move firmware to pio project
This commit is contained in:
parent
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.pio
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.vscode/.browse.c_cpp.db*
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.vscode/c_cpp_properties.json
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.vscode/launch.json
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.vscode/ipch
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||||
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@ -0,0 +1,39 @@
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|||
|
||||
This directory is intended for project header files.
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||||
|
||||
A header file is a file containing C declarations and macro definitions
|
||||
to be shared between several project source files. You request the use of a
|
||||
header file in your project source file (C, C++, etc) located in `src` folder
|
||||
by including it, with the C preprocessing directive `#include'.
|
||||
|
||||
```src/main.c
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||||
|
||||
#include "header.h"
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||||
|
||||
int main (void)
|
||||
{
|
||||
...
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||||
}
|
||||
```
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||||
|
||||
Including a header file produces the same results as copying the header file
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into each source file that needs it. Such copying would be time-consuming
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and error-prone. With a header file, the related declarations appear
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in only one place. If they need to be changed, they can be changed in one
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new version when next recompiled. The header file eliminates the labor of
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finding and changing all the copies as well as the risk that a failure to
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||||
find one copy will result in inconsistencies within a program.
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||||
In C, the usual convention is to give header files names that end with `.h'.
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||||
It is most portable to use only letters, digits, dashes, and underscores in
|
||||
header file names, and at most one dot.
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||||
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||||
Read more about using header files in official GCC documentation:
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* Include Syntax
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||||
* Include Operation
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||||
* Once-Only Headers
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||||
* Computed Includes
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||||
|
||||
https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html
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@ -0,0 +1,46 @@
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|||
|
||||
This directory is intended for project specific (private) libraries.
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||||
PlatformIO will compile them to static libraries and link into executable file.
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||||
|
||||
The source code of each library should be placed in a an own separate directory
|
||||
("lib/your_library_name/[here are source files]").
|
||||
|
||||
For example, see a structure of the following two libraries `Foo` and `Bar`:
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||||
|
||||
|--lib
|
||||
| |
|
||||
| |--Bar
|
||||
| | |--docs
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||||
| | |--examples
|
||||
| | |--src
|
||||
| | |- Bar.c
|
||||
| | |- Bar.h
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||||
| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
|
||||
| |
|
||||
| |--Foo
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||||
| | |- Foo.c
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||||
| | |- Foo.h
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||||
| |
|
||||
| |- README --> THIS FILE
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||||
|
|
||||
|- platformio.ini
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||||
|--src
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||||
|- main.c
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||||
|
||||
and a contents of `src/main.c`:
|
||||
```
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||||
#include <Foo.h>
|
||||
#include <Bar.h>
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||||
|
||||
int main (void)
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||||
{
|
||||
...
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||||
}
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||||
|
||||
```
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||||
|
||||
PlatformIO Library Dependency Finder will find automatically dependent
|
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libraries scanning project source files.
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||||
|
||||
More information about PlatformIO Library Dependency Finder
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||||
- https://docs.platformio.org/page/librarymanager/ldf.html
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|
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@ -0,0 +1 @@
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Subproject commit ebcd0d1d0b3061fcb57444e1dbe5829ef25705cd
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@ -0,0 +1,19 @@
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; PlatformIO Project Configuration File
|
||||
;
|
||||
; Build options: build flags, source filter
|
||||
; Upload options: custom upload port, speed and extra flags
|
||||
; Library options: dependencies, extra library storages
|
||||
; Advanced options: extra scripting
|
||||
;
|
||||
; Please visit documentation for the other options and examples
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||||
; https://docs.platformio.org/page/projectconf.html
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[env:pro16MHzatmega328]
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platform = atmelavr
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board = pro16MHzatmega328
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framework = arduino
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monitor_speed=115200
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lib_deps=
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https://github.com/feklee/arduino-trackpoint
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#include <Arduino.h>
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//from left to right. pins at bottom. chips on top
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//1 GND (black)
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//2 Data
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//3 Clock
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//4 Reset
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//5 +5V (red)
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//6 Right BTN
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//7 Middle BTN
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//8 Left BTN
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//Arduino Pro Mini 328P 5V 16MHz
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//hold power button pressed during flashing
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//pinout: https://martin-prochnow.de/projects/thinkpad_keyboard
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//see also https://github.com/feklee/usb-trackpoint/blob/master/code/code.ino
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//#define DEBUG
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#include "Trackpoint.h"
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//Default:
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/*Trackpoint trackpoint(8, // CLK
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9, // DATA
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12); // RESET
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*/
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/*funktioniert
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* Trackpoint trackpoint(2, // CLK (rosa)
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3, // DATA (gelb)
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4); // RESET (gruen)
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*/
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Trackpoint trackpoint(3, // CLK (rosa, TP3)
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4, // DATA (gelb, TP2)
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2); // RESET (gruen, TP4)
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#include <SPI.h>
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#include "nRF24L01.h"
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#include "RF24.h"
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#include "printf.h"
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bool radioOk=false; //true, if sending was successfull. can be false, even if data was send and received
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RF24 radio(9,10); //ce, cs
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//SCK D13
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//Miso D12
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//Mosi D11
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// Radio pipe addresses for the 2 nodes to communicate.
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const uint64_t pipes[2] = { 0xF0F0F0F0E1LL, 0xF0F0F0F0D2LL }; //0xF0F0F0F0xxLL, xx is 1-byte address
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#define NRF24CHANNEL 75
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struct nrfdata {
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uint8_t steer; //between 0 and 255, 127 is stop. will be scaled to -1000 to 1000
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uint8_t speed; //between 0 and 255, 127 is stop. will be scaled to -1000 to 1000
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uint8_t commands; //bit 0 set = motor enable
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uint8_t checksum;
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};
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long last_sendNRF=0;
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#define NRFSEND_DELAY 20 //ms
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#define PIN_TOUCH 5
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long last_touch=0;
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#define TOUCH_TIMEOUT 100
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//command variables
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boolean motorenabled=false;
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#define PIN_LED A1
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#define PIN_BUTTON 6
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#define PIN_POWERON 7
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#define TRACKPOINT_MAX 70 //value for maximum stick movement
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float speedscale=0.0;
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float steerscale=0.0;
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int16_t last_xin=0;
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int16_t last_yin=0;
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int16_t xin_smooth=0;
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int16_t yin_smooth=0;
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int16_t maxacc=0;
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int16_t maxacc_brake=0;
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int16_t maxaccsteer=0;
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int16_t maxaccsteer_brake=0;
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#define SETUP_NONE 0
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#define SETUP_WAIT 1 //waiting for input
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#define SETUP_DONE 2 //waiting after input (do not move motors)
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uint8_t setupmode=SETUP_NONE;
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long setupmode_waitstarttime=0; //starttime of SETUP_WAIT mode
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#define SETUP_WAIT_TIMEOUT 10000 //maximum time to wait for input before canceling
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#define SETUP_HOLD_POWEROFF 2000 //if button held down after x ms in setup mode, power off
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#define SETUP_DONE_TIME 1000 //time to keep motors disabled after exiting setup
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#define SETUP_MOVE_THRESHOLD 275 //500*TRACKPOINT_MAX/127
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uint8_t speedmode=1; //0 (slow), 1(medium), 2(fast)
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#define SETUP_SPEEDMODE_MAX 2
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uint16_t led_ton=0; //never. time in ms for on time
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uint16_t led_toff=65535; //always
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long led_nextswitch=0;
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#define TIME_INACTIVITY_POWEROFF 120000
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long time_lastactivity=0;
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#define ACTIVITYMOVEMENT 5//Stick movement for activity recognition
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boolean touching=false;
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int voltage=4000;
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#define VOLTAGE_WARN 3400
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/*
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* 3681=3.725V
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*/
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void sendRF(nrfdata senddata);
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long readVcc();
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void setup_updateSpeedmode();
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void setup() {
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//Mouse.begin();
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pinMode(PIN_TOUCH, INPUT_PULLUP);
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pinMode(PIN_LED, OUTPUT);
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pinMode(PIN_BUTTON, INPUT_PULLUP);
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pinMode(PIN_POWERON, OUTPUT);
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digitalWrite(PIN_LED, LOW);
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digitalWrite(PIN_POWERON, HIGH); //keep unit powered on
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Serial.begin(115200);
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printf_begin();
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Serial.println("Booting");
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radio.begin();
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//Serial.print("CRC Length=");
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//Serial.println(radio.getCRCLength());
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radio.setDataRate( RF24_250KBPS ); //set to slow data rate. default was 1MBPS
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//radio.setDataRate( RF24_1MBPS );
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radio.setChannel(NRF24CHANNEL); //0 to 124 (inclusive)
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radio.setRetries(15,15); // optionally, increase the delay between retries & # of retries
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radio.setPayloadSize(8); // optionally, reduce the payload size. seems to improve reliability
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//radio.openWritingPipe(pipes[0]); //write on pipe 0
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//radio.openReadingPipe(1,pipes[1]); //read on pipe 1
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radio.openWritingPipe(pipes[1]); //write on pipe 1
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radio.openReadingPipe(1,pipes[0]); //read on pipe 0
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radio.printDetails();
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radio.startListening();
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#ifdef DEBUG
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Serial.println("Radio initialized");
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#endif
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trackpoint.reset();
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trackpoint.setRemoteMode();
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trackpoint.setSensitivityFactor(0xc0); // more sensitive than by default
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#ifdef DEBUG
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Serial.println("Trackpoint initialized");
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#endif
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voltage=readVcc();
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Serial.print("Voltage=");
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Serial.println( voltage, DEC );
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setup_updateSpeedmode(); //set speeds
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}
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/*
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void sendButtonState(byte state) {
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static const char hidStates[] = {MOUSE_LEFT, MOUSE_RIGHT};
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for (byte i = 0; i < sizeof(hidStates); i++) {
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byte hidState = hidStates[i];
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if (state & (1 << i)) {
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Mouse.press(hidState);
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} else if (Mouse.isPressed(hidState)) {
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Mouse.release(hidState);
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}
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}
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}
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*/
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// Reads TrackPoint data and sends data to computer.
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void loop() {
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if (millis()-last_sendNRF >= NRFSEND_DELAY)
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{
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voltage=readVcc(); //read own voltage
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last_sendNRF=millis();
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trackpoint.readData(); //discard last value. otherwise values are scales way too high
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Trackpoint::DataReport d = trackpoint.readData(); //d.x and d.y between 128 to 255=-1000 to 0, and 0 to 127=0 to +1000
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#ifdef DEBUG
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Serial.print("DataReport: ");
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Serial.print(d.x);
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Serial.print(", ");
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Serial.println(d.y);
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#endif
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nrfdata senddata;
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//senddata.steer=map(constrain((uint8_t)(d.x+127),127-TRACKPOINT_MAX,127+TRACKPOINT_MAX) , 127-TRACKPOINT_MAX,127+TRACKPOINT_MAX, 127+(127*steerscale), 127-(127*steerscale) ); //steer
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//senddata.speed=map(constrain((uint8_t)(d.y+127),127-TRACKPOINT_MAX,127+TRACKPOINT_MAX) , 127-TRACKPOINT_MAX,127+TRACKPOINT_MAX, 127-(127*speedscale), 127+(127*speedscale) ); //speed
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//map x and y to -1000 to 1000
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int16_t xin;
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if (d.x>=0 && d.x<=127){ //positive range
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xin=map(constrain((int16_t)d.x,0,TRACKPOINT_MAX) , 0,TRACKPOINT_MAX, 0, 1000 );
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}else{ //negative range 128(=-1000) to 255(0)
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xin=map(constrain((int16_t)d.x,127+TRACKPOINT_MAX,255) , 127+TRACKPOINT_MAX,255, -1000, 0 );
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}
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int16_t yin;
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if (d.y>=0 && d.y<=127){ //positive range
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yin=map(constrain((float)d.y,0,TRACKPOINT_MAX) , 0,TRACKPOINT_MAX, 0, 1000 );
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}else{ //negative range 128(=-1000) to 255(0)
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yin=map(constrain((float)d.y,127+TRACKPOINT_MAX,255) , 127+TRACKPOINT_MAX,255, -1000, 0 );
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}
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last_xin=xin; //save position values for other stuff than control
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last_yin=yin;
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if (abs(xin)>ACTIVITYMOVEMENT){
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time_lastactivity=millis(); //reset activity timeout
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}else if (abs(yin)>ACTIVITYMOVEMENT){
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time_lastactivity=millis(); //reset activity timeout
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}
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/*
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float r=sqrt((xin*xin) + (yin*yin));
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float phi=atan2(yin,xin); // arc tangent of y/x. 0 is right
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Serial.print(xin,0);
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Serial.print(", ");
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Serial.print(yin,0);
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Serial.print(": ");
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Serial.print(r,0);
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Serial.print(", ");
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Serial.println(phi,4);*/
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//xin_smooth=smoothfilter*xin_smooth + (1-smoothfilter)*xin;
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//yin_smooth=smoothfilter*yin_smooth + (1-smoothfilter)*yin;
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if (maxaccsteer>0){
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// ### X ###
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int16_t _xaccel=xin_smooth-xin;
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if ((xin_smooth>0 && xin<-2) || (xin_smooth<0 && xin>2) ){ //if actively braking
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if (_xaccel<-maxaccsteer_brake){ //limit deceleration
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_xaccel=-maxaccsteer_brake;
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}else if (_xaccel>maxaccsteer_brake){
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_xaccel=maxaccsteer_brake;
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}
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}else{ //not braking
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if (_xaccel<-maxaccsteer){ //limit acceleration
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_xaccel=-maxaccsteer;
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}else if (_xaccel>maxaccsteer){
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_xaccel=maxaccsteer;
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||||
}
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}
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xin_smooth-=_xaccel; //update value
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||||
|
||||
}else{ //no acc limit
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||||
xin_smooth=xin; //update immediately
|
||||
}
|
||||
if (maxacc>0){
|
||||
// ### Y ###
|
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int16_t _yaccel=yin_smooth-yin;
|
||||
if ((yin_smooth>0 && yin<-2) || (yin_smooth<0 && yin>2) ){ //if actively braking
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||||
if (_yaccel<-maxacc_brake){ //limit deceleration
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||||
_yaccel=-maxacc_brake;
|
||||
}else if (_yaccel>maxacc_brake){
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||||
_yaccel=maxacc_brake;
|
||||
}
|
||||
}else{ //not braking
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||||
if (_yaccel<-maxacc){ //limit acceleration
|
||||
_yaccel=-maxacc;
|
||||
}else if (_yaccel>maxacc){
|
||||
_yaccel=maxacc;
|
||||
}
|
||||
}
|
||||
yin_smooth-=_yaccel; //update value
|
||||
}else{ //no acc limit
|
||||
yin_smooth=yin;
|
||||
}
|
||||
|
||||
senddata.steer=map(xin_smooth, -1000,1000, 127+(128*steerscale), 127-(127*steerscale) ); //steer
|
||||
senddata.speed=map(yin_smooth, -1000,1000, 127-(127*speedscale), 127+(128*speedscale) ); //speed
|
||||
|
||||
senddata.commands=0; //reset
|
||||
|
||||
if (!radioOk || setupmode!=SETUP_NONE){ //if last transmission failed or in setup mode
|
||||
//senddata.steer=127; //stop
|
||||
//senddata.speed=127;
|
||||
senddata.commands|= 0 << 0; //motorenabled send false
|
||||
xin_smooth=0; //reset smooth value
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||||
yin_smooth=0;
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||||
}else{
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senddata.commands|= motorenabled << 0; //motorenabled is bit 0
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||||
}
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#ifdef DEBUG
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Serial.print(senddata.steer);
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||||
Serial.print(", ");
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||||
Serial.println(senddata.speed);
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||||
#endif
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||||
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||||
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senddata.checksum=(uint8_t)((senddata.steer+3)*(senddata.speed+13));
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sendRF(senddata);
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||||
|
||||
#ifdef DEBUG
|
||||
Serial.println( readVcc(), DEC );
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
if(!digitalRead(PIN_TOUCH)){ //check touch
|
||||
last_touch=millis();
|
||||
}
|
||||
|
||||
|
||||
if(millis()-last_touch <= TOUCH_TIMEOUT){ //is touched
|
||||
if (!touching && setupmode!=SETUP_DONE) { //was false, is touching again (and not during setup_done wait)
|
||||
Serial.println("touching was false");
|
||||
if (last_xin==0 && last_yin==0) { //stick at center position
|
||||
touching=true; //enable only if stick is at center again
|
||||
motorenabled=true;
|
||||
Serial.println("touching reactivated");
|
||||
}
|
||||
}else{
|
||||
motorenabled=true;
|
||||
}
|
||||
}else{
|
||||
touching=false;
|
||||
motorenabled=false;
|
||||
}
|
||||
|
||||
if (!digitalRead(PIN_BUTTON) && setupmode==SETUP_NONE){ //Button pressed, and not in setup mode
|
||||
setupmode=SETUP_WAIT;
|
||||
setupmode_waitstarttime=millis();
|
||||
Serial.println("Entering Setup");
|
||||
//digitalWrite(PIN_POWERON, LOW); //Power off
|
||||
}
|
||||
|
||||
//inactivity poweroff
|
||||
if (millis()>time_lastactivity+TIME_INACTIVITY_POWEROFF){
|
||||
Serial.println("Inactivity Poweroff");
|
||||
delay(100);
|
||||
digitalWrite(PIN_POWERON, LOW); //Power off
|
||||
}
|
||||
|
||||
switch(setupmode){
|
||||
case SETUP_WAIT:
|
||||
if (millis()>setupmode_waitstarttime+SETUP_WAIT_TIMEOUT){ //waittime over
|
||||
setupmode=SETUP_NONE; //exit setup
|
||||
}else if(last_yin > SETUP_MOVE_THRESHOLD){ //y moved up
|
||||
Serial.print("Moved Up");
|
||||
if (speedmode<SETUP_SPEEDMODE_MAX){ //if not already at maximum
|
||||
speedmode+=1;
|
||||
}
|
||||
setup_updateSpeedmode();
|
||||
setupmode=SETUP_DONE; //exit setupmode
|
||||
setupmode_waitstarttime=millis(); //use this value for done timer
|
||||
}else if(last_yin < -SETUP_MOVE_THRESHOLD){ //y moved down
|
||||
Serial.print("Moved Down");
|
||||
if (speedmode>0){ //if not already at minimum
|
||||
speedmode-=1;
|
||||
}
|
||||
setup_updateSpeedmode();
|
||||
setupmode=SETUP_DONE; //exit setupmode
|
||||
setupmode_waitstarttime=millis();//use this value for done timer
|
||||
}else if(last_xin < -SETUP_MOVE_THRESHOLD){ //y moved left
|
||||
Serial.print("Moved Left");
|
||||
maxacc=20; //the higher the snappier
|
||||
maxacc_brake=30;
|
||||
maxaccsteer=30;
|
||||
maxaccsteer_brake=70;
|
||||
setupmode=SETUP_DONE; //exit setupmode
|
||||
setupmode_waitstarttime=millis();//use this value for done timer
|
||||
}else if(last_xin > SETUP_MOVE_THRESHOLD){ //y moved right
|
||||
Serial.print("Moved Right");
|
||||
maxacc=0;
|
||||
maxacc_brake=0;
|
||||
maxaccsteer=0;
|
||||
maxaccsteer_brake=0;
|
||||
setupmode=SETUP_DONE; //exit setupmode
|
||||
setupmode_waitstarttime=millis();//use this value for done timer
|
||||
}else if (millis()>setupmode_waitstarttime+SETUP_HOLD_POWEROFF && !digitalRead(PIN_BUTTON)){ //if button held down after SETUP_HOLD_POWEROFF
|
||||
Serial.println("Manual Power Off");
|
||||
delay(100);
|
||||
digitalWrite(PIN_POWERON, LOW); //Power off
|
||||
}
|
||||
|
||||
|
||||
|
||||
if (!touching){ //remote got put away (not touch)
|
||||
Serial.println("Poweroff");
|
||||
delay(100);
|
||||
digitalWrite(PIN_POWERON, LOW); //Power off
|
||||
}
|
||||
break;
|
||||
case SETUP_DONE:
|
||||
touching=false;
|
||||
motorenabled=false;
|
||||
Serial.println("touching set false");
|
||||
if (millis()>setupmode_waitstarttime+SETUP_DONE_TIME){
|
||||
setupmode=SETUP_NONE; //return to control mode, allows enabling motors
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
//LED Blink Codes
|
||||
switch(setupmode){
|
||||
case SETUP_NONE:
|
||||
if (radioOk){
|
||||
if (touching){ //=touching
|
||||
led_ton=500; //always on
|
||||
led_toff=0;
|
||||
}else{
|
||||
led_ton=1000; //blink slowly regulary
|
||||
led_toff=1000;
|
||||
}
|
||||
}else{ //not connected
|
||||
if (touching){ //=touching
|
||||
led_ton=5; //short flash
|
||||
led_toff=200;
|
||||
}else{
|
||||
led_ton=0; //off
|
||||
led_toff=500;
|
||||
}
|
||||
}
|
||||
if (voltage<=VOLTAGE_WARN){
|
||||
led_ton=25; //flash on fast
|
||||
led_toff=75;
|
||||
}
|
||||
|
||||
break;
|
||||
case SETUP_WAIT:
|
||||
led_ton=200; //blink fast
|
||||
led_toff=200;
|
||||
break;
|
||||
case SETUP_DONE:
|
||||
led_ton=20; //blink fast
|
||||
led_toff=20;
|
||||
break;
|
||||
|
||||
}
|
||||
if (millis()>=led_nextswitch){ //Set LED State by timings
|
||||
if (digitalRead(PIN_LED)){ //led was on
|
||||
if (led_toff>0){
|
||||
digitalWrite(PIN_LED, LOW); //led off
|
||||
}
|
||||
led_nextswitch=millis()+led_toff;
|
||||
}else{
|
||||
if (led_ton>0){
|
||||
digitalWrite(PIN_LED, HIGH); //led on
|
||||
}
|
||||
led_nextswitch=millis()+led_ton;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
void sendRF(nrfdata senddata){
|
||||
#ifdef DEBUG
|
||||
Serial.println("Transmitting...");
|
||||
#endif
|
||||
|
||||
radio.stopListening(); //stop listening to be able to transmit
|
||||
radioOk = radio.write( &senddata, sizeof(nrfdata) );
|
||||
if (radioOk){
|
||||
#ifdef DEBUG
|
||||
Serial.println("ok");
|
||||
#endif
|
||||
|
||||
}else{
|
||||
#ifdef DEBUG
|
||||
Serial.println("failed");
|
||||
#endif
|
||||
}
|
||||
radio.startListening();
|
||||
|
||||
}
|
||||
|
||||
|
||||
long readVcc() {
|
||||
long result; // Read 1.1V reference against AVcc
|
||||
ADMUX = _BV(REFS0) | _BV(MUX3) | _BV(MUX2) | _BV(MUX1);
|
||||
delay(2); // Wait for Vref to settle
|
||||
ADCSRA |= _BV(ADSC); // Convert
|
||||
while (bit_is_set(ADCSRA,ADSC));
|
||||
result = ADCL;
|
||||
result |= ADCH<<8;
|
||||
result = 1126400L / result; // Back-calculate AVcc in mV
|
||||
return result;
|
||||
}
|
||||
|
||||
void setup_updateSpeedmode(){
|
||||
switch(speedmode){
|
||||
case 0: //slow
|
||||
speedscale=0.15;
|
||||
steerscale=0.2;
|
||||
break;
|
||||
case 1: //medium
|
||||
speedscale=0.4;
|
||||
steerscale=0.45;
|
||||
break;
|
||||
case 2: //fast
|
||||
speedscale=1.0;
|
||||
steerscale=0.8;
|
||||
break;
|
||||
default:
|
||||
speedscale=0.1;
|
||||
steerscale=0.1;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,37 @@
|
|||
/*
|
||||
Copyright (C) 2011 J. Coliz <maniacbug@ymail.com>
|
||||
|
||||
This program is free software; you can redistribute it and/or
|
||||
modify it under the terms of the GNU General Public License
|
||||
version 2 as published by the Free Software Foundation.
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file printf.h
|
||||
*
|
||||
* Setup necessary to direct stdout to the Arduino Serial library, which
|
||||
* enables 'printf'
|
||||
*/
|
||||
|
||||
#ifndef __PRINTF_H__
|
||||
#define __PRINTF_H__
|
||||
|
||||
#ifdef ARDUINO
|
||||
|
||||
int serial_putc( char c, FILE * )
|
||||
{
|
||||
Serial.write( c );
|
||||
|
||||
return c;
|
||||
}
|
||||
|
||||
void printf_begin(void)
|
||||
{
|
||||
fdevopen( &serial_putc, 0 );
|
||||
}
|
||||
|
||||
#else
|
||||
#error This example is only for use on Arduino.
|
||||
#endif // ARDUINO
|
||||
|
||||
#endif // __PRINTF_H__
|
||||
Loading…
Reference in New Issue