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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
SX1276GenericPingPong/GenericPingPong.cpp
- Committer:
- dev_alexander
- Date:
- 2018-08-15
- Revision:
- 42:911770814147
- Parent:
- 36:09e8b51fc91d
File content as of revision 42:911770814147:
/* * This file contains a copy of the master content sx1276PingPong * with adaption for the SX1276Generic environment * (c) 2017 Helmut Tschemernjak * 30826 Garbsen (Hannover) Germany */ #include "mbed.h" #include "PinMap.h" #include "GenericPingPong.h" #include "sx1276-mbed-hal.h" #include "main.h" #include "global_buffers.h" #ifdef FEATURE_LORA /* Set this flag to '1' to display debug messages on the console */ #define DEBUG_MESSAGE 0 /* Set this flag to '1' to use the LoRa modulation or to '0' to use FSK modulation */ #define USE_MODEM_LORA 1 #define USE_MODEM_FSK !USE_MODEM_LORA #define RF_FREQUENCY RF_FREQUENCY_915_0 // Hz #define TX_OUTPUT_POWER 14 // 14 dBm #if USE_MODEM_LORA == 1 #define LORA_BANDWIDTH 125000 // LoRa default, details in SX1276::BandwidthMap #define LORA_SPREADING_FACTOR LORA_SF7 #define LORA_CODINGRATE LORA_ERROR_CODING_RATE_4_5 #define LORA_PREAMBLE_LENGTH 8 // Same for Tx and Rx #define LORA_SYMBOL_TIMEOUT 5 // Symbols #define LORA_FIX_LENGTH_PAYLOAD_ON false #define LORA_FHSS_ENABLED false #define LORA_NB_SYMB_HOP 4 #define LORA_IQ_INVERSION_ON false #define LORA_CRC_ENABLED true #elif USE_MODEM_FSK == 1 #define FSK_FDEV 25000 // Hz #define FSK_DATARATE 19200 // bps #define FSK_BANDWIDTH 50000 // Hz #define FSK_AFC_BANDWIDTH 83333 // Hz #define FSK_PREAMBLE_LENGTH 5 // Same for Tx and Rx #define FSK_FIX_LENGTH_PAYLOAD_ON false #define FSK_CRC_ENABLED true #else #error "Please define a modem in the compiler options." #endif //#define RX_TIMEOUT_VALUE 3500 // in ms #define RX_TIMEOUT_VALUE 333 // in ms //#define BUFFER_SIZE 64 // Define the payload size here /* * Global variables declarations */ typedef enum { LOWPOWER = 0, IDLE, RX, RX_TIMEOUT, RX_ERROR, TX, TX_TIMEOUT, CAD, CAD_DONE } AppStates_t; volatile AppStates_t State = LOWPOWER; /*! * Radio events function pointer */ static RadioEvents_t RadioEvents; /* * Global variables declarations */ SX1276Generic *Radio; // Aliases for the buffers that are made in the main() uint8_t *BufferTx; uint8_t *BufferRx; DigitalOut *led3; int SX1276PingPongSetup(uint8_t *BufferTxFromMain, uint8_t *BufferRxFromMain) { dprintf("TEST" ); #if( defined ( TARGET_KL25Z ) || defined ( TARGET_LPC11U6X ) ) DigitalOut *led = new DigitalOut(LED2); #elif defined(TARGET_NUCLEO_L073RZ) || defined(TARGET_DISCO_L072CZ_LRWAN1) DigitalOut *led = new DigitalOut(LED4); // RX red led3 = new DigitalOut(LED3); // TX blue #else DigitalOut *led = new DigitalOut(LED1); led3 = led; #endif BufferTx = BufferTxFromMain; BufferRx = BufferRxFromMain; *led3 = 1; #ifdef B_L072Z_LRWAN1_LORA Radio = new SX1276Generic(NULL, MURATA_SX1276, LORA_SPI_MOSI, LORA_SPI_MISO, LORA_SPI_SCLK, LORA_CS, LORA_RESET, LORA_DIO0, LORA_DIO1, LORA_DIO2, LORA_DIO3, LORA_DIO4, LORA_DIO5, LORA_ANT_RX, LORA_ANT_TX, LORA_ANT_BOOST, LORA_TCXO); #else // RFM95 Radio = new SX1276Generic(NULL, RFM95_SX1276, LORA_SPI_MOSI, LORA_SPI_MISO, LORA_SPI_SCLK, LORA_CS, LORA_RESET, LORA_DIO0, LORA_DIO1, LORA_DIO2, LORA_DIO3, LORA_DIO4, LORA_DIO5); #endif dprintf("SX1276 Ping Pong Demo Application" ); dprintf("Freqency: %.1f", (double)RF_FREQUENCY/1000000.0); dprintf("TXPower: %d dBm", TX_OUTPUT_POWER); #if USE_MODEM_LORA == 1 dprintf("Bandwidth: %d Hz", LORA_BANDWIDTH); dprintf("Spreading factor: SF%d", LORA_SPREADING_FACTOR); #elif USE_MODEM_FSK == 1 dprintf("Bandwidth: %d kHz", FSK_BANDWIDTH); dprintf("Baudrate: %d", FSK_DATARATE); #endif // Initialize Radio driver RadioEvents.TxDone = OnTxDone; RadioEvents.RxDone = OnRxDone; RadioEvents.RxError = OnRxError; RadioEvents.TxTimeout = OnTxTimeout; RadioEvents.RxTimeout = OnRxTimeout; if (Radio->Init( &RadioEvents ) == false) { while(1) { dprintf("Radio could not be detected!"); wait( 1 ); } } switch(Radio->DetectBoardType()) { case SX1276MB1LAS: if (DEBUG_MESSAGE) dprintf(" > Board Type: SX1276MB1LAS <"); break; case SX1276MB1MAS: if (DEBUG_MESSAGE) dprintf(" > Board Type: SX1276MB1LAS <"); case MURATA_SX1276: if (DEBUG_MESSAGE) dprintf(" > Board Type: MURATA_SX1276_STM32L0 <"); break; case RFM95_SX1276: if (DEBUG_MESSAGE) dprintf(" > HopeRF RFM95xx <"); break; default: dprintf(" > Board Type: unknown <"); } Radio->SetChannel(RF_FREQUENCY ); #if USE_MODEM_LORA == 1 if (LORA_FHSS_ENABLED) dprintf(" > LORA FHSS Mode <"); if (!LORA_FHSS_ENABLED) dprintf(" > LORA Mode <"); // Without this line, the default max payload length is only 64 bytes Radio->SetMaxPayloadLength(MODEM_LORA, 255); Radio->SetTxConfig( MODEM_LORA, TX_OUTPUT_POWER, 0, LORA_BANDWIDTH, LORA_SPREADING_FACTOR, LORA_CODINGRATE, LORA_PREAMBLE_LENGTH, LORA_FIX_LENGTH_PAYLOAD_ON, LORA_CRC_ENABLED, LORA_FHSS_ENABLED, LORA_NB_SYMB_HOP, LORA_IQ_INVERSION_ON, 2000 ); Radio->SetRxConfig( MODEM_LORA, LORA_BANDWIDTH, LORA_SPREADING_FACTOR, LORA_CODINGRATE, 0, LORA_PREAMBLE_LENGTH, LORA_SYMBOL_TIMEOUT, LORA_FIX_LENGTH_PAYLOAD_ON, 0, LORA_CRC_ENABLED, LORA_FHSS_ENABLED, LORA_NB_SYMB_HOP, LORA_IQ_INVERSION_ON, true ); #elif USE_MODEM_FSK == 1 dprintf(" > FSK Mode <"); Radio->SetTxConfig( MODEM_FSK, TX_OUTPUT_POWER, FSK_FDEV, 0, FSK_DATARATE, 0, FSK_PREAMBLE_LENGTH, FSK_FIX_LENGTH_PAYLOAD_ON, FSK_CRC_ENABLED, 0, 0, 0, 2000 ); Radio->SetRxConfig( MODEM_FSK, FSK_BANDWIDTH, FSK_DATARATE, 0, FSK_AFC_BANDWIDTH, FSK_PREAMBLE_LENGTH, 0, FSK_FIX_LENGTH_PAYLOAD_ON, 0, FSK_CRC_ENABLED, 0, 0, false, true ); #else #error "Please define a modem in the compiler options." #endif if (DEBUG_MESSAGE) dprintf("Starting Ping-Pong loop"); Radio->Rx( RX_TIMEOUT_VALUE ); } /**************************************************************************************************************************************** * ****************************************************************************************************************************************/ int SX1276PingPong(void) { #if defined(TARGET_MAX32630FTHR) // Master Device: Bluetooth Gateway bool isMaster = true; #elif defined(TARGET_MAX32620FTHR) // Slave Device: Robot bool isMaster = false; #endif switch( State ) { case RX: // *led3 = 0; if( isMaster == true ) { if( BufferSizeRx > 0 ) { /* This checks if the ID of the received transaction is matching that of * the slave device's ID. This is Defined in the GenericPingPong.h */ if( memcmp(&BufferRx[rx_idx_signature], PongMsg, sizeof(PongMsg)) == 0 ) { // *led = !*led; if (DEBUG_MESSAGE) dprintf( "...Pong" ); wait_ms( 10 ); Radio->Send( BufferTx, BufferSizeTx ); } else // valid reception but neither a PING or a PONG message { // Set device as master ans start again //isMaster = true; Radio->Rx( RX_TIMEOUT_VALUE ); } } } else { if( BufferSizeRx > 0 ) { if( memcmp(BufferRx, PingMsg, sizeof(PingMsg)) == 0 ) { // *led = !*led; if (DEBUG_MESSAGE) dprintf( "...Ping" ); wait_ms( 10 ); Radio->Send( BufferTx, BufferSizeTx ); } else // valid reception but not a PING as expected { // Set device as master and start again //isMaster = true; Radio->Rx( RX_TIMEOUT_VALUE ); } } } State = LOWPOWER; break; case TX: // *led3 = 1; if( isMaster == true ) { if (DEBUG_MESSAGE) dprintf("Ping..." ); } else { if (DEBUG_MESSAGE) dprintf("Pong..." ); } Radio->Rx( RX_TIMEOUT_VALUE ); State = LOWPOWER; break; case RX_TIMEOUT: if( isMaster == true ) { wait_ms( 10 ); Radio->Send( BufferTx, BufferSizeTx ); } else { Radio->Rx( RX_TIMEOUT_VALUE ); } State = LOWPOWER; break; case RX_ERROR: // We have received a Packet with a CRC error, send reply as if packet was correct if( isMaster == true ) { // Send the next PING frame // memcpy(BufferTx, PingMsg, sizeof(PingMsg)); /* for( i = 4; i < BufferSizeTx; i++ ) { BufferTx[i] = i - 4; } */ // fillPayloadWithGlobalBufs(BufferTx); wait_ms( 10 ); Radio->Send( BufferTx, BufferSizeTx ); } else { // Send the next PONG frame // memcpy(BufferTx, PongMsg, sizeof(PongMsg)); /* for( i = sizeof(PongMsg); i < BufferSizeTx; i++ ) { BufferTx[i] = i - sizeof(PongMsg); } */ wait_ms( 10 ); Radio->Send( BufferTx, BufferSizeTx ); } State = LOWPOWER; break; case TX_TIMEOUT: Radio->Rx( RX_TIMEOUT_VALUE ); State = LOWPOWER; break; case LOWPOWER: sleep(); break; default: State = LOWPOWER; break; } } void OnTxDone(void *radio, void *userThisPtr, void *userData) { Radio->Sleep( ); State = TX; if (DEBUG_MESSAGE) dprintf("> OnTxDone"); } void OnRxDone(void *radio, void *userThisPtr, void *userData, uint8_t *payload, uint16_t size, int16_t rssi, int8_t snr) { Radio->Sleep( ); if(BufferSizeRx != size) memcpy( BufferRx, payload, size ); else memcpy( BufferRx, payload, BufferSizeRx ); State = RX; // Reset the RxTimeoutCount RxTimeoutCount = 0; if (DEBUG_MESSAGE) { dprintf("> OnRxDone: RssiValue=%d dBm, SnrValue=%d", rssi, snr); dump("Data:", payload, size); } } void OnTxTimeout(void *radio, void *userThisPtr, void *userData) { // *led3 = 0; Radio->Sleep( ); State = TX_TIMEOUT; if(DEBUG_MESSAGE) dprintf("> OnTxTimeout"); } void OnRxTimeout(void *radio, void *userThisPtr, void *userData) { // *led3 = 0; Radio->Sleep( ); BufferRx[BufferSizeRx-1] = 0; State = RX_TIMEOUT; if (DEBUG_MESSAGE) dprintf("> OnRxTimeout"); // Increment how many times a transmission times out\ RxTimeoutCount = RxTimeoutCount + 1; } void OnRxError(void *radio, void *userThisPtr, void *userData) { Radio->Sleep( ); State = RX_ERROR; if (DEBUG_MESSAGE) dprintf("> OnRxError"); // Increment how many times a transmission times out\ RxTimeoutCount = RxTimeoutCount + 1; } int numOfRxTimeouts() { return RxTimeoutCount; } #endif