Diff: main.cpp

Revision:

0:5ad3d5f99603

Child:

1:0ec1b59239f2

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Dec 05 17:13:03 2018 +0000
@@ -0,0 +1,312 @@
+// This mbed code creates a connection with the other mbeds server and reads from it
+// The car will host the server, the remote controll will send data to the server
+
+#include "mbed.h"
+#include "PinDetect.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);
+
+// Push button used for testing
+PinDetect pb1(p21);
+void pushed(void) { }
+
+/*
+char ssid[32] = "hsd";     // enter WiFi router ssid inside the quotes
+char pwd [32] = "austin123"; // enter WiFi router password inside the quotes
+*/
+
+
+// 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 read_line();
+
+int DataRX;
+int update;
+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
+void SendCMD(),getreply(),ReadWebData(),startserver();
+void getConnection();   // Sets up a connection with the car server
+char rx_line[1024];
+int port        =80;  // set server port
+int SERVtimeout =5;    // set server timeout in seconds in case link breaks.
+
+
+
+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);
+    // Attach isr to pushbutton
+    pb1.mode(PullUp);
+    pb1.attach_asserted(&pushed);
+
+    // Get connection to server
+    getConnection();
+    
+    update = 0;
+    // Everything is interrupt driven, infinite loop
+    while(1) {
+        //Send all car vals+
+        if (update) {
+            // Send led for testing 
+            
+            
+            // Reset update flag
+            update = 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;
+    
+    // Modify this to check for our commands
+    // check web data for form information
+    if( strstr(webdata, "check=led1v") != NULL ) {
+        led1=!led1;
+    }
+    if( strstr(webdata, "check=led2v") != NULL ) {
+        led2=!led2;
+    }
+    if( strstr(webdata, "check=led3v") != NULL ) {
+        led3=!led3;
+    }
+    if( strstr(webdata, "check=led4v") != NULL ) {
+        led4=!led4;
+    }
+    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;
+    }
+}
+// Sets up connection with car server
+void getConnection()
+{
+    // Disconncet from any potential connections
+    strcpy(cmdbuff,"wifi.sta.disconnect()\r\n");
+    SendCMD();
+    getreply();
+    wait(2);     
+    // Set mode (STATION)
+    strcpy(cmdbuff,"wifi.setmode(wifi.STATION)\r\n");
+    SendCMD();
+    getreply();
+    wait(2); 
+    // Connect to car server
+    strcpy(cmdbuff,"wifi.sta.config(\"Server\", \"fpv_car\"\)r\n");
+    SendCMD();
+    getreply();
+    wait(2);
+    // Connect to server
+    strcpy(cmdbuff,"wifi.sta.connect()\r\n");
+    SendCMD();
+    getreply();
+    wait(2); 
+    
+    strcpy(cmdbuff,"tmr.alarm(1,2000,1, function()\r\n");
+    SendCMD();
+    getreply();
+    wait(2); 
+    
+    strcpy(cmdbuff,"if(wifi.sta.getip()~=nil then\r\n");
+    SendCMD();
+    getreply();
+    wait(2); 
+    
+    strcpy(cmdbuff,"tmr.stop(1)\r\n");
+    SendCMD();
+    getreply();
+    wait(2); 
+    // Print out controller ip address
+    strcpy(cmdbuff,"print(\"Connected!\")\r\n");
+    SendCMD();
+    getreply();
+    wait(2); 
+    // Print out controller ip address
+    strcpy(cmdbuff,"print(\"Client IP Address:\",wifi.sta.getip())\r\n");
+    SendCMD();
+    getreply();
+    wait(2); 
+    
+    // Print out controller ip address
+    strcpy(cmdbuff,"cl:connect(80, \"192.168.1.31\"\r\n");
+    SendCMD();
+    getreply();
+    wait(2); 
+    
+    // Print out controller ip address
+    strcpy(cmdbuff,"else\r\n");
+    SendCMD();
+    getreply();
+    wait(2); 
+    // Print out controller ip address
+    strcpy(cmdbuff,"print(\"Connecting...\")\r\n");
+    SendCMD();
+    getreply();
+    wait(2); 
+    // Print out controller ip address
+    strcpy(cmdbuff,"end\r\n");
+    SendCMD();
+    getreply();
+    wait(2); 
+    // Print out controller ip address
+    strcpy(cmdbuff,"end)\r\n");
+    SendCMD();
+    getreply();
+    wait(2); 
+    
+//tmr.alarm(1, 2000, 1, function()
+//     if(wifi.sta.getip()~=nil) then
+//          tmr.stop(1)
+//          print("Connected!")
+//          print("Client IP Address:",wifi.sta.getip())
+//          cl=net.createConnection(net.TCP, 0)
+//          cl:connect(80,"192.168.4.1")
+//          tmr.alarm(2, 5000, 1, function() 
+//            cl:send("Hello World!") 
+//          end)
+//      else
+//         print("Connecting...")
+//      end
+//end)
+
+}
+
+
+// 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);
+}
+
+// FUNCTIONS BELOW ARE FOR RX AND TX INTERUPTS (NOT WEB STUFF)
+ 
+// 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;
+}