added description and video to readme

.vscode/settings.json

@@ -1,5 +1,6 @@
 {
     "files.insertFinalNewline": true,
+    "editor.wordWrap": "on",
     "cSpell.ignoreWords": [
         "ledc",
         "write"
@@ -132,6 +133,7 @@
         "Doxygen",
         "Dutycycle",
         "gast",
+        "gnss",
         "GNSS",
         "GPGGA",
         "HSPI",
@@ -140,9 +142,12 @@
         "kleiax",
         "Lebennig",
         "microcontroller",
+        "Mqtt",
         "MQTT",
         "NMEA",
         "NMEAGPGGA",
+        "ntrip",
+        "Ntrip",
         "NTRIP",
         "pcnt",
         "pidl",
@@ -150,6 +155,8 @@
         "Punica",
         "RHEDE",
         "Rtcm",
+        "sapos",
+        "SAPOS",
         "Schalke",
         "Soln",
         "Systeminformation",

README.md

@@ -0,0 +1,5 @@
+# Autonomer Rover
+Testfahrt auf Youtube: https://youtu.be/GigIyo-vghE?si=jhProl1DQFUrcz7w
+
+# Beschreibung
+Vollständige Softwarelösung und Hardwareerweiterungen für einen Rover mit Skid-Antrieb. Das System wurde in C++ geschrieben und es wurden erweiterte Konzepte der Objektorientierung wie Polymorphie eingesetzt. Die Datenhaltung wurde erfolgreich von der Logik getrennt, hierfür wurde unter anderem eine API mit Express.js implementiert. Hardwareseitig wurde PWM für die Motorsteuerung, IC2 für verschiedene Sensoren und SPI für das GNSS-Modul eingesetzt. Zusätzlich wurden Encoder an den Motoren verbaut, um diese präzise zu steuern. Überdies wurde eine RTK-Referenzstation geplant und umgesetzt, dafür wurde die Antenne, ein weiteres GNSS-Modul und ein Embedded-Server installiert und konfiguriert. Durch das Zusammenspiel dieser Systeme kann der Rover Routen im niedrigen einstelligen Zentimeterbereich aufzeichnen und abfahren.

doc/Doxygen/Doxyfile

@@ -44,7 +44,7 @@ PROJECT_NUMBER         =
 # for a project that appears at the top of each page and should give viewer a
 # quick idea about the purpose of the project. Keep the description short.
 
-PROJECT_BRIEF          = "A small verhicle which should be drive a route with GPS"
+PROJECT_BRIEF          = "A small verhicle which should be drive a route with GNNS and RTK"
 
 # With the PROJECT_LOGO tag one can specify a logo or an icon that is included
 # in the documentation. The maximum height of the logo should not exceed 55

include/moveControl.h

@@ -87,7 +87,6 @@ public:
      * @param status
      */
     void setDrivingStatus(Status status);
-    Status getDrivingStatus() const { return this->driving_status; }
 
     /**
      * @brief Stops the engine immediately

include/networkConfig.h

@@ -14,7 +14,9 @@
 
 #include <stdint.h>
 
-#define HOTSPOT
+#define ZUHAUSE
+#define SAPOS_NI
+// #define RTK2GO
 
 #ifdef HOTSPOT
 namespace NetworkConfig
@@ -61,7 +63,7 @@ namespace NetworkConfig
 {
     const char ssid[] = "Tuedelkram";
     const char password[] = "3!Kaesehoch";
-    const char ip[] = "192.168.178.11";
+    const char ip[] = "192.168.178.13";
     const char subnet[] = "255.255.255.0";
     const char gateway[] = "192.168.178.1";
     const char dns[] = "8.8.8.8";
@@ -77,6 +79,7 @@ namespace MqttConfig
     const char password[] = "p?{$_~5%hBM7wrcFkr55KWr#";
 }
 
+#ifdef RTK2GO
 namespace NtripConfig
 {
     const char host[] = "rtk2go.com";
@@ -86,4 +89,18 @@ namespace NtripConfig
     // const char mountPoint[] = "Rtkramerntrip";
     const char user[] = "alklein1@gmx.de";
     const char password[] = "none";
+    const bool sendOwnPosition = false;
 }
+#endif // RTK2GO
+
+#ifdef SAPOS_NI
+namespace NtripConfig
+{
+    const char host[] = "sapos-ni-ntrip.de";
+    const uint16_t port = 2101;
+    const char mountPoint[] = "VRS_3_4G_NI";
+    const char user[] = "ni_FHDo01";
+    const char password[] = "ALdx-1-3e49";
+    const bool sendOwnPosition = true;
+}
+#endif // RTK2GO

lib/MotorControl/motorControl.cpp

@@ -33,7 +33,6 @@ void MotorControl::init(uint8_t pwmPin, uint8_t pwmChannel, uint8_t dir_1, uint8
     ledcSetup(this->pwmChannel, MotorControl::pwmFreq, MotorControl::pwmRes);
     ledcAttachPin(this->pwmPin, this->pwmChannel);
     ledcWrite(this->pwmChannel, 0);
-    std::cout << "Init pwm" << std::endl;
 }
 
 void MotorControl::run()
@@ -57,7 +56,7 @@ void MotorControl::run()
         return;
     }
 
-    // Positive or negative target speed
+    // Positive or negative tagret speed
     if (this->targetPower >= 0)
     {
         // Positive or negative speed
@@ -98,6 +97,28 @@ void MotorControl::run()
     }
 }
 
+void MotorControl::setMinPwm(uint8_t min)
+{
+    if (min > MotorControl::maxPwmMin)
+    {
+        min = MotorControl::maxPwmMin;
+    }
+    // transform percentage to real pwm value
+    min = static_cast<uint8_t>(((static_cast<uint8_t>(1) << pwmRes) - 1) * (min / 100.0));
+    this->dutycycleMin = min;
+}
+
+void MotorControl::setMaxPwm(uint8_t max)
+{
+    if (max > 100)
+    {
+        max = 100;
+    }
+    // transform percentage to real pwm value
+    max = static_cast<uint8_t>(((static_cast<uint8_t>(1) << pwmRes) - 1) * (max / 100.0));
+    this->dutycycleMax = max;
+}
+
 void MotorControl::setTargetPower(int8_t power)
 {
     if (power <= 100 && power >= -100)
@@ -137,6 +158,7 @@ bool MotorControl::isAccelerationNegative() const
 
 void MotorControl::setRealPower(int8_t power)
 {
+    // TODO: Exceptionhandling
     if (power <= 100 && power >= -100)
     {
         this->power = power;
@@ -153,11 +175,10 @@ void MotorControl::setRealPower(int8_t power)
         digitalWrite(this->dir_2, LOW);
         ledcWrite(this->pwmChannel, 0);
         this->dutycycle = 0;
-        // std::cout << "abort" << std::endl;
         return;
     }
 
-    const uint8_t pwm_val = map(abs(power), 0, 100, MotorControl::minPwmVal, MotorControl::maxPwmVal);
+    const uint8_t pwm_val = map(abs(power), 0, 100, this->dutycycleMin, this->dutycycleMax);
 
     if ((this->direction == 1 || this->direction == 0) && power < 0)
     { // new direction backward
@@ -172,7 +193,6 @@ void MotorControl::setRealPower(int8_t power)
         digitalWrite(this->dir_2, LOW);
     }
 
-    std::cout << "MotorControl::setRealPower pwm_val: " << (int) pwm_val << " channel:" << (int) this->pwmChannel << std::endl;
     ledcWrite(this->pwmChannel, pwm_val);
     std::cout << "MotorControl::serRealPower - pwm: " << static_cast<int>(pwm_val) << std::endl;
     this->dutycycle = pwm_val;
@@ -180,6 +200,8 @@ void MotorControl::setRealPower(int8_t power)
 
 void MotorControl::increasePower(int8_t power)
 {
+    // TODO: Exceptionhandling
+    // TODO: make a stop befor a direction change
     if (abs(power) > 2 * MotorControl::powerSteps)
     {
         Serial.println("Invalid Argument in MotorControl::increasePower");

lib/MotorControl/motorControl.h

@@ -38,6 +38,20 @@ public:
      */
     void init(uint8_t pwmPin, uint8_t pwmChannel, uint8_t dir_1, uint8_t dir_2);
 
+    /**
+     * @brief Set the minimum duty cycle
+     *
+     * @param min duty cycle in percent
+     */
+    void setMinPwm(uint8_t min);
+
+    /**
+     * @brief Set the maximum duty cycle
+     *
+     * @param max duty cycle in percent
+     */
+    void setMaxPwm(uint8_t max);
+
     /**
      * @brief Set the Target Power
      *
@@ -89,8 +103,6 @@ private:
     static constexpr uint8_t pwmRes = 8;
     static constexpr uint8_t powerSteps = 2; //  A total of 20 levels ( 100 / SPEED_STEPS ) * RUN_MOTOR_CONTROL_DELAY = 500ms
     static constexpr uint8_t maxPwmMin = 80;
-    static constexpr uint8_t maxPwmVal = 250;
-    static constexpr uint8_t minPwmVal = 55; // Max 98% of 2^PWM_RES
 
     int8_t targetPower = 0;
     int8_t power = 0;
@@ -99,6 +111,8 @@ private:
     uint8_t pwmPin = 0;
     uint8_t pwmChannel = 0;
     uint16_t dutycycle = 0;
+    uint8_t dutycycleMin = 55;
+    uint8_t dutycycleMax = 98; // Max 98% of 2^PWM_RES
     uint8_t dir_1 = 0;
     uint8_t dir_2 = 0;
 };

lib/NtripClient/ntripClient.cpp

@@ -47,6 +47,7 @@ void NTRIPClient::run()
         {
             std::cout << "Failed!" << std::endl;
             this->state = NTRIPClientStates::waiting;
+            this->lastReconnectTime = millis();
             this->activated = false;
         }
         break;
@@ -97,7 +98,7 @@ void NTRIPClient::gnssConfiguration()
     // Set the differential mode - ambiguities are fixed whenever possible
     this->gnss->setDGNSSConfiguration(SFE_UBLOX_DGNSS_MODE_FIXED);
     this->gnss->setMainTalkerID(SFE_UBLOX_MAIN_TALKER_ID_GP);
-    this->gnss->enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_SPI, 10);
+    this->gnss->enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_SPI);
 }
 
 bool NTRIPClient::setActivated(bool state)
@@ -153,11 +154,7 @@ bool NTRIPClient::beginClient()
     {
         snprintf(static_cast<char *>(serverRequest),
                  this->bufferSize,
-                 static_cast<const char *>("GET /%s HTTP/1.0\r\n\
-                 Host: %s:%u\r\n\
-                 User-Agent: NTRIP KleiaxNtripClient/0.1\r\n\
-                 Accept: */*\r\n\
-                 Connection: close\r\n"),
+                 static_cast<const char *>("GET /%s HTTP/1.0\r\nHost: %s:%u\r\nUser-Agent: NTRIP KleiaxNtripClient/0.1\r\nAccept: */*\r\nConnection: close\r\n"),
                  this->mountPoint,
                  this->host,
                  this->port);
@@ -166,12 +163,7 @@ bool NTRIPClient::beginClient()
     {
         snprintf(static_cast<char *>(serverRequest),
                  this->bufferSize,
-                 static_cast<const char *>("GET /%s HTTP/1.1\r\n\
-                 Host: %s:%u\r\n\
-                 Ntrip-Version: Ntrip/2.0\r\n\
-                 User-Agent: NTRIP KleiaxNtripClient/0.1\r\n\
-                 Accept: */*\r\n\
-                 Connection: close\r\n"),
+                 static_cast<const char *>("GET /%s HTTP/1.1\r\nHost: %s:%u\r\nNtrip-Version: Ntrip/2.0\r\nUser-Agent: NTRIP KleiaxNtripClient/0.1\r\nAccept: */*\r\nConnection: close\r\n"),
                  this->mountPoint,
                  this->host,
                  this->port);
@@ -180,6 +172,7 @@ bool NTRIPClient::beginClient()
     // Add own Position if activated
     if (this->transmitLocation && !this->useNtripRev1)
     {
+        std::cout << "NTRIPClient::beginClient - Add own position to server request." << std::endl;
         auto *data = new NMEA_GGA_data_t;
         const uint8_t res = this->gnss->getLatestNMEAGPGGA(data);
         if (res > 0) // valid data
@@ -187,10 +180,14 @@ bool NTRIPClient::beginClient()
             char positionUpdate[this->bufferSizePushGPGGA];
             snprintf(static_cast<char *>(positionUpdate),
                      this->bufferSizePushGPGGA,
-                     static_cast<const char *>("Ntrip-GGA: %s\r\n"),
+                     static_cast<const char *>("Ntrip-GGA: %s"),
                      data->nmea);
             strncat(static_cast<char *>(serverRequest), static_cast<const char *>(positionUpdate), this->bufferSize);
         }
+        else
+        {
+            std::cout << "NTRIPClient::beginClient - No valid data to send position to caster." << std::endl;
+        }
         delete data;
 
         this->lastGPGGAPushTime = millis();
@@ -198,24 +195,24 @@ bool NTRIPClient::beginClient()
 
     if (this->user && this->password)
     {
-    // Credentials
-    const uint8_t userCredentialsLength = strlen(this->user) + strlen(this->password) + 2;
-    auto *userCredentials = new char[userCredentialsLength];
-    snprintf(static_cast<char *>(userCredentials), userCredentialsLength, static_cast<const char *>("%s:%s"), this->user, this->password);
+        // Credentials
+        const uint8_t userCredentialsLength = strlen(this->user) + strlen(this->password) + 2;
+        auto *userCredentials = new char[userCredentialsLength];
+        snprintf(static_cast<char *>(userCredentials), userCredentialsLength, static_cast<const char *>("%s:%s"), this->user, this->password);
 
-    std::cout << "Sending credentials: " << userCredentials << std::endl;
+        std::cout << "Sending credentials: " << userCredentials << std::endl;
 
-    // Encode
-    const base64 base;
-    const String strEncodedCredentials = base64::encode(userCredentials);
-    delete userCredentials;
-    char encodedCredentials[strEncodedCredentials.length() + 1];
-    strEncodedCredentials.toCharArray(static_cast<char *>(encodedCredentials), sizeof(encodedCredentials));
+        // Encode
+        const base64 base;
+        const String strEncodedCredentials = base64::encode(userCredentials);
+        delete userCredentials;
+        char encodedCredentials[strEncodedCredentials.length() + 1];
+        strEncodedCredentials.toCharArray(static_cast<char *>(encodedCredentials), sizeof(encodedCredentials));
 
-    snprintf(credentials, sizeof(credentials), static_cast<const char *>("Authorization: Basic %s\r\n"), static_cast<const char *>(encodedCredentials));
+        snprintf(credentials, sizeof(credentials), static_cast<const char *>("Authorization: Basic %s\r\n"), static_cast<const char *>(encodedCredentials));
 
-    // Add the encoded credentials to the server request
-    strncat(static_cast<char *>(serverRequest), static_cast<const char *>(credentials), this->bufferSize);
+        // Add the encoded credentials to the server request
+        strncat(static_cast<char *>(serverRequest), static_cast<const char *>(credentials), this->bufferSize);
     }
 
     strncat(static_cast<char *>(serverRequest), static_cast<const char *>("\r\n"), this->bufferSize);
@@ -367,7 +364,7 @@ void NTRIPClient::checkAutoReconnect()
 
 void NTRIPClient::pushGPGGA()
 {
-    if (!this->transmitLocation && !this->activated)
+    if ((!this->transmitLocation || !this->activated) || !this->ntripClient->connected())
     {
         return;
     }
@@ -378,23 +375,22 @@ void NTRIPClient::pushGPGGA()
     }
     this->lastGPGGAPushTime = millis();
 
-    if (!this->ntripClient->connected())
-    {
-        std::cout << "Failed to pushing GGA to server: " << std::endl;
-    }
-
     auto *data = new NMEA_GGA_data_t;
     const uint8_t res = this->gnss->getLatestNMEAGPGGA(data);
-    if (res == 2) // 2 means fresh data
+    if (res > 0) // 2 means fresh data
     {
         char positionUpdate[this->bufferSizePushGPGGA];
         snprintf(static_cast<char *>(positionUpdate),
                  this->bufferSizePushGPGGA,
-                 static_cast<const char *>("%s\r\n"),
+                 static_cast<const char *>("%s"),
                  data->nmea);
         this->ntripClient->write(positionUpdate, strlen(positionUpdate));
         std::cout << "Position update: " << positionUpdate << std::endl;
     }
+    else
+    {
+        std::cout << "NTRIPClient::pushGPGGA - No valid data to send position to caster." << std::endl;
+    }
     delete data;
 }
 

lib/NtripClient/ntripClient.h

@@ -130,7 +130,7 @@ private:
     const uint16_t timeOut = 10000;
     const uint16_t bufferSize = 512;
     const uint16_t bufferSizePushGPGGA = 128;
-    const uint16_t pushGPGGATime = 10000;
+    const uint16_t pushGPGGATime = 5000;
 
     static constexpr uint8_t loopDelay = 20;
 };

lib/Sensors/sensorData.cpp

@@ -25,11 +25,12 @@ SensorData::~SensorData()
     delete this->ntripClient;
 }
 
-void SensorData::enableNtrip(String host, uint16_t port, String mountPoint, String user, String password)
+void SensorData::enableNtrip(String host, uint16_t port, String mountPoint, String user, String password, bool sendOwnPosition)
 {
     this->ntripClient = new NTRIPClient(this->gnss, host.c_str(), port, mountPoint.c_str(), user.c_str(), password.c_str());
     this->ntripClient->gnssConfiguration();
     this->ntripClient->loop();
+    this->ntripClient->setTransmitLocation(sendOwnPosition);
     this->ntripClient->setActivated(false);
     this->isNtripInit = true;
     this->addChildComponent(this->ntripClient);
@@ -264,7 +265,7 @@ void SensorData::initGnss()
     std::cout << "u-blox protocol version: " << static_cast<int>(versionHigh) << "." << static_cast<int>(versionLow) << std::endl;
 
     this->gnss->setSPIOutput(COM_TYPE_UBX);
-    this->gnss->enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_SPI, 10);
+    this->gnss->enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_SPI);
     this->gnss->setUSBOutput(COM_TYPE_UBX | COM_TYPE_NMEA);
     this->gnss->setAutoPVTcallbackPtr(&(SensorData::savePVTdata));
     // SensorData::setOutputStatusPrintPVTdata(true);

lib/Sensors/sensorData.h

@@ -38,7 +38,7 @@ public:
     SensorData();
     ~SensorData();
 
-    void enableNtrip(String host, uint16_t port, String mountPoint, String user, String password);
+    void enableNtrip(String host, uint16_t port, String mountPoint, String user, String password, bool sendOwnPosition = false);
 
     /**
      * @brief Enable the gnss module over spi

src/SpecialMenus/SensorData/menuSensorData.cpp

@@ -150,3 +150,28 @@ void MenuSensorData::printPage() const
 
     this->print(lineOne, lineTwo);
 }
+
+void MenuSensorData::runCommand()
+{
+    switch (this->getCurrentPage())
+    {
+    case 5:
+        {
+            NTRIPClient* client = this->sensorData->getNtripClient();
+            NTRIPClientStates state = client->getClientState();
+            if (state == NTRIPClientStates::pushingData)
+            {
+                client->deactivate();
+            }
+            else if (state == NTRIPClientStates::waiting)
+            {
+                client->activate();
+            }
+        }
+        break;
+        
+    default:
+        
+        break;
+    }
+}

src/SpecialMenus/SensorData/menuSensorData.h

@@ -30,6 +30,7 @@ public:
 
 private:
     void printPage() const override;
+    void runCommand() override;
 
     SensorData *sensorData;
 };

src/driveModi/Modi/ManualControl/manualControl.cpp

@@ -47,7 +47,7 @@ void ManualControl::analogControl()
 
 void ManualControl::digitalControl()
 {
-    static constexpr uint8_t deadzone = 110;
+    static constexpr uint8_t deadzone = 120;
     const int16_t yAxis = this->input->x - 127;
     const int16_t xAxis = this->input->y - 127;
 

src/main.cpp

@@ -129,7 +129,8 @@ void setup()
                             NtripConfig::port,
                             static_cast<const char *>(NtripConfig::mountPoint),
                             static_cast<const char *>(NtripConfig::user),
-                            static_cast<const char *>(NtripConfig::password));
+                            static_cast<const char *>(NtripConfig::password),
+                            NtripConfig::sendOwnPosition);
     sensorData->enableGyroscope();
     driveManager = new DriveManager(&moveController, sensorData, controlPad->getControlPadDataPtr());