751 lines
19 KiB
C++
751 lines
19 KiB
C++
// ESPNOWSkate by Lukas Bachschwell this device MASTER =D
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#include <Arduino.h>
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#include <esp_now.h>
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#include <WiFi.h>
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#include <U8g2lib.h>
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#include <EEPROM.h> // ESP32 ?
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#include "mac_config.h"
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#include "graphics.h"
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#include "accel.h"
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#define B_VOLT 0
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#define B_VOLT_D 1
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#define B_TEMP 2
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#define B_TEMP_D 3
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#define B_SPEED 4
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#define B_SPEED_D 5
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uint8_t boardData[6] = {0, 0, 0, 0, 0, 0};
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bool connected = false;
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// Defining variables for OLED display
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U8G2_SSD1306_128X64_NONAME_F_SW_I2C u8g2 (U8G2_R2, /* clock=*/ 15, /* data=*/ 4, /* reset=*/ 16);
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char displayBuffer[20];
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String displayString;
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short displayData = 0;
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unsigned long lastSignalBlink;
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bool signalBlink = false;
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unsigned long lastDataRotation;
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// Defining variables for Settings menu
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bool changeSettings = false;
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bool changeSelectedSetting = false;
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bool settingsLoopFlag = false;
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bool settingsChangeFlag = false;
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bool settingsChangeValueFlag = false;
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// Defining variables for Hall Effect throttle.
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short hallMeasurement;
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int throttle = 127;
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int sendThrottle = 127;
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byte hallCenterMargin = 5;
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byte currentSetting = 0;
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const byte numOfSettings = 11;
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const float minVoltage = 3.4;
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const float maxVoltage = 4.1;
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const float refVoltage = 3.3;
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// Resistors in Ohms
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const float deviderR1 = 1500;
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const float deviderR2 = 22000;
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// Global copy of board
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esp_now_peer_info_t board;
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#define CHANNEL 1
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#define PRINTSCANRESULTS 0
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#define DELETEBEFOREPAIR 0
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#define HAL_MIN 1390
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#define HAL_MAX 2230
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#define HAL_CENTER 1880
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#define TRIM_LOW 180
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#define TRIM_HIGH 0
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//#define pairingMode
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#define leverPin 36
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#define triggerPin 17
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#define batteryMeasurePin 38
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// ESPNOW functions ##############################
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// Scan for boards in AP mode
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#ifdef pairingMode
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void ScanForBoard() {
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int8_t scanResults = WiFi.scanNetworks();
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// reset on each scan
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bool boardFound = 0;
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memset(&board, 0, sizeof(board));
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Serial.println("");
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if (scanResults == 0) {
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Serial.println("No WiFi devices in AP Mode found");
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} else {
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Serial.print("Found "); Serial.print(scanResults); Serial.println(" devices ");
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for (int i = 0; i < scanResults; ++i) {
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// Print SSID and RSSI for each device found
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String SSID = WiFi.SSID(i);
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int32_t RSSI = WiFi.RSSI(i);
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String BSSIDstr = WiFi.BSSIDstr(i);
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if (PRINTSCANRESULTS) {
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Serial.print(i + 1);
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Serial.print(": ");
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Serial.print(SSID);
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Serial.print(" (");
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Serial.print(RSSI);
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Serial.print(")");
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Serial.println("");
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}
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delay(10);
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// Check if the current device starts with `board`
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if (SSID.indexOf("ESK8") == 0) {
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// SSID of interest
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Serial.println("Found a board.");
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Serial.print(i + 1); Serial.print(": "); Serial.print(SSID); Serial.print(" ["); Serial.print(BSSIDstr); Serial.print("]"); Serial.print(" ("); Serial.print(RSSI); Serial.print(")"); Serial.println("");
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// Get BSSID => Mac Address of the board
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int mac[6];
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if ( 6 == sscanf(BSSIDstr.c_str(), "%x:%x:%x:%x:%x:%x%c", &mac[0], &mac[1], &mac[2], &mac[3], &mac[4], &mac[5] ) ) {
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for (int ii = 0; ii < 6; ++ii ) {
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board.peer_addr[ii] = (uint8_t) mac[ii];
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}
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}
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board.channel = CHANNEL; // pick a channel
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board.encrypt = 0; // no encryption
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boardFound = 1;
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// we are planning to have only one board in this example;
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// Hence, break after we find one, to be a bit efficient
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break;
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}
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}
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}
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if (boardFound) {
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Serial.println("board Found, processing..");
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} else {
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Serial.println("board Not Found, trying again.");
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}
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// clean up ram
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WiFi.scanDelete();
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}
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#endif
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void deletePeer() {
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const esp_now_peer_info_t *peer = &board;
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const uint8_t *peer_addr = board.peer_addr;
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esp_err_t delStatus = esp_now_del_peer(peer_addr);
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Serial.print("board Delete Status: ");
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if (delStatus == ESP_OK) {
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// Delete success
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Serial.println("Success");
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} else if (delStatus == ESP_ERR_ESPNOW_NOT_INIT) {
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// How did we get so far!!
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Serial.println("ESPNOW Not Init");
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} else if (delStatus == ESP_ERR_ESPNOW_ARG) {
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Serial.println("Invalid Argument");
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} else if (delStatus == ESP_ERR_ESPNOW_NOT_FOUND) {
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Serial.println("Peer not found.");
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} else {
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Serial.println("Not sure what happened");
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}
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}
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// Check if the board is already paired with the master.
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// If not, pair the board with master
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bool manageBoard() {
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if (board.channel == CHANNEL) {
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if (DELETEBEFOREPAIR) {
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deletePeer();
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}
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Serial.print("board Status: ");
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const esp_now_peer_info_t *peer = &board;
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const uint8_t *peer_addr = board.peer_addr;
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// check if the peer exists
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bool exists = esp_now_is_peer_exist(peer_addr);
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if ( exists) {
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// board already paired.
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Serial.println("Already Paired");
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return true;
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} else {
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// board not paired, attempt pair
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esp_err_t addStatus = esp_now_add_peer(peer);
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if (addStatus == ESP_OK) {
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// Pair success
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Serial.println("Pair success");
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return true;
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} else if (addStatus == ESP_ERR_ESPNOW_NOT_INIT) {
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// How did we get so far!!
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Serial.println("ESPNOW Not Init");
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return false;
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} else if (addStatus == ESP_ERR_ESPNOW_ARG) {
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Serial.println("Invalid Argument");
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return false;
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} else if (addStatus == ESP_ERR_ESPNOW_FULL) {
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Serial.println("Peer list full");
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return false;
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} else if (addStatus == ESP_ERR_ESPNOW_NO_MEM) {
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Serial.println("Out of memory");
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return false;
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} else if (addStatus == ESP_ERR_ESPNOW_EXIST) {
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Serial.println("Peer Exists");
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return true;
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} else {
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Serial.println("Not sure what happened");
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return false;
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}
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}
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} else {
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// No board found to process
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Serial.println("No board found to process");
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return false;
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}
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}
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// send data
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void sendData() {
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uint8_t esc1 = sendThrottle;
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uint8_t esc2 = esc1;
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const uint8_t data[] = { esc1, esc2 }; // no mixture for the normal mode
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const uint8_t *peer_addr = board.peer_addr;
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Serial.print("Sending: "); Serial.println(esc1);
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esp_err_t result = esp_now_send(peer_addr, data, sizeof(data));
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Serial.print("Send Status: ");
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if (result == ESP_OK) {
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Serial.println("Success");
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} else if (result == ESP_ERR_ESPNOW_NOT_INIT) {
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// How did we get so far!!
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Serial.println("ESPNOW not Init.");
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} else if (result == ESP_ERR_ESPNOW_ARG) {
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Serial.println("Invalid Argument");
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} else if (result == ESP_ERR_ESPNOW_INTERNAL) {
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Serial.println("Internal Error");
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} else if (result == ESP_ERR_ESPNOW_NO_MEM) {
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Serial.println("ESP_ERR_ESPNOW_NO_MEM");
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} else if (result == ESP_ERR_ESPNOW_NOT_FOUND) {
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Serial.println("Peer not found.");
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} else {
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Serial.println("Not sure what happened");
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}
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}
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// callback when data is sent from Master to board
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void OnDataSent(const uint8_t *mac_addr, esp_now_send_status_t status) {
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char macStr[18];
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snprintf(macStr, sizeof(macStr), "%02x:%02x:%02x:%02x:%02x:%02x",
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mac_addr[0], mac_addr[1], mac_addr[2], mac_addr[3], mac_addr[4], mac_addr[5]);
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Serial.print("Last Packet Sent to: "); Serial.println(macStr);
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Serial.print("Last Packet Send Status: ");
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if(status == ESP_NOW_SEND_SUCCESS) {
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connected = true;
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Serial.println("Delivery Success");
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} else {
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connected = false;
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Serial.println("Delivery Fail");
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}
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}
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// callback when data is recv from board
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void OnDataRecv(const uint8_t *mac_addr, const uint8_t *data, int data_len) {
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char macStr[18];
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snprintf(macStr, sizeof(macStr), "%02x:%02x:%02x:%02x:%02x:%02x",
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mac_addr[0], mac_addr[1], mac_addr[2], mac_addr[3], mac_addr[4], mac_addr[5]);
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Serial.print("Last Response Recv from: "); Serial.println(macStr);
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memcpy(boardData, data, data_len);
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Serial.print("Recieved data! len: ");
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Serial.println(data_len);
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}
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//############ End ESP Now
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//############ Hardware Helpers
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// Check if an integer is within a min and max value
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bool inRange(int val, int minimum, int maximum) {
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return ((minimum <= val) && (val <= maximum));
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}
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// Return true if trigger is activated, false otherwice
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bool triggerActive() {
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if (digitalRead(triggerPin) == LOW)
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return true;
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else
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return false;
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}
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void calculateThrottlePosition() {
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// Hall sensor reading can be noisy, lets make an average reading.
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int total = 0;
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for (int i = 0; i < 10; i++) {
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total += analogRead(leverPin);
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}
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hallMeasurement = total / 10;
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Serial.print("HAL: ");
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Serial.println(hallMeasurement);
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//DEBUG_PRINT( (String)hallMeasurement );
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if (hallMeasurement >= HAL_CENTER) {
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throttle = constrain(map(hallMeasurement, HAL_CENTER, HAL_MAX, 127, 255), 127, 255);
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} else {
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throttle = constrain(map(hallMeasurement, HAL_MIN, HAL_CENTER, 0, 127), 0, 127);
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}
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// removeing center noise
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if (abs(throttle - 127) < hallCenterMargin) {
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throttle = 127;
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}
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}
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// Function to calculate and return the remotes battery voltage.
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float batteryVoltage() {
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float batteryVoltage = 0.0;
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int total = 0;
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for (int i = 0; i < 10; i++) {
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total += analogRead(batteryMeasurePin);
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}
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batteryVoltage = (refVoltage / 4095.0) * ((float)total / 10.0);
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// Now we have the actual Voltage, lets calculate the value befor the devider
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batteryVoltage = batteryVoltage / ( deviderR1 / (deviderR1 + deviderR2));
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Serial.print("Batt: ");
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Serial.println(batteryVoltage);
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return batteryVoltage;
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}
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// Function used to indicate the remotes battery level.
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int batteryLevel() {
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float voltage = batteryVoltage();
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if (voltage <= minVoltage) {
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return 0;
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} else if (voltage >= maxVoltage) {
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return 100;
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} else {
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return (voltage - minVoltage) * 100 / (maxVoltage - minVoltage);
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}
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}
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// Take a number of measurements of the WiFi strength and return the average result.
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int getStrength(int points){
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long rssi = 0;
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long averageRSSI=0;
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if (points == 1) return WiFi.RSSI();
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for (int i=0; i < points; i++) {
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rssi += WiFi.RSSI();
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delay(20);
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}
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averageRSSI=rssi/points;
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Serial.print("RSSI: ");
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Serial.println(averageRSSI);
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return averageRSSI;
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}
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//############ End Hardware Helpers
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//############ Drawing Functions
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void drawBatteryLevel() {
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int level = batteryLevel();
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// Position on OLED
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int x = 108; int y = 4;
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u8g2.drawFrame(x + 2, y, 18, 9);
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u8g2.drawBox(x, y + 2, 2, 5);
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for (int i = 0; i < 5; i++) {
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int p = round((100 / 5) * i);
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if (p <= level)
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{
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u8g2.drawBox(x + 4 + (3 * i), y + 2, 2, 5);
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}
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}
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}
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void drawThrottle() {
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int x = 0;
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int y = 18;
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// Draw throttle
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u8g2.drawHLine(x, y, 52);
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u8g2.drawVLine(x, y, 10);
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u8g2.drawVLine(x + 52, y, 10);
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u8g2.drawHLine(x, y + 10, 5);
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u8g2.drawHLine(x + 52 - 4, y + 10, 5);
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if (throttle >= 127) {
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int width = map(throttle, 127, 255, 0, 49);
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for (int i = 0; i < width; i++) {
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u8g2.drawVLine(x + i + 2, y + 2, 7);
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}
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} else {
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int width = map(throttle, 0, 126, 49, 0);
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for (int i = 0; i < width; i++) {
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u8g2.drawVLine(x + 50 - i, y + 2, 7);
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}
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}
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}
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void drawSignal() {
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// Position on OLED
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int x = 114; int y = 17;
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if (connected == true) {
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if (triggerActive()) {
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u8g2.drawXBM(x, y, 12, 12, signal_transmitting_bits);
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} else {
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u8g2.drawXBM(x, y, 12, 12, signal_connected_bits);
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}
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} else {
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if (millis() - lastSignalBlink > 500) {
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signalBlink = !signalBlink;
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lastSignalBlink = millis();
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}
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if (signalBlink == true) {
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u8g2.drawXBM(x, y, 12, 12, signal_connected_bits);
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} else {
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u8g2.drawXBM(x, y, 12, 12, signal_noconnection_bits);
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}
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}
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}
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void drawTitleScreen(String title) {
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u8g2.firstPage();
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do {
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title.toCharArray(displayBuffer, 20);
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u8g2.setFont(u8g2_font_helvR10_tr );
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u8g2.drawStr(12, 20, displayBuffer);
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} while ( u8g2.nextPage() );
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delay(1500);
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}
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void drawPage() {
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int decimals;
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String suffix;
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String prefix;
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int first, last;
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int x = 0;
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int y = 16;
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// Rotate the realtime data each 4s.
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if ((millis() - lastDataRotation) >= 4000) {
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lastDataRotation = millis();
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displayData++;
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if (displayData > 2) {
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displayData = 0;
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}
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}
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switch (displayData) {
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case 0:
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//value = ratioRpmSpeed * data.rpm;
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first = boardData[B_TEMP];
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last = boardData[B_TEMP_D];
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suffix = "C";
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prefix = "BOX TEMP";
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decimals = 2;
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break;
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case 1:
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//value = ratioPulseDistance * data.tachometerAbs;
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// TODO : check how that will work once hal is wired
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first = boardData[B_SPEED];
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last = boardData[B_SPEED_D];
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suffix = "KmH";
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prefix = "SPEED";
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decimals = 2;
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break;
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case 2:
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first = boardData[B_VOLT];
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last = boardData[B_VOLT_D];
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suffix = "V";
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prefix = "BATTERY";
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decimals = 2;
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break;
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}
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// Display prefix (title)
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displayString = prefix;
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displayString.toCharArray(displayBuffer, 10);
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u8g2.setFont(u8g2_font_profont12_tr);
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u8g2.drawStr(x, y - 1, displayBuffer);
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// Add leading zero
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if (first <= 9) {
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if(connected) displayString = "0" + (String)first;
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else displayString = "--";
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} else {
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if(connected) displayString = (String)first;
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else displayString = "--";
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}
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// Display numbers
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displayString.toCharArray(displayBuffer, 4);
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u8g2.setFont(u8g2_font_logisoso22_tn );
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u8g2.drawStr(x + 55, y + 13, displayBuffer);
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// Display decimals
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// Add leading zero
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if (last <= 9) {
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if(connected) displayString = ".0" + (String)last;
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else displayString = ".--";
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} else {
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if(connected) displayString = "." + (String)last;
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else displayString = ".--";
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}
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// Display decimals
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displayString.toCharArray(displayBuffer, decimals + 2);
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u8g2.setFont(u8g2_font_profont12_tr);
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u8g2.drawStr(x + 86, y - 1, displayBuffer);
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// Display suffix
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displayString = suffix;
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displayString.toCharArray(displayBuffer, 10);
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u8g2.setFont(u8g2_font_profont12_tr);
|
|
u8g2.drawStr(x + 86 + 2, y + 13, displayBuffer);
|
|
|
|
}
|
|
|
|
void drawSettingsMenu() {
|
|
/*
|
|
// Position on OLED
|
|
int x = 0; int y = 10;
|
|
|
|
// Draw setting title
|
|
displayString = settingPages[currentSetting][0];
|
|
displayString.toCharArray(displayBuffer, displayString.length() + 1);
|
|
|
|
u8g2.setFont(u8g2_font_profont12_tr);
|
|
u8g2.drawStr(x, y, displayBuffer);
|
|
|
|
int val = getSettingValue(currentSetting);
|
|
|
|
displayString = (String)val + "" + settingPages[currentSetting][1];
|
|
displayString.toCharArray(displayBuffer, displayString.length() + 1);
|
|
u8g2.setFont(u8g2_font_10x20_tr );
|
|
|
|
if (changeSelectedSetting == true) {
|
|
u8g2.drawStr(x + 10, y + 20, displayBuffer);
|
|
} else {
|
|
u8g2.drawStr(x, y + 20, displayBuffer);
|
|
}
|
|
*/
|
|
}
|
|
void controlSettingsMenu() {
|
|
/*
|
|
if (triggerActive()) {
|
|
if (settingsChangeFlag == false) {
|
|
|
|
// Save settings to EEPROM
|
|
if (changeSelectedSetting == true) {
|
|
updateEEPROMSettings();
|
|
}
|
|
|
|
changeSelectedSetting = !changeSelectedSetting;
|
|
settingsChangeFlag = true;
|
|
}
|
|
} else {
|
|
settingsChangeFlag = false;
|
|
}
|
|
|
|
if (hallMeasurement >= (remoteSettings.maxHallValue - 150) && settingsLoopFlag == false) {
|
|
// Up
|
|
if (changeSelectedSetting == true) {
|
|
int val = getSettingValue(currentSetting) + 1;
|
|
|
|
if (inRange(val, settingRules[currentSetting][1], settingRules[currentSetting][2])) {
|
|
setSettingValue(currentSetting, val);
|
|
settingsLoopFlag = true;
|
|
}
|
|
} else {
|
|
if (currentSetting != 0) {
|
|
currentSetting--;
|
|
settingsLoopFlag = true;
|
|
}
|
|
}
|
|
}
|
|
else if (hallMeasurement <= (remoteSettings.minHallValue + 150) && settingsLoopFlag == false) {
|
|
// Down
|
|
if (changeSelectedSetting == true) {
|
|
int val = getSettingValue(currentSetting) - 1;
|
|
|
|
if (inRange(val, settingRules[currentSetting][1], settingRules[currentSetting][2])) {
|
|
setSettingValue(currentSetting, val);
|
|
settingsLoopFlag = true;
|
|
}
|
|
} else {
|
|
if (currentSetting < (numOfSettings - 1)) {
|
|
currentSetting++;
|
|
settingsLoopFlag = true;
|
|
}
|
|
}
|
|
} else if (inRange(hallMeasurement, remoteSettings.centerHallValue - 50, remoteSettings.centerHallValue + 50)) {
|
|
settingsLoopFlag = false;
|
|
}*/
|
|
}
|
|
|
|
void drawSettingNumber() {
|
|
// Position on OLED
|
|
int x = 2; int y = 10;
|
|
|
|
// Draw current setting number box
|
|
u8g2.drawRFrame(x + 102, y - 10, 22, 32, 4);
|
|
|
|
// Draw current setting number
|
|
displayString = (String)(currentSetting + 1);
|
|
displayString.toCharArray(displayBuffer, displayString.length() + 1);
|
|
|
|
u8g2.setFont(u8g2_font_profont22_tn);
|
|
u8g2.drawStr(x + 108, 22, displayBuffer);
|
|
}
|
|
|
|
void updateMainDisplay() {
|
|
|
|
u8g2.firstPage();
|
|
do {
|
|
|
|
if (changeSettings == true) {
|
|
drawSettingsMenu();
|
|
drawSettingNumber();
|
|
} else {
|
|
drawThrottle();
|
|
drawPage();
|
|
drawBatteryLevel();
|
|
drawSignal();
|
|
}
|
|
|
|
} while ( u8g2.nextPage() );
|
|
}
|
|
|
|
void drawStartScreen() {
|
|
u8g2.firstPage();
|
|
do {
|
|
u8g2.drawXBM( 4, 4, 24, 24, logo_bits);
|
|
|
|
displayString = "Esk8 remote";
|
|
displayString.toCharArray(displayBuffer, 12);
|
|
u8g2.setFont(u8g2_font_helvR10_tr );
|
|
u8g2.drawStr(34, 22, displayBuffer);
|
|
} while ( u8g2.nextPage() );
|
|
delay(800);
|
|
}
|
|
|
|
//############ End Drawing Functions
|
|
|
|
void setup() {
|
|
Serial.begin(115200);
|
|
//Set device in STA mode to begin with
|
|
WiFi.mode(WIFI_STA);
|
|
Serial.println("ESPNowSkate");
|
|
|
|
// reset the screen
|
|
pinMode(16, OUTPUT);
|
|
digitalWrite(16, LOW); // set GPIO16 low to reset OLED
|
|
delay(50);
|
|
digitalWrite(16, HIGH);
|
|
|
|
analogSetPinAttenuation(batteryMeasurePin, ADC_6db);
|
|
|
|
// setup other pins
|
|
pinMode(triggerPin, INPUT_PULLUP);
|
|
|
|
initAccel();
|
|
|
|
Serial.println("ESPNowSkate Sender");
|
|
u8g2.begin();
|
|
drawStartScreen();
|
|
|
|
if (triggerActive()) {
|
|
changeSettings = true;
|
|
drawTitleScreen("Remote Settings");
|
|
}
|
|
|
|
// This is the mac address of the Master in Station Mode
|
|
Serial.print("STA MAC: "); Serial.println(WiFi.macAddress());
|
|
|
|
if (esp_now_init() == ESP_OK) {
|
|
Serial.println("ESPNow Init Success");
|
|
}
|
|
else {
|
|
Serial.println("ESPNow Init Failed");
|
|
ESP.restart();
|
|
}
|
|
|
|
// Once ESPNow is successfully Init, we will register for Send CB to
|
|
// get the status of Trasnmitted packet
|
|
esp_now_register_send_cb(OnDataSent);
|
|
//ScanForBoard();
|
|
|
|
// Once ESPNow is successfully Init, we will register for recv CB to
|
|
// get recv packer info.
|
|
esp_now_register_recv_cb(OnDataRecv);
|
|
|
|
|
|
// Retrieve board from config:
|
|
for (int i = 0; i < 6; ++i ) {
|
|
board.peer_addr[i] = (uint8_t) mac_receiver[i];
|
|
}
|
|
board.channel = CHANNEL; // pick a channel
|
|
board.encrypt = 0; // no encryption
|
|
}
|
|
|
|
void loop() {
|
|
updateMainDisplay();
|
|
|
|
readAccel();
|
|
Serial.print("Accel Values: ");
|
|
Serial.print(AcX);
|
|
Serial.print(" ");
|
|
Serial.println(GyX);
|
|
|
|
calculateThrottlePosition();
|
|
if (changeSettings == true) {
|
|
// Use throttle and trigger to change settings
|
|
//controlSettingsMenu();
|
|
} else {
|
|
// Use throttle and trigger to drive motors
|
|
if (triggerActive()) {
|
|
sendThrottle = throttle;
|
|
} else {
|
|
// 127 is the middle position - no throttle and no brake/reverse
|
|
sendThrottle = 127;
|
|
}
|
|
|
|
// If board is found, it would be populate in `board` variable
|
|
// We will check if `board` is defined and then we proceed further
|
|
if (board.channel == CHANNEL) { // check if board channel is defined
|
|
// `board` is defined
|
|
// Add board as peer if it has not been added already
|
|
bool isPaired = manageBoard();
|
|
if (isPaired) {
|
|
sendData();
|
|
} else {
|
|
// board pair failed
|
|
Serial.println("board not found / paired!");
|
|
}
|
|
}
|
|
else {
|
|
// No board found to process
|
|
}
|
|
}
|
|
}
|