amikhalev/uas-ugv
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re-enable display

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This commit is contained in:
Alex Mikhalev 2019-04-25 19:45:00 -07:00
parent 5175649281
commit 3cc840e0eb
3 changed files with 23 additions and 17 deletions
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1
main/u8g2_esp32_hal.c
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@ -124,6 +124,7 @@ uint8_t u8g2_esp32_i2c_byte_cb(u8x8_t *u8x8, uint8_t msg, uint8_t arg_int,
break; break;
} }
break;
i2c_config_t conf; i2c_config_t conf;
conf.mode = I2C_MODE_MASTER; conf.mode = I2C_MODE_MASTER;
conf.sda_io_num = u8x8->pins[U8X8_PIN_I2C_DATA]; conf.sda_io_num = u8x8->pins[U8X8_PIN_I2C_DATA];

37
main/ugv_display.cc
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@ -14,12 +14,12 @@ using comms::CommsClass;
DisplayClass::DisplayClass(CommsClass* comms) : comms_(comms) {} DisplayClass::DisplayClass(CommsClass* comms) : comms_(comms) {}
void DisplayClass::Init() { void DisplayClass::Init() {
return;
ESP_LOGD(TAG, "Initializing u8g2 display"); ESP_LOGD(TAG, "Initializing u8g2 display");
// For Heltec ESP32 LoRa // For Heltec ESP32 LoRa
// oled = new U8G2_SSD1306_128X64_NONAME_F_HW_I2C(U8G2_R0, 16, 15, 4); // oled = new U8G2_SSD1306_128X64_NONAME_F_HW_I2C(U8G2_R0, 16, 15, 4);
// For wemos Lolin ESP32 // For wemos Lolin ESP32
oled = new U8G2_SSD1306_128X64_NONAME_F_HW_I2C(U8G2_R0, OLED_RESET, OLED_CLOCK, OLED_DATA); oled = new U8G2_SSD1306_128X64_NONAME_F_HW_I2C(U8G2_R0, OLED_RESET,
OLED_CLOCK, OLED_DATA);
oled->initDisplay(); oled->initDisplay();
oled->clearDisplay(); oled->clearDisplay();
oled->setPowerSave(false); oled->setPowerSave(false);
@ -30,28 +30,31 @@ void DisplayClass::Init() {
ESP_LOGE(TAG, "error starting display thread"); ESP_LOGE(TAG, "error starting display thread");
return; return;
} }
ESP_LOGD(TAG, "Started display thread");
} }
void DisplayClass::Run() { void DisplayClass::Run() {
return; #ifdef COMMS_SX127X
int32_t lora_rssi; int32_t lora_rssi;
uint8_t lora_lna_gain; uint8_t lora_lna_gain;
int32_t last_packet_rssi;
int8_t last_packet_snr;
#endif
TickType_t last_packet_tick; TickType_t last_packet_tick;
int32_t last_packet_rssi;
int8_t last_packet_snr;
ESP_LOGD(TAG, "Started display thread");
while (true) { while (true) {
// ESP_LOGI(TAG, "inputs %s", inputs.ToString());
oled->firstPage(); oled->firstPage();
#ifdef COMMS_SX127X
lora_rssi = comms_->ReadRssi(); lora_rssi = comms_->ReadRssi();
lora_lna_gain = comms_->ReadLnaGain(); lora_lna_gain = comms_->ReadLnaGain();
#endif
comms_->Lock(); comms_->Lock();
last_packet_tick = comms_->last_packet_tick; last_packet_tick = comms_->last_packet_tick;
#ifdef COMMS_SX127X
last_packet_rssi = comms_->last_packet_rssi; last_packet_rssi = comms_->last_packet_rssi;
last_packet_snr = comms_->last_packet_snr; last_packet_snr = comms_->last_packet_snr;
#endif
comms_->Unlock(); comms_->Unlock();
do { do {
oled->drawRFrame(0, 0, OLED_W, OLED_H, 4); oled->drawRFrame(0, 0, OLED_W, OLED_H, 4);
@ -65,25 +68,27 @@ void DisplayClass::Run() {
oled->printf("heap allc/free %d/%d", heap_info.total_allocated_bytes, oled->printf("heap allc/free %d/%d", heap_info.total_allocated_bytes,
heap_info.total_free_bytes); heap_info.total_free_bytes);
#ifdef COMMS_SX127X
oled->setCursor(4, 3 * 8); oled->setCursor(4, 3 * 8);
oled->printf("rssi: %d lna gain: %d", lora_rssi, lora_lna_gain); oled->printf("rssi: %d lna gain: %d", lora_rssi, lora_lna_gain);
#endif
if (last_packet_tick > 0) { if (last_packet_tick > 0) {
double time_since_last_packet = double time_since_last_packet =
1000.0f / static_cast<float>((xTaskGetTickCount() - last_packet_tick) *
((xTaskGetTickCount() - last_packet_tick) * portTICK_RATE_MS); portTICK_RATE_MS) /
1000.f;
oled->setCursor(4, 4 * 8); oled->setCursor(4, 4 * 8);
oled->printf("last pkt rx %f s ago", time_since_last_packet); oled->printf("last pkt rx %.2f s ago", time_since_last_packet);
#ifdef COMMS_SX127X
oled->setCursor(4, 5 * 8); oled->setCursor(4, 5 * 8);
oled->printf("pkt rssi: %d, snr: %f", last_packet_rssi, oled->printf("pkt rssi: %d, snr: %f", last_packet_rssi,
last_packet_snr * 0.25f); last_packet_snr * 0.25f);
#endif
} else { } else {
oled->setCursor(4, 4 * 8); oled->setCursor(4, 4 * 8);
oled->print("no pkt rx"); oled->print("no pkt rx");
} }
// oled->setCursor(4, 6 * 8);
// oled->printf("motors: (%f, %f)", outputs.left_motor,
// outputs.right_motor);
} while (oled->nextPage()); } while (oled->nextPage());
vTaskDelay(pdMS_TO_TICKS(1000)); vTaskDelay(pdMS_TO_TICKS(1000));
} }

2
main/ugv_io_mpu.cc
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@ -40,7 +40,7 @@ MPU::~MPU() { delete mpu_; }
void MPU::Init() { void MPU::Init() {
xSemaphoreTake(i2c_mutex, portMAX_DELAY); xSemaphoreTake(i2c_mutex, portMAX_DELAY);
mpu_bus_ = &i2c1; mpu_bus_ = &i2c0;
// This is shared with the oled, so just use those pins // This is shared with the oled, so just use those pins
mpu_bus_->setTimeout(10); mpu_bus_->setTimeout(10);
mpu_bus_->begin(MPU_SDA, MPU_SCL, 400000); mpu_bus_->begin(MPU_SDA, MPU_SCL, 400000);