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
global_buffers.h@26:69aba05f010f, 2018-07-20 (annotated)
- Committer:
- dev_alexander
- Date:
- Fri Jul 20 16:31:41 2018 +0000
- Revision:
- 26:69aba05f010f
- Parent:
- 25:1a031add188a
- Child:
- 27:6b549f838f0a
Tried to change how the global buffers are instantiated and where they are to be stored.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
dev_alexander | 23:f74a50977593 | 1 | /** Description: |
dev_alexander | 23:f74a50977593 | 2 | * This File is responsible for defining the buffers that will be used in |
dev_alexander | 23:f74a50977593 | 3 | * various areas of the program. The buffers that are defined here will be |
dev_alexander | 23:f74a50977593 | 4 | * refferenced in the main.cpp and will be filled with data in one of two ways: |
dev_alexander | 23:f74a50977593 | 5 | * |
dev_alexander | 23:f74a50977593 | 6 | * 1. The buffers will be filled with data upon receiving a successful payload |
dev_alexander | 23:f74a50977593 | 7 | * transmission over LoRa. In GenericPingPong.cpp, the function OnRxDone() |
dev_alexander | 23:f74a50977593 | 8 | * will call the function fillGlobalBufsWithPayload() that is responsible for |
dev_alexander | 23:f74a50977593 | 9 | * filling the appropriate buffers with the payload data that was received |
dev_alexander | 23:f74a50977593 | 10 | * by either the master or slave device by the other device that sent it. |
dev_alexander | 23:f74a50977593 | 11 | * |
dev_alexander | 23:f74a50977593 | 12 | * 2. The buffers will be used to fill up a payload buffer that will be sent |
dev_alexander | 23:f74a50977593 | 13 | * over LoRa by either the master or slave device to the receiving device. |
dev_alexander | 23:f74a50977593 | 14 | * The function fillPayloadWithGlobalBufs() will use the global buffers that |
dev_alexander | 23:f74a50977593 | 15 | * are filled with data for various sensors in the main.cpp to construct a |
dev_alexander | 23:f74a50977593 | 16 | * payload to deliver to the other device when SX1276PingPong() is called |
dev_alexander | 23:f74a50977593 | 17 | * in file GenericPingPong.cpp. |
dev_alexander | 23:f74a50977593 | 18 | * |
dev_alexander | 23:f74a50977593 | 19 | */ |
dev_alexander | 23:f74a50977593 | 20 | |
dev_alexander | 23:f74a50977593 | 21 | #ifndef __GLOBAL_BUFFERS_H__ |
dev_alexander | 25:1a031add188a | 22 | #define __GLOBAL_BUFFERS_H__\ |
dev_alexander | 25:1a031add188a | 23 | |
dev_alexander | 25:1a031add188a | 24 | #include "mbed.h" |
dev_alexander | 25:1a031add188a | 25 | #include "GenericPingPong.h" |
dev_alexander | 25:1a031add188a | 26 | |
dev_alexander | 23:f74a50977593 | 27 | |
dev_alexander | 23:f74a50977593 | 28 | /*************************************************************************** |
dev_alexander | 24:e8d03912f303 | 29 | * Indexes for which byte specific data begins at in the payload buffer |
dev_alexander | 23:f74a50977593 | 30 | **************************************************************************/ |
dev_alexander | 25:1a031add188a | 31 | /* size of ID data that defines what the signature of the device is */ |
dev_alexander | 25:1a031add188a | 32 | const uint8_t size_signature = 8; |
dev_alexander | 24:e8d03912f303 | 33 | |
dev_alexander | 24:e8d03912f303 | 34 | /* size of data in bytes that is acquired by the master device */ |
dev_alexander | 25:1a031add188a | 35 | const uint8_t size_of_ble = 2; |
dev_alexander | 25:1a031add188a | 36 | |
dev_alexander | 24:e8d03912f303 | 37 | /* size of data in bytes that is acquired by the slave device */ |
dev_alexander | 24:e8d03912f303 | 38 | const uint8_t size_of_grid_eye = 128; |
dev_alexander | 24:e8d03912f303 | 39 | const uint8_t size_of_gps = 20; |
dev_alexander | 24:e8d03912f303 | 40 | const uint8_t size_of_MAX17055 = 5; |
dev_alexander | 24:e8d03912f303 | 41 | const uint8_t size_of_MAX77650 = 5; |
dev_alexander | 24:e8d03912f303 | 42 | |
dev_alexander | 25:1a031add188a | 43 | /* These are the sizes of each payload in bytes. Since there is different amount |
dev_alexander | 25:1a031add188a | 44 | * of data being sent in each direction, we need to declare the total size of |
dev_alexander | 25:1a031add188a | 45 | * the payload so we can instatiate the correct buffer sizes to store data that |
dev_alexander | 25:1a031add188a | 46 | * is to be delivered and for data that is received. |
dev_alexander | 25:1a031add188a | 47 | */ |
dev_alexander | 25:1a031add188a | 48 | const uint16_t PAYLOAD_BUFFER_SIZE_MASTER_TO_SLAVE = size_signature + size_of_ble; |
dev_alexander | 25:1a031add188a | 49 | const uint16_t PAYLOAD_BUFFER_SIZE_SLAVE_TO_MASTER = size_signature + size_of_grid_eye + size_of_gps + size_of_MAX17055 + size_of_MAX77650; |
dev_alexander | 24:e8d03912f303 | 50 | |
dev_alexander | 26:69aba05f010f | 51 | /* determine the appropriate buffer sizes for each device in master/slave config */ |
dev_alexander | 26:69aba05f010f | 52 | #if defined(TARGET_MAX32630FTHR) // Master Device: Bluetooth Gateway |
dev_alexander | 26:69aba05f010f | 53 | const uint16_t BufferSizeTx = PAYLOAD_BUFFER_SIZE_MASTER_TO_SLAVE; |
dev_alexander | 26:69aba05f010f | 54 | const uint16_t BufferSizeRx = PAYLOAD_BUFFER_SIZE_SLAVE_TO_MASTER; |
dev_alexander | 26:69aba05f010f | 55 | #elif defined(TARGET_MAX32620FTHR) // Slave Device: Robot |
dev_alexander | 26:69aba05f010f | 56 | const uint16_t BufferSizeTx = PAYLOAD_BUFFER_SIZE_SLAVE_TO_MASTER; |
dev_alexander | 26:69aba05f010f | 57 | const uint16_t BufferSizeRx = PAYLOAD_BUFFER_SIZE_MASTER_TO_SLAVE; |
dev_alexander | 26:69aba05f010f | 58 | #endif |
dev_alexander | 26:69aba05f010f | 59 | |
dev_alexander | 23:f74a50977593 | 60 | #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway |
dev_alexander | 24:e8d03912f303 | 61 | /* These are indexs used to create the payload buffer to send to Slave */ |
dev_alexander | 25:1a031add188a | 62 | const uint8_t tx_idx_signature = 0; // 1st buf in tx payload (begins at byte 0) |
dev_alexander | 25:1a031add188a | 63 | const uint8_t tx_idx_ble = tx_idx_signature + size_signature; // 2nd buf in tx payload |
dev_alexander | 24:e8d03912f303 | 64 | |
dev_alexander | 25:1a031add188a | 65 | /* These are indexs used to deconstruct received payload buffer sent by the Slave */ |
dev_alexander | 25:1a031add188a | 66 | const uint8_t rx_idx_signature = 0; // 1st buf in rx payload (begins at byte 0) |
dev_alexander | 25:1a031add188a | 67 | const uint8_t rx_idx_grid_eye = rx_idx_signature + size_signature; // 2nd buf in rx payload |
dev_alexander | 25:1a031add188a | 68 | const uint8_t rx_idx_gps = rx_idx_grid_eye + size_of_grid_eye; // 3rd buf in rx payload |
dev_alexander | 25:1a031add188a | 69 | const uint8_t rx_idx_MAX17055 = rx_idx_gps + size_of_gps; // 4th buf in rx payload |
dev_alexander | 25:1a031add188a | 70 | const uint8_t rx_idx_MAX77650 = rx_idx_MAX17055 + size_of_MAX17055; // 5th buf in rx payload |
dev_alexander | 24:e8d03912f303 | 71 | |
dev_alexander | 23:f74a50977593 | 72 | #elif defined(TARGET_MAX32620FTHR) // Client Device: LoRa Controlled Robot |
dev_alexander | 24:e8d03912f303 | 73 | /* These are indexs used to create the payload buffer to send to Master */ |
dev_alexander | 25:1a031add188a | 74 | const uint8_t tx_idx_signature = 0; // 1st buf in tx payload (begins at byte 0) |
dev_alexander | 25:1a031add188a | 75 | const uint8_t tx_idx_grid_eye = tx_idx_signature + size_signature; // 2nd buf in tx payload |
dev_alexander | 25:1a031add188a | 76 | const uint8_t tx_idx_gps = tx_idx_grid_eye + size_of_grid_eye; // 3rd buf in tx payload |
dev_alexander | 25:1a031add188a | 77 | const uint8_t tx_idx_MAX17055 = tx_idx_gps + size_of_gps; // 4th buf in tx payload |
dev_alexander | 25:1a031add188a | 78 | const uint8_t tx_idx_MAX77650 = tx_idx_MAX17055 + size_of_MAX17055; // 5th buf in tx payload |
dev_alexander | 24:e8d03912f303 | 79 | |
dev_alexander | 24:e8d03912f303 | 80 | /* These are indexs used to deconstruct received payload buffer sent by the Master */ |
dev_alexander | 25:1a031add188a | 81 | const uint8_t rx_idx_signature = 0; // 1st buf in rx payload (begins at byte 0) |
dev_alexander | 25:1a031add188a | 82 | const uint8_t rx_idx_ble = rx_idx_signature + size_signature; // 2nd buf in rx payload |
dev_alexander | 23:f74a50977593 | 83 | #endif |
dev_alexander | 23:f74a50977593 | 84 | |
dev_alexander | 24:e8d03912f303 | 85 | /*************************************************************************** |
dev_alexander | 25:1a031add188a | 86 | * BLE Data Buffers |
dev_alexander | 25:1a031add188a | 87 | **************************************************************************/ |
dev_alexander | 26:69aba05f010f | 88 | #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway |
dev_alexander | 26:69aba05f010f | 89 | curr_ble_data_to_slave = new uint8_t[size_of_ble]; |
dev_alexander | 26:69aba05f010f | 90 | #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot |
dev_alexander | 26:69aba05f010f | 91 | curr_ble_data_from_master = new uint8_t[size_of_ble]; |
dev_alexander | 26:69aba05f010f | 92 | prev_ble_data_from_master = new uint8_t[size_of_ble]; |
dev_alexander | 26:69aba05f010f | 93 | #endif |
dev_alexander | 25:1a031add188a | 94 | /*************************************************************************** |
dev_alexander | 24:e8d03912f303 | 95 | * Grid Eye Sensor Data Buffers |
dev_alexander | 24:e8d03912f303 | 96 | **************************************************************************/ |
dev_alexander | 26:69aba05f010f | 97 | #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway |
dev_alexander | 26:69aba05f010f | 98 | curr_raw_frame_data_from_slave = new uint8_t[size_of_grid_eye]; |
dev_alexander | 26:69aba05f010f | 99 | prev_raw_frame_data_from_slave = new uint8_t[size_of_grid_eye]; |
dev_alexander | 26:69aba05f010f | 100 | conv_frame_data_from_slave = new int16_t[64]; |
dev_alexander | 26:69aba05f010f | 101 | #elif defined(TARGET_MAX32620FTHR) // Client Device: LoRa Controlled Robot |
dev_alexander | 26:69aba05f010f | 102 | curr_raw_frame_data_to_master = new uint8_t[size_of_grid_eye]; |
dev_alexander | 26:69aba05f010f | 103 | prev_raw_frame_data_to_master = new uint8_t[size_of_grid_eye]; |
dev_alexander | 26:69aba05f010f | 104 | conv_frame_data_to_master = new int16_t[64]; |
dev_alexander | 26:69aba05f010f | 105 | #endif |
dev_alexander | 24:e8d03912f303 | 106 | /*************************************************************************** |
dev_alexander | 25:1a031add188a | 107 | * GPS Data Buffers |
dev_alexander | 25:1a031add188a | 108 | **************************************************************************/ |
dev_alexander | 26:69aba05f010f | 109 | #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway |
dev_alexander | 26:69aba05f010f | 110 | curr_gps_data_from_slave = new uint8_t[size_of_gps]; |
dev_alexander | 26:69aba05f010f | 111 | prev_gps_data_from_slave = new uint8_t[size_of_gps]; |
dev_alexander | 26:69aba05f010f | 112 | #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot |
dev_alexander | 26:69aba05f010f | 113 | curr_gps_data_to_master = new uint8_t[size_of_gps]; |
dev_alexander | 26:69aba05f010f | 114 | #endif |
dev_alexander | 25:1a031add188a | 115 | /*************************************************************************** |
dev_alexander | 25:1a031add188a | 116 | * MAX17055 Data Buffers |
dev_alexander | 24:e8d03912f303 | 117 | **************************************************************************/ |
dev_alexander | 26:69aba05f010f | 118 | #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway |
dev_alexander | 26:69aba05f010f | 119 | curr_MAX17055_from_slave = new uint8_t[size_of_MAX17055]; |
dev_alexander | 26:69aba05f010f | 120 | prev_MAX17055_from_slave = new uint8_t[size_of_MAX17055]; |
dev_alexander | 26:69aba05f010f | 121 | #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot |
dev_alexander | 26:69aba05f010f | 122 | curr_MAX17055_to_master = new uint8_t[size_of_MAX17055]; |
dev_alexander | 26:69aba05f010f | 123 | #endif |
dev_alexander | 26:69aba05f010f | 124 | |
dev_alexander | 25:1a031add188a | 125 | /*************************************************************************** |
dev_alexander | 25:1a031add188a | 126 | * MAX77650 Data Buffers |
dev_alexander | 25:1a031add188a | 127 | **************************************************************************/ |
dev_alexander | 26:69aba05f010f | 128 | #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway |
dev_alexander | 26:69aba05f010f | 129 | curr_MAX77650_from_slave = new uint8_t[size_of_MAX77650]; |
dev_alexander | 26:69aba05f010f | 130 | prev_MAX77650_from_slave = new uint8_t[size_of_MAX77650]; |
dev_alexander | 26:69aba05f010f | 131 | #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot |
dev_alexander | 26:69aba05f010f | 132 | curr_MAX77650_to_master = new uint8_t[size_of_MAX77650]; |
dev_alexander | 26:69aba05f010f | 133 | #endif |
dev_alexander | 24:e8d03912f303 | 134 | |
dev_alexander | 24:e8d03912f303 | 135 | /** |
dev_alexander | 24:e8d03912f303 | 136 | * @brief This function constructs a payload buffer that is used in transmitting data in a LoRa Message |
dev_alexander | 24:e8d03912f303 | 137 | */ |
dev_alexander | 25:1a031add188a | 138 | void fillPayloadWithGlobalBufs(uint8_t * payload_buffer_tx); |
dev_alexander | 24:e8d03912f303 | 139 | |
dev_alexander | 24:e8d03912f303 | 140 | /** |
dev_alexander | 24:e8d03912f303 | 141 | * @brief This function deconstructs a payload buffer that contains data from a received LoRa Message |
dev_alexander | 24:e8d03912f303 | 142 | */ |
dev_alexander | 25:1a031add188a | 143 | void fillGlobalBufsWithPayload(uint8_t * payload_buffer_rx); |
dev_alexander | 24:e8d03912f303 | 144 | |
dev_alexander | 23:f74a50977593 | 145 | #endif // __GLOBAL_BUFFERS_H__ |