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
Diff: main.cpp
- Revision:
- 30:66f9750cc44c
- Parent:
- 29:f7a0e49b826b
- Child:
- 31:f15747cffb20
--- a/main.cpp Tue Jul 24 00:38:18 2018 +0000 +++ b/main.cpp Tue Jul 24 16:58:04 2018 +0000 @@ -9,10 +9,11 @@ * https://www.hackster.io/DevinAlex64/getting-started-with-the-max32620fthr-and-lora-f9d8dd\ */ - #include "main.h" - #include "global_buffers.h" - #include "GridEye.h" +#include "main.h" +#include "global_buffers.h" +#include "GridEye.h" +#define COMPILE_BLE /* If the board that is compiled is the master device (BLE enabled MAX32630FTHR), * then it needs this library and needs to be configed in order for the device to @@ -22,13 +23,122 @@ * additional setup in the main program. */ #if defined(TARGET_MAX32630FTHR) // using the RFM95 board - //#include "UARTService_custom.h" - //#include "ble/BLE.h" - //#include "ble/Gap.h" #include "max32630fthr.h" MAX32630FTHR pegasus(MAX32630FTHR::VIO_3V3); #endif +#if defined(COMPILE_BLE) + /* BLE Related MAX32630FTHR Specific stuff */ + #include "ble/BLE.h" + //#include "ble/Gap.h" + #include "UARTService_custom.h" + #include <events/mbed_events.h> + + DigitalOut led2(LED2); + //BLE &ble = BLE::Instance(); + UARTService *uart; + + #define NEED_CONSOLE_OUTPUT 1 /* Set this if you need debug messages on the console; + * it will have an impact on code-size and power consumption. */ + + #if NEED_CONSOLE_OUTPUT + #define DEBUG(STR) { if (uart) uart->write(STR, strlen(STR)); } + #define READ(STR) { if (uart) uart->read(STR, strlen(STR)); } + + #else + #define DEBUG(...) /* nothing */ + #endif /* #if NEED_CONSOLE_OUTPUT */ + + //Triggered when the robot is disconnected from the mobile app. + void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params) + { + BLE &ble = BLE::Instance(); + DEBUG("Disconnected!\n\r"); + DEBUG("Restarting the advertising process\n\r"); + ble.gap().startAdvertising(); + } + + /* This pointer is needed to reference data in the main program when filling + * with data from the BLE + */ + uint8_t * onDataWritten_curr_ble_to_slave; + + // Triggered when there is data written + void onDataWritten(const GattWriteCallbackParams *params) + { + //LED1 will be off when button is pressed, and on when button is released. + led2 = !led2; + uint8_t button_state; + uint8_t direction; + /*Set up constants for direction of motion */ + // const char FRONT = '5'; + // const char BACK = '6'; + // const char LEFT = '7'; + // const char RIGHT = '8'; + + /*Set up constants for button state */ + // const char PRESSED = '1'; + // const char RELEASED = '0'; + + /* If there is a valid data sent by the mobile app */ + if ((uart != NULL) && (params->handle == uart ->getTXCharacteristicHandle())) { + const uint8_t *packet = params->data; + button_state = packet[3]; + direction = packet[2]; + + // make parameter to send over Lora + onDataWritten_curr_ble_to_slave[0] = direction; + onDataWritten_curr_ble_to_slave[1] = button_state; + + dprintf("direction: %d\n", direction); + dprintf("button_state: %d\n", button_state); + + /* + switch (button_state) + { + case PRESSED: + md_left_pwm = static_cast<float>(20/100.0F); + md_right_pwm = static_cast<float>(20/100.0F); + + switch (direction) + { + case FRONT: + md_left_dir = 1; + md_left_pwm = 0.7; + md_right_dir = 1; + md_right_pwm = 0.7; + break; + case BACK: + md_left_dir = 0; + md_left_pwm = 0.7; + md_right_dir = 0; + md_right_pwm = 0.7; + break; + case LEFT: + md_left_dir = 0; + md_left_pwm = 0.5; + md_right_dir = 1; + md_right_pwm = 0.5; + break; + case RIGHT: + md_left_dir = 1; + md_left_pwm = 0.5; + md_right_dir = 0; + md_right_pwm = 0.5; + break; + } + break; + case RELEASED: + md_left_pwm = 0; + md_right_pwm = 0; + break; + } + */ + + } + } +#endif + DigitalOut myled(LED); Serial pc(USBTX, USBRX); @@ -97,6 +207,30 @@ uint8_t prev_ble_from_master[size_of_ble]; #endif + #if defined(COMPILE_BLE) + + BLE &ble = BLE::Instance(); + /* Create alias for the BLE data to be saved in function above that + * writes data to this buffer when function onDataWritten is called + */ + onDataWritten_curr_ble_to_slave = curr_ble_to_slave; + + /* Initialize BLE */ + ble.init(); + ble.gap().onDisconnection(disconnectionCallback); + ble.gattServer().onDataWritten(onDataWritten); + uart = new UARTService(ble); + /* setup advertising */ + ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED); + ble.gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED); + ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME, + (const uint8_t *)"BLE UART", sizeof("BLE UART") - 1); + ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS, + (const uint8_t *)UARTServiceUUID_reversed, sizeof(UARTServiceUUID_reversed)); + + ble.gap().setAdvertisingInterval(160); /* 100ms; in multiples of 0.625ms. */ + ble.gap().startAdvertising(); + #endif /*************************************************************************** * Grid Eye Sensor Data Buffers **************************************************************************/ @@ -148,6 +282,17 @@ while(1) { /*************************************************************************** + * BLE Radio Data + **************************************************************************/ + #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway + #if defined(COMPILE_BLE) + ble.waitForEvent(); + #endif + #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot + // NOTHING YET + #endif + + /*************************************************************************** * Grid Eye Sensor **************************************************************************/ #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway @@ -212,8 +357,7 @@ //} */ memcpy(prev_raw_frame_to_master, curr_raw_frame_to_master, sizeof(curr_raw_frame_to_master)); - #endif - + #endif /*************************************************************************** * Fill Payload Buffer With Data From Sensors for LoRa Transmition