![](/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:
- 23:f74a50977593
- Parent:
- 22:abca9d17d13d
- Child:
- 24:e8d03912f303
diff -r abca9d17d13d -r f74a50977593 main.cpp --- a/main.cpp Fri Jul 13 18:22:53 2018 +0000 +++ b/main.cpp Wed Jul 18 18:52:30 2018 +0000 @@ -10,7 +10,17 @@ */ #include "main.h" + #include "global_buffers.h" + #include "GridEye.h" + +/* 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. + */ #if defined(TARGET_MAX32630FTHR) // using the RFM95 board #include "max32630fthr.h" MAX32630FTHR pegasus(MAX32630FTHR::VIO_3V3); @@ -19,13 +29,23 @@ DigitalOut myled(LED); -int main() { -#ifdef HELTEC_STM32L4 - DigitalOut vext(POWER_VEXT); - vext = POWER_VEXT_ON; -#endif +#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 + * data that is sent over from the slave deevice that contains the data from the + * actual grid eye sensor is actually a function that is not part of the grid eye + * class. this is due to the fact that the grid eye class requires n i2c bus to + * be assigned to a phyiscal sensor. In this case, the library for the Grid Eye + * sensor has a support functin 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: Robot + //Init I2C communications in default I2C bus I2C #1 + I2C i2cGridEye(P3_4,P3_5); + GridEye gridEye(i2cGridEye); +#endif - +int main() +{ /* * inits the Serial or USBSerial when available (230400 baud). * If the serial uart is not is not connected it swiches to USB Serial @@ -36,10 +56,71 @@ dprintf("Welcome to the SX1276GenericLib"); dprintf("Starting a simple LoRa PingPong"); + + /* Setup begins here: */ + + /*************************************************************************** + * Lora Communications + **************************************************************************/ SX1276PingPongSetup(); + + /*************************************************************************** + * Grid Eye Sensor: Non-Buffer Program Variables + **************************************************************************/ + #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway + int frame_idx = 0; + #elif defined(TARGET_MAX32620FTHR) // Client Device: LoRa Controlled Robot + // none yet + #endif + + while(1) - { + { + /*************************************************************************** + * Grid Eye Sensor + **************************************************************************/ + #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway + + // Check to see if the contents of the previous scan are the same. If they are different then continue with converting + if( memcmp(prev_raw_frame_data_from_slave, curr_raw_frame_data_from_slave, sizeof(curr_raw_frame_data_from_slave)) != 0 ) + { + // Convert raw data sent from slave to a 16 bit integer array by calling this + convRaw8x8Data2Point25degC(curr_raw_frame_data_from_slave, conv_frame_data_from_slave); + + // Next Print off the Converted data + dprintf("\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_from_slave[idx]/4.0; + dprintf("%.2f \t", pixel_data); + } + dprintf("\r\n\r\n"); + } + dprintf("\r\n"); + + // Increment frame counter + frame_idx = frame_idx +1; + } + + #elif defined(TARGET_MAX32620FTHR) // Client 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); + + #endif + + + /*************************************************************************** + * Lora Communications + **************************************************************************/ SX1276PingPong(); + + + + + } }