change to use NEC920 lib

CREATE-ROCKET · Oct 22, 2023 · 64a56d6 · 64a56d6
1 parent 3c8c657
commit 64a56d6
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Showing 16 changed files with 154 additions and 60 deletions.
diff --git a/.gitignore b/.gitignore
@@ -9,3 +9,5 @@ src/*
 !src/main.cpp
 !src/*/
 !src/README.md
+
+src/RTD_PARAM.h
diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -1,5 +1,5 @@
 {
-    "C_Cpp.clang_format_fallbackStyle": "{ BasedOnStyle: Google, IndentWidth: 4 }",
+    "C_Cpp.clang_format_fallbackStyle": "{ BasedOnStyle: Google, IndentWidth: 4, ColumnLimit: 0 }",
     "editor.formatOnSave": true,
     "editor.formatOnType": true,
     "C_Cpp.errorSquiggles": "disabled",
@@ -52,6 +52,11 @@
         "stdexcept": "cpp",
         "streambuf": "cpp",
         "cinttypes": "cpp",
-        "typeinfo": "cpp"
+        "typeinfo": "cpp",
+        "chrono": "cpp",
+        "condition_variable": "cpp",
+        "ratio": "cpp",
+        "mutex": "cpp",
+        "thread": "cpp"
     },
 }
diff --git a/RFparam/README.md b/RFparam/README.md
@@ -0,0 +1 @@
+# Avi_71L_RTD_param
diff --git a/RFparam/RTD_PARAM.h b/RFparam/RTD_PARAM.h
@@ -0,0 +1,19 @@
+#pragma once
+
+#ifndef RTD_PARAM_H
+#define RTD_PARAM_H
+
+namespace rtdRFparam
+{
+    constexpr uint8_t DST_1 = 0xC2;
+    constexpr uint8_t DST_2 = 0xA0;
+    constexpr uint8_t DST_3 = 0x03;
+    constexpr uint8_t DST_4 = 0xB1;
+
+    constexpr uint8_t POWER = 3;
+    constexpr uint8_t CHANNEL = 37;
+    constexpr uint8_t RF_BAND = 10;
+    constexpr uint8_t CS_MODE = 5;
+}
+
+#endif
diff --git a/lib b/lib
diff --git a/src/com/gimbal/receive.h b/src/com/gimbal/receive.h
@@ -18,7 +18,7 @@ IRAM_ATTR void GimbalReceive(void *parameters) {
     while (!Serial2)
         ;
     char command[1];
-    uint8_t GimbalMode = 0;
+    // uint8_t GimbalMode = 0;
     for (;;) {
         switch (GimbalMode) {
             case 0:  // コマンドを受け取るモード
@@ -65,8 +65,7 @@ IRAM_ATTR void GimbalReceive(void *parameters) {
             default:
                 break;
         }
-        vTaskDelayUntil(&xLastWakeTime,
-                        GimbalPeriod / portTICK_PERIOD_MS);  // 1ms = 1000Hz
+        vTaskDelayUntil(&xLastWakeTime, GimbalPeriod / portTICK_PERIOD_MS);  // 1ms = 1000Hz
     }
 }
 

diff --git a/src/com/ground/receive.h b/src/com/ground/receive.h
@@ -5,25 +5,46 @@
 
 #include <Arduino.h>
 
+#include <NEC920.hpp>
+
+#include "../../domain/setting.h"
+#include "../RFparam/RTD_PARAM.h"
 #include "com/gimbal/send.h"
 
 #define GroundPeriod 1
 
 #define GROUND_COMMAND_START 'a'
 #define GROUND_COMMAND_STOP 'b'
 
+uint8_t j = 0x71;
+
 IRAM_ATTR void GroundReceive(void *parameters) {
     portTickType xLastWakeTime = xTaskGetTickCount();
-    Serial3.begin(9600);
-    while (!Serial3)
-        ;
+    if (!isNec920Setup) {
+        nec920.beginSerial(&Serial1, 38400, pin920Rx, pin920Tx);  // 38400
+        nec920.setPin(pin920Reset, pin920Wakeup, pin920Mode);
+        while (nec920.isBootFinished(400000) == 0)
+            ;
+        nec920.setRfConf(j, rtdRFparam::POWER, rtdRFparam::CHANNEL, rtdRFparam::RF_BAND, rtdRFparam::CS_MODE);
+        isNec920Setup = true;
+    }
     char command[1];
-    uint8_t GroundMode = 0;
+    // uint8_t GroundMode = 0;
+    while ((nec920.isRecieveCmdResult()) && (!nec920.checkCmdResult(j++)))
+        ;
     for (;;) {
         switch (GroundMode) {
             case 0:  // 待機モード
-                if (Serial3.available() > 0) {
-                    Serial3.readBytes(command, 1);
+                if (nec920.recieve() > 0) {
+                    if (nec920.isRecieveCmdData()) {
+                        uint8_t tmpArr[256];
+                        uint8_t datalength = nec920.getRecieveData(tmpArr);
+                        // for (int i = 0; i < datalength; i++) {
+                        //     Serial.printf("%02X,", tmpArr[i]);
+                        // }
+                        // datalengthが1だと仮定して
+                        command[0] = tmpArr[0];
+                    }
                     // Ground_command(command, GroundMode);
                     {
                         switch (command[0]) {
@@ -45,8 +66,16 @@ IRAM_ATTR void GroundReceive(void *parameters) {
                 }
                 break;
             case 1:  // 記録するモード
-                if (Serial3.available() > 0) {
-                    Serial3.read(command, 1);
+                if (nec920.recieve() > 0) {
+                    if (nec920.isRecieveCmdData()) {
+                        uint8_t tmpArr[256];
+                        uint8_t datalength = nec920.getRecieveData(tmpArr);
+                        // for (int i = 0; i < datalength; i++) {
+                        //     Serial.printf("%02X,", tmpArr[i]);
+                        // }
+                        // datalengthが1だと仮定して
+                        command[0] = tmpArr[0];
+                    }
                     // Ground_command(command, GroundMode);
                     {
                         switch (command[0]) {
@@ -70,8 +99,7 @@ IRAM_ATTR void GroundReceive(void *parameters) {
             default:
                 break;
         }
-        vTaskDelayUntil(&xLastWakeTime,
-                        GroundPeriod / portTICK_PERIOD_MS);  // 1ms = 1000Hz
+        vTaskDelayUntil(&xLastWakeTime, GroundPeriod / portTICK_PERIOD_MS);  // 1ms = 1000Hz
     }
 }
 

diff --git a/src/com/ground/send.h b/src/com/ground/send.h
@@ -5,27 +5,40 @@
 
 #include <Arduino.h>
 
+#include <NEC920.hpp>
+
+#include "../../domain/setting.h"
+#include "../RFparam/RTD_PARAM.h"
 #include "domain/setting.h"
 
-#define GroundSendPeriod 1
+#define GroundSendPeriod 40
 
 IRAM_ATTR void GroundSend(void *parameters) {
     portTickType xLastWakeTime = xTaskGetTickCount();
-    Serial3.begin(9600);
-    while (!Serial3)
-        ;
+    if (!isNec920Setup) {
+        nec920.beginSerial(&Serial1, 38400, pin920Rx, pin920Tx);  // 38400
+        nec920.setPin(pin920Reset, pin920Wakeup, pin920Mode);
+        while (nec920.isBootFinished(400000) == 0)
+            ;
+        nec920.setRfConf(j, rtdRFparam::POWER, rtdRFparam::CHANNEL, rtdRFparam::RF_BAND, rtdRFparam::CS_MODE);
+        isNec920Setup = true;
+    }
     for (;;) {
         std::unique_lock<std::mutex> lock(sendDataMutex);
-        for (int i = 0; i < 256; i++) {
-            // 送信
-            Serial3.write(Send_Data[i]);
-            // 配列の初期化
-            Send_Data[i] = 0;
+        // for (int i = 0; i < 256; i++) {
+        //     // 送信
+        //     Serial3.write(Send_Data[i]);
+        //     // 配列の初期化
+        //     Send_Data[i] = 0;
+        // }
+        if (nec920.canSendMsgCheck()) {
+            uint8_t dstID[4] = {rtdRFparam::DST_1, rtdRFparam::DST_2, rtdRFparam::DST_3, rtdRFparam::DST_4};
+            // uint8_t parameter[1] = {0x71};
+            nec920.sendTxCmd(0x13, j, dstID, Send_Data, 1);
         }
         lock.unlock();
         Gimbal_data_count = 0;
-        vTaskDelayUntil(&xLastWakeTime,
-                        GroundSendPeriod / portTICK_PERIOD_MS);  // 1ms = 1000Hz
+        vTaskDelayUntil(&xLastWakeTime, GroundSendPeriod / portTICK_PERIOD_MS);  // 40ms = 25Hz
     }
 }
 

diff --git a/src/domain/accel.h b/src/domain/accel.h
@@ -13,33 +13,31 @@
 class accel {
    public:
     accel() {
-        icm20948 = std::make_shared<ICM>();
+        icm20602 = std::make_shared<ICM>();
         // ICM20948の初期化
-        icm20948->begin(&SPIC2, ICMCS, SPIFREQ);
+        icm20602->begin(&SPIC2, ICMCS, SPIFREQ);
     }
 
     void Get(uint8_t *SPI_FlashBuff, int CountSPIFlashDataSetExistInBuff);
 
    private:
-    std::shared_ptr<ICM> icm20948;
+    std::shared_ptr<ICM> icm20602;
 };
 
 void accel::Get(uint8_t *SPI_FlashBuff, int CountSPIFlashDataSetExistInBuff) {
     int16_t Icm20948ReceiveData[6] = {};
     uint8_t Icm20948_rx_buf[12] = {};
     // 加速度をとる
-    icm20948->Get(Icm20948ReceiveData, Icm20948_rx_buf);
+    icm20602->Get(Icm20948ReceiveData, Icm20948_rx_buf);
 
     // ICM20948の加速度をとる
     for (int index = 10; index < 16; index++) {
-        SPI_FlashBuff[32 * CountSPIFlashDataSetExistInBuff + index] =
-            Icm20948_rx_buf[index - 10];
+        SPI_FlashBuff[32 * CountSPIFlashDataSetExistInBuff + index] = Icm20948_rx_buf[index - 10];
     }
 
     // ICM20948の角速度をとる
     for (int index = 16; index < 22; index++) {
-        SPI_FlashBuff[32 * CountSPIFlashDataSetExistInBuff + index] =
-            Icm20948_rx_buf[index - 10];
+        SPI_FlashBuff[32 * CountSPIFlashDataSetExistInBuff + index] = Icm20948_rx_buf[index - 10];
     }
 }
 

diff --git a/src/domain/pressure.h b/src/domain/pressure.h
@@ -24,14 +24,12 @@ class pressure {
     std::shared_ptr<LPS> lps25;
 };
 
-void pressure::Get(uint8_t *SPI_FlashBuff,
-                   int CountSPIFlashDataSetExistInBuff) {
+void pressure::Get(uint8_t *SPI_FlashBuff, int CountSPIFlashDataSetExistInBuff) {
     uint8_t lps_rx[3] = {};
     // LPSの気圧をとる
     lps25->Get(lps_rx);
     for (int index = 28; index < 31; index++) {
-        SPI_FlashBuff[32 * CountSPIFlashDataSetExistInBuff + index] =
-            lps_rx[index - 28];
+        SPI_FlashBuff[32 * CountSPIFlashDataSetExistInBuff + index] = lps_rx[index - 28];
     }
 }
 

diff --git a/src/domain/setting.h b/src/domain/setting.h
@@ -3,6 +3,7 @@
 #ifndef SETTING_H
 #define SETTING_H
 
+#include <NEC920.hpp>
 #include <mutex>
 
 // ピンの定義
@@ -19,9 +20,18 @@
 #define LEDPIN 18
 #define SPIFREQ 5000000
 
+const int pin920Rx = 18;
+const int pin920Tx = 19;
+const int pin920Reset = 21;
+const int pin920Wakeup = 22;
+const int pin920Mode = 23;
+
 SPICREATE::SPICreate SPIC1;
 SPICREATE::SPICreate SPIC2;
 
+NEC920 nec920;
+bool isNec920Setup = false;
+
 uint8_t GroundMode = 0;
 uint8_t GimbalMode = 0;
 

diff --git a/src/main.cpp b/src/main.cpp
@@ -42,18 +42,14 @@ void setup() {
     delay(1);
 
     // DataWrite関数を起動
-    xTaskCreateUniversal(DataWrite, "DataWrite", 8192, NULL, 1, &taskHandle[0],
-                         PRO_CPU_NUM);
+    xTaskCreateUniversal(DataWrite, "DataWrite", 8192, NULL, 1, &taskHandle[0], PRO_CPU_NUM);
 
     // 通信用関数を起動
     // 受信用
-    xTaskCreateUniversal(GimbalReceive, "GimbalReceive", 8192, NULL, 1,
-                         &taskHandle[1], APP_CPU_NUM);
-    xTaskCreateUniversal(GroundReceive, "GroundReceive", 8192, NULL, 1,
-                         &taskHandle[2], APP_CPU_NUM);
+    xTaskCreateUniversal(GimbalReceive, "GimbalReceive", 8192, NULL, 1, &taskHandle[1], APP_CPU_NUM);
+    xTaskCreateUniversal(GroundReceive, "GroundReceive", 8192, NULL, 1, &taskHandle[2], APP_CPU_NUM);
     // 送信用
-    xTaskCreateUniversal(GroundSend, "GroundSend", 8192, NULL, 1,
-                         &taskHandle[3], APP_CPU_NUM);
+    xTaskCreateUniversal(GroundSend, "GroundSend", 8192, NULL, 1, &taskHandle[3], APP_CPU_NUM);
 }
 
 void loop() {}
diff --git a/src/usecase/format.h b/src/usecase/format.h
@@ -20,7 +20,7 @@ class formatter {
    public:
     formatter() {
         Lps25 = std::make_shared<pressure>();
-        icm20948 = std::make_shared<accel>();
+        icm20602 = std::make_shared<accel>();
         timer = std::make_shared<Log67Timer>();
     }
 
@@ -43,7 +43,7 @@ class formatter {
     // LPS25HBの気圧をとるクラスのインスタンス化
     std::shared_ptr<pressure> Lps25;
     // ICM20948の加速度をとるクラスのインスタンス化
-    std::shared_ptr<accel> icm20948;
+    std::shared_ptr<accel> icm20602;
 
     // Timerクラスのインスタンス化
     std::shared_ptr<Log67Timer> timer;
@@ -59,11 +59,10 @@ void formatter::Format() {
     }
     Record_time = timer->Gettime_record();
     for (int index = 0; index < 4; index++) {
-        SPI_FlashBuff[32 * CountSPIFlashDataSetExistInBuff + index] =
-            0xFF & (Record_time >> (8 * index));
+        SPI_FlashBuff[32 * CountSPIFlashDataSetExistInBuff + index] = 0xFF & (Record_time >> (8 * index));
     }
 
-    icm20948->Get(SPI_FlashBuff, CountSPIFlashDataSetExistInBuff);
+    icm20602->Get(SPI_FlashBuff, CountSPIFlashDataSetExistInBuff);
 
     // LPSの気圧をとる
     if (count_lps % 20 == 0) {

diff --git a/src/usecase/stack.h b/src/usecase/stack.h
@@ -40,8 +40,7 @@ void Ground_Send_Stack(char *command_data) {
     }
     // Gimbalデータが1回で送れる量以下のとき
     if (Gimbal_data_count < OnceNumberOfGimbalData) {
-        Send_Data[OnceNumberOfDataExceptGimbalData + Gimbal_data_count] =
-            command_data[0];
+        Send_Data[OnceNumberOfDataExceptGimbalData + Gimbal_data_count] = command_data[0];
         Gimbal_data_count++;
     } else {  // 1回で送れる量以上にGimbalデータがあるとき
         // cashが満タンでないとき

diff --git a/src/usecase/test_stack.h b/src/usecase/test_stack.h
@@ -0,0 +1,30 @@
+#include "../src/usecase/stack.h"
+#include "gtest/gtest.h"
+
+TEST(Ground_Send_Stack_Test, Test1) {
+    char command_data[] = {'a', 'b', 'c', 'd', 'e', 'f', 'g', 'h', 'i', 'j', 'k', 'l', 'm', 'n', 'o', 'p', 'q', 'r', 's', 't', 'u', 'v', 'w', 'x', 'y', 'z'};
+    Ground_Send_Stack(command_data);
+    // TODO: Add your assertions here
+}
+
+TEST(Ground_Send_Stack_Test, Test2) {
+    char command_data[] = {'1', '2', '3', '4', '5', '6', '7', '8', '9', '0'};
+    Ground_Send_Stack(command_data);
+    // TODO: Add your assertions here
+}
+
+TEST(Ground_Send_Stack_Test, Test3) {
+    char command_data[] = {'a', 'b', 'c', 'd', 'e', 'f', 'g', 'h', 'i', 'j', 'k', 'l', 'm', 'n', 'o', 'p', 'q', 'r', 's', 't', 'u', 'v', 'w', 'x', 'y', 'z'};
+    for (int i = 0; i < 100; i++) {
+        Ground_Send_Stack(command_data);
+    }
+    // TODO: Add your assertions here
+}
+
+TEST(Ground_Send_Stack_Test, Test4) {
+    char command_data[] = {'a', 'b', 'c', 'd', 'e', 'f', 'g', 'h', 'i', 'j', 'k', 'l', 'm', 'n', 'o', 'p', 'q', 'r', 's', 't', 'u', 'v', 'w', 'x', 'y', 'z'};
+    for (int i = 0; i < 1000; i++) {
+        Ground_Send_Stack(command_data);
+    }
+    // TODO: Add your assertions here
+}
+409 −0		NEC920 1.0.0/NEC920.cpp
+86 −0		NEC920 1.0.0/NEC920.hpp
+1 −0		NEC920 1.0.0/NEC920.md
+ −		NEC920 1.0.0/NEC920Flow.drawio.png