Merge branch 'release/v2.0-beta'

.gitignore

@@ -26,3 +26,7 @@
 *.exe
 *.out
 *.app
+
+# Eclipse
+.*project
+

Makefile

@@ -2,33 +2,52 @@
 #
 #
 
-ARDUINO := arduino --verbose --preserve-temp-files
+ARDUINO := arduino --preserve-temp-files
+
+ifndef board
+$(error Usage: make <executor|navigator|panocontroller> board=<teensy31|teensyLC|feather>)
+endif
+
+ifeq ($(board),teensy31)
+	# Teensy 3.1/3.2 target
+	# Teensy options hardware/teensy/avr/boards.txt
+	BOARD = teensy:avr:teensy31:usb=serial,keys=en-us,speed=72
+	PORT = /dev/ttyACM0
+endif 
+ifeq ($(board),teensyLC) 
+	# Teensy LC target
+	# Teensy options hardware/teensy/avr/boards.txt
+	BOARD = teensy:avr:teensyLC:usb=serial,keys=en-us,speed=48
+	PORT = /dev/ttyACM0
+endif
+ifeq ($(board),feather)
+    # Adafruit Feather M0
+    # must be installed with arduino --install-boards "adafruit:samd"
+    # ~/.arduino15/packages/adafruit/hardware/samd/1.0.13/boards.txt
+    BOARD = adafruit:samd:adafruit_feather_m0
+    PORT = /dev/ttyACM0
+endif
+ifeq ($(board),uno)
+	# Arduino UNO target
+	# arduino options hardware/arduino/avr/boards.txt
+	BOARD = arduino:avr:uno
+	PORT = /dev/ttyUSB0
+endif
+
 # Mac
 #ARDUINO := Arduino.app/Contents/MacOS/Arduino --verbose --preserve-temp-files
 TMPDIR := /tmp/pano-controller-build
 
-SOURCES := pano-controller.ino *.cpp *.h
-
-#
-# Specify which of the below targets to build (default teensyLC)
-#
-all: teensyLC
+LIB_SOURCES =  src/*.cpp src/*.h
 
-# Arduino UNO target
-# arduino options hardware/arduino/avr/boards.txt
-uno: BOARD = arduino:avr:uno
+panocontroller: examples/PanoController/PanoController.ino $(LIB_SOURCES) $(TMPDIR)
+	$(ARDUINO) --upload $< --board $(BOARD) --port $(PORT) --pref build.path=$(TMPDIR)
 
-# Teensy LC target
-# Teensy options hardware/teensy/avr/boards.txt
-teensyLC: BOARD = teensy:avr:teensyLC
-
-# 
-# Common rule for building and uploading the project
-#
-# See https://github.com/arduino/Arduino/blob/ide-1.5.x/build/shared/manpage.adoc
-uno teensyLC: $(SOURCES) $(TMPDIR)
-	$(ARDUINO) --upload $< --board $(BOARD) --pref build.path=$(TMPDIR)
+navigator: examples/Navigator/Navigator.ino $(LIB_SOURCES) $(TMPDIR)
+	$(ARDUINO) --upload $< --board $(BOARD) --port $(PORT) --pref build.path=$(TMPDIR)
 
+executor: examples/Executor/Executor.ino $(LIB_SOURCES) $(TMPDIR)
+	$(ARDUINO) --upload $< --board $(BOARD) --port $(PORT) --pref build.path=$(TMPDIR)
 
 $(TMPDIR):
 	mkdir -p $(TMPDIR)

README.md

@@ -6,15 +6,19 @@ flexible and support home-brew panoramic platforms.
 
 See the <a href="https://www.facebook.com/panocontroller">Official Facebook page</a> for demo videos and more progress photos.
 
-Current state: fully functional prototype board, field-tested, frequently upgraded.
+Current state: fully functional two-module prototype boards, field-tested, frequently upgraded. One module (Executor) is installed on the Gigapan platform. The other module
+is the radio controller with OLED display (Navigator).
+
+<img src="images/prototype.jpg" width="400" alt="Pano Controller Executor Boards installed in Gigapan EPIC 100">
+<img src="images/navigator.jpg" width="400" alt="Pano Controller Remote Navigator Unit">
+<img src="images/pano-info.jpg" width="200" alt="Pano Controller Pano Information Screen">
 
-<img src="images/prototype.jpg" width="400" alt="Pano Controller Prototype Board installed in Gigapan EPIC 100">
-<img src="images/pano-info.jpg" width="400" alt="Pano Controller Pano Information Screen">
 
 ## Features:
 ### Software
 - **<a href="https://www.facebook.com/panocontroller/videos/1009260305834819/">Zero-motion shutter delay!</a>**
   When gyro is connected, waits for platform to stabilize before triggering. Useful to compensate for tripod stability, platform's own movement or wind gusts.
+- **<a href="https://www.facebook.com/panocontroller/videos/1143955072365341/">Remote Control Demo</a>**
 - Focal length presets from 12 to 600mm. Precise sub-degree movement control.
 - Seamless 360 pano option
 - Display:
@@ -24,97 +28,191 @@ Current state: fully functional prototype board, field-tested, frequently upgrad
 - Precision movement control
 - Multiple delay options: pre-shutter and post-shutter, short or long shutter pulse (for bracketing).
 - Bluetooth joystick control via phone
+- Radio Remote Menu Navigation unit
 
 ### Hardware
-- 32-bit ARM controller board
+- 32-bit ARM controllers (Gigapan had 8-bit AVR)
 - OLED 128x64 display
-- Joystick menu navigation, optional IR remote
+- Radio-controlled joystick menu navigation
 - Can operate with battery voltage from 10V down to 6V
 - Lower power usage and later voltage cutoff than original Gigapan
 
 ## Wiring map
 
-### Teensy LC / 3.x
-- A0 - Battery Voltage via divider: Vin---[47K]---A0---[10K]---GND
-- A1 - Joystick SW
-- A2 - Joystick Vy
-- A3 - Joystick Vx
-- A4 - SDA - Display and MPU-6050 board
-- A5 - SCL - Display and MPU-6050 board
-- A6
-- A7
-- D0/RX - camera focus (active LOW)
-- D1/TX - camera shutter (active LOW)
+The new modular layout I'm working on needs two controller boards: an Executor unit
+installed on the platform, and a radio remote Navigator unit with all the menus and
+controls. Both units are needed.
+
+For the previous single-board setup, see release v1.4 (https://github.com/laurb9/pano-controller/tree/v1.4)
+
+Future plans involve replacing the remote Navigator unit with a phone or other
+high-level interface device.
+
+### Executor Unit
+
+The execution unit is installed on the rotating platform. Since there are no
+buttons here, the display is only used for status info and may eventually go away.
+
+#### Teensy LC / 3.x
+
+Status: Tested with NRF24L01+ radio.
+BLE/BLUEFRUIT is not part of the current Executor code.
+
+- A0 - BATTERY - Battery Voltage via divider: Vin---[47K]---A0---[10K]---GND
+- A1
+- A2
+- A3
+- A4 - SDA - MPU-6050 board and SSD-1306 Display
+- A5 - SCL - MPU-6050 board and SSD-1306 Display
+- A6 - NRF24_CE
+- A7 - NRF24_CSN
+- D0/RX - CAMERA_FOCUS active LOW
+- D1/TX - CAMERA_SHUTTER active LOW
 - D2 - MPU-6050 INT
-- D3(int) - IR Remote In (AX-1838HS)
-- D4 - BLE RST
-- D5 - DIR (both)
-- D6 - StepperV STEP
-- D7 - BLE INT
-- D8 - BLE CS
-- D9 - StepperH STEP
-- D10 - ~ENABLE (both)
-- D11 - SPI MOSI[BLE]
-- D12 - SPI MISO[BLE]
-- D13[LED] - SPI SCK[BLE]
-
-### Feather M0 / Bluefruit
+- D3
+- D4 - (BLUEFRUIT_SPI_RST)
+- D5 - DIR
+- D6 - VERT_STEP
+- D7 - (BLUEFRUIT_SPI_IRQ)
+- D8 - (BLUEFRUIT_SPI_CS)
+- D9 - HORIZ_STEP
+- D10 - nENABLE
+- D11 - SPI_MOSI - NRF24 or (BLUEFRUIT)
+- D12 - SPI_MISO - NRF24 or (BLUEFRUIT)
+- D13 - SPI_SCK - NRF24 or (BLUEFRUIT)
+
+#### Feather M0 / Bluefruit
+
+Status: Not tested. See release v1.4 for functional onboard Feather/BLE. 
+NRF24 library not working with Feather M0 yet so that's a dead end at the moment.
 
 - A0
-- A1 - Joystick SW
-- A2 - Joystick Vy
-- A3 - Joystick Vx
+- A1
+- A2
+- A3
 - A4 - Battery Voltage via divider: Vin---[47K]---A0---[10K]---GND
-- A5
-- SCK[BLE]
-- MOSI[BLE]
-- MISO[BLE]
-- RX/0 - camera focus (active LOW)
-- TX/1 - camera shutter (active LOW)
-
+- A5 - (NRF24_CE)
+- SCK - BLE(internal) and NRF24
+- MOSI - BLE(internal) and NRF24
+- MISO - BLE(internal) and NRF24
+- RX/0 - CAMERA_FOCUS active LOW
+- TX/1 - CAMERA_SHUTTER active LOW
 - 4[BLE] CS  (internally connected)
 - 7[BLE] IRQ (internally connected)
 - 8[BLE] RST (internally connected)
-
-- SDA/20 - Display and MPU-6050 board
-- SCL/21 - Display and MPU-6050 board
-- 5 - DIR (both)
-- 6 - StepperV STEP
-- 9[A7] - StepperH STEP
-- 10 - ~ENABLE (both)
-- 11
+- SDA/20 - MPU-6050 board and SSD-1306 Display
+- SCL/21 - MPU-6050 board and SSD-1306 Display
+- 5 - DIR
+- 6 - VERT_STEP
+- 9[A7] - HORIZ_STEP
+- 10 - nENABLE
+- 11 - (NRF24_CSN)
 - 12 - MPU-6050 INT
 - 13[LED]
 
-### Other
+#### All
 
+- Vin is 6-10V
+- 3.3V step-down adapter from Vin to Vcc for logic power
 - All ~SLEEP tied to Vcc
 - All VMOT tied to Vin
 - All M1 tied to Vcc      (1:32 mode)
 - All M0 left unconnected (1:32 mode)
-- 3.3V step-down adapter from Vin to Vcc
+- All ~ENABLE tied together
+- All DIR tied together
+- 100uF capacitor at Vin
+- 10uF capacitor at Vcc
+- 10K pull-up resistor from Vcc to ~ENABLE
+- Voltage divider Vin---[47K]---A0---[10K]---GND
+
+### Navigator Remote Control Unit
+
+This is where all the configuration happens. This can sit in your hand while the
+platform is perched up on a pole and not physically reachable. 
+
+Settings and commands are sent to the Executor unit for execution.
+
+#### Teensy LC / 3.x
+
+Status: Tested with NRF24L01+ radio.
+BLE/BLUEFRUIT is not part of the current Navigator code.
+
+- A0
+- A1 - Joystick SW
+- A2 - Joystick Vy
+- A3 - Joystick Vx
+- A4 - SDA - SSD-1306 Display
+- A5 - SCL - SSD-1306 Display
+- A6 - NRF24_CE
+- A7 - NRF24_CSN
+- D0/RX
+- D1/TX
+- D2
+- D3
+- D4 - (BLUEFRUIT_SPI_RST)
+- D5
+- D6
+- D7 - (BLUEFRUIT_SPI_IRQ)
+- D8 - (BLUEFRUIT_SPI_CS)
+- D9
+- D10
+- D11 - SPI_MOSI - NRF24 or (BLUEFRUIT)
+- D12 - SPI_MISO - NRF24 or (BLUEFRUIT)
+- D13 - SPI_SCK - NRF24 or (BLUEFRUIT)
+
+#### Feather M0 / Bluefruit
+
+Status: untested (NRF24 library not working with Feather yet).
+
+- A0
+- A1 - Joystick SW
+- A2 - Joystick Vy
+- A3 - Joystick Vx
+- A4
+- A5 - NRF24_CE
+- SCK - BLE(internal) and NRF24
+- MOSI - BLE(internal) and NRF24
+- MISO - BLE(internal) and NRF24
+- RX/0
+- TX/1
+- 4[BLE] CS  (internally connected)
+- 7[BLE] IRQ (internally connected)
+- 8[BLE] RST (internally connected)
+- SDA/20 - SSD-1306 Display
+- SCL/21 - SSD-1306 Display
+- 5
+- 6
+- 9[A7]
+- 10
+- 11 - NRF24_CSN
+- 12
+- 13[LED]
+
+#### All
+
+- Vin power from USB or 3.3-5V external battery using Teensy converter
+- 10uF capacitor at Vcc
 
 ## Notes
 
 - *Atmega328-based boards are not supported*, see issue #57
-- IR remote not supported on Adafruit Feather M0, see issue #59
+- TWO controllers are needed for the current design. The last single-controller design is release v1.4.
 - Settings memory on Feather M0 only works with Bluefruit (M0 has no EEPROM itself)
 - Future rewiring plan
   - if we ever want to use ESP-12, need to reduce pins. ESP-12 only has 11: 
     (0,2,4,5,12,13,14,15,16,RXD,TXD,ADC)
-  - Adafruit Feather M0 BLE uses 4, 7, 8 as Bluefruit RESET, IRQ and CS. 
-    Should use same pinout for connecting to external BLE board (SPI).
-  - nrf24 library hardcodes pin 13 so if we plan to use it, we'll have to rewire.
 
-<img src="images/breadboard.jpg" width="500" alt="Breadboard setup with Teensy LC">
+<img src="images/breadboard.jpg" width="500" alt="Breadboard playing with Feather M0">
 
-## Setting DRV8834 reference
+## Setting stepper motor current limit for DRV8834
 
 - Vref0 = 2V +- 0.1V
 - Pololu schematic shows Risense = 0.1 ohm
 - Itrip = Vref/(5*Risense)
 - So set Vref = Itrip/2
 
+### Gigapan EPIC 100
+
 Gigapan motor spec is 1A, so 0.5V. At full step the current limit is 0.7*Itrip, so
 we have to set Itrip to 1.4 and Vref to 0.7V as upper bound.
 
@@ -131,12 +229,8 @@ lower current even, if we reduce the speed.
 - Microcontroller, one of below
   - PJRC <a href="http://www.pjrc.com/store/teensylc.html">Teensy LC</a> 
   - PJRC <a href="http://www.pjrc.com/store/teensy32.html">Teensy 3.1+</a>
-  - Adafruit <a href="https://learn.adafruit.com/adafruit-feather-m0-basic-proto/">Feather M0</a> (no IR remote)
-  - Adafruit <a href="https://learn.adafruit.com/adafruit-feather-m0-bluefruit-le/overview">Feather M0 Bluefruit</a> (no IR remote)
-  - (untested but same Cortex M0 as above) <a href="https://www.adafruit.com/products/2843">Arduino Zero</a>
 - 2 x <a href="https://www.pololu.com/product/2134">DRV8834 Low-Voltage Stepper Motor Driver</a> from Pololu
-- <a href="http://www.amazon.com/Yellow-Serial-128X64-Display-Arduino/dp/B00O2LLT30">128x64 OLED display, SSD1306 I2C</a> from anywhere
-- Adafruit <a href="https://learn.adafruit.com/introducing-the-adafruit-bluefruit-spi-breakout">Bluefruit SPI Breakout</a> (if not onboard) - provides Bluetooth LE 4.1 joystick control - optional
+- 2 x <a href="http://www.amazon.com/Yellow-Serial-128X64-Display-Arduino/dp/B00O2LLT30">128x64 OLED display, SSD1306 I2C</a> from anywhere
 - 2-axis + switch analog joystick
 - 1834HS IR receiver with some remote - optional but recommended
   - Remote codes are hardcoded in remote.cpp if you have a different remote
@@ -150,11 +244,20 @@ lower current even, if we reduce the speed.
 - 2-pin power connector/DC power jack 
 - 6AA battery holder or a 6V-10V power source.
 
+#### Future support planned for
+
+- lack of support for NRF24
+  - Adafruit <a href="https://learn.adafruit.com/adafruit-feather-m0-basic-proto/">Feather M0</a>
+  - Adafruit <a href="https://learn.adafruit.com/adafruit-feather-m0-bluefruit-le/overview">Feather M0 Bluefruit</a>
+  - (untested but same Cortex M0 as above) <a href="https://www.adafruit.com/products/2843">Arduino Zero</a>
+- Adafruit <a href="https://learn.adafruit.com/introducing-the-adafruit-bluefruit-spi-breakout">Bluefruit SPI Breakout</a> (if not onboard) - provides Bluetooth LE 4.1 joystick control
+
 ### Libraries
 - Adafruit_SSD1306
 - Adafruit_GFX
 - Adafruit Bluefruit nRF51
-- IRremote
+- RF24
+- (Adafruit_BluefruitLE_SPI)
 - Wire
 - <a href="https://github.com/laurb9/StepperDriver/releases">StepperDriver</a>
 
@@ -172,4 +275,3 @@ The only thing required of the platform is the two horiz/vert stepper motors.
   - Notes: 
     - the DRV8834 current limit must be set according to motor spec
     - reduction gear settings are hardcoded in pano.h
-