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CobraV2/README.md

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# CobraV2
## Table of contents
- [CobraV2](#cobrav2)
- [Table of contents](#table-of-contents)
- [Installation and compilation](#installation-and-compilation)
- [TTY listener](#tty-listener)
- [Monitoring tool](#monitoring-tool)
- [Sender and Reciever](#sender-and-reciever)
- [Overview](#overview)
- [Schema](#schema)
- [Sender](#sender)
- [Reciever](#reciever)
- [Master](#master)
- [Arduino Sender Format](#arduino-sender-format)
- [Modules](#modules)
- [10 DOF IMU](#10-dof-imu)
- [L76K GPS](#l76k-gps)
- [NMEA Sentence](#nmea-sentence)
- [NRF24L01+](#nrf24l01)
- [Wiring](#wiring)
- [10 DOF IMU Sensor](#10-dof-imu-sensor)
- [L76K GPS Module](#l76k-gps-module)
- [NRF24L01+ Module](#nrf24l01-module)
- [Issues / features](#issues--features)
- [Sender issues](#sender-issues)
- [Monitor app issues](#monitor-app-issues)
- [Sources](#sources)
## Installation and compilation
### TTY listener
```shell
git clone https://www.github.com/foglar/cobraV2.git
cd cobraV2/serial_read
# run or build the code
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
```shell
git clone https://www.github.com/foglar/cobraV2.git
cd cobraV2/monitor
# run or build the code
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](https://github.com/gopxl/pixel/wiki/%5BWIP%5D-Cross-Compiling)
![Preview of monitoring tool](doc/application_preview.png)
### Sender and Reciever
Upload sender and reciever code on the 2 arduinos
Required library for antenna: [RF24](https://nrf24.github.io/RF24). Installation via Arduino-IDE.
## 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)
`testing/` - other tools and applications
### Schema
#### Sender
- device (arduino uno, arduino nano or arduino micro...) which recieves data from *[10DOF IMU](#10-dof-imu)* and *[L76K GPS](#l76k-gps)*, then it sends them via *[nrf24l01+](#nrf24l01)* in [sender format](#arduino-sender-format) to [reciever](#reciever)
#### Reciever
- device (arduino uno r4 wifi, arduino uno or arduino nano...) which recieves data from [sender](#sender) via *[nrf24l01+](#nrf24l01)* and then send them through serial line to the [master device](#master) in the [sender format](#arduino-sender-format)
#### 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**; | roll [°] | * |
| $ | **2**; | pitch [°] | * |
| $ | **3**; | yaw [°] | * |
| $ | **4**; | temperature [°C] | * |
| $ | **5**; | pressure [hPa] | * |
| $ | **6**; | altitude [m] | * |
| $ | **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 | * |
> [!TIP]
> The acceleration output by the serial port of the sample program is the original value of the register (the value of the register). After this value is divided by 16384, it can be converted into a value in g (gravitational acceleration constant).
> The angular velocity output by the serial port of the sample program is the original value of the register (the value of the register). After this value is divided by 32.8, it can be converted into a value in dps (angle/second).
> The value of the magnetic sensor output by the serial port of the sample program is the original value of the register (that is, the value of the register). This value is multiplied by 0.15 to convert it into a value in μT (10-6 Tesla).
## 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](https://aprs.gids.nl/nmea/)
### 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
- [x] data stops being transmitted from sender after some short period time
- [ ] create a version which will send data via **IOT 433MHz LoRa LPWAN SX1278**
- [ ] create a communication in both ways, `start`, `stop`, `system health check` commands
- [ ] detection of apogeum and recovery system launch
- [ ] add timestamps and save everything to sd card
- [ ] add gps
### Monitor app issues
- [ ] application crash after some period of time, if don't recive any input from serial ports
- [ ] gui is not updating until it recieves serial input
- [ ] parser should be improved
- [ ] sender code should be improved
- [x] gui window
- [ ] error messages as windows not terminal
- [ ] serial monitor setup port and baudrate
- [ ] create a gui way of sending commands
- [ ] values change colour if they are not what they should be, or what are expected to be
- [ ] if recieved data for the parameter don't correspond with our expectations, change colour of the value indicator
- [ ] save all recieved data
- [ ] special characters
- [ ] don't hide the text on refresh
## Sources
Datasheets, documentation and sources
- [Waveshare 10 DOF IMU Sensor (D) - Arduino guide](https://www.waveshare.com/wiki/Template:10_DOF_IMU_Sensor_D_Arduino_Guide)
- [Waveshare 10 DOF IMU Sensor (C) - Demo code](https://files.waveshare.com/upload/c/c1/10_DOF_IMU_Sensor_D_Code.7z)
- [Waveshare 10 DOF IMU Sensor (C) - Documentation](https://www.waveshare.com/wiki/10_DOF_IMU_Sensor_(C))
- [Waveshare L76K GPS Module - Arduino guide](https://www.waveshare.com/wiki/L76K_GPS_Module#Working_With_Arduino)
- [Waveshare L76K GPS Module - Demo code](https://files.waveshare.com/upload/9/94/L76K_GPS_Module_Arduino.zip)
- [NRF24L01+ PA/LNA - Arduino guide](https://lastminuteengineers.com/nrf24l01-arduino-wireless-communication/)
- [NRF24L01+ Guide - Guide](https://navody.dratek.cz/navody-k-produktum/arduino-wifi-modul-nrf24l01.html)
- [NRF24L01+ PA/LNA - Datasheet](doc/nrf24lo1-datasheet.pdf)
- [NRF24L01+ PA/LNA - Demo code](https://img.gme.cz/files/eshop_data/eshop_data/10/775-034/prg.775-034.1.zip)
- [Pixel2 (go gui library) - Github repository](https://github.com/gopxl/pixel)
- [LoraWAN Library](https://github.com/mcci-catena/arduino-lmic)
- All other reference materials are in the *doc/* directory
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