116 lines
4.2 KiB
Markdown
116 lines
4.2 KiB
Markdown
# CobraV2
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## Installation
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```bash
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git clone https://www.github.com/foglar/cobraV2.git
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```
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```bash
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# Building serial read code yourself
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cd serial_read
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go build main.go
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```
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Upload sender and reciever code on the 2 arduino's
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## Overview
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`reciever_module/` - folder with code for reciver which will send data to the pc
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`sender_module/` - folder with code for sender, which transmit data to the reciever and save it on the micro sd card
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`serial_read/` - read serial input and save it
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## Modules
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### 10 DOF IMU
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- **SDA** (Serial Data)
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- **SCL** (Serial Clock)
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- **INT** (Interrupt) is a digital interrupt output
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- **FSYNC** is a frame sync signal
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### L76K GPS
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- **PPS** (Pulse per second) powers a led wich will blink and indicate that GPS is working
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- **RX** (UART communication)
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- **TX** (UART communication)
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#### NMEA Sentence
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$GPGAA,HHMMSS.SS,llll.ll,a,yyyyy.yy,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx
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| 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 |
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| ------ | --------- | --------- | ---------- | - | -- | --- | ----- | ----- | --- | ---- | --- |
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| $GPGAA | HHMMSS.SS | llll.ll a | yyyyy.yy a | x | xx | x.x | x.x M | x.x M | x.x | xxxx | *hh |
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| $GPGAA | 170834 | 4124.8963, N | 08151.6838, W | 1 | 05 | 1.5 | 280.2, M | -34.0, M | blank | blank | *75 |
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Fix Quality:
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- 0 = Invalid
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- 1 = GPS fix
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- 2 = DGPS fix
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[more about nmea sentences](https://aprs.gids.nl/nmea/)
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### NRF24L01+
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- **CE** (Chip Enable) is an active-high pin. When enabled, the nRF24L01 will either transmit or receive, depending on the mode.
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- **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.
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- **SCK** (Serial Clock) accepts clock pulses from the SPI bus master.
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- **MOSI** (Master Out Slave In) is the SPI input for the nRF24L01.
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- **MISO** (Master In Slave Out) is the SPI output of the nRF24L01.
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- **IRQ** is an interrupt pin that can notify the master when there is new data to process.
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## Wiring
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### 10 DOF IMU Sensor
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| Module | Arduino | Description |
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| ------ | ------- | -------------- |
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| VCC | 5V | Power input |
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| GND | GND | Power ground |
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| SDA | SDA | I2C data input |
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| SCL | SCL | I2C clock pin |
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### L76K GPS Module
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| Module | Arduino | Description |
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| ------ | ------- | -------------------- |
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| VCC | 3.3V | Power input |
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| GND | GND | Power ground |
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| TX | RX | Serial communication |
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| RX | TX | Serial communication |
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| PPS | NC | Pulse per second |
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### NRF24L01+ Module
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| Module | Arduino | Description |
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| ------ | ------- | --------------- |
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| VCC | 3.3V | Power input |
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| GND | GND | Power ground |
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| CE | 9~ | Chip enable |
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| CSN | 8 | Chip select not |
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| SCK | 13 | Serial Clock |
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| MOSI | 11~ | SPI master out |
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| MISO | 12 | SPI master in |
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## Sources
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Datasheets, documentation and sources
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- [Waveshare 10 DOF IMU Sensor (D) - Arduino guide](https://www.waveshare.com/wiki/Template:10_DOF_IMU_Sensor_D_Arduino_Guide)
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- [Waveshare 10 DOF IMU Sensor (C) - Demo code](https://files.waveshare.com/upload/c/c1/10_DOF_IMU_Sensor_D_Code.7z)
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- [Waveshare 10 DOF IMU Sensor (C) - Documentation](https://www.waveshare.com/wiki/10_DOF_IMU_Sensor_(C))
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- [Waveshare L76K GPS Module - Arduino guide](https://www.waveshare.com/wiki/L76K_GPS_Module#Working_With_Arduino)
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- [Waveshare L76K GPS Module - Demo code](https://files.waveshare.com/upload/9/94/L76K_GPS_Module_Arduino.zip)
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- [NRF24L01+ PA/LNA - Arduino guide](https://lastminuteengineers.com/nrf24l01-arduino-wireless-communication/)
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- [NRF24L01+ Guide - Guide](https://navody.dratek.cz/navody-k-produktum/arduino-wifi-modul-nrf24l01.html)
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- [NRF24L01+ PA/LNA - Datasheet](nrf24lo1-datasheet.pdf)
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- [NRF24L01+ PA/LNA - Demo code](https://img.gme.cz/files/eshop_data/eshop_data/10/775-034/prg.775-034.1.zip)
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