working display

Signed-off-by: Lukas Bachschwell <lukas@lbsfilm.at>

src/accel.h

@@ -10,18 +10,21 @@ int16_t GyY = 0;
 int16_t GyZ = 0;
 int16_t cels = 0;
 
-void initAccel() {
+void initAccel()
+{
+  return;
   Wire.begin();
   Wire.beginTransmission(0x68); // I2C address of the MPU-6050
-  Wire.write(0x6B); // PWR_MGMT_1 register
+  Wire.write(0x6B);             // PWR_MGMT_1 register
-  Wire.write(0);   // set to zero (wakes up the MPU-6050)
+  Wire.write(0);                // set to zero (wakes up the MPU-6050)
   Wire.endTransmission(true);
 }
 
-
+void readAccel()
-void readAccel() {
+{
+  return;
   Wire.beginTransmission(MPU_addr);
-  Wire.write(0x3B);  // starting with register 0x3B (ACCEL_XOUT_H)
+  Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H)
   Wire.endTransmission(false);
   Wire.requestFrom(MPU_addr, 14); // request a total of 14 registers LB : removing stop, no support in tiny wire
 
@@ -32,5 +35,5 @@ void readAccel() {
   GyX = Wire.read() << 8 | Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
   GyY = Wire.read() << 8 | Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
   GyZ = Wire.read() << 8 | Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)
-  cels = Tmp / 340.00 + 36.53; //equation for temperature in degrees C from datasheet
+  cels = Tmp / 340.00 + 36.53;          // equation for temperature in degrees C from datasheet
 }

src/receiver.cpp

@@ -1,11 +1,10 @@
 // ESPNOWSkate Receiver by Lukas Bachschwell this device SLAVE =D
-#include <Servo.h>
 #include "Arduino.h"
-#include "SSD1306.h"
 #include <esp_now.h>
 #include <WiFi.h>
-#include <OneWire.h>
+// #include <OneWire.h>
-#include <DallasTemperature.h>
+// #include <DallasTemperature.h>
+#include "valuehelpers.h"
 
 #include "mac_config.h"
 
@@ -13,9 +12,8 @@
 #define esc2pin 13
 #define voltageEnable 12
 #define voltagePin 36
-#define failsafeValue 127
 #define ONE_WIRE_BUS 14
-#define fanRelais 16
+#define fanRelais 18 // Changed from originally 16 to help hover usart
 
 #define DELETEBEFOREPAIR 0
 
@@ -24,13 +22,26 @@ const float deviderR1 = 1275; // needs to be calibrated carefully using a multim
 const float deviderR2 = 22000;
 const float refVoltage = 3.3;
 
+#define VARIANT_HOVER 1
+// #define ENABLE_DISPLAY 1
+
+#ifdef VARIANT_HOVER
+#define failsafeValue 0
+#include "hoverusart.h"
+#else
+#define failsafeValue 127
+#include <Servo.h>
 Servo esc1;
 Servo esc2;
-SSD1306 display(0x3c, 5, 4);
+#endif
 
+#ifdef ENABLE_DISPLAY
+#include "SSD1306.h"
+SSD1306 display(0x3c, 5, 4);
+#endif
 
 OneWire oneWire(ONE_WIRE_BUS);
-DallasTemperature sensors(&oneWire); // one instance for all sensrs
+// DallasTemperature sensors(&oneWire); // one instance for all sensrs
 
 esp_now_peer_info_t remote;
 
@@ -47,7 +58,7 @@ uint8_t sendSpeedDecimals = 0;
 
 #include "rpm.h"
 
-//#define pairingMode
+// #define pairingMode
 #define CONNECTION_TIMEOUT 300
 #define CHANNEL 1
 long lastPacket = 0;
@@ -62,11 +73,13 @@ bool lightActive = false;
 int fanMode = FANS_AUTO;
 
 #include "lights.h"
-void setBoardOptions(uint8_t options) {
+void setBoardOptions(uint8_t options)
-  if(options != oldOptions) {
+{
+  if (options != oldOptions)
+  {
     oldOptions = options;
     shouldUpdateLights = true;
-    Serial.println("true2");
+    // Serial.println("true2");
   }
 
   lightMode = options & 3;
@@ -76,93 +89,137 @@ void setBoardOptions(uint8_t options) {
 
 // ESPNOW Functions ############################
 // config AP
-void configDeviceAP(bool hidden) {
+void configDeviceAP(bool hidden)
+{
   bool result = WiFi.softAP("ESK8", "ESK8_Password+vD8z2YAvoDBW?Zx", CHANNEL, hidden);
-  if (!result) {
+  if (!result)
+  {
     Serial.println("AP Config failed.");
-  } else {
+  }
+  else
+  {
     Serial.println("AP Config Success. Broadcasting with AP: " + String("ESK8"));
   }
 }
 
-void writeServos(uint8_t firstServo, uint8_t secondServo) {
+void writeServos(uint16_t firstServo, uint16_t secondServo)
+{
+#ifdef VARIANT_HOVER
+  Send(firstServo, secondServo);
+#else
   esc1.write(firstServo);
   esc2.write(secondServo);
+#endif
 }
 
 // callback when data is recv from remote
-void OnDataRecv(const uint8_t *mac_addr, const uint8_t *data, int data_len) {
+void OnDataRecv(const uint8_t *mac_addr, const uint8_t *data, int data_len)
+{
   char macStr[18];
-  snprintf(macStr, sizeof(macStr), "%02x:%02x:%02x:%02x:%02x:%02x",
+  snprintf(macStr, sizeof(macStr), "%02x:%02x:%02x:%02x:%02x:%02x", mac_addr[0], mac_addr[1], mac_addr[2], mac_addr[3], mac_addr[4], mac_addr[5]);
-           mac_addr[0], mac_addr[1], mac_addr[2], mac_addr[3], mac_addr[4], mac_addr[5]);
+  Serial.print("Last Packet Recv from: ");
-  Serial.print("Last Packet Recv from: "); Serial.println(macStr);
+  Serial.println(macStr);
-  uint8_t recData[3];
+  uint8_t recData[5];
   memcpy(recData, data, data_len);
-  Serial.print("Last Packet Recv Data: "); Serial.println(recData[0]); Serial.print(" "); Serial.print(recData[1]); Serial.print(" len:");  Serial.println(data_len);
+  Serial.print("Last Packet Recv Data: ");
+  Serial.println(make16(recData[0], recData[1]));
+  Serial.print(" ");
+  Serial.print(make16(recData[2], recData[3]));
+  Serial.print(" len:");
+  Serial.println(data_len);
 
-// Answer with response
+  // Answer with response
 
-  const uint8_t respData[] = { sendVoltage, sendVoltageDecimals, sendTemperature, sendTemperatureDecimals, sendSpeed, sendSpeedDecimals };
+  const uint8_t respData[] = {sendVoltage, sendVoltageDecimals, sendTemperature, sendTemperatureDecimals, sendSpeed, sendSpeedDecimals};
   Serial.print("Sending RESPONSE.... ");
   esp_err_t result = esp_now_send(mac_addr, respData, sizeof(respData));
-  if (result == ESP_OK) {
+  if (result == ESP_OK)
+  {
     Serial.println("Success");
-  } else if (result == ESP_ERR_ESPNOW_NOT_INIT) {
+  }
+  else if (result == ESP_ERR_ESPNOW_NOT_INIT)
+  {
     // How did we get so far!!
     Serial.println("ESPNOW not Init.");
-  } else if (result == ESP_ERR_ESPNOW_ARG) {
+  }
+  else if (result == ESP_ERR_ESPNOW_ARG)
+  {
     Serial.println("Invalid Argument");
-  } else if (result == ESP_ERR_ESPNOW_INTERNAL) {
+  }
+  else if (result == ESP_ERR_ESPNOW_INTERNAL)
+  {
     Serial.println("Internal Error");
-  } else if (result == ESP_ERR_ESPNOW_NO_MEM) {
+  }
+  else if (result == ESP_ERR_ESPNOW_NO_MEM)
+  {
     Serial.println("ESP_ERR_ESPNOW_NO_MEM");
-  } else if (result == ESP_ERR_ESPNOW_NOT_FOUND) {
+  }
+  else if (result == ESP_ERR_ESPNOW_NOT_FOUND)
+  {
     Serial.println("Peer not found.");
-  } else if (result == ESP_ERR_ESPNOW_IF) {
+  }
+  else if (result == ESP_ERR_ESPNOW_IF)
+  {
     Serial.println("ESP_ERR_ESPNOW_IF");
-  } else {
+  }
+  else
+  {
     Serial.println("Not sure what happened");
   }
 
-
-
   lastPacket = millis();
   isConnected = true;
-  // Could check mac here for some security
+  // TODO: Could check mac here for some minimal security
-  writeServos(recData[0], recData[1]);
+  writeServos(make16(recData[0], recData[1]), make16(recData[2], recData[3]));
-  setBoardOptions(recData[2]);
+
-  Serial.print("recieved: ");
+  Serial.print("recieved Options: ");
-  Serial.println(recData[2], BIN);
+  setBoardOptions(recData[4]);
+  Serial.println(recData[4], BIN);
+#ifdef ENABLE_DISPLAY
   display.clear();
   char buf[25];
-  sprintf(buf, "1: %i | 2: %i", recData[0], recData[1]);
+  sprintf(buf, "1: %i | 2: %i", make16(recData[0], recData[1]), make16(recData[2], recData[3]));
   display.drawString(2, 0, buf);
   display.display();
+#endif
 }
 
-void deletePeer() {
+void deletePeer()
+{
   const esp_now_peer_info_t *peer = &remote;
   const uint8_t *peer_addr = remote.peer_addr;
   esp_err_t delStatus = esp_now_del_peer(peer_addr);
   Serial.print("Slave Delete Status: ");
-  if (delStatus == ESP_OK) {
+  if (delStatus == ESP_OK)
+  {
     // Delete success
     Serial.println("Success");
-  } else if (delStatus == ESP_ERR_ESPNOW_NOT_INIT) {
+  }
+  else if (delStatus == ESP_ERR_ESPNOW_NOT_INIT)
+  {
     // How did we get so far!!
     Serial.println("ESPNOW Not Init");
-  } else if (delStatus == ESP_ERR_ESPNOW_ARG) {
+  }
+  else if (delStatus == ESP_ERR_ESPNOW_ARG)
+  {
     Serial.println("Invalid Argument");
-  } else if (delStatus == ESP_ERR_ESPNOW_NOT_FOUND) {
+  }
+  else if (delStatus == ESP_ERR_ESPNOW_NOT_FOUND)
+  {
     Serial.println("Peer not found.");
-  } else {
+  }
+  else
+  {
     Serial.println("Not sure what happened");
   }
 }
 
-bool manageRemote() {
+bool manageRemote()
-  if (remote.channel == CHANNEL) {
+{
-    if (DELETEBEFOREPAIR) {
+  if (remote.channel == CHANNEL)
+  {
+    if (DELETEBEFOREPAIR)
+    {
       deletePeer();
     }
 
@@ -171,39 +228,57 @@ bool manageRemote() {
     const uint8_t *peer_addr = remote.peer_addr;
     // check if the peer exists
     bool exists = esp_now_is_peer_exist(peer_addr);
-    if ( exists) {
+    if (exists)
+    {
       // Slave already paired.
       Serial.println("Already Paired");
       return true;
-    } else {
+    }
+    else
+    {
       // Slave not paired, attempt pair
       esp_err_t addStatus = esp_now_add_peer(peer);
-      if (addStatus == ESP_OK) {
+      if (addStatus == ESP_OK)
+      {
         // Pair success
         Serial.println("Pair success");
         return true;
-      } else if (addStatus == ESP_ERR_ESPNOW_NOT_INIT) {
+      }
+      else if (addStatus == ESP_ERR_ESPNOW_NOT_INIT)
+      {
         // How did we get so far!!
         Serial.println("ESPNOW Not Init");
         return false;
-      } else if (addStatus == ESP_ERR_ESPNOW_ARG) {
+      }
+      else if (addStatus == ESP_ERR_ESPNOW_ARG)
+      {
         Serial.println("Invalid Argument");
         return false;
-      } else if (addStatus == ESP_ERR_ESPNOW_FULL) {
+      }
+      else if (addStatus == ESP_ERR_ESPNOW_FULL)
+      {
         Serial.println("Peer list full");
         return false;
-      } else if (addStatus == ESP_ERR_ESPNOW_NO_MEM) {
+      }
+      else if (addStatus == ESP_ERR_ESPNOW_NO_MEM)
+      {
         Serial.println("Out of memory");
         return false;
-      } else if (addStatus == ESP_ERR_ESPNOW_EXIST) {
+      }
+      else if (addStatus == ESP_ERR_ESPNOW_EXIST)
+      {
         Serial.println("Peer Exists");
         return true;
-      } else {
+      }
+      else
+      {
         Serial.println("Not sure what happened");
         return false;
       }
     }
-  } else {
+  }
+  else
+  {
     // No slave found to process
     Serial.println("No Slave found to process");
     return false;
@@ -212,16 +287,19 @@ bool manageRemote() {
 
 // end ESPNOW functions
 
-
+void checkTemperature()
-void checkTemperature() {
+{
-  sensors.requestTemperatures();   // Send the command to get temperatures
+  // sensors.requestTemperatures(); // Send the command to get temperatures
-  temperature = sensors.getTempCByIndex(0);
+  // temperature = sensors.getTempCByIndex(0);
-  //Serial.print("Temp: ");
+  // Serial.print("Temp: ");
-  //Serial.println(temperature);
+  // Serial.println(temperature);
-  switch(fanMode) {
+  switch (fanMode)
+  {
   case FANS_AUTO:
-    if(temperature < 35) digitalWrite(fanRelais, LOW);
+    if (temperature < 35)
-    if(temperature > 40) digitalWrite(fanRelais, HIGH);
+      digitalWrite(fanRelais, LOW);
+    if (temperature > 40)
+      digitalWrite(fanRelais, HIGH);
     break;
   case FANS_ON:
     digitalWrite(fanRelais, HIGH);
@@ -235,81 +313,91 @@ void checkTemperature() {
   sendTemperatureDecimals = (temperature - sendTemperature) * 100;
 }
 
-void checkVoltage() {
+void checkVoltage()
+{
   digitalWrite(voltageEnable, HIGH);
-  //Serial.print("Voltage: ");
+  // Serial.print("Voltage: ");
   int value = analogRead(voltagePin);
-  //Serial.println(value);
+  // Serial.println(value);
-
 
   float batteryVoltage = 0.0;
   int total = 0;
 
-  for (int i = 0; i < 10; i++) {
+  for (int i = 0; i < 10; i++)
+  {
     total += analogRead(voltagePin);
   }
 
   batteryVoltage = (refVoltage / 4095.0) * ((float)total / 10.0);
   // Now we have the actual Voltage, lets calculate the value befor the devider
-  batteryVoltage = batteryVoltage / ( deviderR1 / (deviderR1 + deviderR2));
+  batteryVoltage = batteryVoltage / (deviderR1 / (deviderR1 + deviderR2));
 
   sendVoltage = abs(floor(batteryVoltage));
   sendVoltageDecimals = (batteryVoltage - sendVoltage) * 100;
-  //Serial.print("Voltage: ");
+  // Serial.print("Voltage: ");
-  //Serial.println(batteryVoltage);
+  // Serial.println(batteryVoltage);
-  digitalWrite(voltageEnable, LOW);  // change to low
+  digitalWrite(voltageEnable, LOW); // change to low
 }
 
-void setup() {
+void setup()
-
+{
   Serial.begin(115200);
   Serial.println("ESPNowSkate Receiver");
 
+#ifdef ENABLE_DISPLAY
   display.init();
   display.flipScreenVertically();
   display.setFont(ArialMT_Plain_16);
+#endif
 
   pinMode(voltageEnable, OUTPUT);
   pinMode(fanRelais, OUTPUT);
 
-  initRPMPins();
+#ifdef VARIANT_HOVER
-
+  initHoverSerial();
+#else
   // Init escs, min and max value similar as Traxxas TQI 1100, 1900
   // chanel, minAngel, maxAngel, minPulseWidth, maxPulseWidth
   esc1.attach(esc1pin, 0, 0, 255, 1100, 1900);
   esc2.attach(esc2pin, 1, 0, 255, 1100, 1900);
-
   sensors.begin();
+  initRPMPins();
+#endif
 
-  setupLights();
+  // setupLights();
-  lightOff();
+  // lightOff();
 
-  xTaskCreatePinnedToCore(
+  // xTaskCreatePinnedToCore(
-    measureRpm,
+  //     measureRpm,
-    "rpm task",
+  //     "rpm task",
-    1000,
+  //     1000,
-    NULL,
+  //     NULL,
-    1,
+  //     1,
-    &rpmTaskHandle,
+  //     &rpmTaskHandle,
-    0);
+  //     0);
 
+  // Set device in AP mode to begin with
+  Serial.println("INIT Wifi");
 
-  //Set device in AP mode to begin with
   WiFi.mode(WIFI_AP);
-  // configure device AP mode
+  Serial.println("INIT Pair");
-  #ifdef pairingMode
+// configure device AP mode
+#ifdef pairingMode
   configDeviceAP(false);
-  #else
+#else
   configDeviceAP(true);
-  #endif
+#endif
 
-  Serial.print("AP MAC: "); Serial.println(WiFi.softAPmacAddress());
+  Serial.print("AP MAC: ");
+  Serial.println(WiFi.softAPmacAddress());
 
   // Init ESPNow
-  if (esp_now_init() == ESP_OK) {
+  if (esp_now_init() == ESP_OK)
+  {
     Serial.println("ESPNow Init Success");
   }
-  else {
+  else
+  {
     Serial.println("ESPNow Init Failed");
     ESP.restart();
   }
@@ -318,31 +406,40 @@ void setup() {
   // get recv packer info.
   esp_now_register_recv_cb(OnDataRecv);
 
-  for (int i = 0; i < 6; ++i ) {
+  for (int i = 0; i < 6; ++i)
-    remote.peer_addr[i] = (uint8_t) mac_remote[i];
+  {
+    remote.peer_addr[i] = (uint8_t)mac_remote[i];
   }
 
   remote.channel = CHANNEL; // pick a channel
-  remote.encrypt = 0; // no encryption
+  remote.encrypt = 0;       // no encryption
-  remote.ifidx = ESP_IF_WIFI_AP;
+  remote.ifidx = WIFI_IF_AP;
   manageRemote();
 }
 
-
+void loop()
-void loop() {
+{
-  if(millis() - lastPacket > CONNECTION_TIMEOUT ) {
+  if (millis() - lastPacket > CONNECTION_TIMEOUT)
+  {
+    Serial.println("Con timeout!!");
     isConnected = false;
-    //int failsafeValue = map(analogRead(fallbackpin), 0, 4095, 0, 180);
+    // int failsafeValue = map(analogRead(fallbackpin), 0, 4095, 0, 180);
-    // Taking 127 because it should be the center value anyway
+    //  Taking 127 because it should be the center value anyway
     writeServos(failsafeValue, failsafeValue);
+#ifdef ENABLE_DISPLAY
     display.clear();
     char buf[25];
     sprintf(buf, "FAIL: %i", failsafeValue);
     display.drawString(2, 0, buf);
     display.display();
+#endif
   }
 
-  checkTemperature();
+  // checkTemperature();
-  checkVoltage();
+  // checkVoltage();
-  if(shouldUpdateLights) updateLights();
+#ifdef VARIANT_HOVER
+  Receive();
+#endif
+  // if (shouldUpdateLights)
+  //   updateLights();
 }