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# CobraV2
## Installation
```bash
git clone https://www.github.com/foglar/cobraV2.git
```
```bash
# Building serial read code yourself
cd serial_read
go build main.go
```
Upload sender and reciever code on the 2 arduino's
## Overview
`reciever_module` - folder with code for reciver which will send data to the pc
`sender_module` - folder with code for sender, which transmit data to the reciever and save it on the micro sd card
`serial_read` - read serial input and save it
`reciever_module/` - folder with code for reciver which will send data to the pc
`sender_module/` - folder with code for sender, which transmit data to the reciever and save it on the micro sd card
`serial_read/` - read serial input and save it
## Modules
### 10 DOF IMU
![10 dof imu pinout](./10DOF-pinout.webp)
- **SDA** (Serial Data)
- **SCL** (Serial Clock)
- **INT** (Interrupt) is a digital interrupt output
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### L76K GPS
![L76K GPS pinout](./L76K-pinout.jpg)
- **PPS** (Pulse per second) powers a led wich will blink and indicate that GPS is working
- **RX** (UART communication)
- **TX** (UART communication)
#### NMEA Sentence
$GPGAA,HHMMSS.SS,llll.ll,a,yyyyy.yy,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx
| Sentence Identifier | Time | Latitude | Longtitude | Fix Quality | Number of Satellites | Horizontal Dilution of Precision | Altitude | Height of geoid above WGS84 ellipsoid | Time since last DGPS update | DGPS reference station id | Checksum |
| ------ | --------- | --------- | ---------- | - | -- | --- | ----- | ----- | --- | ---- | --- |
| $GPGAA | HHMMSS.SS | llll.ll a | yyyyy.yy a | x | xx | x.x | x.x M | x.x M | x.x | xxxx | *hh |
| $GPGAA | 170834 | 4124.8963, N | 08151.6838, W | 1 | 05 | 1.5 | 280.2, M | -34.0, M | blank | blank | *75 |
Fix Quality:
- 0 = Invalid
- 1 = GPS fix
- 2 = DGPS fix
[more about nmea sentences](https://aprs.gids.nl/nmea/)
### NRF24L01+
![nrlf24l01+ pinout](./NRF24L01-pinout.webp)
- **CE** (Chip Enable) is an active-high pin. When enabled, the nRF24L01 will either transmit or receive, depending on the mode.
- **CSN** (Chip Select Not) is an active-low pin that is typically held HIGH. When this pin goes low, the nRF24L01 begins listening for data on its SPI port and processes it accordingly.
- **SCK** (Serial Clock) accepts clock pulses from the SPI bus master.