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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
main.cpp
- Committer:
- dev_alexander
- Date:
- 2018-07-23
- Revision:
- 28:0ed92c590607
- Parent:
- 27:6b549f838f0a
- Child:
- 29:f7a0e49b826b
File content as of revision 28:0ed92c590607:
/* * 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\ */ #include "main.h" #include "global_buffers.h" #include "GridEye.h" /* 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 * work with a 3.3volt output instead of a 1.8 volt output. * * This is only needed for the MAX32630FTHR. The MAX325620FTHR is exampt from this * additional setup in the main program. */ #if defined(TARGET_MAX32630FTHR) // using the RFM95 board #include "max32630fthr.h" MAX32630FTHR pegasus(MAX32630FTHR::VIO_3V3); #endif DigitalOut myled(LED); Serial pc(USBTX, USBRX); #if defined(TARGET_MAX32630FTHR) // Master Device: MAX32630FTHR BLE-to-LoRa Gateway /* No grid eye object needed. The function the master uses to convert the raw * data that is sent over from the slave deevice that contains the data from the * 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 * the grid eye sensor. So it is not supposed to be a class specific function. */ #elif defined(TARGET_MAX32620FTHR) // Slave Device: Robot //Init I2C communications in default I2C bus I2C #1 I2C i2cGridEye(P3_4,P3_5); GridEye gridEye(i2cGridEye); #endif int main() { /* * inits the Serial or USBSerial when available (230400 baud). * If the serial uart is not is not connected it swiches to USB Serial * blinking LED means USBSerial detected, waiting for a connect. * It waits up to 30 seconds for a USB terminal connections */ InitSerial(30*1000, &myled); dprintf("Welcome to the SX1276GenericLib"); 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 /*************************************************************************** * Grid Eye Sensor: Non-Buffer Program Variables **************************************************************************/ #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; #endif /*************************************************************************** * Combined Payload Buffers for LoRa Communications **************************************************************************/ uint8_t BufferTx[BufferSizeTx]; uint8_t BufferRx[BufferSizeRx]; /*************************************************************************** * BLE Data Buffers **************************************************************************/ #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway uint8_t curr_ble_to_slave[size_of_ble]; #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]; #endif /*************************************************************************** * Grid Eye Sensor Data Buffers **************************************************************************/ #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway char curr_raw_frame_from_slave[size_of_grid_eye]; char prev_raw_frame_from_slave[size_of_grid_eye]; int16_t conv_frame_from_slave[64]; #elif defined(TARGET_MAX32620FTHR) // Client Device: LoRa Controlled Robot char curr_raw_frame_to_master[size_of_grid_eye]; char prev_raw_frame_to_master[size_of_grid_eye]; int16_t conv_frame_to_master[64]; #endif /*************************************************************************** * GPS Data Buffers **************************************************************************/ #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway uint8_t curr_gps_from_slave[size_of_gps]; uint8_t prev_gps_from_slave[size_of_gps]; #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot uint8_t curr_gps_to_master[size_of_gps]; #endif /*************************************************************************** * MAX17055 Data Buffers **************************************************************************/ #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway uint8_t curr_MAX17055_from_slave[size_of_MAX17055]; uint8_t prev_MAX17055_from_slave[size_of_MAX17055]; #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot uint8_t curr_MAX17055_to_master[size_of_MAX17055]; #endif /*************************************************************************** * MAX77650 Data Buffers **************************************************************************/ #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway uint8_t curr_MAX77650_from_slave[size_of_MAX77650]; uint8_t prev_MAX77650_from_slave[size_of_MAX77650]; #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot uint8_t curr_MAX77650_to_master[size_of_MAX77650]; #endif /*************************************************************************** * Finish Setting up LoRa Radios: This passes in pointers to Buffers to send **************************************************************************/ SX1276PingPongSetup(BufferTx, BufferRx); while(1) { /*************************************************************************** * Grid Eye Sensor **************************************************************************/ #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); } pc.printf("\r\n\r\n"); } 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. */ 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); } pc.printf("\r\n\r\n"); } 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)); #endif /*************************************************************************** * Fill Payload Buffer With Data From Sensors for LoRa Transmition **************************************************************************/ #if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway memcpy(&BufferTx[tx_idx_signature], PingMsg, size_signature); memcpy(&BufferTx[tx_idx_ble], curr_ble_to_slave, size_of_ble); #elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot memcpy(&BufferTx[tx_idx_signature], PongMsg, size_signature); memcpy(&BufferTx[tx_idx_grid_eye], curr_raw_frame_to_master, size_of_grid_eye); memcpy(&BufferTx[tx_idx_gps], curr_gps_to_master, size_of_gps); memcpy(&BufferTx[tx_idx_MAX17055], curr_MAX17055_to_master, size_of_MAX17055); memcpy(&BufferTx[tx_idx_MAX77650], curr_MAX77650_to_master, size_of_MAX77650); #endif /*************************************************************************** * Lora Communications **************************************************************************/ wait_ms( 10 ); SX1276PingPong(); /*************************************************************************** * Fill Global 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 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); #endif } }