Cameron Causer / Mbed 2 deprecated 4180_Project_WiFi_Communication_Controller

Final version

Dependencies:   mbed SparkfunAnalogJoystick LSM9DS1_Library_cal PinDetect

main.cpp@0:5ad3d5f99603, 2018-12-05 (annotated)

Committer:
kzar
Date:
Wed Dec 05 17:13:03 2018 +0000
Revision:
0:5ad3d5f99603
Child:
1:0ec1b59239f2
j

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kzar 0:5ad3d5f99603 1 // This mbed code creates a connection with the other mbeds server and reads from it
kzar 0:5ad3d5f99603 2 // The car will host the server, the remote controll will send data to the server
kzar 0:5ad3d5f99603 3
kzar 0:5ad3d5f99603 4 #include "mbed.h"
kzar 0:5ad3d5f99603 5 #include "PinDetect.h"
kzar 0:5ad3d5f99603 6
kzar 0:5ad3d5f99603 7 Serial pc(USBTX, USBRX);
kzar 0:5ad3d5f99603 8 Serial esp(p28, p27); // tx, rx
kzar 0:5ad3d5f99603 9
kzar 0:5ad3d5f99603 10
kzar 0:5ad3d5f99603 11 // Standard Mbed LED definitions
kzar 0:5ad3d5f99603 12 DigitalOut led1(LED1);
kzar 0:5ad3d5f99603 13 DigitalOut led2(LED2);
kzar 0:5ad3d5f99603 14 DigitalOut led3(LED3);
kzar 0:5ad3d5f99603 15 DigitalOut led4(LED4);
kzar 0:5ad3d5f99603 16
kzar 0:5ad3d5f99603 17 // Push button used for testing
kzar 0:5ad3d5f99603 18 PinDetect pb1(p21);
kzar 0:5ad3d5f99603 19 void pushed(void) { }
kzar 0:5ad3d5f99603 20
kzar 0:5ad3d5f99603 21 /*
kzar 0:5ad3d5f99603 22 char ssid[32] = "hsd"; // enter WiFi router ssid inside the quotes
kzar 0:5ad3d5f99603 23 char pwd [32] = "austin123"; // enter WiFi router password inside the quotes
kzar 0:5ad3d5f99603 24 */
kzar 0:5ad3d5f99603 25
kzar 0:5ad3d5f99603 26
kzar 0:5ad3d5f99603 27 // things for sending/receiving data over serial
kzar 0:5ad3d5f99603 28 volatile int tx_in=0;
kzar 0:5ad3d5f99603 29 volatile int tx_out=0;
kzar 0:5ad3d5f99603 30 volatile int rx_in=0;
kzar 0:5ad3d5f99603 31 volatile int rx_out=0;
kzar 0:5ad3d5f99603 32 const int buffer_size = 4095;
kzar 0:5ad3d5f99603 33 char tx_buffer[buffer_size+1];
kzar 0:5ad3d5f99603 34 char rx_buffer[buffer_size+1];
kzar 0:5ad3d5f99603 35 void Tx_interrupt();
kzar 0:5ad3d5f99603 36 void Rx_interrupt();
kzar 0:5ad3d5f99603 37 void read_line();
kzar 0:5ad3d5f99603 38
kzar 0:5ad3d5f99603 39 int DataRX;
kzar 0:5ad3d5f99603 40 int update;
kzar 0:5ad3d5f99603 41 char cmdbuff[1024];
kzar 0:5ad3d5f99603 42 char replybuff[4096];
kzar 0:5ad3d5f99603 43 char webdata[4096]; // This may need to be bigger depending on WEB browser used
kzar 0:5ad3d5f99603 44 char webbuff[4096]; // Currently using 1986 characters, Increase this if more web page data added
kzar 0:5ad3d5f99603 45 void SendCMD(),getreply(),ReadWebData(),startserver();
kzar 0:5ad3d5f99603 46 void getConnection(); // Sets up a connection with the car server
kzar 0:5ad3d5f99603 47 char rx_line[1024];
kzar 0:5ad3d5f99603 48 int port =80; // set server port
kzar 0:5ad3d5f99603 49 int SERVtimeout =5; // set server timeout in seconds in case link breaks.
kzar 0:5ad3d5f99603 50
kzar 0:5ad3d5f99603 51
kzar 0:5ad3d5f99603 52
kzar 0:5ad3d5f99603 53 int main()
kzar 0:5ad3d5f99603 54 {
kzar 0:5ad3d5f99603 55 pc.baud(9600);
kzar 0:5ad3d5f99603 56 esp.baud(9600);
kzar 0:5ad3d5f99603 57 led1=1,led2=0,led3=0, led4=0;
kzar 0:5ad3d5f99603 58 // Setup a serial interrupt function to receive data
kzar 0:5ad3d5f99603 59 esp.attach(&Rx_interrupt, Serial::RxIrq);
kzar 0:5ad3d5f99603 60 // Setup a serial interrupt function to transmit data
kzar 0:5ad3d5f99603 61 esp.attach(&Tx_interrupt, Serial::TxIrq);
kzar 0:5ad3d5f99603 62 // Attach isr to pushbutton
kzar 0:5ad3d5f99603 63 pb1.mode(PullUp);
kzar 0:5ad3d5f99603 64 pb1.attach_asserted(&pushed);
kzar 0:5ad3d5f99603 65
kzar 0:5ad3d5f99603 66 // Get connection to server
kzar 0:5ad3d5f99603 67 getConnection();
kzar 0:5ad3d5f99603 68
kzar 0:5ad3d5f99603 69 update = 0;
kzar 0:5ad3d5f99603 70 // Everything is interrupt driven, infinite loop
kzar 0:5ad3d5f99603 71 while(1) {
kzar 0:5ad3d5f99603 72 //Send all car vals+
kzar 0:5ad3d5f99603 73 if (update) {
kzar 0:5ad3d5f99603 74 // Send led for testing
kzar 0:5ad3d5f99603 75
kzar 0:5ad3d5f99603 76
kzar 0:5ad3d5f99603 77 // Reset update flag
kzar 0:5ad3d5f99603 78 update = 0;
kzar 0:5ad3d5f99603 79 }
kzar 0:5ad3d5f99603 80
kzar 0:5ad3d5f99603 81 }
kzar 0:5ad3d5f99603 82 }
kzar 0:5ad3d5f99603 83
kzar 0:5ad3d5f99603 84 // Reads and processes GET and POST web data
kzar 0:5ad3d5f99603 85 void ReadWebData()
kzar 0:5ad3d5f99603 86 {
kzar 0:5ad3d5f99603 87 wait_ms(200);
kzar 0:5ad3d5f99603 88 esp.attach(NULL,Serial::RxIrq);
kzar 0:5ad3d5f99603 89 DataRX=0;
kzar 0:5ad3d5f99603 90 memset(webdata, '\0', sizeof(webdata));
kzar 0:5ad3d5f99603 91 strcpy(webdata, rx_buffer);
kzar 0:5ad3d5f99603 92 memset(rx_buffer, '\0', sizeof(rx_buffer));
kzar 0:5ad3d5f99603 93 rx_in = 0;
kzar 0:5ad3d5f99603 94 rx_out = 0;
kzar 0:5ad3d5f99603 95
kzar 0:5ad3d5f99603 96 // Modify this to check for our commands
kzar 0:5ad3d5f99603 97 // check web data for form information
kzar 0:5ad3d5f99603 98 if( strstr(webdata, "check=led1v") != NULL ) {
kzar 0:5ad3d5f99603 99 led1=!led1;
kzar 0:5ad3d5f99603 100 }
kzar 0:5ad3d5f99603 101 if( strstr(webdata, "check=led2v") != NULL ) {
kzar 0:5ad3d5f99603 102 led2=!led2;
kzar 0:5ad3d5f99603 103 }
kzar 0:5ad3d5f99603 104 if( strstr(webdata, "check=led3v") != NULL ) {
kzar 0:5ad3d5f99603 105 led3=!led3;
kzar 0:5ad3d5f99603 106 }
kzar 0:5ad3d5f99603 107 if( strstr(webdata, "check=led4v") != NULL ) {
kzar 0:5ad3d5f99603 108 led4=!led4;
kzar 0:5ad3d5f99603 109 }
kzar 0:5ad3d5f99603 110 if( strstr(webdata, "POST") != NULL ) { // set update flag if POST request
kzar 0:5ad3d5f99603 111 update=1;
kzar 0:5ad3d5f99603 112 }
kzar 0:5ad3d5f99603 113 if( strstr(webdata, "GET") != NULL && strstr(webdata, "favicon") == NULL ) { // set update flag for GET request but do not want to update for favicon requests
kzar 0:5ad3d5f99603 114 update=1;
kzar 0:5ad3d5f99603 115 }
kzar 0:5ad3d5f99603 116 }
kzar 0:5ad3d5f99603 117 // Sets up connection with car server
kzar 0:5ad3d5f99603 118 void getConnection()
kzar 0:5ad3d5f99603 119 {
kzar 0:5ad3d5f99603 120 // Disconncet from any potential connections
kzar 0:5ad3d5f99603 121 strcpy(cmdbuff,"wifi.sta.disconnect()\r\n");
kzar 0:5ad3d5f99603 122 SendCMD();
kzar 0:5ad3d5f99603 123 getreply();
kzar 0:5ad3d5f99603 124 wait(2);
kzar 0:5ad3d5f99603 125 // Set mode (STATION)
kzar 0:5ad3d5f99603 126 strcpy(cmdbuff,"wifi.setmode(wifi.STATION)\r\n");
kzar 0:5ad3d5f99603 127 SendCMD();
kzar 0:5ad3d5f99603 128 getreply();
kzar 0:5ad3d5f99603 129 wait(2);
kzar 0:5ad3d5f99603 130 // Connect to car server
kzar 0:5ad3d5f99603 131 strcpy(cmdbuff,"wifi.sta.config(\"Server\", \"fpv_car\"\)r\n");
kzar 0:5ad3d5f99603 132 SendCMD();
kzar 0:5ad3d5f99603 133 getreply();
kzar 0:5ad3d5f99603 134 wait(2);
kzar 0:5ad3d5f99603 135 // Connect to server
kzar 0:5ad3d5f99603 136 strcpy(cmdbuff,"wifi.sta.connect()\r\n");
kzar 0:5ad3d5f99603 137 SendCMD();
kzar 0:5ad3d5f99603 138 getreply();
kzar 0:5ad3d5f99603 139 wait(2);
kzar 0:5ad3d5f99603 140
kzar 0:5ad3d5f99603 141 strcpy(cmdbuff,"tmr.alarm(1,2000,1, function()\r\n");
kzar 0:5ad3d5f99603 142 SendCMD();
kzar 0:5ad3d5f99603 143 getreply();
kzar 0:5ad3d5f99603 144 wait(2);
kzar 0:5ad3d5f99603 145
kzar 0:5ad3d5f99603 146 strcpy(cmdbuff,"if(wifi.sta.getip()~=nil then\r\n");
kzar 0:5ad3d5f99603 147 SendCMD();
kzar 0:5ad3d5f99603 148 getreply();
kzar 0:5ad3d5f99603 149 wait(2);
kzar 0:5ad3d5f99603 150
kzar 0:5ad3d5f99603 151 strcpy(cmdbuff,"tmr.stop(1)\r\n");
kzar 0:5ad3d5f99603 152 SendCMD();
kzar 0:5ad3d5f99603 153 getreply();
kzar 0:5ad3d5f99603 154 wait(2);
kzar 0:5ad3d5f99603 155 // Print out controller ip address
kzar 0:5ad3d5f99603 156 strcpy(cmdbuff,"print(\"Connected!\")\r\n");
kzar 0:5ad3d5f99603 157 SendCMD();
kzar 0:5ad3d5f99603 158 getreply();
kzar 0:5ad3d5f99603 159 wait(2);
kzar 0:5ad3d5f99603 160 // Print out controller ip address
kzar 0:5ad3d5f99603 161 strcpy(cmdbuff,"print(\"Client IP Address:\",wifi.sta.getip())\r\n");
kzar 0:5ad3d5f99603 162 SendCMD();
kzar 0:5ad3d5f99603 163 getreply();
kzar 0:5ad3d5f99603 164 wait(2);
kzar 0:5ad3d5f99603 165
kzar 0:5ad3d5f99603 166 // Print out controller ip address
kzar 0:5ad3d5f99603 167 strcpy(cmdbuff,"cl:connect(80, \"192.168.1.31\"\r\n");
kzar 0:5ad3d5f99603 168 SendCMD();
kzar 0:5ad3d5f99603 169 getreply();
kzar 0:5ad3d5f99603 170 wait(2);
kzar 0:5ad3d5f99603 171
kzar 0:5ad3d5f99603 172 // Print out controller ip address
kzar 0:5ad3d5f99603 173 strcpy(cmdbuff,"else\r\n");
kzar 0:5ad3d5f99603 174 SendCMD();
kzar 0:5ad3d5f99603 175 getreply();
kzar 0:5ad3d5f99603 176 wait(2);
kzar 0:5ad3d5f99603 177 // Print out controller ip address
kzar 0:5ad3d5f99603 178 strcpy(cmdbuff,"print(\"Connecting...\")\r\n");
kzar 0:5ad3d5f99603 179 SendCMD();
kzar 0:5ad3d5f99603 180 getreply();
kzar 0:5ad3d5f99603 181 wait(2);
kzar 0:5ad3d5f99603 182 // Print out controller ip address
kzar 0:5ad3d5f99603 183 strcpy(cmdbuff,"end\r\n");
kzar 0:5ad3d5f99603 184 SendCMD();
kzar 0:5ad3d5f99603 185 getreply();
kzar 0:5ad3d5f99603 186 wait(2);
kzar 0:5ad3d5f99603 187 // Print out controller ip address
kzar 0:5ad3d5f99603 188 strcpy(cmdbuff,"end)\r\n");
kzar 0:5ad3d5f99603 189 SendCMD();
kzar 0:5ad3d5f99603 190 getreply();
kzar 0:5ad3d5f99603 191 wait(2);
kzar 0:5ad3d5f99603 192
kzar 0:5ad3d5f99603 193 //tmr.alarm(1, 2000, 1, function()
kzar 0:5ad3d5f99603 194 // if(wifi.sta.getip()~=nil) then
kzar 0:5ad3d5f99603 195 // tmr.stop(1)
kzar 0:5ad3d5f99603 196 // print("Connected!")
kzar 0:5ad3d5f99603 197 // print("Client IP Address:",wifi.sta.getip())
kzar 0:5ad3d5f99603 198 // cl=net.createConnection(net.TCP, 0)
kzar 0:5ad3d5f99603 199 // cl:connect(80,"192.168.4.1")
kzar 0:5ad3d5f99603 200 // tmr.alarm(2, 5000, 1, function()
kzar 0:5ad3d5f99603 201 // cl:send("Hello World!")
kzar 0:5ad3d5f99603 202 // end)
kzar 0:5ad3d5f99603 203 // else
kzar 0:5ad3d5f99603 204 // print("Connecting...")
kzar 0:5ad3d5f99603 205 // end
kzar 0:5ad3d5f99603 206 //end)
kzar 0:5ad3d5f99603 207
kzar 0:5ad3d5f99603 208 }
kzar 0:5ad3d5f99603 209
kzar 0:5ad3d5f99603 210
kzar 0:5ad3d5f99603 211 // ESP Command data send
kzar 0:5ad3d5f99603 212 void SendCMD()
kzar 0:5ad3d5f99603 213 {
kzar 0:5ad3d5f99603 214 int i;
kzar 0:5ad3d5f99603 215 char temp_char;
kzar 0:5ad3d5f99603 216 bool empty;
kzar 0:5ad3d5f99603 217 i = 0;
kzar 0:5ad3d5f99603 218 // Start Critical Section - don't interrupt while changing global buffer variables
kzar 0:5ad3d5f99603 219 NVIC_DisableIRQ(UART1_IRQn);
kzar 0:5ad3d5f99603 220 empty = (tx_in == tx_out);
kzar 0:5ad3d5f99603 221 while ((i==0) || (cmdbuff[i-1] != '\n')) {
kzar 0:5ad3d5f99603 222 // Wait if buffer full
kzar 0:5ad3d5f99603 223 if (((tx_in + 1) % buffer_size) == tx_out) {
kzar 0:5ad3d5f99603 224 // End Critical Section - need to let interrupt routine empty buffer by sending
kzar 0:5ad3d5f99603 225 NVIC_EnableIRQ(UART1_IRQn);
kzar 0:5ad3d5f99603 226 while (((tx_in + 1) % buffer_size) == tx_out) {
kzar 0:5ad3d5f99603 227 }
kzar 0:5ad3d5f99603 228 // Start Critical Section - don't interrupt while changing global buffer variables
kzar 0:5ad3d5f99603 229 NVIC_DisableIRQ(UART1_IRQn);
kzar 0:5ad3d5f99603 230 }
kzar 0:5ad3d5f99603 231 tx_buffer[tx_in] = cmdbuff[i];
kzar 0:5ad3d5f99603 232 i++;
kzar 0:5ad3d5f99603 233 tx_in = (tx_in + 1) % buffer_size;
kzar 0:5ad3d5f99603 234 }
kzar 0:5ad3d5f99603 235 if (esp.writeable() && (empty)) {
kzar 0:5ad3d5f99603 236 temp_char = tx_buffer[tx_out];
kzar 0:5ad3d5f99603 237 tx_out = (tx_out + 1) % buffer_size;
kzar 0:5ad3d5f99603 238 // Send first character to start tx interrupts, if stopped
kzar 0:5ad3d5f99603 239 esp.putc(temp_char);
kzar 0:5ad3d5f99603 240 }
kzar 0:5ad3d5f99603 241 // End Critical Section
kzar 0:5ad3d5f99603 242 NVIC_EnableIRQ(UART1_IRQn);
kzar 0:5ad3d5f99603 243 return;
kzar 0:5ad3d5f99603 244 }
kzar 0:5ad3d5f99603 245
kzar 0:5ad3d5f99603 246
kzar 0:5ad3d5f99603 247 // Get Command and ESP status replies
kzar 0:5ad3d5f99603 248 void getreply()
kzar 0:5ad3d5f99603 249 {
kzar 0:5ad3d5f99603 250 read_line();
kzar 0:5ad3d5f99603 251 sscanf(rx_line,replybuff);
kzar 0:5ad3d5f99603 252 }
kzar 0:5ad3d5f99603 253
kzar 0:5ad3d5f99603 254 // FUNCTIONS BELOW ARE FOR RX AND TX INTERUPTS (NOT WEB STUFF)
kzar 0:5ad3d5f99603 255
kzar 0:5ad3d5f99603 256 // Read a line from the large rx buffer from rx interrupt routine
kzar 0:5ad3d5f99603 257 void read_line() {
kzar 0:5ad3d5f99603 258 int i;
kzar 0:5ad3d5f99603 259 i = 0;
kzar 0:5ad3d5f99603 260 // Start Critical Section - don't interrupt while changing global buffer variables
kzar 0:5ad3d5f99603 261 NVIC_DisableIRQ(UART1_IRQn);
kzar 0:5ad3d5f99603 262 // Loop reading rx buffer characters until end of line character
kzar 0:5ad3d5f99603 263 while ((i==0) || (rx_line[i-1] != '\r')) {
kzar 0:5ad3d5f99603 264 // Wait if buffer empty
kzar 0:5ad3d5f99603 265 if (rx_in == rx_out) {
kzar 0:5ad3d5f99603 266 // End Critical Section - need to allow rx interrupt to get new characters for buffer
kzar 0:5ad3d5f99603 267 NVIC_EnableIRQ(UART1_IRQn);
kzar 0:5ad3d5f99603 268 while (rx_in == rx_out) {
kzar 0:5ad3d5f99603 269 }
kzar 0:5ad3d5f99603 270 // Start Critical Section - don't interrupt while changing global buffer variables
kzar 0:5ad3d5f99603 271 NVIC_DisableIRQ(UART1_IRQn);
kzar 0:5ad3d5f99603 272 }
kzar 0:5ad3d5f99603 273 rx_line[i] = rx_buffer[rx_out];
kzar 0:5ad3d5f99603 274 i++;
kzar 0:5ad3d5f99603 275 rx_out = (rx_out + 1) % buffer_size;
kzar 0:5ad3d5f99603 276 }
kzar 0:5ad3d5f99603 277 // End Critical Section
kzar 0:5ad3d5f99603 278 NVIC_EnableIRQ(UART1_IRQn);
kzar 0:5ad3d5f99603 279 rx_line[i-1] = 0;
kzar 0:5ad3d5f99603 280 return;
kzar 0:5ad3d5f99603 281 }
kzar 0:5ad3d5f99603 282
kzar 0:5ad3d5f99603 283
kzar 0:5ad3d5f99603 284 // Interupt Routine to read in data from serial port
kzar 0:5ad3d5f99603 285 void Rx_interrupt() {
kzar 0:5ad3d5f99603 286 DataRX=1;
kzar 0:5ad3d5f99603 287 //led3=1;
kzar 0:5ad3d5f99603 288 // Loop just in case more than one character is in UART's receive FIFO buffer
kzar 0:5ad3d5f99603 289 // Stop if buffer full
kzar 0:5ad3d5f99603 290 while ((esp.readable()) && (((rx_in + 1) % buffer_size) != rx_out)) {
kzar 0:5ad3d5f99603 291 rx_buffer[rx_in] = esp.getc();
kzar 0:5ad3d5f99603 292 // Uncomment to Echo to USB serial to watch data flow
kzar 0:5ad3d5f99603 293 pc.putc(rx_buffer[rx_in]);
kzar 0:5ad3d5f99603 294 rx_in = (rx_in + 1) % buffer_size;
kzar 0:5ad3d5f99603 295 }
kzar 0:5ad3d5f99603 296 //led3=0;
kzar 0:5ad3d5f99603 297 return;
kzar 0:5ad3d5f99603 298 }
kzar 0:5ad3d5f99603 299
kzar 0:5ad3d5f99603 300
kzar 0:5ad3d5f99603 301 // Interupt Routine to write out data to serial port
kzar 0:5ad3d5f99603 302 void Tx_interrupt() {
kzar 0:5ad3d5f99603 303 //led2=1;
kzar 0:5ad3d5f99603 304 // Loop to fill more than one character in UART's transmit FIFO buffer
kzar 0:5ad3d5f99603 305 // Stop if buffer empty
kzar 0:5ad3d5f99603 306 while ((esp.writeable()) && (tx_in != tx_out)) {
kzar 0:5ad3d5f99603 307 esp.putc(tx_buffer[tx_out]);
kzar 0:5ad3d5f99603 308 tx_out = (tx_out + 1) % buffer_size;
kzar 0:5ad3d5f99603 309 }
kzar 0:5ad3d5f99603 310 //led2=0;
kzar 0:5ad3d5f99603 311 return;
kzar 0:5ad3d5f99603 312 }