Александр Селифонов
11
Diff: lift-back-eth-keil/main.cpp
- Revision:
- 0:9d6c79aa222a
- Child:
- 1:2a5890e25db5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/lift-back-eth-keil/main.cpp Sun Jul 29 12:56:17 2018 +0000
@@ -0,0 +1,274 @@
+
+#include <mbed.h>
+#include "EthernetInterface.h"
+#include "UDPSocket.h"
+#include <string>
+#include <math.h>
+
+#include "DebounceIn.h"
+
+Serial pc(USBTX, USBRX);
+
+EthernetInterface eth;
+
+Thread recv_thread(osPriorityNormal, 16*1024);
+Thread send_thread(osPriorityNormal, 16*1024);
+Thread work_thread(osPriorityNormal, 16*1024);
+
+DigitalIn btn(USER_BUTTON);
+
+typedef struct {
+ char data[100];
+ int size;
+} mail_t;
+
+Mail<mail_t, 16> recv_box;
+Mail<mail_t, 16> send_box;
+
+
+Mutex datamutex;
+
+int speed=0;
+int dist=0;
+
+int bt1=0;
+int bt2=0;
+
+void recv(void)
+{
+ SocketAddress sockAddr;
+ // sockAddr.set_ip_address("192.168.2.1");
+ // sockAddr.set_port(9000);
+ 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));
+
+ int ret;
+ while(1)
+ {
+ pc.printf("r:listening...\r\n");
+ ret = sock.recvfrom(&sockAddr, &recv_data, sizeof(recv_data));
+ pc.printf("r:got\r\n");
+ if (ret < 0)
+ {
+ pc.printf("receive error:%d\r\n",ret);
+ pc.printf("reset\r\n");
+ HAL_NVIC_SystemReset();
+
+ }
+ else
+ {
+ 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);
+ recv_box.put(mail);
+ 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;
+ while(1)
+ {
+ //pc.printf("s::waiting...\r\n");
+
+ osEvent evt = send_box.get(1);
+ 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);
+
+ ret = sock.sendto("192.168.1.101",9000, mail->data, mail->size);
+ if (ret < 0)
+ {
+ pc.printf("send error:%d\r\n",ret);
+ pc.printf("reset\r\n");
+ HAL_NVIC_SystemReset();
+ }
+ else
+ {
+ pc.printf("sent %d bytes\r\n",ret);
+ }
+ send_box.free(mail);
+ }
+
+
+ }
+
+
+}
+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)
+{
+ printf("Connection status changed!\r\n");
+ switch(param) {
+ case NSAPI_STATUS_LOCAL_UP:
+ printf("Local IP address set!\r\n");
+ break;
+ case NSAPI_STATUS_GLOBAL_UP:
+ printf("Global IP address set!\r\n");
+ break;
+ case NSAPI_STATUS_DISCONNECTED:
+ printf("No connection to network!\r\n");
+ printf("System reset.\r\n");
+ HAL_NVIC_SystemReset();
+ break;
+ case NSAPI_STATUS_CONNECTING:
+ printf("Connecting to network!\r\n");
+ break;
+ default:
+ printf("Net status: %d\r\n",param);
+ break;
+ }
+}
+Timer pingt;
+unsigned int
+endian_swap(unsigned int x)
+{
+return
+(x>>24) |
+((x>>8) & 0x0000ff00) |
+((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;
+ }
+
+
+}
+int main()
+{ pc.baud(115200);
+ pc.printf("Hello. Bike!\r\n");
+
+ pc.printf("eth.set=%d\r\n",eth.set_network("192.168.1.200","255.255.255.0","192.168.1.1"));
+ int rz=eth.connect();
+ eth.attach(&status_callback);
+ pc.printf("Status interrupt attached.\r\n");
+ pc.printf("eth.connect=%d\r\n",rz);
+ if (rz<0) {
+ pc.printf("reset\r\n");
+ HAL_NVIC_SystemReset();
+ }
+
+ pc.printf("IP address is '%s'\r\n", eth.get_ip_address());
+
+ recv_thread.start(recv);
+ send_thread.start(send);
+ work_thread.start(work);
+
+ pc.printf("threads started\r\n");
+
+ while (1)
+ {
+ osEvent evt = recv_box.get(10);
+ if (evt.status == osEventMail)
+ {
+ mail_t *mail = (mail_t*)evt.value.p;
+ for (uint8_t i =0; i<100; i++)
+ {
+ 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);
+ send_box.free(mail);
+ }
+
+ }
+
+}
+