Revision 3:5f5d75cba8e1, committed 2014-12-05

Comitter:

kalbers

Date:

Fri Dec 05 21:35:37 2014 +0000

Parent:

1:587189fb6d87

Child:

4:6dc6e8b86b7d

Commit message:

Added DataGlove and DataWifi Class, cleaned up main to use these files.

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DataGlove.cpp	Fri Dec 05 21:35:37 2014 +0000
@@ -0,0 +1,75 @@
+#include "DataGlove.h"
+
+DataGlove::DataGlove():
+notConnectedCount(0)
+{
+
+}
+
+DataGlove::~DataGlove()
+{
+
+}
+
+void DataGlove::Init()
+{
+	GloveSocket.Init();
+	GloveSocket.Connect();
+    SendBuf[0] = '$';
+    SendBuf[1] = 0x0A;
+    SendBuf[2] = 0x03;
+    SendBuf[3] = 3;
+    SendBuf[4] = (SendBuf[0]+SendBuf[1]+SendBuf[2]+SendBuf[3])%256;
+    SendBuf[5] = '#';
+    GloveSocket.SendDataToGlove(SendBuf, 6);
+}
+
+void DataGlove::Receive()
+{
+    numReceived = GloveSocket.GetDataFromBuffer(Buf, 99);
+    if(numReceived >= 42 && Buf[0] == '$') {
+        gyrox = ((int16_t *)Buf)[5];
+        gyroy = ((int16_t *)Buf)[6];
+        gyroz = ((int16_t *)Buf)[7];
+        accelx = ((int16_t *)Buf)[11];
+        accely = ((int16_t *)Buf)[12];
+        accelz = ((int16_t *)Buf)[13];
+        finger1 = ((int16_t *)Buf)[14];
+        finger2 = ((int16_t *)Buf)[15];
+        finger3 = ((int16_t *)Buf)[16];
+        finger4 = ((int16_t *)Buf)[17];
+        finger5 = ((int16_t *)Buf)[18];
+        // Switching MSB and LSB since data is the other way around
+        gyrox = ((gyrox>>8)&(0x00FF))|((gyrox<<8)&(0xFF00));
+        gyroy = ((gyroy>>8)&(0x00FF))|((gyroy<<8)&(0xFF00));
+        gyroz = ((gyroz>>8)&(0x00FF))|((gyroz<<8)&(0xFF00));
+        accelx = ((accelx>>8)&(0x00FF))|((accelx<<8)&(0xFF00));
+        accely = ((accely>>8)&(0x00FF))|((accely<<8)&(0xFF00));
+        accelz = ((accelz>>8)&(0x00FF))|((accelz<<8)&(0xFF00));
+        finger1 = ((finger1>>8)&(0x00FF))|((finger1<<8)&(0xFF00));
+        finger2 = ((finger2>>8)&(0x00FF))|((finger2<<8)&(0xFF00));
+        finger3 = ((finger3>>8)&(0x00FF))|((finger3<<8)&(0xFF00));
+        finger4 = ((finger4>>8)&(0x00FF))|((finger4<<8)&(0xFF00));
+        finger5 = ((finger5>>8)&(0x00FF))|((finger5<<8)&(0xFF00));
+        //printf("F1: %d\tF2: %d\tF3: %d\tF4: %d\tF5: %d\r\n", finger1, finger2, finger3, finger4, finger5);
+        printf("GX: %d\tGY: %d\tGZ: %d\r\n", gyrox, gyroy, gyroz);
+        //printf("AX: %d\tAY: %d\tAZ: %d\r\n", accelx, accely, accelz);
+        wait(0.05);
+        notConnectedCount = 0;
+    }
+    else {
+        notConnectedCount += 1;
+    }
+    // Re-establishing communication in case no data is received for 1s (20 frames per second*1 = 20)
+    if (notConnectedCount > 20) {
+        printf("Connection broke! Trying to re-establish...\r\n");
+		GloveSocket.Disconnect();
+        printf("Disconnected wifi\r\n");
+        notConnectedCount = 0;
+        GloveSocket.Connect();
+    }
+}
+
+void DataGlove::Parse()
+{
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DataGlove.h	Fri Dec 05 21:35:37 2014 +0000
@@ -0,0 +1,23 @@
+#include "GloveWifi.h"
+
+class DataGlove
+{
+	public:
+		DataGlove();
+		~DataGlove();
+		void Init();
+		void Receive();
+        int16_t finger1, finger2, finger3, finger4, finger5;
+        int16_t accelx, accely, accelz;
+        int16_t gyrox, gyroy, gyroz;
+        
+	private:
+		void Parse();
+        uint8_t Buf[100];
+        uint8_t SendBuf[20];
+        int16_t notConnectedCount;
+		int numReceived;
+        GloveWifi GloveSocket;
+
+
+};
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/GloveWifi.cpp	Fri Dec 05 21:35:37 2014 +0000
@@ -0,0 +1,86 @@
+#include "GloveWifi.h"
+#include "mbed.h"
+#include "cc3000.h"
+#include "TCPSocketConnection.h"
+#include "TCPSocketServer.h"
+#include "NVIC_set_all_priorities.h"
+
+#define SSID "CubeNet"
+#define PASSWORD "modelbased"
+
+#define MMA8451_I2C_ADDRESS (0x1d<<1)
+
+
+using namespace mbed_cc3000;
+
+
+GloveWifi::GloveWifi() :
+ECHO_SERVER_ADDRESS("192.168.1.33"),
+ECHO_SERVER_PORT(2000)
+{
+}
+
+GloveWifi::~GloveWifi()
+{
+}
+
+void GloveWifi::Init()
+{
+
+    pc = new Serial(USBTX, USBRX);
+    //Init from the cc3000 example
+    DigitalOut PWR_EN1(PTB2);
+    DigitalOut PWR_EN2(PTB3);
+
+    // Wi-Go set current to 500mA since we're turning on the Wi-Fi
+    PWR_EN1 = 0;
+    PWR_EN2 = 1;
+
+    NVIC_set_all_irq_priorities(0x3);
+    NVIC_SetPriority(SPI0_IRQn, 0x0);     // Wi-Fi SPI interrupt must be higher priority than SysTick
+    NVIC_SetPriority(PORTA_IRQn, 0x1);
+    NVIC_SetPriority(SysTick_IRQn, 0x2);  // SysTick set to lower priority than Wi-Fi SPI bus interrupt
+    PORTA->PCR[16] |= PORT_PCR_ISF_MASK;
+    PORTA->ISFR |= (1 << 16);
+
+    pc->baud(115200);
+}
+
+void GloveWifi::Connect()
+{
+    //TODO: Make this call (or recall) the initial constructor. 
+    wifi = new cc3000(PTD4, PTC9, PTD0, SPI(PTD2, PTD3, PTD1), SSID, PASSWORD, WPA2, false); 
+    wifi->init();
+    if (wifi->connect() == -1) 
+    {
+        printf("Failed to connect. Please verify connection details and try again. \r\n");
+    } else 
+    {
+        printf("IP address: %s \r\n", wifi->getIPAddress());
+    }
+    while (socket.connect(ECHO_SERVER_ADDRESS, ECHO_SERVER_PORT) < 0) 
+    {
+        printf("Unable to connect to (%s) on port (%d) \r\n", ECHO_SERVER_ADDRESS, ECHO_SERVER_PORT);
+        wait(1);
+    }
+    socket.set_blocking(true);
+    printf("Connected!\r\n");
+}
+
+void GloveWifi::Disconnect()
+{
+    socket.close();
+    wifi->disconnect();
+}
+
+uint8_t GloveWifi::GetDataFromBuffer(uint8_t * buf, uint16_t size)
+{
+    return socket.receive((char *)buf, size);
+}
+
+uint8_t GloveWifi::SendDataToGlove(uint8_t * buf, uint16_t size)
+{
+    return socket.send((char *)buf, size);
+}
+
+        
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/GloveWifi.h	Fri Dec 05 21:35:37 2014 +0000
@@ -0,0 +1,23 @@
+#include "mbed.h"
+#include "cc3000.h"
+#include "TCPSocketConnection.h"
+
+class GloveWifi
+{
+	public:
+		GloveWifi();
+		~GloveWifi();
+		void Init();
+		void Connect();
+		void Disconnect();
+		uint8_t GetDataFromBuffer(uint8_t * buf, uint16_t size);
+		uint8_t SendDataToGlove(uint8_t * buf, uint16_t size);
+
+	private:
+		const char* ECHO_SERVER_ADDRESS;
+        const int ECHO_SERVER_PORT;
+    	TCPSocketConnection socket;
+		cc3000 * wifi;
+		Serial * pc;
+	
+};
\ No newline at end of file

--- a/init.cpp	Mon Dec 01 05:43:35 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,70 +0,0 @@
-/* mbed Microcontroller Library
- * Copyright (c) 2006-2013 ARM Limited
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#include "main.h"
-#include "mbed.h"
-
-#if (MY_BOARD == WIGO)
-
-#include "NVIC_set_all_priorities.h"
-
-/**
- *  \brief Wi-Go initialization
- *  \param none
- *  \return none
- */
-void init() {
-    DigitalOut PWR_EN1(PTB2);
-    DigitalOut PWR_EN2(PTB3);
-
-    // Wi-Go set current to 500mA since we're turning on the Wi-Fi
-    PWR_EN1 = 0;
-    PWR_EN2 = 1;
-
-    NVIC_set_all_irq_priorities(0x3);
-    NVIC_SetPriority(SPI0_IRQn, 0x0);     // Wi-Fi SPI interrupt must be higher priority than SysTick
-    NVIC_SetPriority(PORTA_IRQn, 0x1);
-    NVIC_SetPriority(SysTick_IRQn, 0x2);  // SysTick set to lower priority than Wi-Fi SPI bus interrupt
-    PORTA->PCR[16] |= PORT_PCR_ISF_MASK;
-    PORTA->ISFR |= (1 << 16);
-}
-
-#elif (MY_BOARD == WIFI_DIPCORTEX)
-
-/**
- *  \brief Wifi DipCortex initialization
- *  \param none
- *  \return none
- */
-void init() {
-    NVIC_SetPriority(SSP1_IRQn, 0x0);
-    NVIC_SetPriority(PIN_INT0_IRQn, 0x1);
-
-    // SysTick set to lower priority than Wi-Fi SPI bus interrupt
-    NVIC_SetPriority(SysTick_IRQn, 0x2);
-}
-
-#else
-
-/**
- *  \brief Place here init routine for your board
- *  \param none
- *  \return none
- */
-void init() {
-
-}
-
-#endif

--- a/main.cpp	Mon Dec 01 05:43:35 2014 +0000
+++ b/main.cpp	Fri Dec 05 21:35:37 2014 +0000
@@ -1,108 +1,18 @@
-/* mbed Microcontroller Library
- * Copyright (c) 2006-2013 ARM Limited
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#include "mbed.h"
-#include "cc3000.h"
-#include "main.h"
-#include "MMA8451Q.h"
-#include "TSISensor.h"
-
-#include "TCPSocketConnection.h"
-#include "TCPSocketServer.h"
-
-using namespace mbed_cc3000;
 
-//#define SSID "wifiisawesome"
-//#define PASSWORD "A915FA24"
-
-#define SSID "CubeNet"
-#define PASSWORD "modelbased"
-
-#define MMA8451_I2C_ADDRESS (0x1d<<1)
+#include "mbed.h"
+#include "main.h"
+#include "DataGlove.h"
 
-/* cc3000 module declaration specific for user's board. Check also init()
-#if (MY_BOARD == WIGO)
-cc3000 wifi(PTA16, PTA13, PTD0, SPI(PTD2, PTD3, PTC5), SSID, PASSWORD, WPA2, false);
-Serial pc(USBTX, USBRX);
-#elif (MY_BOARD == WIFI_DIPCORTEX)
-cc3000 wifi(p28, p27, p30, SPI(p21, p14, p37), SSID, PASSWORD, WPA2, false);
-Serial pc(UART_TX, UART_RX);
-#elif (MY_BOARD == MBED_BOARD_EXAMPLE)
-cc3000 wifi(p9, p10, p8, SPI(p5, p6, p7), SSID, PASSWORD, WPA2, false);
-Serial pc(USBTX, USBRX);
-#else
 
-#endif
-*/
-
-cc3000 wifi(PTD4, PTC9, PTD0, SPI(PTD2, PTD3, PTD1), SSID, PASSWORD, WPA2, false);
-Serial pc(USBTX, USBRX);
+DataGlove MasterGlove;
 
-MMA8451Q accelerometer(PTE25, PTE24, MMA8451_I2C_ADDRESS);
-TSISensor touchSensor;
-
-/**
- *  \brief TCP client demo
- *  \param none
- *  \return int
- */
-int main() {
-    float data[4];
-    
-    init(); /* board dependent init */
-    pc.baud(115200);
-
-    printf("cc3000 tcp client demo. \r\n");
-    wifi.init();
-    if (wifi.connect() == -1) {
-        printf("Failed to connect. Please verify connection details and try again. \r\n");
-    } else {
-        printf("IP address: %s \r\n", wifi.getIPAddress());
-    }
-    
-    const char* ECHO_SERVER_ADDRESS = "192.168.1.33";
-    const int ECHO_SERVER_PORT = 2000;
-    
-     TCPSocketConnection socket;
-     while (socket.connect(ECHO_SERVER_ADDRESS, ECHO_SERVER_PORT) < 0) {
-         printf("Unable to connect to (%s) on port (%d) \r\n", ECHO_SERVER_ADDRESS, ECHO_SERVER_PORT);
-         wait(1);
+int main() 
+{
+    MasterGlove.Init();
+    printf("DataGlove Cube Client\r\n");
+    while(true) 
+    {
+        MasterGlove.Receive();
+        printf("Looping \r\n");
      }
-     socket.set_blocking(true);
-     printf("Connected!\r\n");
-    char sendb[50];
-    sendb[0] = '$';
-    sendb[1] = 0x0A;
-    sendb[2] = 0x03;
-    sendb[3] = 3;
-    sendb[4] = (sendb[0]+sendb[1]+sendb[2]+sendb[3])%256;
-    sendb[5] = '#';
-    socket.send(sendb, 6);
-    printf("Sent!\r\n");
-    char Buf[100];
-     while(true) {
-       int numReceived = 5;
-        //accelerometer.getAccAllAxis(data);
-        //data[3] = touchSensor.readPercentage();
-        //socket.send_all((char*)data, 4*sizeof(float));
-        //wait(0.2);
-        numReceived = socket.receive(Buf, 99);
-        if(numReceived > 0 && Buf[0] == '$') printf("Accel: %d\r\n", ((int16_t *)Buf)[33]);
-     }
-     
-     socket.close();
-     printf("Completed. \r\n");
-     wifi.disconnect();
 }