From 52cc7bfa1adf19623345dc48387cb673f1424aad Mon Sep 17 00:00:00 2001
From: Fisch <interfisch@gmx.net>
Date: Sun, 10 Apr 2022 18:36:19 +0200
Subject: [PATCH] oled and nrf with teensy working

---
 .../length_calibration_20220410.ods           | Bin 0 -> 30314 bytes
 hoverbrettctrl/platformio.ini                 |   6 +-
 hoverbrettctrl/src/main.cpp                   | 256 ++++++++++++++----
 3 files changed, 209 insertions(+), 53 deletions(-)
 create mode 100644 hoverbrettctrl/length_calibration_20220410.ods

diff --git a/hoverbrettctrl/length_calibration_20220410.ods b/hoverbrettctrl/length_calibration_20220410.ods
new file mode 100644
index 0000000000000000000000000000000000000000..52e7a5237b4438ce044d8c545fed2344dd499e52
GIT binary patch
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HcmV?d00001

diff --git a/hoverbrettctrl/platformio.ini b/hoverbrettctrl/platformio.ini
index 7befa2a..768a858 100644
--- a/hoverbrettctrl/platformio.ini
+++ b/hoverbrettctrl/platformio.ini
@@ -13,6 +13,7 @@ platform = teensy
 board = teensy31
 framework = arduino
 
+upload_protocol = teensy-cli
 
 monitor_speed = 115200
 
@@ -21,4 +22,7 @@ build_flags =
 
 
 lib_deps =
-    https://github.com/maniacbug/RF24
\ No newline at end of file
+    https://github.com/maniacbug/RF24
+    adafruit/Adafruit SSD1306@^2.5.3
+    adafruit/Adafruit BusIO@^1.11.3
+    https://github.com/adafruit/Adafruit-GFX-Library
\ No newline at end of file
diff --git a/hoverbrettctrl/src/main.cpp b/hoverbrettctrl/src/main.cpp
index 1c37394..3b0d23d 100644
--- a/hoverbrettctrl/src/main.cpp
+++ b/hoverbrettctrl/src/main.cpp
@@ -1,6 +1,18 @@
 #include <Arduino.h>
 #define SERIAL_BAUD         115200      // [-] Baud rate for built-in Serial (used for the Serial Monitor)
 
+#include <SPI.h>
+#include <Wire.h>
+#include <Adafruit_GFX.h>
+#include <Adafruit_SSD1306.h>
+//128 x 64 px
+#define SCREEN_WIDTH 128
+#define SCREEN_HEIGHT 64
+#define SCREEN_ADDRESS 0x3C
+#define OLED_RESET     -1 // Reset pin # (or -1 if sharing Arduino reset pin)
+Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);
+#define DISPLAYUPDATE_INTERVAL 200
+
 uint8_t error = 0;
 #define IMU_NO_CHANGE 2 //IMU values did not change for too long
 
@@ -24,12 +36,45 @@ long last_adcupdated=0;
 #define CONTROLUPDATEPERIOD 10
 long last_controlupdate = 0;
 
-#define GT_LENGTH_OFFSET 4090 //adc offset value (rolled up value)
-#define GT_LENGTH_MIN 220 //length in mm at which adc values start to change
-#define GT_LENGTH_SCALE -0.73 //(offset-adcvalue)*scale = length[mm] (+length_min)
-//2720 at 1000mm+220mm -> 1370 for 1000mm -> 
-#define GT_LENGTH_MAXLENGTH 2500 //maximum length in [mm]. maximum string length is around 2m80
+#define GT_LENGTH_MIN 200 //minimum length for stuff to start happen
+
+#define GT_LENGTH_1_OFFSET -22.5
+#define GT_LENGTH_1_SCALE 2.5
+#define GT_LENGTH_2_OFFSET 563.6
+#define GT_LENGTH_2_SCALE 0.45
+
+#define GT_LENGTH_CROSSOVERADC ((GT_LENGTH_2_OFFSET-GT_LENGTH_1_OFFSET)/(GT_LENGTH_1_SCALE-GT_LENGTH_2_SCALE)) //crossover point from adc, where first and second lines cross
+#define GT_LENGTH_CROSSOVER_FEATHER 76.0 //how much adc change in both directions should be smoothed when switching between first and second line
+
+#define GT_LENGTH_MAXLENGTH 2000 //maximum length in [mm]. maximum string length is around 2m80
+#define GT_LENGTH_ADC_MAXDIFF 127 //maximum adc value difference between A and B poti. Used to detect scratching poti. during length calibration was 57
+int raw_length_maxdiff=0;
+//TODO: implement error for poti maxdiff
 uint16_t gt_length=0; //0=rolled up, 1unit = 1mm
+/* calibration 20220410
+lenght[mm], adc
+0,9
+100,52
+200,86
+300,124
+400,165
+500,212
+600,286
+700,376
+800,520
+900,746
+1000,984
+1100,1198
+1200,1404
+1300,1628
+1400,1853
+1500,2107
+1600,2316
+1700,2538
+1800,2730
+1900,2942
+2000,3150
+*/
 
 #define GT_VERTICAL_CENTER 2048 //adc value for center position
 #define GT_VERTICAL_RANGE 2047 //adc value difference from center to maximum (30 deg)
@@ -73,7 +118,8 @@ struct nrfdata {
 
 nrfdata lastnrfdata;
 long last_nrfreceive = 0; //last time values were received and checksum ok
-long nrf_delay = 0;
+unsigned long nrf_delay = 0;
+unsigned long last_nrfreceive_delay=0;
 #define MAX_NRFDELAY 100 //ms. maximum time delay at which vehicle will disarm
 
 boolean radiosendOk=false;
@@ -104,36 +150,65 @@ uint8_t controlmode=0;
 #define MODE_GAMETRAK 2
 
 
+void updateDisplay(unsigned long loopmillis);
+
+
 void setup() {
   Serial.begin(SERIAL_BAUD); //Debug and Program
   esc.init();
 
+  analogReadResolution(12);
 
-  pinMode(PIN_GAMETRAK_LENGTH_A, INPUT);
-  pinMode(PIN_GAMETRAK_LENGTH_B, INPUT);
-  pinMode(PIN_GAMETRAK_VERTICAL, INPUT);
-  pinMode(PIN_GAMETRAK_HORIZONTAL, INPUT);
+  pinMode(PIN_GAMETRAK_LENGTH_A, INPUT_PULLUP);
+  pinMode(PIN_GAMETRAK_LENGTH_B, INPUT_PULLUP);
+  pinMode(PIN_GAMETRAK_VERTICAL, INPUT_PULLUP);
+  pinMode(PIN_GAMETRAK_HORIZONTAL, INPUT_PULLUP);
+
+  Wire.begin();
+  // SSD1306_SWITCHCAPVCC = generate display voltage from 3.3V internally
+  if(!display.begin(SSD1306_SWITCHCAPVCC, SCREEN_ADDRESS)) {
+    Serial.println(F("SSD1306 allocation failed"));
+    for(;;); // Don't proceed, loop forever
+  }
+
+  // Show initial display buffer contents on the screen --
+  // the library initializes this with an Adafruit splash screen.
+  display.display();
+
+  display.clearDisplay();
+  display.setTextSize(1);
+  display.setTextColor(SSD1306_WHITE);
+  display.setCursor(10, 0);
+  display.println(F("Radio Init"));
+  display.display();      // Show initial text
 
   radio.begin();
 
 
-  //Serial1.println("set rate"); 
+  Serial.println("RF24 set rate"); 
   radio.setDataRate( RF24_250KBPS ); //set to slow data rate. default was 1MBPS
   //radio.setDataRate( RF24_1MBPS ); 
-  //Serial1.println("set channel"); 
+  //Serial.println("set channel"); 
 
   radio.setChannel(NRF24CHANNEL); //0 to 124 (inclusive)
 
-  //Serial1.println("set retries and payload"); 
+  //Serial.println("set retries and payload"); 
   radio.setRetries(15, 15); // optionally, increase the delay between retries & # of retries
   radio.setPayloadSize(8); // optionally, reduce the payload size.  seems to improve reliability
 
-  //Serial1.println("open pipe"); 
+  //Serial.println("open pipe"); 
   radio.openWritingPipe(pipes[0]); //write on pipe 0
   radio.openReadingPipe(1, pipes[1]); //read on pipe 1
 
-  //Serial1.println("start listening"); 
+  Serial.println("start listening"); 
   radio.startListening();
+
+  display.clearDisplay();
+  display.setTextSize(2); // Draw 2X-scale text
+  display.setTextColor(SSD1306_WHITE);
+  display.setCursor(10, 0);
+  display.println(F("Started"));
+  display.display();      // Show initial text
   
   
 }
@@ -145,41 +220,82 @@ void loop() {
 
 
 
-  if (millis() - last_adcupdated > ADC_UPDATEPERIOD) { //update analog readings
+  if (loopmillis - last_adcupdated > ADC_UPDATEPERIOD) { //update analog readings
       
-    gt_length = constrain(( analogRead(PIN_GAMETRAK_LENGTH_A))*GT_LENGTH_SCALE - (GT_LENGTH_SCALE*GT_LENGTH_OFFSET) +GT_LENGTH_MIN, 0,GT_LENGTH_MAXLENGTH);
+    int raw_length_a=analogRead(PIN_GAMETRAK_LENGTH_A);
+    int raw_length_b=analogRead(PIN_GAMETRAK_LENGTH_B);
+    
+    raw_length_maxdiff=max(raw_length_maxdiff,abs(raw_length_a-raw_length_b));
+
+    int raw_length=(raw_length_a+raw_length_b)/2;
+
+    
+    uint16_t gt_length_1 = GT_LENGTH_1_OFFSET+raw_length*GT_LENGTH_1_SCALE;
+    uint16_t gt_length_2 = GT_LENGTH_2_OFFSET+raw_length*GT_LENGTH_2_SCALE;
+
+    double crossovermapping=constrain(((raw_length-GT_LENGTH_CROSSOVERADC)/GT_LENGTH_CROSSOVER_FEATHER )/2.0+0.5, 0.0,1.0); //0 for first, 1 for second
+    
+
+    gt_length = constrain( gt_length_1*(1-crossovermapping) + gt_length_2*crossovermapping , 0,GT_LENGTH_MAXLENGTH);
     if (gt_length<=GT_LENGTH_MIN){
       gt_length=0; //if below minimum measurable length set to 0mm
     }
-    gt_vertical = constrain(map(analogRead(PIN_GAMETRAK_VERTICAL)-((int16_t)GT_VERTICAL_CENTER), +GT_VERTICAL_RANGE,-GT_VERTICAL_RANGE,-127,127),-127,127); //left negative
-    gt_horizontal = constrain(map(analogRead(PIN_GAMETRAK_HORIZONTAL)-((int16_t)GT_HORIZONTAL_CENTER), +GT_HORIZONTAL_RANGE,-GT_HORIZONTAL_RANGE,-127,127),-127,127); //down negative
+    gt_vertical = constrain(map(analogRead(PIN_GAMETRAK_VERTICAL)-((int16_t)GT_VERTICAL_CENTER), -GT_VERTICAL_RANGE,+GT_VERTICAL_RANGE,-127,127),-127,127); //left negative
+    gt_horizontal = constrain(map(analogRead(PIN_GAMETRAK_HORIZONTAL)-((int16_t)GT_HORIZONTAL_CENTER), -GT_HORIZONTAL_RANGE,+GT_HORIZONTAL_RANGE,-127,127),-127,127); //down negative
     
     last_adcupdated = millis();
 
 
     /*
-    Serial1.print("gt_length=");
-    Serial1.print(gt_length);
-    Serial1.print(", gt_vertical=");
-    Serial1.print(gt_vertical);
-    Serial1.print(", gt_horizontal=");
-    Serial1.println(gt_horizontal);*/
+    Serial.print("gt_length=");
+    Serial.print(gt_length);
+    Serial.print(", gt_vertical=");
+    Serial.print(gt_vertical);
+    Serial.print(", gt_horizontal=");
+    Serial.print(gt_horizontal);
+    
 
-    /*
-    Serial1.print("PIN_GAMETRAK_LENGTH=");
-    Serial1.print(analogRead(PIN_GAMETRAK_LENGTH));
-    Serial1.print(", PIN_GAMETRAK_VERTICAL=");
-    Serial1.print(analogRead(PIN_GAMETRAK_VERTICAL));
-    Serial1.print(", PIN_GAMETRAK_HORIZONTAL=");
-    Serial1.println(analogRead(PIN_GAMETRAK_HORIZONTAL));*/
+    
+    Serial.print(" pl=");
+    Serial.print(raw_length_a);
+    Serial.print(", ");
+    Serial.print(raw_length_b);
+    
+    Serial.print(", pv=");
+    Serial.print(analogRead(PIN_GAMETRAK_VERTICAL));
+    Serial.print(", ph=");
+    Serial.print(analogRead(PIN_GAMETRAK_HORIZONTAL));
+    Serial.print(" Ldiff=");
+    Serial.println(abs(raw_length_a-raw_length_b));
+    */
+    
+
+   /*
+   static int _rawlengtharray[40];
+   static int _rawlapos=0;
+   _rawlengtharray[_rawlapos++]=raw_length;
+   _rawlapos%=40;
+   
+   int rawlengthfilter=0;
+   for (int p=0;p<40;p++) {
+     rawlengthfilter+=_rawlengtharray[p];
+   }
+   rawlengthfilter/=40;
+
+    static int maxldiff=0;
+    maxldiff=max(maxldiff,abs(raw_length_a-raw_length_b));
+    Serial.print("");
+    Serial.print(rawlengthfilter);
+    Serial.print(" maxldiff=");
+    Serial.println(maxldiff);*/
     
   }
 
   //NRF24
-  nrf_delay = millis() - last_nrfreceive; //update nrf delay
+  nrf_delay = loopmillis - last_nrfreceive; //update nrf delay
   if ( radio.available() )
   {
-    //Serial1.println("radio available ...");
+    //Serial.println("radio available ...");
 
     lastpacketOK = false; //initialize with false, if checksum ok gets set to true
     //digitalWrite(PIN_LED, !digitalRead(PIN_LED));
@@ -195,7 +311,9 @@ void loop() {
     uint8_t calcchecksum = (uint8_t)((lastnrfdata.steer + 3) * (lastnrfdata.speed + 13));
     if (lastnrfdata.checksum == calcchecksum) { //checksum ok?
       lastpacketOK = true;
-      last_nrfreceive = millis();
+      last_nrfreceive_delay=loopmillis-last_nrfreceive; //for display purpose
+      last_nrfreceive = loopmillis;
+
 
       //parse commands
       motorenabled = (lastnrfdata.commands & (1 << 0))>>0; //check bit 0
@@ -207,15 +325,15 @@ void loop() {
   if (controlmode == MODE_RADIONRF && nrf_delay >= MAX_NRFDELAY) { //too long since last sucessful nrf receive
     controlmode = MODE_DISARMED;
     #ifdef DEBUG
-    Serial1.println("nrf_delay>=MAX_NRFDELAY, disarmed!");
+    Serial.println("nrf_delay>=MAX_NRFDELAY, disarmed!");
     #endif
   }
   if (controlmode == MODE_RADIONRF) { //is armed in nrf mode
 
     
     if (lastpacketOK) { //if lastnrfdata is valid
-      if (millis() - last_controlupdate > CONTROLUPDATEPERIOD) {
-        last_controlupdate = millis();
+      if (loopmillis - last_controlupdate > CONTROLUPDATEPERIOD) {
+        last_controlupdate = loopmillis;
 
         //out_speed=(int16_t)( (lastnrfdata.y-TRACKPOINT_CENTER)*1000/TRACKPOINT_MAX );
         //out_steer=(int16_t)( -(lastnrfdata.x-TRACKPOINT_CENTER)*1000/TRACKPOINT_MAX );
@@ -237,7 +355,7 @@ void loop() {
 
 #ifdef DEBUG
     if (!lastpacketOK) {
-      Serial1.println("Armed but packet not ok");
+      Serial.println("Armed but packet not ok");
     }
 #endif
 
@@ -247,18 +365,18 @@ void loop() {
   if (controlmode==MODE_DISARMED) { //check if gametrak can be armed
     if (gt_length>gt_length_set && gt_length<gt_length_set+10) { //is in trackable length
       controlmode=MODE_GAMETRAK; //enable gametrak mode
-      Serial1.println("Enable Gametrak");
+      Serial.println("Enable Gametrak");
     }
   }else if (controlmode==MODE_GAMETRAK){ //gametrak control active and not remote active
     //Gametrak Control Code
     motorenabled=true;
     if (gt_length<=GT_LENGTH_MIN){ //let go
-      Serial1.println("gametrak released");
+      Serial.println("gametrak released");
       controlmode=MODE_DISARMED;
       motorenabled=false;
     }
     int16_t _gt_length_diff = gt_length-gt_length_set; //positive if needs to drive forward
-    if (_gt_length_diff>-GT_LENGTH_MINDIFF & _gt_length_diff<GT_LENGTH_MINDIFF){ //minimum difference to drive
+    if ((_gt_length_diff>-GT_LENGTH_MINDIFF) && (_gt_length_diff<GT_LENGTH_MINDIFF)){ //minimum difference to drive
       _gt_length_diff=0; //threshold
     }
 
@@ -311,21 +429,21 @@ void loop() {
     if (!motorenabled) {//motors disabled
       esc.setSpeed(0,0);
     }
-    last_send = millis();
+    last_send = loopmillis;
   
   
   #ifdef DEBUG
-    Serial1.print(" out_speedl=");
-    Serial1.print(out_speedl);
-    Serial1.print(" out_speedr=");
-    Serial1.print(out_speedr);
-    Serial1.print(" checksum=");
-    Serial1.print(out_checksum);
+    Serial.print(" out_speedl=");
+    Serial.print(out_speedl);
+    Serial.print(" out_speedr=");
+    Serial.print(out_speedr);
+    Serial.print(" checksum=");
+    Serial.print(out_checksum);
 
-    Serial1.print(" controlmode=");
-    Serial1.print(controlmode);
+    Serial.print(" controlmode=");
+    Serial.print(controlmode);
   
-    Serial1.println();
+    Serial.println();
     
   #endif
   }
@@ -333,4 +451,38 @@ void loop() {
   
 
   esc.update(loopmillis);
+  updateDisplay(loopmillis);
+}
+
+void updateDisplay(unsigned long loopmillis)
+{
+  static unsigned long last_updatedisplay=0;
+  if (loopmillis-last_updatedisplay>DISPLAYUPDATE_INTERVAL) {
+    display.clearDisplay();
+    display.setTextSize(1);
+    display.setTextColor(SSD1306_WHITE);
+    display.setCursor(1, 0);
+    display.print(F("MODE=")); 
+
+    switch(controlmode) {
+      case MODE_DISARMED:
+        display.println(F("DISARMED"));
+        break;
+      case MODE_RADIONRF:
+        display.println(F("RADIONRF"));
+        break;
+      case MODE_GAMETRAK:
+        display.println(F("GAMETRAK"));
+        break;
+      default:
+        display.println(F("UNDEF"));
+        break;
+    }
+    display.print(F("nrf_delay=")); display.println(last_nrfreceive_delay);
+    display.print(F("gt_length=")); display.println(gt_length);
+    display.print(F("maxdiff=")); display.println(raw_length_maxdiff);
+    
+    display.display();      // Show initial text
+    last_updatedisplay=loopmillis;
+  }
 }
\ No newline at end of file