Diff: main.cpp

Revision:

0:52cc151dc505

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Jun 29 20:37:24 2017 +0000
@@ -0,0 +1,205 @@
+// Includes --------------------------------------------------------------------
+#include "Ioton.h"
+
+// Defines ---------------------------------------------------------------------
+#define MY_SSID     "mySSID"    // Enter router ssid inside the quotes
+#define MY_PASS     "myPASS"    // Enter router password inside the quotes
+#define MY_API_KEY  "myAPIKEY"  // Enter ThingSpeak API KEY of channel
+
+
+// Private variables -----------------------------------------------------------
+PwmOut pwm(PIN13);              // PWM output
+DigitalOut out(PIN14);          // Digital output
+AnalogIn ain(PIN15);            // Analog input
+DigitalIn in(PIN16);            // Digital input
+
+InterruptIn button(SW_USER);    // USER button - interrupt mode
+int userCount = 0;              // USER button counter
+
+char bufferRxBluetooth[20];     // Buffer of Bluetooth commands
+volatile uint8_t bufferCountRxBluetooth = 0;    // Index counter - Blutooth buffer
+volatile bool flagCmdBluetooth = false; // Indicates new Bluetooth command received
+
+char* replyHttp;                // Buffer of reply http get method
+uint8_t countThingSpeak = 0;    // Auxiliar counter - ThingSpeak
+
+Ticker imuTick;                 // IMU Tick Timer
+
+
+// *****************************************************************************
+// Private functions ***********************************************************
+// *****************************************************************************
+// Runs the AHRS algorithm - Rate: 0.1 s - 10 Hz -------------------------------
+// AHRS provide: roll, pitch and yaw
+void imuCallback(void)
+{
+//    imu.runAHRS(0.1); // ### FIX: BUG TICKER
+}   // end of imuCallback
+
+
+// Called everytime a new character goes into the RX buffer --------------------
+void bluetoothRxCallback(void)
+{
+    bufferRxBluetooth[bufferCountRxBluetooth] = bluetooth.getc();
+    bufferCountRxBluetooth++;
+
+    if (bluetooth.readable() == 0) flagCmdBluetooth = true;
+}   // end of bluetoothRxCallback
+
+
+// USER button interrupt callback ----------------------------------------------
+void userCallback(void)
+{
+    userCount++;
+}   // end of userCallback
+
+
+// Parse the Bluetooth commands ------------------------------------------------
+// COMMAND          |   DESCRIPTION
+// -----------------------------------------------------------------------------
+// #PWM:float       | Update pwm output. Ex: #PWM:0.5
+// #OUT:int         | Update digital output. Ex: #OUT:1
+// #RGB:rgbcode     | Update LED RGB color. Ex: #RGB:00AFEF
+// #AIN?            | Return analog input
+// #DIN?            | Return digital input
+// #BAT?            | Return battery voltage
+// #IMU?            | Return imu data (roll, pitch and yaw)
+// #ALL?            | Return all values
+void parseCmdBluetooth(char* str)
+{
+    if (strncmp("#PWM:", str, 5) == 0)
+    {
+        pwm = strtof(str + 5, NULL);
+    }
+    else if (strncmp("#OUT:", str, 5) == 0)
+    {
+        out = atoi(str + 5);
+    }
+    else if (strncmp("#RGB:", str, 5) == 0)
+    {
+        ton.setLED(str + 5);
+    }
+    else if (strncmp("#AIN?", str, 5) == 0)
+    {
+        bluetooth.printf("#AIN:%0.2f\r\n", ain.read());
+    }
+    else if (strncmp("#DIN?", str, 5) == 0)
+    {
+        bluetooth.printf("#DIN:%d\r\n", in.read());
+    }
+    else if (strncmp("#BAT?", str, 5) == 0)
+    {
+        bluetooth.printf("#BAT:%0.2fV\r\n", ton.getBattery());
+    }
+    else if (strncmp("#IMU?", str, 5) == 0)
+    {
+        bluetooth.printf("pitch: %0.2f\r\nroll: %0.2f\r\nyaw: %0.2f\r\n",
+            imu.getPitch(), imu.getRoll(), imu.getYaw());
+    }
+    else if (strncmp("#ALL?", str, 5) == 0)
+    {
+        bluetooth.printf("#AIN:%0.2f\r\n#DIN:%d\r\n#BAT:%0.2fV\r\n",
+            ain.read(), in.read(), ton.getBattery());
+
+        bluetooth.printf("pitch: %0.2f\r\nroll: %0.2f\r\nyaw: %0.2f\r\n",
+            imu.getPitch(), imu.getRoll(), imu.getYaw());
+    }
+    else
+    {
+        bluetooth.printf("Invalid command!\r\n");
+    }
+}   // end of parseCmdBluetooth function
+
+
+// Data format: #rgbcode,float,int  | Ex: #00AFEF,0.5,1 ------------------------
+void parseCmdWifi(char* str)
+{
+    char* tmp = strstr(str, "#");   // Search the first character of the command
+
+    if (tmp != NULL)
+    {
+        tmp = strtok(tmp, ",\n");
+        ton.setLED(tmp + 1);        // Remove the '#' and update LED RGB color
+
+        tmp = strtok(NULL,",\n");
+        pwm = strtof(tmp, NULL);    // Convert to float and update pwm output
+
+        tmp = strtok(NULL,",\n");
+        out = atoi(tmp);            // Convert to int and update digital output
+    }
+}   // end of parseCmdWifi function
+
+
+// *****************************************************************************
+// MAIN PROGRAM ****************************************************************
+// *****************************************************************************
+int main(void)
+{
+    // Initializations
+    ton.setLED(RED);
+    ton.enableBluetooth();
+    ton.enableWifi();
+    ton.enableIMU();    // Leave standing the TON board at initialization (~5s)
+    ton.setLED(BLUE);
+
+    // Configure Tick Timer for IMU reads - interval (0.1 second)
+    imuTick.attach(&imuCallback, 0.1);
+
+    // Configure RX interrupt of Bluetooth
+    bluetooth.attach(&bluetoothRxCallback, Serial::RxIrq);
+
+    // Try to connect to the access point
+    if (wifi.connect(MY_SSID, MY_PASS) == true) ton.setLED(GREEN);
+    else ton.setLED(YELLOW);
+
+    // Configure USER button interrupt
+    button.rise(&userCallback);
+
+    // The main LOOP -----------------------------------------------------------
+    while (1)
+    {
+        // Prints messages to the USB ------------------------------------------
+        usb.printf("pitch: %0.3f\r\n", imu.getPitch());
+        usb.printf("roll: %0.3f\r\n", imu.getRoll());
+        usb.printf("yaw: %0.3f\r\n", imu.getYaw());
+        usb.printf("---\r\n");
+        usb.printf("battery: %0.3fV\r\n", ton.getBattery());
+        usb.printf("count: %d\r\n", userCount);
+        usb.printf("\r\n");
+
+        // Checks new Blutooth commands ----------------------------------------
+        if (flagCmdBluetooth == true)
+        {
+            // Parse the Bluetooth commands
+            parseCmdBluetooth(bufferRxBluetooth);
+
+            bufferCountRxBluetooth = 0;
+            memset(bufferRxBluetooth, 0, sizeof(bufferRxBluetooth));
+            flagCmdBluetooth = false;
+        }   // end of check new Bluetooth commands
+
+        // Checks if wifi is connected and run wifi tasks ----------------------
+        if (wifi.isConnected() == true)
+        {
+            // Parse the http get method
+            replyHttp = wifi.httpGet("ioton.cc", "/ton-demo.txt");
+            parseCmdWifi(replyHttp);
+
+            // Send data via ThingSpeak (does not support high rates)
+            if (++countThingSpeak == 5)
+            {
+                char thingspeak[50];
+
+                sprintf(thingspeak, "field1=%0.3f&field2=%d&field3=%0.3f",
+                    ain.read(), in.read(), ton.getBattery());
+
+                usb.printf("Send to ThingSpeak: %s\r\n", thingspeak);
+                wifi.sendThingSpeak(thingspeak, MY_API_KEY);
+
+                countThingSpeak = 0;
+            }   // end of send to ThingSpeak
+        }   // end of wifi tasks
+
+        wait(1);
+    }   // end of main LOOP
+}   // end of main function