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@1:a88d1309f810, 2012-03-02 (annotated)

Committer:: SED9008
Date:: Fri Mar 02 22:31:23 2012 +0000
Revision:: 1:a88d1309f810
Parent:: 0:5de940cf9783
Child:: 2:96f81996a332

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	1:a88d1309f810	30
SED9008	1:a88d1309f810	31	//############## INCLUDE FILES ##############//
SED9008	0:5de940cf9783	32	#include "mbed.h"
SED9008	0:5de940cf9783	33	#include "EthernetNetIf.h"
SED9008	0:5de940cf9783	34	#include "TCPSocket.h"
SED9008	0:5de940cf9783	35	#include "ADXL345_I2C.h"
SED9008	1:a88d1309f810	36	//#############################################//
SED9008	0:5de940cf9783	37
SED9008	1:a88d1309f810	38	//############## DEFINES ##############//
SED9008	0:5de940cf9783	39	#define TCP_LISTENING_PORT 1337
SED9008	1:a88d1309f810	40	#define PI 3.14159265
SED9008	1:a88d1309f810	41	//#############################################//
SED9008	0:5de940cf9783	42
SED9008	1:a88d1309f810	43	//############## VARIABLES ##############//
SED9008	1:a88d1309f810	44	double x_cor = 0,
SED9008	1:a88d1309f810	45	y_cor = 0,
SED9008	1:a88d1309f810	46	cont[2] = {0,0};
SED9008	1:a88d1309f810	47	int print = 0,
SED9008	1:a88d1309f810	48	go = 0,
SED9008	1:a88d1309f810	49	calibrated = 0;
SED9008	1:a88d1309f810	50	//#############################################//
SED9008	1:a88d1309f810	51
SED9008	1:a88d1309f810	52	//##############PIN CONFIGURATION##############//
SED9008	0:5de940cf9783	53	DigitalOut led3(LED3, "led3");
SED9008	0:5de940cf9783	54	DigitalOut led4(LED4, "led4");
SED9008	0:5de940cf9783	55	DigitalIn init(p5);
SED9008	0:5de940cf9783	56	DigitalIn calibrate(p20);
SED9008	0:5de940cf9783	57	//I2C i2c(p9, p10); // sda, scl
SED9008	0:5de940cf9783	58	ADXL345_I2C acc(p9, p10);
SED9008	1:a88d1309f810	59	//#############################################//
SED9008	0:5de940cf9783	60
SED9008	1:a88d1309f810	61	//############## PROTOTYPES ##############//
SED9008	0:5de940cf9783	62	void tcp_send(const char*);
SED9008	0:5de940cf9783	63	void tcp_sendIfConnected( const char* data );
SED9008	0:5de940cf9783	64	void onConnectedTCPSocketEvent(TCPSocketEvent e);
SED9008	0:5de940cf9783	65	void onListeningTCPSocketEvent(TCPSocketEvent e);
SED9008	1:a88d1309f810	66	double getAngle(char axis, int precision);
SED9008	1:a88d1309f810	67	//#############################################//
SED9008	0:5de940cf9783	68
SED9008	1:a88d1309f810	69	//############## ETHERNET CONFIG ##############//
SED9008	0:5de940cf9783	70	// EthernetNetIf eth;
SED9008	0:5de940cf9783	71	EthernetNetIf eth(
SED9008	0:5de940cf9783	72	IpAddr(192,168,0,16), //IP Address
SED9008	0:5de940cf9783	73	IpAddr(255,255,255,0), //Network Mask
SED9008	1:a88d1309f810	74	IpAddr(192,168,0,1), //Gateway
SED9008	1:a88d1309f810	75	IpAddr(192,168,0,1) //DNS
SED9008	0:5de940cf9783	76	);
SED9008	0:5de940cf9783	77
SED9008	0:5de940cf9783	78	TCPSocket ListeningSock;
SED9008	0:5de940cf9783	79	TCPSocket* pConnectedSock; // for ConnectedSock
SED9008	0:5de940cf9783	80	Host client;
SED9008	0:5de940cf9783	81	TCPSocketErr err;
SED9008	1:a88d1309f810	82	//#############################################//
SED9008	1:a88d1309f810	83
SED9008	0:5de940cf9783	84	Ticker routine;
SED9008	0:5de940cf9783	85
SED9008	1:a88d1309f810	86	//############## INTERRUPT ##############//
SED9008	0:5de940cf9783	87	void interrupt()
SED9008	0:5de940cf9783	88	{
SED9008	0:5de940cf9783	89	// int count = 0;
SED9008	0:5de940cf9783	90	// for (int address=0; address<256; address+=2) {
SED9008	0:5de940cf9783	91	// if (!i2c.write(address, NULL, 0)) { // 0 returned is ok
SED9008	0:5de940cf9783	92	// if(go) {
SED9008	0:5de940cf9783	93	// tcp_send(" - I2C device found at address:");
SED9008	0:5de940cf9783	94	// char buffer [128];
SED9008	0:5de940cf9783	95	// sprintf (buffer, "%i\n",address);
SED9008	0:5de940cf9783	96	// tcp_send(buffer);
SED9008	0:5de940cf9783	97	// }
SED9008	0:5de940cf9783	98	// count++;
SED9008	0:5de940cf9783	99	// }
SED9008	0:5de940cf9783	100	// }
SED9008	1:a88d1309f810	101	if(go){
SED9008	1:a88d1309f810	102	if(calibrated){
SED9008	1:a88d1309f810	103	if(print){
SED9008	1:a88d1309f810	104	char buffer [128];
SED9008	1:a88d1309f810	105	sprintf (buffer, "x:%f - y:%f\n",cont[0],cont[1]);
SED9008	1:a88d1309f810	106	tcp_send(buffer);
SED9008	1:a88d1309f810	107	print = 0;
SED9008	1:a88d1309f810	108	}
SED9008	1:a88d1309f810	109	}
SED9008	1:a88d1309f810	110	}
SED9008	1:a88d1309f810	111	}
SED9008	1:a88d1309f810	112	//#############################################//
SED9008	0:5de940cf9783	113
SED9008	1:a88d1309f810	114	//############## MAIN ##############//
SED9008	0:5de940cf9783	115	int main() {
SED9008	1:a88d1309f810	116	//##############ETHERNET&TCP INIT##############//
SED9008	0:5de940cf9783	117	EthernetErr ethErr = eth.setup();
SED9008	0:5de940cf9783	118	if(ethErr)
SED9008	0:5de940cf9783	119	{
SED9008	0:5de940cf9783	120	return -1;
SED9008	1:a88d1309f810	121	}
SED9008	1:a88d1309f810	122	IpAddr ip = eth.getIp();
SED9008	0:5de940cf9783	123	// Set the callbacks for Listening
SED9008	1:a88d1309f810	124	ListeningSock.setOnEvent(&onListeningTCPSocketEvent);
SED9008	0:5de940cf9783	125	// bind and listen on TCP
SED9008	0:5de940cf9783	126	err=ListeningSock.bind(Host(IpAddr(), TCP_LISTENING_PORT));
SED9008	0:5de940cf9783	127	if(err)
SED9008	0:5de940cf9783	128	{
SED9008	0:5de940cf9783	129	//Deal with that error...
SED9008	1:a88d1309f810	130	}
SED9008	0:5de940cf9783	131	err=ListeningSock.listen(); // Starts listening
SED9008	0:5de940cf9783	132	if(err)
SED9008	0:5de940cf9783	133	{
SED9008	0:5de940cf9783	134	//listening error
SED9008	0:5de940cf9783	135	}
SED9008	1:a88d1309f810	136	//#############################################//
SED9008	0:5de940cf9783	137
SED9008	1:a88d1309f810	138	//#############ACCELEROMETER INIT##############//
SED9008	0:5de940cf9783	139	//Go into standby mode to configure the device.
SED9008	0:5de940cf9783	140	acc.setPowerControl(0x00);
SED9008	0:5de940cf9783	141	//Full resolution, +/-16g, 4mg/LSB.
SED9008	1:a88d1309f810	142	acc.setDataFormatControl(0x00);
SED9008	0:5de940cf9783	143	//3.2kHz data rate.
SED9008	0:5de940cf9783	144	acc.setDataRate(ADXL345_3200HZ);
SED9008	0:5de940cf9783	145	//Measurement mode.
SED9008	0:5de940cf9783	146	acc.setPowerControl(0x08);
SED9008	0:5de940cf9783	147	wait(0.1);
SED9008	1:a88d1309f810	148	//#############################################//
SED9008	1:a88d1309f810	149
SED9008	0:5de940cf9783	150	Timer tmr;
SED9008	0:5de940cf9783	151	tmr.start();
SED9008	1:a88d1309f810	152
SED9008	0:5de940cf9783	153	while(true)
SED9008	0:5de940cf9783	154	{
SED9008	0:5de940cf9783	155	Net::poll();
SED9008	0:5de940cf9783	156	while(init)
SED9008	0:5de940cf9783	157	{
SED9008	0:5de940cf9783	158	if(!init)
SED9008	0:5de940cf9783	159	{
SED9008	0:5de940cf9783	160	tcp_send("You are a go!\n");
SED9008	0:5de940cf9783	161	led3 = 1;
SED9008	0:5de940cf9783	162	go = 1;
SED9008	0:5de940cf9783	163	}
SED9008	0:5de940cf9783	164	}
SED9008	0:5de940cf9783	165	if(tmr.read() > 0.2) // sec
SED9008	0:5de940cf9783	166	{
SED9008	0:5de940cf9783	167	led4=!led4; //Show that we are alive
SED9008	0:5de940cf9783	168	tmr.reset();
SED9008	0:5de940cf9783	169	}
SED9008	0:5de940cf9783	170	if(calibrate){
SED9008	0:5de940cf9783	171	while(calibrate){};
SED9008	1:a88d1309f810	172	x_cor = getAngle('x',100);
SED9008	1:a88d1309f810	173	y_cor = getAngle('y',100);
SED9008	1:a88d1309f810	174
SED9008	1:a88d1309f810	175	char buffer [128];
SED9008	1:a88d1309f810	176	sprintf (buffer, "Calibration values:\n");
SED9008	1:a88d1309f810	177	tcp_send(buffer);
SED9008	1:a88d1309f810	178	sprintf (buffer, "x:%f - y:%f\n",x_cor, y_cor);
SED9008	1:a88d1309f810	179	tcp_send(buffer);
SED9008	1:a88d1309f810	180	sprintf (buffer, "------------------------\n");
SED9008	1:a88d1309f810	181	tcp_send(buffer);
SED9008	1:a88d1309f810	182
SED9008	1:a88d1309f810	183	calibrated = 1;
SED9008	1:a88d1309f810	184
SED9008	1:a88d1309f810	185	wait(0.1);
SED9008	1:a88d1309f810	186
SED9008	1:a88d1309f810	187	routine.attach_us(&interrupt,10);
SED9008	1:a88d1309f810	188	}
SED9008	1:a88d1309f810	189	if(calibrated){
SED9008	1:a88d1309f810	190
SED9008	1:a88d1309f810	191	cont[0] = getAngle('x',10) - x_cor;
SED9008	1:a88d1309f810	192	cont[1] = getAngle('y',10) - y_cor;
SED9008	1:a88d1309f810	193
SED9008	1:a88d1309f810	194	print = 1;
SED9008	0:5de940cf9783	195	}
SED9008	0:5de940cf9783	196	}
SED9008	0:5de940cf9783	197	}
SED9008	1:a88d1309f810	198	//#############################################//
SED9008	1:a88d1309f810	199
SED9008	1:a88d1309f810	200	//############## SUBROUTINES ##############//
SED9008	0:5de940cf9783	201
SED9008	0:5de940cf9783	202	void tcp_send( const char* data ){
SED9008	0:5de940cf9783	203	int len = strlen(data);
SED9008	0:5de940cf9783	204	pConnectedSock->send(data, len);
SED9008	0:5de940cf9783	205	}
SED9008	0:5de940cf9783	206
SED9008	0:5de940cf9783	207	void onConnectedTCPSocketEvent(TCPSocketEvent e)
SED9008	0:5de940cf9783	208	{
SED9008	0:5de940cf9783	209	switch(e)
SED9008	0:5de940cf9783	210	{
SED9008	0:5de940cf9783	211	case TCPSOCKET_CONNECTED:
SED9008	0:5de940cf9783	212	break;
SED9008	0:5de940cf9783	213	case TCPSOCKET_WRITEABLE:
SED9008	0:5de940cf9783	214	//Can now write some data...
SED9008	0:5de940cf9783	215	printf("TCP Socket Writable\r\n");
SED9008	0:5de940cf9783	216	break;
SED9008	0:5de940cf9783	217	case TCPSOCKET_READABLE:
SED9008	0:5de940cf9783	218	//Can now read dome data...
SED9008	0:5de940cf9783	219	// Read in any available data into the buffer
SED9008	0:5de940cf9783	220	//char buff[128];
SED9008	0:5de940cf9783	221	//while ( int len = pConnectedSock->recv(buff, 128) ) {
SED9008	0:5de940cf9783	222	// And send straight back out again
SED9008	0:5de940cf9783	223	// pConnectedSock->send(buff, len);
SED9008	0:5de940cf9783	224	// buff[len]=0; // make terminater
SED9008	0:5de940cf9783	225	//}
SED9008	0:5de940cf9783	226	break;
SED9008	0:5de940cf9783	227	case TCPSOCKET_CONTIMEOUT:
SED9008	0:5de940cf9783	228	printf("TCP Socket Timeout\r\n");
SED9008	0:5de940cf9783	229	break;
SED9008	0:5de940cf9783	230	case TCPSOCKET_CONRST:
SED9008	0:5de940cf9783	231	printf("TCP Socket CONRST\r\n");
SED9008	0:5de940cf9783	232	break;
SED9008	0:5de940cf9783	233	case TCPSOCKET_CONABRT:
SED9008	0:5de940cf9783	234	printf("TCP Socket CONABRT\r\n");
SED9008	0:5de940cf9783	235	break;
SED9008	0:5de940cf9783	236	case TCPSOCKET_ERROR:
SED9008	0:5de940cf9783	237	printf("TCP Socket Error\r\n");
SED9008	0:5de940cf9783	238	break;
SED9008	0:5de940cf9783	239	case TCPSOCKET_DISCONNECTED:
SED9008	0:5de940cf9783	240	//Close socket...
SED9008	0:5de940cf9783	241	printf("TCP Socket Disconnected\r\n");
SED9008	0:5de940cf9783	242	pConnectedSock->close();
SED9008	0:5de940cf9783	243	break;
SED9008	0:5de940cf9783	244	default:
SED9008	0:5de940cf9783	245	printf("DEFAULT\r\n");
SED9008	0:5de940cf9783	246	}
SED9008	0:5de940cf9783	247	}
SED9008	0:5de940cf9783	248
SED9008	0:5de940cf9783	249	void onListeningTCPSocketEvent(TCPSocketEvent e)
SED9008	0:5de940cf9783	250	{
SED9008	0:5de940cf9783	251	switch(e)
SED9008	0:5de940cf9783	252	{
SED9008	0:5de940cf9783	253	case TCPSOCKET_ACCEPT:
SED9008	0:5de940cf9783	254	printf("Listening: TCP Socket Accepted\r\n");
SED9008	0:5de940cf9783	255	// Accepts connection from client and gets connected socket.
SED9008	0:5de940cf9783	256	err=ListeningSock.accept(&client, &pConnectedSock);
SED9008	0:5de940cf9783	257	if (err) {
SED9008	0:5de940cf9783	258	printf("onListeningTcpSocketEvent : Could not accept connection.\r\n");
SED9008	0:5de940cf9783	259	return; //Error in accept, discard connection
SED9008	0:5de940cf9783	260	}
SED9008	0:5de940cf9783	261	// Setup the new socket events
SED9008	0:5de940cf9783	262	pConnectedSock->setOnEvent(&onConnectedTCPSocketEvent);
SED9008	0:5de940cf9783	263	// We can find out from where the connection is coming by looking at the
SED9008	0:5de940cf9783	264	// Host parameter of the accept() method
SED9008	0:5de940cf9783	265	IpAddr clientIp = client.getIp();
SED9008	0:5de940cf9783	266	printf("Listening: Incoming TCP connection from %d.%d.%d.%d\r\n",
SED9008	0:5de940cf9783	267	clientIp[0], clientIp[1], clientIp[2], clientIp[3]);
SED9008	0:5de940cf9783	268	break;
SED9008	0:5de940cf9783	269	// the following cases will not happen
SED9008	0:5de940cf9783	270	case TCPSOCKET_CONNECTED:
SED9008	0:5de940cf9783	271	printf("Listening: TCP Socket Connected\r\n");
SED9008	0:5de940cf9783	272	break;
SED9008	0:5de940cf9783	273	case TCPSOCKET_WRITEABLE:
SED9008	0:5de940cf9783	274	printf("Listening: TCP Socket Writable\r\n");
SED9008	0:5de940cf9783	275	break;
SED9008	0:5de940cf9783	276	case TCPSOCKET_READABLE:
SED9008	0:5de940cf9783	277	printf("Listening: TCP Socket Readable\r\n");
SED9008	0:5de940cf9783	278	break;
SED9008	0:5de940cf9783	279	case TCPSOCKET_CONTIMEOUT:
SED9008	0:5de940cf9783	280	printf("Listening: TCP Socket Timeout\r\n");
SED9008	0:5de940cf9783	281	break;
SED9008	0:5de940cf9783	282	case TCPSOCKET_CONRST:
SED9008	0:5de940cf9783	283	printf("Listening: TCP Socket CONRST\r\n");
SED9008	0:5de940cf9783	284	break;
SED9008	0:5de940cf9783	285	case TCPSOCKET_CONABRT:
SED9008	0:5de940cf9783	286	printf("Listening: TCP Socket CONABRT\r\n");
SED9008	0:5de940cf9783	287	break;
SED9008	0:5de940cf9783	288	case TCPSOCKET_ERROR:
SED9008	0:5de940cf9783	289	printf("Listening: TCP Socket Error\r\n");
SED9008	0:5de940cf9783	290	break;
SED9008	0:5de940cf9783	291	case TCPSOCKET_DISCONNECTED:
SED9008	0:5de940cf9783	292	//Close socket...
SED9008	0:5de940cf9783	293	printf("Listening: TCP Socket Disconnected\r\n");
SED9008	0:5de940cf9783	294	ListeningSock.close();
SED9008	0:5de940cf9783	295	break;
SED9008	0:5de940cf9783	296	default:
SED9008	0:5de940cf9783	297	printf("DEFAULT\r\n");
SED9008	0:5de940cf9783	298	};
SED9008	0:5de940cf9783	299	}
SED9008	1:a88d1309f810	300
SED9008	1:a88d1309f810	301	double getAngle(char axis, int precision)
SED9008	1:a88d1309f810	302	{
SED9008	1:a88d1309f810	303	int measurement[3] = {0,0,0};
SED9008	1:a88d1309f810	304	double x_temp = 0,
SED9008	1:a88d1309f810	305	y_temp = 0,
SED9008	1:a88d1309f810	306	z_temp = 0,
SED9008	1:a88d1309f810	307	x_angle = 0,
SED9008	1:a88d1309f810	308	y_angle = 0;
SED9008	1:a88d1309f810	309
SED9008	1:a88d1309f810	310	int i;
SED9008	1:a88d1309f810	311
SED9008	1:a88d1309f810	312	for(i=0;i<precision;i++)
SED9008	1:a88d1309f810	313	{
SED9008	1:a88d1309f810	314	acc.getOutput(measurement);
SED9008	1:a88d1309f810	315	x_temp = (int16_t)measurement[0];
SED9008	1:a88d1309f810	316	y_temp = (int16_t)measurement[1];
SED9008	1:a88d1309f810	317	z_temp = (int16_t)measurement[2];
SED9008	1:a88d1309f810	318	x_angle += x_temp/z_temp;
SED9008	1:a88d1309f810	319	y_angle += y_temp/z_temp;
SED9008	1:a88d1309f810	320	}
SED9008	1:a88d1309f810	321	x_angle = x_angle/precision;
SED9008	1:a88d1309f810	322	y_angle = y_angle/precision;
SED9008	1:a88d1309f810	323	// x_angle = atan(x_angle) * 180 / PI;
SED9008	1:a88d1309f810	324	// y_angle = atan(y_angle) * 180 / PI;
SED9008	1:a88d1309f810	325	if(axis == 'x')return atan(x_angle) * 180 / PI;
SED9008	1:a88d1309f810	326	if(axis == 'y')return atan(y_angle) * 180 / PI;
SED9008	1:a88d1309f810	327	}
SED9008	1:a88d1309f810	328
SED9008	1:a88d1309f810	329

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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@1:a88d1309f810, 2012-03-02 (annotated)

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