Demo code - TON Board V1.2
Dependencies: IOTON-API USBDevice mbed-ton
main.cpp
- Committer:
- krebyy
- Date:
- 2017-06-29
- Revision:
- 0:52cc151dc505
File content as of revision 0:52cc151dc505:
// 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