// UART DATA To Raspberry
// Raspberry To Web
void SendToWeb() {
UARTClass * uart = UARTClass::getInstance();
uart->setup();
uart->startCommunicate();
while (true) {
try {
ClientSocket client("218.150.181.154", 10000);
while (true) {
try {
client << uart->getMsg(); // 웹으로 메세지 보내기
//cout << uart->getMsg() << endl;
uart->clear();
}
catch (SocketException& e) {
cout << "Exception was caught: " << e.description() << "\n";
}
delay(1000); // 10sec
}
}
catch (SocketException& e) {
cout << "ClientSocket Constructor Exception" << e.description() << endl;
}
delay(100);
}
}
int main() {
UARTClass * uart = UARTClass::getInstance();
AltitudeController *altiCon = AltitudeController::getInstance();
UltrasonicClass *sonar = UltrasonicClass::getInstance();
DroneController *drone = DroneController::getInstance();
uart->setup();
uart->startCommunicate();
// *************** ( ^_^ )*****************
thread serverTh([&]() { RecvFromWeb(); });
serverTh.detach();
//thread clientTh([&]() { SendToWeb(); });
//clientTh.detach();
// *****************************************
delay(3000);
while (1) {
uart->SendSerial(drone->get_pwm_string());
cout << "throttle : " << drone->get_pwm(droneControlType::throttle) << endl;
if (is_takeoff) {
altiCon->calculate();
}
delay(100);
}
return 0;
}
int _write (int fd, char *ptr, int len)
{
char *p = ptr;
int res = UART_SUCCESS;
(void)fd;
(void)len;
while (*p != '\n') {
UART.WriteChar(*p++);
if (res != UART_SUCCESS) {
break;
}
}
if(*p == '\n') {
UART.WriteChar('\r');
UART.WriteChar('\n');
}
return res;
}
void initVariant()
{
Serial.begin(115200);
Serial1.begin(115200);
Serial2.begin(115200);
Serial3.begin(115200);
Serial4.begin(115200);
}
void check_for_reset()
{
if(Serial.isResetReceived() || Serial1.isResetReceived())
{
SCB->AIRCR = 0x05FA0004;
//BOOT_reset();
}
}
void serialEventRun(void)
{
if (Serial.available() && serialEvent) serialEvent();
if (Serial1.available() && serialEvent) serialEvent();
if (Serial2.available() && serialEvent) serialEvent();
if (Serial3.available() && serialEvent) serialEvent();
if (Serial4.available() && serialEvent) serialEvent();
}
void serialEventRun(void)
{
if (Serial.available()) serialEvent();
if (Serial1.available()) serialEvent1();
if (Serial2.available()) serialEvent2();
if (Serial3.available()) serialEvent3();
}
void UART0_Stop()
{
if (UART0_State == UART0_State_NotStarted)
return;
// Wait for any outstanding data to be sent
Serial.flush();
NRF_UART0->TASKS_STOPTX = 1;
NRF_UART0->TASKS_STOPRX = 1;
NRF_UART0->ENABLE = (UART_ENABLE_ENABLE_Disabled << UART_ENABLE_ENABLE_Pos);
// Disable UART interrupt in NVIC
detachInterrupt(UART0_IRQn);
// Disconnect high drive tx pin
int tx_pin = NRF_UART0->PSELTXD;
NRF_GPIO->PIN_CNF[tx_pin] = (GPIO_PIN_CNF_SENSE_Disabled << GPIO_PIN_CNF_SENSE_Pos)
| (GPIO_PIN_CNF_DRIVE_S0S1 << GPIO_PIN_CNF_DRIVE_Pos)
| (GPIO_PIN_CNF_PULL_Pullup << GPIO_PIN_CNF_PULL_Pos)
| (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos)
| (GPIO_PIN_CNF_DIR_Input << GPIO_PIN_CNF_DIR_Pos);
UART0_State = UART0_State_NotStarted;
}
// IT handlers
unsigned long
uart5IntFunction(void *pvCBData, unsigned long ulEvent,
unsigned long ulMsgParam,void *pvMsgData)
{
// while(Serial5.uartInt()==0);
Serial5.uartInt();
return 0;
}
//void UART0_IRQHandler( void )
static void UART0_handler( void )
{
Serial.irq_handler();
/*
if( NRF_UART0->EVENTS_RXDRDY )
{
NRF_UART0->EVENTS_RXDRDY = 0;
uint8_t dat = NRF_UART0->RXD;
if( UART0_CheckRXError() )
return;
rx_buffer->store_char( dat );
}
*/
}
int _read(int fd, char *ptr, int len)
{
(void)fd;
(void)len;
while(read_ch == false);
*ptr = Rx_char;
UART.WriteChar(*ptr);
printf("\n");
read_ch = false;
return 1;
}
void Rx3_Handler(void){
Serial3.RxHandler();
}
void Tx3_Handler(void){
Serial3.TxHandler();
}
void Rx2_Handler(void){
Serial2.RxHandler();
}
void Tx2_Handler(void){
Serial2.TxHandler();
}
void Rx1_Handler(void){
Serial1.RxHandler();
}
void LEUART0_IRQHandler(void)
{
Serial1.IrqHandler();
}
void Tx1_Handler(void){
Serial1.TxHandler();
}
void LEUART1_IRQHandler(void)
{
Serial2.IrqHandler();
}
// IT handlers
void UART1_Handler(void)
{
Serial1.IrqHandler();
}
// IT handlers
void USART0_Handler(void)
{
Serial1.IrqHandler();
}
void USART2_RX_IRQHandler(void)
{
Serial4.IrqHandler();
}
// IT handlers
void UART0_Interrupt()
{
Serial.IrqHandler();
}
void print_gpio_regs(void)
{
char port[6] = {'A','B','C','D','E','F'};
Serial.printf("\r\n");
for(int i = 0; i < 6; i++) {
Serial.printf("PORT %c:\r\n",port[i]);
Serial.printf(" CTRL = %x\r\n",GPIO->P[i].CTRL);
Serial.printf(" MODEL = %x\r\n",GPIO->P[i].MODEL);
Serial.printf(" MODEH = %x\r\n",GPIO->P[i].MODEH);
Serial.printf(" DOUT = %x\r\n",GPIO->P[i].DOUT);
Serial.printf(" DOUTSET = %x\r\n",GPIO->P[i].DOUTSET);
Serial.printf(" DOUTCLR = %x\r\n",GPIO->P[i].DOUTCLR);
Serial.printf(" DOUTTGL = %x\r\n",GPIO->P[i].DOUTTGL);
Serial.printf(" DIN = %x\r\n",GPIO->P[i].DIN);
}
Serial.printf(" GPIO->EXTIPSELL = %x\r\n",GPIO->EXTIPSELL);
Serial.printf(" GPIO->EXTIPSELH = %x\r\n",GPIO->EXTIPSELH);
Serial.printf(" GPIO->EXTIRISE = %x\r\n",GPIO->EXTIRISE);
Serial.printf(" GPIO->EXTIFALL = %x\r\n",GPIO->EXTIFALL);
Serial.printf(" IEN = %x\r\n",GPIO->IEN);
Serial.printf(" IF = %x\r\n",GPIO->IF);
}
void Tx4_Handler(void){
Serial4.TxHandler();
}
// IT handlers
void UART_Handler(void)
{
Serial.IrqHandler();
}
void Rx4_Handler(void){
Serial4.RxHandler();
}
// delegate to serial for syscalls/write and error messages
void UART0_TX( const uint8_t uc_data )
{
Serial.write( uc_data );
}
bool Serial1_available() {
return Serial1.available();
}
// IT handlers
void USART1_RX_IRQHandler(void)
{
Serial.IrqHandler();
}
