Diff: main.cpp

Revision:

10:c0514aae862c

Parent:

9:de6dd11d89ba

--- a/main.cpp	Fri Jun 10 12:07:02 2016 +0000
+++ b/main.cpp	Fri Jun 10 14:10:17 2016 +0000
@@ -1,10 +1,12 @@
 /**
     Food Controller
     main.cpp
+    Board ID:   1
     Purpose:    This function runs on a FRDM KL25Z. It uses the accelerometer to measure the tilt of the board.
                 It outputs a 2 bit number that describes the direction. The board is also fitted with four LEDS
                 oriented in the following configuration: o8o to provide feedback to the user. This board also 
-                makes use of the touch sensor input to set a variable speed for the food, indicated by RGB LED
+                makes use of the touch sensor input to set a variable speed for the food, formerly indicated by 
+                RGB LED (functionality removed due to power issues)
     @author Daniel Lock
     @author Jamie Gnodde
     @version
@@ -17,9 +19,6 @@
 #define MMA8451_I2C_ADDRESS (0x1d<<1)
 Serial pc(USBTX, USBRX); // tx, rx  used for printing to the PC screen during debugging
 
-DigitalOut gled(LED_GREEN);                         //Indicator for touch sensor Output speed 1
-DigitalOut bled(LED_BLUE);                          //Indicator for touch sensor Output speed 2
-DigitalOut rled(LED_RED);                           //Indicator for touch sensor Output speed 3
 TSISensor tsi;                                      //Setup touch sensor
 MMA8451Q acc(PTE25, PTE24, MMA8451_I2C_ADDRESS);    //Setup accelerometer
 DigitalOut lefthigh(PTC5);                          //LED for left
@@ -42,6 +41,34 @@
 bool right;                                         //Right or left? right = 1
 bool forward;                                       //Forward or Backward? forward = 1
 
+// subroutine to run anytime a serial interrupt arrives from the device
+// this basically passes everything thatthe device produces on to the pc terminal screen
+void dev_recv()
+{
+    //led1 = !led1;
+    while(dev.readable()) {
+        pc.putc(dev.getc());
+        //wait_us(1);
+    }
+}
+// subroutine to service the serial interrupt on the pc connection
+// this is a bit more complex - it takes what the use sends on the pc and copies it on to the device 
+// the esp should echo these straight back to the the pc if all is well
+// this also detects the end of command character which is ascii 13 (0x0d) adn adds a linefeed after it =asscii 10 (0x0a)
+void pc_recv()
+{
+    char c;
+    //led4 = !led4;
+    while(pc.readable()) {
+        c=pc.getc();
+        dev.putc(c);
+        pc.putc(c); // echo back
+        if(c==13) {dev.putc(10); // send the linefeed to complement the carriage return generated by return key on the pc
+        pc.putc(10);
+            }
+    }
+}
+
 void setupWiFi()
 {
     dev.printf("AT+RST\r\n");                       //Reset WiFi
@@ -60,19 +87,26 @@
     dev.printf("AT+CIPMUX=1\r\n");                  //Allow multiple connections
     
     wait(2);
-    dev.printf("AT+CIPSTART=2,\"TCP\",\"192.168.1.6\",5050\r\n");       //Open connection with the server
+    dev.printf("AT+CIPSTART=0,\"TCP\",\"192.168.1.6\",5050\r\n");       //Open connection with the server
     
-    //Testing connection
-    wait(2);
-    dev.printf("AT+CIPSEND=2,4\r\n");
-    wait(2);
-            
-    dev.printf("hi\n\r");   
 }
 
 
 int main()
 {
+    //Initialise WiFi stuff
+    rst=0;
+    wait(1);
+    rst=1; // send the esp8266 reset
+    wait(1);
+    pc.printf("ok off we go....\n\r");
+    
+    pc.baud(115200); // NB maybe this should go before this
+    dev.baud(115200);
+
+    pc.attach(&pc_recv, Serial::RxIrq); // attach the two interrupt services
+    dev.attach(&dev_recv, Serial::RxIrq);
+    
     PrevDirection = 4;                            //Initialise PrevDirection with a value that will mean it will always pass throught he if at the end
     PrevVelocity = 4;                             //Initialise PrevVelocity with a value that will mean it will always pass throught he if at the end
     setupWiFi();                                  //Run the WiFi setup
@@ -87,26 +121,26 @@
             if (tsi.readDistance() <= 13)           //Length of touch sensor divided into three distinct zones, this defines top zone
             {
                 Velocity = 3;                       //Top zone -> highest velocity (varies 1-3)
-                rled = 0;                           //Use the RGB LED as an indicator for which speed is selected
+                /*rled = 0;                           //Use the RGB LED as an indicator for which speed is selected
                 bled = 1;
-                gled = 1;
+                gled = 1;*/ //removed due to power issues
             }
             if (tsi.readDistance() > 13 && tsi.readDistance() < 26)         //Middle zone of touch sensor
             {
                 Velocity = 2;                       //Middle zone -> middle velocity
-                rled = 1;                           //Use the RGB LED as an indicator for which speed is selected
+               /*rled = 1;                           //Use the RGB LED as an indicator for which speed is selected
                 bled = 0;
-                gled = 1;              
+                gled = 1;  */            
             }
             if (tsi.readDistance() >= 26)
             {
                 Velocity = 1;                       //Bottom zone -> lowest velocity
-                rled = 1;                           //Use the RGB LED as an indicator for which speed is selected
+               /* rled = 1;                           //Use the RGB LED as an indicator for which speed is selected
                 bled = 1;
-                gled = 0;
+                gled = 0;*/
             }
                              
-            printf("x=%d\r\n",Velocity);            //Print the velocity to the serial for debugging
+            //printf("x=%d\r\n",Velocity);            //Print the velocity to the serial for debugging
            
             wait(0.2);                              //May be left over from debugging?
 
@@ -116,13 +150,13 @@
         if (accX > 0.1) 
         {
             right = false;
-            printf("left \r\n");
+            //printf("left \r\n");
         }//endif
 
         if (accX < -0.1) 
         {
             right = true;
-            printf("right \r\n");
+            //printf("right \r\n");
         }//endif
         
         wait(0.1);                                  //May be left over from debugging?
@@ -131,13 +165,13 @@
         if (accY > 0.1) 
         {
             forward = false;
-            printf("back \r\n");
+            //printf("back \r\n");
         }//endif
 
         if (accY < -0.1) 
         {
             forward = true;            
-            printf("for \r\n");
+            //printf("for \r\n");
         }//endif
         
         wait(0.1);                                  //May be left over from debugging?
@@ -206,20 +240,21 @@
             }//endelse
         }//endelse
         
-        pc.printf("Direction = %d \r\n", Direction);           //Print the direction variable to screen for debugging
+        //pc.printf("Direction = %d \r\n", Direction);           //Print the direction variable to screen for debugging
         
         //Only send data to the server if the direction has changed
      if(Direction != PrevDirection || Velocity != PrevVelocity)
         {
             //Send Direction and Velocity to server
             
-           // dev.printf("AT+CIPSEND=0,11\r\n");
-            //wait(2);
+            dev.printf("AT+CIPSEND=0,11\r\n");
+            wait(0.1);
             
-            //dev.printf("1dir%dvel%d\r\n",Direction,Velocity);              //Identifier,Direction Tag,Direction Value,Velocity Tag,Velocity Value
+            //pc.printf("1dir%dvel%d\r\n",Direction,Velocity);              //Identifier,Direction Tag,Direction Value,Velocity Tag,Velocity Value
+            dev.printf("1dir%dvel%d\r\n",Direction,Velocity);              //Identifier,Direction Tag,Direction Value,Velocity Tag,Velocity Value
             
-            PrevDirection = Direction;
-            PrevVelocity = Velocity;
+            PrevDirection = Direction;                           //Store Direction just sent as last sent direction
+            PrevVelocity = Velocity;                             //Store Velocity just sent as last sent velocity   
         }
        
     }//endwhile