kleiax/Bachelorarbeit-Rover
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first try working module - fail

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kleiax
2023-04-06 16:27:00 +02:00
parent f20f4938e4
commit ede68db3df
8 changed files with 85 additions and 30 deletions
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.vscode/settings.json
Vendored
+1
View File
@@ -82,6 +82,7 @@
"cSpell.words": [
"Ahnung",
"akku",
"ardui",
"blox",
"bluedroid",
"gast",
include/config.h
+3
View File
@@ -33,3 +33,6 @@
#define UBLOX_GNSS_SPI_CIPO 4
#define UBLOX_GNSS_SPI_SCK 5
///@}
#define RF24_CSN_PIN 18
#define RF24_CE_PIN 2
lib/ControllPad/controlPad.cpp
+60 -23
View File
@@ -11,41 +11,69 @@
#include "controlPad.h"
ControlPad::ControlPad() {
ControlPad::ControlPad(SPIClass *spiPort, uint8_t cePin, uint8_t csnPin) {
this->radio = new RF24(cePin, csnPin);
std::cout << "ControlPad::ControlPad: sizeof ControlPadInput in byte: " << sizeof(ControlPadInput) << std::endl;
if (!this->radio->begin(spiPort)) {
std::cout << "ControlPad::ControlPad: Error radio->begin!" << std::endl;
while(true);
}
// this->radio->setAddressWidth(5);
// this->radio->setChannel(7);
// this->radio->setDataRate(RF24_1MBPS);
// this->radio->setAutoAck(true);
// this->radio->enableDynamicPayloads();
// this->radio->enableAckPayload();
// this->radio->setCRCLength(RF24_CRC_16);
this->radio->setPALevel(RF24_PA_LOW);
// this->radio->openWritingPipe(this->address[1]);
this->radio->openReadingPipe(0, this->address[0]);
this->radio->startListening();
// this->radio->printPrettyDetails();
this->radio->printPrettyDetails();
}
bool ControlPad::loop() {
this->receiveData();
if (millis() - this->lastLoopMillis < this->loopDelay)
return false;
this->lastLoopMillis = millis();
if(!this->connected)
return false;
// if(!this->connected)
// return false;
if (millis() - this->lastMessageReceive > this->disconnectTime) {
this->connected = false;
return false;
}
// if (millis() - this->lastMessageReceive > this->disconnectTime) {
// this->connected = false;
// return false;
// }
if (this->menuControl && this->controlInput.buttons > 0 && this->updated)
if (!this->firstButtonPress)
this->menuControl->printMenu();
// if (this->menuControl && this->controlInput.buttons > 0 && this->updated)
// if (!this->firstButtonPress)
// this->menuControl->printMenu();
if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Left))
this->menuControl->left();
else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Right))
this->menuControl->right();
else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Up))
this->menuControl->up();
else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Down))
this->menuControl->down();
else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Yes))
this->menuControl->yes();
else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::No))
this->menuControl->no();
// if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Left))
// this->menuControl->left();
// else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Right))
// this->menuControl->right();
// else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Up))
// this->menuControl->up();
// else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Down))
// this->menuControl->down();
// else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Yes))
// this->menuControl->yes();
// else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::No))
// this->menuControl->no();
this->menuControl->update();
// this->menuControl->update();
return true;
}
@@ -55,3 +83,12 @@ const ControlPadInput * ControlPad::getControlPadDataPtr(uint16_t maxElapsedTime
return nullptr;
return &this->controlInput;
}
void ControlPad::receiveData() {
this->radio->startListening();
if (this->radio->available()) {
ControlPadInput lastInput = this->controlInput;
this->radio->read(&this->controlInput, sizeof(ControlPadInput));
std::cout << "Data RF24: " << this->controlInput.counter << std::endl;
}
}
lib/ControllPad/controlPad.h
+10 -1
View File
@@ -12,12 +12,16 @@
#pragma once
#include <menuControl.h>
#include <nRF24L01.h>
#include <RF24.h>
#include <SPI.h>
// #include <printf.h>
#include "controlPadInput.h"
class ControlPad {
public:
ControlPad();
ControlPad(SPIClass *spiPort, uint8_t cePin, uint8_t csnPin);
bool loop();
@@ -29,12 +33,17 @@ class ControlPad {
private:
MenuControl* menuControl = nullptr;
RF24* radio;
ControlPadInput controlInput;
void receiveData();
bool connected = false;
bool updated = false;
bool firstButtonPress = false;
const uint8_t address[2][6] = { "rover", "ardui" };
uint16_t disconnectTime = 50;
uint16_t loopDelay = 5;
platformio.ini
+1
View File
@@ -24,6 +24,7 @@ lib_deps =
bblanchon/ArduinoJson@^6.20.0
mprograms/QMC5883LCompass@^1.1.1
https://git.kleiax.de/PlatformIO-Libs/Menu.git#v1.0
nrf24/RF24@^1.4.5
upload_port = COM3
[env:release]
src/driveModi/driveManager.cpp
+2 -3
View File
@@ -15,12 +15,11 @@ Modi& operator++(Modi& m, int) {
return m = (m == Modi::TestMode) ? Modi::Off : static_cast<Modi>(static_cast<int>(m)+1);
}
DriveManager::DriveManager(MoveControl *moveControl, const ControlPadInput *input, bool wifi) {
DriveManager::DriveManager(MoveControl *moveControl, SPIClass *spiPort, const ControlPadInput *input, bool wifi) {
this->moveControl = moveControl;
this->input = input;
this->spiPort = new SPIClass(HSPI);
spiPort->begin(UBLOX_GNSS_SPI_SCK, UBLOX_GNSS_SPI_CIPO, UBLOX_GNSS_SPI_COPI, UBLOX_GNSS_SPI_CS);
this->spiPort = spiPort;
this->navigation = new Navigation(spiPort, UBLOX_GNSS_SPI_CS);
if (wifi)
this->navigation->initNtrip(NTRIP_HOST, NTRIP_PORT, NTRIP_MOUNT_POINT, NTRIP_USER, NTRIP_PASSWORD);
src/driveModi/driveManager.h
+1 -1
View File
@@ -52,7 +52,7 @@ class DriveManager {
*
* @param moveControl
*/
DriveManager(MoveControl *moveControl, const ControlPadInput *input, bool wifi = false);
DriveManager(MoveControl *moveControl, SPIClass *spiPort, const ControlPadInput *input, bool wifi = false);
/**
* @brief Destroy the Drive Manager object
src/main.cpp
+7 -2
View File
@@ -20,6 +20,7 @@
#include <iostream>
#include <Wire.h>
#include <LiquidCrystal_I2C.h>
#include <SPI.h>
#include "driveModi/driveManager.h"
#include "OutputBuf/outputBuf.h"
@@ -50,6 +51,7 @@ LcdWrapper* lcdWrapper;
OutputBuf* outputBuf;
DebugMqtt* debugMqtt = nullptr;
Battery* mainBattery;
SPIClass* spiPort;
ControlPad* controlPad;
bool wifiIsActive;
@@ -65,8 +67,11 @@ void setup() {
DebugTimes setupTime;
char wifiIndicator = 'X';
spiPort = new SPIClass(HSPI);
spiPort->begin(UBLOX_GNSS_SPI_SCK, UBLOX_GNSS_SPI_CIPO, UBLOX_GNSS_SPI_COPI, UBLOX_GNSS_SPI_CS);
mainBattery = new Battery(35, 692000, 218500);
controlPad = new ControlPad();
controlPad = new ControlPad(spiPort, RF24_CE_PIN, RF24_CSN_PIN);
controlPad->setMenuControl(main_m);
Wire.begin(21, 19);
@@ -97,7 +102,7 @@ void setup() {
std::cout << "Welcome to Kleiax-Rover" << std::endl;
std::cout << "All actions from the main program run on Core -> " << xPortGetCoreID() << std::endl;
driveManager = new DriveManager(&moveController, controlPad->getControlPadDataPtr(), wifiIsActive);
driveManager = new DriveManager(&moveController, spiPort, controlPad->getControlPadDataPtr(), wifiIsActive);
outputBuf->activateMqtt(false);