Evan Davies
Evan Davies ECE 4180 Lab4: Wifi equipped Robot
Dependencies: Motordriver mbed
Diff: main.cpp
- Revision:
- 0:47657ab4100b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Oct 21 16:11:38 2015 +0000
@@ -0,0 +1,419 @@
+// Evan Davies ECE 4180 Lab 4 Wireless Robot
+
+#include "mbed.h"
+#include "motordriver.h"
+
+
+Serial pc(USBTX, USBRX);
+
+// setup for wifi module
+Serial esp(p28, p27); // tx, rx
+DigitalOut reset(p26);
+
+//Setup motors
+Motor A(p22, p6, p5, 1); // pwm, fwd, rev, can brake
+Motor B(p21, p7, p8, 1); // pwm, fwd, rev, can brake
+
+// Standard Mbed LED definitions
+DigitalOut led1(LED1); // (PTB18)
+DigitalOut led2(LED2); // (PTB19)
+DigitalOut led3(LED3); // (PTD1)
+DigitalOut led4(LED4);
+int LeftWheelDir;
+int LeftWheelSpeed;
+int RightWheelSpeed;
+int RightWheelDir;
+
+
+Timer t1;
+Timer t2;
+
+struct tm t;
+
+int bufflen, DataRX, count, getcount, replycount, servreq, timeout;
+int bufl, ipdLen, linkID, weberror, webcounter;
+float temperature, AdcIn, Ht;
+float R1=100000, R2=10000; // resistor values to give a 10:1 reduction of measured AnalogIn voltage
+char Vcc[10];
+char Temp[10];
+char temp[10];
+char webcount[8];
+char lasthit[30];
+char timebuf[30];
+char type[16];
+char type1[16];
+char channel[2];
+char cmdbuff[32];
+char replybuff[1024];
+char webdata[1024]; // This may need to be bigger depending on WEB browser used
+char webbuff[4096]; // Currently using 1986 characters, Increase this if more web page data added
+
+void SendCMD(),getreply(),ReadWebData(),startserver(),sendpage(),SendWEB(),sendcheck();
+void gettime(),setRTC();
+
+// manual set RTC values
+int minute =00; // 0-59
+int hour =12; // 2-23
+int dayofmonth =26; // 1-31
+int month =8; // 1-12
+int year =15; // last 2 digits
+
+int port =80; // set server port
+int SERVtimeout =5; // set server timeout in seconds in case link breaks.
+
+// Serial Interrupt read ESP data
+void callback()
+{
+ //RightWheelSpeed=1;
+ while (esp.readable()) {
+ webbuff[count] = esp.getc();
+ count++;
+ }
+ if(strlen(webbuff)>bufflen) {
+ DataRX=1;
+ //RightWheelSpeed=0;
+ }
+}
+
+int main()
+{
+ A.speed(0);
+ B.speed(0);
+ reset=0;
+ pc.baud(115200);
+
+ pc.printf("\f\n\r------------ ESP8266 Hardware Reset --------------\n\r");
+ wait(0.5);
+ reset=1;
+ LeftWheelSpeed=0,LeftWheelDir=0,RightWheelSpeed=0, RightWheelDir=0;
+ timeout=6000;
+ getcount=500;
+ getreply();
+ esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
+ if (time(NULL) < 1420070400) {
+ setRTC();
+ }
+
+ startserver();
+
+ while(1) {
+ if(DataRX==1) {
+ ReadWebData();
+ if (servreq == 1 && weberror == 0) {
+ sendpage();
+ }
+ esp.attach(&callback);
+ 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);
+ pc.printf("\n\n HTTP Packet: \n\n%s\n", webdata);
+ pc.printf(" Web Characters sent : %d\n\n", bufl);
+ pc.printf(" -------------------------------------\n\n");
+ strcpy(lasthit, timebuf);
+ servreq=0;
+ }
+ }
+}
+// Static WEB page
+void sendpage()
+{
+
+ gettime();
+
+// WEB page data
+ strcpy(webbuff, "<!DOCTYPE html>");
+ strcat(webbuff, "<html><head><title>4180 Wireless Robot</title></head>");
+ strcat(webbuff, "<body>");
+ strcat(webbuff, "<div style=\"text-align:center; background-color:#F4F4F4; color:#00AEDB;\"><h1>4180 Wireless Robot</h1>");
+ strcat(webbuff, "Hit Count - ");
+ strcat(webbuff, webcount);
+ strcat(webbuff, "<br>Last Hit - ");
+ strcat(webbuff, lasthit);
+ strcat(webbuff, "</div><br /><hr>");
+ strcat(webbuff, "<h3>Mbed RTC Time -  ");
+ strcat(webbuff, timebuf);
+ strcat(webbuff, "</h3>\r\n");
+ strcat(webbuff, "<p><form method=\"POST\"><strong>");
+
+// strcat(webbuff, "<p><form method=\"POST\"><strong> Analog 1:  <input type=\"text\" size=6 value=\"");
+// strcat(webbuff, Temp);
+// strcat(webbuff, "\"> </sup>V <form method=\"POST\"> <strong>   Analog 2:  <input type=\"text\" size=4 value=\"");
+// strcat(webbuff, Vcc);
+// strcat(webbuff, "\"> </sup>V");
+ if(LeftWheelSpeed==0) {
+ strcat(webbuff, "<p><input type=\"radio\" name=\"LeftWheelSpeed\" value=\"1\" > Left Wheel on");
+ strcat(webbuff, "<br><input type=\"radio\" name=\"LeftWheelSpeed\" value=\"0\" checked> Left Wheel off");
+ } else {
+ strcat(webbuff, "<p><input type=\"radio\" name=\"LeftWheelSpeed\" value=\"1\" checked> Left Wheel on");
+ strcat(webbuff, "<br><input type=\"radio\" name=\"LeftWheelSpeed\" value=\"0\" > Left Wheel off");
+ }
+
+ if(LeftWheelDir==0) {
+ strcat(webbuff, "<p><input type=\"radio\" name=\"LeftWheelDir\" value=\"1\" > Left Wheel Forward");
+ strcat(webbuff, "<br><input type=\"radio\" name=\"LeftWheelDir\" value=\"0\" checked> Left Wheel Reverse");
+ } else {
+ strcat(webbuff, "<p><input type=\"radio\" name=\"LeftWheelDir\" value=\"1\" checked> Left Wheel Forward");
+ strcat(webbuff, "<br><input type=\"radio\" name=\"LeftWheelDir\" value=\"0\" > Left Wheel Reverse");
+ }
+
+ if(RightWheelSpeed==0) {
+ strcat(webbuff, "<p><input type=\"radio\" name=\"RightWheelSpeed\" value=\"1\" > Right Wheel on");
+ strcat(webbuff, "<br><input type=\"radio\" name=\"RightWheelSpeed\" value=\"0\" checked> Right Wheel off");
+ } else {
+ strcat(webbuff, "<p><input type=\"radio\" name=\"RightWheelSpeed\" value=\"1\" checked> Right Wheel on");
+ strcat(webbuff, "<br><input type=\"radio\" name=\"RightWheelSpeed\" value=\"0\" > Right Wheel off");
+ }
+
+ if(RightWheelDir==0) {
+ strcat(webbuff, "<p><input type=\"radio\" name=\"RightWheelDir\" value=\"1\" > Right Wheel Forward");
+ strcat(webbuff, "<br><input type=\"radio\" name=\"RightWheelDir\" value=\"0\" checked> Right Wheel Reverse");
+ } else {
+ strcat(webbuff, "<p><input type=\"radio\" name=\"RightWheelDir\" value=\"1\" checked> Right Wheel Forward");
+ strcat(webbuff, "<br><input type=\"radio\" name=\"RightWheelDir\" value=\"0\" > Right Wheel Reverse");
+ }
+
+ strcat(webbuff, "</strong><p><input type=\"submit\" value=\"send-refresh\" style=\"background: #3498db;");
+ strcat(webbuff, "background-image:-webkit-linear-gradient(top, #3498db, #2980b9);");
+ strcat(webbuff, "background-image:linear-gradient(to bottom, #3498db, #2980b9);");
+ strcat(webbuff, "-webkit-border-radius:12;border-radius: 12px;font-family: Arial;color:#ffffff;font-size:20px;padding:");
+ strcat(webbuff, "10px 20px 10px 20px; border:solid #103c57 3px;text-decoration: none;");
+ strcat(webbuff, "background: #3cb0fd;");
+ strcat(webbuff, "background-image:-webkit-linear-gradient(top,#3cb0fd,#1a5f8a);");
+ strcat(webbuff, "background-image:linear-gradient(to bottom,#3cb0fd,#1a5f8a);");
+ strcat(webbuff, "text-decoration:none;\"></form></span>");
+ strcat(webbuff, "<p/><h2>How to use:</h2><ul>");
+ strcat(webbuff, "<li>Select the Radio buttons to control the digital out pins.</li>");
+ strcat(webbuff, "<li>Click 'Send-Refresh' to send.</li>");
+ strcat(webbuff, "<li>Use the 'Send-Refresh' button to refresh the data.</li>");
+ strcat(webbuff, "</ul>");
+ strcat(webbuff, "</body></html>");
+// end of WEB page data
+ bufl = strlen(webbuff); // get total page buffer length
+ sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
+ timeout=200;
+ getcount=7;
+ SendCMD();
+ getreply();
+ SendWEB(); // send web page
+ memset(webbuff, '\0', sizeof(webbuff));
+ sendcheck();
+}
+
+// wait for ESP "SEND OK" reply, then close IP to load web page
+void sendcheck()
+{
+ weberror=1;
+ timeout=500;
+ getcount=24;
+ t2.reset();
+ t2.start();
+ while(weberror==1 && t2.read() <5) {
+ getreply();
+ if (strstr(replybuff, "SEND OK") != NULL) {
+ weberror=0; // wait for valid SEND OK
+ }
+ }
+ if(weberror==1) { // restart connection
+ strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
+ timeout=500;
+ getcount=10;
+ SendCMD();
+ getreply();
+ pc.printf(replybuff);
+ sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
+ timeout=500;
+ getcount=10;
+ SendCMD();
+ getreply();
+ pc.printf(replybuff);
+ } else {
+ sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
+ SendCMD();
+ getreply();
+ pc.printf(replybuff);
+ }
+ t2.reset();
+}
+
+// Reads and processes GET and POST web data
+void ReadWebData()
+{
+ wait_ms(200);
+ esp.attach(NULL);
+ count=0;
+ DataRX=0;
+ weberror=0;
+ memset(webdata, '\0', sizeof(webdata));
+ int x = strcspn (webbuff,"+");
+ if(x) {
+ strcpy(webdata, webbuff + x);
+ weberror=0;
+ int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
+ if( strstr(webdata, "LeftWheelSpeed=1") != NULL ) {
+ LeftWheelSpeed=1;
+ led1 = LeftWheelSpeed;
+ }
+ if( strstr(webdata, "LeftWheelSpeed=0") != NULL ) {
+ LeftWheelSpeed=0;
+ led1 = LeftWheelSpeed;
+ }
+
+ if( strstr(webdata, "LeftWheelDir=1") != NULL ) {
+ LeftWheelDir=1;
+ led2 = LeftWheelDir;
+
+ }
+ if( strstr(webdata, "LeftWheelDir=0") != NULL ) {
+ LeftWheelDir=0;
+ led2 = LeftWheelDir;
+ }
+ if( strstr(webdata, "RightWheelSpeed=1") != NULL ) {
+ RightWheelSpeed=1;
+ led3 = RightWheelSpeed;
+ }
+ if( strstr(webdata, "RightWheelSpeed=0") != NULL ) {
+ RightWheelSpeed=0;
+ led3 = RightWheelSpeed;
+ }
+
+ if( strstr(webdata, "RightWheelDir=1") != NULL ) {
+ RightWheelDir=1;
+ led4 = RightWheelDir;
+ }
+ if( strstr(webdata, "RightWheelDir=0") != NULL ) {
+ RightWheelDir=0;
+ led4 = RightWheelDir;
+ }
+ A.speed((LeftWheelSpeed)*((LeftWheelDir-.5))*-1);
+
+ B.speed((RightWheelSpeed)*((RightWheelDir-.5)));
+ sprintf(channel, "%d",linkID);
+ if (strstr(webdata, "GET") != NULL) {
+ servreq=1;
+ }
+ if (strstr(webdata, "POST") != NULL) {
+ servreq=1;
+ }
+ webcounter++;
+ sprintf(webcount, "%d",webcounter);
+ } else {
+ memset(webbuff, '\0', sizeof(webbuff));
+ esp.attach(&callback);
+ weberror=1;
+ }
+}
+// Starts and restarts webserver if errors detected.
+void startserver()
+{
+
+ pc.printf("\n\n RTC time %s\r\n\n",timebuf);
+ pc.printf("++++++++++ Resetting ESP ++++++++++\r\n");
+ strcpy(cmdbuff,"AT+RST\r\n");
+ timeout=8000;
+ getcount=1000;
+ SendCMD();
+ getreply();
+ pc.printf(replybuff);
+ pc.printf("%d",count);
+ if (strstr(replybuff, "OK") != NULL) {
+ pc.printf("\n++++++++++ Starting Server ++++++++++\r\n");
+ strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections.
+ timeout=500;
+ getcount=20;
+ SendCMD();
+ getreply();
+ pc.printf(replybuff);
+ sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
+ timeout=500;
+ getcount=20;
+ SendCMD();
+ getreply();
+ pc.printf(replybuff);
+ wait(1);
+ sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
+ timeout=500;
+ getcount=50;
+ SendCMD();
+ getreply();
+ pc.printf(replybuff);
+ wait(5);
+ pc.printf("\n Getting Server IP \r\n");
+ strcpy(cmdbuff, "AT+CIFSR\r\n");
+ timeout=2500;
+ getcount=200;
+ while(weberror==0) {
+ SendCMD();
+ getreply();
+ if (strstr(replybuff, "0.0.0.0") == NULL) {
+ weberror=1; // wait for valid IP
+ }
+ }
+ pc.printf("\n Enter WEB address (IP) found below in your browser \r\n\n");
+ pc.printf("\n The MAC address is also shown below,if it is needed \r\n\n");
+ replybuff[strlen(replybuff)-1] = '\0';
+ //char* IP = replybuff + 5;
+ sprintf(webdata,"%s", replybuff);
+ pc.printf(webdata);
+ LeftWheelDir=1;
+ bufflen=200;
+ count=0;
+ pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n");
+ esp.attach(&callback);
+ } else {
+ pc.printf("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
+ while(1) {}
+ }
+ t2.reset();
+ t2.start();
+
+}
+// ESP Command data send
+void SendCMD()
+{
+ esp.printf("%s", cmdbuff);
+}
+// Large WEB buffer data send
+void SendWEB()
+{
+ int i=0;
+ if(esp.writeable()) {
+ while(webbuff[i]!='\0') {
+ esp.putc(webbuff[i]);
+ i++;
+ }
+ }
+}
+// Get Command and ESP status replies
+void getreply()
+{
+ memset(replybuff, '\0', sizeof(replybuff));
+ t1.reset();
+ t1.start();
+ replycount=0;
+ while(t1.read_ms()< timeout && replycount < getcount) {
+ if(esp.readable()) {
+ replybuff[replycount] = esp.getc();
+ replycount++;
+ }
+ }
+ t1.stop();
+}
+// Analog in example
+
+// Get RTC time
+void gettime()
+{
+ time_t seconds = time(NULL);
+ strftime(timebuf,50,"%H:%M:%S %a %d %b %y", localtime(&seconds));
+}
+
+
+
+void setRTC()
+{
+ t.tm_sec = (0); // 0-59
+ t.tm_min = (minute); // 0-59
+ t.tm_hour = (hour); // 0-23
+ t.tm_mday = (dayofmonth); // 1-31
+ t.tm_mon = (month-1); // 0-11 "0" = Jan, -1 added for Mbed RCT clock format
+ t.tm_year = ((year)+100); // year since 1900, current DCF year + 100 + 1900 = correct year
+ set_time(mktime(&t)); // set RTC clock
+}