Devin Alexander / Mbed OS Low_Power_Long_Distance_IR_Vision_Robot

This is example code that can get you started with building your own IR vision robot that communicates over LoRa

Dependencies:   Adafruit-MotorShield Adafruit-PWM-Servo-Driver Adafruit_GFX BufferedSerial MAX17055_EZconfig NEO-6m-GPS SX1276GenericLib USBDeviceHT max32630fthr max77650_charger_sample

Fork of MAX326xxFTHR_LoRa_Example_test by Devin Alexander

main.cpp@41:1381a49e019e, 2018-08-01 (annotated)

Committer:
dev_alexander
Date:
Wed Aug 01 08:32:21 2018 +0000
Revision:
41:1381a49e019e
Parent:
40:6f8744c366c2
Child:
42:911770814147
Implemented Battery fuel gauge functionality to be sent over LoRa by sorting the Data into Unions for easy parsing and unparsing. This is also the first revision of a complete system as under specification of the flow chart for this project.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Helmut64 0:c43b6919ae15 1 /*
Helmut64 17:98f2528e8399 2 * Copyright (c) 2018 HELIOS Software GmbH
Helmut64 0:c43b6919ae15 3 * 30826 Garbsen (Hannover) Germany
Helmut64 0:c43b6919ae15 4 * Licensed under the Apache License, Version 2.0);
Helmut64 0:c43b6919ae15 5 */
dev_alexander 21:1b92cabe8a3b 6
dev_alexander 21:1b92cabe8a3b 7 /*
dev_alexander 21:1b92cabe8a3b 8 * For Wiring Instructions, please visit the link below:
dev_alexander 21:1b92cabe8a3b 9 * https://www.hackster.io/DevinAlex64/getting-started-with-the-max32620fthr-and-lora-f9d8dd\
dev_alexander 21:1b92cabe8a3b 10 */
dev_alexander 40:6f8744c366c2 11
dev_alexander 40:6f8744c366c2 12 /***************************************************************************
dev_alexander 40:6f8744c366c2 13 * Misc Instantiation
dev_alexander 40:6f8744c366c2 14 **************************************************************************/\
dev_alexander 40:6f8744c366c2 15 #include "mbed.h"
dev_alexander 30:66f9750cc44c 16 #include "main.h"
dev_alexander 30:66f9750cc44c 17 #include "global_buffers.h"
dev_alexander 35:bae9b236070b 18 //#define DEBUG_GRID_EYE
dev_alexander 41:1381a49e019e 19 //#define DEBUG_MAX17055
dev_alexander 32:b108ed6096b0 20 #define RASPBERRY_PI
dev_alexander 40:6f8744c366c2 21 DigitalOut myled(LED);
dev_alexander 40:6f8744c366c2 22 Serial pc(USBTX, USBRX);
dev_alexander 23:f74a50977593 23
dev_alexander 40:6f8744c366c2 24 I2C i2cBus0(P1_6, P1_7);
dev_alexander 40:6f8744c366c2 25 I2C i2cBus1(P3_4, P3_5);
dev_alexander 40:6f8744c366c2 26 I2C i2cBus2(P5_7, P6_0);
dev_alexander 32:b108ed6096b0 27
dev_alexander 40:6f8744c366c2 28 /***************************************************************************
dev_alexander 40:6f8744c366c2 29 * MAX32630FTHR Instantiation
dev_alexander 40:6f8744c366c2 30 **************************************************************************/
dev_alexander 40:6f8744c366c2 31 #if defined(TARGET_MAX32630FTHR)
dev_alexander 40:6f8744c366c2 32 /* If the board that is compiled is the master device (BLE enabled MAX32630FTHR),
dev_alexander 40:6f8744c366c2 33 * then it needs this library and needs to be configed in order for the device to
dev_alexander 40:6f8744c366c2 34 * work with a 3.3volt output instead of a 1.8 volt output.
dev_alexander 40:6f8744c366c2 35 *
dev_alexander 40:6f8744c366c2 36 * This is only needed for the MAX32630FTHR. The MAX325620FTHR is exampt from this
dev_alexander 40:6f8744c366c2 37 * additional setup in the main program.
dev_alexander 40:6f8744c366c2 38 */
dev_alexander 40:6f8744c366c2 39 #include "max32630fthr.h"
dev_alexander 40:6f8744c366c2 40 MAX32630FTHR pegasus(MAX32630FTHR::VIO_3V3);
dev_alexander 32:b108ed6096b0 41 #endif
dev_alexander 32:b108ed6096b0 42
dev_alexander 40:6f8744c366c2 43 /***************************************************************************
dev_alexander 40:6f8744c366c2 44 * MAX32620FTHR Instantiation
dev_alexander 40:6f8744c366c2 45 **************************************************************************/
dev_alexander 32:b108ed6096b0 46 #if defined(TARGET_MAX32620FTHR)
dev_alexander 32:b108ed6096b0 47
dev_alexander 29:f7a0e49b826b 48 #endif
Helmut64 0:c43b6919ae15 49
dev_alexander 31:f15747cffb20 50
dev_alexander 40:6f8744c366c2 51 /***************************************************************************
dev_alexander 40:6f8744c366c2 52 * Grid Eye Sensor Instantiation
dev_alexander 40:6f8744c366c2 53 **************************************************************************/
dev_alexander 40:6f8744c366c2 54 #include "GridEye.h"
Helmut64 0:c43b6919ae15 55
dev_alexander 23:f74a50977593 56 #if defined(TARGET_MAX32630FTHR) // Master Device: MAX32630FTHR BLE-to-LoRa Gateway
dev_alexander 23:f74a50977593 57 /* No grid eye object needed. The function the master uses to convert the raw
dev_alexander 23:f74a50977593 58 * data that is sent over from the slave deevice that contains the data from the
dev_alexander 23:f74a50977593 59 * actual grid eye sensor is actually a function that is not part of the grid eye
dev_alexander 23:f74a50977593 60 * class. this is due to the fact that the grid eye class requires n i2c bus to
dev_alexander 23:f74a50977593 61 * be assigned to a phyiscal sensor. In this case, the library for the Grid Eye
dev_alexander 32:b108ed6096b0 62 * sensor has a support function that is used to convert data that is aquired from
dev_alexander 23:f74a50977593 63 * the grid eye sensor. So it is not supposed to be a class specific function.
dev_alexander 40:6f8744c366c2 64 */
dev_alexander 40:6f8744c366c2 65 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 40:6f8744c366c2 66 GridEye gridEye(i2cBus0);
dev_alexander 40:6f8744c366c2 67 #endif
dev_alexander 40:6f8744c366c2 68
dev_alexander 40:6f8744c366c2 69 /***************************************************************************
dev_alexander 40:6f8744c366c2 70 * GPS Instantiation
dev_alexander 40:6f8744c366c2 71 **************************************************************************/
dev_alexander 40:6f8744c366c2 72 #if defined(TARGET_MAX32630FTHR) // Master Device: MAX32630FTHR BLE-to-LoRa Gateway
dev_alexander 40:6f8744c366c2 73 // No GPS module on the master device
dev_alexander 40:6f8744c366c2 74 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 40:6f8744c366c2 75 #include "GPS.h"
dev_alexander 40:6f8744c366c2 76 GPS gps(P0_1, P0_0, 115200); // (Tx, Rx, Baud rate)
dev_alexander 40:6f8744c366c2 77 #endif
dev_alexander 40:6f8744c366c2 78
dev_alexander 40:6f8744c366c2 79 /***************************************************************************
dev_alexander 40:6f8744c366c2 80 * MAX77650 Instatiation
dev_alexander 40:6f8744c366c2 81 **************************************************************************/
dev_alexander 40:6f8744c366c2 82 #if defined(TARGET_MAX32630FTHR) // Master Device: MAX32630FTHR BLE-to-LoRa Gateway
dev_alexander 40:6f8744c366c2 83 // No MAX77650 PMIC on this board
dev_alexander 40:6f8744c366c2 84 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 40:6f8744c366c2 85 #include "max77650.h"
dev_alexander 40:6f8744c366c2 86
dev_alexander 40:6f8744c366c2 87 // Definitions for running board off of battery
dev_alexander 40:6f8744c366c2 88 #define POWER_HOLD_ON 1
dev_alexander 40:6f8744c366c2 89 #define POWER_HOLD_OFF 0
dev_alexander 40:6f8744c366c2 90
dev_alexander 40:6f8744c366c2 91 /* This is the pin that the MAX77650's Power Hold pin is connected to on MAX32620FTHR
dev_alexander 40:6f8744c366c2 92 * Without programming it to POWER_HOLD_ON, the device cant be started off of battery
dev_alexander 40:6f8744c366c2 93 * power alone.
dev_alexander 40:6f8744c366c2 94 */
dev_alexander 40:6f8744c366c2 95 DigitalOut pw_Hold(P2_2, POWER_HOLD_ON);
dev_alexander 40:6f8744c366c2 96
dev_alexander 40:6f8744c366c2 97 // Instatiate instance of the Simo Pimic
dev_alexander 40:6f8744c366c2 98 MAX77650 simo_pmic(i2cBus2);
dev_alexander 40:6f8744c366c2 99
dev_alexander 40:6f8744c366c2 100 // Battery Charger Interrupt
dev_alexander 40:6f8744c366c2 101 InterruptIn simoIRQ(P2_3);
dev_alexander 40:6f8744c366c2 102
dev_alexander 40:6f8744c366c2 103 void charger_Detect();
dev_alexander 40:6f8744c366c2 104 bool chrg_State_fn();
dev_alexander 40:6f8744c366c2 105
dev_alexander 40:6f8744c366c2 106 void charger_Detect()
dev_alexander 40:6f8744c366c2 107 {
dev_alexander 40:6f8744c366c2 108
dev_alexander 40:6f8744c366c2 109 uint8_t int_chr_value,temp, int_chr_MASK = 0x04;
dev_alexander 40:6f8744c366c2 110 int status;
dev_alexander 40:6f8744c366c2 111 pc.printf("Charger Detected \n");
dev_alexander 40:6f8744c366c2 112 status = simo_pmic.readReg(MAX77650::INT_CHG, int_chr_value);
dev_alexander 40:6f8744c366c2 113 pc.printf("INT_CHR val= %X \n", int_chr_value);
dev_alexander 40:6f8744c366c2 114 if (status == 1){
dev_alexander 40:6f8744c366c2 115 temp = int_chr_value & int_chr_MASK;
dev_alexander 40:6f8744c366c2 116 pc.printf("INT_CHR anded= %X \n", temp);
dev_alexander 40:6f8744c366c2 117 if (temp == 4){
dev_alexander 40:6f8744c366c2 118 pc.printf("enable charger \n");
dev_alexander 40:6f8744c366c2 119 simo_pmic.enCharger();
dev_alexander 40:6f8744c366c2 120 }
dev_alexander 40:6f8744c366c2 121 }
dev_alexander 40:6f8744c366c2 122 }
dev_alexander 40:6f8744c366c2 123
dev_alexander 40:6f8744c366c2 124 bool chrg_State_fn()
dev_alexander 40:6f8744c366c2 125 {
dev_alexander 40:6f8744c366c2 126 uint8_t status_chr_value,temp, chr_status_MASK = 0x02;
dev_alexander 40:6f8744c366c2 127 int status;
dev_alexander 40:6f8744c366c2 128 pc.printf("Charger State \n");
dev_alexander 40:6f8744c366c2 129 status = simo_pmic.readReg(MAX77650::STAT_CHG_B, status_chr_value);
dev_alexander 40:6f8744c366c2 130 pc.printf("STAR_CHG_B val= %X \n", status_chr_value);
dev_alexander 40:6f8744c366c2 131 if (status == 1){
dev_alexander 40:6f8744c366c2 132 temp = status_chr_value & chr_status_MASK;
dev_alexander 40:6f8744c366c2 133 pc.printf("STAR_CHG_B val= %X \n", temp);
dev_alexander 40:6f8744c366c2 134 if (temp == 2){
dev_alexander 40:6f8744c366c2 135 return true;
dev_alexander 40:6f8744c366c2 136 }
dev_alexander 40:6f8744c366c2 137 return false;
dev_alexander 40:6f8744c366c2 138 }
dev_alexander 40:6f8744c366c2 139 return false;
dev_alexander 40:6f8744c366c2 140 }
dev_alexander 40:6f8744c366c2 141
dev_alexander 40:6f8744c366c2 142 #endif
dev_alexander 40:6f8744c366c2 143
dev_alexander 40:6f8744c366c2 144
dev_alexander 40:6f8744c366c2 145 /***************************************************************************
dev_alexander 40:6f8744c366c2 146 * MAX17055 Instatiation
dev_alexander 40:6f8744c366c2 147 **************************************************************************/
dev_alexander 40:6f8744c366c2 148 #if defined(TARGET_MAX32630FTHR) // Master Device: MAX32630FTHR BLE-to-LoRa Gateway
dev_alexander 40:6f8744c366c2 149 // No MAX77650 PMIC on this board
dev_alexander 40:6f8744c366c2 150 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 40:6f8744c366c2 151 #include "max17055.h"
dev_alexander 40:6f8744c366c2 152
dev_alexander 40:6f8744c366c2 153 MAX17055 fuelGauge(i2cBus2);
dev_alexander 40:6f8744c366c2 154 MAX17055::platform_data design_param;
dev_alexander 40:6f8744c366c2 155
dev_alexander 40:6f8744c366c2 156 #endif
dev_alexander 40:6f8744c366c2 157
dev_alexander 40:6f8744c366c2 158
dev_alexander 40:6f8744c366c2 159 /***************************************************************************
dev_alexander 40:6f8744c366c2 160 * OLED Instatiation
dev_alexander 40:6f8744c366c2 161 **************************************************************************/
dev_alexander 40:6f8744c366c2 162 #if defined(TARGET_MAX32630FTHR) // Master Device: MAX32630FTHR BLE-to-LoRa Gateway
dev_alexander 40:6f8744c366c2 163 #include "Adafruit_SSD1306.h"
dev_alexander 40:6f8744c366c2 164 #include "maxim_bitmap.h"
dev_alexander 40:6f8744c366c2 165 Adafruit_SSD1306_I2c displayOled(i2cBus1);
dev_alexander 40:6f8744c366c2 166
dev_alexander 40:6f8744c366c2 167
dev_alexander 32:b108ed6096b0 168 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 40:6f8744c366c2 169 /* Currently, there is no OLED display attached to the MAX32620,
dev_alexander 40:6f8744c366c2 170 * so we are not compiling for it at the moment
dev_alexander 40:6f8744c366c2 171 */
dev_alexander 40:6f8744c366c2 172 #endif
dev_alexander 40:6f8744c366c2 173
dev_alexander 40:6f8744c366c2 174
dev_alexander 40:6f8744c366c2 175 /***************************************************************************
dev_alexander 40:6f8744c366c2 176 * BLE Instatiation and Related Functions
dev_alexander 40:6f8744c366c2 177 **************************************************************************/
dev_alexander 40:6f8744c366c2 178 #if defined(TARGET_MAX32630FTHR) // Master Device: MAX32630FTHR BLE-to-LoRa Gateway
dev_alexander 40:6f8744c366c2 179 #include "ble/BLE.h"
dev_alexander 40:6f8744c366c2 180 //#include "ble/Gap.h"
dev_alexander 40:6f8744c366c2 181 #include "UARTService_custom.h"
dev_alexander 40:6f8744c366c2 182 #include <events/mbed_events.h>
dev_alexander 40:6f8744c366c2 183
dev_alexander 40:6f8744c366c2 184 DigitalOut led2(LED2);
dev_alexander 40:6f8744c366c2 185 UARTService *uart;
dev_alexander 40:6f8744c366c2 186
dev_alexander 40:6f8744c366c2 187 #define NEED_CONSOLE_OUTPUT 1 /* Set this if you need debug messages on the console;
dev_alexander 40:6f8744c366c2 188 * it will have an impact on code-size and power consumption. */
dev_alexander 40:6f8744c366c2 189
dev_alexander 40:6f8744c366c2 190 #if NEED_CONSOLE_OUTPUT
dev_alexander 40:6f8744c366c2 191 #define DEBUG(STR) { if (uart) uart->write(STR, strlen(STR)); }
dev_alexander 40:6f8744c366c2 192 #define READ(STR) { if (uart) uart->read(STR, strlen(STR)); }
dev_alexander 40:6f8744c366c2 193
dev_alexander 40:6f8744c366c2 194 #else
dev_alexander 40:6f8744c366c2 195 #define DEBUG(...) /* nothing */
dev_alexander 40:6f8744c366c2 196 #endif /* #if NEED_CONSOLE_OUTPUT */
dev_alexander 40:6f8744c366c2 197
dev_alexander 40:6f8744c366c2 198 //Triggered when the robot is disconnected from the mobile app.
dev_alexander 40:6f8744c366c2 199 void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
dev_alexander 40:6f8744c366c2 200 {
dev_alexander 40:6f8744c366c2 201 BLE &ble = BLE::Instance();
dev_alexander 40:6f8744c366c2 202 DEBUG("Disconnected!\n\r");
dev_alexander 40:6f8744c366c2 203 DEBUG("Restarting the advertising process\n\r");
dev_alexander 40:6f8744c366c2 204 ble.gap().startAdvertising();
dev_alexander 40:6f8744c366c2 205 }
dev_alexander 40:6f8744c366c2 206
dev_alexander 40:6f8744c366c2 207 /* This pointer is needed to reference data in the main program when filling
dev_alexander 40:6f8744c366c2 208 * with data from the BLE
dev_alexander 40:6f8744c366c2 209 */
dev_alexander 40:6f8744c366c2 210 uint8_t * onDataWritten_curr_ble_to_slave;
dev_alexander 40:6f8744c366c2 211
dev_alexander 40:6f8744c366c2 212 // Triggered when there is data written
dev_alexander 40:6f8744c366c2 213 void onDataWritten(const GattWriteCallbackParams *params)
dev_alexander 40:6f8744c366c2 214 {
dev_alexander 40:6f8744c366c2 215 //LED1 will be off when button is pressed, and on when button is released.
dev_alexander 40:6f8744c366c2 216 led2 = !led2;
dev_alexander 40:6f8744c366c2 217 uint8_t button_state;
dev_alexander 40:6f8744c366c2 218 uint8_t direction;
dev_alexander 40:6f8744c366c2 219
dev_alexander 40:6f8744c366c2 220 /* If there is a valid data sent by the mobile app */
dev_alexander 40:6f8744c366c2 221 if ((uart != NULL) && (params->handle == uart ->getTXCharacteristicHandle())) {
dev_alexander 40:6f8744c366c2 222 const uint8_t *packet = params->data;
dev_alexander 40:6f8744c366c2 223 button_state = packet[3];
dev_alexander 40:6f8744c366c2 224 direction = packet[2];
dev_alexander 40:6f8744c366c2 225
dev_alexander 40:6f8744c366c2 226 // make parameter to send over Lora
dev_alexander 40:6f8744c366c2 227 onDataWritten_curr_ble_to_slave[0] = direction;
dev_alexander 40:6f8744c366c2 228 onDataWritten_curr_ble_to_slave[1] = button_state;
dev_alexander 40:6f8744c366c2 229
dev_alexander 40:6f8744c366c2 230 //dprintf("direction: %d\n", direction);
dev_alexander 40:6f8744c366c2 231 //dprintf("button_state: %d\n", button_state);
dev_alexander 40:6f8744c366c2 232 }
dev_alexander 40:6f8744c366c2 233 }
dev_alexander 40:6f8744c366c2 234 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 40:6f8744c366c2 235 // No BLE chip on the MAX32620FTHR so this is not needed
dev_alexander 23:f74a50977593 236 #endif
dev_alexander 40:6f8744c366c2 237
dev_alexander 40:6f8744c366c2 238 /***************************************************************************
dev_alexander 40:6f8744c366c2 239 * Motor Controller Instatiation and Related Functions
dev_alexander 40:6f8744c366c2 240 **************************************************************************/
dev_alexander 40:6f8744c366c2 241 #if defined(TARGET_MAX32630FTHR) // Master Device: MAX32630FTHR BLE-to-LoRa Gateway
dev_alexander 40:6f8744c366c2 242 // There is no motor on this device.
dev_alexander 40:6f8744c366c2 243 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 40:6f8744c366c2 244 /* This is a port of a library that was developed by Adafruit for the Arduino.
dev_alexander 40:6f8744c366c2 245 * This port was done by mbed user syundo0730. */
dev_alexander 40:6f8744c366c2 246 #include "Adafruit_MotorShield.h"
dev_alexander 40:6f8744c366c2 247 #include "Adafruit_PWMServoDriver.h"
dev_alexander 40:6f8744c366c2 248
dev_alexander 40:6f8744c366c2 249 // These are the defined speeds that are selected out of the number range (0, 255).
dev_alexander 40:6f8744c366c2 250 #define MOTOR_OFF 0
dev_alexander 40:6f8744c366c2 251 #define MOTOR_FORWARD 150
dev_alexander 40:6f8744c366c2 252 #define MOTOR_BACKWARD 150
dev_alexander 40:6f8744c366c2 253 #define MOTOR_TURN 100
dev_alexander 40:6f8744c366c2 254
dev_alexander 40:6f8744c366c2 255 // Create the motor shield object with the default I2C address
dev_alexander 40:6f8744c366c2 256 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.
dev_alexander 40:6f8744c366c2 257 // Or, create it with a different I2C address (say for stacking)
dev_alexander 40:6f8744c366c2 258 // Adafruit_MotorShield AFMS = Adafruit_MotorShield(0x61);
dev_alexander 40:6f8744c366c2 259 // Select which 'port' M1, M2, M3 or M4. In this case, M1
dev_alexander 40:6f8744c366c2 260 Adafruit_DCMotor *rightMotor = AFMS.getMotor(1);
dev_alexander 40:6f8744c366c2 261 // You can also make another motor on port M4
dev_alexander 40:6f8744c366c2 262 Adafruit_DCMotor *leftMotor = AFMS.getMotor(4);
dev_alexander 40:6f8744c366c2 263
dev_alexander 40:6f8744c366c2 264
dev_alexander 40:6f8744c366c2 265 void MotorController(uint8_t (BLE_data_server)[2])
dev_alexander 40:6f8744c366c2 266 {
dev_alexander 40:6f8744c366c2 267 uint8_t button_state;
dev_alexander 40:6f8744c366c2 268 uint8_t direction;
dev_alexander 40:6f8744c366c2 269 /*Set up constants for direction of motion */
dev_alexander 40:6f8744c366c2 270 const char FRONT = '5';
dev_alexander 40:6f8744c366c2 271 const char BACK = '6';
dev_alexander 40:6f8744c366c2 272 const char LEFT = '7';
dev_alexander 40:6f8744c366c2 273 const char RIGHT = '8';
dev_alexander 40:6f8744c366c2 274
dev_alexander 40:6f8744c366c2 275 /*Set up constants for button state */
dev_alexander 40:6f8744c366c2 276 const char PRESSED = '1';
dev_alexander 40:6f8744c366c2 277 const char RELEASED = '0';
dev_alexander 40:6f8744c366c2 278
dev_alexander 40:6f8744c366c2 279
dev_alexander 40:6f8744c366c2 280 button_state = BLE_data_server[1];
dev_alexander 40:6f8744c366c2 281 direction = BLE_data_server[0];
dev_alexander 40:6f8744c366c2 282
dev_alexander 40:6f8744c366c2 283 switch (button_state)
dev_alexander 40:6f8744c366c2 284 {
dev_alexander 40:6f8744c366c2 285 case PRESSED:
dev_alexander 40:6f8744c366c2 286 switch (direction)
dev_alexander 40:6f8744c366c2 287 {
dev_alexander 40:6f8744c366c2 288 case FRONT:
dev_alexander 40:6f8744c366c2 289 rightMotor->run(FORWARD);
dev_alexander 40:6f8744c366c2 290 leftMotor->run(FORWARD);
dev_alexander 40:6f8744c366c2 291 rightMotor->setSpeed(MOTOR_FORWARD);
dev_alexander 40:6f8744c366c2 292 leftMotor->setSpeed(MOTOR_FORWARD);
dev_alexander 40:6f8744c366c2 293 break;
dev_alexander 40:6f8744c366c2 294 case BACK:
dev_alexander 40:6f8744c366c2 295 rightMotor->run(BACKWARD);
dev_alexander 40:6f8744c366c2 296 leftMotor->run(BACKWARD);
dev_alexander 40:6f8744c366c2 297 rightMotor->setSpeed(MOTOR_BACKWARD);
dev_alexander 40:6f8744c366c2 298 leftMotor->setSpeed(MOTOR_BACKWARD);
dev_alexander 40:6f8744c366c2 299 break;
dev_alexander 40:6f8744c366c2 300 case LEFT:
dev_alexander 40:6f8744c366c2 301 rightMotor->run(FORWARD);
dev_alexander 40:6f8744c366c2 302 leftMotor->run(BACKWARD);
dev_alexander 40:6f8744c366c2 303 rightMotor->setSpeed(MOTOR_TURN);
dev_alexander 40:6f8744c366c2 304 leftMotor->setSpeed(MOTOR_TURN);
dev_alexander 40:6f8744c366c2 305 break;
dev_alexander 40:6f8744c366c2 306 case RIGHT:
dev_alexander 40:6f8744c366c2 307 rightMotor->run(BACKWARD);
dev_alexander 40:6f8744c366c2 308 leftMotor->run(FORWARD);
dev_alexander 40:6f8744c366c2 309 rightMotor->setSpeed(MOTOR_TURN);
dev_alexander 40:6f8744c366c2 310 leftMotor->setSpeed(MOTOR_TURN);
dev_alexander 40:6f8744c366c2 311 break;
dev_alexander 40:6f8744c366c2 312 }
dev_alexander 40:6f8744c366c2 313 break;
dev_alexander 40:6f8744c366c2 314 case RELEASED:
dev_alexander 40:6f8744c366c2 315 rightMotor->setSpeed(MOTOR_OFF);
dev_alexander 40:6f8744c366c2 316 leftMotor->setSpeed(MOTOR_OFF);
dev_alexander 40:6f8744c366c2 317 break;
dev_alexander 40:6f8744c366c2 318 }
dev_alexander 40:6f8744c366c2 319 }
dev_alexander 40:6f8744c366c2 320 #endif
dev_alexander 40:6f8744c366c2 321
dev_alexander 40:6f8744c366c2 322
dev_alexander 40:6f8744c366c2 323
dev_alexander 40:6f8744c366c2 324
dev_alexander 40:6f8744c366c2 325
dev_alexander 19:9f035b9e65ec 326
dev_alexander 23:f74a50977593 327 int main()
dev_alexander 23:f74a50977593 328 {
dev_alexander 32:b108ed6096b0 329 /* Setup begins here: */
dev_alexander 32:b108ed6096b0 330 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 32:b108ed6096b0 331 dprintf("MAX32630FTHR: Master");
dev_alexander 32:b108ed6096b0 332 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 32:b108ed6096b0 333 dprintf("MAX32620FTHR: Slave");
dev_alexander 32:b108ed6096b0 334 #endif
dev_alexander 32:b108ed6096b0 335
dev_alexander 32:b108ed6096b0 336
dev_alexander 32:b108ed6096b0 337 #if defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 32:b108ed6096b0 338 //Set Power Hold High for battery operation MAX77650 on MAX32620FTHR
dev_alexander 32:b108ed6096b0 339 pw_Hold = POWER_HOLD_ON;
dev_alexander 32:b108ed6096b0 340 #endif
dev_alexander 32:b108ed6096b0 341
Helmut64 17:98f2528e8399 342 /*
Helmut64 17:98f2528e8399 343 * inits the Serial or USBSerial when available (230400 baud).
Helmut64 17:98f2528e8399 344 * If the serial uart is not is not connected it swiches to USB Serial
Helmut64 17:98f2528e8399 345 * blinking LED means USBSerial detected, waiting for a connect.
Helmut64 17:98f2528e8399 346 * It waits up to 30 seconds for a USB terminal connections
Helmut64 17:98f2528e8399 347 */
Helmut64 17:98f2528e8399 348 InitSerial(30*1000, &myled);
Helmut64 17:98f2528e8399 349 dprintf("Welcome to the SX1276GenericLib");
Helmut64 18:d5527ce82e6b 350
Helmut64 17:98f2528e8399 351 dprintf("Starting a simple LoRa PingPong");
dev_alexander 23:f74a50977593 352
dev_alexander 32:b108ed6096b0 353
dev_alexander 26:69aba05f010f 354
dev_alexander 23:f74a50977593 355
dev_alexander 23:f74a50977593 356 /***************************************************************************
dev_alexander 23:f74a50977593 357 * Grid Eye Sensor: Non-Buffer Program Variables
dev_alexander 23:f74a50977593 358 **************************************************************************/
dev_alexander 23:f74a50977593 359 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 23:f74a50977593 360 int frame_idx = 0;
dev_alexander 24:e8d03912f303 361 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 32:b108ed6096b0 362 #if defined(DEBUG_GRID_EYE_SLAVE)
dev_alexander 32:b108ed6096b0 363 int frame_idx = 0;
dev_alexander 32:b108ed6096b0 364 #endif
dev_alexander 23:f74a50977593 365 #endif
dev_alexander 23:f74a50977593 366
dev_alexander 23:f74a50977593 367
dev_alexander 28:0ed92c590607 368 /***************************************************************************
dev_alexander 28:0ed92c590607 369 * Combined Payload Buffers for LoRa Communications
dev_alexander 28:0ed92c590607 370 **************************************************************************/
dev_alexander 28:0ed92c590607 371 uint8_t BufferTx[BufferSizeTx];
dev_alexander 28:0ed92c590607 372 uint8_t BufferRx[BufferSizeRx];
dev_alexander 28:0ed92c590607 373
dev_alexander 28:0ed92c590607 374 /***************************************************************************
dev_alexander 32:b108ed6096b0 375 * Identification Buffers
dev_alexander 32:b108ed6096b0 376 **************************************************************************/
dev_alexander 32:b108ed6096b0 377 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 32:b108ed6096b0 378 uint8_t ID_of_slave[size_signature];
dev_alexander 32:b108ed6096b0 379 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 32:b108ed6096b0 380 uint8_t ID_of_master[size_signature];
dev_alexander 32:b108ed6096b0 381 #endif
dev_alexander 32:b108ed6096b0 382
dev_alexander 32:b108ed6096b0 383 /***************************************************************************
dev_alexander 28:0ed92c590607 384 * BLE Data Buffers
dev_alexander 28:0ed92c590607 385 **************************************************************************/
dev_alexander 28:0ed92c590607 386 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 31:f15747cffb20 387 uint8_t curr_ble_to_slave[size_of_ble];
dev_alexander 28:0ed92c590607 388 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 28:0ed92c590607 389 uint8_t curr_ble_from_master[size_of_ble];
dev_alexander 28:0ed92c590607 390 uint8_t prev_ble_from_master[size_of_ble];
dev_alexander 28:0ed92c590607 391 #endif
dev_alexander 28:0ed92c590607 392
dev_alexander 28:0ed92c590607 393 /***************************************************************************
dev_alexander 28:0ed92c590607 394 * Grid Eye Sensor Data Buffers
dev_alexander 28:0ed92c590607 395 **************************************************************************/
dev_alexander 28:0ed92c590607 396 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 28:0ed92c590607 397 char curr_raw_frame_from_slave[size_of_grid_eye];
dev_alexander 28:0ed92c590607 398 char prev_raw_frame_from_slave[size_of_grid_eye];
dev_alexander 28:0ed92c590607 399 int16_t conv_frame_from_slave[64];
dev_alexander 28:0ed92c590607 400 #elif defined(TARGET_MAX32620FTHR) // Client Device: LoRa Controlled Robot
dev_alexander 28:0ed92c590607 401 char curr_raw_frame_to_master[size_of_grid_eye];
dev_alexander 28:0ed92c590607 402 char prev_raw_frame_to_master[size_of_grid_eye];
dev_alexander 28:0ed92c590607 403 int16_t conv_frame_to_master[64];
dev_alexander 28:0ed92c590607 404 #endif
dev_alexander 28:0ed92c590607 405
dev_alexander 28:0ed92c590607 406 /***************************************************************************
dev_alexander 28:0ed92c590607 407 * GPS Data Buffers
dev_alexander 28:0ed92c590607 408 **************************************************************************/
dev_alexander 28:0ed92c590607 409 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 28:0ed92c590607 410 uint8_t curr_gps_from_slave[size_of_gps];
dev_alexander 28:0ed92c590607 411 uint8_t prev_gps_from_slave[size_of_gps];
dev_alexander 28:0ed92c590607 412 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 28:0ed92c590607 413 uint8_t curr_gps_to_master[size_of_gps];
dev_alexander 28:0ed92c590607 414 #endif
dev_alexander 28:0ed92c590607 415
dev_alexander 28:0ed92c590607 416 /***************************************************************************
dev_alexander 28:0ed92c590607 417 * MAX17055 Data Buffers
dev_alexander 28:0ed92c590607 418 **************************************************************************/
dev_alexander 28:0ed92c590607 419 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 41:1381a49e019e 420 union max17055_u
dev_alexander 41:1381a49e019e 421 {
dev_alexander 41:1381a49e019e 422 uint8_t curr_MAX17055_from_slave[size_of_MAX17055];
dev_alexander 41:1381a49e019e 423 struct battery
dev_alexander 41:1381a49e019e 424 {
dev_alexander 41:1381a49e019e 425 uint8_t soc_FG; // in Battery Percent
dev_alexander 41:1381a49e019e 426 uint8_t avg_soc_FG; // in Battery Percent
dev_alexander 41:1381a49e019e 427 float tte_FG; // in seconds
dev_alexander 41:1381a49e019e 428 float ttf_FG; // in seconds
dev_alexander 41:1381a49e019e 429 int vcell_FG; // in 78.125uV per bit
dev_alexander 41:1381a49e019e 430 int curr_FG; // in uAmps
dev_alexander 41:1381a49e019e 431 int avg_curr_FG; // in uAmps
dev_alexander 41:1381a49e019e 432 } battery;
dev_alexander 41:1381a49e019e 433 } max17055_u;
dev_alexander 28:0ed92c590607 434 uint8_t prev_MAX17055_from_slave[size_of_MAX17055];
dev_alexander 40:6f8744c366c2 435
dev_alexander 28:0ed92c590607 436 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 41:1381a49e019e 437 union max17055_u
dev_alexander 41:1381a49e019e 438 {
dev_alexander 41:1381a49e019e 439 uint8_t curr_MAX17055_to_master[size_of_MAX17055];
dev_alexander 41:1381a49e019e 440 struct battery
dev_alexander 41:1381a49e019e 441 {
dev_alexander 41:1381a49e019e 442 uint8_t soc_FG; // in Battery Percent
dev_alexander 41:1381a49e019e 443 uint8_t avg_soc_FG; // in Battery Percent
dev_alexander 41:1381a49e019e 444 float tte_FG; // in seconds
dev_alexander 41:1381a49e019e 445 float ttf_FG; // in seconds
dev_alexander 41:1381a49e019e 446 int vcell_FG; // in 78.125uV per bit
dev_alexander 41:1381a49e019e 447 int curr_FG; // in uAmps
dev_alexander 41:1381a49e019e 448 int avg_curr_FG; // in uAmps
dev_alexander 41:1381a49e019e 449 } battery;
dev_alexander 41:1381a49e019e 450 } max17055_u;
dev_alexander 28:0ed92c590607 451 #endif
dev_alexander 28:0ed92c590607 452
dev_alexander 28:0ed92c590607 453 /***************************************************************************
dev_alexander 28:0ed92c590607 454 * MAX77650 Data Buffers
dev_alexander 28:0ed92c590607 455 **************************************************************************/
dev_alexander 28:0ed92c590607 456 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 28:0ed92c590607 457 uint8_t curr_MAX77650_from_slave[size_of_MAX77650];
dev_alexander 28:0ed92c590607 458 uint8_t prev_MAX77650_from_slave[size_of_MAX77650];
dev_alexander 41:1381a49e019e 459 bool chrg_status = false;; //True = ON False = OFF
dev_alexander 28:0ed92c590607 460 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 28:0ed92c590607 461 uint8_t curr_MAX77650_to_master[size_of_MAX77650];
dev_alexander 41:1381a49e019e 462 bool chrg_status = false; //True = ON False = OFF
dev_alexander 28:0ed92c590607 463 #endif
dev_alexander 40:6f8744c366c2 464
dev_alexander 28:0ed92c590607 465
dev_alexander 28:0ed92c590607 466 /***************************************************************************
dev_alexander 28:0ed92c590607 467 * Finish Setting up LoRa Radios: This passes in pointers to Buffers to send
dev_alexander 28:0ed92c590607 468 **************************************************************************/
dev_alexander 28:0ed92c590607 469 SX1276PingPongSetup(BufferTx, BufferRx);
dev_alexander 28:0ed92c590607 470
dev_alexander 32:b108ed6096b0 471 /***************************************************************************
dev_alexander 32:b108ed6096b0 472 * Finish Setting up BLE Radio on the MAX32630FTHR: Only on the Master Device
dev_alexander 32:b108ed6096b0 473 **************************************************************************/
dev_alexander 32:b108ed6096b0 474 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 32:b108ed6096b0 475 BLE &ble = BLE::Instance();
dev_alexander 32:b108ed6096b0 476 /* Create alias for the BLE data to be saved in function above that
dev_alexander 32:b108ed6096b0 477 * writes data to this buffer when function onDataWritten is called
dev_alexander 32:b108ed6096b0 478 */
dev_alexander 32:b108ed6096b0 479 onDataWritten_curr_ble_to_slave = curr_ble_to_slave;
dev_alexander 32:b108ed6096b0 480
dev_alexander 32:b108ed6096b0 481 /* Initialize BLE */
dev_alexander 32:b108ed6096b0 482 ble.init();
dev_alexander 32:b108ed6096b0 483 ble.gap().onDisconnection(disconnectionCallback);
dev_alexander 32:b108ed6096b0 484 ble.gattServer().onDataWritten(onDataWritten);
dev_alexander 32:b108ed6096b0 485 uart = new UARTService(ble);
dev_alexander 32:b108ed6096b0 486 /* setup advertising */
dev_alexander 32:b108ed6096b0 487 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
dev_alexander 32:b108ed6096b0 488 ble.gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
dev_alexander 32:b108ed6096b0 489 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
dev_alexander 32:b108ed6096b0 490 (const uint8_t *)"BLE UART", sizeof("BLE UART") - 1);
dev_alexander 32:b108ed6096b0 491 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
dev_alexander 32:b108ed6096b0 492 (const uint8_t *)UARTServiceUUID_reversed, sizeof(UARTServiceUUID_reversed));
dev_alexander 32:b108ed6096b0 493 ble.gap().setAdvertisingInterval(160); /* 100ms; in multiples of 0.625ms. */
dev_alexander 32:b108ed6096b0 494 ble.gap().startAdvertising();
dev_alexander 32:b108ed6096b0 495 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 32:b108ed6096b0 496 /* There is no BLE device that is integrated into the MAX32620FTHR. Also
dev_alexander 32:b108ed6096b0 497 * Also this program is meant to use the BLE gateway on the MAX32630FTHR
dev_alexander 32:b108ed6096b0 498 */
dev_alexander 32:b108ed6096b0 499 #endif
dev_alexander 32:b108ed6096b0 500
dev_alexander 32:b108ed6096b0 501 /***************************************************************************
dev_alexander 40:6f8744c366c2 502 * Finish Setting up the MAX77650 on the MAX32620FTHR: Only on the Slave Device
dev_alexander 40:6f8744c366c2 503 **************************************************************************/
dev_alexander 40:6f8744c366c2 504 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 40:6f8744c366c2 505 // No MAX77650 on the MAX32630FTHR
dev_alexander 40:6f8744c366c2 506 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 40:6f8744c366c2 507 //Set Power Hold High for battery operation MAX77650 on MAX32620FTHR
dev_alexander 40:6f8744c366c2 508 pw_Hold = POWER_HOLD_ON;
dev_alexander 40:6f8744c366c2 509 //Simo Pmic MAX77650 init
dev_alexander 40:6f8744c366c2 510 simo_pmic.initCharger();
dev_alexander 40:6f8744c366c2 511 simoIRQ.fall( &charger_Detect );
dev_alexander 40:6f8744c366c2 512 simo_pmic.enCharger();
dev_alexander 40:6f8744c366c2 513 #endif
dev_alexander 40:6f8744c366c2 514 /***************************************************************************
dev_alexander 40:6f8744c366c2 515 * Finish Setting up the MAX17650 on the MAX32620FTHR: Only on the Slave Device
dev_alexander 40:6f8744c366c2 516 **************************************************************************/
dev_alexander 40:6f8744c366c2 517 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 40:6f8744c366c2 518 // No MAX17055 on the MAX32630FTHR
dev_alexander 40:6f8744c366c2 519 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 40:6f8744c366c2 520 //rsense 5mOhm for MAX32620FTHR
dev_alexander 41:1381a49e019e 521 design_param.designcap = 2200; //Design Battery Capacity mAh
dev_alexander 40:6f8744c366c2 522 design_param.ichgterm = 0x0016; // Charge Termination Current for the Battery
dev_alexander 40:6f8744c366c2 523 design_param.vempty = 0x9B00; // Battery Empty Voltage
dev_alexander 40:6f8744c366c2 524 design_param.vcharge = 4200; // Battery Charge Voltage can be obtained from MAX77650 configuration
dev_alexander 40:6f8744c366c2 525 design_param.rsense = 5; //5mOhms
dev_alexander 40:6f8744c366c2 526
dev_alexander 41:1381a49e019e 527 int oper_f1, volt_mod_FG, status;
dev_alexander 41:1381a49e019e 528
dev_alexander 40:6f8744c366c2 529 //serial.printf("Test Init and Temp Functions \r\n");
dev_alexander 40:6f8744c366c2 530 //status = fuelGauge.forcedExitHyberMode();
dev_alexander 40:6f8744c366c2 531 status = fuelGauge.init(design_param);
dev_alexander 40:6f8744c366c2 532 pc.printf("Init FuelGauge Function Status= %X \r\n",status);
dev_alexander 40:6f8744c366c2 533 #endif
dev_alexander 40:6f8744c366c2 534
dev_alexander 40:6f8744c366c2 535 /***************************************************************************
dev_alexander 40:6f8744c366c2 536 * Finish Setting up the SSD1306 OLED on the MAX32630FTHR: Only on the Master Device
dev_alexander 40:6f8744c366c2 537 **************************************************************************/
dev_alexander 40:6f8744c366c2 538 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 40:6f8744c366c2 539 displayOled.setTextColor(1);
dev_alexander 40:6f8744c366c2 540 displayOled.setTextSize(1);
dev_alexander 40:6f8744c366c2 541 displayOled.setTextWrap(false);
dev_alexander 40:6f8744c366c2 542
dev_alexander 40:6f8744c366c2 543 displayOled.clearDisplay();
dev_alexander 41:1381a49e019e 544 displayOled.printf("%ux%u Please Check Connection to Robot!!\r\n", displayOled.width(), displayOled.height());
dev_alexander 40:6f8744c366c2 545 //displayOled.drawBitmap(0,0,maximLarge,128,32,1);
dev_alexander 40:6f8744c366c2 546 displayOled.display();
dev_alexander 40:6f8744c366c2 547 displayOled.display();
dev_alexander 40:6f8744c366c2 548 wait(1.0);
dev_alexander 40:6f8744c366c2 549
dev_alexander 40:6f8744c366c2 550 displayOled.startscrollright(0x00, 0x0F);
dev_alexander 40:6f8744c366c2 551 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 40:6f8744c366c2 552 // No oled on the MAX32620FTHR
dev_alexander 40:6f8744c366c2 553 #endif
dev_alexander 40:6f8744c366c2 554
dev_alexander 40:6f8744c366c2 555 /***************************************************************************
dev_alexander 32:b108ed6096b0 556 * Finish Setting up the motor controller on the MAX32620FTHR: Only on the Slave Device
dev_alexander 32:b108ed6096b0 557 **************************************************************************/
dev_alexander 32:b108ed6096b0 558 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 32:b108ed6096b0 559 // No setup on the master device
dev_alexander 32:b108ed6096b0 560 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 32:b108ed6096b0 561 AFMS.begin(); // create with the default frequency 1.6KHz
dev_alexander 32:b108ed6096b0 562 //AFMS.begin(1000); // OR with a different frequency, say 1KHz
dev_alexander 32:b108ed6096b0 563
dev_alexander 32:b108ed6096b0 564 // Set the speed to start, from 0 (off) to 255 (max speed)
dev_alexander 32:b108ed6096b0 565 rightMotor->setSpeed(150);
dev_alexander 32:b108ed6096b0 566 rightMotor->run(FORWARD);
dev_alexander 32:b108ed6096b0 567 // turn on motor
dev_alexander 32:b108ed6096b0 568 rightMotor->run(RELEASE);
dev_alexander 32:b108ed6096b0 569
dev_alexander 32:b108ed6096b0 570 leftMotor->setSpeed(150);
dev_alexander 32:b108ed6096b0 571 leftMotor->run(FORWARD);
dev_alexander 32:b108ed6096b0 572 // turn on motor
dev_alexander 32:b108ed6096b0 573 leftMotor->run(RELEASE);
dev_alexander 32:b108ed6096b0 574 #endif
dev_alexander 32:b108ed6096b0 575
dev_alexander 32:b108ed6096b0 576
dev_alexander 22:abca9d17d13d 577 while(1)
dev_alexander 40:6f8744c366c2 578 {
dev_alexander 23:f74a50977593 579 /***************************************************************************
dev_alexander 30:66f9750cc44c 580 * BLE Radio Data
dev_alexander 30:66f9750cc44c 581 **************************************************************************/
dev_alexander 30:66f9750cc44c 582 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 30:66f9750cc44c 583 ble.waitForEvent();
dev_alexander 30:66f9750cc44c 584 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 32:b108ed6096b0 585 memcpy(curr_ble_from_master, prev_ble_from_master, sizeof(curr_ble_from_master));
dev_alexander 30:66f9750cc44c 586 #endif
dev_alexander 30:66f9750cc44c 587
dev_alexander 30:66f9750cc44c 588 /***************************************************************************
dev_alexander 23:f74a50977593 589 * Grid Eye Sensor
dev_alexander 23:f74a50977593 590 **************************************************************************/
dev_alexander 23:f74a50977593 591 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 28:0ed92c590607 592 // Check to see if the contents of the previous scan are the same. If they are different then continue with converting
dev_alexander 32:b108ed6096b0 593 #if defined(RASPBERRY_PI)
dev_alexander 32:b108ed6096b0 594 if( memcmp(prev_raw_frame_from_slave, curr_raw_frame_from_slave, sizeof(curr_raw_frame_from_slave)) != 0 )
dev_alexander 32:b108ed6096b0 595 {
dev_alexander 32:b108ed6096b0 596 char grid_eye_msg[130];
dev_alexander 32:b108ed6096b0 597 grid_eye_msg[0]=0x55;
dev_alexander 32:b108ed6096b0 598 grid_eye_msg[1]=0xaa;
dev_alexander 32:b108ed6096b0 599 for (int idx = 0; idx < 128; idx++)
dev_alexander 32:b108ed6096b0 600 grid_eye_msg[idx+2] = curr_raw_frame_from_slave[idx];
dev_alexander 32:b108ed6096b0 601 //pc.printf(grid_eye_msg);
dev_alexander 32:b108ed6096b0 602 for (int idx = 0; idx < 130; idx++)
dev_alexander 32:b108ed6096b0 603 pc.putc(grid_eye_msg[idx]);
dev_alexander 35:bae9b236070b 604 pc.printf("\r\n"); // seperate the lines
dev_alexander 32:b108ed6096b0 605 }
dev_alexander 35:bae9b236070b 606 #endif
dev_alexander 35:bae9b236070b 607 #if defined(DEBUG_GRID_EYE)
dev_alexander 32:b108ed6096b0 608 if( memcmp(prev_raw_frame_from_slave, curr_raw_frame_from_slave, sizeof(curr_raw_frame_from_slave)) != 0 )
dev_alexander 32:b108ed6096b0 609 {
dev_alexander 32:b108ed6096b0 610 // Convert raw data sent from slave to a 16 bit integer array by calling this
dev_alexander 32:b108ed6096b0 611 convRaw8x8Data2Point25degC(curr_raw_frame_from_slave, conv_frame_from_slave);
dev_alexander 32:b108ed6096b0 612
dev_alexander 32:b108ed6096b0 613 // Next Print off the Converted data
dev_alexander 32:b108ed6096b0 614 pc.printf("\r\nFrame %d data: \r\n", frame_idx);
dev_alexander 32:b108ed6096b0 615 uint8_t idx;
dev_alexander 32:b108ed6096b0 616 float pixel_data;
dev_alexander 32:b108ed6096b0 617 for (int y = 0; y < 8; y++) {
dev_alexander 32:b108ed6096b0 618 for (int x = 0; x < 8; x++) {
dev_alexander 32:b108ed6096b0 619 idx = y*8 + x;
dev_alexander 32:b108ed6096b0 620 pixel_data = ((float)conv_frame_from_slave[idx])/4.0;
dev_alexander 32:b108ed6096b0 621 pc.printf("%.2f \t", pixel_data);
dev_alexander 32:b108ed6096b0 622 }
dev_alexander 32:b108ed6096b0 623 pc.printf("\r\n\r\n");
dev_alexander 23:f74a50977593 624 }
dev_alexander 32:b108ed6096b0 625 pc.printf("\r\n");
dev_alexander 32:b108ed6096b0 626
dev_alexander 32:b108ed6096b0 627 // Increment frame counter
dev_alexander 32:b108ed6096b0 628 frame_idx = frame_idx +1;
dev_alexander 23:f74a50977593 629 }
dev_alexander 32:b108ed6096b0 630 #endif
dev_alexander 32:b108ed6096b0 631 /* Next copy in data received from current data into buffer used for
dev_alexander 32:b108ed6096b0 632 * comparison next time the memcmp above is called. This prevents the
dev_alexander 32:b108ed6096b0 633 * program from converting the same raw data aquired by the grid eye
dev_alexander 32:b108ed6096b0 634 * sensor on the slave device to the floating point array with the
dev_alexander 32:b108ed6096b0 635 * 0.25 degrees celsius precision level when there is not new data.
dev_alexander 32:b108ed6096b0 636 */
dev_alexander 32:b108ed6096b0 637
dev_alexander 28:0ed92c590607 638 memcpy(prev_raw_frame_from_slave, curr_raw_frame_from_slave, sizeof(curr_raw_frame_from_slave));
dev_alexander 24:e8d03912f303 639 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 23:f74a50977593 640 // Aquire raw data about 8x8 frame from the grid eye sensor in this function call
dev_alexander 28:0ed92c590607 641 gridEye.getRaw8x8FrameData(curr_raw_frame_to_master);
dev_alexander 35:bae9b236070b 642 #if defined(RASPBERRY_PI)
dev_alexander 35:bae9b236070b 643 if( memcmp(prev_raw_frame_to_master, curr_raw_frame_to_master, sizeof(curr_raw_frame_to_master)) != 0 )
dev_alexander 35:bae9b236070b 644 {
dev_alexander 35:bae9b236070b 645 char grid_eye_msg[130];
dev_alexander 35:bae9b236070b 646 grid_eye_msg[0]=0x55;
dev_alexander 35:bae9b236070b 647 grid_eye_msg[1]=0xaa;
dev_alexander 35:bae9b236070b 648 for (int idx = 0; idx < 128; idx++)
dev_alexander 35:bae9b236070b 649 grid_eye_msg[idx+2] = curr_raw_frame_to_master[idx];
dev_alexander 35:bae9b236070b 650 //pc.printf(grid_eye_msg);
dev_alexander 35:bae9b236070b 651 for (int idx = 0; idx < 130; idx++)
dev_alexander 35:bae9b236070b 652 pc.putc(grid_eye_msg[idx]);
dev_alexander 35:bae9b236070b 653 pc.printf("\r\n"); // seperate the lines
dev_alexander 35:bae9b236070b 654 }
dev_alexander 35:bae9b236070b 655 #endif
dev_alexander 35:bae9b236070b 656 #if defined(DEBUG_GRID_EYE)
dev_alexander 32:b108ed6096b0 657 if( memcmp(prev_raw_frame_to_master, curr_raw_frame_to_master, sizeof(curr_raw_frame_to_master)) != 0 )
dev_alexander 32:b108ed6096b0 658 {
dev_alexander 32:b108ed6096b0 659 // Convert raw data sent from slave to a 16 bit integer array by calling this
dev_alexander 32:b108ed6096b0 660 convRaw8x8Data2Point25degC(curr_raw_frame_to_master, conv_frame_to_master);
dev_alexander 32:b108ed6096b0 661
dev_alexander 32:b108ed6096b0 662
dev_alexander 32:b108ed6096b0 663 // Next Print off the Converted data
dev_alexander 32:b108ed6096b0 664 pc.printf("\r\nFrame %d data: \r\n", frame_idx);
dev_alexander 32:b108ed6096b0 665 uint8_t idx;
dev_alexander 32:b108ed6096b0 666 float pixel_data;
dev_alexander 32:b108ed6096b0 667 for (int y = 0; y < 8; y++) {
dev_alexander 32:b108ed6096b0 668 for (int x = 0; x < 8; x++) {
dev_alexander 32:b108ed6096b0 669 idx = y*8 + x;
dev_alexander 32:b108ed6096b0 670 pixel_data = ((float)conv_frame_to_master[idx])/4.0;
dev_alexander 32:b108ed6096b0 671 pc.printf("%.2f \t", pixel_data);
dev_alexander 32:b108ed6096b0 672 }
dev_alexander 32:b108ed6096b0 673 pc.printf("\r\n\r\n");
dev_alexander 25:1a031add188a 674 }
dev_alexander 32:b108ed6096b0 675 pc.printf("\r\n");
dev_alexander 32:b108ed6096b0 676
dev_alexander 32:b108ed6096b0 677 // Increment frame counter
dev_alexander 32:b108ed6096b0 678 frame_idx = frame_idx +1;
dev_alexander 25:1a031add188a 679 }
dev_alexander 32:b108ed6096b0 680 #endif
dev_alexander 33:52c898aca207 681 memcpy(prev_raw_frame_to_master, curr_raw_frame_to_master, sizeof(curr_raw_frame_to_master));
dev_alexander 31:f15747cffb20 682 #endif
dev_alexander 31:f15747cffb20 683
dev_alexander 31:f15747cffb20 684 /***************************************************************************
dev_alexander 31:f15747cffb20 685 * GPS Sensor
dev_alexander 31:f15747cffb20 686 **************************************************************************/
dev_alexander 31:f15747cffb20 687 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 41:1381a49e019e 688 // No gps sensor is applied
dev_alexander 31:f15747cffb20 689 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 31:f15747cffb20 690 // The testing hasnt been done yet for the GPS Module. Will do this when more parts come in.
dev_alexander 31:f15747cffb20 691 /*
dev_alexander 31:f15747cffb20 692 if(gps.sample()){
dev_alexander 31:f15747cffb20 693 pc.printf("%f\t%c\t%f\t%c\t%f\t%f\t%f\n\r",gps.longitude, gps.ns,gps.latitude,gps.ew, gps.alt, gps.geoid, gps.time);
dev_alexander 31:f15747cffb20 694 pc.printf("%d:%d:%d",gps.hour,gps.minute,gps.seconed);
dev_alexander 31:f15747cffb20 695 }
dev_alexander 31:f15747cffb20 696 */
dev_alexander 31:f15747cffb20 697 #endif
dev_alexander 28:0ed92c590607 698
dev_alexander 23:f74a50977593 699 /***************************************************************************
dev_alexander 41:1381a49e019e 700 * MAX17055 Fuel Gauge Sensor
dev_alexander 41:1381a49e019e 701 **************************************************************************/
dev_alexander 41:1381a49e019e 702 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 41:1381a49e019e 703 // Process the soc to see if the oled display needs to be updated or not.
dev_alexander 41:1381a49e019e 704 #if defined(DEBUG_MAX17055)
dev_alexander 41:1381a49e019e 705 pc.printf("soc_FG :%d\n" ,max17055_u.battery.soc_FG);
dev_alexander 41:1381a49e019e 706 pc.printf("avg_soc_FG :%d\n" ,max17055_u.battery.avg_soc_FG);
dev_alexander 41:1381a49e019e 707 pc.printf("tte_FG :%d\n" ,max17055_u.battery.tte_FG);
dev_alexander 41:1381a49e019e 708 pc.printf("ttf_FG :%d\n" ,max17055_u.battery.ttf_FG);
dev_alexander 41:1381a49e019e 709 pc.printf("vcell_FG :%d\n" ,max17055_u.battery.vcell_FG);
dev_alexander 41:1381a49e019e 710 pc.printf("curr_FG :%d\n" ,max17055_u.battery.curr_FG);
dev_alexander 41:1381a49e019e 711 pc.printf("avg_curr_FG :%d\n" ,max17055_u.battery.avg_curr_FG);
dev_alexander 41:1381a49e019e 712
dev_alexander 41:1381a49e019e 713 for (int idx = 0; idx < size_of_MAX17055; idx++)
dev_alexander 41:1381a49e019e 714 {
dev_alexander 41:1381a49e019e 715 pc.printf("Byte #%d is: %d\n", idx, max17055_u.curr_MAX17055_from_slave[idx]);
dev_alexander 41:1381a49e019e 716 }
dev_alexander 41:1381a49e019e 717 #endif
dev_alexander 41:1381a49e019e 718 if( memcmp(prev_MAX17055_from_slave, curr_MAX17055_from_slave, sizeof(curr_MAX17055_from_slave)) != 0 )
dev_alexander 41:1381a49e019e 719 {
dev_alexander 41:1381a49e019e 720 // Stop the scrolling to allow for a static image to be displayed on OLED
dev_alexander 41:1381a49e019e 721 displayOled.stopscroll();
dev_alexander 41:1381a49e019e 722
dev_alexander 41:1381a49e019e 723 displayOled.clearDisplay();
dev_alexander 41:1381a49e019e 724
dev_alexander 41:1381a49e019e 725 if ( chrg_status == false){
dev_alexander 41:1381a49e019e 726 if (max17055_u.battery.soc_FG >= 89)
dev_alexander 41:1381a49e019e 727 displayOled.drawBitmap(96,0,battFull,32,16,1);
dev_alexander 41:1381a49e019e 728 else if (max17055_u.battery.soc_FG >= 65 && max17055_u.battery.soc_FG < 89)
dev_alexander 41:1381a49e019e 729 displayOled.drawBitmap(96,0,batt75,32,16,1);
dev_alexander 41:1381a49e019e 730 else if (max17055_u.battery.soc_FG >= 45 && max17055_u.battery.soc_FG < 65)
dev_alexander 41:1381a49e019e 731 displayOled.drawBitmap(96,0,batt50,32,16,1);
dev_alexander 41:1381a49e019e 732 else if (max17055_u.battery.soc_FG >= 20 && max17055_u.battery.soc_FG < 45)
dev_alexander 41:1381a49e019e 733 displayOled.drawBitmap(96,0,batt25,32,16,1);
dev_alexander 41:1381a49e019e 734 else
dev_alexander 41:1381a49e019e 735 displayOled.drawBitmap(96,0,battEmpty,32,16,1);
dev_alexander 41:1381a49e019e 736 }
dev_alexander 41:1381a49e019e 737
dev_alexander 41:1381a49e019e 738 if (chrg_status == true){
dev_alexander 41:1381a49e019e 739 displayOled.drawBitmap(96,0,battChrging,32,16,1);
dev_alexander 41:1381a49e019e 740 }
dev_alexander 41:1381a49e019e 741
dev_alexander 41:1381a49e019e 742
dev_alexander 41:1381a49e019e 743 //serial.printf("Time to Empty= %dsec \r\n",tte_FG);
dev_alexander 41:1381a49e019e 744 int tte_minutes = (max17055_u.battery.tte_FG/60);
dev_alexander 41:1381a49e019e 745 int ttf_minutes = (max17055_u.battery.tte_FG/60);
dev_alexander 41:1381a49e019e 746 //serial.printf("Time to Empty= %dhours \r\n",tte_FG);
dev_alexander 41:1381a49e019e 747 //serial.printf("Temp Function Status= %X \r\n",status);
dev_alexander 41:1381a49e019e 748 //wait(1);
dev_alexander 41:1381a49e019e 749 //serial.printf("SOC = %d %% \r\n",soc_FG);
dev_alexander 41:1381a49e019e 750 //serial.printf("Temp Function Status= %X \r\n",status);
dev_alexander 41:1381a49e019e 751 //serial.printf("Current = %d uamp \r\n",curr_FG);
dev_alexander 41:1381a49e019e 752 // pc.printf("Voltage = %d uvolts \r\n",max17055_u.battery.vcell_FG);
dev_alexander 41:1381a49e019e 753 int oper_f1 = max17055_u.battery.vcell_FG /1000000;
dev_alexander 41:1381a49e019e 754 int volt_mod_FG = (max17055_u.battery.vcell_FG % 1000000)/1000;
dev_alexander 41:1381a49e019e 755
dev_alexander 41:1381a49e019e 756 // pc.printf("Voltage = %d V \r\n",max17055_u.battery.vcell_FG);
dev_alexander 41:1381a49e019e 757 // pc.printf("Voltage = %d V \r\n",oper_f1);
dev_alexander 41:1381a49e019e 758
dev_alexander 41:1381a49e019e 759
dev_alexander 41:1381a49e019e 760
dev_alexander 41:1381a49e019e 761 displayOled.setTextCursor(0,0);
dev_alexander 41:1381a49e019e 762 displayOled.setTextColor(1);
dev_alexander 41:1381a49e019e 763 displayOled.setTextSize(1);
dev_alexander 41:1381a49e019e 764 //displayOled.setTextWrap(true);
dev_alexander 41:1381a49e019e 765 displayOled.printf("MAX17055");
dev_alexander 41:1381a49e019e 766 displayOled.setTextCursor(0,8);
dev_alexander 41:1381a49e019e 767 displayOled.printf("SOC = %d%% \r\n",max17055_u.battery.avg_soc_FG);
dev_alexander 41:1381a49e019e 768
dev_alexander 41:1381a49e019e 769 displayOled.setTextCursor(0,16);
dev_alexander 41:1381a49e019e 770 if (chrg_status == true){
dev_alexander 41:1381a49e019e 771 displayOled.printf("TTF = %dmins \r\n",tte_minutes);
dev_alexander 41:1381a49e019e 772 }else
dev_alexander 41:1381a49e019e 773 displayOled.printf("TTE = %dmins \r\n",tte_minutes);
dev_alexander 41:1381a49e019e 774 displayOled.setTextCursor(0,24);
dev_alexander 41:1381a49e019e 775 displayOled.printf("I=%duA \r\n",max17055_u.battery.avg_curr_FG);
dev_alexander 41:1381a49e019e 776 displayOled.setTextCursor(65,24);
dev_alexander 41:1381a49e019e 777 if (volt_mod_FG > 99){
dev_alexander 41:1381a49e019e 778 displayOled.printf("V=%d.%dV \r\n",oper_f1,volt_mod_FG);
dev_alexander 41:1381a49e019e 779 }else if (volt_mod_FG < 100){
dev_alexander 41:1381a49e019e 780 displayOled.printf("V=%d.0%dV \r\n",oper_f1,volt_mod_FG);
dev_alexander 41:1381a49e019e 781 }
dev_alexander 41:1381a49e019e 782
dev_alexander 41:1381a49e019e 783 displayOled.display();
dev_alexander 41:1381a49e019e 784 displayOled.display();
dev_alexander 41:1381a49e019e 785 }
dev_alexander 41:1381a49e019e 786 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 41:1381a49e019e 787 max17055_u.battery.soc_FG = fuelGauge.get_SOC();
dev_alexander 41:1381a49e019e 788 max17055_u.battery.avg_soc_FG = fuelGauge.get_atAvSOC();
dev_alexander 41:1381a49e019e 789 max17055_u.battery.tte_FG = fuelGauge.get_TTE();
dev_alexander 41:1381a49e019e 790 max17055_u.battery.ttf_FG = fuelGauge.get_TTF();
dev_alexander 41:1381a49e019e 791 max17055_u.battery.vcell_FG = fuelGauge.get_Vcell();
dev_alexander 41:1381a49e019e 792 max17055_u.battery.curr_FG = fuelGauge.get_Current(design_param);
dev_alexander 41:1381a49e019e 793 max17055_u.battery.avg_curr_FG = fuelGauge.get_AvgCurrent(design_param);
dev_alexander 41:1381a49e019e 794
dev_alexander 41:1381a49e019e 795 #if defined(DEBUG_MAX17055)
dev_alexander 41:1381a49e019e 796 pc.printf("soc_FG :%d\n" ,max17055_u.battery.soc_FG);
dev_alexander 41:1381a49e019e 797 pc.printf("avg_soc_FG :%d\n" ,max17055_u.battery.avg_soc_FG);
dev_alexander 41:1381a49e019e 798 pc.printf("tte_FG :%d\n" ,max17055_u.battery.tte_FG);
dev_alexander 41:1381a49e019e 799 pc.printf("ttf_FG :%d\n" ,max17055_u.battery.ttf_FG);
dev_alexander 41:1381a49e019e 800 pc.printf("vcell_FG :%d\n" ,max17055_u.battery.vcell_FG);
dev_alexander 41:1381a49e019e 801 pc.printf("curr_FG :%d\n" ,max17055_u.battery.curr_FG);
dev_alexander 41:1381a49e019e 802 pc.printf("avg_curr_FG :%d\n" ,max17055_u.battery.avg_curr_FG);
dev_alexander 41:1381a49e019e 803
dev_alexander 41:1381a49e019e 804 for (int idx = 0; idx < size_of_MAX17055; idx++)
dev_alexander 41:1381a49e019e 805 {
dev_alexander 41:1381a49e019e 806 pc.printf("Byte #%d is: %d\n", idx, max17055_u.curr_MAX17055_to_master[idx]);
dev_alexander 41:1381a49e019e 807 }
dev_alexander 41:1381a49e019e 808 #endif
dev_alexander 41:1381a49e019e 809 #endif
dev_alexander 41:1381a49e019e 810
dev_alexander 41:1381a49e019e 811 /***************************************************************************
dev_alexander 28:0ed92c590607 812 * Fill Payload Buffer With Data From Sensors for LoRa Transmition
dev_alexander 28:0ed92c590607 813 **************************************************************************/
dev_alexander 28:0ed92c590607 814 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 28:0ed92c590607 815 memcpy(&BufferTx[tx_idx_signature], PingMsg, size_signature);
dev_alexander 28:0ed92c590607 816 memcpy(&BufferTx[tx_idx_ble], curr_ble_to_slave, size_of_ble);
dev_alexander 28:0ed92c590607 817 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 28:0ed92c590607 818 memcpy(&BufferTx[tx_idx_signature], PongMsg, size_signature);
dev_alexander 28:0ed92c590607 819 memcpy(&BufferTx[tx_idx_grid_eye], curr_raw_frame_to_master, size_of_grid_eye);
dev_alexander 28:0ed92c590607 820 memcpy(&BufferTx[tx_idx_gps], curr_gps_to_master, size_of_gps);
dev_alexander 41:1381a49e019e 821 memcpy(&BufferTx[tx_idx_MAX17055], max17055_u.curr_MAX17055_to_master, size_of_MAX17055);
dev_alexander 28:0ed92c590607 822 memcpy(&BufferTx[tx_idx_MAX77650], curr_MAX77650_to_master, size_of_MAX77650);
dev_alexander 28:0ed92c590607 823 #endif
dev_alexander 28:0ed92c590607 824
dev_alexander 28:0ed92c590607 825
dev_alexander 28:0ed92c590607 826
dev_alexander 32:b108ed6096b0 827
dev_alexander 28:0ed92c590607 828 /***************************************************************************
dev_alexander 28:0ed92c590607 829 * Lora Communications
dev_alexander 28:0ed92c590607 830 **************************************************************************/
dev_alexander 22:abca9d17d13d 831 SX1276PingPong();
dev_alexander 28:0ed92c590607 832
dev_alexander 28:0ed92c590607 833 /***************************************************************************
dev_alexander 28:0ed92c590607 834 * Fill Global Buffers With Data From Received Payload Buffer
dev_alexander 28:0ed92c590607 835 **************************************************************************/
dev_alexander 28:0ed92c590607 836 /* The master and slave devices will have different requirements for offloading payload */
dev_alexander 28:0ed92c590607 837 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 32:b108ed6096b0 838 memcpy(ID_of_slave, &BufferRx[rx_idx_signature], size_signature);
dev_alexander 32:b108ed6096b0 839 memcpy(curr_raw_frame_from_slave, &BufferRx[rx_idx_grid_eye], size_of_grid_eye);
dev_alexander 32:b108ed6096b0 840 memcpy(curr_gps_from_slave, &BufferRx[rx_idx_gps], size_of_gps);
dev_alexander 41:1381a49e019e 841 memcpy(max17055_u.curr_MAX17055_from_slave, &BufferRx[rx_idx_MAX17055], size_of_MAX17055);
dev_alexander 32:b108ed6096b0 842 memcpy(curr_MAX77650_from_slave, &BufferRx[rx_idx_MAX77650], size_of_MAX77650);
dev_alexander 28:0ed92c590607 843 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 32:b108ed6096b0 844 memcpy(ID_of_master, &BufferRx[rx_idx_signature], size_signature);
dev_alexander 32:b108ed6096b0 845 memcpy(curr_ble_from_master, &BufferRx[rx_idx_ble], size_of_ble);
dev_alexander 28:0ed92c590607 846 #endif
dev_alexander 23:f74a50977593 847
dev_alexander 32:b108ed6096b0 848 /***************************************************************************
dev_alexander 32:b108ed6096b0 849 * Motor Controller controlls go here
dev_alexander 32:b108ed6096b0 850 **************************************************************************/
dev_alexander 32:b108ed6096b0 851 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 32:b108ed6096b0 852 // No motor controller on master
dev_alexander 32:b108ed6096b0 853 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 32:b108ed6096b0 854 // Check to see if the contents of the previous ble sdata received are the same. If they are different then change motor controllers registers
dev_alexander 32:b108ed6096b0 855 if( memcmp(prev_ble_from_master, curr_ble_from_master, sizeof(curr_ble_from_master)) != 0 )
dev_alexander 32:b108ed6096b0 856 {
dev_alexander 32:b108ed6096b0 857 MotorController(curr_ble_from_master);
dev_alexander 32:b108ed6096b0 858 }
dev_alexander 32:b108ed6096b0 859 #endif
dev_alexander 23:f74a50977593 860
dev_alexander 23:f74a50977593 861
dev_alexander 23:f74a50977593 862
dev_alexander 22:abca9d17d13d 863 }
dev_alexander 22:abca9d17d13d 864
Helmut64 0:c43b6919ae15 865 }