Nav3

OpenDriveHub

Open-source modular control platform for functional model vehicles (excavators, dump trucks, tractors, and other ground-based RC models).

Features

• Modular transmitter – plug-in front-panel slots for switches, buttons, potentiometers, and encoders; detected automatically at boot
• I²C backplane with TCA9548A multiplexer – identical standard I²C devices in every slot, no address conflicts, no MCU needed on modules
• Always-on bidirectional telemetry – battery voltage, RSSI, link state, and custom sensor values returned from the model
• ESP32-based firmware using PlatformIO + Arduino + FreeRTOS
• Modern C++20 – namespace odh, enum class, constexpr, std::optional, RAII wrappers, shared libraries
• ESP-NOW radio link – low-latency, no router required
• ILI9341 touch-screen display – 320×240 colour LCD with XPT2046 resistive touch, LVGL widget UI for vehicle selection and live channel monitoring
• PCA9685 servo driver – I²C-based 16-channel PWM output on the receiver
• Receiver-initiated discovery – receivers broadcast their presence; the operator selects a vehicle on the transmitter touch screen
• Vehicle model presets – built-in function-to-channel maps for Generic, Dump Truck, Excavator, Tractor, and Crane models
• Always-on web configuration – WiFi AP + REST API (ESPAsyncWebServer + ArduinoJson v7) on both transmitter and receiver; starts automatically at boot, no button required; settings stored in ESP32 NVS
• Linux simulation – full transmitter + receiver simulation on a PC; SDL2 display window, keyboard channel control, UDP radio loopback
• Open hardware + firmware under GPL-3.0

Repository Structure

OpenDriveHub/
├── firmware/                   # Unified PlatformIO project (C++20, namespace odh::)
│   ├── platformio.ini          # Build config for all 5 environments
│   ├── lib/                    # Shared libraries
│   │   ├── odh-protocol/      # Packet definitions & function mapping
│   │   ├── odh-config/        # Compile-time configuration & NVS store
│   │   ├── odh-radio/         # ESP-NOW radio link (TX + RX)
│   │   ├── odh-telemetry/     # Battery monitor & telemetry data
│   │   └── odh-web/           # ESPAsyncWebServer + REST API helpers
│   ├── src/
│   │   ├── receiver/          # Receiver app (OutputManager, PCA9685, ReceiverApi)
│   │   └── transmitter/       # Transmitter app (Modules, Display, TransmitterApi)
│   ├── test/test_native/      # Native unit tests (90 tests, no hardware needed)
│   ├── data/                   # LittleFS web UI (receiver/ and transmitter/)
│   ├── include/                # LVGL & TFT_eSPI build-config headers
│   └── sim/                    # Linux simulation shims (SDL2, UDP, pthreads)
│       ├── include/            # Replacement headers (Arduino.h, esp_now.h, …)
│       └── src/                # Shim implementations
├── hardware/
│   ├── transmitter/            # Transmitter BOM and wiring reference
│   ├── receiver/               # Receiver BOM and wiring reference
│   └── modules/                # Per-module hardware documentation
│       ├── switch/
│       ├── button/

Quick Start

See docs/getting-started.md for full build and flash instructions.

cd firmware

# Flash transmitter
pio run -e transmitter -t upload

# Flash receiver
pio run -e receiver -t upload

# Run host-side unit tests (90 tests)
pio test -e native

Run the simulation (no hardware needed)

cd firmware

# Terminal 1 – receiver
pio run -e sim_rx -t exec

# Terminal 2 – transmitter (headless terminal simulation)
pio run -e sim_tx -t exec

See firmware/sim/README.md for full simulation docs.

Supported Module Types

Documentation

• Getting Started
• System Architecture
• Backplane & Modules
• Radio Protocol
• Transmitter Hardware
• Receiver Hardware
• Simulation

License

GPL-3.0 – see LICENSE.