Александр Селифонов
11
Diff: lift-back-eth-keil/main.cpp
- Revision:
- 1:2a5890e25db5
- Parent:
- 0:9d6c79aa222a
--- a/lift-back-eth-keil/main.cpp Sun Jul 29 12:56:17 2018 +0000
+++ b/lift-back-eth-keil/main.cpp Tue Oct 02 17:03:10 2018 +0000
@@ -4,18 +4,38 @@
#include "UDPSocket.h"
#include <string>
#include <math.h>
+#include <millis.h>
-#include "DebounceIn.h"
+
+int ID=8;
+
+char myIP[16] = "192.168.1.10";
+char serverIP[16] = "192.168.1.100";
+char netMask[16] = "255.255.255.0";
+char gateWay[16] = "192.168.1.1";
+
+
+int portSend = 8000;
+int portRecive = 9000;
+
+int delay=200;//msecond
+
Serial pc(USBTX, USBRX);
EthernetInterface eth;
-Thread recv_thread(osPriorityNormal, 16*1024);
+DigitalIn btn(A0);
+DigitalIn btn1(A1);
+int btn1Tick = 0;
+int btn1State= 0;
+
+Thread btn_thraed(osPriorityNormal, 16*1024);
Thread send_thread(osPriorityNormal, 16*1024);
Thread work_thread(osPriorityNormal, 16*1024);
-DigitalIn btn(USER_BUTTON);
+
+
typedef struct {
char data[100];
@@ -28,11 +48,34 @@
Mutex datamutex;
-int speed=0;
-int dist=0;
+int bt1=0;
-int bt1=0;
-int bt2=0;
+void readBtn(void){
+ while(1){
+ wait_us(100);
+ datamutex.lock();
+ if(!btn){
+ btn1Tick++;
+ if (btn1Tick>20){
+ btn1Tick=21;
+ btn1State=1;
+ }else{
+ datamutex.lock();
+ btn1State=0;
+ datamutex.unlock();
+ }
+ }else{
+ btn1Tick--;
+ if (btn1Tick<1){
+ btn1Tick=1;
+ btn1State=0;
+ }
+ }
+ datamutex.unlock();
+ }
+}
+
+
void recv(void)
{
@@ -42,7 +85,7 @@
UDPSocket sock;
char recv_data[100];
pc.printf("r:sock.open=%d\r\n",sock.open(ð));
- pc.printf("r:sock.bind=%d\r\n",sock.bind(8000));
+ pc.printf("r:sock.bind=%d\r\n",sock.bind(portRecive));
int ret;
while(1)
@@ -59,26 +102,24 @@
}
else
{
- pc.printf("r:%\r\n",recv_data);
+ pc.printf("r:%\r\n",recv_data);
mail_t *mail = recv_box.alloc();
int cpcnt;
if (ret>sizeof(recv_data)) cpcnt=sizeof(recv_data); else cpcnt = ret; //copy no more than buffer size
- memset(mail->data,0,sizeof(mail->data));
- memcpy (mail->data, recv_data,cpcnt);
+ memset(mail->data,0,sizeof(mail->data));
+ memcpy (mail->data, recv_data,cpcnt);
recv_box.put(mail);
- pc.printf("r:put\r\n");
+ pc.printf("r:put\r\n");
}
}
}
+
void send(void)
{
SocketAddress sockAddr;
- // sockAddr.set_ip_address("192.168.137.1");
- //sockAddr.set_port(8000);
UDPSocket sock;
- //char recv_data[1500];
pc.printf("sock.open=%d\r\n",sock.open(ð));
int ret;
@@ -90,9 +131,9 @@
if (evt.status == osEventMail)
{
mail_t *mail = (mail_t*)evt.value.p;
- pc.printf("s:got data: %s; size: %d\n\r", mail->data,mail->size);
+ //pc.printf("s:got data: %s; size: %d\n\r", mail->data,mail->size);
- ret = sock.sendto("192.168.1.101",9000, mail->data, mail->size);
+ ret = sock.sendto(serverIP,9000, mail->data, mail->size);
if (ret < 0)
{
pc.printf("send error:%d\r\n",ret);
@@ -101,7 +142,9 @@
}
else
{
- pc.printf("sent %d bytes\r\n",ret);
+ //pc.printf("sent %d bytes\r\n",ret);
+ bt1=0;
+
}
send_box.free(mail);
}
@@ -111,48 +154,7 @@
}
-void zero_counters()
-{
- datamutex.lock();
- dist=0;
- datamutex.unlock();
-}
-void parse(char *data)
-{
- char cmd[100];
- char mask[100];
-
-
- memset (cmd,0, sizeof(cmd));
- int val1=0;
- int val2=0;
- int val3=0;
-
- if (1)
- {
- //pc.printf("r:%s",data);
- // rxready=0;
- uint8_t r = sscanf((const char *)data+1,"%s %s %d %d %d",cmd, mask, &val1, &val2, &val3);
- if (r==0)
- {
- pc.printf("waat?\r\n");
- }
- if (r<4) {
- if (!strcmp(cmd,"reset"))
- {
- pc.printf("cmd reset\r\n");
- zero_counters();
- return;
- }
-
- }
-
-
- }
- pc.printf("unknown command:%s\r\n",data);
-
-}
void status_callback(nsapi_event_t status, intptr_t param)
{
@@ -177,9 +179,9 @@
break;
}
}
-Timer pingt;
-unsigned int
-endian_swap(unsigned int x)
+
+
+unsigned int endian_swap(unsigned int x)
{
return
(x>>24) |
@@ -187,58 +189,46 @@
((x<<8) & 0x00ff0000) |
(x<<24);
}
+
void work(void)
-{int rnd;
- float s;
- uint32_t cnt=0;
+{
while(1)
{
- cnt++;
- s=sin(float(cnt) / 100.0f);
- if (s<0) s=-s;
- if (btn==0) s=0;
- datamutex.lock();
- speed=s*100;
- dist=dist+speed;
- rnd = rand();
- if (rnd>2000000000) bt1=1; else bt1=0;
- if (rnd<200000000) bt2=1; else bt2=0;
-
- datamutex.unlock();
- wait(0.2f);
- pc.printf("Dist:%d\t Speed:%d\tButton1:%d\tButton2:%d\t%d\n",dist,speed,bt1,bt2,rnd);
- char datastr[128];
- mail_t *mail = send_box.alloc();
- const char send_data[]="/data\x00\x00\x00\x2ciiii\x00\x00\x00";
- memcpy(datastr,send_data,16);
- int tmp;
- tmp = endian_swap(speed);
- memcpy(datastr+16,&tmp,4);
- tmp = endian_swap(dist);
- memcpy(datastr+20,&tmp,4);
- tmp = endian_swap(bt1);
- memcpy(datastr+24,&tmp,4);
- tmp = endian_swap(bt2);
- memcpy(datastr+28,&tmp,4);
- memcpy (mail->data, datastr,32);
- mail->size = 32;
- send_box.put(mail);
-
- bt1=0;
- bt2=0;
+ wait_ms(delay);
+ pc.printf("ID:%d\t State:%d\t\n",ID,btn1State);
+ char datastr[128];
+ mail_t *mail = send_box.alloc();
+ const char send_data[]="/data\x00\x00\x00\x2cii\x00";
+ memcpy(datastr,send_data,16);
+ int tmp;
+ tmp = endian_swap(ID);
+ memcpy(datastr+12,&tmp,4);
+ tmp = endian_swap(btn1State);
+ memcpy(datastr+16,&tmp,4);
+ memcpy (mail->data, datastr,20);
+ mail->size = 20;
+ send_box.put(mail);
}
}
int main()
-{ pc.baud(115200);
- pc.printf("Hello. Bike!\r\n");
+{ startMillis();
+ sprintf(myIP,"%s%d",myIP, ID);
+
+
+ pc.baud(115200);
+ pc.printf("Hello. Alice!\r\n");
- pc.printf("eth.set=%d\r\n",eth.set_network("192.168.1.200","255.255.255.0","192.168.1.1"));
+ pc.printf("eth.set=%d\r\n",eth.set_network(myIP,netMask,gateWay));
int rz=eth.connect();
eth.attach(&status_callback);
pc.printf("Status interrupt attached.\r\n");
pc.printf("eth.connect=%d\r\n",rz);
+
+ btn1.mode(PullUp);
+
+
if (rz<0) {
pc.printf("reset\r\n");
HAL_NVIC_SystemReset();
@@ -246,13 +236,13 @@
pc.printf("IP address is '%s'\r\n", eth.get_ip_address());
- recv_thread.start(recv);
send_thread.start(send);
- work_thread.start(work);
+ work_thread.start(work);
+ btn_thraed.start(readBtn);
pc.printf("threads started\r\n");
- while (1)
+ while (1)
{
osEvent evt = recv_box.get(10);
if (evt.status == osEventMail)
@@ -263,8 +253,8 @@
if (mail->data[i] == 0 || mail->data[i] == 0x2c || mail->data[i] == 0x2f) mail->data[i]=0x20;
}
//pc.printf("main thread: %s\r\n", mail->data);
- mail->data[99]=0;
- parse(mail->data);
+ mail->data[99]=0;
+ //parse(mail->data);
send_box.free(mail);
}