Revision 3:2d6ff72599f1, committed 2017-04-24

Comitter:

jgensel3

Date:

Mon Apr 24 04:05:46 2017 +0000

Parent:

2:ab7b95fb52aa

Commit message:

a

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Wireless.h	Mon Apr 24 04:05:46 2017 +0000
@@ -0,0 +1,81 @@
+#ifndef WProtocol_h
+#define WProtocol_h
+
+#include "XBee/XBee.h"
+#include <mbed.h>
+
+#define HOST_ADDRESS 0x0003
+
+enum Direction {DIR_UP, DIR_DOWN, DIR_LEFT, DIR_RIGHT, DIR_NONE};
+enum WMessageType {FOOT_STEP, HAND_GESTURE};
+
+typedef struct WMessage {
+    WMessageType type;
+    Direction direction;
+} WMessage_t;
+
+class WirelessModule {
+public:
+    WirelessModule(PinName tx, PinName rx, WMessageType type) :
+        uart(tx, rx), xbee(uart),
+        tx16req(HOST_ADDRESS, (uint8_t *) &message, sizeof(message))
+    {
+        uart.baud(9600);
+        message.type = type;
+    }
+
+    int sendDirection(Direction dir) {
+        message.direction = dir;
+        xbee.send(tx16req);
+        return 0;
+    }
+private:
+    RawSerial uart;
+    XBee xbee;
+    WMessage_t message;
+    Tx16Request tx16req;
+};
+
+class WirelessHost {
+public:
+    WirelessHost(PinName tx, PinName rx) : uart(tx, rx), xbee(uart) {}
+
+    int waitForMessage(WMessage_t *store) {
+        xbee.readPacket(5000);
+
+        if (xbee.getResponse().isError()) {
+            // API error
+            return -99;
+        }
+
+        if (xbee.getResponse().isAvailable()) {
+            if (xbee.getResponse().getApiId() != RX_16_RESPONSE) {
+                // Unexpected API message
+                return -5;
+            }
+
+            // Retrieve response
+            xbee.getResponse().getRx16Response(rx16resp);
+
+            // Validate packet length
+            if (rx16resp.getDataLength() == sizeof(WMessage_t)) {
+                // Store the payload
+                memcpy(store, rx16resp.getData(), sizeof(WMessage_t));
+                return 0;
+            } else {
+                // Unexpected payload format
+                return -10;
+            }
+        } else {
+            // No Response
+            return -1;
+        }
+    }
+
+private:
+    RawSerial uart;
+    XBee xbee;
+    Rx16Response rx16resp;
+};
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/XBee.lib	Mon Apr 24 04:05:46 2017 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/lucasec/code/XBee/#350d308e7b77

--- a/main.cpp	Sun Apr 23 19:26:07 2017 +0000
+++ b/main.cpp	Mon Apr 24 04:05:46 2017 +0000
@@ -1,5 +1,6 @@
 #include "mbed.h"
 #include "LSM9DS1.h"
+#include "Wireless.h"
 //#include "USBKeyboard.h"
 #define PI 3.14159
 // Earth's magnetic field varies by location. Add or subtract
@@ -13,8 +14,9 @@
 DigitalOut led3(LED3);
 DigitalOut led4(LED4);
 Serial pc(USBTX, USBRX);
-DigitalIn pb1(p21);
+DigitalIn pb1(p17);
 Timeout walkingTimer;
+WirelessModule wireless(p9, p10, FOOT_STEP);
 bool isWalking = false;
 // Calculate pitch, roll, and heading.
 // Pitch/roll calculations taken from this app note:
@@ -27,6 +29,7 @@
 void printStop()
 {
     // pc.printf("stop\n\r");
+    wireless.sendDirection(DIR_NONE);
     isWalking = false;
 }
 
@@ -72,7 +75,7 @@
 int main()
 {
     //LSM9DS1 lol(p9, p10, 0x6B, 0x1E);
-    LSM9DS1 IMU(p9, p10, 0xD6, 0x3C);
+    LSM9DS1 IMU(p28, p27, 0xD6, 0x3C);
     pb1.mode(PullUp);
     IMU.begin();
     float forward;
@@ -126,20 +129,20 @@
             //Detect direction and send command to main mbed
             if((currHeading > 270 && currHeading < 360) && !isWalking) {
 
-                pc.printf("walking L\n\r");
+                wireless.sendDirection(DIR_LEFT);
 
                 isWalking = true;
             } else if((currHeading > 90 && currHeading < 180) && !isWalking) {
 
-                pc.printf("walking R\n\r");
+               wireless.sendDirection(DIR_RIGHT);
                 isWalking = true;
             } else if((currHeading > 180 && currHeading < 270) && !isWalking) {
 
-                pc.printf("walking D\n\r");
+                wireless.sendDirection(DIR_DOWN);
                 isWalking = true;
             } else if((currHeading > 360 || currHeading < 90) && !isWalking) {
 
-                pc.printf("walking F\n\r");
+                wireless.sendDirection(DIR_UP);
                 isWalking = true;
             }
         }