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merge into: amikhalev:master
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amikhalev:master
amikhalev:drive-to-target
amikhalev:try-fix-comms-errors
amikhalev:regular-protobuf
amikhalev:ugv_io
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pull from: amikhalev:try-fix-comms-errors
Branches Tags
amikhalev:master
amikhalev:drive-to-target
amikhalev:try-fix-comms-errors
amikhalev:regular-protobuf
amikhalev:ugv_io

1 Commits
master ... try-fix-co

Author SHA1 Message Date
Alex Mikhalev
50f4f94b29 Try to fix various communication errors 2019-03-31 11:50:02 -07:00
6 changed files with 12 additions and 20 deletions
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2
main/u8g2_esp32_hal.c
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@ -68,7 +68,7 @@ uint8_t u8g2_esp32_spi_byte_cb(u8x8_t *u8x8, uint8_t msg, uint8_t arg_int,
dev_config.duty_cycle_pos = 0;
dev_config.cs_ena_posttrans = 0;
dev_config.cs_ena_pretrans = 0;
dev_config.clock_speed_hz = 10000;
dev_config.clock_speed_hz = 5000;//10000;
dev_config.spics_io_num = u8x8->pins[U8X8_PIN_CS];
dev_config.flags = 0;
dev_config.queue_size = 200;

1
main/ugv_comms.cc
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@ -127,6 +127,7 @@ void CommsClass::RunTask() {
uint8_t *rx_buf = new uint8_t[rx_buf_len];
int rx_len;
lora.Flush();
#endif
UGV_Message ugv_message;

1
main/ugv_display.cc
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@ -14,6 +14,7 @@ using comms::CommsClass;
DisplayClass::DisplayClass(CommsClass* comms) : comms_(comms) {}
void DisplayClass::Init() {
return;
ESP_LOGD(TAG, "Initializing u8g2 display");
// For Heltec ESP32 LoRa
// oled = new U8G2_SSD1306_128X64_NONAME_F_HW_I2C(U8G2_R0, 16, 15, 4);

4
main/ugv_io_gps.cc
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@ -12,8 +12,8 @@ namespace io {
static constexpr size_t GPS_BUF_SIZE = 1024;
static constexpr uart_port_t GPS_UART = UART_NUM_1;
static constexpr int GPS_UART_TX_PIN = 25;
static constexpr int GPS_UART_RX_PIN = 26;
static constexpr int GPS_UART_TX_PIN = /*25*/5;
static constexpr int GPS_UART_RX_PIN = /*26*/4;
static constexpr int GPS_UART_BAUD = 9600;
static constexpr size_t GPS_UART_RX_BUF_SIZE = 1024;
static constexpr size_t GPS_UART_TX_BUF_SIZE = 0;

22
main/ugv_io_mpu.cc
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@ -14,8 +14,8 @@ constexpr float M_PI = atanf(1.f) * 4;
namespace ugv {
namespace io {
static constexpr gpio_num_t MPU_SDA = GPIO_NUM_5;
static constexpr gpio_num_t MPU_SCL = GPIO_NUM_4;
static constexpr gpio_num_t MPU_SDA = GPIO_NUM_25;
static constexpr gpio_num_t MPU_SCL = GPIO_NUM_26;
static constexpr mpud::accel_fs_t MPU_ACCEL_FS = mpud::ACCEL_FS_2G;
static constexpr mpud::gyro_fs_t MPU_GYRO_FS = mpud::GYRO_FS_500DPS;
static constexpr float MPU_MAG_TO_FLUX = (4912.f) / (32760.f);
@ -33,12 +33,13 @@ MPU::~MPU() { delete mpu_; }
void MPU::Init() {
xSemaphoreTake(i2c_mutex, portMAX_DELAY);
mpu_bus_ = &i2c0;
mpu_bus_ = &i2c1;
// This is shared with the oled, so just use those pins
// mpu_bus_->begin(MPU_SDA, MPU_SCL);
mpu_bus_->begin(MPU_SDA, MPU_SCL, GPIO_PULLUP_ENABLE, GPIO_PULLUP_ENABLE, 100000);
mpu_ = new mpud::MPU(*mpu_bus_);
esp_err_t ret;
mpu_->setAuxI2CBypass(false);
ret = mpu_->testConnection();
if (ret != ESP_OK) {
uint8_t wai = mpu_->whoAmI();
@ -80,27 +81,16 @@ void MPU::Calibrate() {
void MPU::GetData(MpuData &data) {
esp_err_t ret;
// uint8_t mxh, mxl, myh, myl, mzh, mzl, n;
xSemaphoreTake(i2c_mutex, portMAX_DELAY);
if (!xSemaphoreTake(i2c_mutex, pdMS_TO_TICKS(10))) return;
ret = mpu_->motion(&accel_, &gyro_);
uint8_t compass_data[7];
mpu_->setAuxI2CBypass(true);
mpu_bus_->readBytes(mpud::COMPASS_I2CADDRESS, 0x03, 7, compass_data);
mpu_->setAuxI2CBypass(false);
// mpu_->compassReadByte(0x03, &mxl);
// mpu_->compassReadByte(0x04, &mxh);
// mpu_->compassReadByte(0x05, &myl);
// mpu_->compassReadByte(0x06, &myh);
// mpu_->compassReadByte(0x07, &mzl);
// mpu_->compassReadByte(0x08, &mzh);
// mpu_->compassReadByte(0x09, &n);
xSemaphoreGive(i2c_mutex);
if (ret != ESP_OK) {
ESP_LOGE(TAG, "error reading MPU");
}
// int16_t mx = (static_cast<int16_t>(mxh) << 8) | static_cast<int16_t>(mxl);
// int16_t my = (static_cast<int16_t>(myh) << 8) | static_cast<int16_t>(myl);
// int16_t mz = (static_cast<int16_t>(mzh) << 8) | static_cast<int16_t>(mzl);
int16_t mx = (static_cast<int16_t>(compass_data[1]) << 8) |
static_cast<int16_t>(compass_data[0]);
int16_t my = (static_cast<int16_t>(compass_data[3]) << 8) |

2
main/ugv_main.cc
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@ -19,7 +19,7 @@ extern "C" {
SemaphoreHandle_t i2c_mutex;
}
constexpr uint64_t LOOP_PERIOD_US = 1e6 / 100;
constexpr uint64_t LOOP_PERIOD_US = 1e6 / 10;
static const float PI = atanf(1.0) * 4.0;
extern "C" void OnTimeout(void *arg);