Diff: main.cpp

Revision:

4:1b5c2a2cdeb7

Parent:

3:ba11f6207550

Child:

5:7f5fcee1737d

--- a/main.cpp	Fri Oct 31 23:27:35 2014 +0000
+++ b/main.cpp	Wed Nov 12 22:45:59 2014 +0000
@@ -1,15 +1,18 @@
-#include "mbed.h"
+#include <stdint.h>
+#include <mbed.h>
+#include "motordriver.h"
 #include "cc3000.h"
 #include "TCPSocketConnection.h"
 #include "TCPSocketServer.h"
 
+
 /* MAC 08:00:28:57:43:b8 */
 
 /* Quickly change debug flag to remove USB serial code */
 //#define DEBUG
 #ifdef DEBUG
 #include "USBSerial.h"
-USBSerial serial;  // This must be instantiated in main
+USBSerial serial;
 #define debug(x, ...) serial.printf(x, ##__VA_ARGS__);
 #else
 #define debug(x, ...)
@@ -17,9 +20,10 @@
 
 /* Client commands */
 #define CMD_NULL 0
-#define CMD_C_ECHO 97
+#define CMD_C_ECHO 0x61  // 'a'
 #define CMD_C_LED_ON 98
 #define CMD_C_LED_OFF 99
+#define CMD_C_PRINT_UINT32 100
 
 
 using namespace mbed_cc3000;
@@ -28,6 +32,9 @@
 /* On board LED */
 DigitalOut led(P0_1);
 
+/* External LED - Pin 1 */
+PwmOut pwm_led(P0_8);  // Pin 15
+
 /* Serial library for WiFi module */
 cc3000 wifi(p28, p27, p30, SPI(p21, p14, p37));
 
@@ -92,6 +99,9 @@
     connectWifi();
     debug("Completed connectWifi()\r\n");
     printConnectionInfo();
+    
+    debug("Setting led pwm to 0\r\n");
+    pwm_led.period_ms(1);  // 1 kHz
 
     while(1) {
         debug("\r\nOne second client attachment loop\r\n");
@@ -99,7 +109,7 @@
 
         debug("Creating server and client sockets\r\n");
         wait_ms(15);
-        TCPSocketConnection client; // is_connected not reliable when using non-blocking sockets
+        TCPSocketConnection client;
         TCPSocketServer server;
         int32_t status;
 
@@ -144,16 +154,28 @@
                             led = 0;
                             break;
                             
+                        case CMD_C_PRINT_UINT32:
+                            wait_ms(15);
+                            uint32_t int_buffer;
+                            client.set_blocking(false, 2000);
+                            status = client.receive_all((char*)&int_buffer, sizeof(int_buffer)); // 4 Bytes
+                            debug("Command print int32 recieved: %u with status: %d\r\n", int_buffer, status);
+                            int_buffer = ntohl(int_buffer);
+                            debug("Converted to host byte order: %u\r\n", int_buffer);
+                            debug("Conversion of int to float: %f\r\n", ((int_buffer*1.0f) / ((uint32_t)-1)));
+                            pwm_led = ((int_buffer*1.0f) / ((uint32_t)-1));
+                            break;
+                            
                         default:
                             debug("Command %d not recognised\r\n", command);
                             break;
                     }
                 }
-
+ 
                 wait_ms(15);
                 /* Check to see if the non-blocking socket is closed */
                 if((n_timeout++) % 100 == 0) {
-                    client.set_blocking(false, 1000); //  5 ms time out is min for CC3000
+                    client.set_blocking(false, 1000);
                     status = client.send("abc\r\n", 5);
                     debug("Single byte send returned with status %d\r\n", status);
                     if(status < 0) {