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base: LailaTheElf:0f80e087dae5b1e638a1795bc434b4a1e1a5dab5
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LailaTheElf:master
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compare: LailaTheElf:master
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LailaTheElf:master

9 Commits
0f80e087da ... master

Author SHA1 Message Date
LailaTheElf
88fbbc103b git bug 2025-08-14 21:05:47 +02:00
LailaTheElf
76fe86a3bc fix bugs 2025-08-14 20:51:28 +02:00
Laila van Reenen
6bf43409e4 concept for config edit form 2025-08-14 17:14:39 +00:00
LailaTheElf
2374365f0e Merge remote-tracking branch 'rpi/master' 2025-07-03 20:56:59 +02:00
LailaTheElf
f5f7184965 minor notes update 2025-07-03 20:56:43 +02:00
FReenen
a2eb47bc59 allow to send commands to boat 2025-07-03 20:55:37 +02:00
FReenen
c84d17a4d9 update servo trim settings 2024-12-05 21:28:44 +01:00
FReenen
3fecb101b7 add edits from vesting dagen 2024-09-09 10:17:58 +02:00
FReenen
4ce7cc1475 fix servo error 2024-08-16 16:09:29 +02:00
6 changed files with 99 additions and 34 deletions
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35
commander.html
View File

@@ -30,6 +30,17 @@
cursor: pointer;
display: inline-block;
}
#edit_config {
position: absolute;
background-color: var(--background-second);
top: 0;
left: 0;
right: 0;
/* height: 100%; */
}
#edit_config form {
margin: 40px auto;
}
</style>
</head>
<body>
@@ -66,6 +77,19 @@
</thead>
<tbody id="clients"></tbody>
</table>
<div id="edit_config" style="display:none">
<form>
<input type="hidden" name="boart" />
name: <input type="text" name="name" id="edit_name" /><br/>
stuur trim max: <input type="range" name="ch0_max" id="edit_ch0_max" max="8192" min="4096" /><br/>
stuur trim mid: <input type="range" name="ch0_mid" id="edit_ch0_mid" max="8192" min="0" /><br/>
stuur trim min: <input type="range" name="ch0_min" id="edit_ch0_min" max="4096" min="0" /><br/>
motor trim max: <input type="range" name="ch1_max" id="edit_ch1_max" max="8192" min="4096" /><br/>
motor trim mid: <input type="range" name="ch1_mid" id="edit_ch1_mid" max="8192" min="0" /><br/>
motor trim min: <input type="range" name="ch1_min" id="edit_ch1_min" max="4096" min="0" /><br/>
<button class="btn" onclick="updateConfig()">toepassen</button> <button class="btn" onclick="document.getElementById('edit_config').style.display = 'none'">anulleren</button>
</form>
</div>
</main>
<script>
const passEl = document.getElementById('pass');
@@ -174,7 +198,14 @@
function getBoatLog(e)
{
alert("loggy log");
// let cmd = prompt("enter command");
let boat = getDataFomEl(e.target);
// console.log("send cmd", boat, cmd);
// conn.send(passEl.value + ";sendcmd;" + boat['id'] + ";" + cmd);
conn.send(passEl.value + ";sendcmd;" + boat['id'] + ";servotrim:0");
conn.send(passEl.value + ";sendcmd;" + boat['id'] + ";servotrim:1");
}
function reqBoats()
@@ -307,4 +338,4 @@
}
</script>
</body>
</html>
</html>

21
ground-station.py
View File

@@ -130,13 +130,16 @@ async def getlog(client, data):
async def sendcmd(data):
"""send command to boat"""
for b in Boats:
if b['id'] == data[2]:
del data[0]
del data[1]
data = ";".join(data)
await sendToBoat(b, data)
return
if len(data) > 3:
for b in Boats:
if b['id'] == data[2]:
del data[2]
del data[1]
del data[0]
print(data)
data = ";".join(data)
await sendToBoat(b, data + "\n")
return
async def kick_client(clientId):
"""kick a client"""
@@ -157,7 +160,7 @@ async def on_message(message, client):
data = message.replace('\n', '').split(';')
if data[0] != client["id"]:
print("invalid id: " + str(data[0]) + " != " + str(client["id"]))
else:
elif len(data) >= 2:
if data[1] == "boats":
await echo_boats(client)
elif data[1] == "ctrl":
@@ -190,6 +193,8 @@ async def on_message(message, client):
print("WARN: invalid command (admin): '" + data[1] + "'")
else:
print("WARN: invalid command (" + client['id'] + "): '" + data[1] + "'")
else:
print("WARN: to little arguments")
async def new_client(clientId, ws):
"""handler for every new client connection"""

33
rx_esp32/src/commands.c
View File

@@ -68,6 +68,38 @@ int cmd_contrl(char* line, void* cli)
return out;
}
// servotrim:0 410;614;819
int cmd_servotrim(char* line, void* cli)
{
uint8_t ch;
int out = 0;
char msg[40];
char* arg = getNextArg(line, ':');
if (arg == NULL)
{
snprintf(&msg[0], 40, "no arguments given, expect at least one\n");
CLI_stringOut((CLI_t*)cli, &msg[0]);
out = -1;
}
else
{
readInt(arg, &ch);
arg = getNextArg(arg, ' ');
if (arg != NULL)
{
readInt(arg, &Servos[ch].pulse_min);
arg = getNextArg(arg, ':');
readInt(arg, &Servos[ch].pulse_mid);
arg = getNextArg(arg, ':');
readInt(arg, &Servos[ch].pulse_max);
}
snprintf(&msg[0], 40, "servo ch %d: %d:%d:%d\n", Servos[ch].pulse_min, Servos[ch].pulse_mid, Servos[ch].pulse_max);
CLI_stringOut((CLI_t*)cli, &msg[0]);
}
return out;
}
extern volatile bool running;
int cmd_shutdown(char* line, void* cli)
{
@@ -161,6 +193,7 @@ const CMD_t Commands[] = {
#if TARGET == TARGET_RX
{ "d", &cmd_contrl },
{ "status", &cmd_status },
{ "servotrim", &cmd_servotrim},
#elif TARGET == TARGET_TX
{ "led", &setLed },
#endif

4
rx_esp32/src/main.c
View File

@@ -111,7 +111,7 @@ void app_main() {
#if TARGET == TARGET_RX
CLI_t cli_ws_client;
#elif TARGET == TARGET_TX
CLI_t cli_ws_client[3];
CLI_t cli_ws_client[3];
#endif
LOG_D("main: main loop starting in state %d", MainState);
@@ -293,7 +293,9 @@ void app_main() {
led_setRGB(0, 0, 0);
#endif
#if TARGET == TARGET_RX
servo_deinit();
#endif
CLI_deinit(&cli_uart);
CMDList_deinit(cmdList);

36
rx_esp32/src/servos.c
View File

@@ -14,7 +14,7 @@
#define SERVO_DUTY_MIN ( 410) // 2**13 * (1000/20000) // 1000us of the 20ms
#define SERVO_DUTY_MAX ( 819) // 2**13 * (2000/20000) // 2000us of the 20ms
// #define SERVO_DUTY_MAX (1024) // 2**13 * (2500/20000) // 2500us of the 20ms
#define SERVO_DUTY_MID ( 614) // 2**13 * (1500/20000) // 2500us of the 20ms
#define SERVO_DUTY_MID ( 614) // 2**13 * (1500/20000) // 1500us of the 20ms
#define SERVO_DUTY_DIFF (SERVO_DUTY_MAX - SERVO_DUTY_MIN)
@@ -27,8 +27,8 @@ void servo_init(void)
Servos[0].ledc_ch = LEDC_CHANNEL_0;
Servos[0].pulse_min = SERVO_DUTY_MIN;
Servos[0].pulse_mid = SERVO_DUTY_MID;
Servos[0].pulse_max = SERVO_DUTY_MAX - 100;
Servos[0].mid_delay = 10;
Servos[0].pulse_max = SERVO_DUTY_MAX;
Servos[0].mid_delay = 0;
Servos[0].mid_delay_timer = 0;
Servos[0].reversed = false;
@@ -37,9 +37,9 @@ void servo_init(void)
Servos[1].pulse_min = SERVO_DUTY_MIN;
Servos[1].pulse_mid = SERVO_DUTY_MID;
Servos[1].pulse_max = SERVO_DUTY_MAX;
Servos[1].mid_delay = 0;
Servos[1].mid_delay = 5;
Servos[1].mid_delay_timer = 0;
Servos[1].reversed = false;
Servos[1].reversed = true;
// Prepare and then apply the LEDC PWM timer configuration
ledc_timer_config_t ledc_timer = {
@@ -79,25 +79,19 @@ void servo_deinit(void)
void servo_set(uint8_t ch, uint8_t pos)
{
if (Servos_ch_swap)
{
if (ch == 0)
{
ch = 1;
}
else
{
ch = 0;
}
{
ch = (ch == 0) ? 1 : 0;
}
double pos_double = ((int16_t)pos - 128) / 128.0;
if (Servos[ch].reversed)
{
pos = -((int16_t)pos) + 255;
pos_double = -pos_double;
}
double pos_double = ((double) pos) - 128;
if (pos_double < 0)
if (pos_double < 0.0)
{
if (Servos[ch].mid_delay_timer > 0)
{
@@ -109,7 +103,7 @@ void servo_set(uint8_t ch, uint8_t pos)
Servos[ch].mid_delay_timer = -Servos[ch].mid_delay;
}
}
else if (pos_double > 0)
else if (pos_double > 0.0)
{
if (Servos[ch].mid_delay_timer < 0)
{
@@ -125,12 +119,12 @@ void servo_set(uint8_t ch, uint8_t pos)
uint32_t duty;
if (pos_double > 0.0)
{
duty = (pos_double/128.0 * (Servos[ch].pulse_max - Servos[ch].pulse_mid)) + Servos[ch].pulse_mid;
duty = (pos_double * (Servos[ch].pulse_max - Servos[ch].pulse_mid)) + Servos[ch].pulse_mid;
}
else
{
duty = (pos_double/128.0 * (Servos[ch].pulse_mid - Servos[ch].pulse_min)) + Servos[ch].pulse_mid;
}
duty = (pos_double * (Servos[ch].pulse_mid - Servos[ch].pulse_min)) + Servos[ch].pulse_mid;
}
if (duty < SERVO_DUTY_MIN)
{

4
rx_esp32/src/ws.c
View File

@@ -42,7 +42,7 @@ static void ws_event_handler(void* handler_args, esp_event_base_t base, int32_t
break;
case WEBSOCKET_EVENT_DATA:
// LOG_D("ws_event_handler: data recieved opcode %d", data->op_code);
LOG_D("ws_event_handler: data recieved opcode %d", data->op_code);
if (data->op_code == 0x02)
{
LOG_D("ws_event_handler: binary data recieved");
@@ -212,7 +212,7 @@ void ws_sendData(ws_client_t client)
{
if ((client->txBuffer_wp > 0) && esp_websocket_client_is_connected(client->handle))
{
// LOG_D("ws_sendData: (%d b) '%.*s'", client->txBuffer_wp, client->txBuffer_wp, (char *)&client->txBuffer[0]);
LOG_D("ws_sendData: (%d b) '%.*s'", client->txBuffer_wp, client->txBuffer_wp, (char *)&client->txBuffer[0]);
esp_websocket_client_send_text(client->handle, (char *)&client->txBuffer[0], client->txBuffer_wp, 1000 * portTICK_PERIOD_MS);
client->txBuffer_wp = 0;
}