Diff: main.cpp

Revision:

0:553fab92a347

Child:

1:bbe16318d747

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Mar 12 16:32:11 2017 +0000
@@ -0,0 +1,369 @@
+#include "mbed.h"
+#include "motordriver.h"
+#include "ultrasonic.h"
+
+DigitalOut  ledFwd(p8);
+DigitalOut  ledRev(p9);
+
+Motor A(p26, p16, p25, 1); // pwm, fwd, rev, can brake
+Motor B(p21, p22, p23, 1); // pwm, fwd, rev, can brake
+
+Serial pc(USBTX, USBRX);
+Serial esp(p28, p27); // tx, rx
+
+PwmOut mySpeaker(p24);
+
+void dist(int);
+ultrasonic mu(p6, p7, .5, 2, &dist); //Check every .5 sec, timeout 1 sec,call dist when the distance changes
+
+void dist(int distance)
+{
+    if(distance < 1000) { // Distance is in the unit of cm
+        pc.printf("stop by sonar \r\n");
+        A.stop(0.5);
+        B.stop(0.5);
+        ledFwd = 0;
+        mySpeaker = 0.5; // Play Beep sound
+    }
+}
+
+// some test values to show on web page
+AnalogIn DistSensor(p20);
+AnalogIn   Ain1(p18);
+AnalogIn   Ain2(p19);
+
+float temperature, AdcIn, Ht;
+float R1=100000, R2=10000; // resistor values to give a 10:1 reduction of measured AnalogIn voltage
+char Vcc[10];
+char Temp[10];
+
+// things for sending/receiving data over serial
+volatile int tx_in=0;
+volatile int tx_out=0;
+volatile int rx_in=0;
+volatile int rx_out=0;
+const int buffer_size = 4095;
+char tx_buffer[buffer_size+1];
+char rx_buffer[buffer_size+1];
+void Tx_interrupt();
+void Rx_interrupt();
+void send_line();
+void read_line();
+
+int DataRX;
+int update;
+int count;
+char cmdbuff[1024];
+char replybuff[4096];
+char webdata[4096]; // This may need to be bigger depending on WEB browser used
+char webbuff[4096];     // Currently using 1986 characters, Increase this if more web page data added
+char timebuf[30];
+void SendCMD(),getreply(),ReadWebData(),startserver();
+void gettime(),setRTC(),gettemp(),getbattery();
+char rx_line[1024];
+int port        =80;  // set server port
+int SERVtimeout =5;    // set server timeout in seconds in case link breaks.
+struct tm t;
+
+int main()
+{
+    pc.baud(9600);
+    esp.baud(9600);
+    ledFwd = 1;
+    // Setup a serial interrupt function to receive data
+    esp.attach(&Rx_interrupt, Serial::RxIrq);
+    // Setup a serial interrupt function to transmit data
+    esp.attach(&Tx_interrupt, Serial::TxIrq);
+    startserver();
+    wait(0.01);
+    mu.startUpdates();   //start measuring the distance in sonar
+    DataRX=0;
+    count=0;
+    mySpeaker.period(1.0/500.0); // 500hz period
+    while(1) {
+        if(DataRX==1) {
+            ReadWebData();
+            esp.attach(&Rx_interrupt, Serial::RxIrq);
+        }
+        float stateA = A.state();
+        float stateB = B.state();
+        if((stateA > 0 && stateA <= 1)&&(stateB > 0 && stateB <= 1)) { // obstacle within 10 cm and robot is still moving
+            mu.checkDistance();
+        } else if((stateA < 0 && stateA >= -1)&&(stateB < 0 && stateB >= -1)) { // If moving rev
+            float currDist = DistSensor;
+            pc.printf("currDist: %f",currDist);
+            if(currDist <= 0.5f) {
+                A.stop(0.5);
+                B.stop(0.5);
+                ledRev = 0;
+                mySpeaker = 0.5; // Play Beep sound
+
+            }
+        }
+    }
+}
+
+// Reads and processes GET and POST web data
+void ReadWebData()
+{
+    wait_ms(200);
+    esp.attach(NULL,Serial::RxIrq);
+    DataRX=0;
+    memset(webdata, '\0', sizeof(webdata));
+    strcpy(webdata, rx_buffer);
+    memset(rx_buffer, '\0', sizeof(rx_buffer));
+    rx_in = 0;
+    rx_out = 0;
+    // check web data for form information
+    if( strstr(webdata, "check=BotFwd") != NULL ) {
+        A.speed(0.75);
+        B.speed(0.75);
+        ledRev = 0;
+        ledFwd = 1;
+    }
+    if( strstr(webdata, "check=BotRev") != NULL ) {
+        A.speed(-0.75);
+        B.speed(-0.75);
+        ledFwd = 0;
+        ledRev = 1;
+    }
+    if( strstr(webdata, "check=BotStop") != NULL ) {
+        A.stop(0.5);
+        B.stop(0.5);
+        ledFwd = 0;
+        ledRev = 0;
+    }
+    if( strstr(webdata, "check=BotLeft") != NULL ) {
+        B.stop(0.5);
+        A.speed(0.5);
+
+    }
+    if( strstr(webdata, "check=BotRight") != NULL ) {
+        A.stop(0.5);
+        B.speed(0.5);
+    }
+    if( strstr(webdata, "POST") != NULL ) { // set update flag if POST request
+        update=1;
+    }
+    if( strstr(webdata, "GET") != NULL && strstr(webdata, "favicon") == NULL ) { // set update flag for GET request but do not want to update for favicon requests
+        update=1;
+    }
+}
+// Starts webserver
+void startserver()
+{
+    pc.printf("Resetting ESP Device....\r\n");
+    strcpy(cmdbuff,"node.restart()\r\n");
+    SendCMD();
+    wait(2);
+    getreply();
+
+    pc.printf("\nStarting Server.....\r\n> ");
+    //create server
+    sprintf(cmdbuff, "srv=net.createServer(net.TCP,%d)\r\n",SERVtimeout);
+    SendCMD();
+    getreply();
+    wait(0.5);
+    strcpy(cmdbuff,"srv:listen(80,function(conn)\r\n");
+    SendCMD();
+    getreply();
+    wait(0.3);
+    strcpy(cmdbuff,"conn:on(\"receive\",function(conn,payload) \r\n");
+    SendCMD();
+    getreply();
+    wait(0.3);
+
+    //print data to mbed
+    strcpy(cmdbuff,"print(payload)\r\n");
+    SendCMD();
+    getreply();
+    wait(0.2);
+
+    //web page data
+    strcpy(cmdbuff,"conn:send('<!DOCTYPE html><html><body><h1>ESP8266 Mbed IoT Web Controller</h1>')\r\n");
+    SendCMD();
+    getreply();
+    wait(0.4);
+    strcpy(cmdbuff,"conn:send('<form method=\"POST\"')\r\n");
+    SendCMD();
+    getreply();
+    wait(0.3);
+    strcpy(cmdbuff, "conn:send('<p><input type=\"radio\" name=\"check\" value=\"BotFwd\"> Move Robot Forward')\r\n");
+    SendCMD();
+    getreply();
+    wait(0.3);
+    strcpy(cmdbuff, "conn:send('<p><input type=\"radio\" name=\"check\" value=\"BotRev\"> Move Robot Reverse')\r\n");
+    SendCMD();
+    getreply();
+    wait(0.3);
+    strcpy(cmdbuff, "conn:send('<p><input type=\"radio\" name=\"check\" value=\"BotStop\"> Stop Robot')\r\n");
+    SendCMD();
+    getreply();
+    wait(0.3);
+    strcpy(cmdbuff, "conn:send('<p><input type=\"radio\" name=\"check\" value=\"BotLeft\"> Turn Robot Left')\r\n");
+    SendCMD();
+    getreply();
+    wait(0.3);
+    strcpy(cmdbuff, "conn:send('<p><input type=\"radio\" name=\"check\" value=\"BotRight\"> Turn Robot Right')\r\n");
+    SendCMD();
+    getreply();
+    wait(0.3);
+    strcpy(cmdbuff,"conn:send('<p><input type=\"submit\" value=\"Send to Robot\"></form>')\r\n");
+    SendCMD();
+    getreply();
+    wait(0.3);
+    strcpy(cmdbuff, "conn:send('<p><h2>How to use:</h2><ul><li>Select a radiobutton </li><li>Click Send to Robot button</li></ul></body></html>')\r\n");
+    SendCMD();
+    getreply();
+    wait(0.5);
+    // end web page data
+    strcpy(cmdbuff, "conn:on(\"sent\",function(conn) conn:close() end)\r\n"); // close current connection
+    SendCMD();
+    getreply();
+    wait(0.3);
+    strcpy(cmdbuff, "end)\r\n");
+    SendCMD();
+    getreply();
+    wait(0.2);
+    strcpy(cmdbuff, "end)\r\n");
+    SendCMD();
+    getreply();
+    wait(0.2);
+
+    strcpy(cmdbuff, "tmr.alarm(0, 1000, 1, function()\r\n");
+    SendCMD();
+    getreply();
+    wait(0.2);
+    strcpy(cmdbuff, "if wifi.sta.getip() == nil then\r\n");
+    SendCMD();
+    getreply();
+    wait(0.2);
+    strcpy(cmdbuff, "print(\"Connecting to AP...\\n\")\r\n");
+    SendCMD();
+    getreply();
+    wait(0.2);
+    strcpy(cmdbuff, "else\r\n");
+    SendCMD();
+    getreply();
+    wait(0.2);
+    strcpy(cmdbuff, "ip, nm, gw=wifi.sta.getip()\r\n");
+    SendCMD();
+    getreply();
+    wait(0.2);
+    strcpy(cmdbuff,"print(\"IP Address: \",ip)\r\n");
+    SendCMD();
+    getreply();
+    wait(0.2);
+    strcpy(cmdbuff,"tmr.stop(0)\r\n");
+    SendCMD();
+    getreply();
+    wait(0.2);
+    strcpy(cmdbuff,"end\r\n");
+    SendCMD();
+    getreply();
+    wait(0.2);
+    strcpy(cmdbuff,"end)\r\n");
+    SendCMD();
+    getreply();
+    wait(0.2);
+    pc.printf("\n\nReady to go .....\r\n\n");
+}
+
+
+// ESP Command data send
+void SendCMD()
+{
+    int i;
+    char temp_char;
+    bool empty;
+    i = 0;
+// Start Critical Section - don't interrupt while changing global buffer variables
+    NVIC_DisableIRQ(UART1_IRQn);
+    empty = (tx_in == tx_out);
+    while ((i==0) || (cmdbuff[i-1] != '\n')) {
+// Wait if buffer full
+        if (((tx_in + 1) % buffer_size) == tx_out) {
+// End Critical Section - need to let interrupt routine empty buffer by sending
+            NVIC_EnableIRQ(UART1_IRQn);
+            while (((tx_in + 1) % buffer_size) == tx_out) {
+            }
+// Start Critical Section - don't interrupt while changing global buffer variables
+            NVIC_DisableIRQ(UART1_IRQn);
+        }
+        tx_buffer[tx_in] = cmdbuff[i];
+        i++;
+        tx_in = (tx_in + 1) % buffer_size;
+    }
+    if (esp.writeable() && (empty)) {
+        temp_char = tx_buffer[tx_out];
+        tx_out = (tx_out + 1) % buffer_size;
+// Send first character to start tx interrupts, if stopped
+        esp.putc(temp_char);
+    }
+// End Critical Section
+    NVIC_EnableIRQ(UART1_IRQn);
+    return;
+}
+
+// Get Command and ESP status replies
+void getreply()
+{
+    read_line();
+    sscanf(rx_line,replybuff);
+}
+
+// Read a line from the large rx buffer from rx interrupt routine
+void read_line()
+{
+    int i;
+    i = 0;
+// Start Critical Section - don't interrupt while changing global buffer variables
+    NVIC_DisableIRQ(UART1_IRQn);
+// Loop reading rx buffer characters until end of line character
+    while ((i==0) || (rx_line[i-1] != '\r')) {
+// Wait if buffer empty
+        if (rx_in == rx_out) {
+// End Critical Section - need to allow rx interrupt to get new characters for buffer
+            NVIC_EnableIRQ(UART1_IRQn);
+            while (rx_in == rx_out) {
+            }
+// Start Critical Section - don't interrupt while changing global buffer variables
+            NVIC_DisableIRQ(UART1_IRQn);
+        }
+        rx_line[i] = rx_buffer[rx_out];
+        i++;
+        rx_out = (rx_out + 1) % buffer_size;
+    }
+// End Critical Section
+    NVIC_EnableIRQ(UART1_IRQn);
+    rx_line[i-1] = 0;
+    return;
+}
+
+
+// Interupt Routine to read in data from serial port
+void Rx_interrupt()
+{
+    DataRX=1;
+// Loop just in case more than one character is in UART's receive FIFO buffer
+// Stop if buffer full
+    while ((esp.readable()) && (((rx_in + 1) % buffer_size) != rx_out)) {
+        rx_buffer[rx_in] = esp.getc();
+// Uncomment to Echo to USB serial to watch data flow
+        pc.putc(rx_buffer[rx_in]);
+        rx_in = (rx_in + 1) % buffer_size;
+    }
+    return;
+}
+
+// Interupt Routine to write out data to serial port
+void Tx_interrupt()
+{
+// Loop to fill more than one character in UART's transmit FIFO buffer
+// Stop if buffer empty
+    while ((esp.writeable()) && (tx_in != tx_out)) {
+        esp.putc(tx_buffer[tx_out]);
+        tx_out = (tx_out + 1) % buffer_size;
+    }
+    return;
+}
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