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Final version
Dependencies: mbed SparkfunAnalogJoystick LSM9DS1_Library_cal PinDetect
Diff: main.cpp
- Revision:
- 0:5ad3d5f99603
- Child:
- 1:0ec1b59239f2
diff -r 000000000000 -r 5ad3d5f99603 main.cpp --- /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; +}