Matthew Furseman / Mbed 2 deprecated Robo

A WiFiDipCortex based robot. Control is via sockets over WiFi. See also: https://github.com/mfurseman/robo-android

Dependencies:   Motordriver USBDevice cc3000_hostdriver_mbedsocket_hacked mbed

main.cpp@2:50c151183047, 2014-10-25 (annotated)

Committer:
mfurseman
Date:
Sat Oct 25 17:34:45 2014 +0000
Revision:
2:50c151183047
Parent:
1:b66a2d756c8a
Child:
3:ba11f6207550
First working TCP Socket connection (just sending hello world)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mfurseman 0:993d6b65e255 1 #include "mbed.h"
mfurseman 0:993d6b65e255 2 #include "cc3000.h"
mfurseman 2:50c151183047 3 #include "TCPSocketConnection.h"
mfurseman 2:50c151183047 4 #include "TCPSocketServer.h"
mfurseman 1:b66a2d756c8a 5
mfurseman 0:993d6b65e255 6 /* Quickly change debug flag to remove blocking serial code */
mfurseman 0:993d6b65e255 7 #define DEBUG
mfurseman 0:993d6b65e255 8 #ifdef DEBUG
mfurseman 2:50c151183047 9 #include "USBSerial.h"
mfurseman 0:993d6b65e255 10 USBSerial serial;
mfurseman 0:993d6b65e255 11 #define debug(x, ...) serial.printf(x, ##__VA_ARGS__);
mfurseman 0:993d6b65e255 12 #else
mfurseman 0:993d6b65e255 13 #define debug(x, ...)
mfurseman 0:993d6b65e255 14 #endif
mfurseman 0:993d6b65e255 15
mfurseman 1:b66a2d756c8a 16
mfurseman 0:993d6b65e255 17 using namespace mbed_cc3000;
mfurseman 0:993d6b65e255 18
mfurseman 1:b66a2d756c8a 19
mfurseman 0:993d6b65e255 20 /* On board LED */
mfurseman 0:993d6b65e255 21 DigitalOut led(P0_1);
mfurseman 0:993d6b65e255 22
mfurseman 0:993d6b65e255 23 /* Serial library for WiFi module */
mfurseman 0:993d6b65e255 24 cc3000 wifi(p28, p27, p30, SPI(p21, p14, p37));
mfurseman 0:993d6b65e255 25
mfurseman 0:993d6b65e255 26 /* Struct to hold connection data */
mfurseman 0:993d6b65e255 27 tNetappIpconfigRetArgs ipinfo;
mfurseman 0:993d6b65e255 28
mfurseman 0:993d6b65e255 29
mfurseman 1:b66a2d756c8a 30 /* Prints CC3000 connection info */
mfurseman 0:993d6b65e255 31 void printConnectionInfo() {
mfurseman 0:993d6b65e255 32 if (( wifi.is_enabled() ) && ( wifi.is_dhcp_configured() )) {
mfurseman 0:993d6b65e255 33 wifi.get_ip_config(&ipinfo);
mfurseman 0:993d6b65e255 34 }
mfurseman 0:993d6b65e255 35 if (! wifi.is_enabled() ) {
mfurseman 0:993d6b65e255 36 debug("CC3000 Disabled\r\n");
mfurseman 0:993d6b65e255 37 }
mfurseman 0:993d6b65e255 38 else if ( wifi.is_dhcp_configured() ) {
mfurseman 0:993d6b65e255 39 debug("SSID : %-33s|\r\n", ipinfo.uaSSID);
mfurseman 0:993d6b65e255 40 debug("IP : %-35s|\r\n", wifi.getIPAddress());
mfurseman 0:993d6b65e255 41 }
mfurseman 0:993d6b65e255 42 else if ( wifi.is_connected() ) {
mfurseman 0:993d6b65e255 43 debug("Connecting, waiting for DHCP\r\n");
mfurseman 0:993d6b65e255 44 }
mfurseman 0:993d6b65e255 45 else {
mfurseman 0:993d6b65e255 46 debug("Not Connected\r\n");
mfurseman 0:993d6b65e255 47 }
mfurseman 0:993d6b65e255 48 }
mfurseman 0:993d6b65e255 49
mfurseman 1:b66a2d756c8a 50
mfurseman 1:b66a2d756c8a 51 /* WiFi DipCortex board setup */
mfurseman 1:b66a2d756c8a 52 void init() {
mfurseman 0:993d6b65e255 53 NVIC_SetPriority(SSP1_IRQn, 0x0);
mfurseman 0:993d6b65e255 54 NVIC_SetPriority(PIN_INT0_IRQn, 0x1);
mfurseman 0:993d6b65e255 55
mfurseman 0:993d6b65e255 56 // SysTick set to lower priority than Wi-Fi SPI bus interrupt
mfurseman 0:993d6b65e255 57 NVIC_SetPriority(SysTick_IRQn, 0x2);
mfurseman 0:993d6b65e255 58
mfurseman 0:993d6b65e255 59 // Enable RAM1
mfurseman 0:993d6b65e255 60 LPC_SYSCON->SYSAHBCLKCTRL |= (0x1 << 26);
mfurseman 1:b66a2d756c8a 61
mfurseman 1:b66a2d756c8a 62 // This may be neccassary for CC3000
mfurseman 0:993d6b65e255 63 wait(1);
mfurseman 1:b66a2d756c8a 64 }
mfurseman 1:b66a2d756c8a 65
mfurseman 0:993d6b65e255 66
mfurseman 1:b66a2d756c8a 67 /* Connects WiFi assuming existing SmartConfig */
mfurseman 1:b66a2d756c8a 68 void connectWifi() {
mfurseman 0:993d6b65e255 69 wifi.start(0);
mfurseman 0:993d6b65e255 70 wait_ms(750);
mfurseman 1:b66a2d756c8a 71 wifi._wlan.ioctl_set_connection_policy(0, 0, 1);
mfurseman 1:b66a2d756c8a 72 // TODO: Timeout and switch on smart config here
mfurseman 2:50c151183047 73 // TODO: Use static IP if possible
mfurseman 1:b66a2d756c8a 74 }
mfurseman 0:993d6b65e255 75
mfurseman 2:50c151183047 76 /* Opens a server on port 5678, waits for a connection, sends 'hello world'
mfurseman 2:50c151183047 77 to the client, then closes all sockets and returns. */
mfurseman 2:50c151183047 78 void serverTest() {
mfurseman 2:50c151183047 79 TCPSocketServer server;
mfurseman 2:50c151183047 80 TCPSocketConnection client;
mfurseman 2:50c151183047 81
mfurseman 2:50c151183047 82 int32_t status;
mfurseman 2:50c151183047 83 char hello[] = "Hello World\r\n";
mfurseman 2:50c151183047 84
mfurseman 2:50c151183047 85 /* Wait for a client connection on 5678 */
mfurseman 2:50c151183047 86 server.bind(5678);
mfurseman 2:50c151183047 87 debug("Before server.listen()\r\n");
mfurseman 2:50c151183047 88 server.listen();
mfurseman 2:50c151183047 89 status = server.accept(client); // This returns -1 with no waiting clients
mfurseman 2:50c151183047 90
mfurseman 2:50c151183047 91 /* Send hello world message to client */
mfurseman 2:50c151183047 92 debug("Accepted client with status %d\r\n", status);
mfurseman 2:50c151183047 93 if(status >= 0) {
mfurseman 2:50c151183047 94 client.set_blocking(false, 1500); // Timeout after (1.5)s
mfurseman 2:50c151183047 95 debug("Connection from: %s \r\n", client.get_address());
mfurseman 2:50c151183047 96 client.send_all(hello, sizeof(hello));
mfurseman 2:50c151183047 97 }
mfurseman 2:50c151183047 98
mfurseman 2:50c151183047 99 /* Disconnect all sockets */
mfurseman 2:50c151183047 100 client.close();
mfurseman 2:50c151183047 101 server.close();
mfurseman 2:50c151183047 102 }
mfurseman 1:b66a2d756c8a 103
mfurseman 1:b66a2d756c8a 104 int main(void) {
mfurseman 2:50c151183047 105 init();
mfurseman 2:50c151183047 106 debug("Completed init()\r\n");
mfurseman 2:50c151183047 107 printConnectionInfo();
mfurseman 1:b66a2d756c8a 108 connectWifi();
mfurseman 2:50c151183047 109 debug("Completed connectWifi()\r\n");
mfurseman 2:50c151183047 110 printConnectionInfo();
mfurseman 0:993d6b65e255 111
mfurseman 0:993d6b65e255 112 while(1) {
mfurseman 2:50c151183047 113 debug("\r\n :: One second test loop :: \r\n");
mfurseman 0:993d6b65e255 114 printConnectionInfo();
mfurseman 2:50c151183047 115 serverTest();
mfurseman 0:993d6b65e255 116 led = !led;
mfurseman 0:993d6b65e255 117 wait(1);
mfurseman 0:993d6b65e255 118 }
mfurseman 0:993d6b65e255 119 }