Control Myxa with UART

pavel-kirienko · July 25, 2022, 12:40pm

You don’t need to parse the protocol manually, you can just use this library:

Zubax/popcop/blob/master/c++/popcop.hpp

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denny · July 30, 2022, 1:11pm

Hi, mah

Yesterday, I received teensy 4.0.

So, I set up and upload your code.
But It did not work including beep task.
Could check my settings?

If I change the pin each other, I could see the message in serial console. but beepTask work. motor don’t spin.

The below is output.

I change some code to check raw message.

  void printMyxaMessageByteSequence( byte myxaUnescapedMsg[], int msgLength) {
    if (loggingEnabled == true) {
        for (int i = 0; i < msgLength; i++) {
            //loggingSerialPort->write(myxaUnescapedMsg[i]);
            loggingSerialPort -> print(myxaUnescapedMsg[i], HEX);
            loggingSerialPort -> print(",");  

        }
    }
}

the loop in the code is.

void loop() {
//myxa.sendMyxaBeepTask(3000, 1);
myxa.sendMyxaRunTask(MYXA_CONTROL_MODE_MECHANICAL_RPM, 500);

//only send one type of request at a time or parser won't know what to parse.
myxa.requestMyxaMessage(MYXA_GENERAL_STATUS_MESSAGE_TYPE);
//myxa.requestMyxaMessage(MYXA_TASK_STATISTICS_MESSAGE_TYPE);
//myxa.requestMyxaMessage(MYXA_DEVICE_CHARACTERISTICS_MESSAGE_TYPE);
//myxa.requestMyxaInfo();

myxa.readMyxaSerial();

}

denny · July 30, 2022, 2:19pm

code is working. problem is gnd.
gnd level should be the same as serial level.

in the the above picture, additionally I connect drone code probe 'gnd to teensy’s gnd.