Skip to main content

Controlling the System

This guide introduces the use of the API to control the COSMIIC System through MATLAB

Required​

  • PM Development Board
  • Optional: Any additional modules (PG4 and/or BP2 Development Boards)
  • Wireless Link board + USB-C cable
  • MATLAB
  • Local clone of the NNP-API git repository

Interfacing with MATLAB​

  1. Clone the NNP-API repository from the COSMIIC GitHub page to your local device. Follow GitHub instructions for cloning here.
  2. Open the NNP-API folder in MATLAB. It will be at Documents/GitHub/NNP-API by default if you use GitHub Desktop to clone.
  3. Connect your Wireless Link to your computer by USB-C cable
  4. Turn on your PM and wait for the bootloader period to end

Using NNPHELPERS​

NNPHELPERS

In the NNP-API repository, there are two main files which contain the essential functions needed to control the COSMIIC System through the Wireless Link:

  • NNPCORE.m contains the basic functions for directing the CANopen network and interacting with data on the modules.
  • NNPHELPERS.m simplifies the user experience by creating a layer of functions implementing NNPCORE for common practical use cases.
    • NNPHELPERS opens a serial port to communicate with the Wireless Link
    • Use doc NNPHELPERS to see available commands

NNPHELPERS opens a serial port to communicate with the Wireless Link. A menu to select a USB device port will appear. Once connected, info is printed in the MATLAB console.

  1. Create an instance of NNPHELPERS
nnp = NNPHELPERS(); % Create API instance

MATLAB command window output from using NNPHELPERS command

The NNPHELPERS instance (this one named nnp) can be passed into different applications and functions to interact with the system.

info

The following sections are typically only needed in initial setup or when adding/removing/changing modules in the system.

Radio Configuration​

First, make sure the Power Module is talking to the Wireless Link.

  1. Open the Radio Configuration app
radioconfig(nnp) % Run the Radio Configuration application
  1. Enter default radio settings
    • AP address: 3 (Access Point wiWireless Link is an Access Point)
    • PM address: 4 (PM will only respond to messages intended for address 4)
    • Channel: 5 (tuned radio frequency)

An example of a disconnected (incorrect channel) and connected Power Module are shown below. Ensure that the ‘Test Radio’ checkbox is selected.

left: non-connected radios. right: connected radios

  1. If modifying the addresses and channel, document the change and new settings to avoid future issues with radio communication and troubleshooting

Managing Modules Connected to PM​

Now, discover and manage the other modules that may be connected to the PM through the network.

NODE NUMBERS

In the CANopen framework, modules are assigned to a node. It is important to know the node number of each module in your system; this number is attached used to direct commands and read/write information from a specific module. Node numbers can be found and changed using the Remote Bootloader App.

  1. Open the Remote Module Bootloader app (remote modules are any type of module on the network besides the Power Module)
rmbootloader(nnp) % Run the Remote Module Bootloader application

front page of remote module bootloader app

  1. Select "Scan for Nodes" to probe the network for available nodes

scanning status of remote module bootloader app

Nodes connected to the network will populate the list with their assigned node number. If multiple nodes have the same node number, that response will also be displayed in the list. Clicking on a node in the list and hittiing the ‘Select Node’ button unlocks the option to change node numbers, upload new firmware to the device, and restore the object dictionary to default values.

scanning status of remote module bootloader app

  1. Change node numbers if necessary

    • If two or more modules have the same node number, you need to change one or all to avoid network communication conflicts. "Select node" will select the first responding module to change.

  2. Note assignments of node numbers to physical modules

    • Each module can be identified by its printed serial number. Note: The frame boards of development boards also have a serial number, the referenced serial number is the PG4 serial number, NOT the frame board number.

You now have your MATLAB environment and your development kit configured. You can move onto your first stimulation pulses