| 1 | /*
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| 2 | * Web Server - for the FACT lid slow control
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| 3 | * Need an Ethernet Shield over Arduino.
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| 4 | *
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| 5 | * based on the work of
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| 6 | * Martyn Woerner
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| 7 | * Alessandro Calzavara, alessandro(dot)calzavara(at)gmail(dot)com
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| 8 | * and Alberto Capponi, bebbo(at)fast-labs net
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| 9 | * for Arduino community! :-)
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| 10 | *
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| 11 | *
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| 12 | */
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| 13 | #include <SPI.h>
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| 14 | #include <Ethernet.h>
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| 15 | #include <avr/pgmspace.h>
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| 16 |
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| 17 | #include "ShutterController.h"
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| 18 |
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| 19 | #define USE_DHCP_FOR_IP_ADDRESS
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| 20 | #define ENABLE_ETHERNET
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| 21 | #define SAMPLES 100
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| 22 |
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| 23 | // Define MAC and IP addresses
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| 24 | byte _mac[] = { 0x90, 0xA2, 0xDA, 0x00, 0x5C, 0x91 };
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| 25 |
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| 26 | #if !defined USE_DHCP_FOR_IP_ADDRESS
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| 27 | // ip represents the fixed IP address to use if DHCP is disabled.
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| 28 | IPAddress _ip(10,0,100,36);
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| 29 | #endif
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| 30 | //
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| 31 |
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| 32 | // Each value is the real current value in the motors;
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| 33 | // Define Current Limits in [A] - Offset is 0.5A for no load on the motors
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| 34 | // pushing coefficient ~100 Kg/A
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| 35 | const double _ZeroCurrent PROGMEM = 0.25; // [A]
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| 36 | const double _CurrentPushingLimit PROGMEM = 0.70; // 0.7-0.5 = 0.2 -> 20 +/- 5 kg
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| 37 | const double _OverCurrent PROGMEM = 1.50; // 1.5-0.5 = 1 -> 100 +/- 5 kg
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| 38 |
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| 39 | const int _StartPoint = 0;
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| 40 | const int _StartPointLimit = 70;
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| 41 | const int _EndPoint = 1024;
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| 42 | const int _EndPointLimit = 740;
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| 43 |
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| 44 | // Define Lid Status levels and labels
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| 45 | const int _UNKNOWN = 0;
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| 46 | const int _CLOSED = 1;
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| 47 | const int _OPEN = 2;
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| 48 | const int _STEADY = 3;
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| 49 | const int _MOVING = 4;
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| 50 | const int _CLOSING = 5;
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| 51 | const int _OPENING = 6;
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| 52 | const int _JAMMED = 7;
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| 53 | const int _MOTOR_FAULT = 8;
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| 54 | const int _POWER_PROBLEM = 9;
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| 55 | const int _OVER_CURRENT = 10;
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| 56 |
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| 57 | const char* _StatusLabel[] = {"Unknown",
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| 58 | "Closed",
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| 59 | "Open",
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| 60 | "Steady",
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| 61 | "Moving",
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| 62 | "Closing",
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| 63 | "Opening",
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| 64 | "Jammed",
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| 65 | "Motor Fault",
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| 66 | "Power Problem",
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| 67 | "Overcurrent"};
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| 68 | // Define Arduino pins
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| 69 | const int _pinPWM[2] = {5, 6};
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| 70 | const int _pinDA[2] = {2, 7};
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| 71 | const int _pinDB[2] = {3, 8};
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| 72 | //unsigned char _ENDIAG[2] = {A4, A5};
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| 73 |
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| 74 |
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| 75 | // Define conversion coefficients
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| 76 | double _ADC2V = 5. / 1024. ; // ADC channel to Volt
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| 77 | double _V2A = 0.140; // 140 mV/A conversion factor for the
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| 78 |
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| 79 |
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| 80 | // Define sensor value and lid status variables
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| 81 | double _sensorValue[2] = {0,0};
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| 82 | double _currentValue[2] = {0,0};
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| 83 | uint8_t _LidStatus[2] = {0,0};
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| 84 |
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| 85 | extern int __bss_end;
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| 86 | extern void *__brkval;
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| 87 |
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| 88 | // Http header token delimiters
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| 89 | char *pSpDelimiters = " \r\n";
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| 90 | char *pStxDelimiter = "\002"; // STX - ASCII start of text character
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| 91 |
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| 92 | /**********************************************************************************************************************
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| 93 | * Strings stored in flash of the HTML we will be transmitting
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| 94 | ***********************************************************************************************************************/
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| 95 |
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| 96 | // HTTP Request message
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| 97 | prog_char content_404[] PROGMEM = "HTTP/1.1 404 Not Found\nServer: arduino\nContent-Type: text/html\n\n<html>"
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| 98 | "<head><title>Arduino Web Server - Error 404</title></head>"
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| 99 | "<body><h1>Error 404: Sorry, that page cannot be found!</h1></body>";
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| 100 | PROGMEM const char *page_404[] = { content_404 }; // table with 404 page
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| 101 |
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| 102 | // HTML Header for pages
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| 103 | const prog_char content_main_header[] PROGMEM= "HTTP/1.0 200 OK\nServer: arduino\nCache-Control: no-store, no-cache, must-revalidate\n"
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| 104 | "Pragma: no-cache\nConnection: close\nContent-Type: text/html\n";
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| 105 |
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| 106 | const prog_char content_main_top[] PROGMEM = "<html><head><meta http-equiv=\"refresh\" content=\"5\"/><title>Arduino Web Server</title>"
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| 107 | "<style type=\"text/css\">table{border-collapse:collapse;}td{padding:0.25em 0.5em;border:0.5em solid #C8C8C8;}</style>"
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| 108 | "</head><body><h1>Arduino Web Server</h1>";
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| 109 |
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| 110 |
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| 111 | const prog_char content_main_menu[] PROGMEM = "<table width=\"500\"><tr><td align=\"center\"><a href=\"/\">Page 1</a></td></tr></table>";
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| 112 | const prog_char content_main_footer[] PROGMEM = "</body></html>";
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| 113 | PGM_P contents_main[] PROGMEM = { content_main_header, content_main_top, content_main_menu, content_main_footer }; // table with 404 page
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| 114 |
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| 115 | #define CONT_HEADER 0
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| 116 | #define CONT_TOP 1
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| 117 | #define CONT_MENU 2
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| 118 | #define CONT_FOOTER 3
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| 119 |
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| 120 |
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| 121 | // Page 1
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| 122 | const PROGMEM prog_char http_uri1[] = "/";
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| 123 | const PROGMEM prog_char content_title1[] = "<h2>Shutter Lid Control - Beta</h2>";
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| 124 | #ifdef DEBUG
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| 125 | // To Be Fixed
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| 126 | const PROGMEM prog_char content_page1[] = "<hr /><form action=\"/__output__\" method=\"POST\">"
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| 127 | "<button name=\"Button1\" value=\"valueButton1\" type=\"submit\">Move Motor 1 OUT </button><p>"
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| 128 | "<button name=\"Button2\" value=\"valueButton2\" type=\"submit\">Move Motor 1 IN </button><p>"
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| 129 | "<button name=\"Button3\" value=\"valueButton3\" type=\"submit\">Move Motor 2 OUT </button><p>"
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| 130 | "<button name=\"Button4\" value=\"valueButton4\" type=\"submit\">Move Motor 2 IN </button><p>"
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| 131 | "<button name=\"Button5\" value=\"valueButton5\" type=\"submit\">Open Lid</button><p>"
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| 132 | "<button name=\"Button6\" value=\"valueButton6\" type=\"submit\">Close Lid</button><p>"
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| 133 | "Motor Current 1 = \002 A <p> Motor Current 2 = \002 A <p> Hall Sensor 1 = \002 ADC counts <p> Hall Sensor 2 = \002 ADC counts<p>"
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| 134 | "</form></p>";
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| 135 | #else
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| 136 | const PROGMEM prog_char content_page1[] = "<hr/><form action=\"/__output__\" method=\"POST\">"
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| 137 | "<button name=\"Button5\" value=\"valueButton5\" type=\"submit\">Open Lid</button><p/>"
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| 138 | "<button name=\"Button6\" value=\"valueButton6\" type=\"submit\">Close Lid</button><p/>"
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| 139 | "<span id=\"cur1\" value=\"\002\"> Motor Current 1 = \002 A </span><p/><span id=\"cur2\" value=\"\002\"> Motor Current 2 = \002 A </span><p/>"
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| 140 | "<span id=\"pos1\" value=\"\002\"> Hall Sensor 1 = \002 ADC ounts </span><p/><span id=\"pos2\" valus=\"\002\"> Hall Sensor 2 = \002 ADC counts</span><p/>"
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| 141 | "</form></p>";
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| 142 | //<br/></body></html>
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| 143 | #endif
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| 144 |
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| 145 | // Page 5
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| 146 |
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| 147 | const PROGMEM prog_char http_uri5[] = "/__output__";
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| 148 | const PROGMEM prog_char content_title5[] = "<h2>Shutter Lid Control - Beta</h2>";
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| 149 | #ifdef DEBUG
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| 150 | // To Be Fixed
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| 151 | const PROGMEM prog_char content_page5[] = "<hr /><form action=\"/__output__\" method=\"POST\">"
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| 152 | "<button name=\"Button1\" value=\"valueButton1\" type=\"submit\">Move Motor 1 OUT </button><p>"
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| 153 | "<button name=\"Button2\" value=\"valueButton2\" type=\"submit\">Move Motor 1 IN </button><p>"
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| 154 | "<button name=\"Button3\" value=\"valueButton3\" type=\"submit\">Move Motor 2 OUT </button><p>"
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| 155 | "<button name=\"Button4\" value=\"valueButton4\" type=\"submit\">Move Motor 2 IN </button><p>"
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| 156 | "<button name=\"Button5\" value=\"valueButton5\" type=\"submit\">Open Lid</button><p>"
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| 157 | "<button name=\"Button6\" value=\"valueButton6\" type=\"submit\">Close Lid</button><p>"
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| 158 | "Motor Current 1 = \"\002\" A <p> Motor Current 2 = \"\002\" A <p> Hall Sensor 1 = \"\002\" ADC ounts <p> Hall Sensor 2 = \"\002\" ADC counts<p>"
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| 159 | "Lid 1 Status : \"\002\"<p>"
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| 160 | "Lid 2 Status : \"\002\"<p><p>"
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| 161 | "received a POST request</p></form></p>";
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| 162 | #else
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| 163 | const PROGMEM prog_char content_page5[] = "<hr/><form action=\"/__output__\" method=\"POST\">"
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| 164 | "<button name=\"Button5\" value=\"valueButton5\" type=\"submit\">Open Lid</button><p/>"
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| 165 | "<button name=\"Button6\" value=\"valueButton6\" type=\"submit\">Close Lid</button><p/>"
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| 166 | "<span id=\"cur1\" value=\"\002\"> Motor Current 1 = \002 A </span><p/><span id=\"cur2\" value=\"\002\"> Motor Current 2 = \002 A </span><p/>"
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| 167 | "<span id=\"pos1\" value=\"\002\"> Hall Sensor 1 = \002 ADC ounts </span><p/><span id=\"pos2\" value=\"\002\"> Hall Sensor 2 = \002 ADC counts</span><p/>"
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| 168 | "<span id=\"lid1\" value=\"\002\"> Lid 1 Status : \002</span><p/>"
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| 169 | "<span id=\"lid2\" value=\"\002\"> Lid 2 Status : \002</span><p/>"
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| 170 | "<p/>received a POST request</form><p/>";
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| 171 | // <br/></body></html>
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| 172 | #endif
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| 173 |
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| 174 | // declare tables for the pages
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| 175 | PGM_P contents_titles[] PROGMEM = { content_title1, content_title5 }; // titles
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| 176 | PGM_P contents_pages [] PROGMEM = { content_page1, content_page5 }; // real content
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| 177 |
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| 178 | #ifdef USE_IMAGES
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| 179 |
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| 180 | /**********************************************************************************************************************
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| 181 | * Image strings and data stored in flash for the image UISs we will be transmitting
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| 182 | ***********************************************************************************************************************/
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| 183 |
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| 184 | // A Favicon is a little custom icon that appears next to a website's URL in the address bar of a web browser.
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| 185 | // They also show up in your bookmarked sites, on the tabs in tabbed browsers, and as the icon for Internet shortcuts
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| 186 | // on your desktop or other folders in Windows.
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| 187 | const PROGMEM prog_char http_uri6[] = "/favicon.ico"; // favicon Request message
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| 188 |
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| 189 | const PROGMEM prog_char content_image_header[] = "HTTP/1.1 200 OK\nServer: arduino\nContent-Length: \002\nContent-Type: image/\002\n\r\n";
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| 190 |
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| 191 | #ifdef USE_ARDUINO_ICON
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| 192 |
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| 193 | const PROGMEM prog_char content_favicon_data[] = {
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| 194 | 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x10, 0x10, 0x10, 0x00, 0x01, 0x00, 0x04, 0x00, 0x28, 0x01, 0x00, 0x00, 0x16, 0x00,
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| 195 | 0x00, 0x00, 0x28, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x01, 0x00, 0x04, 0x00, 0x00, 0x00,
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| 196 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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| 197 | 0x00, 0x00, 0x80, 0x80, 0x00, 0x00, 0x80, 0x80, 0x80, 0x00, 0xC0, 0xC0, 0xC0, 0x00, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x00,
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| 198 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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| 199 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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| 200 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x44, 0x44, 0x41, 0x00, 0x00, 0x14, 0x44, 0x44, 0x44, 0x41, 0x00, 0x00, 0x00, 0x00,
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| 201 | 0x14, 0x44, 0x44, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x44, 0x41, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x14, 0x40, 0x23,
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| 202 | 0x33, 0x20, 0x02, 0x33, 0x32, 0x04, 0x12, 0x30, 0x00, 0x32, 0x23, 0x00, 0x03, 0x21, 0x03, 0x00, 0x00, 0x03, 0x30, 0x03,
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| 203 | 0x00, 0x30, 0x03, 0x03, 0x33, 0x03, 0x30, 0x33, 0x30, 0x30, 0x03, 0x00, 0x00, 0x03, 0x30, 0x03, 0x00, 0x30, 0x02, 0x30,
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| 204 | 0x00, 0x32, 0x23, 0x00, 0x03, 0x20, 0x10, 0x23, 0x33, 0x20, 0x02, 0x33, 0x32, 0x01, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00,
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| 205 | 0x00, 0x04, 0x41, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x14, 0x44, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x44, 0x44, 0x41,
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| 206 | 0x00, 0x00, 0x00, 0x00, 0x14, 0x44, 0x44, 0x44, 0x41, 0x00, 0x00, 0x14, 0x44, 0x44, 0xF8, 0x1F, 0x00, 0x00, 0xE0, 0x07,
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| 207 | 0x00, 0x00, 0xC0, 0x03, 0x00, 0x00, 0x80, 0x01, 0x00, 0x00, 0x80, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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| 208 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x01,
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| 209 | 0x00, 0x00, 0x80, 0x01, 0x00, 0x00, 0xC0, 0x03, 0x00, 0x00, 0xE0, 0x07, 0x00, 0x00, 0xF8, 0x1F, 0x00, 0x00
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| 210 | };
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| 211 | #else
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| 212 |
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| 213 | const PROGMEM prog_char content_favicon_data[] = {
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| 214 | 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x10, 0x10, 0x10, 0x00, 0x01, 0x00, 0x04, 0x00, 0x28, 0x01, 0x00, 0x00, 0x16, 0x00,
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| 215 | 0x00, 0x00, 0x28, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x01, 0x00, 0x04, 0x00, 0x00, 0x00,
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| 216 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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| 217 | 0x00, 0x00, 0x00, 0x00, 0x66, 0x00, 0x00, 0x33, 0x66, 0x00, 0x33, 0x33, 0x66, 0x00, 0x66, 0x66, 0x99, 0x00, 0x99, 0x99,
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| 218 | 0x99, 0x00, 0x99, 0x99, 0xCC, 0x00, 0xCC, 0xCC, 0xCC, 0x00, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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| 219 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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| 220 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0x62, 0x00,
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| 221 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x47, 0x76, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x67, 0x77, 0x00, 0x00, 0x00, 0x00, 0x00,
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| 222 | 0x00, 0x26, 0x63, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0x50, 0x00,
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| 223 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0x60, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x70, 0x00, 0x00, 0x00, 0x00, 0x00,
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| 224 | 0x00, 0x07, 0x72, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x37, 0x75, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x67, 0x76, 0x00,
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| 225 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x67, 0x77, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x67, 0x77, 0x00, 0x00, 0x00, 0x00, 0x00,
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| 226 | 0x00, 0x37, 0x73, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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| 227 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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| 228 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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| 229 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
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| 230 | };
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| 231 | #endif // USE_ARDUINO_ICON
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| 232 |
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| 233 | // declare tables for the images
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| 234 | PGM_P image_header PROGMEM = content_image_header;
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| 235 | PGM_P data_for_images [] PROGMEM = { content_favicon_data}; // real data
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| 236 | const int size_for_images [] PROGMEM = { sizeof(content_favicon_data)};
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| 237 | // declare table for all URIs
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| 238 | PGM_P http_uris[] PROGMEM = { http_uri1, http_uri5, http_uri6 }; // URIs
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| 239 |
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| 240 |
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| 241 | #else
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| 242 | PGM_P image_header PROGMEM = NULL;
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| 243 | PGM_P data_for_images [] PROGMEM = { }; // real data
|
|---|
| 244 | const int size_for_images [] PROGMEM = { };
|
|---|
| 245 | // declare table for all URIs
|
|---|
| 246 | PGM_P http_uris[] PROGMEM = { http_uri1, http_uri5 }; // URIs
|
|---|
| 247 |
|
|---|
| 248 | #endif // USE_IMAGES
|
|---|
| 249 |
|
|---|
| 250 | #define NUM_PAGES sizeof(contents_pages) / sizeof(PGM_P)
|
|---|
| 251 | #define NUM_IMAGES sizeof(data_for_images) / sizeof(PGM_P) // favicon or png format
|
|---|
| 252 | #define NUM_URIS NUM_PAGES + NUM_IMAGES // Pages URIs + favicon URI, etc
|
|---|
| 253 |
|
|---|
| 254 | /**********************************************************************************************************************
|
|---|
| 255 | * Shared variable and Setup()
|
|---|
| 256 | ***********************************************************************************************************************/
|
|---|
| 257 | EthernetServer server(80);
|
|---|
| 258 |
|
|---|
| 259 | void setup()
|
|---|
| 260 | {
|
|---|
| 261 | Serial.begin(115200); // DEBUG
|
|---|
| 262 |
|
|---|
| 263 | #ifdef ENABLE_ETHERNET
|
|---|
| 264 | #ifdef USE_DHCP_FOR_IP_ADDRESS
|
|---|
| 265 | Serial.println("Attempting to obtain a DHCP lease...");
|
|---|
| 266 |
|
|---|
| 267 | Ethernet.begin(_mac); // Use DHCP to get an IP address
|
|---|
| 268 | #else
|
|---|
| 269 | Serial.println("Using hard-coded ip...");
|
|---|
| 270 | Ethernet.begin(_mac, _ip);
|
|---|
| 271 | #endif
|
|---|
| 272 |
|
|---|
| 273 |
|
|---|
| 274 | Serial.println("A DHCP lease has been obtained.");
|
|---|
| 275 |
|
|---|
| 276 | Serial.print("My IP address is ");
|
|---|
| 277 | Serial.println(Ethernet.localIP());
|
|---|
| 278 |
|
|---|
| 279 | // Serial.print("Gateway IP address is ");
|
|---|
| 280 | // Serial.println(ip_to_str(gatewayAddr));
|
|---|
| 281 |
|
|---|
| 282 | // Serial.print("DNS IP address is ");
|
|---|
| 283 | // Serial.println(ip_to_str(dnsAddr));
|
|---|
| 284 |
|
|---|
| 285 |
|
|---|
| 286 | server.begin();
|
|---|
| 287 | #endif
|
|---|
| 288 | //_Motor.init();
|
|---|
| 289 |
|
|---|
| 290 | //For Arduino Motor Shield set pin 4,5,6,7 to output mode
|
|---|
| 291 | pinMode(2, OUTPUT);
|
|---|
| 292 | pinMode(4, OUTPUT);
|
|---|
| 293 | pinMode(5, OUTPUT);
|
|---|
| 294 | pinMode(6, OUTPUT);
|
|---|
| 295 | pinMode(7, OUTPUT);
|
|---|
| 296 | pinMode(8, OUTPUT);
|
|---|
| 297 |
|
|---|
| 298 | pinMode(A0, INPUT); //
|
|---|
| 299 | pinMode(A1, INPUT); //
|
|---|
| 300 | pinMode(A2, INPUT); //
|
|---|
| 301 | pinMode(A3, INPUT); //
|
|---|
| 302 |
|
|---|
| 303 | // First clear all three prescaler bits:
|
|---|
| 304 | int prescalerVal = 0x07; // create a variable called prescalerVal and set it equal to the binary number "00000111"
|
|---|
| 305 |
|
|---|
| 306 | TCCR0B &= ~prescalerVal; // AND the value in TCCR0B with binary number "11111000"
|
|---|
| 307 |
|
|---|
| 308 | //Now set the appropriate prescaler bits:
|
|---|
| 309 | prescalerVal = 3; // set prescalerVal equal to binary number "00000001"
|
|---|
| 310 | TCCR0B |= prescalerVal; // OR the value in TCCR0B with binary number "00000001"
|
|---|
| 311 |
|
|---|
| 312 | // TCCR0A = _BV(COM0A0) | _BV(COM0B1) | _BV(WGM01) | _BV(WGM00);
|
|---|
| 313 | // TCCR0B = _BV(WGM02) | _BV(CS02);
|
|---|
| 314 | // OCR0A = 180;
|
|---|
| 315 | // OCR0B = 50;
|
|---|
| 316 |
|
|---|
| 317 | //pinMode(ledPin, OUTPUT);
|
|---|
| 318 | //setLed(true);
|
|---|
| 319 | }
|
|---|
| 320 |
|
|---|
| 321 | /**********************************************************************************************************************
|
|---|
| 322 | * Main loop
|
|---|
| 323 | ***********************************************************************************************************************/
|
|---|
| 324 |
|
|---|
| 325 | void loop()
|
|---|
| 326 | {
|
|---|
| 327 | #ifdef ENABLE_ETHERNET
|
|---|
| 328 | EthernetClient client = server.available();
|
|---|
| 329 | #endif
|
|---|
| 330 |
|
|---|
| 331 |
|
|---|
| 332 | #ifdef ENABLE_ETHERNET
|
|---|
| 333 | if (client)
|
|---|
| 334 | {
|
|---|
| 335 | // now client is connected to arduino we need to extract the
|
|---|
| 336 | // following fields from the HTTP request.
|
|---|
| 337 | int nUriIndex; // Gives the index into table of recognized URIs or -1 for not found.
|
|---|
| 338 | BUFFER requestContent; // Request content as a null-terminated string.
|
|---|
| 339 | MethodType eMethod = readHttpRequest(client, nUriIndex, requestContent);
|
|---|
| 340 |
|
|---|
| 341 | #ifdef DEBUG
|
|---|
| 342 | Serial.print(" o- Read Request type: ");
|
|---|
| 343 | Serial.print(eMethod);
|
|---|
| 344 | Serial.print(" Uri index: ");
|
|---|
| 345 | Serial.print(nUriIndex);
|
|---|
| 346 | Serial.print(" content: ");
|
|---|
| 347 | Serial.print(requestContent);
|
|---|
| 348 | Serial.print("\n");
|
|---|
| 349 | #endif
|
|---|
| 350 | if (nUriIndex < 0)
|
|---|
| 351 | {
|
|---|
| 352 | // URI not found
|
|---|
| 353 | sendProgMemAsString(client, (char*)pgm_read_word(&(page_404[0])));
|
|---|
| 354 | }
|
|---|
| 355 | else if (nUriIndex < NUM_PAGES)
|
|---|
| 356 | {
|
|---|
| 357 | // Normal page request, may depend on content of the request
|
|---|
| 358 | #ifdef DEBUG
|
|---|
| 359 | Serial.println(" o- Sending page");
|
|---|
| 360 | #endif
|
|---|
| 361 | sendPage(client, nUriIndex, requestContent);
|
|---|
| 362 | }
|
|---|
| 363 | else
|
|---|
| 364 | {
|
|---|
| 365 | // Image request
|
|---|
| 366 | sendImage(client, nUriIndex, requestContent);
|
|---|
| 367 | }
|
|---|
| 368 |
|
|---|
| 369 | // give the web browser time to receive the data
|
|---|
| 370 | // delay(1);
|
|---|
| 371 | delay(100);
|
|---|
| 372 |
|
|---|
| 373 | client.stop();
|
|---|
| 374 | }
|
|---|
| 375 | #endif
|
|---|
| 376 |
|
|---|
| 377 |
|
|---|
| 378 | }
|
|---|
| 379 |
|
|---|
| 380 | #ifdef ENABLE_ETHERNET
|
|---|
| 381 | /**********************************************************************************************************************
|
|---|
| 382 | * Method for read HTTP Header Request from web client
|
|---|
| 383 | *
|
|---|
| 384 | * The HTTP request format is defined at http://www.w3.org/Protocols/HTTP/1.0/spec.html#Message-Types
|
|---|
| 385 | * and shows the following structure:
|
|---|
| 386 | * Full-Request and Full-Response use the generic message format of RFC 822 [7] for transferring entities. Both messages may include optional header fields
|
|---|
| 387 | * (also known as "headers") and an entity body. The entity body is separated from the headers by a null line (i.e., a line with nothing preceding the CRLF).
|
|---|
| 388 | * Full-Request = Request-Line
|
|---|
| 389 | * *( General-Header
|
|---|
| 390 | * | Request-Header
|
|---|
| 391 | * | Entity-Header )
|
|---|
| 392 | * CRLF
|
|---|
| 393 | * [ Entity-Body ]
|
|---|
| 394 | *
|
|---|
| 395 | * The Request-Line begins with a method token, followed by the Request-URI and the protocol version, and ending with CRLF. The elements are separated by SP characters.
|
|---|
| 396 | * No CR or LF are allowed except in the final CRLF sequence.
|
|---|
| 397 | * Request-Line = Method SP Request-URI SP HTTP-Version CRLF
|
|---|
| 398 | * HTTP header fields, which include General-Header, Request-Header, Response-Header, and Entity-Header fields, follow the same generic format.
|
|---|
| 399 | * Each header field consists of a name followed immediately by a colon (":"), a single space (SP) character, and the field value.
|
|---|
| 400 | * Field names are case-insensitive. Header fields can be extended over multiple lines by preceding each extra line with at least one SP or HT, though this is not recommended.
|
|---|
| 401 | * HTTP-header = field-name ":" [ field-value ] CRLF
|
|---|
| 402 | ***********************************************************************************************************************/
|
|---|
| 403 | // Read HTTP request, setting Uri Index, the requestContent and returning the method type.
|
|---|
| 404 | MethodType readHttpRequest(EthernetClient & client, int & nUriIndex, BUFFER & requestContent)
|
|---|
| 405 | {
|
|---|
| 406 |
|
|---|
| 407 |
|
|---|
| 408 | BUFFER readBuffer; // Just a work buffer into which we can read records
|
|---|
| 409 | int nContentLength = 0;
|
|---|
| 410 | bool bIsUrlEncoded;
|
|---|
| 411 |
|
|---|
| 412 | requestContent[0] = 0; // Initialize as an empty string
|
|---|
| 413 | // Read the first line: Request-Line setting Uri Index and returning the method type.
|
|---|
| 414 | MethodType eMethod = readRequestLine(client, readBuffer, nUriIndex, requestContent);
|
|---|
| 415 | // Read any following, non-empty headers setting content length.
|
|---|
| 416 | readRequestHeaders(client, readBuffer, nContentLength, bIsUrlEncoded);
|
|---|
| 417 |
|
|---|
| 418 | if (nContentLength > 0)
|
|---|
| 419 | {
|
|---|
| 420 | // If there is some content then read it and do an elementary decode.
|
|---|
| 421 | readEntityBody(client, nContentLength, requestContent);
|
|---|
| 422 | if (bIsUrlEncoded)
|
|---|
| 423 | {
|
|---|
| 424 | // The '+' encodes for a space, so decode it within the string
|
|---|
| 425 | for (char * pChar = requestContent; (pChar = strchr(pChar, '+')) != NULL; )
|
|---|
| 426 | *pChar = ' '; // Found a '+' so replace with a space
|
|---|
| 427 | }
|
|---|
| 428 | }
|
|---|
| 429 |
|
|---|
| 430 | return eMethod;
|
|---|
| 431 | }
|
|---|
| 432 |
|
|---|
| 433 | // Read the first line of the HTTP request, setting Uri Index and returning the method type.
|
|---|
| 434 | // If it is a GET method then we set the requestContent to whatever follows the '?'. For a other
|
|---|
| 435 | // methods there is no content except it may get set later, after the headers for a POST method.
|
|---|
| 436 | MethodType readRequestLine(EthernetClient & client, BUFFER & readBuffer, int & nUriIndex, BUFFER & requestContent)
|
|---|
| 437 | {
|
|---|
| 438 | MethodType eMethod;
|
|---|
| 439 | // Get first line of request:
|
|---|
| 440 | // Request-Line = Method SP Request-URI SP HTTP-Version CRLF
|
|---|
| 441 | getNextHttpLine(client, readBuffer);
|
|---|
| 442 | // Split it into the 3 tokens
|
|---|
| 443 | char * pMethod = strtok(readBuffer, pSpDelimiters);
|
|---|
| 444 | char * pUri = strtok(NULL, pSpDelimiters);
|
|---|
| 445 | char * pVersion = strtok(NULL, pSpDelimiters);
|
|---|
| 446 | // URI may optionally comprise the URI of a queryable object a '?' and a query
|
|---|
| 447 | // see http://www.ietf.org/rfc/rfc1630.txt
|
|---|
| 448 | strtok(pUri, "?");
|
|---|
| 449 | char * pQuery = strtok(NULL, "?");
|
|---|
| 450 | if (pQuery != NULL)
|
|---|
| 451 | {
|
|---|
| 452 | strcpy(requestContent, pQuery);
|
|---|
| 453 | // The '+' encodes for a space, so decode it within the string
|
|---|
| 454 | for (pQuery = requestContent; (pQuery = strchr(pQuery, '+')) != NULL; )
|
|---|
| 455 | *pQuery = ' '; // Found a '+' so replace with a space
|
|---|
| 456 |
|
|---|
| 457 | // Serial.print("Get query string: ");
|
|---|
| 458 | // Serial.println(requestContent);
|
|---|
| 459 | }
|
|---|
| 460 | if (strcmp(pMethod, "GET") == 0){
|
|---|
| 461 | eMethod = MethodGet;
|
|---|
| 462 | #ifdef DEBUG
|
|---|
| 463 | Serial.println("readRequestLine-> GET");
|
|---|
| 464 | #endif
|
|---|
| 465 | }
|
|---|
| 466 | else if (strcmp(pMethod, "POST") == 0){
|
|---|
| 467 | eMethod = MethodPost;
|
|---|
| 468 | #ifdef DEBUG
|
|---|
| 469 | Serial.println("readRequestLine-> POST");
|
|---|
| 470 | #endif
|
|---|
| 471 | }
|
|---|
| 472 | else if (strcmp(pMethod, "HEAD") == 0){
|
|---|
| 473 | eMethod = MethodHead;
|
|---|
| 474 | #ifdef DEBUG
|
|---|
| 475 | Serial.println("readRequestLine-> HEAD");
|
|---|
| 476 | #endif
|
|---|
| 477 | }
|
|---|
| 478 | else
|
|---|
| 479 | eMethod = MethodUnknown;
|
|---|
| 480 |
|
|---|
| 481 | // See if we recognize the URI and get its index
|
|---|
| 482 | nUriIndex = GetUriIndex(pUri);
|
|---|
| 483 |
|
|---|
| 484 | return eMethod;
|
|---|
| 485 | }
|
|---|
| 486 |
|
|---|
| 487 | // Read each header of the request till we get the terminating CRLF
|
|---|
| 488 | void readRequestHeaders(EthernetClient & client, BUFFER & readBuffer, int & nContentLength, bool & bIsUrlEncoded)
|
|---|
| 489 | {
|
|---|
| 490 | nContentLength = 0; // Default is zero in cate there is no content length.
|
|---|
| 491 | bIsUrlEncoded = true; // Default encoding
|
|---|
| 492 | // Read various headers, each terminated by CRLF.
|
|---|
| 493 | // The CRLF gets removed and the buffer holds each header as a string.
|
|---|
| 494 | // An empty header of zero length terminates the list.
|
|---|
| 495 | do
|
|---|
| 496 | {
|
|---|
| 497 | getNextHttpLine(client, readBuffer);
|
|---|
| 498 | // Serial.println(readBuffer); // DEBUG
|
|---|
| 499 | // Process a header. We only need to extract the (optionl) content
|
|---|
| 500 | // length for the binary content that follows all these headers.
|
|---|
| 501 | // General-Header = Date | Pragma
|
|---|
| 502 | // Request-Header = Authorization | From | If-Modified-Since | Referer | User-Agent
|
|---|
| 503 | // Entity-Header = Allow | Content-Encoding | Content-Length | Content-Type
|
|---|
| 504 | // | Expires | Last-Modified | extension-header
|
|---|
| 505 | // extension-header = HTTP-header
|
|---|
| 506 | // HTTP-header = field-name ":" [ field-value ] CRLF
|
|---|
| 507 | // field-name = token
|
|---|
| 508 | // field-value = *( field-content | LWS )
|
|---|
| 509 | // field-content = <the OCTETs making up the field-value
|
|---|
| 510 | // and consisting of either *TEXT or combinations
|
|---|
| 511 | // of token, tspecials, and quoted-string>
|
|---|
| 512 | char * pFieldName = strtok(readBuffer, pSpDelimiters);
|
|---|
| 513 | char * pFieldValue = strtok(NULL, pSpDelimiters);
|
|---|
| 514 |
|
|---|
| 515 | if (strcmp(pFieldName, "Content-Length:") == 0)
|
|---|
| 516 | {
|
|---|
| 517 | nContentLength = atoi(pFieldValue);
|
|---|
| 518 | }
|
|---|
| 519 | else if (strcmp(pFieldName, "Content-Type:") == 0)
|
|---|
| 520 | {
|
|---|
| 521 | if (strcmp(pFieldValue, "application/x-www-form-urlencoded") != 0)
|
|---|
| 522 | bIsUrlEncoded = false;
|
|---|
| 523 | }
|
|---|
| 524 | } while (strlen(readBuffer) > 0); // empty string terminates
|
|---|
| 525 | }
|
|---|
| 526 |
|
|---|
| 527 | // Read the entity body of given length (after all the headers) into the buffer.
|
|---|
| 528 | void readEntityBody(EthernetClient & client, int nContentLength, BUFFER & content)
|
|---|
| 529 | {
|
|---|
| 530 | int i;
|
|---|
| 531 | char c;
|
|---|
| 532 |
|
|---|
| 533 | if (nContentLength >= sizeof(content))
|
|---|
| 534 | nContentLength = sizeof(content) - 1; // Should never happen!
|
|---|
| 535 |
|
|---|
| 536 | for (i = 0; i < nContentLength; ++i)
|
|---|
| 537 | {
|
|---|
| 538 | c = client.read();
|
|---|
| 539 | // Serial.print(c); // DEBUG
|
|---|
| 540 | content[i] = c;
|
|---|
| 541 | }
|
|---|
| 542 |
|
|---|
| 543 | content[nContentLength] = 0; // Null string terminator
|
|---|
| 544 |
|
|---|
| 545 | // Serial.print("Content: ");
|
|---|
| 546 | // Serial.println(content);
|
|---|
| 547 | }
|
|---|
| 548 |
|
|---|
| 549 | // See if we recognize the URI and get its index; or -1 if we don't recognize it.
|
|---|
| 550 | int GetUriIndex(char * pUri)
|
|---|
| 551 | {
|
|---|
| 552 |
|
|---|
| 553 | #ifdef DEBUG
|
|---|
| 554 | Serial.print("GetUriIndex(");
|
|---|
| 555 | Serial.print(pUri);
|
|---|
| 556 | Serial.print(")\n");
|
|---|
| 557 | #endif
|
|---|
| 558 |
|
|---|
| 559 | int nUriIndex = -1;
|
|---|
| 560 | // select the page from the buffer (GET and POST) [start]
|
|---|
| 561 | for (int i = 0; i < NUM_URIS; i++)
|
|---|
| 562 | {
|
|---|
| 563 | if (strcmp_P(pUri, (PGM_P)pgm_read_word(&(http_uris[i]))) == 0)
|
|---|
| 564 | {
|
|---|
| 565 | nUriIndex = i;
|
|---|
| 566 |
|
|---|
| 567 | #ifdef DEBUG
|
|---|
| 568 | Serial.print(" o- URI: ");
|
|---|
| 569 | Serial.println(pUri);
|
|---|
| 570 | #endif
|
|---|
| 571 |
|
|---|
| 572 | break;
|
|---|
| 573 | }
|
|---|
| 574 | }
|
|---|
| 575 | // Serial.print("URI: ");
|
|---|
| 576 | // Serial.print(pUri);
|
|---|
| 577 | // Serial.print(" Page: ");
|
|---|
| 578 | // Serial.println(nUriIndex);
|
|---|
| 579 |
|
|---|
| 580 | return nUriIndex;
|
|---|
| 581 | }
|
|---|
| 582 |
|
|---|
| 583 | /**********************************************************************************************************************
|
|---|
| 584 | * Read the next HTTP header record which is CRLF delimited. We replace CRLF with string terminating null.
|
|---|
| 585 | ***********************************************************************************************************************/
|
|---|
| 586 | void getNextHttpLine(EthernetClient & client, BUFFER & readBuffer)
|
|---|
| 587 | {
|
|---|
| 588 | char c;
|
|---|
| 589 | int bufindex = 0; // reset buffer
|
|---|
| 590 |
|
|---|
| 591 | // reading next header of HTTP request
|
|---|
| 592 | if (client.connected() && client.available())
|
|---|
| 593 | {
|
|---|
| 594 | // read a line terminated by CRLF
|
|---|
| 595 | readBuffer[0] = client.read();
|
|---|
| 596 | readBuffer[1] = client.read();
|
|---|
| 597 | bufindex = 2;
|
|---|
| 598 | for (int i = 2; readBuffer[i - 2] != '\r' && readBuffer[i - 1] != '\n'; ++i)
|
|---|
| 599 | {
|
|---|
| 600 | // read full line and save it in buffer, up to the buffer size
|
|---|
| 601 | c = client.read();
|
|---|
| 602 | if (bufindex < sizeof(readBuffer))
|
|---|
| 603 | readBuffer[bufindex++] = c;
|
|---|
| 604 | }
|
|---|
| 605 | readBuffer[bufindex - 2] = 0; // Null string terminator overwrites '\r'
|
|---|
| 606 | }
|
|---|
| 607 | }
|
|---|
| 608 |
|
|---|
| 609 | /**********************************************************************************************************************
|
|---|
| 610 | * Send Pages
|
|---|
| 611 | Full-Response = Status-Line
|
|---|
| 612 | *( General-Header
|
|---|
| 613 | | Response-Header
|
|---|
| 614 | | Entity-Header )
|
|---|
| 615 | CRLF
|
|---|
| 616 | [ Entity-Body ]
|
|---|
| 617 |
|
|---|
| 618 | Status-Line = HTTP-Version SP Status-Code SP Reason-Phrase CRLF
|
|---|
| 619 | General-Header = Date | Pragma
|
|---|
| 620 | Response-Header = Location | Server | WWW-Authenticate
|
|---|
| 621 | Entity-Header = Allow | Content-Encoding | Content-Length | Content-Type
|
|---|
| 622 | | Expires | Last-Modified | extension-header
|
|---|
| 623 | *
|
|---|
| 624 | ***********************************************************************************************************************/
|
|---|
| 625 | void sendPage(EthernetClient & client, int nUriIndex, BUFFER & requestContent)
|
|---|
| 626 | {
|
|---|
| 627 |
|
|---|
| 628 | #ifdef DEBUG
|
|---|
| 629 | Serial.print("sendPage(");
|
|---|
| 630 | Serial.print(nUriIndex); Serial.print(", ");
|
|---|
| 631 | Serial.print(requestContent);
|
|---|
| 632 | Serial.println(")");
|
|---|
| 633 | #endif
|
|---|
| 634 |
|
|---|
| 635 | if (strncmp(requestContent, "Button1=", 8) == 0){
|
|---|
| 636 | //Action1(strncmp(&requestContent[9], "true", 4) == 0);
|
|---|
| 637 | MoveTo(0, _EndPoint, 255);
|
|---|
| 638 | }
|
|---|
| 639 | else if (strncmp(requestContent, "Button2=", 8) == 0){
|
|---|
| 640 | //Action2(strncmp(&requestContent[9], "true", 4) == 0);
|
|---|
| 641 | MoveTo(0, _StartPoint, 255);
|
|---|
| 642 | }
|
|---|
| 643 | else if (strncmp(requestContent, "Button3=", 8) == 0){
|
|---|
| 644 | //Action3(strncmp(&requestContent[9], "true", 4) == 0);
|
|---|
| 645 | MoveTo(1, _EndPoint, 255);
|
|---|
| 646 | }
|
|---|
| 647 | else if (strncmp(requestContent, "Button4=", 8) == 0){
|
|---|
| 648 | //Action4(strncmp(&requestContent[9], "true", 4) == 0);
|
|---|
| 649 | MoveTo(1, _StartPoint, 255);
|
|---|
| 650 | }
|
|---|
| 651 | else if (strncmp(requestContent, "Button5=", 8) == 0){
|
|---|
| 652 | MoveTo(1, _StartPoint, 255);
|
|---|
| 653 | delay(100);
|
|---|
| 654 | MoveTo(0, _StartPoint, 255);
|
|---|
| 655 | }
|
|---|
| 656 | else if (strncmp(requestContent, "Button6=", 8) == 0){
|
|---|
| 657 | MoveTo(0, _EndPoint, 255);
|
|---|
| 658 | delay(100);
|
|---|
| 659 | MoveTo(1, _EndPoint, 255);
|
|---|
| 660 | }
|
|---|
| 661 | #ifdef DEBUG
|
|---|
| 662 | else if (strncmp(requestContent, "", 1) == 0)
|
|---|
| 663 | Serial.print("-> Refresh\n");
|
|---|
| 664 | else
|
|---|
| 665 | Serial.print("-> not recognized\n");
|
|---|
| 666 | #endif
|
|---|
| 667 |
|
|---|
| 668 | // send HTML header
|
|---|
| 669 | // sendProgMemAsString(client,(char*)pgm_read_word(&(contents_main[CONT_HEADER])));
|
|---|
| 670 | sendProgMemAsString(client, (char*)pgm_read_word(&(contents_main[CONT_TOP])));
|
|---|
| 671 |
|
|---|
| 672 | // send menu
|
|---|
| 673 | sendProgMemAsString(client, (char*)pgm_read_word(&(contents_main[CONT_MENU])));
|
|---|
| 674 |
|
|---|
| 675 | // send title
|
|---|
| 676 | sendProgMemAsString(client, (char*)pgm_read_word(&(contents_titles[nUriIndex])));
|
|---|
| 677 |
|
|---|
| 678 | // send the body for the requested page
|
|---|
| 679 | sendUriContentByIndex(client, nUriIndex, requestContent);
|
|---|
| 680 |
|
|---|
| 681 | // Append the data sent in the original HTTP request
|
|---|
| 682 | client.print("<br/>");
|
|---|
| 683 | // send POST variables
|
|---|
| 684 | client.print(requestContent);
|
|---|
| 685 |
|
|---|
| 686 | // send footer
|
|---|
| 687 | sendProgMemAsString(client,(char*)pgm_read_word(&(contents_main[CONT_FOOTER])));
|
|---|
| 688 | }
|
|---|
| 689 |
|
|---|
| 690 | /**********************************************************************************************************************
|
|---|
| 691 | * Send Images
|
|---|
| 692 | ***********************************************************************************************************************/
|
|---|
| 693 | void sendImage(EthernetClient & client, int nUriIndex, BUFFER & requestContent)
|
|---|
| 694 | {
|
|---|
| 695 | int nImageIndex = nUriIndex - NUM_PAGES;
|
|---|
| 696 |
|
|---|
| 697 | // send the header for the requested image
|
|---|
| 698 | sendUriContentByIndex(client, nUriIndex, requestContent);
|
|---|
| 699 |
|
|---|
| 700 | // send the image data
|
|---|
| 701 | sendProgMemAsBinary(client, (char *)pgm_read_word(&(data_for_images[nImageIndex])), (int)pgm_read_word(&(size_for_images[nImageIndex])));
|
|---|
| 702 | }
|
|---|
| 703 |
|
|---|
| 704 | /**********************************************************************************************************************
|
|---|
| 705 | * Send content split by buffer size
|
|---|
| 706 | ***********************************************************************************************************************/
|
|---|
| 707 | // If we provide string data then we don't need specify an explicit size and can do a string copy
|
|---|
| 708 | void sendProgMemAsString(EthernetClient & client, const char *realword)
|
|---|
| 709 | {
|
|---|
| 710 | sendProgMemAsBinary(client, realword, strlen_P(realword));
|
|---|
| 711 | }
|
|---|
| 712 |
|
|---|
| 713 | // Non-string data needs to provide an explicit size
|
|---|
| 714 | void sendProgMemAsBinary(EthernetClient & client, const char* realword, int realLen)
|
|---|
| 715 | {
|
|---|
| 716 | int remaining = realLen;
|
|---|
| 717 | const char * offsetPtr = realword;
|
|---|
| 718 | int nSize = sizeof(BUFFER);
|
|---|
| 719 | BUFFER buffer;
|
|---|
| 720 |
|
|---|
| 721 | while (remaining > 0)
|
|---|
| 722 | {
|
|---|
| 723 | // print content
|
|---|
| 724 | if (nSize > remaining)
|
|---|
| 725 | nSize = remaining; // Partial buffer left to send
|
|---|
| 726 |
|
|---|
| 727 | memcpy_P(buffer, offsetPtr, nSize);
|
|---|
| 728 |
|
|---|
| 729 | if (client.write((const uint8_t *)buffer, nSize) != nSize)
|
|---|
| 730 | Serial.println("Failed to send data");
|
|---|
| 731 |
|
|---|
| 732 | // more content to print?
|
|---|
| 733 | remaining -= nSize;
|
|---|
| 734 | offsetPtr += nSize;
|
|---|
| 735 | }
|
|---|
| 736 | }
|
|---|
| 737 |
|
|---|
| 738 | /**********************************************************************************************************************
|
|---|
| 739 | * Send real page content
|
|---|
| 740 | ***********************************************************************************************************************/
|
|---|
| 741 | // This method takes the contents page identified by nUriIndex, divides it up into buffer-sized
|
|---|
| 742 | // strings, passes it on for STX substitution and finally sending to the client.
|
|---|
| 743 | void sendUriContentByIndex(EthernetClient client, int nUriIndex, BUFFER & requestContent)
|
|---|
| 744 | {
|
|---|
| 745 | // Locate the page data for the URI and prepare to process in buffer-sized chunks.
|
|---|
| 746 | const char * offsetPtr; // Pointer to offset within URI for data to be copied to buffer and sent.
|
|---|
| 747 | char *pNextString;
|
|---|
| 748 | int nSubstituteIndex = -1; // Count of substitutions so far for this URI
|
|---|
| 749 | int remaining; // Total bytes (of URI) remaining to be sent
|
|---|
| 750 | int nSize = sizeof(BUFFER) - 1; // Effective size of buffer allowing last char as string terminator
|
|---|
| 751 | BUFFER buffer;
|
|---|
| 752 |
|
|---|
| 753 | if (nUriIndex < NUM_PAGES)
|
|---|
| 754 | offsetPtr = (char*)pgm_read_word(&(contents_pages[nUriIndex]));
|
|---|
| 755 | else
|
|---|
| 756 | offsetPtr = (char*)pgm_read_word(&(image_header));
|
|---|
| 757 |
|
|---|
| 758 | buffer[nSize] = 0; // ensure there is always a string terminator
|
|---|
| 759 | remaining = strlen_P(offsetPtr); // Set total bytes of URI remaining
|
|---|
| 760 |
|
|---|
| 761 | while (remaining > 0)
|
|---|
| 762 | {
|
|---|
| 763 | // print content
|
|---|
| 764 | if (nSize > remaining)
|
|---|
| 765 | {
|
|---|
| 766 | // Set whole buffer to string terminator before copying remainder.
|
|---|
| 767 | memset(buffer, 0, STRING_BUFFER_SIZE);
|
|---|
| 768 | nSize = remaining; // Partial buffer left to send
|
|---|
| 769 | }
|
|---|
| 770 | memcpy_P(buffer, offsetPtr, nSize);
|
|---|
| 771 | offsetPtr += nSize;
|
|---|
| 772 | // We have a buffer's worth of page to check for substitution markers/delimiters.
|
|---|
| 773 | // Scan the buffer for markers, dividing it up into separate strings.
|
|---|
| 774 | if (buffer[0] == *pStxDelimiter) // First char is delimiter
|
|---|
| 775 | {
|
|---|
| 776 | sendSubstitute(client, nUriIndex, ++nSubstituteIndex, requestContent);
|
|---|
| 777 | --remaining;
|
|---|
| 778 | }
|
|---|
| 779 | // First string is either terminated by the null at the end of the buffer
|
|---|
| 780 | // or by a substitution delimiter. So simply send it to the client.
|
|---|
| 781 | pNextString = strtok(buffer, pStxDelimiter);
|
|---|
| 782 | client.print(pNextString);
|
|---|
| 783 | remaining -= strlen(pNextString);
|
|---|
| 784 | // Scan for strings between delimiters
|
|---|
| 785 | for (pNextString = strtok(NULL, pStxDelimiter); pNextString != NULL && remaining > 0; pNextString = strtok(NULL, pStxDelimiter))
|
|---|
| 786 | {
|
|---|
| 787 | // pNextString is pointing to the next string AFTER a delimiter
|
|---|
| 788 | sendSubstitute(client, nUriIndex, ++nSubstituteIndex, requestContent);
|
|---|
| 789 | --remaining;
|
|---|
| 790 | client.print(pNextString);
|
|---|
| 791 | remaining -= strlen(pNextString);
|
|---|
| 792 | }
|
|---|
| 793 | }
|
|---|
| 794 | }
|
|---|
| 795 |
|
|---|
| 796 | // Call this method in response to finding a substitution character '\002' within some
|
|---|
| 797 | // URI content to send the appropriate replacement text, depending on the URI index and
|
|---|
| 798 | // the substitution index within the content.
|
|---|
| 799 | void sendSubstitute(EthernetClient client, int nUriIndex, int nSubstituteIndex, BUFFER & requestContent)
|
|---|
| 800 | {
|
|---|
| 801 | #ifdef DEBUG
|
|---|
| 802 | Serial.print("sendSubstitute(");
|
|---|
| 803 | Serial.print(nUriIndex); Serial.print(", ");
|
|---|
| 804 | Serial.print(nSubstituteIndex); Serial.print(", ");
|
|---|
| 805 | Serial.print(requestContent);
|
|---|
| 806 | Serial.print(")\n");
|
|---|
| 807 | #endif
|
|---|
| 808 | if (nUriIndex < NUM_PAGES)
|
|---|
| 809 | {
|
|---|
| 810 | // Page request
|
|---|
| 811 | switch (nUriIndex)
|
|---|
| 812 | {
|
|---|
| 813 | case 1: // page 2
|
|---|
| 814 | #ifdef DEBUG
|
|---|
| 815 | Serial.println(" -> Case 1");
|
|---|
| 816 | #endif
|
|---|
| 817 | if (nSubstituteIndex < 4){
|
|---|
| 818 | //client.print("<b>");
|
|---|
| 819 | client.print(_currentValue[nSubstituteIndex/2]);
|
|---|
| 820 | //client.print("</b>");
|
|---|
| 821 | }
|
|---|
| 822 | else if ( (nSubstituteIndex >= 4) &&
|
|---|
| 823 | (nSubstituteIndex < 8) ) {
|
|---|
| 824 | //client.print("<b>");
|
|---|
| 825 | client.print(_sensorValue[nSubstituteIndex/2-2]);
|
|---|
| 826 | //client.print("</b>");
|
|---|
| 827 | }
|
|---|
| 828 | else if ( (nSubstituteIndex >= 8) &&
|
|---|
| 829 | (nSubstituteIndex < 12) ) {
|
|---|
| 830 | //client.print("<b>");
|
|---|
| 831 | client.print(_StatusLabel[_LidStatus[nSubstituteIndex/2-4]]);
|
|---|
| 832 | //client.print("</b>");
|
|---|
| 833 |
|
|---|
| 834 | }
|
|---|
| 835 | break;
|
|---|
| 836 | case 2: // page 3
|
|---|
| 837 | Serial.println(" -> Case 2");
|
|---|
| 838 | //
|
|---|
| 839 | // switch (nSubstituteIndex)
|
|---|
| 840 | // {
|
|---|
| 841 | // case 0: // LedOn button send value
|
|---|
| 842 | //#ifdef DEBUG
|
|---|
| 843 | // Serial.println(requestContent);
|
|---|
| 844 | //#endif
|
|---|
| 845 | // if (strncmp(requestContent, "Button1=", 8) == 0)
|
|---|
| 846 | // Action1(strncmp(&requestContent[9], "true", 4) == 0);
|
|---|
| 847 | //
|
|---|
| 848 | // client.print(Action1 ? "false" : "true");
|
|---|
| 849 | // break;
|
|---|
| 850 | // case 1: // LedOn button legend
|
|---|
| 851 | // //client.print(isLedOn ? "Off" : "On");
|
|---|
| 852 | // break;
|
|---|
| 853 | // case 2: // LedOn partial image name
|
|---|
| 854 | // //client.print(isLedOn ? "on" : "off");
|
|---|
| 855 | // break;
|
|---|
| 856 | // default:
|
|---|
| 857 | // break;
|
|---|
| 858 | // }
|
|---|
| 859 | break;
|
|---|
| 860 | }
|
|---|
| 861 | }
|
|---|
| 862 | else
|
|---|
| 863 | {
|
|---|
| 864 | // Image request
|
|---|
| 865 | int nImageIndex = nUriIndex - NUM_PAGES;
|
|---|
| 866 |
|
|---|
| 867 | switch (nSubstituteIndex)
|
|---|
| 868 | {
|
|---|
| 869 | case 0:
|
|---|
| 870 | // Content-Length value - ie. image size
|
|---|
| 871 | char strSize[6]; // Up to 5 digits plus null terminator
|
|---|
| 872 | itoa((int)pgm_read_word(&(size_for_images[nImageIndex])), strSize, 10);
|
|---|
| 873 | //Serial.println(strSize); // Debug
|
|---|
| 874 | client.print(strSize);
|
|---|
| 875 | break;
|
|---|
| 876 | case 1:
|
|---|
| 877 | // Content-Type partial value
|
|---|
| 878 | switch (nImageIndex)
|
|---|
| 879 | {
|
|---|
| 880 | case 0: // favicon
|
|---|
| 881 | client.print("x-icon");
|
|---|
| 882 | break;
|
|---|
| 883 | case 1: // led on image
|
|---|
| 884 | case 2: // led off image
|
|---|
| 885 | client.print("png");
|
|---|
| 886 | break;
|
|---|
| 887 | }
|
|---|
| 888 | }
|
|---|
| 889 | }
|
|---|
| 890 | }
|
|---|
| 891 | #endif
|
|---|
| 892 | //
|
|---|
| 893 | //void Action1(bool argument)
|
|---|
| 894 | //{
|
|---|
| 895 | // Serial.print("Action->Action1(");
|
|---|
| 896 | // Serial.print(argument);
|
|---|
| 897 | // Serial.print(")\n");
|
|---|
| 898 | //
|
|---|
| 899 | // // Move motor 0 out
|
|---|
| 900 | // int m=0;
|
|---|
| 901 | // MoveTo(m, 1023, 200);
|
|---|
| 902 | //
|
|---|
| 903 | //}
|
|---|
| 904 |
|
|---|
| 905 | //void Action2(bool argument)
|
|---|
| 906 | //{
|
|---|
| 907 | // Serial.print("Action->Action2(");
|
|---|
| 908 | // Serial.print(argument);
|
|---|
| 909 | // Serial.print(")\n");
|
|---|
| 910 | //
|
|---|
| 911 | // // Move motor 1 out
|
|---|
| 912 | // int m=0;
|
|---|
| 913 | // MoveTo(m, 0, 200);
|
|---|
| 914 | //}
|
|---|
| 915 | //
|
|---|
| 916 | //void Action3(bool argument)
|
|---|
| 917 | //{
|
|---|
| 918 | // Serial.print("Action->Action3(");
|
|---|
| 919 | // Serial.print(argument);
|
|---|
| 920 | // Serial.print(")\n");
|
|---|
| 921 | //
|
|---|
| 922 | // // Move motor 0 in
|
|---|
| 923 | // int m=1;
|
|---|
| 924 | // MoveTo(m, 1023, 200);
|
|---|
| 925 | //}
|
|---|
| 926 | //
|
|---|
| 927 | //void Action4(bool argument)
|
|---|
| 928 | //{
|
|---|
| 929 | // Serial.print("Action->Action4(");
|
|---|
| 930 | // Serial.print(argument);
|
|---|
| 931 | // Serial.print(")\n");
|
|---|
| 932 | //
|
|---|
| 933 | // // Move motor 1 in
|
|---|
| 934 | // int m=1;
|
|---|
| 935 | // MoveTo(m, 0, 200);
|
|---|
| 936 | //}
|
|---|
| 937 | //
|
|---|
| 938 | // position in [%]-> [0-1] Closed-Open
|
|---|
| 939 | //
|
|---|
| 940 | void MoveTo(int motor, double target_position, int mySpeed){
|
|---|
| 941 |
|
|---|
| 942 | // define tmp value for the speed
|
|---|
| 943 | int speedTmp = 0;
|
|---|
| 944 |
|
|---|
| 945 | // define variable containing the current actuator position
|
|---|
| 946 | // the travel to be done to rech the target position and the
|
|---|
| 947 | // motor current
|
|---|
| 948 | double current_position;
|
|---|
| 949 | double err_current_position;
|
|---|
| 950 |
|
|---|
| 951 | double original_position;
|
|---|
| 952 | double err_original_position;
|
|---|
| 953 |
|
|---|
| 954 | double motor_current;
|
|---|
| 955 | double err_motor_current;
|
|---|
| 956 |
|
|---|
| 957 | double travel;
|
|---|
| 958 |
|
|---|
| 959 | // only one reading to define the position is not sufficient
|
|---|
| 960 | // current_position = ReadSensor(motor);
|
|---|
| 961 |
|
|---|
| 962 | // Calculate average final position
|
|---|
| 963 | double tmp=0;
|
|---|
| 964 | double tmpM=0;
|
|---|
| 965 | double tmpS=0;
|
|---|
| 966 | int steps=0;
|
|---|
| 967 |
|
|---|
| 968 | for (int i=0;i<SAMPLES;i++){
|
|---|
| 969 | tmp=ReadSensor(motor);
|
|---|
| 970 | tmpM += tmp;
|
|---|
| 971 | tmpS += tmp*tmp;
|
|---|
| 972 | }
|
|---|
| 973 | tmpM /= SAMPLES;
|
|---|
| 974 | tmpS = sqrt(tmpS/SAMPLES - tmpM*tmpM);
|
|---|
| 975 |
|
|---|
| 976 | Serial.print(" - The current position of the actuator is ");
|
|---|
| 977 | Serial.print(tmpM,3);
|
|---|
| 978 | Serial.print( " +/- " );
|
|---|
| 979 | Serial.println(tmpS,3);
|
|---|
| 980 |
|
|---|
| 981 | int tmpS_int = (int) tmpS;
|
|---|
| 982 |
|
|---|
| 983 | // round the mean to it to the closest integer
|
|---|
| 984 | current_position = (int) (tmpM+0.5);
|
|---|
| 985 | if (((int)tmpS) < 1){
|
|---|
| 986 | err_current_position = 1.;
|
|---|
| 987 | }
|
|---|
| 988 | else{
|
|---|
| 989 | err_current_position = tmpS;
|
|---|
| 990 | }
|
|---|
| 991 |
|
|---|
| 992 | original_position = current_position;
|
|---|
| 993 | err_original_position = err_current_position;
|
|---|
| 994 |
|
|---|
| 995 | Serial.print(" - The corrected position of the actuator is ");
|
|---|
| 996 | Serial.print(current_position);
|
|---|
| 997 | Serial.print( " +/- " );
|
|---|
| 998 | Serial.println(err_current_position);
|
|---|
| 999 |
|
|---|
| 1000 |
|
|---|
| 1001 | // calculate the travel needed to reach the target position
|
|---|
| 1002 | travel = target_position - current_position;
|
|---|
| 1003 |
|
|---|
| 1004 | Serial.print("Moving motor ");
|
|---|
| 1005 | Serial.print(motor);
|
|---|
| 1006 | Serial.print(" from pos. ");
|
|---|
| 1007 | Serial.print(current_position,3);
|
|---|
| 1008 | Serial.print(" to position ");
|
|---|
| 1009 | Serial.print(target_position,3);
|
|---|
| 1010 | Serial.print(" - Travel distance = ");
|
|---|
| 1011 | Serial.print(travel,3);
|
|---|
| 1012 |
|
|---|
| 1013 | // [IF] the travel is bigger than +2*(absolute position error) try to move out the motor
|
|---|
| 1014 | if (travel > 2*err_current_position){
|
|---|
| 1015 | // Try to place here (if you have time) a speed self adjucting algorithm
|
|---|
| 1016 | // base on the trave which the actuator has still to do
|
|---|
| 1017 | if( _LidStatus[motor] != _CLOSED){
|
|---|
| 1018 |
|
|---|
| 1019 | Serial.println(" - going out (lid closing)");
|
|---|
| 1020 | speedTmp = mySpeed; // positive speed
|
|---|
| 1021 | steps++;
|
|---|
| 1022 | _LidStatus[motor] = _CLOSING;
|
|---|
| 1023 |
|
|---|
| 1024 | // Accelerate motor from 0 to speedTmp linearly
|
|---|
| 1025 | for (int j=0;j<speedTmp;j++){
|
|---|
| 1026 | Motor(motor, j);
|
|---|
| 1027 | delay(1);
|
|---|
| 1028 | }
|
|---|
| 1029 | }
|
|---|
| 1030 | else{
|
|---|
| 1031 | Serial.println(" - already closed");
|
|---|
| 1032 |
|
|---|
| 1033 | _LidStatus[motor] = _CLOSED;
|
|---|
| 1034 | return;
|
|---|
| 1035 | }
|
|---|
| 1036 | }
|
|---|
| 1037 | // [ELSE IF] travel is between -2*(absolute position error) and +2*(absolute position error)
|
|---|
| 1038 | // consider yourself already in position
|
|---|
| 1039 | else if (travel <= 2*err_current_position &&
|
|---|
| 1040 | travel >= -2*err_current_position ){
|
|---|
| 1041 | Serial.println(" - already in place");
|
|---|
| 1042 |
|
|---|
| 1043 | _LidStatus[motor] = _STEADY;
|
|---|
| 1044 | return;
|
|---|
| 1045 | // already in place don't bother moving more.
|
|---|
| 1046 | }
|
|---|
| 1047 | // [ELSE} if the travel is smaller than -2*(absolute position error) try to move in the motor
|
|---|
| 1048 | else{
|
|---|
| 1049 | Serial.println(" - going in (lid opening)");
|
|---|
| 1050 | speedTmp = -mySpeed; // negative speed
|
|---|
| 1051 | steps++;
|
|---|
| 1052 | _LidStatus[motor] = _OPENING;
|
|---|
| 1053 |
|
|---|
| 1054 | // Accelerate motor from 0 to -speedTmp linearly
|
|---|
| 1055 | for (int j=0;j>speedTmp;j--){
|
|---|
| 1056 | Motor(motor, j);
|
|---|
| 1057 | delay(1);
|
|---|
| 1058 | }
|
|---|
| 1059 | }
|
|---|
| 1060 |
|
|---|
| 1061 |
|
|---|
| 1062 | // Start the main loop which checks the motors while they are mooving
|
|---|
| 1063 | tmp=0;
|
|---|
| 1064 | tmpM=0;
|
|---|
| 1065 | tmpS=0;
|
|---|
| 1066 | for (steps=1;abs(travel) != 0 ;steps++){
|
|---|
| 1067 | //Read Current
|
|---|
| 1068 | motor_current = ReadCurrentM(motor,10);
|
|---|
| 1069 |
|
|---|
| 1070 | // If Overcurrent stop
|
|---|
| 1071 | if (motor_current > _OverCurrent){
|
|---|
| 1072 | Motor(motor, 0); // Stop Motor
|
|---|
| 1073 |
|
|---|
| 1074 | Serial.print(" - WARNING!!! Overcurrent ");
|
|---|
| 1075 | Serial.print(motor_current,3);
|
|---|
| 1076 | Serial.print(" [A] at position ");
|
|---|
| 1077 | Serial.println(current_position,3);
|
|---|
| 1078 |
|
|---|
| 1079 | _LidStatus[motor] = _OVER_CURRENT;
|
|---|
| 1080 | return;
|
|---|
| 1081 | }
|
|---|
| 1082 |
|
|---|
| 1083 | // If Fault stop
|
|---|
| 1084 | if (getFault(motor)){
|
|---|
| 1085 | Motor(motor, 0); // Stop Motor
|
|---|
| 1086 | Serial.print(" - GetFault - at position ");
|
|---|
| 1087 | Serial.println(current_position,3);
|
|---|
| 1088 | _LidStatus[motor] = _MOTOR_FAULT;
|
|---|
| 1089 | break;
|
|---|
| 1090 | }
|
|---|
| 1091 |
|
|---|
| 1092 | // Average Current around the steps
|
|---|
| 1093 | tmp = motor_current;
|
|---|
| 1094 | tmpM += tmp;
|
|---|
| 1095 | tmpS += tmp*tmp;
|
|---|
| 1096 |
|
|---|
| 1097 | // Read current position
|
|---|
| 1098 | // it doesn't make sense to read it here more time as the actuars are moving
|
|---|
| 1099 | current_position = ReadSensorM(motor,10);
|
|---|
| 1100 |
|
|---|
| 1101 | // Calculate travel distance
|
|---|
| 1102 | travel = target_position - current_position;
|
|---|
| 1103 |
|
|---|
| 1104 | // Read current absorbed the motor and append the values for the calculation
|
|---|
| 1105 | // of the mean value and its error
|
|---|
| 1106 |
|
|---|
| 1107 |
|
|---|
| 1108 | // [IF] the current drops below ~0.07 A might means that the end swirch
|
|---|
| 1109 | // stopped the motor check also the position to determine if this is true.
|
|---|
| 1110 | if (motor_current < _ZeroCurrent){
|
|---|
| 1111 | // Closing
|
|---|
| 1112 | if ( current_position > _EndPointLimit && target_position > _EndPointLimit ){
|
|---|
| 1113 | Serial.print(" - Reached End of Actuator. Pos = ");
|
|---|
| 1114 | Serial.println(current_position, 3);
|
|---|
| 1115 |
|
|---|
| 1116 | _LidStatus[motor] = _CLOSED;
|
|---|
| 1117 | break; //Exit from the for loop
|
|---|
| 1118 | }
|
|---|
| 1119 | // Opening
|
|---|
| 1120 | else if (current_position < _StartPointLimit && target_position < _StartPointLimit ){
|
|---|
| 1121 | Serial.print(" - Reached Beginning of Actuator. Pos = ");
|
|---|
| 1122 | Serial.println(current_position, 3);
|
|---|
| 1123 |
|
|---|
| 1124 | _LidStatus[motor] = _OPEN;
|
|---|
| 1125 | break; //Exit from the for loop
|
|---|
| 1126 | }
|
|---|
| 1127 | // Error
|
|---|
| 1128 | else {
|
|---|
| 1129 | Serial.print(" - Error!! No current in motor ");
|
|---|
| 1130 | Serial.print(motor);
|
|---|
| 1131 | Serial.print(". I= ");
|
|---|
| 1132 | Serial.print(motor_current);
|
|---|
| 1133 | Serial.print("A . Pos = ");
|
|---|
| 1134 | Serial.println(current_position, 3);
|
|---|
| 1135 |
|
|---|
| 1136 | _LidStatus[motor] = _POWER_PROBLEM;
|
|---|
| 1137 | break; //Exit from the for loop
|
|---|
| 1138 | }
|
|---|
| 1139 | }
|
|---|
| 1140 |
|
|---|
| 1141 | if (_LidStatus[motor] == _CLOSING && motor_current > _CurrentPushingLimit && current_position > _EndPointLimit){
|
|---|
| 1142 | Serial.print(" - step ");
|
|---|
| 1143 | Serial.print(steps);
|
|---|
| 1144 | // double travel_done= (55. * (target_position - original_position))/1024.;
|
|---|
| 1145 | // Serial.print(" - travelled for ");
|
|---|
| 1146 | // Serial.print(travel_done);
|
|---|
| 1147 | Serial.print(" - pushing -> I = ");
|
|---|
| 1148 | Serial.print(motor_current, 3);
|
|---|
| 1149 | Serial.println(" A");
|
|---|
| 1150 | _LidStatus[motor] = _CLOSED;
|
|---|
| 1151 | break;
|
|---|
| 1152 | }
|
|---|
| 1153 |
|
|---|
| 1154 | // If too many cycles of the loop print a message and check the position and the current
|
|---|
| 1155 | if (steps %50 == 0){
|
|---|
| 1156 | Serial.print(" - step ");
|
|---|
| 1157 | Serial.print(steps);
|
|---|
| 1158 | Serial.print(" - still in loop. Pos = ");
|
|---|
| 1159 | Serial.print(current_position, 3);
|
|---|
| 1160 | Serial.print(" - Istantaneous current = ");
|
|---|
| 1161 | Serial.print(motor_current, 3);
|
|---|
| 1162 | Serial.print(" A");
|
|---|
| 1163 | Serial.print(" - Average current = ");
|
|---|
| 1164 | Serial.print(tmpM/steps, 3);
|
|---|
| 1165 | Serial.println(" A");
|
|---|
| 1166 |
|
|---|
| 1167 |
|
|---|
| 1168 | if( _LidStatus[motor] != _CLOSING &&
|
|---|
| 1169 | _LidStatus[motor] != _OPENING)
|
|---|
| 1170 | _LidStatus[motor] = _MOVING;
|
|---|
| 1171 |
|
|---|
| 1172 | // Redefine better those limits... they might not be necessary with the new low
|
|---|
| 1173 | // current limits
|
|---|
| 1174 | //if (steps %500 && current_position > 1000 && target_position > 1000 ){
|
|---|
| 1175 | // Serial.print(" - Reached End of Actuator. Pos = ");
|
|---|
| 1176 | // Serial.println(current_position, 3);
|
|---|
| 1177 | // break;
|
|---|
| 1178 | //}
|
|---|
| 1179 | //if (steps %500 && current_position < 80 && target_position < 80 ){
|
|---|
| 1180 | // Serial.print(" - Reached Beginning of Actuator. Pos = ");
|
|---|
| 1181 | // Serial.println(current_position, 3);
|
|---|
| 1182 | // break;
|
|---|
| 1183 | //}
|
|---|
| 1184 | }
|
|---|
| 1185 |
|
|---|
| 1186 |
|
|---|
| 1187 |
|
|---|
| 1188 | // minimum delay between a cycle and the other is 1 ms
|
|---|
| 1189 | delay (10);
|
|---|
| 1190 | }
|
|---|
| 1191 |
|
|---|
| 1192 | // At this stage the motor should be stopped in any case
|
|---|
| 1193 | Motor(motor, 0);
|
|---|
| 1194 | Serial.print(" - motor reached the destination - pos. ");
|
|---|
| 1195 | Serial.println(current_position,3);
|
|---|
| 1196 |
|
|---|
| 1197 | // Calculate current average and sigma
|
|---|
| 1198 | tmpM /= steps;
|
|---|
| 1199 | tmpS = sqrt(tmpS/steps - tmpM*tmpM);
|
|---|
| 1200 | Serial.print(" - average current over the loop ");
|
|---|
| 1201 | Serial.print(tmpM,3);
|
|---|
| 1202 | Serial.print( " +/- " );
|
|---|
| 1203 | Serial.println(tmpS,3);
|
|---|
| 1204 |
|
|---|
| 1205 | // Wait 100 ms then calculate average final position
|
|---|
| 1206 | delay(100);
|
|---|
| 1207 | tmp=0; tmpM=0; tmpS=0;
|
|---|
| 1208 |
|
|---|
| 1209 | for (int i=0;i<SAMPLES;i++){
|
|---|
| 1210 | tmp=ReadSensor(motor);
|
|---|
| 1211 | tmpM += tmp;
|
|---|
| 1212 | tmpS += tmp*tmp;
|
|---|
| 1213 | }
|
|---|
| 1214 | tmpM /= SAMPLES;
|
|---|
| 1215 | tmpS = sqrt(tmpS/SAMPLES - tmpM*tmpM);
|
|---|
| 1216 |
|
|---|
| 1217 | Serial.print(" - final position is ");
|
|---|
| 1218 | Serial.print(tmpM,3);
|
|---|
| 1219 | Serial.print( " +/- " );
|
|---|
| 1220 | Serial.println(tmpS,3);
|
|---|
| 1221 |
|
|---|
| 1222 | Serial.print(" - Lid staus is ");
|
|---|
| 1223 | Serial.println(_StatusLabel[_LidStatus[motor]]);
|
|---|
| 1224 |
|
|---|
| 1225 | Serial.print("availableMemory()=");
|
|---|
| 1226 | Serial.println(availableMemory());
|
|---|
| 1227 |
|
|---|
| 1228 |
|
|---|
| 1229 | }
|
|---|
| 1230 |
|
|---|
| 1231 | int availableMemory() {
|
|---|
| 1232 | int free_memory;
|
|---|
| 1233 | if ((int)__brkval==0)
|
|---|
| 1234 | free_memory = ((int)&free_memory) - ((int) &__bss_end);
|
|---|
| 1235 | else
|
|---|
| 1236 | free_memory = ((int)&free_memory) - ((int) &__brkval);
|
|---|
| 1237 |
|
|---|
| 1238 | return free_memory;
|
|---|
| 1239 | }
|
|---|
| 1240 |
|
|---|
| 1241 |
|
|---|
| 1242 | // ReadSensor(-1); - Read all sensor
|
|---|
| 1243 | // ReadSensor(0); - Read sensor 0
|
|---|
| 1244 | // ReadSensor(1); - Read sensor 1
|
|---|
| 1245 | double ReadSensor(int motor){
|
|---|
| 1246 | #ifdef DEBUG
|
|---|
| 1247 | Serial.println("Action->ReadSensors()");
|
|---|
| 1248 | #endif
|
|---|
| 1249 |
|
|---|
| 1250 | switch (motor){
|
|---|
| 1251 | case -1: // Read all of them
|
|---|
| 1252 | _sensorValue[0] = analogRead(A2);//*_ADC2V - _Voffset;// *_Compensation; // Actuator 1 position
|
|---|
| 1253 | _sensorValue[1] = analogRead(A3);//*_ADC2V - _Voffset;// *_Compensation; // Actuator 2 position
|
|---|
| 1254 | return -1;
|
|---|
| 1255 | case 0:
|
|---|
| 1256 | _sensorValue[motor] = analogRead(A2);//*_ADC2V - _Voffset; //*_Compensation;
|
|---|
| 1257 | return _sensorValue[motor]; // Actuator 1 position
|
|---|
| 1258 | case 1:
|
|---|
| 1259 | _sensorValue[motor] = analogRead(A3);//*_ADC2V - _Voffset;//_Compensation;
|
|---|
| 1260 | return _sensorValue[motor]; // Actuator 1 position
|
|---|
| 1261 | }
|
|---|
| 1262 | }
|
|---|
| 1263 |
|
|---|
| 1264 | double ReadSensorM(int motor, int samples){
|
|---|
| 1265 | #ifdef DEBUG
|
|---|
| 1266 | Serial.println("Action->ReadSensorsM()");
|
|---|
| 1267 | #endif
|
|---|
| 1268 | _sensorValue[motor]=0;
|
|---|
| 1269 | switch (motor){
|
|---|
| 1270 | case 0:
|
|---|
| 1271 | for (int j=0;j<samples;j++)
|
|---|
| 1272 | _sensorValue[motor] += analogRead(A2);//*_ADC2V - _Voffset; //*_Compensation;
|
|---|
| 1273 | case 1:
|
|---|
| 1274 | for (int j=0;j<samples;j++)
|
|---|
| 1275 | _sensorValue[motor] += analogRead(A3);//*_ADC2V - _Voffset;//_Compensation;
|
|---|
| 1276 | }
|
|---|
| 1277 |
|
|---|
| 1278 | _sensorValue[motor] /= samples;
|
|---|
| 1279 | return _sensorValue[motor]; // Actuator 1 position
|
|---|
| 1280 | }
|
|---|
| 1281 |
|
|---|
| 1282 |
|
|---|
| 1283 | // ReadCurrent(-1); - Read current for all the motors
|
|---|
| 1284 | // ReadCurrent(0); - Read motor 0 current
|
|---|
| 1285 | // ReadCurrent(1); - Read motor 1 current
|
|---|
| 1286 | double ReadCurrent(int motor){
|
|---|
| 1287 | switch (motor){
|
|---|
| 1288 | case -1: // Read all of them
|
|---|
| 1289 | _currentValue[0] = analogRead(A4)*_ADC2V/(_V2A*10.);
|
|---|
| 1290 | _currentValue[1] = analogRead(A5)*_ADC2V/(_V2A*10.);
|
|---|
| 1291 | Serial.println("Action->ReadSensors()");
|
|---|
| 1292 | return -1;
|
|---|
| 1293 | case 0:
|
|---|
| 1294 | _currentValue[motor] = analogRead(A4)*_ADC2V/(_V2A*10.);
|
|---|
| 1295 | return _currentValue[motor]; // Current of the motor
|
|---|
| 1296 | case 1:
|
|---|
| 1297 | _currentValue[motor] = analogRead(A5)*_ADC2V/(_V2A*10.);
|
|---|
| 1298 | return _currentValue[motor]; // Current of the motor
|
|---|
| 1299 | }
|
|---|
| 1300 | }
|
|---|
| 1301 |
|
|---|
| 1302 | double ReadCurrentM(int motor, int samples){
|
|---|
| 1303 | _currentValue[motor] = 0;
|
|---|
| 1304 | switch (motor){
|
|---|
| 1305 | case 0:
|
|---|
| 1306 | for (int j=0;j<samples;j++)
|
|---|
| 1307 | _currentValue[motor] += analogRead(A4)*_ADC2V/(_V2A*10.);
|
|---|
| 1308 | case 1:
|
|---|
| 1309 | for (int j=0;j<samples;j++)
|
|---|
| 1310 | _currentValue[motor] += analogRead(A5)*_ADC2V/(_V2A*10.);
|
|---|
| 1311 | }
|
|---|
| 1312 | _currentValue[motor]/=samples;
|
|---|
| 1313 | return _currentValue[motor];
|
|---|
| 1314 |
|
|---|
| 1315 | }
|
|---|
| 1316 |
|
|---|
| 1317 |
|
|---|
| 1318 | // Return error status for motor
|
|---|
| 1319 | unsigned char getFault(int motor)
|
|---|
| 1320 | {
|
|---|
| 1321 | return 0; //!digitalRead(_ENDIAG[motor]);
|
|---|
| 1322 | }
|
|---|
| 1323 |
|
|---|
| 1324 | // control motor, -255 < pwm < 255
|
|---|
| 1325 | //
|
|---|
| 1326 | void Motor(int motor, int pwm){
|
|---|
| 1327 | bool reverse = false;
|
|---|
| 1328 |
|
|---|
| 1329 | // Check sign and direction
|
|---|
| 1330 | if (pwm < 0){
|
|---|
| 1331 | pwm = -pwm;
|
|---|
| 1332 | reverse = true;
|
|---|
| 1333 | }
|
|---|
| 1334 |
|
|---|
| 1335 | // Check max speed
|
|---|
| 1336 | if (pwm > 255) pwm = 255;
|
|---|
| 1337 | else if (pwm < -255) pwm = -255;
|
|---|
| 1338 |
|
|---|
| 1339 | // Activate motors
|
|---|
| 1340 | analogWrite(_pinPWM[motor], pwm); //set pwm control, 0 for stop, and 255 for maximum speed
|
|---|
| 1341 | if (pwm != 0){
|
|---|
| 1342 | if(reverse) {
|
|---|
| 1343 | digitalWrite(_pinDA[motor], HIGH);
|
|---|
| 1344 | digitalWrite(_pinDB[motor], LOW);
|
|---|
| 1345 | }
|
|---|
| 1346 | else {
|
|---|
| 1347 | digitalWrite(_pinDA[motor], LOW);
|
|---|
| 1348 | digitalWrite(_pinDB[motor], HIGH);
|
|---|
| 1349 | }
|
|---|
| 1350 | }
|
|---|
| 1351 | else {
|
|---|
| 1352 | digitalWrite(_pinDA[motor], LOW);
|
|---|
| 1353 | digitalWrite(_pinDB[motor], LOW);
|
|---|
| 1354 | }
|
|---|
| 1355 | }
|
|---|
| 1356 |
|
|---|
| 1357 |
|
|---|
