diff --git a/Gerber_Kohout_PCB_Cobra_4_2024-06-20.zip b/Gerber_Kohout_PCB_Cobra_4_2024-06-20.zip deleted file mode 100644 index 33db43e..0000000 Binary files a/Gerber_Kohout_PCB_Cobra_4_2024-06-20.zip and /dev/null differ diff --git a/monitor/go.mod b/monitor/go.mod deleted file mode 100644 index 9c7b079..0000000 --- a/monitor/go.mod +++ /dev/null @@ -1,22 +0,0 @@ -module foglar/monitor - -go 1.21 - -toolchain go1.22.1 - -require ( - github.com/golang/freetype v0.0.0-20170609003504-e2365dfdc4a0 - github.com/gopxl/pixel v1.0.0 - github.com/tarm/serial v0.0.0-20180830185346-98f6abe2eb07 - golang.org/x/image v0.13.0 -) - -require ( - github.com/faiface/glhf v0.0.0-20211013000516-57b20770c369 // indirect - github.com/faiface/mainthread v0.0.0-20171120011319-8b78f0a41ae3 // indirect - github.com/go-gl/gl v0.0.0-20211210172815-726fda9656d6 // indirect - github.com/go-gl/glfw/v3.3/glfw v0.0.0-20221017161538-93cebf72946b // indirect - github.com/go-gl/mathgl v1.1.0 // indirect - github.com/pkg/errors v0.9.1 // indirect - golang.org/x/sys v0.17.0 // indirect -) diff --git a/monitor/go.sum b/monitor/go.sum deleted file mode 100644 index 4d9c67f..0000000 --- a/monitor/go.sum +++ /dev/null @@ -1,35 +0,0 @@ -github.com/davecgh/go-spew v1.1.1 h1:vj9j/u1bqnvCEfJOwUhtlOARqs3+rkHYY13jYWTU97c= -github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38= -github.com/faiface/glhf v0.0.0-20211013000516-57b20770c369 h1:gv4BgP50atccdK/1tZHDyP6rMwiiutR2HPreR/OyLzI= -github.com/faiface/glhf v0.0.0-20211013000516-57b20770c369/go.mod h1:dDdUO+G9ZnJ9sc8nIUvhLkE45k8PEKW6+A3TdWsfpV0= -github.com/faiface/mainthread v0.0.0-20171120011319-8b78f0a41ae3 h1:baVdMKlASEHrj19iqjARrPbaRisD7EuZEVJj6ZMLl1Q= -github.com/faiface/mainthread v0.0.0-20171120011319-8b78f0a41ae3/go.mod h1:VEPNJUlxl5KdWjDvz6Q1l+rJlxF2i6xqDeGuGAxa87M= -github.com/go-gl/gl v0.0.0-20210905235341-f7a045908259/go.mod h1:wjpnOv6ONl2SuJSxqCPVaPZibGFdSci9HFocT9qtVYM= -github.com/go-gl/gl v0.0.0-20211210172815-726fda9656d6 h1:zDw5v7qm4yH7N8C8uWd+8Ii9rROdgWxQuGoJ9WDXxfk= -github.com/go-gl/gl v0.0.0-20211210172815-726fda9656d6/go.mod h1:9YTyiznxEY1fVinfM7RvRcjRHbw2xLBJ3AAGIT0I4Nw= -github.com/go-gl/glfw v0.0.0-20210727001814-0db043d8d5be/go.mod h1:vR7hzQXu2zJy9AVAgeJqvqgH9Q5CA+iKCZ2gyEVpxRU= -github.com/go-gl/glfw/v3.3/glfw v0.0.0-20221017161538-93cebf72946b h1:GgabKamyOYguHqHjSkDACcgoPIz3w0Dis/zJ1wyHHHU= -github.com/go-gl/glfw/v3.3/glfw v0.0.0-20221017161538-93cebf72946b/go.mod h1:tQ2UAYgL5IevRw8kRxooKSPJfGvJ9fJQFa0TUsXzTg8= -github.com/go-gl/mathgl v1.0.0/go.mod h1:yhpkQzEiH9yPyxDUGzkmgScbaBVlhC06qodikEM0ZwQ= -github.com/go-gl/mathgl v1.1.0 h1:0lzZ+rntPX3/oGrDzYGdowSLC2ky8Osirvf5uAwfIEA= -github.com/go-gl/mathgl v1.1.0/go.mod h1:yhpkQzEiH9yPyxDUGzkmgScbaBVlhC06qodikEM0ZwQ= -github.com/golang/freetype v0.0.0-20170609003504-e2365dfdc4a0 h1:DACJavvAHhabrF08vX0COfcOBJRhZ8lUbR+ZWIs0Y5g= -github.com/golang/freetype v0.0.0-20170609003504-e2365dfdc4a0/go.mod h1:E/TSTwGwJL78qG/PmXZO1EjYhfJinVAhrmmHX6Z8B9k= -github.com/gopxl/pixel v1.0.0 h1:ZON6ll6/tI6sO8fwrlj93GVUcXReTST5//iKv6lcd8g= -github.com/gopxl/pixel v1.0.0/go.mod h1:kPUBG2He7/+alwmi5z0IwnpAc6pw2N7eA08cdBfoE/Q= -github.com/pkg/errors v0.9.1 h1:FEBLx1zS214owpjy7qsBeixbURkuhQAwrK5UwLGTwt4= -github.com/pkg/errors v0.9.1/go.mod h1:bwawxfHBFNV+L2hUp1rHADufV3IMtnDRdf1r5NINEl0= -github.com/pmezard/go-difflib v1.0.0 h1:4DBwDE0NGyQoBHbLQYPwSUPoCMWR5BEzIk/f1lZbAQM= -github.com/pmezard/go-difflib v1.0.0/go.mod h1:iKH77koFhYxTK1pcRnkKkqfTogsbg7gZNVY4sRDYZ/4= -github.com/stretchr/testify v1.8.4 h1:CcVxjf3Q8PM0mHUKJCdn+eZZtm5yQwehR5yeSVQQcUk= -github.com/stretchr/testify v1.8.4/go.mod h1:sz/lmYIOXD/1dqDmKjjqLyZ2RngseejIcXlSw2iwfAo= -github.com/tarm/serial v0.0.0-20180830185346-98f6abe2eb07 h1:UyzmZLoiDWMRywV4DUYb9Fbt8uiOSooupjTq10vpvnU= -github.com/tarm/serial v0.0.0-20180830185346-98f6abe2eb07/go.mod h1:kDXzergiv9cbyO7IOYJZWg1U88JhDg3PB6klq9Hg2pA= -golang.org/x/image v0.0.0-20190321063152-3fc05d484e9f/go.mod h1:kZ7UVZpmo3dzQBMxlp+ypCbDeSB+sBbTgSJuh5dn5js= -golang.org/x/image v0.13.0 h1:3cge/F/QTkNLauhf2QoE9zp+7sr+ZcL4HnoZmdwg9sg= -golang.org/x/image v0.13.0/go.mod h1:6mmbMOeV28HuMTgA6OSRkdXKYw/t5W9Uwn2Yv1r3Yxk= -golang.org/x/sys v0.17.0 h1:25cE3gD+tdBA7lp7QfhuV+rJiE9YXTcS3VG1SqssI/Y= -golang.org/x/sys v0.17.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA= -golang.org/x/text v0.3.0/go.mod h1:NqM8EUOU14njkJ3fqMW+pc6Ldnwhi/IjpwHt7yyuwOQ= -gopkg.in/yaml.v3 v3.0.1 h1:fxVm/GzAzEWqLHuvctI91KS9hhNmmWOoWu0XTYJS7CA= -gopkg.in/yaml.v3 v3.0.1/go.mod h1:K4uyk7z7BCEPqu6E+C64Yfv1cQ7kz7rIZviUmN+EgEM= diff --git a/monitor/gui/JetBrainsMonoNerdFont-Medium.ttf b/monitor/gui/JetBrainsMonoNerdFont-Medium.ttf deleted file mode 100644 index 177386b..0000000 Binary files a/monitor/gui/JetBrainsMonoNerdFont-Medium.ttf and /dev/null differ diff --git a/monitor/gui/gui.go b/monitor/gui/gui.go deleted file mode 100644 index 602e346..0000000 --- a/monitor/gui/gui.go +++ /dev/null @@ -1,41 +0,0 @@ -package gui - -import ( - "io" - "os" - - "github.com/golang/freetype/truetype" - "github.com/gopxl/pixel/text" - "golang.org/x/image/font" -) - -func LoadFont(FONT string, SIZE float64) (*text.Atlas, error) { - face, err := LoadTTF(FONT, SIZE) - if err != nil { - return nil, err - } - return text.NewAtlas(face, text.ASCII), nil -} - -func LoadTTF(path string, size float64) (font.Face, error) { - file, err := os.Open(path) - if err != nil { - return nil, err - } - defer file.Close() - - bytes, err := io.ReadAll(file) - if err != nil { - return nil, err - } - - font, err := truetype.Parse(bytes) - if err != nil { - return nil, err - } - - return truetype.NewFace(font, &truetype.Options{ - Size: size, - GlyphCacheEntries: 1, - }), nil -} diff --git a/monitor/main.go b/monitor/main.go deleted file mode 100644 index b950b87..0000000 --- a/monitor/main.go +++ /dev/null @@ -1,138 +0,0 @@ -package main - -import ( - //"strconv" - - "foglar/monitor/gui" - "foglar/monitor/parse" - "foglar/monitor/serial_read" - - "github.com/gopxl/pixel" - "github.com/gopxl/pixel/pixelgl" - "github.com/gopxl/pixel/text" - "golang.org/x/image/colornames" -) - -const ( - LOG_FONT = "gui/JetBrainsMonoNerdFont-Medium.ttf" - INFO_FONT = "gui/JetBrainsMonoNerdFont-Medium.ttf" - - LOG_SIZE = 12 - INFO_SIZE = 24 -) - -var ( - LOG_POSITION = [2]float64{900, 10} - TEMP_POSITION = [2]float64{600, 100} - PRESSURE_POSITION = [2]float64{200, 100} - ATTITUDE_POSITION = [2]float64{50, 400} - ROLL_POSITION = [2]float64{50, 650} - PITCH_POSITION = [2]float64{350, 650} - YAW_POSITION = [2]float64{650, 650} -) - -func run() { - // Initialize serial connection - serialHandler, err := serial_read.NewSerialHandler() - if err != nil { - panic(err) - } - defer serialHandler.Close() - - // Create window - cfg := pixelgl.WindowConfig{ - Title: "Cobra Monitor", - Bounds: pixel.R(0, 0, 1024, 768), - } - win, err := pixelgl.NewWindow(cfg) - if err != nil { - panic(err) - } - - // Load fonts - log_atlas, err := gui.LoadFont(LOG_FONT, LOG_SIZE) - if err != nil { - panic(err) - } - - info_atlas, err := gui.LoadFont(INFO_FONT, INFO_SIZE) - if err != nil { - panic(err) - } - - // Text - logging_serial := text.New(pixel.V(LOG_POSITION[0], LOG_POSITION[1]), log_atlas) - temperature := text.New(pixel.V(TEMP_POSITION[0], TEMP_POSITION[1]), info_atlas) - pressure := text.New(pixel.V(PRESSURE_POSITION[0], PRESSURE_POSITION[1]), info_atlas) - attitude := text.New(pixel.V(ATTITUDE_POSITION[0], ATTITUDE_POSITION[1]), info_atlas) - roll := text.New(pixel.V(ROLL_POSITION[0], ROLL_POSITION[1]), info_atlas) - pitch := text.New(pixel.V(PITCH_POSITION[0], PITCH_POSITION[1]), info_atlas) - yaw := text.New(pixel.V(YAW_POSITION[0], YAW_POSITION[1]), info_atlas) - - var ( - temperature_gui string - pressure_gui string - attitude_gui string - roll_gui string - pitch_gui string - yaw_gui string - ) - - // Window update - for !win.Closed() { - - // Read Serial Port - data, err := serialHandler.ReadSerial() - defer serialHandler.Close() - if err != nil { - panic(err) - } - - // Parsing data - info := parse.Parser(data) - - // Clear screen values - temperature.Clear() - pressure.Clear() - attitude.Clear() - roll.Clear() - pitch.Clear() - yaw.Clear() - - // Update information if it is in the parsed block - if _, ok := info[1]; ok { - temperature_gui = info[4] - pressure_gui = info[5] - attitude_gui = info[6] - roll_gui = info[1] - pitch_gui = info[2] - yaw_gui = info[3] - } - - win.Clear(colornames.Black) - - // Print information to text blocks - logging_serial.WriteString(data) - temperature.WriteString("Temperature: " + temperature_gui) - pressure.WriteString("Pressure: [hPa] " + pressure_gui) - attitude.WriteString("Attitude: [m] " + attitude_gui) - roll.WriteString("Roll: [°]" + roll_gui) - pitch.WriteString("Pitch: [°]" + pitch_gui) - yaw.WriteString("Yaw: [°]" + yaw_gui) - - // Draw information to screen - logging_serial.Draw(win, pixel.IM) - temperature.Draw(win, pixel.IM) - pressure.Draw(win, pixel.IM) - attitude.Draw(win, pixel.IM) - roll.Draw(win, pixel.IM) - pitch.Draw(win, pixel.IM) - yaw.Draw(win, pixel.IM) - - win.Update() - } -} - -func main() { - pixelgl.Run(run) -} diff --git a/monitor/parse/parse.go b/monitor/parse/parse.go deleted file mode 100644 index d4b63f7..0000000 --- a/monitor/parse/parse.go +++ /dev/null @@ -1,34 +0,0 @@ -package parse - -// TODO: finish reading serial input and parsing it and piping it to the gui component - -import ( - "log" - "strconv" - "strings" -) - -func Parser(s string) map[int]string { - - // TODO: check if line isn't comment - // improve reading data - lines := strings.Split(s, "\n") - data_structure := make(map[int]string) - for _, line := range lines { - // find $ and * in text and get value between them - startIndex := strings.Index(line, "$") - endIndex := strings.Index(line, "*") - if startIndex != -1 && endIndex != -1 { - value := line[startIndex+1 : endIndex] - data := strings.Split(strings.TrimSpace(value), ";") - ident, err := strconv.Atoi(strings.TrimSpace(data[0])) - if err != nil { - log.Print(err) - } - info := data[1] - data_structure[ident] = info - } - } - - return data_structure -} diff --git a/monitor/serial_read/serial.go b/monitor/serial_read/serial.go deleted file mode 100644 index 24c1471..0000000 --- a/monitor/serial_read/serial.go +++ /dev/null @@ -1,109 +0,0 @@ -package serial_read - -import ( - "fmt" - "log" - "os" - "strconv" - - "github.com/tarm/serial" -) - -// TODO: -// - Validation of port and baudrate -// - And input of port and baudrate - -// SerialHandler struct -type SerialHandler struct { - port *serial.Port -} - -// Initialize new SerialHandler -func NewSerialHandler() (*SerialHandler, error) { - port := inputPort() - baudrate, err := inputBaudrate() - if err != nil { - fmt.Println("Error - Baudrate is not valid number") - } - - s, err := serial.OpenPort(&serial.Config{Name: port, Baud: baudrate}) - if err != nil { - log.Fatal(err) - return nil, err - } - - return &SerialHandler{port: s}, nil -} - -// Reads from the serial port and returns the received data as a string -func (sh *SerialHandler) ReadSerial() (string, error) { - buf := make([]byte, 128) - n, err := sh.port.Read(buf) - if err != nil { - log.Fatal(err) - return "", err - } - - return string(buf[:n]), nil -} - -// Close closes the serial port -func (sh *SerialHandler) Close() error { - return sh.port.Close() -} - -func inputPort() string { - var s_port string - - for { - fmt.Print("Enter port (/dev/ttyACM0): ") - fmt.Scanln(&s_port) - - if isPort(s_port) == true { - break - } - - fmt.Println("Error - Invalid Port") - - } - - return s_port -} - -func inputBaudrate() (int, error) { - var s_baud string - - for { - fmt.Print("Enter baudrate (for example 9600): ") - fmt.Scanln(&s_baud) - - if isBaud(s_baud) == true { - break - } - fmt.Println("Error - Invalid Baudrate") - } - - return strconv.Atoi(s_baud) -} - -func isPort(port string) bool { - _, err := os.Stat(port) - if !os.IsNotExist(err) { - return true - } - return false - -} - -func isBaud(baud string) bool { - switch baud { - case "4800": - return true - case "9600": - return true - case "115200": - return true - default: - return false - } -} diff --git a/sender_module/DEV_Config.cpp b/sender_module/DEV_Config.cpp deleted file mode 100644 index 4a8c787..0000000 --- a/sender_module/DEV_Config.cpp +++ /dev/null @@ -1,95 +0,0 @@ -/***************************************************************************** -* | File : DEV_Config.c -* | Author : Waveshare team -* | Function : Hardware underlying interface -* | Info : -* Used to shield the underlying layers of each master -* and enhance portability -*---------------- -* | This version: V1.0 -* | Date : 2018-11-22 -* | Info : - -# Permission is hereby granted, free of charge, to any person obtaining a copy -# of this software and associated documnetation files (the "Software"), to deal -# in the Software without restriction, including without limitation the rights -# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -# copies of the Software, and to permit persons to whom the Software is -# furished to do so, subject to the following conditions: -# -# The above copyright notice and this permission notice shall be included in -# all copies or substantial portions of the Software. -# -# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -# FITNESS OR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -# LIABILITY WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN -# THE SOFTWARE. -# -******************************************************************************/ -#include "DEV_Config.h" -#include -SoftwareSerial mySerial(0, 1); // RX, TX - -/****************************************************************************** -function: - Uart receiving and sending -******************************************************************************/ -UBYTE DEV_Uart_ReceiveByte() -{ - while(1){ - if(mySerial.available()){ - return mySerial.read(); - } - } -} - -void DEV_Uart_SendByte(char data) -{ - mySerial.write(data); -} - -void DEV_Uart_SendString(char *data) -{ - UWORD i; - for(i=0; data[i] != '\0'; i++){ - mySerial.write(data[i]); - } -} - -void DEV_Uart_ReceiveString(char *data, UWORD Num) -{ - UWORD i; - while(1){ - if(mySerial.available()){ - data[i] = mySerial.read(); - i++; - //Serial.print(data[i]); - if(i >= Num){ - break; - } - } - } - - data[Num-1] = '\0'; -} - -void DEV_Set_GPIOMode(UWORD Pin, UWORD mode) -{ - - if(mode == 1){ - pinMode(Pin, INPUT); - } - else if(mode == 0){ - pinMode(Pin, OUTPUT); - } -} - - -void DEV_Set_Baudrate(UDOUBLE Baudrate) -{ - mySerial.begin(Baudrate); -} - diff --git a/sender_module/DEV_Config.h b/sender_module/DEV_Config.h deleted file mode 100644 index 46ebf07..0000000 --- a/sender_module/DEV_Config.h +++ /dev/null @@ -1,41 +0,0 @@ -#ifndef _DEV_CONFIG_H_ -#define _DEV_CONFIG_H_ - -#include -#include -#include -#include - -#define UBYTE uint8_t -#define UWORD uint16_t -#define UDOUBLE uint32_t - -/** - * GPIO config -**/ -#define DEV_FORCE 4 -#define DEV_STANDBY 5 - -/** - * GPIO read and write -**/ -#define DEV_Digital_Write(_pin, _value) digitalWrite(_pin, _value == 0? LOW:HIGH) -#define DEV_Digital_Read(_pin) digitalRead(_pin) - -/** - * delay x ms -**/ -#define DEV_Delay_ms(__xms) delay(__xms) - - -/*-----------------------------------------------------------------------------*/ -UBYTE DEV_Uart_ReceiveByte(void); -void DEV_Uart_SendByte(char data); -void DEV_Uart_SendString(char *data); -void DEV_Uart_ReceiveString(char *data, UWORD Num); - -void DEV_Set_Baudrate(UDOUBLE Baudrate); - -void DEV_Set_GPIOMode(UWORD Pin, UWORD mode); -#endif - diff --git a/sender_module/L76X.cpp b/sender_module/L76X.cpp deleted file mode 100644 index 3a1ec8a..0000000 --- a/sender_module/L76X.cpp +++ /dev/null @@ -1,244 +0,0 @@ -#include "L76X.h" - -char const Temp[16]={'0','1','2','3','4','5','6','7','8','9','A','B','C','D','E','F'}; - -static const double pi = 3.14159265358979324; -static const double a = 6378245.0; -static const double ee = 0.00669342162296594323; -static const double x_pi = 3.14159265358979324 * 3000.0 / 180.0; - -static char buff_t[BUFFSIZE]={0}; - - - -GNRMC GPS; - -/****************************************************************************** -function: - Latitude conversion -******************************************************************************/ -static double transformLat(double x,double y) -{ - double ret = -100.0 + 2.0 * x + 3.0 * y + 0.2 * y * y + 0.1 * x * y + 0.2 *sqrt(abs(x)); - ret += (20.0 * sin(6.0 * x * pi) + 20.0 * sin(2.0 * x * pi)) * 2.0 / 3.0; - ret += (20.0 * sin(y * pi) + 40.0 * sin(y / 3.0 * pi)) * 2.0 / 3.0; - ret += (160.0 * sin(y / 12.0 * pi) + 320 * sin(y * pi / 30.0)) * 2.0 / 3.0; - return ret; -} - -/****************************************************************************** -function: - Longitude conversion -******************************************************************************/ -static double transformLon(double x,double y) -{ - double ret = 300.0 + x + 2.0 * y + 0.1 * x * x + 0.1 * x * y + 0.1 * sqrt(abs(x)); - ret += (20.0 * sin(6.0 * x * pi) + 20.0 * sin(2.0 * x * pi)) * 2.0 / 3.0; - ret += (20.0 * sin(x * pi) + 40.0 * sin(x / 3.0 * pi)) * 2.0 / 3.0; - ret += (150.0 * sin(x / 12.0 * pi) + 300.0 * sin(x / 30.0 * pi)) * 2.0 / 3.0; - return ret; -} - -/****************************************************************************** -function: - GCJ-02 international standard converted to Baidu map BD-09 standard -******************************************************************************/ -static Coordinates bd_encrypt(Coordinates gg) -{ - Coordinates bd; - double x = gg.Lon, y = gg.Lat; - double z = sqrt(x * x + y * y) + 0.00002 * sin(y * x_pi); - double theta = atan2(y, x) + 0.000003 * cos(x * x_pi); - bd.Lon = z * cos(theta) + 0.0065; - bd.Lat = z * sin(theta) + 0.006; - return bd; -} - -/****************************************************************************** -function: - GPS's WGS-84 standard is converted into GCJ-02 international standard -******************************************************************************/ -static Coordinates transform(Coordinates gps) -{ - Coordinates gg; - double dLat = transformLat(gps.Lon - 105.0, gps.Lat - 35.0); - double dLon = transformLon(gps.Lon - 105.0, gps.Lat - 35.0); - double radLat = gps.Lat / 180.0 * pi; - double magic = sin(radLat); - magic = 1 - ee * magic * magic; - double sqrtMagic = sqrt(magic); - dLat = (dLat * 180.0) / ((a * (1 - ee)) / (magic * sqrtMagic) * pi); - dLon = (dLon * 180.0) / (a / sqrtMagic * cos(radLat) * pi); - gg.Lat = gps.Lat + dLat; - gg.Lon = gps.Lon + dLon; - return gg; -} - -/****************************************************************************** -function: - Send a command to the L76X，Automatic calculation of the code -parameter: - data ：The end of the command ends with ‘\0’ or it will go wrong, - no need to increase the validation code. -******************************************************************************/ -void L76X_Send_Command(char *data) -{ - char Check = data[1], Check_char[3]={0}; - UBYTE i = 0; - DEV_Uart_SendByte('\r'); - DEV_Uart_SendByte('\n'); - - //printf(" 1i = %d Check =%x \n", i, Check); - for(i=2; data[i] != '\0'; i++){ - Check ^= data[i]; //Calculate the check value - } - //printf(" i = %d Check =%x \n", i, Check); - Check_char[0] = Temp[Check/16%16]; - Check_char[1] = Temp[Check%16]; - Check_char[2] = '\0'; - - - DEV_Uart_SendString(data); - DEV_Uart_SendByte('*'); - DEV_Uart_SendString(Check_char); - DEV_Uart_SendByte('\r'); - DEV_Uart_SendByte('\n'); -} - -void L76X_Exit_BackupMode() -{ - DEV_Set_GPIOMode(DEV_FORCE, 0); - - DEV_Digital_Write(DEV_FORCE, 1); - DEV_Delay_ms(1000); - DEV_Digital_Write(DEV_FORCE, 0); - - DEV_Set_GPIOMode(DEV_FORCE, 1); -} - -/****************************************************************************** -function: - Analyze GNRMC data in L76x, latitude and longitude, time -******************************************************************************/ -GNRMC L76X_Gat_GNRMC() -{ - UWORD add = 0, x = 0, z = 0, i = 0; - UDOUBLE Time = 0, latitude = 0, longitude = 0; - - GPS.Status = 0; - - GPS.Time_H = 0; - GPS.Time_M = 0; - GPS.Time_S = 0; - - DEV_Uart_ReceiveString(buff_t, BUFFSIZE); - Serial.print(buff_t); - add = 0; - while(add < BUFFSIZE){ - if(buff_t[add] == '$' && buff_t[add+1] == 'G' && (buff_t[add+2] == 'N' || buff_t[add+2] == 'P')\ - && buff_t[add+3] == 'R' && buff_t[add+4] == 'M' && buff_t[add+5] == 'C'){ - x = 0; - for(z = 0; x < 12; z++){ - if(buff_t[add+z]=='\0'){ - break; - } - if(buff_t[add+z]==','){ - x++; - if(x == 1){//The first comma is followed by time - Time = 0; - for(i = 0; buff_t[add+z+i+1] != '.'; i++){ - if(buff_t[add+z+i+1]=='\0'){ - break; - } - if(buff_t[add+z+i+1] == ',') - break; - Time = (buff_t[add+z+i+1]-'0') + Time*10; - } - - GPS.Time_H = Time/10000+8; - GPS.Time_M = Time/100%100; - GPS.Time_S = Time%100; - if(GPS.Time_H >= 24) - GPS.Time_H = GPS.Time_H - 24; - }else if(x == 2){ - //A indicates that it has been positioned - //V indicates that there is no positioning. - if(buff_t[add+z+1] == 'A'){ - GPS.Status = 1; - }else{ - GPS.Status = 0; - } - }else if(x == 3){ - latitude = 0; - //If you need to modify, please re-edit the calculation method below. - for(i = 0; buff_t[add+z+i+1] != ','; i++){ - if(buff_t[add+z+i+1] == '\0'){ - break; - } - if(buff_t[add+z+i+1] == '.'){ - continue; - } - latitude = (buff_t[add+z+i+1]-'0') + latitude*10; - } - GPS.Lat = latitude/10000000.0; - }else if(x == 4){ - GPS.Lat_area = buff_t[add+z+1]; - } - else if(x == 5){ - longitude = 0; - for(i = 0; buff_t[add+z+i+1] != ','; i++){ - if(buff_t[add+z+i+1] == '\0'){ - break; - } - if(buff_t[add+z+i+1] == '.') - continue; - longitude = (buff_t[add+z+i+1]-'0') + longitude*10; - } - GPS.Lon = longitude/10000000.0; - }else if(x == 6){ - GPS.Lon_area = buff_t[add+z+1]; - } - } - } - add = 0; - break; - } - if(buff_t[add+5] == '\0'){ - add = 0; - break; - } - add++; - if(add > BUFFSIZE){ - add = 0; - break; - } - } - return GPS; -} - -/****************************************************************************** -function: - Convert GPS latitude and longitude into Baidu map coordinates -******************************************************************************/ -Coordinates L76X_Baidu_Coordinates() -{ - Coordinates temp; - temp.Lat =((int)(GPS.Lat)) + (GPS.Lat - ((int)(GPS.Lat)))*100 / 60; - temp.Lon =((int)(GPS.Lon)) + (GPS.Lon - ((int)(GPS.Lon)))*100 / 60; - temp = transform(temp); - temp = bd_encrypt(temp); - return temp; -} - -/****************************************************************************** -function: - Convert GPS latitude and longitude into Google Maps coordinates -******************************************************************************/ -Coordinates L76X_Google_Coordinates() -{ - Coordinates temp; - GPS.Lat =((int)(GPS.Lat)) + (GPS.Lat - ((int)(GPS.Lat)))*100 / 60; - GPS.Lon =((int)(GPS.Lon)) + (GPS.Lon - ((int)(GPS.Lon)))*100 / 60; - temp = transform(temp); - return temp; -} diff --git a/sender_module/L76X.h b/sender_module/L76X.h deleted file mode 100644 index 842bd4e..0000000 --- a/sender_module/L76X.h +++ /dev/null @@ -1,83 +0,0 @@ -#ifndef _L76X_H_ -#define _L76X_H_ - -#include "DEV_Config.h" -#include -#include - - - -#define BUFFSIZE 800 - -//Startup mode -#define HOT_START "$PMTK101" -#define WARM_START "$PMTK102" -#define COLD_START "$PMTK103" -#define FULL_COLD_START "$PMTK104" - -//Standby mode -- Exit requires high level trigger -#define SET_PERPETUAL_STANDBY_MODE "$PMTK161" - -#define SET_PERIODIC_MODE "$PMTK225" -#define SET_NORMAL_MODE "$PMTK225,0" -#define SET_PERIODIC_BACKUP_MODE "$PMTK225,1,1000,2000" -#define SET_PERIODIC_STANDBY_MODE "$PMTK225,2,1000,2000" -#define SET_PERPETUAL_BACKUP_MODE "$PMTK225,4" -#define SET_ALWAYSLOCATE_STANDBY_MODE "$PMTK225,8" -#define SET_ALWAYSLOCATE_BACKUP_MODE "$PMTK225,9" - -//Set the message interval,100ms~10000ms -#define SET_POS_FIX "$PMTK220" -#define SET_POS_FIX_100MS "$PMTK220,100" -#define SET_POS_FIX_200MS "$PMTK220,200" -#define SET_POS_FIX_400MS "$PMTK220,400" -#define SET_POS_FIX_800MS "$PMTK220,800" -#define SET_POS_FIX_1S "$PMTK220,1000" -#define SET_POS_FIX_2S "$PMTK220,2000" -#define SET_POS_FIX_4S "$PMTK220,4000" -#define SET_POS_FIX_8S "$PMTK220,8000" -#define SET_POS_FIX_10S "$PMTK220,10000" - -//Switching time output -#define SET_SYNC_PPS_NMEA_OFF "$PMTK255,0" -#define SET_SYNC_PPS_NMEA_ON "$PMTK255,1" - -//Baud rate -#define SET_NMEA_BAUDRATE "$PMTK251" -#define SET_NMEA_BAUDRATE_115200 "$PMTK251,115200" -#define SET_NMEA_BAUDRATE_57600 "$PMTK251,57600" -#define SET_NMEA_BAUDRATE_38400 "$PMTK251,38400" -#define SET_NMEA_BAUDRATE_19200 "$PMTK251,19200" -#define SET_NMEA_BAUDRATE_14400 "$PMTK251,14400" -#define SET_NMEA_BAUDRATE_9600 "$PMTK251,9600" -#define SET_NMEA_BAUDRATE_4800 "$PMTK251,4800" - -//To restore the system default setting -#define SET_REDUCTION "$PMTK314,-1" - -//Set NMEA sentence output frequencies -#define SET_NMEA_OUTPUT "$PMTK314,0,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0" - -typedef struct { - double Lon; //GPS Latitude and longitude - double Lat; - char Lon_area; - char Lat_area; - UBYTE Time_H; //Time - UBYTE Time_M; - UBYTE Time_S; - UBYTE Status; //1:Successful positioning 0：Positioning failed -}GNRMC; - -typedef struct { - double Lon; - double Lat; -}Coordinates; - -void L76X_Send_Command(char *data); -Coordinates L76X_Baidu_Coordinates(void); -Coordinates L76X_Google_Coordinates(void); -GNRMC L76X_Gat_GNRMC(void); -void L76X_Exit_BackupMode(void); - -#endif diff --git a/sender_module/README.md b/sender_module/README.md deleted file mode 100644 index e730fc8..0000000 --- a/sender_module/README.md +++ /dev/null @@ -1,32 +0,0 @@ -# Sender module - -## Stages of flight - -1. Preflight - Remove before flight button or smthing like that - - no communication, blocked parachute ejection, all systems down -2. Ready - Signal from groundstation - - sys check (modules calibration, battery check, atd...), blocked parachute ejection, wait for launch pin removed, only send data, do not save them -3. Launch - Removed pin from the rocket - - launch, all systems sending and saving data on sd card -4. Apogee - Detected that rocket is in apogee with accelerometer - - parachute ejection, all systems working, gps check and height check -5. Return - Rocket has no velocity - - all not needed systems shutdown/sleep, buzz on, gps sending location, battery check, turn off gyro and accelerometer - -## Modules - -- nRF24L01 - Communication with groundstation -- L76K GPS - GPS sensor for gps data -- 10 DOF IMU - Gyroscope/Accelerometer, Temperature, atd. -- ?INA-219 - Battery data -- ?SD card reader - Write all recieved data to the SD card -- ?Buzzer - To find our rocket after launch - -## Tasks - -- Ejection mechanism -- PCB for our computer -- force parachute ejection -- if cable connected return back to ready stage -- send signal of listening -- wait for recieve diff --git a/sender_module/Waveshare_10Dof-D.cpp b/sender_module/Waveshare_10Dof-D.cpp deleted file mode 100644 index fd05fd2..0000000 --- a/sender_module/Waveshare_10Dof-D.cpp +++ /dev/null @@ -1,743 +0,0 @@ -/** - ****************************************************************************** - * @file Waveshare_10Dof-D.cpp - * @author Waveshare Team - * @version V1.0 - * @date Dec-2018 - * @brief T - - ****************************************************************************** - * @attention - * - * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS - * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE - * TIME. AS A RESULT, WAVESHARE SHALL NOT BE HELD LIABLE FOR ANY - * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING - * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE - * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. - * - *

© COPYRIGHT 2018 Waveshare

- ****************************************************************************** - */ -#include "Waveshare_10Dof-D.h" -#include - -IMU_ST_SENSOR_DATA gstGyroOffset ={0,0,0}; -#ifdef __cplusplus -extern "C" { -#endif - -void imuAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz); -float invSqrt(float x); - -void icm20948init(void); -bool icm20948Check(void); -void icm20948GyroRead(int16_t* ps16X, int16_t* ps16Y, int16_t* ps16Z); -void icm20948AccelRead(int16_t* ps16X, int16_t* ps16Y, int16_t* ps16Z); -void icm20948MagRead(int16_t* ps16X, int16_t* ps16Y, int16_t* ps16Z); -bool icm20948MagCheck(void); -void icm20948CalAvgValue(uint8_t *pIndex, int16_t *pAvgBuffer, int16_t InVal, int32_t *pOutVal); -void icm20948GyroOffset(void); -void icm20948ReadSecondary(uint8_t u8I2CAddr, uint8_t u8RegAddr, uint8_t u8Len, uint8_t *pu8data); -void icm20948WriteSecondary(uint8_t u8I2CAddr, uint8_t u8RegAddr, uint8_t u8data); -bool icm20948Check(void); - -bool bmp280Check(void); -void bmp280Init(void); -/****************************************************************************** - * interface driver * - ******************************************************************************/ -uint8_t I2C_ReadOneByte(uint8_t DevAddr, uint8_t RegAddr) -{ - uint8_t value; - - Wire.beginTransmission(DevAddr); - Wire.write((byte)RegAddr); - Wire.endTransmission(); - - Wire.requestFrom(DevAddr, (byte)1); - value = Wire.read(); - - return value; -} - -void I2C_WriteOneByte(uint8_t DevAddr, uint8_t RegAddr, uint8_t value) -{ - Wire.beginTransmission(DevAddr); - Wire.write(RegAddr); - Wire.write(value); - Wire.endTransmission(); -} -/****************************************************************************** - * IMU module * - ******************************************************************************/ -#define Kp 4.50f // proportional gain governs rate of convergence to accelerometer/magnetometer -#define Ki 1.0f // integral gain governs rate of convergence of gyroscope biases - -float angles[3]; -float q0, q1, q2, q3; - -void imuInit(IMU_EN_SENSOR_TYPE *penMotionSensorType, IMU_EN_SENSOR_TYPE *penPressureType) -{ - bool bRet = false; - Wire.begin(); - bRet = icm20948Check(); - if( true == bRet) - { - *penMotionSensorType = IMU_EN_SENSOR_TYPE_ICM20948; - icm20948init(); - } - else - { - *penMotionSensorType = IMU_EN_SENSOR_TYPE_NULL; - } - - bRet = bmp280Check(); - if( true == bRet) - { - *penPressureType = IMU_EN_SENSOR_TYPE_BMP280; - bmp280Init(); - } - else - { - *penPressureType = IMU_EN_SENSOR_TYPE_NULL; - } - - q0 = 1.0f; - q1 = 0.0f; - q2 = 0.0f; - q3 = 0.0f; - - return; -} - -void imuDataGet(IMU_ST_ANGLES_DATA *pstAngles, - IMU_ST_SENSOR_DATA *pstGyroRawData, - IMU_ST_SENSOR_DATA *pstAccelRawData, - IMU_ST_SENSOR_DATA *pstMagnRawData) -{ - float MotionVal[9]; - int16_t s16Gyro[3], s16Accel[3], s16Magn[3]; - - icm20948AccelRead(&s16Accel[0], &s16Accel[1], &s16Accel[2]); - icm20948GyroRead(&s16Gyro[0], &s16Gyro[1], &s16Gyro[2]); - icm20948MagRead(&s16Magn[0], &s16Magn[1], &s16Magn[2]); - - MotionVal[0]=s16Gyro[0]/32.8; - MotionVal[1]=s16Gyro[1]/32.8; - MotionVal[2]=s16Gyro[2]/32.8; - MotionVal[3]=s16Accel[0]; - MotionVal[4]=s16Accel[1]; - MotionVal[5]=s16Accel[2]; - MotionVal[6]=s16Magn[0]; - MotionVal[7]=s16Magn[1]; - MotionVal[8]=s16Magn[2]; - imuAHRSupdate((float)MotionVal[0] * 0.0175, (float)MotionVal[1] * 0.0175, (float)MotionVal[2] * 0.0175, - (float)MotionVal[3], (float)MotionVal[4], (float)MotionVal[5], - (float)MotionVal[6], (float)MotionVal[7], MotionVal[8]); - - - pstAngles->fPitch = asin(-2 * q1 * q3 + 2 * q0* q2)* 57.3; // pitch - pstAngles->fRoll = atan2(2 * q2 * q3 + 2 * q0 * q1, -2 * q1 * q1 - 2 * q2* q2 + 1)* 57.3; // roll - pstAngles->fYaw = atan2(-2 * q1 * q2 - 2 * q0 * q3, 2 * q2 * q2 + 2 * q3 * q3 - 1) * 57.3; - - pstGyroRawData->s16X = s16Gyro[0]; - pstGyroRawData->s16Y = s16Gyro[1]; - pstGyroRawData->s16Z = s16Gyro[2]; - - pstAccelRawData->s16X = s16Accel[0]; - pstAccelRawData->s16Y = s16Accel[1]; - pstAccelRawData->s16Z = s16Accel[2]; - - pstMagnRawData->s16X = s16Magn[0]; - pstMagnRawData->s16Y = s16Magn[1]; - pstMagnRawData->s16Z = s16Magn[2]; - - return; -} - -void imuAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz) -{ - float norm; - float hx, hy, hz, bx, bz; - float vx, vy, vz, wx, wy, wz; - float exInt = 0.0, eyInt = 0.0, ezInt = 0.0; - float ex, ey, ez, halfT = 0.024f; - - float q0q0 = q0 * q0; - float q0q1 = q0 * q1; - float q0q2 = q0 * q2; - float q0q3 = q0 * q3; - float q1q1 = q1 * q1; - float q1q2 = q1 * q2; - float q1q3 = q1 * q3; - float q2q2 = q2 * q2; - float q2q3 = q2 * q3; - float q3q3 = q3 * q3; - - norm = invSqrt(ax * ax + ay * ay + az * az); - ax = ax * norm; - ay = ay * norm; - az = az * norm; - - norm = invSqrt(mx * mx + my * my + mz * mz); - mx = mx * norm; - my = my * norm; - mz = mz * norm; - - // compute reference direction of flux - hx = 2 * mx * (0.5f - q2q2 - q3q3) + 2 * my * (q1q2 - q0q3) + 2 * mz * (q1q3 + q0q2); - hy = 2 * mx * (q1q2 + q0q3) + 2 * my * (0.5f - q1q1 - q3q3) + 2 * mz * (q2q3 - q0q1); - hz = 2 * mx * (q1q3 - q0q2) + 2 * my * (q2q3 + q0q1) + 2 * mz * (0.5f - q1q1 - q2q2); - bx = sqrt((hx * hx) + (hy * hy)); - bz = hz; - - // estimated direction of gravity and flux (v and w) - vx = 2 * (q1q3 - q0q2); - vy = 2 * (q0q1 + q2q3); - vz = q0q0 - q1q1 - q2q2 + q3q3; - wx = 2 * bx * (0.5 - q2q2 - q3q3) + 2 * bz * (q1q3 - q0q2); - wy = 2 * bx * (q1q2 - q0q3) + 2 * bz * (q0q1 + q2q3); - wz = 2 * bx * (q0q2 + q1q3) + 2 * bz * (0.5 - q1q1 - q2q2); - - // error is sum of cross product between reference direction of fields and direction measured by sensors - ex = (ay * vz - az * vy) + (my * wz - mz * wy); - ey = (az * vx - ax * vz) + (mz * wx - mx * wz); - ez = (ax * vy - ay * vx) + (mx * wy - my * wx); - - if(ex != 0.0f && ey != 0.0f && ez != 0.0f) - { - exInt = exInt + ex * Ki * halfT; - eyInt = eyInt + ey * Ki * halfT; - ezInt = ezInt + ez * Ki * halfT; - - gx = gx + Kp * ex + exInt; - gy = gy + Kp * ey + eyInt; - gz = gz + Kp * ez + ezInt; - } - - q0 = q0 + (-q1 * gx - q2 * gy - q3 * gz) * halfT; - q1 = q1 + (q0 * gx + q2 * gz - q3 * gy) * halfT; - q2 = q2 + (q0 * gy - q1 * gz + q3 * gx) * halfT; - q3 = q3 + (q0 * gz + q1 * gy - q2 * gx) * halfT; - - norm = invSqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3); - q0 = q0 * norm; - q1 = q1 * norm; - q2 = q2 * norm; - q3 = q3 * norm; -} - -float invSqrt(float x) -{ - float halfx = 0.5f * x; - float y = x; - - long i = *(long*)&y; //get bits for floating value - i = 0x5f3759df - (i >> 1); //gives initial guss you - y = *(float*)&i; //convert bits back to float - y = y * (1.5f - (halfx * y * y)); //newtop step, repeating increases accuracy - - return y; -} -/****************************************************************************** - * icm20948 sensor device * - ******************************************************************************/ -void icm20948init(void) -{ - /* user bank 0 register */ - I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_REG_BANK_SEL, REG_VAL_REG_BANK_0); - I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_PWR_MIGMT_1, REG_VAL_ALL_RGE_RESET); - delay(10); - I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_PWR_MIGMT_1, REG_VAL_RUN_MODE); - - /* user bank 2 register */ - I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_REG_BANK_SEL, REG_VAL_REG_BANK_2); - I2C_WriteOneByte( I2C_ADD_ICM20948, REG_ADD_GYRO_SMPLRT_DIV, 0x07); - I2C_WriteOneByte( I2C_ADD_ICM20948, REG_ADD_GYRO_CONFIG_1, - REG_VAL_BIT_GYRO_DLPCFG_6 | REG_VAL_BIT_GYRO_FS_1000DPS | REG_VAL_BIT_GYRO_DLPF); - I2C_WriteOneByte( I2C_ADD_ICM20948, REG_ADD_ACCEL_SMPLRT_DIV_2, 0x07); - I2C_WriteOneByte( I2C_ADD_ICM20948, REG_ADD_ACCEL_CONFIG, - REG_VAL_BIT_ACCEL_DLPCFG_6 | REG_VAL_BIT_ACCEL_FS_2g | REG_VAL_BIT_ACCEL_DLPF); - - /* user bank 0 register */ - I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_REG_BANK_SEL, REG_VAL_REG_BANK_0); - - delay(100); - /* offset */ - icm20948GyroOffset(); - - icm20948MagCheck(); - - icm20948WriteSecondary( I2C_ADD_ICM20948_AK09916|I2C_ADD_ICM20948_AK09916_WRITE, - REG_ADD_MAG_CNTL2, REG_VAL_MAG_MODE_20HZ); - return; -} - -bool icm20948Check(void) -{ - bool bRet = false; - if(REG_VAL_WIA == I2C_ReadOneByte(I2C_ADD_ICM20948, REG_ADD_WIA)) - { - bRet = true; - } - return bRet; -} -void icm20948GyroRead(int16_t* ps16X, int16_t* ps16Y, int16_t* ps16Z) -{ - uint8_t u8Buf[6]; - int16_t s16Buf[3] = {0}; - uint8_t i; - int32_t s32OutBuf[3] = {0}; - static ICM20948_ST_AVG_DATA sstAvgBuf[3]; - static int16_t ss16c = 0; - ss16c++; - - u8Buf[0]=I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_GYRO_XOUT_L); - u8Buf[1]=I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_GYRO_XOUT_H); - s16Buf[0]= (u8Buf[1]<<8)|u8Buf[0]; - - u8Buf[0]=I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_GYRO_YOUT_L); - u8Buf[1]=I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_GYRO_YOUT_H); - s16Buf[1]= (u8Buf[1]<<8)|u8Buf[0]; - - u8Buf[0]=I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_GYRO_ZOUT_L); - u8Buf[1]=I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_GYRO_ZOUT_H); - s16Buf[2]= (u8Buf[1]<<8)|u8Buf[0]; - - for(i = 0; i < 3; i ++) - { - icm20948CalAvgValue(&sstAvgBuf[i].u8Index, sstAvgBuf[i].s16AvgBuffer, s16Buf[i], s32OutBuf + i); - } - *ps16X = s32OutBuf[0] - gstGyroOffset.s16X; - *ps16Y = s32OutBuf[1] - gstGyroOffset.s16Y; - *ps16Z = s32OutBuf[2] - gstGyroOffset.s16Z; - - return; -} -void icm20948AccelRead(int16_t* ps16X, int16_t* ps16Y, int16_t* ps16Z) -{ - uint8_t u8Buf[2]; - int16_t s16Buf[3] = {0}; - uint8_t i; - int32_t s32OutBuf[3] = {0}; - static ICM20948_ST_AVG_DATA sstAvgBuf[3]; - - u8Buf[0]=I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_ACCEL_XOUT_L); - u8Buf[1]=I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_ACCEL_XOUT_H); - s16Buf[0]= (u8Buf[1]<<8)|u8Buf[0]; - - u8Buf[0]=I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_ACCEL_YOUT_L); - u8Buf[1]=I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_ACCEL_YOUT_H); - s16Buf[1]= (u8Buf[1]<<8)|u8Buf[0]; - - u8Buf[0]=I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_ACCEL_ZOUT_L); - u8Buf[1]=I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_ACCEL_ZOUT_H); - s16Buf[2]= (u8Buf[1]<<8)|u8Buf[0]; - - for(i = 0; i < 3; i ++) - { - icm20948CalAvgValue(&sstAvgBuf[i].u8Index, sstAvgBuf[i].s16AvgBuffer, s16Buf[i], s32OutBuf + i); - } - *ps16X = s32OutBuf[0]; - *ps16Y = s32OutBuf[1]; - *ps16Z = s32OutBuf[2]; - - return; - -} -void icm20948MagRead(int16_t* ps16X, int16_t* ps16Y, int16_t* ps16Z) -{ - uint8_t counter = 20; - uint8_t u8Data[MAG_DATA_LEN]; - int16_t s16Buf[3] = {0}; - uint8_t i; - int32_t s32OutBuf[3] = {0}; - static ICM20948_ST_AVG_DATA sstAvgBuf[3]; - while( counter>0 ) - { - delay(10); - icm20948ReadSecondary( I2C_ADD_ICM20948_AK09916|I2C_ADD_ICM20948_AK09916_READ, - REG_ADD_MAG_ST2, 1, u8Data); - - if ((u8Data[0] & 0x01) != 0) - break; - - counter--; - } - - if(counter != 0) - { - icm20948ReadSecondary( I2C_ADD_ICM20948_AK09916|I2C_ADD_ICM20948_AK09916_READ, - REG_ADD_MAG_DATA, - MAG_DATA_LEN, - u8Data); - s16Buf[0] = ((int16_t)u8Data[1]<<8) | u8Data[0]; - s16Buf[1] = ((int16_t)u8Data[3]<<8) | u8Data[2]; - s16Buf[2] = ((int16_t)u8Data[5]<<8) | u8Data[4]; - } - - for(i = 0; i < 3; i ++) - { - icm20948CalAvgValue(&sstAvgBuf[i].u8Index, sstAvgBuf[i].s16AvgBuffer, s16Buf[i], s32OutBuf + i); - } - - *ps16X = s32OutBuf[0]; - *ps16Y = -s32OutBuf[1]; - *ps16Z = -s32OutBuf[2]; - return; -} - -void icm20948ReadSecondary(uint8_t u8I2CAddr, uint8_t u8RegAddr, uint8_t u8Len, uint8_t *pu8data) -{ - uint8_t i; - uint8_t u8Temp; - - I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_REG_BANK_SEL, REG_VAL_REG_BANK_3); //swtich bank3 - I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_I2C_SLV0_ADDR, u8I2CAddr); - I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_I2C_SLV0_REG, u8RegAddr); - I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_I2C_SLV0_CTRL, REG_VAL_BIT_SLV0_EN|u8Len); - - I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_REG_BANK_SEL, REG_VAL_REG_BANK_0); //swtich bank0 - - u8Temp = I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_USER_CTRL); - u8Temp |= REG_VAL_BIT_I2C_MST_EN; - I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_USER_CTRL, u8Temp); - delay(5); - u8Temp &= ~REG_VAL_BIT_I2C_MST_EN; - I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_USER_CTRL, u8Temp); - - for(i=0; i>= 3; -} - -void icm20948GyroOffset(void) -{ - uint8_t i; - int16_t s16Gx = 0, s16Gy = 0, s16Gz = 0; - int32_t s32TempGx = 0, s32TempGy = 0, s32TempGz = 0; - for(i = 0; i < 32; i ++) - { - icm20948GyroRead(&s16Gx, &s16Gy, &s16Gz); - s32TempGx += s16Gx; - s32TempGy += s16Gy; - s32TempGz += s16Gz; - delay(10); - } - gstGyroOffset.s16X = s32TempGx >> 5; - gstGyroOffset.s16Y = s32TempGy >> 5; - gstGyroOffset.s16Z = s32TempGz >> 5; - return; -} - -bool icm20948MagCheck(void) -{ - bool bRet = false; - uint8_t u8Ret[2]; - - icm20948ReadSecondary( I2C_ADD_ICM20948_AK09916|I2C_ADD_ICM20948_AK09916_READ, - REG_ADD_MAG_WIA1, 2,u8Ret); - if( (u8Ret[0] == REG_VAL_MAG_WIA1) && ( u8Ret[1] == REG_VAL_MAG_WIA2) ) - { - bRet = true; - } - - return bRet; -} - -/****************************************************************************** - * BMP280 sensor device * - ******************************************************************************/ - typedef struct { - uint16_t T1; /*>3) - ((int64_t)dig_T1 <<1))) *((int64_t)dig_T2)) >> 11; - var2 = (((((adc_T>>4) - ((int64_t)dig_T1)) *((adc_T>>4) - ((int64_t)dig_T1))) >> 12) * - ((int64_t)dig_T3)) >> 14; - t_fine = var1 + var2; - - temperature = (t_fine * 5 + 128) >> 8; - - return (float)temperature; -} - -float bmp280CompensatePressure(int32_t adc_P) -{ - int64_t var1, var2; - uint64_t pressure; -#if 1 - var1 = ((int64_t)t_fine) - 128000; - var2 = var1 * var1 * (int64_t)dig_P6; - var2 = var2 + ((var1*(int64_t)dig_P5)<<17); - var2 = var2 + (((int64_t)dig_P4)<<35); - var1 = ((var1 * var1 * (int64_t)dig_P3)>>8) + ((var1 * (int64_t)dig_P2)<<12); - var1 = (((((int64_t)1)<<47)+var1))*((int64_t)dig_P1)>>33; - - if (var1 == 0) { - return 0; // avoid exception caused by division by zero - } - - pressure = 1048576.0 - adc_P; - pressure = (((pressure<<31) - var2)*3125) / var1; - var1 = (((int64_t)dig_P9) * (pressure>>13) * (pressure>>13)) >> 25; - var2 = (((int64_t)dig_P8) * pressure) >> 19; - pressure = ((pressure + var1 + var2) >> 8) + (((int64_t)dig_P7)<<4); - return (float)pressure/256; -#else - var1 = (((int64_t)t_fine)>>1) - (int64_t)64000; - var2 = (((var1>>2) * (var1>>2)) >> 11 ) *((int64_t)dig_P6); - var2 = var2 + ((var1 *((int64_t)dig_P5))<<1); - var2 = (var2>>2) + (((int64_t)dig_P4)<<16); - var1 = (((dig_P3 * (((var1>>2) * (var1>>2))>>13))>>3) + ((((int64_t)dig_P2) * var1)>>1))>>18; - var1 = ((((32768+var1))*((int64_t)dig_P1))>>15); - if(var1 ==0) - { - return 0; - } - pressure = (1048576.0 - adc_P) - (var2>>12)*3125; - if(pressure < 0x80000000) - { - pressure = (pressure<<1)/((uint64_t)var1); - } - else - { - pressure = (pressure/(uint64_t)var1)*2; - } - var1 = (((int64_t)dig_P9) *((int64_t)(((pressure>>3)*(pressure>>3))>>13)))>>12; - var2 = (((int64_t)(pressure>>2))*((int64_t)dig_P8))>>13; - pressure = (uint64_t)((int64_t)pressure) +((var1 + var2 + dig_P7)>>4); - return (float)pressure; -#endif - -} - -void bmp280TandPGet(float *temperature, float *pressure) -{ - uint8_t lsb, msb, xlsb; - int32_t adc_P,adc_T; - - xlsb = I2C_ReadOneByte(BMP280_ADDR, BMP280_TEMP_XLSB_REG); - lsb = I2C_ReadOneByte(BMP280_ADDR, BMP280_TEMP_LSB_REG); - msb = I2C_ReadOneByte(BMP280_ADDR, BMP280_TEMP_MSB_REG); - //adc_T = (msb << 12) | (lsb << 4) | (xlsb >> 4); - adc_T = msb; - adc_T <<= 8; - adc_T |= lsb; - adc_T <<= 8; - adc_T |= xlsb; - adc_T >>= 4; - //adc_T = 415148; - *temperature = bmp280CompensateTemperature(adc_T); - - xlsb = I2C_ReadOneByte(BMP280_ADDR, BMP280_PRESS_XLSB_REG); - lsb = I2C_ReadOneByte(BMP280_ADDR, BMP280_PRESS_LSB_REG); - msb = I2C_ReadOneByte(BMP280_ADDR, BMP280_PRESS_MSB_REG); - //adc_P = (msb << 12) | (lsb << 4) | (xlsb >> 4); - adc_P = msb; - adc_P <<= 8; - adc_P |= lsb; - adc_P <<= 8; - adc_P |= xlsb; - adc_P >>= 4; - //adc_P = 51988; - *pressure = bmp280CompensatePressure(adc_P); -} - -void bmp280CalAvgValue(uint8_t *pIndex, int32_t *pAvgBuffer, int32_t InVal, int32_t *pOutVal) -{ - uint8_t i; - - *(pAvgBuffer + ((*pIndex) ++)) = InVal; - *pIndex &= 0x07; - - *pOutVal = 0; - for(i = 0; i < 8; i ++) - { - *pOutVal += *(pAvgBuffer + i); - } - *pOutVal >>= 3; -} - -void bmp280CalculateAbsoluteAltitude(int32_t *pAltitude, int32_t PressureVal) -{ - *pAltitude = 4433000 * (1 - pow((PressureVal / (float)gs32Pressure0), 0.1903)); -} - -void pressSensorDataGet(int32_t *ps32Temperature, int32_t *ps32Pressure, int32_t *ps32Altitude) -{ - float CurPressure, CurTemperature; - int32_t CurAltitude; - static BMP280_AvgTypeDef BMP280_Filter[3]; - - bmp280TandPGet(&CurTemperature, &CurPressure); - bmp280CalAvgValue(&BMP280_Filter[0].Index, BMP280_Filter[0].AvgBuffer, (int32_t)(CurPressure), ps32Pressure); - - bmp280CalculateAbsoluteAltitude(&CurAltitude, (*ps32Pressure)); - bmp280CalAvgValue(&BMP280_Filter[1].Index, BMP280_Filter[1].AvgBuffer, CurAltitude, ps32Altitude); - bmp280CalAvgValue(&BMP280_Filter[2].Index, BMP280_Filter[2].AvgBuffer, (int32_t)CurTemperature, ps32Temperature); - return; -} - -#ifdef __cplusplus -} -#endif diff --git a/sender_module/Waveshare_10Dof-D.h b/sender_module/Waveshare_10Dof-D.h deleted file mode 100644 index dfbd978..0000000 --- a/sender_module/Waveshare_10Dof-D.h +++ /dev/null @@ -1,236 +0,0 @@ -/** - ****************************************************************************** - * @file Waveshare_10Dof-D.h - * @author Waveshare Team - * @version V1.0 - * @date Dec-2018 - * @brief - - ****************************************************************************** - * @attention - * - * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS - * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE - * TIME. AS A RESULT, WAVESHARE SHALL NOT BE HELD LIABLE FOR ANY - * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING - * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE - * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. - * - *

© COPYRIGHT 2018 Waveshare

- ****************************************************************************** - */ -#ifndef __Waveshare_10DOF_D_H__ -#define __Waveshare_10DOF_D_H__ -#if ARDUINO >= 100 - #include "Arduino.h" -#else - #include "WProgram.h" -#endif - -/* define ICM-20948 Device I2C address*/ -#define I2C_ADD_ICM20948 0x68 -#define I2C_ADD_ICM20948_AK09916 0x0C -#define I2C_ADD_ICM20948_AK09916_READ 0x80 -#define I2C_ADD_ICM20948_AK09916_WRITE 0x00 -/* define ICM-20948 Register */ -/* user bank 0 register */ -#define REG_ADD_WIA 0x00 - #define REG_VAL_WIA 0xEA -#define REG_ADD_USER_CTRL 0x03 - #define REG_VAL_BIT_DMP_EN 0x80 - #define REG_VAL_BIT_FIFO_EN 0x40 - #define REG_VAL_BIT_I2C_MST_EN 0x20 - #define REG_VAL_BIT_I2C_IF_DIS 0x10 - #define REG_VAL_BIT_DMP_RST 0x08 - #define REG_VAL_BIT_DIAMOND_DMP_RST 0x04 -#define REG_ADD_PWR_MIGMT_1 0x06 - #define REG_VAL_ALL_RGE_RESET 0x80 - #define REG_VAL_RUN_MODE 0x01 //Non low-power mode -#define REG_ADD_LP_CONFIG 0x05 -#define REG_ADD_PWR_MGMT_1 0x06 -#define REG_ADD_PWR_MGMT_2 0x07 -#define REG_ADD_ACCEL_XOUT_H 0x2D -#define REG_ADD_ACCEL_XOUT_L 0x2E -#define REG_ADD_ACCEL_YOUT_H 0x2F -#define REG_ADD_ACCEL_YOUT_L 0x30 -#define REG_ADD_ACCEL_ZOUT_H 0x31 -#define REG_ADD_ACCEL_ZOUT_L 0x32 -#define REG_ADD_GYRO_XOUT_H 0x33 -#define REG_ADD_GYRO_XOUT_L 0x34 -#define REG_ADD_GYRO_YOUT_H 0x35 -#define REG_ADD_GYRO_YOUT_L 0x36 -#define REG_ADD_GYRO_ZOUT_H 0x37 -#define REG_ADD_GYRO_ZOUT_L 0x38 -#define REG_ADD_EXT_SENS_DATA_00 0x3B -#define REG_ADD_REG_BANK_SEL 0x7F - #define REG_VAL_REG_BANK_0 0x00 - #define REG_VAL_REG_BANK_1 0x10 - #define REG_VAL_REG_BANK_2 0x20 - #define REG_VAL_REG_BANK_3 0x30 - -/* user bank 1 register */ -/* user bank 2 register */ -#define REG_ADD_GYRO_SMPLRT_DIV 0x00 -#define REG_ADD_GYRO_CONFIG_1 0x01 - #define REG_VAL_BIT_GYRO_DLPCFG_2 0x10 /* bit[5:3] */ - #define REG_VAL_BIT_GYRO_DLPCFG_4 0x20 /* bit[5:3] */ - #define REG_VAL_BIT_GYRO_DLPCFG_6 0x30 /* bit[5:3] */ - #define REG_VAL_BIT_GYRO_FS_250DPS 0x00 /* bit[2:1] */ - #define REG_VAL_BIT_GYRO_FS_500DPS 0x02 /* bit[2:1] */ - #define REG_VAL_BIT_GYRO_FS_1000DPS 0x04 /* bit[2:1] */ - #define REG_VAL_BIT_GYRO_FS_2000DPS 0x06 /* bit[2:1] */ - #define REG_VAL_BIT_GYRO_DLPF 0x01 /* bit[0] */ -#define REG_ADD_ACCEL_SMPLRT_DIV_2 0x11 -#define REG_ADD_ACCEL_CONFIG 0x14 - #define REG_VAL_BIT_ACCEL_DLPCFG_2 0x10 /* bit[5:3] */ - #define REG_VAL_BIT_ACCEL_DLPCFG_4 0x20 /* bit[5:3] */ - #define REG_VAL_BIT_ACCEL_DLPCFG_6 0x30 /* bit[5:3] */ - #define REG_VAL_BIT_ACCEL_FS_2g 0x00 /* bit[2:1] */ - #define REG_VAL_BIT_ACCEL_FS_4g 0x02 /* bit[2:1] */ - #define REG_VAL_BIT_ACCEL_FS_8g 0x04 /* bit[2:1] */ - #define REG_VAL_BIT_ACCEL_FS_16g 0x06 /* bit[2:1] */ - #define REG_VAL_BIT_ACCEL_DLPF 0x01 /* bit[0] */ - -/* user bank 3 register */ -#define REG_ADD_I2C_SLV0_ADDR 0x03 -#define REG_ADD_I2C_SLV0_REG 0x04 -#define REG_ADD_I2C_SLV0_CTRL 0x05 - #define REG_VAL_BIT_SLV0_EN 0x80 - #define REG_VAL_BIT_MASK_LEN 0x07 -#define REG_ADD_I2C_SLV0_DO 0x06 -#define REG_ADD_I2C_SLV1_ADDR 0x07 -#define REG_ADD_I2C_SLV1_REG 0x08 -#define REG_ADD_I2C_SLV1_CTRL 0x09 -#define REG_ADD_I2C_SLV1_DO 0x0A - -/* define ICM-20948 Register end */ - -/* define ICM-20948 MAG Register */ -#define REG_ADD_MAG_WIA1 0x00 - #define REG_VAL_MAG_WIA1 0x48 -#define REG_ADD_MAG_WIA2 0x01 - #define REG_VAL_MAG_WIA2 0x09 -#define REG_ADD_MAG_ST2 0x10 -#define REG_ADD_MAG_DATA 0x11 -#define REG_ADD_MAG_CNTL2 0x31 - #define REG_VAL_MAG_MODE_PD 0x00 - #define REG_VAL_MAG_MODE_SM 0x01 - #define REG_VAL_MAG_MODE_10HZ 0x02 - #define REG_VAL_MAG_MODE_20HZ 0x04 - #define REG_VAL_MAG_MODE_50HZ 0x05 - #define REG_VAL_MAG_MODE_100HZ 0x08 - #define REG_VAL_MAG_MODE_ST 0x10 -/* define ICM-20948 MAG Register end */ - -#define MAG_DATA_LEN 6 - -/* - * BMP280 I2c address - */ -#define BMP280_AD0_LOW 0x76 //address pin low (GND) -#define BMP280_AD0_HIGH 0x77 //address pin high (VCC) -#define BMP280_ADDR BMP280_AD0_HIGH // default I2C address -/* - * BMP280 register address - */ -#define BMP280_REGISTER_DIG_T1 0x88 -#define BMP280_REGISTER_DIG_T2 0x8A -#define BMP280_REGISTER_DIG_T3 0x8C - -#define BMP280_REGISTER_DIG_P1 0x8E -#define BMP280_REGISTER_DIG_P2 0x90 -#define BMP280_REGISTER_DIG_P3 0x92 -#define BMP280_REGISTER_DIG_P4 0x94 -#define BMP280_REGISTER_DIG_P5 0x96 -#define BMP280_REGISTER_DIG_P6 0x98 -#define BMP280_REGISTER_DIG_P7 0x9A -#define BMP280_REGISTER_DIG_P8 0x9C -#define BMP280_REGISTER_DIG_P9 0x9E - -#define BMP280_REGISTER_CHIPID 0xD0 -#define BMP280_REGISTER_VERSION 0xD1 -#define BMP280_REGISTER_SOFTRESET 0xE0 -#define BMP280_REGISTER_STATUS 0xF3 -#define BMP280_REGISTER_CONTROL 0xF4 -#define BMP280_REGISTER_CONFIG 0xF5 - -#define BMP280_TEMP_XLSB_REG 0xFC /*Temperature XLSB Register */ -#define BMP280_TEMP_LSB_REG 0xFB /*Temperature LSB Register */ -#define BMP280_TEMP_MSB_REG 0xFA /*Temperature LSB Register */ -#define BMP280_PRESS_XLSB_REG 0xF9 /*Pressure XLSB Register */ -#define BMP280_PRESS_LSB_REG 0xF8 /*Pressure LSB Register */ -#define BMP280_PRESS_MSB_REG 0xF7 /*Pressure MSB Register */ - -/*calibration parameters */ -#define BMP280_DIG_T1_LSB_REG 0x88 -#define BMP280_DIG_T1_MSB_REG 0x89 -#define BMP280_DIG_T2_LSB_REG 0x8A -#define BMP280_DIG_T2_MSB_REG 0x8B -#define BMP280_DIG_T3_LSB_REG 0x8C -#define BMP280_DIG_T3_MSB_REG 0x8D -#define BMP280_DIG_P1_LSB_REG 0x8E -#define BMP280_DIG_P1_MSB_REG 0x8F -#define BMP280_DIG_P2_LSB_REG 0x90 -#define BMP280_DIG_P2_MSB_REG 0x91 -#define BMP280_DIG_P3_LSB_REG 0x92 -#define BMP280_DIG_P3_MSB_REG 0x93 -#define BMP280_DIG_P4_LSB_REG 0x94 -#define BMP280_DIG_P4_MSB_REG 0x95 -#define BMP280_DIG_P5_LSB_REG 0x96 -#define BMP280_DIG_P5_MSB_REG 0x97 -#define BMP280_DIG_P6_LSB_REG 0x98 -#define BMP280_DIG_P6_MSB_REG 0x99 -#define BMP280_DIG_P7_LSB_REG 0x9A -#define BMP280_DIG_P7_MSB_REG 0x9B -#define BMP280_DIG_P8_LSB_REG 0x9C -#define BMP280_DIG_P8_MSB_REG 0x9D -#define BMP280_DIG_P9_LSB_REG 0x9E -#define BMP280_DIG_P9_MSB_REG 0x9F - -#ifdef __cplusplus -extern "C" { -#endif - -typedef enum -{ - IMU_EN_SENSOR_TYPE_NULL = 0, - IMU_EN_SENSOR_TYPE_ICM20948, - IMU_EN_SENSOR_TYPE_BMP280, - IMU_EN_SENSOR_TYPE_MAX -}IMU_EN_SENSOR_TYPE; - -typedef struct imu_st_angles_data_tag -{ - float fYaw; - float fPitch; - float fRoll; -}IMU_ST_ANGLES_DATA; - -typedef struct imu_st_sensor_data_tag -{ - int16_t s16X; - int16_t s16Y; - int16_t s16Z; -}IMU_ST_SENSOR_DATA; - -typedef struct icm20948_st_avg_data_tag -{ - uint8_t u8Index; - int16_t s16AvgBuffer[8]; -}ICM20948_ST_AVG_DATA; - -void imuInit(IMU_EN_SENSOR_TYPE *penMotionSensorType, IMU_EN_SENSOR_TYPE *penPressureType); -void imuDataGet(IMU_ST_ANGLES_DATA *pstAngles, - IMU_ST_SENSOR_DATA *pstGyroRawData, - IMU_ST_SENSOR_DATA *pstAccelRawData, - IMU_ST_SENSOR_DATA *pstMagnRawData); -void pressSensorDataGet(int32_t *ps32Temperature, int32_t *ps32Pressure, int32_t *ps32Altitude); - -uint8_t I2C_ReadOneByte(uint8_t DevAddr, uint8_t RegAddr); -void I2C_WriteOneByte(uint8_t DevAddr, uint8_t RegAddr, uint8_t value); - -#ifdef __cplusplus -} -#endif - -#endif //__Waveshare_10DOF_D_H__ diff --git a/sender_module/sender_module.ino b/sender_module/sender_module.ino deleted file mode 100644 index d8034ee..0000000 --- a/sender_module/sender_module.ino +++ /dev/null @@ -1,235 +0,0 @@ -#include -#include - -#include -#include -//#include - -#include "DEV_Config.h" -//#include "L76X.h" -//#include "Waveshare_10Dof-D.h" - -// Define pin numbers for modules -const int NRF_CE_PIN = 9; -const int NRF_CS_PIN = 8; -const byte address[6] = "00001"; - -//const int GPS_TX_PIN = 0; -//const int GPS_RX_PIN = 1; - -//const String INA219_SDA_PIN = "A4"; -//const String INA219_SCL_PIN = "A5"; - -const int BUZZER_PIN = 7; -const int READY_STAGE_PIN = 5; -const int LAUNCH_STAGE_PIN = 6; - -// Create objects for modules -RF24 radio(NRF_CE_PIN, NRF_CS_PIN); -//GNRMC GPS1; -//Adafruit_INA219 ina219; -File dataFile; - -// Flight stages -enum FlightStage { - READY, - ARM, - ASCENT, - DESCENT, - LANDED -}; - -FlightStage current_stage = READY; - -void setup() { - // Initialize Serial - Serial.begin(115200); - Serial.println("# Welcome to CobraV2 operating system for rocket"); - delay(1000); - - // Buzzer pin - pinMode(BUZZER_PIN, OUTPUT); - pinMode(READY_STAGE_PIN, INPUT); - - // Start with preflight stage - current_stage = READY; - - delay(1000); -} - -void loop() { - switch (current_stage) { - case READY: - ready_stage(); - break; - case ARM: - arm_stag(); - break; - case ASCENT: - ascent_stage(); - break; - case DESCENT: - descent_stage(); - break; - case LANDED: - landed_stage(); - break; - } -} - -void ready_stage() { - Serial.println("# READY stage"); - int counter = 0; - - while (true) { - int state = digitalRead(READY_STAGE_PIN); - if (state == HIGH) { - counter = 0; - } else { - counter += 1; - delay(300); - } - - if (counter == 10) { - Serial.println("# Pin disconnected"); - break; - } - } - - current_stage = READY; -} - -void arm_stage() { - // System check - // Block parachute ejection - // Wait for launch pin removed - // Start sending data - Serial.println("# READY stage"); - // Radio - if (!radio.begin()) { - Serial.println("# Fail nRF24L01 init"); - } else { - radio.openWritingPipe(address); - radio.stopListening(); // Set module as transmitter - const char msg[] = "# Radio connection activated"; - radio.write(&msg, sizeof(msg)); - Serial.println("# Success nRF24L01 init"); - } - - // GPS - //DEV_Set_Baudrate(9600); - //DEV_Delay_ms(500); - - // IMU - //IMU_EN_SENSOR_TYPE enMotionSensorType, enPressureType; - //imuInit(&enMotionSensorType, &enPressureType); - //if (IMU_EN_SENSOR_TYPE_ICM20948 == enMotionSensorType) { - // Serial.println("# Success ICM-20948 init"); - // Serial.println(IMU_EN_SENSOR_TYPE_ICM20948); - //} else { - // Serial.println("# Fail ICM-20948 init"); - //} - //if (IMU_EN_SENSOR_TYPE_BMP280 == enPressureType) { - // Serial.println("# Success BMP280 init"); - //} else { - // Serial.println("# Fail BMP280 init"); - // Serial.println(enPressureType); - //} - - // INA219 - // if (!ina219.begin()) { - // Serial.println("# Fail INA219 sensor init"); - // } else { - // Serial.println("# Success INA219 sensor init"); - // } - - // SD card - if (!SD.begin(4)) { - Serial.println("# Fail SD module init"); - } else { - Serial.println("# Success SD module init"); - } - - if (SD.exists("data.txt")) { - Serial.println("# File exists"); - } else { - Serial.println("# File does not exist"); - } - - dataFile = SD.open("data.txt", FILE_WRITE); - if (dataFile) { - Serial.println("# File opened"); - dataFile.println("# CobraV2 flight data"); - } else { - Serial.println("# Error opening file"); - } - - // Buzzer - tone(BUZZER_PIN, 1000); - delay(1000); - noTone(BUZZER_PIN); - - // Check battery level - // float batteryLevel = getBatteryLevel(); - // Serial.print("# Battery level: "); - // Serial.print(batteryLevel); - // Serial.println("%"); - - // Check for launch pin - int counter = 0; - while (true) { - int state = digitalRead(LAUNCH_STAGE_PIN); - if (state == HIGH) { - counter = 0; - } else { - counter += 1; - delay(300); - } - - if (counter == 10) { - Serial.println("# Pin disconnected"); - break; - } - } - current_stage = ASCENT; -} - -void ascent_stage() { - // Launch - // Start sending and saving data on SD card - // Check for apogee - // Eject parachute -} - -void descent_stage() { - // Detect apogee with accelerometer - // Eject parachute - // GPS and height check -} - -void landed_stage() { - // Check for zero velocity - // Shut down unneeded systems - // Buzz on - // Send GPS location - // Battery check - // Turn off gyro and accelerometer -} - -//float getBatteryLevel() { -// // Read bus voltage from INA219 -// float busVoltage = ina219.getBusVoltage_V(); -// -// // Assuming fully charged battery voltage is 4.2V and empty is 3.0V -// float maxVoltage = 4.2; -// float minVoltage = 3.0; -// -// // Map the bus voltage to a battery level percentage -// float batteryLevel = map(busVoltage, minVoltage, maxVoltage, 0, 100); -// -// // Constrain the battery level to be within 0 and 100 -// batteryLevel = constrain(batteryLevel, 0, 100); -// -// return batteryLevel; -//} - diff --git a/sender_module_final/ISSUES.md b/sender_module_final/ISSUES.md deleted file mode 100644 index 66a0347..0000000 --- a/sender_module_final/ISSUES.md +++ /dev/null @@ -1,4 +0,0 @@ -# Problems - -- Arduino Nano Couldn't power up the sd card reader, need to input 5V to micro SD card reader. -- Couldn't make Arduino Nano work with nRF24 - maybe same issue diff --git a/sender_module_final/README.md b/sender_module_final/README.md deleted file mode 100644 index 9163132..0000000 --- a/sender_module_final/README.md +++ /dev/null @@ -1,27 +0,0 @@ -# Sender module - -## Stages of flight - -1. Preflight - Remove before flight button or smthing like that - - no communication, blocked parachute ejection, all systems down -2. Ready - Signal from groundstation - - sys check (modules calibration, battery check, atd...), blocked parachute ejection, wait for launch pin removed, only send data, do not save them -3. Launch - Removed pin from the rocket - - launch, all systems sending and saving data on sd card -4. Apogee - Detected that rocket is in apogee with accelerometer - - parachute ejection, all systems working, gps check and height check -5. Return - Rocket has no velocity - - all not needed systems shutdown/sleep, buzz on, gps sending location, battery check, turn off gyro and accelerometer - -## Modules - -- nRF24L01 - Communication with groundstation -- SD card reader - Write all recieved data to the SD card -- Buzzer - To find our rocket after launch -- Servo motors - Ejection of parachute - -## Tasks - -- PCB for our computer -- send signal of listening -- wait for recieve diff --git a/sender_module_final/sender_module_final.ino b/sender_module_final/sender_module_final.ino deleted file mode 100644 index 8de22fe..0000000 --- a/sender_module_final/sender_module_final.ino +++ /dev/null @@ -1,263 +0,0 @@ -#include -#include -#include -#include "Arduino_BMI270_BMM150.h" - -const int BUZZER_PIN = 2; -const int SERVO_A_PIN = 7; -const int CHIP_SELECT = 4; - -// Create objects for modules -File dataFile; -Servo A; - -// Flight stages -enum FlightStage -{ - READY, - ARM, - ASCENT, - DESCENT, - LANDED -}; - -FlightStage current_stage = READY; - -void setup() -{ - // Initialize Serial - Serial.begin(115200); - - //while (!Serial) - // ; - //Serial.println("# Welcome to CobraV2"); - delay(1000); - - pinMode(BUZZER_PIN, OUTPUT); - digitalWrite(BUZZER_PIN, LOW); - - A.attach(SERVO_A_PIN); - A.write(80); - // Start with preflight stage - current_stage = READY; - - delay(1000); -} - -void loop() -{ - switch (current_stage) - { - case READY: - ready_stage(); - break; - case ARM: - arm_stage(); - break; - case ASCENT: - ascent_stage(); - break; - case DESCENT: - descent_stage(); - break; - case LANDED: - landed_stage(); - break; - } -} - -void beep() -{ - digitalWrite(BUZZER_PIN, HIGH); - delay(1000); - digitalWrite(BUZZER_PIN, LOW); -} - -void ready_stage() -{ - Serial.println("# READY stage"); - analogWrite(LED_BUILTIN, HIGH); - beep(); - - if (!IMU.begin()) - { - Serial.println("Failed to initialize IMU!"); - while (1) - ; - } - - // SD card - //if (!SD.begin(CHIP_SELECT)) - //{ - // Serial.println("# Fail SD module init"); - //} - //else - //{ - // Serial.println("# Success SD module init"); - //} -// - //if (SD.exists("data.txt")) - //{ - // Serial.println("# File exists"); - //} - //else - //{ - // Serial.println("# File does not exist"); - // dataFile = SD.open("data.txt", FILE_WRITE); - //} -// - //if (dataFile) - //{ - // Serial.println("# File opened"); - // dataFile.println("# CobraV2 flight data"); - //} - //else - //{ - // Serial.println("# Error opening file"); - //} - - Serial.print("# Accelerometer sample rate = "); - Serial.print(IMU.accelerationSampleRate()); - Serial.println(" Hz"); - - //dataFile.print("# Accelerometer sample rate = "); - //dataFile.println(IMU.accelerationSampleRate()); - //dataFile.close(); - - current_stage = ARM; -} - -void arm_stage() -{ - // System check - // Block parachute ejection - // Wait for launch pin removed - // Start sending data - Serial.println("# ARM stage"); - beep(); - beep(); - - // Accelerometer Gyroscope - int counter = 0; - float x, y, z; - - bool toggle = false; - //dataFile = SD.open("data.txt", FILE_WRITE); - //dataFile.println("# ARM stage"); - while (true) - { - if (IMU.accelerationAvailable()) - { - IMU.readAcceleration(x, y, z); - Serial.print(x); - Serial.print(", "); - Serial.print(y); - Serial.print(", "); - Serial.println(z); - - - //dataFile.print(x); - //dataFile.print(" "); - //dataFile.print(y); - //dataFile.print(" "); - //dataFile.println(z); - - if (x > 1) - { - Serial.println("# Launch Detect"); - counter++; - } - else - { - counter = 0; - } - } - - if (counter < 15) - { - Serial.println("# Launching"); - //dataFile.println("# Launching"); - break; - } - - if (toggle) - { - digitalWrite(LED_BUILTIN, HIGH); - } - else - { - digitalWrite(LED_BUILTIN, LOW); - } - toggle = !toggle; - } - - current_stage = ASCENT; - //dataFile.close(); -} - -void ascent_stage() -{ - Serial.println("# ASCENT Stage"); - unsigned long StartTime = millis(); - int FailOrientationCounter = 0; - //File dataFile = SD.open("data.txt", FILE_WRITE); - //dataFile.println("# ASCENT stage"); - while (true) - { - unsigned long CurrentTime = millis(); - unsigned long ElapsedTime = CurrentTime - StartTime; - Serial.println(ElapsedTime); - - if (IMU.gyroscopeAvailable()) - { - float x, y, z; - IMU.readGyroscope(x, y, z); - } - - if ((ElapsedTime > 9000)) - { - dataFile.println("# Apogee detected by time"); - break; - } - } - - current_stage = DESCENT; - //dataFile.close(); -} - -void descent_stage() -{ - Serial.println("# DESCENT stage"); - //File dataFile = SD.open("data.txt", FILE_WRITE); - //dataFile.println("# DESCENT stage"); - A.write(80); - delay(1000); - A.write(180); - - Serial.println("# Parachute deployed"); - - unsigned long StartTime = millis(); - while (true) - { - unsigned long CurrentTime = millis(); - unsigned long ElapsedTime = CurrentTime - StartTime; - - if (ElapsedTime > 300000) - { - //dataFile.println("# Landing detected"); - break; - } - } - current_stage = LANDED; - //dataFile.close(); -} - -void landed_stage() -{ - while (true) - { - Serial.println("# LANDED stage"); - beep(); - delay(200); - } -} diff --git a/serial_read/go.mod b/serial_read/go.mod deleted file mode 100644 index 943aaad..0000000 --- a/serial_read/go.mod +++ /dev/null @@ -1,10 +0,0 @@ -module foglar/serial_read - -go 1.20 - -require ( - github.com/mitchellh/go-homedir v1.1.0 - github.com/tarm/serial v0.0.0-20180830185346-98f6abe2eb07 -) - -require golang.org/x/sys v0.17.0 // indirect diff --git a/serial_read/go.sum b/serial_read/go.sum deleted file mode 100644 index ae21701..0000000 --- a/serial_read/go.sum +++ /dev/null @@ -1,6 +0,0 @@ -github.com/mitchellh/go-homedir v1.1.0 h1:lukF9ziXFxDFPkA1vsr5zpc1XuPDn/wFntq5mG+4E0Y= -github.com/mitchellh/go-homedir v1.1.0/go.mod h1:SfyaCUpYCn1Vlf4IUYiD9fPX4A5wJrkLzIz1N1q0pr0= -github.com/tarm/serial v0.0.0-20180830185346-98f6abe2eb07 h1:UyzmZLoiDWMRywV4DUYb9Fbt8uiOSooupjTq10vpvnU= -github.com/tarm/serial v0.0.0-20180830185346-98f6abe2eb07/go.mod h1:kDXzergiv9cbyO7IOYJZWg1U88JhDg3PB6klq9Hg2pA= -golang.org/x/sys v0.17.0 h1:25cE3gD+tdBA7lp7QfhuV+rJiE9YXTcS3VG1SqssI/Y= -golang.org/x/sys v0.17.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA= diff --git a/serial_read/main.go b/serial_read/main.go deleted file mode 100644 index 6fd74dd..0000000 --- a/serial_read/main.go +++ /dev/null @@ -1,148 +0,0 @@ -package main - -import ( - "fmt" - "github.com/tarm/serial" - "log" - "os" - "strconv" - "time" -) - -func portInput() string { - var port string - for true { - port = "" - fmt.Print("Enter port to listen on (for example - '/dev/ttyACM0'): ") - fmt.Scanln(&port) - - if port == "" { - port = "/dev/ttyACM0" - } - - _, err := os.Stat(port) - if !os.IsNotExist(err) { - break - } - fmt.Println("Invalid port") - } - - return port -} - -func baudrateInput() int { - var baudrate int - var s_baudrate string - - fmt.Print("Enter baudrate (for example - '9600'): ") - fmt.Scanln(&s_baudrate) - baudrate = baudrateCheck(s_baudrate) - return baudrate -} - -func baudrateCheck(s_baudrate string) int { - var baudrate int - switch s_baudrate { - case "4800": - baudrate = 4800 - case "9600": - baudrate = 9600 - case "115200": - baudrate = 115200 - default: - baudrate = 9600 - } - return baudrate - -} - -func UserInput() (string, int) { - port := portInput() - baudrate := baudrateInput() - - return port, baudrate -} - -func getTime() string { - return time.Now().Format("2006-1-2_15:4:5") -} - -func main() { - args := os.Args[1:] - var port string - var baudrate int - - // parsing command line arguments - if len(args) == 0 { - port, baudrate = UserInput() - } else { - i := 0 - for i < len(args) { - if args[i] == "-p" && i+1 < len(args) { - port = args[i+1] - } - if args[i] == "-h" || args[i] == "--help" { - fmt.Println("-h, --help - prints this message") - fmt.Println("-p [port] - listens on port") - fmt.Println("-b [baudrate] - sets the baudrate") - fmt.Println("-d - runs the script with default values") - os.Exit(0) - - } - if args[i] == "-b" && i+1 < len(args) { - var err error - baudrate, err = strconv.Atoi(args[i+1]) - if err != nil { - fmt.Println("Invalid baudrate") - os.Exit(1) - } - } - if args[i] == "-d" { - port = "/dev/ACM0" - baudrate = 9600 - } - i++ - } - _, err := os.Stat(port) - if port == "" || os.IsNotExist(err) { - port = portInput() - } - if baudrate == 0 { - baudrate = baudrateInput() - } - } - - // Listen on port - fmt.Printf("Listening on port %s with baudrate %d:\n", port, baudrate) - c := &serial.Config{Name: port, Baud: baudrate} - - // Create file - filename := getTime() + ".txt" - f, err := os.Create(filename) - if err != nil { - log.Fatal(err) - } - defer f.Close() - - // Open port - s, err := serial.OpenPort(c) - if err != nil { - log.Fatal(err) - } - - var n int - for { - // create a buffer - buf := make([]byte, 254) - - // Read length of serial input - n, err = s.Read(buf) - if err != nil { - log.Fatal(err) - } - - // Print as a string - fmt.Print(string(buf[:n])) - f.WriteString(string(buf[:n])) - } -} diff --git a/serial_read/path_unix.go b/serial_read/path_unix.go deleted file mode 100644 index 8e7bbb2..0000000 --- a/serial_read/path_unix.go +++ /dev/null @@ -1,38 +0,0 @@ -//go:build !windows -// +build !windows - -package main - -import ( - "fmt" - "github.com/mitchellh/go-homedir" - "log" - "os" -) - -var ( - HOME string - PATH string -) - -// Check if the directory exists -func init() { - - var err error - HOME, err = homedir.Dir() - if err != nil { - log.Fatal(err) - } - - PATH = HOME + "/.config/serial-monitor/" - - if _, err := os.Stat(PATH); os.IsNotExist(err) { - // Directory does not exist, create it - err := os.MkdirAll(PATH, os.ModePerm) - if err != nil { - fmt.Println("Error creating directory:", err) - } else { - fmt.Println("Directory created:", PATH) - } - } -} diff --git a/serial_read/path_win.go b/serial_read/path_win.go deleted file mode 100644 index 621b36d..0000000 --- a/serial_read/path_win.go +++ /dev/null @@ -1,24 +0,0 @@ -//go:build windows -// +build windows - -package main - -import ( - "github.com/mitchellh/go-homedir" - "log" -) - -var ( - HOME string - PATH string -) - -func init() { - var err error - HOME, err = homedir.Dir() - if err != nil { - log.Fatal(err) - } - - PATH = HOME + "\\Downloads" -} diff --git a/testing/gui_app_test/README.md b/testing/gui_app_test/README.md deleted file mode 100644 index e4e7a71..0000000 --- a/testing/gui_app_test/README.md +++ /dev/null @@ -1,3 +0,0 @@ -# gui_app_test - -- preview of the gui app without connection to arduino diff --git a/testing/gui_app_test/go.mod b/testing/gui_app_test/go.mod deleted file mode 100644 index 6479ec7..0000000 --- a/testing/gui_app_test/go.mod +++ /dev/null @@ -1,20 +0,0 @@ -module test/test - -go 1.21 - -toolchain go1.22.1 - -require ( - github.com/golang/freetype v0.0.0-20170609003504-e2365dfdc4a0 - github.com/gopxl/pixel v1.0.0 - golang.org/x/image v0.15.0 -) - -require ( - github.com/faiface/glhf v0.0.0-20211013000516-57b20770c369 // indirect - github.com/faiface/mainthread v0.0.0-20171120011319-8b78f0a41ae3 // indirect - github.com/go-gl/gl v0.0.0-20211210172815-726fda9656d6 // indirect - github.com/go-gl/glfw/v3.3/glfw v0.0.0-20221017161538-93cebf72946b // indirect - github.com/go-gl/mathgl v1.1.0 // indirect - github.com/pkg/errors v0.9.1 // indirect -) diff --git a/testing/gui_app_test/go.sum b/testing/gui_app_test/go.sum deleted file mode 100644 index 432a725..0000000 --- a/testing/gui_app_test/go.sum +++ /dev/null @@ -1,31 +0,0 @@ -github.com/davecgh/go-spew v1.1.1 h1:vj9j/u1bqnvCEfJOwUhtlOARqs3+rkHYY13jYWTU97c= -github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38= -github.com/faiface/glhf v0.0.0-20211013000516-57b20770c369 h1:gv4BgP50atccdK/1tZHDyP6rMwiiutR2HPreR/OyLzI= -github.com/faiface/glhf v0.0.0-20211013000516-57b20770c369/go.mod h1:dDdUO+G9ZnJ9sc8nIUvhLkE45k8PEKW6+A3TdWsfpV0= -github.com/faiface/mainthread v0.0.0-20171120011319-8b78f0a41ae3 h1:baVdMKlASEHrj19iqjARrPbaRisD7EuZEVJj6ZMLl1Q= -github.com/faiface/mainthread v0.0.0-20171120011319-8b78f0a41ae3/go.mod h1:VEPNJUlxl5KdWjDvz6Q1l+rJlxF2i6xqDeGuGAxa87M= -github.com/go-gl/gl v0.0.0-20210905235341-f7a045908259/go.mod h1:wjpnOv6ONl2SuJSxqCPVaPZibGFdSci9HFocT9qtVYM= -github.com/go-gl/gl v0.0.0-20211210172815-726fda9656d6 h1:zDw5v7qm4yH7N8C8uWd+8Ii9rROdgWxQuGoJ9WDXxfk= -github.com/go-gl/gl v0.0.0-20211210172815-726fda9656d6/go.mod h1:9YTyiznxEY1fVinfM7RvRcjRHbw2xLBJ3AAGIT0I4Nw= -github.com/go-gl/glfw v0.0.0-20210727001814-0db043d8d5be/go.mod h1:vR7hzQXu2zJy9AVAgeJqvqgH9Q5CA+iKCZ2gyEVpxRU= -github.com/go-gl/glfw/v3.3/glfw v0.0.0-20221017161538-93cebf72946b h1:GgabKamyOYguHqHjSkDACcgoPIz3w0Dis/zJ1wyHHHU= -github.com/go-gl/glfw/v3.3/glfw v0.0.0-20221017161538-93cebf72946b/go.mod h1:tQ2UAYgL5IevRw8kRxooKSPJfGvJ9fJQFa0TUsXzTg8= -github.com/go-gl/mathgl v1.0.0/go.mod h1:yhpkQzEiH9yPyxDUGzkmgScbaBVlhC06qodikEM0ZwQ= -github.com/go-gl/mathgl v1.1.0 h1:0lzZ+rntPX3/oGrDzYGdowSLC2ky8Osirvf5uAwfIEA= -github.com/go-gl/mathgl v1.1.0/go.mod h1:yhpkQzEiH9yPyxDUGzkmgScbaBVlhC06qodikEM0ZwQ= -github.com/golang/freetype v0.0.0-20170609003504-e2365dfdc4a0 h1:DACJavvAHhabrF08vX0COfcOBJRhZ8lUbR+ZWIs0Y5g= -github.com/golang/freetype v0.0.0-20170609003504-e2365dfdc4a0/go.mod h1:E/TSTwGwJL78qG/PmXZO1EjYhfJinVAhrmmHX6Z8B9k= -github.com/gopxl/pixel v1.0.0 h1:ZON6ll6/tI6sO8fwrlj93GVUcXReTST5//iKv6lcd8g= -github.com/gopxl/pixel v1.0.0/go.mod h1:kPUBG2He7/+alwmi5z0IwnpAc6pw2N7eA08cdBfoE/Q= -github.com/pkg/errors v0.9.1 h1:FEBLx1zS214owpjy7qsBeixbURkuhQAwrK5UwLGTwt4= -github.com/pkg/errors v0.9.1/go.mod h1:bwawxfHBFNV+L2hUp1rHADufV3IMtnDRdf1r5NINEl0= -github.com/pmezard/go-difflib v1.0.0 h1:4DBwDE0NGyQoBHbLQYPwSUPoCMWR5BEzIk/f1lZbAQM= -github.com/pmezard/go-difflib v1.0.0/go.mod h1:iKH77koFhYxTK1pcRnkKkqfTogsbg7gZNVY4sRDYZ/4= -github.com/stretchr/testify v1.8.4 h1:CcVxjf3Q8PM0mHUKJCdn+eZZtm5yQwehR5yeSVQQcUk= -github.com/stretchr/testify v1.8.4/go.mod h1:sz/lmYIOXD/1dqDmKjjqLyZ2RngseejIcXlSw2iwfAo= -golang.org/x/image v0.0.0-20190321063152-3fc05d484e9f/go.mod h1:kZ7UVZpmo3dzQBMxlp+ypCbDeSB+sBbTgSJuh5dn5js= -golang.org/x/image v0.15.0 h1:kOELfmgrmJlw4Cdb7g/QGuB3CvDrXbqEIww/pNtNBm8= -golang.org/x/image v0.15.0/go.mod h1:HUYqC05R2ZcZ3ejNQsIHQDQiwWM4JBqmm6MKANTp4LE= -golang.org/x/text v0.3.0/go.mod h1:NqM8EUOU14njkJ3fqMW+pc6Ldnwhi/IjpwHt7yyuwOQ= -gopkg.in/yaml.v3 v3.0.1 h1:fxVm/GzAzEWqLHuvctI91KS9hhNmmWOoWu0XTYJS7CA= -gopkg.in/yaml.v3 v3.0.1/go.mod h1:K4uyk7z7BCEPqu6E+C64Yfv1cQ7kz7rIZviUmN+EgEM= diff --git a/testing/gui_app_test/intuitive.ttf b/testing/gui_app_test/intuitive.ttf deleted file mode 100644 index 9039d7b..0000000 Binary files a/testing/gui_app_test/intuitive.ttf and /dev/null differ diff --git a/testing/gui_app_test/main.go b/testing/gui_app_test/main.go deleted file mode 100644 index 029a2e2..0000000 --- a/testing/gui_app_test/main.go +++ /dev/null @@ -1,78 +0,0 @@ -package main - -import ( - "io" - "os" - "time" - - "github.com/golang/freetype/truetype" - "github.com/gopxl/pixel" - "github.com/gopxl/pixel/pixelgl" - "github.com/gopxl/pixel/text" - "golang.org/x/image/colornames" - "golang.org/x/image/font" -) - -func loadTTF(path string, size float64) (font.Face, error) { - file, err := os.Open(path) - if err != nil { - return nil, err - } - defer file.Close() - - bytes, err := io.ReadAll(file) - if err != nil { - return nil, err - } - - font, err := truetype.Parse(bytes) - if err != nil { - return nil, err - } - - return truetype.NewFace(font, &truetype.Options{ - Size: size, - GlyphCacheEntries: 1, - }), nil -} - -func run() { - cfg := pixelgl.WindowConfig{ - Title: "Cobra Monitor", - Bounds: pixel.R(0, 0, 1024, 768), - } - win, err := pixelgl.NewWindow(cfg) - if err != nil { - panic(err) - } - win.SetSmooth(true) - - face, err := loadTTF("intuitive.ttf", 80) - if err != nil { - panic(err) - } - - atlas := text.NewAtlas(face, text.ASCII) - txt := text.New(pixel.V(50, 500), atlas) - - txt.Color = colornames.Lightgrey - - fps := time.Tick(time.Second / 120) - - for !win.Closed() { - txt.WriteString(win.Typed()) - if win.JustPressed(pixelgl.KeyEnter) || win.Repeated(pixelgl.KeyEnter) { - txt.WriteRune('\n') - } - - win.Clear(colornames.Darkcyan) - txt.Draw(win, pixel.IM.Moved(win.Bounds().Center().Sub(txt.Bounds().Center()))) - win.Update() - - <-fps - } -} - -func main() { - pixelgl.Run(run) -} diff --git a/testing/serial_communication_test/serial_communication_test.ino b/testing/serial_communication_test/serial_communication_test.ino deleted file mode 100644 index e69de29..0000000