![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
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:
- 25:1a031add188a
- Parent:
- 24:e8d03912f303
- Child:
- 26:69aba05f010f
diff -r e8d03912f303 -r 1a031add188a main.cpp --- a/main.cpp Wed Jul 18 21:25:17 2018 +0000 +++ b/main.cpp Thu Jul 19 21:13:19 2018 +0000 @@ -28,6 +28,8 @@ DigitalOut myled(LED); +Serial pc(USBTX, USBRX); + #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 @@ -58,6 +60,11 @@ dprintf("Starting a simple LoRa PingPong"); /* Setup begins here: */ + #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway + dprintf("MAX32630FTHR: Master"); + #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot + dprintf("MAX32620FTHR: Slave"); + #endif /*************************************************************************** * Lora Communications @@ -71,6 +78,7 @@ int frame_idx = 0; #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot // none yet + int frame_idx = 0; #endif @@ -103,14 +111,49 @@ // Increment frame counter frame_idx = frame_idx +1; } + + /* Next copy in data received from current data into buffer used for + * comparison next time the memcmp above is called. This prevents the + * program from converting the same raw data aquired by the grid eye + * sensor on the slave device to the floating point array with the + * 0.25 degrees celsius precision level when there is not new data. + */ + memcpy(prev_raw_frame_data_from_slave, curr_raw_frame_data_from_slave, sizeof(curr_raw_frame_data_from_slave)); + #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot // Aquire raw data about 8x8 frame from the grid eye sensor in this function call gridEye.getRaw8x8FrameData(curr_raw_frame_data_to_master); + wait_ms( 1000 ); + + //if ( memcmp(prev_raw_frame_data_to_master, curr_raw_frame_data_to_master, sizeof(curr_raw_frame_data_to_master)) != 0 ) + //{ + // Convert raw data sent from slave to a 16 bit integer array by calling this + convRaw8x8Data2Point25degC(curr_raw_frame_data_to_master, conv_frame_data_to_master); + + // Next Print off the Converted data + pc.printf("\r\nFrame %d data: \r\n", frame_idx); + uint8_t idx; + float pixel_data; + for (int y = 0; y < 8; y++) { + for (int x = 0; x < 8; x++) { + idx = y*8 + x; + pixel_data = conv_frame_data_to_master[idx]/4.0; + pc.printf("%.2f \t", pixel_data); + } + pc.printf("\r\n\r\n"); + } + pc.printf("\r\n"); + + // Increment frame counter + frame_idx = frame_idx +1; + //} + memcpy(prev_raw_frame_data_to_master, curr_raw_frame_data_to_master, sizeof(curr_raw_frame_data_to_master)); #endif /*************************************************************************** * Lora Communications **************************************************************************/ + wait_ms( 10 ); SX1276PingPong();