Merge branch 'release/2.2.0'

README.md

@@ -1,48 +1,76 @@
-# Pano Controller 2.1
+# Pano Controller Firmware 2.2
 
 Open Arduino-based Platform for high-resolution panoramic photography controlled via Bluetooth App.
 Started as a board replacement/upgrade for the Gigapan EPIC 100, but designed to be 
-flexible and support home-brew panoramic platforms.
+flexible and support other home-brew panoramic platforms with stepper motor movement.
 
-The design goals for the new versions 2.1 and beyond are as follows:
-  1. (iOS) App is required to configure the device and start panorama (the platform cannot set up a pano without it)
-  2. (Arduino) Platform can complete a full pano once started, even if App disconnects
-  3. (iOS) App may enhance operation during pano execution (by reading status and influencing parameters)
+The design goals for the new versions 2.2 and beyond are as follows:
+  1. Expose all basic operations that the platform is capable of as discrete **<a href="g-code.md">G-Code</a>** 
+     commands via Serial/UART
+  2. On-demand send platform parameters and current status (position, battery etc) needed to configure 
+     an application and track the execution.
+  3. The <a href="https://github.com/laurb9/PanoController-iOS">External (iOS) App</a> (Bluetooth LE) 
+     or similar application will create and send the G-Code program to run the panorama or other activities.
+  4. As the above App can display all the information, a display is no longer necessary on the platform.
 
 See the <a href="https://www.facebook.com/panocontroller">Official Facebook page</a> for demo videos and more progress photos.
 
-Will need the <a href="https://github.com/laurb9/PanoController">Pano Controller iOS App</a>.
-
-<img src="images/prototype.jpg" width="400" alt="Pano Controller 2.0 Executor Boards installed in Gigapan EPIC 100">
-<img src="images/pano-info.jpg" width="200" alt="Pano Controller 2.0 Information Display">
+<img src="images/gigapan.jpg" width="400" alt="Adafruit Feather M0-based Pano Controller installed in Gigapan EPIC 100">
+<img src="images/gcode.png" width="400" alt="G-Code Panorama Program">
 
 ## 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.
+  When gyro is connected, waits for platform to stabilize before triggering. 
+  Extremely useful feature to compensate for tripod stability, platform's own movement or wind gusts.
+- Supports a subset of **<a href="g-code.md">G-Code</a>** allowing full remote operation of the platform
+  via a Bluetooth LE or serial. This enables running other programs than just panoramas 
+  (time lapse for example)
+- Precision sub-degree movement using the <a href="https://github.com/laurb9/StepperDriver">StepperDriver library</a>
 - **<a href="https://www.facebook.com/panocontroller/videos/1488324751261703/">Smooth movement and iOS App Demo (2.1)</a>**
-- Focal length presets from 12 to 600mm. Precise sub-degree movement control.
-- Seamless 360 pano option
-- Display:
-  - Estimated time left in minutes, taking into account average zero-motion wait time.
-  - Battery status
-  - Grid size and position
-- Precision movement control
-- Multiple delay options: pre-shutter and post-shutter, short or long shutter pulse (for bracketing).
+
 
 ### Hardware
 - 32-bit ARM controllers (Gigapan had 8-bit AVR)
-- OLED 128x64 display
 - Bluetooth LE control via iOS App
-- Can operate with battery voltage from 10V down to 6V
+- Battery voltage from 10V down to 6V due to the DRV8834 stepper driver used.
+  Other drivers will enable different voltage ranges if necessary.
 
 ## Wiring map
 
-Wiring is still a work in progress. An Adafruit BLE device is now required for iOS connectivity.
+An Adafruit BLE device is now required for Bluetooth LE connectivity.
+Wiring is mostly stable but subject to change if new devices or options are added.
 
 ### Controller
 
-The controller unit comes with an optional display only. All the controls are via iOS App.
+The controller unit comes with no display. All the controls and status are presented via the iOS App.
+
+#### Feather M0 / Bluefruit
+
+Status: in active development. Using onboard Feather/BLE. 
+- A0
+- A1
+- A2
+- A3
+- A4 - Battery Voltage via divider: Vin---[47K]---A0---[10K]---GND
+- A5
+- SCK - BLE(internal)
+- MOSI - BLE(internal)
+- MISO - BLE(internal)
+- 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 - MPU-6050 board
+- SCL/21 - MPU-6050 board
+- 5 - DIR
+- 6 - VERT_STEP
+- 9[A7] - HORIZ_STEP
+- 10 - nENABLE
+- 11
+- 12 - MPU-6050 INT
+- 13[LED]
 
 #### Teensy LC / 3.x
 
@@ -53,8 +81,8 @@ Bluefruit SPI Friend is required.
 - A1
 - A2
 - A3
-- A4 - SDA - MPU-6050 board and SSD-1306 Display
-- A5 - SCL - MPU-6050 board and SSD-1306 Display
+- A4 - SDA - MPU-6050 board
+- A5 - SCL - MPU-6050 board
 - A6
 - A7
 - D0/RX - CAMERA_FOCUS active LOW
@@ -72,43 +100,16 @@ Bluefruit SPI Friend is required.
 - D12 - SPI_MISO - BLUEFRUIT
 - D13 - SPI_SCK - BLUEFRUIT
 
-#### Feather M0 / Bluefruit
-
-Status: in active development. Using onboard Feather/BLE. 
-- A0
-- A1
-- A2
-- A3
-- A4 - Battery Voltage via divider: Vin---[47K]---A0---[10K]---GND
-- A5
-- SCK - BLE(internal)
-- MOSI - BLE(internal)
-- MISO - BLE(internal)
-- 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 - 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
-- 12 - MPU-6050 INT
-- 13[LED]
-
 #### All
 
-- Vin is 6-10V
+- Vin is 6-10V when using DRV8834
 - 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)
+- All M1 tied to Vcc      (preset 1:32 mode)
+- All M0 left unconnected (preset 1:32 mode)
 - All ~ENABLE tied together
-- All DIR tied together
+- All DIR tied together (multiplexed in software)
 - 100uF capacitor at Vin
 - 10uF capacitor at Vcc
 - 10K pull-up resistor from Vcc to ~ENABLE
@@ -117,14 +118,12 @@ Status: in active development. Using onboard Feather/BLE.
 ## Notes
 
 - *Atmega328-based boards are not supported*, see issue #57
-- BLE is required for the current design. Only the Adafruit_BluefruitLE library is supported for now.
-- Settings memory on Feather M0 only works via 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: 
+- Serial or Bluetooth LE is required for the current design.
+  Only the Adafruit_BluefruitLE library is supported for now, but any UART-type protocol should work with minimal changes.
+- Other devices notes
+  - if we want to use ESP-12 at some point, need fewer pins. ESP-12 only has 11: 
     (0,2,4,5,12,13,14,15,16,RXD,TXD,ADC)
 
-<img src="images/breadboard.jpg" width="500" alt="Breadboard playing with Feather M0">
-
 ### Setting stepper motor current limit for DRV8834
 
 - Vref0 = 2V +- 0.1V
@@ -148,51 +147,47 @@ lower current even, if we reduce the speed.
 ### Electronics
 
 - Microcontroller, one of below
-  - Adafruit <a href="https://learn.adafruit.com/adafruit-feather-m0-bluefruit-le/overview">Feather M0 Bluefruit</a>
+  - Adafruit <a href="https://learn.adafruit.com/adafruit-feather-m0-bluefruit-le/overview">Feather M0 Bluefruit</a> *tested*
   - 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>
-- 2 x <a href="https://www.pololu.com/product/2134">DRV8834 Low-Voltage Stepper Motor Driver</a> from Pololu
-- (Optional) <a href="http://www.amazon.com/Yellow-Serial-128X64-Display-Arduino/dp/B00O2LLT30">128x64 OLED display, SSD1306 I2C</a> from anywhere
+- 2 x <a href="https://www.pololu.com/product/2134">DRV8834 Low-Voltage Stepper Motor Driver</a> from Pololu.
 - (for Teensy) Adafruit <a href="https://learn.adafruit.com/introducing-the-adafruit-bluefruit-spi-breakout">Bluefruit SPI Breakout</a>
 - GY-521 board with MPU-6050 6-axis accel/gyro (3.3V version)
 - Step-Down 3.3V converter (<a href="https://www.pololu.com/product/2842">Pololu D24V5F3</a>)
 - 47uF electrolytic capacitor 
 - 10K resistor
 - 47K resistor
 - 2 x 4-pin female connectors for motor connections
-- 3-pin connector/jack for remote shutter
+- 3-pin connector/jack for remote shutter and camera-specific cable with connector.
 - 2-pin power connector/DC power jack 
 - 6AA battery holder or a 6V-10V power source.
 
 ### Libraries
-- Adafruit_SSD1306
-- Adafruit_GFX
 - Adafruit_BluefruitLE_SPI
-- Wire
 - <a href="https://github.com/laurb9/StepperDriver/releases">StepperDriver</a>
+- Wire
 
 ### Hardware
 
-Well, this is a controller, so it needs a pano bot platform to control. I used the Gigapan
-Epic 100 but any platform with two motors (or even one, I suppose) can be used.
-The only thing required of the platform is the two horiz/vert stepper motors.
+Well, this is a controller, so it needs a pano platform to control. I used the Gigapan Epic 100 
+but any platform with two motors (or even one, I suppose) can be used.
+The only thing required of the platform is the two stepper motors, one for horizontal movement 
+and the other for vertical.
 
 - 2 x <a href="https://www.circuitspecialists.com/stepper-motor">Bipolar Stepper Motors</a> 
   and reduction gears.
   - Examples:
     - 39BYG101 0.5A 
     - 39BYG001 1A (used in Gigapan platform)
-  - Notes: 
+  - Notes:
     - the DRV8834 current limit must be set according to motor spec
-    - reduction gear settings are hardcoded in pano.h
+    - reduction gear settings, motor acceleration and RPM are set in <a href="https://github.com/laurb9/PanoController-Firmware/blob/master/examples/PanoController/config.h">examples/PanoController/config.h</a>
 
 ## Previous Versions
 
-Two previous stable versions:
-- Version 1.4 is a standalone controller with joystick, IR remote and bluetooth directional pad.
+The previous versions of this project had different goals and do not require an external app:
+- Version 1.4 is a self-contained, standalone controller with joystick, IR remote and 
+  optional bluetooth directional pad.
   - https://github.com/laurb9/pano-controller/tree/v1.4
-- Version 2.0 uses a separate 2.4GHz radio device for configuration and control
+- Version 2.0 is a two-unit (platform and remote control, both Arduino) using 2.4GHz radio
   - https://github.com/laurb9/pano-controller/tree/v2.0-beta
-
-<img src="images/navigator.jpg" width="400" alt="Pano Controller 2.0 Remote Navigator Unit">
-