Evan Davies / Mbed 2 deprecated Wireless_Robot

Evan Davies ECE 4180 Lab4: Wifi equipped Robot

Dependencies:   Motordriver mbed

main.cpp@0:47657ab4100b, 2015-10-21 (annotated)

Committer:
edavies
Date:
Wed Oct 21 16:11:38 2015 +0000
Revision:
0:47657ab4100b
Evan Davies: ECE 4180 Lab4: Wifi equipped robot.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
edavies 0:47657ab4100b 1 // Evan Davies ECE 4180 Lab 4 Wireless Robot
edavies 0:47657ab4100b 2
edavies 0:47657ab4100b 3 #include "mbed.h"
edavies 0:47657ab4100b 4 #include "motordriver.h"
edavies 0:47657ab4100b 5
edavies 0:47657ab4100b 6
edavies 0:47657ab4100b 7 Serial pc(USBTX, USBRX);
edavies 0:47657ab4100b 8
edavies 0:47657ab4100b 9 // setup for wifi module
edavies 0:47657ab4100b 10 Serial esp(p28, p27); // tx, rx
edavies 0:47657ab4100b 11 DigitalOut reset(p26);
edavies 0:47657ab4100b 12
edavies 0:47657ab4100b 13 //Setup motors
edavies 0:47657ab4100b 14 Motor A(p22, p6, p5, 1); // pwm, fwd, rev, can brake
edavies 0:47657ab4100b 15 Motor B(p21, p7, p8, 1); // pwm, fwd, rev, can brake
edavies 0:47657ab4100b 16
edavies 0:47657ab4100b 17 // Standard Mbed LED definitions
edavies 0:47657ab4100b 18 DigitalOut led1(LED1); // (PTB18)
edavies 0:47657ab4100b 19 DigitalOut led2(LED2); // (PTB19)
edavies 0:47657ab4100b 20 DigitalOut led3(LED3); // (PTD1)
edavies 0:47657ab4100b 21 DigitalOut led4(LED4);
edavies 0:47657ab4100b 22 int LeftWheelDir;
edavies 0:47657ab4100b 23 int LeftWheelSpeed;
edavies 0:47657ab4100b 24 int RightWheelSpeed;
edavies 0:47657ab4100b 25 int RightWheelDir;
edavies 0:47657ab4100b 26
edavies 0:47657ab4100b 27
edavies 0:47657ab4100b 28 Timer t1;
edavies 0:47657ab4100b 29 Timer t2;
edavies 0:47657ab4100b 30
edavies 0:47657ab4100b 31 struct tm t;
edavies 0:47657ab4100b 32
edavies 0:47657ab4100b 33 int bufflen, DataRX, count, getcount, replycount, servreq, timeout;
edavies 0:47657ab4100b 34 int bufl, ipdLen, linkID, weberror, webcounter;
edavies 0:47657ab4100b 35 float temperature, AdcIn, Ht;
edavies 0:47657ab4100b 36 float R1=100000, R2=10000; // resistor values to give a 10:1 reduction of measured AnalogIn voltage
edavies 0:47657ab4100b 37 char Vcc[10];
edavies 0:47657ab4100b 38 char Temp[10];
edavies 0:47657ab4100b 39 char temp[10];
edavies 0:47657ab4100b 40 char webcount[8];
edavies 0:47657ab4100b 41 char lasthit[30];
edavies 0:47657ab4100b 42 char timebuf[30];
edavies 0:47657ab4100b 43 char type[16];
edavies 0:47657ab4100b 44 char type1[16];
edavies 0:47657ab4100b 45 char channel[2];
edavies 0:47657ab4100b 46 char cmdbuff[32];
edavies 0:47657ab4100b 47 char replybuff[1024];
edavies 0:47657ab4100b 48 char webdata[1024]; // This may need to be bigger depending on WEB browser used
edavies 0:47657ab4100b 49 char webbuff[4096]; // Currently using 1986 characters, Increase this if more web page data added
edavies 0:47657ab4100b 50
edavies 0:47657ab4100b 51 void SendCMD(),getreply(),ReadWebData(),startserver(),sendpage(),SendWEB(),sendcheck();
edavies 0:47657ab4100b 52 void gettime(),setRTC();
edavies 0:47657ab4100b 53
edavies 0:47657ab4100b 54 // manual set RTC values
edavies 0:47657ab4100b 55 int minute =00; // 0-59
edavies 0:47657ab4100b 56 int hour =12; // 2-23
edavies 0:47657ab4100b 57 int dayofmonth =26; // 1-31
edavies 0:47657ab4100b 58 int month =8; // 1-12
edavies 0:47657ab4100b 59 int year =15; // last 2 digits
edavies 0:47657ab4100b 60
edavies 0:47657ab4100b 61 int port =80; // set server port
edavies 0:47657ab4100b 62 int SERVtimeout =5; // set server timeout in seconds in case link breaks.
edavies 0:47657ab4100b 63
edavies 0:47657ab4100b 64 // Serial Interrupt read ESP data
edavies 0:47657ab4100b 65 void callback()
edavies 0:47657ab4100b 66 {
edavies 0:47657ab4100b 67 //RightWheelSpeed=1;
edavies 0:47657ab4100b 68 while (esp.readable()) {
edavies 0:47657ab4100b 69 webbuff[count] = esp.getc();
edavies 0:47657ab4100b 70 count++;
edavies 0:47657ab4100b 71 }
edavies 0:47657ab4100b 72 if(strlen(webbuff)>bufflen) {
edavies 0:47657ab4100b 73 DataRX=1;
edavies 0:47657ab4100b 74 //RightWheelSpeed=0;
edavies 0:47657ab4100b 75 }
edavies 0:47657ab4100b 76 }
edavies 0:47657ab4100b 77
edavies 0:47657ab4100b 78 int main()
edavies 0:47657ab4100b 79 {
edavies 0:47657ab4100b 80 A.speed(0);
edavies 0:47657ab4100b 81 B.speed(0);
edavies 0:47657ab4100b 82 reset=0;
edavies 0:47657ab4100b 83 pc.baud(115200);
edavies 0:47657ab4100b 84
edavies 0:47657ab4100b 85 pc.printf("\f\n\r------------ ESP8266 Hardware Reset --------------\n\r");
edavies 0:47657ab4100b 86 wait(0.5);
edavies 0:47657ab4100b 87 reset=1;
edavies 0:47657ab4100b 88 LeftWheelSpeed=0,LeftWheelDir=0,RightWheelSpeed=0, RightWheelDir=0;
edavies 0:47657ab4100b 89 timeout=6000;
edavies 0:47657ab4100b 90 getcount=500;
edavies 0:47657ab4100b 91 getreply();
edavies 0:47657ab4100b 92 esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
edavies 0:47657ab4100b 93 if (time(NULL) < 1420070400) {
edavies 0:47657ab4100b 94 setRTC();
edavies 0:47657ab4100b 95 }
edavies 0:47657ab4100b 96
edavies 0:47657ab4100b 97 startserver();
edavies 0:47657ab4100b 98
edavies 0:47657ab4100b 99 while(1) {
edavies 0:47657ab4100b 100 if(DataRX==1) {
edavies 0:47657ab4100b 101 ReadWebData();
edavies 0:47657ab4100b 102 if (servreq == 1 && weberror == 0) {
edavies 0:47657ab4100b 103 sendpage();
edavies 0:47657ab4100b 104 }
edavies 0:47657ab4100b 105 esp.attach(&callback);
edavies 0:47657ab4100b 106 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);
edavies 0:47657ab4100b 107 pc.printf("\n\n HTTP Packet: \n\n%s\n", webdata);
edavies 0:47657ab4100b 108 pc.printf(" Web Characters sent : %d\n\n", bufl);
edavies 0:47657ab4100b 109 pc.printf(" -------------------------------------\n\n");
edavies 0:47657ab4100b 110 strcpy(lasthit, timebuf);
edavies 0:47657ab4100b 111 servreq=0;
edavies 0:47657ab4100b 112 }
edavies 0:47657ab4100b 113 }
edavies 0:47657ab4100b 114 }
edavies 0:47657ab4100b 115 // Static WEB page
edavies 0:47657ab4100b 116 void sendpage()
edavies 0:47657ab4100b 117 {
edavies 0:47657ab4100b 118
edavies 0:47657ab4100b 119 gettime();
edavies 0:47657ab4100b 120
edavies 0:47657ab4100b 121 // WEB page data
edavies 0:47657ab4100b 122 strcpy(webbuff, "<!DOCTYPE html>");
edavies 0:47657ab4100b 123 strcat(webbuff, "<html><head><title>4180 Wireless Robot</title></head>");
edavies 0:47657ab4100b 124 strcat(webbuff, "<body>");
edavies 0:47657ab4100b 125 strcat(webbuff, "<div style=\"text-align:center; background-color:#F4F4F4; color:#00AEDB;\"><h1>4180 Wireless Robot</h1>");
edavies 0:47657ab4100b 126 strcat(webbuff, "Hit Count - ");
edavies 0:47657ab4100b 127 strcat(webbuff, webcount);
edavies 0:47657ab4100b 128 strcat(webbuff, "<br>Last Hit - ");
edavies 0:47657ab4100b 129 strcat(webbuff, lasthit);
edavies 0:47657ab4100b 130 strcat(webbuff, "</div><br /><hr>");
edavies 0:47657ab4100b 131 strcat(webbuff, "<h3>Mbed RTC Time -&nbsp&nbsp");
edavies 0:47657ab4100b 132 strcat(webbuff, timebuf);
edavies 0:47657ab4100b 133 strcat(webbuff, "</h3>\r\n");
edavies 0:47657ab4100b 134 strcat(webbuff, "<p><form method=\"POST\"><strong>");
edavies 0:47657ab4100b 135
edavies 0:47657ab4100b 136 // strcat(webbuff, "<p><form method=\"POST\"><strong> Analog 1:&nbsp&nbsp<input type=\"text\" size=6 value=\"");
edavies 0:47657ab4100b 137 // strcat(webbuff, Temp);
edavies 0:47657ab4100b 138 // strcat(webbuff, "\"> </sup>V <form method=\"POST\"> <strong> &nbsp&nbspAnalog 2:&nbsp&nbsp<input type=\"text\" size=4 value=\"");
edavies 0:47657ab4100b 139 // strcat(webbuff, Vcc);
edavies 0:47657ab4100b 140 // strcat(webbuff, "\"> </sup>V");
edavies 0:47657ab4100b 141 if(LeftWheelSpeed==0) {
edavies 0:47657ab4100b 142 strcat(webbuff, "<p><input type=\"radio\" name=\"LeftWheelSpeed\" value=\"1\" > Left Wheel on");
edavies 0:47657ab4100b 143 strcat(webbuff, "<br><input type=\"radio\" name=\"LeftWheelSpeed\" value=\"0\" checked> Left Wheel off");
edavies 0:47657ab4100b 144 } else {
edavies 0:47657ab4100b 145 strcat(webbuff, "<p><input type=\"radio\" name=\"LeftWheelSpeed\" value=\"1\" checked> Left Wheel on");
edavies 0:47657ab4100b 146 strcat(webbuff, "<br><input type=\"radio\" name=\"LeftWheelSpeed\" value=\"0\" > Left Wheel off");
edavies 0:47657ab4100b 147 }
edavies 0:47657ab4100b 148
edavies 0:47657ab4100b 149 if(LeftWheelDir==0) {
edavies 0:47657ab4100b 150 strcat(webbuff, "<p><input type=\"radio\" name=\"LeftWheelDir\" value=\"1\" > Left Wheel Forward");
edavies 0:47657ab4100b 151 strcat(webbuff, "<br><input type=\"radio\" name=\"LeftWheelDir\" value=\"0\" checked> Left Wheel Reverse");
edavies 0:47657ab4100b 152 } else {
edavies 0:47657ab4100b 153 strcat(webbuff, "<p><input type=\"radio\" name=\"LeftWheelDir\" value=\"1\" checked> Left Wheel Forward");
edavies 0:47657ab4100b 154 strcat(webbuff, "<br><input type=\"radio\" name=\"LeftWheelDir\" value=\"0\" > Left Wheel Reverse");
edavies 0:47657ab4100b 155 }
edavies 0:47657ab4100b 156
edavies 0:47657ab4100b 157 if(RightWheelSpeed==0) {
edavies 0:47657ab4100b 158 strcat(webbuff, "<p><input type=\"radio\" name=\"RightWheelSpeed\" value=\"1\" > Right Wheel on");
edavies 0:47657ab4100b 159 strcat(webbuff, "<br><input type=\"radio\" name=\"RightWheelSpeed\" value=\"0\" checked> Right Wheel off");
edavies 0:47657ab4100b 160 } else {
edavies 0:47657ab4100b 161 strcat(webbuff, "<p><input type=\"radio\" name=\"RightWheelSpeed\" value=\"1\" checked> Right Wheel on");
edavies 0:47657ab4100b 162 strcat(webbuff, "<br><input type=\"radio\" name=\"RightWheelSpeed\" value=\"0\" > Right Wheel off");
edavies 0:47657ab4100b 163 }
edavies 0:47657ab4100b 164
edavies 0:47657ab4100b 165 if(RightWheelDir==0) {
edavies 0:47657ab4100b 166 strcat(webbuff, "<p><input type=\"radio\" name=\"RightWheelDir\" value=\"1\" > Right Wheel Forward");
edavies 0:47657ab4100b 167 strcat(webbuff, "<br><input type=\"radio\" name=\"RightWheelDir\" value=\"0\" checked> Right Wheel Reverse");
edavies 0:47657ab4100b 168 } else {
edavies 0:47657ab4100b 169 strcat(webbuff, "<p><input type=\"radio\" name=\"RightWheelDir\" value=\"1\" checked> Right Wheel Forward");
edavies 0:47657ab4100b 170 strcat(webbuff, "<br><input type=\"radio\" name=\"RightWheelDir\" value=\"0\" > Right Wheel Reverse");
edavies 0:47657ab4100b 171 }
edavies 0:47657ab4100b 172
edavies 0:47657ab4100b 173 strcat(webbuff, "</strong><p><input type=\"submit\" value=\"send-refresh\" style=\"background: #3498db;");
edavies 0:47657ab4100b 174 strcat(webbuff, "background-image:-webkit-linear-gradient(top, #3498db, #2980b9);");
edavies 0:47657ab4100b 175 strcat(webbuff, "background-image:linear-gradient(to bottom, #3498db, #2980b9);");
edavies 0:47657ab4100b 176 strcat(webbuff, "-webkit-border-radius:12;border-radius: 12px;font-family: Arial;color:#ffffff;font-size:20px;padding:");
edavies 0:47657ab4100b 177 strcat(webbuff, "10px 20px 10px 20px; border:solid #103c57 3px;text-decoration: none;");
edavies 0:47657ab4100b 178 strcat(webbuff, "background: #3cb0fd;");
edavies 0:47657ab4100b 179 strcat(webbuff, "background-image:-webkit-linear-gradient(top,#3cb0fd,#1a5f8a);");
edavies 0:47657ab4100b 180 strcat(webbuff, "background-image:linear-gradient(to bottom,#3cb0fd,#1a5f8a);");
edavies 0:47657ab4100b 181 strcat(webbuff, "text-decoration:none;\"></form></span>");
edavies 0:47657ab4100b 182 strcat(webbuff, "<p/><h2>How to use:</h2><ul>");
edavies 0:47657ab4100b 183 strcat(webbuff, "<li>Select the Radio buttons to control the digital out pins.</li>");
edavies 0:47657ab4100b 184 strcat(webbuff, "<li>Click 'Send-Refresh' to send.</li>");
edavies 0:47657ab4100b 185 strcat(webbuff, "<li>Use the 'Send-Refresh' button to refresh the data.</li>");
edavies 0:47657ab4100b 186 strcat(webbuff, "</ul>");
edavies 0:47657ab4100b 187 strcat(webbuff, "</body></html>");
edavies 0:47657ab4100b 188 // end of WEB page data
edavies 0:47657ab4100b 189 bufl = strlen(webbuff); // get total page buffer length
edavies 0:47657ab4100b 190 sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
edavies 0:47657ab4100b 191 timeout=200;
edavies 0:47657ab4100b 192 getcount=7;
edavies 0:47657ab4100b 193 SendCMD();
edavies 0:47657ab4100b 194 getreply();
edavies 0:47657ab4100b 195 SendWEB(); // send web page
edavies 0:47657ab4100b 196 memset(webbuff, '\0', sizeof(webbuff));
edavies 0:47657ab4100b 197 sendcheck();
edavies 0:47657ab4100b 198 }
edavies 0:47657ab4100b 199
edavies 0:47657ab4100b 200 // wait for ESP "SEND OK" reply, then close IP to load web page
edavies 0:47657ab4100b 201 void sendcheck()
edavies 0:47657ab4100b 202 {
edavies 0:47657ab4100b 203 weberror=1;
edavies 0:47657ab4100b 204 timeout=500;
edavies 0:47657ab4100b 205 getcount=24;
edavies 0:47657ab4100b 206 t2.reset();
edavies 0:47657ab4100b 207 t2.start();
edavies 0:47657ab4100b 208 while(weberror==1 && t2.read() <5) {
edavies 0:47657ab4100b 209 getreply();
edavies 0:47657ab4100b 210 if (strstr(replybuff, "SEND OK") != NULL) {
edavies 0:47657ab4100b 211 weberror=0; // wait for valid SEND OK
edavies 0:47657ab4100b 212 }
edavies 0:47657ab4100b 213 }
edavies 0:47657ab4100b 214 if(weberror==1) { // restart connection
edavies 0:47657ab4100b 215 strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
edavies 0:47657ab4100b 216 timeout=500;
edavies 0:47657ab4100b 217 getcount=10;
edavies 0:47657ab4100b 218 SendCMD();
edavies 0:47657ab4100b 219 getreply();
edavies 0:47657ab4100b 220 pc.printf(replybuff);
edavies 0:47657ab4100b 221 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
edavies 0:47657ab4100b 222 timeout=500;
edavies 0:47657ab4100b 223 getcount=10;
edavies 0:47657ab4100b 224 SendCMD();
edavies 0:47657ab4100b 225 getreply();
edavies 0:47657ab4100b 226 pc.printf(replybuff);
edavies 0:47657ab4100b 227 } else {
edavies 0:47657ab4100b 228 sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
edavies 0:47657ab4100b 229 SendCMD();
edavies 0:47657ab4100b 230 getreply();
edavies 0:47657ab4100b 231 pc.printf(replybuff);
edavies 0:47657ab4100b 232 }
edavies 0:47657ab4100b 233 t2.reset();
edavies 0:47657ab4100b 234 }
edavies 0:47657ab4100b 235
edavies 0:47657ab4100b 236 // Reads and processes GET and POST web data
edavies 0:47657ab4100b 237 void ReadWebData()
edavies 0:47657ab4100b 238 {
edavies 0:47657ab4100b 239 wait_ms(200);
edavies 0:47657ab4100b 240 esp.attach(NULL);
edavies 0:47657ab4100b 241 count=0;
edavies 0:47657ab4100b 242 DataRX=0;
edavies 0:47657ab4100b 243 weberror=0;
edavies 0:47657ab4100b 244 memset(webdata, '\0', sizeof(webdata));
edavies 0:47657ab4100b 245 int x = strcspn (webbuff,"+");
edavies 0:47657ab4100b 246 if(x) {
edavies 0:47657ab4100b 247 strcpy(webdata, webbuff + x);
edavies 0:47657ab4100b 248 weberror=0;
edavies 0:47657ab4100b 249 int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
edavies 0:47657ab4100b 250 if( strstr(webdata, "LeftWheelSpeed=1") != NULL ) {
edavies 0:47657ab4100b 251 LeftWheelSpeed=1;
edavies 0:47657ab4100b 252 led1 = LeftWheelSpeed;
edavies 0:47657ab4100b 253 }
edavies 0:47657ab4100b 254 if( strstr(webdata, "LeftWheelSpeed=0") != NULL ) {
edavies 0:47657ab4100b 255 LeftWheelSpeed=0;
edavies 0:47657ab4100b 256 led1 = LeftWheelSpeed;
edavies 0:47657ab4100b 257 }
edavies 0:47657ab4100b 258
edavies 0:47657ab4100b 259 if( strstr(webdata, "LeftWheelDir=1") != NULL ) {
edavies 0:47657ab4100b 260 LeftWheelDir=1;
edavies 0:47657ab4100b 261 led2 = LeftWheelDir;
edavies 0:47657ab4100b 262
edavies 0:47657ab4100b 263 }
edavies 0:47657ab4100b 264 if( strstr(webdata, "LeftWheelDir=0") != NULL ) {
edavies 0:47657ab4100b 265 LeftWheelDir=0;
edavies 0:47657ab4100b 266 led2 = LeftWheelDir;
edavies 0:47657ab4100b 267 }
edavies 0:47657ab4100b 268 if( strstr(webdata, "RightWheelSpeed=1") != NULL ) {
edavies 0:47657ab4100b 269 RightWheelSpeed=1;
edavies 0:47657ab4100b 270 led3 = RightWheelSpeed;
edavies 0:47657ab4100b 271 }
edavies 0:47657ab4100b 272 if( strstr(webdata, "RightWheelSpeed=0") != NULL ) {
edavies 0:47657ab4100b 273 RightWheelSpeed=0;
edavies 0:47657ab4100b 274 led3 = RightWheelSpeed;
edavies 0:47657ab4100b 275 }
edavies 0:47657ab4100b 276
edavies 0:47657ab4100b 277 if( strstr(webdata, "RightWheelDir=1") != NULL ) {
edavies 0:47657ab4100b 278 RightWheelDir=1;
edavies 0:47657ab4100b 279 led4 = RightWheelDir;
edavies 0:47657ab4100b 280 }
edavies 0:47657ab4100b 281 if( strstr(webdata, "RightWheelDir=0") != NULL ) {
edavies 0:47657ab4100b 282 RightWheelDir=0;
edavies 0:47657ab4100b 283 led4 = RightWheelDir;
edavies 0:47657ab4100b 284 }
edavies 0:47657ab4100b 285 A.speed((LeftWheelSpeed)*((LeftWheelDir-.5))*-1);
edavies 0:47657ab4100b 286
edavies 0:47657ab4100b 287 B.speed((RightWheelSpeed)*((RightWheelDir-.5)));
edavies 0:47657ab4100b 288 sprintf(channel, "%d",linkID);
edavies 0:47657ab4100b 289 if (strstr(webdata, "GET") != NULL) {
edavies 0:47657ab4100b 290 servreq=1;
edavies 0:47657ab4100b 291 }
edavies 0:47657ab4100b 292 if (strstr(webdata, "POST") != NULL) {
edavies 0:47657ab4100b 293 servreq=1;
edavies 0:47657ab4100b 294 }
edavies 0:47657ab4100b 295 webcounter++;
edavies 0:47657ab4100b 296 sprintf(webcount, "%d",webcounter);
edavies 0:47657ab4100b 297 } else {
edavies 0:47657ab4100b 298 memset(webbuff, '\0', sizeof(webbuff));
edavies 0:47657ab4100b 299 esp.attach(&callback);
edavies 0:47657ab4100b 300 weberror=1;
edavies 0:47657ab4100b 301 }
edavies 0:47657ab4100b 302 }
edavies 0:47657ab4100b 303 // Starts and restarts webserver if errors detected.
edavies 0:47657ab4100b 304 void startserver()
edavies 0:47657ab4100b 305 {
edavies 0:47657ab4100b 306
edavies 0:47657ab4100b 307 pc.printf("\n\n RTC time %s\r\n\n",timebuf);
edavies 0:47657ab4100b 308 pc.printf("++++++++++ Resetting ESP ++++++++++\r\n");
edavies 0:47657ab4100b 309 strcpy(cmdbuff,"AT+RST\r\n");
edavies 0:47657ab4100b 310 timeout=8000;
edavies 0:47657ab4100b 311 getcount=1000;
edavies 0:47657ab4100b 312 SendCMD();
edavies 0:47657ab4100b 313 getreply();
edavies 0:47657ab4100b 314 pc.printf(replybuff);
edavies 0:47657ab4100b 315 pc.printf("%d",count);
edavies 0:47657ab4100b 316 if (strstr(replybuff, "OK") != NULL) {
edavies 0:47657ab4100b 317 pc.printf("\n++++++++++ Starting Server ++++++++++\r\n");
edavies 0:47657ab4100b 318 strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections.
edavies 0:47657ab4100b 319 timeout=500;
edavies 0:47657ab4100b 320 getcount=20;
edavies 0:47657ab4100b 321 SendCMD();
edavies 0:47657ab4100b 322 getreply();
edavies 0:47657ab4100b 323 pc.printf(replybuff);
edavies 0:47657ab4100b 324 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
edavies 0:47657ab4100b 325 timeout=500;
edavies 0:47657ab4100b 326 getcount=20;
edavies 0:47657ab4100b 327 SendCMD();
edavies 0:47657ab4100b 328 getreply();
edavies 0:47657ab4100b 329 pc.printf(replybuff);
edavies 0:47657ab4100b 330 wait(1);
edavies 0:47657ab4100b 331 sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
edavies 0:47657ab4100b 332 timeout=500;
edavies 0:47657ab4100b 333 getcount=50;
edavies 0:47657ab4100b 334 SendCMD();
edavies 0:47657ab4100b 335 getreply();
edavies 0:47657ab4100b 336 pc.printf(replybuff);
edavies 0:47657ab4100b 337 wait(5);
edavies 0:47657ab4100b 338 pc.printf("\n Getting Server IP \r\n");
edavies 0:47657ab4100b 339 strcpy(cmdbuff, "AT+CIFSR\r\n");
edavies 0:47657ab4100b 340 timeout=2500;
edavies 0:47657ab4100b 341 getcount=200;
edavies 0:47657ab4100b 342 while(weberror==0) {
edavies 0:47657ab4100b 343 SendCMD();
edavies 0:47657ab4100b 344 getreply();
edavies 0:47657ab4100b 345 if (strstr(replybuff, "0.0.0.0") == NULL) {
edavies 0:47657ab4100b 346 weberror=1; // wait for valid IP
edavies 0:47657ab4100b 347 }
edavies 0:47657ab4100b 348 }
edavies 0:47657ab4100b 349 pc.printf("\n Enter WEB address (IP) found below in your browser \r\n\n");
edavies 0:47657ab4100b 350 pc.printf("\n The MAC address is also shown below,if it is needed \r\n\n");
edavies 0:47657ab4100b 351 replybuff[strlen(replybuff)-1] = '\0';
edavies 0:47657ab4100b 352 //char* IP = replybuff + 5;
edavies 0:47657ab4100b 353 sprintf(webdata,"%s", replybuff);
edavies 0:47657ab4100b 354 pc.printf(webdata);
edavies 0:47657ab4100b 355 LeftWheelDir=1;
edavies 0:47657ab4100b 356 bufflen=200;
edavies 0:47657ab4100b 357 count=0;
edavies 0:47657ab4100b 358 pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n");
edavies 0:47657ab4100b 359 esp.attach(&callback);
edavies 0:47657ab4100b 360 } else {
edavies 0:47657ab4100b 361 pc.printf("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
edavies 0:47657ab4100b 362 while(1) {}
edavies 0:47657ab4100b 363 }
edavies 0:47657ab4100b 364 t2.reset();
edavies 0:47657ab4100b 365 t2.start();
edavies 0:47657ab4100b 366
edavies 0:47657ab4100b 367 }
edavies 0:47657ab4100b 368 // ESP Command data send
edavies 0:47657ab4100b 369 void SendCMD()
edavies 0:47657ab4100b 370 {
edavies 0:47657ab4100b 371 esp.printf("%s", cmdbuff);
edavies 0:47657ab4100b 372 }
edavies 0:47657ab4100b 373 // Large WEB buffer data send
edavies 0:47657ab4100b 374 void SendWEB()
edavies 0:47657ab4100b 375 {
edavies 0:47657ab4100b 376 int i=0;
edavies 0:47657ab4100b 377 if(esp.writeable()) {
edavies 0:47657ab4100b 378 while(webbuff[i]!='\0') {
edavies 0:47657ab4100b 379 esp.putc(webbuff[i]);
edavies 0:47657ab4100b 380 i++;
edavies 0:47657ab4100b 381 }
edavies 0:47657ab4100b 382 }
edavies 0:47657ab4100b 383 }
edavies 0:47657ab4100b 384 // Get Command and ESP status replies
edavies 0:47657ab4100b 385 void getreply()
edavies 0:47657ab4100b 386 {
edavies 0:47657ab4100b 387 memset(replybuff, '\0', sizeof(replybuff));
edavies 0:47657ab4100b 388 t1.reset();
edavies 0:47657ab4100b 389 t1.start();
edavies 0:47657ab4100b 390 replycount=0;
edavies 0:47657ab4100b 391 while(t1.read_ms()< timeout && replycount < getcount) {
edavies 0:47657ab4100b 392 if(esp.readable()) {
edavies 0:47657ab4100b 393 replybuff[replycount] = esp.getc();
edavies 0:47657ab4100b 394 replycount++;
edavies 0:47657ab4100b 395 }
edavies 0:47657ab4100b 396 }
edavies 0:47657ab4100b 397 t1.stop();
edavies 0:47657ab4100b 398 }
edavies 0:47657ab4100b 399 // Analog in example
edavies 0:47657ab4100b 400
edavies 0:47657ab4100b 401 // Get RTC time
edavies 0:47657ab4100b 402 void gettime()
edavies 0:47657ab4100b 403 {
edavies 0:47657ab4100b 404 time_t seconds = time(NULL);
edavies 0:47657ab4100b 405 strftime(timebuf,50,"%H:%M:%S %a %d %b %y", localtime(&seconds));
edavies 0:47657ab4100b 406 }
edavies 0:47657ab4100b 407
edavies 0:47657ab4100b 408
edavies 0:47657ab4100b 409
edavies 0:47657ab4100b 410 void setRTC()
edavies 0:47657ab4100b 411 {
edavies 0:47657ab4100b 412 t.tm_sec = (0); // 0-59
edavies 0:47657ab4100b 413 t.tm_min = (minute); // 0-59
edavies 0:47657ab4100b 414 t.tm_hour = (hour); // 0-23
edavies 0:47657ab4100b 415 t.tm_mday = (dayofmonth); // 1-31
edavies 0:47657ab4100b 416 t.tm_mon = (month-1); // 0-11 "0" = Jan, -1 added for Mbed RCT clock format
edavies 0:47657ab4100b 417 t.tm_year = ((year)+100); // year since 1900, current DCF year + 100 + 1900 = correct year
edavies 0:47657ab4100b 418 set_time(mktime(&t)); // set RTC clock
edavies 0:47657ab4100b 419 }