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reorganized libraries into repo's

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This commit is contained in:
willem oldemans
2020-10-01 20:43:27 +02:00
parent c246965111
commit c7fb9ff84b
21 changed files with 180 additions and 400 deletions
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.DS_Store vendored
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2
.gitignore vendored
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@@ -3,3 +3,5 @@
.vscode/c_cpp_properties.json
.vscode/launch.json
.vscode/ipch
lib
.DS_Store

BIN
datasheet/cd00171190-stm32f101xx-stm32f102xx-stm32f103xx-stm32f105xx-and-stm32f107xx-advanced-armbased-32bit-mcus-stmicroelectronics.pdf Normal file
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11
platformio.ini
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@@ -17,6 +17,15 @@ debug_tool = stlink
board_build.f_cpu = 72000000L
monitor_speed = 115200
lib_deps =
# danya0x07/NRF24L01_SimpleLibrary@^1.0.0
http://192.168.2.3/Bonobo.Git.Server/rc-radio.git
http://192.168.2.3/Bonobo.Git.Server/Radiohead.git
http://192.168.2.3/Bonobo.Git.Server/MC34933.git
https://github.com/br3ttb/Arduino-PID-Library/
http://192.168.2.3/Bonobo.Git.Server/PWMFrequency.git
http://192.168.2.3/Bonobo.Git.Server/Statusled.git
build_flags =
# -D DEBUG

32
rc-micro-car.code-workspace
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@@ -2,6 +2,27 @@
"folders": [
{
"path": "."
},
{
"path": "../libs/Radiohead"
},
{
"path": "../libs/MC34933"
},
{
"path": "../libs/rc-radio"
},
{
"path": "../RC-transmitter"
},
{
"path": "../libs/Arduino_PID_Library"
},
{
"path": "../libs/PWMFrequency"
},
{
"path": "../libs/Statusled"
}
],
"settings": {
@@ -20,7 +41,16 @@
"vector": "cpp",
"ostream": "cpp",
"*.tcc": "cpp",
"ios": "cpp"
"ios": "cpp",
"bitset": "cpp",
"iomanip": "cpp",
"istream": "cpp",
"limits": "cpp",
"ratio": "cpp",
"sstream": "cpp",
"streambuf": "cpp",
"functional": "cpp",
"memory": "cpp"
}
}
}

4
src/MPU6050.cpp
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@@ -2,7 +2,7 @@
#include "MPU6050.h"
#include <Wire.h>
#include "vehicleConfig.h"
//#include "radio.h"
#include "balancing.h"
@@ -64,7 +64,7 @@ void writeDebug() {
Serial.print(" R: ");
Serial.print(angle_roll); //Print roll
Serial.print(" Motor: ");
Serial.println(angleOutput); //Print Motor output
Serial.println(getAngleOut()); //Print Motor output
}
#endif
}

25
src/balancing.cpp
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@@ -4,7 +4,7 @@
#include "vehicleConfig.h"
#include "MPU6050.h"
#include "radio.h"
#include <../lib/Arduino-PID-Library/PID_v1.h> // https://github.com/br3ttb/Arduino-PID-Library/
#include "PID_v1.h" // https://github.com/br3ttb/Arduino-PID-Library/
#include "motors.h"
int speedPot;
@@ -24,7 +24,10 @@ PID speedPid(&speedMeasured, &speedOutput, &speedTarget, 0.0, 0.0, 0.0, DIRECT);
PID anglePid(&angleMeasured, &angleOutput, &angleTarget, 0.0, 0.0, 0.0, DIRECT); // Angle: inner, fast control loop
double getAngleOut( void )
{
return angleOutput;
}
//
// =======================================================================================================
// PID SETUP
@@ -69,7 +72,7 @@ void balancing() {
// PID Parameters (Test)
double speedKp = 0.9, speedKi = 0.03, speedKd = 0.0;
double angleKp = data->pot1 / 8.0, angleKi = 25.0, angleKd = 0.12; // /You need to connect a potentiometer to the transmitter analog input A6
double angleKp = data->pot / 8.0, angleKi = 25.0, angleKd = 0.12; // /You need to connect a potentiometer to the transmitter analog input A6
// PID Parameters (Working)
//double speedKp = 0.9, speedKi = 0.03, speedKd = 0.0;
@@ -109,8 +112,6 @@ void mrsc() {
vehicleConfig* cfg = getConfigptr();
RcData* data = getDataptr();
//MC34933* Motor1 = getMotorptr(MOTOR1);
MC34933* Motor2 = getMotorptr(MOTOR2);
// Read sensor data
readMpu6050Data();
@@ -123,7 +124,7 @@ void mrsc() {
// Compute steering compensation overlay
int turnRateSetPoint = data->axis1 - 50; // turnRateSetPoint = steering angle (0 to 100) - 50 = -50 to 50
int turnRateMeasured = Mpu6050_getyaw_rate() * abs(data->axis3 - 50); // degrees/s * speed
int steeringAngle = turnRateSetPoint + (turnRateMeasured * data->pot1 / 100); // Compensation depending on the pot value
int steeringAngle = turnRateSetPoint + (turnRateMeasured * data->pot / 100); // Compensation depending on the pot value
steeringAngle = constrain (steeringAngle, -50, 50); // range = -50 to 50
@@ -133,7 +134,7 @@ void mrsc() {
#endif //CONFIG_HAS_SERVO
// Control motor 2 (steering, not on "High Power" board type)
if (!cfg->getHP()) {
Motor2->drive((steeringAngle + 50), 0, cfg->getsteeringTorque(), 0, false); // The steering motor (if the original steering motor is reused instead of a servo)
motordrive(MOTOR2, (steeringAngle + 50), 0, cfg->getsteeringTorque(), 0, false); // The steering motor (if the original steering motor is reused instead of a servo)
}
// Control motors
@@ -146,8 +147,6 @@ void driveMotorsBalancing()
{
vehicleConfig* cfg = getConfigptr();
RcData* data = getDataptr();
MC34933* Motor1 = getMotorptr(MOTOR1);
MC34933* Motor2 = getMotorptr(MOTOR2);
// The steering overlay is in degrees per second, controlled by the MPU 6050 yaw rate and yoystick axis 1
int steering = ((data->axis1 - 50) / 7) - Mpu6050_getyaw_rate(); // -50 to 50 / 8 = 7°/s - yaw_rate
@@ -163,11 +162,11 @@ void driveMotorsBalancing()
speed = constrain(speed, 7, 93); // same range as in setupPID() + 50 offset from above!
if (angleMeasured > -20.0 && angleMeasured < 20.0) { // Only drive motors, if robot stands upright
Motor1->drive(speed - steering, cfg->getminPWM(), cfg->getmaxPWMfull(), 0, false); // left caterpillar, 0ms ramp! 50 = neutral!
Motor2->drive(speed + steering, cfg->getminPWM(), cfg->getmaxPWMfull(), 0, false); // right caterpillar
motordrive(MOTOR1, speed - steering, cfg->getminPWM(), cfg->getmaxPWMfull(), 0, false); // left caterpillar, 0ms ramp! 50 = neutral!
motordrive(MOTOR2, speed + steering, cfg->getminPWM(), cfg->getmaxPWMfull(), 0, false); // right caterpillar
}
else { // keep motors off
Motor1->drive(50, cfg->getminPWM(), cfg->getmaxPWMfull(), 0, false); // left caterpillar, 0ms ramp!
Motor2->drive(50, cfg->getminPWM(), cfg->getmaxPWMfull(), 0, false); // right caterpillar
motordrive(MOTOR1, 50, cfg->getminPWM(), cfg->getmaxPWMfull(), 0, false); // left caterpillar, 0ms ramp!
motordrive(MOTOR2, 50, cfg->getminPWM(), cfg->getmaxPWMfull(), 0, false); // right caterpillar
}
}

2
src/balancing.h
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@@ -6,5 +6,7 @@ void driveMotorsBalancing( void );
void setupPid( void );
void mrsc();
double getAngleOut( void );
#endif //BALANCINGH

12
src/battery.cpp
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@@ -12,7 +12,7 @@ bool battSense;
void checkBattery()
{
vehicleConfig* cfg = getConfigptr();
ackPayload* payload = getPayloadptr();
RcData* data = getDataptr();
if (cfg->getboardVersion() < 1.2) battSense = false;
else battSense = true;
@@ -31,15 +31,9 @@ void checkBattery()
lastTrigger = millis();
// Read both averaged voltages
payload->batteryVoltage = batteryAverage();
payload->vcc = vccAverage();
data->setVoltage(batteryAverage());
//payload->vcc = vccAverage();
if (battSense) { // Observe battery voltage
if (payload->batteryVoltage <= cfg->getcutoffVoltage()) payload->batteryOk = false;
}
else { // Observe vcc voltage
if (payload->vcc <= cfg->getcutoffVoltage()) payload->batteryOk = false;
}
}
}

20
src/lights.cpp
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@@ -3,8 +3,9 @@
#include "radio.h"
#include "vehicleConfig.h"
#include "motors.h"
#include "rc_board.h"
#include <../lib/statusLED/statusLED.h> // https://github.com/TheDIYGuy999/statusLED
#include <statusLED.h> // https://github.com/TheDIYGuy999/statusLED
// Headlight off delay
@@ -54,6 +55,21 @@ unsigned long getMillisLightsOff( void )
return millisLightOff;
}
void setupLights( void )
{
#ifdef CONFIG_HAS_LIGHTS
// LED setup
if (vehicleType == 4 || vehicleType == 5 ) indicators = false; // Indicators use the same pins as the MPU-6050, so they can't be used in vehicleType 4 or 5!
if (tailLights) tailLight.begin(A1); // A1 = Servo 2 Pin
if (headLights) headLight.begin(0); // 0 = RXI Pin
if (indicators) {
indicatorL.begin(A4); // A4 = SDA Pin
indicatorR.begin(A5); // A5 = SCL Pin
}
if (beacons) beaconLights.begin(A3); // A3 = Servo 4 Pin
#endif //CONFIG_HAS_LIGHTS
}
//
// =======================================================================================================
@@ -109,7 +125,7 @@ void led()
beaconLights.off(); // Beacons off
}
else {
if (!cfg->getescBrakeLights() && ((!cfg->getHP() && getMotorptr(MOTOR1)->brakeActive()) || (cfg->getHP() && getMotorptr(MOTOR2)->brakeActive()) )) { // if braking detected from TB6612FNG motor driver
if (!cfg->getescBrakeLights() && ((!cfg->getHP() && motorBrakeActive(MOTOR1)) || (cfg->getHP() && motorBrakeActive(MOTOR2)) )) { // if braking detected from TB6612FNG motor driver
tailLight.on(); // Brake light (full brightness)
}

2
src/lights.h
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@@ -11,4 +11,6 @@ bool getLeft( void );
bool getRight( void );
bool getHazard( void );
void setupLights( void );
#endif //LIGHTSH

113
src/main.cpp
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@@ -10,26 +10,10 @@
const float codeVersion = 3.4; // Software revision (see https://github.com/TheDIYGuy999/Micro_RC_Receiver/blob/master/README.md)
//
// =======================================================================================================
// BUILD OPTIONS (comment out unneeded options)
// =======================================================================================================
//
//#define DEBUG // if not commented out, Serial.print() is active! For debugging only!!
//
// =======================================================================================================
// INCLUDE LIRBARIES
// =======================================================================================================
//
// Libraries
#include <Wire.h> // I2C library (for the MPU-6050 gyro /accelerometer)
//#include <RF24.h> // Installed via Tools > Board > Boards Manager > Type RF24
#include <Servo.h>
#include <Arduino.h>
#include "vehicleConfig.h"
// Tabs (header files in sketch directory)
#include "readVCC.h"
#include "steeringCurves.h"
#include "tone.h"
@@ -44,10 +28,8 @@ const float codeVersion = 3.4; // Software revision (see https://github.com/TheD
#include "balancing.h"
#include "lights.h"
#define CLIENT_ADDRESS 1
#define SERVER_ADDRESS 2
//
// =======================================================================================================
@@ -55,22 +37,25 @@ const float codeVersion = 3.4; // Software revision (see https://github.com/TheD
// =======================================================================================================
//
radio_c radio(CLIENT_ADDRESS,PIN_NRF_CE, PIN_NRF_CSN);
void setup()
{
setupConfig(STANDARDCAR);
vehicleConfig* cfg = getConfigptr();
cfg->begin(COKECANCAR);
RcData* data = getDataptr();
#ifdef DEBUG
Serial.begin(115200);
printf_begin();
serialCommands = false;
#ifdef STM32F1xx
USART1->BRR = 0x271;
#endif
//printf_begin();
cfg->serialCommands = false;
delay(3000);
#endif
#ifndef DEBUG
#else
// If TXO pin or RXI pin is used for other things, disable Serial
if (cfg->getTXO_momentary1() || cfg->getTXO_toggle1() || cfg->getheadLights())
{
@@ -80,59 +65,22 @@ void setup()
#endif
cfg->serialCommands = false;
}
else
{ // Otherwise use it for serial commands to the light and sound controller
#ifdef CONFIG_HAS_SBUS
SBUS* x8r = getSBUSptr();
x8r->begin(); // begin the SBUS communication
#else
Serial.begin(115200); // begin the standart serial communication
#endif
cfg->serialCommands = true;
}
#endif
#ifdef CONFIG_HAS_TONE
if(cfg->gettoneOut())
{
R2D2_tell();
}
#endif
//setup lights
setupLights();
// LED setup
#ifdef CONFIG_HAS_LIGHTS
if (vehicleType == 4 || vehicleType == 5 ) indicators = false; // Indicators use the same pins as the MPU-6050, so they can't be used in vehicleType 4 or 5!
if (tailLights) tailLight.begin(A1); // A1 = Servo 2 Pin
if (headLights) headLight.begin(0); // 0 = RXI Pin
if (indicators) {
indicatorL.begin(A4); // A4 = SDA Pin
indicatorR.begin(A5); // A5 = SCL Pin
}
if (beacons) beaconLights.begin(A3); // A3 = Servo 4 Pin
#endif //CONFIG_HAS_LIGHTS
// Radio setup
#ifdef CONFIG_HAS_NRF24
setupRadio();
#endif //CONFIG_HAS_NRF24
// Radio setup
radio.begin();
// Servo pins
#ifdef CONFIG_HAS_SERVO
servo1.attach(A0);
if (!tailLights) servo2.attach(A1);
if (!engineSound && !toneOut) servo3.attach(A2);
if (!beacons) servo4.attach(A3);
#endif //CONFIG_HAS_SERVO
// All axes to neutral position
data->axis1 = 50;
data->axis2 = 50;
data->axis3 = 50;
data->axis4 = 50;
data->pot1 = 50; // Added in v3.32
setupServos();
// Special functions
if (cfg->getTXO_momentary1() || cfg->getTXO_toggle1()) pinMode(PIN_SPARE1, OUTPUT);
@@ -140,8 +88,9 @@ void setup()
// Motor driver setup
setupMotors();
if (cfg->getvehicleType() == balancingthing || cfg->getvehicleType() == carwithMRSC) { // Only for self balancing vehicles and cars with MRSC
// MPU 6050 accelerometer / gyro setup
if (cfg->usesMPU()) // Only for self balancing vehicles and cars with MRSC
{
// setup MPU 6050 accelerometer / gyro setup
setupMpu6050();
// PID controller setup
@@ -157,7 +106,8 @@ void setup()
// =======================================================================================================
//
void digitalOutputs() {
void digitalOutputs()
{
vehicleConfig* cfg = getConfigptr();
RcData* data = getDataptr();
@@ -186,8 +136,6 @@ void digitalOutputs() {
//
// =======================================================================================================
// MAIN LOOP
@@ -196,7 +144,7 @@ void digitalOutputs() {
void loop() {
// Read radio data from transmitter
readRadio();
radio.receiveData();
// Write the servo positions
writeServos();
@@ -214,12 +162,7 @@ void loop() {
led();
// Send serial commands
#ifdef CONFIG_HAS_SBUS
// Serial commands are transmitted in SBUS standard
sendSbusCommands();
#else
// Normal protocol (for ESP32 engine sound controller only)
sendSerialCommands();
#endif
}

57
src/motors.cpp
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@@ -8,8 +8,8 @@
#include "balancing.h"
#include "../lib/MC34933/MC34933.h" // https://github.com/willumpie82/MC34933
#include <../lib/PWMFrequency/PWMFrequency.h> // https://github.com/TheDIYGuy999/PWMFrequency
#include "MC34933.h"
#include "PWMFrequency.h"
bool isDriving; // is the vehicle driving?
// Motor objects
@@ -66,8 +66,8 @@ void setupMotors()
// SYNTAX: IN1, IN2, PWM, min. input value, max. input value, neutral position width
// invert rotation direction true or false
Motor1.begin(motor1_in1, motor1_in2, 0, 100, 4, false); // Drive motor
Motor2.begin(motor2_in1, motor2_in2, 0, 100, 4, false); // Steering motor (Drive in "HP" version)
Motor2.begin(motor1_in1, motor1_in2, 0, 100, 4, false); // Drive motor
Motor1.begin(motor2_in1, motor2_in2, 0, 100, 4, false); // Steering motor (Drive in "HP" version)
// Motor PWM frequency prescalers (Requires the PWMFrequency.h library)
// Differential steering vehicles: locked to 984Hz, to make sure, that both motors use 984Hz.
@@ -84,15 +84,25 @@ void setupMotors()
MC34933* getMotorptr(motor_t motor)
{
if(motor==1)
switch(motor)
{
return &Motor1;
case MOTOR1:
{
return &Motor1;
}
break;
case MOTOR2:
{
return &Motor2;
}
break;
default:
{
return NULL;
}
}
else
{
return &Motor2;
}
}
//
@@ -101,6 +111,16 @@ MC34933* getMotorptr(motor_t motor)
// =======================================================================================================
//
void motordrive(motor_t motor, int controlValue, int minPWM, int maxPWM, int rampTime, bool neutralBrake)
{
getMotorptr(motor)->drive( controlValue, minPWM, maxPWM, rampTime, neutralBrake);
}
bool motorBrakeActive(motor_t motor)
{
return getMotorptr(motor)->brakeActive();
}
void drive()
{
vehicleConfig* cfg = getConfigptr();
@@ -110,7 +130,6 @@ void drive()
case car:
{
driveMotorsCar();
}
break;
@@ -149,7 +168,7 @@ void driveMotorsCar() {
vehicleConfig* cfg = getConfigptr();
RcData* data = getDataptr();
ackPayload* payload = getPayloadptr();
//ackPayload* payload = getPayloadptr();
int maxPWM;
byte maxAcceleration;
@@ -161,7 +180,7 @@ void driveMotorsCar() {
maxPWM = cfg->getmaxPWMfull(); // Full
}
if (!payload->batteryOk && cfg->getliPo()) data->axis3 = 50; // Stop the vehicle, if the battery is empty!
if (!data->batteryOk && cfg->getliPo()) data->axis3 = 50; // Stop the vehicle, if the battery is empty!
// Acceleration & deceleration limitation (ms per 1 step input signal change)
if (data->mode2) {
@@ -178,7 +197,7 @@ void driveMotorsCar() {
if (Motor1.drive(data->axis3, cfg->getminPWM(), maxPWM, maxAcceleration, true) ) { // The drive motor (function returns true, if not in neutral)
UpdatemillisLightOff(); // Reset the headlight delay timer, if the vehicle is driving!
}
if (cfg->getvehicleType() != 5) { // If not car with MSRC stabilty control
if (cfg->getvehicleType() != carwithMRSC) { // If not car with MSRC stabilty control
Motor2.drive(data->axis1, 0, cfg->getsteeringTorque(), 0, false); // The steering motor (if the original steering motor is reused instead of a servo)
}
}
@@ -199,7 +218,7 @@ void driveMotorsForklift() {
vehicleConfig* cfg = getConfigptr();
RcData* data = getDataptr();
ackPayload* payload = getPayloadptr();
//ackPayload* payload = getPayloadptr();
int maxPWM;
byte maxAcceleration;
@@ -211,7 +230,7 @@ void driveMotorsForklift() {
maxPWM = cfg->getmaxPWMfull(); // Full
}
if (!payload->batteryOk && cfg->getliPo()) data->axis3 = 50; // Stop the vehicle, if the battery is empty!
if (!data->batteryOk && cfg->getliPo()) data->axis3 = 50; // Stop the vehicle, if the battery is empty!
// Acceleration & deceleration limitation (ms per 1 step input signal change)
if (data->mode2) {
@@ -254,7 +273,7 @@ void driveMotorsSteering() {
vehicleConfig* cfg = getConfigptr();
RcData* data = getDataptr();
ackPayload* payload = getPayloadptr();
//ackPayload* payload = getPayloadptr();
// The steering overlay
int steeringFactorLeft=0;
@@ -312,7 +331,7 @@ void driveMotorsSteering() {
pwm[0] = map(pwm[0], 100, -100, 100, 0); // convert -100 to 100% to 0-100 for motor control
pwm[1] = map(pwm[1], 100, -100, 100, 0);
if (!payload->batteryOk && cfg->getliPo()) { // Both motors off, if LiPo battery is empty!
if (!data->batteryOk && cfg->getliPo()) { // Both motors off, if LiPo battery is empty!
pwm[0] = 0;
pwm[1] = 0;
}

9
src/motors.h
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@@ -1,7 +1,7 @@
#ifndef MOTORSH
#define MOTORSH
#include "../lib/MC34933/MC34933.h" // https://github.com/willumpie82/MC34933
#include "MC34933.h"
typedef enum motor_e
{
@@ -9,6 +9,9 @@ typedef enum motor_e
MOTOR2
}motor_t;
// motor wrapper functions
void motordrive(motor_t motor, int controlValue, int minPWM, int maxPWM, int rampTime, bool neutralBrake);
bool motorBrakeActive(motor_t motor);
// Motors
bool getIsDriving();
@@ -20,6 +23,8 @@ void driveMotorsForklift();
void driveMotorsSteering();
void drive();
MC34933* getMotorptr(motor_t motor);
//MC34933* getMotorptr(motor_t motor);
#endif //MOTORSH

217
src/radio.cpp
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@@ -1,217 +0,0 @@
#include <arduino.h>
#include "radio.h"
#include "lights.h"
#include "vehicleConfig.h"
#include "rc_board.h"
#include "../../lib/SBUS/src/SBUS.h"
// Hardware configuration: Set up nRF24L01 radio on hardware SPI bus & pins 8 (CE) & 7 (CSN)
#ifdef CONFIG_HAS_NRF24
RF24 radio(8, 7);
#endif
// SBUS object
#ifdef CONFIG_HAS_SBUS
#ifndef DEBUG
SBUS x8r(Serial);
SBUS* getSBUSptr( void ){return &x8r;}
#endif
#endif
RcData data;
RcData* getDataptr(void)
{
return &data;
}
// Radio channels (126 channels are supported)
byte chPointer = 0; // Channel 1 (the first entry of the array) is active by default
const byte NRFchannel[] {
1, 2
};
// the ID number of the used "radio pipe" must match with the selected ID on the transmitter!
// 10 ID's are available @ the moment
const uint64_t pipeIn[] = {
0xE9E8F0F0B1LL, 0xE9E8F0F0B2LL, 0xE9E8F0F0B3LL, 0xE9E8F0F0B4LL, 0xE9E8F0F0B5LL,
0xE9E8F0F0B6LL, 0xE9E8F0F0B7LL, 0xE9E8F0F0B8LL, 0xE9E8F0F0B9LL, 0xE9E8F0F0B0LL
};
const int maxVehicleNumber = (sizeof(pipeIn) / (sizeof(uint64_t)));
ackPayload payload;
ackPayload* getPayloadptr( void )
{
return &payload;
}
//
// =======================================================================================================
// RADIO SETUP
// =======================================================================================================
//
void setupRadio() {
#ifdef CONFIG_HAS_NRF24
radio.begin();
radio.setChannel(NRFchannel[chPointer]);
// Set Power Amplifier (PA) level to one of four levels: RF24_PA_MIN, RF24_PA_LOW, RF24_PA_HIGH and RF24_PA_MAX
radio.setPALevel(RF24_PA_HIGH); // HIGH
radio.setDataRate(RF24_250KBPS);
radio.setAutoAck(pipeIn[vehicleNumber - 1], true); // Ensure autoACK is enabled
radio.enableAckPayload();
radio.enableDynamicPayloads();
radio.setRetries(5, 5); // 5x250us delay (blocking!!), max. 5 retries
//radio.setCRCLength(RF24_CRC_8); // Use 8-bit CRC for performance
#ifdef DEBUG
radio.printDetails();
delay(3000);
#endif
radio.openReadingPipe(1, pipeIn[vehicleNumber - 1]);
radio.startListening();
#endif
}
//
// =======================================================================================================
// READ RADIO DATA
// =======================================================================================================
//
void readRadio() {
#ifdef CONFIG_HAS_NRF24
static unsigned long lastRecvTime = 0;
byte pipeNo;
if (radio.available(&pipeNo)) {
radio.writeAckPayload(pipeNo, &payload, sizeof(struct ackPayload) ); // prepare the ACK payload
radio.read(&data, sizeof(struct RcData)); // read the radia data and send out the ACK payload
hazard = false;
lastRecvTime = millis();
#ifdef DEBUG
Serial.print(data.axis1);
Serial.print("\t");
Serial.print(data.axis2);
Serial.print("\t");
Serial.print(data.axis3);
Serial.print("\t");
Serial.print(data.axis4);
Serial.println("\t");
#endif
}
// Switch channel
if (millis() - lastRecvTime > 500) {
chPointer ++;
if (chPointer >= sizeof((*NRFchannel) / sizeof(byte))) chPointer = 0;
radio.setChannel(NRFchannel[chPointer]);
payload.channel = NRFchannel[chPointer];
}
if (millis() - lastRecvTime > 1000) { // set all analog values to their middle position, if no RC signal is received during 1s!
data.axis1 = 50; // Aileron (Steering for car)
data.axis2 = 50; // Elevator
data.axis3 = 50; // Throttle
data.axis4 = 50; // Rudder
hazard = true; // Enable hazard lights
payload.batteryOk = true; // Clear low battery alert (allows to re-enable the vehicle, if you switch off the transmitter)
#ifdef DEBUG
Serial.println("No Radio Available - Check Transmitter!");
#endif
}
if (millis() - lastRecvTime > 2000) {
setupRadio(); // re-initialize radio
lastRecvTime = millis();
}
#endif
}
//
// =======================================================================================================
// SBUS COMMANDS TO LIGHT- & SOUND CONTROLLER (if not DEBUG, not TXO_momentary1, not TXO_toggle1, not headLights)
// =======================================================================================================
//
void sendSbusCommands()
{
vehicleConfig* cfg = getConfigptr();
static unsigned long lastSbusTime;
uint16_t channels[16];
// See: https://github.com/TheDIYGuy999/Rc_Engine_Sound_ESP32
if (cfg->serialCommands) { // only, if we are in serial command mode
if (millis() - lastSbusTime > 14) { // Send the data every 14ms
lastSbusTime = millis();
// Fill SBUS packet with our channels
// Proportional channels
channels[0] = map(data.axis1, 0, 100, 172, 1811);
channels[1] = map(data.axis2, 0, 100, 172, 1811);
channels[2] = map(data.axis3, 0, 100, 172, 1811);
channels[3] = map(data.axis4, 0, 100, 172, 1811);
channels[4] = map(data.pot1, 0, 100, 172, 1811);
// Switches etc.
if (data.mode1) channels[5] = 1811; else channels[5] = 172;
if (data.mode2) channels[6] = 1811; else channels[6] = 172;
if (data.momentary1) channels[7] = 1811; else channels[7] = 172;
if (getHazard()) channels[8] = 1811; else channels[8] = 172;
if (getLeft()) channels[9] = 1811; else channels[9] = 172;
if (getRight()) channels[10] = 1811; else channels[10] = 172;
// write the SBUS packet
#ifdef CONFIG_HAS_SBUS
x8r.write(&channels[0]);
#endif
}
}
}
//
// =======================================================================================================
// SERIAL COMMANDS TO LIGHT- & SOUND CONTROLLER (if not DEBUG, not TXO_momentary1, not TXO_toggle1, not headLights)
// =======================================================================================================
//
void sendSerialCommands()
{
vehicleConfig* cfg = getConfigptr();
static unsigned long lastSerialTime;
// '\n' is used as delimiter (separator of variables) during parsing on the sound controller
// it is generated by the "println" (print line) command!
// See: https://github.com/TheDIYGuy999/Rc_Engine_Sound_ESP32
if (cfg->serialCommands) { // only, if we are in serial command mode
if (millis() - lastSerialTime > 20) { // Send the data every 20ms
lastSerialTime = millis();
Serial.print('<'); // Start marker
Serial.println(data.axis1);
Serial.println(data.axis2);
Serial.println(data.axis3);
Serial.println(data.axis4);
Serial.println(data.pot1);
Serial.println(data.mode1);
Serial.println(data.mode2);
Serial.println(data.momentary1);
Serial.println(getHazard());
Serial.println(getLeft());
Serial.println(getRight());
Serial.print('>'); // End marker
}
}
}

44
src/radio.h
View File

@@ -1,44 +0,0 @@
#ifndef RADIOH
#define RADIOH
#include <Arduino.h>
#include "../../lib/SBUS/src/SBUS.h"
// The size of this struct should not exceed 32 bytes
struct RcData {
byte axis1; // Aileron (Steering for car)
byte axis2; // Elevator
byte axis3; // Throttle
byte axis4; // Rudder
bool mode1 = false; // Mode1 (toggle speed limitation)
bool mode2 = false; // Mode2 (toggle acc. / dec. limitation)
bool momentary1 = false; // Momentary push button
byte pot1; // Potentiometer
};
// This struct defines data, which are embedded inside the ACK payload
struct ackPayload {
float vcc; // vehicle vcc voltage
float batteryVoltage; // vehicle battery voltage
bool batteryOk = true; // the vehicle battery voltage is OK!
byte channel = 1; // the channel number
};
// Function prototypes
ackPayload* getPayloadptr( void );
RcData* getDataptr(void);
void readRadio( void );
void setupRadio( void );
void sendSerialCommands( void );
SBUS* getSBUSptr( void );
void sendSbusCommands( void );
#endif // RADIOH

4
src/rc_board.h
View File

@@ -2,8 +2,8 @@
#define RCBOARDH
//#define CONFIG_HAS_TONE
//#define CONFIG_HAS_NRF24
#define CONFIG_HAS_SBUS
#define CONFIG_HAS_NRF24
//#define CONFIG_HAS_SBUS
//#define CONFIG_HAS_LIGHTS
//#define CONFIG_HAS_SERVO

10
src/servos.cpp
View File

@@ -7,6 +7,16 @@
// =======================================================================================================
//
void setupServos( void )
{
#ifdef CONFIG_HAS_SERVO
servo1.attach(A0);
if (!tailLights) servo2.attach(A1);
if (!engineSound && !toneOut) servo3.attach(A2);
if (!beacons) servo4.attach(A3);
#endif //CONFIG_HAS_SERVO
}
void writeServos()
{
#ifdef CONFIG_HAS_SERVO

3
src/servos.h
View File

@@ -1,6 +1,7 @@
#ifndef SERVOSH
#define SERVOSH
void writeServos();
void writeServos( void );
void setupServos( void );
#endif //SERVOSH

9
src/vehicleConfig.cpp
View File

@@ -89,14 +89,19 @@ vehicleConfig* getConfigptr( void )
return &cfg;
}
void setupConfig(vehicleconfig_t type)
{
cfg.begin(type);
}
void vehicleConfig::begin(vehicleconfig_t vehicle)
{
switch (vehicle)
{
case COKECANCAR:
{
setBasicParams(true,3.6,1.3,false,6,carwithMRSC,false,false);
setIndicators(false,false,true,false,false);
setBasicParams(false,3.6,1.3,false,6,carwithMRSC,false,false);
setIndicators(false,false,false,false,false);
setServoLimits(45,135,45,135,45,135,75,105,45,135);
setMotorConfig(255,170,0,3,12,0,160,1);
}

4
src/vehicleConfig.h
View File

@@ -2,6 +2,7 @@
#ifndef vehicleConfig_h
#define vehicleConfig_h
typedef enum vehicleconfig_e
{
STANDARDCAR,
@@ -175,9 +176,12 @@ public:
bool getengineSound(){ return m_engineSound;}
bool gettoneOut(){ return m_toneOut;}
bool usesMPU( void ){return (getvehicleType() == balancingthing || getvehicleType() == carwithMRSC); }
}; //class vehicleConfig
vehicleConfig* getConfigptr( void );
void setupConfig(vehicleconfig_t type);
#endif