au wot hackathon0314 test program
Dependencies: NySNICInterface mbed-rtos mbed
Fork of RESTServer_team4 by
main.cpp@10:1caf4a3ce823, 2015-03-14 (annotated)
- Committer:
- kanpapa
- Date:
- Sat Mar 14 10:58:45 2015 +0000
- Revision:
- 10:1caf4a3ce823
- Parent:
- 9:01aa69185ed8
beta version
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
komoritan | 0:998e2e00df0c | 1 | #include "mbed.h" |
komoritan | 0:998e2e00df0c | 2 | #include "SNIC_WifiInterface.h" |
komoritan | 0:998e2e00df0c | 3 | #include "HTTPServer.h" |
komoritan | 0:998e2e00df0c | 4 | |
yi | 9:01aa69185ed8 | 5 | #include "control_motors.h" |
yi | 9:01aa69185ed8 | 6 | |
komoritan | 0:998e2e00df0c | 7 | /** |
komoritan | 0:998e2e00df0c | 8 | * Wifi AP parameter |
komoritan | 0:998e2e00df0c | 9 | */ |
komoritan | 0:998e2e00df0c | 10 | |
komoritan | 0:998e2e00df0c | 11 | /* Set this */ |
kanpapa | 10:1caf4a3ce823 | 12 | #define WIFI_SSID "KDDI_hackathon04" |
kanpapa | 10:1caf4a3ce823 | 13 | #define WIFI_SECUTIRY_KEY "123456789" |
yi | 1:e821c773d5f0 | 14 | #define WIFI_SECURITY_TYPE e_SEC_WPA2_AES |
komoritan | 0:998e2e00df0c | 15 | //#define WIFI_SECURITY_TYPE e_SEC_OPEN |
komoritan | 0:998e2e00df0c | 16 | //#define WIFI_SECURITY_TYPE e_SEC_WEP |
komoritan | 0:998e2e00df0c | 17 | //#define WIFI_SECURITY_TYPE e_SEC_WPA_TKIP |
yi | 1:e821c773d5f0 | 18 | //#define WIFI_SECURITY_TYPE e_SEC_WPA2_AES |
komoritan | 0:998e2e00df0c | 19 | //#define WIFI_SECURITY_TYPE e_SEC_WPA2_MIXED |
komoritan | 0:998e2e00df0c | 20 | |
kanpapa | 10:1caf4a3ce823 | 21 | #define IP_ADDRESS "192.168.100.149" |
kanpapa | 10:1caf4a3ce823 | 22 | #define NET_MASK "255.255.255.0" |
kanpapa | 10:1caf4a3ce823 | 23 | #define DEFAULT_GATEWAY "192.168.100.1" |
komoritan | 0:998e2e00df0c | 24 | |
komoritan | 0:998e2e00df0c | 25 | #define PORT_NUMBER 80 |
komoritan | 0:998e2e00df0c | 26 | |
yi | 1:e821c773d5f0 | 27 | #define _DEBUG |
komoritan | 0:998e2e00df0c | 28 | |
komoritan | 0:998e2e00df0c | 29 | Serial pc(USBTX, USBRX); // This is required when defined "_DEBUG" |
kanpapa | 10:1caf4a3ce823 | 30 | |
kanpapa | 10:1caf4a3ce823 | 31 | Serial tocos(p13, p14); // TOCOS TWE-Lite (Serial) |
kanpapa | 10:1caf4a3ce823 | 32 | |
komoritan | 0:998e2e00df0c | 33 | /** Wi-Fi SNIC UART Interface*/ |
yi | 1:e821c773d5f0 | 34 | C_SNIC_WifiInterface mSNICwifi( p9, p10, NC, NC, p30 ); |
komoritan | 0:998e2e00df0c | 35 | |
oks486 | 4:99a67256b765 | 36 | // Left motor |
oks486 | 4:99a67256b765 | 37 | PwmOut mPwmMotorL(p23); |
oks486 | 4:99a67256b765 | 38 | DigitalOut mDoutMotorL1(p15); |
oks486 | 4:99a67256b765 | 39 | DigitalOut mDoutMotorL2(p16); |
oks486 | 4:99a67256b765 | 40 | |
oks486 | 4:99a67256b765 | 41 | // Rigth motor |
oks486 | 4:99a67256b765 | 42 | PwmOut mPwmMotorR(p22); |
oks486 | 4:99a67256b765 | 43 | DigitalOut mDoutMotorR1(p18); |
oks486 | 4:99a67256b765 | 44 | DigitalOut mDoutMotorR2(p17); |
oks486 | 4:99a67256b765 | 45 | |
oks486 | 4:99a67256b765 | 46 | // Tail motor |
oks486 | 4:99a67256b765 | 47 | PwmOut mPwmMotorTail(p21); |
oks486 | 4:99a67256b765 | 48 | DigitalOut mDoutMotorTail1(p19); |
oks486 | 4:99a67256b765 | 49 | DigitalOut mDoutMotorTail2(p20); |
komoritan | 0:998e2e00df0c | 50 | |
komoritan | 0:998e2e00df0c | 51 | |
komoritan | 0:998e2e00df0c | 52 | void wifi_connect() |
komoritan | 0:998e2e00df0c | 53 | { |
komoritan | 0:998e2e00df0c | 54 | // Initialize Wi-Fi interface |
komoritan | 0:998e2e00df0c | 55 | if(mSNICwifi.init()!=0){ |
komoritan | 0:998e2e00df0c | 56 | printf("Wi-Fi initial failed\r\n"); |
komoritan | 0:998e2e00df0c | 57 | mbed_die(); |
komoritan | 0:998e2e00df0c | 58 | } |
komoritan | 0:998e2e00df0c | 59 | wait(0.5); |
komoritan | 0:998e2e00df0c | 60 | |
komoritan | 0:998e2e00df0c | 61 | if(mSNICwifi.disconnect()!= 0 ) |
komoritan | 0:998e2e00df0c | 62 | { |
komoritan | 0:998e2e00df0c | 63 | printf("on the disconnect state\r\n"); |
komoritan | 0:998e2e00df0c | 64 | mbed_die(); |
komoritan | 0:998e2e00df0c | 65 | } |
komoritan | 0:998e2e00df0c | 66 | wait(0.3); |
komoritan | 0:998e2e00df0c | 67 | |
komoritan | 0:998e2e00df0c | 68 | // Connect to AP |
komoritan | 0:998e2e00df0c | 69 | if(mSNICwifi.connect( WIFI_SSID,strlen(WIFI_SSID), |
komoritan | 0:998e2e00df0c | 70 | WIFI_SECURITY_TYPE, |
komoritan | 0:998e2e00df0c | 71 | WIFI_SECUTIRY_KEY, |
komoritan | 0:998e2e00df0c | 72 | strlen(WIFI_SECUTIRY_KEY))!=0) |
komoritan | 0:998e2e00df0c | 73 | { |
komoritan | 0:998e2e00df0c | 74 | printf("Connect AP is failed\r\n"); |
komoritan | 0:998e2e00df0c | 75 | mbed_die(); |
komoritan | 0:998e2e00df0c | 76 | } |
komoritan | 0:998e2e00df0c | 77 | wait(0.5); |
komoritan | 0:998e2e00df0c | 78 | |
komoritan | 0:998e2e00df0c | 79 | int retIp = mSNICwifi.setIPConfig(false, IP_ADDRESS, NET_MASK, DEFAULT_GATEWAY); |
yi | 1:e821c773d5f0 | 80 | |
kanpapa | 10:1caf4a3ce823 | 81 | printf("IP_ADDRESS:%s, NET_MASK:%s, DEFAULT_GATEWAY:%s\r\n",IP_ADDRESS, NET_MASK, DEFAULT_GATEWAY); |
kanpapa | 10:1caf4a3ce823 | 82 | |
komoritan | 0:998e2e00df0c | 83 | } |
komoritan | 0:998e2e00df0c | 84 | |
kanpapa | 10:1caf4a3ce823 | 85 | void uart_callback() { |
kanpapa | 10:1caf4a3ce823 | 86 | // Note: you need to actually read from the serial to clear the RX interrupt |
kanpapa | 10:1caf4a3ce823 | 87 | sprintf("%c\n", pc.getc()); |
kanpapa | 10:1caf4a3ce823 | 88 | led2 = !led2; |
kanpapa | 10:1caf4a3ce823 | 89 | } |
komoritan | 0:998e2e00df0c | 90 | |
komoritan | 0:998e2e00df0c | 91 | int main() |
komoritan | 0:998e2e00df0c | 92 | { |
komoritan | 0:998e2e00df0c | 93 | // for debug |
komoritan | 0:998e2e00df0c | 94 | pc.baud( 115200 ); |
kanpapa | 10:1caf4a3ce823 | 95 | |
kanpapa | 10:1caf4a3ce823 | 96 | pc.printf("program start.\r\n"); |
kanpapa | 10:1caf4a3ce823 | 97 | |
kanpapa | 10:1caf4a3ce823 | 98 | tocos.attach(&uart_callback); |
oks486 | 4:99a67256b765 | 99 | |
oks486 | 4:99a67256b765 | 100 | mPwmMotorL.period_ms(20); |
oks486 | 4:99a67256b765 | 101 | mPwmMotorR.period_ms(20); |
oks486 | 4:99a67256b765 | 102 | mPwmMotorTail.period_ms(20); |
komoritan | 0:998e2e00df0c | 103 | |
komoritan | 0:998e2e00df0c | 104 | wifi_connect(); |
yi | 1:e821c773d5f0 | 105 | |
komoritan | 0:998e2e00df0c | 106 | HTTPServer srv; |
komoritan | 0:998e2e00df0c | 107 | |
komoritan | 0:998e2e00df0c | 108 | pc.printf("server init.\r\n"); |
komoritan | 0:998e2e00df0c | 109 | srv.init(PORT_NUMBER); |
komoritan | 0:998e2e00df0c | 110 | |
komoritan | 0:998e2e00df0c | 111 | wait(1); |
komoritan | 0:998e2e00df0c | 112 | pc.printf("server running.\r\n"); |
komoritan | 0:998e2e00df0c | 113 | srv.run(); |
kanpapa | 10:1caf4a3ce823 | 114 | } |