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payload max 32byte problem
This commit is contained in:
mangavalk
2019-05-26 22:29:00 +02:00
parent b8114e3832
commit ee57e22b26
5 changed files with 305 additions and 95 deletions
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Joysticks.h
+125
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#include <EEPROM.h>
// start reading from the first byte (address 0) of the EEPROM
int address = 0;
byte value;
// Joystick vars
const int analogInPin = A0;
int sensorValue = 0;
int outputValue = 0;
//volatile int center[6] = {0, 0, 0, 0, 0, 0};
volatile int minvalue[6] = {1000, 1000, 1000, 1000, 1000, 1000};
volatile int maxvalue[6] = {0, 0, 0, 0, 0, 0};
void JoystickInit()
{
// Initialize joysticks first
value = EEPROM.read(address);
if (value != 0)
{
address++;
for (int i = 0; i < 6; i++)
{
address += sizeof(int);
EEPROM.get(address, minvalue[i]);
address += sizeof(int);
EEPROM.get(address, maxvalue[i]);
// Serial.println(minvalue[i]);
// Serial.println(maxvalue[i]);
}
}
else
{
// if eeprom empty
delay(500);
// for (int i = 0; i < 6; i++)
// {
// center[i] = analogRead(analogInPin + i);
// }
int time = 10000;
while (millis() < time)
{
for (int i = 0; i < 6; i++)
{
sensorValue = analogRead(analogInPin + i);
if (sensorValue > maxvalue[i]) {
maxvalue[i] = sensorValue;
}
if (sensorValue < minvalue[i]) {
minvalue[i] = sensorValue;
}
}
}
// for (int i = 0; i < 6; i++)
// {
// minvalue[i] = center[i] - minvalue[i];
// maxvalue[i] = (maxvalue[i] - center[i]);
// }
// write callibration to eeprom
address = 0;
EEPROM.write(address, 1);
address++;
for (int i = 0; i < 6; i++)
{
address += sizeof(int);
EEPROM.put(address, minvalue[i]);
address += sizeof(int);
EEPROM.put(address, maxvalue[i]);
// Serial.println(minvalue[i]);
// Serial.println(maxvalue[i]);
}
}
}
struct joyStickdataStruct {
float value[6];
} myJoyStickdataStruct;
joyStickdataStruct JoystickGet(bool debug = false)
{
for (int i = 0; i < 6; i++)
{
sensorValue = analogRead(analogInPin + i);
if (sensorValue > maxvalue[i])
maxvalue[i] = sensorValue;
if (sensorValue < minvalue[i])
minvalue[i] = sensorValue;
outputValue = map(sensorValue, minvalue[i], maxvalue[i], 0, 255);
outputValue = sensorValue > maxvalue[i] ? 255 : sensorValue < minvalue[i] ? 0 : outputValue;
// if (sensorValue <= center[i])
// {
// outputValue = map(sensorValue, minvalue[i], center[i], 0, 127);
// }
// else
// {
// outputValue = map(sensorValue, center[i], maxvalue[i], 128, 255);
// }
myJoyStickdataStruct.value[i] = outputValue;
if (debug)
{
Serial.print(i);
Serial.print("_");
Serial.print(outputValue);
if (i != 5)
Serial.print(",");
// Serial.print(" ");
}
}
if (debug)
Serial.println();
return myJoyStickdataStruct;
}
Nrf.h
+65
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#include <SPI.h>
#include "RF24.h"
#include "TransferDataStructure.h"
// Nrf24 settings
byte addresses[][6] = {"1Node", "2Node"};
RF24 radio(9, 10); // CE, CSN
void NrfInit()
{
radio.begin();
// Set the PA Level low to prevent power supply related issues since this is a
// getting_started sketch, and the likelihood of close proximity of the devices. RF24_PA_MAX is default.
radio.setPALevel(RF24_PA_LOW);
radio.openWritingPipe(addresses[0]);
radio.openReadingPipe(1, addresses[1]);
// Possibly init data object here
radio.startListening();
}
dataStruct2 NrfSendData(dataStruct2 data, bool debug = false)
{
radio.stopListening();
// First, stop listening so we can talk.
if (debug)
Serial.println(F("Now sending"));
if (!radio.write( &data, sizeof(data) )) {
if (debug)
Serial.println(F("failed"));
return data;
}
radio.startListening();
// Now, continue listening
unsigned long started_waiting_at = micros();
// Set up a timeout period, get the current microseconds
boolean timeout = false;
// Set up a variable to indicate if a response was received or not
while ( ! radio.available() ) {
if (micros() - started_waiting_at > 200000 ) {
// If waited longer than 200ms, indicate timeout and exit while loop
timeout = true;
break;
}
}
if ( timeout ) {
if (debug)
Serial.println(F("Failed, response timed out."));
return data;
} else {
// Grab the response, compare, and send to debugging spew
radio.read( &data, sizeof(data) );
return data;
}
}
SerialPasstrough.h
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#include "TransferDataStructure.h"
dataStruct2 GetSerialData(dataStruct2 dataIn, bool debug = false)
{
if (Serial.available())
{
String data = Serial.readStringUntil('\r');
int maxIndex = data.length() - 1;
int index = 0;
int next_index;
String data_word;
String channel;
String angle;
do {
next_index = data.indexOf(',', index);
data_word = data.substring(index, next_index);
channel = data_word.substring(0, data_word.indexOf('_'));
angle = data_word.substring(data_word.indexOf('_') + 1);
if (isDigit(angle[0])) // prevent error overwriting first entry.
// dataIn.servoPositions[channel.toInt()] = angle.toFloat();
index = next_index + 1;
} while ((next_index != -1) && (next_index < maxIndex));
// dataIn.remotePasstroughControl = true;
if (debug)
{
Serial.println("Enabled Servo Passtrough mode!");
Serial.println("Output line: ");
for (int i = 0; i < 18; i++)
{
Serial.print(i);
Serial.print(", ");
// Serial.print(dataIn.servoPositions[i]);
Serial.println("");
}
Serial.println("");
}
}
return dataIn;
}
TransferDataStructure.h
+28
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#ifndef dataStruct
#define dataStruct
struct __attribute__((__packed__)) dataStruct2
{
float walkSpeed = 10; //step size
float walkSpeed2 = 0; //gate speed
float walkRotation = 0 ;
float walkDirection = 0;
float tranform[3] = {0, 0, 0};
float tranform2[3] = {0, 0, 0};
float rotation[3] = {0, 0, 0};
bool remotePasstroughControl = 0;
uint16_t servoPositions[18];
} dataStruct;
//template<size_t ... T> struct print_ct {
// print_ct() {
// static_assert(sizeof...(T) == -1, "");
// }
//};
//
//print_ct< sizeof(dataStruct2), alignof(dataStruct2) > v;
#endif
remote.ino
+41 -95
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@@ -1,114 +1,60 @@
#include <EEPROM.h>
#include "Joysticks.h"
#include "Nrf.h"
#include "SerialPasstrough.h"
#include <TinyMPU6050.h>
// start reading from the first byte (address 0) of the EEPROM
int address = 0;
byte value;
MPU6050 mpu (Wire);
const int analogInPin = A0;
int sensorValue = 0;
int outputValue = 0;
//volatile int center[6] = {0, 0, 0, 0, 0, 0};
volatile int minvalue[6] = {1000, 1000, 1000, 1000, 1000, 1000};
volatile int maxvalue[6] = {0, 0, 0, 0, 0, 0};
dataStruct2 data;
joyStickdataStruct joystickData;
void setup() {
Serial.begin(115200);
value = EEPROM.read(address);
// Initialization
mpu.Initialize();
if (value != 0)
{
address++;
for (int i = 0; i < 6; i++)
{
address += sizeof(int);
EEPROM.get(address, minvalue[i]);
address += sizeof(int);
EEPROM.get(address, maxvalue[i]);
// Serial.println(minvalue[i]);
// Serial.println(maxvalue[i]);
}
}
else
{
// if eeprom empty
delay(500);
// // Calibration
// Serial.println("=====================================");
// Serial.println("Starting calibration...");
// mpu.Calibrate();
// Serial.println("Calibration complete!");
// Serial.println("Offsets:");
// Serial.print("AccX Offset = ");
// Serial.println(mpu.GetAccXOffset());
// Serial.print("AccY Offset = ");
// Serial.println(mpu.GetAccYOffset());
// Serial.print("AccZ Offset = ");
// Serial.println(mpu.GetAccZOffset());
// Serial.print("GyroX Offset = ");
// Serial.println(mpu.GetGyroXOffset());
// Serial.print("GyroY Offset = ");
// Serial.println(mpu.GetGyroYOffset());
// Serial.print("GyroZ Offset = ");
// Serial.println(mpu.GetGyroZOffset());
// for (int i = 0; i < 6; i++)
// {
// center[i] = analogRead(analogInPin + i);
// }
JoystickInit();
int time = 10000;
while (millis() < time)
{
for (int i = 0; i < 6; i++)
{
sensorValue = analogRead(analogInPin + i);
if (sensorValue > maxvalue[i]) {
maxvalue[i] = sensorValue;
}
if (sensorValue < minvalue[i]) {
minvalue[i] = sensorValue;
}
}
}
// for (int i = 0; i < 6; i++)
// {
// minvalue[i] = center[i] - minvalue[i];
// maxvalue[i] = (maxvalue[i] - center[i]);
// }
// write callibration to eeprom
address = 0;
EEPROM.write(address, 1);
address++;
for (int i = 0; i < 6; i++)
{
address += sizeof(int);
EEPROM.put(address, minvalue[i]);
address += sizeof(int);
EEPROM.put(address, maxvalue[i]);
// Serial.println(minvalue[i]);
// Serial.println(maxvalue[i]);
}
}
NrfInit();
}
void loop() {
for (int i = 0; i < 6; i++)
{
sensorValue = analogRead(analogInPin + i);
// mpu.Execute();
// Serial.print("AngX = ");
// Serial.print(mpu.GetAngX());
// Serial.print(" / AngY = ");
// Serial.print(mpu.GetAngY());
// Serial.print(" / AngZ = ");
// Serial.println(mpu.GetAngZ());
joystickData = JoystickGet(true);
if (sensorValue > maxvalue[i])
maxvalue[i] = sensorValue;
if (sensorValue < minvalue[i])
minvalue[i] = sensorValue;
data = GetSerialData(data, false);
outputValue = map(sensorValue, minvalue[i], maxvalue[i], 0, 255);
outputValue = sensorValue > maxvalue[i] ? 255 : sensorValue < minvalue[i] ? 0 : outputValue;
// if (sensorValue <= center[i])
// {
// outputValue = map(sensorValue, minvalue[i], center[i], 0, 127);
// }
// else
// {
// outputValue = map(sensorValue, center[i], maxvalue[i], 128, 255);
// }
// data.servoPositions[0] = joystickData.value[0];
data.remotePasstroughControl = data.remotePasstroughControl + 1;
Serial.print(i);
Serial.print("_");
Serial.print(outputValue);
if (i != 5)
Serial.print(",");
// Serial.print(" ");
}
Serial.println();
data = NrfSendData(data, true);
delay(20);
}