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oled and nrf with teensy working

This commit is contained in:
interfisch 2022-04-10 18:36:19 +02:00
parent aa8570af42
commit 52cc7bfa1a
3 changed files with 209 additions and 53 deletions
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hoverbrettctrl/length_calibration_20220410.ods Normal file
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hoverbrettctrl/platformio.ini
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@ -13,6 +13,7 @@ platform = teensy
board = teensy31 board = teensy31
framework = arduino framework = arduino
upload_protocol = teensy-cli
monitor_speed = 115200 monitor_speed = 115200
@ -22,3 +23,6 @@ build_flags =
lib_deps = lib_deps =
https://github.com/maniacbug/RF24 https://github.com/maniacbug/RF24
adafruit/Adafruit SSD1306@^2.5.3
adafruit/Adafruit BusIO@^1.11.3
https://github.com/adafruit/Adafruit-GFX-Library

256
hoverbrettctrl/src/main.cpp
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@ -1,6 +1,18 @@
#include <Arduino.h> #include <Arduino.h>
#define SERIAL_BAUD 115200 // [-] Baud rate for built-in Serial (used for the Serial Monitor) #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; uint8_t error = 0;
#define IMU_NO_CHANGE 2 //IMU values did not change for too long #define IMU_NO_CHANGE 2 //IMU values did not change for too long
@ -24,12 +36,45 @@ long last_adcupdated=0;
#define CONTROLUPDATEPERIOD 10 #define CONTROLUPDATEPERIOD 10
long last_controlupdate = 0; long last_controlupdate = 0;
#define GT_LENGTH_OFFSET 4090 //adc offset value (rolled up value) #define GT_LENGTH_MIN 200 //minimum length for stuff to start happen
#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) #define GT_LENGTH_1_OFFSET -22.5
//2720 at 1000mm+220mm -> 1370 for 1000mm -> #define GT_LENGTH_1_SCALE 2.5
#define GT_LENGTH_MAXLENGTH 2500 //maximum length in [mm]. maximum string length is around 2m80 #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 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_CENTER 2048 //adc value for center position
#define GT_VERTICAL_RANGE 2047 //adc value difference from center to maximum (30 deg) #define GT_VERTICAL_RANGE 2047 //adc value difference from center to maximum (30 deg)
@ -73,7 +118,8 @@ struct nrfdata {
nrfdata lastnrfdata; nrfdata lastnrfdata;
long last_nrfreceive = 0; //last time values were received and checksum ok 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 #define MAX_NRFDELAY 100 //ms. maximum time delay at which vehicle will disarm
boolean radiosendOk=false; boolean radiosendOk=false;
@ -104,37 +150,66 @@ uint8_t controlmode=0;
#define MODE_GAMETRAK 2 #define MODE_GAMETRAK 2
void updateDisplay(unsigned long loopmillis);
void setup() { void setup() {
Serial.begin(SERIAL_BAUD); //Debug and Program Serial.begin(SERIAL_BAUD); //Debug and Program
esc.init(); esc.init();
analogReadResolution(12);
pinMode(PIN_GAMETRAK_LENGTH_A, INPUT); pinMode(PIN_GAMETRAK_LENGTH_A, INPUT_PULLUP);
pinMode(PIN_GAMETRAK_LENGTH_B, INPUT); pinMode(PIN_GAMETRAK_LENGTH_B, INPUT_PULLUP);
pinMode(PIN_GAMETRAK_VERTICAL, INPUT); pinMode(PIN_GAMETRAK_VERTICAL, INPUT_PULLUP);
pinMode(PIN_GAMETRAK_HORIZONTAL, INPUT); 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(); 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_250KBPS ); //set to slow data rate. default was 1MBPS
//radio.setDataRate( RF24_1MBPS ); //radio.setDataRate( RF24_1MBPS );
//Serial1.println("set channel"); //Serial.println("set channel");
radio.setChannel(NRF24CHANNEL); //0 to 124 (inclusive) 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.setRetries(15, 15); // optionally, increase the delay between retries & # of retries
radio.setPayloadSize(8); // optionally, reduce the payload size. seems to improve reliability 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.openWritingPipe(pipes[0]); //write on pipe 0
radio.openReadingPipe(1, pipes[1]); //read on pipe 1 radio.openReadingPipe(1, pipes[1]); //read on pipe 1
//Serial1.println("start listening"); Serial.println("start listening");
radio.startListening(); 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){ if (gt_length<=GT_LENGTH_MIN){
gt_length=0; //if below minimum measurable length set to 0mm 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_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_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(); last_adcupdated = millis();
/* /*
Serial1.print("gt_length="); Serial.print("gt_length=");
Serial1.print(gt_length); Serial.print(gt_length);
Serial1.print(", gt_vertical="); Serial.print(", gt_vertical=");
Serial1.print(gt_vertical); Serial.print(gt_vertical);
Serial1.print(", gt_horizontal="); Serial.print(", gt_horizontal=");
Serial1.println(gt_horizontal);*/ Serial.print(gt_horizontal);
/*
Serial1.print("PIN_GAMETRAK_LENGTH=");
Serial1.print(analogRead(PIN_GAMETRAK_LENGTH)); Serial.print(" pl=");
Serial1.print(", PIN_GAMETRAK_VERTICAL="); Serial.print(raw_length_a);
Serial1.print(analogRead(PIN_GAMETRAK_VERTICAL)); Serial.print(", ");
Serial1.print(", PIN_GAMETRAK_HORIZONTAL="); Serial.print(raw_length_b);
Serial1.println(analogRead(PIN_GAMETRAK_HORIZONTAL));*/
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 //NRF24
nrf_delay = millis() - last_nrfreceive; //update nrf delay nrf_delay = loopmillis - last_nrfreceive; //update nrf delay
if ( radio.available() ) if ( radio.available() )
{ {
//Serial1.println("radio available ..."); //Serial.println("radio available ...");
lastpacketOK = false; //initialize with false, if checksum ok gets set to true lastpacketOK = false; //initialize with false, if checksum ok gets set to true
//digitalWrite(PIN_LED, !digitalRead(PIN_LED)); //digitalWrite(PIN_LED, !digitalRead(PIN_LED));
@ -195,7 +311,9 @@ void loop() {
uint8_t calcchecksum = (uint8_t)((lastnrfdata.steer + 3) * (lastnrfdata.speed + 13)); uint8_t calcchecksum = (uint8_t)((lastnrfdata.steer + 3) * (lastnrfdata.speed + 13));
if (lastnrfdata.checksum == calcchecksum) { //checksum ok? if (lastnrfdata.checksum == calcchecksum) { //checksum ok?
lastpacketOK = true; lastpacketOK = true;
last_nrfreceive = millis(); last_nrfreceive_delay=loopmillis-last_nrfreceive; //for display purpose
last_nrfreceive = loopmillis;
//parse commands //parse commands
motorenabled = (lastnrfdata.commands & (1 << 0))>>0; //check bit 0 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 if (controlmode == MODE_RADIONRF && nrf_delay >= MAX_NRFDELAY) { //too long since last sucessful nrf receive
controlmode = MODE_DISARMED; controlmode = MODE_DISARMED;
#ifdef DEBUG #ifdef DEBUG
Serial1.println("nrf_delay>=MAX_NRFDELAY, disarmed!"); Serial.println("nrf_delay>=MAX_NRFDELAY, disarmed!");
#endif #endif
} }
if (controlmode == MODE_RADIONRF) { //is armed in nrf mode if (controlmode == MODE_RADIONRF) { //is armed in nrf mode
if (lastpacketOK) { //if lastnrfdata is valid if (lastpacketOK) { //if lastnrfdata is valid
if (millis() - last_controlupdate > CONTROLUPDATEPERIOD) { if (loopmillis - last_controlupdate > CONTROLUPDATEPERIOD) {
last_controlupdate = millis(); last_controlupdate = loopmillis;
//out_speed=(int16_t)( (lastnrfdata.y-TRACKPOINT_CENTER)*1000/TRACKPOINT_MAX ); //out_speed=(int16_t)( (lastnrfdata.y-TRACKPOINT_CENTER)*1000/TRACKPOINT_MAX );
//out_steer=(int16_t)( -(lastnrfdata.x-TRACKPOINT_CENTER)*1000/TRACKPOINT_MAX ); //out_steer=(int16_t)( -(lastnrfdata.x-TRACKPOINT_CENTER)*1000/TRACKPOINT_MAX );
@ -237,7 +355,7 @@ void loop() {
#ifdef DEBUG #ifdef DEBUG
if (!lastpacketOK) { if (!lastpacketOK) {
Serial1.println("Armed but packet not ok"); Serial.println("Armed but packet not ok");
} }
#endif #endif
@ -247,18 +365,18 @@ void loop() {
if (controlmode==MODE_DISARMED) { //check if gametrak can be armed 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 if (gt_length>gt_length_set && gt_length<gt_length_set+10) { //is in trackable length
controlmode=MODE_GAMETRAK; //enable gametrak mode 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 }else if (controlmode==MODE_GAMETRAK){ //gametrak control active and not remote active
//Gametrak Control Code //Gametrak Control Code
motorenabled=true; motorenabled=true;
if (gt_length<=GT_LENGTH_MIN){ //let go if (gt_length<=GT_LENGTH_MIN){ //let go
Serial1.println("gametrak released"); Serial.println("gametrak released");
controlmode=MODE_DISARMED; controlmode=MODE_DISARMED;
motorenabled=false; motorenabled=false;
} }
int16_t _gt_length_diff = gt_length-gt_length_set; //positive if needs to drive forward 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 _gt_length_diff=0; //threshold
} }
@ -311,21 +429,21 @@ void loop() {
if (!motorenabled) {//motors disabled if (!motorenabled) {//motors disabled
esc.setSpeed(0,0); esc.setSpeed(0,0);
} }
last_send = millis(); last_send = loopmillis;
#ifdef DEBUG #ifdef DEBUG
Serial1.print(" out_speedl="); Serial.print(" out_speedl=");
Serial1.print(out_speedl); Serial.print(out_speedl);
Serial1.print(" out_speedr="); Serial.print(" out_speedr=");
Serial1.print(out_speedr); Serial.print(out_speedr);
Serial1.print(" checksum="); Serial.print(" checksum=");
Serial1.print(out_checksum); Serial.print(out_checksum);
Serial1.print(" controlmode="); Serial.print(" controlmode=");
Serial1.print(controlmode); Serial.print(controlmode);
Serial1.println(); Serial.println();
#endif #endif
} }
@ -333,4 +451,38 @@ void loop() {
esc.update(loopmillis); 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;
}
} }