Cameron Causer / Mbed 2 deprecated 4180_Project_WiFi_Communication_Controller

Final version

Dependencies:   mbed SparkfunAnalogJoystick LSM9DS1_Library_cal PinDetect

main.cpp@1:0ec1b59239f2, 2018-12-05 (annotated)

Committer:
kzar
Date:
Wed Dec 05 20:53:45 2018 +0000
Revision:
1:0ec1b59239f2
Parent:
0:5ad3d5f99603
Child:
2:da3e288789a4
V2, sends command to car mbed to flip led

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kzar 1:0ec1b59239f2 1 // This mbed code creates a connection with the car 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 1:0ec1b59239f2 19 void pushed();
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 1:0ec1b59239f2 45 void SendCMD(),getreply();
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 1:0ec1b59239f2 72
kzar 1:0ec1b59239f2 73 pushed();
kzar 1:0ec1b59239f2 74
kzar 0:5ad3d5f99603 75 //Send all car vals+
kzar 0:5ad3d5f99603 76 if (update) {
kzar 0:5ad3d5f99603 77 // Send led for testing
kzar 0:5ad3d5f99603 78
kzar 0:5ad3d5f99603 79
kzar 0:5ad3d5f99603 80 // Reset update flag
kzar 0:5ad3d5f99603 81 update = 0;
kzar 0:5ad3d5f99603 82 }
kzar 0:5ad3d5f99603 83
kzar 0:5ad3d5f99603 84 }
kzar 0:5ad3d5f99603 85 }
kzar 0:5ad3d5f99603 86
kzar 1:0ec1b59239f2 87 void pushed()
kzar 0:5ad3d5f99603 88 {
kzar 1:0ec1b59239f2 89 strcpy(cmdbuff,"cl:send(\"flip_led1\")\r\n");
kzar 1:0ec1b59239f2 90 SendCMD();
kzar 1:0ec1b59239f2 91 //getreply();
kzar 1:0ec1b59239f2 92 wait(.1);
kzar 0:5ad3d5f99603 93 }
kzar 1:0ec1b59239f2 94
kzar 0:5ad3d5f99603 95 // Sets up connection with car server
kzar 0:5ad3d5f99603 96 void getConnection()
kzar 0:5ad3d5f99603 97 {
kzar 1:0ec1b59239f2 98 // Reset the ESP8266
kzar 1:0ec1b59239f2 99 pc.printf("++++++++++ Resetting ESP ++++++++++\r\n");
kzar 1:0ec1b59239f2 100 strcpy(cmdbuff,"node.restart()\r\n");
kzar 1:0ec1b59239f2 101 SendCMD();
kzar 1:0ec1b59239f2 102 wait(2);
kzar 1:0ec1b59239f2 103 getreply();
kzar 1:0ec1b59239f2 104
kzar 0:5ad3d5f99603 105 // Disconncet from any potential connections
kzar 0:5ad3d5f99603 106 strcpy(cmdbuff,"wifi.sta.disconnect()\r\n");
kzar 0:5ad3d5f99603 107 SendCMD();
kzar 0:5ad3d5f99603 108 getreply();
kzar 0:5ad3d5f99603 109 wait(2);
kzar 0:5ad3d5f99603 110 // Set mode (STATION)
kzar 0:5ad3d5f99603 111 strcpy(cmdbuff,"wifi.setmode(wifi.STATION)\r\n");
kzar 0:5ad3d5f99603 112 SendCMD();
kzar 0:5ad3d5f99603 113 getreply();
kzar 0:5ad3d5f99603 114 wait(2);
kzar 0:5ad3d5f99603 115 // Connect to car server
kzar 1:0ec1b59239f2 116 strcpy(cmdbuff,"wifi.sta.config(\"Marlon's iPhone\", \"feelsbadman\")\r\n");
kzar 0:5ad3d5f99603 117 SendCMD();
kzar 0:5ad3d5f99603 118 getreply();
kzar 0:5ad3d5f99603 119 wait(2);
kzar 0:5ad3d5f99603 120 // Connect to server
kzar 0:5ad3d5f99603 121 strcpy(cmdbuff,"wifi.sta.connect()\r\n");
kzar 0:5ad3d5f99603 122 SendCMD();
kzar 0:5ad3d5f99603 123 getreply();
kzar 1:0ec1b59239f2 124 wait(2);
kzar 1:0ec1b59239f2 125
kzar 1:0ec1b59239f2 126 strcpy(cmdbuff,"print(\"Looking for a connection\")\r\n");
kzar 1:0ec1b59239f2 127 SendCMD();
kzar 1:0ec1b59239f2 128 getreply();
kzar 0:5ad3d5f99603 129 wait(2);
kzar 0:5ad3d5f99603 130
kzar 0:5ad3d5f99603 131 strcpy(cmdbuff,"tmr.alarm(1,2000,1, function()\r\n");
kzar 0:5ad3d5f99603 132 SendCMD();
kzar 0:5ad3d5f99603 133 getreply();
kzar 0:5ad3d5f99603 134 wait(2);
kzar 0:5ad3d5f99603 135
kzar 1:0ec1b59239f2 136 strcpy(cmdbuff,"if(wifi.sta.getip()~=nil) then\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.stop(1)\r\n");
kzar 0:5ad3d5f99603 142 SendCMD();
kzar 0:5ad3d5f99603 143 getreply();
kzar 0:5ad3d5f99603 144 wait(2);
kzar 0:5ad3d5f99603 145 // Print out controller ip address
kzar 0:5ad3d5f99603 146 strcpy(cmdbuff,"print(\"Connected!\")\r\n");
kzar 0:5ad3d5f99603 147 SendCMD();
kzar 0:5ad3d5f99603 148 getreply();
kzar 0:5ad3d5f99603 149 wait(2);
kzar 0:5ad3d5f99603 150 // Print out controller ip address
kzar 1:0ec1b59239f2 151 strcpy(cmdbuff,"print(\"Client IP Address: \",wifi.sta.getip())\r\n");
kzar 1:0ec1b59239f2 152 SendCMD();
kzar 1:0ec1b59239f2 153 getreply();
kzar 1:0ec1b59239f2 154 wait(5);
kzar 1:0ec1b59239f2 155 // Create connetion
kzar 1:0ec1b59239f2 156 strcpy(cmdbuff,"cl=net.createConnection(net.TCP, 0)\r\n");
kzar 1:0ec1b59239f2 157 SendCMD();
kzar 1:0ec1b59239f2 158 getreply();
kzar 1:0ec1b59239f2 159 wait(2);
kzar 1:0ec1b59239f2 160 // Connect the connection
kzar 1:0ec1b59239f2 161 strcpy(cmdbuff,"cl:connect(80, \"192.168.4.1\")\r\n");
kzar 0:5ad3d5f99603 162 SendCMD();
kzar 0:5ad3d5f99603 163 getreply();
kzar 0:5ad3d5f99603 164 wait(2);
kzar 0:5ad3d5f99603 165
kzar 1:0ec1b59239f2 166 // strcpy(cmdbuff,"tmr.alarm(2, 5000, 1, function()\r\n");
kzar 1:0ec1b59239f2 167 // SendCMD();
kzar 1:0ec1b59239f2 168 // getreply();
kzar 1:0ec1b59239f2 169 // wait(2);
kzar 1:0ec1b59239f2 170 //
kzar 1:0ec1b59239f2 171 // strcpy(cmdbuff,"cl:send(\"Hello World!\")\r\n");
kzar 1:0ec1b59239f2 172 // SendCMD();
kzar 1:0ec1b59239f2 173 // getreply();
kzar 1:0ec1b59239f2 174 // wait(2);
kzar 1:0ec1b59239f2 175 //
kzar 1:0ec1b59239f2 176 // strcpy(cmdbuff,"end)\r\n");
kzar 1:0ec1b59239f2 177 // SendCMD();
kzar 1:0ec1b59239f2 178 // getreply();
kzar 1:0ec1b59239f2 179 // wait(2);
kzar 1:0ec1b59239f2 180
kzar 0:5ad3d5f99603 181
kzar 0:5ad3d5f99603 182 // Print out controller ip address
kzar 0:5ad3d5f99603 183 strcpy(cmdbuff,"else\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,"print(\"Connecting...\")\r\n");
kzar 0:5ad3d5f99603 189 SendCMD();
kzar 0:5ad3d5f99603 190 getreply();
kzar 0:5ad3d5f99603 191 wait(2);
kzar 0:5ad3d5f99603 192 // Print out controller ip address
kzar 0:5ad3d5f99603 193 strcpy(cmdbuff,"end\r\n");
kzar 0:5ad3d5f99603 194 SendCMD();
kzar 0:5ad3d5f99603 195 getreply();
kzar 1:0ec1b59239f2 196 wait(2);
kzar 0:5ad3d5f99603 197 // Print out controller ip address
kzar 0:5ad3d5f99603 198 strcpy(cmdbuff,"end)\r\n");
kzar 0:5ad3d5f99603 199 SendCMD();
kzar 0:5ad3d5f99603 200 getreply();
kzar 0:5ad3d5f99603 201 wait(2);
kzar 0:5ad3d5f99603 202
kzar 0:5ad3d5f99603 203 }
kzar 0:5ad3d5f99603 204
kzar 0:5ad3d5f99603 205
kzar 0:5ad3d5f99603 206 // ESP Command data send
kzar 0:5ad3d5f99603 207 void SendCMD()
kzar 0:5ad3d5f99603 208 {
kzar 0:5ad3d5f99603 209 int i;
kzar 0:5ad3d5f99603 210 char temp_char;
kzar 0:5ad3d5f99603 211 bool empty;
kzar 0:5ad3d5f99603 212 i = 0;
kzar 0:5ad3d5f99603 213 // Start Critical Section - don't interrupt while changing global buffer variables
kzar 0:5ad3d5f99603 214 NVIC_DisableIRQ(UART1_IRQn);
kzar 0:5ad3d5f99603 215 empty = (tx_in == tx_out);
kzar 0:5ad3d5f99603 216 while ((i==0) || (cmdbuff[i-1] != '\n')) {
kzar 0:5ad3d5f99603 217 // Wait if buffer full
kzar 0:5ad3d5f99603 218 if (((tx_in + 1) % buffer_size) == tx_out) {
kzar 0:5ad3d5f99603 219 // End Critical Section - need to let interrupt routine empty buffer by sending
kzar 0:5ad3d5f99603 220 NVIC_EnableIRQ(UART1_IRQn);
kzar 0:5ad3d5f99603 221 while (((tx_in + 1) % buffer_size) == tx_out) {
kzar 0:5ad3d5f99603 222 }
kzar 0:5ad3d5f99603 223 // Start Critical Section - don't interrupt while changing global buffer variables
kzar 0:5ad3d5f99603 224 NVIC_DisableIRQ(UART1_IRQn);
kzar 0:5ad3d5f99603 225 }
kzar 0:5ad3d5f99603 226 tx_buffer[tx_in] = cmdbuff[i];
kzar 0:5ad3d5f99603 227 i++;
kzar 0:5ad3d5f99603 228 tx_in = (tx_in + 1) % buffer_size;
kzar 0:5ad3d5f99603 229 }
kzar 0:5ad3d5f99603 230 if (esp.writeable() && (empty)) {
kzar 0:5ad3d5f99603 231 temp_char = tx_buffer[tx_out];
kzar 0:5ad3d5f99603 232 tx_out = (tx_out + 1) % buffer_size;
kzar 0:5ad3d5f99603 233 // Send first character to start tx interrupts, if stopped
kzar 0:5ad3d5f99603 234 esp.putc(temp_char);
kzar 0:5ad3d5f99603 235 }
kzar 0:5ad3d5f99603 236 // End Critical Section
kzar 0:5ad3d5f99603 237 NVIC_EnableIRQ(UART1_IRQn);
kzar 0:5ad3d5f99603 238 return;
kzar 0:5ad3d5f99603 239 }
kzar 0:5ad3d5f99603 240
kzar 0:5ad3d5f99603 241
kzar 0:5ad3d5f99603 242 // Get Command and ESP status replies
kzar 0:5ad3d5f99603 243 void getreply()
kzar 0:5ad3d5f99603 244 {
kzar 0:5ad3d5f99603 245 read_line();
kzar 0:5ad3d5f99603 246 sscanf(rx_line,replybuff);
kzar 0:5ad3d5f99603 247 }
kzar 0:5ad3d5f99603 248
kzar 0:5ad3d5f99603 249 // FUNCTIONS BELOW ARE FOR RX AND TX INTERUPTS (NOT WEB STUFF)
kzar 0:5ad3d5f99603 250
kzar 0:5ad3d5f99603 251 // Read a line from the large rx buffer from rx interrupt routine
kzar 0:5ad3d5f99603 252 void read_line() {
kzar 0:5ad3d5f99603 253 int i;
kzar 0:5ad3d5f99603 254 i = 0;
kzar 0:5ad3d5f99603 255 // Start Critical Section - don't interrupt while changing global buffer variables
kzar 0:5ad3d5f99603 256 NVIC_DisableIRQ(UART1_IRQn);
kzar 0:5ad3d5f99603 257 // Loop reading rx buffer characters until end of line character
kzar 0:5ad3d5f99603 258 while ((i==0) || (rx_line[i-1] != '\r')) {
kzar 0:5ad3d5f99603 259 // Wait if buffer empty
kzar 0:5ad3d5f99603 260 if (rx_in == rx_out) {
kzar 0:5ad3d5f99603 261 // End Critical Section - need to allow rx interrupt to get new characters for buffer
kzar 0:5ad3d5f99603 262 NVIC_EnableIRQ(UART1_IRQn);
kzar 0:5ad3d5f99603 263 while (rx_in == rx_out) {
kzar 0:5ad3d5f99603 264 }
kzar 0:5ad3d5f99603 265 // Start Critical Section - don't interrupt while changing global buffer variables
kzar 0:5ad3d5f99603 266 NVIC_DisableIRQ(UART1_IRQn);
kzar 0:5ad3d5f99603 267 }
kzar 0:5ad3d5f99603 268 rx_line[i] = rx_buffer[rx_out];
kzar 0:5ad3d5f99603 269 i++;
kzar 0:5ad3d5f99603 270 rx_out = (rx_out + 1) % buffer_size;
kzar 0:5ad3d5f99603 271 }
kzar 0:5ad3d5f99603 272 // End Critical Section
kzar 0:5ad3d5f99603 273 NVIC_EnableIRQ(UART1_IRQn);
kzar 0:5ad3d5f99603 274 rx_line[i-1] = 0;
kzar 0:5ad3d5f99603 275 return;
kzar 0:5ad3d5f99603 276 }
kzar 0:5ad3d5f99603 277
kzar 0:5ad3d5f99603 278
kzar 0:5ad3d5f99603 279 // Interupt Routine to read in data from serial port
kzar 0:5ad3d5f99603 280 void Rx_interrupt() {
kzar 0:5ad3d5f99603 281 DataRX=1;
kzar 0:5ad3d5f99603 282 //led3=1;
kzar 0:5ad3d5f99603 283 // Loop just in case more than one character is in UART's receive FIFO buffer
kzar 0:5ad3d5f99603 284 // Stop if buffer full
kzar 0:5ad3d5f99603 285 while ((esp.readable()) && (((rx_in + 1) % buffer_size) != rx_out)) {
kzar 0:5ad3d5f99603 286 rx_buffer[rx_in] = esp.getc();
kzar 0:5ad3d5f99603 287 // Uncomment to Echo to USB serial to watch data flow
kzar 0:5ad3d5f99603 288 pc.putc(rx_buffer[rx_in]);
kzar 0:5ad3d5f99603 289 rx_in = (rx_in + 1) % buffer_size;
kzar 0:5ad3d5f99603 290 }
kzar 0:5ad3d5f99603 291 //led3=0;
kzar 0:5ad3d5f99603 292 return;
kzar 0:5ad3d5f99603 293 }
kzar 0:5ad3d5f99603 294
kzar 0:5ad3d5f99603 295
kzar 0:5ad3d5f99603 296 // Interupt Routine to write out data to serial port
kzar 0:5ad3d5f99603 297 void Tx_interrupt() {
kzar 0:5ad3d5f99603 298 //led2=1;
kzar 0:5ad3d5f99603 299 // Loop to fill more than one character in UART's transmit FIFO buffer
kzar 0:5ad3d5f99603 300 // Stop if buffer empty
kzar 0:5ad3d5f99603 301 while ((esp.writeable()) && (tx_in != tx_out)) {
kzar 0:5ad3d5f99603 302 esp.putc(tx_buffer[tx_out]);
kzar 0:5ad3d5f99603 303 tx_out = (tx_out + 1) % buffer_size;
kzar 0:5ad3d5f99603 304 }
kzar 0:5ad3d5f99603 305 //led2=0;
kzar 0:5ad3d5f99603 306 return;
kzar 0:5ad3d5f99603 307 }