Team Walter
LP Long Distance IR Vision Robot
Dependencies: max77650_charger_sample BufferedSerial SX1276GenericLib Adafruit-MotorShield NEO-6m-GPS MAX17055_EZconfig Adafruit_GFX USBDeviceHT Adafruit-PWM-Servo-Driver
Revision 34:f31a6b53d4ea, committed 2018-07-31
- Comitter:
- dev_alexander
- Date:
- Tue Jul 31 15:51:43 2018 +0000
- Parent:
- 33:52c898aca207
- Commit message:
- This revisions seems to work fine with the MAX32630FTHR when putc-ing buffer in correct format for processing to do it's thing
Changed in this revision
--- a/Adafruit-MotorShield.lib Tue Jul 31 02:00:57 2018 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -http://os.mbed.com/users/robo8080/code/Adafruit-MotorShield/#3d17b246f7fe
--- a/Adafruit-PWM-Servo-Driver.lib Tue Jul 31 02:00:57 2018 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -http://os.mbed.com/users/syundo0730/code/Adafruit-PWM-Servo-Driver/#88bdd5c4e77b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Adafruit_GFX.lib Tue Jul 31 15:51:43 2018 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/users/nkhorman/code/Adafruit_GFX/#7fb1d4d3525d
--- a/PinMap.h Tue Jul 31 02:00:57 2018 +0000 +++ b/PinMap.h Tue Jul 31 15:51:43 2018 +0000 @@ -144,12 +144,9 @@ #define LORA_SPI_MISO P5_2 #define LORA_SPI_SCLK P5_0 //This is because the Client uses different pins - #define LORA_CS P5_3 - #define LORA_RESET P3_3 - #define LORA_DIO0 P3_2 -// #define LORA_CS P3_0 -// #define LORA_RESET P3_1 -// #define LORA_DIO0 P3_2 // DIO0=TxDone/RXDone/CADDone + #define LORA_CS P3_0 + #define LORA_RESET P3_1 + #define LORA_DIO0 P3_2 // DIO0=TxDone/RXDone/CADDone #define LORA_DIO1 NC // #define LORA_DIO2 NC // #define LORA_DIO3 NC //
--- a/SX1276GenericPingPong/GenericPingPong.cpp Tue Jul 31 02:00:57 2018 +0000
+++ b/SX1276GenericPingPong/GenericPingPong.cpp Tue Jul 31 15:51:43 2018 +0000
@@ -4,7 +4,7 @@
* (c) 2017 Helmut Tschemernjak
* 30826 Garbsen (Hannover) Germany
*/
-
+
#include "mbed.h"
#include "PinMap.h"
#include "GenericPingPong.h"
@@ -15,7 +15,7 @@
#ifdef FEATURE_LORA
/* Set this flag to '1' to display debug messages on the console */
-#define DEBUG_MESSAGE 0
+#define DEBUG_MESSAGE 1
/* Set this flag to '1' to use the LoRa modulation or to '0' to use FSK modulation */
#define USE_MODEM_LORA 1
@@ -238,17 +238,40 @@
{
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" );
+ dprintf( "...Pong" );
+ // Send the next PING frame
+// memcpy(BufferTx, PingMsg, sizeof(PingMsg));
+/*
+ // We fill the buffer with numbers for the payload
+ for( i = sizeof(PingMsg); i < BufferSizeTx; i++ )
+ {
+ BufferTx[i] = i - sizeof(PingMsg);
+ }
+*/
+ /* Construct the payload buffer so data can be transmited. */
+// fillPayloadWithGlobalBufs(BufferTx);
wait_ms( 10 );
Radio->Send( BufferTx, BufferSizeTx );
}
+/* else if( memcmp(Buffer, PingMsg, sizeof(PingMsg)) == 0 )
+ { // A master already exists then become a slave
+ dprintf( "...Ping" );
+// *led = !*led;
+ isMaster = false;
+ // Send the next PONG frame
+ memcpy(Buffer, PongMsg, sizeof(PongMsg));
+ // We fill the buffer with numbers for the payload
+ for( i = sizeof(PongMsg); i < BufferSize; i++ )
+ {
+ Buffer[i] = i - sizeof(PongMsg);
+ }
+ wait_ms( 10 );
+ Radio->Send( Buffer, BufferSize );
+ }
+*/
else // valid reception but neither a PING or a PONG message
{ // Set device as master ans start again
//isMaster = true;
@@ -263,8 +286,17 @@
if( memcmp(BufferRx, PingMsg, sizeof(PingMsg)) == 0 )
{
// *led = !*led;
- if (DEBUG_MESSAGE)
- dprintf( "...Ping" );
+ dprintf( "...Ping" );
+ // Send the reply to the PING string
+// memcpy(BufferTx, PongMsg, sizeof(PongMsg));
+/*
+ // We fill the buffer with numbers for the payload
+ for( i = sizeof(PongMsg); i < BufferSizeTx; i++ )
+ {
+ BufferTx[i] = i - sizeof(PongMsg);
+ }
+*/
+ // fillPayloadWithGlobalBufs(BufferTx);
wait_ms( 10 );
Radio->Send( BufferTx, BufferSizeTx );
}
@@ -281,13 +313,11 @@
// *led3 = 1;
if( isMaster == true )
{
- if (DEBUG_MESSAGE)
- dprintf("Ping..." );
+ dprintf("Ping..." );
}
else
{
- if (DEBUG_MESSAGE)
- dprintf("Pong..." );
+ dprintf("Pong..." );
}
Radio->Rx( RX_TIMEOUT_VALUE );
State = LOWPOWER;
@@ -295,7 +325,15 @@
case RX_TIMEOUT:
if( isMaster == true )
{
-// fillPayloadWithGlobalBufs(BufferTx);
+ // Send the next PING frame
+// memcpy(BufferTx, PingMsg, sizeof(PingMsg));
+/*
+ for( i = sizeof(PingMsg); i < BufferSizeTx; i++ )
+ {
+ BufferTx[i] = i - sizeof(PingMsg);
+ }
+*/
+ fillPayloadWithGlobalBufs(BufferTx);
wait_ms( 10 );
Radio->Send( BufferTx, BufferSizeTx );
}
@@ -310,7 +348,7 @@
if( isMaster == true )
{
// Send the next PING frame
-// memcpy(BufferTx, PingMsg, sizeof(PingMsg));
+ memcpy(BufferTx, PingMsg, sizeof(PingMsg));
/*
for( i = 4; i < BufferSizeTx; i++ )
{
@@ -371,10 +409,9 @@
// Call function that deconstructs payload
// fillGlobalBufsWithPayload(payload);
- if (DEBUG_MESSAGE) {
+ if (DEBUG_MESSAGE)
dprintf("> OnRxDone: RssiValue=%d dBm, SnrValue=%d", rssi, snr);
- dump("Data:", payload, size);
- }
+ dump("Data:", payload, size);
}
void OnTxTimeout(void *radio, void *userThisPtr, void *userData)
--- a/main.cpp Tue Jul 31 02:00:57 2018 +0000
+++ b/main.cpp Tue Jul 31 15:51:43 2018 +0000
@@ -12,13 +12,10 @@
#include "main.h"
#include "global_buffers.h"
#include "GridEye.h"
-#include "mbed.h"
-#include <string>
+#include "GPS.h"
-//#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
* work with a 3.3volt output instead of a 1.8 volt output.
@@ -27,206 +24,108 @@
* additional setup in the main program.
*/
-#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
-
+/***************************************************************************
+ * Create an instance of the MAX32630FTHR related Items.
+ **************************************************************************/
#if defined(TARGET_MAX32630FTHR)
#include "max32630fthr.h"
MAX32630FTHR pegasus(MAX32630FTHR::VIO_3V3);
- #define COMPILE_BLE
+
+
+ /* BLE Related MAX32630FTHR Specific stuff */
+ #include "ble/BLE.h"
+ //#include "ble/Gap.h"
+ #include "UARTService_custom.h"
+ #include <events/mbed_events.h>
+
+ DigitalOut led2(LED2);
+ UARTService *uart;
+
+ #define NEED_CONSOLE_OUTPUT 1 /* Set this if you need debug messages on the console;
+ * it will have an impact on code-size and power consumption. */
+
+ #if NEED_CONSOLE_OUTPUT
+ #define DEBUG(STR) { if (uart) uart->write(STR, strlen(STR)); }
+ #define READ(STR) { if (uart) uart->read(STR, strlen(STR)); }
+
+ #else
+ #define DEBUG(...) /* nothing */
+ #endif /* #if NEED_CONSOLE_OUTPUT */
+
+ //Triggered when the robot is disconnected from the mobile app.
+ void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
+ {
+ BLE &ble = BLE::Instance();
+ DEBUG("Disconnected!\n\r");
+ DEBUG("Restarting the advertising process\n\r");
+ ble.gap().startAdvertising();
+ }
+
+ /* This pointer is needed to reference data in the main program when filling
+ * with data from the BLE
+ */
+ uint8_t * onDataWritten_curr_ble_to_slave;
+
+ // Triggered when there is data written
+ void onDataWritten(const GattWriteCallbackParams *params)
+ {
+ //LED1 will be off when button is pressed, and on when button is released.
+ led2 = !led2;
+ uint8_t button_state;
+ uint8_t direction;
- #if defined(COMPILE_BLE)
- /* BLE Related MAX32630FTHR Specific stuff */
- #include "ble/BLE.h"
- //#include "ble/Gap.h"
- #include "UARTService_custom.h"
- #include <events/mbed_events.h>
-
- DigitalOut led2(LED2);
- UARTService *uart;
-
- #define NEED_CONSOLE_OUTPUT 1 /* Set this if you need debug messages on the console;
- * it will have an impact on code-size and power consumption. */
-
- #if NEED_CONSOLE_OUTPUT
- #define DEBUG(STR) { if (uart) uart->write(STR, strlen(STR)); }
- #define READ(STR) { if (uart) uart->read(STR, strlen(STR)); }
-
- #else
- #define DEBUG(...) /* nothing */
- #endif /* #if NEED_CONSOLE_OUTPUT */
-
- //Triggered when the robot is disconnected from the mobile app.
- void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
- {
- BLE &ble = BLE::Instance();
- DEBUG("Disconnected!\n\r");
- DEBUG("Restarting the advertising process\n\r");
- ble.gap().startAdvertising();
+ /* If there is a valid data sent by the mobile app */
+ if ((uart != NULL) && (params->handle == uart ->getTXCharacteristicHandle())) {
+ const uint8_t *packet = params->data;
+ button_state = packet[3];
+ direction = packet[2];
+
+ // make parameter to send over Lora
+ onDataWritten_curr_ble_to_slave[0] = direction;
+ onDataWritten_curr_ble_to_slave[1] = button_state;
+
+ dprintf("direction: %d\n", direction);
+ dprintf("button_state: %d\n", button_state);
+
}
-
- /* This pointer is needed to reference data in the main program when filling
- * with data from the BLE
- */
- uint8_t * onDataWritten_curr_ble_to_slave;
-
- // Triggered when there is data written
- void onDataWritten(const GattWriteCallbackParams *params)
- {
- //LED1 will be off when button is pressed, and on when button is released.
- led2 = !led2;
- uint8_t button_state;
- uint8_t direction;
+ }
+#endif
+
- /* If there is a valid data sent by the mobile app */
- if ((uart != NULL) && (params->handle == uart ->getTXCharacteristicHandle())) {
- const uint8_t *packet = params->data;
- button_state = packet[3];
- direction = packet[2];
-
- // make parameter to send over Lora
- onDataWritten_curr_ble_to_slave[0] = direction;
- onDataWritten_curr_ble_to_slave[1] = button_state;
-
- //dprintf("direction: %d\n", direction);
- //dprintf("button_state: %d\n", button_state);
- }
- }
- #endif
+/***************************************************************************
+ * Create an instance of the Panasonic Grid Eye Sensor (AMG88xx)
+ **************************************************************************/
+#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
+
+/***************************************************************************
+ * Create an instance of the Adafruit Ultimate GPS v3
+
+ **************************************************************************/
+#if defined(TARGET_MAX32620FTHR)
+ GPS gps(P0_1, P0_0, 115200);
#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 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: LoRa Controlled Robot
- //Init I2C communications in default I2C bus I2C #1
- // 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
@@ -238,7 +137,12 @@
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
/***************************************************************************
@@ -247,9 +151,8 @@
#if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
int frame_idx = 0;
#elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
- #if defined(DEBUG_GRID_EYE_SLAVE)
- int frame_idx = 0;
- #endif
+ // none yet
+ int frame_idx = 0;
#endif
@@ -260,19 +163,32 @@
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];
@@ -326,58 +242,6 @@
**************************************************************************/
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)
{
/***************************************************************************
@@ -388,7 +252,7 @@
ble.waitForEvent();
#endif
#elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
- memcpy(curr_ble_from_master, prev_ble_from_master, sizeof(curr_ble_from_master));
+ // NOTHING YET
#endif
/***************************************************************************
@@ -499,6 +363,7 @@
memcpy(prev_raw_frame_to_master, curr_raw_frame_to_master, sizeof(curr_raw_frame_to_master));
#endif
+
/***************************************************************************
* GPS Sensor
**************************************************************************/
@@ -530,7 +395,6 @@
-
/***************************************************************************
* Lora Communications
**************************************************************************/
@@ -542,28 +406,15 @@
**************************************************************************/
/* The master and slave devices will have different requirements for offloading payload */
#if defined(TARGET_MAX32630FTHR) // Master Device: BLE-to-LoRa Gateway
- 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);
+ 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(ID_of_master, &BufferRx[rx_idx_signature], size_signature);
- memcpy(curr_ble_from_master, &BufferRx[rx_idx_ble], size_of_ble);
+ 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
+
--- a/main.h Tue Jul 31 02:00:57 2018 +0000 +++ b/main.h Tue Jul 31 15:51:43 2018 +0000 @@ -15,8 +15,8 @@ #define FEATURE_LORA -#define DEBUG_MASTER + extern BufferedSerial *ser; #ifdef FEATURE_USBSERIAL
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/max17055.lib Tue Jul 31 15:51:43 2018 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/teams/MAXIM-TTS-Code/code/max17055/#519a18fc3b28
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/max77650.lib Tue Jul 31 15:51:43 2018 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/teams/MAXIM-TTS-Code/code/max77650_charger_sample/#0bb9daf44568