Project Logs

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• Improving the grip of the manipulator with objects.

  Danya0x07 • 10/19/2020 at 21:46 • 0 comments

  Adding coarse plates to a manipulator increases the friction between the manipulator and the object it is holding. Why didn't I think about it right away?
  

• An invisible bug found and fixed in the RC software!

  Danya0x07 • 10/16/2020 at 12:43 • 0 comments

  The bug was in the button checking code and was causing the debounce filter to work every cycle of infinite loop.

  bool button_pressed(button_t *btn)
  {
      bool pressed = FALSE;
      BitStatus current_status = !!GPIO_ReadInputPin(btn->gport, btn->gpin);
  
      if (btn->_last_status != current_status) {
          delay_ms(5);
          current_status = GPIO_ReadInputPin(btn->gport, btn->gpin);
      }
      ...

  There is a typo here that gets compiled and causes an increase in the response time of the remote by 30 ms (6 buttons, 5 ms for debouncing). The GPIO_ReadInputPin() function returns not a bool value, but a bitmask, i.e. 0 if logic level on the pin is low and (1 << pin) if the logic level on the pin is high.
  

  So the right code looks like that:

  bool button_pressed(button_t *btn)
  {
      bool pressed = FALSE;
      BitStatus current_status = !!GPIO_ReadInputPin(btn->gport, btn->gpin);
  
      if (btn->_last_status != current_status) {
          delay_ms(5);
          // Forgot to normalize to 0..1
          current_status = !!GPIO_ReadInputPin(btn->gport, btn->gpin);
      }
      ...

• DUMRONv2 demonstration

  Danya0x07 • 10/09/2020 at 17:22 • 0 comments

  Photos

  FPV photos:

  
  FPV Videos:

  
  

• DUMRONv2.0 released

  Danya0x07 • 10/09/2020 at 15:25 • 0 comments

  A huge update for robot and RC is just released. I was working on it since summer (but not only on it of course).

  Hardware update:

  An extension board added. The board provides an easy way to connect different modules to power lines with different voltage and data interface lines (SPI, I2C, 1-Wire) without soldering.

  
  FPV Camera has been moved to a place with a better view. So, the robot has become a little more compact.
  

  Powerful lighting LED instead of 4 green LEDs which actually don't provide enough light to make the camera see anything in the darkness.

  Small constructive improvements to the remote control case. No impressing photos.
  

  ---

  Software update:

  of robot: https://github.com/Danya0x07/DUMRON/releases/tag/v2.0 (in Russian)
  

  • Refactoring names and CodeStyle, how can we do without it!)
  • Moving the code for interaction with NRF24L01 + and DS18B20 into separate, cross-platform super-duper libraries with documentation, examples and other benefits of humanity;
    
  • The DS18B20 library implements checksum verification, so the heresy about temperature no longer comes to the RC.
  • Added power-on self test;
  • Added debug logs to UART and runtime errors indication;
  • Detected and fixed a stack overflow in one of the tasks;
    
  • Various local optimizations (eg. uint8_t -> uint_fast8_t);
    
  • Battery charge measurement now works not "head-on", but through DMA;
    
  • Optimized manipulator control, now, when it does not move, its software timer does not spin idle, but stopped;
    
  • The communication protocol with the RC has been rethought and optimized, the encapsulation of data from the rear rangefinder has been improved.
    
  • Added detection of mechanical failure of the rear rangefinder;
    
  • Migration to CMSIS-RTOS APIv2;
    
  • Added the ability to change the radio frequency channel by command from the RC.
    

  of remote control: https://github.com/Danya0x07/DUMRON_RC/releases/tag/v2.0 (in Russian)
  

  • Migration to the PlatformIO build system;
  • Moving the Nokia display Interaction code into a standalone PCD8544 cross-platform library;
  • Added energy saving measures (redundant microcontroller subsystems are disabled);
  • Added scanning of the radio frequency range after power on and switching the RC and the robot to the new selected clear channel;
  • GUI updated and improved;
  • Refactoring and optimization of various kinds;

  
  

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