malcolm lear
/
labmbedV31
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Dependencies: mbed HTTPServer EthernetNetIf TextLCD
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HTTPServerHelloWorld
by 
Robert Gutknecht
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main.cpp
00001 // Device Drivers for Labmbed Board 00002 00003 #include "mbed.h" 00004 #include "TextLCD.h" 00005 #include "EthernetNetIf.h" 00006 #include "HTTPServer.h" 00007 00008 TextLCD lcd(p15, p16, p17, p18, p19, p20); // LCD: RS, E, D4-D7 00009 SPI spi(p5, p6, p7); // SPI: MOSI, MISO, SCLK (MISO not used with LCD) 00010 DigitalOut lat(p8); // data latch for LED driver TLC59281 00011 DigitalOut Sel0(p26); // input select bits: 00012 DigitalOut Sel1(p25); // " 00013 DigitalOut Sel2(p24); // " 00014 DigitalIn In0(p14); // input from switches, keypad etc 00015 DigitalIn In1(p13); // " 00016 DigitalIn In2(p12); // " 00017 DigitalIn In3(p11); // " 00018 I2C i2c(p9, p10); // I2C: SDA, SCL pins 00019 PwmOut servo1(p21); // servo 1 PWM pin 00020 PwmOut servo2(p22); // servo 2 PWM pin 00021 DigitalOut Trigger(p28); // ultrasonic rangefinder trigger pin 00022 DigitalIn Echo(p27); // ultrasonic rangefinder echo pin 00023 Timer Sonar; // ultrasonic timer 00024 DigitalOut led1(LED1); // web server stay alive indication 00025 Serial out(USBTX, USBRX); // used for wev server 00026 LocalFileSystem fs("webfs"); // web server local file system 00027 EthernetNetIf eth; // 00028 HTTPServer svr; // 00029 Ticker WebUpdate; // interrupt timer to service web page requests 00030 00031 // global variables 00032 short LEDbits = 0; // global led status used for readback 00033 const int TMP102Addr = 0x92; // TMP102 temperature I2C address 00034 const int MPU6050Addr = 0xd0; // MPU-6050 accelerometer and Gyro I2C address 00035 float Acceleration[3]; // MPU-6050 x,y,z acceleration values in 1G floating point 00036 float GyroRate[3]; // MPU-6050 x,y,z gyrorates in degrees per second 00037 float GyroOffset[3]; // MPU-6050 x,y,z gyrorates compensation 00038 char AReg[] = { 0x3b, 0x3d, 0x3f }; // MPU-6050 I2C x,y,z accelerometer data registers 00039 char GReg[] = { 0x43, 0x45, 0x47 }; // MPU-6050 I2C x,y,z gyro data registers 00040 extern "C" void mbed_mac_address(char *mac); // 00041 00042 void WebServerPoll () { 00043 Net::poll(); // bump web server into action 00044 led1=!led1; // show that web server polling is alive 00045 } 00046 00047 int InitWebServer() { 00048 EthernetErr ethErr = eth.setup(); 00049 if(ethErr) { 00050 return -1; // ethernet setup error 00051 } 00052 FILE *fp = fopen("/webfs/index.htm", "w"); // open "out.txt" on the local file system for writing 00053 fprintf(fp, "<html><head><title>Hello World online</title></head><body><h1>Hello World from Mbed NXP LPC1768!</h1></body></html>"); 00054 fclose(fp); // close file 00055 FSHandler::mount("/webfs", "/files"); // mount /webfs path on /files web path 00056 FSHandler::mount("/webfs", "/"); // mount /webfs path on web root path 00057 svr.addHandler<SimpleHandler>("/hello"); 00058 svr.addHandler<RPCHandler>("/rpc"); 00059 svr.addHandler<FSHandler>("/files"); 00060 svr.addHandler<FSHandler>("/"); // default handler 00061 svr.bind(80); // example : http://155.245.21.144 00062 WebUpdate.attach(&WebServerPoll, 0.1); // update webserver every 100ms 00063 return 0; // return without error 00064 } 00065 00066 void HTTPText(char t[100]) { 00067 FILE *fp = fopen("/webfs/index.htm", "w"); // open "index.htm" on the local file system for writing 00068 fprintf(fp, t); // print to file 00069 fclose(fp); // close file 00070 } 00071 00072 void Servo1(float s) { // range +-1 00073 s=s+1; 00074 if (s>=0 && s<=2) { 00075 servo1.pulsewidth(s/2000+0.001); // pulse 1 - 2 ms 00076 } 00077 } 00078 00079 void Servo2(float s) { // range +-1 00080 s=s+1; 00081 if (s>=0 && s<=2) { 00082 servo2.pulsewidth(s/2000+0.001); // pulse 1 - 2 ms 00083 } 00084 } 00085 00086 void InitServos() { 00087 servo1.period(0.02); // 00088 servo2.period(0.02); // 00089 Servo1(0); // initiate servo 1 to centre position 00090 Servo2(0); // initiate servo 1 to centre position 00091 } 00092 00093 int ReadSonar() { 00094 Trigger = 1; // set sonar trigger pulse high 00095 Sonar.reset(); // reset sonar timer 00096 wait_us(10.0); // 10 us pulse 00097 Trigger = 0; // set sonar trigger pulse low 00098 while (Echo == 0) {}; // wait for echo high (8 cycles have been transmitted) 00099 Sonar.start(); // echo high so start timer 00100 while (Echo == 1) {}; // wait for echo low 00101 Sonar.stop(); // echo low so stop timer 00102 return (Sonar.read_us()*10)/58; // read timer and scale to mm 00103 } 00104 00105 void InitLEDs() { 00106 lat = 0; // latch must start low 00107 spi.format(16,0); // SPI 16 bit data, low state, high going clock 00108 spi.frequency(1000000); // 1MHz clock rate 00109 } 00110 00111 void SetLEDs(short ledall) { 00112 LEDbits = ledall; // update global led status 00113 spi.write((LEDbits & 0x03ff) | ((LEDbits & 0xa800) >> 1) | ((LEDbits & 0x5400) << 1)); 00114 lat = 1; // latch pulse start 00115 lat = 0; // latch pulse end 00116 } 00117 00118 void SetLED(short LEDNo, short LEDState) { 00119 LEDNo = ((LEDNo - 1) & 0x0007) + 1; // limit led number 00120 LEDState = LEDState & 0x0003; // limit led state 00121 LEDNo = (8 - LEDNo) * 2; // offset of led state in 'LEDbits' 00122 LEDState = LEDState << LEDNo; 00123 short statemask = ((0x0003 << LEDNo) ^ 0xffff); // mask used to clear led state 00124 LEDbits = ((LEDbits & statemask) | LEDState); // clear and set led state 00125 SetLEDs(LEDbits); 00126 } 00127 00128 short ReadLED(short LEDNo) { 00129 LEDNo = ((LEDNo - 1) & 0x0007) + 1; // limit led number 00130 LEDNo = (8 - LEDNo) * 2; // offset of led state in 'LEDbits' 00131 short LEDState = (LEDbits >> LEDNo) & 0x0003; // shift selected led state into ls 2 bits 00132 return LEDState; // return led state 00133 } 00134 00135 short ReadLEDs() { 00136 return LEDbits; // return led status 00137 } 00138 00139 void SelInput(short Input) { 00140 Sel0 = Input & 0x0001; // set sel[0:2] pins 00141 Sel1 = (Input >> 1) & 0x0001; // 00142 Sel2 = (Input >> 2) & 0x0001; // 00143 } 00144 00145 short ReadSwitches() { 00146 SelInput(5); // select least significant 4 switches in[3:0] 00147 short Switches = In0 + (In1 << 1) + (In2 << 2) + (In3 << 3); 00148 SelInput(4); // select most significant 4 switches in[3:0] 00149 return (Switches + (In0 << 4) + (In1 << 5) + (In2 << 6) + (In3 << 7)); 00150 } 00151 00152 short ReadSwitch(short SwitchNo) { 00153 SwitchNo = ((SwitchNo - 1) & 0x0007) + 1; // limit switch number 00154 SwitchNo = 8 - SwitchNo; // offset of switch state in ReadSwitches() 00155 short SwitchState = ReadSwitches(); // read switch states 00156 SwitchState = SwitchState >> SwitchNo; // shift selected switch state into ls bit 00157 return (SwitchState & 0x0001); // mask out and return switch state 00158 } 00159 00160 short ReadKeys() { 00161 SelInput(0); // select Keypad top row 00162 short Keys = (In0 << 15) + (In1 << 14) + (In2 << 13) + (In3 << 12); 00163 SelInput(1); // select Keypad second row 00164 Keys += (In0 << 3) + (In1 << 6) + (In2 << 9) + (In3 << 11); 00165 SelInput(2); // select Keypad third row 00166 Keys += (In0 << 2) + (In1 << 5) + (In2 << 8) + In3; 00167 SelInput(3); // select Keypad forth row 00168 Keys += (In0 << 1) + (In1 << 4) + (In2 << 7) + (In3 << 10); 00169 return (Keys ^ 0xffff); // return inverted (Key press active high) 00170 } 00171 00172 short ReadKey(short KeyNo) { 00173 KeyNo = KeyNo & 0x000f; // limit key number 0 to 15 (0 to F) 00174 short KeyState = ReadKeys(); // read key states 00175 KeyState = KeyState >> KeyNo; // shift selected key state into ls bit 00176 return (KeyState & 0x0001); // mask out and return key state 00177 } 00178 00179 int FindKeyNo() { 00180 short KeyNo; 00181 short KeyPressed = -1; // set KeyPressed to -1 (no key pressed) 00182 short KeyState = ReadKeys(); // read key states 00183 for (KeyNo= 0; KeyNo < 16; KeyNo++ ) { // check all 16 Keys 00184 if (KeyState & 0x0001) { // check key state 00185 if (KeyPressed == -1) { // check if key already found 00186 KeyPressed = KeyNo; // update KeyPressed 00187 } 00188 else { 00189 return -1; // 2 or more keys pressed 00190 } 00191 } 00192 KeyState = KeyState >> 1; // shift to check next key 00193 } 00194 return KeyPressed; // return KeyPressed 00195 } 00196 00197 char FindKeyChar() { 00198 short KeyNo; 00199 char KeyChar = ' '; // set KeyChar to ' ' (no key pressed) 00200 KeyNo = FindKeyNo(); // find key pressed 00201 if (KeyNo < 10 && KeyNo >= 0) { 00202 KeyChar = (char) KeyNo + 0x30; // convert char 0-9 to ascii string '0'-'9' 00203 } 00204 if (KeyNo > 9 && KeyNo < 16) { 00205 KeyChar = (char) KeyNo + 0x37; // convert char 10-15 to ascii string 'A'-'F' 00206 } 00207 return KeyChar; // return key pressed 00208 } 00209 00210 float ReadTemp() { 00211 char Cmd[3]; 00212 Cmd[0] = 0x01; // pointer register value 00213 Cmd[1] = 0x60; // byte 1 of the configuration register 00214 Cmd[2] = 0xa0; // byte 2 of the configuration register 00215 i2c.write(TMP102Addr, Cmd, 3); // select configuration register and write 0x60a0 to it 00216 wait(0.5); // ensure conversion time 00217 Cmd[0] = 0x00; // pointer register value 00218 i2c.write(TMP102Addr, Cmd, 1); // select temperature register 00219 i2c.read(TMP102Addr, Cmd, 2); // read 16-bit temperature register 00220 return (float((Cmd[0] << 8) | Cmd[1]) / 256); // divide by 256 and return temperature 00221 } 00222 00223 signed short ReadMPU6050(int RegAddr) { 00224 char Cmd[3]; 00225 Cmd[0] = RegAddr; // register address 00226 i2c.write(MPU6050Addr, Cmd, 1); // select register to read 00227 i2c.read(MPU6050Addr, Cmd, 2); // read 2 bytes from register 00228 return ((Cmd[0] << 8) | Cmd[1]); // return signed 16 bit value 00229 } 00230 00231 void CalibrateGyros() { 00232 short a,b; 00233 for(a=0; a<3; a++) { 00234 GyroOffset[a] = 0; // clear gyro calibration offsets 00235 for(b=0; b<1000; b++) { 00236 GyroOffset[a] = GyroOffset[a] + (float)ReadMPU6050(GReg[a]); 00237 wait_ms(1); // wait for next sample 00238 } 00239 GyroOffset[a] = GyroOffset[a]/1000; // find average over 1000 samples 00240 } 00241 } 00242 00243 void InitMotion() { 00244 char Cmd[3]; 00245 Cmd[0] = 0xa1; // config register address 00246 Cmd[1] = 0x06; // accelerometer and gyro bandwidth = 5Hz 00247 i2c.write(MPU6050Addr, Cmd, 2); // write data to config register 00248 Cmd[0] = 0x6b; // power management register address 00249 Cmd[1] = 0x00; // data 00250 i2c.write(MPU6050Addr, Cmd, 2); // write data to power management register 00251 Cmd[0] = 0x1b; // gyro configuration register address 00252 Cmd[1] = 0x08; // no gyro self test, +-500 full scale 00253 i2c.write(MPU6050Addr, Cmd, 2); // write data to gyro configuration register 00254 Cmd[0] = 0x19; // sample rate register address 00255 Cmd[1] = 0x07; // sample rate = gyro output rate / 8 00256 i2c.write(MPU6050Addr, Cmd, 2); // write data to sample rate register 00257 CalibrateGyros(); 00258 } 00259 00260 void ReadMotion() { 00261 short a; // Acceleration is in G where 1G = 9.81 ms/s 00262 for(a=0; a<3; a++) { // GyroRate is in degrees per second 00263 Acceleration[a] = (float)ReadMPU6050(AReg[a]) / 16384; 00264 GyroRate[a] = ((float)ReadMPU6050(GReg[a]) - GyroOffset[a]) / 66.5; 00265 } 00266 } 00267 00268 int main() { 00269 00270 float spos = 0; // Test servo position 00271 char mac[6]; // MAC address 00272 InitLEDs(); // 00273 InitMotion(); // 00274 InitServos(); // 00275 InitWebServer(); // 00276 00277 while(1) { 00278 int a,b; 00279 for (b = 0; b < 4; b++ ) { // select all 4 led states 00280 for (a = 1; a < 9; a++ ) { // set all 8 leds to selected state 00281 SetLED (a,b); // set led 'a' to state 'b' 00282 wait(.05); // wait 0.05 second 00283 } 00284 } 00285 for (a= 1; a < 9; a++ ) { // map Switch states to led's 00286 SetLED (a,(ReadSwitch(a) + 1)); // 00287 wait(.05); // wait 0.05 second 00288 } 00289 float temp = ReadTemp(); // get temperature 00290 lcd.cls(); // clear lcd 00291 lcd.printf("Temp = %f\n", temp); // print temperature 00292 wait(1); // wait 1 second 00293 lcd.cls(); // clear lcd 00294 int swch = ReadSwitches(); // look at Switch states 00295 lcd.printf("Switches = %d\n", swch); // print result 00296 char Key = FindKeyChar(); // look for Key pressed 00297 lcd.printf("Key = %c\n", Key); // print result 00298 wait(1); // wait 1 second 00299 lcd.cls(); // clear lcd 00300 // int dist = ReadSonar(); // get distance 00301 // lcd.printf("Distance = %d\n", dist); // print result 00302 lcd.printf("Servo = %f\n", spos); // print servo pos 00303 wait(1); // wait 1 second 00304 ReadMotion(); // read new data in from the MPU-6050 00305 lcd.cls(); // clear lcd 00306 lcd.locate(0,0); // print at start of first line 00307 lcd.printf("x%.1f y%.1f z%.1f", Acceleration[0], Acceleration[1], Acceleration[2]); 00308 lcd.locate(0,1); // print at start of second line 00309 lcd.printf("x%.1f y%.1f z%.1f", GyroRate[0], GyroRate[1], GyroRate[2]); 00310 wait(1); // wait 1 second 00311 lcd.cls(); // clear lcd 00312 lcd.printf("MAC Address = "); // print to LCD 00313 mbed_mac_address(mac); // get MAC address 00314 for(int i=0; i<6;i++) { // step through MAC address characters 00315 lcd.printf("%02X ", mac[i]); // print MAC address 00316 } 00317 printf("\n"); // 00318 wait(.4); // wait 0.4 second 00319 if (spos < 1) { // is servo at upper limit of 1 00320 spos += .1; // increment servo position 00321 } // 00322 else { // was at upper limit so 00323 spos = -1; // reset servo position 00324 } // 00325 Servo1(spos); // update servo 00326 // HTTPText("<html><head><title>Hello World online</title></head><body><h1>New Message !!!!</h1></body></html>"); 00327 char Buffer[200]; 00328 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>"); 00329 HTTPText(Buffer); // ouput temperature on web page 00330 } 00331 }
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