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:
- 32:b108ed6096b0
- Parent:
- 31:f15747cffb20
- Child:
- 33:52c898aca207
--- a/main.cpp Tue Jul 24 18:30:26 2018 +0000
+++ b/main.cpp Mon Jul 30 05:53:55 2018 +0000
@@ -12,7 +12,12 @@
#include "main.h"
#include "global_buffers.h"
#include "GridEye.h"
-#include "GPS.h"
+#include "mbed.h"
+#include <string>
+
+//#define DEBUG_GRID_EYE_SLAVE
+#define RASPBERRY_PI
+
/* If the board that is compiled is the master device (BLE enabled MAX32630FTHR),
* then it needs this library and needs to be configed in order for the device to
@@ -23,7 +28,100 @@
*/
#if defined(TARGET_MAX32620FTHR)
+ // Definitions for running board off of battery
+ #define POWER_HOLD_ON 1
+ #define POWER_HOLD_OFF 0
+
+// MAX77650
+ DigitalOut pw_Hold(P2_2, POWER_HOLD_ON);
+
+// Initialize GPS
+ #include "GPS.h"
GPS gps(P0_1, P0_0, 115200);
+
+// Motor Driver initialization
+ #include "Adafruit_MotorShield.h"
+ #include "Adafruit_PWMServoDriver.h"
+
+ #define MOTOR_OFF 0
+ #define MOTOR_FORWARD 150
+ #define MOTOR_BACKWARD 150
+ #define MOTOR_TURN 100
+
+
+ // Create the motor shield object with the default I2C address
+ //Adafruit_MotorShield AFMS = Adafruit_MotorShield(p9, p10, 0x60 << 1);
+ Adafruit_MotorShield AFMS = Adafruit_MotorShield(P3_4, P3_5, 0x60 << 1);
+ // Or, create it with a different I2C address (say for stacking)
+ // Adafruit_MotorShield AFMS = Adafruit_MotorShield(0x61);
+
+ // Select which 'port' M1, M2, M3 or M4. In this case, M1
+ Adafruit_DCMotor *rightMotor = AFMS.getMotor(1);
+ Adafruit_DCMotor *leftMotor = AFMS.getMotor(4);
+ // You can also make another motor on port M2
+ //Adafruit_DCMotor *myOtherMotor = AFMS.getMotor(2);
+
+#endif
+
+#if defined(TARGET_MAX32620FTHR)
+void MotorController(uint8_t (BLE_data_server)[2])
+{
+ uint8_t button_state;
+ uint8_t direction;
+ /*Set up constants for direction of motion */
+ const char FRONT = '5';
+ const char BACK = '6';
+ const char LEFT = '7';
+ const char RIGHT = '8';
+
+ /*Set up constants for button state */
+ const char PRESSED = '1';
+ const char RELEASED = '0';
+
+
+ button_state = BLE_data_server[1];
+ direction = BLE_data_server[0];
+
+ switch (button_state)
+ {
+ case PRESSED:
+ //md_left_pwm = static_cast<float>(20/100.0F);
+ //md_right_pwm = static_cast<float>(20/100.0F);
+
+ switch (direction)
+ {
+ case FRONT:
+ rightMotor->run(FORWARD);
+ leftMotor->run(FORWARD);
+ rightMotor->setSpeed(MOTOR_FORWARD);
+ leftMotor->setSpeed(MOTOR_FORWARD);
+ break;
+ case BACK:
+ rightMotor->run(BACKWARD);
+ leftMotor->run(BACKWARD);
+ rightMotor->setSpeed(MOTOR_BACKWARD);
+ leftMotor->setSpeed(MOTOR_BACKWARD);
+ break;
+ case LEFT:
+ rightMotor->run(FORWARD);
+ leftMotor->run(BACKWARD);
+ rightMotor->setSpeed(MOTOR_TURN);
+ leftMotor->setSpeed(MOTOR_TURN);
+ break;
+ case RIGHT:
+ rightMotor->run(BACKWARD);
+ leftMotor->run(FORWARD);
+ rightMotor->setSpeed(MOTOR_TURN);
+ leftMotor->setSpeed(MOTOR_TURN);
+ break;
+ }
+ break;
+ case RELEASED:
+ rightMotor->setSpeed(MOTOR_OFF);
+ leftMotor->setSpeed(MOTOR_OFF);
+ break;
+ }
+}
#endif
#if defined(TARGET_MAX32630FTHR)
@@ -74,16 +172,7 @@
led2 = !led2;
uint8_t button_state;
uint8_t direction;
- /*Set up constants for direction of motion */
- // const char FRONT = '5';
- // const char BACK = '6';
- // const char LEFT = '7';
- // const char RIGHT = '8';
-
- /*Set up constants for button state */
- // const char PRESSED = '1';
- // const char RELEASED = '0';
-
+
/* If there is a valid data sent by the mobile app */
if ((uart != NULL) && (params->handle == uart ->getTXCharacteristicHandle())) {
const uint8_t *packet = params->data;
@@ -96,49 +185,6 @@
dprintf("direction: %d\n", direction);
dprintf("button_state: %d\n", button_state);
-
- /*
- switch (button_state)
- {
- case PRESSED:
- md_left_pwm = static_cast<float>(20/100.0F);
- md_right_pwm = static_cast<float>(20/100.0F);
-
- switch (direction)
- {
- case FRONT:
- md_left_dir = 1;
- md_left_pwm = 0.7;
- md_right_dir = 1;
- md_right_pwm = 0.7;
- break;
- case BACK:
- md_left_dir = 0;
- md_left_pwm = 0.7;
- md_right_dir = 0;
- md_right_pwm = 0.7;
- break;
- case LEFT:
- md_left_dir = 0;
- md_left_pwm = 0.5;
- md_right_dir = 1;
- md_right_pwm = 0.5;
- break;
- case RIGHT:
- md_left_dir = 1;
- md_left_pwm = 0.5;
- md_right_dir = 0;
- md_right_pwm = 0.5;
- break;
- }
- break;
- case RELEASED:
- md_left_pwm = 0;
- md_right_pwm = 0;
- break;
- }
- */
-
}
}
#endif
@@ -155,17 +201,32 @@
* actual grid eye sensor is actually a function that is not part of the grid eye
* class. this is due to the fact that the grid eye class requires n i2c bus to
* be assigned to a phyiscal sensor. In this case, the library for the Grid Eye
- * sensor has a support functin that is used to convert data that is aquired from
+ * sensor has a support function that is used to convert data that is aquired from
* the grid eye sensor. So it is not supposed to be a class specific function.
*/
-#elif defined(TARGET_MAX32620FTHR) // Slave Device: Robot
+#elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
//Init I2C communications in default I2C bus I2C #1
- I2C i2cGridEye(P3_4,P3_5);
+ // I2C i2cGridEye(SDA,SCL);
+ //I2C i2cGridEye(P3_4,P3_5);
+ I2C i2cGridEye(P1_6,P1_7);
GridEye gridEye(i2cGridEye);
#endif
int main()
{
+ /* Setup begins here: */
+ #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
+ dprintf("MAX32630FTHR: Master");
+ #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
+ dprintf("MAX32620FTHR: Slave");
+ #endif
+
+
+ #if defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
+ //Set Power Hold High for battery operation MAX77650 on MAX32620FTHR
+ pw_Hold = POWER_HOLD_ON;
+ #endif
+
/*
* inits the Serial or USBSerial when available (230400 baud).
* If the serial uart is not is not connected it swiches to USB Serial
@@ -177,12 +238,7 @@
dprintf("Starting a simple LoRa PingPong");
- /* Setup begins here: */
- #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
- dprintf("MAX32630FTHR: Master");
- #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
- dprintf("MAX32620FTHR: Slave");
- #endif
+
/***************************************************************************
@@ -191,8 +247,9 @@
#if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
int frame_idx = 0;
#elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
- // none yet
- int frame_idx = 0;
+ #if defined(DEBUG_GRID_EYE_SLAVE)
+ int frame_idx = 0;
+ #endif
#endif
@@ -203,32 +260,19 @@
uint8_t BufferRx[BufferSizeRx];
/***************************************************************************
+ * Identification Buffers
+ **************************************************************************/
+ #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
+ uint8_t ID_of_slave[size_signature];
+ #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
+ uint8_t ID_of_master[size_signature];
+ #endif
+
+ /***************************************************************************
* BLE Data Buffers
**************************************************************************/
#if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
uint8_t curr_ble_to_slave[size_of_ble];
- #if defined(COMPILE_BLE)
- BLE &ble = BLE::Instance();
- /* Create alias for the BLE data to be saved in function above that
- * writes data to this buffer when function onDataWritten is called
- */
- onDataWritten_curr_ble_to_slave = curr_ble_to_slave;
-
- /* Initialize BLE */
- ble.init();
- ble.gap().onDisconnection(disconnectionCallback);
- ble.gattServer().onDataWritten(onDataWritten);
- uart = new UARTService(ble);
- /* setup advertising */
- ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
- ble.gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
- ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
- (const uint8_t *)"BLE UART", sizeof("BLE UART") - 1);
- ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
- (const uint8_t *)UARTServiceUUID_reversed, sizeof(UARTServiceUUID_reversed));
- ble.gap().setAdvertisingInterval(160); /* 100ms; in multiples of 0.625ms. */
- ble.gap().startAdvertising();
- #endif
#elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
uint8_t curr_ble_from_master[size_of_ble];
uint8_t prev_ble_from_master[size_of_ble];
@@ -282,6 +326,58 @@
**************************************************************************/
SX1276PingPongSetup(BufferTx, BufferRx);
+ /***************************************************************************
+ * Finish Setting up BLE Radio on the MAX32630FTHR: Only on the Master Device
+ **************************************************************************/
+ #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
+ BLE &ble = BLE::Instance();
+ /* Create alias for the BLE data to be saved in function above that
+ * writes data to this buffer when function onDataWritten is called
+ */
+ onDataWritten_curr_ble_to_slave = curr_ble_to_slave;
+
+ /* Initialize BLE */
+ ble.init();
+ ble.gap().onDisconnection(disconnectionCallback);
+ ble.gattServer().onDataWritten(onDataWritten);
+ uart = new UARTService(ble);
+ /* setup advertising */
+ ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
+ ble.gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
+ ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
+ (const uint8_t *)"BLE UART", sizeof("BLE UART") - 1);
+ ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
+ (const uint8_t *)UARTServiceUUID_reversed, sizeof(UARTServiceUUID_reversed));
+ ble.gap().setAdvertisingInterval(160); /* 100ms; in multiples of 0.625ms. */
+ ble.gap().startAdvertising();
+ #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
+ /* There is no BLE device that is integrated into the MAX32620FTHR. Also
+ * Also this program is meant to use the BLE gateway on the MAX32630FTHR
+ */
+ #endif
+
+ /***************************************************************************
+ * Finish Setting up the motor controller on the MAX32620FTHR: Only on the Slave Device
+ **************************************************************************/
+ #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
+ // No setup on the master device
+ #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
+ AFMS.begin(); // create with the default frequency 1.6KHz
+ //AFMS.begin(1000); // OR with a different frequency, say 1KHz
+
+ // Set the speed to start, from 0 (off) to 255 (max speed)
+ rightMotor->setSpeed(150);
+ rightMotor->run(FORWARD);
+ // turn on motor
+ rightMotor->run(RELEASE);
+
+ leftMotor->setSpeed(150);
+ leftMotor->run(FORWARD);
+ // turn on motor
+ leftMotor->run(RELEASE);
+ #endif
+
+
while(1)
{
/***************************************************************************
@@ -292,7 +388,7 @@
ble.waitForEvent();
#endif
#elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
- // NOTHING YET
+ memcpy(curr_ble_from_master, prev_ble_from_master, sizeof(curr_ble_from_master));
#endif
/***************************************************************************
@@ -300,66 +396,95 @@
**************************************************************************/
#if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
// Check to see if the contents of the previous scan are the same. If they are different then continue with converting
- if( memcmp(prev_raw_frame_from_slave, curr_raw_frame_from_slave, sizeof(curr_raw_frame_from_slave)) != 0 )
- {
- // Convert raw data sent from slave to a 16 bit integer array by calling this
- convRaw8x8Data2Point25degC(curr_raw_frame_from_slave, conv_frame_from_slave);
-
- // Next Print off the Converted data
- pc.printf("\r\nFrame %d data: \r\n", frame_idx);
- uint8_t idx;
- float pixel_data;
- for (int y = 0; y < 8; y++) {
- for (int x = 0; x < 8; x++) {
- idx = y*8 + x;
- pixel_data = ((float)conv_frame_from_slave[idx])/4.0;
- pc.printf("%.2f \t", pixel_data);
+ #if defined(RASPBERRY_PI)
+ if( memcmp(prev_raw_frame_from_slave, curr_raw_frame_from_slave, sizeof(curr_raw_frame_from_slave)) != 0 )
+ {
+ /*
+ //for (int idx = 0; idx < 8; idx++)
+ // pc.printf("%c", ID_of_slave[idx]);
+ string grid_eye_msg;
+ grid_eye_msg[0]=0x55;
+ grid_eye_msg[1]=0xaa;
+ for (int idx = 0; idx < 128; idx++)
+ grid_eye_msg[idx+2] = (unsigned char)curr_raw_frame_from_slave[idx];
+ pc.printf(grid_eye_msg);
+ */
+ char grid_eye_msg[130];
+ grid_eye_msg[0]=0x55;
+ grid_eye_msg[1]=0xaa;
+ for (int idx = 0; idx < 128; idx++)
+ grid_eye_msg[idx+2] = curr_raw_frame_from_slave[idx];
+ //pc.printf(grid_eye_msg);
+ for (int idx = 0; idx < 130; idx++)
+ pc.putc(grid_eye_msg[idx]);
+ }
+ #else
+ if( memcmp(prev_raw_frame_from_slave, curr_raw_frame_from_slave, sizeof(curr_raw_frame_from_slave)) != 0 )
+ {
+ // Convert raw data sent from slave to a 16 bit integer array by calling this
+ convRaw8x8Data2Point25degC(curr_raw_frame_from_slave, conv_frame_from_slave);
+
+ // Next Print off the Converted data
+ pc.printf("\r\nFrame %d data: \r\n", frame_idx);
+ uint8_t idx;
+ float pixel_data;
+ for (int y = 0; y < 8; y++) {
+ for (int x = 0; x < 8; x++) {
+ idx = y*8 + x;
+ pixel_data = ((float)conv_frame_from_slave[idx])/4.0;
+ pc.printf("%.2f \t", pixel_data);
+ }
+ pc.printf("\r\n\r\n");
}
- pc.printf("\r\n\r\n");
+ pc.printf("\r\n");
+
+ // Increment frame counter
+ frame_idx = frame_idx +1;
}
- pc.printf("\r\n");
-
- // Increment frame counter
- frame_idx = frame_idx +1;
- }
-
- /* Next copy in data received from current data into buffer used for
- * comparison next time the memcmp above is called. This prevents the
- * program from converting the same raw data aquired by the grid eye
- * sensor on the slave device to the floating point array with the
- * 0.25 degrees celsius precision level when there is not new data.
- */
+ #endif
+ /* Next copy in data received from current data into buffer used for
+ * comparison next time the memcmp above is called. This prevents the
+ * program from converting the same raw data aquired by the grid eye
+ * sensor on the slave device to the floating point array with the
+ * 0.25 degrees celsius precision level when there is not new data.
+ */
+
memcpy(prev_raw_frame_from_slave, curr_raw_frame_from_slave, sizeof(curr_raw_frame_from_slave));
-
#elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
// Aquire raw data about 8x8 frame from the grid eye sensor in this function call
gridEye.getRaw8x8FrameData(curr_raw_frame_to_master);
- wait_ms( 10 );
- /*
- //if ( memcmp(prev_raw_frame_to_master, curr_raw_frame_to_master, sizeof(curr_raw_frame_to_master)) != 0 )
- //{
- // Convert raw data sent from slave to a 16 bit integer array by calling this
- convRaw8x8Data2Point25degC(curr_raw_frame_to_master, conv_frame_to_master);
-
- // Next Print off the Converted data
- pc.printf("\r\nFrame %d data: \r\n", frame_idx);
- uint8_t idx;
- float pixel_data;
- for (int y = 0; y < 8; y++) {
- for (int x = 0; x < 8; x++) {
- idx = y*8 + x;
- pixel_data = conv_frame_to_master[idx]/4.0;
- pc.printf("%.2f \t", pixel_data);
+ wait_ms( 20 );
+
+ #if defined(DEBUG_GRID_EYE_SLAVE)
+ if( memcmp(prev_raw_frame_to_master, curr_raw_frame_to_master, sizeof(curr_raw_frame_to_master)) != 0 )
+ {
+ wait_ms( 5 );
+ // Convert raw data sent from slave to a 16 bit integer array by calling this
+ convRaw8x8Data2Point25degC(curr_raw_frame_to_master, conv_frame_to_master);
+
+ wait_ms( 5 );
+
+ // Next Print off the Converted data
+ pc.printf("\r\nFrame %d data: \r\n", frame_idx);
+ uint8_t idx;
+ float pixel_data;
+ for (int y = 0; y < 8; y++) {
+ for (int x = 0; x < 8; x++) {
+ idx = y*8 + x;
+ pixel_data = ((float)conv_frame_to_master[idx])/4.0;
+ pc.printf("%.2f \t", pixel_data);
+ }
+ pc.printf("\r\n\r\n");
}
- pc.printf("\r\n\r\n");
+ pc.printf("\r\n");
+
+ // Increment frame counter
+ frame_idx = frame_idx +1;
}
- pc.printf("\r\n");
-
- // Increment frame counter
- frame_idx = frame_idx +1;
- //}
- */
- memcpy(prev_raw_frame_to_master, curr_raw_frame_to_master, sizeof(curr_raw_frame_to_master));
+ wait_ms( 20 );
+ memcpy(prev_raw_frame_to_master, curr_raw_frame_to_master, sizeof(curr_raw_frame_to_master));
+
+ #endif
#endif
/***************************************************************************
@@ -393,6 +518,7 @@
+
/***************************************************************************
* Lora Communications
**************************************************************************/
@@ -404,15 +530,28 @@
**************************************************************************/
/* The master and slave devices will have different requirements for offloading payload */
#if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
- memcpy(curr_raw_frame_from_slave, &BufferRx[rx_idx_grid_eye], size_of_grid_eye);
- memcpy(curr_gps_from_slave, &BufferRx[rx_idx_gps], size_of_gps);
- memcpy(curr_MAX17055_from_slave, &BufferRx[rx_idx_MAX17055], size_of_MAX17055);
- memcpy(curr_MAX77650_from_slave, &BufferRx[rx_idx_MAX77650], size_of_MAX77650);
+ memcpy(ID_of_slave, &BufferRx[rx_idx_signature], size_signature);
+ memcpy(curr_raw_frame_from_slave, &BufferRx[rx_idx_grid_eye], size_of_grid_eye);
+ memcpy(curr_gps_from_slave, &BufferRx[rx_idx_gps], size_of_gps);
+ memcpy(curr_MAX17055_from_slave, &BufferRx[rx_idx_MAX17055], size_of_MAX17055);
+ memcpy(curr_MAX77650_from_slave, &BufferRx[rx_idx_MAX77650], size_of_MAX77650);
#elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
- memcpy(curr_ble_from_master, &BufferRx[rx_idx_ble], size_of_ble);
+ memcpy(ID_of_master, &BufferRx[rx_idx_signature], size_signature);
+ memcpy(curr_ble_from_master, &BufferRx[rx_idx_ble], size_of_ble);
#endif
-
+ /***************************************************************************
+ * Motor Controller controlls go here
+ **************************************************************************/
+ #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
+ // No motor controller on master
+ #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
+ // 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 )
+ {
+ MotorController(curr_ble_from_master);
+ }
+ #endif