Revision 0:ce3305cf50b4, committed 2021-12-10
- Comitter:
- fyousuf6
- Date:
- Fri Dec 10 01:54:49 2021 +0000
- Commit message:
- Project_Wifi_Server - runs the backend of server on ESP8266. Commands are received by Raspberry Pi 4 and translated to motions (forward, reverse, left, and right).
Changed in this revision
diff -r 000000000000 -r ce3305cf50b4 Motor.lib
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.lib Fri Dec 10 01:54:49 2021 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/simon/code/Motor/#f265e441bcd9
diff -r 000000000000 -r ce3305cf50b4 main.cpp
--- /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
+}
diff -r 000000000000 -r ce3305cf50b4 mbed.bld
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld Fri Dec 10 01:54:49 2021 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file