void _print_num ( const char __flash * s, UINT16 Num)
{
char* pi2a;
__no_init char i2a_locbuf[6];
pi2a=&i2a_locbuf[0];
i2a(pi2a, Num);
while (*s) UART_TX (*s++);
// UART_TX(':');
while (*pi2a) UART_TX(*pi2a++);
UART_TX(',');
UART_TX(' ');
}
void
Esp8266WiFiPhy::ListStationAP(StationAccessPoint sap){
string ATCommand;
testprintf("\r\nEntering %s ...", __PRETTY_FUNCTION__);
// header
ATCommand = "AT+CWLAP";
if (!sap.m_ssid.empty()){
ATCommand += "=" + StringEscape(sap.m_ssid);
if (!sap.m_bssidmac.empty()){
ATCommand += "," + StringEscape(sap.m_bssidmac);
if (sap.m_channel != -1){
ATCommand += "," + IntegerToString(sap.m_channel); // not to be escaped, since number!
}
}
}
//tail
ATCommand += "\r\n";
// resets the buffer from any spurious previous output and send
m_UART->rxBufferFlush();
UART_TX(ATCommand);
dbgprintf("SEND:\r\n%s",ATCommand.c_str());
if(!DoubleWaitFor("OK","ERROR")){
printf("Error: Missed OK reply - AT+CWLAP\r\n");
return;
}
dbgprintf("+CWLAP:(<ECN>,<SSID>,<RSSI>,<MAC>,<CH>,<FREQ OFFSET>,<FREQ CALIB>)\r\n");
testprintf("Ended!\r\n");
}
string
Esp8266WiFiPhy::GetSoftAPMac(bool flashStored){
string ATCommand;
testprintf("\r\nEntering %s ...", __PRETTY_FUNCTION__);
// header
ATCommand = "AT+CIPAPMAC_";
// store
if (flashStored){
ATCommand += "DEF";
}
else {
ATCommand += "CUR";
}
ATCommand +="\?\r\n";
// resets the buffer from any spurious previous output and send
m_UART->rxBufferFlush();
UART_TX(ATCommand);
dbgprintf("SEND:\r\n%s",ATCommand.c_str());
if(!WaitFor("OK")){
printf("Error: Missed OK reply - AT+CIPAPMAC\?\r\n");
return "";
}
size_t from = 0;
string stamac = StringUnescape(GetStringBetweenTokens(':','\r',m_lastATreply, from));
dbgprintf("SoftAP MAC ADDRESS: <%s>\r\n", stamac.c_str());
testprintf("Ended!\r\n");
return stamac;
}
void
Esp8266WiFiPhy::SetWiFiMode(uint8_t mode, bool flashStore){
string ATCommand;
testprintf("\r\nEntering %s ...", __PRETTY_FUNCTION__);
// header
ATCommand = "AT+CWMODE_";
// store
if (flashStore){
ATCommand += "DEF";
}
else {
ATCommand += "CUR";
}
ATCommand += "=" + IntegerToString((int)mode);
//tail
ATCommand += "\r\n";
// resets the buffer from any spurious previous output and send
m_UART->rxBufferFlush();
UART_TX(ATCommand);
dbgprintf("SEND:\r\n%s",ATCommand.c_str());
if(!WaitFor("OK")){
printf("Error: Missed OK reply - AT+CWMODE_xxx=\r\n");
return;
}
testprintf("Ended!\r\n");
}
void
Esp8266WiFiPhy::SetSoftAPMac(string mac_addr, bool flashStore){
string ATCommand;
testprintf("\r\nEntering %s ...", __PRETTY_FUNCTION__);
// header
ATCommand = "AT+CIPAPMAC_";
// store
if (flashStore){
// NB: DISABLED: WARNING!!! THIS CHANGES THE DEVICE PHYSICAL MAC ADDRESS!!
// ATCommand += "DEF";
}
else {
ATCommand += "CUR";
}
ATCommand += "=" + StringEscape(mac_addr);
//tail
ATCommand += "\r\n";
// resets the buffer from any spurious previous output and send
m_UART->rxBufferFlush();
UART_TX(ATCommand);
dbgprintf("SEND:\r\n%s",ATCommand.c_str());
if(!DoubleWaitFor("OK","ERROR")){
printf("Error: Missed OK reply - AT+CIPAPMAC_xxx\r\n");
return;
}
m_softAPInterfaceMac = mac_addr;
testprintf("Ended!\r\n");
}
int
main(int argc, char* argv[])
{
UART_Init();
UART_TX((uint8_t*)"UART Initialized!\n", sizeof("UART Initialized!\n"));
I2C_Init();
setup();
// while(1){
// char buf[10]={0};
//
// UART_TX((uint8_t *)buf, sprintf(buf,"%u\r\n", HAL_GetTick()));
// }
// if programming failed, don't try to do anything
while (!dmpReady){}
loop();
}
int8_t
Esp8266WiFiPhy::GetWiFiMode(bool flashStored){
string ATCommand;
testprintf("\r\nEntering %s ...", __PRETTY_FUNCTION__);
// header
ATCommand = "AT+CWMODE_";
// stored?
if (flashStored){
ATCommand += "DEF";
}
else {
ATCommand += "CUR";
}
//tail
ATCommand += "\?\r\n";
// resets the buffer from any spurious previous output and send
m_UART->rxBufferFlush();
UART_TX(ATCommand);
dbgprintf("SEND:\r\n%s",ATCommand.c_str());
if(!WaitFor("OK")){
printf("Error: Missed OK reply - AT+CWMODE\?\r\n");
return -1;
}
// parsing
char ch = m_lastATreply.at(m_lastATreply.find(":") + 1);
dbgprintf("WiFi Mode: %c\r\n", ch);
testprintf("Ended!\r\n");
return (int8_t) (ch - '0');
}
StationAccessPoint
Esp8266WiFiPhy::GetConnectedStationAP(bool flashStored){
string ATCommand;
testprintf("\r\nEntering %s ...", __PRETTY_FUNCTION__);
// header
ATCommand = "AT+CWJAP_";
if (flashStored){
ATCommand += "DEF";
}
else {
ATCommand += "CUR";
}
ATCommand +="\?\r\n";
// resets the buffer from any spurious previous output and send
m_UART->rxBufferFlush();
UART_TX(ATCommand);
dbgprintf("SEND:\r\n%s",ATCommand.c_str());
if(!WaitFor("OK")){
printf("Error: Missed OK reply - AT+CWJAP\?\r\n");
return StationAccessPoint("","","");
}
size_t from = 0;
string ssid = StringUnescape(GetStringBetweenTokens(':',',',m_lastATreply, from));
string bssid = StringUnescape(GetStringBetweenTokens(',',',',m_lastATreply, from));
string channel = GetStringBetweenTokens(',',',',m_lastATreply, from);
string rssi = GetStringBetweenTokens(',','\r',m_lastATreply, from);
dbgprintf("AccessPoint: <%s>,<%s>,<%s>,<%s>\r\n", ssid.c_str(), bssid.c_str(), channel.c_str(), rssi.c_str());
testprintf("Ended!\r\n");
return StationAccessPoint(ssid,bssid,StringToInteger(channel),StringToInteger(rssi));
}
void
Esp8266WiFiPhy::ConfigureSoftAP(SoftAccessPoint sap, bool flashStore){
string ATCommand;
testprintf("\r\nEntering %s ...", __PRETTY_FUNCTION__);
// header
ATCommand = "AT+CWSAP_";
// store
if (flashStore){
ATCommand += "DEF";
}
else {
ATCommand += "CUR";
}
ATCommand += "=" + StringEscape(sap.m_ssid);
ATCommand += "," + StringEscape(sap.m_password);
ATCommand += "," + IntegerToString(sap.m_channel);
ATCommand += "," + IntegerToString(sap.m_encryption);
ATCommand += "," + IntegerToString(sap.m_maxconnections);
ATCommand += "," + IntegerToString(sap.m_ssidbroadcast);
//tail
ATCommand += "\r\n";
// resets the buffer from any spurious previous output and send
m_UART->rxBufferFlush();
UART_TX(ATCommand);
dbgprintf("SEND:\r\n%s",ATCommand.c_str());
if(!DoubleWaitFor("OK","ERROR")){
printf("Error: Missed OK reply - AT+CWSAP_xxx\r\n");
return;
}
// assign to internal variable
m_softAP = sap;
testprintf("Ended!\r\n");
}
void
Esp8266WiFiPhy::AutoConnectToStationAtBoot(bool enable){
string ATCommand;
testprintf("\r\nEntering %s ...", __PRETTY_FUNCTION__);
// header
ATCommand = "AT+CWAUTOCONN=";
if (enable){
ATCommand += "1";
}
else{
ATCommand += "0";
}
//tail
ATCommand += "\r\n";
// resets the buffer from any spurious previous output and send
m_UART->rxBufferFlush();
UART_TX(ATCommand);
dbgprintf("SEND:\r\n%s",ATCommand.c_str());
if(!WaitFor("OK")){
printf("Error: AT+CWAUTOCONN! \r\n");
return;
}
testprintf("Ended!\r\n");
}
void UART_Float_TX(float f){
// int c = Float2String(*pData);
char buf[10]={0};
// float f = 3.1415;
//// sprintf(buf,"%d.%02u\r\n", (int)f , ((int) (((f)-(int)f) * 10000)));
UART_TX((uint8_t *)buf, sprintf(buf,"%d.%02u\t", (int)f , ((int) (((f)-(int)f) * 10000))));
// if(HAL_UART_Transmit(&UartHandle, (uint8_t*)str, c, 5000)!= HAL_OK)
// {
// /* Turn LED5 (RED) on */
// BSP_LED_On(LED5);
// while(1)
// {
// }
// }
}
void
Esp8266WiFiPhy::QuitStationAP(void){
string ATCommand;
testprintf("\r\nEntering %s ...", __PRETTY_FUNCTION__);
// header
ATCommand = "AT+CWQAP\r\n";
// resets the buffer from any spurious previous output and send
m_UART->rxBufferFlush();
UART_TX(ATCommand);
dbgprintf("SEND:\r\n%s",ATCommand.c_str());
if(!WaitFor("OK")){
printf("Error: AT+CWQAP! \r\n");
return;
}
testprintf("Ended!\r\n");
}
SoftAccessPoint
Esp8266WiFiPhy::GetConfigurationSoftAP(bool flashStored){
string ATCommand;
testprintf("\r\nEntering %s ...", __PRETTY_FUNCTION__);
// header
ATCommand = "AT+CWSAP_";
// store
if (flashStored){
ATCommand += "DEF";
}
else {
ATCommand += "CUR";
}
ATCommand +="\?\r\n";
// resets the buffer from any spurious previous output and send
m_UART->rxBufferFlush();
UART_TX(ATCommand);
dbgprintf("SEND:\r\n%s",ATCommand.c_str());
if(!WaitFor("OK")){
printf("Error: Missed OK reply - AT+CWSAP\?\r\n");
return SoftAccessPoint("","",-1,-1,-1,-1);
}
size_t from = 0;
string ssid = StringUnescape(GetStringBetweenTokens(':',',',m_lastATreply, from));
string password = StringUnescape(GetStringBetweenTokens(',',',',m_lastATreply, from));
string channel = GetStringBetweenTokens(',',',',m_lastATreply, from);
string encryption = GetStringBetweenTokens(',',',',m_lastATreply, from);
string max_conn = GetStringBetweenTokens(',',',',m_lastATreply, from);
string ssid_bcast = GetStringBetweenTokens(',','\r',m_lastATreply, from);
dbgprintf("AccessPoint: <%s>,<%s>,<%s>,<%s>,<%s>,<%s>\r\n", ssid.c_str(), password.c_str(), channel.c_str(), encryption.c_str(), max_conn.c_str(), ssid_bcast.c_str());
testprintf("Ended!\r\n");
return SoftAccessPoint(ssid,password,StringToInteger(channel),StringToInteger(encryption),StringToInteger(max_conn),StringToInteger(ssid_bcast));
}
bool
Esp8266WiFiPhy::ConnectToStationAP (StationAccessPoint sap, bool flashStore){
string ATCommand;
testprintf("\r\nEntering %s ...", __PRETTY_FUNCTION__);
// header
ATCommand = "AT+CWJAP_";
if (flashStore){
ATCommand += "DEF";
}
else {
ATCommand += "CUR";
}
ATCommand += "=" + StringEscape(sap.m_ssid) + ",";
ATCommand += StringEscape(sap.m_password);
if (!(sap.m_bssidmac.empty())) {
ATCommand += "," + StringEscape(sap.m_bssidmac);
}
//tail
ATCommand += "\r\n";
// resets the buffer from any spurious previous output and send
m_UART->rxBufferFlush();
UART_TX(ATCommand);
dbgprintf("SEND:\r\n%s",ATCommand.c_str());
if(!DoubleWaitFor("OK","FAIL")){
printf("Error: +CWJAP: Error Code (1<=>4)==(TIMEOUT,WRONG PASSWORD,AP NOT FOUND,FAIL)\r\n");
return false;
}
// assign to internal variable
m_stationAP = sap;
testprintf("Ended!\r\n");
return true;
}
void loop() {
while(1){
mpuInterrupt = false;
// char buf[10]={0};
//
// UART_TX((uint8_t *)buf, sprintf(buf,"%u\r\n", HAL_GetTick()));
// wait for MPU interrupt or extra packet(s) available
while (!mpuInterrupt && fifoCount < packetSize) {
// cnt++;
// time_now = HAL_GetTick();
// if((time_now-time_old) >= 1000){
// time_old = time_now;
// char buffer[10]={0};
// UART_TX((uint8_t *)buffer, sprintf(buffer,"%u\r\n", (int)cnt ));
// UART_TX((uint8_t*)"\r\n", sizeof("\r\n"));
// cnt=0;
// }
// UART_TX((uint8_t*)"x=", sizeof("x="));
// UART_Float_TX( (ypr[2] * 180/M_PI) );
//
// UART_TX((uint8_t*)"y=", sizeof("y="));
// UART_Float_TX( (ypr[1] * 180/M_PI) );
//
// UART_TX((uint8_t*)"z=", sizeof("z="));
// UART_Float_TX( (ypr[0] * 180/M_PI) );
// UART_TX((uint8_t*)"\n\r", sizeof("\n\r"));
// BSP_LED_Toggle(LED4);
// UART_TX((uint8_t*)"MAIN\r\n", sizeof("MAIN\r\n"));
// other program behavior stuff here
// .
// .
// .
// if you are really paranoid you can frequently test in between other
// stuff to see if mpuInterrupt is true, and if so, "break;" from the
// while() loop to immediately process the MPU data
// .
// .
// .
}
// reset interrupt flag and get INT_STATUS byte
mpuIntStatus = mpu.getIntStatus();
// get current FIFO count
fifoCount = mpu.getFIFOCount();
// check for overflow (this should never happen unless our code is too inefficient)
if ((mpuIntStatus == 0x10) || fifoCount == 1024) {
// reset so we can continue cleanly
mpu.resetFIFO();
UART_TX((uint8_t*)"FIFO Overflow\r\n", sizeof("FIFO Overflow\r\n"));
BSP_LED_Toggle(LED5);
}
// otherwise, check for DMP data ready interrupt (this should happen frequently)
else if(mpuIntStatus == 0x01) {
// wait for correct available data length, should be a VERY short wait
while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
// read a packet from FIFO
mpu.getFIFOBytes(fifoBuffer, packetSize);
// track FIFO count here in case there is > 1 packet available
// (this lets us immediately read more without waiting for an interrupt)
fifoCount -= packetSize;
#ifdef OUTPUT_READABLE_QUATERNION
// display quaternion values in easy matrix form: w x y z
mpu.dmpGetQuaternion(&q, fifoBuffer);
Serial.print("quat\t");
Serial.print(q.w);
Serial.print("\t");
Serial.print(q.x);
Serial.print("\t");
Serial.print(q.y);
Serial.print("\t");
Serial.println(q.z);
#endif
#ifdef OUTPUT_READABLE_EULER
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetEuler(euler, &q);
Serial.print("euler\t");
Serial.print(euler[0] * 180/M_PI);
Serial.print("\t");
Serial.print(euler[1] * 180/M_PI);
Serial.print("\t");
Serial.println(euler[2] * 180/M_PI);
#endif
#ifdef OUTPUT_READABLE_YAWPITCHROLL
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
// trace_printf("ypr\t");
// trace_printf("%f", ypr[0] * 180/M_PI);
// trace_printf("\t");
// trace_printf("%d", ypr[1] * 180/M_PI);
// trace_printf("\t");
// trace_printf("%d\n", ypr[2] * 180/M_PI);
#endif
#ifdef OUTPUT_READABLE_REALACCEL
// display real acceleration, adjusted to remove gravity
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
Serial.print("areal\t");
Serial.print(aaReal.x);
Serial.print("\t");
Serial.print(aaReal.y);
Serial.print("\t");
Serial.println(aaReal.z);
#endif
#ifdef OUTPUT_READABLE_WORLDACCEL
// display initial world-frame acceleration, adjusted to remove gravity
// and rotated based on known orientation from quaternion
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
Serial.print("aworld\t");
Serial.print(aaWorld.x);
Serial.print("\t");
Serial.print(aaWorld.y);
Serial.print("\t");
Serial.println(aaWorld.z);
#endif
#ifdef OUTPUT_TEAPOT
// display quaternion values in InvenSense Teapot demo format:
teapotPacket[2] = fifoBuffer[0];
teapotPacket[3] = fifoBuffer[1];
teapotPacket[4] = fifoBuffer[4];
teapotPacket[5] = fifoBuffer[5];
teapotPacket[6] = fifoBuffer[8];
teapotPacket[7] = fifoBuffer[9];
teapotPacket[8] = fifoBuffer[12];
teapotPacket[9] = fifoBuffer[13];
Serial.write(teapotPacket, 14);
teapotPacket[11]++; // packetCount, loops at 0xFF on purpose
#endif
// blink LED to indicate activity
// BSP_LED_Toggle(LED3);
}
}
}
void _print_fstr (const char __flash * s)
{
while (*s) UART_TX (*s++);
}
//Print 0x0A,0x0B
void _print_rn (void)
{
UART_TX(0x0A);
UART_TX(0x0D);
}
