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Copy pathbitalino-riot-firmware.ino
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bitalino-riot-firmware.ino
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/* R-IoT :
Texas Instrument CC3200 Internet of Things / Sensor hub / Dev Platform
80 MHz 32 Bit ARM MCU + Wifi stack / modem
IRCAM - Emmanuel FLETY - Music Bricks - Rapid Mix
Rev History :
2.1 : attempt to correct Madgwick algorithm for proper yaw convergence
2.044 : final migration of the fw to Energia 23, mostly fixes to the changes in the SFLS library API (file opening and saving returned values & codes)
2.0 : moving to the LSM9DS1 motion sensor, new PCB from PLUX and secondary UART. UART0 : FTDI / UART1 : Bitalino
1.7 : Massive improvement in calibration and Euler angles - added bitalino support in this specific version
1.5 : adding a AP style connection to allow streaming to multiple computers / devices
1.4 : loads of fixing in the calibration process for the absolute angles (madgwick)
and webserver
*/
#include <stdio.h>
#include <strings.h>
#include <SPI.h>
#include <WiFi.h>
#include <WiFiClient.h>
#include <WiFiServer.h>
#include <WiFiUdp.h>
#include <Wire.h>
#include <bitalino1.h>
// Handles the file system of the FLASH, to store parameters
#include <SLFS.h>
#include "common.h"
#include "LSM9DS1.h"
#include "osc.h"
#include "web.h"
/////////////////////////////////////////////////////////////
// DEFAULT parameters
// your network name also called SSID
byte mac[6];
const char TheSSID[] = "riot";
const uint16_t TheDestPort = DEFAULT_UDP_PORT;
const uint8_t TheLocalIP[] = { 192,168,1,40};
const uint8_t TheSubnetMask[] = { 255,255,255,0};
const uint8_t TheGatewayIP[] = { 192,168,1,1};
const uint8_t TheDestIP[] = { 192,168,1,100};
const unsigned long TheSampleRate = DEFAULT_SAMPLE_RATE;
const uint8_t TheID = 0;
/////////////////////////////////////////////////////////////
// Global vars
WiFiServer server(80);
WiFiClient client;
byte APorStation = STATION_MODE;
char ssid[32];
char ssidAP[32];
char password[32] = "12345678";
IPAddress LocalIP;
IPAddress APIP;
IPAddress SubnetMask;
IPAddress GatewayIP;
IPAddress DestIP;
uint16_t DestPort;
uint8_t ModuleID;
unsigned long SampleRate;
boolean UseDHCP = true;
boolean UseSecurity = false;
int status = WL_IDLE_STATUS;
int statusAP = false;
int PacketStatus;
boolean ConfigurationMode = false;
boolean AcceptOSC = true;
byte PageToDisplay = CONFIG_WEB_PAGE;
unsigned int ConfigModePressCounter = 0;
// Allow config only shortly after start-up - Counter val * Sample Period
// Done in the idle 300 ms sample loop hence 17*300 ms = 5100 ms
unsigned int ConfigModeAllowCounter = 17;
int TempInt = 0;
boolean BlinkStatus = 0;
char packetBuffer[255]; //buffer to hold incoming packet
WiFiUDP UdpPacket;
WiFiUDP ConfigPacket;
OscBuffer RawSensors;
OscBuffer Message;
OscBuffer BitalinoData;
BITalinoFrame frame;
word FrameAmount = 0;
// Defines if we run the module in standalone or with bitalino support by default
// When in standalone mode, we can talk to the module via the serial port
// and get Serial.print debug / info / diag while this is muted in bitalino mode
// as the serial port is used exclusively for talking to the bitalino MCU.
boolean StandAloneMode = false;
unsigned long ElapsedTime = 0;
unsigned long ElapsedTime2 = 0;
////////////////////////////////////////////////////////////
// Sensor storage
short unsigned int SwitchState, ActualSwitchState;
short unsigned int SwitchState2, ActualSwitchState2;
short unsigned int RemoteOutputState = LOW;
Word AccelerationX, AccelerationY, AccelerationZ;
Word GyroscopeX, GyroscopeY, GyroscopeZ;
Word MagnetometerX, MagnetometerY, MagnetometerZ;
Word Temperature;
int AnalogInput1, AnalogInput2;
byte CommunicationMode = SPI_MODE;
//byte CommunicationMode = I2C_MODE;
// Defines whether you want the "raw" value with the stored offset or not
byte SendCalibrated = true;
//byte SendCalibrated = false;
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Absolute angle (madgwick)
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
#define PI 3.14159265358979323846264338327950
// There is a tradeoff in the beta parameter between accuracy and response speed.
// In the original Madgwick study, beta of 0.041 (corresponding to GyroMeasError of 2.7 degrees/s) was found to give optimal accuracy.
// However, with this value, the LSM9SD0 response time is about 10 seconds to a stable initial quaternion.
// Subsequent changes also require a longish lag time to a stable output, not fast enough for a quadcopter or robot car!
// By increasing beta (GyroMeasError) by about a factor of fifteen, the response time constant is reduced to ~2 sec
// I haven't noticed any reduction in solution accuracy. This is essentially the I coefficient in a PID control sense;
// the bigger the feedback coefficient, the faster the solution converges, usually at the expense of accuracy.
// In any case, this is the free parameter in the Madgwick filtering and fusion scheme.
// Beta is called the rate of convergence of the filter. Higher value lead to a noisy output but fast response
// If beta = 0.0 => uses gyro only. A very high beta like 2.5 uses almost no gyro and only accel + magneto.
#define BETA_DEFAULT 0.4f // Much faster - noisier
#define BETA_MAX 2.0f
float beta = BETA_DEFAULT;
float madgwick_beta_max = BETA_MAX;
float madgwick_beta_gain = 1.0f;
int gyroOffsetAutocalTime = 5000; //ms = 1000 samples @5ms
long gyroOffsetAutocalThreshold = 100; //LSB
long gyroOffsetAutocalCounter; //internal
boolean gyroOffsetAutocalOn = false;
boolean gyroOffsetCalDone = false;
long gyroOffsetCalElapsed = 0;
long gyroOffsetAutocalMin[3];
long gyroOffsetAutocalMax[3];
long gyroOffsetAutocalSum[3];
long magOffsetAutocalMin[3];
long magOffsetAutocalMax[3];
long accOffsetAutocalSum[3];
float pitch, yaw, roll, heading;
float Declination = DECLINATION;
float deltat = 0.005f; // integration interval for both filter schemes - 5ms by default
int gyro_bias[3] = { 0, 0, 0};
int accel_bias[3] = { 0, 0, 0};
int mag_bias[3] = { 0, 0, 0};
int bias_samples = 32;
float abias[3] = { 0., 0., 0.};
float gbias[3] = { 0., 0., 0.};
float mbias[3] = { 0., 0., 0.};
float gRes, aRes, mRes; // Resolution = Sensor range / 2^15
float a_x, a_y, a_z, g_x, g_y, g_z, m_x, m_y, m_z; // variables to hold latest sensor data values
float gyro_norm; // used to tweak Beta
float mag_nobias[3];
float q1 = 1.0f, q2 = 0.0f, q3 = 0.0f, q4 = 0.0f; // quaternion of sensor frame relative to auxiliary frame
/////////////////////////////////////////////////////////////////
// Serial port message / buffers / temporary strings
char SerialBuffer[MAX_SERIAL];
unsigned char SerialIndex = 0;
boolean FlagSerial = FALSE;
char StringBuffer[MAX_STRING];
// To get printf to work, we redirect STDOUT and the myWrite functions
ssize_t myWrite(void *cookie, const char *buf, size_t n)
{
return Serial.write((uint8_t*)buf, n);
}
cookie_io_functions_t myVectors = {
0, myWrite, 0, 0 };
void setup() {
// Basic I/Os
pinMode(LED_RED, OUTPUT);
pinMode(LED_GREEN, OUTPUT);
pinMode(LED_BLUE, OUTPUT);
// Analog Inputs
pinMode(GPIO4, INPUT);
pinMode(GPIO5, INPUT);
// This is the former RIOT general purpose switch input, on another I/O for this version
// SWITCH_INPUT can be used in place of GPIO28, see common.h for I/0 definitions
pinMode(GPIO28, INPUT_PULLUP); // Used to trigger configuration mode
// This is an addition GPIO configured as an input and exported in the OSC message
// SWITCH2_INPUT can be used in place of GPIO13, see common.h for I/0 definitions
pinMode(GPIO13, INPUT_PULLUP);
// This is an addition GPIO configured as an input and exported in the OSC message
// REMOTE_OUTPUT can be used in place of GPIO12, see common.h for I/0 definitions
pinMode(GPIO12, OUTPUT);
digitalWrite(REMOTE_OUTPUT, RemoteOutputState);
// POWER On indicator
SetLedColor(1,0,0); // RED
//Initialize serial. Serial1 is for the bitalino board
Serial.begin(115200);
Serial1.begin(115200);
// Needed to have printf working
stdout = fopencookie((void *)0, "w", myVectors);
setlinebuf(stdout);
// Starts the file system
// This has to be done asap to determine if we are in bitalino mode or
// standalone mode.
SerFlash.begin();
// Retrieve saved params in FLASH using the file system
LoadParams();
// Bitalino framework init attempt
if(!StandAloneMode)
{
char verStr[30];
boolean ok;
BITalino.begin();
ok = BITalino.version(verStr, sizeof verStr); // get device version string
// Debug - uncomment if needed
/*Serial.print("version: ");
Serial.println(verStr);
Serial.print("Ok=");
Serial.println(ok);*/
// Here, some checks are needed to ensure we "found" the bitalino.
// Either check the version string or something else.
if(!ok)
{
StandAloneMode = true;
Serial.println("Bitalino not found, running in standalone R-IoT mode");
}
else
{
StandAloneMode = false; // Not absolutely needed but safety
Serial.println("Bitalino found, initializing at 1000 Hz");
ok = BITalino.battery(10); // set battery threshold (optional)
ok = BITalino.start(1000, 0x3F, false); // start acquisition of all channels at 1000 Hz
sprintf(StringBuffer, "/%u/bitalino\0",ModuleID);
PrepareOSC(&BitalinoData, StringBuffer, 'i', 11); // Seq # + 4 digital + 6 analog
}
}
Serial.println(VERSION_DATE);
Serial.println("Params Loaded");
// Check if we are going in configuration mode
// 2-3 second shorting the pin to ground during boot
while(!digitalRead(SWITCH_INPUT))
{
delay(20);
TempInt++;
if(BlinkStatus)
{
BlinkStatus = 0;
SetLedColor(1,0,0);
}
else
{
BlinkStatus = 1;
SetLedColor(0,0,0);
}
if(TempInt > WEB_SERVER_DELAY)
{
ConfigurationMode = true;
Serial.println("Configuration / Web Server Mode");
SetLedColor(1,0,0); // RED
break;
}
}
// Init motion sensor
Serial.println("Init Motion Sensor");
// Start SPI with defaults
SPI.begin();
// SPI settings
// 16 MHz max bit rate, clock divider 1:2 => 8 MHZ SPI clock
SPI.setClockDivider(SPI_CLOCK_DIV2);
SPI.setDataMode(SPI_MODE0);
// Sensor HW comm settings
if(CommunicationMode == SPI_MODE)
{
// Motion sensor I/Os
pinMode(ACC_CS, OUTPUT);
pinMode(MAG_CS, OUTPUT);
digitalWrite(ACC_CS, HIGH);
digitalWrite(MAG_CS, HIGH);
}
else
{
Wire.begin();
}
delay(10);
RebootLSM9DS1();
delay(10);
//////////////////////////////////////////
//// Init Motion sensor
InitLSM9DS1();
delay(40);
SetLedColor(0,1,0);
// Scaling to obtain gs and deg/s
// Must match the init settings of the LSM9DS1
gRes = 2000.0f / 32768.0f; // +- 2000 deg/s
aRes = 8.0f / 32768.0f; // +- 8g
mRes = 4.0f / 32768.0f; // +- 4 gauss
// Finalize the bias unit conversion
for(int i = 0 ; i < 3 ; i++)
{
gbias[i] = gRes * (float)gyro_bias[i];
abias[i] = aRes * (float)accel_bias[i];
mbias[i] = mRes * (float)mag_bias[i];
}
if(!ConfigurationMode)
{
SetLedColor(0,1,0);
if(APorStation == STATION_MODE)
{
// Attempt to connect to Wifi network:
Serial.print("R-IoT connecting to: ");
// print the network name (SSID);
Serial.println(ssid);
Connect();
}
else // AP mode
{
// attempt to connect to Wifi network:
Serial.print("R-IoT creates network: ");
// print the network name (SSID);
Serial.println(ssid);
// Creates the AP & config
APIP = IPAddress(TheGatewayIP);
WiFi.config(APIP);
if(!UseSecurity)
WiFi.beginNetwork((char *)ssid);
else
WiFi.beginNetwork((char *)ssid, (char*)password);
}
if(StandAloneMode)
WiFi.macAddress(mac);
// Prep the UDP packet
UdpPacket.begin(DestPort);
UdpPacket.beginPacket(DestIP, DestPort);
// Open the service port to talk to the module (config, calibration)
ConfigPacket.begin(DEFAULT_UDP_SERVICE_PORT);
// Prepare the OSC message structure
// Now we send all data at once in a single message with only floats
sprintf(StringBuffer, "/%u/raw\0",ModuleID);
PrepareOSC(&RawSensors, StringBuffer, 'f', 22); // All float
} // END OF IF NORMAL (!CONFIG) MODE
// If in configuration mode we setup a webserver for configuring the unit
// The module becomes an AP with DHCP
else
{
APIP = IPAddress(TheGatewayIP);
WiFi.config(APIP);
randomSeed(analogRead(GPIO5));
sprintf(ssidAP, "RIOT-%04x\0",random(16000));
if(StandAloneMode)
{
Serial.print("Setting up Access Point named: ");
Serial.println(ssidAP);
}
//WiFi.beginNetwork((char *)ssidAP);
WiFi.beginNetwork((char *)ssidAP, "12345678");
WiFi.macAddress(mac);
}
ElapsedTime = millis();
ElapsedTime2 = millis();
if(ConfigModeAllowCounter)
Serial.println("Calibration enabled for now");
}
void loop() {
if(!ConfigurationMode)
{
if((millis() - ElapsedTime2) > 300) // Perform the check not too often
{
ElapsedTime2 = millis();
if(APorStation == STATION_MODE)
{
int CurrentStatus = WiFi.status();
if(CurrentStatus != WL_CONNECTED)
{
// print dots while we wait to connect and blink the power led
Serial.print(".");
if(BlinkStatus)
{
BlinkStatus = 0;
SetLedColor(0,0,0);
}
else
{
BlinkStatus = 1;
SetLedColor(0,1,0);
}
}
// Newly connected to the network, locks until DHCP answers
// if enabled
if((status != WL_CONNECTED) && (WiFi.status() == WL_CONNECTED))
{
status = WiFi.status();
SetLedColor(0,0,1); // Blue
Serial.println("\nConnected to the network");
while ((WiFi.localIP() == INADDR_NONE))
{
// print dots while we wait for an ip addresss
Serial.print(".");
delay(300);
}
// you're connected now, so print out the status
printCurrentNet();
printWifiData();
}
// Disconnected from the network, try to reconnect
if((status == WL_CONNECTED) && (WiFi.status() != WL_CONNECTED))
{
Serial.println("Network Lost, trying to reconnect");
status = WiFi.status();
}
} // End of Station mode connection
else // AP mode
{
if(WiFi.localIP() == INADDR_NONE) // Indicates AP isn't ready yet
{
// print dots while we wait to connect and blink the power led
if(StandAloneMode)
Serial.print(".");
if(BlinkStatus)
{
BlinkStatus = 0;
SetLedColor(0,0,0);
}
else
{
BlinkStatus = 1;
SetLedColor(0,1,0);
}
}
else if (!statusAP)
{
statusAP = true;
SetLedColor(0,0,1);
Serial.println("AP active.");
printCurrentNet();
printWifiData();
}
} // End of AP mode connection
// Enter IMU Calibration (even if not connected)
// Allow configuration mode only shortly after start-up
if(ConfigModeAllowCounter > 0)
{
--ConfigModeAllowCounter;
SwitchState = digitalRead(SWITCH_INPUT);
if(!SwitchState)
{
ConfigModePressCounter++;
if(ConfigModePressCounter > 10) // 10*300ms here = 3 sec after mainloop has started
{
ConfigModeAllowCounter = 0;
ConfigModePressCounter = 0;
CalibrateAccGyroMag();
}
}
else
{
// end of initial period that allows for calibration
ConfigModePressCounter = 0;
}
if(!ConfigModeAllowCounter)
Serial.println("Calibration is now disabled");
}
} // end of IF(elapsed time)
if(AcceptOSC)
{
// Parses incoming OSC messages
int packetSize = ConfigPacket.parsePacket();
if (packetSize)
{
// Debug Info
//Serial.print("Received packet of size ");
//Serial.println(packetSize);
//Serial.print("From ");
//IPAddress remoteIp = ConfigPacket.remoteIP();
//Serial.print(remoteIp);
//Serial.print(", port ");
//Serial.println(ConfigPacket.remotePort());
// read the packet into packetBufffer
int Index = 0;
int len = ConfigPacket.read(packetBuffer, 255);
if (len > 0) packetBuffer[len] = 0; // Add a terminator in the buffer
//Debug
/*Serial.println("Contents:");
Serial.println(packetBuffer);
Serial.println("Packet Len:");
Serial.println(len);
for (int i=0 ; i < len ; i++)
{
if(packetBuffer[i] == '\0')
pprintf("_");
else
pprintf("%c",packetBuffer[i]);
}
pprintf("\n");
pprintf("Generated Osc Message:\n");
for (int i=0 ; i < len ; i++)
{
if(Message.buf[i] == '\0')
pprintf("_");
else
pprintf("%c",Message.buf[i]);
}
pprintf("\n");*/
// Actual parsing
// Checks that's for the proper ID / module
sprintf(StringBuffer, "/%u/\0",ModuleID);
if(!strncmp(packetBuffer, StringBuffer, strlen(StringBuffer)))
{ // that's for us
char *pUDP = packetBuffer;
int Index = strlen(StringBuffer); // Skips the ID
// Parsing / decoding (basic)
if(!strncmp(&(pUDP[Index]), "output", 6))
{
Index += strlen("output");
Index = OscSkipToValue(pUDP, Index);
//Serial.println("After OSC SKIP");
//pprintf("Index = %d\n", Index);
int OscRemoteValue, TempInt;
TempInt = pUDP[Index];
OscRemoteValue = TempInt << 24;
Index++;
TempInt = pUDP[Index];
OscRemoteValue += OscRemoteValue || (TempInt << 16);
Index++;
TempInt = pUDP[Index];
OscRemoteValue += OscRemoteValue || (TempInt << 8);
Index++;
TempInt = pUDP[Index];
OscRemoteValue += OscRemoteValue || TempInt;
RemoteOutputState = OscRemoteValue;
if(RemoteOutputState)
RemoteOutputState = HIGH;
else
RemoteOutputState = LOW;
// Debug
pprintf("Remote Control Output update = %d\n", RemoteOutputState);
digitalWrite(REMOTE_OUTPUT,RemoteOutputState);
}
// add here other keywords like changing the sample rate and saving
// data => see parse serial
}
}
}
// The main sampling loop
if((millis() - ElapsedTime >= SampleRate) && !ConfigurationMode &&
(((WiFi.status()==WL_CONNECTED) && (APorStation==STATION_MODE)) ||
(statusAP && (APorStation==AP_MODE))))
{
ElapsedTime = millis();
SetLedColor(0,0,1); // Turns blue
SwitchState = digitalRead(SWITCH_INPUT);
ActualSwitchState = !SwitchState;
// Second input reading
SwitchState2 = digitalRead(SWITCH2_INPUT);
ActualSwitchState2 = !SwitchState2;
// Debug
ReadAccel();
ReadGyro();
ReadMagneto();
ReadTemperature();
// Comment those 2 if you don't need the analog inputs to be exported by OSC
AnalogInput1 = analogRead(GPIO4);
AnalogInput2 = analogRead(GPIO5);
// Auto calibration of Acc and Gyro offsets if enabled
if((millis() - gyroOffsetCalElapsed > gyroOffsetAutocalTime) && gyroOffsetCalDone)
{
gyroOffsetCalElapsed = millis();
gyroOffsetCalDone = false;
}
if(!gyroOffsetCalDone && gyroOffsetAutocalOn)
{
gyroOffsetCalibration();
}
g_x = (gRes * (float)GyroscopeX.Value) - gbias[0]; // Convert to degrees per seconds, remove gyro biases
g_y = (gRes * (float)GyroscopeY.Value) - gbias[1];
g_z = (gRes * (float)GyroscopeZ.Value) - gbias[2];
a_x = (aRes * (float)AccelerationX.Value) - abias[0]; // Convert to g's, remove accelerometer biases
a_y = (aRes * (float)AccelerationY.Value) - abias[1];
a_z = (aRes * (float)AccelerationZ.Value) - abias[2];
m_x = (mRes * (float)MagnetometerX.Value) - mbias[0]; // Convert to Gauss and correct for calibration
m_y = (mRes * (float)MagnetometerY.Value) - mbias[1];
m_z = (mRes * (float)MagnetometerZ.Value) - mbias[2];
// compute the squared norm of the gyro data => rough estimation of the movement
gyro_norm = g_x * g_x + g_y * g_y + g_z * g_z;
mag_nobias[0] = m_x;
mag_nobias[1] = m_y;
mag_nobias[2] = m_z;
////////////////////////////////////////////////////////////////////////////////////
// Note regarding the sensor orientation & angles :
// We alter the sensor sign in order to "redefine gravity" and axis so that it behaves
// the same whether the sensor is up or down. However, for the heading computation and
// correction against angles, the "real" sensor orientation and pitch / roll proper
// signing must be used. We therefore do a double signe inversion when the sensor
// is on the bottom. [looks crappy but works and for good reasons]
// Different orientation of the LS1 vs LS0 for the magnetometers
MadgwickAHRSupdate(a_x, a_y, a_z, g_x*PI/180.0f, g_y*PI/180.0f, g_z*PI/180.0f, m_x, m_y, -m_z);
//MadgwickAHRSupdate(a_x, a_y, a_z, g_x*PI/180.0f, g_y*PI/180.0f, g_z*PI/180.0f, m_x, m_y, m_z);
yaw = atan2(2.0f * (q2 * q3 + q1 * q4), q1*q1 + q2*q2 - q3*q3 - q4*q4);
pitch = -asin(2.0f * ((q2*q4) - (q1*q3)));
roll = atan2(2.0f * (q1*q2 + q3*q4), (q1*q1) - (q2*q2) - (q3*q3) + (q4*q4));
// Compute heading *BEFORE* the final export of yaw pitch roll to save float computation of deg2rad / rad2deg
ComputeHeading();
/////////////////////////////////////////////////////////////////////////////////
// Degree per second conversion and declination correction
pitch *= 180.0f / PI;
yaw *= 180.0f / PI;
yaw -= Declination;
roll *= 180.0f / PI;
// Update sensors data in the main OSC message
char *pData = RawSensors.pData;
float TempFloat;
FloatToBigEndian(pData, &a_x);
pData += sizeof(float);
FloatToBigEndian(pData, &a_y);
pData += sizeof(float);
FloatToBigEndian(pData, &a_z);
pData += sizeof(float);
// Rescaling to deg/s to have a more human readable value
// and decent numbers similar to accel
float g_x_scaled, g_y_scaled, g_z_scaled;
g_x_scaled = g_x / 1000.; // Sending °/s
g_y_scaled = g_y / 1000.; // Sending °/s
g_z_scaled = g_z / 1000.; // Sending °/s
FloatToBigEndian(pData, &g_x_scaled);
pData += sizeof(float);
FloatToBigEndian(pData, &g_y_scaled);
pData += sizeof(float);
FloatToBigEndian(pData, &g_z_scaled);
pData += sizeof(float);
FloatToBigEndian(pData, &m_x);
pData += sizeof(float);
FloatToBigEndian(pData, &m_y);
pData += sizeof(float);
FloatToBigEndian(pData, &m_z);
pData += sizeof(float);
// Temperature
TempFloat = (float)Temperature.Value;
// Conversion to decimal °C here before float export
TempFloat = (TempFloat / (float)(LSM_TEMP_SCALE)) + (float)(LSM_BIAS_TEMPERATURE);
FloatToBigEndian(pData, &TempFloat);
pData += sizeof(float);
TempFloat = (float)ActualSwitchState;
FloatToBigEndian(pData, &TempFloat);
pData += sizeof(float);
TempFloat = (float)ActualSwitchState2;
FloatToBigEndian(pData, &TempFloat);
pData += sizeof(float);
// Analog Inputs (12 bits)
TempFloat = (float)AnalogInput1;
FloatToBigEndian(pData, &TempFloat);
pData += sizeof(float);
TempFloat = (float)AnalogInput2;
FloatToBigEndian(pData, &TempFloat);
pData += sizeof(float);
// Quaternions
FloatToBigEndian(pData, &q1);
pData += sizeof(float);
FloatToBigEndian(pData, &q2);
pData += sizeof(float);
FloatToBigEndian(pData, &q3);
pData += sizeof(float);
FloatToBigEndian(pData, &q4);
pData += sizeof(float);
// Euler Angles + Heading
FloatToBigEndian(pData, &yaw);
pData += sizeof(float);
FloatToBigEndian(pData, &pitch);
pData += sizeof(float);
FloatToBigEndian(pData, &roll);
pData += sizeof(float);
FloatToBigEndian(pData, &heading);
UdpPacket.write((uint8_t*)RawSensors.buf, RawSensors.PacketSize);
UdpPacket.endPacket();
if (FrameAmount == 1 && !StandAloneMode)
{
// Update the bitalino data/sensors data in the bitalino OSC message
pData = BitalinoData.pData;
int k;
// Sequence #
ShortToBigEndian(pData, frame.seq);
pData += sizeof(int);
// digital first
for(k=0 ; k < 4 ; k++)
{
ShortToBigEndian(pData, frame.digital[k]);
pData += sizeof(int);
}
// then analog
for(k=0 ; k < 6 ; k++)
{
ShortToBigEndian(pData, frame.analog[k]);
pData += sizeof(int);
}
UdpPacket.write((uint8_t*)BitalinoData.buf, BitalinoData.PacketSize);
UdpPacket.endPacket();
FrameAmount = 0;
}
SetLedColor(0,0,0);
}
// Process the bitalino serial stream separately from the first UART
if(Serial.available())
{
//////////////////////////////////////////////////////////////////////////////////
// Incoming serial message (config, control)
if(GrabSerialMessage())
{
ProcessSerial();
FlagSerial = false;
}
}
if(Serial1.available())
{
FrameAmount = BITalino.readSingle(&frame);
}
}
//////////////////////////////////////////////////////////////////////////////////
// Handles the web server for configuration via the webpage
else
{
if(WiFi.localIP() == INADDR_NONE)
{
if((millis() - ElapsedTime2) > 100) // Blinks faster than during normal mode
{
ElapsedTime2 = millis();
// print dots while we wait to connect and blink the power led
if(StandAloneMode)
Serial.print(".");
if(BlinkStatus)
{
BlinkStatus = 0;
SetLedColor(0,0,0);
}
else
{
BlinkStatus = 1;
SetLedColor(0,1,0);
}
}
}
else if (!statusAP) {
statusAP = true;
SetLedColor(0,0,1);
Serial.println("AP active.");
printCurrentNet();
printWifiData();
Serial.println("Starting webserver on port 80");
server.begin();
Serial.println("Webserver started!");
}
if(statusAP) // We can accept clients
{
char c;
char LocalHttpBuffer[300];
int HttpBufferIndex = 0;
unsigned int Index, Rank;
client = server.available();
if (client) {
if(StandAloneMode)
Serial.println("new client");
// an http request ends with a blank line
boolean currentLineIsBlank = true;
boolean StayConnected = true;
while (client.connected() && StayConnected )
{
if (client.available())
{
c = client.read();
Serial.write(c);
if(c != '\r')
LocalHttpBuffer[HttpBufferIndex++] = c;
if(!currentLineIsBlank && c == '\n')
{
LocalHttpBuffer[HttpBufferIndex++] = '\0';
// Process HTTP contents
//Serial.println("new http line - processing");
//Serial.print(LocalHttpBuffer);
HttpBufferIndex = 0;
if(!strncmp(LocalHttpBuffer, "GET / ", 6))
PageToDisplay = CONFIG_WEB_PAGE;
else if(!strncmp(LocalHttpBuffer, "GET /params", 11))
{ // Apply settings request - parsing all parameters, stores, update, reboot
char *pHtml = LocalHttpBuffer;
// position the pointer on the first param
while(*pHtml != '?' && *pHtml != '\0') pHtml++;
pHtml++; // skips the ?
while(*pHtml != '\0')
{
pHtml += GrabNextParam(pHtml, StringBuffer);
//Serial.print("Param found: ");
//Serial.println(StringBuffer);
// Parsing params withing the submitted URL
if(!strncmp("ssid", StringBuffer, 4))
{
Index = SkipToValue(StringBuffer);
strcpy(ssid, &(StringBuffer[Index]));
Serial.print("Updated SSID: ");
Serial.println(ssid);
}
if(!strncmp("pass", StringBuffer, 4))
{
Index = SkipToValue(StringBuffer);
strcpy(password, &(StringBuffer[Index]));
Serial.print("Updated password: ");
Serial.println(password);
}
if(!strncmp("security", StringBuffer, 8))
{
Index = SkipToValue(StringBuffer);
if(!strncmp(&(StringBuffer[Index]), "WPA2", 4))
UseSecurity = true;
else
UseSecurity = false;
Serial.print("Updated Security: ");
Serial.println(UseSecurity);
}
if(!strncmp("mode", StringBuffer, 4))
{
Index = SkipToValue(StringBuffer);
if(!strncmp(&(StringBuffer[Index]), "station", 7))
APorStation = STATION_MODE;
else
APorStation = AP_MODE;
Serial.print("Updated Mode: ");
Serial.println(APorStation);
}
if(!strncmp("type", StringBuffer, 4))
{
Index = SkipToValue(StringBuffer);
if(!strncmp(&(StringBuffer[Index]), "static", 6))
UseDHCP = false;
else
UseDHCP = true;
Serial.print("Updated DHCP: ");
Serial.println(UseDHCP);
}
if(!strncmp("ip", StringBuffer, 2))
{
Rank = atoi(&(StringBuffer[2]));
Index = SkipToValue(StringBuffer);
LocalIP[Rank-1] = atoi(&(StringBuffer[Index]));
}
if(!strncmp("dip", StringBuffer, 3))
{
Rank = atoi(&(StringBuffer[3]));
Index = SkipToValue(StringBuffer);
DestIP[Rank-1] = atoi(&(StringBuffer[Index]));
}
if(!strncmp("gw", StringBuffer, 2))
{
Rank = atoi(&(StringBuffer[1]));
Index = SkipToValue(StringBuffer);
GatewayIP[Rank-1] = atoi(&(StringBuffer[Index]));
}
if(!strncmp("msk", StringBuffer, 3))
{
Rank = atoi(&(StringBuffer[1]));
Index = SkipToValue(StringBuffer);
SubnetMask[Rank-1] = atoi(&(StringBuffer[Index]));
}
if(!strncmp("port", StringBuffer, 4))
{
Index = SkipToValue(StringBuffer);
DestPort = atoi(&(StringBuffer[Index]));
}
if(!strncmp("id", StringBuffer, 2))
{
Index = SkipToValue(StringBuffer);