foglar/CobraV2
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CobraV2/README.md
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CobraV2

Table of contents

Installation and compilation

Serial monitor tool

git clone https://www.github.com/foglar/cobraV2.git
cd cobraV2/serial_read

go run .
go build .

Tip

You may have to delete go.mod file (if you have other go version) and go mod init the project. To install all dependencies you can use go mod tidy command or you can mannualy install them by go get [package] command.

Monitoring tool

git clone https://www.github.com/foglar/cobraV2.git
cd cobraV2/monitor

go run .
go build .

Important

For cross-compiling you will need to specify a CC to compile c-based libraries for pixel2 library. Example command: CC=x86_64-w64-mingw32-gcc GOOS=windows GOARCH=amd64 CGO_ENABLED=1 go build . For more information see: Pixel2 Wiki | Cross Compiling

Sender and Reciever

Upload sender and reciever code on the 2 arduinos

Required library for antenna: RF24

Overview

reciever_module/ - folder with code for reciver which will send data to the pc (arduino) sender_module/ - folder with code for sender, which transmit data to the reciever and save it on the micro sd card (arduino) serial_read/ - read serial input and save it monitor - folder with code for monitor which will recieve data and print them into the gui application (pc)

Schema

Sender

Reciever

Master

  • device (pc, notebook, laptop), where the data are processed, parsed, saved and displayed realtime in the application monitor

Arduino Sender Format

  • sender sends data via antenna to reciever in this format $[code of message];[value]*
  • in future will be added some other values, like gps and so on
Identifier Message Code Value Verificator
$ 1; temperature [degrees of Celsius] *
$ 2; pressure *
$ 3; altitude *
$ 4; roll *
$ 5; pitch *
$ 6; yaw *
$ 7; gyroscope x *
$ 8; gyroscope y *
$ 9; gyroscope z *
$ 10; accelerometer x *
$ 11; accelerometer y *
$ 12; accelerometer z *
$ 13; magnitude x *
$ 14; magnitude y *
$ 15; magnitude z *

Modules

10 DOF IMU

  • SDA (Serial Data)
  • SCL (Serial Clock)
  • INT (Interrupt) is a digital interrupt output
  • FSYNC is a frame sync signal

L76K GPS

  • 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

Tip

Fix Quality: 0 = Invalid; 1 = GPS fix; 2 = DGPS fix; more about nmea sentences

NRF24L01+

  • 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.
  • MOSI (Master Out Slave In) is the SPI input for the nRF24L01.
  • MISO (Master In Slave Out) is the SPI output of the nRF24L01.
  • IRQ is an interrupt pin that can notify the master when there is new data to process.

Wiring

10 DOF IMU Sensor

Module Arduino Description
VCC 5V Power input
GND GND Power ground
SDA SDA I2C data input
SCL SCL I2C clock pin

L76K GPS Module

Module Arduino Description
VCC 3.3V Power input
GND GND Power ground
TX RX Serial communication
RX TX Serial communication
PPS NC Pulse per second

NRF24L01+ Module

Module Arduino Description
VCC 3.3V Power input
GND GND Power ground
CE 9~ Chip enable
CSN 8 Chip select not
SCK 13 Serial Clock
MOSI 11~ SPI master out
MISO 12 SPI master in

Issues / features

Sender issues

  • data stops being transmitted from sender after some short period time
  • create a version which will send data via IOT 433MHz LoRa LPWAN SX1278

Monitor app issues

  • application crash after some period of time
  • gui is not updating until it recieves serial input
  • parser should be improved
  • sender code should be improved
  • gui window
  • error messages as windows not terminal
  • improve readability of code
  • serial monitor setup port and baudrate

Sources

Datasheets, documentation and sources