Chris Price / Mbed 2 deprecated ECE_4180_Lab_4_Robot_Webserver

Fork

Dependencies:   Motordriver mbed-rtos mbed

Fork of ESP8266-WEB-Mbed-LPC1768-Controller by jim hamblen

main.cpp@5:cfceccd5ccb1, 2015-10-20 (annotated)

Committer:
chrisprice92
Date:
Tue Oct 20 18:21:16 2015 +0000
Revision:
5:cfceccd5ccb1
Parent:
4:40dd020463ea 
Working with two threads.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
star297 0:e2a155f50119 1 // ESP8266 Static page WEB server to control Mbed
star297 0:e2a155f50119 2
star297 0:e2a155f50119 3 #include "mbed.h"
4180_1 4:40dd020463ea 4 //#include "DS18B20.h"
chrisprice92 5:cfceccd5ccb1 5 #include "motordriver.h"
chrisprice92 5:cfceccd5ccb1 6 #include "rtos.h"
star297 0:e2a155f50119 7
chrisprice92 5:cfceccd5ccb1 8 RawSerial pc(USBTX, USBRX);
chrisprice92 5:cfceccd5ccb1 9 RawSerial esp(p28, p27); // tx, rx
star297 0:e2a155f50119 10
4180_1 4:40dd020463ea 11 //DS18B20 thermom(A0, DS18B20::RES_12_BIT);
star297 2:d4c6bc0f2dc4 12
star297 0:e2a155f50119 13 // Standard Mbed LED definitions
4180_1 4:40dd020463ea 14 DigitalOut led1(LED1); // (PTB18)
4180_1 4:40dd020463ea 15 DigitalOut led2(LED2); // (PTB19)
4180_1 4:40dd020463ea 16 DigitalOut led3(LED3); // (PTD1)
chrisprice92 5:cfceccd5ccb1 17 DigitalOut led4(LED4);
chrisprice92 5:cfceccd5ccb1 18 Motor left(p21, p23, p22, 1); // pwm, fwd, rev, has brake feature
chrisprice92 5:cfceccd5ccb1 19 Motor right(p26, p25, p24, 1);
star297 0:e2a155f50119 20
star297 0:e2a155f50119 21 // Digital Out and In pins, can be configured to any suitable pin depending on Platform
4180_1 4:40dd020463ea 22 DigitalOut Out1(p6);
4180_1 4:40dd020463ea 23 DigitalOut Out2(p7);
4180_1 4:40dd020463ea 24 DigitalOut Out3(p8);
chrisprice92 5:cfceccd5ccb1 25 DigitalOut reset(p29);
star297 0:e2a155f50119 26
4180_1 4:40dd020463ea 27 DigitalIn In1(p9);
4180_1 4:40dd020463ea 28 DigitalIn In2(p10);
4180_1 4:40dd020463ea 29 DigitalIn In3(p11);
star297 0:e2a155f50119 30
4180_1 4:40dd020463ea 31 PwmOut speaker(p21);
4180_1 4:40dd020463ea 32 AnalogIn Ain1(p18);
4180_1 4:40dd020463ea 33 AnalogIn Ain2(p19);
star297 0:e2a155f50119 34
star297 0:e2a155f50119 35 Timer t1;
star297 1:71ed1afbf344 36 Timer t2;
star297 1:71ed1afbf344 37
chrisprice92 5:cfceccd5ccb1 38 void motorThread(void const *args);
chrisprice92 5:cfceccd5ccb1 39 bool gMotorLatch = false;
chrisprice92 5:cfceccd5ccb1 40 int gMotorCommand = 0;
chrisprice92 5:cfceccd5ccb1 41 #define CMD_FWD 1
chrisprice92 5:cfceccd5ccb1 42 #define CMD_BACK 2
chrisprice92 5:cfceccd5ccb1 43 #define CMD_LEFT 3
chrisprice92 5:cfceccd5ccb1 44 #define CMD_RIGHT 4
chrisprice92 5:cfceccd5ccb1 45
star297 1:71ed1afbf344 46 struct tm t;
star297 0:e2a155f50119 47
star297 3:f7febfa77784 48 int bufflen, DataRX, count, getcount, replycount, servreq, timeout;
star297 2:d4c6bc0f2dc4 49 int bufl, ipdLen, linkID, weberror, webcounter;
4180_1 4:40dd020463ea 50 float temperature, AdcIn, Ht;
star297 0:e2a155f50119 51 float R1=100000, R2=10000; // resistor values to give a 10:1 reduction of measured AnalogIn voltage
star297 0:e2a155f50119 52 char Vcc[10];
star297 0:e2a155f50119 53 char Temp[10];
star297 0:e2a155f50119 54 char temp[10];
star297 2:d4c6bc0f2dc4 55 char webcount[8];
star297 3:f7febfa77784 56 char lasthit[30];
star297 0:e2a155f50119 57 char timebuf[30];
star297 0:e2a155f50119 58 char type[16];
star297 0:e2a155f50119 59 char type1[16];
star297 0:e2a155f50119 60 char channel[2];
star297 3:f7febfa77784 61 char cmdbuff[32];
4180_1 4:40dd020463ea 62 char replybuff[1024];
star297 0:e2a155f50119 63 char webdata[1024]; // This may need to be bigger depending on WEB browser used
star297 3:f7febfa77784 64 char webbuff[4096]; // Currently using 1986 characters, Increase this if more web page data added
star297 0:e2a155f50119 65
star297 0:e2a155f50119 66 void SendCMD(),getreply(),ReadWebData(),startserver(),sendpage(),SendWEB(),sendcheck();
star297 2:d4c6bc0f2dc4 67 void gettime(),gettemp(),getbattery(),setRTC(),beep();
star297 0:e2a155f50119 68
chrisprice92 5:cfceccd5ccb1 69 bool simpleResponse = false;
chrisprice92 5:cfceccd5ccb1 70 void sendSimplePage();
chrisprice92 5:cfceccd5ccb1 71
star297 1:71ed1afbf344 72 // manual set RTC values
4180_1 4:40dd020463ea 73 int minute =00; // 0-59
4180_1 4:40dd020463ea 74 int hour =12; // 2-23
4180_1 4:40dd020463ea 75 int dayofmonth =26; // 1-31
4180_1 4:40dd020463ea 76 int month =8; // 1-12
star297 1:71ed1afbf344 77 int year =15; // last 2 digits
star297 2:d4c6bc0f2dc4 78
4180_1 4:40dd020463ea 79 int port =80; // set server port
4180_1 4:40dd020463ea 80 int SERVtimeout =5; // set server timeout in seconds in case link breaks.
4180_1 4:40dd020463ea 81
star297 0:e2a155f50119 82 // Serial Interrupt read ESP data
4180_1 4:40dd020463ea 83 void callback()
4180_1 4:40dd020463ea 84 {
4180_1 4:40dd020463ea 85 led3=1;
chrisprice92 5:cfceccd5ccb1 86 led4 = 0;
4180_1 4:40dd020463ea 87 while (esp.readable()) {
chrisprice92 5:cfceccd5ccb1 88 led4 = !led4;
4180_1 4:40dd020463ea 89 webbuff[count] = esp.getc();
4180_1 4:40dd020463ea 90 count++;
4180_1 4:40dd020463ea 91 }
chrisprice92 5:cfceccd5ccb1 92
chrisprice92 5:cfceccd5ccb1 93 led2 = 0;
4180_1 4:40dd020463ea 94 if(strlen(webbuff)>bufflen) {
4180_1 4:40dd020463ea 95 DataRX=1;
4180_1 4:40dd020463ea 96 led3=0;
4180_1 4:40dd020463ea 97 }
star297 0:e2a155f50119 98 }
star297 0:e2a155f50119 99
4180_1 4:40dd020463ea 100 int main()
chrisprice92 5:cfceccd5ccb1 101 {
4180_1 4:40dd020463ea 102 reset=0;
star297 0:e2a155f50119 103 pc.baud(115200);
4180_1 4:40dd020463ea 104
4180_1 4:40dd020463ea 105 pc.printf("\f\n\r------------ ESP8266 Hardware Reset --------------\n\r");
4180_1 4:40dd020463ea 106 wait(0.5);
4180_1 4:40dd020463ea 107 reset=1;
4180_1 4:40dd020463ea 108 led1=1,led2=0,led3=0;
4180_1 4:40dd020463ea 109 timeout=6000;
4180_1 4:40dd020463ea 110 getcount=500;
4180_1 4:40dd020463ea 111 getreply();
star297 3:f7febfa77784 112 esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
4180_1 4:40dd020463ea 113 if (time(NULL) < 1420070400) {
4180_1 4:40dd020463ea 114 setRTC();
4180_1 4:40dd020463ea 115 }
star297 2:d4c6bc0f2dc4 116 beep();
star297 0:e2a155f50119 117 startserver();
4180_1 4:40dd020463ea 118
chrisprice92 5:cfceccd5ccb1 119 Thread mThreadYo(motorThread);
chrisprice92 5:cfceccd5ccb1 120
4180_1 4:40dd020463ea 121 while(1) {
4180_1 4:40dd020463ea 122 if(DataRX==1) {
star297 0:e2a155f50119 123 ReadWebData();
star297 2:d4c6bc0f2dc4 124 beep();
4180_1 4:40dd020463ea 125 if (servreq == 1 && weberror == 0) {
chrisprice92 5:cfceccd5ccb1 126 if (simpleResponse == true) {
chrisprice92 5:cfceccd5ccb1 127 sendSimplePage();
chrisprice92 5:cfceccd5ccb1 128 simpleResponse = false;
chrisprice92 5:cfceccd5ccb1 129 } else {
chrisprice92 5:cfceccd5ccb1 130 sendpage();
chrisprice92 5:cfceccd5ccb1 131 }
4180_1 4:40dd020463ea 132 }
4180_1 4:40dd020463ea 133 esp.attach(&callback);
4180_1 4:40dd020463ea 134 pc.printf(" IPD Data:\r\n\n Link ID = %d,\r\n IPD Header Length = %d \r\n IPD Type = %s\r\n", linkID, ipdLen, type);
4180_1 4:40dd020463ea 135 pc.printf("\n\n HTTP Packet: \n\n%s\n", webdata);
star297 0:e2a155f50119 136 pc.printf(" Web Characters sent : %d\n\n", bufl);
star297 0:e2a155f50119 137 pc.printf(" -------------------------------------\n\n");
star297 2:d4c6bc0f2dc4 138 strcpy(lasthit, timebuf);
4180_1 4:40dd020463ea 139 servreq=0;
4180_1 4:40dd020463ea 140 }
star297 0:e2a155f50119 141 }
4180_1 4:40dd020463ea 142 }
chrisprice92 5:cfceccd5ccb1 143 void sendSimplePage() {
chrisprice92 5:cfceccd5ccb1 144 strcpy(webbuff, "<!DOCTYPE html><html><head></head><body>OK</body></html>");
chrisprice92 5:cfceccd5ccb1 145
chrisprice92 5:cfceccd5ccb1 146 // end of WEB page data
chrisprice92 5:cfceccd5ccb1 147 bufl = strlen(webbuff); // get total page buffer length
chrisprice92 5:cfceccd5ccb1 148 sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
chrisprice92 5:cfceccd5ccb1 149 timeout=200;
chrisprice92 5:cfceccd5ccb1 150 getcount=7;
chrisprice92 5:cfceccd5ccb1 151 SendCMD();
chrisprice92 5:cfceccd5ccb1 152 getreply();
chrisprice92 5:cfceccd5ccb1 153 SendWEB(); // send web page
chrisprice92 5:cfceccd5ccb1 154 memset(webbuff, '\0', sizeof(webbuff));
chrisprice92 5:cfceccd5ccb1 155 sendcheck();
chrisprice92 5:cfceccd5ccb1 156 }
chrisprice92 5:cfceccd5ccb1 157
4180_1 4:40dd020463ea 158 // Static WEB page
star297 0:e2a155f50119 159 void sendpage()
4180_1 4:40dd020463ea 160 {
star297 3:f7febfa77784 161 gettemp();
4180_1 4:40dd020463ea 162 getbattery();
4180_1 4:40dd020463ea 163 gettime();
4180_1 4:40dd020463ea 164
4180_1 4:40dd020463ea 165 // WEB page data
star297 3:f7febfa77784 166 strcpy(webbuff, "<!DOCTYPE html>");
4180_1 4:40dd020463ea 167 strcat(webbuff, "<html><head><title>ESP8266 Mbed LPC1768</title></head>");
4180_1 4:40dd020463ea 168 strcat(webbuff, "<body>");
4180_1 4:40dd020463ea 169 strcat(webbuff, "<div style=\"text-align:center; background-color:#F4F4F4; color:#00AEDB;\"><h1>ESP8266 Mbed IoT Web Controller</h1>");
star297 3:f7febfa77784 170 strcat(webbuff, "Hit Count - ");
star297 3:f7febfa77784 171 strcat(webbuff, webcount);
star297 3:f7febfa77784 172 strcat(webbuff, "<br>Last Hit - ");
4180_1 4:40dd020463ea 173 strcat(webbuff, lasthit);
star297 3:f7febfa77784 174 strcat(webbuff, "</div><br /><hr>");
4180_1 4:40dd020463ea 175 strcat(webbuff, "<h3>Mbed RTC Time -&nbsp&nbsp");
star297 3:f7febfa77784 176 strcat(webbuff, timebuf);
star297 3:f7febfa77784 177 strcat(webbuff, "</h3>\r\n");
4180_1 4:40dd020463ea 178 strcat(webbuff, "<p><form method=\"POST\"><strong> Analog 1:&nbsp&nbsp<input type=\"text\" size=6 value=\"");
star297 3:f7febfa77784 179 strcat(webbuff, Temp);
4180_1 4:40dd020463ea 180 strcat(webbuff, "\"> </sup>V <form method=\"POST\"> <strong> &nbsp&nbspAnalog 2:&nbsp&nbsp<input type=\"text\" size=4 value=\"");
star297 3:f7febfa77784 181 strcat(webbuff, Vcc);
4180_1 4:40dd020463ea 182 strcat(webbuff, "\"> </sup>V");
4180_1 4:40dd020463ea 183 if(led1==0) {
4180_1 4:40dd020463ea 184 strcat(webbuff, "<p><input type=\"radio\" name=\"led1\" value=\"0\" checked> LED 1 off");
4180_1 4:40dd020463ea 185 strcat(webbuff, "<br><input type=\"radio\" name=\"led1\" value=\"1\" > LED 1 on");
4180_1 4:40dd020463ea 186 } else {
4180_1 4:40dd020463ea 187 strcat(webbuff, "<p><input type=\"radio\" name=\"led1\" value=\"0\" > LED 1 off");
4180_1 4:40dd020463ea 188 strcat(webbuff, "<br><input type=\"radio\" name=\"led1\" value=\"1\" checked> LED 1 on");
4180_1 4:40dd020463ea 189 }
4180_1 4:40dd020463ea 190 if(Out1==0) {
4180_1 4:40dd020463ea 191 strcat(webbuff, "<p><input type=\"radio\" name=\"Out1\" value=\"0\" checked> Digital Out 1 off");
4180_1 4:40dd020463ea 192 strcat(webbuff, "<br><input type=\"radio\" name=\"Out1\" value=\"1\" > Digital Out 1 on");
4180_1 4:40dd020463ea 193 } else {
4180_1 4:40dd020463ea 194 strcat(webbuff, "<p><input type=\"radio\" name=\"Out1\" value=\"0\" > Digital Out 1 off");
4180_1 4:40dd020463ea 195 strcat(webbuff, "<br><input type=\"radio\" name=\"Out1\" value=\"1\" checked> Digital Out 1 on");
4180_1 4:40dd020463ea 196 }
4180_1 4:40dd020463ea 197 if(Out2==0) {
4180_1 4:40dd020463ea 198 strcat(webbuff, "<p><input type=\"radio\" name=\"Out2\" value=\"0\" checked> Digital Out 2 off");
4180_1 4:40dd020463ea 199 strcat(webbuff, "<br><input type=\"radio\" name=\"Out2\" value=\"1\" > Digital Out 2 on");
4180_1 4:40dd020463ea 200 } else {
4180_1 4:40dd020463ea 201 strcat(webbuff, "<p><input type=\"radio\" name=\"Out2\" value=\"0\" > Digital Out 2 off");
4180_1 4:40dd020463ea 202 strcat(webbuff, "<br><input type=\"radio\" name=\"Out2\" value=\"1\" checked> Digital Out 2 on");
4180_1 4:40dd020463ea 203 }
4180_1 4:40dd020463ea 204 if(Out3==0) {
4180_1 4:40dd020463ea 205 strcat(webbuff, "<p><input type=\"radio\" name=\"Out3\" value=\"0\" checked> Digital Out 3 off");
4180_1 4:40dd020463ea 206 strcat(webbuff, "<br><input type=\"radio\" name=\"Out3\" value=\"1\" > Digital Out 3 on");
4180_1 4:40dd020463ea 207 } else {
4180_1 4:40dd020463ea 208 strcat(webbuff, "<p><input type=\"radio\" name=\"Out3\" value=\"0\" > Digital Out 3 off");
4180_1 4:40dd020463ea 209 strcat(webbuff, "<br><input type=\"radio\" name=\"Out3\" value=\"1\" checked> Digital Out 3 on");
4180_1 4:40dd020463ea 210 }
4180_1 4:40dd020463ea 211 if(In1==0) {
4180_1 4:40dd020463ea 212 strcat(webbuff, "<p><input type=\"radio\" name=\"In1\" value=\"0\" > Digital In 1");
4180_1 4:40dd020463ea 213 } else {
4180_1 4:40dd020463ea 214 strcat(webbuff, "<p><input type=\"radio\" name=\"In1\" value=\"1\" checked> Digital In 1");
4180_1 4:40dd020463ea 215 }
4180_1 4:40dd020463ea 216 if(In2==0) {
4180_1 4:40dd020463ea 217 strcat(webbuff, "<br><input type=\"radio\" name=\"In2\" value=\"0\" > Digital In 2");
4180_1 4:40dd020463ea 218 } else {
4180_1 4:40dd020463ea 219 strcat(webbuff, "<br><input type=\"radio\" name=\"In2\" value=\"1\" checked> Digital In 2");
4180_1 4:40dd020463ea 220 }
4180_1 4:40dd020463ea 221 if(In3==0) {
4180_1 4:40dd020463ea 222 strcat(webbuff, "<br><input type=\"radio\" name=\"In3\" value=\"0\" > Digital In 3");
4180_1 4:40dd020463ea 223 } else {
4180_1 4:40dd020463ea 224 strcat(webbuff, "<br><input type=\"radio\" name=\"In3\" value=\"1\" checked> Digital In 3");
4180_1 4:40dd020463ea 225 }
4180_1 4:40dd020463ea 226 strcat(webbuff, "</strong><p><input type=\"submit\" value=\"send-refresh\" style=\"background: #3498db;");
4180_1 4:40dd020463ea 227 strcat(webbuff, "background-image:-webkit-linear-gradient(top, #3498db, #2980b9);");
star297 3:f7febfa77784 228 strcat(webbuff, "background-image:linear-gradient(to bottom, #3498db, #2980b9);");
star297 3:f7febfa77784 229 strcat(webbuff, "-webkit-border-radius:12;border-radius: 12px;font-family: Arial;color:#ffffff;font-size:20px;padding:");
4180_1 4:40dd020463ea 230 strcat(webbuff, "10px 20px 10px 20px; border:solid #103c57 3px;text-decoration: none;");
star297 3:f7febfa77784 231 strcat(webbuff, "background: #3cb0fd;");
4180_1 4:40dd020463ea 232 strcat(webbuff, "background-image:-webkit-linear-gradient(top,#3cb0fd,#1a5f8a);");
star297 3:f7febfa77784 233 strcat(webbuff, "background-image:linear-gradient(to bottom,#3cb0fd,#1a5f8a);");
star297 3:f7febfa77784 234 strcat(webbuff, "text-decoration:none;\"></form></span>");
star297 3:f7febfa77784 235 strcat(webbuff, "<p/><h2>How to use:</h2><ul>");
star297 3:f7febfa77784 236 strcat(webbuff, "<li>Select the Radio buttons to control the digital out pins.</li>");
4180_1 4:40dd020463ea 237 strcat(webbuff, "<li>Click 'Send-Refresh' to send.</li>");
4180_1 4:40dd020463ea 238 strcat(webbuff, "<li>Use the 'Send-Refresh' button to refresh the data.</li>");
star297 3:f7febfa77784 239 strcat(webbuff, "</ul>");
4180_1 4:40dd020463ea 240 strcat(webbuff, "</body></html>");
4180_1 4:40dd020463ea 241 // end of WEB page data
4180_1 4:40dd020463ea 242 bufl = strlen(webbuff); // get total page buffer length
star297 3:f7febfa77784 243 sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
4180_1 4:40dd020463ea 244 timeout=200;
4180_1 4:40dd020463ea 245 getcount=7;
star297 3:f7febfa77784 246 SendCMD();
4180_1 4:40dd020463ea 247 getreply();
star297 0:e2a155f50119 248 SendWEB(); // send web page
star297 3:f7febfa77784 249 memset(webbuff, '\0', sizeof(webbuff));
4180_1 4:40dd020463ea 250 sendcheck();
star297 0:e2a155f50119 251 }
star297 0:e2a155f50119 252
star297 3:f7febfa77784 253 // wait for ESP "SEND OK" reply, then close IP to load web page
star297 0:e2a155f50119 254 void sendcheck()
star297 0:e2a155f50119 255 {
4180_1 4:40dd020463ea 256 weberror=1;
4180_1 4:40dd020463ea 257 timeout=500;
4180_1 4:40dd020463ea 258 getcount=24;
4180_1 4:40dd020463ea 259 t2.reset();
4180_1 4:40dd020463ea 260 t2.start();
4180_1 4:40dd020463ea 261 while(weberror==1 && t2.read() <5) {
star297 0:e2a155f50119 262 getreply();
4180_1 4:40dd020463ea 263 if (strstr(replybuff, "SEND OK") != NULL) {
4180_1 4:40dd020463ea 264 weberror=0; // wait for valid SEND OK
star297 0:e2a155f50119 265 }
4180_1 4:40dd020463ea 266 }
4180_1 4:40dd020463ea 267 if(weberror==1) { // restart connection
4180_1 4:40dd020463ea 268 strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
4180_1 4:40dd020463ea 269 timeout=500;
4180_1 4:40dd020463ea 270 getcount=10;
4180_1 4:40dd020463ea 271 SendCMD();
4180_1 4:40dd020463ea 272 getreply();
4180_1 4:40dd020463ea 273 pc.printf(replybuff);
star297 3:f7febfa77784 274 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
4180_1 4:40dd020463ea 275 timeout=500;
4180_1 4:40dd020463ea 276 getcount=10;
4180_1 4:40dd020463ea 277 SendCMD();
4180_1 4:40dd020463ea 278 getreply();
4180_1 4:40dd020463ea 279 pc.printf(replybuff);
4180_1 4:40dd020463ea 280 } else {
4180_1 4:40dd020463ea 281 sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
4180_1 4:40dd020463ea 282 SendCMD();
4180_1 4:40dd020463ea 283 getreply();
4180_1 4:40dd020463ea 284 pc.printf(replybuff);
4180_1 4:40dd020463ea 285 }
4180_1 4:40dd020463ea 286 t2.reset();
4180_1 4:40dd020463ea 287 }
star297 0:e2a155f50119 288
4180_1 4:40dd020463ea 289 // Reads and processes GET and POST web data
star297 0:e2a155f50119 290 void ReadWebData()
4180_1 4:40dd020463ea 291 {
4180_1 4:40dd020463ea 292 wait_ms(200);
star297 3:f7febfa77784 293 esp.attach(NULL);
4180_1 4:40dd020463ea 294 count=0;
4180_1 4:40dd020463ea 295 DataRX=0;
4180_1 4:40dd020463ea 296 weberror=0;
4180_1 4:40dd020463ea 297 memset(webdata, '\0', sizeof(webdata));
star297 3:f7febfa77784 298 int x = strcspn (webbuff,"+");
4180_1 4:40dd020463ea 299 if(x) {
chrisprice92 5:cfceccd5ccb1 300 pc.printf("DATA: %s", webdata);
4180_1 4:40dd020463ea 301 strcpy(webdata, webbuff + x);
4180_1 4:40dd020463ea 302 weberror=0;
4180_1 4:40dd020463ea 303 int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
chrisprice92 5:cfceccd5ccb1 304 if( strstr(webdata, "led1=1") != NULL || strstr(webdata, "keycode=fwd") != NULL) {
chrisprice92 5:cfceccd5ccb1 305 gMotorLatch = true;
chrisprice92 5:cfceccd5ccb1 306 gMotorCommand = CMD_FWD;
chrisprice92 5:cfceccd5ccb1 307
chrisprice92 5:cfceccd5ccb1 308 simpleResponse = true;
4180_1 4:40dd020463ea 309 }
4180_1 4:40dd020463ea 310 if( strstr(webdata, "led1=0") != NULL ) {
4180_1 4:40dd020463ea 311 led1=0;
4180_1 4:40dd020463ea 312 }
chrisprice92 5:cfceccd5ccb1 313 if( strstr(webdata, "Out1=1") != NULL || strstr(webdata, "keycode=back") != NULL) {
chrisprice92 5:cfceccd5ccb1 314 gMotorLatch = true;
chrisprice92 5:cfceccd5ccb1 315 gMotorCommand = CMD_BACK;
chrisprice92 5:cfceccd5ccb1 316 simpleResponse = true;
4180_1 4:40dd020463ea 317 }
4180_1 4:40dd020463ea 318 if( strstr(webdata, "Out1=0") != NULL ) {
4180_1 4:40dd020463ea 319 Out1=0;
4180_1 4:40dd020463ea 320 }
chrisprice92 5:cfceccd5ccb1 321 if( strstr(webdata, "Out2=1") != NULL || strstr(webdata, "keycode=left") != NULL) {
chrisprice92 5:cfceccd5ccb1 322 gMotorLatch = true;
chrisprice92 5:cfceccd5ccb1 323 gMotorCommand = CMD_LEFT;
chrisprice92 5:cfceccd5ccb1 324 simpleResponse = true;
4180_1 4:40dd020463ea 325 }
4180_1 4:40dd020463ea 326 if( strstr(webdata, "Out2=0") != NULL ) {
4180_1 4:40dd020463ea 327 Out2=0;
4180_1 4:40dd020463ea 328 }
chrisprice92 5:cfceccd5ccb1 329 if( strstr(webdata, "Out3=1") != NULL || strstr(webdata, "keycode=right") != NULL) {
chrisprice92 5:cfceccd5ccb1 330 gMotorLatch = true;
chrisprice92 5:cfceccd5ccb1 331 gMotorCommand = CMD_RIGHT;
chrisprice92 5:cfceccd5ccb1 332 simpleResponse = true;
4180_1 4:40dd020463ea 333 }
4180_1 4:40dd020463ea 334 if( strstr(webdata, "Out3=0") != NULL ) {
4180_1 4:40dd020463ea 335 Out3=0;
4180_1 4:40dd020463ea 336 }
4180_1 4:40dd020463ea 337 sprintf(channel, "%d",linkID);
4180_1 4:40dd020463ea 338 if (strstr(webdata, "GET") != NULL) {
4180_1 4:40dd020463ea 339 servreq=1;
4180_1 4:40dd020463ea 340 }
4180_1 4:40dd020463ea 341 if (strstr(webdata, "POST") != NULL) {
4180_1 4:40dd020463ea 342 servreq=1;
4180_1 4:40dd020463ea 343 }
star297 2:d4c6bc0f2dc4 344 webcounter++;
star297 2:d4c6bc0f2dc4 345 sprintf(webcount, "%d",webcounter);
4180_1 4:40dd020463ea 346 } else {
4180_1 4:40dd020463ea 347 memset(webbuff, '\0', sizeof(webbuff));
4180_1 4:40dd020463ea 348 esp.attach(&callback);
4180_1 4:40dd020463ea 349 weberror=1;
4180_1 4:40dd020463ea 350 }
star297 0:e2a155f50119 351 }
star297 0:e2a155f50119 352 // Starts and restarts webserver if errors detected.
star297 0:e2a155f50119 353 void startserver()
star297 0:e2a155f50119 354 {
4180_1 4:40dd020463ea 355 gettemp();
4180_1 4:40dd020463ea 356 gettime();
star297 1:71ed1afbf344 357 pc.printf("\n\n RTC time %s\r\n\n",timebuf);
4180_1 4:40dd020463ea 358 pc.printf("++++++++++ Resetting ESP ++++++++++\r\n");
star297 3:f7febfa77784 359 strcpy(cmdbuff,"AT+RST\r\n");
4180_1 4:40dd020463ea 360 timeout=8000;
4180_1 4:40dd020463ea 361 getcount=1000;
star297 0:e2a155f50119 362 SendCMD();
star297 1:71ed1afbf344 363 getreply();
star297 3:f7febfa77784 364 pc.printf(replybuff);
star297 3:f7febfa77784 365 pc.printf("%d",count);
star297 3:f7febfa77784 366 if (strstr(replybuff, "OK") != NULL) {
star297 1:71ed1afbf344 367 pc.printf("\n++++++++++ Starting Server ++++++++++\r\n");
4180_1 4:40dd020463ea 368 strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections.
4180_1 4:40dd020463ea 369 timeout=500;
4180_1 4:40dd020463ea 370 getcount=20;
star297 1:71ed1afbf344 371 SendCMD();
star297 2:d4c6bc0f2dc4 372 getreply();
4180_1 4:40dd020463ea 373 pc.printf(replybuff);
star297 3:f7febfa77784 374 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
4180_1 4:40dd020463ea 375 timeout=500;
4180_1 4:40dd020463ea 376 getcount=20;
star297 1:71ed1afbf344 377 SendCMD();
star297 3:f7febfa77784 378 getreply();
4180_1 4:40dd020463ea 379 pc.printf(replybuff);
4180_1 4:40dd020463ea 380 wait(1);
star297 3:f7febfa77784 381 sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
4180_1 4:40dd020463ea 382 timeout=500;
4180_1 4:40dd020463ea 383 getcount=50;
star297 3:f7febfa77784 384 SendCMD();
star297 2:d4c6bc0f2dc4 385 getreply();
4180_1 4:40dd020463ea 386 pc.printf(replybuff);
4180_1 4:40dd020463ea 387 wait(5);
4180_1 4:40dd020463ea 388 pc.printf("\n Getting Server IP \r\n");
star297 3:f7febfa77784 389 strcpy(cmdbuff, "AT+CIFSR\r\n");
4180_1 4:40dd020463ea 390 timeout=2500;
4180_1 4:40dd020463ea 391 getcount=200;
4180_1 4:40dd020463ea 392 while(weberror==0) {
4180_1 4:40dd020463ea 393 SendCMD();
4180_1 4:40dd020463ea 394 getreply();
4180_1 4:40dd020463ea 395 if (strstr(replybuff, "0.0.0.0") == NULL) {
4180_1 4:40dd020463ea 396 weberror=1; // wait for valid IP
star297 1:71ed1afbf344 397 }
4180_1 4:40dd020463ea 398 }
4180_1 4:40dd020463ea 399 pc.printf("\n Enter WEB address (IP) found below in your browser \r\n\n");
4180_1 4:40dd020463ea 400 pc.printf("\n The MAC address is also shown below,if it is needed \r\n\n");
4180_1 4:40dd020463ea 401 replybuff[strlen(replybuff)-1] = '\0';
4180_1 4:40dd020463ea 402 //char* IP = replybuff + 5;
4180_1 4:40dd020463ea 403 sprintf(webdata,"%s", replybuff);
4180_1 4:40dd020463ea 404 pc.printf(webdata);
4180_1 4:40dd020463ea 405 led2=1;
4180_1 4:40dd020463ea 406 bufflen=200;
4180_1 4:40dd020463ea 407 count=0;
star297 1:71ed1afbf344 408 pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n");
star297 1:71ed1afbf344 409 esp.attach(&callback);
4180_1 4:40dd020463ea 410 } else {
4180_1 4:40dd020463ea 411 pc.printf("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
4180_1 4:40dd020463ea 412 while(1) {}
4180_1 4:40dd020463ea 413 }
4180_1 4:40dd020463ea 414 t2.reset();
4180_1 4:40dd020463ea 415 t2.start();
4180_1 4:40dd020463ea 416 beep();
4180_1 4:40dd020463ea 417 }
star297 0:e2a155f50119 418 // ESP Command data send
star297 0:e2a155f50119 419 void SendCMD()
star297 0:e2a155f50119 420 {
4180_1 4:40dd020463ea 421 esp.printf("%s", cmdbuff);
4180_1 4:40dd020463ea 422 }
star297 0:e2a155f50119 423 // Large WEB buffer data send
star297 0:e2a155f50119 424 void SendWEB()
4180_1 4:40dd020463ea 425 {
star297 0:e2a155f50119 426 int i=0;
star297 0:e2a155f50119 427 if(esp.writeable()) {
4180_1 4:40dd020463ea 428 while(webbuff[i]!='\0') {
4180_1 4:40dd020463ea 429 esp.putc(webbuff[i]);
4180_1 4:40dd020463ea 430 i++;
4180_1 4:40dd020463ea 431 }
4180_1 4:40dd020463ea 432 }
4180_1 4:40dd020463ea 433 }
4180_1 4:40dd020463ea 434 // Get Command and ESP status replies
star297 0:e2a155f50119 435 void getreply()
4180_1 4:40dd020463ea 436 {
star297 3:f7febfa77784 437 memset(replybuff, '\0', sizeof(replybuff));
4180_1 4:40dd020463ea 438 t1.reset();
4180_1 4:40dd020463ea 439 t1.start();
4180_1 4:40dd020463ea 440 replycount=0;
star297 3:f7febfa77784 441 while(t1.read_ms()< timeout && replycount < getcount) {
star297 0:e2a155f50119 442 if(esp.readable()) {
4180_1 4:40dd020463ea 443 replybuff[replycount] = esp.getc();
4180_1 4:40dd020463ea 444 replycount++;
star297 2:d4c6bc0f2dc4 445 }
4180_1 4:40dd020463ea 446 }
4180_1 4:40dd020463ea 447 t1.stop();
star297 0:e2a155f50119 448 }
star297 0:e2a155f50119 449 // Analog in example
star297 0:e2a155f50119 450 void getbattery()
star297 0:e2a155f50119 451 {
4180_1 4:40dd020463ea 452 AdcIn=Ain1.read();
4180_1 4:40dd020463ea 453 Ht = (AdcIn*3.3); // set the numeric to the exact MCU analog reference voltage for greater accuracy
4180_1 4:40dd020463ea 454 sprintf(Vcc,"%2.3f",Ht);
star297 0:e2a155f50119 455 }
star297 0:e2a155f50119 456 // Temperature example
star297 0:e2a155f50119 457 void gettemp()
4180_1 4:40dd020463ea 458 {
4180_1 4:40dd020463ea 459
4180_1 4:40dd020463ea 460 AdcIn=Ain2.read();
4180_1 4:40dd020463ea 461 Ht = (AdcIn*3.3); // set the numeric to the exact MCU analog reference voltage for greater accuracy
4180_1 4:40dd020463ea 462 sprintf(Temp,"%2.3f",Ht);
star297 0:e2a155f50119 463 }
4180_1 4:40dd020463ea 464 // Get RTC time
star297 0:e2a155f50119 465 void gettime()
star297 0:e2a155f50119 466 {
star297 0:e2a155f50119 467 time_t seconds = time(NULL);
4180_1 4:40dd020463ea 468 strftime(timebuf,50,"%H:%M:%S %a %d %b %y", localtime(&seconds));
star297 0:e2a155f50119 469 }
star297 0:e2a155f50119 470
star297 2:d4c6bc0f2dc4 471 void beep()
4180_1 4:40dd020463ea 472 {
star297 2:d4c6bc0f2dc4 473 speaker.period(1.0/2000); // 2000hz period
star297 2:d4c6bc0f2dc4 474 speaker = 0.5; //50% duty cycle - max volume
star297 2:d4c6bc0f2dc4 475 wait_ms(60);
star297 2:d4c6bc0f2dc4 476 speaker=0.0; // turn off audio
star297 2:d4c6bc0f2dc4 477 }
star297 2:d4c6bc0f2dc4 478
star297 1:71ed1afbf344 479 void setRTC()
star297 1:71ed1afbf344 480 {
4180_1 4:40dd020463ea 481 t.tm_sec = (0); // 0-59
4180_1 4:40dd020463ea 482 t.tm_min = (minute); // 0-59
4180_1 4:40dd020463ea 483 t.tm_hour = (hour); // 0-23
4180_1 4:40dd020463ea 484 t.tm_mday = (dayofmonth); // 1-31
4180_1 4:40dd020463ea 485 t.tm_mon = (month-1); // 0-11 "0" = Jan, -1 added for Mbed RCT clock format
4180_1 4:40dd020463ea 486 t.tm_year = ((year)+100); // year since 1900, current DCF year + 100 + 1900 = correct year
4180_1 4:40dd020463ea 487 set_time(mktime(&t)); // set RTC clock
4180_1 4:40dd020463ea 488 }
chrisprice92 5:cfceccd5ccb1 489
chrisprice92 5:cfceccd5ccb1 490 // Control motor related things
chrisprice92 5:cfceccd5ccb1 491 void motorThread(void const *args) {
chrisprice92 5:cfceccd5ccb1 492 pc.printf("motorThread started\n\r");
chrisprice92 5:cfceccd5ccb1 493
chrisprice92 5:cfceccd5ccb1 494 while (1) {
chrisprice92 5:cfceccd5ccb1 495 while (gMotorLatch == false) {
chrisprice92 5:cfceccd5ccb1 496 Thread::wait(100);
chrisprice92 5:cfceccd5ccb1 497 }
chrisprice92 5:cfceccd5ccb1 498
chrisprice92 5:cfceccd5ccb1 499 pc.printf("motorThread Latched!\n\r");
chrisprice92 5:cfceccd5ccb1 500
chrisprice92 5:cfceccd5ccb1 501 gMotorLatch = false;
chrisprice92 5:cfceccd5ccb1 502
chrisprice92 5:cfceccd5ccb1 503 float lSpeed = 0.0f;
chrisprice92 5:cfceccd5ccb1 504 float rSpeed = 0.0f;
chrisprice92 5:cfceccd5ccb1 505 float delayMs = 1000;
chrisprice92 5:cfceccd5ccb1 506 switch(gMotorCommand) {
chrisprice92 5:cfceccd5ccb1 507 case CMD_FWD:
chrisprice92 5:cfceccd5ccb1 508 lSpeed = 0.5f;
chrisprice92 5:cfceccd5ccb1 509 rSpeed = 0.5f;
chrisprice92 5:cfceccd5ccb1 510 break;
chrisprice92 5:cfceccd5ccb1 511
chrisprice92 5:cfceccd5ccb1 512 case CMD_BACK:
chrisprice92 5:cfceccd5ccb1 513 lSpeed = -0.5f;
chrisprice92 5:cfceccd5ccb1 514 rSpeed = -0.5f;
chrisprice92 5:cfceccd5ccb1 515 break;
chrisprice92 5:cfceccd5ccb1 516
chrisprice92 5:cfceccd5ccb1 517 case CMD_LEFT:
chrisprice92 5:cfceccd5ccb1 518 lSpeed = -0.5f;
chrisprice92 5:cfceccd5ccb1 519 rSpeed = 0.5f;
chrisprice92 5:cfceccd5ccb1 520 delayMs = 500;
chrisprice92 5:cfceccd5ccb1 521 break;
chrisprice92 5:cfceccd5ccb1 522
chrisprice92 5:cfceccd5ccb1 523 case CMD_RIGHT:
chrisprice92 5:cfceccd5ccb1 524 lSpeed = 0.5f;
chrisprice92 5:cfceccd5ccb1 525 rSpeed = -0.5f;
chrisprice92 5:cfceccd5ccb1 526 delayMs = 500;
chrisprice92 5:cfceccd5ccb1 527 break;
chrisprice92 5:cfceccd5ccb1 528
chrisprice92 5:cfceccd5ccb1 529 default:
chrisprice92 5:cfceccd5ccb1 530 delayMs = 0;
chrisprice92 5:cfceccd5ccb1 531 break;
chrisprice92 5:cfceccd5ccb1 532 }
chrisprice92 5:cfceccd5ccb1 533
chrisprice92 5:cfceccd5ccb1 534 left.speed(lSpeed);
chrisprice92 5:cfceccd5ccb1 535 right.speed(rSpeed);
chrisprice92 5:cfceccd5ccb1 536 Thread::wait(delayMs);
chrisprice92 5:cfceccd5ccb1 537 left.speed(0);
chrisprice92 5:cfceccd5ccb1 538 right.speed(0);
chrisprice92 5:cfceccd5ccb1 539 }
chrisprice92 5:cfceccd5ccb1 540 }