Client software for Amur distribution board (ADB-0.42)

This is application for communicate with robot on RPi base with Amur distribution board.

Requirements:

1. CMake - for install read: https://snapcraft.io/install/cmake/raspbian
2. Protobuf & gRPC - for install read: https://grpc.io/docs/languages/cpp/quickstart/ need install in system(/usr/local)
3. PiGPIO - for install read: http://abyz.me.uk/rpi/pigpio/download.html
4. libconfig - for install:

sudo apt-get install libconfig++-dev -y

5. GStreamer (not used, will be added in the future)

Compile AmurClient

git clone https://github.com/ARDev1161/AmurClient.git --recurse-submodules
cd AmurClient
mkdir bin && cd bin

cmake -DCMAKE_BUILD_TYPE=Release -DGRPC_FETCHCONTENT=OFF ../

cmake --build . -- -j4

Sensors of Amur:

1. Camera - OV5647
2. Inertial sensor - MPU-9250
3. Encoders wheel: left, right - HOA0901
4. Encoders hand internal: left, right - HOA0901
5. Encoders hand outter: left, right - HOA0901
6. ADC module - ADS1115(address - 0x48)
7. RTC module - DS3231(address - 0x68) with AT24C32(address - 0x57)
8. Barometer - BMP-280
9. Battery voltage

Controls of Amur:

1. ServoX, ServoY - MG90S
2. Motor wheel: left, right
3. Motor hand internal: left, right
4. Motor hand outter: left, right

GPIO using:

• GPIO4 - Data from 74HC165
• GPIO17 - Clk 74HC165
• GPIO18 - Not master reset 74HC595
• GPIO27 - SH/Not(LD) 74HC165
• GPIO22 - Clk inh 74HC165
• GPIO23 - Data to 74HC595
• GPIO24 - SHcp 74HC595
• GPIO25 - STcp 74HC595
• GPIO5 - freePin 3
• GPIO6 - freePin 4
• GPIO12 - PWM1 right
• GPIO13 - PWM1 left
• GPIO19 - freePin 1
• GPIO16 - Not OE 74HC595
• GPIO26 - freePin 2
• GPIO20 - PWM2 right
• GPIO21 - PWM2 left

GPIO freePins header(from left to right):

Use for LoRa(SX1278)

1. GPIO19 - Rx enable
2. GPIO26 - Tx enable
3. GPIO5 - DI0
4. GPIO6 - Reset

SPI0 header(from up to down):

Use for LoRa(SX1278)

1. CE1
2. CE0
3. SCLK
4. MISO
5. MOSI

I2C1 header(from left to right):

Use for ADS1115

1. Vpd
2. SCL
3. SDA
4. GND

UART0 header(from left to right):

1. Vpd
2. Tx
3. Rx
4. GND

Voltage jumper(for peripheral devices - Vpd):

1. Left - 3.3V
2. Right - 5V

74HC595 using:

bites trancieve in register from last to first: from 16 to 1

(First byte - right)

• 1bit - right relay
• 2bit - clk2 right motor shield (Hand right motor - A2 input)
• 3bit - clk1 right motor shield (Wheel right motor - A1 input)
• 4bit - cnt1 right motor shield (Wheel right motor - B1 input)
• 5bit - cnt2 right motor shield (Hand right motor - B2 input)
• 6bit - en1 right motor shield (Wheel right motor)
• 7bit - en2 right motor shield (Hand right motor)
• 8bit - right LED light

(Second byte - left)

• 9bit - left relay
• 10bit - clk2 left motor shield (Wheel left motor - A2 input)
• 11bit - clk1 left motor shield (Hand left motor - A1 input)
• 12bit - cnt1 left motor shield (Hand left motor - B1 input)
• 13bit - cnt2 left motor shield (Wheel left motor - B2 input)
• 14bit - en1 left motor shield (Hand left motor)
• 15bit - en2 left motor shield (Wheel left motor)
• 16bit - left LED light

74HC165 using:

bites recieve by register from first to last: from 1 to 16

(First byte - right)

• 1bit - LR2B encoder (Hand outer right encoder - B signal)
• 2bit - LR1B encoder (Hand internal right encoder - B signal)
• 3bit - LL2B encoder (Hand outer left encoder - B signal)
• 4bit - LL1B encoder (Hand internal left encoder - B signal)
• 5bit - LL1A encoder (Hand internal left encoder - A signal)
• 6bit - LL2A encoder (Hand outer left encoder - A signal)
• 7bit - LR1A encoder (Hand internal right encoder - A signal)
• 8bit - LR2A encoder (Hand outer right encoder - A signal)

(Second byte - left)

• 9bit - freeInPin
• 10bit - freeInPin
• 11bit - freeInPin
• 12bit - freeInPin
• 13bit - R1A encoder (Wheel left encoder - A signal)
• 14bit - R1B encoder (Wheel left encoder - B signal)
• 15bit - R2B encoder (Wheel right encoder - B signal)
• 16bit - R2A encoder (Wheel right encoder - A signal)