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@34:f31a6b53d4ea, 2018-07-31 (annotated)

Committer:
dev_alexander
Date:
Tue Jul 31 15:51:43 2018 +0000
Revision:
34:f31a6b53d4ea
Parent:
33:52c898aca207 
This revisions seems to work fine with the MAX32630FTHR when putc-ing buffer in correct format for processing to do it's thing

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 34:f31a6b53d4ea 15 #include "GPS.h"
dev_alexander 32:b108ed6096b0 16
dev_alexander 32:b108ed6096b0 17 #define RASPBERRY_PI
dev_alexander 32:b108ed6096b0 18
dev_alexander 23:f74a50977593 19 /* If the board that is compiled is the master device (BLE enabled MAX32630FTHR),
dev_alexander 23:f74a50977593 20 * then it needs this library and needs to be configed in order for the device to
dev_alexander 23:f74a50977593 21 * work with a 3.3volt output instead of a 1.8 volt output.
dev_alexander 23:f74a50977593 22 *
dev_alexander 23:f74a50977593 23 * This is only needed for the MAX32630FTHR. The MAX325620FTHR is exampt from this
dev_alexander 23:f74a50977593 24 * additional setup in the main program.
dev_alexander 23:f74a50977593 25 */
dev_alexander 31:f15747cffb20 26
dev_alexander 32:b108ed6096b0 27
dev_alexander 34:f31a6b53d4ea 28 /***************************************************************************
dev_alexander 34:f31a6b53d4ea 29 * Create an instance of the MAX32630FTHR related Items.
dev_alexander 34:f31a6b53d4ea 30 **************************************************************************/
dev_alexander 31:f15747cffb20 31 #if defined(TARGET_MAX32630FTHR)
dev_alexander 31:f15747cffb20 32 #include "max32630fthr.h"
dev_alexander 31:f15747cffb20 33 MAX32630FTHR pegasus(MAX32630FTHR::VIO_3V3);
dev_alexander 31:f15747cffb20 34
dev_alexander 34:f31a6b53d4ea 35
dev_alexander 34:f31a6b53d4ea 36
dev_alexander 34:f31a6b53d4ea 37 /* BLE Related MAX32630FTHR Specific stuff */
dev_alexander 34:f31a6b53d4ea 38 #include "ble/BLE.h"
dev_alexander 34:f31a6b53d4ea 39 //#include "ble/Gap.h"
dev_alexander 34:f31a6b53d4ea 40 #include "UARTService_custom.h"
dev_alexander 34:f31a6b53d4ea 41 #include <events/mbed_events.h>
dev_alexander 34:f31a6b53d4ea 42
dev_alexander 34:f31a6b53d4ea 43 DigitalOut led2(LED2);
dev_alexander 34:f31a6b53d4ea 44 UARTService *uart;
dev_alexander 34:f31a6b53d4ea 45
dev_alexander 34:f31a6b53d4ea 46 #define NEED_CONSOLE_OUTPUT 1 /* Set this if you need debug messages on the console;
dev_alexander 34:f31a6b53d4ea 47 * it will have an impact on code-size and power consumption. */
dev_alexander 34:f31a6b53d4ea 48
dev_alexander 34:f31a6b53d4ea 49 #if NEED_CONSOLE_OUTPUT
dev_alexander 34:f31a6b53d4ea 50 #define DEBUG(STR) { if (uart) uart->write(STR, strlen(STR)); }
dev_alexander 34:f31a6b53d4ea 51 #define READ(STR) { if (uart) uart->read(STR, strlen(STR)); }
dev_alexander 34:f31a6b53d4ea 52
dev_alexander 34:f31a6b53d4ea 53 #else
dev_alexander 34:f31a6b53d4ea 54 #define DEBUG(...) /* nothing */
dev_alexander 34:f31a6b53d4ea 55 #endif /* #if NEED_CONSOLE_OUTPUT */
dev_alexander 34:f31a6b53d4ea 56
dev_alexander 34:f31a6b53d4ea 57 //Triggered when the robot is disconnected from the mobile app.
dev_alexander 34:f31a6b53d4ea 58 void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
dev_alexander 34:f31a6b53d4ea 59 {
dev_alexander 34:f31a6b53d4ea 60 BLE &ble = BLE::Instance();
dev_alexander 34:f31a6b53d4ea 61 DEBUG("Disconnected!\n\r");
dev_alexander 34:f31a6b53d4ea 62 DEBUG("Restarting the advertising process\n\r");
dev_alexander 34:f31a6b53d4ea 63 ble.gap().startAdvertising();
dev_alexander 34:f31a6b53d4ea 64 }
dev_alexander 34:f31a6b53d4ea 65
dev_alexander 34:f31a6b53d4ea 66 /* This pointer is needed to reference data in the main program when filling
dev_alexander 34:f31a6b53d4ea 67 * with data from the BLE
dev_alexander 34:f31a6b53d4ea 68 */
dev_alexander 34:f31a6b53d4ea 69 uint8_t * onDataWritten_curr_ble_to_slave;
dev_alexander 34:f31a6b53d4ea 70
dev_alexander 34:f31a6b53d4ea 71 // Triggered when there is data written
dev_alexander 34:f31a6b53d4ea 72 void onDataWritten(const GattWriteCallbackParams *params)
dev_alexander 34:f31a6b53d4ea 73 {
dev_alexander 34:f31a6b53d4ea 74 //LED1 will be off when button is pressed, and on when button is released.
dev_alexander 34:f31a6b53d4ea 75 led2 = !led2;
dev_alexander 34:f31a6b53d4ea 76 uint8_t button_state;
dev_alexander 34:f31a6b53d4ea 77 uint8_t direction;
dev_alexander 31:f15747cffb20 78
dev_alexander 34:f31a6b53d4ea 79 /* If there is a valid data sent by the mobile app */
dev_alexander 34:f31a6b53d4ea 80 if ((uart != NULL) && (params->handle == uart ->getTXCharacteristicHandle())) {
dev_alexander 34:f31a6b53d4ea 81 const uint8_t *packet = params->data;
dev_alexander 34:f31a6b53d4ea 82 button_state = packet[3];
dev_alexander 34:f31a6b53d4ea 83 direction = packet[2];
dev_alexander 34:f31a6b53d4ea 84
dev_alexander 34:f31a6b53d4ea 85 // make parameter to send over Lora
dev_alexander 34:f31a6b53d4ea 86 onDataWritten_curr_ble_to_slave[0] = direction;
dev_alexander 34:f31a6b53d4ea 87 onDataWritten_curr_ble_to_slave[1] = button_state;
dev_alexander 34:f31a6b53d4ea 88
dev_alexander 34:f31a6b53d4ea 89 dprintf("direction: %d\n", direction);
dev_alexander 34:f31a6b53d4ea 90 dprintf("button_state: %d\n", button_state);
dev_alexander 34:f31a6b53d4ea 91
dev_alexander 31:f15747cffb20 92 }
dev_alexander 34:f31a6b53d4ea 93 }
dev_alexander 34:f31a6b53d4ea 94 #endif
dev_alexander 34:f31a6b53d4ea 95
dev_alexander 32:b108ed6096b0 96
dev_alexander 34:f31a6b53d4ea 97 /***************************************************************************
dev_alexander 34:f31a6b53d4ea 98 * Create an instance of the Panasonic Grid Eye Sensor (AMG88xx)
dev_alexander 34:f31a6b53d4ea 99 **************************************************************************/
dev_alexander 34:f31a6b53d4ea 100 #if defined(TARGET_MAX32630FTHR) // Master Device: MAX32630FTHR BLE-to-LoRa Gateway
dev_alexander 34:f31a6b53d4ea 101 /* No grid eye object needed. The function the master uses to convert the raw
dev_alexander 34:f31a6b53d4ea 102 * data that is sent over from the slave deevice that contains the data from the
dev_alexander 34:f31a6b53d4ea 103 * actual grid eye sensor is actually a function that is not part of the grid eye
dev_alexander 34:f31a6b53d4ea 104 * class. this is due to the fact that the grid eye class requires n i2c bus to
dev_alexander 34:f31a6b53d4ea 105 * be assigned to a phyiscal sensor. In this case, the library for the Grid Eye
dev_alexander 34:f31a6b53d4ea 106 * sensor has a support functin that is used to convert data that is aquired from
dev_alexander 34:f31a6b53d4ea 107 * the grid eye sensor. So it is not supposed to be a class specific function.
dev_alexander 34:f31a6b53d4ea 108 */
dev_alexander 34:f31a6b53d4ea 109 #elif defined(TARGET_MAX32620FTHR) // Slave Device: Robot
dev_alexander 34:f31a6b53d4ea 110 //Init I2C communications in default I2C bus I2C #1
dev_alexander 34:f31a6b53d4ea 111 I2C i2cGridEye(P3_4,P3_5);
dev_alexander 34:f31a6b53d4ea 112 GridEye gridEye(i2cGridEye);
dev_alexander 34:f31a6b53d4ea 113 #endif
dev_alexander 34:f31a6b53d4ea 114
dev_alexander 34:f31a6b53d4ea 115 /***************************************************************************
dev_alexander 34:f31a6b53d4ea 116 * Create an instance of the Adafruit Ultimate GPS v3
dev_alexander 34:f31a6b53d4ea 117
dev_alexander 34:f31a6b53d4ea 118 **************************************************************************/
dev_alexander 34:f31a6b53d4ea 119 #if defined(TARGET_MAX32620FTHR)
dev_alexander 34:f31a6b53d4ea 120 GPS gps(P0_1, P0_0, 115200);
dev_alexander 30:66f9750cc44c 121 #endif
dev_alexander 30:66f9750cc44c 122
Helmut64 17:98f2528e8399 123 DigitalOut myled(LED);
Helmut64 0:c43b6919ae15 124
dev_alexander 28:0ed92c590607 125 Serial pc(USBTX, USBRX);
dev_alexander 25:1a031add188a 126
dev_alexander 23:f74a50977593 127 int main()
dev_alexander 23:f74a50977593 128 {
Helmut64 17:98f2528e8399 129 /*
Helmut64 17:98f2528e8399 130 * inits the Serial or USBSerial when available (230400 baud).
Helmut64 17:98f2528e8399 131 * If the serial uart is not is not connected it swiches to USB Serial
Helmut64 17:98f2528e8399 132 * blinking LED means USBSerial detected, waiting for a connect.
Helmut64 17:98f2528e8399 133 * It waits up to 30 seconds for a USB terminal connections
Helmut64 17:98f2528e8399 134 */
Helmut64 17:98f2528e8399 135 InitSerial(30*1000, &myled);
Helmut64 17:98f2528e8399 136 dprintf("Welcome to the SX1276GenericLib");
Helmut64 18:d5527ce82e6b 137
Helmut64 17:98f2528e8399 138 dprintf("Starting a simple LoRa PingPong");
dev_alexander 23:f74a50977593 139
dev_alexander 34:f31a6b53d4ea 140 /* Setup begins here: */
dev_alexander 34:f31a6b53d4ea 141 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 34:f31a6b53d4ea 142 dprintf("MAX32630FTHR: Master");
dev_alexander 34:f31a6b53d4ea 143 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 34:f31a6b53d4ea 144 dprintf("MAX32620FTHR: Slave");
dev_alexander 34:f31a6b53d4ea 145 #endif
dev_alexander 26:69aba05f010f 146
dev_alexander 23:f74a50977593 147
dev_alexander 23:f74a50977593 148 /***************************************************************************
dev_alexander 23:f74a50977593 149 * Grid Eye Sensor: Non-Buffer Program Variables
dev_alexander 23:f74a50977593 150 **************************************************************************/
dev_alexander 23:f74a50977593 151 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 23:f74a50977593 152 int frame_idx = 0;
dev_alexander 24:e8d03912f303 153 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 34:f31a6b53d4ea 154 // none yet
dev_alexander 34:f31a6b53d4ea 155 int frame_idx = 0;
dev_alexander 23:f74a50977593 156 #endif
dev_alexander 23:f74a50977593 157
dev_alexander 23:f74a50977593 158
dev_alexander 28:0ed92c590607 159 /***************************************************************************
dev_alexander 28:0ed92c590607 160 * Combined Payload Buffers for LoRa Communications
dev_alexander 28:0ed92c590607 161 **************************************************************************/
dev_alexander 28:0ed92c590607 162 uint8_t BufferTx[BufferSizeTx];
dev_alexander 28:0ed92c590607 163 uint8_t BufferRx[BufferSizeRx];
dev_alexander 28:0ed92c590607 164
dev_alexander 28:0ed92c590607 165 /***************************************************************************
dev_alexander 28:0ed92c590607 166 * BLE Data Buffers
dev_alexander 28:0ed92c590607 167 **************************************************************************/
dev_alexander 28:0ed92c590607 168 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 31:f15747cffb20 169 uint8_t curr_ble_to_slave[size_of_ble];
dev_alexander 34:f31a6b53d4ea 170 #if defined(COMPILE_BLE)
dev_alexander 34:f31a6b53d4ea 171 BLE &ble = BLE::Instance();
dev_alexander 34:f31a6b53d4ea 172 /* Create alias for the BLE data to be saved in function above that
dev_alexander 34:f31a6b53d4ea 173 * writes data to this buffer when function onDataWritten is called
dev_alexander 34:f31a6b53d4ea 174 */
dev_alexander 34:f31a6b53d4ea 175 onDataWritten_curr_ble_to_slave = curr_ble_to_slave;
dev_alexander 34:f31a6b53d4ea 176
dev_alexander 34:f31a6b53d4ea 177 /* Initialize BLE */
dev_alexander 34:f31a6b53d4ea 178 ble.init();
dev_alexander 34:f31a6b53d4ea 179 ble.gap().onDisconnection(disconnectionCallback);
dev_alexander 34:f31a6b53d4ea 180 ble.gattServer().onDataWritten(onDataWritten);
dev_alexander 34:f31a6b53d4ea 181 uart = new UARTService(ble);
dev_alexander 34:f31a6b53d4ea 182 /* setup advertising */
dev_alexander 34:f31a6b53d4ea 183 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
dev_alexander 34:f31a6b53d4ea 184 ble.gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
dev_alexander 34:f31a6b53d4ea 185 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
dev_alexander 34:f31a6b53d4ea 186 (const uint8_t *)"BLE UART", sizeof("BLE UART") - 1);
dev_alexander 34:f31a6b53d4ea 187 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
dev_alexander 34:f31a6b53d4ea 188 (const uint8_t *)UARTServiceUUID_reversed, sizeof(UARTServiceUUID_reversed));
dev_alexander 34:f31a6b53d4ea 189 ble.gap().setAdvertisingInterval(160); /* 100ms; in multiples of 0.625ms. */
dev_alexander 34:f31a6b53d4ea 190 ble.gap().startAdvertising();
dev_alexander 34:f31a6b53d4ea 191 #endif
dev_alexander 28:0ed92c590607 192 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 28:0ed92c590607 193 uint8_t curr_ble_from_master[size_of_ble];
dev_alexander 28:0ed92c590607 194 uint8_t prev_ble_from_master[size_of_ble];
dev_alexander 28:0ed92c590607 195 #endif
dev_alexander 28:0ed92c590607 196
dev_alexander 28:0ed92c590607 197 /***************************************************************************
dev_alexander 28:0ed92c590607 198 * Grid Eye Sensor Data Buffers
dev_alexander 28:0ed92c590607 199 **************************************************************************/
dev_alexander 28:0ed92c590607 200 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 28:0ed92c590607 201 char curr_raw_frame_from_slave[size_of_grid_eye];
dev_alexander 28:0ed92c590607 202 char prev_raw_frame_from_slave[size_of_grid_eye];
dev_alexander 28:0ed92c590607 203 int16_t conv_frame_from_slave[64];
dev_alexander 28:0ed92c590607 204 #elif defined(TARGET_MAX32620FTHR) // Client Device: LoRa Controlled Robot
dev_alexander 28:0ed92c590607 205 char curr_raw_frame_to_master[size_of_grid_eye];
dev_alexander 28:0ed92c590607 206 char prev_raw_frame_to_master[size_of_grid_eye];
dev_alexander 28:0ed92c590607 207 int16_t conv_frame_to_master[64];
dev_alexander 28:0ed92c590607 208 #endif
dev_alexander 28:0ed92c590607 209
dev_alexander 28:0ed92c590607 210 /***************************************************************************
dev_alexander 28:0ed92c590607 211 * GPS Data Buffers
dev_alexander 28:0ed92c590607 212 **************************************************************************/
dev_alexander 28:0ed92c590607 213 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 28:0ed92c590607 214 uint8_t curr_gps_from_slave[size_of_gps];
dev_alexander 28:0ed92c590607 215 uint8_t prev_gps_from_slave[size_of_gps];
dev_alexander 28:0ed92c590607 216 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 28:0ed92c590607 217 uint8_t curr_gps_to_master[size_of_gps];
dev_alexander 28:0ed92c590607 218 #endif
dev_alexander 28:0ed92c590607 219
dev_alexander 28:0ed92c590607 220 /***************************************************************************
dev_alexander 28:0ed92c590607 221 * MAX17055 Data Buffers
dev_alexander 28:0ed92c590607 222 **************************************************************************/
dev_alexander 28:0ed92c590607 223 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 28:0ed92c590607 224 uint8_t curr_MAX17055_from_slave[size_of_MAX17055];
dev_alexander 28:0ed92c590607 225 uint8_t prev_MAX17055_from_slave[size_of_MAX17055];
dev_alexander 28:0ed92c590607 226 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 28:0ed92c590607 227 uint8_t curr_MAX17055_to_master[size_of_MAX17055];
dev_alexander 28:0ed92c590607 228 #endif
dev_alexander 28:0ed92c590607 229
dev_alexander 28:0ed92c590607 230 /***************************************************************************
dev_alexander 28:0ed92c590607 231 * MAX77650 Data Buffers
dev_alexander 28:0ed92c590607 232 **************************************************************************/
dev_alexander 28:0ed92c590607 233 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 28:0ed92c590607 234 uint8_t curr_MAX77650_from_slave[size_of_MAX77650];
dev_alexander 28:0ed92c590607 235 uint8_t prev_MAX77650_from_slave[size_of_MAX77650];
dev_alexander 28:0ed92c590607 236 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 28:0ed92c590607 237 uint8_t curr_MAX77650_to_master[size_of_MAX77650];
dev_alexander 28:0ed92c590607 238 #endif
dev_alexander 28:0ed92c590607 239
dev_alexander 28:0ed92c590607 240 /***************************************************************************
dev_alexander 28:0ed92c590607 241 * Finish Setting up LoRa Radios: This passes in pointers to Buffers to send
dev_alexander 28:0ed92c590607 242 **************************************************************************/
dev_alexander 28:0ed92c590607 243 SX1276PingPongSetup(BufferTx, BufferRx);
dev_alexander 28:0ed92c590607 244
dev_alexander 22:abca9d17d13d 245 while(1)
dev_alexander 28:0ed92c590607 246 {
dev_alexander 23:f74a50977593 247 /***************************************************************************
dev_alexander 30:66f9750cc44c 248 * BLE Radio Data
dev_alexander 30:66f9750cc44c 249 **************************************************************************/
dev_alexander 30:66f9750cc44c 250 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 30:66f9750cc44c 251 #if defined(COMPILE_BLE)
dev_alexander 30:66f9750cc44c 252 ble.waitForEvent();
dev_alexander 30:66f9750cc44c 253 #endif
dev_alexander 30:66f9750cc44c 254 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 34:f31a6b53d4ea 255 // NOTHING YET
dev_alexander 30:66f9750cc44c 256 #endif
dev_alexander 30:66f9750cc44c 257
dev_alexander 30:66f9750cc44c 258 /***************************************************************************
dev_alexander 23:f74a50977593 259 * Grid Eye Sensor
dev_alexander 23:f74a50977593 260 **************************************************************************/
dev_alexander 23:f74a50977593 261 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 28:0ed92c590607 262 // Check to see if the contents of the previous scan are the same. If they are different then continue with converting
dev_alexander 32:b108ed6096b0 263 #if defined(RASPBERRY_PI)
dev_alexander 32:b108ed6096b0 264 if( memcmp(prev_raw_frame_from_slave, curr_raw_frame_from_slave, sizeof(curr_raw_frame_from_slave)) != 0 )
dev_alexander 32:b108ed6096b0 265 {
dev_alexander 32:b108ed6096b0 266 /*
dev_alexander 32:b108ed6096b0 267 //for (int idx = 0; idx < 8; idx++)
dev_alexander 32:b108ed6096b0 268 // pc.printf("%c", ID_of_slave[idx]);
dev_alexander 32:b108ed6096b0 269 string grid_eye_msg;
dev_alexander 32:b108ed6096b0 270 grid_eye_msg[0]=0x55;
dev_alexander 32:b108ed6096b0 271 grid_eye_msg[1]=0xaa;
dev_alexander 32:b108ed6096b0 272 for (int idx = 0; idx < 128; idx++)
dev_alexander 32:b108ed6096b0 273 grid_eye_msg[idx+2] = (unsigned char)curr_raw_frame_from_slave[idx];
dev_alexander 32:b108ed6096b0 274 pc.printf(grid_eye_msg);
dev_alexander 32:b108ed6096b0 275 */
dev_alexander 32:b108ed6096b0 276 char grid_eye_msg[130];
dev_alexander 32:b108ed6096b0 277 grid_eye_msg[0]=0x55;
dev_alexander 32:b108ed6096b0 278 grid_eye_msg[1]=0xaa;
dev_alexander 32:b108ed6096b0 279 for (int idx = 0; idx < 128; idx++)
dev_alexander 32:b108ed6096b0 280 grid_eye_msg[idx+2] = curr_raw_frame_from_slave[idx];
dev_alexander 32:b108ed6096b0 281 //pc.printf(grid_eye_msg);
dev_alexander 32:b108ed6096b0 282 for (int idx = 0; idx < 130; idx++)
dev_alexander 32:b108ed6096b0 283 pc.putc(grid_eye_msg[idx]);
dev_alexander 32:b108ed6096b0 284 }
dev_alexander 32:b108ed6096b0 285 #else
dev_alexander 32:b108ed6096b0 286 if( memcmp(prev_raw_frame_from_slave, curr_raw_frame_from_slave, sizeof(curr_raw_frame_from_slave)) != 0 )
dev_alexander 32:b108ed6096b0 287 {
dev_alexander 32:b108ed6096b0 288 // Convert raw data sent from slave to a 16 bit integer array by calling this
dev_alexander 32:b108ed6096b0 289 convRaw8x8Data2Point25degC(curr_raw_frame_from_slave, conv_frame_from_slave);
dev_alexander 32:b108ed6096b0 290
dev_alexander 32:b108ed6096b0 291 // Next Print off the Converted data
dev_alexander 32:b108ed6096b0 292 pc.printf("\r\nFrame %d data: \r\n", frame_idx);
dev_alexander 32:b108ed6096b0 293 uint8_t idx;
dev_alexander 32:b108ed6096b0 294 float pixel_data;
dev_alexander 32:b108ed6096b0 295 for (int y = 0; y < 8; y++) {
dev_alexander 32:b108ed6096b0 296 for (int x = 0; x < 8; x++) {
dev_alexander 32:b108ed6096b0 297 idx = y*8 + x;
dev_alexander 32:b108ed6096b0 298 pixel_data = ((float)conv_frame_from_slave[idx])/4.0;
dev_alexander 32:b108ed6096b0 299 pc.printf("%.2f \t", pixel_data);
dev_alexander 32:b108ed6096b0 300 }
dev_alexander 32:b108ed6096b0 301 pc.printf("\r\n\r\n");
dev_alexander 23:f74a50977593 302 }
dev_alexander 32:b108ed6096b0 303 pc.printf("\r\n");
dev_alexander 32:b108ed6096b0 304
dev_alexander 32:b108ed6096b0 305 // Increment frame counter
dev_alexander 32:b108ed6096b0 306 frame_idx = frame_idx +1;
dev_alexander 23:f74a50977593 307 }
dev_alexander 32:b108ed6096b0 308 #endif
dev_alexander 32:b108ed6096b0 309 /* Next copy in data received from current data into buffer used for
dev_alexander 32:b108ed6096b0 310 * comparison next time the memcmp above is called. This prevents the
dev_alexander 32:b108ed6096b0 311 * program from converting the same raw data aquired by the grid eye
dev_alexander 32:b108ed6096b0 312 * sensor on the slave device to the floating point array with the
dev_alexander 32:b108ed6096b0 313 * 0.25 degrees celsius precision level when there is not new data.
dev_alexander 32:b108ed6096b0 314 */
dev_alexander 32:b108ed6096b0 315
dev_alexander 28:0ed92c590607 316 memcpy(prev_raw_frame_from_slave, curr_raw_frame_from_slave, sizeof(curr_raw_frame_from_slave));
dev_alexander 24:e8d03912f303 317 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 23:f74a50977593 318 // Aquire raw data about 8x8 frame from the grid eye sensor in this function call
dev_alexander 28:0ed92c590607 319 gridEye.getRaw8x8FrameData(curr_raw_frame_to_master);
dev_alexander 32:b108ed6096b0 320 wait_ms( 20 );
dev_alexander 32:b108ed6096b0 321
dev_alexander 32:b108ed6096b0 322 #if defined(DEBUG_GRID_EYE_SLAVE)
dev_alexander 32:b108ed6096b0 323 if( memcmp(prev_raw_frame_to_master, curr_raw_frame_to_master, sizeof(curr_raw_frame_to_master)) != 0 )
dev_alexander 32:b108ed6096b0 324 {
dev_alexander 32:b108ed6096b0 325 wait_ms( 5 );
dev_alexander 32:b108ed6096b0 326 // Convert raw data sent from slave to a 16 bit integer array by calling this
dev_alexander 32:b108ed6096b0 327 convRaw8x8Data2Point25degC(curr_raw_frame_to_master, conv_frame_to_master);
dev_alexander 32:b108ed6096b0 328
dev_alexander 32:b108ed6096b0 329 wait_ms( 5 );
dev_alexander 32:b108ed6096b0 330
dev_alexander 32:b108ed6096b0 331 // Next Print off the Converted data
dev_alexander 32:b108ed6096b0 332 pc.printf("\r\nFrame %d data: \r\n", frame_idx);
dev_alexander 32:b108ed6096b0 333 uint8_t idx;
dev_alexander 32:b108ed6096b0 334 float pixel_data;
dev_alexander 32:b108ed6096b0 335 for (int y = 0; y < 8; y++) {
dev_alexander 32:b108ed6096b0 336 for (int x = 0; x < 8; x++) {
dev_alexander 32:b108ed6096b0 337 idx = y*8 + x;
dev_alexander 32:b108ed6096b0 338 pixel_data = ((float)conv_frame_to_master[idx])/4.0;
dev_alexander 32:b108ed6096b0 339 pc.printf("%.2f \t", pixel_data);
dev_alexander 32:b108ed6096b0 340 }
dev_alexander 32:b108ed6096b0 341 pc.printf("\r\n\r\n");
dev_alexander 25:1a031add188a 342 }
dev_alexander 32:b108ed6096b0 343 pc.printf("\r\n");
dev_alexander 32:b108ed6096b0 344
dev_alexander 32:b108ed6096b0 345 // Increment frame counter
dev_alexander 32:b108ed6096b0 346 frame_idx = frame_idx +1;
dev_alexander 25:1a031add188a 347 }
dev_alexander 32:b108ed6096b0 348 #endif
dev_alexander 33:52c898aca207 349 #if defined(RASPBERRY_PI)
dev_alexander 33:52c898aca207 350 if( memcmp(prev_raw_frame_to_master, curr_raw_frame_to_master, sizeof(curr_raw_frame_to_master)) != 0 )
dev_alexander 33:52c898aca207 351 {
dev_alexander 33:52c898aca207 352 char grid_eye_msg[130];
dev_alexander 33:52c898aca207 353 grid_eye_msg[0]=0x55;
dev_alexander 33:52c898aca207 354 grid_eye_msg[1]=0xaa;
dev_alexander 33:52c898aca207 355 for (int idx = 0; idx < 128; idx++)
dev_alexander 33:52c898aca207 356 grid_eye_msg[idx+2] = curr_raw_frame_to_master[idx];
dev_alexander 33:52c898aca207 357 //pc.printf(grid_eye_msg);
dev_alexander 33:52c898aca207 358 for (int idx = 0; idx < 130; idx++)
dev_alexander 33:52c898aca207 359 pc.putc(grid_eye_msg[idx]);
dev_alexander 33:52c898aca207 360 }
dev_alexander 33:52c898aca207 361 #endif
dev_alexander 33:52c898aca207 362 wait_ms( 20 );
dev_alexander 33:52c898aca207 363 memcpy(prev_raw_frame_to_master, curr_raw_frame_to_master, sizeof(curr_raw_frame_to_master));
dev_alexander 31:f15747cffb20 364 #endif
dev_alexander 31:f15747cffb20 365
dev_alexander 34:f31a6b53d4ea 366
dev_alexander 31:f15747cffb20 367 /***************************************************************************
dev_alexander 31:f15747cffb20 368 * GPS Sensor
dev_alexander 31:f15747cffb20 369 **************************************************************************/
dev_alexander 31:f15747cffb20 370 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 31:f15747cffb20 371 //None yet
dev_alexander 31:f15747cffb20 372 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 31:f15747cffb20 373 // The testing hasnt been done yet for the GPS Module. Will do this when more parts come in.
dev_alexander 31:f15747cffb20 374 /*
dev_alexander 31:f15747cffb20 375 if(gps.sample()){
dev_alexander 31:f15747cffb20 376 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 377 pc.printf("%d:%d:%d",gps.hour,gps.minute,gps.seconed);
dev_alexander 31:f15747cffb20 378 }
dev_alexander 31:f15747cffb20 379 */
dev_alexander 31:f15747cffb20 380 #endif
dev_alexander 28:0ed92c590607 381
dev_alexander 23:f74a50977593 382 /***************************************************************************
dev_alexander 28:0ed92c590607 383 * Fill Payload Buffer With Data From Sensors for LoRa Transmition
dev_alexander 28:0ed92c590607 384 **************************************************************************/
dev_alexander 28:0ed92c590607 385 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 28:0ed92c590607 386 memcpy(&BufferTx[tx_idx_signature], PingMsg, size_signature);
dev_alexander 28:0ed92c590607 387 memcpy(&BufferTx[tx_idx_ble], curr_ble_to_slave, size_of_ble);
dev_alexander 28:0ed92c590607 388 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 28:0ed92c590607 389 memcpy(&BufferTx[tx_idx_signature], PongMsg, size_signature);
dev_alexander 28:0ed92c590607 390 memcpy(&BufferTx[tx_idx_grid_eye], curr_raw_frame_to_master, size_of_grid_eye);
dev_alexander 28:0ed92c590607 391 memcpy(&BufferTx[tx_idx_gps], curr_gps_to_master, size_of_gps);
dev_alexander 28:0ed92c590607 392 memcpy(&BufferTx[tx_idx_MAX17055], curr_MAX17055_to_master, size_of_MAX17055);
dev_alexander 28:0ed92c590607 393 memcpy(&BufferTx[tx_idx_MAX77650], curr_MAX77650_to_master, size_of_MAX77650);
dev_alexander 28:0ed92c590607 394 #endif
dev_alexander 28:0ed92c590607 395
dev_alexander 28:0ed92c590607 396
dev_alexander 28:0ed92c590607 397
dev_alexander 28:0ed92c590607 398 /***************************************************************************
dev_alexander 28:0ed92c590607 399 * Lora Communications
dev_alexander 28:0ed92c590607 400 **************************************************************************/
dev_alexander 25:1a031add188a 401 wait_ms( 10 );
dev_alexander 22:abca9d17d13d 402 SX1276PingPong();
dev_alexander 28:0ed92c590607 403
dev_alexander 28:0ed92c590607 404 /***************************************************************************
dev_alexander 28:0ed92c590607 405 * Fill Global Buffers With Data From Received Payload Buffer
dev_alexander 28:0ed92c590607 406 **************************************************************************/
dev_alexander 28:0ed92c590607 407 /* The master and slave devices will have different requirements for offloading payload */
dev_alexander 28:0ed92c590607 408 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 34:f31a6b53d4ea 409 memcpy(curr_raw_frame_from_slave, &BufferRx[rx_idx_grid_eye], size_of_grid_eye);
dev_alexander 34:f31a6b53d4ea 410 memcpy(curr_gps_from_slave, &BufferRx[rx_idx_gps], size_of_gps);
dev_alexander 34:f31a6b53d4ea 411 memcpy(curr_MAX17055_from_slave, &BufferRx[rx_idx_MAX17055], size_of_MAX17055);
dev_alexander 34:f31a6b53d4ea 412 memcpy(curr_MAX77650_from_slave, &BufferRx[rx_idx_MAX77650], size_of_MAX77650);
dev_alexander 28:0ed92c590607 413 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 34:f31a6b53d4ea 414 memcpy(curr_ble_from_master, &BufferRx[rx_idx_ble], size_of_ble);
dev_alexander 28:0ed92c590607 415 #endif
dev_alexander 23:f74a50977593 416
dev_alexander 34:f31a6b53d4ea 417
dev_alexander 23:f74a50977593 418
dev_alexander 23:f74a50977593 419
dev_alexander 23:f74a50977593 420
dev_alexander 22:abca9d17d13d 421 }
dev_alexander 22:abca9d17d13d 422
Helmut64 0:c43b6919ae15 423 }