Devin Alexander
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
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MAX326xxFTHR_LoRa_Example_test
by 
Devin Alexander
Diff: main.cpp
- Revision:
- 42:911770814147
- Parent:
- 41:1381a49e019e
--- a/main.cpp Wed Aug 01 08:32:21 2018 +0000
+++ b/main.cpp Wed Aug 15 04:06:09 2018 +0000
@@ -1,10 +1,4 @@
/*
- * Copyright (c) 2018 HELIOS Software GmbH
- * 30826 Garbsen (Hannover) Germany
- * Licensed under the Apache License, Version 2.0);
- */
-
- /*
* For Wiring Instructions, please visit the link below:
* https://www.hackster.io/DevinAlex64/getting-started-with-the-max32620fthr-and-lora-f9d8dd\
*/
@@ -18,6 +12,9 @@
//#define DEBUG_GRID_EYE
//#define DEBUG_MAX17055
#define RASPBERRY_PI
+#define NUM_TIMEOUTS_TO_STOP_ROBOT 15
+#define OLED_FREQ 1000
+
DigitalOut myled(LED);
Serial pc(USBTX, USBRX);
@@ -102,43 +99,6 @@
void charger_Detect();
bool chrg_State_fn();
-
- void charger_Detect()
- {
-
- uint8_t int_chr_value,temp, int_chr_MASK = 0x04;
- int status;
- pc.printf("Charger Detected \n");
- status = simo_pmic.readReg(MAX77650::INT_CHG, int_chr_value);
- pc.printf("INT_CHR val= %X \n", int_chr_value);
- if (status == 1){
- temp = int_chr_value & int_chr_MASK;
- pc.printf("INT_CHR anded= %X \n", temp);
- if (temp == 4){
- pc.printf("enable charger \n");
- simo_pmic.enCharger();
- }
- }
- }
-
- bool chrg_State_fn()
- {
- uint8_t status_chr_value,temp, chr_status_MASK = 0x02;
- int status;
- pc.printf("Charger State \n");
- status = simo_pmic.readReg(MAX77650::STAT_CHG_B, status_chr_value);
- pc.printf("STAR_CHG_B val= %X \n", status_chr_value);
- if (status == 1){
- temp = status_chr_value & chr_status_MASK;
- pc.printf("STAR_CHG_B val= %X \n", temp);
- if (temp == 2){
- return true;
- }
- return false;
- }
- return false;
- }
-
#endif
@@ -239,7 +199,7 @@
* Motor Controller Instatiation and Related Functions
**************************************************************************/
#if defined(TARGET_MAX32630FTHR) // Master Device: MAX32630FTHR BLE-to-LoRa Gateway
- // There is no motor on this device.
+ // There is no motor controller on this device.
#elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
/* This is a port of a library that was developed by Adafruit for the Arduino.
* This port was done by mbed user syundo0730. */
@@ -255,7 +215,7 @@
// Create the motor shield object with the default I2C address
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.
// Or, create it with a different I2C address (say for stacking)
- // Adafruit_MotorShield AFMS = Adafruit_MotorShield(0x61);
+ // Adafruit_MotorShield AFMS = Adafruit_MotorShield(P3_4, P3_5, 0x61 << 1);
// Select which 'port' M1, M2, M3 or M4. In this case, M1
Adafruit_DCMotor *rightMotor = AFMS.getMotor(1);
// You can also make another motor on port M4
@@ -350,8 +310,6 @@
dprintf("Starting a simple LoRa PingPong");
-
-
/***************************************************************************
* Grid Eye Sensor: Non-Buffer Program Variables
@@ -524,7 +482,8 @@
design_param.vcharge = 4200; // Battery Charge Voltage can be obtained from MAX77650 configuration
design_param.rsense = 5; //5mOhms
- int oper_f1, volt_mod_FG, status;
+ int oper_f1, volt_mod_FG;
+ int status; // stores return value of the status of setting up the MAX17055
//serial.printf("Test Init and Temp Functions \r\n");
//status = fuelGauge.forcedExitHyberMode();
@@ -548,6 +507,10 @@
wait(1.0);
displayOled.startscrollright(0x00, 0x0F);
+
+
+ uint32_t OLED_COUNT;
+
#elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
// No oled on the MAX32620FTHR
#endif
@@ -715,74 +678,77 @@
pc.printf("Byte #%d is: %d\n", idx, max17055_u.curr_MAX17055_from_slave[idx]);
}
#endif
- if( memcmp(prev_MAX17055_from_slave, curr_MAX17055_from_slave, sizeof(curr_MAX17055_from_slave)) != 0 )
- {
- // Stop the scrolling to allow for a static image to be displayed on OLED
- displayOled.stopscroll();
-
- displayOled.clearDisplay();
-
- if ( chrg_status == false){
- if (max17055_u.battery.soc_FG >= 89)
- displayOled.drawBitmap(96,0,battFull,32,16,1);
- else if (max17055_u.battery.soc_FG >= 65 && max17055_u.battery.soc_FG < 89)
- displayOled.drawBitmap(96,0,batt75,32,16,1);
- else if (max17055_u.battery.soc_FG >= 45 && max17055_u.battery.soc_FG < 65)
- displayOled.drawBitmap(96,0,batt50,32,16,1);
- else if (max17055_u.battery.soc_FG >= 20 && max17055_u.battery.soc_FG < 45)
- displayOled.drawBitmap(96,0,batt25,32,16,1);
- else
- displayOled.drawBitmap(96,0,battEmpty,32,16,1);
- }
-
- if (chrg_status == true){
- displayOled.drawBitmap(96,0,battChrging,32,16,1);
- }
-
+ OLED_COUNT = OLED_COUNT + 1;
+ if( OLED_COUNT % OLED_FREQ == 0) {
+ if( memcmp(prev_MAX17055_from_slave, curr_MAX17055_from_slave, sizeof(curr_MAX17055_from_slave)) != 0 )
+ {
+ // Stop the scrolling to allow for a static image to be displayed on OLED
+ displayOled.stopscroll();
+
+ displayOled.clearDisplay();
+
+// if ( chrg_status == false){
+// if (max17055_u.battery.soc_FG >= 89)
+// displayOled.drawBitmap(96,0,battFull,32,16,1);
+// else if (max17055_u.battery.soc_FG >= 65 && max17055_u.battery.soc_FG < 89)
+// displayOled.drawBitmap(96,0,batt75,32,16,1);
+// else if (max17055_u.battery.soc_FG >= 45 && max17055_u.battery.soc_FG < 65)
+// displayOled.drawBitmap(96,0,batt50,32,16,1);
+// else if (max17055_u.battery.soc_FG >= 20 && max17055_u.battery.soc_FG < 45)
+// displayOled.drawBitmap(96,0,batt25,32,16,1);
+// else
+// displayOled.drawBitmap(96,0,battEmpty,32,16,1);
+// }
+
+ if (chrg_status == true){
+ displayOled.drawBitmap(96,0,battChrging,32,16,1);
+ }
+
+
+ //serial.printf("Time to Empty= %dsec \r\n",tte_FG);
+ int tte_minutes = (max17055_u.battery.tte_FG/60);
+ int ttf_minutes = (max17055_u.battery.tte_FG/60);
+ //serial.printf("Time to Empty= %dhours \r\n",tte_FG);
+ //serial.printf("Temp Function Status= %X \r\n",status);
+ //wait(1);
+ //serial.printf("SOC = %d %% \r\n",soc_FG);
+ //serial.printf("Temp Function Status= %X \r\n",status);
+ //serial.printf("Current = %d uamp \r\n",curr_FG);
+ // pc.printf("Voltage = %d uvolts \r\n",max17055_u.battery.vcell_FG);
+ int oper_f1 = max17055_u.battery.vcell_FG /1000000;
+ int volt_mod_FG = (max17055_u.battery.vcell_FG % 1000000)/1000;
+
+ // pc.printf("Voltage = %d V \r\n",max17055_u.battery.vcell_FG);
+ // pc.printf("Voltage = %d V \r\n",oper_f1);
+
+
+
+ displayOled.setTextCursor(0,0);
+ displayOled.setTextColor(1);
+ displayOled.setTextSize(1);
+ //displayOled.setTextWrap(true);
+ displayOled.printf("MAX17055");
+ displayOled.setTextCursor(0,8);
+ displayOled.printf("SOC = %d%% \r\n",max17055_u.battery.avg_soc_FG);
- //serial.printf("Time to Empty= %dsec \r\n",tte_FG);
- int tte_minutes = (max17055_u.battery.tte_FG/60);
- int ttf_minutes = (max17055_u.battery.tte_FG/60);
- //serial.printf("Time to Empty= %dhours \r\n",tte_FG);
- //serial.printf("Temp Function Status= %X \r\n",status);
- //wait(1);
- //serial.printf("SOC = %d %% \r\n",soc_FG);
- //serial.printf("Temp Function Status= %X \r\n",status);
- //serial.printf("Current = %d uamp \r\n",curr_FG);
-// pc.printf("Voltage = %d uvolts \r\n",max17055_u.battery.vcell_FG);
- int oper_f1 = max17055_u.battery.vcell_FG /1000000;
- int volt_mod_FG = (max17055_u.battery.vcell_FG % 1000000)/1000;
-
-// pc.printf("Voltage = %d V \r\n",max17055_u.battery.vcell_FG);
-// pc.printf("Voltage = %d V \r\n",oper_f1);
-
-
-
- displayOled.setTextCursor(0,0);
- displayOled.setTextColor(1);
- displayOled.setTextSize(1);
- //displayOled.setTextWrap(true);
- displayOled.printf("MAX17055");
- displayOled.setTextCursor(0,8);
- displayOled.printf("SOC = %d%% \r\n",max17055_u.battery.avg_soc_FG);
-
- displayOled.setTextCursor(0,16);
- if (chrg_status == true){
- displayOled.printf("TTF = %dmins \r\n",tte_minutes);
- }else
- displayOled.printf("TTE = %dmins \r\n",tte_minutes);
- displayOled.setTextCursor(0,24);
- displayOled.printf("I=%duA \r\n",max17055_u.battery.avg_curr_FG);
- displayOled.setTextCursor(65,24);
- if (volt_mod_FG > 99){
- displayOled.printf("V=%d.%dV \r\n",oper_f1,volt_mod_FG);
- }else if (volt_mod_FG < 100){
- displayOled.printf("V=%d.0%dV \r\n",oper_f1,volt_mod_FG);
+ displayOled.setTextCursor(0,16);
+ if (chrg_status == true){
+ displayOled.printf("TTF = %dmins \r\n",tte_minutes);
+ }else
+ displayOled.printf("TTE = %dmins \r\n",tte_minutes);
+ displayOled.setTextCursor(0,24);
+// displayOled.printf("I=%dmA \r\n",max17055_u.battery.avg_curr_FG/1000);
+// displayOled.setTextCursor(65,24);
+ if (volt_mod_FG > 99){
+ displayOled.printf("V=%d.%dV \r\n",oper_f1,volt_mod_FG);
+ }else if (volt_mod_FG < 100){
+ displayOled.printf("V=%d.0%dV \r\n",oper_f1,volt_mod_FG);
+ }
+
+ displayOled.display();
+ displayOled.display();
}
-
- displayOled.display();
- displayOled.display();
- }
+ }
#elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
max17055_u.battery.soc_FG = fuelGauge.get_SOC();
max17055_u.battery.avg_soc_FG = fuelGauge.get_atAvSOC();
@@ -809,7 +775,7 @@
#endif
/***************************************************************************
- * Fill Payload Buffer With Data From Sensors for LoRa Transmition
+ * Fill Payload Buffer With Data From Main Program Buffers for next LoRa Transmition
**************************************************************************/
#if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
memcpy(&BufferTx[tx_idx_signature], PingMsg, size_signature);
@@ -822,16 +788,14 @@
memcpy(&BufferTx[tx_idx_MAX77650], curr_MAX77650_to_master, size_of_MAX77650);
#endif
-
-
-
+
/***************************************************************************
* Lora Communications
**************************************************************************/
SX1276PingPong();
/***************************************************************************
- * Fill Global Buffers With Data From Received Payload Buffer
+ * Fill Main Program Buffers With Data From Received Payload Buffer
**************************************************************************/
/* The master and slave devices will have different requirements for offloading payload */
#if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
@@ -851,15 +815,76 @@
#if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
// No motor controller on master
#elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
+ /* This helps prevent devices such as robots that are connected over
+ * LoRa from not receiving a stop message. This can help prevent
+ * situations where a robot received a command to move in a dirrection
+ * but then moved to an area where it cant reliably receive communications.
+ * This situation would prevent a robot from stopping if it cant receive
+ * communications. So this is used to stop the current movement if the
+ * robot is still moving after x amount of RxTimeouts have happened
+ * in the LoRa communications.
+ */
+ if (numOfRxTimeouts() >= NUM_TIMEOUTS_TO_STOP_ROBOT)
+ {
+ uint8_t simulate_release_button[2];
+ simulate_release_button[0] = curr_ble_from_master[0];
+ simulate_release_button[1] = 0;
+ MotorController(simulate_release_button);
+ }
+
// Check to see if the contents of the previous ble sdata received are the same. If they are different then change motor controllers registers
- if( memcmp(prev_ble_from_master, curr_ble_from_master, sizeof(curr_ble_from_master)) != 0 )
+ else if( memcmp(prev_ble_from_master, curr_ble_from_master, sizeof(curr_ble_from_master)) != 0 )
{
MotorController(curr_ble_from_master);
+ memcpy(prev_ble_from_master, curr_ble_from_master, sizeof(curr_ble_from_master));
}
- #endif
-
-
-
+
+ #endif
+ }
+}
+
+
+/***************************************************************************
+ * MAX77650 Additional Functions
+ **************************************************************************/
+#if defined(TARGET_MAX32630FTHR) // Master Device: MAX32630FTHR BLE-to-LoRa Gateway
+ // No MAX77650 PMIC on this board
+#elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
+ void charger_Detect()
+ {
+ uint8_t int_chr_value,temp, int_chr_MASK = 0x04;
+ int status;
+ pc.printf("Charger Detected \n");
+ status = simo_pmic.readReg(MAX77650::INT_CHG, int_chr_value);
+ pc.printf("INT_CHR val= %X \n", int_chr_value);
+ if (status == 1){
+ temp = int_chr_value & int_chr_MASK;
+ pc.printf("INT_CHR anded= %X \n", temp);
+ if (temp == 4)
+ {
+ pc.printf("enable charger \n");
+ simo_pmic.enCharger();
+ }
+ }
}
-}
+ bool chrg_State_fn()
+ {
+ uint8_t status_chr_value,temp, chr_status_MASK = 0x02;
+ int status;
+ pc.printf("Charger State \n");
+ status = simo_pmic.readReg(MAX77650::STAT_CHG_B, status_chr_value);
+ pc.printf("STAR_CHG_B val= %X \n", status_chr_value);
+ if (status == 1)
+ {
+ temp = status_chr_value & chr_status_MASK;
+ pc.printf("STAR_CHG_B val= %X \n", temp);
+ if (temp == 2){
+ return true;
+ }
+ return false;
+ }
+ return false;
+ }
+
+#endif