Team Walter / Mbed OS Low_Power_Long_Distance_IR_Vision_Robot

LP Long Distance IR Vision Robot

Dependencies:   max77650_charger_sample BufferedSerial SX1276GenericLib Adafruit-MotorShield NEO-6m-GPS MAX17055_EZconfig Adafruit_GFX USBDeviceHT Adafruit-PWM-Servo-Driver

main.cpp@31:f15747cffb20, 2018-07-24 (annotated)

Committer:
dev_alexander
Date:
Tue Jul 24 18:30:26 2018 +0000
Revision:
31:f15747cffb20
Parent:
30:66f9750cc44c
Child:
32:b108ed6096b0
Added library that adds support for a GPS module to the Sketch. However,  hasn't been tested though, so this needs to be reexamined in the future.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Helmut64 0:c43b6919ae15 1 /*
Helmut64 17:98f2528e8399 2 * Copyright (c) 2018 HELIOS Software GmbH
Helmut64 0:c43b6919ae15 3 * 30826 Garbsen (Hannover) Germany
Helmut64 0:c43b6919ae15 4 * Licensed under the Apache License, Version 2.0);
Helmut64 0:c43b6919ae15 5 */
dev_alexander 21:1b92cabe8a3b 6
dev_alexander 21:1b92cabe8a3b 7 /*
dev_alexander 21:1b92cabe8a3b 8 * For Wiring Instructions, please visit the link below:
dev_alexander 21:1b92cabe8a3b 9 * https://www.hackster.io/DevinAlex64/getting-started-with-the-max32620fthr-and-lora-f9d8dd\
dev_alexander 21:1b92cabe8a3b 10 */
dev_alexander 21:1b92cabe8a3b 11
dev_alexander 30:66f9750cc44c 12 #include "main.h"
dev_alexander 30:66f9750cc44c 13 #include "global_buffers.h"
dev_alexander 30:66f9750cc44c 14 #include "GridEye.h"
dev_alexander 31:f15747cffb20 15 #include "GPS.h"
dev_alexander 23:f74a50977593 16
dev_alexander 23:f74a50977593 17 /* If the board that is compiled is the master device (BLE enabled MAX32630FTHR),
dev_alexander 23:f74a50977593 18 * then it needs this library and needs to be configed in order for the device to
dev_alexander 23:f74a50977593 19 * work with a 3.3volt output instead of a 1.8 volt output.
dev_alexander 23:f74a50977593 20 *
dev_alexander 23:f74a50977593 21 * This is only needed for the MAX32630FTHR. The MAX325620FTHR is exampt from this
dev_alexander 23:f74a50977593 22 * additional setup in the main program.
dev_alexander 23:f74a50977593 23 */
dev_alexander 31:f15747cffb20 24
dev_alexander 31:f15747cffb20 25 #if defined(TARGET_MAX32620FTHR)
dev_alexander 31:f15747cffb20 26 GPS gps(P0_1, P0_0, 115200);
dev_alexander 29:f7a0e49b826b 27 #endif
Helmut64 0:c43b6919ae15 28
dev_alexander 31:f15747cffb20 29 #if defined(TARGET_MAX32630FTHR)
dev_alexander 31:f15747cffb20 30 #include "max32630fthr.h"
dev_alexander 31:f15747cffb20 31 MAX32630FTHR pegasus(MAX32630FTHR::VIO_3V3);
dev_alexander 31:f15747cffb20 32
dev_alexander 31:f15747cffb20 33 #define COMPILE_BLE
dev_alexander 31:f15747cffb20 34
dev_alexander 31:f15747cffb20 35 #if defined(COMPILE_BLE)
dev_alexander 31:f15747cffb20 36 /* BLE Related MAX32630FTHR Specific stuff */
dev_alexander 31:f15747cffb20 37 #include "ble/BLE.h"
dev_alexander 31:f15747cffb20 38 //#include "ble/Gap.h"
dev_alexander 31:f15747cffb20 39 #include "UARTService_custom.h"
dev_alexander 31:f15747cffb20 40 #include <events/mbed_events.h>
dev_alexander 31:f15747cffb20 41
dev_alexander 31:f15747cffb20 42 DigitalOut led2(LED2);
dev_alexander 31:f15747cffb20 43 UARTService *uart;
dev_alexander 30:66f9750cc44c 44
dev_alexander 31:f15747cffb20 45 #define NEED_CONSOLE_OUTPUT 1 /* Set this if you need debug messages on the console;
dev_alexander 31:f15747cffb20 46 * it will have an impact on code-size and power consumption. */
dev_alexander 31:f15747cffb20 47
dev_alexander 31:f15747cffb20 48 #if NEED_CONSOLE_OUTPUT
dev_alexander 31:f15747cffb20 49 #define DEBUG(STR) { if (uart) uart->write(STR, strlen(STR)); }
dev_alexander 31:f15747cffb20 50 #define READ(STR) { if (uart) uart->read(STR, strlen(STR)); }
dev_alexander 31:f15747cffb20 51
dev_alexander 31:f15747cffb20 52 #else
dev_alexander 31:f15747cffb20 53 #define DEBUG(...) /* nothing */
dev_alexander 31:f15747cffb20 54 #endif /* #if NEED_CONSOLE_OUTPUT */
dev_alexander 31:f15747cffb20 55
dev_alexander 31:f15747cffb20 56 //Triggered when the robot is disconnected from the mobile app.
dev_alexander 31:f15747cffb20 57 void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
dev_alexander 31:f15747cffb20 58 {
dev_alexander 31:f15747cffb20 59 BLE &ble = BLE::Instance();
dev_alexander 31:f15747cffb20 60 DEBUG("Disconnected!\n\r");
dev_alexander 31:f15747cffb20 61 DEBUG("Restarting the advertising process\n\r");
dev_alexander 31:f15747cffb20 62 ble.gap().startAdvertising();
dev_alexander 31:f15747cffb20 63 }
dev_alexander 31:f15747cffb20 64
dev_alexander 31:f15747cffb20 65 /* This pointer is needed to reference data in the main program when filling
dev_alexander 31:f15747cffb20 66 * with data from the BLE
dev_alexander 31:f15747cffb20 67 */
dev_alexander 31:f15747cffb20 68 uint8_t * onDataWritten_curr_ble_to_slave;
dev_alexander 30:66f9750cc44c 69
dev_alexander 31:f15747cffb20 70 // Triggered when there is data written
dev_alexander 31:f15747cffb20 71 void onDataWritten(const GattWriteCallbackParams *params)
dev_alexander 31:f15747cffb20 72 {
dev_alexander 31:f15747cffb20 73 //LED1 will be off when button is pressed, and on when button is released.
dev_alexander 31:f15747cffb20 74 led2 = !led2;
dev_alexander 31:f15747cffb20 75 uint8_t button_state;
dev_alexander 31:f15747cffb20 76 uint8_t direction;
dev_alexander 31:f15747cffb20 77 /*Set up constants for direction of motion */
dev_alexander 31:f15747cffb20 78 // const char FRONT = '5';
dev_alexander 31:f15747cffb20 79 // const char BACK = '6';
dev_alexander 31:f15747cffb20 80 // const char LEFT = '7';
dev_alexander 31:f15747cffb20 81 // const char RIGHT = '8';
dev_alexander 31:f15747cffb20 82
dev_alexander 31:f15747cffb20 83 /*Set up constants for button state */
dev_alexander 31:f15747cffb20 84 // const char PRESSED = '1';
dev_alexander 31:f15747cffb20 85 // const char RELEASED = '0';
dev_alexander 30:66f9750cc44c 86
dev_alexander 31:f15747cffb20 87 /* If there is a valid data sent by the mobile app */
dev_alexander 31:f15747cffb20 88 if ((uart != NULL) && (params->handle == uart ->getTXCharacteristicHandle())) {
dev_alexander 31:f15747cffb20 89 const uint8_t *packet = params->data;
dev_alexander 31:f15747cffb20 90 button_state = packet[3];
dev_alexander 31:f15747cffb20 91 direction = packet[2];
dev_alexander 31:f15747cffb20 92
dev_alexander 31:f15747cffb20 93 // make parameter to send over Lora
dev_alexander 31:f15747cffb20 94 onDataWritten_curr_ble_to_slave[0] = direction;
dev_alexander 31:f15747cffb20 95 onDataWritten_curr_ble_to_slave[1] = button_state;
dev_alexander 31:f15747cffb20 96
dev_alexander 31:f15747cffb20 97 dprintf("direction: %d\n", direction);
dev_alexander 31:f15747cffb20 98 dprintf("button_state: %d\n", button_state);
dev_alexander 31:f15747cffb20 99
dev_alexander 31:f15747cffb20 100 /*
dev_alexander 31:f15747cffb20 101 switch (button_state)
dev_alexander 31:f15747cffb20 102 {
dev_alexander 31:f15747cffb20 103 case PRESSED:
dev_alexander 31:f15747cffb20 104 md_left_pwm = static_cast<float>(20/100.0F);
dev_alexander 31:f15747cffb20 105 md_right_pwm = static_cast<float>(20/100.0F);
dev_alexander 31:f15747cffb20 106
dev_alexander 31:f15747cffb20 107 switch (direction)
dev_alexander 31:f15747cffb20 108 {
dev_alexander 31:f15747cffb20 109 case FRONT:
dev_alexander 31:f15747cffb20 110 md_left_dir = 1;
dev_alexander 31:f15747cffb20 111 md_left_pwm = 0.7;
dev_alexander 31:f15747cffb20 112 md_right_dir = 1;
dev_alexander 31:f15747cffb20 113 md_right_pwm = 0.7;
dev_alexander 31:f15747cffb20 114 break;
dev_alexander 31:f15747cffb20 115 case BACK:
dev_alexander 31:f15747cffb20 116 md_left_dir = 0;
dev_alexander 31:f15747cffb20 117 md_left_pwm = 0.7;
dev_alexander 31:f15747cffb20 118 md_right_dir = 0;
dev_alexander 31:f15747cffb20 119 md_right_pwm = 0.7;
dev_alexander 31:f15747cffb20 120 break;
dev_alexander 31:f15747cffb20 121 case LEFT:
dev_alexander 31:f15747cffb20 122 md_left_dir = 0;
dev_alexander 31:f15747cffb20 123 md_left_pwm = 0.5;
dev_alexander 31:f15747cffb20 124 md_right_dir = 1;
dev_alexander 31:f15747cffb20 125 md_right_pwm = 0.5;
dev_alexander 31:f15747cffb20 126 break;
dev_alexander 31:f15747cffb20 127 case RIGHT:
dev_alexander 31:f15747cffb20 128 md_left_dir = 1;
dev_alexander 31:f15747cffb20 129 md_left_pwm = 0.5;
dev_alexander 31:f15747cffb20 130 md_right_dir = 0;
dev_alexander 31:f15747cffb20 131 md_right_pwm = 0.5;
dev_alexander 31:f15747cffb20 132 break;
dev_alexander 31:f15747cffb20 133 }
dev_alexander 31:f15747cffb20 134 break;
dev_alexander 31:f15747cffb20 135 case RELEASED:
dev_alexander 31:f15747cffb20 136 md_left_pwm = 0;
dev_alexander 31:f15747cffb20 137 md_right_pwm = 0;
dev_alexander 31:f15747cffb20 138 break;
dev_alexander 31:f15747cffb20 139 }
dev_alexander 31:f15747cffb20 140 */
dev_alexander 31:f15747cffb20 141
dev_alexander 30:66f9750cc44c 142 }
dev_alexander 30:66f9750cc44c 143 }
dev_alexander 31:f15747cffb20 144 #endif
dev_alexander 30:66f9750cc44c 145 #endif
dev_alexander 30:66f9750cc44c 146
Helmut64 17:98f2528e8399 147 DigitalOut myled(LED);
Helmut64 0:c43b6919ae15 148
dev_alexander 28:0ed92c590607 149 Serial pc(USBTX, USBRX);
dev_alexander 25:1a031add188a 150
Helmut64 0:c43b6919ae15 151
dev_alexander 23:f74a50977593 152 #if defined(TARGET_MAX32630FTHR) // Master Device: MAX32630FTHR BLE-to-LoRa Gateway
dev_alexander 23:f74a50977593 153 /* No grid eye object needed. The function the master uses to convert the raw
dev_alexander 23:f74a50977593 154 * data that is sent over from the slave deevice that contains the data from the
dev_alexander 23:f74a50977593 155 * actual grid eye sensor is actually a function that is not part of the grid eye
dev_alexander 23:f74a50977593 156 * class. this is due to the fact that the grid eye class requires n i2c bus to
dev_alexander 23:f74a50977593 157 * be assigned to a phyiscal sensor. In this case, the library for the Grid Eye
dev_alexander 23:f74a50977593 158 * sensor has a support functin that is used to convert data that is aquired from
dev_alexander 23:f74a50977593 159 * the grid eye sensor. So it is not supposed to be a class specific function.
dev_alexander 23:f74a50977593 160 */
dev_alexander 23:f74a50977593 161 #elif defined(TARGET_MAX32620FTHR) // Slave Device: Robot
dev_alexander 23:f74a50977593 162 //Init I2C communications in default I2C bus I2C #1
dev_alexander 23:f74a50977593 163 I2C i2cGridEye(P3_4,P3_5);
dev_alexander 23:f74a50977593 164 GridEye gridEye(i2cGridEye);
dev_alexander 23:f74a50977593 165 #endif
dev_alexander 19:9f035b9e65ec 166
dev_alexander 23:f74a50977593 167 int main()
dev_alexander 23:f74a50977593 168 {
Helmut64 17:98f2528e8399 169 /*
Helmut64 17:98f2528e8399 170 * inits the Serial or USBSerial when available (230400 baud).
Helmut64 17:98f2528e8399 171 * If the serial uart is not is not connected it swiches to USB Serial
Helmut64 17:98f2528e8399 172 * blinking LED means USBSerial detected, waiting for a connect.
Helmut64 17:98f2528e8399 173 * It waits up to 30 seconds for a USB terminal connections
Helmut64 17:98f2528e8399 174 */
Helmut64 17:98f2528e8399 175 InitSerial(30*1000, &myled);
Helmut64 17:98f2528e8399 176 dprintf("Welcome to the SX1276GenericLib");
Helmut64 18:d5527ce82e6b 177
Helmut64 17:98f2528e8399 178 dprintf("Starting a simple LoRa PingPong");
dev_alexander 23:f74a50977593 179
dev_alexander 23:f74a50977593 180 /* Setup begins here: */
dev_alexander 25:1a031add188a 181 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 25:1a031add188a 182 dprintf("MAX32630FTHR: Master");
dev_alexander 25:1a031add188a 183 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 25:1a031add188a 184 dprintf("MAX32620FTHR: Slave");
dev_alexander 25:1a031add188a 185 #endif
dev_alexander 26:69aba05f010f 186
dev_alexander 23:f74a50977593 187
dev_alexander 23:f74a50977593 188 /***************************************************************************
dev_alexander 23:f74a50977593 189 * Grid Eye Sensor: Non-Buffer Program Variables
dev_alexander 23:f74a50977593 190 **************************************************************************/
dev_alexander 23:f74a50977593 191 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 23:f74a50977593 192 int frame_idx = 0;
dev_alexander 24:e8d03912f303 193 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 23:f74a50977593 194 // none yet
dev_alexander 25:1a031add188a 195 int frame_idx = 0;
dev_alexander 23:f74a50977593 196 #endif
dev_alexander 23:f74a50977593 197
dev_alexander 23:f74a50977593 198
dev_alexander 28:0ed92c590607 199 /***************************************************************************
dev_alexander 28:0ed92c590607 200 * Combined Payload Buffers for LoRa Communications
dev_alexander 28:0ed92c590607 201 **************************************************************************/
dev_alexander 28:0ed92c590607 202 uint8_t BufferTx[BufferSizeTx];
dev_alexander 28:0ed92c590607 203 uint8_t BufferRx[BufferSizeRx];
dev_alexander 28:0ed92c590607 204
dev_alexander 28:0ed92c590607 205 /***************************************************************************
dev_alexander 28:0ed92c590607 206 * BLE Data Buffers
dev_alexander 28:0ed92c590607 207 **************************************************************************/
dev_alexander 28:0ed92c590607 208 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 31:f15747cffb20 209 uint8_t curr_ble_to_slave[size_of_ble];
dev_alexander 31:f15747cffb20 210 #if defined(COMPILE_BLE)
dev_alexander 31:f15747cffb20 211 BLE &ble = BLE::Instance();
dev_alexander 31:f15747cffb20 212 /* Create alias for the BLE data to be saved in function above that
dev_alexander 31:f15747cffb20 213 * writes data to this buffer when function onDataWritten is called
dev_alexander 31:f15747cffb20 214 */
dev_alexander 31:f15747cffb20 215 onDataWritten_curr_ble_to_slave = curr_ble_to_slave;
dev_alexander 31:f15747cffb20 216
dev_alexander 31:f15747cffb20 217 /* Initialize BLE */
dev_alexander 31:f15747cffb20 218 ble.init();
dev_alexander 31:f15747cffb20 219 ble.gap().onDisconnection(disconnectionCallback);
dev_alexander 31:f15747cffb20 220 ble.gattServer().onDataWritten(onDataWritten);
dev_alexander 31:f15747cffb20 221 uart = new UARTService(ble);
dev_alexander 31:f15747cffb20 222 /* setup advertising */
dev_alexander 31:f15747cffb20 223 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
dev_alexander 31:f15747cffb20 224 ble.gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
dev_alexander 31:f15747cffb20 225 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
dev_alexander 31:f15747cffb20 226 (const uint8_t *)"BLE UART", sizeof("BLE UART") - 1);
dev_alexander 31:f15747cffb20 227 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
dev_alexander 31:f15747cffb20 228 (const uint8_t *)UARTServiceUUID_reversed, sizeof(UARTServiceUUID_reversed));
dev_alexander 31:f15747cffb20 229 ble.gap().setAdvertisingInterval(160); /* 100ms; in multiples of 0.625ms. */
dev_alexander 31:f15747cffb20 230 ble.gap().startAdvertising();
dev_alexander 31:f15747cffb20 231 #endif
dev_alexander 28:0ed92c590607 232 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 28:0ed92c590607 233 uint8_t curr_ble_from_master[size_of_ble];
dev_alexander 28:0ed92c590607 234 uint8_t prev_ble_from_master[size_of_ble];
dev_alexander 28:0ed92c590607 235 #endif
dev_alexander 28:0ed92c590607 236
dev_alexander 28:0ed92c590607 237 /***************************************************************************
dev_alexander 28:0ed92c590607 238 * Grid Eye Sensor Data Buffers
dev_alexander 28:0ed92c590607 239 **************************************************************************/
dev_alexander 28:0ed92c590607 240 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 28:0ed92c590607 241 char curr_raw_frame_from_slave[size_of_grid_eye];
dev_alexander 28:0ed92c590607 242 char prev_raw_frame_from_slave[size_of_grid_eye];
dev_alexander 28:0ed92c590607 243 int16_t conv_frame_from_slave[64];
dev_alexander 28:0ed92c590607 244 #elif defined(TARGET_MAX32620FTHR) // Client Device: LoRa Controlled Robot
dev_alexander 28:0ed92c590607 245 char curr_raw_frame_to_master[size_of_grid_eye];
dev_alexander 28:0ed92c590607 246 char prev_raw_frame_to_master[size_of_grid_eye];
dev_alexander 28:0ed92c590607 247 int16_t conv_frame_to_master[64];
dev_alexander 28:0ed92c590607 248 #endif
dev_alexander 28:0ed92c590607 249
dev_alexander 28:0ed92c590607 250 /***************************************************************************
dev_alexander 28:0ed92c590607 251 * GPS Data Buffers
dev_alexander 28:0ed92c590607 252 **************************************************************************/
dev_alexander 28:0ed92c590607 253 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 28:0ed92c590607 254 uint8_t curr_gps_from_slave[size_of_gps];
dev_alexander 28:0ed92c590607 255 uint8_t prev_gps_from_slave[size_of_gps];
dev_alexander 28:0ed92c590607 256 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 28:0ed92c590607 257 uint8_t curr_gps_to_master[size_of_gps];
dev_alexander 28:0ed92c590607 258 #endif
dev_alexander 28:0ed92c590607 259
dev_alexander 28:0ed92c590607 260 /***************************************************************************
dev_alexander 28:0ed92c590607 261 * MAX17055 Data Buffers
dev_alexander 28:0ed92c590607 262 **************************************************************************/
dev_alexander 28:0ed92c590607 263 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 28:0ed92c590607 264 uint8_t curr_MAX17055_from_slave[size_of_MAX17055];
dev_alexander 28:0ed92c590607 265 uint8_t prev_MAX17055_from_slave[size_of_MAX17055];
dev_alexander 28:0ed92c590607 266 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 28:0ed92c590607 267 uint8_t curr_MAX17055_to_master[size_of_MAX17055];
dev_alexander 28:0ed92c590607 268 #endif
dev_alexander 28:0ed92c590607 269
dev_alexander 28:0ed92c590607 270 /***************************************************************************
dev_alexander 28:0ed92c590607 271 * MAX77650 Data Buffers
dev_alexander 28:0ed92c590607 272 **************************************************************************/
dev_alexander 28:0ed92c590607 273 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 28:0ed92c590607 274 uint8_t curr_MAX77650_from_slave[size_of_MAX77650];
dev_alexander 28:0ed92c590607 275 uint8_t prev_MAX77650_from_slave[size_of_MAX77650];
dev_alexander 28:0ed92c590607 276 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 28:0ed92c590607 277 uint8_t curr_MAX77650_to_master[size_of_MAX77650];
dev_alexander 28:0ed92c590607 278 #endif
dev_alexander 28:0ed92c590607 279
dev_alexander 28:0ed92c590607 280 /***************************************************************************
dev_alexander 28:0ed92c590607 281 * Finish Setting up LoRa Radios: This passes in pointers to Buffers to send
dev_alexander 28:0ed92c590607 282 **************************************************************************/
dev_alexander 28:0ed92c590607 283 SX1276PingPongSetup(BufferTx, BufferRx);
dev_alexander 28:0ed92c590607 284
dev_alexander 22:abca9d17d13d 285 while(1)
dev_alexander 28:0ed92c590607 286 {
dev_alexander 23:f74a50977593 287 /***************************************************************************
dev_alexander 30:66f9750cc44c 288 * BLE Radio Data
dev_alexander 30:66f9750cc44c 289 **************************************************************************/
dev_alexander 30:66f9750cc44c 290 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 30:66f9750cc44c 291 #if defined(COMPILE_BLE)
dev_alexander 30:66f9750cc44c 292 ble.waitForEvent();
dev_alexander 30:66f9750cc44c 293 #endif
dev_alexander 30:66f9750cc44c 294 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 30:66f9750cc44c 295 // NOTHING YET
dev_alexander 30:66f9750cc44c 296 #endif
dev_alexander 30:66f9750cc44c 297
dev_alexander 30:66f9750cc44c 298 /***************************************************************************
dev_alexander 23:f74a50977593 299 * Grid Eye Sensor
dev_alexander 23:f74a50977593 300 **************************************************************************/
dev_alexander 23:f74a50977593 301 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 28:0ed92c590607 302 // Check to see if the contents of the previous scan are the same. If they are different then continue with converting
dev_alexander 28:0ed92c590607 303 if( memcmp(prev_raw_frame_from_slave, curr_raw_frame_from_slave, sizeof(curr_raw_frame_from_slave)) != 0 )
dev_alexander 27:6b549f838f0a 304 {
dev_alexander 23:f74a50977593 305 // Convert raw data sent from slave to a 16 bit integer array by calling this
dev_alexander 28:0ed92c590607 306 convRaw8x8Data2Point25degC(curr_raw_frame_from_slave, conv_frame_from_slave);
dev_alexander 26:69aba05f010f 307
dev_alexander 23:f74a50977593 308 // Next Print off the Converted data
dev_alexander 26:69aba05f010f 309 pc.printf("\r\nFrame %d data: \r\n", frame_idx);
dev_alexander 23:f74a50977593 310 uint8_t idx;
dev_alexander 23:f74a50977593 311 float pixel_data;
dev_alexander 23:f74a50977593 312 for (int y = 0; y < 8; y++) {
dev_alexander 23:f74a50977593 313 for (int x = 0; x < 8; x++) {
dev_alexander 23:f74a50977593 314 idx = y*8 + x;
dev_alexander 28:0ed92c590607 315 pixel_data = ((float)conv_frame_from_slave[idx])/4.0;
dev_alexander 26:69aba05f010f 316 pc.printf("%.2f \t", pixel_data);
dev_alexander 23:f74a50977593 317 }
dev_alexander 26:69aba05f010f 318 pc.printf("\r\n\r\n");
dev_alexander 23:f74a50977593 319 }
dev_alexander 26:69aba05f010f 320 pc.printf("\r\n");
dev_alexander 23:f74a50977593 321
dev_alexander 23:f74a50977593 322 // Increment frame counter
dev_alexander 23:f74a50977593 323 frame_idx = frame_idx +1;
dev_alexander 27:6b549f838f0a 324 }
dev_alexander 28:0ed92c590607 325
dev_alexander 25:1a031add188a 326 /* Next copy in data received from current data into buffer used for
dev_alexander 25:1a031add188a 327 * comparison next time the memcmp above is called. This prevents the
dev_alexander 25:1a031add188a 328 * program from converting the same raw data aquired by the grid eye
dev_alexander 25:1a031add188a 329 * sensor on the slave device to the floating point array with the
dev_alexander 25:1a031add188a 330 * 0.25 degrees celsius precision level when there is not new data.
dev_alexander 25:1a031add188a 331 */
dev_alexander 28:0ed92c590607 332 memcpy(prev_raw_frame_from_slave, curr_raw_frame_from_slave, sizeof(curr_raw_frame_from_slave));
dev_alexander 25:1a031add188a 333
dev_alexander 24:e8d03912f303 334 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 23:f74a50977593 335 // Aquire raw data about 8x8 frame from the grid eye sensor in this function call
dev_alexander 28:0ed92c590607 336 gridEye.getRaw8x8FrameData(curr_raw_frame_to_master);
dev_alexander 28:0ed92c590607 337 wait_ms( 10 );
dev_alexander 28:0ed92c590607 338 /*
dev_alexander 28:0ed92c590607 339 //if ( memcmp(prev_raw_frame_to_master, curr_raw_frame_to_master, sizeof(curr_raw_frame_to_master)) != 0 )
dev_alexander 28:0ed92c590607 340 //{
dev_alexander 25:1a031add188a 341 // Convert raw data sent from slave to a 16 bit integer array by calling this
dev_alexander 28:0ed92c590607 342 convRaw8x8Data2Point25degC(curr_raw_frame_to_master, conv_frame_to_master);
dev_alexander 25:1a031add188a 343
dev_alexander 25:1a031add188a 344 // Next Print off the Converted data
dev_alexander 25:1a031add188a 345 pc.printf("\r\nFrame %d data: \r\n", frame_idx);
dev_alexander 25:1a031add188a 346 uint8_t idx;
dev_alexander 25:1a031add188a 347 float pixel_data;
dev_alexander 25:1a031add188a 348 for (int y = 0; y < 8; y++) {
dev_alexander 25:1a031add188a 349 for (int x = 0; x < 8; x++) {
dev_alexander 25:1a031add188a 350 idx = y*8 + x;
dev_alexander 28:0ed92c590607 351 pixel_data = conv_frame_to_master[idx]/4.0;
dev_alexander 25:1a031add188a 352 pc.printf("%.2f \t", pixel_data);
dev_alexander 25:1a031add188a 353 }
dev_alexander 25:1a031add188a 354 pc.printf("\r\n\r\n");
dev_alexander 25:1a031add188a 355 }
dev_alexander 25:1a031add188a 356 pc.printf("\r\n");
dev_alexander 25:1a031add188a 357
dev_alexander 25:1a031add188a 358 // Increment frame counter
dev_alexander 25:1a031add188a 359 frame_idx = frame_idx +1;
dev_alexander 28:0ed92c590607 360 //}
dev_alexander 28:0ed92c590607 361 */
dev_alexander 28:0ed92c590607 362 memcpy(prev_raw_frame_to_master, curr_raw_frame_to_master, sizeof(curr_raw_frame_to_master));
dev_alexander 31:f15747cffb20 363 #endif
dev_alexander 31:f15747cffb20 364
dev_alexander 31:f15747cffb20 365 /***************************************************************************
dev_alexander 31:f15747cffb20 366 * GPS Sensor
dev_alexander 31:f15747cffb20 367 **************************************************************************/
dev_alexander 31:f15747cffb20 368 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 31:f15747cffb20 369 //None yet
dev_alexander 31:f15747cffb20 370 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 31:f15747cffb20 371 // The testing hasnt been done yet for the GPS Module. Will do this when more parts come in.
dev_alexander 31:f15747cffb20 372 /*
dev_alexander 31:f15747cffb20 373 if(gps.sample()){
dev_alexander 31:f15747cffb20 374 pc.printf("%f\t%c\t%f\t%c\t%f\t%f\t%f\n\r",gps.longitude, gps.ns,gps.latitude,gps.ew, gps.alt, gps.geoid, gps.time);
dev_alexander 31:f15747cffb20 375 pc.printf("%d:%d:%d",gps.hour,gps.minute,gps.seconed);
dev_alexander 31:f15747cffb20 376 }
dev_alexander 31:f15747cffb20 377 */
dev_alexander 31:f15747cffb20 378 #endif
dev_alexander 28:0ed92c590607 379
dev_alexander 23:f74a50977593 380 /***************************************************************************
dev_alexander 28:0ed92c590607 381 * Fill Payload Buffer With Data From Sensors for LoRa Transmition
dev_alexander 28:0ed92c590607 382 **************************************************************************/
dev_alexander 28:0ed92c590607 383 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 28:0ed92c590607 384 memcpy(&BufferTx[tx_idx_signature], PingMsg, size_signature);
dev_alexander 28:0ed92c590607 385 memcpy(&BufferTx[tx_idx_ble], curr_ble_to_slave, size_of_ble);
dev_alexander 28:0ed92c590607 386 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 28:0ed92c590607 387 memcpy(&BufferTx[tx_idx_signature], PongMsg, size_signature);
dev_alexander 28:0ed92c590607 388 memcpy(&BufferTx[tx_idx_grid_eye], curr_raw_frame_to_master, size_of_grid_eye);
dev_alexander 28:0ed92c590607 389 memcpy(&BufferTx[tx_idx_gps], curr_gps_to_master, size_of_gps);
dev_alexander 28:0ed92c590607 390 memcpy(&BufferTx[tx_idx_MAX17055], curr_MAX17055_to_master, size_of_MAX17055);
dev_alexander 28:0ed92c590607 391 memcpy(&BufferTx[tx_idx_MAX77650], curr_MAX77650_to_master, size_of_MAX77650);
dev_alexander 28:0ed92c590607 392 #endif
dev_alexander 28:0ed92c590607 393
dev_alexander 28:0ed92c590607 394
dev_alexander 28:0ed92c590607 395
dev_alexander 28:0ed92c590607 396 /***************************************************************************
dev_alexander 28:0ed92c590607 397 * Lora Communications
dev_alexander 28:0ed92c590607 398 **************************************************************************/
dev_alexander 25:1a031add188a 399 wait_ms( 10 );
dev_alexander 22:abca9d17d13d 400 SX1276PingPong();
dev_alexander 28:0ed92c590607 401
dev_alexander 28:0ed92c590607 402 /***************************************************************************
dev_alexander 28:0ed92c590607 403 * Fill Global Buffers With Data From Received Payload Buffer
dev_alexander 28:0ed92c590607 404 **************************************************************************/
dev_alexander 28:0ed92c590607 405 /* The master and slave devices will have different requirements for offloading payload */
dev_alexander 28:0ed92c590607 406 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 28:0ed92c590607 407 memcpy(curr_raw_frame_from_slave, &BufferRx[rx_idx_grid_eye], size_of_grid_eye);
dev_alexander 28:0ed92c590607 408 memcpy(curr_gps_from_slave, &BufferRx[rx_idx_gps], size_of_gps);
dev_alexander 28:0ed92c590607 409 memcpy(curr_MAX17055_from_slave, &BufferRx[rx_idx_MAX17055], size_of_MAX17055);
dev_alexander 28:0ed92c590607 410 memcpy(curr_MAX77650_from_slave, &BufferRx[rx_idx_MAX77650], size_of_MAX77650);
dev_alexander 28:0ed92c590607 411 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 28:0ed92c590607 412 memcpy(curr_ble_from_master, &BufferRx[rx_idx_ble], size_of_ble);
dev_alexander 28:0ed92c590607 413 #endif
dev_alexander 23:f74a50977593 414
dev_alexander 23:f74a50977593 415
dev_alexander 23:f74a50977593 416
dev_alexander 23:f74a50977593 417
dev_alexander 23:f74a50977593 418
dev_alexander 22:abca9d17d13d 419 }
dev_alexander 22:abca9d17d13d 420
Helmut64 0:c43b6919ae15 421 }