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@1:b66a2d756c8a, 2014-10-21 (annotated)

Committer:
mfurseman
Date:
Tue Oct 21 14:03:50 2014 +0000
Revision:
1:b66a2d756c8a
Parent:
0:993d6b65e255
Child:
2:50c151183047
Tidied up working code

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 0:993d6b65e255 3 #include "USBSerial.h"
mfurseman 0:993d6b65e255 4
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 0:993d6b65e255 9 USBSerial serial;
mfurseman 0:993d6b65e255 10 #define debug(x, ...) serial.printf(x, ##__VA_ARGS__);
mfurseman 0:993d6b65e255 11 #else
mfurseman 0:993d6b65e255 12 #define debug(x, ...)
mfurseman 0:993d6b65e255 13 #endif
mfurseman 0:993d6b65e255 14
mfurseman 1:b66a2d756c8a 15
mfurseman 0:993d6b65e255 16 using namespace mbed_cc3000;
mfurseman 0:993d6b65e255 17
mfurseman 1:b66a2d756c8a 18
mfurseman 0:993d6b65e255 19 /* On board LED */
mfurseman 0:993d6b65e255 20 DigitalOut led(P0_1);
mfurseman 0:993d6b65e255 21
mfurseman 0:993d6b65e255 22 /* Serial library for WiFi module */
mfurseman 0:993d6b65e255 23 cc3000 wifi(p28, p27, p30, SPI(p21, p14, p37));
mfurseman 0:993d6b65e255 24
mfurseman 0:993d6b65e255 25 /* Struct to hold connection data */
mfurseman 0:993d6b65e255 26 tNetappIpconfigRetArgs ipinfo;
mfurseman 0:993d6b65e255 27
mfurseman 0:993d6b65e255 28
mfurseman 1:b66a2d756c8a 29 /* Prints CC3000 connection info */
mfurseman 0:993d6b65e255 30 void printConnectionInfo() {
mfurseman 0:993d6b65e255 31 if (( wifi.is_enabled() ) && ( wifi.is_dhcp_configured() )) {
mfurseman 0:993d6b65e255 32 wifi.get_ip_config(&ipinfo);
mfurseman 0:993d6b65e255 33 }
mfurseman 0:993d6b65e255 34 debug("\r\n");
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 1:b66a2d756c8a 73 }
mfurseman 0:993d6b65e255 74
mfurseman 1:b66a2d756c8a 75
mfurseman 1:b66a2d756c8a 76 int main(void) {
mfurseman 1:b66a2d756c8a 77 init();
mfurseman 1:b66a2d756c8a 78 connectWifi();
mfurseman 0:993d6b65e255 79
mfurseman 0:993d6b65e255 80 while(1) {
mfurseman 0:993d6b65e255 81 printConnectionInfo();
mfurseman 0:993d6b65e255 82 debug("test message\r\n");
mfurseman 0:993d6b65e255 83 led = !led;
mfurseman 0:993d6b65e255 84 wait(1);
mfurseman 0:993d6b65e255 85 }
mfurseman 0:993d6b65e255 86 }