malcolm lear / Mbed 2 deprecated labmbedV31

University of Essex CE713

Dependencies:   mbed HTTPServer EthernetNetIf TextLCD

Fork of HTTPServerHelloWorld by Robert Gutknecht

main.cpp@8:b6a76cc9c872, 2021-11-18 (annotated)

Committer:
malcolmlear
Date:
Thu Nov 18 15:38:21 2021 +0000
Revision:
8:b6a76cc9c872
Parent:
7:7f4d940077bd 
Test program V32

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 7:7f4d940077bd 19 PwmOut servo1(p21); // servo 1 PWM pin
malcolmlear 7:7f4d940077bd 20 PwmOut servo2(p22); // servo 2 PWM pin
malcolmlear 7:7f4d940077bd 21 DigitalOut Trigger(p28); // ultrasonic rangefinder trigger pin
malcolmlear 7:7f4d940077bd 22 DigitalIn Echo(p27); // ultrasonic rangefinder echo pin
malcolmlear 7:7f4d940077bd 23 Timer Sonar; // ultrasonic timer
malcolmlear 7:7f4d940077bd 24 DigitalOut led1(LED1); // web server stay alive indication
malcolmlear 7:7f4d940077bd 25 Serial out(USBTX, USBRX); // used for wev server
malcolmlear 7:7f4d940077bd 26 LocalFileSystem fs("webfs"); // web server local file system
malcolmlear 4:7b810308854e 27 EthernetNetIf eth; //
malcolmlear 4:7b810308854e 28 HTTPServer svr; //
malcolmlear 7:7f4d940077bd 29 Ticker WebUpdate; // interrupt timer to service web page requests
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 7:7f4d940077bd 43 Net::poll(); // bump web server into action
malcolmlear 8:b6a76cc9c872 44 led1=!led1; // show that web server polling is alive
malcolmlear 4:7b810308854e 45 }
malcolmlear 4:7b810308854e 46
malcolmlear 4:7b810308854e 47 int InitWebServer() {
malcolmlear 4:7b810308854e 48 EthernetErr ethErr = eth.setup();
malcolmlear 5:8b8c719307bf 49 if(ethErr) {
malcolmlear 8:b6a76cc9c872 50 return -1; // ethernet setup error
malcolmlear 4:7b810308854e 51 }
malcolmlear 7:7f4d940077bd 52 FILE *fp = fopen("/webfs/index.htm", "w"); // open "out.txt" on the local file system for writing
malcolmlear 4:7b810308854e 53 fprintf(fp, "<html><head><title>Hello World online</title></head><body><h1>Hello World from Mbed NXP LPC1768!</h1></body></html>");
malcolmlear 7:7f4d940077bd 54 fclose(fp); // close file
malcolmlear 7:7f4d940077bd 55 FSHandler::mount("/webfs", "/files"); // mount /webfs path on /files web path
malcolmlear 7:7f4d940077bd 56 FSHandler::mount("/webfs", "/"); // mount /webfs path on web root path
malcolmlear 4:7b810308854e 57 svr.addHandler<SimpleHandler>("/hello");
malcolmlear 4:7b810308854e 58 svr.addHandler<RPCHandler>("/rpc");
malcolmlear 4:7b810308854e 59 svr.addHandler<FSHandler>("/files");
malcolmlear 7:7f4d940077bd 60 svr.addHandler<FSHandler>("/"); // default handler
malcolmlear 7:7f4d940077bd 61 svr.bind(80); // example : http://155.245.21.144
malcolmlear 5:8b8c719307bf 62 WebUpdate.attach(&WebServerPoll, 0.1); // update webserver every 100ms
malcolmlear 4:7b810308854e 63 return 0; // return without error
malcolmlear 4:7b810308854e 64 }
malcolmlear 4:7b810308854e 65
malcolmlear 4:7b810308854e 66 void HTTPText(char t[100]) {
malcolmlear 7:7f4d940077bd 67 FILE *fp = fopen("/webfs/index.htm", "w"); // open "index.htm" on the local file system for writing
malcolmlear 7:7f4d940077bd 68 fprintf(fp, t); // print to file
malcolmlear 7:7f4d940077bd 69 fclose(fp); // close file
malcolmlear 4:7b810308854e 70 }
malcolmlear 4:7b810308854e 71
malcolmlear 4:7b810308854e 72 void Servo1(float s) { // range +-1
malcolmlear 4:7b810308854e 73 s=s+1;
malcolmlear 4:7b810308854e 74 if (s>=0 && s<=2) {
malcolmlear 4:7b810308854e 75 servo1.pulsewidth(s/2000+0.001); // pulse 1 - 2 ms
malcolmlear 4:7b810308854e 76 }
malcolmlear 4:7b810308854e 77 }
malcolmlear 4:7b810308854e 78
malcolmlear 4:7b810308854e 79 void Servo2(float s) { // range +-1
malcolmlear 4:7b810308854e 80 s=s+1;
malcolmlear 4:7b810308854e 81 if (s>=0 && s<=2) {
malcolmlear 4:7b810308854e 82 servo2.pulsewidth(s/2000+0.001); // pulse 1 - 2 ms
malcolmlear 4:7b810308854e 83 }
malcolmlear 4:7b810308854e 84 }
malcolmlear 4:7b810308854e 85
malcolmlear 4:7b810308854e 86 void InitServos() {
malcolmlear 7:7f4d940077bd 87 servo1.period(0.02); //
malcolmlear 7:7f4d940077bd 88 servo2.period(0.02); //
malcolmlear 4:7b810308854e 89 Servo1(0); // initiate servo 1 to centre position
malcolmlear 4:7b810308854e 90 Servo2(0); // initiate servo 1 to centre position
malcolmlear 4:7b810308854e 91 }
malcolmlear 4:7b810308854e 92
malcolmlear 4:7b810308854e 93 int ReadSonar() {
malcolmlear 4:7b810308854e 94 Trigger = 1; // set sonar trigger pulse high
malcolmlear 4:7b810308854e 95 Sonar.reset(); // reset sonar timer
malcolmlear 4:7b810308854e 96 wait_us(10.0); // 10 us pulse
malcolmlear 4:7b810308854e 97 Trigger = 0; // set sonar trigger pulse low
malcolmlear 4:7b810308854e 98 while (Echo == 0) {}; // wait for echo high (8 cycles have been transmitted)
malcolmlear 4:7b810308854e 99 Sonar.start(); // echo high so start timer
malcolmlear 4:7b810308854e 100 while (Echo == 1) {}; // wait for echo low
malcolmlear 4:7b810308854e 101 Sonar.stop(); // echo low so stop timer
malcolmlear 4:7b810308854e 102 return (Sonar.read_us()*10)/58; // read timer and scale to mm
malcolmlear 4:7b810308854e 103 }
malcolmlear 4:7b810308854e 104
malcolmlear 4:7b810308854e 105 void InitLEDs() {
malcolmlear 4:7b810308854e 106 lat = 0; // latch must start low
malcolmlear 4:7b810308854e 107 spi.format(16,0); // SPI 16 bit data, low state, high going clock
malcolmlear 4:7b810308854e 108 spi.frequency(1000000); // 1MHz clock rate
malcolmlear 4:7b810308854e 109 }
malcolmlear 4:7b810308854e 110
malcolmlear 4:7b810308854e 111 void SetLEDs(short ledall) {
malcolmlear 4:7b810308854e 112 LEDbits = ledall; // update global led status
malcolmlear 4:7b810308854e 113 spi.write((LEDbits & 0x03ff) | ((LEDbits & 0xa800) >> 1) | ((LEDbits & 0x5400) << 1));
malcolmlear 4:7b810308854e 114 lat = 1; // latch pulse start
malcolmlear 4:7b810308854e 115 lat = 0; // latch pulse end
malcolmlear 4:7b810308854e 116 }
malcolmlear 4:7b810308854e 117
malcolmlear 4:7b810308854e 118 void SetLED(short LEDNo, short LEDState) {
malcolmlear 4:7b810308854e 119 LEDNo = ((LEDNo - 1) & 0x0007) + 1; // limit led number
malcolmlear 4:7b810308854e 120 LEDState = LEDState & 0x0003; // limit led state
malcolmlear 4:7b810308854e 121 LEDNo = (8 - LEDNo) * 2; // offset of led state in 'LEDbits'
malcolmlear 4:7b810308854e 122 LEDState = LEDState << LEDNo;
malcolmlear 4:7b810308854e 123 short statemask = ((0x0003 << LEDNo) ^ 0xffff); // mask used to clear led state
malcolmlear 4:7b810308854e 124 LEDbits = ((LEDbits & statemask) | LEDState); // clear and set led state
malcolmlear 4:7b810308854e 125 SetLEDs(LEDbits);
malcolmlear 4:7b810308854e 126 }
malcolmlear 4:7b810308854e 127
malcolmlear 4:7b810308854e 128 short ReadLED(short LEDNo) {
malcolmlear 4:7b810308854e 129 LEDNo = ((LEDNo - 1) & 0x0007) + 1; // limit led number
malcolmlear 4:7b810308854e 130 LEDNo = (8 - LEDNo) * 2; // offset of led state in 'LEDbits'
malcolmlear 4:7b810308854e 131 short LEDState = (LEDbits >> LEDNo) & 0x0003; // shift selected led state into ls 2 bits
malcolmlear 4:7b810308854e 132 return LEDState; // return led state
malcolmlear 4:7b810308854e 133 }
malcolmlear 4:7b810308854e 134
malcolmlear 4:7b810308854e 135 short ReadLEDs() {
malcolmlear 4:7b810308854e 136 return LEDbits; // return led status
malcolmlear 4:7b810308854e 137 }
malcolmlear 4:7b810308854e 138
malcolmlear 4:7b810308854e 139 void SelInput(short Input) {
malcolmlear 4:7b810308854e 140 Sel0 = Input & 0x0001; // set sel[0:2] pins
malcolmlear 4:7b810308854e 141 Sel1 = (Input >> 1) & 0x0001; //
malcolmlear 4:7b810308854e 142 Sel2 = (Input >> 2) & 0x0001; //
malcolmlear 4:7b810308854e 143 }
malcolmlear 4:7b810308854e 144
malcolmlear 4:7b810308854e 145 short ReadSwitches() {
malcolmlear 4:7b810308854e 146 SelInput(5); // select least significant 4 switches in[3:0]
malcolmlear 4:7b810308854e 147 short Switches = In0 + (In1 << 1) + (In2 << 2) + (In3 << 3);
malcolmlear 4:7b810308854e 148 SelInput(4); // select most significant 4 switches in[3:0]
malcolmlear 4:7b810308854e 149 return (Switches + (In0 << 4) + (In1 << 5) + (In2 << 6) + (In3 << 7));
malcolmlear 4:7b810308854e 150 }
malcolmlear 4:7b810308854e 151
malcolmlear 4:7b810308854e 152 short ReadSwitch(short SwitchNo) {
malcolmlear 4:7b810308854e 153 SwitchNo = ((SwitchNo - 1) & 0x0007) + 1; // limit switch number
malcolmlear 4:7b810308854e 154 SwitchNo = 8 - SwitchNo; // offset of switch state in ReadSwitches()
malcolmlear 4:7b810308854e 155 short SwitchState = ReadSwitches(); // read switch states
malcolmlear 4:7b810308854e 156 SwitchState = SwitchState >> SwitchNo; // shift selected switch state into ls bit
malcolmlear 4:7b810308854e 157 return (SwitchState & 0x0001); // mask out and return switch state
malcolmlear 4:7b810308854e 158 }
malcolmlear 4:7b810308854e 159
malcolmlear 4:7b810308854e 160 short ReadKeys() {
malcolmlear 4:7b810308854e 161 SelInput(0); // select Keypad top row
malcolmlear 4:7b810308854e 162 short Keys = (In0 << 15) + (In1 << 14) + (In2 << 13) + (In3 << 12);
malcolmlear 4:7b810308854e 163 SelInput(1); // select Keypad second row
malcolmlear 4:7b810308854e 164 Keys += (In0 << 3) + (In1 << 6) + (In2 << 9) + (In3 << 11);
malcolmlear 4:7b810308854e 165 SelInput(2); // select Keypad third row
malcolmlear 4:7b810308854e 166 Keys += (In0 << 2) + (In1 << 5) + (In2 << 8) + In3;
malcolmlear 4:7b810308854e 167 SelInput(3); // select Keypad forth row
malcolmlear 4:7b810308854e 168 Keys += (In0 << 1) + (In1 << 4) + (In2 << 7) + (In3 << 10);
malcolmlear 4:7b810308854e 169 return (Keys ^ 0xffff); // return inverted (Key press active high)
malcolmlear 4:7b810308854e 170 }
malcolmlear 4:7b810308854e 171
malcolmlear 4:7b810308854e 172 short ReadKey(short KeyNo) {
malcolmlear 4:7b810308854e 173 KeyNo = KeyNo & 0x000f; // limit key number 0 to 15 (0 to F)
malcolmlear 4:7b810308854e 174 short KeyState = ReadKeys(); // read key states
malcolmlear 4:7b810308854e 175 KeyState = KeyState >> KeyNo; // shift selected key state into ls bit
malcolmlear 4:7b810308854e 176 return (KeyState & 0x0001); // mask out and return key state
malcolmlear 4:7b810308854e 177 }
malcolmlear 4:7b810308854e 178
malcolmlear 4:7b810308854e 179 int FindKeyNo() {
malcolmlear 4:7b810308854e 180 short KeyNo;
malcolmlear 4:7b810308854e 181 short KeyPressed = -1; // set KeyPressed to -1 (no key pressed)
malcolmlear 4:7b810308854e 182 short KeyState = ReadKeys(); // read key states
malcolmlear 4:7b810308854e 183 for (KeyNo= 0; KeyNo < 16; KeyNo++ ) { // check all 16 Keys
malcolmlear 4:7b810308854e 184 if (KeyState & 0x0001) { // check key state
malcolmlear 4:7b810308854e 185 if (KeyPressed == -1) { // check if key already found
malcolmlear 4:7b810308854e 186 KeyPressed = KeyNo; // update KeyPressed
malcolmlear 4:7b810308854e 187 }
malcolmlear 4:7b810308854e 188 else {
malcolmlear 4:7b810308854e 189 return -1; // 2 or more keys pressed
malcolmlear 4:7b810308854e 190 }
malcolmlear 4:7b810308854e 191 }
malcolmlear 4:7b810308854e 192 KeyState = KeyState >> 1; // shift to check next key
malcolmlear 4:7b810308854e 193 }
malcolmlear 4:7b810308854e 194 return KeyPressed; // return KeyPressed
malcolmlear 4:7b810308854e 195 }
malcolmlear 4:7b810308854e 196
malcolmlear 4:7b810308854e 197 char FindKeyChar() {
malcolmlear 4:7b810308854e 198 short KeyNo;
malcolmlear 4:7b810308854e 199 char KeyChar = ' '; // set KeyChar to ' ' (no key pressed)
malcolmlear 4:7b810308854e 200 KeyNo = FindKeyNo(); // find key pressed
malcolmlear 4:7b810308854e 201 if (KeyNo < 10 && KeyNo >= 0) {
malcolmlear 4:7b810308854e 202 KeyChar = (char) KeyNo + 0x30; // convert char 0-9 to ascii string '0'-'9'
malcolmlear 4:7b810308854e 203 }
malcolmlear 4:7b810308854e 204 if (KeyNo > 9 && KeyNo < 16) {
malcolmlear 4:7b810308854e 205 KeyChar = (char) KeyNo + 0x37; // convert char 10-15 to ascii string 'A'-'F'
malcolmlear 4:7b810308854e 206 }
malcolmlear 4:7b810308854e 207 return KeyChar; // return key pressed
malcolmlear 4:7b810308854e 208 }
malcolmlear 4:7b810308854e 209
malcolmlear 4:7b810308854e 210 float ReadTemp() {
malcolmlear 4:7b810308854e 211 char Cmd[3];
malcolmlear 4:7b810308854e 212 Cmd[0] = 0x01; // pointer register value
malcolmlear 4:7b810308854e 213 Cmd[1] = 0x60; // byte 1 of the configuration register
malcolmlear 4:7b810308854e 214 Cmd[2] = 0xa0; // byte 2 of the configuration register
malcolmlear 4:7b810308854e 215 i2c.write(TMP102Addr, Cmd, 3); // select configuration register and write 0x60a0 to it
malcolmlear 4:7b810308854e 216 wait(0.5); // ensure conversion time
malcolmlear 4:7b810308854e 217 Cmd[0] = 0x00; // pointer register value
malcolmlear 4:7b810308854e 218 i2c.write(TMP102Addr, Cmd, 1); // select temperature register
malcolmlear 4:7b810308854e 219 i2c.read(TMP102Addr, Cmd, 2); // read 16-bit temperature register
malcolmlear 4:7b810308854e 220 return (float((Cmd[0] << 8) | Cmd[1]) / 256); // divide by 256 and return temperature
malcolmlear 4:7b810308854e 221 }
malcolmlear 4:7b810308854e 222
malcolmlear 4:7b810308854e 223 signed short ReadMPU6050(int RegAddr) {
malcolmlear 4:7b810308854e 224 char Cmd[3];
malcolmlear 4:7b810308854e 225 Cmd[0] = RegAddr; // register address
malcolmlear 4:7b810308854e 226 i2c.write(MPU6050Addr, Cmd, 1); // select register to read
malcolmlear 4:7b810308854e 227 i2c.read(MPU6050Addr, Cmd, 2); // read 2 bytes from register
malcolmlear 4:7b810308854e 228 return ((Cmd[0] << 8) | Cmd[1]); // return signed 16 bit value
malcolmlear 4:7b810308854e 229 }
malcolmlear 4:7b810308854e 230
malcolmlear 4:7b810308854e 231 void CalibrateGyros() {
malcolmlear 4:7b810308854e 232 short a,b;
malcolmlear 4:7b810308854e 233 for(a=0; a<3; a++) {
malcolmlear 4:7b810308854e 234 GyroOffset[a] = 0; // clear gyro calibration offsets
malcolmlear 4:7b810308854e 235 for(b=0; b<1000; b++) {
malcolmlear 4:7b810308854e 236 GyroOffset[a] = GyroOffset[a] + (float)ReadMPU6050(GReg[a]);
malcolmlear 4:7b810308854e 237 wait_ms(1); // wait for next sample
malcolmlear 4:7b810308854e 238 }
malcolmlear 4:7b810308854e 239 GyroOffset[a] = GyroOffset[a]/1000; // find average over 1000 samples
malcolmlear 4:7b810308854e 240 }
malcolmlear 4:7b810308854e 241 }
malcolmlear 4:7b810308854e 242
malcolmlear 4:7b810308854e 243 void InitMotion() {
malcolmlear 4:7b810308854e 244 char Cmd[3];
malcolmlear 4:7b810308854e 245 Cmd[0] = 0xa1; // config register address
malcolmlear 4:7b810308854e 246 Cmd[1] = 0x06; // accelerometer and gyro bandwidth = 5Hz
malcolmlear 4:7b810308854e 247 i2c.write(MPU6050Addr, Cmd, 2); // write data to config register
malcolmlear 4:7b810308854e 248 Cmd[0] = 0x6b; // power management register address
malcolmlear 4:7b810308854e 249 Cmd[1] = 0x00; // data
malcolmlear 4:7b810308854e 250 i2c.write(MPU6050Addr, Cmd, 2); // write data to power management register
malcolmlear 4:7b810308854e 251 Cmd[0] = 0x1b; // gyro configuration register address
malcolmlear 4:7b810308854e 252 Cmd[1] = 0x08; // no gyro self test, +-500 full scale
malcolmlear 4:7b810308854e 253 i2c.write(MPU6050Addr, Cmd, 2); // write data to gyro configuration register
malcolmlear 4:7b810308854e 254 Cmd[0] = 0x19; // sample rate register address
malcolmlear 4:7b810308854e 255 Cmd[1] = 0x07; // sample rate = gyro output rate / 8
malcolmlear 4:7b810308854e 256 i2c.write(MPU6050Addr, Cmd, 2); // write data to sample rate register
malcolmlear 4:7b810308854e 257 CalibrateGyros();
malcolmlear 4:7b810308854e 258 }
malcolmlear 4:7b810308854e 259
malcolmlear 4:7b810308854e 260 void ReadMotion() {
malcolmlear 4:7b810308854e 261 short a; // Acceleration is in G where 1G = 9.81 ms/s
malcolmlear 4:7b810308854e 262 for(a=0; a<3; a++) { // GyroRate is in degrees per second
malcolmlear 4:7b810308854e 263 Acceleration[a] = (float)ReadMPU6050(AReg[a]) / 16384;
malcolmlear 4:7b810308854e 264 GyroRate[a] = ((float)ReadMPU6050(GReg[a]) - GyroOffset[a]) / 66.5;
malcolmlear 4:7b810308854e 265 }
malcolmlear 4:7b810308854e 266 }
malcolmlear 4:7b810308854e 267
malcolmlear 4:7b810308854e 268 int main() {
malcolmlear 4:7b810308854e 269
malcolmlear 4:7b810308854e 270 float spos = 0; // Test servo position
malcolmlear 4:7b810308854e 271 char mac[6]; // MAC address
malcolmlear 4:7b810308854e 272 InitLEDs(); //
malcolmlear 4:7b810308854e 273 InitMotion(); //
malcolmlear 4:7b810308854e 274 InitServos(); //
malcolmlear 4:7b810308854e 275 InitWebServer(); //
malcolmlear 4:7b810308854e 276
malcolmlear 4:7b810308854e 277 while(1) {
malcolmlear 4:7b810308854e 278 int a,b;
malcolmlear 4:7b810308854e 279 for (b = 0; b < 4; b++ ) { // select all 4 led states
malcolmlear 4:7b810308854e 280 for (a = 1; a < 9; a++ ) { // set all 8 leds to selected state
malcolmlear 4:7b810308854e 281 SetLED (a,b); // set led 'a' to state 'b'
malcolmlear 4:7b810308854e 282 wait(.05); // wait 0.05 second
malcolmlear 4:7b810308854e 283 }
malcolmlear 4:7b810308854e 284 }
malcolmlear 4:7b810308854e 285 for (a= 1; a < 9; a++ ) { // map Switch states to led's
malcolmlear 4:7b810308854e 286 SetLED (a,(ReadSwitch(a) + 1)); //
malcolmlear 4:7b810308854e 287 wait(.05); // wait 0.05 second
malcolmlear 4:7b810308854e 288 }
malcolmlear 4:7b810308854e 289 float temp = ReadTemp(); // get temperature
malcolmlear 4:7b810308854e 290 lcd.cls(); // clear lcd
malcolmlear 4:7b810308854e 291 lcd.printf("Temp = %f\n", temp); // print temperature
malcolmlear 4:7b810308854e 292 wait(1); // wait 1 second
malcolmlear 4:7b810308854e 293 lcd.cls(); // clear lcd
malcolmlear 4:7b810308854e 294 int swch = ReadSwitches(); // look at Switch states
malcolmlear 4:7b810308854e 295 lcd.printf("Switches = %d\n", swch); // print result
malcolmlear 4:7b810308854e 296 char Key = FindKeyChar(); // look for Key pressed
malcolmlear 4:7b810308854e 297 lcd.printf("Key = %c\n", Key); // print result
malcolmlear 4:7b810308854e 298 wait(1); // wait 1 second
malcolmlear 4:7b810308854e 299 lcd.cls(); // clear lcd
malcolmlear 8:b6a76cc9c872 300 // int dist = ReadSonar(); // get distance
malcolmlear 8:b6a76cc9c872 301 // lcd.printf("Distance = %d\n", dist); // print result
malcolmlear 4:7b810308854e 302 lcd.printf("Servo = %f\n", spos); // print servo pos
malcolmlear 4:7b810308854e 303 wait(1); // wait 1 second
malcolmlear 4:7b810308854e 304 ReadMotion(); // read new data in from the MPU-6050
malcolmlear 4:7b810308854e 305 lcd.cls(); // clear lcd
malcolmlear 4:7b810308854e 306 lcd.locate(0,0); // print at start of first line
malcolmlear 4:7b810308854e 307 lcd.printf("x%.1f y%.1f z%.1f", Acceleration[0], Acceleration[1], Acceleration[2]);
malcolmlear 4:7b810308854e 308 lcd.locate(0,1); // print at start of second line
malcolmlear 4:7b810308854e 309 lcd.printf("x%.1f y%.1f z%.1f", GyroRate[0], GyroRate[1], GyroRate[2]);
malcolmlear 4:7b810308854e 310 wait(1); // wait 1 second
malcolmlear 4:7b810308854e 311 lcd.cls(); // clear lcd
malcolmlear 6:7929de136a42 312 lcd.printf("MAC Address = "); // print to LCD
malcolmlear 6:7929de136a42 313 mbed_mac_address(mac); // get MAC address
malcolmlear 6:7929de136a42 314 for(int i=0; i<6;i++) { // step through MAC address characters
malcolmlear 6:7929de136a42 315 lcd.printf("%02X ", mac[i]); // print MAC address
malcolmlear 4:7b810308854e 316 }
malcolmlear 7:7f4d940077bd 317 printf("\n"); //
malcolmlear 4:7b810308854e 318 wait(.4); // wait 0.4 second
malcolmlear 4:7b810308854e 319 if (spos < 1) { // is servo at upper limit of 1
malcolmlear 4:7b810308854e 320 spos += .1; // increment servo position
malcolmlear 4:7b810308854e 321 } //
malcolmlear 4:7b810308854e 322 else { // was at upper limit so
malcolmlear 4:7b810308854e 323 spos = -1; // reset servo position
malcolmlear 4:7b810308854e 324 } //
malcolmlear 4:7b810308854e 325 Servo1(spos); // update servo
malcolmlear 5:8b8c719307bf 326 // HTTPText("<html><head><title>Hello World online</title></head><body><h1>New Message !!!!</h1></body></html>");
malcolmlear 8:b6a76cc9c872 327 char Buffer[200];
malcolmlear 8:b6a76cc9c872 328 sprintf(Buffer, "%s %.3f %s %1.1f %s", "<html><head><title>Hello World online</title></head><body><h1> Temperature = ", temp, "<br/>Servo = ", spos, "</h1></body></html>");
malcolmlear 5:8b8c719307bf 329 HTTPText(Buffer); // ouput temperature on web page
malcolmlear 4:7b810308854e 330 }
malcolmlear 4:7b810308854e 331 }