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receiver.cpp
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receiver.cpp
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#include "receiver.h"
#ifdef ARDUINO_SAMD_FEATHER_M0 // Feather M0 w/Radio
#include <RH_RF69.h>
// Singleton instance of the radio driver
RH_RF69 radio(RF_CS, RF_DI0);
#elif ESP32
#include <LoRa.h>
// OTA
#include <SPI.h>
#include <ESPmDNS.h>
#include <ArduinoOTA.h>
#include "wifi_credentials.h"
// Uart serial
HardwareSerial MySerial(1);
#endif
#ifdef RECEIVER_SCREEN
Adafruit_SSD1306 display(RST_OLED);
#endif
Smoothed<double> batterySensor;
Smoothed<double> motorCurrent;
#include "radio.h"
float signalStrength;
float lastRssi;
// Status blink LED
uint8_t statusCode = 0;
bool statusLedState = false;
unsigned long statusCycleTime, previousStatusMillis, currentMillis, startCycleMillis = 0;
unsigned long lastDelay;
// Initiate VescUart class for UART communication
bldcMeasure dataPackage;
mc_configuration motorConfigPackage;
nunchuckPackage chuckPackage;
void setup()
{
// wait for VESC?
//delay(1000);
//Serial.begin(9600);
// while (!Serial) {}; // wait for serial port to connect. Needed for native USB port only
debug("Receiver");
//loadEEPROMSettings();
loadData();
loadSettings();
calculateRatios();
if (receiverSettings.vescMode == UART_ONLY)
{
pinMode(LED, OUTPUT);
}
else if (receiverSettings.vescMode == UART_ADC)
{
pinMode(ADC_CRUISE, OUTPUT);
}
pinMode(AS_SWITCH, OUTPUT);
digitalWrite(AS_SWITCH, LOW);
// 10 seconds average
batterySensor.begin(SMOOTHED_EXPONENTIAL, 10);
// 1 sec average
motorCurrent.begin(SMOOTHED_AVERAGE, 2);
motorCurrent.add(0);
//UART.setTimeout(UART_TIMEOUT); Might be necessary later on
#ifdef ARDUINO_SAMD_FEATHER_M0
#ifndef FAKE_UART
UART.setSerialPort(&Serial1);
Serial1.begin(UART_SPEED);
#endif
initRadio(radio);
#elif ESP32
#ifndef FAKE_UART
//UART.setSerialPort(&MySerial); Old
SetSerialPort(&MySerial);
// Comment this line for debugging without VESC
MySerial.begin(UART_SPEED, SERIAL_8N1, RX, TX);
#endif
initRadio();
xTaskCreatePinnedToCore(
coreTask, /* Function to implement the task */
"coreTask", /* Name of the task */
10000, /* Stack size in words */
NULL, /* Task input parameter */
configMAX_PRIORITIES - 1, /* Priority of the task */
NULL, /* Task handle. */
0); /* Core where the task should run */
#endif
debug("Setup complete - begin listening");
pinMode(Vext, OUTPUT);
digitalWrite(Vext, LOW);
#ifdef RECEIVER_SCREEN
//display.begin(SSD1306_SWITCHCAPVCC, 0x3C);
//display.powerOn();
#endif
}
bool isTelemetryLost()
{
return telemetryTime != 0 // telemetry was active
&& secondsSince(telemetryTime) > 1; // not received recently
}
// safety check
bool isMoving()
{
if (isTelemetryLost())
return true; // assume movement for safety
return telemetry.getSpeed() != 0; // moving in any direction
}
/*
Calculate the battery level of the board based on the telemetry voltage
*/
float batteryPackPercentage(float voltage)
{
float maxCellVoltage = 4.2;
float minCellVoltage;
if (boardConfig.batteryType == 0)
{ // Li-ion
minCellVoltage = 3.1;
}
else
{ // Li-po
minCellVoltage = 3.4;
}
float percentage = (100 - ((maxCellVoltage - voltage / boardConfig.batteryCells) / ((maxCellVoltage - minCellVoltage))) * 100);
if (percentage > 100.0)
{
return 100.0;
}
else if (percentage < 0.0)
{
return 0.0;
}
return percentage;
}
bool prepareUpdate()
{
// safety checks
if (isMoving())
return false;
setState(UPDATE);
// replace this with your WiFi network credentials
const char *ssid = WIFI_SSID; // e.g. "FBI Surveillance Van #34";
const char *password = WIFI_PASSWORD; // e.g. "12345678";
wifiStatus = "Connecting:";
updateStatus = String(ssid);
WiFi.mode(WIFI_STA);
WiFi.begin(ssid, password);
while (WiFi.waitForConnectResult() != WL_CONNECTED)
{
debug("Connection Failed!");
delay(3000);
// ESP.restart();
return false;
}
// Port defaults to 3232
// ArduinoOTA.setPort(3232);
// Hostname defaults to esp3232-[MAC]
// ArduinoOTA.setHostname("myesp32");
// No authentication by default
// ArduinoOTA.setPassword("admin");
// Password can be set with it's md5 value as well
// MD5(admin) = 21232f297a57a5a743894a0e4a801fc3
// ArduinoOTA.setPasswordHash("21232f297a57a5a743894a0e4a801fc3");
ArduinoOTA
.onStart([]() {
String type;
if (ArduinoOTA.getCommand() == U_FLASH)
type = "sketch";
else // U_SPIFFS
type = "filesystem";
// NOTE: if updating SPIFFS this would be the place to unmount SPIFFS using SPIFFS.end()
updateStatus = "Start updating " + type;
})
.onEnd([]() {
Serial.println("\nEnd");
})
.onProgress([](unsigned int progress, unsigned int total) {
updateStatus = "Progress: " + String(progress / (total / 100), 0) + "%";
Serial.println(updateStatus);
})
.onError([](ota_error_t error) {
Serial.printf("Error[%u]: ", error);
if (error == OTA_AUTH_ERROR)
updateStatus = "Auth Failed";
else if (error == OTA_BEGIN_ERROR)
updateStatus = "Begin Failed";
else if (error == OTA_CONNECT_ERROR)
updateStatus = "Connect Failed";
else if (error == OTA_RECEIVE_ERROR)
updateStatus = "Receive Failed";
else if (error == OTA_END_ERROR)
updateStatus = "End Failed";
});
ArduinoOTA.begin();
wifiStatus = "IP: " + WiFi.localIP().toString();
updateStatus = "Waiting...";
debug(wifiStatus);
}
#ifdef RECEIVER_SCREEN
int getStringWidth(String s)
{
int16_t x1, y1;
uint16_t w1, h1;
display.getTextBounds(s, 0, 0, &x1, &y1, &w1, &h1);
return w1;
}
void drawString(String string, int x, int y, const GFXfont *font)
{
display.setFont(font);
display.setCursor(x, y);
display.print(string);
}
void drawStringCentered(String string, int x, int y, const GFXfont *font)
{
display.setFont(font);
x = x - getStringWidth(string) / 2;
drawString(string, x, y, font);
}
String getState()
{
switch (receiverData.state)
{
case IDLE:
return "Idle";
case CONNECTED:
return "Normal"; // dB?
case STOPPING:
return "Stopping";
case STOPPED:
return "Stopped";
case PUSHING:
return "Pushing";
case ENDLESS:
return "Cruise";
case UPDATE:
return "Update";
}
}
void updateScreen()
{
display.clearDisplay();
switch (receiverData.state)
{
case IDLE:
drawBattery();
break;
case ENDLESS:
display.setTextColor(WHITE);
display.setFont(fontDigital);
display.setCursor(0, 20);
display.println("CUR: " + String(telemetry.getMotorCurrent(), 1) + " A");
display.println("SPD: " + String(telemetry.getSpeed(), 1));
break;
case UPDATE:
display.setTextColor(WHITE);
display.setFont(fontDesc);
display.setCursor(0, 12);
display.println(wifiStatus);
display.println(updateStatus);
break;
default:
if (throttle == default_throttle && !isMoving())
{
drawBattery();
}
else
{ // riding
display.setTextColor(WHITE);
display.setFont(fontDigital);
display.setCursor(0, 20);
display.println("THR: " + String(map(throttle, 0, 255, -100, 100)) + "%");
display.println("SPD: " + String(telemetry.getSpeed(), 1) + " k");
}
break;
}
// ---- status ----
display.setTextColor(WHITE);
String s = getState() + " " +
String(telemetry.getVoltage(), 1) + "v " +
String(telemetry.getDistance(), 1) + "km";
#ifdef FAKE_UART
s = "Board ID: " + String(boardID, HEX);
#endif
drawStringCentered(s, 64, 62, fontDesc);
display.display();
}
void drawBattery()
{
display.setTextColor(WHITE);
if (telemetry.getVoltage() == 0)
{
// no uart connection
display.setFont();
display.setCursor(0, 10);
display.print("No UART data");
// remote info
display.setCursor(0, 25);
if (!connected)
display.print("Remote not connected");
else
display.print("Signal: " + String(lastRssi, 0) + " dB");
// display.setCursor(0, 40);
// display.print("Delay: " + String(lastDelay));
return;
}
// --- battery ----
int w = 120;
int h = 46;
display.drawRect(0, 0, w, h, WHITE);
display.drawRect(1, 1, w - 2, h - 2, WHITE);
display.fillRect(w, 10, 6, h - 10 - 10, WHITE);
// fill
float pc = batteryPackPercentage(telemetry.getVoltage());
int x = w * pc / 100 - 8;
display.fillRect(4, 4, x, h - 8, WHITE);
// % value
if (pc > 50)
{ // left side
display.setTextColor(BLACK);
drawStringCentered(String(pc, 0) + "%", x / 2 + 4, 31, fontBig);
}
else
{ // right side
display.setTextColor(WHITE);
drawStringCentered(String(pc, 0) + "%", x + (w - x) / 2, 31, fontBig);
}
}
#endif // RECEIVER_SCREEN
void loop()
{ // core 1
// get telemetry;
//if(uartTelemetryAvailable) {
getUartData(); // every 250 ms
//}
#ifdef ARDUINO_SAMD_ZERO
radioExchange();
stateMachine();
#elif RECEIVER_SCREEN
if (receiverData.state == UPDATE)
{
ArduinoOTA.handle();
}
//updateScreen(); // 25 ms
vTaskDelay(1);
#endif
}
#ifdef ESP32
void coreTask(void *pvParameters)
{ // core 0
String taskMessage = "radio task running on core ";
taskMessage = taskMessage + xPortGetCoreID();
Serial.println(taskMessage);
while (true)
{
radioExchange();
stateMachine();
vTaskDelay(1);
}
}
#endif
void pairingRequest()
{
// safety checks
if (millis() < 3000)
{
setState(PAIRING);
return;
}
// todo: confirm pairing
}
bool receiveData()
{
uint8_t len = sizeof(RemotePacket) + CRC_SIZE; // 9
uint8_t buf[len];
bool received = false;
#ifdef ARDUINO_SAMD_ZERO
received = radio.recv(buf, &len);
#elif ESP32
int bytes = 0;
for (int i = 0; i < len; i++)
{
buf[i] = LoRa.read();
bytes++;
}
// lastRssi = LoRa.packetRssi();
len = bytes;
received = true;
#endif
if (!received)
return false;
// size check
if (len != sizeof(RemotePacket) + CRC_SIZE)
{
debug("Wrong packet size");
return false;
}
// crc check
if (CRC8(buf, sizeof(remPacket)) != buf[sizeof(remPacket)])
{
debug("CRC mismatch");
return false;
}
// process packet
memcpy(&remPacket, buf, sizeof(remPacket));
// address check
#ifdef FAKE_UART
// accept any address
#else
if (remPacket.address != boardID)
{
// pairing request?
if (!isMoving() && remPacket.command == SET_STATE && remPacket.data == PAIRING)
{
// accept any address
}
else
{
Serial.print("Wrong Board ID, please use: 0x");
Serial.println(String(boardID, HEX));
return false;
}
}
#endif
if (remPacket.version != VERSION)
{
Serial.print("Version mismatch!");
}
return true;
// signalStrength = constrain(map(radio.lastRssi(), -77, -35, 0, 100), 0, 100);
}
bool sendPacket(const void *packet, uint8_t len)
{
// calc crc
uint8_t crc = CRC8(packet, len);
// struct to buffer
len += CRC_SIZE;
uint8_t buf[len];
memcpy(buf, packet, len);
buf[len - CRC_SIZE] = crc;
bool sent = false;
#ifdef ESP32
LoRa.beginPacket(len);
int t = LoRa.write(buf, len);
LoRa.endPacket();
sent = t == len;
// LoRa.receive(sizeof(remPacket) + CRC_SIZE);
#elif ARDUINO_SAMD_ZERO
sent = radio.send(buf, len);
if (sent)
radio.waitPacketSent();
#endif
return sent;
}
bool sendData(uint8_t response)
{
// send packet
switch (response)
{
case ACK_ONLY: // no extra data to send
telemetry.header.type = response;
telemetry.header.chain = remPacket.counter;
telemetry.header.state = receiverData.state;
telemetry.header.profile = receiverData.lastProfile;
telemetry.header.controlMode = receiverData.controlMode;
return sendPacket(&telemetry, sizeof(telemetry));
case TELEMETRY:
telemetry.header.type = response;
telemetry.header.chain = remPacket.counter;
telemetry.header.state = receiverData.state;
telemetry.header.profile = receiverData.lastProfile;
telemetry.header.controlMode = receiverData.controlMode;
if (sendPacket(&telemetry, sizeof(telemetry)))
{
telemetryUpdated = false;
return true;
}
break;
case CONFIG:
debug("Sending board configuration");
boardConfig.header.type = response;
boardConfig.header.chain = remPacket.counter;
if (sendPacket(&boardConfig, sizeof(boardConfig)))
{
sendConfig = false; // send config once
return true;
}
break;
case BOARD_ID:
debug("Sending board ID");
boardInfo.header.type = response;
boardInfo.header.chain = remPacket.counter;
boardInfo.id = boardID;
if (sendPacket(&boardInfo, sizeof(boardInfo)))
{
return true;
}
break;
}
return false;
}
bool dataAvailable()
{
#ifdef ARDUINO_SAMD_ZERO
return radio.available();
#elif ESP32
int packetSize = LoRa.parsePacket(sizeof(remPacket) + CRC_SIZE);
return packetSize > 0;
#endif
}
void setState(AppState newState)
{
switch (newState)
{
case IDLE:
break;
case PUSHING:
timeSpeedReached = millis();
break;
case ENDLESS:
if (isTelemetryLost())
return;
cruiseControlStart = millis();
break;
case CONNECTED:
switch (receiverData.state)
{
case UPDATE:
return;
// monitor data
case STOPPING:
if (remPacket.data == default_throttle)
return;
break;
case PUSHING:
case ENDLESS:
case COASTING:
//if (remPacket.data == default_throttle) return; // Old code, would have only allowed remote to have impact upon acceleration/brake
break;
}
// prevent auto-stop
//timeoutTimer = millis();
//connected = true;
break;
case STOPPING:
case STOPPED:
debug("disconnected");
lastBrakeTime = millis();
break;
case UPDATE:
break;
case PAIRING:
break;
}
// apply state
//debug(newState);
receiverData.state = newState;
}
void radioExchange()
{
if (receiverData.state == UPDATE)
{
receivedData = false;
return;
}
// controlStatusLed();
/* Begin listen for transmission */
if (dataAvailable())
{
// led on
if (receiverSettings.vescMode == UART_ONLY)
digitalWrite(LED, HIGH);
if (receiveData())
{
receivedData = true;
// debug( "New package: command " + String(remPacket.command) + ", data " + String(remPacket.data) + ", counter " + String(remPacket.counter) );
// Send acknowledgement
uint8_t response = ACK_ONLY;
switch (remPacket.command)
{
case SET_THROTTLE:
case SET_CRUISE:
//setState(CONNECTED); // keep connection
if (receiverData.state != PUSHING && receiverData.state != COASTING && receiverData.state != ENDLESS && receiverData.state != STOPPING)
setState(CONNECTED);
keepConnection();
if (telemetryUpdated)
{
response = TELEMETRY;
}
break;
case SET_STATE:
switch (remPacket.data)
{
case UPDATE:
if (!isMoving())
prepareUpdate();
break;
case PAIRING:
if (receiverData.state != UPDATE)
{
pairingRequest();
}
// request confirmed?
if (receiverData.state == PAIRING)
response = BOARD_ID;
break;
}
break;
case SET_MODE:
if (!isMoving())
setControlMode(remPacket.data);
break;
case SET_PROFILE:
//pushVescProfile(remPacket.data);
break;
case SET_BOARD_SHUTDOWN:
if (!isMoving())
shutdownBoard();
break;
case GET_CONFIG:
response = CONFIG;
break;
}
// send config after power on
if (sendConfig)
response = CONFIG;
// // allow remote to receive
// delay(5);
if (sendData(response))
{
// led on
if (receiverSettings.vescMode == UART_ONLY)
digitalWrite(LED, LOW);
// debug("Sent response");
}
// control
switch (remPacket.command)
{
case SET_THROTTLE: // control VESC speed
// ignore during auto-stop/update/...
if (receiverData.state == CONNECTED && receiverData.controlMode == CM_NORMAL)
{
setThrottle(remPacket.data);
}
else if (receiverData.controlMode == CM_PUSH_ASSIST)
{
throttle = remPacket.data;
if (remPacket.data > 127)
throttle = default_throttle;
switch (receiverData.state)
{
case CONNECTED:
setThrottle(throttle);
break;
case PUSHING:
case ENDLESS:
case COASTING:
if (throttle < 127)
setState(CONNECTED);
break;
default:
break;
}
}
break;
case SET_CRUISE:
if (receiverData.controlMode == CM_NORMAL)
{
setCruise();
}
else if (receiverData.controlMode == CM_PUSH_ASSIST)
{
throttle = remPacket.data;
if (remPacket.data > 127)
throttle = default_throttle;
if(throttle < 127)
setThrottle(throttle);
}
break;
}
}
else
receivedData = false;
}
/* End listen for transmission */
}
void autoCruise()
{
if (millisSince(lastCruiseControl) > 50)
{
lastCruiseControl = millis();
setCruise();
}
}
void stateMachine()
{ // handle auto-stop, endless mode, etc...
switch (receiverData.state)
{
case IDLE: // no remote connected
setThrottle(default_throttle);
break;
case PUSHING: // pushing with remote connected
// timeout handling
connectionCheck();
setThrottle(default_throttle);
if (receiverData.controlMode != CM_PUSH_ASSIST || remPacket.command != SET_CRUISE || throttle != default_throttle)
{
setState(CONNECTED);
return;
}
if (telemetry.getSpeed() >= MAX_PUSHING_SPEED)
{ // downhill
setState(STOPPING);
return;
}
if (telemetry.getSpeed() > PUSHING_SPEED)
{
if (secondsSince(timeSpeedReached) > PUSHING_TIME) {
setState(ENDLESS); // start cruise control
}
}
else if(telemetry.getSpeed() < PUSHING_SPEED)
{
setState(CONNECTED);
}
// OLD ENDLESS CODE
/*
if (telemetry.getSpeed() < PUSHING_SPEED)
{ // pushing ended
if (AUTO_CRUISE_ON)
{
if (secondsSince(timeSpeedReached) > PUSHING_TIME)
setState(ENDLESS); // start cruise control
else
setState(IDLE); // not enough pushing
}
}
else if (telemetry.getSpeed() > MAX_PUSHING_SPEED)
{ // downhill
setState(STOPPING);
}
**/
break;
case ENDLESS: // cruise without remote at ~12 km/h / 7 mph
// timeout handling
connectionCheck();
if (receiverData.controlMode != CM_PUSH_ASSIST || remPacket.command != SET_CRUISE || secondsSince(cruiseControlStart) > AUTO_CRUISE_TIME || throttle != default_throttle)
{
setState(COASTING);
return;
}
autoCruise();
// OLD ENDLESS CODE
// detect a foot brake /
/**
if (true)
{
double current = telemetry.getMotorCurrent(); // ~2 amps
double smoothed = motorCurrent.get();
// sudden change (> 5 A) after 2 seconds
if (abs(current - smoothed) > CRUISE_CURRENT_SPIKE && secondsSince(cruiseControlStart) > 2)
{
setState(IDLE);
}
// switch to coasting after some time
if (secondsSince(cruiseControlStart) > AUTO_CRUISE_TIME)
{
// keep cruise control downhill/uphill
if (abs(current) <= CRUISE_CURRENT_LOW)
setState(COASTING);
}
motorCurrent.add(current);
}
**/
break;
case COASTING: // waiting for board to slowdown
// timeout handling
connectionCheck();
if (throttle != default_throttle) {
setState(CONNECTED);
return;
}
setThrottle(default_throttle);
// avoid ENDLESS > IDLE > PUSHING loop
if (telemetry.getSpeed() < PUSHING_SPEED)
setState(CONNECTED);
break;
case CONNECTED: // remote is connected
// timeout handling
connectionCheck();
if (receiverData.controlMode == CM_PUSH_ASSIST && telemetry.getSpeed() > PUSHING_SPEED && remPacket.command == SET_CRUISE && throttle == default_throttle)
{
setState(PUSHING);
}
break;