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1. Add Rudder checkbox into Advanced area 2. Recommend using linear force curve for rudder 3. Use Rudder function in your own Risk 4. Add ESPNow comunication 5. I2C is a nogo 6. Displacement-calucation for Rudder is in Plan
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,95 @@ | ||
| #include <WiFi.h> | ||
| #include <esp_wifi.h> | ||
| #include <Arduino.h> | ||
| #include "ESPNowW.h" | ||
| //#define ESPNow_debug | ||
| uint8_t Clu_mac[] = {0x36, 0x33, 0x33, 0x33, 0x33, 0x32}; | ||
| uint8_t Gas_mac[] = {0x36, 0x33, 0x33, 0x33, 0x33, 0x33}; | ||
| uint8_t Brk_mac[] = {0x36, 0x33, 0x33, 0x33, 0x33, 0x34}; | ||
| uint8_t* Recv_mac; | ||
| uint16_t ESPNow_send=0; | ||
| uint16_t ESPNow_recieve=0; | ||
| //bool MAC_get=false; | ||
| bool ESPNOW_status =false; | ||
| bool ESPNow_initial_status=false; | ||
| bool ESPNow_update= false; | ||
| //https://github.com/nickgammon/I2C_Anything/tree/master | ||
| struct ESPNow_Send_Struct | ||
| { | ||
| uint16_t pedal_position; | ||
| float pedal_position_ratio; | ||
| }; | ||
| ESPNow_Send_Struct _ESPNow_Recv; | ||
| ESPNow_Send_Struct _ESPNow_Send; | ||
|
|
||
| void onRecv(const uint8_t *mac_addr, const uint8_t *data, int data_len) | ||
| { | ||
| /* | ||
| if(ESPNOW_status) | ||
| { | ||
| memcpy(&ESPNow_recieve, data, sizeof(ESPNow_recieve)); | ||
| ESPNow_update=true; | ||
| } | ||
| */ | ||
| if(ESPNOW_status) | ||
| { | ||
| memcpy(&_ESPNow_Recv, data, sizeof(_ESPNow_Recv)); | ||
| ESPNow_update=true; | ||
| } | ||
|
|
||
| } | ||
| void OnSent(const uint8_t *mac_addr, esp_now_send_status_t status) | ||
| { | ||
|
|
||
| } | ||
| void ESPNow_initialize() | ||
| { | ||
|
|
||
| WiFi.mode(WIFI_MODE_STA); | ||
| Serial.println("Initializing Rudder, please wait"); | ||
| Serial.print("Current MAC Address: "); | ||
| Serial.println(WiFi.macAddress()); | ||
| if(dap_config_st.payLoadPedalConfig_.pedal_type==0) | ||
| { | ||
| esp_wifi_set_mac(WIFI_IF_STA, &Clu_mac[0]); | ||
| } | ||
| if(dap_config_st.payLoadPedalConfig_.pedal_type==1) | ||
| { | ||
| esp_wifi_set_mac(WIFI_IF_STA, &Brk_mac[0]); | ||
| } | ||
| if(dap_config_st.payLoadPedalConfig_.pedal_type==2) | ||
| { | ||
| esp_wifi_set_mac(WIFI_IF_STA, &Gas_mac[0]); | ||
| } | ||
| delay(300); | ||
| Serial.print("Modified MAC Address: "); | ||
| Serial.println(WiFi.macAddress()); | ||
| ESPNow.init(); | ||
| Serial.println("wait 10s for ESPNOW initialized"); | ||
| delay(10000); | ||
|
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||
| if(dap_config_st.payLoadPedalConfig_.pedal_type==1) | ||
| { | ||
| Recv_mac=Gas_mac; | ||
| } | ||
|
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||
| if(dap_config_st.payLoadPedalConfig_.pedal_type==2) | ||
| { | ||
| Recv_mac=Brk_mac; | ||
| } | ||
| if(ESPNow.add_peer(Recv_mac)== ESP_OK) | ||
| { | ||
| ESPNOW_status=true; | ||
| Serial.println("Sucess to add peer"); | ||
| } | ||
| else | ||
| { | ||
| ESPNOW_status=false; | ||
| Serial.println("Fail to add peer"); | ||
| } | ||
| ESPNow.reg_recv_cb(onRecv); | ||
| ESPNow.reg_send_cb(OnSent); | ||
| ESPNow_initial_status=true; | ||
| Serial.println("Rudder Initialized"); | ||
|
|
||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,75 @@ | ||
| #include <Wire.h> | ||
| #include <Arduino.h> | ||
| #include "Main.h" | ||
|
|
||
| uint16_t I2C_Read; | ||
| #define I2C_rate 100000 | ||
| #define I2C_debug_out | ||
| //TwoWire I2C_sync(0); | ||
| bool I2C_sync_status=false; | ||
| bool I2C_data_read=false; | ||
| uint16_t I2C_send; | ||
| uint32_t iii = 0; | ||
|
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||
| //https://github.com/nickgammon/I2C_Anything/tree/master | ||
| template <typename T> unsigned int I2C_writeAnything (const T& value) | ||
| { | ||
| Wire.write((byte *) &value, sizeof (value)); | ||
| return sizeof (value); | ||
| } // end of I2C_writeAnything | ||
|
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||
| template <typename T> unsigned int I2C_readAnything(T& value) | ||
| { | ||
| byte * p = (byte*) &value; | ||
| unsigned int i; | ||
| for (i = 0; i < sizeof value; i++) | ||
| *p++ = Wire.read(); | ||
| return i; | ||
| } // end of I2C_readAnything | ||
|
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| void SynconReceive(int len) | ||
| { | ||
| /* | ||
| Serial.printf("onReceive[%d]: ", len); | ||
| while (I2C_sync.available()) { | ||
| Serial.write(I2C_sync.read()); | ||
| } | ||
| Serial.println(); | ||
| */ | ||
| if(len>0) | ||
| { | ||
| I2C_readAnything(I2C_Read); | ||
| I2C_data_read=true; | ||
| } | ||
|
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| //Serial.println(); | ||
|
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| } | ||
| void SynconRequest() | ||
| { | ||
| /* | ||
| I2C_sync.print(iii++); | ||
| I2C_sync.print(" Packets."); | ||
| Serial.println("onRequest"); | ||
| Serial.println(); | ||
| */ | ||
| I2C_writeAnything(I2C_send); | ||
| //Wire.write(I2C_send); | ||
| } | ||
|
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| void I2C_initialize() | ||
| { | ||
| Wire.begin(I2C_SDA,I2C_SCL,I2C_rate); | ||
| delay(3000); | ||
| Serial.println("Sync as Master"); | ||
| } | ||
|
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| void I2C_initialize_slave() | ||
| { | ||
| Wire.onReceive(SynconReceive); | ||
| Wire.onRequest(SynconRequest); | ||
| Wire.begin((uint8_t)I2C_slave_address,I2C_SDA,I2C_SCL,I2C_rate); | ||
| //I2C_sync.begin(I2C_SDA,I2C_SCL,(uint8_t)I2C_slave_address); | ||
| Serial.println("Sync as Slave"); | ||
| } |
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