File content as of revision 1:8d6d624124fd:

/*
 * Copyright (C) 2015 Wiznet, MIT License
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
 * and associated documentation files (the "Software"), to deal in the Software without restriction,
 * including without limitation the rights to use, copy, modify, merge, publish, distribute,
 * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all copies or
 * substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

#include <stdio.h>
#include "mbed.h"
#include "WizFi250Interface.h"

/* AX-12 */
#define AX12_REG_GOAL_POSITION 0x1E
#define AX12_REG_MOVING 0x2E
#define AX_Init 330

#define SERVER_PORT    5000

#define SECURE WizFi250::SEC_WPA2_MIXED
#define SSID "WizFi250_AP_Test"
#define PASS "1234567890"

#if defined(TARGET_WIZwiki_W7500)
    WizFi250Interface wizfi250(D1,D0,D7,D8,PA_12,NC,115200);
    Serial pc(USBTX, USBRX);
#endif

PwmOut Fan(D3);

DigitalOut red(LED1);
DigitalOut green(LED2);


void UDPServer();

/* AX-12 */
int HeadUD = 200;
int HeadRL = AX_Init;
 
void SetGoal(int ID, int degrees, int flags);
int write(int ID, int start, int bytes, char* data, int flag);
int read(int ID, int start, int bytes, char* data);
int isMoving(int ID);

int main()
{
    pc.baud(115200);
 
    printf("WizFi250 Hello World demo. \r\n");
    wizfi250.init();
    wizfi250.setAddress("192.168.100.1","255.255.255.0","192.168.100.1");
    if ( wizfi250.connect(SECURE, SSID, PASS, WizFi250::WM_AP))      return -1;
    printf("IP Address is %s\r\n", wizfi250.getIPAddress());
    
    wait(1.0);
    UDPServer();
    
    wizfi250.disconnect();
}


void UDPServer(){
    UDPSocket server;
    
    printf("Socket opened\r\n");
    
    server.set_blocking(false);
    server.bind(SERVER_PORT);
    
    printf("port open\r\n");
    
    Endpoint client;
    
    printf("endpoint created");
    
    char buffer[10];
    
    int move1 = AX_Init;
    int move2 = AX_Init;
        
        while(true)
        {
            int n = server.receiveFrom(client, buffer, sizeof(buffer));
            
            if(n > 0)
            {
                //printf("Received packet from: %s\n", client.get_address());
                
                buffer[n] = '\0';

                if(strstr(buffer, "down"))
                {   
                    printf("down\r\n");
                    if(move1 >= 800){
                        move1 = move1;
                        SetGoal(8, move1, 1);
                    }else{
                        move1 += 20;
                        SetGoal(8, move1, 1);
                    }
                }
                else if(strstr(buffer, "up"))
                {
                    printf("up\r\n");
                    if(move1 == 200){
                        move1 = move1;
                        SetGoal(8, move1, 1);
                    }else{
                        move1 -= 20;
                        SetGoal(8, move1, 1);
                    }
                }
                else if(strstr(buffer, "left"))
                {
                    printf("left\r\n");   
                    if(move2 >= 800){
                        move2 = move2;
                        SetGoal(16, move2, 1);
                    }else{
                        move2 += 20;
                        SetGoal(16, move2, 1);
                    }
                }
                else if(strstr(buffer, "right"))
                {
                    printf("right\r\n");
                    if(move2 == 200){
                        move2 = move2;
                        SetGoal(16, move2, 1);
                    }else{
                        move2 -= 20;
                        SetGoal(16, move2, 1);
                    }
                }
                else if(strstr(buffer, "init"))
                {
                    printf("init\r\n");
                    move1 = move1;
                    move2 = move2;
                    SetGoal(8, move1, 1);
                    SetGoal(16, move2, 1);
                }
                else if(strstr(buffer, "fanon"))
                {
                    printf("fan on\r\n");
                    Fan.write(0.8);
                }
                else if(strstr(buffer, "fanoff"))    
                {
                    printf("fan off\r\n");
                    Fan.write(0);
                }
            }
        }
}


void SetGoal(int ID, int degrees, int flags) {

    char reg_flag = 0;
    char data[2];

    // set the flag is only the register bit is set in the flag
    if (flags == 0x2) {
        reg_flag = 1;
    }

    // 1023 / 300 * degrees
    int goal = degrees;
    //short goal = (1023 * degrees) / 300;

    data[0] = goal & 0xff; // bottom 8 bits
    data[1] = goal >> 8;   // top 8 bits

    // write the packet, return the error code
    write(ID, AX12_REG_GOAL_POSITION, 2, data, reg_flag);
    
    if (flags == 1) {
    // block until it comes to a halt
    
        while (isMoving(ID)) {}
    }
}

int write(int ID, int start, int bytes, char* data, int flag) {
// 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum

    char TxBuf[16];
    char sum = 0;
    char Status[6];

#ifdef AX12_WRITE_DEBUG
    pc.printf("\nwrite(%d,0x%x,%d,data,%d)\n",ID,start,bytes,flag);
#endif

    // Build the TxPacket first in RAM, then we'll send in one go
#ifdef AX12_WRITE_DEBUG
    pc.printf("\nInstruction Packet\n  Header : 0xFF, 0xFF\n");
#endif

    TxBuf[0] = 0xff;
    TxBuf[1] = 0xff;

    // ID
    TxBuf[2] = ID;
    sum += TxBuf[2];

#ifdef AX12_WRITE_DEBUG
    pc.printf("  ID : %d\n",TxBuf[2]);
#endif

    // packet Length
    TxBuf[3] = 3+bytes;
    sum += TxBuf[3];

#ifdef AX12_WRITE_DEBUG
    pc.printf("  Length : %d\n",TxBuf[3]);
#endif

    // Instruction
    if (flag == 1) {
        TxBuf[4]=0x04;
        sum += TxBuf[4];
    } else {
        TxBuf[4]=0x03;
        sum += TxBuf[4];
    }

#ifdef AX12_WRITE_DEBUG
    pc.printf("  Instruction : 0x%x\n",TxBuf[4]);
#endif

    // Start Address
    TxBuf[5] = start;
    sum += TxBuf[5];

#ifdef AX12_WRITE_DEBUG
    pc.printf("  Start : 0x%x\n",TxBuf[5]);
#endif

    // data
    for (char i=0; i<bytes ; i++) {
        TxBuf[6+i] = data[i];
        sum += TxBuf[6+i];

#ifdef AX12_WRITE_DEBUG
        pc.printf("  Data : 0x%x\n",TxBuf[6+i]);
#endif

    }

    // checksum
    TxBuf[6+bytes] = 0xFF - sum;

#ifdef AX12_WRITE_DEBUG
    pc.printf("  Checksum : 0x%x\n",TxBuf[6+bytes]);
#endif

    // Transmit the packet in one burst with no pausing
    for (int i = 0; i < (7 + bytes) ; i++) {
        pc.putc(TxBuf[i]);
    }
        // Wait for the bytes to be transmitted
    wait (0.00002);

    // Skip if the read was to the broadcast address
    if (ID != 0xFE) {

        // response packet is always 6 + bytes
        // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
        // timeout is a little more than the time to transmit
        // the packet back, i.e. (6+bytes)*10 bit periods

        int timeout = 0;
        int plen = 0;
        while ((timeout < ((6+bytes)*10)) && (plen<(6+bytes))) {

            if (pc.readable()) {
                Status[plen] = pc.getc();
                plen++;
                timeout = 0;
            }

            // wait for the bit period
            wait (1.0/9600);
            timeout++;
        }

        if (timeout == ((6+bytes)*10) ) {
            return(-1);
        }

        // Copy the data from Status into data for return
        for (int i=0; i < Status[3]-2 ; i++) {
            data[i] = Status[5+i];
        }

#ifdef AX12_READ_DEBUG
        printf("\nStatus Packet\n");
        printf("  Header : 0x%x\n",Status[0]);
        printf("  Header : 0x%x\n",Status[1]);
        printf("  ID : 0x%x\n",Status[2]);
        printf("  Length : 0x%x\n",Status[3]);
        printf("  Error Code : 0x%x\n",Status[4]);

        for (int i=0; i < Status[3]-2 ; i++) {
            printf("  Data : 0x%x\n",Status[5+i]);
        }

        printf("  Checksum : 0x%x\n",Status[5+(Status[3]-2)]);
#endif

    } // if (ID!=0xFE)

    return(Status[4]);
}

int read(int ID, int start, int bytes, char* data) {

    char PacketLength = 0x4;
    char TxBuf[16];
    char sum = 0;
    char Status[16];

    Status[4] = 0xFE; // return code

#ifdef AX12_READ_DEBUG
    printf("\nread(%d,0x%x,%d,data)\n",ID,start,bytes);
#endif

    // Build the TxPacket first in RAM, then we'll send in one go
#ifdef AX12_READ_DEBUG
    printf("\nInstruction Packet\n  Header : 0xFF, 0xFF\n");
#endif

    TxBuf[0] = 0xff;
    TxBuf[1] = 0xff;

    // ID
    TxBuf[2] = ID;
    sum += TxBuf[2];

#ifdef AX12_READ_DEBUG
    printf("  ID : %d\n",TxBuf[2]);
#endif

    // Packet Length
    TxBuf[3] = PacketLength;    // Length = 4 ; 2 + 1 (start) = 1 (bytes)
    sum += TxBuf[3];            // Accululate the packet sum

#ifdef AX12_READ_DEBUG
    printf("  Length : 0x%x\n",TxBuf[3]);
#endif

    // Instruction - Read
    TxBuf[4] = 0x2;
    sum += TxBuf[4];

#ifdef AX12_READ_DEBUG
    printf("  Instruction : 0x%x\n",TxBuf[4]);
#endif

    // Start Address
    TxBuf[5] = start;
    sum += TxBuf[5];

#ifdef AX12_READ_DEBUG
    printf("  Start Address : 0x%x\n",TxBuf[5]);
#endif

    // Bytes to read
    TxBuf[6] = bytes;
    sum += TxBuf[6];

#ifdef AX12_READ_DEBUG
    printf("  No bytes : 0x%x\n",TxBuf[6]);
#endif

    // Checksum
    TxBuf[7] = 0xFF - sum;
#ifdef AX12_READ_DEBUG
    printf("  Checksum : 0x%x\n",TxBuf[7]);
#endif

    // Transmit the packet in one burst with no pausing
    for (int i = 0; i<8 ; i++) {
        pc.putc(TxBuf[i]);
    }

    // Wait for the bytes to be transmitted
    wait (0.00002);

    // Skip if the read was to the broadcast address
    if (ID != 0xFE) {



        // response packet is always 6 + bytes
        // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
        // timeout is a little more than the time to transmit
        // the packet back, i.e. (6+bytes)*10 bit periods

        int timeout = 0;
        int plen = 0;
        while ((timeout < ((6+bytes)*10)) && (plen<(6+bytes))) {

            if (pc.readable()) {
                Status[plen] = pc.getc();
                plen++;
                timeout = 0;
            }

            // wait for the bit period
            wait (1.0/9600);
            timeout++;
        }

        if (timeout == ((6+bytes)*10) ) {
            return(-1);
        }

        // Copy the data from Status into data for return
        for (int i=0; i < Status[3]-2 ; i++) {
            data[i] = Status[5+i];
        }

#ifdef AX12_READ_DEBUG
        printf("\nStatus Packet\n");
        printf("  Header : 0x%x\n",Status[0]);
        printf("  Header : 0x%x\n",Status[1]);
        printf("  ID : 0x%x\n",Status[2]);
        printf("  Length : 0x%x\n",Status[3]);
        printf("  Error Code : 0x%x\n",Status[4]);

        for (int i=0; i < Status[3]-2 ; i++) {
            printf("  Data : 0x%x\n",Status[5+i]);
        }

        printf("  Checksum : 0x%x\n",Status[5+(Status[3]-2)]);
#endif

    } // if (ID!=0xFE)

    return(Status[4]);
}

int isMoving(int ID) {

    char data[1];
    read(ID,AX12_REG_MOVING,1,data);
    return(data[0]);
}