Diff: main.cpp

Revision:

0:ce3305cf50b4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Dec 10 01:54:49 2021 +0000
@@ -0,0 +1,375 @@
+// ESP8266 Static page WEB server to control Mbed
+
+#include "mbed.h"
+#include "Motor.h"
+
+Serial pc(USBTX, USBRX);
+Serial esp(p28, p27); // tx, rx
+
+
+// Standard Mbed LED definitions
+DigitalOut  led1(LED1);
+DigitalOut  led2(LED2);
+DigitalOut  led3(LED3);
+DigitalOut  led4(LED4);
+
+Motor Left(p21, p16, p15); // pwm, fwd, rev
+Motor Right(p22, p20, p19);//pwm, fwd, rev
+
+
+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];
+
+// things for sending/receiving data over serial
+volatile int tx_in=0;
+volatile int tx_out=0;
+volatile int rx_in=0;
+volatile int rx_out=0;
+const int buffer_size = 4095;
+char tx_buffer[buffer_size+1];
+char rx_buffer[buffer_size+1];
+void Tx_interrupt();
+void Rx_interrupt();
+void send_line();
+void read_line();
+
+int DataRX;
+int update;
+int counting;
+char cmdbuff[1024];
+char replybuff[4096];
+char webdata[4096]; // 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
+char timebuf[30];
+void SendCMD(),getreply(),ReadWebData(),startserver();
+void gettime(),setRTC();
+void LeftTurn(),LeftRight(),Forward(),Reverse();
+char rx_line[1024];
+int port        =80;  // set server port
+int SERVtimeout =5;    // set server timeout in seconds in case link breaks.
+struct tm t;
+// 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 main()
+{
+    pc.baud(9600);
+    esp.baud(9600);
+    led1=1,led2=0,led3=0, led4=0;
+    // Setup a serial interrupt function to receive data
+    esp.attach(&Rx_interrupt, Serial::RxIrq);
+    // Setup a serial interrupt function to transmit data
+    esp.attach(&Tx_interrupt, Serial::TxIrq);
+    if (time(NULL) < 1420070400) {
+        setRTC();
+    }
+    startserver();
+    DataRX=0;
+    counting=0;
+    while(1) {
+        if(DataRX==1) {
+            ReadWebData();
+            esp.attach(&Rx_interrupt, Serial::RxIrq);
+        }
+    }
+}
+
+void LeftTurn(){
+       //left
+        led4=1;
+        Left.speed(-1.0);
+        Right.speed(1.0);
+        wait(0.5);
+        Left.speed(0.0);
+        Right.speed(0.0);
+        led4=0;
+}
+void RightTurn(){
+        //right
+        led3=1; 
+        Left.speed(1.0);
+        Right.speed(-1.0);
+        wait(0.5);
+        Left.speed(0.0);
+        Right.speed(0.0);
+        led3=0;    
+    
+}
+
+void Forward(){
+        //forward
+        led1=1;
+        Left.speed(0.8);
+        Right.speed(0.8);
+        wait(5);
+        Left.speed(0.0);
+        Right.speed(0.0);
+        led1=0;
+}
+
+
+void Reverse(){
+     //reverse
+    led2=1;
+    Left.speed(-0.8);
+    Right.speed(-0.8);
+    wait(5);
+    Left.speed(0.0);
+    Right.speed(0.0);
+    led2=0;
+}
+
+// Reads and processes GET and POST web data
+void ReadWebData()
+{
+    wait_ms(200);
+    esp.attach(NULL,Serial::RxIrq);
+    DataRX=0;
+    memset(webdata, '\0', sizeof(webdata));
+    strcpy(webdata, rx_buffer);
+    memset(rx_buffer, '\0', sizeof(rx_buffer));
+    rx_in = 0;
+    rx_out = 0;
+    // check web data for form information
+    if( strstr(webdata, "command=1") != NULL ) {
+        Forward();
+    }
+    if( strstr(webdata, "command=2") != NULL ) {
+        Reverse();
+    }
+    if( strstr(webdata, "command=3") != NULL ) {
+        RightTurn();
+    }
+    if( strstr(webdata, "command=4") != NULL ) {
+        LeftTurn();
+    }
+    if( strstr(webdata, "POST") != NULL ) { // set update flag if POST request
+        update=1;
+    }
+    if( strstr(webdata, "GET") != NULL && strstr(webdata, "favicon") == NULL ) { // set update flag for GET request but do not want to update for favicon requests
+        update=1;
+    }
+}
+
+//------------------------------------------------------------------------------------------------------------------------------------------------------------------
+// Starts webserver
+void startserver()
+{
+    gettime();
+    pc.printf("++++++++++ Resetting ESP ++++++++++\r\n");
+    strcpy(cmdbuff,"node.restart()\r\n");
+    SendCMD();
+    wait(2);
+    getreply();
+    
+    pc.printf("\n++++++++++ Starting Server ++++++++++\r\n> ");
+
+    // initial values
+    sprintf(cmdbuff, "counting,time,analog1,analog2=0,\"%s\",\"%s\",\"%s\"\r\n",timebuf,Temp,Vcc);
+    SendCMD();
+    getreply();
+    wait(0.5);
+
+    //create server
+    sprintf(cmdbuff, "srv=net.createServer(net.TCP,%d)\r\n",SERVtimeout);
+    SendCMD();
+    getreply();
+    wait(0.5);
+    strcpy(cmdbuff,"srv:listen(80,function(conn)\r\n");
+    SendCMD();
+    getreply();
+    wait(0.3);
+        strcpy(cmdbuff,"conn:on(\"receive\",function(conn,payload) \r\n");
+        SendCMD();
+        getreply();
+        wait(0.3);
+        
+        //print data to mbed
+        strcpy(cmdbuff,"print(payload)\r\n");
+        SendCMD();
+        getreply();
+        wait(0.2);
+       
+        //web page data
+        strcpy(cmdbuff,"conn:send('<!DOCTYPE html><html><body><h1>Server to Link MBED and PI</h1></body></html>')\r\n");
+        SendCMD();
+        getreply();
+        wait(0.4);
+        
+        // end web page data
+        strcpy(cmdbuff, "conn:on(\"sent\",function(conn) conn:close() end)\r\n"); // close current connection
+        SendCMD();
+        getreply();
+        wait(0.3);
+        strcpy(cmdbuff, "end)\r\n");
+        SendCMD();
+        getreply();
+        wait(0.2);
+    strcpy(cmdbuff, "end)\r\n");
+    SendCMD();
+    getreply();
+    wait(0.2);
+
+    strcpy(cmdbuff, "tmr.alarm(0, 1000, 1, function()\r\n");
+    SendCMD();
+    getreply();
+    wait(0.2);
+    strcpy(cmdbuff, "if wifi.sta.getip() == nil then\r\n");
+    SendCMD();
+    getreply();
+    wait(0.2);
+    strcpy(cmdbuff, "print(\"Connecting to AP...\\n\")\r\n");
+    SendCMD();
+    getreply();
+    wait(0.2);
+    strcpy(cmdbuff, "else\r\n");
+    SendCMD();
+    getreply();
+    wait(0.2);
+    strcpy(cmdbuff, "ip, nm, gw=wifi.sta.getip()\r\n");
+    SendCMD();
+    getreply();
+    wait(0.2);
+    strcpy(cmdbuff,"print(\"IP Address: \",ip)\r\n");
+    SendCMD();
+    getreply();
+    wait(0.2);
+    strcpy(cmdbuff,"tmr.stop(0)\r\n");
+    SendCMD();
+    getreply();
+    wait(0.2);
+    strcpy(cmdbuff,"end\r\n");
+    SendCMD();
+    getreply();
+    wait(0.2);
+    strcpy(cmdbuff,"end)\r\n");
+    SendCMD();
+    getreply();
+    wait(0.2);
+    
+    pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n");
+}
+
+
+// ESP Command data send
+void SendCMD()
+{
+    int i;
+    char temp_char;
+    bool empty;
+    i = 0;
+// Start Critical Section - don't interrupt while changing global buffer variables
+    NVIC_DisableIRQ(UART1_IRQn);
+    empty = (tx_in == tx_out);
+    while ((i==0) || (cmdbuff[i-1] != '\n')) {
+// Wait if buffer full
+        if (((tx_in + 1) % buffer_size) == tx_out) {
+// End Critical Section - need to let interrupt routine empty buffer by sending
+            NVIC_EnableIRQ(UART1_IRQn);
+            while (((tx_in + 1) % buffer_size) == tx_out) {
+            }
+// Start Critical Section - don't interrupt while changing global buffer variables
+            NVIC_DisableIRQ(UART1_IRQn);
+        }
+        tx_buffer[tx_in] = cmdbuff[i];
+        i++;
+        tx_in = (tx_in + 1) % buffer_size;
+    }
+    if (esp.writeable() && (empty)) {
+        temp_char = tx_buffer[tx_out];
+        tx_out = (tx_out + 1) % buffer_size;
+// Send first character to start tx interrupts, if stopped
+        esp.putc(temp_char);
+    }
+// End Critical Section
+    NVIC_EnableIRQ(UART1_IRQn);
+    return;
+}
+
+// Get Command and ESP status replies
+void getreply()
+{
+    read_line();
+    sscanf(rx_line,replybuff);
+}
+ 
+// Read a line from the large rx buffer from rx interrupt routine
+void read_line() {
+    int i;
+    i = 0;
+// Start Critical Section - don't interrupt while changing global buffer variables
+    NVIC_DisableIRQ(UART1_IRQn);
+// Loop reading rx buffer characters until end of line character
+    while ((i==0) || (rx_line[i-1] != '\r')) {
+// Wait if buffer empty
+        if (rx_in == rx_out) {
+// End Critical Section - need to allow rx interrupt to get new characters for buffer
+            NVIC_EnableIRQ(UART1_IRQn);
+            while (rx_in == rx_out) {
+            }
+// Start Critical Section - don't interrupt while changing global buffer variables
+            NVIC_DisableIRQ(UART1_IRQn);
+        }
+        rx_line[i] = rx_buffer[rx_out];
+        i++;
+        rx_out = (rx_out + 1) % buffer_size;
+    }
+// End Critical Section
+    NVIC_EnableIRQ(UART1_IRQn);
+    rx_line[i-1] = 0;
+    return;
+}
+ 
+ 
+// Interupt Routine to read in data from serial port
+void Rx_interrupt() {
+    DataRX=1;
+    //led3=1;
+// Loop just in case more than one character is in UART's receive FIFO buffer
+// Stop if buffer full
+    while ((esp.readable()) && (((rx_in + 1) % buffer_size) != rx_out)) {
+        rx_buffer[rx_in] = esp.getc();
+// Uncomment to Echo to USB serial to watch data flow
+        pc.putc(rx_buffer[rx_in]);
+        rx_in = (rx_in + 1) % buffer_size;
+    }
+    //led3=0;
+    return;
+}
+ 
+ 
+// Interupt Routine to write out data to serial port
+void Tx_interrupt() {
+    //led2=1;
+// Loop to fill more than one character in UART's transmit FIFO buffer
+// Stop if buffer empty
+    while ((esp.writeable()) && (tx_in != tx_out)) {
+        esp.putc(tx_buffer[tx_out]);
+        tx_out = (tx_out + 1) % buffer_size;
+    }
+    //led2=0;
+    return;
+}
+
+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
+}