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@23:f74a50977593, 2018-07-18 (annotated)

Committer:
dev_alexander
Date:
Wed Jul 18 18:52:30 2018 +0000
Revision:
23:f74a50977593
Parent:
22:abca9d17d13d
Child:
24:e8d03912f303
I added file global_buffers.h and also reworked a portion of the main.cpp to adjust to the new method of using global buffers defined in a different file.

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
Helmut64 0:c43b6919ae15 12 #include "main.h"
dev_alexander 23:f74a50977593 13 #include "global_buffers.h"
dev_alexander 23:f74a50977593 14 #include "GridEye.h"
Helmut64 0:c43b6919ae15 15
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 19:9f035b9e65ec 24 #if defined(TARGET_MAX32630FTHR) // using the RFM95 board
dev_alexander 19:9f035b9e65ec 25 #include "max32630fthr.h"
dev_alexander 19:9f035b9e65ec 26 MAX32630FTHR pegasus(MAX32630FTHR::VIO_3V3);
dev_alexander 19:9f035b9e65ec 27 #endif
Helmut64 0:c43b6919ae15 28
Helmut64 17:98f2528e8399 29 DigitalOut myled(LED);
Helmut64 0:c43b6919ae15 30
Helmut64 0:c43b6919ae15 31
dev_alexander 23:f74a50977593 32 #if defined(TARGET_MAX32630FTHR) // Master Device: MAX32630FTHR BLE-to-LoRa Gateway
dev_alexander 23:f74a50977593 33 /* No grid eye object needed. The function the master uses to convert the raw
dev_alexander 23:f74a50977593 34 * data that is sent over from the slave deevice that contains the data from the
dev_alexander 23:f74a50977593 35 * actual grid eye sensor is actually a function that is not part of the grid eye
dev_alexander 23:f74a50977593 36 * class. this is due to the fact that the grid eye class requires n i2c bus to
dev_alexander 23:f74a50977593 37 * be assigned to a phyiscal sensor. In this case, the library for the Grid Eye
dev_alexander 23:f74a50977593 38 * sensor has a support functin that is used to convert data that is aquired from
dev_alexander 23:f74a50977593 39 * the grid eye sensor. So it is not supposed to be a class specific function.
dev_alexander 23:f74a50977593 40 */
dev_alexander 23:f74a50977593 41 #elif defined(TARGET_MAX32620FTHR) // Slave Device: Robot
dev_alexander 23:f74a50977593 42 //Init I2C communications in default I2C bus I2C #1
dev_alexander 23:f74a50977593 43 I2C i2cGridEye(P3_4,P3_5);
dev_alexander 23:f74a50977593 44 GridEye gridEye(i2cGridEye);
dev_alexander 23:f74a50977593 45 #endif
dev_alexander 19:9f035b9e65ec 46
dev_alexander 23:f74a50977593 47 int main()
dev_alexander 23:f74a50977593 48 {
Helmut64 17:98f2528e8399 49 /*
Helmut64 17:98f2528e8399 50 * inits the Serial or USBSerial when available (230400 baud).
Helmut64 17:98f2528e8399 51 * If the serial uart is not is not connected it swiches to USB Serial
Helmut64 17:98f2528e8399 52 * blinking LED means USBSerial detected, waiting for a connect.
Helmut64 17:98f2528e8399 53 * It waits up to 30 seconds for a USB terminal connections
Helmut64 17:98f2528e8399 54 */
Helmut64 17:98f2528e8399 55 InitSerial(30*1000, &myled);
Helmut64 17:98f2528e8399 56 dprintf("Welcome to the SX1276GenericLib");
Helmut64 18:d5527ce82e6b 57
Helmut64 17:98f2528e8399 58 dprintf("Starting a simple LoRa PingPong");
dev_alexander 23:f74a50977593 59
dev_alexander 23:f74a50977593 60 /* Setup begins here: */
dev_alexander 23:f74a50977593 61
dev_alexander 23:f74a50977593 62 /***************************************************************************
dev_alexander 23:f74a50977593 63 * Lora Communications
dev_alexander 23:f74a50977593 64 **************************************************************************/
dev_alexander 22:abca9d17d13d 65 SX1276PingPongSetup();
dev_alexander 23:f74a50977593 66
dev_alexander 23:f74a50977593 67 /***************************************************************************
dev_alexander 23:f74a50977593 68 * Grid Eye Sensor: Non-Buffer Program Variables
dev_alexander 23:f74a50977593 69 **************************************************************************/
dev_alexander 23:f74a50977593 70 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 23:f74a50977593 71 int frame_idx = 0;
dev_alexander 23:f74a50977593 72 #elif defined(TARGET_MAX32620FTHR) // Client Device: LoRa Controlled Robot
dev_alexander 23:f74a50977593 73 // none yet
dev_alexander 23:f74a50977593 74 #endif
dev_alexander 23:f74a50977593 75
dev_alexander 23:f74a50977593 76
dev_alexander 22:abca9d17d13d 77 while(1)
dev_alexander 23:f74a50977593 78 {
dev_alexander 23:f74a50977593 79 /***************************************************************************
dev_alexander 23:f74a50977593 80 * Grid Eye Sensor
dev_alexander 23:f74a50977593 81 **************************************************************************/
dev_alexander 23:f74a50977593 82 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 23:f74a50977593 83
dev_alexander 23:f74a50977593 84 // Check to see if the contents of the previous scan are the same. If they are different then continue with converting
dev_alexander 23:f74a50977593 85 if( memcmp(prev_raw_frame_data_from_slave, curr_raw_frame_data_from_slave, sizeof(curr_raw_frame_data_from_slave)) != 0 )
dev_alexander 23:f74a50977593 86 {
dev_alexander 23:f74a50977593 87 // Convert raw data sent from slave to a 16 bit integer array by calling this
dev_alexander 23:f74a50977593 88 convRaw8x8Data2Point25degC(curr_raw_frame_data_from_slave, conv_frame_data_from_slave);
dev_alexander 23:f74a50977593 89
dev_alexander 23:f74a50977593 90 // Next Print off the Converted data
dev_alexander 23:f74a50977593 91 dprintf("\r\nFrame %d data: \r\n", frame_idx);
dev_alexander 23:f74a50977593 92 uint8_t idx;
dev_alexander 23:f74a50977593 93 float pixel_data;
dev_alexander 23:f74a50977593 94 for (int y = 0; y < 8; y++) {
dev_alexander 23:f74a50977593 95 for (int x = 0; x < 8; x++) {
dev_alexander 23:f74a50977593 96 idx = y*8 + x;
dev_alexander 23:f74a50977593 97 pixel_data = conv_frame_data_from_slave[idx]/4.0;
dev_alexander 23:f74a50977593 98 dprintf("%.2f \t", pixel_data);
dev_alexander 23:f74a50977593 99 }
dev_alexander 23:f74a50977593 100 dprintf("\r\n\r\n");
dev_alexander 23:f74a50977593 101 }
dev_alexander 23:f74a50977593 102 dprintf("\r\n");
dev_alexander 23:f74a50977593 103
dev_alexander 23:f74a50977593 104 // Increment frame counter
dev_alexander 23:f74a50977593 105 frame_idx = frame_idx +1;
dev_alexander 23:f74a50977593 106 }
dev_alexander 23:f74a50977593 107
dev_alexander 23:f74a50977593 108 #elif defined(TARGET_MAX32620FTHR) // Client Device: LoRa Controlled Robot
dev_alexander 23:f74a50977593 109 // Aquire raw data about 8x8 frame from the grid eye sensor in this function call
dev_alexander 23:f74a50977593 110 gridEye.getRaw8x8FrameData(curr_raw_frame_data_to_master);
dev_alexander 23:f74a50977593 111
dev_alexander 23:f74a50977593 112 #endif
dev_alexander 23:f74a50977593 113
dev_alexander 23:f74a50977593 114
dev_alexander 23:f74a50977593 115 /***************************************************************************
dev_alexander 23:f74a50977593 116 * Lora Communications
dev_alexander 23:f74a50977593 117 **************************************************************************/
dev_alexander 22:abca9d17d13d 118 SX1276PingPong();
dev_alexander 23:f74a50977593 119
dev_alexander 23:f74a50977593 120
dev_alexander 23:f74a50977593 121
dev_alexander 23:f74a50977593 122
dev_alexander 23:f74a50977593 123
dev_alexander 22:abca9d17d13d 124 }
dev_alexander 22:abca9d17d13d 125
Helmut64 0:c43b6919ae15 126 }