malcolm lear
University of Essex CE713
Dependencies: mbed HTTPServer EthernetNetIf TextLCD
Fork of
HTTPServerHelloWorld
by 
Robert Gutknecht
main.cpp
- Committer:
- malcolmlear
- Date:
- 2021-11-18
- Revision:
- 8:b6a76cc9c872
- Parent:
- 7:7f4d940077bd
File content as of revision 8:b6a76cc9c872:
// Device Drivers for Labmbed Board
#include "mbed.h"
#include "TextLCD.h"
#include "EthernetNetIf.h"
#include "HTTPServer.h"
TextLCD lcd(p15, p16, p17, p18, p19, p20); // LCD: RS, E, D4-D7
SPI spi(p5, p6, p7); // SPI: MOSI, MISO, SCLK (MISO not used with LCD)
DigitalOut lat(p8); // data latch for LED driver TLC59281
DigitalOut Sel0(p26); // input select bits:
DigitalOut Sel1(p25); // "
DigitalOut Sel2(p24); // "
DigitalIn In0(p14); // input from switches, keypad etc
DigitalIn In1(p13); // "
DigitalIn In2(p12); // "
DigitalIn In3(p11); // "
I2C i2c(p9, p10); // I2C: SDA, SCL pins
PwmOut servo1(p21); // servo 1 PWM pin
PwmOut servo2(p22); // servo 2 PWM pin
DigitalOut Trigger(p28); // ultrasonic rangefinder trigger pin
DigitalIn Echo(p27); // ultrasonic rangefinder echo pin
Timer Sonar; // ultrasonic timer
DigitalOut led1(LED1); // web server stay alive indication
Serial out(USBTX, USBRX); // used for wev server
LocalFileSystem fs("webfs"); // web server local file system
EthernetNetIf eth; //
HTTPServer svr; //
Ticker WebUpdate; // interrupt timer to service web page requests
// global variables
short LEDbits = 0; // global led status used for readback
const int TMP102Addr = 0x92; // TMP102 temperature I2C address
const int MPU6050Addr = 0xd0; // MPU-6050 accelerometer and Gyro I2C address
float Acceleration[3]; // MPU-6050 x,y,z acceleration values in 1G floating point
float GyroRate[3]; // MPU-6050 x,y,z gyrorates in degrees per second
float GyroOffset[3]; // MPU-6050 x,y,z gyrorates compensation
char AReg[] = { 0x3b, 0x3d, 0x3f }; // MPU-6050 I2C x,y,z accelerometer data registers
char GReg[] = { 0x43, 0x45, 0x47 }; // MPU-6050 I2C x,y,z gyro data registers
extern "C" void mbed_mac_address(char *mac); //
void WebServerPoll () {
Net::poll(); // bump web server into action
led1=!led1; // show that web server polling is alive
}
int InitWebServer() {
EthernetErr ethErr = eth.setup();
if(ethErr) {
return -1; // ethernet setup error
}
FILE *fp = fopen("/webfs/index.htm", "w"); // open "out.txt" on the local file system for writing
fprintf(fp, "<html><head><title>Hello World online</title></head><body><h1>Hello World from Mbed NXP LPC1768!</h1></body></html>");
fclose(fp); // close file
FSHandler::mount("/webfs", "/files"); // mount /webfs path on /files web path
FSHandler::mount("/webfs", "/"); // mount /webfs path on web root path
svr.addHandler<SimpleHandler>("/hello");
svr.addHandler<RPCHandler>("/rpc");
svr.addHandler<FSHandler>("/files");
svr.addHandler<FSHandler>("/"); // default handler
svr.bind(80); // example : http://155.245.21.144
WebUpdate.attach(&WebServerPoll, 0.1); // update webserver every 100ms
return 0; // return without error
}
void HTTPText(char t[100]) {
FILE *fp = fopen("/webfs/index.htm", "w"); // open "index.htm" on the local file system for writing
fprintf(fp, t); // print to file
fclose(fp); // close file
}
void Servo1(float s) { // range +-1
s=s+1;
if (s>=0 && s<=2) {
servo1.pulsewidth(s/2000+0.001); // pulse 1 - 2 ms
}
}
void Servo2(float s) { // range +-1
s=s+1;
if (s>=0 && s<=2) {
servo2.pulsewidth(s/2000+0.001); // pulse 1 - 2 ms
}
}
void InitServos() {
servo1.period(0.02); //
servo2.period(0.02); //
Servo1(0); // initiate servo 1 to centre position
Servo2(0); // initiate servo 1 to centre position
}
int ReadSonar() {
Trigger = 1; // set sonar trigger pulse high
Sonar.reset(); // reset sonar timer
wait_us(10.0); // 10 us pulse
Trigger = 0; // set sonar trigger pulse low
while (Echo == 0) {}; // wait for echo high (8 cycles have been transmitted)
Sonar.start(); // echo high so start timer
while (Echo == 1) {}; // wait for echo low
Sonar.stop(); // echo low so stop timer
return (Sonar.read_us()*10)/58; // read timer and scale to mm
}
void InitLEDs() {
lat = 0; // latch must start low
spi.format(16,0); // SPI 16 bit data, low state, high going clock
spi.frequency(1000000); // 1MHz clock rate
}
void SetLEDs(short ledall) {
LEDbits = ledall; // update global led status
spi.write((LEDbits & 0x03ff) | ((LEDbits & 0xa800) >> 1) | ((LEDbits & 0x5400) << 1));
lat = 1; // latch pulse start
lat = 0; // latch pulse end
}
void SetLED(short LEDNo, short LEDState) {
LEDNo = ((LEDNo - 1) & 0x0007) + 1; // limit led number
LEDState = LEDState & 0x0003; // limit led state
LEDNo = (8 - LEDNo) * 2; // offset of led state in 'LEDbits'
LEDState = LEDState << LEDNo;
short statemask = ((0x0003 << LEDNo) ^ 0xffff); // mask used to clear led state
LEDbits = ((LEDbits & statemask) | LEDState); // clear and set led state
SetLEDs(LEDbits);
}
short ReadLED(short LEDNo) {
LEDNo = ((LEDNo - 1) & 0x0007) + 1; // limit led number
LEDNo = (8 - LEDNo) * 2; // offset of led state in 'LEDbits'
short LEDState = (LEDbits >> LEDNo) & 0x0003; // shift selected led state into ls 2 bits
return LEDState; // return led state
}
short ReadLEDs() {
return LEDbits; // return led status
}
void SelInput(short Input) {
Sel0 = Input & 0x0001; // set sel[0:2] pins
Sel1 = (Input >> 1) & 0x0001; //
Sel2 = (Input >> 2) & 0x0001; //
}
short ReadSwitches() {
SelInput(5); // select least significant 4 switches in[3:0]
short Switches = In0 + (In1 << 1) + (In2 << 2) + (In3 << 3);
SelInput(4); // select most significant 4 switches in[3:0]
return (Switches + (In0 << 4) + (In1 << 5) + (In2 << 6) + (In3 << 7));
}
short ReadSwitch(short SwitchNo) {
SwitchNo = ((SwitchNo - 1) & 0x0007) + 1; // limit switch number
SwitchNo = 8 - SwitchNo; // offset of switch state in ReadSwitches()
short SwitchState = ReadSwitches(); // read switch states
SwitchState = SwitchState >> SwitchNo; // shift selected switch state into ls bit
return (SwitchState & 0x0001); // mask out and return switch state
}
short ReadKeys() {
SelInput(0); // select Keypad top row
short Keys = (In0 << 15) + (In1 << 14) + (In2 << 13) + (In3 << 12);
SelInput(1); // select Keypad second row
Keys += (In0 << 3) + (In1 << 6) + (In2 << 9) + (In3 << 11);
SelInput(2); // select Keypad third row
Keys += (In0 << 2) + (In1 << 5) + (In2 << 8) + In3;
SelInput(3); // select Keypad forth row
Keys += (In0 << 1) + (In1 << 4) + (In2 << 7) + (In3 << 10);
return (Keys ^ 0xffff); // return inverted (Key press active high)
}
short ReadKey(short KeyNo) {
KeyNo = KeyNo & 0x000f; // limit key number 0 to 15 (0 to F)
short KeyState = ReadKeys(); // read key states
KeyState = KeyState >> KeyNo; // shift selected key state into ls bit
return (KeyState & 0x0001); // mask out and return key state
}
int FindKeyNo() {
short KeyNo;
short KeyPressed = -1; // set KeyPressed to -1 (no key pressed)
short KeyState = ReadKeys(); // read key states
for (KeyNo= 0; KeyNo < 16; KeyNo++ ) { // check all 16 Keys
if (KeyState & 0x0001) { // check key state
if (KeyPressed == -1) { // check if key already found
KeyPressed = KeyNo; // update KeyPressed
}
else {
return -1; // 2 or more keys pressed
}
}
KeyState = KeyState >> 1; // shift to check next key
}
return KeyPressed; // return KeyPressed
}
char FindKeyChar() {
short KeyNo;
char KeyChar = ' '; // set KeyChar to ' ' (no key pressed)
KeyNo = FindKeyNo(); // find key pressed
if (KeyNo < 10 && KeyNo >= 0) {
KeyChar = (char) KeyNo + 0x30; // convert char 0-9 to ascii string '0'-'9'
}
if (KeyNo > 9 && KeyNo < 16) {
KeyChar = (char) KeyNo + 0x37; // convert char 10-15 to ascii string 'A'-'F'
}
return KeyChar; // return key pressed
}
float ReadTemp() {
char Cmd[3];
Cmd[0] = 0x01; // pointer register value
Cmd[1] = 0x60; // byte 1 of the configuration register
Cmd[2] = 0xa0; // byte 2 of the configuration register
i2c.write(TMP102Addr, Cmd, 3); // select configuration register and write 0x60a0 to it
wait(0.5); // ensure conversion time
Cmd[0] = 0x00; // pointer register value
i2c.write(TMP102Addr, Cmd, 1); // select temperature register
i2c.read(TMP102Addr, Cmd, 2); // read 16-bit temperature register
return (float((Cmd[0] << 8) | Cmd[1]) / 256); // divide by 256 and return temperature
}
signed short ReadMPU6050(int RegAddr) {
char Cmd[3];
Cmd[0] = RegAddr; // register address
i2c.write(MPU6050Addr, Cmd, 1); // select register to read
i2c.read(MPU6050Addr, Cmd, 2); // read 2 bytes from register
return ((Cmd[0] << 8) | Cmd[1]); // return signed 16 bit value
}
void CalibrateGyros() {
short a,b;
for(a=0; a<3; a++) {
GyroOffset[a] = 0; // clear gyro calibration offsets
for(b=0; b<1000; b++) {
GyroOffset[a] = GyroOffset[a] + (float)ReadMPU6050(GReg[a]);
wait_ms(1); // wait for next sample
}
GyroOffset[a] = GyroOffset[a]/1000; // find average over 1000 samples
}
}
void InitMotion() {
char Cmd[3];
Cmd[0] = 0xa1; // config register address
Cmd[1] = 0x06; // accelerometer and gyro bandwidth = 5Hz
i2c.write(MPU6050Addr, Cmd, 2); // write data to config register
Cmd[0] = 0x6b; // power management register address
Cmd[1] = 0x00; // data
i2c.write(MPU6050Addr, Cmd, 2); // write data to power management register
Cmd[0] = 0x1b; // gyro configuration register address
Cmd[1] = 0x08; // no gyro self test, +-500 full scale
i2c.write(MPU6050Addr, Cmd, 2); // write data to gyro configuration register
Cmd[0] = 0x19; // sample rate register address
Cmd[1] = 0x07; // sample rate = gyro output rate / 8
i2c.write(MPU6050Addr, Cmd, 2); // write data to sample rate register
CalibrateGyros();
}
void ReadMotion() {
short a; // Acceleration is in G where 1G = 9.81 ms/s
for(a=0; a<3; a++) { // GyroRate is in degrees per second
Acceleration[a] = (float)ReadMPU6050(AReg[a]) / 16384;
GyroRate[a] = ((float)ReadMPU6050(GReg[a]) - GyroOffset[a]) / 66.5;
}
}
int main() {
float spos = 0; // Test servo position
char mac[6]; // MAC address
InitLEDs(); //
InitMotion(); //
InitServos(); //
InitWebServer(); //
while(1) {
int a,b;
for (b = 0; b < 4; b++ ) { // select all 4 led states
for (a = 1; a < 9; a++ ) { // set all 8 leds to selected state
SetLED (a,b); // set led 'a' to state 'b'
wait(.05); // wait 0.05 second
}
}
for (a= 1; a < 9; a++ ) { // map Switch states to led's
SetLED (a,(ReadSwitch(a) + 1)); //
wait(.05); // wait 0.05 second
}
float temp = ReadTemp(); // get temperature
lcd.cls(); // clear lcd
lcd.printf("Temp = %f\n", temp); // print temperature
wait(1); // wait 1 second
lcd.cls(); // clear lcd
int swch = ReadSwitches(); // look at Switch states
lcd.printf("Switches = %d\n", swch); // print result
char Key = FindKeyChar(); // look for Key pressed
lcd.printf("Key = %c\n", Key); // print result
wait(1); // wait 1 second
lcd.cls(); // clear lcd
// int dist = ReadSonar(); // get distance
// lcd.printf("Distance = %d\n", dist); // print result
lcd.printf("Servo = %f\n", spos); // print servo pos
wait(1); // wait 1 second
ReadMotion(); // read new data in from the MPU-6050
lcd.cls(); // clear lcd
lcd.locate(0,0); // print at start of first line
lcd.printf("x%.1f y%.1f z%.1f", Acceleration[0], Acceleration[1], Acceleration[2]);
lcd.locate(0,1); // print at start of second line
lcd.printf("x%.1f y%.1f z%.1f", GyroRate[0], GyroRate[1], GyroRate[2]);
wait(1); // wait 1 second
lcd.cls(); // clear lcd
lcd.printf("MAC Address = "); // print to LCD
mbed_mac_address(mac); // get MAC address
for(int i=0; i<6;i++) { // step through MAC address characters
lcd.printf("%02X ", mac[i]); // print MAC address
}
printf("\n"); //
wait(.4); // wait 0.4 second
if (spos < 1) { // is servo at upper limit of 1
spos += .1; // increment servo position
} //
else { // was at upper limit so
spos = -1; // reset servo position
} //
Servo1(spos); // update servo
// HTTPText("<html><head><title>Hello World online</title></head><body><h1>New Message !!!!</h1></body></html>");
char Buffer[200];
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>");
HTTPText(Buffer); // ouput temperature on web page
}
}