Xingyuan Zhu / Mbed 2 deprecated AutoSwitch_mbed

A program using ESP8266 Huzzah to receive message from Amazon AWS service and control a servo to flip on/off the mechanical light switch.

Dependencies:   RPCInterface Servo mbed

Fork of dotbot by Graham Miles

main.cpp@0:1fb00e911fe6, 2016-12-12 (annotated)

Committer:
gmiles3
Date:
Mon Dec 12 14:39:25 2016 +0000
Revision:
0:1fb00e911fe6
Child:
2:747b84e54088
freeze all motor functions

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gmiles3 0:1fb00e911fe6 1 #include "mbed.h"
gmiles3 0:1fb00e911fe6 2 #include "Car.h"
gmiles3 0:1fb00e911fe6 3 #include "mywifi.h"
gmiles3 0:1fb00e911fe6 4 #include "Motor.h"
gmiles3 0:1fb00e911fe6 5 #include "HALLFX_ENCODER.h"
gmiles3 0:1fb00e911fe6 6 #include "mbed_rpc.h"
gmiles3 0:1fb00e911fe6 7
gmiles3 0:1fb00e911fe6 8 Serial pc(USBTX, USBRX);
gmiles3 0:1fb00e911fe6 9 Serial esp(p28, p27);
gmiles3 0:1fb00e911fe6 10 char ssid[32] = "ThugMansion";
gmiles3 0:1fb00e911fe6 11 char pwd[32] = "2paclives";
gmiles3 0:1fb00e911fe6 12 char port[32] = "1035"; // must be port forwarded
gmiles3 0:1fb00e911fe6 13 char timeout[32] = "28800";
gmiles3 0:1fb00e911fe6 14 volatile int tx_in=0;
gmiles3 0:1fb00e911fe6 15 volatile int tx_out=0;
gmiles3 0:1fb00e911fe6 16 volatile int rx_in=0;
gmiles3 0:1fb00e911fe6 17 volatile int rx_out=0;
gmiles3 0:1fb00e911fe6 18 const int buffer_size = 4095;
gmiles3 0:1fb00e911fe6 19 char tx_buffer[buffer_size+1];
gmiles3 0:1fb00e911fe6 20 char rx_buffer[buffer_size+1];
gmiles3 0:1fb00e911fe6 21 char cmdbuff[1024];
gmiles3 0:1fb00e911fe6 22 char rx_line[1024];
gmiles3 0:1fb00e911fe6 23
gmiles3 0:1fb00e911fe6 24
gmiles3 0:1fb00e911fe6 25 DigitalOut led1(LED1);
gmiles3 0:1fb00e911fe6 26 DigitalOut led2(LED2);
gmiles3 0:1fb00e911fe6 27 DigitalOut led3(LED3);
gmiles3 0:1fb00e911fe6 28 DigitalOut led4(LED4);
gmiles3 0:1fb00e911fe6 29
gmiles3 0:1fb00e911fe6 30 float left_speed = .5;
gmiles3 0:1fb00e911fe6 31 float right_speed = .5;
gmiles3 0:1fb00e911fe6 32 float clicksTravelled;
gmiles3 0:1fb00e911fe6 33 Motor left_motor(p26,p24,p25); // pwm, fwd, rev
gmiles3 0:1fb00e911fe6 34 Motor right_motor(p21, p23, p22); // pwm, fwd, rev
gmiles3 0:1fb00e911fe6 35 HALLFX_ENCODER right_hall(p13); // left hall effect encoder
gmiles3 0:1fb00e911fe6 36 HALLFX_ENCODER left_hall(p14); // left hall effect encoder
gmiles3 0:1fb00e911fe6 37 float encoderFactor = 40;
gmiles3 0:1fb00e911fe6 38 RPCFunction rpcTurnRight(&carTurnRight, "turnRight");
gmiles3 0:1fb00e911fe6 39 RPCFunction rpcTurnLeft(&carTurnLeft, "turnLeft");
gmiles3 0:1fb00e911fe6 40 RPCFunction rpcMoveForward(&carMoveForwardDistance, "moveForward");
gmiles3 0:1fb00e911fe6 41 RPCFunction rpcMoveBackward(&carMoveBackwardDistance, "moveBackward");
gmiles3 0:1fb00e911fe6 42 RPCFunction rpcTurn(&carTurn, "turn");
gmiles3 0:1fb00e911fe6 43
gmiles3 0:1fb00e911fe6 44 int main() {
gmiles3 0:1fb00e911fe6 45 clicksTravelled = 0.0;
gmiles3 0:1fb00e911fe6 46 pc.baud(9600);
gmiles3 0:1fb00e911fe6 47 esp.baud(9600);
gmiles3 0:1fb00e911fe6 48 led1=0,led2=0,led3=0,led4=0;
gmiles3 0:1fb00e911fe6 49 esp.attach(&Rx_interrupt, Serial::RxIrq);
gmiles3 0:1fb00e911fe6 50 esp.attach(&Tx_interrupt, Serial::TxIrq);
gmiles3 0:1fb00e911fe6 51 wait(5);
gmiles3 0:1fb00e911fe6 52 connectToNetwork();
gmiles3 0:1fb00e911fe6 53 char rpc_in[256];
gmiles3 0:1fb00e911fe6 54 char rpc_out[256];
gmiles3 0:1fb00e911fe6 55 while (1) {
gmiles3 0:1fb00e911fe6 56 getReply();
gmiles3 0:1fb00e911fe6 57 memset(&rpc_in[0], 0, sizeof(rpc_in));
gmiles3 0:1fb00e911fe6 58 memset(&rpc_in[0], 0, sizeof(rpc_out));
gmiles3 0:1fb00e911fe6 59 int length = (int)rx_line[3] - 48;
gmiles3 0:1fb00e911fe6 60 if (length > 0 && length < 256) {
gmiles3 0:1fb00e911fe6 61 for (int i = 0; i < length; i++) {
gmiles3 0:1fb00e911fe6 62 rpc_in[i] = rx_line[i+4];
gmiles3 0:1fb00e911fe6 63 }
gmiles3 0:1fb00e911fe6 64 RPC::call(rpc_in, rpc_out);
gmiles3 0:1fb00e911fe6 65 pc.printf("%s\n", rpc_out);
gmiles3 0:1fb00e911fe6 66 }
gmiles3 0:1fb00e911fe6 67 strcpy(cmdbuff, "srv:close()\r\n");
gmiles3 0:1fb00e911fe6 68 sendCMD();
gmiles3 0:1fb00e911fe6 69 wait(.5);
gmiles3 0:1fb00e911fe6 70 getReply();
gmiles3 0:1fb00e911fe6 71 strcpy(cmdbuff, "srv=net.createServer(net.TCP,");
gmiles3 0:1fb00e911fe6 72 strcat(cmdbuff, timeout);
gmiles3 0:1fb00e911fe6 73 strcat(cmdbuff, ")\r\n");
gmiles3 0:1fb00e911fe6 74 sendCMD();
gmiles3 0:1fb00e911fe6 75 wait(.5);
gmiles3 0:1fb00e911fe6 76 getReply();
gmiles3 0:1fb00e911fe6 77 strcpy(cmdbuff, "srv:listen(");
gmiles3 0:1fb00e911fe6 78 strcat(cmdbuff, port);
gmiles3 0:1fb00e911fe6 79 strcat(cmdbuff, ",function(conn)\r\n");
gmiles3 0:1fb00e911fe6 80 sendCMD();
gmiles3 0:1fb00e911fe6 81 wait(.5);
gmiles3 0:1fb00e911fe6 82 getReply();
gmiles3 0:1fb00e911fe6 83 strcpy(cmdbuff, "conn:on(\"receive\", function(conn, payload) \r\n");
gmiles3 0:1fb00e911fe6 84 sendCMD();
gmiles3 0:1fb00e911fe6 85 wait(.5);
gmiles3 0:1fb00e911fe6 86 getReply();
gmiles3 0:1fb00e911fe6 87 strcpy(cmdbuff, "conn:send('");
gmiles3 0:1fb00e911fe6 88 strcat(cmdbuff, reportStatus());
gmiles3 0:1fb00e911fe6 89 strcat(cmdbuff, "')\r\n");
gmiles3 0:1fb00e911fe6 90 sendCMD();
gmiles3 0:1fb00e911fe6 91 wait(.5);
gmiles3 0:1fb00e911fe6 92 getReply();
gmiles3 0:1fb00e911fe6 93 strcpy(cmdbuff, "print(payload)\r\n");
gmiles3 0:1fb00e911fe6 94 sendCMD();
gmiles3 0:1fb00e911fe6 95 wait(.5);
gmiles3 0:1fb00e911fe6 96 getReply();
gmiles3 0:1fb00e911fe6 97 strcpy(cmdbuff, "end)\r\n");
gmiles3 0:1fb00e911fe6 98 sendCMD();
gmiles3 0:1fb00e911fe6 99 wait(.5);
gmiles3 0:1fb00e911fe6 100 getReply();
gmiles3 0:1fb00e911fe6 101 strcpy(cmdbuff, "end)\r\n");
gmiles3 0:1fb00e911fe6 102 sendCMD();
gmiles3 0:1fb00e911fe6 103 wait(.5);
gmiles3 0:1fb00e911fe6 104 getReply();
gmiles3 0:1fb00e911fe6 105 }
gmiles3 0:1fb00e911fe6 106
gmiles3 0:1fb00e911fe6 107 }
gmiles3 0:1fb00e911fe6 108
gmiles3 0:1fb00e911fe6 109
gmiles3 0:1fb00e911fe6 110
gmiles3 0:1fb00e911fe6 111
gmiles3 0:1fb00e911fe6 112
gmiles3 0:1fb00e911fe6 113
gmiles3 0:1fb00e911fe6 114
gmiles3 0:1fb00e911fe6 115 /* CAR FUNCTIONS */
gmiles3 0:1fb00e911fe6 116
gmiles3 0:1fb00e911fe6 117 void carStop() {
gmiles3 0:1fb00e911fe6 118 left_motor.speed(0);
gmiles3 0:1fb00e911fe6 119 right_motor.speed(0);
gmiles3 0:1fb00e911fe6 120 }
gmiles3 0:1fb00e911fe6 121
gmiles3 0:1fb00e911fe6 122 void carResetEncoders() {
gmiles3 0:1fb00e911fe6 123 left_hall.reset();
gmiles3 0:1fb00e911fe6 124 right_hall.reset();
gmiles3 0:1fb00e911fe6 125 wait(0.1);
gmiles3 0:1fb00e911fe6 126 }
gmiles3 0:1fb00e911fe6 127
gmiles3 0:1fb00e911fe6 128 void carMoveForwardDistance(Arguments *in, Reply *out) {
gmiles3 0:1fb00e911fe6 129 carResetEncoders();
gmiles3 0:1fb00e911fe6 130 long diff;
gmiles3 0:1fb00e911fe6 131 int dist = in->getArg<int>();
gmiles3 0:1fb00e911fe6 132 float enc_dist = dist * encoderFactor;
gmiles3 0:1fb00e911fe6 133 volatile float left_val= left_hall.read();
gmiles3 0:1fb00e911fe6 134 volatile float right_val = right_hall.read();
gmiles3 0:1fb00e911fe6 135 while (left_val < enc_dist || left_val < enc_dist) {
gmiles3 0:1fb00e911fe6 136 left_val = left_hall.read();
gmiles3 0:1fb00e911fe6 137 right_val = right_hall.read();
gmiles3 0:1fb00e911fe6 138 diff = left_val - right_val;
gmiles3 0:1fb00e911fe6 139 float k = 0.5;
gmiles3 0:1fb00e911fe6 140 if (diff < 0) { // left has moved less than right
gmiles3 0:1fb00e911fe6 141 left_motor.speed(left_speed);
gmiles3 0:1fb00e911fe6 142 right_motor.speed(k*right_speed);
gmiles3 0:1fb00e911fe6 143 } else if (diff > 0) { // right has moved less than left
gmiles3 0:1fb00e911fe6 144 left_motor.speed(k*left_speed);
gmiles3 0:1fb00e911fe6 145 right_motor.speed(right_speed);
gmiles3 0:1fb00e911fe6 146 } else {
gmiles3 0:1fb00e911fe6 147 left_motor.speed(left_speed);
gmiles3 0:1fb00e911fe6 148 right_motor.speed(right_speed);
gmiles3 0:1fb00e911fe6 149 }
gmiles3 0:1fb00e911fe6 150 }
gmiles3 0:1fb00e911fe6 151 clicksTravelled += left_val;
gmiles3 0:1fb00e911fe6 152 left_motor.speed(0);
gmiles3 0:1fb00e911fe6 153 right_motor.speed(0);
gmiles3 0:1fb00e911fe6 154 }
gmiles3 0:1fb00e911fe6 155
gmiles3 0:1fb00e911fe6 156 void carMoveBackwardDistance(Arguments *in, Reply *out) {
gmiles3 0:1fb00e911fe6 157 int dist = in->getArg<int>();
gmiles3 0:1fb00e911fe6 158 if (dist > 100) {
gmiles3 0:1fb00e911fe6 159 dist = 100;
gmiles3 0:1fb00e911fe6 160 }
gmiles3 0:1fb00e911fe6 161 carResetEncoders();
gmiles3 0:1fb00e911fe6 162 long diff;
gmiles3 0:1fb00e911fe6 163 float enc_dist = dist * encoderFactor;
gmiles3 0:1fb00e911fe6 164 volatile float left_val= left_hall.read();
gmiles3 0:1fb00e911fe6 165 volatile float right_val = right_hall.read();
gmiles3 0:1fb00e911fe6 166 while (left_val < enc_dist || right_val < enc_dist) {
gmiles3 0:1fb00e911fe6 167 left_val = left_hall.read();
gmiles3 0:1fb00e911fe6 168 right_val = right_hall.read();
gmiles3 0:1fb00e911fe6 169 diff = left_val-right_val;
gmiles3 0:1fb00e911fe6 170 float k = 0.8;
gmiles3 0:1fb00e911fe6 171 if (diff < 0) { // left has moved less than right
gmiles3 0:1fb00e911fe6 172 left_motor.speed(-left_speed);
gmiles3 0:1fb00e911fe6 173 right_motor.speed(-k*right_speed);
gmiles3 0:1fb00e911fe6 174 } else if (diff > 0) { // right has moved less than left
gmiles3 0:1fb00e911fe6 175 left_motor.speed(-k*left_speed);
gmiles3 0:1fb00e911fe6 176 right_motor.speed(-right_speed);
gmiles3 0:1fb00e911fe6 177 } else {
gmiles3 0:1fb00e911fe6 178 left_motor.speed(-left_speed);
gmiles3 0:1fb00e911fe6 179 right_motor.speed(-right_speed);
gmiles3 0:1fb00e911fe6 180 }
gmiles3 0:1fb00e911fe6 181 }
gmiles3 0:1fb00e911fe6 182 clicksTravelled += left_val;
gmiles3 0:1fb00e911fe6 183 carStop();
gmiles3 0:1fb00e911fe6 184 }
gmiles3 0:1fb00e911fe6 185
gmiles3 0:1fb00e911fe6 186 void carTurn(Arguments *in, Reply *out) {
gmiles3 0:1fb00e911fe6 187 carResetEncoders();
gmiles3 0:1fb00e911fe6 188 float enc_dist = in->getArg<float>();
gmiles3 0:1fb00e911fe6 189 volatile float left_val= left_hall.read();
gmiles3 0:1fb00e911fe6 190 while (left_val < enc_dist) {
gmiles3 0:1fb00e911fe6 191 left_val = left_hall.read();
gmiles3 0:1fb00e911fe6 192 left_motor.speed(left_speed);
gmiles3 0:1fb00e911fe6 193 right_motor.speed(-right_speed);
gmiles3 0:1fb00e911fe6 194 }
gmiles3 0:1fb00e911fe6 195 carStop();
gmiles3 0:1fb00e911fe6 196 }
gmiles3 0:1fb00e911fe6 197
gmiles3 0:1fb00e911fe6 198 void carTurnRight(Arguments *in, Reply *out) {
gmiles3 0:1fb00e911fe6 199 carResetEncoders();
gmiles3 0:1fb00e911fe6 200 float enc_dist = 170;
gmiles3 0:1fb00e911fe6 201 volatile float left_val= left_hall.read();
gmiles3 0:1fb00e911fe6 202 while (left_val < enc_dist) {
gmiles3 0:1fb00e911fe6 203 left_val = left_hall.read();
gmiles3 0:1fb00e911fe6 204 left_motor.speed(left_speed);
gmiles3 0:1fb00e911fe6 205 right_motor.speed(-right_speed);
gmiles3 0:1fb00e911fe6 206 }
gmiles3 0:1fb00e911fe6 207 carStop();
gmiles3 0:1fb00e911fe6 208 if (out != NULL) out->putData("GOT HERE");
gmiles3 0:1fb00e911fe6 209 }
gmiles3 0:1fb00e911fe6 210
gmiles3 0:1fb00e911fe6 211 void carTurnLeft(Arguments *in, Reply *out) {
gmiles3 0:1fb00e911fe6 212 carResetEncoders();
gmiles3 0:1fb00e911fe6 213 float enc_dist = 170;
gmiles3 0:1fb00e911fe6 214 volatile float left_val= left_hall.read();
gmiles3 0:1fb00e911fe6 215 while (left_val < enc_dist) {
gmiles3 0:1fb00e911fe6 216 left_val = left_hall.read();
gmiles3 0:1fb00e911fe6 217 left_motor.speed(-left_speed);
gmiles3 0:1fb00e911fe6 218 right_motor.speed(right_speed);
gmiles3 0:1fb00e911fe6 219 }
gmiles3 0:1fb00e911fe6 220 carStop();
gmiles3 0:1fb00e911fe6 221 }
gmiles3 0:1fb00e911fe6 222
gmiles3 0:1fb00e911fe6 223
gmiles3 0:1fb00e911fe6 224
gmiles3 0:1fb00e911fe6 225
gmiles3 0:1fb00e911fe6 226
gmiles3 0:1fb00e911fe6 227
gmiles3 0:1fb00e911fe6 228
gmiles3 0:1fb00e911fe6 229
gmiles3 0:1fb00e911fe6 230
gmiles3 0:1fb00e911fe6 231
gmiles3 0:1fb00e911fe6 232 /* WIFI FUNCTIONS */
gmiles3 0:1fb00e911fe6 233
gmiles3 0:1fb00e911fe6 234 void connectToNetwork() {
gmiles3 0:1fb00e911fe6 235 pc.printf("# Resetting ESP\r\n");
gmiles3 0:1fb00e911fe6 236 strcpy(cmdbuff,"node.restart()\r\n");
gmiles3 0:1fb00e911fe6 237 sendCMD();
gmiles3 0:1fb00e911fe6 238 wait(5);
gmiles3 0:1fb00e911fe6 239 getReply();
gmiles3 0:1fb00e911fe6 240
gmiles3 0:1fb00e911fe6 241 led1=1,led2=0,led3=0;
gmiles3 0:1fb00e911fe6 242 pc.printf("# Setting Mode\r\n");
gmiles3 0:1fb00e911fe6 243 strcpy(cmdbuff, "wifi.setmode(wifi.STATION)\r\n");
gmiles3 0:1fb00e911fe6 244 sendCMD();
gmiles3 0:1fb00e911fe6 245 getReply();
gmiles3 0:1fb00e911fe6 246
gmiles3 0:1fb00e911fe6 247 wait(2);
gmiles3 0:1fb00e911fe6 248 led1=0,led2=1,led3=0;
gmiles3 0:1fb00e911fe6 249 pc.printf("# Connecting to AP\r\n");
gmiles3 0:1fb00e911fe6 250 pc.printf("# ssid = %s\t\tpwd = %s\r\n", ssid, pwd);
gmiles3 0:1fb00e911fe6 251 strcpy(cmdbuff, "wifi.sta.config(\"");
gmiles3 0:1fb00e911fe6 252 strcat(cmdbuff, ssid);
gmiles3 0:1fb00e911fe6 253 strcat(cmdbuff, "\",\"");
gmiles3 0:1fb00e911fe6 254 strcat(cmdbuff, pwd);
gmiles3 0:1fb00e911fe6 255 strcat(cmdbuff, "\")\r\n");
gmiles3 0:1fb00e911fe6 256 sendCMD();
gmiles3 0:1fb00e911fe6 257 getReply();
gmiles3 0:1fb00e911fe6 258
gmiles3 0:1fb00e911fe6 259 wait(2);
gmiles3 0:1fb00e911fe6 260 led1=0,led2=0,led3=1;
gmiles3 0:1fb00e911fe6 261 pc.printf("# Get IP Address\r\n");
gmiles3 0:1fb00e911fe6 262 strcpy(cmdbuff, "print(wifi.sta.getip())\r\n");
gmiles3 0:1fb00e911fe6 263 sendCMD();
gmiles3 0:1fb00e911fe6 264 getReply();
gmiles3 0:1fb00e911fe6 265
gmiles3 0:1fb00e911fe6 266 wait(2);
gmiles3 0:1fb00e911fe6 267 led1=1,led2=0,led3=0;
gmiles3 0:1fb00e911fe6 268 pc.printf("# Get Connection Status\r\n");
gmiles3 0:1fb00e911fe6 269 strcpy(cmdbuff, "print(wifi.sta.status())\r\n");
gmiles3 0:1fb00e911fe6 270 sendCMD();
gmiles3 0:1fb00e911fe6 271 getReply();
gmiles3 0:1fb00e911fe6 272
gmiles3 0:1fb00e911fe6 273 wait(2);
gmiles3 0:1fb00e911fe6 274 led1=0,led2=1,led3=0;
gmiles3 0:1fb00e911fe6 275 pc.printf("# Listen on Port\r\n");
gmiles3 0:1fb00e911fe6 276 strcpy(cmdbuff, "srv=net.createServer(net.TCP,");
gmiles3 0:1fb00e911fe6 277 strcat(cmdbuff, timeout);
gmiles3 0:1fb00e911fe6 278 strcat(cmdbuff, ")\r\n");
gmiles3 0:1fb00e911fe6 279 sendCMD();
gmiles3 0:1fb00e911fe6 280 getReply();
gmiles3 0:1fb00e911fe6 281
gmiles3 0:1fb00e911fe6 282 wait(2);
gmiles3 0:1fb00e911fe6 283 led1=0,led2=0,led3=1;
gmiles3 0:1fb00e911fe6 284 strcpy(cmdbuff, "srv:listen(");
gmiles3 0:1fb00e911fe6 285 strcat(cmdbuff, port);
gmiles3 0:1fb00e911fe6 286 strcat(cmdbuff, ",function(conn)\r\n");
gmiles3 0:1fb00e911fe6 287 sendCMD();
gmiles3 0:1fb00e911fe6 288 getReply();
gmiles3 0:1fb00e911fe6 289
gmiles3 0:1fb00e911fe6 290 wait(2);
gmiles3 0:1fb00e911fe6 291 led1=1,led2=0,led3=0;
gmiles3 0:1fb00e911fe6 292 strcpy(cmdbuff, "conn:on(\"receive\", function(conn, payload) \r\n");
gmiles3 0:1fb00e911fe6 293 sendCMD();
gmiles3 0:1fb00e911fe6 294 getReply();
gmiles3 0:1fb00e911fe6 295
gmiles3 0:1fb00e911fe6 296 wait(2);
gmiles3 0:1fb00e911fe6 297 led1=0,led2=1,led3=0;
gmiles3 0:1fb00e911fe6 298 strcpy(cmdbuff, "conn:send('");
gmiles3 0:1fb00e911fe6 299 strcat(cmdbuff, reportStatus());
gmiles3 0:1fb00e911fe6 300 strcat(cmdbuff, "')\r\n");
gmiles3 0:1fb00e911fe6 301 sendCMD();
gmiles3 0:1fb00e911fe6 302 getReply();
gmiles3 0:1fb00e911fe6 303
gmiles3 0:1fb00e911fe6 304 wait(2);
gmiles3 0:1fb00e911fe6 305 led1=0,led2=0,led3=1;
gmiles3 0:1fb00e911fe6 306 strcpy(cmdbuff, "print(payload)\r\n");
gmiles3 0:1fb00e911fe6 307 sendCMD();
gmiles3 0:1fb00e911fe6 308 getReply();
gmiles3 0:1fb00e911fe6 309
gmiles3 0:1fb00e911fe6 310 wait(2);
gmiles3 0:1fb00e911fe6 311 led1=1,led2=0,led3=0;
gmiles3 0:1fb00e911fe6 312 strcpy(cmdbuff, "end)\r\n");
gmiles3 0:1fb00e911fe6 313 sendCMD();
gmiles3 0:1fb00e911fe6 314 getReply();
gmiles3 0:1fb00e911fe6 315
gmiles3 0:1fb00e911fe6 316 wait(2);
gmiles3 0:1fb00e911fe6 317 led1=0,led2=1,led3=0;
gmiles3 0:1fb00e911fe6 318 strcpy(cmdbuff, "end)\r\n");
gmiles3 0:1fb00e911fe6 319 sendCMD();
gmiles3 0:1fb00e911fe6 320 getReply();
gmiles3 0:1fb00e911fe6 321
gmiles3 0:1fb00e911fe6 322 wait(2);
gmiles3 0:1fb00e911fe6 323 //led1=1,led2=1,led3=1;
gmiles3 0:1fb00e911fe6 324 led1=0,led2=0,led3=0;
gmiles3 0:1fb00e911fe6 325 pc.printf("# Ready\r\n");
gmiles3 0:1fb00e911fe6 326 }
gmiles3 0:1fb00e911fe6 327
gmiles3 0:1fb00e911fe6 328 void sendCMD()
gmiles3 0:1fb00e911fe6 329 {
gmiles3 0:1fb00e911fe6 330 int i;
gmiles3 0:1fb00e911fe6 331 char temp_char;
gmiles3 0:1fb00e911fe6 332 bool empty;
gmiles3 0:1fb00e911fe6 333 i = 0;
gmiles3 0:1fb00e911fe6 334 // Start Critical Section - don't interrupt while changing global buffer variables
gmiles3 0:1fb00e911fe6 335 NVIC_DisableIRQ(UART1_IRQn);
gmiles3 0:1fb00e911fe6 336 empty = (tx_in == tx_out);
gmiles3 0:1fb00e911fe6 337 while ((i==0) || (cmdbuff[i-1] != '\n')) {
gmiles3 0:1fb00e911fe6 338 // Wait if buffer full
gmiles3 0:1fb00e911fe6 339 if (((tx_in + 1) % buffer_size) == tx_out) {
gmiles3 0:1fb00e911fe6 340 // End Critical Section - need to let interrupt routine empty buffer by sending
gmiles3 0:1fb00e911fe6 341 NVIC_EnableIRQ(UART1_IRQn);
gmiles3 0:1fb00e911fe6 342 while (((tx_in + 1) % buffer_size) == tx_out) {
gmiles3 0:1fb00e911fe6 343 }
gmiles3 0:1fb00e911fe6 344 // Start Critical Section - don't interrupt while changing global buffer variables
gmiles3 0:1fb00e911fe6 345 NVIC_DisableIRQ(UART1_IRQn);
gmiles3 0:1fb00e911fe6 346 }
gmiles3 0:1fb00e911fe6 347 tx_buffer[tx_in] = cmdbuff[i];
gmiles3 0:1fb00e911fe6 348 i++;
gmiles3 0:1fb00e911fe6 349 tx_in = (tx_in + 1) % buffer_size;
gmiles3 0:1fb00e911fe6 350 }
gmiles3 0:1fb00e911fe6 351 if (esp.writeable() && (empty)) {
gmiles3 0:1fb00e911fe6 352 temp_char = tx_buffer[tx_out];
gmiles3 0:1fb00e911fe6 353 tx_out = (tx_out + 1) % buffer_size;
gmiles3 0:1fb00e911fe6 354 // Send first character to start tx interrupts, if stopped
gmiles3 0:1fb00e911fe6 355 esp.putc(temp_char);
gmiles3 0:1fb00e911fe6 356 }
gmiles3 0:1fb00e911fe6 357 // End Critical Section
gmiles3 0:1fb00e911fe6 358 NVIC_EnableIRQ(UART1_IRQn);
gmiles3 0:1fb00e911fe6 359 return;
gmiles3 0:1fb00e911fe6 360 }
gmiles3 0:1fb00e911fe6 361
gmiles3 0:1fb00e911fe6 362 // Read a line from the large rx buffer from rx interrupt routine
gmiles3 0:1fb00e911fe6 363 void getReply() {
gmiles3 0:1fb00e911fe6 364 int i;
gmiles3 0:1fb00e911fe6 365 i = 0;
gmiles3 0:1fb00e911fe6 366 // Start Critical Section - don't interrupt while changing global buffer variables
gmiles3 0:1fb00e911fe6 367 NVIC_DisableIRQ(UART1_IRQn);
gmiles3 0:1fb00e911fe6 368 // Loop reading rx buffer characters until end of line character
gmiles3 0:1fb00e911fe6 369 while ((i==0) || (rx_line[i-1] != '\r')) {
gmiles3 0:1fb00e911fe6 370 // Wait if buffer empty
gmiles3 0:1fb00e911fe6 371 if (rx_in == rx_out) {
gmiles3 0:1fb00e911fe6 372 // End Critical Section - need to allow rx interrupt to get new characters for buffer
gmiles3 0:1fb00e911fe6 373 NVIC_EnableIRQ(UART1_IRQn);
gmiles3 0:1fb00e911fe6 374 while (rx_in == rx_out) {
gmiles3 0:1fb00e911fe6 375 }
gmiles3 0:1fb00e911fe6 376 // Start Critical Section - don't interrupt while changing global buffer variables
gmiles3 0:1fb00e911fe6 377 NVIC_DisableIRQ(UART1_IRQn);
gmiles3 0:1fb00e911fe6 378 }
gmiles3 0:1fb00e911fe6 379 rx_line[i] = rx_buffer[rx_out];
gmiles3 0:1fb00e911fe6 380 i++;
gmiles3 0:1fb00e911fe6 381 rx_out = (rx_out + 1) % buffer_size;
gmiles3 0:1fb00e911fe6 382 }
gmiles3 0:1fb00e911fe6 383 // End Critical Section
gmiles3 0:1fb00e911fe6 384 NVIC_EnableIRQ(UART1_IRQn);
gmiles3 0:1fb00e911fe6 385 rx_line[i-1] = 0;
gmiles3 0:1fb00e911fe6 386 return;
gmiles3 0:1fb00e911fe6 387 }
gmiles3 0:1fb00e911fe6 388
gmiles3 0:1fb00e911fe6 389 char* reportStatus() {
gmiles3 0:1fb00e911fe6 390 char str[30];
gmiles3 0:1fb00e911fe6 391 float inchesTravelled = clicksTravelled / encoderFactor ;
gmiles3 0:1fb00e911fe6 392 sprintf(str, "%.1f", inchesTravelled);
gmiles3 0:1fb00e911fe6 393 return str;
gmiles3 0:1fb00e911fe6 394 }
gmiles3 0:1fb00e911fe6 395
gmiles3 0:1fb00e911fe6 396 // Interupt Routine to read in data from serial port
gmiles3 0:1fb00e911fe6 397 void Rx_interrupt() {
gmiles3 0:1fb00e911fe6 398 //led3=1;
gmiles3 0:1fb00e911fe6 399 // Loop just in case more than one character is in UART's receive FIFO buffer
gmiles3 0:1fb00e911fe6 400 // Stop if buffer full
gmiles3 0:1fb00e911fe6 401 while ((esp.readable()) && (((rx_in + 1) % buffer_size) != rx_out)) {
gmiles3 0:1fb00e911fe6 402 rx_buffer[rx_in] = esp.getc();
gmiles3 0:1fb00e911fe6 403 // Uncomment to Echo to USB serial to watch data flow
gmiles3 0:1fb00e911fe6 404 pc.putc(rx_buffer[rx_in]);
gmiles3 0:1fb00e911fe6 405 rx_in = (rx_in + 1) % buffer_size;
gmiles3 0:1fb00e911fe6 406 }
gmiles3 0:1fb00e911fe6 407 return;
gmiles3 0:1fb00e911fe6 408 }
gmiles3 0:1fb00e911fe6 409
gmiles3 0:1fb00e911fe6 410
gmiles3 0:1fb00e911fe6 411 // Interupt Routine to write out data to serial port
gmiles3 0:1fb00e911fe6 412 void Tx_interrupt() {
gmiles3 0:1fb00e911fe6 413 //led2=1;
gmiles3 0:1fb00e911fe6 414 // Loop to fill more than one character in UART's transmit FIFO buffer
gmiles3 0:1fb00e911fe6 415 // Stop if buffer empty
gmiles3 0:1fb00e911fe6 416 while ((esp.writeable()) && (tx_in != tx_out)) {
gmiles3 0:1fb00e911fe6 417 esp.putc(tx_buffer[tx_out]);
gmiles3 0:1fb00e911fe6 418 tx_out = (tx_out + 1) % buffer_size;
gmiles3 0:1fb00e911fe6 419 }
gmiles3 0:1fb00e911fe6 420 //led2=0;
gmiles3 0:1fb00e911fe6 421 return;
gmiles3 0:1fb00e911fe6 422 }