CobraV2

Installation and compilation

Serial monitor tool

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

go get "github.com/tarm/serial"

# Building serial read code yourself
go build .

Monitor tool

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

# Installing required packages
go get "github.com/tarm/serial"
# go get "github.com/gopxl/pixel/v2"

go build .

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 monitor - folder with code for monitor which will recieve data and print them into the gui application

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

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

• data stops being transmitted after some short time
• no gui
• parser should be updated
• sender code should be updated

Sources

Datasheets, documentation and sources

• Waveshare 10 DOF IMU Sensor (D) - Arduino guide
• Waveshare 10 DOF IMU Sensor (C) - Demo code
• Waveshare 10 DOF IMU Sensor (C) - Documentation
• Waveshare L76K GPS Module - Arduino guide
• Waveshare L76K GPS Module - Demo code
• NRF24L01+ PA/LNA - Arduino guide
• NRF24L01+ Guide - Guide
• NRF24L01+ PA/LNA - Datasheet
• NRF24L01+ PA/LNA - Demo code