TCP_server - Gyro output to TCP in degrees with calibration an…

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Leo Veenstra / Mbed 2 deprecated TCP_server

Gyro output to TCP in degrees with calibration and correction

main.cpp@0:5de940cf9783, 2012-03-01 (annotated)

Committer:: SED9008
Date:: Thu Mar 01 15:25:57 2012 +0000
Revision:: 0:5de940cf9783
Child:: 1:a88d1309f810

Who changed what in which revision?

User	Revision	Line number	New contents of line
SED9008	0:5de940cf9783	1
SED9008	0:5de940cf9783	2	// TCP Echo server
SED9008	0:5de940cf9783	3	// 2010/9/7
SED9008	0:5de940cf9783	4
SED9008	0:5de940cf9783	5
SED9008	0:5de940cf9783	6	/*
SED9008	0:5de940cf9783	7
SED9008	0:5de940cf9783	8	(Execute Sample)
SED9008	0:5de940cf9783	9	PC side:
SED9008	0:5de940cf9783	10	telnet 192.168.0.25 12345
SED9008	0:5de940cf9783	11	Trying 192.168.0.25...
SED9008	0:5de940cf9783	12	Connected to 192.168.0.25.
SED9008	0:5de940cf9783	13	Escape character is '^]'.
SED9008	0:5de940cf9783	14
SED9008	0:5de940cf9783	15	mbed side:
SED9008	0:5de940cf9783	16	Setup OK
SED9008	0:5de940cf9783	17	mbed IP Address is 192.168.0.25
SED9008	0:5de940cf9783	18	Binding..
SED9008	0:5de940cf9783	19	Listening...
SED9008	0:5de940cf9783	20	Listening: TCP Socket Accepted
SED9008	0:5de940cf9783	21	Listening: Incoming TCP connection from 192.168.0.7
SED9008	0:5de940cf9783	22	TCP Socket Readable
SED9008	0:5de940cf9783	23	Received&Wrote:test text
SED9008	0:5de940cf9783	24
SED9008	0:5de940cf9783	25	TCP Socket Writable
SED9008	0:5de940cf9783	26
SED9008	0:5de940cf9783	27
SED9008	0:5de940cf9783	28	*/
SED9008	0:5de940cf9783	29
SED9008	0:5de940cf9783	30	#include "mbed.h"
SED9008	0:5de940cf9783	31	#include "EthernetNetIf.h"
SED9008	0:5de940cf9783	32	#include "TCPSocket.h"
SED9008	0:5de940cf9783	33	#include "ADXL345_I2C.h"
SED9008	0:5de940cf9783	34
SED9008	0:5de940cf9783	35	#define TCP_LISTENING_PORT 1337
SED9008	0:5de940cf9783	36	int go = 0;
SED9008	0:5de940cf9783	37
SED9008	0:5de940cf9783	38	DigitalOut led3(LED3, "led3");
SED9008	0:5de940cf9783	39	DigitalOut led4(LED4, "led4");
SED9008	0:5de940cf9783	40	DigitalIn init(p5);
SED9008	0:5de940cf9783	41	DigitalIn calibrate(p20);
SED9008	0:5de940cf9783	42	//I2C i2c(p9, p10); // sda, scl
SED9008	0:5de940cf9783	43	ADXL345_I2C acc(p9, p10);
SED9008	0:5de940cf9783	44
SED9008	0:5de940cf9783	45
SED9008	0:5de940cf9783	46	void tcp_send(const char*);
SED9008	0:5de940cf9783	47	void tcp_sendIfConnected( const char* data );
SED9008	0:5de940cf9783	48	void onConnectedTCPSocketEvent(TCPSocketEvent e);
SED9008	0:5de940cf9783	49	void onListeningTCPSocketEvent(TCPSocketEvent e);
SED9008	0:5de940cf9783	50
SED9008	0:5de940cf9783	51
SED9008	0:5de940cf9783	52	// EthernetNetIf eth;
SED9008	0:5de940cf9783	53	EthernetNetIf eth(
SED9008	0:5de940cf9783	54	IpAddr(192,168,0,16), //IP Address
SED9008	0:5de940cf9783	55	IpAddr(255,255,255,0), //Network Mask
SED9008	0:5de940cf9783	56	IpAddr(192,168,0,2), //Gateway
SED9008	0:5de940cf9783	57	IpAddr(192,168,0,2) //DNS
SED9008	0:5de940cf9783	58	);
SED9008	0:5de940cf9783	59
SED9008	0:5de940cf9783	60	TCPSocket ListeningSock;
SED9008	0:5de940cf9783	61	TCPSocket* pConnectedSock; // for ConnectedSock
SED9008	0:5de940cf9783	62	Host client;
SED9008	0:5de940cf9783	63	TCPSocketErr err;
SED9008	0:5de940cf9783	64	Ticker routine;
SED9008	0:5de940cf9783	65
SED9008	0:5de940cf9783	66	uint16_t x_cor = 0;
SED9008	0:5de940cf9783	67	uint16_t y_cor = 0;
SED9008	0:5de940cf9783	68	uint16_t z_cor = 0;
SED9008	0:5de940cf9783	69
SED9008	0:5de940cf9783	70	void interrupt()
SED9008	0:5de940cf9783	71	{
SED9008	0:5de940cf9783	72	// int count = 0;
SED9008	0:5de940cf9783	73	// for (int address=0; address<256; address+=2) {
SED9008	0:5de940cf9783	74	// if (!i2c.write(address, NULL, 0)) { // 0 returned is ok
SED9008	0:5de940cf9783	75	// if(go) {
SED9008	0:5de940cf9783	76	// tcp_send(" - I2C device found at address:");
SED9008	0:5de940cf9783	77	// char buffer [128];
SED9008	0:5de940cf9783	78	// sprintf (buffer, "%i\n",address);
SED9008	0:5de940cf9783	79	// tcp_send(buffer);
SED9008	0:5de940cf9783	80	// }
SED9008	0:5de940cf9783	81	// count++;
SED9008	0:5de940cf9783	82	// }
SED9008	0:5de940cf9783	83	// }
SED9008	0:5de940cf9783	84
SED9008	0:5de940cf9783	85	int readings[3] = {0, 0, 0};
SED9008	0:5de940cf9783	86	if(go)acc.getOutput(readings);
SED9008	0:5de940cf9783	87	char buffer [128];
SED9008	0:5de940cf9783	88	if(go)sprintf (buffer, "x:%i - y:%i - z:%i\n",(int16_t)readings[0],(int16_t)readings[1],(int16_t)readings[2]);
SED9008	0:5de940cf9783	89	if(go)tcp_send(buffer);
SED9008	0:5de940cf9783	90	}
SED9008	0:5de940cf9783	91
SED9008	0:5de940cf9783	92	int main() {
SED9008	0:5de940cf9783	93
SED9008	0:5de940cf9783	94	EthernetErr ethErr = eth.setup();
SED9008	0:5de940cf9783	95	if(ethErr)
SED9008	0:5de940cf9783	96	{
SED9008	0:5de940cf9783	97	return -1;
SED9008	0:5de940cf9783	98	}
SED9008	0:5de940cf9783	99
SED9008	0:5de940cf9783	100	IpAddr ip = eth.getIp();
SED9008	0:5de940cf9783	101
SED9008	0:5de940cf9783	102	// Set the callbacks for Listening
SED9008	0:5de940cf9783	103	ListeningSock.setOnEvent(&onListeningTCPSocketEvent);
SED9008	0:5de940cf9783	104
SED9008	0:5de940cf9783	105	// bind and listen on TCP
SED9008	0:5de940cf9783	106	err=ListeningSock.bind(Host(IpAddr(), TCP_LISTENING_PORT));
SED9008	0:5de940cf9783	107	if(err)
SED9008	0:5de940cf9783	108	{
SED9008	0:5de940cf9783	109	//Deal with that error...
SED9008	0:5de940cf9783	110	}
SED9008	0:5de940cf9783	111
SED9008	0:5de940cf9783	112	err=ListeningSock.listen(); // Starts listening
SED9008	0:5de940cf9783	113	if(err)
SED9008	0:5de940cf9783	114	{
SED9008	0:5de940cf9783	115	//listening error
SED9008	0:5de940cf9783	116	}
SED9008	0:5de940cf9783	117
SED9008	0:5de940cf9783	118	//Go into standby mode to configure the device.
SED9008	0:5de940cf9783	119	acc.setPowerControl(0x00);
SED9008	0:5de940cf9783	120
SED9008	0:5de940cf9783	121	//Full resolution, +/-16g, 4mg/LSB.
SED9008	0:5de940cf9783	122	acc.setDataFormatControl(0x0B);
SED9008	0:5de940cf9783	123
SED9008	0:5de940cf9783	124	//3.2kHz data rate.
SED9008	0:5de940cf9783	125	acc.setDataRate(ADXL345_3200HZ);
SED9008	0:5de940cf9783	126
SED9008	0:5de940cf9783	127	//Measurement mode.
SED9008	0:5de940cf9783	128	acc.setPowerControl(0x08);
SED9008	0:5de940cf9783	129	wait(0.1);
SED9008	0:5de940cf9783	130	Timer tmr;
SED9008	0:5de940cf9783	131	tmr.start();
SED9008	0:5de940cf9783	132	while(true)
SED9008	0:5de940cf9783	133	{
SED9008	0:5de940cf9783	134	Net::poll();
SED9008	0:5de940cf9783	135	while(init)
SED9008	0:5de940cf9783	136	{
SED9008	0:5de940cf9783	137	if(!init)
SED9008	0:5de940cf9783	138	{
SED9008	0:5de940cf9783	139	tcp_send("You are a go!\n");
SED9008	0:5de940cf9783	140	led3 = 1;
SED9008	0:5de940cf9783	141	go = 1;
SED9008	0:5de940cf9783	142	}
SED9008	0:5de940cf9783	143	}
SED9008	0:5de940cf9783	144	if(tmr.read() > 0.2) // sec
SED9008	0:5de940cf9783	145	{
SED9008	0:5de940cf9783	146	led4=!led4; //Show that we are alive
SED9008	0:5de940cf9783	147	tmr.reset();
SED9008	0:5de940cf9783	148	}
SED9008	0:5de940cf9783	149	if(calibrate){
SED9008	0:5de940cf9783	150	while(calibrate){};
SED9008	0:5de940cf9783	151	int readings[3] = {0, 0, 0};
SED9008	0:5de940cf9783	152	if(go)acc.getOutput(readings);
SED9008	0:5de940cf9783	153	x_cor = readings[0];
SED9008	0:5de940cf9783	154	y_cor = readings[1];
SED9008	0:5de940cf9783	155	z_cor = readings[2];
SED9008	0:5de940cf9783	156	routine.attach_us(&interrupt, 10);
SED9008	0:5de940cf9783	157	}
SED9008	0:5de940cf9783	158	}
SED9008	0:5de940cf9783	159	}
SED9008	0:5de940cf9783	160
SED9008	0:5de940cf9783	161	void tcp_send( const char* data ){
SED9008	0:5de940cf9783	162	int len = strlen(data);
SED9008	0:5de940cf9783	163	pConnectedSock->send(data, len);
SED9008	0:5de940cf9783	164	}
SED9008	0:5de940cf9783	165
SED9008	0:5de940cf9783	166	void onConnectedTCPSocketEvent(TCPSocketEvent e)
SED9008	0:5de940cf9783	167	{
SED9008	0:5de940cf9783	168	switch(e)
SED9008	0:5de940cf9783	169	{
SED9008	0:5de940cf9783	170	case TCPSOCKET_CONNECTED:
SED9008	0:5de940cf9783	171	break;
SED9008	0:5de940cf9783	172	case TCPSOCKET_WRITEABLE:
SED9008	0:5de940cf9783	173	//Can now write some data...
SED9008	0:5de940cf9783	174	printf("TCP Socket Writable\r\n");
SED9008	0:5de940cf9783	175	break;
SED9008	0:5de940cf9783	176	case TCPSOCKET_READABLE:
SED9008	0:5de940cf9783	177	//Can now read dome data...
SED9008	0:5de940cf9783	178	// Read in any available data into the buffer
SED9008	0:5de940cf9783	179	//char buff[128];
SED9008	0:5de940cf9783	180	//while ( int len = pConnectedSock->recv(buff, 128) ) {
SED9008	0:5de940cf9783	181	// And send straight back out again
SED9008	0:5de940cf9783	182	// pConnectedSock->send(buff, len);
SED9008	0:5de940cf9783	183	// buff[len]=0; // make terminater
SED9008	0:5de940cf9783	184	//}
SED9008	0:5de940cf9783	185	break;
SED9008	0:5de940cf9783	186	case TCPSOCKET_CONTIMEOUT:
SED9008	0:5de940cf9783	187	printf("TCP Socket Timeout\r\n");
SED9008	0:5de940cf9783	188	break;
SED9008	0:5de940cf9783	189	case TCPSOCKET_CONRST:
SED9008	0:5de940cf9783	190	printf("TCP Socket CONRST\r\n");
SED9008	0:5de940cf9783	191	break;
SED9008	0:5de940cf9783	192	case TCPSOCKET_CONABRT:
SED9008	0:5de940cf9783	193	printf("TCP Socket CONABRT\r\n");
SED9008	0:5de940cf9783	194	break;
SED9008	0:5de940cf9783	195	case TCPSOCKET_ERROR:
SED9008	0:5de940cf9783	196	printf("TCP Socket Error\r\n");
SED9008	0:5de940cf9783	197	break;
SED9008	0:5de940cf9783	198	case TCPSOCKET_DISCONNECTED:
SED9008	0:5de940cf9783	199	//Close socket...
SED9008	0:5de940cf9783	200	printf("TCP Socket Disconnected\r\n");
SED9008	0:5de940cf9783	201	pConnectedSock->close();
SED9008	0:5de940cf9783	202	break;
SED9008	0:5de940cf9783	203	default:
SED9008	0:5de940cf9783	204	printf("DEFAULT\r\n");
SED9008	0:5de940cf9783	205	}
SED9008	0:5de940cf9783	206	}
SED9008	0:5de940cf9783	207
SED9008	0:5de940cf9783	208	void onListeningTCPSocketEvent(TCPSocketEvent e)
SED9008	0:5de940cf9783	209	{
SED9008	0:5de940cf9783	210	switch(e)
SED9008	0:5de940cf9783	211	{
SED9008	0:5de940cf9783	212	case TCPSOCKET_ACCEPT:
SED9008	0:5de940cf9783	213	printf("Listening: TCP Socket Accepted\r\n");
SED9008	0:5de940cf9783	214	// Accepts connection from client and gets connected socket.
SED9008	0:5de940cf9783	215	err=ListeningSock.accept(&client, &pConnectedSock);
SED9008	0:5de940cf9783	216	if (err) {
SED9008	0:5de940cf9783	217	printf("onListeningTcpSocketEvent : Could not accept connection.\r\n");
SED9008	0:5de940cf9783	218	return; //Error in accept, discard connection
SED9008	0:5de940cf9783	219	}
SED9008	0:5de940cf9783	220	// Setup the new socket events
SED9008	0:5de940cf9783	221	pConnectedSock->setOnEvent(&onConnectedTCPSocketEvent);
SED9008	0:5de940cf9783	222	// We can find out from where the connection is coming by looking at the
SED9008	0:5de940cf9783	223	// Host parameter of the accept() method
SED9008	0:5de940cf9783	224	IpAddr clientIp = client.getIp();
SED9008	0:5de940cf9783	225	printf("Listening: Incoming TCP connection from %d.%d.%d.%d\r\n",
SED9008	0:5de940cf9783	226	clientIp[0], clientIp[1], clientIp[2], clientIp[3]);
SED9008	0:5de940cf9783	227	break;
SED9008	0:5de940cf9783	228	// the following cases will not happen
SED9008	0:5de940cf9783	229	case TCPSOCKET_CONNECTED:
SED9008	0:5de940cf9783	230	printf("Listening: TCP Socket Connected\r\n");
SED9008	0:5de940cf9783	231	break;
SED9008	0:5de940cf9783	232	case TCPSOCKET_WRITEABLE:
SED9008	0:5de940cf9783	233	printf("Listening: TCP Socket Writable\r\n");
SED9008	0:5de940cf9783	234	break;
SED9008	0:5de940cf9783	235	case TCPSOCKET_READABLE:
SED9008	0:5de940cf9783	236	printf("Listening: TCP Socket Readable\r\n");
SED9008	0:5de940cf9783	237	break;
SED9008	0:5de940cf9783	238	case TCPSOCKET_CONTIMEOUT:
SED9008	0:5de940cf9783	239	printf("Listening: TCP Socket Timeout\r\n");
SED9008	0:5de940cf9783	240	break;
SED9008	0:5de940cf9783	241	case TCPSOCKET_CONRST:
SED9008	0:5de940cf9783	242	printf("Listening: TCP Socket CONRST\r\n");
SED9008	0:5de940cf9783	243	break;
SED9008	0:5de940cf9783	244	case TCPSOCKET_CONABRT:
SED9008	0:5de940cf9783	245	printf("Listening: TCP Socket CONABRT\r\n");
SED9008	0:5de940cf9783	246	break;
SED9008	0:5de940cf9783	247	case TCPSOCKET_ERROR:
SED9008	0:5de940cf9783	248	printf("Listening: TCP Socket Error\r\n");
SED9008	0:5de940cf9783	249	break;
SED9008	0:5de940cf9783	250	case TCPSOCKET_DISCONNECTED:
SED9008	0:5de940cf9783	251	//Close socket...
SED9008	0:5de940cf9783	252	printf("Listening: TCP Socket Disconnected\r\n");
SED9008	0:5de940cf9783	253	ListeningSock.close();
SED9008	0:5de940cf9783	254	break;
SED9008	0:5de940cf9783	255	default:
SED9008	0:5de940cf9783	256	printf("DEFAULT\r\n");
SED9008	0:5de940cf9783	257	};
SED9008	0:5de940cf9783	258	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	01 Mar 2012
Imports:	11
Forks:	0
Commits:	3
Dependents:	0
Dependencies:	4
Followers:	1

main.cpp@0:5de940cf9783, 2012-03-01 (annotated)

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