Merge branch 'development' into main

.github/workflows/ci.yaml

@@ -0,0 +1,112 @@
+name: CI
+
+on: [push]
+
+jobs:
+  erc-drc-checks:
+    runs-on: ubuntu-latest
+    if: github.ref_type != 'tag'
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+      - uses: INTI-CMNB/KiBot@v2_k6
+        with:
+          config: Hardware/OpenMowerMainboard/OpenMowerMainboard.kibot.yaml
+          board: Hardware/OpenMowerMainboard/OpenMowerMainboard.kicad_pcb
+          verbose: 1
+
+  firmware:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - name: Cache pip
+        uses: actions/cache@v2
+        with:
+          path: ~/.cache/pip
+          key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
+          restore-keys: |
+            ${{ runner.os }}-pip-
+      - name: Cache PlatformIO
+        uses: actions/cache@v2
+        with:
+          path: ~/.platformio
+          key: ${{ runner.os }}-${{ hashFiles('**/lockfiles') }}
+      - name: Set up Python
+        uses: actions/setup-python@v2
+      - name: Install PlatformIO
+        run: |
+          python -m pip install --upgrade pip
+          pip install --upgrade platformio
+      - name: Run PlatformIO
+        run: pio run -d Firmware/LowLevel
+      - name: Copy Artifacts
+        run: |
+          mkdir artifacts
+          mkdir ./artifacts/ELFLEIN_PROTOTYPE
+          cp Firmware/LowLevel/.pio/build/ELFLEIN_PROTOTYPE/firmware.elf ./artifacts/ELFLEIN_PROTOTYPE
+          cp Firmware/LowLevel/.pio/build/ELFLEIN_PROTOTYPE/firmware.uf2 ./artifacts/ELFLEIN_PROTOTYPE
+          mkdir ./artifacts/MPU9250
+          cp Firmware/LowLevel/.pio/build/MPU9250/firmware.elf ./artifacts/MPU9250
+          cp Firmware/LowLevel/.pio/build/MPU9250/firmware.uf2 ./artifacts/MPU9250
+          mkdir ./artifacts/WT901_INSTEAD_OF_SOUND
+          cp Firmware/LowLevel/.pio/build/WT901_INSTEAD_OF_SOUND/firmware.elf ./artifacts/WT901_INSTEAD_OF_SOUND
+          cp Firmware/LowLevel/.pio/build/WT901_INSTEAD_OF_SOUND/firmware.uf2 ./artifacts/WT901_INSTEAD_OF_SOUND
+      - name: Step 3 - Use the Upload Artifact GitHub Action
+        uses: actions/upload-artifact@v3
+        with:
+          name: open-mower-pico-firmware
+          path: artifacts/
+
+  tagged-release:
+    runs-on: ubuntu-latest
+    if: github.ref_type == 'tag' && startsWith(github.ref_name, 'v')
+    needs: firmware
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+      - uses: INTI-CMNB/KiBot@v2_k6
+        with:
+          config: Hardware/OpenMowerMainboard/OpenMowerMainboard.kibot.yaml
+          board: Hardware/OpenMowerMainboard/OpenMowerMainboard.kicad_pcb
+          skip: run_drc,run_erc
+
+      - name: 'Fix permissions on release/'
+        run: sudo chmod 0777 release
+
+      - uses: actions/download-artifact@v3
+        with:
+          name: open-mower-pico-firmware
+          path: firmware
+
+      - name: Create firmware zip
+        run: zip -r release/firmware.zip firmware
+
+      - uses: "marvinpinto/action-automatic-releases@latest"
+        with:
+          repo_token: "${{ secrets.GITHUB_TOKEN }}"
+          prerelease: false
+          files: release/*
+
+      - name: Deploy release
+        uses: peaceiris/actions-gh-pages@v3
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          publish_dir: release
+          destination_dir: release
+
+      - name: Deploy release_navigator
+        uses: peaceiris/actions-gh-pages@v3
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          publish_dir: release_navigator
+          destination_dir: release_navigator
+          keep_files: true
+
+      - name: Deploy release_navigator index
+        uses: peaceiris/actions-gh-pages@v3
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          publish_dir: release_navigator
+          keep_files: true

Firmware/LowLevel/include/soundsystem.h

@@ -0,0 +1,72 @@
+// Created by Elmar Elflein on 18/07/22.
+// Copyright (c) 2022 Elmar Elflein. All rights reserved.
+//
+// This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
+//
+// Feel free to use the design in your private/educational projects, but don't try to sell the design or products based on it without getting my consent first.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+//
+//
+#ifndef _SOUND_SYSTEM_H_
+#define _SOUND_SYSTEM_H_
+
+//#include <Arduino.h>
+#include <stdint.h>
+#include <list>
+
+#include <pins.h>
+#include <DFPlayerMini_Fast.h>
+#include <soundsystem.h>
+
+
+#define BUFFERSIZE 100
+
+#define NR_SOUNDFILES 15        // Number of Soundfiles on SD-card
+
+
+
+class MP3Sound
+{
+
+
+
+
+    public:
+
+                uint32_t anzSoundfiles;          // number of files stored on the SD-card
+                bool     playing;
+
+                MP3Sound();
+
+                bool begin(int anzsoundsOnSD);      // init serial stream and soundmodule, anzsoundOnSD : maximum number of available soundfiles on the SD-card
+
+                void playSound(int soundNr);        // play soundfile number. This method writes soundfile nr in a list, the method processSounds() (has to run in loop) will play 
+                                                    // the sounds according to the list
+
+                void playSoundAdHoc(int soundNr);   // play soundfile number immediately whithout waiting until the end of sound
+
+                void setvolume(int vol);            // scales loudness from 0 to 100 %
+
+                int sounds2play();                  // returns the number if sounds to play in the list
+
+                int processSounds();                // play all sounds from the list. This method has to be calles cyclic, e.g. every second.
+
+
+    private:
+                std::list <int> active_sounds;
+                bool sound_available;
+
+
+
+
+};
+
+
+#endif // _SOUND_SYSTEM_H_  HEADER_FILE

Firmware/LowLevel/lib/JY901/JY901.cpp

@@ -0,0 +1,110 @@
+#include "JY901.h"
+#include "string.h"
+
+CJY901 ::CJY901(HardwareSerial *serial)
+{
+	this->serial = serial;
+}
+
+void CJY901::begin(int baudrate) {
+	serial->begin(baudrate);
+	delay(1000);
+	uint8_t unlock[] = {0xFF,0xF0,0xF0,0xF0,0xF0};
+	serial->write(unlock, 5);
+	serial->flush();
+	delay(10);
+	writeRegister(RSW, 0b0000000000010110);
+	delay(10);
+	writeRegister(RRATE, 0x09);
+	delay(10);
+	writeRegister(0x0b,0x00);
+	delay(10);
+	writeRegister(0x0c,0x00);
+	delay(10);
+	writeRegister(0x0d,0x00);
+	delay(10);
+
+
+
+
+	ucRxCnt = 0;
+}
+
+void CJY901 ::update()
+{
+	while (serial->available())
+	{
+
+		ucRxBuffer[ucRxCnt++] = serial->read();
+		if (ucRxBuffer[0] != 0x55)
+		{
+			ucRxCnt = 0;
+			continue;
+		}
+		if (ucRxCnt < 11)
+		{
+			continue;
+		}
+		else
+		{
+			switch (ucRxBuffer[1])
+			{
+			case 0x50:
+				memcpy(&stcTime, &ucRxBuffer[2], 8);
+				break;
+			case 0x51:
+				memcpy(&stcAcc, &ucRxBuffer[2], 8);
+				break;
+			case 0x52:
+				memcpy(&stcGyro, &ucRxBuffer[2], 8);
+				break;
+			case 0x53:
+				memcpy(&stcAngle, &ucRxBuffer[2], 8);
+				break;
+			case 0x54:
+				memcpy(&stcMag, &ucRxBuffer[2], 8);
+				break;
+			case 0x55:
+				memcpy(&stcDStatus, &ucRxBuffer[2], 8);
+				break;
+			case 0x56:
+				memcpy(&stcPress, &ucRxBuffer[2], 8);
+				break;
+			case 0x57:
+				memcpy(&stcLonLat, &ucRxBuffer[2], 8);
+				break;
+			case 0x58:
+				memcpy(&stcGPSV, &ucRxBuffer[2], 8);
+				break;
+			}
+			ucRxCnt = 0;
+		}
+	}
+}
+
+void CJY901::writeRegister(uint8_t address, uint16_t data) {
+	uint8_t unlock[] = {0xFF,0xAA,0x69,0x88,0xB5};
+	serial->write(unlock, 5);
+	serial->flush();
+	delay(100);
+
+	uint8_t buffer[6];
+	buffer[0] = 0xFF;
+	buffer[1] = 0xAA;
+	buffer[2] = address;
+	buffer[3] = data & 0xFF;
+	buffer[4] = (data >> 8) & 0xFF;
+
+	serial->write(buffer, 5);
+	serial->flush();
+
+	serial->write(unlock, 5);
+	serial->flush();
+	delay(100);
+
+	uint8_t save[] = {0xFF,0xAA,0x00,0x00,0x00};
+	serial->write(save, 5);
+	serial->flush();
+	delay(100);
+
+}