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@32:b108ed6096b0, 2018-07-30 (annotated)

Committer:
dev_alexander
Date:
Mon Jul 30 05:53:55 2018 +0000
Revision:
32:b108ed6096b0
Parent:
31:f15747cffb20
Child:
33:52c898aca207
This revision includes support for a processing python sketch that is borrowed from http://arms22.blog91.fc2.com/blog-entry-600.html that uses grid eye data sent from slave device to the master device that then writes it over serial to a usb port.

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
dev_alexander 30:66f9750cc44c 12 #include "main.h"
dev_alexander 30:66f9750cc44c 13 #include "global_buffers.h"
dev_alexander 30:66f9750cc44c 14 #include "GridEye.h"
dev_alexander 32:b108ed6096b0 15 #include "mbed.h"
dev_alexander 32:b108ed6096b0 16 #include <string>
dev_alexander 32:b108ed6096b0 17
dev_alexander 32:b108ed6096b0 18 //#define DEBUG_GRID_EYE_SLAVE
dev_alexander 32:b108ed6096b0 19 #define RASPBERRY_PI
dev_alexander 32:b108ed6096b0 20
dev_alexander 23:f74a50977593 21
dev_alexander 23:f74a50977593 22 /* If the board that is compiled is the master device (BLE enabled MAX32630FTHR),
dev_alexander 23:f74a50977593 23 * then it needs this library and needs to be configed in order for the device to
dev_alexander 23:f74a50977593 24 * work with a 3.3volt output instead of a 1.8 volt output.
dev_alexander 23:f74a50977593 25 *
dev_alexander 23:f74a50977593 26 * This is only needed for the MAX32630FTHR. The MAX325620FTHR is exampt from this
dev_alexander 23:f74a50977593 27 * additional setup in the main program.
dev_alexander 23:f74a50977593 28 */
dev_alexander 31:f15747cffb20 29
dev_alexander 31:f15747cffb20 30 #if defined(TARGET_MAX32620FTHR)
dev_alexander 32:b108ed6096b0 31 // Definitions for running board off of battery
dev_alexander 32:b108ed6096b0 32 #define POWER_HOLD_ON 1
dev_alexander 32:b108ed6096b0 33 #define POWER_HOLD_OFF 0
dev_alexander 32:b108ed6096b0 34
dev_alexander 32:b108ed6096b0 35 // MAX77650
dev_alexander 32:b108ed6096b0 36 DigitalOut pw_Hold(P2_2, POWER_HOLD_ON);
dev_alexander 32:b108ed6096b0 37
dev_alexander 32:b108ed6096b0 38 // Initialize GPS
dev_alexander 32:b108ed6096b0 39 #include "GPS.h"
dev_alexander 31:f15747cffb20 40 GPS gps(P0_1, P0_0, 115200);
dev_alexander 32:b108ed6096b0 41
dev_alexander 32:b108ed6096b0 42 // Motor Driver initialization
dev_alexander 32:b108ed6096b0 43 #include "Adafruit_MotorShield.h"
dev_alexander 32:b108ed6096b0 44 #include "Adafruit_PWMServoDriver.h"
dev_alexander 32:b108ed6096b0 45
dev_alexander 32:b108ed6096b0 46 #define MOTOR_OFF 0
dev_alexander 32:b108ed6096b0 47 #define MOTOR_FORWARD 150
dev_alexander 32:b108ed6096b0 48 #define MOTOR_BACKWARD 150
dev_alexander 32:b108ed6096b0 49 #define MOTOR_TURN 100
dev_alexander 32:b108ed6096b0 50
dev_alexander 32:b108ed6096b0 51
dev_alexander 32:b108ed6096b0 52 // Create the motor shield object with the default I2C address
dev_alexander 32:b108ed6096b0 53 //Adafruit_MotorShield AFMS = Adafruit_MotorShield(p9, p10, 0x60 << 1);
dev_alexander 32:b108ed6096b0 54 Adafruit_MotorShield AFMS = Adafruit_MotorShield(P3_4, P3_5, 0x60 << 1);
dev_alexander 32:b108ed6096b0 55 // Or, create it with a different I2C address (say for stacking)
dev_alexander 32:b108ed6096b0 56 // Adafruit_MotorShield AFMS = Adafruit_MotorShield(0x61);
dev_alexander 32:b108ed6096b0 57
dev_alexander 32:b108ed6096b0 58 // Select which 'port' M1, M2, M3 or M4. In this case, M1
dev_alexander 32:b108ed6096b0 59 Adafruit_DCMotor *rightMotor = AFMS.getMotor(1);
dev_alexander 32:b108ed6096b0 60 Adafruit_DCMotor *leftMotor = AFMS.getMotor(4);
dev_alexander 32:b108ed6096b0 61 // You can also make another motor on port M2
dev_alexander 32:b108ed6096b0 62 //Adafruit_DCMotor *myOtherMotor = AFMS.getMotor(2);
dev_alexander 32:b108ed6096b0 63
dev_alexander 32:b108ed6096b0 64 #endif
dev_alexander 32:b108ed6096b0 65
dev_alexander 32:b108ed6096b0 66 #if defined(TARGET_MAX32620FTHR)
dev_alexander 32:b108ed6096b0 67 void MotorController(uint8_t (BLE_data_server)[2])
dev_alexander 32:b108ed6096b0 68 {
dev_alexander 32:b108ed6096b0 69 uint8_t button_state;
dev_alexander 32:b108ed6096b0 70 uint8_t direction;
dev_alexander 32:b108ed6096b0 71 /*Set up constants for direction of motion */
dev_alexander 32:b108ed6096b0 72 const char FRONT = '5';
dev_alexander 32:b108ed6096b0 73 const char BACK = '6';
dev_alexander 32:b108ed6096b0 74 const char LEFT = '7';
dev_alexander 32:b108ed6096b0 75 const char RIGHT = '8';
dev_alexander 32:b108ed6096b0 76
dev_alexander 32:b108ed6096b0 77 /*Set up constants for button state */
dev_alexander 32:b108ed6096b0 78 const char PRESSED = '1';
dev_alexander 32:b108ed6096b0 79 const char RELEASED = '0';
dev_alexander 32:b108ed6096b0 80
dev_alexander 32:b108ed6096b0 81
dev_alexander 32:b108ed6096b0 82 button_state = BLE_data_server[1];
dev_alexander 32:b108ed6096b0 83 direction = BLE_data_server[0];
dev_alexander 32:b108ed6096b0 84
dev_alexander 32:b108ed6096b0 85 switch (button_state)
dev_alexander 32:b108ed6096b0 86 {
dev_alexander 32:b108ed6096b0 87 case PRESSED:
dev_alexander 32:b108ed6096b0 88 //md_left_pwm = static_cast<float>(20/100.0F);
dev_alexander 32:b108ed6096b0 89 //md_right_pwm = static_cast<float>(20/100.0F);
dev_alexander 32:b108ed6096b0 90
dev_alexander 32:b108ed6096b0 91 switch (direction)
dev_alexander 32:b108ed6096b0 92 {
dev_alexander 32:b108ed6096b0 93 case FRONT:
dev_alexander 32:b108ed6096b0 94 rightMotor->run(FORWARD);
dev_alexander 32:b108ed6096b0 95 leftMotor->run(FORWARD);
dev_alexander 32:b108ed6096b0 96 rightMotor->setSpeed(MOTOR_FORWARD);
dev_alexander 32:b108ed6096b0 97 leftMotor->setSpeed(MOTOR_FORWARD);
dev_alexander 32:b108ed6096b0 98 break;
dev_alexander 32:b108ed6096b0 99 case BACK:
dev_alexander 32:b108ed6096b0 100 rightMotor->run(BACKWARD);
dev_alexander 32:b108ed6096b0 101 leftMotor->run(BACKWARD);
dev_alexander 32:b108ed6096b0 102 rightMotor->setSpeed(MOTOR_BACKWARD);
dev_alexander 32:b108ed6096b0 103 leftMotor->setSpeed(MOTOR_BACKWARD);
dev_alexander 32:b108ed6096b0 104 break;
dev_alexander 32:b108ed6096b0 105 case LEFT:
dev_alexander 32:b108ed6096b0 106 rightMotor->run(FORWARD);
dev_alexander 32:b108ed6096b0 107 leftMotor->run(BACKWARD);
dev_alexander 32:b108ed6096b0 108 rightMotor->setSpeed(MOTOR_TURN);
dev_alexander 32:b108ed6096b0 109 leftMotor->setSpeed(MOTOR_TURN);
dev_alexander 32:b108ed6096b0 110 break;
dev_alexander 32:b108ed6096b0 111 case RIGHT:
dev_alexander 32:b108ed6096b0 112 rightMotor->run(BACKWARD);
dev_alexander 32:b108ed6096b0 113 leftMotor->run(FORWARD);
dev_alexander 32:b108ed6096b0 114 rightMotor->setSpeed(MOTOR_TURN);
dev_alexander 32:b108ed6096b0 115 leftMotor->setSpeed(MOTOR_TURN);
dev_alexander 32:b108ed6096b0 116 break;
dev_alexander 32:b108ed6096b0 117 }
dev_alexander 32:b108ed6096b0 118 break;
dev_alexander 32:b108ed6096b0 119 case RELEASED:
dev_alexander 32:b108ed6096b0 120 rightMotor->setSpeed(MOTOR_OFF);
dev_alexander 32:b108ed6096b0 121 leftMotor->setSpeed(MOTOR_OFF);
dev_alexander 32:b108ed6096b0 122 break;
dev_alexander 32:b108ed6096b0 123 }
dev_alexander 32:b108ed6096b0 124 }
dev_alexander 29:f7a0e49b826b 125 #endif
Helmut64 0:c43b6919ae15 126
dev_alexander 31:f15747cffb20 127 #if defined(TARGET_MAX32630FTHR)
dev_alexander 31:f15747cffb20 128 #include "max32630fthr.h"
dev_alexander 31:f15747cffb20 129 MAX32630FTHR pegasus(MAX32630FTHR::VIO_3V3);
dev_alexander 31:f15747cffb20 130
dev_alexander 31:f15747cffb20 131 #define COMPILE_BLE
dev_alexander 31:f15747cffb20 132
dev_alexander 31:f15747cffb20 133 #if defined(COMPILE_BLE)
dev_alexander 31:f15747cffb20 134 /* BLE Related MAX32630FTHR Specific stuff */
dev_alexander 31:f15747cffb20 135 #include "ble/BLE.h"
dev_alexander 31:f15747cffb20 136 //#include "ble/Gap.h"
dev_alexander 31:f15747cffb20 137 #include "UARTService_custom.h"
dev_alexander 31:f15747cffb20 138 #include <events/mbed_events.h>
dev_alexander 31:f15747cffb20 139
dev_alexander 31:f15747cffb20 140 DigitalOut led2(LED2);
dev_alexander 31:f15747cffb20 141 UARTService *uart;
dev_alexander 30:66f9750cc44c 142
dev_alexander 31:f15747cffb20 143 #define NEED_CONSOLE_OUTPUT 1 /* Set this if you need debug messages on the console;
dev_alexander 31:f15747cffb20 144 * it will have an impact on code-size and power consumption. */
dev_alexander 31:f15747cffb20 145
dev_alexander 31:f15747cffb20 146 #if NEED_CONSOLE_OUTPUT
dev_alexander 31:f15747cffb20 147 #define DEBUG(STR) { if (uart) uart->write(STR, strlen(STR)); }
dev_alexander 31:f15747cffb20 148 #define READ(STR) { if (uart) uart->read(STR, strlen(STR)); }
dev_alexander 31:f15747cffb20 149
dev_alexander 31:f15747cffb20 150 #else
dev_alexander 31:f15747cffb20 151 #define DEBUG(...) /* nothing */
dev_alexander 31:f15747cffb20 152 #endif /* #if NEED_CONSOLE_OUTPUT */
dev_alexander 31:f15747cffb20 153
dev_alexander 31:f15747cffb20 154 //Triggered when the robot is disconnected from the mobile app.
dev_alexander 31:f15747cffb20 155 void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
dev_alexander 31:f15747cffb20 156 {
dev_alexander 31:f15747cffb20 157 BLE &ble = BLE::Instance();
dev_alexander 31:f15747cffb20 158 DEBUG("Disconnected!\n\r");
dev_alexander 31:f15747cffb20 159 DEBUG("Restarting the advertising process\n\r");
dev_alexander 31:f15747cffb20 160 ble.gap().startAdvertising();
dev_alexander 31:f15747cffb20 161 }
dev_alexander 31:f15747cffb20 162
dev_alexander 31:f15747cffb20 163 /* This pointer is needed to reference data in the main program when filling
dev_alexander 31:f15747cffb20 164 * with data from the BLE
dev_alexander 31:f15747cffb20 165 */
dev_alexander 31:f15747cffb20 166 uint8_t * onDataWritten_curr_ble_to_slave;
dev_alexander 30:66f9750cc44c 167
dev_alexander 31:f15747cffb20 168 // Triggered when there is data written
dev_alexander 31:f15747cffb20 169 void onDataWritten(const GattWriteCallbackParams *params)
dev_alexander 31:f15747cffb20 170 {
dev_alexander 31:f15747cffb20 171 //LED1 will be off when button is pressed, and on when button is released.
dev_alexander 31:f15747cffb20 172 led2 = !led2;
dev_alexander 31:f15747cffb20 173 uint8_t button_state;
dev_alexander 31:f15747cffb20 174 uint8_t direction;
dev_alexander 32:b108ed6096b0 175
dev_alexander 31:f15747cffb20 176 /* If there is a valid data sent by the mobile app */
dev_alexander 31:f15747cffb20 177 if ((uart != NULL) && (params->handle == uart ->getTXCharacteristicHandle())) {
dev_alexander 31:f15747cffb20 178 const uint8_t *packet = params->data;
dev_alexander 31:f15747cffb20 179 button_state = packet[3];
dev_alexander 31:f15747cffb20 180 direction = packet[2];
dev_alexander 31:f15747cffb20 181
dev_alexander 31:f15747cffb20 182 // make parameter to send over Lora
dev_alexander 31:f15747cffb20 183 onDataWritten_curr_ble_to_slave[0] = direction;
dev_alexander 31:f15747cffb20 184 onDataWritten_curr_ble_to_slave[1] = button_state;
dev_alexander 31:f15747cffb20 185
dev_alexander 31:f15747cffb20 186 dprintf("direction: %d\n", direction);
dev_alexander 31:f15747cffb20 187 dprintf("button_state: %d\n", button_state);
dev_alexander 30:66f9750cc44c 188 }
dev_alexander 30:66f9750cc44c 189 }
dev_alexander 31:f15747cffb20 190 #endif
dev_alexander 30:66f9750cc44c 191 #endif
dev_alexander 30:66f9750cc44c 192
Helmut64 17:98f2528e8399 193 DigitalOut myled(LED);
Helmut64 0:c43b6919ae15 194
dev_alexander 28:0ed92c590607 195 Serial pc(USBTX, USBRX);
dev_alexander 25:1a031add188a 196
Helmut64 0:c43b6919ae15 197
dev_alexander 23:f74a50977593 198 #if defined(TARGET_MAX32630FTHR) // Master Device: MAX32630FTHR BLE-to-LoRa Gateway
dev_alexander 23:f74a50977593 199 /* No grid eye object needed. The function the master uses to convert the raw
dev_alexander 23:f74a50977593 200 * data that is sent over from the slave deevice that contains the data from the
dev_alexander 23:f74a50977593 201 * actual grid eye sensor is actually a function that is not part of the grid eye
dev_alexander 23:f74a50977593 202 * class. this is due to the fact that the grid eye class requires n i2c bus to
dev_alexander 23:f74a50977593 203 * be assigned to a phyiscal sensor. In this case, the library for the Grid Eye
dev_alexander 32:b108ed6096b0 204 * sensor has a support function that is used to convert data that is aquired from
dev_alexander 23:f74a50977593 205 * the grid eye sensor. So it is not supposed to be a class specific function.
dev_alexander 23:f74a50977593 206 */
dev_alexander 32:b108ed6096b0 207 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 23:f74a50977593 208 //Init I2C communications in default I2C bus I2C #1
dev_alexander 32:b108ed6096b0 209 // I2C i2cGridEye(SDA,SCL);
dev_alexander 32:b108ed6096b0 210 //I2C i2cGridEye(P3_4,P3_5);
dev_alexander 32:b108ed6096b0 211 I2C i2cGridEye(P1_6,P1_7);
dev_alexander 23:f74a50977593 212 GridEye gridEye(i2cGridEye);
dev_alexander 23:f74a50977593 213 #endif
dev_alexander 19:9f035b9e65ec 214
dev_alexander 23:f74a50977593 215 int main()
dev_alexander 23:f74a50977593 216 {
dev_alexander 32:b108ed6096b0 217 /* Setup begins here: */
dev_alexander 32:b108ed6096b0 218 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 32:b108ed6096b0 219 dprintf("MAX32630FTHR: Master");
dev_alexander 32:b108ed6096b0 220 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 32:b108ed6096b0 221 dprintf("MAX32620FTHR: Slave");
dev_alexander 32:b108ed6096b0 222 #endif
dev_alexander 32:b108ed6096b0 223
dev_alexander 32:b108ed6096b0 224
dev_alexander 32:b108ed6096b0 225 #if defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 32:b108ed6096b0 226 //Set Power Hold High for battery operation MAX77650 on MAX32620FTHR
dev_alexander 32:b108ed6096b0 227 pw_Hold = POWER_HOLD_ON;
dev_alexander 32:b108ed6096b0 228 #endif
dev_alexander 32:b108ed6096b0 229
Helmut64 17:98f2528e8399 230 /*
Helmut64 17:98f2528e8399 231 * inits the Serial or USBSerial when available (230400 baud).
Helmut64 17:98f2528e8399 232 * If the serial uart is not is not connected it swiches to USB Serial
Helmut64 17:98f2528e8399 233 * blinking LED means USBSerial detected, waiting for a connect.
Helmut64 17:98f2528e8399 234 * It waits up to 30 seconds for a USB terminal connections
Helmut64 17:98f2528e8399 235 */
Helmut64 17:98f2528e8399 236 InitSerial(30*1000, &myled);
Helmut64 17:98f2528e8399 237 dprintf("Welcome to the SX1276GenericLib");
Helmut64 18:d5527ce82e6b 238
Helmut64 17:98f2528e8399 239 dprintf("Starting a simple LoRa PingPong");
dev_alexander 23:f74a50977593 240
dev_alexander 32:b108ed6096b0 241
dev_alexander 26:69aba05f010f 242
dev_alexander 23:f74a50977593 243
dev_alexander 23:f74a50977593 244 /***************************************************************************
dev_alexander 23:f74a50977593 245 * Grid Eye Sensor: Non-Buffer Program Variables
dev_alexander 23:f74a50977593 246 **************************************************************************/
dev_alexander 23:f74a50977593 247 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 23:f74a50977593 248 int frame_idx = 0;
dev_alexander 24:e8d03912f303 249 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 32:b108ed6096b0 250 #if defined(DEBUG_GRID_EYE_SLAVE)
dev_alexander 32:b108ed6096b0 251 int frame_idx = 0;
dev_alexander 32:b108ed6096b0 252 #endif
dev_alexander 23:f74a50977593 253 #endif
dev_alexander 23:f74a50977593 254
dev_alexander 23:f74a50977593 255
dev_alexander 28:0ed92c590607 256 /***************************************************************************
dev_alexander 28:0ed92c590607 257 * Combined Payload Buffers for LoRa Communications
dev_alexander 28:0ed92c590607 258 **************************************************************************/
dev_alexander 28:0ed92c590607 259 uint8_t BufferTx[BufferSizeTx];
dev_alexander 28:0ed92c590607 260 uint8_t BufferRx[BufferSizeRx];
dev_alexander 28:0ed92c590607 261
dev_alexander 28:0ed92c590607 262 /***************************************************************************
dev_alexander 32:b108ed6096b0 263 * Identification Buffers
dev_alexander 32:b108ed6096b0 264 **************************************************************************/
dev_alexander 32:b108ed6096b0 265 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 32:b108ed6096b0 266 uint8_t ID_of_slave[size_signature];
dev_alexander 32:b108ed6096b0 267 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 32:b108ed6096b0 268 uint8_t ID_of_master[size_signature];
dev_alexander 32:b108ed6096b0 269 #endif
dev_alexander 32:b108ed6096b0 270
dev_alexander 32:b108ed6096b0 271 /***************************************************************************
dev_alexander 28:0ed92c590607 272 * BLE Data Buffers
dev_alexander 28:0ed92c590607 273 **************************************************************************/
dev_alexander 28:0ed92c590607 274 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 31:f15747cffb20 275 uint8_t curr_ble_to_slave[size_of_ble];
dev_alexander 28:0ed92c590607 276 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 28:0ed92c590607 277 uint8_t curr_ble_from_master[size_of_ble];
dev_alexander 28:0ed92c590607 278 uint8_t prev_ble_from_master[size_of_ble];
dev_alexander 28:0ed92c590607 279 #endif
dev_alexander 28:0ed92c590607 280
dev_alexander 28:0ed92c590607 281 /***************************************************************************
dev_alexander 28:0ed92c590607 282 * Grid Eye Sensor Data Buffers
dev_alexander 28:0ed92c590607 283 **************************************************************************/
dev_alexander 28:0ed92c590607 284 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 28:0ed92c590607 285 char curr_raw_frame_from_slave[size_of_grid_eye];
dev_alexander 28:0ed92c590607 286 char prev_raw_frame_from_slave[size_of_grid_eye];
dev_alexander 28:0ed92c590607 287 int16_t conv_frame_from_slave[64];
dev_alexander 28:0ed92c590607 288 #elif defined(TARGET_MAX32620FTHR) // Client Device: LoRa Controlled Robot
dev_alexander 28:0ed92c590607 289 char curr_raw_frame_to_master[size_of_grid_eye];
dev_alexander 28:0ed92c590607 290 char prev_raw_frame_to_master[size_of_grid_eye];
dev_alexander 28:0ed92c590607 291 int16_t conv_frame_to_master[64];
dev_alexander 28:0ed92c590607 292 #endif
dev_alexander 28:0ed92c590607 293
dev_alexander 28:0ed92c590607 294 /***************************************************************************
dev_alexander 28:0ed92c590607 295 * GPS Data Buffers
dev_alexander 28:0ed92c590607 296 **************************************************************************/
dev_alexander 28:0ed92c590607 297 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 28:0ed92c590607 298 uint8_t curr_gps_from_slave[size_of_gps];
dev_alexander 28:0ed92c590607 299 uint8_t prev_gps_from_slave[size_of_gps];
dev_alexander 28:0ed92c590607 300 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 28:0ed92c590607 301 uint8_t curr_gps_to_master[size_of_gps];
dev_alexander 28:0ed92c590607 302 #endif
dev_alexander 28:0ed92c590607 303
dev_alexander 28:0ed92c590607 304 /***************************************************************************
dev_alexander 28:0ed92c590607 305 * MAX17055 Data Buffers
dev_alexander 28:0ed92c590607 306 **************************************************************************/
dev_alexander 28:0ed92c590607 307 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 28:0ed92c590607 308 uint8_t curr_MAX17055_from_slave[size_of_MAX17055];
dev_alexander 28:0ed92c590607 309 uint8_t prev_MAX17055_from_slave[size_of_MAX17055];
dev_alexander 28:0ed92c590607 310 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 28:0ed92c590607 311 uint8_t curr_MAX17055_to_master[size_of_MAX17055];
dev_alexander 28:0ed92c590607 312 #endif
dev_alexander 28:0ed92c590607 313
dev_alexander 28:0ed92c590607 314 /***************************************************************************
dev_alexander 28:0ed92c590607 315 * MAX77650 Data Buffers
dev_alexander 28:0ed92c590607 316 **************************************************************************/
dev_alexander 28:0ed92c590607 317 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 28:0ed92c590607 318 uint8_t curr_MAX77650_from_slave[size_of_MAX77650];
dev_alexander 28:0ed92c590607 319 uint8_t prev_MAX77650_from_slave[size_of_MAX77650];
dev_alexander 28:0ed92c590607 320 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 28:0ed92c590607 321 uint8_t curr_MAX77650_to_master[size_of_MAX77650];
dev_alexander 28:0ed92c590607 322 #endif
dev_alexander 28:0ed92c590607 323
dev_alexander 28:0ed92c590607 324 /***************************************************************************
dev_alexander 28:0ed92c590607 325 * Finish Setting up LoRa Radios: This passes in pointers to Buffers to send
dev_alexander 28:0ed92c590607 326 **************************************************************************/
dev_alexander 28:0ed92c590607 327 SX1276PingPongSetup(BufferTx, BufferRx);
dev_alexander 28:0ed92c590607 328
dev_alexander 32:b108ed6096b0 329 /***************************************************************************
dev_alexander 32:b108ed6096b0 330 * Finish Setting up BLE Radio on the MAX32630FTHR: Only on the Master Device
dev_alexander 32:b108ed6096b0 331 **************************************************************************/
dev_alexander 32:b108ed6096b0 332 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 32:b108ed6096b0 333 BLE &ble = BLE::Instance();
dev_alexander 32:b108ed6096b0 334 /* Create alias for the BLE data to be saved in function above that
dev_alexander 32:b108ed6096b0 335 * writes data to this buffer when function onDataWritten is called
dev_alexander 32:b108ed6096b0 336 */
dev_alexander 32:b108ed6096b0 337 onDataWritten_curr_ble_to_slave = curr_ble_to_slave;
dev_alexander 32:b108ed6096b0 338
dev_alexander 32:b108ed6096b0 339 /* Initialize BLE */
dev_alexander 32:b108ed6096b0 340 ble.init();
dev_alexander 32:b108ed6096b0 341 ble.gap().onDisconnection(disconnectionCallback);
dev_alexander 32:b108ed6096b0 342 ble.gattServer().onDataWritten(onDataWritten);
dev_alexander 32:b108ed6096b0 343 uart = new UARTService(ble);
dev_alexander 32:b108ed6096b0 344 /* setup advertising */
dev_alexander 32:b108ed6096b0 345 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
dev_alexander 32:b108ed6096b0 346 ble.gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
dev_alexander 32:b108ed6096b0 347 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
dev_alexander 32:b108ed6096b0 348 (const uint8_t *)"BLE UART", sizeof("BLE UART") - 1);
dev_alexander 32:b108ed6096b0 349 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
dev_alexander 32:b108ed6096b0 350 (const uint8_t *)UARTServiceUUID_reversed, sizeof(UARTServiceUUID_reversed));
dev_alexander 32:b108ed6096b0 351 ble.gap().setAdvertisingInterval(160); /* 100ms; in multiples of 0.625ms. */
dev_alexander 32:b108ed6096b0 352 ble.gap().startAdvertising();
dev_alexander 32:b108ed6096b0 353 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 32:b108ed6096b0 354 /* There is no BLE device that is integrated into the MAX32620FTHR. Also
dev_alexander 32:b108ed6096b0 355 * Also this program is meant to use the BLE gateway on the MAX32630FTHR
dev_alexander 32:b108ed6096b0 356 */
dev_alexander 32:b108ed6096b0 357 #endif
dev_alexander 32:b108ed6096b0 358
dev_alexander 32:b108ed6096b0 359 /***************************************************************************
dev_alexander 32:b108ed6096b0 360 * Finish Setting up the motor controller on the MAX32620FTHR: Only on the Slave Device
dev_alexander 32:b108ed6096b0 361 **************************************************************************/
dev_alexander 32:b108ed6096b0 362 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 32:b108ed6096b0 363 // No setup on the master device
dev_alexander 32:b108ed6096b0 364 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 32:b108ed6096b0 365 AFMS.begin(); // create with the default frequency 1.6KHz
dev_alexander 32:b108ed6096b0 366 //AFMS.begin(1000); // OR with a different frequency, say 1KHz
dev_alexander 32:b108ed6096b0 367
dev_alexander 32:b108ed6096b0 368 // Set the speed to start, from 0 (off) to 255 (max speed)
dev_alexander 32:b108ed6096b0 369 rightMotor->setSpeed(150);
dev_alexander 32:b108ed6096b0 370 rightMotor->run(FORWARD);
dev_alexander 32:b108ed6096b0 371 // turn on motor
dev_alexander 32:b108ed6096b0 372 rightMotor->run(RELEASE);
dev_alexander 32:b108ed6096b0 373
dev_alexander 32:b108ed6096b0 374 leftMotor->setSpeed(150);
dev_alexander 32:b108ed6096b0 375 leftMotor->run(FORWARD);
dev_alexander 32:b108ed6096b0 376 // turn on motor
dev_alexander 32:b108ed6096b0 377 leftMotor->run(RELEASE);
dev_alexander 32:b108ed6096b0 378 #endif
dev_alexander 32:b108ed6096b0 379
dev_alexander 32:b108ed6096b0 380
dev_alexander 22:abca9d17d13d 381 while(1)
dev_alexander 28:0ed92c590607 382 {
dev_alexander 23:f74a50977593 383 /***************************************************************************
dev_alexander 30:66f9750cc44c 384 * BLE Radio Data
dev_alexander 30:66f9750cc44c 385 **************************************************************************/
dev_alexander 30:66f9750cc44c 386 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 30:66f9750cc44c 387 #if defined(COMPILE_BLE)
dev_alexander 30:66f9750cc44c 388 ble.waitForEvent();
dev_alexander 30:66f9750cc44c 389 #endif
dev_alexander 30:66f9750cc44c 390 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 32:b108ed6096b0 391 memcpy(curr_ble_from_master, prev_ble_from_master, sizeof(curr_ble_from_master));
dev_alexander 30:66f9750cc44c 392 #endif
dev_alexander 30:66f9750cc44c 393
dev_alexander 30:66f9750cc44c 394 /***************************************************************************
dev_alexander 23:f74a50977593 395 * Grid Eye Sensor
dev_alexander 23:f74a50977593 396 **************************************************************************/
dev_alexander 23:f74a50977593 397 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 28:0ed92c590607 398 // 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 399 #if defined(RASPBERRY_PI)
dev_alexander 32:b108ed6096b0 400 if( memcmp(prev_raw_frame_from_slave, curr_raw_frame_from_slave, sizeof(curr_raw_frame_from_slave)) != 0 )
dev_alexander 32:b108ed6096b0 401 {
dev_alexander 32:b108ed6096b0 402 /*
dev_alexander 32:b108ed6096b0 403 //for (int idx = 0; idx < 8; idx++)
dev_alexander 32:b108ed6096b0 404 // pc.printf("%c", ID_of_slave[idx]);
dev_alexander 32:b108ed6096b0 405 string grid_eye_msg;
dev_alexander 32:b108ed6096b0 406 grid_eye_msg[0]=0x55;
dev_alexander 32:b108ed6096b0 407 grid_eye_msg[1]=0xaa;
dev_alexander 32:b108ed6096b0 408 for (int idx = 0; idx < 128; idx++)
dev_alexander 32:b108ed6096b0 409 grid_eye_msg[idx+2] = (unsigned char)curr_raw_frame_from_slave[idx];
dev_alexander 32:b108ed6096b0 410 pc.printf(grid_eye_msg);
dev_alexander 32:b108ed6096b0 411 */
dev_alexander 32:b108ed6096b0 412 char grid_eye_msg[130];
dev_alexander 32:b108ed6096b0 413 grid_eye_msg[0]=0x55;
dev_alexander 32:b108ed6096b0 414 grid_eye_msg[1]=0xaa;
dev_alexander 32:b108ed6096b0 415 for (int idx = 0; idx < 128; idx++)
dev_alexander 32:b108ed6096b0 416 grid_eye_msg[idx+2] = curr_raw_frame_from_slave[idx];
dev_alexander 32:b108ed6096b0 417 //pc.printf(grid_eye_msg);
dev_alexander 32:b108ed6096b0 418 for (int idx = 0; idx < 130; idx++)
dev_alexander 32:b108ed6096b0 419 pc.putc(grid_eye_msg[idx]);
dev_alexander 32:b108ed6096b0 420 }
dev_alexander 32:b108ed6096b0 421 #else
dev_alexander 32:b108ed6096b0 422 if( memcmp(prev_raw_frame_from_slave, curr_raw_frame_from_slave, sizeof(curr_raw_frame_from_slave)) != 0 )
dev_alexander 32:b108ed6096b0 423 {
dev_alexander 32:b108ed6096b0 424 // Convert raw data sent from slave to a 16 bit integer array by calling this
dev_alexander 32:b108ed6096b0 425 convRaw8x8Data2Point25degC(curr_raw_frame_from_slave, conv_frame_from_slave);
dev_alexander 32:b108ed6096b0 426
dev_alexander 32:b108ed6096b0 427 // Next Print off the Converted data
dev_alexander 32:b108ed6096b0 428 pc.printf("\r\nFrame %d data: \r\n", frame_idx);
dev_alexander 32:b108ed6096b0 429 uint8_t idx;
dev_alexander 32:b108ed6096b0 430 float pixel_data;
dev_alexander 32:b108ed6096b0 431 for (int y = 0; y < 8; y++) {
dev_alexander 32:b108ed6096b0 432 for (int x = 0; x < 8; x++) {
dev_alexander 32:b108ed6096b0 433 idx = y*8 + x;
dev_alexander 32:b108ed6096b0 434 pixel_data = ((float)conv_frame_from_slave[idx])/4.0;
dev_alexander 32:b108ed6096b0 435 pc.printf("%.2f \t", pixel_data);
dev_alexander 32:b108ed6096b0 436 }
dev_alexander 32:b108ed6096b0 437 pc.printf("\r\n\r\n");
dev_alexander 23:f74a50977593 438 }
dev_alexander 32:b108ed6096b0 439 pc.printf("\r\n");
dev_alexander 32:b108ed6096b0 440
dev_alexander 32:b108ed6096b0 441 // Increment frame counter
dev_alexander 32:b108ed6096b0 442 frame_idx = frame_idx +1;
dev_alexander 23:f74a50977593 443 }
dev_alexander 32:b108ed6096b0 444 #endif
dev_alexander 32:b108ed6096b0 445 /* Next copy in data received from current data into buffer used for
dev_alexander 32:b108ed6096b0 446 * comparison next time the memcmp above is called. This prevents the
dev_alexander 32:b108ed6096b0 447 * program from converting the same raw data aquired by the grid eye
dev_alexander 32:b108ed6096b0 448 * sensor on the slave device to the floating point array with the
dev_alexander 32:b108ed6096b0 449 * 0.25 degrees celsius precision level when there is not new data.
dev_alexander 32:b108ed6096b0 450 */
dev_alexander 32:b108ed6096b0 451
dev_alexander 28:0ed92c590607 452 memcpy(prev_raw_frame_from_slave, curr_raw_frame_from_slave, sizeof(curr_raw_frame_from_slave));
dev_alexander 24:e8d03912f303 453 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 23:f74a50977593 454 // Aquire raw data about 8x8 frame from the grid eye sensor in this function call
dev_alexander 28:0ed92c590607 455 gridEye.getRaw8x8FrameData(curr_raw_frame_to_master);
dev_alexander 32:b108ed6096b0 456 wait_ms( 20 );
dev_alexander 32:b108ed6096b0 457
dev_alexander 32:b108ed6096b0 458 #if defined(DEBUG_GRID_EYE_SLAVE)
dev_alexander 32:b108ed6096b0 459 if( memcmp(prev_raw_frame_to_master, curr_raw_frame_to_master, sizeof(curr_raw_frame_to_master)) != 0 )
dev_alexander 32:b108ed6096b0 460 {
dev_alexander 32:b108ed6096b0 461 wait_ms( 5 );
dev_alexander 32:b108ed6096b0 462 // Convert raw data sent from slave to a 16 bit integer array by calling this
dev_alexander 32:b108ed6096b0 463 convRaw8x8Data2Point25degC(curr_raw_frame_to_master, conv_frame_to_master);
dev_alexander 32:b108ed6096b0 464
dev_alexander 32:b108ed6096b0 465 wait_ms( 5 );
dev_alexander 32:b108ed6096b0 466
dev_alexander 32:b108ed6096b0 467 // Next Print off the Converted data
dev_alexander 32:b108ed6096b0 468 pc.printf("\r\nFrame %d data: \r\n", frame_idx);
dev_alexander 32:b108ed6096b0 469 uint8_t idx;
dev_alexander 32:b108ed6096b0 470 float pixel_data;
dev_alexander 32:b108ed6096b0 471 for (int y = 0; y < 8; y++) {
dev_alexander 32:b108ed6096b0 472 for (int x = 0; x < 8; x++) {
dev_alexander 32:b108ed6096b0 473 idx = y*8 + x;
dev_alexander 32:b108ed6096b0 474 pixel_data = ((float)conv_frame_to_master[idx])/4.0;
dev_alexander 32:b108ed6096b0 475 pc.printf("%.2f \t", pixel_data);
dev_alexander 32:b108ed6096b0 476 }
dev_alexander 32:b108ed6096b0 477 pc.printf("\r\n\r\n");
dev_alexander 25:1a031add188a 478 }
dev_alexander 32:b108ed6096b0 479 pc.printf("\r\n");
dev_alexander 32:b108ed6096b0 480
dev_alexander 32:b108ed6096b0 481 // Increment frame counter
dev_alexander 32:b108ed6096b0 482 frame_idx = frame_idx +1;
dev_alexander 25:1a031add188a 483 }
dev_alexander 32:b108ed6096b0 484 wait_ms( 20 );
dev_alexander 32:b108ed6096b0 485 memcpy(prev_raw_frame_to_master, curr_raw_frame_to_master, sizeof(curr_raw_frame_to_master));
dev_alexander 32:b108ed6096b0 486
dev_alexander 32:b108ed6096b0 487 #endif
dev_alexander 31:f15747cffb20 488 #endif
dev_alexander 31:f15747cffb20 489
dev_alexander 31:f15747cffb20 490 /***************************************************************************
dev_alexander 31:f15747cffb20 491 * GPS Sensor
dev_alexander 31:f15747cffb20 492 **************************************************************************/
dev_alexander 31:f15747cffb20 493 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 31:f15747cffb20 494 //None yet
dev_alexander 31:f15747cffb20 495 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 31:f15747cffb20 496 // The testing hasnt been done yet for the GPS Module. Will do this when more parts come in.
dev_alexander 31:f15747cffb20 497 /*
dev_alexander 31:f15747cffb20 498 if(gps.sample()){
dev_alexander 31:f15747cffb20 499 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 500 pc.printf("%d:%d:%d",gps.hour,gps.minute,gps.seconed);
dev_alexander 31:f15747cffb20 501 }
dev_alexander 31:f15747cffb20 502 */
dev_alexander 31:f15747cffb20 503 #endif
dev_alexander 28:0ed92c590607 504
dev_alexander 23:f74a50977593 505 /***************************************************************************
dev_alexander 28:0ed92c590607 506 * Fill Payload Buffer With Data From Sensors for LoRa Transmition
dev_alexander 28:0ed92c590607 507 **************************************************************************/
dev_alexander 28:0ed92c590607 508 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 28:0ed92c590607 509 memcpy(&BufferTx[tx_idx_signature], PingMsg, size_signature);
dev_alexander 28:0ed92c590607 510 memcpy(&BufferTx[tx_idx_ble], curr_ble_to_slave, size_of_ble);
dev_alexander 28:0ed92c590607 511 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 28:0ed92c590607 512 memcpy(&BufferTx[tx_idx_signature], PongMsg, size_signature);
dev_alexander 28:0ed92c590607 513 memcpy(&BufferTx[tx_idx_grid_eye], curr_raw_frame_to_master, size_of_grid_eye);
dev_alexander 28:0ed92c590607 514 memcpy(&BufferTx[tx_idx_gps], curr_gps_to_master, size_of_gps);
dev_alexander 28:0ed92c590607 515 memcpy(&BufferTx[tx_idx_MAX17055], curr_MAX17055_to_master, size_of_MAX17055);
dev_alexander 28:0ed92c590607 516 memcpy(&BufferTx[tx_idx_MAX77650], curr_MAX77650_to_master, size_of_MAX77650);
dev_alexander 28:0ed92c590607 517 #endif
dev_alexander 28:0ed92c590607 518
dev_alexander 28:0ed92c590607 519
dev_alexander 28:0ed92c590607 520
dev_alexander 32:b108ed6096b0 521
dev_alexander 28:0ed92c590607 522 /***************************************************************************
dev_alexander 28:0ed92c590607 523 * Lora Communications
dev_alexander 28:0ed92c590607 524 **************************************************************************/
dev_alexander 25:1a031add188a 525 wait_ms( 10 );
dev_alexander 22:abca9d17d13d 526 SX1276PingPong();
dev_alexander 28:0ed92c590607 527
dev_alexander 28:0ed92c590607 528 /***************************************************************************
dev_alexander 28:0ed92c590607 529 * Fill Global Buffers With Data From Received Payload Buffer
dev_alexander 28:0ed92c590607 530 **************************************************************************/
dev_alexander 28:0ed92c590607 531 /* The master and slave devices will have different requirements for offloading payload */
dev_alexander 28:0ed92c590607 532 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 32:b108ed6096b0 533 memcpy(ID_of_slave, &BufferRx[rx_idx_signature], size_signature);
dev_alexander 32:b108ed6096b0 534 memcpy(curr_raw_frame_from_slave, &BufferRx[rx_idx_grid_eye], size_of_grid_eye);
dev_alexander 32:b108ed6096b0 535 memcpy(curr_gps_from_slave, &BufferRx[rx_idx_gps], size_of_gps);
dev_alexander 32:b108ed6096b0 536 memcpy(curr_MAX17055_from_slave, &BufferRx[rx_idx_MAX17055], size_of_MAX17055);
dev_alexander 32:b108ed6096b0 537 memcpy(curr_MAX77650_from_slave, &BufferRx[rx_idx_MAX77650], size_of_MAX77650);
dev_alexander 28:0ed92c590607 538 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 32:b108ed6096b0 539 memcpy(ID_of_master, &BufferRx[rx_idx_signature], size_signature);
dev_alexander 32:b108ed6096b0 540 memcpy(curr_ble_from_master, &BufferRx[rx_idx_ble], size_of_ble);
dev_alexander 28:0ed92c590607 541 #endif
dev_alexander 23:f74a50977593 542
dev_alexander 32:b108ed6096b0 543 /***************************************************************************
dev_alexander 32:b108ed6096b0 544 * Motor Controller controlls go here
dev_alexander 32:b108ed6096b0 545 **************************************************************************/
dev_alexander 32:b108ed6096b0 546 #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
dev_alexander 32:b108ed6096b0 547 // No motor controller on master
dev_alexander 32:b108ed6096b0 548 #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
dev_alexander 32:b108ed6096b0 549 // 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 550 if( memcmp(prev_ble_from_master, curr_ble_from_master, sizeof(curr_ble_from_master)) != 0 )
dev_alexander 32:b108ed6096b0 551 {
dev_alexander 32:b108ed6096b0 552 MotorController(curr_ble_from_master);
dev_alexander 32:b108ed6096b0 553 }
dev_alexander 32:b108ed6096b0 554 #endif
dev_alexander 23:f74a50977593 555
dev_alexander 23:f74a50977593 556
dev_alexander 23:f74a50977593 557
dev_alexander 22:abca9d17d13d 558 }
dev_alexander 22:abca9d17d13d 559
Helmut64 0:c43b6919ae15 560 }