File content as of revision 0:5ad3d5f99603:

// 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;
}