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

utils.cpp@19:9f035b9e65ec, 2018-06-01 (annotated)

Committer:
dev_alexander
Date:
Fri Jun 01 22:07:08 2018 +0000
Revision:
19:9f035b9e65ec
Parent:
17:98f2528e8399 
got this sample program for 2+ sx1276 modules to communicate in a ping pong fashion. This program has been tested and verified to run with 915MHz Hope RFM95 modules running with MAX32620FTHR and MAX32630FTHR micro controllers.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Helmut64 17:98f2528e8399 1 /*
Helmut64 17:98f2528e8399 2 * Copyright (c) 2018 Helmut Tschemernjak
Helmut64 17:98f2528e8399 3 * 30826 Garbsen (Hannover) Germany
Helmut64 17:98f2528e8399 4 */
Helmut64 17:98f2528e8399 5 #include "main.h"
Helmut64 17:98f2528e8399 6
dev_alexander 19:9f035b9e65ec 7 #define BAUD_RATE 115200
dev_alexander 19:9f035b9e65ec 8
dev_alexander 19:9f035b9e65ec 9
Helmut64 17:98f2528e8399 10 time_t cvt_date(char const *date, char const *time);
Helmut64 17:98f2528e8399 11
dev_alexander 19:9f035b9e65ec 12
Helmut64 17:98f2528e8399 13 BufferedSerial *ser;
Helmut64 17:98f2528e8399 14 #ifdef FEATURE_USBSERIAL
Helmut64 17:98f2528e8399 15 USBSerialBuffered *usb;
Helmut64 17:98f2528e8399 16 #endif
Helmut64 17:98f2528e8399 17 bool _useDprintf;
Helmut64 17:98f2528e8399 18
Helmut64 17:98f2528e8399 19 void InitSerial(int timeout, DigitalOut *led)
Helmut64 17:98f2528e8399 20 {
Helmut64 17:98f2528e8399 21 _useDprintf = true;
Helmut64 17:98f2528e8399 22 bool uartActive;
Helmut64 17:98f2528e8399 23 {
Helmut64 17:98f2528e8399 24 {
Helmut64 17:98f2528e8399 25 // need to turn rx low to avoid floating signal
Helmut64 17:98f2528e8399 26 DigitalOut rx(USBRX);
Helmut64 17:98f2528e8399 27 rx = 0;
Helmut64 17:98f2528e8399 28 }
Helmut64 17:98f2528e8399 29 DigitalIn uartRX(USBRX);
Helmut64 17:98f2528e8399 30 uartActive = uartRX.read();
Helmut64 17:98f2528e8399 31 }
Helmut64 17:98f2528e8399 32 #ifdef FEATURE_USBSERIAL
Helmut64 17:98f2528e8399 33 if (!uartActive) {
Helmut64 17:98f2528e8399 34 usb = new USBSerialBuffered();
Helmut64 17:98f2528e8399 35 Timer t;
Helmut64 17:98f2528e8399 36 t.start();
Helmut64 17:98f2528e8399 37 while(!usb->connected()) {
Helmut64 17:98f2528e8399 38 if (led)
Helmut64 17:98f2528e8399 39 *led = !*led;
Helmut64 17:98f2528e8399 40 wait_ms(100);
Helmut64 17:98f2528e8399 41 if (timeout) {
Helmut64 17:98f2528e8399 42 if (t.read_ms() >= timeout)
Helmut64 17:98f2528e8399 43 return;
Helmut64 17:98f2528e8399 44 }
Helmut64 17:98f2528e8399 45 }
Helmut64 17:98f2528e8399 46 return;
Helmut64 17:98f2528e8399 47 } else {
Helmut64 17:98f2528e8399 48 #else
Helmut64 17:98f2528e8399 49 {
Helmut64 17:98f2528e8399 50 #endif
Helmut64 17:98f2528e8399 51 ser = new BufferedSerial(USBTX, USBRX);
dev_alexander 19:9f035b9e65ec 52 ser->baud(BAUD_RATE);
Helmut64 17:98f2528e8399 53 ser->format(8);
Helmut64 17:98f2528e8399 54 }
Helmut64 17:98f2528e8399 55 time_t t = cvt_date(__DATE__, __TIME__);
Helmut64 17:98f2528e8399 56 if (t > time(NULL)) {
Helmut64 17:98f2528e8399 57 set_time(t);
Helmut64 17:98f2528e8399 58 }
Helmut64 17:98f2528e8399 59
Helmut64 17:98f2528e8399 60 }
Helmut64 17:98f2528e8399 61
Helmut64 17:98f2528e8399 62 void printTimeStamp()
Helmut64 17:98f2528e8399 63 {
Helmut64 17:98f2528e8399 64 static LowPowerTimer *timer;
Helmut64 17:98f2528e8399 65 if (!timer) {
Helmut64 17:98f2528e8399 66 timer = new LowPowerTimer();
Helmut64 17:98f2528e8399 67 timer->start();
Helmut64 17:98f2528e8399 68 }
Helmut64 17:98f2528e8399 69 time_t seconds = time(NULL);
Helmut64 17:98f2528e8399 70 struct tm *tm = localtime(&seconds);
Helmut64 17:98f2528e8399 71 int usecs = timer->read_us();
Helmut64 17:98f2528e8399 72 if (usecs < 0) {
Helmut64 17:98f2528e8399 73 usecs = 0;
Helmut64 17:98f2528e8399 74 timer->stop();
Helmut64 17:98f2528e8399 75 timer->reset();
Helmut64 17:98f2528e8399 76 timer->start();
Helmut64 17:98f2528e8399 77 }
Helmut64 17:98f2528e8399 78 int msecs = usecs % 1000000;
Helmut64 17:98f2528e8399 79
Helmut64 17:98f2528e8399 80 rprintf("%02d:%02d:%02d.%06d ", tm->tm_hour, tm->tm_min, tm->tm_sec, msecs);
Helmut64 17:98f2528e8399 81 }
Helmut64 17:98f2528e8399 82
Helmut64 17:98f2528e8399 83 void dprintf(const char *format, ...)
Helmut64 17:98f2528e8399 84 {
Helmut64 17:98f2528e8399 85 std::va_list arg;
Helmut64 17:98f2528e8399 86
Helmut64 17:98f2528e8399 87 va_start(arg, format);
Helmut64 17:98f2528e8399 88 VAprintf(true, true, _useDprintf, format, arg);
Helmut64 17:98f2528e8399 89 va_end(arg);
Helmut64 17:98f2528e8399 90 }
Helmut64 17:98f2528e8399 91
Helmut64 17:98f2528e8399 92 void rprintf(const char *format, ...)
Helmut64 17:98f2528e8399 93 {
Helmut64 17:98f2528e8399 94 std::va_list arg;
Helmut64 17:98f2528e8399 95
Helmut64 17:98f2528e8399 96 va_start(arg, format);
Helmut64 17:98f2528e8399 97 VAprintf(false, false, _useDprintf, format, arg);
Helmut64 17:98f2528e8399 98 va_end(arg);
Helmut64 17:98f2528e8399 99 }
Helmut64 17:98f2528e8399 100
Helmut64 17:98f2528e8399 101 void VAprintf(bool timstamp, bool newline, bool printEnabled, const char *format, va_list arg)
Helmut64 17:98f2528e8399 102 {
Helmut64 17:98f2528e8399 103 if (!printEnabled)
Helmut64 17:98f2528e8399 104 return;
Helmut64 17:98f2528e8399 105
Helmut64 17:98f2528e8399 106 if (timstamp)
Helmut64 17:98f2528e8399 107 printTimeStamp();
Helmut64 17:98f2528e8399 108 #ifdef FEATURE_USBSERIAL
Helmut64 17:98f2528e8399 109 if (usb) {
Helmut64 17:98f2528e8399 110 usb->vprintf_irqsafe(format, arg);
Helmut64 17:98f2528e8399 111 if (newline)
Helmut64 17:98f2528e8399 112 usb->printf_irqsafe("\r\n");
Helmut64 17:98f2528e8399 113 #else
Helmut64 17:98f2528e8399 114 if (0) {
Helmut64 17:98f2528e8399 115 #endif
Helmut64 17:98f2528e8399 116 } else if (ser) {
Helmut64 17:98f2528e8399 117 // serial jas
Helmut64 17:98f2528e8399 118 int r = 0;
Helmut64 17:98f2528e8399 119 r = vsnprintf(NULL, 0, format, arg);
Helmut64 17:98f2528e8399 120 if (r < 82) {
Helmut64 17:98f2528e8399 121 char buffer[82+1];
Helmut64 17:98f2528e8399 122
Helmut64 17:98f2528e8399 123 vsnprintf(buffer, sizeof(buffer), format, arg);
Helmut64 17:98f2528e8399 124 r = ser->write(buffer, r);
Helmut64 17:98f2528e8399 125 } else {
Helmut64 17:98f2528e8399 126 char *buffer = new char[r+1];
Helmut64 17:98f2528e8399 127 if (buffer) {
Helmut64 17:98f2528e8399 128 vsnprintf(buffer, r+1, format, arg);
Helmut64 17:98f2528e8399 129 r = ser->write(buffer, r);
Helmut64 17:98f2528e8399 130 delete[] buffer;
Helmut64 17:98f2528e8399 131 } else {
Helmut64 17:98f2528e8399 132 error("%s %d cannot alloc memory (%d bytes)!\r\n", __FILE__, __LINE__, r+1);
Helmut64 17:98f2528e8399 133 r = 0;
Helmut64 17:98f2528e8399 134 }
Helmut64 17:98f2528e8399 135 }
Helmut64 17:98f2528e8399 136 if (newline)
Helmut64 17:98f2528e8399 137 ser->write("\r\n", 2);
Helmut64 17:98f2528e8399 138 }
Helmut64 17:98f2528e8399 139 }
Helmut64 17:98f2528e8399 140
Helmut64 17:98f2528e8399 141
Helmut64 17:98f2528e8399 142 void dump(const char *title, const void *data, int len, bool dwords)
Helmut64 17:98f2528e8399 143 {
Helmut64 17:98f2528e8399 144 dprintf("dump(\"%s\", 0x%x, %d bytes)", title, data, len);
Helmut64 17:98f2528e8399 145
Helmut64 17:98f2528e8399 146 int i, j, cnt;
Helmut64 17:98f2528e8399 147 unsigned char *u;
Helmut64 17:98f2528e8399 148 const int width = 16;
Helmut64 17:98f2528e8399 149 const int seppos = 7;
Helmut64 17:98f2528e8399 150
Helmut64 17:98f2528e8399 151 cnt = 0;
Helmut64 17:98f2528e8399 152 u = (unsigned char *)data;
Helmut64 17:98f2528e8399 153 while (len > 0) {
Helmut64 17:98f2528e8399 154 rprintf("%08x: ", (unsigned int)data + cnt);
Helmut64 17:98f2528e8399 155 if (dwords) {
Helmut64 17:98f2528e8399 156 unsigned int *ip = ( unsigned int *)u;
Helmut64 17:98f2528e8399 157 rprintf(" 0x%08x\r\n", *ip);
Helmut64 17:98f2528e8399 158 u+= 4;
Helmut64 17:98f2528e8399 159 len -= 4;
Helmut64 17:98f2528e8399 160 cnt += 4;
Helmut64 17:98f2528e8399 161 continue;
Helmut64 17:98f2528e8399 162 }
Helmut64 17:98f2528e8399 163 cnt += width;
Helmut64 17:98f2528e8399 164 j = len < width ? len : width;
Helmut64 17:98f2528e8399 165 for (i = 0; i < j; i++) {
Helmut64 17:98f2528e8399 166 rprintf("%2.2x ", *(u + i));
Helmut64 17:98f2528e8399 167 if (i == seppos)
Helmut64 17:98f2528e8399 168 rprintf(" ");
Helmut64 17:98f2528e8399 169 }
Helmut64 17:98f2528e8399 170 rprintf(" ");
Helmut64 17:98f2528e8399 171 if (j < width) {
Helmut64 17:98f2528e8399 172 i = width - j;
Helmut64 17:98f2528e8399 173 if (i > seppos + 1)
Helmut64 17:98f2528e8399 174 rprintf(" ");
Helmut64 17:98f2528e8399 175 while (i--) {
Helmut64 17:98f2528e8399 176 rprintf("%s", " ");
Helmut64 17:98f2528e8399 177 }
Helmut64 17:98f2528e8399 178 }
Helmut64 17:98f2528e8399 179 for (i = 0; i < j; i++) {
Helmut64 17:98f2528e8399 180 int c = *(u + i);
Helmut64 17:98f2528e8399 181 if (c >= ' ' && c <= '~')
Helmut64 17:98f2528e8399 182 rprintf("%c", c);
Helmut64 17:98f2528e8399 183 else
Helmut64 17:98f2528e8399 184 rprintf(".");
Helmut64 17:98f2528e8399 185 if (i == seppos)
Helmut64 17:98f2528e8399 186 rprintf(" ");
Helmut64 17:98f2528e8399 187 }
Helmut64 17:98f2528e8399 188 len -= width;
Helmut64 17:98f2528e8399 189 u += width;
Helmut64 17:98f2528e8399 190 rprintf("\r\n");
Helmut64 17:98f2528e8399 191 }
Helmut64 17:98f2528e8399 192 rprintf("--\r\n");
Helmut64 17:98f2528e8399 193 }
Helmut64 17:98f2528e8399 194
Helmut64 17:98f2528e8399 195 /*
Helmut64 17:98f2528e8399 196 * Convert compile time to system time
Helmut64 17:98f2528e8399 197 */
Helmut64 17:98f2528e8399 198 time_t
Helmut64 17:98f2528e8399 199 cvt_date(char const *date, char const *time)
Helmut64 17:98f2528e8399 200 {
Helmut64 17:98f2528e8399 201 char s_month[5];
Helmut64 17:98f2528e8399 202 int year;
Helmut64 17:98f2528e8399 203 struct tm t;
Helmut64 17:98f2528e8399 204 static const char month_names[] = "JanFebMarAprMayJunJulAugSepOctNovDec";
Helmut64 17:98f2528e8399 205 sscanf(date, "%s %d %d", s_month, &t.tm_mday, &year);
Helmut64 17:98f2528e8399 206 sscanf(time, "%2d %*c %2d %*c %2d", &t.tm_hour, &t.tm_min, &t.tm_sec);
Helmut64 17:98f2528e8399 207 // Find where is s_month in month_names. Deduce month value.
Helmut64 17:98f2528e8399 208 t.tm_mon = (strstr(month_names, s_month) - month_names) / 3;
Helmut64 17:98f2528e8399 209 t.tm_year = year - 1900;
Helmut64 17:98f2528e8399 210 return (int)mktime(&t);
Helmut64 17:98f2528e8399 211 }