App v1 1 http www pololu com file download wireless serial v1 1 wxl file_id 0J461 18k wxl released 2011 03 23 Improved the radio protocol to fix a problem in v1 0 where if one Wixel resets but the other Wixel does n
59. line of the microcontroller This pin can be driven low to perform a hard reset of the Wixel s microcontroller This should not be necessary for typical users but it can be useful while you are developing a Wixel application see Section 5 c This pin is internally pulled high to 3 3 V so it is okay to leave it unconnected If you do wire something to this pin the CC2511F32 datasheet recommends adding an external RC filter with values of 1 nF and 2 7 kQ close to the pin in order to avoid unintended reset of the microcontroller The Wixel has 15 free I O lines whose behavior depends on the application that is loaded onto the Wixel Specifically these are all of the pins on Port 0 P0_0 through P0_5 all of the pins on Port 1 P1_0 through P1_7 and P2_1 The P2_1 pin is tied to the red LED but the other 14 free I O lines are only connected to the microcontroller The P2_2 line is also accessible but it is tied to the yellow LED and is used to get the Wixel into bootloader mode see Section 5 c The amount of current that can be supplied by the CC2511F32 s I O pins is not well documented by the manufacturer According to this forum post by a TI Employee http e2e ti com support low_power_rf f 155 p 31555 319919 aspx regular VO pins are designed to be able to source 4 mA while P1_0 and P1_1 are designed for 20 mA Caution The Wixel s I O lines are not 5V tolerant You must use level shifters diodes or voltage dividers to connect the
60. ll of them can be disabled and the analog pins can be used as digital inputs for additional buttons instead Parameters e buttonB_pin The digital input pin that represents a joystick button for example a value of 12 selects the P1_2 pin A value of 1 disables the button e buttonB_invert Set to 0 for a non inverted input a logic high on the pin indicates a button press Set to 1 for an inverted input a logic low on the pin indicates a button press The default is 1 inverted e axis_channel The analog input ADC channel that represents a joystick axis A value of 1 disables the axis e axis_invert Set to 0 for a non inverted axis the axis position is proportional to the input voltage Set to 1 for an inverted axis the axis position is inversely proportional to the input voltage The default is 0 non inverted e PM N pull enable Enables 1 or disables 0 the internal pull up or pull down resistor on the corresponding pin Note that P1_0 and P1_1 do not have pull ups pull downs The direction the pin is pulled is determined by the port pull type parameter for Port M The default is 0 disabled for Port 0 to avoid interfering with analog readings and 1 enabled for Port 1 e portM_pull type Determines whether a pin on Port M is pulled down 0 or up 1 when the pin s PM_N pull enable parameter is set The default is 1 high Versions e Joystick App v1 0 http www pololu com file download joystick v1 0 wxl file_id 0J
61. lled HID compliant game controller in your Device Manager in the Human Interface Devices section The Wixel will also show up as a keyboard and a mouse but it does not use those interfaces To test the joystick functions you can use the Game Controllers applet in the Control Panel where you should see a Wixel Joystick entry Selecting this entry and clicking the Properties button will display a dialog that shows the state of the joystick s axes and buttons On Linux the joystick should be represented by a new device node with a name like dev input js0 You can test the joystick with a program such as jstest or jstest gtk 9 The Wixel Configuration Utility does not detect Wixels with USB HID interfaces Therefore if you need to reconfigure your Wixel you will need to manually get it into bootloader mode set pin P2_2 high and reset although this app monitors P2_2 all the time and enters the bootloader if it goes high so the reset is not strictly necessary This app s parameters detailed below are used to configure how the Wixel s inputs map to joystick functions By default the six analog inputs PO_0 through PO_5 are mapped to six analog joystick axes and the six digital inputs P1_2 through P1_7 are mapped to six joystick buttons Pull ups are enabled for the buttons which are configured as inverted inputs so the Wixel interprets a logic low as a button press If you don t need all of the joystick axes some or a
62. m the Wixel menu You can then open the exported HEX File as an App and use it to program other Wixels The settings from the Wixel will be contained in the exported HEX file but you will not be able to read these settings in the Wixel Configuration Utility If the Wixel s application is running when the read operation starts the Wixel Configuration Utility will temporarily stop the application and put the Wixel into bootloader mode in order to read its contents When the read operation is completed the Wixel Configuration Utility will restart the app Other Commands The Erase Wixel command found in the Wixel menu erases the app from the currently selected Wixel every bit in the application flash section becomes a 1 The Verify Wixel command reads the currently selected Wixel and tells you whether its contents are identical to the app and settings displayed on the right in the App Configuration box 4 Configuring Your Wixels Page 22 of 64 Pololu Wixel User s Guide 2001 2014 Pololu Corporation 5 Connecting Your Wixels This chapter explains some of the electrical connections you might need to make to get your Wixel working the way you want it to 5 a Connecting Power The two main ways of powering the Wixel are the USB port and the VIN pin The schematic of the Wixel s power system is shown below Wixel power system schematic diagram VIN Power Input The Wixel can be powered from VIN if you connect a 2 7 6 5 V powe
63. mally on but flicker whenever data is received from the radio This version is only compatible with Wireless Serial App v1 2 and later Shiftbrite App v1 0 http www pololu com file download shiftbrite v1 0 wx1 file_id 0J466 18k wxl released 2011 03 28 Initial release In this version the yellow LED starts off and turns on after the first Enter is received This version is only compatible with Wireless Serial App versions 1 0 and 1 1 9 Wixel Apps Page 53 of 64 Pololu Wixel User s Guide 2001 2014 Pololu Corporation 10 Writing Your Own Wixel App 10 a Getting Started in Windows To get started developing your own Wixel Apps using Windows as the development platform we recommend that you download and install the Pololu Wixel Development Bundle wixel dev bundle 120127 exe http www pololu com file download wixel dev bundle 120127 exe file_id 0J526 10MB exe This bundle contains four things e Wixel SDK http pololu github com wixel sdk Contains source code for libraries and applications that will help you develop your own applications for the Wixel e SDCC Small Device C Compiler http sdcc sourceforge net A free compiler that is used to compile the code in the Wixel SDK e Pololu GNU Build Utilities Windows versions of some open source utilities that are required by the SDK e Notepad http notepad plus plus org A free text editor which is convenient to use when editing Wixel code 10 b Com
64. mmand P If a read is being done the data read from the slave device will be returned on the serial interface The least significant bit of the slave device address the data direction bit indicates whether the operation is a write 0 or a read 1 A repeated START condition can be generated by issuing another START command without sending a STOP command For example to write the value 0x2E to register OxF4 on a slave device with the write address OxEE the following sequence of bytes could be sent to the Wixel 9 Wixel Apps Page 41 of 64 Pololu Wixel User s Guide 2001 2014 Pololu Corporation S OxEE 2 OxF4 Ox2E P To read a two byte value from register OxF6 on the same device whose read address would be OxEF the following sequence could be issued the second S generates a repeated START Ss OxEE 1 OxF6 S OxEF 2 P The Wixel would respond with the two data bytes read from the slave Any invalid or unrecognized command is ignored and causes the Invalid Command error bit to be set To prevent an unfinished command sequence from leaving the C bus in an unusual state this app will time out and reset the bus if a byte is not received on the serial interface within 500 ms of the last byte After this happens the Command Timeout error bit will be set and a new command sequence must be initiated with a START command The command timeout delay can be changed with the emd_timeout_ms
65. n how to set up Eclipse for use with the Wixel SDK 1 Install the Wixel SDK on your computer and compile an example app by following the instructions in the previous sections ot 2 Download and install the Eclipse IDE for C C Developers http www eclipse org downloads If you are a Windows user we recommend that you download the 32 bit version of Eclipse even if you have a 64 bit Using Eclipse with the Wixel SDK to develop operating system You may need to install a Java Wixel applications Runtime Environment JRE before you can run Eclipse 3 Run Eclipse It will ask you to choose a workspace folder Eclipse does not allow the workspace and project folders to be the same Therefore we recommend making a new folder called something like eclipse workspace moving the wixel sdk folder inside of it and choosing that new folder to be your Eclipse workspace location By doing this you can avoid having a large number of files in your workspace You can switch your workspace location later if you need to 4 After choosing your workspace folder you will see a welcome screen that says Welcome to the Eclipse IDE for C C Developers and has several circular icons on it Click the icon with the yellow arrow in it to go to the Workbench 5 From the File Menu select New gt C Project This will open up a dialog entitled C Project 6 For the Project name enter wixel sdk The Location box sh
66. ne While you are developing an app it can be useful to have a way to load an app onto the target Wixel from the command line You can do this with the Makefile plug a Wixel into your computer open up a command prompt navigate to the wixel sdk folder and type make load example blink led This should compile the example blink led app if it is out of date and then invoke the Wixel Command Line Utility WixelCmd in order to load the app onto all Wixels connected to your computer The output should look something like this EX Administrator Command Prompt loj x C Wwixe l sdk gt make load_example_blink_led wixelcmd write apps example_blink_led example_blink_led wxl a Sending command to get Wixel in to bootloader mode Waiting for Wixel to reconnect Erasing z PHHHHHHHHHHHHHHRHRRHHHHHHHHHHHHHHHHHHHHHHHHRHHHHHHHHHHHHHH Done T HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHEH Done The example blink LED application should be running now The Wixel s yellow LED should be off and the red LED should be blinking If that is the case then congratulations You have successfully compiled a program and loaded it onto the Wixel You can also specify settings at the command line Try running this command make load example blink led S blink period ms 100 You should now see the LED blinking 5 times faster than it was before To specify multiple settings put other settings inside the quotes and separate all se
67. ns are transmitted wirelessly to the other Wixel while the control signals wirelessly received from the other Wixel are relayed to the DTR and RTS output pins In USB to UART mode the DTR and RTS signals from USB are relayed to the corresponding output pins while the values of the DSR and CD input pins are relayed to USB If two Wixels are communicating wirelessly with each other and both are in UART to Radio mode or both are in USB to Radio mode then the correspondence between the control lines is as follows DSR on one Wixel corresponds to DTR on the other Wixel while RTS on one Wixel corresponds to CD on the other Wixel The default configuration of this app as shown in the table above gives the Wixel two inverted output pins DTR and RTS and two inverted input pins DSR and CD These pins are inverted which means that a logical value of 0 corresponds to high voltage usually 3 3 V while a logical value of 1 corresponds to 0 V GND By changing the configuration parameters see below you can disable these signals reassign them to different I O lines or add non inverted inputs and outputs Any pin configured as an input will have an internal 20 kQ pull up resistor unless it is assigned to P1_0 or P1_1 which do not have pull up or pull down resistors 9 You do not have to connect anything to the control signal pins in order to send and receive serial data These pins are optional General Parameters e serial mode Sele
68. oad wixel linux 110623 i386 tar gz file_id 03489 211k gz e Wixel Linux Software for amd64 Glpar 64 bit http www pololu com file download wixel linux 110623 amd64 tar gz file_id 0J490 216k gz Unzip the tar gzip archive by running tar xzvf followed by the name of the file After following the instructions in README txt you can run the programs by executing wixelconfig Or wixelcmd Any Wixel app that implements a USB virtual COM port or a Human Interface Device HID will work on Linux with no special driver installation required The virtual COM ports are managed by the cdc acm kernel module whose source code you can find in your kernel s source code in drivers usb class cdc acm c When you connect a Wixel running an app that implements a virtual serial port to the PC the virtual serial port should appear as a device with a name like dev ttyacmo the number 3 Getting Started Page 14 of 64 Pololu Wixel User s Guide O 2001 2014 Pololu Corporation depends on how many other ACM devices you have plugged in You can use any terminal program such as kermit or screen to send and receive bytes on those ports 3 c Installing Mac OS X Drivers and Software y Mac OS X compatibility we have confirmed that the Wixel works on Mac OS X 10 7 and we can assist with advanced technical issues but most of our tech support staff does not use Macs so basic support for Mac OS X is limited eoo Pololu Wixel Configuration Util
69. ode you want to use by setting the bridge_mode parameter to the appropriate number from the list above The default bridge mode is Radio to P C 0 The UART RX pin has an internal 20 kQ pull up resistor The PC lines SCL and SDA are on P1_0 and P1_1 respectively by default these can be changed with the RC_SCL pin and 12C_SDA pin parameters They do not have pull ups enabled so external pull ups must be added to form a bus that conforms to the C specification Some carrier boards for PC devices include pull ups on these lines The PC bus frequency is 100 kHz by default which can be changed with the I2C_freq_kHz parameter This app does not support IPC arbitration which means it cannot be used on multi master I C buses Serial Commands This app listens on the selected serial interface for commands and performs the corresponding C transactions The command format is similar to the one used by the NXP SC18IM700 Master PC bus controller with UART interface http www nxp com products interface_and_connectivity bridges uart_to_i2c_master_gpio_bridges SC18IM700IPW html Three commands in the form of ASCII characters are recognized Command Description ES PC START P PC STOP SE Get Errors The general format for a command sequence begins with a START command S followed by a slave device address the number of data bytes to be written or read the data to be written if a write is being done and finally a STOP co
70. olu Wixel User s Guide O 2001 2014 Pololu Corporation Wixel programmable USB wireless Wixel programmable USB wireless module without header pins installed module fully assembled 1 a Module Pinout and Components Wixel Pinout and peripherals GND VIN 2 7 6 5 V VALT EiPololu JE 0 LYWSN L LYYSN Red LED P21 BOOTLOAD gt Yellow LED P2_2 3 3V Output GND www pololu com wixel The Wixel can connect to a computer s USB port via a USB A to Mini B cable http www pololu com product 130 or a USB A to Mini B adapter http www pololu com product 1126 not included The USB connection is used to configure the Wixel and also to transmit and receive data The USB connection can also provide power to the Wixel On the side of the board opposite the USB connector the Wixel has a 2 4 GHz PCB trace antenna This antenna along with the other RF circuitry forms a radio that allows the Wixel to send and receive data packets in the 2 4 GHz band The Wixel is based on the CC2511F32 microcontroller from Texas Instruments which makes it compatible with the CC2500 transceiver the CC2510Fx family and the CC2511Fx family of chips from Texas Instruments The Wixel s radio is not compatible with Wi Fi Zigbee or Bluetooth The antenna is a meandered Inverted F design that is described in Texas Instrument s application note AN043 http focus ti com lit an swra117d swra117d pdf 1 Overview Page 4 of
71. on 7 Ensuring a Good Radio Signal Here are some tips for improving the quality of the radio signals sent between a pair of Wixels e Reduce the distance between the Wixels if possible e Try different frequencies Most Wixel apps that use the radio have a radio_channel parameter that determines what frequency will be used By switching to a different channel you might be able to avoid interference from other nearby 2 4 GHz radios You might even want to buy a spectrum analyzer such as the Wi Spy http www metageek net products wi spy to find out which frequencies in your area have the least activity e Remove objects that are very close to the Wixel s antenna For example if the Wixel has no header pins installed and it is resting flat on your desk find a way to get the Wixel at least an inch or two above the desk e Reduce obstructions between the two Wixels Many objects can interfere with 2 4 GHz radio waves including walls trees people and anything with water in it Try different Wixel orientations The Wixel s antenna sends and receives better in some directions than others 7 Ensuring a Good Radio Signal Page 30 of 64 Pololu Wixel User s Guide 2001 2014 Pololu Corporation 8 Schematic Diagram The schematic diagram of the Wixel is shown below U2 33VLDO R1 1k Pa im gt VBUS_IN D3 GREEN GND GND CC2511F32 PCB antenna 3v3 CLL El c9 c10 C6 c7 ca jen o uF 560 pF J0
72. ong with the rest of the Wixel SDK This folder is actually a clone of our Git repository which means that it includes history and version information as well as a link back to our repository a remote within the folder git As long as you have not modified the contents of git you should be able to use Git to commit your changes pull updates from us and push your changes to a public repository To make sure that Git is working correctly try typing the following command at the command prompt from within the wixe1 sdx folder git log This should display a list of recent commits in the repository Alternatively you can use the program gitk or you can use the Show Log command of TortoiseGit to view a much more detailed graphical representation of the log After reviewing the log you can add and commit all of your new files git add lt list of new files gt git commit a Alternatively you can use the Commit command of TortoiseGit Either way you will be shown a list of new or modified files and prompted for a commit message Please check this over carefully and write a good description of your changes because it is very hard to change your commits after you make them public In some cases you might want to start over with a fresh copy of the Wixel SDK which you can make by typing git clone o pololu git github com pololu wixel sdk git into a command prompt At any time you can download the latest updates from us
73. ons between a Wixel and a 5V microcontroller Wixel and a 3 3V microcontroller To connect your microcontroller to a Wixel for serial communication make these connections e GND Connect the ground also known as GND or VSS of your microcontroller to one of the GND pins on the Wixel This connection is required e TX Ifyou want the microcontroller to be able to receive serial bytes from the Wixel connect the Wixel s TX line to the microcontroller s RX line RX If you want your microcontroller to be able to send serial bytes to the Wixel connect the microcontroller s TX line to the Wixel s RX line The Wixel s RX line is not 5 V tolerant If your microcontroller is running at 5 V or any voltage significantly above 3 3 V then you will need to add extra components to ensure that your microcontroller never drives the Wixel s RX line higher than 3 3 V A simple voltage divider consisting of 2 resistors as shown in the diagram above will suffice The Wixel s RX line has an internal 20 kQ pull up resistor RST If you want the microcontroller to be able to reset the Wixel then connect the Wixel s RST line to any free general purpose I O GPIO line on the microcontroller The microcontroller can drive this line low to reset the Wixel and then stop driving the line to release the Wixel from reset The Wixel s RST line is not 5 V tolerant If your microcontroller is running at 5 V or any voltage significantly above 3 3 V then
74. ot then depending on the state of the other Wixel there is a 50 probability that the next radio packet sent in either direction will be ignored by the receiver e Wireless Serial App v1 0 http www pololu com file download wireless serial v1 0 wxl file_id 0J447 18k wxl released 2011 03 22 Initial release Versions Configured for the Wixel Shield for Arduino These are special versions of the app that have the same code as the corresponding standard versions but have different settings so that they will work well with the Wixel Shield for Arduino http www pololu com product 2500 The default baud_rate was changed to 115200 which is the baud rate used by the Arduino Uno s http www pololu com product 2191 bootloader All the pin assignment parameters were set to 1 disabled except arduino DTR_pin which was left at 0 PO_0 The framing error_ms parameter was set to 5 The only parameters of these apps that can be modified by the user are the radio channel parameter and baud_rate parameter For more information about configuring this version please see the Section 2 c of the Wixel Shield User s Guide http www pololu com docs 0J47 e Wireless Serial App version 1 3 configured for the Wixel Shield for Arduino http www pololu com file download wireless serial v1 3 shield wxl file_id 0J485 25k wxl 9 Wixel Apps Page 36 of 64 Pololu Wixel User s Guide O 2001 2014 Pololu Corporation 9 c USB to Serial App Over
75. ould now show the correct location of your wixel sdk folder Eclipse will show a warning at the top of the window that says Directory with specified name already exists this 1s good 7 Under Project type select Makefile project gt Empty Project It does not matter what toolchain you select 8 Click the Finish button to finish creating the wixel sdk project 9 Press Ctrl B or select Project gt Build All to build the project This is equivalent to running make all in the wixel sdk folder You can see the build output by selecting the Console tab at the bottom or by going to Window gt Show View gt Console 10 In the left hand pane you will see the C C Projects or Project Explorer view This view should display one entry entitled wixe1 sdk which represents the project you just created Double click on the project name to expand it and see all the folders and files inside it 10 Writing Your Own Wixel App Page 56 of 64 Pololu Wixel User s Guide O 2001 2014 Pololu Corporation 11 Navigate to the apps example blink led folder and double click on example blink led c This will open the file in the center pane 12 Make a small change to example _blink_led c such as removing a blank line or adding a comment Save the file by pressing Ctrl S or by selecting File gt Save 13 Press Ctrl B or select Project gt Build All to rebuild the project When you do this Eclipse runs make in the wixel sdk folder which
76. piling an Example App After you have installed all the necessary software either from the Wixel Development Bundle or from other sources you should try compiling an example app and loading it onto a Wixel to make sure that your system is set up correctly Compiling Apps Go to the folder where you installed the Wixel SDK c wixel sak is the default and run make _all bat If everything is installed correctly the output of that batch file should look something like this EN C Windows system32 cmd exe loj x lt This app has no params gt packihx read 84 lines wrote 52 OK Compiling apps test_radio_link test_radio_link rel Linking apps test_radio_link test_radio_link hex Packaging apps test_radio_link test_radio_link wxl packihx read 868 lines wrote 476 OK Compiling apps test_radio_signal_rx test_radio_signal_rx rel Linking apps test_radio_signal_rx test_radio_signal_rx hex Packaging apps test_radio_signal_rx test_radio_signal_rx wxl packihx read 788 lines wrote 385 OK Compiling apps test_radio_signal_tx test_radio_signal_tx rel Linking apps test_radio_signal_tx test_radio_signal_tx hex Packaging apps test_radio_signal_tx test_radio_signal_tx wxl packihx read 386 lines wrote 222 OK Compiling apps test_random test_random rel Linking apps test_random test_random hex Packaging apps test_random test_random wxl lt This app has no params gt packihx read 446 lines wrote 245 OK Compiling apps wirele
77. pins do not have any effect on output pins that are on the same Wixel If a Wixel is running this app and has one or more pins configured to be inputs then it will transmit a single radio packet every 7 10 ms that contains input values and link IDs of all of its inputs Any other Wixel that successfully receives this packet will process it and use it to update the state of its output pins This app will work with more than two Wixels on the same radio channel In that case make sure that you do not have multiple input pins on different Wixels with the same link ID otherwise the corresponding output pin s will change state unpredictably whenever there is a conflict between the different input pins It is OK to have muliple output pins with the same link ID Every pin configured as an input has an internal 20 kQ pull up resistor except P1_0 and P1_1 which float when they are inputs This means that if you leave the input pin disconnected it will be pulled high by default Each output pin will drive low 0 V by default before any radio packets are received that change its state 9 Wixel Apps Page 44 of 64 Pololu Wixel User s Guide O 2001 2014 Pololu Corporation After you have loaded this app onto a Wixel the Wixel will appear to the computer as Virtual COM Port with USB product ID 0x2200 If you are using Windows you should see an entry labeled Wixel in your Device Manager in the Ports COM amp LPT category while this
78. r pairs of Wixels it will not work properly if three or more Wixels are broadcasting on the same radio channel Wireless PC control of a 3pi robot using a pair of Wixels Installation Instructions Download the Wireless Serial App v1 3 http www pololu com file download wireless serial v1 3 wxl file_id 0J484 26k wxl Open it with the Wixel Configuration Utility choose your parameters and then write it to two Wixels See Section 4 for more information on how this is done Together the USB Adapter A to Mini B and a Pololu Wixel wireless module can make a compact USB dongle 9 Wixel Apps Page 32 of 64 Pololu Wixel User s Guide O 2001 2014 Pololu Corporation Default Pinout Pin Function P1 0 DTR general purpose output pin P1_1 RTS general purpose output pin P1_2 DSR general purpose input pin Pl 3 CD general purpose input pin P1_5 PA PD ado si debug output Pl 6 TX transmits serial data 0 3 3 V PLT RX meses serial daia 0 3 3 Vist 5V toleran P0_0 Arduino DTR for wireless Arduino programming when used with the Wixel shield Description This device appears to the USB host as a Virtual COM Port with USB product ID 0x2200 If you are using Windows you should see an entry labeled Wixel in your Device Manager in the Ports COM amp LPT category while the app is running There are three basic serial modes that can be selected 1 USB to Radio Serial bytes from the USB virtual COM port
79. r supply e g battery or regulator to the GND and VIN pins The negative terminal should be connected to GND The positive terminal should be connected to VIN It is okay to have both USB and VIN connected at the same time The Wixel can be powered from an external power source connected to VIN USB Power Input The Wixel can be powered from USB if you connect a USB cable and leave VIN disconnected The Wixel will draw its power from USB if VIN is disconnected or it is below about 4 V 5 Connecting Your Wixels Page 23 of 64 Pololu Wixel User s Guide O 2001 2014 Pololu Corporation The Wixel can be powered from USB 3V3 Power Output The Wixel s 3V3 pin gives access to the output of the Wixel s 3 3 V regulator If the Wixel s power supply drops below approximately 3 5 V the 3V3 output will be less than 3 3 V Normally this output can provide up to 150 mA but if the Wixel s power supply is above 5 V then it is limited to 100 mA You can use 3V3 to power your own 3 3 V devices VALT Power Output VALT provides access to the input pin of the Wixel s 3 3 V regulator which is connected through a diode to VIN or to the USB bus voltage depending on which power source is connected You can use VALT to power your own circuits as long as you do not draw more than about 500 mA For example if you leave VIN disconnected VALT can power 5V devices Low Power Considerations The CC2511F32 is capable of a sleep mode PM2
80. re it after they have loaded it onto their Wixel they will have to get their Wixel into bootloader mode manually To be recognized your app must implement a particular USB interface Specifically 1t must implement a USB CDC ACM virtual COM port with vendor ID Ox1FFB and product ID 0x2200 When the USB host sends a command to your app that sets the baud rate to 333 your app should enter bootloader mode Your app should work with the wixel_serial inf driver which is installed along with the other Windows software see Section 3 a The easiest way to write an app that meets these requirements is to use the usb_cdc_acm 1ib library in the Wixel SDK In the future we will add support for other types of USB interfaces if there is a need for it Please contact us http www pololu com contact if you would like to use other types of interfaces in your apps 10 f Wixel App File Format For the purpose of loading a compiled program onto a Wixel the Wixel Configuration Utility and the Wixel Command Line Utility WixelCmd accept two file formats Intel HEX hex and Wixel App wxl The Intel HEX hex file format is an industry standard and can be produced by most toolchains The Wixel App wxl file format is a simple format created by Pololu that includes an Intel HEX file inside it along with important metadata such as the names and addresses of user configurable parameters The Wixel App file format is designed to be extensible and easy to gener
81. ring param This means you can define a parameter simply by writing the following code in your Wixel App outside of any function int32 CODE param NAME DEFAULT VALUE where NAME is the name of your parameter and DEFAULT_VALUE is the default value it will have if the user does not change its value This default value is stored in the hex section not the edb section You could put your entire CDB file in the WXL file if you wanted to the software ignores unrecognized lines However the CDB file can be hundreds of kilobytes long so this is not encouraged y Wixel App files usually have non Windows line endings in the cdb section so they can not be viewed properly in Notepad or other text editors that only recognize Windows line endings 10 Writing Your Own Wixel App Page 62 of 64 Pololu Wixel User s Guide O 2001 2014 Pololu Corporation 11 The Wixel USB Bootloader The Wixel comes with a USB bootloader that can be used in conjunction with the Wixel Configuration Utility or WixelCmd to upload apps to the Wixel no external programmer is required This section documents some technical details of the bootloader and is intended for advanced users Flash Memory Sections The bootloader occupies the first 1 KiB 1024 bytes and the last 2 KiB of the CC2511F32 s flash memory Those sections of memory are protected to prevent accidental corruption of the bootloader The remaining 29 KiB of flash known as the application section is
82. rmation see http www pololu com http forum pololu com 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 ncluded in all copies or substantial portions of the Software HE SOFTWARE IS PROVIDED AS IS WITHOUT WARRANTY OF ANY KIND XPRESS OR IMPLIED INCLUDING BUT NOT LIMITED TO THE WARRANTIES F MERCHANTABILITY FITNESS FOR A PARTICULAR PURPOSE AND ONINFRINGEMENT IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT OLDERS BE LIABLE FOR ANY CLAIM DAMAGES OR OTHER LIABILITY HETHER IN AN ACTION OF CONTRACT TORT OR OTHERWISE ARISING ROM OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE H 3TZOHH 10 Writing Your Own Wixel App Page 59 of 64 Pololu Wixel User s Guide 2001 2014 Pololu Corporation Announcing your app on the Wixel forum When you are ready for the community to try out a version of your app you may announce it on the Wixel forum http forum pololu com viewforum php f 30 attaching your WXL file It is helpful to paste a copy of
83. rovide see the discussion of maximum pin current in Section 1 a Avoid connecting multiple output pins together The Wixel does not support the RS 232 voltage levels typically used by DB9 serial ports The Wixel s I O lines including the RX and TX lines operate on voltages between 0 and 3 3 V To connect the Wixel to an RS 232 serial signal you will need additional level shifting and inverting hardware like the Pololu 23201a serial adapter http www pololu com product 126 RS 232 serial is inverted the Wixel s serial interface expects non inverted serial Versions e Serial ASCII to Binary App v1 0 http www pololu com file download serial ascii binary v1 0 wx1 file_id 0J640 17k wxl released 2013 06 06 Initial release 9 e Serial to C App Overview This app turns a Wixel into a serial to I C bridge acting as a master controller on a single master C bus To perform PC operations another device can issue serial ASCII commands to the Wixel on its radio UART or USB interface PC http en wikipedia org wiki C is a two wire interface that is commonly used for communications on peripherals like the LSM303DLHC compass http www pololu com product 2124 and the BMP085 pressure sensor http www pololu com product 1646 The official specification http www pololu com file download UM10204 pdf file_id 03435 371k pdf for the PC bus is published by NXP Installation Instructions Download the Serial to PC App
84. rporation R PuTTY Configuration Basic options for your PuTTY session Specify the destination you want to connect to Serial line Speed COM4 115200 Raw Telnet Rlogin SSH Serial PuTTY is a free Windows terminal program that can send and receive bytes on a serial port If you need to send and receive non ASCII bytes you can use the Pololu Serial Transmitter Utility for Windows http www pololu com docs 0J23 or Br y Terminal 6 c Writing PC Software to Use a Serial Port You can write your own computer program that communicates with a serial port The freely available Microsoft NET framework contains a SerialPort http msdn microsoft com en us library system io ports serialport aspx class that makes it easy to read and write bytes from a serial port Here is some example C NET code that uses a serial port Choose the port name and the baud rate System IO Ports SerialPort port new System IO Ports SerialPort COM4 115200 Connect to the port port Open Transmit two bytes on the TX line 1 2 port Write new byte 1 2 0 2 Wait for a byte to be received on the RX line int response port ReadByte Show the user what byte was received MessageBox Show Received byte response Disconnect from the port so that other programs can use it port Close 6 Using a Virtual COM Port Page 29 of 64 Pololu Wixel User s Guide O 2001 2014 Pololu Corporati
85. s Cancel Status Ctart Ann Ginn Ann If Auto Read is enabled when you select a Wixel with an app on it then you might be prompted you to open the App File 11 To read the settings from a Wixel you will need to open the app that is currently on the Wixel Click the Open button in the dialog and select example blink led_v1 0 wxl 3 It is necessary to open the app file that you originally loaded onto the Wixel because the file contains metadata required to interpret the settings contained in the Wixel s flash memory If you open a different app file even a different version of the same app your settings will likely be corrupted In this case a warning dialog box will pop up to warn you and give you some options Since you still have the correct app file you should not see that dialog now 12 After you open the Wixel App file the Wixel Configuration Utility will read the Wixel and compare its contents to what is in the app You will then see the Wixel s settings displayed on the right blink period_ms should be 100 Note that the number 100 is displayed in bold This is because it differs from the default setting which is 500 You can reset it to the default at any time by right clicking on the number and selecting Reset to Default Value After completing this tutorial you should be comfortable with writing apps to the Wixel and reading back the settings This is all you need to know in order to configure yo
86. ss_serial wireless_serial rel Linking apps wire less_serial wire less_serial hex Packaging apps wireless_serial wireless_serial wxl packihx read 688 lines wrote 379 OK You may now close this window You have now built all the apps in the Wixel SDK and all the libraries that they depend on Every subfolder of the apps folder should now have a WXL file in it This is a compiled app which can be loaded onto Wixels using the Wixel Configuration Utility or the Wixel Command Line Utility WixelCmd 10 Writing Your Own Wixel App Page 54 of 64 Pololu Wixel User s Guide O 2001 2014 Pololu Corporation 3 You might get the following error message from make in Windows make Interrupt Exception caught code 0xc00000fd addr 0x425073 If you get this error please run make v at a Command Prompt and make sure that you are running GNU Make 3 82 pololu2 https github com pololu make This version of make is included in the latest Wixel Development Bundle see Section 10 a If the output from make v shows some other version of make even after installing the Wixel Development Bundle then you should remove that other version of make from your PATH or reorder your PATH so that version 3 82 pololu2 is used You can edit your PATH environment variable from the Control Panel See the pololu make wiki on GitHub https github com pololu make wiki for more information on this problem Loading an App onto Wixels from the Command Li
87. ted to the computer that are recognized by the Wixel Configuration Utility The Wixel Configuration Utility should recognize any Wixel that is in bootloader mode i e the app is stopped or is running an app that implements a single USB Virtual COM port with a USB Vendor ID of 0x1 FFB for Pololu and a Product ID of 0x2200 If your Wixel is connected to your computer but does not show up in the Wixel Configuration Utility then your drivers might not be installed properly or the Wixel might be running an application that uses a different type of USB interface or doesn t use USB at all If you have trouble getting the Wixel Configuration Utility to recognize your Wixel then see Section 10 for help 4 Configuring Your Wixels Page 20 of 64 Pololu Wixel User s Guide O 2001 2014 Pololu Corporation The text displayed in the Wixel list e g 07 C2 C8 3A is the serial number of your Wixel Each Wixel has a unique 32 bit serial number which was randomly generated and assigned to 1t when the Wixel was manufactured The icon displayed in the Wixel list represents the current state of the Wixel Each Wixel will be in one of these states Wixel Status Icon Description App Running The app you loaded on the Wixel is now running App Stopped The app you loaded on the Wixel is currently stopped the Wixel is in bootloader mode No App There is no app on the Wixel the Wixel is in bootloader mode Reconnecting Aj The Wi
88. th the ShiftBar http www pololu com product 1242 which uses the same control electronics Installation Instructions Follow the instructions for the Wireless Serial App in Section 9 b to set up and test a basic wireless serial link between two Wixels using the latest version of the Wireless Serial App Download the ShiftBrite App v1 1 http www pololu com file download shiftbrite v1 1 wx1 file_id 03469 20k wxl Open it with the Wixel Configuration Utility choose your settings and write it to one of the Wixels See Section 4 for more information on how this is done 9 Wixel Apps Page 51 of 64 Pololu Wixel User s Guide O 2001 2014 Pololu Corporation Connecting the Wixel to the ShiftBrite chain The following connections should be made between the Wixel running the ShiftBrite App and the first ShiftBrite in the chain Wixel ShiftBrite Function P1 4 El Enable P1 5 CI Clock Pl 6 DI Data P17 LI Latch GND GND Ground Additionally the Wixel and ShiftBrites may share the same VIN as long as the voltage requirements for both modules are satisfied For initial testing you may alternatively use VALT to power the ShiftBrites from USB see Section 5 a Using the ShiftBrite App After making the correct connections and applying power open a terminal program and connect to the COM port created by the Wixel running the Wireless Serial App Type f As you type the characters they will be echoed back to your
89. tiple output pins together Versions I O Repeater App v1 3 http www pololu com file download io repeater v1 3 wxI file_id 0J562 22k wxl released 2012 07 03 Adds randomness to the radio packet transmission timing to prevent two transmitting Wixels from being synchronized if they start up at the same time I O Repeater App v1 1 http www pololu com file download io repeater v1 1 wxI file_id 0J500 20k wxl released 2011 07 26 Fixes a bug in v1 0 which prevented P1_6 and P1_7 from being used as outputs I O Repeater App v1 0 http www pololu com file download io repeater v1 0 wxI file_id 0J465 18k wxl released 2011 03 25 Initial release 9 g Joystick App Overview This app allows a Wixel connected to a computer to be used as a joystick Readings from the Wixel s analog and digital input pins can represent up to six analog axes and 16 digital buttons or switches The Wixel appears to the computer as a standard USB Human Interface Device HID after the Wixel has been configured no driver installation is necessary to use the joystick With a Wixel running the Joystick App you can easily build a custom USB input device or convert an existing device into a USB peripheral as this sample project http www pololu com docs 0J59 Shows This converted Tandy Deluxe Joystick is now usable as a USB Human Interface Device 9 Wixel Apps Page 46 of 64 Pololu Wixel User s Guide Default Pinout
90. ttings with spaces Opening an App with the Wixel Configuration Utility You can also open the app in the Wixel Configuration Utility if you want to Try running this command make open example blink led The Wixel Configuration Utility should start running and open the example_blink_ led app 10 Writing Your Own Wixel App Page 55 of 64 Pololu Wixel User s Guide 2001 2014 Pololu Corporation Creating Your Own Apps Now that you know how to compile apps and quickly load them onto the Wixel to test them you are ready to develop your own Wixel apps You can either modify one of the existing apps in the SDK or create your own app To create your own app simply copy one of the existing app folders and change the name You do not need to modify the Makefile when you create a new app the Makefile will automatically detect the app as long as it is in the apps folder When you are developing your app you can use all of the commands above except you should replace example blink led with the name of your app the name of the subfolder in the apps folder For more information including documentation of all the libraries in the Wixel SDK see the Wixel SDK Documentation http pololu github com wixel sdk 10 c Using the Eclipse IDE You can develop Wixel applications using any text editor If you use the free open source Eclipse IDE you can benefit from some of its advanced C C editing features The following is a tutorial o
91. ty type and number of stop bits Some terminal programs will allow you to use the control signals DTR RTS DSR and CD For more information on how to use a virtual COM port see Section 6 This app supports all integer baud rates between 23 and 350 000 bps This app supports all the different types of parity None Odd Even Mark and Space This app supports 1 stop bit or 2 stop bits mode The RX line has an internal pull up resistor so you can leave this line disconnected The DSR and CD input pins have internal pull up resistors so when they are disconnected they will read as high logical 0 The DTR and RTS output pins are designed for high current see the information on P1_0 and P1_1 in Section 1 a The control signals are all inverted which means that a logical 0 corresponds to a high voltage 3 3 V and a logical 1 corresponds to a low voltage 0 V 9 Wixel Apps Page 37 of 64 Pololu Wixel User s Guide O 2001 2014 Pololu Corporation This app will discard bytes received on the RX line that have framing errors or parity errors and it will also throw out bytes if there is an RX buffer overrun An RX buffer overrun should not happen if you are using a baud rate of 350 000 bps or less Example Uses e The TX line can be used to send commands to a microcontroller or other serial device e The RX line can be used to receive data from a microcontroller or other serial device The DTR and RTS lines are general purpose di
92. ur Wixels When you load a real application such as the Wireless 3 Getting Started Page 18 of 64 Pololu Wixel User s Guide O 2001 2014 Pololu Corporation Serial App http www pololu com docs 0J46 9 b the only thing that will be different are the names and meanings of the parameters To understand what the different parameters mean refer to the documentation for your specific app Some apps might implement a non standard USB interface or no USB interface at all In that case they will not be recognized by the Wixel Configuration Utility while the app is running so you will need to get them into bootloader mode manually see Section 5 c and also the app s documentation 3 Getting Started Page 19 of 64 Pololu Wixel User s Guide 2001 2014 Pololu Corporation 4 Configuring Your Wixels The Wixel Configuration Utility allows you to write and read settings from the Wixel This section explains all of the features of the Wixel Configuration Utility in detail Connections Wixel Help App Configuration gt DD 00 82 26 Read Wixel C User wireless_serial_v1 0 wxl fi 00 00 82 27 gt gt gt Settings Parameter Auto Read serial mode baud_rate radio_channel Write to Wixel lt lt lt The Wixel Configuration Utility with 2 Wixels connected and an App file open Wixels On the left side of the window in the Wixels box you can see a list of all the Wixels connec
93. v1 0 http www pololu com file download serial i2e v1 0 wxI file_id 0J480 26k wxl Open it with the Wixel Configuration Utility choose your parameters and then write it to a Wixel See Section 4 for more information on how this is done Default Pinout Pin Function P1 0 SCL PC clock 0 3 3 V P1_1 SDA PC data 0 3 3 V P1 6 TX transmits serial data 0 3 3 V PI 7 RX receives serial data 0 3 3 V 9 Wixel Apps Page 40 of 64 Pololu Wixel User s Guide O 2001 2014 Pololu Corporation Description This device appears to the USB host as a Virtual COM Port with USB product ID 0x2200 If you are using Windows you should see an entry labeled Wixel in your Device Manager in the Ports COM 4 LPT category while the app is running There are three basic bridge modes that can be selected 0 Radio to I C Serial commands from the radio are used to control IC transfers Data read from the PC slave is returned to the radio Another Wixel running the standard Wireless Serial app http www pololu com docs 0J46 9 b can be used to communicate with this Wixel wirelessly 1 UART to P C Serial commands from the UART s RX line are used to control 12C transfers Data read from the PC slave is returned to the UART s TX line 2 USB to P C Serial commands from the USB virtual COM port are used to control IC transfers Data read from the PC slave is returned to the virtual COM port You can select which bridge m
94. v1 0 wxd gt gt gt Settings Parameter Value Auto Read blink_period_ms Write to Wixel lt lt lt The Wixel Configuration Utility with the Example Blink LED App open 5 Note that in the Wixels box there is a list of all the Wixels connected to USB that the Wixel Configuration Utility can recognize There is one Wixel connected and its 32 bit serial number is displayed in the list Also note that in the App Configuration box we have opened the example blink led _v1 0 wxl app This app has one parameter blink _period_ms and it is currently set to 500 the default 6 Select the Wixel by left clicking on its entry in the Wixels list If you see a dialog box pop up this is because the Wixel already has an application on it and the Auto Read checkbox is checked Click the Cancel button in that dialog because we are not interested in reading the contents of the Wixel yet 7 Click the Write to Wixel button This writes the currently open app and the settings to the selected Wixel and then starts running the application 8 The example blink LED application should be running now The Wixel s yellow LED should be off and the red LED should be blinking If you are in Windows XP and this is the first time you have run an application on this Wixel the Found New Hardware Wizard will pop up and you will have to follow steps 5 9 from Section 3 a to install the drivers properly After the US
95. vector of the device The acceleration vector normally points straight upwards and has a magnitude of 1 g due to the Earth s gravity The Wixel measures the X and Y outputs from the accelerometer which tell it the components of the device s acceleration vector in the plane of the accelerometer The resulting two dimensional vector is then multiplied by its own magnitude to achieve greater control at lower speeds The vector is then multiplied by the speed parameter to convert it into a mouse speed which is reported wirelessly to the computer 9 i ShiftBrite App Overview This app allows you to wirelessly control a chain of one or more ShiftBrite http www pololu com product 1222 RGB LED modules at a distance of 50 feet or more from a PC You will need two Wixels to set up the wireless link one connected to the ShiftBrites running the ShiftBrite app and one connected to your PC with USB running the Wireless Serial App Section 9 b Using a terminal or your own software you can send a series of hex characters indicating the desired color for each module to the virtual COM port The characters are transmitted wirelessly received by the remote Wixel decoded and sent to the ShiftBrite chain causing each module to light up with the specified color Approximately 1000 color commands can be sent per second allowing large displays or smooth animations A Wixel controlling a chain of ShiftBrites The ShiftBrite App is also compatible wi
96. view This app allows you to turn a Wixel into a USB to TTL serial adapter capable of baud rates up to 350 000 bps While this app does not use the radio it has more features than the USB to UART mode of the Wireless Serial App see Section 9 b Installation Instructions Download the USB to Serial App v1 0 http www pololu com file download usb serial v1 0 wx1 file_id 0J464 13k wxl Open it with the Wixel Configuration Utility and write it to a Wixel See Section 4 for more information on how this is done Wixel programmable USB wireless Pinout module fully assembled with USB cable connected Pin Function P1_0 DTR general purpose output pin controlled by computer P11 RTS general purpose output pin controlled by computer P1_2 DSR general purpose input pin reported to computer P1 3 CD general purpose input pin reported to computer Pl 6 TX transmits serial data from computer PI 7 RX receives data and sends it to the computer Description After you have loaded this app onto a Wixel the Wixel will appear to the computer as Virtual COM Port with USB product ID 0x2200 If you are using Windows you should see an entry labeled Wixel in your Device Manager in the Ports COM amp LPT category while the app is running You can connect to this COM port using a terminal program in order to send and receive data on the TX and RX lines Typical terminal programs will allow you to set the baud rate pari
97. where the chip draws less than 1 uA and is still capable of waking itself up Without modifying the Wixel s hardware it is possible to power it from VIN and get the current consumption down to around 100 uA Most of that current is consumed by the Wixel s 3 3 V regulator To get rid of it you will need to sever the output pin of the regulator and power the Wixel directly from the 3V3 pin with a 2 0 3 6 V power supply For details on how to do this please contact Pololu Please note that currently none of the Wixel apps support low power modes so the Wixel will draw approximately 30 mA at all times To make your Wixel operate with low power you would have to write your own app or modify one of the existing apps You will need to make sure that all of the I O lines are either outputs or get pulled high or low an input line at an intermediate voltage can consume several microamps of extra current 5 b Connecting a Microcontroller via TTL Serial If you have loaded a Wixel app that employs one of the Wixel s two UARTs such as the Wireless Serial App http www pololu com docs 0J46 9 b then the Wixel can communicate with another microcontroller via asynchronous non inverted TTL serial Communication between the Wixel and an RS 232 device requires additional hardware 5 Connecting Your Wixels Page 24 of 64 Pololu Wixel User s Guide O 2001 2014 Pololu Corporation 3 3V MCU Making serial connections between a Making serial connecti
98. xel is reconnecting disconnecting or in a transitional state If you select a Wixel you can see more information about it in the area below the list The USB Product ID is the current product ID presented by the Wixel on its USB interface as defined in the USB Specification The Port Name is the name of the virtual COM port that has been assigned to the Wixel In Windows the Port Name is also available in the Device Manager The Stop App button stops the application that is running on the currently selected Wixel putting that Wixel into bootloader mode The Start App button takes the Wixel out of bootloader mode to run the application that is currently on it App Configuration On the right side of the window in the App Configuration box you can see the name of the currently open app and the current settings You can open a different app by clicking the Open button In Windows you can also open an app simply by double clicking on it The Wixel Configuration Utility can open app files in either the WXL format documented in Section 9 d or the standard Intel HEX http en wikipedia org wiki Intel HEX format You can change the current settings by double clicking on a value and typing a new value in The parameters that are available depend on the app that is open different apps have different parameters available Please see the documentation for your specific application for an explanation of what the parameters mean and w
99. xel powers on the bootloader s startup code runs This code decides whether to launch the bootloader or the application by using the following procedure First it configures the three LED lines to have internal pull down resistors and disables the internal pull up and pull down resistors of the other Port 2 pins Second if the application is not valid first byte is OxFF it goes into bootloader mode Third if the Wixel has USB power and the yellow LED P2 2 line is high it goes into bootloader mode Finally if none of these tests have caused it to go into bootloader mode it runs the application 2001 2014 Pololu Corporation When the Wixel resets it uses this procedure to decide whether to run the bootloader or the app 11 The Wixel USB Bootloader Page 64 of 64
100. you must avoid driving the Wixel s RST line high If that is not possible then you could put a diode between the Wixel s RST line and the microcontroller s GPIO to prevent current from flowing in the wrong direction from the GPIO The connection to RST is optional and not required for sending or receiving data Please refer to the documentation of your specific Wixel app to determine the location of the TX pin s and RX pin s Note The Wixel does not support the RS 232 voltage levels typically used by DB9 serial ports The Wixel s I O lines including the RX and TX lines operate on voltages between 0 and 3 3 V are not 5 V tolerant To connect the Wixel to an RS 232 serial signal you will need additional level shifting and inverting hardware like the Pololu 23201a serial adapter http www pololu com product 126 RS 232 serial is inverted the Wixel s serial interface expects non inverted serial 5 c Connecting Buttons and Starting the Bootloader In order to load a new app or new settings onto your Wixel or read the Wixel s flash memory you will need to get it into bootloader mode Most Wixel apps support a special USB command for putting the Wixel into bootloader mode and the Wixel Configuration Utility can send that command automatically when you try to access the Wixel s flash However you might find yourself in a situation where that method will not work This can happen for two reasons e You accidentally loaded a m

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