malcolm lear / Mbed 2 deprecated labmbedV31

University of Essex CE713

Dependencies:   mbed HTTPServer EthernetNetIf TextLCD

Fork of HTTPServerHelloWorld by Robert Gutknecht

main.cpp@4:7b810308854e, 2017-11-30 (annotated)

Committer:
malcolmlear
Date:
Thu Nov 30 13:43:02 2017 +0000
Revision:
4:7b810308854e
Child:
5:8b8c719307bf
Now includes web server

Who changed what in which revision?

UserRevisionLine numberNew contents of line
malcolmlear 4:7b810308854e 1 // Device Drivers for Labmbed Board
malcolmlear 4:7b810308854e 2
malcolmlear 4:7b810308854e 3 #include "mbed.h"
malcolmlear 4:7b810308854e 4 #include "TextLCD.h"
malcolmlear 4:7b810308854e 5 #include "EthernetNetIf.h"
malcolmlear 4:7b810308854e 6 #include "HTTPServer.h"
malcolmlear 4:7b810308854e 7
malcolmlear 4:7b810308854e 8 TextLCD lcd(p15, p16, p17, p18, p19, p20); // LCD: RS, E, D4-D7
malcolmlear 4:7b810308854e 9 SPI spi(p5, p6, p7); // SPI: MOSI, MISO, SCLK (MISO not used with LCD)
malcolmlear 4:7b810308854e 10 DigitalOut lat(p8); // data latch for LED driver TLC59281
malcolmlear 4:7b810308854e 11 DigitalOut Sel0(p26); // input select bits:
malcolmlear 4:7b810308854e 12 DigitalOut Sel1(p25); // "
malcolmlear 4:7b810308854e 13 DigitalOut Sel2(p24); // "
malcolmlear 4:7b810308854e 14 DigitalIn In0(p14); // input from switches, keypad etc
malcolmlear 4:7b810308854e 15 DigitalIn In1(p13); // "
malcolmlear 4:7b810308854e 16 DigitalIn In2(p12); // "
malcolmlear 4:7b810308854e 17 DigitalIn In3(p11); // "
malcolmlear 4:7b810308854e 18 I2C i2c(p9, p10); // I2C: SDA, SCL pins
malcolmlear 4:7b810308854e 19 PwmOut servo1(p21); // Servo 1 PWM pin
malcolmlear 4:7b810308854e 20 PwmOut servo2(p22); // Servo 2 PWM pin
malcolmlear 4:7b810308854e 21 DigitalOut Trigger(p28); // Ultrasonic rangefinder trigger pin
malcolmlear 4:7b810308854e 22 DigitalIn Echo(p27); // Ultrasonic rangefinder echo pin
malcolmlear 4:7b810308854e 23 Timer Sonar; // Ultrasonic timer
malcolmlear 4:7b810308854e 24 DigitalOut led1(LED1); //
malcolmlear 4:7b810308854e 25 Serial out(USBTX, USBRX); //
malcolmlear 4:7b810308854e 26 LocalFileSystem fs("webfs"); //
malcolmlear 4:7b810308854e 27 EthernetNetIf eth; //
malcolmlear 4:7b810308854e 28 HTTPServer svr; //
malcolmlear 4:7b810308854e 29 Ticker WebUpdate; // Interrupt timer to update web page
malcolmlear 4:7b810308854e 30
malcolmlear 4:7b810308854e 31 // global variables
malcolmlear 4:7b810308854e 32 short LEDbits = 0; // global led status used for readback
malcolmlear 4:7b810308854e 33 const int TMP102Addr = 0x92; // TMP102 temperature I2C address
malcolmlear 4:7b810308854e 34 const int MPU6050Addr = 0xd0; // MPU-6050 accelerometer and Gyro I2C address
malcolmlear 4:7b810308854e 35 float Acceleration[3]; // MPU-6050 x,y,z acceleration values in 1G floating point
malcolmlear 4:7b810308854e 36 float GyroRate[3]; // MPU-6050 x,y,z gyrorates in degrees per second
malcolmlear 4:7b810308854e 37 float GyroOffset[3]; // MPU-6050 x,y,z gyrorates compensation
malcolmlear 4:7b810308854e 38 char AReg[] = { 0x3b, 0x3d, 0x3f }; // MPU-6050 I2C x,y,z accelerometer data registers
malcolmlear 4:7b810308854e 39 char GReg[] = { 0x43, 0x45, 0x47 }; // MPU-6050 I2C x,y,z gyro data registers
malcolmlear 4:7b810308854e 40 extern "C" void mbed_mac_address(char *mac); //
malcolmlear 4:7b810308854e 41
malcolmlear 4:7b810308854e 42 void WebServerPoll () {
malcolmlear 4:7b810308854e 43 Net::poll();
malcolmlear 4:7b810308854e 44 led1=!led1; //Show that we are alive
malcolmlear 4:7b810308854e 45 }
malcolmlear 4:7b810308854e 46
malcolmlear 4:7b810308854e 47 int InitWebServer() {
malcolmlear 4:7b810308854e 48 EthernetErr ethErr = eth.setup();
malcolmlear 4:7b810308854e 49 if(ethErr)
malcolmlear 4:7b810308854e 50 {
malcolmlear 4:7b810308854e 51 return -1;
malcolmlear 4:7b810308854e 52 }
malcolmlear 4:7b810308854e 53 FILE *fp = fopen("/webfs/index.htm", "w"); // Open "out.txt" on the local file system for writing
malcolmlear 4:7b810308854e 54 fprintf(fp, "<html><head><title>Hello World online</title></head><body><h1>Hello World from Mbed NXP LPC1768!</h1></body></html>");
malcolmlear 4:7b810308854e 55 fclose(fp);
malcolmlear 4:7b810308854e 56 FSHandler::mount("/webfs", "/files"); //Mount /webfs path on /files web path
malcolmlear 4:7b810308854e 57 FSHandler::mount("/webfs", "/"); //Mount /webfs path on web root path
malcolmlear 4:7b810308854e 58
malcolmlear 4:7b810308854e 59 svr.addHandler<SimpleHandler>("/hello");
malcolmlear 4:7b810308854e 60 svr.addHandler<RPCHandler>("/rpc");
malcolmlear 4:7b810308854e 61 svr.addHandler<FSHandler>("/files");
malcolmlear 4:7b810308854e 62 svr.addHandler<FSHandler>("/"); //Default handler
malcolmlear 4:7b810308854e 63 //Example : Access to mbed.htm : http://a.b.c.d/mbed.htm or http://a.b.c.d/files/mbed.htm
malcolmlear 4:7b810308854e 64
malcolmlear 4:7b810308854e 65 svr.bind(80);
malcolmlear 4:7b810308854e 66 WebUpdate.attach(&WebServerPoll, 0.1); // update webserver every
malcolmlear 4:7b810308854e 67 return 0; // return without error
malcolmlear 4:7b810308854e 68 }
malcolmlear 4:7b810308854e 69
malcolmlear 4:7b810308854e 70 void HTTPText(char t[100]) {
malcolmlear 4:7b810308854e 71 FILE *fp = fopen("/webfs/index.htm", "w"); // Open "out.txt" on the local file system for writing
malcolmlear 4:7b810308854e 72 fprintf(fp, t);
malcolmlear 4:7b810308854e 73 fclose(fp);
malcolmlear 4:7b810308854e 74 }
malcolmlear 4:7b810308854e 75
malcolmlear 4:7b810308854e 76 void HTTPInt(int v) {
malcolmlear 4:7b810308854e 77 char BodyEnd[] = "</h1></body></html>";
malcolmlear 4:7b810308854e 78 FILE *fp = fopen("/webfs/index.htm", "w"); // Open "out.txt" on the local file system for writing
malcolmlear 4:7b810308854e 79 fprintf(fp, "<html><head><title>Hello World online</title></head><body><h1> %d %s", v, BodyEnd);
malcolmlear 4:7b810308854e 80 fclose(fp);
malcolmlear 4:7b810308854e 81 }
malcolmlear 4:7b810308854e 82
malcolmlear 4:7b810308854e 83 void Servo1(float s) { // range +-1
malcolmlear 4:7b810308854e 84 s=s+1;
malcolmlear 4:7b810308854e 85 if (s>=0 && s<=2) {
malcolmlear 4:7b810308854e 86 servo1.pulsewidth(s/2000+0.001); // pulse 1 - 2 ms
malcolmlear 4:7b810308854e 87 }
malcolmlear 4:7b810308854e 88 }
malcolmlear 4:7b810308854e 89
malcolmlear 4:7b810308854e 90 void Servo2(float s) { // range +-1
malcolmlear 4:7b810308854e 91 s=s+1;
malcolmlear 4:7b810308854e 92 if (s>=0 && s<=2) {
malcolmlear 4:7b810308854e 93 servo2.pulsewidth(s/2000+0.001); // pulse 1 - 2 ms
malcolmlear 4:7b810308854e 94 }
malcolmlear 4:7b810308854e 95 }
malcolmlear 4:7b810308854e 96
malcolmlear 4:7b810308854e 97 void InitServos() {
malcolmlear 4:7b810308854e 98 servo1.period(0.02);
malcolmlear 4:7b810308854e 99 servo2.period(0.02);
malcolmlear 4:7b810308854e 100 Servo1(0); // initiate servo 1 to centre position
malcolmlear 4:7b810308854e 101 Servo2(0); // initiate servo 1 to centre position
malcolmlear 4:7b810308854e 102 }
malcolmlear 4:7b810308854e 103
malcolmlear 4:7b810308854e 104 int ReadSonar() {
malcolmlear 4:7b810308854e 105 Trigger = 1; // set sonar trigger pulse high
malcolmlear 4:7b810308854e 106 Sonar.reset(); // reset sonar timer
malcolmlear 4:7b810308854e 107 wait_us(10.0); // 10 us pulse
malcolmlear 4:7b810308854e 108 Trigger = 0; // set sonar trigger pulse low
malcolmlear 4:7b810308854e 109 while (Echo == 0) {}; // wait for echo high (8 cycles have been transmitted)
malcolmlear 4:7b810308854e 110 Sonar.start(); // echo high so start timer
malcolmlear 4:7b810308854e 111 while (Echo == 1) {}; // wait for echo low
malcolmlear 4:7b810308854e 112 Sonar.stop(); // echo low so stop timer
malcolmlear 4:7b810308854e 113 return (Sonar.read_us()*10)/58; // read timer and scale to mm
malcolmlear 4:7b810308854e 114 }
malcolmlear 4:7b810308854e 115
malcolmlear 4:7b810308854e 116 void InitLEDs() {
malcolmlear 4:7b810308854e 117 lat = 0; // latch must start low
malcolmlear 4:7b810308854e 118 spi.format(16,0); // SPI 16 bit data, low state, high going clock
malcolmlear 4:7b810308854e 119 spi.frequency(1000000); // 1MHz clock rate
malcolmlear 4:7b810308854e 120 }
malcolmlear 4:7b810308854e 121
malcolmlear 4:7b810308854e 122 void SetLEDs(short ledall) {
malcolmlear 4:7b810308854e 123 LEDbits = ledall; // update global led status
malcolmlear 4:7b810308854e 124 spi.write((LEDbits & 0x03ff) | ((LEDbits & 0xa800) >> 1) | ((LEDbits & 0x5400) << 1));
malcolmlear 4:7b810308854e 125 lat = 1; // latch pulse start
malcolmlear 4:7b810308854e 126 lat = 0; // latch pulse end
malcolmlear 4:7b810308854e 127 }
malcolmlear 4:7b810308854e 128
malcolmlear 4:7b810308854e 129 void SetLED(short LEDNo, short LEDState) {
malcolmlear 4:7b810308854e 130 LEDNo = ((LEDNo - 1) & 0x0007) + 1; // limit led number
malcolmlear 4:7b810308854e 131 LEDState = LEDState & 0x0003; // limit led state
malcolmlear 4:7b810308854e 132 LEDNo = (8 - LEDNo) * 2; // offset of led state in 'LEDbits'
malcolmlear 4:7b810308854e 133 LEDState = LEDState << LEDNo;
malcolmlear 4:7b810308854e 134 short statemask = ((0x0003 << LEDNo) ^ 0xffff); // mask used to clear led state
malcolmlear 4:7b810308854e 135 LEDbits = ((LEDbits & statemask) | LEDState); // clear and set led state
malcolmlear 4:7b810308854e 136 SetLEDs(LEDbits);
malcolmlear 4:7b810308854e 137 }
malcolmlear 4:7b810308854e 138
malcolmlear 4:7b810308854e 139 short ReadLED(short LEDNo) {
malcolmlear 4:7b810308854e 140 LEDNo = ((LEDNo - 1) & 0x0007) + 1; // limit led number
malcolmlear 4:7b810308854e 141 LEDNo = (8 - LEDNo) * 2; // offset of led state in 'LEDbits'
malcolmlear 4:7b810308854e 142 short LEDState = (LEDbits >> LEDNo) & 0x0003; // shift selected led state into ls 2 bits
malcolmlear 4:7b810308854e 143 return LEDState; // return led state
malcolmlear 4:7b810308854e 144 }
malcolmlear 4:7b810308854e 145
malcolmlear 4:7b810308854e 146 short ReadLEDs() {
malcolmlear 4:7b810308854e 147 return LEDbits; // return led status
malcolmlear 4:7b810308854e 148 }
malcolmlear 4:7b810308854e 149
malcolmlear 4:7b810308854e 150 void SelInput(short Input) {
malcolmlear 4:7b810308854e 151 Sel0 = Input & 0x0001; // set sel[0:2] pins
malcolmlear 4:7b810308854e 152 Sel1 = (Input >> 1) & 0x0001; //
malcolmlear 4:7b810308854e 153 Sel2 = (Input >> 2) & 0x0001; //
malcolmlear 4:7b810308854e 154 }
malcolmlear 4:7b810308854e 155
malcolmlear 4:7b810308854e 156 short ReadSwitches() {
malcolmlear 4:7b810308854e 157 SelInput(5); // select least significant 4 switches in[3:0]
malcolmlear 4:7b810308854e 158 short Switches = In0 + (In1 << 1) + (In2 << 2) + (In3 << 3);
malcolmlear 4:7b810308854e 159 SelInput(4); // select most significant 4 switches in[3:0]
malcolmlear 4:7b810308854e 160 return (Switches + (In0 << 4) + (In1 << 5) + (In2 << 6) + (In3 << 7));
malcolmlear 4:7b810308854e 161 }
malcolmlear 4:7b810308854e 162
malcolmlear 4:7b810308854e 163 short ReadSwitch(short SwitchNo) {
malcolmlear 4:7b810308854e 164 SwitchNo = ((SwitchNo - 1) & 0x0007) + 1; // limit switch number
malcolmlear 4:7b810308854e 165 SwitchNo = 8 - SwitchNo; // offset of switch state in ReadSwitches()
malcolmlear 4:7b810308854e 166 short SwitchState = ReadSwitches(); // read switch states
malcolmlear 4:7b810308854e 167 SwitchState = SwitchState >> SwitchNo; // shift selected switch state into ls bit
malcolmlear 4:7b810308854e 168 return (SwitchState & 0x0001); // mask out and return switch state
malcolmlear 4:7b810308854e 169 }
malcolmlear 4:7b810308854e 170
malcolmlear 4:7b810308854e 171 short ReadKeys() {
malcolmlear 4:7b810308854e 172 SelInput(0); // select Keypad top row
malcolmlear 4:7b810308854e 173 short Keys = (In0 << 15) + (In1 << 14) + (In2 << 13) + (In3 << 12);
malcolmlear 4:7b810308854e 174 SelInput(1); // select Keypad second row
malcolmlear 4:7b810308854e 175 Keys += (In0 << 3) + (In1 << 6) + (In2 << 9) + (In3 << 11);
malcolmlear 4:7b810308854e 176 SelInput(2); // select Keypad third row
malcolmlear 4:7b810308854e 177 Keys += (In0 << 2) + (In1 << 5) + (In2 << 8) + In3;
malcolmlear 4:7b810308854e 178 SelInput(3); // select Keypad forth row
malcolmlear 4:7b810308854e 179 Keys += (In0 << 1) + (In1 << 4) + (In2 << 7) + (In3 << 10);
malcolmlear 4:7b810308854e 180 return (Keys ^ 0xffff); // return inverted (Key press active high)
malcolmlear 4:7b810308854e 181 }
malcolmlear 4:7b810308854e 182
malcolmlear 4:7b810308854e 183 short ReadKey(short KeyNo) {
malcolmlear 4:7b810308854e 184 KeyNo = KeyNo & 0x000f; // limit key number 0 to 15 (0 to F)
malcolmlear 4:7b810308854e 185 short KeyState = ReadKeys(); // read key states
malcolmlear 4:7b810308854e 186 KeyState = KeyState >> KeyNo; // shift selected key state into ls bit
malcolmlear 4:7b810308854e 187 return (KeyState & 0x0001); // mask out and return key state
malcolmlear 4:7b810308854e 188 }
malcolmlear 4:7b810308854e 189
malcolmlear 4:7b810308854e 190 int FindKeyNo() {
malcolmlear 4:7b810308854e 191 short KeyNo;
malcolmlear 4:7b810308854e 192 short KeyPressed = -1; // set KeyPressed to -1 (no key pressed)
malcolmlear 4:7b810308854e 193 short KeyState = ReadKeys(); // read key states
malcolmlear 4:7b810308854e 194 for (KeyNo= 0; KeyNo < 16; KeyNo++ ) { // check all 16 Keys
malcolmlear 4:7b810308854e 195 if (KeyState & 0x0001) { // check key state
malcolmlear 4:7b810308854e 196 if (KeyPressed == -1) { // check if key already found
malcolmlear 4:7b810308854e 197 KeyPressed = KeyNo; // update KeyPressed
malcolmlear 4:7b810308854e 198 }
malcolmlear 4:7b810308854e 199 else {
malcolmlear 4:7b810308854e 200 return -1; // 2 or more keys pressed
malcolmlear 4:7b810308854e 201 }
malcolmlear 4:7b810308854e 202 }
malcolmlear 4:7b810308854e 203 KeyState = KeyState >> 1; // shift to check next key
malcolmlear 4:7b810308854e 204 }
malcolmlear 4:7b810308854e 205 return KeyPressed; // return KeyPressed
malcolmlear 4:7b810308854e 206 }
malcolmlear 4:7b810308854e 207
malcolmlear 4:7b810308854e 208 char FindKeyChar() {
malcolmlear 4:7b810308854e 209 short KeyNo;
malcolmlear 4:7b810308854e 210 char KeyChar = ' '; // set KeyChar to ' ' (no key pressed)
malcolmlear 4:7b810308854e 211 KeyNo = FindKeyNo(); // find key pressed
malcolmlear 4:7b810308854e 212 if (KeyNo < 10 && KeyNo >= 0) {
malcolmlear 4:7b810308854e 213 KeyChar = (char) KeyNo + 0x30; // convert char 0-9 to ascii string '0'-'9'
malcolmlear 4:7b810308854e 214 }
malcolmlear 4:7b810308854e 215 if (KeyNo > 9 && KeyNo < 16) {
malcolmlear 4:7b810308854e 216 KeyChar = (char) KeyNo + 0x37; // convert char 10-15 to ascii string 'A'-'F'
malcolmlear 4:7b810308854e 217 }
malcolmlear 4:7b810308854e 218 return KeyChar; // return key pressed
malcolmlear 4:7b810308854e 219 }
malcolmlear 4:7b810308854e 220
malcolmlear 4:7b810308854e 221 float ReadTemp() {
malcolmlear 4:7b810308854e 222 char Cmd[3];
malcolmlear 4:7b810308854e 223 Cmd[0] = 0x01; // pointer register value
malcolmlear 4:7b810308854e 224 Cmd[1] = 0x60; // byte 1 of the configuration register
malcolmlear 4:7b810308854e 225 Cmd[2] = 0xa0; // byte 2 of the configuration register
malcolmlear 4:7b810308854e 226 i2c.write(TMP102Addr, Cmd, 3); // select configuration register and write 0x60a0 to it
malcolmlear 4:7b810308854e 227 wait(0.5); // ensure conversion time
malcolmlear 4:7b810308854e 228 Cmd[0] = 0x00; // pointer register value
malcolmlear 4:7b810308854e 229 i2c.write(TMP102Addr, Cmd, 1); // select temperature register
malcolmlear 4:7b810308854e 230 i2c.read(TMP102Addr, Cmd, 2); // read 16-bit temperature register
malcolmlear 4:7b810308854e 231 return (float((Cmd[0] << 8) | Cmd[1]) / 256); // divide by 256 and return temperature
malcolmlear 4:7b810308854e 232 }
malcolmlear 4:7b810308854e 233
malcolmlear 4:7b810308854e 234 signed short ReadMPU6050(int RegAddr) {
malcolmlear 4:7b810308854e 235 char Cmd[3];
malcolmlear 4:7b810308854e 236 Cmd[0] = RegAddr; // register address
malcolmlear 4:7b810308854e 237 i2c.write(MPU6050Addr, Cmd, 1); // select register to read
malcolmlear 4:7b810308854e 238 i2c.read(MPU6050Addr, Cmd, 2); // read 2 bytes from register
malcolmlear 4:7b810308854e 239 return ((Cmd[0] << 8) | Cmd[1]); // return signed 16 bit value
malcolmlear 4:7b810308854e 240 }
malcolmlear 4:7b810308854e 241
malcolmlear 4:7b810308854e 242 void CalibrateGyros() {
malcolmlear 4:7b810308854e 243 short a,b;
malcolmlear 4:7b810308854e 244 for(a=0; a<3; a++) {
malcolmlear 4:7b810308854e 245 GyroOffset[a] = 0; // clear gyro calibration offsets
malcolmlear 4:7b810308854e 246 for(b=0; b<1000; b++) {
malcolmlear 4:7b810308854e 247 GyroOffset[a] = GyroOffset[a] + (float)ReadMPU6050(GReg[a]);
malcolmlear 4:7b810308854e 248 wait_ms(1); // wait for next sample
malcolmlear 4:7b810308854e 249 }
malcolmlear 4:7b810308854e 250 GyroOffset[a] = GyroOffset[a]/1000; // find average over 1000 samples
malcolmlear 4:7b810308854e 251 }
malcolmlear 4:7b810308854e 252 }
malcolmlear 4:7b810308854e 253
malcolmlear 4:7b810308854e 254 void InitMotion() {
malcolmlear 4:7b810308854e 255 char Cmd[3];
malcolmlear 4:7b810308854e 256 Cmd[0] = 0xa1; // config register address
malcolmlear 4:7b810308854e 257 Cmd[1] = 0x06; // accelerometer and gyro bandwidth = 5Hz
malcolmlear 4:7b810308854e 258 i2c.write(MPU6050Addr, Cmd, 2); // write data to config register
malcolmlear 4:7b810308854e 259 Cmd[0] = 0x6b; // power management register address
malcolmlear 4:7b810308854e 260 Cmd[1] = 0x00; // data
malcolmlear 4:7b810308854e 261 i2c.write(MPU6050Addr, Cmd, 2); // write data to power management register
malcolmlear 4:7b810308854e 262 Cmd[0] = 0x1b; // gyro configuration register address
malcolmlear 4:7b810308854e 263 Cmd[1] = 0x08; // no gyro self test, +-500 full scale
malcolmlear 4:7b810308854e 264 i2c.write(MPU6050Addr, Cmd, 2); // write data to gyro configuration register
malcolmlear 4:7b810308854e 265 Cmd[0] = 0x19; // sample rate register address
malcolmlear 4:7b810308854e 266 Cmd[1] = 0x07; // sample rate = gyro output rate / 8
malcolmlear 4:7b810308854e 267 i2c.write(MPU6050Addr, Cmd, 2); // write data to sample rate register
malcolmlear 4:7b810308854e 268 CalibrateGyros();
malcolmlear 4:7b810308854e 269 }
malcolmlear 4:7b810308854e 270
malcolmlear 4:7b810308854e 271 void ReadMotion() {
malcolmlear 4:7b810308854e 272 short a; // Acceleration is in G where 1G = 9.81 ms/s
malcolmlear 4:7b810308854e 273 for(a=0; a<3; a++) { // GyroRate is in degrees per second
malcolmlear 4:7b810308854e 274 Acceleration[a] = (float)ReadMPU6050(AReg[a]) / 16384;
malcolmlear 4:7b810308854e 275 GyroRate[a] = ((float)ReadMPU6050(GReg[a]) - GyroOffset[a]) / 66.5;
malcolmlear 4:7b810308854e 276 }
malcolmlear 4:7b810308854e 277 }
malcolmlear 4:7b810308854e 278
malcolmlear 4:7b810308854e 279 int main() {
malcolmlear 4:7b810308854e 280
malcolmlear 4:7b810308854e 281 float spos = 0; // Test servo position
malcolmlear 4:7b810308854e 282 char mac[6]; // MAC address
malcolmlear 4:7b810308854e 283 InitLEDs(); //
malcolmlear 4:7b810308854e 284 InitMotion(); //
malcolmlear 4:7b810308854e 285 InitServos(); //
malcolmlear 4:7b810308854e 286 InitWebServer(); //
malcolmlear 4:7b810308854e 287
malcolmlear 4:7b810308854e 288 while(1) {
malcolmlear 4:7b810308854e 289 int a,b;
malcolmlear 4:7b810308854e 290 for (b = 0; b < 4; b++ ) { // select all 4 led states
malcolmlear 4:7b810308854e 291 for (a = 1; a < 9; a++ ) { // set all 8 leds to selected state
malcolmlear 4:7b810308854e 292 SetLED (a,b); // set led 'a' to state 'b'
malcolmlear 4:7b810308854e 293 wait(.05); // wait 0.05 second
malcolmlear 4:7b810308854e 294 }
malcolmlear 4:7b810308854e 295 }
malcolmlear 4:7b810308854e 296 for (a= 1; a < 9; a++ ) { // map Switch states to led's
malcolmlear 4:7b810308854e 297 SetLED (a,(ReadSwitch(a) + 1)); //
malcolmlear 4:7b810308854e 298 wait(.05); // wait 0.05 second
malcolmlear 4:7b810308854e 299 }
malcolmlear 4:7b810308854e 300 float temp = ReadTemp(); // get temperature
malcolmlear 4:7b810308854e 301 lcd.cls(); // clear lcd
malcolmlear 4:7b810308854e 302 lcd.printf("Temp = %f\n", temp); // print temperature
malcolmlear 4:7b810308854e 303 wait(1); // wait 1 second
malcolmlear 4:7b810308854e 304 lcd.cls(); // clear lcd
malcolmlear 4:7b810308854e 305 int swch = ReadSwitches(); // look at Switch states
malcolmlear 4:7b810308854e 306 lcd.printf("Switches = %d\n", swch); // print result
malcolmlear 4:7b810308854e 307 char Key = FindKeyChar(); // look for Key pressed
malcolmlear 4:7b810308854e 308 lcd.printf("Key = %c\n", Key); // print result
malcolmlear 4:7b810308854e 309 wait(1); // wait 1 second
malcolmlear 4:7b810308854e 310 lcd.cls(); // clear lcd
malcolmlear 4:7b810308854e 311 int dist = ReadSonar(); // get distance
malcolmlear 4:7b810308854e 312 lcd.printf("Distance = %d\n", dist); // print result
malcolmlear 4:7b810308854e 313 lcd.printf("Servo = %f\n", spos); // print servo pos
malcolmlear 4:7b810308854e 314 wait(1); // wait 1 second
malcolmlear 4:7b810308854e 315 ReadMotion(); // read new data in from the MPU-6050
malcolmlear 4:7b810308854e 316 lcd.cls(); // clear lcd
malcolmlear 4:7b810308854e 317 lcd.locate(0,0); // print at start of first line
malcolmlear 4:7b810308854e 318 lcd.printf("x%.1f y%.1f z%.1f", Acceleration[0], Acceleration[1], Acceleration[2]);
malcolmlear 4:7b810308854e 319 lcd.locate(0,1); // print at start of second line
malcolmlear 4:7b810308854e 320 lcd.printf("x%.1f y%.1f z%.1f", GyroRate[0], GyroRate[1], GyroRate[2]);
malcolmlear 4:7b810308854e 321 wait(1); // wait 1 second
malcolmlear 4:7b810308854e 322 lcd.cls(); // clear lcd
malcolmlear 4:7b810308854e 323 lcd.printf("MAC Address = ");
malcolmlear 4:7b810308854e 324 mbed_mac_address(mac);
malcolmlear 4:7b810308854e 325 for(int i=0; i<6;i++) {
malcolmlear 4:7b810308854e 326 lcd.printf("%02X ", mac[i]);
malcolmlear 4:7b810308854e 327 }
malcolmlear 4:7b810308854e 328 printf("\n");
malcolmlear 4:7b810308854e 329 wait(.4); // wait 0.4 second
malcolmlear 4:7b810308854e 330 if (spos < 1) { // is servo at upper limit of 1
malcolmlear 4:7b810308854e 331 spos += .1; // increment servo position
malcolmlear 4:7b810308854e 332 } //
malcolmlear 4:7b810308854e 333 else { // was at upper limit so
malcolmlear 4:7b810308854e 334 spos = -1; // reset servo position
malcolmlear 4:7b810308854e 335 } //
malcolmlear 4:7b810308854e 336 Servo1(spos); // update servo
malcolmlear 4:7b810308854e 337 HTTPInt(1234); // print integer 1234 on web page
malcolmlear 4:7b810308854e 338 //HTTPText("<html><head><title>Hello World online</title></head><body><h1>New Message !!!!</h1></body></html>");
malcolmlear 4:7b810308854e 339 }
malcolmlear 4:7b810308854e 340 }