remove old folder
This commit is contained in:
parent
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commit
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.pio
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||||||
.vscode/.browse.c_cpp.db*
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||||||
.vscode/c_cpp_properties.json
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||||||
.vscode/launch.json
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||||||
.vscode/ipch
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||||||
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@ -1,67 +0,0 @@
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||||||
# Continuous Integration (CI) is the practice, in software
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||||||
# engineering, of merging all developer working copies with a shared mainline
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||||||
# several times a day < https://docs.platformio.org/page/ci/index.html >
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||||||
#
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||||||
# Documentation:
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|
||||||
#
|
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||||||
# * Travis CI Embedded Builds with PlatformIO
|
|
||||||
# < https://docs.travis-ci.com/user/integration/platformio/ >
|
|
||||||
#
|
|
||||||
# * PlatformIO integration with Travis CI
|
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||||||
# < https://docs.platformio.org/page/ci/travis.html >
|
|
||||||
#
|
|
||||||
# * User Guide for `platformio ci` command
|
|
||||||
# < https://docs.platformio.org/page/userguide/cmd_ci.html >
|
|
||||||
#
|
|
||||||
#
|
|
||||||
# Please choose one of the following templates (proposed below) and uncomment
|
|
||||||
# it (remove "# " before each line) or use own configuration according to the
|
|
||||||
# Travis CI documentation (see above).
|
|
||||||
#
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||||||
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|
||||||
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|
||||||
#
|
|
||||||
# Template #1: General project. Test it using existing `platformio.ini`.
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|
||||||
#
|
|
||||||
|
|
||||||
# language: python
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|
||||||
# python:
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|
||||||
# - "2.7"
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||||||
#
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||||||
# sudo: false
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# cache:
|
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||||||
# directories:
|
|
||||||
# - "~/.platformio"
|
|
||||||
#
|
|
||||||
# install:
|
|
||||||
# - pip install -U platformio
|
|
||||||
# - platformio update
|
|
||||||
#
|
|
||||||
# script:
|
|
||||||
# - platformio run
|
|
||||||
|
|
||||||
|
|
||||||
#
|
|
||||||
# Template #2: The project is intended to be used as a library with examples.
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|
||||||
#
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|
||||||
|
|
||||||
# language: python
|
|
||||||
# python:
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|
||||||
# - "2.7"
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|
||||||
#
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||||||
# sudo: false
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|
||||||
# cache:
|
|
||||||
# directories:
|
|
||||||
# - "~/.platformio"
|
|
||||||
#
|
|
||||||
# env:
|
|
||||||
# - PLATFORMIO_CI_SRC=path/to/test/file.c
|
|
||||||
# - PLATFORMIO_CI_SRC=examples/file.ino
|
|
||||||
# - PLATFORMIO_CI_SRC=path/to/test/directory
|
|
||||||
#
|
|
||||||
# install:
|
|
||||||
# - pip install -U platformio
|
|
||||||
# - platformio update
|
|
||||||
#
|
|
||||||
# script:
|
|
||||||
# - platformio ci --lib="." --board=ID_1 --board=ID_2 --board=ID_N
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||||||
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@ -1,10 +0,0 @@
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{
|
|
||||||
// See http://go.microsoft.com/fwlink/?LinkId=827846
|
|
||||||
// for the documentation about the extensions.json format
|
|
||||||
"recommendations": [
|
|
||||||
"platformio.platformio-ide"
|
|
||||||
],
|
|
||||||
"unwantedRecommendations": [
|
|
||||||
"ms-vscode.cpptools-extension-pack"
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|
||||||
]
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||||||
}
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@ -1,39 +0,0 @@
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|
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||||||
This directory is intended for project header files.
|
|
||||||
|
|
||||||
A header file is a file containing C declarations and macro definitions
|
|
||||||
to be shared between several project source files. You request the use of a
|
|
||||||
header file in your project source file (C, C++, etc) located in `src` folder
|
|
||||||
by including it, with the C preprocessing directive `#include'.
|
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||||||
|
|
||||||
```src/main.c
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|
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#include "header.h"
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|
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int main (void)
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||||||
{
|
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||||||
...
|
|
||||||
}
|
|
||||||
```
|
|
||||||
|
|
||||||
Including a header file produces the same results as copying the header file
|
|
||||||
into each source file that needs it. Such copying would be time-consuming
|
|
||||||
and error-prone. With a header file, the related declarations appear
|
|
||||||
in only one place. If they need to be changed, they can be changed in one
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|
||||||
place, and programs that include the header file will automatically use the
|
|
||||||
new version when next recompiled. The header file eliminates the labor of
|
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||||||
finding and changing all the copies as well as the risk that a failure to
|
|
||||||
find one copy will result in inconsistencies within a program.
|
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||||||
|
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||||||
In C, the usual convention is to give header files names that end with `.h'.
|
|
||||||
It is most portable to use only letters, digits, dashes, and underscores in
|
|
||||||
header file names, and at most one dot.
|
|
||||||
|
|
||||||
Read more about using header files in official GCC documentation:
|
|
||||||
|
|
||||||
* Include Syntax
|
|
||||||
* Include Operation
|
|
||||||
* Once-Only Headers
|
|
||||||
* Computed Includes
|
|
||||||
|
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https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html
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@ -1,46 +0,0 @@
|
||||||
|
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||||||
This directory is intended for project specific (private) libraries.
|
|
||||||
PlatformIO will compile them to static libraries and link into executable file.
|
|
||||||
|
|
||||||
The source code of each library should be placed in a an own separate directory
|
|
||||||
("lib/your_library_name/[here are source files]").
|
|
||||||
|
|
||||||
For example, see a structure of the following two libraries `Foo` and `Bar`:
|
|
||||||
|
|
||||||
|--lib
|
|
||||||
| |
|
|
||||||
| |--Bar
|
|
||||||
| | |--docs
|
|
||||||
| | |--examples
|
|
||||||
| | |--src
|
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||||||
| | |- Bar.c
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||||||
| | |- Bar.h
|
|
||||||
| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
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|
||||||
| |
|
|
||||||
| |--Foo
|
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||||||
| | |- Foo.c
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||||||
| | |- Foo.h
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|
||||||
| |
|
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||||||
| |- README --> THIS FILE
|
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||||||
|
|
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||||||
|- platformio.ini
|
|
||||||
|--src
|
|
||||||
|- main.c
|
|
||||||
|
|
||||||
and a contents of `src/main.c`:
|
|
||||||
```
|
|
||||||
#include <Foo.h>
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|
||||||
#include <Bar.h>
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||||||
|
|
||||||
int main (void)
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||||||
{
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|
||||||
...
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|
||||||
}
|
|
||||||
|
|
||||||
```
|
|
||||||
|
|
||||||
PlatformIO Library Dependency Finder will find automatically dependent
|
|
||||||
libraries scanning project source files.
|
|
||||||
|
|
||||||
More information about PlatformIO Library Dependency Finder
|
|
||||||
- https://docs.platformio.org/page/librarymanager/ldf.html
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||||||
|
|
@ -1,30 +0,0 @@
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||||||
; PlatformIO Project Configuration File
|
|
||||||
;
|
|
||||||
; Build options: build flags, source filter
|
|
||||||
; Upload options: custom upload port, speed and extra flags
|
|
||||||
; Library options: dependencies, extra library storages
|
|
||||||
; Advanced options: extra scripting
|
|
||||||
;
|
|
||||||
; Please visit documentation for the other options and examples
|
|
||||||
; https://docs.platformio.org/page/projectconf.html
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|
||||||
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||||||
;RF24@>=1.3.4 <- vorher benutzt
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[env:genericSTM32F103C8]
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platform = ststm32
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board = genericSTM32F103C8
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framework = arduino
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upload_protocol = serial
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monitor_speed = 115200
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build_flags =
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-D HAVE_HWSERIAL1
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-D HAVE_HWSERIAL3
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lib_deps =
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||||||
https://github.com/maniacbug/RF24
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#include <Arduino.h>
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//Arduino IDE Settings:
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//https://github.com/rogerclarkmelbourne/Arduino_STM32 in arduino/hardware
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//Board: Generic STM32F103C series
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//Upload method: serial
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//20k RAM 64k Flash
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// RX ist A10, TX ist A9 (3v3 level)
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//to flash set boot0 (the one further away from reset button) to 1 and press reset, flash, program executes immediately
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//set boot0 back to 0 to run program on powerup
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//Flashing the hoverbrett controller (bluepill):
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/*
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||||||
* connect uart adapter to serial port cable (the one with more red heatshrink)
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||||||
* (disconnect xt30 power connector)
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||||||
* set jumper on usb uart adapter to output 5V
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||||||
* hold boot0 button (black, the outermost) while powering up (or restarting with small button next to it)
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||||||
* flash
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||||||
*/
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//PA2 may be defective on my bluepill
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#define SERIAL_CONTROL_BAUD 115200 // [-] Baud rate for HoverSerial (used to communicate with the hoverboard)
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#define SERIAL_BAUD 115200 // [-] Baud rate for built-in Serial (used for the Serial Monitor)
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#define START_FRAME 0xABCD // [-] Start frme definition for reliable serial communication
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//#define DEBUG
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//#define PARAMETEROUTPUT
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//void ReceiveSerial2();
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//void SendSerial2(int16_t uSpeedLeft, int16_t uSpeedRight);
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// Structs for serial communication
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typedef struct{
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uint8_t idx = 0; // Index for new data pointer
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uint16_t bufStartFrame; // Buffer Start Frame
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byte *p; // Pointer declaration for the new received data
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byte incomingByte;
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byte incomingBytePrev;
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long lastValidDataSerial_time;
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} SerialRead;
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SerialRead Serialcom;
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typedef struct{
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uint16_t start;
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int16_t speedLeft;
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int16_t speedRight;
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uint16_t checksum;
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} SerialCommand;
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SerialCommand Command;
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typedef struct{ //match this struct to hoverboard-firmware SerialFeedback struct in main.c
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uint16_t start;
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int16_t cmd1;
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int16_t cmd2;
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int16_t speedL_meas; //left speed is positive when driving forward
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int16_t speedR_meas; //right speed is negatie when driving forward
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int16_t batVoltage;
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int16_t boardTemp;
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int16_t curL_DC; //negative values are current consumed. positive values mean generated current
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int16_t curR_DC;
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uint16_t cmdLed;
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uint16_t checksum;
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} SerialFeedback;
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SerialFeedback FeedbackESC;
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SerialFeedback NewFeedbackESC;
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||||||
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||||||
void SendSerial(SerialCommand &scom, int16_t uSpeedLeft, int16_t uSpeedRight, HardwareSerial &SerialRef);
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||||||
bool ReceiveSerial(SerialRead &sread, SerialFeedback &Feedback,SerialFeedback &NewFeedback, HardwareSerial &SerialRef);
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uint8_t error = 0;
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||||||
#define IMU_NO_CHANGE 2 //IMU values did not change for too long
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|
||||||
uint8_t imu_no_change_counter = 0;
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#define PIN_LED PC13
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||||||
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||||||
#define PIN_VBAT PA0 //battery voltage after voltage divider
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||||||
//#define VBAT_DIV_FACTOR 0.010700 //how much voltage (V) equals one adc unit. measured at 40V and averaged
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#define VBAT_DIV_FACTOR 0.01399535423925667828 //how much voltage (V) equals one adc unit. 3444=48.2V
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#define PIN_CURRENT PA1 //output of hall sensor for current measurement
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#define CURRENT_OFFSET 2048 //adc reading at 0A, with CJMCU-758 typically at Vcc/2. measured with actual voltage supply in hoverbrett
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#define CURRENT_FACTOR 0.38461538461538461538 //how much current (A) equals one adc unit. 2045-2032=13 at 5A
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float vbat=0; //battery voltage
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float ibat=0; //battery current
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long last_adcupdated=0;
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#define ADC_UPDATEPERIOD 10 //in ms
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#define SENDPERIOD 20 //ms. delay for sending speed and steer data to motor controller via serial
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||||||
//Status information sending
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||||||
#define PARAMETERSENDPERIOD 50 //delay for sending stat data via nrf24
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long last_parametersend=0;
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||||||
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||||||
#define CONTROLUPDATEPERIOD 10
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long last_controlupdate = 0;
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||||||
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#define PIN_GAMETRAK_LENGTH PA1 //yellow (connector) / orange (gametrak module wires): length
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#define PIN_GAMETRAK_VERTICAL PA3 //orange / red: vertical
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#define PIN_GAMETRAK_HORIZONTAL PA4 //blue / yellow: horizontal
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#define GT_LENGTH_OFFSET 4090 //adc offset value (rolled up value)
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#define GT_LENGTH_MIN 220 //length in mm at which adc values start to change
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#define GT_LENGTH_SCALE -0.73 //(offset-adcvalue)*scale = length[mm] (+length_min)
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||||||
//2720 at 1000mm+220mm -> 1370 for 1000mm ->
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#define GT_LENGTH_MAXLENGTH 2500 //maximum length in [mm]. maximum string length is around 2m80
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||||||
uint16_t gt_length=0; //0=rolled up, 1unit = 1mm
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||||||
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||||||
#define GT_VERTICAL_CENTER 2048 //adc value for center position
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||||||
#define GT_VERTICAL_RANGE 2047 //adc value difference from center to maximum (30 deg)
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||||||
int8_t gt_vertical=0; //0=center. joystick can rotate +-30 degrees. -127 = -30 deg
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||||||
//left = -30 deg, right= 30deg
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||||||
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||||||
#define GT_HORIZONTAL_CENTER 2048 //adc value for center position
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||||||
#define GT_HORIZONTAL_RANGE 2047 //adc value difference from center to maximum (30 deg)
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||||||
int8_t gt_horizontal=0; //0=center
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||||||
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||||||
uint16_t gt_length_set=1000; //set length to keep [mm]
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||||||
#define GT_LENGTH_MINDIFF 10 //[mm] threshold, do not move within gt_length_set-GT_LENGTH_MINDIFF and gt_length_set+GT_LENGTH_MINDIFF
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||||||
float gt_speed_p=0.7; //value to multipy difference [mm] with -> out_speed
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||||||
float gt_speedbackward_p=0.7;
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float gt_steer_p=2.0;
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#define GT_SPEED_LIMIT 300 //maximum out_speed value +
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||||||
#define GT_SPEEDBACKWARD_LIMIT 100//maximum out_speed value (for backward driving) -
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||||||
#define GT_STEER_LIMIT 300 //maximum out_steer value +-
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||||||
#define GT_LENGTH_MAXIMUMDIFFBACKWARD -200 //[mm]. if gt_length_set=1000 and GT_LENGTH_MAXIMUMDIFFBACKWARD=-200 then only drives backward if lenght is greater 800
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||||||
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||||||
//#include <IMUGY85.h>
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||||||
//https://github.com/fookingthg/GY85
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||||||
//ITG3200 and ADXL345 from https://github.com/jrowberg/i2cdevlib/tree/master/Arduino
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||||||
//https://github.com/mechasolution/Mecha_QMC5883L //because QMC5883 on GY85 instead of HMC5883, source: https://circuitdigest.com/microcontroller-projects/digital-compass-with-arduino-and-hmc5883l-magnetometer
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||||||
//in qmc5883L library read values changed from uint16_t to int16_t
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#define IMUUPDATEPERIOD 10 //ms
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//long last_imuupdated = 0;
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//#define MAX_YAWCHANGE 90 //in degrees, if exceeded in one update intervall error will be triggered
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||||||
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/*
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||||||
IMUGY85 imu;
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||||||
double ax, ay, az, gx, gy, gz, roll, pitch, yaw, mx, my, mz, ma;
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||||||
double old_ax, old_ay, old_az, old_gx, old_gy, old_gz, old_roll, old_pitch, old_yaw, old_mx, old_my, old_mz, old_ma;
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||||||
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|
||||||
double setYaw = 0;
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|
||||||
float magalign_multiplier = 0; //how much the magnetometer should influence steering, 0=none, 1=stay aligned
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|
||||||
*/
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|
||||||
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|
||||||
// Lenovo Trackpoint pinout
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|
||||||
//from left to right. pins at bottom. chips on top
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|
||||||
//1 GND (black)
|
|
||||||
//2 Data
|
|
||||||
//3 Clock
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|
||||||
//4 Reset
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|
||||||
//5 +5V (red)
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|
||||||
//6 Right BTN
|
|
||||||
//7 Middle BTN
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|
||||||
//8 Left BTN
|
|
||||||
//pinout: https://martin-prochnow.de/projects/thinkpad_keyboard
|
|
||||||
//see also https://github.com/feklee/usb-trackpoint/blob/master/code/code.ino
|
|
||||||
|
|
||||||
#include <SPI.h>
|
|
||||||
#include "nRF24L01.h"
|
|
||||||
#include "RF24.h"
|
|
||||||
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|
||||||
RF24 radio(PB0, PB1); //ce, cs
|
|
||||||
//SCK D13 (Pro mini), A5 (bluepill)
|
|
||||||
//Miso D12 (Pro mini), A6 (bluepill)
|
|
||||||
//Mosi D11 (Pro mini), A7 (bluepill)
|
|
||||||
|
|
||||||
// Radio pipe addresses for the 2 nodes to communicate.
|
|
||||||
const uint64_t pipes[2] = { 0xF0F0F0F0E1LL, 0xF0F0F0F0D2LL };
|
|
||||||
#define NRF24CHANNEL 75
|
|
||||||
|
|
||||||
struct nrfdata {
|
|
||||||
uint8_t steer;
|
|
||||||
uint8_t speed;
|
|
||||||
uint8_t commands; //bit 0 set = motor enable
|
|
||||||
uint8_t checksum;
|
|
||||||
};
|
|
||||||
|
|
||||||
nrfdata lastnrfdata;
|
|
||||||
long last_nrfreceive = 0; //last time values were received and checksum ok
|
|
||||||
long nrf_delay = 0;
|
|
||||||
#define MAX_NRFDELAY 100 //ms. maximum time delay at which vehicle will disarm
|
|
||||||
|
|
||||||
boolean radiosendOk=false;
|
|
||||||
|
|
||||||
|
|
||||||
//command variables
|
|
||||||
boolean motorenabled = false; //set by nrfdata.commands
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
long last_send = 0;
|
|
||||||
|
|
||||||
int16_t out_speedl = 0; //between -1000 and 1000
|
|
||||||
int16_t out_speedr = 0;
|
|
||||||
int16_t lastsend_out_speedl = 0; //last value transmitted to motor controller
|
|
||||||
int16_t lastsend_out_speedr = 0;
|
|
||||||
int16_t set_speed = 0;
|
|
||||||
int16_t set_steer = 0;
|
|
||||||
uint8_t out_checksum = 0; //0= disable motors, 255=reserved, 1<=checksum<255
|
|
||||||
#define NRFDATA_CENTER 127
|
|
||||||
|
|
||||||
//boolean armed = false;
|
|
||||||
boolean lastpacketOK = false;
|
|
||||||
|
|
||||||
//Gametrak
|
|
||||||
//boolean armed_gt = false;
|
|
||||||
|
|
||||||
uint8_t controlmode=0;
|
|
||||||
#define MODE_DISARMED 0
|
|
||||||
#define MODE_RADIONRF 1
|
|
||||||
#define MODE_GAMETRAK 2
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// Global variables
|
|
||||||
/*
|
|
||||||
uint8_t idx = 0; // Index for new data pointer
|
|
||||||
uint16_t bufStartFrame; // Buffer Start Frame
|
|
||||||
byte *p; // Pointer declaration for the new received data
|
|
||||||
byte incomingByte;
|
|
||||||
byte incomingBytePrev;
|
|
||||||
*/
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
void setup() {
|
|
||||||
|
|
||||||
Serial1.begin(SERIAL_BAUD); //Debug and Program. A9=TX1, A10=RX1 (3v3 level)
|
|
||||||
|
|
||||||
|
|
||||||
Serial3.begin(SERIAL_CONTROL_BAUD); //control. B10=TX3, B11=RX3 (Serial3 is Usart 3)
|
|
||||||
//Serial2 may be dead on my board?
|
|
||||||
|
|
||||||
analogReadResolution(12); //set resolution to 12 bit 0 - 4095
|
|
||||||
|
|
||||||
pinMode(PIN_LED, OUTPUT);
|
|
||||||
digitalWrite(PIN_LED, HIGH);
|
|
||||||
|
|
||||||
|
|
||||||
pinMode(PIN_VBAT,INPUT_ANALOG);
|
|
||||||
pinMode(PIN_CURRENT,INPUT_ANALOG);
|
|
||||||
|
|
||||||
pinMode(PIN_GAMETRAK_LENGTH,INPUT_ANALOG);
|
|
||||||
pinMode(PIN_GAMETRAK_VERTICAL,INPUT_ANALOG);
|
|
||||||
pinMode(PIN_GAMETRAK_HORIZONTAL,INPUT_ANALOG);
|
|
||||||
|
|
||||||
|
|
||||||
#ifdef DEBUG
|
|
||||||
Serial1.println("Initializing nrf24");
|
|
||||||
#endif
|
|
||||||
|
|
||||||
|
|
||||||
Serial1.println("radio begin");
|
|
||||||
radio.begin();
|
|
||||||
|
|
||||||
|
|
||||||
//Serial1.println("set rate");
|
|
||||||
radio.setDataRate( RF24_250KBPS ); //set to slow data rate. default was 1MBPS
|
|
||||||
//radio.setDataRate( RF24_1MBPS );
|
|
||||||
//Serial1.println("set channel");
|
|
||||||
|
|
||||||
radio.setChannel(NRF24CHANNEL); //0 to 124 (inclusive)
|
|
||||||
|
|
||||||
//Serial1.println("set retries and payload");
|
|
||||||
radio.setRetries(15, 15); // optionally, increase the delay between retries & # of retries
|
|
||||||
radio.setPayloadSize(8); // optionally, reduce the payload size. seems to improve reliability
|
|
||||||
|
|
||||||
//Serial1.println("open pipe");
|
|
||||||
radio.openWritingPipe(pipes[0]); //write on pipe 0
|
|
||||||
radio.openReadingPipe(1, pipes[1]); //read on pipe 1
|
|
||||||
|
|
||||||
//Serial1.println("start listening");
|
|
||||||
radio.startListening();
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
#ifdef DEBUG
|
|
||||||
Serial1.println("Initialized");
|
|
||||||
#endif
|
|
||||||
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
void loop() {
|
|
||||||
|
|
||||||
|
|
||||||
//ReceiveSerial2(); // Check for new received data
|
|
||||||
bool newData=ReceiveSerial(Serialcom,FeedbackESC, NewFeedbackESC, Serial3); // Check for new received data
|
|
||||||
|
|
||||||
|
|
||||||
if (millis() - last_adcupdated > ADC_UPDATEPERIOD) { //update analog readings
|
|
||||||
vbat=analogRead(PIN_VBAT)*VBAT_DIV_FACTOR;
|
|
||||||
ibat=(analogRead(PIN_CURRENT)-CURRENT_OFFSET)*CURRENT_FACTOR;
|
|
||||||
|
|
||||||
|
|
||||||
gt_length = constrain(( analogRead(PIN_GAMETRAK_LENGTH))*GT_LENGTH_SCALE - (GT_LENGTH_SCALE*GT_LENGTH_OFFSET) +GT_LENGTH_MIN, 0,GT_LENGTH_MAXLENGTH);
|
|
||||||
if (gt_length<=GT_LENGTH_MIN){
|
|
||||||
gt_length=0; //if below minimum measurable length set to 0mm
|
|
||||||
}
|
|
||||||
gt_vertical = constrain(map(analogRead(PIN_GAMETRAK_VERTICAL)-((int16_t)GT_VERTICAL_CENTER), +GT_VERTICAL_RANGE,-GT_VERTICAL_RANGE,-127,127),-127,127); //left negative
|
|
||||||
gt_horizontal = constrain(map(analogRead(PIN_GAMETRAK_HORIZONTAL)-((int16_t)GT_HORIZONTAL_CENTER), +GT_HORIZONTAL_RANGE,-GT_HORIZONTAL_RANGE,-127,127),-127,127); //down negative
|
|
||||||
|
|
||||||
last_adcupdated = millis();
|
|
||||||
|
|
||||||
|
|
||||||
/*
|
|
||||||
Serial1.print("gt_length=");
|
|
||||||
Serial1.print(gt_length);
|
|
||||||
Serial1.print(", gt_vertical=");
|
|
||||||
Serial1.print(gt_vertical);
|
|
||||||
Serial1.print(", gt_horizontal=");
|
|
||||||
Serial1.println(gt_horizontal);*/
|
|
||||||
|
|
||||||
/*
|
|
||||||
Serial1.print("PIN_GAMETRAK_LENGTH=");
|
|
||||||
Serial1.print(analogRead(PIN_GAMETRAK_LENGTH));
|
|
||||||
Serial1.print(", PIN_GAMETRAK_VERTICAL=");
|
|
||||||
Serial1.print(analogRead(PIN_GAMETRAK_VERTICAL));
|
|
||||||
Serial1.print(", PIN_GAMETRAK_HORIZONTAL=");
|
|
||||||
Serial1.println(analogRead(PIN_GAMETRAK_HORIZONTAL));*/
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
//NRF24
|
|
||||||
nrf_delay = millis() - last_nrfreceive; //update nrf delay
|
|
||||||
if ( radio.available() )
|
|
||||||
{
|
|
||||||
//Serial1.println("radio available ...");
|
|
||||||
|
|
||||||
lastpacketOK = false; //initialize with false, if checksum ok gets set to true
|
|
||||||
digitalWrite(PIN_LED, !digitalRead(PIN_LED));
|
|
||||||
radio.read( &lastnrfdata, sizeof(nrfdata) );
|
|
||||||
|
|
||||||
if (lastnrfdata.speed == NRFDATA_CENTER && lastnrfdata.steer == NRFDATA_CENTER) { //arm only when centered
|
|
||||||
controlmode = MODE_RADIONRF;//set radionrf mode at first received packet
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
uint8_t calcchecksum = (uint8_t)((lastnrfdata.steer + 3) * (lastnrfdata.speed + 13));
|
|
||||||
if (lastnrfdata.checksum == calcchecksum) { //checksum ok?
|
|
||||||
lastpacketOK = true;
|
|
||||||
last_nrfreceive = millis();
|
|
||||||
|
|
||||||
//parse commands
|
|
||||||
motorenabled = (lastnrfdata.commands & (1 << 0))>>0; //check bit 0
|
|
||||||
}
|
|
||||||
|
|
||||||
/*
|
|
||||||
#ifdef DEBUG
|
|
||||||
Serial1.print("Received:");
|
|
||||||
Serial1.print(" st=");
|
|
||||||
Serial1.print(lastnrfdata.steer);
|
|
||||||
Serial1.print(", sp=");
|
|
||||||
Serial1.print(lastnrfdata.speed);
|
|
||||||
Serial1.print(", c=");
|
|
||||||
Serial1.print(lastnrfdata.commands);
|
|
||||||
Serial1.print(", chks=");
|
|
||||||
Serial1.print(lastnrfdata.checksum);
|
|
||||||
|
|
||||||
Serial1.print("nrfdelay=");
|
|
||||||
Serial1.print(nrf_delay);
|
|
||||||
Serial1.println();
|
|
||||||
#endif
|
|
||||||
*/
|
|
||||||
|
|
||||||
//y positive = forward
|
|
||||||
//x positive = right
|
|
||||||
|
|
||||||
/*
|
|
||||||
setYaw+=((int16_t)(lastnrfdata.steer)-NRFDATA_CENTER)*10/127;
|
|
||||||
while (setYaw<0){
|
|
||||||
setYaw+=360;
|
|
||||||
}
|
|
||||||
while (setYaw>=360){
|
|
||||||
setYaw-=360;
|
|
||||||
}*/
|
|
||||||
|
|
||||||
/*
|
|
||||||
Serial1.print("setYaw=");
|
|
||||||
Serial1.print(setYaw);
|
|
||||||
Serial1.print(" Yaw=");
|
|
||||||
Serial1.println(yaw);*/
|
|
||||||
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
if (controlmode == MODE_RADIONRF && nrf_delay >= MAX_NRFDELAY) { //too long since last sucessful nrf receive
|
|
||||||
controlmode = MODE_DISARMED;
|
|
||||||
#ifdef DEBUG
|
|
||||||
Serial1.println("nrf_delay>=MAX_NRFDELAY, disarmed!");
|
|
||||||
#endif
|
|
||||||
}
|
|
||||||
if (controlmode == MODE_RADIONRF) { //is armed in nrf mode
|
|
||||||
|
|
||||||
|
|
||||||
if (lastpacketOK) { //if lastnrfdata is valid
|
|
||||||
if (millis() - last_controlupdate > CONTROLUPDATEPERIOD) {
|
|
||||||
last_controlupdate = millis();
|
|
||||||
|
|
||||||
//out_speed=(int16_t)( (lastnrfdata.y-TRACKPOINT_CENTER)*1000/TRACKPOINT_MAX );
|
|
||||||
//out_steer=(int16_t)( -(lastnrfdata.x-TRACKPOINT_CENTER)*1000/TRACKPOINT_MAX );
|
|
||||||
set_speed = (int16_t)( ((int16_t)(lastnrfdata.speed) - NRFDATA_CENTER) * 1000 / 127 ); //-1000 to 1000
|
|
||||||
set_steer = (int16_t)( ((int16_t)(lastnrfdata.steer) - NRFDATA_CENTER) * 1000 / 127 );
|
|
||||||
|
|
||||||
//align to compass
|
|
||||||
/*
|
|
||||||
double yawdiff = (setYaw - 180) - (yaw - 180); //following angle difference works only for angles [-180,180]. yaw here is [0,360]
|
|
||||||
yawdiff += (yawdiff > 180) ? -360 : (yawdiff < -180) ? 360 : 0;
|
|
||||||
//yawdiff/=2;
|
|
||||||
int yawdiffsign = 1;
|
|
||||||
if (yawdiff < 0) {
|
|
||||||
yawdiffsign = -1;
|
|
||||||
}
|
|
||||||
yawdiff = yawdiff * yawdiff; //square
|
|
||||||
yawdiff = constrain(yawdiff * 1 , 0, 800);
|
|
||||||
yawdiff *= yawdiffsign; //redo sign
|
|
||||||
int16_t set_steer_mag = (int16_t)( yawdiff );
|
|
||||||
|
|
||||||
float new_magalign_multiplier = map( abs((int16_t)(lastnrfdata.steer) - NRFDATA_CENTER), 2, 10, 1.0, 0.0); //0=normal steering, 1=only mag steering
|
|
||||||
new_magalign_multiplier = 0; //Force mag off
|
|
||||||
new_magalign_multiplier = constrain(new_magalign_multiplier, 0.0, 1.0);
|
|
||||||
|
|
||||||
magalign_multiplier = min(new_magalign_multiplier, min(1.0, magalign_multiplier + 0.01)); //go down fast, slowly increase
|
|
||||||
magalign_multiplier = constrain(magalign_multiplier, 0.0, 1.0); //safety constrain again
|
|
||||||
|
|
||||||
set_steer = set_steer * (1 - magalign_multiplier) + set_steer_mag * magalign_multiplier;
|
|
||||||
*/
|
|
||||||
|
|
||||||
//calculate speed l and r from speed and steer
|
|
||||||
#define SPEED_COEFFICIENT_NRF 1 // higher value == stronger
|
|
||||||
#define STEER_COEFFICIENT_NRF 0.5 // higher value == stronger
|
|
||||||
out_speedl = constrain(set_speed * SPEED_COEFFICIENT_NRF + set_steer * STEER_COEFFICIENT_NRF, -1500, 1500);
|
|
||||||
out_speedr = constrain(set_speed * SPEED_COEFFICIENT_NRF - set_steer * STEER_COEFFICIENT_NRF, -1500, 1500);
|
|
||||||
|
|
||||||
/*
|
|
||||||
Serial1.print("Out steer=");
|
|
||||||
Serial1.println(out_steer);*/
|
|
||||||
}
|
|
||||||
}//if pastpacket not ok, keep last out_steer and speed values until disarmed
|
|
||||||
|
|
||||||
|
|
||||||
#ifdef DEBUG
|
|
||||||
if (!lastpacketOK) {
|
|
||||||
Serial1.println("Armed but packet not ok");
|
|
||||||
}
|
|
||||||
#endif
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
if (controlmode==MODE_DISARMED) { //check if gametrak can be armed
|
|
||||||
if (gt_length>gt_length_set && gt_length<gt_length_set+10) { //is in trackable length
|
|
||||||
controlmode=MODE_GAMETRAK; //enable gametrak mode
|
|
||||||
Serial1.println("Enable Gametrak");
|
|
||||||
}
|
|
||||||
}else if (controlmode==MODE_GAMETRAK){ //gametrak control active and not remote active
|
|
||||||
//Gametrak Control Code
|
|
||||||
motorenabled=true;
|
|
||||||
if (gt_length<=GT_LENGTH_MIN){ //let go
|
|
||||||
Serial1.println("gametrak released");
|
|
||||||
controlmode=MODE_DISARMED;
|
|
||||||
motorenabled=false;
|
|
||||||
}
|
|
||||||
int16_t _gt_length_diff = gt_length-gt_length_set; //positive if needs to drive forward
|
|
||||||
if (_gt_length_diff>-GT_LENGTH_MINDIFF & _gt_length_diff<GT_LENGTH_MINDIFF){ //minimum difference to drive
|
|
||||||
_gt_length_diff=0; //threshold
|
|
||||||
}
|
|
||||||
|
|
||||||
set_steer=constrain((int16_t)(-gt_horizontal*gt_steer_p),-GT_STEER_LIMIT,GT_STEER_LIMIT); //steer positive is left //gt_horizontal left is negative
|
|
||||||
|
|
||||||
if (_gt_length_diff>0) { //needs to drive forward
|
|
||||||
set_speed = constrain((int16_t)(_gt_length_diff*gt_speed_p),0,GT_SPEED_LIMIT);
|
|
||||||
}else{ //drive backward
|
|
||||||
if (_gt_length_diff > GT_LENGTH_MAXIMUMDIFFBACKWARD){ //only drive if not pulled back too much
|
|
||||||
set_speed = constrain((int16_t)(_gt_length_diff*gt_speedbackward_p),-GT_SPEEDBACKWARD_LIMIT,0);
|
|
||||||
}else{
|
|
||||||
set_speed = 0; //stop
|
|
||||||
set_steer = 0;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
//calculate speed l and r from speed and steer
|
|
||||||
#define SPEED_COEFFICIENT_GT 1 // higher value == stronger
|
|
||||||
#define STEER_COEFFICIENT_GT 0.5 // higher value == stronger
|
|
||||||
out_speedl = constrain(set_speed * SPEED_COEFFICIENT_GT + set_steer * STEER_COEFFICIENT_GT, -1000, 1000);
|
|
||||||
out_speedr = constrain(set_speed * SPEED_COEFFICIENT_GT - set_steer * STEER_COEFFICIENT_GT, -1000, 1000);
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
if (error > 0) { //disarm if error occured
|
|
||||||
controlmode = MODE_DISARMED; //force disarmed
|
|
||||||
}
|
|
||||||
|
|
||||||
if (controlmode == MODE_DISARMED){ //all disarmed
|
|
||||||
out_speedl = 0;
|
|
||||||
out_speedr = 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
if (millis() - last_send > SENDPERIOD) {
|
|
||||||
//calculate checksum
|
|
||||||
out_checksum = ((uint8_t) ((uint8_t)out_speedl) * ((uint8_t)out_speedr)); //simple checksum
|
|
||||||
if (out_checksum == 0 || out_checksum == 255) {
|
|
||||||
out_checksum = 1; //cannot be 0 or 255 (special purpose)
|
|
||||||
}
|
|
||||||
|
|
||||||
if (!motorenabled) { //disable motors?
|
|
||||||
out_checksum = 0; //checksum=0 disables motors
|
|
||||||
}
|
|
||||||
|
|
||||||
if (motorenabled) { //motors enabled
|
|
||||||
//SendSerial2(out_speedl,out_speedr);
|
|
||||||
SendSerial(Command,out_speedl,out_speedr,Serial3);
|
|
||||||
} else { //motors disabled
|
|
||||||
//SendSerial2(0,0);
|
|
||||||
SendSerial(Command,0,0,Serial3);
|
|
||||||
}
|
|
||||||
lastsend_out_speedl = out_speedl; //remember last transmittet values (for stat sending)
|
|
||||||
lastsend_out_speedr = out_speedr;
|
|
||||||
last_send = millis();
|
|
||||||
|
|
||||||
|
|
||||||
#ifdef DEBUG
|
|
||||||
Serial1.print(" out_speedl=");
|
|
||||||
Serial1.print(out_speedl);
|
|
||||||
Serial1.print(" out_speedr=");
|
|
||||||
Serial1.print(out_speedr);
|
|
||||||
Serial1.print(" checksum=");
|
|
||||||
Serial1.print(out_checksum);
|
|
||||||
|
|
||||||
Serial1.print(" controlmode=");
|
|
||||||
Serial1.print(controlmode);
|
|
||||||
|
|
||||||
Serial1.println();
|
|
||||||
|
|
||||||
#endif
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
//
|
|
||||||
#ifdef PARAMETEROUTPUT
|
|
||||||
if ( millis() - last_parametersend > PARAMETERSENDPERIOD) {
|
|
||||||
//Serial.write((uint8_t *) &counter, sizeof(counter));//uint8_t, 1 byte
|
|
||||||
//Serial.write((uint8_t *) &value1, sizeof(value1)); //uint16_t, 2 bytes
|
|
||||||
//Serial.write((uint8_t *) &value2, sizeof(value2)); //int16_t, 2 bytes
|
|
||||||
//Serial.write((uint8_t *) &floatvalue, sizeof(floatvalue)); //float, 4 bytes
|
|
||||||
|
|
||||||
uint8_t booleanvalues=0; //reset
|
|
||||||
booleanvalues |= motorenabled<<0; //bit 0
|
|
||||||
booleanvalues |= (controlmode&0b00000011)<<1; //bit 1 and 2 (2bit number for controlmodes (3)
|
|
||||||
|
|
||||||
Serial.write((uint8_t *) &out_speedl, sizeof(out_speedl)); //int16_t, 2 bytes
|
|
||||||
Serial.write((uint8_t *) &out_speedr, sizeof(out_speedr)); //int16_t, 2 bytes
|
|
||||||
Serial.write((uint8_t *) &booleanvalues, sizeof(booleanvalues)); //uint8_t, 1 byte //booleanvalues
|
|
||||||
Serial.write((uint8_t *) &vbat, sizeof(vbat)); //float, 4 bytes
|
|
||||||
//Serial.write((uint8_t *) &ibat, sizeof(ibat)); //float, 4 bytes
|
|
||||||
float yaw_float=yaw;
|
|
||||||
Serial.write((uint8_t *) &yaw_float, sizeof(yaw_float)); //float, 4 bytes
|
|
||||||
Serial.write((uint8_t *) >_length, sizeof(gt_length)); //uint16_t, 2 bytes
|
|
||||||
Serial.write((uint8_t *) >_horizontal, sizeof(gt_horizontal)); //int8_t, 1 byte
|
|
||||||
Serial.write((uint8_t *) >_vertical, sizeof(gt_vertical)); //int8_t, 1 byte
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
last_parametersend = millis();
|
|
||||||
}
|
|
||||||
#endif
|
|
||||||
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
/*
|
|
||||||
void sendRF(nrfstatdata senddata){
|
|
||||||
#ifdef DEBUG
|
|
||||||
Serial1.println("Transmitting...");
|
|
||||||
#endif
|
|
||||||
|
|
||||||
radio.stopListening(); //stop listening to be able to transmit
|
|
||||||
radiosendOk = radio.write( &senddata, sizeof(nrfstatdata) );
|
|
||||||
if (!radiosendOk){
|
|
||||||
#ifdef DEBUG
|
|
||||||
Serial1.println("send failed");
|
|
||||||
#endif
|
|
||||||
}
|
|
||||||
radio.startListening(); //start listening again
|
|
||||||
}
|
|
||||||
*/
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// ########################## SEND ##########################
|
|
||||||
void SendSerial(SerialCommand &scom, int16_t uSpeedLeft, int16_t uSpeedRight, HardwareSerial &SerialRef)
|
|
||||||
{
|
|
||||||
// Create command
|
|
||||||
scom.start = (uint16_t)START_FRAME;
|
|
||||||
scom.speedLeft = (int16_t)uSpeedLeft;
|
|
||||||
scom.speedRight = (int16_t)uSpeedRight;
|
|
||||||
scom.checksum = (uint16_t)(scom.start ^ scom.speedLeft ^ scom.speedRight);
|
|
||||||
|
|
||||||
SerialRef.write((uint8_t *) &scom, sizeof(scom));
|
|
||||||
}
|
|
||||||
/*
|
|
||||||
void SendSerial2(int16_t uSpeedLeft, int16_t uSpeedRight)
|
|
||||||
{
|
|
||||||
// Create command
|
|
||||||
Command.start = (uint16_t)START_FRAME;
|
|
||||||
Command.speedLeft = (int16_t)uSpeedLeft;
|
|
||||||
Command.speedRight = (int16_t)uSpeedRight;
|
|
||||||
Command.checksum = (uint16_t)(Command.start ^ Command.speedLeft ^ Command.speedRight);
|
|
||||||
|
|
||||||
// Write to Serial
|
|
||||||
Serial2.write((uint8_t *) &Command, sizeof(Command));
|
|
||||||
}*/
|
|
||||||
|
|
||||||
// ########################## RECEIVE ##########################
|
|
||||||
|
|
||||||
bool ReceiveSerial(SerialRead &sread, SerialFeedback &Feedback,SerialFeedback &NewFeedback, HardwareSerial &SerialRef)
|
|
||||||
{
|
|
||||||
bool _result=1;
|
|
||||||
// Check for new data availability in the Serial buffer
|
|
||||||
if ( SerialRef.available() ) {
|
|
||||||
sread.incomingByte = SerialRef.read(); // Read the incoming byte
|
|
||||||
sread.bufStartFrame = ((uint16_t)(sread.incomingByte) << 8) | sread.incomingBytePrev; // Construct the start frame
|
|
||||||
}
|
|
||||||
else {
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
// If DEBUG_RX is defined print all incoming bytes
|
|
||||||
#ifdef DEBUG_RX
|
|
||||||
Serial.print(sread.incomingByte);
|
|
||||||
#endif
|
|
||||||
|
|
||||||
// Copy received data
|
|
||||||
if (sread.bufStartFrame == START_FRAME) { // Initialize if new data is detected
|
|
||||||
sread.p = (byte *)&NewFeedback;
|
|
||||||
*sread.p++ = sread.incomingBytePrev;
|
|
||||||
*sread.p++ = sread.incomingByte;
|
|
||||||
sread.idx = 2;
|
|
||||||
} else if (sread.idx >= 2 && sread.idx < sizeof(SerialFeedback)) { // Save the new received data
|
|
||||||
*sread.p++ = sread.incomingByte;
|
|
||||||
sread.idx++;
|
|
||||||
}
|
|
||||||
|
|
||||||
// Check if we reached the end of the package
|
|
||||||
if (sread.idx == sizeof(SerialFeedback)) {
|
|
||||||
uint16_t checksum;
|
|
||||||
|
|
||||||
checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2
|
|
||||||
^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp ^ NewFeedback.curL_DC ^ NewFeedback.curR_DC ^ NewFeedback.cmdLed);
|
|
||||||
|
|
||||||
// Check validity of the new data
|
|
||||||
if (NewFeedback.start == START_FRAME && checksum == NewFeedback.checksum) {
|
|
||||||
// Copy the new data
|
|
||||||
memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback));
|
|
||||||
sread.lastValidDataSerial_time = millis();
|
|
||||||
} else {
|
|
||||||
_result=0;
|
|
||||||
}
|
|
||||||
sread.idx = 0; // Reset the index (it prevents to enter in this if condition in the next cycle)
|
|
||||||
}
|
|
||||||
/*
|
|
||||||
// Print data to built-in Serial
|
|
||||||
Serial1.print("1: "); Serial.print(Feedback.cmd1);
|
|
||||||
Serial1.print(" 2: "); Serial.print(Feedback.cmd2);
|
|
||||||
Serial1.print(" 3: "); Serial.print(Feedback.speedR);
|
|
||||||
Serial1.print(" 4: "); Serial.print(Feedback.speedL);
|
|
||||||
Serial1.print(" 5: "); Serial.print(Feedback.speedR_meas);
|
|
||||||
Serial1.print(" 6: "); Serial.print(Feedback.speedL_meas);
|
|
||||||
Serial1.print(" 7: "); Serial.print(Feedback.batVoltage);
|
|
||||||
Serial1.print(" 8: "); Serial.println(Feedback.boardTemp);
|
|
||||||
} else {
|
|
||||||
Serial1.println("Non-valid data skipped");
|
|
||||||
}*/
|
|
||||||
|
|
||||||
// Update previous states
|
|
||||||
sread.incomingBytePrev = sread.incomingByte;
|
|
||||||
|
|
||||||
return _result; //new data was available
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
/*
|
|
||||||
void ReceiveSerial2()
|
|
||||||
{
|
|
||||||
// Check for new data availability in the Serial buffer
|
|
||||||
if (Serial2.available()) {
|
|
||||||
incomingByte = Serial2.read(); // Read the incoming byte
|
|
||||||
bufStartFrame = ((uint16_t)(incomingBytePrev) << 8) + incomingByte; // Construct the start frame
|
|
||||||
}
|
|
||||||
else {
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
// If DEBUG_RX is defined print all incoming bytes
|
|
||||||
#ifdef DEBUG_RX
|
|
||||||
Serial.print(incomingByte);
|
|
||||||
return;
|
|
||||||
#endif
|
|
||||||
|
|
||||||
// Copy received data
|
|
||||||
if (bufStartFrame == START_FRAME) { // Initialize if new data is detected
|
|
||||||
p = (byte *)&NewFeedback;
|
|
||||||
*p++ = incomingBytePrev;
|
|
||||||
*p++ = incomingByte;
|
|
||||||
idx = 2;
|
|
||||||
} else if (idx >= 2 && idx < sizeof(SerialFeedback)) { // Save the new received data
|
|
||||||
*p++ = incomingByte;
|
|
||||||
idx++;
|
|
||||||
}
|
|
||||||
|
|
||||||
// Check if we reached the end of the package
|
|
||||||
if (idx == sizeof(SerialFeedback)) {
|
|
||||||
uint16_t checksum;
|
|
||||||
checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR ^ NewFeedback.speedL
|
|
||||||
^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp ^ NewFeedback.curL_DC ^ NewFeedback.curR_DC);
|
|
||||||
// Check validity of the new data
|
|
||||||
if (NewFeedback.start == START_FRAME && checksum == NewFeedback.checksum) {
|
|
||||||
|
|
||||||
// Copy the new data
|
|
||||||
memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback));
|
|
||||||
|
|
||||||
// Print data to built-in Serial
|
|
||||||
Serial.print("1: "); Serial.print(Feedback.cmd1);
|
|
||||||
Serial.print(" 2: "); Serial.print(Feedback.cmd2);
|
|
||||||
Serial.print(" 3: "); Serial.print(Feedback.speedR);
|
|
||||||
Serial.print(" 4: "); Serial.print(Feedback.speedL);
|
|
||||||
Serial.print(" 5: "); Serial.print(Feedback.speedR_meas);
|
|
||||||
Serial.print(" 6: "); Serial.print(Feedback.speedL_meas);
|
|
||||||
//Serial.print(" 7: "); Serial.print(Feedback.batVoltage);
|
|
||||||
//Serial.print(" 8: "); Serial.println(Feedback.boardTemp);
|
|
||||||
Serial.print(" 9: "); Serial.print(Feedback.curL_DC); //in A, in hoverbrett negative sign for forward
|
|
||||||
Serial.print(" 10: "); Serial.println(Feedback.curR_DC); //in A, in hoverbrett negative sign for forward
|
|
||||||
|
|
||||||
Serial.print(" 9: "); Serial.println(Feedback.curL_DC); //in A, in hoverbrett negative sign for forward
|
|
||||||
} else {
|
|
||||||
Serial.println("Non-valid data skipped");
|
|
||||||
}
|
|
||||||
idx = 0; // Reset the index (it prevents to enter in this if condition in the next cycle)
|
|
||||||
}
|
|
||||||
|
|
||||||
// Update previous states
|
|
||||||
incomingBytePrev = incomingByte;
|
|
||||||
}
|
|
||||||
*/
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
@ -1,11 +0,0 @@
|
||||||
|
|
||||||
This directory is intended for PIO Unit Testing and project tests.
|
|
||||||
|
|
||||||
Unit Testing is a software testing method by which individual units of
|
|
||||||
source code, sets of one or more MCU program modules together with associated
|
|
||||||
control data, usage procedures, and operating procedures, are tested to
|
|
||||||
determine whether they are fit for use. Unit testing finds problems early
|
|
||||||
in the development cycle.
|
|
||||||
|
|
||||||
More information about PIO Unit Testing:
|
|
||||||
- https://docs.platformio.org/page/plus/unit-testing.html
|
|
||||||
|
|
@ -5,6 +5,231 @@
|
||||||
(paper "A4")
|
(paper "A4")
|
||||||
|
|
||||||
(lib_symbols
|
(lib_symbols
|
||||||
|
(symbol "Connector_Generic:Conn_01x04" (pin_names (offset 1.016) hide) (in_bom yes) (on_board yes)
|
||||||
|
(property "Reference" "J" (id 0) (at 0 5.08 0)
|
||||||
|
(effects (font (size 1.27 1.27)))
|
||||||
|
)
|
||||||
|
(property "Value" "Conn_01x04" (id 1) (at 0 -7.62 0)
|
||||||
|
(effects (font (size 1.27 1.27)))
|
||||||
|
)
|
||||||
|
(property "Footprint" "" (id 2) (at 0 0 0)
|
||||||
|
(effects (font (size 1.27 1.27)) hide)
|
||||||
|
)
|
||||||
|
(property "Datasheet" "~" (id 3) (at 0 0 0)
|
||||||
|
(effects (font (size 1.27 1.27)) hide)
|
||||||
|
)
|
||||||
|
(property "ki_keywords" "connector" (id 4) (at 0 0 0)
|
||||||
|
(effects (font (size 1.27 1.27)) hide)
|
||||||
|
)
|
||||||
|
(property "ki_description" "Generic connector, single row, 01x04, script generated (kicad-library-utils/schlib/autogen/connector/)" (id 5) (at 0 0 0)
|
||||||
|
(effects (font (size 1.27 1.27)) hide)
|
||||||
|
)
|
||||||
|
(property "ki_fp_filters" "Connector*:*_1x??_*" (id 6) (at 0 0 0)
|
||||||
|
(effects (font (size 1.27 1.27)) hide)
|
||||||
|
)
|
||||||
|
(symbol "Conn_01x04_1_1"
|
||||||
|
(rectangle (start -1.27 -4.953) (end 0 -5.207)
|
||||||
|
(stroke (width 0.1524) (type default) (color 0 0 0 0))
|
||||||
|
(fill (type none))
|
||||||
|
)
|
||||||
|
(rectangle (start -1.27 -2.413) (end 0 -2.667)
|
||||||
|
(stroke (width 0.1524) (type default) (color 0 0 0 0))
|
||||||
|
(fill (type none))
|
||||||
|
)
|
||||||
|
(rectangle (start -1.27 0.127) (end 0 -0.127)
|
||||||
|
(stroke (width 0.1524) (type default) (color 0 0 0 0))
|
||||||
|
(fill (type none))
|
||||||
|
)
|
||||||
|
(rectangle (start -1.27 2.667) (end 0 2.413)
|
||||||
|
(stroke (width 0.1524) (type default) (color 0 0 0 0))
|
||||||
|
(fill (type none))
|
||||||
|
)
|
||||||
|
(rectangle (start -1.27 3.81) (end 1.27 -6.35)
|
||||||
|
(stroke (width 0.254) (type default) (color 0 0 0 0))
|
||||||
|
(fill (type background))
|
||||||
|
)
|
||||||
|
(pin passive line (at -5.08 2.54 0) (length 3.81)
|
||||||
|
(name "Pin_1" (effects (font (size 1.27 1.27))))
|
||||||
|
(number "1" (effects (font (size 1.27 1.27))))
|
||||||
|
)
|
||||||
|
(pin passive line (at -5.08 0 0) (length 3.81)
|
||||||
|
(name "Pin_2" (effects (font (size 1.27 1.27))))
|
||||||
|
(number "2" (effects (font (size 1.27 1.27))))
|
||||||
|
)
|
||||||
|
(pin passive line (at -5.08 -2.54 0) (length 3.81)
|
||||||
|
(name "Pin_3" (effects (font (size 1.27 1.27))))
|
||||||
|
(number "3" (effects (font (size 1.27 1.27))))
|
||||||
|
)
|
||||||
|
(pin passive line (at -5.08 -5.08 0) (length 3.81)
|
||||||
|
(name "Pin_4" (effects (font (size 1.27 1.27))))
|
||||||
|
(number "4" (effects (font (size 1.27 1.27))))
|
||||||
|
)
|
||||||
|
)
|
||||||
|
)
|
||||||
|
(symbol "Connector_Generic:Conn_01x06" (pin_names (offset 1.016) hide) (in_bom yes) (on_board yes)
|
||||||
|
(property "Reference" "J" (id 0) (at 0 7.62 0)
|
||||||
|
(effects (font (size 1.27 1.27)))
|
||||||
|
)
|
||||||
|
(property "Value" "Conn_01x06" (id 1) (at 0 -10.16 0)
|
||||||
|
(effects (font (size 1.27 1.27)))
|
||||||
|
)
|
||||||
|
(property "Footprint" "" (id 2) (at 0 0 0)
|
||||||
|
(effects (font (size 1.27 1.27)) hide)
|
||||||
|
)
|
||||||
|
(property "Datasheet" "~" (id 3) (at 0 0 0)
|
||||||
|
(effects (font (size 1.27 1.27)) hide)
|
||||||
|
)
|
||||||
|
(property "ki_keywords" "connector" (id 4) (at 0 0 0)
|
||||||
|
(effects (font (size 1.27 1.27)) hide)
|
||||||
|
)
|
||||||
|
(property "ki_description" "Generic connector, single row, 01x06, script generated (kicad-library-utils/schlib/autogen/connector/)" (id 5) (at 0 0 0)
|
||||||
|
(effects (font (size 1.27 1.27)) hide)
|
||||||
|
)
|
||||||
|
(property "ki_fp_filters" "Connector*:*_1x??_*" (id 6) (at 0 0 0)
|
||||||
|
(effects (font (size 1.27 1.27)) hide)
|
||||||
|
)
|
||||||
|
(symbol "Conn_01x06_1_1"
|
||||||
|
(rectangle (start -1.27 -7.493) (end 0 -7.747)
|
||||||
|
(stroke (width 0.1524) (type default) (color 0 0 0 0))
|
||||||
|
(fill (type none))
|
||||||
|
)
|
||||||
|
(rectangle (start -1.27 -4.953) (end 0 -5.207)
|
||||||
|
(stroke (width 0.1524) (type default) (color 0 0 0 0))
|
||||||
|
(fill (type none))
|
||||||
|
)
|
||||||
|
(rectangle (start -1.27 -2.413) (end 0 -2.667)
|
||||||
|
(stroke (width 0.1524) (type default) (color 0 0 0 0))
|
||||||
|
(fill (type none))
|
||||||
|
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|
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|
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(number "1" (effects (font (size 1.27 1.27))))
|
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|
)
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|
||||||
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(number "2" (effects (font (size 1.27 1.27))))
|
||||||
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)
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||||||
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|
||||||
|
(number "3" (effects (font (size 1.27 1.27))))
|
||||||
|
)
|
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|
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|
||||||
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(number "4" (effects (font (size 1.27 1.27))))
|
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)
|
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|
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|
||||||
|
(number "5" (effects (font (size 1.27 1.27))))
|
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|
)
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(number "6" (effects (font (size 1.27 1.27))))
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|
)
|
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|
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(effects (font (size 1.27 1.27)) hide)
|
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|
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(effects (font (size 1.27 1.27)) hide)
|
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|
)
|
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(property "ki_description" "Ultra low power 2.4GHz RF Transceiver, Carrier PCB" (id 5) (at 0 0 0)
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(effects (font (size 1.27 1.27)) hide)
|
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|
)
|
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|
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(effects (font (size 1.27 1.27)) hide)
|
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|
)
|
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|
(symbol "NRF24L01_Breakout_0_1"
|
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|
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(stroke (width 0.254) (type default) (color 0 0 0 0))
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(fill (type background))
|
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|
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(fill (type outline))
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(fill (type none))
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(fill (type none))
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(fill (type none))
|
||||||
|
)
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|
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|
(symbol "NRF24L01_Breakout_1_1"
|
||||||
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|
||||||
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(number "1" (effects (font (size 1.27 1.27))))
|
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||||||
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|
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|
||||||
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(number "2" (effects (font (size 1.27 1.27))))
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||||||
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|
||||||
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(name "CE" (effects (font (size 1.27 1.27))))
|
||||||
|
(number "3" (effects (font (size 1.27 1.27))))
|
||||||
|
)
|
||||||
|
(pin input line (at -12.7 0 0) (length 3.81)
|
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(name "~{CSN}" (effects (font (size 1.27 1.27))))
|
||||||
|
(number "4" (effects (font (size 1.27 1.27))))
|
||||||
|
)
|
||||||
|
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|
||||||
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(name "SCK" (effects (font (size 1.27 1.27))))
|
||||||
|
(number "5" (effects (font (size 1.27 1.27))))
|
||||||
|
)
|
||||||
|
(pin input line (at -12.7 7.62 0) (length 3.81)
|
||||||
|
(name "MOSI" (effects (font (size 1.27 1.27))))
|
||||||
|
(number "6" (effects (font (size 1.27 1.27))))
|
||||||
|
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|
||||||
|
(pin output line (at -12.7 5.08 0) (length 3.81)
|
||||||
|
(name "MISO" (effects (font (size 1.27 1.27))))
|
||||||
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(number "7" (effects (font (size 1.27 1.27))))
|
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|
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|
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|
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(name "IRQ" (effects (font (size 1.27 1.27))))
|
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(number "8" (effects (font (size 1.27 1.27))))
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|
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|
)
|
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|
)
|
||||||
(symbol "Teensy:Teensy3.2" (pin_names (offset 1.016)) (in_bom yes) (on_board yes)
|
(symbol "Teensy:Teensy3.2" (pin_names (offset 1.016)) (in_bom yes) (on_board yes)
|
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(effects (font (size 1.524 1.524)))
|
(effects (font (size 1.524 1.524)))
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|
|
@ -251,20 +476,527 @@
|
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)
|
)
|
||||||
)
|
)
|
||||||
)
|
)
|
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|
(symbol "power:+3V3" (power) (pin_names (offset 0)) (in_bom yes) (on_board yes)
|
||||||
|
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|
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|
(effects (font (size 1.27 1.27)) hide)
|
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|
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|
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|
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|
(effects (font (size 1.27 1.27)))
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|
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|
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|
(effects (font (size 1.27 1.27)) hide)
|
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|
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|
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(property "Datasheet" "" (id 3) (at 0 0 0)
|
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(effects (font (size 1.27 1.27)) hide)
|
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|
)
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|
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|
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|
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|
(effects (font (size 1.27 1.27)) hide)
|
||||||
|
)
|
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|
(symbol "+3V3_0_1"
|
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|
(polyline
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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(stroke (width 0) (type default) (color 0 0 0 0))
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
(stroke (width 0) (type default) (color 0 0 0 0))
|
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|
(fill (type none))
|
||||||
|
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|
||||||
|
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|
||||||
|
(symbol "+3V3_1_1"
|
||||||
|
(pin power_in line (at 0 0 90) (length 0) hide
|
||||||
|
(name "+3V3" (effects (font (size 1.27 1.27))))
|
||||||
|
(number "1" (effects (font (size 1.27 1.27))))
|
||||||
|
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|
||||||
|
)
|
||||||
|
)
|
||||||
|
(symbol "power:+5V" (power) (pin_names (offset 0)) (in_bom yes) (on_board yes)
|
||||||
|
(property "Reference" "#PWR" (id 0) (at 0 -3.81 0)
|
||||||
|
(effects (font (size 1.27 1.27)) hide)
|
||||||
|
)
|
||||||
|
(property "Value" "+5V" (id 1) (at 0 3.556 0)
|
||||||
|
(effects (font (size 1.27 1.27)))
|
||||||
|
)
|
||||||
|
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|
||||||
|
(effects (font (size 1.27 1.27)) hide)
|
||||||
|
)
|
||||||
|
(property "Datasheet" "" (id 3) (at 0 0 0)
|
||||||
|
(effects (font (size 1.27 1.27)) hide)
|
||||||
|
)
|
||||||
|
(property "ki_keywords" "power-flag" (id 4) (at 0 0 0)
|
||||||
|
(effects (font (size 1.27 1.27)) hide)
|
||||||
|
)
|
||||||
|
(property "ki_description" "Power symbol creates a global label with name \"+5V\"" (id 5) (at 0 0 0)
|
||||||
|
(effects (font (size 1.27 1.27)) hide)
|
||||||
|
)
|
||||||
|
(symbol "+5V_0_1"
|
||||||
|
(polyline
|
||||||
|
(pts
|
||||||
|
(xy -0.762 1.27)
|
||||||
|
(xy 0 2.54)
|
||||||
|
)
|
||||||
|
(stroke (width 0) (type default) (color 0 0 0 0))
|
||||||
|
(fill (type none))
|
||||||
|
)
|
||||||
|
(polyline
|
||||||
|
(pts
|
||||||
|
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|
||||||
|
(xy 0 2.54)
|
||||||
|
)
|
||||||
|
(stroke (width 0) (type default) (color 0 0 0 0))
|
||||||
|
(fill (type none))
|
||||||
|
)
|
||||||
|
(polyline
|
||||||
|
(pts
|
||||||
|
(xy 0 2.54)
|
||||||
|
(xy 0.762 1.27)
|
||||||
|
)
|
||||||
|
(stroke (width 0) (type default) (color 0 0 0 0))
|
||||||
|
(fill (type none))
|
||||||
|
)
|
||||||
|
)
|
||||||
|
(symbol "+5V_1_1"
|
||||||
|
(pin power_in line (at 0 0 90) (length 0) hide
|
||||||
|
(name "+5V" (effects (font (size 1.27 1.27))))
|
||||||
|
(number "1" (effects (font (size 1.27 1.27))))
|
||||||
|
)
|
||||||
|
)
|
||||||
|
)
|
||||||
|
(symbol "power:GND" (power) (pin_names (offset 0)) (in_bom yes) (on_board yes)
|
||||||
|
(property "Reference" "#PWR" (id 0) (at 0 -6.35 0)
|
||||||
|
(effects (font (size 1.27 1.27)) hide)
|
||||||
|
)
|
||||||
|
(property "Value" "GND" (id 1) (at 0 -3.81 0)
|
||||||
|
(effects (font (size 1.27 1.27)))
|
||||||
|
)
|
||||||
|
(property "Footprint" "" (id 2) (at 0 0 0)
|
||||||
|
(effects (font (size 1.27 1.27)) hide)
|
||||||
|
)
|
||||||
|
(property "Datasheet" "" (id 3) (at 0 0 0)
|
||||||
|
(effects (font (size 1.27 1.27)) hide)
|
||||||
|
)
|
||||||
|
(property "ki_keywords" "power-flag" (id 4) (at 0 0 0)
|
||||||
|
(effects (font (size 1.27 1.27)) hide)
|
||||||
|
)
|
||||||
|
(property "ki_description" "Power symbol creates a global label with name \"GND\" , ground" (id 5) (at 0 0 0)
|
||||||
|
(effects (font (size 1.27 1.27)) hide)
|
||||||
|
)
|
||||||
|
(symbol "GND_0_1"
|
||||||
|
(polyline
|
||||||
|
(pts
|
||||||
|
(xy 0 0)
|
||||||
|
(xy 0 -1.27)
|
||||||
|
(xy 1.27 -1.27)
|
||||||
|
(xy 0 -2.54)
|
||||||
|
(xy -1.27 -1.27)
|
||||||
|
(xy 0 -1.27)
|
||||||
|
)
|
||||||
|
(stroke (width 0) (type default) (color 0 0 0 0))
|
||||||
|
(fill (type none))
|
||||||
|
)
|
||||||
|
)
|
||||||
|
(symbol "GND_1_1"
|
||||||
|
(pin power_in line (at 0 0 270) (length 0) hide
|
||||||
|
(name "GND" (effects (font (size 1.27 1.27))))
|
||||||
|
(number "1" (effects (font (size 1.27 1.27))))
|
||||||
|
)
|
||||||
|
)
|
||||||
|
)
|
||||||
|
(symbol "power:VCC" (power) (pin_names (offset 0)) (in_bom yes) (on_board yes)
|
||||||
|
(property "Reference" "#PWR" (id 0) (at 0 -3.81 0)
|
||||||
|
(effects (font (size 1.27 1.27)) hide)
|
||||||
|
)
|
||||||
|
(property "Value" "VCC" (id 1) (at 0 3.81 0)
|
||||||
|
(effects (font (size 1.27 1.27)))
|
||||||
|
)
|
||||||
|
(property "Footprint" "" (id 2) (at 0 0 0)
|
||||||
|
(effects (font (size 1.27 1.27)) hide)
|
||||||
|
)
|
||||||
|
(property "Datasheet" "" (id 3) (at 0 0 0)
|
||||||
|
(effects (font (size 1.27 1.27)) hide)
|
||||||
|
)
|
||||||
|
(property "ki_keywords" "power-flag" (id 4) (at 0 0 0)
|
||||||
|
(effects (font (size 1.27 1.27)) hide)
|
||||||
|
)
|
||||||
|
(property "ki_description" "Power symbol creates a global label with name \"VCC\"" (id 5) (at 0 0 0)
|
||||||
|
(effects (font (size 1.27 1.27)) hide)
|
||||||
|
)
|
||||||
|
(symbol "VCC_0_1"
|
||||||
|
(polyline
|
||||||
|
(pts
|
||||||
|
(xy -0.762 1.27)
|
||||||
|
(xy 0 2.54)
|
||||||
|
)
|
||||||
|
(stroke (width 0) (type default) (color 0 0 0 0))
|
||||||
|
(fill (type none))
|
||||||
|
)
|
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|
(polyline
|
||||||
|
(pts
|
||||||
|
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|
||||||
|
(xy 0 2.54)
|
||||||
|
)
|
||||||
|
(stroke (width 0) (type default) (color 0 0 0 0))
|
||||||
|
(fill (type none))
|
||||||
|
)
|
||||||
|
(polyline
|
||||||
|
(pts
|
||||||
|
(xy 0 2.54)
|
||||||
|
(xy 0.762 1.27)
|
||||||
|
)
|
||||||
|
(stroke (width 0) (type default) (color 0 0 0 0))
|
||||||
|
(fill (type none))
|
||||||
|
)
|
||||||
|
)
|
||||||
|
(symbol "VCC_1_1"
|
||||||
|
(pin power_in line (at 0 0 90) (length 0) hide
|
||||||
|
(name "VCC" (effects (font (size 1.27 1.27))))
|
||||||
|
(number "1" (effects (font (size 1.27 1.27))))
|
||||||
|
)
|
||||||
|
)
|
||||||
|
)
|
||||||
)
|
)
|
||||||
|
|
||||||
|
|
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||||||
|
(reference "J2") (unit 1) (value "gametrak") (footprint "Connector_PinHeader_2.54mm:PinHeader_1x06_P2.54mm_Vertical")
|
||||||
|
)
|
||||||
|
(path "/af706b9d-2e5e-46ab-9a95-50062787b0fa"
|
||||||
|
(reference "J?") (unit 1) (value "serial_esc") (footprint "")
|
||||||
|
)
|
||||||
|
(path "/d29ab708-161a-4071-a560-c882ef4a2aee"
|
||||||
|
(reference "J?") (unit 1) (value "display") (footprint "")
|
||||||
|
)
|
||||||
|
(path "/a2a0f5cc-b5aa-4e3e-8d85-23bdc2f59aec"
|
||||||
|
(reference "U1") (unit 1) (value "NRF24L01_Breakout") (footprint "RF_Module:nRF24L01_Breakout")
|
||||||
|
)
|
||||||
(path "/947df0d8-493c-4a35-aca7-d69eb00dcd35"
|
(path "/947df0d8-493c-4a35-aca7-d69eb00dcd35"
|
||||||
(reference "U?") (unit 1) (value "Teensy3.2") (footprint "")
|
(reference "U2") (unit 1) (value "Teensy3.2") (footprint "")
|
||||||
)
|
)
|
||||||
)
|
)
|
||||||
)
|
)
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue