Eduard Medla / Mbed 2 deprecated Autonomous_quadcopter

Regenerating PPM signal based on distances from ultrasonic sensors, ESP8266 for connectin via wifi. Autonomous quadcopter behaviour, autonomou height holding. Flying direction based on front and back ultrasonic sensors.

Dependencies:   ConfigFile HCSR04 PID PPM2 mbed-rtos mbed

hardware.h@14:076ef843e1ba, 2017-10-27 (annotated)

Committer:
edy05
Date:
Fri Oct 27 14:59:21 2017 +0000
Branch:
DistanceRegulation
Revision:
14:076ef843e1ba
Parent:
13:33024b5880b3
Child:
15:9cdf757269fb
groundSetPoint added to server page and configFile

Who changed what in which revision?

UserRevisionLine numberNew contents of line
edy05 11:002927b2675d 1 #ifndef HARDWARE_H
edy05 11:002927b2675d 2 #define HARDWARE_H
edy05 2:d172c9963f87 3
edy05 2:d172c9963f87 4 #include "mbed.h"
edy05 2:d172c9963f87 5 #include "PpmRegen.h"
edy05 2:d172c9963f87 6 #include "PID.h"
edy05 2:d172c9963f87 7 #include "hcsr04.h"
edy05 8:b5128641d4cf 8 #include "ConfigFile.h"
edy05 2:d172c9963f87 9
edy05 11:002927b2675d 10
edy05 11:002927b2675d 11 void loadConfigFile(void);
edy05 11:002927b2675d 12 void writeSettingsToConfig(void);
edy05 11:002927b2675d 13 void writeErrorLog(char *message);
edy05 11:002927b2675d 14 void ConvertToCharArray(float number);
edy05 14:076ef843e1ba 15 void ConvertToCharArray(int number);
edy05 11:002927b2675d 16
edy05 2:d172c9963f87 17 Serial pc(USBTX, USBRX); // tx, rx
edy05 11:002927b2675d 18 PID* _groundDistance;
edy05 11:002927b2675d 19 HCSR04* _sonic;
edy05 11:002927b2675d 20 PpmRegen* _ppmRegen;
edy05 11:002927b2675d 21
edy05 11:002927b2675d 22 ConfigFile _configFile;
edy05 11:002927b2675d 23 LocalFileSystem local("local");
edy05 2:d172c9963f87 24
edy05 2:d172c9963f87 25 Thread serverThread;
edy05 2:d172c9963f87 26 Thread distanceThread;
edy05 2:d172c9963f87 27
edy05 2:d172c9963f87 28 InterruptIn* _interruptPort = new InterruptIn(p28);
edy05 2:d172c9963f87 29 PwmOut* _roll = new PwmOut(p21);
edy05 2:d172c9963f87 30 PwmOut* _pitch = new PwmOut(p22);
edy05 2:d172c9963f87 31 PwmOut* _throttle = new PwmOut(p23);
edy05 2:d172c9963f87 32 PwmOut* _yaw = new PwmOut(p24);
edy05 2:d172c9963f87 33 PwmOut* _aux1 = new PwmOut(p25);
edy05 2:d172c9963f87 34 PwmOut* _aux2 = new PwmOut(p26);
edy05 2:d172c9963f87 35
edy05 2:d172c9963f87 36
edy05 9:86a5af9935b1 37 char* _str = new char[1024];
edy05 13:33024b5880b3 38 bool pidChanged = false;
edy05 9:86a5af9935b1 39 float _P = 0;
edy05 9:86a5af9935b1 40 float _I = 0;
edy05 9:86a5af9935b1 41 float _D = 0;
edy05 14:076ef843e1ba 42 int _groundSetPoint = 0;
edy05 8:b5128641d4cf 43
edy05 11:002927b2675d 44
edy05 11:002927b2675d 45
edy05 11:002927b2675d 46
edy05 10:bb9c778f8e3e 47
edy05 9:86a5af9935b1 48 void loadConfigFile(void){
edy05 9:86a5af9935b1 49 //reading configFile
edy05 9:86a5af9935b1 50 _configFile.read("/local/config.cfg");
edy05 9:86a5af9935b1 51 char value[BUFSIZ];
edy05 9:86a5af9935b1 52 if (_configFile.getValue("P", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 53 _P = atof(value);
edy05 9:86a5af9935b1 54 if (_configFile.getValue("I", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 55 _I = atof(value);
edy05 9:86a5af9935b1 56 if (_configFile.getValue("D", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 57 _D = atof(value);
edy05 14:076ef843e1ba 58 if (_configFile.getValue("groundSetPoint", &value[0], sizeof(value)))
edy05 14:076ef843e1ba 59 _groundSetPoint = atof(value);
edy05 9:86a5af9935b1 60
edy05 9:86a5af9935b1 61 }
edy05 9:86a5af9935b1 62
edy05 11:002927b2675d 63 void writeSettingsToConfig(void){
edy05 10:bb9c778f8e3e 64 ConvertToCharArray(_P);
edy05 10:bb9c778f8e3e 65 _configFile.setValue("P", _str);
edy05 10:bb9c778f8e3e 66 ConvertToCharArray(_I);
edy05 10:bb9c778f8e3e 67 _configFile.setValue("I", _str);
edy05 10:bb9c778f8e3e 68 ConvertToCharArray(_D);
edy05 10:bb9c778f8e3e 69 _configFile.setValue("D", _str);
edy05 14:076ef843e1ba 70 ConvertToCharArray(_groundSetPoint);
edy05 14:076ef843e1ba 71 _configFile.setValue("groundSetPoint", _str);
edy05 10:bb9c778f8e3e 72
edy05 10:bb9c778f8e3e 73 _configFile.write("/local/config.cfg");
edy05 10:bb9c778f8e3e 74
edy05 13:33024b5880b3 75 pidChanged = true;
edy05 13:33024b5880b3 76
edy05 10:bb9c778f8e3e 77 }
edy05 10:bb9c778f8e3e 78
edy05 11:002927b2675d 79
edy05 11:002927b2675d 80 void writeErrorLog(char *message){
edy05 11:002927b2675d 81 FILE *fp = fopen("/local/errorlog.txt", "w");
edy05 11:002927b2675d 82 fprintf(fp, message);
edy05 11:002927b2675d 83 fclose(fp);
edy05 11:002927b2675d 84
edy05 11:002927b2675d 85 }
edy05 11:002927b2675d 86
edy05 11:002927b2675d 87
edy05 9:86a5af9935b1 88 //Converts float to char array
edy05 9:86a5af9935b1 89 void ConvertToCharArray(float number)
edy05 9:86a5af9935b1 90 {
edy05 9:86a5af9935b1 91 sprintf(_str, "%4.2f", number );
edy05 9:86a5af9935b1 92 }
edy05 8:b5128641d4cf 93
edy05 14:076ef843e1ba 94 //Converts integer to char array
edy05 14:076ef843e1ba 95 void ConvertToCharArray(int number)
edy05 14:076ef843e1ba 96 {
edy05 14:076ef843e1ba 97 sprintf(_str, "%d", number );
edy05 14:076ef843e1ba 98 }
edy05 14:076ef843e1ba 99
edy05 8:b5128641d4cf 100
edy05 2:d172c9963f87 101 #endif