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@25:1a031add188a, 2018-07-19 (annotated)

Committer:
dev_alexander
Date:
Thu Jul 19 21:13:19 2018 +0000
Revision:
25:1a031add188a
Parent:
24:e8d03912f303
Child:
26:69aba05f010f
Got messages of different sizes to send to each other.  Changed maximum number of bytes per payload to a max value of 255 for more sensor data to be added. Also began debugging the grid eye sensor data acquisition issue.

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 21:1b92cabe8a3b 11
Helmut64 0:c43b6919ae15 12 #include "main.h"
dev_alexander 23:f74a50977593 13 #include "global_buffers.h"
dev_alexander 23:f74a50977593 14 #include "GridEye.h"
Helmut64 0:c43b6919ae15 15
dev_alexander 23:f74a50977593 16
dev_alexander 23:f74a50977593 17 /* If the board that is compiled is the master device (BLE enabled MAX32630FTHR),
dev_alexander 23:f74a50977593 18 * then it needs this library and needs to be configed in order for the device to
dev_alexander 23:f74a50977593 19 * work with a 3.3volt output instead of a 1.8 volt output.
dev_alexander 23:f74a50977593 20 *
dev_alexander 23:f74a50977593 21 * This is only needed for the MAX32630FTHR. The MAX325620FTHR is exampt from this
dev_alexander 23:f74a50977593 22 * additional setup in the main program.
dev_alexander 23:f74a50977593 23 */
dev_alexander 19:9f035b9e65ec 24 #if defined(TARGET_MAX32630FTHR) // using the RFM95 board
dev_alexander 19:9f035b9e65ec 25 #include "max32630fthr.h"
dev_alexander 19:9f035b9e65ec 26 MAX32630FTHR pegasus(MAX32630FTHR::VIO_3V3);
dev_alexander 19:9f035b9e65ec 27 #endif
Helmut64 0:c43b6919ae15 28
Helmut64 17:98f2528e8399 29 DigitalOut myled(LED);
Helmut64 0:c43b6919ae15 30
dev_alexander 25:1a031add188a 31 Serial pc(USBTX, USBRX);
dev_alexander 25:1a031add188a 32
Helmut64 0:c43b6919ae15 33
dev_alexander 23:f74a50977593 34 #if defined(TARGET_MAX32630FTHR) // Master Device: MAX32630FTHR BLE-to-LoRa Gateway
dev_alexander 23:f74a50977593 35 /* No grid eye object needed. The function the master uses to convert the raw
dev_alexander 23:f74a50977593 36 * data that is sent over from the slave deevice that contains the data from the
dev_alexander 23:f74a50977593 37 * actual grid eye sensor is actually a function that is not part of the grid eye
dev_alexander 23:f74a50977593 38 * class. this is due to the fact that the grid eye class requires n i2c bus to
dev_alexander 23:f74a50977593 39 * be assigned to a phyiscal sensor. In this case, the library for the Grid Eye
dev_alexander 23:f74a50977593 40 * sensor has a support functin that is used to convert data that is aquired from
dev_alexander 23:f74a50977593 41 * the grid eye sensor. So it is not supposed to be a class specific function.
dev_alexander 23:f74a50977593 42 */
dev_alexander 23:f74a50977593 43 #elif defined(TARGET_MAX32620FTHR) // Slave Device: Robot
dev_alexander 23:f74a50977593 44 //Init I2C communications in default I2C bus I2C #1
dev_alexander 23:f74a50977593 45 I2C i2cGridEye(P3_4,P3_5);
dev_alexander 23:f74a50977593 46 GridEye gridEye(i2cGridEye);
dev_alexander 23:f74a50977593 47 #endif
dev_alexander 19:9f035b9e65ec 48
dev_alexander 23:f74a50977593 49 int main()
dev_alexander 23:f74a50977593 50 {
Helmut64 17:98f2528e8399 51 /*
Helmut64 17:98f2528e8399 52 * inits the Serial or USBSerial when available (230400 baud).
Helmut64 17:98f2528e8399 53 * If the serial uart is not is not connected it swiches to USB Serial
Helmut64 17:98f2528e8399 54 * blinking LED means USBSerial detected, waiting for a connect.
Helmut64 17:98f2528e8399 55 * It waits up to 30 seconds for a USB terminal connections
Helmut64 17:98f2528e8399 56 */
Helmut64 17:98f2528e8399 57 InitSerial(30*1000, &myled);
Helmut64 17:98f2528e8399 58 dprintf("Welcome to the SX1276GenericLib");
Helmut64 18:d5527ce82e6b 59
Helmut64 17:98f2528e8399 60 dprintf("Starting a simple LoRa PingPong");
dev_alexander 23:f74a50977593 61
dev_alexander 23:f74a50977593 62 /* Setup begins here: */
dev_alexander 25:1a031add188a 63 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 25:1a031add188a 64 dprintf("MAX32630FTHR: Master");
dev_alexander 25:1a031add188a 65 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 25:1a031add188a 66 dprintf("MAX32620FTHR: Slave");
dev_alexander 25:1a031add188a 67 #endif
dev_alexander 23:f74a50977593 68
dev_alexander 23:f74a50977593 69 /***************************************************************************
dev_alexander 23:f74a50977593 70 * Lora Communications
dev_alexander 23:f74a50977593 71 **************************************************************************/
dev_alexander 22:abca9d17d13d 72 SX1276PingPongSetup();
dev_alexander 23:f74a50977593 73
dev_alexander 23:f74a50977593 74 /***************************************************************************
dev_alexander 23:f74a50977593 75 * Grid Eye Sensor: Non-Buffer Program Variables
dev_alexander 23:f74a50977593 76 **************************************************************************/
dev_alexander 23:f74a50977593 77 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 23:f74a50977593 78 int frame_idx = 0;
dev_alexander 24:e8d03912f303 79 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 23:f74a50977593 80 // none yet
dev_alexander 25:1a031add188a 81 int frame_idx = 0;
dev_alexander 23:f74a50977593 82 #endif
dev_alexander 23:f74a50977593 83
dev_alexander 23:f74a50977593 84
dev_alexander 22:abca9d17d13d 85 while(1)
dev_alexander 23:f74a50977593 86 {
dev_alexander 23:f74a50977593 87 /***************************************************************************
dev_alexander 23:f74a50977593 88 * Grid Eye Sensor
dev_alexander 23:f74a50977593 89 **************************************************************************/
dev_alexander 23:f74a50977593 90 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 23:f74a50977593 91 // Check to see if the contents of the previous scan are the same. If they are different then continue with converting
dev_alexander 23:f74a50977593 92 if( memcmp(prev_raw_frame_data_from_slave, curr_raw_frame_data_from_slave, sizeof(curr_raw_frame_data_from_slave)) != 0 )
dev_alexander 23:f74a50977593 93 {
dev_alexander 23:f74a50977593 94 // Convert raw data sent from slave to a 16 bit integer array by calling this
dev_alexander 23:f74a50977593 95 convRaw8x8Data2Point25degC(curr_raw_frame_data_from_slave, conv_frame_data_from_slave);
dev_alexander 23:f74a50977593 96
dev_alexander 23:f74a50977593 97 // Next Print off the Converted data
dev_alexander 23:f74a50977593 98 dprintf("\r\nFrame %d data: \r\n", frame_idx);
dev_alexander 23:f74a50977593 99 uint8_t idx;
dev_alexander 23:f74a50977593 100 float pixel_data;
dev_alexander 23:f74a50977593 101 for (int y = 0; y < 8; y++) {
dev_alexander 23:f74a50977593 102 for (int x = 0; x < 8; x++) {
dev_alexander 23:f74a50977593 103 idx = y*8 + x;
dev_alexander 23:f74a50977593 104 pixel_data = conv_frame_data_from_slave[idx]/4.0;
dev_alexander 23:f74a50977593 105 dprintf("%.2f \t", pixel_data);
dev_alexander 23:f74a50977593 106 }
dev_alexander 23:f74a50977593 107 dprintf("\r\n\r\n");
dev_alexander 23:f74a50977593 108 }
dev_alexander 23:f74a50977593 109 dprintf("\r\n");
dev_alexander 23:f74a50977593 110
dev_alexander 23:f74a50977593 111 // Increment frame counter
dev_alexander 23:f74a50977593 112 frame_idx = frame_idx +1;
dev_alexander 23:f74a50977593 113 }
dev_alexander 25:1a031add188a 114
dev_alexander 25:1a031add188a 115 /* Next copy in data received from current data into buffer used for
dev_alexander 25:1a031add188a 116 * comparison next time the memcmp above is called. This prevents the
dev_alexander 25:1a031add188a 117 * program from converting the same raw data aquired by the grid eye
dev_alexander 25:1a031add188a 118 * sensor on the slave device to the floating point array with the
dev_alexander 25:1a031add188a 119 * 0.25 degrees celsius precision level when there is not new data.
dev_alexander 25:1a031add188a 120 */
dev_alexander 25:1a031add188a 121 memcpy(prev_raw_frame_data_from_slave, curr_raw_frame_data_from_slave, sizeof(curr_raw_frame_data_from_slave));
dev_alexander 25:1a031add188a 122
dev_alexander 24:e8d03912f303 123 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 23:f74a50977593 124 // Aquire raw data about 8x8 frame from the grid eye sensor in this function call
dev_alexander 23:f74a50977593 125 gridEye.getRaw8x8FrameData(curr_raw_frame_data_to_master);
dev_alexander 25:1a031add188a 126 wait_ms( 1000 );
dev_alexander 25:1a031add188a 127
dev_alexander 25:1a031add188a 128 //if ( memcmp(prev_raw_frame_data_to_master, curr_raw_frame_data_to_master, sizeof(curr_raw_frame_data_to_master)) != 0 )
dev_alexander 25:1a031add188a 129 //{
dev_alexander 25:1a031add188a 130 // Convert raw data sent from slave to a 16 bit integer array by calling this
dev_alexander 25:1a031add188a 131 convRaw8x8Data2Point25degC(curr_raw_frame_data_to_master, conv_frame_data_to_master);
dev_alexander 25:1a031add188a 132
dev_alexander 25:1a031add188a 133 // Next Print off the Converted data
dev_alexander 25:1a031add188a 134 pc.printf("\r\nFrame %d data: \r\n", frame_idx);
dev_alexander 25:1a031add188a 135 uint8_t idx;
dev_alexander 25:1a031add188a 136 float pixel_data;
dev_alexander 25:1a031add188a 137 for (int y = 0; y < 8; y++) {
dev_alexander 25:1a031add188a 138 for (int x = 0; x < 8; x++) {
dev_alexander 25:1a031add188a 139 idx = y*8 + x;
dev_alexander 25:1a031add188a 140 pixel_data = conv_frame_data_to_master[idx]/4.0;
dev_alexander 25:1a031add188a 141 pc.printf("%.2f \t", pixel_data);
dev_alexander 25:1a031add188a 142 }
dev_alexander 25:1a031add188a 143 pc.printf("\r\n\r\n");
dev_alexander 25:1a031add188a 144 }
dev_alexander 25:1a031add188a 145 pc.printf("\r\n");
dev_alexander 25:1a031add188a 146
dev_alexander 25:1a031add188a 147 // Increment frame counter
dev_alexander 25:1a031add188a 148 frame_idx = frame_idx +1;
dev_alexander 25:1a031add188a 149 //}
dev_alexander 25:1a031add188a 150 memcpy(prev_raw_frame_data_to_master, curr_raw_frame_data_to_master, sizeof(curr_raw_frame_data_to_master));
dev_alexander 23:f74a50977593 151 #endif
dev_alexander 23:f74a50977593 152
dev_alexander 23:f74a50977593 153 /***************************************************************************
dev_alexander 23:f74a50977593 154 * Lora Communications
dev_alexander 23:f74a50977593 155 **************************************************************************/
dev_alexander 25:1a031add188a 156 wait_ms( 10 );
dev_alexander 22:abca9d17d13d 157 SX1276PingPong();
dev_alexander 23:f74a50977593 158
dev_alexander 23:f74a50977593 159
dev_alexander 23:f74a50977593 160
dev_alexander 23:f74a50977593 161
dev_alexander 23:f74a50977593 162
dev_alexander 22:abca9d17d13d 163 }
dev_alexander 22:abca9d17d13d 164
Helmut64 0:c43b6919ae15 165 }