TCP_control -

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Leo Veenstra / Mbed 2 deprecated TCP_control

main.cpp@0:ad88907cf227, 2012-04-03 (annotated)

Committer:: SED9008
Date:: Tue Apr 03 17:46:32 2012 +0000
Revision:: 0:ad88907cf227
Child:: 1:5721a5772035

Who changed what in which revision?

User	Revision	Line number	New contents of line
SED9008	0:ad88907cf227	1	#include "mbed.h"
SED9008	0:ad88907cf227	2	#include "EthernetNetIf.h"
SED9008	0:ad88907cf227	3	#include "TCPSocket.h"
SED9008	0:ad88907cf227	4	#include "IMUfilter.h"
SED9008	0:ad88907cf227	5	#include "ADXL345_I2C.h"
SED9008	0:ad88907cf227	6	#include "L3G4200D.h"
SED9008	0:ad88907cf227	7
SED9008	0:ad88907cf227	8	#define TCP_LISTENING_PORT 1337
SED9008	0:ad88907cf227	9	//Gravity at Earth's surface in m/s/s
SED9008	0:ad88907cf227	10	#define g0 9.812865328
SED9008	0:ad88907cf227	11	//Number of samples to average.
SED9008	0:ad88907cf227	12	#define SAMPLES 4
SED9008	0:ad88907cf227	13	//Number of samples to be averaged for a null bias calculation
SED9008	0:ad88907cf227	14	//during calibration.
SED9008	0:ad88907cf227	15	#define CALIBRATION_SAMPLES 128
SED9008	0:ad88907cf227	16	//Convert from radians to degrees.
SED9008	0:ad88907cf227	17	#define toDegrees(x) (x * 57.2957795)
SED9008	0:ad88907cf227	18	//Convert from degrees to radians.
SED9008	0:ad88907cf227	19	#define toRadians(x) (x * 0.01745329252)
SED9008	0:ad88907cf227	20	//ITG-3200 sensitivity is 14.375 LSB/(degrees/sec).
SED9008	0:ad88907cf227	21	#define GYROSCOPE_GAIN (1 / 14.375)
SED9008	0:ad88907cf227	22	//Full scale resolution on the ADXL345 is 4mg/LSB.
SED9008	0:ad88907cf227	23	#define ACCELEROMETER_GAIN (0.004 * g0)
SED9008	0:ad88907cf227	24	//Sampling gyroscope at 200Hz.
SED9008	0:ad88907cf227	25	#define GYRO_RATE 0.005
SED9008	0:ad88907cf227	26	//Sampling accelerometer at 200Hz.
SED9008	0:ad88907cf227	27	#define ACC_RATE 0.005
SED9008	0:ad88907cf227	28	//Updating filter at 40Hz.
SED9008	0:ad88907cf227	29	#define FILTER_RATE 0.1
SED9008	0:ad88907cf227	30
SED9008	0:ad88907cf227	31	//At rest the gyroscope is centred around 0 and goes between about
SED9008	0:ad88907cf227	32	//-5 and 5 counts. As 1 degrees/sec is ~15 LSB, error is roughly
SED9008	0:ad88907cf227	33	//5/15 = 0.3 degrees/sec.
SED9008	0:ad88907cf227	34	IMUfilter imuFilter(FILTER_RATE, 0.3);
SED9008	0:ad88907cf227	35	ADXL345_I2C accelerometer(p9, p10);
SED9008	0:ad88907cf227	36	L3G4200D gyroscope(p9, p10);
SED9008	0:ad88907cf227	37
SED9008	0:ad88907cf227	38	PwmOut m1(p21);
SED9008	0:ad88907cf227	39	PwmOut m2(p22);
SED9008	0:ad88907cf227	40	PwmOut m3(p23);
SED9008	0:ad88907cf227	41	PwmOut m4(p24);
SED9008	0:ad88907cf227	42
SED9008	0:ad88907cf227	43	Ticker accelerometerTicker;
SED9008	0:ad88907cf227	44	Ticker gyroscopeTicker;
SED9008	0:ad88907cf227	45	Ticker filterTicker;
SED9008	0:ad88907cf227	46
SED9008	0:ad88907cf227	47
SED9008	0:ad88907cf227	48	int connected = 0,
SED9008	0:ad88907cf227	49	calibrated = 0,
SED9008	0:ad88907cf227	50	led1 = 0;
SED9008	0:ad88907cf227	51	//Offsets for the gyroscope.
SED9008	0:ad88907cf227	52	//The readings we take when the gyroscope is stationary won't be 0, so we'll
SED9008	0:ad88907cf227	53	//average a set of readings we do get when the gyroscope is stationary and
SED9008	0:ad88907cf227	54	//take those away from subsequent readings to ensure the gyroscope is offset
SED9008	0:ad88907cf227	55	//or "biased" to 0.
SED9008	0:ad88907cf227	56	double w_xBias;
SED9008	0:ad88907cf227	57	double w_yBias;
SED9008	0:ad88907cf227	58	double w_zBias;
SED9008	0:ad88907cf227	59
SED9008	0:ad88907cf227	60	//Offsets for the accelerometer.
SED9008	0:ad88907cf227	61	//Same as with the gyroscope.
SED9008	0:ad88907cf227	62	double a_xBias;
SED9008	0:ad88907cf227	63	double a_yBias;
SED9008	0:ad88907cf227	64	double a_zBias;
SED9008	0:ad88907cf227	65
SED9008	0:ad88907cf227	66	//Accumulators used for oversampling and then averaging.
SED9008	0:ad88907cf227	67	volatile double a_xAccumulator = 0;
SED9008	0:ad88907cf227	68	volatile double a_yAccumulator = 0;
SED9008	0:ad88907cf227	69	volatile double a_zAccumulator = 0;
SED9008	0:ad88907cf227	70	volatile double w_xAccumulator = 0;
SED9008	0:ad88907cf227	71	volatile double w_yAccumulator = 0;
SED9008	0:ad88907cf227	72	volatile double w_zAccumulator = 0;
SED9008	0:ad88907cf227	73
SED9008	0:ad88907cf227	74	//Accelerometer and gyroscope readings for x, y, z axes.
SED9008	0:ad88907cf227	75	volatile double a_x;
SED9008	0:ad88907cf227	76	volatile double a_y;
SED9008	0:ad88907cf227	77	volatile double a_z;
SED9008	0:ad88907cf227	78	volatile double w_x;
SED9008	0:ad88907cf227	79	volatile double w_y;
SED9008	0:ad88907cf227	80	volatile double w_z;
SED9008	0:ad88907cf227	81
SED9008	0:ad88907cf227	82	//Buffer for accelerometer readings.
SED9008	0:ad88907cf227	83	int readings[3];
SED9008	0:ad88907cf227	84	//Number of accelerometer samples we're on.
SED9008	0:ad88907cf227	85	int accelerometerSamples = 0;
SED9008	0:ad88907cf227	86	//Number of gyroscope samples we're on.
SED9008	0:ad88907cf227	87	int gyroscopeSamples = 0;
SED9008	0:ad88907cf227	88
SED9008	0:ad88907cf227	89	/**
SED9008	0:ad88907cf227	90	* Prototypes
SED9008	0:ad88907cf227	91	*/
SED9008	0:ad88907cf227	92	//Set up the ADXL345 appropriately.
SED9008	0:ad88907cf227	93	void initializeAccelerometer(void);
SED9008	0:ad88907cf227	94	//Calculate the null bias.
SED9008	0:ad88907cf227	95	void calibrateAccelerometer(void);
SED9008	0:ad88907cf227	96	//Take a set of samples and average them.
SED9008	0:ad88907cf227	97	void sampleAccelerometer(void);
SED9008	0:ad88907cf227	98	//Calculate the null bias.
SED9008	0:ad88907cf227	99	void calibrateGyroscope(void);
SED9008	0:ad88907cf227	100	//Take a set of samples and average them.
SED9008	0:ad88907cf227	101	void sampleGyroscope(void);
SED9008	0:ad88907cf227	102	//Update the filter and calculate the Euler angles.
SED9008	0:ad88907cf227	103	void filter(void);
SED9008	0:ad88907cf227	104	void tcp_send(const char*);
SED9008	0:ad88907cf227	105	void onConnectedTCPSocketEvent(TCPSocketEvent e);
SED9008	0:ad88907cf227	106	void onListeningTCPSocketEvent(TCPSocketEvent e);
SED9008	0:ad88907cf227	107
SED9008	0:ad88907cf227	108	// EthernetNetIf eth;
SED9008	0:ad88907cf227	109	EthernetNetIf eth(
SED9008	0:ad88907cf227	110	IpAddr(192,168,0,16), //IP Address
SED9008	0:ad88907cf227	111	IpAddr(255,255,255,0), //Network Mask
SED9008	0:ad88907cf227	112	IpAddr(192,168,0,1), //Gateway
SED9008	0:ad88907cf227	113	IpAddr(192,168,0,1) //DNS
SED9008	0:ad88907cf227	114	);
SED9008	0:ad88907cf227	115
SED9008	0:ad88907cf227	116	TCPSocket ListeningSock;
SED9008	0:ad88907cf227	117	TCPSocket* pConnectedSock; // for ConnectedSock
SED9008	0:ad88907cf227	118	Host client;
SED9008	0:ad88907cf227	119	TCPSocketErr err;
SED9008	0:ad88907cf227	120
SED9008	0:ad88907cf227	121	void sampleAccelerometer(void) {
SED9008	0:ad88907cf227	122
SED9008	0:ad88907cf227	123	//Have we taken enough samples?
SED9008	0:ad88907cf227	124	if (accelerometerSamples == SAMPLES) {
SED9008	0:ad88907cf227	125
SED9008	0:ad88907cf227	126	//Average the samples, remove the bias, and calculate the acceleration
SED9008	0:ad88907cf227	127	//in m/s/s.
SED9008	0:ad88907cf227	128	a_x = ((a_xAccumulator / SAMPLES) - a_xBias) * ACCELEROMETER_GAIN;
SED9008	0:ad88907cf227	129	a_y = ((a_yAccumulator / SAMPLES) - a_yBias) * ACCELEROMETER_GAIN;
SED9008	0:ad88907cf227	130	a_z = ((a_zAccumulator / SAMPLES) - a_zBias) * ACCELEROMETER_GAIN;
SED9008	0:ad88907cf227	131
SED9008	0:ad88907cf227	132	a_xAccumulator = 0;
SED9008	0:ad88907cf227	133	a_yAccumulator = 0;
SED9008	0:ad88907cf227	134	a_zAccumulator = 0;
SED9008	0:ad88907cf227	135	accelerometerSamples = 0;
SED9008	0:ad88907cf227	136
SED9008	0:ad88907cf227	137	} else {
SED9008	0:ad88907cf227	138	//Take another sample.
SED9008	0:ad88907cf227	139	accelerometer.getOutput(readings);
SED9008	0:ad88907cf227	140
SED9008	0:ad88907cf227	141	a_xAccumulator += (int16_t) readings[0];
SED9008	0:ad88907cf227	142	a_yAccumulator += (int16_t) readings[1];
SED9008	0:ad88907cf227	143	a_zAccumulator += (int16_t) readings[2];
SED9008	0:ad88907cf227	144
SED9008	0:ad88907cf227	145	accelerometerSamples++;
SED9008	0:ad88907cf227	146
SED9008	0:ad88907cf227	147	}
SED9008	0:ad88907cf227	148
SED9008	0:ad88907cf227	149	}
SED9008	0:ad88907cf227	150
SED9008	0:ad88907cf227	151	void sampleGyroscope(void) {
SED9008	0:ad88907cf227	152
SED9008	0:ad88907cf227	153	//Have we taken enough samples?
SED9008	0:ad88907cf227	154	if (gyroscopeSamples == SAMPLES) {
SED9008	0:ad88907cf227	155
SED9008	0:ad88907cf227	156	//Average the samples, remove the bias, and calculate the angular
SED9008	0:ad88907cf227	157	//velocity in rad/s.
SED9008	0:ad88907cf227	158	w_x = toRadians(((w_xAccumulator / SAMPLES) - w_xBias) * GYROSCOPE_GAIN);
SED9008	0:ad88907cf227	159	w_y = toRadians(((w_yAccumulator / SAMPLES) - w_yBias) * GYROSCOPE_GAIN);
SED9008	0:ad88907cf227	160	w_z = toRadians(((w_zAccumulator / SAMPLES) - w_zBias) * GYROSCOPE_GAIN);
SED9008	0:ad88907cf227	161
SED9008	0:ad88907cf227	162	w_xAccumulator = 0;
SED9008	0:ad88907cf227	163	w_yAccumulator = 0;
SED9008	0:ad88907cf227	164	w_zAccumulator = 0;
SED9008	0:ad88907cf227	165	gyroscopeSamples = 0;
SED9008	0:ad88907cf227	166
SED9008	0:ad88907cf227	167	} else {
SED9008	0:ad88907cf227	168	//Take another sample.
SED9008	0:ad88907cf227	169	int g[3];
SED9008	0:ad88907cf227	170	gyroscope.read(g);
SED9008	0:ad88907cf227	171	w_xAccumulator += g[0];
SED9008	0:ad88907cf227	172	w_yAccumulator += g[1];
SED9008	0:ad88907cf227	173	w_zAccumulator += g[2];
SED9008	0:ad88907cf227	174
SED9008	0:ad88907cf227	175	gyroscopeSamples++;
SED9008	0:ad88907cf227	176
SED9008	0:ad88907cf227	177	}
SED9008	0:ad88907cf227	178
SED9008	0:ad88907cf227	179	}
SED9008	0:ad88907cf227	180
SED9008	0:ad88907cf227	181	void filter(void) {
SED9008	0:ad88907cf227	182
SED9008	0:ad88907cf227	183	//Update the filter variables.
SED9008	0:ad88907cf227	184	imuFilter.updateFilter(w_y, w_x, w_z, a_y, a_x, a_z);
SED9008	0:ad88907cf227	185	//Calculate the new Euler angles.
SED9008	0:ad88907cf227	186	imuFilter.computeEuler();
SED9008	0:ad88907cf227	187
SED9008	0:ad88907cf227	188	}
SED9008	0:ad88907cf227	189
SED9008	0:ad88907cf227	190
SED9008	0:ad88907cf227	191
SED9008	0:ad88907cf227	192	int main() {
SED9008	0:ad88907cf227	193
SED9008	0:ad88907cf227	194	EthernetErr ethErr = eth.setup();
SED9008	0:ad88907cf227	195	if(ethErr) { return -1;}
SED9008	0:ad88907cf227	196	IpAddr ip = eth.getIp();
SED9008	0:ad88907cf227	197	// Set the callbacks for Listening
SED9008	0:ad88907cf227	198	ListeningSock.setOnEvent(&onListeningTCPSocketEvent);
SED9008	0:ad88907cf227	199	// bind and listen on TCP
SED9008	0:ad88907cf227	200	err=ListeningSock.bind(Host(IpAddr(), TCP_LISTENING_PORT));
SED9008	0:ad88907cf227	201	//Deal with that error...
SED9008	0:ad88907cf227	202	if(err){printf("Binding Error\n");}
SED9008	0:ad88907cf227	203	err=ListeningSock.listen(); // Starts listening
SED9008	0:ad88907cf227	204	if(err){printf("Listening Error\r\n");}
SED9008	0:ad88907cf227	205
SED9008	0:ad88907cf227	206	//Initialize inertial sensors.
SED9008	0:ad88907cf227	207	initializeAccelerometer();
SED9008	0:ad88907cf227	208	calibrateAccelerometer();
SED9008	0:ad88907cf227	209	calibrateGyroscope();
SED9008	0:ad88907cf227	210
SED9008	0:ad88907cf227	211	//Set up timers.
SED9008	0:ad88907cf227	212	//Accelerometer data rate is 200Hz, so we'll sample at this speed.
SED9008	0:ad88907cf227	213	accelerometerTicker.attach(&sampleAccelerometer, 0.005);
SED9008	0:ad88907cf227	214	//Gyroscope data rate is 200Hz, so we'll sample at this speed.
SED9008	0:ad88907cf227	215	gyroscopeTicker.attach(&sampleGyroscope, 0.005);
SED9008	0:ad88907cf227	216	//Update the filter variables at the correct rate.
SED9008	0:ad88907cf227	217	filterTicker.attach(&filter, FILTER_RATE);
SED9008	0:ad88907cf227	218
SED9008	0:ad88907cf227	219	Timer tmr;
SED9008	0:ad88907cf227	220	tmr.start();
SED9008	0:ad88907cf227	221
SED9008	0:ad88907cf227	222	while(true)
SED9008	0:ad88907cf227	223	{
SED9008	0:ad88907cf227	224	wait(FILTER_RATE);
SED9008	0:ad88907cf227	225
SED9008	0:ad88907cf227	226	Net::poll();
SED9008	0:ad88907cf227	227	if(tmr.read() > 0.2){
SED9008	0:ad88907cf227	228	// led4=!led4; //Show that we are alive
SED9008	0:ad88907cf227	229	tmr.reset();
SED9008	0:ad88907cf227	230	}
SED9008	0:ad88907cf227	231	if(connected & led1 == 0){
SED9008	0:ad88907cf227	232	tcp_send("Connected\r\n");
SED9008	0:ad88907cf227	233	led1 = 1;
SED9008	0:ad88907cf227	234	calibrated = 1;
SED9008	0:ad88907cf227	235
SED9008	0:ad88907cf227	236	//Set up timers.
SED9008	0:ad88907cf227	237	//Accelerometer data rate is 200Hz, so we'll sample at this speed.
SED9008	0:ad88907cf227	238	accelerometerTicker.attach(&sampleAccelerometer, 0.005);
SED9008	0:ad88907cf227	239	//Gyroscope data rate is 200Hz, so we'll sample at this speed.
SED9008	0:ad88907cf227	240	gyroscopeTicker.attach(&sampleGyroscope, 0.005);
SED9008	0:ad88907cf227	241	//Update the filter variables at the correct rate.
SED9008	0:ad88907cf227	242	filterTicker.attach(&filter, FILTER_RATE);
SED9008	0:ad88907cf227	243
SED9008	0:ad88907cf227	244	tcp_send("Done initializing\r\n");
SED9008	0:ad88907cf227	245
SED9008	0:ad88907cf227	246	}
SED9008	0:ad88907cf227	247
SED9008	0:ad88907cf227	248	if(calibrated){
SED9008	0:ad88907cf227	249	char buffer [128];
SED9008	0:ad88907cf227	250	sprintf (buffer, "x:%f - y:%f - z:%f \r\n",toDegrees(imuFilter.getRoll()),
SED9008	0:ad88907cf227	251	toDegrees(imuFilter.getPitch()),
SED9008	0:ad88907cf227	252	toDegrees(imuFilter.getYaw()));
SED9008	0:ad88907cf227	253	tcp_send(buffer);
SED9008	0:ad88907cf227	254	}
SED9008	0:ad88907cf227	255	}
SED9008	0:ad88907cf227	256	}
SED9008	0:ad88907cf227	257
SED9008	0:ad88907cf227	258	void initializeAccelerometer(void) {
SED9008	0:ad88907cf227	259
SED9008	0:ad88907cf227	260	//Go into standby mode to configure the device.
SED9008	0:ad88907cf227	261	accelerometer.setPowerControl(0x00);
SED9008	0:ad88907cf227	262	//Full resolution, +/-16g, 4mg/LSB.
SED9008	0:ad88907cf227	263	accelerometer.setDataFormatControl(0x0B);
SED9008	0:ad88907cf227	264	//200Hz data rate.
SED9008	0:ad88907cf227	265	accelerometer.setDataRate(ADXL345_200HZ);
SED9008	0:ad88907cf227	266	//Measurement mode.
SED9008	0:ad88907cf227	267	accelerometer.setPowerControl(0x08);
SED9008	0:ad88907cf227	268	//See http://www.analog.com/static/imported-files/application_notes/AN-1077.pdf
SED9008	0:ad88907cf227	269	wait_ms(22);
SED9008	0:ad88907cf227	270
SED9008	0:ad88907cf227	271	}
SED9008	0:ad88907cf227	272
SED9008	0:ad88907cf227	273	void calibrateAccelerometer(void) {
SED9008	0:ad88907cf227	274
SED9008	0:ad88907cf227	275	a_xAccumulator = 0;
SED9008	0:ad88907cf227	276	a_yAccumulator = 0;
SED9008	0:ad88907cf227	277	a_zAccumulator = 0;
SED9008	0:ad88907cf227	278
SED9008	0:ad88907cf227	279	//Take a number of readings and average them
SED9008	0:ad88907cf227	280	//to calculate the zero g offset.
SED9008	0:ad88907cf227	281	for (int i = 0; i < CALIBRATION_SAMPLES; i++) {
SED9008	0:ad88907cf227	282
SED9008	0:ad88907cf227	283	accelerometer.getOutput(readings);
SED9008	0:ad88907cf227	284
SED9008	0:ad88907cf227	285	a_xAccumulator += (int16_t) readings[0];
SED9008	0:ad88907cf227	286	a_yAccumulator += (int16_t) readings[1];
SED9008	0:ad88907cf227	287	a_zAccumulator += (int16_t) readings[2];
SED9008	0:ad88907cf227	288
SED9008	0:ad88907cf227	289	wait(ACC_RATE);
SED9008	0:ad88907cf227	290
SED9008	0:ad88907cf227	291	}
SED9008	0:ad88907cf227	292
SED9008	0:ad88907cf227	293	a_xAccumulator /= CALIBRATION_SAMPLES;
SED9008	0:ad88907cf227	294	a_yAccumulator /= CALIBRATION_SAMPLES;
SED9008	0:ad88907cf227	295	a_zAccumulator /= CALIBRATION_SAMPLES;
SED9008	0:ad88907cf227	296
SED9008	0:ad88907cf227	297	//At 4mg/LSB, 250 LSBs is 1g.
SED9008	0:ad88907cf227	298	a_xBias = a_xAccumulator;
SED9008	0:ad88907cf227	299	a_yBias = a_yAccumulator;
SED9008	0:ad88907cf227	300	a_zBias = (a_zAccumulator - 250);
SED9008	0:ad88907cf227	301
SED9008	0:ad88907cf227	302	a_xAccumulator = 0;
SED9008	0:ad88907cf227	303	a_yAccumulator = 0;
SED9008	0:ad88907cf227	304	a_zAccumulator = 0;
SED9008	0:ad88907cf227	305
SED9008	0:ad88907cf227	306	}
SED9008	0:ad88907cf227	307
SED9008	0:ad88907cf227	308	void calibrateGyroscope(void) {
SED9008	0:ad88907cf227	309
SED9008	0:ad88907cf227	310	w_xAccumulator = 0;
SED9008	0:ad88907cf227	311	w_yAccumulator = 0;
SED9008	0:ad88907cf227	312	w_zAccumulator = 0;
SED9008	0:ad88907cf227	313
SED9008	0:ad88907cf227	314	//Take a number of readings and average them
SED9008	0:ad88907cf227	315	//to calculate the gyroscope bias offset.
SED9008	0:ad88907cf227	316	for (int i = 0; i < CALIBRATION_SAMPLES; i++) {
SED9008	0:ad88907cf227	317	int g[3];
SED9008	0:ad88907cf227	318	gyroscope.read(g);
SED9008	0:ad88907cf227	319	w_xAccumulator += g[0];
SED9008	0:ad88907cf227	320	w_yAccumulator += g[1];
SED9008	0:ad88907cf227	321	w_zAccumulator += g[2];
SED9008	0:ad88907cf227	322	wait(GYRO_RATE);
SED9008	0:ad88907cf227	323
SED9008	0:ad88907cf227	324	}
SED9008	0:ad88907cf227	325
SED9008	0:ad88907cf227	326	//Average the samples.
SED9008	0:ad88907cf227	327	w_xAccumulator /= CALIBRATION_SAMPLES;
SED9008	0:ad88907cf227	328	w_yAccumulator /= CALIBRATION_SAMPLES;
SED9008	0:ad88907cf227	329	w_zAccumulator /= CALIBRATION_SAMPLES;
SED9008	0:ad88907cf227	330
SED9008	0:ad88907cf227	331	w_xBias = w_xAccumulator;
SED9008	0:ad88907cf227	332	w_yBias = w_yAccumulator;
SED9008	0:ad88907cf227	333	w_zBias = w_zAccumulator;
SED9008	0:ad88907cf227	334
SED9008	0:ad88907cf227	335	w_xAccumulator = 0;
SED9008	0:ad88907cf227	336	w_yAccumulator = 0;
SED9008	0:ad88907cf227	337	w_zAccumulator = 0;
SED9008	0:ad88907cf227	338
SED9008	0:ad88907cf227	339	}
SED9008	0:ad88907cf227	340
SED9008	0:ad88907cf227	341
SED9008	0:ad88907cf227	342
SED9008	0:ad88907cf227	343	void tcp_send( const char* data ){
SED9008	0:ad88907cf227	344	int len = strlen(data);
SED9008	0:ad88907cf227	345	pConnectedSock->send(data, len);
SED9008	0:ad88907cf227	346	}
SED9008	0:ad88907cf227	347
SED9008	0:ad88907cf227	348	void onConnectedTCPSocketEvent(TCPSocketEvent e)
SED9008	0:ad88907cf227	349	{
SED9008	0:ad88907cf227	350	switch(e)
SED9008	0:ad88907cf227	351	{
SED9008	0:ad88907cf227	352	case TCPSOCKET_CONNECTED:
SED9008	0:ad88907cf227	353	printf("TCP Socket Connected\r\n");
SED9008	0:ad88907cf227	354	break;
SED9008	0:ad88907cf227	355	case TCPSOCKET_WRITEABLE:
SED9008	0:ad88907cf227	356	//Can now write some data...
SED9008	0:ad88907cf227	357	printf("TCP Socket Writable\r\n");
SED9008	0:ad88907cf227	358	break;
SED9008	0:ad88907cf227	359	case TCPSOCKET_READABLE:
SED9008	0:ad88907cf227	360	//Can now read dome data...
SED9008	0:ad88907cf227	361	printf("TCP Socket Readable\r\n");
SED9008	0:ad88907cf227	362	// Read in any available data into the buffer
SED9008	0:ad88907cf227	363	char buff[128];
SED9008	0:ad88907cf227	364	while ( int len = pConnectedSock->recv(buff, 128) ) {
SED9008	0:ad88907cf227	365	// And send straight back out again
SED9008	0:ad88907cf227	366	// pConnectedSock->send(buff, len);
SED9008	0:ad88907cf227	367	int test = buff[0];
SED9008	0:ad88907cf227	368	char buffer[128];
SED9008	0:ad88907cf227	369	sprintf(buffer, "\|%i\|\r\n", test);
SED9008	0:ad88907cf227	370	tcp_send(buffer);
SED9008	0:ad88907cf227	371	if(test == 115) {connected = 1;}
SED9008	0:ad88907cf227	372	/* if(test == 49) {m1_set += 0.00001;}
SED9008	0:ad88907cf227	373	if(test == 50) {m2_set += 0.00001;}
SED9008	0:ad88907cf227	374	if(test == 51) {m3_set += 0.00001;}
SED9008	0:ad88907cf227	375	if(test == 52) {m4_set += 0.00001;}
SED9008	0:ad88907cf227	376	if(test == 113) {m1_set -= 0.00001;}
SED9008	0:ad88907cf227	377	if(test == 119) {m2_set -= 0.00001;}
SED9008	0:ad88907cf227	378	if(test == 101) {m3_set -= 0.00001;}
SED9008	0:ad88907cf227	379	if(test == 114) {m4_set -= 0.00001;}
SED9008	0:ad88907cf227	380	if(test == 107) {
SED9008	0:ad88907cf227	381	m1_set = 0.0011;
SED9008	0:ad88907cf227	382	m2_set = 0.0011;
SED9008	0:ad88907cf227	383	m3_set = 0.0011;
SED9008	0:ad88907cf227	384	m4_set = 0.0011;}*/
SED9008	0:ad88907cf227	385
SED9008	0:ad88907cf227	386
SED9008	0:ad88907cf227	387	buff[len]=0; // make terminater
SED9008	0:ad88907cf227	388	printf("Received&Wrote:%s\r\n",buff);
SED9008	0:ad88907cf227	389	}
SED9008	0:ad88907cf227	390	break;
SED9008	0:ad88907cf227	391	case TCPSOCKET_CONTIMEOUT:
SED9008	0:ad88907cf227	392	printf("TCP Socket Timeout\r\n");
SED9008	0:ad88907cf227	393	break;
SED9008	0:ad88907cf227	394	case TCPSOCKET_CONRST:
SED9008	0:ad88907cf227	395	printf("TCP Socket CONRST\r\n");
SED9008	0:ad88907cf227	396	break;
SED9008	0:ad88907cf227	397	case TCPSOCKET_CONABRT:
SED9008	0:ad88907cf227	398	printf("TCP Socket CONABRT\r\n");
SED9008	0:ad88907cf227	399	break;
SED9008	0:ad88907cf227	400	case TCPSOCKET_ERROR:
SED9008	0:ad88907cf227	401	printf("TCP Socket Error\r\n");
SED9008	0:ad88907cf227	402	break;
SED9008	0:ad88907cf227	403	case TCPSOCKET_DISCONNECTED:
SED9008	0:ad88907cf227	404	//Close socket...
SED9008	0:ad88907cf227	405	printf("TCP Socket Disconnected\r\n");
SED9008	0:ad88907cf227	406	pConnectedSock->close();
SED9008	0:ad88907cf227	407	break;
SED9008	0:ad88907cf227	408	default:
SED9008	0:ad88907cf227	409	printf("DEFAULT\r\n");
SED9008	0:ad88907cf227	410	}
SED9008	0:ad88907cf227	411	}
SED9008	0:ad88907cf227	412
SED9008	0:ad88907cf227	413
SED9008	0:ad88907cf227	414	void onListeningTCPSocketEvent(TCPSocketEvent e)
SED9008	0:ad88907cf227	415	{
SED9008	0:ad88907cf227	416	switch(e)
SED9008	0:ad88907cf227	417	{
SED9008	0:ad88907cf227	418	case TCPSOCKET_ACCEPT:
SED9008	0:ad88907cf227	419	printf("Listening: TCP Socket Accepted\r\n");
SED9008	0:ad88907cf227	420	// Accepts connection from client and gets connected socket.
SED9008	0:ad88907cf227	421	err=ListeningSock.accept(&client, &pConnectedSock);
SED9008	0:ad88907cf227	422	if (err) {
SED9008	0:ad88907cf227	423	printf("onListeningTcpSocketEvent : Could not accept connection.\r\n");
SED9008	0:ad88907cf227	424	return; //Error in accept, discard connection
SED9008	0:ad88907cf227	425	}
SED9008	0:ad88907cf227	426	// Setup the new socket events
SED9008	0:ad88907cf227	427	pConnectedSock->setOnEvent(&onConnectedTCPSocketEvent);
SED9008	0:ad88907cf227	428	// We can find out from where the connection is coming by looking at the
SED9008	0:ad88907cf227	429	// Host parameter of the accept() method
SED9008	0:ad88907cf227	430	IpAddr clientIp = client.getIp();
SED9008	0:ad88907cf227	431	printf("Listening: Incoming TCP connection from %d.%d.%d.%d\r\n",
SED9008	0:ad88907cf227	432	clientIp[0], clientIp[1], clientIp[2], clientIp[3]);
SED9008	0:ad88907cf227	433	break;
SED9008	0:ad88907cf227	434	// the following cases will not happen
SED9008	0:ad88907cf227	435	case TCPSOCKET_CONNECTED:
SED9008	0:ad88907cf227	436	printf("Listening: TCP Socket Connected\r\n");
SED9008	0:ad88907cf227	437	break;
SED9008	0:ad88907cf227	438	case TCPSOCKET_WRITEABLE:
SED9008	0:ad88907cf227	439	printf("Listening: TCP Socket Writable\r\n");
SED9008	0:ad88907cf227	440	break;
SED9008	0:ad88907cf227	441	case TCPSOCKET_READABLE:
SED9008	0:ad88907cf227	442	printf("Listening: TCP Socket Readable\r\n");
SED9008	0:ad88907cf227	443	break;
SED9008	0:ad88907cf227	444	case TCPSOCKET_CONTIMEOUT:
SED9008	0:ad88907cf227	445	printf("Listening: TCP Socket Timeout\r\n");
SED9008	0:ad88907cf227	446	break;
SED9008	0:ad88907cf227	447	case TCPSOCKET_CONRST:
SED9008	0:ad88907cf227	448	printf("Listening: TCP Socket CONRST\r\n");
SED9008	0:ad88907cf227	449	break;
SED9008	0:ad88907cf227	450	case TCPSOCKET_CONABRT:
SED9008	0:ad88907cf227	451	printf("Listening: TCP Socket CONABRT\r\n");
SED9008	0:ad88907cf227	452	break;
SED9008	0:ad88907cf227	453	case TCPSOCKET_ERROR:
SED9008	0:ad88907cf227	454	printf("Listening: TCP Socket Error\r\n");
SED9008	0:ad88907cf227	455	break;
SED9008	0:ad88907cf227	456	case TCPSOCKET_DISCONNECTED:
SED9008	0:ad88907cf227	457	//Close socket...
SED9008	0:ad88907cf227	458	printf("Listening: TCP Socket Disconnected\r\n");
SED9008	0:ad88907cf227	459	ListeningSock.close();
SED9008	0:ad88907cf227	460	break;
SED9008	0:ad88907cf227	461	default:
SED9008	0:ad88907cf227	462	printf("DEFAULT\r\n");
SED9008	0:ad88907cf227	463	};
SED9008	0:ad88907cf227	464	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	03 Apr 2012
Imports:	8
Forks:	0
Commits:	4
Dependents:	0
Dependencies:	5
Followers:	2

main.cpp@0:ad88907cf227, 2012-04-03 (annotated)

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