Diff: main.cpp

Revision:

37:f0fcc0341654

Parent:

36:09e8b51fc91d

Child:

38:c10d2a04a0c2

--- a/main.cpp	Tue Jul 31 22:39:49 2018 +0000
+++ b/main.cpp	Tue Jul 31 23:21:01 2018 +0000
@@ -8,190 +8,50 @@
  * For Wiring Instructions, please visit the link below:
  * https://www.hackster.io/DevinAlex64/getting-started-with-the-max32620fthr-and-lora-f9d8dd\
  */
- 
+
+/***************************************************************************
+ * Misc Instantiation
+ **************************************************************************/
 #include "main.h"
 #include "global_buffers.h"
-#include "GridEye.h"
-
 //#define DEBUG_GRID_EYE
 #define RASPBERRY_PI
+DigitalOut myled(LED);
+Serial pc(USBTX, USBRX);
 
 
-/* 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 
- * work with a 3.3volt output instead of a 1.8 volt output. 
- * 
- * This is only needed for the MAX32630FTHR. The MAX325620FTHR is exampt from this 
- * additional setup in the main program.
- */ 
- 
+/***************************************************************************
+ * MAX32630FTHR Instantiation
+ **************************************************************************/
+#if defined(TARGET_MAX32630FTHR) 
+    /* 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 
+     * work with a 3.3volt output instead of a 1.8 volt output. 
+     * 
+     * This is only needed for the MAX32630FTHR. The MAX325620FTHR is exampt from this 
+     * additional setup in the main program.
+     */ 
+    #include "max32630fthr.h"
+    MAX32630FTHR pegasus(MAX32630FTHR::VIO_3V3);
+#endif
+
+/***************************************************************************
+ * MAX32620FTHR Instantiation
+ **************************************************************************/
 #if defined(TARGET_MAX32620FTHR)
     // Definitions for running board off of battery
     #define POWER_HOLD_ON 1
     #define POWER_HOLD_OFF 0
     
-// MAX77650 
+// MAX77650
     DigitalOut pw_Hold(P2_2, POWER_HOLD_ON);
-
-// Initialize GPS
-    #include "GPS.h"
-    GPS gps(P0_1, P0_0, 115200);
-    
-// Motor Driver initialization
-    #include "Adafruit_MotorShield.h"
-    #include "Adafruit_PWMServoDriver.h"
-    
-    #define MOTOR_OFF 0
-    #define MOTOR_FORWARD 150
-    #define MOTOR_BACKWARD 150
-    #define MOTOR_TURN 100
-    
-    
-    // Create the motor shield object with the default I2C address
-    //Adafruit_MotorShield AFMS = Adafruit_MotorShield(p9, p10, 0x60 << 1); 
-    Adafruit_MotorShield AFMS = Adafruit_MotorShield(P3_4, P3_5, 0x60 << 1); 
-    // Or, create it with a different I2C address (say for stacking)
-    // Adafruit_MotorShield AFMS = Adafruit_MotorShield(0x61); 
-    
-    // Select which 'port' M1, M2, M3 or M4. In this case, M1
-    Adafruit_DCMotor *rightMotor = AFMS.getMotor(1);
-    Adafruit_DCMotor *leftMotor = AFMS.getMotor(4);
-    // You can also make another motor on port M2
-    //Adafruit_DCMotor *myOtherMotor = AFMS.getMotor(2);
-    
 #endif
 
-#if defined(TARGET_MAX32620FTHR)
-void MotorController(uint8_t (BLE_data_server)[2])
-{
-    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';
-    
 
-    button_state = BLE_data_server[1];
-    direction = BLE_data_server[0];
-    
-    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:
-                    rightMotor->run(FORWARD);
-                    leftMotor->run(FORWARD);
-                    rightMotor->setSpeed(MOTOR_FORWARD);
-                    leftMotor->setSpeed(MOTOR_FORWARD);
-                    break;
-                case BACK:
-                    rightMotor->run(BACKWARD);
-                    leftMotor->run(BACKWARD);
-                    rightMotor->setSpeed(MOTOR_BACKWARD);
-                    leftMotor->setSpeed(MOTOR_BACKWARD);
-                    break;
-                case LEFT:
-                    rightMotor->run(FORWARD);
-                    leftMotor->run(BACKWARD);
-                    rightMotor->setSpeed(MOTOR_TURN);
-                    leftMotor->setSpeed(MOTOR_TURN);
-                    break;
-                case RIGHT:
-                    rightMotor->run(BACKWARD);
-                    leftMotor->run(FORWARD);
-                    rightMotor->setSpeed(MOTOR_TURN);
-                    leftMotor->setSpeed(MOTOR_TURN);
-                    break;
-            }      
-            break;
-        case RELEASED:
-            rightMotor->setSpeed(MOTOR_OFF);
-            leftMotor->setSpeed(MOTOR_OFF);
-            break;
-    }
-}
-#endif
-
-#if defined(TARGET_MAX32630FTHR) 
-    #include "max32630fthr.h"
-    MAX32630FTHR pegasus(MAX32630FTHR::VIO_3V3);
-
-    #define COMPILE_BLE
-
-    #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);
-        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;
-
-            /* 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);      
-            }
-        }
-    #endif
-#endif
-
-DigitalOut myled(LED);
-
-Serial pc(USBTX, USBRX);
-
+/***************************************************************************
+ * Grid Eye Sensor Instantiation
+ **************************************************************************/
+#include "GridEye.h"
 
 #if   defined(TARGET_MAX32630FTHR) // Master Device: MAX32630FTHR BLE-to-LoRa Gateway
     /* No grid eye object needed. The function the master uses to convert the raw 
@@ -201,15 +61,188 @@
      * be assigned to a phyiscal sensor. In this case, the library for the Grid Eye 
      * sensor has a support function that is used to convert data that is aquired from 
      * the grid eye sensor. So it is not supposed to be a class specific function.
-    */
+     */
 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
-    //Init I2C communications in default I2C bus I2C #1
     // I2C i2cGridEye(SDA,SCL);
     //I2C i2cGridEye(P3_4,P3_5);
     I2C i2cGridEye(P1_6,P1_7);
     GridEye gridEye(i2cGridEye);
 #endif
 
+/***************************************************************************
+ * GPS Instantiation
+ **************************************************************************/
+#if   defined(TARGET_MAX32630FTHR) // Master Device: MAX32630FTHR BLE-to-LoRa Gateway
+    // No GPS module on the master device
+#elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
+    #include "GPS.h"
+    GPS gps(P0_1, P0_0, 115200); // (Tx, Rx, Baud rate)
+#endif
+
+/***************************************************************************
+ * MAX77650 Instatiation
+ **************************************************************************/
+ 
+/***************************************************************************
+ * MAX17055 Instatiation
+ **************************************************************************/
+ 
+/***************************************************************************
+ * OLED Instatiation
+ **************************************************************************/
+
+/***************************************************************************
+ * BLE Instatiation and Related Functions
+ **************************************************************************/
+#if   defined(TARGET_MAX32630FTHR) // Master Device: MAX32630FTHR BLE-to-LoRa Gateway
+    #include "ble/BLE.h"
+    //#include "ble/Gap.h"
+    #include "UARTService_custom.h"
+    #include <events/mbed_events.h>
+    
+    DigitalOut led2(LED2);
+    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;
+
+        /* 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);      
+        }
+    }
+#elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
+    // No BLE chip on the MAX32620FTHR so this is not needed
+#endif
+ 
+/***************************************************************************
+ * Motor Controller Instatiation and Related Functions
+ **************************************************************************/
+#if   defined(TARGET_MAX32630FTHR) // Master Device: MAX32630FTHR BLE-to-LoRa Gateway
+    // There is no motor on this device.
+#elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
+    /* This is a port of a library that was developed by Adafruit for the Arduino. 
+     * This port was done by mbed user syundo0730. */
+    #include "Adafruit_MotorShield.h"
+    #include "Adafruit_PWMServoDriver.h"
+    
+    // These are the defined speeds that are selected out of the number range (0, 255).
+    #define MOTOR_OFF 0
+    #define MOTOR_FORWARD 150
+    #define MOTOR_BACKWARD 150
+    #define MOTOR_TURN 100
+    
+    // Create the motor shield object with the default I2C address
+    Adafruit_MotorShield AFMS = Adafruit_MotorShield(P3_4, P3_5, 0x60 << 1); // You have to shift it over by one due to how mbed does its I2C Addressing. 
+    // Or, create it with a different I2C address (say for stacking)
+    // Adafruit_MotorShield AFMS = Adafruit_MotorShield(0x61); 
+    // Select which 'port' M1, M2, M3 or M4. In this case, M1
+    Adafruit_DCMotor *rightMotor = AFMS.getMotor(1);
+    // You can also make another motor on port M4
+    Adafruit_DCMotor *leftMotor = AFMS.getMotor(4);
+    
+    
+    void MotorController(uint8_t (BLE_data_server)[2])
+    {
+        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';
+        
+    
+        button_state = BLE_data_server[1];
+        direction = BLE_data_server[0];
+        
+        switch (button_state)
+        {
+            case PRESSED:
+                switch (direction)
+                {
+                    case FRONT:
+                        rightMotor->run(FORWARD);
+                        leftMotor->run(FORWARD);
+                        rightMotor->setSpeed(MOTOR_FORWARD);
+                        leftMotor->setSpeed(MOTOR_FORWARD);
+                        break;
+                    case BACK:
+                        rightMotor->run(BACKWARD);
+                        leftMotor->run(BACKWARD);
+                        rightMotor->setSpeed(MOTOR_BACKWARD);
+                        leftMotor->setSpeed(MOTOR_BACKWARD);
+                        break;
+                    case LEFT:
+                        rightMotor->run(FORWARD);
+                        leftMotor->run(BACKWARD);
+                        rightMotor->setSpeed(MOTOR_TURN);
+                        leftMotor->setSpeed(MOTOR_TURN);
+                        break;
+                    case RIGHT:
+                        rightMotor->run(BACKWARD);
+                        leftMotor->run(FORWARD);
+                        rightMotor->setSpeed(MOTOR_TURN);
+                        leftMotor->setSpeed(MOTOR_TURN);
+                        break;
+                }      
+                break;
+            case RELEASED:
+                rightMotor->setSpeed(MOTOR_OFF);
+                leftMotor->setSpeed(MOTOR_OFF);
+                break;
+        }
+    }
+#endif
+
+
+
+
+
+
 int main() 
 {
     /* Setup begins here: */