From 24e4e0e53ddcc0608a5b1f0e396f164bc0ad1e77 Mon Sep 17 00:00:00 2001 From: orlygur Date: Mon, 29 Apr 2019 11:11:01 +0000 Subject: [PATCH 01/35] update --- DataLogger/Car.ino | 0 DataLogger/Pit.ino | 0 2 files changed, 0 insertions(+), 0 deletions(-) create mode 100644 DataLogger/Car.ino create mode 100644 DataLogger/Pit.ino diff --git a/DataLogger/Car.ino b/DataLogger/Car.ino new file mode 100644 index 0000000..e69de29 diff --git a/DataLogger/Pit.ino b/DataLogger/Pit.ino new file mode 100644 index 0000000..e69de29 From 56404f662dcd5d16e1c78fe545bbdf8ccc076e72 Mon Sep 17 00:00:00 2001 From: orlygur Date: Mon, 29 Apr 2019 11:13:27 +0000 Subject: [PATCH 02/35] =?UTF-8?q?K=C3=B3=C3=B0i=20fyrir=20teensybor=C3=B0i?= =?UTF-8?q?n=20=C3=A1=20datalogger=20WIP=20b=C3=A6tt=20vi=C3=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- DataLogger/Car.ino | 195 +++++++++++++++++++++++++++++++++++++++++++++ DataLogger/Pit.ino | 167 ++++++++++++++++++++++++++++++++++++++ 2 files changed, 362 insertions(+) diff --git a/DataLogger/Car.ino b/DataLogger/Car.ino index e69de29..554717d 100644 --- a/DataLogger/Car.ino +++ b/DataLogger/Car.ino @@ -0,0 +1,195 @@ +#include +#include + +// Change to 434.0 or other frequency, must match RX's freq! +#define rf95_FREQ 915.0 +#define RFM69_CS 15 +#define RFM69_RST 25 +#define RFM69_INT 2 + +// Message definitions +#define ERRORLED 3 +#define REPLY_ACK 0x01 +#define REPLY_ERROR 0x03 +#define REPLAY_INITAL 0xFE + +// Pit Control caller ID +const uint8_t Pit_ID = 9; +// Car Computer caller ID +const uint8_t Car_ID = 8; + +//the command I will be sending: nr.1-command type, nr.2-value and nr.3-error check. +const int COMMAND_size = 3; +uint8_t COMMAND[COMMAND_size]; +uint8_t CMD_TYPE; +uint8_t CMD_VALUE; +uint8_t CMD_CHECK; + +//the data I will be recieving from the Flight Computer +uint8_t DATA_TYPE; +uint8_t DATA_VALUE; +uint8_t DATA_ERROR; +bool connectionEstablishedToPit = false; + +//Data +uint8_t CurrentState = 0; +uint8_t test = 0; + +enum STATE_NAMES +{ + TEST, + START, + READY, + RESET +}; + +// Singleton instance of the radio driver +RH_RF95 rf95(RFM69_CS, RFM69_INT); + +void setup() +{ + delay(10000); + Serial.begin(115200); + Serial.println("Race Car Sending Unit!"); Serial.println(""); + Serial.println("Setup start"); Serial.println(""); Serial.println(""); + Serial.println("Initializing..."); Serial.println(""); + + while(!rf95.init()) + { + Serial.println("Initialise failed!"); + while (1); + } + Serial.println("Initialise achieved!"); Serial.println(""); + + // Defaults after init are 915.0MHz, modulation GFSK_Rb250Fd250, +13dbM + if (!rf95.setFrequency(rf95_FREQ)) + { + Serial.println("setFrequency failed"); + while (1); + } + Serial.print("Frequency set to: "); Serial.println(rf95_FREQ); Serial.println(""); + + // Defaults after init are 434.0MHz, 13dBm, Bw = 125 kHz, Cr = 4/5, Sf = 128chips/symbol, CRC on The default transmitter power is 13dBm, using PA_BOOST. If you are using RFM69/96/97/98 modules which uses the PA_BOOST transmitter pin, then you can set transmitter powers from 5 to 23 dBm: + rf95.setModeTx(); + delay(100); + rf95.setTxPower(23, true); + Serial.println("Setup Complete."); Serial.println("____________________________________________________________"); + Serial.println("Establishing connection to Pit...."); Serial.println(""); + + if(establishConnection()) + { + Serial.println("Connection to the Pit established!"); Serial.println(""); Serial.println(""); + } + else + { + Serial.println("WARNING: Connection to Pit failed.."); Serial.println(""); Serial.println(""); + } + loop(); +} + +void sendMessage(uint8_t CMD_TYPE, uint8_t CMD_VALUE) +{ + // Check is the XOR of TYPE and VALUE + CMD_CHECK = CMD_VALUE ^ CMD_TYPE; + COMMAND[0] = CMD_TYPE; + COMMAND[1] = CMD_VALUE; + COMMAND[2] = CMD_CHECK; + + if(!rf95.send((uint8_t *)COMMAND, COMMAND_size)) + { + Serial.println("ERROR: Message not able to send!"); + } + Serial.println("Reply Sent!"); + + delay(10); + rf95.waitPacketSent(); + loop(); +} + +void recieveMessage() +{ + uint8_t buf[COMMAND_size]; + uint8_t len = sizeof(buf); + Serial.println("Waiting for reply..."); + + // Max wait for data is 1 sec.. + if (rf95.waitAvailableTimeout(100)) + { + if (rf95.recv(buf, &len)) + { + if (rf95.headerId() == Pit_ID) + { + if (buf[2] == (buf[0] ^ buf[1])) + { + connectionEstablishedToPit = true; + DATA_TYPE = buf[0]; + DATA_VALUE = buf[1]; + DATA_ERROR = buf[2]; + + switch (DATA_TYPE) + { + case 0x01: + Serial.print("#ACK COMMAND: "); Serial.println(buf[1]); + break; + + default: + connectionEstablishedToPit = false; + Serial.println("#FAILED"); + break; + } + sendMessage(0, REPLY_ACK); + } + else + { + Serial.println("CheakSum ERROR"); + //digitalWrite(ERRORLED, HIGH); + } + Serial.println((char *)buf); + Serial.print("RSSI: "); + Serial.println(rf95.lastRssi(), DEC); + } + else + { + Serial.println("Not my message, ID:"); Serial.println(rf95.headerId()); + } + } + else + { + Serial.println("ERROR: Receive message failed"); + } + } + else + { + Serial.println("WARNING: ACK not received"); + } +} + +bool establishConnection() +{ + sendMessage(Car_ID, REPLAY_INITAL); + + if(establishConnectionReply()) + { + return true; + } + return false; +} + +bool establishConnectionReply() +{ + if(connectionEstablishedToPit) + { + return true; + } + return false; +} + +void loop() +{ + Serial.println("____________________________________________________________"); + delay(100); + if(rf95.available()) + { + // + } +} \ No newline at end of file diff --git a/DataLogger/Pit.ino b/DataLogger/Pit.ino index e69de29..c7a3973 100644 --- a/DataLogger/Pit.ino +++ b/DataLogger/Pit.ino @@ -0,0 +1,167 @@ +#include +#include + +// Change to 434.0 or other frequency, must match RX's freq! +#define rf95_FREQ 915.0 +#define RFM69_CS 15 +#define RFM69_RST 25 +#define RFM69_INT 2 +#define ERRORLED 3 +#define REPLY_ACK 0x01 +//#define REPLY_ERROR 0x03 + +// Pit Control caller ID +const uint8_t Pit_ID = 9; + +// Car Computer caller ID +const uint8_t Car_ID = 8; + +//two types of commands: set state & set throttle +//uint8_t CMD_SET_STATE = 0x01; // B 0000 0001; +//uint8_t CMD_SET_THROTTLE = 0x02; // B 0000 0010; + +//the command I will be sending: nr.1-command type, nr.2-value and nr.3-error check. +const int COMMAND_size = 3; +uint8_t COMMAND[COMMAND_size]; +uint8_t CMD_TYPE; +uint8_t CMD_VALUE; +uint8_t CMD_CHECK; + +//the data I will be recieving from the Flight Computer +uint8_t DATA_TYPE; +uint8_t DATA_VALUE; +uint8_t DATA_ERROR; + +//Values +uint8_t CurrentState = 0; + +enum STATE_NAMES +{ + TEST, + START, + READY, + RESET +}; + +// Singleton instance of the radio driver +RH_RF95 rf95(RFM69_CS, RFM69_INT); + +void setup() +{ + delay(10000); + Serial.begin(115200); + Serial.println("Setup start"); + Serial.println("Pit Control Sending Unit!"); + Serial.println("Initializing"); + while(!rf95.init()) + { + Serial.println("Initialise failed!"); + while (1); + } + Serial.println("Initialise achieved!"); + + // Defaults after init are 434.0MHz, modulation GFSK_Rb250Fd250, +13dbM + if (!rf95.setFrequency(rf95_FREQ)) + { + Serial.println("setFrequency failed"); + while (1); + } + + Serial.print("Frequency set to: "); Serial.println(rf95_FREQ); + + // Defaults after init are 434.0MHz, 13dBm, Bw = 125 kHz, Cr = 4/5, Sf = 128chips/symbol, CRC on The default transmitter power is 13dBm, using PA_BOOST. If you are using RFM69/96/97/98 modules which uses the PA_BOOST transmitter pin, then you can set transmitter powers from 5 to 23 dBm: + rf95.setModeRx(); + delay(100); + rf95.setTxPower(23, true); + Serial.println("Setup Complete."); Serial.println("____________________________________________________________"); + + recieveMessage(); +} + +void sendMessage(uint8_t CMD_TYPE, uint8_t CMD_VALUE) +{ + // check is the XOR of TYPE and VALUE + CMD_CHECK = CMD_VALUE ^ CMD_TYPE; + COMMAND[0] = CMD_TYPE; + COMMAND[1] = CMD_VALUE; + COMMAND[2] = CMD_CHECK; + + if(!rf95.send((uint8_t *)COMMAND, COMMAND_size)) + Serial.println("ERROR: Message not able to send!"); + + Serial.println("Reply Sent!"); + delay(10); + rf95.waitPacketSent(); + + loop(); +} + +void recieveMessage() +{ + uint8_t buf[COMMAND_size]; + uint8_t len = sizeof(buf); + + Serial.println("Waiting for reply..."); + + // MAX wait for DATA is set 1 sec. + if (rf95.waitAvailableTimeout(10)) + { + if (rf95.recv(buf, &len)) + { + if (rf95.headerId() == Car_ID) + { + if (buf[2] == (buf[0] ^ buf[1])) + { + DATA_TYPE = buf[0]; + DATA_VALUE = buf[1]; + DATA_ERROR = buf[2]; + + switch (DATA_TYPE) + { + case 0x01: + Serial.print("#ACK COMMAND: "); + Serial.println(buf[1]); + //digitalWrite(ERRORLED, LOW); + break; + + default: + Serial.println("#FAILED"); + //digitalWrite(ERRORLED, HIGH); + break; + } + sendMessage(0, REPLY_ACK); + } + else + { + Serial.println("CheackSum ERROR"); + //digitalWrite(ERRORLED, HIGH); + } + Serial.println((char *)buf); + Serial.print("RSSI: "); + Serial.println(rf95.lastRssi(), DEC); + } + else + { + Serial.println("Not my message, ID:"); + Serial.println(rf95.headerId()); + } + } + else + { + Serial.println("Receive failed"); + } + } + else + { + Serial.println("ACK not received"); + } +} + +void loop() +{ + Serial.println("____________________________________________________________"); + recieveMessage(); + delay(100000); + if(!rf95.available()) + Serial.println("No message available from Car..."); +} \ No newline at end of file From 02f290c229849d99b9d66e138a9206a9e015d333 Mon Sep 17 00:00:00 2001 From: orlygur Date: Mon, 29 Apr 2019 11:22:03 +0000 Subject: [PATCH 03/35] code cleanup --- DataLogger/Car.ino | 251 ++++++++++++++++++++++++--------------------- DataLogger/Pit.ino | 221 ++++++++++++++++++++------------------- 2 files changed, 247 insertions(+), 225 deletions(-) diff --git a/DataLogger/Car.ino b/DataLogger/Car.ino index 554717d..57bda6e 100644 --- a/DataLogger/Car.ino +++ b/DataLogger/Car.ino @@ -37,10 +37,10 @@ uint8_t test = 0; enum STATE_NAMES { - TEST, - START, - READY, - RESET + TEST, + START, + READY, + RESET }; // Singleton instance of the radio driver @@ -48,148 +48,165 @@ RH_RF95 rf95(RFM69_CS, RFM69_INT); void setup() { - delay(10000); - Serial.begin(115200); - Serial.println("Race Car Sending Unit!"); Serial.println(""); - Serial.println("Setup start"); Serial.println(""); Serial.println(""); - Serial.println("Initializing..."); Serial.println(""); - - while(!rf95.init()) - { - Serial.println("Initialise failed!"); - while (1); - } - Serial.println("Initialise achieved!"); Serial.println(""); - - // Defaults after init are 915.0MHz, modulation GFSK_Rb250Fd250, +13dbM - if (!rf95.setFrequency(rf95_FREQ)) - { - Serial.println("setFrequency failed"); - while (1); - } - Serial.print("Frequency set to: "); Serial.println(rf95_FREQ); Serial.println(""); - - // Defaults after init are 434.0MHz, 13dBm, Bw = 125 kHz, Cr = 4/5, Sf = 128chips/symbol, CRC on The default transmitter power is 13dBm, using PA_BOOST. If you are using RFM69/96/97/98 modules which uses the PA_BOOST transmitter pin, then you can set transmitter powers from 5 to 23 dBm: - rf95.setModeTx(); - delay(100); - rf95.setTxPower(23, true); - Serial.println("Setup Complete."); Serial.println("____________________________________________________________"); - Serial.println("Establishing connection to Pit...."); Serial.println(""); - - if(establishConnection()) - { - Serial.println("Connection to the Pit established!"); Serial.println(""); Serial.println(""); - } - else - { - Serial.println("WARNING: Connection to Pit failed.."); Serial.println(""); Serial.println(""); - } - loop(); + delay(10000); + Serial.begin(115200); + Serial.println("Race Car Sending Unit!"); + Serial.println(""); + Serial.println("Setup start"); + Serial.println(""); + Serial.println(""); + Serial.println("Initializing..."); + Serial.println(""); + + while (!rf95.init()) + { + Serial.println("Initialise failed!"); + while (1) + ; + } + Serial.println("Initialise achieved!"); + Serial.println(""); + + // Defaults after init are 915.0MHz, modulation GFSK_Rb250Fd250, +13dbM + if (!rf95.setFrequency(rf95_FREQ)) + { + Serial.println("setFrequency failed"); + while (1) + ; + } + Serial.print("Frequency set to: "); + Serial.println(rf95_FREQ); + Serial.println(""); + + // Defaults after init are 434.0MHz, 13dBm, Bw = 125 kHz, Cr = 4/5, Sf = 128chips/symbol, CRC on The default transmitter power is 13dBm, using PA_BOOST. If you are using RFM69/96/97/98 modules which uses the PA_BOOST transmitter pin, then you can set transmitter powers from 5 to 23 dBm: + rf95.setModeTx(); + delay(100); + rf95.setTxPower(23, true); + Serial.println("Setup Complete."); + Serial.println("____________________________________________________________"); + Serial.println("Establishing connection to Pit...."); + Serial.println(""); + + if (establishConnection()) + { + Serial.println("Connection to the Pit established!"); + Serial.println(""); + Serial.println(""); + } + else + { + Serial.println("WARNING: Connection to Pit failed.."); + Serial.println(""); + Serial.println(""); + } + loop(); } void sendMessage(uint8_t CMD_TYPE, uint8_t CMD_VALUE) { - // Check is the XOR of TYPE and VALUE - CMD_CHECK = CMD_VALUE ^ CMD_TYPE; - COMMAND[0] = CMD_TYPE; - COMMAND[1] = CMD_VALUE; - COMMAND[2] = CMD_CHECK; - - if(!rf95.send((uint8_t *)COMMAND, COMMAND_size)) - { - Serial.println("ERROR: Message not able to send!"); - } - Serial.println("Reply Sent!"); - - delay(10); - rf95.waitPacketSent(); - loop(); + // Check is the XOR of TYPE and VALUE + CMD_CHECK = CMD_VALUE ^ CMD_TYPE; + COMMAND[0] = CMD_TYPE; + COMMAND[1] = CMD_VALUE; + COMMAND[2] = CMD_CHECK; + + if (!rf95.send((uint8_t *)COMMAND, COMMAND_size)) + { + Serial.println("ERROR: Message not able to send!"); + } + Serial.println("Reply Sent!"); + + delay(10); + rf95.waitPacketSent(); + loop(); } void recieveMessage() { - uint8_t buf[COMMAND_size]; - uint8_t len = sizeof(buf); - Serial.println("Waiting for reply..."); - - // Max wait for data is 1 sec.. - if (rf95.waitAvailableTimeout(100)) - { - if (rf95.recv(buf, &len)) + uint8_t buf[COMMAND_size]; + uint8_t len = sizeof(buf); + Serial.println("Waiting for reply..."); + + // Max wait for data is 1 sec.. + if (rf95.waitAvailableTimeout(100)) { - if (rf95.headerId() == Pit_ID) - { - if (buf[2] == (buf[0] ^ buf[1])) + if (rf95.recv(buf, &len)) { - connectionEstablishedToPit = true; - DATA_TYPE = buf[0]; - DATA_VALUE = buf[1]; - DATA_ERROR = buf[2]; - - switch (DATA_TYPE) - { - case 0x01: - Serial.print("#ACK COMMAND: "); Serial.println(buf[1]); - break; - - default: - connectionEstablishedToPit = false; - Serial.println("#FAILED"); - break; - } - sendMessage(0, REPLY_ACK); + if (rf95.headerId() == Pit_ID) + { + if (buf[2] == (buf[0] ^ buf[1])) + { + connectionEstablishedToPit = true; + DATA_TYPE = buf[0]; + DATA_VALUE = buf[1]; + DATA_ERROR = buf[2]; + + switch (DATA_TYPE) + { + case 0x01: + Serial.print("#ACK COMMAND: "); + Serial.println(buf[1]); + break; + + default: + connectionEstablishedToPit = false; + Serial.println("#FAILED"); + break; + } + sendMessage(0, REPLY_ACK); + } + else + { + Serial.println("CheakSum ERROR"); + //digitalWrite(ERRORLED, HIGH); + } + Serial.println((char *)buf); + Serial.print("RSSI: "); + Serial.println(rf95.lastRssi(), DEC); + } + else + { + Serial.println("Not my message, ID:"); + Serial.println(rf95.headerId()); + } } else { - Serial.println("CheakSum ERROR"); - //digitalWrite(ERRORLED, HIGH); + Serial.println("ERROR: Receive message failed"); } - Serial.println((char *)buf); - Serial.print("RSSI: "); - Serial.println(rf95.lastRssi(), DEC); - } - else - { - Serial.println("Not my message, ID:"); Serial.println(rf95.headerId()); - } } else { - Serial.println("ERROR: Receive message failed"); + Serial.println("WARNING: ACK not received"); } - } - else - { - Serial.println("WARNING: ACK not received"); - } } bool establishConnection() { - sendMessage(Car_ID, REPLAY_INITAL); + sendMessage(Car_ID, REPLAY_INITAL); - if(establishConnectionReply()) - { - return true; - } - return false; + if (establishConnectionReply()) + { + return true; + } + return false; } bool establishConnectionReply() { - if(connectionEstablishedToPit) - { - return true; - } - return false; + if (connectionEstablishedToPit) + { + return true; + } + return false; } void loop() { - Serial.println("____________________________________________________________"); - delay(100); - if(rf95.available()) - { - // - } + Serial.println("____________________________________________________________"); + delay(100); + if (rf95.available()) + { + // + } } \ No newline at end of file diff --git a/DataLogger/Pit.ino b/DataLogger/Pit.ino index c7a3973..8832565 100644 --- a/DataLogger/Pit.ino +++ b/DataLogger/Pit.ino @@ -6,6 +6,7 @@ #define RFM69_CS 15 #define RFM69_RST 25 #define RFM69_INT 2 + #define ERRORLED 3 #define REPLY_ACK 0x01 //#define REPLY_ERROR 0x03 @@ -37,10 +38,10 @@ uint8_t CurrentState = 0; enum STATE_NAMES { - TEST, - START, - READY, - RESET + TEST, + START, + READY, + RESET }; // Singleton instance of the radio driver @@ -48,120 +49,124 @@ RH_RF95 rf95(RFM69_CS, RFM69_INT); void setup() { - delay(10000); - Serial.begin(115200); - Serial.println("Setup start"); - Serial.println("Pit Control Sending Unit!"); - Serial.println("Initializing"); - while(!rf95.init()) - { - Serial.println("Initialise failed!"); - while (1); - } - Serial.println("Initialise achieved!"); - - // Defaults after init are 434.0MHz, modulation GFSK_Rb250Fd250, +13dbM - if (!rf95.setFrequency(rf95_FREQ)) - { - Serial.println("setFrequency failed"); - while (1); - } - - Serial.print("Frequency set to: "); Serial.println(rf95_FREQ); - - // Defaults after init are 434.0MHz, 13dBm, Bw = 125 kHz, Cr = 4/5, Sf = 128chips/symbol, CRC on The default transmitter power is 13dBm, using PA_BOOST. If you are using RFM69/96/97/98 modules which uses the PA_BOOST transmitter pin, then you can set transmitter powers from 5 to 23 dBm: - rf95.setModeRx(); - delay(100); - rf95.setTxPower(23, true); - Serial.println("Setup Complete."); Serial.println("____________________________________________________________"); - - recieveMessage(); + delay(10000); + Serial.begin(115200); + Serial.println("Setup start"); + Serial.println("Pit Control Sending Unit!"); + Serial.println("Initializing"); + while (!rf95.init()) + { + Serial.println("Initialise failed!"); + while (1) + ; + } + Serial.println("Initialise achieved!"); + + // Defaults after init are 434.0MHz, modulation GFSK_Rb250Fd250, +13dbM + if (!rf95.setFrequency(rf95_FREQ)) + { + Serial.println("setFrequency failed"); + while (1) + ; + } + + Serial.print("Frequency set to: "); + Serial.println(rf95_FREQ); + + // Defaults after init are 434.0MHz, 13dBm, Bw = 125 kHz, Cr = 4/5, Sf = 128chips/symbol, CRC on The default transmitter power is 13dBm, using PA_BOOST. If you are using RFM69/96/97/98 modules which uses the PA_BOOST transmitter pin, then you can set transmitter powers from 5 to 23 dBm: + rf95.setModeRx(); + delay(100); + rf95.setTxPower(23, true); + Serial.println("Setup Complete."); + Serial.println("____________________________________________________________"); + + recieveMessage(); } void sendMessage(uint8_t CMD_TYPE, uint8_t CMD_VALUE) { - // check is the XOR of TYPE and VALUE - CMD_CHECK = CMD_VALUE ^ CMD_TYPE; - COMMAND[0] = CMD_TYPE; - COMMAND[1] = CMD_VALUE; - COMMAND[2] = CMD_CHECK; - - if(!rf95.send((uint8_t *)COMMAND, COMMAND_size)) - Serial.println("ERROR: Message not able to send!"); - - Serial.println("Reply Sent!"); - delay(10); - rf95.waitPacketSent(); - - loop(); + // check is the XOR of TYPE and VALUE + CMD_CHECK = CMD_VALUE ^ CMD_TYPE; + COMMAND[0] = CMD_TYPE; + COMMAND[1] = CMD_VALUE; + COMMAND[2] = CMD_CHECK; + + if (!rf95.send((uint8_t *)COMMAND, COMMAND_size)) + Serial.println("ERROR: Message not able to send!"); + + Serial.println("Reply Sent!"); + delay(10); + rf95.waitPacketSent(); + + loop(); } void recieveMessage() { - uint8_t buf[COMMAND_size]; - uint8_t len = sizeof(buf); - - Serial.println("Waiting for reply..."); - - // MAX wait for DATA is set 1 sec. - if (rf95.waitAvailableTimeout(10)) - { - if (rf95.recv(buf, &len)) - { - if (rf95.headerId() == Car_ID) - { - if (buf[2] == (buf[0] ^ buf[1])) - { - DATA_TYPE = buf[0]; - DATA_VALUE = buf[1]; - DATA_ERROR = buf[2]; - - switch (DATA_TYPE) - { - case 0x01: - Serial.print("#ACK COMMAND: "); - Serial.println(buf[1]); - //digitalWrite(ERRORLED, LOW); - break; - - default: - Serial.println("#FAILED"); - //digitalWrite(ERRORLED, HIGH); - break; - } - sendMessage(0, REPLY_ACK); - } - else - { - Serial.println("CheackSum ERROR"); - //digitalWrite(ERRORLED, HIGH); - } - Serial.println((char *)buf); - Serial.print("RSSI: "); - Serial.println(rf95.lastRssi(), DEC); - } - else - { - Serial.println("Not my message, ID:"); - Serial.println(rf95.headerId()); - } - } - else - { - Serial.println("Receive failed"); - } - } - else - { - Serial.println("ACK not received"); - } + uint8_t buf[COMMAND_size]; + uint8_t len = sizeof(buf); + + Serial.println("Waiting for reply..."); + + // MAX wait for DATA is set 1 sec. + if (rf95.waitAvailableTimeout(10)) + { + if (rf95.recv(buf, &len)) + { + if (rf95.headerId() == Car_ID) + { + if (buf[2] == (buf[0] ^ buf[1])) + { + DATA_TYPE = buf[0]; + DATA_VALUE = buf[1]; + DATA_ERROR = buf[2]; + + switch (DATA_TYPE) + { + case 0x01: + Serial.print("#ACK COMMAND: "); + Serial.println(buf[1]); + //digitalWrite(ERRORLED, LOW); + break; + + default: + Serial.println("#FAILED"); + //digitalWrite(ERRORLED, HIGH); + break; + } + sendMessage(0, REPLY_ACK); + } + else + { + Serial.println("CheackSum ERROR"); + //digitalWrite(ERRORLED, HIGH); + } + Serial.println((char *)buf); + Serial.print("RSSI: "); + Serial.println(rf95.lastRssi(), DEC); + } + else + { + Serial.println("Not my message, ID:"); + Serial.println(rf95.headerId()); + } + } + else + { + Serial.println("Receive failed"); + } + } + else + { + Serial.println("ACK not received"); + } } void loop() { - Serial.println("____________________________________________________________"); - recieveMessage(); - delay(100000); - if(!rf95.available()) - Serial.println("No message available from Car..."); + Serial.println("____________________________________________________________"); + recieveMessage(); + delay(100000); + if (!rf95.available()) + Serial.println("No message available from Car..."); } \ No newline at end of file From d190e854b2a7d7ebce5423ae5ca9ea2e43011d83 Mon Sep 17 00:00:00 2001 From: orlygur Date: Mon, 29 Apr 2019 14:39:46 +0000 Subject: [PATCH 04/35] Reyna finna villu, recv -> always false --- DataLogger/Car.ino | 34 ++++--- DataLogger/Pit.ino | 236 +++++++++++++++++++++++---------------------- 2 files changed, 139 insertions(+), 131 deletions(-) diff --git a/DataLogger/Car.ino b/DataLogger/Car.ino index 57bda6e..1feeef7 100644 --- a/DataLogger/Car.ino +++ b/DataLogger/Car.ino @@ -9,14 +9,14 @@ // Message definitions #define ERRORLED 3 -#define REPLY_ACK 0x01 +#define REPLY_ACK 0x01 #define REPLY_ERROR 0x03 #define REPLAY_INITAL 0xFE // Pit Control caller ID -const uint8_t Pit_ID = 9; +const uint8_t Pit_ID = 7; // Car Computer caller ID -const uint8_t Car_ID = 8; +const uint8_t Car_ID = 6; //the command I will be sending: nr.1-command type, nr.2-value and nr.3-error check. const int COMMAND_size = 3; @@ -51,10 +51,7 @@ void setup() delay(10000); Serial.begin(115200); Serial.println("Race Car Sending Unit!"); - Serial.println(""); Serial.println("Setup start"); - Serial.println(""); - Serial.println(""); Serial.println("Initializing..."); Serial.println(""); @@ -87,7 +84,7 @@ void setup() Serial.println("Establishing connection to Pit...."); Serial.println(""); - if (establishConnection()) + /*if (establishConnection()) { Serial.println("Connection to the Pit established!"); Serial.println(""); @@ -98,7 +95,8 @@ void setup() Serial.println("WARNING: Connection to Pit failed.."); Serial.println(""); Serial.println(""); - } + }*/ + loop(); } @@ -117,8 +115,7 @@ void sendMessage(uint8_t CMD_TYPE, uint8_t CMD_VALUE) Serial.println("Reply Sent!"); delay(10); - rf95.waitPacketSent(); - loop(); + //rf95.waitPacketSent(); } void recieveMessage() @@ -128,10 +125,11 @@ void recieveMessage() Serial.println("Waiting for reply..."); // Max wait for data is 1 sec.. - if (rf95.waitAvailableTimeout(100)) + if (rf95.init())//rf95.waitAvailableTimeout(100)) { if (rf95.recv(buf, &len)) { + Serial.println("Recv is true!"); if (rf95.headerId() == Pit_ID) { if (buf[2] == (buf[0] ^ buf[1])) @@ -173,12 +171,17 @@ void recieveMessage() else { Serial.println("ERROR: Receive message failed"); + Serial.println(buf[0]); + Serial.println(buf[1]); + Serial.println(buf[2]); } } else { Serial.println("WARNING: ACK not received"); } + delay(1000); + loop(); } bool establishConnection() @@ -204,9 +207,8 @@ bool establishConnectionReply() void loop() { Serial.println("____________________________________________________________"); - delay(100); - if (rf95.available()) - { - // - } + delay(1000); + //recieveMessage(); + sendMessage(72, 27); + loop(); } \ No newline at end of file diff --git a/DataLogger/Pit.ino b/DataLogger/Pit.ino index 8832565..fc2b074 100644 --- a/DataLogger/Pit.ino +++ b/DataLogger/Pit.ino @@ -6,16 +6,15 @@ #define RFM69_CS 15 #define RFM69_RST 25 #define RFM69_INT 2 - #define ERRORLED 3 #define REPLY_ACK 0x01 //#define REPLY_ERROR 0x03 // Pit Control caller ID -const uint8_t Pit_ID = 9; +const uint8_t Pit_ID = 7; // Car Computer caller ID -const uint8_t Car_ID = 8; +const uint8_t Car_ID = 6; //two types of commands: set state & set throttle //uint8_t CMD_SET_STATE = 0x01; // B 0000 0001; @@ -38,10 +37,10 @@ uint8_t CurrentState = 0; enum STATE_NAMES { - TEST, - START, - READY, - RESET + TEST, + START, + READY, + RESET }; // Singleton instance of the radio driver @@ -49,124 +48,131 @@ RH_RF95 rf95(RFM69_CS, RFM69_INT); void setup() { - delay(10000); - Serial.begin(115200); - Serial.println("Setup start"); - Serial.println("Pit Control Sending Unit!"); - Serial.println("Initializing"); - while (!rf95.init()) - { - Serial.println("Initialise failed!"); - while (1) - ; - } - Serial.println("Initialise achieved!"); - - // Defaults after init are 434.0MHz, modulation GFSK_Rb250Fd250, +13dbM - if (!rf95.setFrequency(rf95_FREQ)) - { - Serial.println("setFrequency failed"); - while (1) - ; - } - - Serial.print("Frequency set to: "); - Serial.println(rf95_FREQ); - - // Defaults after init are 434.0MHz, 13dBm, Bw = 125 kHz, Cr = 4/5, Sf = 128chips/symbol, CRC on The default transmitter power is 13dBm, using PA_BOOST. If you are using RFM69/96/97/98 modules which uses the PA_BOOST transmitter pin, then you can set transmitter powers from 5 to 23 dBm: - rf95.setModeRx(); - delay(100); - rf95.setTxPower(23, true); - Serial.println("Setup Complete."); - Serial.println("____________________________________________________________"); - - recieveMessage(); + delay(10000); + Serial.begin(115200); + Serial.println("Setup start"); + Serial.println("Pit Control Sending Unit!"); + Serial.println("Initializing"); + while(!rf95.init()) + { + Serial.println("Initialise failed!"); + while (1); + } + Serial.println("Initialise achieved!"); + + // Defaults after init are 434.0MHz, modulation GFSK_Rb250Fd250, +13dbM + if (!rf95.setFrequency(rf95_FREQ)) + { + Serial.println("setFrequency failed"); + while (1); + } + + Serial.print("Frequency set to: "); Serial.println(rf95_FREQ); + + // Defaults after init are 434.0MHz, 13dBm, Bw = 125 kHz, Cr = 4/5, Sf = 128chips/symbol, CRC on The default transmitter power is 13dBm, using PA_BOOST. If you are using RFM69/96/97/98 modules which uses the PA_BOOST transmitter pin, then you can set transmitter powers from 5 to 23 dBm: + rf95.setModeRx(); + delay(100); + rf95.setTxPower(23, true); + Serial.println("Setup Complete."); Serial.println("____________________________________________________________"); + + recieveMessage(); } void sendMessage(uint8_t CMD_TYPE, uint8_t CMD_VALUE) { - // check is the XOR of TYPE and VALUE - CMD_CHECK = CMD_VALUE ^ CMD_TYPE; - COMMAND[0] = CMD_TYPE; - COMMAND[1] = CMD_VALUE; - COMMAND[2] = CMD_CHECK; - - if (!rf95.send((uint8_t *)COMMAND, COMMAND_size)) - Serial.println("ERROR: Message not able to send!"); - - Serial.println("Reply Sent!"); - delay(10); - rf95.waitPacketSent(); - - loop(); + // check is the XOR of TYPE and VALUE + CMD_CHECK = CMD_VALUE ^ CMD_TYPE; + COMMAND[0] = CMD_TYPE; + COMMAND[1] = CMD_VALUE; + COMMAND[2] = CMD_CHECK; + + if(!rf95.send((uint8_t *)COMMAND, COMMAND_size)) + Serial.println("ERROR: Message not able to send!"); + + Serial.println("Reply Sent!"); + delay(10); + rf95.waitPacketSent(); + + loop(); } void recieveMessage() { - uint8_t buf[COMMAND_size]; - uint8_t len = sizeof(buf); - - Serial.println("Waiting for reply..."); - - // MAX wait for DATA is set 1 sec. - if (rf95.waitAvailableTimeout(10)) - { - if (rf95.recv(buf, &len)) - { - if (rf95.headerId() == Car_ID) - { - if (buf[2] == (buf[0] ^ buf[1])) - { - DATA_TYPE = buf[0]; - DATA_VALUE = buf[1]; - DATA_ERROR = buf[2]; - - switch (DATA_TYPE) - { - case 0x01: - Serial.print("#ACK COMMAND: "); - Serial.println(buf[1]); - //digitalWrite(ERRORLED, LOW); - break; - - default: - Serial.println("#FAILED"); - //digitalWrite(ERRORLED, HIGH); - break; - } - sendMessage(0, REPLY_ACK); - } - else - { - Serial.println("CheackSum ERROR"); - //digitalWrite(ERRORLED, HIGH); - } - Serial.println((char *)buf); - Serial.print("RSSI: "); - Serial.println(rf95.lastRssi(), DEC); - } - else - { - Serial.println("Not my message, ID:"); - Serial.println(rf95.headerId()); - } - } - else - { - Serial.println("Receive failed"); - } - } - else - { - Serial.println("ACK not received"); - } + uint8_t buf[COMMAND_size] = {0,0,0}; + uint8_t len = sizeof(buf); + + Serial.println("Waiting for reply..."); + + // MAX wait for DATA is set 1 sec. + if (rf95.init())//.waitAvailableTimeout(10)) + { + if (rf95.recv(buf, &len)) + { + Serial.println("Recv is true!"); + if (rf95.headerId() == Car_ID) + { + if (buf[2] == (buf[0] ^ buf[1])) + { + DATA_TYPE = buf[0]; + DATA_VALUE = buf[1]; + DATA_ERROR = buf[2]; + + switch (DATA_TYPE) + { + case 0x01: + Serial.print("#ACK COMMAND: "); + Serial.println(buf[1]); + //digitalWrite(ERRORLED, LOW); + break; + + default: + Serial.println("#FAILED"); + //digitalWrite(ERRORLED, HIGH); + break; + } + //sendMessage(0, REPLY_ACK); + } + else + { + Serial.println("CheackSum ERROR"); + //digitalWrite(ERRORLED, HIGH); + } + Serial.println((char *)buf); + Serial.print("RSSI: "); + Serial.println(rf95.lastRssi(), DEC); + } + else + { + Serial.println("Not my message, ID:"); + Serial.println(rf95.headerId()); + } + } + else + { + Serial.println("Receive failed"); + Serial.println(buf[0]); + Serial.println(buf[1]); + Serial.println(buf[2]); + } + } + else + { + Serial.println("ACK not received"); + } + delay(1000); + loop(); } void loop() { - Serial.println("____________________________________________________________"); - recieveMessage(); - delay(100000); - if (!rf95.available()) - Serial.println("No message available from Car..."); + Serial.println("____________________________________________________________"); + + delay(1000); + if(!rf95.available()) + { + Serial.println("No message available from Car..."); + } + recieveMessage(); + //sendMessage(Pit_ID, REPLY_ACK); + //sendMessage(Car_ID, REPLY_ACK); } \ No newline at end of file From 4157546d5b98037f347acc05294597e3021d3e58 Mon Sep 17 00:00:00 2001 From: orlygur Date: Tue, 30 Apr 2019 10:50:25 +0000 Subject: [PATCH 05/35] sends between works ! --- DataLogger/Car.ino | 141 +++++++++------------------ DataLogger/Pit.ino | 236 ++++++++++++++++++--------------------------- 2 files changed, 143 insertions(+), 234 deletions(-) diff --git a/DataLogger/Car.ino b/DataLogger/Car.ino index 1feeef7..936e2e1 100644 --- a/DataLogger/Car.ino +++ b/DataLogger/Car.ino @@ -1,23 +1,19 @@ #include #include -// Change to 434.0 or other frequency, must match RX's freq! -#define rf95_FREQ 915.0 -#define RFM69_CS 15 -#define RFM69_RST 25 -#define RFM69_INT 2 +#define RF95_FREQ 434.0 +#define RFM95_CS 15 +#define RFM95_RST 25 +#define RFM95_INT 2 + +RH_RF95 rf95(RFM95_CS, RFM95_INT); // Message definitions #define ERRORLED 3 -#define REPLY_ACK 0x01 +#define REPLY_ACK 0x01 #define REPLY_ERROR 0x03 #define REPLAY_INITAL 0xFE -// Pit Control caller ID -const uint8_t Pit_ID = 7; -// Car Computer caller ID -const uint8_t Car_ID = 6; - //the command I will be sending: nr.1-command type, nr.2-value and nr.3-error check. const int COMMAND_size = 3; uint8_t COMMAND[COMMAND_size]; @@ -35,87 +31,19 @@ bool connectionEstablishedToPit = false; uint8_t CurrentState = 0; uint8_t test = 0; -enum STATE_NAMES -{ - TEST, - START, - READY, - RESET -}; +// Pit Control caller ID +const uint8_t Pit_ID = 7; -// Singleton instance of the radio driver -RH_RF95 rf95(RFM69_CS, RFM69_INT); +// Car Computer caller ID +const uint8_t Car_ID = 6; void setup() { - delay(10000); - Serial.begin(115200); - Serial.println("Race Car Sending Unit!"); - Serial.println("Setup start"); - Serial.println("Initializing..."); - Serial.println(""); - - while (!rf95.init()) - { - Serial.println("Initialise failed!"); - while (1) - ; - } - Serial.println("Initialise achieved!"); - Serial.println(""); - - // Defaults after init are 915.0MHz, modulation GFSK_Rb250Fd250, +13dbM - if (!rf95.setFrequency(rf95_FREQ)) - { - Serial.println("setFrequency failed"); - while (1) - ; - } - Serial.print("Frequency set to: "); - Serial.println(rf95_FREQ); - Serial.println(""); - - // Defaults after init are 434.0MHz, 13dBm, Bw = 125 kHz, Cr = 4/5, Sf = 128chips/symbol, CRC on The default transmitter power is 13dBm, using PA_BOOST. If you are using RFM69/96/97/98 modules which uses the PA_BOOST transmitter pin, then you can set transmitter powers from 5 to 23 dBm: - rf95.setModeTx(); - delay(100); - rf95.setTxPower(23, true); - Serial.println("Setup Complete."); - Serial.println("____________________________________________________________"); - Serial.println("Establishing connection to Pit...."); - Serial.println(""); - - /*if (establishConnection()) - { - Serial.println("Connection to the Pit established!"); - Serial.println(""); - Serial.println(""); - } - else - { - Serial.println("WARNING: Connection to Pit failed.."); - Serial.println(""); - Serial.println(""); - }*/ - - loop(); -} - -void sendMessage(uint8_t CMD_TYPE, uint8_t CMD_VALUE) -{ - // Check is the XOR of TYPE and VALUE - CMD_CHECK = CMD_VALUE ^ CMD_TYPE; - COMMAND[0] = CMD_TYPE; - COMMAND[1] = CMD_VALUE; - COMMAND[2] = CMD_CHECK; - - if (!rf95.send((uint8_t *)COMMAND, COMMAND_size)) - { - Serial.println("ERROR: Message not able to send!"); - } - Serial.println("Reply Sent!"); - - delay(10); - //rf95.waitPacketSent(); + Serial.begin(9600); + while (!Serial) + ; // Wait for serial port to be available + if (!rf95.init()) + Serial.println("init failed"); } void recieveMessage() @@ -125,11 +53,11 @@ void recieveMessage() Serial.println("Waiting for reply..."); // Max wait for data is 1 sec.. - if (rf95.init())//rf95.waitAvailableTimeout(100)) + if (rf95.init()) //rf95.waitAvailableTimeout(100)) { if (rf95.recv(buf, &len)) { - Serial.println("Recv is true!"); + Serial.println("Recv is true!"); if (rf95.headerId() == Pit_ID) { if (buf[2] == (buf[0] ^ buf[1])) @@ -181,7 +109,7 @@ void recieveMessage() Serial.println("WARNING: ACK not received"); } delay(1000); - loop(); + //loop(); } bool establishConnection() @@ -203,12 +131,39 @@ bool establishConnectionReply() } return false; } - +void sendMessage(uint8_t CMD_TYPE, uint8_t CMD_VALUE) +{ + rf95.setHeaderId(6); + uint8_t data = "testing thingy"; + rf95.send(data, sizeof(data)); + rf95.waitPacketSent(); + uint8_t buf[RH_RF95_MAX_MESSAGE_LEN]; + uint8_t len = sizeof(buf); + if (rf95.waitAvailableTimeout(3000)) + { + if (rf95.recv(buf, &len)) + { + Serial.print("got reply: "); + Serial.println((char *)buf); + Serial.print("RSSI: "); + Serial.println(rf95.lastRssi(), DEC); + } + else + { + Serial.println("recv failed"); + } + } + else + { + Serial.println("No reply, is rf95_server running?"); + } + delay(400); +} void loop() { Serial.println("____________________________________________________________"); delay(1000); //recieveMessage(); sendMessage(72, 27); - loop(); + //loop(); } \ No newline at end of file diff --git a/DataLogger/Pit.ino b/DataLogger/Pit.ino index fc2b074..4102ff2 100644 --- a/DataLogger/Pit.ino +++ b/DataLogger/Pit.ino @@ -1,24 +1,13 @@ #include #include -// Change to 434.0 or other frequency, must match RX's freq! -#define rf95_FREQ 915.0 -#define RFM69_CS 15 -#define RFM69_RST 25 -#define RFM69_INT 2 -#define ERRORLED 3 -#define REPLY_ACK 0x01 -//#define REPLY_ERROR 0x03 +#define RF95_FREQ 434.0 +#define RFM95_CS 15 +#define RFM95_RST 25 +#define RFM95_INT 2 -// Pit Control caller ID -const uint8_t Pit_ID = 7; - -// Car Computer caller ID -const uint8_t Car_ID = 6; - -//two types of commands: set state & set throttle -//uint8_t CMD_SET_STATE = 0x01; // B 0000 0001; -//uint8_t CMD_SET_THROTTLE = 0x02; // B 0000 0010; +// Singleton instance of the radio driver +RH_RF95 rf95(RFM95_CS, RFM95_INT); //the command I will be sending: nr.1-command type, nr.2-value and nr.3-error check. const int COMMAND_size = 3; @@ -35,144 +24,109 @@ uint8_t DATA_ERROR; //Values uint8_t CurrentState = 0; -enum STATE_NAMES -{ - TEST, - START, - READY, - RESET -}; +// Pit Control caller ID +const uint8_t Pit_ID = 7; -// Singleton instance of the radio driver -RH_RF95 rf95(RFM69_CS, RFM69_INT); +// Car Computer caller ID +const uint8_t Car_ID = 6; void setup() { - delay(10000); - Serial.begin(115200); - Serial.println("Setup start"); - Serial.println("Pit Control Sending Unit!"); - Serial.println("Initializing"); - while(!rf95.init()) - { - Serial.println("Initialise failed!"); - while (1); - } - Serial.println("Initialise achieved!"); - - // Defaults after init are 434.0MHz, modulation GFSK_Rb250Fd250, +13dbM - if (!rf95.setFrequency(rf95_FREQ)) - { - Serial.println("setFrequency failed"); - while (1); - } - - Serial.print("Frequency set to: "); Serial.println(rf95_FREQ); - - // Defaults after init are 434.0MHz, 13dBm, Bw = 125 kHz, Cr = 4/5, Sf = 128chips/symbol, CRC on The default transmitter power is 13dBm, using PA_BOOST. If you are using RFM69/96/97/98 modules which uses the PA_BOOST transmitter pin, then you can set transmitter powers from 5 to 23 dBm: - rf95.setModeRx(); - delay(100); - rf95.setTxPower(23, true); - Serial.println("Setup Complete."); Serial.println("____________________________________________________________"); - - recieveMessage(); + Serial.begin(9600); + while (!Serial) + ; // Wait for serial port to be available + if (!rf95.init()) + Serial.println("init failed"); } void sendMessage(uint8_t CMD_TYPE, uint8_t CMD_VALUE) { - // check is the XOR of TYPE and VALUE - CMD_CHECK = CMD_VALUE ^ CMD_TYPE; - COMMAND[0] = CMD_TYPE; - COMMAND[1] = CMD_VALUE; - COMMAND[2] = CMD_CHECK; - - if(!rf95.send((uint8_t *)COMMAND, COMMAND_size)) - Serial.println("ERROR: Message not able to send!"); - - Serial.println("Reply Sent!"); - delay(10); - rf95.waitPacketSent(); - - loop(); + // check is the XOR of TYPE and VALUE + CMD_CHECK = CMD_VALUE ^ CMD_TYPE; + COMMAND[0] = CMD_TYPE; + COMMAND[1] = CMD_VALUE; + COMMAND[2] = CMD_CHECK; + + if (!rf95.send((uint8_t *)COMMAND, COMMAND_size)) + Serial.println("ERROR: Message not able to send!"); + + Serial.println("Reply Sent!"); + delay(10); + rf95.waitPacketSent(); + + //loop(); } void recieveMessage() { - uint8_t buf[COMMAND_size] = {0,0,0}; - uint8_t len = sizeof(buf); - - Serial.println("Waiting for reply..."); - - // MAX wait for DATA is set 1 sec. - if (rf95.init())//.waitAvailableTimeout(10)) - { - if (rf95.recv(buf, &len)) - { - Serial.println("Recv is true!"); - if (rf95.headerId() == Car_ID) - { - if (buf[2] == (buf[0] ^ buf[1])) - { - DATA_TYPE = buf[0]; - DATA_VALUE = buf[1]; - DATA_ERROR = buf[2]; - - switch (DATA_TYPE) - { - case 0x01: - Serial.print("#ACK COMMAND: "); - Serial.println(buf[1]); - //digitalWrite(ERRORLED, LOW); - break; - - default: - Serial.println("#FAILED"); - //digitalWrite(ERRORLED, HIGH); - break; - } - //sendMessage(0, REPLY_ACK); - } - else - { - Serial.println("CheackSum ERROR"); - //digitalWrite(ERRORLED, HIGH); - } - Serial.println((char *)buf); - Serial.print("RSSI: "); - Serial.println(rf95.lastRssi(), DEC); - } - else - { - Serial.println("Not my message, ID:"); - Serial.println(rf95.headerId()); - } - } - else - { - Serial.println("Receive failed"); - Serial.println(buf[0]); - Serial.println(buf[1]); - Serial.println(buf[2]); - } - } - else - { - Serial.println("ACK not received"); - } - delay(1000); - loop(); + uint8_t buf[COMMAND_size] = {0, 0, 0}; + uint8_t len = sizeof(buf); + + Serial.println("Waiting for reply..."); + + // MAX wait for DATA is set 1 sec. + if (rf95.init()) //.waitAvailableTimeout(10)) + { + if (rf95.recv(buf, &len)) + { + Serial.println("Recv is true!"); + if (rf95.headerId() == Car_ID) + { + DATA_TYPE = buf[0]; + DATA_VALUE = buf[1]; + DATA_ERROR = buf[2]; + + /*switch (DATA_TYPE) + + case 0x01: + Serial.print("#ACK COMMAND: "); + Serial.println(buf[1]); + //digitalWrite(ERRORLED, LOW); + + + default: + Serial.println("#FAILED"); + //digitalWrite(ERRORLED, HIGH); + break;*/ + + //sendMessage(0, REPLY_ACK); + + Serial.println((char *)buf); + Serial.print("RSSI: "); + Serial.println(rf95.lastRssi(), DEC); + } + else + { + Serial.println("Not my message, ID:"); + Serial.println(rf95.headerId()); + } + } + else + { + Serial.println("Receive failed"); + Serial.println(buf[0]); + Serial.println(buf[1]); + Serial.println(buf[2]); + } + } + else + { + Serial.println("ACK not received"); + } + delay(1000); + //loop(); } void loop() { - Serial.println("____________________________________________________________"); - - delay(1000); - if(!rf95.available()) - { - Serial.println("No message available from Car..."); - } - recieveMessage(); - //sendMessage(Pit_ID, REPLY_ACK); - //sendMessage(Car_ID, REPLY_ACK); + Serial.println("____________________________________________________________"); + + delay(1000); + if (!rf95.available()) + { + Serial.println("No message available from Car..."); + } + recieveMessage(); + //sendMessage(Pit_ID, REPLY_ACK); + //sendMessage(Car_ID, REPLY_ACK); } \ No newline at end of file From 0573266c0d945340bc2b3f3a86d12e0e04be06c6 Mon Sep 17 00:00:00 2001 From: Kristbjorg16 Date: Tue, 30 Apr 2019 11:20:29 +0000 Subject: [PATCH 06/35] test --- DataLogger/Car.ino | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/DataLogger/Car.ino b/DataLogger/Car.ino index 936e2e1..d0f30de 100644 --- a/DataLogger/Car.ino +++ b/DataLogger/Car.ino @@ -6,7 +6,7 @@ #define RFM95_RST 25 #define RFM95_INT 2 -RH_RF95 rf95(RFM95_CS, RFM95_INT); +RH_RF95 rf95(RFM95_CS, RFM95_INT); // Message definitions #define ERRORLED 3 From 310a5c193095e2e5acc09b13d04760fb1942a69a Mon Sep 17 00:00:00 2001 From: orlygur Date: Tue, 30 Apr 2019 11:22:57 +0000 Subject: [PATCH 07/35] cleanup --- DataLogger/Car.ino | 52 +++++++++++++++++----------------------------- 1 file changed, 19 insertions(+), 33 deletions(-) diff --git a/DataLogger/Car.ino b/DataLogger/Car.ino index 936e2e1..26b8b7a 100644 --- a/DataLogger/Car.ino +++ b/DataLogger/Car.ino @@ -53,39 +53,31 @@ void recieveMessage() Serial.println("Waiting for reply..."); // Max wait for data is 1 sec.. - if (rf95.init()) //rf95.waitAvailableTimeout(100)) + if (rf95.waitAvailableTimeout(100)) { if (rf95.recv(buf, &len)) { - Serial.println("Recv is true!"); if (rf95.headerId() == Pit_ID) { - if (buf[2] == (buf[0] ^ buf[1])) - { - connectionEstablishedToPit = true; - DATA_TYPE = buf[0]; - DATA_VALUE = buf[1]; - DATA_ERROR = buf[2]; - - switch (DATA_TYPE) - { - case 0x01: - Serial.print("#ACK COMMAND: "); - Serial.println(buf[1]); - break; - - default: - connectionEstablishedToPit = false; - Serial.println("#FAILED"); - break; - } - sendMessage(0, REPLY_ACK); - } - else + connectionEstablishedToPit = true; + DATA_TYPE = buf[0]; + DATA_VALUE = buf[1]; + DATA_ERROR = buf[2]; + + switch (DATA_TYPE) { - Serial.println("CheakSum ERROR"); - //digitalWrite(ERRORLED, HIGH); + case 0x01: + Serial.print("#ACK COMMAND: "); + Serial.println(buf[1]); + break; + + default: + connectionEstablishedToPit = false; + Serial.println("#FAILED"); + break; } + sendMessage(0, REPLY_ACK); + Serial.println((char *)buf); Serial.print("RSSI: "); Serial.println(rf95.lastRssi(), DEC); @@ -99,9 +91,6 @@ void recieveMessage() else { Serial.println("ERROR: Receive message failed"); - Serial.println(buf[0]); - Serial.println(buf[1]); - Serial.println(buf[2]); } } else @@ -109,7 +98,6 @@ void recieveMessage() Serial.println("WARNING: ACK not received"); } delay(1000); - //loop(); } bool establishConnection() @@ -131,6 +119,7 @@ bool establishConnectionReply() } return false; } + void sendMessage(uint8_t CMD_TYPE, uint8_t CMD_VALUE) { rf95.setHeaderId(6); @@ -163,7 +152,4 @@ void loop() { Serial.println("____________________________________________________________"); delay(1000); - //recieveMessage(); - sendMessage(72, 27); - //loop(); } \ No newline at end of file From eec3500a9710682ba5048e6ec8b83192ea4550d3 Mon Sep 17 00:00:00 2001 From: orlygur Date: Tue, 30 Apr 2019 12:03:26 +0000 Subject: [PATCH 08/35] cleanup --- DataLogger/Car.ino | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/DataLogger/Car.ino b/DataLogger/Car.ino index 27179c6..7aec2d5 100644 --- a/DataLogger/Car.ino +++ b/DataLogger/Car.ino @@ -5,17 +5,16 @@ #define RFM95_CS 15 #define RFM95_RST 25 #define RFM95_INT 2 +#define ERRORLED 3 RH_RF95 rf95(RFM95_CS, RFM95_INT); // Message definitions -#define ERRORLED 3 #define REPLY_ACK 0x01 #define REPLY_ERROR 0x03 -#define REPLAY_INITAL 0xFE //the command I will be sending: nr.1-command type, nr.2-value and nr.3-error check. -const int COMMAND_size = 3; +const int COMMAND_size = RH_RF95_MAX_MESSAGE_LEN; uint8_t COMMAND[COMMAND_size]; uint8_t CMD_TYPE; uint8_t CMD_VALUE; @@ -102,7 +101,7 @@ void recieveMessage() bool establishConnection() { - sendMessage(Car_ID, REPLAY_INITAL); + sendMessage(Car_ID, 0x01); if (establishConnectionReply()) { @@ -123,7 +122,7 @@ bool establishConnectionReply() void sendMessage(uint8_t CMD_TYPE, uint8_t CMD_VALUE) { rf95.setHeaderId(6); - uint8_t data = "testing thingy"; + uint8_t data[3] = {CMD_TYPE, CMD_VALUE}; rf95.send(data, sizeof(data)); rf95.waitPacketSent(); uint8_t buf[RH_RF95_MAX_MESSAGE_LEN]; From e05145a50feb4e45c468a0044614945a19167ba1 Mon Sep 17 00:00:00 2001 From: orlygur Date: Tue, 30 Apr 2019 13:02:47 +0000 Subject: [PATCH 09/35] fixing radio to work with strings --- DataLogger/Car.ino | 39 ++++++++++++-------- DataLogger/Pit.ino | 89 ++++++++++++++++++++++++++-------------------- 2 files changed, 75 insertions(+), 53 deletions(-) diff --git a/DataLogger/Car.ino b/DataLogger/Car.ino index 7aec2d5..afb9ce5 100644 --- a/DataLogger/Car.ino +++ b/DataLogger/Car.ino @@ -38,11 +38,14 @@ const uint8_t Car_ID = 6; void setup() { + delay(500); + Serial.println("Race Car Setup"); Serial.begin(9600); while (!Serial) ; // Wait for serial port to be available if (!rf95.init()) Serial.println("init failed"); + sendMessage(REPLY_ACK); } void recieveMessage() @@ -52,7 +55,7 @@ void recieveMessage() Serial.println("Waiting for reply..."); // Max wait for data is 1 sec.. - if (rf95.waitAvailableTimeout(100)) + if (rf95.waitAvailableTimeout(1000)) { if (rf95.recv(buf, &len)) { @@ -75,7 +78,7 @@ void recieveMessage() Serial.println("#FAILED"); break; } - sendMessage(0, REPLY_ACK); + sendMessage(REPLY_ACK); Serial.println((char *)buf); Serial.print("RSSI: "); @@ -101,7 +104,7 @@ void recieveMessage() bool establishConnection() { - sendMessage(Car_ID, 0x01); + sendMessage(REPLY_ACK); if (establishConnectionReply()) { @@ -119,22 +122,29 @@ bool establishConnectionReply() return false; } -void sendMessage(uint8_t CMD_TYPE, uint8_t CMD_VALUE) +void sendMessage(uint8_t CMD) { - rf95.setHeaderId(6); - uint8_t data[3] = {CMD_TYPE, CMD_VALUE}; + rf95.setHeaderId(Car_ID); + uint8_t data[RH_RF95_MAX_MESSAGE_LEN] = {CMD}; + uint8_t len = sizeof(data); + rf95.send(data, sizeof(data)); rf95.waitPacketSent(); uint8_t buf[RH_RF95_MAX_MESSAGE_LEN]; - uint8_t len = sizeof(buf); - if (rf95.waitAvailableTimeout(3000)) + + if (rf95.waitAvailableTimeout(4000)) { if (rf95.recv(buf, &len)) { Serial.print("got reply: "); - Serial.println((char *)buf); - Serial.print("RSSI: "); - Serial.println(rf95.lastRssi(), DEC); + //Serial.println((char *)buf); + //Serial.print("RSSI: "); + //Serial.println(rf95.lastRssi(), DEC); + for ( int i = 0; i < len; i++) + { + Serial.print((char)buf[i]); + } + Serial.println(""); } else { @@ -145,10 +155,11 @@ void sendMessage(uint8_t CMD_TYPE, uint8_t CMD_VALUE) { Serial.println("No reply, is rf95_server running?"); } - delay(400); + delay(10); } + void loop() { - Serial.println("____________________________________________________________"); - delay(1000); + //Serial.println("____________________________________________________________"); + delay(10); } \ No newline at end of file diff --git a/DataLogger/Pit.ino b/DataLogger/Pit.ino index 4102ff2..dfdb425 100644 --- a/DataLogger/Pit.ino +++ b/DataLogger/Pit.ino @@ -6,9 +6,12 @@ #define RFM95_RST 25 #define RFM95_INT 2 -// Singleton instance of the radio driver RH_RF95 rf95(RFM95_CS, RFM95_INT); +// Message definitions +#define REPLY_ACK 0x01 +#define REPLY_ERROR 0x03 + //the command I will be sending: nr.1-command type, nr.2-value and nr.3-error check. const int COMMAND_size = 3; uint8_t COMMAND[COMMAND_size]; @@ -32,6 +35,8 @@ const uint8_t Car_ID = 6; void setup() { + delay(500); + Serial.println("Pit Lane Setup"); Serial.begin(9600); while (!Serial) ; // Wait for serial port to be available @@ -39,43 +44,60 @@ void setup() Serial.println("init failed"); } -void sendMessage(uint8_t CMD_TYPE, uint8_t CMD_VALUE) +void sendMessage(uint8_t CMD) { - // check is the XOR of TYPE and VALUE - CMD_CHECK = CMD_VALUE ^ CMD_TYPE; - COMMAND[0] = CMD_TYPE; - COMMAND[1] = CMD_VALUE; - COMMAND[2] = CMD_CHECK; - - if (!rf95.send((uint8_t *)COMMAND, COMMAND_size)) - Serial.println("ERROR: Message not able to send!"); - - Serial.println("Reply Sent!"); - delay(10); + rf95.setHeaderId(Car_ID); + uint8_t data[RH_RF95_MAX_MESSAGE_LEN] = {CMD}; + uint8_t len = sizeof(data); + + rf95.send(data, sizeof(data)); rf95.waitPacketSent(); - - //loop(); + uint8_t buf[RH_RF95_MAX_MESSAGE_LEN]; + + if (rf95.waitAvailableTimeout(4000)) + { + if (rf95.recv(buf, &len)) + { + Serial.print("got reply: "); + //Serial.println((char *)buf); + //Serial.print("RSSI: "); + //Serial.println(rf95.lastRssi(), DEC); + for ( int i = 0; i < len; i++) + { + Serial.print((char)buf[i]); + } + Serial.println(""); + } + else + { + Serial.println("recv failed"); + } + } + else + { + Serial.println("No reply, is rf95_server running?"); + } + delay(10); } void recieveMessage() { - uint8_t buf[COMMAND_size] = {0, 0, 0}; + uint8_t buf[RH_RF95_MAX_MESSAGE_LEN]; uint8_t len = sizeof(buf); Serial.println("Waiting for reply..."); // MAX wait for DATA is set 1 sec. - if (rf95.init()) //.waitAvailableTimeout(10)) + if (rf95.waitAvailableTimeout(400)) { if (rf95.recv(buf, &len)) { - Serial.println("Recv is true!"); if (rf95.headerId() == Car_ID) { - DATA_TYPE = buf[0]; - DATA_VALUE = buf[1]; - DATA_ERROR = buf[2]; - + for ( int i = 0; i < len; i++) + { + Serial.print((char)buf[i]); + } /*switch (DATA_TYPE) case 0x01: @@ -89,11 +111,11 @@ void recieveMessage() //digitalWrite(ERRORLED, HIGH); break;*/ - //sendMessage(0, REPLY_ACK); + sendMessage(REPLY_ACK); - Serial.println((char *)buf); - Serial.print("RSSI: "); - Serial.println(rf95.lastRssi(), DEC); + //Serial.println((char *)buf); + //Serial.print("RSSI: "); + //Serial.println(rf95.lastRssi(), DEC); } else { @@ -104,9 +126,6 @@ void recieveMessage() else { Serial.println("Receive failed"); - Serial.println(buf[0]); - Serial.println(buf[1]); - Serial.println(buf[2]); } } else @@ -114,19 +133,11 @@ void recieveMessage() Serial.println("ACK not received"); } delay(1000); - //loop(); } void loop() { - Serial.println("____________________________________________________________"); - - delay(1000); - if (!rf95.available()) - { - Serial.println("No message available from Car..."); - } + //Serial.println("____________________________________________________________"); + delay(10); recieveMessage(); - //sendMessage(Pit_ID, REPLY_ACK); - //sendMessage(Car_ID, REPLY_ACK); } \ No newline at end of file From 441044fab8dca3d889399301a22a3eed2a1764cc Mon Sep 17 00:00:00 2001 From: orlygur Date: Tue, 30 Apr 2019 14:07:32 +0000 Subject: [PATCH 10/35] quick fix --- DataLogger/Car.ino | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/DataLogger/Car.ino b/DataLogger/Car.ino index afb9ce5..ff00812 100644 --- a/DataLogger/Car.ino +++ b/DataLogger/Car.ino @@ -125,7 +125,7 @@ bool establishConnectionReply() void sendMessage(uint8_t CMD) { rf95.setHeaderId(Car_ID); - uint8_t data[RH_RF95_MAX_MESSAGE_LEN] = {CMD}; + uint8_t data[RH_RF95_MAX_MESSAGE_LEN] = {"this is a message"};//{CMD}; uint8_t len = sizeof(data); rf95.send(data, sizeof(data)); @@ -162,4 +162,5 @@ void loop() { //Serial.println("____________________________________________________________"); delay(10); + sendMessage(2); } \ No newline at end of file From 5915c024890748e6d9f785f09ba81fbe0d0dbffa Mon Sep 17 00:00:00 2001 From: orlygur Date: Wed, 1 May 2019 11:22:06 +0000 Subject: [PATCH 11/35] code cleanup --- DataLogger/Car.ino | 51 +++++++++++++-------------------- DataLogger/Pit.ino | 70 ++++++++++++++++++++-------------------------- 2 files changed, 50 insertions(+), 71 deletions(-) diff --git a/DataLogger/Car.ino b/DataLogger/Car.ino index ff00812..91f8a83 100644 --- a/DataLogger/Car.ino +++ b/DataLogger/Car.ino @@ -7,7 +7,7 @@ #define RFM95_INT 2 #define ERRORLED 3 -RH_RF95 rf95(RFM95_CS, RFM95_INT); +RH_RF95 rf95(RFM95_CS, RFM95_INT); // Message definitions #define REPLY_ACK 0x01 @@ -16,9 +16,6 @@ RH_RF95 rf95(RFM95_CS, RFM95_INT); //the command I will be sending: nr.1-command type, nr.2-value and nr.3-error check. const int COMMAND_size = RH_RF95_MAX_MESSAGE_LEN; uint8_t COMMAND[COMMAND_size]; -uint8_t CMD_TYPE; -uint8_t CMD_VALUE; -uint8_t CMD_CHECK; //the data I will be recieving from the Flight Computer uint8_t DATA_TYPE; @@ -26,10 +23,6 @@ uint8_t DATA_VALUE; uint8_t DATA_ERROR; bool connectionEstablishedToPit = false; -//Data -uint8_t CurrentState = 0; -uint8_t test = 0; - // Pit Control caller ID const uint8_t Pit_ID = 7; @@ -52,7 +45,7 @@ void recieveMessage() { uint8_t buf[COMMAND_size]; uint8_t len = sizeof(buf); - Serial.println("Waiting for reply..."); + //Serial.println("Waiting for reply..."); // Max wait for data is 1 sec.. if (rf95.waitAvailableTimeout(1000)) @@ -62,15 +55,11 @@ void recieveMessage() if (rf95.headerId() == Pit_ID) { connectionEstablishedToPit = true; - DATA_TYPE = buf[0]; - DATA_VALUE = buf[1]; - DATA_ERROR = buf[2]; - switch (DATA_TYPE) { case 0x01: Serial.print("#ACK COMMAND: "); - Serial.println(buf[1]); + Serial.println(COMMAND[1]); break; default: @@ -79,14 +68,13 @@ void recieveMessage() break; } sendMessage(REPLY_ACK); - - Serial.println((char *)buf); - Serial.print("RSSI: "); - Serial.println(rf95.lastRssi(), DEC); + //Serial.println((char *)buf); + //Serial.print("RSSI: "); + //Serial.println(rf95.lastRssi(), DEC); } else { - Serial.println("Not my message, ID:"); + Serial.println("Not my message, ID: "); Serial.println(rf95.headerId()); } } @@ -105,7 +93,6 @@ void recieveMessage() bool establishConnection() { sendMessage(REPLY_ACK); - if (establishConnectionReply()) { return true; @@ -125,26 +112,28 @@ bool establishConnectionReply() void sendMessage(uint8_t CMD) { rf95.setHeaderId(Car_ID); - uint8_t data[RH_RF95_MAX_MESSAGE_LEN] = {"this is a message"};//{CMD}; - uint8_t len = sizeof(data); - - rf95.send(data, sizeof(data)); + uint8_t buf[RH_RF95_MAX_MESSAGE_LEN] = {"this is a message"}; //{CMD}; + uint8_t len = sizeof(buf); + + rf95.send(buf, sizeof(buf)); rf95.waitPacketSent(); - uint8_t buf[RH_RF95_MAX_MESSAGE_LEN]; - + + buf = { }; + //uint8_t buf[RH_RF95_MAX_MESSAGE_LEN]; + if (rf95.waitAvailableTimeout(4000)) { if (rf95.recv(buf, &len)) { - Serial.print("got reply: "); + Serial.print("Got a reply: "); //Serial.println((char *)buf); //Serial.print("RSSI: "); //Serial.println(rf95.lastRssi(), DEC); - for ( int i = 0; i < len; i++) - { + for (int i = 0; i < len; i++) + { Serial.print((char)buf[i]); - } - Serial.println(""); + } + Serial.println(""); } else { diff --git a/DataLogger/Pit.ino b/DataLogger/Pit.ino index dfdb425..87ac07b 100644 --- a/DataLogger/Pit.ino +++ b/DataLogger/Pit.ino @@ -15,17 +15,6 @@ RH_RF95 rf95(RFM95_CS, RFM95_INT); //the command I will be sending: nr.1-command type, nr.2-value and nr.3-error check. const int COMMAND_size = 3; uint8_t COMMAND[COMMAND_size]; -uint8_t CMD_TYPE; -uint8_t CMD_VALUE; -uint8_t CMD_CHECK; - -//the data I will be recieving from the Flight Computer -uint8_t DATA_TYPE; -uint8_t DATA_VALUE; -uint8_t DATA_ERROR; - -//Values -uint8_t CurrentState = 0; // Pit Control caller ID const uint8_t Pit_ID = 7; @@ -36,7 +25,7 @@ const uint8_t Car_ID = 6; void setup() { delay(500); - Serial.println("Pit Lane Setup"); + //Serial.println("Pit Lane Setup"); Serial.begin(9600); while (!Serial) ; // Wait for serial port to be available @@ -49,24 +38,24 @@ void sendMessage(uint8_t CMD) rf95.setHeaderId(Car_ID); uint8_t data[RH_RF95_MAX_MESSAGE_LEN] = {CMD}; uint8_t len = sizeof(data); - + rf95.send(data, sizeof(data)); rf95.waitPacketSent(); uint8_t buf[RH_RF95_MAX_MESSAGE_LEN]; - + if (rf95.waitAvailableTimeout(4000)) { if (rf95.recv(buf, &len)) { - Serial.print("got reply: "); + Serial.print("Got a reply: "); //Serial.println((char *)buf); //Serial.print("RSSI: "); //Serial.println(rf95.lastRssi(), DEC); - for ( int i = 0; i < len; i++) - { + for (int i = 0; i < len; i++) + { Serial.print((char)buf[i]); - } - Serial.println(""); + } + Serial.println(""); } else { @@ -75,7 +64,7 @@ void sendMessage(uint8_t CMD) } else { - Serial.println("No reply, is rf95_server running?"); + Serial.println("No reply, is the Car sender running?"); } delay(10); } @@ -85,7 +74,7 @@ void recieveMessage() uint8_t buf[RH_RF95_MAX_MESSAGE_LEN]; uint8_t len = sizeof(buf); - Serial.println("Waiting for reply..."); + //Serial.println("Waiting for reply..."); // MAX wait for DATA is set 1 sec. if (rf95.waitAvailableTimeout(400)) @@ -94,32 +83,33 @@ void recieveMessage() { if (rf95.headerId() == Car_ID) { - for ( int i = 0; i < len; i++) - { - Serial.print((char)buf[i]); - } - /*switch (DATA_TYPE) - - case 0x01: - Serial.print("#ACK COMMAND: "); - Serial.println(buf[1]); - //digitalWrite(ERRORLED, LOW); - - - default: - Serial.println("#FAILED"); - //digitalWrite(ERRORLED, HIGH); - break;*/ - + for (int i = 0; i < len; i++) + { + Serial.print((char)buf[i]); + } + + switch (buf[0]) + { + case 0x01: + Serial.print("#ACK COMMAND: "); + Serial.println(buf[1]); + //digitalWrite(ERRORLED, LOW); + break; + + default: + //Serial.println("#FAILED"); + //digitalWrite(ERRORLED, HIGH); + + break; + } sendMessage(REPLY_ACK); - //Serial.println((char *)buf); //Serial.print("RSSI: "); //Serial.println(rf95.lastRssi(), DEC); } else { - Serial.println("Not my message, ID:"); + Serial.println("Not my message, ID: "); Serial.println(rf95.headerId()); } } From 0706c776ac495879ffb97a3b70ac98bcc42b3375 Mon Sep 17 00:00:00 2001 From: orlygur Date: Thu, 2 May 2019 09:28:26 +0000 Subject: [PATCH 12/35] =?UTF-8?q?sm=C3=A1=20lagf=C3=A6ringar?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- DataLogger/Car.ino | 2 +- DataLogger/Pit.ino | 8 ++++---- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/DataLogger/Car.ino b/DataLogger/Car.ino index 91f8a83..af03edd 100644 --- a/DataLogger/Car.ino +++ b/DataLogger/Car.ino @@ -112,7 +112,7 @@ bool establishConnectionReply() void sendMessage(uint8_t CMD) { rf95.setHeaderId(Car_ID); - uint8_t buf[RH_RF95_MAX_MESSAGE_LEN] = {"this is a message"}; //{CMD}; + uint8_t buf[COMMAND_size] = {"this is a message"}; //{CMD}; uint8_t len = sizeof(buf); rf95.send(buf, sizeof(buf)); diff --git a/DataLogger/Pit.ino b/DataLogger/Pit.ino index 87ac07b..f5348d2 100644 --- a/DataLogger/Pit.ino +++ b/DataLogger/Pit.ino @@ -13,7 +13,7 @@ RH_RF95 rf95(RFM95_CS, RFM95_INT); #define REPLY_ERROR 0x03 //the command I will be sending: nr.1-command type, nr.2-value and nr.3-error check. -const int COMMAND_size = 3; +const int COMMAND_size = RH_RF95_MAX_MESSAGE_LEN; uint8_t COMMAND[COMMAND_size]; // Pit Control caller ID @@ -36,12 +36,12 @@ void setup() void sendMessage(uint8_t CMD) { rf95.setHeaderId(Car_ID); - uint8_t data[RH_RF95_MAX_MESSAGE_LEN] = {CMD}; + uint8_t data[COMMAND_size] = {CMD}; uint8_t len = sizeof(data); rf95.send(data, sizeof(data)); rf95.waitPacketSent(); - uint8_t buf[RH_RF95_MAX_MESSAGE_LEN]; + uint8_t buf[COMMAND_size]; if (rf95.waitAvailableTimeout(4000)) { @@ -71,7 +71,7 @@ void sendMessage(uint8_t CMD) void recieveMessage() { - uint8_t buf[RH_RF95_MAX_MESSAGE_LEN]; + uint8_t buf[COMMAND_size]; uint8_t len = sizeof(buf); //Serial.println("Waiting for reply..."); From 83f7fdeb6c35481eed9204f14e1f4fbfc24b8e2b Mon Sep 17 00:00:00 2001 From: Kristbjorg16 Date: Thu, 2 May 2019 15:31:40 +0000 Subject: [PATCH 13/35] =?UTF-8?q?b=C3=A6tti=20vid=20fyrir=20rpi?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- DataLogger/Pit.ino | 3 +++ 1 file changed, 3 insertions(+) diff --git a/DataLogger/Pit.ino b/DataLogger/Pit.ino index f5348d2..d79023f 100644 --- a/DataLogger/Pit.ino +++ b/DataLogger/Pit.ino @@ -5,6 +5,7 @@ #define RFM95_CS 15 #define RFM95_RST 25 #define RFM95_INT 2 +#define HWSERIAL Serial1 RH_RF95 rf95(RFM95_CS, RFM95_INT); @@ -27,6 +28,7 @@ void setup() delay(500); //Serial.println("Pit Lane Setup"); Serial.begin(9600); + HWSERIAL.begin(9600); while (!Serial) ; // Wait for serial port to be available if (!rf95.init()) @@ -86,6 +88,7 @@ void recieveMessage() for (int i = 0; i < len; i++) { Serial.print((char)buf[i]); + HWSERIAL.print((char)buf[i]); } switch (buf[0]) From bd6c6090d67a4df2741cd453b8565bfc3e8d6907 Mon Sep 17 00:00:00 2001 From: orlygur Date: Fri, 3 May 2019 07:42:56 +0000 Subject: [PATCH 14/35] =?UTF-8?q?sm=C3=A1=20lagf=C3=A6ring?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- DataLogger/Car.ino | 3 --- 1 file changed, 3 deletions(-) diff --git a/DataLogger/Car.ino b/DataLogger/Car.ino index af03edd..512d510 100644 --- a/DataLogger/Car.ino +++ b/DataLogger/Car.ino @@ -118,9 +118,6 @@ void sendMessage(uint8_t CMD) rf95.send(buf, sizeof(buf)); rf95.waitPacketSent(); - buf = { }; - //uint8_t buf[RH_RF95_MAX_MESSAGE_LEN]; - if (rf95.waitAvailableTimeout(4000)) { if (rf95.recv(buf, &len)) From 65e1aa9bc9356be13b9971a2450e8ea5ee8d0bb8 Mon Sep 17 00:00:00 2001 From: orlygur Date: Fri, 3 May 2019 12:21:02 +0000 Subject: [PATCH 15/35] removing xBee and replacing it with LoRa commands. Still needs send and recv --- DataLogger/Car.ino | 2 +- Motherboard/Motherboard.ino | 206 ++++++++++++++++++++++-------------- 2 files changed, 126 insertions(+), 82 deletions(-) diff --git a/DataLogger/Car.ino b/DataLogger/Car.ino index 512d510..0740bb7 100644 --- a/DataLogger/Car.ino +++ b/DataLogger/Car.ino @@ -32,7 +32,7 @@ const uint8_t Car_ID = 6; void setup() { delay(500); - Serial.println("Race Car Setup"); + //Serial.println("Race Car Setup"); Serial.begin(9600); while (!Serial) ; // Wait for serial port to be available diff --git a/Motherboard/Motherboard.ino b/Motherboard/Motherboard.ino index b7979ff..5fbb2a5 100644 --- a/Motherboard/Motherboard.ino +++ b/Motherboard/Motherboard.ino @@ -10,7 +10,9 @@ Hardware: Written by Einar Arnason ******************************************************************/ -#include +#include +#include +//#include #include #include #include @@ -28,7 +30,7 @@ CAN_filter_t mask; //Adafruit_GPS GPS(&Serial3); // Set GPSECHO to 'false' to turn off echoing the GPS data to the Serial console -// Set to 'true' if you want to debug and listen to the raw GPS sentences. +// Set to 'true' if you want to debug and listen to the raw GPS sentences. const bool GPSECHO = true; // this keeps track of whether we're using the interrupt @@ -41,54 +43,83 @@ SdFatSdio sd; File outFile; char filename[20]; +// LoRa & Teensy 3.5 setup +#define RF95_FREQ 434.0 +#define RFM95_CS 15 +#define RFM_RST 25 +#define RFM95_INT 2 +#define ERRORLED 3 +const int COMMAND_SIZE = RH_RF95_MAX_MESSAGE_LEN; +uint8_t COMMAND[COMMAND_SIZE]; +const uint8_t Pit_ID = 7; +const uint8_t Car_ID = 6; + +// LoRa - Radio Frequency driver +RH_RF95 rf95(RFM95_CS, RFM95_INT); + // XBee driver -XBee xbee = XBee(); +//XBee xbee = XBee(); // SH + SL Address of receiving XBee -XBeeAddress64 addr64 = XBeeAddress64(0xFF, 0xFE); -char payload[PAYLOAD_SIZE]; +//XBeeAddress64 addr64 = XBeeAddress64(0xFF, 0xFE); +//char payload[PAYLOAD_SIZE]; -time_t getTeensy3Time() { +time_t getTeensy3Time() +{ return Teensy3Clock.get(); } -uint8_t payloadLength() { - for (int i = 0; i < PAYLOAD_SIZE; i++) { - if (payload[i] == '!') { +uint8_t payloadLength() +{ + for (int i = 0; i < PAYLOAD_SIZE; i++) + { + if (payload[i] == '!') + { return i; } } - return PAYLOAD_SIZE; } -void setup() { +void setup() +{ + delay(500); + Serial.begin(9600); - //init SD Card - while (!sd.begin()) - { - Serial.println("Error: SD connection failed"); + while (!Serial) + ; + + if (!rf95.init()) + Serial.println("init failed"); + + //init SD Card + while (!sd.begin()) + { + Serial.println("Error: SD connection failed"); delay(1000); - } + } // set the Time library to use Teensy 3.0's RTC to keep time setSyncProvider(getTeensy3Time); - if (timeStatus() != timeSet) { + if (timeStatus() != timeSet) + { Serial.println("Unable to sync with the RTC"); } - else { + else + { Serial.println("RTC has set the system time"); } // Generate filename sprintf(filename, "%d_%d_%d_%d_%d_%d.json", year(), month(), day(), hour(), minute(), second()); - //Create the File - outFile = sd.open(filename, FILE_WRITE); - if (!outFile) { - Serial.println("Error: failed to open file"); - }; + //Create the File + outFile = sd.open(filename, FILE_WRITE); + if (!outFile) + { + Serial.println("Error: failed to open file"); + }; - // Initialize the CAN bus + // Initialize the CAN bus mask.flags.extended = 0; mask.flags.remote = 0; mask.id = 0; @@ -96,11 +127,9 @@ void setup() { Can0.attachObj(&canListener); canListener.attachGeneralHandler(); - Serial.begin(9600); - // Initialize XBee serial - Serial2.begin(9600); - xbee.setSerial(Serial2); + //Serial2.begin(9600); + //xbee.setSerial(Serial2); /* // 9600 NMEA is the default baud rate for Adafruit MTK GPS's- some use 4800 @@ -130,26 +159,32 @@ void setup() { } #ifdef __AVR__ - // Interrupt is called once a millisecond, looks for any new GPS data, and stores it - SIGNAL(TIMER0_COMPA_vect) { +// Interrupt is called once a millisecond, looks for any new GPS data, and stores it +SIGNAL(TIMER0_COMPA_vect) +{ char c = GPS.read(); // if you want to debug, this is a good time to do it! #ifdef UDR0 if (GPSECHO) - if (c) UDR0 = c; -// writing direct to UDR0 is much much faster than Serial.print -// but only one character can be written at a time. + if (c) + UDR0 = c; +// writing direct to UDR0 is much much faster than Serial.print +// but only one character can be written at a time. #endif } - -void useInterrupt(boolean v) { - if (v) { + +void useInterrupt(boolean v) +{ + if (v) + { // Timer0 is already used for millis() - we'll just interrupt somewhere // in the middle and call the "Compare A" function above OCR0A = 0xAF; TIMSK0 |= _BV(OCIE0A); usingInterrupt = true; - } else { + } + else + { // do not call the interrupt function COMPA anymore TIMSK0 &= ~_BV(OCIE0A); usingInterrupt = false; @@ -159,7 +194,8 @@ void useInterrupt(boolean v) { uint32_t timer = millis(); -void loop() { +void loop() +{ /* // in case you are not using the interrupt above, you'll // need to 'hand query' the GPS, not suggested :( @@ -215,80 +251,88 @@ void loop() { */ long time = getTeensy3Time(); - for (int i = 0; i < NUMBER_OF_MESSAGES; i++) { - switch (i) { - case 0 : + for (int i = 0; i < NUMBER_OF_MESSAGES; i++) + { + switch (i) + { + case 0: sprintf(payload, - "{\"time\": %ld, \"rpm\": %d, \"volt\": %0.2f, \"waterTemp\": %0.2f, \"speed\": %d}!", - time, - canListener.vehicle.rpm, - canListener.vehicle.voltage, - canListener.vehicle.waterTemp, - canListener.vehicle.speed); + "{\"time\": %ld, \"rpm\": %d, \"volt\": %0.2f, \"waterTemp\": %0.2f, \"speed\": %d}!", + time, + canListener.vehicle.rpm, + canListener.vehicle.voltage, + canListener.vehicle.waterTemp, + canListener.vehicle.speed); break; - case 1 : + case 1: sprintf(payload, - "{\"time\": %ld, \"oilTemp\": %0.2f, \"gear\": %d, \"airTemp\": %0.2f, \"map\": %d}!", - time, - canListener.vehicle.oilTemp, - canListener.vehicle.gear, - canListener.vehicle.airTemp, - canListener.vehicle.map); + "{\"time\": %ld, \"oilTemp\": %0.2f, \"gear\": %d, \"airTemp\": %0.2f, \"map\": %d}!", + time, + canListener.vehicle.oilTemp, + canListener.vehicle.gear, + canListener.vehicle.airTemp, + canListener.vehicle.map); break; - case 2 : + case 2: sprintf(payload, - "{\"time\": %ld, \"ecuTemp\": %0.2f, \"fuelPressure\": %0.2f, \"fanOn\": %s, \"fuelPumpOn\": %s}!", - time, - canListener.vehicle.ecuTemp, - canListener.vehicle.fuelPressure, - canListener.vehicle.fanOn ? "true" : "false", - canListener.vehicle.fuelPumpOn ? "true" : "false"); + "{\"time\": %ld, \"ecuTemp\": %0.2f, \"fuelPressure\": %0.2f, \"fanOn\": %s, \"fuelPumpOn\": %s}!", + time, + canListener.vehicle.ecuTemp, + canListener.vehicle.fuelPressure, + canListener.vehicle.fanOn ? "true" : "false", + canListener.vehicle.fuelPumpOn ? "true" : "false"); break; - case 3 : + case 3: sprintf(payload, - "{\"time\": %ld, \"cylcontrib1\": %d, \"cylcontrib2\": %d, \"cylcontrib3\": %d, \"cylcontrib4\": %d}!", - time, - canListener.vehicle.cylcontrib1, - canListener.vehicle.cylcontrib2, - canListener.vehicle.cylcontrib3, - canListener.vehicle.cylcontrib4); + "{\"time\": %ld, \"cylcontrib1\": %d, \"cylcontrib2\": %d, \"cylcontrib3\": %d, \"cylcontrib4\": %d}!", + time, + canListener.vehicle.cylcontrib1, + canListener.vehicle.cylcontrib2, + canListener.vehicle.cylcontrib3, + canListener.vehicle.cylcontrib4); break; - } - + } - ZBTxRequest zbTx = ZBTxRequest(addr64, (uint8_t*)payload, payloadLength()); + ZBTxRequest zbTx = ZBTxRequest(addr64, (uint8_t *)payload, payloadLength()); ZBTxStatusResponse txStatus = ZBTxStatusResponse(); - xbee.send(zbTx); + //xbee.send(zbTx); // after sending a tx request, we expect a status response // wait up to half second for the status response - if (xbee.readPacket(500)) { + /*if (xbee.readPacket(500)) + { // got a response! - // should be a znet tx status - if (xbee.getResponse().getApiId() == ZB_TX_STATUS_RESPONSE) { + // should be a znet tx status + if (xbee.getResponse().getApiId() == ZB_TX_STATUS_RESPONSE) + { xbee.getResponse().getZBTxStatusResponse(txStatus); // get the delivery status, the fifth byte - if (txStatus.getDeliveryStatus() == SUCCESS) { + if (txStatus.getDeliveryStatus() == SUCCESS) + { // success. time to celebrate Serial.println("Success!"); } - else { + else + { // the remote XBee did not receive our packet. is it powered on? Serial.println("the remote XBee did not receive packet"); } } } - else if (xbee.getResponse().isError()) { + else if (xbee.getResponse().isError()) + { Serial.print("Error reading packet. Error code: "); Serial.println(xbee.getResponse().getErrorCode()); } - else { + else + { // local XBee did not provide a timely TX Status Response -- should not happen Serial.println("local XBee did not provide a timely TX Status Response"); - } + }*/ - if (outFile) { + if (outFile) + { outFile.write(payload); outFile.flush(); } From adf294c058ee1612d44fef819148733e097d2d4f Mon Sep 17 00:00:00 2001 From: orlygur Date: Fri, 3 May 2019 15:32:37 +0000 Subject: [PATCH 16/35] fixing for LoRa --- Motherboard/Motherboard.ino | 135 +++++++++++++++++++++++++++++++----- 1 file changed, 118 insertions(+), 17 deletions(-) diff --git a/Motherboard/Motherboard.ino b/Motherboard/Motherboard.ino index 5fbb2a5..e56ca4c 100644 --- a/Motherboard/Motherboard.ino +++ b/Motherboard/Motherboard.ino @@ -1,18 +1,18 @@ /****************************************************************** -Team Sleipnir communications motherboard +RU Racing 2019 communications motherboard Hardware: - Teensy 3.6 -- XBee-PRO S2C +- LoRa RF95 +- !XBee-PRO S2C - Adafruit Ultimate GPS Breakout v3 - MCP2551 CAN transceiver -Written by Einar Arnason +Written by Einar Arnason && Örlygur Ólafsson ******************************************************************/ #include #include -//#include #include #include #include @@ -61,7 +61,8 @@ RH_RF95 rf95(RFM95_CS, RFM95_INT); //XBee xbee = XBee(); // SH + SL Address of receiving XBee //XBeeAddress64 addr64 = XBeeAddress64(0xFF, 0xFE); -//char payload[PAYLOAD_SIZE]; + +char payload[PAYLOAD_SIZE]; time_t getTeensy3Time() { @@ -89,7 +90,9 @@ void setup() ; if (!rf95.init()) + { Serial.println("init failed"); + } //init SD Card while (!sd.begin()) @@ -100,6 +103,7 @@ void setup() // set the Time library to use Teensy 3.0's RTC to keep time setSyncProvider(getTeensy3Time); + if (timeStatus() != timeSet) { Serial.println("Unable to sync with the RTC"); @@ -110,10 +114,12 @@ void setup() } // Generate filename - sprintf(filename, "%d_%d_%d_%d_%d_%d.json", year(), month(), day(), hour(), minute(), second()); + sprintf(filename, "%d_%d_%d_%d_%d_%d.json", + year(), month(), day(), hour(), minute(), second()); //Create the File outFile = sd.open(filename, FILE_WRITE); + if (!outFile) { Serial.println("Error: failed to open file"); @@ -166,8 +172,12 @@ SIGNAL(TIMER0_COMPA_vect) // if you want to debug, this is a good time to do it! #ifdef UDR0 if (GPSECHO) + { if (c) + { UDR0 = c; + } + } // writing direct to UDR0 is much much faster than Serial.print // but only one character can be written at a time. #endif @@ -251,7 +261,18 @@ void loop() */ long time = getTeensy3Time(); + // TEMP ! for analog suspension sensors. This is a placeholder + int FR = analogRead(A9); + int FL = analogRead(A9); + int RR = analogRead(A9); + int RL = analogRead(A9); + for (int i = 0; i < NUMBER_OF_MESSAGES; i++) + { + sprintf(payload, "{\"FR\": %d, \"FL\": %d, \"RR\": %d, \"RL\": %d}!", FR, FL, RR, RL); + } + + /*for (int i = 0; i < NUMBER_OF_MESSAGES; i++) { switch (i) { @@ -291,17 +312,16 @@ void loop() canListener.vehicle.cylcontrib3, canListener.vehicle.cylcontrib4); break; - } + }*/ - ZBTxRequest zbTx = ZBTxRequest(addr64, (uint8_t *)payload, payloadLength()); - ZBTxStatusResponse txStatus = ZBTxStatusResponse(); - //xbee.send(zbTx); - // after sending a tx request, we expect a status response - // wait up to half second for the status response - /*if (xbee.readPacket(500)) + //ZBTxRequest zbTx = ZBTxRequest(addr64, (uint8_t *)payload, payloadLength()); + //ZBTxStatusResponse txStatus = ZBTxStatusResponse(); + //xbee.send(zbTx); + // after sending a tx request, we expect a status response + // wait up to half second for the status response + /*if (xbee.readPacket(500)) { // got a response! - // should be a znet tx status if (xbee.getResponse().getApiId() == ZB_TX_STATUS_RESPONSE) { @@ -331,10 +351,91 @@ void loop() Serial.println("local XBee did not provide a timely TX Status Response"); }*/ - if (outFile) + if (outFile) + { + outFile.write(payload); + outFile.flush(); + } +} + +void sendMessageLoRa(uint8_t CMD) +{ + rf95.setHeaderId(Car_ID); + uint8_t buf[COMMAND_size] = {CMD}; + uint8_t len = sizeof(buf); + + rf95.send(buf, sizeof(buf)); + rf95.waitPacketSent(); + + if (rf95.waitAvailableTimeout(4000)) + { + if (rf95.recv(buf, &len)) + { + Serial.print("Got a reply: "); + //Serial.println((char *)buf); + //Serial.print("RSSI: "); + //Serial.println(rf95.lastRssi(), DEC); + for (int i = 0; i < len; i++) + { + Serial.print((char)buf[i]); + } + Serial.println(""); + } + else + { + Serial.println("recv failed"); + } + } + else + { + Serial.println("No reply, is rf95_server running?"); + } + delay(10); +} + +void recieveMessage() +{ + uint8_t buf[COMMAND_size]; + uint8_t len = sizeof(buf); + //Serial.println("Waiting for reply..."); + + // Max wait for data is 1 sec.. + if (rf95.waitAvailableTimeout(1000)) + { + if (rf95.recv(buf, &len)) { - outFile.write(payload); - outFile.flush(); + if (rf95.headerId() == Pit_ID) + { + switch (buf[0]) + { + case 0: + Serial.print("#ACK COMMAND: "); + Serial.println(COMMAND[1]); + break; + + default: + Serial.println("#FAILED"); + break; + } + //sendMessage(REPLY_ACK); + //Serial.println((char *)buf); + //Serial.print("RSSI: "); + //Serial.println(rf95.lastRssi(), DEC); + } + else + { + Serial.println("Not my message, ID: "); + Serial.println(rf95.headerId()); + } } + else + { + Serial.println("ERROR: Receive message failed"); + } + } + else + { + Serial.println("WARNING: ACK not received"); } + delay(1000); } \ No newline at end of file From 5d7053d5e9b34b1a4a1d0b30d5c7380786bf3aaa Mon Sep 17 00:00:00 2001 From: hregggi Date: Fri, 3 May 2019 15:55:15 +0000 Subject: [PATCH 17/35] baetti vid gps koda --- Motherboard/Motherboard.ino | 58 +++++++++++++++++++++++++++++++++++-- 1 file changed, 55 insertions(+), 3 deletions(-) diff --git a/Motherboard/Motherboard.ino b/Motherboard/Motherboard.ino index e56ca4c..37312af 100644 --- a/Motherboard/Motherboard.ino +++ b/Motherboard/Motherboard.ino @@ -2,13 +2,13 @@ RU Racing 2019 communications motherboard Hardware: -- Teensy 3.6 +- Teensy 3.5 - LoRa RF95 - !XBee-PRO S2C - Adafruit Ultimate GPS Breakout v3 - MCP2551 CAN transceiver -Written by Einar Arnason && Örlygur Ólafsson +Written by Einar Arnason && Örlygur Ólafsson && Hregggi ******************************************************************/ #include @@ -21,7 +21,7 @@ Written by Einar Arnason && Örlygur Ólafsson //#include #include "constants.h" #include "CanListener.h" - +#include "TeensyThreads.h" // CAN bus driver CanListener canListener; CAN_filter_t mask; @@ -33,6 +33,13 @@ CAN_filter_t mask; // Set to 'true' if you want to debug and listen to the raw GPS sentences. const bool GPSECHO = true; +// Variables for Copernicus II GPS module +float flat, flon; +unsigned long age; +int year; +byte month, day, hour, minute, second, hundredth; +bool newGpsData = false; + // this keeps track of whether we're using the interrupt // off by default! boolean usingInterrupt = false; @@ -64,6 +71,31 @@ RH_RF95 rf95(RFM95_CS, RFM95_INT); char payload[PAYLOAD_SIZE]; +void gpsRead() +{ + while (1) + { + + unsigned long chars; + unsigned short sentences, failed; + + // For one second we parse GPS data and report some key values + for (unsigned long start = millis(); millis() - start < 1000;) + { + while (Serial3.available()) + { + char c = Serial3.read(); + // Serial.write(c); // uncomment this line if you want to see the GPS data flowing + if (gps.encode(c)) // Did a new valid sentence come in? + newGpsData = true; + } + } + // Write the position and current time to variables + gps.f_get_position(&flat, &flon, &age); + gps.crack_datetime(&year, &month, &day, &hour, &minute, &second, &hundredth, &age); + } +} + time_t getTeensy3Time() { return Teensy3Clock.get(); @@ -125,6 +157,9 @@ void setup() Serial.println("Error: failed to open file"); }; + threads.addThread(gpsRead); + + Serial3.begin(4800); // Initialize the CAN bus mask.flags.extended = 0; mask.flags.remote = 0; @@ -162,6 +197,23 @@ void setup() useInterrupt(true); #endif */ + + // Copernicuse GPS if new data write new data + // ToDo, breita serial print i SD.Write og Lora Send + Serial.print("LAT="); + Serial.print(flat == TinyGPS::GPS_INVALID_F_ANGLE ? 0.0 : flat, 6); + + Serial.print(" LON="); + Serial.print(flon == TinyGPS::GPS_INVALID_F_ANGLE ? 0.0 : flon, 6); + + Serial.print(" TIME="); + Serial.print(hour, DEC); + Serial.print(":"); + Serial.print(minute, DEC); + Serial.print(":"); + Serial.print(second, DEC); + Serial.print(","); + Serial.println(hundredth, DEC); } #ifdef __AVR__ From bc5d5ab0523f3acd01387b589d322df9b7946c89 Mon Sep 17 00:00:00 2001 From: hregggi Date: Sun, 5 May 2019 13:05:53 +0000 Subject: [PATCH 18/35] breytti analog fyrir fjodrun --- Motherboard/Motherboard.ino | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/Motherboard/Motherboard.ino b/Motherboard/Motherboard.ino index 37312af..dc35cc3 100644 --- a/Motherboard/Motherboard.ino +++ b/Motherboard/Motherboard.ino @@ -315,9 +315,9 @@ void loop() // TEMP ! for analog suspension sensors. This is a placeholder int FR = analogRead(A9); - int FL = analogRead(A9); - int RR = analogRead(A9); - int RL = analogRead(A9); + int FL = analogRead(A8); + int RR = analogRead(A7); + int RL = analogRead(A6); for (int i = 0; i < NUMBER_OF_MESSAGES; i++) { From a9032ea360c20ee8f27a98fc6dc230b99b2e8867 Mon Sep 17 00:00:00 2001 From: orlygur Date: Sun, 5 May 2019 13:12:25 +0000 Subject: [PATCH 19/35] cleanup --- Motherboard/Motherboard.ino | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/Motherboard/Motherboard.ino b/Motherboard/Motherboard.ino index 37312af..a29f0ad 100644 --- a/Motherboard/Motherboard.ino +++ b/Motherboard/Motherboard.ino @@ -36,7 +36,7 @@ const bool GPSECHO = true; // Variables for Copernicus II GPS module float flat, flon; unsigned long age; -int year; +//int year; byte month, day, hour, minute, second, hundredth; bool newGpsData = false; @@ -69,6 +69,7 @@ RH_RF95 rf95(RFM95_CS, RFM95_INT); // SH + SL Address of receiving XBee //XBeeAddress64 addr64 = XBeeAddress64(0xFF, 0xFE); +uint8_t PAYLOAD_SIZE = payloadLength(); char payload[PAYLOAD_SIZE]; void gpsRead() From 740de4e2bf74da0fbebfa0bef1a3b0d64a2a75e7 Mon Sep 17 00:00:00 2001 From: orlygur Date: Sun, 5 May 2019 13:45:52 +0000 Subject: [PATCH 20/35] gps er in and functional! --- Motherboard/Motherboard.ino | 152 ++---------------------------------- 1 file changed, 8 insertions(+), 144 deletions(-) diff --git a/Motherboard/Motherboard.ino b/Motherboard/Motherboard.ino index 655d4cc..205651e 100644 --- a/Motherboard/Motherboard.ino +++ b/Motherboard/Motherboard.ino @@ -22,12 +22,14 @@ Written by Einar Arnason && Örlygur Ólafsson && Hregggi #include "constants.h" #include "CanListener.h" #include "TeensyThreads.h" +#include + // CAN bus driver CanListener canListener; CAN_filter_t mask; // GPS object -//Adafruit_GPS GPS(&Serial3); +TinyGPS gps; // Set GPSECHO to 'false' to turn off echoing the GPS data to the Serial console // Set to 'true' if you want to debug and listen to the raw GPS sentences. @@ -52,9 +54,9 @@ char filename[20]; // LoRa & Teensy 3.5 setup #define RF95_FREQ 434.0 -#define RFM95_CS 15 +#define RFM95_CS 10 #define RFM_RST 25 -#define RFM95_INT 2 +#define RFM95_INT 24 #define ERRORLED 3 const int COMMAND_SIZE = RH_RF95_MAX_MESSAGE_LEN; uint8_t COMMAND[COMMAND_SIZE]; @@ -64,11 +66,6 @@ const uint8_t Car_ID = 6; // LoRa - Radio Frequency driver RH_RF95 rf95(RFM95_CS, RFM95_INT); -// XBee driver -//XBee xbee = XBee(); -// SH + SL Address of receiving XBee -//XBeeAddress64 addr64 = XBeeAddress64(0xFF, 0xFE); - uint8_t PAYLOAD_SIZE = payloadLength(); char payload[PAYLOAD_SIZE]; @@ -76,7 +73,6 @@ void gpsRead() { while (1) { - unsigned long chars; unsigned short sentences, failed; @@ -162,12 +158,12 @@ void setup() Serial3.begin(4800); // Initialize the CAN bus - mask.flags.extended = 0; + /*mask.flags.extended = 0; mask.flags.remote = 0; mask.id = 0; Can0.begin(500000, mask, CAN0TX_ALT, CAN0RX_ALT); Can0.attachObj(&canListener); - canListener.attachGeneralHandler(); + canListener.attachGeneralHandler();*/ // Initialize XBee serial //Serial2.begin(9600); @@ -259,59 +255,6 @@ uint32_t timer = millis(); void loop() { - /* - // in case you are not using the interrupt above, you'll - // need to 'hand query' the GPS, not suggested :( - if (! usingInterrupt) { - // read data from the GPS in the 'main loop' - char c = GPS.read(); - // if you want to debug, this is a good time to do it! - if (GPSECHO) - if (c) Serial.print(c); - } - - // if a sentence is received, we can check the checksum, parse it... - if (GPS.newNMEAreceived()) { - // a tricky thing here is if we print the NMEA sentence, or data - // we end up not listening and catching other sentences! - // so be very wary if using OUTPUT_ALLDATA and trytng to print out data - //Serial.println(GPS.lastNMEA()); // this also sets the newNMEAreceived() flag to false - - if (!GPS.parse(GPS.lastNMEA())) // this also sets the newNMEAreceived() flag to false - return; // we can fail to parse a sentence in which case we should just wait for another - } - - // if millis() or timer wraps around, we'll just reset it - if (timer > millis()) timer = millis(); - - // approximately every 2 seconds or so, print out the current stats - if (millis() - timer > 2000) { - timer = millis(); // reset the timer - - Serial.print("\nTime: "); - Serial.print(GPS.hour, DEC); Serial.print(':'); - Serial.print(GPS.minute, DEC); Serial.print(':'); - Serial.print(GPS.seconds, DEC); Serial.print('.'); - Serial.println(GPS.milliseconds); - Serial.print("Date: "); - Serial.print(GPS.day, DEC); Serial.print('/'); - Serial.print(GPS.month, DEC); Serial.print("/20"); - Serial.println(GPS.year, DEC); - Serial.print("Fix: "); Serial.print((int)GPS.fix); - Serial.print(" quality: "); Serial.println((int)GPS.fixquality); - if (GPS.fix) { - Serial.print("Location: "); - Serial.print(GPS.latitude, 4); Serial.print(GPS.lat); - Serial.print(", "); - Serial.print(GPS.longitude, 4); Serial.println(GPS.lon); - - Serial.print("Speed (knots): "); Serial.println(GPS.speed); - Serial.print("Angle: "); Serial.println(GPS.angle); - Serial.print("Altitude: "); Serial.println(GPS.altitude); - Serial.print("Satellites: "); Serial.println((int)GPS.satellites); - } - } - */ long time = getTeensy3Time(); // TEMP ! for analog suspension sensors. This is a placeholder @@ -324,86 +267,7 @@ void loop() { sprintf(payload, "{\"FR\": %d, \"FL\": %d, \"RR\": %d, \"RL\": %d}!", FR, FL, RR, RL); } - - /*for (int i = 0; i < NUMBER_OF_MESSAGES; i++) - { - switch (i) - { - case 0: - sprintf(payload, - "{\"time\": %ld, \"rpm\": %d, \"volt\": %0.2f, \"waterTemp\": %0.2f, \"speed\": %d}!", - time, - canListener.vehicle.rpm, - canListener.vehicle.voltage, - canListener.vehicle.waterTemp, - canListener.vehicle.speed); - break; - case 1: - sprintf(payload, - "{\"time\": %ld, \"oilTemp\": %0.2f, \"gear\": %d, \"airTemp\": %0.2f, \"map\": %d}!", - time, - canListener.vehicle.oilTemp, - canListener.vehicle.gear, - canListener.vehicle.airTemp, - canListener.vehicle.map); - break; - case 2: - sprintf(payload, - "{\"time\": %ld, \"ecuTemp\": %0.2f, \"fuelPressure\": %0.2f, \"fanOn\": %s, \"fuelPumpOn\": %s}!", - time, - canListener.vehicle.ecuTemp, - canListener.vehicle.fuelPressure, - canListener.vehicle.fanOn ? "true" : "false", - canListener.vehicle.fuelPumpOn ? "true" : "false"); - break; - case 3: - sprintf(payload, - "{\"time\": %ld, \"cylcontrib1\": %d, \"cylcontrib2\": %d, \"cylcontrib3\": %d, \"cylcontrib4\": %d}!", - time, - canListener.vehicle.cylcontrib1, - canListener.vehicle.cylcontrib2, - canListener.vehicle.cylcontrib3, - canListener.vehicle.cylcontrib4); - break; - }*/ - - //ZBTxRequest zbTx = ZBTxRequest(addr64, (uint8_t *)payload, payloadLength()); - //ZBTxStatusResponse txStatus = ZBTxStatusResponse(); - //xbee.send(zbTx); - // after sending a tx request, we expect a status response - // wait up to half second for the status response - /*if (xbee.readPacket(500)) - { - // got a response! - // should be a znet tx status - if (xbee.getResponse().getApiId() == ZB_TX_STATUS_RESPONSE) - { - xbee.getResponse().getZBTxStatusResponse(txStatus); - - // get the delivery status, the fifth byte - if (txStatus.getDeliveryStatus() == SUCCESS) - { - // success. time to celebrate - Serial.println("Success!"); - } - else - { - // the remote XBee did not receive our packet. is it powered on? - Serial.println("the remote XBee did not receive packet"); - } - } - } - else if (xbee.getResponse().isError()) - { - Serial.print("Error reading packet. Error code: "); - Serial.println(xbee.getResponse().getErrorCode()); - } - else - { - // local XBee did not provide a timely TX Status Response -- should not happen - Serial.println("local XBee did not provide a timely TX Status Response"); - }*/ - + if (outFile) { outFile.write(payload); From e5ba1c0696e59628441049e6a47a77b4c7dfaf61 Mon Sep 17 00:00:00 2001 From: orlygur Date: Mon, 6 May 2019 12:17:34 +0000 Subject: [PATCH 21/35] gsp works ! --- Motherboard/Motherboard.ino | 194 ++++++++++++------------------------ 1 file changed, 64 insertions(+), 130 deletions(-) diff --git a/Motherboard/Motherboard.ino b/Motherboard/Motherboard.ino index 205651e..0e0f7f4 100644 --- a/Motherboard/Motherboard.ino +++ b/Motherboard/Motherboard.ino @@ -15,21 +15,21 @@ Written by Einar Arnason && Örlygur Ólafsson && Hregggi #include #include #include -#include +//#include #include #include -//#include -#include "constants.h" -#include "CanListener.h" +//#include "constants.h" +//#include "CanListener.h" #include "TeensyThreads.h" #include // CAN bus driver -CanListener canListener; -CAN_filter_t mask; +//CanListener canListener; +//CAN_filter_t mask; // GPS object TinyGPS gps; +const int NUMBER_OF_MESSAGES = 4; // Set GPSECHO to 'false' to turn off echoing the GPS data to the Serial console // Set to 'true' if you want to debug and listen to the raw GPS sentences. @@ -37,13 +37,12 @@ const bool GPSECHO = true; // Variables for Copernicus II GPS module float flat, flon; -unsigned long age; +//unsigned long age; //int year; -byte month, day, hour, minute, second, hundredth; +//byte month, day, hour, minute, second, hundredth; bool newGpsData = false; -// this keeps track of whether we're using the interrupt -// off by default! +// this keeps track of whether we're using the interrupt off by default! boolean usingInterrupt = false; void useInterrupt(boolean); // Func prototype keeps Arduino 0023 happy @@ -66,16 +65,23 @@ const uint8_t Car_ID = 6; // LoRa - Radio Frequency driver RH_RF95 rf95(RFM95_CS, RFM95_INT); -uint8_t PAYLOAD_SIZE = payloadLength(); +const int PAYLOAD_SIZE = 20; //payloadLength(); char payload[PAYLOAD_SIZE]; +time_t getTeensy3Time() +{ + return Teensy3Clock.get(); +} + void gpsRead() { + unsigned long age; + int year; + byte month, day, hour, minute, second, hundredth; while (1) { - unsigned long chars; - unsigned short sentences, failed; - + //unsigned long chars; + //unsigned short sentences, failed; // For one second we parse GPS data and report some key values for (unsigned long start = millis(); millis() - start < 1000;) { @@ -83,8 +89,11 @@ void gpsRead() { char c = Serial3.read(); // Serial.write(c); // uncomment this line if you want to see the GPS data flowing - if (gps.encode(c)) // Did a new valid sentence come in? + if (gps.encode(c)) + { + // Did a new valid sentence come in? newGpsData = true; + } } } // Write the position and current time to variables @@ -93,27 +102,23 @@ void gpsRead() } } -time_t getTeensy3Time() -{ - return Teensy3Clock.get(); -} - uint8_t payloadLength() { - for (int i = 0; i < PAYLOAD_SIZE; i++) - { - if (payload[i] == '!') - { - return i; - } - } - return PAYLOAD_SIZE; + for (int i = 0; i < PAYLOAD_SIZE; i++) + { + if (payload[i] == '!') + { + return i; + } + } + return PAYLOAD_SIZE; } void setup() { delay(500); Serial.begin(9600); + Serial3.begin(4800); while (!Serial) ; @@ -137,14 +142,10 @@ void setup() { Serial.println("Unable to sync with the RTC"); } - else - { - Serial.println("RTC has set the system time"); - } + Serial.println("RTC has set the system time"); // Generate filename - sprintf(filename, "%d_%d_%d_%d_%d_%d.json", - year(), month(), day(), hour(), minute(), second()); + sprintf(filename, "%d_%d_%d_%d_%d_%d.json", year(), month(), day(), hour(), minute(), second()); //Create the File outFile = sd.open(filename, FILE_WRITE); @@ -156,106 +157,39 @@ void setup() threads.addThread(gpsRead); - Serial3.begin(4800); // Initialize the CAN bus /*mask.flags.extended = 0; - mask.flags.remote = 0; - mask.id = 0; - Can0.begin(500000, mask, CAN0TX_ALT, CAN0RX_ALT); - Can0.attachObj(&canListener); - canListener.attachGeneralHandler();*/ - - // Initialize XBee serial - //Serial2.begin(9600); - //xbee.setSerial(Serial2); - - /* - // 9600 NMEA is the default baud rate for Adafruit MTK GPS's- some use 4800 - GPS.begin(9600); - Serial3.begin(9600); - - // uncomment this line to turn on RMC (recommended minimum) and GGA (fix data) including altitude - GPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA); - // uncomment this line to turn on only the "minimum recommended" data - //GPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCONLY); - // For parsing data, we don't suggest using anything but either RMC only or RMC+GGA since - // the parser doesn't care about other sentences at this time - - // Set the update rate - GPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ); // 1 Hz update rate - // For the parsing code to work nicely and have time to sort thru the data, and - // print it out we don't suggest using anything higher than 1 Hz - - // Request updates on antenna status, comment out to keep quiet - GPS.sendCommand(PGCMD_ANTENNA); -#ifdef __arm__ - usingInterrupt = false; //NOTE - we don't want to use interrupts on the Due -#else - useInterrupt(true); -#endif -*/ - - // Copernicuse GPS if new data write new data - // ToDo, breita serial print i SD.Write og Lora Send - Serial.print("LAT="); - Serial.print(flat == TinyGPS::GPS_INVALID_F_ANGLE ? 0.0 : flat, 6); - - Serial.print(" LON="); - Serial.print(flon == TinyGPS::GPS_INVALID_F_ANGLE ? 0.0 : flon, 6); - - Serial.print(" TIME="); - Serial.print(hour, DEC); - Serial.print(":"); - Serial.print(minute, DEC); - Serial.print(":"); - Serial.print(second, DEC); - Serial.print(","); - Serial.println(hundredth, DEC); -} - -#ifdef __AVR__ -// Interrupt is called once a millisecond, looks for any new GPS data, and stores it -SIGNAL(TIMER0_COMPA_vect) -{ - char c = GPS.read(); -// if you want to debug, this is a good time to do it! -#ifdef UDR0 - if (GPSECHO) - { - if (c) - { - UDR0 = c; - } - } -// writing direct to UDR0 is much much faster than Serial.print -// but only one character can be written at a time. -#endif -} - -void useInterrupt(boolean v) -{ - if (v) - { - // Timer0 is already used for millis() - we'll just interrupt somewhere - // in the middle and call the "Compare A" function above - OCR0A = 0xAF; - TIMSK0 |= _BV(OCIE0A); - usingInterrupt = true; - } - else - { - // do not call the interrupt function COMPA anymore - TIMSK0 &= ~_BV(OCIE0A); - usingInterrupt = false; - } + mask.flags.remote = 0; + mask.id = 0; + Can0.begin(500000, mask, CAN0TX_ALT, CAN0RX_ALT); + Can0.attachObj(&canListener); + canListener.attachGeneralHandler();*/ } -#endif //#ifdef__AVR__ uint32_t timer = millis(); void loop() { - long time = getTeensy3Time(); + if (newGpsData) + { + // Copernicuse GPS if new data write new data + // ToDo, breita serial print i SD.Write og Lora Send + Serial.print("LAT="); + Serial.print(flat == TinyGPS::GPS_INVALID_F_ANGLE ? 0.0 : flat, 6); + Serial.print(" LON="); + Serial.print(flon == TinyGPS::GPS_INVALID_F_ANGLE ? 0.0 : flon, 6); + + Serial.print(" TIME="); + Serial.print(hour(), DEC); + Serial.print(":"); + Serial.print(minute(), DEC); + Serial.print(":"); + Serial.print(second(), DEC); + Serial.print(","); + Serial.println("0."); + newGpsData = false; + } + char payload[30]; // TEMP ! for analog suspension sensors. This is a placeholder int FR = analogRead(A9); @@ -267,7 +201,7 @@ void loop() { sprintf(payload, "{\"FR\": %d, \"FL\": %d, \"RR\": %d, \"RL\": %d}!", FR, FL, RR, RL); } - + if (outFile) { outFile.write(payload); @@ -278,7 +212,7 @@ void loop() void sendMessageLoRa(uint8_t CMD) { rf95.setHeaderId(Car_ID); - uint8_t buf[COMMAND_size] = {CMD}; + uint8_t buf[COMMAND_SIZE] = {"message"}; //{CMD}; uint8_t len = sizeof(buf); rf95.send(buf, sizeof(buf)); @@ -296,7 +230,7 @@ void sendMessageLoRa(uint8_t CMD) { Serial.print((char)buf[i]); } - Serial.println(""); + Serial.println(" "); } else { @@ -312,7 +246,7 @@ void sendMessageLoRa(uint8_t CMD) void recieveMessage() { - uint8_t buf[COMMAND_size]; + uint8_t buf[COMMAND_SIZE]; uint8_t len = sizeof(buf); //Serial.println("Waiting for reply..."); From f54587b79e465c595e3205bdb65c0a1b87ddf51b Mon Sep 17 00:00:00 2001 From: orlygur Date: Mon, 6 May 2019 13:01:35 +0000 Subject: [PATCH 22/35] can now cpy/pst and run. --- Motherboard/Motherboard.ino | 22 ++++++++++------------ 1 file changed, 10 insertions(+), 12 deletions(-) diff --git a/Motherboard/Motherboard.ino b/Motherboard/Motherboard.ino index 0e0f7f4..a686d75 100644 --- a/Motherboard/Motherboard.ino +++ b/Motherboard/Motherboard.ino @@ -37,9 +37,6 @@ const bool GPSECHO = true; // Variables for Copernicus II GPS module float flat, flon; -//unsigned long age; -//int year; -//byte month, day, hour, minute, second, hundredth; bool newGpsData = false; // this keeps track of whether we're using the interrupt off by default! @@ -104,14 +101,14 @@ void gpsRead() uint8_t payloadLength() { - for (int i = 0; i < PAYLOAD_SIZE; i++) - { - if (payload[i] == '!') - { - return i; - } - } - return PAYLOAD_SIZE; + for (int i = 0; i < PAYLOAD_SIZE; i++) + { + if (payload[i] == '!') + { + return i; + } + } + return PAYLOAD_SIZE; } void setup() @@ -196,10 +193,11 @@ void loop() int FL = analogRead(A8); int RR = analogRead(A7); int RL = analogRead(A6); + long time = getTeensy3Time(); for (int i = 0; i < NUMBER_OF_MESSAGES; i++) { - sprintf(payload, "{\"FR\": %d, \"FL\": %d, \"RR\": %d, \"RL\": %d}!", FR, FL, RR, RL); + sprintf(payload, "{\"time\": %ld, \"FR\": %d, \"FL\": %d, \"RR\": %d, \"RL\": %d}!", time, FR, FL, RR, RL); } if (outFile) From 72eea79ca331d889e9758dcd1c1c62425e5c549b Mon Sep 17 00:00:00 2001 From: orlygur Date: Mon, 6 May 2019 14:27:36 +0000 Subject: [PATCH 23/35] =?UTF-8?q?laga=20output=20skr=C3=A1?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Motherboard/Motherboard.ino | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Motherboard/Motherboard.ino b/Motherboard/Motherboard.ino index a686d75..c0b176f 100644 --- a/Motherboard/Motherboard.ino +++ b/Motherboard/Motherboard.ino @@ -4,7 +4,6 @@ RU Racing 2019 communications motherboard Hardware: - Teensy 3.5 - LoRa RF95 -- !XBee-PRO S2C - Adafruit Ultimate GPS Breakout v3 - MCP2551 CAN transceiver @@ -195,9 +194,10 @@ void loop() int RL = analogRead(A6); long time = getTeensy3Time(); - for (int i = 0; i < NUMBER_OF_MESSAGES; i++) + for (int i = 0; i < 1; i++) { sprintf(payload, "{\"time\": %ld, \"FR\": %d, \"FL\": %d, \"RR\": %d, \"RL\": %d}!", time, FR, FL, RR, RL); + sprintf(payload, {\"time\": %ld, \"pitch"\": %d, \"yaw\": %d, \"roll\": %d}!", time, pitch, yaw,roll); } } if (outFile) From eaf403c540fbf73ed35123bb0ea730a5792307c3 Mon Sep 17 00:00:00 2001 From: orlygur Date: Mon, 6 May 2019 14:54:12 +0000 Subject: [PATCH 24/35] =?UTF-8?q?dikk=20move,=20vil=20f=C3=A1=20fleiri=20l?= =?UTF-8?q?=C3=ADnur=20code=20commited?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- CANsimulator/CANsimulator.ino | 95 ++++--- ClassLibrary/CanListener.cpp | 12 +- ClassLibrary/CanListener.h | 3 +- ClassLibrary/Vehicle.cpp | 4 +- LCD/LCD.ino | 385 +++++++++++++++++------------ LCD/constants.h | 44 ++-- LCD/images/batteryIcon.h | 2 +- LCD/images/brakeTempIcon.h | 2 +- LCD/images/disabledIcon.h | 2 +- LCD/images/ecuTempIcon.h | 2 +- LCD/images/fanIcon.h | 3 +- LCD/images/fuelPressureIcon.h | 2 +- LCD/images/logo.h | 3 +- LCD/images/waterTempIcon.h | 2 +- Telementry/insertHeadersFromECU.py | 3 +- Telementry/insertValuesFromECU.py | 4 +- Telementry/sdCardReader.py | 9 +- Telementry/serialReader.py | 29 ++- 18 files changed, 355 insertions(+), 251 deletions(-) diff --git a/CANsimulator/CANsimulator.ino b/CANsimulator/CANsimulator.ino index 297867a..5e2fcdd 100644 --- a/CANsimulator/CANsimulator.ino +++ b/CANsimulator/CANsimulator.ino @@ -18,73 +18,94 @@ const uint16_t MAX_RPM = 14000; static CAN_message_t msg1; static CAN_message_t msg2; -void demo() { - if (reverse) { - if (rpm != 0) { +void demo() +{ + if (reverse) + { + if (rpm != 0) + { rpm -= 25; + Serial.print("RPM : "); + Serial.println(rpm); } - else { + else + { oilTemp = random(4730, 4830); waterTemp = random(4030, 4230); brakeTemp = random(3730, 4230); voltage = random(11900, 12900); - if (gear > 0) { + if (gear > 0) + { gear--; rpm = 9000; } - else { + else + { rpm = 0; speed = 0; } } } - else { - if (rpm != MAX_RPM) { + else + { + if (rpm != MAX_RPM) + { rpm += 25; } - else { + else + { oilTemp = random(4730, 4830); waterTemp = random(4030, 4230); brakeTemp = random(3730, 4230); voltage = random(11900, 12900); - if (gear < 6) { + if (gear < 6) + { gear++; rpm = 2000; } - else { + else + { rpm = 13500; } } } - if (reverse) { - if (speed > 0) { - if (speedCount == 15) { + if (reverse) + { + if (speed > 0) + { + if (speedCount == 15) + { speed--; speedCount = 0; } - else { + else + { speedCount++; } } } - else { - if (speed < 200 && gear != 0) { - if (speedCount == 15) { + else + { + if (speed < 200 && gear != 0) + { + if (speedCount == 15) + { speed++; speedCount = 0; } - else { + else + { speedCount++; } } } } -void setup() { - +void setup() +{ // Initialize the CAN bus Can0.begin(500000); Serial.begin(9600); @@ -100,20 +121,18 @@ void setup() { // CAN message headers msg1.id = 0x1; msg1.len = 8; - msg1.flags.extended = 0; - msg1.flags.remote = 0; - + //msg1.flags.extended = 0; + //msg1.flags.remote = 0; + msg2.id = 0x2; msg2.len = 8; - msg2.flags.extended = 0; - msg2.flags.remote = 0; - + //msg2.flags.extended = 0; + //msg2.flags.remote = 0; } -void loop() { - +void loop() +{ demo(); - // CAN message 1 payload msg1.buf[0] = (uint8_t)rpm; msg1.buf[1] = rpm >> 8; @@ -124,8 +143,8 @@ void loop() { msg1.buf[6] = (uint8_t)speed; msg1.buf[7] = 0; - while (!Can0.write(msg1, Can0.getFirstTxBox())) { - } + /*while (!Can0.write(msg1, Can0.getFirstTxBox())) { + }*/ // CAN message 2 payload msg2.buf[0] = (uint8_t)oilTemp; @@ -136,14 +155,16 @@ void loop() { msg2.buf[5] = waterTemp >> 8; msg2.buf[6] = speed; msg2.buf[7] = speed >> 8; - - while (!Can0.write(msg2, Can0.getLastTxBox())) { - } - if (gear == 6 && rpm == 14000) { + /*while (!Can0.write(msg2, Can0.getLastTxBox())) { + }*/ + + if (gear == 6 && rpm == 14000) + { reverse = true; } - if (reverse && gear == 0 && rpm == 0) { + if (reverse && gear == 0 && rpm == 0) + { reverse = false; } diff --git a/ClassLibrary/CanListener.cpp b/ClassLibrary/CanListener.cpp index 769b638..f64fdbc 100644 --- a/ClassLibrary/CanListener.cpp +++ b/ClassLibrary/CanListener.cpp @@ -1,19 +1,23 @@ #include "CanListener.h" -inline float CanListener::CANIntToFloat(uint16_t floatValue) { +inline float CanListener::CANIntToFloat(uint16_t floatValue) +{ return floatValue / 1000.0; } -inline float CanListener::CANKelvinToFloat(uint16_t kelvinValue) { +inline float CanListener::CANKelvinToFloat(uint16_t kelvinValue) +{ float result = kelvinValue / 10.0; result = result - 273.15; return result; } -bool CanListener::frameHandler(CAN_message_t &frame, int mailbox, uint8_t controller) { +bool CanListener::frameHandler(CAN_message_t &frame, int mailbox, uint8_t controller) +{ - switch (frame.id) { + switch (frame.id) + { case 1: vehicle.rpm = frame.buf[0] | (frame.buf[1] << 8); vehicle.voltage = CANIntToFloat(frame.buf[2] | (frame.buf[3] << 8)); diff --git a/ClassLibrary/CanListener.h b/ClassLibrary/CanListener.h index b2c959f..31d6795 100644 --- a/ClassLibrary/CanListener.h +++ b/ClassLibrary/CanListener.h @@ -2,7 +2,8 @@ #include "Vehicle.h" #include -class CanListener : public CANListener { +class CanListener : public CANListener +{ public: // Vehicle class instance Vehicle vehicle; diff --git a/ClassLibrary/Vehicle.cpp b/ClassLibrary/Vehicle.cpp index 53a45cb..42af20f 100644 --- a/ClassLibrary/Vehicle.cpp +++ b/ClassLibrary/Vehicle.cpp @@ -1,6 +1,7 @@ #include "Vehicle.h" -Vehicle::Vehicle() { +Vehicle::Vehicle() +{ // Initialize car values rpm = 0; prevRPM = 1; @@ -34,5 +35,4 @@ Vehicle::Vehicle() { prevCylcontrib4 = 1; } - Vehicle::~Vehicle() {} diff --git a/LCD/LCD.ino b/LCD/LCD.ino index 4698741..69bb49b 100644 --- a/LCD/LCD.ino +++ b/LCD/LCD.ino @@ -43,28 +43,27 @@ uint8_t ledBarSetBits; uint8_t srWarningCounter; uint8_t srLedCounter; -void printIcons() { +void printIcons() +{ tft.graphicsMode(); // Draw the icon for cooling fan drawFanIcon(); // Draw battery icon tft.drawXBitmap( - batteryIconPos[xPos], - batteryIconPos[yPos], - batteryIcon, - batteryWidth, - batteryHeight, - RA8875_WHITE - ); + batteryIconPos[xPos], + batteryIconPos[yPos], + batteryIcon, + batteryWidth, + batteryHeight, + RA8875_WHITE); // Draw engine oil temperature icon tft.drawXBitmap( - oilLabelPos[xPos], - oilLabelPos[yPos], - oilTempIcon, - oilTempWidth, - oilTempHeight, - RA8875_WHITE - ); + oilLabelPos[xPos], + oilLabelPos[yPos], + oilTempIcon, + oilTempWidth, + oilTempHeight, + RA8875_WHITE); // Draw coolant temperature icon tft.drawXBitmap( waterLabelPos[xPos], @@ -72,8 +71,7 @@ void printIcons() { waterTempIcon, waterTempWidth, waterTempHeight, - RA8875_WHITE - ); + RA8875_WHITE); // Draw ECU temperature icon tft.drawXBitmap( ecuLabelPos[xPos], @@ -81,8 +79,7 @@ void printIcons() { ecuTempIcon, ecuTempWidth, ecuTempHeight, - RA8875_WHITE - ); + RA8875_WHITE); // Draw fuel pressure icon tft.drawXBitmap( fuelPressureIconPos[xPos], @@ -90,12 +87,12 @@ void printIcons() { fuelPressureIcon, fuelPressureWidth, fuelPressureHeight, - RA8875_WHITE - ); + RA8875_WHITE); tft.textMode(); } -void printLabels() { +void printLabels() +{ tft.textEnlarge(3); tft.textSetCursor(speedLabelPos[xPos], speedLabelPos[yPos]); tft.textWrite("km/h"); @@ -104,7 +101,8 @@ void printLabels() { tft.textWrite(" RPM"); } -void printFrames() { +void printFrames() +{ tft.drawFastVLine(280, 0, 480, RA8875_WHITE); tft.drawFastVLine(500, 0, 480 - (480 - 350), RA8875_WHITE); tft.drawFastHLine(280, 350, (800 - 280), RA8875_WHITE); @@ -114,14 +112,15 @@ void printFrames() { tft.drawFastHLine(0, voltagePos[yPos] + batteryHeight + 30, 280, RA8875_WHITE); } -void printInt(const uint16_t& x, - const uint16_t& y, - const uint16_t& value, - uint16_t& prevValue, - char charValue[], - const uint8_t len, - const uint8_t& fontSize, - bool warning) { +void printInt(const uint16_t &x, + const uint16_t &y, + const uint16_t &value, + uint16_t &prevValue, + char charValue[], + const uint8_t len, + const uint8_t &fontSize, + bool warning) +{ sprintf(charValue, "%*d", len, value); prevValue = value; @@ -129,14 +128,15 @@ void printInt(const uint16_t& x, } void printFloat( - const uint16_t& x, - const uint16_t& y, - const float& value, - float& prevValue, + const uint16_t &x, + const uint16_t &y, + const float &value, + float &prevValue, char charValue[], - const uint8_t& len, - const uint8_t& fontSize, - bool warning) { + const uint8_t &len, + const uint8_t &fontSize, + bool warning) +{ sprintf(charValue, "%*.02f", len, value); prevValue = value; @@ -144,14 +144,15 @@ void printFloat( } void printFloatNoPoint( - const uint16_t& x, - const uint16_t& y, - const float& value, - float& prevValue, + const uint16_t &x, + const uint16_t &y, + const float &value, + float &prevValue, char charValue[], - const uint8_t& len, - const uint8_t& fontSize, - bool warning) { + const uint8_t &len, + const uint8_t &fontSize, + bool warning) +{ sprintf(charValue, "%*d", len, (int)value); prevValue = value; @@ -159,29 +160,34 @@ void printFloatNoPoint( } void printValue( - const uint16_t& x, - const uint16_t& y, + const uint16_t &x, + const uint16_t &y, char charValue[], - const uint8_t& len, - const uint8_t& fontSize, - bool warning - ) { + const uint8_t &len, + const uint8_t &fontSize, + bool warning) +{ tft.textMode(); tft.textSetCursor(x, y); tft.textEnlarge(fontSize); - if (warning) { + if (warning) + { tft.textColor(RA8875_BLACK, RA8875_RED); } - else { + else + { tft.textColor(RA8875_WHITE, RA8875_BLACK); } tft.textWrite(charValue, len); tft.textColor(RA8875_WHITE, RA8875_BLACK); } -void printValues() { - while (true) { - if (canListener.vehicle.voltage != canListener.vehicle.prevVoltage) { +void printValues() +{ + while (true) + { + if (canListener.vehicle.voltage != canListener.vehicle.prevVoltage) + { char charValue[voltageDispLen]; lcdMutex.lock(); printFloat( @@ -192,15 +198,16 @@ void printValues() { charValue, voltageDispLen, 3, - false - ); + false); tft.textWrite("v"); lcdMutex.unlock(); } - if (canListener.vehicle.prevOilTemp != canListener.vehicle.oilTemp) { + if (canListener.vehicle.prevOilTemp != canListener.vehicle.oilTemp) + { char charValue[oilTempDispLen]; lcdMutex.lock(); - if (canListener.vehicle.oilTemp > 130) { + if (canListener.vehicle.oilTemp > 130) + { printFloatNoPoint( oilTempPos[xPos], oilTempPos[yPos], @@ -209,10 +216,10 @@ void printValues() { charValue, oilTempDispLen, 3, - true - ); + true); } - else { + else + { printFloatNoPoint( oilTempPos[xPos], oilTempPos[yPos], @@ -221,17 +228,18 @@ void printValues() { charValue, oilTempDispLen, 3, - false - ); + false); } tft.textEnlarge(2); tft.textWrite(celcius); lcdMutex.unlock(); } - if (canListener.vehicle.prevWaterTemp != canListener.vehicle.waterTemp) { + if (canListener.vehicle.prevWaterTemp != canListener.vehicle.waterTemp) + { char charValue[waterTempDispLen]; lcdMutex.lock(); - if (canListener.vehicle.waterTemp > 98) { + if (canListener.vehicle.waterTemp > 98) + { printFloatNoPoint( waterTempPos[xPos], waterTempPos[yPos], @@ -240,10 +248,10 @@ void printValues() { charValue, waterTempDispLen, 3, - true - ); + true); } - else { + else + { printFloatNoPoint( waterTempPos[xPos], waterTempPos[yPos], @@ -252,17 +260,18 @@ void printValues() { charValue, waterTempDispLen, 3, - false - ); + false); } tft.textEnlarge(2); tft.textWrite(celcius); lcdMutex.unlock(); } - if (canListener.vehicle.prevEcuTemp != canListener.vehicle.ecuTemp) { + if (canListener.vehicle.prevEcuTemp != canListener.vehicle.ecuTemp) + { char charValue[ecuTempDispLen]; lcdMutex.lock(); - if (canListener.vehicle.ecuTemp > 80) { + if (canListener.vehicle.ecuTemp > 80) + { char charValue[ecuTempDispLen]; printFloatNoPoint( ecuTempPos[xPos], @@ -272,10 +281,10 @@ void printValues() { charValue, ecuTempDispLen, 3, - true - ); + true); } - else { + else + { printFloatNoPoint( ecuTempPos[xPos], ecuTempPos[yPos], @@ -284,14 +293,14 @@ void printValues() { charValue, ecuTempDispLen, 3, - false - ); + false); } tft.textEnlarge(2); tft.textWrite(celcius); lcdMutex.unlock(); } - if (canListener.vehicle.prevFuelPressure != canListener.vehicle.fuelPressure) { + if (canListener.vehicle.prevFuelPressure != canListener.vehicle.fuelPressure) + { char charValue[fuelPressureDispLen]; lcdMutex.lock(); printFloat( @@ -302,15 +311,16 @@ void printValues() { charValue, fuelPressureDispLen, 3, - false - ); + false); tft.textWrite("B"); lcdMutex.unlock(); } - if (canListener.vehicle.prevRPM != canListener.vehicle.rpm) { + if (canListener.vehicle.prevRPM != canListener.vehicle.rpm) + { char charValue[rpmDispLen]; lcdMutex.lock(); - if (canListener.vehicle.rpm > MAX_RPM - 500) { + if (canListener.vehicle.rpm > MAX_RPM - 500) + { printInt( rpmPos[xPos], rpmPos[yPos], @@ -319,10 +329,10 @@ void printValues() { charValue, rpmDispLen, 3, - true - ); + true); } - else { + else + { printInt( rpmPos[xPos], rpmPos[yPos], @@ -331,12 +341,12 @@ void printValues() { charValue, rpmDispLen, 3, - false - ); + false); } lcdMutex.unlock(); } - if (canListener.vehicle.prevSpeed != canListener.vehicle.speed) { + if (canListener.vehicle.prevSpeed != canListener.vehicle.speed) + { char charValue[speedDispLen]; lcdMutex.lock(); drawSpeedometer(); @@ -348,19 +358,21 @@ void printValues() { charValue, speedDispLen, 3, - false - ); + false); lcdMutex.unlock(); canListener.vehicle.prevSpeed = canListener.vehicle.speed; } - if (canListener.vehicle.prevGear != canListener.vehicle.gear) { - if (canListener.vehicle.gear == 0) { + if (canListener.vehicle.prevGear != canListener.vehicle.gear) + { + if (canListener.vehicle.gear == 0) + { lcdMutex.lock(); tft.drawChar(gearPos[xPos], gearPos[yPos], 'N', 0xffff, 0x0000, gearSize); lcdMutex.unlock(); canListener.vehicle.prevGear = canListener.vehicle.gear; } - else { + else + { char gearDisp = 48 + canListener.vehicle.gear; canListener.vehicle.prevGear = canListener.vehicle.gear; lcdMutex.lock(); @@ -371,36 +383,40 @@ void printValues() { } } -void drawFanIcon() { +void drawFanIcon() +{ tft.drawXBitmap( fanIconPos[xPos], fanIconPos[yPos], fanIcon, fanWidth, fanHeight, - RA8875_WHITE - ); + RA8875_WHITE); } -void drawFanState() { - while (true) { - if (canListener.vehicle.prevFanOn != canListener.vehicle.fanOn) { +void drawFanState() +{ + while (true) + { + if (canListener.vehicle.prevFanOn != canListener.vehicle.fanOn) + { canListener.vehicle.prevFanOn = canListener.vehicle.fanOn; lcdMutex.lock(); tft.graphicsMode(); - if (canListener.vehicle.prevFanOn) { + if (canListener.vehicle.prevFanOn) + { tft.fillRect(disabledIconPos[xPos], 0, 100, 100, RA8875_BLACK); drawFanIcon(); } - else { + else + { tft.drawXBitmap( disabledIconPos[xPos], disabledIconPos[yPos], disabledIcon, disabledWidth, disabledHeight, - RA8875_RED - ); + RA8875_RED); } tft.textMode(); lcdMutex.unlock(); @@ -408,18 +424,23 @@ void drawFanState() { } } -void drawSpeedometer() { - if (canListener.vehicle.speed > canListener.vehicle.prevSpeed) { - for (int i = canListener.vehicle.prevSpeed; i < canListener.vehicle.speed; i++) { +void drawSpeedometer() +{ + if (canListener.vehicle.speed > canListener.vehicle.prevSpeed) + { + for (int i = canListener.vehicle.prevSpeed; i < canListener.vehicle.speed; i++) + { uint8_t red; uint8_t green; - if (i <= 100) { + if (i <= 100) + { green = 255; red = i * 2.55; } - else { + else + { red = 255; green = 255 - ((i - 100) * 2.55); } @@ -427,15 +448,18 @@ void drawSpeedometer() { drawSpeedLine(i, (red << 11) | (green << 5)); } } - else { - for (int i = canListener.vehicle.prevSpeed; i >= canListener.vehicle.speed; i--) { + else + { + for (int i = canListener.vehicle.prevSpeed; i >= canListener.vehicle.speed; i--) + { drawSpeedLine(i, RA8875_BLACK); } } } // Draws the bar in an arc speedometer -void drawSpeedLine(const uint8_t& value, const uint16_t& color) { +void drawSpeedLine(const uint8_t &value, const uint16_t &color) +{ int speedToDeg = 280 - value; int u0 = (speedoOffsetRadius * sin(speedToDeg * (PI / 180))) + cX; int v0 = (speedoOffsetRadius * cos(speedToDeg * (PI / 180))) + cY; @@ -444,15 +468,19 @@ void drawSpeedLine(const uint8_t& value, const uint16_t& color) { tft.drawLine(u0, v0, u1, v1, color); } -void runShiftRegister() { - while (true) { +void runShiftRegister() +{ + while (true) + { // Close the latch to write into register memory digitalWrite(SR_LATCH, LOW); // Scale RPM to number of LEDs - if (canListener.vehicle.rpm < IDLE_RPM) { + if (canListener.vehicle.rpm < IDLE_RPM) + { ledBarSetBits = canListener.vehicle.rpm / 1000; } - else { + else + { ledBarSetBits = ((canListener.vehicle.rpm - IDLE_RPM) / RPM_SCALE) + 3; } @@ -460,7 +488,8 @@ void runShiftRegister() { uint8_t warning = warningSetBits | WARNING_LIGHT2 | WARNING_LIGHT4 | WARNING_LIGHT6 | WARNING_LIGHT8; // Shift bits to register - for (int i = 0; i < SR_WARNINGBITS; i++) { + for (int i = 0; i < SR_WARNINGBITS; i++) + { digitalWrite(SR_DATA_OUT, (warning & 0x1)); digitalWrite(SR_CLOCK_OUT, LOW); @@ -468,11 +497,14 @@ void runShiftRegister() { warning = warning >> 1; } - for (int i = 0; i < SR_LEDBITS; i++) { - if (i < ledBarSetBits) { + for (int i = 0; i < SR_LEDBITS; i++) + { + if (i < ledBarSetBits) + { digitalWrite(SR_DATA_OUT, HIGH); } - else { + else + { digitalWrite(SR_DATA_OUT, LOW); } // Manually set clock transition @@ -492,98 +524,127 @@ uint16_t speedCount; bool reverse; bool demoOn; -void demo() { - if (demoOn) { - if (reverse) { - if (canListener.vehicle.rpm != 0) { +void demo() +{ + if (demoOn) + { + if (reverse) + { + if (canListener.vehicle.rpm != 0) + { canListener.vehicle.rpm -= 25; } - else { + else + { canListener.vehicle.oilTemp = random(50, 100); canListener.vehicle.waterTemp = random(50, 100); canListener.vehicle.ecuTemp = random(40, 60); canListener.vehicle.voltage = random(1100, 1400) / 100.0; canListener.vehicle.fuelPressure = random(1000, 3000) / 1000.0; - if (canListener.vehicle.gear > 0) { + if (canListener.vehicle.gear > 0) + { canListener.vehicle.gear--; canListener.vehicle.rpm = 9000; } - else { + else + { canListener.vehicle.rpm = 0; canListener.vehicle.speed = 0; } } } - else { - if (canListener.vehicle.rpm != MAX_RPM) { + else + { + if (canListener.vehicle.rpm != MAX_RPM) + { canListener.vehicle.rpm += 25; } - else { + else + { canListener.vehicle.oilTemp = random(50, 100); canListener.vehicle.waterTemp = random(50, 100); canListener.vehicle.ecuTemp = random(40, 60); canListener.vehicle.voltage = random(1100, 1400) / 100.0; canListener.vehicle.fuelPressure = random(1000, 3000) / 1000.0; - if (canListener.vehicle.gear < 6) { + if (canListener.vehicle.gear < 6) + { canListener.vehicle.gear++; canListener.vehicle.rpm = 2000; } - else { + else + { canListener.vehicle.rpm = MAX_RPM - 500; } } } - if (reverse) { - if (canListener.vehicle.speed > 0) { - if (speedCount == 15) { + if (reverse) + { + if (canListener.vehicle.speed > 0) + { + if (speedCount == 15) + { canListener.vehicle.speed--; speedCount = 0; } - else { + else + { speedCount++; } } } - else { - if (canListener.vehicle.speed < 200 && canListener.vehicle.gear != 0) { - if (speedCount == 15) { + else + { + if (canListener.vehicle.speed < 200 && canListener.vehicle.gear != 0) + { + if (speedCount == 15) + { canListener.vehicle.speed++; speedCount = 0; } - else { + else + { speedCount++; } } } - if (canListener.vehicle.waterTemp > 80) { + if (canListener.vehicle.waterTemp > 80) + { canListener.vehicle.fanOn = true; } - else { + else + { canListener.vehicle.fanOn = false; } - if (canListener.vehicle.gear == 6 && canListener.vehicle.rpm == MAX_RPM) { + if (canListener.vehicle.gear == 6 && canListener.vehicle.rpm == MAX_RPM) + { reverse = true; } - if (reverse && canListener.vehicle.gear == 0 && canListener.vehicle.rpm == 0) { + if (reverse && canListener.vehicle.gear == 0 && canListener.vehicle.rpm == 0) + { reverse = false; } delay(1); } } -void buttonHandler() { - while (true) { - if (digitalRead(BUTTON1)) { - if (demoOn) { +void buttonHandler() +{ + while (true) + { + if (digitalRead(BUTTON1)) + { + if (demoOn) + { demoOn = false; Can0.attachObj(&canListener); } - else { + else + { Can0.detachObj(&canListener); demoOn = true; } @@ -593,18 +654,18 @@ void buttonHandler() { } } - - -void setup() { +void setup() +{ // Initialize serial console Serial.begin(9600); pinMode(BUTTON1, INPUT); pinMode(BUTTON2, INPUT); - + // Initialise the display Serial.println("RA8875 start"); - while (!tft.begin(RA8875_800x480)) { + while (!tft.begin(RA8875_800x480)) + { Serial.println("RA8875 Not Found!"); delay(1000); } @@ -612,15 +673,16 @@ void setup() { Serial.println("Found RA8875"); tft.displayOn(true); - tft.GPIOX(true); // Enable TFT - display enable tied to GPIOX + tft.GPIOX(true); // Enable TFT - display enable tied to GPIOX tft.PWM1config(true, RA8875_PWM_CLK_DIV1024); // PWM output for backlight - tft.PWM1out(0); // Start faded out - + tft.PWM1out(0); // Start faded out + //Draw logo and Fade in tft.graphicsMode(); tft.fillScreen(RA8875_BLACK); tft.drawXBitmap(logoPos[xPos], logoPos[yPos], logo, logoWidth, logoHeight, RA8875_RED); - for (uint8_t i = 0; i != 255; i += 5) { + for (uint8_t i = 0; i != 255; i += 5) + { tft.PWM1out(i); delay(10); } @@ -640,7 +702,7 @@ void setup() { // Let the logo linger a bit delay(1800); - + // Clear sceen tft.fillScreen(RA8875_BLACK); tft.textMode(); @@ -658,6 +720,7 @@ void setup() { threads.addThread(buttonHandler); } -void loop() { +void loop() +{ demo(); } diff --git a/LCD/constants.h b/LCD/constants.h index b3e7467..6a4c993 100644 --- a/LCD/constants.h +++ b/LCD/constants.h @@ -20,34 +20,40 @@ const uint8_t BUTTON2 = 21; // LCD positioning const uint16_t lcdWidth = 800; const uint16_t lcdHeight = 480; -const uint16_t logoPos[] = { ((lcdWidth - logoWidth) / 2), ((lcdHeight - logoHeight) / 2) }; +const uint16_t logoPos[] = {((lcdWidth - logoWidth) / 2), ((lcdHeight - logoHeight) / 2)}; const bool xPos = 0; const bool yPos = 1; const uint16_t gearSize = 20; -const uint16_t gearPos[] = { ((lcdWidth - (5 * gearSize)) / 2), ((lcdHeight - (8 * gearSize)) / 2) }; -const uint16_t oilLabelPos[] = { 10, 15 }; -const uint16_t oilTempPos[] = { oilTempWidth + 30, 5 }; +const uint16_t gearPos[] = {((lcdWidth - (5 * gearSize)) / 2), ((lcdHeight - (8 * gearSize)) / 2)}; +const uint16_t oilLabelPos[] = {10, 15}; +const uint16_t oilTempPos[] = {oilTempWidth + 30, 5}; const uint8_t oilTempDispLen = 4; -const uint16_t waterLabelPos[] = { 10, 105 }; -const uint16_t waterTempPos[] = { waterTempWidth + 30, 100 }; +const uint16_t waterLabelPos[] = {10, 105}; +const uint16_t waterTempPos[] = {waterTempWidth + 30, 100}; const uint8_t waterTempDispLen = 4; -const uint16_t ecuLabelPos[] = { 10, 200 }; -const uint16_t ecuTempPos[] = { ecuTempWidth + 30, 190 }; +const uint16_t ecuLabelPos[] = {10, 200}; +const uint16_t ecuTempPos[] = {ecuTempWidth + 30, 190}; const uint8_t ecuTempDispLen = 4; -const uint16_t batteryIconPos[] = { 10, 295, }; -const uint16_t voltagePos[] = { batteryWidth + 30, 285 }; +const uint16_t batteryIconPos[] = { + 10, + 295, +}; +const uint16_t voltagePos[] = {batteryWidth + 30, 285}; const uint8_t voltageDispLen = 5; -const uint16_t speedLabelPos[] = { 580, 240 }; -const uint16_t speedPos[] = { 590, 190 }; +const uint16_t speedLabelPos[] = {580, 240}; +const uint16_t speedPos[] = {590, 190}; const uint8_t speedDispLen = 3; -const uint16_t rpmLabelPos[] = { 480, 380 }; -const uint16_t rpmPos[] = { 320, 380 }; +const uint16_t rpmLabelPos[] = {480, 380}; +const uint16_t rpmPos[] = {320, 380}; const uint8_t rpmDispLen = 5; -const uint16_t fanIconPos[] = { (lcdWidth / 2) - (fanWidth / 2), 10 }; -const uint16_t fuelPressurePos[] = { fuelPressureWidth + 30, 380 }; +const uint16_t fanIconPos[] = {(lcdWidth / 2) - (fanWidth / 2), 10}; +const uint16_t fuelPressurePos[] = {fuelPressureWidth + 30, 380}; const uint8_t fuelPressureDispLen = 4; -const uint16_t fuelPressureIconPos[] = { 10, 380, }; -const uint16_t disabledIconPos[] = { (uint16_t)(fanIconPos[xPos] - 15), (uint16_t)(fanIconPos[yPos] - 15) }; +const uint16_t fuelPressureIconPos[] = { + 10, + 380, +}; +const uint16_t disabledIconPos[] = {(uint16_t)(fanIconPos[xPos] - 15), (uint16_t)(fanIconPos[yPos] - 15)}; // Circular speedometer vector int cX = 650; @@ -73,4 +79,4 @@ const uint16_t MAX_RPM = 14000; const uint16_t IDLE_RPM = 4000; // Celcius symbol -const static char celcius[3] = { 0xb0, 0x43 }; \ No newline at end of file +const static char celcius[3] = {0xb0, 0x43}; \ No newline at end of file diff --git a/LCD/images/batteryIcon.h b/LCD/images/batteryIcon.h index 8c55c98..a122849 100644 --- a/LCD/images/batteryIcon.h +++ b/LCD/images/batteryIcon.h @@ -27,4 +27,4 @@ const static uint8_t batteryIcon[] PROGMEM = { 0xf8, 0xff, 0xff, 0xff, 0xff, 0x1f, 0xf8, 0xff, 0xff, 0xff, 0xff, 0x1f, 0xf8, 0xff, 0xff, 0xff, 0xff, 0x1f, 0xf8, 0xff, 0xff, 0xff, 0xff, 0x1f, 0xf8, 0xff, 0xff, 0xff, 0xff, 0x1f, 0xf8, 0xff, 0xff, 0xff, 0xff, 0x1f, - 0xf8, 0xff, 0xff, 0xff, 0xff, 0x1f, 0xa8, 0xaa, 0xaa, 0xaa, 0xaa, 0x0a }; \ No newline at end of file + 0xf8, 0xff, 0xff, 0xff, 0xff, 0x1f, 0xa8, 0xaa, 0xaa, 0xaa, 0xaa, 0x0a}; \ No newline at end of file diff --git a/LCD/images/brakeTempIcon.h b/LCD/images/brakeTempIcon.h index 08636ec..aa9b373 100644 --- a/LCD/images/brakeTempIcon.h +++ b/LCD/images/brakeTempIcon.h @@ -27,4 +27,4 @@ static unsigned char brakeTempIcon[] PROGMEM = { 0xe0, 0xe1, 0x0f, 0xf8, 0x07, 0x0f, 0xe0, 0xe0, 0xff, 0xff, 0x03, 0x07, 0x40, 0x80, 0xff, 0xff, 0x01, 0x04, 0x00, 0x00, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0xfe, 0x3f, 0x00, 0x00, 0x00, 0x00, 0xf0, 0x0f, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 }; + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}; diff --git a/LCD/images/disabledIcon.h b/LCD/images/disabledIcon.h index adafd4d..e43fca6 100644 --- a/LCD/images/disabledIcon.h +++ b/LCD/images/disabledIcon.h @@ -112,4 +112,4 @@ const static uint8_t disabledIcon[] PROGMEM = { 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xff, 0xff, 0x0f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x0f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00 }; + 0x00, 0x00, 0x00, 0x00}; diff --git a/LCD/images/ecuTempIcon.h b/LCD/images/ecuTempIcon.h index 5bf3808..97eda3a 100644 --- a/LCD/images/ecuTempIcon.h +++ b/LCD/images/ecuTempIcon.h @@ -27,4 +27,4 @@ static unsigned char ecuTempIcon[] PROGMEM = { 0x00, 0xf0, 0x38, 0x1e, 0x07, 0x00, 0x00, 0xf0, 0x38, 0x1e, 0x07, 0x00, 0x00, 0xf0, 0x38, 0x1e, 0x07, 0x00, 0x00, 0xf0, 0x38, 0x1e, 0x07, 0x00, 0x00, 0xf0, 0x38, 0x1e, 0x07, 0x00, 0x00, 0xf0, 0x38, 0x1e, 0x07, 0x00, - 0x00, 0xf0, 0x38, 0x1e, 0x07, 0x00, 0x00, 0x60, 0x38, 0x0c, 0x07, 0x00 }; \ No newline at end of file + 0x00, 0xf0, 0x38, 0x1e, 0x07, 0x00, 0x00, 0x60, 0x38, 0x0c, 0x07, 0x00}; \ No newline at end of file diff --git a/LCD/images/fanIcon.h b/LCD/images/fanIcon.h index cb0fbb7..e5e0d6a 100644 --- a/LCD/images/fanIcon.h +++ b/LCD/images/fanIcon.h @@ -57,5 +57,4 @@ const static uint8_t fanIcon[] PROGMEM = { 0x00, 0xf0, 0xff, 0xff, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0xe0, 0xff, 0x7f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xc0, 0xff, 0x1f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xff, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0xfc, 0x00, 0x00, 0x00 -}; \ No newline at end of file + 0x00, 0x00, 0xfc, 0x00, 0x00, 0x00}; \ No newline at end of file diff --git a/LCD/images/fuelPressureIcon.h b/LCD/images/fuelPressureIcon.h index ea6b40a..3cdfa72 100644 --- a/LCD/images/fuelPressureIcon.h +++ b/LCD/images/fuelPressureIcon.h @@ -27,4 +27,4 @@ const static uint8_t fuelPressureIcon[] PROGMEM = { 0x3c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1f, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x1f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x18, 0x00, 0x00, 0x00, 0x00, 0x00 }; + 0x1f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x18, 0x00, 0x00, 0x00, 0x00, 0x00}; diff --git a/LCD/images/logo.h b/LCD/images/logo.h index 5d0ea3d..be950d7 100644 --- a/LCD/images/logo.h +++ b/LCD/images/logo.h @@ -826,5 +826,4 @@ const static uint8_t logo[] PROGMEM = { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00 -}; \ No newline at end of file + 0x00, 0x00, 0x00, 0x00}; \ No newline at end of file diff --git a/LCD/images/waterTempIcon.h b/LCD/images/waterTempIcon.h index 72ff617..694c503 100644 --- a/LCD/images/waterTempIcon.h +++ b/LCD/images/waterTempIcon.h @@ -27,4 +27,4 @@ const static uint8_t waterTempIcon[] PROGMEM = { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xf0, 0x00, 0x0f, 0xf0, 0x00, 0x0f, 0xf8, 0xc1, 0x1f, 0xf8, 0x83, 0x1f, 0xf8, 0xf7, 0x7f, 0xff, 0xf7, 0x1f, 0x18, 0xff, 0xf8, 0x1f, 0xff, 0x11, - 0x00, 0x7e, 0xe0, 0x07, 0x7e, 0x00, 0x00, 0x18, 0x80, 0x01, 0x18, 0x00 }; + 0x00, 0x7e, 0xe0, 0x07, 0x7e, 0x00, 0x00, 0x18, 0x80, 0x01, 0x18, 0x00}; diff --git a/Telementry/insertHeadersFromECU.py b/Telementry/insertHeadersFromECU.py index 7142b04..212828f 100644 --- a/Telementry/insertHeadersFromECU.py +++ b/Telementry/insertHeadersFromECU.py @@ -17,6 +17,7 @@ except: print("Unable to connect to the database") + def main(): cursor.execute(''' @@ -51,6 +52,6 @@ def main(): except Exception as e: print(e) + if __name__ == "__main__": main() - diff --git a/Telementry/insertValuesFromECU.py b/Telementry/insertValuesFromECU.py index 50ace46..01b5954 100644 --- a/Telementry/insertValuesFromECU.py +++ b/Telementry/insertValuesFromECU.py @@ -17,6 +17,7 @@ except: print("Unable to connect to the database") + def main(): filenames = [] @@ -41,7 +42,6 @@ def main(): except Exception as e: print(e) + if __name__ == "__main__": main() - - diff --git a/Telementry/sdCardReader.py b/Telementry/sdCardReader.py index 9fbfd45..21760f5 100644 --- a/Telementry/sdCardReader.py +++ b/Telementry/sdCardReader.py @@ -17,6 +17,7 @@ except: print("Unable to connect to the database") + def main(): cursor.execute(''' @@ -66,16 +67,17 @@ def main(): values = json.loads(entry) MessageTime = values['time'] - cursor.execute("SELECT time FROM vehicledata WHERE time = to_timestamp({})".format(MessageTime)) + cursor.execute( + "SELECT time FROM vehicledata WHERE time = to_timestamp({})".format(MessageTime)) conn.commit() - if cursor.fetchone() is None : + if cursor.fetchone() is None: cursor.execute(''' INSERT INTO vehicledata (time) VALUES (to_timestamp({})) '''.format(MessageTime)) - for key, value in values.items() : + for key, value in values.items(): if key != "time": cursor.execute(''' UPDATE vehicledata @@ -89,5 +91,6 @@ def main(): except Exception as e: print(e) + if __name__ == "__main__": main() diff --git a/Telementry/serialReader.py b/Telementry/serialReader.py index 89b1b95..488ec24 100644 --- a/Telementry/serialReader.py +++ b/Telementry/serialReader.py @@ -21,18 +21,21 @@ from digi.xbee.devices import XBeeDevice from digi.xbee.exception import TimeoutException -if os.name == "windows" or os.name == "nt" : +if os.name == "windows" or os.name == "nt": PORT = "COM{}".format(sys.argv[1]) -elif os.name == "linux" or os.name == "posix" : +elif os.name == "linux" or os.name == "posix": PORT = "/dev/ttyS{}".format(sys.argv[1]) BAUD_RATE = 9600 xbee = XBeeDevice(PORT, BAUD_RATE) message = None + def signal_handler(signal, frame): xbee.close() sys.exit(0) + + signal.signal(signal.SIGINT, signal_handler) try: @@ -41,6 +44,7 @@ def signal_handler(signal, frame): except: print("Unable to connect to the database") + def main(): cursor.execute(''' @@ -75,32 +79,34 @@ def main(): print(" | Reading XBee data |") print(" +------------------------+\n") - while True : + while True: try: - if not xbee.is_open() : + if not xbee.is_open(): xbee.open() message = xbee.read_data() - if message and message.data is not None : + if message and message.data is not None: try: - data = json.loads(re.split(r"(?=\{)(.*?)(?<=\})", str(message.data))[1]) + data = json.loads( + re.split(r"(?=\{)(.*?)(?<=\})", str(message.data))[1]) except Exception as e: print(e) print(data) MessageTime = data['time'] - cursor.execute("SELECT time FROM vehicledata WHERE time = to_timestamp({})".format(MessageTime)) + cursor.execute( + "SELECT time FROM vehicledata WHERE time = to_timestamp({})".format(MessageTime)) conn.commit() - if cursor.fetchone() is None : + if cursor.fetchone() is None: cursor.execute(''' INSERT INTO vehicledata (time) VALUES (to_timestamp({})) '''.format(MessageTime)) - for key, value in data.items() : - if key != "time" : + for key, value in data.items(): + if key != "time": cursor.execute(''' UPDATE vehicledata SET {} = {} @@ -112,5 +118,6 @@ def main(): print(e) xbee.close() + if __name__ == "__main__": - main() \ No newline at end of file + main() From 0a98a45773dd7afa198837c9d57ce000e4aa290c Mon Sep 17 00:00:00 2001 From: Kristbjorg16 Date: Mon, 6 May 2019 17:00:26 +0000 Subject: [PATCH 25/35] IMU --- Motherboard/Motherboard.ino | 83 +++++++++++++++++++++++++++++++++++-- 1 file changed, 79 insertions(+), 4 deletions(-) diff --git a/Motherboard/Motherboard.ino b/Motherboard/Motherboard.ino index c0b176f..e6137c9 100644 --- a/Motherboard/Motherboard.ino +++ b/Motherboard/Motherboard.ino @@ -12,7 +12,6 @@ Written by Einar Arnason && Örlygur Ólafsson && Hregggi #include #include -#include #include //#include #include @@ -21,6 +20,7 @@ Written by Einar Arnason && Örlygur Ólafsson && Hregggi //#include "CanListener.h" #include "TeensyThreads.h" #include +#include // CAN bus driver //CanListener canListener; @@ -32,7 +32,7 @@ const int NUMBER_OF_MESSAGES = 4; // Set GPSECHO to 'false' to turn off echoing the GPS data to the Serial console // Set to 'true' if you want to debug and listen to the raw GPS sentences. -const bool GPSECHO = true; +const bool GPSE#include CHO = true; // Variables for Copernicus II GPS module float flat, flon; @@ -46,6 +46,8 @@ void useInterrupt(boolean); // Func prototype keeps Arduino 0023 happy SdFatSdio sd; File outFile; char filename[20]; +File outFileimu; +char filenameimu[20]; // LoRa & Teensy 3.5 setup #define RF95_FREQ 434.0 @@ -58,6 +60,10 @@ uint8_t COMMAND[COMMAND_SIZE]; const uint8_t Pit_ID = 7; const uint8_t Car_ID = 6; +#define IMUserial Serial4 +uint8_t IMU[19]; +bool newIMUData = false; + // LoRa - Radio Frequency driver RH_RF95 rf95(RFM95_CS, RFM95_INT); @@ -115,6 +121,7 @@ void setup() delay(500); Serial.begin(9600); Serial3.begin(4800); + IMUserial.begin(115200); while (!Serial) ; @@ -151,6 +158,16 @@ void setup() Serial.println("Error: failed to open file"); }; + sprintf(filenameimu, "IMU_%d_%d_%d_%d_%d_%d.json", year(), month(), day(), hour(), minute(), second()); + + //Create the File + outFileimu = sd.open(filenameimu, FILE_WRITE); + + if (!outFileimu) + { + Serial.println("Error: failed to open file"); + }; + threads.addThread(gpsRead); // Initialize the CAN bus @@ -196,8 +213,7 @@ void loop() for (int i = 0; i < 1; i++) { - sprintf(payload, "{\"time\": %ld, \"FR\": %d, \"FL\": %d, \"RR\": %d, \"RL\": %d}!", time, FR, FL, RR, RL); - sprintf(payload, {\"time\": %ld, \"pitch"\": %d, \"yaw\": %d, \"roll\": %d}!", time, pitch, yaw,roll); } + sprintf(payload, "{\"time\": %ld, \"FR\": %d, \"FL\": %d, \"RR\": %d, \"RL\": %d}!", time, FR, FL, RR, RL); } if (outFile) @@ -205,6 +221,65 @@ void loop() outFile.write(payload); outFile.flush(); } + //Lesa af IMU + int i=0; + while (IMUserial.available() > 0) + { + uint8_t c = IMUserial.read(); + // Serial.write(c); // uncomment this line if you want to see the IMU data flowing + IMU[i] = c; + i++; + newIMUData = true; + if(i > 18) + break; + } + //Skrifa a sd kort imu data + char payloadimu[50]; + if (newIMUData) + { + if (IMU[0] == 170 && IMU[1] == 170) + { + short lsbyaw = IMU[3]; + short msbyaw = (IMU[4]*256); + short yaw = (lsbyaw + msbyaw)*0.01; + + short lsbpitch = IMU[5]; + short msbpitch = (IMU[6]*256); + short pitch = (msbpitch + lsbpitch)*0.01; + + short lsbroll = IMU[7]; + short msbroll = (IMU[8]*256); + short roll = (msbroll + lsbroll)*0.01; + + short lsbx = IMU[9]; + short msbx = (IMU[10]*256); + short x = (msbx + lsbx)*(9.80665/1000); + + short lsby = IMU[11]; + short msby = (IMU[12]*256); + short y = (msby + lsby)*(9.80665/1000); + + short lsbz = IMU[13]; + short msbz = (IMU[14]*256); + short z = (msbz + lsbz)*(9.80665/1000); + + for (int i = 0; i < 1; i++) + { + sprintf(payloadimu, "{\"time\": %ld, \"pitch\": %d, \"yaw\": %d, \"roll\": %d, \"x-axis\": %d, \"y-axis\": %d, \"z-axis\": %d}!", time, yaw, pitch, roll, x, y, z); + } + } + newIMUData = false; + } + else + { + delay(4); + } + if (outFileimu) + { + outFileimu.write(payloadimu); + outFileimu.flush(); + } + } void sendMessageLoRa(uint8_t CMD) From d31d939142c4713b87fc05f722b7af3c87f4cc36 Mon Sep 17 00:00:00 2001 From: orlygur Date: Tue, 7 May 2019 09:15:30 +0000 Subject: [PATCH 26/35] fra i gaer --- Motherboard/Motherboard.ino | 16 ++++++++++------ 1 file changed, 10 insertions(+), 6 deletions(-) diff --git a/Motherboard/Motherboard.ino b/Motherboard/Motherboard.ino index c0b176f..6ee4713 100644 --- a/Motherboard/Motherboard.ino +++ b/Motherboard/Motherboard.ino @@ -14,17 +14,17 @@ Written by Einar Arnason && Örlygur Ólafsson && Hregggi #include #include #include -//#include +#include #include #include //#include "constants.h" -//#include "CanListener.h" +#include "CanListener.h" #include "TeensyThreads.h" #include // CAN bus driver -//CanListener canListener; -//CAN_filter_t mask; +CanListener canListener; +CAN_filter_t mask; // GPS object TinyGPS gps; @@ -156,16 +156,20 @@ void setup() // Initialize the CAN bus /*mask.flags.extended = 0; mask.flags.remote = 0; - mask.id = 0; + mask.id = 0;*/ Can0.begin(500000, mask, CAN0TX_ALT, CAN0RX_ALT); Can0.attachObj(&canListener); - canListener.attachGeneralHandler();*/ + canListener.attachGeneralHandler(); } uint32_t timer = millis(); void loop() { + Serial.print("This is a test.") + //Serial.println(canListener.vehicle.rpm); + Serial.println(Can0.vehicle.rpm); + if (newGpsData) { // Copernicuse GPS if new data write new data From 215c4f42974eda9d83a3d2f467fc46936d549fd8 Mon Sep 17 00:00:00 2001 From: orlygur Date: Tue, 7 May 2019 09:47:11 +0000 Subject: [PATCH 27/35] =?UTF-8?q?Commenta=20ko=C3=B0a=20og=20gera=20hann?= =?UTF-8?q?=20lesanlegri=20/=20fallegri?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Motherboard/BNO080_Datasheet_v1.3.pdf | Bin 0 -> 1838270 bytes Motherboard/Motherboard.ino | 192 ++++++++++++++------------ Motherboard/constants.h | 4 + 3 files changed, 106 insertions(+), 90 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+7,7 @@ Hardware: - Adafruit Ultimate GPS Breakout v3 - MCP2551 CAN transceiver -Written by Einar Arnason && Örlygur Ólafsson && Hregggi +Written by Einar Arnason && Örlygur && Hregggi ******************************************************************/ #include @@ -16,7 +16,7 @@ Written by Einar Arnason && Örlygur Ólafsson && Hregggi #include #include #include -//#include "constants.h" +#include "constants.h" #include "CanListener.h" #include "TeensyThreads.h" #include @@ -28,38 +28,35 @@ CAN_filter_t mask; // GPS object TinyGPS gps; -const int NUMBER_OF_MESSAGES = 4; // Set GPSECHO to 'false' to turn off echoing the GPS data to the Serial console // Set to 'true' if you want to debug and listen to the raw GPS sentences. -const bool GPSE#include CHO = true; +//const bool GPSE#include CHO = true; // Variables for Copernicus II GPS module +#define GPSserial Serial3 float flat, flon; bool newGpsData = false; // this keeps track of whether we're using the interrupt off by default! -boolean usingInterrupt = false; -void useInterrupt(boolean); // Func prototype keeps Arduino 0023 happy +//boolean usingInterrupt = false; +//void useInterrupt(boolean); // Func prototype keeps Arduino 0023 happy // SD card variables SdFatSdio sd; File outFile; char filename[20]; -File outFileimu; -char filenameimu[20]; +File outFileIMU; +char filenameIMU[20]; // LoRa & Teensy 3.5 setup #define RF95_FREQ 434.0 -#define RFM95_CS 10 -#define RFM_RST 25 -#define RFM95_INT 24 -#define ERRORLED 3 const int COMMAND_SIZE = RH_RF95_MAX_MESSAGE_LEN; uint8_t COMMAND[COMMAND_SIZE]; const uint8_t Pit_ID = 7; const uint8_t Car_ID = 6; +// IMU - accelerometer variables #define IMUserial Serial4 uint8_t IMU[19]; bool newIMUData = false; @@ -87,9 +84,9 @@ void gpsRead() // For one second we parse GPS data and report some key values for (unsigned long start = millis(); millis() - start < 1000;) { - while (Serial3.available()) + while (GPSserial.available()) { - char c = Serial3.read(); + char c = GPSserial.read(); // Serial.write(c); // uncomment this line if you want to see the GPS data flowing if (gps.encode(c)) { @@ -120,8 +117,8 @@ void setup() { delay(500); Serial.begin(9600); - Serial3.begin(4800); - IMUserial.begin(115200); + GPSserial.begin(4800); + IMUserial.begin(115200); while (!Serial) ; @@ -152,21 +149,14 @@ void setup() //Create the File outFile = sd.open(filename, FILE_WRITE); + outFileIMU = sd.open(outFileIMU, FILE_WRITE); - if (!outFile) + if (!outFile || !outFileIMU) { Serial.println("Error: failed to open file"); }; - sprintf(filenameimu, "IMU_%d_%d_%d_%d_%d_%d.json", year(), month(), day(), hour(), minute(), second()); - - //Create the File - outFileimu = sd.open(filenameimu, FILE_WRITE); - - if (!outFileimu) - { - Serial.println("Error: failed to open file"); - }; + sprintf(filenameIMU, "IMU_%d_%d_%d_%d_%d_%d.json", year(), month(), day(), hour(), minute(), second()); threads.addThread(gpsRead); @@ -174,38 +164,39 @@ void setup() /*mask.flags.extended = 0; mask.flags.remote = 0; mask.id = 0;*/ - Can0.begin(500000, mask, CAN0TX_ALT, CAN0RX_ALT); - Can0.attachObj(&canListener); - canListener.attachGeneralHandler(); + Can0.begin(500000, mask, CAN0TX_ALT, CAN0RX_ALT); + Can0.attachObj(&canListener); + canListener.attachGeneralHandler(); } uint32_t timer = millis(); void loop() { - Serial.print("This is a test.") - //Serial.println(canListener.vehicle.rpm); + Serial.print("This is a test."); Serial.println(Can0.vehicle.rpm); if (newGpsData) { // Copernicuse GPS if new data write new data // ToDo, breita serial print i SD.Write og Lora Send - Serial.print("LAT="); + Serial.print("LAT= "); Serial.print(flat == TinyGPS::GPS_INVALID_F_ANGLE ? 0.0 : flat, 6); - Serial.print(" LON="); + Serial.print(" LON= "); Serial.print(flon == TinyGPS::GPS_INVALID_F_ANGLE ? 0.0 : flon, 6); - Serial.print(" TIME="); + Serial.print(" TIME= "); Serial.print(hour(), DEC); - Serial.print(":"); + Serial.print(": "); Serial.print(minute(), DEC); - Serial.print(":"); + Serial.print(": "); Serial.print(second(), DEC); - Serial.print(","); + Serial.print(", "); Serial.println("0."); newGpsData = false; } + + // Writeout from data to SD card char payload[30]; // TEMP ! for analog suspension sensors. This is a placeholder @@ -213,11 +204,12 @@ void loop() int FL = analogRead(A8); int RR = analogRead(A7); int RL = analogRead(A6); + long time = getTeensy3Time(); for (int i = 0; i < 1; i++) { - sprintf(payload, "{\"time\": %ld, \"FR\": %d, \"FL\": %d, \"RR\": %d, \"RL\": %d}!", time, FR, FL, RR, RL); + sprintf(payload, "{\"time\": %ld, \"FR\": %d, \"FL\": %d, \"RR\": %d, \"RL\": %d}!", time, FR, FL, RR, RL); } if (outFile) @@ -225,65 +217,85 @@ void loop() outFile.write(payload); outFile.flush(); } - //Lesa af IMU - int i=0; - while (IMUserial.available() > 0) - { - uint8_t c = IMUserial.read(); - // Serial.write(c); // uncomment this line if you want to see the IMU data flowing - IMU[i] = c; - i++; - newIMUData = true; - if(i > 18) - break; - } - //Skrifa a sd kort imu data - char payloadimu[50]; + + // Reading off the IMU + while (IMUserial.available() > 0) + { + for (int i = 0; i < 18; i++) + { + uint8_t c = IMUserial.read(); + // Serial.write(c); // uncomment this line if you want to see the IMU data flowing + IMU[i] = c; + newIMUData = true; + } + } + + // Writeout IMU data to SD card + char payloadIMU[50]; + + /* + * As IMU gives us data in two 8bit points + * One as the LSB (least significant bit) + * and MSB ( most significant bit), we then have to + * puzzle them together. We do this by shifting MSB << 8 (or 2^8 or *256) + * and them add LSB with MSB. + * The added LSB+MSB then has to be filtered, this is done with the data + * that SparkFun has, from HillcrestLabs + * -> url: https://cdn.sparkfun.com/assets/1/3/4/5/9/BNO080_Datasheet_v1.3.pdf + * in chapter 1.3.5.2 - UART-RVC protocol. There they show how to convert this data from + * the IMU BNO080 to usable data. + */ if (newIMUData) { - if (IMU[0] == 170 && IMU[1] == 170) - { - short lsbyaw = IMU[3]; - short msbyaw = (IMU[4]*256); - short yaw = (lsbyaw + msbyaw)*0.01; - - short lsbpitch = IMU[5]; - short msbpitch = (IMU[6]*256); - short pitch = (msbpitch + lsbpitch)*0.01; - - short lsbroll = IMU[7]; - short msbroll = (IMU[8]*256); - short roll = (msbroll + lsbroll)*0.01; - - short lsbx = IMU[9]; - short msbx = (IMU[10]*256); - short x = (msbx + lsbx)*(9.80665/1000); - - short lsby = IMU[11]; - short msby = (IMU[12]*256); - short y = (msby + lsby)*(9.80665/1000); - - short lsbz = IMU[13]; - short msbz = (IMU[14]*256); - short z = (msbz + lsbz)*(9.80665/1000); - - for (int i = 0; i < 1; i++) - { - sprintf(payloadimu, "{\"time\": %ld, \"pitch\": %d, \"yaw\": %d, \"roll\": %d, \"x-axis\": %d, \"y-axis\": %d, \"z-axis\": %d}!", time, yaw, pitch, roll, x, y, z); - } - } - newIMUData = false; + if (IMU[0] == 170 && IMU[1] == 170) + { + // YAW data + short lsbyaw = IMU[3]; + short msbyaw = (IMU[4] * 256); + short yaw = (lsbyaw + msbyaw) * 0.01; + + // PITCH data + short lsbpitch = IMU[5]; + short msbpitch = (IMU[6] * 256); + short pitch = (msbpitch + lsbpitch) * 0.01; + + // ROLL data + short lsbroll = IMU[7]; + short msbroll = (IMU[8] * 256); + short roll = (msbroll + lsbroll) * 0.01; + + // X-axis acceleration data + short lsbx = IMU[9]; + short msbx = (IMU[10] * 256); + short x = (msbx + lsbx) * (9.80665 / 1000); + + // Y-axis acceleration data + short lsby = IMU[11]; + short msby = (IMU[12] * 256); + short y = (msby + lsby) * (9.80665 / 1000); + + // Z-axis acceleration data + short lsbz = IMU[13]; + short msbz = (IMU[14] * 256); + short z = (msbz + lsbz) * (9.80665 / 1000); + + for (int i = 0; i < 1; i++) + { + sprintf(payloadIMU, "{\"time\": %ld, \"pitch\": %d, \"yaw\": %d, \"roll\": %d, \"x-axis\": %d, \"y-axis\": %d, \"z-axis\": %d}!", time, yaw, pitch, roll, x, y, z); + } + } + newIMUData = false; } else { - delay(4); + delay(4); } - if (outFileimu) - { - outFileimu.write(payloadimu); - outFileimu.flush(); - } + if (outFileIMU) + { + outFileIMU.write(payloadIMU); + outFileIMU.flush(); + } } void sendMessageLoRa(uint8_t CMD) diff --git a/Motherboard/constants.h b/Motherboard/constants.h index 8502fa7..9f0100c 100644 --- a/Motherboard/constants.h +++ b/Motherboard/constants.h @@ -4,6 +4,10 @@ /* Pin assignment */ +#define RFM95_CS 10 +#define RFM_RST 25 +#define RFM95_INT 24 +#define ERRORLED 3 const uint8_t CAN0TX_ALT = 1; const uint8_t CAN0RX_ALT = 1; From f7a0ff8bc2a7b57383ffec98012cce0b364385dd Mon Sep 17 00:00:00 2001 From: orlygur Date: Tue, 7 May 2019 09:54:30 +0000 Subject: [PATCH 28/35] comment and beatify --- Motherboard/Motherboard.ino | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/Motherboard/Motherboard.ino b/Motherboard/Motherboard.ino index a6e8b43..60000ce 100644 --- a/Motherboard/Motherboard.ino +++ b/Motherboard/Motherboard.ino @@ -4,8 +4,8 @@ RU Racing 2019 communications motherboard Hardware: - Teensy 3.5 - LoRa RF95 -- Adafruit Ultimate GPS Breakout v3 -- MCP2551 CAN transceiver +!- Adafruit Ultimate GPS Breakout v3 +!- MCP2551 CAN transceiver Written by Einar Arnason && Örlygur && Hregggi ******************************************************************/ @@ -221,7 +221,7 @@ void loop() // Reading off the IMU while (IMUserial.available() > 0) { - for (int i = 0; i < 18; i++) + for (int i = 0; i < IMU.size(); i++) { uint8_t c = IMUserial.read(); // Serial.write(c); // uncomment this line if you want to see the IMU data flowing From 71dfe0a73040b4f4b670f2b1f21d0f48a9d85089 Mon Sep 17 00:00:00 2001 From: orlygur Date: Tue, 7 May 2019 11:01:32 +0000 Subject: [PATCH 29/35] rdy for test --- Motherboard/Motherboard.ino | 65 ++++++++++++++++++++++--------------- 1 file changed, 38 insertions(+), 27 deletions(-) diff --git a/Motherboard/Motherboard.ino b/Motherboard/Motherboard.ino index 60000ce..de011c2 100644 --- a/Motherboard/Motherboard.ino +++ b/Motherboard/Motherboard.ino @@ -64,7 +64,7 @@ bool newIMUData = false; // LoRa - Radio Frequency driver RH_RF95 rf95(RFM95_CS, RFM95_INT); -const int PAYLOAD_SIZE = 20; //payloadLength(); +//const int PAYLOAD_SIZE = 20; //payloadLength(); char payload[PAYLOAD_SIZE]; time_t getTeensy3Time() @@ -84,6 +84,10 @@ void gpsRead() // For one second we parse GPS data and report some key values for (unsigned long start = millis(); millis() - start < 1000;) { + if (!GPSserial.available()) + { + //Serial.println("Gps is not available.."); + } while (GPSserial.available()) { char c = GPSserial.read(); @@ -149,47 +153,53 @@ void setup() //Create the File outFile = sd.open(filename, FILE_WRITE); - outFileIMU = sd.open(outFileIMU, FILE_WRITE); - if (!outFile || !outFileIMU) + if (!outFile) { Serial.println("Error: failed to open file"); }; sprintf(filenameIMU, "IMU_%d_%d_%d_%d_%d_%d.json", year(), month(), day(), hour(), minute(), second()); + outFileIMU = sd.open(filenameIMU, FILE_WRITE); + + if (!outFileIMU) + { + Serial.println("Error: failed to open file"); + } + threads.addThread(gpsRead); // Initialize the CAN bus /*mask.flags.extended = 0; - mask.flags.remote = 0; - mask.id = 0;*/ - Can0.begin(500000, mask, CAN0TX_ALT, CAN0RX_ALT); - Can0.attachObj(&canListener); - canListener.attachGeneralHandler(); + mask.flags.remote = 0; + mask.id = 0; + Can0.begin(500000, mask, CAN0TX_ALT, CAN0RX_ALT); + Can0.attachObj(&canListener); + canListener.attachGeneralHandler();*/ } uint32_t timer = millis(); void loop() { - Serial.print("This is a test."); - Serial.println(Can0.vehicle.rpm); + //Serial.print("This is a test."); + //Serial.println(Can0.vehicle.rpm); if (newGpsData) { // Copernicuse GPS if new data write new data // ToDo, breita serial print i SD.Write og Lora Send - Serial.print("LAT= "); + Serial.print("LAT = "); Serial.print(flat == TinyGPS::GPS_INVALID_F_ANGLE ? 0.0 : flat, 6); - Serial.print(" LON= "); + Serial.print(" LON = "); Serial.print(flon == TinyGPS::GPS_INVALID_F_ANGLE ? 0.0 : flon, 6); - Serial.print(" TIME= "); + Serial.print(" TIME = "); Serial.print(hour(), DEC); - Serial.print(": "); + Serial.print(":"); Serial.print(minute(), DEC); - Serial.print(": "); + Serial.print(":"); Serial.print(second(), DEC); Serial.print(", "); Serial.println("0."); @@ -221,7 +231,7 @@ void loop() // Reading off the IMU while (IMUserial.available() > 0) { - for (int i = 0; i < IMU.size(); i++) + for (int i = 0; i < 19; i++) { uint8_t c = IMUserial.read(); // Serial.write(c); // uncomment this line if you want to see the IMU data flowing @@ -234,17 +244,17 @@ void loop() char payloadIMU[50]; /* - * As IMU gives us data in two 8bit points - * One as the LSB (least significant bit) - * and MSB ( most significant bit), we then have to - * puzzle them together. We do this by shifting MSB << 8 (or 2^8 or *256) - * and them add LSB with MSB. - * The added LSB+MSB then has to be filtered, this is done with the data - * that SparkFun has, from HillcrestLabs - * -> url: https://cdn.sparkfun.com/assets/1/3/4/5/9/BNO080_Datasheet_v1.3.pdf - * in chapter 1.3.5.2 - UART-RVC protocol. There they show how to convert this data from - * the IMU BNO080 to usable data. - */ + * As IMU gives us data in two 8bit points + * One as the LSB (least significant bit) + * and MSB ( most significant bit), we then have to + * puzzle them together. We do this by shifting MSB << 8 (or 2^8 or *256) + * and them add LSB with MSB. + * The added LSB+MSB then has to be filtered, this is done with the data + * that SparkFun has, from HillcrestLabs + * -> url: https://cdn.sparkfun.com/assets/1/3/4/5/9/BNO080_Datasheet_v1.3.pdf + * in chapter 1.3.5.2 - UART-RVC protocol. There they show how to convert this data from + * the IMU BNO080 to usable data. + */ if (newIMUData) { if (IMU[0] == 170 && IMU[1] == 170) @@ -282,6 +292,7 @@ void loop() for (int i = 0; i < 1; i++) { sprintf(payloadIMU, "{\"time\": %ld, \"pitch\": %d, \"yaw\": %d, \"roll\": %d, \"x-axis\": %d, \"y-axis\": %d, \"z-axis\": %d}!", time, yaw, pitch, roll, x, y, z); + Serial.println(payloadIMU); } } newIMUData = false; From 4510874627975be51ee0256612cee2dbb5e16df1 Mon Sep 17 00:00:00 2001 From: Kristbjorg16 Date: Tue, 7 May 2019 15:24:49 +0000 Subject: [PATCH 30/35] Breytingar a can --- Motherboard/Motherboard.ino | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/Motherboard/Motherboard.ino b/Motherboard/Motherboard.ino index de011c2..02ff38f 100644 --- a/Motherboard/Motherboard.ino +++ b/Motherboard/Motherboard.ino @@ -7,7 +7,7 @@ Hardware: !- Adafruit Ultimate GPS Breakout v3 !- MCP2551 CAN transceiver -Written by Einar Arnason && Örlygur && Hregggi +Written by Einar Arnason && Örlygur && Hregggi && Kristbjörg ******************************************************************/ #include @@ -173,10 +173,10 @@ void setup() // Initialize the CAN bus /*mask.flags.extended = 0; mask.flags.remote = 0; - mask.id = 0; + mask.id = 0;*/ Can0.begin(500000, mask, CAN0TX_ALT, CAN0RX_ALT); Can0.attachObj(&canListener); - canListener.attachGeneralHandler();*/ + canListener.attachGeneralHandler(); } uint32_t timer = millis(); @@ -184,7 +184,7 @@ uint32_t timer = millis(); void loop() { //Serial.print("This is a test."); - //Serial.println(Can0.vehicle.rpm); + Serial.println(canListener.vehicle.rpm); if (newGpsData) { From 010fd7fda8a8be680d2144386e9224c326cc141e Mon Sep 17 00:00:00 2001 From: orlygur Date: Tue, 7 May 2019 15:28:07 +0000 Subject: [PATCH 31/35] =?UTF-8?q?fjdsaklf=C3=A6a?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Motherboard/Motherboard.ino | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Motherboard/Motherboard.ino b/Motherboard/Motherboard.ino index de011c2..674172a 100644 --- a/Motherboard/Motherboard.ino +++ b/Motherboard/Motherboard.ino @@ -5,7 +5,7 @@ Hardware: - Teensy 3.5 - LoRa RF95 !- Adafruit Ultimate GPS Breakout v3 -!- MCP2551 CAN transceiver +- MCP2562 CAN transceiver Written by Einar Arnason && Örlygur && Hregggi ******************************************************************/ From b3e8eaedc585ac19f659573fbb00aba23b6af530 Mon Sep 17 00:00:00 2001 From: hregggi Date: Wed, 8 May 2019 11:27:11 +0000 Subject: [PATCH 32/35] added simple can bus testfiles --- CANsimulator/CANTestRec/CANTestRec.ino | 68 ++++++++++++++++++++++++ CANsimulator/CANTestSend/CANTestSend.ino | 64 ++++++++++++++++++++++ Motherboard/CanListener.cpp | 48 +++++++++++++++++ Motherboard/CanListener.h | 16 ++++++ Motherboard/Vehicle.cpp | 38 +++++++++++++ Motherboard/Vehicle.h | 55 +++++++++++++++++++ 6 files changed, 289 insertions(+) create mode 100644 CANsimulator/CANTestRec/CANTestRec.ino create mode 100644 CANsimulator/CANTestSend/CANTestSend.ino create mode 100644 Motherboard/CanListener.cpp create mode 100644 Motherboard/CanListener.h create mode 100644 Motherboard/Vehicle.cpp create mode 100644 Motherboard/Vehicle.h diff --git a/CANsimulator/CANTestRec/CANTestRec.ino b/CANsimulator/CANTestRec/CANTestRec.ino new file mode 100644 index 0000000..a5ee83f --- /dev/null +++ b/CANsimulator/CANTestRec/CANTestRec.ino @@ -0,0 +1,68 @@ +// ------------------------------------------------------------- +// CANtest for Teensy 3.6 dual CAN bus +// by Collin Kidder, Based on CANTest by Pawelsky (based on CANtest by teachop) +// +// Both buses are left at default 250k speed and the second bus sends frames to the first +// to do this properly you should have the two buses linked together. This sketch +// also assumes that you need to set enable pins active. Comment out if not using +// enable pins or set them to your correct pins. +// +// This sketch tests both buses as well as interrupt driven Rx and Tx. There are only +// two Tx buffers by default so sending 5 at a time forces the interrupt driven system +// to buffer the final three and send them via interrupts. All the while all Rx frames +// are internally saved to a software buffer by the interrupt handler. +// + +#include + +static uint8_t hex[17] = "0123456789abcdef"; + +// ------------------------------------------------------------- +static void hexDump(uint8_t dumpLen, uint8_t *bytePtr) +{ + uint8_t working; + while( dumpLen-- ) { + working = *bytePtr++; + Serial.write( hex[ working>>4 ] ); + Serial.write( hex[ working&15 ] ); + } + Serial.write('\r'); + Serial.write('\n'); +} + + +// ------------------------------------------------------------- +void setup(void) +{ + +// mask.flags.extended = 0; +// mask.flags.remote = 0; + mask.id = 0; + + delay(1000); + Serial.begin(9600); + Serial.println("Hello Teensy CAN Recieve Test."); + + Can0.begin(500000); + + + + +} + + +// ------------------------------------------------------------- +void loop(void) +{ + CAN_message_t inMsg; + while (Can0.available()) + { + Can0.read(inMsg); + Serial.print("CAN bus 0: "); hexDump(8, inMsg.buf); + } + + + + delay(20); + Serial.println("Im in a recieving loop."); +} diff --git a/CANsimulator/CANTestSend/CANTestSend.ino b/CANsimulator/CANTestSend/CANTestSend.ino new file mode 100644 index 0000000..ced14f6 --- /dev/null +++ b/CANsimulator/CANTestSend/CANTestSend.ino @@ -0,0 +1,64 @@ +// ------------------------------------------------------------- +// CANtest for Teensy 3.6 dual CAN bus +// by Collin Kidder, Based on CANTest by Pawelsky (based on CANtest by teachop) +// +// Both buses are left at default 250k speed and the second bus sends frames to the first +// to do this properly you should have the two buses linked together. This sketch +// also assumes that you need to set enable pins active. Comment out if not using +// enable pins or set them to your correct pins. +// +// This sketch tests both buses as well as interrupt driven Rx and Tx. There are only +// two Tx buffers by default so sending 5 at a time forces the interrupt driven system +// to buffer the final three and send them via interrupts. All the while all Rx frames +// are internally saved to a software buffer by the interrupt handler. +// + +#include + + +static CAN_message_t msg; +static uint8_t hex[17] = "0123456789abcdef"; + + +// ------------------------------------------------------------- +void setup(void) +{ + delay(1000); + Serial.begin(9600); + Serial.println("Hello Teensy CAN Send Test."); + + Can0.begin(500000); + + msg.ext = 0; + msg.id = 0x100; + msg.len = 8; + msg.buf[0] = 10; + msg.buf[1] = 20; + msg.buf[2] = 0; + msg.buf[3] = 100; + msg.buf[4] = 128; + msg.buf[5] = 64; + msg.buf[6] = 32; + msg.buf[7] = 16; +} + + +// ------------------------------------------------------------- +void loop(void) +{ + + msg.buf[0]++; + Can0.write(msg); + msg.buf[0]++; + Can0.write(msg); + msg.buf[0]++; + Can0.write(msg); + msg.buf[0]++; + Can0.write(msg); + msg.buf[0]++; + Can0.write(msg); + + + delay(20); + Serial.println("Im in a sending loop."); +} diff --git a/Motherboard/CanListener.cpp b/Motherboard/CanListener.cpp new file mode 100644 index 0000000..f64fdbc --- /dev/null +++ b/Motherboard/CanListener.cpp @@ -0,0 +1,48 @@ +#include "CanListener.h" + +inline float CanListener::CANIntToFloat(uint16_t floatValue) +{ + return floatValue / 1000.0; +} + +inline float CanListener::CANKelvinToFloat(uint16_t kelvinValue) +{ + float result = kelvinValue / 10.0; + result = result - 273.15; + + return result; +} + +bool CanListener::frameHandler(CAN_message_t &frame, int mailbox, uint8_t controller) +{ + + switch (frame.id) + { + case 1: + vehicle.rpm = frame.buf[0] | (frame.buf[1] << 8); + vehicle.voltage = CANIntToFloat(frame.buf[2] | (frame.buf[3] << 8)); + vehicle.waterTemp = CANKelvinToFloat(frame.buf[4] | (frame.buf[5] << 8)); + vehicle.speed = CANIntToFloat(frame.buf[6] | (frame.buf[7] << 8)); + break; + case 2: + vehicle.oilTemp = CANKelvinToFloat(frame.buf[0] | (frame.buf[1] << 8)); + vehicle.gear = frame.buf[2] | (frame.buf[3] << 8); + vehicle.airTemp = CANKelvinToFloat(frame.buf[4] | (frame.buf[5] << 8)); + vehicle.map = frame.buf[6] | (frame.buf[7] << 8); + break; + case 3: + vehicle.ecuTemp = CANKelvinToFloat(frame.buf[0] | (frame.buf[1] << 8)); + vehicle.fuelPressure = (frame.buf[2] | (frame.buf[3] << 8)) / 1000.0; + vehicle.fanOn = (frame.buf[4] | (frame.buf[5] << 8)); + vehicle.fuelPumpOn = (frame.buf[6] | (frame.buf[7] << 8)); + break; + case 5: + vehicle.cylcontrib1 = frame.buf[0] | (frame.buf[1] << 8); + vehicle.cylcontrib2 = frame.buf[2] | (frame.buf[3] << 8); + vehicle.cylcontrib3 = frame.buf[4] | (frame.buf[5] << 8); + vehicle.cylcontrib4 = frame.buf[6] | (frame.buf[7] << 8); + break; + } + + return true; +} \ No newline at end of file diff --git a/Motherboard/CanListener.h b/Motherboard/CanListener.h new file mode 100644 index 0000000..31d6795 --- /dev/null +++ b/Motherboard/CanListener.h @@ -0,0 +1,16 @@ +#pragma once +#include "Vehicle.h" +#include + +class CanListener : public CANListener +{ +public: + // Vehicle class instance + Vehicle vehicle; + //overrides the parent version + bool frameHandler(CAN_message_t &frame, int mailbox, uint8_t controller); + // Translate float values from CAN BUS + inline float CANIntToFloat(uint16_t floatValue); + // Translate kelvin temperature values from CAN BUS + inline float CANKelvinToFloat(uint16_t kelvinValue); +}; diff --git a/Motherboard/Vehicle.cpp b/Motherboard/Vehicle.cpp new file mode 100644 index 0000000..42af20f --- /dev/null +++ b/Motherboard/Vehicle.cpp @@ -0,0 +1,38 @@ +#include "Vehicle.h" + +Vehicle::Vehicle() +{ + // Initialize car values + rpm = 0; + prevRPM = 1; + oilTemp = 0.0; + prevOilTemp = 1.0; + waterTemp = 0.0; + prevWaterTemp = 1.0; + ecuTemp = 0.0; + prevEcuTemp = 1.0; + airTemp = 0.0; + prevAirTemp = 1.0; + gear = 0; + prevGear = 1; + speed = 0; + prevSpeed = 1; + fanOn = false; + prevFanOn = true; + fuelPumpOn = false; + prevFuelPumpOn = true; + voltage = 0.0; + prevVoltage = 1.0; + fuelPressure = 0.0; + prevFuelPressure = 1.0; + map = 0; + prevMap = 1; + cylcontrib1 = 0; + prevCylcontrib1 = 1; + cylcontrib2 = 0; + prevCylcontrib2 = 1; + cylcontrib3 = 0; + prevCylcontrib4 = 1; +} + +Vehicle::~Vehicle() {} diff --git a/Motherboard/Vehicle.h b/Motherboard/Vehicle.h new file mode 100644 index 0000000..4ff7110 --- /dev/null +++ b/Motherboard/Vehicle.h @@ -0,0 +1,55 @@ +#pragma once +#include + +class Vehicle { +public: + // Vehicle values + uint16_t rpm; + uint16_t prevRPM; + + float oilTemp; + float prevOilTemp; + + float waterTemp; + float prevWaterTemp; + + float ecuTemp; + float prevEcuTemp; + + float airTemp; + float prevAirTemp; + + uint8_t gear; + uint8_t prevGear; + + float speed; + float prevSpeed; + + float voltage; + float prevVoltage; + + bool fanOn; + bool prevFanOn; + + bool fuelPumpOn; + bool prevFuelPumpOn; + + float fuelPressure; + float prevFuelPressure; + + uint16_t map; + uint16_t prevMap; + + int cylcontrib1; + int prevCylcontrib1; + int cylcontrib2; + int prevCylcontrib2; + int cylcontrib3; + int prevCylcontrib3; + int cylcontrib4; + int prevCylcontrib4; + + Vehicle(); + virtual ~Vehicle(); +}; + From e313231a90c62a6a05097fabd55e02dad734931e Mon Sep 17 00:00:00 2001 From: orlygur Date: Wed, 8 May 2019 13:55:12 +0000 Subject: [PATCH 33/35] stuff --- CANsimulator/CANsimulator.ino | 6 ++++-- LCD/constants.h | 2 +- Motherboard/Motherboard.ino | 14 ++++++++++---- Motherboard/Motherboard.vcxproj | 6 +++--- Motherboard/constants.h | 2 +- 5 files changed, 19 insertions(+), 11 deletions(-) diff --git a/CANsimulator/CANsimulator.ino b/CANsimulator/CANsimulator.ino index 5e2fcdd..b42ad5c 100644 --- a/CANsimulator/CANsimulator.ino +++ b/CANsimulator/CANsimulator.ino @@ -128,6 +128,8 @@ void setup() msg2.len = 8; //msg2.flags.extended = 0; //msg2.flags.remote = 0; + msg2.ext = 0; + msg2.rtr = 0; } void loop() @@ -156,8 +158,8 @@ void loop() msg2.buf[6] = speed; msg2.buf[7] = speed >> 8; - /*while (!Can0.write(msg2, Can0.getLastTxBox())) { - }*/ + while (!Can0.write(msg2, Can0.getLastTxBox())) { + } if (gear == 6 && rpm == 14000) { diff --git a/LCD/constants.h b/LCD/constants.h index 6a4c993..0c8f8db 100644 --- a/LCD/constants.h +++ b/LCD/constants.h @@ -56,7 +56,7 @@ const uint16_t fuelPressureIconPos[] = { const uint16_t disabledIconPos[] = {(uint16_t)(fanIconPos[xPos] - 15), (uint16_t)(fanIconPos[yPos] - 15)}; // Circular speedometer vector -int cX = 650; +int cX = 650; int cY = 250; uint16_t speedoOffsetRadius = 100; uint16_t speedoBarRadius = 30; diff --git a/Motherboard/Motherboard.ino b/Motherboard/Motherboard.ino index 0e5b83a..8d4a5ca 100644 --- a/Motherboard/Motherboard.ino +++ b/Motherboard/Motherboard.ino @@ -172,8 +172,11 @@ void setup() // Initialize the CAN bus /*mask.flags.extended = 0; - mask.flags.remote = 0; - mask.id = 0;*/ + mask.flags.remote = 0;*/ + mask.id = 0; + mask.ext = 0; + mask.rtr = 0; + mask.id = 0; Can0.begin(500000, mask, CAN0TX_ALT, CAN0RX_ALT); Can0.attachObj(&canListener); canListener.attachGeneralHandler(); @@ -183,8 +186,11 @@ uint32_t timer = millis(); void loop() { - //Serial.print("This is a test."); - Serial.println(canListener.vehicle.rpm); + CAN_message_t msg; + Serial.print("This is a test."); + Can0.read(msg); + Serial.println(msg.len); + delay(10000); if (newGpsData) { diff --git a/Motherboard/Motherboard.vcxproj b/Motherboard/Motherboard.vcxproj index a128f34..4e0eabf 100644 --- a/Motherboard/Motherboard.vcxproj +++ b/Motherboard/Motherboard.vcxproj @@ -66,10 +66,10 @@ Level3 Disabled true - $(ProjectDir)..\Motherboard;$(ProjectDir)..\..\..\..\..\..\Program Files (x86)\Arduino\hardware\teensy\avr\libraries\XBee;$(ProjectDir)..\..\..\..\..\..\Program Files (x86)\Arduino\hardware\teensy\avr\libraries\SoftwareSerial;$(ProjectDir)..\..\..\..\..\..\Program Files (x86)\Arduino\hardware\teensy\avr\libraries\FlexCAN;$(ProjectDir)..\..\libraries\SdFat\src;$(ProjectDir)..\..\..\..\..\..\Program Files (x86)\Arduino\hardware\teensy\avr\libraries\Time;$(ProjectDir)..\..\..\..\..\..\Program Files (x86)\Arduino\libraries;$(ProjectDir)..\..\libraries;$(ProjectDir)..\..\..\..\..\..\Program Files (x86)\Arduino\hardware\teensy\avr\libraries;$(ProjectDir)..\..\..\..\..\..\Program Files (x86)\Arduino\hardware\teensy\avr\cores\teensy3;$(ProjectDir)..\..\..\..\..\..\Program Files (x86)\Arduino\hardware\teensy\avr\cores\teensy3\avr;$(ProjectDir)..\..\..\..\..\..\Program Files (x86)\Arduino\hardware\teensy\avr\cores\teensy3\util;$(ProjectDir)..\ClassLibrary;$(ProjectDir)..\..\..\..\..\..\Program Files (x86)\Arduino\hardware\teensy;%(AdditionalIncludeDirectories) + $(ProjectDir)..\Motherboard;$(ProjectDir)..\..\..\..\..\..\..\..\Program Files (x86)\Arduino\hardware\teensy\avr\libraries\SPI;$(ProjectDir)..\..\..\..\..\..\..\..\Program Files (x86)\Arduino\hardware\teensy\avr\libraries\FlexCAN;$(ProjectDir)..\..\..\..\..\..\Documents\Arduino\libraries\SdFat\src;$(ProjectDir)..\..\..\..\..\..\..\..\Program Files (x86)\Arduino\hardware\teensy\avr\libraries\TeensyThreads;$(ProjectDir)..\..\..\..\..\..\..\..\Program Files (x86)\Arduino\hardware\teensy\avr\libraries\TinyGPS;$(ProjectDir)..\..\..\..\..\..\..\..\Program Files (x86)\Arduino\hardware\teensy\avr\libraries\SoftwareSerial;$(ProjectDir)..\..\..\..\..\..\..\..\Program Files (x86)\Arduino\hardware\teensy\avr\libraries\RadioHead;$(ProjectDir)..\..\..\..\..\..\Documents\Arduino\libraries\Time;$(ProjectDir)..\..\..\..\..\..\..\..\Program Files (x86)\Arduino\libraries;$(ProjectDir)..\..\..\..\..\..\..\..\Program Files (x86)\Arduino\hardware\teensy\avr\libraries;$(ProjectDir)..\..\..\..\..\..\Documents\Arduino\libraries;$(ProjectDir)..\..\..\..\..\..\..\..\Program Files (x86)\Arduino\hardware\teensy\avr\cores\teensy3;$(ProjectDir)..\..\..\..\..\..\..\..\Program Files (x86)\Arduino\hardware\teensy\avr\cores\teensy3\avr;$(ProjectDir)..\..\..\..\..\..\..\..\Program Files (x86)\Arduino\hardware\teensy\avr\cores\teensy3\util;$(ProjectDir)..\..\..\..\..\..\..\..\Program Files (x86)\Arduino\hardware\tools\arm\arm-none-eabi\include;$(ProjectDir)..\..\..\..\..\..\..\..\Program Files (x86)\Arduino\hardware\tools\arm\lib\gcc\arm-none-eabi\5.4.1\include;$(ProjectDir)..\ClassLibrary;$(ProjectDir)..\..\..\..\..\..\..\..\Program Files (x86)\Arduino\hardware\teensy;%(AdditionalIncludeDirectories) $(ProjectDir)__vm\.Motherboard.vsarduino.h;%(ForcedIncludeFiles) false - __HARDWARE_MK64fx512__;__HARDWARE_MK64FX512__;__MK20DX256__;TEENSYDUINO=142;ARDUINO=10805;F_CPU={build.fcpu};__cplusplus=201103L;_VMICRO_INTELLISENSE;%(PreprocessorDefinitions) + __HARDWARE_MK64fx512__;__HARDWARE_MK64FX512__;_VMDEBUG=1;__MK64FX512__;TEENSYDUINO=145;ARDUINO=10808;F_CPU=120000000;USB_SERIAL;LAYOUT_US_ENGLISH;__cplusplus=201103L;_VMICRO_INTELLISENSE;%(PreprocessorDefinitions) true @@ -103,7 +103,7 @@ - + \ No newline at end of file diff --git a/Motherboard/constants.h b/Motherboard/constants.h index 9f0100c..4ceb4c9 100644 --- a/Motherboard/constants.h +++ b/Motherboard/constants.h @@ -25,4 +25,4 @@ inline float CANKelvinToFloat(uint16_t kelvinValue) { } const int PAYLOAD_SIZE = 119; -const int NUMBER_OF_MESSAGES = 4; \ No newline at end of file +const int NUMBER_OF_MESSAGES = 4; From c45163f441c9867c8922617c9ff74570d8de52f8 Mon Sep 17 00:00:00 2001 From: orlygur Date: Wed, 8 May 2019 15:01:33 +0000 Subject: [PATCH 34/35] asfd --- CANsimulator/CANTestRec/CANTestRec.ino | 32 +++++++++++--------------- CANsimulator/CANsimulator.ino | 8 +++---- 2 files changed, 17 insertions(+), 23 deletions(-) diff --git a/CANsimulator/CANTestRec/CANTestRec.ino b/CANsimulator/CANTestRec/CANTestRec.ino index a5ee83f..3f03fb9 100644 --- a/CANsimulator/CANTestRec/CANTestRec.ino +++ b/CANsimulator/CANTestRec/CANTestRec.ino @@ -21,48 +21,42 @@ static uint8_t hex[17] = "0123456789abcdef"; static void hexDump(uint8_t dumpLen, uint8_t *bytePtr) { uint8_t working; - while( dumpLen-- ) { + while (dumpLen--) + { working = *bytePtr++; - Serial.write( hex[ working>>4 ] ); - Serial.write( hex[ working&15 ] ); + Serial.write(hex[working >> 4]); + Serial.write(hex[working & 15]); } Serial.write('\r'); Serial.write('\n'); } - // ------------------------------------------------------------- void setup(void) { - -// mask.flags.extended = 0; -// mask.flags.remote = 0; + // mask.flags.extended = 0; + // mask.flags.remote = 0; + mask.ext = 0; + mask.rtr = 0; mask.id = 0; - + delay(1000); Serial.begin(9600); Serial.println("Hello Teensy CAN Recieve Test."); - - Can0.begin(500000); - - - + Can0.begin(500000); } - // ------------------------------------------------------------- void loop(void) { CAN_message_t inMsg; - while (Can0.available()) + while (Can0.available()) { Can0.read(inMsg); - Serial.print("CAN bus 0: "); hexDump(8, inMsg.buf); + Serial.print("CAN bus 0: "); + hexDump(8, inMsg.buf); } - - - delay(20); Serial.println("Im in a recieving loop."); } diff --git a/CANsimulator/CANsimulator.ino b/CANsimulator/CANsimulator.ino index b42ad5c..58dea48 100644 --- a/CANsimulator/CANsimulator.ino +++ b/CANsimulator/CANsimulator.ino @@ -145,8 +145,8 @@ void loop() msg1.buf[6] = (uint8_t)speed; msg1.buf[7] = 0; - /*while (!Can0.write(msg1, Can0.getFirstTxBox())) { - }*/ + //while (!Can0.write(msg1, Can0.getFirstTxBox())) {} + Can0.write(msg1, Can0.getFirstTxBox()); // CAN message 2 payload msg2.buf[0] = (uint8_t)oilTemp; @@ -158,8 +158,8 @@ void loop() msg2.buf[6] = speed; msg2.buf[7] = speed >> 8; - while (!Can0.write(msg2, Can0.getLastTxBox())) { - } + //while (!Can0.write(msg2, Can0.getLastTxBox())){} + Can0.write(msg2, Can0.getLastTxBox()); if (gear == 6 && rpm == 14000) { From e4ca6d58fa981b879c68dd1cc58ed63676b60fb0 Mon Sep 17 00:00:00 2001 From: orlygur Date: Wed, 22 May 2019 09:33:30 +0000 Subject: [PATCH 35/35] =?UTF-8?q?skrifar=20gps=20=C3=BAt=20=C3=AD=20sd=20k?= =?UTF-8?q?ort,=20laga=20sm=C3=A1=20fyrir=20lcd=20(nyja=20logoid)=20og=20s?= =?UTF-8?q?likt.?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- LCD/LCD.ino | 1 - LCD/constants.h | 2 +- LCD/images/logo.h | 10425 +++++++++++++++++++++++++++++++--- Motherboard/Motherboard.ino | 43 +- 4 files changed, 9637 insertions(+), 834 deletions(-) diff --git a/LCD/LCD.ino b/LCD/LCD.ino index 69bb49b..5c00632 100644 --- a/LCD/LCD.ino +++ b/LCD/LCD.ino @@ -153,7 +153,6 @@ void printFloatNoPoint( const uint8_t &fontSize, bool warning) { - sprintf(charValue, "%*d", len, (int)value); prevValue = value; printValue(x, y, charValue, len, fontSize, warning); diff --git a/LCD/constants.h b/LCD/constants.h index 0c8f8db..c384286 100644 --- a/LCD/constants.h +++ b/LCD/constants.h @@ -23,7 +23,7 @@ const uint16_t lcdHeight = 480; const uint16_t logoPos[] = {((lcdWidth - logoWidth) / 2), ((lcdHeight - logoHeight) / 2)}; const bool xPos = 0; const bool yPos = 1; -const uint16_t gearSize = 20; +const uint16_t gearSize = 60; const uint16_t gearPos[] = {((lcdWidth - (5 * gearSize)) / 2), ((lcdHeight - (8 * gearSize)) / 2)}; const uint16_t oilLabelPos[] = {10, 15}; const uint16_t oilTempPos[] = {oilTempWidth + 30, 5}; diff --git a/LCD/images/logo.h b/LCD/images/logo.h index be950d7..d48dbf9 100644 --- a/LCD/images/logo.h +++ b/LCD/images/logo.h @@ -1,829 +1,9608 @@ #pragma once -const uint16_t logoWidth = 697; -const uint16_t logoHeight = 112; +const uint16_t logoWidth = 960; +const uint16_t logoHeight = 960; // Logo byte array 780x125px XBM const static uint8_t logo[] PROGMEM = { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 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hour(), minute(), second()); + + outFileGPS = sd.open(filenameGPS, FILE_WRITE); + + if (!outFileGPS) + { + Serial.println("Error: failed to open file"); + } + threads.addThread(gpsRead); // Initialize the CAN bus /*mask.flags.extended = 0; - mask.flags.remote = 0;*/ - mask.id = 0; + mask.flags.remote = 0;*/ + mask.id = 0; mask.ext = 0; mask.rtr = 0; mask.id = 0; - Can0.begin(500000, mask, CAN0TX_ALT, CAN0RX_ALT); - Can0.attachObj(&canListener); - canListener.attachGeneralHandler(); + Can0.begin(500000, mask, CAN0TX_ALT, CAN0RX_ALT); + Can0.attachObj(&canListener); + canListener.attachGeneralHandler(); } uint32_t timer = millis(); @@ -187,7 +198,8 @@ uint32_t timer = millis(); void loop() { CAN_message_t msg; - Serial.print("This is a test."); + char gpsReadMsg[50]; + //Serial.print("This is a test."); Can0.read(msg); Serial.println(msg.len); delay(10000); @@ -195,7 +207,7 @@ void loop() if (newGpsData) { // Copernicuse GPS if new data write new data - // ToDo, breita serial print i SD.Write og Lora Send + // ToDo, breyta serial print í Lora Send Serial.print("LAT = "); Serial.print(flat == TinyGPS::GPS_INVALID_F_ANGLE ? 0.0 : flat, 6); Serial.print(" LON = "); @@ -209,8 +221,20 @@ void loop() Serial.print(second(), DEC); Serial.print(", "); Serial.println("0."); + + for (int i = 0; i < 1; i++) + { + sprintf(gpsReadMsg, "{\"time\": %ld, \"LAT: \": %s, \" LON: \": %s}!", time, flat, flon); + //Serial.println(gpsReadMsg); + } + newGpsData = false; } + if (outFileGPS) + { + outFile.write(gpsReadMsg); + outFile.flush(); + } // Writeout from data to SD card char payload[30]; @@ -226,6 +250,7 @@ void loop() for (int i = 0; i < 1; i++) { sprintf(payload, "{\"time\": %ld, \"FR\": %d, \"FL\": %d, \"RR\": %d, \"RL\": %d}!", time, FR, FL, RR, RL); + //Serial.println(payload); } if (outFile) @@ -298,7 +323,7 @@ void loop() for (int i = 0; i < 1; i++) { sprintf(payloadIMU, "{\"time\": %ld, \"pitch\": %d, \"yaw\": %d, \"roll\": %d, \"x-axis\": %d, \"y-axis\": %d, \"z-axis\": %d}!", time, yaw, pitch, roll, x, y, z); - Serial.println(payloadIMU); + //Serial.println(payloadIMU); } } newIMUData = false; @@ -318,7 +343,7 @@ void loop() void sendMessageLoRa(uint8_t CMD) { rf95.setHeaderId(Car_ID); - uint8_t buf[COMMAND_SIZE] = {"message"}; //{CMD}; + uint8_t buf[COMMAND_SIZE] = {CMD}; uint8_t len = sizeof(buf); rf95.send(buf, sizeof(buf));