From 25baa3a5bb24c41a2c007b75a297167d2b1a598a Mon Sep 17 00:00:00 2001 From: Lukas Bachschwell Date: Sun, 17 Jun 2018 22:09:05 +0200 Subject: [PATCH] ESPNOW fixes, Icons, Lights and much more --- platformio.ini | 4 +- src/lights.h | 45 +++++++++++++++++-- src/mac_config.h | 2 +- src/receiver.cpp | 10 ++--- src/remote.cpp | 114 +++++++++++++++++++++++++++++++---------------- src/rpm.h | 6 +-- src/settings.h | 31 +++++++------ 7 files changed, 146 insertions(+), 66 deletions(-) diff --git a/platformio.ini b/platformio.ini index b66e632..e78e5b7 100644 --- a/platformio.ini +++ b/platformio.ini @@ -16,7 +16,7 @@ build_flags = -DLOG_LOCAL_LEVEL=ESP_LOG_DEBUG src_filter = + -monitor_baud = 115200 +monitor_speed = 115200 upload_speed = 921600 @@ -27,7 +27,7 @@ framework = arduino src_filter = + -monitor_baud = 115200 +monitor_speed = 115200 ; upload_speed = 921600 lib_deps = diff --git a/src/lights.h b/src/lights.h index 35cf345..2c33974 100644 --- a/src/lights.h +++ b/src/lights.h @@ -3,6 +3,7 @@ #define NUM_LEDS 40 #define PIN_STRIP 17 bool shouldUpdateLights = false; +int lightMode = 0; Adafruit_NeoPixel pixels = Adafruit_NeoPixel(NUM_LEDS, PIN_STRIP, NEO_GRB + NEO_KHZ800); @@ -24,10 +25,33 @@ void lightWhite() { portENABLE_INTERRUPTS(); } -void lightBackFront() { - // Implement me :-) +void lightPolice() { + // Temporary mode to test for(int i = 0; i < NUM_LEDS; i++) { - pixels.setPixelColor(i, pixels.Color(180,180,180)); + pixels.setPixelColor(i, pixels.Color(0,0,180)); + } + + portDISABLE_INTERRUPTS(); + pixels.show(); + portENABLE_INTERRUPTS(); +} + +void lightBlinkers(bool isLeft) { + // Temporary mode to test + for(int i = 0; i < NUM_LEDS; i++) { + if(i<10 && isLeft) pixels.setPixelColor(i, pixels.Color(180,180,0)); + else if(i>30 && !isLeft) pixels.setPixelColor(i, pixels.Color(180,180,0)); + else pixels.setPixelColor(i, pixels.Color(180,180,180)); + } + portDISABLE_INTERRUPTS(); + pixels.show(); + portENABLE_INTERRUPTS(); +} + +void lightBackFront() { + for(int i = 0; i < NUM_LEDS; i++) { + if(i<5 || i>34) pixels.setPixelColor(i, pixels.Color(190,0,0)); + else pixels.setPixelColor(i, pixels.Color(180,180,180)); } portDISABLE_INTERRUPTS(); pixels.show(); @@ -36,7 +60,20 @@ void lightBackFront() { void updateLights() { if(lightActive) { - lightWhite(); + switch(lightMode) { + case 0: + lightBackFront(); + break; + case 1: + lightBlinkers(true); // left + break; + case 2: + lightBlinkers(false); // right + break; + case 3: + lightPolice(); + break; + } }else { lightOff(); } diff --git a/src/mac_config.h b/src/mac_config.h index f0ab08a..42c6ac0 100644 --- a/src/mac_config.h +++ b/src/mac_config.h @@ -4,4 +4,4 @@ uint8_t mac_receiver[] = {0xB4, 0xE6, 0x2D, 0x8C, 0x34, 0xAE}; // remote macStr -uint8_t mac_remote[] = {0x24, 0x0a, 0xc4, 0x82, 0x51, 0x70}; +uint8_t mac_remote[] = {0xB4, 0xE6, 0x2D, 0x8C, 0x38, 0x79}; diff --git a/src/receiver.cpp b/src/receiver.cpp index 794005c..55f27f2 100644 --- a/src/receiver.cpp +++ b/src/receiver.cpp @@ -62,15 +62,14 @@ bool lightActive = false; int fanMode = FANS_AUTO; #include "lights.h" - void setBoardOptions(uint8_t options) { - Serial.print("opt: "); - Serial.println(options, BIN); - if(lightActive != options & 1) { - lightActive = options & 1; + if(lightActive != (options >> 4) & 1) { + lightActive = (options >> 4) & 1; shouldUpdateLights = true; } + lightMode = options & 3; + fanMode = (options >> 2) & 3; } @@ -312,6 +311,7 @@ void setup() { Serial.println("ESPNow Init Failed"); ESP.restart(); } + esp_now_set_self_role(ESP_NOW_ROLE_COMBO); // Once ESPNow is successfully Init, we will register for recv CB to // get recv packer info. diff --git a/src/remote.cpp b/src/remote.cpp index 9f53f04..f18e87f 100644 --- a/src/remote.cpp +++ b/src/remote.cpp @@ -74,28 +74,26 @@ uint8_t esc2 = 127; byte hallCenterMargin = 5; -const float minVoltage = 2.9; // These values are heavily strange since the devider is not working nicely yet... -const float maxVoltage = 3.6; +const float minVoltage = 3.4; +const float maxVoltage = 4.2; const float refVoltage = 3.3; // Resistors in Ohms -const float deviderR1 = 1500; -const float deviderR2 = 22000; +const float deviderR1 = 22000; +const float deviderR2 = 11200; // Global copy of board esp_now_peer_info_t board; #define CHANNEL 1 #define PRINTSCANRESULTS 0 #define DELETEBEFOREPAIR 0 -#define HAL_MIN 1390 -#define HAL_MAX 2230 -#define HAL_CENTER 1880 -#define TRIM_LOW 180 -#define TRIM_HIGH 0 +#define HAL_MIN 1390 // defaults +#define HAL_MAX 2230 // defaults +#define HAL_CENTER 1880 // defaults //#define pairingMode #define leverPin 36 #define triggerPin 17 -#define batteryMeasurePin 38 +#define batteryMeasurePin 39 bool triggerActive(); @@ -113,6 +111,16 @@ void setCrusing(uint8_t speed) { } // ESPNOW functions ############################## // Scan for boards in AP mode +// config AP +void configDeviceAP(bool hidden) { + bool result = WiFi.softAP("ESK8", "ESK8_Password+vD8z2YAvoDBW?Zx", CHANNEL, hidden); + if (!result) { + Serial.println("AP Config failed."); + } else { + Serial.println("AP Config Success. Broadcasting with AP: " + String("ESK8")); + } +} + #ifdef pairingMode void ScanForBoard() { @@ -158,6 +166,7 @@ void ScanForBoard() { board.channel = CHANNEL; // pick a channel board.encrypt = 0; // no encryption + board.ifidx = ESP_IF_WIFI_STA; boardFound = 1; // we are planning to have only one board in this example; @@ -180,6 +189,7 @@ void ScanForBoard() { void deletePeer() { const esp_now_peer_info_t *peer = &board; + const uint8_t *peer_addr = board.peer_addr; esp_err_t delStatus = esp_now_del_peer(peer_addr); DEBUG_PRINT("board Delete Status: "); @@ -272,8 +282,11 @@ void sendData() { DEBUG_PRINTLN("ESP_ERR_ESPNOW_NO_MEM"); } else if (result == ESP_ERR_ESPNOW_NOT_FOUND) { DEBUG_PRINTLN("Peer not found."); + } else if (result == ESP_ERR_ESPNOW_IF) { + DEBUG_PRINTLN("Interface error."); } else { - DEBUG_PRINTLN("Not sure what happened"); + DEBUG_PRINT("Not sure what happened "); + DEBUG_PRINTLN(result); } } @@ -340,10 +353,10 @@ void calculateThrottlePosition() { int maxSpeed = 255; if(settings[limitMode] == 1) maxSpeed = 180; - if (hallMeasurement >= HAL_CENTER) { - throttle = c_map(hallMeasurement, HAL_CENTER, HAL_MAX, 127, maxSpeed); + if (hallMeasurement >= settings[centerHallValue]) { + throttle = c_map(hallMeasurement, settings[centerHallValue], settings[maxHallValue], 127, maxSpeed); } else { - throttle = c_map(hallMeasurement, HAL_MIN, HAL_CENTER, 0, 127); + throttle = c_map(hallMeasurement, settings[minHallValue], settings[centerHallValue], 0, 127); } // removeing center noise if (abs(throttle - 127) < hallCenterMargin) { @@ -647,25 +660,29 @@ void drawPage() { } void controlSelect() { - if (hallMeasurement >= (HAL_MAX - 250) && settingsLoopFlag == false) { //settings[maxHallValue] + if (hallMeasurement >= (settings[maxHallValue] - 250) && settingsLoopFlag == false) { //settings[maxHallValue] // Up if (selectedIndex != 0) { selectedIndex--; settingsLoopFlag = true; } - } else if (hallMeasurement <= (HAL_MIN + 250) && settingsLoopFlag == false) { //settings[minHallValue] + } else if (hallMeasurement <= (settings[minHallValue] + 250) && settingsLoopFlag == false) { // Down if (selectedIndex < 4) { selectedIndex++; settingsLoopFlag = true; } - } else if (inRange(hallMeasurement, HAL_CENTER - 50, HAL_CENTER + 50)) { // settings[centerHallValue] + } else if (inRange(hallMeasurement, settings[centerHallValue] - 50, settings[centerHallValue] + 50)) { // settings[centerHallValue] settingsLoopFlag = false; } } -String selectionItems[5] = { - "Se","Li","B","St","Cr" +String selectionTitles[5] = { + "Settings","Limit","Light","Steering","Cruise" +}; + +uint16_t selectionGlyphs[5] = { + 0x0081, 0x008d, 0x0103, 0x00f6, 0x0088 }; void drawSelectionMenu() { @@ -676,21 +693,25 @@ void drawSelectionMenu() { u8g2.setFontMode(0); u8g2.setDrawColor(1); - String title = "Select Action"; - title.toCharArray(displayBuffer, 20); - u8g2.setFont(u8g2_font_helvR10_tr ); - u8g2.drawStr(20, 12, displayBuffer); - for(int i = 0; i < 5; i++) { if(selectedIndex == i) { + String title = selectionTitles[i]; + title.toCharArray(displayBuffer, 20); + u8g2.setFont(u8g2_font_helvR10_tr ); + u8g2.drawStr(30, 12, displayBuffer); + u8g2.setFontMode(0); - u8g2.drawBox(xStart-2 + xSpace * i, y-12, 15, 15); + //u8g2.drawBox(xStart-2 + xSpace * i, y-12, 15, 15); + u8g2.drawBox(xStart + xSpace * i, y-12, 15, 15); u8g2.setDrawColor(0); } - selectionItems[i].toCharArray(displayBuffer, 10); - u8g2.setFont(u8g2_font_profont12_tr); - u8g2.drawStr(xStart + xSpace * i, y, displayBuffer); + //selectionItems[i].toCharArray(displayBuffer, 10); + //u8g2.setFont(u8g2_font_profont12_tr); + //u8g2.drawStr(xStart + xSpace * i, y, displayBuffer); + + u8g2.setFont(u8g2_font_open_iconic_all_2x_t); + u8g2.drawGlyph(xStart + xSpace * i, y, selectionGlyphs[i]); u8g2.setFontMode(0); u8g2.setDrawColor(1); @@ -776,7 +797,11 @@ void drawStartScreen() { void setup() { Serial.begin(115200); //Set device in STA mode to begin with - WiFi.mode(WIFI_STA); + //WiFi.mode(WIFI_STA); + //Set device in AP mode to begin with + WiFi.mode(WIFI_AP_STA); + // configure device AP mode + configDeviceAP(true); DEBUG_PRINTLN("ESPNowSkate"); loadSettings(); @@ -787,8 +812,6 @@ void setup() { delay(50); digitalWrite(16, HIGH); - analogSetPinAttenuation(batteryMeasurePin, ADC_6db); - // setup other pins pinMode(triggerPin, INPUT_PULLUP); @@ -813,8 +836,8 @@ void setup() { } // This is the mac address of the Master in Station Mode - DEBUG_PRINT("STA MAC: "); DEBUG_PRINTLN(WiFi.macAddress()); + DEBUG_PRINT("STA MAC: "); DEBUG_PRINTLN(WiFi.macAddress()); if (esp_now_init() == ESP_OK) { DEBUG_PRINTLN("ESPNow Init Success"); } @@ -839,18 +862,27 @@ void setup() { } board.channel = CHANNEL; // pick a channel board.encrypt = 0; // no encryption + //board.ifidx = ESP_IF_WIFI_STA; + } void loop() { updateMainDisplay(); - if(currentMode == M_STEERING) readAccel(); + //if(currentMode == M_STEERING) readAccel(); + readAccel(); + DEBUG_PRINT("Accel Value Left Right (Y): "); + DEBUG_PRINT(map(AcY, -15000, 15000, -100, 100)); + //Serial.print("Help(Y): "); + //Serial.println(map(GyY, -15000, 15000, -100, 100)); - Serial.print("Accel Value Left Right( Y): "); - Serial.print(map(AcY, -15000, 15000, -100, 100)); - Serial.print("Help(Y): "); - Serial.println(map(GyY, -15000, 15000, -100, 100)); + DEBUG_PRINT(" (X): "); + DEBUG_PRINT(map(AcX, -15000, 15000, -100, 100)); + DEBUG_PRINT(" (Z): "); + DEBUG_PRINTLN(map(AcZ, -15000, 15000, -100, 100)); + + // left rigt : Z forward Back : Y calculateThrottlePosition(); if (currentMode == M_SELECT) { @@ -865,7 +897,7 @@ void loop() { if (triggerActive()) { if(currentMode == M_STEERING) { DEBUG_PRINT("Value: "); - int map = c_map(AcX, 15000, -15000, -60, 60); + int map = c_map(AcZ, -15000, 15000, -60, 60); DEBUG_PRINTLN(map); #ifdef steeringInfluential @@ -878,6 +910,12 @@ void loop() { esc1 = throttle; esc2 = throttle; } + + // ignore reverse + if(throttle < 127) { + esc1 = throttle; + esc2 = throttle; + } #endif if(throttle == 127) { esc1 = 127; diff --git a/src/rpm.h b/src/rpm.h index 6a218b6..501078f 100644 --- a/src/rpm.h +++ b/src/rpm.h @@ -15,8 +15,8 @@ #include "driver/pcnt.h" TaskHandle_t rpmTaskHandle; -int rpmRight = 0; -int rpmLeft = 0; +float rpmRight = 0; +float rpmLeft = 0; int lastState[2] = {1, 1}; int16_t counter[2] = {0, 0}; @@ -123,7 +123,7 @@ void measureRpm(void * parameter) { rpmRight = (counter[0]/pulsesPerRotation)*4; rpmLeft = (counter[1]/pulsesPerRotation)*4; kmh = (wheelCircumference/100) * (rpmRight+rpmLeft)/2 * 3600/1000; - Serial.print(kmh); Serial.print(" "); Serial.println(direction[0]); + //Serial.print(kmh); Serial.print(" "); Serial.println(direction[0]); sendSpeed = abs(floor(kmh)); sendSpeedDecimals = (kmh - sendSpeed) * 100; counter[true] = 0; diff --git a/src/settings.h b/src/settings.h index 464b61d..a88396a 100644 --- a/src/settings.h +++ b/src/settings.h @@ -1,18 +1,19 @@ uint8_t currentSetting = 0; -#define SETTINGS_COUNT 7 +#define SETTINGS_COUNT 8 #define pageDisplay 0 #define limitMode 1 #define fanOveride 2 #define wheelDiameter 3 // Speed factor -#define minHallValue 4 -#define centerHallValue 5 -#define maxHallValue 6 +#define lightMode 4 +#define minHallValue 5 +#define centerHallValue 6 +#define maxHallValue 7 int settings[SETTINGS_COUNT]; uint8_t boardOptions = 0b00000000; -// Map:(Light, Fan) XXXXFFLL +// Map:(LightActive, Fan, LightMode) XXXAFFLL /* float gearRatio; float ratioRpmSpeed; @@ -31,6 +32,7 @@ const char *settingPages[SETTINGS_COUNT] = { "LimitMode", "FanOveride", "Wheel diameter", + "Light Mode", "Throttle Min", "Throttle Center", "Throttle Max" @@ -42,9 +44,10 @@ int settingRules[SETTINGS_COUNT][3] { {0, 0, 1}, //limit default is no limit {0, 0, 2}, //fan 0 no, 1 on, 2 off {83, 0, 250}, // wheel mm - {HAL_MIN, 1000, 2000}, - {HAL_CENTER, 1000, 2000}, - {HAL_MAX, 1000, 2000} + {0, 0, 3}, // LightMode + {HAL_MIN, 1000, 3000}, + {HAL_CENTER, 1000, 3000}, + {HAL_MAX, 1000, 3000} }; /* const char *settingAliases[SETTINGS_COUNT] = { @@ -66,8 +69,10 @@ bool inRange(int val, int minimum, int maximum) { void updateBoardOptions() { boardOptions = 0; boardOptions |= (uint8_t) settings[fanOveride] << 2; - boardOptions |= boardOptions | (uint8_t) lightActive; - Serial.print("board: "); Serial.println(boardOptions); + + boardOptions |= boardOptions | (uint8_t) lightActive << 3; + boardOptions |= boardOptions | (uint8_t) settings[lightMode]; + DEBUG_PRINT("board: "); DEBUG_PRINTLN(boardOptions); } void updateSettings() { @@ -188,7 +193,7 @@ void controlSettingsMenu() { settingsChangeFlag = false; } - if (hallMeasurement >= (HAL_MAX - 250) && settingsLoopFlag == false) { //settings[maxHallValue] + if (hallMeasurement >= (settings[maxHallValue] - 250) && settingsLoopFlag == false) { // Up if (changeSelectedSetting == true) { int val = settings[currentSetting] - 1; @@ -204,7 +209,7 @@ void controlSettingsMenu() { settingsLoopFlag = true; } } - } else if (hallMeasurement <= (HAL_MIN + 250) && settingsLoopFlag == false) { //settings[minHallValue] + } else if (hallMeasurement <= (settings[minHallValue] + 250) && settingsLoopFlag == false) { // Down if (changeSelectedSetting == true) { int val = settings[currentSetting] + 1; @@ -219,7 +224,7 @@ void controlSettingsMenu() { settingsLoopFlag = true; } } - } else if (inRange(hallMeasurement, HAL_CENTER - 50, HAL_CENTER + 50)) { // settings[centerHallValue] + } else if (inRange(hallMeasurement, settings[centerHallValue] - 50, settings[centerHallValue] + 50)) { settingsLoopFlag = false; } }